WORST_CASE(Omega(0),?)

Initial ITS
Start location: l63
   0: l0 -> l2 : __disjvr_0^0'=__disjvr_0^post0, a_283^0'=a_283^post0, temp0_45^0'=temp0_45^post0, __disjvr_21^0'=__disjvr_21^post0, y_19^0'=y_19^post0, __disjvr_4^0'=__disjvr_4^post0, result_11^0'=result_11^post0, __disjvr_14^0'=__disjvr_14^post0, head_46^0'=head_46^post0, __disjvr_24^0'=__disjvr_24^post0, x_177^0'=x_177^post0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post0, __disjvr_9^0'=__disjvr_9^post0, a_197^0'=a_197^post0, t_23^0'=t_23^post0, __disjvr_19^0'=__disjvr_19^post0, len_246^0'=len_246^post0, __disjvr_29^0'=__disjvr_29^post0, x_SLAM_f_18^0'=x_SLAM_f_18^post0, r_53^0'=r_53^post0, __disjvr_11^0'=__disjvr_11^post0, a_328^0'=a_328^post0, tmp_48^0'=tmp_48^post0, lt_36^0'=lt_36^post0, __disjvr_6^0'=__disjvr_6^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, __disjvr_16^0'=__disjvr_16^post0, i_125^0'=i_125^post0, __disjvr_26^0'=__disjvr_26^post0, x_238^0'=x_238^post0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post0, a_26^0'=a_26^post0, temp0_32^0'=temp0_32^post0, __disjvr_20^0'=__disjvr_20^post0, lt_237^0'=lt_237^post0, __disjvr_3^0'=__disjvr_3^post0, rcd_72^0'=rcd_72^post0, __disjvr_13^0'=__disjvr_13^post0, fmt_31^0'=fmt_31^post0, __disjvr_23^0'=__disjvr_23^post0, x_16^0'=x_16^post0, nondet_12^0'=nondet_12^post0, __disjvr_8^0'=__disjvr_8^post0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post0, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post0, __disjvr_18^0'=__disjvr_18^post0, len_180^0'=len_180^post0, __disjvr_28^0'=__disjvr_28^post0, x_34^0'=x_34^post0, r_161^0'=r_161^post0, __disjvr_10^0'=__disjvr_10^post0, a_305^0'=a_305^post0, temp_49^0'=temp_49^post0, __disjvr_22^0'=__disjvr_22^post0, __disjvr_5^0'=__disjvr_5^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post0, __disjvr_15^0'=__disjvr_15^post0, i_108^0'=i_108^post0, __disjvr_25^0'=__disjvr_25^post0, x_20^0'=x_20^post0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post0, a_146^0'=a_146^post0, a_247^0'=a_247^post0, temp0_15^0'=temp0_15^post0, __disjvr_1^0'=__disjvr_1^post0, length_43^0'=length_43^post0, __disjvr_2^0'=__disjvr_2^post0, rcd_102^0'=rcd_102^post0, __disjvr_12^0'=__disjvr_12^post0, ct_17^0'=ct_17^post0, x_14^0'=x_14^post0, lt_37^0'=lt_37^post0, __disjvr_7^0'=__disjvr_7^post0, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post0, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post0, __disjvr_17^0'=__disjvr_17^post0, i_44^0'=i_44^post0, __disjvr_27^0'=__disjvr_27^post0, x_28^0'=x_28^post0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post0, (0 == 0 /\ result_11^post0-temp0_15^0 == 0 /\ -x_34^post0+x_34^0 == 0 /\ __disjvr_14^0-__disjvr_14^post0 == 0 /\ -temp_49^post0+temp_49^0 == 0 /\ __disjvr_0^0-__disjvr_0^post0 == 0 /\ __disjvr_23^0-__disjvr_23^post0 == 0 /\ temp0_15^0-temp0_15^post0 == 0 /\ a_328^0-a_328^post0 == 0 /\ __disjvr_19^0-__disjvr_19^post0 == 0 /\ -__disjvr_5^post0+__disjvr_5^0 == 0 /\ -__disjvr_27^post0+__disjvr_27^0 == 0 /\ -__disjvr_12^post0+__disjvr_12^0 == 0 /\ __disjvr_24^0-__disjvr_24^post0 == 0 /\ -__disjvr_1^post0+__disjvr_1^0 == 0 /\ -x_28^post0+x_28^0 == 0 /\ len_246^0-len_246^post0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post0 == 0 /\ __disjvr_6^0-__disjvr_6^post0 == 0 /\ -__disjvr_7^post0+__disjvr_7^0 == 0 /\ head_46^0-head_46^post0 == 0 /\ temp0_45^0-temp0_45^post0 == 0 /\ -x_238^post0+x_238^0 == 0 /\ -__disjvr_26^post0+__disjvr_26^0 == 0 /\ -i_108^post0+i_108^0 == 0 /\ temp0_32^0-temp0_32^post0 == 0 /\ i_125^0-i_125^post0 == 0 /\ lt_36^0-lt_36^post0 == 0 /\ __disjvr_28^0-__disjvr_28^post0 == 0 /\ nondet_12^0-nondet_12^post0 == 0 /\ a_146^0-a_146^post0 == 0 /\ -length_43^post0+length_43^0 == 0 /\ -a_283^0 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post0+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -rcd_72^post0+rcd_72^0 == 0 /\ rcd_102^0-rcd_102^post0 == 0 /\ -__disjvr_2^post0+__disjvr_2^0 == 0 /\ a_197^0-a_197^post0 == 0 /\ -i_44^post0+i_44^0 == 0 /\ -__disjvr_8^post0+__disjvr_8^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post0+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_3^0-__disjvr_3^post0 == 0 /\ __disjvr_11^0-__disjvr_11^post0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post0+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ tmp_48^0-tmp_48^post0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -__disjvr_15^post0+__disjvr_15^0 == 0 /\ y_19^0-x_20^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post0 == 0 /\ -__disjvr_16^post0+__disjvr_16^0 == 0 /\ -__disjvr_18^post0+__disjvr_18^0 == 0 /\ -lt_37^post0+lt_37^0 == 0 /\ r_53^0-r_53^post0 == 0 /\ -r_161^post0+r_161^0 == 0 /\ -a_247^post0+a_247^0 == 0 /\ -__disjvr_10^post0+__disjvr_10^0 == 0 /\ -__disjvr_4^post0+__disjvr_4^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post0+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ a_305^0-a_305^post0 == 0 /\ -a_26^post0+a_26^0 == 0 /\ -__disjvr_17^post0+__disjvr_17^0 == 0 /\ x_177^0-x_177^post0 == 0 /\ -len_180^post0+len_180^0 == 0 /\ -__disjvr_22^post0+__disjvr_22^0 == 0 /\ a_283^0-a_283^post0 == 0 /\ -__disjvr_25^post0+__disjvr_25^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post0+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_29^post0+__disjvr_29^0 == 0 /\ -__disjvr_13^post0+__disjvr_13^0 == 0 /\ -y_19^0+x_20^0 <= 0 /\ -lt_237^post0+lt_237^0 == 0 /\ fmt_31^0-fmt_31^post0 == 0 /\ __disjvr_9^0-__disjvr_9^post0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post0+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_20^0-__disjvr_20^post0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post0+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0), cost: 1
   3: l0 -> l5 : __disjvr_0^0'=__disjvr_0^post3, a_283^0'=a_283^post3, temp0_45^0'=temp0_45^post3, __disjvr_21^0'=__disjvr_21^post3, y_19^0'=y_19^post3, __disjvr_4^0'=__disjvr_4^post3, result_11^0'=result_11^post3, __disjvr_14^0'=__disjvr_14^post3, head_46^0'=head_46^post3, __disjvr_24^0'=__disjvr_24^post3, x_177^0'=x_177^post3, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post3, __disjvr_9^0'=__disjvr_9^post3, a_197^0'=a_197^post3, t_23^0'=t_23^post3, __disjvr_19^0'=__disjvr_19^post3, len_246^0'=len_246^post3, __disjvr_29^0'=__disjvr_29^post3, x_SLAM_f_18^0'=x_SLAM_f_18^post3, r_53^0'=r_53^post3, __disjvr_11^0'=__disjvr_11^post3, a_328^0'=a_328^post3, tmp_48^0'=tmp_48^post3, lt_36^0'=lt_36^post3, __disjvr_6^0'=__disjvr_6^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, __disjvr_16^0'=__disjvr_16^post3, i_125^0'=i_125^post3, __disjvr_26^0'=__disjvr_26^post3, x_238^0'=x_238^post3, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post3, a_26^0'=a_26^post3, temp0_32^0'=temp0_32^post3, __disjvr_20^0'=__disjvr_20^post3, lt_237^0'=lt_237^post3, __disjvr_3^0'=__disjvr_3^post3, rcd_72^0'=rcd_72^post3, __disjvr_13^0'=__disjvr_13^post3, fmt_31^0'=fmt_31^post3, __disjvr_23^0'=__disjvr_23^post3, x_16^0'=x_16^post3, nondet_12^0'=nondet_12^post3, __disjvr_8^0'=__disjvr_8^post3, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post3, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post3, __disjvr_18^0'=__disjvr_18^post3, len_180^0'=len_180^post3, __disjvr_28^0'=__disjvr_28^post3, x_34^0'=x_34^post3, r_161^0'=r_161^post3, __disjvr_10^0'=__disjvr_10^post3, a_305^0'=a_305^post3, temp_49^0'=temp_49^post3, __disjvr_22^0'=__disjvr_22^post3, __disjvr_5^0'=__disjvr_5^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post3, __disjvr_15^0'=__disjvr_15^post3, i_108^0'=i_108^post3, __disjvr_25^0'=__disjvr_25^post3, x_20^0'=x_20^post3, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post3, a_146^0'=a_146^post3, a_247^0'=a_247^post3, temp0_15^0'=temp0_15^post3, __disjvr_1^0'=__disjvr_1^post3, length_43^0'=length_43^post3, __disjvr_2^0'=__disjvr_2^post3, rcd_102^0'=rcd_102^post3, __disjvr_12^0'=__disjvr_12^post3, ct_17^0'=ct_17^post3, x_14^0'=x_14^post3, lt_37^0'=lt_37^post3, __disjvr_7^0'=__disjvr_7^post3, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post3, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post3, __disjvr_17^0'=__disjvr_17^post3, i_44^0'=i_44^post3, __disjvr_27^0'=__disjvr_27^post3, x_28^0'=x_28^post3, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post3, (0 == 0 /\ r_161^0-r_161^post3 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post3+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ lt_36^0-lt_36^post3 == 0 /\ -temp0_15^post3+temp0_15^0 == 0 /\ __disjvr_0^0-__disjvr_0^post3 == 0 /\ __disjvr_23^0-__disjvr_23^post3 == 0 /\ temp0_45^0-temp0_45^post3 == 0 /\ __disjvr_26^0-__disjvr_26^post3 == 0 /\ -i_108^post3+i_108^0 == 0 /\ -__disjvr_8^post3+__disjvr_8^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post3+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -x_28^post3+x_28^0 == 0 /\ -__disjvr_6^post3+__disjvr_6^0 == 0 /\ -__disjvr_2^post3+__disjvr_2^0 == 0 /\ result_11^0-result_11^post3 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post3+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ head_46^0-head_46^post3 == 0 /\ __disjvr_19^0-__disjvr_19^post3 == 0 /\ __disjvr_9^0-__disjvr_9^post3 == 0 /\ __disjvr_22^0-__disjvr_22^post3 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post3+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ tmp_48^0-tmp_48^post3 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post3 == 0 /\ __disjvr_18^0-__disjvr_18^post3 == 0 /\ -__disjvr_12^post3+__disjvr_12^0 == 0 /\ -temp_49^post3+temp_49^0 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ -__disjvr_27^post3+__disjvr_27^0 == 0 /\ -__disjvr_1^post3+__disjvr_1^0 == 0 /\ -a_283^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post3 == 0 /\ -__disjvr_28^post3+__disjvr_28^0 == 0 /\ -__disjvr_16^post3+__disjvr_16^0 == 0 /\ -__disjvr_10^post3+__disjvr_10^0 == 0 /\ y_19^0-y_19^post3 == 0 /\ a_146^0-a_146^post3 == 0 /\ __disjvr_14^0-__disjvr_14^post3 == 0 /\ -__disjvr_25^post3+__disjvr_25^0 == 0 /\ -rcd_72^post3+rcd_72^0 == 0 /\ -__disjvr_5^post3+__disjvr_5^0 == 0 /\ -i_44^post3+i_44^0 == 0 /\ -rcd_102^post3+rcd_102^0 == 0 /\ -__disjvr_15^post3+__disjvr_15^0 == 0 /\ __disjvr_3^0-__disjvr_3^post3 == 0 /\ x_238^0-x_238^post3 == 0 /\ -a_305^post3+a_305^0 == 0 /\ x_20^0-x_20^post3 == 0 /\ -len_180^post3+len_180^0 == 0 /\ __disjvr_13^0-__disjvr_13^post3 == 0 /\ __disjvr_4^0-__disjvr_4^post3 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post3 == 0 /\ -length_43^post3+length_43^0 == 0 /\ t_23^0-t_23^post3 == 0 /\ -temp0_32^post3+temp0_32^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post3+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_7^post3+__disjvr_7^0 == 0 /\ __disjvr_21^0-__disjvr_21^post3 == 0 /\ -__disjvr_29^post3+__disjvr_29^0 == 0 /\ -a_197^post3+a_197^0 == 0 /\ a_26^0-a_26^post3 == 0 /\ -__disjvr_17^post3+__disjvr_17^0 == 0 /\ -__disjvr_24^post3+__disjvr_24^0 == 0 /\ -x_34^post3+x_34^0 == 0 /\ -len_246^post3+len_246^0 == 0 /\ -lt_37^post3+lt_37^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post3 == 0 /\ -fmt_31^post3+fmt_31^0 == 0 /\ x_177^0-x_177^post3 == 0 /\ -a_247^post3+a_247^0 == 0 /\ a_283^0-a_283^post3 == 0 /\ i_125^0-i_125^post3 == 0 /\ r_53^0-r_53^post3 == 0 /\ lt_237^0-lt_237^post3 == 0 /\ a_328^0-a_328^post3 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post3+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_11^0-__disjvr_11^post3 == 0), cost: 1
   1: l2 -> l3 : __disjvr_0^0'=__disjvr_0^post1, a_283^0'=a_283^post1, temp0_45^0'=temp0_45^post1, __disjvr_21^0'=__disjvr_21^post1, y_19^0'=y_19^post1, __disjvr_4^0'=__disjvr_4^post1, result_11^0'=result_11^post1, __disjvr_14^0'=__disjvr_14^post1, head_46^0'=head_46^post1, __disjvr_24^0'=__disjvr_24^post1, x_177^0'=x_177^post1, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post1, __disjvr_9^0'=__disjvr_9^post1, a_197^0'=a_197^post1, t_23^0'=t_23^post1, __disjvr_19^0'=__disjvr_19^post1, len_246^0'=len_246^post1, __disjvr_29^0'=__disjvr_29^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_53^0'=r_53^post1, __disjvr_11^0'=__disjvr_11^post1, a_328^0'=a_328^post1, tmp_48^0'=tmp_48^post1, lt_36^0'=lt_36^post1, __disjvr_6^0'=__disjvr_6^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, __disjvr_16^0'=__disjvr_16^post1, i_125^0'=i_125^post1, __disjvr_26^0'=__disjvr_26^post1, x_238^0'=x_238^post1, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post1, a_26^0'=a_26^post1, temp0_32^0'=temp0_32^post1, __disjvr_20^0'=__disjvr_20^post1, lt_237^0'=lt_237^post1, __disjvr_3^0'=__disjvr_3^post1, rcd_72^0'=rcd_72^post1, __disjvr_13^0'=__disjvr_13^post1, fmt_31^0'=fmt_31^post1, __disjvr_23^0'=__disjvr_23^post1, x_16^0'=x_16^post1, nondet_12^0'=nondet_12^post1, __disjvr_8^0'=__disjvr_8^post1, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post1, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post1, __disjvr_18^0'=__disjvr_18^post1, len_180^0'=len_180^post1, __disjvr_28^0'=__disjvr_28^post1, x_34^0'=x_34^post1, r_161^0'=r_161^post1, __disjvr_10^0'=__disjvr_10^post1, a_305^0'=a_305^post1, temp_49^0'=temp_49^post1, __disjvr_22^0'=__disjvr_22^post1, __disjvr_5^0'=__disjvr_5^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post1, __disjvr_15^0'=__disjvr_15^post1, i_108^0'=i_108^post1, __disjvr_25^0'=__disjvr_25^post1, x_20^0'=x_20^post1, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post1, a_146^0'=a_146^post1, a_247^0'=a_247^post1, temp0_15^0'=temp0_15^post1, __disjvr_1^0'=__disjvr_1^post1, length_43^0'=length_43^post1, __disjvr_2^0'=__disjvr_2^post1, rcd_102^0'=rcd_102^post1, __disjvr_12^0'=__disjvr_12^post1, ct_17^0'=ct_17^post1, x_14^0'=x_14^post1, lt_37^0'=lt_37^post1, __disjvr_7^0'=__disjvr_7^post1, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post1, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post1, __disjvr_17^0'=__disjvr_17^post1, i_44^0'=i_44^post1, __disjvr_27^0'=__disjvr_27^post1, x_28^0'=x_28^post1, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post1, (rcd_72^0-rcd_72^post1 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ -__disjvr_0^0+__disjvr_0^post1 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post1+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ x_238^0-x_238^post1 == 0 /\ lt_237^0-lt_237^post1 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post1+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_13^0-__disjvr_13^post1 == 0 /\ -__disjvr_17^post1+__disjvr_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post1 == 0 /\ a_26^0-a_26^post1 == 0 /\ -a_247^post1+a_247^0 == 0 /\ a_283^0-a_283^post1 == 0 /\ -temp_49^post1+temp_49^0 == 0 /\ -__disjvr_20^post1+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post1+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -ct_17^post1+ct_17^0 == 0 /\ -x_14^post1+x_14^0 == 0 /\ __disjvr_4^0-__disjvr_4^post1 == 0 /\ __disjvr_24^0-__disjvr_24^post1 == 0 /\ i_125^0-i_125^post1 == 0 /\ a_328^0-a_328^post1 == 0 /\ -temp0_15^post1+temp0_15^0 == 0 /\ -t_23^post1+t_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post1 == 0 /\ x_177^0-x_177^post1 == 0 /\ -__disjvr_3^post1+__disjvr_3^0 == 0 /\ -__disjvr_2^post1+__disjvr_2^0 == 0 /\ __disjvr_12^0-__disjvr_12^post1 == 0 /\ -__disjvr_8^post1+__disjvr_8^0 == 0 /\ length_43^0-length_43^post1 == 0 /\ -__disjvr_5^post1+__disjvr_5^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post1+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_20^post1+x_20^0 == 0 /\ -x_16^post1+x_16^0 == 0 /\ -a_146^post1+a_146^0 == 0 /\ lt_36^0-lt_36^post1 == 0 /\ -__disjvr_27^post1+__disjvr_27^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post1 == 0 /\ -temp0_32^post1+temp0_32^0 == 0 /\ __disjvr_11^0-__disjvr_11^post1 == 0 /\ -__disjvr_7^post1+__disjvr_7^0 == 0 /\ __disjvr_16^0-__disjvr_16^post1 == 0 /\ -__disjvr_28^post1+__disjvr_28^0 == 0 /\ -__disjvr_26^post1+__disjvr_26^0 == 0 /\ -__disjvr_10^post1+__disjvr_10^0 == 0 /\ result_11^0-result_11^post1 == 0 /\ temp0_45^0-temp0_45^post1 == 0 /\ -__disjvr_1^post1+__disjvr_1^0 == 0 /\ r_53^0-r_53^post1 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post1+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ -x_28^post1+x_28^0 == 0 /\ -rcd_102^post1+rcd_102^0 == 0 /\ y_19^0-y_19^post1 == 0 /\ lt_37^0-lt_37^post1 == 0 /\ a_305^0-a_305^post1 == 0 /\ -x_SLAM_f_18^post1+x_SLAM_f_18^0 == 0 /\ -r_161^post1+r_161^0 == 0 /\ __disjvr_19^0-__disjvr_19^post1 == 0 /\ -len_180^post1+len_180^0 == 0 /\ __disjvr_9^0-__disjvr_9^post1 == 0 /\ __disjvr_23^0-__disjvr_23^post1 == 0 /\ i_108^0-i_108^post1 == 0 /\ len_246^0-len_246^post1 == 0 /\ tmp_48^0-tmp_48^post1 == 0 /\ head_46^0-head_46^post1 == 0 /\ -i_44^post1+i_44^0 == 0 /\ -__disjvr_15^post1+__disjvr_15^0 == 0 /\ __disjvr_21^0-__disjvr_21^post1 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_18^0-__disjvr_18^post1 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post1+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -x_34^post1+x_34^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post1+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_29^0-__disjvr_29^post1 == 0 /\ -fmt_31^post1+fmt_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post1 == 0 /\ a_197^0-a_197^post1 == 0 /\ __disjvr_6^0-__disjvr_6^post1 == 0 /\ -__disjvr_22^post1+__disjvr_22^0 == 0), cost: 1
   2: l3 -> l1 : __disjvr_0^0'=__disjvr_0^post2, a_283^0'=a_283^post2, temp0_45^0'=temp0_45^post2, __disjvr_21^0'=__disjvr_21^post2, y_19^0'=y_19^post2, __disjvr_4^0'=__disjvr_4^post2, result_11^0'=result_11^post2, __disjvr_14^0'=__disjvr_14^post2, head_46^0'=head_46^post2, __disjvr_24^0'=__disjvr_24^post2, x_177^0'=x_177^post2, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post2, __disjvr_9^0'=__disjvr_9^post2, a_197^0'=a_197^post2, t_23^0'=t_23^post2, __disjvr_19^0'=__disjvr_19^post2, len_246^0'=len_246^post2, __disjvr_29^0'=__disjvr_29^post2, x_SLAM_f_18^0'=x_SLAM_f_18^post2, r_53^0'=r_53^post2, __disjvr_11^0'=__disjvr_11^post2, a_328^0'=a_328^post2, tmp_48^0'=tmp_48^post2, lt_36^0'=lt_36^post2, __disjvr_6^0'=__disjvr_6^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, __disjvr_16^0'=__disjvr_16^post2, i_125^0'=i_125^post2, __disjvr_26^0'=__disjvr_26^post2, x_238^0'=x_238^post2, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post2, a_26^0'=a_26^post2, temp0_32^0'=temp0_32^post2, __disjvr_20^0'=__disjvr_20^post2, lt_237^0'=lt_237^post2, __disjvr_3^0'=__disjvr_3^post2, rcd_72^0'=rcd_72^post2, __disjvr_13^0'=__disjvr_13^post2, fmt_31^0'=fmt_31^post2, __disjvr_23^0'=__disjvr_23^post2, x_16^0'=x_16^post2, nondet_12^0'=nondet_12^post2, __disjvr_8^0'=__disjvr_8^post2, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post2, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post2, __disjvr_18^0'=__disjvr_18^post2, len_180^0'=len_180^post2, __disjvr_28^0'=__disjvr_28^post2, x_34^0'=x_34^post2, r_161^0'=r_161^post2, __disjvr_10^0'=__disjvr_10^post2, a_305^0'=a_305^post2, temp_49^0'=temp_49^post2, __disjvr_22^0'=__disjvr_22^post2, __disjvr_5^0'=__disjvr_5^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post2, __disjvr_15^0'=__disjvr_15^post2, i_108^0'=i_108^post2, __disjvr_25^0'=__disjvr_25^post2, x_20^0'=x_20^post2, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post2, a_146^0'=a_146^post2, a_247^0'=a_247^post2, temp0_15^0'=temp0_15^post2, __disjvr_1^0'=__disjvr_1^post2, length_43^0'=length_43^post2, __disjvr_2^0'=__disjvr_2^post2, rcd_102^0'=rcd_102^post2, __disjvr_12^0'=__disjvr_12^post2, ct_17^0'=ct_17^post2, x_14^0'=x_14^post2, lt_37^0'=lt_37^post2, __disjvr_7^0'=__disjvr_7^post2, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post2, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post2, __disjvr_17^0'=__disjvr_17^post2, i_44^0'=i_44^post2, __disjvr_27^0'=__disjvr_27^post2, x_28^0'=x_28^post2, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post2, (result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post2 == 0 /\ __disjvr_24^0-__disjvr_24^post2 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ -ct_17^post2+ct_17^0 == 0 /\ -a_328^post2+a_328^0 == 0 /\ temp_49^0-temp_49^post2 == 0 /\ -i_44^post2+i_44^0 == 0 /\ __disjvr_10^0-__disjvr_10^post2 == 0 /\ -lt_237^post2+lt_237^0 == 0 /\ x_34^0-x_34^post2 == 0 /\ rcd_72^0-rcd_72^post2 == 0 /\ len_246^0-len_246^post2 == 0 /\ -x_14^post2+x_14^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post2+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -__disjvr_15^post2+__disjvr_15^0 == 0 /\ -lt_36^post2+lt_36^0 == 0 /\ temp0_32^0-temp0_32^post2 == 0 /\ -__disjvr_2^post2+__disjvr_2^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post2+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ head_46^0-head_46^post2 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 == 0 /\ __disjvr_26^0-__disjvr_26^post2 == 0 /\ __disjvr_4^0-__disjvr_4^post2 == 0 /\ __disjvr_19^0-__disjvr_19^post2 == 0 /\ a_283^0-a_283^post2 == 0 /\ -__disjvr_13^post2+__disjvr_13^0 == 0 /\ tmp_48^0-tmp_48^post2 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post2 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post2 == 0 /\ -__disjvr_20^post2+__disjvr_20^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post2 == 0 /\ __disjvr_28^0-__disjvr_28^post2 == 0 /\ -__disjvr_17^post2+__disjvr_17^0 == 0 /\ a_247^0-a_247^post2 == 0 /\ a_197^0-a_197^post2 == 0 /\ -a_305^post2+a_305^0 == 0 /\ -temp0_15^post2+temp0_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post2 == 0 /\ -__disjvr_25^post2+__disjvr_25^0 == 0 /\ -a_146^post2+a_146^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -__disjvr_18^post2+__disjvr_18^0 == 0 /\ -__disjvr_29^post2+__disjvr_29^0 == 0 /\ -__disjvr_5^post2+__disjvr_5^0 == 0 /\ -__disjvr_27^post2+__disjvr_27^0 == 0 /\ -x_16^post2+x_16^0 == 0 /\ -rcd_102^post2+rcd_102^0 == 0 /\ x_238^0-x_238^post2 == 0 /\ __disjvr_16^0-__disjvr_16^post2 == 0 /\ result_11^0-result_11^post2 == 0 /\ -r_161^post2+r_161^0 == 0 /\ __disjvr_23^0-__disjvr_23^post2 == 0 /\ y_19^0-y_19^post2 == 0 /\ t_23^0-t_23^post2 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post2+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post2+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -len_180^post2+len_180^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post2 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_26^0-a_26^post2 == 0 /\ x_20^0-x_20^post2 == 0 /\ __disjvr_9^0-__disjvr_9^post2 == 0 /\ -__disjvr_1^post2+__disjvr_1^0 == 0 /\ temp0_45^0-temp0_45^post2 == 0 /\ __disjvr_7^0-__disjvr_7^post2 == 0 /\ -lt_37^post2+lt_37^0 == 0 /\ -i_125^post2+i_125^0 == 0 /\ x_177^0-x_177^post2 == 0 /\ -x_28^post2+x_28^0 == 0 /\ __disjvr_3^0-__disjvr_3^post2 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ fmt_31^0-fmt_31^post2 == 0 /\ -length_43^post2+length_43^0 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post2 == 0 /\ -i_108^post2+i_108^0 == 0 /\ __disjvr_14^0-__disjvr_14^post2 == 0 /\ __disjvr_11^0-__disjvr_11^post2 == 0 /\ r_53^0-r_53^post2 == 0 /\ -__disjvr_22^post2+__disjvr_22^0 == 0), cost: 1
   4: l5 -> l6 : __disjvr_0^0'=__disjvr_0^post4, a_283^0'=a_283^post4, temp0_45^0'=temp0_45^post4, __disjvr_21^0'=__disjvr_21^post4, y_19^0'=y_19^post4, __disjvr_4^0'=__disjvr_4^post4, result_11^0'=result_11^post4, __disjvr_14^0'=__disjvr_14^post4, head_46^0'=head_46^post4, __disjvr_24^0'=__disjvr_24^post4, x_177^0'=x_177^post4, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post4, __disjvr_9^0'=__disjvr_9^post4, a_197^0'=a_197^post4, t_23^0'=t_23^post4, __disjvr_19^0'=__disjvr_19^post4, len_246^0'=len_246^post4, __disjvr_29^0'=__disjvr_29^post4, x_SLAM_f_18^0'=x_SLAM_f_18^post4, r_53^0'=r_53^post4, __disjvr_11^0'=__disjvr_11^post4, a_328^0'=a_328^post4, tmp_48^0'=tmp_48^post4, lt_36^0'=lt_36^post4, __disjvr_6^0'=__disjvr_6^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, __disjvr_16^0'=__disjvr_16^post4, i_125^0'=i_125^post4, __disjvr_26^0'=__disjvr_26^post4, x_238^0'=x_238^post4, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post4, a_26^0'=a_26^post4, temp0_32^0'=temp0_32^post4, __disjvr_20^0'=__disjvr_20^post4, lt_237^0'=lt_237^post4, __disjvr_3^0'=__disjvr_3^post4, rcd_72^0'=rcd_72^post4, __disjvr_13^0'=__disjvr_13^post4, fmt_31^0'=fmt_31^post4, __disjvr_23^0'=__disjvr_23^post4, x_16^0'=x_16^post4, nondet_12^0'=nondet_12^post4, __disjvr_8^0'=__disjvr_8^post4, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post4, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post4, __disjvr_18^0'=__disjvr_18^post4, len_180^0'=len_180^post4, __disjvr_28^0'=__disjvr_28^post4, x_34^0'=x_34^post4, r_161^0'=r_161^post4, __disjvr_10^0'=__disjvr_10^post4, a_305^0'=a_305^post4, temp_49^0'=temp_49^post4, __disjvr_22^0'=__disjvr_22^post4, __disjvr_5^0'=__disjvr_5^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post4, __disjvr_15^0'=__disjvr_15^post4, i_108^0'=i_108^post4, __disjvr_25^0'=__disjvr_25^post4, x_20^0'=x_20^post4, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post4, a_146^0'=a_146^post4, a_247^0'=a_247^post4, temp0_15^0'=temp0_15^post4, __disjvr_1^0'=__disjvr_1^post4, length_43^0'=length_43^post4, __disjvr_2^0'=__disjvr_2^post4, rcd_102^0'=rcd_102^post4, __disjvr_12^0'=__disjvr_12^post4, ct_17^0'=ct_17^post4, x_14^0'=x_14^post4, lt_37^0'=lt_37^post4, __disjvr_7^0'=__disjvr_7^post4, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post4, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post4, __disjvr_17^0'=__disjvr_17^post4, i_44^0'=i_44^post4, __disjvr_27^0'=__disjvr_27^post4, x_28^0'=x_28^post4, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post4, (-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post4+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -i_108^post4+i_108^0 == 0 /\ __disjvr_13^0-__disjvr_13^post4 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ __disjvr_22^0-__disjvr_22^post4 == 0 /\ -x_16^post4+x_16^0 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ -__disjvr_16^post4+__disjvr_16^0 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ -fmt_31^post4+fmt_31^0 == 0 /\ -x_28^post4+x_28^0 == 0 /\ -__disjvr_12^post4+__disjvr_12^0 == 0 /\ __disjvr_1^post4-__disjvr_1^0 == 0 /\ -__disjvr_28^post4+__disjvr_28^0 == 0 /\ a_26^0-a_26^post4 == 0 /\ __disjvr_6^0-__disjvr_6^post4 == 0 /\ -temp0_15^post4+temp0_15^0 == 0 /\ temp0_45^0-temp0_45^post4 == 0 /\ ct_17^0-ct_17^post4 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post4+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -__disjvr_23^post4+__disjvr_23^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post4+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_11^0-__disjvr_11^post4 == 0 /\ -len_180^post4+len_180^0 == 0 /\ -r_53^post4+r_53^0 == 0 /\ len_246^0-len_246^post4 == 0 /\ x_177^0-x_177^post4 == 0 /\ -rcd_102^post4+rcd_102^0 == 0 /\ -r_161^post4+r_161^0 == 0 /\ i_125^0-i_125^post4 == 0 /\ a_328^0-a_328^post4 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ __disjvr_24^0-__disjvr_24^post4 == 0 /\ __disjvr_18^0-__disjvr_18^post4 == 0 /\ -__disjvr_1^post4+__disjvr_1^0 == 0 /\ lt_237^0-lt_237^post4 == 0 /\ -__disjvr_20^post4+__disjvr_20^0 == 0 /\ -i_44^post4+i_44^0 == 0 /\ y_19^0-y_19^post4 == 0 /\ -x_14^post4+x_14^0 == 0 /\ -t_23^post4+t_23^0 == 0 /\ -x_34^post4+x_34^0 == 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ -__disjvr_27^post4+__disjvr_27^0 == 0 /\ __disjvr_19^0-__disjvr_19^post4 == 0 /\ -temp_49^post4+temp_49^0 == 0 /\ -length_43^post4+length_43^0 == 0 /\ -__disjvr_5^post4+__disjvr_5^0 == 0 /\ __disjvr_29^0-__disjvr_29^post4 == 0 /\ __disjvr_26^0-__disjvr_26^post4 == 0 /\ temp0_32^0-temp0_32^post4 == 0 /\ head_46^0-head_46^post4 == 0 /\ __disjvr_21^0-__disjvr_21^post4 == 0 /\ lt_36^0-lt_36^post4 == 0 /\ rcd_72^0-rcd_72^post4 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post4+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ -x_20^post4+x_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post4 == 0 /\ __disjvr_25^0-__disjvr_25^post4 == 0 /\ a_283^0-a_283^post4 == 0 /\ tmp_48^0-tmp_48^post4 == 0 /\ -a_146^post4+a_146^0 == 0 /\ a_197^0-a_197^post4 == 0 /\ -a_305^post4+a_305^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -lt_37^post4+lt_37^0 == 0 /\ -__disjvr_3^post4+__disjvr_3^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post4 == 0 /\ -a_247^post4+a_247^0 == 0 /\ __disjvr_4^0-__disjvr_4^post4 == 0 /\ -x_SLAM_f_18^post4+x_SLAM_f_18^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post4+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ x_238^0-x_238^post4 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post4 == 0 /\ __disjvr_15^0-__disjvr_15^post4 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0), cost: 1
   5: l6 -> l7 : __disjvr_0^0'=__disjvr_0^post5, a_283^0'=a_283^post5, temp0_45^0'=temp0_45^post5, __disjvr_21^0'=__disjvr_21^post5, y_19^0'=y_19^post5, __disjvr_4^0'=__disjvr_4^post5, result_11^0'=result_11^post5, __disjvr_14^0'=__disjvr_14^post5, head_46^0'=head_46^post5, __disjvr_24^0'=__disjvr_24^post5, x_177^0'=x_177^post5, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post5, __disjvr_9^0'=__disjvr_9^post5, a_197^0'=a_197^post5, t_23^0'=t_23^post5, __disjvr_19^0'=__disjvr_19^post5, len_246^0'=len_246^post5, __disjvr_29^0'=__disjvr_29^post5, x_SLAM_f_18^0'=x_SLAM_f_18^post5, r_53^0'=r_53^post5, __disjvr_11^0'=__disjvr_11^post5, a_328^0'=a_328^post5, tmp_48^0'=tmp_48^post5, lt_36^0'=lt_36^post5, __disjvr_6^0'=__disjvr_6^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, __disjvr_16^0'=__disjvr_16^post5, i_125^0'=i_125^post5, __disjvr_26^0'=__disjvr_26^post5, x_238^0'=x_238^post5, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post5, a_26^0'=a_26^post5, temp0_32^0'=temp0_32^post5, __disjvr_20^0'=__disjvr_20^post5, lt_237^0'=lt_237^post5, __disjvr_3^0'=__disjvr_3^post5, rcd_72^0'=rcd_72^post5, __disjvr_13^0'=__disjvr_13^post5, fmt_31^0'=fmt_31^post5, __disjvr_23^0'=__disjvr_23^post5, x_16^0'=x_16^post5, nondet_12^0'=nondet_12^post5, __disjvr_8^0'=__disjvr_8^post5, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post5, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post5, __disjvr_18^0'=__disjvr_18^post5, len_180^0'=len_180^post5, __disjvr_28^0'=__disjvr_28^post5, x_34^0'=x_34^post5, r_161^0'=r_161^post5, __disjvr_10^0'=__disjvr_10^post5, a_305^0'=a_305^post5, temp_49^0'=temp_49^post5, __disjvr_22^0'=__disjvr_22^post5, __disjvr_5^0'=__disjvr_5^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post5, __disjvr_15^0'=__disjvr_15^post5, i_108^0'=i_108^post5, __disjvr_25^0'=__disjvr_25^post5, x_20^0'=x_20^post5, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post5, a_146^0'=a_146^post5, a_247^0'=a_247^post5, temp0_15^0'=temp0_15^post5, __disjvr_1^0'=__disjvr_1^post5, length_43^0'=length_43^post5, __disjvr_2^0'=__disjvr_2^post5, rcd_102^0'=rcd_102^post5, __disjvr_12^0'=__disjvr_12^post5, ct_17^0'=ct_17^post5, x_14^0'=x_14^post5, lt_37^0'=lt_37^post5, __disjvr_7^0'=__disjvr_7^post5, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post5, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post5, __disjvr_17^0'=__disjvr_17^post5, i_44^0'=i_44^post5, __disjvr_27^0'=__disjvr_27^post5, x_28^0'=x_28^post5, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post5, (-i_108^post5+i_108^0 == 0 /\ i_125^0-i_125^post5 == 0 /\ -__disjvr_28^post5+__disjvr_28^0 == 0 /\ -x_28^post5+x_28^0 == 0 /\ y_19^0 <= 0 /\ -__disjvr_10^post5+__disjvr_10^0 == 0 /\ length_43^0-length_43^post5 == 0 /\ a_247^0-a_247^post5 == 0 /\ -fmt_31^post5+fmt_31^0 == 0 /\ __disjvr_21^0-__disjvr_21^post5 == 0 /\ -rcd_102^post5+rcd_102^0 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ -lt_37^post5+lt_37^0 == 0 /\ x_16^0-x_14^0 <= 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post5 == 0 /\ x_177^0-x_177^post5 == 0 /\ __disjvr_16^0-__disjvr_16^post5 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post5 == 0 /\ a_197^0-a_197^post5 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ rcd_72^0-rcd_72^post5 == 0 /\ __disjvr_6^0-__disjvr_6^post5 == 0 /\ -__disjvr_26^post5+__disjvr_26^0 == 0 /\ -temp0_15^post5+temp0_15^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post5+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -y_19^0 <= 0 /\ r_53^0-r_53^post5 == 0 /\ result_11^0-result_11^post5 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post5+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -i_44^post5+i_44^0 == 0 /\ __disjvr_2^0-__disjvr_2^post5 == 0 /\ -__disjvr_15^post5+__disjvr_15^0 == 0 /\ a_26^0-a_26^post5 == 0 /\ lt_237^0-lt_237^post5 == 0 /\ a_283^0-a_283^post5 == 0 /\ -r_161^post5+r_161^0 == 0 /\ __disjvr_4^0-__disjvr_4^post5 == 0 /\ y_19^0-ct_17^0 <= 0 /\ -x_34^post5+x_34^0 == 0 /\ -x_16^0+x_14^0 <= 0 /\ len_180^0-len_180^post5 == 0 /\ __disjvr_23^0-__disjvr_23^post5 == 0 /\ -__disjvr_22^post5+__disjvr_22^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post5+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -__disjvr_1^post5+__disjvr_1^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post5+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ len_246^0-len_246^post5 == 0 /\ -x_14^post5+x_14^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post5+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ temp0_32^0-temp0_32^post5 == 0 /\ head_46^0-head_46^post5 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ __disjvr_29^0-__disjvr_29^post5 == 0 /\ -lt_36^post5+lt_36^0 == 0 /\ -__disjvr_13^post5+__disjvr_13^0 == 0 /\ __disjvr_18^0-__disjvr_18^post5 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ t_23^post5-x_20^0 == 0 /\ -__disjvr_20^post5+__disjvr_20^0 == 0 /\ __disjvr_25^0-__disjvr_25^post5 == 0 /\ temp0_45^0-temp0_45^post5 == 0 /\ -temp_49^post5+temp_49^0 == 0 /\ -x_SLAM_f_18^0+x_14^0 <= 0 /\ -ct_17^post5+ct_17^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post5 == 0 /\ -x_20^post5+x_20^0 == 0 /\ __disjvr_17^0-__disjvr_17^post5 == 0 /\ y_19^0-y_19^post5 == 0 /\ -__disjvr_8^post5+__disjvr_8^0 == 0 /\ -a_328^post5+a_328^0 == 0 /\ x_238^0-x_238^post5 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post5+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_16^post5+x_16^0 == 0 /\ __disjvr_14^0-__disjvr_14^post5 == 0 /\ __disjvr_9^0-__disjvr_9^post5 == 0 /\ -__disjvr_5^post5+__disjvr_5^0 == 0 /\ ct_17^0 <= 0 /\ -ct_17^0 <= 0 /\ __disjvr_3^0-__disjvr_3^post5 == 0 /\ -__disjvr_27^post5+__disjvr_27^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post5+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ __disjvr_19^0-__disjvr_19^post5 == 0 /\ a_305^0-a_305^post5 == 0 /\ tmp_48^0-tmp_48^post5 == 0 /\ -a_146^post5+a_146^0 == 0 /\ -__disjvr_7^post5+__disjvr_7^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post5 == 0 /\ x_SLAM_f_18^0-x_14^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post5 == 0), cost: 1
   6: l7 -> l8 : __disjvr_0^0'=__disjvr_0^post6, a_283^0'=a_283^post6, temp0_45^0'=temp0_45^post6, __disjvr_21^0'=__disjvr_21^post6, y_19^0'=y_19^post6, __disjvr_4^0'=__disjvr_4^post6, result_11^0'=result_11^post6, __disjvr_14^0'=__disjvr_14^post6, head_46^0'=head_46^post6, __disjvr_24^0'=__disjvr_24^post6, x_177^0'=x_177^post6, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post6, __disjvr_9^0'=__disjvr_9^post6, a_197^0'=a_197^post6, t_23^0'=t_23^post6, __disjvr_19^0'=__disjvr_19^post6, len_246^0'=len_246^post6, __disjvr_29^0'=__disjvr_29^post6, x_SLAM_f_18^0'=x_SLAM_f_18^post6, r_53^0'=r_53^post6, __disjvr_11^0'=__disjvr_11^post6, a_328^0'=a_328^post6, tmp_48^0'=tmp_48^post6, lt_36^0'=lt_36^post6, __disjvr_6^0'=__disjvr_6^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, __disjvr_16^0'=__disjvr_16^post6, i_125^0'=i_125^post6, __disjvr_26^0'=__disjvr_26^post6, x_238^0'=x_238^post6, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post6, a_26^0'=a_26^post6, temp0_32^0'=temp0_32^post6, __disjvr_20^0'=__disjvr_20^post6, lt_237^0'=lt_237^post6, __disjvr_3^0'=__disjvr_3^post6, rcd_72^0'=rcd_72^post6, __disjvr_13^0'=__disjvr_13^post6, fmt_31^0'=fmt_31^post6, __disjvr_23^0'=__disjvr_23^post6, x_16^0'=x_16^post6, nondet_12^0'=nondet_12^post6, __disjvr_8^0'=__disjvr_8^post6, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post6, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post6, __disjvr_18^0'=__disjvr_18^post6, len_180^0'=len_180^post6, __disjvr_28^0'=__disjvr_28^post6, x_34^0'=x_34^post6, r_161^0'=r_161^post6, __disjvr_10^0'=__disjvr_10^post6, a_305^0'=a_305^post6, temp_49^0'=temp_49^post6, __disjvr_22^0'=__disjvr_22^post6, __disjvr_5^0'=__disjvr_5^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post6, __disjvr_15^0'=__disjvr_15^post6, i_108^0'=i_108^post6, __disjvr_25^0'=__disjvr_25^post6, x_20^0'=x_20^post6, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post6, a_146^0'=a_146^post6, a_247^0'=a_247^post6, temp0_15^0'=temp0_15^post6, __disjvr_1^0'=__disjvr_1^post6, length_43^0'=length_43^post6, __disjvr_2^0'=__disjvr_2^post6, rcd_102^0'=rcd_102^post6, __disjvr_12^0'=__disjvr_12^post6, ct_17^0'=ct_17^post6, x_14^0'=x_14^post6, lt_37^0'=lt_37^post6, __disjvr_7^0'=__disjvr_7^post6, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post6, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post6, __disjvr_17^0'=__disjvr_17^post6, i_44^0'=i_44^post6, __disjvr_27^0'=__disjvr_27^post6, x_28^0'=x_28^post6, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post6, (-rcd_102^post6+rcd_102^0 == 0 /\ __disjvr_28^0-__disjvr_28^post6 == 0 /\ __disjvr_26^0-__disjvr_26^post6 == 0 /\ -__disjvr_16^post6+__disjvr_16^0 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0 /\ a_328^0-a_328^post6 == 0 /\ -__disjvr_12^post6+__disjvr_12^0 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ a_146^0-a_146^post6 == 0 /\ nondet_12^0-nondet_12^post6 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post6 == 0 /\ -tmp_48^post6+tmp_48^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post6+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -len_180^post6+len_180^0 == 0 /\ temp0_15^0-temp0_15^post6 == 0 /\ lt_36^0-lt_36^post6 == 0 /\ -r_161^post6+r_161^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post6+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ x_238^0-x_238^post6 == 0 /\ -x_28^post6+x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post6 == 0 /\ -i_125^post6+i_125^0 == 0 /\ result_11^0-result_11^post6 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post6 == 0 /\ -lt_37^post6+lt_37^0 == 0 /\ -a_26^post6+a_26^0 == 0 /\ x_20^0-x_20^post6 == 0 /\ -i_108^post6+i_108^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post6 == 0 /\ -length_43^post6+length_43^0 == 0 /\ __disjvr_23^0-__disjvr_23^post6 == 0 /\ temp0_32^0-temp0_32^post6 == 0 /\ a_283^0-a_283^post6 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 == 0 /\ __disjvr_4^0-__disjvr_4^post6 == 0 /\ __disjvr_3^0-__disjvr_3^post6 == 0 /\ -ct_17^post6+ct_17^0 == 0 /\ x_177^0-x_177^post6 == 0 /\ -__disjvr_8^post6+__disjvr_8^0 == 0 /\ -lt_237^post6+lt_237^0 == 0 /\ __disjvr_22^0-__disjvr_22^post6 == 0 /\ fmt_31^0-fmt_31^post6 == 0 /\ __disjvr_2^post6-__disjvr_2^0 == 0 /\ -a_247^post6+a_247^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post6+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -rcd_72^post6+rcd_72^0 == 0 /\ -y_19^post6+y_19^0 == 0 /\ __disjvr_20^0-__disjvr_20^post6 == 0 /\ -i_44^post6+i_44^0 == 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ -x_14^post6+x_14^0 == 0 /\ -__disjvr_19^post6+__disjvr_19^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post6+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post6 == 0 /\ -temp_49^post6+temp_49^0 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ r_53^0-r_53^post6 == 0 /\ a_197^0-a_197^post6 == 0 /\ __disjvr_11^0-__disjvr_11^post6 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ x_34^0-x_34^post6 == 0 /\ -__disjvr_2^post6+__disjvr_2^0 == 0 /\ t_23^0-t_23^post6 == 0 /\ temp0_45^0-temp0_45^post6 == 0 /\ __disjvr_9^0-__disjvr_9^post6 == 0 /\ __disjvr_10^0-__disjvr_10^post6 == 0 /\ -__disjvr_18^post6+__disjvr_18^0 == 0 /\ -__disjvr_6^post6+__disjvr_6^0 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ -__disjvr_25^post6+__disjvr_25^0 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ -__disjvr_27^post6+__disjvr_27^0 == 0 /\ len_246^0-len_246^post6 == 0 /\ -x_16^post6+x_16^0 == 0 /\ -__disjvr_29^post6+__disjvr_29^0 == 0 /\ -__disjvr_13^post6+__disjvr_13^0 == 0 /\ -a_305^post6+a_305^0 == 0 /\ head_46^0-head_46^post6 == 0 /\ __disjvr_24^0-__disjvr_24^post6 == 0), cost: 1
   7: l8 -> l9 : __disjvr_0^0'=__disjvr_0^post7, a_283^0'=a_283^post7, temp0_45^0'=temp0_45^post7, __disjvr_21^0'=__disjvr_21^post7, y_19^0'=y_19^post7, __disjvr_4^0'=__disjvr_4^post7, result_11^0'=result_11^post7, __disjvr_14^0'=__disjvr_14^post7, head_46^0'=head_46^post7, __disjvr_24^0'=__disjvr_24^post7, x_177^0'=x_177^post7, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post7, __disjvr_9^0'=__disjvr_9^post7, a_197^0'=a_197^post7, t_23^0'=t_23^post7, __disjvr_19^0'=__disjvr_19^post7, len_246^0'=len_246^post7, __disjvr_29^0'=__disjvr_29^post7, x_SLAM_f_18^0'=x_SLAM_f_18^post7, r_53^0'=r_53^post7, __disjvr_11^0'=__disjvr_11^post7, a_328^0'=a_328^post7, tmp_48^0'=tmp_48^post7, lt_36^0'=lt_36^post7, __disjvr_6^0'=__disjvr_6^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, __disjvr_16^0'=__disjvr_16^post7, i_125^0'=i_125^post7, __disjvr_26^0'=__disjvr_26^post7, x_238^0'=x_238^post7, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post7, a_26^0'=a_26^post7, temp0_32^0'=temp0_32^post7, __disjvr_20^0'=__disjvr_20^post7, lt_237^0'=lt_237^post7, __disjvr_3^0'=__disjvr_3^post7, rcd_72^0'=rcd_72^post7, __disjvr_13^0'=__disjvr_13^post7, fmt_31^0'=fmt_31^post7, __disjvr_23^0'=__disjvr_23^post7, x_16^0'=x_16^post7, nondet_12^0'=nondet_12^post7, __disjvr_8^0'=__disjvr_8^post7, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post7, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post7, __disjvr_18^0'=__disjvr_18^post7, len_180^0'=len_180^post7, __disjvr_28^0'=__disjvr_28^post7, x_34^0'=x_34^post7, r_161^0'=r_161^post7, __disjvr_10^0'=__disjvr_10^post7, a_305^0'=a_305^post7, temp_49^0'=temp_49^post7, __disjvr_22^0'=__disjvr_22^post7, __disjvr_5^0'=__disjvr_5^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post7, __disjvr_15^0'=__disjvr_15^post7, i_108^0'=i_108^post7, __disjvr_25^0'=__disjvr_25^post7, x_20^0'=x_20^post7, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post7, a_146^0'=a_146^post7, a_247^0'=a_247^post7, temp0_15^0'=temp0_15^post7, __disjvr_1^0'=__disjvr_1^post7, length_43^0'=length_43^post7, __disjvr_2^0'=__disjvr_2^post7, rcd_102^0'=rcd_102^post7, __disjvr_12^0'=__disjvr_12^post7, ct_17^0'=ct_17^post7, x_14^0'=x_14^post7, lt_37^0'=lt_37^post7, __disjvr_7^0'=__disjvr_7^post7, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post7, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post7, __disjvr_17^0'=__disjvr_17^post7, i_44^0'=i_44^post7, __disjvr_27^0'=__disjvr_27^post7, x_28^0'=x_28^post7, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post7, (-rcd_102^post7+rcd_102^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post7+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -temp0_32^post7+temp0_32^0 == 0 /\ a_283^0-a_283^post7 == 0 /\ __disjvr_18^0-__disjvr_18^post7 == 0 /\ -len_180^post7+len_180^0 == 0 /\ a_328^0-a_328^post7 == 0 /\ temp0_15^0-temp0_15^post7 == 0 /\ -x_SLAM_f_18^post7+x_SLAM_f_18^0 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post7 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post7+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_14^0-__disjvr_14^post7 == 0 /\ -length_43^post7+length_43^0 == 0 /\ lt_237^0-lt_237^post7 == 0 /\ __disjvr_3^0-__disjvr_3^post7 == 0 /\ lt_36^0-lt_36^post7 == 0 /\ __disjvr_16^0-__disjvr_16^post7 == 0 /\ x_238^0-x_238^post7 == 0 /\ -ct_17^post7+ct_17^0 == 0 /\ -x_34^post7+x_34^0 == 0 /\ -lt_37^post7+lt_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ -a_247^post7+a_247^0 == 0 /\ y_19^0-y_19^post7 == 0 /\ __disjvr_13^0-__disjvr_13^post7 == 0 /\ -i_108^post7+i_108^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post7 == 0 /\ __disjvr_9^0-__disjvr_9^post7 == 0 /\ temp0_45^0-temp0_45^post7 == 0 /\ -x_20^post7+x_20^0 == 0 /\ -fmt_31^post7+fmt_31^0 == 0 /\ -__disjvr_3^0+__disjvr_3^post7 == 0 /\ tmp_48^0-tmp_48^post7 == 0 /\ __disjvr_19^0-__disjvr_19^post7 == 0 /\ -i_44^post7+i_44^0 == 0 /\ -__disjvr_15^post7+__disjvr_15^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post7 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post7+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_22^post7+__disjvr_22^0 == 0 /\ -a_146^post7+a_146^0 == 0 /\ r_53^0-r_53^post7 == 0 /\ nondet_12^0-nondet_12^post7 == 0 /\ i_125^0-i_125^post7 == 0 /\ -__disjvr_6^post7+__disjvr_6^0 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ a_305^0-a_305^post7 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post7+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -__disjvr_8^post7+__disjvr_8^0 == 0 /\ -x_28^post7+x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_38^0-result_dot_printf_sdv_special_RETURN_VALUE_38^post7 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post7+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ a_197^0-a_197^post7 == 0 /\ -x_177^post7+x_177^0 == 0 /\ __disjvr_11^0-__disjvr_11^post7 == 0 /\ __disjvr_29^0-__disjvr_29^post7 == 0 /\ x_16^0-x_16^post7 == 0 /\ -__disjvr_27^post7+__disjvr_27^0 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ -__disjvr_2^post7+__disjvr_2^0 == 0 /\ -__disjvr_17^post7+__disjvr_17^0 == 0 /\ -temp_49^post7+temp_49^0 == 0 /\ t_23^0-t_23^post7 == 0 /\ -__disjvr_1^post7+__disjvr_1^0 == 0 /\ r_161^0-r_161^post7 == 0 /\ __disjvr_26^0-__disjvr_26^post7 == 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ -__disjvr_25^post7+__disjvr_25^0 == 0 /\ a_26^0-a_26^post7 == 0 /\ -__disjvr_10^post7+__disjvr_10^0 == 0 /\ len_246^0-len_246^post7 == 0 /\ __disjvr_4^0-__disjvr_4^post7 == 0 /\ -rcd_72^post7+rcd_72^0 == 0 /\ -__disjvr_23^post7+__disjvr_23^0 == 0 /\ head_46^0-head_46^post7 == 0 /\ result_11^0-result_11^post7 == 0 /\ -x_14^post7+x_14^0 == 0 /\ -__disjvr_5^post7+__disjvr_5^0 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0), cost: 1
   8: l9 -> l10 : __disjvr_0^0'=__disjvr_0^post8, a_283^0'=a_283^post8, temp0_45^0'=temp0_45^post8, __disjvr_21^0'=__disjvr_21^post8, y_19^0'=y_19^post8, __disjvr_4^0'=__disjvr_4^post8, result_11^0'=result_11^post8, __disjvr_14^0'=__disjvr_14^post8, head_46^0'=head_46^post8, __disjvr_24^0'=__disjvr_24^post8, x_177^0'=x_177^post8, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post8, __disjvr_9^0'=__disjvr_9^post8, a_197^0'=a_197^post8, t_23^0'=t_23^post8, __disjvr_19^0'=__disjvr_19^post8, len_246^0'=len_246^post8, __disjvr_29^0'=__disjvr_29^post8, x_SLAM_f_18^0'=x_SLAM_f_18^post8, r_53^0'=r_53^post8, __disjvr_11^0'=__disjvr_11^post8, a_328^0'=a_328^post8, tmp_48^0'=tmp_48^post8, lt_36^0'=lt_36^post8, __disjvr_6^0'=__disjvr_6^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, __disjvr_16^0'=__disjvr_16^post8, i_125^0'=i_125^post8, __disjvr_26^0'=__disjvr_26^post8, x_238^0'=x_238^post8, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post8, a_26^0'=a_26^post8, temp0_32^0'=temp0_32^post8, __disjvr_20^0'=__disjvr_20^post8, lt_237^0'=lt_237^post8, __disjvr_3^0'=__disjvr_3^post8, rcd_72^0'=rcd_72^post8, __disjvr_13^0'=__disjvr_13^post8, fmt_31^0'=fmt_31^post8, __disjvr_23^0'=__disjvr_23^post8, x_16^0'=x_16^post8, nondet_12^0'=nondet_12^post8, __disjvr_8^0'=__disjvr_8^post8, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post8, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post8, __disjvr_18^0'=__disjvr_18^post8, len_180^0'=len_180^post8, __disjvr_28^0'=__disjvr_28^post8, x_34^0'=x_34^post8, r_161^0'=r_161^post8, __disjvr_10^0'=__disjvr_10^post8, a_305^0'=a_305^post8, temp_49^0'=temp_49^post8, __disjvr_22^0'=__disjvr_22^post8, __disjvr_5^0'=__disjvr_5^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post8, __disjvr_15^0'=__disjvr_15^post8, i_108^0'=i_108^post8, __disjvr_25^0'=__disjvr_25^post8, x_20^0'=x_20^post8, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post8, a_146^0'=a_146^post8, a_247^0'=a_247^post8, temp0_15^0'=temp0_15^post8, __disjvr_1^0'=__disjvr_1^post8, length_43^0'=length_43^post8, __disjvr_2^0'=__disjvr_2^post8, rcd_102^0'=rcd_102^post8, __disjvr_12^0'=__disjvr_12^post8, ct_17^0'=ct_17^post8, x_14^0'=x_14^post8, lt_37^0'=lt_37^post8, __disjvr_7^0'=__disjvr_7^post8, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post8, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post8, __disjvr_17^0'=__disjvr_17^post8, i_44^0'=i_44^post8, __disjvr_27^0'=__disjvr_27^post8, x_28^0'=x_28^post8, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post8, (__disjvr_6^0-__disjvr_6^post8 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ -length_43^post8+length_43^0 == 0 /\ a_283^0-a_283^post8 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post8+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_11^0-__disjvr_11^post8 == 0 /\ tmp_48^0-tmp_48^post8 == 0 /\ -x_34^post8+x_34^0 == 0 /\ x_177^0-x_177^post8 == 0 /\ len_246^0-len_246^post8 == 0 /\ -temp_49^post8+temp_49^0 == 0 /\ -r_161^post8+r_161^0 == 0 /\ -x_14^post8+x_14^0 == 0 /\ __disjvr_24^0-__disjvr_24^post8 == 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ -ct_17^post8+ct_17^0 == 0 /\ a_197^0-a_197^post8 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post8+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -i_125^post8+i_125^0 == 0 /\ -__disjvr_7^post8+__disjvr_7^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post8 == 0 /\ __disjvr_1^0-__disjvr_1^post8 == 0 /\ -__disjvr_27^post8+__disjvr_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ __disjvr_29^0-__disjvr_29^post8 == 0 /\ -fmt_31^post8+fmt_31^0 == 0 /\ -a_146^post8+a_146^0 == 0 /\ __disjvr_26^0-__disjvr_26^post8 == 0 /\ __disjvr_16^0-__disjvr_16^post8 == 0 /\ temp0_45^0-temp0_45^post8 == 0 /\ rcd_72^0-rcd_72^post8 == 0 /\ a_26^0-a_26^post8 == 0 /\ head_46^0-head_46^post8 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post8+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -lt_37^post8+lt_37^0 == 0 /\ -nondet_12^post8+nondet_12^0 == 0 /\ -x_20^post8+x_20^0 == 0 /\ -__disjvr_3^post8+__disjvr_3^0 == 0 /\ -a_247^post8+a_247^0 == 0 /\ __disjvr_2^0-__disjvr_2^post8 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ -i_44^post8+i_44^0 == 0 /\ -a_328^post8+a_328^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post8+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post8 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post8 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post8 == 0 /\ -x_28^post8+x_28^0 == 0 /\ __disjvr_15^0-__disjvr_15^post8 == 0 /\ -__disjvr_8^post8+__disjvr_8^0 == 0 /\ t_23^0-t_23^post8 == 0 /\ -temp0_15^post8+temp0_15^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post8+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ x_238^0-x_238^post8 == 0 /\ -i_108^post8+i_108^0 == 0 /\ -__disjvr_4^post8+__disjvr_4^0 == 0 /\ lt_237^0-lt_237^post8 == 0 /\ a_305^0-a_305^post8 == 0 /\ y_19^0-y_19^post8 == 0 /\ __disjvr_23^0-__disjvr_23^post8 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post8+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -r_53^post8+r_53^0 == 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ -__disjvr_22^post8+__disjvr_22^0 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post8 == 0 /\ lt_36^0-lt_36^post8 == 0 /\ -__disjvr_10^post8+__disjvr_10^0 == 0 /\ -len_180^post8+len_180^0 == 0 /\ -__disjvr_13^post8+__disjvr_13^0 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ -__disjvr_20^post8+__disjvr_20^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ -rcd_102^post8+rcd_102^0 == 0 /\ temp0_32^0-temp0_32^post8 == 0 /\ -x_16^post8+x_16^0 == 0 /\ __disjvr_4^post8-__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0), cost: 1
   9: l10 -> l4 : __disjvr_0^0'=__disjvr_0^post9, a_283^0'=a_283^post9, temp0_45^0'=temp0_45^post9, __disjvr_21^0'=__disjvr_21^post9, y_19^0'=y_19^post9, __disjvr_4^0'=__disjvr_4^post9, result_11^0'=result_11^post9, __disjvr_14^0'=__disjvr_14^post9, head_46^0'=head_46^post9, __disjvr_24^0'=__disjvr_24^post9, x_177^0'=x_177^post9, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post9, __disjvr_9^0'=__disjvr_9^post9, a_197^0'=a_197^post9, t_23^0'=t_23^post9, __disjvr_19^0'=__disjvr_19^post9, len_246^0'=len_246^post9, __disjvr_29^0'=__disjvr_29^post9, x_SLAM_f_18^0'=x_SLAM_f_18^post9, r_53^0'=r_53^post9, __disjvr_11^0'=__disjvr_11^post9, a_328^0'=a_328^post9, tmp_48^0'=tmp_48^post9, lt_36^0'=lt_36^post9, __disjvr_6^0'=__disjvr_6^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, __disjvr_16^0'=__disjvr_16^post9, i_125^0'=i_125^post9, __disjvr_26^0'=__disjvr_26^post9, x_238^0'=x_238^post9, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post9, a_26^0'=a_26^post9, temp0_32^0'=temp0_32^post9, __disjvr_20^0'=__disjvr_20^post9, lt_237^0'=lt_237^post9, __disjvr_3^0'=__disjvr_3^post9, rcd_72^0'=rcd_72^post9, __disjvr_13^0'=__disjvr_13^post9, fmt_31^0'=fmt_31^post9, __disjvr_23^0'=__disjvr_23^post9, x_16^0'=x_16^post9, nondet_12^0'=nondet_12^post9, __disjvr_8^0'=__disjvr_8^post9, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post9, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post9, __disjvr_18^0'=__disjvr_18^post9, len_180^0'=len_180^post9, __disjvr_28^0'=__disjvr_28^post9, x_34^0'=x_34^post9, r_161^0'=r_161^post9, __disjvr_10^0'=__disjvr_10^post9, a_305^0'=a_305^post9, temp_49^0'=temp_49^post9, __disjvr_22^0'=__disjvr_22^post9, __disjvr_5^0'=__disjvr_5^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post9, __disjvr_15^0'=__disjvr_15^post9, i_108^0'=i_108^post9, __disjvr_25^0'=__disjvr_25^post9, x_20^0'=x_20^post9, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post9, a_146^0'=a_146^post9, a_247^0'=a_247^post9, temp0_15^0'=temp0_15^post9, __disjvr_1^0'=__disjvr_1^post9, length_43^0'=length_43^post9, __disjvr_2^0'=__disjvr_2^post9, rcd_102^0'=rcd_102^post9, __disjvr_12^0'=__disjvr_12^post9, ct_17^0'=ct_17^post9, x_14^0'=x_14^post9, lt_37^0'=lt_37^post9, __disjvr_7^0'=__disjvr_7^post9, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post9, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post9, __disjvr_17^0'=__disjvr_17^post9, i_44^0'=i_44^post9, __disjvr_27^0'=__disjvr_27^post9, x_28^0'=x_28^post9, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post9, (__disjvr_6^0-__disjvr_6^post9 == 0 /\ r_53^0-r_53^post9 == 0 /\ nondet_12^0-nondet_12^post9 == 0 /\ -length_43^post9+length_43^0 == 0 /\ y_19^0-y_19^post9 == 0 /\ a_197^0-a_197^post9 == 0 /\ -__disjvr_13^post9+__disjvr_13^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post9+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ __disjvr_2^0-__disjvr_2^post9 == 0 /\ result_11^0-result_11^post9 == 0 /\ -__disjvr_20^post9+__disjvr_20^0 == 0 /\ -__disjvr_27^post9+__disjvr_27^0 == 0 /\ -x_14^post9+x_14^0 == 0 /\ len_180^0-len_180^post9 == 0 /\ -ct_17^post9+ct_17^0 == 0 /\ tmp_48^0-tmp_48^post9 == 0 /\ -__disjvr_17^post9+__disjvr_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 == 0 /\ a_305^0-a_305^post9 == 0 /\ len_246^0-len_246^post9 == 0 /\ -__disjvr_25^post9+__disjvr_25^0 == 0 /\ -__disjvr_8^post9+__disjvr_8^0 == 0 /\ -a_328^post9+a_328^0 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ head_46^0-head_46^post9 == 0 /\ __disjvr_29^0-__disjvr_29^post9 == 0 /\ __disjvr_23^0-__disjvr_23^post9 == 0 /\ a_247^0-a_247^post9 == 0 /\ __disjvr_26^0-__disjvr_26^post9 == 0 /\ -lt_36^post9+lt_36^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post9+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_7^post9+__disjvr_7^0 == 0 /\ __disjvr_21^0-__disjvr_21^post9 == 0 /\ -__disjvr_18^post9+__disjvr_18^0 == 0 /\ -a_146^post9+a_146^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post9 == 0 /\ -x_28^post9+x_28^0 == 0 /\ a_26^0-a_26^post9 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post9 == 0 /\ -__disjvr_28^post9+__disjvr_28^0 == 0 /\ __disjvr_14^0-__disjvr_14^post9 == 0 /\ a_283^0-a_283^post9 == 0 /\ temp_49^0-temp_49^post9 == 0 /\ x_238^0-x_238^post9 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post9 == 0 /\ __disjvr_3^0-__disjvr_3^post9 == 0 /\ __disjvr_4^0-__disjvr_4^post9 == 0 /\ -__disjvr_12^post9+__disjvr_12^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -rcd_102^post9+rcd_102^0 == 0 /\ -temp0_15^post9+temp0_15^0 == 0 /\ -x_16^post9+x_16^0 == 0 /\ -temp0_45^post9+temp0_45^0 == 0 /\ __disjvr_24^0-__disjvr_24^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post9 == 0 /\ -__disjvr_10^post9+__disjvr_10^0 == 0 /\ t_23^0-t_23^post9 == 0 /\ -i_108^post9+i_108^0 == 0 /\ -lt_37^post9+lt_37^0 == 0 /\ __disjvr_0^0-__disjvr_0^post9 == 0 /\ -r_161^post9+r_161^0 == 0 /\ __disjvr_19^0-__disjvr_19^post9 == 0 /\ -rcd_72^post9+rcd_72^0 == 0 /\ x_20^0-x_20^post9 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp0_32^0-temp0_32^post9 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post9+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ -i_44^post9+i_44^0 == 0 /\ -__disjvr_15^post9+__disjvr_15^0 == 0 /\ -__disjvr_22^post9+__disjvr_22^0 == 0 /\ -lt_237^post9+lt_237^0 == 0 /\ __disjvr_16^0-__disjvr_16^post9 == 0 /\ -x_34^post9+x_34^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post9+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -i_125^post9+i_125^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post9+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post9+__disjvr_1^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post9+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ x_177^0-x_177^post9 == 0 /\ fmt_31^0-fmt_31^post9 == 0), cost: 1
  60: l4 -> l1 : __disjvr_0^0'=__disjvr_0^post60, a_283^0'=a_283^post60, temp0_45^0'=temp0_45^post60, __disjvr_21^0'=__disjvr_21^post60, y_19^0'=y_19^post60, __disjvr_4^0'=__disjvr_4^post60, result_11^0'=result_11^post60, __disjvr_14^0'=__disjvr_14^post60, head_46^0'=head_46^post60, __disjvr_24^0'=__disjvr_24^post60, x_177^0'=x_177^post60, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post60, __disjvr_9^0'=__disjvr_9^post60, a_197^0'=a_197^post60, t_23^0'=t_23^post60, __disjvr_19^0'=__disjvr_19^post60, len_246^0'=len_246^post60, __disjvr_29^0'=__disjvr_29^post60, x_SLAM_f_18^0'=x_SLAM_f_18^post60, r_53^0'=r_53^post60, __disjvr_11^0'=__disjvr_11^post60, a_328^0'=a_328^post60, tmp_48^0'=tmp_48^post60, lt_36^0'=lt_36^post60, __disjvr_6^0'=__disjvr_6^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, __disjvr_16^0'=__disjvr_16^post60, i_125^0'=i_125^post60, __disjvr_26^0'=__disjvr_26^post60, x_238^0'=x_238^post60, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post60, a_26^0'=a_26^post60, temp0_32^0'=temp0_32^post60, __disjvr_20^0'=__disjvr_20^post60, lt_237^0'=lt_237^post60, __disjvr_3^0'=__disjvr_3^post60, rcd_72^0'=rcd_72^post60, __disjvr_13^0'=__disjvr_13^post60, fmt_31^0'=fmt_31^post60, __disjvr_23^0'=__disjvr_23^post60, x_16^0'=x_16^post60, nondet_12^0'=nondet_12^post60, __disjvr_8^0'=__disjvr_8^post60, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post60, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post60, __disjvr_18^0'=__disjvr_18^post60, len_180^0'=len_180^post60, __disjvr_28^0'=__disjvr_28^post60, x_34^0'=x_34^post60, r_161^0'=r_161^post60, __disjvr_10^0'=__disjvr_10^post60, a_305^0'=a_305^post60, temp_49^0'=temp_49^post60, __disjvr_22^0'=__disjvr_22^post60, __disjvr_5^0'=__disjvr_5^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post60, __disjvr_15^0'=__disjvr_15^post60, i_108^0'=i_108^post60, __disjvr_25^0'=__disjvr_25^post60, x_20^0'=x_20^post60, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post60, a_146^0'=a_146^post60, a_247^0'=a_247^post60, temp0_15^0'=temp0_15^post60, __disjvr_1^0'=__disjvr_1^post60, length_43^0'=length_43^post60, __disjvr_2^0'=__disjvr_2^post60, rcd_102^0'=rcd_102^post60, __disjvr_12^0'=__disjvr_12^post60, ct_17^0'=ct_17^post60, x_14^0'=x_14^post60, lt_37^0'=lt_37^post60, __disjvr_7^0'=__disjvr_7^post60, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post60, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post60, __disjvr_17^0'=__disjvr_17^post60, i_44^0'=i_44^post60, __disjvr_27^0'=__disjvr_27^post60, x_28^0'=x_28^post60, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post60, (0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post60+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -__disjvr_1^post60+__disjvr_1^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 <= 0 /\ __disjvr_21^0-__disjvr_21^post60 == 0 /\ __disjvr_9^0-__disjvr_9^post60 == 0 /\ -x_28^post60+x_28^0 == 0 /\ -a_305^0 <= 0 /\ -__disjvr_13^post60+__disjvr_13^0 == 0 /\ -x_238^post60+x_238^0 == 0 /\ len_180^0-len_180^post60 == 0 /\ -__disjvr_20^post60+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post60+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ a_305^0-a_305^post60 == 0 /\ result_11^post60-temp0_15^0 == 0 /\ -__disjvr_12^post60+__disjvr_12^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post60 == 0 /\ __disjvr_6^0-__disjvr_6^post60 == 0 /\ -__disjvr_15^post60+__disjvr_15^0 == 0 /\ __disjvr_29^0-__disjvr_29^post60 == 0 /\ a_328^0-a_328^post60 == 0 /\ -rcd_72^post60+rcd_72^0 == 0 /\ -__disjvr_2^post60+__disjvr_2^0 == 0 /\ -i_44^post60+i_44^0 == 0 /\ x_177^0-x_177^post60 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post60+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ a_283^0-a_283^post60 == 0 /\ -__disjvr_18^post60+__disjvr_18^0 == 0 /\ -a_146^post60+a_146^0 == 0 /\ -__disjvr_27^post60+__disjvr_27^0 == 0 /\ -__disjvr_5^post60+__disjvr_5^0 == 0 /\ -__disjvr_7^post60+__disjvr_7^0 == 0 /\ __disjvr_11^0-__disjvr_11^post60 == 0 /\ -length_43^post60+length_43^0 == 0 /\ __disjvr_8^0-__disjvr_8^post60 == 0 /\ __disjvr_16^0-__disjvr_16^post60 == 0 /\ -rcd_102^post60+rcd_102^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 <= 0 /\ __disjvr_26^0-__disjvr_26^post60 == 0 /\ __disjvr_0^0-__disjvr_0^post60 == 0 /\ -x_14^post60+x_14^0 == 0 /\ -__disjvr_10^post60+__disjvr_10^0 == 0 /\ -__disjvr_17^post60+__disjvr_17^0 == 0 /\ temp_49^0-temp_49^post60 == 0 /\ y_19^0-x_20^0 <= 0 /\ -__disjvr_23^post60+__disjvr_23^0 == 0 /\ -a_247^post60+a_247^0 == 0 /\ __disjvr_19^0-__disjvr_19^post60 == 0 /\ -lt_37^post60+lt_37^0 == 0 /\ a_26^0-a_26^post60 == 0 /\ -i_108^post60+i_108^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post60 == 0 /\ -r_161^post60+r_161^0 == 0 /\ lt_36^0-lt_36^post60 == 0 /\ len_246^0-len_246^post60 == 0 /\ tmp_48^0-tmp_48^post60 == 0 /\ __disjvr_24^0-__disjvr_24^post60 == 0 /\ __disjvr_4^0-__disjvr_4^post60 == 0 /\ temp0_32^0-temp0_32^post60 == 0 /\ -temp0_15^post60+temp0_15^0 == 0 /\ fmt_31^0-fmt_31^post60 == 0 /\ -head_46^post60+head_46^0 == 0 /\ -__disjvr_3^post60+__disjvr_3^0 == 0 /\ temp0_45^0-temp0_45^post60 == 0 /\ i_125^0-i_125^post60 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post60+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post60+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_14^0-__disjvr_14^post60 == 0 /\ __disjvr_28^0-__disjvr_28^post60 == 0 /\ -y_19^0+x_20^0 <= 0 /\ -lt_237^post60+lt_237^0 == 0 /\ __disjvr_25^0-__disjvr_25^post60 == 0 /\ -x_34^post60+x_34^0 == 0 /\ nondet_12^0-nondet_12^post60 == 0 /\ -__disjvr_22^post60+__disjvr_22^0 == 0 /\ -r_53^post60+r_53^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post60+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ a_197^0-a_197^post60 == 0), cost: 1
  61: l4 -> l57 : __disjvr_0^0'=__disjvr_0^post61, a_283^0'=a_283^post61, temp0_45^0'=temp0_45^post61, __disjvr_21^0'=__disjvr_21^post61, y_19^0'=y_19^post61, __disjvr_4^0'=__disjvr_4^post61, result_11^0'=result_11^post61, __disjvr_14^0'=__disjvr_14^post61, head_46^0'=head_46^post61, __disjvr_24^0'=__disjvr_24^post61, x_177^0'=x_177^post61, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post61, __disjvr_9^0'=__disjvr_9^post61, a_197^0'=a_197^post61, t_23^0'=t_23^post61, __disjvr_19^0'=__disjvr_19^post61, len_246^0'=len_246^post61, __disjvr_29^0'=__disjvr_29^post61, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, __disjvr_11^0'=__disjvr_11^post61, a_328^0'=a_328^post61, tmp_48^0'=tmp_48^post61, lt_36^0'=lt_36^post61, __disjvr_6^0'=__disjvr_6^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, __disjvr_16^0'=__disjvr_16^post61, i_125^0'=i_125^post61, __disjvr_26^0'=__disjvr_26^post61, x_238^0'=x_238^post61, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post61, a_26^0'=a_26^post61, temp0_32^0'=temp0_32^post61, __disjvr_20^0'=__disjvr_20^post61, lt_237^0'=lt_237^post61, __disjvr_3^0'=__disjvr_3^post61, rcd_72^0'=rcd_72^post61, __disjvr_13^0'=__disjvr_13^post61, fmt_31^0'=fmt_31^post61, __disjvr_23^0'=__disjvr_23^post61, x_16^0'=x_16^post61, nondet_12^0'=nondet_12^post61, __disjvr_8^0'=__disjvr_8^post61, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post61, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post61, __disjvr_18^0'=__disjvr_18^post61, len_180^0'=len_180^post61, __disjvr_28^0'=__disjvr_28^post61, x_34^0'=x_34^post61, r_161^0'=r_161^post61, __disjvr_10^0'=__disjvr_10^post61, a_305^0'=a_305^post61, temp_49^0'=temp_49^post61, __disjvr_22^0'=__disjvr_22^post61, __disjvr_5^0'=__disjvr_5^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post61, __disjvr_15^0'=__disjvr_15^post61, i_108^0'=i_108^post61, __disjvr_25^0'=__disjvr_25^post61, x_20^0'=x_20^post61, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post61, a_146^0'=a_146^post61, a_247^0'=a_247^post61, temp0_15^0'=temp0_15^post61, __disjvr_1^0'=__disjvr_1^post61, length_43^0'=length_43^post61, __disjvr_2^0'=__disjvr_2^post61, rcd_102^0'=rcd_102^post61, __disjvr_12^0'=__disjvr_12^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, lt_37^0'=lt_37^post61, __disjvr_7^0'=__disjvr_7^post61, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post61, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post61, __disjvr_17^0'=__disjvr_17^post61, i_44^0'=i_44^post61, __disjvr_27^0'=__disjvr_27^post61, x_28^0'=x_28^post61, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post61, (0 == 0 /\ -a_146^post61+a_146^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post61 == 0 /\ __disjvr_24^0-__disjvr_24^post61 == 0 /\ -i_44^post61+i_44^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post61+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_8^post61+__disjvr_8^0 == 0 /\ -lt_237^post61+lt_237^0 == 0 /\ temp_49^0-temp_49^post61 == 0 /\ __disjvr_10^0-__disjvr_10^post61 == 0 /\ -a_305^0 <= 0 /\ -a_328^post61+a_328^0 == 0 /\ x_34^0-x_34^post61 == 0 /\ rcd_72^0-rcd_72^post61 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post61+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ len_246^0-len_246^post61 == 0 /\ -__disjvr_15^post61+__disjvr_15^0 == 0 /\ -lt_36^post61+lt_36^0 == 0 /\ head_46^0-head_46^post61 == 0 /\ __disjvr_21^0-__disjvr_21^post61 == 0 /\ __disjvr_4^0-__disjvr_4^post61 == 0 /\ __disjvr_19^0-__disjvr_19^post61 == 0 /\ __disjvr_26^0-__disjvr_26^post61 == 0 /\ temp0_32^0-temp0_32^post61 == 0 /\ -__disjvr_2^post61+__disjvr_2^0 == 0 /\ -a_247^post61+a_247^0 == 0 /\ a_283^0-a_283^post61 == 0 /\ -__disjvr_13^post61+__disjvr_13^0 == 0 /\ tmp_48^0-tmp_48^post61 == 0 /\ -__disjvr_20^post61+__disjvr_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post61 == 0 /\ -__disjvr_18^post61+__disjvr_18^0 == 0 /\ -__disjvr_27^post61+__disjvr_27^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post61 == 0 /\ -__disjvr_17^post61+__disjvr_17^0 == 0 /\ __disjvr_28^0-__disjvr_28^post61 == 0 /\ -temp0_15^post61+temp0_15^0 == 0 /\ a_197^0-a_197^post61 == 0 /\ __disjvr_6^0-__disjvr_6^post61 == 0 /\ -__disjvr_29^post61+__disjvr_29^0 == 0 /\ -a_305^post61+a_305^0 == 0 /\ __disjvr_0^0-__disjvr_0^post61 == 0 /\ -rcd_102^post61+rcd_102^0 == 0 /\ -__disjvr_5^post61+__disjvr_5^0 == 0 /\ -__disjvr_25^post61+__disjvr_25^0 == 0 /\ x_238^0-x_238^post61 == 0 /\ -r_161^post61+r_161^0 == 0 /\ __disjvr_23^0-__disjvr_23^post61 == 0 /\ __disjvr_16^0-__disjvr_16^post61 == 0 /\ y_19^0-y_19^post61 == 0 /\ t_23^0-t_23^post61 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post61+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -len_180^post61+len_180^0 == 0 /\ -__disjvr_12^post61+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post61+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post61+__disjvr_1^0 == 0 /\ a_26^0-a_26^post61 == 0 /\ __disjvr_7^0-__disjvr_7^post61 == 0 /\ x_20^0-x_20^post61 == 0 /\ temp0_45^0-temp0_45^post61 == 0 /\ __disjvr_9^0-__disjvr_9^post61 == 0 /\ __disjvr_22^0-__disjvr_22^post61 == 0 /\ -i_125^post61+i_125^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post61+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_11^0-__disjvr_11^post61 == 0 /\ -nondet_12^post61+nondet_12^0 == 0 /\ -lt_37^post61+lt_37^0 == 0 /\ __disjvr_3^0-__disjvr_3^post61 == 0 /\ -result_11^post61+result_11^0 == 0 /\ fmt_31^0-fmt_31^post61 == 0 /\ -x_28^post61+x_28^0 == 0 /\ x_177^0-x_177^post61 == 0 /\ -length_43^post61+length_43^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post61 == 0 /\ -i_108^post61+i_108^0 == 0 /\ __disjvr_14^0-__disjvr_14^post61 == 0), cost: 1
  10: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post10, a_283^0'=a_283^post10, temp0_45^0'=temp0_45^post10, __disjvr_21^0'=__disjvr_21^post10, y_19^0'=y_19^post10, __disjvr_4^0'=__disjvr_4^post10, result_11^0'=result_11^post10, __disjvr_14^0'=__disjvr_14^post10, head_46^0'=head_46^post10, __disjvr_24^0'=__disjvr_24^post10, x_177^0'=x_177^post10, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post10, __disjvr_9^0'=__disjvr_9^post10, a_197^0'=a_197^post10, t_23^0'=t_23^post10, __disjvr_19^0'=__disjvr_19^post10, len_246^0'=len_246^post10, __disjvr_29^0'=__disjvr_29^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, r_53^0'=r_53^post10, __disjvr_11^0'=__disjvr_11^post10, a_328^0'=a_328^post10, tmp_48^0'=tmp_48^post10, lt_36^0'=lt_36^post10, __disjvr_6^0'=__disjvr_6^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, __disjvr_16^0'=__disjvr_16^post10, i_125^0'=i_125^post10, __disjvr_26^0'=__disjvr_26^post10, x_238^0'=x_238^post10, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post10, a_26^0'=a_26^post10, temp0_32^0'=temp0_32^post10, __disjvr_20^0'=__disjvr_20^post10, lt_237^0'=lt_237^post10, __disjvr_3^0'=__disjvr_3^post10, rcd_72^0'=rcd_72^post10, __disjvr_13^0'=__disjvr_13^post10, fmt_31^0'=fmt_31^post10, __disjvr_23^0'=__disjvr_23^post10, x_16^0'=x_16^post10, nondet_12^0'=nondet_12^post10, __disjvr_8^0'=__disjvr_8^post10, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post10, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post10, __disjvr_18^0'=__disjvr_18^post10, len_180^0'=len_180^post10, __disjvr_28^0'=__disjvr_28^post10, x_34^0'=x_34^post10, r_161^0'=r_161^post10, __disjvr_10^0'=__disjvr_10^post10, a_305^0'=a_305^post10, temp_49^0'=temp_49^post10, __disjvr_22^0'=__disjvr_22^post10, __disjvr_5^0'=__disjvr_5^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post10, __disjvr_15^0'=__disjvr_15^post10, i_108^0'=i_108^post10, __disjvr_25^0'=__disjvr_25^post10, x_20^0'=x_20^post10, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post10, a_146^0'=a_146^post10, a_247^0'=a_247^post10, temp0_15^0'=temp0_15^post10, __disjvr_1^0'=__disjvr_1^post10, length_43^0'=length_43^post10, __disjvr_2^0'=__disjvr_2^post10, rcd_102^0'=rcd_102^post10, __disjvr_12^0'=__disjvr_12^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, lt_37^0'=lt_37^post10, __disjvr_7^0'=__disjvr_7^post10, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post10, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post10, __disjvr_17^0'=__disjvr_17^post10, i_44^0'=i_44^post10, __disjvr_27^0'=__disjvr_27^post10, x_28^0'=x_28^post10, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post10, (0 == 0 /\ -__disjvr_11^post10+__disjvr_11^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post10+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ y_19^0-y_19^post10 == 0 /\ -x_238^post10+x_238^0 == 0 /\ -lt_237^post10+lt_237^0 == 0 /\ t_23^0-t_23^post10 == 0 /\ __disjvr_9^0-__disjvr_9^post10 == 0 /\ -__disjvr_25^post10+__disjvr_25^0 == 0 /\ result_11^0-result_11^post10 == 0 /\ -a_247^post10+a_247^0 == 0 /\ temp0_45^0-temp0_45^post10 == 0 /\ -rcd_72^post10+rcd_72^0 == 0 /\ -__disjvr_27^post10+__disjvr_27^0 == 0 /\ nondet_12^0-nondet_12^post10 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post10+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -i_44^post10+i_44^0 == 0 /\ __disjvr_23^0-__disjvr_23^post10 == 0 /\ -temp_49^post10+temp_49^0 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0 /\ a_328^0-a_328^post10 == 0 /\ temp0_32^0-temp0_32^post10 == 0 /\ fmt_31^0-fmt_31^post10 == 0 /\ x_177^0-x_177^post10 == 0 /\ __disjvr_18^0-__disjvr_18^post10 == 0 /\ a_146^0-a_146^post10 == 0 /\ -x_20^post10+x_20^0 == 0 /\ __disjvr_3^0-__disjvr_3^post10 == 0 /\ -__disjvr_2^post10+__disjvr_2^0 == 0 /\ i_125^0-i_125^post10 == 0 /\ -__disjvr_6^post10+__disjvr_6^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post10 == 0 /\ lt_36^0-lt_36^post10 == 0 /\ -__disjvr_17^post10+__disjvr_17^0 == 0 /\ -__disjvr_13^post10+__disjvr_13^0 == 0 /\ rcd_102^0-rcd_102^post10 == 0 /\ r_53^0-r_53^post10 == 0 /\ -a_305^post10+a_305^0 == 0 /\ -len_180^0 <= 0 /\ -__disjvr_8^post10+__disjvr_8^0 == 0 /\ temp0_15^0-temp0_15^post10 == 0 /\ -__disjvr_7^post10+__disjvr_7^0 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ x_34^0-x_34^post10 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post10 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post10 == 0 /\ __disjvr_5^0-__disjvr_5^post10 == 0 /\ -i_108^post10+i_108^0 == 0 /\ -__disjvr_16^post10+__disjvr_16^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post10+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_19^0-__disjvr_19^post10 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post10 == 0 /\ __disjvr_4^0-__disjvr_4^post10 == 0 /\ -a_26^post10+a_26^0 == 0 /\ -tmp_48^post10+tmp_48^0 == 0 /\ -r_161^post10+r_161^0 == 0 /\ -__disjvr_10^post10+__disjvr_10^0 == 0 /\ -len_180^post10+len_180^0 == 0 /\ len_246^0-len_246^post10 == 0 /\ a_283^0-a_283^post10 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ head_46^0-head_46^post10 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post10+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_22^0-__disjvr_22^post10 == 0 /\ -__disjvr_24^post10+__disjvr_24^0 == 0 /\ -__disjvr_15^post10+__disjvr_15^0 == 0 /\ __disjvr_28^0-__disjvr_28^post10 == 0 /\ __disjvr_26^0-__disjvr_26^post10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -lt_37^post10+lt_37^0 == 0 /\ __disjvr_20^0-__disjvr_20^post10 == 0 /\ __disjvr_29^0-__disjvr_29^post10 == 0 /\ -length_43^post10+length_43^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ -x_28^post10+x_28^0 == 0 /\ a_197^0-a_197^post10 == 0), cost: 1
  11: l12 -> l13 : __disjvr_0^0'=__disjvr_0^post11, a_283^0'=a_283^post11, temp0_45^0'=temp0_45^post11, __disjvr_21^0'=__disjvr_21^post11, y_19^0'=y_19^post11, __disjvr_4^0'=__disjvr_4^post11, result_11^0'=result_11^post11, __disjvr_14^0'=__disjvr_14^post11, head_46^0'=head_46^post11, __disjvr_24^0'=__disjvr_24^post11, x_177^0'=x_177^post11, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post11, __disjvr_9^0'=__disjvr_9^post11, a_197^0'=a_197^post11, t_23^0'=t_23^post11, __disjvr_19^0'=__disjvr_19^post11, len_246^0'=len_246^post11, __disjvr_29^0'=__disjvr_29^post11, x_SLAM_f_18^0'=x_SLAM_f_18^post11, r_53^0'=r_53^post11, __disjvr_11^0'=__disjvr_11^post11, a_328^0'=a_328^post11, tmp_48^0'=tmp_48^post11, lt_36^0'=lt_36^post11, __disjvr_6^0'=__disjvr_6^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, __disjvr_16^0'=__disjvr_16^post11, i_125^0'=i_125^post11, __disjvr_26^0'=__disjvr_26^post11, x_238^0'=x_238^post11, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post11, a_26^0'=a_26^post11, temp0_32^0'=temp0_32^post11, __disjvr_20^0'=__disjvr_20^post11, lt_237^0'=lt_237^post11, __disjvr_3^0'=__disjvr_3^post11, rcd_72^0'=rcd_72^post11, __disjvr_13^0'=__disjvr_13^post11, fmt_31^0'=fmt_31^post11, __disjvr_23^0'=__disjvr_23^post11, x_16^0'=x_16^post11, nondet_12^0'=nondet_12^post11, __disjvr_8^0'=__disjvr_8^post11, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post11, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post11, __disjvr_18^0'=__disjvr_18^post11, len_180^0'=len_180^post11, __disjvr_28^0'=__disjvr_28^post11, x_34^0'=x_34^post11, r_161^0'=r_161^post11, __disjvr_10^0'=__disjvr_10^post11, a_305^0'=a_305^post11, temp_49^0'=temp_49^post11, __disjvr_22^0'=__disjvr_22^post11, __disjvr_5^0'=__disjvr_5^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post11, __disjvr_15^0'=__disjvr_15^post11, i_108^0'=i_108^post11, __disjvr_25^0'=__disjvr_25^post11, x_20^0'=x_20^post11, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post11, a_146^0'=a_146^post11, a_247^0'=a_247^post11, temp0_15^0'=temp0_15^post11, __disjvr_1^0'=__disjvr_1^post11, length_43^0'=length_43^post11, __disjvr_2^0'=__disjvr_2^post11, rcd_102^0'=rcd_102^post11, __disjvr_12^0'=__disjvr_12^post11, ct_17^0'=ct_17^post11, x_14^0'=x_14^post11, lt_37^0'=lt_37^post11, __disjvr_7^0'=__disjvr_7^post11, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post11, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post11, __disjvr_17^0'=__disjvr_17^post11, i_44^0'=i_44^post11, __disjvr_27^0'=__disjvr_27^post11, x_28^0'=x_28^post11, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post11, (__disjvr_24^0-__disjvr_24^post11 == 0 /\ __disjvr_16^0-__disjvr_16^post11 == 0 /\ -__disjvr_22^post11+__disjvr_22^0 == 0 /\ x_238^0-x_238^post11 == 0 /\ -i_44^post11+i_44^0 == 0 /\ __disjvr_13^0-__disjvr_13^post11 == 0 /\ a_26^0-a_26^post11 == 0 /\ -__disjvr_6^post11+__disjvr_6^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post11+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_8^0-__disjvr_8^post11 == 0 /\ -r_53^post11+r_53^0 == 0 /\ __disjvr_5^post11-__disjvr_5^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post11+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post11 == 0 /\ __disjvr_4^0-__disjvr_4^post11 == 0 /\ -__disjvr_20^post11+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post11+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_1^post11+__disjvr_1^0 == 0 /\ a_283^0-a_283^post11 == 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ -__disjvr_2^post11+__disjvr_2^0 == 0 /\ -x_16^post11+x_16^0 == 0 /\ a_328^0-a_328^post11 == 0 /\ x_177^0-x_177^post11 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post11 == 0 /\ -t_23^post11+t_23^0 == 0 /\ i_125^0-i_125^post11 == 0 /\ -temp_49^post11+temp_49^0 == 0 /\ temp0_15^0-temp0_15^post11 == 0 /\ ct_17^0-ct_17^post11 == 0 /\ -a_146^post11+a_146^0 == 0 /\ __disjvr_0^0-__disjvr_0^post11 == 0 /\ -__disjvr_5^post11+__disjvr_5^0 == 0 /\ lt_237^0-lt_237^post11 == 0 /\ -__disjvr_12^post11+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post11 == 0 /\ -__disjvr_28^post11+__disjvr_28^0 == 0 /\ -x_14^post11+x_14^0 == 0 /\ -temp0_32^post11+temp0_32^0 == 0 /\ -rcd_72^post11+rcd_72^0 == 0 /\ -__disjvr_27^post11+__disjvr_27^0 == 0 /\ -__disjvr_23^post11+__disjvr_23^0 == 0 /\ lt_36^0-lt_36^post11 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ result_11^0-result_11^post11 == 0 /\ -__disjvr_7^post11+__disjvr_7^0 == 0 /\ -rcd_102^post11+rcd_102^0 == 0 /\ -len_180^post11+len_180^0 == 0 /\ -__disjvr_10^post11+__disjvr_10^0 == 0 /\ -x_SLAM_f_18^post11+x_SLAM_f_18^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post11+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post11+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ y_19^0-y_19^post11 == 0 /\ -x_20^post11+x_20^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post11+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ lt_37^0-lt_37^post11 == 0 /\ __disjvr_19^0-__disjvr_19^post11 == 0 /\ __disjvr_9^0-__disjvr_9^post11 == 0 /\ a_305^0-a_305^post11 == 0 /\ __disjvr_26^0-__disjvr_26^post11 == 0 /\ temp0_45^0-temp0_45^post11 == 0 /\ -r_161^post11+r_161^0 == 0 /\ len_246^0-len_246^post11 == 0 /\ tmp_48^0-tmp_48^post11 == 0 /\ head_46^0-head_46^post11 == 0 /\ -length_43^post11+length_43^0 == 0 /\ __disjvr_18^0-__disjvr_18^post11 == 0 /\ __disjvr_3^0-__disjvr_3^post11 == 0 /\ -i_108^post11+i_108^0 == 0 /\ nondet_12^0-nondet_12^post11 == 0 /\ -x_34^post11+x_34^0 == 0 /\ -x_28^post11+x_28^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post11+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -a_247^post11+a_247^0 == 0 /\ __disjvr_15^0-__disjvr_15^post11 == 0 /\ __disjvr_25^0-__disjvr_25^post11 == 0 /\ a_197^0-a_197^post11 == 0 /\ __disjvr_14^0-__disjvr_14^post11 == 0 /\ -fmt_31^post11+fmt_31^0 == 0 /\ __disjvr_29^0-__disjvr_29^post11 == 0), cost: 1
  12: l13 -> l14 : __disjvr_0^0'=__disjvr_0^post12, a_283^0'=a_283^post12, temp0_45^0'=temp0_45^post12, __disjvr_21^0'=__disjvr_21^post12, y_19^0'=y_19^post12, __disjvr_4^0'=__disjvr_4^post12, result_11^0'=result_11^post12, __disjvr_14^0'=__disjvr_14^post12, head_46^0'=head_46^post12, __disjvr_24^0'=__disjvr_24^post12, x_177^0'=x_177^post12, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post12, __disjvr_9^0'=__disjvr_9^post12, a_197^0'=a_197^post12, t_23^0'=t_23^post12, __disjvr_19^0'=__disjvr_19^post12, len_246^0'=len_246^post12, __disjvr_29^0'=__disjvr_29^post12, x_SLAM_f_18^0'=x_SLAM_f_18^post12, r_53^0'=r_53^post12, __disjvr_11^0'=__disjvr_11^post12, a_328^0'=a_328^post12, tmp_48^0'=tmp_48^post12, lt_36^0'=lt_36^post12, __disjvr_6^0'=__disjvr_6^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, __disjvr_16^0'=__disjvr_16^post12, i_125^0'=i_125^post12, __disjvr_26^0'=__disjvr_26^post12, x_238^0'=x_238^post12, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post12, a_26^0'=a_26^post12, temp0_32^0'=temp0_32^post12, __disjvr_20^0'=__disjvr_20^post12, lt_237^0'=lt_237^post12, __disjvr_3^0'=__disjvr_3^post12, rcd_72^0'=rcd_72^post12, __disjvr_13^0'=__disjvr_13^post12, fmt_31^0'=fmt_31^post12, __disjvr_23^0'=__disjvr_23^post12, x_16^0'=x_16^post12, nondet_12^0'=nondet_12^post12, __disjvr_8^0'=__disjvr_8^post12, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post12, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post12, __disjvr_18^0'=__disjvr_18^post12, len_180^0'=len_180^post12, __disjvr_28^0'=__disjvr_28^post12, x_34^0'=x_34^post12, r_161^0'=r_161^post12, __disjvr_10^0'=__disjvr_10^post12, a_305^0'=a_305^post12, temp_49^0'=temp_49^post12, __disjvr_22^0'=__disjvr_22^post12, __disjvr_5^0'=__disjvr_5^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post12, __disjvr_15^0'=__disjvr_15^post12, i_108^0'=i_108^post12, __disjvr_25^0'=__disjvr_25^post12, x_20^0'=x_20^post12, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post12, a_146^0'=a_146^post12, a_247^0'=a_247^post12, temp0_15^0'=temp0_15^post12, __disjvr_1^0'=__disjvr_1^post12, length_43^0'=length_43^post12, __disjvr_2^0'=__disjvr_2^post12, rcd_102^0'=rcd_102^post12, __disjvr_12^0'=__disjvr_12^post12, ct_17^0'=ct_17^post12, x_14^0'=x_14^post12, lt_37^0'=lt_37^post12, __disjvr_7^0'=__disjvr_7^post12, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post12, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post12, __disjvr_17^0'=__disjvr_17^post12, i_44^0'=i_44^post12, __disjvr_27^0'=__disjvr_27^post12, x_28^0'=x_28^post12, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post12, (0 == 0 /\ __disjvr_29^0-__disjvr_29^post12 == 0 /\ -i_44^post12+i_44^0 == 0 /\ y_19^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post12 == 0 /\ -lt_237^post12+lt_237^0 == 0 /\ -__disjvr_8^post12+__disjvr_8^0 == 0 /\ __disjvr_4^0-__disjvr_4^post12 == 0 /\ __disjvr_16^0-__disjvr_16^post12 == 0 /\ -a_328^post12+a_328^0 == 0 /\ lt_36^0-lt_36^post12 == 0 /\ rcd_72^0-rcd_72^post12 == 0 /\ -a_146^post12+a_146^0 == 0 /\ len_246^0-len_246^post12 == 0 /\ -temp0_15^post12+temp0_15^0 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ -__disjvr_26^post12+__disjvr_26^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post12+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ x_16^0-x_14^0 <= 0 /\ head_46^0-head_46^post12 == 0 /\ __disjvr_21^0-__disjvr_21^post12 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ -__disjvr_2^post12+__disjvr_2^0 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ temp0_32^0-temp0_32^post12 == 0 /\ -__disjvr_22^post12+__disjvr_22^0 == 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post12 == 0 /\ -y_19^0 <= 0 /\ tmp_48^0-tmp_48^post12 == 0 /\ -__disjvr_13^post12+__disjvr_13^0 == 0 /\ len_180^0-len_180^post12 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post12 == 0 /\ -__disjvr_12^post12+__disjvr_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post12 == 0 /\ __disjvr_28^0-__disjvr_28^post12 == 0 /\ -__disjvr_20^post12+__disjvr_20^0 == 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ -x_16^post12+x_16^0 == 0 /\ -temp_49^post12+temp_49^0 == 0 /\ -x_16^0+x_14^0 <= 0 /\ -x_14^post12+x_14^0 == 0 /\ -rcd_102^post12+rcd_102^0 == 0 /\ a_197^0-a_197^post12 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post12+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_15^post12+__disjvr_15^0 == 0 /\ -__disjvr_25^post12+__disjvr_25^0 == 0 /\ __disjvr_1^0-__disjvr_1^post12 == 0 /\ x_238^0-x_238^post12 == 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post12 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ -r_161^post12+r_161^0 == 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ -length_43^post12+length_43^0 == 0 /\ -x_34^post12+x_34^0 == 0 /\ -a_305^0+a_283^post12 <= 0 /\ -x_20^0+t_23^post12 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post12+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ result_11^0-result_11^post12 == 0 /\ a_26^0-a_26^post12 == 0 /\ x_14^0-t_23^post12 <= 0 /\ __disjvr_7^0-__disjvr_7^post12 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post12+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post12 == 0 /\ temp0_45^0-temp0_45^post12 == 0 /\ -__disjvr_27^post12+__disjvr_27^0 == 0 /\ -i_125^post12+i_125^0 == 0 /\ -x_SLAM_f_18^0+x_14^0 <= 0 /\ -nondet_12^post12+nondet_12^0 == 0 /\ -a_247^post12+a_247^0 == 0 /\ a_305^0-a_305^post12 == 0 /\ __disjvr_11^0-__disjvr_11^post12 == 0 /\ __disjvr_3^0-__disjvr_3^post12 == 0 /\ __disjvr_9^0-__disjvr_9^post12 == 0 /\ -ct_17^post12+ct_17^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post12+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post12+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ x_177^0-x_177^post12 == 0 /\ a_305^0-a_283^post12 <= 0 /\ -x_28^post12+x_28^0 == 0 /\ r_53^0-r_53^post12 == 0 /\ fmt_31^0-fmt_31^post12 == 0 /\ ct_17^0 <= 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post12 == 0 /\ -x_14^0+t_23^post12 <= 0 /\ -ct_17^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ y_19^0-y_19^post12 == 0 /\ -lt_37^post12+lt_37^0 == 0 /\ __disjvr_18^0-__disjvr_18^post12 == 0 /\ x_SLAM_f_18^0-x_14^0 <= 0 /\ -x_20^post12+x_20^0 == 0 /\ __disjvr_14^0-__disjvr_14^post12 == 0 /\ i_108^0-i_108^post12 == 0), cost: 1
  13: l14 -> l15 : __disjvr_0^0'=__disjvr_0^post13, a_283^0'=a_283^post13, temp0_45^0'=temp0_45^post13, __disjvr_21^0'=__disjvr_21^post13, y_19^0'=y_19^post13, __disjvr_4^0'=__disjvr_4^post13, result_11^0'=result_11^post13, __disjvr_14^0'=__disjvr_14^post13, head_46^0'=head_46^post13, __disjvr_24^0'=__disjvr_24^post13, x_177^0'=x_177^post13, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post13, __disjvr_9^0'=__disjvr_9^post13, a_197^0'=a_197^post13, t_23^0'=t_23^post13, __disjvr_19^0'=__disjvr_19^post13, len_246^0'=len_246^post13, __disjvr_29^0'=__disjvr_29^post13, x_SLAM_f_18^0'=x_SLAM_f_18^post13, r_53^0'=r_53^post13, __disjvr_11^0'=__disjvr_11^post13, a_328^0'=a_328^post13, tmp_48^0'=tmp_48^post13, lt_36^0'=lt_36^post13, __disjvr_6^0'=__disjvr_6^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, __disjvr_16^0'=__disjvr_16^post13, i_125^0'=i_125^post13, __disjvr_26^0'=__disjvr_26^post13, x_238^0'=x_238^post13, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post13, a_26^0'=a_26^post13, temp0_32^0'=temp0_32^post13, __disjvr_20^0'=__disjvr_20^post13, lt_237^0'=lt_237^post13, __disjvr_3^0'=__disjvr_3^post13, rcd_72^0'=rcd_72^post13, __disjvr_13^0'=__disjvr_13^post13, fmt_31^0'=fmt_31^post13, __disjvr_23^0'=__disjvr_23^post13, x_16^0'=x_16^post13, nondet_12^0'=nondet_12^post13, __disjvr_8^0'=__disjvr_8^post13, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post13, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post13, __disjvr_18^0'=__disjvr_18^post13, len_180^0'=len_180^post13, __disjvr_28^0'=__disjvr_28^post13, x_34^0'=x_34^post13, r_161^0'=r_161^post13, __disjvr_10^0'=__disjvr_10^post13, a_305^0'=a_305^post13, temp_49^0'=temp_49^post13, __disjvr_22^0'=__disjvr_22^post13, __disjvr_5^0'=__disjvr_5^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post13, __disjvr_15^0'=__disjvr_15^post13, i_108^0'=i_108^post13, __disjvr_25^0'=__disjvr_25^post13, x_20^0'=x_20^post13, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post13, a_146^0'=a_146^post13, a_247^0'=a_247^post13, temp0_15^0'=temp0_15^post13, __disjvr_1^0'=__disjvr_1^post13, length_43^0'=length_43^post13, __disjvr_2^0'=__disjvr_2^post13, rcd_102^0'=rcd_102^post13, __disjvr_12^0'=__disjvr_12^post13, ct_17^0'=ct_17^post13, x_14^0'=x_14^post13, lt_37^0'=lt_37^post13, __disjvr_7^0'=__disjvr_7^post13, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post13, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post13, __disjvr_17^0'=__disjvr_17^post13, i_44^0'=i_44^post13, __disjvr_27^0'=__disjvr_27^post13, x_28^0'=x_28^post13, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post13, (-lt_37^post13+lt_37^0 == 0 /\ -__disjvr_18^post13+__disjvr_18^0 == 0 /\ head_46^0-head_46^post13 == 0 /\ a_328^0-a_328^post13 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post13 == 0 /\ -a_26^post13+a_26^0 == 0 /\ __disjvr_26^0-__disjvr_26^post13 == 0 /\ __disjvr_23^0-__disjvr_23^post13 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ lt_36^0-lt_36^post13 == 0 /\ temp0_32^0-temp0_32^post13 == 0 /\ -temp0_15^post13+temp0_15^0 == 0 /\ -i_108^post13+i_108^0 == 0 /\ -x_28^post13+x_28^0 == 0 /\ -__disjvr_6^post13+__disjvr_6^0 == 0 /\ -__disjvr_8^post13+__disjvr_8^0 == 0 /\ -rcd_102^post13+rcd_102^0 == 0 /\ temp0_45^0-temp0_45^post13 == 0 /\ -x_16^post13+x_16^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post13 == 0 /\ a_197^0-a_197^post13 == 0 /\ nondet_12^0-nondet_12^post13 == 0 /\ -r_161^post13+r_161^0 == 0 /\ y_19^0-y_19^post13 == 0 /\ __disjvr_10^0-__disjvr_10^post13 == 0 /\ x_34^0-x_34^post13 == 0 /\ -__disjvr_12^post13+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post13+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -lt_237^post13+lt_237^0 == 0 /\ -rcd_72^post13+rcd_72^0 == 0 /\ -__disjvr_22^post13+__disjvr_22^0 == 0 /\ x_238^0-x_238^post13 == 0 /\ tmp_48^0-tmp_48^post13 == 0 /\ __disjvr_24^0-__disjvr_24^post13 == 0 /\ __disjvr_14^0-__disjvr_14^post13 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post13+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post13+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post13+__disjvr_1^0 == 0 /\ -i_44^post13+i_44^0 == 0 /\ -__disjvr_15^post13+__disjvr_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_6^post13-__disjvr_6^0 == 0 /\ __disjvr_28^0-__disjvr_28^post13 == 0 /\ __disjvr_3^0-__disjvr_3^post13 == 0 /\ -__disjvr_19^post13+__disjvr_19^0 == 0 /\ -i_125^post13+i_125^0 == 0 /\ -__disjvr_13^post13+__disjvr_13^0 == 0 /\ x_20^0-x_20^post13 == 0 /\ -__disjvr_27^post13+__disjvr_27^0 == 0 /\ -x_14^post13+x_14^0 == 0 /\ -length_43^post13+length_43^0 == 0 /\ -__disjvr_29^post13+__disjvr_29^0 == 0 /\ __disjvr_21^0-__disjvr_21^post13 == 0 /\ __disjvr_11^0-__disjvr_11^post13 == 0 /\ -__disjvr_25^post13+__disjvr_25^0 == 0 /\ __disjvr_16^0-__disjvr_16^post13 == 0 /\ fmt_31^0-fmt_31^post13 == 0 /\ __disjvr_20^0-__disjvr_20^post13 == 0 /\ -__disjvr_5^post13+__disjvr_5^0 == 0 /\ -__disjvr_17^post13+__disjvr_17^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post13 == 0 /\ x_177^0-x_177^post13 == 0 /\ -__disjvr_9^post13+__disjvr_9^0 == 0 /\ -a_305^post13+a_305^0 == 0 /\ len_246^0-len_246^post13 == 0 /\ temp_49^0-temp_49^post13 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post13 == 0 /\ -a_146^post13+a_146^0 == 0 /\ result_11^0-result_11^post13 == 0 /\ -ct_17^post13+ct_17^0 == 0 /\ a_283^0-a_283^post13 == 0 /\ -__disjvr_7^post13+__disjvr_7^0 == 0 /\ r_53^0-r_53^post13 == 0 /\ len_180^0-len_180^post13 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post13 == 0 /\ __disjvr_4^0-__disjvr_4^post13 == 0 /\ -__disjvr_2^post13+__disjvr_2^0 == 0 /\ t_23^0-t_23^post13 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post13+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post13+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -a_247^post13+a_247^0 == 0), cost: 1
  14: l15 -> l16 : __disjvr_0^0'=__disjvr_0^post14, a_283^0'=a_283^post14, temp0_45^0'=temp0_45^post14, __disjvr_21^0'=__disjvr_21^post14, y_19^0'=y_19^post14, __disjvr_4^0'=__disjvr_4^post14, result_11^0'=result_11^post14, __disjvr_14^0'=__disjvr_14^post14, head_46^0'=head_46^post14, __disjvr_24^0'=__disjvr_24^post14, x_177^0'=x_177^post14, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post14, __disjvr_9^0'=__disjvr_9^post14, a_197^0'=a_197^post14, t_23^0'=t_23^post14, __disjvr_19^0'=__disjvr_19^post14, len_246^0'=len_246^post14, __disjvr_29^0'=__disjvr_29^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, r_53^0'=r_53^post14, __disjvr_11^0'=__disjvr_11^post14, a_328^0'=a_328^post14, tmp_48^0'=tmp_48^post14, lt_36^0'=lt_36^post14, __disjvr_6^0'=__disjvr_6^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, __disjvr_16^0'=__disjvr_16^post14, i_125^0'=i_125^post14, __disjvr_26^0'=__disjvr_26^post14, x_238^0'=x_238^post14, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post14, a_26^0'=a_26^post14, temp0_32^0'=temp0_32^post14, __disjvr_20^0'=__disjvr_20^post14, lt_237^0'=lt_237^post14, __disjvr_3^0'=__disjvr_3^post14, rcd_72^0'=rcd_72^post14, __disjvr_13^0'=__disjvr_13^post14, fmt_31^0'=fmt_31^post14, __disjvr_23^0'=__disjvr_23^post14, x_16^0'=x_16^post14, nondet_12^0'=nondet_12^post14, __disjvr_8^0'=__disjvr_8^post14, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post14, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post14, __disjvr_18^0'=__disjvr_18^post14, len_180^0'=len_180^post14, __disjvr_28^0'=__disjvr_28^post14, x_34^0'=x_34^post14, r_161^0'=r_161^post14, __disjvr_10^0'=__disjvr_10^post14, a_305^0'=a_305^post14, temp_49^0'=temp_49^post14, __disjvr_22^0'=__disjvr_22^post14, __disjvr_5^0'=__disjvr_5^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post14, __disjvr_15^0'=__disjvr_15^post14, i_108^0'=i_108^post14, __disjvr_25^0'=__disjvr_25^post14, x_20^0'=x_20^post14, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post14, a_146^0'=a_146^post14, a_247^0'=a_247^post14, temp0_15^0'=temp0_15^post14, __disjvr_1^0'=__disjvr_1^post14, length_43^0'=length_43^post14, __disjvr_2^0'=__disjvr_2^post14, rcd_102^0'=rcd_102^post14, __disjvr_12^0'=__disjvr_12^post14, ct_17^0'=ct_17^post14, x_14^0'=x_14^post14, lt_37^0'=lt_37^post14, __disjvr_7^0'=__disjvr_7^post14, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post14, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post14, __disjvr_17^0'=__disjvr_17^post14, i_44^0'=i_44^post14, __disjvr_27^0'=__disjvr_27^post14, x_28^0'=x_28^post14, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post14, (i_125^0-i_125^post14 == 0 /\ fmt_31^0-fmt_31^post14 == 0 /\ -i_108^post14+i_108^0 == 0 /\ -__disjvr_1^post14+__disjvr_1^0 == 0 /\ -rcd_102^post14+rcd_102^0 == 0 /\ __disjvr_3^0-__disjvr_3^post14 == 0 /\ __disjvr_22^0-__disjvr_22^post14 == 0 /\ -lt_37^post14+lt_37^0 == 0 /\ -__disjvr_10^post14+__disjvr_10^0 == 0 /\ -__disjvr_16^post14+__disjvr_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post14 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post14+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -tmp_48^post14+tmp_48^0 == 0 /\ a_197^0-a_197^post14 == 0 /\ -__disjvr_12^post14+__disjvr_12^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post14+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ x_177^0-x_177^post14 == 0 /\ -a_26^post14+a_26^0 == 0 /\ __disjvr_6^0-__disjvr_6^post14 == 0 /\ -len_180^post14+len_180^0 == 0 /\ __disjvr_0^0-__disjvr_0^post14 == 0 /\ y_19^0-y_19^post14 == 0 /\ t_23^0-t_23^post14 == 0 /\ ct_17^0-ct_17^post14 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post14+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_14^0-__disjvr_14^post14 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post14+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post14+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ r_161^0-r_161^post14 == 0 /\ x_16^0-x_16^post14 == 0 /\ -r_53^post14+r_53^0 == 0 /\ __disjvr_9^0-__disjvr_9^post14 == 0 /\ temp0_45^0-temp0_45^post14 == 0 /\ -len_246^post14+len_246^0 == 0 /\ __disjvr_18^0-__disjvr_18^post14 == 0 /\ -x_28^post14+x_28^0 == 0 /\ nondet_12^0-nondet_12^post14 == 0 /\ __disjvr_24^0-__disjvr_24^post14 == 0 /\ -length_43^post14+length_43^0 == 0 /\ -lt_237^post14+lt_237^0 == 0 /\ -x_34^post14+x_34^0 == 0 /\ a_328^0-a_328^post14 == 0 /\ __disjvr_21^0-__disjvr_21^post14 == 0 /\ -temp_49^post14+temp_49^0 == 0 /\ -x_238^post14+x_238^0 == 0 /\ -__disjvr_23^post14+__disjvr_23^0 == 0 /\ __disjvr_26^0-__disjvr_26^post14 == 0 /\ __disjvr_28^0-__disjvr_28^post14 == 0 /\ -x_14^post14+x_14^0 == 0 /\ -__disjvr_25^post14+__disjvr_25^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post14+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -__disjvr_27^post14+__disjvr_27^0 == 0 /\ __disjvr_29^0-__disjvr_29^post14 == 0 /\ -head_46^post14+head_46^0 == 0 /\ -rcd_72^post14+rcd_72^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post14 == 0 /\ lt_36^0-lt_36^post14 == 0 /\ -__disjvr_11^post14+__disjvr_11^0 == 0 /\ __disjvr_7^post14-__disjvr_7^0 == 0 /\ -a_305^post14+a_305^0 == 0 /\ -temp0_15^post14+temp0_15^0 == 0 /\ __disjvr_5^0-__disjvr_5^post14 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post14 == 0 /\ i_44^0-i_44^post14 == 0 /\ -a_146^post14+a_146^0 == 0 /\ -__disjvr_2^post14+__disjvr_2^0 == 0 /\ result_11^0-result_11^post14 == 0 /\ __disjvr_13^0-__disjvr_13^post14 == 0 /\ -x_20^post14+x_20^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post14 == 0 /\ -a_247^post14+a_247^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 == 0 /\ __disjvr_19^0-__disjvr_19^post14 == 0 /\ __disjvr_4^0-__disjvr_4^post14 == 0 /\ -temp0_32^post14+temp0_32^0 == 0 /\ a_283^0-a_283^post14 == 0 /\ -__disjvr_8^post14+__disjvr_8^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post14 == 0 /\ -__disjvr_17^post14+__disjvr_17^0 == 0 /\ -__disjvr_7^post14+__disjvr_7^0 == 0 /\ __disjvr_15^0-__disjvr_15^post14 == 0), cost: 1
  15: l16 -> l17 : __disjvr_0^0'=__disjvr_0^post15, a_283^0'=a_283^post15, temp0_45^0'=temp0_45^post15, __disjvr_21^0'=__disjvr_21^post15, y_19^0'=y_19^post15, __disjvr_4^0'=__disjvr_4^post15, result_11^0'=result_11^post15, __disjvr_14^0'=__disjvr_14^post15, head_46^0'=head_46^post15, __disjvr_24^0'=__disjvr_24^post15, x_177^0'=x_177^post15, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post15, __disjvr_9^0'=__disjvr_9^post15, a_197^0'=a_197^post15, t_23^0'=t_23^post15, __disjvr_19^0'=__disjvr_19^post15, len_246^0'=len_246^post15, __disjvr_29^0'=__disjvr_29^post15, x_SLAM_f_18^0'=x_SLAM_f_18^post15, r_53^0'=r_53^post15, __disjvr_11^0'=__disjvr_11^post15, a_328^0'=a_328^post15, tmp_48^0'=tmp_48^post15, lt_36^0'=lt_36^post15, __disjvr_6^0'=__disjvr_6^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, __disjvr_16^0'=__disjvr_16^post15, i_125^0'=i_125^post15, __disjvr_26^0'=__disjvr_26^post15, x_238^0'=x_238^post15, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post15, a_26^0'=a_26^post15, temp0_32^0'=temp0_32^post15, __disjvr_20^0'=__disjvr_20^post15, lt_237^0'=lt_237^post15, __disjvr_3^0'=__disjvr_3^post15, rcd_72^0'=rcd_72^post15, __disjvr_13^0'=__disjvr_13^post15, fmt_31^0'=fmt_31^post15, __disjvr_23^0'=__disjvr_23^post15, x_16^0'=x_16^post15, nondet_12^0'=nondet_12^post15, __disjvr_8^0'=__disjvr_8^post15, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post15, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post15, __disjvr_18^0'=__disjvr_18^post15, len_180^0'=len_180^post15, __disjvr_28^0'=__disjvr_28^post15, x_34^0'=x_34^post15, r_161^0'=r_161^post15, __disjvr_10^0'=__disjvr_10^post15, a_305^0'=a_305^post15, temp_49^0'=temp_49^post15, __disjvr_22^0'=__disjvr_22^post15, __disjvr_5^0'=__disjvr_5^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post15, __disjvr_15^0'=__disjvr_15^post15, i_108^0'=i_108^post15, __disjvr_25^0'=__disjvr_25^post15, x_20^0'=x_20^post15, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post15, a_146^0'=a_146^post15, a_247^0'=a_247^post15, temp0_15^0'=temp0_15^post15, __disjvr_1^0'=__disjvr_1^post15, length_43^0'=length_43^post15, __disjvr_2^0'=__disjvr_2^post15, rcd_102^0'=rcd_102^post15, __disjvr_12^0'=__disjvr_12^post15, ct_17^0'=ct_17^post15, x_14^0'=x_14^post15, lt_37^0'=lt_37^post15, __disjvr_7^0'=__disjvr_7^post15, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post15, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post15, __disjvr_17^0'=__disjvr_17^post15, i_44^0'=i_44^post15, __disjvr_27^0'=__disjvr_27^post15, x_28^0'=x_28^post15, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post15, (i_125^0-i_125^post15 == 0 /\ -__disjvr_10^post15+__disjvr_10^0 == 0 /\ -__disjvr_3^post15+__disjvr_3^0 == 0 /\ -x_20^post15+x_20^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post15 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post15+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post15+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -rcd_102^post15+rcd_102^0 == 0 /\ -__disjvr_8^0+__disjvr_8^post15 == 0 /\ __disjvr_6^0-__disjvr_6^post15 == 0 /\ -lt_37^post15+lt_37^0 == 0 /\ -r_161^post15+r_161^0 == 0 /\ __disjvr_11^0-__disjvr_11^post15 == 0 /\ -length_43^post15+length_43^0 == 0 /\ a_197^0-a_197^post15 == 0 /\ x_177^0-x_177^post15 == 0 /\ -__disjvr_1^post15+__disjvr_1^0 == 0 /\ __disjvr_16^0-__disjvr_16^post15 == 0 /\ result_11^0-result_11^post15 == 0 /\ __disjvr_2^0-__disjvr_2^post15 == 0 /\ -i_108^post15+i_108^0 == 0 /\ -x_28^post15+x_28^0 == 0 /\ __disjvr_8^0-__disjvr_8^post15 == 0 /\ lt_237^0-lt_237^post15 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ -x_34^post15+x_34^0 == 0 /\ a_26^0-a_26^post15 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post15+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -fmt_31^post15+fmt_31^0 == 0 /\ len_180^0-len_180^post15 == 0 /\ len_246^0-len_246^post15 == 0 /\ __disjvr_26^0-__disjvr_26^post15 == 0 /\ __disjvr_21^0-__disjvr_21^post15 == 0 /\ __disjvr_4^0-__disjvr_4^post15 == 0 /\ -__disjvr_22^post15+__disjvr_22^0 == 0 /\ a_283^0-a_283^post15 == 0 /\ -ct_17^post15+ct_17^0 == 0 /\ head_46^0-head_46^post15 == 0 /\ temp0_32^0-temp0_32^post15 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post15+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post15 == 0 /\ -r_53^post15+r_53^0 == 0 /\ -i_44^post15+i_44^0 == 0 /\ __disjvr_18^0-__disjvr_18^post15 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post15+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_15^0-__disjvr_15^post15 == 0 /\ -a_247^post15+a_247^0 == 0 /\ __disjvr_25^0-__disjvr_25^post15 == 0 /\ -temp_49^post15+temp_49^0 == 0 /\ __disjvr_0^0-__disjvr_0^post15 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post15+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_20^post15+__disjvr_20^0 == 0 /\ __disjvr_29^0-__disjvr_29^post15 == 0 /\ __disjvr_14^0-__disjvr_14^post15 == 0 /\ -x_14^post15+x_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post15 == 0 /\ -t_23^post15+t_23^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post15 == 0 /\ lt_36^0-lt_36^post15 == 0 /\ x_238^0-x_238^post15 == 0 /\ temp0_45^0-temp0_45^post15 == 0 /\ -__disjvr_17^post15+__disjvr_17^0 == 0 /\ -__disjvr_5^post15+__disjvr_5^0 == 0 /\ y_19^0-y_19^post15 == 0 /\ rcd_72^0-rcd_72^post15 == 0 /\ -x_16^post15+x_16^0 == 0 /\ a_305^0-a_305^post15 == 0 /\ -__disjvr_13^post15+__disjvr_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post15 == 0 /\ __disjvr_19^0-__disjvr_19^post15 == 0 /\ __disjvr_9^0-__disjvr_9^post15 == 0 /\ -__disjvr_23^post15+__disjvr_23^0 == 0 /\ -__disjvr_12^post15+__disjvr_12^0 == 0 /\ -a_146^post15+a_146^0 == 0 /\ -__disjvr_27^post15+__disjvr_27^0 == 0 /\ tmp_48^0-tmp_48^post15 == 0 /\ -a_328^post15+a_328^0 == 0 /\ __disjvr_24^0-__disjvr_24^post15 == 0 /\ -temp0_15^post15+temp0_15^0 == 0 /\ -__disjvr_7^post15+__disjvr_7^0 == 0 /\ -__disjvr_28^post15+__disjvr_28^0 == 0), cost: 1
  16: l17 -> l4 : __disjvr_0^0'=__disjvr_0^post16, a_283^0'=a_283^post16, temp0_45^0'=temp0_45^post16, __disjvr_21^0'=__disjvr_21^post16, y_19^0'=y_19^post16, __disjvr_4^0'=__disjvr_4^post16, result_11^0'=result_11^post16, __disjvr_14^0'=__disjvr_14^post16, head_46^0'=head_46^post16, __disjvr_24^0'=__disjvr_24^post16, x_177^0'=x_177^post16, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post16, __disjvr_9^0'=__disjvr_9^post16, a_197^0'=a_197^post16, t_23^0'=t_23^post16, __disjvr_19^0'=__disjvr_19^post16, len_246^0'=len_246^post16, __disjvr_29^0'=__disjvr_29^post16, x_SLAM_f_18^0'=x_SLAM_f_18^post16, r_53^0'=r_53^post16, __disjvr_11^0'=__disjvr_11^post16, a_328^0'=a_328^post16, tmp_48^0'=tmp_48^post16, lt_36^0'=lt_36^post16, __disjvr_6^0'=__disjvr_6^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, __disjvr_16^0'=__disjvr_16^post16, i_125^0'=i_125^post16, __disjvr_26^0'=__disjvr_26^post16, x_238^0'=x_238^post16, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post16, a_26^0'=a_26^post16, temp0_32^0'=temp0_32^post16, __disjvr_20^0'=__disjvr_20^post16, lt_237^0'=lt_237^post16, __disjvr_3^0'=__disjvr_3^post16, rcd_72^0'=rcd_72^post16, __disjvr_13^0'=__disjvr_13^post16, fmt_31^0'=fmt_31^post16, __disjvr_23^0'=__disjvr_23^post16, x_16^0'=x_16^post16, nondet_12^0'=nondet_12^post16, __disjvr_8^0'=__disjvr_8^post16, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post16, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post16, __disjvr_18^0'=__disjvr_18^post16, len_180^0'=len_180^post16, __disjvr_28^0'=__disjvr_28^post16, x_34^0'=x_34^post16, r_161^0'=r_161^post16, __disjvr_10^0'=__disjvr_10^post16, a_305^0'=a_305^post16, temp_49^0'=temp_49^post16, __disjvr_22^0'=__disjvr_22^post16, __disjvr_5^0'=__disjvr_5^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post16, __disjvr_15^0'=__disjvr_15^post16, i_108^0'=i_108^post16, __disjvr_25^0'=__disjvr_25^post16, x_20^0'=x_20^post16, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post16, a_146^0'=a_146^post16, a_247^0'=a_247^post16, temp0_15^0'=temp0_15^post16, __disjvr_1^0'=__disjvr_1^post16, length_43^0'=length_43^post16, __disjvr_2^0'=__disjvr_2^post16, rcd_102^0'=rcd_102^post16, __disjvr_12^0'=__disjvr_12^post16, ct_17^0'=ct_17^post16, x_14^0'=x_14^post16, lt_37^0'=lt_37^post16, __disjvr_7^0'=__disjvr_7^post16, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post16, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post16, __disjvr_17^0'=__disjvr_17^post16, i_44^0'=i_44^post16, __disjvr_27^0'=__disjvr_27^post16, x_28^0'=x_28^post16, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post16, (0 == 0 /\ -r_161^post16+r_161^0 == 0 /\ a_305^0-a_305^post16 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post16+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post16 == 0 /\ -__disjvr_7^post16+__disjvr_7^0 == 0 /\ __disjvr_28^0-__disjvr_28^post16 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post16+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_34^post16+x_34^0 == 0 /\ -__disjvr_27^post16+__disjvr_27^0 == 0 /\ y_19^0-y_19^post16 == 0 /\ -length_43^post16+length_43^0 == 0 /\ a_328^0-a_328^post16 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post16+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -lt_37^post16+lt_37^0 == 0 /\ x_238^0-x_238^post16 == 0 /\ -i_125^post16+i_125^0 == 0 /\ rcd_102^0-rcd_102^post16 == 0 /\ -a_247^post16+a_247^0 == 0 /\ -x_28^post16+x_28^0 == 0 /\ __disjvr_23^0-__disjvr_23^post16 == 0 /\ -a_26^post16+a_26^0 == 0 /\ lt_36^0-lt_36^post16 == 0 /\ __disjvr_4^0-__disjvr_4^post16 == 0 /\ 1+a_283^0-len_180^post16 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post16+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post16 == 0 /\ -ct_17^post16+ct_17^0 == 0 /\ -x_20^post16+x_20^0 == 0 /\ __disjvr_12^0-__disjvr_12^post16 == 0 /\ result_11^0-result_11^post16 == 0 /\ temp0_32^0-temp0_32^post16 == 0 /\ __disjvr_21^0-__disjvr_21^post16 == 0 /\ a_283^0-a_283^post16 == 0 /\ -rcd_72^post16+rcd_72^0 == 0 /\ x_177^0-x_177^post16 == 0 /\ __disjvr_3^0-__disjvr_3^post16 == 0 /\ __disjvr_6^0-__disjvr_6^post16 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post16 == 0 /\ -__disjvr_8^post16+__disjvr_8^0 == 0 /\ -temp0_15^post16+temp0_15^0 == 0 /\ fmt_31^0-fmt_31^post16 == 0 /\ __disjvr_20^0-__disjvr_20^post16 == 0 /\ -i_44^post16+i_44^0 == 0 /\ r_53^0-r_53^post16 == 0 /\ -lt_237^post16+lt_237^0 == 0 /\ -__disjvr_19^post16+__disjvr_19^0 == 0 /\ x_14^0-x_14^post16 == 0 /\ a_197^0-a_197^post16 == 0 /\ -__disjvr_18^post16+__disjvr_18^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post16+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post16 == 0 /\ __disjvr_0^0-__disjvr_0^post16 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post16+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -__disjvr_22^post16+__disjvr_22^0 == 0 /\ -a_146^post16+a_146^0 == 0 /\ i_108^0-i_108^post16 == 0 /\ -__disjvr_2^post16+__disjvr_2^0 == 0 /\ __disjvr_14^0-__disjvr_14^post16 == 0 /\ __disjvr_11^0-__disjvr_11^post16 == 0 /\ __disjvr_29^0-__disjvr_29^post16 == 0 /\ -__disjvr_10^post16+__disjvr_10^0 == 0 /\ -__disjvr_1^post16+__disjvr_1^0 == 0 /\ t_23^0-t_23^post16 == 0 /\ -__disjvr_17^post16+__disjvr_17^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post16 == 0 /\ -1-a_283^0+len_180^post16 <= 0 /\ -__disjvr_26^post16+__disjvr_26^0 == 0 /\ __disjvr_24^0-__disjvr_24^post16 == 0 /\ -tmp_48^post16+tmp_48^0 == 0 /\ len_246^0-len_246^post16 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post16+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -temp_49^post16+temp_49^0 == 0 /\ -__disjvr_25^post16+__disjvr_25^0 == 0 /\ temp0_45^0-temp0_45^post16 == 0 /\ head_46^0-head_46^post16 == 0 /\ -__disjvr_5^post16+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ -x_16^post16+x_16^0 == 0 /\ -__disjvr_13^post16+__disjvr_13^0 == 0 /\ -__disjvr_15^post16+__disjvr_15^0 == 0), cost: 1
  17: l18 -> l19 : __disjvr_0^0'=__disjvr_0^post17, a_283^0'=a_283^post17, temp0_45^0'=temp0_45^post17, __disjvr_21^0'=__disjvr_21^post17, y_19^0'=y_19^post17, __disjvr_4^0'=__disjvr_4^post17, result_11^0'=result_11^post17, __disjvr_14^0'=__disjvr_14^post17, head_46^0'=head_46^post17, __disjvr_24^0'=__disjvr_24^post17, x_177^0'=x_177^post17, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post17, __disjvr_9^0'=__disjvr_9^post17, a_197^0'=a_197^post17, t_23^0'=t_23^post17, __disjvr_19^0'=__disjvr_19^post17, len_246^0'=len_246^post17, __disjvr_29^0'=__disjvr_29^post17, x_SLAM_f_18^0'=x_SLAM_f_18^post17, r_53^0'=r_53^post17, __disjvr_11^0'=__disjvr_11^post17, a_328^0'=a_328^post17, tmp_48^0'=tmp_48^post17, lt_36^0'=lt_36^post17, __disjvr_6^0'=__disjvr_6^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, __disjvr_16^0'=__disjvr_16^post17, i_125^0'=i_125^post17, __disjvr_26^0'=__disjvr_26^post17, x_238^0'=x_238^post17, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post17, a_26^0'=a_26^post17, temp0_32^0'=temp0_32^post17, __disjvr_20^0'=__disjvr_20^post17, lt_237^0'=lt_237^post17, __disjvr_3^0'=__disjvr_3^post17, rcd_72^0'=rcd_72^post17, __disjvr_13^0'=__disjvr_13^post17, fmt_31^0'=fmt_31^post17, __disjvr_23^0'=__disjvr_23^post17, x_16^0'=x_16^post17, nondet_12^0'=nondet_12^post17, __disjvr_8^0'=__disjvr_8^post17, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post17, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post17, __disjvr_18^0'=__disjvr_18^post17, len_180^0'=len_180^post17, __disjvr_28^0'=__disjvr_28^post17, x_34^0'=x_34^post17, r_161^0'=r_161^post17, __disjvr_10^0'=__disjvr_10^post17, a_305^0'=a_305^post17, temp_49^0'=temp_49^post17, __disjvr_22^0'=__disjvr_22^post17, __disjvr_5^0'=__disjvr_5^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post17, __disjvr_15^0'=__disjvr_15^post17, i_108^0'=i_108^post17, __disjvr_25^0'=__disjvr_25^post17, x_20^0'=x_20^post17, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post17, a_146^0'=a_146^post17, a_247^0'=a_247^post17, temp0_15^0'=temp0_15^post17, __disjvr_1^0'=__disjvr_1^post17, length_43^0'=length_43^post17, __disjvr_2^0'=__disjvr_2^post17, rcd_102^0'=rcd_102^post17, __disjvr_12^0'=__disjvr_12^post17, ct_17^0'=ct_17^post17, x_14^0'=x_14^post17, lt_37^0'=lt_37^post17, __disjvr_7^0'=__disjvr_7^post17, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post17, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post17, __disjvr_17^0'=__disjvr_17^post17, i_44^0'=i_44^post17, __disjvr_27^0'=__disjvr_27^post17, x_28^0'=x_28^post17, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post17, (0 == 0 /\ -__disjvr_23^post17+__disjvr_23^0 == 0 /\ x_16^0-x_16^post17 == 0 /\ __disjvr_4^0-__disjvr_4^post17 == 0 /\ rcd_102^0-rcd_102^post17 == 0 /\ -a_146^post17+a_146^0 == 0 /\ __disjvr_16^0-__disjvr_16^post17 == 0 /\ -__disjvr_8^post17+__disjvr_8^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post17+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -ct_17^post17+ct_17^0 == 0 /\ t_23^0-t_23^post17 == 0 /\ -lt_237^post17+lt_237^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post17 == 0 /\ -length_43^post17+result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 <= 0 /\ -rcd_72^post17+rcd_72^0 == 0 /\ head_46^post17 <= 0 /\ head_46^post17 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post17 == 0 /\ temp_49^0-temp_49^post17 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post17+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_9^0-__disjvr_9^post17 == 0 /\ x_34^0-x_34^post17 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post17+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -__disjvr_2^post17+__disjvr_2^0 == 0 /\ a_283^0-a_283^post17 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post17+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -a_247^post17+a_247^0 == 0 /\ -__disjvr_13^post17+__disjvr_13^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post17 == 0 /\ -__disjvr_18^post17+__disjvr_18^0 == 0 /\ fmt_31^0-fmt_31^post17 == 0 /\ -__disjvr_27^post17+__disjvr_27^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post17 == 0 /\ -tmp_48^post17+tmp_48^0 == 0 /\ -x_14^post17+x_14^0 == 0 /\ length_43^post17-result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 <= 0 /\ length_43^post17-result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 == 0 /\ x_177^0-x_177^post17 == 0 /\ -__disjvr_25^post17+__disjvr_25^0 == 0 /\ -__disjvr_11^post17+__disjvr_11^0 == 0 /\ -head_46^post17 <= 0 /\ temp0_15^0-temp0_15^post17 == 0 /\ a_328^0-a_328^post17 == 0 /\ -__disjvr_6^post17+__disjvr_6^0 == 0 /\ __disjvr_14^0-__disjvr_14^post17 == 0 /\ -__disjvr_17^post17+__disjvr_17^0 == 0 /\ __disjvr_0^0-__disjvr_0^post17 == 0 /\ lt_36^0-lt_36^post17 == 0 /\ r_53^0-r_53^post17 == 0 /\ -a_305^post17+a_305^0 == 0 /\ -r_161^post17+r_161^0 == 0 /\ -len_180^post17+len_180^0 == 0 /\ -__disjvr_12^post17+__disjvr_12^0 == 0 /\ __disjvr_5^0-__disjvr_5^post17 == 0 /\ temp0_45^0-temp0_45^post17 == 0 /\ -__disjvr_7^post17+__disjvr_7^0 == 0 /\ len_246^0-len_246^post17 == 0 /\ -result_11^post17+result_11^0 == 0 /\ -__disjvr_21^post17+__disjvr_21^0 == 0 /\ -__disjvr_1^post17+__disjvr_1^0 == 0 /\ -__disjvr_24^post17+__disjvr_24^0 == 0 /\ __disjvr_19^0-__disjvr_19^post17 == 0 /\ __disjvr_26^0-__disjvr_26^post17 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post17+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_20^post17+x_20^0 == 0 /\ __disjvr_22^0-__disjvr_22^post17 == 0 /\ temp0_32^0-temp0_32^post17 == 0 /\ -lt_37^post17+lt_37^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post17-nondet_12^10 == 0 /\ __disjvr_15^0-__disjvr_15^post17 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post17 == 0 /\ -a_26^post17+a_26^0 == 0 /\ __disjvr_20^0-__disjvr_20^post17 == 0 /\ __disjvr_28^0-__disjvr_28^post17 == 0 /\ __disjvr_3^0-__disjvr_3^post17 == 0 /\ i_44^post17 <= 0 /\ i_44^post17 == 0 /\ a_197^0-a_197^post17 == 0 /\ -x_238^post17+x_238^0 == 0 /\ y_19^0-y_19^post17 == 0 /\ __disjvr_10^0-__disjvr_10^post17 == 0 /\ -i_44^post17 <= 0 /\ __disjvr_29^0-__disjvr_29^post17 == 0 /\ -i_108^post17+i_108^0 == 0 /\ i_125^0-i_125^post17 == 0 /\ -x_28^post17+x_28^0 == 0), cost: 1
  39: l19 -> l1 : __disjvr_0^0'=__disjvr_0^post39, a_283^0'=a_283^post39, temp0_45^0'=temp0_45^post39, __disjvr_21^0'=__disjvr_21^post39, y_19^0'=y_19^post39, __disjvr_4^0'=__disjvr_4^post39, result_11^0'=result_11^post39, __disjvr_14^0'=__disjvr_14^post39, head_46^0'=head_46^post39, __disjvr_24^0'=__disjvr_24^post39, x_177^0'=x_177^post39, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post39, __disjvr_9^0'=__disjvr_9^post39, a_197^0'=a_197^post39, t_23^0'=t_23^post39, __disjvr_19^0'=__disjvr_19^post39, len_246^0'=len_246^post39, __disjvr_29^0'=__disjvr_29^post39, x_SLAM_f_18^0'=x_SLAM_f_18^post39, r_53^0'=r_53^post39, __disjvr_11^0'=__disjvr_11^post39, a_328^0'=a_328^post39, tmp_48^0'=tmp_48^post39, lt_36^0'=lt_36^post39, __disjvr_6^0'=__disjvr_6^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, __disjvr_16^0'=__disjvr_16^post39, i_125^0'=i_125^post39, __disjvr_26^0'=__disjvr_26^post39, x_238^0'=x_238^post39, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post39, a_26^0'=a_26^post39, temp0_32^0'=temp0_32^post39, __disjvr_20^0'=__disjvr_20^post39, lt_237^0'=lt_237^post39, __disjvr_3^0'=__disjvr_3^post39, rcd_72^0'=rcd_72^post39, __disjvr_13^0'=__disjvr_13^post39, fmt_31^0'=fmt_31^post39, __disjvr_23^0'=__disjvr_23^post39, x_16^0'=x_16^post39, nondet_12^0'=nondet_12^post39, __disjvr_8^0'=__disjvr_8^post39, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post39, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post39, __disjvr_18^0'=__disjvr_18^post39, len_180^0'=len_180^post39, __disjvr_28^0'=__disjvr_28^post39, x_34^0'=x_34^post39, r_161^0'=r_161^post39, __disjvr_10^0'=__disjvr_10^post39, a_305^0'=a_305^post39, temp_49^0'=temp_49^post39, __disjvr_22^0'=__disjvr_22^post39, __disjvr_5^0'=__disjvr_5^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post39, __disjvr_15^0'=__disjvr_15^post39, i_108^0'=i_108^post39, __disjvr_25^0'=__disjvr_25^post39, x_20^0'=x_20^post39, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post39, a_146^0'=a_146^post39, a_247^0'=a_247^post39, temp0_15^0'=temp0_15^post39, __disjvr_1^0'=__disjvr_1^post39, length_43^0'=length_43^post39, __disjvr_2^0'=__disjvr_2^post39, rcd_102^0'=rcd_102^post39, __disjvr_12^0'=__disjvr_12^post39, ct_17^0'=ct_17^post39, x_14^0'=x_14^post39, lt_37^0'=lt_37^post39, __disjvr_7^0'=__disjvr_7^post39, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post39, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post39, __disjvr_17^0'=__disjvr_17^post39, i_44^0'=i_44^post39, __disjvr_27^0'=__disjvr_27^post39, x_28^0'=x_28^post39, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post39, (0 == 0 /\ -x_20^120 <= 0 /\ __disjvr_9^0-__disjvr_9^post39 == 0 /\ y_19^120 <= 0 /\ y_19^120-ct_17^120 <= 0 /\ y_19^120-ct_17^120 == 0 /\ -rcd_102^post39+rcd_102^0 == 0 /\ __disjvr_8^0-__disjvr_8^post39 == 0 /\ temp0_32^150 == 0 /\ -__disjvr_27^post39+__disjvr_27^0 == 0 /\ __disjvr_26^0-__disjvr_26^post39 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^10+fmt_31^150 == 0 /\ temp0_32^30 == 0 /\ -__disjvr_7^post39+__disjvr_7^0 == 0 /\ -__disjvr_16^post39+__disjvr_16^0 == 0 /\ -x_SLAM_f_18^120+x_16^10 <= 0 /\ __disjvr_19^0-__disjvr_19^post39 == 0 /\ r_53^0-r_53^post39 == 0 /\ -x_238^post39+x_238^0 == 0 /\ x_14^post39 <= 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ -x_14^post39 <= 0 /\ len_246^0-len_246^post39 == 0 /\ length_43^0-i_44^0 <= 0 /\ -y_19^120 <= 0 /\ -__disjvr_1^post39+__disjvr_1^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 <= 0 /\ __disjvr_20^0-__disjvr_20^post39 == 0 /\ -__disjvr_10^post39+__disjvr_10^0 == 0 /\ -head_46^0+temp0_45^120 == 0 /\ -x_SLAM_f_18^120 <= 0 /\ a_247^0-a_247^post39 == 0 /\ -i_108^post39+i_108^0 == 0 /\ -y_19^120+ct_17^120 <= 0 /\ -__disjvr_5^post39+__disjvr_5^0 == 0 /\ ct_17^120 <= 0 /\ ct_17^120 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ -__disjvr_3^post39+__disjvr_3^0 == 0 /\ x_SLAM_f_18^120-x_16^10 <= 0 /\ x_SLAM_f_18^120-x_16^10 == 0 /\ len_180^0-len_180^post39 == 0 /\ __disjvr_12^0-__disjvr_12^post39 == 0 /\ x_14^post39-result_11^150 == 0 /\ result_11^post39-temp0_15^0 == 0 /\ -a_328^post39+a_328^0 == 0 /\ __disjvr_6^0-__disjvr_6^post39 == 0 /\ __disjvr_21^0-__disjvr_21^post39 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ x_177^0-x_177^post39 == 0 /\ x_14^post39-x_16^10 <= 0 /\ -nondet_12^post39+nondet_12^0 == 0 /\ -__disjvr_13^post39+__disjvr_13^0 == 0 /\ x_SLAM_f_18^120 <= 0 /\ y_19^120-x_20^120 <= 0 /\ a_283^0-a_283^post39 == 0 /\ -x_14^post39+a_26^10 == 0 /\ x_SLAM_f_18^120-x_20^120 <= 0 /\ -ct_17^120 <= 0 /\ __disjvr_18^0-__disjvr_18^post39 == 0 /\ __disjvr_4^0-__disjvr_4^post39 == 0 /\ -__disjvr_2^post39+__disjvr_2^0 == 0 /\ -x_28^10 <= 0 /\ x_20^120 <= 0 /\ fmt_31^30-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^110 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^110-result_11^50 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^10-result_11^320 == 0 /\ -a_26^10+x_28^10 == 0 /\ -a_305^post39+a_305^0 == 0 /\ __disjvr_29^0-__disjvr_29^post39 == 0 /\ -a_146^post39+a_146^0 == 0 /\ i_125^0-i_125^post39 == 0 /\ -x_14^post39+x_16^10 <= 0 /\ -x_14^post39+x_16^10 == 0 /\ -y_19^120+x_20^120 <= 0 /\ -__disjvr_25^post39+__disjvr_25^0 == 0 /\ -temp0_15^post39+temp0_15^0 == 0 /\ -__disjvr_28^post39+__disjvr_28^0 == 0 /\ x_16^10 <= 0 /\ -x_SLAM_f_18^120+x_20^120 <= 0 /\ -x_SLAM_f_18^120+x_20^120 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ __disjvr_11^0-__disjvr_11^post39 == 0 /\ -temp0_32^150+result_11^320 == 0 /\ r_161^0-r_161^post39 == 0 /\ __disjvr_23^0-__disjvr_23^post39 == 0 /\ rcd_72^0-rcd_72^post39 == 0 /\ -temp0_32^30+result_11^50 == 0 /\ -lt_237^post39+lt_237^0 == 0 /\ -__disjvr_15^post39+__disjvr_15^0 == 0 /\ -x_16^10 <= 0 /\ -__disjvr_22^post39+__disjvr_22^0 == 0 /\ result_11^150-temp0_45^120 == 0 /\ x_28^10 <= 0 /\ -a_197^post39+a_197^0 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0), cost: 1
  40: l19 -> l20 : __disjvr_0^0'=__disjvr_0^post40, a_283^0'=a_283^post40, temp0_45^0'=temp0_45^post40, __disjvr_21^0'=__disjvr_21^post40, y_19^0'=y_19^post40, __disjvr_4^0'=__disjvr_4^post40, result_11^0'=result_11^post40, __disjvr_14^0'=__disjvr_14^post40, head_46^0'=head_46^post40, __disjvr_24^0'=__disjvr_24^post40, x_177^0'=x_177^post40, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post40, __disjvr_9^0'=__disjvr_9^post40, a_197^0'=a_197^post40, t_23^0'=t_23^post40, __disjvr_19^0'=__disjvr_19^post40, len_246^0'=len_246^post40, __disjvr_29^0'=__disjvr_29^post40, x_SLAM_f_18^0'=x_SLAM_f_18^post40, r_53^0'=r_53^post40, __disjvr_11^0'=__disjvr_11^post40, a_328^0'=a_328^post40, tmp_48^0'=tmp_48^post40, lt_36^0'=lt_36^post40, __disjvr_6^0'=__disjvr_6^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, __disjvr_16^0'=__disjvr_16^post40, i_125^0'=i_125^post40, __disjvr_26^0'=__disjvr_26^post40, x_238^0'=x_238^post40, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post40, a_26^0'=a_26^post40, temp0_32^0'=temp0_32^post40, __disjvr_20^0'=__disjvr_20^post40, lt_237^0'=lt_237^post40, __disjvr_3^0'=__disjvr_3^post40, rcd_72^0'=rcd_72^post40, __disjvr_13^0'=__disjvr_13^post40, fmt_31^0'=fmt_31^post40, __disjvr_23^0'=__disjvr_23^post40, x_16^0'=x_16^post40, nondet_12^0'=nondet_12^post40, __disjvr_8^0'=__disjvr_8^post40, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post40, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post40, __disjvr_18^0'=__disjvr_18^post40, len_180^0'=len_180^post40, __disjvr_28^0'=__disjvr_28^post40, x_34^0'=x_34^post40, r_161^0'=r_161^post40, __disjvr_10^0'=__disjvr_10^post40, a_305^0'=a_305^post40, temp_49^0'=temp_49^post40, __disjvr_22^0'=__disjvr_22^post40, __disjvr_5^0'=__disjvr_5^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40, __disjvr_15^0'=__disjvr_15^post40, i_108^0'=i_108^post40, __disjvr_25^0'=__disjvr_25^post40, x_20^0'=x_20^post40, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post40, a_146^0'=a_146^post40, a_247^0'=a_247^post40, temp0_15^0'=temp0_15^post40, __disjvr_1^0'=__disjvr_1^post40, length_43^0'=length_43^post40, __disjvr_2^0'=__disjvr_2^post40, rcd_102^0'=rcd_102^post40, __disjvr_12^0'=__disjvr_12^post40, ct_17^0'=ct_17^post40, x_14^0'=x_14^post40, lt_37^0'=lt_37^post40, __disjvr_7^0'=__disjvr_7^post40, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post40, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post40, __disjvr_17^0'=__disjvr_17^post40, i_44^0'=i_44^post40, __disjvr_27^0'=__disjvr_27^post40, x_28^0'=x_28^post40, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post40, (0 == 0 /\ -__disjvr_3^post40+__disjvr_3^0 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ -1+i_44^post40-i_44^0 == 0 /\ x_177^0-x_177^post40 == 0 /\ -rcd_102^post40+rcd_102^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post40+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post40 == 0 /\ 1-length_43^0+i_44^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -x_20^post40+x_20^0 == 0 /\ -__disjvr_10^post40+__disjvr_10^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+length_43^0 <= 0 /\ 1-i_44^post40 <= 0 /\ -1+i_44^post40 <= 0 /\ head_46^post40-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40 <= 0 /\ __disjvr_1^0-__disjvr_1^post40 == 0 /\ -lt_37^post40+lt_37^0 == 0 /\ -r_161^post40+r_161^0 == 0 /\ tmp_48^post40-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40 <= 0 /\ a_197^0-a_197^post40 == 0 /\ __disjvr_11^0-__disjvr_11^post40 == 0 /\ -length_43^post40+length_43^0 == 0 /\ __disjvr_16^0-__disjvr_16^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ __disjvr_2^0-__disjvr_2^post40 == 0 /\ -i_108^post40+i_108^0 == 0 /\ a_26^0-a_26^post40 == 0 /\ lt_237^0-lt_237^post40 == 0 /\ -x_28^post40+x_28^0 == 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ -x_34^post40+x_34^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post40+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -i_125^post40+i_125^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post40-length_43^0 <= 0 /\ -head_46^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40 <= 0 /\ -fmt_31^post40+fmt_31^0 == 0 /\ len_180^0-len_180^post40 == 0 /\ -tmp_48^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40 <= 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ len_246^0-len_246^post40 == 0 /\ __disjvr_26^0-__disjvr_26^post40 == 0 /\ -ct_17^post40+ct_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post40+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ a_283^0-a_283^post40 == 0 /\ -__disjvr_22^post40+__disjvr_22^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post40+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ temp0_32^0-temp0_32^post40 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post40 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post40+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -r_53^post40+r_53^0 == 0 /\ __disjvr_18^0-__disjvr_18^post40 == 0 /\ __disjvr_15^0-__disjvr_15^post40 == 0 /\ -a_247^post40+a_247^0 == 0 /\ -head_46^post40+tmp_48^post40 <= 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ -__disjvr_20^post40+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post40+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ tmp_48^post40-temp_49^0 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -x_16^post40+x_16^0 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post40 == 0 /\ lt_36^0-lt_36^post40 == 0 /\ -x_14^post40+x_14^0 == 0 /\ x_238^0-x_238^post40 == 0 /\ y_19^0-y_19^post40 == 0 /\ -__disjvr_5^post40+__disjvr_5^0 == 0 /\ -t_23^post40+t_23^0 == 0 /\ rcd_72^0-rcd_72^post40 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ a_305^0-a_305^post40 == 0 /\ -a_146^post40+a_146^0 == 0 /\ head_46^post40-tmp_48^post40 <= 0 /\ head_46^post40-tmp_48^post40 == 0 /\ -__disjvr_13^post40+__disjvr_13^0 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ 1-length_43^0 <= 0 /\ temp0_45^0-temp0_45^post40 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ -temp0_15^post40+temp0_15^0 == 0 /\ -__disjvr_28^post40+__disjvr_28^0 == 0 /\ -a_328^post40+a_328^0 == 0), cost: 1
  18: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post18, a_283^0'=a_283^post18, temp0_45^0'=temp0_45^post18, __disjvr_21^0'=__disjvr_21^post18, y_19^0'=y_19^post18, __disjvr_4^0'=__disjvr_4^post18, result_11^0'=result_11^post18, __disjvr_14^0'=__disjvr_14^post18, head_46^0'=head_46^post18, __disjvr_24^0'=__disjvr_24^post18, x_177^0'=x_177^post18, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post18, __disjvr_9^0'=__disjvr_9^post18, a_197^0'=a_197^post18, t_23^0'=t_23^post18, __disjvr_19^0'=__disjvr_19^post18, len_246^0'=len_246^post18, __disjvr_29^0'=__disjvr_29^post18, x_SLAM_f_18^0'=x_SLAM_f_18^post18, r_53^0'=r_53^post18, __disjvr_11^0'=__disjvr_11^post18, a_328^0'=a_328^post18, tmp_48^0'=tmp_48^post18, lt_36^0'=lt_36^post18, __disjvr_6^0'=__disjvr_6^post18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post18, __disjvr_16^0'=__disjvr_16^post18, i_125^0'=i_125^post18, __disjvr_26^0'=__disjvr_26^post18, x_238^0'=x_238^post18, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post18, a_26^0'=a_26^post18, temp0_32^0'=temp0_32^post18, __disjvr_20^0'=__disjvr_20^post18, lt_237^0'=lt_237^post18, __disjvr_3^0'=__disjvr_3^post18, rcd_72^0'=rcd_72^post18, __disjvr_13^0'=__disjvr_13^post18, fmt_31^0'=fmt_31^post18, __disjvr_23^0'=__disjvr_23^post18, x_16^0'=x_16^post18, nondet_12^0'=nondet_12^post18, __disjvr_8^0'=__disjvr_8^post18, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post18, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post18, __disjvr_18^0'=__disjvr_18^post18, len_180^0'=len_180^post18, __disjvr_28^0'=__disjvr_28^post18, x_34^0'=x_34^post18, r_161^0'=r_161^post18, __disjvr_10^0'=__disjvr_10^post18, a_305^0'=a_305^post18, temp_49^0'=temp_49^post18, __disjvr_22^0'=__disjvr_22^post18, __disjvr_5^0'=__disjvr_5^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post18, __disjvr_15^0'=__disjvr_15^post18, i_108^0'=i_108^post18, __disjvr_25^0'=__disjvr_25^post18, x_20^0'=x_20^post18, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post18, a_146^0'=a_146^post18, a_247^0'=a_247^post18, temp0_15^0'=temp0_15^post18, __disjvr_1^0'=__disjvr_1^post18, length_43^0'=length_43^post18, __disjvr_2^0'=__disjvr_2^post18, rcd_102^0'=rcd_102^post18, __disjvr_12^0'=__disjvr_12^post18, ct_17^0'=ct_17^post18, x_14^0'=x_14^post18, lt_37^0'=lt_37^post18, __disjvr_7^0'=__disjvr_7^post18, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post18, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post18, __disjvr_17^0'=__disjvr_17^post18, i_44^0'=i_44^post18, __disjvr_27^0'=__disjvr_27^post18, x_28^0'=x_28^post18, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post18, (0 == 0 /\ result_11^10-temp0_45^10 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post18+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -lt_36^post18+lt_36^0 == 0 /\ r_161^0-r_161^post18 == 0 /\ -__disjvr_2^post18+__disjvr_2^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post18+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -lt_37^post18+lt_37^0 == 0 /\ -head_46^0+temp0_45^10 == 0 /\ __disjvr_8^0-__disjvr_8^post18 == 0 /\ __disjvr_21^0-__disjvr_21^post18 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post18+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_13^0-__disjvr_13^post18 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post18+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_19^0-__disjvr_19^post18 == 0 /\ -__disjvr_25^post18+__disjvr_25^0 == 0 /\ -__disjvr_3^post18+__disjvr_3^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post18+fmt_31^10 == 0 /\ length_43^0-i_44^0 <= 0 /\ -__disjvr_27^post18+__disjvr_27^0 == 0 /\ -ct_17^post18+ct_17^0 == 0 /\ -temp0_15^post18+temp0_15^0 == 0 /\ -rcd_102^post18+rcd_102^0 == 0 /\ -lt_237^post18+lt_237^0 == 0 /\ -x_16^post18+x_16^0 == 0 /\ -a_146^post18+a_146^0 == 0 /\ -result_11^10+x_14^post18 == 0 /\ __disjvr_4^0-__disjvr_4^post18 == 0 /\ a_328^0-a_328^post18 == 0 /\ -a_26^post18+x_28^post18 == 0 /\ temp0_32^10 == 0 /\ -a_305^post18+a_305^0 == 0 /\ -__disjvr_28^post18+__disjvr_28^0 == 0 /\ __disjvr_11^0-__disjvr_11^post18 == 0 /\ a_247^0-a_247^post18 == 0 /\ a_283^0-a_283^post18 == 0 /\ x_238^0-x_238^post18 == 0 /\ __disjvr_12^0-__disjvr_12^post18 == 0 /\ __disjvr_16^0-__disjvr_16^post18 == 0 /\ -__disjvr_29^post18+__disjvr_29^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post18-result_11^30 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post18 == 0 /\ -__disjvr_7^post18+__disjvr_7^0 == 0 /\ __disjvr_6^0-__disjvr_6^post18 == 0 /\ -__disjvr_23^post18+__disjvr_23^0 == 0 /\ -temp0_32^10+result_11^30 == 0 /\ t_23^0-t_23^post18 == 0 /\ __disjvr_9^0-__disjvr_9^post18 == 0 /\ -i_125^post18+i_125^0 == 0 /\ -len_180^post18+len_180^0 == 0 /\ -__disjvr_1^post18+__disjvr_1^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post18 == 0 /\ -i_108^post18+i_108^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post18 == 0 /\ y_19^0-y_19^post18 == 0 /\ a_26^post18-x_14^post18 == 0 /\ x_20^0-x_20^post18 == 0 /\ -a_197^post18+a_197^0 == 0 /\ -__disjvr_10^post18+__disjvr_10^0 == 0 /\ __disjvr_0^0-__disjvr_0^post18 == 0 /\ __disjvr_5^0-__disjvr_5^post18 == 0 /\ __disjvr_20^0-__disjvr_20^post18 == 0 /\ __disjvr_18^0-__disjvr_18^post18 == 0 /\ x_177^0-x_177^post18 == 0 /\ -__disjvr_15^post18+__disjvr_15^0 == 0 /\ -len_246^post18+len_246^0 == 0 /\ rcd_72^0-rcd_72^post18 == 0 /\ -__disjvr_17^post18+__disjvr_17^0 == 0 /\ -x_34^post18+x_34^0 == 0 /\ -__disjvr_26^post18+__disjvr_26^0 == 0 /\ __disjvr_22^0-__disjvr_22^post18 == 0 /\ nondet_12^0-nondet_12^post18 == 0 /\ r_53^0-r_53^post18 == 0 /\ -__disjvr_24^post18+__disjvr_24^0 == 0 /\ __disjvr_14^0-__disjvr_14^post18 == 0), cost: 1
  31: l20 -> l33 : __disjvr_0^0'=__disjvr_0^post31, a_283^0'=a_283^post31, temp0_45^0'=temp0_45^post31, __disjvr_21^0'=__disjvr_21^post31, y_19^0'=y_19^post31, __disjvr_4^0'=__disjvr_4^post31, result_11^0'=result_11^post31, __disjvr_14^0'=__disjvr_14^post31, head_46^0'=head_46^post31, __disjvr_24^0'=__disjvr_24^post31, x_177^0'=x_177^post31, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post31, __disjvr_9^0'=__disjvr_9^post31, a_197^0'=a_197^post31, t_23^0'=t_23^post31, __disjvr_19^0'=__disjvr_19^post31, len_246^0'=len_246^post31, __disjvr_29^0'=__disjvr_29^post31, x_SLAM_f_18^0'=x_SLAM_f_18^post31, r_53^0'=r_53^post31, __disjvr_11^0'=__disjvr_11^post31, a_328^0'=a_328^post31, tmp_48^0'=tmp_48^post31, lt_36^0'=lt_36^post31, __disjvr_6^0'=__disjvr_6^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, __disjvr_16^0'=__disjvr_16^post31, i_125^0'=i_125^post31, __disjvr_26^0'=__disjvr_26^post31, x_238^0'=x_238^post31, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post31, a_26^0'=a_26^post31, temp0_32^0'=temp0_32^post31, __disjvr_20^0'=__disjvr_20^post31, lt_237^0'=lt_237^post31, __disjvr_3^0'=__disjvr_3^post31, rcd_72^0'=rcd_72^post31, __disjvr_13^0'=__disjvr_13^post31, fmt_31^0'=fmt_31^post31, __disjvr_23^0'=__disjvr_23^post31, x_16^0'=x_16^post31, nondet_12^0'=nondet_12^post31, __disjvr_8^0'=__disjvr_8^post31, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post31, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post31, __disjvr_18^0'=__disjvr_18^post31, len_180^0'=len_180^post31, __disjvr_28^0'=__disjvr_28^post31, x_34^0'=x_34^post31, r_161^0'=r_161^post31, __disjvr_10^0'=__disjvr_10^post31, a_305^0'=a_305^post31, temp_49^0'=temp_49^post31, __disjvr_22^0'=__disjvr_22^post31, __disjvr_5^0'=__disjvr_5^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31, __disjvr_15^0'=__disjvr_15^post31, i_108^0'=i_108^post31, __disjvr_25^0'=__disjvr_25^post31, x_20^0'=x_20^post31, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post31, a_146^0'=a_146^post31, a_247^0'=a_247^post31, temp0_15^0'=temp0_15^post31, __disjvr_1^0'=__disjvr_1^post31, length_43^0'=length_43^post31, __disjvr_2^0'=__disjvr_2^post31, rcd_102^0'=rcd_102^post31, __disjvr_12^0'=__disjvr_12^post31, ct_17^0'=ct_17^post31, x_14^0'=x_14^post31, lt_37^0'=lt_37^post31, __disjvr_7^0'=__disjvr_7^post31, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post31, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post31, __disjvr_17^0'=__disjvr_17^post31, i_44^0'=i_44^post31, __disjvr_27^0'=__disjvr_27^post31, x_28^0'=x_28^post31, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post31, (0 == 0 /\ -x_28^post31+x_28^0 == 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ -a_328^post31+a_328^0 == 0 /\ head_46^post31-tmp_48^post31 <= 0 /\ head_46^post31-tmp_48^post31 == 0 /\ __disjvr_29^0-__disjvr_29^post31 == 0 /\ -x_16^post31+x_16^0 == 0 /\ 1-length_43^0+i_44^0 <= 0 /\ lt_36^0-lt_36^post31 == 0 /\ -lt_237^post31+lt_237^0 == 0 /\ -__disjvr_18^post31+__disjvr_18^0 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ temp0_32^0-temp0_32^post31 == 0 /\ -__disjvr_8^post31+__disjvr_8^0 == 0 /\ -__disjvr_2^post31+__disjvr_2^0 == 0 /\ result_11^0-result_11^post31 == 0 /\ -a_146^post31+a_146^0 == 0 /\ -__disjvr_26^post31+__disjvr_26^0 == 0 /\ temp0_45^0-temp0_45^post31 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post31+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ 2-i_44^post31 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post31-length_43^0 <= 0 /\ -temp0_15^post31+temp0_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post31 == 0 /\ -__disjvr_25^post31+__disjvr_25^0 == 0 /\ -__disjvr_19^post31+__disjvr_19^0 == 0 /\ -__disjvr_22^post31+__disjvr_22^0 == 0 /\ -head_46^post31+tmp_48^post31 <= 0 /\ -__disjvr_23^post31+__disjvr_23^0 == 0 /\ __disjvr_28^0-__disjvr_28^post31 == 0 /\ a_197^0-a_197^post31 == 0 /\ -__disjvr_13^post31+__disjvr_13^0 == 0 /\ -rcd_102^post31+rcd_102^0 == 0 /\ -__disjvr_15^post31+__disjvr_15^0 == 0 /\ y_19^0-y_19^post31 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post31+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_20^post31+__disjvr_20^0 == 0 /\ x_238^0-x_238^post31 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post31+length_43^0 <= 0 /\ __disjvr_10^0-__disjvr_10^post31 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0 /\ -tmp_48^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31 <= 0 /\ -length_43^post31+length_43^0 == 0 /\ -head_46^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31 <= 0 /\ __disjvr_16^0-__disjvr_16^post31 == 0 /\ 2-length_43^0 <= 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ __disjvr_4^0-__disjvr_4^post31 == 0 /\ -r_161^post31+r_161^0 == 0 /\ x_14^0-x_14^post31 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post31 == 0 /\ -ct_17^post31+ct_17^0 == 0 /\ fmt_31^0-fmt_31^post31 == 0 /\ -x_34^post31+x_34^0 == 0 /\ -__disjvr_27^post31+__disjvr_27^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post31+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ -i_125^post31+i_125^0 == 0 /\ __disjvr_21^0-__disjvr_21^post31 == 0 /\ __disjvr_7^0-__disjvr_7^post31 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post31 == 0 /\ -2+i_44^post31 <= 0 /\ a_26^0-a_26^post31 == 0 /\ -a_305^post31+a_305^0 == 0 /\ tmp_48^post31-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post31+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post31+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ r_53^0-r_53^post31 == 0 /\ __disjvr_9^0-__disjvr_9^post31 == 0 /\ -x_20^post31+x_20^0 == 0 /\ -1+i_44^post31-i_44^0 == 0 /\ len_180^0-len_180^post31 == 0 /\ __disjvr_11^0-__disjvr_11^post31 == 0 /\ x_177^0-x_177^post31 == 0 /\ head_46^post31-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31 <= 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ a_283^0-a_283^post31 == 0 /\ len_246^0-len_246^post31 == 0 /\ __disjvr_14^0-__disjvr_14^post31 == 0 /\ t_23^0-t_23^post31 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post31+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ 1-length_43^0 <= 0 /\ -lt_37^post31+lt_37^0 == 0 /\ __disjvr_24^0-__disjvr_24^post31 == 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ -a_247^post31+a_247^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post31 == 0 /\ i_108^0-i_108^post31 == 0 /\ tmp_48^post31-temp_49^0 == 0), cost: 1
  19: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post19, a_283^0'=a_283^post19, temp0_45^0'=temp0_45^post19, __disjvr_21^0'=__disjvr_21^post19, y_19^0'=y_19^post19, __disjvr_4^0'=__disjvr_4^post19, result_11^0'=result_11^post19, __disjvr_14^0'=__disjvr_14^post19, head_46^0'=head_46^post19, __disjvr_24^0'=__disjvr_24^post19, x_177^0'=x_177^post19, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post19, __disjvr_9^0'=__disjvr_9^post19, a_197^0'=a_197^post19, t_23^0'=t_23^post19, __disjvr_19^0'=__disjvr_19^post19, len_246^0'=len_246^post19, __disjvr_29^0'=__disjvr_29^post19, x_SLAM_f_18^0'=x_SLAM_f_18^post19, r_53^0'=r_53^post19, __disjvr_11^0'=__disjvr_11^post19, a_328^0'=a_328^post19, tmp_48^0'=tmp_48^post19, lt_36^0'=lt_36^post19, __disjvr_6^0'=__disjvr_6^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, __disjvr_16^0'=__disjvr_16^post19, i_125^0'=i_125^post19, __disjvr_26^0'=__disjvr_26^post19, x_238^0'=x_238^post19, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post19, a_26^0'=a_26^post19, temp0_32^0'=temp0_32^post19, __disjvr_20^0'=__disjvr_20^post19, lt_237^0'=lt_237^post19, __disjvr_3^0'=__disjvr_3^post19, rcd_72^0'=rcd_72^post19, __disjvr_13^0'=__disjvr_13^post19, fmt_31^0'=fmt_31^post19, __disjvr_23^0'=__disjvr_23^post19, x_16^0'=x_16^post19, nondet_12^0'=nondet_12^post19, __disjvr_8^0'=__disjvr_8^post19, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post19, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post19, __disjvr_18^0'=__disjvr_18^post19, len_180^0'=len_180^post19, __disjvr_28^0'=__disjvr_28^post19, x_34^0'=x_34^post19, r_161^0'=r_161^post19, __disjvr_10^0'=__disjvr_10^post19, a_305^0'=a_305^post19, temp_49^0'=temp_49^post19, __disjvr_22^0'=__disjvr_22^post19, __disjvr_5^0'=__disjvr_5^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post19, __disjvr_15^0'=__disjvr_15^post19, i_108^0'=i_108^post19, __disjvr_25^0'=__disjvr_25^post19, x_20^0'=x_20^post19, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post19, a_146^0'=a_146^post19, a_247^0'=a_247^post19, temp0_15^0'=temp0_15^post19, __disjvr_1^0'=__disjvr_1^post19, length_43^0'=length_43^post19, __disjvr_2^0'=__disjvr_2^post19, rcd_102^0'=rcd_102^post19, __disjvr_12^0'=__disjvr_12^post19, ct_17^0'=ct_17^post19, x_14^0'=x_14^post19, lt_37^0'=lt_37^post19, __disjvr_7^0'=__disjvr_7^post19, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post19, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post19, __disjvr_17^0'=__disjvr_17^post19, i_44^0'=i_44^post19, __disjvr_27^0'=__disjvr_27^post19, x_28^0'=x_28^post19, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post19, (-x_238^post19+x_238^0 == 0 /\ -__disjvr_23^post19+__disjvr_23^0 == 0 /\ x_16^0-x_16^post19 == 0 /\ __disjvr_16^0-__disjvr_16^post19 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post19+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -a_146^post19+a_146^0 == 0 /\ __disjvr_14^0-__disjvr_14^post19 == 0 /\ __disjvr_24^0-__disjvr_24^post19 == 0 /\ lt_36^0-lt_36^post19 == 0 /\ __disjvr_4^0-__disjvr_4^post19 == 0 /\ x_34^0-x_34^post19 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post19 == 0 /\ r_161^0-r_161^post19 == 0 /\ -ct_17^post19+ct_17^0 == 0 /\ -__disjvr_15^post19+__disjvr_15^0 == 0 /\ temp_49^0-temp_49^post19 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post19+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -rcd_72^post19+rcd_72^0 == 0 /\ __disjvr_19^0-__disjvr_19^post19 == 0 /\ __disjvr_8^0-__disjvr_8^post19 == 0 /\ -a_247^post19+a_247^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post19+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ a_283^0-a_283^post19 == 0 /\ -x_14^post19+x_14^0 == 0 /\ -i_44^post19+i_44^0 == 0 /\ head_46^0-head_46^post19 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post19 == 0 /\ -__disjvr_18^post19+__disjvr_18^0 == 0 /\ -__disjvr_29^post19+__disjvr_29^0 == 0 /\ -__disjvr_27^post19+__disjvr_27^0 == 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ fmt_31^0-fmt_31^post19 == 0 /\ __disjvr_6^0-__disjvr_6^post19 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post19 == 0 /\ -tmp_48^post19+tmp_48^0 == 0 /\ __disjvr_20^0-__disjvr_20^post19 == 0 /\ -__disjvr_25^post19+__disjvr_25^0 == 0 /\ a_328^0-a_328^post19 == 0 /\ -temp0_32^post19+temp0_32^0 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ -temp0_15^post19+temp0_15^0 == 0 /\ -__disjvr_17^post19+__disjvr_17^0 == 0 /\ -__disjvr_13^post19+__disjvr_13^0 == 0 /\ -__disjvr_28^post19+__disjvr_28^0 == 0 /\ t_23^0-t_23^post19 == 0 /\ -len_180^post19+len_180^0 == 0 /\ -a_305^post19+a_305^0 == 0 /\ -a_197^post19+a_197^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post19 == 0 /\ -rcd_102^post19+rcd_102^0 == 0 /\ lt_237^0-lt_237^post19 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ -__disjvr_7^post19+__disjvr_7^0 == 0 /\ a_26^0-a_26^post19 == 0 /\ temp0_45^0-temp0_45^post19 == 0 /\ -lt_37^post19+lt_37^0 == 0 /\ -__disjvr_21^post19+__disjvr_21^0 == 0 /\ nondet_12^0-nondet_12^post19 == 0 /\ x_20^0-x_20^post19 == 0 /\ -length_43^post19+length_43^0 == 0 /\ -__disjvr_1^post19+__disjvr_1^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post19 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post19+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_9^0-__disjvr_9^post19 == 0 /\ -result_11^post19+result_11^0 == 0 /\ __disjvr_22^0-__disjvr_22^post19 == 0 /\ i_125^0-i_125^post19 == 0 /\ __disjvr_26^0-__disjvr_26^post19 == 0 /\ -i_108^post19+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ -len_246^post19+len_246^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post19 == 0 /\ y_19^0-y_19^post19 == 0 /\ __disjvr_10^0-__disjvr_10^post19 == 0 /\ r_53^0-r_53^post19 == 0 /\ __disjvr_11^0-__disjvr_11^post19 == 0 /\ -x_28^post19+x_28^0 == 0 /\ x_177^0-x_177^post19 == 0 /\ -__disjvr_9^0+__disjvr_9^post19 == 0), cost: 1
  20: l22 -> l23 : __disjvr_0^0'=__disjvr_0^post20, a_283^0'=a_283^post20, temp0_45^0'=temp0_45^post20, __disjvr_21^0'=__disjvr_21^post20, y_19^0'=y_19^post20, __disjvr_4^0'=__disjvr_4^post20, result_11^0'=result_11^post20, __disjvr_14^0'=__disjvr_14^post20, head_46^0'=head_46^post20, __disjvr_24^0'=__disjvr_24^post20, x_177^0'=x_177^post20, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post20, __disjvr_9^0'=__disjvr_9^post20, a_197^0'=a_197^post20, t_23^0'=t_23^post20, __disjvr_19^0'=__disjvr_19^post20, len_246^0'=len_246^post20, __disjvr_29^0'=__disjvr_29^post20, x_SLAM_f_18^0'=x_SLAM_f_18^post20, r_53^0'=r_53^post20, __disjvr_11^0'=__disjvr_11^post20, a_328^0'=a_328^post20, tmp_48^0'=tmp_48^post20, lt_36^0'=lt_36^post20, __disjvr_6^0'=__disjvr_6^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, __disjvr_16^0'=__disjvr_16^post20, i_125^0'=i_125^post20, __disjvr_26^0'=__disjvr_26^post20, x_238^0'=x_238^post20, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post20, a_26^0'=a_26^post20, temp0_32^0'=temp0_32^post20, __disjvr_20^0'=__disjvr_20^post20, lt_237^0'=lt_237^post20, __disjvr_3^0'=__disjvr_3^post20, rcd_72^0'=rcd_72^post20, __disjvr_13^0'=__disjvr_13^post20, fmt_31^0'=fmt_31^post20, __disjvr_23^0'=__disjvr_23^post20, x_16^0'=x_16^post20, nondet_12^0'=nondet_12^post20, __disjvr_8^0'=__disjvr_8^post20, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post20, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post20, __disjvr_18^0'=__disjvr_18^post20, len_180^0'=len_180^post20, __disjvr_28^0'=__disjvr_28^post20, x_34^0'=x_34^post20, r_161^0'=r_161^post20, __disjvr_10^0'=__disjvr_10^post20, a_305^0'=a_305^post20, temp_49^0'=temp_49^post20, __disjvr_22^0'=__disjvr_22^post20, __disjvr_5^0'=__disjvr_5^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post20, __disjvr_15^0'=__disjvr_15^post20, i_108^0'=i_108^post20, __disjvr_25^0'=__disjvr_25^post20, x_20^0'=x_20^post20, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post20, a_146^0'=a_146^post20, a_247^0'=a_247^post20, temp0_15^0'=temp0_15^post20, __disjvr_1^0'=__disjvr_1^post20, length_43^0'=length_43^post20, __disjvr_2^0'=__disjvr_2^post20, rcd_102^0'=rcd_102^post20, __disjvr_12^0'=__disjvr_12^post20, ct_17^0'=ct_17^post20, x_14^0'=x_14^post20, lt_37^0'=lt_37^post20, __disjvr_7^0'=__disjvr_7^post20, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post20, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post20, __disjvr_17^0'=__disjvr_17^post20, i_44^0'=i_44^post20, __disjvr_27^0'=__disjvr_27^post20, x_28^0'=x_28^post20, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post20, (0 == 0 /\ tmp_48^0-tmp_48^post20 == 0 /\ -__disjvr_13^post20+__disjvr_13^0 == 0 /\ -a_305^post20+a_305^0 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post20 == 0 /\ -ct_17^post20+ct_17^0 == 0 /\ -x_14^post20+x_14^0 == 0 /\ head_46^0-head_46^post20 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^10+fmt_31^11 == 0 /\ -__disjvr_6^post20+__disjvr_6^0 == 0 /\ -a_247^post20+a_247^0 == 0 /\ -x_238^post20+x_238^0 == 0 /\ a_146^0-a_146^post20 == 0 /\ __disjvr_10^0-__disjvr_10^post20 == 0 /\ t_23^0-t_23^post20 == 0 /\ temp0_32^110 == 0 /\ -i_44^post20+i_44^0 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ y_19^0-y_19^post20 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ -x_SLAM_f_18^post20+x_SLAM_f_18^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ i_125^0-i_125^post20 == 0 /\ __disjvr_12^0-__disjvr_12^post20 == 0 /\ -temp0_32^110+result_11^110 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post20+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ __disjvr_19^0-__disjvr_19^post20 == 0 /\ -__disjvr_15^post20+__disjvr_15^0 == 0 /\ temp0_15^0-temp0_15^post20 == 0 /\ rcd_102^0-rcd_102^post20 == 0 /\ -__disjvr_2^post20+__disjvr_2^0 == 0 /\ __disjvr_21^0-__disjvr_21^post20 == 0 /\ -r_161^post20+r_161^0 == 0 /\ -__disjvr_7^post20+__disjvr_7^0 == 0 /\ __disjvr_28^0-__disjvr_28^post20 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post20 == 0 /\ x_16^0-x_16^post20 == 0 /\ -nondet_12^post20+nondet_12^0 == 0 /\ x_34^10-x_28^0 == 0 /\ -a_26^post20+a_26^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ len_246^0-len_246^post20 == 0 /\ -__disjvr_22^post20+__disjvr_22^0 == 0 /\ a_283^0-a_283^post20 == 0 /\ -__disjvr_11^post20+__disjvr_11^0 == 0 /\ -__disjvr_18^post20+__disjvr_18^0 == 0 /\ -__disjvr_26^post20+__disjvr_26^0 == 0 /\ x_177^0-x_177^post20 == 0 /\ -x_28^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ a_328^0-a_328^post20 == 0 /\ -length_43^post20+length_43^0 == 0 /\ a_26^0-x_14^0 <= 0 /\ -__disjvr_1^post20+__disjvr_1^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post20 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post20+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post20+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_9^post20+__disjvr_9^0 == 0 /\ r_53^0-r_53^post20 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ -x_20^post20+x_20^0 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -len_180^post20+len_180^0 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ temp0_45^0-temp0_45^post20 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post20+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_108^0-i_108^post20 == 0 /\ -x_28^post20+x_28^0 == 0 /\ -__disjvr_25^post20+__disjvr_25^0 == 0 /\ __disjvr_14^0-__disjvr_14^post20 == 0 /\ -lt_237^post20+lt_237^0 == 0 /\ temp_49^0-temp_49^post20 == 0 /\ rcd_72^0-rcd_72^post20 == 0 /\ -__disjvr_16^post20+__disjvr_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post20 == 0 /\ -__disjvr_8^post20+__disjvr_8^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_38^10-result_11^110 == 0 /\ -a_26^0+x_14^0 <= 0 /\ x_28^0 <= 0 /\ a_197^0-a_197^post20 == 0), cost: 1
  21: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post21, a_283^0'=a_283^post21, temp0_45^0'=temp0_45^post21, __disjvr_21^0'=__disjvr_21^post21, y_19^0'=y_19^post21, __disjvr_4^0'=__disjvr_4^post21, result_11^0'=result_11^post21, __disjvr_14^0'=__disjvr_14^post21, head_46^0'=head_46^post21, __disjvr_24^0'=__disjvr_24^post21, x_177^0'=x_177^post21, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post21, __disjvr_9^0'=__disjvr_9^post21, a_197^0'=a_197^post21, t_23^0'=t_23^post21, __disjvr_19^0'=__disjvr_19^post21, len_246^0'=len_246^post21, __disjvr_29^0'=__disjvr_29^post21, x_SLAM_f_18^0'=x_SLAM_f_18^post21, r_53^0'=r_53^post21, __disjvr_11^0'=__disjvr_11^post21, a_328^0'=a_328^post21, tmp_48^0'=tmp_48^post21, lt_36^0'=lt_36^post21, __disjvr_6^0'=__disjvr_6^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, __disjvr_16^0'=__disjvr_16^post21, i_125^0'=i_125^post21, __disjvr_26^0'=__disjvr_26^post21, x_238^0'=x_238^post21, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post21, a_26^0'=a_26^post21, temp0_32^0'=temp0_32^post21, __disjvr_20^0'=__disjvr_20^post21, lt_237^0'=lt_237^post21, __disjvr_3^0'=__disjvr_3^post21, rcd_72^0'=rcd_72^post21, __disjvr_13^0'=__disjvr_13^post21, fmt_31^0'=fmt_31^post21, __disjvr_23^0'=__disjvr_23^post21, x_16^0'=x_16^post21, nondet_12^0'=nondet_12^post21, __disjvr_8^0'=__disjvr_8^post21, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post21, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post21, __disjvr_18^0'=__disjvr_18^post21, len_180^0'=len_180^post21, __disjvr_28^0'=__disjvr_28^post21, x_34^0'=x_34^post21, r_161^0'=r_161^post21, __disjvr_10^0'=__disjvr_10^post21, a_305^0'=a_305^post21, temp_49^0'=temp_49^post21, __disjvr_22^0'=__disjvr_22^post21, __disjvr_5^0'=__disjvr_5^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post21, __disjvr_15^0'=__disjvr_15^post21, i_108^0'=i_108^post21, __disjvr_25^0'=__disjvr_25^post21, x_20^0'=x_20^post21, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post21, a_146^0'=a_146^post21, a_247^0'=a_247^post21, temp0_15^0'=temp0_15^post21, __disjvr_1^0'=__disjvr_1^post21, length_43^0'=length_43^post21, __disjvr_2^0'=__disjvr_2^post21, rcd_102^0'=rcd_102^post21, __disjvr_12^0'=__disjvr_12^post21, ct_17^0'=ct_17^post21, x_14^0'=x_14^post21, lt_37^0'=lt_37^post21, __disjvr_7^0'=__disjvr_7^post21, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post21, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post21, __disjvr_17^0'=__disjvr_17^post21, i_44^0'=i_44^post21, __disjvr_27^0'=__disjvr_27^post21, x_28^0'=x_28^post21, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post21, (temp0_15^0-temp0_15^post21 == 0 /\ __disjvr_9^0-__disjvr_9^post21 == 0 /\ -x_14^post21+x_14^0 == 0 /\ -length_43^post21+length_43^0 == 0 /\ -temp_49^post21+temp_49^0 == 0 /\ -__disjvr_17^post21+__disjvr_17^0 == 0 /\ -__disjvr_5^post21+__disjvr_5^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ t_23^0-t_23^post21 == 0 /\ -ct_17^post21+ct_17^0 == 0 /\ a_328^0-a_328^post21 == 0 /\ -__disjvr_27^post21+__disjvr_27^0 == 0 /\ -temp0_32^post21+temp0_32^0 == 0 /\ x_238^0-x_238^post21 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post21+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ lt_237^0-lt_237^post21 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ y_19^0-y_19^post21 == 0 /\ __disjvr_18^0-__disjvr_18^post21 == 0 /\ -__disjvr_6^post21+__disjvr_6^0 == 0 /\ -x_20^post21+x_20^0 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ __disjvr_13^0-__disjvr_13^post21 == 0 /\ __disjvr_19^0-__disjvr_19^post21 == 0 /\ __disjvr_16^0-__disjvr_16^post21 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post21+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -a_305^post21+a_305^0 == 0 /\ -__disjvr_3^post21+__disjvr_3^0 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post21 == 0 /\ lt_36^0-lt_36^post21 == 0 /\ -a_247^post21+a_247^0 == 0 /\ -lt_37^post21+lt_37^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post21+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_SLAM_f_18^post21+x_SLAM_f_18^0 == 0 /\ -nondet_12^post21+nondet_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post21+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_38^0-result_dot_printf_sdv_special_RETURN_VALUE_38^post21 == 0 /\ r_53^0-r_53^post21 == 0 /\ -i_108^post21+i_108^0 == 0 /\ __disjvr_11^0-__disjvr_11^post21 == 0 /\ a_283^0-a_283^post21 == 0 /\ len_246^0-len_246^post21 == 0 /\ tmp_48^0-tmp_48^post21 == 0 /\ -__disjvr_2^post21+__disjvr_2^0 == 0 /\ a_197^0-a_197^post21 == 0 /\ -x_177^post21+x_177^0 == 0 /\ i_125^0-i_125^post21 == 0 /\ -a_146^post21+a_146^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post21 == 0 /\ -__disjvr_10^post21+__disjvr_10^0 == 0 /\ __disjvr_4^0-__disjvr_4^post21 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post21+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -fmt_31^post21+fmt_31^0 == 0 /\ -__disjvr_12^post21+__disjvr_12^0 == 0 /\ r_161^0-r_161^post21 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post21 == 0 /\ -__disjvr_28^post21+__disjvr_28^0 == 0 /\ -__disjvr_23^post21+__disjvr_23^0 == 0 /\ -len_180^post21+len_180^0 == 0 /\ -__disjvr_25^post21+__disjvr_25^0 == 0 /\ -__disjvr_14^post21+__disjvr_14^0 == 0 /\ __disjvr_26^0-__disjvr_26^post21 == 0 /\ __disjvr_29^0-__disjvr_29^post21 == 0 /\ -i_44^post21+i_44^0 == 0 /\ -rcd_102^post21+rcd_102^0 == 0 /\ __disjvr_22^0-__disjvr_22^post21 == 0 /\ -__disjvr_15^post21+__disjvr_15^0 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ temp0_45^0-temp0_45^post21 == 0 /\ head_46^0-head_46^post21 == 0 /\ __disjvr_10^post21-__disjvr_10^0 == 0 /\ rcd_72^0-rcd_72^post21 == 0 /\ x_28^0-x_28^post21 == 0 /\ -__disjvr_1^post21+__disjvr_1^0 == 0 /\ x_34^0-x_34^post21 == 0 /\ x_16^0-x_16^post21 == 0 /\ -__disjvr_20^post21+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post21+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ a_26^0-a_26^post21 == 0 /\ -__disjvr_24^post21+__disjvr_24^0 == 0), cost: 1
  22: l24 -> l25 : __disjvr_0^0'=__disjvr_0^post22, a_283^0'=a_283^post22, temp0_45^0'=temp0_45^post22, __disjvr_21^0'=__disjvr_21^post22, y_19^0'=y_19^post22, __disjvr_4^0'=__disjvr_4^post22, result_11^0'=result_11^post22, __disjvr_14^0'=__disjvr_14^post22, head_46^0'=head_46^post22, __disjvr_24^0'=__disjvr_24^post22, x_177^0'=x_177^post22, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post22, __disjvr_9^0'=__disjvr_9^post22, a_197^0'=a_197^post22, t_23^0'=t_23^post22, __disjvr_19^0'=__disjvr_19^post22, len_246^0'=len_246^post22, __disjvr_29^0'=__disjvr_29^post22, x_SLAM_f_18^0'=x_SLAM_f_18^post22, r_53^0'=r_53^post22, __disjvr_11^0'=__disjvr_11^post22, a_328^0'=a_328^post22, tmp_48^0'=tmp_48^post22, lt_36^0'=lt_36^post22, __disjvr_6^0'=__disjvr_6^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, __disjvr_16^0'=__disjvr_16^post22, i_125^0'=i_125^post22, __disjvr_26^0'=__disjvr_26^post22, x_238^0'=x_238^post22, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post22, a_26^0'=a_26^post22, temp0_32^0'=temp0_32^post22, __disjvr_20^0'=__disjvr_20^post22, lt_237^0'=lt_237^post22, __disjvr_3^0'=__disjvr_3^post22, rcd_72^0'=rcd_72^post22, __disjvr_13^0'=__disjvr_13^post22, fmt_31^0'=fmt_31^post22, __disjvr_23^0'=__disjvr_23^post22, x_16^0'=x_16^post22, nondet_12^0'=nondet_12^post22, __disjvr_8^0'=__disjvr_8^post22, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post22, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post22, __disjvr_18^0'=__disjvr_18^post22, len_180^0'=len_180^post22, __disjvr_28^0'=__disjvr_28^post22, x_34^0'=x_34^post22, r_161^0'=r_161^post22, __disjvr_10^0'=__disjvr_10^post22, a_305^0'=a_305^post22, temp_49^0'=temp_49^post22, __disjvr_22^0'=__disjvr_22^post22, __disjvr_5^0'=__disjvr_5^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post22, __disjvr_15^0'=__disjvr_15^post22, i_108^0'=i_108^post22, __disjvr_25^0'=__disjvr_25^post22, x_20^0'=x_20^post22, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post22, a_146^0'=a_146^post22, a_247^0'=a_247^post22, temp0_15^0'=temp0_15^post22, __disjvr_1^0'=__disjvr_1^post22, length_43^0'=length_43^post22, __disjvr_2^0'=__disjvr_2^post22, rcd_102^0'=rcd_102^post22, __disjvr_12^0'=__disjvr_12^post22, ct_17^0'=ct_17^post22, x_14^0'=x_14^post22, lt_37^0'=lt_37^post22, __disjvr_7^0'=__disjvr_7^post22, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post22, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post22, __disjvr_17^0'=__disjvr_17^post22, i_44^0'=i_44^post22, __disjvr_27^0'=__disjvr_27^post22, x_28^0'=x_28^post22, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post22, (0 == 0 /\ -lt_237^post22+lt_237^0 == 0 /\ temp0_45^0-temp0_45^post22 == 0 /\ head_46^0-head_46^post22 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 <= 0 /\ -x_238^post22+x_238^0 == 0 /\ -temp0_15^post22+temp0_15^0 == 0 /\ a_328^0-a_328^post22 == 0 /\ -x_20^post22+x_SLAM_f_18^post22 <= 0 /\ -__disjvr_6^post22+__disjvr_6^0 == 0 /\ -i_44^post22+i_44^0 == 0 /\ __disjvr_26^0-__disjvr_26^post22 == 0 /\ a_305^0-a_305^post22 == 0 /\ -temp0_32^120+result_11^120 == 0 /\ -__disjvr_27^post22+__disjvr_27^0 == 0 /\ -__disjvr_2^post22+__disjvr_2^0 == 0 /\ a_197^0-a_197^post22 == 0 /\ __disjvr_4^0-__disjvr_4^post22 == 0 /\ -r_161^post22+r_161^0 == 0 /\ __disjvr_21^0-__disjvr_21^post22 == 0 /\ -__disjvr_12^post22+__disjvr_12^0 == 0 /\ i_125^0-i_125^post22 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ -__disjvr_18^post22+__disjvr_18^0 == 0 /\ temp0_32^120 == 0 /\ x_20^post22-x_SLAM_f_18^post22 <= 0 /\ x_20^post22-x_SLAM_f_18^post22 == 0 /\ -x_14^post22+x_14^0 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0 /\ tmp_48^0-tmp_48^post22 == 0 /\ -__disjvr_3^post22+__disjvr_3^0 == 0 /\ -__disjvr_13^post22+__disjvr_13^0 == 0 /\ y_19^post22 <= 0 /\ rcd_102^0-rcd_102^post22 == 0 /\ -__disjvr_19^post22+__disjvr_19^0 == 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ -r_53^post22+r_53^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_28^0-__disjvr_28^post22 == 0 /\ -len_180^post22+len_180^0 == 0 /\ __disjvr_29^0-__disjvr_29^post22 == 0 /\ -y_19^post22+ct_17^post22 <= 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^10-result_11^120 == 0 /\ nondet_12^0-nondet_12^post22 == 0 /\ -__disjvr_7^post22+__disjvr_7^0 == 0 /\ -x_SLAM_f_18^post22+x_14^0 <= 0 /\ x_14^0-x_16^post22 <= 0 /\ -length_43^post22+length_43^0 == 0 /\ -x_20^post22+x_14^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ a_283^0-a_283^post22 == 0 /\ -x_SLAM_f_18^post22+x_16^post22 <= 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ -x_28^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post22 == 0 /\ -__disjvr_22^post22+__disjvr_22^0 == 0 /\ -__disjvr_15^post22+__disjvr_15^0 == 0 /\ -ct_17^post22 <= 0 /\ -y_19^post22 <= 0 /\ -__disjvr_25^post22+__disjvr_25^0 == 0 /\ x_177^0-x_177^post22 == 0 /\ -a_247^post22+a_247^0 == 0 /\ len_246^0-len_246^post22 == 0 /\ -a_146^post22+a_146^0 == 0 /\ y_19^post22-ct_17^post22 <= 0 /\ y_19^post22-ct_17^post22 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ i_108^0-i_108^post22 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_SLAM_f_18^post22-x_14^0 <= 0 /\ -x_14^0+x_16^post22 <= 0 /\ -x_14^0+x_16^post22 == 0 /\ x_20^post22-x_14^0 <= 0 /\ -__disjvr_8^post22+__disjvr_8^0 == 0 /\ __disjvr_20^0-__disjvr_20^post22 == 0 /\ __disjvr_14^0-__disjvr_14^post22 == 0 /\ x_SLAM_f_18^post22-x_16^post22 <= 0 /\ x_SLAM_f_18^post22-x_16^post22 == 0 /\ fmt_31^12-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^10 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ temp_49^0-temp_49^post22 == 0 /\ ct_17^post22 <= 0 /\ ct_17^post22 == 0 /\ t_23^0-t_23^post22 == 0 /\ x_28^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post22 == 0 /\ -__disjvr_23^post22+__disjvr_23^0 == 0 /\ rcd_72^0-rcd_72^post22 == 0), cost: 1
  23: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post23, a_283^0'=a_283^post23, temp0_45^0'=temp0_45^post23, __disjvr_21^0'=__disjvr_21^post23, y_19^0'=y_19^post23, __disjvr_4^0'=__disjvr_4^post23, result_11^0'=result_11^post23, __disjvr_14^0'=__disjvr_14^post23, head_46^0'=head_46^post23, __disjvr_24^0'=__disjvr_24^post23, x_177^0'=x_177^post23, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post23, __disjvr_9^0'=__disjvr_9^post23, a_197^0'=a_197^post23, t_23^0'=t_23^post23, __disjvr_19^0'=__disjvr_19^post23, len_246^0'=len_246^post23, __disjvr_29^0'=__disjvr_29^post23, x_SLAM_f_18^0'=x_SLAM_f_18^post23, r_53^0'=r_53^post23, __disjvr_11^0'=__disjvr_11^post23, a_328^0'=a_328^post23, tmp_48^0'=tmp_48^post23, lt_36^0'=lt_36^post23, __disjvr_6^0'=__disjvr_6^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, __disjvr_16^0'=__disjvr_16^post23, i_125^0'=i_125^post23, __disjvr_26^0'=__disjvr_26^post23, x_238^0'=x_238^post23, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post23, a_26^0'=a_26^post23, temp0_32^0'=temp0_32^post23, __disjvr_20^0'=__disjvr_20^post23, lt_237^0'=lt_237^post23, __disjvr_3^0'=__disjvr_3^post23, rcd_72^0'=rcd_72^post23, __disjvr_13^0'=__disjvr_13^post23, fmt_31^0'=fmt_31^post23, __disjvr_23^0'=__disjvr_23^post23, x_16^0'=x_16^post23, nondet_12^0'=nondet_12^post23, __disjvr_8^0'=__disjvr_8^post23, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post23, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post23, __disjvr_18^0'=__disjvr_18^post23, len_180^0'=len_180^post23, __disjvr_28^0'=__disjvr_28^post23, x_34^0'=x_34^post23, r_161^0'=r_161^post23, __disjvr_10^0'=__disjvr_10^post23, a_305^0'=a_305^post23, temp_49^0'=temp_49^post23, __disjvr_22^0'=__disjvr_22^post23, __disjvr_5^0'=__disjvr_5^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post23, __disjvr_15^0'=__disjvr_15^post23, i_108^0'=i_108^post23, __disjvr_25^0'=__disjvr_25^post23, x_20^0'=x_20^post23, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post23, a_146^0'=a_146^post23, a_247^0'=a_247^post23, temp0_15^0'=temp0_15^post23, __disjvr_1^0'=__disjvr_1^post23, length_43^0'=length_43^post23, __disjvr_2^0'=__disjvr_2^post23, rcd_102^0'=rcd_102^post23, __disjvr_12^0'=__disjvr_12^post23, ct_17^0'=ct_17^post23, x_14^0'=x_14^post23, lt_37^0'=lt_37^post23, __disjvr_7^0'=__disjvr_7^post23, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post23, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post23, __disjvr_17^0'=__disjvr_17^post23, i_44^0'=i_44^post23, __disjvr_27^0'=__disjvr_27^post23, x_28^0'=x_28^post23, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post23, (x_177^0-x_177^post23 == 0 /\ __disjvr_19^0-__disjvr_19^post23 == 0 /\ __disjvr_18^0-__disjvr_18^post23 == 0 /\ __disjvr_3^0-__disjvr_3^post23 == 0 /\ -i_108^post23+i_108^0 == 0 /\ a_328^0-a_328^post23 == 0 /\ i_125^0-i_125^post23 == 0 /\ -__disjvr_16^post23+__disjvr_16^0 == 0 /\ -fmt_31^post23+fmt_31^0 == 0 /\ -__disjvr_12^post23+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post23+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post23+__disjvr_1^0 == 0 /\ -rcd_102^post23+rcd_102^0 == 0 /\ temp0_15^0-temp0_15^post23 == 0 /\ lt_36^0-lt_36^post23 == 0 /\ -len_180^post23+len_180^0 == 0 /\ -__disjvr_10^post23+__disjvr_10^0 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ -lt_37^post23+lt_37^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post23+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ a_197^0-a_197^post23 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post23 == 0 /\ y_19^0-y_19^post23 == 0 /\ __disjvr_14^0-__disjvr_14^post23 == 0 /\ r_161^0-r_161^post23 == 0 /\ __disjvr_9^0-__disjvr_9^post23 == 0 /\ temp0_45^0-temp0_45^post23 == 0 /\ -length_43^post23+length_43^0 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ __disjvr_13^0-__disjvr_13^post23 == 0 /\ -__disjvr_22^post23+__disjvr_22^0 == 0 /\ tmp_48^0-tmp_48^post23 == 0 /\ -x_34^post23+x_34^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post23 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post23+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_24^0-__disjvr_24^post23 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post23+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -x_28^post23+x_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ head_46^0-head_46^post23 == 0 /\ __disjvr_21^0-__disjvr_21^post23 == 0 /\ __disjvr_28^0-__disjvr_28^post23 == 0 /\ -x_238^post23+x_238^0 == 0 /\ -ct_17^post23+ct_17^0 == 0 /\ -rcd_72^post23+rcd_72^0 == 0 /\ -__disjvr_27^post23+__disjvr_27^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post23 == 0 /\ -__disjvr_23^post23+__disjvr_23^0 == 0 /\ __disjvr_11^0-__disjvr_11^post23 == 0 /\ __disjvr_29^0-__disjvr_29^post23 == 0 /\ -r_53^post23+r_53^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post23+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ x_16^0-x_16^post23 == 0 /\ __disjvr_20^0-__disjvr_20^post23 == 0 /\ -a_247^post23+a_247^0 == 0 /\ -__disjvr_25^post23+__disjvr_25^0 == 0 /\ -temp_49^post23+temp_49^0 == 0 /\ i_44^0-i_44^post23 == 0 /\ -__disjvr_5^post23+__disjvr_5^0 == 0 /\ a_26^0-a_26^post23 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post23 == 0 /\ result_11^0-result_11^post23 == 0 /\ -x_20^post23+x_20^0 == 0 /\ -x_14^post23+x_14^0 == 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ lt_237^0-lt_237^post23 == 0 /\ -temp0_32^post23+temp0_32^0 == 0 /\ -__disjvr_11^0+__disjvr_11^post23 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post23 == 0 /\ __disjvr_4^0-__disjvr_4^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -__disjvr_6^post23+__disjvr_6^0 == 0 /\ a_283^0-a_283^post23 == 0 /\ __disjvr_15^0-__disjvr_15^post23 == 0 /\ -a_305^post23+a_305^0 == 0 /\ t_23^0-t_23^post23 == 0 /\ -__disjvr_8^post23+__disjvr_8^0 == 0 /\ -a_146^post23+a_146^0 == 0 /\ len_246^0-len_246^post23 == 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0), cost: 1
  24: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post24, a_283^0'=a_283^post24, temp0_45^0'=temp0_45^post24, __disjvr_21^0'=__disjvr_21^post24, y_19^0'=y_19^post24, __disjvr_4^0'=__disjvr_4^post24, result_11^0'=result_11^post24, __disjvr_14^0'=__disjvr_14^post24, head_46^0'=head_46^post24, __disjvr_24^0'=__disjvr_24^post24, x_177^0'=x_177^post24, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post24, __disjvr_9^0'=__disjvr_9^post24, a_197^0'=a_197^post24, t_23^0'=t_23^post24, __disjvr_19^0'=__disjvr_19^post24, len_246^0'=len_246^post24, __disjvr_29^0'=__disjvr_29^post24, x_SLAM_f_18^0'=x_SLAM_f_18^post24, r_53^0'=r_53^post24, __disjvr_11^0'=__disjvr_11^post24, a_328^0'=a_328^post24, tmp_48^0'=tmp_48^post24, lt_36^0'=lt_36^post24, __disjvr_6^0'=__disjvr_6^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, __disjvr_16^0'=__disjvr_16^post24, i_125^0'=i_125^post24, __disjvr_26^0'=__disjvr_26^post24, x_238^0'=x_238^post24, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post24, a_26^0'=a_26^post24, temp0_32^0'=temp0_32^post24, __disjvr_20^0'=__disjvr_20^post24, lt_237^0'=lt_237^post24, __disjvr_3^0'=__disjvr_3^post24, rcd_72^0'=rcd_72^post24, __disjvr_13^0'=__disjvr_13^post24, fmt_31^0'=fmt_31^post24, __disjvr_23^0'=__disjvr_23^post24, x_16^0'=x_16^post24, nondet_12^0'=nondet_12^post24, __disjvr_8^0'=__disjvr_8^post24, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post24, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post24, __disjvr_18^0'=__disjvr_18^post24, len_180^0'=len_180^post24, __disjvr_28^0'=__disjvr_28^post24, x_34^0'=x_34^post24, r_161^0'=r_161^post24, __disjvr_10^0'=__disjvr_10^post24, a_305^0'=a_305^post24, temp_49^0'=temp_49^post24, __disjvr_22^0'=__disjvr_22^post24, __disjvr_5^0'=__disjvr_5^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post24, __disjvr_15^0'=__disjvr_15^post24, i_108^0'=i_108^post24, __disjvr_25^0'=__disjvr_25^post24, x_20^0'=x_20^post24, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post24, a_146^0'=a_146^post24, a_247^0'=a_247^post24, temp0_15^0'=temp0_15^post24, __disjvr_1^0'=__disjvr_1^post24, length_43^0'=length_43^post24, __disjvr_2^0'=__disjvr_2^post24, rcd_102^0'=rcd_102^post24, __disjvr_12^0'=__disjvr_12^post24, ct_17^0'=ct_17^post24, x_14^0'=x_14^post24, lt_37^0'=lt_37^post24, __disjvr_7^0'=__disjvr_7^post24, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post24, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post24, __disjvr_17^0'=__disjvr_17^post24, i_44^0'=i_44^post24, __disjvr_27^0'=__disjvr_27^post24, x_28^0'=x_28^post24, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post24, (0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post24 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post24+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ -rcd_102^post24+rcd_102^0 == 0 /\ x_177^0-x_177^post24 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post24 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post24+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_20^post24+x_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ __disjvr_1^0-__disjvr_1^post24 == 0 /\ -r_161^post24+r_161^0 == 0 /\ -__disjvr_3^post24+__disjvr_3^0 == 0 /\ __disjvr_11^0-__disjvr_11^post24 == 0 /\ -x_34^post24+x_34^0 == 0 /\ -length_43^post24+length_43^0 == 0 /\ a_197^0-a_197^post24 == 0 /\ __disjvr_2^0-__disjvr_2^post24 == 0 /\ __disjvr_14^0-__disjvr_14^post24 == 0 /\ -i_108^post24+i_108^0 == 0 /\ rcd_72^0-rcd_72^post24 == 0 /\ a_26^0-a_26^post24 == 0 /\ __disjvr_24^0-__disjvr_24^post24 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post24+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -x_28^post24+x_28^0 == 0 /\ -i_125^post24+i_125^0 == 0 /\ temp0_45^0-temp0_45^post24 == 0 /\ -lt_37^post24+lt_37^0 == 0 /\ -a_247^post24+a_247^0 == 0 /\ __disjvr_26^0-__disjvr_26^post24 == 0 /\ len_246^0-len_246^post24 == 0 /\ len_180^0-len_180^post24 == 0 /\ -fmt_31^post24+fmt_31^0 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ head_46^0-head_46^post24 == 0 /\ -__disjvr_4^post24+__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post24 == 0 /\ -temp0_15^post24+temp0_15^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post24+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ temp0_32^0-temp0_32^post24 == 0 /\ -i_44^post24+i_44^0 == 0 /\ a_305^0-a_305^post24 == 0 /\ -r_53^post24+r_53^0 == 0 /\ __disjvr_15^0-__disjvr_15^post24 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ y_19^0-y_19^post24 == 0 /\ -nondet_12^post24+nondet_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post24 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post24+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ lt_237^0-lt_237^post24 == 0 /\ -__disjvr_20^post24+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post24+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_29^0-__disjvr_29^post24 == 0 /\ -temp_49^post24+temp_49^0 == 0 /\ __disjvr_16^0-__disjvr_16^post24 == 0 /\ x_238^0-x_238^post24 == 0 /\ lt_36^0-lt_36^post24 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_17^post24+__disjvr_17^0 == 0 /\ -t_23^post24+t_23^0 == 0 /\ -a_328^post24+a_328^0 == 0 /\ __disjvr_19^0-__disjvr_19^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post24 == 0 /\ -a_146^post24+a_146^0 == 0 /\ -__disjvr_13^post24+__disjvr_13^0 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ result_11^0-result_11^post24 == 0 /\ -__disjvr_28^post24+__disjvr_28^0 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ __disjvr_23^0-__disjvr_23^post24 == 0 /\ a_283^0-a_283^post24 == 0 /\ tmp_48^0-tmp_48^post24 == 0 /\ -__disjvr_27^post24+__disjvr_27^0 == 0 /\ -__disjvr_10^post24+__disjvr_10^0 == 0), cost: 1
  25: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post25, a_283^0'=a_283^post25, temp0_45^0'=temp0_45^post25, __disjvr_21^0'=__disjvr_21^post25, y_19^0'=y_19^post25, __disjvr_4^0'=__disjvr_4^post25, result_11^0'=result_11^post25, __disjvr_14^0'=__disjvr_14^post25, head_46^0'=head_46^post25, __disjvr_24^0'=__disjvr_24^post25, x_177^0'=x_177^post25, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post25, __disjvr_9^0'=__disjvr_9^post25, a_197^0'=a_197^post25, t_23^0'=t_23^post25, __disjvr_19^0'=__disjvr_19^post25, len_246^0'=len_246^post25, __disjvr_29^0'=__disjvr_29^post25, x_SLAM_f_18^0'=x_SLAM_f_18^post25, r_53^0'=r_53^post25, __disjvr_11^0'=__disjvr_11^post25, a_328^0'=a_328^post25, tmp_48^0'=tmp_48^post25, lt_36^0'=lt_36^post25, __disjvr_6^0'=__disjvr_6^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, __disjvr_16^0'=__disjvr_16^post25, i_125^0'=i_125^post25, __disjvr_26^0'=__disjvr_26^post25, x_238^0'=x_238^post25, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post25, a_26^0'=a_26^post25, temp0_32^0'=temp0_32^post25, __disjvr_20^0'=__disjvr_20^post25, lt_237^0'=lt_237^post25, __disjvr_3^0'=__disjvr_3^post25, rcd_72^0'=rcd_72^post25, __disjvr_13^0'=__disjvr_13^post25, fmt_31^0'=fmt_31^post25, __disjvr_23^0'=__disjvr_23^post25, x_16^0'=x_16^post25, nondet_12^0'=nondet_12^post25, __disjvr_8^0'=__disjvr_8^post25, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post25, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post25, __disjvr_18^0'=__disjvr_18^post25, len_180^0'=len_180^post25, __disjvr_28^0'=__disjvr_28^post25, x_34^0'=x_34^post25, r_161^0'=r_161^post25, __disjvr_10^0'=__disjvr_10^post25, a_305^0'=a_305^post25, temp_49^0'=temp_49^post25, __disjvr_22^0'=__disjvr_22^post25, __disjvr_5^0'=__disjvr_5^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post25, __disjvr_15^0'=__disjvr_15^post25, i_108^0'=i_108^post25, __disjvr_25^0'=__disjvr_25^post25, x_20^0'=x_20^post25, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post25, a_146^0'=a_146^post25, a_247^0'=a_247^post25, temp0_15^0'=temp0_15^post25, __disjvr_1^0'=__disjvr_1^post25, length_43^0'=length_43^post25, __disjvr_2^0'=__disjvr_2^post25, rcd_102^0'=rcd_102^post25, __disjvr_12^0'=__disjvr_12^post25, ct_17^0'=ct_17^post25, x_14^0'=x_14^post25, lt_37^0'=lt_37^post25, __disjvr_7^0'=__disjvr_7^post25, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post25, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post25, __disjvr_17^0'=__disjvr_17^post25, i_44^0'=i_44^post25, __disjvr_27^0'=__disjvr_27^post25, x_28^0'=x_28^post25, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post25, (a_305^0-a_305^post25 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post25+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ -r_161^post25+r_161^0 == 0 /\ nondet_12^0-nondet_12^post25 == 0 /\ len_246^0-len_246^post25 == 0 /\ len_180^0-len_180^post25 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post25 == 0 /\ __disjvr_6^0-__disjvr_6^post25 == 0 /\ -__disjvr_5^post25+__disjvr_5^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post25+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_11^0-__disjvr_11^post25 == 0 /\ tmp_48^0-tmp_48^post25 == 0 /\ -x_34^post25+x_34^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post25+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_28^0-__disjvr_28^post25 == 0 /\ -__disjvr_13^post25+__disjvr_13^0 == 0 /\ y_19^0-y_19^post25 == 0 /\ -__disjvr_27^post25+__disjvr_27^0 == 0 /\ x_238^0-x_238^post25 == 0 /\ -i_125^post25+i_125^0 == 0 /\ -length_43^post25+length_43^0 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ __disjvr_23^0-__disjvr_23^post25 == 0 /\ -lt_36^post25+lt_36^0 == 0 /\ a_247^0-a_247^post25 == 0 /\ -x_28^post25+x_28^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post25+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_4^0-__disjvr_4^post25 == 0 /\ result_11^0-result_11^post25 == 0 /\ -lt_37^post25+lt_37^0 == 0 /\ __disjvr_26^0-__disjvr_26^post25 == 0 /\ -ct_17^post25+ct_17^0 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ -x_20^post25+x_20^0 == 0 /\ a_26^0-a_26^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post25 == 0 /\ a_283^0-a_283^post25 == 0 /\ -temp0_15^post25+temp0_15^0 == 0 /\ __disjvr_25^0-__disjvr_25^post25 == 0 /\ -i_44^post25+i_44^0 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ -__disjvr_8^post25+__disjvr_8^0 == 0 /\ x_177^0-x_177^post25 == 0 /\ r_53^0-r_53^post25 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post25+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -x_16^post25+x_16^0 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ t_23^0-t_23^post25 == 0 /\ -a_146^post25+a_146^0 == 0 /\ a_197^0-a_197^post25 == 0 /\ -__disjvr_18^post25+__disjvr_18^0 == 0 /\ __disjvr_12^post25-__disjvr_12^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post25 == 0 /\ i_108^0-i_108^post25 == 0 /\ lt_237^0-lt_237^post25 == 0 /\ -a_328^post25+a_328^0 == 0 /\ -__disjvr_2^post25+__disjvr_2^0 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ -__disjvr_22^post25+__disjvr_22^0 == 0 /\ -__disjvr_10^post25+__disjvr_10^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post25+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -__disjvr_1^post25+__disjvr_1^0 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post25 == 0 /\ __disjvr_29^0-__disjvr_29^post25 == 0 /\ -rcd_102^post25+rcd_102^0 == 0 /\ __disjvr_16^0-__disjvr_16^post25 == 0 /\ fmt_31^0-fmt_31^post25 == 0 /\ -temp_49^post25+temp_49^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post25 == 0 /\ temp0_45^0-temp0_45^post25 == 0 /\ head_46^0-head_46^post25 == 0 /\ temp0_32^0-temp0_32^post25 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ -__disjvr_15^post25+__disjvr_15^0 == 0 /\ -__disjvr_20^post25+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post25+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -x_14^post25+x_14^0 == 0 /\ -rcd_72^post25+rcd_72^0 == 0), cost: 1
  26: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post26, a_283^0'=a_283^post26, temp0_45^0'=temp0_45^post26, __disjvr_21^0'=__disjvr_21^post26, y_19^0'=y_19^post26, __disjvr_4^0'=__disjvr_4^post26, result_11^0'=result_11^post26, __disjvr_14^0'=__disjvr_14^post26, head_46^0'=head_46^post26, __disjvr_24^0'=__disjvr_24^post26, x_177^0'=x_177^post26, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post26, __disjvr_9^0'=__disjvr_9^post26, a_197^0'=a_197^post26, t_23^0'=t_23^post26, __disjvr_19^0'=__disjvr_19^post26, len_246^0'=len_246^post26, __disjvr_29^0'=__disjvr_29^post26, x_SLAM_f_18^0'=x_SLAM_f_18^post26, r_53^0'=r_53^post26, __disjvr_11^0'=__disjvr_11^post26, a_328^0'=a_328^post26, tmp_48^0'=tmp_48^post26, lt_36^0'=lt_36^post26, __disjvr_6^0'=__disjvr_6^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, __disjvr_16^0'=__disjvr_16^post26, i_125^0'=i_125^post26, __disjvr_26^0'=__disjvr_26^post26, x_238^0'=x_238^post26, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post26, a_26^0'=a_26^post26, temp0_32^0'=temp0_32^post26, __disjvr_20^0'=__disjvr_20^post26, lt_237^0'=lt_237^post26, __disjvr_3^0'=__disjvr_3^post26, rcd_72^0'=rcd_72^post26, __disjvr_13^0'=__disjvr_13^post26, fmt_31^0'=fmt_31^post26, __disjvr_23^0'=__disjvr_23^post26, x_16^0'=x_16^post26, nondet_12^0'=nondet_12^post26, __disjvr_8^0'=__disjvr_8^post26, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post26, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post26, __disjvr_18^0'=__disjvr_18^post26, len_180^0'=len_180^post26, __disjvr_28^0'=__disjvr_28^post26, x_34^0'=x_34^post26, r_161^0'=r_161^post26, __disjvr_10^0'=__disjvr_10^post26, a_305^0'=a_305^post26, temp_49^0'=temp_49^post26, __disjvr_22^0'=__disjvr_22^post26, __disjvr_5^0'=__disjvr_5^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post26, __disjvr_15^0'=__disjvr_15^post26, i_108^0'=i_108^post26, __disjvr_25^0'=__disjvr_25^post26, x_20^0'=x_20^post26, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post26, a_146^0'=a_146^post26, a_247^0'=a_247^post26, temp0_15^0'=temp0_15^post26, __disjvr_1^0'=__disjvr_1^post26, length_43^0'=length_43^post26, __disjvr_2^0'=__disjvr_2^post26, rcd_102^0'=rcd_102^post26, __disjvr_12^0'=__disjvr_12^post26, ct_17^0'=ct_17^post26, x_14^0'=x_14^post26, lt_37^0'=lt_37^post26, __disjvr_7^0'=__disjvr_7^post26, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post26, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post26, __disjvr_17^0'=__disjvr_17^post26, i_44^0'=i_44^post26, __disjvr_27^0'=__disjvr_27^post26, x_28^0'=x_28^post26, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post26, (-i_125^post26+i_125^0 == 0 /\ -__disjvr_13^post26+__disjvr_13^0 == 0 /\ temp0_15^0-temp0_15^post26 == 0 /\ __disjvr_9^0-__disjvr_9^post26 == 0 /\ y_19^0 <= 0 /\ temp0_45^0-temp0_45^post26 == 0 /\ -__disjvr_27^post26+__disjvr_27^0 == 0 /\ -length_43^post26+length_43^0 == 0 /\ -x_238^post26+x_238^0 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ -x_20^0 <= 0 /\ x_16^0-x_14^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post26 == 0 /\ -__disjvr_25^post26+__disjvr_25^0 == 0 /\ -a_305^post26+a_305^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post26 == 0 /\ y_19^0-y_19^post26 == 0 /\ -__disjvr_17^post26+__disjvr_17^0 == 0 /\ __disjvr_28^0-__disjvr_28^post26 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ nondet_12^0-nondet_12^post26 == 0 /\ -a_247^post26+a_247^0 == 0 /\ -y_19^0 <= 0 /\ t_23^post26-x_20^0 == 0 /\ -a_146^post26+a_146^0 == 0 /\ a_328^0-a_328^post26 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post26 == 0 /\ -__disjvr_8^post26+__disjvr_8^0 == 0 /\ -ct_17^post26+ct_17^0 == 0 /\ __disjvr_21^0-__disjvr_21^post26 == 0 /\ __disjvr_4^0-__disjvr_4^post26 == 0 /\ -__disjvr_7^post26+__disjvr_7^0 == 0 /\ temp0_32^0-temp0_32^post26 == 0 /\ lt_36^0-lt_36^post26 == 0 /\ result_11^0-result_11^post26 == 0 /\ x_177^0-x_177^post26 == 0 /\ y_19^0-ct_17^0 <= 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post26 == 0 /\ -x_16^0+x_14^0 <= 0 /\ rcd_102^0-rcd_102^post26 == 0 /\ __disjvr_16^0-__disjvr_16^post26 == 0 /\ -__disjvr_2^post26+__disjvr_2^0 == 0 /\ fmt_31^0-fmt_31^post26 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post26 == 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post26+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post26 == 0 /\ -x_20^post26+x_20^0 == 0 /\ len_246^0-len_246^post26 == 0 /\ -lt_37^post26+lt_37^0 == 0 /\ a_197^0-a_197^post26 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post26 == 0 /\ -__disjvr_18^post26+__disjvr_18^0 == 0 /\ -a_26^post26+a_26^0 == 0 /\ -tmp_48^post26+tmp_48^0 == 0 /\ __disjvr_11^0-__disjvr_11^post26 == 0 /\ __disjvr_14^0-__disjvr_14^post26 == 0 /\ a_283^0-a_283^post26 == 0 /\ r_53^0-r_53^post26 == 0 /\ __disjvr_24^0-__disjvr_24^post26 == 0 /\ __disjvr_3^0-__disjvr_3^post26 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post26 == 0 /\ -i_108^post26+i_108^0 == 0 /\ -__disjvr_6^post26+__disjvr_6^0 == 0 /\ -x_28^post26+x_28^0 == 0 /\ -t_23^post26+x_14^0 <= 0 /\ __disjvr_5^0-__disjvr_5^post26 == 0 /\ -x_SLAM_f_18^0+x_14^0 <= 0 /\ x_20^0 <= 0 /\ -x_16^post26+x_16^0 == 0 /\ -rcd_72^post26+rcd_72^0 == 0 /\ -r_161^post26+r_161^0 == 0 /\ -len_180^post26+len_180^0 == 0 /\ __disjvr_29^0-__disjvr_29^post26 == 0 /\ __disjvr_0^0-__disjvr_0^post26 == 0 /\ -__disjvr_12^post26+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post26+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ head_46^0-head_46^post26 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -lt_237^post26+lt_237^0 == 0 /\ __disjvr_26^0-__disjvr_26^post26 == 0 /\ ct_17^0 <= 0 /\ -__disjvr_10^post26+__disjvr_10^0 == 0 /\ -ct_17^0 <= 0 /\ -temp_49^post26+temp_49^0 == 0 /\ -x_14^post26+x_14^0 == 0 /\ -__disjvr_1^post26+__disjvr_1^0 == 0 /\ -i_44^post26+i_44^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post26+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_22^0-__disjvr_22^post26 == 0 /\ -__disjvr_15^post26+__disjvr_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_20^0-__disjvr_20^post26 == 0 /\ t_23^post26-x_14^0 <= 0 /\ x_SLAM_f_18^0-x_14^0 <= 0 /\ x_34^0-x_34^post26 == 0 /\ -__disjvr_19^post26+__disjvr_19^0 == 0), cost: 1
  27: l29 -> l30 : __disjvr_0^0'=__disjvr_0^post27, a_283^0'=a_283^post27, temp0_45^0'=temp0_45^post27, __disjvr_21^0'=__disjvr_21^post27, y_19^0'=y_19^post27, __disjvr_4^0'=__disjvr_4^post27, result_11^0'=result_11^post27, __disjvr_14^0'=__disjvr_14^post27, head_46^0'=head_46^post27, __disjvr_24^0'=__disjvr_24^post27, x_177^0'=x_177^post27, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post27, __disjvr_9^0'=__disjvr_9^post27, a_197^0'=a_197^post27, t_23^0'=t_23^post27, __disjvr_19^0'=__disjvr_19^post27, len_246^0'=len_246^post27, __disjvr_29^0'=__disjvr_29^post27, x_SLAM_f_18^0'=x_SLAM_f_18^post27, r_53^0'=r_53^post27, __disjvr_11^0'=__disjvr_11^post27, a_328^0'=a_328^post27, tmp_48^0'=tmp_48^post27, lt_36^0'=lt_36^post27, __disjvr_6^0'=__disjvr_6^post27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post27, __disjvr_16^0'=__disjvr_16^post27, i_125^0'=i_125^post27, __disjvr_26^0'=__disjvr_26^post27, x_238^0'=x_238^post27, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post27, a_26^0'=a_26^post27, temp0_32^0'=temp0_32^post27, __disjvr_20^0'=__disjvr_20^post27, lt_237^0'=lt_237^post27, __disjvr_3^0'=__disjvr_3^post27, rcd_72^0'=rcd_72^post27, __disjvr_13^0'=__disjvr_13^post27, fmt_31^0'=fmt_31^post27, __disjvr_23^0'=__disjvr_23^post27, x_16^0'=x_16^post27, nondet_12^0'=nondet_12^post27, __disjvr_8^0'=__disjvr_8^post27, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post27, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post27, __disjvr_18^0'=__disjvr_18^post27, len_180^0'=len_180^post27, __disjvr_28^0'=__disjvr_28^post27, x_34^0'=x_34^post27, r_161^0'=r_161^post27, __disjvr_10^0'=__disjvr_10^post27, a_305^0'=a_305^post27, temp_49^0'=temp_49^post27, __disjvr_22^0'=__disjvr_22^post27, __disjvr_5^0'=__disjvr_5^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post27, __disjvr_15^0'=__disjvr_15^post27, i_108^0'=i_108^post27, __disjvr_25^0'=__disjvr_25^post27, x_20^0'=x_20^post27, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post27, a_146^0'=a_146^post27, a_247^0'=a_247^post27, temp0_15^0'=temp0_15^post27, __disjvr_1^0'=__disjvr_1^post27, length_43^0'=length_43^post27, __disjvr_2^0'=__disjvr_2^post27, rcd_102^0'=rcd_102^post27, __disjvr_12^0'=__disjvr_12^post27, ct_17^0'=ct_17^post27, x_14^0'=x_14^post27, lt_37^0'=lt_37^post27, __disjvr_7^0'=__disjvr_7^post27, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post27, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post27, __disjvr_17^0'=__disjvr_17^post27, i_44^0'=i_44^post27, __disjvr_27^0'=__disjvr_27^post27, x_28^0'=x_28^post27, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post27, (lt_237^0-lt_237^post27 == 0 /\ -temp_49^post27+temp_49^0 == 0 /\ -a_247^post27+a_247^0 == 0 /\ __disjvr_14^0-__disjvr_14^post27 == 0 /\ -__disjvr_23^post27+__disjvr_23^0 == 0 /\ a_26^0-a_26^post27 == 0 /\ -__disjvr_27^post27+__disjvr_27^0 == 0 /\ -__disjvr_20^post27+__disjvr_20^0 == 0 /\ r_161^0-r_161^post27 == 0 /\ -ct_17^post27+ct_17^0 == 0 /\ -rcd_72^post27+rcd_72^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post27 == 0 /\ __disjvr_13^0-__disjvr_13^post27 == 0 /\ __disjvr_8^0-__disjvr_8^post27 == 0 /\ __disjvr_4^0-__disjvr_4^post27 == 0 /\ __disjvr_18^0-__disjvr_18^post27 == 0 /\ -x_14^post27+x_14^0 == 0 /\ a_283^0-a_283^post27 == 0 /\ t_23^0-t_23^post27 == 0 /\ __disjvr_24^0-__disjvr_24^post27 == 0 /\ -__disjvr_5^post27+__disjvr_5^0 == 0 /\ -i_44^post27+i_44^0 == 0 /\ -x_238^post27+x_238^0 == 0 /\ head_46^0-head_46^post27 == 0 /\ -x_SLAM_f_18^post27+x_SLAM_f_18^0 == 0 /\ -a_146^post27+a_146^0 == 0 /\ -temp0_32^post27+temp0_32^0 == 0 /\ __disjvr_19^0-__disjvr_19^post27 == 0 /\ a_328^0-a_328^post27 == 0 /\ -__disjvr_2^post27+__disjvr_2^0 == 0 /\ __disjvr_29^0-__disjvr_29^post27 == 0 /\ -x_20^post27+x_20^0 == 0 /\ -__disjvr_7^post27+__disjvr_7^0 == 0 /\ __disjvr_11^0-__disjvr_11^post27 == 0 /\ -__disjvr_13^0+__disjvr_13^post27 == 0 /\ -__disjvr_6^post27+__disjvr_6^0 == 0 /\ __disjvr_16^0-__disjvr_16^post27 == 0 /\ -__disjvr_17^post27+__disjvr_17^0 == 0 /\ temp0_15^0-temp0_15^post27 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post27+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post27 == 0 /\ lt_36^0-lt_36^post27 == 0 /\ -__disjvr_28^post27+__disjvr_28^0 == 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ -fmt_31^post27+fmt_31^0 == 0 /\ len_246^0-len_246^post27 == 0 /\ -a_197^post27+a_197^0 == 0 /\ y_19^0-y_19^post27 == 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ lt_37^0-lt_37^post27 == 0 /\ -i_108^post27+i_108^0 == 0 /\ result_11^0-result_11^post27 == 0 /\ -__disjvr_1^post27+__disjvr_1^0 == 0 /\ __disjvr_9^0-__disjvr_9^post27 == 0 /\ temp0_45^0-temp0_45^post27 == 0 /\ -__disjvr_21^post27+__disjvr_21^0 == 0 /\ -__disjvr_10^post27+__disjvr_10^0 == 0 /\ tmp_48^0-tmp_48^post27 == 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ a_305^0-a_305^post27 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post27+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post27 == 0 /\ -rcd_102^post27+rcd_102^0 == 0 /\ -len_180^post27+len_180^0 == 0 /\ __disjvr_15^0-__disjvr_15^post27 == 0 /\ i_125^0-i_125^post27 == 0 /\ __disjvr_26^0-__disjvr_26^post27 == 0 /\ -length_43^post27+length_43^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post27+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -r_53^post27+r_53^0 == 0 /\ -__disjvr_22^post27+__disjvr_22^0 == 0 /\ __disjvr_3^0-__disjvr_3^post27 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post27 == 0 /\ x_16^0-x_16^post27 == 0 /\ -x_28^post27+x_28^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post27+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ x_177^0-x_177^post27 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_25^0-__disjvr_25^post27 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post27+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -x_34^post27+x_34^0 == 0), cost: 1
  28: l30 -> l31 : __disjvr_0^0'=__disjvr_0^post28, a_283^0'=a_283^post28, temp0_45^0'=temp0_45^post28, __disjvr_21^0'=__disjvr_21^post28, y_19^0'=y_19^post28, __disjvr_4^0'=__disjvr_4^post28, result_11^0'=result_11^post28, __disjvr_14^0'=__disjvr_14^post28, head_46^0'=head_46^post28, __disjvr_24^0'=__disjvr_24^post28, x_177^0'=x_177^post28, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post28, __disjvr_9^0'=__disjvr_9^post28, a_197^0'=a_197^post28, t_23^0'=t_23^post28, __disjvr_19^0'=__disjvr_19^post28, len_246^0'=len_246^post28, __disjvr_29^0'=__disjvr_29^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, r_53^0'=r_53^post28, __disjvr_11^0'=__disjvr_11^post28, a_328^0'=a_328^post28, tmp_48^0'=tmp_48^post28, lt_36^0'=lt_36^post28, __disjvr_6^0'=__disjvr_6^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, __disjvr_16^0'=__disjvr_16^post28, i_125^0'=i_125^post28, __disjvr_26^0'=__disjvr_26^post28, x_238^0'=x_238^post28, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post28, a_26^0'=a_26^post28, temp0_32^0'=temp0_32^post28, __disjvr_20^0'=__disjvr_20^post28, lt_237^0'=lt_237^post28, __disjvr_3^0'=__disjvr_3^post28, rcd_72^0'=rcd_72^post28, __disjvr_13^0'=__disjvr_13^post28, fmt_31^0'=fmt_31^post28, __disjvr_23^0'=__disjvr_23^post28, x_16^0'=x_16^post28, nondet_12^0'=nondet_12^post28, __disjvr_8^0'=__disjvr_8^post28, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post28, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post28, __disjvr_18^0'=__disjvr_18^post28, len_180^0'=len_180^post28, __disjvr_28^0'=__disjvr_28^post28, x_34^0'=x_34^post28, r_161^0'=r_161^post28, __disjvr_10^0'=__disjvr_10^post28, a_305^0'=a_305^post28, temp_49^0'=temp_49^post28, __disjvr_22^0'=__disjvr_22^post28, __disjvr_5^0'=__disjvr_5^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post28, __disjvr_15^0'=__disjvr_15^post28, i_108^0'=i_108^post28, __disjvr_25^0'=__disjvr_25^post28, x_20^0'=x_20^post28, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post28, a_146^0'=a_146^post28, a_247^0'=a_247^post28, temp0_15^0'=temp0_15^post28, __disjvr_1^0'=__disjvr_1^post28, length_43^0'=length_43^post28, __disjvr_2^0'=__disjvr_2^post28, rcd_102^0'=rcd_102^post28, __disjvr_12^0'=__disjvr_12^post28, ct_17^0'=ct_17^post28, x_14^0'=x_14^post28, lt_37^0'=lt_37^post28, __disjvr_7^0'=__disjvr_7^post28, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post28, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post28, __disjvr_17^0'=__disjvr_17^post28, i_44^0'=i_44^post28, __disjvr_27^0'=__disjvr_27^post28, x_28^0'=x_28^post28, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post28, (__disjvr_14^0-__disjvr_14^post28 == 0 /\ __disjvr_2^0-__disjvr_2^post28 == 0 /\ __disjvr_24^0-__disjvr_24^post28 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 == 0 /\ lt_36^0-lt_36^post28 == 0 /\ -__disjvr_25^post28+__disjvr_25^0 == 0 /\ rcd_72^0-rcd_72^post28 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post28+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_4^0-__disjvr_4^post28 == 0 /\ -__disjvr_22^post28+__disjvr_22^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post28+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_1^0-__disjvr_1^post28 == 0 /\ -i_44^post28+i_44^0 == 0 /\ -a_247^post28+a_247^0 == 0 /\ __disjvr_19^0-__disjvr_19^post28 == 0 /\ a_283^0-a_283^post28 == 0 /\ len_180^0-len_180^post28 == 0 /\ len_246^0-len_246^post28 == 0 /\ tmp_48^0-tmp_48^post28 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post28+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_20^post28+__disjvr_20^0 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ -x_14^post28+x_14^0 == 0 /\ head_46^0-head_46^post28 == 0 /\ -__disjvr_14^0+__disjvr_14^post28 == 0 /\ __disjvr_28^0-__disjvr_28^post28 == 0 /\ -temp_49^post28+temp_49^0 == 0 /\ -__disjvr_17^post28+__disjvr_17^0 == 0 /\ -__disjvr_5^post28+__disjvr_5^0 == 0 /\ -x_16^post28+x_16^0 == 0 /\ __disjvr_15^0-__disjvr_15^post28 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ -__disjvr_13^post28+__disjvr_13^0 == 0 /\ -__disjvr_18^post28+__disjvr_18^0 == 0 /\ -__disjvr_10^post28+__disjvr_10^0 == 0 /\ -a_146^post28+a_146^0 == 0 /\ -__disjvr_12^post28+__disjvr_12^0 == 0 /\ -__disjvr_27^post28+__disjvr_27^0 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ a_197^0-a_197^post28 == 0 /\ -a_328^post28+a_328^0 == 0 /\ __disjvr_29^0-__disjvr_29^post28 == 0 /\ -__disjvr_26^post28+__disjvr_26^0 == 0 /\ -__disjvr_7^post28+__disjvr_7^0 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ -temp0_15^post28+temp0_15^0 == 0 /\ -x_20^post28+x_20^0 == 0 /\ t_23^0-t_23^post28 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post28 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post28+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ x_238^0-x_238^post28 == 0 /\ -rcd_102^post28+rcd_102^0 == 0 /\ a_26^0-a_26^post28 == 0 /\ temp0_45^0-temp0_45^post28 == 0 /\ -lt_37^post28+lt_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post28 == 0 /\ -r_161^post28+r_161^0 == 0 /\ -length_43^post28+length_43^0 == 0 /\ __disjvr_23^0-__disjvr_23^post28 == 0 /\ __disjvr_9^0-__disjvr_9^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ fmt_31^0-fmt_31^post28 == 0 /\ temp0_32^0-temp0_32^post28 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post28 == 0 /\ -x_34^post28+x_34^0 == 0 /\ -i_108^post28+i_108^0 == 0 /\ __disjvr_21^0-__disjvr_21^post28 == 0 /\ -x_28^post28+x_28^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post28 == 0 /\ a_305^0-a_305^post28 == 0 /\ __disjvr_3^0-__disjvr_3^post28 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post28+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -i_125^post28+i_125^0 == 0 /\ y_19^0-y_19^post28 == 0 /\ r_53^0-r_53^post28 == 0 /\ __disjvr_11^0-__disjvr_11^post28 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post28+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ x_177^0-x_177^post28 == 0 /\ -lt_237^post28+lt_237^0 == 0 /\ __disjvr_16^0-__disjvr_16^post28 == 0 /\ -ct_17^post28+ct_17^0 == 0), cost: 1
  29: l31 -> l32 : __disjvr_0^0'=__disjvr_0^post29, a_283^0'=a_283^post29, temp0_45^0'=temp0_45^post29, __disjvr_21^0'=__disjvr_21^post29, y_19^0'=y_19^post29, __disjvr_4^0'=__disjvr_4^post29, result_11^0'=result_11^post29, __disjvr_14^0'=__disjvr_14^post29, head_46^0'=head_46^post29, __disjvr_24^0'=__disjvr_24^post29, x_177^0'=x_177^post29, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post29, __disjvr_9^0'=__disjvr_9^post29, a_197^0'=a_197^post29, t_23^0'=t_23^post29, __disjvr_19^0'=__disjvr_19^post29, len_246^0'=len_246^post29, __disjvr_29^0'=__disjvr_29^post29, x_SLAM_f_18^0'=x_SLAM_f_18^post29, r_53^0'=r_53^post29, __disjvr_11^0'=__disjvr_11^post29, a_328^0'=a_328^post29, tmp_48^0'=tmp_48^post29, lt_36^0'=lt_36^post29, __disjvr_6^0'=__disjvr_6^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, __disjvr_16^0'=__disjvr_16^post29, i_125^0'=i_125^post29, __disjvr_26^0'=__disjvr_26^post29, x_238^0'=x_238^post29, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post29, a_26^0'=a_26^post29, temp0_32^0'=temp0_32^post29, __disjvr_20^0'=__disjvr_20^post29, lt_237^0'=lt_237^post29, __disjvr_3^0'=__disjvr_3^post29, rcd_72^0'=rcd_72^post29, __disjvr_13^0'=__disjvr_13^post29, fmt_31^0'=fmt_31^post29, __disjvr_23^0'=__disjvr_23^post29, x_16^0'=x_16^post29, nondet_12^0'=nondet_12^post29, __disjvr_8^0'=__disjvr_8^post29, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post29, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post29, __disjvr_18^0'=__disjvr_18^post29, len_180^0'=len_180^post29, __disjvr_28^0'=__disjvr_28^post29, x_34^0'=x_34^post29, r_161^0'=r_161^post29, __disjvr_10^0'=__disjvr_10^post29, a_305^0'=a_305^post29, temp_49^0'=temp_49^post29, __disjvr_22^0'=__disjvr_22^post29, __disjvr_5^0'=__disjvr_5^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post29, __disjvr_15^0'=__disjvr_15^post29, i_108^0'=i_108^post29, __disjvr_25^0'=__disjvr_25^post29, x_20^0'=x_20^post29, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post29, a_146^0'=a_146^post29, a_247^0'=a_247^post29, temp0_15^0'=temp0_15^post29, __disjvr_1^0'=__disjvr_1^post29, length_43^0'=length_43^post29, __disjvr_2^0'=__disjvr_2^post29, rcd_102^0'=rcd_102^post29, __disjvr_12^0'=__disjvr_12^post29, ct_17^0'=ct_17^post29, x_14^0'=x_14^post29, lt_37^0'=lt_37^post29, __disjvr_7^0'=__disjvr_7^post29, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post29, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post29, __disjvr_17^0'=__disjvr_17^post29, i_44^0'=i_44^post29, __disjvr_27^0'=__disjvr_27^post29, x_28^0'=x_28^post29, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post29, (0 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post29+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_16^0-__disjvr_16^post29 == 0 /\ temp_49^0-temp_49^post29 == 0 /\ -a_146^post29+a_146^0 == 0 /\ head_46^0-head_46^post29 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ -__disjvr_1^post29+__disjvr_1^0 == 0 /\ -__disjvr_2^post29+__disjvr_2^0 == 0 /\ __disjvr_19^0-__disjvr_19^post29 == 0 /\ length_43^0-length_43^post29 == 0 /\ __disjvr_24^0-__disjvr_24^post29 == 0 /\ temp0_45^0-temp0_45^post29 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post29+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ a_247^0-a_247^post29 == 0 /\ -x_28^post29+x_28^0 == 0 /\ -__disjvr_28^post29+__disjvr_28^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ __disjvr_10^0-__disjvr_10^post29 == 0 /\ a_26^0-a_26^post29 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post29 == 0 /\ r_53^0-r_53^post29 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post29+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_15^post29+__disjvr_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post29 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post29+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -__disjvr_23^post29+__disjvr_23^0 == 0 /\ -rcd_102^post29+rcd_102^0 == 0 /\ -__disjvr_26^post29+__disjvr_26^0 == 0 /\ -a_305^post29+a_305^0 == 0 /\ tmp_48^0-tmp_48^post29 == 0 /\ -i_108^post29+i_108^0 == 0 /\ -__disjvr_25^post29+__disjvr_25^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post29+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_8^0-__disjvr_8^post29 == 0 /\ x_34^0-x_34^post29 == 0 /\ -i_44^post29+i_44^0 == 0 /\ -__disjvr_27^post29+__disjvr_27^0 == 0 /\ -__disjvr_20^post29+__disjvr_20^0 == 0 /\ i_125^0-i_125^post29 == 0 /\ -lt_36^post29+lt_36^0 == 0 /\ -__disjvr_7^post29+__disjvr_7^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post29+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -len_180^post29+len_180^0 == 0 /\ __disjvr_13^0-__disjvr_13^post29 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post29 == 0 /\ y_19^0-x_20^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post29 == 0 /\ -__disjvr_9^post29+__disjvr_9^0 == 0 /\ rcd_72^0-rcd_72^post29 == 0 /\ temp0_32^0-temp0_32^post29 == 0 /\ -__disjvr_17^post29+__disjvr_17^0 == 0 /\ __disjvr_21^0-__disjvr_21^post29 == 0 /\ -__disjvr_5^post29+__disjvr_5^0 == 0 /\ -__disjvr_22^post29+__disjvr_22^0 == 0 /\ a_283^0-a_283^post29 == 0 /\ len_246^0-len_246^post29 == 0 /\ -temp0_15^post29+temp0_15^0 == 0 /\ __disjvr_14^0-__disjvr_14^post29 == 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^post29 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post29 == 0 /\ __disjvr_11^0-__disjvr_11^post29 == 0 /\ -a_197^post29+a_197^0 == 0 /\ -lt_37^post29+lt_37^0 == 0 /\ -y_19^0+x_20^0 <= 0 /\ x_238^0-x_238^post29 == 0 /\ lt_237^0-lt_237^post29 == 0 /\ a_328^0-a_328^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ -fmt_31^post29+fmt_31^0 == 0 /\ r_161^0-r_161^post29 == 0 /\ result_11^post29-temp0_15^0 == 0 /\ -x_177^post29+x_177^0 == 0 /\ -__disjvr_3^post29+__disjvr_3^0 == 0), cost: 1
  30: l32 -> l1 : __disjvr_0^0'=__disjvr_0^post30, a_283^0'=a_283^post30, temp0_45^0'=temp0_45^post30, __disjvr_21^0'=__disjvr_21^post30, y_19^0'=y_19^post30, __disjvr_4^0'=__disjvr_4^post30, result_11^0'=result_11^post30, __disjvr_14^0'=__disjvr_14^post30, head_46^0'=head_46^post30, __disjvr_24^0'=__disjvr_24^post30, x_177^0'=x_177^post30, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post30, __disjvr_9^0'=__disjvr_9^post30, a_197^0'=a_197^post30, t_23^0'=t_23^post30, __disjvr_19^0'=__disjvr_19^post30, len_246^0'=len_246^post30, __disjvr_29^0'=__disjvr_29^post30, x_SLAM_f_18^0'=x_SLAM_f_18^post30, r_53^0'=r_53^post30, __disjvr_11^0'=__disjvr_11^post30, a_328^0'=a_328^post30, tmp_48^0'=tmp_48^post30, lt_36^0'=lt_36^post30, __disjvr_6^0'=__disjvr_6^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, __disjvr_16^0'=__disjvr_16^post30, i_125^0'=i_125^post30, __disjvr_26^0'=__disjvr_26^post30, x_238^0'=x_238^post30, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post30, a_26^0'=a_26^post30, temp0_32^0'=temp0_32^post30, __disjvr_20^0'=__disjvr_20^post30, lt_237^0'=lt_237^post30, __disjvr_3^0'=__disjvr_3^post30, rcd_72^0'=rcd_72^post30, __disjvr_13^0'=__disjvr_13^post30, fmt_31^0'=fmt_31^post30, __disjvr_23^0'=__disjvr_23^post30, x_16^0'=x_16^post30, nondet_12^0'=nondet_12^post30, __disjvr_8^0'=__disjvr_8^post30, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post30, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post30, __disjvr_18^0'=__disjvr_18^post30, len_180^0'=len_180^post30, __disjvr_28^0'=__disjvr_28^post30, x_34^0'=x_34^post30, r_161^0'=r_161^post30, __disjvr_10^0'=__disjvr_10^post30, a_305^0'=a_305^post30, temp_49^0'=temp_49^post30, __disjvr_22^0'=__disjvr_22^post30, __disjvr_5^0'=__disjvr_5^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post30, __disjvr_15^0'=__disjvr_15^post30, i_108^0'=i_108^post30, __disjvr_25^0'=__disjvr_25^post30, x_20^0'=x_20^post30, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post30, a_146^0'=a_146^post30, a_247^0'=a_247^post30, temp0_15^0'=temp0_15^post30, __disjvr_1^0'=__disjvr_1^post30, length_43^0'=length_43^post30, __disjvr_2^0'=__disjvr_2^post30, rcd_102^0'=rcd_102^post30, __disjvr_12^0'=__disjvr_12^post30, ct_17^0'=ct_17^post30, x_14^0'=x_14^post30, lt_37^0'=lt_37^post30, __disjvr_7^0'=__disjvr_7^post30, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post30, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post30, __disjvr_17^0'=__disjvr_17^post30, i_44^0'=i_44^post30, __disjvr_27^0'=__disjvr_27^post30, x_28^0'=x_28^post30, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post30, (__disjvr_8^0-__disjvr_8^post30 == 0 /\ lt_36^0-lt_36^post30 == 0 /\ __disjvr_24^0-__disjvr_24^post30 == 0 /\ r_161^0-r_161^post30 == 0 /\ __disjvr_16^0-__disjvr_16^post30 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post30+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_4^0-__disjvr_4^post30 == 0 /\ __disjvr_19^0-__disjvr_19^post30 == 0 /\ -__disjvr_22^post30+__disjvr_22^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post30+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -a_146^post30+a_146^0 == 0 /\ -__disjvr_15^0+__disjvr_15^post30 == 0 /\ __disjvr_13^0-__disjvr_13^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post30+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -x_28^post30+x_28^0 == 0 /\ head_46^0-head_46^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -a_247^post30+a_247^0 == 0 /\ -__disjvr_2^post30+__disjvr_2^0 == 0 /\ __disjvr_21^0-__disjvr_21^post30 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post30+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -__disjvr_28^post30+__disjvr_28^0 == 0 /\ -__disjvr_27^post30+__disjvr_27^0 == 0 /\ __disjvr_20^0-__disjvr_20^post30 == 0 /\ -__disjvr_17^post30+__disjvr_17^0 == 0 /\ a_283^0-a_283^post30 == 0 /\ -temp_49^post30+temp_49^0 == 0 /\ __disjvr_15^0-__disjvr_15^post30 == 0 /\ __disjvr_6^0-__disjvr_6^post30 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post30 == 0 /\ -rcd_102^post30+rcd_102^0 == 0 /\ -x_14^post30+x_14^0 == 0 /\ -__disjvr_10^post30+__disjvr_10^0 == 0 /\ -rcd_72^post30+rcd_72^0 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ -__disjvr_23^post30+__disjvr_23^0 == 0 /\ a_328^0-a_328^post30 == 0 /\ __disjvr_29^0-__disjvr_29^post30 == 0 /\ x_238^0-x_238^post30 == 0 /\ -x_16^post30+x_16^0 == 0 /\ ct_17^0-ct_17^post30 == 0 /\ -temp0_15^post30+temp0_15^0 == 0 /\ -i_44^post30+i_44^0 == 0 /\ -x_20^post30+x_20^0 == 0 /\ -len_180^post30+len_180^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post30+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post30+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post30 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post30 == 0 /\ -__disjvr_5^post30+__disjvr_5^0 == 0 /\ y_19^0-y_19^post30 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post30 == 0 /\ __disjvr_26^0-__disjvr_26^post30 == 0 /\ temp0_45^0-temp0_45^post30 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ -temp0_32^post30+temp0_32^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post30+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -__disjvr_7^post30+__disjvr_7^0 == 0 /\ a_26^0-a_26^post30 == 0 /\ -a_197^post30+a_197^0 == 0 /\ result_11^0-result_11^post30 == 0 /\ tmp_48^0-tmp_48^post30 == 0 /\ -x_34^post30+x_34^0 == 0 /\ -i_108^post30+i_108^0 == 0 /\ -fmt_31^post30+fmt_31^0 == 0 /\ nondet_12^0-nondet_12^post30 == 0 /\ __disjvr_18^0-__disjvr_18^post30 == 0 /\ -length_43^post30+length_43^0 == 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ x_177^0-x_177^post30 == 0 /\ a_305^0-a_305^post30 == 0 /\ __disjvr_25^0-__disjvr_25^post30 == 0 /\ len_246^0-len_246^post30 == 0 /\ __disjvr_14^0-__disjvr_14^post30 == 0 /\ t_23^0-t_23^post30 == 0 /\ i_125^0-i_125^post30 == 0 /\ r_53^0-r_53^post30 == 0 /\ -lt_37^post30+lt_37^0 == 0 /\ lt_237^0-lt_237^post30 == 0 /\ -__disjvr_3^post30+__disjvr_3^0 == 0), cost: 1
  32: l33 -> l35 : __disjvr_0^0'=__disjvr_0^post32, a_283^0'=a_283^post32, temp0_45^0'=temp0_45^post32, __disjvr_21^0'=__disjvr_21^post32, y_19^0'=y_19^post32, __disjvr_4^0'=__disjvr_4^post32, result_11^0'=result_11^post32, __disjvr_14^0'=__disjvr_14^post32, head_46^0'=head_46^post32, __disjvr_24^0'=__disjvr_24^post32, x_177^0'=x_177^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post32, __disjvr_9^0'=__disjvr_9^post32, a_197^0'=a_197^post32, t_23^0'=t_23^post32, __disjvr_19^0'=__disjvr_19^post32, len_246^0'=len_246^post32, __disjvr_29^0'=__disjvr_29^post32, x_SLAM_f_18^0'=x_SLAM_f_18^post32, r_53^0'=r_53^post32, __disjvr_11^0'=__disjvr_11^post32, a_328^0'=a_328^post32, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post32, __disjvr_6^0'=__disjvr_6^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, __disjvr_16^0'=__disjvr_16^post32, i_125^0'=i_125^post32, __disjvr_26^0'=__disjvr_26^post32, x_238^0'=x_238^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post32, a_26^0'=a_26^post32, temp0_32^0'=temp0_32^post32, __disjvr_20^0'=__disjvr_20^post32, lt_237^0'=lt_237^post32, __disjvr_3^0'=__disjvr_3^post32, rcd_72^0'=rcd_72^post32, __disjvr_13^0'=__disjvr_13^post32, fmt_31^0'=fmt_31^post32, __disjvr_23^0'=__disjvr_23^post32, x_16^0'=x_16^post32, nondet_12^0'=nondet_12^post32, __disjvr_8^0'=__disjvr_8^post32, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post32, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post32, __disjvr_18^0'=__disjvr_18^post32, len_180^0'=len_180^post32, __disjvr_28^0'=__disjvr_28^post32, x_34^0'=x_34^post32, r_161^0'=r_161^post32, __disjvr_10^0'=__disjvr_10^post32, a_305^0'=a_305^post32, temp_49^0'=temp_49^post32, __disjvr_22^0'=__disjvr_22^post32, __disjvr_5^0'=__disjvr_5^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, __disjvr_15^0'=__disjvr_15^post32, i_108^0'=i_108^post32, __disjvr_25^0'=__disjvr_25^post32, x_20^0'=x_20^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post32, a_146^0'=a_146^post32, a_247^0'=a_247^post32, temp0_15^0'=temp0_15^post32, __disjvr_1^0'=__disjvr_1^post32, length_43^0'=length_43^post32, __disjvr_2^0'=__disjvr_2^post32, rcd_102^0'=rcd_102^post32, __disjvr_12^0'=__disjvr_12^post32, ct_17^0'=ct_17^post32, x_14^0'=x_14^post32, lt_37^0'=lt_37^post32, __disjvr_7^0'=__disjvr_7^post32, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post32, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post32, __disjvr_17^0'=__disjvr_17^post32, i_44^0'=i_44^post32, __disjvr_27^0'=__disjvr_27^post32, x_28^0'=x_28^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post32, (0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post32+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_8^0-__disjvr_8^post32 == 0 /\ -result_11^310+result_dot_printf_sdv_special_RETURN_VALUE_41^post32 == 0 /\ a_305^0-a_305^post32 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ len_180^0-len_180^post32 == 0 /\ -x_34^post32+x_34^0 == 0 /\ x_16^0-x_16^post32 == 0 /\ -head_46^0+temp0_45^110 == 0 /\ a_328^0-a_328^post32 == 0 /\ len_246^0-len_246^post32 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ y_19^0-y_19^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ __disjvr_19^0-__disjvr_19^post32 == 0 /\ length_43^0-i_44^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post32 == 0 /\ rcd_72^0-rcd_72^post32 == 0 /\ -lt_36^post32+lt_36^0 == 0 /\ -__disjvr_28^post32+__disjvr_28^0 == 0 /\ a_247^0-a_247^post32 == 0 /\ __disjvr_4^0-__disjvr_4^post32 == 0 /\ -a_146^post32+a_146^0 == 0 /\ -__disjvr_13^post32+__disjvr_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post32 == 0 /\ fmt_31^13-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post32 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post32+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -rcd_102^post32+rcd_102^0 == 0 /\ -x_20^post32+x_20^0 == 0 /\ -__disjvr_27^post32+__disjvr_27^0 == 0 /\ a_197^0-a_197^post32 == 0 /\ r_53^0-r_53^post32 == 0 /\ -ct_17^post32+ct_17^0 == 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ -temp0_15^post32+temp0_15^0 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ -__disjvr_17^post32+__disjvr_17^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post32 == 0 /\ t_23^0-t_23^post32 == 0 /\ -__disjvr_18^post32+__disjvr_18^0 == 0 /\ __disjvr_21^0-__disjvr_21^post32 == 0 /\ -a_26^post32+x_28^post32 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ result_11^130-temp0_45^110 == 0 /\ __disjvr_24^0-__disjvr_24^post32 == 0 /\ a_26^post32-x_14^post32 == 0 /\ -i_44^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ -r_161^post32+r_161^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post32 == 0 /\ i_108^0-i_108^post32 == 0 /\ result_11^310-temp0_32^130 == 0 /\ -__disjvr_22^post32+__disjvr_22^0 == 0 /\ -__disjvr_1^post32+__disjvr_1^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post32+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_29^0-__disjvr_29^post32 == 0 /\ x_177^0-x_177^post32 == 0 /\ -result_11^130+x_14^post32 == 0 /\ -__disjvr_10^post32+__disjvr_10^0 == 0 /\ __disjvr_23^0-__disjvr_23^post32 == 0 /\ __disjvr_14^0-__disjvr_14^post32 == 0 /\ -lt_37^post32+lt_37^0 == 0 /\ a_283^0-a_283^post32 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post32+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -__disjvr_15^post32+__disjvr_15^0 == 0 /\ lt_237^0-lt_237^post32 == 0 /\ x_238^0-x_238^post32 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post32+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ temp0_32^130 == 0 /\ __disjvr_25^0-__disjvr_25^post32 == 0), cost: 1
  37: l33 -> l39 : __disjvr_0^0'=__disjvr_0^post37, a_283^0'=a_283^post37, temp0_45^0'=temp0_45^post37, __disjvr_21^0'=__disjvr_21^post37, y_19^0'=y_19^post37, __disjvr_4^0'=__disjvr_4^post37, result_11^0'=result_11^post37, __disjvr_14^0'=__disjvr_14^post37, head_46^0'=head_46^post37, __disjvr_24^0'=__disjvr_24^post37, x_177^0'=x_177^post37, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post37, __disjvr_9^0'=__disjvr_9^post37, a_197^0'=a_197^post37, t_23^0'=t_23^post37, __disjvr_19^0'=__disjvr_19^post37, len_246^0'=len_246^post37, __disjvr_29^0'=__disjvr_29^post37, x_SLAM_f_18^0'=x_SLAM_f_18^post37, r_53^0'=r_53^post37, __disjvr_11^0'=__disjvr_11^post37, a_328^0'=a_328^post37, tmp_48^0'=tmp_48^post37, lt_36^0'=lt_36^post37, __disjvr_6^0'=__disjvr_6^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, __disjvr_16^0'=__disjvr_16^post37, i_125^0'=i_125^post37, __disjvr_26^0'=__disjvr_26^post37, x_238^0'=x_238^post37, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post37, a_26^0'=a_26^post37, temp0_32^0'=temp0_32^post37, __disjvr_20^0'=__disjvr_20^post37, lt_237^0'=lt_237^post37, __disjvr_3^0'=__disjvr_3^post37, rcd_72^0'=rcd_72^post37, __disjvr_13^0'=__disjvr_13^post37, fmt_31^0'=fmt_31^post37, __disjvr_23^0'=__disjvr_23^post37, x_16^0'=x_16^post37, nondet_12^0'=nondet_12^post37, __disjvr_8^0'=__disjvr_8^post37, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post37, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post37, __disjvr_18^0'=__disjvr_18^post37, len_180^0'=len_180^post37, __disjvr_28^0'=__disjvr_28^post37, x_34^0'=x_34^post37, r_161^0'=r_161^post37, __disjvr_10^0'=__disjvr_10^post37, a_305^0'=a_305^post37, temp_49^0'=temp_49^post37, __disjvr_22^0'=__disjvr_22^post37, __disjvr_5^0'=__disjvr_5^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post37, __disjvr_15^0'=__disjvr_15^post37, i_108^0'=i_108^post37, __disjvr_25^0'=__disjvr_25^post37, x_20^0'=x_20^post37, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post37, a_146^0'=a_146^post37, a_247^0'=a_247^post37, temp0_15^0'=temp0_15^post37, __disjvr_1^0'=__disjvr_1^post37, length_43^0'=length_43^post37, __disjvr_2^0'=__disjvr_2^post37, rcd_102^0'=rcd_102^post37, __disjvr_12^0'=__disjvr_12^post37, ct_17^0'=ct_17^post37, x_14^0'=x_14^post37, lt_37^0'=lt_37^post37, __disjvr_7^0'=__disjvr_7^post37, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post37, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post37, __disjvr_17^0'=__disjvr_17^post37, i_44^0'=i_44^post37, __disjvr_27^0'=__disjvr_27^post37, x_28^0'=x_28^post37, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post37, (0 == 0 /\ -__disjvr_26^post37+__disjvr_26^0 == 0 /\ -__disjvr_2^post37+__disjvr_2^0 == 0 /\ -x_16^post37+x_16^0 == 0 /\ __disjvr_0^0-__disjvr_0^post37 == 0 /\ -x_28^post37+x_28^0 == 0 /\ 1-length_43^0+i_44^0 <= 0 /\ -__disjvr_18^post37+__disjvr_18^0 == 0 /\ 1-length_43^0+i_108^post37 <= 0 /\ -lt_37^post37+lt_37^0 == 0 /\ __disjvr_29^0-__disjvr_29^post37 == 0 /\ -a_328^post37+a_328^0 == 0 /\ lt_36^0-lt_36^post37 == 0 /\ -a_146^post37+a_146^0 == 0 /\ result_11^0-result_11^post37 == 0 /\ temp0_32^0-temp0_32^post37 == 0 /\ -__disjvr_12^post37+__disjvr_12^0 == 0 /\ rcd_72^0-rcd_72^post37 == 0 /\ __disjvr_1^0-__disjvr_1^post37 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post37 == 0 /\ -__disjvr_22^post37+__disjvr_22^0 == 0 /\ temp0_45^0-temp0_45^post37 == 0 /\ -lt_237^post37+lt_237^0 == 0 /\ -__disjvr_15^post37+__disjvr_15^0 == 0 /\ 1-i_44^post37+i_108^post37 <= 0 /\ -__disjvr_19^post37+__disjvr_19^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post37+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post37+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ a_197^0-a_197^post37 == 0 /\ __disjvr_14^0-__disjvr_14^post37 == 0 /\ -__disjvr_25^post37+__disjvr_25^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post37 == 0 /\ __disjvr_24^0-__disjvr_24^post37 == 0 /\ x_238^0-x_238^post37 == 0 /\ __disjvr_28^0-__disjvr_28^post37 == 0 /\ -r_161^post37+r_161^0 == 0 /\ head_46^post37-tmp_48^post37 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post37+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_20^post37+__disjvr_20^0 == 0 /\ y_19^0-y_19^post37 == 0 /\ -length_43^post37+length_43^0 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ x_14^0-x_14^post37 == 0 /\ -__disjvr_9^post37+__disjvr_9^0 == 0 /\ __disjvr_21^0-__disjvr_21^post37 == 0 /\ -x_34^post37+x_34^0 == 0 /\ __disjvr_7^0-__disjvr_7^post37 == 0 /\ -i_125^post37+i_125^0 == 0 /\ __disjvr_4^0-__disjvr_4^post37 == 0 /\ -a_247^post37+a_247^0 == 0 /\ __disjvr_16^0-__disjvr_16^post37 == 0 /\ -a_305^post37+a_305^0 == 0 /\ -__disjvr_5^post37+__disjvr_5^0 == 0 /\ x_177^0-x_177^post37 == 0 /\ -__disjvr_13^post37+__disjvr_13^0 == 0 /\ fmt_31^0-fmt_31^post37 == 0 /\ -ct_17^post37+ct_17^0 == 0 /\ -i_44^0 <= 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post37 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post37 == 0 /\ __disjvr_6^0-__disjvr_6^post37 == 0 /\ -__disjvr_27^post37+__disjvr_27^0 == 0 /\ -temp0_15^post37+temp0_15^0 == 0 /\ -__disjvr_3^post37+__disjvr_3^0 == 0 /\ r_53^0-r_53^post37 == 0 /\ __disjvr_11^0-__disjvr_11^post37 == 0 /\ -1+i_44^post37-i_108^post37 <= 0 /\ len_246^0-len_246^post37 == 0 /\ len_180^0-len_180^post37 == 0 /\ -1+i_44^post37-i_44^0 == 0 /\ -x_20^post37+x_20^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post37+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ a_283^0-a_283^post37 == 0 /\ __disjvr_23^0-__disjvr_23^post37 == 0 /\ tmp_48^post37-temp_49^0 == 0 /\ t_23^0-t_23^post37 == 0 /\ -a_26^post37+a_26^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post37+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post37 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post37 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0), cost: 1
  33: l35 -> l36 : __disjvr_0^0'=__disjvr_0^post33, a_283^0'=a_283^post33, temp0_45^0'=temp0_45^post33, __disjvr_21^0'=__disjvr_21^post33, y_19^0'=y_19^post33, __disjvr_4^0'=__disjvr_4^post33, result_11^0'=result_11^post33, __disjvr_14^0'=__disjvr_14^post33, head_46^0'=head_46^post33, __disjvr_24^0'=__disjvr_24^post33, x_177^0'=x_177^post33, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post33, __disjvr_9^0'=__disjvr_9^post33, a_197^0'=a_197^post33, t_23^0'=t_23^post33, __disjvr_19^0'=__disjvr_19^post33, len_246^0'=len_246^post33, __disjvr_29^0'=__disjvr_29^post33, x_SLAM_f_18^0'=x_SLAM_f_18^post33, r_53^0'=r_53^post33, __disjvr_11^0'=__disjvr_11^post33, a_328^0'=a_328^post33, tmp_48^0'=tmp_48^post33, lt_36^0'=lt_36^post33, __disjvr_6^0'=__disjvr_6^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, __disjvr_16^0'=__disjvr_16^post33, i_125^0'=i_125^post33, __disjvr_26^0'=__disjvr_26^post33, x_238^0'=x_238^post33, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post33, a_26^0'=a_26^post33, temp0_32^0'=temp0_32^post33, __disjvr_20^0'=__disjvr_20^post33, lt_237^0'=lt_237^post33, __disjvr_3^0'=__disjvr_3^post33, rcd_72^0'=rcd_72^post33, __disjvr_13^0'=__disjvr_13^post33, fmt_31^0'=fmt_31^post33, __disjvr_23^0'=__disjvr_23^post33, x_16^0'=x_16^post33, nondet_12^0'=nondet_12^post33, __disjvr_8^0'=__disjvr_8^post33, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post33, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post33, __disjvr_18^0'=__disjvr_18^post33, len_180^0'=len_180^post33, __disjvr_28^0'=__disjvr_28^post33, x_34^0'=x_34^post33, r_161^0'=r_161^post33, __disjvr_10^0'=__disjvr_10^post33, a_305^0'=a_305^post33, temp_49^0'=temp_49^post33, __disjvr_22^0'=__disjvr_22^post33, __disjvr_5^0'=__disjvr_5^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post33, __disjvr_15^0'=__disjvr_15^post33, i_108^0'=i_108^post33, __disjvr_25^0'=__disjvr_25^post33, x_20^0'=x_20^post33, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post33, a_146^0'=a_146^post33, a_247^0'=a_247^post33, temp0_15^0'=temp0_15^post33, __disjvr_1^0'=__disjvr_1^post33, length_43^0'=length_43^post33, __disjvr_2^0'=__disjvr_2^post33, rcd_102^0'=rcd_102^post33, __disjvr_12^0'=__disjvr_12^post33, ct_17^0'=ct_17^post33, x_14^0'=x_14^post33, lt_37^0'=lt_37^post33, __disjvr_7^0'=__disjvr_7^post33, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post33, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post33, __disjvr_17^0'=__disjvr_17^post33, i_44^0'=i_44^post33, __disjvr_27^0'=__disjvr_27^post33, x_28^0'=x_28^post33, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post33, (temp_49^0-temp_49^post33 == 0 /\ -x_14^post33+x_14^0 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ -__disjvr_25^post33+__disjvr_25^0 == 0 /\ r_53^0-r_53^post33 == 0 /\ a_197^0-a_197^post33 == 0 /\ rcd_72^0-rcd_72^post33 == 0 /\ -__disjvr_17^post33+__disjvr_17^0 == 0 /\ -length_43^post33+length_43^0 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ -__disjvr_13^post33+__disjvr_13^0 == 0 /\ __disjvr_2^0-__disjvr_2^post33 == 0 /\ -lt_36^post33+lt_36^0 == 0 /\ a_283^0-a_283^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 == 0 /\ -__disjvr_16^0+__disjvr_16^post33 == 0 /\ __disjvr_4^0-__disjvr_4^post33 == 0 /\ __disjvr_24^0-__disjvr_24^post33 == 0 /\ __disjvr_19^0-__disjvr_19^post33 == 0 /\ -__disjvr_20^post33+__disjvr_20^0 == 0 /\ tmp_48^0-tmp_48^post33 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post33 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ -i_44^post33+i_44^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post33 == 0 /\ -ct_17^post33+ct_17^0 == 0 /\ len_246^0-len_246^post33 == 0 /\ head_46^0-head_46^post33 == 0 /\ -a_328^post33+a_328^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post33+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_16^post33+x_16^0 == 0 /\ __disjvr_26^0-__disjvr_26^post33 == 0 /\ __disjvr_29^0-__disjvr_29^post33 == 0 /\ a_247^0-a_247^post33 == 0 /\ -a_305^post33+a_305^0 == 0 /\ -__disjvr_5^post33+__disjvr_5^0 == 0 /\ -__disjvr_27^post33+__disjvr_27^0 == 0 /\ -__disjvr_8^post33+__disjvr_8^0 == 0 /\ __disjvr_16^0-__disjvr_16^post33 == 0 /\ -a_146^post33+a_146^0 == 0 /\ -__disjvr_7^post33+__disjvr_7^0 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0 /\ x_34^0-x_34^post33 == 0 /\ __disjvr_6^0-__disjvr_6^post33 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post33 == 0 /\ temp0_45^0-temp0_45^post33 == 0 /\ t_23^0-t_23^post33 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ __disjvr_9^0-__disjvr_9^post33 == 0 /\ -i_108^post33+i_108^0 == 0 /\ -__disjvr_28^post33+__disjvr_28^0 == 0 /\ x_238^0-x_238^post33 == 0 /\ a_26^0-a_26^post33 == 0 /\ result_11^0-result_11^post33 == 0 /\ -rcd_102^post33+rcd_102^0 == 0 /\ __disjvr_23^0-__disjvr_23^post33 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ -temp0_15^post33+temp0_15^0 == 0 /\ -lt_37^post33+lt_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post33 == 0 /\ y_19^0-y_19^post33 == 0 /\ temp0_32^0-temp0_32^post33 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post33+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post33+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -len_180^post33+len_180^0 == 0 /\ __disjvr_3^0-__disjvr_3^post33 == 0 /\ x_20^0-x_20^post33 == 0 /\ -__disjvr_22^post33+__disjvr_22^0 == 0 /\ -r_161^post33+r_161^0 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ -__disjvr_15^post33+__disjvr_15^0 == 0 /\ -lt_237^post33+lt_237^0 == 0 /\ -x_28^post33+x_28^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post33+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ __disjvr_11^0-__disjvr_11^post33 == 0 /\ -i_125^post33+i_125^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post33+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post33+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post33+__disjvr_1^0 == 0 /\ x_177^0-x_177^post33 == 0 /\ fmt_31^0-fmt_31^post33 == 0), cost: 1
  34: l36 -> l37 : __disjvr_0^0'=__disjvr_0^post34, a_283^0'=a_283^post34, temp0_45^0'=temp0_45^post34, __disjvr_21^0'=__disjvr_21^post34, y_19^0'=y_19^post34, __disjvr_4^0'=__disjvr_4^post34, result_11^0'=result_11^post34, __disjvr_14^0'=__disjvr_14^post34, head_46^0'=head_46^post34, __disjvr_24^0'=__disjvr_24^post34, x_177^0'=x_177^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post34, __disjvr_9^0'=__disjvr_9^post34, a_197^0'=a_197^post34, t_23^0'=t_23^post34, __disjvr_19^0'=__disjvr_19^post34, len_246^0'=len_246^post34, __disjvr_29^0'=__disjvr_29^post34, x_SLAM_f_18^0'=x_SLAM_f_18^post34, r_53^0'=r_53^post34, __disjvr_11^0'=__disjvr_11^post34, a_328^0'=a_328^post34, tmp_48^0'=tmp_48^post34, lt_36^0'=lt_36^post34, __disjvr_6^0'=__disjvr_6^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, __disjvr_16^0'=__disjvr_16^post34, i_125^0'=i_125^post34, __disjvr_26^0'=__disjvr_26^post34, x_238^0'=x_238^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post34, a_26^0'=a_26^post34, temp0_32^0'=temp0_32^post34, __disjvr_20^0'=__disjvr_20^post34, lt_237^0'=lt_237^post34, __disjvr_3^0'=__disjvr_3^post34, rcd_72^0'=rcd_72^post34, __disjvr_13^0'=__disjvr_13^post34, fmt_31^0'=fmt_31^post34, __disjvr_23^0'=__disjvr_23^post34, x_16^0'=x_16^post34, nondet_12^0'=nondet_12^post34, __disjvr_8^0'=__disjvr_8^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post34, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post34, __disjvr_18^0'=__disjvr_18^post34, len_180^0'=len_180^post34, __disjvr_28^0'=__disjvr_28^post34, x_34^0'=x_34^post34, r_161^0'=r_161^post34, __disjvr_10^0'=__disjvr_10^post34, a_305^0'=a_305^post34, temp_49^0'=temp_49^post34, __disjvr_22^0'=__disjvr_22^post34, __disjvr_5^0'=__disjvr_5^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post34, __disjvr_15^0'=__disjvr_15^post34, i_108^0'=i_108^post34, __disjvr_25^0'=__disjvr_25^post34, x_20^0'=x_20^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, a_146^0'=a_146^post34, a_247^0'=a_247^post34, temp0_15^0'=temp0_15^post34, __disjvr_1^0'=__disjvr_1^post34, length_43^0'=length_43^post34, __disjvr_2^0'=__disjvr_2^post34, rcd_102^0'=rcd_102^post34, __disjvr_12^0'=__disjvr_12^post34, ct_17^0'=ct_17^post34, x_14^0'=x_14^post34, lt_37^0'=lt_37^post34, __disjvr_7^0'=__disjvr_7^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post34, __disjvr_17^0'=__disjvr_17^post34, i_44^0'=i_44^post34, __disjvr_27^0'=__disjvr_27^post34, x_28^0'=x_28^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post34, (0 == 0 /\ temp0_32^140 == 0 /\ -__disjvr_27^post34+__disjvr_27^0 == 0 /\ a_26^0-a_26^post34 == 0 /\ lt_237^0-lt_237^post34 == 0 /\ -__disjvr_20^post34+__disjvr_20^0 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ nondet_12^0-nondet_12^post34 == 0 /\ -__disjvr_1^post34+__disjvr_1^0 == 0 /\ -__disjvr_28^post34+__disjvr_28^0 == 0 /\ -a_146^post34+a_146^0 == 0 /\ -__disjvr_26^post34+__disjvr_26^0 == 0 /\ a_283^0-a_283^post34 == 0 /\ -__disjvr_23^post34+__disjvr_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -x_20^post34+x_20^0 == 0 /\ x_34^110-x_28^0 == 0 /\ __disjvr_29^0-__disjvr_29^post34 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ __disjvr_18^0-__disjvr_18^post34 == 0 /\ -x_28^post34+x_28^0 == 0 /\ -rcd_72^post34+rcd_72^0 == 0 /\ __disjvr_13^0-__disjvr_13^post34 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ -a_305^post34+a_305^0 == 0 /\ x_177^0-x_177^post34 == 0 /\ __disjvr_14^0-__disjvr_14^post34 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ tmp_48^0-tmp_48^post34 == 0 /\ -r_161^post34+r_161^0 == 0 /\ -__disjvr_7^post34+__disjvr_7^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post34 == 0 /\ __disjvr_24^0-__disjvr_24^post34 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post34+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post34+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -length_43^post34+length_43^0 == 0 /\ -i_44^post34+i_44^0 == 0 /\ len_246^0-len_246^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post34 == 0 /\ -__disjvr_25^post34+__disjvr_25^0 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ __disjvr_16^0-__disjvr_16^post34 == 0 /\ x_14^0-x_14^post34 == 0 /\ x_238^0-x_238^post34 == 0 /\ -result_11^140+result_dot_printf_sdv_special_RETURN_VALUE_38^110 == 0 /\ -a_247^post34+a_247^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ temp0_45^0-temp0_45^post34 == 0 /\ head_46^0-head_46^post34 == 0 /\ -__disjvr_2^post34+__disjvr_2^0 == 0 /\ __disjvr_19^0-__disjvr_19^post34 == 0 /\ -ct_17^post34+ct_17^0 == 0 /\ fmt_31^14-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^110 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ -__disjvr_22^post34+__disjvr_22^0 == 0 /\ -t_23^post34+t_23^0 == 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ a_26^0-x_14^0 <= 0 /\ r_53^0-r_53^post34 == 0 /\ y_19^0-y_19^post34 == 0 /\ -__disjvr_15^post34+__disjvr_15^0 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ __disjvr_11^0-__disjvr_11^post34 == 0 /\ -rcd_102^post34+rcd_102^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post34 == 0 /\ -temp0_32^140+result_11^140 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post34+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ a_197^0-a_197^post34 == 0 /\ -len_180^post34+len_180^0 == 0 /\ -i_125^post34+i_125^0 == 0 /\ __disjvr_21^0-__disjvr_21^post34 == 0 /\ i_108^0-i_108^post34 == 0 /\ __disjvr_9^0-__disjvr_9^post34 == 0 /\ -temp0_15^post34+temp0_15^0 == 0 /\ x_16^0-x_16^post34 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post34+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ -a_26^0+x_14^0 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post34+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ a_328^0-a_328^post34 == 0 /\ __disjvr_8^0-__disjvr_8^post34 == 0 /\ temp_49^0-temp_49^post34 == 0), cost: 1
  35: l37 -> l38 : __disjvr_0^0'=__disjvr_0^post35, a_283^0'=a_283^post35, temp0_45^0'=temp0_45^post35, __disjvr_21^0'=__disjvr_21^post35, y_19^0'=y_19^post35, __disjvr_4^0'=__disjvr_4^post35, result_11^0'=result_11^post35, __disjvr_14^0'=__disjvr_14^post35, head_46^0'=head_46^post35, __disjvr_24^0'=__disjvr_24^post35, x_177^0'=x_177^post35, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post35, __disjvr_9^0'=__disjvr_9^post35, a_197^0'=a_197^post35, t_23^0'=t_23^post35, __disjvr_19^0'=__disjvr_19^post35, len_246^0'=len_246^post35, __disjvr_29^0'=__disjvr_29^post35, x_SLAM_f_18^0'=x_SLAM_f_18^post35, r_53^0'=r_53^post35, __disjvr_11^0'=__disjvr_11^post35, a_328^0'=a_328^post35, tmp_48^0'=tmp_48^post35, lt_36^0'=lt_36^post35, __disjvr_6^0'=__disjvr_6^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, __disjvr_16^0'=__disjvr_16^post35, i_125^0'=i_125^post35, __disjvr_26^0'=__disjvr_26^post35, x_238^0'=x_238^post35, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post35, a_26^0'=a_26^post35, temp0_32^0'=temp0_32^post35, __disjvr_20^0'=__disjvr_20^post35, lt_237^0'=lt_237^post35, __disjvr_3^0'=__disjvr_3^post35, rcd_72^0'=rcd_72^post35, __disjvr_13^0'=__disjvr_13^post35, fmt_31^0'=fmt_31^post35, __disjvr_23^0'=__disjvr_23^post35, x_16^0'=x_16^post35, nondet_12^0'=nondet_12^post35, __disjvr_8^0'=__disjvr_8^post35, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post35, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post35, __disjvr_18^0'=__disjvr_18^post35, len_180^0'=len_180^post35, __disjvr_28^0'=__disjvr_28^post35, x_34^0'=x_34^post35, r_161^0'=r_161^post35, __disjvr_10^0'=__disjvr_10^post35, a_305^0'=a_305^post35, temp_49^0'=temp_49^post35, __disjvr_22^0'=__disjvr_22^post35, __disjvr_5^0'=__disjvr_5^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post35, __disjvr_15^0'=__disjvr_15^post35, i_108^0'=i_108^post35, __disjvr_25^0'=__disjvr_25^post35, x_20^0'=x_20^post35, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post35, a_146^0'=a_146^post35, a_247^0'=a_247^post35, temp0_15^0'=temp0_15^post35, __disjvr_1^0'=__disjvr_1^post35, length_43^0'=length_43^post35, __disjvr_2^0'=__disjvr_2^post35, rcd_102^0'=rcd_102^post35, __disjvr_12^0'=__disjvr_12^post35, ct_17^0'=ct_17^post35, x_14^0'=x_14^post35, lt_37^0'=lt_37^post35, __disjvr_7^0'=__disjvr_7^post35, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post35, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post35, __disjvr_17^0'=__disjvr_17^post35, i_44^0'=i_44^post35, __disjvr_27^0'=__disjvr_27^post35, x_28^0'=x_28^post35, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post35, (rcd_102^0-rcd_102^post35 == 0 /\ -r_53^post35+r_53^0 == 0 /\ __disjvr_4^0-__disjvr_4^post35 == 0 /\ x_16^0-x_16^post35 == 0 /\ __disjvr_16^0-__disjvr_16^post35 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ -rcd_72^post35+rcd_72^0 == 0 /\ __disjvr_24^0-__disjvr_24^post35 == 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ t_23^0-t_23^post35 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post35+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -i_44^post35+i_44^0 == 0 /\ -__disjvr_2^post35+__disjvr_2^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post35 == 0 /\ x_34^0-x_34^post35 == 0 /\ __disjvr_17^post35-__disjvr_17^0 == 0 /\ -lt_237^post35+lt_237^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post35+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -a_247^post35+a_247^0 == 0 /\ -__disjvr_18^post35+__disjvr_18^0 == 0 /\ a_283^0-a_283^post35 == 0 /\ temp_49^0-temp_49^post35 == 0 /\ -a_146^post35+a_146^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post35+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post35 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post35 == 0 /\ -__disjvr_13^post35+__disjvr_13^0 == 0 /\ -tmp_48^post35+tmp_48^0 == 0 /\ len_246^0-len_246^post35 == 0 /\ -__disjvr_27^post35+__disjvr_27^0 == 0 /\ x_177^0-x_177^post35 == 0 /\ -x_14^post35+x_14^0 == 0 /\ fmt_31^0-fmt_31^post35 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ -__disjvr_11^post35+__disjvr_11^0 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ ct_17^0-ct_17^post35 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post35 == 0 /\ temp0_15^0-temp0_15^post35 == 0 /\ i_125^0-i_125^post35 == 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ -len_180^post35+len_180^0 == 0 /\ lt_36^0-lt_36^post35 == 0 /\ a_328^0-a_328^post35 == 0 /\ -__disjvr_6^post35+__disjvr_6^0 == 0 /\ -__disjvr_25^post35+__disjvr_25^0 == 0 /\ -x_20^post35+x_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -r_161^post35+r_161^0 == 0 /\ temp0_45^0-temp0_45^post35 == 0 /\ __disjvr_22^0-__disjvr_22^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post35+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ -result_11^post35+result_11^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ -a_305^post35+a_305^0 == 0 /\ -__disjvr_21^post35+__disjvr_21^0 == 0 /\ temp0_32^0-temp0_32^post35 == 0 /\ -__disjvr_1^post35+__disjvr_1^0 == 0 /\ __disjvr_26^0-__disjvr_26^post35 == 0 /\ -head_46^post35+head_46^0 == 0 /\ -x_28^post35+x_28^0 == 0 /\ -a_26^post35+a_26^0 == 0 /\ __disjvr_15^0-__disjvr_15^post35 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ -length_43^post35+length_43^0 == 0 /\ __disjvr_20^0-__disjvr_20^post35 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post35 == 0 /\ __disjvr_28^0-__disjvr_28^post35 == 0 /\ __disjvr_10^0-__disjvr_10^post35 == 0 /\ __disjvr_5^0-__disjvr_5^post35 == 0 /\ -x_238^post35+x_238^0 == 0 /\ y_19^0-y_19^post35 == 0 /\ a_197^0-a_197^post35 == 0 /\ __disjvr_29^0-__disjvr_29^post35 == 0 /\ __disjvr_14^0-__disjvr_14^post35 == 0 /\ -i_108^post35+i_108^0 == 0 /\ -lt_37^post35+lt_37^0 == 0), cost: 1
  36: l38 -> l34 : __disjvr_0^0'=__disjvr_0^post36, a_283^0'=a_283^post36, temp0_45^0'=temp0_45^post36, __disjvr_21^0'=__disjvr_21^post36, y_19^0'=y_19^post36, __disjvr_4^0'=__disjvr_4^post36, result_11^0'=result_11^post36, __disjvr_14^0'=__disjvr_14^post36, head_46^0'=head_46^post36, __disjvr_24^0'=__disjvr_24^post36, x_177^0'=x_177^post36, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post36, __disjvr_9^0'=__disjvr_9^post36, a_197^0'=a_197^post36, t_23^0'=t_23^post36, __disjvr_19^0'=__disjvr_19^post36, len_246^0'=len_246^post36, __disjvr_29^0'=__disjvr_29^post36, x_SLAM_f_18^0'=x_SLAM_f_18^post36, r_53^0'=r_53^post36, __disjvr_11^0'=__disjvr_11^post36, a_328^0'=a_328^post36, tmp_48^0'=tmp_48^post36, lt_36^0'=lt_36^post36, __disjvr_6^0'=__disjvr_6^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, __disjvr_16^0'=__disjvr_16^post36, i_125^0'=i_125^post36, __disjvr_26^0'=__disjvr_26^post36, x_238^0'=x_238^post36, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post36, a_26^0'=a_26^post36, temp0_32^0'=temp0_32^post36, __disjvr_20^0'=__disjvr_20^post36, lt_237^0'=lt_237^post36, __disjvr_3^0'=__disjvr_3^post36, rcd_72^0'=rcd_72^post36, __disjvr_13^0'=__disjvr_13^post36, fmt_31^0'=fmt_31^post36, __disjvr_23^0'=__disjvr_23^post36, x_16^0'=x_16^post36, nondet_12^0'=nondet_12^post36, __disjvr_8^0'=__disjvr_8^post36, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post36, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post36, __disjvr_18^0'=__disjvr_18^post36, len_180^0'=len_180^post36, __disjvr_28^0'=__disjvr_28^post36, x_34^0'=x_34^post36, r_161^0'=r_161^post36, __disjvr_10^0'=__disjvr_10^post36, a_305^0'=a_305^post36, temp_49^0'=temp_49^post36, __disjvr_22^0'=__disjvr_22^post36, __disjvr_5^0'=__disjvr_5^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post36, __disjvr_15^0'=__disjvr_15^post36, i_108^0'=i_108^post36, __disjvr_25^0'=__disjvr_25^post36, x_20^0'=x_20^post36, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post36, a_146^0'=a_146^post36, a_247^0'=a_247^post36, temp0_15^0'=temp0_15^post36, __disjvr_1^0'=__disjvr_1^post36, length_43^0'=length_43^post36, __disjvr_2^0'=__disjvr_2^post36, rcd_102^0'=rcd_102^post36, __disjvr_12^0'=__disjvr_12^post36, ct_17^0'=ct_17^post36, x_14^0'=x_14^post36, lt_37^0'=lt_37^post36, __disjvr_7^0'=__disjvr_7^post36, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post36, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post36, __disjvr_17^0'=__disjvr_17^post36, i_44^0'=i_44^post36, __disjvr_27^0'=__disjvr_27^post36, x_28^0'=x_28^post36, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post36, (__disjvr_19^0-__disjvr_19^post36 == 0 /\ __disjvr_29^0-__disjvr_29^post36 == 0 /\ lt_36^0-lt_36^post36 == 0 /\ __disjvr_4^0-__disjvr_4^post36 == 0 /\ -temp0_15^post36+temp0_15^0 == 0 /\ -__disjvr_15^post36+__disjvr_15^0 == 0 /\ __disjvr_8^0-__disjvr_8^post36 == 0 /\ __disjvr_24^0-__disjvr_24^post36 == 0 /\ __disjvr_16^0-__disjvr_16^post36 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post36+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -__disjvr_2^post36+__disjvr_2^0 == 0 /\ head_46^0-head_46^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 == 0 /\ -lt_37^post36+lt_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post36+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post36 == 0 /\ __disjvr_21^0-__disjvr_21^post36 == 0 /\ -__disjvr_22^post36+__disjvr_22^0 == 0 /\ -__disjvr_28^post36+__disjvr_28^0 == 0 /\ -fmt_31^post36+fmt_31^0 == 0 /\ -x_28^post36+x_28^0 == 0 /\ -a_146^post36+a_146^0 == 0 /\ __disjvr_20^0-__disjvr_20^post36 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post36+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post36+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ len_180^0-len_180^post36 == 0 /\ -__disjvr_26^post36+__disjvr_26^0 == 0 /\ -rcd_102^post36+rcd_102^0 == 0 /\ -__disjvr_25^post36+__disjvr_25^0 == 0 /\ __disjvr_6^0-__disjvr_6^post36 == 0 /\ a_283^0-a_283^post36 == 0 /\ tmp_48^0-tmp_48^post36 == 0 /\ -rcd_72^post36+rcd_72^0 == 0 /\ -__disjvr_23^post36+__disjvr_23^0 == 0 /\ -__disjvr_27^post36+__disjvr_27^0 == 0 /\ __disjvr_1^0-__disjvr_1^post36 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post36+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ x_238^0-x_238^post36 == 0 /\ -i_44^post36+i_44^0 == 0 /\ __disjvr_13^0-__disjvr_13^post36 == 0 /\ -__disjvr_10^post36+__disjvr_10^0 == 0 /\ -__disjvr_12^post36+__disjvr_12^0 == 0 /\ -temp_49^post36+temp_49^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_125^0 <= 0 /\ -x_14^post36+x_14^0 == 0 /\ __disjvr_0^0-__disjvr_0^post36 == 0 /\ -x_20^post36+x_20^0 == 0 /\ -length_43^post36+length_43^0 == 0 /\ -__disjvr_17^post36+__disjvr_17^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_5^post36+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post36 == 0 /\ -x_34^post36+x_34^0 == 0 /\ a_26^0-a_26^post36 == 0 /\ result_11^0-result_11^post36 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post36 == 0 /\ x_16^0-x_16^post36 == 0 /\ temp0_45^0-temp0_45^post36 == 0 /\ -temp0_32^post36+temp0_32^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post36+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ -__disjvr_7^post36+__disjvr_7^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post36+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ a_305^0-a_305^post36 == 0 /\ -ct_17^post36+ct_17^0 == 0 /\ lt_237^0-lt_237^post36 == 0 /\ -a_197^post36+a_197^0 == 0 /\ __disjvr_11^0-__disjvr_11^post36 == 0 /\ r_53^0-r_53^post36 == 0 /\ len_246^0-len_246^post36 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_247^post36+a_247^0 == 0 /\ -i_108^post36+i_108^0 == 0 /\ a_328^0-a_328^post36 == 0 /\ -x_177^post36+x_177^0 == 0 /\ y_19^0-y_19^post36 == 0 /\ __disjvr_14^0-__disjvr_14^post36 == 0 /\ t_23^0-t_23^post36 == 0 /\ -__disjvr_3^post36+__disjvr_3^0 == 0 /\ __disjvr_18^0-__disjvr_18^post36 == 0 /\ r_161^0-r_161^post36 == 0 /\ i_125^0-i_125^post36 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post36+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0), cost: 1
  51: l34 -> l49 : __disjvr_0^0'=__disjvr_0^post51, a_283^0'=a_283^post51, temp0_45^0'=temp0_45^post51, __disjvr_21^0'=__disjvr_21^post51, y_19^0'=y_19^post51, __disjvr_4^0'=__disjvr_4^post51, result_11^0'=result_11^post51, __disjvr_14^0'=__disjvr_14^post51, head_46^0'=head_46^post51, __disjvr_24^0'=__disjvr_24^post51, x_177^0'=x_177^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, __disjvr_9^0'=__disjvr_9^post51, a_197^0'=a_197^post51, t_23^0'=t_23^post51, __disjvr_19^0'=__disjvr_19^post51, len_246^0'=len_246^post51, __disjvr_29^0'=__disjvr_29^post51, x_SLAM_f_18^0'=x_SLAM_f_18^post51, r_53^0'=r_53^post51, __disjvr_11^0'=__disjvr_11^post51, a_328^0'=a_328^post51, tmp_48^0'=tmp_48^post51, lt_36^0'=lt_36^post51, __disjvr_6^0'=__disjvr_6^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, __disjvr_16^0'=__disjvr_16^post51, i_125^0'=i_125^post51, __disjvr_26^0'=__disjvr_26^post51, x_238^0'=x_238^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, __disjvr_20^0'=__disjvr_20^post51, lt_237^0'=lt_237^post51, __disjvr_3^0'=__disjvr_3^post51, rcd_72^0'=rcd_72^post51, __disjvr_13^0'=__disjvr_13^post51, fmt_31^0'=fmt_31^post51, __disjvr_23^0'=__disjvr_23^post51, x_16^0'=x_16^post51, nondet_12^0'=nondet_12^post51, __disjvr_8^0'=__disjvr_8^post51, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, __disjvr_18^0'=__disjvr_18^post51, len_180^0'=len_180^post51, __disjvr_28^0'=__disjvr_28^post51, x_34^0'=x_34^post51, r_161^0'=r_161^post51, __disjvr_10^0'=__disjvr_10^post51, a_305^0'=a_305^post51, temp_49^0'=temp_49^post51, __disjvr_22^0'=__disjvr_22^post51, __disjvr_5^0'=__disjvr_5^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post51, __disjvr_15^0'=__disjvr_15^post51, i_108^0'=i_108^post51, __disjvr_25^0'=__disjvr_25^post51, x_20^0'=x_20^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, a_146^0'=a_146^post51, a_247^0'=a_247^post51, temp0_15^0'=temp0_15^post51, __disjvr_1^0'=__disjvr_1^post51, length_43^0'=length_43^post51, __disjvr_2^0'=__disjvr_2^post51, rcd_102^0'=rcd_102^post51, __disjvr_12^0'=__disjvr_12^post51, ct_17^0'=ct_17^post51, x_14^0'=x_14^post51, lt_37^0'=lt_37^post51, __disjvr_7^0'=__disjvr_7^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, __disjvr_17^0'=__disjvr_17^post51, i_44^0'=i_44^post51, __disjvr_27^0'=__disjvr_27^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (0 == 0 /\ __disjvr_24^0-__disjvr_24^post51 == 0 /\ -length_43^post51+length_43^0 == 0 /\ temp0_15^0-temp0_15^post51 == 0 /\ __disjvr_21^0-__disjvr_21^post51 == 0 /\ -x_20^post51+x_14^0 <= 0 /\ ct_17^post51 <= 0 /\ ct_17^post51 == 0 /\ -x_14^post51+x_14^0 == 0 /\ x_SLAM_f_18^post51-x_14^0 <= 0 /\ -__disjvr_7^post51+__disjvr_7^0 == 0 /\ __disjvr_22^0-__disjvr_22^post51 == 0 /\ -__disjvr_10^post51+__disjvr_10^0 == 0 /\ -x_16^post51+x_SLAM_f_18^post51 <= 0 /\ -x_16^post51+x_SLAM_f_18^post51 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post51+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -a_146^post51+a_146^0 == 0 /\ -a_247^post51+a_247^0 == 0 /\ x_238^0-x_238^post51 == 0 /\ __disjvr_15^0-__disjvr_15^post51 == 0 /\ -temp_49^post51+temp_49^0 == 0 /\ -ct_17^post51 <= 0 /\ -y_19^post51 <= 0 /\ -i_125^post51+i_125^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^130-result_11^180 == 0 /\ -tmp_48^post51+tmp_48^0 == 0 /\ -__disjvr_25^post51+__disjvr_25^0 == 0 /\ rcd_102^0-rcd_102^post51 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ x_20^post51-x_14^0 <= 0 /\ x_177^0-x_177^post51 == 0 /\ fmt_31^153-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^130 == 0 /\ len_246^0-len_246^post51 == 0 /\ -x_SLAM_f_18^post51+x_14^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post51 == 0 /\ len_180^0-len_180^post51 == 0 /\ 1-len_180^0 <= 0 /\ -1+len_180^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post51 == 0 /\ x_16^post51-x_SLAM_f_18^post51 <= 0 /\ t_23^0-t_23^post51 == 0 /\ __disjvr_4^0-__disjvr_4^post51 == 0 /\ __disjvr_29^0-__disjvr_29^post51 == 0 /\ a_283^0-a_283^post51 == 0 /\ -__disjvr_11^post51+__disjvr_11^0 == 0 /\ a_328^0-a_328^post51 == 0 /\ -__disjvr_13^post51+__disjvr_13^0 == 0 /\ __disjvr_3^0-__disjvr_3^post51 == 0 /\ -ct_17^post51+y_19^post51 <= 0 /\ -ct_17^post51+y_19^post51 == 0 /\ -a_305^post51+a_305^0 == 0 /\ y_19^post51 <= 0 /\ __disjvr_19^0-__disjvr_19^post51 == 0 /\ x_20^post51-x_SLAM_f_18^post51 <= 0 /\ x_20^post51-x_SLAM_f_18^post51 == 0 /\ -__disjvr_27^post51+__disjvr_27^0 == 0 /\ temp0_32^180 == 0 /\ __disjvr_20^0-__disjvr_20^post51 == 0 /\ -r_161^post51+r_161^0 == 0 /\ -lt_237^post51+lt_237^0 == 0 /\ __disjvr_0^0-__disjvr_0^post51 == 0 /\ -i_44^post51+i_44^0 == 0 /\ __disjvr_9^0-__disjvr_9^post51 == 0 /\ -x_28^0 <= 0 /\ -__disjvr_2^post51+__disjvr_2^0 == 0 /\ x_16^post51-x_14^0 <= 0 /\ x_16^post51-x_14^0 == 0 /\ -__disjvr_6^post51+__disjvr_6^0 == 0 /\ __disjvr_23^0-__disjvr_23^post51 == 0 /\ -head_46^post51+head_46^0 == 0 /\ ct_17^post51-y_19^post51 <= 0 /\ -temp0_32^180+result_11^180 == 0 /\ -x_20^post51+x_SLAM_f_18^post51 <= 0 /\ __disjvr_28^0-__disjvr_28^post51 == 0 /\ -a_146^0 <= 0 /\ temp0_45^0-temp0_45^post51 == 0 /\ rcd_72^0-rcd_72^post51 == 0 /\ -__disjvr_12^post51+__disjvr_12^0 == 0 /\ __disjvr_26^0-__disjvr_26^post51 == 0 /\ r_53^0-r_53^post51 == 0 /\ __disjvr_5^0-__disjvr_5^post51 == 0 /\ -__disjvr_1^post51+__disjvr_1^0 == 0 /\ a_197^0-a_197^post51 == 0 /\ __disjvr_18^0-__disjvr_18^post51 == 0 /\ -__disjvr_17^post51+__disjvr_17^0 == 0 /\ __disjvr_16^0-__disjvr_16^post51 == 0 /\ -i_108^post51+i_108^0 == 0 /\ x_28^0 <= 0 /\ -x_16^post51+x_14^0 <= 0), cost: 1
  54: l34 -> l51 : __disjvr_0^0'=__disjvr_0^post54, a_283^0'=a_283^post54, temp0_45^0'=temp0_45^post54, __disjvr_21^0'=__disjvr_21^post54, y_19^0'=y_19^post54, __disjvr_4^0'=__disjvr_4^post54, result_11^0'=result_11^post54, __disjvr_14^0'=__disjvr_14^post54, head_46^0'=head_46^post54, __disjvr_24^0'=__disjvr_24^post54, x_177^0'=x_177^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post54, __disjvr_9^0'=__disjvr_9^post54, a_197^0'=a_197^post54, t_23^0'=t_23^post54, __disjvr_19^0'=__disjvr_19^post54, len_246^0'=len_246^post54, __disjvr_29^0'=__disjvr_29^post54, x_SLAM_f_18^0'=x_SLAM_f_18^post54, r_53^0'=r_53^post54, __disjvr_11^0'=__disjvr_11^post54, a_328^0'=a_328^post54, tmp_48^0'=tmp_48^post54, lt_36^0'=lt_36^post54, __disjvr_6^0'=__disjvr_6^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, __disjvr_16^0'=__disjvr_16^post54, i_125^0'=i_125^post54, __disjvr_26^0'=__disjvr_26^post54, x_238^0'=x_238^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post54, __disjvr_20^0'=__disjvr_20^post54, lt_237^0'=lt_237^post54, __disjvr_3^0'=__disjvr_3^post54, rcd_72^0'=rcd_72^post54, __disjvr_13^0'=__disjvr_13^post54, fmt_31^0'=fmt_31^post54, __disjvr_23^0'=__disjvr_23^post54, x_16^0'=x_16^post54, nondet_12^0'=nondet_12^post54, __disjvr_8^0'=__disjvr_8^post54, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post54, __disjvr_18^0'=__disjvr_18^post54, len_180^0'=len_180^post54, __disjvr_28^0'=__disjvr_28^post54, x_34^0'=x_34^post54, r_161^0'=r_161^post54, __disjvr_10^0'=__disjvr_10^post54, a_305^0'=a_305^post54, temp_49^0'=temp_49^post54, __disjvr_22^0'=__disjvr_22^post54, __disjvr_5^0'=__disjvr_5^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post54, __disjvr_15^0'=__disjvr_15^post54, i_108^0'=i_108^post54, __disjvr_25^0'=__disjvr_25^post54, x_20^0'=x_20^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post54, a_146^0'=a_146^post54, a_247^0'=a_247^post54, temp0_15^0'=temp0_15^post54, __disjvr_1^0'=__disjvr_1^post54, length_43^0'=length_43^post54, __disjvr_2^0'=__disjvr_2^post54, rcd_102^0'=rcd_102^post54, __disjvr_12^0'=__disjvr_12^post54, ct_17^0'=ct_17^post54, x_14^0'=x_14^post54, lt_37^0'=lt_37^post54, __disjvr_7^0'=__disjvr_7^post54, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post54, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post54, __disjvr_17^0'=__disjvr_17^post54, i_44^0'=i_44^post54, __disjvr_27^0'=__disjvr_27^post54, x_28^0'=x_28^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post54, (0 == 0 /\ -x_16^post54+x_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post54 == 0 /\ __disjvr_29^0-__disjvr_29^post54 == 0 /\ -lt_37^post54+lt_37^0 == 0 /\ __disjvr_16^0-__disjvr_16^post54 == 0 /\ -__disjvr_8^post54+__disjvr_8^0 == 0 /\ rcd_72^0-rcd_72^post54 == 0 /\ -x_28^post54+x_28^0 == 0 /\ temp0_32^0-temp0_32^post54 == 0 /\ head_46^0-head_46^post54 == 0 /\ -temp0_15^post54+temp0_15^0 == 0 /\ -__disjvr_2^post54+__disjvr_2^0 == 0 /\ -fmt_31^post54+fmt_31^0 == 0 /\ __disjvr_21^0-__disjvr_21^post54 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post54+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_12^post54+__disjvr_12^0 == 0 /\ a_283^0-a_283^post54 == 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ -__disjvr_19^post54+__disjvr_19^0 == 0 /\ -__disjvr_22^post54+__disjvr_22^0 == 0 /\ lt_237^0-lt_237^post54 == 0 /\ __disjvr_28^0-__disjvr_28^post54 == 0 /\ __disjvr_11^0-__disjvr_11^post54 == 0 /\ -__disjvr_10^post54+__disjvr_10^0 == 0 /\ -__disjvr_26^post54+__disjvr_26^0 == 0 /\ len_180^0-len_180^post54 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post54+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post54 == 0 /\ -rcd_102^post54+rcd_102^0 == 0 /\ -__disjvr_15^post54+__disjvr_15^0 == 0 /\ a_328^0-a_328^post54 == 0 /\ a_197^0-a_197^post54 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post54+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ x_238^0-x_238^post54 == 0 /\ -i_44^post54+i_44^0 == 0 /\ __disjvr_1^0-__disjvr_1^post54 == 0 /\ length_43^0-length_43^post54 == 0 /\ __disjvr_23^0-__disjvr_23^post54 == 0 /\ -__disjvr_20^post54+__disjvr_20^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post54+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_34^post54+x_34^0 == 0 /\ __disjvr_0^0-__disjvr_0^post54 == 0 /\ -temp_49^post54+temp_49^0 == 0 /\ -__disjvr_5^post54+__disjvr_5^0 == 0 /\ result_11^0-result_11^post54 == 0 /\ temp0_45^0-temp0_45^post54 == 0 /\ -i_125^post54+i_125^0 == 0 /\ -__disjvr_27^post54+__disjvr_27^0 == 0 /\ -lt_36^post54+lt_36^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post54+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ __disjvr_25^0-__disjvr_25^post54 == 0 /\ r_53^0-r_53^post54 == 0 /\ __disjvr_9^0-__disjvr_9^post54 == 0 /\ -ct_17^post54+ct_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post54 == 0 /\ -__disjvr_7^post54+__disjvr_7^0 == 0 /\ __disjvr_6^0-__disjvr_6^post54 == 0 /\ -a_146^0 <= 0 /\ len_246^0-len_246^post54 == 0 /\ -a_146^post54+a_146^0 == 0 /\ -x_SLAM_f_18^post54+x_SLAM_f_18^0 == 0 /\ tmp_48^0-tmp_48^post54 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ __disjvr_18^0-__disjvr_18^post54 == 0 /\ __disjvr_14^0-__disjvr_14^post54 == 0 /\ t_23^0-t_23^post54 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post54+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -nondet_12^post54+nondet_12^0 == 0 /\ -a_247^post54+a_247^0 == 0 /\ -x_20^post54+x_20^0 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ i_108^0-i_108^post54 == 0 /\ a_305^0-a_305^post54 == 0 /\ y_19^0-y_19^post54 == 0 /\ __disjvr_13^0-__disjvr_13^post54 == 0), cost: 1
  38: l39 -> l33 : __disjvr_0^0'=__disjvr_0^post38, a_283^0'=a_283^post38, temp0_45^0'=temp0_45^post38, __disjvr_21^0'=__disjvr_21^post38, y_19^0'=y_19^post38, __disjvr_4^0'=__disjvr_4^post38, result_11^0'=result_11^post38, __disjvr_14^0'=__disjvr_14^post38, head_46^0'=head_46^post38, __disjvr_24^0'=__disjvr_24^post38, x_177^0'=x_177^post38, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post38, __disjvr_9^0'=__disjvr_9^post38, a_197^0'=a_197^post38, t_23^0'=t_23^post38, __disjvr_19^0'=__disjvr_19^post38, len_246^0'=len_246^post38, __disjvr_29^0'=__disjvr_29^post38, x_SLAM_f_18^0'=x_SLAM_f_18^post38, r_53^0'=r_53^post38, __disjvr_11^0'=__disjvr_11^post38, a_328^0'=a_328^post38, tmp_48^0'=tmp_48^post38, lt_36^0'=lt_36^post38, __disjvr_6^0'=__disjvr_6^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, __disjvr_16^0'=__disjvr_16^post38, i_125^0'=i_125^post38, __disjvr_26^0'=__disjvr_26^post38, x_238^0'=x_238^post38, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post38, a_26^0'=a_26^post38, temp0_32^0'=temp0_32^post38, __disjvr_20^0'=__disjvr_20^post38, lt_237^0'=lt_237^post38, __disjvr_3^0'=__disjvr_3^post38, rcd_72^0'=rcd_72^post38, __disjvr_13^0'=__disjvr_13^post38, fmt_31^0'=fmt_31^post38, __disjvr_23^0'=__disjvr_23^post38, x_16^0'=x_16^post38, nondet_12^0'=nondet_12^post38, __disjvr_8^0'=__disjvr_8^post38, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post38, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post38, __disjvr_18^0'=__disjvr_18^post38, len_180^0'=len_180^post38, __disjvr_28^0'=__disjvr_28^post38, x_34^0'=x_34^post38, r_161^0'=r_161^post38, __disjvr_10^0'=__disjvr_10^post38, a_305^0'=a_305^post38, temp_49^0'=temp_49^post38, __disjvr_22^0'=__disjvr_22^post38, __disjvr_5^0'=__disjvr_5^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post38, __disjvr_15^0'=__disjvr_15^post38, i_108^0'=i_108^post38, __disjvr_25^0'=__disjvr_25^post38, x_20^0'=x_20^post38, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post38, a_146^0'=a_146^post38, a_247^0'=a_247^post38, temp0_15^0'=temp0_15^post38, __disjvr_1^0'=__disjvr_1^post38, length_43^0'=length_43^post38, __disjvr_2^0'=__disjvr_2^post38, rcd_102^0'=rcd_102^post38, __disjvr_12^0'=__disjvr_12^post38, ct_17^0'=ct_17^post38, x_14^0'=x_14^post38, lt_37^0'=lt_37^post38, __disjvr_7^0'=__disjvr_7^post38, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post38, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post38, __disjvr_17^0'=__disjvr_17^post38, i_44^0'=i_44^post38, __disjvr_27^0'=__disjvr_27^post38, x_28^0'=x_28^post38, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post38, (length_43^0-length_43^post38 == 0 /\ -a_26^post38+a_26^0 == 0 /\ -len_246^post38+len_246^0 == 0 /\ -tmp_48^post38+tmp_48^0 == 0 /\ i_125^0-i_125^post38 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post38 == 0 /\ -__disjvr_12^post38+__disjvr_12^0 == 0 /\ -x_28^post38+x_28^0 == 0 /\ a_247^0-a_247^post38 == 0 /\ __disjvr_6^0-__disjvr_6^post38 == 0 /\ x_16^0-x_16^post38 == 0 /\ -__disjvr_1^post38+__disjvr_1^0 == 0 /\ -rcd_102^post38+rcd_102^0 == 0 /\ __disjvr_20^0-__disjvr_20^post38 == 0 /\ __disjvr_0^0-__disjvr_0^post38 == 0 /\ x_177^0-x_177^post38 == 0 /\ -lt_37^post38+lt_37^0 == 0 /\ r_53^0-r_53^post38 == 0 /\ fmt_31^0-fmt_31^post38 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post38+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_24^0-__disjvr_24^post38 == 0 /\ -i_44^post38+i_44^0 == 0 /\ temp0_45^0-temp0_45^post38 == 0 /\ y_19^0-y_19^post38 == 0 /\ -lt_237^post38+lt_237^0 == 0 /\ __disjvr_10^0-__disjvr_10^post38 == 0 /\ x_34^0-x_34^post38 == 0 /\ __disjvr_14^0-__disjvr_14^post38 == 0 /\ r_161^0-r_161^post38 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post38+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_3^0-__disjvr_3^post38 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -i_108^post38+i_108^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post38+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post38+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_26^0-__disjvr_26^post38 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ t_23^0-t_23^post38 == 0 /\ -__disjvr_22^post38+__disjvr_22^0 == 0 /\ -__disjvr_17^post38+__disjvr_17^0 == 0 /\ -head_46^post38+head_46^0 == 0 /\ __disjvr_19^0-__disjvr_19^post38 == 0 /\ __disjvr_21^0-__disjvr_21^post38 == 0 /\ a_328^0-a_328^post38 == 0 /\ -ct_17^post38+ct_17^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post38+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ temp0_32^0-temp0_32^post38 == 0 /\ -x_14^post38+x_14^0 == 0 /\ -x_238^post38+x_238^0 == 0 /\ -__disjvr_11^post38+__disjvr_11^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post38 == 0 /\ __disjvr_29^0-__disjvr_29^post38 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post38+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -lt_36^post38+lt_36^0 == 0 /\ -__disjvr_15^post38+__disjvr_15^0 == 0 /\ -__disjvr_25^post38+__disjvr_25^0 == 0 /\ -rcd_72^post38+rcd_72^0 == 0 /\ __disjvr_16^0-__disjvr_16^post38 == 0 /\ -__disjvr_23^post38+__disjvr_23^0 == 0 /\ result_11^0-result_11^post38 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post38 == 0 /\ __disjvr_5^0-__disjvr_5^post38 == 0 /\ a_197^0-a_197^post38 == 0 /\ -__disjvr_9^post38+__disjvr_9^0 == 0 /\ temp_49^0-temp_49^post38 == 0 /\ -__disjvr_8^post38+__disjvr_8^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post38+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -a_146^post38+a_146^0 == 0 /\ a_283^0-a_283^post38 == 0 /\ __disjvr_13^0-__disjvr_13^post38 == 0 /\ -temp0_15^post38+temp0_15^0 == 0 /\ -__disjvr_7^post38+__disjvr_7^0 == 0 /\ -a_305^post38+a_305^0 == 0 /\ -__disjvr_18^post38+__disjvr_18^0 == 0 /\ x_20^0-x_20^post38 == 0 /\ len_180^0-len_180^post38 == 0 /\ -__disjvr_27^post38+__disjvr_27^0 == 0 /\ -__disjvr_2^post38+__disjvr_2^0 == 0 /\ __disjvr_4^0-__disjvr_4^post38 == 0 /\ __disjvr_28^0-__disjvr_28^post38 == 0), cost: 1
  41: l40 -> l41 : __disjvr_0^0'=__disjvr_0^post41, a_283^0'=a_283^post41, temp0_45^0'=temp0_45^post41, __disjvr_21^0'=__disjvr_21^post41, y_19^0'=y_19^post41, __disjvr_4^0'=__disjvr_4^post41, result_11^0'=result_11^post41, __disjvr_14^0'=__disjvr_14^post41, head_46^0'=head_46^post41, __disjvr_24^0'=__disjvr_24^post41, x_177^0'=x_177^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, __disjvr_9^0'=__disjvr_9^post41, a_197^0'=a_197^post41, t_23^0'=t_23^post41, __disjvr_19^0'=__disjvr_19^post41, len_246^0'=len_246^post41, __disjvr_29^0'=__disjvr_29^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, r_53^0'=r_53^post41, __disjvr_11^0'=__disjvr_11^post41, a_328^0'=a_328^post41, tmp_48^0'=tmp_48^post41, lt_36^0'=lt_36^post41, __disjvr_6^0'=__disjvr_6^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, __disjvr_16^0'=__disjvr_16^post41, i_125^0'=i_125^post41, __disjvr_26^0'=__disjvr_26^post41, x_238^0'=x_238^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, __disjvr_20^0'=__disjvr_20^post41, lt_237^0'=lt_237^post41, __disjvr_3^0'=__disjvr_3^post41, rcd_72^0'=rcd_72^post41, __disjvr_13^0'=__disjvr_13^post41, fmt_31^0'=fmt_31^post41, __disjvr_23^0'=__disjvr_23^post41, x_16^0'=x_16^post41, nondet_12^0'=nondet_12^post41, __disjvr_8^0'=__disjvr_8^post41, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, __disjvr_18^0'=__disjvr_18^post41, len_180^0'=len_180^post41, __disjvr_28^0'=__disjvr_28^post41, x_34^0'=x_34^post41, r_161^0'=r_161^post41, __disjvr_10^0'=__disjvr_10^post41, a_305^0'=a_305^post41, temp_49^0'=temp_49^post41, __disjvr_22^0'=__disjvr_22^post41, __disjvr_5^0'=__disjvr_5^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post41, __disjvr_15^0'=__disjvr_15^post41, i_108^0'=i_108^post41, __disjvr_25^0'=__disjvr_25^post41, x_20^0'=x_20^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, a_146^0'=a_146^post41, a_247^0'=a_247^post41, temp0_15^0'=temp0_15^post41, __disjvr_1^0'=__disjvr_1^post41, length_43^0'=length_43^post41, __disjvr_2^0'=__disjvr_2^post41, rcd_102^0'=rcd_102^post41, __disjvr_12^0'=__disjvr_12^post41, ct_17^0'=ct_17^post41, x_14^0'=x_14^post41, lt_37^0'=lt_37^post41, __disjvr_7^0'=__disjvr_7^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, __disjvr_17^0'=__disjvr_17^post41, i_44^0'=i_44^post41, __disjvr_27^0'=__disjvr_27^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (0 == 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ rcd_102^0-rcd_102^post41 == 0 /\ result_11^160-temp0_32^160 == 0 /\ -temp_49^post41+temp_49^0 == 0 /\ -a_197^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ -__disjvr_12^post41+__disjvr_12^0 == 0 /\ temp0_45^0-temp0_45^post41 == 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ -ct_17^post41 <= 0 /\ -y_19^post41 <= 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ ct_17^post41 <= 0 /\ ct_17^post41 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ -__disjvr_2^post41+__disjvr_2^0 == 0 /\ r_53^0-r_53^post41 == 0 /\ ct_17^post41-y_19^post41 <= 0 /\ temp0_15^0-temp0_15^post41 == 0 /\ rcd_72^0-rcd_72^post41 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ -x_16^post41+x_SLAM_f_18^post41 <= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0 /\ -__disjvr_25^post41+__disjvr_25^0 == 0 /\ a_247^0-a_247^post41 == 0 /\ t_23^0-t_23^post41 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ -a_146^post41+a_146^0 == 0 /\ -__disjvr_27^post41+__disjvr_27^0 == 0 /\ -i_108^post41+i_108^0 == 0 /\ -__disjvr_20^post41+__disjvr_20^0 == 0 /\ a_328^0-a_328^post41 == 0 /\ -length_43^post41+length_43^0 == 0 /\ -a_305^post41+a_305^0 == 0 /\ head_46^0-head_46^post41 == 0 /\ i_125^0-i_125^post41 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ lt_237^0-lt_237^post41 == 0 /\ -ct_17^post41+y_19^post41 <= 0 /\ -ct_17^post41+y_19^post41 == 0 /\ -__disjvr_10^post41+__disjvr_10^0 == 0 /\ -i_44^post41+i_44^0 == 0 /\ x_16^post41-x_SLAM_f_18^post41 <= 0 /\ -len_180^0 <= 0 /\ len_246^0-len_246^post41 == 0 /\ x_SLAM_f_18^post41-x_20^post41 <= 0 /\ __disjvr_5^0-__disjvr_5^post41 == 0 /\ -tmp_48^post41+tmp_48^0 == 0 /\ -len_180^post41+len_180^0 == 0 /\ x_14^0-x_20^post41 <= 0 /\ a_197^0-a_197^post41 == 0 /\ -__disjvr_7^post41+__disjvr_7^0 == 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ y_19^post41 <= 0 /\ -x_14^post41+x_14^0 == 0 /\ x_SLAM_f_18^post41-x_14^0 <= 0 /\ -x_28^0 <= 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ a_283^0-a_283^post41 == 0 /\ -x_16^post41+x_14^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ -x_SLAM_f_18^post41+x_20^post41 <= 0 /\ -x_SLAM_f_18^post41+x_20^post41 == 0 /\ __disjvr_18^0-__disjvr_18^post41 == 0 /\ -r_161^post41+r_161^0 == 0 /\ -x_14^0+x_20^post41 <= 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^120+fmt_31^151 == 0 /\ __disjvr_16^0-__disjvr_16^post41 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ __disjvr_17^0-__disjvr_17^post41 == 0 /\ temp0_32^160 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^120-result_11^160 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ -x_SLAM_f_18^post41+x_14^0 <= 0 /\ x_177^0-x_177^post41 == 0 /\ -__disjvr_24^post41+__disjvr_24^0 == 0 /\ x_16^post41-x_14^0 <= 0 /\ x_16^post41-x_14^0 == 0 /\ -__disjvr_19^post41+__disjvr_19^0 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ x_28^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -x_238^post41+x_238^0 == 0), cost: 1
  44: l40 -> l44 : __disjvr_0^0'=__disjvr_0^post44, a_283^0'=a_283^post44, temp0_45^0'=temp0_45^post44, __disjvr_21^0'=__disjvr_21^post44, y_19^0'=y_19^post44, __disjvr_4^0'=__disjvr_4^post44, result_11^0'=result_11^post44, __disjvr_14^0'=__disjvr_14^post44, head_46^0'=head_46^post44, __disjvr_24^0'=__disjvr_24^post44, x_177^0'=x_177^post44, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post44, __disjvr_9^0'=__disjvr_9^post44, a_197^0'=a_197^post44, t_23^0'=t_23^post44, __disjvr_19^0'=__disjvr_19^post44, len_246^0'=len_246^post44, __disjvr_29^0'=__disjvr_29^post44, x_SLAM_f_18^0'=x_SLAM_f_18^post44, r_53^0'=r_53^post44, __disjvr_11^0'=__disjvr_11^post44, a_328^0'=a_328^post44, tmp_48^0'=tmp_48^post44, lt_36^0'=lt_36^post44, __disjvr_6^0'=__disjvr_6^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, __disjvr_16^0'=__disjvr_16^post44, i_125^0'=i_125^post44, __disjvr_26^0'=__disjvr_26^post44, x_238^0'=x_238^post44, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post44, __disjvr_20^0'=__disjvr_20^post44, lt_237^0'=lt_237^post44, __disjvr_3^0'=__disjvr_3^post44, rcd_72^0'=rcd_72^post44, __disjvr_13^0'=__disjvr_13^post44, fmt_31^0'=fmt_31^post44, __disjvr_23^0'=__disjvr_23^post44, x_16^0'=x_16^post44, nondet_12^0'=nondet_12^post44, __disjvr_8^0'=__disjvr_8^post44, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post44, __disjvr_18^0'=__disjvr_18^post44, len_180^0'=len_180^post44, __disjvr_28^0'=__disjvr_28^post44, x_34^0'=x_34^post44, r_161^0'=r_161^post44, __disjvr_10^0'=__disjvr_10^post44, a_305^0'=a_305^post44, temp_49^0'=temp_49^post44, __disjvr_22^0'=__disjvr_22^post44, __disjvr_5^0'=__disjvr_5^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post44, __disjvr_15^0'=__disjvr_15^post44, i_108^0'=i_108^post44, __disjvr_25^0'=__disjvr_25^post44, x_20^0'=x_20^post44, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post44, a_146^0'=a_146^post44, a_247^0'=a_247^post44, temp0_15^0'=temp0_15^post44, __disjvr_1^0'=__disjvr_1^post44, length_43^0'=length_43^post44, __disjvr_2^0'=__disjvr_2^post44, rcd_102^0'=rcd_102^post44, __disjvr_12^0'=__disjvr_12^post44, ct_17^0'=ct_17^post44, x_14^0'=x_14^post44, lt_37^0'=lt_37^post44, __disjvr_7^0'=__disjvr_7^post44, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post44, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post44, __disjvr_17^0'=__disjvr_17^post44, i_44^0'=i_44^post44, __disjvr_27^0'=__disjvr_27^post44, x_28^0'=x_28^post44, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post44, (0 == 0 /\ -a_247^post44+a_247^0 == 0 /\ temp0_45^0-temp0_45^post44 == 0 /\ -__disjvr_25^post44+__disjvr_25^0 == 0 /\ t_23^0-t_23^post44 == 0 /\ __disjvr_24^0-__disjvr_24^post44 == 0 /\ -__disjvr_13^post44+__disjvr_13^0 == 0 /\ -a_197^0 <= 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post44 == 0 /\ -ct_17^post44+ct_17^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post44+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_1^0-__disjvr_1^post44 == 0 /\ -__disjvr_27^post44+__disjvr_27^0 == 0 /\ -__disjvr_20^post44+__disjvr_20^0 == 0 /\ __disjvr_2^0-__disjvr_2^post44 == 0 /\ -temp_49^post44+temp_49^0 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ -rcd_72^post44+rcd_72^0 == 0 /\ __disjvr_28^0-__disjvr_28^post44 == 0 /\ -i_44^post44+i_44^0 == 0 /\ __disjvr_26^0-__disjvr_26^post44 == 0 /\ __disjvr_4^0-__disjvr_4^post44 == 0 /\ -__disjvr_11^post44+__disjvr_11^0 == 0 /\ __disjvr_23^0-__disjvr_23^post44 == 0 /\ __disjvr_15^0-__disjvr_15^post44 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ a_328^0-a_328^post44 == 0 /\ -temp0_15^post44+temp0_15^0 == 0 /\ -__disjvr_7^post44+__disjvr_7^0 == 0 /\ __disjvr_6^0-__disjvr_6^post44 == 0 /\ -__disjvr_8^post44+__disjvr_8^0 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ x_177^0-x_177^post44 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ -a_146^post44+a_146^0 == 0 /\ -len_180^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ __disjvr_5^0-__disjvr_5^post44 == 0 /\ y_19^0-y_19^post44 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post44+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post44 == 0 /\ -len_180^post44+len_180^0 == 0 /\ -__disjvr_10^post44+__disjvr_10^0 == 0 /\ a_305^0-a_305^post44 == 0 /\ -x_16^post44+x_16^0 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ a_283^0-a_283^post44 == 0 /\ -rcd_102^post44+rcd_102^0 == 0 /\ __disjvr_9^0-__disjvr_9^post44 == 0 /\ -x_20^post44+x_20^0 == 0 /\ -tmp_48^post44+tmp_48^0 == 0 /\ -lt_37^post44+lt_37^0 == 0 /\ len_246^0-len_246^post44 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post44 == 0 /\ head_46^0-head_46^post44 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post44 == 0 /\ -length_43^post44+length_43^0 == 0 /\ -x_34^post44+x_34^0 == 0 /\ __disjvr_18^0-__disjvr_18^post44 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post44+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -r_161^post44+r_161^0 == 0 /\ temp0_32^0-temp0_32^post44 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post44+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -x_28^post44+x_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -i_108^post44+i_108^0 == 0 /\ a_197^0-a_197^post44 == 0 /\ -i_125^post44+i_125^0 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0 /\ fmt_31^0-fmt_31^post44 == 0 /\ -__disjvr_22^post44+__disjvr_22^0 == 0 /\ lt_36^0-lt_36^post44 == 0), cost: 1
  42: l41 -> l42 : __disjvr_0^0'=__disjvr_0^post42, a_283^0'=a_283^post42, temp0_45^0'=temp0_45^post42, __disjvr_21^0'=__disjvr_21^post42, y_19^0'=y_19^post42, __disjvr_4^0'=__disjvr_4^post42, result_11^0'=result_11^post42, __disjvr_14^0'=__disjvr_14^post42, head_46^0'=head_46^post42, __disjvr_24^0'=__disjvr_24^post42, x_177^0'=x_177^post42, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post42, __disjvr_9^0'=__disjvr_9^post42, a_197^0'=a_197^post42, t_23^0'=t_23^post42, __disjvr_19^0'=__disjvr_19^post42, len_246^0'=len_246^post42, __disjvr_29^0'=__disjvr_29^post42, x_SLAM_f_18^0'=x_SLAM_f_18^post42, r_53^0'=r_53^post42, __disjvr_11^0'=__disjvr_11^post42, a_328^0'=a_328^post42, tmp_48^0'=tmp_48^post42, lt_36^0'=lt_36^post42, __disjvr_6^0'=__disjvr_6^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, __disjvr_16^0'=__disjvr_16^post42, i_125^0'=i_125^post42, __disjvr_26^0'=__disjvr_26^post42, x_238^0'=x_238^post42, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post42, a_26^0'=a_26^post42, temp0_32^0'=temp0_32^post42, __disjvr_20^0'=__disjvr_20^post42, lt_237^0'=lt_237^post42, __disjvr_3^0'=__disjvr_3^post42, rcd_72^0'=rcd_72^post42, __disjvr_13^0'=__disjvr_13^post42, fmt_31^0'=fmt_31^post42, __disjvr_23^0'=__disjvr_23^post42, x_16^0'=x_16^post42, nondet_12^0'=nondet_12^post42, __disjvr_8^0'=__disjvr_8^post42, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post42, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post42, __disjvr_18^0'=__disjvr_18^post42, len_180^0'=len_180^post42, __disjvr_28^0'=__disjvr_28^post42, x_34^0'=x_34^post42, r_161^0'=r_161^post42, __disjvr_10^0'=__disjvr_10^post42, a_305^0'=a_305^post42, temp_49^0'=temp_49^post42, __disjvr_22^0'=__disjvr_22^post42, __disjvr_5^0'=__disjvr_5^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post42, __disjvr_15^0'=__disjvr_15^post42, i_108^0'=i_108^post42, __disjvr_25^0'=__disjvr_25^post42, x_20^0'=x_20^post42, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post42, a_146^0'=a_146^post42, a_247^0'=a_247^post42, temp0_15^0'=temp0_15^post42, __disjvr_1^0'=__disjvr_1^post42, length_43^0'=length_43^post42, __disjvr_2^0'=__disjvr_2^post42, rcd_102^0'=rcd_102^post42, __disjvr_12^0'=__disjvr_12^post42, ct_17^0'=ct_17^post42, x_14^0'=x_14^post42, lt_37^0'=lt_37^post42, __disjvr_7^0'=__disjvr_7^post42, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post42, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post42, __disjvr_17^0'=__disjvr_17^post42, i_44^0'=i_44^post42, __disjvr_27^0'=__disjvr_27^post42, x_28^0'=x_28^post42, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post42, (nondet_12^0-nondet_12^post42 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post42+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post42+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -x_20^post42+x_20^0 == 0 /\ temp0_15^0-temp0_15^post42 == 0 /\ -i_125^post42+i_125^0 == 0 /\ -length_43^post42+length_43^0 == 0 /\ a_328^0-a_328^post42 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ -__disjvr_13^post42+__disjvr_13^0 == 0 /\ __disjvr_28^0-__disjvr_28^post42 == 0 /\ y_19^0-y_19^post42 == 0 /\ t_23^0-t_23^post42 == 0 /\ -a_305^post42+a_305^0 == 0 /\ -__disjvr_27^post42+__disjvr_27^0 == 0 /\ lt_36^0-lt_36^post42 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ __disjvr_4^0-__disjvr_4^post42 == 0 /\ -ct_17^post42+ct_17^0 == 0 /\ -x_238^post42+x_238^0 == 0 /\ rcd_102^0-rcd_102^post42 == 0 /\ __disjvr_23^0-__disjvr_23^post42 == 0 /\ -a_247^post42+a_247^0 == 0 /\ -i_108^post42+i_108^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ __disjvr_21^0-__disjvr_21^post42 == 0 /\ __disjvr_16^0-__disjvr_16^post42 == 0 /\ x_177^0-x_177^post42 == 0 /\ -a_26^post42+a_26^0 == 0 /\ temp0_32^0-temp0_32^post42 == 0 /\ fmt_31^0-fmt_31^post42 == 0 /\ result_11^0-result_11^post42 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post42 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post42 == 0 /\ __disjvr_20^0-__disjvr_20^post42 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post42 == 0 /\ -x_16^post42+x_16^0 == 0 /\ -__disjvr_15^post42+__disjvr_15^0 == 0 /\ a_283^0-a_283^post42 == 0 /\ r_53^0-r_53^post42 == 0 /\ len_246^0-len_246^post42 == 0 /\ __disjvr_11^0-__disjvr_11^post42 == 0 /\ -lt_37^post42+lt_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -__disjvr_2^post42+__disjvr_2^0 == 0 /\ a_197^0-a_197^post42 == 0 /\ -__disjvr_6^post42+__disjvr_6^0 == 0 /\ -a_146^post42+a_146^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post42 == 0 /\ __disjvr_14^0-__disjvr_14^post42 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post42 == 0 /\ -lt_237^post42+lt_237^0 == 0 /\ __disjvr_5^0-__disjvr_5^post42 == 0 /\ -temp0_45^post42+temp0_45^0 == 0 /\ -__disjvr_18^post42+__disjvr_18^0 == 0 /\ -__disjvr_8^post42+__disjvr_8^0 == 0 /\ -x_28^post42+x_28^0 == 0 /\ __disjvr_3^0-__disjvr_3^post42 == 0 /\ __disjvr_29^0-__disjvr_29^post42 == 0 /\ __disjvr_0^0-__disjvr_0^post42 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post42+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -__disjvr_1^post42+__disjvr_1^0 == 0 /\ -__disjvr_25^post42+__disjvr_25^0 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -__disjvr_19^post42+__disjvr_19^0 == 0 /\ head_46^0-head_46^post42 == 0 /\ -rcd_72^post42+rcd_72^0 == 0 /\ __disjvr_22^0-__disjvr_22^post42 == 0 /\ x_34^0-x_34^post42 == 0 /\ -i_44^post42+i_44^0 == 0 /\ -tmp_48^post42+tmp_48^0 == 0 /\ -r_161^post42+r_161^0 == 0 /\ __disjvr_26^0-__disjvr_26^post42 == 0 /\ __disjvr_9^0-__disjvr_9^post42 == 0 /\ -len_180^post42+len_180^0 == 0 /\ __disjvr_18^post42-__disjvr_18^0 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ -temp_49^post42+temp_49^0 == 0 /\ -__disjvr_12^post42+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post42+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -x_14^post42+x_14^0 == 0), cost: 1
  43: l42 -> l11 : __disjvr_0^0'=__disjvr_0^post43, a_283^0'=a_283^post43, temp0_45^0'=temp0_45^post43, __disjvr_21^0'=__disjvr_21^post43, y_19^0'=y_19^post43, __disjvr_4^0'=__disjvr_4^post43, result_11^0'=result_11^post43, __disjvr_14^0'=__disjvr_14^post43, head_46^0'=head_46^post43, __disjvr_24^0'=__disjvr_24^post43, x_177^0'=x_177^post43, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post43, __disjvr_9^0'=__disjvr_9^post43, a_197^0'=a_197^post43, t_23^0'=t_23^post43, __disjvr_19^0'=__disjvr_19^post43, len_246^0'=len_246^post43, __disjvr_29^0'=__disjvr_29^post43, x_SLAM_f_18^0'=x_SLAM_f_18^post43, r_53^0'=r_53^post43, __disjvr_11^0'=__disjvr_11^post43, a_328^0'=a_328^post43, tmp_48^0'=tmp_48^post43, lt_36^0'=lt_36^post43, __disjvr_6^0'=__disjvr_6^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, __disjvr_16^0'=__disjvr_16^post43, i_125^0'=i_125^post43, __disjvr_26^0'=__disjvr_26^post43, x_238^0'=x_238^post43, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post43, a_26^0'=a_26^post43, temp0_32^0'=temp0_32^post43, __disjvr_20^0'=__disjvr_20^post43, lt_237^0'=lt_237^post43, __disjvr_3^0'=__disjvr_3^post43, rcd_72^0'=rcd_72^post43, __disjvr_13^0'=__disjvr_13^post43, fmt_31^0'=fmt_31^post43, __disjvr_23^0'=__disjvr_23^post43, x_16^0'=x_16^post43, nondet_12^0'=nondet_12^post43, __disjvr_8^0'=__disjvr_8^post43, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post43, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post43, __disjvr_18^0'=__disjvr_18^post43, len_180^0'=len_180^post43, __disjvr_28^0'=__disjvr_28^post43, x_34^0'=x_34^post43, r_161^0'=r_161^post43, __disjvr_10^0'=__disjvr_10^post43, a_305^0'=a_305^post43, temp_49^0'=temp_49^post43, __disjvr_22^0'=__disjvr_22^post43, __disjvr_5^0'=__disjvr_5^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post43, __disjvr_15^0'=__disjvr_15^post43, i_108^0'=i_108^post43, __disjvr_25^0'=__disjvr_25^post43, x_20^0'=x_20^post43, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post43, a_146^0'=a_146^post43, a_247^0'=a_247^post43, temp0_15^0'=temp0_15^post43, __disjvr_1^0'=__disjvr_1^post43, length_43^0'=length_43^post43, __disjvr_2^0'=__disjvr_2^post43, rcd_102^0'=rcd_102^post43, __disjvr_12^0'=__disjvr_12^post43, ct_17^0'=ct_17^post43, x_14^0'=x_14^post43, lt_37^0'=lt_37^post43, __disjvr_7^0'=__disjvr_7^post43, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post43, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post43, __disjvr_17^0'=__disjvr_17^post43, i_44^0'=i_44^post43, __disjvr_27^0'=__disjvr_27^post43, x_28^0'=x_28^post43, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post43, (lt_237^0-lt_237^post43 == 0 /\ -x_34^post43+x_34^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post43 == 0 /\ -temp_49^post43+temp_49^0 == 0 /\ -a_247^post43+a_247^0 == 0 /\ -__disjvr_23^post43+__disjvr_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ a_283^0-a_283^post43 == 0 /\ __disjvr_18^0-__disjvr_18^post43 == 0 /\ __disjvr_3^0-__disjvr_3^post43 == 0 /\ a_328^0-a_328^post43 == 0 /\ x_238^0-x_238^post43 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ t_23^0-t_23^post43 == 0 /\ __disjvr_13^0-__disjvr_13^post43 == 0 /\ -ct_17^post43+ct_17^0 == 0 /\ -x_14^post43+x_14^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post43 == 0 /\ -temp0_32^post43+temp0_32^0 == 0 /\ -rcd_72^post43+rcd_72^0 == 0 /\ -__disjvr_27^post43+__disjvr_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post43 == 0 /\ __disjvr_19^0-__disjvr_19^post43 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ -__disjvr_7^post43+__disjvr_7^0 == 0 /\ head_46^0-head_46^post43 == 0 /\ -__disjvr_6^post43+__disjvr_6^0 == 0 /\ -x_SLAM_f_18^post43+x_SLAM_f_18^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post43+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_20^post43+x_20^0 == 0 /\ __disjvr_16^0-__disjvr_16^post43 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post43+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ lt_36^0-lt_36^post43 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post43 == 0 /\ temp0_15^0-temp0_15^post43 == 0 /\ lt_37^0-lt_37^post43 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ -__disjvr_1^post43+__disjvr_1^0 == 0 /\ a_305^0-a_305^post43 == 0 /\ temp0_45^0-temp0_45^post43 == 0 /\ r_53^0-r_53^post43 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post43+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ len_246^0-len_246^post43 == 0 /\ -x_28^post43+x_28^0 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0 /\ tmp_48^0-tmp_48^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ a_197^0-a_197^post43 == 0 /\ __disjvr_15^0-__disjvr_15^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ -a_146^post43+a_146^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_28^post43+__disjvr_28^0 == 0 /\ -__disjvr_12^post43+__disjvr_12^0 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ y_19^0-y_19^post43 == 0 /\ -i_108^post43+i_108^0 == 0 /\ -fmt_31^post43+fmt_31^0 == 0 /\ i_125^0-i_125^post43 == 0 /\ -__disjvr_4^post43+__disjvr_4^0 == 0 /\ r_161^0-r_161^post43 == 0 /\ -__disjvr_22^post43+__disjvr_22^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post43+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_26^0-__disjvr_26^post43 == 0 /\ -i_44^post43+i_44^0 == 0 /\ -rcd_102^post43+rcd_102^0 == 0 /\ -len_180^post43+len_180^0 == 0 /\ -__disjvr_25^post43+__disjvr_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post43 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_10^post43+__disjvr_10^0 == 0 /\ __disjvr_29^0-__disjvr_29^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post43 == 0 /\ a_26^0-a_26^post43 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post43+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ x_16^0-x_16^post43 == 0 /\ x_177^0-x_177^post43 == 0 /\ -length_43^post43+length_43^0 == 0 /\ -__disjvr_20^post43+__disjvr_20^0 == 0), cost: 1
  45: l44 -> l45 : __disjvr_0^0'=__disjvr_0^post45, a_283^0'=a_283^post45, temp0_45^0'=temp0_45^post45, __disjvr_21^0'=__disjvr_21^post45, y_19^0'=y_19^post45, __disjvr_4^0'=__disjvr_4^post45, result_11^0'=result_11^post45, __disjvr_14^0'=__disjvr_14^post45, head_46^0'=head_46^post45, __disjvr_24^0'=__disjvr_24^post45, x_177^0'=x_177^post45, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post45, __disjvr_9^0'=__disjvr_9^post45, a_197^0'=a_197^post45, t_23^0'=t_23^post45, __disjvr_19^0'=__disjvr_19^post45, len_246^0'=len_246^post45, __disjvr_29^0'=__disjvr_29^post45, x_SLAM_f_18^0'=x_SLAM_f_18^post45, r_53^0'=r_53^post45, __disjvr_11^0'=__disjvr_11^post45, a_328^0'=a_328^post45, tmp_48^0'=tmp_48^post45, lt_36^0'=lt_36^post45, __disjvr_6^0'=__disjvr_6^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, __disjvr_16^0'=__disjvr_16^post45, i_125^0'=i_125^post45, __disjvr_26^0'=__disjvr_26^post45, x_238^0'=x_238^post45, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post45, a_26^0'=a_26^post45, temp0_32^0'=temp0_32^post45, __disjvr_20^0'=__disjvr_20^post45, lt_237^0'=lt_237^post45, __disjvr_3^0'=__disjvr_3^post45, rcd_72^0'=rcd_72^post45, __disjvr_13^0'=__disjvr_13^post45, fmt_31^0'=fmt_31^post45, __disjvr_23^0'=__disjvr_23^post45, x_16^0'=x_16^post45, nondet_12^0'=nondet_12^post45, __disjvr_8^0'=__disjvr_8^post45, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post45, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post45, __disjvr_18^0'=__disjvr_18^post45, len_180^0'=len_180^post45, __disjvr_28^0'=__disjvr_28^post45, x_34^0'=x_34^post45, r_161^0'=r_161^post45, __disjvr_10^0'=__disjvr_10^post45, a_305^0'=a_305^post45, temp_49^0'=temp_49^post45, __disjvr_22^0'=__disjvr_22^post45, __disjvr_5^0'=__disjvr_5^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post45, __disjvr_15^0'=__disjvr_15^post45, i_108^0'=i_108^post45, __disjvr_25^0'=__disjvr_25^post45, x_20^0'=x_20^post45, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post45, a_146^0'=a_146^post45, a_247^0'=a_247^post45, temp0_15^0'=temp0_15^post45, __disjvr_1^0'=__disjvr_1^post45, length_43^0'=length_43^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_102^0'=rcd_102^post45, __disjvr_12^0'=__disjvr_12^post45, ct_17^0'=ct_17^post45, x_14^0'=x_14^post45, lt_37^0'=lt_37^post45, __disjvr_7^0'=__disjvr_7^post45, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post45, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post45, __disjvr_17^0'=__disjvr_17^post45, i_44^0'=i_44^post45, __disjvr_27^0'=__disjvr_27^post45, x_28^0'=x_28^post45, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post45, (__disjvr_4^0-__disjvr_4^post45 == 0 /\ rcd_102^0-rcd_102^post45 == 0 /\ -__disjvr_6^post45+__disjvr_6^0 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0 /\ -rcd_72^post45+rcd_72^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post45+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -r_53^post45+r_53^0 == 0 /\ x_16^0-x_16^post45 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post45 == 0 /\ __disjvr_16^0-__disjvr_16^post45 == 0 /\ t_23^0-t_23^post45 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ -i_44^post45+i_44^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post45 == 0 /\ -__disjvr_2^post45+__disjvr_2^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -lt_237^post45+lt_237^0 == 0 /\ x_34^0-x_34^post45 == 0 /\ -a_247^post45+a_247^0 == 0 /\ head_46^0-head_46^post45 == 0 /\ a_283^0-a_283^post45 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post45+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -a_146^post45+a_146^0 == 0 /\ -__disjvr_18^post45+__disjvr_18^0 == 0 /\ -tmp_48^post45+tmp_48^0 == 0 /\ -x_14^post45+x_14^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post45 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post45 == 0 /\ -__disjvr_13^post45+__disjvr_13^0 == 0 /\ fmt_31^0-fmt_31^post45 == 0 /\ len_246^0-len_246^post45 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post45+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_0^0-__disjvr_0^post45 == 0 /\ temp0_15^0-temp0_15^post45 == 0 /\ i_125^0-i_125^post45 == 0 /\ ct_17^0-ct_17^post45 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post45 == 0 /\ -temp_49^post45+temp_49^0 == 0 /\ lt_36^0-lt_36^post45 == 0 /\ -len_180^post45+len_180^0 == 0 /\ a_328^0-a_328^post45 == 0 /\ -__disjvr_25^post45+__disjvr_25^0 == 0 /\ -__disjvr_11^post45+__disjvr_11^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_20^post45+x_20^0 == 0 /\ __disjvr_19^0-__disjvr_19^post45 == 0 /\ temp0_45^0-temp0_45^post45 == 0 /\ -r_161^post45+r_161^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ -__disjvr_27^post45+__disjvr_27^0 == 0 /\ __disjvr_22^0-__disjvr_22^post45 == 0 /\ temp0_32^0-temp0_32^post45 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post45+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ -a_305^post45+a_305^0 == 0 /\ __disjvr_26^0-__disjvr_26^post45 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ -__disjvr_21^post45+__disjvr_21^0 == 0 /\ -__disjvr_1^post45+__disjvr_1^0 == 0 /\ __disjvr_3^0-__disjvr_3^post45 == 0 /\ x_177^0-x_177^post45 == 0 /\ -a_26^post45+a_26^0 == 0 /\ -x_28^post45+x_28^0 == 0 /\ -length_43^post45+length_43^0 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ -__disjvr_19^0+__disjvr_19^post45 == 0 /\ __disjvr_28^0-__disjvr_28^post45 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post45 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ -i_108^post45+i_108^0 == 0 /\ __disjvr_5^0-__disjvr_5^post45 == 0 /\ __disjvr_10^0-__disjvr_10^post45 == 0 /\ a_197^0-a_197^post45 == 0 /\ y_19^0-y_19^post45 == 0 /\ -lt_37^post45+lt_37^0 == 0 /\ -x_238^post45+x_238^0 == 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ __disjvr_29^0-__disjvr_29^post45 == 0), cost: 1
  46: l45 -> l46 : __disjvr_0^0'=__disjvr_0^post46, a_283^0'=a_283^post46, temp0_45^0'=temp0_45^post46, __disjvr_21^0'=__disjvr_21^post46, y_19^0'=y_19^post46, __disjvr_4^0'=__disjvr_4^post46, result_11^0'=result_11^post46, __disjvr_14^0'=__disjvr_14^post46, head_46^0'=head_46^post46, __disjvr_24^0'=__disjvr_24^post46, x_177^0'=x_177^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post46, __disjvr_9^0'=__disjvr_9^post46, a_197^0'=a_197^post46, t_23^0'=t_23^post46, __disjvr_19^0'=__disjvr_19^post46, len_246^0'=len_246^post46, __disjvr_29^0'=__disjvr_29^post46, x_SLAM_f_18^0'=x_SLAM_f_18^post46, r_53^0'=r_53^post46, __disjvr_11^0'=__disjvr_11^post46, a_328^0'=a_328^post46, tmp_48^0'=tmp_48^post46, lt_36^0'=lt_36^post46, __disjvr_6^0'=__disjvr_6^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, __disjvr_16^0'=__disjvr_16^post46, i_125^0'=i_125^post46, __disjvr_26^0'=__disjvr_26^post46, x_238^0'=x_238^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post46, a_26^0'=a_26^post46, temp0_32^0'=temp0_32^post46, __disjvr_20^0'=__disjvr_20^post46, lt_237^0'=lt_237^post46, __disjvr_3^0'=__disjvr_3^post46, rcd_72^0'=rcd_72^post46, __disjvr_13^0'=__disjvr_13^post46, fmt_31^0'=fmt_31^post46, __disjvr_23^0'=__disjvr_23^post46, x_16^0'=x_16^post46, nondet_12^0'=nondet_12^post46, __disjvr_8^0'=__disjvr_8^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post46, __disjvr_18^0'=__disjvr_18^post46, len_180^0'=len_180^post46, __disjvr_28^0'=__disjvr_28^post46, x_34^0'=x_34^post46, r_161^0'=r_161^post46, __disjvr_10^0'=__disjvr_10^post46, a_305^0'=a_305^post46, temp_49^0'=temp_49^post46, __disjvr_22^0'=__disjvr_22^post46, __disjvr_5^0'=__disjvr_5^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post46, __disjvr_15^0'=__disjvr_15^post46, i_108^0'=i_108^post46, __disjvr_25^0'=__disjvr_25^post46, x_20^0'=x_20^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_146^0'=a_146^post46, a_247^0'=a_247^post46, temp0_15^0'=temp0_15^post46, __disjvr_1^0'=__disjvr_1^post46, length_43^0'=length_43^post46, __disjvr_2^0'=__disjvr_2^post46, rcd_102^0'=rcd_102^post46, __disjvr_12^0'=__disjvr_12^post46, ct_17^0'=ct_17^post46, x_14^0'=x_14^post46, lt_37^0'=lt_37^post46, __disjvr_7^0'=__disjvr_7^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post46, __disjvr_17^0'=__disjvr_17^post46, i_44^0'=i_44^post46, __disjvr_27^0'=__disjvr_27^post46, x_28^0'=x_28^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post46, (0 == 0 /\ -x_238^post46+x_238^0 == 0 /\ a_328^0-a_328^post46 == 0 /\ -i_44^post46+i_44^0 == 0 /\ x_34^120-x_28^0 == 0 /\ temp_49^0-temp_49^post46 == 0 /\ __disjvr_10^0-__disjvr_10^post46 == 0 /\ __disjvr_4^0-__disjvr_4^post46 == 0 /\ temp0_15^0-temp0_15^post46 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post46 == 0 /\ -x_16^post46+x_16^0 == 0 /\ __disjvr_16^0-__disjvr_16^post46 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ -__disjvr_1^post46+__disjvr_1^0 == 0 /\ r_161^0-r_161^post46 == 0 /\ __disjvr_6^0-__disjvr_6^post46 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ i_125^0-i_125^post46 == 0 /\ result_11^170-temp0_32^170 == 0 /\ rcd_102^0-rcd_102^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post46+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -x_20^post46+x_20^0 == 0 /\ -a_26^post46+a_26^0 == 0 /\ -1+len_246^post46-len_180^0 <= 0 /\ -length_43^post46+length_43^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ x_177^0-x_177^post46 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post46+fmt_31^152 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ 1-a_197^0+a_247^post46 <= 0 /\ temp0_32^310 == 0 /\ -a_197^post46+a_197^0 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ __disjvr_18^0-__disjvr_18^post46 == 0 /\ -a_305^post46+a_305^0 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ -len_180^post46+len_180^0 == 0 /\ -__disjvr_26^post46+__disjvr_26^0 == 0 /\ __disjvr_21^0-__disjvr_21^post46 == 0 /\ -x_14^post46+x_14^0 == 0 /\ a_283^0-a_283^post46 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post46+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -result_11^170+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ -rcd_72^post46+rcd_72^0 == 0 /\ __disjvr_3^0-__disjvr_3^post46 == 0 /\ y_19^0-y_19^post46 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ -__disjvr_13^post46+__disjvr_13^0 == 0 /\ __disjvr_8^0-__disjvr_8^post46 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ -lt_237^post46+lt_237^0 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ lt_237^0-x_28^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post46 == 0 /\ r_53^0-r_53^post46 == 0 /\ -__disjvr_28^post46+__disjvr_28^0 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post46 <= 0 /\ a_26^0-x_14^0 <= 0 /\ t_23^0-t_23^post46 == 0 /\ temp0_32^170 == 0 /\ -__disjvr_2^post46+__disjvr_2^0 == 0 /\ result_11^330-temp0_32^310 == 0 /\ head_46^0-head_46^post46 == 0 /\ -i_108^post46+i_108^0 == 0 /\ fmt_31^310-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^120 == 0 /\ __disjvr_25^0-__disjvr_25^post46 == 0 /\ __disjvr_11^0-__disjvr_11^post46 == 0 /\ -ct_17^post46+ct_17^0 == 0 /\ 1-len_246^post46+len_180^0 <= 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post46 == 0 /\ -x_28^post46+x_28^0 == 0 /\ -__disjvr_29^post46+__disjvr_29^0 == 0 /\ -a_146^post46+a_146^0 == 0 /\ -tmp_48^post46+tmp_48^0 == 0 /\ -1+a_197^0-a_247^post46 <= 0 /\ __disjvr_19^0-__disjvr_19^post46 == 0 /\ -lt_237^0+x_28^0 <= 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post46 == 0 /\ -__disjvr_7^post46+__disjvr_7^0 == 0 /\ temp0_45^0-temp0_45^post46 == 0 /\ -__disjvr_22^post46+__disjvr_22^0 == 0 /\ -result_11^330+result_dot_printf_sdv_special_RETURN_VALUE_38^120 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post46 == 0 /\ -a_26^0+x_14^0 <= 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post46 <= 0 /\ -__disjvr_5^post46+__disjvr_5^0 == 0), cost: 1
  47: l46 -> l47 : __disjvr_0^0'=__disjvr_0^post47, a_283^0'=a_283^post47, temp0_45^0'=temp0_45^post47, __disjvr_21^0'=__disjvr_21^post47, y_19^0'=y_19^post47, __disjvr_4^0'=__disjvr_4^post47, result_11^0'=result_11^post47, __disjvr_14^0'=__disjvr_14^post47, head_46^0'=head_46^post47, __disjvr_24^0'=__disjvr_24^post47, x_177^0'=x_177^post47, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post47, __disjvr_9^0'=__disjvr_9^post47, a_197^0'=a_197^post47, t_23^0'=t_23^post47, __disjvr_19^0'=__disjvr_19^post47, len_246^0'=len_246^post47, __disjvr_29^0'=__disjvr_29^post47, x_SLAM_f_18^0'=x_SLAM_f_18^post47, r_53^0'=r_53^post47, __disjvr_11^0'=__disjvr_11^post47, a_328^0'=a_328^post47, tmp_48^0'=tmp_48^post47, lt_36^0'=lt_36^post47, __disjvr_6^0'=__disjvr_6^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, __disjvr_16^0'=__disjvr_16^post47, i_125^0'=i_125^post47, __disjvr_26^0'=__disjvr_26^post47, x_238^0'=x_238^post47, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post47, a_26^0'=a_26^post47, temp0_32^0'=temp0_32^post47, __disjvr_20^0'=__disjvr_20^post47, lt_237^0'=lt_237^post47, __disjvr_3^0'=__disjvr_3^post47, rcd_72^0'=rcd_72^post47, __disjvr_13^0'=__disjvr_13^post47, fmt_31^0'=fmt_31^post47, __disjvr_23^0'=__disjvr_23^post47, x_16^0'=x_16^post47, nondet_12^0'=nondet_12^post47, __disjvr_8^0'=__disjvr_8^post47, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post47, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post47, __disjvr_18^0'=__disjvr_18^post47, len_180^0'=len_180^post47, __disjvr_28^0'=__disjvr_28^post47, x_34^0'=x_34^post47, r_161^0'=r_161^post47, __disjvr_10^0'=__disjvr_10^post47, a_305^0'=a_305^post47, temp_49^0'=temp_49^post47, __disjvr_22^0'=__disjvr_22^post47, __disjvr_5^0'=__disjvr_5^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post47, __disjvr_15^0'=__disjvr_15^post47, i_108^0'=i_108^post47, __disjvr_25^0'=__disjvr_25^post47, x_20^0'=x_20^post47, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post47, a_146^0'=a_146^post47, a_247^0'=a_247^post47, temp0_15^0'=temp0_15^post47, __disjvr_1^0'=__disjvr_1^post47, length_43^0'=length_43^post47, __disjvr_2^0'=__disjvr_2^post47, rcd_102^0'=rcd_102^post47, __disjvr_12^0'=__disjvr_12^post47, ct_17^0'=ct_17^post47, x_14^0'=x_14^post47, lt_37^0'=lt_37^post47, __disjvr_7^0'=__disjvr_7^post47, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post47, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post47, __disjvr_17^0'=__disjvr_17^post47, i_44^0'=i_44^post47, __disjvr_27^0'=__disjvr_27^post47, x_28^0'=x_28^post47, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post47, (-rcd_102^post47+rcd_102^0 == 0 /\ head_46^0-head_46^post47 == 0 /\ -x_20^post47+x_20^0 == 0 /\ -__disjvr_12^post47+__disjvr_12^0 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ -__disjvr_26^post47+__disjvr_26^0 == 0 /\ a_305^0-a_305^post47 == 0 /\ __disjvr_21^0-__disjvr_21^post47 == 0 /\ length_43^0-length_43^post47 == 0 /\ a_247^0-a_247^post47 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post47 == 0 /\ __disjvr_6^0-__disjvr_6^post47 == 0 /\ __disjvr_29^0-__disjvr_29^post47 == 0 /\ __disjvr_11^0-__disjvr_11^post47 == 0 /\ -x_34^post47+x_34^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post47+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ x_238^0-x_238^post47 == 0 /\ -lt_37^post47+lt_37^0 == 0 /\ -r_161^post47+r_161^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post47+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_26^0-a_26^post47 == 0 /\ -i_125^post47+i_125^0 == 0 /\ len_246^0-len_246^post47 == 0 /\ a_283^0-a_283^post47 == 0 /\ -x_28^post47+x_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post47 == 0 /\ __disjvr_28^0-__disjvr_28^post47 == 0 /\ -fmt_31^post47+fmt_31^0 == 0 /\ len_180^0-len_180^post47 == 0 /\ result_11^0-result_11^post47 == 0 /\ __disjvr_23^0-__disjvr_23^post47 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post47+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_20^post47-__disjvr_20^0 == 0 /\ -ct_17^post47+ct_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post47 == 0 /\ -__disjvr_22^post47+__disjvr_22^0 == 0 /\ -a_146^post47+a_146^0 == 0 /\ __disjvr_3^0-__disjvr_3^post47 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post47+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post47 == 0 /\ __disjvr_25^0-__disjvr_25^post47 == 0 /\ -__disjvr_15^post47+__disjvr_15^0 == 0 /\ r_53^0-r_53^post47 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post47+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -x_14^post47+x_14^0 == 0 /\ lt_237^0-lt_237^post47 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post47+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ x_177^0-x_177^post47 == 0 /\ -nondet_12^post47+nondet_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post47 == 0 /\ a_197^0-a_197^post47 == 0 /\ -i_44^post47+i_44^0 == 0 /\ -lt_36^post47+lt_36^0 == 0 /\ -__disjvr_20^post47+__disjvr_20^0 == 0 /\ temp0_45^0-temp0_45^post47 == 0 /\ -__disjvr_27^post47+__disjvr_27^0 == 0 /\ i_108^0-i_108^post47 == 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ __disjvr_16^0-__disjvr_16^post47 == 0 /\ rcd_72^0-rcd_72^post47 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post47+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_24^0-__disjvr_24^post47 == 0 /\ -temp0_15^post47+temp0_15^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post47 == 0 /\ -temp_49^post47+temp_49^0 == 0 /\ y_19^0-y_19^post47 == 0 /\ -__disjvr_5^post47+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post47 == 0 /\ -a_328^post47+a_328^0 == 0 /\ -__disjvr_2^post47+__disjvr_2^0 == 0 /\ -__disjvr_8^post47+__disjvr_8^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post47 == 0 /\ -t_23^post47+t_23^0 == 0 /\ -__disjvr_10^post47+__disjvr_10^0 == 0 /\ -x_16^post47+x_16^0 == 0 /\ -__disjvr_17^post47+__disjvr_17^0 == 0 /\ -__disjvr_13^post47+__disjvr_13^0 == 0 /\ temp0_32^0-temp0_32^post47 == 0 /\ tmp_48^0-tmp_48^post47 == 0 /\ __disjvr_19^0-__disjvr_19^post47 == 0), cost: 1
  48: l47 -> l48 : __disjvr_0^0'=__disjvr_0^post48, a_283^0'=a_283^post48, temp0_45^0'=temp0_45^post48, __disjvr_21^0'=__disjvr_21^post48, y_19^0'=y_19^post48, __disjvr_4^0'=__disjvr_4^post48, result_11^0'=result_11^post48, __disjvr_14^0'=__disjvr_14^post48, head_46^0'=head_46^post48, __disjvr_24^0'=__disjvr_24^post48, x_177^0'=x_177^post48, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post48, __disjvr_9^0'=__disjvr_9^post48, a_197^0'=a_197^post48, t_23^0'=t_23^post48, __disjvr_19^0'=__disjvr_19^post48, len_246^0'=len_246^post48, __disjvr_29^0'=__disjvr_29^post48, x_SLAM_f_18^0'=x_SLAM_f_18^post48, r_53^0'=r_53^post48, __disjvr_11^0'=__disjvr_11^post48, a_328^0'=a_328^post48, tmp_48^0'=tmp_48^post48, lt_36^0'=lt_36^post48, __disjvr_6^0'=__disjvr_6^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, __disjvr_16^0'=__disjvr_16^post48, i_125^0'=i_125^post48, __disjvr_26^0'=__disjvr_26^post48, x_238^0'=x_238^post48, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post48, a_26^0'=a_26^post48, temp0_32^0'=temp0_32^post48, __disjvr_20^0'=__disjvr_20^post48, lt_237^0'=lt_237^post48, __disjvr_3^0'=__disjvr_3^post48, rcd_72^0'=rcd_72^post48, __disjvr_13^0'=__disjvr_13^post48, fmt_31^0'=fmt_31^post48, __disjvr_23^0'=__disjvr_23^post48, x_16^0'=x_16^post48, nondet_12^0'=nondet_12^post48, __disjvr_8^0'=__disjvr_8^post48, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post48, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post48, __disjvr_18^0'=__disjvr_18^post48, len_180^0'=len_180^post48, __disjvr_28^0'=__disjvr_28^post48, x_34^0'=x_34^post48, r_161^0'=r_161^post48, __disjvr_10^0'=__disjvr_10^post48, a_305^0'=a_305^post48, temp_49^0'=temp_49^post48, __disjvr_22^0'=__disjvr_22^post48, __disjvr_5^0'=__disjvr_5^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post48, __disjvr_15^0'=__disjvr_15^post48, i_108^0'=i_108^post48, __disjvr_25^0'=__disjvr_25^post48, x_20^0'=x_20^post48, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post48, a_146^0'=a_146^post48, a_247^0'=a_247^post48, temp0_15^0'=temp0_15^post48, __disjvr_1^0'=__disjvr_1^post48, length_43^0'=length_43^post48, __disjvr_2^0'=__disjvr_2^post48, rcd_102^0'=rcd_102^post48, __disjvr_12^0'=__disjvr_12^post48, ct_17^0'=ct_17^post48, x_14^0'=x_14^post48, lt_37^0'=lt_37^post48, __disjvr_7^0'=__disjvr_7^post48, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post48, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post48, __disjvr_17^0'=__disjvr_17^post48, i_44^0'=i_44^post48, __disjvr_27^0'=__disjvr_27^post48, x_28^0'=x_28^post48, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post48, (result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post48 == 0 /\ -x_20^post48+x_20^0 == 0 /\ __disjvr_28^0-__disjvr_28^post48 == 0 /\ -r_161^post48+r_161^0 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ -a_305^post48+a_305^0 == 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ temp0_15^0-temp0_15^post48 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post48+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_7^post48+__disjvr_7^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post48 == 0 /\ -i_125^post48+i_125^0 == 0 /\ x_238^0-x_238^post48 == 0 /\ lt_36^0-lt_36^post48 == 0 /\ a_328^0-a_328^post48 == 0 /\ -__disjvr_21^0+__disjvr_21^post48 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post48+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_23^0-__disjvr_23^post48 == 0 /\ -a_26^post48+a_26^0 == 0 /\ -i_108^post48+i_108^0 == 0 /\ rcd_102^0-rcd_102^post48 == 0 /\ -x_28^post48+x_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post48 == 0 /\ -length_43^post48+length_43^0 == 0 /\ __disjvr_16^0-__disjvr_16^post48 == 0 /\ -ct_17^post48+ct_17^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post48 == 0 /\ temp0_32^0-temp0_32^post48 == 0 /\ __disjvr_4^0-__disjvr_4^post48 == 0 /\ -lt_37^post48+lt_37^0 == 0 /\ result_11^0-result_11^post48 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ __disjvr_11^0-__disjvr_11^post48 == 0 /\ -__disjvr_6^post48+__disjvr_6^0 == 0 /\ a_283^0-a_283^post48 == 0 /\ len_180^0-len_180^post48 == 0 /\ __disjvr_20^0-__disjvr_20^post48 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post48 == 0 /\ len_246^0-len_246^post48 == 0 /\ fmt_31^0-fmt_31^post48 == 0 /\ x_177^0-x_177^post48 == 0 /\ __disjvr_5^0-__disjvr_5^post48 == 0 /\ -__disjvr_8^post48+__disjvr_8^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ -__disjvr_15^post48+__disjvr_15^0 == 0 /\ -__disjvr_2^post48+__disjvr_2^0 == 0 /\ r_53^0-r_53^post48 == 0 /\ -lt_237^post48+lt_237^0 == 0 /\ a_197^0-a_197^post48 == 0 /\ __disjvr_10^0-__disjvr_10^post48 == 0 /\ -a_247^post48+a_247^0 == 0 /\ -y_19^post48+y_19^0 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ -__disjvr_18^post48+__disjvr_18^0 == 0 /\ -a_146^post48+a_146^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post48 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post48+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -tmp_48^post48+tmp_48^0 == 0 /\ -x_14^post48+x_14^0 == 0 /\ -__disjvr_19^post48+__disjvr_19^0 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0 /\ __disjvr_0^0-__disjvr_0^post48 == 0 /\ -__disjvr_29^post48+__disjvr_29^0 == 0 /\ -temp_49^post48+temp_49^0 == 0 /\ -__disjvr_13^post48+__disjvr_13^0 == 0 /\ x_34^0-x_34^post48 == 0 /\ i_44^0-i_44^post48 == 0 /\ t_23^0-t_23^post48 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post48+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_9^0-__disjvr_9^post48 == 0 /\ temp0_45^0-temp0_45^post48 == 0 /\ head_46^0-head_46^post48 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ -x_16^post48+x_16^0 == 0 /\ __disjvr_26^0-__disjvr_26^post48 == 0 /\ -rcd_72^post48+rcd_72^0 == 0 /\ __disjvr_22^0-__disjvr_22^post48 == 0 /\ -__disjvr_25^post48+__disjvr_25^0 == 0), cost: 1
  49: l48 -> l43 : __disjvr_0^0'=__disjvr_0^post49, a_283^0'=a_283^post49, temp0_45^0'=temp0_45^post49, __disjvr_21^0'=__disjvr_21^post49, y_19^0'=y_19^post49, __disjvr_4^0'=__disjvr_4^post49, result_11^0'=result_11^post49, __disjvr_14^0'=__disjvr_14^post49, head_46^0'=head_46^post49, __disjvr_24^0'=__disjvr_24^post49, x_177^0'=x_177^post49, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post49, __disjvr_9^0'=__disjvr_9^post49, a_197^0'=a_197^post49, t_23^0'=t_23^post49, __disjvr_19^0'=__disjvr_19^post49, len_246^0'=len_246^post49, __disjvr_29^0'=__disjvr_29^post49, x_SLAM_f_18^0'=x_SLAM_f_18^post49, r_53^0'=r_53^post49, __disjvr_11^0'=__disjvr_11^post49, a_328^0'=a_328^post49, tmp_48^0'=tmp_48^post49, lt_36^0'=lt_36^post49, __disjvr_6^0'=__disjvr_6^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, __disjvr_16^0'=__disjvr_16^post49, i_125^0'=i_125^post49, __disjvr_26^0'=__disjvr_26^post49, x_238^0'=x_238^post49, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post49, a_26^0'=a_26^post49, temp0_32^0'=temp0_32^post49, __disjvr_20^0'=__disjvr_20^post49, lt_237^0'=lt_237^post49, __disjvr_3^0'=__disjvr_3^post49, rcd_72^0'=rcd_72^post49, __disjvr_13^0'=__disjvr_13^post49, fmt_31^0'=fmt_31^post49, __disjvr_23^0'=__disjvr_23^post49, x_16^0'=x_16^post49, nondet_12^0'=nondet_12^post49, __disjvr_8^0'=__disjvr_8^post49, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post49, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post49, __disjvr_18^0'=__disjvr_18^post49, len_180^0'=len_180^post49, __disjvr_28^0'=__disjvr_28^post49, x_34^0'=x_34^post49, r_161^0'=r_161^post49, __disjvr_10^0'=__disjvr_10^post49, a_305^0'=a_305^post49, temp_49^0'=temp_49^post49, __disjvr_22^0'=__disjvr_22^post49, __disjvr_5^0'=__disjvr_5^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post49, __disjvr_15^0'=__disjvr_15^post49, i_108^0'=i_108^post49, __disjvr_25^0'=__disjvr_25^post49, x_20^0'=x_20^post49, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post49, a_146^0'=a_146^post49, a_247^0'=a_247^post49, temp0_15^0'=temp0_15^post49, __disjvr_1^0'=__disjvr_1^post49, length_43^0'=length_43^post49, __disjvr_2^0'=__disjvr_2^post49, rcd_102^0'=rcd_102^post49, __disjvr_12^0'=__disjvr_12^post49, ct_17^0'=ct_17^post49, x_14^0'=x_14^post49, lt_37^0'=lt_37^post49, __disjvr_7^0'=__disjvr_7^post49, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post49, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post49, __disjvr_17^0'=__disjvr_17^post49, i_44^0'=i_44^post49, __disjvr_27^0'=__disjvr_27^post49, x_28^0'=x_28^post49, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post49, (0 == 0 /\ -length_43^post49+length_43^0 == 0 /\ -__disjvr_5^post49+__disjvr_5^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post49 == 0 /\ temp0_15^0-temp0_15^post49 == 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ a_283^0-a_283^post49 == 0 /\ -x_14^post49+x_14^0 == 0 /\ -temp0_32^post49+temp0_32^0 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ __disjvr_3^0-__disjvr_3^post49 == 0 /\ -x_34^post49+x_34^0 == 0 /\ -ct_17^post49+ct_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post49 == 0 /\ -__disjvr_7^post49+__disjvr_7^0 == 0 /\ lt_237^0-lt_237^post49 == 0 /\ i_125^0-i_125^post49 == 0 /\ r_161^0-r_161^post49 == 0 /\ a_328^0-a_328^post49 == 0 /\ __disjvr_29^0-__disjvr_29^post49 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post49+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ __disjvr_19^0-__disjvr_19^post49 == 0 /\ __disjvr_13^0-__disjvr_13^post49 == 0 /\ -fmt_31^post49+fmt_31^0 == 0 /\ lt_36^0-lt_36^post49 == 0 /\ -x_238^post49+x_238^0 == 0 /\ __disjvr_16^0-__disjvr_16^post49 == 0 /\ head_46^0-head_46^post49 == 0 /\ -i_108^post49+i_108^0 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post49+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_20^post49+x_20^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post49 == 0 /\ -x_SLAM_f_18^post49+x_SLAM_f_18^0 == 0 /\ -lt_37^post49+lt_37^0 == 0 /\ __disjvr_9^0-__disjvr_9^post49 == 0 /\ -a_247^post49+a_247^0 == 0 /\ temp0_45^0-temp0_45^post49 == 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -a_197^post49+a_247^0 <= 0 /\ a_305^0-a_305^post49 == 0 /\ __disjvr_11^0-__disjvr_11^post49 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post49+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ tmp_48^0-tmp_48^post49 == 0 /\ __disjvr_15^0-__disjvr_15^post49 == 0 /\ -__disjvr_4^post49+__disjvr_4^0 == 0 /\ len_246^0-len_246^post49 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post49+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -len_180^post49+len_246^0 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ y_19^0-y_19^post49 == 0 /\ -__disjvr_28^post49+__disjvr_28^0 == 0 /\ -__disjvr_22^post49+__disjvr_22^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 == 0 /\ -__disjvr_6^post49+__disjvr_6^0 == 0 /\ -x_28^post49+x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_38^0-result_dot_printf_sdv_special_RETURN_VALUE_38^post49 == 0 /\ -__disjvr_8^post49+__disjvr_8^0 == 0 /\ -a_146^post49+a_146^0 == 0 /\ a_197^post49-a_247^0 <= 0 /\ x_16^0-x_16^post49 == 0 /\ -rcd_72^post49+rcd_72^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_23^post49+__disjvr_23^0 == 0 /\ -__disjvr_12^post49+__disjvr_12^0 == 0 /\ t_23^0-t_23^post49 == 0 /\ __disjvr_26^0-__disjvr_26^post49 == 0 /\ -__disjvr_20^post49+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post49+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ len_180^post49-len_246^0 <= 0 /\ a_26^0-a_26^post49 == 0 /\ -i_44^post49+i_44^0 == 0 /\ -rcd_102^post49+rcd_102^0 == 0 /\ -r_53^post49+r_53^0 == 0 /\ result_11^0-result_11^post49 == 0 /\ __disjvr_21^0-__disjvr_21^post49 == 0 /\ x_177^0-x_177^post49 == 0 /\ -__disjvr_10^post49+__disjvr_10^0 == 0 /\ -temp_49^post49+temp_49^0 == 0 /\ -__disjvr_25^post49+__disjvr_25^0 == 0 /\ -__disjvr_1^post49+__disjvr_1^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post49 == 0), cost: 1
  50: l43 -> l40 : __disjvr_0^0'=__disjvr_0^post50, a_283^0'=a_283^post50, temp0_45^0'=temp0_45^post50, __disjvr_21^0'=__disjvr_21^post50, y_19^0'=y_19^post50, __disjvr_4^0'=__disjvr_4^post50, result_11^0'=result_11^post50, __disjvr_14^0'=__disjvr_14^post50, head_46^0'=head_46^post50, __disjvr_24^0'=__disjvr_24^post50, x_177^0'=x_177^post50, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post50, __disjvr_9^0'=__disjvr_9^post50, a_197^0'=a_197^post50, t_23^0'=t_23^post50, __disjvr_19^0'=__disjvr_19^post50, len_246^0'=len_246^post50, __disjvr_29^0'=__disjvr_29^post50, x_SLAM_f_18^0'=x_SLAM_f_18^post50, r_53^0'=r_53^post50, __disjvr_11^0'=__disjvr_11^post50, a_328^0'=a_328^post50, tmp_48^0'=tmp_48^post50, lt_36^0'=lt_36^post50, __disjvr_6^0'=__disjvr_6^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, __disjvr_16^0'=__disjvr_16^post50, i_125^0'=i_125^post50, __disjvr_26^0'=__disjvr_26^post50, x_238^0'=x_238^post50, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post50, a_26^0'=a_26^post50, temp0_32^0'=temp0_32^post50, __disjvr_20^0'=__disjvr_20^post50, lt_237^0'=lt_237^post50, __disjvr_3^0'=__disjvr_3^post50, rcd_72^0'=rcd_72^post50, __disjvr_13^0'=__disjvr_13^post50, fmt_31^0'=fmt_31^post50, __disjvr_23^0'=__disjvr_23^post50, x_16^0'=x_16^post50, nondet_12^0'=nondet_12^post50, __disjvr_8^0'=__disjvr_8^post50, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post50, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post50, __disjvr_18^0'=__disjvr_18^post50, len_180^0'=len_180^post50, __disjvr_28^0'=__disjvr_28^post50, x_34^0'=x_34^post50, r_161^0'=r_161^post50, __disjvr_10^0'=__disjvr_10^post50, a_305^0'=a_305^post50, temp_49^0'=temp_49^post50, __disjvr_22^0'=__disjvr_22^post50, __disjvr_5^0'=__disjvr_5^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post50, __disjvr_15^0'=__disjvr_15^post50, i_108^0'=i_108^post50, __disjvr_25^0'=__disjvr_25^post50, x_20^0'=x_20^post50, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post50, a_146^0'=a_146^post50, a_247^0'=a_247^post50, temp0_15^0'=temp0_15^post50, __disjvr_1^0'=__disjvr_1^post50, length_43^0'=length_43^post50, __disjvr_2^0'=__disjvr_2^post50, rcd_102^0'=rcd_102^post50, __disjvr_12^0'=__disjvr_12^post50, ct_17^0'=ct_17^post50, x_14^0'=x_14^post50, lt_37^0'=lt_37^post50, __disjvr_7^0'=__disjvr_7^post50, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post50, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post50, __disjvr_17^0'=__disjvr_17^post50, i_44^0'=i_44^post50, __disjvr_27^0'=__disjvr_27^post50, x_28^0'=x_28^post50, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post50, (-__disjvr_27^post50+__disjvr_27^0 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ __disjvr_1^0-__disjvr_1^post50 == 0 /\ -__disjvr_20^post50+__disjvr_20^0 == 0 /\ len_246^0-len_246^post50 == 0 /\ -ct_17^post50+ct_17^0 == 0 /\ -i_125^post50+i_125^0 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ __disjvr_11^0-__disjvr_11^post50 == 0 /\ len_180^0-len_180^post50 == 0 /\ a_283^0-a_283^post50 == 0 /\ -a_247^post50+a_247^0 == 0 /\ a_197^0-a_197^post50 == 0 /\ tmp_48^0-tmp_48^post50 == 0 /\ -__disjvr_5^post50+__disjvr_5^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post50 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post50 == 0 /\ __disjvr_4^0-__disjvr_4^post50 == 0 /\ -__disjvr_13^post50+__disjvr_13^0 == 0 /\ -x_14^post50+x_14^0 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ -temp_49^post50+temp_49^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post50+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_8^post50+__disjvr_8^0 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ -temp0_15^post50+temp0_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post50 == 0 /\ -__disjvr_7^post50+__disjvr_7^0 == 0 /\ -__disjvr_3^post50+__disjvr_3^0 == 0 /\ -x_20^post50+x_20^0 == 0 /\ head_46^0-head_46^post50 == 0 /\ __disjvr_29^0-__disjvr_29^post50 == 0 /\ -a_146^post50+a_146^0 == 0 /\ __disjvr_2^0-__disjvr_2^post50 == 0 /\ -nondet_12^post50+nondet_12^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post50+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_6^0-__disjvr_6^post50 == 0 /\ rcd_72^0-rcd_72^post50 == 0 /\ temp0_45^0-temp0_45^post50 == 0 /\ a_26^0-a_26^post50 == 0 /\ __disjvr_25^0-__disjvr_25^post50 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post50 == 0 /\ y_19^0-y_19^post50 == 0 /\ -x_16^post50+x_16^0 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ -lt_37^post50+lt_37^0 == 0 /\ result_11^0-result_11^post50 == 0 /\ -__disjvr_18^post50+__disjvr_18^0 == 0 /\ -i_108^post50+i_108^0 == 0 /\ -x_28^post50+x_28^0 == 0 /\ x_238^0-x_238^post50 == 0 /\ -a_328^post50+a_328^0 == 0 /\ t_23^0-t_23^post50 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ __disjvr_15^0-__disjvr_15^post50 == 0 /\ a_305^0-a_305^post50 == 0 /\ -__disjvr_10^post50+__disjvr_10^0 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post50+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -rcd_102^post50+rcd_102^0 == 0 /\ -i_44^post50+i_44^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post50+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -lt_237^post50+lt_237^0 == 0 /\ __disjvr_23^0-__disjvr_23^post50 == 0 /\ __disjvr_19^0-__disjvr_19^post50 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post50+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -length_43^post50+length_43^0 == 0 /\ __disjvr_16^0-__disjvr_16^post50 == 0 /\ lt_36^0-lt_36^post50 == 0 /\ -__disjvr_22^post50+__disjvr_22^0 == 0 /\ fmt_31^0-fmt_31^post50 == 0 /\ temp0_32^0-temp0_32^post50 == 0 /\ x_177^0-x_177^post50 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post50+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ r_53^0-r_53^post50 == 0 /\ -x_34^post50+x_34^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post50 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post50 == 0 /\ -r_161^post50+r_161^0 == 0), cost: 1
  52: l49 -> l50 : __disjvr_0^0'=__disjvr_0^post52, a_283^0'=a_283^post52, temp0_45^0'=temp0_45^post52, __disjvr_21^0'=__disjvr_21^post52, y_19^0'=y_19^post52, __disjvr_4^0'=__disjvr_4^post52, result_11^0'=result_11^post52, __disjvr_14^0'=__disjvr_14^post52, head_46^0'=head_46^post52, __disjvr_24^0'=__disjvr_24^post52, x_177^0'=x_177^post52, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post52, __disjvr_9^0'=__disjvr_9^post52, a_197^0'=a_197^post52, t_23^0'=t_23^post52, __disjvr_19^0'=__disjvr_19^post52, len_246^0'=len_246^post52, __disjvr_29^0'=__disjvr_29^post52, x_SLAM_f_18^0'=x_SLAM_f_18^post52, r_53^0'=r_53^post52, __disjvr_11^0'=__disjvr_11^post52, a_328^0'=a_328^post52, tmp_48^0'=tmp_48^post52, lt_36^0'=lt_36^post52, __disjvr_6^0'=__disjvr_6^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, __disjvr_16^0'=__disjvr_16^post52, i_125^0'=i_125^post52, __disjvr_26^0'=__disjvr_26^post52, x_238^0'=x_238^post52, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post52, a_26^0'=a_26^post52, temp0_32^0'=temp0_32^post52, __disjvr_20^0'=__disjvr_20^post52, lt_237^0'=lt_237^post52, __disjvr_3^0'=__disjvr_3^post52, rcd_72^0'=rcd_72^post52, __disjvr_13^0'=__disjvr_13^post52, fmt_31^0'=fmt_31^post52, __disjvr_23^0'=__disjvr_23^post52, x_16^0'=x_16^post52, nondet_12^0'=nondet_12^post52, __disjvr_8^0'=__disjvr_8^post52, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post52, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post52, __disjvr_18^0'=__disjvr_18^post52, len_180^0'=len_180^post52, __disjvr_28^0'=__disjvr_28^post52, x_34^0'=x_34^post52, r_161^0'=r_161^post52, __disjvr_10^0'=__disjvr_10^post52, a_305^0'=a_305^post52, temp_49^0'=temp_49^post52, __disjvr_22^0'=__disjvr_22^post52, __disjvr_5^0'=__disjvr_5^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post52, __disjvr_15^0'=__disjvr_15^post52, i_108^0'=i_108^post52, __disjvr_25^0'=__disjvr_25^post52, x_20^0'=x_20^post52, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post52, a_146^0'=a_146^post52, a_247^0'=a_247^post52, temp0_15^0'=temp0_15^post52, __disjvr_1^0'=__disjvr_1^post52, length_43^0'=length_43^post52, __disjvr_2^0'=__disjvr_2^post52, rcd_102^0'=rcd_102^post52, __disjvr_12^0'=__disjvr_12^post52, ct_17^0'=ct_17^post52, x_14^0'=x_14^post52, lt_37^0'=lt_37^post52, __disjvr_7^0'=__disjvr_7^post52, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post52, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post52, __disjvr_17^0'=__disjvr_17^post52, i_44^0'=i_44^post52, __disjvr_27^0'=__disjvr_27^post52, x_28^0'=x_28^post52, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post52, (-__disjvr_25^post52+__disjvr_25^0 == 0 /\ -__disjvr_8^post52+__disjvr_8^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ y_19^0-y_19^post52 == 0 /\ -a_247^post52+a_247^0 == 0 /\ result_11^0-result_11^post52 == 0 /\ -x_238^post52+x_238^0 == 0 /\ t_23^0-t_23^post52 == 0 /\ temp0_45^0-temp0_45^post52 == 0 /\ __disjvr_9^0-__disjvr_9^post52 == 0 /\ -rcd_72^post52+rcd_72^0 == 0 /\ -i_44^post52+i_44^0 == 0 /\ -lt_36^post52+lt_36^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post52+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -temp_49^post52+temp_49^0 == 0 /\ tmp_48^0-tmp_48^post52 == 0 /\ __disjvr_26^0-__disjvr_26^post52 == 0 /\ __disjvr_23^0-__disjvr_23^post52 == 0 /\ __disjvr_3^0-__disjvr_3^post52 == 0 /\ x_177^0-x_177^post52 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0 /\ -__disjvr_2^post52+__disjvr_2^0 == 0 /\ a_146^0-a_146^post52 == 0 /\ i_125^0-i_125^post52 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ -x_14^post52+x_14^0 == 0 /\ __disjvr_18^0-__disjvr_18^post52 == 0 /\ __disjvr_6^0-__disjvr_6^post52 == 0 /\ -__disjvr_5^post52+__disjvr_5^0 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ __disjvr_20^0-__disjvr_20^post52 == 0 /\ -__disjvr_27^post52+__disjvr_27^0 == 0 /\ -__disjvr_17^post52+__disjvr_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post52 == 0 /\ -__disjvr_7^post52+__disjvr_7^0 == 0 /\ temp0_15^0-temp0_15^post52 == 0 /\ rcd_102^0-rcd_102^post52 == 0 /\ r_53^0-r_53^post52 == 0 /\ -a_305^post52+a_305^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post52 == 0 /\ x_34^0-x_34^post52 == 0 /\ -__disjvr_16^post52+__disjvr_16^0 == 0 /\ -__disjvr_22^0+__disjvr_22^post52 == 0 /\ -__disjvr_10^post52+__disjvr_10^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post52 == 0 /\ x_16^0-x_16^post52 == 0 /\ -__disjvr_1^post52+__disjvr_1^0 == 0 /\ lt_237^0-lt_237^post52 == 0 /\ -x_20^post52+x_20^0 == 0 /\ __disjvr_13^0-__disjvr_13^post52 == 0 /\ -lt_37^post52+lt_37^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post52+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ len_246^0-len_246^post52 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post52 == 0 /\ -len_180^post52+len_180^0 == 0 /\ temp0_32^0-temp0_32^post52 == 0 /\ a_283^0-a_283^post52 == 0 /\ -r_161^post52+r_161^0 == 0 /\ head_46^0-head_46^post52 == 0 /\ __disjvr_4^0-__disjvr_4^post52 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post52+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_19^0-__disjvr_19^post52 == 0 /\ __disjvr_28^0-__disjvr_28^post52 == 0 /\ -x_28^post52+x_28^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post52+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_15^0-__disjvr_15^post52 == 0 /\ __disjvr_22^0-__disjvr_22^post52 == 0 /\ -length_43^post52+length_43^0 == 0 /\ -__disjvr_24^post52+__disjvr_24^0 == 0 /\ a_328^0-a_328^post52 == 0 /\ -a_26^post52+a_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ -ct_17^post52+ct_17^0 == 0 /\ __disjvr_29^0-__disjvr_29^post52 == 0 /\ -i_108^post52+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -fmt_31^post52+fmt_31^0 == 0 /\ __disjvr_11^0-__disjvr_11^post52 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post52+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ a_197^0-a_197^post52 == 0), cost: 1
  53: l50 -> l11 : __disjvr_0^0'=__disjvr_0^post53, a_283^0'=a_283^post53, temp0_45^0'=temp0_45^post53, __disjvr_21^0'=__disjvr_21^post53, y_19^0'=y_19^post53, __disjvr_4^0'=__disjvr_4^post53, result_11^0'=result_11^post53, __disjvr_14^0'=__disjvr_14^post53, head_46^0'=head_46^post53, __disjvr_24^0'=__disjvr_24^post53, x_177^0'=x_177^post53, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post53, __disjvr_9^0'=__disjvr_9^post53, a_197^0'=a_197^post53, t_23^0'=t_23^post53, __disjvr_19^0'=__disjvr_19^post53, len_246^0'=len_246^post53, __disjvr_29^0'=__disjvr_29^post53, x_SLAM_f_18^0'=x_SLAM_f_18^post53, r_53^0'=r_53^post53, __disjvr_11^0'=__disjvr_11^post53, a_328^0'=a_328^post53, tmp_48^0'=tmp_48^post53, lt_36^0'=lt_36^post53, __disjvr_6^0'=__disjvr_6^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, __disjvr_16^0'=__disjvr_16^post53, i_125^0'=i_125^post53, __disjvr_26^0'=__disjvr_26^post53, x_238^0'=x_238^post53, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post53, a_26^0'=a_26^post53, temp0_32^0'=temp0_32^post53, __disjvr_20^0'=__disjvr_20^post53, lt_237^0'=lt_237^post53, __disjvr_3^0'=__disjvr_3^post53, rcd_72^0'=rcd_72^post53, __disjvr_13^0'=__disjvr_13^post53, fmt_31^0'=fmt_31^post53, __disjvr_23^0'=__disjvr_23^post53, x_16^0'=x_16^post53, nondet_12^0'=nondet_12^post53, __disjvr_8^0'=__disjvr_8^post53, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post53, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post53, __disjvr_18^0'=__disjvr_18^post53, len_180^0'=len_180^post53, __disjvr_28^0'=__disjvr_28^post53, x_34^0'=x_34^post53, r_161^0'=r_161^post53, __disjvr_10^0'=__disjvr_10^post53, a_305^0'=a_305^post53, temp_49^0'=temp_49^post53, __disjvr_22^0'=__disjvr_22^post53, __disjvr_5^0'=__disjvr_5^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post53, __disjvr_15^0'=__disjvr_15^post53, i_108^0'=i_108^post53, __disjvr_25^0'=__disjvr_25^post53, x_20^0'=x_20^post53, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post53, a_146^0'=a_146^post53, a_247^0'=a_247^post53, temp0_15^0'=temp0_15^post53, __disjvr_1^0'=__disjvr_1^post53, length_43^0'=length_43^post53, __disjvr_2^0'=__disjvr_2^post53, rcd_102^0'=rcd_102^post53, __disjvr_12^0'=__disjvr_12^post53, ct_17^0'=ct_17^post53, x_14^0'=x_14^post53, lt_37^0'=lt_37^post53, __disjvr_7^0'=__disjvr_7^post53, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post53, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post53, __disjvr_17^0'=__disjvr_17^post53, i_44^0'=i_44^post53, __disjvr_27^0'=__disjvr_27^post53, x_28^0'=x_28^post53, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post53, (x_238^0-x_238^post53 == 0 /\ -i_44^post53+i_44^0 == 0 /\ __disjvr_16^0-__disjvr_16^post53 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post53+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_23^post53+__disjvr_23^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post53+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ temp0_45^0-temp0_45^post53 == 0 /\ -a_146^post53+a_146^0 == 0 /\ -__disjvr_6^post53+__disjvr_6^0 == 0 /\ __disjvr_13^0-__disjvr_13^post53 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post53+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -x_28^post53+x_28^0 == 0 /\ __disjvr_22^0-__disjvr_22^post53 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post53+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ a_26^0-a_26^post53 == 0 /\ result_11^0-result_11^post53 == 0 /\ __disjvr_9^0-__disjvr_9^post53 == 0 /\ __disjvr_4^0-__disjvr_4^post53 == 0 /\ x_177^0-x_177^post53 == 0 /\ -__disjvr_12^post53+__disjvr_12^0 == 0 /\ -__disjvr_27^post53+__disjvr_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ a_328^0-a_328^post53 == 0 /\ -__disjvr_2^post53+__disjvr_2^0 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ -__disjvr_20^post53+__disjvr_20^0 == 0 /\ temp0_15^0-temp0_15^post53 == 0 /\ i_125^0-i_125^post53 == 0 /\ -__disjvr_1^post53+__disjvr_1^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post53 == 0 /\ -__disjvr_28^post53+__disjvr_28^0 == 0 /\ -r_53^post53+r_53^0 == 0 /\ -t_23^post53+t_23^0 == 0 /\ lt_237^0-lt_237^post53 == 0 /\ -__disjvr_10^post53+__disjvr_10^0 == 0 /\ -x_16^post53+x_16^0 == 0 /\ -temp_49^post53+temp_49^0 == 0 /\ -rcd_72^post53+rcd_72^0 == 0 /\ __disjvr_14^0-__disjvr_14^post53 == 0 /\ ct_17^0-ct_17^post53 == 0 /\ -x_14^post53+x_14^0 == 0 /\ -__disjvr_5^post53+__disjvr_5^0 == 0 /\ __disjvr_11^0-__disjvr_11^post53 == 0 /\ __disjvr_29^0-__disjvr_29^post53 == 0 /\ -rcd_102^post53+rcd_102^0 == 0 /\ lt_36^0-lt_36^post53 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post53+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post53+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -len_180^post53+len_180^0 == 0 /\ __disjvr_0^0-__disjvr_0^post53 == 0 /\ __disjvr_8^0-__disjvr_8^post53 == 0 /\ -x_SLAM_f_18^post53+x_SLAM_f_18^0 == 0 /\ -__disjvr_7^post53+__disjvr_7^0 == 0 /\ y_19^0-y_19^post53 == 0 /\ -__disjvr_24^post53+__disjvr_24^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 == 0 /\ __disjvr_26^0-__disjvr_26^post53 == 0 /\ -length_43^post53+length_43^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ lt_37^0-lt_37^post53 == 0 /\ len_246^0-len_246^post53 == 0 /\ -a_305^post53+a_305^0 == 0 /\ temp0_32^0-temp0_32^post53 == 0 /\ head_46^0-head_46^post53 == 0 /\ a_283^0-a_283^post53 == 0 /\ tmp_48^0-tmp_48^post53 == 0 /\ -r_161^post53+r_161^0 == 0 /\ __disjvr_19^0-__disjvr_19^post53 == 0 /\ -x_34^post53+x_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post53 == 0 /\ __disjvr_18^0-__disjvr_18^post53 == 0 /\ -a_247^post53+a_247^0 == 0 /\ __disjvr_15^0-__disjvr_15^post53 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -nondet_12^post53+nondet_12^0 == 0 /\ -i_108^post53+i_108^0 == 0 /\ __disjvr_25^0-__disjvr_25^post53 == 0 /\ -x_20^post53+x_20^0 == 0 /\ -__disjvr_3^post53+__disjvr_3^0 == 0 /\ -fmt_31^post53+fmt_31^0 == 0 /\ a_197^0-a_197^post53 == 0), cost: 1
  55: l51 -> l52 : __disjvr_0^0'=__disjvr_0^post55, a_283^0'=a_283^post55, temp0_45^0'=temp0_45^post55, __disjvr_21^0'=__disjvr_21^post55, y_19^0'=y_19^post55, __disjvr_4^0'=__disjvr_4^post55, result_11^0'=result_11^post55, __disjvr_14^0'=__disjvr_14^post55, head_46^0'=head_46^post55, __disjvr_24^0'=__disjvr_24^post55, x_177^0'=x_177^post55, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post55, __disjvr_9^0'=__disjvr_9^post55, a_197^0'=a_197^post55, t_23^0'=t_23^post55, __disjvr_19^0'=__disjvr_19^post55, len_246^0'=len_246^post55, __disjvr_29^0'=__disjvr_29^post55, x_SLAM_f_18^0'=x_SLAM_f_18^post55, r_53^0'=r_53^post55, __disjvr_11^0'=__disjvr_11^post55, a_328^0'=a_328^post55, tmp_48^0'=tmp_48^post55, lt_36^0'=lt_36^post55, __disjvr_6^0'=__disjvr_6^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, __disjvr_16^0'=__disjvr_16^post55, i_125^0'=i_125^post55, __disjvr_26^0'=__disjvr_26^post55, x_238^0'=x_238^post55, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post55, a_26^0'=a_26^post55, temp0_32^0'=temp0_32^post55, __disjvr_20^0'=__disjvr_20^post55, lt_237^0'=lt_237^post55, __disjvr_3^0'=__disjvr_3^post55, rcd_72^0'=rcd_72^post55, __disjvr_13^0'=__disjvr_13^post55, fmt_31^0'=fmt_31^post55, __disjvr_23^0'=__disjvr_23^post55, x_16^0'=x_16^post55, nondet_12^0'=nondet_12^post55, __disjvr_8^0'=__disjvr_8^post55, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post55, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post55, __disjvr_18^0'=__disjvr_18^post55, len_180^0'=len_180^post55, __disjvr_28^0'=__disjvr_28^post55, x_34^0'=x_34^post55, r_161^0'=r_161^post55, __disjvr_10^0'=__disjvr_10^post55, a_305^0'=a_305^post55, temp_49^0'=temp_49^post55, __disjvr_22^0'=__disjvr_22^post55, __disjvr_5^0'=__disjvr_5^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post55, __disjvr_15^0'=__disjvr_15^post55, i_108^0'=i_108^post55, __disjvr_25^0'=__disjvr_25^post55, x_20^0'=x_20^post55, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post55, a_146^0'=a_146^post55, a_247^0'=a_247^post55, temp0_15^0'=temp0_15^post55, __disjvr_1^0'=__disjvr_1^post55, length_43^0'=length_43^post55, __disjvr_2^0'=__disjvr_2^post55, rcd_102^0'=rcd_102^post55, __disjvr_12^0'=__disjvr_12^post55, ct_17^0'=ct_17^post55, x_14^0'=x_14^post55, lt_37^0'=lt_37^post55, __disjvr_7^0'=__disjvr_7^post55, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post55, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post55, __disjvr_17^0'=__disjvr_17^post55, i_44^0'=i_44^post55, __disjvr_27^0'=__disjvr_27^post55, x_28^0'=x_28^post55, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post55, (__disjvr_0^0-__disjvr_0^post55 == 0 /\ -x_28^post55+x_28^0 == 0 /\ -a_26^post55+a_26^0 == 0 /\ head_46^0-head_46^post55 == 0 /\ lt_36^0-lt_36^post55 == 0 /\ temp0_32^0-temp0_32^post55 == 0 /\ a_328^0-a_328^post55 == 0 /\ __disjvr_21^0-__disjvr_21^post55 == 0 /\ __disjvr_26^0-__disjvr_26^post55 == 0 /\ -__disjvr_23^0+__disjvr_23^post55 == 0 /\ -__disjvr_12^post55+__disjvr_12^0 == 0 /\ -x_16^post55+x_16^0 == 0 /\ -rcd_102^post55+rcd_102^0 == 0 /\ -temp0_15^post55+temp0_15^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post55 == 0 /\ -__disjvr_6^post55+__disjvr_6^0 == 0 /\ -lt_37^post55+lt_37^0 == 0 /\ -i_108^post55+i_108^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post55 == 0 /\ x_34^0-x_34^post55 == 0 /\ a_197^0-a_197^post55 == 0 /\ y_19^0-y_19^post55 == 0 /\ -r_161^post55+r_161^0 == 0 /\ -rcd_72^post55+rcd_72^0 == 0 /\ result_11^0-result_11^post55 == 0 /\ x_238^0-x_238^post55 == 0 /\ -i_44^post55+i_44^0 == 0 /\ a_283^0-a_283^post55 == 0 /\ __disjvr_23^0-__disjvr_23^post55 == 0 /\ __disjvr_3^0-__disjvr_3^post55 == 0 /\ -__disjvr_15^post55+__disjvr_15^0 == 0 /\ tmp_48^0-tmp_48^post55 == 0 /\ -lt_237^post55+lt_237^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post55 == 0 /\ -__disjvr_19^post55+__disjvr_19^0 == 0 /\ -i_125^post55+i_125^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post55+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post55+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post55+__disjvr_1^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post55 == 0 /\ __disjvr_28^0-__disjvr_28^post55 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -length_43^post55+length_43^0 == 0 /\ -nondet_12^post55+nondet_12^0 == 0 /\ -__disjvr_13^post55+__disjvr_13^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post55+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -temp_49^post55+temp_49^0 == 0 /\ x_20^0-x_20^post55 == 0 /\ __disjvr_22^0-__disjvr_22^post55 == 0 /\ -x_14^post55+x_14^0 == 0 /\ -__disjvr_27^post55+__disjvr_27^0 == 0 /\ -__disjvr_29^post55+__disjvr_29^0 == 0 /\ __disjvr_11^0-__disjvr_11^post55 == 0 /\ -ct_17^post55+ct_17^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post55+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_20^0-__disjvr_20^post55 == 0 /\ -__disjvr_17^post55+__disjvr_17^0 == 0 /\ __disjvr_16^0-__disjvr_16^post55 == 0 /\ -__disjvr_25^post55+__disjvr_25^0 == 0 /\ x_177^0-x_177^post55 == 0 /\ fmt_31^0-fmt_31^post55 == 0 /\ __disjvr_14^0-__disjvr_14^post55 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post55 == 0 /\ __disjvr_9^0-__disjvr_9^post55 == 0 /\ -__disjvr_5^post55+__disjvr_5^0 == 0 /\ r_53^0-r_53^post55 == 0 /\ temp0_45^0-temp0_45^post55 == 0 /\ -a_305^post55+a_305^0 == 0 /\ -__disjvr_8^post55+__disjvr_8^0 == 0 /\ __disjvr_24^0-__disjvr_24^post55 == 0 /\ -__disjvr_2^post55+__disjvr_2^0 == 0 /\ len_180^0-len_180^post55 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post55+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_4^0-__disjvr_4^post55 == 0 /\ -__disjvr_7^post55+__disjvr_7^0 == 0 /\ __disjvr_10^0-__disjvr_10^post55 == 0 /\ -a_247^post55+a_247^0 == 0 /\ -__disjvr_18^post55+__disjvr_18^0 == 0 /\ t_23^0-t_23^post55 == 0 /\ -a_146^post55+a_146^0 == 0 /\ len_246^0-len_246^post55 == 0), cost: 1
  56: l52 -> l53 : __disjvr_0^0'=__disjvr_0^post56, a_283^0'=a_283^post56, temp0_45^0'=temp0_45^post56, __disjvr_21^0'=__disjvr_21^post56, y_19^0'=y_19^post56, __disjvr_4^0'=__disjvr_4^post56, result_11^0'=result_11^post56, __disjvr_14^0'=__disjvr_14^post56, head_46^0'=head_46^post56, __disjvr_24^0'=__disjvr_24^post56, x_177^0'=x_177^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post56, __disjvr_9^0'=__disjvr_9^post56, a_197^0'=a_197^post56, t_23^0'=t_23^post56, __disjvr_19^0'=__disjvr_19^post56, len_246^0'=len_246^post56, __disjvr_29^0'=__disjvr_29^post56, x_SLAM_f_18^0'=x_SLAM_f_18^post56, r_53^0'=r_53^post56, __disjvr_11^0'=__disjvr_11^post56, a_328^0'=a_328^post56, tmp_48^0'=tmp_48^post56, lt_36^0'=lt_36^post56, __disjvr_6^0'=__disjvr_6^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, __disjvr_16^0'=__disjvr_16^post56, i_125^0'=i_125^post56, __disjvr_26^0'=__disjvr_26^post56, x_238^0'=x_238^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post56, a_26^0'=a_26^post56, temp0_32^0'=temp0_32^post56, __disjvr_20^0'=__disjvr_20^post56, lt_237^0'=lt_237^post56, __disjvr_3^0'=__disjvr_3^post56, rcd_72^0'=rcd_72^post56, __disjvr_13^0'=__disjvr_13^post56, fmt_31^0'=fmt_31^post56, __disjvr_23^0'=__disjvr_23^post56, x_16^0'=x_16^post56, nondet_12^0'=nondet_12^post56, __disjvr_8^0'=__disjvr_8^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post56, __disjvr_18^0'=__disjvr_18^post56, len_180^0'=len_180^post56, __disjvr_28^0'=__disjvr_28^post56, x_34^0'=x_34^post56, r_161^0'=r_161^post56, __disjvr_10^0'=__disjvr_10^post56, a_305^0'=a_305^post56, temp_49^0'=temp_49^post56, __disjvr_22^0'=__disjvr_22^post56, __disjvr_5^0'=__disjvr_5^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post56, __disjvr_15^0'=__disjvr_15^post56, i_108^0'=i_108^post56, __disjvr_25^0'=__disjvr_25^post56, x_20^0'=x_20^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, a_146^0'=a_146^post56, a_247^0'=a_247^post56, temp0_15^0'=temp0_15^post56, __disjvr_1^0'=__disjvr_1^post56, length_43^0'=length_43^post56, __disjvr_2^0'=__disjvr_2^post56, rcd_102^0'=rcd_102^post56, __disjvr_12^0'=__disjvr_12^post56, ct_17^0'=ct_17^post56, x_14^0'=x_14^post56, lt_37^0'=lt_37^post56, __disjvr_7^0'=__disjvr_7^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post56, __disjvr_17^0'=__disjvr_17^post56, i_44^0'=i_44^post56, __disjvr_27^0'=__disjvr_27^post56, x_28^0'=x_28^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post56, (0 == 0 /\ result_11^190-temp0_32^190 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post56 == 0 /\ tmp_48^0-tmp_48^post56 == 0 /\ __disjvr_8^0-__disjvr_8^post56 == 0 /\ -x_20^post56+x_20^0 == 0 /\ __disjvr_4^0-__disjvr_4^post56 == 0 /\ -x_SLAM_f_18^post56+x_SLAM_f_18^0 == 0 /\ a_197^0-a_197^post56 == 0 /\ __disjvr_2^0-__disjvr_2^post56 == 0 /\ __disjvr_9^0-__disjvr_9^post56 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post56 <= 0 /\ a_146^0-a_146^post56 == 0 /\ -i_44^post56+i_44^0 == 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ -temp0_15^post56+temp0_15^0 == 0 /\ __disjvr_22^0-__disjvr_22^post56 == 0 /\ __disjvr_26^0-__disjvr_26^post56 == 0 /\ fmt_31^154-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post56 == 0 /\ __disjvr_29^0-__disjvr_29^post56 == 0 /\ -__disjvr_18^post56+__disjvr_18^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post56 <= 0 /\ temp0_32^320 == 0 /\ -x_14^post56+x_14^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ i_125^0-i_125^post56 == 0 /\ -__disjvr_10^post56+__disjvr_10^0 == 0 /\ __disjvr_6^0-__disjvr_6^post56 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post56 == 0 /\ -__disjvr_27^post56+__disjvr_27^0 == 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ -x_16^post56+x_16^0 == 0 /\ -lt_237^post56+lt_237^0 == 0 /\ fmt_31^320-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^130 == 0 /\ -__disjvr_17^post56+__disjvr_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post56 == 0 /\ a_26^0-a_26^post56 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post56-result_11^190 == 0 /\ -temp0_32^320+result_11^340 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ a_283^0-a_283^post56 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_38^130-result_11^340 == 0 /\ -temp_49^post56+temp_49^0 == 0 /\ x_238^0-x_238^post56 == 0 /\ -nondet_12^post56+nondet_12^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post56+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ r_53^0-r_53^post56 == 0 /\ -__disjvr_24^post56+__disjvr_24^0 == 0 /\ -__disjvr_28^post56+__disjvr_28^0 == 0 /\ -length_43^post56+length_43^0 == 0 /\ -a_247^post56+a_247^0 == 0 /\ -rcd_102^post56+rcd_102^0 == 0 /\ a_26^0-x_14^0 <= 0 /\ x_34^130-x_28^0 == 0 /\ -__disjvr_1^post56+__disjvr_1^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post56+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -x_28^post56+x_28^0 == 0 /\ a_328^0-a_328^post56 == 0 /\ -temp0_45^post56+temp0_45^0 == 0 /\ head_46^0-head_46^post56 == 0 /\ -i_108^post56+i_108^0 == 0 /\ __disjvr_11^0-__disjvr_11^post56 == 0 /\ __disjvr_3^0-__disjvr_3^post56 == 0 /\ __disjvr_15^0-__disjvr_15^post56 == 0 /\ a_305^0-a_305^post56 == 0 /\ len_180^0-len_180^post56 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post56+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -__disjvr_16^post56+__disjvr_16^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post56 == 0 /\ t_23^0-t_23^post56 == 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ __disjvr_13^0-__disjvr_13^post56 == 0 /\ x_177^0-x_177^post56 == 0 /\ -rcd_72^post56+rcd_72^0 == 0 /\ temp0_32^190 == 0 /\ -__disjvr_7^post56+__disjvr_7^0 == 0 /\ len_246^0-len_246^post56 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ y_19^0-y_19^post56 == 0 /\ -a_26^0+x_14^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post56 == 0 /\ -__disjvr_25^post56+__disjvr_25^0 == 0 /\ -__disjvr_5^post56+__disjvr_5^0 == 0 /\ -r_161^post56+r_161^0 == 0 /\ -ct_17^post56+ct_17^0 == 0), cost: 1
  57: l53 -> l54 : __disjvr_0^0'=__disjvr_0^post57, a_283^0'=a_283^post57, temp0_45^0'=temp0_45^post57, __disjvr_21^0'=__disjvr_21^post57, y_19^0'=y_19^post57, __disjvr_4^0'=__disjvr_4^post57, result_11^0'=result_11^post57, __disjvr_14^0'=__disjvr_14^post57, head_46^0'=head_46^post57, __disjvr_24^0'=__disjvr_24^post57, x_177^0'=x_177^post57, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post57, __disjvr_9^0'=__disjvr_9^post57, a_197^0'=a_197^post57, t_23^0'=t_23^post57, __disjvr_19^0'=__disjvr_19^post57, len_246^0'=len_246^post57, __disjvr_29^0'=__disjvr_29^post57, x_SLAM_f_18^0'=x_SLAM_f_18^post57, r_53^0'=r_53^post57, __disjvr_11^0'=__disjvr_11^post57, a_328^0'=a_328^post57, tmp_48^0'=tmp_48^post57, lt_36^0'=lt_36^post57, __disjvr_6^0'=__disjvr_6^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, __disjvr_16^0'=__disjvr_16^post57, i_125^0'=i_125^post57, __disjvr_26^0'=__disjvr_26^post57, x_238^0'=x_238^post57, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post57, a_26^0'=a_26^post57, temp0_32^0'=temp0_32^post57, __disjvr_20^0'=__disjvr_20^post57, lt_237^0'=lt_237^post57, __disjvr_3^0'=__disjvr_3^post57, rcd_72^0'=rcd_72^post57, __disjvr_13^0'=__disjvr_13^post57, fmt_31^0'=fmt_31^post57, __disjvr_23^0'=__disjvr_23^post57, x_16^0'=x_16^post57, nondet_12^0'=nondet_12^post57, __disjvr_8^0'=__disjvr_8^post57, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post57, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post57, __disjvr_18^0'=__disjvr_18^post57, len_180^0'=len_180^post57, __disjvr_28^0'=__disjvr_28^post57, x_34^0'=x_34^post57, r_161^0'=r_161^post57, __disjvr_10^0'=__disjvr_10^post57, a_305^0'=a_305^post57, temp_49^0'=temp_49^post57, __disjvr_22^0'=__disjvr_22^post57, __disjvr_5^0'=__disjvr_5^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post57, __disjvr_15^0'=__disjvr_15^post57, i_108^0'=i_108^post57, __disjvr_25^0'=__disjvr_25^post57, x_20^0'=x_20^post57, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post57, a_146^0'=a_146^post57, a_247^0'=a_247^post57, temp0_15^0'=temp0_15^post57, __disjvr_1^0'=__disjvr_1^post57, length_43^0'=length_43^post57, __disjvr_2^0'=__disjvr_2^post57, rcd_102^0'=rcd_102^post57, __disjvr_12^0'=__disjvr_12^post57, ct_17^0'=ct_17^post57, x_14^0'=x_14^post57, lt_37^0'=lt_37^post57, __disjvr_7^0'=__disjvr_7^post57, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post57, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post57, __disjvr_17^0'=__disjvr_17^post57, i_44^0'=i_44^post57, __disjvr_27^0'=__disjvr_27^post57, x_28^0'=x_28^post57, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post57, (-__disjvr_20^post57+__disjvr_20^0 == 0 /\ a_283^0-a_283^post57 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post57+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ lt_237^0-lt_237^post57 == 0 /\ -x_34^post57+x_34^0 == 0 /\ __disjvr_18^0-__disjvr_18^post57 == 0 /\ -__disjvr_5^post57+__disjvr_5^0 == 0 /\ x_238^0-x_238^post57 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post57+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ t_23^0-t_23^post57 == 0 /\ -length_43^post57+length_43^0 == 0 /\ a_328^0-a_328^post57 == 0 /\ -temp0_32^post57+temp0_32^0 == 0 /\ -__disjvr_27^post57+__disjvr_27^0 == 0 /\ __disjvr_13^0-__disjvr_13^post57 == 0 /\ __disjvr_19^0-__disjvr_19^post57 == 0 /\ -ct_17^post57+ct_17^0 == 0 /\ lt_36^0-lt_36^post57 == 0 /\ -__disjvr_7^post57+__disjvr_7^0 == 0 /\ __disjvr_8^0-__disjvr_8^post57 == 0 /\ __disjvr_0^0-__disjvr_0^post57 == 0 /\ -a_247^post57+a_247^0 == 0 /\ -a_146^post57+a_146^0 == 0 /\ -x_SLAM_f_18^post57+x_SLAM_f_18^0 == 0 /\ __disjvr_16^0-__disjvr_16^post57 == 0 /\ temp0_45^0-temp0_45^post57 == 0 /\ rcd_72^0-rcd_72^post57 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post57+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -x_20^post57+x_20^0 == 0 /\ x_177^0-x_177^post57 == 0 /\ -nondet_12^post57+nondet_12^0 == 0 /\ __disjvr_12^0-__disjvr_12^post57 == 0 /\ -__disjvr_3^post57+__disjvr_3^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post57+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -__disjvr_15^post57+__disjvr_15^0 == 0 /\ -__disjvr_2^post57+__disjvr_2^0 == 0 /\ -i_44^post57+i_44^0 == 0 /\ lt_37^0-lt_37^post57 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post57 == 0 /\ len_246^0-len_246^post57 == 0 /\ __disjvr_6^0-__disjvr_6^post57 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post57+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_11^0-__disjvr_11^post57 == 0 /\ r_53^0-r_53^post57 == 0 /\ -temp0_15^post57+temp0_15^0 == 0 /\ a_197^0-a_197^post57 == 0 /\ tmp_48^0-tmp_48^post57 == 0 /\ -__disjvr_24^0+__disjvr_24^post57 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post57 == 0 /\ -x_28^post57+x_28^0 == 0 /\ -__disjvr_14^post57+__disjvr_14^0 == 0 /\ -__disjvr_22^post57+__disjvr_22^0 == 0 /\ -__disjvr_28^post57+__disjvr_28^0 == 0 /\ x_14^0-x_14^post57 == 0 /\ -__disjvr_4^post57+__disjvr_4^0 == 0 /\ i_125^0-i_125^post57 == 0 /\ a_305^0-a_305^post57 == 0 /\ -fmt_31^post57+fmt_31^0 == 0 /\ r_161^0-r_161^post57 == 0 /\ y_19^0-y_19^post57 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post57+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ __disjvr_29^0-__disjvr_29^post57 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post57+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ i_108^0-i_108^post57 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0 /\ -rcd_102^post57+rcd_102^0 == 0 /\ -__disjvr_10^post57+__disjvr_10^0 == 0 /\ -__disjvr_26^post57+__disjvr_26^0 == 0 /\ -len_180^post57+len_180^0 == 0 /\ -__disjvr_23^post57+__disjvr_23^0 == 0 /\ head_46^0-head_46^post57 == 0 /\ -__disjvr_25^post57+__disjvr_25^0 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post57+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -__disjvr_1^post57+__disjvr_1^0 == 0 /\ result_11^0-result_11^post57 == 0 /\ a_26^0-a_26^post57 == 0 /\ __disjvr_9^0-__disjvr_9^post57 == 0 /\ -temp_49^post57+temp_49^0 == 0 /\ __disjvr_21^0-__disjvr_21^post57 == 0 /\ x_16^0-x_16^post57 == 0), cost: 1
  58: l54 -> l55 : __disjvr_0^0'=__disjvr_0^post58, a_283^0'=a_283^post58, temp0_45^0'=temp0_45^post58, __disjvr_21^0'=__disjvr_21^post58, y_19^0'=y_19^post58, __disjvr_4^0'=__disjvr_4^post58, result_11^0'=result_11^post58, __disjvr_14^0'=__disjvr_14^post58, head_46^0'=head_46^post58, __disjvr_24^0'=__disjvr_24^post58, x_177^0'=x_177^post58, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post58, __disjvr_9^0'=__disjvr_9^post58, a_197^0'=a_197^post58, t_23^0'=t_23^post58, __disjvr_19^0'=__disjvr_19^post58, len_246^0'=len_246^post58, __disjvr_29^0'=__disjvr_29^post58, x_SLAM_f_18^0'=x_SLAM_f_18^post58, r_53^0'=r_53^post58, __disjvr_11^0'=__disjvr_11^post58, a_328^0'=a_328^post58, tmp_48^0'=tmp_48^post58, lt_36^0'=lt_36^post58, __disjvr_6^0'=__disjvr_6^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, __disjvr_16^0'=__disjvr_16^post58, i_125^0'=i_125^post58, __disjvr_26^0'=__disjvr_26^post58, x_238^0'=x_238^post58, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post58, a_26^0'=a_26^post58, temp0_32^0'=temp0_32^post58, __disjvr_20^0'=__disjvr_20^post58, lt_237^0'=lt_237^post58, __disjvr_3^0'=__disjvr_3^post58, rcd_72^0'=rcd_72^post58, __disjvr_13^0'=__disjvr_13^post58, fmt_31^0'=fmt_31^post58, __disjvr_23^0'=__disjvr_23^post58, x_16^0'=x_16^post58, nondet_12^0'=nondet_12^post58, __disjvr_8^0'=__disjvr_8^post58, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post58, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post58, __disjvr_18^0'=__disjvr_18^post58, len_180^0'=len_180^post58, __disjvr_28^0'=__disjvr_28^post58, x_34^0'=x_34^post58, r_161^0'=r_161^post58, __disjvr_10^0'=__disjvr_10^post58, a_305^0'=a_305^post58, temp_49^0'=temp_49^post58, __disjvr_22^0'=__disjvr_22^post58, __disjvr_5^0'=__disjvr_5^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post58, __disjvr_15^0'=__disjvr_15^post58, i_108^0'=i_108^post58, __disjvr_25^0'=__disjvr_25^post58, x_20^0'=x_20^post58, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post58, a_146^0'=a_146^post58, a_247^0'=a_247^post58, temp0_15^0'=temp0_15^post58, __disjvr_1^0'=__disjvr_1^post58, length_43^0'=length_43^post58, __disjvr_2^0'=__disjvr_2^post58, rcd_102^0'=rcd_102^post58, __disjvr_12^0'=__disjvr_12^post58, ct_17^0'=ct_17^post58, x_14^0'=x_14^post58, lt_37^0'=lt_37^post58, __disjvr_7^0'=__disjvr_7^post58, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post58, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post58, __disjvr_17^0'=__disjvr_17^post58, i_44^0'=i_44^post58, __disjvr_27^0'=__disjvr_27^post58, x_28^0'=x_28^post58, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post58, (__disjvr_6^0-__disjvr_6^post58 == 0 /\ -__disjvr_27^post58+__disjvr_27^0 == 0 /\ -__disjvr_17^post58+__disjvr_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post58 == 0 /\ rcd_72^0-rcd_72^post58 == 0 /\ r_53^0-r_53^post58 == 0 /\ -length_43^post58+length_43^0 == 0 /\ temp_49^0-temp_49^post58 == 0 /\ -nondet_12^post58+nondet_12^0 == 0 /\ a_197^0-a_197^post58 == 0 /\ -ct_17^post58+ct_17^0 == 0 /\ __disjvr_2^0-__disjvr_2^post58 == 0 /\ -__disjvr_20^post58+__disjvr_20^0 == 0 /\ __disjvr_24^0-__disjvr_24^post58 == 0 /\ a_283^0-a_283^post58 == 0 /\ a_328^0-a_328^post58 == 0 /\ -__disjvr_13^post58+__disjvr_13^0 == 0 /\ __disjvr_10^0-__disjvr_10^post58 == 0 /\ -x_14^post58+x_14^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post58 == 0 /\ len_246^0-len_246^post58 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post58 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post58+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_5^post58+__disjvr_5^0 == 0 /\ -__disjvr_7^post58+__disjvr_7^0 == 0 /\ head_46^0-head_46^post58 == 0 /\ __disjvr_12^0-__disjvr_12^post58 == 0 /\ __disjvr_29^0-__disjvr_29^post58 == 0 /\ -a_305^post58+a_305^0 == 0 /\ a_247^0-a_247^post58 == 0 /\ -__disjvr_8^post58+__disjvr_8^0 == 0 /\ -a_146^post58+a_146^0 == 0 /\ -lt_36^post58+lt_36^0 == 0 /\ __disjvr_16^0-__disjvr_16^post58 == 0 /\ fmt_31^0-fmt_31^post58 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post58 == 0 /\ __disjvr_0^0-__disjvr_0^post58 == 0 /\ x_34^0-x_34^post58 == 0 /\ __disjvr_9^0-__disjvr_9^post58 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ a_26^0-a_26^post58 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post58 == 0 /\ temp0_45^0-temp0_45^post58 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post58 == 0 /\ -x_16^post58+x_16^0 == 0 /\ -__disjvr_26^post58+__disjvr_26^0 == 0 /\ -__disjvr_28^post58+__disjvr_28^0 == 0 /\ -__disjvr_18^post58+__disjvr_18^0 == 0 /\ __disjvr_25^post58-__disjvr_25^0 == 0 /\ result_11^0-result_11^post58 == 0 /\ x_238^0-x_238^post58 == 0 /\ -x_28^post58+x_28^0 == 0 /\ __disjvr_23^0-__disjvr_23^post58 == 0 /\ -rcd_102^post58+rcd_102^0 == 0 /\ -temp0_15^post58+temp0_15^0 == 0 /\ t_23^0-t_23^post58 == 0 /\ -i_108^post58+i_108^0 == 0 /\ y_19^0-y_19^post58 == 0 /\ -lt_37^post58+lt_37^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post58+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -i_44^post58+i_44^0 == 0 /\ -__disjvr_22^post58+__disjvr_22^0 == 0 /\ __disjvr_4^0-__disjvr_4^post58 == 0 /\ -r_161^post58+r_161^0 == 0 /\ __disjvr_19^0-__disjvr_19^post58 == 0 /\ __disjvr_3^0-__disjvr_3^post58 == 0 /\ x_20^0-x_20^post58 == 0 /\ -len_180^post58+len_180^0 == 0 /\ temp0_32^0-temp0_32^post58 == 0 /\ -__disjvr_25^post58+__disjvr_25^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post58+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_21^0-__disjvr_21^post58 == 0 /\ __disjvr_11^0-__disjvr_11^post58 == 0 /\ -tmp_48^post58+tmp_48^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post58+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -__disjvr_15^post58+__disjvr_15^0 == 0 /\ -lt_237^post58+lt_237^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post58+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_125^post58+i_125^0 == 0 /\ -__disjvr_1^post58+__disjvr_1^0 == 0 /\ x_177^0-x_177^post58 == 0), cost: 1
  59: l55 -> l40 : __disjvr_0^0'=__disjvr_0^post59, a_283^0'=a_283^post59, temp0_45^0'=temp0_45^post59, __disjvr_21^0'=__disjvr_21^post59, y_19^0'=y_19^post59, __disjvr_4^0'=__disjvr_4^post59, result_11^0'=result_11^post59, __disjvr_14^0'=__disjvr_14^post59, head_46^0'=head_46^post59, __disjvr_24^0'=__disjvr_24^post59, x_177^0'=x_177^post59, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post59, __disjvr_9^0'=__disjvr_9^post59, a_197^0'=a_197^post59, t_23^0'=t_23^post59, __disjvr_19^0'=__disjvr_19^post59, len_246^0'=len_246^post59, __disjvr_29^0'=__disjvr_29^post59, x_SLAM_f_18^0'=x_SLAM_f_18^post59, r_53^0'=r_53^post59, __disjvr_11^0'=__disjvr_11^post59, a_328^0'=a_328^post59, tmp_48^0'=tmp_48^post59, lt_36^0'=lt_36^post59, __disjvr_6^0'=__disjvr_6^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, __disjvr_16^0'=__disjvr_16^post59, i_125^0'=i_125^post59, __disjvr_26^0'=__disjvr_26^post59, x_238^0'=x_238^post59, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post59, a_26^0'=a_26^post59, temp0_32^0'=temp0_32^post59, __disjvr_20^0'=__disjvr_20^post59, lt_237^0'=lt_237^post59, __disjvr_3^0'=__disjvr_3^post59, rcd_72^0'=rcd_72^post59, __disjvr_13^0'=__disjvr_13^post59, fmt_31^0'=fmt_31^post59, __disjvr_23^0'=__disjvr_23^post59, x_16^0'=x_16^post59, nondet_12^0'=nondet_12^post59, __disjvr_8^0'=__disjvr_8^post59, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post59, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post59, __disjvr_18^0'=__disjvr_18^post59, len_180^0'=len_180^post59, __disjvr_28^0'=__disjvr_28^post59, x_34^0'=x_34^post59, r_161^0'=r_161^post59, __disjvr_10^0'=__disjvr_10^post59, a_305^0'=a_305^post59, temp_49^0'=temp_49^post59, __disjvr_22^0'=__disjvr_22^post59, __disjvr_5^0'=__disjvr_5^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post59, __disjvr_15^0'=__disjvr_15^post59, i_108^0'=i_108^post59, __disjvr_25^0'=__disjvr_25^post59, x_20^0'=x_20^post59, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post59, a_146^0'=a_146^post59, a_247^0'=a_247^post59, temp0_15^0'=temp0_15^post59, __disjvr_1^0'=__disjvr_1^post59, length_43^0'=length_43^post59, __disjvr_2^0'=__disjvr_2^post59, rcd_102^0'=rcd_102^post59, __disjvr_12^0'=__disjvr_12^post59, ct_17^0'=ct_17^post59, x_14^0'=x_14^post59, lt_37^0'=lt_37^post59, __disjvr_7^0'=__disjvr_7^post59, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post59, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post59, __disjvr_17^0'=__disjvr_17^post59, i_44^0'=i_44^post59, __disjvr_27^0'=__disjvr_27^post59, x_28^0'=x_28^post59, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post59, (__disjvr_14^0-__disjvr_14^post59 == 0 /\ __disjvr_5^0-__disjvr_5^post59 == 0 /\ __disjvr_24^0-__disjvr_24^post59 == 0 /\ y_19^0-y_19^post59 == 0 /\ result_11^0-result_11^post59 == 0 /\ temp0_45^0-temp0_45^post59 == 0 /\ -rcd_72^post59+rcd_72^0 == 0 /\ -__disjvr_27^post59+__disjvr_27^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post59+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ temp_49^0-temp_49^post59 == 0 /\ -x_238^post59+x_238^0 == 0 /\ -i_44^post59+i_44^0 == 0 /\ tmp_48^0-tmp_48^post59 == 0 /\ -__disjvr_15^post59+__disjvr_15^0 == 0 /\ -lt_36^post59+lt_36^0 == 0 /\ r_161^0-r_161^post59 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post59 == 0 /\ -__disjvr_23^post59+__disjvr_23^0 == 0 /\ -a_247^post59+a_247^0 == 0 /\ __disjvr_26^0-__disjvr_26^post59 == 0 /\ -__disjvr_25^post59+__disjvr_25^0 == 0 /\ __disjvr_8^0-__disjvr_8^post59 == 0 /\ __disjvr_21^0-__disjvr_21^post59 == 0 /\ head_46^0-head_46^post59 == 0 /\ -x_14^post59+x_14^0 == 0 /\ __disjvr_18^0-__disjvr_18^post59 == 0 /\ a_146^0-a_146^post59 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post59 == 0 /\ __disjvr_3^0-__disjvr_3^post59 == 0 /\ -temp0_32^post59+temp0_32^0 == 0 /\ -temp0_15^post59+temp0_15^0 == 0 /\ -__disjvr_29^post59+__disjvr_29^0 == 0 /\ __disjvr_6^0-__disjvr_6^post59 == 0 /\ -__disjvr_17^post59+__disjvr_17^0 == 0 /\ -__disjvr_2^post59+__disjvr_2^0 == 0 /\ -__disjvr_7^post59+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post59 == 0 /\ x_16^0-x_16^post59 == 0 /\ -a_305^post59+a_305^0 == 0 /\ -a_197^post59+a_197^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post59 == 0 /\ a_26^0-a_26^post59 == 0 /\ x_34^0-x_34^post59 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post59 == 0 /\ -__disjvr_28^post59+__disjvr_28^0 == 0 /\ -fmt_31^post59+fmt_31^0 == 0 /\ -__disjvr_16^post59+__disjvr_16^0 == 0 /\ lt_237^0-lt_237^post59 == 0 /\ -__disjvr_12^post59+__disjvr_12^0 == 0 /\ __disjvr_13^0-__disjvr_13^post59 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post59+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post59+__disjvr_1^0 == 0 /\ __disjvr_4^0-__disjvr_4^post59 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_20^0-x_20^post59 == 0 /\ -rcd_102^post59+rcd_102^0 == 0 /\ __disjvr_9^0-__disjvr_9^post59 == 0 /\ -lt_37^post59+lt_37^0 == 0 /\ __disjvr_22^0-__disjvr_22^post59 == 0 /\ -__disjvr_10^post59+__disjvr_10^0 == 0 /\ -len_180^post59+len_180^0 == 0 /\ a_283^0-a_283^post59 == 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ t_23^0-t_23^post59 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post59+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ i_125^0-i_125^post59 == 0 /\ __disjvr_19^0-__disjvr_19^post59 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_328^0-a_328^post59 == 0 /\ -length_43^post59+length_43^0 == 0 /\ r_53^0-r_53^post59 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_11^0-__disjvr_11^post59 == 0 /\ __disjvr_0^0-__disjvr_0^post59 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post59 == 0 /\ -ct_17^post59+ct_17^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post59+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -len_246^post59+len_246^0 == 0 /\ -i_108^post59+i_108^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post59+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -x_28^post59+x_28^0 == 0 /\ x_177^0-x_177^post59 == 0), cost: 1
  62: l57 -> l58 : __disjvr_0^0'=__disjvr_0^post62, a_283^0'=a_283^post62, temp0_45^0'=temp0_45^post62, __disjvr_21^0'=__disjvr_21^post62, y_19^0'=y_19^post62, __disjvr_4^0'=__disjvr_4^post62, result_11^0'=result_11^post62, __disjvr_14^0'=__disjvr_14^post62, head_46^0'=head_46^post62, __disjvr_24^0'=__disjvr_24^post62, x_177^0'=x_177^post62, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post62, __disjvr_9^0'=__disjvr_9^post62, a_197^0'=a_197^post62, t_23^0'=t_23^post62, __disjvr_19^0'=__disjvr_19^post62, len_246^0'=len_246^post62, __disjvr_29^0'=__disjvr_29^post62, x_SLAM_f_18^0'=x_SLAM_f_18^post62, r_53^0'=r_53^post62, __disjvr_11^0'=__disjvr_11^post62, a_328^0'=a_328^post62, tmp_48^0'=tmp_48^post62, lt_36^0'=lt_36^post62, __disjvr_6^0'=__disjvr_6^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, __disjvr_16^0'=__disjvr_16^post62, i_125^0'=i_125^post62, __disjvr_26^0'=__disjvr_26^post62, x_238^0'=x_238^post62, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post62, a_26^0'=a_26^post62, temp0_32^0'=temp0_32^post62, __disjvr_20^0'=__disjvr_20^post62, lt_237^0'=lt_237^post62, __disjvr_3^0'=__disjvr_3^post62, rcd_72^0'=rcd_72^post62, __disjvr_13^0'=__disjvr_13^post62, fmt_31^0'=fmt_31^post62, __disjvr_23^0'=__disjvr_23^post62, x_16^0'=x_16^post62, nondet_12^0'=nondet_12^post62, __disjvr_8^0'=__disjvr_8^post62, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post62, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post62, __disjvr_18^0'=__disjvr_18^post62, len_180^0'=len_180^post62, __disjvr_28^0'=__disjvr_28^post62, x_34^0'=x_34^post62, r_161^0'=r_161^post62, __disjvr_10^0'=__disjvr_10^post62, a_305^0'=a_305^post62, temp_49^0'=temp_49^post62, __disjvr_22^0'=__disjvr_22^post62, __disjvr_5^0'=__disjvr_5^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post62, __disjvr_15^0'=__disjvr_15^post62, i_108^0'=i_108^post62, __disjvr_25^0'=__disjvr_25^post62, x_20^0'=x_20^post62, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post62, a_146^0'=a_146^post62, a_247^0'=a_247^post62, temp0_15^0'=temp0_15^post62, __disjvr_1^0'=__disjvr_1^post62, length_43^0'=length_43^post62, __disjvr_2^0'=__disjvr_2^post62, rcd_102^0'=rcd_102^post62, __disjvr_12^0'=__disjvr_12^post62, ct_17^0'=ct_17^post62, x_14^0'=x_14^post62, lt_37^0'=lt_37^post62, __disjvr_7^0'=__disjvr_7^post62, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post62, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post62, __disjvr_17^0'=__disjvr_17^post62, i_44^0'=i_44^post62, __disjvr_27^0'=__disjvr_27^post62, x_28^0'=x_28^post62, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post62, (r_161^0-r_161^post62 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post62 == 0 /\ __disjvr_26^0-__disjvr_26^post62 == 0 /\ __disjvr_23^0-__disjvr_23^post62 == 0 /\ __disjvr_0^0-__disjvr_0^post62 == 0 /\ lt_36^0-lt_36^post62 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post62+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_22^0-__disjvr_22^post62 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post62+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -temp0_15^post62+temp0_15^0 == 0 /\ -__disjvr_6^post62+__disjvr_6^0 == 0 /\ x_177^0-x_177^post62 == 0 /\ result_11^0-result_11^post62 == 0 /\ -__disjvr_8^post62+__disjvr_8^0 == 0 /\ -x_28^post62+x_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post62 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post62+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post62+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_9^0-__disjvr_9^post62 == 0 /\ temp0_45^0-temp0_45^post62 == 0 /\ -__disjvr_2^post62+__disjvr_2^0 == 0 /\ -temp_49^post62+temp_49^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post62 == 0 /\ tmp_48^0-tmp_48^post62 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ __disjvr_20^0-__disjvr_20^post62 == 0 /\ -__disjvr_28^post62+__disjvr_28^0 == 0 /\ -__disjvr_27^post62+__disjvr_27^0 == 0 /\ -__disjvr_12^post62+__disjvr_12^0 == 0 /\ -__disjvr_26^0+__disjvr_26^post62 == 0 /\ y_19^0-y_19^post62 == 0 /\ -rcd_72^post62+rcd_72^0 == 0 /\ -__disjvr_16^post62+__disjvr_16^0 == 0 /\ -x_14^post62+x_14^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post62+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post62+__disjvr_1^0 == 0 /\ __disjvr_14^0-__disjvr_14^post62 == 0 /\ a_146^0-a_146^post62 == 0 /\ -i_44^post62+i_44^0 == 0 /\ -rcd_102^post62+rcd_102^0 == 0 /\ __disjvr_18^0-__disjvr_18^post62 == 0 /\ -__disjvr_25^post62+__disjvr_25^0 == 0 /\ -__disjvr_10^post62+__disjvr_10^0 == 0 /\ -len_180^post62+len_180^0 == 0 /\ __disjvr_3^0-__disjvr_3^post62 == 0 /\ x_238^0-x_238^post62 == 0 /\ __disjvr_13^0-__disjvr_13^post62 == 0 /\ __disjvr_4^0-__disjvr_4^post62 == 0 /\ -__disjvr_5^post62+__disjvr_5^0 == 0 /\ x_16^0-x_16^post62 == 0 /\ -a_305^post62+a_305^0 == 0 /\ x_20^0-x_20^post62 == 0 /\ -__disjvr_24^post62+__disjvr_24^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post62 == 0 /\ -temp0_32^post62+temp0_32^0 == 0 /\ -length_43^post62+length_43^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post62 == 0 /\ t_23^0-t_23^post62 == 0 /\ a_26^0-a_26^post62 == 0 /\ __disjvr_21^0-__disjvr_21^post62 == 0 /\ -__disjvr_7^post62+__disjvr_7^0 == 0 /\ -__disjvr_29^post62+__disjvr_29^0 == 0 /\ -a_197^post62+a_197^0 == 0 /\ -x_34^post62+x_34^0 == 0 /\ -__disjvr_17^post62+__disjvr_17^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post62 == 0 /\ -a_247^post62+a_247^0 == 0 /\ -fmt_31^post62+fmt_31^0 == 0 /\ __disjvr_11^0-__disjvr_11^post62 == 0 /\ -len_246^post62+len_246^0 == 0 /\ -i_108^post62+i_108^0 == 0 /\ a_283^0-a_283^post62 == 0 /\ -ct_17^post62+ct_17^0 == 0 /\ -head_46^post62+head_46^0 == 0 /\ r_53^0-r_53^post62 == 0 /\ __disjvr_15^0-__disjvr_15^post62 == 0 /\ lt_237^0-lt_237^post62 == 0 /\ i_125^0-i_125^post62 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post62+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ a_328^0-a_328^post62 == 0 /\ -lt_37^post62+lt_37^0 == 0), cost: 1
  63: l58 -> l59 : __disjvr_0^0'=__disjvr_0^post63, a_283^0'=a_283^post63, temp0_45^0'=temp0_45^post63, __disjvr_21^0'=__disjvr_21^post63, y_19^0'=y_19^post63, __disjvr_4^0'=__disjvr_4^post63, result_11^0'=result_11^post63, __disjvr_14^0'=__disjvr_14^post63, head_46^0'=head_46^post63, __disjvr_24^0'=__disjvr_24^post63, x_177^0'=x_177^post63, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post63, __disjvr_9^0'=__disjvr_9^post63, a_197^0'=a_197^post63, t_23^0'=t_23^post63, __disjvr_19^0'=__disjvr_19^post63, len_246^0'=len_246^post63, __disjvr_29^0'=__disjvr_29^post63, x_SLAM_f_18^0'=x_SLAM_f_18^post63, r_53^0'=r_53^post63, __disjvr_11^0'=__disjvr_11^post63, a_328^0'=a_328^post63, tmp_48^0'=tmp_48^post63, lt_36^0'=lt_36^post63, __disjvr_6^0'=__disjvr_6^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, __disjvr_16^0'=__disjvr_16^post63, i_125^0'=i_125^post63, __disjvr_26^0'=__disjvr_26^post63, x_238^0'=x_238^post63, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post63, a_26^0'=a_26^post63, temp0_32^0'=temp0_32^post63, __disjvr_20^0'=__disjvr_20^post63, lt_237^0'=lt_237^post63, __disjvr_3^0'=__disjvr_3^post63, rcd_72^0'=rcd_72^post63, __disjvr_13^0'=__disjvr_13^post63, fmt_31^0'=fmt_31^post63, __disjvr_23^0'=__disjvr_23^post63, x_16^0'=x_16^post63, nondet_12^0'=nondet_12^post63, __disjvr_8^0'=__disjvr_8^post63, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post63, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post63, __disjvr_18^0'=__disjvr_18^post63, len_180^0'=len_180^post63, __disjvr_28^0'=__disjvr_28^post63, x_34^0'=x_34^post63, r_161^0'=r_161^post63, __disjvr_10^0'=__disjvr_10^post63, a_305^0'=a_305^post63, temp_49^0'=temp_49^post63, __disjvr_22^0'=__disjvr_22^post63, __disjvr_5^0'=__disjvr_5^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post63, __disjvr_15^0'=__disjvr_15^post63, i_108^0'=i_108^post63, __disjvr_25^0'=__disjvr_25^post63, x_20^0'=x_20^post63, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post63, a_146^0'=a_146^post63, a_247^0'=a_247^post63, temp0_15^0'=temp0_15^post63, __disjvr_1^0'=__disjvr_1^post63, length_43^0'=length_43^post63, __disjvr_2^0'=__disjvr_2^post63, rcd_102^0'=rcd_102^post63, __disjvr_12^0'=__disjvr_12^post63, ct_17^0'=ct_17^post63, x_14^0'=x_14^post63, lt_37^0'=lt_37^post63, __disjvr_7^0'=__disjvr_7^post63, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post63, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post63, __disjvr_17^0'=__disjvr_17^post63, i_44^0'=i_44^post63, __disjvr_27^0'=__disjvr_27^post63, x_28^0'=x_28^post63, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post63, (0 == 0 /\ -i_108^post63+i_108^0 == 0 /\ -__disjvr_1^post63+__disjvr_1^0 == 0 /\ y_19^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post63 == 0 /\ __disjvr_22^0-__disjvr_22^post63 == 0 /\ -__disjvr_2^post63+__disjvr_2^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post63+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -x_16^post63+x_16^0 == 0 /\ __disjvr_16^0-__disjvr_16^post63 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ -__disjvr_10^post63+__disjvr_10^0 == 0 /\ -fmt_31^post63+fmt_31^0 == 0 /\ -__disjvr_12^post63+__disjvr_12^0 == 0 /\ x_16^0-x_14^0 <= 0 /\ -1-a_328^post63+a_305^0 <= 0 /\ x_177^0-x_177^post63 == 0 /\ -a_146^post63+a_146^0 == 0 /\ -x_28^post63+x_28^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post63 == 0 /\ -__disjvr_28^post63+__disjvr_28^0 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post63 == 0 /\ -temp0_15^post63+temp0_15^0 == 0 /\ temp0_45^0-temp0_45^post63 == 0 /\ a_26^0-a_26^post63 == 0 /\ -__disjvr_23^post63+__disjvr_23^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post63+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -len_180^post63+len_180^0 == 0 /\ y_19^0-y_19^post63 == 0 /\ -y_19^0 <= 0 /\ ct_17^0-ct_17^post63 == 0 /\ len_246^0-len_246^post63 == 0 /\ __disjvr_11^0-__disjvr_11^post63 == 0 /\ -r_53^post63+r_53^0 == 0 /\ -rcd_102^post63+rcd_102^0 == 0 /\ __disjvr_9^0-__disjvr_9^post63 == 0 /\ y_19^0-ct_17^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post63 == 0 /\ __disjvr_18^0-__disjvr_18^post63 == 0 /\ -x_16^0+x_14^0 <= 0 /\ -r_161^post63+r_161^0 == 0 /\ __disjvr_14^0-__disjvr_14^post63 == 0 /\ -i_44^post63+i_44^0 == 0 /\ lt_237^0-lt_237^post63 == 0 /\ -__disjvr_20^post63+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post63+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -length_43^post63+length_43^0 == 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ i_125^0-i_125^post63 == 0 /\ -x_34^post63+x_34^0 == 0 /\ __disjvr_19^0-__disjvr_19^post63 == 0 /\ __disjvr_8^0-__disjvr_8^post63 == 0 /\ -temp_49^post63+temp_49^0 == 0 /\ -x_14^post63+x_14^0 == 0 /\ -__disjvr_5^post63+__disjvr_5^0 == 0 /\ __disjvr_26^0-__disjvr_26^post63 == 0 /\ __disjvr_29^0-__disjvr_29^post63 == 0 /\ head_46^0-head_46^post63 == 0 /\ __disjvr_21^0-__disjvr_21^post63 == 0 /\ 1+a_328^post63-a_305^0 <= 0 /\ lt_36^0-lt_36^post63 == 0 /\ rcd_72^0-rcd_72^post63 == 0 /\ temp0_32^0-temp0_32^post63 == 0 /\ -__disjvr_27^post63+__disjvr_27^0 == 0 /\ -__disjvr_17^post63+__disjvr_17^0 == 0 /\ -x_SLAM_f_18^0+x_14^0 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post63+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post63 == 0 /\ -__disjvr_7^post63+__disjvr_7^0 == 0 /\ -x_20^post63+x_20^0 == 0 /\ __disjvr_25^0-__disjvr_25^post63 == 0 /\ -a_305^post63+a_305^0 == 0 /\ a_197^0-a_197^post63 == 0 /\ a_283^0-a_283^post63 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post63+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ tmp_48^0-tmp_48^post63 == 0 /\ result_11^0-result_11^post63 == 0 /\ ct_17^0 <= 0 /\ -x_SLAM_f_18^post63+x_SLAM_f_18^0 == 0 /\ -ct_17^0 <= 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post63 == 0 /\ -lt_37^post63+lt_37^0 == 0 /\ -nondet_12^post63+nondet_12^0 == 0 /\ -__disjvr_3^post63+__disjvr_3^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post63 == 0 /\ -a_247^post63+a_247^0 == 0 /\ __disjvr_4^0-__disjvr_4^post63 == 0 /\ x_238^0-x_238^post63 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post63 == 0 /\ __disjvr_13^0-__disjvr_13^post63 == 0 /\ t_23^post63-x_20^0 == 0 /\ __disjvr_15^0-__disjvr_15^post63 == 0 /\ x_SLAM_f_18^0-x_14^0 <= 0), cost: 1
  64: l59 -> l60 : __disjvr_0^0'=__disjvr_0^post64, a_283^0'=a_283^post64, temp0_45^0'=temp0_45^post64, __disjvr_21^0'=__disjvr_21^post64, y_19^0'=y_19^post64, __disjvr_4^0'=__disjvr_4^post64, result_11^0'=result_11^post64, __disjvr_14^0'=__disjvr_14^post64, head_46^0'=head_46^post64, __disjvr_24^0'=__disjvr_24^post64, x_177^0'=x_177^post64, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post64, __disjvr_9^0'=__disjvr_9^post64, a_197^0'=a_197^post64, t_23^0'=t_23^post64, __disjvr_19^0'=__disjvr_19^post64, len_246^0'=len_246^post64, __disjvr_29^0'=__disjvr_29^post64, x_SLAM_f_18^0'=x_SLAM_f_18^post64, r_53^0'=r_53^post64, __disjvr_11^0'=__disjvr_11^post64, a_328^0'=a_328^post64, tmp_48^0'=tmp_48^post64, lt_36^0'=lt_36^post64, __disjvr_6^0'=__disjvr_6^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, __disjvr_16^0'=__disjvr_16^post64, i_125^0'=i_125^post64, __disjvr_26^0'=__disjvr_26^post64, x_238^0'=x_238^post64, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post64, a_26^0'=a_26^post64, temp0_32^0'=temp0_32^post64, __disjvr_20^0'=__disjvr_20^post64, lt_237^0'=lt_237^post64, __disjvr_3^0'=__disjvr_3^post64, rcd_72^0'=rcd_72^post64, __disjvr_13^0'=__disjvr_13^post64, fmt_31^0'=fmt_31^post64, __disjvr_23^0'=__disjvr_23^post64, x_16^0'=x_16^post64, nondet_12^0'=nondet_12^post64, __disjvr_8^0'=__disjvr_8^post64, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post64, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post64, __disjvr_18^0'=__disjvr_18^post64, len_180^0'=len_180^post64, __disjvr_28^0'=__disjvr_28^post64, x_34^0'=x_34^post64, r_161^0'=r_161^post64, __disjvr_10^0'=__disjvr_10^post64, a_305^0'=a_305^post64, temp_49^0'=temp_49^post64, __disjvr_22^0'=__disjvr_22^post64, __disjvr_5^0'=__disjvr_5^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post64, __disjvr_15^0'=__disjvr_15^post64, i_108^0'=i_108^post64, __disjvr_25^0'=__disjvr_25^post64, x_20^0'=x_20^post64, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post64, a_146^0'=a_146^post64, a_247^0'=a_247^post64, temp0_15^0'=temp0_15^post64, __disjvr_1^0'=__disjvr_1^post64, length_43^0'=length_43^post64, __disjvr_2^0'=__disjvr_2^post64, rcd_102^0'=rcd_102^post64, __disjvr_12^0'=__disjvr_12^post64, ct_17^0'=ct_17^post64, x_14^0'=x_14^post64, lt_37^0'=lt_37^post64, __disjvr_7^0'=__disjvr_7^post64, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post64, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post64, __disjvr_17^0'=__disjvr_17^post64, i_44^0'=i_44^post64, __disjvr_27^0'=__disjvr_27^post64, x_28^0'=x_28^post64, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post64, (-__disjvr_28^post64+__disjvr_28^0 == 0 /\ i_125^0-i_125^post64 == 0 /\ -__disjvr_10^post64+__disjvr_10^0 == 0 /\ -__disjvr_1^post64+__disjvr_1^0 == 0 /\ length_43^0-length_43^post64 == 0 /\ a_247^0-a_247^post64 == 0 /\ -x_28^post64+x_28^0 == 0 /\ head_46^0-head_46^post64 == 0 /\ __disjvr_21^0-__disjvr_21^post64 == 0 /\ -rcd_102^post64+rcd_102^0 == 0 /\ -r_161^post64+r_161^0 == 0 /\ __disjvr_11^0-__disjvr_11^post64 == 0 /\ -lt_37^post64+lt_37^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post64 == 0 /\ a_197^0-a_197^post64 == 0 /\ -__disjvr_12^post64+__disjvr_12^0 == 0 /\ __disjvr_6^0-__disjvr_6^post64 == 0 /\ __disjvr_16^0-__disjvr_16^post64 == 0 /\ -temp0_15^post64+temp0_15^0 == 0 /\ -__disjvr_26^post64+__disjvr_26^0 == 0 /\ rcd_72^0-rcd_72^post64 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post64+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post64+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_2^0-__disjvr_2^post64 == 0 /\ r_53^0-r_53^post64 == 0 /\ result_11^0-result_11^post64 == 0 /\ -i_44^post64+i_44^0 == 0 /\ lt_237^0-lt_237^post64 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post64+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_26^0-a_26^post64 == 0 /\ a_283^0-a_283^post64 == 0 /\ -x_34^post64+x_34^0 == 0 /\ __disjvr_23^0-__disjvr_23^post64 == 0 /\ len_180^0-len_180^post64 == 0 /\ -fmt_31^post64+fmt_31^0 == 0 /\ len_246^0-len_246^post64 == 0 /\ -__disjvr_22^post64+__disjvr_22^0 == 0 /\ __disjvr_4^0-__disjvr_4^post64 == 0 /\ temp0_32^0-temp0_32^post64 == 0 /\ __disjvr_0^0-__disjvr_0^post64 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post64+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -x_14^post64+x_14^0 == 0 /\ -lt_36^post64+lt_36^0 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post64 == 0 /\ -__disjvr_13^post64+__disjvr_13^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post64+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post64 == 0 /\ x_177^0-x_177^post64 == 0 /\ -__disjvr_20^post64+__disjvr_20^0 == 0 /\ __disjvr_25^0-__disjvr_25^post64 == 0 /\ __disjvr_27^post64-__disjvr_27^0 == 0 /\ -temp_49^post64+temp_49^0 == 0 /\ -__disjvr_15^post64+__disjvr_15^0 == 0 /\ -ct_17^post64+ct_17^0 == 0 /\ -t_23^post64+t_23^0 == 0 /\ temp0_45^0-temp0_45^post64 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post64 == 0 /\ __disjvr_17^0-__disjvr_17^post64 == 0 /\ -__disjvr_8^post64+__disjvr_8^0 == 0 /\ i_108^0-i_108^post64 == 0 /\ x_238^0-x_238^post64 == 0 /\ y_19^0-y_19^post64 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post64+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_16^post64+x_16^0 == 0 /\ __disjvr_14^0-__disjvr_14^post64 == 0 /\ -x_20^post64+x_20^0 == 0 /\ -__disjvr_5^post64+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post64 == 0 /\ -a_146^post64+a_146^0 == 0 /\ __disjvr_19^0-__disjvr_19^post64 == 0 /\ -__disjvr_27^post64+__disjvr_27^0 == 0 /\ a_305^0-a_305^post64 == 0 /\ __disjvr_3^0-__disjvr_3^post64 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post64+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ tmp_48^0-tmp_48^post64 == 0 /\ -a_328^post64+a_328^0 == 0 /\ -__disjvr_7^post64+__disjvr_7^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post64 == 0 /\ __disjvr_24^0-__disjvr_24^post64 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post64 == 0), cost: 1
  65: l60 -> l61 : __disjvr_0^0'=__disjvr_0^post65, a_283^0'=a_283^post65, temp0_45^0'=temp0_45^post65, __disjvr_21^0'=__disjvr_21^post65, y_19^0'=y_19^post65, __disjvr_4^0'=__disjvr_4^post65, result_11^0'=result_11^post65, __disjvr_14^0'=__disjvr_14^post65, head_46^0'=head_46^post65, __disjvr_24^0'=__disjvr_24^post65, x_177^0'=x_177^post65, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post65, __disjvr_9^0'=__disjvr_9^post65, a_197^0'=a_197^post65, t_23^0'=t_23^post65, __disjvr_19^0'=__disjvr_19^post65, len_246^0'=len_246^post65, __disjvr_29^0'=__disjvr_29^post65, x_SLAM_f_18^0'=x_SLAM_f_18^post65, r_53^0'=r_53^post65, __disjvr_11^0'=__disjvr_11^post65, a_328^0'=a_328^post65, tmp_48^0'=tmp_48^post65, lt_36^0'=lt_36^post65, __disjvr_6^0'=__disjvr_6^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, __disjvr_16^0'=__disjvr_16^post65, i_125^0'=i_125^post65, __disjvr_26^0'=__disjvr_26^post65, x_238^0'=x_238^post65, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post65, a_26^0'=a_26^post65, temp0_32^0'=temp0_32^post65, __disjvr_20^0'=__disjvr_20^post65, lt_237^0'=lt_237^post65, __disjvr_3^0'=__disjvr_3^post65, rcd_72^0'=rcd_72^post65, __disjvr_13^0'=__disjvr_13^post65, fmt_31^0'=fmt_31^post65, __disjvr_23^0'=__disjvr_23^post65, x_16^0'=x_16^post65, nondet_12^0'=nondet_12^post65, __disjvr_8^0'=__disjvr_8^post65, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post65, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post65, __disjvr_18^0'=__disjvr_18^post65, len_180^0'=len_180^post65, __disjvr_28^0'=__disjvr_28^post65, x_34^0'=x_34^post65, r_161^0'=r_161^post65, __disjvr_10^0'=__disjvr_10^post65, a_305^0'=a_305^post65, temp_49^0'=temp_49^post65, __disjvr_22^0'=__disjvr_22^post65, __disjvr_5^0'=__disjvr_5^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post65, __disjvr_15^0'=__disjvr_15^post65, i_108^0'=i_108^post65, __disjvr_25^0'=__disjvr_25^post65, x_20^0'=x_20^post65, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post65, a_146^0'=a_146^post65, a_247^0'=a_247^post65, temp0_15^0'=temp0_15^post65, __disjvr_1^0'=__disjvr_1^post65, length_43^0'=length_43^post65, __disjvr_2^0'=__disjvr_2^post65, rcd_102^0'=rcd_102^post65, __disjvr_12^0'=__disjvr_12^post65, ct_17^0'=ct_17^post65, x_14^0'=x_14^post65, lt_37^0'=lt_37^post65, __disjvr_7^0'=__disjvr_7^post65, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post65, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post65, __disjvr_17^0'=__disjvr_17^post65, i_44^0'=i_44^post65, __disjvr_27^0'=__disjvr_27^post65, x_28^0'=x_28^post65, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post65, (__disjvr_28^0-__disjvr_28^post65 == 0 /\ __disjvr_26^0-__disjvr_26^post65 == 0 /\ __disjvr_21^0-__disjvr_21^post65 == 0 /\ -__disjvr_12^post65+__disjvr_12^0 == 0 /\ a_328^0-a_328^post65 == 0 /\ -__disjvr_7^post65+__disjvr_7^0 == 0 /\ -__disjvr_1^post65+__disjvr_1^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -x_20^post65+x_20^0 == 0 /\ -len_180^post65+len_180^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post65+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ temp0_15^0-temp0_15^post65 == 0 /\ lt_36^0-lt_36^post65 == 0 /\ -r_161^post65+r_161^0 == 0 /\ x_238^0-x_238^post65 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post65 == 0 /\ -__disjvr_28^0+__disjvr_28^post65 == 0 /\ -i_125^post65+i_125^0 == 0 /\ rcd_102^0-rcd_102^post65 == 0 /\ __disjvr_16^0-__disjvr_16^post65 == 0 /\ -x_28^post65+x_28^0 == 0 /\ result_11^0-result_11^post65 == 0 /\ __disjvr_23^0-__disjvr_23^post65 == 0 /\ -lt_37^post65+lt_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post65+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -length_43^post65+length_43^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post65+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -a_26^post65+a_26^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post65 == 0 /\ -i_108^post65+i_108^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post65 == 0 /\ temp0_32^0-temp0_32^post65 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 == 0 /\ a_283^0-a_283^post65 == 0 /\ __disjvr_4^0-__disjvr_4^post65 == 0 /\ __disjvr_3^0-__disjvr_3^post65 == 0 /\ -a_247^post65+a_247^0 == 0 /\ x_177^0-x_177^post65 == 0 /\ -__disjvr_8^post65+__disjvr_8^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post65+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -rcd_72^post65+rcd_72^0 == 0 /\ __disjvr_22^0-__disjvr_22^post65 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post65+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ fmt_31^0-fmt_31^post65 == 0 /\ -a_146^post65+a_146^0 == 0 /\ __disjvr_20^0-__disjvr_20^post65 == 0 /\ -i_44^post65+i_44^0 == 0 /\ -ct_17^post65+ct_17^0 == 0 /\ -lt_237^post65+lt_237^0 == 0 /\ -__disjvr_19^post65+__disjvr_19^0 == 0 /\ a_197^0-a_197^post65 == 0 /\ -y_19^post65+y_19^0 == 0 /\ -temp_49^post65+temp_49^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post65 == 0 /\ -x_14^post65+x_14^0 == 0 /\ __disjvr_0^0-__disjvr_0^post65 == 0 /\ __disjvr_14^0-__disjvr_14^post65 == 0 /\ __disjvr_11^0-__disjvr_11^post65 == 0 /\ -__disjvr_15^post65+__disjvr_15^0 == 0 /\ r_53^0-r_53^post65 == 0 /\ x_34^0-x_34^post65 == 0 /\ -__disjvr_27^post65+__disjvr_27^0 == 0 /\ -__disjvr_2^post65+__disjvr_2^0 == 0 /\ temp0_45^0-temp0_45^post65 == 0 /\ -__disjvr_17^post65+__disjvr_17^0 == 0 /\ t_23^0-t_23^post65 == 0 /\ __disjvr_10^0-__disjvr_10^post65 == 0 /\ -tmp_48^post65+tmp_48^0 == 0 /\ -__disjvr_25^post65+__disjvr_25^0 == 0 /\ -a_305^post65+a_305^0 == 0 /\ __disjvr_9^0-__disjvr_9^post65 == 0 /\ -__disjvr_29^post65+__disjvr_29^0 == 0 /\ -__disjvr_18^post65+__disjvr_18^0 == 0 /\ len_246^0-len_246^post65 == 0 /\ -__disjvr_6^post65+__disjvr_6^0 == 0 /\ head_46^0-head_46^post65 == 0 /\ -x_16^post65+x_16^0 == 0 /\ __disjvr_24^0-__disjvr_24^post65 == 0 /\ -__disjvr_13^post65+__disjvr_13^0 == 0 /\ -__disjvr_5^post65+__disjvr_5^0 == 0), cost: 1
  66: l61 -> l62 : __disjvr_0^0'=__disjvr_0^post66, a_283^0'=a_283^post66, temp0_45^0'=temp0_45^post66, __disjvr_21^0'=__disjvr_21^post66, y_19^0'=y_19^post66, __disjvr_4^0'=__disjvr_4^post66, result_11^0'=result_11^post66, __disjvr_14^0'=__disjvr_14^post66, head_46^0'=head_46^post66, __disjvr_24^0'=__disjvr_24^post66, x_177^0'=x_177^post66, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post66, __disjvr_9^0'=__disjvr_9^post66, a_197^0'=a_197^post66, t_23^0'=t_23^post66, __disjvr_19^0'=__disjvr_19^post66, len_246^0'=len_246^post66, __disjvr_29^0'=__disjvr_29^post66, x_SLAM_f_18^0'=x_SLAM_f_18^post66, r_53^0'=r_53^post66, __disjvr_11^0'=__disjvr_11^post66, a_328^0'=a_328^post66, tmp_48^0'=tmp_48^post66, lt_36^0'=lt_36^post66, __disjvr_6^0'=__disjvr_6^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, __disjvr_16^0'=__disjvr_16^post66, i_125^0'=i_125^post66, __disjvr_26^0'=__disjvr_26^post66, x_238^0'=x_238^post66, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post66, a_26^0'=a_26^post66, temp0_32^0'=temp0_32^post66, __disjvr_20^0'=__disjvr_20^post66, lt_237^0'=lt_237^post66, __disjvr_3^0'=__disjvr_3^post66, rcd_72^0'=rcd_72^post66, __disjvr_13^0'=__disjvr_13^post66, fmt_31^0'=fmt_31^post66, __disjvr_23^0'=__disjvr_23^post66, x_16^0'=x_16^post66, nondet_12^0'=nondet_12^post66, __disjvr_8^0'=__disjvr_8^post66, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post66, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post66, __disjvr_18^0'=__disjvr_18^post66, len_180^0'=len_180^post66, __disjvr_28^0'=__disjvr_28^post66, x_34^0'=x_34^post66, r_161^0'=r_161^post66, __disjvr_10^0'=__disjvr_10^post66, a_305^0'=a_305^post66, temp_49^0'=temp_49^post66, __disjvr_22^0'=__disjvr_22^post66, __disjvr_5^0'=__disjvr_5^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post66, __disjvr_15^0'=__disjvr_15^post66, i_108^0'=i_108^post66, __disjvr_25^0'=__disjvr_25^post66, x_20^0'=x_20^post66, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post66, a_146^0'=a_146^post66, a_247^0'=a_247^post66, temp0_15^0'=temp0_15^post66, __disjvr_1^0'=__disjvr_1^post66, length_43^0'=length_43^post66, __disjvr_2^0'=__disjvr_2^post66, rcd_102^0'=rcd_102^post66, __disjvr_12^0'=__disjvr_12^post66, ct_17^0'=ct_17^post66, x_14^0'=x_14^post66, lt_37^0'=lt_37^post66, __disjvr_7^0'=__disjvr_7^post66, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post66, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post66, __disjvr_17^0'=__disjvr_17^post66, i_44^0'=i_44^post66, __disjvr_27^0'=__disjvr_27^post66, x_28^0'=x_28^post66, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post66, (-len_180^post66+len_180^0 == 0 /\ -temp0_32^post66+temp0_32^0 == 0 /\ -x_SLAM_f_18^post66+x_SLAM_f_18^0 == 0 /\ a_283^0-a_283^post66 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post66+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_18^0-__disjvr_18^post66 == 0 /\ x_177^0-x_177^post66 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post66+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ temp0_15^0-temp0_15^post66 == 0 /\ -__disjvr_7^post66+__disjvr_7^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post66 == 0 /\ lt_237^0-lt_237^post66 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ -length_43^post66+length_43^0 == 0 /\ __disjvr_3^0-__disjvr_3^post66 == 0 /\ a_328^0-a_328^post66 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0 /\ -ct_17^post66+ct_17^0 == 0 /\ x_238^0-x_238^post66 == 0 /\ -x_34^post66+x_34^0 == 0 /\ -i_108^post66+i_108^0 == 0 /\ __disjvr_24^0-__disjvr_24^post66 == 0 /\ __disjvr_16^0-__disjvr_16^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -lt_37^post66+lt_37^0 == 0 /\ -a_247^post66+a_247^0 == 0 /\ -fmt_31^post66+fmt_31^0 == 0 /\ __disjvr_0^0-__disjvr_0^post66 == 0 /\ lt_36^0-lt_36^post66 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 == 0 /\ __disjvr_13^0-__disjvr_13^post66 == 0 /\ temp0_45^0-temp0_45^post66 == 0 /\ head_46^0-head_46^post66 == 0 /\ -x_20^post66+x_20^0 == 0 /\ __disjvr_19^0-__disjvr_19^post66 == 0 /\ __disjvr_9^0-__disjvr_9^post66 == 0 /\ tmp_48^0-tmp_48^post66 == 0 /\ -__disjvr_29^0+__disjvr_29^post66 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post66 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post66+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_4^post66+__disjvr_4^0 == 0 /\ nondet_12^0-nondet_12^post66 == 0 /\ i_125^0-i_125^post66 == 0 /\ -__disjvr_22^post66+__disjvr_22^0 == 0 /\ -a_146^post66+a_146^0 == 0 /\ r_53^0-r_53^post66 == 0 /\ __disjvr_20^0-__disjvr_20^post66 == 0 /\ __disjvr_15^0-__disjvr_15^post66 == 0 /\ a_305^0-a_305^post66 == 0 /\ -x_28^post66+x_28^0 == 0 /\ -__disjvr_6^post66+__disjvr_6^0 == 0 /\ y_19^0-y_19^post66 == 0 /\ a_197^0-a_197^post66 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post66+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -__disjvr_8^post66+__disjvr_8^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_38^0-result_dot_printf_sdv_special_RETURN_VALUE_38^post66 == 0 /\ -__disjvr_2^post66+__disjvr_2^0 == 0 /\ __disjvr_11^0-__disjvr_11^post66 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post66+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -__disjvr_12^post66+__disjvr_12^0 == 0 /\ x_16^0-x_16^post66 == 0 /\ __disjvr_29^0-__disjvr_29^post66 == 0 /\ r_161^0-r_161^post66 == 0 /\ -__disjvr_27^post66+__disjvr_27^0 == 0 /\ -temp_49^post66+temp_49^0 == 0 /\ -__disjvr_23^post66+__disjvr_23^0 == 0 /\ t_23^0-t_23^post66 == 0 /\ -__disjvr_1^post66+__disjvr_1^0 == 0 /\ -__disjvr_28^post66+__disjvr_28^0 == 0 /\ __disjvr_26^0-__disjvr_26^post66 == 0 /\ -x_14^post66+x_14^0 == 0 /\ -__disjvr_10^post66+__disjvr_10^0 == 0 /\ -rcd_72^post66+rcd_72^0 == 0 /\ a_26^0-a_26^post66 == 0 /\ len_246^0-len_246^post66 == 0 /\ -__disjvr_25^post66+__disjvr_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post66 == 0 /\ -__disjvr_5^post66+__disjvr_5^0 == 0 /\ -rcd_102^post66+rcd_102^0 == 0 /\ result_11^0-result_11^post66 == 0 /\ -i_44^post66+i_44^0 == 0), cost: 1
  67: l62 -> l56 : __disjvr_0^0'=__disjvr_0^post67, a_283^0'=a_283^post67, temp0_45^0'=temp0_45^post67, __disjvr_21^0'=__disjvr_21^post67, y_19^0'=y_19^post67, __disjvr_4^0'=__disjvr_4^post67, result_11^0'=result_11^post67, __disjvr_14^0'=__disjvr_14^post67, head_46^0'=head_46^post67, __disjvr_24^0'=__disjvr_24^post67, x_177^0'=x_177^post67, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post67, __disjvr_9^0'=__disjvr_9^post67, a_197^0'=a_197^post67, t_23^0'=t_23^post67, __disjvr_19^0'=__disjvr_19^post67, len_246^0'=len_246^post67, __disjvr_29^0'=__disjvr_29^post67, x_SLAM_f_18^0'=x_SLAM_f_18^post67, r_53^0'=r_53^post67, __disjvr_11^0'=__disjvr_11^post67, a_328^0'=a_328^post67, tmp_48^0'=tmp_48^post67, lt_36^0'=lt_36^post67, __disjvr_6^0'=__disjvr_6^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, __disjvr_16^0'=__disjvr_16^post67, i_125^0'=i_125^post67, __disjvr_26^0'=__disjvr_26^post67, x_238^0'=x_238^post67, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post67, a_26^0'=a_26^post67, temp0_32^0'=temp0_32^post67, __disjvr_20^0'=__disjvr_20^post67, lt_237^0'=lt_237^post67, __disjvr_3^0'=__disjvr_3^post67, rcd_72^0'=rcd_72^post67, __disjvr_13^0'=__disjvr_13^post67, fmt_31^0'=fmt_31^post67, __disjvr_23^0'=__disjvr_23^post67, x_16^0'=x_16^post67, nondet_12^0'=nondet_12^post67, __disjvr_8^0'=__disjvr_8^post67, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post67, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post67, __disjvr_18^0'=__disjvr_18^post67, len_180^0'=len_180^post67, __disjvr_28^0'=__disjvr_28^post67, x_34^0'=x_34^post67, r_161^0'=r_161^post67, __disjvr_10^0'=__disjvr_10^post67, a_305^0'=a_305^post67, temp_49^0'=temp_49^post67, __disjvr_22^0'=__disjvr_22^post67, __disjvr_5^0'=__disjvr_5^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post67, __disjvr_15^0'=__disjvr_15^post67, i_108^0'=i_108^post67, __disjvr_25^0'=__disjvr_25^post67, x_20^0'=x_20^post67, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post67, a_146^0'=a_146^post67, a_247^0'=a_247^post67, temp0_15^0'=temp0_15^post67, __disjvr_1^0'=__disjvr_1^post67, length_43^0'=length_43^post67, __disjvr_2^0'=__disjvr_2^post67, rcd_102^0'=rcd_102^post67, __disjvr_12^0'=__disjvr_12^post67, ct_17^0'=ct_17^post67, x_14^0'=x_14^post67, lt_37^0'=lt_37^post67, __disjvr_7^0'=__disjvr_7^post67, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post67, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post67, __disjvr_17^0'=__disjvr_17^post67, i_44^0'=i_44^post67, __disjvr_27^0'=__disjvr_27^post67, x_28^0'=x_28^post67, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post67, (0 == 0 /\ -length_43^post67+length_43^0 == 0 /\ -x_34^post67+x_34^0 == 0 /\ a_283^0-a_283^post67 == 0 /\ __disjvr_11^0-__disjvr_11^post67 == 0 /\ x_177^0-x_177^post67 == 0 /\ tmp_48^0-tmp_48^post67 == 0 /\ -temp_49^post67+temp_49^0 == 0 /\ a_197^0-a_197^post67 == 0 /\ -__disjvr_5^post67+__disjvr_5^0 == 0 /\ -x_14^post67+x_14^0 == 0 /\ len_246^0-len_246^post67 == 0 /\ -r_161^post67+r_161^0 == 0 /\ __disjvr_18^0-__disjvr_18^post67 == 0 /\ -ct_17^post67+ct_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ -__disjvr_27^post67+__disjvr_27^0 == 0 /\ -i_125^post67+i_125^0 == 0 /\ __disjvr_24^0-__disjvr_24^post67 == 0 /\ a_328^0-a_305^post67 <= 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ -__disjvr_7^post67+__disjvr_7^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post67+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post67 == 0 /\ __disjvr_1^0-__disjvr_1^post67 == 0 /\ -x_20^post67+x_20^0 == 0 /\ __disjvr_26^0-__disjvr_26^post67 == 0 /\ __disjvr_29^0-__disjvr_29^post67 == 0 /\ __disjvr_0^0-__disjvr_0^post67 == 0 /\ temp0_45^0-temp0_45^post67 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post67+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ head_46^0-head_46^post67 == 0 /\ rcd_72^0-rcd_72^post67 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post67+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -lt_37^post67+lt_37^0 == 0 /\ -nondet_12^post67+nondet_12^0 == 0 /\ -a_247^post67+a_247^0 == 0 /\ -a_328^0+a_305^post67 <= 0 /\ __disjvr_2^0-__disjvr_2^post67 == 0 /\ a_26^0-a_26^post67 == 0 /\ -__disjvr_3^post67+__disjvr_3^0 == 0 /\ __disjvr_6^0-__disjvr_6^post67 == 0 /\ -i_108^post67+i_108^0 == 0 /\ __disjvr_9^0-__disjvr_9^post67 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post67+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post67 == 0 /\ -a_328^post67+a_328^0 == 0 /\ -x_16^post67+x_16^0 == 0 /\ result_11^0-result_11^post67 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post67 == 0 /\ -__disjvr_12^post67+__disjvr_12^0 == 0 /\ t_23^0-t_23^post67 == 0 /\ __disjvr_15^0-__disjvr_15^post67 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_8^post67+__disjvr_8^0 == 0 /\ -x_28^post67+x_28^0 == 0 /\ -__disjvr_10^post67+__disjvr_10^0 == 0 /\ x_238^0-x_238^post67 == 0 /\ -__disjvr_4^post67+__disjvr_4^0 == 0 /\ -temp0_15^post67+temp0_15^0 == 0 /\ -a_146^post67+a_146^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post67+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ y_19^0-y_19^post67 == 0 /\ lt_237^0-lt_237^post67 == 0 /\ -__disjvr_28^post67+__disjvr_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post67 == 0 /\ -len_180^post67+len_180^0 == 0 /\ -r_53^post67+r_53^0 == 0 /\ -__disjvr_22^post67+__disjvr_22^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ lt_36^0-lt_36^post67 == 0 /\ -__disjvr_13^post67+__disjvr_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post67 == 0 /\ -rcd_102^post67+rcd_102^0 == 0 /\ __disjvr_23^0-__disjvr_23^post67 == 0 /\ temp0_32^0-temp0_32^post67 == 0 /\ fmt_31^0-fmt_31^post67 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post67+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_20^post67+__disjvr_20^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post67 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post67 == 0 /\ __disjvr_21^0-__disjvr_21^post67 == 0 /\ -i_44^post67+i_44^0 == 0), cost: 1
  68: l56 -> l4 : __disjvr_0^0'=__disjvr_0^post68, a_283^0'=a_283^post68, temp0_45^0'=temp0_45^post68, __disjvr_21^0'=__disjvr_21^post68, y_19^0'=y_19^post68, __disjvr_4^0'=__disjvr_4^post68, result_11^0'=result_11^post68, __disjvr_14^0'=__disjvr_14^post68, head_46^0'=head_46^post68, __disjvr_24^0'=__disjvr_24^post68, x_177^0'=x_177^post68, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post68, __disjvr_9^0'=__disjvr_9^post68, a_197^0'=a_197^post68, t_23^0'=t_23^post68, __disjvr_19^0'=__disjvr_19^post68, len_246^0'=len_246^post68, __disjvr_29^0'=__disjvr_29^post68, x_SLAM_f_18^0'=x_SLAM_f_18^post68, r_53^0'=r_53^post68, __disjvr_11^0'=__disjvr_11^post68, a_328^0'=a_328^post68, tmp_48^0'=tmp_48^post68, lt_36^0'=lt_36^post68, __disjvr_6^0'=__disjvr_6^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, __disjvr_16^0'=__disjvr_16^post68, i_125^0'=i_125^post68, __disjvr_26^0'=__disjvr_26^post68, x_238^0'=x_238^post68, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post68, a_26^0'=a_26^post68, temp0_32^0'=temp0_32^post68, __disjvr_20^0'=__disjvr_20^post68, lt_237^0'=lt_237^post68, __disjvr_3^0'=__disjvr_3^post68, rcd_72^0'=rcd_72^post68, __disjvr_13^0'=__disjvr_13^post68, fmt_31^0'=fmt_31^post68, __disjvr_23^0'=__disjvr_23^post68, x_16^0'=x_16^post68, nondet_12^0'=nondet_12^post68, __disjvr_8^0'=__disjvr_8^post68, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post68, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post68, __disjvr_18^0'=__disjvr_18^post68, len_180^0'=len_180^post68, __disjvr_28^0'=__disjvr_28^post68, x_34^0'=x_34^post68, r_161^0'=r_161^post68, __disjvr_10^0'=__disjvr_10^post68, a_305^0'=a_305^post68, temp_49^0'=temp_49^post68, __disjvr_22^0'=__disjvr_22^post68, __disjvr_5^0'=__disjvr_5^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post68, __disjvr_15^0'=__disjvr_15^post68, i_108^0'=i_108^post68, __disjvr_25^0'=__disjvr_25^post68, x_20^0'=x_20^post68, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post68, a_146^0'=a_146^post68, a_247^0'=a_247^post68, temp0_15^0'=temp0_15^post68, __disjvr_1^0'=__disjvr_1^post68, length_43^0'=length_43^post68, __disjvr_2^0'=__disjvr_2^post68, rcd_102^0'=rcd_102^post68, __disjvr_12^0'=__disjvr_12^post68, ct_17^0'=ct_17^post68, x_14^0'=x_14^post68, lt_37^0'=lt_37^post68, __disjvr_7^0'=__disjvr_7^post68, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post68, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post68, __disjvr_17^0'=__disjvr_17^post68, i_44^0'=i_44^post68, __disjvr_27^0'=__disjvr_27^post68, x_28^0'=x_28^post68, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post68, (-x_14^post68+x_14^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post68+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ r_53^0-r_53^post68 == 0 /\ result_11^0-result_11^post68 == 0 /\ -length_43^post68+length_43^0 == 0 /\ a_197^0-a_197^post68 == 0 /\ y_19^0-y_19^post68 == 0 /\ __disjvr_2^0-__disjvr_2^post68 == 0 /\ -__disjvr_13^post68+__disjvr_13^0 == 0 /\ __disjvr_9^0-__disjvr_9^post68 == 0 /\ -__disjvr_20^post68+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post68+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -ct_17^post68+ct_17^0 == 0 /\ len_180^0-len_180^post68 == 0 /\ a_305^0-a_305^post68 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -__disjvr_17^post68+__disjvr_17^0 == 0 /\ tmp_48^0-tmp_48^post68 == 0 /\ __disjvr_19^0-__disjvr_19^post68 == 0 /\ len_246^0-len_246^post68 == 0 /\ -__disjvr_25^post68+__disjvr_25^0 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ -a_328^post68+a_328^0 == 0 /\ -__disjvr_8^post68+__disjvr_8^0 == 0 /\ -__disjvr_5^post68+__disjvr_5^0 == 0 /\ __disjvr_26^0-__disjvr_26^post68 == 0 /\ __disjvr_23^0-__disjvr_23^post68 == 0 /\ __disjvr_29^0-__disjvr_29^post68 == 0 /\ a_247^0-a_247^post68 == 0 /\ x_177^0-x_177^post68 == 0 /\ -__disjvr_27^post68+__disjvr_27^0 == 0 /\ -lt_36^post68+lt_36^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post68+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_21^0-__disjvr_21^post68 == 0 /\ -__disjvr_7^post68+__disjvr_7^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post68 == 0 /\ -a_146^post68+a_146^0 == 0 /\ -__disjvr_18^post68+__disjvr_18^0 == 0 /\ __disjvr_6^0-__disjvr_6^post68 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post68 == 0 /\ -x_28^post68+x_28^0 == 0 /\ a_26^0-a_26^post68 == 0 /\ -__disjvr_28^post68+__disjvr_28^0 == 0 /\ __disjvr_14^0-__disjvr_14^post68 == 0 /\ x_238^0-x_238^post68 == 0 /\ a_283^0-a_283^post68 == 0 /\ temp_49^0-temp_49^post68 == 0 /\ __disjvr_4^0-__disjvr_4^post68 == 0 /\ __disjvr_3^0-__disjvr_3^post68 == 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ -rcd_102^post68+rcd_102^0 == 0 /\ -temp0_45^post68+temp0_45^0 == 0 /\ i_108^0-i_108^post68 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post68 == 0 /\ -x_16^post68+x_16^0 == 0 /\ -__disjvr_10^post68+__disjvr_10^0 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ -temp0_15^post68+temp0_15^0 == 0 /\ -lt_37^post68+lt_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post68 == 0 /\ t_23^0-t_23^post68 == 0 /\ __disjvr_0^0-__disjvr_0^post68 == 0 /\ -__disjvr_15^post68+__disjvr_15^0 == 0 /\ temp0_32^0-temp0_32^post68 == 0 /\ -rcd_72^post68+rcd_72^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post68+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -r_161^post68+r_161^0 == 0 /\ head_46^0-head_46^post68 == 0 /\ x_20^0-x_20^post68 == 0 /\ -i_44^post68+i_44^0 == 0 /\ -lt_237^post68+lt_237^0 == 0 /\ -__disjvr_22^post68+__disjvr_22^0 == 0 /\ -x_34^post68+x_34^0 == 0 /\ __disjvr_11^0-__disjvr_11^post68 == 0 /\ -i_125^post68+i_125^0 == 0 /\ __disjvr_16^0-__disjvr_16^post68 == 0 /\ fmt_31^0-fmt_31^post68 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post68+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post68+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post68+__disjvr_1^0 == 0), cost: 1
  69: l63 -> l18 : __disjvr_0^0'=__disjvr_0^post69, a_283^0'=a_283^post69, temp0_45^0'=temp0_45^post69, __disjvr_21^0'=__disjvr_21^post69, y_19^0'=y_19^post69, __disjvr_4^0'=__disjvr_4^post69, result_11^0'=result_11^post69, __disjvr_14^0'=__disjvr_14^post69, head_46^0'=head_46^post69, __disjvr_24^0'=__disjvr_24^post69, x_177^0'=x_177^post69, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post69, __disjvr_9^0'=__disjvr_9^post69, a_197^0'=a_197^post69, t_23^0'=t_23^post69, __disjvr_19^0'=__disjvr_19^post69, len_246^0'=len_246^post69, __disjvr_29^0'=__disjvr_29^post69, x_SLAM_f_18^0'=x_SLAM_f_18^post69, r_53^0'=r_53^post69, __disjvr_11^0'=__disjvr_11^post69, a_328^0'=a_328^post69, tmp_48^0'=tmp_48^post69, lt_36^0'=lt_36^post69, __disjvr_6^0'=__disjvr_6^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, __disjvr_16^0'=__disjvr_16^post69, i_125^0'=i_125^post69, __disjvr_26^0'=__disjvr_26^post69, x_238^0'=x_238^post69, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post69, a_26^0'=a_26^post69, temp0_32^0'=temp0_32^post69, __disjvr_20^0'=__disjvr_20^post69, lt_237^0'=lt_237^post69, __disjvr_3^0'=__disjvr_3^post69, rcd_72^0'=rcd_72^post69, __disjvr_13^0'=__disjvr_13^post69, fmt_31^0'=fmt_31^post69, __disjvr_23^0'=__disjvr_23^post69, x_16^0'=x_16^post69, nondet_12^0'=nondet_12^post69, __disjvr_8^0'=__disjvr_8^post69, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post69, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post69, __disjvr_18^0'=__disjvr_18^post69, len_180^0'=len_180^post69, __disjvr_28^0'=__disjvr_28^post69, x_34^0'=x_34^post69, r_161^0'=r_161^post69, __disjvr_10^0'=__disjvr_10^post69, a_305^0'=a_305^post69, temp_49^0'=temp_49^post69, __disjvr_22^0'=__disjvr_22^post69, __disjvr_5^0'=__disjvr_5^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post69, __disjvr_15^0'=__disjvr_15^post69, i_108^0'=i_108^post69, __disjvr_25^0'=__disjvr_25^post69, x_20^0'=x_20^post69, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post69, a_146^0'=a_146^post69, a_247^0'=a_247^post69, temp0_15^0'=temp0_15^post69, __disjvr_1^0'=__disjvr_1^post69, length_43^0'=length_43^post69, __disjvr_2^0'=__disjvr_2^post69, rcd_102^0'=rcd_102^post69, __disjvr_12^0'=__disjvr_12^post69, ct_17^0'=ct_17^post69, x_14^0'=x_14^post69, lt_37^0'=lt_37^post69, __disjvr_7^0'=__disjvr_7^post69, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post69, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post69, __disjvr_17^0'=__disjvr_17^post69, i_44^0'=i_44^post69, __disjvr_27^0'=__disjvr_27^post69, x_28^0'=x_28^post69, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post69, (temp_49^0-temp_49^post69 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post69+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -x_14^post69+x_14^0 == 0 /\ __disjvr_14^0-__disjvr_14^post69 == 0 /\ __disjvr_10^0-__disjvr_10^post69 == 0 /\ -lt_237^post69+lt_237^0 == 0 /\ x_34^0-x_34^post69 == 0 /\ r_53^0-r_53^post69 == 0 /\ -__disjvr_25^post69+__disjvr_25^0 == 0 /\ rcd_72^0-rcd_72^post69 == 0 /\ -__disjvr_29^post69+__disjvr_29^0 == 0 /\ -x_238^post69+x_238^0 == 0 /\ -lt_36^post69+lt_36^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post69+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ x_16^0-x_16^post69 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post69 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post69 == 0 /\ __disjvr_4^0-__disjvr_4^post69 == 0 /\ __disjvr_19^0-__disjvr_19^post69 == 0 /\ a_283^0-a_283^post69 == 0 /\ len_246^0-len_246^post69 == 0 /\ tmp_48^0-tmp_48^post69 == 0 /\ __disjvr_24^0-__disjvr_24^post69 == 0 /\ -i_44^post69+i_44^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post69 == 0 /\ -ct_17^post69+ct_17^0 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ -__disjvr_2^post69+__disjvr_2^0 == 0 /\ head_46^0-head_46^post69 == 0 /\ -a_305^post69+a_305^0 == 0 /\ -temp0_15^post69+temp0_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post69 == 0 /\ temp0_32^0-temp0_32^post69 == 0 /\ __disjvr_28^0-__disjvr_28^post69 == 0 /\ fmt_31^0-fmt_31^post69 == 0 /\ a_247^0-a_247^post69 == 0 /\ -__disjvr_5^post69+__disjvr_5^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post69+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ i_125^0-i_125^post69 == 0 /\ -a_146^post69+a_146^0 == 0 /\ -__disjvr_8^post69+__disjvr_8^0 == 0 /\ -__disjvr_17^post69+__disjvr_17^0 == 0 /\ rcd_102^0-rcd_102^post69 == 0 /\ -__disjvr_13^post69+__disjvr_13^0 == 0 /\ a_197^0-a_197^post69 == 0 /\ -a_328^post69+a_328^0 == 0 /\ __disjvr_6^0-__disjvr_6^post69 == 0 /\ __disjvr_0^0-__disjvr_0^post69 == 0 /\ -__disjvr_27^post69+__disjvr_27^0 == 0 /\ t_23^0-t_23^post69 == 0 /\ y_19^0-y_19^post69 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post69 == 0 /\ -i_108^post69+i_108^0 == 0 /\ -__disjvr_7^post69+__disjvr_7^0 == 0 /\ -__disjvr_1^post69+__disjvr_1^0 == 0 /\ -__disjvr_18^post69+__disjvr_18^0 == 0 /\ result_11^0-result_11^post69 == 0 /\ __disjvr_9^0-__disjvr_9^post69 == 0 /\ temp0_45^0-temp0_45^post69 == 0 /\ -r_161^post69+r_161^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post69 == 0 /\ -a_26^post69+a_26^0 == 0 /\ -__disjvr_12^post69+__disjvr_12^0 == 0 /\ -len_180^post69+len_180^0 == 0 /\ __disjvr_23^0-__disjvr_23^post69 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post69+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_21^0-__disjvr_21^post69 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post69+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -lt_37^post69+lt_37^0 == 0 /\ -__disjvr_15^post69+__disjvr_15^0 == 0 /\ __disjvr_3^0-__disjvr_3^post69 == 0 /\ -__disjvr_22^post69+__disjvr_22^0 == 0 /\ x_20^0-x_20^post69 == 0 /\ __disjvr_20^0-__disjvr_20^post69 == 0 /\ __disjvr_11^0-__disjvr_11^post69 == 0 /\ -x_28^post69+x_28^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post69+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ x_177^0-x_177^post69 == 0 /\ -length_43^post69+length_43^0 == 0 /\ __disjvr_16^0-__disjvr_16^post69 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l63
  61: l4 -> l57 : __disjvr_0^0'=__disjvr_0^post61, a_283^0'=a_283^post61, temp0_45^0'=temp0_45^post61, __disjvr_21^0'=__disjvr_21^post61, y_19^0'=y_19^post61, __disjvr_4^0'=__disjvr_4^post61, result_11^0'=result_11^post61, __disjvr_14^0'=__disjvr_14^post61, head_46^0'=head_46^post61, __disjvr_24^0'=__disjvr_24^post61, x_177^0'=x_177^post61, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post61, __disjvr_9^0'=__disjvr_9^post61, a_197^0'=a_197^post61, t_23^0'=t_23^post61, __disjvr_19^0'=__disjvr_19^post61, len_246^0'=len_246^post61, __disjvr_29^0'=__disjvr_29^post61, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, __disjvr_11^0'=__disjvr_11^post61, a_328^0'=a_328^post61, tmp_48^0'=tmp_48^post61, lt_36^0'=lt_36^post61, __disjvr_6^0'=__disjvr_6^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, __disjvr_16^0'=__disjvr_16^post61, i_125^0'=i_125^post61, __disjvr_26^0'=__disjvr_26^post61, x_238^0'=x_238^post61, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post61, a_26^0'=a_26^post61, temp0_32^0'=temp0_32^post61, __disjvr_20^0'=__disjvr_20^post61, lt_237^0'=lt_237^post61, __disjvr_3^0'=__disjvr_3^post61, rcd_72^0'=rcd_72^post61, __disjvr_13^0'=__disjvr_13^post61, fmt_31^0'=fmt_31^post61, __disjvr_23^0'=__disjvr_23^post61, x_16^0'=x_16^post61, nondet_12^0'=nondet_12^post61, __disjvr_8^0'=__disjvr_8^post61, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post61, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post61, __disjvr_18^0'=__disjvr_18^post61, len_180^0'=len_180^post61, __disjvr_28^0'=__disjvr_28^post61, x_34^0'=x_34^post61, r_161^0'=r_161^post61, __disjvr_10^0'=__disjvr_10^post61, a_305^0'=a_305^post61, temp_49^0'=temp_49^post61, __disjvr_22^0'=__disjvr_22^post61, __disjvr_5^0'=__disjvr_5^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post61, __disjvr_15^0'=__disjvr_15^post61, i_108^0'=i_108^post61, __disjvr_25^0'=__disjvr_25^post61, x_20^0'=x_20^post61, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post61, a_146^0'=a_146^post61, a_247^0'=a_247^post61, temp0_15^0'=temp0_15^post61, __disjvr_1^0'=__disjvr_1^post61, length_43^0'=length_43^post61, __disjvr_2^0'=__disjvr_2^post61, rcd_102^0'=rcd_102^post61, __disjvr_12^0'=__disjvr_12^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, lt_37^0'=lt_37^post61, __disjvr_7^0'=__disjvr_7^post61, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post61, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post61, __disjvr_17^0'=__disjvr_17^post61, i_44^0'=i_44^post61, __disjvr_27^0'=__disjvr_27^post61, x_28^0'=x_28^post61, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post61, (0 == 0 /\ -a_146^post61+a_146^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post61 == 0 /\ __disjvr_24^0-__disjvr_24^post61 == 0 /\ -i_44^post61+i_44^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post61+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_8^post61+__disjvr_8^0 == 0 /\ -lt_237^post61+lt_237^0 == 0 /\ temp_49^0-temp_49^post61 == 0 /\ __disjvr_10^0-__disjvr_10^post61 == 0 /\ -a_305^0 <= 0 /\ -a_328^post61+a_328^0 == 0 /\ x_34^0-x_34^post61 == 0 /\ rcd_72^0-rcd_72^post61 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post61+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ len_246^0-len_246^post61 == 0 /\ -__disjvr_15^post61+__disjvr_15^0 == 0 /\ -lt_36^post61+lt_36^0 == 0 /\ head_46^0-head_46^post61 == 0 /\ __disjvr_21^0-__disjvr_21^post61 == 0 /\ __disjvr_4^0-__disjvr_4^post61 == 0 /\ __disjvr_19^0-__disjvr_19^post61 == 0 /\ __disjvr_26^0-__disjvr_26^post61 == 0 /\ temp0_32^0-temp0_32^post61 == 0 /\ -__disjvr_2^post61+__disjvr_2^0 == 0 /\ -a_247^post61+a_247^0 == 0 /\ a_283^0-a_283^post61 == 0 /\ -__disjvr_13^post61+__disjvr_13^0 == 0 /\ tmp_48^0-tmp_48^post61 == 0 /\ -__disjvr_20^post61+__disjvr_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post61 == 0 /\ -__disjvr_18^post61+__disjvr_18^0 == 0 /\ -__disjvr_27^post61+__disjvr_27^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post61 == 0 /\ -__disjvr_17^post61+__disjvr_17^0 == 0 /\ __disjvr_28^0-__disjvr_28^post61 == 0 /\ -temp0_15^post61+temp0_15^0 == 0 /\ a_197^0-a_197^post61 == 0 /\ __disjvr_6^0-__disjvr_6^post61 == 0 /\ -__disjvr_29^post61+__disjvr_29^0 == 0 /\ -a_305^post61+a_305^0 == 0 /\ __disjvr_0^0-__disjvr_0^post61 == 0 /\ -rcd_102^post61+rcd_102^0 == 0 /\ -__disjvr_5^post61+__disjvr_5^0 == 0 /\ -__disjvr_25^post61+__disjvr_25^0 == 0 /\ x_238^0-x_238^post61 == 0 /\ -r_161^post61+r_161^0 == 0 /\ __disjvr_23^0-__disjvr_23^post61 == 0 /\ __disjvr_16^0-__disjvr_16^post61 == 0 /\ y_19^0-y_19^post61 == 0 /\ t_23^0-t_23^post61 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post61+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -len_180^post61+len_180^0 == 0 /\ -__disjvr_12^post61+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post61+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post61+__disjvr_1^0 == 0 /\ a_26^0-a_26^post61 == 0 /\ __disjvr_7^0-__disjvr_7^post61 == 0 /\ x_20^0-x_20^post61 == 0 /\ temp0_45^0-temp0_45^post61 == 0 /\ __disjvr_9^0-__disjvr_9^post61 == 0 /\ __disjvr_22^0-__disjvr_22^post61 == 0 /\ -i_125^post61+i_125^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post61+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_11^0-__disjvr_11^post61 == 0 /\ -nondet_12^post61+nondet_12^0 == 0 /\ -lt_37^post61+lt_37^0 == 0 /\ __disjvr_3^0-__disjvr_3^post61 == 0 /\ -result_11^post61+result_11^0 == 0 /\ fmt_31^0-fmt_31^post61 == 0 /\ -x_28^post61+x_28^0 == 0 /\ x_177^0-x_177^post61 == 0 /\ -length_43^post61+length_43^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post61 == 0 /\ -i_108^post61+i_108^0 == 0 /\ __disjvr_14^0-__disjvr_14^post61 == 0), cost: 1
  10: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post10, a_283^0'=a_283^post10, temp0_45^0'=temp0_45^post10, __disjvr_21^0'=__disjvr_21^post10, y_19^0'=y_19^post10, __disjvr_4^0'=__disjvr_4^post10, result_11^0'=result_11^post10, __disjvr_14^0'=__disjvr_14^post10, head_46^0'=head_46^post10, __disjvr_24^0'=__disjvr_24^post10, x_177^0'=x_177^post10, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post10, __disjvr_9^0'=__disjvr_9^post10, a_197^0'=a_197^post10, t_23^0'=t_23^post10, __disjvr_19^0'=__disjvr_19^post10, len_246^0'=len_246^post10, __disjvr_29^0'=__disjvr_29^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, r_53^0'=r_53^post10, __disjvr_11^0'=__disjvr_11^post10, a_328^0'=a_328^post10, tmp_48^0'=tmp_48^post10, lt_36^0'=lt_36^post10, __disjvr_6^0'=__disjvr_6^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, __disjvr_16^0'=__disjvr_16^post10, i_125^0'=i_125^post10, __disjvr_26^0'=__disjvr_26^post10, x_238^0'=x_238^post10, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post10, a_26^0'=a_26^post10, temp0_32^0'=temp0_32^post10, __disjvr_20^0'=__disjvr_20^post10, lt_237^0'=lt_237^post10, __disjvr_3^0'=__disjvr_3^post10, rcd_72^0'=rcd_72^post10, __disjvr_13^0'=__disjvr_13^post10, fmt_31^0'=fmt_31^post10, __disjvr_23^0'=__disjvr_23^post10, x_16^0'=x_16^post10, nondet_12^0'=nondet_12^post10, __disjvr_8^0'=__disjvr_8^post10, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post10, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post10, __disjvr_18^0'=__disjvr_18^post10, len_180^0'=len_180^post10, __disjvr_28^0'=__disjvr_28^post10, x_34^0'=x_34^post10, r_161^0'=r_161^post10, __disjvr_10^0'=__disjvr_10^post10, a_305^0'=a_305^post10, temp_49^0'=temp_49^post10, __disjvr_22^0'=__disjvr_22^post10, __disjvr_5^0'=__disjvr_5^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post10, __disjvr_15^0'=__disjvr_15^post10, i_108^0'=i_108^post10, __disjvr_25^0'=__disjvr_25^post10, x_20^0'=x_20^post10, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post10, a_146^0'=a_146^post10, a_247^0'=a_247^post10, temp0_15^0'=temp0_15^post10, __disjvr_1^0'=__disjvr_1^post10, length_43^0'=length_43^post10, __disjvr_2^0'=__disjvr_2^post10, rcd_102^0'=rcd_102^post10, __disjvr_12^0'=__disjvr_12^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, lt_37^0'=lt_37^post10, __disjvr_7^0'=__disjvr_7^post10, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post10, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post10, __disjvr_17^0'=__disjvr_17^post10, i_44^0'=i_44^post10, __disjvr_27^0'=__disjvr_27^post10, x_28^0'=x_28^post10, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post10, (0 == 0 /\ -__disjvr_11^post10+__disjvr_11^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post10+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ y_19^0-y_19^post10 == 0 /\ -x_238^post10+x_238^0 == 0 /\ -lt_237^post10+lt_237^0 == 0 /\ t_23^0-t_23^post10 == 0 /\ __disjvr_9^0-__disjvr_9^post10 == 0 /\ -__disjvr_25^post10+__disjvr_25^0 == 0 /\ result_11^0-result_11^post10 == 0 /\ -a_247^post10+a_247^0 == 0 /\ temp0_45^0-temp0_45^post10 == 0 /\ -rcd_72^post10+rcd_72^0 == 0 /\ -__disjvr_27^post10+__disjvr_27^0 == 0 /\ nondet_12^0-nondet_12^post10 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post10+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -i_44^post10+i_44^0 == 0 /\ __disjvr_23^0-__disjvr_23^post10 == 0 /\ -temp_49^post10+temp_49^0 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0 /\ a_328^0-a_328^post10 == 0 /\ temp0_32^0-temp0_32^post10 == 0 /\ fmt_31^0-fmt_31^post10 == 0 /\ x_177^0-x_177^post10 == 0 /\ __disjvr_18^0-__disjvr_18^post10 == 0 /\ a_146^0-a_146^post10 == 0 /\ -x_20^post10+x_20^0 == 0 /\ __disjvr_3^0-__disjvr_3^post10 == 0 /\ -__disjvr_2^post10+__disjvr_2^0 == 0 /\ i_125^0-i_125^post10 == 0 /\ -__disjvr_6^post10+__disjvr_6^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post10 == 0 /\ lt_36^0-lt_36^post10 == 0 /\ -__disjvr_17^post10+__disjvr_17^0 == 0 /\ -__disjvr_13^post10+__disjvr_13^0 == 0 /\ rcd_102^0-rcd_102^post10 == 0 /\ r_53^0-r_53^post10 == 0 /\ -a_305^post10+a_305^0 == 0 /\ -len_180^0 <= 0 /\ -__disjvr_8^post10+__disjvr_8^0 == 0 /\ temp0_15^0-temp0_15^post10 == 0 /\ -__disjvr_7^post10+__disjvr_7^0 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ x_34^0-x_34^post10 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post10 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post10 == 0 /\ __disjvr_5^0-__disjvr_5^post10 == 0 /\ -i_108^post10+i_108^0 == 0 /\ -__disjvr_16^post10+__disjvr_16^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post10+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_19^0-__disjvr_19^post10 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post10 == 0 /\ __disjvr_4^0-__disjvr_4^post10 == 0 /\ -a_26^post10+a_26^0 == 0 /\ -tmp_48^post10+tmp_48^0 == 0 /\ -r_161^post10+r_161^0 == 0 /\ -__disjvr_10^post10+__disjvr_10^0 == 0 /\ -len_180^post10+len_180^0 == 0 /\ len_246^0-len_246^post10 == 0 /\ a_283^0-a_283^post10 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ head_46^0-head_46^post10 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post10+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_22^0-__disjvr_22^post10 == 0 /\ -__disjvr_24^post10+__disjvr_24^0 == 0 /\ -__disjvr_15^post10+__disjvr_15^0 == 0 /\ __disjvr_28^0-__disjvr_28^post10 == 0 /\ __disjvr_26^0-__disjvr_26^post10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -lt_37^post10+lt_37^0 == 0 /\ __disjvr_20^0-__disjvr_20^post10 == 0 /\ __disjvr_29^0-__disjvr_29^post10 == 0 /\ -length_43^post10+length_43^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ -x_28^post10+x_28^0 == 0 /\ a_197^0-a_197^post10 == 0), cost: 1
  11: l12 -> l13 : __disjvr_0^0'=__disjvr_0^post11, a_283^0'=a_283^post11, temp0_45^0'=temp0_45^post11, __disjvr_21^0'=__disjvr_21^post11, y_19^0'=y_19^post11, __disjvr_4^0'=__disjvr_4^post11, result_11^0'=result_11^post11, __disjvr_14^0'=__disjvr_14^post11, head_46^0'=head_46^post11, __disjvr_24^0'=__disjvr_24^post11, x_177^0'=x_177^post11, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post11, __disjvr_9^0'=__disjvr_9^post11, a_197^0'=a_197^post11, t_23^0'=t_23^post11, __disjvr_19^0'=__disjvr_19^post11, len_246^0'=len_246^post11, __disjvr_29^0'=__disjvr_29^post11, x_SLAM_f_18^0'=x_SLAM_f_18^post11, r_53^0'=r_53^post11, __disjvr_11^0'=__disjvr_11^post11, a_328^0'=a_328^post11, tmp_48^0'=tmp_48^post11, lt_36^0'=lt_36^post11, __disjvr_6^0'=__disjvr_6^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, __disjvr_16^0'=__disjvr_16^post11, i_125^0'=i_125^post11, __disjvr_26^0'=__disjvr_26^post11, x_238^0'=x_238^post11, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post11, a_26^0'=a_26^post11, temp0_32^0'=temp0_32^post11, __disjvr_20^0'=__disjvr_20^post11, lt_237^0'=lt_237^post11, __disjvr_3^0'=__disjvr_3^post11, rcd_72^0'=rcd_72^post11, __disjvr_13^0'=__disjvr_13^post11, fmt_31^0'=fmt_31^post11, __disjvr_23^0'=__disjvr_23^post11, x_16^0'=x_16^post11, nondet_12^0'=nondet_12^post11, __disjvr_8^0'=__disjvr_8^post11, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post11, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post11, __disjvr_18^0'=__disjvr_18^post11, len_180^0'=len_180^post11, __disjvr_28^0'=__disjvr_28^post11, x_34^0'=x_34^post11, r_161^0'=r_161^post11, __disjvr_10^0'=__disjvr_10^post11, a_305^0'=a_305^post11, temp_49^0'=temp_49^post11, __disjvr_22^0'=__disjvr_22^post11, __disjvr_5^0'=__disjvr_5^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post11, __disjvr_15^0'=__disjvr_15^post11, i_108^0'=i_108^post11, __disjvr_25^0'=__disjvr_25^post11, x_20^0'=x_20^post11, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post11, a_146^0'=a_146^post11, a_247^0'=a_247^post11, temp0_15^0'=temp0_15^post11, __disjvr_1^0'=__disjvr_1^post11, length_43^0'=length_43^post11, __disjvr_2^0'=__disjvr_2^post11, rcd_102^0'=rcd_102^post11, __disjvr_12^0'=__disjvr_12^post11, ct_17^0'=ct_17^post11, x_14^0'=x_14^post11, lt_37^0'=lt_37^post11, __disjvr_7^0'=__disjvr_7^post11, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post11, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post11, __disjvr_17^0'=__disjvr_17^post11, i_44^0'=i_44^post11, __disjvr_27^0'=__disjvr_27^post11, x_28^0'=x_28^post11, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post11, (__disjvr_24^0-__disjvr_24^post11 == 0 /\ __disjvr_16^0-__disjvr_16^post11 == 0 /\ -__disjvr_22^post11+__disjvr_22^0 == 0 /\ x_238^0-x_238^post11 == 0 /\ -i_44^post11+i_44^0 == 0 /\ __disjvr_13^0-__disjvr_13^post11 == 0 /\ a_26^0-a_26^post11 == 0 /\ -__disjvr_6^post11+__disjvr_6^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post11+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_8^0-__disjvr_8^post11 == 0 /\ -r_53^post11+r_53^0 == 0 /\ __disjvr_5^post11-__disjvr_5^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post11+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post11 == 0 /\ __disjvr_4^0-__disjvr_4^post11 == 0 /\ -__disjvr_20^post11+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post11+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_1^post11+__disjvr_1^0 == 0 /\ a_283^0-a_283^post11 == 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ -__disjvr_2^post11+__disjvr_2^0 == 0 /\ -x_16^post11+x_16^0 == 0 /\ a_328^0-a_328^post11 == 0 /\ x_177^0-x_177^post11 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post11 == 0 /\ -t_23^post11+t_23^0 == 0 /\ i_125^0-i_125^post11 == 0 /\ -temp_49^post11+temp_49^0 == 0 /\ temp0_15^0-temp0_15^post11 == 0 /\ ct_17^0-ct_17^post11 == 0 /\ -a_146^post11+a_146^0 == 0 /\ __disjvr_0^0-__disjvr_0^post11 == 0 /\ -__disjvr_5^post11+__disjvr_5^0 == 0 /\ lt_237^0-lt_237^post11 == 0 /\ -__disjvr_12^post11+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post11 == 0 /\ -__disjvr_28^post11+__disjvr_28^0 == 0 /\ -x_14^post11+x_14^0 == 0 /\ -temp0_32^post11+temp0_32^0 == 0 /\ -rcd_72^post11+rcd_72^0 == 0 /\ -__disjvr_27^post11+__disjvr_27^0 == 0 /\ -__disjvr_23^post11+__disjvr_23^0 == 0 /\ lt_36^0-lt_36^post11 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ result_11^0-result_11^post11 == 0 /\ -__disjvr_7^post11+__disjvr_7^0 == 0 /\ -rcd_102^post11+rcd_102^0 == 0 /\ -len_180^post11+len_180^0 == 0 /\ -__disjvr_10^post11+__disjvr_10^0 == 0 /\ -x_SLAM_f_18^post11+x_SLAM_f_18^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post11+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post11+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ y_19^0-y_19^post11 == 0 /\ -x_20^post11+x_20^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post11+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ lt_37^0-lt_37^post11 == 0 /\ __disjvr_19^0-__disjvr_19^post11 == 0 /\ __disjvr_9^0-__disjvr_9^post11 == 0 /\ a_305^0-a_305^post11 == 0 /\ __disjvr_26^0-__disjvr_26^post11 == 0 /\ temp0_45^0-temp0_45^post11 == 0 /\ -r_161^post11+r_161^0 == 0 /\ len_246^0-len_246^post11 == 0 /\ tmp_48^0-tmp_48^post11 == 0 /\ head_46^0-head_46^post11 == 0 /\ -length_43^post11+length_43^0 == 0 /\ __disjvr_18^0-__disjvr_18^post11 == 0 /\ __disjvr_3^0-__disjvr_3^post11 == 0 /\ -i_108^post11+i_108^0 == 0 /\ nondet_12^0-nondet_12^post11 == 0 /\ -x_34^post11+x_34^0 == 0 /\ -x_28^post11+x_28^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post11+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -a_247^post11+a_247^0 == 0 /\ __disjvr_15^0-__disjvr_15^post11 == 0 /\ __disjvr_25^0-__disjvr_25^post11 == 0 /\ a_197^0-a_197^post11 == 0 /\ __disjvr_14^0-__disjvr_14^post11 == 0 /\ -fmt_31^post11+fmt_31^0 == 0 /\ __disjvr_29^0-__disjvr_29^post11 == 0), cost: 1
  12: l13 -> l14 : __disjvr_0^0'=__disjvr_0^post12, a_283^0'=a_283^post12, temp0_45^0'=temp0_45^post12, __disjvr_21^0'=__disjvr_21^post12, y_19^0'=y_19^post12, __disjvr_4^0'=__disjvr_4^post12, result_11^0'=result_11^post12, __disjvr_14^0'=__disjvr_14^post12, head_46^0'=head_46^post12, __disjvr_24^0'=__disjvr_24^post12, x_177^0'=x_177^post12, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post12, __disjvr_9^0'=__disjvr_9^post12, a_197^0'=a_197^post12, t_23^0'=t_23^post12, __disjvr_19^0'=__disjvr_19^post12, len_246^0'=len_246^post12, __disjvr_29^0'=__disjvr_29^post12, x_SLAM_f_18^0'=x_SLAM_f_18^post12, r_53^0'=r_53^post12, __disjvr_11^0'=__disjvr_11^post12, a_328^0'=a_328^post12, tmp_48^0'=tmp_48^post12, lt_36^0'=lt_36^post12, __disjvr_6^0'=__disjvr_6^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, __disjvr_16^0'=__disjvr_16^post12, i_125^0'=i_125^post12, __disjvr_26^0'=__disjvr_26^post12, x_238^0'=x_238^post12, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post12, a_26^0'=a_26^post12, temp0_32^0'=temp0_32^post12, __disjvr_20^0'=__disjvr_20^post12, lt_237^0'=lt_237^post12, __disjvr_3^0'=__disjvr_3^post12, rcd_72^0'=rcd_72^post12, __disjvr_13^0'=__disjvr_13^post12, fmt_31^0'=fmt_31^post12, __disjvr_23^0'=__disjvr_23^post12, x_16^0'=x_16^post12, nondet_12^0'=nondet_12^post12, __disjvr_8^0'=__disjvr_8^post12, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post12, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post12, __disjvr_18^0'=__disjvr_18^post12, len_180^0'=len_180^post12, __disjvr_28^0'=__disjvr_28^post12, x_34^0'=x_34^post12, r_161^0'=r_161^post12, __disjvr_10^0'=__disjvr_10^post12, a_305^0'=a_305^post12, temp_49^0'=temp_49^post12, __disjvr_22^0'=__disjvr_22^post12, __disjvr_5^0'=__disjvr_5^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post12, __disjvr_15^0'=__disjvr_15^post12, i_108^0'=i_108^post12, __disjvr_25^0'=__disjvr_25^post12, x_20^0'=x_20^post12, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post12, a_146^0'=a_146^post12, a_247^0'=a_247^post12, temp0_15^0'=temp0_15^post12, __disjvr_1^0'=__disjvr_1^post12, length_43^0'=length_43^post12, __disjvr_2^0'=__disjvr_2^post12, rcd_102^0'=rcd_102^post12, __disjvr_12^0'=__disjvr_12^post12, ct_17^0'=ct_17^post12, x_14^0'=x_14^post12, lt_37^0'=lt_37^post12, __disjvr_7^0'=__disjvr_7^post12, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post12, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post12, __disjvr_17^0'=__disjvr_17^post12, i_44^0'=i_44^post12, __disjvr_27^0'=__disjvr_27^post12, x_28^0'=x_28^post12, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post12, (0 == 0 /\ __disjvr_29^0-__disjvr_29^post12 == 0 /\ -i_44^post12+i_44^0 == 0 /\ y_19^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post12 == 0 /\ -lt_237^post12+lt_237^0 == 0 /\ -__disjvr_8^post12+__disjvr_8^0 == 0 /\ __disjvr_4^0-__disjvr_4^post12 == 0 /\ __disjvr_16^0-__disjvr_16^post12 == 0 /\ -a_328^post12+a_328^0 == 0 /\ lt_36^0-lt_36^post12 == 0 /\ rcd_72^0-rcd_72^post12 == 0 /\ -a_146^post12+a_146^0 == 0 /\ len_246^0-len_246^post12 == 0 /\ -temp0_15^post12+temp0_15^0 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ -__disjvr_26^post12+__disjvr_26^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post12+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ x_16^0-x_14^0 <= 0 /\ head_46^0-head_46^post12 == 0 /\ __disjvr_21^0-__disjvr_21^post12 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ -__disjvr_2^post12+__disjvr_2^0 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ temp0_32^0-temp0_32^post12 == 0 /\ -__disjvr_22^post12+__disjvr_22^0 == 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post12 == 0 /\ -y_19^0 <= 0 /\ tmp_48^0-tmp_48^post12 == 0 /\ -__disjvr_13^post12+__disjvr_13^0 == 0 /\ len_180^0-len_180^post12 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post12 == 0 /\ -__disjvr_12^post12+__disjvr_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post12 == 0 /\ __disjvr_28^0-__disjvr_28^post12 == 0 /\ -__disjvr_20^post12+__disjvr_20^0 == 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ -x_16^post12+x_16^0 == 0 /\ -temp_49^post12+temp_49^0 == 0 /\ -x_16^0+x_14^0 <= 0 /\ -x_14^post12+x_14^0 == 0 /\ -rcd_102^post12+rcd_102^0 == 0 /\ a_197^0-a_197^post12 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post12+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_15^post12+__disjvr_15^0 == 0 /\ -__disjvr_25^post12+__disjvr_25^0 == 0 /\ __disjvr_1^0-__disjvr_1^post12 == 0 /\ x_238^0-x_238^post12 == 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post12 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ -r_161^post12+r_161^0 == 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ -length_43^post12+length_43^0 == 0 /\ -x_34^post12+x_34^0 == 0 /\ -a_305^0+a_283^post12 <= 0 /\ -x_20^0+t_23^post12 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post12+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ result_11^0-result_11^post12 == 0 /\ a_26^0-a_26^post12 == 0 /\ x_14^0-t_23^post12 <= 0 /\ __disjvr_7^0-__disjvr_7^post12 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post12+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post12 == 0 /\ temp0_45^0-temp0_45^post12 == 0 /\ -__disjvr_27^post12+__disjvr_27^0 == 0 /\ -i_125^post12+i_125^0 == 0 /\ -x_SLAM_f_18^0+x_14^0 <= 0 /\ -nondet_12^post12+nondet_12^0 == 0 /\ -a_247^post12+a_247^0 == 0 /\ a_305^0-a_305^post12 == 0 /\ __disjvr_11^0-__disjvr_11^post12 == 0 /\ __disjvr_3^0-__disjvr_3^post12 == 0 /\ __disjvr_9^0-__disjvr_9^post12 == 0 /\ -ct_17^post12+ct_17^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post12+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post12+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ x_177^0-x_177^post12 == 0 /\ a_305^0-a_283^post12 <= 0 /\ -x_28^post12+x_28^0 == 0 /\ r_53^0-r_53^post12 == 0 /\ fmt_31^0-fmt_31^post12 == 0 /\ ct_17^0 <= 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post12 == 0 /\ -x_14^0+t_23^post12 <= 0 /\ -ct_17^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ y_19^0-y_19^post12 == 0 /\ -lt_37^post12+lt_37^0 == 0 /\ __disjvr_18^0-__disjvr_18^post12 == 0 /\ x_SLAM_f_18^0-x_14^0 <= 0 /\ -x_20^post12+x_20^0 == 0 /\ __disjvr_14^0-__disjvr_14^post12 == 0 /\ i_108^0-i_108^post12 == 0), cost: 1
  13: l14 -> l15 : __disjvr_0^0'=__disjvr_0^post13, a_283^0'=a_283^post13, temp0_45^0'=temp0_45^post13, __disjvr_21^0'=__disjvr_21^post13, y_19^0'=y_19^post13, __disjvr_4^0'=__disjvr_4^post13, result_11^0'=result_11^post13, __disjvr_14^0'=__disjvr_14^post13, head_46^0'=head_46^post13, __disjvr_24^0'=__disjvr_24^post13, x_177^0'=x_177^post13, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post13, __disjvr_9^0'=__disjvr_9^post13, a_197^0'=a_197^post13, t_23^0'=t_23^post13, __disjvr_19^0'=__disjvr_19^post13, len_246^0'=len_246^post13, __disjvr_29^0'=__disjvr_29^post13, x_SLAM_f_18^0'=x_SLAM_f_18^post13, r_53^0'=r_53^post13, __disjvr_11^0'=__disjvr_11^post13, a_328^0'=a_328^post13, tmp_48^0'=tmp_48^post13, lt_36^0'=lt_36^post13, __disjvr_6^0'=__disjvr_6^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, __disjvr_16^0'=__disjvr_16^post13, i_125^0'=i_125^post13, __disjvr_26^0'=__disjvr_26^post13, x_238^0'=x_238^post13, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post13, a_26^0'=a_26^post13, temp0_32^0'=temp0_32^post13, __disjvr_20^0'=__disjvr_20^post13, lt_237^0'=lt_237^post13, __disjvr_3^0'=__disjvr_3^post13, rcd_72^0'=rcd_72^post13, __disjvr_13^0'=__disjvr_13^post13, fmt_31^0'=fmt_31^post13, __disjvr_23^0'=__disjvr_23^post13, x_16^0'=x_16^post13, nondet_12^0'=nondet_12^post13, __disjvr_8^0'=__disjvr_8^post13, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post13, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post13, __disjvr_18^0'=__disjvr_18^post13, len_180^0'=len_180^post13, __disjvr_28^0'=__disjvr_28^post13, x_34^0'=x_34^post13, r_161^0'=r_161^post13, __disjvr_10^0'=__disjvr_10^post13, a_305^0'=a_305^post13, temp_49^0'=temp_49^post13, __disjvr_22^0'=__disjvr_22^post13, __disjvr_5^0'=__disjvr_5^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post13, __disjvr_15^0'=__disjvr_15^post13, i_108^0'=i_108^post13, __disjvr_25^0'=__disjvr_25^post13, x_20^0'=x_20^post13, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post13, a_146^0'=a_146^post13, a_247^0'=a_247^post13, temp0_15^0'=temp0_15^post13, __disjvr_1^0'=__disjvr_1^post13, length_43^0'=length_43^post13, __disjvr_2^0'=__disjvr_2^post13, rcd_102^0'=rcd_102^post13, __disjvr_12^0'=__disjvr_12^post13, ct_17^0'=ct_17^post13, x_14^0'=x_14^post13, lt_37^0'=lt_37^post13, __disjvr_7^0'=__disjvr_7^post13, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post13, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post13, __disjvr_17^0'=__disjvr_17^post13, i_44^0'=i_44^post13, __disjvr_27^0'=__disjvr_27^post13, x_28^0'=x_28^post13, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post13, (-lt_37^post13+lt_37^0 == 0 /\ -__disjvr_18^post13+__disjvr_18^0 == 0 /\ head_46^0-head_46^post13 == 0 /\ a_328^0-a_328^post13 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post13 == 0 /\ -a_26^post13+a_26^0 == 0 /\ __disjvr_26^0-__disjvr_26^post13 == 0 /\ __disjvr_23^0-__disjvr_23^post13 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ lt_36^0-lt_36^post13 == 0 /\ temp0_32^0-temp0_32^post13 == 0 /\ -temp0_15^post13+temp0_15^0 == 0 /\ -i_108^post13+i_108^0 == 0 /\ -x_28^post13+x_28^0 == 0 /\ -__disjvr_6^post13+__disjvr_6^0 == 0 /\ -__disjvr_8^post13+__disjvr_8^0 == 0 /\ -rcd_102^post13+rcd_102^0 == 0 /\ temp0_45^0-temp0_45^post13 == 0 /\ -x_16^post13+x_16^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post13 == 0 /\ a_197^0-a_197^post13 == 0 /\ nondet_12^0-nondet_12^post13 == 0 /\ -r_161^post13+r_161^0 == 0 /\ y_19^0-y_19^post13 == 0 /\ __disjvr_10^0-__disjvr_10^post13 == 0 /\ x_34^0-x_34^post13 == 0 /\ -__disjvr_12^post13+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post13+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -lt_237^post13+lt_237^0 == 0 /\ -rcd_72^post13+rcd_72^0 == 0 /\ -__disjvr_22^post13+__disjvr_22^0 == 0 /\ x_238^0-x_238^post13 == 0 /\ tmp_48^0-tmp_48^post13 == 0 /\ __disjvr_24^0-__disjvr_24^post13 == 0 /\ __disjvr_14^0-__disjvr_14^post13 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post13+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post13+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post13+__disjvr_1^0 == 0 /\ -i_44^post13+i_44^0 == 0 /\ -__disjvr_15^post13+__disjvr_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_6^post13-__disjvr_6^0 == 0 /\ __disjvr_28^0-__disjvr_28^post13 == 0 /\ __disjvr_3^0-__disjvr_3^post13 == 0 /\ -__disjvr_19^post13+__disjvr_19^0 == 0 /\ -i_125^post13+i_125^0 == 0 /\ -__disjvr_13^post13+__disjvr_13^0 == 0 /\ x_20^0-x_20^post13 == 0 /\ -__disjvr_27^post13+__disjvr_27^0 == 0 /\ -x_14^post13+x_14^0 == 0 /\ -length_43^post13+length_43^0 == 0 /\ -__disjvr_29^post13+__disjvr_29^0 == 0 /\ __disjvr_21^0-__disjvr_21^post13 == 0 /\ __disjvr_11^0-__disjvr_11^post13 == 0 /\ -__disjvr_25^post13+__disjvr_25^0 == 0 /\ __disjvr_16^0-__disjvr_16^post13 == 0 /\ fmt_31^0-fmt_31^post13 == 0 /\ __disjvr_20^0-__disjvr_20^post13 == 0 /\ -__disjvr_5^post13+__disjvr_5^0 == 0 /\ -__disjvr_17^post13+__disjvr_17^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post13 == 0 /\ x_177^0-x_177^post13 == 0 /\ -__disjvr_9^post13+__disjvr_9^0 == 0 /\ -a_305^post13+a_305^0 == 0 /\ len_246^0-len_246^post13 == 0 /\ temp_49^0-temp_49^post13 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post13 == 0 /\ -a_146^post13+a_146^0 == 0 /\ result_11^0-result_11^post13 == 0 /\ -ct_17^post13+ct_17^0 == 0 /\ a_283^0-a_283^post13 == 0 /\ -__disjvr_7^post13+__disjvr_7^0 == 0 /\ r_53^0-r_53^post13 == 0 /\ len_180^0-len_180^post13 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post13 == 0 /\ __disjvr_4^0-__disjvr_4^post13 == 0 /\ -__disjvr_2^post13+__disjvr_2^0 == 0 /\ t_23^0-t_23^post13 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post13+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post13+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -a_247^post13+a_247^0 == 0), cost: 1
  14: l15 -> l16 : __disjvr_0^0'=__disjvr_0^post14, a_283^0'=a_283^post14, temp0_45^0'=temp0_45^post14, __disjvr_21^0'=__disjvr_21^post14, y_19^0'=y_19^post14, __disjvr_4^0'=__disjvr_4^post14, result_11^0'=result_11^post14, __disjvr_14^0'=__disjvr_14^post14, head_46^0'=head_46^post14, __disjvr_24^0'=__disjvr_24^post14, x_177^0'=x_177^post14, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post14, __disjvr_9^0'=__disjvr_9^post14, a_197^0'=a_197^post14, t_23^0'=t_23^post14, __disjvr_19^0'=__disjvr_19^post14, len_246^0'=len_246^post14, __disjvr_29^0'=__disjvr_29^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, r_53^0'=r_53^post14, __disjvr_11^0'=__disjvr_11^post14, a_328^0'=a_328^post14, tmp_48^0'=tmp_48^post14, lt_36^0'=lt_36^post14, __disjvr_6^0'=__disjvr_6^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, __disjvr_16^0'=__disjvr_16^post14, i_125^0'=i_125^post14, __disjvr_26^0'=__disjvr_26^post14, x_238^0'=x_238^post14, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post14, a_26^0'=a_26^post14, temp0_32^0'=temp0_32^post14, __disjvr_20^0'=__disjvr_20^post14, lt_237^0'=lt_237^post14, __disjvr_3^0'=__disjvr_3^post14, rcd_72^0'=rcd_72^post14, __disjvr_13^0'=__disjvr_13^post14, fmt_31^0'=fmt_31^post14, __disjvr_23^0'=__disjvr_23^post14, x_16^0'=x_16^post14, nondet_12^0'=nondet_12^post14, __disjvr_8^0'=__disjvr_8^post14, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post14, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post14, __disjvr_18^0'=__disjvr_18^post14, len_180^0'=len_180^post14, __disjvr_28^0'=__disjvr_28^post14, x_34^0'=x_34^post14, r_161^0'=r_161^post14, __disjvr_10^0'=__disjvr_10^post14, a_305^0'=a_305^post14, temp_49^0'=temp_49^post14, __disjvr_22^0'=__disjvr_22^post14, __disjvr_5^0'=__disjvr_5^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post14, __disjvr_15^0'=__disjvr_15^post14, i_108^0'=i_108^post14, __disjvr_25^0'=__disjvr_25^post14, x_20^0'=x_20^post14, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post14, a_146^0'=a_146^post14, a_247^0'=a_247^post14, temp0_15^0'=temp0_15^post14, __disjvr_1^0'=__disjvr_1^post14, length_43^0'=length_43^post14, __disjvr_2^0'=__disjvr_2^post14, rcd_102^0'=rcd_102^post14, __disjvr_12^0'=__disjvr_12^post14, ct_17^0'=ct_17^post14, x_14^0'=x_14^post14, lt_37^0'=lt_37^post14, __disjvr_7^0'=__disjvr_7^post14, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post14, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post14, __disjvr_17^0'=__disjvr_17^post14, i_44^0'=i_44^post14, __disjvr_27^0'=__disjvr_27^post14, x_28^0'=x_28^post14, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post14, (i_125^0-i_125^post14 == 0 /\ fmt_31^0-fmt_31^post14 == 0 /\ -i_108^post14+i_108^0 == 0 /\ -__disjvr_1^post14+__disjvr_1^0 == 0 /\ -rcd_102^post14+rcd_102^0 == 0 /\ __disjvr_3^0-__disjvr_3^post14 == 0 /\ __disjvr_22^0-__disjvr_22^post14 == 0 /\ -lt_37^post14+lt_37^0 == 0 /\ -__disjvr_10^post14+__disjvr_10^0 == 0 /\ -__disjvr_16^post14+__disjvr_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post14 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post14+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -tmp_48^post14+tmp_48^0 == 0 /\ a_197^0-a_197^post14 == 0 /\ -__disjvr_12^post14+__disjvr_12^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post14+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ x_177^0-x_177^post14 == 0 /\ -a_26^post14+a_26^0 == 0 /\ __disjvr_6^0-__disjvr_6^post14 == 0 /\ -len_180^post14+len_180^0 == 0 /\ __disjvr_0^0-__disjvr_0^post14 == 0 /\ y_19^0-y_19^post14 == 0 /\ t_23^0-t_23^post14 == 0 /\ ct_17^0-ct_17^post14 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post14+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_14^0-__disjvr_14^post14 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post14+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post14+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ r_161^0-r_161^post14 == 0 /\ x_16^0-x_16^post14 == 0 /\ -r_53^post14+r_53^0 == 0 /\ __disjvr_9^0-__disjvr_9^post14 == 0 /\ temp0_45^0-temp0_45^post14 == 0 /\ -len_246^post14+len_246^0 == 0 /\ __disjvr_18^0-__disjvr_18^post14 == 0 /\ -x_28^post14+x_28^0 == 0 /\ nondet_12^0-nondet_12^post14 == 0 /\ __disjvr_24^0-__disjvr_24^post14 == 0 /\ -length_43^post14+length_43^0 == 0 /\ -lt_237^post14+lt_237^0 == 0 /\ -x_34^post14+x_34^0 == 0 /\ a_328^0-a_328^post14 == 0 /\ __disjvr_21^0-__disjvr_21^post14 == 0 /\ -temp_49^post14+temp_49^0 == 0 /\ -x_238^post14+x_238^0 == 0 /\ -__disjvr_23^post14+__disjvr_23^0 == 0 /\ __disjvr_26^0-__disjvr_26^post14 == 0 /\ __disjvr_28^0-__disjvr_28^post14 == 0 /\ -x_14^post14+x_14^0 == 0 /\ -__disjvr_25^post14+__disjvr_25^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post14+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -__disjvr_27^post14+__disjvr_27^0 == 0 /\ __disjvr_29^0-__disjvr_29^post14 == 0 /\ -head_46^post14+head_46^0 == 0 /\ -rcd_72^post14+rcd_72^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post14 == 0 /\ lt_36^0-lt_36^post14 == 0 /\ -__disjvr_11^post14+__disjvr_11^0 == 0 /\ __disjvr_7^post14-__disjvr_7^0 == 0 /\ -a_305^post14+a_305^0 == 0 /\ -temp0_15^post14+temp0_15^0 == 0 /\ __disjvr_5^0-__disjvr_5^post14 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post14 == 0 /\ i_44^0-i_44^post14 == 0 /\ -a_146^post14+a_146^0 == 0 /\ -__disjvr_2^post14+__disjvr_2^0 == 0 /\ result_11^0-result_11^post14 == 0 /\ __disjvr_13^0-__disjvr_13^post14 == 0 /\ -x_20^post14+x_20^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post14 == 0 /\ -a_247^post14+a_247^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 == 0 /\ __disjvr_19^0-__disjvr_19^post14 == 0 /\ __disjvr_4^0-__disjvr_4^post14 == 0 /\ -temp0_32^post14+temp0_32^0 == 0 /\ a_283^0-a_283^post14 == 0 /\ -__disjvr_8^post14+__disjvr_8^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post14 == 0 /\ -__disjvr_17^post14+__disjvr_17^0 == 0 /\ -__disjvr_7^post14+__disjvr_7^0 == 0 /\ __disjvr_15^0-__disjvr_15^post14 == 0), cost: 1
  15: l16 -> l17 : __disjvr_0^0'=__disjvr_0^post15, a_283^0'=a_283^post15, temp0_45^0'=temp0_45^post15, __disjvr_21^0'=__disjvr_21^post15, y_19^0'=y_19^post15, __disjvr_4^0'=__disjvr_4^post15, result_11^0'=result_11^post15, __disjvr_14^0'=__disjvr_14^post15, head_46^0'=head_46^post15, __disjvr_24^0'=__disjvr_24^post15, x_177^0'=x_177^post15, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post15, __disjvr_9^0'=__disjvr_9^post15, a_197^0'=a_197^post15, t_23^0'=t_23^post15, __disjvr_19^0'=__disjvr_19^post15, len_246^0'=len_246^post15, __disjvr_29^0'=__disjvr_29^post15, x_SLAM_f_18^0'=x_SLAM_f_18^post15, r_53^0'=r_53^post15, __disjvr_11^0'=__disjvr_11^post15, a_328^0'=a_328^post15, tmp_48^0'=tmp_48^post15, lt_36^0'=lt_36^post15, __disjvr_6^0'=__disjvr_6^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, __disjvr_16^0'=__disjvr_16^post15, i_125^0'=i_125^post15, __disjvr_26^0'=__disjvr_26^post15, x_238^0'=x_238^post15, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post15, a_26^0'=a_26^post15, temp0_32^0'=temp0_32^post15, __disjvr_20^0'=__disjvr_20^post15, lt_237^0'=lt_237^post15, __disjvr_3^0'=__disjvr_3^post15, rcd_72^0'=rcd_72^post15, __disjvr_13^0'=__disjvr_13^post15, fmt_31^0'=fmt_31^post15, __disjvr_23^0'=__disjvr_23^post15, x_16^0'=x_16^post15, nondet_12^0'=nondet_12^post15, __disjvr_8^0'=__disjvr_8^post15, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post15, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post15, __disjvr_18^0'=__disjvr_18^post15, len_180^0'=len_180^post15, __disjvr_28^0'=__disjvr_28^post15, x_34^0'=x_34^post15, r_161^0'=r_161^post15, __disjvr_10^0'=__disjvr_10^post15, a_305^0'=a_305^post15, temp_49^0'=temp_49^post15, __disjvr_22^0'=__disjvr_22^post15, __disjvr_5^0'=__disjvr_5^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post15, __disjvr_15^0'=__disjvr_15^post15, i_108^0'=i_108^post15, __disjvr_25^0'=__disjvr_25^post15, x_20^0'=x_20^post15, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post15, a_146^0'=a_146^post15, a_247^0'=a_247^post15, temp0_15^0'=temp0_15^post15, __disjvr_1^0'=__disjvr_1^post15, length_43^0'=length_43^post15, __disjvr_2^0'=__disjvr_2^post15, rcd_102^0'=rcd_102^post15, __disjvr_12^0'=__disjvr_12^post15, ct_17^0'=ct_17^post15, x_14^0'=x_14^post15, lt_37^0'=lt_37^post15, __disjvr_7^0'=__disjvr_7^post15, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post15, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post15, __disjvr_17^0'=__disjvr_17^post15, i_44^0'=i_44^post15, __disjvr_27^0'=__disjvr_27^post15, x_28^0'=x_28^post15, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post15, (i_125^0-i_125^post15 == 0 /\ -__disjvr_10^post15+__disjvr_10^0 == 0 /\ -__disjvr_3^post15+__disjvr_3^0 == 0 /\ -x_20^post15+x_20^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post15 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post15+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post15+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -rcd_102^post15+rcd_102^0 == 0 /\ -__disjvr_8^0+__disjvr_8^post15 == 0 /\ __disjvr_6^0-__disjvr_6^post15 == 0 /\ -lt_37^post15+lt_37^0 == 0 /\ -r_161^post15+r_161^0 == 0 /\ __disjvr_11^0-__disjvr_11^post15 == 0 /\ -length_43^post15+length_43^0 == 0 /\ a_197^0-a_197^post15 == 0 /\ x_177^0-x_177^post15 == 0 /\ -__disjvr_1^post15+__disjvr_1^0 == 0 /\ __disjvr_16^0-__disjvr_16^post15 == 0 /\ result_11^0-result_11^post15 == 0 /\ __disjvr_2^0-__disjvr_2^post15 == 0 /\ -i_108^post15+i_108^0 == 0 /\ -x_28^post15+x_28^0 == 0 /\ __disjvr_8^0-__disjvr_8^post15 == 0 /\ lt_237^0-lt_237^post15 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ -x_34^post15+x_34^0 == 0 /\ a_26^0-a_26^post15 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post15+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -fmt_31^post15+fmt_31^0 == 0 /\ len_180^0-len_180^post15 == 0 /\ len_246^0-len_246^post15 == 0 /\ __disjvr_26^0-__disjvr_26^post15 == 0 /\ __disjvr_21^0-__disjvr_21^post15 == 0 /\ __disjvr_4^0-__disjvr_4^post15 == 0 /\ -__disjvr_22^post15+__disjvr_22^0 == 0 /\ a_283^0-a_283^post15 == 0 /\ -ct_17^post15+ct_17^0 == 0 /\ head_46^0-head_46^post15 == 0 /\ temp0_32^0-temp0_32^post15 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post15+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post15 == 0 /\ -r_53^post15+r_53^0 == 0 /\ -i_44^post15+i_44^0 == 0 /\ __disjvr_18^0-__disjvr_18^post15 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post15+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_15^0-__disjvr_15^post15 == 0 /\ -a_247^post15+a_247^0 == 0 /\ __disjvr_25^0-__disjvr_25^post15 == 0 /\ -temp_49^post15+temp_49^0 == 0 /\ __disjvr_0^0-__disjvr_0^post15 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post15+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_20^post15+__disjvr_20^0 == 0 /\ __disjvr_29^0-__disjvr_29^post15 == 0 /\ __disjvr_14^0-__disjvr_14^post15 == 0 /\ -x_14^post15+x_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post15 == 0 /\ -t_23^post15+t_23^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post15 == 0 /\ lt_36^0-lt_36^post15 == 0 /\ x_238^0-x_238^post15 == 0 /\ temp0_45^0-temp0_45^post15 == 0 /\ -__disjvr_17^post15+__disjvr_17^0 == 0 /\ -__disjvr_5^post15+__disjvr_5^0 == 0 /\ y_19^0-y_19^post15 == 0 /\ rcd_72^0-rcd_72^post15 == 0 /\ -x_16^post15+x_16^0 == 0 /\ a_305^0-a_305^post15 == 0 /\ -__disjvr_13^post15+__disjvr_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post15 == 0 /\ __disjvr_19^0-__disjvr_19^post15 == 0 /\ __disjvr_9^0-__disjvr_9^post15 == 0 /\ -__disjvr_23^post15+__disjvr_23^0 == 0 /\ -__disjvr_12^post15+__disjvr_12^0 == 0 /\ -a_146^post15+a_146^0 == 0 /\ -__disjvr_27^post15+__disjvr_27^0 == 0 /\ tmp_48^0-tmp_48^post15 == 0 /\ -a_328^post15+a_328^0 == 0 /\ __disjvr_24^0-__disjvr_24^post15 == 0 /\ -temp0_15^post15+temp0_15^0 == 0 /\ -__disjvr_7^post15+__disjvr_7^0 == 0 /\ -__disjvr_28^post15+__disjvr_28^0 == 0), cost: 1
  16: l17 -> l4 : __disjvr_0^0'=__disjvr_0^post16, a_283^0'=a_283^post16, temp0_45^0'=temp0_45^post16, __disjvr_21^0'=__disjvr_21^post16, y_19^0'=y_19^post16, __disjvr_4^0'=__disjvr_4^post16, result_11^0'=result_11^post16, __disjvr_14^0'=__disjvr_14^post16, head_46^0'=head_46^post16, __disjvr_24^0'=__disjvr_24^post16, x_177^0'=x_177^post16, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post16, __disjvr_9^0'=__disjvr_9^post16, a_197^0'=a_197^post16, t_23^0'=t_23^post16, __disjvr_19^0'=__disjvr_19^post16, len_246^0'=len_246^post16, __disjvr_29^0'=__disjvr_29^post16, x_SLAM_f_18^0'=x_SLAM_f_18^post16, r_53^0'=r_53^post16, __disjvr_11^0'=__disjvr_11^post16, a_328^0'=a_328^post16, tmp_48^0'=tmp_48^post16, lt_36^0'=lt_36^post16, __disjvr_6^0'=__disjvr_6^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, __disjvr_16^0'=__disjvr_16^post16, i_125^0'=i_125^post16, __disjvr_26^0'=__disjvr_26^post16, x_238^0'=x_238^post16, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post16, a_26^0'=a_26^post16, temp0_32^0'=temp0_32^post16, __disjvr_20^0'=__disjvr_20^post16, lt_237^0'=lt_237^post16, __disjvr_3^0'=__disjvr_3^post16, rcd_72^0'=rcd_72^post16, __disjvr_13^0'=__disjvr_13^post16, fmt_31^0'=fmt_31^post16, __disjvr_23^0'=__disjvr_23^post16, x_16^0'=x_16^post16, nondet_12^0'=nondet_12^post16, __disjvr_8^0'=__disjvr_8^post16, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post16, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post16, __disjvr_18^0'=__disjvr_18^post16, len_180^0'=len_180^post16, __disjvr_28^0'=__disjvr_28^post16, x_34^0'=x_34^post16, r_161^0'=r_161^post16, __disjvr_10^0'=__disjvr_10^post16, a_305^0'=a_305^post16, temp_49^0'=temp_49^post16, __disjvr_22^0'=__disjvr_22^post16, __disjvr_5^0'=__disjvr_5^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post16, __disjvr_15^0'=__disjvr_15^post16, i_108^0'=i_108^post16, __disjvr_25^0'=__disjvr_25^post16, x_20^0'=x_20^post16, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post16, a_146^0'=a_146^post16, a_247^0'=a_247^post16, temp0_15^0'=temp0_15^post16, __disjvr_1^0'=__disjvr_1^post16, length_43^0'=length_43^post16, __disjvr_2^0'=__disjvr_2^post16, rcd_102^0'=rcd_102^post16, __disjvr_12^0'=__disjvr_12^post16, ct_17^0'=ct_17^post16, x_14^0'=x_14^post16, lt_37^0'=lt_37^post16, __disjvr_7^0'=__disjvr_7^post16, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post16, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post16, __disjvr_17^0'=__disjvr_17^post16, i_44^0'=i_44^post16, __disjvr_27^0'=__disjvr_27^post16, x_28^0'=x_28^post16, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post16, (0 == 0 /\ -r_161^post16+r_161^0 == 0 /\ a_305^0-a_305^post16 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post16+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post16 == 0 /\ -__disjvr_7^post16+__disjvr_7^0 == 0 /\ __disjvr_28^0-__disjvr_28^post16 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post16+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_34^post16+x_34^0 == 0 /\ -__disjvr_27^post16+__disjvr_27^0 == 0 /\ y_19^0-y_19^post16 == 0 /\ -length_43^post16+length_43^0 == 0 /\ a_328^0-a_328^post16 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post16+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -lt_37^post16+lt_37^0 == 0 /\ x_238^0-x_238^post16 == 0 /\ -i_125^post16+i_125^0 == 0 /\ rcd_102^0-rcd_102^post16 == 0 /\ -a_247^post16+a_247^0 == 0 /\ -x_28^post16+x_28^0 == 0 /\ __disjvr_23^0-__disjvr_23^post16 == 0 /\ -a_26^post16+a_26^0 == 0 /\ lt_36^0-lt_36^post16 == 0 /\ __disjvr_4^0-__disjvr_4^post16 == 0 /\ 1+a_283^0-len_180^post16 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post16+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post16 == 0 /\ -ct_17^post16+ct_17^0 == 0 /\ -x_20^post16+x_20^0 == 0 /\ __disjvr_12^0-__disjvr_12^post16 == 0 /\ result_11^0-result_11^post16 == 0 /\ temp0_32^0-temp0_32^post16 == 0 /\ __disjvr_21^0-__disjvr_21^post16 == 0 /\ a_283^0-a_283^post16 == 0 /\ -rcd_72^post16+rcd_72^0 == 0 /\ x_177^0-x_177^post16 == 0 /\ __disjvr_3^0-__disjvr_3^post16 == 0 /\ __disjvr_6^0-__disjvr_6^post16 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post16 == 0 /\ -__disjvr_8^post16+__disjvr_8^0 == 0 /\ -temp0_15^post16+temp0_15^0 == 0 /\ fmt_31^0-fmt_31^post16 == 0 /\ __disjvr_20^0-__disjvr_20^post16 == 0 /\ -i_44^post16+i_44^0 == 0 /\ r_53^0-r_53^post16 == 0 /\ -lt_237^post16+lt_237^0 == 0 /\ -__disjvr_19^post16+__disjvr_19^0 == 0 /\ x_14^0-x_14^post16 == 0 /\ a_197^0-a_197^post16 == 0 /\ -__disjvr_18^post16+__disjvr_18^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post16+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post16 == 0 /\ __disjvr_0^0-__disjvr_0^post16 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post16+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -__disjvr_22^post16+__disjvr_22^0 == 0 /\ -a_146^post16+a_146^0 == 0 /\ i_108^0-i_108^post16 == 0 /\ -__disjvr_2^post16+__disjvr_2^0 == 0 /\ __disjvr_14^0-__disjvr_14^post16 == 0 /\ __disjvr_11^0-__disjvr_11^post16 == 0 /\ __disjvr_29^0-__disjvr_29^post16 == 0 /\ -__disjvr_10^post16+__disjvr_10^0 == 0 /\ -__disjvr_1^post16+__disjvr_1^0 == 0 /\ t_23^0-t_23^post16 == 0 /\ -__disjvr_17^post16+__disjvr_17^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post16 == 0 /\ -1-a_283^0+len_180^post16 <= 0 /\ -__disjvr_26^post16+__disjvr_26^0 == 0 /\ __disjvr_24^0-__disjvr_24^post16 == 0 /\ -tmp_48^post16+tmp_48^0 == 0 /\ len_246^0-len_246^post16 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post16+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -temp_49^post16+temp_49^0 == 0 /\ -__disjvr_25^post16+__disjvr_25^0 == 0 /\ temp0_45^0-temp0_45^post16 == 0 /\ head_46^0-head_46^post16 == 0 /\ -__disjvr_5^post16+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ -x_16^post16+x_16^0 == 0 /\ -__disjvr_13^post16+__disjvr_13^0 == 0 /\ -__disjvr_15^post16+__disjvr_15^0 == 0), cost: 1
  17: l18 -> l19 : __disjvr_0^0'=__disjvr_0^post17, a_283^0'=a_283^post17, temp0_45^0'=temp0_45^post17, __disjvr_21^0'=__disjvr_21^post17, y_19^0'=y_19^post17, __disjvr_4^0'=__disjvr_4^post17, result_11^0'=result_11^post17, __disjvr_14^0'=__disjvr_14^post17, head_46^0'=head_46^post17, __disjvr_24^0'=__disjvr_24^post17, x_177^0'=x_177^post17, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post17, __disjvr_9^0'=__disjvr_9^post17, a_197^0'=a_197^post17, t_23^0'=t_23^post17, __disjvr_19^0'=__disjvr_19^post17, len_246^0'=len_246^post17, __disjvr_29^0'=__disjvr_29^post17, x_SLAM_f_18^0'=x_SLAM_f_18^post17, r_53^0'=r_53^post17, __disjvr_11^0'=__disjvr_11^post17, a_328^0'=a_328^post17, tmp_48^0'=tmp_48^post17, lt_36^0'=lt_36^post17, __disjvr_6^0'=__disjvr_6^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, __disjvr_16^0'=__disjvr_16^post17, i_125^0'=i_125^post17, __disjvr_26^0'=__disjvr_26^post17, x_238^0'=x_238^post17, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post17, a_26^0'=a_26^post17, temp0_32^0'=temp0_32^post17, __disjvr_20^0'=__disjvr_20^post17, lt_237^0'=lt_237^post17, __disjvr_3^0'=__disjvr_3^post17, rcd_72^0'=rcd_72^post17, __disjvr_13^0'=__disjvr_13^post17, fmt_31^0'=fmt_31^post17, __disjvr_23^0'=__disjvr_23^post17, x_16^0'=x_16^post17, nondet_12^0'=nondet_12^post17, __disjvr_8^0'=__disjvr_8^post17, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post17, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post17, __disjvr_18^0'=__disjvr_18^post17, len_180^0'=len_180^post17, __disjvr_28^0'=__disjvr_28^post17, x_34^0'=x_34^post17, r_161^0'=r_161^post17, __disjvr_10^0'=__disjvr_10^post17, a_305^0'=a_305^post17, temp_49^0'=temp_49^post17, __disjvr_22^0'=__disjvr_22^post17, __disjvr_5^0'=__disjvr_5^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post17, __disjvr_15^0'=__disjvr_15^post17, i_108^0'=i_108^post17, __disjvr_25^0'=__disjvr_25^post17, x_20^0'=x_20^post17, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post17, a_146^0'=a_146^post17, a_247^0'=a_247^post17, temp0_15^0'=temp0_15^post17, __disjvr_1^0'=__disjvr_1^post17, length_43^0'=length_43^post17, __disjvr_2^0'=__disjvr_2^post17, rcd_102^0'=rcd_102^post17, __disjvr_12^0'=__disjvr_12^post17, ct_17^0'=ct_17^post17, x_14^0'=x_14^post17, lt_37^0'=lt_37^post17, __disjvr_7^0'=__disjvr_7^post17, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post17, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post17, __disjvr_17^0'=__disjvr_17^post17, i_44^0'=i_44^post17, __disjvr_27^0'=__disjvr_27^post17, x_28^0'=x_28^post17, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post17, (0 == 0 /\ -__disjvr_23^post17+__disjvr_23^0 == 0 /\ x_16^0-x_16^post17 == 0 /\ __disjvr_4^0-__disjvr_4^post17 == 0 /\ rcd_102^0-rcd_102^post17 == 0 /\ -a_146^post17+a_146^0 == 0 /\ __disjvr_16^0-__disjvr_16^post17 == 0 /\ -__disjvr_8^post17+__disjvr_8^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post17+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -ct_17^post17+ct_17^0 == 0 /\ t_23^0-t_23^post17 == 0 /\ -lt_237^post17+lt_237^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post17 == 0 /\ -length_43^post17+result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 <= 0 /\ -rcd_72^post17+rcd_72^0 == 0 /\ head_46^post17 <= 0 /\ head_46^post17 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post17 == 0 /\ temp_49^0-temp_49^post17 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post17+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_9^0-__disjvr_9^post17 == 0 /\ x_34^0-x_34^post17 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post17+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -__disjvr_2^post17+__disjvr_2^0 == 0 /\ a_283^0-a_283^post17 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post17+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -a_247^post17+a_247^0 == 0 /\ -__disjvr_13^post17+__disjvr_13^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post17 == 0 /\ -__disjvr_18^post17+__disjvr_18^0 == 0 /\ fmt_31^0-fmt_31^post17 == 0 /\ -__disjvr_27^post17+__disjvr_27^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post17 == 0 /\ -tmp_48^post17+tmp_48^0 == 0 /\ -x_14^post17+x_14^0 == 0 /\ length_43^post17-result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 <= 0 /\ length_43^post17-result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 == 0 /\ x_177^0-x_177^post17 == 0 /\ -__disjvr_25^post17+__disjvr_25^0 == 0 /\ -__disjvr_11^post17+__disjvr_11^0 == 0 /\ -head_46^post17 <= 0 /\ temp0_15^0-temp0_15^post17 == 0 /\ a_328^0-a_328^post17 == 0 /\ -__disjvr_6^post17+__disjvr_6^0 == 0 /\ __disjvr_14^0-__disjvr_14^post17 == 0 /\ -__disjvr_17^post17+__disjvr_17^0 == 0 /\ __disjvr_0^0-__disjvr_0^post17 == 0 /\ lt_36^0-lt_36^post17 == 0 /\ r_53^0-r_53^post17 == 0 /\ -a_305^post17+a_305^0 == 0 /\ -r_161^post17+r_161^0 == 0 /\ -len_180^post17+len_180^0 == 0 /\ -__disjvr_12^post17+__disjvr_12^0 == 0 /\ __disjvr_5^0-__disjvr_5^post17 == 0 /\ temp0_45^0-temp0_45^post17 == 0 /\ -__disjvr_7^post17+__disjvr_7^0 == 0 /\ len_246^0-len_246^post17 == 0 /\ -result_11^post17+result_11^0 == 0 /\ -__disjvr_21^post17+__disjvr_21^0 == 0 /\ -__disjvr_1^post17+__disjvr_1^0 == 0 /\ -__disjvr_24^post17+__disjvr_24^0 == 0 /\ __disjvr_19^0-__disjvr_19^post17 == 0 /\ __disjvr_26^0-__disjvr_26^post17 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post17+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_20^post17+x_20^0 == 0 /\ __disjvr_22^0-__disjvr_22^post17 == 0 /\ temp0_32^0-temp0_32^post17 == 0 /\ -lt_37^post17+lt_37^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post17-nondet_12^10 == 0 /\ __disjvr_15^0-__disjvr_15^post17 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post17 == 0 /\ -a_26^post17+a_26^0 == 0 /\ __disjvr_20^0-__disjvr_20^post17 == 0 /\ __disjvr_28^0-__disjvr_28^post17 == 0 /\ __disjvr_3^0-__disjvr_3^post17 == 0 /\ i_44^post17 <= 0 /\ i_44^post17 == 0 /\ a_197^0-a_197^post17 == 0 /\ -x_238^post17+x_238^0 == 0 /\ y_19^0-y_19^post17 == 0 /\ __disjvr_10^0-__disjvr_10^post17 == 0 /\ -i_44^post17 <= 0 /\ __disjvr_29^0-__disjvr_29^post17 == 0 /\ -i_108^post17+i_108^0 == 0 /\ i_125^0-i_125^post17 == 0 /\ -x_28^post17+x_28^0 == 0), cost: 1
  40: l19 -> l20 : __disjvr_0^0'=__disjvr_0^post40, a_283^0'=a_283^post40, temp0_45^0'=temp0_45^post40, __disjvr_21^0'=__disjvr_21^post40, y_19^0'=y_19^post40, __disjvr_4^0'=__disjvr_4^post40, result_11^0'=result_11^post40, __disjvr_14^0'=__disjvr_14^post40, head_46^0'=head_46^post40, __disjvr_24^0'=__disjvr_24^post40, x_177^0'=x_177^post40, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post40, __disjvr_9^0'=__disjvr_9^post40, a_197^0'=a_197^post40, t_23^0'=t_23^post40, __disjvr_19^0'=__disjvr_19^post40, len_246^0'=len_246^post40, __disjvr_29^0'=__disjvr_29^post40, x_SLAM_f_18^0'=x_SLAM_f_18^post40, r_53^0'=r_53^post40, __disjvr_11^0'=__disjvr_11^post40, a_328^0'=a_328^post40, tmp_48^0'=tmp_48^post40, lt_36^0'=lt_36^post40, __disjvr_6^0'=__disjvr_6^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, __disjvr_16^0'=__disjvr_16^post40, i_125^0'=i_125^post40, __disjvr_26^0'=__disjvr_26^post40, x_238^0'=x_238^post40, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post40, a_26^0'=a_26^post40, temp0_32^0'=temp0_32^post40, __disjvr_20^0'=__disjvr_20^post40, lt_237^0'=lt_237^post40, __disjvr_3^0'=__disjvr_3^post40, rcd_72^0'=rcd_72^post40, __disjvr_13^0'=__disjvr_13^post40, fmt_31^0'=fmt_31^post40, __disjvr_23^0'=__disjvr_23^post40, x_16^0'=x_16^post40, nondet_12^0'=nondet_12^post40, __disjvr_8^0'=__disjvr_8^post40, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post40, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post40, __disjvr_18^0'=__disjvr_18^post40, len_180^0'=len_180^post40, __disjvr_28^0'=__disjvr_28^post40, x_34^0'=x_34^post40, r_161^0'=r_161^post40, __disjvr_10^0'=__disjvr_10^post40, a_305^0'=a_305^post40, temp_49^0'=temp_49^post40, __disjvr_22^0'=__disjvr_22^post40, __disjvr_5^0'=__disjvr_5^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40, __disjvr_15^0'=__disjvr_15^post40, i_108^0'=i_108^post40, __disjvr_25^0'=__disjvr_25^post40, x_20^0'=x_20^post40, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post40, a_146^0'=a_146^post40, a_247^0'=a_247^post40, temp0_15^0'=temp0_15^post40, __disjvr_1^0'=__disjvr_1^post40, length_43^0'=length_43^post40, __disjvr_2^0'=__disjvr_2^post40, rcd_102^0'=rcd_102^post40, __disjvr_12^0'=__disjvr_12^post40, ct_17^0'=ct_17^post40, x_14^0'=x_14^post40, lt_37^0'=lt_37^post40, __disjvr_7^0'=__disjvr_7^post40, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post40, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post40, __disjvr_17^0'=__disjvr_17^post40, i_44^0'=i_44^post40, __disjvr_27^0'=__disjvr_27^post40, x_28^0'=x_28^post40, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post40, (0 == 0 /\ -__disjvr_3^post40+__disjvr_3^0 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ -1+i_44^post40-i_44^0 == 0 /\ x_177^0-x_177^post40 == 0 /\ -rcd_102^post40+rcd_102^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post40+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post40 == 0 /\ 1-length_43^0+i_44^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -x_20^post40+x_20^0 == 0 /\ -__disjvr_10^post40+__disjvr_10^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+length_43^0 <= 0 /\ 1-i_44^post40 <= 0 /\ -1+i_44^post40 <= 0 /\ head_46^post40-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40 <= 0 /\ __disjvr_1^0-__disjvr_1^post40 == 0 /\ -lt_37^post40+lt_37^0 == 0 /\ -r_161^post40+r_161^0 == 0 /\ tmp_48^post40-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40 <= 0 /\ a_197^0-a_197^post40 == 0 /\ __disjvr_11^0-__disjvr_11^post40 == 0 /\ -length_43^post40+length_43^0 == 0 /\ __disjvr_16^0-__disjvr_16^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ __disjvr_2^0-__disjvr_2^post40 == 0 /\ -i_108^post40+i_108^0 == 0 /\ a_26^0-a_26^post40 == 0 /\ lt_237^0-lt_237^post40 == 0 /\ -x_28^post40+x_28^0 == 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ -x_34^post40+x_34^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post40+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -i_125^post40+i_125^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post40-length_43^0 <= 0 /\ -head_46^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40 <= 0 /\ -fmt_31^post40+fmt_31^0 == 0 /\ len_180^0-len_180^post40 == 0 /\ -tmp_48^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40 <= 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ len_246^0-len_246^post40 == 0 /\ __disjvr_26^0-__disjvr_26^post40 == 0 /\ -ct_17^post40+ct_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post40+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ a_283^0-a_283^post40 == 0 /\ -__disjvr_22^post40+__disjvr_22^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post40+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ temp0_32^0-temp0_32^post40 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post40 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post40+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -r_53^post40+r_53^0 == 0 /\ __disjvr_18^0-__disjvr_18^post40 == 0 /\ __disjvr_15^0-__disjvr_15^post40 == 0 /\ -a_247^post40+a_247^0 == 0 /\ -head_46^post40+tmp_48^post40 <= 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ -__disjvr_20^post40+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post40+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ tmp_48^post40-temp_49^0 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -x_16^post40+x_16^0 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post40 == 0 /\ lt_36^0-lt_36^post40 == 0 /\ -x_14^post40+x_14^0 == 0 /\ x_238^0-x_238^post40 == 0 /\ y_19^0-y_19^post40 == 0 /\ -__disjvr_5^post40+__disjvr_5^0 == 0 /\ -t_23^post40+t_23^0 == 0 /\ rcd_72^0-rcd_72^post40 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ a_305^0-a_305^post40 == 0 /\ -a_146^post40+a_146^0 == 0 /\ head_46^post40-tmp_48^post40 <= 0 /\ head_46^post40-tmp_48^post40 == 0 /\ -__disjvr_13^post40+__disjvr_13^0 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ 1-length_43^0 <= 0 /\ temp0_45^0-temp0_45^post40 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ -temp0_15^post40+temp0_15^0 == 0 /\ -__disjvr_28^post40+__disjvr_28^0 == 0 /\ -a_328^post40+a_328^0 == 0), cost: 1
  31: l20 -> l33 : __disjvr_0^0'=__disjvr_0^post31, a_283^0'=a_283^post31, temp0_45^0'=temp0_45^post31, __disjvr_21^0'=__disjvr_21^post31, y_19^0'=y_19^post31, __disjvr_4^0'=__disjvr_4^post31, result_11^0'=result_11^post31, __disjvr_14^0'=__disjvr_14^post31, head_46^0'=head_46^post31, __disjvr_24^0'=__disjvr_24^post31, x_177^0'=x_177^post31, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post31, __disjvr_9^0'=__disjvr_9^post31, a_197^0'=a_197^post31, t_23^0'=t_23^post31, __disjvr_19^0'=__disjvr_19^post31, len_246^0'=len_246^post31, __disjvr_29^0'=__disjvr_29^post31, x_SLAM_f_18^0'=x_SLAM_f_18^post31, r_53^0'=r_53^post31, __disjvr_11^0'=__disjvr_11^post31, a_328^0'=a_328^post31, tmp_48^0'=tmp_48^post31, lt_36^0'=lt_36^post31, __disjvr_6^0'=__disjvr_6^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, __disjvr_16^0'=__disjvr_16^post31, i_125^0'=i_125^post31, __disjvr_26^0'=__disjvr_26^post31, x_238^0'=x_238^post31, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post31, a_26^0'=a_26^post31, temp0_32^0'=temp0_32^post31, __disjvr_20^0'=__disjvr_20^post31, lt_237^0'=lt_237^post31, __disjvr_3^0'=__disjvr_3^post31, rcd_72^0'=rcd_72^post31, __disjvr_13^0'=__disjvr_13^post31, fmt_31^0'=fmt_31^post31, __disjvr_23^0'=__disjvr_23^post31, x_16^0'=x_16^post31, nondet_12^0'=nondet_12^post31, __disjvr_8^0'=__disjvr_8^post31, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post31, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post31, __disjvr_18^0'=__disjvr_18^post31, len_180^0'=len_180^post31, __disjvr_28^0'=__disjvr_28^post31, x_34^0'=x_34^post31, r_161^0'=r_161^post31, __disjvr_10^0'=__disjvr_10^post31, a_305^0'=a_305^post31, temp_49^0'=temp_49^post31, __disjvr_22^0'=__disjvr_22^post31, __disjvr_5^0'=__disjvr_5^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31, __disjvr_15^0'=__disjvr_15^post31, i_108^0'=i_108^post31, __disjvr_25^0'=__disjvr_25^post31, x_20^0'=x_20^post31, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post31, a_146^0'=a_146^post31, a_247^0'=a_247^post31, temp0_15^0'=temp0_15^post31, __disjvr_1^0'=__disjvr_1^post31, length_43^0'=length_43^post31, __disjvr_2^0'=__disjvr_2^post31, rcd_102^0'=rcd_102^post31, __disjvr_12^0'=__disjvr_12^post31, ct_17^0'=ct_17^post31, x_14^0'=x_14^post31, lt_37^0'=lt_37^post31, __disjvr_7^0'=__disjvr_7^post31, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post31, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post31, __disjvr_17^0'=__disjvr_17^post31, i_44^0'=i_44^post31, __disjvr_27^0'=__disjvr_27^post31, x_28^0'=x_28^post31, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post31, (0 == 0 /\ -x_28^post31+x_28^0 == 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ -a_328^post31+a_328^0 == 0 /\ head_46^post31-tmp_48^post31 <= 0 /\ head_46^post31-tmp_48^post31 == 0 /\ __disjvr_29^0-__disjvr_29^post31 == 0 /\ -x_16^post31+x_16^0 == 0 /\ 1-length_43^0+i_44^0 <= 0 /\ lt_36^0-lt_36^post31 == 0 /\ -lt_237^post31+lt_237^0 == 0 /\ -__disjvr_18^post31+__disjvr_18^0 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ temp0_32^0-temp0_32^post31 == 0 /\ -__disjvr_8^post31+__disjvr_8^0 == 0 /\ -__disjvr_2^post31+__disjvr_2^0 == 0 /\ result_11^0-result_11^post31 == 0 /\ -a_146^post31+a_146^0 == 0 /\ -__disjvr_26^post31+__disjvr_26^0 == 0 /\ temp0_45^0-temp0_45^post31 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post31+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ 2-i_44^post31 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post31-length_43^0 <= 0 /\ -temp0_15^post31+temp0_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post31 == 0 /\ -__disjvr_25^post31+__disjvr_25^0 == 0 /\ -__disjvr_19^post31+__disjvr_19^0 == 0 /\ -__disjvr_22^post31+__disjvr_22^0 == 0 /\ -head_46^post31+tmp_48^post31 <= 0 /\ -__disjvr_23^post31+__disjvr_23^0 == 0 /\ __disjvr_28^0-__disjvr_28^post31 == 0 /\ a_197^0-a_197^post31 == 0 /\ -__disjvr_13^post31+__disjvr_13^0 == 0 /\ -rcd_102^post31+rcd_102^0 == 0 /\ -__disjvr_15^post31+__disjvr_15^0 == 0 /\ y_19^0-y_19^post31 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post31+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_20^post31+__disjvr_20^0 == 0 /\ x_238^0-x_238^post31 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post31+length_43^0 <= 0 /\ __disjvr_10^0-__disjvr_10^post31 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0 /\ -tmp_48^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31 <= 0 /\ -length_43^post31+length_43^0 == 0 /\ -head_46^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31 <= 0 /\ __disjvr_16^0-__disjvr_16^post31 == 0 /\ 2-length_43^0 <= 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ __disjvr_4^0-__disjvr_4^post31 == 0 /\ -r_161^post31+r_161^0 == 0 /\ x_14^0-x_14^post31 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post31 == 0 /\ -ct_17^post31+ct_17^0 == 0 /\ fmt_31^0-fmt_31^post31 == 0 /\ -x_34^post31+x_34^0 == 0 /\ -__disjvr_27^post31+__disjvr_27^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post31+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ -i_125^post31+i_125^0 == 0 /\ __disjvr_21^0-__disjvr_21^post31 == 0 /\ __disjvr_7^0-__disjvr_7^post31 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post31 == 0 /\ -2+i_44^post31 <= 0 /\ a_26^0-a_26^post31 == 0 /\ -a_305^post31+a_305^0 == 0 /\ tmp_48^post31-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post31+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post31+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ r_53^0-r_53^post31 == 0 /\ __disjvr_9^0-__disjvr_9^post31 == 0 /\ -x_20^post31+x_20^0 == 0 /\ -1+i_44^post31-i_44^0 == 0 /\ len_180^0-len_180^post31 == 0 /\ __disjvr_11^0-__disjvr_11^post31 == 0 /\ x_177^0-x_177^post31 == 0 /\ head_46^post31-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31 <= 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ a_283^0-a_283^post31 == 0 /\ len_246^0-len_246^post31 == 0 /\ __disjvr_14^0-__disjvr_14^post31 == 0 /\ t_23^0-t_23^post31 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post31+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ 1-length_43^0 <= 0 /\ -lt_37^post31+lt_37^0 == 0 /\ __disjvr_24^0-__disjvr_24^post31 == 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ -a_247^post31+a_247^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post31 == 0 /\ i_108^0-i_108^post31 == 0 /\ tmp_48^post31-temp_49^0 == 0), cost: 1
  32: l33 -> l35 : __disjvr_0^0'=__disjvr_0^post32, a_283^0'=a_283^post32, temp0_45^0'=temp0_45^post32, __disjvr_21^0'=__disjvr_21^post32, y_19^0'=y_19^post32, __disjvr_4^0'=__disjvr_4^post32, result_11^0'=result_11^post32, __disjvr_14^0'=__disjvr_14^post32, head_46^0'=head_46^post32, __disjvr_24^0'=__disjvr_24^post32, x_177^0'=x_177^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post32, __disjvr_9^0'=__disjvr_9^post32, a_197^0'=a_197^post32, t_23^0'=t_23^post32, __disjvr_19^0'=__disjvr_19^post32, len_246^0'=len_246^post32, __disjvr_29^0'=__disjvr_29^post32, x_SLAM_f_18^0'=x_SLAM_f_18^post32, r_53^0'=r_53^post32, __disjvr_11^0'=__disjvr_11^post32, a_328^0'=a_328^post32, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post32, __disjvr_6^0'=__disjvr_6^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, __disjvr_16^0'=__disjvr_16^post32, i_125^0'=i_125^post32, __disjvr_26^0'=__disjvr_26^post32, x_238^0'=x_238^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post32, a_26^0'=a_26^post32, temp0_32^0'=temp0_32^post32, __disjvr_20^0'=__disjvr_20^post32, lt_237^0'=lt_237^post32, __disjvr_3^0'=__disjvr_3^post32, rcd_72^0'=rcd_72^post32, __disjvr_13^0'=__disjvr_13^post32, fmt_31^0'=fmt_31^post32, __disjvr_23^0'=__disjvr_23^post32, x_16^0'=x_16^post32, nondet_12^0'=nondet_12^post32, __disjvr_8^0'=__disjvr_8^post32, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post32, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post32, __disjvr_18^0'=__disjvr_18^post32, len_180^0'=len_180^post32, __disjvr_28^0'=__disjvr_28^post32, x_34^0'=x_34^post32, r_161^0'=r_161^post32, __disjvr_10^0'=__disjvr_10^post32, a_305^0'=a_305^post32, temp_49^0'=temp_49^post32, __disjvr_22^0'=__disjvr_22^post32, __disjvr_5^0'=__disjvr_5^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, __disjvr_15^0'=__disjvr_15^post32, i_108^0'=i_108^post32, __disjvr_25^0'=__disjvr_25^post32, x_20^0'=x_20^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post32, a_146^0'=a_146^post32, a_247^0'=a_247^post32, temp0_15^0'=temp0_15^post32, __disjvr_1^0'=__disjvr_1^post32, length_43^0'=length_43^post32, __disjvr_2^0'=__disjvr_2^post32, rcd_102^0'=rcd_102^post32, __disjvr_12^0'=__disjvr_12^post32, ct_17^0'=ct_17^post32, x_14^0'=x_14^post32, lt_37^0'=lt_37^post32, __disjvr_7^0'=__disjvr_7^post32, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post32, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post32, __disjvr_17^0'=__disjvr_17^post32, i_44^0'=i_44^post32, __disjvr_27^0'=__disjvr_27^post32, x_28^0'=x_28^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post32, (0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post32+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_8^0-__disjvr_8^post32 == 0 /\ -result_11^310+result_dot_printf_sdv_special_RETURN_VALUE_41^post32 == 0 /\ a_305^0-a_305^post32 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ len_180^0-len_180^post32 == 0 /\ -x_34^post32+x_34^0 == 0 /\ x_16^0-x_16^post32 == 0 /\ -head_46^0+temp0_45^110 == 0 /\ a_328^0-a_328^post32 == 0 /\ len_246^0-len_246^post32 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ y_19^0-y_19^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ __disjvr_19^0-__disjvr_19^post32 == 0 /\ length_43^0-i_44^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post32 == 0 /\ rcd_72^0-rcd_72^post32 == 0 /\ -lt_36^post32+lt_36^0 == 0 /\ -__disjvr_28^post32+__disjvr_28^0 == 0 /\ a_247^0-a_247^post32 == 0 /\ __disjvr_4^0-__disjvr_4^post32 == 0 /\ -a_146^post32+a_146^0 == 0 /\ -__disjvr_13^post32+__disjvr_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post32 == 0 /\ fmt_31^13-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post32 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post32+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -rcd_102^post32+rcd_102^0 == 0 /\ -x_20^post32+x_20^0 == 0 /\ -__disjvr_27^post32+__disjvr_27^0 == 0 /\ a_197^0-a_197^post32 == 0 /\ r_53^0-r_53^post32 == 0 /\ -ct_17^post32+ct_17^0 == 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ -temp0_15^post32+temp0_15^0 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ -__disjvr_17^post32+__disjvr_17^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post32 == 0 /\ t_23^0-t_23^post32 == 0 /\ -__disjvr_18^post32+__disjvr_18^0 == 0 /\ __disjvr_21^0-__disjvr_21^post32 == 0 /\ -a_26^post32+x_28^post32 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ result_11^130-temp0_45^110 == 0 /\ __disjvr_24^0-__disjvr_24^post32 == 0 /\ a_26^post32-x_14^post32 == 0 /\ -i_44^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ -r_161^post32+r_161^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post32 == 0 /\ i_108^0-i_108^post32 == 0 /\ result_11^310-temp0_32^130 == 0 /\ -__disjvr_22^post32+__disjvr_22^0 == 0 /\ -__disjvr_1^post32+__disjvr_1^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post32+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_29^0-__disjvr_29^post32 == 0 /\ x_177^0-x_177^post32 == 0 /\ -result_11^130+x_14^post32 == 0 /\ -__disjvr_10^post32+__disjvr_10^0 == 0 /\ __disjvr_23^0-__disjvr_23^post32 == 0 /\ __disjvr_14^0-__disjvr_14^post32 == 0 /\ -lt_37^post32+lt_37^0 == 0 /\ a_283^0-a_283^post32 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post32+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -__disjvr_15^post32+__disjvr_15^0 == 0 /\ lt_237^0-lt_237^post32 == 0 /\ x_238^0-x_238^post32 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post32+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ temp0_32^130 == 0 /\ __disjvr_25^0-__disjvr_25^post32 == 0), cost: 1
  37: l33 -> l39 : __disjvr_0^0'=__disjvr_0^post37, a_283^0'=a_283^post37, temp0_45^0'=temp0_45^post37, __disjvr_21^0'=__disjvr_21^post37, y_19^0'=y_19^post37, __disjvr_4^0'=__disjvr_4^post37, result_11^0'=result_11^post37, __disjvr_14^0'=__disjvr_14^post37, head_46^0'=head_46^post37, __disjvr_24^0'=__disjvr_24^post37, x_177^0'=x_177^post37, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post37, __disjvr_9^0'=__disjvr_9^post37, a_197^0'=a_197^post37, t_23^0'=t_23^post37, __disjvr_19^0'=__disjvr_19^post37, len_246^0'=len_246^post37, __disjvr_29^0'=__disjvr_29^post37, x_SLAM_f_18^0'=x_SLAM_f_18^post37, r_53^0'=r_53^post37, __disjvr_11^0'=__disjvr_11^post37, a_328^0'=a_328^post37, tmp_48^0'=tmp_48^post37, lt_36^0'=lt_36^post37, __disjvr_6^0'=__disjvr_6^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, __disjvr_16^0'=__disjvr_16^post37, i_125^0'=i_125^post37, __disjvr_26^0'=__disjvr_26^post37, x_238^0'=x_238^post37, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post37, a_26^0'=a_26^post37, temp0_32^0'=temp0_32^post37, __disjvr_20^0'=__disjvr_20^post37, lt_237^0'=lt_237^post37, __disjvr_3^0'=__disjvr_3^post37, rcd_72^0'=rcd_72^post37, __disjvr_13^0'=__disjvr_13^post37, fmt_31^0'=fmt_31^post37, __disjvr_23^0'=__disjvr_23^post37, x_16^0'=x_16^post37, nondet_12^0'=nondet_12^post37, __disjvr_8^0'=__disjvr_8^post37, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post37, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post37, __disjvr_18^0'=__disjvr_18^post37, len_180^0'=len_180^post37, __disjvr_28^0'=__disjvr_28^post37, x_34^0'=x_34^post37, r_161^0'=r_161^post37, __disjvr_10^0'=__disjvr_10^post37, a_305^0'=a_305^post37, temp_49^0'=temp_49^post37, __disjvr_22^0'=__disjvr_22^post37, __disjvr_5^0'=__disjvr_5^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post37, __disjvr_15^0'=__disjvr_15^post37, i_108^0'=i_108^post37, __disjvr_25^0'=__disjvr_25^post37, x_20^0'=x_20^post37, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post37, a_146^0'=a_146^post37, a_247^0'=a_247^post37, temp0_15^0'=temp0_15^post37, __disjvr_1^0'=__disjvr_1^post37, length_43^0'=length_43^post37, __disjvr_2^0'=__disjvr_2^post37, rcd_102^0'=rcd_102^post37, __disjvr_12^0'=__disjvr_12^post37, ct_17^0'=ct_17^post37, x_14^0'=x_14^post37, lt_37^0'=lt_37^post37, __disjvr_7^0'=__disjvr_7^post37, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post37, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post37, __disjvr_17^0'=__disjvr_17^post37, i_44^0'=i_44^post37, __disjvr_27^0'=__disjvr_27^post37, x_28^0'=x_28^post37, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post37, (0 == 0 /\ -__disjvr_26^post37+__disjvr_26^0 == 0 /\ -__disjvr_2^post37+__disjvr_2^0 == 0 /\ -x_16^post37+x_16^0 == 0 /\ __disjvr_0^0-__disjvr_0^post37 == 0 /\ -x_28^post37+x_28^0 == 0 /\ 1-length_43^0+i_44^0 <= 0 /\ -__disjvr_18^post37+__disjvr_18^0 == 0 /\ 1-length_43^0+i_108^post37 <= 0 /\ -lt_37^post37+lt_37^0 == 0 /\ __disjvr_29^0-__disjvr_29^post37 == 0 /\ -a_328^post37+a_328^0 == 0 /\ lt_36^0-lt_36^post37 == 0 /\ -a_146^post37+a_146^0 == 0 /\ result_11^0-result_11^post37 == 0 /\ temp0_32^0-temp0_32^post37 == 0 /\ -__disjvr_12^post37+__disjvr_12^0 == 0 /\ rcd_72^0-rcd_72^post37 == 0 /\ __disjvr_1^0-__disjvr_1^post37 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post37 == 0 /\ -__disjvr_22^post37+__disjvr_22^0 == 0 /\ temp0_45^0-temp0_45^post37 == 0 /\ -lt_237^post37+lt_237^0 == 0 /\ -__disjvr_15^post37+__disjvr_15^0 == 0 /\ 1-i_44^post37+i_108^post37 <= 0 /\ -__disjvr_19^post37+__disjvr_19^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post37+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post37+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ a_197^0-a_197^post37 == 0 /\ __disjvr_14^0-__disjvr_14^post37 == 0 /\ -__disjvr_25^post37+__disjvr_25^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post37 == 0 /\ __disjvr_24^0-__disjvr_24^post37 == 0 /\ x_238^0-x_238^post37 == 0 /\ __disjvr_28^0-__disjvr_28^post37 == 0 /\ -r_161^post37+r_161^0 == 0 /\ head_46^post37-tmp_48^post37 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post37+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_20^post37+__disjvr_20^0 == 0 /\ y_19^0-y_19^post37 == 0 /\ -length_43^post37+length_43^0 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ x_14^0-x_14^post37 == 0 /\ -__disjvr_9^post37+__disjvr_9^0 == 0 /\ __disjvr_21^0-__disjvr_21^post37 == 0 /\ -x_34^post37+x_34^0 == 0 /\ __disjvr_7^0-__disjvr_7^post37 == 0 /\ -i_125^post37+i_125^0 == 0 /\ __disjvr_4^0-__disjvr_4^post37 == 0 /\ -a_247^post37+a_247^0 == 0 /\ __disjvr_16^0-__disjvr_16^post37 == 0 /\ -a_305^post37+a_305^0 == 0 /\ -__disjvr_5^post37+__disjvr_5^0 == 0 /\ x_177^0-x_177^post37 == 0 /\ -__disjvr_13^post37+__disjvr_13^0 == 0 /\ fmt_31^0-fmt_31^post37 == 0 /\ -ct_17^post37+ct_17^0 == 0 /\ -i_44^0 <= 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post37 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post37 == 0 /\ __disjvr_6^0-__disjvr_6^post37 == 0 /\ -__disjvr_27^post37+__disjvr_27^0 == 0 /\ -temp0_15^post37+temp0_15^0 == 0 /\ -__disjvr_3^post37+__disjvr_3^0 == 0 /\ r_53^0-r_53^post37 == 0 /\ __disjvr_11^0-__disjvr_11^post37 == 0 /\ -1+i_44^post37-i_108^post37 <= 0 /\ len_246^0-len_246^post37 == 0 /\ len_180^0-len_180^post37 == 0 /\ -1+i_44^post37-i_44^0 == 0 /\ -x_20^post37+x_20^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post37+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ a_283^0-a_283^post37 == 0 /\ __disjvr_23^0-__disjvr_23^post37 == 0 /\ tmp_48^post37-temp_49^0 == 0 /\ t_23^0-t_23^post37 == 0 /\ -a_26^post37+a_26^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post37+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post37 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post37 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0), cost: 1
  33: l35 -> l36 : __disjvr_0^0'=__disjvr_0^post33, a_283^0'=a_283^post33, temp0_45^0'=temp0_45^post33, __disjvr_21^0'=__disjvr_21^post33, y_19^0'=y_19^post33, __disjvr_4^0'=__disjvr_4^post33, result_11^0'=result_11^post33, __disjvr_14^0'=__disjvr_14^post33, head_46^0'=head_46^post33, __disjvr_24^0'=__disjvr_24^post33, x_177^0'=x_177^post33, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post33, __disjvr_9^0'=__disjvr_9^post33, a_197^0'=a_197^post33, t_23^0'=t_23^post33, __disjvr_19^0'=__disjvr_19^post33, len_246^0'=len_246^post33, __disjvr_29^0'=__disjvr_29^post33, x_SLAM_f_18^0'=x_SLAM_f_18^post33, r_53^0'=r_53^post33, __disjvr_11^0'=__disjvr_11^post33, a_328^0'=a_328^post33, tmp_48^0'=tmp_48^post33, lt_36^0'=lt_36^post33, __disjvr_6^0'=__disjvr_6^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, __disjvr_16^0'=__disjvr_16^post33, i_125^0'=i_125^post33, __disjvr_26^0'=__disjvr_26^post33, x_238^0'=x_238^post33, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post33, a_26^0'=a_26^post33, temp0_32^0'=temp0_32^post33, __disjvr_20^0'=__disjvr_20^post33, lt_237^0'=lt_237^post33, __disjvr_3^0'=__disjvr_3^post33, rcd_72^0'=rcd_72^post33, __disjvr_13^0'=__disjvr_13^post33, fmt_31^0'=fmt_31^post33, __disjvr_23^0'=__disjvr_23^post33, x_16^0'=x_16^post33, nondet_12^0'=nondet_12^post33, __disjvr_8^0'=__disjvr_8^post33, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post33, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post33, __disjvr_18^0'=__disjvr_18^post33, len_180^0'=len_180^post33, __disjvr_28^0'=__disjvr_28^post33, x_34^0'=x_34^post33, r_161^0'=r_161^post33, __disjvr_10^0'=__disjvr_10^post33, a_305^0'=a_305^post33, temp_49^0'=temp_49^post33, __disjvr_22^0'=__disjvr_22^post33, __disjvr_5^0'=__disjvr_5^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post33, __disjvr_15^0'=__disjvr_15^post33, i_108^0'=i_108^post33, __disjvr_25^0'=__disjvr_25^post33, x_20^0'=x_20^post33, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post33, a_146^0'=a_146^post33, a_247^0'=a_247^post33, temp0_15^0'=temp0_15^post33, __disjvr_1^0'=__disjvr_1^post33, length_43^0'=length_43^post33, __disjvr_2^0'=__disjvr_2^post33, rcd_102^0'=rcd_102^post33, __disjvr_12^0'=__disjvr_12^post33, ct_17^0'=ct_17^post33, x_14^0'=x_14^post33, lt_37^0'=lt_37^post33, __disjvr_7^0'=__disjvr_7^post33, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post33, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post33, __disjvr_17^0'=__disjvr_17^post33, i_44^0'=i_44^post33, __disjvr_27^0'=__disjvr_27^post33, x_28^0'=x_28^post33, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post33, (temp_49^0-temp_49^post33 == 0 /\ -x_14^post33+x_14^0 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ -__disjvr_25^post33+__disjvr_25^0 == 0 /\ r_53^0-r_53^post33 == 0 /\ a_197^0-a_197^post33 == 0 /\ rcd_72^0-rcd_72^post33 == 0 /\ -__disjvr_17^post33+__disjvr_17^0 == 0 /\ -length_43^post33+length_43^0 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ -__disjvr_13^post33+__disjvr_13^0 == 0 /\ __disjvr_2^0-__disjvr_2^post33 == 0 /\ -lt_36^post33+lt_36^0 == 0 /\ a_283^0-a_283^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 == 0 /\ -__disjvr_16^0+__disjvr_16^post33 == 0 /\ __disjvr_4^0-__disjvr_4^post33 == 0 /\ __disjvr_24^0-__disjvr_24^post33 == 0 /\ __disjvr_19^0-__disjvr_19^post33 == 0 /\ -__disjvr_20^post33+__disjvr_20^0 == 0 /\ tmp_48^0-tmp_48^post33 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post33 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ -i_44^post33+i_44^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post33 == 0 /\ -ct_17^post33+ct_17^0 == 0 /\ len_246^0-len_246^post33 == 0 /\ head_46^0-head_46^post33 == 0 /\ -a_328^post33+a_328^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post33+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_16^post33+x_16^0 == 0 /\ __disjvr_26^0-__disjvr_26^post33 == 0 /\ __disjvr_29^0-__disjvr_29^post33 == 0 /\ a_247^0-a_247^post33 == 0 /\ -a_305^post33+a_305^0 == 0 /\ -__disjvr_5^post33+__disjvr_5^0 == 0 /\ -__disjvr_27^post33+__disjvr_27^0 == 0 /\ -__disjvr_8^post33+__disjvr_8^0 == 0 /\ __disjvr_16^0-__disjvr_16^post33 == 0 /\ -a_146^post33+a_146^0 == 0 /\ -__disjvr_7^post33+__disjvr_7^0 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0 /\ x_34^0-x_34^post33 == 0 /\ __disjvr_6^0-__disjvr_6^post33 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post33 == 0 /\ temp0_45^0-temp0_45^post33 == 0 /\ t_23^0-t_23^post33 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ __disjvr_9^0-__disjvr_9^post33 == 0 /\ -i_108^post33+i_108^0 == 0 /\ -__disjvr_28^post33+__disjvr_28^0 == 0 /\ x_238^0-x_238^post33 == 0 /\ a_26^0-a_26^post33 == 0 /\ result_11^0-result_11^post33 == 0 /\ -rcd_102^post33+rcd_102^0 == 0 /\ __disjvr_23^0-__disjvr_23^post33 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ -temp0_15^post33+temp0_15^0 == 0 /\ -lt_37^post33+lt_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post33 == 0 /\ y_19^0-y_19^post33 == 0 /\ temp0_32^0-temp0_32^post33 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post33+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post33+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -len_180^post33+len_180^0 == 0 /\ __disjvr_3^0-__disjvr_3^post33 == 0 /\ x_20^0-x_20^post33 == 0 /\ -__disjvr_22^post33+__disjvr_22^0 == 0 /\ -r_161^post33+r_161^0 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ -__disjvr_15^post33+__disjvr_15^0 == 0 /\ -lt_237^post33+lt_237^0 == 0 /\ -x_28^post33+x_28^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post33+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ __disjvr_11^0-__disjvr_11^post33 == 0 /\ -i_125^post33+i_125^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post33+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post33+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post33+__disjvr_1^0 == 0 /\ x_177^0-x_177^post33 == 0 /\ fmt_31^0-fmt_31^post33 == 0), cost: 1
  34: l36 -> l37 : __disjvr_0^0'=__disjvr_0^post34, a_283^0'=a_283^post34, temp0_45^0'=temp0_45^post34, __disjvr_21^0'=__disjvr_21^post34, y_19^0'=y_19^post34, __disjvr_4^0'=__disjvr_4^post34, result_11^0'=result_11^post34, __disjvr_14^0'=__disjvr_14^post34, head_46^0'=head_46^post34, __disjvr_24^0'=__disjvr_24^post34, x_177^0'=x_177^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post34, __disjvr_9^0'=__disjvr_9^post34, a_197^0'=a_197^post34, t_23^0'=t_23^post34, __disjvr_19^0'=__disjvr_19^post34, len_246^0'=len_246^post34, __disjvr_29^0'=__disjvr_29^post34, x_SLAM_f_18^0'=x_SLAM_f_18^post34, r_53^0'=r_53^post34, __disjvr_11^0'=__disjvr_11^post34, a_328^0'=a_328^post34, tmp_48^0'=tmp_48^post34, lt_36^0'=lt_36^post34, __disjvr_6^0'=__disjvr_6^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, __disjvr_16^0'=__disjvr_16^post34, i_125^0'=i_125^post34, __disjvr_26^0'=__disjvr_26^post34, x_238^0'=x_238^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post34, a_26^0'=a_26^post34, temp0_32^0'=temp0_32^post34, __disjvr_20^0'=__disjvr_20^post34, lt_237^0'=lt_237^post34, __disjvr_3^0'=__disjvr_3^post34, rcd_72^0'=rcd_72^post34, __disjvr_13^0'=__disjvr_13^post34, fmt_31^0'=fmt_31^post34, __disjvr_23^0'=__disjvr_23^post34, x_16^0'=x_16^post34, nondet_12^0'=nondet_12^post34, __disjvr_8^0'=__disjvr_8^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post34, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post34, __disjvr_18^0'=__disjvr_18^post34, len_180^0'=len_180^post34, __disjvr_28^0'=__disjvr_28^post34, x_34^0'=x_34^post34, r_161^0'=r_161^post34, __disjvr_10^0'=__disjvr_10^post34, a_305^0'=a_305^post34, temp_49^0'=temp_49^post34, __disjvr_22^0'=__disjvr_22^post34, __disjvr_5^0'=__disjvr_5^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post34, __disjvr_15^0'=__disjvr_15^post34, i_108^0'=i_108^post34, __disjvr_25^0'=__disjvr_25^post34, x_20^0'=x_20^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, a_146^0'=a_146^post34, a_247^0'=a_247^post34, temp0_15^0'=temp0_15^post34, __disjvr_1^0'=__disjvr_1^post34, length_43^0'=length_43^post34, __disjvr_2^0'=__disjvr_2^post34, rcd_102^0'=rcd_102^post34, __disjvr_12^0'=__disjvr_12^post34, ct_17^0'=ct_17^post34, x_14^0'=x_14^post34, lt_37^0'=lt_37^post34, __disjvr_7^0'=__disjvr_7^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post34, __disjvr_17^0'=__disjvr_17^post34, i_44^0'=i_44^post34, __disjvr_27^0'=__disjvr_27^post34, x_28^0'=x_28^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post34, (0 == 0 /\ temp0_32^140 == 0 /\ -__disjvr_27^post34+__disjvr_27^0 == 0 /\ a_26^0-a_26^post34 == 0 /\ lt_237^0-lt_237^post34 == 0 /\ -__disjvr_20^post34+__disjvr_20^0 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ nondet_12^0-nondet_12^post34 == 0 /\ -__disjvr_1^post34+__disjvr_1^0 == 0 /\ -__disjvr_28^post34+__disjvr_28^0 == 0 /\ -a_146^post34+a_146^0 == 0 /\ -__disjvr_26^post34+__disjvr_26^0 == 0 /\ a_283^0-a_283^post34 == 0 /\ -__disjvr_23^post34+__disjvr_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -x_20^post34+x_20^0 == 0 /\ x_34^110-x_28^0 == 0 /\ __disjvr_29^0-__disjvr_29^post34 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ __disjvr_18^0-__disjvr_18^post34 == 0 /\ -x_28^post34+x_28^0 == 0 /\ -rcd_72^post34+rcd_72^0 == 0 /\ __disjvr_13^0-__disjvr_13^post34 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ -a_305^post34+a_305^0 == 0 /\ x_177^0-x_177^post34 == 0 /\ __disjvr_14^0-__disjvr_14^post34 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ tmp_48^0-tmp_48^post34 == 0 /\ -r_161^post34+r_161^0 == 0 /\ -__disjvr_7^post34+__disjvr_7^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post34 == 0 /\ __disjvr_24^0-__disjvr_24^post34 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post34+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post34+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -length_43^post34+length_43^0 == 0 /\ -i_44^post34+i_44^0 == 0 /\ len_246^0-len_246^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post34 == 0 /\ -__disjvr_25^post34+__disjvr_25^0 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ __disjvr_16^0-__disjvr_16^post34 == 0 /\ x_14^0-x_14^post34 == 0 /\ x_238^0-x_238^post34 == 0 /\ -result_11^140+result_dot_printf_sdv_special_RETURN_VALUE_38^110 == 0 /\ -a_247^post34+a_247^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ temp0_45^0-temp0_45^post34 == 0 /\ head_46^0-head_46^post34 == 0 /\ -__disjvr_2^post34+__disjvr_2^0 == 0 /\ __disjvr_19^0-__disjvr_19^post34 == 0 /\ -ct_17^post34+ct_17^0 == 0 /\ fmt_31^14-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^110 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ -__disjvr_22^post34+__disjvr_22^0 == 0 /\ -t_23^post34+t_23^0 == 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ a_26^0-x_14^0 <= 0 /\ r_53^0-r_53^post34 == 0 /\ y_19^0-y_19^post34 == 0 /\ -__disjvr_15^post34+__disjvr_15^0 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ __disjvr_11^0-__disjvr_11^post34 == 0 /\ -rcd_102^post34+rcd_102^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post34 == 0 /\ -temp0_32^140+result_11^140 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post34+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ a_197^0-a_197^post34 == 0 /\ -len_180^post34+len_180^0 == 0 /\ -i_125^post34+i_125^0 == 0 /\ __disjvr_21^0-__disjvr_21^post34 == 0 /\ i_108^0-i_108^post34 == 0 /\ __disjvr_9^0-__disjvr_9^post34 == 0 /\ -temp0_15^post34+temp0_15^0 == 0 /\ x_16^0-x_16^post34 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post34+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ -a_26^0+x_14^0 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post34+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ a_328^0-a_328^post34 == 0 /\ __disjvr_8^0-__disjvr_8^post34 == 0 /\ temp_49^0-temp_49^post34 == 0), cost: 1
  35: l37 -> l38 : __disjvr_0^0'=__disjvr_0^post35, a_283^0'=a_283^post35, temp0_45^0'=temp0_45^post35, __disjvr_21^0'=__disjvr_21^post35, y_19^0'=y_19^post35, __disjvr_4^0'=__disjvr_4^post35, result_11^0'=result_11^post35, __disjvr_14^0'=__disjvr_14^post35, head_46^0'=head_46^post35, __disjvr_24^0'=__disjvr_24^post35, x_177^0'=x_177^post35, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post35, __disjvr_9^0'=__disjvr_9^post35, a_197^0'=a_197^post35, t_23^0'=t_23^post35, __disjvr_19^0'=__disjvr_19^post35, len_246^0'=len_246^post35, __disjvr_29^0'=__disjvr_29^post35, x_SLAM_f_18^0'=x_SLAM_f_18^post35, r_53^0'=r_53^post35, __disjvr_11^0'=__disjvr_11^post35, a_328^0'=a_328^post35, tmp_48^0'=tmp_48^post35, lt_36^0'=lt_36^post35, __disjvr_6^0'=__disjvr_6^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, __disjvr_16^0'=__disjvr_16^post35, i_125^0'=i_125^post35, __disjvr_26^0'=__disjvr_26^post35, x_238^0'=x_238^post35, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post35, a_26^0'=a_26^post35, temp0_32^0'=temp0_32^post35, __disjvr_20^0'=__disjvr_20^post35, lt_237^0'=lt_237^post35, __disjvr_3^0'=__disjvr_3^post35, rcd_72^0'=rcd_72^post35, __disjvr_13^0'=__disjvr_13^post35, fmt_31^0'=fmt_31^post35, __disjvr_23^0'=__disjvr_23^post35, x_16^0'=x_16^post35, nondet_12^0'=nondet_12^post35, __disjvr_8^0'=__disjvr_8^post35, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post35, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post35, __disjvr_18^0'=__disjvr_18^post35, len_180^0'=len_180^post35, __disjvr_28^0'=__disjvr_28^post35, x_34^0'=x_34^post35, r_161^0'=r_161^post35, __disjvr_10^0'=__disjvr_10^post35, a_305^0'=a_305^post35, temp_49^0'=temp_49^post35, __disjvr_22^0'=__disjvr_22^post35, __disjvr_5^0'=__disjvr_5^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post35, __disjvr_15^0'=__disjvr_15^post35, i_108^0'=i_108^post35, __disjvr_25^0'=__disjvr_25^post35, x_20^0'=x_20^post35, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post35, a_146^0'=a_146^post35, a_247^0'=a_247^post35, temp0_15^0'=temp0_15^post35, __disjvr_1^0'=__disjvr_1^post35, length_43^0'=length_43^post35, __disjvr_2^0'=__disjvr_2^post35, rcd_102^0'=rcd_102^post35, __disjvr_12^0'=__disjvr_12^post35, ct_17^0'=ct_17^post35, x_14^0'=x_14^post35, lt_37^0'=lt_37^post35, __disjvr_7^0'=__disjvr_7^post35, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post35, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post35, __disjvr_17^0'=__disjvr_17^post35, i_44^0'=i_44^post35, __disjvr_27^0'=__disjvr_27^post35, x_28^0'=x_28^post35, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post35, (rcd_102^0-rcd_102^post35 == 0 /\ -r_53^post35+r_53^0 == 0 /\ __disjvr_4^0-__disjvr_4^post35 == 0 /\ x_16^0-x_16^post35 == 0 /\ __disjvr_16^0-__disjvr_16^post35 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ -rcd_72^post35+rcd_72^0 == 0 /\ __disjvr_24^0-__disjvr_24^post35 == 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ t_23^0-t_23^post35 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post35+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -i_44^post35+i_44^0 == 0 /\ -__disjvr_2^post35+__disjvr_2^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post35 == 0 /\ x_34^0-x_34^post35 == 0 /\ __disjvr_17^post35-__disjvr_17^0 == 0 /\ -lt_237^post35+lt_237^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post35+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -a_247^post35+a_247^0 == 0 /\ -__disjvr_18^post35+__disjvr_18^0 == 0 /\ a_283^0-a_283^post35 == 0 /\ temp_49^0-temp_49^post35 == 0 /\ -a_146^post35+a_146^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post35+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post35 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post35 == 0 /\ -__disjvr_13^post35+__disjvr_13^0 == 0 /\ -tmp_48^post35+tmp_48^0 == 0 /\ len_246^0-len_246^post35 == 0 /\ -__disjvr_27^post35+__disjvr_27^0 == 0 /\ x_177^0-x_177^post35 == 0 /\ -x_14^post35+x_14^0 == 0 /\ fmt_31^0-fmt_31^post35 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ -__disjvr_11^post35+__disjvr_11^0 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ ct_17^0-ct_17^post35 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post35 == 0 /\ temp0_15^0-temp0_15^post35 == 0 /\ i_125^0-i_125^post35 == 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ -len_180^post35+len_180^0 == 0 /\ lt_36^0-lt_36^post35 == 0 /\ a_328^0-a_328^post35 == 0 /\ -__disjvr_6^post35+__disjvr_6^0 == 0 /\ -__disjvr_25^post35+__disjvr_25^0 == 0 /\ -x_20^post35+x_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -r_161^post35+r_161^0 == 0 /\ temp0_45^0-temp0_45^post35 == 0 /\ __disjvr_22^0-__disjvr_22^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post35+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ -result_11^post35+result_11^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ -a_305^post35+a_305^0 == 0 /\ -__disjvr_21^post35+__disjvr_21^0 == 0 /\ temp0_32^0-temp0_32^post35 == 0 /\ -__disjvr_1^post35+__disjvr_1^0 == 0 /\ __disjvr_26^0-__disjvr_26^post35 == 0 /\ -head_46^post35+head_46^0 == 0 /\ -x_28^post35+x_28^0 == 0 /\ -a_26^post35+a_26^0 == 0 /\ __disjvr_15^0-__disjvr_15^post35 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ -length_43^post35+length_43^0 == 0 /\ __disjvr_20^0-__disjvr_20^post35 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post35 == 0 /\ __disjvr_28^0-__disjvr_28^post35 == 0 /\ __disjvr_10^0-__disjvr_10^post35 == 0 /\ __disjvr_5^0-__disjvr_5^post35 == 0 /\ -x_238^post35+x_238^0 == 0 /\ y_19^0-y_19^post35 == 0 /\ a_197^0-a_197^post35 == 0 /\ __disjvr_29^0-__disjvr_29^post35 == 0 /\ __disjvr_14^0-__disjvr_14^post35 == 0 /\ -i_108^post35+i_108^0 == 0 /\ -lt_37^post35+lt_37^0 == 0), cost: 1
  36: l38 -> l34 : __disjvr_0^0'=__disjvr_0^post36, a_283^0'=a_283^post36, temp0_45^0'=temp0_45^post36, __disjvr_21^0'=__disjvr_21^post36, y_19^0'=y_19^post36, __disjvr_4^0'=__disjvr_4^post36, result_11^0'=result_11^post36, __disjvr_14^0'=__disjvr_14^post36, head_46^0'=head_46^post36, __disjvr_24^0'=__disjvr_24^post36, x_177^0'=x_177^post36, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post36, __disjvr_9^0'=__disjvr_9^post36, a_197^0'=a_197^post36, t_23^0'=t_23^post36, __disjvr_19^0'=__disjvr_19^post36, len_246^0'=len_246^post36, __disjvr_29^0'=__disjvr_29^post36, x_SLAM_f_18^0'=x_SLAM_f_18^post36, r_53^0'=r_53^post36, __disjvr_11^0'=__disjvr_11^post36, a_328^0'=a_328^post36, tmp_48^0'=tmp_48^post36, lt_36^0'=lt_36^post36, __disjvr_6^0'=__disjvr_6^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, __disjvr_16^0'=__disjvr_16^post36, i_125^0'=i_125^post36, __disjvr_26^0'=__disjvr_26^post36, x_238^0'=x_238^post36, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post36, a_26^0'=a_26^post36, temp0_32^0'=temp0_32^post36, __disjvr_20^0'=__disjvr_20^post36, lt_237^0'=lt_237^post36, __disjvr_3^0'=__disjvr_3^post36, rcd_72^0'=rcd_72^post36, __disjvr_13^0'=__disjvr_13^post36, fmt_31^0'=fmt_31^post36, __disjvr_23^0'=__disjvr_23^post36, x_16^0'=x_16^post36, nondet_12^0'=nondet_12^post36, __disjvr_8^0'=__disjvr_8^post36, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post36, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post36, __disjvr_18^0'=__disjvr_18^post36, len_180^0'=len_180^post36, __disjvr_28^0'=__disjvr_28^post36, x_34^0'=x_34^post36, r_161^0'=r_161^post36, __disjvr_10^0'=__disjvr_10^post36, a_305^0'=a_305^post36, temp_49^0'=temp_49^post36, __disjvr_22^0'=__disjvr_22^post36, __disjvr_5^0'=__disjvr_5^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post36, __disjvr_15^0'=__disjvr_15^post36, i_108^0'=i_108^post36, __disjvr_25^0'=__disjvr_25^post36, x_20^0'=x_20^post36, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post36, a_146^0'=a_146^post36, a_247^0'=a_247^post36, temp0_15^0'=temp0_15^post36, __disjvr_1^0'=__disjvr_1^post36, length_43^0'=length_43^post36, __disjvr_2^0'=__disjvr_2^post36, rcd_102^0'=rcd_102^post36, __disjvr_12^0'=__disjvr_12^post36, ct_17^0'=ct_17^post36, x_14^0'=x_14^post36, lt_37^0'=lt_37^post36, __disjvr_7^0'=__disjvr_7^post36, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post36, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post36, __disjvr_17^0'=__disjvr_17^post36, i_44^0'=i_44^post36, __disjvr_27^0'=__disjvr_27^post36, x_28^0'=x_28^post36, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post36, (__disjvr_19^0-__disjvr_19^post36 == 0 /\ __disjvr_29^0-__disjvr_29^post36 == 0 /\ lt_36^0-lt_36^post36 == 0 /\ __disjvr_4^0-__disjvr_4^post36 == 0 /\ -temp0_15^post36+temp0_15^0 == 0 /\ -__disjvr_15^post36+__disjvr_15^0 == 0 /\ __disjvr_8^0-__disjvr_8^post36 == 0 /\ __disjvr_24^0-__disjvr_24^post36 == 0 /\ __disjvr_16^0-__disjvr_16^post36 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post36+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -__disjvr_2^post36+__disjvr_2^0 == 0 /\ head_46^0-head_46^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 == 0 /\ -lt_37^post36+lt_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post36+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post36 == 0 /\ __disjvr_21^0-__disjvr_21^post36 == 0 /\ -__disjvr_22^post36+__disjvr_22^0 == 0 /\ -__disjvr_28^post36+__disjvr_28^0 == 0 /\ -fmt_31^post36+fmt_31^0 == 0 /\ -x_28^post36+x_28^0 == 0 /\ -a_146^post36+a_146^0 == 0 /\ __disjvr_20^0-__disjvr_20^post36 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post36+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post36+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ len_180^0-len_180^post36 == 0 /\ -__disjvr_26^post36+__disjvr_26^0 == 0 /\ -rcd_102^post36+rcd_102^0 == 0 /\ -__disjvr_25^post36+__disjvr_25^0 == 0 /\ __disjvr_6^0-__disjvr_6^post36 == 0 /\ a_283^0-a_283^post36 == 0 /\ tmp_48^0-tmp_48^post36 == 0 /\ -rcd_72^post36+rcd_72^0 == 0 /\ -__disjvr_23^post36+__disjvr_23^0 == 0 /\ -__disjvr_27^post36+__disjvr_27^0 == 0 /\ __disjvr_1^0-__disjvr_1^post36 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post36+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ x_238^0-x_238^post36 == 0 /\ -i_44^post36+i_44^0 == 0 /\ __disjvr_13^0-__disjvr_13^post36 == 0 /\ -__disjvr_10^post36+__disjvr_10^0 == 0 /\ -__disjvr_12^post36+__disjvr_12^0 == 0 /\ -temp_49^post36+temp_49^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_125^0 <= 0 /\ -x_14^post36+x_14^0 == 0 /\ __disjvr_0^0-__disjvr_0^post36 == 0 /\ -x_20^post36+x_20^0 == 0 /\ -length_43^post36+length_43^0 == 0 /\ -__disjvr_17^post36+__disjvr_17^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_5^post36+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post36 == 0 /\ -x_34^post36+x_34^0 == 0 /\ a_26^0-a_26^post36 == 0 /\ result_11^0-result_11^post36 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post36 == 0 /\ x_16^0-x_16^post36 == 0 /\ temp0_45^0-temp0_45^post36 == 0 /\ -temp0_32^post36+temp0_32^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post36+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ -__disjvr_7^post36+__disjvr_7^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post36+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ a_305^0-a_305^post36 == 0 /\ -ct_17^post36+ct_17^0 == 0 /\ lt_237^0-lt_237^post36 == 0 /\ -a_197^post36+a_197^0 == 0 /\ __disjvr_11^0-__disjvr_11^post36 == 0 /\ r_53^0-r_53^post36 == 0 /\ len_246^0-len_246^post36 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_247^post36+a_247^0 == 0 /\ -i_108^post36+i_108^0 == 0 /\ a_328^0-a_328^post36 == 0 /\ -x_177^post36+x_177^0 == 0 /\ y_19^0-y_19^post36 == 0 /\ __disjvr_14^0-__disjvr_14^post36 == 0 /\ t_23^0-t_23^post36 == 0 /\ -__disjvr_3^post36+__disjvr_3^0 == 0 /\ __disjvr_18^0-__disjvr_18^post36 == 0 /\ r_161^0-r_161^post36 == 0 /\ i_125^0-i_125^post36 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post36+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0), cost: 1
  51: l34 -> l49 : __disjvr_0^0'=__disjvr_0^post51, a_283^0'=a_283^post51, temp0_45^0'=temp0_45^post51, __disjvr_21^0'=__disjvr_21^post51, y_19^0'=y_19^post51, __disjvr_4^0'=__disjvr_4^post51, result_11^0'=result_11^post51, __disjvr_14^0'=__disjvr_14^post51, head_46^0'=head_46^post51, __disjvr_24^0'=__disjvr_24^post51, x_177^0'=x_177^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, __disjvr_9^0'=__disjvr_9^post51, a_197^0'=a_197^post51, t_23^0'=t_23^post51, __disjvr_19^0'=__disjvr_19^post51, len_246^0'=len_246^post51, __disjvr_29^0'=__disjvr_29^post51, x_SLAM_f_18^0'=x_SLAM_f_18^post51, r_53^0'=r_53^post51, __disjvr_11^0'=__disjvr_11^post51, a_328^0'=a_328^post51, tmp_48^0'=tmp_48^post51, lt_36^0'=lt_36^post51, __disjvr_6^0'=__disjvr_6^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, __disjvr_16^0'=__disjvr_16^post51, i_125^0'=i_125^post51, __disjvr_26^0'=__disjvr_26^post51, x_238^0'=x_238^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, __disjvr_20^0'=__disjvr_20^post51, lt_237^0'=lt_237^post51, __disjvr_3^0'=__disjvr_3^post51, rcd_72^0'=rcd_72^post51, __disjvr_13^0'=__disjvr_13^post51, fmt_31^0'=fmt_31^post51, __disjvr_23^0'=__disjvr_23^post51, x_16^0'=x_16^post51, nondet_12^0'=nondet_12^post51, __disjvr_8^0'=__disjvr_8^post51, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, __disjvr_18^0'=__disjvr_18^post51, len_180^0'=len_180^post51, __disjvr_28^0'=__disjvr_28^post51, x_34^0'=x_34^post51, r_161^0'=r_161^post51, __disjvr_10^0'=__disjvr_10^post51, a_305^0'=a_305^post51, temp_49^0'=temp_49^post51, __disjvr_22^0'=__disjvr_22^post51, __disjvr_5^0'=__disjvr_5^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post51, __disjvr_15^0'=__disjvr_15^post51, i_108^0'=i_108^post51, __disjvr_25^0'=__disjvr_25^post51, x_20^0'=x_20^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, a_146^0'=a_146^post51, a_247^0'=a_247^post51, temp0_15^0'=temp0_15^post51, __disjvr_1^0'=__disjvr_1^post51, length_43^0'=length_43^post51, __disjvr_2^0'=__disjvr_2^post51, rcd_102^0'=rcd_102^post51, __disjvr_12^0'=__disjvr_12^post51, ct_17^0'=ct_17^post51, x_14^0'=x_14^post51, lt_37^0'=lt_37^post51, __disjvr_7^0'=__disjvr_7^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, __disjvr_17^0'=__disjvr_17^post51, i_44^0'=i_44^post51, __disjvr_27^0'=__disjvr_27^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (0 == 0 /\ __disjvr_24^0-__disjvr_24^post51 == 0 /\ -length_43^post51+length_43^0 == 0 /\ temp0_15^0-temp0_15^post51 == 0 /\ __disjvr_21^0-__disjvr_21^post51 == 0 /\ -x_20^post51+x_14^0 <= 0 /\ ct_17^post51 <= 0 /\ ct_17^post51 == 0 /\ -x_14^post51+x_14^0 == 0 /\ x_SLAM_f_18^post51-x_14^0 <= 0 /\ -__disjvr_7^post51+__disjvr_7^0 == 0 /\ __disjvr_22^0-__disjvr_22^post51 == 0 /\ -__disjvr_10^post51+__disjvr_10^0 == 0 /\ -x_16^post51+x_SLAM_f_18^post51 <= 0 /\ -x_16^post51+x_SLAM_f_18^post51 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post51+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -a_146^post51+a_146^0 == 0 /\ -a_247^post51+a_247^0 == 0 /\ x_238^0-x_238^post51 == 0 /\ __disjvr_15^0-__disjvr_15^post51 == 0 /\ -temp_49^post51+temp_49^0 == 0 /\ -ct_17^post51 <= 0 /\ -y_19^post51 <= 0 /\ -i_125^post51+i_125^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^130-result_11^180 == 0 /\ -tmp_48^post51+tmp_48^0 == 0 /\ -__disjvr_25^post51+__disjvr_25^0 == 0 /\ rcd_102^0-rcd_102^post51 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ x_20^post51-x_14^0 <= 0 /\ x_177^0-x_177^post51 == 0 /\ fmt_31^153-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^130 == 0 /\ len_246^0-len_246^post51 == 0 /\ -x_SLAM_f_18^post51+x_14^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post51 == 0 /\ len_180^0-len_180^post51 == 0 /\ 1-len_180^0 <= 0 /\ -1+len_180^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post51 == 0 /\ x_16^post51-x_SLAM_f_18^post51 <= 0 /\ t_23^0-t_23^post51 == 0 /\ __disjvr_4^0-__disjvr_4^post51 == 0 /\ __disjvr_29^0-__disjvr_29^post51 == 0 /\ a_283^0-a_283^post51 == 0 /\ -__disjvr_11^post51+__disjvr_11^0 == 0 /\ a_328^0-a_328^post51 == 0 /\ -__disjvr_13^post51+__disjvr_13^0 == 0 /\ __disjvr_3^0-__disjvr_3^post51 == 0 /\ -ct_17^post51+y_19^post51 <= 0 /\ -ct_17^post51+y_19^post51 == 0 /\ -a_305^post51+a_305^0 == 0 /\ y_19^post51 <= 0 /\ __disjvr_19^0-__disjvr_19^post51 == 0 /\ x_20^post51-x_SLAM_f_18^post51 <= 0 /\ x_20^post51-x_SLAM_f_18^post51 == 0 /\ -__disjvr_27^post51+__disjvr_27^0 == 0 /\ temp0_32^180 == 0 /\ __disjvr_20^0-__disjvr_20^post51 == 0 /\ -r_161^post51+r_161^0 == 0 /\ -lt_237^post51+lt_237^0 == 0 /\ __disjvr_0^0-__disjvr_0^post51 == 0 /\ -i_44^post51+i_44^0 == 0 /\ __disjvr_9^0-__disjvr_9^post51 == 0 /\ -x_28^0 <= 0 /\ -__disjvr_2^post51+__disjvr_2^0 == 0 /\ x_16^post51-x_14^0 <= 0 /\ x_16^post51-x_14^0 == 0 /\ -__disjvr_6^post51+__disjvr_6^0 == 0 /\ __disjvr_23^0-__disjvr_23^post51 == 0 /\ -head_46^post51+head_46^0 == 0 /\ ct_17^post51-y_19^post51 <= 0 /\ -temp0_32^180+result_11^180 == 0 /\ -x_20^post51+x_SLAM_f_18^post51 <= 0 /\ __disjvr_28^0-__disjvr_28^post51 == 0 /\ -a_146^0 <= 0 /\ temp0_45^0-temp0_45^post51 == 0 /\ rcd_72^0-rcd_72^post51 == 0 /\ -__disjvr_12^post51+__disjvr_12^0 == 0 /\ __disjvr_26^0-__disjvr_26^post51 == 0 /\ r_53^0-r_53^post51 == 0 /\ __disjvr_5^0-__disjvr_5^post51 == 0 /\ -__disjvr_1^post51+__disjvr_1^0 == 0 /\ a_197^0-a_197^post51 == 0 /\ __disjvr_18^0-__disjvr_18^post51 == 0 /\ -__disjvr_17^post51+__disjvr_17^0 == 0 /\ __disjvr_16^0-__disjvr_16^post51 == 0 /\ -i_108^post51+i_108^0 == 0 /\ x_28^0 <= 0 /\ -x_16^post51+x_14^0 <= 0), cost: 1
  54: l34 -> l51 : __disjvr_0^0'=__disjvr_0^post54, a_283^0'=a_283^post54, temp0_45^0'=temp0_45^post54, __disjvr_21^0'=__disjvr_21^post54, y_19^0'=y_19^post54, __disjvr_4^0'=__disjvr_4^post54, result_11^0'=result_11^post54, __disjvr_14^0'=__disjvr_14^post54, head_46^0'=head_46^post54, __disjvr_24^0'=__disjvr_24^post54, x_177^0'=x_177^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post54, __disjvr_9^0'=__disjvr_9^post54, a_197^0'=a_197^post54, t_23^0'=t_23^post54, __disjvr_19^0'=__disjvr_19^post54, len_246^0'=len_246^post54, __disjvr_29^0'=__disjvr_29^post54, x_SLAM_f_18^0'=x_SLAM_f_18^post54, r_53^0'=r_53^post54, __disjvr_11^0'=__disjvr_11^post54, a_328^0'=a_328^post54, tmp_48^0'=tmp_48^post54, lt_36^0'=lt_36^post54, __disjvr_6^0'=__disjvr_6^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, __disjvr_16^0'=__disjvr_16^post54, i_125^0'=i_125^post54, __disjvr_26^0'=__disjvr_26^post54, x_238^0'=x_238^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post54, __disjvr_20^0'=__disjvr_20^post54, lt_237^0'=lt_237^post54, __disjvr_3^0'=__disjvr_3^post54, rcd_72^0'=rcd_72^post54, __disjvr_13^0'=__disjvr_13^post54, fmt_31^0'=fmt_31^post54, __disjvr_23^0'=__disjvr_23^post54, x_16^0'=x_16^post54, nondet_12^0'=nondet_12^post54, __disjvr_8^0'=__disjvr_8^post54, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post54, __disjvr_18^0'=__disjvr_18^post54, len_180^0'=len_180^post54, __disjvr_28^0'=__disjvr_28^post54, x_34^0'=x_34^post54, r_161^0'=r_161^post54, __disjvr_10^0'=__disjvr_10^post54, a_305^0'=a_305^post54, temp_49^0'=temp_49^post54, __disjvr_22^0'=__disjvr_22^post54, __disjvr_5^0'=__disjvr_5^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post54, __disjvr_15^0'=__disjvr_15^post54, i_108^0'=i_108^post54, __disjvr_25^0'=__disjvr_25^post54, x_20^0'=x_20^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post54, a_146^0'=a_146^post54, a_247^0'=a_247^post54, temp0_15^0'=temp0_15^post54, __disjvr_1^0'=__disjvr_1^post54, length_43^0'=length_43^post54, __disjvr_2^0'=__disjvr_2^post54, rcd_102^0'=rcd_102^post54, __disjvr_12^0'=__disjvr_12^post54, ct_17^0'=ct_17^post54, x_14^0'=x_14^post54, lt_37^0'=lt_37^post54, __disjvr_7^0'=__disjvr_7^post54, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post54, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post54, __disjvr_17^0'=__disjvr_17^post54, i_44^0'=i_44^post54, __disjvr_27^0'=__disjvr_27^post54, x_28^0'=x_28^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post54, (0 == 0 /\ -x_16^post54+x_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post54 == 0 /\ __disjvr_29^0-__disjvr_29^post54 == 0 /\ -lt_37^post54+lt_37^0 == 0 /\ __disjvr_16^0-__disjvr_16^post54 == 0 /\ -__disjvr_8^post54+__disjvr_8^0 == 0 /\ rcd_72^0-rcd_72^post54 == 0 /\ -x_28^post54+x_28^0 == 0 /\ temp0_32^0-temp0_32^post54 == 0 /\ head_46^0-head_46^post54 == 0 /\ -temp0_15^post54+temp0_15^0 == 0 /\ -__disjvr_2^post54+__disjvr_2^0 == 0 /\ -fmt_31^post54+fmt_31^0 == 0 /\ __disjvr_21^0-__disjvr_21^post54 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post54+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_12^post54+__disjvr_12^0 == 0 /\ a_283^0-a_283^post54 == 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ -__disjvr_19^post54+__disjvr_19^0 == 0 /\ -__disjvr_22^post54+__disjvr_22^0 == 0 /\ lt_237^0-lt_237^post54 == 0 /\ __disjvr_28^0-__disjvr_28^post54 == 0 /\ __disjvr_11^0-__disjvr_11^post54 == 0 /\ -__disjvr_10^post54+__disjvr_10^0 == 0 /\ -__disjvr_26^post54+__disjvr_26^0 == 0 /\ len_180^0-len_180^post54 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post54+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post54 == 0 /\ -rcd_102^post54+rcd_102^0 == 0 /\ -__disjvr_15^post54+__disjvr_15^0 == 0 /\ a_328^0-a_328^post54 == 0 /\ a_197^0-a_197^post54 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post54+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ x_238^0-x_238^post54 == 0 /\ -i_44^post54+i_44^0 == 0 /\ __disjvr_1^0-__disjvr_1^post54 == 0 /\ length_43^0-length_43^post54 == 0 /\ __disjvr_23^0-__disjvr_23^post54 == 0 /\ -__disjvr_20^post54+__disjvr_20^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post54+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_34^post54+x_34^0 == 0 /\ __disjvr_0^0-__disjvr_0^post54 == 0 /\ -temp_49^post54+temp_49^0 == 0 /\ -__disjvr_5^post54+__disjvr_5^0 == 0 /\ result_11^0-result_11^post54 == 0 /\ temp0_45^0-temp0_45^post54 == 0 /\ -i_125^post54+i_125^0 == 0 /\ -__disjvr_27^post54+__disjvr_27^0 == 0 /\ -lt_36^post54+lt_36^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post54+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ __disjvr_25^0-__disjvr_25^post54 == 0 /\ r_53^0-r_53^post54 == 0 /\ __disjvr_9^0-__disjvr_9^post54 == 0 /\ -ct_17^post54+ct_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post54 == 0 /\ -__disjvr_7^post54+__disjvr_7^0 == 0 /\ __disjvr_6^0-__disjvr_6^post54 == 0 /\ -a_146^0 <= 0 /\ len_246^0-len_246^post54 == 0 /\ -a_146^post54+a_146^0 == 0 /\ -x_SLAM_f_18^post54+x_SLAM_f_18^0 == 0 /\ tmp_48^0-tmp_48^post54 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ __disjvr_18^0-__disjvr_18^post54 == 0 /\ __disjvr_14^0-__disjvr_14^post54 == 0 /\ t_23^0-t_23^post54 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post54+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -nondet_12^post54+nondet_12^0 == 0 /\ -a_247^post54+a_247^0 == 0 /\ -x_20^post54+x_20^0 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ i_108^0-i_108^post54 == 0 /\ a_305^0-a_305^post54 == 0 /\ y_19^0-y_19^post54 == 0 /\ __disjvr_13^0-__disjvr_13^post54 == 0), cost: 1
  38: l39 -> l33 : __disjvr_0^0'=__disjvr_0^post38, a_283^0'=a_283^post38, temp0_45^0'=temp0_45^post38, __disjvr_21^0'=__disjvr_21^post38, y_19^0'=y_19^post38, __disjvr_4^0'=__disjvr_4^post38, result_11^0'=result_11^post38, __disjvr_14^0'=__disjvr_14^post38, head_46^0'=head_46^post38, __disjvr_24^0'=__disjvr_24^post38, x_177^0'=x_177^post38, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post38, __disjvr_9^0'=__disjvr_9^post38, a_197^0'=a_197^post38, t_23^0'=t_23^post38, __disjvr_19^0'=__disjvr_19^post38, len_246^0'=len_246^post38, __disjvr_29^0'=__disjvr_29^post38, x_SLAM_f_18^0'=x_SLAM_f_18^post38, r_53^0'=r_53^post38, __disjvr_11^0'=__disjvr_11^post38, a_328^0'=a_328^post38, tmp_48^0'=tmp_48^post38, lt_36^0'=lt_36^post38, __disjvr_6^0'=__disjvr_6^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, __disjvr_16^0'=__disjvr_16^post38, i_125^0'=i_125^post38, __disjvr_26^0'=__disjvr_26^post38, x_238^0'=x_238^post38, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post38, a_26^0'=a_26^post38, temp0_32^0'=temp0_32^post38, __disjvr_20^0'=__disjvr_20^post38, lt_237^0'=lt_237^post38, __disjvr_3^0'=__disjvr_3^post38, rcd_72^0'=rcd_72^post38, __disjvr_13^0'=__disjvr_13^post38, fmt_31^0'=fmt_31^post38, __disjvr_23^0'=__disjvr_23^post38, x_16^0'=x_16^post38, nondet_12^0'=nondet_12^post38, __disjvr_8^0'=__disjvr_8^post38, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post38, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post38, __disjvr_18^0'=__disjvr_18^post38, len_180^0'=len_180^post38, __disjvr_28^0'=__disjvr_28^post38, x_34^0'=x_34^post38, r_161^0'=r_161^post38, __disjvr_10^0'=__disjvr_10^post38, a_305^0'=a_305^post38, temp_49^0'=temp_49^post38, __disjvr_22^0'=__disjvr_22^post38, __disjvr_5^0'=__disjvr_5^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post38, __disjvr_15^0'=__disjvr_15^post38, i_108^0'=i_108^post38, __disjvr_25^0'=__disjvr_25^post38, x_20^0'=x_20^post38, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post38, a_146^0'=a_146^post38, a_247^0'=a_247^post38, temp0_15^0'=temp0_15^post38, __disjvr_1^0'=__disjvr_1^post38, length_43^0'=length_43^post38, __disjvr_2^0'=__disjvr_2^post38, rcd_102^0'=rcd_102^post38, __disjvr_12^0'=__disjvr_12^post38, ct_17^0'=ct_17^post38, x_14^0'=x_14^post38, lt_37^0'=lt_37^post38, __disjvr_7^0'=__disjvr_7^post38, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post38, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post38, __disjvr_17^0'=__disjvr_17^post38, i_44^0'=i_44^post38, __disjvr_27^0'=__disjvr_27^post38, x_28^0'=x_28^post38, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post38, (length_43^0-length_43^post38 == 0 /\ -a_26^post38+a_26^0 == 0 /\ -len_246^post38+len_246^0 == 0 /\ -tmp_48^post38+tmp_48^0 == 0 /\ i_125^0-i_125^post38 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post38 == 0 /\ -__disjvr_12^post38+__disjvr_12^0 == 0 /\ -x_28^post38+x_28^0 == 0 /\ a_247^0-a_247^post38 == 0 /\ __disjvr_6^0-__disjvr_6^post38 == 0 /\ x_16^0-x_16^post38 == 0 /\ -__disjvr_1^post38+__disjvr_1^0 == 0 /\ -rcd_102^post38+rcd_102^0 == 0 /\ __disjvr_20^0-__disjvr_20^post38 == 0 /\ __disjvr_0^0-__disjvr_0^post38 == 0 /\ x_177^0-x_177^post38 == 0 /\ -lt_37^post38+lt_37^0 == 0 /\ r_53^0-r_53^post38 == 0 /\ fmt_31^0-fmt_31^post38 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post38+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_24^0-__disjvr_24^post38 == 0 /\ -i_44^post38+i_44^0 == 0 /\ temp0_45^0-temp0_45^post38 == 0 /\ y_19^0-y_19^post38 == 0 /\ -lt_237^post38+lt_237^0 == 0 /\ __disjvr_10^0-__disjvr_10^post38 == 0 /\ x_34^0-x_34^post38 == 0 /\ __disjvr_14^0-__disjvr_14^post38 == 0 /\ r_161^0-r_161^post38 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post38+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_3^0-__disjvr_3^post38 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -i_108^post38+i_108^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post38+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post38+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_26^0-__disjvr_26^post38 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ t_23^0-t_23^post38 == 0 /\ -__disjvr_22^post38+__disjvr_22^0 == 0 /\ -__disjvr_17^post38+__disjvr_17^0 == 0 /\ -head_46^post38+head_46^0 == 0 /\ __disjvr_19^0-__disjvr_19^post38 == 0 /\ __disjvr_21^0-__disjvr_21^post38 == 0 /\ a_328^0-a_328^post38 == 0 /\ -ct_17^post38+ct_17^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post38+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ temp0_32^0-temp0_32^post38 == 0 /\ -x_14^post38+x_14^0 == 0 /\ -x_238^post38+x_238^0 == 0 /\ -__disjvr_11^post38+__disjvr_11^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post38 == 0 /\ __disjvr_29^0-__disjvr_29^post38 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post38+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -lt_36^post38+lt_36^0 == 0 /\ -__disjvr_15^post38+__disjvr_15^0 == 0 /\ -__disjvr_25^post38+__disjvr_25^0 == 0 /\ -rcd_72^post38+rcd_72^0 == 0 /\ __disjvr_16^0-__disjvr_16^post38 == 0 /\ -__disjvr_23^post38+__disjvr_23^0 == 0 /\ result_11^0-result_11^post38 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post38 == 0 /\ __disjvr_5^0-__disjvr_5^post38 == 0 /\ a_197^0-a_197^post38 == 0 /\ -__disjvr_9^post38+__disjvr_9^0 == 0 /\ temp_49^0-temp_49^post38 == 0 /\ -__disjvr_8^post38+__disjvr_8^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post38+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -a_146^post38+a_146^0 == 0 /\ a_283^0-a_283^post38 == 0 /\ __disjvr_13^0-__disjvr_13^post38 == 0 /\ -temp0_15^post38+temp0_15^0 == 0 /\ -__disjvr_7^post38+__disjvr_7^0 == 0 /\ -a_305^post38+a_305^0 == 0 /\ -__disjvr_18^post38+__disjvr_18^0 == 0 /\ x_20^0-x_20^post38 == 0 /\ len_180^0-len_180^post38 == 0 /\ -__disjvr_27^post38+__disjvr_27^0 == 0 /\ -__disjvr_2^post38+__disjvr_2^0 == 0 /\ __disjvr_4^0-__disjvr_4^post38 == 0 /\ __disjvr_28^0-__disjvr_28^post38 == 0), cost: 1
  41: l40 -> l41 : __disjvr_0^0'=__disjvr_0^post41, a_283^0'=a_283^post41, temp0_45^0'=temp0_45^post41, __disjvr_21^0'=__disjvr_21^post41, y_19^0'=y_19^post41, __disjvr_4^0'=__disjvr_4^post41, result_11^0'=result_11^post41, __disjvr_14^0'=__disjvr_14^post41, head_46^0'=head_46^post41, __disjvr_24^0'=__disjvr_24^post41, x_177^0'=x_177^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, __disjvr_9^0'=__disjvr_9^post41, a_197^0'=a_197^post41, t_23^0'=t_23^post41, __disjvr_19^0'=__disjvr_19^post41, len_246^0'=len_246^post41, __disjvr_29^0'=__disjvr_29^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, r_53^0'=r_53^post41, __disjvr_11^0'=__disjvr_11^post41, a_328^0'=a_328^post41, tmp_48^0'=tmp_48^post41, lt_36^0'=lt_36^post41, __disjvr_6^0'=__disjvr_6^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, __disjvr_16^0'=__disjvr_16^post41, i_125^0'=i_125^post41, __disjvr_26^0'=__disjvr_26^post41, x_238^0'=x_238^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, __disjvr_20^0'=__disjvr_20^post41, lt_237^0'=lt_237^post41, __disjvr_3^0'=__disjvr_3^post41, rcd_72^0'=rcd_72^post41, __disjvr_13^0'=__disjvr_13^post41, fmt_31^0'=fmt_31^post41, __disjvr_23^0'=__disjvr_23^post41, x_16^0'=x_16^post41, nondet_12^0'=nondet_12^post41, __disjvr_8^0'=__disjvr_8^post41, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, __disjvr_18^0'=__disjvr_18^post41, len_180^0'=len_180^post41, __disjvr_28^0'=__disjvr_28^post41, x_34^0'=x_34^post41, r_161^0'=r_161^post41, __disjvr_10^0'=__disjvr_10^post41, a_305^0'=a_305^post41, temp_49^0'=temp_49^post41, __disjvr_22^0'=__disjvr_22^post41, __disjvr_5^0'=__disjvr_5^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post41, __disjvr_15^0'=__disjvr_15^post41, i_108^0'=i_108^post41, __disjvr_25^0'=__disjvr_25^post41, x_20^0'=x_20^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, a_146^0'=a_146^post41, a_247^0'=a_247^post41, temp0_15^0'=temp0_15^post41, __disjvr_1^0'=__disjvr_1^post41, length_43^0'=length_43^post41, __disjvr_2^0'=__disjvr_2^post41, rcd_102^0'=rcd_102^post41, __disjvr_12^0'=__disjvr_12^post41, ct_17^0'=ct_17^post41, x_14^0'=x_14^post41, lt_37^0'=lt_37^post41, __disjvr_7^0'=__disjvr_7^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, __disjvr_17^0'=__disjvr_17^post41, i_44^0'=i_44^post41, __disjvr_27^0'=__disjvr_27^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (0 == 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ rcd_102^0-rcd_102^post41 == 0 /\ result_11^160-temp0_32^160 == 0 /\ -temp_49^post41+temp_49^0 == 0 /\ -a_197^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ -__disjvr_12^post41+__disjvr_12^0 == 0 /\ temp0_45^0-temp0_45^post41 == 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ -ct_17^post41 <= 0 /\ -y_19^post41 <= 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ ct_17^post41 <= 0 /\ ct_17^post41 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ -__disjvr_2^post41+__disjvr_2^0 == 0 /\ r_53^0-r_53^post41 == 0 /\ ct_17^post41-y_19^post41 <= 0 /\ temp0_15^0-temp0_15^post41 == 0 /\ rcd_72^0-rcd_72^post41 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ -x_16^post41+x_SLAM_f_18^post41 <= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0 /\ -__disjvr_25^post41+__disjvr_25^0 == 0 /\ a_247^0-a_247^post41 == 0 /\ t_23^0-t_23^post41 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ -a_146^post41+a_146^0 == 0 /\ -__disjvr_27^post41+__disjvr_27^0 == 0 /\ -i_108^post41+i_108^0 == 0 /\ -__disjvr_20^post41+__disjvr_20^0 == 0 /\ a_328^0-a_328^post41 == 0 /\ -length_43^post41+length_43^0 == 0 /\ -a_305^post41+a_305^0 == 0 /\ head_46^0-head_46^post41 == 0 /\ i_125^0-i_125^post41 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ lt_237^0-lt_237^post41 == 0 /\ -ct_17^post41+y_19^post41 <= 0 /\ -ct_17^post41+y_19^post41 == 0 /\ -__disjvr_10^post41+__disjvr_10^0 == 0 /\ -i_44^post41+i_44^0 == 0 /\ x_16^post41-x_SLAM_f_18^post41 <= 0 /\ -len_180^0 <= 0 /\ len_246^0-len_246^post41 == 0 /\ x_SLAM_f_18^post41-x_20^post41 <= 0 /\ __disjvr_5^0-__disjvr_5^post41 == 0 /\ -tmp_48^post41+tmp_48^0 == 0 /\ -len_180^post41+len_180^0 == 0 /\ x_14^0-x_20^post41 <= 0 /\ a_197^0-a_197^post41 == 0 /\ -__disjvr_7^post41+__disjvr_7^0 == 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ y_19^post41 <= 0 /\ -x_14^post41+x_14^0 == 0 /\ x_SLAM_f_18^post41-x_14^0 <= 0 /\ -x_28^0 <= 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ a_283^0-a_283^post41 == 0 /\ -x_16^post41+x_14^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ -x_SLAM_f_18^post41+x_20^post41 <= 0 /\ -x_SLAM_f_18^post41+x_20^post41 == 0 /\ __disjvr_18^0-__disjvr_18^post41 == 0 /\ -r_161^post41+r_161^0 == 0 /\ -x_14^0+x_20^post41 <= 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^120+fmt_31^151 == 0 /\ __disjvr_16^0-__disjvr_16^post41 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ __disjvr_17^0-__disjvr_17^post41 == 0 /\ temp0_32^160 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^120-result_11^160 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ -x_SLAM_f_18^post41+x_14^0 <= 0 /\ x_177^0-x_177^post41 == 0 /\ -__disjvr_24^post41+__disjvr_24^0 == 0 /\ x_16^post41-x_14^0 <= 0 /\ x_16^post41-x_14^0 == 0 /\ -__disjvr_19^post41+__disjvr_19^0 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ x_28^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -x_238^post41+x_238^0 == 0), cost: 1
  44: l40 -> l44 : __disjvr_0^0'=__disjvr_0^post44, a_283^0'=a_283^post44, temp0_45^0'=temp0_45^post44, __disjvr_21^0'=__disjvr_21^post44, y_19^0'=y_19^post44, __disjvr_4^0'=__disjvr_4^post44, result_11^0'=result_11^post44, __disjvr_14^0'=__disjvr_14^post44, head_46^0'=head_46^post44, __disjvr_24^0'=__disjvr_24^post44, x_177^0'=x_177^post44, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post44, __disjvr_9^0'=__disjvr_9^post44, a_197^0'=a_197^post44, t_23^0'=t_23^post44, __disjvr_19^0'=__disjvr_19^post44, len_246^0'=len_246^post44, __disjvr_29^0'=__disjvr_29^post44, x_SLAM_f_18^0'=x_SLAM_f_18^post44, r_53^0'=r_53^post44, __disjvr_11^0'=__disjvr_11^post44, a_328^0'=a_328^post44, tmp_48^0'=tmp_48^post44, lt_36^0'=lt_36^post44, __disjvr_6^0'=__disjvr_6^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, __disjvr_16^0'=__disjvr_16^post44, i_125^0'=i_125^post44, __disjvr_26^0'=__disjvr_26^post44, x_238^0'=x_238^post44, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post44, __disjvr_20^0'=__disjvr_20^post44, lt_237^0'=lt_237^post44, __disjvr_3^0'=__disjvr_3^post44, rcd_72^0'=rcd_72^post44, __disjvr_13^0'=__disjvr_13^post44, fmt_31^0'=fmt_31^post44, __disjvr_23^0'=__disjvr_23^post44, x_16^0'=x_16^post44, nondet_12^0'=nondet_12^post44, __disjvr_8^0'=__disjvr_8^post44, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post44, __disjvr_18^0'=__disjvr_18^post44, len_180^0'=len_180^post44, __disjvr_28^0'=__disjvr_28^post44, x_34^0'=x_34^post44, r_161^0'=r_161^post44, __disjvr_10^0'=__disjvr_10^post44, a_305^0'=a_305^post44, temp_49^0'=temp_49^post44, __disjvr_22^0'=__disjvr_22^post44, __disjvr_5^0'=__disjvr_5^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post44, __disjvr_15^0'=__disjvr_15^post44, i_108^0'=i_108^post44, __disjvr_25^0'=__disjvr_25^post44, x_20^0'=x_20^post44, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post44, a_146^0'=a_146^post44, a_247^0'=a_247^post44, temp0_15^0'=temp0_15^post44, __disjvr_1^0'=__disjvr_1^post44, length_43^0'=length_43^post44, __disjvr_2^0'=__disjvr_2^post44, rcd_102^0'=rcd_102^post44, __disjvr_12^0'=__disjvr_12^post44, ct_17^0'=ct_17^post44, x_14^0'=x_14^post44, lt_37^0'=lt_37^post44, __disjvr_7^0'=__disjvr_7^post44, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post44, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post44, __disjvr_17^0'=__disjvr_17^post44, i_44^0'=i_44^post44, __disjvr_27^0'=__disjvr_27^post44, x_28^0'=x_28^post44, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post44, (0 == 0 /\ -a_247^post44+a_247^0 == 0 /\ temp0_45^0-temp0_45^post44 == 0 /\ -__disjvr_25^post44+__disjvr_25^0 == 0 /\ t_23^0-t_23^post44 == 0 /\ __disjvr_24^0-__disjvr_24^post44 == 0 /\ -__disjvr_13^post44+__disjvr_13^0 == 0 /\ -a_197^0 <= 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post44 == 0 /\ -ct_17^post44+ct_17^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post44+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_1^0-__disjvr_1^post44 == 0 /\ -__disjvr_27^post44+__disjvr_27^0 == 0 /\ -__disjvr_20^post44+__disjvr_20^0 == 0 /\ __disjvr_2^0-__disjvr_2^post44 == 0 /\ -temp_49^post44+temp_49^0 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ -rcd_72^post44+rcd_72^0 == 0 /\ __disjvr_28^0-__disjvr_28^post44 == 0 /\ -i_44^post44+i_44^0 == 0 /\ __disjvr_26^0-__disjvr_26^post44 == 0 /\ __disjvr_4^0-__disjvr_4^post44 == 0 /\ -__disjvr_11^post44+__disjvr_11^0 == 0 /\ __disjvr_23^0-__disjvr_23^post44 == 0 /\ __disjvr_15^0-__disjvr_15^post44 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ a_328^0-a_328^post44 == 0 /\ -temp0_15^post44+temp0_15^0 == 0 /\ -__disjvr_7^post44+__disjvr_7^0 == 0 /\ __disjvr_6^0-__disjvr_6^post44 == 0 /\ -__disjvr_8^post44+__disjvr_8^0 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ x_177^0-x_177^post44 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ -a_146^post44+a_146^0 == 0 /\ -len_180^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ __disjvr_5^0-__disjvr_5^post44 == 0 /\ y_19^0-y_19^post44 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post44+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post44 == 0 /\ -len_180^post44+len_180^0 == 0 /\ -__disjvr_10^post44+__disjvr_10^0 == 0 /\ a_305^0-a_305^post44 == 0 /\ -x_16^post44+x_16^0 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ a_283^0-a_283^post44 == 0 /\ -rcd_102^post44+rcd_102^0 == 0 /\ __disjvr_9^0-__disjvr_9^post44 == 0 /\ -x_20^post44+x_20^0 == 0 /\ -tmp_48^post44+tmp_48^0 == 0 /\ -lt_37^post44+lt_37^0 == 0 /\ len_246^0-len_246^post44 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post44 == 0 /\ head_46^0-head_46^post44 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post44 == 0 /\ -length_43^post44+length_43^0 == 0 /\ -x_34^post44+x_34^0 == 0 /\ __disjvr_18^0-__disjvr_18^post44 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post44+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -r_161^post44+r_161^0 == 0 /\ temp0_32^0-temp0_32^post44 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post44+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -x_28^post44+x_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -i_108^post44+i_108^0 == 0 /\ a_197^0-a_197^post44 == 0 /\ -i_125^post44+i_125^0 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0 /\ fmt_31^0-fmt_31^post44 == 0 /\ -__disjvr_22^post44+__disjvr_22^0 == 0 /\ lt_36^0-lt_36^post44 == 0), cost: 1
  42: l41 -> l42 : __disjvr_0^0'=__disjvr_0^post42, a_283^0'=a_283^post42, temp0_45^0'=temp0_45^post42, __disjvr_21^0'=__disjvr_21^post42, y_19^0'=y_19^post42, __disjvr_4^0'=__disjvr_4^post42, result_11^0'=result_11^post42, __disjvr_14^0'=__disjvr_14^post42, head_46^0'=head_46^post42, __disjvr_24^0'=__disjvr_24^post42, x_177^0'=x_177^post42, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post42, __disjvr_9^0'=__disjvr_9^post42, a_197^0'=a_197^post42, t_23^0'=t_23^post42, __disjvr_19^0'=__disjvr_19^post42, len_246^0'=len_246^post42, __disjvr_29^0'=__disjvr_29^post42, x_SLAM_f_18^0'=x_SLAM_f_18^post42, r_53^0'=r_53^post42, __disjvr_11^0'=__disjvr_11^post42, a_328^0'=a_328^post42, tmp_48^0'=tmp_48^post42, lt_36^0'=lt_36^post42, __disjvr_6^0'=__disjvr_6^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, __disjvr_16^0'=__disjvr_16^post42, i_125^0'=i_125^post42, __disjvr_26^0'=__disjvr_26^post42, x_238^0'=x_238^post42, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post42, a_26^0'=a_26^post42, temp0_32^0'=temp0_32^post42, __disjvr_20^0'=__disjvr_20^post42, lt_237^0'=lt_237^post42, __disjvr_3^0'=__disjvr_3^post42, rcd_72^0'=rcd_72^post42, __disjvr_13^0'=__disjvr_13^post42, fmt_31^0'=fmt_31^post42, __disjvr_23^0'=__disjvr_23^post42, x_16^0'=x_16^post42, nondet_12^0'=nondet_12^post42, __disjvr_8^0'=__disjvr_8^post42, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post42, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post42, __disjvr_18^0'=__disjvr_18^post42, len_180^0'=len_180^post42, __disjvr_28^0'=__disjvr_28^post42, x_34^0'=x_34^post42, r_161^0'=r_161^post42, __disjvr_10^0'=__disjvr_10^post42, a_305^0'=a_305^post42, temp_49^0'=temp_49^post42, __disjvr_22^0'=__disjvr_22^post42, __disjvr_5^0'=__disjvr_5^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post42, __disjvr_15^0'=__disjvr_15^post42, i_108^0'=i_108^post42, __disjvr_25^0'=__disjvr_25^post42, x_20^0'=x_20^post42, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post42, a_146^0'=a_146^post42, a_247^0'=a_247^post42, temp0_15^0'=temp0_15^post42, __disjvr_1^0'=__disjvr_1^post42, length_43^0'=length_43^post42, __disjvr_2^0'=__disjvr_2^post42, rcd_102^0'=rcd_102^post42, __disjvr_12^0'=__disjvr_12^post42, ct_17^0'=ct_17^post42, x_14^0'=x_14^post42, lt_37^0'=lt_37^post42, __disjvr_7^0'=__disjvr_7^post42, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post42, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post42, __disjvr_17^0'=__disjvr_17^post42, i_44^0'=i_44^post42, __disjvr_27^0'=__disjvr_27^post42, x_28^0'=x_28^post42, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post42, (nondet_12^0-nondet_12^post42 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post42+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post42+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -x_20^post42+x_20^0 == 0 /\ temp0_15^0-temp0_15^post42 == 0 /\ -i_125^post42+i_125^0 == 0 /\ -length_43^post42+length_43^0 == 0 /\ a_328^0-a_328^post42 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ -__disjvr_13^post42+__disjvr_13^0 == 0 /\ __disjvr_28^0-__disjvr_28^post42 == 0 /\ y_19^0-y_19^post42 == 0 /\ t_23^0-t_23^post42 == 0 /\ -a_305^post42+a_305^0 == 0 /\ -__disjvr_27^post42+__disjvr_27^0 == 0 /\ lt_36^0-lt_36^post42 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ __disjvr_4^0-__disjvr_4^post42 == 0 /\ -ct_17^post42+ct_17^0 == 0 /\ -x_238^post42+x_238^0 == 0 /\ rcd_102^0-rcd_102^post42 == 0 /\ __disjvr_23^0-__disjvr_23^post42 == 0 /\ -a_247^post42+a_247^0 == 0 /\ -i_108^post42+i_108^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ __disjvr_21^0-__disjvr_21^post42 == 0 /\ __disjvr_16^0-__disjvr_16^post42 == 0 /\ x_177^0-x_177^post42 == 0 /\ -a_26^post42+a_26^0 == 0 /\ temp0_32^0-temp0_32^post42 == 0 /\ fmt_31^0-fmt_31^post42 == 0 /\ result_11^0-result_11^post42 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post42 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post42 == 0 /\ __disjvr_20^0-__disjvr_20^post42 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post42 == 0 /\ -x_16^post42+x_16^0 == 0 /\ -__disjvr_15^post42+__disjvr_15^0 == 0 /\ a_283^0-a_283^post42 == 0 /\ r_53^0-r_53^post42 == 0 /\ len_246^0-len_246^post42 == 0 /\ __disjvr_11^0-__disjvr_11^post42 == 0 /\ -lt_37^post42+lt_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -__disjvr_2^post42+__disjvr_2^0 == 0 /\ a_197^0-a_197^post42 == 0 /\ -__disjvr_6^post42+__disjvr_6^0 == 0 /\ -a_146^post42+a_146^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post42 == 0 /\ __disjvr_14^0-__disjvr_14^post42 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post42 == 0 /\ -lt_237^post42+lt_237^0 == 0 /\ __disjvr_5^0-__disjvr_5^post42 == 0 /\ -temp0_45^post42+temp0_45^0 == 0 /\ -__disjvr_18^post42+__disjvr_18^0 == 0 /\ -__disjvr_8^post42+__disjvr_8^0 == 0 /\ -x_28^post42+x_28^0 == 0 /\ __disjvr_3^0-__disjvr_3^post42 == 0 /\ __disjvr_29^0-__disjvr_29^post42 == 0 /\ __disjvr_0^0-__disjvr_0^post42 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post42+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -__disjvr_1^post42+__disjvr_1^0 == 0 /\ -__disjvr_25^post42+__disjvr_25^0 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -__disjvr_19^post42+__disjvr_19^0 == 0 /\ head_46^0-head_46^post42 == 0 /\ -rcd_72^post42+rcd_72^0 == 0 /\ __disjvr_22^0-__disjvr_22^post42 == 0 /\ x_34^0-x_34^post42 == 0 /\ -i_44^post42+i_44^0 == 0 /\ -tmp_48^post42+tmp_48^0 == 0 /\ -r_161^post42+r_161^0 == 0 /\ __disjvr_26^0-__disjvr_26^post42 == 0 /\ __disjvr_9^0-__disjvr_9^post42 == 0 /\ -len_180^post42+len_180^0 == 0 /\ __disjvr_18^post42-__disjvr_18^0 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ -temp_49^post42+temp_49^0 == 0 /\ -__disjvr_12^post42+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post42+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -x_14^post42+x_14^0 == 0), cost: 1
  43: l42 -> l11 : __disjvr_0^0'=__disjvr_0^post43, a_283^0'=a_283^post43, temp0_45^0'=temp0_45^post43, __disjvr_21^0'=__disjvr_21^post43, y_19^0'=y_19^post43, __disjvr_4^0'=__disjvr_4^post43, result_11^0'=result_11^post43, __disjvr_14^0'=__disjvr_14^post43, head_46^0'=head_46^post43, __disjvr_24^0'=__disjvr_24^post43, x_177^0'=x_177^post43, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post43, __disjvr_9^0'=__disjvr_9^post43, a_197^0'=a_197^post43, t_23^0'=t_23^post43, __disjvr_19^0'=__disjvr_19^post43, len_246^0'=len_246^post43, __disjvr_29^0'=__disjvr_29^post43, x_SLAM_f_18^0'=x_SLAM_f_18^post43, r_53^0'=r_53^post43, __disjvr_11^0'=__disjvr_11^post43, a_328^0'=a_328^post43, tmp_48^0'=tmp_48^post43, lt_36^0'=lt_36^post43, __disjvr_6^0'=__disjvr_6^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, __disjvr_16^0'=__disjvr_16^post43, i_125^0'=i_125^post43, __disjvr_26^0'=__disjvr_26^post43, x_238^0'=x_238^post43, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post43, a_26^0'=a_26^post43, temp0_32^0'=temp0_32^post43, __disjvr_20^0'=__disjvr_20^post43, lt_237^0'=lt_237^post43, __disjvr_3^0'=__disjvr_3^post43, rcd_72^0'=rcd_72^post43, __disjvr_13^0'=__disjvr_13^post43, fmt_31^0'=fmt_31^post43, __disjvr_23^0'=__disjvr_23^post43, x_16^0'=x_16^post43, nondet_12^0'=nondet_12^post43, __disjvr_8^0'=__disjvr_8^post43, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post43, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post43, __disjvr_18^0'=__disjvr_18^post43, len_180^0'=len_180^post43, __disjvr_28^0'=__disjvr_28^post43, x_34^0'=x_34^post43, r_161^0'=r_161^post43, __disjvr_10^0'=__disjvr_10^post43, a_305^0'=a_305^post43, temp_49^0'=temp_49^post43, __disjvr_22^0'=__disjvr_22^post43, __disjvr_5^0'=__disjvr_5^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post43, __disjvr_15^0'=__disjvr_15^post43, i_108^0'=i_108^post43, __disjvr_25^0'=__disjvr_25^post43, x_20^0'=x_20^post43, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post43, a_146^0'=a_146^post43, a_247^0'=a_247^post43, temp0_15^0'=temp0_15^post43, __disjvr_1^0'=__disjvr_1^post43, length_43^0'=length_43^post43, __disjvr_2^0'=__disjvr_2^post43, rcd_102^0'=rcd_102^post43, __disjvr_12^0'=__disjvr_12^post43, ct_17^0'=ct_17^post43, x_14^0'=x_14^post43, lt_37^0'=lt_37^post43, __disjvr_7^0'=__disjvr_7^post43, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post43, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post43, __disjvr_17^0'=__disjvr_17^post43, i_44^0'=i_44^post43, __disjvr_27^0'=__disjvr_27^post43, x_28^0'=x_28^post43, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post43, (lt_237^0-lt_237^post43 == 0 /\ -x_34^post43+x_34^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post43 == 0 /\ -temp_49^post43+temp_49^0 == 0 /\ -a_247^post43+a_247^0 == 0 /\ -__disjvr_23^post43+__disjvr_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ a_283^0-a_283^post43 == 0 /\ __disjvr_18^0-__disjvr_18^post43 == 0 /\ __disjvr_3^0-__disjvr_3^post43 == 0 /\ a_328^0-a_328^post43 == 0 /\ x_238^0-x_238^post43 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ t_23^0-t_23^post43 == 0 /\ __disjvr_13^0-__disjvr_13^post43 == 0 /\ -ct_17^post43+ct_17^0 == 0 /\ -x_14^post43+x_14^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post43 == 0 /\ -temp0_32^post43+temp0_32^0 == 0 /\ -rcd_72^post43+rcd_72^0 == 0 /\ -__disjvr_27^post43+__disjvr_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post43 == 0 /\ __disjvr_19^0-__disjvr_19^post43 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ -__disjvr_7^post43+__disjvr_7^0 == 0 /\ head_46^0-head_46^post43 == 0 /\ -__disjvr_6^post43+__disjvr_6^0 == 0 /\ -x_SLAM_f_18^post43+x_SLAM_f_18^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post43+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_20^post43+x_20^0 == 0 /\ __disjvr_16^0-__disjvr_16^post43 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post43+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ lt_36^0-lt_36^post43 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post43 == 0 /\ temp0_15^0-temp0_15^post43 == 0 /\ lt_37^0-lt_37^post43 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ -__disjvr_1^post43+__disjvr_1^0 == 0 /\ a_305^0-a_305^post43 == 0 /\ temp0_45^0-temp0_45^post43 == 0 /\ r_53^0-r_53^post43 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post43+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ len_246^0-len_246^post43 == 0 /\ -x_28^post43+x_28^0 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0 /\ tmp_48^0-tmp_48^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ a_197^0-a_197^post43 == 0 /\ __disjvr_15^0-__disjvr_15^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ -a_146^post43+a_146^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_28^post43+__disjvr_28^0 == 0 /\ -__disjvr_12^post43+__disjvr_12^0 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ y_19^0-y_19^post43 == 0 /\ -i_108^post43+i_108^0 == 0 /\ -fmt_31^post43+fmt_31^0 == 0 /\ i_125^0-i_125^post43 == 0 /\ -__disjvr_4^post43+__disjvr_4^0 == 0 /\ r_161^0-r_161^post43 == 0 /\ -__disjvr_22^post43+__disjvr_22^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post43+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_26^0-__disjvr_26^post43 == 0 /\ -i_44^post43+i_44^0 == 0 /\ -rcd_102^post43+rcd_102^0 == 0 /\ -len_180^post43+len_180^0 == 0 /\ -__disjvr_25^post43+__disjvr_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post43 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_10^post43+__disjvr_10^0 == 0 /\ __disjvr_29^0-__disjvr_29^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post43 == 0 /\ a_26^0-a_26^post43 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post43+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ x_16^0-x_16^post43 == 0 /\ x_177^0-x_177^post43 == 0 /\ -length_43^post43+length_43^0 == 0 /\ -__disjvr_20^post43+__disjvr_20^0 == 0), cost: 1
  45: l44 -> l45 : __disjvr_0^0'=__disjvr_0^post45, a_283^0'=a_283^post45, temp0_45^0'=temp0_45^post45, __disjvr_21^0'=__disjvr_21^post45, y_19^0'=y_19^post45, __disjvr_4^0'=__disjvr_4^post45, result_11^0'=result_11^post45, __disjvr_14^0'=__disjvr_14^post45, head_46^0'=head_46^post45, __disjvr_24^0'=__disjvr_24^post45, x_177^0'=x_177^post45, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post45, __disjvr_9^0'=__disjvr_9^post45, a_197^0'=a_197^post45, t_23^0'=t_23^post45, __disjvr_19^0'=__disjvr_19^post45, len_246^0'=len_246^post45, __disjvr_29^0'=__disjvr_29^post45, x_SLAM_f_18^0'=x_SLAM_f_18^post45, r_53^0'=r_53^post45, __disjvr_11^0'=__disjvr_11^post45, a_328^0'=a_328^post45, tmp_48^0'=tmp_48^post45, lt_36^0'=lt_36^post45, __disjvr_6^0'=__disjvr_6^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, __disjvr_16^0'=__disjvr_16^post45, i_125^0'=i_125^post45, __disjvr_26^0'=__disjvr_26^post45, x_238^0'=x_238^post45, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post45, a_26^0'=a_26^post45, temp0_32^0'=temp0_32^post45, __disjvr_20^0'=__disjvr_20^post45, lt_237^0'=lt_237^post45, __disjvr_3^0'=__disjvr_3^post45, rcd_72^0'=rcd_72^post45, __disjvr_13^0'=__disjvr_13^post45, fmt_31^0'=fmt_31^post45, __disjvr_23^0'=__disjvr_23^post45, x_16^0'=x_16^post45, nondet_12^0'=nondet_12^post45, __disjvr_8^0'=__disjvr_8^post45, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post45, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post45, __disjvr_18^0'=__disjvr_18^post45, len_180^0'=len_180^post45, __disjvr_28^0'=__disjvr_28^post45, x_34^0'=x_34^post45, r_161^0'=r_161^post45, __disjvr_10^0'=__disjvr_10^post45, a_305^0'=a_305^post45, temp_49^0'=temp_49^post45, __disjvr_22^0'=__disjvr_22^post45, __disjvr_5^0'=__disjvr_5^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post45, __disjvr_15^0'=__disjvr_15^post45, i_108^0'=i_108^post45, __disjvr_25^0'=__disjvr_25^post45, x_20^0'=x_20^post45, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post45, a_146^0'=a_146^post45, a_247^0'=a_247^post45, temp0_15^0'=temp0_15^post45, __disjvr_1^0'=__disjvr_1^post45, length_43^0'=length_43^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_102^0'=rcd_102^post45, __disjvr_12^0'=__disjvr_12^post45, ct_17^0'=ct_17^post45, x_14^0'=x_14^post45, lt_37^0'=lt_37^post45, __disjvr_7^0'=__disjvr_7^post45, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post45, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post45, __disjvr_17^0'=__disjvr_17^post45, i_44^0'=i_44^post45, __disjvr_27^0'=__disjvr_27^post45, x_28^0'=x_28^post45, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post45, (__disjvr_4^0-__disjvr_4^post45 == 0 /\ rcd_102^0-rcd_102^post45 == 0 /\ -__disjvr_6^post45+__disjvr_6^0 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0 /\ -rcd_72^post45+rcd_72^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post45+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -r_53^post45+r_53^0 == 0 /\ x_16^0-x_16^post45 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post45 == 0 /\ __disjvr_16^0-__disjvr_16^post45 == 0 /\ t_23^0-t_23^post45 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ -i_44^post45+i_44^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post45 == 0 /\ -__disjvr_2^post45+__disjvr_2^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -lt_237^post45+lt_237^0 == 0 /\ x_34^0-x_34^post45 == 0 /\ -a_247^post45+a_247^0 == 0 /\ head_46^0-head_46^post45 == 0 /\ a_283^0-a_283^post45 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post45+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -a_146^post45+a_146^0 == 0 /\ -__disjvr_18^post45+__disjvr_18^0 == 0 /\ -tmp_48^post45+tmp_48^0 == 0 /\ -x_14^post45+x_14^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post45 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post45 == 0 /\ -__disjvr_13^post45+__disjvr_13^0 == 0 /\ fmt_31^0-fmt_31^post45 == 0 /\ len_246^0-len_246^post45 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post45+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_0^0-__disjvr_0^post45 == 0 /\ temp0_15^0-temp0_15^post45 == 0 /\ i_125^0-i_125^post45 == 0 /\ ct_17^0-ct_17^post45 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post45 == 0 /\ -temp_49^post45+temp_49^0 == 0 /\ lt_36^0-lt_36^post45 == 0 /\ -len_180^post45+len_180^0 == 0 /\ a_328^0-a_328^post45 == 0 /\ -__disjvr_25^post45+__disjvr_25^0 == 0 /\ -__disjvr_11^post45+__disjvr_11^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_20^post45+x_20^0 == 0 /\ __disjvr_19^0-__disjvr_19^post45 == 0 /\ temp0_45^0-temp0_45^post45 == 0 /\ -r_161^post45+r_161^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ -__disjvr_27^post45+__disjvr_27^0 == 0 /\ __disjvr_22^0-__disjvr_22^post45 == 0 /\ temp0_32^0-temp0_32^post45 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post45+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ -a_305^post45+a_305^0 == 0 /\ __disjvr_26^0-__disjvr_26^post45 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ -__disjvr_21^post45+__disjvr_21^0 == 0 /\ -__disjvr_1^post45+__disjvr_1^0 == 0 /\ __disjvr_3^0-__disjvr_3^post45 == 0 /\ x_177^0-x_177^post45 == 0 /\ -a_26^post45+a_26^0 == 0 /\ -x_28^post45+x_28^0 == 0 /\ -length_43^post45+length_43^0 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ -__disjvr_19^0+__disjvr_19^post45 == 0 /\ __disjvr_28^0-__disjvr_28^post45 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post45 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ -i_108^post45+i_108^0 == 0 /\ __disjvr_5^0-__disjvr_5^post45 == 0 /\ __disjvr_10^0-__disjvr_10^post45 == 0 /\ a_197^0-a_197^post45 == 0 /\ y_19^0-y_19^post45 == 0 /\ -lt_37^post45+lt_37^0 == 0 /\ -x_238^post45+x_238^0 == 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ __disjvr_29^0-__disjvr_29^post45 == 0), cost: 1
  46: l45 -> l46 : __disjvr_0^0'=__disjvr_0^post46, a_283^0'=a_283^post46, temp0_45^0'=temp0_45^post46, __disjvr_21^0'=__disjvr_21^post46, y_19^0'=y_19^post46, __disjvr_4^0'=__disjvr_4^post46, result_11^0'=result_11^post46, __disjvr_14^0'=__disjvr_14^post46, head_46^0'=head_46^post46, __disjvr_24^0'=__disjvr_24^post46, x_177^0'=x_177^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post46, __disjvr_9^0'=__disjvr_9^post46, a_197^0'=a_197^post46, t_23^0'=t_23^post46, __disjvr_19^0'=__disjvr_19^post46, len_246^0'=len_246^post46, __disjvr_29^0'=__disjvr_29^post46, x_SLAM_f_18^0'=x_SLAM_f_18^post46, r_53^0'=r_53^post46, __disjvr_11^0'=__disjvr_11^post46, a_328^0'=a_328^post46, tmp_48^0'=tmp_48^post46, lt_36^0'=lt_36^post46, __disjvr_6^0'=__disjvr_6^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, __disjvr_16^0'=__disjvr_16^post46, i_125^0'=i_125^post46, __disjvr_26^0'=__disjvr_26^post46, x_238^0'=x_238^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post46, a_26^0'=a_26^post46, temp0_32^0'=temp0_32^post46, __disjvr_20^0'=__disjvr_20^post46, lt_237^0'=lt_237^post46, __disjvr_3^0'=__disjvr_3^post46, rcd_72^0'=rcd_72^post46, __disjvr_13^0'=__disjvr_13^post46, fmt_31^0'=fmt_31^post46, __disjvr_23^0'=__disjvr_23^post46, x_16^0'=x_16^post46, nondet_12^0'=nondet_12^post46, __disjvr_8^0'=__disjvr_8^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post46, __disjvr_18^0'=__disjvr_18^post46, len_180^0'=len_180^post46, __disjvr_28^0'=__disjvr_28^post46, x_34^0'=x_34^post46, r_161^0'=r_161^post46, __disjvr_10^0'=__disjvr_10^post46, a_305^0'=a_305^post46, temp_49^0'=temp_49^post46, __disjvr_22^0'=__disjvr_22^post46, __disjvr_5^0'=__disjvr_5^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post46, __disjvr_15^0'=__disjvr_15^post46, i_108^0'=i_108^post46, __disjvr_25^0'=__disjvr_25^post46, x_20^0'=x_20^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_146^0'=a_146^post46, a_247^0'=a_247^post46, temp0_15^0'=temp0_15^post46, __disjvr_1^0'=__disjvr_1^post46, length_43^0'=length_43^post46, __disjvr_2^0'=__disjvr_2^post46, rcd_102^0'=rcd_102^post46, __disjvr_12^0'=__disjvr_12^post46, ct_17^0'=ct_17^post46, x_14^0'=x_14^post46, lt_37^0'=lt_37^post46, __disjvr_7^0'=__disjvr_7^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post46, __disjvr_17^0'=__disjvr_17^post46, i_44^0'=i_44^post46, __disjvr_27^0'=__disjvr_27^post46, x_28^0'=x_28^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post46, (0 == 0 /\ -x_238^post46+x_238^0 == 0 /\ a_328^0-a_328^post46 == 0 /\ -i_44^post46+i_44^0 == 0 /\ x_34^120-x_28^0 == 0 /\ temp_49^0-temp_49^post46 == 0 /\ __disjvr_10^0-__disjvr_10^post46 == 0 /\ __disjvr_4^0-__disjvr_4^post46 == 0 /\ temp0_15^0-temp0_15^post46 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post46 == 0 /\ -x_16^post46+x_16^0 == 0 /\ __disjvr_16^0-__disjvr_16^post46 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ -__disjvr_1^post46+__disjvr_1^0 == 0 /\ r_161^0-r_161^post46 == 0 /\ __disjvr_6^0-__disjvr_6^post46 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ i_125^0-i_125^post46 == 0 /\ result_11^170-temp0_32^170 == 0 /\ rcd_102^0-rcd_102^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post46+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -x_20^post46+x_20^0 == 0 /\ -a_26^post46+a_26^0 == 0 /\ -1+len_246^post46-len_180^0 <= 0 /\ -length_43^post46+length_43^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ x_177^0-x_177^post46 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post46+fmt_31^152 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ 1-a_197^0+a_247^post46 <= 0 /\ temp0_32^310 == 0 /\ -a_197^post46+a_197^0 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ __disjvr_18^0-__disjvr_18^post46 == 0 /\ -a_305^post46+a_305^0 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ -len_180^post46+len_180^0 == 0 /\ -__disjvr_26^post46+__disjvr_26^0 == 0 /\ __disjvr_21^0-__disjvr_21^post46 == 0 /\ -x_14^post46+x_14^0 == 0 /\ a_283^0-a_283^post46 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post46+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -result_11^170+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ -rcd_72^post46+rcd_72^0 == 0 /\ __disjvr_3^0-__disjvr_3^post46 == 0 /\ y_19^0-y_19^post46 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ -__disjvr_13^post46+__disjvr_13^0 == 0 /\ __disjvr_8^0-__disjvr_8^post46 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ -lt_237^post46+lt_237^0 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ lt_237^0-x_28^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post46 == 0 /\ r_53^0-r_53^post46 == 0 /\ -__disjvr_28^post46+__disjvr_28^0 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post46 <= 0 /\ a_26^0-x_14^0 <= 0 /\ t_23^0-t_23^post46 == 0 /\ temp0_32^170 == 0 /\ -__disjvr_2^post46+__disjvr_2^0 == 0 /\ result_11^330-temp0_32^310 == 0 /\ head_46^0-head_46^post46 == 0 /\ -i_108^post46+i_108^0 == 0 /\ fmt_31^310-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^120 == 0 /\ __disjvr_25^0-__disjvr_25^post46 == 0 /\ __disjvr_11^0-__disjvr_11^post46 == 0 /\ -ct_17^post46+ct_17^0 == 0 /\ 1-len_246^post46+len_180^0 <= 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post46 == 0 /\ -x_28^post46+x_28^0 == 0 /\ -__disjvr_29^post46+__disjvr_29^0 == 0 /\ -a_146^post46+a_146^0 == 0 /\ -tmp_48^post46+tmp_48^0 == 0 /\ -1+a_197^0-a_247^post46 <= 0 /\ __disjvr_19^0-__disjvr_19^post46 == 0 /\ -lt_237^0+x_28^0 <= 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post46 == 0 /\ -__disjvr_7^post46+__disjvr_7^0 == 0 /\ temp0_45^0-temp0_45^post46 == 0 /\ -__disjvr_22^post46+__disjvr_22^0 == 0 /\ -result_11^330+result_dot_printf_sdv_special_RETURN_VALUE_38^120 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post46 == 0 /\ -a_26^0+x_14^0 <= 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post46 <= 0 /\ -__disjvr_5^post46+__disjvr_5^0 == 0), cost: 1
  47: l46 -> l47 : __disjvr_0^0'=__disjvr_0^post47, a_283^0'=a_283^post47, temp0_45^0'=temp0_45^post47, __disjvr_21^0'=__disjvr_21^post47, y_19^0'=y_19^post47, __disjvr_4^0'=__disjvr_4^post47, result_11^0'=result_11^post47, __disjvr_14^0'=__disjvr_14^post47, head_46^0'=head_46^post47, __disjvr_24^0'=__disjvr_24^post47, x_177^0'=x_177^post47, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post47, __disjvr_9^0'=__disjvr_9^post47, a_197^0'=a_197^post47, t_23^0'=t_23^post47, __disjvr_19^0'=__disjvr_19^post47, len_246^0'=len_246^post47, __disjvr_29^0'=__disjvr_29^post47, x_SLAM_f_18^0'=x_SLAM_f_18^post47, r_53^0'=r_53^post47, __disjvr_11^0'=__disjvr_11^post47, a_328^0'=a_328^post47, tmp_48^0'=tmp_48^post47, lt_36^0'=lt_36^post47, __disjvr_6^0'=__disjvr_6^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, __disjvr_16^0'=__disjvr_16^post47, i_125^0'=i_125^post47, __disjvr_26^0'=__disjvr_26^post47, x_238^0'=x_238^post47, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post47, a_26^0'=a_26^post47, temp0_32^0'=temp0_32^post47, __disjvr_20^0'=__disjvr_20^post47, lt_237^0'=lt_237^post47, __disjvr_3^0'=__disjvr_3^post47, rcd_72^0'=rcd_72^post47, __disjvr_13^0'=__disjvr_13^post47, fmt_31^0'=fmt_31^post47, __disjvr_23^0'=__disjvr_23^post47, x_16^0'=x_16^post47, nondet_12^0'=nondet_12^post47, __disjvr_8^0'=__disjvr_8^post47, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post47, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post47, __disjvr_18^0'=__disjvr_18^post47, len_180^0'=len_180^post47, __disjvr_28^0'=__disjvr_28^post47, x_34^0'=x_34^post47, r_161^0'=r_161^post47, __disjvr_10^0'=__disjvr_10^post47, a_305^0'=a_305^post47, temp_49^0'=temp_49^post47, __disjvr_22^0'=__disjvr_22^post47, __disjvr_5^0'=__disjvr_5^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post47, __disjvr_15^0'=__disjvr_15^post47, i_108^0'=i_108^post47, __disjvr_25^0'=__disjvr_25^post47, x_20^0'=x_20^post47, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post47, a_146^0'=a_146^post47, a_247^0'=a_247^post47, temp0_15^0'=temp0_15^post47, __disjvr_1^0'=__disjvr_1^post47, length_43^0'=length_43^post47, __disjvr_2^0'=__disjvr_2^post47, rcd_102^0'=rcd_102^post47, __disjvr_12^0'=__disjvr_12^post47, ct_17^0'=ct_17^post47, x_14^0'=x_14^post47, lt_37^0'=lt_37^post47, __disjvr_7^0'=__disjvr_7^post47, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post47, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post47, __disjvr_17^0'=__disjvr_17^post47, i_44^0'=i_44^post47, __disjvr_27^0'=__disjvr_27^post47, x_28^0'=x_28^post47, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post47, (-rcd_102^post47+rcd_102^0 == 0 /\ head_46^0-head_46^post47 == 0 /\ -x_20^post47+x_20^0 == 0 /\ -__disjvr_12^post47+__disjvr_12^0 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ -__disjvr_26^post47+__disjvr_26^0 == 0 /\ a_305^0-a_305^post47 == 0 /\ __disjvr_21^0-__disjvr_21^post47 == 0 /\ length_43^0-length_43^post47 == 0 /\ a_247^0-a_247^post47 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post47 == 0 /\ __disjvr_6^0-__disjvr_6^post47 == 0 /\ __disjvr_29^0-__disjvr_29^post47 == 0 /\ __disjvr_11^0-__disjvr_11^post47 == 0 /\ -x_34^post47+x_34^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post47+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ x_238^0-x_238^post47 == 0 /\ -lt_37^post47+lt_37^0 == 0 /\ -r_161^post47+r_161^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post47+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_26^0-a_26^post47 == 0 /\ -i_125^post47+i_125^0 == 0 /\ len_246^0-len_246^post47 == 0 /\ a_283^0-a_283^post47 == 0 /\ -x_28^post47+x_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post47 == 0 /\ __disjvr_28^0-__disjvr_28^post47 == 0 /\ -fmt_31^post47+fmt_31^0 == 0 /\ len_180^0-len_180^post47 == 0 /\ result_11^0-result_11^post47 == 0 /\ __disjvr_23^0-__disjvr_23^post47 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post47+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_20^post47-__disjvr_20^0 == 0 /\ -ct_17^post47+ct_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post47 == 0 /\ -__disjvr_22^post47+__disjvr_22^0 == 0 /\ -a_146^post47+a_146^0 == 0 /\ __disjvr_3^0-__disjvr_3^post47 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post47+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post47 == 0 /\ __disjvr_25^0-__disjvr_25^post47 == 0 /\ -__disjvr_15^post47+__disjvr_15^0 == 0 /\ r_53^0-r_53^post47 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post47+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -x_14^post47+x_14^0 == 0 /\ lt_237^0-lt_237^post47 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post47+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ x_177^0-x_177^post47 == 0 /\ -nondet_12^post47+nondet_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post47 == 0 /\ a_197^0-a_197^post47 == 0 /\ -i_44^post47+i_44^0 == 0 /\ -lt_36^post47+lt_36^0 == 0 /\ -__disjvr_20^post47+__disjvr_20^0 == 0 /\ temp0_45^0-temp0_45^post47 == 0 /\ -__disjvr_27^post47+__disjvr_27^0 == 0 /\ i_108^0-i_108^post47 == 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ __disjvr_16^0-__disjvr_16^post47 == 0 /\ rcd_72^0-rcd_72^post47 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post47+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_24^0-__disjvr_24^post47 == 0 /\ -temp0_15^post47+temp0_15^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post47 == 0 /\ -temp_49^post47+temp_49^0 == 0 /\ y_19^0-y_19^post47 == 0 /\ -__disjvr_5^post47+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post47 == 0 /\ -a_328^post47+a_328^0 == 0 /\ -__disjvr_2^post47+__disjvr_2^0 == 0 /\ -__disjvr_8^post47+__disjvr_8^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post47 == 0 /\ -t_23^post47+t_23^0 == 0 /\ -__disjvr_10^post47+__disjvr_10^0 == 0 /\ -x_16^post47+x_16^0 == 0 /\ -__disjvr_17^post47+__disjvr_17^0 == 0 /\ -__disjvr_13^post47+__disjvr_13^0 == 0 /\ temp0_32^0-temp0_32^post47 == 0 /\ tmp_48^0-tmp_48^post47 == 0 /\ __disjvr_19^0-__disjvr_19^post47 == 0), cost: 1
  48: l47 -> l48 : __disjvr_0^0'=__disjvr_0^post48, a_283^0'=a_283^post48, temp0_45^0'=temp0_45^post48, __disjvr_21^0'=__disjvr_21^post48, y_19^0'=y_19^post48, __disjvr_4^0'=__disjvr_4^post48, result_11^0'=result_11^post48, __disjvr_14^0'=__disjvr_14^post48, head_46^0'=head_46^post48, __disjvr_24^0'=__disjvr_24^post48, x_177^0'=x_177^post48, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post48, __disjvr_9^0'=__disjvr_9^post48, a_197^0'=a_197^post48, t_23^0'=t_23^post48, __disjvr_19^0'=__disjvr_19^post48, len_246^0'=len_246^post48, __disjvr_29^0'=__disjvr_29^post48, x_SLAM_f_18^0'=x_SLAM_f_18^post48, r_53^0'=r_53^post48, __disjvr_11^0'=__disjvr_11^post48, a_328^0'=a_328^post48, tmp_48^0'=tmp_48^post48, lt_36^0'=lt_36^post48, __disjvr_6^0'=__disjvr_6^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, __disjvr_16^0'=__disjvr_16^post48, i_125^0'=i_125^post48, __disjvr_26^0'=__disjvr_26^post48, x_238^0'=x_238^post48, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post48, a_26^0'=a_26^post48, temp0_32^0'=temp0_32^post48, __disjvr_20^0'=__disjvr_20^post48, lt_237^0'=lt_237^post48, __disjvr_3^0'=__disjvr_3^post48, rcd_72^0'=rcd_72^post48, __disjvr_13^0'=__disjvr_13^post48, fmt_31^0'=fmt_31^post48, __disjvr_23^0'=__disjvr_23^post48, x_16^0'=x_16^post48, nondet_12^0'=nondet_12^post48, __disjvr_8^0'=__disjvr_8^post48, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post48, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post48, __disjvr_18^0'=__disjvr_18^post48, len_180^0'=len_180^post48, __disjvr_28^0'=__disjvr_28^post48, x_34^0'=x_34^post48, r_161^0'=r_161^post48, __disjvr_10^0'=__disjvr_10^post48, a_305^0'=a_305^post48, temp_49^0'=temp_49^post48, __disjvr_22^0'=__disjvr_22^post48, __disjvr_5^0'=__disjvr_5^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post48, __disjvr_15^0'=__disjvr_15^post48, i_108^0'=i_108^post48, __disjvr_25^0'=__disjvr_25^post48, x_20^0'=x_20^post48, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post48, a_146^0'=a_146^post48, a_247^0'=a_247^post48, temp0_15^0'=temp0_15^post48, __disjvr_1^0'=__disjvr_1^post48, length_43^0'=length_43^post48, __disjvr_2^0'=__disjvr_2^post48, rcd_102^0'=rcd_102^post48, __disjvr_12^0'=__disjvr_12^post48, ct_17^0'=ct_17^post48, x_14^0'=x_14^post48, lt_37^0'=lt_37^post48, __disjvr_7^0'=__disjvr_7^post48, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post48, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post48, __disjvr_17^0'=__disjvr_17^post48, i_44^0'=i_44^post48, __disjvr_27^0'=__disjvr_27^post48, x_28^0'=x_28^post48, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post48, (result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post48 == 0 /\ -x_20^post48+x_20^0 == 0 /\ __disjvr_28^0-__disjvr_28^post48 == 0 /\ -r_161^post48+r_161^0 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ -a_305^post48+a_305^0 == 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ temp0_15^0-temp0_15^post48 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post48+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_7^post48+__disjvr_7^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post48 == 0 /\ -i_125^post48+i_125^0 == 0 /\ x_238^0-x_238^post48 == 0 /\ lt_36^0-lt_36^post48 == 0 /\ a_328^0-a_328^post48 == 0 /\ -__disjvr_21^0+__disjvr_21^post48 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post48+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_23^0-__disjvr_23^post48 == 0 /\ -a_26^post48+a_26^0 == 0 /\ -i_108^post48+i_108^0 == 0 /\ rcd_102^0-rcd_102^post48 == 0 /\ -x_28^post48+x_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post48 == 0 /\ -length_43^post48+length_43^0 == 0 /\ __disjvr_16^0-__disjvr_16^post48 == 0 /\ -ct_17^post48+ct_17^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post48 == 0 /\ temp0_32^0-temp0_32^post48 == 0 /\ __disjvr_4^0-__disjvr_4^post48 == 0 /\ -lt_37^post48+lt_37^0 == 0 /\ result_11^0-result_11^post48 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ __disjvr_11^0-__disjvr_11^post48 == 0 /\ -__disjvr_6^post48+__disjvr_6^0 == 0 /\ a_283^0-a_283^post48 == 0 /\ len_180^0-len_180^post48 == 0 /\ __disjvr_20^0-__disjvr_20^post48 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post48 == 0 /\ len_246^0-len_246^post48 == 0 /\ fmt_31^0-fmt_31^post48 == 0 /\ x_177^0-x_177^post48 == 0 /\ __disjvr_5^0-__disjvr_5^post48 == 0 /\ -__disjvr_8^post48+__disjvr_8^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ -__disjvr_15^post48+__disjvr_15^0 == 0 /\ -__disjvr_2^post48+__disjvr_2^0 == 0 /\ r_53^0-r_53^post48 == 0 /\ -lt_237^post48+lt_237^0 == 0 /\ a_197^0-a_197^post48 == 0 /\ __disjvr_10^0-__disjvr_10^post48 == 0 /\ -a_247^post48+a_247^0 == 0 /\ -y_19^post48+y_19^0 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ -__disjvr_18^post48+__disjvr_18^0 == 0 /\ -a_146^post48+a_146^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post48 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post48+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -tmp_48^post48+tmp_48^0 == 0 /\ -x_14^post48+x_14^0 == 0 /\ -__disjvr_19^post48+__disjvr_19^0 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0 /\ __disjvr_0^0-__disjvr_0^post48 == 0 /\ -__disjvr_29^post48+__disjvr_29^0 == 0 /\ -temp_49^post48+temp_49^0 == 0 /\ -__disjvr_13^post48+__disjvr_13^0 == 0 /\ x_34^0-x_34^post48 == 0 /\ i_44^0-i_44^post48 == 0 /\ t_23^0-t_23^post48 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post48+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_9^0-__disjvr_9^post48 == 0 /\ temp0_45^0-temp0_45^post48 == 0 /\ head_46^0-head_46^post48 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ -x_16^post48+x_16^0 == 0 /\ __disjvr_26^0-__disjvr_26^post48 == 0 /\ -rcd_72^post48+rcd_72^0 == 0 /\ __disjvr_22^0-__disjvr_22^post48 == 0 /\ -__disjvr_25^post48+__disjvr_25^0 == 0), cost: 1
  49: l48 -> l43 : __disjvr_0^0'=__disjvr_0^post49, a_283^0'=a_283^post49, temp0_45^0'=temp0_45^post49, __disjvr_21^0'=__disjvr_21^post49, y_19^0'=y_19^post49, __disjvr_4^0'=__disjvr_4^post49, result_11^0'=result_11^post49, __disjvr_14^0'=__disjvr_14^post49, head_46^0'=head_46^post49, __disjvr_24^0'=__disjvr_24^post49, x_177^0'=x_177^post49, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post49, __disjvr_9^0'=__disjvr_9^post49, a_197^0'=a_197^post49, t_23^0'=t_23^post49, __disjvr_19^0'=__disjvr_19^post49, len_246^0'=len_246^post49, __disjvr_29^0'=__disjvr_29^post49, x_SLAM_f_18^0'=x_SLAM_f_18^post49, r_53^0'=r_53^post49, __disjvr_11^0'=__disjvr_11^post49, a_328^0'=a_328^post49, tmp_48^0'=tmp_48^post49, lt_36^0'=lt_36^post49, __disjvr_6^0'=__disjvr_6^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, __disjvr_16^0'=__disjvr_16^post49, i_125^0'=i_125^post49, __disjvr_26^0'=__disjvr_26^post49, x_238^0'=x_238^post49, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post49, a_26^0'=a_26^post49, temp0_32^0'=temp0_32^post49, __disjvr_20^0'=__disjvr_20^post49, lt_237^0'=lt_237^post49, __disjvr_3^0'=__disjvr_3^post49, rcd_72^0'=rcd_72^post49, __disjvr_13^0'=__disjvr_13^post49, fmt_31^0'=fmt_31^post49, __disjvr_23^0'=__disjvr_23^post49, x_16^0'=x_16^post49, nondet_12^0'=nondet_12^post49, __disjvr_8^0'=__disjvr_8^post49, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post49, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post49, __disjvr_18^0'=__disjvr_18^post49, len_180^0'=len_180^post49, __disjvr_28^0'=__disjvr_28^post49, x_34^0'=x_34^post49, r_161^0'=r_161^post49, __disjvr_10^0'=__disjvr_10^post49, a_305^0'=a_305^post49, temp_49^0'=temp_49^post49, __disjvr_22^0'=__disjvr_22^post49, __disjvr_5^0'=__disjvr_5^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post49, __disjvr_15^0'=__disjvr_15^post49, i_108^0'=i_108^post49, __disjvr_25^0'=__disjvr_25^post49, x_20^0'=x_20^post49, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post49, a_146^0'=a_146^post49, a_247^0'=a_247^post49, temp0_15^0'=temp0_15^post49, __disjvr_1^0'=__disjvr_1^post49, length_43^0'=length_43^post49, __disjvr_2^0'=__disjvr_2^post49, rcd_102^0'=rcd_102^post49, __disjvr_12^0'=__disjvr_12^post49, ct_17^0'=ct_17^post49, x_14^0'=x_14^post49, lt_37^0'=lt_37^post49, __disjvr_7^0'=__disjvr_7^post49, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post49, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post49, __disjvr_17^0'=__disjvr_17^post49, i_44^0'=i_44^post49, __disjvr_27^0'=__disjvr_27^post49, x_28^0'=x_28^post49, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post49, (0 == 0 /\ -length_43^post49+length_43^0 == 0 /\ -__disjvr_5^post49+__disjvr_5^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post49 == 0 /\ temp0_15^0-temp0_15^post49 == 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ a_283^0-a_283^post49 == 0 /\ -x_14^post49+x_14^0 == 0 /\ -temp0_32^post49+temp0_32^0 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ __disjvr_3^0-__disjvr_3^post49 == 0 /\ -x_34^post49+x_34^0 == 0 /\ -ct_17^post49+ct_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post49 == 0 /\ -__disjvr_7^post49+__disjvr_7^0 == 0 /\ lt_237^0-lt_237^post49 == 0 /\ i_125^0-i_125^post49 == 0 /\ r_161^0-r_161^post49 == 0 /\ a_328^0-a_328^post49 == 0 /\ __disjvr_29^0-__disjvr_29^post49 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post49+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ __disjvr_19^0-__disjvr_19^post49 == 0 /\ __disjvr_13^0-__disjvr_13^post49 == 0 /\ -fmt_31^post49+fmt_31^0 == 0 /\ lt_36^0-lt_36^post49 == 0 /\ -x_238^post49+x_238^0 == 0 /\ __disjvr_16^0-__disjvr_16^post49 == 0 /\ head_46^0-head_46^post49 == 0 /\ -i_108^post49+i_108^0 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post49+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_20^post49+x_20^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post49 == 0 /\ -x_SLAM_f_18^post49+x_SLAM_f_18^0 == 0 /\ -lt_37^post49+lt_37^0 == 0 /\ __disjvr_9^0-__disjvr_9^post49 == 0 /\ -a_247^post49+a_247^0 == 0 /\ temp0_45^0-temp0_45^post49 == 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -a_197^post49+a_247^0 <= 0 /\ a_305^0-a_305^post49 == 0 /\ __disjvr_11^0-__disjvr_11^post49 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post49+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ tmp_48^0-tmp_48^post49 == 0 /\ __disjvr_15^0-__disjvr_15^post49 == 0 /\ -__disjvr_4^post49+__disjvr_4^0 == 0 /\ len_246^0-len_246^post49 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post49+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -len_180^post49+len_246^0 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ y_19^0-y_19^post49 == 0 /\ -__disjvr_28^post49+__disjvr_28^0 == 0 /\ -__disjvr_22^post49+__disjvr_22^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 == 0 /\ -__disjvr_6^post49+__disjvr_6^0 == 0 /\ -x_28^post49+x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_38^0-result_dot_printf_sdv_special_RETURN_VALUE_38^post49 == 0 /\ -__disjvr_8^post49+__disjvr_8^0 == 0 /\ -a_146^post49+a_146^0 == 0 /\ a_197^post49-a_247^0 <= 0 /\ x_16^0-x_16^post49 == 0 /\ -rcd_72^post49+rcd_72^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_23^post49+__disjvr_23^0 == 0 /\ -__disjvr_12^post49+__disjvr_12^0 == 0 /\ t_23^0-t_23^post49 == 0 /\ __disjvr_26^0-__disjvr_26^post49 == 0 /\ -__disjvr_20^post49+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post49+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ len_180^post49-len_246^0 <= 0 /\ a_26^0-a_26^post49 == 0 /\ -i_44^post49+i_44^0 == 0 /\ -rcd_102^post49+rcd_102^0 == 0 /\ -r_53^post49+r_53^0 == 0 /\ result_11^0-result_11^post49 == 0 /\ __disjvr_21^0-__disjvr_21^post49 == 0 /\ x_177^0-x_177^post49 == 0 /\ -__disjvr_10^post49+__disjvr_10^0 == 0 /\ -temp_49^post49+temp_49^0 == 0 /\ -__disjvr_25^post49+__disjvr_25^0 == 0 /\ -__disjvr_1^post49+__disjvr_1^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post49 == 0), cost: 1
  50: l43 -> l40 : __disjvr_0^0'=__disjvr_0^post50, a_283^0'=a_283^post50, temp0_45^0'=temp0_45^post50, __disjvr_21^0'=__disjvr_21^post50, y_19^0'=y_19^post50, __disjvr_4^0'=__disjvr_4^post50, result_11^0'=result_11^post50, __disjvr_14^0'=__disjvr_14^post50, head_46^0'=head_46^post50, __disjvr_24^0'=__disjvr_24^post50, x_177^0'=x_177^post50, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post50, __disjvr_9^0'=__disjvr_9^post50, a_197^0'=a_197^post50, t_23^0'=t_23^post50, __disjvr_19^0'=__disjvr_19^post50, len_246^0'=len_246^post50, __disjvr_29^0'=__disjvr_29^post50, x_SLAM_f_18^0'=x_SLAM_f_18^post50, r_53^0'=r_53^post50, __disjvr_11^0'=__disjvr_11^post50, a_328^0'=a_328^post50, tmp_48^0'=tmp_48^post50, lt_36^0'=lt_36^post50, __disjvr_6^0'=__disjvr_6^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, __disjvr_16^0'=__disjvr_16^post50, i_125^0'=i_125^post50, __disjvr_26^0'=__disjvr_26^post50, x_238^0'=x_238^post50, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post50, a_26^0'=a_26^post50, temp0_32^0'=temp0_32^post50, __disjvr_20^0'=__disjvr_20^post50, lt_237^0'=lt_237^post50, __disjvr_3^0'=__disjvr_3^post50, rcd_72^0'=rcd_72^post50, __disjvr_13^0'=__disjvr_13^post50, fmt_31^0'=fmt_31^post50, __disjvr_23^0'=__disjvr_23^post50, x_16^0'=x_16^post50, nondet_12^0'=nondet_12^post50, __disjvr_8^0'=__disjvr_8^post50, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post50, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post50, __disjvr_18^0'=__disjvr_18^post50, len_180^0'=len_180^post50, __disjvr_28^0'=__disjvr_28^post50, x_34^0'=x_34^post50, r_161^0'=r_161^post50, __disjvr_10^0'=__disjvr_10^post50, a_305^0'=a_305^post50, temp_49^0'=temp_49^post50, __disjvr_22^0'=__disjvr_22^post50, __disjvr_5^0'=__disjvr_5^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post50, __disjvr_15^0'=__disjvr_15^post50, i_108^0'=i_108^post50, __disjvr_25^0'=__disjvr_25^post50, x_20^0'=x_20^post50, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post50, a_146^0'=a_146^post50, a_247^0'=a_247^post50, temp0_15^0'=temp0_15^post50, __disjvr_1^0'=__disjvr_1^post50, length_43^0'=length_43^post50, __disjvr_2^0'=__disjvr_2^post50, rcd_102^0'=rcd_102^post50, __disjvr_12^0'=__disjvr_12^post50, ct_17^0'=ct_17^post50, x_14^0'=x_14^post50, lt_37^0'=lt_37^post50, __disjvr_7^0'=__disjvr_7^post50, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post50, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post50, __disjvr_17^0'=__disjvr_17^post50, i_44^0'=i_44^post50, __disjvr_27^0'=__disjvr_27^post50, x_28^0'=x_28^post50, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post50, (-__disjvr_27^post50+__disjvr_27^0 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ __disjvr_1^0-__disjvr_1^post50 == 0 /\ -__disjvr_20^post50+__disjvr_20^0 == 0 /\ len_246^0-len_246^post50 == 0 /\ -ct_17^post50+ct_17^0 == 0 /\ -i_125^post50+i_125^0 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ __disjvr_11^0-__disjvr_11^post50 == 0 /\ len_180^0-len_180^post50 == 0 /\ a_283^0-a_283^post50 == 0 /\ -a_247^post50+a_247^0 == 0 /\ a_197^0-a_197^post50 == 0 /\ tmp_48^0-tmp_48^post50 == 0 /\ -__disjvr_5^post50+__disjvr_5^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post50 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post50 == 0 /\ __disjvr_4^0-__disjvr_4^post50 == 0 /\ -__disjvr_13^post50+__disjvr_13^0 == 0 /\ -x_14^post50+x_14^0 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ -temp_49^post50+temp_49^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post50+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_8^post50+__disjvr_8^0 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ -temp0_15^post50+temp0_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post50 == 0 /\ -__disjvr_7^post50+__disjvr_7^0 == 0 /\ -__disjvr_3^post50+__disjvr_3^0 == 0 /\ -x_20^post50+x_20^0 == 0 /\ head_46^0-head_46^post50 == 0 /\ __disjvr_29^0-__disjvr_29^post50 == 0 /\ -a_146^post50+a_146^0 == 0 /\ __disjvr_2^0-__disjvr_2^post50 == 0 /\ -nondet_12^post50+nondet_12^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post50+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_6^0-__disjvr_6^post50 == 0 /\ rcd_72^0-rcd_72^post50 == 0 /\ temp0_45^0-temp0_45^post50 == 0 /\ a_26^0-a_26^post50 == 0 /\ __disjvr_25^0-__disjvr_25^post50 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post50 == 0 /\ y_19^0-y_19^post50 == 0 /\ -x_16^post50+x_16^0 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ -lt_37^post50+lt_37^0 == 0 /\ result_11^0-result_11^post50 == 0 /\ -__disjvr_18^post50+__disjvr_18^0 == 0 /\ -i_108^post50+i_108^0 == 0 /\ -x_28^post50+x_28^0 == 0 /\ x_238^0-x_238^post50 == 0 /\ -a_328^post50+a_328^0 == 0 /\ t_23^0-t_23^post50 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ __disjvr_15^0-__disjvr_15^post50 == 0 /\ a_305^0-a_305^post50 == 0 /\ -__disjvr_10^post50+__disjvr_10^0 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post50+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -rcd_102^post50+rcd_102^0 == 0 /\ -i_44^post50+i_44^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post50+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -lt_237^post50+lt_237^0 == 0 /\ __disjvr_23^0-__disjvr_23^post50 == 0 /\ __disjvr_19^0-__disjvr_19^post50 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post50+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -length_43^post50+length_43^0 == 0 /\ __disjvr_16^0-__disjvr_16^post50 == 0 /\ lt_36^0-lt_36^post50 == 0 /\ -__disjvr_22^post50+__disjvr_22^0 == 0 /\ fmt_31^0-fmt_31^post50 == 0 /\ temp0_32^0-temp0_32^post50 == 0 /\ x_177^0-x_177^post50 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post50+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ r_53^0-r_53^post50 == 0 /\ -x_34^post50+x_34^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post50 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post50 == 0 /\ -r_161^post50+r_161^0 == 0), cost: 1
  52: l49 -> l50 : __disjvr_0^0'=__disjvr_0^post52, a_283^0'=a_283^post52, temp0_45^0'=temp0_45^post52, __disjvr_21^0'=__disjvr_21^post52, y_19^0'=y_19^post52, __disjvr_4^0'=__disjvr_4^post52, result_11^0'=result_11^post52, __disjvr_14^0'=__disjvr_14^post52, head_46^0'=head_46^post52, __disjvr_24^0'=__disjvr_24^post52, x_177^0'=x_177^post52, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post52, __disjvr_9^0'=__disjvr_9^post52, a_197^0'=a_197^post52, t_23^0'=t_23^post52, __disjvr_19^0'=__disjvr_19^post52, len_246^0'=len_246^post52, __disjvr_29^0'=__disjvr_29^post52, x_SLAM_f_18^0'=x_SLAM_f_18^post52, r_53^0'=r_53^post52, __disjvr_11^0'=__disjvr_11^post52, a_328^0'=a_328^post52, tmp_48^0'=tmp_48^post52, lt_36^0'=lt_36^post52, __disjvr_6^0'=__disjvr_6^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, __disjvr_16^0'=__disjvr_16^post52, i_125^0'=i_125^post52, __disjvr_26^0'=__disjvr_26^post52, x_238^0'=x_238^post52, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post52, a_26^0'=a_26^post52, temp0_32^0'=temp0_32^post52, __disjvr_20^0'=__disjvr_20^post52, lt_237^0'=lt_237^post52, __disjvr_3^0'=__disjvr_3^post52, rcd_72^0'=rcd_72^post52, __disjvr_13^0'=__disjvr_13^post52, fmt_31^0'=fmt_31^post52, __disjvr_23^0'=__disjvr_23^post52, x_16^0'=x_16^post52, nondet_12^0'=nondet_12^post52, __disjvr_8^0'=__disjvr_8^post52, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post52, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post52, __disjvr_18^0'=__disjvr_18^post52, len_180^0'=len_180^post52, __disjvr_28^0'=__disjvr_28^post52, x_34^0'=x_34^post52, r_161^0'=r_161^post52, __disjvr_10^0'=__disjvr_10^post52, a_305^0'=a_305^post52, temp_49^0'=temp_49^post52, __disjvr_22^0'=__disjvr_22^post52, __disjvr_5^0'=__disjvr_5^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post52, __disjvr_15^0'=__disjvr_15^post52, i_108^0'=i_108^post52, __disjvr_25^0'=__disjvr_25^post52, x_20^0'=x_20^post52, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post52, a_146^0'=a_146^post52, a_247^0'=a_247^post52, temp0_15^0'=temp0_15^post52, __disjvr_1^0'=__disjvr_1^post52, length_43^0'=length_43^post52, __disjvr_2^0'=__disjvr_2^post52, rcd_102^0'=rcd_102^post52, __disjvr_12^0'=__disjvr_12^post52, ct_17^0'=ct_17^post52, x_14^0'=x_14^post52, lt_37^0'=lt_37^post52, __disjvr_7^0'=__disjvr_7^post52, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post52, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post52, __disjvr_17^0'=__disjvr_17^post52, i_44^0'=i_44^post52, __disjvr_27^0'=__disjvr_27^post52, x_28^0'=x_28^post52, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post52, (-__disjvr_25^post52+__disjvr_25^0 == 0 /\ -__disjvr_8^post52+__disjvr_8^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ y_19^0-y_19^post52 == 0 /\ -a_247^post52+a_247^0 == 0 /\ result_11^0-result_11^post52 == 0 /\ -x_238^post52+x_238^0 == 0 /\ t_23^0-t_23^post52 == 0 /\ temp0_45^0-temp0_45^post52 == 0 /\ __disjvr_9^0-__disjvr_9^post52 == 0 /\ -rcd_72^post52+rcd_72^0 == 0 /\ -i_44^post52+i_44^0 == 0 /\ -lt_36^post52+lt_36^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post52+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -temp_49^post52+temp_49^0 == 0 /\ tmp_48^0-tmp_48^post52 == 0 /\ __disjvr_26^0-__disjvr_26^post52 == 0 /\ __disjvr_23^0-__disjvr_23^post52 == 0 /\ __disjvr_3^0-__disjvr_3^post52 == 0 /\ x_177^0-x_177^post52 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0 /\ -__disjvr_2^post52+__disjvr_2^0 == 0 /\ a_146^0-a_146^post52 == 0 /\ i_125^0-i_125^post52 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ -x_14^post52+x_14^0 == 0 /\ __disjvr_18^0-__disjvr_18^post52 == 0 /\ __disjvr_6^0-__disjvr_6^post52 == 0 /\ -__disjvr_5^post52+__disjvr_5^0 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ __disjvr_20^0-__disjvr_20^post52 == 0 /\ -__disjvr_27^post52+__disjvr_27^0 == 0 /\ -__disjvr_17^post52+__disjvr_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post52 == 0 /\ -__disjvr_7^post52+__disjvr_7^0 == 0 /\ temp0_15^0-temp0_15^post52 == 0 /\ rcd_102^0-rcd_102^post52 == 0 /\ r_53^0-r_53^post52 == 0 /\ -a_305^post52+a_305^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post52 == 0 /\ x_34^0-x_34^post52 == 0 /\ -__disjvr_16^post52+__disjvr_16^0 == 0 /\ -__disjvr_22^0+__disjvr_22^post52 == 0 /\ -__disjvr_10^post52+__disjvr_10^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post52 == 0 /\ x_16^0-x_16^post52 == 0 /\ -__disjvr_1^post52+__disjvr_1^0 == 0 /\ lt_237^0-lt_237^post52 == 0 /\ -x_20^post52+x_20^0 == 0 /\ __disjvr_13^0-__disjvr_13^post52 == 0 /\ -lt_37^post52+lt_37^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post52+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ len_246^0-len_246^post52 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post52 == 0 /\ -len_180^post52+len_180^0 == 0 /\ temp0_32^0-temp0_32^post52 == 0 /\ a_283^0-a_283^post52 == 0 /\ -r_161^post52+r_161^0 == 0 /\ head_46^0-head_46^post52 == 0 /\ __disjvr_4^0-__disjvr_4^post52 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post52+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_19^0-__disjvr_19^post52 == 0 /\ __disjvr_28^0-__disjvr_28^post52 == 0 /\ -x_28^post52+x_28^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post52+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_15^0-__disjvr_15^post52 == 0 /\ __disjvr_22^0-__disjvr_22^post52 == 0 /\ -length_43^post52+length_43^0 == 0 /\ -__disjvr_24^post52+__disjvr_24^0 == 0 /\ a_328^0-a_328^post52 == 0 /\ -a_26^post52+a_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ -ct_17^post52+ct_17^0 == 0 /\ __disjvr_29^0-__disjvr_29^post52 == 0 /\ -i_108^post52+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -fmt_31^post52+fmt_31^0 == 0 /\ __disjvr_11^0-__disjvr_11^post52 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post52+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ a_197^0-a_197^post52 == 0), cost: 1
  53: l50 -> l11 : __disjvr_0^0'=__disjvr_0^post53, a_283^0'=a_283^post53, temp0_45^0'=temp0_45^post53, __disjvr_21^0'=__disjvr_21^post53, y_19^0'=y_19^post53, __disjvr_4^0'=__disjvr_4^post53, result_11^0'=result_11^post53, __disjvr_14^0'=__disjvr_14^post53, head_46^0'=head_46^post53, __disjvr_24^0'=__disjvr_24^post53, x_177^0'=x_177^post53, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post53, __disjvr_9^0'=__disjvr_9^post53, a_197^0'=a_197^post53, t_23^0'=t_23^post53, __disjvr_19^0'=__disjvr_19^post53, len_246^0'=len_246^post53, __disjvr_29^0'=__disjvr_29^post53, x_SLAM_f_18^0'=x_SLAM_f_18^post53, r_53^0'=r_53^post53, __disjvr_11^0'=__disjvr_11^post53, a_328^0'=a_328^post53, tmp_48^0'=tmp_48^post53, lt_36^0'=lt_36^post53, __disjvr_6^0'=__disjvr_6^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, __disjvr_16^0'=__disjvr_16^post53, i_125^0'=i_125^post53, __disjvr_26^0'=__disjvr_26^post53, x_238^0'=x_238^post53, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post53, a_26^0'=a_26^post53, temp0_32^0'=temp0_32^post53, __disjvr_20^0'=__disjvr_20^post53, lt_237^0'=lt_237^post53, __disjvr_3^0'=__disjvr_3^post53, rcd_72^0'=rcd_72^post53, __disjvr_13^0'=__disjvr_13^post53, fmt_31^0'=fmt_31^post53, __disjvr_23^0'=__disjvr_23^post53, x_16^0'=x_16^post53, nondet_12^0'=nondet_12^post53, __disjvr_8^0'=__disjvr_8^post53, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post53, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post53, __disjvr_18^0'=__disjvr_18^post53, len_180^0'=len_180^post53, __disjvr_28^0'=__disjvr_28^post53, x_34^0'=x_34^post53, r_161^0'=r_161^post53, __disjvr_10^0'=__disjvr_10^post53, a_305^0'=a_305^post53, temp_49^0'=temp_49^post53, __disjvr_22^0'=__disjvr_22^post53, __disjvr_5^0'=__disjvr_5^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post53, __disjvr_15^0'=__disjvr_15^post53, i_108^0'=i_108^post53, __disjvr_25^0'=__disjvr_25^post53, x_20^0'=x_20^post53, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post53, a_146^0'=a_146^post53, a_247^0'=a_247^post53, temp0_15^0'=temp0_15^post53, __disjvr_1^0'=__disjvr_1^post53, length_43^0'=length_43^post53, __disjvr_2^0'=__disjvr_2^post53, rcd_102^0'=rcd_102^post53, __disjvr_12^0'=__disjvr_12^post53, ct_17^0'=ct_17^post53, x_14^0'=x_14^post53, lt_37^0'=lt_37^post53, __disjvr_7^0'=__disjvr_7^post53, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post53, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post53, __disjvr_17^0'=__disjvr_17^post53, i_44^0'=i_44^post53, __disjvr_27^0'=__disjvr_27^post53, x_28^0'=x_28^post53, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post53, (x_238^0-x_238^post53 == 0 /\ -i_44^post53+i_44^0 == 0 /\ __disjvr_16^0-__disjvr_16^post53 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post53+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_23^post53+__disjvr_23^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post53+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ temp0_45^0-temp0_45^post53 == 0 /\ -a_146^post53+a_146^0 == 0 /\ -__disjvr_6^post53+__disjvr_6^0 == 0 /\ __disjvr_13^0-__disjvr_13^post53 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post53+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -x_28^post53+x_28^0 == 0 /\ __disjvr_22^0-__disjvr_22^post53 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post53+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ a_26^0-a_26^post53 == 0 /\ result_11^0-result_11^post53 == 0 /\ __disjvr_9^0-__disjvr_9^post53 == 0 /\ __disjvr_4^0-__disjvr_4^post53 == 0 /\ x_177^0-x_177^post53 == 0 /\ -__disjvr_12^post53+__disjvr_12^0 == 0 /\ -__disjvr_27^post53+__disjvr_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ a_328^0-a_328^post53 == 0 /\ -__disjvr_2^post53+__disjvr_2^0 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ -__disjvr_20^post53+__disjvr_20^0 == 0 /\ temp0_15^0-temp0_15^post53 == 0 /\ i_125^0-i_125^post53 == 0 /\ -__disjvr_1^post53+__disjvr_1^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post53 == 0 /\ -__disjvr_28^post53+__disjvr_28^0 == 0 /\ -r_53^post53+r_53^0 == 0 /\ -t_23^post53+t_23^0 == 0 /\ lt_237^0-lt_237^post53 == 0 /\ -__disjvr_10^post53+__disjvr_10^0 == 0 /\ -x_16^post53+x_16^0 == 0 /\ -temp_49^post53+temp_49^0 == 0 /\ -rcd_72^post53+rcd_72^0 == 0 /\ __disjvr_14^0-__disjvr_14^post53 == 0 /\ ct_17^0-ct_17^post53 == 0 /\ -x_14^post53+x_14^0 == 0 /\ -__disjvr_5^post53+__disjvr_5^0 == 0 /\ __disjvr_11^0-__disjvr_11^post53 == 0 /\ __disjvr_29^0-__disjvr_29^post53 == 0 /\ -rcd_102^post53+rcd_102^0 == 0 /\ lt_36^0-lt_36^post53 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post53+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post53+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -len_180^post53+len_180^0 == 0 /\ __disjvr_0^0-__disjvr_0^post53 == 0 /\ __disjvr_8^0-__disjvr_8^post53 == 0 /\ -x_SLAM_f_18^post53+x_SLAM_f_18^0 == 0 /\ -__disjvr_7^post53+__disjvr_7^0 == 0 /\ y_19^0-y_19^post53 == 0 /\ -__disjvr_24^post53+__disjvr_24^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 == 0 /\ __disjvr_26^0-__disjvr_26^post53 == 0 /\ -length_43^post53+length_43^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ lt_37^0-lt_37^post53 == 0 /\ len_246^0-len_246^post53 == 0 /\ -a_305^post53+a_305^0 == 0 /\ temp0_32^0-temp0_32^post53 == 0 /\ head_46^0-head_46^post53 == 0 /\ a_283^0-a_283^post53 == 0 /\ tmp_48^0-tmp_48^post53 == 0 /\ -r_161^post53+r_161^0 == 0 /\ __disjvr_19^0-__disjvr_19^post53 == 0 /\ -x_34^post53+x_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post53 == 0 /\ __disjvr_18^0-__disjvr_18^post53 == 0 /\ -a_247^post53+a_247^0 == 0 /\ __disjvr_15^0-__disjvr_15^post53 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -nondet_12^post53+nondet_12^0 == 0 /\ -i_108^post53+i_108^0 == 0 /\ __disjvr_25^0-__disjvr_25^post53 == 0 /\ -x_20^post53+x_20^0 == 0 /\ -__disjvr_3^post53+__disjvr_3^0 == 0 /\ -fmt_31^post53+fmt_31^0 == 0 /\ a_197^0-a_197^post53 == 0), cost: 1
  55: l51 -> l52 : __disjvr_0^0'=__disjvr_0^post55, a_283^0'=a_283^post55, temp0_45^0'=temp0_45^post55, __disjvr_21^0'=__disjvr_21^post55, y_19^0'=y_19^post55, __disjvr_4^0'=__disjvr_4^post55, result_11^0'=result_11^post55, __disjvr_14^0'=__disjvr_14^post55, head_46^0'=head_46^post55, __disjvr_24^0'=__disjvr_24^post55, x_177^0'=x_177^post55, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post55, __disjvr_9^0'=__disjvr_9^post55, a_197^0'=a_197^post55, t_23^0'=t_23^post55, __disjvr_19^0'=__disjvr_19^post55, len_246^0'=len_246^post55, __disjvr_29^0'=__disjvr_29^post55, x_SLAM_f_18^0'=x_SLAM_f_18^post55, r_53^0'=r_53^post55, __disjvr_11^0'=__disjvr_11^post55, a_328^0'=a_328^post55, tmp_48^0'=tmp_48^post55, lt_36^0'=lt_36^post55, __disjvr_6^0'=__disjvr_6^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, __disjvr_16^0'=__disjvr_16^post55, i_125^0'=i_125^post55, __disjvr_26^0'=__disjvr_26^post55, x_238^0'=x_238^post55, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post55, a_26^0'=a_26^post55, temp0_32^0'=temp0_32^post55, __disjvr_20^0'=__disjvr_20^post55, lt_237^0'=lt_237^post55, __disjvr_3^0'=__disjvr_3^post55, rcd_72^0'=rcd_72^post55, __disjvr_13^0'=__disjvr_13^post55, fmt_31^0'=fmt_31^post55, __disjvr_23^0'=__disjvr_23^post55, x_16^0'=x_16^post55, nondet_12^0'=nondet_12^post55, __disjvr_8^0'=__disjvr_8^post55, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post55, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post55, __disjvr_18^0'=__disjvr_18^post55, len_180^0'=len_180^post55, __disjvr_28^0'=__disjvr_28^post55, x_34^0'=x_34^post55, r_161^0'=r_161^post55, __disjvr_10^0'=__disjvr_10^post55, a_305^0'=a_305^post55, temp_49^0'=temp_49^post55, __disjvr_22^0'=__disjvr_22^post55, __disjvr_5^0'=__disjvr_5^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post55, __disjvr_15^0'=__disjvr_15^post55, i_108^0'=i_108^post55, __disjvr_25^0'=__disjvr_25^post55, x_20^0'=x_20^post55, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post55, a_146^0'=a_146^post55, a_247^0'=a_247^post55, temp0_15^0'=temp0_15^post55, __disjvr_1^0'=__disjvr_1^post55, length_43^0'=length_43^post55, __disjvr_2^0'=__disjvr_2^post55, rcd_102^0'=rcd_102^post55, __disjvr_12^0'=__disjvr_12^post55, ct_17^0'=ct_17^post55, x_14^0'=x_14^post55, lt_37^0'=lt_37^post55, __disjvr_7^0'=__disjvr_7^post55, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post55, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post55, __disjvr_17^0'=__disjvr_17^post55, i_44^0'=i_44^post55, __disjvr_27^0'=__disjvr_27^post55, x_28^0'=x_28^post55, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post55, (__disjvr_0^0-__disjvr_0^post55 == 0 /\ -x_28^post55+x_28^0 == 0 /\ -a_26^post55+a_26^0 == 0 /\ head_46^0-head_46^post55 == 0 /\ lt_36^0-lt_36^post55 == 0 /\ temp0_32^0-temp0_32^post55 == 0 /\ a_328^0-a_328^post55 == 0 /\ __disjvr_21^0-__disjvr_21^post55 == 0 /\ __disjvr_26^0-__disjvr_26^post55 == 0 /\ -__disjvr_23^0+__disjvr_23^post55 == 0 /\ -__disjvr_12^post55+__disjvr_12^0 == 0 /\ -x_16^post55+x_16^0 == 0 /\ -rcd_102^post55+rcd_102^0 == 0 /\ -temp0_15^post55+temp0_15^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post55 == 0 /\ -__disjvr_6^post55+__disjvr_6^0 == 0 /\ -lt_37^post55+lt_37^0 == 0 /\ -i_108^post55+i_108^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post55 == 0 /\ x_34^0-x_34^post55 == 0 /\ a_197^0-a_197^post55 == 0 /\ y_19^0-y_19^post55 == 0 /\ -r_161^post55+r_161^0 == 0 /\ -rcd_72^post55+rcd_72^0 == 0 /\ result_11^0-result_11^post55 == 0 /\ x_238^0-x_238^post55 == 0 /\ -i_44^post55+i_44^0 == 0 /\ a_283^0-a_283^post55 == 0 /\ __disjvr_23^0-__disjvr_23^post55 == 0 /\ __disjvr_3^0-__disjvr_3^post55 == 0 /\ -__disjvr_15^post55+__disjvr_15^0 == 0 /\ tmp_48^0-tmp_48^post55 == 0 /\ -lt_237^post55+lt_237^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post55 == 0 /\ -__disjvr_19^post55+__disjvr_19^0 == 0 /\ -i_125^post55+i_125^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post55+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post55+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post55+__disjvr_1^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post55 == 0 /\ __disjvr_28^0-__disjvr_28^post55 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -length_43^post55+length_43^0 == 0 /\ -nondet_12^post55+nondet_12^0 == 0 /\ -__disjvr_13^post55+__disjvr_13^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post55+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -temp_49^post55+temp_49^0 == 0 /\ x_20^0-x_20^post55 == 0 /\ __disjvr_22^0-__disjvr_22^post55 == 0 /\ -x_14^post55+x_14^0 == 0 /\ -__disjvr_27^post55+__disjvr_27^0 == 0 /\ -__disjvr_29^post55+__disjvr_29^0 == 0 /\ __disjvr_11^0-__disjvr_11^post55 == 0 /\ -ct_17^post55+ct_17^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post55+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_20^0-__disjvr_20^post55 == 0 /\ -__disjvr_17^post55+__disjvr_17^0 == 0 /\ __disjvr_16^0-__disjvr_16^post55 == 0 /\ -__disjvr_25^post55+__disjvr_25^0 == 0 /\ x_177^0-x_177^post55 == 0 /\ fmt_31^0-fmt_31^post55 == 0 /\ __disjvr_14^0-__disjvr_14^post55 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post55 == 0 /\ __disjvr_9^0-__disjvr_9^post55 == 0 /\ -__disjvr_5^post55+__disjvr_5^0 == 0 /\ r_53^0-r_53^post55 == 0 /\ temp0_45^0-temp0_45^post55 == 0 /\ -a_305^post55+a_305^0 == 0 /\ -__disjvr_8^post55+__disjvr_8^0 == 0 /\ __disjvr_24^0-__disjvr_24^post55 == 0 /\ -__disjvr_2^post55+__disjvr_2^0 == 0 /\ len_180^0-len_180^post55 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post55+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_4^0-__disjvr_4^post55 == 0 /\ -__disjvr_7^post55+__disjvr_7^0 == 0 /\ __disjvr_10^0-__disjvr_10^post55 == 0 /\ -a_247^post55+a_247^0 == 0 /\ -__disjvr_18^post55+__disjvr_18^0 == 0 /\ t_23^0-t_23^post55 == 0 /\ -a_146^post55+a_146^0 == 0 /\ len_246^0-len_246^post55 == 0), cost: 1
  56: l52 -> l53 : __disjvr_0^0'=__disjvr_0^post56, a_283^0'=a_283^post56, temp0_45^0'=temp0_45^post56, __disjvr_21^0'=__disjvr_21^post56, y_19^0'=y_19^post56, __disjvr_4^0'=__disjvr_4^post56, result_11^0'=result_11^post56, __disjvr_14^0'=__disjvr_14^post56, head_46^0'=head_46^post56, __disjvr_24^0'=__disjvr_24^post56, x_177^0'=x_177^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post56, __disjvr_9^0'=__disjvr_9^post56, a_197^0'=a_197^post56, t_23^0'=t_23^post56, __disjvr_19^0'=__disjvr_19^post56, len_246^0'=len_246^post56, __disjvr_29^0'=__disjvr_29^post56, x_SLAM_f_18^0'=x_SLAM_f_18^post56, r_53^0'=r_53^post56, __disjvr_11^0'=__disjvr_11^post56, a_328^0'=a_328^post56, tmp_48^0'=tmp_48^post56, lt_36^0'=lt_36^post56, __disjvr_6^0'=__disjvr_6^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, __disjvr_16^0'=__disjvr_16^post56, i_125^0'=i_125^post56, __disjvr_26^0'=__disjvr_26^post56, x_238^0'=x_238^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post56, a_26^0'=a_26^post56, temp0_32^0'=temp0_32^post56, __disjvr_20^0'=__disjvr_20^post56, lt_237^0'=lt_237^post56, __disjvr_3^0'=__disjvr_3^post56, rcd_72^0'=rcd_72^post56, __disjvr_13^0'=__disjvr_13^post56, fmt_31^0'=fmt_31^post56, __disjvr_23^0'=__disjvr_23^post56, x_16^0'=x_16^post56, nondet_12^0'=nondet_12^post56, __disjvr_8^0'=__disjvr_8^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post56, __disjvr_18^0'=__disjvr_18^post56, len_180^0'=len_180^post56, __disjvr_28^0'=__disjvr_28^post56, x_34^0'=x_34^post56, r_161^0'=r_161^post56, __disjvr_10^0'=__disjvr_10^post56, a_305^0'=a_305^post56, temp_49^0'=temp_49^post56, __disjvr_22^0'=__disjvr_22^post56, __disjvr_5^0'=__disjvr_5^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post56, __disjvr_15^0'=__disjvr_15^post56, i_108^0'=i_108^post56, __disjvr_25^0'=__disjvr_25^post56, x_20^0'=x_20^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, a_146^0'=a_146^post56, a_247^0'=a_247^post56, temp0_15^0'=temp0_15^post56, __disjvr_1^0'=__disjvr_1^post56, length_43^0'=length_43^post56, __disjvr_2^0'=__disjvr_2^post56, rcd_102^0'=rcd_102^post56, __disjvr_12^0'=__disjvr_12^post56, ct_17^0'=ct_17^post56, x_14^0'=x_14^post56, lt_37^0'=lt_37^post56, __disjvr_7^0'=__disjvr_7^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post56, __disjvr_17^0'=__disjvr_17^post56, i_44^0'=i_44^post56, __disjvr_27^0'=__disjvr_27^post56, x_28^0'=x_28^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post56, (0 == 0 /\ result_11^190-temp0_32^190 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post56 == 0 /\ tmp_48^0-tmp_48^post56 == 0 /\ __disjvr_8^0-__disjvr_8^post56 == 0 /\ -x_20^post56+x_20^0 == 0 /\ __disjvr_4^0-__disjvr_4^post56 == 0 /\ -x_SLAM_f_18^post56+x_SLAM_f_18^0 == 0 /\ a_197^0-a_197^post56 == 0 /\ __disjvr_2^0-__disjvr_2^post56 == 0 /\ __disjvr_9^0-__disjvr_9^post56 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post56 <= 0 /\ a_146^0-a_146^post56 == 0 /\ -i_44^post56+i_44^0 == 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ -temp0_15^post56+temp0_15^0 == 0 /\ __disjvr_22^0-__disjvr_22^post56 == 0 /\ __disjvr_26^0-__disjvr_26^post56 == 0 /\ fmt_31^154-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post56 == 0 /\ __disjvr_29^0-__disjvr_29^post56 == 0 /\ -__disjvr_18^post56+__disjvr_18^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post56 <= 0 /\ temp0_32^320 == 0 /\ -x_14^post56+x_14^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ i_125^0-i_125^post56 == 0 /\ -__disjvr_10^post56+__disjvr_10^0 == 0 /\ __disjvr_6^0-__disjvr_6^post56 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post56 == 0 /\ -__disjvr_27^post56+__disjvr_27^0 == 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ -x_16^post56+x_16^0 == 0 /\ -lt_237^post56+lt_237^0 == 0 /\ fmt_31^320-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^130 == 0 /\ -__disjvr_17^post56+__disjvr_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post56 == 0 /\ a_26^0-a_26^post56 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post56-result_11^190 == 0 /\ -temp0_32^320+result_11^340 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ a_283^0-a_283^post56 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_38^130-result_11^340 == 0 /\ -temp_49^post56+temp_49^0 == 0 /\ x_238^0-x_238^post56 == 0 /\ -nondet_12^post56+nondet_12^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post56+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ r_53^0-r_53^post56 == 0 /\ -__disjvr_24^post56+__disjvr_24^0 == 0 /\ -__disjvr_28^post56+__disjvr_28^0 == 0 /\ -length_43^post56+length_43^0 == 0 /\ -a_247^post56+a_247^0 == 0 /\ -rcd_102^post56+rcd_102^0 == 0 /\ a_26^0-x_14^0 <= 0 /\ x_34^130-x_28^0 == 0 /\ -__disjvr_1^post56+__disjvr_1^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post56+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -x_28^post56+x_28^0 == 0 /\ a_328^0-a_328^post56 == 0 /\ -temp0_45^post56+temp0_45^0 == 0 /\ head_46^0-head_46^post56 == 0 /\ -i_108^post56+i_108^0 == 0 /\ __disjvr_11^0-__disjvr_11^post56 == 0 /\ __disjvr_3^0-__disjvr_3^post56 == 0 /\ __disjvr_15^0-__disjvr_15^post56 == 0 /\ a_305^0-a_305^post56 == 0 /\ len_180^0-len_180^post56 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post56+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -__disjvr_16^post56+__disjvr_16^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post56 == 0 /\ t_23^0-t_23^post56 == 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ __disjvr_13^0-__disjvr_13^post56 == 0 /\ x_177^0-x_177^post56 == 0 /\ -rcd_72^post56+rcd_72^0 == 0 /\ temp0_32^190 == 0 /\ -__disjvr_7^post56+__disjvr_7^0 == 0 /\ len_246^0-len_246^post56 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ y_19^0-y_19^post56 == 0 /\ -a_26^0+x_14^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post56 == 0 /\ -__disjvr_25^post56+__disjvr_25^0 == 0 /\ -__disjvr_5^post56+__disjvr_5^0 == 0 /\ -r_161^post56+r_161^0 == 0 /\ -ct_17^post56+ct_17^0 == 0), cost: 1
  57: l53 -> l54 : __disjvr_0^0'=__disjvr_0^post57, a_283^0'=a_283^post57, temp0_45^0'=temp0_45^post57, __disjvr_21^0'=__disjvr_21^post57, y_19^0'=y_19^post57, __disjvr_4^0'=__disjvr_4^post57, result_11^0'=result_11^post57, __disjvr_14^0'=__disjvr_14^post57, head_46^0'=head_46^post57, __disjvr_24^0'=__disjvr_24^post57, x_177^0'=x_177^post57, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post57, __disjvr_9^0'=__disjvr_9^post57, a_197^0'=a_197^post57, t_23^0'=t_23^post57, __disjvr_19^0'=__disjvr_19^post57, len_246^0'=len_246^post57, __disjvr_29^0'=__disjvr_29^post57, x_SLAM_f_18^0'=x_SLAM_f_18^post57, r_53^0'=r_53^post57, __disjvr_11^0'=__disjvr_11^post57, a_328^0'=a_328^post57, tmp_48^0'=tmp_48^post57, lt_36^0'=lt_36^post57, __disjvr_6^0'=__disjvr_6^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, __disjvr_16^0'=__disjvr_16^post57, i_125^0'=i_125^post57, __disjvr_26^0'=__disjvr_26^post57, x_238^0'=x_238^post57, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post57, a_26^0'=a_26^post57, temp0_32^0'=temp0_32^post57, __disjvr_20^0'=__disjvr_20^post57, lt_237^0'=lt_237^post57, __disjvr_3^0'=__disjvr_3^post57, rcd_72^0'=rcd_72^post57, __disjvr_13^0'=__disjvr_13^post57, fmt_31^0'=fmt_31^post57, __disjvr_23^0'=__disjvr_23^post57, x_16^0'=x_16^post57, nondet_12^0'=nondet_12^post57, __disjvr_8^0'=__disjvr_8^post57, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post57, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post57, __disjvr_18^0'=__disjvr_18^post57, len_180^0'=len_180^post57, __disjvr_28^0'=__disjvr_28^post57, x_34^0'=x_34^post57, r_161^0'=r_161^post57, __disjvr_10^0'=__disjvr_10^post57, a_305^0'=a_305^post57, temp_49^0'=temp_49^post57, __disjvr_22^0'=__disjvr_22^post57, __disjvr_5^0'=__disjvr_5^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post57, __disjvr_15^0'=__disjvr_15^post57, i_108^0'=i_108^post57, __disjvr_25^0'=__disjvr_25^post57, x_20^0'=x_20^post57, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post57, a_146^0'=a_146^post57, a_247^0'=a_247^post57, temp0_15^0'=temp0_15^post57, __disjvr_1^0'=__disjvr_1^post57, length_43^0'=length_43^post57, __disjvr_2^0'=__disjvr_2^post57, rcd_102^0'=rcd_102^post57, __disjvr_12^0'=__disjvr_12^post57, ct_17^0'=ct_17^post57, x_14^0'=x_14^post57, lt_37^0'=lt_37^post57, __disjvr_7^0'=__disjvr_7^post57, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post57, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post57, __disjvr_17^0'=__disjvr_17^post57, i_44^0'=i_44^post57, __disjvr_27^0'=__disjvr_27^post57, x_28^0'=x_28^post57, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post57, (-__disjvr_20^post57+__disjvr_20^0 == 0 /\ a_283^0-a_283^post57 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post57+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ lt_237^0-lt_237^post57 == 0 /\ -x_34^post57+x_34^0 == 0 /\ __disjvr_18^0-__disjvr_18^post57 == 0 /\ -__disjvr_5^post57+__disjvr_5^0 == 0 /\ x_238^0-x_238^post57 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post57+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ t_23^0-t_23^post57 == 0 /\ -length_43^post57+length_43^0 == 0 /\ a_328^0-a_328^post57 == 0 /\ -temp0_32^post57+temp0_32^0 == 0 /\ -__disjvr_27^post57+__disjvr_27^0 == 0 /\ __disjvr_13^0-__disjvr_13^post57 == 0 /\ __disjvr_19^0-__disjvr_19^post57 == 0 /\ -ct_17^post57+ct_17^0 == 0 /\ lt_36^0-lt_36^post57 == 0 /\ -__disjvr_7^post57+__disjvr_7^0 == 0 /\ __disjvr_8^0-__disjvr_8^post57 == 0 /\ __disjvr_0^0-__disjvr_0^post57 == 0 /\ -a_247^post57+a_247^0 == 0 /\ -a_146^post57+a_146^0 == 0 /\ -x_SLAM_f_18^post57+x_SLAM_f_18^0 == 0 /\ __disjvr_16^0-__disjvr_16^post57 == 0 /\ temp0_45^0-temp0_45^post57 == 0 /\ rcd_72^0-rcd_72^post57 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post57+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -x_20^post57+x_20^0 == 0 /\ x_177^0-x_177^post57 == 0 /\ -nondet_12^post57+nondet_12^0 == 0 /\ __disjvr_12^0-__disjvr_12^post57 == 0 /\ -__disjvr_3^post57+__disjvr_3^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post57+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -__disjvr_15^post57+__disjvr_15^0 == 0 /\ -__disjvr_2^post57+__disjvr_2^0 == 0 /\ -i_44^post57+i_44^0 == 0 /\ lt_37^0-lt_37^post57 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post57 == 0 /\ len_246^0-len_246^post57 == 0 /\ __disjvr_6^0-__disjvr_6^post57 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post57+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_11^0-__disjvr_11^post57 == 0 /\ r_53^0-r_53^post57 == 0 /\ -temp0_15^post57+temp0_15^0 == 0 /\ a_197^0-a_197^post57 == 0 /\ tmp_48^0-tmp_48^post57 == 0 /\ -__disjvr_24^0+__disjvr_24^post57 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post57 == 0 /\ -x_28^post57+x_28^0 == 0 /\ -__disjvr_14^post57+__disjvr_14^0 == 0 /\ -__disjvr_22^post57+__disjvr_22^0 == 0 /\ -__disjvr_28^post57+__disjvr_28^0 == 0 /\ x_14^0-x_14^post57 == 0 /\ -__disjvr_4^post57+__disjvr_4^0 == 0 /\ i_125^0-i_125^post57 == 0 /\ a_305^0-a_305^post57 == 0 /\ -fmt_31^post57+fmt_31^0 == 0 /\ r_161^0-r_161^post57 == 0 /\ y_19^0-y_19^post57 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post57+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ __disjvr_29^0-__disjvr_29^post57 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post57+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ i_108^0-i_108^post57 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0 /\ -rcd_102^post57+rcd_102^0 == 0 /\ -__disjvr_10^post57+__disjvr_10^0 == 0 /\ -__disjvr_26^post57+__disjvr_26^0 == 0 /\ -len_180^post57+len_180^0 == 0 /\ -__disjvr_23^post57+__disjvr_23^0 == 0 /\ head_46^0-head_46^post57 == 0 /\ -__disjvr_25^post57+__disjvr_25^0 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post57+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -__disjvr_1^post57+__disjvr_1^0 == 0 /\ result_11^0-result_11^post57 == 0 /\ a_26^0-a_26^post57 == 0 /\ __disjvr_9^0-__disjvr_9^post57 == 0 /\ -temp_49^post57+temp_49^0 == 0 /\ __disjvr_21^0-__disjvr_21^post57 == 0 /\ x_16^0-x_16^post57 == 0), cost: 1
  58: l54 -> l55 : __disjvr_0^0'=__disjvr_0^post58, a_283^0'=a_283^post58, temp0_45^0'=temp0_45^post58, __disjvr_21^0'=__disjvr_21^post58, y_19^0'=y_19^post58, __disjvr_4^0'=__disjvr_4^post58, result_11^0'=result_11^post58, __disjvr_14^0'=__disjvr_14^post58, head_46^0'=head_46^post58, __disjvr_24^0'=__disjvr_24^post58, x_177^0'=x_177^post58, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post58, __disjvr_9^0'=__disjvr_9^post58, a_197^0'=a_197^post58, t_23^0'=t_23^post58, __disjvr_19^0'=__disjvr_19^post58, len_246^0'=len_246^post58, __disjvr_29^0'=__disjvr_29^post58, x_SLAM_f_18^0'=x_SLAM_f_18^post58, r_53^0'=r_53^post58, __disjvr_11^0'=__disjvr_11^post58, a_328^0'=a_328^post58, tmp_48^0'=tmp_48^post58, lt_36^0'=lt_36^post58, __disjvr_6^0'=__disjvr_6^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, __disjvr_16^0'=__disjvr_16^post58, i_125^0'=i_125^post58, __disjvr_26^0'=__disjvr_26^post58, x_238^0'=x_238^post58, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post58, a_26^0'=a_26^post58, temp0_32^0'=temp0_32^post58, __disjvr_20^0'=__disjvr_20^post58, lt_237^0'=lt_237^post58, __disjvr_3^0'=__disjvr_3^post58, rcd_72^0'=rcd_72^post58, __disjvr_13^0'=__disjvr_13^post58, fmt_31^0'=fmt_31^post58, __disjvr_23^0'=__disjvr_23^post58, x_16^0'=x_16^post58, nondet_12^0'=nondet_12^post58, __disjvr_8^0'=__disjvr_8^post58, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post58, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post58, __disjvr_18^0'=__disjvr_18^post58, len_180^0'=len_180^post58, __disjvr_28^0'=__disjvr_28^post58, x_34^0'=x_34^post58, r_161^0'=r_161^post58, __disjvr_10^0'=__disjvr_10^post58, a_305^0'=a_305^post58, temp_49^0'=temp_49^post58, __disjvr_22^0'=__disjvr_22^post58, __disjvr_5^0'=__disjvr_5^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post58, __disjvr_15^0'=__disjvr_15^post58, i_108^0'=i_108^post58, __disjvr_25^0'=__disjvr_25^post58, x_20^0'=x_20^post58, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post58, a_146^0'=a_146^post58, a_247^0'=a_247^post58, temp0_15^0'=temp0_15^post58, __disjvr_1^0'=__disjvr_1^post58, length_43^0'=length_43^post58, __disjvr_2^0'=__disjvr_2^post58, rcd_102^0'=rcd_102^post58, __disjvr_12^0'=__disjvr_12^post58, ct_17^0'=ct_17^post58, x_14^0'=x_14^post58, lt_37^0'=lt_37^post58, __disjvr_7^0'=__disjvr_7^post58, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post58, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post58, __disjvr_17^0'=__disjvr_17^post58, i_44^0'=i_44^post58, __disjvr_27^0'=__disjvr_27^post58, x_28^0'=x_28^post58, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post58, (__disjvr_6^0-__disjvr_6^post58 == 0 /\ -__disjvr_27^post58+__disjvr_27^0 == 0 /\ -__disjvr_17^post58+__disjvr_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post58 == 0 /\ rcd_72^0-rcd_72^post58 == 0 /\ r_53^0-r_53^post58 == 0 /\ -length_43^post58+length_43^0 == 0 /\ temp_49^0-temp_49^post58 == 0 /\ -nondet_12^post58+nondet_12^0 == 0 /\ a_197^0-a_197^post58 == 0 /\ -ct_17^post58+ct_17^0 == 0 /\ __disjvr_2^0-__disjvr_2^post58 == 0 /\ -__disjvr_20^post58+__disjvr_20^0 == 0 /\ __disjvr_24^0-__disjvr_24^post58 == 0 /\ a_283^0-a_283^post58 == 0 /\ a_328^0-a_328^post58 == 0 /\ -__disjvr_13^post58+__disjvr_13^0 == 0 /\ __disjvr_10^0-__disjvr_10^post58 == 0 /\ -x_14^post58+x_14^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post58 == 0 /\ len_246^0-len_246^post58 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post58 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post58+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_5^post58+__disjvr_5^0 == 0 /\ -__disjvr_7^post58+__disjvr_7^0 == 0 /\ head_46^0-head_46^post58 == 0 /\ __disjvr_12^0-__disjvr_12^post58 == 0 /\ __disjvr_29^0-__disjvr_29^post58 == 0 /\ -a_305^post58+a_305^0 == 0 /\ a_247^0-a_247^post58 == 0 /\ -__disjvr_8^post58+__disjvr_8^0 == 0 /\ -a_146^post58+a_146^0 == 0 /\ -lt_36^post58+lt_36^0 == 0 /\ __disjvr_16^0-__disjvr_16^post58 == 0 /\ fmt_31^0-fmt_31^post58 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post58 == 0 /\ __disjvr_0^0-__disjvr_0^post58 == 0 /\ x_34^0-x_34^post58 == 0 /\ __disjvr_9^0-__disjvr_9^post58 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ a_26^0-a_26^post58 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post58 == 0 /\ temp0_45^0-temp0_45^post58 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post58 == 0 /\ -x_16^post58+x_16^0 == 0 /\ -__disjvr_26^post58+__disjvr_26^0 == 0 /\ -__disjvr_28^post58+__disjvr_28^0 == 0 /\ -__disjvr_18^post58+__disjvr_18^0 == 0 /\ __disjvr_25^post58-__disjvr_25^0 == 0 /\ result_11^0-result_11^post58 == 0 /\ x_238^0-x_238^post58 == 0 /\ -x_28^post58+x_28^0 == 0 /\ __disjvr_23^0-__disjvr_23^post58 == 0 /\ -rcd_102^post58+rcd_102^0 == 0 /\ -temp0_15^post58+temp0_15^0 == 0 /\ t_23^0-t_23^post58 == 0 /\ -i_108^post58+i_108^0 == 0 /\ y_19^0-y_19^post58 == 0 /\ -lt_37^post58+lt_37^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post58+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -i_44^post58+i_44^0 == 0 /\ -__disjvr_22^post58+__disjvr_22^0 == 0 /\ __disjvr_4^0-__disjvr_4^post58 == 0 /\ -r_161^post58+r_161^0 == 0 /\ __disjvr_19^0-__disjvr_19^post58 == 0 /\ __disjvr_3^0-__disjvr_3^post58 == 0 /\ x_20^0-x_20^post58 == 0 /\ -len_180^post58+len_180^0 == 0 /\ temp0_32^0-temp0_32^post58 == 0 /\ -__disjvr_25^post58+__disjvr_25^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post58+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_21^0-__disjvr_21^post58 == 0 /\ __disjvr_11^0-__disjvr_11^post58 == 0 /\ -tmp_48^post58+tmp_48^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post58+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -__disjvr_15^post58+__disjvr_15^0 == 0 /\ -lt_237^post58+lt_237^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post58+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_125^post58+i_125^0 == 0 /\ -__disjvr_1^post58+__disjvr_1^0 == 0 /\ x_177^0-x_177^post58 == 0), cost: 1
  59: l55 -> l40 : __disjvr_0^0'=__disjvr_0^post59, a_283^0'=a_283^post59, temp0_45^0'=temp0_45^post59, __disjvr_21^0'=__disjvr_21^post59, y_19^0'=y_19^post59, __disjvr_4^0'=__disjvr_4^post59, result_11^0'=result_11^post59, __disjvr_14^0'=__disjvr_14^post59, head_46^0'=head_46^post59, __disjvr_24^0'=__disjvr_24^post59, x_177^0'=x_177^post59, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post59, __disjvr_9^0'=__disjvr_9^post59, a_197^0'=a_197^post59, t_23^0'=t_23^post59, __disjvr_19^0'=__disjvr_19^post59, len_246^0'=len_246^post59, __disjvr_29^0'=__disjvr_29^post59, x_SLAM_f_18^0'=x_SLAM_f_18^post59, r_53^0'=r_53^post59, __disjvr_11^0'=__disjvr_11^post59, a_328^0'=a_328^post59, tmp_48^0'=tmp_48^post59, lt_36^0'=lt_36^post59, __disjvr_6^0'=__disjvr_6^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, __disjvr_16^0'=__disjvr_16^post59, i_125^0'=i_125^post59, __disjvr_26^0'=__disjvr_26^post59, x_238^0'=x_238^post59, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post59, a_26^0'=a_26^post59, temp0_32^0'=temp0_32^post59, __disjvr_20^0'=__disjvr_20^post59, lt_237^0'=lt_237^post59, __disjvr_3^0'=__disjvr_3^post59, rcd_72^0'=rcd_72^post59, __disjvr_13^0'=__disjvr_13^post59, fmt_31^0'=fmt_31^post59, __disjvr_23^0'=__disjvr_23^post59, x_16^0'=x_16^post59, nondet_12^0'=nondet_12^post59, __disjvr_8^0'=__disjvr_8^post59, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post59, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post59, __disjvr_18^0'=__disjvr_18^post59, len_180^0'=len_180^post59, __disjvr_28^0'=__disjvr_28^post59, x_34^0'=x_34^post59, r_161^0'=r_161^post59, __disjvr_10^0'=__disjvr_10^post59, a_305^0'=a_305^post59, temp_49^0'=temp_49^post59, __disjvr_22^0'=__disjvr_22^post59, __disjvr_5^0'=__disjvr_5^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post59, __disjvr_15^0'=__disjvr_15^post59, i_108^0'=i_108^post59, __disjvr_25^0'=__disjvr_25^post59, x_20^0'=x_20^post59, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post59, a_146^0'=a_146^post59, a_247^0'=a_247^post59, temp0_15^0'=temp0_15^post59, __disjvr_1^0'=__disjvr_1^post59, length_43^0'=length_43^post59, __disjvr_2^0'=__disjvr_2^post59, rcd_102^0'=rcd_102^post59, __disjvr_12^0'=__disjvr_12^post59, ct_17^0'=ct_17^post59, x_14^0'=x_14^post59, lt_37^0'=lt_37^post59, __disjvr_7^0'=__disjvr_7^post59, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post59, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post59, __disjvr_17^0'=__disjvr_17^post59, i_44^0'=i_44^post59, __disjvr_27^0'=__disjvr_27^post59, x_28^0'=x_28^post59, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post59, (__disjvr_14^0-__disjvr_14^post59 == 0 /\ __disjvr_5^0-__disjvr_5^post59 == 0 /\ __disjvr_24^0-__disjvr_24^post59 == 0 /\ y_19^0-y_19^post59 == 0 /\ result_11^0-result_11^post59 == 0 /\ temp0_45^0-temp0_45^post59 == 0 /\ -rcd_72^post59+rcd_72^0 == 0 /\ -__disjvr_27^post59+__disjvr_27^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post59+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ temp_49^0-temp_49^post59 == 0 /\ -x_238^post59+x_238^0 == 0 /\ -i_44^post59+i_44^0 == 0 /\ tmp_48^0-tmp_48^post59 == 0 /\ -__disjvr_15^post59+__disjvr_15^0 == 0 /\ -lt_36^post59+lt_36^0 == 0 /\ r_161^0-r_161^post59 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post59 == 0 /\ -__disjvr_23^post59+__disjvr_23^0 == 0 /\ -a_247^post59+a_247^0 == 0 /\ __disjvr_26^0-__disjvr_26^post59 == 0 /\ -__disjvr_25^post59+__disjvr_25^0 == 0 /\ __disjvr_8^0-__disjvr_8^post59 == 0 /\ __disjvr_21^0-__disjvr_21^post59 == 0 /\ head_46^0-head_46^post59 == 0 /\ -x_14^post59+x_14^0 == 0 /\ __disjvr_18^0-__disjvr_18^post59 == 0 /\ a_146^0-a_146^post59 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post59 == 0 /\ __disjvr_3^0-__disjvr_3^post59 == 0 /\ -temp0_32^post59+temp0_32^0 == 0 /\ -temp0_15^post59+temp0_15^0 == 0 /\ -__disjvr_29^post59+__disjvr_29^0 == 0 /\ __disjvr_6^0-__disjvr_6^post59 == 0 /\ -__disjvr_17^post59+__disjvr_17^0 == 0 /\ -__disjvr_2^post59+__disjvr_2^0 == 0 /\ -__disjvr_7^post59+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post59 == 0 /\ x_16^0-x_16^post59 == 0 /\ -a_305^post59+a_305^0 == 0 /\ -a_197^post59+a_197^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post59 == 0 /\ a_26^0-a_26^post59 == 0 /\ x_34^0-x_34^post59 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post59 == 0 /\ -__disjvr_28^post59+__disjvr_28^0 == 0 /\ -fmt_31^post59+fmt_31^0 == 0 /\ -__disjvr_16^post59+__disjvr_16^0 == 0 /\ lt_237^0-lt_237^post59 == 0 /\ -__disjvr_12^post59+__disjvr_12^0 == 0 /\ __disjvr_13^0-__disjvr_13^post59 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post59+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post59+__disjvr_1^0 == 0 /\ __disjvr_4^0-__disjvr_4^post59 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_20^0-x_20^post59 == 0 /\ -rcd_102^post59+rcd_102^0 == 0 /\ __disjvr_9^0-__disjvr_9^post59 == 0 /\ -lt_37^post59+lt_37^0 == 0 /\ __disjvr_22^0-__disjvr_22^post59 == 0 /\ -__disjvr_10^post59+__disjvr_10^0 == 0 /\ -len_180^post59+len_180^0 == 0 /\ a_283^0-a_283^post59 == 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ t_23^0-t_23^post59 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post59+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ i_125^0-i_125^post59 == 0 /\ __disjvr_19^0-__disjvr_19^post59 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_328^0-a_328^post59 == 0 /\ -length_43^post59+length_43^0 == 0 /\ r_53^0-r_53^post59 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_11^0-__disjvr_11^post59 == 0 /\ __disjvr_0^0-__disjvr_0^post59 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post59 == 0 /\ -ct_17^post59+ct_17^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post59+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -len_246^post59+len_246^0 == 0 /\ -i_108^post59+i_108^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post59+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -x_28^post59+x_28^0 == 0 /\ x_177^0-x_177^post59 == 0), cost: 1
  62: l57 -> l58 : __disjvr_0^0'=__disjvr_0^post62, a_283^0'=a_283^post62, temp0_45^0'=temp0_45^post62, __disjvr_21^0'=__disjvr_21^post62, y_19^0'=y_19^post62, __disjvr_4^0'=__disjvr_4^post62, result_11^0'=result_11^post62, __disjvr_14^0'=__disjvr_14^post62, head_46^0'=head_46^post62, __disjvr_24^0'=__disjvr_24^post62, x_177^0'=x_177^post62, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post62, __disjvr_9^0'=__disjvr_9^post62, a_197^0'=a_197^post62, t_23^0'=t_23^post62, __disjvr_19^0'=__disjvr_19^post62, len_246^0'=len_246^post62, __disjvr_29^0'=__disjvr_29^post62, x_SLAM_f_18^0'=x_SLAM_f_18^post62, r_53^0'=r_53^post62, __disjvr_11^0'=__disjvr_11^post62, a_328^0'=a_328^post62, tmp_48^0'=tmp_48^post62, lt_36^0'=lt_36^post62, __disjvr_6^0'=__disjvr_6^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, __disjvr_16^0'=__disjvr_16^post62, i_125^0'=i_125^post62, __disjvr_26^0'=__disjvr_26^post62, x_238^0'=x_238^post62, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post62, a_26^0'=a_26^post62, temp0_32^0'=temp0_32^post62, __disjvr_20^0'=__disjvr_20^post62, lt_237^0'=lt_237^post62, __disjvr_3^0'=__disjvr_3^post62, rcd_72^0'=rcd_72^post62, __disjvr_13^0'=__disjvr_13^post62, fmt_31^0'=fmt_31^post62, __disjvr_23^0'=__disjvr_23^post62, x_16^0'=x_16^post62, nondet_12^0'=nondet_12^post62, __disjvr_8^0'=__disjvr_8^post62, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post62, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post62, __disjvr_18^0'=__disjvr_18^post62, len_180^0'=len_180^post62, __disjvr_28^0'=__disjvr_28^post62, x_34^0'=x_34^post62, r_161^0'=r_161^post62, __disjvr_10^0'=__disjvr_10^post62, a_305^0'=a_305^post62, temp_49^0'=temp_49^post62, __disjvr_22^0'=__disjvr_22^post62, __disjvr_5^0'=__disjvr_5^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post62, __disjvr_15^0'=__disjvr_15^post62, i_108^0'=i_108^post62, __disjvr_25^0'=__disjvr_25^post62, x_20^0'=x_20^post62, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post62, a_146^0'=a_146^post62, a_247^0'=a_247^post62, temp0_15^0'=temp0_15^post62, __disjvr_1^0'=__disjvr_1^post62, length_43^0'=length_43^post62, __disjvr_2^0'=__disjvr_2^post62, rcd_102^0'=rcd_102^post62, __disjvr_12^0'=__disjvr_12^post62, ct_17^0'=ct_17^post62, x_14^0'=x_14^post62, lt_37^0'=lt_37^post62, __disjvr_7^0'=__disjvr_7^post62, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post62, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post62, __disjvr_17^0'=__disjvr_17^post62, i_44^0'=i_44^post62, __disjvr_27^0'=__disjvr_27^post62, x_28^0'=x_28^post62, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post62, (r_161^0-r_161^post62 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post62 == 0 /\ __disjvr_26^0-__disjvr_26^post62 == 0 /\ __disjvr_23^0-__disjvr_23^post62 == 0 /\ __disjvr_0^0-__disjvr_0^post62 == 0 /\ lt_36^0-lt_36^post62 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post62+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_22^0-__disjvr_22^post62 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post62+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -temp0_15^post62+temp0_15^0 == 0 /\ -__disjvr_6^post62+__disjvr_6^0 == 0 /\ x_177^0-x_177^post62 == 0 /\ result_11^0-result_11^post62 == 0 /\ -__disjvr_8^post62+__disjvr_8^0 == 0 /\ -x_28^post62+x_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post62 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post62+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post62+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_9^0-__disjvr_9^post62 == 0 /\ temp0_45^0-temp0_45^post62 == 0 /\ -__disjvr_2^post62+__disjvr_2^0 == 0 /\ -temp_49^post62+temp_49^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post62 == 0 /\ tmp_48^0-tmp_48^post62 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ __disjvr_20^0-__disjvr_20^post62 == 0 /\ -__disjvr_28^post62+__disjvr_28^0 == 0 /\ -__disjvr_27^post62+__disjvr_27^0 == 0 /\ -__disjvr_12^post62+__disjvr_12^0 == 0 /\ -__disjvr_26^0+__disjvr_26^post62 == 0 /\ y_19^0-y_19^post62 == 0 /\ -rcd_72^post62+rcd_72^0 == 0 /\ -__disjvr_16^post62+__disjvr_16^0 == 0 /\ -x_14^post62+x_14^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post62+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post62+__disjvr_1^0 == 0 /\ __disjvr_14^0-__disjvr_14^post62 == 0 /\ a_146^0-a_146^post62 == 0 /\ -i_44^post62+i_44^0 == 0 /\ -rcd_102^post62+rcd_102^0 == 0 /\ __disjvr_18^0-__disjvr_18^post62 == 0 /\ -__disjvr_25^post62+__disjvr_25^0 == 0 /\ -__disjvr_10^post62+__disjvr_10^0 == 0 /\ -len_180^post62+len_180^0 == 0 /\ __disjvr_3^0-__disjvr_3^post62 == 0 /\ x_238^0-x_238^post62 == 0 /\ __disjvr_13^0-__disjvr_13^post62 == 0 /\ __disjvr_4^0-__disjvr_4^post62 == 0 /\ -__disjvr_5^post62+__disjvr_5^0 == 0 /\ x_16^0-x_16^post62 == 0 /\ -a_305^post62+a_305^0 == 0 /\ x_20^0-x_20^post62 == 0 /\ -__disjvr_24^post62+__disjvr_24^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post62 == 0 /\ -temp0_32^post62+temp0_32^0 == 0 /\ -length_43^post62+length_43^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post62 == 0 /\ t_23^0-t_23^post62 == 0 /\ a_26^0-a_26^post62 == 0 /\ __disjvr_21^0-__disjvr_21^post62 == 0 /\ -__disjvr_7^post62+__disjvr_7^0 == 0 /\ -__disjvr_29^post62+__disjvr_29^0 == 0 /\ -a_197^post62+a_197^0 == 0 /\ -x_34^post62+x_34^0 == 0 /\ -__disjvr_17^post62+__disjvr_17^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post62 == 0 /\ -a_247^post62+a_247^0 == 0 /\ -fmt_31^post62+fmt_31^0 == 0 /\ __disjvr_11^0-__disjvr_11^post62 == 0 /\ -len_246^post62+len_246^0 == 0 /\ -i_108^post62+i_108^0 == 0 /\ a_283^0-a_283^post62 == 0 /\ -ct_17^post62+ct_17^0 == 0 /\ -head_46^post62+head_46^0 == 0 /\ r_53^0-r_53^post62 == 0 /\ __disjvr_15^0-__disjvr_15^post62 == 0 /\ lt_237^0-lt_237^post62 == 0 /\ i_125^0-i_125^post62 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post62+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ a_328^0-a_328^post62 == 0 /\ -lt_37^post62+lt_37^0 == 0), cost: 1
  63: l58 -> l59 : __disjvr_0^0'=__disjvr_0^post63, a_283^0'=a_283^post63, temp0_45^0'=temp0_45^post63, __disjvr_21^0'=__disjvr_21^post63, y_19^0'=y_19^post63, __disjvr_4^0'=__disjvr_4^post63, result_11^0'=result_11^post63, __disjvr_14^0'=__disjvr_14^post63, head_46^0'=head_46^post63, __disjvr_24^0'=__disjvr_24^post63, x_177^0'=x_177^post63, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post63, __disjvr_9^0'=__disjvr_9^post63, a_197^0'=a_197^post63, t_23^0'=t_23^post63, __disjvr_19^0'=__disjvr_19^post63, len_246^0'=len_246^post63, __disjvr_29^0'=__disjvr_29^post63, x_SLAM_f_18^0'=x_SLAM_f_18^post63, r_53^0'=r_53^post63, __disjvr_11^0'=__disjvr_11^post63, a_328^0'=a_328^post63, tmp_48^0'=tmp_48^post63, lt_36^0'=lt_36^post63, __disjvr_6^0'=__disjvr_6^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, __disjvr_16^0'=__disjvr_16^post63, i_125^0'=i_125^post63, __disjvr_26^0'=__disjvr_26^post63, x_238^0'=x_238^post63, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post63, a_26^0'=a_26^post63, temp0_32^0'=temp0_32^post63, __disjvr_20^0'=__disjvr_20^post63, lt_237^0'=lt_237^post63, __disjvr_3^0'=__disjvr_3^post63, rcd_72^0'=rcd_72^post63, __disjvr_13^0'=__disjvr_13^post63, fmt_31^0'=fmt_31^post63, __disjvr_23^0'=__disjvr_23^post63, x_16^0'=x_16^post63, nondet_12^0'=nondet_12^post63, __disjvr_8^0'=__disjvr_8^post63, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post63, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post63, __disjvr_18^0'=__disjvr_18^post63, len_180^0'=len_180^post63, __disjvr_28^0'=__disjvr_28^post63, x_34^0'=x_34^post63, r_161^0'=r_161^post63, __disjvr_10^0'=__disjvr_10^post63, a_305^0'=a_305^post63, temp_49^0'=temp_49^post63, __disjvr_22^0'=__disjvr_22^post63, __disjvr_5^0'=__disjvr_5^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post63, __disjvr_15^0'=__disjvr_15^post63, i_108^0'=i_108^post63, __disjvr_25^0'=__disjvr_25^post63, x_20^0'=x_20^post63, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post63, a_146^0'=a_146^post63, a_247^0'=a_247^post63, temp0_15^0'=temp0_15^post63, __disjvr_1^0'=__disjvr_1^post63, length_43^0'=length_43^post63, __disjvr_2^0'=__disjvr_2^post63, rcd_102^0'=rcd_102^post63, __disjvr_12^0'=__disjvr_12^post63, ct_17^0'=ct_17^post63, x_14^0'=x_14^post63, lt_37^0'=lt_37^post63, __disjvr_7^0'=__disjvr_7^post63, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post63, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post63, __disjvr_17^0'=__disjvr_17^post63, i_44^0'=i_44^post63, __disjvr_27^0'=__disjvr_27^post63, x_28^0'=x_28^post63, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post63, (0 == 0 /\ -i_108^post63+i_108^0 == 0 /\ -__disjvr_1^post63+__disjvr_1^0 == 0 /\ y_19^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post63 == 0 /\ __disjvr_22^0-__disjvr_22^post63 == 0 /\ -__disjvr_2^post63+__disjvr_2^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post63+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -x_16^post63+x_16^0 == 0 /\ __disjvr_16^0-__disjvr_16^post63 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ -__disjvr_10^post63+__disjvr_10^0 == 0 /\ -fmt_31^post63+fmt_31^0 == 0 /\ -__disjvr_12^post63+__disjvr_12^0 == 0 /\ x_16^0-x_14^0 <= 0 /\ -1-a_328^post63+a_305^0 <= 0 /\ x_177^0-x_177^post63 == 0 /\ -a_146^post63+a_146^0 == 0 /\ -x_28^post63+x_28^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post63 == 0 /\ -__disjvr_28^post63+__disjvr_28^0 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post63 == 0 /\ -temp0_15^post63+temp0_15^0 == 0 /\ temp0_45^0-temp0_45^post63 == 0 /\ a_26^0-a_26^post63 == 0 /\ -__disjvr_23^post63+__disjvr_23^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post63+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -len_180^post63+len_180^0 == 0 /\ y_19^0-y_19^post63 == 0 /\ -y_19^0 <= 0 /\ ct_17^0-ct_17^post63 == 0 /\ len_246^0-len_246^post63 == 0 /\ __disjvr_11^0-__disjvr_11^post63 == 0 /\ -r_53^post63+r_53^0 == 0 /\ -rcd_102^post63+rcd_102^0 == 0 /\ __disjvr_9^0-__disjvr_9^post63 == 0 /\ y_19^0-ct_17^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post63 == 0 /\ __disjvr_18^0-__disjvr_18^post63 == 0 /\ -x_16^0+x_14^0 <= 0 /\ -r_161^post63+r_161^0 == 0 /\ __disjvr_14^0-__disjvr_14^post63 == 0 /\ -i_44^post63+i_44^0 == 0 /\ lt_237^0-lt_237^post63 == 0 /\ -__disjvr_20^post63+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post63+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -length_43^post63+length_43^0 == 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ i_125^0-i_125^post63 == 0 /\ -x_34^post63+x_34^0 == 0 /\ __disjvr_19^0-__disjvr_19^post63 == 0 /\ __disjvr_8^0-__disjvr_8^post63 == 0 /\ -temp_49^post63+temp_49^0 == 0 /\ -x_14^post63+x_14^0 == 0 /\ -__disjvr_5^post63+__disjvr_5^0 == 0 /\ __disjvr_26^0-__disjvr_26^post63 == 0 /\ __disjvr_29^0-__disjvr_29^post63 == 0 /\ head_46^0-head_46^post63 == 0 /\ __disjvr_21^0-__disjvr_21^post63 == 0 /\ 1+a_328^post63-a_305^0 <= 0 /\ lt_36^0-lt_36^post63 == 0 /\ rcd_72^0-rcd_72^post63 == 0 /\ temp0_32^0-temp0_32^post63 == 0 /\ -__disjvr_27^post63+__disjvr_27^0 == 0 /\ -__disjvr_17^post63+__disjvr_17^0 == 0 /\ -x_SLAM_f_18^0+x_14^0 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post63+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post63 == 0 /\ -__disjvr_7^post63+__disjvr_7^0 == 0 /\ -x_20^post63+x_20^0 == 0 /\ __disjvr_25^0-__disjvr_25^post63 == 0 /\ -a_305^post63+a_305^0 == 0 /\ a_197^0-a_197^post63 == 0 /\ a_283^0-a_283^post63 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post63+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ tmp_48^0-tmp_48^post63 == 0 /\ result_11^0-result_11^post63 == 0 /\ ct_17^0 <= 0 /\ -x_SLAM_f_18^post63+x_SLAM_f_18^0 == 0 /\ -ct_17^0 <= 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post63 == 0 /\ -lt_37^post63+lt_37^0 == 0 /\ -nondet_12^post63+nondet_12^0 == 0 /\ -__disjvr_3^post63+__disjvr_3^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post63 == 0 /\ -a_247^post63+a_247^0 == 0 /\ __disjvr_4^0-__disjvr_4^post63 == 0 /\ x_238^0-x_238^post63 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post63 == 0 /\ __disjvr_13^0-__disjvr_13^post63 == 0 /\ t_23^post63-x_20^0 == 0 /\ __disjvr_15^0-__disjvr_15^post63 == 0 /\ x_SLAM_f_18^0-x_14^0 <= 0), cost: 1
  64: l59 -> l60 : __disjvr_0^0'=__disjvr_0^post64, a_283^0'=a_283^post64, temp0_45^0'=temp0_45^post64, __disjvr_21^0'=__disjvr_21^post64, y_19^0'=y_19^post64, __disjvr_4^0'=__disjvr_4^post64, result_11^0'=result_11^post64, __disjvr_14^0'=__disjvr_14^post64, head_46^0'=head_46^post64, __disjvr_24^0'=__disjvr_24^post64, x_177^0'=x_177^post64, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post64, __disjvr_9^0'=__disjvr_9^post64, a_197^0'=a_197^post64, t_23^0'=t_23^post64, __disjvr_19^0'=__disjvr_19^post64, len_246^0'=len_246^post64, __disjvr_29^0'=__disjvr_29^post64, x_SLAM_f_18^0'=x_SLAM_f_18^post64, r_53^0'=r_53^post64, __disjvr_11^0'=__disjvr_11^post64, a_328^0'=a_328^post64, tmp_48^0'=tmp_48^post64, lt_36^0'=lt_36^post64, __disjvr_6^0'=__disjvr_6^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, __disjvr_16^0'=__disjvr_16^post64, i_125^0'=i_125^post64, __disjvr_26^0'=__disjvr_26^post64, x_238^0'=x_238^post64, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post64, a_26^0'=a_26^post64, temp0_32^0'=temp0_32^post64, __disjvr_20^0'=__disjvr_20^post64, lt_237^0'=lt_237^post64, __disjvr_3^0'=__disjvr_3^post64, rcd_72^0'=rcd_72^post64, __disjvr_13^0'=__disjvr_13^post64, fmt_31^0'=fmt_31^post64, __disjvr_23^0'=__disjvr_23^post64, x_16^0'=x_16^post64, nondet_12^0'=nondet_12^post64, __disjvr_8^0'=__disjvr_8^post64, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post64, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post64, __disjvr_18^0'=__disjvr_18^post64, len_180^0'=len_180^post64, __disjvr_28^0'=__disjvr_28^post64, x_34^0'=x_34^post64, r_161^0'=r_161^post64, __disjvr_10^0'=__disjvr_10^post64, a_305^0'=a_305^post64, temp_49^0'=temp_49^post64, __disjvr_22^0'=__disjvr_22^post64, __disjvr_5^0'=__disjvr_5^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post64, __disjvr_15^0'=__disjvr_15^post64, i_108^0'=i_108^post64, __disjvr_25^0'=__disjvr_25^post64, x_20^0'=x_20^post64, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post64, a_146^0'=a_146^post64, a_247^0'=a_247^post64, temp0_15^0'=temp0_15^post64, __disjvr_1^0'=__disjvr_1^post64, length_43^0'=length_43^post64, __disjvr_2^0'=__disjvr_2^post64, rcd_102^0'=rcd_102^post64, __disjvr_12^0'=__disjvr_12^post64, ct_17^0'=ct_17^post64, x_14^0'=x_14^post64, lt_37^0'=lt_37^post64, __disjvr_7^0'=__disjvr_7^post64, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post64, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post64, __disjvr_17^0'=__disjvr_17^post64, i_44^0'=i_44^post64, __disjvr_27^0'=__disjvr_27^post64, x_28^0'=x_28^post64, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post64, (-__disjvr_28^post64+__disjvr_28^0 == 0 /\ i_125^0-i_125^post64 == 0 /\ -__disjvr_10^post64+__disjvr_10^0 == 0 /\ -__disjvr_1^post64+__disjvr_1^0 == 0 /\ length_43^0-length_43^post64 == 0 /\ a_247^0-a_247^post64 == 0 /\ -x_28^post64+x_28^0 == 0 /\ head_46^0-head_46^post64 == 0 /\ __disjvr_21^0-__disjvr_21^post64 == 0 /\ -rcd_102^post64+rcd_102^0 == 0 /\ -r_161^post64+r_161^0 == 0 /\ __disjvr_11^0-__disjvr_11^post64 == 0 /\ -lt_37^post64+lt_37^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post64 == 0 /\ a_197^0-a_197^post64 == 0 /\ -__disjvr_12^post64+__disjvr_12^0 == 0 /\ __disjvr_6^0-__disjvr_6^post64 == 0 /\ __disjvr_16^0-__disjvr_16^post64 == 0 /\ -temp0_15^post64+temp0_15^0 == 0 /\ -__disjvr_26^post64+__disjvr_26^0 == 0 /\ rcd_72^0-rcd_72^post64 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post64+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post64+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_2^0-__disjvr_2^post64 == 0 /\ r_53^0-r_53^post64 == 0 /\ result_11^0-result_11^post64 == 0 /\ -i_44^post64+i_44^0 == 0 /\ lt_237^0-lt_237^post64 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post64+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_26^0-a_26^post64 == 0 /\ a_283^0-a_283^post64 == 0 /\ -x_34^post64+x_34^0 == 0 /\ __disjvr_23^0-__disjvr_23^post64 == 0 /\ len_180^0-len_180^post64 == 0 /\ -fmt_31^post64+fmt_31^0 == 0 /\ len_246^0-len_246^post64 == 0 /\ -__disjvr_22^post64+__disjvr_22^0 == 0 /\ __disjvr_4^0-__disjvr_4^post64 == 0 /\ temp0_32^0-temp0_32^post64 == 0 /\ __disjvr_0^0-__disjvr_0^post64 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post64+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -x_14^post64+x_14^0 == 0 /\ -lt_36^post64+lt_36^0 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post64 == 0 /\ -__disjvr_13^post64+__disjvr_13^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post64+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post64 == 0 /\ x_177^0-x_177^post64 == 0 /\ -__disjvr_20^post64+__disjvr_20^0 == 0 /\ __disjvr_25^0-__disjvr_25^post64 == 0 /\ __disjvr_27^post64-__disjvr_27^0 == 0 /\ -temp_49^post64+temp_49^0 == 0 /\ -__disjvr_15^post64+__disjvr_15^0 == 0 /\ -ct_17^post64+ct_17^0 == 0 /\ -t_23^post64+t_23^0 == 0 /\ temp0_45^0-temp0_45^post64 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post64 == 0 /\ __disjvr_17^0-__disjvr_17^post64 == 0 /\ -__disjvr_8^post64+__disjvr_8^0 == 0 /\ i_108^0-i_108^post64 == 0 /\ x_238^0-x_238^post64 == 0 /\ y_19^0-y_19^post64 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post64+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_16^post64+x_16^0 == 0 /\ __disjvr_14^0-__disjvr_14^post64 == 0 /\ -x_20^post64+x_20^0 == 0 /\ -__disjvr_5^post64+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post64 == 0 /\ -a_146^post64+a_146^0 == 0 /\ __disjvr_19^0-__disjvr_19^post64 == 0 /\ -__disjvr_27^post64+__disjvr_27^0 == 0 /\ a_305^0-a_305^post64 == 0 /\ __disjvr_3^0-__disjvr_3^post64 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post64+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ tmp_48^0-tmp_48^post64 == 0 /\ -a_328^post64+a_328^0 == 0 /\ -__disjvr_7^post64+__disjvr_7^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post64 == 0 /\ __disjvr_24^0-__disjvr_24^post64 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post64 == 0), cost: 1
  65: l60 -> l61 : __disjvr_0^0'=__disjvr_0^post65, a_283^0'=a_283^post65, temp0_45^0'=temp0_45^post65, __disjvr_21^0'=__disjvr_21^post65, y_19^0'=y_19^post65, __disjvr_4^0'=__disjvr_4^post65, result_11^0'=result_11^post65, __disjvr_14^0'=__disjvr_14^post65, head_46^0'=head_46^post65, __disjvr_24^0'=__disjvr_24^post65, x_177^0'=x_177^post65, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post65, __disjvr_9^0'=__disjvr_9^post65, a_197^0'=a_197^post65, t_23^0'=t_23^post65, __disjvr_19^0'=__disjvr_19^post65, len_246^0'=len_246^post65, __disjvr_29^0'=__disjvr_29^post65, x_SLAM_f_18^0'=x_SLAM_f_18^post65, r_53^0'=r_53^post65, __disjvr_11^0'=__disjvr_11^post65, a_328^0'=a_328^post65, tmp_48^0'=tmp_48^post65, lt_36^0'=lt_36^post65, __disjvr_6^0'=__disjvr_6^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, __disjvr_16^0'=__disjvr_16^post65, i_125^0'=i_125^post65, __disjvr_26^0'=__disjvr_26^post65, x_238^0'=x_238^post65, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post65, a_26^0'=a_26^post65, temp0_32^0'=temp0_32^post65, __disjvr_20^0'=__disjvr_20^post65, lt_237^0'=lt_237^post65, __disjvr_3^0'=__disjvr_3^post65, rcd_72^0'=rcd_72^post65, __disjvr_13^0'=__disjvr_13^post65, fmt_31^0'=fmt_31^post65, __disjvr_23^0'=__disjvr_23^post65, x_16^0'=x_16^post65, nondet_12^0'=nondet_12^post65, __disjvr_8^0'=__disjvr_8^post65, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post65, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post65, __disjvr_18^0'=__disjvr_18^post65, len_180^0'=len_180^post65, __disjvr_28^0'=__disjvr_28^post65, x_34^0'=x_34^post65, r_161^0'=r_161^post65, __disjvr_10^0'=__disjvr_10^post65, a_305^0'=a_305^post65, temp_49^0'=temp_49^post65, __disjvr_22^0'=__disjvr_22^post65, __disjvr_5^0'=__disjvr_5^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post65, __disjvr_15^0'=__disjvr_15^post65, i_108^0'=i_108^post65, __disjvr_25^0'=__disjvr_25^post65, x_20^0'=x_20^post65, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post65, a_146^0'=a_146^post65, a_247^0'=a_247^post65, temp0_15^0'=temp0_15^post65, __disjvr_1^0'=__disjvr_1^post65, length_43^0'=length_43^post65, __disjvr_2^0'=__disjvr_2^post65, rcd_102^0'=rcd_102^post65, __disjvr_12^0'=__disjvr_12^post65, ct_17^0'=ct_17^post65, x_14^0'=x_14^post65, lt_37^0'=lt_37^post65, __disjvr_7^0'=__disjvr_7^post65, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post65, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post65, __disjvr_17^0'=__disjvr_17^post65, i_44^0'=i_44^post65, __disjvr_27^0'=__disjvr_27^post65, x_28^0'=x_28^post65, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post65, (__disjvr_28^0-__disjvr_28^post65 == 0 /\ __disjvr_26^0-__disjvr_26^post65 == 0 /\ __disjvr_21^0-__disjvr_21^post65 == 0 /\ -__disjvr_12^post65+__disjvr_12^0 == 0 /\ a_328^0-a_328^post65 == 0 /\ -__disjvr_7^post65+__disjvr_7^0 == 0 /\ -__disjvr_1^post65+__disjvr_1^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -x_20^post65+x_20^0 == 0 /\ -len_180^post65+len_180^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post65+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ temp0_15^0-temp0_15^post65 == 0 /\ lt_36^0-lt_36^post65 == 0 /\ -r_161^post65+r_161^0 == 0 /\ x_238^0-x_238^post65 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post65 == 0 /\ -__disjvr_28^0+__disjvr_28^post65 == 0 /\ -i_125^post65+i_125^0 == 0 /\ rcd_102^0-rcd_102^post65 == 0 /\ __disjvr_16^0-__disjvr_16^post65 == 0 /\ -x_28^post65+x_28^0 == 0 /\ result_11^0-result_11^post65 == 0 /\ __disjvr_23^0-__disjvr_23^post65 == 0 /\ -lt_37^post65+lt_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post65+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -length_43^post65+length_43^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post65+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -a_26^post65+a_26^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post65 == 0 /\ -i_108^post65+i_108^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post65 == 0 /\ temp0_32^0-temp0_32^post65 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 == 0 /\ a_283^0-a_283^post65 == 0 /\ __disjvr_4^0-__disjvr_4^post65 == 0 /\ __disjvr_3^0-__disjvr_3^post65 == 0 /\ -a_247^post65+a_247^0 == 0 /\ x_177^0-x_177^post65 == 0 /\ -__disjvr_8^post65+__disjvr_8^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post65+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -rcd_72^post65+rcd_72^0 == 0 /\ __disjvr_22^0-__disjvr_22^post65 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post65+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ fmt_31^0-fmt_31^post65 == 0 /\ -a_146^post65+a_146^0 == 0 /\ __disjvr_20^0-__disjvr_20^post65 == 0 /\ -i_44^post65+i_44^0 == 0 /\ -ct_17^post65+ct_17^0 == 0 /\ -lt_237^post65+lt_237^0 == 0 /\ -__disjvr_19^post65+__disjvr_19^0 == 0 /\ a_197^0-a_197^post65 == 0 /\ -y_19^post65+y_19^0 == 0 /\ -temp_49^post65+temp_49^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post65 == 0 /\ -x_14^post65+x_14^0 == 0 /\ __disjvr_0^0-__disjvr_0^post65 == 0 /\ __disjvr_14^0-__disjvr_14^post65 == 0 /\ __disjvr_11^0-__disjvr_11^post65 == 0 /\ -__disjvr_15^post65+__disjvr_15^0 == 0 /\ r_53^0-r_53^post65 == 0 /\ x_34^0-x_34^post65 == 0 /\ -__disjvr_27^post65+__disjvr_27^0 == 0 /\ -__disjvr_2^post65+__disjvr_2^0 == 0 /\ temp0_45^0-temp0_45^post65 == 0 /\ -__disjvr_17^post65+__disjvr_17^0 == 0 /\ t_23^0-t_23^post65 == 0 /\ __disjvr_10^0-__disjvr_10^post65 == 0 /\ -tmp_48^post65+tmp_48^0 == 0 /\ -__disjvr_25^post65+__disjvr_25^0 == 0 /\ -a_305^post65+a_305^0 == 0 /\ __disjvr_9^0-__disjvr_9^post65 == 0 /\ -__disjvr_29^post65+__disjvr_29^0 == 0 /\ -__disjvr_18^post65+__disjvr_18^0 == 0 /\ len_246^0-len_246^post65 == 0 /\ -__disjvr_6^post65+__disjvr_6^0 == 0 /\ head_46^0-head_46^post65 == 0 /\ -x_16^post65+x_16^0 == 0 /\ __disjvr_24^0-__disjvr_24^post65 == 0 /\ -__disjvr_13^post65+__disjvr_13^0 == 0 /\ -__disjvr_5^post65+__disjvr_5^0 == 0), cost: 1
  66: l61 -> l62 : __disjvr_0^0'=__disjvr_0^post66, a_283^0'=a_283^post66, temp0_45^0'=temp0_45^post66, __disjvr_21^0'=__disjvr_21^post66, y_19^0'=y_19^post66, __disjvr_4^0'=__disjvr_4^post66, result_11^0'=result_11^post66, __disjvr_14^0'=__disjvr_14^post66, head_46^0'=head_46^post66, __disjvr_24^0'=__disjvr_24^post66, x_177^0'=x_177^post66, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post66, __disjvr_9^0'=__disjvr_9^post66, a_197^0'=a_197^post66, t_23^0'=t_23^post66, __disjvr_19^0'=__disjvr_19^post66, len_246^0'=len_246^post66, __disjvr_29^0'=__disjvr_29^post66, x_SLAM_f_18^0'=x_SLAM_f_18^post66, r_53^0'=r_53^post66, __disjvr_11^0'=__disjvr_11^post66, a_328^0'=a_328^post66, tmp_48^0'=tmp_48^post66, lt_36^0'=lt_36^post66, __disjvr_6^0'=__disjvr_6^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, __disjvr_16^0'=__disjvr_16^post66, i_125^0'=i_125^post66, __disjvr_26^0'=__disjvr_26^post66, x_238^0'=x_238^post66, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post66, a_26^0'=a_26^post66, temp0_32^0'=temp0_32^post66, __disjvr_20^0'=__disjvr_20^post66, lt_237^0'=lt_237^post66, __disjvr_3^0'=__disjvr_3^post66, rcd_72^0'=rcd_72^post66, __disjvr_13^0'=__disjvr_13^post66, fmt_31^0'=fmt_31^post66, __disjvr_23^0'=__disjvr_23^post66, x_16^0'=x_16^post66, nondet_12^0'=nondet_12^post66, __disjvr_8^0'=__disjvr_8^post66, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post66, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post66, __disjvr_18^0'=__disjvr_18^post66, len_180^0'=len_180^post66, __disjvr_28^0'=__disjvr_28^post66, x_34^0'=x_34^post66, r_161^0'=r_161^post66, __disjvr_10^0'=__disjvr_10^post66, a_305^0'=a_305^post66, temp_49^0'=temp_49^post66, __disjvr_22^0'=__disjvr_22^post66, __disjvr_5^0'=__disjvr_5^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post66, __disjvr_15^0'=__disjvr_15^post66, i_108^0'=i_108^post66, __disjvr_25^0'=__disjvr_25^post66, x_20^0'=x_20^post66, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post66, a_146^0'=a_146^post66, a_247^0'=a_247^post66, temp0_15^0'=temp0_15^post66, __disjvr_1^0'=__disjvr_1^post66, length_43^0'=length_43^post66, __disjvr_2^0'=__disjvr_2^post66, rcd_102^0'=rcd_102^post66, __disjvr_12^0'=__disjvr_12^post66, ct_17^0'=ct_17^post66, x_14^0'=x_14^post66, lt_37^0'=lt_37^post66, __disjvr_7^0'=__disjvr_7^post66, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post66, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post66, __disjvr_17^0'=__disjvr_17^post66, i_44^0'=i_44^post66, __disjvr_27^0'=__disjvr_27^post66, x_28^0'=x_28^post66, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post66, (-len_180^post66+len_180^0 == 0 /\ -temp0_32^post66+temp0_32^0 == 0 /\ -x_SLAM_f_18^post66+x_SLAM_f_18^0 == 0 /\ a_283^0-a_283^post66 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post66+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_18^0-__disjvr_18^post66 == 0 /\ x_177^0-x_177^post66 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post66+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ temp0_15^0-temp0_15^post66 == 0 /\ -__disjvr_7^post66+__disjvr_7^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post66 == 0 /\ lt_237^0-lt_237^post66 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ -length_43^post66+length_43^0 == 0 /\ __disjvr_3^0-__disjvr_3^post66 == 0 /\ a_328^0-a_328^post66 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0 /\ -ct_17^post66+ct_17^0 == 0 /\ x_238^0-x_238^post66 == 0 /\ -x_34^post66+x_34^0 == 0 /\ -i_108^post66+i_108^0 == 0 /\ __disjvr_24^0-__disjvr_24^post66 == 0 /\ __disjvr_16^0-__disjvr_16^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -lt_37^post66+lt_37^0 == 0 /\ -a_247^post66+a_247^0 == 0 /\ -fmt_31^post66+fmt_31^0 == 0 /\ __disjvr_0^0-__disjvr_0^post66 == 0 /\ lt_36^0-lt_36^post66 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 == 0 /\ __disjvr_13^0-__disjvr_13^post66 == 0 /\ temp0_45^0-temp0_45^post66 == 0 /\ head_46^0-head_46^post66 == 0 /\ -x_20^post66+x_20^0 == 0 /\ __disjvr_19^0-__disjvr_19^post66 == 0 /\ __disjvr_9^0-__disjvr_9^post66 == 0 /\ tmp_48^0-tmp_48^post66 == 0 /\ -__disjvr_29^0+__disjvr_29^post66 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post66 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post66+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_4^post66+__disjvr_4^0 == 0 /\ nondet_12^0-nondet_12^post66 == 0 /\ i_125^0-i_125^post66 == 0 /\ -__disjvr_22^post66+__disjvr_22^0 == 0 /\ -a_146^post66+a_146^0 == 0 /\ r_53^0-r_53^post66 == 0 /\ __disjvr_20^0-__disjvr_20^post66 == 0 /\ __disjvr_15^0-__disjvr_15^post66 == 0 /\ a_305^0-a_305^post66 == 0 /\ -x_28^post66+x_28^0 == 0 /\ -__disjvr_6^post66+__disjvr_6^0 == 0 /\ y_19^0-y_19^post66 == 0 /\ a_197^0-a_197^post66 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post66+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -__disjvr_8^post66+__disjvr_8^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_38^0-result_dot_printf_sdv_special_RETURN_VALUE_38^post66 == 0 /\ -__disjvr_2^post66+__disjvr_2^0 == 0 /\ __disjvr_11^0-__disjvr_11^post66 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post66+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -__disjvr_12^post66+__disjvr_12^0 == 0 /\ x_16^0-x_16^post66 == 0 /\ __disjvr_29^0-__disjvr_29^post66 == 0 /\ r_161^0-r_161^post66 == 0 /\ -__disjvr_27^post66+__disjvr_27^0 == 0 /\ -temp_49^post66+temp_49^0 == 0 /\ -__disjvr_23^post66+__disjvr_23^0 == 0 /\ t_23^0-t_23^post66 == 0 /\ -__disjvr_1^post66+__disjvr_1^0 == 0 /\ -__disjvr_28^post66+__disjvr_28^0 == 0 /\ __disjvr_26^0-__disjvr_26^post66 == 0 /\ -x_14^post66+x_14^0 == 0 /\ -__disjvr_10^post66+__disjvr_10^0 == 0 /\ -rcd_72^post66+rcd_72^0 == 0 /\ a_26^0-a_26^post66 == 0 /\ len_246^0-len_246^post66 == 0 /\ -__disjvr_25^post66+__disjvr_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post66 == 0 /\ -__disjvr_5^post66+__disjvr_5^0 == 0 /\ -rcd_102^post66+rcd_102^0 == 0 /\ result_11^0-result_11^post66 == 0 /\ -i_44^post66+i_44^0 == 0), cost: 1
  67: l62 -> l56 : __disjvr_0^0'=__disjvr_0^post67, a_283^0'=a_283^post67, temp0_45^0'=temp0_45^post67, __disjvr_21^0'=__disjvr_21^post67, y_19^0'=y_19^post67, __disjvr_4^0'=__disjvr_4^post67, result_11^0'=result_11^post67, __disjvr_14^0'=__disjvr_14^post67, head_46^0'=head_46^post67, __disjvr_24^0'=__disjvr_24^post67, x_177^0'=x_177^post67, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post67, __disjvr_9^0'=__disjvr_9^post67, a_197^0'=a_197^post67, t_23^0'=t_23^post67, __disjvr_19^0'=__disjvr_19^post67, len_246^0'=len_246^post67, __disjvr_29^0'=__disjvr_29^post67, x_SLAM_f_18^0'=x_SLAM_f_18^post67, r_53^0'=r_53^post67, __disjvr_11^0'=__disjvr_11^post67, a_328^0'=a_328^post67, tmp_48^0'=tmp_48^post67, lt_36^0'=lt_36^post67, __disjvr_6^0'=__disjvr_6^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, __disjvr_16^0'=__disjvr_16^post67, i_125^0'=i_125^post67, __disjvr_26^0'=__disjvr_26^post67, x_238^0'=x_238^post67, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post67, a_26^0'=a_26^post67, temp0_32^0'=temp0_32^post67, __disjvr_20^0'=__disjvr_20^post67, lt_237^0'=lt_237^post67, __disjvr_3^0'=__disjvr_3^post67, rcd_72^0'=rcd_72^post67, __disjvr_13^0'=__disjvr_13^post67, fmt_31^0'=fmt_31^post67, __disjvr_23^0'=__disjvr_23^post67, x_16^0'=x_16^post67, nondet_12^0'=nondet_12^post67, __disjvr_8^0'=__disjvr_8^post67, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post67, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post67, __disjvr_18^0'=__disjvr_18^post67, len_180^0'=len_180^post67, __disjvr_28^0'=__disjvr_28^post67, x_34^0'=x_34^post67, r_161^0'=r_161^post67, __disjvr_10^0'=__disjvr_10^post67, a_305^0'=a_305^post67, temp_49^0'=temp_49^post67, __disjvr_22^0'=__disjvr_22^post67, __disjvr_5^0'=__disjvr_5^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post67, __disjvr_15^0'=__disjvr_15^post67, i_108^0'=i_108^post67, __disjvr_25^0'=__disjvr_25^post67, x_20^0'=x_20^post67, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post67, a_146^0'=a_146^post67, a_247^0'=a_247^post67, temp0_15^0'=temp0_15^post67, __disjvr_1^0'=__disjvr_1^post67, length_43^0'=length_43^post67, __disjvr_2^0'=__disjvr_2^post67, rcd_102^0'=rcd_102^post67, __disjvr_12^0'=__disjvr_12^post67, ct_17^0'=ct_17^post67, x_14^0'=x_14^post67, lt_37^0'=lt_37^post67, __disjvr_7^0'=__disjvr_7^post67, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post67, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post67, __disjvr_17^0'=__disjvr_17^post67, i_44^0'=i_44^post67, __disjvr_27^0'=__disjvr_27^post67, x_28^0'=x_28^post67, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post67, (0 == 0 /\ -length_43^post67+length_43^0 == 0 /\ -x_34^post67+x_34^0 == 0 /\ a_283^0-a_283^post67 == 0 /\ __disjvr_11^0-__disjvr_11^post67 == 0 /\ x_177^0-x_177^post67 == 0 /\ tmp_48^0-tmp_48^post67 == 0 /\ -temp_49^post67+temp_49^0 == 0 /\ a_197^0-a_197^post67 == 0 /\ -__disjvr_5^post67+__disjvr_5^0 == 0 /\ -x_14^post67+x_14^0 == 0 /\ len_246^0-len_246^post67 == 0 /\ -r_161^post67+r_161^0 == 0 /\ __disjvr_18^0-__disjvr_18^post67 == 0 /\ -ct_17^post67+ct_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ -__disjvr_27^post67+__disjvr_27^0 == 0 /\ -i_125^post67+i_125^0 == 0 /\ __disjvr_24^0-__disjvr_24^post67 == 0 /\ a_328^0-a_305^post67 <= 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ -__disjvr_7^post67+__disjvr_7^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post67+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post67 == 0 /\ __disjvr_1^0-__disjvr_1^post67 == 0 /\ -x_20^post67+x_20^0 == 0 /\ __disjvr_26^0-__disjvr_26^post67 == 0 /\ __disjvr_29^0-__disjvr_29^post67 == 0 /\ __disjvr_0^0-__disjvr_0^post67 == 0 /\ temp0_45^0-temp0_45^post67 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post67+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ head_46^0-head_46^post67 == 0 /\ rcd_72^0-rcd_72^post67 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post67+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -lt_37^post67+lt_37^0 == 0 /\ -nondet_12^post67+nondet_12^0 == 0 /\ -a_247^post67+a_247^0 == 0 /\ -a_328^0+a_305^post67 <= 0 /\ __disjvr_2^0-__disjvr_2^post67 == 0 /\ a_26^0-a_26^post67 == 0 /\ -__disjvr_3^post67+__disjvr_3^0 == 0 /\ __disjvr_6^0-__disjvr_6^post67 == 0 /\ -i_108^post67+i_108^0 == 0 /\ __disjvr_9^0-__disjvr_9^post67 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post67+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post67 == 0 /\ -a_328^post67+a_328^0 == 0 /\ -x_16^post67+x_16^0 == 0 /\ result_11^0-result_11^post67 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post67 == 0 /\ -__disjvr_12^post67+__disjvr_12^0 == 0 /\ t_23^0-t_23^post67 == 0 /\ __disjvr_15^0-__disjvr_15^post67 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_8^post67+__disjvr_8^0 == 0 /\ -x_28^post67+x_28^0 == 0 /\ -__disjvr_10^post67+__disjvr_10^0 == 0 /\ x_238^0-x_238^post67 == 0 /\ -__disjvr_4^post67+__disjvr_4^0 == 0 /\ -temp0_15^post67+temp0_15^0 == 0 /\ -a_146^post67+a_146^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post67+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ y_19^0-y_19^post67 == 0 /\ lt_237^0-lt_237^post67 == 0 /\ -__disjvr_28^post67+__disjvr_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post67 == 0 /\ -len_180^post67+len_180^0 == 0 /\ -r_53^post67+r_53^0 == 0 /\ -__disjvr_22^post67+__disjvr_22^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ lt_36^0-lt_36^post67 == 0 /\ -__disjvr_13^post67+__disjvr_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post67 == 0 /\ -rcd_102^post67+rcd_102^0 == 0 /\ __disjvr_23^0-__disjvr_23^post67 == 0 /\ temp0_32^0-temp0_32^post67 == 0 /\ fmt_31^0-fmt_31^post67 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post67+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_20^post67+__disjvr_20^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post67 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post67 == 0 /\ __disjvr_21^0-__disjvr_21^post67 == 0 /\ -i_44^post67+i_44^0 == 0), cost: 1
  68: l56 -> l4 : __disjvr_0^0'=__disjvr_0^post68, a_283^0'=a_283^post68, temp0_45^0'=temp0_45^post68, __disjvr_21^0'=__disjvr_21^post68, y_19^0'=y_19^post68, __disjvr_4^0'=__disjvr_4^post68, result_11^0'=result_11^post68, __disjvr_14^0'=__disjvr_14^post68, head_46^0'=head_46^post68, __disjvr_24^0'=__disjvr_24^post68, x_177^0'=x_177^post68, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post68, __disjvr_9^0'=__disjvr_9^post68, a_197^0'=a_197^post68, t_23^0'=t_23^post68, __disjvr_19^0'=__disjvr_19^post68, len_246^0'=len_246^post68, __disjvr_29^0'=__disjvr_29^post68, x_SLAM_f_18^0'=x_SLAM_f_18^post68, r_53^0'=r_53^post68, __disjvr_11^0'=__disjvr_11^post68, a_328^0'=a_328^post68, tmp_48^0'=tmp_48^post68, lt_36^0'=lt_36^post68, __disjvr_6^0'=__disjvr_6^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, __disjvr_16^0'=__disjvr_16^post68, i_125^0'=i_125^post68, __disjvr_26^0'=__disjvr_26^post68, x_238^0'=x_238^post68, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post68, a_26^0'=a_26^post68, temp0_32^0'=temp0_32^post68, __disjvr_20^0'=__disjvr_20^post68, lt_237^0'=lt_237^post68, __disjvr_3^0'=__disjvr_3^post68, rcd_72^0'=rcd_72^post68, __disjvr_13^0'=__disjvr_13^post68, fmt_31^0'=fmt_31^post68, __disjvr_23^0'=__disjvr_23^post68, x_16^0'=x_16^post68, nondet_12^0'=nondet_12^post68, __disjvr_8^0'=__disjvr_8^post68, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post68, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post68, __disjvr_18^0'=__disjvr_18^post68, len_180^0'=len_180^post68, __disjvr_28^0'=__disjvr_28^post68, x_34^0'=x_34^post68, r_161^0'=r_161^post68, __disjvr_10^0'=__disjvr_10^post68, a_305^0'=a_305^post68, temp_49^0'=temp_49^post68, __disjvr_22^0'=__disjvr_22^post68, __disjvr_5^0'=__disjvr_5^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post68, __disjvr_15^0'=__disjvr_15^post68, i_108^0'=i_108^post68, __disjvr_25^0'=__disjvr_25^post68, x_20^0'=x_20^post68, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post68, a_146^0'=a_146^post68, a_247^0'=a_247^post68, temp0_15^0'=temp0_15^post68, __disjvr_1^0'=__disjvr_1^post68, length_43^0'=length_43^post68, __disjvr_2^0'=__disjvr_2^post68, rcd_102^0'=rcd_102^post68, __disjvr_12^0'=__disjvr_12^post68, ct_17^0'=ct_17^post68, x_14^0'=x_14^post68, lt_37^0'=lt_37^post68, __disjvr_7^0'=__disjvr_7^post68, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post68, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post68, __disjvr_17^0'=__disjvr_17^post68, i_44^0'=i_44^post68, __disjvr_27^0'=__disjvr_27^post68, x_28^0'=x_28^post68, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post68, (-x_14^post68+x_14^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post68+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ r_53^0-r_53^post68 == 0 /\ result_11^0-result_11^post68 == 0 /\ -length_43^post68+length_43^0 == 0 /\ a_197^0-a_197^post68 == 0 /\ y_19^0-y_19^post68 == 0 /\ __disjvr_2^0-__disjvr_2^post68 == 0 /\ -__disjvr_13^post68+__disjvr_13^0 == 0 /\ __disjvr_9^0-__disjvr_9^post68 == 0 /\ -__disjvr_20^post68+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post68+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -ct_17^post68+ct_17^0 == 0 /\ len_180^0-len_180^post68 == 0 /\ a_305^0-a_305^post68 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -__disjvr_17^post68+__disjvr_17^0 == 0 /\ tmp_48^0-tmp_48^post68 == 0 /\ __disjvr_19^0-__disjvr_19^post68 == 0 /\ len_246^0-len_246^post68 == 0 /\ -__disjvr_25^post68+__disjvr_25^0 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ -a_328^post68+a_328^0 == 0 /\ -__disjvr_8^post68+__disjvr_8^0 == 0 /\ -__disjvr_5^post68+__disjvr_5^0 == 0 /\ __disjvr_26^0-__disjvr_26^post68 == 0 /\ __disjvr_23^0-__disjvr_23^post68 == 0 /\ __disjvr_29^0-__disjvr_29^post68 == 0 /\ a_247^0-a_247^post68 == 0 /\ x_177^0-x_177^post68 == 0 /\ -__disjvr_27^post68+__disjvr_27^0 == 0 /\ -lt_36^post68+lt_36^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post68+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_21^0-__disjvr_21^post68 == 0 /\ -__disjvr_7^post68+__disjvr_7^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post68 == 0 /\ -a_146^post68+a_146^0 == 0 /\ -__disjvr_18^post68+__disjvr_18^0 == 0 /\ __disjvr_6^0-__disjvr_6^post68 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post68 == 0 /\ -x_28^post68+x_28^0 == 0 /\ a_26^0-a_26^post68 == 0 /\ -__disjvr_28^post68+__disjvr_28^0 == 0 /\ __disjvr_14^0-__disjvr_14^post68 == 0 /\ x_238^0-x_238^post68 == 0 /\ a_283^0-a_283^post68 == 0 /\ temp_49^0-temp_49^post68 == 0 /\ __disjvr_4^0-__disjvr_4^post68 == 0 /\ __disjvr_3^0-__disjvr_3^post68 == 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ -rcd_102^post68+rcd_102^0 == 0 /\ -temp0_45^post68+temp0_45^0 == 0 /\ i_108^0-i_108^post68 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post68 == 0 /\ -x_16^post68+x_16^0 == 0 /\ -__disjvr_10^post68+__disjvr_10^0 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ -temp0_15^post68+temp0_15^0 == 0 /\ -lt_37^post68+lt_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post68 == 0 /\ t_23^0-t_23^post68 == 0 /\ __disjvr_0^0-__disjvr_0^post68 == 0 /\ -__disjvr_15^post68+__disjvr_15^0 == 0 /\ temp0_32^0-temp0_32^post68 == 0 /\ -rcd_72^post68+rcd_72^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post68+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -r_161^post68+r_161^0 == 0 /\ head_46^0-head_46^post68 == 0 /\ x_20^0-x_20^post68 == 0 /\ -i_44^post68+i_44^0 == 0 /\ -lt_237^post68+lt_237^0 == 0 /\ -__disjvr_22^post68+__disjvr_22^0 == 0 /\ -x_34^post68+x_34^0 == 0 /\ __disjvr_11^0-__disjvr_11^post68 == 0 /\ -i_125^post68+i_125^0 == 0 /\ __disjvr_16^0-__disjvr_16^post68 == 0 /\ fmt_31^0-fmt_31^post68 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post68+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post68+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post68+__disjvr_1^0 == 0), cost: 1
  69: l63 -> l18 : __disjvr_0^0'=__disjvr_0^post69, a_283^0'=a_283^post69, temp0_45^0'=temp0_45^post69, __disjvr_21^0'=__disjvr_21^post69, y_19^0'=y_19^post69, __disjvr_4^0'=__disjvr_4^post69, result_11^0'=result_11^post69, __disjvr_14^0'=__disjvr_14^post69, head_46^0'=head_46^post69, __disjvr_24^0'=__disjvr_24^post69, x_177^0'=x_177^post69, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post69, __disjvr_9^0'=__disjvr_9^post69, a_197^0'=a_197^post69, t_23^0'=t_23^post69, __disjvr_19^0'=__disjvr_19^post69, len_246^0'=len_246^post69, __disjvr_29^0'=__disjvr_29^post69, x_SLAM_f_18^0'=x_SLAM_f_18^post69, r_53^0'=r_53^post69, __disjvr_11^0'=__disjvr_11^post69, a_328^0'=a_328^post69, tmp_48^0'=tmp_48^post69, lt_36^0'=lt_36^post69, __disjvr_6^0'=__disjvr_6^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, __disjvr_16^0'=__disjvr_16^post69, i_125^0'=i_125^post69, __disjvr_26^0'=__disjvr_26^post69, x_238^0'=x_238^post69, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post69, a_26^0'=a_26^post69, temp0_32^0'=temp0_32^post69, __disjvr_20^0'=__disjvr_20^post69, lt_237^0'=lt_237^post69, __disjvr_3^0'=__disjvr_3^post69, rcd_72^0'=rcd_72^post69, __disjvr_13^0'=__disjvr_13^post69, fmt_31^0'=fmt_31^post69, __disjvr_23^0'=__disjvr_23^post69, x_16^0'=x_16^post69, nondet_12^0'=nondet_12^post69, __disjvr_8^0'=__disjvr_8^post69, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post69, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post69, __disjvr_18^0'=__disjvr_18^post69, len_180^0'=len_180^post69, __disjvr_28^0'=__disjvr_28^post69, x_34^0'=x_34^post69, r_161^0'=r_161^post69, __disjvr_10^0'=__disjvr_10^post69, a_305^0'=a_305^post69, temp_49^0'=temp_49^post69, __disjvr_22^0'=__disjvr_22^post69, __disjvr_5^0'=__disjvr_5^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post69, __disjvr_15^0'=__disjvr_15^post69, i_108^0'=i_108^post69, __disjvr_25^0'=__disjvr_25^post69, x_20^0'=x_20^post69, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post69, a_146^0'=a_146^post69, a_247^0'=a_247^post69, temp0_15^0'=temp0_15^post69, __disjvr_1^0'=__disjvr_1^post69, length_43^0'=length_43^post69, __disjvr_2^0'=__disjvr_2^post69, rcd_102^0'=rcd_102^post69, __disjvr_12^0'=__disjvr_12^post69, ct_17^0'=ct_17^post69, x_14^0'=x_14^post69, lt_37^0'=lt_37^post69, __disjvr_7^0'=__disjvr_7^post69, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post69, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post69, __disjvr_17^0'=__disjvr_17^post69, i_44^0'=i_44^post69, __disjvr_27^0'=__disjvr_27^post69, x_28^0'=x_28^post69, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post69, (temp_49^0-temp_49^post69 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post69+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -x_14^post69+x_14^0 == 0 /\ __disjvr_14^0-__disjvr_14^post69 == 0 /\ __disjvr_10^0-__disjvr_10^post69 == 0 /\ -lt_237^post69+lt_237^0 == 0 /\ x_34^0-x_34^post69 == 0 /\ r_53^0-r_53^post69 == 0 /\ -__disjvr_25^post69+__disjvr_25^0 == 0 /\ rcd_72^0-rcd_72^post69 == 0 /\ -__disjvr_29^post69+__disjvr_29^0 == 0 /\ -x_238^post69+x_238^0 == 0 /\ -lt_36^post69+lt_36^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post69+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ x_16^0-x_16^post69 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post69 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post69 == 0 /\ __disjvr_4^0-__disjvr_4^post69 == 0 /\ __disjvr_19^0-__disjvr_19^post69 == 0 /\ a_283^0-a_283^post69 == 0 /\ len_246^0-len_246^post69 == 0 /\ tmp_48^0-tmp_48^post69 == 0 /\ __disjvr_24^0-__disjvr_24^post69 == 0 /\ -i_44^post69+i_44^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post69 == 0 /\ -ct_17^post69+ct_17^0 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ -__disjvr_2^post69+__disjvr_2^0 == 0 /\ head_46^0-head_46^post69 == 0 /\ -a_305^post69+a_305^0 == 0 /\ -temp0_15^post69+temp0_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post69 == 0 /\ temp0_32^0-temp0_32^post69 == 0 /\ __disjvr_28^0-__disjvr_28^post69 == 0 /\ fmt_31^0-fmt_31^post69 == 0 /\ a_247^0-a_247^post69 == 0 /\ -__disjvr_5^post69+__disjvr_5^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post69+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ i_125^0-i_125^post69 == 0 /\ -a_146^post69+a_146^0 == 0 /\ -__disjvr_8^post69+__disjvr_8^0 == 0 /\ -__disjvr_17^post69+__disjvr_17^0 == 0 /\ rcd_102^0-rcd_102^post69 == 0 /\ -__disjvr_13^post69+__disjvr_13^0 == 0 /\ a_197^0-a_197^post69 == 0 /\ -a_328^post69+a_328^0 == 0 /\ __disjvr_6^0-__disjvr_6^post69 == 0 /\ __disjvr_0^0-__disjvr_0^post69 == 0 /\ -__disjvr_27^post69+__disjvr_27^0 == 0 /\ t_23^0-t_23^post69 == 0 /\ y_19^0-y_19^post69 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post69 == 0 /\ -i_108^post69+i_108^0 == 0 /\ -__disjvr_7^post69+__disjvr_7^0 == 0 /\ -__disjvr_1^post69+__disjvr_1^0 == 0 /\ -__disjvr_18^post69+__disjvr_18^0 == 0 /\ result_11^0-result_11^post69 == 0 /\ __disjvr_9^0-__disjvr_9^post69 == 0 /\ temp0_45^0-temp0_45^post69 == 0 /\ -r_161^post69+r_161^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post69 == 0 /\ -a_26^post69+a_26^0 == 0 /\ -__disjvr_12^post69+__disjvr_12^0 == 0 /\ -len_180^post69+len_180^0 == 0 /\ __disjvr_23^0-__disjvr_23^post69 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post69+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_21^0-__disjvr_21^post69 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post69+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -lt_37^post69+lt_37^0 == 0 /\ -__disjvr_15^post69+__disjvr_15^0 == 0 /\ __disjvr_3^0-__disjvr_3^post69 == 0 /\ -__disjvr_22^post69+__disjvr_22^0 == 0 /\ x_20^0-x_20^post69 == 0 /\ __disjvr_20^0-__disjvr_20^post69 == 0 /\ __disjvr_11^0-__disjvr_11^post69 == 0 /\ -x_28^post69+x_28^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post69+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ x_177^0-x_177^post69 == 0 /\ -length_43^post69+length_43^0 == 0 /\ __disjvr_16^0-__disjvr_16^post69 == 0), cost: 1


Applied preprocessing
Original rule:
l11 -> l12 : __disjvr_0^0'=__disjvr_0^post10, a_283^0'=a_283^post10, temp0_45^0'=temp0_45^post10, __disjvr_21^0'=__disjvr_21^post10, y_19^0'=y_19^post10, __disjvr_4^0'=__disjvr_4^post10, result_11^0'=result_11^post10, __disjvr_14^0'=__disjvr_14^post10, head_46^0'=head_46^post10, __disjvr_24^0'=__disjvr_24^post10, x_177^0'=x_177^post10, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post10, __disjvr_9^0'=__disjvr_9^post10, a_197^0'=a_197^post10, t_23^0'=t_23^post10, __disjvr_19^0'=__disjvr_19^post10, len_246^0'=len_246^post10, __disjvr_29^0'=__disjvr_29^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, r_53^0'=r_53^post10, __disjvr_11^0'=__disjvr_11^post10, a_328^0'=a_328^post10, tmp_48^0'=tmp_48^post10, lt_36^0'=lt_36^post10, __disjvr_6^0'=__disjvr_6^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, __disjvr_16^0'=__disjvr_16^post10, i_125^0'=i_125^post10, __disjvr_26^0'=__disjvr_26^post10, x_238^0'=x_238^post10, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post10, a_26^0'=a_26^post10, temp0_32^0'=temp0_32^post10, __disjvr_20^0'=__disjvr_20^post10, lt_237^0'=lt_237^post10, __disjvr_3^0'=__disjvr_3^post10, rcd_72^0'=rcd_72^post10, __disjvr_13^0'=__disjvr_13^post10, fmt_31^0'=fmt_31^post10, __disjvr_23^0'=__disjvr_23^post10, x_16^0'=x_16^post10, nondet_12^0'=nondet_12^post10, __disjvr_8^0'=__disjvr_8^post10, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post10, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post10, __disjvr_18^0'=__disjvr_18^post10, len_180^0'=len_180^post10, __disjvr_28^0'=__disjvr_28^post10, x_34^0'=x_34^post10, r_161^0'=r_161^post10, __disjvr_10^0'=__disjvr_10^post10, a_305^0'=a_305^post10, temp_49^0'=temp_49^post10, __disjvr_22^0'=__disjvr_22^post10, __disjvr_5^0'=__disjvr_5^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post10, __disjvr_15^0'=__disjvr_15^post10, i_108^0'=i_108^post10, __disjvr_25^0'=__disjvr_25^post10, x_20^0'=x_20^post10, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post10, a_146^0'=a_146^post10, a_247^0'=a_247^post10, temp0_15^0'=temp0_15^post10, __disjvr_1^0'=__disjvr_1^post10, length_43^0'=length_43^post10, __disjvr_2^0'=__disjvr_2^post10, rcd_102^0'=rcd_102^post10, __disjvr_12^0'=__disjvr_12^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, lt_37^0'=lt_37^post10, __disjvr_7^0'=__disjvr_7^post10, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post10, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post10, __disjvr_17^0'=__disjvr_17^post10, i_44^0'=i_44^post10, __disjvr_27^0'=__disjvr_27^post10, x_28^0'=x_28^post10, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post10, (0 == 0 /\ -__disjvr_11^post10+__disjvr_11^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post10+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ y_19^0-y_19^post10 == 0 /\ -x_238^post10+x_238^0 == 0 /\ -lt_237^post10+lt_237^0 == 0 /\ t_23^0-t_23^post10 == 0 /\ __disjvr_9^0-__disjvr_9^post10 == 0 /\ -__disjvr_25^post10+__disjvr_25^0 == 0 /\ result_11^0-result_11^post10 == 0 /\ -a_247^post10+a_247^0 == 0 /\ temp0_45^0-temp0_45^post10 == 0 /\ -rcd_72^post10+rcd_72^0 == 0 /\ -__disjvr_27^post10+__disjvr_27^0 == 0 /\ nondet_12^0-nondet_12^post10 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post10+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -i_44^post10+i_44^0 == 0 /\ __disjvr_23^0-__disjvr_23^post10 == 0 /\ -temp_49^post10+temp_49^0 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0 /\ a_328^0-a_328^post10 == 0 /\ temp0_32^0-temp0_32^post10 == 0 /\ fmt_31^0-fmt_31^post10 == 0 /\ x_177^0-x_177^post10 == 0 /\ __disjvr_18^0-__disjvr_18^post10 == 0 /\ a_146^0-a_146^post10 == 0 /\ -x_20^post10+x_20^0 == 0 /\ __disjvr_3^0-__disjvr_3^post10 == 0 /\ -__disjvr_2^post10+__disjvr_2^0 == 0 /\ i_125^0-i_125^post10 == 0 /\ -__disjvr_6^post10+__disjvr_6^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post10 == 0 /\ lt_36^0-lt_36^post10 == 0 /\ -__disjvr_17^post10+__disjvr_17^0 == 0 /\ -__disjvr_13^post10+__disjvr_13^0 == 0 /\ rcd_102^0-rcd_102^post10 == 0 /\ r_53^0-r_53^post10 == 0 /\ -a_305^post10+a_305^0 == 0 /\ -len_180^0 <= 0 /\ -__disjvr_8^post10+__disjvr_8^0 == 0 /\ temp0_15^0-temp0_15^post10 == 0 /\ -__disjvr_7^post10+__disjvr_7^0 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ x_34^0-x_34^post10 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post10 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post10 == 0 /\ __disjvr_5^0-__disjvr_5^post10 == 0 /\ -i_108^post10+i_108^0 == 0 /\ -__disjvr_16^post10+__disjvr_16^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post10+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_19^0-__disjvr_19^post10 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post10 == 0 /\ __disjvr_4^0-__disjvr_4^post10 == 0 /\ -a_26^post10+a_26^0 == 0 /\ -tmp_48^post10+tmp_48^0 == 0 /\ -r_161^post10+r_161^0 == 0 /\ -__disjvr_10^post10+__disjvr_10^0 == 0 /\ -len_180^post10+len_180^0 == 0 /\ len_246^0-len_246^post10 == 0 /\ a_283^0-a_283^post10 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ head_46^0-head_46^post10 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post10+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_22^0-__disjvr_22^post10 == 0 /\ -__disjvr_24^post10+__disjvr_24^0 == 0 /\ -__disjvr_15^post10+__disjvr_15^0 == 0 /\ __disjvr_28^0-__disjvr_28^post10 == 0 /\ __disjvr_26^0-__disjvr_26^post10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -lt_37^post10+lt_37^0 == 0 /\ __disjvr_20^0-__disjvr_20^post10 == 0 /\ __disjvr_29^0-__disjvr_29^post10 == 0 /\ -length_43^post10+length_43^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ -x_28^post10+x_28^0 == 0 /\ a_197^0-a_197^post10 == 0), cost: 1
New rule:
l11 -> l12 : x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, len_180^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l12 -> l13 : __disjvr_0^0'=__disjvr_0^post11, a_283^0'=a_283^post11, temp0_45^0'=temp0_45^post11, __disjvr_21^0'=__disjvr_21^post11, y_19^0'=y_19^post11, __disjvr_4^0'=__disjvr_4^post11, result_11^0'=result_11^post11, __disjvr_14^0'=__disjvr_14^post11, head_46^0'=head_46^post11, __disjvr_24^0'=__disjvr_24^post11, x_177^0'=x_177^post11, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post11, __disjvr_9^0'=__disjvr_9^post11, a_197^0'=a_197^post11, t_23^0'=t_23^post11, __disjvr_19^0'=__disjvr_19^post11, len_246^0'=len_246^post11, __disjvr_29^0'=__disjvr_29^post11, x_SLAM_f_18^0'=x_SLAM_f_18^post11, r_53^0'=r_53^post11, __disjvr_11^0'=__disjvr_11^post11, a_328^0'=a_328^post11, tmp_48^0'=tmp_48^post11, lt_36^0'=lt_36^post11, __disjvr_6^0'=__disjvr_6^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, __disjvr_16^0'=__disjvr_16^post11, i_125^0'=i_125^post11, __disjvr_26^0'=__disjvr_26^post11, x_238^0'=x_238^post11, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post11, a_26^0'=a_26^post11, temp0_32^0'=temp0_32^post11, __disjvr_20^0'=__disjvr_20^post11, lt_237^0'=lt_237^post11, __disjvr_3^0'=__disjvr_3^post11, rcd_72^0'=rcd_72^post11, __disjvr_13^0'=__disjvr_13^post11, fmt_31^0'=fmt_31^post11, __disjvr_23^0'=__disjvr_23^post11, x_16^0'=x_16^post11, nondet_12^0'=nondet_12^post11, __disjvr_8^0'=__disjvr_8^post11, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post11, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post11, __disjvr_18^0'=__disjvr_18^post11, len_180^0'=len_180^post11, __disjvr_28^0'=__disjvr_28^post11, x_34^0'=x_34^post11, r_161^0'=r_161^post11, __disjvr_10^0'=__disjvr_10^post11, a_305^0'=a_305^post11, temp_49^0'=temp_49^post11, __disjvr_22^0'=__disjvr_22^post11, __disjvr_5^0'=__disjvr_5^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post11, __disjvr_15^0'=__disjvr_15^post11, i_108^0'=i_108^post11, __disjvr_25^0'=__disjvr_25^post11, x_20^0'=x_20^post11, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post11, a_146^0'=a_146^post11, a_247^0'=a_247^post11, temp0_15^0'=temp0_15^post11, __disjvr_1^0'=__disjvr_1^post11, length_43^0'=length_43^post11, __disjvr_2^0'=__disjvr_2^post11, rcd_102^0'=rcd_102^post11, __disjvr_12^0'=__disjvr_12^post11, ct_17^0'=ct_17^post11, x_14^0'=x_14^post11, lt_37^0'=lt_37^post11, __disjvr_7^0'=__disjvr_7^post11, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post11, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post11, __disjvr_17^0'=__disjvr_17^post11, i_44^0'=i_44^post11, __disjvr_27^0'=__disjvr_27^post11, x_28^0'=x_28^post11, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post11, (__disjvr_24^0-__disjvr_24^post11 == 0 /\ __disjvr_16^0-__disjvr_16^post11 == 0 /\ -__disjvr_22^post11+__disjvr_22^0 == 0 /\ x_238^0-x_238^post11 == 0 /\ -i_44^post11+i_44^0 == 0 /\ __disjvr_13^0-__disjvr_13^post11 == 0 /\ a_26^0-a_26^post11 == 0 /\ -__disjvr_6^post11+__disjvr_6^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post11+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_8^0-__disjvr_8^post11 == 0 /\ -r_53^post11+r_53^0 == 0 /\ __disjvr_5^post11-__disjvr_5^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post11+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post11 == 0 /\ __disjvr_4^0-__disjvr_4^post11 == 0 /\ -__disjvr_20^post11+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post11+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_1^post11+__disjvr_1^0 == 0 /\ a_283^0-a_283^post11 == 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ -__disjvr_2^post11+__disjvr_2^0 == 0 /\ -x_16^post11+x_16^0 == 0 /\ a_328^0-a_328^post11 == 0 /\ x_177^0-x_177^post11 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post11 == 0 /\ -t_23^post11+t_23^0 == 0 /\ i_125^0-i_125^post11 == 0 /\ -temp_49^post11+temp_49^0 == 0 /\ temp0_15^0-temp0_15^post11 == 0 /\ ct_17^0-ct_17^post11 == 0 /\ -a_146^post11+a_146^0 == 0 /\ __disjvr_0^0-__disjvr_0^post11 == 0 /\ -__disjvr_5^post11+__disjvr_5^0 == 0 /\ lt_237^0-lt_237^post11 == 0 /\ -__disjvr_12^post11+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post11 == 0 /\ -__disjvr_28^post11+__disjvr_28^0 == 0 /\ -x_14^post11+x_14^0 == 0 /\ -temp0_32^post11+temp0_32^0 == 0 /\ -rcd_72^post11+rcd_72^0 == 0 /\ -__disjvr_27^post11+__disjvr_27^0 == 0 /\ -__disjvr_23^post11+__disjvr_23^0 == 0 /\ lt_36^0-lt_36^post11 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ result_11^0-result_11^post11 == 0 /\ -__disjvr_7^post11+__disjvr_7^0 == 0 /\ -rcd_102^post11+rcd_102^0 == 0 /\ -len_180^post11+len_180^0 == 0 /\ -__disjvr_10^post11+__disjvr_10^0 == 0 /\ -x_SLAM_f_18^post11+x_SLAM_f_18^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post11+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post11+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ y_19^0-y_19^post11 == 0 /\ -x_20^post11+x_20^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post11+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ lt_37^0-lt_37^post11 == 0 /\ __disjvr_19^0-__disjvr_19^post11 == 0 /\ __disjvr_9^0-__disjvr_9^post11 == 0 /\ a_305^0-a_305^post11 == 0 /\ __disjvr_26^0-__disjvr_26^post11 == 0 /\ temp0_45^0-temp0_45^post11 == 0 /\ -r_161^post11+r_161^0 == 0 /\ len_246^0-len_246^post11 == 0 /\ tmp_48^0-tmp_48^post11 == 0 /\ head_46^0-head_46^post11 == 0 /\ -length_43^post11+length_43^0 == 0 /\ __disjvr_18^0-__disjvr_18^post11 == 0 /\ __disjvr_3^0-__disjvr_3^post11 == 0 /\ -i_108^post11+i_108^0 == 0 /\ nondet_12^0-nondet_12^post11 == 0 /\ -x_34^post11+x_34^0 == 0 /\ -x_28^post11+x_28^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post11+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -a_247^post11+a_247^0 == 0 /\ __disjvr_15^0-__disjvr_15^post11 == 0 /\ __disjvr_25^0-__disjvr_25^post11 == 0 /\ a_197^0-a_197^post11 == 0 /\ __disjvr_14^0-__disjvr_14^post11 == 0 /\ -fmt_31^post11+fmt_31^0 == 0 /\ __disjvr_29^0-__disjvr_29^post11 == 0), cost: 1
New rule:
l12 -> l13 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l13 -> l14 : __disjvr_0^0'=__disjvr_0^post12, a_283^0'=a_283^post12, temp0_45^0'=temp0_45^post12, __disjvr_21^0'=__disjvr_21^post12, y_19^0'=y_19^post12, __disjvr_4^0'=__disjvr_4^post12, result_11^0'=result_11^post12, __disjvr_14^0'=__disjvr_14^post12, head_46^0'=head_46^post12, __disjvr_24^0'=__disjvr_24^post12, x_177^0'=x_177^post12, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post12, __disjvr_9^0'=__disjvr_9^post12, a_197^0'=a_197^post12, t_23^0'=t_23^post12, __disjvr_19^0'=__disjvr_19^post12, len_246^0'=len_246^post12, __disjvr_29^0'=__disjvr_29^post12, x_SLAM_f_18^0'=x_SLAM_f_18^post12, r_53^0'=r_53^post12, __disjvr_11^0'=__disjvr_11^post12, a_328^0'=a_328^post12, tmp_48^0'=tmp_48^post12, lt_36^0'=lt_36^post12, __disjvr_6^0'=__disjvr_6^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, __disjvr_16^0'=__disjvr_16^post12, i_125^0'=i_125^post12, __disjvr_26^0'=__disjvr_26^post12, x_238^0'=x_238^post12, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post12, a_26^0'=a_26^post12, temp0_32^0'=temp0_32^post12, __disjvr_20^0'=__disjvr_20^post12, lt_237^0'=lt_237^post12, __disjvr_3^0'=__disjvr_3^post12, rcd_72^0'=rcd_72^post12, __disjvr_13^0'=__disjvr_13^post12, fmt_31^0'=fmt_31^post12, __disjvr_23^0'=__disjvr_23^post12, x_16^0'=x_16^post12, nondet_12^0'=nondet_12^post12, __disjvr_8^0'=__disjvr_8^post12, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post12, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post12, __disjvr_18^0'=__disjvr_18^post12, len_180^0'=len_180^post12, __disjvr_28^0'=__disjvr_28^post12, x_34^0'=x_34^post12, r_161^0'=r_161^post12, __disjvr_10^0'=__disjvr_10^post12, a_305^0'=a_305^post12, temp_49^0'=temp_49^post12, __disjvr_22^0'=__disjvr_22^post12, __disjvr_5^0'=__disjvr_5^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post12, __disjvr_15^0'=__disjvr_15^post12, i_108^0'=i_108^post12, __disjvr_25^0'=__disjvr_25^post12, x_20^0'=x_20^post12, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post12, a_146^0'=a_146^post12, a_247^0'=a_247^post12, temp0_15^0'=temp0_15^post12, __disjvr_1^0'=__disjvr_1^post12, length_43^0'=length_43^post12, __disjvr_2^0'=__disjvr_2^post12, rcd_102^0'=rcd_102^post12, __disjvr_12^0'=__disjvr_12^post12, ct_17^0'=ct_17^post12, x_14^0'=x_14^post12, lt_37^0'=lt_37^post12, __disjvr_7^0'=__disjvr_7^post12, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post12, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post12, __disjvr_17^0'=__disjvr_17^post12, i_44^0'=i_44^post12, __disjvr_27^0'=__disjvr_27^post12, x_28^0'=x_28^post12, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post12, (0 == 0 /\ __disjvr_29^0-__disjvr_29^post12 == 0 /\ -i_44^post12+i_44^0 == 0 /\ y_19^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post12 == 0 /\ -lt_237^post12+lt_237^0 == 0 /\ -__disjvr_8^post12+__disjvr_8^0 == 0 /\ __disjvr_4^0-__disjvr_4^post12 == 0 /\ __disjvr_16^0-__disjvr_16^post12 == 0 /\ -a_328^post12+a_328^0 == 0 /\ lt_36^0-lt_36^post12 == 0 /\ rcd_72^0-rcd_72^post12 == 0 /\ -a_146^post12+a_146^0 == 0 /\ len_246^0-len_246^post12 == 0 /\ -temp0_15^post12+temp0_15^0 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ -__disjvr_26^post12+__disjvr_26^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post12+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ x_16^0-x_14^0 <= 0 /\ head_46^0-head_46^post12 == 0 /\ __disjvr_21^0-__disjvr_21^post12 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ -__disjvr_2^post12+__disjvr_2^0 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ temp0_32^0-temp0_32^post12 == 0 /\ -__disjvr_22^post12+__disjvr_22^0 == 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post12 == 0 /\ -y_19^0 <= 0 /\ tmp_48^0-tmp_48^post12 == 0 /\ -__disjvr_13^post12+__disjvr_13^0 == 0 /\ len_180^0-len_180^post12 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post12 == 0 /\ -__disjvr_12^post12+__disjvr_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post12 == 0 /\ __disjvr_28^0-__disjvr_28^post12 == 0 /\ -__disjvr_20^post12+__disjvr_20^0 == 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ -x_16^post12+x_16^0 == 0 /\ -temp_49^post12+temp_49^0 == 0 /\ -x_16^0+x_14^0 <= 0 /\ -x_14^post12+x_14^0 == 0 /\ -rcd_102^post12+rcd_102^0 == 0 /\ a_197^0-a_197^post12 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post12+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_15^post12+__disjvr_15^0 == 0 /\ -__disjvr_25^post12+__disjvr_25^0 == 0 /\ __disjvr_1^0-__disjvr_1^post12 == 0 /\ x_238^0-x_238^post12 == 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post12 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ -r_161^post12+r_161^0 == 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ -length_43^post12+length_43^0 == 0 /\ -x_34^post12+x_34^0 == 0 /\ -a_305^0+a_283^post12 <= 0 /\ -x_20^0+t_23^post12 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post12+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ result_11^0-result_11^post12 == 0 /\ a_26^0-a_26^post12 == 0 /\ x_14^0-t_23^post12 <= 0 /\ __disjvr_7^0-__disjvr_7^post12 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post12+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post12 == 0 /\ temp0_45^0-temp0_45^post12 == 0 /\ -__disjvr_27^post12+__disjvr_27^0 == 0 /\ -i_125^post12+i_125^0 == 0 /\ -x_SLAM_f_18^0+x_14^0 <= 0 /\ -nondet_12^post12+nondet_12^0 == 0 /\ -a_247^post12+a_247^0 == 0 /\ a_305^0-a_305^post12 == 0 /\ __disjvr_11^0-__disjvr_11^post12 == 0 /\ __disjvr_3^0-__disjvr_3^post12 == 0 /\ __disjvr_9^0-__disjvr_9^post12 == 0 /\ -ct_17^post12+ct_17^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post12+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post12+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ x_177^0-x_177^post12 == 0 /\ a_305^0-a_283^post12 <= 0 /\ -x_28^post12+x_28^0 == 0 /\ r_53^0-r_53^post12 == 0 /\ fmt_31^0-fmt_31^post12 == 0 /\ ct_17^0 <= 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post12 == 0 /\ -x_14^0+t_23^post12 <= 0 /\ -ct_17^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ y_19^0-y_19^post12 == 0 /\ -lt_37^post12+lt_37^0 == 0 /\ __disjvr_18^0-__disjvr_18^post12 == 0 /\ x_SLAM_f_18^0-x_14^0 <= 0 /\ -x_20^post12+x_20^0 == 0 /\ __disjvr_14^0-__disjvr_14^post12 == 0 /\ i_108^0-i_108^post12 == 0), cost: 1
New rule:
l13 -> l14 : a_283^0'=a_305^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ x_SLAM_f_18^0-x_16^0 == 0 /\ -x_20^0+x_14^0 == 0 /\ -x_SLAM_f_18^0+x_14^0 == 0 /\ ct_17^0 == 0), cost: 1

Applied preprocessing
Original rule:
l14 -> l15 : __disjvr_0^0'=__disjvr_0^post13, a_283^0'=a_283^post13, temp0_45^0'=temp0_45^post13, __disjvr_21^0'=__disjvr_21^post13, y_19^0'=y_19^post13, __disjvr_4^0'=__disjvr_4^post13, result_11^0'=result_11^post13, __disjvr_14^0'=__disjvr_14^post13, head_46^0'=head_46^post13, __disjvr_24^0'=__disjvr_24^post13, x_177^0'=x_177^post13, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post13, __disjvr_9^0'=__disjvr_9^post13, a_197^0'=a_197^post13, t_23^0'=t_23^post13, __disjvr_19^0'=__disjvr_19^post13, len_246^0'=len_246^post13, __disjvr_29^0'=__disjvr_29^post13, x_SLAM_f_18^0'=x_SLAM_f_18^post13, r_53^0'=r_53^post13, __disjvr_11^0'=__disjvr_11^post13, a_328^0'=a_328^post13, tmp_48^0'=tmp_48^post13, lt_36^0'=lt_36^post13, __disjvr_6^0'=__disjvr_6^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, __disjvr_16^0'=__disjvr_16^post13, i_125^0'=i_125^post13, __disjvr_26^0'=__disjvr_26^post13, x_238^0'=x_238^post13, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post13, a_26^0'=a_26^post13, temp0_32^0'=temp0_32^post13, __disjvr_20^0'=__disjvr_20^post13, lt_237^0'=lt_237^post13, __disjvr_3^0'=__disjvr_3^post13, rcd_72^0'=rcd_72^post13, __disjvr_13^0'=__disjvr_13^post13, fmt_31^0'=fmt_31^post13, __disjvr_23^0'=__disjvr_23^post13, x_16^0'=x_16^post13, nondet_12^0'=nondet_12^post13, __disjvr_8^0'=__disjvr_8^post13, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post13, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post13, __disjvr_18^0'=__disjvr_18^post13, len_180^0'=len_180^post13, __disjvr_28^0'=__disjvr_28^post13, x_34^0'=x_34^post13, r_161^0'=r_161^post13, __disjvr_10^0'=__disjvr_10^post13, a_305^0'=a_305^post13, temp_49^0'=temp_49^post13, __disjvr_22^0'=__disjvr_22^post13, __disjvr_5^0'=__disjvr_5^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post13, __disjvr_15^0'=__disjvr_15^post13, i_108^0'=i_108^post13, __disjvr_25^0'=__disjvr_25^post13, x_20^0'=x_20^post13, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post13, a_146^0'=a_146^post13, a_247^0'=a_247^post13, temp0_15^0'=temp0_15^post13, __disjvr_1^0'=__disjvr_1^post13, length_43^0'=length_43^post13, __disjvr_2^0'=__disjvr_2^post13, rcd_102^0'=rcd_102^post13, __disjvr_12^0'=__disjvr_12^post13, ct_17^0'=ct_17^post13, x_14^0'=x_14^post13, lt_37^0'=lt_37^post13, __disjvr_7^0'=__disjvr_7^post13, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post13, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post13, __disjvr_17^0'=__disjvr_17^post13, i_44^0'=i_44^post13, __disjvr_27^0'=__disjvr_27^post13, x_28^0'=x_28^post13, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post13, (-lt_37^post13+lt_37^0 == 0 /\ -__disjvr_18^post13+__disjvr_18^0 == 0 /\ head_46^0-head_46^post13 == 0 /\ a_328^0-a_328^post13 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post13 == 0 /\ -a_26^post13+a_26^0 == 0 /\ __disjvr_26^0-__disjvr_26^post13 == 0 /\ __disjvr_23^0-__disjvr_23^post13 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ lt_36^0-lt_36^post13 == 0 /\ temp0_32^0-temp0_32^post13 == 0 /\ -temp0_15^post13+temp0_15^0 == 0 /\ -i_108^post13+i_108^0 == 0 /\ -x_28^post13+x_28^0 == 0 /\ -__disjvr_6^post13+__disjvr_6^0 == 0 /\ -__disjvr_8^post13+__disjvr_8^0 == 0 /\ -rcd_102^post13+rcd_102^0 == 0 /\ temp0_45^0-temp0_45^post13 == 0 /\ -x_16^post13+x_16^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post13 == 0 /\ a_197^0-a_197^post13 == 0 /\ nondet_12^0-nondet_12^post13 == 0 /\ -r_161^post13+r_161^0 == 0 /\ y_19^0-y_19^post13 == 0 /\ __disjvr_10^0-__disjvr_10^post13 == 0 /\ x_34^0-x_34^post13 == 0 /\ -__disjvr_12^post13+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post13+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -lt_237^post13+lt_237^0 == 0 /\ -rcd_72^post13+rcd_72^0 == 0 /\ -__disjvr_22^post13+__disjvr_22^0 == 0 /\ x_238^0-x_238^post13 == 0 /\ tmp_48^0-tmp_48^post13 == 0 /\ __disjvr_24^0-__disjvr_24^post13 == 0 /\ __disjvr_14^0-__disjvr_14^post13 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post13+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post13+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post13+__disjvr_1^0 == 0 /\ -i_44^post13+i_44^0 == 0 /\ -__disjvr_15^post13+__disjvr_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_6^post13-__disjvr_6^0 == 0 /\ __disjvr_28^0-__disjvr_28^post13 == 0 /\ __disjvr_3^0-__disjvr_3^post13 == 0 /\ -__disjvr_19^post13+__disjvr_19^0 == 0 /\ -i_125^post13+i_125^0 == 0 /\ -__disjvr_13^post13+__disjvr_13^0 == 0 /\ x_20^0-x_20^post13 == 0 /\ -__disjvr_27^post13+__disjvr_27^0 == 0 /\ -x_14^post13+x_14^0 == 0 /\ -length_43^post13+length_43^0 == 0 /\ -__disjvr_29^post13+__disjvr_29^0 == 0 /\ __disjvr_21^0-__disjvr_21^post13 == 0 /\ __disjvr_11^0-__disjvr_11^post13 == 0 /\ -__disjvr_25^post13+__disjvr_25^0 == 0 /\ __disjvr_16^0-__disjvr_16^post13 == 0 /\ fmt_31^0-fmt_31^post13 == 0 /\ __disjvr_20^0-__disjvr_20^post13 == 0 /\ -__disjvr_5^post13+__disjvr_5^0 == 0 /\ -__disjvr_17^post13+__disjvr_17^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post13 == 0 /\ x_177^0-x_177^post13 == 0 /\ -__disjvr_9^post13+__disjvr_9^0 == 0 /\ -a_305^post13+a_305^0 == 0 /\ len_246^0-len_246^post13 == 0 /\ temp_49^0-temp_49^post13 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post13 == 0 /\ -a_146^post13+a_146^0 == 0 /\ result_11^0-result_11^post13 == 0 /\ -ct_17^post13+ct_17^0 == 0 /\ a_283^0-a_283^post13 == 0 /\ -__disjvr_7^post13+__disjvr_7^0 == 0 /\ r_53^0-r_53^post13 == 0 /\ len_180^0-len_180^post13 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post13 == 0 /\ __disjvr_4^0-__disjvr_4^post13 == 0 /\ -__disjvr_2^post13+__disjvr_2^0 == 0 /\ t_23^0-t_23^post13 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post13+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post13+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -a_247^post13+a_247^0 == 0), cost: 1
New rule:
l14 -> l15 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l15 -> l16 : __disjvr_0^0'=__disjvr_0^post14, a_283^0'=a_283^post14, temp0_45^0'=temp0_45^post14, __disjvr_21^0'=__disjvr_21^post14, y_19^0'=y_19^post14, __disjvr_4^0'=__disjvr_4^post14, result_11^0'=result_11^post14, __disjvr_14^0'=__disjvr_14^post14, head_46^0'=head_46^post14, __disjvr_24^0'=__disjvr_24^post14, x_177^0'=x_177^post14, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post14, __disjvr_9^0'=__disjvr_9^post14, a_197^0'=a_197^post14, t_23^0'=t_23^post14, __disjvr_19^0'=__disjvr_19^post14, len_246^0'=len_246^post14, __disjvr_29^0'=__disjvr_29^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, r_53^0'=r_53^post14, __disjvr_11^0'=__disjvr_11^post14, a_328^0'=a_328^post14, tmp_48^0'=tmp_48^post14, lt_36^0'=lt_36^post14, __disjvr_6^0'=__disjvr_6^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, __disjvr_16^0'=__disjvr_16^post14, i_125^0'=i_125^post14, __disjvr_26^0'=__disjvr_26^post14, x_238^0'=x_238^post14, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post14, a_26^0'=a_26^post14, temp0_32^0'=temp0_32^post14, __disjvr_20^0'=__disjvr_20^post14, lt_237^0'=lt_237^post14, __disjvr_3^0'=__disjvr_3^post14, rcd_72^0'=rcd_72^post14, __disjvr_13^0'=__disjvr_13^post14, fmt_31^0'=fmt_31^post14, __disjvr_23^0'=__disjvr_23^post14, x_16^0'=x_16^post14, nondet_12^0'=nondet_12^post14, __disjvr_8^0'=__disjvr_8^post14, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post14, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post14, __disjvr_18^0'=__disjvr_18^post14, len_180^0'=len_180^post14, __disjvr_28^0'=__disjvr_28^post14, x_34^0'=x_34^post14, r_161^0'=r_161^post14, __disjvr_10^0'=__disjvr_10^post14, a_305^0'=a_305^post14, temp_49^0'=temp_49^post14, __disjvr_22^0'=__disjvr_22^post14, __disjvr_5^0'=__disjvr_5^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post14, __disjvr_15^0'=__disjvr_15^post14, i_108^0'=i_108^post14, __disjvr_25^0'=__disjvr_25^post14, x_20^0'=x_20^post14, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post14, a_146^0'=a_146^post14, a_247^0'=a_247^post14, temp0_15^0'=temp0_15^post14, __disjvr_1^0'=__disjvr_1^post14, length_43^0'=length_43^post14, __disjvr_2^0'=__disjvr_2^post14, rcd_102^0'=rcd_102^post14, __disjvr_12^0'=__disjvr_12^post14, ct_17^0'=ct_17^post14, x_14^0'=x_14^post14, lt_37^0'=lt_37^post14, __disjvr_7^0'=__disjvr_7^post14, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post14, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post14, __disjvr_17^0'=__disjvr_17^post14, i_44^0'=i_44^post14, __disjvr_27^0'=__disjvr_27^post14, x_28^0'=x_28^post14, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post14, (i_125^0-i_125^post14 == 0 /\ fmt_31^0-fmt_31^post14 == 0 /\ -i_108^post14+i_108^0 == 0 /\ -__disjvr_1^post14+__disjvr_1^0 == 0 /\ -rcd_102^post14+rcd_102^0 == 0 /\ __disjvr_3^0-__disjvr_3^post14 == 0 /\ __disjvr_22^0-__disjvr_22^post14 == 0 /\ -lt_37^post14+lt_37^0 == 0 /\ -__disjvr_10^post14+__disjvr_10^0 == 0 /\ -__disjvr_16^post14+__disjvr_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post14 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post14+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -tmp_48^post14+tmp_48^0 == 0 /\ a_197^0-a_197^post14 == 0 /\ -__disjvr_12^post14+__disjvr_12^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post14+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ x_177^0-x_177^post14 == 0 /\ -a_26^post14+a_26^0 == 0 /\ __disjvr_6^0-__disjvr_6^post14 == 0 /\ -len_180^post14+len_180^0 == 0 /\ __disjvr_0^0-__disjvr_0^post14 == 0 /\ y_19^0-y_19^post14 == 0 /\ t_23^0-t_23^post14 == 0 /\ ct_17^0-ct_17^post14 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post14+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_14^0-__disjvr_14^post14 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post14+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post14+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ r_161^0-r_161^post14 == 0 /\ x_16^0-x_16^post14 == 0 /\ -r_53^post14+r_53^0 == 0 /\ __disjvr_9^0-__disjvr_9^post14 == 0 /\ temp0_45^0-temp0_45^post14 == 0 /\ -len_246^post14+len_246^0 == 0 /\ __disjvr_18^0-__disjvr_18^post14 == 0 /\ -x_28^post14+x_28^0 == 0 /\ nondet_12^0-nondet_12^post14 == 0 /\ __disjvr_24^0-__disjvr_24^post14 == 0 /\ -length_43^post14+length_43^0 == 0 /\ -lt_237^post14+lt_237^0 == 0 /\ -x_34^post14+x_34^0 == 0 /\ a_328^0-a_328^post14 == 0 /\ __disjvr_21^0-__disjvr_21^post14 == 0 /\ -temp_49^post14+temp_49^0 == 0 /\ -x_238^post14+x_238^0 == 0 /\ -__disjvr_23^post14+__disjvr_23^0 == 0 /\ __disjvr_26^0-__disjvr_26^post14 == 0 /\ __disjvr_28^0-__disjvr_28^post14 == 0 /\ -x_14^post14+x_14^0 == 0 /\ -__disjvr_25^post14+__disjvr_25^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post14+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -__disjvr_27^post14+__disjvr_27^0 == 0 /\ __disjvr_29^0-__disjvr_29^post14 == 0 /\ -head_46^post14+head_46^0 == 0 /\ -rcd_72^post14+rcd_72^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post14 == 0 /\ lt_36^0-lt_36^post14 == 0 /\ -__disjvr_11^post14+__disjvr_11^0 == 0 /\ __disjvr_7^post14-__disjvr_7^0 == 0 /\ -a_305^post14+a_305^0 == 0 /\ -temp0_15^post14+temp0_15^0 == 0 /\ __disjvr_5^0-__disjvr_5^post14 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post14 == 0 /\ i_44^0-i_44^post14 == 0 /\ -a_146^post14+a_146^0 == 0 /\ -__disjvr_2^post14+__disjvr_2^0 == 0 /\ result_11^0-result_11^post14 == 0 /\ __disjvr_13^0-__disjvr_13^post14 == 0 /\ -x_20^post14+x_20^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post14 == 0 /\ -a_247^post14+a_247^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post14 == 0 /\ __disjvr_19^0-__disjvr_19^post14 == 0 /\ __disjvr_4^0-__disjvr_4^post14 == 0 /\ -temp0_32^post14+temp0_32^0 == 0 /\ a_283^0-a_283^post14 == 0 /\ -__disjvr_8^post14+__disjvr_8^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post14 == 0 /\ -__disjvr_17^post14+__disjvr_17^0 == 0 /\ -__disjvr_7^post14+__disjvr_7^0 == 0 /\ __disjvr_15^0-__disjvr_15^post14 == 0), cost: 1
New rule:
l15 -> l16 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l16 -> l17 : __disjvr_0^0'=__disjvr_0^post15, a_283^0'=a_283^post15, temp0_45^0'=temp0_45^post15, __disjvr_21^0'=__disjvr_21^post15, y_19^0'=y_19^post15, __disjvr_4^0'=__disjvr_4^post15, result_11^0'=result_11^post15, __disjvr_14^0'=__disjvr_14^post15, head_46^0'=head_46^post15, __disjvr_24^0'=__disjvr_24^post15, x_177^0'=x_177^post15, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post15, __disjvr_9^0'=__disjvr_9^post15, a_197^0'=a_197^post15, t_23^0'=t_23^post15, __disjvr_19^0'=__disjvr_19^post15, len_246^0'=len_246^post15, __disjvr_29^0'=__disjvr_29^post15, x_SLAM_f_18^0'=x_SLAM_f_18^post15, r_53^0'=r_53^post15, __disjvr_11^0'=__disjvr_11^post15, a_328^0'=a_328^post15, tmp_48^0'=tmp_48^post15, lt_36^0'=lt_36^post15, __disjvr_6^0'=__disjvr_6^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, __disjvr_16^0'=__disjvr_16^post15, i_125^0'=i_125^post15, __disjvr_26^0'=__disjvr_26^post15, x_238^0'=x_238^post15, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post15, a_26^0'=a_26^post15, temp0_32^0'=temp0_32^post15, __disjvr_20^0'=__disjvr_20^post15, lt_237^0'=lt_237^post15, __disjvr_3^0'=__disjvr_3^post15, rcd_72^0'=rcd_72^post15, __disjvr_13^0'=__disjvr_13^post15, fmt_31^0'=fmt_31^post15, __disjvr_23^0'=__disjvr_23^post15, x_16^0'=x_16^post15, nondet_12^0'=nondet_12^post15, __disjvr_8^0'=__disjvr_8^post15, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post15, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post15, __disjvr_18^0'=__disjvr_18^post15, len_180^0'=len_180^post15, __disjvr_28^0'=__disjvr_28^post15, x_34^0'=x_34^post15, r_161^0'=r_161^post15, __disjvr_10^0'=__disjvr_10^post15, a_305^0'=a_305^post15, temp_49^0'=temp_49^post15, __disjvr_22^0'=__disjvr_22^post15, __disjvr_5^0'=__disjvr_5^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post15, __disjvr_15^0'=__disjvr_15^post15, i_108^0'=i_108^post15, __disjvr_25^0'=__disjvr_25^post15, x_20^0'=x_20^post15, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post15, a_146^0'=a_146^post15, a_247^0'=a_247^post15, temp0_15^0'=temp0_15^post15, __disjvr_1^0'=__disjvr_1^post15, length_43^0'=length_43^post15, __disjvr_2^0'=__disjvr_2^post15, rcd_102^0'=rcd_102^post15, __disjvr_12^0'=__disjvr_12^post15, ct_17^0'=ct_17^post15, x_14^0'=x_14^post15, lt_37^0'=lt_37^post15, __disjvr_7^0'=__disjvr_7^post15, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post15, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post15, __disjvr_17^0'=__disjvr_17^post15, i_44^0'=i_44^post15, __disjvr_27^0'=__disjvr_27^post15, x_28^0'=x_28^post15, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post15, (i_125^0-i_125^post15 == 0 /\ -__disjvr_10^post15+__disjvr_10^0 == 0 /\ -__disjvr_3^post15+__disjvr_3^0 == 0 /\ -x_20^post15+x_20^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post15 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post15+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post15+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -rcd_102^post15+rcd_102^0 == 0 /\ -__disjvr_8^0+__disjvr_8^post15 == 0 /\ __disjvr_6^0-__disjvr_6^post15 == 0 /\ -lt_37^post15+lt_37^0 == 0 /\ -r_161^post15+r_161^0 == 0 /\ __disjvr_11^0-__disjvr_11^post15 == 0 /\ -length_43^post15+length_43^0 == 0 /\ a_197^0-a_197^post15 == 0 /\ x_177^0-x_177^post15 == 0 /\ -__disjvr_1^post15+__disjvr_1^0 == 0 /\ __disjvr_16^0-__disjvr_16^post15 == 0 /\ result_11^0-result_11^post15 == 0 /\ __disjvr_2^0-__disjvr_2^post15 == 0 /\ -i_108^post15+i_108^0 == 0 /\ -x_28^post15+x_28^0 == 0 /\ __disjvr_8^0-__disjvr_8^post15 == 0 /\ lt_237^0-lt_237^post15 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ -x_34^post15+x_34^0 == 0 /\ a_26^0-a_26^post15 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post15+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -fmt_31^post15+fmt_31^0 == 0 /\ len_180^0-len_180^post15 == 0 /\ len_246^0-len_246^post15 == 0 /\ __disjvr_26^0-__disjvr_26^post15 == 0 /\ __disjvr_21^0-__disjvr_21^post15 == 0 /\ __disjvr_4^0-__disjvr_4^post15 == 0 /\ -__disjvr_22^post15+__disjvr_22^0 == 0 /\ a_283^0-a_283^post15 == 0 /\ -ct_17^post15+ct_17^0 == 0 /\ head_46^0-head_46^post15 == 0 /\ temp0_32^0-temp0_32^post15 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post15+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post15 == 0 /\ -r_53^post15+r_53^0 == 0 /\ -i_44^post15+i_44^0 == 0 /\ __disjvr_18^0-__disjvr_18^post15 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post15+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_15^0-__disjvr_15^post15 == 0 /\ -a_247^post15+a_247^0 == 0 /\ __disjvr_25^0-__disjvr_25^post15 == 0 /\ -temp_49^post15+temp_49^0 == 0 /\ __disjvr_0^0-__disjvr_0^post15 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post15+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_20^post15+__disjvr_20^0 == 0 /\ __disjvr_29^0-__disjvr_29^post15 == 0 /\ __disjvr_14^0-__disjvr_14^post15 == 0 /\ -x_14^post15+x_14^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post15 == 0 /\ -t_23^post15+t_23^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post15 == 0 /\ lt_36^0-lt_36^post15 == 0 /\ x_238^0-x_238^post15 == 0 /\ temp0_45^0-temp0_45^post15 == 0 /\ -__disjvr_17^post15+__disjvr_17^0 == 0 /\ -__disjvr_5^post15+__disjvr_5^0 == 0 /\ y_19^0-y_19^post15 == 0 /\ rcd_72^0-rcd_72^post15 == 0 /\ -x_16^post15+x_16^0 == 0 /\ a_305^0-a_305^post15 == 0 /\ -__disjvr_13^post15+__disjvr_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post15 == 0 /\ __disjvr_19^0-__disjvr_19^post15 == 0 /\ __disjvr_9^0-__disjvr_9^post15 == 0 /\ -__disjvr_23^post15+__disjvr_23^0 == 0 /\ -__disjvr_12^post15+__disjvr_12^0 == 0 /\ -a_146^post15+a_146^0 == 0 /\ -__disjvr_27^post15+__disjvr_27^0 == 0 /\ tmp_48^0-tmp_48^post15 == 0 /\ -a_328^post15+a_328^0 == 0 /\ __disjvr_24^0-__disjvr_24^post15 == 0 /\ -temp0_15^post15+temp0_15^0 == 0 /\ -__disjvr_7^post15+__disjvr_7^0 == 0 /\ -__disjvr_28^post15+__disjvr_28^0 == 0), cost: 1
New rule:
l16 -> l17 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l17 -> l4 : __disjvr_0^0'=__disjvr_0^post16, a_283^0'=a_283^post16, temp0_45^0'=temp0_45^post16, __disjvr_21^0'=__disjvr_21^post16, y_19^0'=y_19^post16, __disjvr_4^0'=__disjvr_4^post16, result_11^0'=result_11^post16, __disjvr_14^0'=__disjvr_14^post16, head_46^0'=head_46^post16, __disjvr_24^0'=__disjvr_24^post16, x_177^0'=x_177^post16, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post16, __disjvr_9^0'=__disjvr_9^post16, a_197^0'=a_197^post16, t_23^0'=t_23^post16, __disjvr_19^0'=__disjvr_19^post16, len_246^0'=len_246^post16, __disjvr_29^0'=__disjvr_29^post16, x_SLAM_f_18^0'=x_SLAM_f_18^post16, r_53^0'=r_53^post16, __disjvr_11^0'=__disjvr_11^post16, a_328^0'=a_328^post16, tmp_48^0'=tmp_48^post16, lt_36^0'=lt_36^post16, __disjvr_6^0'=__disjvr_6^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, __disjvr_16^0'=__disjvr_16^post16, i_125^0'=i_125^post16, __disjvr_26^0'=__disjvr_26^post16, x_238^0'=x_238^post16, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post16, a_26^0'=a_26^post16, temp0_32^0'=temp0_32^post16, __disjvr_20^0'=__disjvr_20^post16, lt_237^0'=lt_237^post16, __disjvr_3^0'=__disjvr_3^post16, rcd_72^0'=rcd_72^post16, __disjvr_13^0'=__disjvr_13^post16, fmt_31^0'=fmt_31^post16, __disjvr_23^0'=__disjvr_23^post16, x_16^0'=x_16^post16, nondet_12^0'=nondet_12^post16, __disjvr_8^0'=__disjvr_8^post16, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post16, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post16, __disjvr_18^0'=__disjvr_18^post16, len_180^0'=len_180^post16, __disjvr_28^0'=__disjvr_28^post16, x_34^0'=x_34^post16, r_161^0'=r_161^post16, __disjvr_10^0'=__disjvr_10^post16, a_305^0'=a_305^post16, temp_49^0'=temp_49^post16, __disjvr_22^0'=__disjvr_22^post16, __disjvr_5^0'=__disjvr_5^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post16, __disjvr_15^0'=__disjvr_15^post16, i_108^0'=i_108^post16, __disjvr_25^0'=__disjvr_25^post16, x_20^0'=x_20^post16, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post16, a_146^0'=a_146^post16, a_247^0'=a_247^post16, temp0_15^0'=temp0_15^post16, __disjvr_1^0'=__disjvr_1^post16, length_43^0'=length_43^post16, __disjvr_2^0'=__disjvr_2^post16, rcd_102^0'=rcd_102^post16, __disjvr_12^0'=__disjvr_12^post16, ct_17^0'=ct_17^post16, x_14^0'=x_14^post16, lt_37^0'=lt_37^post16, __disjvr_7^0'=__disjvr_7^post16, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post16, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post16, __disjvr_17^0'=__disjvr_17^post16, i_44^0'=i_44^post16, __disjvr_27^0'=__disjvr_27^post16, x_28^0'=x_28^post16, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post16, (0 == 0 /\ -r_161^post16+r_161^0 == 0 /\ a_305^0-a_305^post16 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post16+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post16 == 0 /\ -__disjvr_7^post16+__disjvr_7^0 == 0 /\ __disjvr_28^0-__disjvr_28^post16 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post16+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_34^post16+x_34^0 == 0 /\ -__disjvr_27^post16+__disjvr_27^0 == 0 /\ y_19^0-y_19^post16 == 0 /\ -length_43^post16+length_43^0 == 0 /\ a_328^0-a_328^post16 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post16+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -lt_37^post16+lt_37^0 == 0 /\ x_238^0-x_238^post16 == 0 /\ -i_125^post16+i_125^0 == 0 /\ rcd_102^0-rcd_102^post16 == 0 /\ -a_247^post16+a_247^0 == 0 /\ -x_28^post16+x_28^0 == 0 /\ __disjvr_23^0-__disjvr_23^post16 == 0 /\ -a_26^post16+a_26^0 == 0 /\ lt_36^0-lt_36^post16 == 0 /\ __disjvr_4^0-__disjvr_4^post16 == 0 /\ 1+a_283^0-len_180^post16 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post16+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post16 == 0 /\ -ct_17^post16+ct_17^0 == 0 /\ -x_20^post16+x_20^0 == 0 /\ __disjvr_12^0-__disjvr_12^post16 == 0 /\ result_11^0-result_11^post16 == 0 /\ temp0_32^0-temp0_32^post16 == 0 /\ __disjvr_21^0-__disjvr_21^post16 == 0 /\ a_283^0-a_283^post16 == 0 /\ -rcd_72^post16+rcd_72^0 == 0 /\ x_177^0-x_177^post16 == 0 /\ __disjvr_3^0-__disjvr_3^post16 == 0 /\ __disjvr_6^0-__disjvr_6^post16 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post16 == 0 /\ -__disjvr_8^post16+__disjvr_8^0 == 0 /\ -temp0_15^post16+temp0_15^0 == 0 /\ fmt_31^0-fmt_31^post16 == 0 /\ __disjvr_20^0-__disjvr_20^post16 == 0 /\ -i_44^post16+i_44^0 == 0 /\ r_53^0-r_53^post16 == 0 /\ -lt_237^post16+lt_237^0 == 0 /\ -__disjvr_19^post16+__disjvr_19^0 == 0 /\ x_14^0-x_14^post16 == 0 /\ a_197^0-a_197^post16 == 0 /\ -__disjvr_18^post16+__disjvr_18^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post16+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post16 == 0 /\ __disjvr_0^0-__disjvr_0^post16 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post16+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -__disjvr_22^post16+__disjvr_22^0 == 0 /\ -a_146^post16+a_146^0 == 0 /\ i_108^0-i_108^post16 == 0 /\ -__disjvr_2^post16+__disjvr_2^0 == 0 /\ __disjvr_14^0-__disjvr_14^post16 == 0 /\ __disjvr_11^0-__disjvr_11^post16 == 0 /\ __disjvr_29^0-__disjvr_29^post16 == 0 /\ -__disjvr_10^post16+__disjvr_10^0 == 0 /\ -__disjvr_1^post16+__disjvr_1^0 == 0 /\ t_23^0-t_23^post16 == 0 /\ -__disjvr_17^post16+__disjvr_17^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post16 == 0 /\ -1-a_283^0+len_180^post16 <= 0 /\ -__disjvr_26^post16+__disjvr_26^0 == 0 /\ __disjvr_24^0-__disjvr_24^post16 == 0 /\ -tmp_48^post16+tmp_48^0 == 0 /\ len_246^0-len_246^post16 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post16+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -temp_49^post16+temp_49^0 == 0 /\ -__disjvr_25^post16+__disjvr_25^0 == 0 /\ temp0_45^0-temp0_45^post16 == 0 /\ head_46^0-head_46^post16 == 0 /\ -__disjvr_5^post16+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ -x_16^post16+x_16^0 == 0 /\ -__disjvr_13^post16+__disjvr_13^0 == 0 /\ -__disjvr_15^post16+__disjvr_15^0 == 0), cost: 1
New rule:
l17 -> l4 : len_180^0'=1+a_283^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l18 -> l19 : __disjvr_0^0'=__disjvr_0^post17, a_283^0'=a_283^post17, temp0_45^0'=temp0_45^post17, __disjvr_21^0'=__disjvr_21^post17, y_19^0'=y_19^post17, __disjvr_4^0'=__disjvr_4^post17, result_11^0'=result_11^post17, __disjvr_14^0'=__disjvr_14^post17, head_46^0'=head_46^post17, __disjvr_24^0'=__disjvr_24^post17, x_177^0'=x_177^post17, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post17, __disjvr_9^0'=__disjvr_9^post17, a_197^0'=a_197^post17, t_23^0'=t_23^post17, __disjvr_19^0'=__disjvr_19^post17, len_246^0'=len_246^post17, __disjvr_29^0'=__disjvr_29^post17, x_SLAM_f_18^0'=x_SLAM_f_18^post17, r_53^0'=r_53^post17, __disjvr_11^0'=__disjvr_11^post17, a_328^0'=a_328^post17, tmp_48^0'=tmp_48^post17, lt_36^0'=lt_36^post17, __disjvr_6^0'=__disjvr_6^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, __disjvr_16^0'=__disjvr_16^post17, i_125^0'=i_125^post17, __disjvr_26^0'=__disjvr_26^post17, x_238^0'=x_238^post17, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post17, a_26^0'=a_26^post17, temp0_32^0'=temp0_32^post17, __disjvr_20^0'=__disjvr_20^post17, lt_237^0'=lt_237^post17, __disjvr_3^0'=__disjvr_3^post17, rcd_72^0'=rcd_72^post17, __disjvr_13^0'=__disjvr_13^post17, fmt_31^0'=fmt_31^post17, __disjvr_23^0'=__disjvr_23^post17, x_16^0'=x_16^post17, nondet_12^0'=nondet_12^post17, __disjvr_8^0'=__disjvr_8^post17, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post17, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post17, __disjvr_18^0'=__disjvr_18^post17, len_180^0'=len_180^post17, __disjvr_28^0'=__disjvr_28^post17, x_34^0'=x_34^post17, r_161^0'=r_161^post17, __disjvr_10^0'=__disjvr_10^post17, a_305^0'=a_305^post17, temp_49^0'=temp_49^post17, __disjvr_22^0'=__disjvr_22^post17, __disjvr_5^0'=__disjvr_5^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post17, __disjvr_15^0'=__disjvr_15^post17, i_108^0'=i_108^post17, __disjvr_25^0'=__disjvr_25^post17, x_20^0'=x_20^post17, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post17, a_146^0'=a_146^post17, a_247^0'=a_247^post17, temp0_15^0'=temp0_15^post17, __disjvr_1^0'=__disjvr_1^post17, length_43^0'=length_43^post17, __disjvr_2^0'=__disjvr_2^post17, rcd_102^0'=rcd_102^post17, __disjvr_12^0'=__disjvr_12^post17, ct_17^0'=ct_17^post17, x_14^0'=x_14^post17, lt_37^0'=lt_37^post17, __disjvr_7^0'=__disjvr_7^post17, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post17, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post17, __disjvr_17^0'=__disjvr_17^post17, i_44^0'=i_44^post17, __disjvr_27^0'=__disjvr_27^post17, x_28^0'=x_28^post17, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post17, (0 == 0 /\ -__disjvr_23^post17+__disjvr_23^0 == 0 /\ x_16^0-x_16^post17 == 0 /\ __disjvr_4^0-__disjvr_4^post17 == 0 /\ rcd_102^0-rcd_102^post17 == 0 /\ -a_146^post17+a_146^0 == 0 /\ __disjvr_16^0-__disjvr_16^post17 == 0 /\ -__disjvr_8^post17+__disjvr_8^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post17+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -ct_17^post17+ct_17^0 == 0 /\ t_23^0-t_23^post17 == 0 /\ -lt_237^post17+lt_237^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post17 == 0 /\ -length_43^post17+result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 <= 0 /\ -rcd_72^post17+rcd_72^0 == 0 /\ head_46^post17 <= 0 /\ head_46^post17 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post17 == 0 /\ temp_49^0-temp_49^post17 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post17+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_9^0-__disjvr_9^post17 == 0 /\ x_34^0-x_34^post17 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post17+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -__disjvr_2^post17+__disjvr_2^0 == 0 /\ a_283^0-a_283^post17 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post17+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -a_247^post17+a_247^0 == 0 /\ -__disjvr_13^post17+__disjvr_13^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post17 == 0 /\ -__disjvr_18^post17+__disjvr_18^0 == 0 /\ fmt_31^0-fmt_31^post17 == 0 /\ -__disjvr_27^post17+__disjvr_27^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post17 == 0 /\ -tmp_48^post17+tmp_48^0 == 0 /\ -x_14^post17+x_14^0 == 0 /\ length_43^post17-result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 <= 0 /\ length_43^post17-result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 == 0 /\ x_177^0-x_177^post17 == 0 /\ -__disjvr_25^post17+__disjvr_25^0 == 0 /\ -__disjvr_11^post17+__disjvr_11^0 == 0 /\ -head_46^post17 <= 0 /\ temp0_15^0-temp0_15^post17 == 0 /\ a_328^0-a_328^post17 == 0 /\ -__disjvr_6^post17+__disjvr_6^0 == 0 /\ __disjvr_14^0-__disjvr_14^post17 == 0 /\ -__disjvr_17^post17+__disjvr_17^0 == 0 /\ __disjvr_0^0-__disjvr_0^post17 == 0 /\ lt_36^0-lt_36^post17 == 0 /\ r_53^0-r_53^post17 == 0 /\ -a_305^post17+a_305^0 == 0 /\ -r_161^post17+r_161^0 == 0 /\ -len_180^post17+len_180^0 == 0 /\ -__disjvr_12^post17+__disjvr_12^0 == 0 /\ __disjvr_5^0-__disjvr_5^post17 == 0 /\ temp0_45^0-temp0_45^post17 == 0 /\ -__disjvr_7^post17+__disjvr_7^0 == 0 /\ len_246^0-len_246^post17 == 0 /\ -result_11^post17+result_11^0 == 0 /\ -__disjvr_21^post17+__disjvr_21^0 == 0 /\ -__disjvr_1^post17+__disjvr_1^0 == 0 /\ -__disjvr_24^post17+__disjvr_24^0 == 0 /\ __disjvr_19^0-__disjvr_19^post17 == 0 /\ __disjvr_26^0-__disjvr_26^post17 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post17+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_20^post17+x_20^0 == 0 /\ __disjvr_22^0-__disjvr_22^post17 == 0 /\ temp0_32^0-temp0_32^post17 == 0 /\ -lt_37^post17+lt_37^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post17-nondet_12^10 == 0 /\ __disjvr_15^0-__disjvr_15^post17 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post17 == 0 /\ -a_26^post17+a_26^0 == 0 /\ __disjvr_20^0-__disjvr_20^post17 == 0 /\ __disjvr_28^0-__disjvr_28^post17 == 0 /\ __disjvr_3^0-__disjvr_3^post17 == 0 /\ i_44^post17 <= 0 /\ i_44^post17 == 0 /\ a_197^0-a_197^post17 == 0 /\ -x_238^post17+x_238^0 == 0 /\ y_19^0-y_19^post17 == 0 /\ __disjvr_10^0-__disjvr_10^post17 == 0 /\ -i_44^post17 <= 0 /\ __disjvr_29^0-__disjvr_29^post17 == 0 /\ -i_108^post17+i_108^0 == 0 /\ i_125^0-i_125^post17 == 0 /\ -x_28^post17+x_28^0 == 0), cost: 1
New rule:
l18 -> l19 : head_46^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post17, length_43^0'=nondet_12^10, i_44^0'=0, 0 == 0, cost: 1

Applied preprocessing
Original rule:
l20 -> l33 : __disjvr_0^0'=__disjvr_0^post31, a_283^0'=a_283^post31, temp0_45^0'=temp0_45^post31, __disjvr_21^0'=__disjvr_21^post31, y_19^0'=y_19^post31, __disjvr_4^0'=__disjvr_4^post31, result_11^0'=result_11^post31, __disjvr_14^0'=__disjvr_14^post31, head_46^0'=head_46^post31, __disjvr_24^0'=__disjvr_24^post31, x_177^0'=x_177^post31, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post31, __disjvr_9^0'=__disjvr_9^post31, a_197^0'=a_197^post31, t_23^0'=t_23^post31, __disjvr_19^0'=__disjvr_19^post31, len_246^0'=len_246^post31, __disjvr_29^0'=__disjvr_29^post31, x_SLAM_f_18^0'=x_SLAM_f_18^post31, r_53^0'=r_53^post31, __disjvr_11^0'=__disjvr_11^post31, a_328^0'=a_328^post31, tmp_48^0'=tmp_48^post31, lt_36^0'=lt_36^post31, __disjvr_6^0'=__disjvr_6^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, __disjvr_16^0'=__disjvr_16^post31, i_125^0'=i_125^post31, __disjvr_26^0'=__disjvr_26^post31, x_238^0'=x_238^post31, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post31, a_26^0'=a_26^post31, temp0_32^0'=temp0_32^post31, __disjvr_20^0'=__disjvr_20^post31, lt_237^0'=lt_237^post31, __disjvr_3^0'=__disjvr_3^post31, rcd_72^0'=rcd_72^post31, __disjvr_13^0'=__disjvr_13^post31, fmt_31^0'=fmt_31^post31, __disjvr_23^0'=__disjvr_23^post31, x_16^0'=x_16^post31, nondet_12^0'=nondet_12^post31, __disjvr_8^0'=__disjvr_8^post31, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post31, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post31, __disjvr_18^0'=__disjvr_18^post31, len_180^0'=len_180^post31, __disjvr_28^0'=__disjvr_28^post31, x_34^0'=x_34^post31, r_161^0'=r_161^post31, __disjvr_10^0'=__disjvr_10^post31, a_305^0'=a_305^post31, temp_49^0'=temp_49^post31, __disjvr_22^0'=__disjvr_22^post31, __disjvr_5^0'=__disjvr_5^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31, __disjvr_15^0'=__disjvr_15^post31, i_108^0'=i_108^post31, __disjvr_25^0'=__disjvr_25^post31, x_20^0'=x_20^post31, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post31, a_146^0'=a_146^post31, a_247^0'=a_247^post31, temp0_15^0'=temp0_15^post31, __disjvr_1^0'=__disjvr_1^post31, length_43^0'=length_43^post31, __disjvr_2^0'=__disjvr_2^post31, rcd_102^0'=rcd_102^post31, __disjvr_12^0'=__disjvr_12^post31, ct_17^0'=ct_17^post31, x_14^0'=x_14^post31, lt_37^0'=lt_37^post31, __disjvr_7^0'=__disjvr_7^post31, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post31, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post31, __disjvr_17^0'=__disjvr_17^post31, i_44^0'=i_44^post31, __disjvr_27^0'=__disjvr_27^post31, x_28^0'=x_28^post31, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post31, (0 == 0 /\ -x_28^post31+x_28^0 == 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ -a_328^post31+a_328^0 == 0 /\ head_46^post31-tmp_48^post31 <= 0 /\ head_46^post31-tmp_48^post31 == 0 /\ __disjvr_29^0-__disjvr_29^post31 == 0 /\ -x_16^post31+x_16^0 == 0 /\ 1-length_43^0+i_44^0 <= 0 /\ lt_36^0-lt_36^post31 == 0 /\ -lt_237^post31+lt_237^0 == 0 /\ -__disjvr_18^post31+__disjvr_18^0 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ temp0_32^0-temp0_32^post31 == 0 /\ -__disjvr_8^post31+__disjvr_8^0 == 0 /\ -__disjvr_2^post31+__disjvr_2^0 == 0 /\ result_11^0-result_11^post31 == 0 /\ -a_146^post31+a_146^0 == 0 /\ -__disjvr_26^post31+__disjvr_26^0 == 0 /\ temp0_45^0-temp0_45^post31 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post31+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ 2-i_44^post31 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post31-length_43^0 <= 0 /\ -temp0_15^post31+temp0_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post31 == 0 /\ -__disjvr_25^post31+__disjvr_25^0 == 0 /\ -__disjvr_19^post31+__disjvr_19^0 == 0 /\ -__disjvr_22^post31+__disjvr_22^0 == 0 /\ -head_46^post31+tmp_48^post31 <= 0 /\ -__disjvr_23^post31+__disjvr_23^0 == 0 /\ __disjvr_28^0-__disjvr_28^post31 == 0 /\ a_197^0-a_197^post31 == 0 /\ -__disjvr_13^post31+__disjvr_13^0 == 0 /\ -rcd_102^post31+rcd_102^0 == 0 /\ -__disjvr_15^post31+__disjvr_15^0 == 0 /\ y_19^0-y_19^post31 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post31+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_20^post31+__disjvr_20^0 == 0 /\ x_238^0-x_238^post31 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post31+length_43^0 <= 0 /\ __disjvr_10^0-__disjvr_10^post31 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0 /\ -tmp_48^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31 <= 0 /\ -length_43^post31+length_43^0 == 0 /\ -head_46^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31 <= 0 /\ __disjvr_16^0-__disjvr_16^post31 == 0 /\ 2-length_43^0 <= 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ __disjvr_4^0-__disjvr_4^post31 == 0 /\ -r_161^post31+r_161^0 == 0 /\ x_14^0-x_14^post31 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post31 == 0 /\ -ct_17^post31+ct_17^0 == 0 /\ fmt_31^0-fmt_31^post31 == 0 /\ -x_34^post31+x_34^0 == 0 /\ -__disjvr_27^post31+__disjvr_27^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post31+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ -i_125^post31+i_125^0 == 0 /\ __disjvr_21^0-__disjvr_21^post31 == 0 /\ __disjvr_7^0-__disjvr_7^post31 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post31 == 0 /\ -2+i_44^post31 <= 0 /\ a_26^0-a_26^post31 == 0 /\ -a_305^post31+a_305^0 == 0 /\ tmp_48^post31-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post31+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post31+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ r_53^0-r_53^post31 == 0 /\ __disjvr_9^0-__disjvr_9^post31 == 0 /\ -x_20^post31+x_20^0 == 0 /\ -1+i_44^post31-i_44^0 == 0 /\ len_180^0-len_180^post31 == 0 /\ __disjvr_11^0-__disjvr_11^post31 == 0 /\ x_177^0-x_177^post31 == 0 /\ head_46^post31-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post31 <= 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ a_283^0-a_283^post31 == 0 /\ len_246^0-len_246^post31 == 0 /\ __disjvr_14^0-__disjvr_14^post31 == 0 /\ t_23^0-t_23^post31 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post31+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ 1-length_43^0 <= 0 /\ -lt_37^post31+lt_37^0 == 0 /\ __disjvr_24^0-__disjvr_24^post31 == 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ -a_247^post31+a_247^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post31 == 0 /\ i_108^0-i_108^post31 == 0 /\ tmp_48^post31-temp_49^0 == 0), cost: 1
New rule:
l20 -> l33 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_43^0, rcd_72^0'=rcd_72^post31, temp_49^0'=temp_49^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^0, i_44^0'=2, (-2+length_43^0 >= 0 /\ -1+i_44^0 == 0), cost: 1

Applied preprocessing
Original rule:
l33 -> l35 : __disjvr_0^0'=__disjvr_0^post32, a_283^0'=a_283^post32, temp0_45^0'=temp0_45^post32, __disjvr_21^0'=__disjvr_21^post32, y_19^0'=y_19^post32, __disjvr_4^0'=__disjvr_4^post32, result_11^0'=result_11^post32, __disjvr_14^0'=__disjvr_14^post32, head_46^0'=head_46^post32, __disjvr_24^0'=__disjvr_24^post32, x_177^0'=x_177^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post32, __disjvr_9^0'=__disjvr_9^post32, a_197^0'=a_197^post32, t_23^0'=t_23^post32, __disjvr_19^0'=__disjvr_19^post32, len_246^0'=len_246^post32, __disjvr_29^0'=__disjvr_29^post32, x_SLAM_f_18^0'=x_SLAM_f_18^post32, r_53^0'=r_53^post32, __disjvr_11^0'=__disjvr_11^post32, a_328^0'=a_328^post32, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post32, __disjvr_6^0'=__disjvr_6^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, __disjvr_16^0'=__disjvr_16^post32, i_125^0'=i_125^post32, __disjvr_26^0'=__disjvr_26^post32, x_238^0'=x_238^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post32, a_26^0'=a_26^post32, temp0_32^0'=temp0_32^post32, __disjvr_20^0'=__disjvr_20^post32, lt_237^0'=lt_237^post32, __disjvr_3^0'=__disjvr_3^post32, rcd_72^0'=rcd_72^post32, __disjvr_13^0'=__disjvr_13^post32, fmt_31^0'=fmt_31^post32, __disjvr_23^0'=__disjvr_23^post32, x_16^0'=x_16^post32, nondet_12^0'=nondet_12^post32, __disjvr_8^0'=__disjvr_8^post32, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post32, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post32, __disjvr_18^0'=__disjvr_18^post32, len_180^0'=len_180^post32, __disjvr_28^0'=__disjvr_28^post32, x_34^0'=x_34^post32, r_161^0'=r_161^post32, __disjvr_10^0'=__disjvr_10^post32, a_305^0'=a_305^post32, temp_49^0'=temp_49^post32, __disjvr_22^0'=__disjvr_22^post32, __disjvr_5^0'=__disjvr_5^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, __disjvr_15^0'=__disjvr_15^post32, i_108^0'=i_108^post32, __disjvr_25^0'=__disjvr_25^post32, x_20^0'=x_20^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post32, a_146^0'=a_146^post32, a_247^0'=a_247^post32, temp0_15^0'=temp0_15^post32, __disjvr_1^0'=__disjvr_1^post32, length_43^0'=length_43^post32, __disjvr_2^0'=__disjvr_2^post32, rcd_102^0'=rcd_102^post32, __disjvr_12^0'=__disjvr_12^post32, ct_17^0'=ct_17^post32, x_14^0'=x_14^post32, lt_37^0'=lt_37^post32, __disjvr_7^0'=__disjvr_7^post32, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post32, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post32, __disjvr_17^0'=__disjvr_17^post32, i_44^0'=i_44^post32, __disjvr_27^0'=__disjvr_27^post32, x_28^0'=x_28^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post32, (0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post32+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_8^0-__disjvr_8^post32 == 0 /\ -result_11^310+result_dot_printf_sdv_special_RETURN_VALUE_41^post32 == 0 /\ a_305^0-a_305^post32 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ len_180^0-len_180^post32 == 0 /\ -x_34^post32+x_34^0 == 0 /\ x_16^0-x_16^post32 == 0 /\ -head_46^0+temp0_45^110 == 0 /\ a_328^0-a_328^post32 == 0 /\ len_246^0-len_246^post32 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ y_19^0-y_19^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ __disjvr_19^0-__disjvr_19^post32 == 0 /\ length_43^0-i_44^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post32 == 0 /\ rcd_72^0-rcd_72^post32 == 0 /\ -lt_36^post32+lt_36^0 == 0 /\ -__disjvr_28^post32+__disjvr_28^0 == 0 /\ a_247^0-a_247^post32 == 0 /\ __disjvr_4^0-__disjvr_4^post32 == 0 /\ -a_146^post32+a_146^0 == 0 /\ -__disjvr_13^post32+__disjvr_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post32 == 0 /\ fmt_31^13-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post32 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post32+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -rcd_102^post32+rcd_102^0 == 0 /\ -x_20^post32+x_20^0 == 0 /\ -__disjvr_27^post32+__disjvr_27^0 == 0 /\ a_197^0-a_197^post32 == 0 /\ r_53^0-r_53^post32 == 0 /\ -ct_17^post32+ct_17^0 == 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ -temp0_15^post32+temp0_15^0 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ -__disjvr_17^post32+__disjvr_17^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post32 == 0 /\ t_23^0-t_23^post32 == 0 /\ -__disjvr_18^post32+__disjvr_18^0 == 0 /\ __disjvr_21^0-__disjvr_21^post32 == 0 /\ -a_26^post32+x_28^post32 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ result_11^130-temp0_45^110 == 0 /\ __disjvr_24^0-__disjvr_24^post32 == 0 /\ a_26^post32-x_14^post32 == 0 /\ -i_44^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ -r_161^post32+r_161^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post32 == 0 /\ i_108^0-i_108^post32 == 0 /\ result_11^310-temp0_32^130 == 0 /\ -__disjvr_22^post32+__disjvr_22^0 == 0 /\ -__disjvr_1^post32+__disjvr_1^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post32+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_29^0-__disjvr_29^post32 == 0 /\ x_177^0-x_177^post32 == 0 /\ -result_11^130+x_14^post32 == 0 /\ -__disjvr_10^post32+__disjvr_10^0 == 0 /\ __disjvr_23^0-__disjvr_23^post32 == 0 /\ __disjvr_14^0-__disjvr_14^post32 == 0 /\ -lt_37^post32+lt_37^0 == 0 /\ a_283^0-a_283^post32 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post32+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -__disjvr_15^post32+__disjvr_15^0 == 0 /\ lt_237^0-lt_237^post32 == 0 /\ x_238^0-x_238^post32 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post32+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ temp0_32^130 == 0 /\ __disjvr_25^0-__disjvr_25^post32 == 0), cost: 1
New rule:
l33 -> l35 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post32, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post32, fmt_31^0'=fmt_31^post32, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, length_43^0'=length_43^post32, x_14^0'=head_46^0, i_44^0'=i_44^post32, x_28^0'=head_46^0, (length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l35 -> l36 : __disjvr_0^0'=__disjvr_0^post33, a_283^0'=a_283^post33, temp0_45^0'=temp0_45^post33, __disjvr_21^0'=__disjvr_21^post33, y_19^0'=y_19^post33, __disjvr_4^0'=__disjvr_4^post33, result_11^0'=result_11^post33, __disjvr_14^0'=__disjvr_14^post33, head_46^0'=head_46^post33, __disjvr_24^0'=__disjvr_24^post33, x_177^0'=x_177^post33, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post33, __disjvr_9^0'=__disjvr_9^post33, a_197^0'=a_197^post33, t_23^0'=t_23^post33, __disjvr_19^0'=__disjvr_19^post33, len_246^0'=len_246^post33, __disjvr_29^0'=__disjvr_29^post33, x_SLAM_f_18^0'=x_SLAM_f_18^post33, r_53^0'=r_53^post33, __disjvr_11^0'=__disjvr_11^post33, a_328^0'=a_328^post33, tmp_48^0'=tmp_48^post33, lt_36^0'=lt_36^post33, __disjvr_6^0'=__disjvr_6^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, __disjvr_16^0'=__disjvr_16^post33, i_125^0'=i_125^post33, __disjvr_26^0'=__disjvr_26^post33, x_238^0'=x_238^post33, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post33, a_26^0'=a_26^post33, temp0_32^0'=temp0_32^post33, __disjvr_20^0'=__disjvr_20^post33, lt_237^0'=lt_237^post33, __disjvr_3^0'=__disjvr_3^post33, rcd_72^0'=rcd_72^post33, __disjvr_13^0'=__disjvr_13^post33, fmt_31^0'=fmt_31^post33, __disjvr_23^0'=__disjvr_23^post33, x_16^0'=x_16^post33, nondet_12^0'=nondet_12^post33, __disjvr_8^0'=__disjvr_8^post33, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post33, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post33, __disjvr_18^0'=__disjvr_18^post33, len_180^0'=len_180^post33, __disjvr_28^0'=__disjvr_28^post33, x_34^0'=x_34^post33, r_161^0'=r_161^post33, __disjvr_10^0'=__disjvr_10^post33, a_305^0'=a_305^post33, temp_49^0'=temp_49^post33, __disjvr_22^0'=__disjvr_22^post33, __disjvr_5^0'=__disjvr_5^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post33, __disjvr_15^0'=__disjvr_15^post33, i_108^0'=i_108^post33, __disjvr_25^0'=__disjvr_25^post33, x_20^0'=x_20^post33, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post33, a_146^0'=a_146^post33, a_247^0'=a_247^post33, temp0_15^0'=temp0_15^post33, __disjvr_1^0'=__disjvr_1^post33, length_43^0'=length_43^post33, __disjvr_2^0'=__disjvr_2^post33, rcd_102^0'=rcd_102^post33, __disjvr_12^0'=__disjvr_12^post33, ct_17^0'=ct_17^post33, x_14^0'=x_14^post33, lt_37^0'=lt_37^post33, __disjvr_7^0'=__disjvr_7^post33, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post33, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post33, __disjvr_17^0'=__disjvr_17^post33, i_44^0'=i_44^post33, __disjvr_27^0'=__disjvr_27^post33, x_28^0'=x_28^post33, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post33, (temp_49^0-temp_49^post33 == 0 /\ -x_14^post33+x_14^0 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ -__disjvr_25^post33+__disjvr_25^0 == 0 /\ r_53^0-r_53^post33 == 0 /\ a_197^0-a_197^post33 == 0 /\ rcd_72^0-rcd_72^post33 == 0 /\ -__disjvr_17^post33+__disjvr_17^0 == 0 /\ -length_43^post33+length_43^0 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ -__disjvr_13^post33+__disjvr_13^0 == 0 /\ __disjvr_2^0-__disjvr_2^post33 == 0 /\ -lt_36^post33+lt_36^0 == 0 /\ a_283^0-a_283^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 == 0 /\ -__disjvr_16^0+__disjvr_16^post33 == 0 /\ __disjvr_4^0-__disjvr_4^post33 == 0 /\ __disjvr_24^0-__disjvr_24^post33 == 0 /\ __disjvr_19^0-__disjvr_19^post33 == 0 /\ -__disjvr_20^post33+__disjvr_20^0 == 0 /\ tmp_48^0-tmp_48^post33 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post33 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ -i_44^post33+i_44^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post33 == 0 /\ -ct_17^post33+ct_17^0 == 0 /\ len_246^0-len_246^post33 == 0 /\ head_46^0-head_46^post33 == 0 /\ -a_328^post33+a_328^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post33+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_16^post33+x_16^0 == 0 /\ __disjvr_26^0-__disjvr_26^post33 == 0 /\ __disjvr_29^0-__disjvr_29^post33 == 0 /\ a_247^0-a_247^post33 == 0 /\ -a_305^post33+a_305^0 == 0 /\ -__disjvr_5^post33+__disjvr_5^0 == 0 /\ -__disjvr_27^post33+__disjvr_27^0 == 0 /\ -__disjvr_8^post33+__disjvr_8^0 == 0 /\ __disjvr_16^0-__disjvr_16^post33 == 0 /\ -a_146^post33+a_146^0 == 0 /\ -__disjvr_7^post33+__disjvr_7^0 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0 /\ x_34^0-x_34^post33 == 0 /\ __disjvr_6^0-__disjvr_6^post33 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post33 == 0 /\ temp0_45^0-temp0_45^post33 == 0 /\ t_23^0-t_23^post33 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ __disjvr_9^0-__disjvr_9^post33 == 0 /\ -i_108^post33+i_108^0 == 0 /\ -__disjvr_28^post33+__disjvr_28^0 == 0 /\ x_238^0-x_238^post33 == 0 /\ a_26^0-a_26^post33 == 0 /\ result_11^0-result_11^post33 == 0 /\ -rcd_102^post33+rcd_102^0 == 0 /\ __disjvr_23^0-__disjvr_23^post33 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ -temp0_15^post33+temp0_15^0 == 0 /\ -lt_37^post33+lt_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post33 == 0 /\ y_19^0-y_19^post33 == 0 /\ temp0_32^0-temp0_32^post33 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post33+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post33+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -len_180^post33+len_180^0 == 0 /\ __disjvr_3^0-__disjvr_3^post33 == 0 /\ x_20^0-x_20^post33 == 0 /\ -__disjvr_22^post33+__disjvr_22^0 == 0 /\ -r_161^post33+r_161^0 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ -__disjvr_15^post33+__disjvr_15^0 == 0 /\ -lt_237^post33+lt_237^0 == 0 /\ -x_28^post33+x_28^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post33+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ __disjvr_11^0-__disjvr_11^post33 == 0 /\ -i_125^post33+i_125^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post33+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post33+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post33+__disjvr_1^0 == 0 /\ x_177^0-x_177^post33 == 0 /\ fmt_31^0-fmt_31^post33 == 0), cost: 1
New rule:
l35 -> l36 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l36 -> l37 : __disjvr_0^0'=__disjvr_0^post34, a_283^0'=a_283^post34, temp0_45^0'=temp0_45^post34, __disjvr_21^0'=__disjvr_21^post34, y_19^0'=y_19^post34, __disjvr_4^0'=__disjvr_4^post34, result_11^0'=result_11^post34, __disjvr_14^0'=__disjvr_14^post34, head_46^0'=head_46^post34, __disjvr_24^0'=__disjvr_24^post34, x_177^0'=x_177^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post34, __disjvr_9^0'=__disjvr_9^post34, a_197^0'=a_197^post34, t_23^0'=t_23^post34, __disjvr_19^0'=__disjvr_19^post34, len_246^0'=len_246^post34, __disjvr_29^0'=__disjvr_29^post34, x_SLAM_f_18^0'=x_SLAM_f_18^post34, r_53^0'=r_53^post34, __disjvr_11^0'=__disjvr_11^post34, a_328^0'=a_328^post34, tmp_48^0'=tmp_48^post34, lt_36^0'=lt_36^post34, __disjvr_6^0'=__disjvr_6^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, __disjvr_16^0'=__disjvr_16^post34, i_125^0'=i_125^post34, __disjvr_26^0'=__disjvr_26^post34, x_238^0'=x_238^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post34, a_26^0'=a_26^post34, temp0_32^0'=temp0_32^post34, __disjvr_20^0'=__disjvr_20^post34, lt_237^0'=lt_237^post34, __disjvr_3^0'=__disjvr_3^post34, rcd_72^0'=rcd_72^post34, __disjvr_13^0'=__disjvr_13^post34, fmt_31^0'=fmt_31^post34, __disjvr_23^0'=__disjvr_23^post34, x_16^0'=x_16^post34, nondet_12^0'=nondet_12^post34, __disjvr_8^0'=__disjvr_8^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post34, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post34, __disjvr_18^0'=__disjvr_18^post34, len_180^0'=len_180^post34, __disjvr_28^0'=__disjvr_28^post34, x_34^0'=x_34^post34, r_161^0'=r_161^post34, __disjvr_10^0'=__disjvr_10^post34, a_305^0'=a_305^post34, temp_49^0'=temp_49^post34, __disjvr_22^0'=__disjvr_22^post34, __disjvr_5^0'=__disjvr_5^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post34, __disjvr_15^0'=__disjvr_15^post34, i_108^0'=i_108^post34, __disjvr_25^0'=__disjvr_25^post34, x_20^0'=x_20^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, a_146^0'=a_146^post34, a_247^0'=a_247^post34, temp0_15^0'=temp0_15^post34, __disjvr_1^0'=__disjvr_1^post34, length_43^0'=length_43^post34, __disjvr_2^0'=__disjvr_2^post34, rcd_102^0'=rcd_102^post34, __disjvr_12^0'=__disjvr_12^post34, ct_17^0'=ct_17^post34, x_14^0'=x_14^post34, lt_37^0'=lt_37^post34, __disjvr_7^0'=__disjvr_7^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post34, __disjvr_17^0'=__disjvr_17^post34, i_44^0'=i_44^post34, __disjvr_27^0'=__disjvr_27^post34, x_28^0'=x_28^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post34, (0 == 0 /\ temp0_32^140 == 0 /\ -__disjvr_27^post34+__disjvr_27^0 == 0 /\ a_26^0-a_26^post34 == 0 /\ lt_237^0-lt_237^post34 == 0 /\ -__disjvr_20^post34+__disjvr_20^0 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ nondet_12^0-nondet_12^post34 == 0 /\ -__disjvr_1^post34+__disjvr_1^0 == 0 /\ -__disjvr_28^post34+__disjvr_28^0 == 0 /\ -a_146^post34+a_146^0 == 0 /\ -__disjvr_26^post34+__disjvr_26^0 == 0 /\ a_283^0-a_283^post34 == 0 /\ -__disjvr_23^post34+__disjvr_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -x_20^post34+x_20^0 == 0 /\ x_34^110-x_28^0 == 0 /\ __disjvr_29^0-__disjvr_29^post34 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ __disjvr_18^0-__disjvr_18^post34 == 0 /\ -x_28^post34+x_28^0 == 0 /\ -rcd_72^post34+rcd_72^0 == 0 /\ __disjvr_13^0-__disjvr_13^post34 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ -a_305^post34+a_305^0 == 0 /\ x_177^0-x_177^post34 == 0 /\ __disjvr_14^0-__disjvr_14^post34 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ tmp_48^0-tmp_48^post34 == 0 /\ -r_161^post34+r_161^0 == 0 /\ -__disjvr_7^post34+__disjvr_7^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post34 == 0 /\ __disjvr_24^0-__disjvr_24^post34 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post34+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post34+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -length_43^post34+length_43^0 == 0 /\ -i_44^post34+i_44^0 == 0 /\ len_246^0-len_246^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post34 == 0 /\ -__disjvr_25^post34+__disjvr_25^0 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ __disjvr_16^0-__disjvr_16^post34 == 0 /\ x_14^0-x_14^post34 == 0 /\ x_238^0-x_238^post34 == 0 /\ -result_11^140+result_dot_printf_sdv_special_RETURN_VALUE_38^110 == 0 /\ -a_247^post34+a_247^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ temp0_45^0-temp0_45^post34 == 0 /\ head_46^0-head_46^post34 == 0 /\ -__disjvr_2^post34+__disjvr_2^0 == 0 /\ __disjvr_19^0-__disjvr_19^post34 == 0 /\ -ct_17^post34+ct_17^0 == 0 /\ fmt_31^14-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^110 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ -__disjvr_22^post34+__disjvr_22^0 == 0 /\ -t_23^post34+t_23^0 == 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ a_26^0-x_14^0 <= 0 /\ r_53^0-r_53^post34 == 0 /\ y_19^0-y_19^post34 == 0 /\ -__disjvr_15^post34+__disjvr_15^0 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ __disjvr_11^0-__disjvr_11^post34 == 0 /\ -rcd_102^post34+rcd_102^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post34 == 0 /\ -temp0_32^140+result_11^140 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post34+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ a_197^0-a_197^post34 == 0 /\ -len_180^post34+len_180^0 == 0 /\ -i_125^post34+i_125^0 == 0 /\ __disjvr_21^0-__disjvr_21^post34 == 0 /\ i_108^0-i_108^post34 == 0 /\ __disjvr_9^0-__disjvr_9^post34 == 0 /\ -temp0_15^post34+temp0_15^0 == 0 /\ x_16^0-x_16^post34 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post34+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ -a_26^0+x_14^0 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post34+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ a_328^0-a_328^post34 == 0 /\ __disjvr_8^0-__disjvr_8^post34 == 0 /\ temp_49^0-temp_49^post34 == 0), cost: 1
New rule:
l36 -> l37 : result_11^0'=result_11^post34, lt_36^0'=lt_36^post34, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, x_34^0'=x_34^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, (result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ a_26^0-x_14^0 == 0), cost: 1

Applied preprocessing
Original rule:
l37 -> l38 : __disjvr_0^0'=__disjvr_0^post35, a_283^0'=a_283^post35, temp0_45^0'=temp0_45^post35, __disjvr_21^0'=__disjvr_21^post35, y_19^0'=y_19^post35, __disjvr_4^0'=__disjvr_4^post35, result_11^0'=result_11^post35, __disjvr_14^0'=__disjvr_14^post35, head_46^0'=head_46^post35, __disjvr_24^0'=__disjvr_24^post35, x_177^0'=x_177^post35, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post35, __disjvr_9^0'=__disjvr_9^post35, a_197^0'=a_197^post35, t_23^0'=t_23^post35, __disjvr_19^0'=__disjvr_19^post35, len_246^0'=len_246^post35, __disjvr_29^0'=__disjvr_29^post35, x_SLAM_f_18^0'=x_SLAM_f_18^post35, r_53^0'=r_53^post35, __disjvr_11^0'=__disjvr_11^post35, a_328^0'=a_328^post35, tmp_48^0'=tmp_48^post35, lt_36^0'=lt_36^post35, __disjvr_6^0'=__disjvr_6^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, __disjvr_16^0'=__disjvr_16^post35, i_125^0'=i_125^post35, __disjvr_26^0'=__disjvr_26^post35, x_238^0'=x_238^post35, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post35, a_26^0'=a_26^post35, temp0_32^0'=temp0_32^post35, __disjvr_20^0'=__disjvr_20^post35, lt_237^0'=lt_237^post35, __disjvr_3^0'=__disjvr_3^post35, rcd_72^0'=rcd_72^post35, __disjvr_13^0'=__disjvr_13^post35, fmt_31^0'=fmt_31^post35, __disjvr_23^0'=__disjvr_23^post35, x_16^0'=x_16^post35, nondet_12^0'=nondet_12^post35, __disjvr_8^0'=__disjvr_8^post35, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post35, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post35, __disjvr_18^0'=__disjvr_18^post35, len_180^0'=len_180^post35, __disjvr_28^0'=__disjvr_28^post35, x_34^0'=x_34^post35, r_161^0'=r_161^post35, __disjvr_10^0'=__disjvr_10^post35, a_305^0'=a_305^post35, temp_49^0'=temp_49^post35, __disjvr_22^0'=__disjvr_22^post35, __disjvr_5^0'=__disjvr_5^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post35, __disjvr_15^0'=__disjvr_15^post35, i_108^0'=i_108^post35, __disjvr_25^0'=__disjvr_25^post35, x_20^0'=x_20^post35, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post35, a_146^0'=a_146^post35, a_247^0'=a_247^post35, temp0_15^0'=temp0_15^post35, __disjvr_1^0'=__disjvr_1^post35, length_43^0'=length_43^post35, __disjvr_2^0'=__disjvr_2^post35, rcd_102^0'=rcd_102^post35, __disjvr_12^0'=__disjvr_12^post35, ct_17^0'=ct_17^post35, x_14^0'=x_14^post35, lt_37^0'=lt_37^post35, __disjvr_7^0'=__disjvr_7^post35, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post35, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post35, __disjvr_17^0'=__disjvr_17^post35, i_44^0'=i_44^post35, __disjvr_27^0'=__disjvr_27^post35, x_28^0'=x_28^post35, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post35, (rcd_102^0-rcd_102^post35 == 0 /\ -r_53^post35+r_53^0 == 0 /\ __disjvr_4^0-__disjvr_4^post35 == 0 /\ x_16^0-x_16^post35 == 0 /\ __disjvr_16^0-__disjvr_16^post35 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ -rcd_72^post35+rcd_72^0 == 0 /\ __disjvr_24^0-__disjvr_24^post35 == 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ t_23^0-t_23^post35 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post35+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -i_44^post35+i_44^0 == 0 /\ -__disjvr_2^post35+__disjvr_2^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post35 == 0 /\ x_34^0-x_34^post35 == 0 /\ __disjvr_17^post35-__disjvr_17^0 == 0 /\ -lt_237^post35+lt_237^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post35+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -a_247^post35+a_247^0 == 0 /\ -__disjvr_18^post35+__disjvr_18^0 == 0 /\ a_283^0-a_283^post35 == 0 /\ temp_49^0-temp_49^post35 == 0 /\ -a_146^post35+a_146^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post35+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post35 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post35 == 0 /\ -__disjvr_13^post35+__disjvr_13^0 == 0 /\ -tmp_48^post35+tmp_48^0 == 0 /\ len_246^0-len_246^post35 == 0 /\ -__disjvr_27^post35+__disjvr_27^0 == 0 /\ x_177^0-x_177^post35 == 0 /\ -x_14^post35+x_14^0 == 0 /\ fmt_31^0-fmt_31^post35 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ -__disjvr_11^post35+__disjvr_11^0 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ ct_17^0-ct_17^post35 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post35 == 0 /\ temp0_15^0-temp0_15^post35 == 0 /\ i_125^0-i_125^post35 == 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ -len_180^post35+len_180^0 == 0 /\ lt_36^0-lt_36^post35 == 0 /\ a_328^0-a_328^post35 == 0 /\ -__disjvr_6^post35+__disjvr_6^0 == 0 /\ -__disjvr_25^post35+__disjvr_25^0 == 0 /\ -x_20^post35+x_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -r_161^post35+r_161^0 == 0 /\ temp0_45^0-temp0_45^post35 == 0 /\ __disjvr_22^0-__disjvr_22^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post35+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ -result_11^post35+result_11^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ -a_305^post35+a_305^0 == 0 /\ -__disjvr_21^post35+__disjvr_21^0 == 0 /\ temp0_32^0-temp0_32^post35 == 0 /\ -__disjvr_1^post35+__disjvr_1^0 == 0 /\ __disjvr_26^0-__disjvr_26^post35 == 0 /\ -head_46^post35+head_46^0 == 0 /\ -x_28^post35+x_28^0 == 0 /\ -a_26^post35+a_26^0 == 0 /\ __disjvr_15^0-__disjvr_15^post35 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ -length_43^post35+length_43^0 == 0 /\ __disjvr_20^0-__disjvr_20^post35 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post35 == 0 /\ __disjvr_28^0-__disjvr_28^post35 == 0 /\ __disjvr_10^0-__disjvr_10^post35 == 0 /\ __disjvr_5^0-__disjvr_5^post35 == 0 /\ -x_238^post35+x_238^0 == 0 /\ y_19^0-y_19^post35 == 0 /\ a_197^0-a_197^post35 == 0 /\ __disjvr_29^0-__disjvr_29^post35 == 0 /\ __disjvr_14^0-__disjvr_14^post35 == 0 /\ -i_108^post35+i_108^0 == 0 /\ -lt_37^post35+lt_37^0 == 0), cost: 1
New rule:
l37 -> l38 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l38 -> l34 : __disjvr_0^0'=__disjvr_0^post36, a_283^0'=a_283^post36, temp0_45^0'=temp0_45^post36, __disjvr_21^0'=__disjvr_21^post36, y_19^0'=y_19^post36, __disjvr_4^0'=__disjvr_4^post36, result_11^0'=result_11^post36, __disjvr_14^0'=__disjvr_14^post36, head_46^0'=head_46^post36, __disjvr_24^0'=__disjvr_24^post36, x_177^0'=x_177^post36, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post36, __disjvr_9^0'=__disjvr_9^post36, a_197^0'=a_197^post36, t_23^0'=t_23^post36, __disjvr_19^0'=__disjvr_19^post36, len_246^0'=len_246^post36, __disjvr_29^0'=__disjvr_29^post36, x_SLAM_f_18^0'=x_SLAM_f_18^post36, r_53^0'=r_53^post36, __disjvr_11^0'=__disjvr_11^post36, a_328^0'=a_328^post36, tmp_48^0'=tmp_48^post36, lt_36^0'=lt_36^post36, __disjvr_6^0'=__disjvr_6^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, __disjvr_16^0'=__disjvr_16^post36, i_125^0'=i_125^post36, __disjvr_26^0'=__disjvr_26^post36, x_238^0'=x_238^post36, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post36, a_26^0'=a_26^post36, temp0_32^0'=temp0_32^post36, __disjvr_20^0'=__disjvr_20^post36, lt_237^0'=lt_237^post36, __disjvr_3^0'=__disjvr_3^post36, rcd_72^0'=rcd_72^post36, __disjvr_13^0'=__disjvr_13^post36, fmt_31^0'=fmt_31^post36, __disjvr_23^0'=__disjvr_23^post36, x_16^0'=x_16^post36, nondet_12^0'=nondet_12^post36, __disjvr_8^0'=__disjvr_8^post36, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post36, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post36, __disjvr_18^0'=__disjvr_18^post36, len_180^0'=len_180^post36, __disjvr_28^0'=__disjvr_28^post36, x_34^0'=x_34^post36, r_161^0'=r_161^post36, __disjvr_10^0'=__disjvr_10^post36, a_305^0'=a_305^post36, temp_49^0'=temp_49^post36, __disjvr_22^0'=__disjvr_22^post36, __disjvr_5^0'=__disjvr_5^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post36, __disjvr_15^0'=__disjvr_15^post36, i_108^0'=i_108^post36, __disjvr_25^0'=__disjvr_25^post36, x_20^0'=x_20^post36, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post36, a_146^0'=a_146^post36, a_247^0'=a_247^post36, temp0_15^0'=temp0_15^post36, __disjvr_1^0'=__disjvr_1^post36, length_43^0'=length_43^post36, __disjvr_2^0'=__disjvr_2^post36, rcd_102^0'=rcd_102^post36, __disjvr_12^0'=__disjvr_12^post36, ct_17^0'=ct_17^post36, x_14^0'=x_14^post36, lt_37^0'=lt_37^post36, __disjvr_7^0'=__disjvr_7^post36, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post36, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post36, __disjvr_17^0'=__disjvr_17^post36, i_44^0'=i_44^post36, __disjvr_27^0'=__disjvr_27^post36, x_28^0'=x_28^post36, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post36, (__disjvr_19^0-__disjvr_19^post36 == 0 /\ __disjvr_29^0-__disjvr_29^post36 == 0 /\ lt_36^0-lt_36^post36 == 0 /\ __disjvr_4^0-__disjvr_4^post36 == 0 /\ -temp0_15^post36+temp0_15^0 == 0 /\ -__disjvr_15^post36+__disjvr_15^0 == 0 /\ __disjvr_8^0-__disjvr_8^post36 == 0 /\ __disjvr_24^0-__disjvr_24^post36 == 0 /\ __disjvr_16^0-__disjvr_16^post36 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post36+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -__disjvr_2^post36+__disjvr_2^0 == 0 /\ head_46^0-head_46^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 == 0 /\ -lt_37^post36+lt_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post36+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post36 == 0 /\ __disjvr_21^0-__disjvr_21^post36 == 0 /\ -__disjvr_22^post36+__disjvr_22^0 == 0 /\ -__disjvr_28^post36+__disjvr_28^0 == 0 /\ -fmt_31^post36+fmt_31^0 == 0 /\ -x_28^post36+x_28^0 == 0 /\ -a_146^post36+a_146^0 == 0 /\ __disjvr_20^0-__disjvr_20^post36 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post36+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post36+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ len_180^0-len_180^post36 == 0 /\ -__disjvr_26^post36+__disjvr_26^0 == 0 /\ -rcd_102^post36+rcd_102^0 == 0 /\ -__disjvr_25^post36+__disjvr_25^0 == 0 /\ __disjvr_6^0-__disjvr_6^post36 == 0 /\ a_283^0-a_283^post36 == 0 /\ tmp_48^0-tmp_48^post36 == 0 /\ -rcd_72^post36+rcd_72^0 == 0 /\ -__disjvr_23^post36+__disjvr_23^0 == 0 /\ -__disjvr_27^post36+__disjvr_27^0 == 0 /\ __disjvr_1^0-__disjvr_1^post36 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post36+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ x_238^0-x_238^post36 == 0 /\ -i_44^post36+i_44^0 == 0 /\ __disjvr_13^0-__disjvr_13^post36 == 0 /\ -__disjvr_10^post36+__disjvr_10^0 == 0 /\ -__disjvr_12^post36+__disjvr_12^0 == 0 /\ -temp_49^post36+temp_49^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_125^0 <= 0 /\ -x_14^post36+x_14^0 == 0 /\ __disjvr_0^0-__disjvr_0^post36 == 0 /\ -x_20^post36+x_20^0 == 0 /\ -length_43^post36+length_43^0 == 0 /\ -__disjvr_17^post36+__disjvr_17^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_5^post36+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post36 == 0 /\ -x_34^post36+x_34^0 == 0 /\ a_26^0-a_26^post36 == 0 /\ result_11^0-result_11^post36 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post36 == 0 /\ x_16^0-x_16^post36 == 0 /\ temp0_45^0-temp0_45^post36 == 0 /\ -temp0_32^post36+temp0_32^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post36+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ -__disjvr_7^post36+__disjvr_7^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post36+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ a_305^0-a_305^post36 == 0 /\ -ct_17^post36+ct_17^0 == 0 /\ lt_237^0-lt_237^post36 == 0 /\ -a_197^post36+a_197^0 == 0 /\ __disjvr_11^0-__disjvr_11^post36 == 0 /\ r_53^0-r_53^post36 == 0 /\ len_246^0-len_246^post36 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_247^post36+a_247^0 == 0 /\ -i_108^post36+i_108^0 == 0 /\ a_328^0-a_328^post36 == 0 /\ -x_177^post36+x_177^0 == 0 /\ y_19^0-y_19^post36 == 0 /\ __disjvr_14^0-__disjvr_14^post36 == 0 /\ t_23^0-t_23^post36 == 0 /\ -__disjvr_3^post36+__disjvr_3^0 == 0 /\ __disjvr_18^0-__disjvr_18^post36 == 0 /\ r_161^0-r_161^post36 == 0 /\ i_125^0-i_125^post36 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post36+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0), cost: 1
New rule:
l38 -> l34 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_125^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l33 -> l39 : __disjvr_0^0'=__disjvr_0^post37, a_283^0'=a_283^post37, temp0_45^0'=temp0_45^post37, __disjvr_21^0'=__disjvr_21^post37, y_19^0'=y_19^post37, __disjvr_4^0'=__disjvr_4^post37, result_11^0'=result_11^post37, __disjvr_14^0'=__disjvr_14^post37, head_46^0'=head_46^post37, __disjvr_24^0'=__disjvr_24^post37, x_177^0'=x_177^post37, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post37, __disjvr_9^0'=__disjvr_9^post37, a_197^0'=a_197^post37, t_23^0'=t_23^post37, __disjvr_19^0'=__disjvr_19^post37, len_246^0'=len_246^post37, __disjvr_29^0'=__disjvr_29^post37, x_SLAM_f_18^0'=x_SLAM_f_18^post37, r_53^0'=r_53^post37, __disjvr_11^0'=__disjvr_11^post37, a_328^0'=a_328^post37, tmp_48^0'=tmp_48^post37, lt_36^0'=lt_36^post37, __disjvr_6^0'=__disjvr_6^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, __disjvr_16^0'=__disjvr_16^post37, i_125^0'=i_125^post37, __disjvr_26^0'=__disjvr_26^post37, x_238^0'=x_238^post37, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post37, a_26^0'=a_26^post37, temp0_32^0'=temp0_32^post37, __disjvr_20^0'=__disjvr_20^post37, lt_237^0'=lt_237^post37, __disjvr_3^0'=__disjvr_3^post37, rcd_72^0'=rcd_72^post37, __disjvr_13^0'=__disjvr_13^post37, fmt_31^0'=fmt_31^post37, __disjvr_23^0'=__disjvr_23^post37, x_16^0'=x_16^post37, nondet_12^0'=nondet_12^post37, __disjvr_8^0'=__disjvr_8^post37, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post37, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post37, __disjvr_18^0'=__disjvr_18^post37, len_180^0'=len_180^post37, __disjvr_28^0'=__disjvr_28^post37, x_34^0'=x_34^post37, r_161^0'=r_161^post37, __disjvr_10^0'=__disjvr_10^post37, a_305^0'=a_305^post37, temp_49^0'=temp_49^post37, __disjvr_22^0'=__disjvr_22^post37, __disjvr_5^0'=__disjvr_5^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post37, __disjvr_15^0'=__disjvr_15^post37, i_108^0'=i_108^post37, __disjvr_25^0'=__disjvr_25^post37, x_20^0'=x_20^post37, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post37, a_146^0'=a_146^post37, a_247^0'=a_247^post37, temp0_15^0'=temp0_15^post37, __disjvr_1^0'=__disjvr_1^post37, length_43^0'=length_43^post37, __disjvr_2^0'=__disjvr_2^post37, rcd_102^0'=rcd_102^post37, __disjvr_12^0'=__disjvr_12^post37, ct_17^0'=ct_17^post37, x_14^0'=x_14^post37, lt_37^0'=lt_37^post37, __disjvr_7^0'=__disjvr_7^post37, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post37, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post37, __disjvr_17^0'=__disjvr_17^post37, i_44^0'=i_44^post37, __disjvr_27^0'=__disjvr_27^post37, x_28^0'=x_28^post37, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post37, (0 == 0 /\ -__disjvr_26^post37+__disjvr_26^0 == 0 /\ -__disjvr_2^post37+__disjvr_2^0 == 0 /\ -x_16^post37+x_16^0 == 0 /\ __disjvr_0^0-__disjvr_0^post37 == 0 /\ -x_28^post37+x_28^0 == 0 /\ 1-length_43^0+i_44^0 <= 0 /\ -__disjvr_18^post37+__disjvr_18^0 == 0 /\ 1-length_43^0+i_108^post37 <= 0 /\ -lt_37^post37+lt_37^0 == 0 /\ __disjvr_29^0-__disjvr_29^post37 == 0 /\ -a_328^post37+a_328^0 == 0 /\ lt_36^0-lt_36^post37 == 0 /\ -a_146^post37+a_146^0 == 0 /\ result_11^0-result_11^post37 == 0 /\ temp0_32^0-temp0_32^post37 == 0 /\ -__disjvr_12^post37+__disjvr_12^0 == 0 /\ rcd_72^0-rcd_72^post37 == 0 /\ __disjvr_1^0-__disjvr_1^post37 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post37 == 0 /\ -__disjvr_22^post37+__disjvr_22^0 == 0 /\ temp0_45^0-temp0_45^post37 == 0 /\ -lt_237^post37+lt_237^0 == 0 /\ -__disjvr_15^post37+__disjvr_15^0 == 0 /\ 1-i_44^post37+i_108^post37 <= 0 /\ -__disjvr_19^post37+__disjvr_19^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post37+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post37+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ a_197^0-a_197^post37 == 0 /\ __disjvr_14^0-__disjvr_14^post37 == 0 /\ -__disjvr_25^post37+__disjvr_25^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post37 == 0 /\ __disjvr_24^0-__disjvr_24^post37 == 0 /\ x_238^0-x_238^post37 == 0 /\ __disjvr_28^0-__disjvr_28^post37 == 0 /\ -r_161^post37+r_161^0 == 0 /\ head_46^post37-tmp_48^post37 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post37+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_20^post37+__disjvr_20^0 == 0 /\ y_19^0-y_19^post37 == 0 /\ -length_43^post37+length_43^0 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ x_14^0-x_14^post37 == 0 /\ -__disjvr_9^post37+__disjvr_9^0 == 0 /\ __disjvr_21^0-__disjvr_21^post37 == 0 /\ -x_34^post37+x_34^0 == 0 /\ __disjvr_7^0-__disjvr_7^post37 == 0 /\ -i_125^post37+i_125^0 == 0 /\ __disjvr_4^0-__disjvr_4^post37 == 0 /\ -a_247^post37+a_247^0 == 0 /\ __disjvr_16^0-__disjvr_16^post37 == 0 /\ -a_305^post37+a_305^0 == 0 /\ -__disjvr_5^post37+__disjvr_5^0 == 0 /\ x_177^0-x_177^post37 == 0 /\ -__disjvr_13^post37+__disjvr_13^0 == 0 /\ fmt_31^0-fmt_31^post37 == 0 /\ -ct_17^post37+ct_17^0 == 0 /\ -i_44^0 <= 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post37 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post37 == 0 /\ __disjvr_6^0-__disjvr_6^post37 == 0 /\ -__disjvr_27^post37+__disjvr_27^0 == 0 /\ -temp0_15^post37+temp0_15^0 == 0 /\ -__disjvr_3^post37+__disjvr_3^0 == 0 /\ r_53^0-r_53^post37 == 0 /\ __disjvr_11^0-__disjvr_11^post37 == 0 /\ -1+i_44^post37-i_108^post37 <= 0 /\ len_246^0-len_246^post37 == 0 /\ len_180^0-len_180^post37 == 0 /\ -1+i_44^post37-i_44^0 == 0 /\ -x_20^post37+x_20^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post37+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ a_283^0-a_283^post37 == 0 /\ __disjvr_23^0-__disjvr_23^post37 == 0 /\ tmp_48^post37-temp_49^0 == 0 /\ t_23^0-t_23^post37 == 0 /\ -a_26^post37+a_26^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post37+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post37 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post37 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0), cost: 1
New rule:
l33 -> l39 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, temp_49^0'=temp_49^post37, i_108^0'=i_44^0, rcd_102^0'=rcd_102^post37, i_44^0'=1+i_44^0, (1-length_43^0+i_44^0 <= 0 /\ i_44^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l39 -> l33 : __disjvr_0^0'=__disjvr_0^post38, a_283^0'=a_283^post38, temp0_45^0'=temp0_45^post38, __disjvr_21^0'=__disjvr_21^post38, y_19^0'=y_19^post38, __disjvr_4^0'=__disjvr_4^post38, result_11^0'=result_11^post38, __disjvr_14^0'=__disjvr_14^post38, head_46^0'=head_46^post38, __disjvr_24^0'=__disjvr_24^post38, x_177^0'=x_177^post38, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post38, __disjvr_9^0'=__disjvr_9^post38, a_197^0'=a_197^post38, t_23^0'=t_23^post38, __disjvr_19^0'=__disjvr_19^post38, len_246^0'=len_246^post38, __disjvr_29^0'=__disjvr_29^post38, x_SLAM_f_18^0'=x_SLAM_f_18^post38, r_53^0'=r_53^post38, __disjvr_11^0'=__disjvr_11^post38, a_328^0'=a_328^post38, tmp_48^0'=tmp_48^post38, lt_36^0'=lt_36^post38, __disjvr_6^0'=__disjvr_6^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, __disjvr_16^0'=__disjvr_16^post38, i_125^0'=i_125^post38, __disjvr_26^0'=__disjvr_26^post38, x_238^0'=x_238^post38, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post38, a_26^0'=a_26^post38, temp0_32^0'=temp0_32^post38, __disjvr_20^0'=__disjvr_20^post38, lt_237^0'=lt_237^post38, __disjvr_3^0'=__disjvr_3^post38, rcd_72^0'=rcd_72^post38, __disjvr_13^0'=__disjvr_13^post38, fmt_31^0'=fmt_31^post38, __disjvr_23^0'=__disjvr_23^post38, x_16^0'=x_16^post38, nondet_12^0'=nondet_12^post38, __disjvr_8^0'=__disjvr_8^post38, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post38, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post38, __disjvr_18^0'=__disjvr_18^post38, len_180^0'=len_180^post38, __disjvr_28^0'=__disjvr_28^post38, x_34^0'=x_34^post38, r_161^0'=r_161^post38, __disjvr_10^0'=__disjvr_10^post38, a_305^0'=a_305^post38, temp_49^0'=temp_49^post38, __disjvr_22^0'=__disjvr_22^post38, __disjvr_5^0'=__disjvr_5^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post38, __disjvr_15^0'=__disjvr_15^post38, i_108^0'=i_108^post38, __disjvr_25^0'=__disjvr_25^post38, x_20^0'=x_20^post38, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post38, a_146^0'=a_146^post38, a_247^0'=a_247^post38, temp0_15^0'=temp0_15^post38, __disjvr_1^0'=__disjvr_1^post38, length_43^0'=length_43^post38, __disjvr_2^0'=__disjvr_2^post38, rcd_102^0'=rcd_102^post38, __disjvr_12^0'=__disjvr_12^post38, ct_17^0'=ct_17^post38, x_14^0'=x_14^post38, lt_37^0'=lt_37^post38, __disjvr_7^0'=__disjvr_7^post38, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post38, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post38, __disjvr_17^0'=__disjvr_17^post38, i_44^0'=i_44^post38, __disjvr_27^0'=__disjvr_27^post38, x_28^0'=x_28^post38, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post38, (length_43^0-length_43^post38 == 0 /\ -a_26^post38+a_26^0 == 0 /\ -len_246^post38+len_246^0 == 0 /\ -tmp_48^post38+tmp_48^0 == 0 /\ i_125^0-i_125^post38 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post38 == 0 /\ -__disjvr_12^post38+__disjvr_12^0 == 0 /\ -x_28^post38+x_28^0 == 0 /\ a_247^0-a_247^post38 == 0 /\ __disjvr_6^0-__disjvr_6^post38 == 0 /\ x_16^0-x_16^post38 == 0 /\ -__disjvr_1^post38+__disjvr_1^0 == 0 /\ -rcd_102^post38+rcd_102^0 == 0 /\ __disjvr_20^0-__disjvr_20^post38 == 0 /\ __disjvr_0^0-__disjvr_0^post38 == 0 /\ x_177^0-x_177^post38 == 0 /\ -lt_37^post38+lt_37^0 == 0 /\ r_53^0-r_53^post38 == 0 /\ fmt_31^0-fmt_31^post38 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post38+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_24^0-__disjvr_24^post38 == 0 /\ -i_44^post38+i_44^0 == 0 /\ temp0_45^0-temp0_45^post38 == 0 /\ y_19^0-y_19^post38 == 0 /\ -lt_237^post38+lt_237^0 == 0 /\ __disjvr_10^0-__disjvr_10^post38 == 0 /\ x_34^0-x_34^post38 == 0 /\ __disjvr_14^0-__disjvr_14^post38 == 0 /\ r_161^0-r_161^post38 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post38+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_3^0-__disjvr_3^post38 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -i_108^post38+i_108^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post38+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post38+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_26^0-__disjvr_26^post38 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ t_23^0-t_23^post38 == 0 /\ -__disjvr_22^post38+__disjvr_22^0 == 0 /\ -__disjvr_17^post38+__disjvr_17^0 == 0 /\ -head_46^post38+head_46^0 == 0 /\ __disjvr_19^0-__disjvr_19^post38 == 0 /\ __disjvr_21^0-__disjvr_21^post38 == 0 /\ a_328^0-a_328^post38 == 0 /\ -ct_17^post38+ct_17^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post38+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ temp0_32^0-temp0_32^post38 == 0 /\ -x_14^post38+x_14^0 == 0 /\ -x_238^post38+x_238^0 == 0 /\ -__disjvr_11^post38+__disjvr_11^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post38 == 0 /\ __disjvr_29^0-__disjvr_29^post38 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post38+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -lt_36^post38+lt_36^0 == 0 /\ -__disjvr_15^post38+__disjvr_15^0 == 0 /\ -__disjvr_25^post38+__disjvr_25^0 == 0 /\ -rcd_72^post38+rcd_72^0 == 0 /\ __disjvr_16^0-__disjvr_16^post38 == 0 /\ -__disjvr_23^post38+__disjvr_23^0 == 0 /\ result_11^0-result_11^post38 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post38 == 0 /\ __disjvr_5^0-__disjvr_5^post38 == 0 /\ a_197^0-a_197^post38 == 0 /\ -__disjvr_9^post38+__disjvr_9^0 == 0 /\ temp_49^0-temp_49^post38 == 0 /\ -__disjvr_8^post38+__disjvr_8^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post38+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -a_146^post38+a_146^0 == 0 /\ a_283^0-a_283^post38 == 0 /\ __disjvr_13^0-__disjvr_13^post38 == 0 /\ -temp0_15^post38+temp0_15^0 == 0 /\ -__disjvr_7^post38+__disjvr_7^0 == 0 /\ -a_305^post38+a_305^0 == 0 /\ -__disjvr_18^post38+__disjvr_18^0 == 0 /\ x_20^0-x_20^post38 == 0 /\ len_180^0-len_180^post38 == 0 /\ -__disjvr_27^post38+__disjvr_27^0 == 0 /\ -__disjvr_2^post38+__disjvr_2^0 == 0 /\ __disjvr_4^0-__disjvr_4^post38 == 0 /\ __disjvr_28^0-__disjvr_28^post38 == 0), cost: 1
New rule:
l39 -> l33 : TRUE, cost: 1

Applied preprocessing
Original rule:
l19 -> l20 : __disjvr_0^0'=__disjvr_0^post40, a_283^0'=a_283^post40, temp0_45^0'=temp0_45^post40, __disjvr_21^0'=__disjvr_21^post40, y_19^0'=y_19^post40, __disjvr_4^0'=__disjvr_4^post40, result_11^0'=result_11^post40, __disjvr_14^0'=__disjvr_14^post40, head_46^0'=head_46^post40, __disjvr_24^0'=__disjvr_24^post40, x_177^0'=x_177^post40, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post40, __disjvr_9^0'=__disjvr_9^post40, a_197^0'=a_197^post40, t_23^0'=t_23^post40, __disjvr_19^0'=__disjvr_19^post40, len_246^0'=len_246^post40, __disjvr_29^0'=__disjvr_29^post40, x_SLAM_f_18^0'=x_SLAM_f_18^post40, r_53^0'=r_53^post40, __disjvr_11^0'=__disjvr_11^post40, a_328^0'=a_328^post40, tmp_48^0'=tmp_48^post40, lt_36^0'=lt_36^post40, __disjvr_6^0'=__disjvr_6^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, __disjvr_16^0'=__disjvr_16^post40, i_125^0'=i_125^post40, __disjvr_26^0'=__disjvr_26^post40, x_238^0'=x_238^post40, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post40, a_26^0'=a_26^post40, temp0_32^0'=temp0_32^post40, __disjvr_20^0'=__disjvr_20^post40, lt_237^0'=lt_237^post40, __disjvr_3^0'=__disjvr_3^post40, rcd_72^0'=rcd_72^post40, __disjvr_13^0'=__disjvr_13^post40, fmt_31^0'=fmt_31^post40, __disjvr_23^0'=__disjvr_23^post40, x_16^0'=x_16^post40, nondet_12^0'=nondet_12^post40, __disjvr_8^0'=__disjvr_8^post40, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post40, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post40, __disjvr_18^0'=__disjvr_18^post40, len_180^0'=len_180^post40, __disjvr_28^0'=__disjvr_28^post40, x_34^0'=x_34^post40, r_161^0'=r_161^post40, __disjvr_10^0'=__disjvr_10^post40, a_305^0'=a_305^post40, temp_49^0'=temp_49^post40, __disjvr_22^0'=__disjvr_22^post40, __disjvr_5^0'=__disjvr_5^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40, __disjvr_15^0'=__disjvr_15^post40, i_108^0'=i_108^post40, __disjvr_25^0'=__disjvr_25^post40, x_20^0'=x_20^post40, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post40, a_146^0'=a_146^post40, a_247^0'=a_247^post40, temp0_15^0'=temp0_15^post40, __disjvr_1^0'=__disjvr_1^post40, length_43^0'=length_43^post40, __disjvr_2^0'=__disjvr_2^post40, rcd_102^0'=rcd_102^post40, __disjvr_12^0'=__disjvr_12^post40, ct_17^0'=ct_17^post40, x_14^0'=x_14^post40, lt_37^0'=lt_37^post40, __disjvr_7^0'=__disjvr_7^post40, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post40, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post40, __disjvr_17^0'=__disjvr_17^post40, i_44^0'=i_44^post40, __disjvr_27^0'=__disjvr_27^post40, x_28^0'=x_28^post40, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post40, (0 == 0 /\ -__disjvr_3^post40+__disjvr_3^0 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ -1+i_44^post40-i_44^0 == 0 /\ x_177^0-x_177^post40 == 0 /\ -rcd_102^post40+rcd_102^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post40+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post40 == 0 /\ 1-length_43^0+i_44^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -x_20^post40+x_20^0 == 0 /\ -__disjvr_10^post40+__disjvr_10^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+length_43^0 <= 0 /\ 1-i_44^post40 <= 0 /\ -1+i_44^post40 <= 0 /\ head_46^post40-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40 <= 0 /\ __disjvr_1^0-__disjvr_1^post40 == 0 /\ -lt_37^post40+lt_37^0 == 0 /\ -r_161^post40+r_161^0 == 0 /\ tmp_48^post40-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40 <= 0 /\ a_197^0-a_197^post40 == 0 /\ __disjvr_11^0-__disjvr_11^post40 == 0 /\ -length_43^post40+length_43^0 == 0 /\ __disjvr_16^0-__disjvr_16^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ __disjvr_2^0-__disjvr_2^post40 == 0 /\ -i_108^post40+i_108^0 == 0 /\ a_26^0-a_26^post40 == 0 /\ lt_237^0-lt_237^post40 == 0 /\ -x_28^post40+x_28^0 == 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ -x_34^post40+x_34^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post40+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -i_125^post40+i_125^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post40-length_43^0 <= 0 /\ -head_46^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40 <= 0 /\ -fmt_31^post40+fmt_31^0 == 0 /\ len_180^0-len_180^post40 == 0 /\ -tmp_48^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post40 <= 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ len_246^0-len_246^post40 == 0 /\ __disjvr_26^0-__disjvr_26^post40 == 0 /\ -ct_17^post40+ct_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post40+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ a_283^0-a_283^post40 == 0 /\ -__disjvr_22^post40+__disjvr_22^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post40+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ temp0_32^0-temp0_32^post40 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post40 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post40+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -r_53^post40+r_53^0 == 0 /\ __disjvr_18^0-__disjvr_18^post40 == 0 /\ __disjvr_15^0-__disjvr_15^post40 == 0 /\ -a_247^post40+a_247^0 == 0 /\ -head_46^post40+tmp_48^post40 <= 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ -__disjvr_20^post40+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post40+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ tmp_48^post40-temp_49^0 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -x_16^post40+x_16^0 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post40 == 0 /\ lt_36^0-lt_36^post40 == 0 /\ -x_14^post40+x_14^0 == 0 /\ x_238^0-x_238^post40 == 0 /\ y_19^0-y_19^post40 == 0 /\ -__disjvr_5^post40+__disjvr_5^0 == 0 /\ -t_23^post40+t_23^0 == 0 /\ rcd_72^0-rcd_72^post40 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ a_305^0-a_305^post40 == 0 /\ -a_146^post40+a_146^0 == 0 /\ head_46^post40-tmp_48^post40 <= 0 /\ head_46^post40-tmp_48^post40 == 0 /\ -__disjvr_13^post40+__disjvr_13^0 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ 1-length_43^0 <= 0 /\ temp0_45^0-temp0_45^post40 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ -temp0_15^post40+temp0_15^0 == 0 /\ -__disjvr_28^post40+__disjvr_28^0 == 0 /\ -a_328^post40+a_328^0 == 0), cost: 1
New rule:
l19 -> l20 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_43^0, temp_49^0'=temp_49^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^0, i_44^0'=1+i_44^0, (-1+length_43^0 >= 0 /\ i_44^0 == 0), cost: 1

Applied preprocessing
Original rule:
l40 -> l41 : __disjvr_0^0'=__disjvr_0^post41, a_283^0'=a_283^post41, temp0_45^0'=temp0_45^post41, __disjvr_21^0'=__disjvr_21^post41, y_19^0'=y_19^post41, __disjvr_4^0'=__disjvr_4^post41, result_11^0'=result_11^post41, __disjvr_14^0'=__disjvr_14^post41, head_46^0'=head_46^post41, __disjvr_24^0'=__disjvr_24^post41, x_177^0'=x_177^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, __disjvr_9^0'=__disjvr_9^post41, a_197^0'=a_197^post41, t_23^0'=t_23^post41, __disjvr_19^0'=__disjvr_19^post41, len_246^0'=len_246^post41, __disjvr_29^0'=__disjvr_29^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, r_53^0'=r_53^post41, __disjvr_11^0'=__disjvr_11^post41, a_328^0'=a_328^post41, tmp_48^0'=tmp_48^post41, lt_36^0'=lt_36^post41, __disjvr_6^0'=__disjvr_6^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, __disjvr_16^0'=__disjvr_16^post41, i_125^0'=i_125^post41, __disjvr_26^0'=__disjvr_26^post41, x_238^0'=x_238^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, __disjvr_20^0'=__disjvr_20^post41, lt_237^0'=lt_237^post41, __disjvr_3^0'=__disjvr_3^post41, rcd_72^0'=rcd_72^post41, __disjvr_13^0'=__disjvr_13^post41, fmt_31^0'=fmt_31^post41, __disjvr_23^0'=__disjvr_23^post41, x_16^0'=x_16^post41, nondet_12^0'=nondet_12^post41, __disjvr_8^0'=__disjvr_8^post41, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, __disjvr_18^0'=__disjvr_18^post41, len_180^0'=len_180^post41, __disjvr_28^0'=__disjvr_28^post41, x_34^0'=x_34^post41, r_161^0'=r_161^post41, __disjvr_10^0'=__disjvr_10^post41, a_305^0'=a_305^post41, temp_49^0'=temp_49^post41, __disjvr_22^0'=__disjvr_22^post41, __disjvr_5^0'=__disjvr_5^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post41, __disjvr_15^0'=__disjvr_15^post41, i_108^0'=i_108^post41, __disjvr_25^0'=__disjvr_25^post41, x_20^0'=x_20^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, a_146^0'=a_146^post41, a_247^0'=a_247^post41, temp0_15^0'=temp0_15^post41, __disjvr_1^0'=__disjvr_1^post41, length_43^0'=length_43^post41, __disjvr_2^0'=__disjvr_2^post41, rcd_102^0'=rcd_102^post41, __disjvr_12^0'=__disjvr_12^post41, ct_17^0'=ct_17^post41, x_14^0'=x_14^post41, lt_37^0'=lt_37^post41, __disjvr_7^0'=__disjvr_7^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, __disjvr_17^0'=__disjvr_17^post41, i_44^0'=i_44^post41, __disjvr_27^0'=__disjvr_27^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (0 == 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ rcd_102^0-rcd_102^post41 == 0 /\ result_11^160-temp0_32^160 == 0 /\ -temp_49^post41+temp_49^0 == 0 /\ -a_197^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ -__disjvr_12^post41+__disjvr_12^0 == 0 /\ temp0_45^0-temp0_45^post41 == 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ -ct_17^post41 <= 0 /\ -y_19^post41 <= 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ ct_17^post41 <= 0 /\ ct_17^post41 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ -__disjvr_2^post41+__disjvr_2^0 == 0 /\ r_53^0-r_53^post41 == 0 /\ ct_17^post41-y_19^post41 <= 0 /\ temp0_15^0-temp0_15^post41 == 0 /\ rcd_72^0-rcd_72^post41 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ -x_16^post41+x_SLAM_f_18^post41 <= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0 /\ -__disjvr_25^post41+__disjvr_25^0 == 0 /\ a_247^0-a_247^post41 == 0 /\ t_23^0-t_23^post41 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ -a_146^post41+a_146^0 == 0 /\ -__disjvr_27^post41+__disjvr_27^0 == 0 /\ -i_108^post41+i_108^0 == 0 /\ -__disjvr_20^post41+__disjvr_20^0 == 0 /\ a_328^0-a_328^post41 == 0 /\ -length_43^post41+length_43^0 == 0 /\ -a_305^post41+a_305^0 == 0 /\ head_46^0-head_46^post41 == 0 /\ i_125^0-i_125^post41 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ lt_237^0-lt_237^post41 == 0 /\ -ct_17^post41+y_19^post41 <= 0 /\ -ct_17^post41+y_19^post41 == 0 /\ -__disjvr_10^post41+__disjvr_10^0 == 0 /\ -i_44^post41+i_44^0 == 0 /\ x_16^post41-x_SLAM_f_18^post41 <= 0 /\ -len_180^0 <= 0 /\ len_246^0-len_246^post41 == 0 /\ x_SLAM_f_18^post41-x_20^post41 <= 0 /\ __disjvr_5^0-__disjvr_5^post41 == 0 /\ -tmp_48^post41+tmp_48^0 == 0 /\ -len_180^post41+len_180^0 == 0 /\ x_14^0-x_20^post41 <= 0 /\ a_197^0-a_197^post41 == 0 /\ -__disjvr_7^post41+__disjvr_7^0 == 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ y_19^post41 <= 0 /\ -x_14^post41+x_14^0 == 0 /\ x_SLAM_f_18^post41-x_14^0 <= 0 /\ -x_28^0 <= 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ a_283^0-a_283^post41 == 0 /\ -x_16^post41+x_14^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ -x_SLAM_f_18^post41+x_20^post41 <= 0 /\ -x_SLAM_f_18^post41+x_20^post41 == 0 /\ __disjvr_18^0-__disjvr_18^post41 == 0 /\ -r_161^post41+r_161^0 == 0 /\ -x_14^0+x_20^post41 <= 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^120+fmt_31^151 == 0 /\ __disjvr_16^0-__disjvr_16^post41 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ __disjvr_17^0-__disjvr_17^post41 == 0 /\ temp0_32^160 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^120-result_11^160 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ -x_SLAM_f_18^post41+x_14^0 <= 0 /\ x_177^0-x_177^post41 == 0 /\ -__disjvr_24^post41+__disjvr_24^0 == 0 /\ x_16^post41-x_14^0 <= 0 /\ x_16^post41-x_14^0 == 0 /\ -__disjvr_19^post41+__disjvr_19^0 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ x_28^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -x_238^post41+x_238^0 == 0), cost: 1
New rule:
l40 -> l41 : y_19^0'=0, result_11^0'=result_11^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, fmt_31^0'=fmt_31^post41, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, x_34^0'=x_34^post41, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, ct_17^0'=0, lt_37^0'=lt_37^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (a_197^0 >= 0 /\ len_180^0 >= 0 /\ x_28^0 == 0), cost: 1

Applied preprocessing
Original rule:
l41 -> l42 : __disjvr_0^0'=__disjvr_0^post42, a_283^0'=a_283^post42, temp0_45^0'=temp0_45^post42, __disjvr_21^0'=__disjvr_21^post42, y_19^0'=y_19^post42, __disjvr_4^0'=__disjvr_4^post42, result_11^0'=result_11^post42, __disjvr_14^0'=__disjvr_14^post42, head_46^0'=head_46^post42, __disjvr_24^0'=__disjvr_24^post42, x_177^0'=x_177^post42, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post42, __disjvr_9^0'=__disjvr_9^post42, a_197^0'=a_197^post42, t_23^0'=t_23^post42, __disjvr_19^0'=__disjvr_19^post42, len_246^0'=len_246^post42, __disjvr_29^0'=__disjvr_29^post42, x_SLAM_f_18^0'=x_SLAM_f_18^post42, r_53^0'=r_53^post42, __disjvr_11^0'=__disjvr_11^post42, a_328^0'=a_328^post42, tmp_48^0'=tmp_48^post42, lt_36^0'=lt_36^post42, __disjvr_6^0'=__disjvr_6^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, __disjvr_16^0'=__disjvr_16^post42, i_125^0'=i_125^post42, __disjvr_26^0'=__disjvr_26^post42, x_238^0'=x_238^post42, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post42, a_26^0'=a_26^post42, temp0_32^0'=temp0_32^post42, __disjvr_20^0'=__disjvr_20^post42, lt_237^0'=lt_237^post42, __disjvr_3^0'=__disjvr_3^post42, rcd_72^0'=rcd_72^post42, __disjvr_13^0'=__disjvr_13^post42, fmt_31^0'=fmt_31^post42, __disjvr_23^0'=__disjvr_23^post42, x_16^0'=x_16^post42, nondet_12^0'=nondet_12^post42, __disjvr_8^0'=__disjvr_8^post42, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post42, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post42, __disjvr_18^0'=__disjvr_18^post42, len_180^0'=len_180^post42, __disjvr_28^0'=__disjvr_28^post42, x_34^0'=x_34^post42, r_161^0'=r_161^post42, __disjvr_10^0'=__disjvr_10^post42, a_305^0'=a_305^post42, temp_49^0'=temp_49^post42, __disjvr_22^0'=__disjvr_22^post42, __disjvr_5^0'=__disjvr_5^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post42, __disjvr_15^0'=__disjvr_15^post42, i_108^0'=i_108^post42, __disjvr_25^0'=__disjvr_25^post42, x_20^0'=x_20^post42, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post42, a_146^0'=a_146^post42, a_247^0'=a_247^post42, temp0_15^0'=temp0_15^post42, __disjvr_1^0'=__disjvr_1^post42, length_43^0'=length_43^post42, __disjvr_2^0'=__disjvr_2^post42, rcd_102^0'=rcd_102^post42, __disjvr_12^0'=__disjvr_12^post42, ct_17^0'=ct_17^post42, x_14^0'=x_14^post42, lt_37^0'=lt_37^post42, __disjvr_7^0'=__disjvr_7^post42, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post42, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post42, __disjvr_17^0'=__disjvr_17^post42, i_44^0'=i_44^post42, __disjvr_27^0'=__disjvr_27^post42, x_28^0'=x_28^post42, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post42, (nondet_12^0-nondet_12^post42 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post42+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post42+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -x_20^post42+x_20^0 == 0 /\ temp0_15^0-temp0_15^post42 == 0 /\ -i_125^post42+i_125^0 == 0 /\ -length_43^post42+length_43^0 == 0 /\ a_328^0-a_328^post42 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ -__disjvr_13^post42+__disjvr_13^0 == 0 /\ __disjvr_28^0-__disjvr_28^post42 == 0 /\ y_19^0-y_19^post42 == 0 /\ t_23^0-t_23^post42 == 0 /\ -a_305^post42+a_305^0 == 0 /\ -__disjvr_27^post42+__disjvr_27^0 == 0 /\ lt_36^0-lt_36^post42 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ __disjvr_4^0-__disjvr_4^post42 == 0 /\ -ct_17^post42+ct_17^0 == 0 /\ -x_238^post42+x_238^0 == 0 /\ rcd_102^0-rcd_102^post42 == 0 /\ __disjvr_23^0-__disjvr_23^post42 == 0 /\ -a_247^post42+a_247^0 == 0 /\ -i_108^post42+i_108^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ __disjvr_21^0-__disjvr_21^post42 == 0 /\ __disjvr_16^0-__disjvr_16^post42 == 0 /\ x_177^0-x_177^post42 == 0 /\ -a_26^post42+a_26^0 == 0 /\ temp0_32^0-temp0_32^post42 == 0 /\ fmt_31^0-fmt_31^post42 == 0 /\ result_11^0-result_11^post42 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post42 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post42 == 0 /\ __disjvr_20^0-__disjvr_20^post42 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post42 == 0 /\ -x_16^post42+x_16^0 == 0 /\ -__disjvr_15^post42+__disjvr_15^0 == 0 /\ a_283^0-a_283^post42 == 0 /\ r_53^0-r_53^post42 == 0 /\ len_246^0-len_246^post42 == 0 /\ __disjvr_11^0-__disjvr_11^post42 == 0 /\ -lt_37^post42+lt_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -__disjvr_2^post42+__disjvr_2^0 == 0 /\ a_197^0-a_197^post42 == 0 /\ -__disjvr_6^post42+__disjvr_6^0 == 0 /\ -a_146^post42+a_146^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post42 == 0 /\ __disjvr_14^0-__disjvr_14^post42 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post42 == 0 /\ -lt_237^post42+lt_237^0 == 0 /\ __disjvr_5^0-__disjvr_5^post42 == 0 /\ -temp0_45^post42+temp0_45^0 == 0 /\ -__disjvr_18^post42+__disjvr_18^0 == 0 /\ -__disjvr_8^post42+__disjvr_8^0 == 0 /\ -x_28^post42+x_28^0 == 0 /\ __disjvr_3^0-__disjvr_3^post42 == 0 /\ __disjvr_29^0-__disjvr_29^post42 == 0 /\ __disjvr_0^0-__disjvr_0^post42 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post42+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -__disjvr_1^post42+__disjvr_1^0 == 0 /\ -__disjvr_25^post42+__disjvr_25^0 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -__disjvr_19^post42+__disjvr_19^0 == 0 /\ head_46^0-head_46^post42 == 0 /\ -rcd_72^post42+rcd_72^0 == 0 /\ __disjvr_22^0-__disjvr_22^post42 == 0 /\ x_34^0-x_34^post42 == 0 /\ -i_44^post42+i_44^0 == 0 /\ -tmp_48^post42+tmp_48^0 == 0 /\ -r_161^post42+r_161^0 == 0 /\ __disjvr_26^0-__disjvr_26^post42 == 0 /\ __disjvr_9^0-__disjvr_9^post42 == 0 /\ -len_180^post42+len_180^0 == 0 /\ __disjvr_18^post42-__disjvr_18^0 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ -temp_49^post42+temp_49^0 == 0 /\ -__disjvr_12^post42+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post42+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -x_14^post42+x_14^0 == 0), cost: 1
New rule:
l41 -> l42 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l42 -> l11 : __disjvr_0^0'=__disjvr_0^post43, a_283^0'=a_283^post43, temp0_45^0'=temp0_45^post43, __disjvr_21^0'=__disjvr_21^post43, y_19^0'=y_19^post43, __disjvr_4^0'=__disjvr_4^post43, result_11^0'=result_11^post43, __disjvr_14^0'=__disjvr_14^post43, head_46^0'=head_46^post43, __disjvr_24^0'=__disjvr_24^post43, x_177^0'=x_177^post43, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post43, __disjvr_9^0'=__disjvr_9^post43, a_197^0'=a_197^post43, t_23^0'=t_23^post43, __disjvr_19^0'=__disjvr_19^post43, len_246^0'=len_246^post43, __disjvr_29^0'=__disjvr_29^post43, x_SLAM_f_18^0'=x_SLAM_f_18^post43, r_53^0'=r_53^post43, __disjvr_11^0'=__disjvr_11^post43, a_328^0'=a_328^post43, tmp_48^0'=tmp_48^post43, lt_36^0'=lt_36^post43, __disjvr_6^0'=__disjvr_6^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, __disjvr_16^0'=__disjvr_16^post43, i_125^0'=i_125^post43, __disjvr_26^0'=__disjvr_26^post43, x_238^0'=x_238^post43, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post43, a_26^0'=a_26^post43, temp0_32^0'=temp0_32^post43, __disjvr_20^0'=__disjvr_20^post43, lt_237^0'=lt_237^post43, __disjvr_3^0'=__disjvr_3^post43, rcd_72^0'=rcd_72^post43, __disjvr_13^0'=__disjvr_13^post43, fmt_31^0'=fmt_31^post43, __disjvr_23^0'=__disjvr_23^post43, x_16^0'=x_16^post43, nondet_12^0'=nondet_12^post43, __disjvr_8^0'=__disjvr_8^post43, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post43, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post43, __disjvr_18^0'=__disjvr_18^post43, len_180^0'=len_180^post43, __disjvr_28^0'=__disjvr_28^post43, x_34^0'=x_34^post43, r_161^0'=r_161^post43, __disjvr_10^0'=__disjvr_10^post43, a_305^0'=a_305^post43, temp_49^0'=temp_49^post43, __disjvr_22^0'=__disjvr_22^post43, __disjvr_5^0'=__disjvr_5^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post43, __disjvr_15^0'=__disjvr_15^post43, i_108^0'=i_108^post43, __disjvr_25^0'=__disjvr_25^post43, x_20^0'=x_20^post43, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post43, a_146^0'=a_146^post43, a_247^0'=a_247^post43, temp0_15^0'=temp0_15^post43, __disjvr_1^0'=__disjvr_1^post43, length_43^0'=length_43^post43, __disjvr_2^0'=__disjvr_2^post43, rcd_102^0'=rcd_102^post43, __disjvr_12^0'=__disjvr_12^post43, ct_17^0'=ct_17^post43, x_14^0'=x_14^post43, lt_37^0'=lt_37^post43, __disjvr_7^0'=__disjvr_7^post43, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post43, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post43, __disjvr_17^0'=__disjvr_17^post43, i_44^0'=i_44^post43, __disjvr_27^0'=__disjvr_27^post43, x_28^0'=x_28^post43, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post43, (lt_237^0-lt_237^post43 == 0 /\ -x_34^post43+x_34^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post43 == 0 /\ -temp_49^post43+temp_49^0 == 0 /\ -a_247^post43+a_247^0 == 0 /\ -__disjvr_23^post43+__disjvr_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ a_283^0-a_283^post43 == 0 /\ __disjvr_18^0-__disjvr_18^post43 == 0 /\ __disjvr_3^0-__disjvr_3^post43 == 0 /\ a_328^0-a_328^post43 == 0 /\ x_238^0-x_238^post43 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ t_23^0-t_23^post43 == 0 /\ __disjvr_13^0-__disjvr_13^post43 == 0 /\ -ct_17^post43+ct_17^0 == 0 /\ -x_14^post43+x_14^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post43 == 0 /\ -temp0_32^post43+temp0_32^0 == 0 /\ -rcd_72^post43+rcd_72^0 == 0 /\ -__disjvr_27^post43+__disjvr_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post43 == 0 /\ __disjvr_19^0-__disjvr_19^post43 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ -__disjvr_7^post43+__disjvr_7^0 == 0 /\ head_46^0-head_46^post43 == 0 /\ -__disjvr_6^post43+__disjvr_6^0 == 0 /\ -x_SLAM_f_18^post43+x_SLAM_f_18^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post43+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_20^post43+x_20^0 == 0 /\ __disjvr_16^0-__disjvr_16^post43 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post43+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ lt_36^0-lt_36^post43 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post43 == 0 /\ temp0_15^0-temp0_15^post43 == 0 /\ lt_37^0-lt_37^post43 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ -__disjvr_1^post43+__disjvr_1^0 == 0 /\ a_305^0-a_305^post43 == 0 /\ temp0_45^0-temp0_45^post43 == 0 /\ r_53^0-r_53^post43 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post43+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ len_246^0-len_246^post43 == 0 /\ -x_28^post43+x_28^0 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0 /\ tmp_48^0-tmp_48^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ a_197^0-a_197^post43 == 0 /\ __disjvr_15^0-__disjvr_15^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ -a_146^post43+a_146^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_28^post43+__disjvr_28^0 == 0 /\ -__disjvr_12^post43+__disjvr_12^0 == 0 /\ nondet_12^0-nondet_12^post43 == 0 /\ y_19^0-y_19^post43 == 0 /\ -i_108^post43+i_108^0 == 0 /\ -fmt_31^post43+fmt_31^0 == 0 /\ i_125^0-i_125^post43 == 0 /\ -__disjvr_4^post43+__disjvr_4^0 == 0 /\ r_161^0-r_161^post43 == 0 /\ -__disjvr_22^post43+__disjvr_22^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post43+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_26^0-__disjvr_26^post43 == 0 /\ -i_44^post43+i_44^0 == 0 /\ -rcd_102^post43+rcd_102^0 == 0 /\ -len_180^post43+len_180^0 == 0 /\ -__disjvr_25^post43+__disjvr_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post43 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_10^post43+__disjvr_10^0 == 0 /\ __disjvr_29^0-__disjvr_29^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post43 == 0 /\ a_26^0-a_26^post43 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post43+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ x_16^0-x_16^post43 == 0 /\ x_177^0-x_177^post43 == 0 /\ -length_43^post43+length_43^0 == 0 /\ -__disjvr_20^post43+__disjvr_20^0 == 0), cost: 1
New rule:
l42 -> l11 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l40 -> l44 : __disjvr_0^0'=__disjvr_0^post44, a_283^0'=a_283^post44, temp0_45^0'=temp0_45^post44, __disjvr_21^0'=__disjvr_21^post44, y_19^0'=y_19^post44, __disjvr_4^0'=__disjvr_4^post44, result_11^0'=result_11^post44, __disjvr_14^0'=__disjvr_14^post44, head_46^0'=head_46^post44, __disjvr_24^0'=__disjvr_24^post44, x_177^0'=x_177^post44, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post44, __disjvr_9^0'=__disjvr_9^post44, a_197^0'=a_197^post44, t_23^0'=t_23^post44, __disjvr_19^0'=__disjvr_19^post44, len_246^0'=len_246^post44, __disjvr_29^0'=__disjvr_29^post44, x_SLAM_f_18^0'=x_SLAM_f_18^post44, r_53^0'=r_53^post44, __disjvr_11^0'=__disjvr_11^post44, a_328^0'=a_328^post44, tmp_48^0'=tmp_48^post44, lt_36^0'=lt_36^post44, __disjvr_6^0'=__disjvr_6^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, __disjvr_16^0'=__disjvr_16^post44, i_125^0'=i_125^post44, __disjvr_26^0'=__disjvr_26^post44, x_238^0'=x_238^post44, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post44, __disjvr_20^0'=__disjvr_20^post44, lt_237^0'=lt_237^post44, __disjvr_3^0'=__disjvr_3^post44, rcd_72^0'=rcd_72^post44, __disjvr_13^0'=__disjvr_13^post44, fmt_31^0'=fmt_31^post44, __disjvr_23^0'=__disjvr_23^post44, x_16^0'=x_16^post44, nondet_12^0'=nondet_12^post44, __disjvr_8^0'=__disjvr_8^post44, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post44, __disjvr_18^0'=__disjvr_18^post44, len_180^0'=len_180^post44, __disjvr_28^0'=__disjvr_28^post44, x_34^0'=x_34^post44, r_161^0'=r_161^post44, __disjvr_10^0'=__disjvr_10^post44, a_305^0'=a_305^post44, temp_49^0'=temp_49^post44, __disjvr_22^0'=__disjvr_22^post44, __disjvr_5^0'=__disjvr_5^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post44, __disjvr_15^0'=__disjvr_15^post44, i_108^0'=i_108^post44, __disjvr_25^0'=__disjvr_25^post44, x_20^0'=x_20^post44, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post44, a_146^0'=a_146^post44, a_247^0'=a_247^post44, temp0_15^0'=temp0_15^post44, __disjvr_1^0'=__disjvr_1^post44, length_43^0'=length_43^post44, __disjvr_2^0'=__disjvr_2^post44, rcd_102^0'=rcd_102^post44, __disjvr_12^0'=__disjvr_12^post44, ct_17^0'=ct_17^post44, x_14^0'=x_14^post44, lt_37^0'=lt_37^post44, __disjvr_7^0'=__disjvr_7^post44, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post44, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post44, __disjvr_17^0'=__disjvr_17^post44, i_44^0'=i_44^post44, __disjvr_27^0'=__disjvr_27^post44, x_28^0'=x_28^post44, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post44, (0 == 0 /\ -a_247^post44+a_247^0 == 0 /\ temp0_45^0-temp0_45^post44 == 0 /\ -__disjvr_25^post44+__disjvr_25^0 == 0 /\ t_23^0-t_23^post44 == 0 /\ __disjvr_24^0-__disjvr_24^post44 == 0 /\ -__disjvr_13^post44+__disjvr_13^0 == 0 /\ -a_197^0 <= 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post44 == 0 /\ -ct_17^post44+ct_17^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post44+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_1^0-__disjvr_1^post44 == 0 /\ -__disjvr_27^post44+__disjvr_27^0 == 0 /\ -__disjvr_20^post44+__disjvr_20^0 == 0 /\ __disjvr_2^0-__disjvr_2^post44 == 0 /\ -temp_49^post44+temp_49^0 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ -rcd_72^post44+rcd_72^0 == 0 /\ __disjvr_28^0-__disjvr_28^post44 == 0 /\ -i_44^post44+i_44^0 == 0 /\ __disjvr_26^0-__disjvr_26^post44 == 0 /\ __disjvr_4^0-__disjvr_4^post44 == 0 /\ -__disjvr_11^post44+__disjvr_11^0 == 0 /\ __disjvr_23^0-__disjvr_23^post44 == 0 /\ __disjvr_15^0-__disjvr_15^post44 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ a_328^0-a_328^post44 == 0 /\ -temp0_15^post44+temp0_15^0 == 0 /\ -__disjvr_7^post44+__disjvr_7^0 == 0 /\ __disjvr_6^0-__disjvr_6^post44 == 0 /\ -__disjvr_8^post44+__disjvr_8^0 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ x_177^0-x_177^post44 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ -a_146^post44+a_146^0 == 0 /\ -len_180^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ __disjvr_5^0-__disjvr_5^post44 == 0 /\ y_19^0-y_19^post44 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post44+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post44 == 0 /\ -len_180^post44+len_180^0 == 0 /\ -__disjvr_10^post44+__disjvr_10^0 == 0 /\ a_305^0-a_305^post44 == 0 /\ -x_16^post44+x_16^0 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ a_283^0-a_283^post44 == 0 /\ -rcd_102^post44+rcd_102^0 == 0 /\ __disjvr_9^0-__disjvr_9^post44 == 0 /\ -x_20^post44+x_20^0 == 0 /\ -tmp_48^post44+tmp_48^0 == 0 /\ -lt_37^post44+lt_37^0 == 0 /\ len_246^0-len_246^post44 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post44 == 0 /\ head_46^0-head_46^post44 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post44 == 0 /\ -length_43^post44+length_43^0 == 0 /\ -x_34^post44+x_34^0 == 0 /\ __disjvr_18^0-__disjvr_18^post44 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post44+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -r_161^post44+r_161^0 == 0 /\ temp0_32^0-temp0_32^post44 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post44+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -x_28^post44+x_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -i_108^post44+i_108^0 == 0 /\ a_197^0-a_197^post44 == 0 /\ -i_125^post44+i_125^0 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0 /\ fmt_31^0-fmt_31^post44 == 0 /\ -__disjvr_22^post44+__disjvr_22^0 == 0 /\ lt_36^0-lt_36^post44 == 0), cost: 1
New rule:
l40 -> l44 : r_53^0'=r_53^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, lt_237^0'=lt_237^post44, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_14^0'=x_14^post44, (a_197^0 >= 0 /\ len_180^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l44 -> l45 : __disjvr_0^0'=__disjvr_0^post45, a_283^0'=a_283^post45, temp0_45^0'=temp0_45^post45, __disjvr_21^0'=__disjvr_21^post45, y_19^0'=y_19^post45, __disjvr_4^0'=__disjvr_4^post45, result_11^0'=result_11^post45, __disjvr_14^0'=__disjvr_14^post45, head_46^0'=head_46^post45, __disjvr_24^0'=__disjvr_24^post45, x_177^0'=x_177^post45, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post45, __disjvr_9^0'=__disjvr_9^post45, a_197^0'=a_197^post45, t_23^0'=t_23^post45, __disjvr_19^0'=__disjvr_19^post45, len_246^0'=len_246^post45, __disjvr_29^0'=__disjvr_29^post45, x_SLAM_f_18^0'=x_SLAM_f_18^post45, r_53^0'=r_53^post45, __disjvr_11^0'=__disjvr_11^post45, a_328^0'=a_328^post45, tmp_48^0'=tmp_48^post45, lt_36^0'=lt_36^post45, __disjvr_6^0'=__disjvr_6^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, __disjvr_16^0'=__disjvr_16^post45, i_125^0'=i_125^post45, __disjvr_26^0'=__disjvr_26^post45, x_238^0'=x_238^post45, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post45, a_26^0'=a_26^post45, temp0_32^0'=temp0_32^post45, __disjvr_20^0'=__disjvr_20^post45, lt_237^0'=lt_237^post45, __disjvr_3^0'=__disjvr_3^post45, rcd_72^0'=rcd_72^post45, __disjvr_13^0'=__disjvr_13^post45, fmt_31^0'=fmt_31^post45, __disjvr_23^0'=__disjvr_23^post45, x_16^0'=x_16^post45, nondet_12^0'=nondet_12^post45, __disjvr_8^0'=__disjvr_8^post45, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post45, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post45, __disjvr_18^0'=__disjvr_18^post45, len_180^0'=len_180^post45, __disjvr_28^0'=__disjvr_28^post45, x_34^0'=x_34^post45, r_161^0'=r_161^post45, __disjvr_10^0'=__disjvr_10^post45, a_305^0'=a_305^post45, temp_49^0'=temp_49^post45, __disjvr_22^0'=__disjvr_22^post45, __disjvr_5^0'=__disjvr_5^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post45, __disjvr_15^0'=__disjvr_15^post45, i_108^0'=i_108^post45, __disjvr_25^0'=__disjvr_25^post45, x_20^0'=x_20^post45, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post45, a_146^0'=a_146^post45, a_247^0'=a_247^post45, temp0_15^0'=temp0_15^post45, __disjvr_1^0'=__disjvr_1^post45, length_43^0'=length_43^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_102^0'=rcd_102^post45, __disjvr_12^0'=__disjvr_12^post45, ct_17^0'=ct_17^post45, x_14^0'=x_14^post45, lt_37^0'=lt_37^post45, __disjvr_7^0'=__disjvr_7^post45, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post45, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post45, __disjvr_17^0'=__disjvr_17^post45, i_44^0'=i_44^post45, __disjvr_27^0'=__disjvr_27^post45, x_28^0'=x_28^post45, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post45, (__disjvr_4^0-__disjvr_4^post45 == 0 /\ rcd_102^0-rcd_102^post45 == 0 /\ -__disjvr_6^post45+__disjvr_6^0 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0 /\ -rcd_72^post45+rcd_72^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post45+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -r_53^post45+r_53^0 == 0 /\ x_16^0-x_16^post45 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post45 == 0 /\ __disjvr_16^0-__disjvr_16^post45 == 0 /\ t_23^0-t_23^post45 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ -i_44^post45+i_44^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post45 == 0 /\ -__disjvr_2^post45+__disjvr_2^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -lt_237^post45+lt_237^0 == 0 /\ x_34^0-x_34^post45 == 0 /\ -a_247^post45+a_247^0 == 0 /\ head_46^0-head_46^post45 == 0 /\ a_283^0-a_283^post45 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post45+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -a_146^post45+a_146^0 == 0 /\ -__disjvr_18^post45+__disjvr_18^0 == 0 /\ -tmp_48^post45+tmp_48^0 == 0 /\ -x_14^post45+x_14^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post45 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post45 == 0 /\ -__disjvr_13^post45+__disjvr_13^0 == 0 /\ fmt_31^0-fmt_31^post45 == 0 /\ len_246^0-len_246^post45 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post45+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_0^0-__disjvr_0^post45 == 0 /\ temp0_15^0-temp0_15^post45 == 0 /\ i_125^0-i_125^post45 == 0 /\ ct_17^0-ct_17^post45 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post45 == 0 /\ -temp_49^post45+temp_49^0 == 0 /\ lt_36^0-lt_36^post45 == 0 /\ -len_180^post45+len_180^0 == 0 /\ a_328^0-a_328^post45 == 0 /\ -__disjvr_25^post45+__disjvr_25^0 == 0 /\ -__disjvr_11^post45+__disjvr_11^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_20^post45+x_20^0 == 0 /\ __disjvr_19^0-__disjvr_19^post45 == 0 /\ temp0_45^0-temp0_45^post45 == 0 /\ -r_161^post45+r_161^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ -__disjvr_27^post45+__disjvr_27^0 == 0 /\ __disjvr_22^0-__disjvr_22^post45 == 0 /\ temp0_32^0-temp0_32^post45 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post45+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ -a_305^post45+a_305^0 == 0 /\ __disjvr_26^0-__disjvr_26^post45 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ -__disjvr_21^post45+__disjvr_21^0 == 0 /\ -__disjvr_1^post45+__disjvr_1^0 == 0 /\ __disjvr_3^0-__disjvr_3^post45 == 0 /\ x_177^0-x_177^post45 == 0 /\ -a_26^post45+a_26^0 == 0 /\ -x_28^post45+x_28^0 == 0 /\ -length_43^post45+length_43^0 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ -__disjvr_19^0+__disjvr_19^post45 == 0 /\ __disjvr_28^0-__disjvr_28^post45 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post45 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ -i_108^post45+i_108^0 == 0 /\ __disjvr_5^0-__disjvr_5^post45 == 0 /\ __disjvr_10^0-__disjvr_10^post45 == 0 /\ a_197^0-a_197^post45 == 0 /\ y_19^0-y_19^post45 == 0 /\ -lt_37^post45+lt_37^0 == 0 /\ -x_238^post45+x_238^0 == 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ __disjvr_29^0-__disjvr_29^post45 == 0), cost: 1
New rule:
l44 -> l45 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l45 -> l46 : __disjvr_0^0'=__disjvr_0^post46, a_283^0'=a_283^post46, temp0_45^0'=temp0_45^post46, __disjvr_21^0'=__disjvr_21^post46, y_19^0'=y_19^post46, __disjvr_4^0'=__disjvr_4^post46, result_11^0'=result_11^post46, __disjvr_14^0'=__disjvr_14^post46, head_46^0'=head_46^post46, __disjvr_24^0'=__disjvr_24^post46, x_177^0'=x_177^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post46, __disjvr_9^0'=__disjvr_9^post46, a_197^0'=a_197^post46, t_23^0'=t_23^post46, __disjvr_19^0'=__disjvr_19^post46, len_246^0'=len_246^post46, __disjvr_29^0'=__disjvr_29^post46, x_SLAM_f_18^0'=x_SLAM_f_18^post46, r_53^0'=r_53^post46, __disjvr_11^0'=__disjvr_11^post46, a_328^0'=a_328^post46, tmp_48^0'=tmp_48^post46, lt_36^0'=lt_36^post46, __disjvr_6^0'=__disjvr_6^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, __disjvr_16^0'=__disjvr_16^post46, i_125^0'=i_125^post46, __disjvr_26^0'=__disjvr_26^post46, x_238^0'=x_238^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post46, a_26^0'=a_26^post46, temp0_32^0'=temp0_32^post46, __disjvr_20^0'=__disjvr_20^post46, lt_237^0'=lt_237^post46, __disjvr_3^0'=__disjvr_3^post46, rcd_72^0'=rcd_72^post46, __disjvr_13^0'=__disjvr_13^post46, fmt_31^0'=fmt_31^post46, __disjvr_23^0'=__disjvr_23^post46, x_16^0'=x_16^post46, nondet_12^0'=nondet_12^post46, __disjvr_8^0'=__disjvr_8^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post46, __disjvr_18^0'=__disjvr_18^post46, len_180^0'=len_180^post46, __disjvr_28^0'=__disjvr_28^post46, x_34^0'=x_34^post46, r_161^0'=r_161^post46, __disjvr_10^0'=__disjvr_10^post46, a_305^0'=a_305^post46, temp_49^0'=temp_49^post46, __disjvr_22^0'=__disjvr_22^post46, __disjvr_5^0'=__disjvr_5^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post46, __disjvr_15^0'=__disjvr_15^post46, i_108^0'=i_108^post46, __disjvr_25^0'=__disjvr_25^post46, x_20^0'=x_20^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_146^0'=a_146^post46, a_247^0'=a_247^post46, temp0_15^0'=temp0_15^post46, __disjvr_1^0'=__disjvr_1^post46, length_43^0'=length_43^post46, __disjvr_2^0'=__disjvr_2^post46, rcd_102^0'=rcd_102^post46, __disjvr_12^0'=__disjvr_12^post46, ct_17^0'=ct_17^post46, x_14^0'=x_14^post46, lt_37^0'=lt_37^post46, __disjvr_7^0'=__disjvr_7^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post46, __disjvr_17^0'=__disjvr_17^post46, i_44^0'=i_44^post46, __disjvr_27^0'=__disjvr_27^post46, x_28^0'=x_28^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post46, (0 == 0 /\ -x_238^post46+x_238^0 == 0 /\ a_328^0-a_328^post46 == 0 /\ -i_44^post46+i_44^0 == 0 /\ x_34^120-x_28^0 == 0 /\ temp_49^0-temp_49^post46 == 0 /\ __disjvr_10^0-__disjvr_10^post46 == 0 /\ __disjvr_4^0-__disjvr_4^post46 == 0 /\ temp0_15^0-temp0_15^post46 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post46 == 0 /\ -x_16^post46+x_16^0 == 0 /\ __disjvr_16^0-__disjvr_16^post46 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ -__disjvr_1^post46+__disjvr_1^0 == 0 /\ r_161^0-r_161^post46 == 0 /\ __disjvr_6^0-__disjvr_6^post46 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ i_125^0-i_125^post46 == 0 /\ result_11^170-temp0_32^170 == 0 /\ rcd_102^0-rcd_102^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post46+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -x_20^post46+x_20^0 == 0 /\ -a_26^post46+a_26^0 == 0 /\ -1+len_246^post46-len_180^0 <= 0 /\ -length_43^post46+length_43^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ x_177^0-x_177^post46 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post46+fmt_31^152 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ 1-a_197^0+a_247^post46 <= 0 /\ temp0_32^310 == 0 /\ -a_197^post46+a_197^0 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ __disjvr_18^0-__disjvr_18^post46 == 0 /\ -a_305^post46+a_305^0 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ -len_180^post46+len_180^0 == 0 /\ -__disjvr_26^post46+__disjvr_26^0 == 0 /\ __disjvr_21^0-__disjvr_21^post46 == 0 /\ -x_14^post46+x_14^0 == 0 /\ a_283^0-a_283^post46 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post46+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -result_11^170+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ -rcd_72^post46+rcd_72^0 == 0 /\ __disjvr_3^0-__disjvr_3^post46 == 0 /\ y_19^0-y_19^post46 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ -__disjvr_13^post46+__disjvr_13^0 == 0 /\ __disjvr_8^0-__disjvr_8^post46 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ -lt_237^post46+lt_237^0 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ lt_237^0-x_28^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post46 == 0 /\ r_53^0-r_53^post46 == 0 /\ -__disjvr_28^post46+__disjvr_28^0 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post46 <= 0 /\ a_26^0-x_14^0 <= 0 /\ t_23^0-t_23^post46 == 0 /\ temp0_32^170 == 0 /\ -__disjvr_2^post46+__disjvr_2^0 == 0 /\ result_11^330-temp0_32^310 == 0 /\ head_46^0-head_46^post46 == 0 /\ -i_108^post46+i_108^0 == 0 /\ fmt_31^310-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^120 == 0 /\ __disjvr_25^0-__disjvr_25^post46 == 0 /\ __disjvr_11^0-__disjvr_11^post46 == 0 /\ -ct_17^post46+ct_17^0 == 0 /\ 1-len_246^post46+len_180^0 <= 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post46 == 0 /\ -x_28^post46+x_28^0 == 0 /\ -__disjvr_29^post46+__disjvr_29^0 == 0 /\ -a_146^post46+a_146^0 == 0 /\ -tmp_48^post46+tmp_48^0 == 0 /\ -1+a_197^0-a_247^post46 <= 0 /\ __disjvr_19^0-__disjvr_19^post46 == 0 /\ -lt_237^0+x_28^0 <= 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post46 == 0 /\ -__disjvr_7^post46+__disjvr_7^0 == 0 /\ temp0_45^0-temp0_45^post46 == 0 /\ -__disjvr_22^post46+__disjvr_22^0 == 0 /\ -result_11^330+result_dot_printf_sdv_special_RETURN_VALUE_38^120 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post46 == 0 /\ -a_26^0+x_14^0 <= 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post46 <= 0 /\ -__disjvr_5^post46+__disjvr_5^0 == 0), cost: 1
New rule:
l45 -> l46 : result_11^0'=result_11^post46, len_246^0'=1+len_180^0, lt_36^0'=lt_36^post46, temp0_32^0'=temp0_32^post46, fmt_31^0'=fmt_31^post46, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ lt_237^0-x_28^0 == 0 /\ a_26^0-x_14^0 == 0), cost: 1

Applied preprocessing
Original rule:
l46 -> l47 : __disjvr_0^0'=__disjvr_0^post47, a_283^0'=a_283^post47, temp0_45^0'=temp0_45^post47, __disjvr_21^0'=__disjvr_21^post47, y_19^0'=y_19^post47, __disjvr_4^0'=__disjvr_4^post47, result_11^0'=result_11^post47, __disjvr_14^0'=__disjvr_14^post47, head_46^0'=head_46^post47, __disjvr_24^0'=__disjvr_24^post47, x_177^0'=x_177^post47, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post47, __disjvr_9^0'=__disjvr_9^post47, a_197^0'=a_197^post47, t_23^0'=t_23^post47, __disjvr_19^0'=__disjvr_19^post47, len_246^0'=len_246^post47, __disjvr_29^0'=__disjvr_29^post47, x_SLAM_f_18^0'=x_SLAM_f_18^post47, r_53^0'=r_53^post47, __disjvr_11^0'=__disjvr_11^post47, a_328^0'=a_328^post47, tmp_48^0'=tmp_48^post47, lt_36^0'=lt_36^post47, __disjvr_6^0'=__disjvr_6^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, __disjvr_16^0'=__disjvr_16^post47, i_125^0'=i_125^post47, __disjvr_26^0'=__disjvr_26^post47, x_238^0'=x_238^post47, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post47, a_26^0'=a_26^post47, temp0_32^0'=temp0_32^post47, __disjvr_20^0'=__disjvr_20^post47, lt_237^0'=lt_237^post47, __disjvr_3^0'=__disjvr_3^post47, rcd_72^0'=rcd_72^post47, __disjvr_13^0'=__disjvr_13^post47, fmt_31^0'=fmt_31^post47, __disjvr_23^0'=__disjvr_23^post47, x_16^0'=x_16^post47, nondet_12^0'=nondet_12^post47, __disjvr_8^0'=__disjvr_8^post47, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post47, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post47, __disjvr_18^0'=__disjvr_18^post47, len_180^0'=len_180^post47, __disjvr_28^0'=__disjvr_28^post47, x_34^0'=x_34^post47, r_161^0'=r_161^post47, __disjvr_10^0'=__disjvr_10^post47, a_305^0'=a_305^post47, temp_49^0'=temp_49^post47, __disjvr_22^0'=__disjvr_22^post47, __disjvr_5^0'=__disjvr_5^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post47, __disjvr_15^0'=__disjvr_15^post47, i_108^0'=i_108^post47, __disjvr_25^0'=__disjvr_25^post47, x_20^0'=x_20^post47, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post47, a_146^0'=a_146^post47, a_247^0'=a_247^post47, temp0_15^0'=temp0_15^post47, __disjvr_1^0'=__disjvr_1^post47, length_43^0'=length_43^post47, __disjvr_2^0'=__disjvr_2^post47, rcd_102^0'=rcd_102^post47, __disjvr_12^0'=__disjvr_12^post47, ct_17^0'=ct_17^post47, x_14^0'=x_14^post47, lt_37^0'=lt_37^post47, __disjvr_7^0'=__disjvr_7^post47, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post47, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post47, __disjvr_17^0'=__disjvr_17^post47, i_44^0'=i_44^post47, __disjvr_27^0'=__disjvr_27^post47, x_28^0'=x_28^post47, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post47, (-rcd_102^post47+rcd_102^0 == 0 /\ head_46^0-head_46^post47 == 0 /\ -x_20^post47+x_20^0 == 0 /\ -__disjvr_12^post47+__disjvr_12^0 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ -__disjvr_26^post47+__disjvr_26^0 == 0 /\ a_305^0-a_305^post47 == 0 /\ __disjvr_21^0-__disjvr_21^post47 == 0 /\ length_43^0-length_43^post47 == 0 /\ a_247^0-a_247^post47 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post47 == 0 /\ __disjvr_6^0-__disjvr_6^post47 == 0 /\ __disjvr_29^0-__disjvr_29^post47 == 0 /\ __disjvr_11^0-__disjvr_11^post47 == 0 /\ -x_34^post47+x_34^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post47+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ x_238^0-x_238^post47 == 0 /\ -lt_37^post47+lt_37^0 == 0 /\ -r_161^post47+r_161^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post47+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_26^0-a_26^post47 == 0 /\ -i_125^post47+i_125^0 == 0 /\ len_246^0-len_246^post47 == 0 /\ a_283^0-a_283^post47 == 0 /\ -x_28^post47+x_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post47 == 0 /\ __disjvr_28^0-__disjvr_28^post47 == 0 /\ -fmt_31^post47+fmt_31^0 == 0 /\ len_180^0-len_180^post47 == 0 /\ result_11^0-result_11^post47 == 0 /\ __disjvr_23^0-__disjvr_23^post47 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post47+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_20^post47-__disjvr_20^0 == 0 /\ -ct_17^post47+ct_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post47 == 0 /\ -__disjvr_22^post47+__disjvr_22^0 == 0 /\ -a_146^post47+a_146^0 == 0 /\ __disjvr_3^0-__disjvr_3^post47 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post47+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post47 == 0 /\ __disjvr_25^0-__disjvr_25^post47 == 0 /\ -__disjvr_15^post47+__disjvr_15^0 == 0 /\ r_53^0-r_53^post47 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post47+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -x_14^post47+x_14^0 == 0 /\ lt_237^0-lt_237^post47 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post47+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ x_177^0-x_177^post47 == 0 /\ -nondet_12^post47+nondet_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post47 == 0 /\ a_197^0-a_197^post47 == 0 /\ -i_44^post47+i_44^0 == 0 /\ -lt_36^post47+lt_36^0 == 0 /\ -__disjvr_20^post47+__disjvr_20^0 == 0 /\ temp0_45^0-temp0_45^post47 == 0 /\ -__disjvr_27^post47+__disjvr_27^0 == 0 /\ i_108^0-i_108^post47 == 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ __disjvr_16^0-__disjvr_16^post47 == 0 /\ rcd_72^0-rcd_72^post47 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post47+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_24^0-__disjvr_24^post47 == 0 /\ -temp0_15^post47+temp0_15^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post47 == 0 /\ -temp_49^post47+temp_49^0 == 0 /\ y_19^0-y_19^post47 == 0 /\ -__disjvr_5^post47+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post47 == 0 /\ -a_328^post47+a_328^0 == 0 /\ -__disjvr_2^post47+__disjvr_2^0 == 0 /\ -__disjvr_8^post47+__disjvr_8^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post47 == 0 /\ -t_23^post47+t_23^0 == 0 /\ -__disjvr_10^post47+__disjvr_10^0 == 0 /\ -x_16^post47+x_16^0 == 0 /\ -__disjvr_17^post47+__disjvr_17^0 == 0 /\ -__disjvr_13^post47+__disjvr_13^0 == 0 /\ temp0_32^0-temp0_32^post47 == 0 /\ tmp_48^0-tmp_48^post47 == 0 /\ __disjvr_19^0-__disjvr_19^post47 == 0), cost: 1
New rule:
l46 -> l47 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l47 -> l48 : __disjvr_0^0'=__disjvr_0^post48, a_283^0'=a_283^post48, temp0_45^0'=temp0_45^post48, __disjvr_21^0'=__disjvr_21^post48, y_19^0'=y_19^post48, __disjvr_4^0'=__disjvr_4^post48, result_11^0'=result_11^post48, __disjvr_14^0'=__disjvr_14^post48, head_46^0'=head_46^post48, __disjvr_24^0'=__disjvr_24^post48, x_177^0'=x_177^post48, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post48, __disjvr_9^0'=__disjvr_9^post48, a_197^0'=a_197^post48, t_23^0'=t_23^post48, __disjvr_19^0'=__disjvr_19^post48, len_246^0'=len_246^post48, __disjvr_29^0'=__disjvr_29^post48, x_SLAM_f_18^0'=x_SLAM_f_18^post48, r_53^0'=r_53^post48, __disjvr_11^0'=__disjvr_11^post48, a_328^0'=a_328^post48, tmp_48^0'=tmp_48^post48, lt_36^0'=lt_36^post48, __disjvr_6^0'=__disjvr_6^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, __disjvr_16^0'=__disjvr_16^post48, i_125^0'=i_125^post48, __disjvr_26^0'=__disjvr_26^post48, x_238^0'=x_238^post48, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post48, a_26^0'=a_26^post48, temp0_32^0'=temp0_32^post48, __disjvr_20^0'=__disjvr_20^post48, lt_237^0'=lt_237^post48, __disjvr_3^0'=__disjvr_3^post48, rcd_72^0'=rcd_72^post48, __disjvr_13^0'=__disjvr_13^post48, fmt_31^0'=fmt_31^post48, __disjvr_23^0'=__disjvr_23^post48, x_16^0'=x_16^post48, nondet_12^0'=nondet_12^post48, __disjvr_8^0'=__disjvr_8^post48, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post48, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post48, __disjvr_18^0'=__disjvr_18^post48, len_180^0'=len_180^post48, __disjvr_28^0'=__disjvr_28^post48, x_34^0'=x_34^post48, r_161^0'=r_161^post48, __disjvr_10^0'=__disjvr_10^post48, a_305^0'=a_305^post48, temp_49^0'=temp_49^post48, __disjvr_22^0'=__disjvr_22^post48, __disjvr_5^0'=__disjvr_5^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post48, __disjvr_15^0'=__disjvr_15^post48, i_108^0'=i_108^post48, __disjvr_25^0'=__disjvr_25^post48, x_20^0'=x_20^post48, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post48, a_146^0'=a_146^post48, a_247^0'=a_247^post48, temp0_15^0'=temp0_15^post48, __disjvr_1^0'=__disjvr_1^post48, length_43^0'=length_43^post48, __disjvr_2^0'=__disjvr_2^post48, rcd_102^0'=rcd_102^post48, __disjvr_12^0'=__disjvr_12^post48, ct_17^0'=ct_17^post48, x_14^0'=x_14^post48, lt_37^0'=lt_37^post48, __disjvr_7^0'=__disjvr_7^post48, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post48, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post48, __disjvr_17^0'=__disjvr_17^post48, i_44^0'=i_44^post48, __disjvr_27^0'=__disjvr_27^post48, x_28^0'=x_28^post48, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post48, (result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post48 == 0 /\ -x_20^post48+x_20^0 == 0 /\ __disjvr_28^0-__disjvr_28^post48 == 0 /\ -r_161^post48+r_161^0 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ -a_305^post48+a_305^0 == 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ temp0_15^0-temp0_15^post48 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post48+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_7^post48+__disjvr_7^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post48 == 0 /\ -i_125^post48+i_125^0 == 0 /\ x_238^0-x_238^post48 == 0 /\ lt_36^0-lt_36^post48 == 0 /\ a_328^0-a_328^post48 == 0 /\ -__disjvr_21^0+__disjvr_21^post48 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post48+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_23^0-__disjvr_23^post48 == 0 /\ -a_26^post48+a_26^0 == 0 /\ -i_108^post48+i_108^0 == 0 /\ rcd_102^0-rcd_102^post48 == 0 /\ -x_28^post48+x_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post48 == 0 /\ -length_43^post48+length_43^0 == 0 /\ __disjvr_16^0-__disjvr_16^post48 == 0 /\ -ct_17^post48+ct_17^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post48 == 0 /\ temp0_32^0-temp0_32^post48 == 0 /\ __disjvr_4^0-__disjvr_4^post48 == 0 /\ -lt_37^post48+lt_37^0 == 0 /\ result_11^0-result_11^post48 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ __disjvr_11^0-__disjvr_11^post48 == 0 /\ -__disjvr_6^post48+__disjvr_6^0 == 0 /\ a_283^0-a_283^post48 == 0 /\ len_180^0-len_180^post48 == 0 /\ __disjvr_20^0-__disjvr_20^post48 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post48 == 0 /\ len_246^0-len_246^post48 == 0 /\ fmt_31^0-fmt_31^post48 == 0 /\ x_177^0-x_177^post48 == 0 /\ __disjvr_5^0-__disjvr_5^post48 == 0 /\ -__disjvr_8^post48+__disjvr_8^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ -__disjvr_15^post48+__disjvr_15^0 == 0 /\ -__disjvr_2^post48+__disjvr_2^0 == 0 /\ r_53^0-r_53^post48 == 0 /\ -lt_237^post48+lt_237^0 == 0 /\ a_197^0-a_197^post48 == 0 /\ __disjvr_10^0-__disjvr_10^post48 == 0 /\ -a_247^post48+a_247^0 == 0 /\ -y_19^post48+y_19^0 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ -__disjvr_18^post48+__disjvr_18^0 == 0 /\ -a_146^post48+a_146^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post48 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post48+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -tmp_48^post48+tmp_48^0 == 0 /\ -x_14^post48+x_14^0 == 0 /\ -__disjvr_19^post48+__disjvr_19^0 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0 /\ __disjvr_0^0-__disjvr_0^post48 == 0 /\ -__disjvr_29^post48+__disjvr_29^0 == 0 /\ -temp_49^post48+temp_49^0 == 0 /\ -__disjvr_13^post48+__disjvr_13^0 == 0 /\ x_34^0-x_34^post48 == 0 /\ i_44^0-i_44^post48 == 0 /\ t_23^0-t_23^post48 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post48+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_9^0-__disjvr_9^post48 == 0 /\ temp0_45^0-temp0_45^post48 == 0 /\ head_46^0-head_46^post48 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ -x_16^post48+x_16^0 == 0 /\ __disjvr_26^0-__disjvr_26^post48 == 0 /\ -rcd_72^post48+rcd_72^0 == 0 /\ __disjvr_22^0-__disjvr_22^post48 == 0 /\ -__disjvr_25^post48+__disjvr_25^0 == 0), cost: 1
New rule:
l47 -> l48 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l48 -> l43 : __disjvr_0^0'=__disjvr_0^post49, a_283^0'=a_283^post49, temp0_45^0'=temp0_45^post49, __disjvr_21^0'=__disjvr_21^post49, y_19^0'=y_19^post49, __disjvr_4^0'=__disjvr_4^post49, result_11^0'=result_11^post49, __disjvr_14^0'=__disjvr_14^post49, head_46^0'=head_46^post49, __disjvr_24^0'=__disjvr_24^post49, x_177^0'=x_177^post49, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post49, __disjvr_9^0'=__disjvr_9^post49, a_197^0'=a_197^post49, t_23^0'=t_23^post49, __disjvr_19^0'=__disjvr_19^post49, len_246^0'=len_246^post49, __disjvr_29^0'=__disjvr_29^post49, x_SLAM_f_18^0'=x_SLAM_f_18^post49, r_53^0'=r_53^post49, __disjvr_11^0'=__disjvr_11^post49, a_328^0'=a_328^post49, tmp_48^0'=tmp_48^post49, lt_36^0'=lt_36^post49, __disjvr_6^0'=__disjvr_6^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, __disjvr_16^0'=__disjvr_16^post49, i_125^0'=i_125^post49, __disjvr_26^0'=__disjvr_26^post49, x_238^0'=x_238^post49, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post49, a_26^0'=a_26^post49, temp0_32^0'=temp0_32^post49, __disjvr_20^0'=__disjvr_20^post49, lt_237^0'=lt_237^post49, __disjvr_3^0'=__disjvr_3^post49, rcd_72^0'=rcd_72^post49, __disjvr_13^0'=__disjvr_13^post49, fmt_31^0'=fmt_31^post49, __disjvr_23^0'=__disjvr_23^post49, x_16^0'=x_16^post49, nondet_12^0'=nondet_12^post49, __disjvr_8^0'=__disjvr_8^post49, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post49, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post49, __disjvr_18^0'=__disjvr_18^post49, len_180^0'=len_180^post49, __disjvr_28^0'=__disjvr_28^post49, x_34^0'=x_34^post49, r_161^0'=r_161^post49, __disjvr_10^0'=__disjvr_10^post49, a_305^0'=a_305^post49, temp_49^0'=temp_49^post49, __disjvr_22^0'=__disjvr_22^post49, __disjvr_5^0'=__disjvr_5^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post49, __disjvr_15^0'=__disjvr_15^post49, i_108^0'=i_108^post49, __disjvr_25^0'=__disjvr_25^post49, x_20^0'=x_20^post49, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post49, a_146^0'=a_146^post49, a_247^0'=a_247^post49, temp0_15^0'=temp0_15^post49, __disjvr_1^0'=__disjvr_1^post49, length_43^0'=length_43^post49, __disjvr_2^0'=__disjvr_2^post49, rcd_102^0'=rcd_102^post49, __disjvr_12^0'=__disjvr_12^post49, ct_17^0'=ct_17^post49, x_14^0'=x_14^post49, lt_37^0'=lt_37^post49, __disjvr_7^0'=__disjvr_7^post49, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post49, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post49, __disjvr_17^0'=__disjvr_17^post49, i_44^0'=i_44^post49, __disjvr_27^0'=__disjvr_27^post49, x_28^0'=x_28^post49, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post49, (0 == 0 /\ -length_43^post49+length_43^0 == 0 /\ -__disjvr_5^post49+__disjvr_5^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post49 == 0 /\ temp0_15^0-temp0_15^post49 == 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ a_283^0-a_283^post49 == 0 /\ -x_14^post49+x_14^0 == 0 /\ -temp0_32^post49+temp0_32^0 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ __disjvr_3^0-__disjvr_3^post49 == 0 /\ -x_34^post49+x_34^0 == 0 /\ -ct_17^post49+ct_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post49 == 0 /\ -__disjvr_7^post49+__disjvr_7^0 == 0 /\ lt_237^0-lt_237^post49 == 0 /\ i_125^0-i_125^post49 == 0 /\ r_161^0-r_161^post49 == 0 /\ a_328^0-a_328^post49 == 0 /\ __disjvr_29^0-__disjvr_29^post49 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post49+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ __disjvr_19^0-__disjvr_19^post49 == 0 /\ __disjvr_13^0-__disjvr_13^post49 == 0 /\ -fmt_31^post49+fmt_31^0 == 0 /\ lt_36^0-lt_36^post49 == 0 /\ -x_238^post49+x_238^0 == 0 /\ __disjvr_16^0-__disjvr_16^post49 == 0 /\ head_46^0-head_46^post49 == 0 /\ -i_108^post49+i_108^0 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post49+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_20^post49+x_20^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post49 == 0 /\ -x_SLAM_f_18^post49+x_SLAM_f_18^0 == 0 /\ -lt_37^post49+lt_37^0 == 0 /\ __disjvr_9^0-__disjvr_9^post49 == 0 /\ -a_247^post49+a_247^0 == 0 /\ temp0_45^0-temp0_45^post49 == 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -a_197^post49+a_247^0 <= 0 /\ a_305^0-a_305^post49 == 0 /\ __disjvr_11^0-__disjvr_11^post49 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post49+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ tmp_48^0-tmp_48^post49 == 0 /\ __disjvr_15^0-__disjvr_15^post49 == 0 /\ -__disjvr_4^post49+__disjvr_4^0 == 0 /\ len_246^0-len_246^post49 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post49+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -len_180^post49+len_246^0 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ y_19^0-y_19^post49 == 0 /\ -__disjvr_28^post49+__disjvr_28^0 == 0 /\ -__disjvr_22^post49+__disjvr_22^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 == 0 /\ -__disjvr_6^post49+__disjvr_6^0 == 0 /\ -x_28^post49+x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_38^0-result_dot_printf_sdv_special_RETURN_VALUE_38^post49 == 0 /\ -__disjvr_8^post49+__disjvr_8^0 == 0 /\ -a_146^post49+a_146^0 == 0 /\ a_197^post49-a_247^0 <= 0 /\ x_16^0-x_16^post49 == 0 /\ -rcd_72^post49+rcd_72^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_23^post49+__disjvr_23^0 == 0 /\ -__disjvr_12^post49+__disjvr_12^0 == 0 /\ t_23^0-t_23^post49 == 0 /\ __disjvr_26^0-__disjvr_26^post49 == 0 /\ -__disjvr_20^post49+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post49+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ len_180^post49-len_246^0 <= 0 /\ a_26^0-a_26^post49 == 0 /\ -i_44^post49+i_44^0 == 0 /\ -rcd_102^post49+rcd_102^0 == 0 /\ -r_53^post49+r_53^0 == 0 /\ result_11^0-result_11^post49 == 0 /\ __disjvr_21^0-__disjvr_21^post49 == 0 /\ x_177^0-x_177^post49 == 0 /\ -__disjvr_10^post49+__disjvr_10^0 == 0 /\ -temp_49^post49+temp_49^0 == 0 /\ -__disjvr_25^post49+__disjvr_25^0 == 0 /\ -__disjvr_1^post49+__disjvr_1^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post49 == 0), cost: 1
New rule:
l48 -> l43 : a_197^0'=a_247^0, len_180^0'=len_246^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l43 -> l40 : __disjvr_0^0'=__disjvr_0^post50, a_283^0'=a_283^post50, temp0_45^0'=temp0_45^post50, __disjvr_21^0'=__disjvr_21^post50, y_19^0'=y_19^post50, __disjvr_4^0'=__disjvr_4^post50, result_11^0'=result_11^post50, __disjvr_14^0'=__disjvr_14^post50, head_46^0'=head_46^post50, __disjvr_24^0'=__disjvr_24^post50, x_177^0'=x_177^post50, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post50, __disjvr_9^0'=__disjvr_9^post50, a_197^0'=a_197^post50, t_23^0'=t_23^post50, __disjvr_19^0'=__disjvr_19^post50, len_246^0'=len_246^post50, __disjvr_29^0'=__disjvr_29^post50, x_SLAM_f_18^0'=x_SLAM_f_18^post50, r_53^0'=r_53^post50, __disjvr_11^0'=__disjvr_11^post50, a_328^0'=a_328^post50, tmp_48^0'=tmp_48^post50, lt_36^0'=lt_36^post50, __disjvr_6^0'=__disjvr_6^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, __disjvr_16^0'=__disjvr_16^post50, i_125^0'=i_125^post50, __disjvr_26^0'=__disjvr_26^post50, x_238^0'=x_238^post50, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post50, a_26^0'=a_26^post50, temp0_32^0'=temp0_32^post50, __disjvr_20^0'=__disjvr_20^post50, lt_237^0'=lt_237^post50, __disjvr_3^0'=__disjvr_3^post50, rcd_72^0'=rcd_72^post50, __disjvr_13^0'=__disjvr_13^post50, fmt_31^0'=fmt_31^post50, __disjvr_23^0'=__disjvr_23^post50, x_16^0'=x_16^post50, nondet_12^0'=nondet_12^post50, __disjvr_8^0'=__disjvr_8^post50, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post50, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post50, __disjvr_18^0'=__disjvr_18^post50, len_180^0'=len_180^post50, __disjvr_28^0'=__disjvr_28^post50, x_34^0'=x_34^post50, r_161^0'=r_161^post50, __disjvr_10^0'=__disjvr_10^post50, a_305^0'=a_305^post50, temp_49^0'=temp_49^post50, __disjvr_22^0'=__disjvr_22^post50, __disjvr_5^0'=__disjvr_5^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post50, __disjvr_15^0'=__disjvr_15^post50, i_108^0'=i_108^post50, __disjvr_25^0'=__disjvr_25^post50, x_20^0'=x_20^post50, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post50, a_146^0'=a_146^post50, a_247^0'=a_247^post50, temp0_15^0'=temp0_15^post50, __disjvr_1^0'=__disjvr_1^post50, length_43^0'=length_43^post50, __disjvr_2^0'=__disjvr_2^post50, rcd_102^0'=rcd_102^post50, __disjvr_12^0'=__disjvr_12^post50, ct_17^0'=ct_17^post50, x_14^0'=x_14^post50, lt_37^0'=lt_37^post50, __disjvr_7^0'=__disjvr_7^post50, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post50, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post50, __disjvr_17^0'=__disjvr_17^post50, i_44^0'=i_44^post50, __disjvr_27^0'=__disjvr_27^post50, x_28^0'=x_28^post50, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post50, (-__disjvr_27^post50+__disjvr_27^0 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ __disjvr_1^0-__disjvr_1^post50 == 0 /\ -__disjvr_20^post50+__disjvr_20^0 == 0 /\ len_246^0-len_246^post50 == 0 /\ -ct_17^post50+ct_17^0 == 0 /\ -i_125^post50+i_125^0 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ __disjvr_11^0-__disjvr_11^post50 == 0 /\ len_180^0-len_180^post50 == 0 /\ a_283^0-a_283^post50 == 0 /\ -a_247^post50+a_247^0 == 0 /\ a_197^0-a_197^post50 == 0 /\ tmp_48^0-tmp_48^post50 == 0 /\ -__disjvr_5^post50+__disjvr_5^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post50 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post50 == 0 /\ __disjvr_4^0-__disjvr_4^post50 == 0 /\ -__disjvr_13^post50+__disjvr_13^0 == 0 /\ -x_14^post50+x_14^0 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ -temp_49^post50+temp_49^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post50+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_8^post50+__disjvr_8^0 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ -temp0_15^post50+temp0_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post50 == 0 /\ -__disjvr_7^post50+__disjvr_7^0 == 0 /\ -__disjvr_3^post50+__disjvr_3^0 == 0 /\ -x_20^post50+x_20^0 == 0 /\ head_46^0-head_46^post50 == 0 /\ __disjvr_29^0-__disjvr_29^post50 == 0 /\ -a_146^post50+a_146^0 == 0 /\ __disjvr_2^0-__disjvr_2^post50 == 0 /\ -nondet_12^post50+nondet_12^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post50+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_6^0-__disjvr_6^post50 == 0 /\ rcd_72^0-rcd_72^post50 == 0 /\ temp0_45^0-temp0_45^post50 == 0 /\ a_26^0-a_26^post50 == 0 /\ __disjvr_25^0-__disjvr_25^post50 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post50 == 0 /\ y_19^0-y_19^post50 == 0 /\ -x_16^post50+x_16^0 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ -lt_37^post50+lt_37^0 == 0 /\ result_11^0-result_11^post50 == 0 /\ -__disjvr_18^post50+__disjvr_18^0 == 0 /\ -i_108^post50+i_108^0 == 0 /\ -x_28^post50+x_28^0 == 0 /\ x_238^0-x_238^post50 == 0 /\ -a_328^post50+a_328^0 == 0 /\ t_23^0-t_23^post50 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ __disjvr_15^0-__disjvr_15^post50 == 0 /\ a_305^0-a_305^post50 == 0 /\ -__disjvr_10^post50+__disjvr_10^0 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post50+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -rcd_102^post50+rcd_102^0 == 0 /\ -i_44^post50+i_44^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post50+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -lt_237^post50+lt_237^0 == 0 /\ __disjvr_23^0-__disjvr_23^post50 == 0 /\ __disjvr_19^0-__disjvr_19^post50 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post50+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -length_43^post50+length_43^0 == 0 /\ __disjvr_16^0-__disjvr_16^post50 == 0 /\ lt_36^0-lt_36^post50 == 0 /\ -__disjvr_22^post50+__disjvr_22^0 == 0 /\ fmt_31^0-fmt_31^post50 == 0 /\ temp0_32^0-temp0_32^post50 == 0 /\ x_177^0-x_177^post50 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post50+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ r_53^0-r_53^post50 == 0 /\ -x_34^post50+x_34^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post50 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post50 == 0 /\ -r_161^post50+r_161^0 == 0), cost: 1
New rule:
l43 -> l40 : TRUE, cost: 1

Applied preprocessing
Original rule:
l34 -> l49 : __disjvr_0^0'=__disjvr_0^post51, a_283^0'=a_283^post51, temp0_45^0'=temp0_45^post51, __disjvr_21^0'=__disjvr_21^post51, y_19^0'=y_19^post51, __disjvr_4^0'=__disjvr_4^post51, result_11^0'=result_11^post51, __disjvr_14^0'=__disjvr_14^post51, head_46^0'=head_46^post51, __disjvr_24^0'=__disjvr_24^post51, x_177^0'=x_177^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, __disjvr_9^0'=__disjvr_9^post51, a_197^0'=a_197^post51, t_23^0'=t_23^post51, __disjvr_19^0'=__disjvr_19^post51, len_246^0'=len_246^post51, __disjvr_29^0'=__disjvr_29^post51, x_SLAM_f_18^0'=x_SLAM_f_18^post51, r_53^0'=r_53^post51, __disjvr_11^0'=__disjvr_11^post51, a_328^0'=a_328^post51, tmp_48^0'=tmp_48^post51, lt_36^0'=lt_36^post51, __disjvr_6^0'=__disjvr_6^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, __disjvr_16^0'=__disjvr_16^post51, i_125^0'=i_125^post51, __disjvr_26^0'=__disjvr_26^post51, x_238^0'=x_238^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, __disjvr_20^0'=__disjvr_20^post51, lt_237^0'=lt_237^post51, __disjvr_3^0'=__disjvr_3^post51, rcd_72^0'=rcd_72^post51, __disjvr_13^0'=__disjvr_13^post51, fmt_31^0'=fmt_31^post51, __disjvr_23^0'=__disjvr_23^post51, x_16^0'=x_16^post51, nondet_12^0'=nondet_12^post51, __disjvr_8^0'=__disjvr_8^post51, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, __disjvr_18^0'=__disjvr_18^post51, len_180^0'=len_180^post51, __disjvr_28^0'=__disjvr_28^post51, x_34^0'=x_34^post51, r_161^0'=r_161^post51, __disjvr_10^0'=__disjvr_10^post51, a_305^0'=a_305^post51, temp_49^0'=temp_49^post51, __disjvr_22^0'=__disjvr_22^post51, __disjvr_5^0'=__disjvr_5^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post51, __disjvr_15^0'=__disjvr_15^post51, i_108^0'=i_108^post51, __disjvr_25^0'=__disjvr_25^post51, x_20^0'=x_20^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, a_146^0'=a_146^post51, a_247^0'=a_247^post51, temp0_15^0'=temp0_15^post51, __disjvr_1^0'=__disjvr_1^post51, length_43^0'=length_43^post51, __disjvr_2^0'=__disjvr_2^post51, rcd_102^0'=rcd_102^post51, __disjvr_12^0'=__disjvr_12^post51, ct_17^0'=ct_17^post51, x_14^0'=x_14^post51, lt_37^0'=lt_37^post51, __disjvr_7^0'=__disjvr_7^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, __disjvr_17^0'=__disjvr_17^post51, i_44^0'=i_44^post51, __disjvr_27^0'=__disjvr_27^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (0 == 0 /\ __disjvr_24^0-__disjvr_24^post51 == 0 /\ -length_43^post51+length_43^0 == 0 /\ temp0_15^0-temp0_15^post51 == 0 /\ __disjvr_21^0-__disjvr_21^post51 == 0 /\ -x_20^post51+x_14^0 <= 0 /\ ct_17^post51 <= 0 /\ ct_17^post51 == 0 /\ -x_14^post51+x_14^0 == 0 /\ x_SLAM_f_18^post51-x_14^0 <= 0 /\ -__disjvr_7^post51+__disjvr_7^0 == 0 /\ __disjvr_22^0-__disjvr_22^post51 == 0 /\ -__disjvr_10^post51+__disjvr_10^0 == 0 /\ -x_16^post51+x_SLAM_f_18^post51 <= 0 /\ -x_16^post51+x_SLAM_f_18^post51 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post51+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -a_146^post51+a_146^0 == 0 /\ -a_247^post51+a_247^0 == 0 /\ x_238^0-x_238^post51 == 0 /\ __disjvr_15^0-__disjvr_15^post51 == 0 /\ -temp_49^post51+temp_49^0 == 0 /\ -ct_17^post51 <= 0 /\ -y_19^post51 <= 0 /\ -i_125^post51+i_125^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^130-result_11^180 == 0 /\ -tmp_48^post51+tmp_48^0 == 0 /\ -__disjvr_25^post51+__disjvr_25^0 == 0 /\ rcd_102^0-rcd_102^post51 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ x_20^post51-x_14^0 <= 0 /\ x_177^0-x_177^post51 == 0 /\ fmt_31^153-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^130 == 0 /\ len_246^0-len_246^post51 == 0 /\ -x_SLAM_f_18^post51+x_14^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post51 == 0 /\ len_180^0-len_180^post51 == 0 /\ 1-len_180^0 <= 0 /\ -1+len_180^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post51 == 0 /\ x_16^post51-x_SLAM_f_18^post51 <= 0 /\ t_23^0-t_23^post51 == 0 /\ __disjvr_4^0-__disjvr_4^post51 == 0 /\ __disjvr_29^0-__disjvr_29^post51 == 0 /\ a_283^0-a_283^post51 == 0 /\ -__disjvr_11^post51+__disjvr_11^0 == 0 /\ a_328^0-a_328^post51 == 0 /\ -__disjvr_13^post51+__disjvr_13^0 == 0 /\ __disjvr_3^0-__disjvr_3^post51 == 0 /\ -ct_17^post51+y_19^post51 <= 0 /\ -ct_17^post51+y_19^post51 == 0 /\ -a_305^post51+a_305^0 == 0 /\ y_19^post51 <= 0 /\ __disjvr_19^0-__disjvr_19^post51 == 0 /\ x_20^post51-x_SLAM_f_18^post51 <= 0 /\ x_20^post51-x_SLAM_f_18^post51 == 0 /\ -__disjvr_27^post51+__disjvr_27^0 == 0 /\ temp0_32^180 == 0 /\ __disjvr_20^0-__disjvr_20^post51 == 0 /\ -r_161^post51+r_161^0 == 0 /\ -lt_237^post51+lt_237^0 == 0 /\ __disjvr_0^0-__disjvr_0^post51 == 0 /\ -i_44^post51+i_44^0 == 0 /\ __disjvr_9^0-__disjvr_9^post51 == 0 /\ -x_28^0 <= 0 /\ -__disjvr_2^post51+__disjvr_2^0 == 0 /\ x_16^post51-x_14^0 <= 0 /\ x_16^post51-x_14^0 == 0 /\ -__disjvr_6^post51+__disjvr_6^0 == 0 /\ __disjvr_23^0-__disjvr_23^post51 == 0 /\ -head_46^post51+head_46^0 == 0 /\ ct_17^post51-y_19^post51 <= 0 /\ -temp0_32^180+result_11^180 == 0 /\ -x_20^post51+x_SLAM_f_18^post51 <= 0 /\ __disjvr_28^0-__disjvr_28^post51 == 0 /\ -a_146^0 <= 0 /\ temp0_45^0-temp0_45^post51 == 0 /\ rcd_72^0-rcd_72^post51 == 0 /\ -__disjvr_12^post51+__disjvr_12^0 == 0 /\ __disjvr_26^0-__disjvr_26^post51 == 0 /\ r_53^0-r_53^post51 == 0 /\ __disjvr_5^0-__disjvr_5^post51 == 0 /\ -__disjvr_1^post51+__disjvr_1^0 == 0 /\ a_197^0-a_197^post51 == 0 /\ __disjvr_18^0-__disjvr_18^post51 == 0 /\ -__disjvr_17^post51+__disjvr_17^0 == 0 /\ __disjvr_16^0-__disjvr_16^post51 == 0 /\ -i_108^post51+i_108^0 == 0 /\ x_28^0 <= 0 /\ -x_16^post51+x_14^0 <= 0), cost: 1
New rule:
l34 -> l49 : y_19^0'=0, result_11^0'=result_11^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, fmt_31^0'=fmt_31^post51, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, x_34^0'=x_34^post51, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, ct_17^0'=0, lt_37^0'=lt_37^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (-1+len_180^0 == 0 /\ a_146^0 >= 0 /\ x_28^0 == 0), cost: 1

Applied preprocessing
Original rule:
l49 -> l50 : __disjvr_0^0'=__disjvr_0^post52, a_283^0'=a_283^post52, temp0_45^0'=temp0_45^post52, __disjvr_21^0'=__disjvr_21^post52, y_19^0'=y_19^post52, __disjvr_4^0'=__disjvr_4^post52, result_11^0'=result_11^post52, __disjvr_14^0'=__disjvr_14^post52, head_46^0'=head_46^post52, __disjvr_24^0'=__disjvr_24^post52, x_177^0'=x_177^post52, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post52, __disjvr_9^0'=__disjvr_9^post52, a_197^0'=a_197^post52, t_23^0'=t_23^post52, __disjvr_19^0'=__disjvr_19^post52, len_246^0'=len_246^post52, __disjvr_29^0'=__disjvr_29^post52, x_SLAM_f_18^0'=x_SLAM_f_18^post52, r_53^0'=r_53^post52, __disjvr_11^0'=__disjvr_11^post52, a_328^0'=a_328^post52, tmp_48^0'=tmp_48^post52, lt_36^0'=lt_36^post52, __disjvr_6^0'=__disjvr_6^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, __disjvr_16^0'=__disjvr_16^post52, i_125^0'=i_125^post52, __disjvr_26^0'=__disjvr_26^post52, x_238^0'=x_238^post52, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post52, a_26^0'=a_26^post52, temp0_32^0'=temp0_32^post52, __disjvr_20^0'=__disjvr_20^post52, lt_237^0'=lt_237^post52, __disjvr_3^0'=__disjvr_3^post52, rcd_72^0'=rcd_72^post52, __disjvr_13^0'=__disjvr_13^post52, fmt_31^0'=fmt_31^post52, __disjvr_23^0'=__disjvr_23^post52, x_16^0'=x_16^post52, nondet_12^0'=nondet_12^post52, __disjvr_8^0'=__disjvr_8^post52, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post52, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post52, __disjvr_18^0'=__disjvr_18^post52, len_180^0'=len_180^post52, __disjvr_28^0'=__disjvr_28^post52, x_34^0'=x_34^post52, r_161^0'=r_161^post52, __disjvr_10^0'=__disjvr_10^post52, a_305^0'=a_305^post52, temp_49^0'=temp_49^post52, __disjvr_22^0'=__disjvr_22^post52, __disjvr_5^0'=__disjvr_5^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post52, __disjvr_15^0'=__disjvr_15^post52, i_108^0'=i_108^post52, __disjvr_25^0'=__disjvr_25^post52, x_20^0'=x_20^post52, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post52, a_146^0'=a_146^post52, a_247^0'=a_247^post52, temp0_15^0'=temp0_15^post52, __disjvr_1^0'=__disjvr_1^post52, length_43^0'=length_43^post52, __disjvr_2^0'=__disjvr_2^post52, rcd_102^0'=rcd_102^post52, __disjvr_12^0'=__disjvr_12^post52, ct_17^0'=ct_17^post52, x_14^0'=x_14^post52, lt_37^0'=lt_37^post52, __disjvr_7^0'=__disjvr_7^post52, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post52, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post52, __disjvr_17^0'=__disjvr_17^post52, i_44^0'=i_44^post52, __disjvr_27^0'=__disjvr_27^post52, x_28^0'=x_28^post52, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post52, (-__disjvr_25^post52+__disjvr_25^0 == 0 /\ -__disjvr_8^post52+__disjvr_8^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ y_19^0-y_19^post52 == 0 /\ -a_247^post52+a_247^0 == 0 /\ result_11^0-result_11^post52 == 0 /\ -x_238^post52+x_238^0 == 0 /\ t_23^0-t_23^post52 == 0 /\ temp0_45^0-temp0_45^post52 == 0 /\ __disjvr_9^0-__disjvr_9^post52 == 0 /\ -rcd_72^post52+rcd_72^0 == 0 /\ -i_44^post52+i_44^0 == 0 /\ -lt_36^post52+lt_36^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post52+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -temp_49^post52+temp_49^0 == 0 /\ tmp_48^0-tmp_48^post52 == 0 /\ __disjvr_26^0-__disjvr_26^post52 == 0 /\ __disjvr_23^0-__disjvr_23^post52 == 0 /\ __disjvr_3^0-__disjvr_3^post52 == 0 /\ x_177^0-x_177^post52 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0 /\ -__disjvr_2^post52+__disjvr_2^0 == 0 /\ a_146^0-a_146^post52 == 0 /\ i_125^0-i_125^post52 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ -x_14^post52+x_14^0 == 0 /\ __disjvr_18^0-__disjvr_18^post52 == 0 /\ __disjvr_6^0-__disjvr_6^post52 == 0 /\ -__disjvr_5^post52+__disjvr_5^0 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ __disjvr_20^0-__disjvr_20^post52 == 0 /\ -__disjvr_27^post52+__disjvr_27^0 == 0 /\ -__disjvr_17^post52+__disjvr_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post52 == 0 /\ -__disjvr_7^post52+__disjvr_7^0 == 0 /\ temp0_15^0-temp0_15^post52 == 0 /\ rcd_102^0-rcd_102^post52 == 0 /\ r_53^0-r_53^post52 == 0 /\ -a_305^post52+a_305^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post52 == 0 /\ x_34^0-x_34^post52 == 0 /\ -__disjvr_16^post52+__disjvr_16^0 == 0 /\ -__disjvr_22^0+__disjvr_22^post52 == 0 /\ -__disjvr_10^post52+__disjvr_10^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post52 == 0 /\ x_16^0-x_16^post52 == 0 /\ -__disjvr_1^post52+__disjvr_1^0 == 0 /\ lt_237^0-lt_237^post52 == 0 /\ -x_20^post52+x_20^0 == 0 /\ __disjvr_13^0-__disjvr_13^post52 == 0 /\ -lt_37^post52+lt_37^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post52+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ len_246^0-len_246^post52 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post52 == 0 /\ -len_180^post52+len_180^0 == 0 /\ temp0_32^0-temp0_32^post52 == 0 /\ a_283^0-a_283^post52 == 0 /\ -r_161^post52+r_161^0 == 0 /\ head_46^0-head_46^post52 == 0 /\ __disjvr_4^0-__disjvr_4^post52 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post52+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_19^0-__disjvr_19^post52 == 0 /\ __disjvr_28^0-__disjvr_28^post52 == 0 /\ -x_28^post52+x_28^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post52+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_15^0-__disjvr_15^post52 == 0 /\ __disjvr_22^0-__disjvr_22^post52 == 0 /\ -length_43^post52+length_43^0 == 0 /\ -__disjvr_24^post52+__disjvr_24^0 == 0 /\ a_328^0-a_328^post52 == 0 /\ -a_26^post52+a_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ -ct_17^post52+ct_17^0 == 0 /\ __disjvr_29^0-__disjvr_29^post52 == 0 /\ -i_108^post52+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -fmt_31^post52+fmt_31^0 == 0 /\ __disjvr_11^0-__disjvr_11^post52 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post52+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ a_197^0-a_197^post52 == 0), cost: 1
New rule:
l49 -> l50 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l50 -> l11 : __disjvr_0^0'=__disjvr_0^post53, a_283^0'=a_283^post53, temp0_45^0'=temp0_45^post53, __disjvr_21^0'=__disjvr_21^post53, y_19^0'=y_19^post53, __disjvr_4^0'=__disjvr_4^post53, result_11^0'=result_11^post53, __disjvr_14^0'=__disjvr_14^post53, head_46^0'=head_46^post53, __disjvr_24^0'=__disjvr_24^post53, x_177^0'=x_177^post53, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post53, __disjvr_9^0'=__disjvr_9^post53, a_197^0'=a_197^post53, t_23^0'=t_23^post53, __disjvr_19^0'=__disjvr_19^post53, len_246^0'=len_246^post53, __disjvr_29^0'=__disjvr_29^post53, x_SLAM_f_18^0'=x_SLAM_f_18^post53, r_53^0'=r_53^post53, __disjvr_11^0'=__disjvr_11^post53, a_328^0'=a_328^post53, tmp_48^0'=tmp_48^post53, lt_36^0'=lt_36^post53, __disjvr_6^0'=__disjvr_6^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, __disjvr_16^0'=__disjvr_16^post53, i_125^0'=i_125^post53, __disjvr_26^0'=__disjvr_26^post53, x_238^0'=x_238^post53, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post53, a_26^0'=a_26^post53, temp0_32^0'=temp0_32^post53, __disjvr_20^0'=__disjvr_20^post53, lt_237^0'=lt_237^post53, __disjvr_3^0'=__disjvr_3^post53, rcd_72^0'=rcd_72^post53, __disjvr_13^0'=__disjvr_13^post53, fmt_31^0'=fmt_31^post53, __disjvr_23^0'=__disjvr_23^post53, x_16^0'=x_16^post53, nondet_12^0'=nondet_12^post53, __disjvr_8^0'=__disjvr_8^post53, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post53, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post53, __disjvr_18^0'=__disjvr_18^post53, len_180^0'=len_180^post53, __disjvr_28^0'=__disjvr_28^post53, x_34^0'=x_34^post53, r_161^0'=r_161^post53, __disjvr_10^0'=__disjvr_10^post53, a_305^0'=a_305^post53, temp_49^0'=temp_49^post53, __disjvr_22^0'=__disjvr_22^post53, __disjvr_5^0'=__disjvr_5^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post53, __disjvr_15^0'=__disjvr_15^post53, i_108^0'=i_108^post53, __disjvr_25^0'=__disjvr_25^post53, x_20^0'=x_20^post53, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post53, a_146^0'=a_146^post53, a_247^0'=a_247^post53, temp0_15^0'=temp0_15^post53, __disjvr_1^0'=__disjvr_1^post53, length_43^0'=length_43^post53, __disjvr_2^0'=__disjvr_2^post53, rcd_102^0'=rcd_102^post53, __disjvr_12^0'=__disjvr_12^post53, ct_17^0'=ct_17^post53, x_14^0'=x_14^post53, lt_37^0'=lt_37^post53, __disjvr_7^0'=__disjvr_7^post53, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post53, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post53, __disjvr_17^0'=__disjvr_17^post53, i_44^0'=i_44^post53, __disjvr_27^0'=__disjvr_27^post53, x_28^0'=x_28^post53, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post53, (x_238^0-x_238^post53 == 0 /\ -i_44^post53+i_44^0 == 0 /\ __disjvr_16^0-__disjvr_16^post53 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post53+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_23^post53+__disjvr_23^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post53+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ temp0_45^0-temp0_45^post53 == 0 /\ -a_146^post53+a_146^0 == 0 /\ -__disjvr_6^post53+__disjvr_6^0 == 0 /\ __disjvr_13^0-__disjvr_13^post53 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post53+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -x_28^post53+x_28^0 == 0 /\ __disjvr_22^0-__disjvr_22^post53 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post53+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ a_26^0-a_26^post53 == 0 /\ result_11^0-result_11^post53 == 0 /\ __disjvr_9^0-__disjvr_9^post53 == 0 /\ __disjvr_4^0-__disjvr_4^post53 == 0 /\ x_177^0-x_177^post53 == 0 /\ -__disjvr_12^post53+__disjvr_12^0 == 0 /\ -__disjvr_27^post53+__disjvr_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ a_328^0-a_328^post53 == 0 /\ -__disjvr_2^post53+__disjvr_2^0 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ -__disjvr_20^post53+__disjvr_20^0 == 0 /\ temp0_15^0-temp0_15^post53 == 0 /\ i_125^0-i_125^post53 == 0 /\ -__disjvr_1^post53+__disjvr_1^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post53 == 0 /\ -__disjvr_28^post53+__disjvr_28^0 == 0 /\ -r_53^post53+r_53^0 == 0 /\ -t_23^post53+t_23^0 == 0 /\ lt_237^0-lt_237^post53 == 0 /\ -__disjvr_10^post53+__disjvr_10^0 == 0 /\ -x_16^post53+x_16^0 == 0 /\ -temp_49^post53+temp_49^0 == 0 /\ -rcd_72^post53+rcd_72^0 == 0 /\ __disjvr_14^0-__disjvr_14^post53 == 0 /\ ct_17^0-ct_17^post53 == 0 /\ -x_14^post53+x_14^0 == 0 /\ -__disjvr_5^post53+__disjvr_5^0 == 0 /\ __disjvr_11^0-__disjvr_11^post53 == 0 /\ __disjvr_29^0-__disjvr_29^post53 == 0 /\ -rcd_102^post53+rcd_102^0 == 0 /\ lt_36^0-lt_36^post53 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post53+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post53+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -len_180^post53+len_180^0 == 0 /\ __disjvr_0^0-__disjvr_0^post53 == 0 /\ __disjvr_8^0-__disjvr_8^post53 == 0 /\ -x_SLAM_f_18^post53+x_SLAM_f_18^0 == 0 /\ -__disjvr_7^post53+__disjvr_7^0 == 0 /\ y_19^0-y_19^post53 == 0 /\ -__disjvr_24^post53+__disjvr_24^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 == 0 /\ __disjvr_26^0-__disjvr_26^post53 == 0 /\ -length_43^post53+length_43^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ lt_37^0-lt_37^post53 == 0 /\ len_246^0-len_246^post53 == 0 /\ -a_305^post53+a_305^0 == 0 /\ temp0_32^0-temp0_32^post53 == 0 /\ head_46^0-head_46^post53 == 0 /\ a_283^0-a_283^post53 == 0 /\ tmp_48^0-tmp_48^post53 == 0 /\ -r_161^post53+r_161^0 == 0 /\ __disjvr_19^0-__disjvr_19^post53 == 0 /\ -x_34^post53+x_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post53 == 0 /\ __disjvr_18^0-__disjvr_18^post53 == 0 /\ -a_247^post53+a_247^0 == 0 /\ __disjvr_15^0-__disjvr_15^post53 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -nondet_12^post53+nondet_12^0 == 0 /\ -i_108^post53+i_108^0 == 0 /\ __disjvr_25^0-__disjvr_25^post53 == 0 /\ -x_20^post53+x_20^0 == 0 /\ -__disjvr_3^post53+__disjvr_3^0 == 0 /\ -fmt_31^post53+fmt_31^0 == 0 /\ a_197^0-a_197^post53 == 0), cost: 1
New rule:
l50 -> l11 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l34 -> l51 : __disjvr_0^0'=__disjvr_0^post54, a_283^0'=a_283^post54, temp0_45^0'=temp0_45^post54, __disjvr_21^0'=__disjvr_21^post54, y_19^0'=y_19^post54, __disjvr_4^0'=__disjvr_4^post54, result_11^0'=result_11^post54, __disjvr_14^0'=__disjvr_14^post54, head_46^0'=head_46^post54, __disjvr_24^0'=__disjvr_24^post54, x_177^0'=x_177^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post54, __disjvr_9^0'=__disjvr_9^post54, a_197^0'=a_197^post54, t_23^0'=t_23^post54, __disjvr_19^0'=__disjvr_19^post54, len_246^0'=len_246^post54, __disjvr_29^0'=__disjvr_29^post54, x_SLAM_f_18^0'=x_SLAM_f_18^post54, r_53^0'=r_53^post54, __disjvr_11^0'=__disjvr_11^post54, a_328^0'=a_328^post54, tmp_48^0'=tmp_48^post54, lt_36^0'=lt_36^post54, __disjvr_6^0'=__disjvr_6^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, __disjvr_16^0'=__disjvr_16^post54, i_125^0'=i_125^post54, __disjvr_26^0'=__disjvr_26^post54, x_238^0'=x_238^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post54, __disjvr_20^0'=__disjvr_20^post54, lt_237^0'=lt_237^post54, __disjvr_3^0'=__disjvr_3^post54, rcd_72^0'=rcd_72^post54, __disjvr_13^0'=__disjvr_13^post54, fmt_31^0'=fmt_31^post54, __disjvr_23^0'=__disjvr_23^post54, x_16^0'=x_16^post54, nondet_12^0'=nondet_12^post54, __disjvr_8^0'=__disjvr_8^post54, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post54, __disjvr_18^0'=__disjvr_18^post54, len_180^0'=len_180^post54, __disjvr_28^0'=__disjvr_28^post54, x_34^0'=x_34^post54, r_161^0'=r_161^post54, __disjvr_10^0'=__disjvr_10^post54, a_305^0'=a_305^post54, temp_49^0'=temp_49^post54, __disjvr_22^0'=__disjvr_22^post54, __disjvr_5^0'=__disjvr_5^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post54, __disjvr_15^0'=__disjvr_15^post54, i_108^0'=i_108^post54, __disjvr_25^0'=__disjvr_25^post54, x_20^0'=x_20^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post54, a_146^0'=a_146^post54, a_247^0'=a_247^post54, temp0_15^0'=temp0_15^post54, __disjvr_1^0'=__disjvr_1^post54, length_43^0'=length_43^post54, __disjvr_2^0'=__disjvr_2^post54, rcd_102^0'=rcd_102^post54, __disjvr_12^0'=__disjvr_12^post54, ct_17^0'=ct_17^post54, x_14^0'=x_14^post54, lt_37^0'=lt_37^post54, __disjvr_7^0'=__disjvr_7^post54, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post54, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post54, __disjvr_17^0'=__disjvr_17^post54, i_44^0'=i_44^post54, __disjvr_27^0'=__disjvr_27^post54, x_28^0'=x_28^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post54, (0 == 0 /\ -x_16^post54+x_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post54 == 0 /\ __disjvr_29^0-__disjvr_29^post54 == 0 /\ -lt_37^post54+lt_37^0 == 0 /\ __disjvr_16^0-__disjvr_16^post54 == 0 /\ -__disjvr_8^post54+__disjvr_8^0 == 0 /\ rcd_72^0-rcd_72^post54 == 0 /\ -x_28^post54+x_28^0 == 0 /\ temp0_32^0-temp0_32^post54 == 0 /\ head_46^0-head_46^post54 == 0 /\ -temp0_15^post54+temp0_15^0 == 0 /\ -__disjvr_2^post54+__disjvr_2^0 == 0 /\ -fmt_31^post54+fmt_31^0 == 0 /\ __disjvr_21^0-__disjvr_21^post54 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post54+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_12^post54+__disjvr_12^0 == 0 /\ a_283^0-a_283^post54 == 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ -__disjvr_19^post54+__disjvr_19^0 == 0 /\ -__disjvr_22^post54+__disjvr_22^0 == 0 /\ lt_237^0-lt_237^post54 == 0 /\ __disjvr_28^0-__disjvr_28^post54 == 0 /\ __disjvr_11^0-__disjvr_11^post54 == 0 /\ -__disjvr_10^post54+__disjvr_10^0 == 0 /\ -__disjvr_26^post54+__disjvr_26^0 == 0 /\ len_180^0-len_180^post54 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post54+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post54 == 0 /\ -rcd_102^post54+rcd_102^0 == 0 /\ -__disjvr_15^post54+__disjvr_15^0 == 0 /\ a_328^0-a_328^post54 == 0 /\ a_197^0-a_197^post54 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post54+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ x_238^0-x_238^post54 == 0 /\ -i_44^post54+i_44^0 == 0 /\ __disjvr_1^0-__disjvr_1^post54 == 0 /\ length_43^0-length_43^post54 == 0 /\ __disjvr_23^0-__disjvr_23^post54 == 0 /\ -__disjvr_20^post54+__disjvr_20^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post54+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_34^post54+x_34^0 == 0 /\ __disjvr_0^0-__disjvr_0^post54 == 0 /\ -temp_49^post54+temp_49^0 == 0 /\ -__disjvr_5^post54+__disjvr_5^0 == 0 /\ result_11^0-result_11^post54 == 0 /\ temp0_45^0-temp0_45^post54 == 0 /\ -i_125^post54+i_125^0 == 0 /\ -__disjvr_27^post54+__disjvr_27^0 == 0 /\ -lt_36^post54+lt_36^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post54+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ __disjvr_25^0-__disjvr_25^post54 == 0 /\ r_53^0-r_53^post54 == 0 /\ __disjvr_9^0-__disjvr_9^post54 == 0 /\ -ct_17^post54+ct_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post54 == 0 /\ -__disjvr_7^post54+__disjvr_7^0 == 0 /\ __disjvr_6^0-__disjvr_6^post54 == 0 /\ -a_146^0 <= 0 /\ len_246^0-len_246^post54 == 0 /\ -a_146^post54+a_146^0 == 0 /\ -x_SLAM_f_18^post54+x_SLAM_f_18^0 == 0 /\ tmp_48^0-tmp_48^post54 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ __disjvr_18^0-__disjvr_18^post54 == 0 /\ __disjvr_14^0-__disjvr_14^post54 == 0 /\ t_23^0-t_23^post54 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post54+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -nondet_12^post54+nondet_12^0 == 0 /\ -a_247^post54+a_247^0 == 0 /\ -x_20^post54+x_20^0 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ i_108^0-i_108^post54 == 0 /\ a_305^0-a_305^post54 == 0 /\ y_19^0-y_19^post54 == 0 /\ __disjvr_13^0-__disjvr_13^post54 == 0), cost: 1
New rule:
l34 -> l51 : x_177^0'=x_177^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, r_161^0'=r_161^post54, x_14^0'=x_14^post54, a_146^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l51 -> l52 : __disjvr_0^0'=__disjvr_0^post55, a_283^0'=a_283^post55, temp0_45^0'=temp0_45^post55, __disjvr_21^0'=__disjvr_21^post55, y_19^0'=y_19^post55, __disjvr_4^0'=__disjvr_4^post55, result_11^0'=result_11^post55, __disjvr_14^0'=__disjvr_14^post55, head_46^0'=head_46^post55, __disjvr_24^0'=__disjvr_24^post55, x_177^0'=x_177^post55, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post55, __disjvr_9^0'=__disjvr_9^post55, a_197^0'=a_197^post55, t_23^0'=t_23^post55, __disjvr_19^0'=__disjvr_19^post55, len_246^0'=len_246^post55, __disjvr_29^0'=__disjvr_29^post55, x_SLAM_f_18^0'=x_SLAM_f_18^post55, r_53^0'=r_53^post55, __disjvr_11^0'=__disjvr_11^post55, a_328^0'=a_328^post55, tmp_48^0'=tmp_48^post55, lt_36^0'=lt_36^post55, __disjvr_6^0'=__disjvr_6^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, __disjvr_16^0'=__disjvr_16^post55, i_125^0'=i_125^post55, __disjvr_26^0'=__disjvr_26^post55, x_238^0'=x_238^post55, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post55, a_26^0'=a_26^post55, temp0_32^0'=temp0_32^post55, __disjvr_20^0'=__disjvr_20^post55, lt_237^0'=lt_237^post55, __disjvr_3^0'=__disjvr_3^post55, rcd_72^0'=rcd_72^post55, __disjvr_13^0'=__disjvr_13^post55, fmt_31^0'=fmt_31^post55, __disjvr_23^0'=__disjvr_23^post55, x_16^0'=x_16^post55, nondet_12^0'=nondet_12^post55, __disjvr_8^0'=__disjvr_8^post55, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post55, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post55, __disjvr_18^0'=__disjvr_18^post55, len_180^0'=len_180^post55, __disjvr_28^0'=__disjvr_28^post55, x_34^0'=x_34^post55, r_161^0'=r_161^post55, __disjvr_10^0'=__disjvr_10^post55, a_305^0'=a_305^post55, temp_49^0'=temp_49^post55, __disjvr_22^0'=__disjvr_22^post55, __disjvr_5^0'=__disjvr_5^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post55, __disjvr_15^0'=__disjvr_15^post55, i_108^0'=i_108^post55, __disjvr_25^0'=__disjvr_25^post55, x_20^0'=x_20^post55, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post55, a_146^0'=a_146^post55, a_247^0'=a_247^post55, temp0_15^0'=temp0_15^post55, __disjvr_1^0'=__disjvr_1^post55, length_43^0'=length_43^post55, __disjvr_2^0'=__disjvr_2^post55, rcd_102^0'=rcd_102^post55, __disjvr_12^0'=__disjvr_12^post55, ct_17^0'=ct_17^post55, x_14^0'=x_14^post55, lt_37^0'=lt_37^post55, __disjvr_7^0'=__disjvr_7^post55, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post55, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post55, __disjvr_17^0'=__disjvr_17^post55, i_44^0'=i_44^post55, __disjvr_27^0'=__disjvr_27^post55, x_28^0'=x_28^post55, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post55, (__disjvr_0^0-__disjvr_0^post55 == 0 /\ -x_28^post55+x_28^0 == 0 /\ -a_26^post55+a_26^0 == 0 /\ head_46^0-head_46^post55 == 0 /\ lt_36^0-lt_36^post55 == 0 /\ temp0_32^0-temp0_32^post55 == 0 /\ a_328^0-a_328^post55 == 0 /\ __disjvr_21^0-__disjvr_21^post55 == 0 /\ __disjvr_26^0-__disjvr_26^post55 == 0 /\ -__disjvr_23^0+__disjvr_23^post55 == 0 /\ -__disjvr_12^post55+__disjvr_12^0 == 0 /\ -x_16^post55+x_16^0 == 0 /\ -rcd_102^post55+rcd_102^0 == 0 /\ -temp0_15^post55+temp0_15^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post55 == 0 /\ -__disjvr_6^post55+__disjvr_6^0 == 0 /\ -lt_37^post55+lt_37^0 == 0 /\ -i_108^post55+i_108^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post55 == 0 /\ x_34^0-x_34^post55 == 0 /\ a_197^0-a_197^post55 == 0 /\ y_19^0-y_19^post55 == 0 /\ -r_161^post55+r_161^0 == 0 /\ -rcd_72^post55+rcd_72^0 == 0 /\ result_11^0-result_11^post55 == 0 /\ x_238^0-x_238^post55 == 0 /\ -i_44^post55+i_44^0 == 0 /\ a_283^0-a_283^post55 == 0 /\ __disjvr_23^0-__disjvr_23^post55 == 0 /\ __disjvr_3^0-__disjvr_3^post55 == 0 /\ -__disjvr_15^post55+__disjvr_15^0 == 0 /\ tmp_48^0-tmp_48^post55 == 0 /\ -lt_237^post55+lt_237^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post55 == 0 /\ -__disjvr_19^post55+__disjvr_19^0 == 0 /\ -i_125^post55+i_125^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post55+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post55+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post55+__disjvr_1^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post55 == 0 /\ __disjvr_28^0-__disjvr_28^post55 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -length_43^post55+length_43^0 == 0 /\ -nondet_12^post55+nondet_12^0 == 0 /\ -__disjvr_13^post55+__disjvr_13^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post55+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -temp_49^post55+temp_49^0 == 0 /\ x_20^0-x_20^post55 == 0 /\ __disjvr_22^0-__disjvr_22^post55 == 0 /\ -x_14^post55+x_14^0 == 0 /\ -__disjvr_27^post55+__disjvr_27^0 == 0 /\ -__disjvr_29^post55+__disjvr_29^0 == 0 /\ __disjvr_11^0-__disjvr_11^post55 == 0 /\ -ct_17^post55+ct_17^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post55+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_20^0-__disjvr_20^post55 == 0 /\ -__disjvr_17^post55+__disjvr_17^0 == 0 /\ __disjvr_16^0-__disjvr_16^post55 == 0 /\ -__disjvr_25^post55+__disjvr_25^0 == 0 /\ x_177^0-x_177^post55 == 0 /\ fmt_31^0-fmt_31^post55 == 0 /\ __disjvr_14^0-__disjvr_14^post55 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post55 == 0 /\ __disjvr_9^0-__disjvr_9^post55 == 0 /\ -__disjvr_5^post55+__disjvr_5^0 == 0 /\ r_53^0-r_53^post55 == 0 /\ temp0_45^0-temp0_45^post55 == 0 /\ -a_305^post55+a_305^0 == 0 /\ -__disjvr_8^post55+__disjvr_8^0 == 0 /\ __disjvr_24^0-__disjvr_24^post55 == 0 /\ -__disjvr_2^post55+__disjvr_2^0 == 0 /\ len_180^0-len_180^post55 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post55+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_4^0-__disjvr_4^post55 == 0 /\ -__disjvr_7^post55+__disjvr_7^0 == 0 /\ __disjvr_10^0-__disjvr_10^post55 == 0 /\ -a_247^post55+a_247^0 == 0 /\ -__disjvr_18^post55+__disjvr_18^0 == 0 /\ t_23^0-t_23^post55 == 0 /\ -a_146^post55+a_146^0 == 0 /\ len_246^0-len_246^post55 == 0), cost: 1
New rule:
l51 -> l52 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l52 -> l53 : __disjvr_0^0'=__disjvr_0^post56, a_283^0'=a_283^post56, temp0_45^0'=temp0_45^post56, __disjvr_21^0'=__disjvr_21^post56, y_19^0'=y_19^post56, __disjvr_4^0'=__disjvr_4^post56, result_11^0'=result_11^post56, __disjvr_14^0'=__disjvr_14^post56, head_46^0'=head_46^post56, __disjvr_24^0'=__disjvr_24^post56, x_177^0'=x_177^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post56, __disjvr_9^0'=__disjvr_9^post56, a_197^0'=a_197^post56, t_23^0'=t_23^post56, __disjvr_19^0'=__disjvr_19^post56, len_246^0'=len_246^post56, __disjvr_29^0'=__disjvr_29^post56, x_SLAM_f_18^0'=x_SLAM_f_18^post56, r_53^0'=r_53^post56, __disjvr_11^0'=__disjvr_11^post56, a_328^0'=a_328^post56, tmp_48^0'=tmp_48^post56, lt_36^0'=lt_36^post56, __disjvr_6^0'=__disjvr_6^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, __disjvr_16^0'=__disjvr_16^post56, i_125^0'=i_125^post56, __disjvr_26^0'=__disjvr_26^post56, x_238^0'=x_238^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post56, a_26^0'=a_26^post56, temp0_32^0'=temp0_32^post56, __disjvr_20^0'=__disjvr_20^post56, lt_237^0'=lt_237^post56, __disjvr_3^0'=__disjvr_3^post56, rcd_72^0'=rcd_72^post56, __disjvr_13^0'=__disjvr_13^post56, fmt_31^0'=fmt_31^post56, __disjvr_23^0'=__disjvr_23^post56, x_16^0'=x_16^post56, nondet_12^0'=nondet_12^post56, __disjvr_8^0'=__disjvr_8^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post56, __disjvr_18^0'=__disjvr_18^post56, len_180^0'=len_180^post56, __disjvr_28^0'=__disjvr_28^post56, x_34^0'=x_34^post56, r_161^0'=r_161^post56, __disjvr_10^0'=__disjvr_10^post56, a_305^0'=a_305^post56, temp_49^0'=temp_49^post56, __disjvr_22^0'=__disjvr_22^post56, __disjvr_5^0'=__disjvr_5^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post56, __disjvr_15^0'=__disjvr_15^post56, i_108^0'=i_108^post56, __disjvr_25^0'=__disjvr_25^post56, x_20^0'=x_20^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, a_146^0'=a_146^post56, a_247^0'=a_247^post56, temp0_15^0'=temp0_15^post56, __disjvr_1^0'=__disjvr_1^post56, length_43^0'=length_43^post56, __disjvr_2^0'=__disjvr_2^post56, rcd_102^0'=rcd_102^post56, __disjvr_12^0'=__disjvr_12^post56, ct_17^0'=ct_17^post56, x_14^0'=x_14^post56, lt_37^0'=lt_37^post56, __disjvr_7^0'=__disjvr_7^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post56, __disjvr_17^0'=__disjvr_17^post56, i_44^0'=i_44^post56, __disjvr_27^0'=__disjvr_27^post56, x_28^0'=x_28^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post56, (0 == 0 /\ result_11^190-temp0_32^190 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post56 == 0 /\ tmp_48^0-tmp_48^post56 == 0 /\ __disjvr_8^0-__disjvr_8^post56 == 0 /\ -x_20^post56+x_20^0 == 0 /\ __disjvr_4^0-__disjvr_4^post56 == 0 /\ -x_SLAM_f_18^post56+x_SLAM_f_18^0 == 0 /\ a_197^0-a_197^post56 == 0 /\ __disjvr_2^0-__disjvr_2^post56 == 0 /\ __disjvr_9^0-__disjvr_9^post56 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post56 <= 0 /\ a_146^0-a_146^post56 == 0 /\ -i_44^post56+i_44^0 == 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ -temp0_15^post56+temp0_15^0 == 0 /\ __disjvr_22^0-__disjvr_22^post56 == 0 /\ __disjvr_26^0-__disjvr_26^post56 == 0 /\ fmt_31^154-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post56 == 0 /\ __disjvr_29^0-__disjvr_29^post56 == 0 /\ -__disjvr_18^post56+__disjvr_18^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post56 <= 0 /\ temp0_32^320 == 0 /\ -x_14^post56+x_14^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ i_125^0-i_125^post56 == 0 /\ -__disjvr_10^post56+__disjvr_10^0 == 0 /\ __disjvr_6^0-__disjvr_6^post56 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post56 == 0 /\ -__disjvr_27^post56+__disjvr_27^0 == 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ -x_16^post56+x_16^0 == 0 /\ -lt_237^post56+lt_237^0 == 0 /\ fmt_31^320-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^130 == 0 /\ -__disjvr_17^post56+__disjvr_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post56 == 0 /\ a_26^0-a_26^post56 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post56-result_11^190 == 0 /\ -temp0_32^320+result_11^340 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0 <= 0 /\ a_283^0-a_283^post56 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_38^130-result_11^340 == 0 /\ -temp_49^post56+temp_49^0 == 0 /\ x_238^0-x_238^post56 == 0 /\ -nondet_12^post56+nondet_12^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post56+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ r_53^0-r_53^post56 == 0 /\ -__disjvr_24^post56+__disjvr_24^0 == 0 /\ -__disjvr_28^post56+__disjvr_28^0 == 0 /\ -length_43^post56+length_43^0 == 0 /\ -a_247^post56+a_247^0 == 0 /\ -rcd_102^post56+rcd_102^0 == 0 /\ a_26^0-x_14^0 <= 0 /\ x_34^130-x_28^0 == 0 /\ -__disjvr_1^post56+__disjvr_1^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post56+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -x_28^post56+x_28^0 == 0 /\ a_328^0-a_328^post56 == 0 /\ -temp0_45^post56+temp0_45^0 == 0 /\ head_46^0-head_46^post56 == 0 /\ -i_108^post56+i_108^0 == 0 /\ __disjvr_11^0-__disjvr_11^post56 == 0 /\ __disjvr_3^0-__disjvr_3^post56 == 0 /\ __disjvr_15^0-__disjvr_15^post56 == 0 /\ a_305^0-a_305^post56 == 0 /\ len_180^0-len_180^post56 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post56+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -__disjvr_16^post56+__disjvr_16^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post56 == 0 /\ t_23^0-t_23^post56 == 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ __disjvr_13^0-__disjvr_13^post56 == 0 /\ x_177^0-x_177^post56 == 0 /\ -rcd_72^post56+rcd_72^0 == 0 /\ temp0_32^190 == 0 /\ -__disjvr_7^post56+__disjvr_7^0 == 0 /\ len_246^0-len_246^post56 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ y_19^0-y_19^post56 == 0 /\ -a_26^0+x_14^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post56 == 0 /\ -__disjvr_25^post56+__disjvr_25^0 == 0 /\ -__disjvr_5^post56+__disjvr_5^0 == 0 /\ -r_161^post56+r_161^0 == 0 /\ -ct_17^post56+ct_17^0 == 0), cost: 1
New rule:
l52 -> l53 : result_11^0'=result_11^post56, lt_36^0'=lt_36^post56, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, x_34^0'=x_34^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ a_26^0-x_14^0 == 0), cost: 1

Applied preprocessing
Original rule:
l53 -> l54 : __disjvr_0^0'=__disjvr_0^post57, a_283^0'=a_283^post57, temp0_45^0'=temp0_45^post57, __disjvr_21^0'=__disjvr_21^post57, y_19^0'=y_19^post57, __disjvr_4^0'=__disjvr_4^post57, result_11^0'=result_11^post57, __disjvr_14^0'=__disjvr_14^post57, head_46^0'=head_46^post57, __disjvr_24^0'=__disjvr_24^post57, x_177^0'=x_177^post57, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post57, __disjvr_9^0'=__disjvr_9^post57, a_197^0'=a_197^post57, t_23^0'=t_23^post57, __disjvr_19^0'=__disjvr_19^post57, len_246^0'=len_246^post57, __disjvr_29^0'=__disjvr_29^post57, x_SLAM_f_18^0'=x_SLAM_f_18^post57, r_53^0'=r_53^post57, __disjvr_11^0'=__disjvr_11^post57, a_328^0'=a_328^post57, tmp_48^0'=tmp_48^post57, lt_36^0'=lt_36^post57, __disjvr_6^0'=__disjvr_6^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, __disjvr_16^0'=__disjvr_16^post57, i_125^0'=i_125^post57, __disjvr_26^0'=__disjvr_26^post57, x_238^0'=x_238^post57, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post57, a_26^0'=a_26^post57, temp0_32^0'=temp0_32^post57, __disjvr_20^0'=__disjvr_20^post57, lt_237^0'=lt_237^post57, __disjvr_3^0'=__disjvr_3^post57, rcd_72^0'=rcd_72^post57, __disjvr_13^0'=__disjvr_13^post57, fmt_31^0'=fmt_31^post57, __disjvr_23^0'=__disjvr_23^post57, x_16^0'=x_16^post57, nondet_12^0'=nondet_12^post57, __disjvr_8^0'=__disjvr_8^post57, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post57, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post57, __disjvr_18^0'=__disjvr_18^post57, len_180^0'=len_180^post57, __disjvr_28^0'=__disjvr_28^post57, x_34^0'=x_34^post57, r_161^0'=r_161^post57, __disjvr_10^0'=__disjvr_10^post57, a_305^0'=a_305^post57, temp_49^0'=temp_49^post57, __disjvr_22^0'=__disjvr_22^post57, __disjvr_5^0'=__disjvr_5^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post57, __disjvr_15^0'=__disjvr_15^post57, i_108^0'=i_108^post57, __disjvr_25^0'=__disjvr_25^post57, x_20^0'=x_20^post57, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post57, a_146^0'=a_146^post57, a_247^0'=a_247^post57, temp0_15^0'=temp0_15^post57, __disjvr_1^0'=__disjvr_1^post57, length_43^0'=length_43^post57, __disjvr_2^0'=__disjvr_2^post57, rcd_102^0'=rcd_102^post57, __disjvr_12^0'=__disjvr_12^post57, ct_17^0'=ct_17^post57, x_14^0'=x_14^post57, lt_37^0'=lt_37^post57, __disjvr_7^0'=__disjvr_7^post57, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post57, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post57, __disjvr_17^0'=__disjvr_17^post57, i_44^0'=i_44^post57, __disjvr_27^0'=__disjvr_27^post57, x_28^0'=x_28^post57, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post57, (-__disjvr_20^post57+__disjvr_20^0 == 0 /\ a_283^0-a_283^post57 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post57+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ lt_237^0-lt_237^post57 == 0 /\ -x_34^post57+x_34^0 == 0 /\ __disjvr_18^0-__disjvr_18^post57 == 0 /\ -__disjvr_5^post57+__disjvr_5^0 == 0 /\ x_238^0-x_238^post57 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post57+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ t_23^0-t_23^post57 == 0 /\ -length_43^post57+length_43^0 == 0 /\ a_328^0-a_328^post57 == 0 /\ -temp0_32^post57+temp0_32^0 == 0 /\ -__disjvr_27^post57+__disjvr_27^0 == 0 /\ __disjvr_13^0-__disjvr_13^post57 == 0 /\ __disjvr_19^0-__disjvr_19^post57 == 0 /\ -ct_17^post57+ct_17^0 == 0 /\ lt_36^0-lt_36^post57 == 0 /\ -__disjvr_7^post57+__disjvr_7^0 == 0 /\ __disjvr_8^0-__disjvr_8^post57 == 0 /\ __disjvr_0^0-__disjvr_0^post57 == 0 /\ -a_247^post57+a_247^0 == 0 /\ -a_146^post57+a_146^0 == 0 /\ -x_SLAM_f_18^post57+x_SLAM_f_18^0 == 0 /\ __disjvr_16^0-__disjvr_16^post57 == 0 /\ temp0_45^0-temp0_45^post57 == 0 /\ rcd_72^0-rcd_72^post57 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post57+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -x_20^post57+x_20^0 == 0 /\ x_177^0-x_177^post57 == 0 /\ -nondet_12^post57+nondet_12^0 == 0 /\ __disjvr_12^0-__disjvr_12^post57 == 0 /\ -__disjvr_3^post57+__disjvr_3^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post57+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -__disjvr_15^post57+__disjvr_15^0 == 0 /\ -__disjvr_2^post57+__disjvr_2^0 == 0 /\ -i_44^post57+i_44^0 == 0 /\ lt_37^0-lt_37^post57 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post57 == 0 /\ len_246^0-len_246^post57 == 0 /\ __disjvr_6^0-__disjvr_6^post57 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post57+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_11^0-__disjvr_11^post57 == 0 /\ r_53^0-r_53^post57 == 0 /\ -temp0_15^post57+temp0_15^0 == 0 /\ a_197^0-a_197^post57 == 0 /\ tmp_48^0-tmp_48^post57 == 0 /\ -__disjvr_24^0+__disjvr_24^post57 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post57 == 0 /\ -x_28^post57+x_28^0 == 0 /\ -__disjvr_14^post57+__disjvr_14^0 == 0 /\ -__disjvr_22^post57+__disjvr_22^0 == 0 /\ -__disjvr_28^post57+__disjvr_28^0 == 0 /\ x_14^0-x_14^post57 == 0 /\ -__disjvr_4^post57+__disjvr_4^0 == 0 /\ i_125^0-i_125^post57 == 0 /\ a_305^0-a_305^post57 == 0 /\ -fmt_31^post57+fmt_31^0 == 0 /\ r_161^0-r_161^post57 == 0 /\ y_19^0-y_19^post57 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post57+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ __disjvr_29^0-__disjvr_29^post57 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post57+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ i_108^0-i_108^post57 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0 /\ -rcd_102^post57+rcd_102^0 == 0 /\ -__disjvr_10^post57+__disjvr_10^0 == 0 /\ -__disjvr_26^post57+__disjvr_26^0 == 0 /\ -len_180^post57+len_180^0 == 0 /\ -__disjvr_23^post57+__disjvr_23^0 == 0 /\ head_46^0-head_46^post57 == 0 /\ -__disjvr_25^post57+__disjvr_25^0 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post57+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -__disjvr_1^post57+__disjvr_1^0 == 0 /\ result_11^0-result_11^post57 == 0 /\ a_26^0-a_26^post57 == 0 /\ __disjvr_9^0-__disjvr_9^post57 == 0 /\ -temp_49^post57+temp_49^0 == 0 /\ __disjvr_21^0-__disjvr_21^post57 == 0 /\ x_16^0-x_16^post57 == 0), cost: 1
New rule:
l53 -> l54 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l54 -> l55 : __disjvr_0^0'=__disjvr_0^post58, a_283^0'=a_283^post58, temp0_45^0'=temp0_45^post58, __disjvr_21^0'=__disjvr_21^post58, y_19^0'=y_19^post58, __disjvr_4^0'=__disjvr_4^post58, result_11^0'=result_11^post58, __disjvr_14^0'=__disjvr_14^post58, head_46^0'=head_46^post58, __disjvr_24^0'=__disjvr_24^post58, x_177^0'=x_177^post58, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post58, __disjvr_9^0'=__disjvr_9^post58, a_197^0'=a_197^post58, t_23^0'=t_23^post58, __disjvr_19^0'=__disjvr_19^post58, len_246^0'=len_246^post58, __disjvr_29^0'=__disjvr_29^post58, x_SLAM_f_18^0'=x_SLAM_f_18^post58, r_53^0'=r_53^post58, __disjvr_11^0'=__disjvr_11^post58, a_328^0'=a_328^post58, tmp_48^0'=tmp_48^post58, lt_36^0'=lt_36^post58, __disjvr_6^0'=__disjvr_6^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, __disjvr_16^0'=__disjvr_16^post58, i_125^0'=i_125^post58, __disjvr_26^0'=__disjvr_26^post58, x_238^0'=x_238^post58, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post58, a_26^0'=a_26^post58, temp0_32^0'=temp0_32^post58, __disjvr_20^0'=__disjvr_20^post58, lt_237^0'=lt_237^post58, __disjvr_3^0'=__disjvr_3^post58, rcd_72^0'=rcd_72^post58, __disjvr_13^0'=__disjvr_13^post58, fmt_31^0'=fmt_31^post58, __disjvr_23^0'=__disjvr_23^post58, x_16^0'=x_16^post58, nondet_12^0'=nondet_12^post58, __disjvr_8^0'=__disjvr_8^post58, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post58, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post58, __disjvr_18^0'=__disjvr_18^post58, len_180^0'=len_180^post58, __disjvr_28^0'=__disjvr_28^post58, x_34^0'=x_34^post58, r_161^0'=r_161^post58, __disjvr_10^0'=__disjvr_10^post58, a_305^0'=a_305^post58, temp_49^0'=temp_49^post58, __disjvr_22^0'=__disjvr_22^post58, __disjvr_5^0'=__disjvr_5^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post58, __disjvr_15^0'=__disjvr_15^post58, i_108^0'=i_108^post58, __disjvr_25^0'=__disjvr_25^post58, x_20^0'=x_20^post58, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post58, a_146^0'=a_146^post58, a_247^0'=a_247^post58, temp0_15^0'=temp0_15^post58, __disjvr_1^0'=__disjvr_1^post58, length_43^0'=length_43^post58, __disjvr_2^0'=__disjvr_2^post58, rcd_102^0'=rcd_102^post58, __disjvr_12^0'=__disjvr_12^post58, ct_17^0'=ct_17^post58, x_14^0'=x_14^post58, lt_37^0'=lt_37^post58, __disjvr_7^0'=__disjvr_7^post58, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post58, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post58, __disjvr_17^0'=__disjvr_17^post58, i_44^0'=i_44^post58, __disjvr_27^0'=__disjvr_27^post58, x_28^0'=x_28^post58, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post58, (__disjvr_6^0-__disjvr_6^post58 == 0 /\ -__disjvr_27^post58+__disjvr_27^0 == 0 /\ -__disjvr_17^post58+__disjvr_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post58 == 0 /\ rcd_72^0-rcd_72^post58 == 0 /\ r_53^0-r_53^post58 == 0 /\ -length_43^post58+length_43^0 == 0 /\ temp_49^0-temp_49^post58 == 0 /\ -nondet_12^post58+nondet_12^0 == 0 /\ a_197^0-a_197^post58 == 0 /\ -ct_17^post58+ct_17^0 == 0 /\ __disjvr_2^0-__disjvr_2^post58 == 0 /\ -__disjvr_20^post58+__disjvr_20^0 == 0 /\ __disjvr_24^0-__disjvr_24^post58 == 0 /\ a_283^0-a_283^post58 == 0 /\ a_328^0-a_328^post58 == 0 /\ -__disjvr_13^post58+__disjvr_13^0 == 0 /\ __disjvr_10^0-__disjvr_10^post58 == 0 /\ -x_14^post58+x_14^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post58 == 0 /\ len_246^0-len_246^post58 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post58 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post58+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -__disjvr_5^post58+__disjvr_5^0 == 0 /\ -__disjvr_7^post58+__disjvr_7^0 == 0 /\ head_46^0-head_46^post58 == 0 /\ __disjvr_12^0-__disjvr_12^post58 == 0 /\ __disjvr_29^0-__disjvr_29^post58 == 0 /\ -a_305^post58+a_305^0 == 0 /\ a_247^0-a_247^post58 == 0 /\ -__disjvr_8^post58+__disjvr_8^0 == 0 /\ -a_146^post58+a_146^0 == 0 /\ -lt_36^post58+lt_36^0 == 0 /\ __disjvr_16^0-__disjvr_16^post58 == 0 /\ fmt_31^0-fmt_31^post58 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post58 == 0 /\ __disjvr_0^0-__disjvr_0^post58 == 0 /\ x_34^0-x_34^post58 == 0 /\ __disjvr_9^0-__disjvr_9^post58 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ a_26^0-a_26^post58 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post58 == 0 /\ temp0_45^0-temp0_45^post58 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post58 == 0 /\ -x_16^post58+x_16^0 == 0 /\ -__disjvr_26^post58+__disjvr_26^0 == 0 /\ -__disjvr_28^post58+__disjvr_28^0 == 0 /\ -__disjvr_18^post58+__disjvr_18^0 == 0 /\ __disjvr_25^post58-__disjvr_25^0 == 0 /\ result_11^0-result_11^post58 == 0 /\ x_238^0-x_238^post58 == 0 /\ -x_28^post58+x_28^0 == 0 /\ __disjvr_23^0-__disjvr_23^post58 == 0 /\ -rcd_102^post58+rcd_102^0 == 0 /\ -temp0_15^post58+temp0_15^0 == 0 /\ t_23^0-t_23^post58 == 0 /\ -i_108^post58+i_108^0 == 0 /\ y_19^0-y_19^post58 == 0 /\ -lt_37^post58+lt_37^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post58+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -i_44^post58+i_44^0 == 0 /\ -__disjvr_22^post58+__disjvr_22^0 == 0 /\ __disjvr_4^0-__disjvr_4^post58 == 0 /\ -r_161^post58+r_161^0 == 0 /\ __disjvr_19^0-__disjvr_19^post58 == 0 /\ __disjvr_3^0-__disjvr_3^post58 == 0 /\ x_20^0-x_20^post58 == 0 /\ -len_180^post58+len_180^0 == 0 /\ temp0_32^0-temp0_32^post58 == 0 /\ -__disjvr_25^post58+__disjvr_25^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post58+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ __disjvr_21^0-__disjvr_21^post58 == 0 /\ __disjvr_11^0-__disjvr_11^post58 == 0 /\ -tmp_48^post58+tmp_48^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post58+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -__disjvr_15^post58+__disjvr_15^0 == 0 /\ -lt_237^post58+lt_237^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post58+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_125^post58+i_125^0 == 0 /\ -__disjvr_1^post58+__disjvr_1^0 == 0 /\ x_177^0-x_177^post58 == 0), cost: 1
New rule:
l54 -> l55 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l55 -> l40 : __disjvr_0^0'=__disjvr_0^post59, a_283^0'=a_283^post59, temp0_45^0'=temp0_45^post59, __disjvr_21^0'=__disjvr_21^post59, y_19^0'=y_19^post59, __disjvr_4^0'=__disjvr_4^post59, result_11^0'=result_11^post59, __disjvr_14^0'=__disjvr_14^post59, head_46^0'=head_46^post59, __disjvr_24^0'=__disjvr_24^post59, x_177^0'=x_177^post59, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post59, __disjvr_9^0'=__disjvr_9^post59, a_197^0'=a_197^post59, t_23^0'=t_23^post59, __disjvr_19^0'=__disjvr_19^post59, len_246^0'=len_246^post59, __disjvr_29^0'=__disjvr_29^post59, x_SLAM_f_18^0'=x_SLAM_f_18^post59, r_53^0'=r_53^post59, __disjvr_11^0'=__disjvr_11^post59, a_328^0'=a_328^post59, tmp_48^0'=tmp_48^post59, lt_36^0'=lt_36^post59, __disjvr_6^0'=__disjvr_6^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, __disjvr_16^0'=__disjvr_16^post59, i_125^0'=i_125^post59, __disjvr_26^0'=__disjvr_26^post59, x_238^0'=x_238^post59, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post59, a_26^0'=a_26^post59, temp0_32^0'=temp0_32^post59, __disjvr_20^0'=__disjvr_20^post59, lt_237^0'=lt_237^post59, __disjvr_3^0'=__disjvr_3^post59, rcd_72^0'=rcd_72^post59, __disjvr_13^0'=__disjvr_13^post59, fmt_31^0'=fmt_31^post59, __disjvr_23^0'=__disjvr_23^post59, x_16^0'=x_16^post59, nondet_12^0'=nondet_12^post59, __disjvr_8^0'=__disjvr_8^post59, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post59, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post59, __disjvr_18^0'=__disjvr_18^post59, len_180^0'=len_180^post59, __disjvr_28^0'=__disjvr_28^post59, x_34^0'=x_34^post59, r_161^0'=r_161^post59, __disjvr_10^0'=__disjvr_10^post59, a_305^0'=a_305^post59, temp_49^0'=temp_49^post59, __disjvr_22^0'=__disjvr_22^post59, __disjvr_5^0'=__disjvr_5^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post59, __disjvr_15^0'=__disjvr_15^post59, i_108^0'=i_108^post59, __disjvr_25^0'=__disjvr_25^post59, x_20^0'=x_20^post59, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post59, a_146^0'=a_146^post59, a_247^0'=a_247^post59, temp0_15^0'=temp0_15^post59, __disjvr_1^0'=__disjvr_1^post59, length_43^0'=length_43^post59, __disjvr_2^0'=__disjvr_2^post59, rcd_102^0'=rcd_102^post59, __disjvr_12^0'=__disjvr_12^post59, ct_17^0'=ct_17^post59, x_14^0'=x_14^post59, lt_37^0'=lt_37^post59, __disjvr_7^0'=__disjvr_7^post59, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post59, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post59, __disjvr_17^0'=__disjvr_17^post59, i_44^0'=i_44^post59, __disjvr_27^0'=__disjvr_27^post59, x_28^0'=x_28^post59, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post59, (__disjvr_14^0-__disjvr_14^post59 == 0 /\ __disjvr_5^0-__disjvr_5^post59 == 0 /\ __disjvr_24^0-__disjvr_24^post59 == 0 /\ y_19^0-y_19^post59 == 0 /\ result_11^0-result_11^post59 == 0 /\ temp0_45^0-temp0_45^post59 == 0 /\ -rcd_72^post59+rcd_72^0 == 0 /\ -__disjvr_27^post59+__disjvr_27^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post59+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ temp_49^0-temp_49^post59 == 0 /\ -x_238^post59+x_238^0 == 0 /\ -i_44^post59+i_44^0 == 0 /\ tmp_48^0-tmp_48^post59 == 0 /\ -__disjvr_15^post59+__disjvr_15^0 == 0 /\ -lt_36^post59+lt_36^0 == 0 /\ r_161^0-r_161^post59 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post59 == 0 /\ -__disjvr_23^post59+__disjvr_23^0 == 0 /\ -a_247^post59+a_247^0 == 0 /\ __disjvr_26^0-__disjvr_26^post59 == 0 /\ -__disjvr_25^post59+__disjvr_25^0 == 0 /\ __disjvr_8^0-__disjvr_8^post59 == 0 /\ __disjvr_21^0-__disjvr_21^post59 == 0 /\ head_46^0-head_46^post59 == 0 /\ -x_14^post59+x_14^0 == 0 /\ __disjvr_18^0-__disjvr_18^post59 == 0 /\ a_146^0-a_146^post59 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post59 == 0 /\ __disjvr_3^0-__disjvr_3^post59 == 0 /\ -temp0_32^post59+temp0_32^0 == 0 /\ -temp0_15^post59+temp0_15^0 == 0 /\ -__disjvr_29^post59+__disjvr_29^0 == 0 /\ __disjvr_6^0-__disjvr_6^post59 == 0 /\ -__disjvr_17^post59+__disjvr_17^0 == 0 /\ -__disjvr_2^post59+__disjvr_2^0 == 0 /\ -__disjvr_7^post59+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post59 == 0 /\ x_16^0-x_16^post59 == 0 /\ -a_305^post59+a_305^0 == 0 /\ -a_197^post59+a_197^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post59 == 0 /\ a_26^0-a_26^post59 == 0 /\ x_34^0-x_34^post59 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post59 == 0 /\ -__disjvr_28^post59+__disjvr_28^0 == 0 /\ -fmt_31^post59+fmt_31^0 == 0 /\ -__disjvr_16^post59+__disjvr_16^0 == 0 /\ lt_237^0-lt_237^post59 == 0 /\ -__disjvr_12^post59+__disjvr_12^0 == 0 /\ __disjvr_13^0-__disjvr_13^post59 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post59+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post59+__disjvr_1^0 == 0 /\ __disjvr_4^0-__disjvr_4^post59 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_20^0-x_20^post59 == 0 /\ -rcd_102^post59+rcd_102^0 == 0 /\ __disjvr_9^0-__disjvr_9^post59 == 0 /\ -lt_37^post59+lt_37^0 == 0 /\ __disjvr_22^0-__disjvr_22^post59 == 0 /\ -__disjvr_10^post59+__disjvr_10^0 == 0 /\ -len_180^post59+len_180^0 == 0 /\ a_283^0-a_283^post59 == 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ t_23^0-t_23^post59 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post59+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ i_125^0-i_125^post59 == 0 /\ __disjvr_19^0-__disjvr_19^post59 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_328^0-a_328^post59 == 0 /\ -length_43^post59+length_43^0 == 0 /\ r_53^0-r_53^post59 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_11^0-__disjvr_11^post59 == 0 /\ __disjvr_0^0-__disjvr_0^post59 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post59 == 0 /\ -ct_17^post59+ct_17^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post59+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -len_246^post59+len_246^0 == 0 /\ -i_108^post59+i_108^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post59+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -x_28^post59+x_28^0 == 0 /\ x_177^0-x_177^post59 == 0), cost: 1
New rule:
l55 -> l40 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l4 -> l57 : __disjvr_0^0'=__disjvr_0^post61, a_283^0'=a_283^post61, temp0_45^0'=temp0_45^post61, __disjvr_21^0'=__disjvr_21^post61, y_19^0'=y_19^post61, __disjvr_4^0'=__disjvr_4^post61, result_11^0'=result_11^post61, __disjvr_14^0'=__disjvr_14^post61, head_46^0'=head_46^post61, __disjvr_24^0'=__disjvr_24^post61, x_177^0'=x_177^post61, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post61, __disjvr_9^0'=__disjvr_9^post61, a_197^0'=a_197^post61, t_23^0'=t_23^post61, __disjvr_19^0'=__disjvr_19^post61, len_246^0'=len_246^post61, __disjvr_29^0'=__disjvr_29^post61, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, __disjvr_11^0'=__disjvr_11^post61, a_328^0'=a_328^post61, tmp_48^0'=tmp_48^post61, lt_36^0'=lt_36^post61, __disjvr_6^0'=__disjvr_6^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, __disjvr_16^0'=__disjvr_16^post61, i_125^0'=i_125^post61, __disjvr_26^0'=__disjvr_26^post61, x_238^0'=x_238^post61, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post61, a_26^0'=a_26^post61, temp0_32^0'=temp0_32^post61, __disjvr_20^0'=__disjvr_20^post61, lt_237^0'=lt_237^post61, __disjvr_3^0'=__disjvr_3^post61, rcd_72^0'=rcd_72^post61, __disjvr_13^0'=__disjvr_13^post61, fmt_31^0'=fmt_31^post61, __disjvr_23^0'=__disjvr_23^post61, x_16^0'=x_16^post61, nondet_12^0'=nondet_12^post61, __disjvr_8^0'=__disjvr_8^post61, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post61, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post61, __disjvr_18^0'=__disjvr_18^post61, len_180^0'=len_180^post61, __disjvr_28^0'=__disjvr_28^post61, x_34^0'=x_34^post61, r_161^0'=r_161^post61, __disjvr_10^0'=__disjvr_10^post61, a_305^0'=a_305^post61, temp_49^0'=temp_49^post61, __disjvr_22^0'=__disjvr_22^post61, __disjvr_5^0'=__disjvr_5^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post61, __disjvr_15^0'=__disjvr_15^post61, i_108^0'=i_108^post61, __disjvr_25^0'=__disjvr_25^post61, x_20^0'=x_20^post61, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post61, a_146^0'=a_146^post61, a_247^0'=a_247^post61, temp0_15^0'=temp0_15^post61, __disjvr_1^0'=__disjvr_1^post61, length_43^0'=length_43^post61, __disjvr_2^0'=__disjvr_2^post61, rcd_102^0'=rcd_102^post61, __disjvr_12^0'=__disjvr_12^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, lt_37^0'=lt_37^post61, __disjvr_7^0'=__disjvr_7^post61, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post61, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post61, __disjvr_17^0'=__disjvr_17^post61, i_44^0'=i_44^post61, __disjvr_27^0'=__disjvr_27^post61, x_28^0'=x_28^post61, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post61, (0 == 0 /\ -a_146^post61+a_146^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post61 == 0 /\ __disjvr_24^0-__disjvr_24^post61 == 0 /\ -i_44^post61+i_44^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post61+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_8^post61+__disjvr_8^0 == 0 /\ -lt_237^post61+lt_237^0 == 0 /\ temp_49^0-temp_49^post61 == 0 /\ __disjvr_10^0-__disjvr_10^post61 == 0 /\ -a_305^0 <= 0 /\ -a_328^post61+a_328^0 == 0 /\ x_34^0-x_34^post61 == 0 /\ rcd_72^0-rcd_72^post61 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post61+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ len_246^0-len_246^post61 == 0 /\ -__disjvr_15^post61+__disjvr_15^0 == 0 /\ -lt_36^post61+lt_36^0 == 0 /\ head_46^0-head_46^post61 == 0 /\ __disjvr_21^0-__disjvr_21^post61 == 0 /\ __disjvr_4^0-__disjvr_4^post61 == 0 /\ __disjvr_19^0-__disjvr_19^post61 == 0 /\ __disjvr_26^0-__disjvr_26^post61 == 0 /\ temp0_32^0-temp0_32^post61 == 0 /\ -__disjvr_2^post61+__disjvr_2^0 == 0 /\ -a_247^post61+a_247^0 == 0 /\ a_283^0-a_283^post61 == 0 /\ -__disjvr_13^post61+__disjvr_13^0 == 0 /\ tmp_48^0-tmp_48^post61 == 0 /\ -__disjvr_20^post61+__disjvr_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post61 == 0 /\ -__disjvr_18^post61+__disjvr_18^0 == 0 /\ -__disjvr_27^post61+__disjvr_27^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post61 == 0 /\ -__disjvr_17^post61+__disjvr_17^0 == 0 /\ __disjvr_28^0-__disjvr_28^post61 == 0 /\ -temp0_15^post61+temp0_15^0 == 0 /\ a_197^0-a_197^post61 == 0 /\ __disjvr_6^0-__disjvr_6^post61 == 0 /\ -__disjvr_29^post61+__disjvr_29^0 == 0 /\ -a_305^post61+a_305^0 == 0 /\ __disjvr_0^0-__disjvr_0^post61 == 0 /\ -rcd_102^post61+rcd_102^0 == 0 /\ -__disjvr_5^post61+__disjvr_5^0 == 0 /\ -__disjvr_25^post61+__disjvr_25^0 == 0 /\ x_238^0-x_238^post61 == 0 /\ -r_161^post61+r_161^0 == 0 /\ __disjvr_23^0-__disjvr_23^post61 == 0 /\ __disjvr_16^0-__disjvr_16^post61 == 0 /\ y_19^0-y_19^post61 == 0 /\ t_23^0-t_23^post61 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post61+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ -len_180^post61+len_180^0 == 0 /\ -__disjvr_12^post61+__disjvr_12^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post61+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post61+__disjvr_1^0 == 0 /\ a_26^0-a_26^post61 == 0 /\ __disjvr_7^0-__disjvr_7^post61 == 0 /\ x_20^0-x_20^post61 == 0 /\ temp0_45^0-temp0_45^post61 == 0 /\ __disjvr_9^0-__disjvr_9^post61 == 0 /\ __disjvr_22^0-__disjvr_22^post61 == 0 /\ -i_125^post61+i_125^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post61+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_11^0-__disjvr_11^post61 == 0 /\ -nondet_12^post61+nondet_12^0 == 0 /\ -lt_37^post61+lt_37^0 == 0 /\ __disjvr_3^0-__disjvr_3^post61 == 0 /\ -result_11^post61+result_11^0 == 0 /\ fmt_31^0-fmt_31^post61 == 0 /\ -x_28^post61+x_28^0 == 0 /\ x_177^0-x_177^post61 == 0 /\ -length_43^post61+length_43^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post61 == 0 /\ -i_108^post61+i_108^0 == 0 /\ __disjvr_14^0-__disjvr_14^post61 == 0), cost: 1
New rule:
l4 -> l57 : x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, a_305^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l57 -> l58 : __disjvr_0^0'=__disjvr_0^post62, a_283^0'=a_283^post62, temp0_45^0'=temp0_45^post62, __disjvr_21^0'=__disjvr_21^post62, y_19^0'=y_19^post62, __disjvr_4^0'=__disjvr_4^post62, result_11^0'=result_11^post62, __disjvr_14^0'=__disjvr_14^post62, head_46^0'=head_46^post62, __disjvr_24^0'=__disjvr_24^post62, x_177^0'=x_177^post62, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post62, __disjvr_9^0'=__disjvr_9^post62, a_197^0'=a_197^post62, t_23^0'=t_23^post62, __disjvr_19^0'=__disjvr_19^post62, len_246^0'=len_246^post62, __disjvr_29^0'=__disjvr_29^post62, x_SLAM_f_18^0'=x_SLAM_f_18^post62, r_53^0'=r_53^post62, __disjvr_11^0'=__disjvr_11^post62, a_328^0'=a_328^post62, tmp_48^0'=tmp_48^post62, lt_36^0'=lt_36^post62, __disjvr_6^0'=__disjvr_6^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, __disjvr_16^0'=__disjvr_16^post62, i_125^0'=i_125^post62, __disjvr_26^0'=__disjvr_26^post62, x_238^0'=x_238^post62, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post62, a_26^0'=a_26^post62, temp0_32^0'=temp0_32^post62, __disjvr_20^0'=__disjvr_20^post62, lt_237^0'=lt_237^post62, __disjvr_3^0'=__disjvr_3^post62, rcd_72^0'=rcd_72^post62, __disjvr_13^0'=__disjvr_13^post62, fmt_31^0'=fmt_31^post62, __disjvr_23^0'=__disjvr_23^post62, x_16^0'=x_16^post62, nondet_12^0'=nondet_12^post62, __disjvr_8^0'=__disjvr_8^post62, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post62, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post62, __disjvr_18^0'=__disjvr_18^post62, len_180^0'=len_180^post62, __disjvr_28^0'=__disjvr_28^post62, x_34^0'=x_34^post62, r_161^0'=r_161^post62, __disjvr_10^0'=__disjvr_10^post62, a_305^0'=a_305^post62, temp_49^0'=temp_49^post62, __disjvr_22^0'=__disjvr_22^post62, __disjvr_5^0'=__disjvr_5^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post62, __disjvr_15^0'=__disjvr_15^post62, i_108^0'=i_108^post62, __disjvr_25^0'=__disjvr_25^post62, x_20^0'=x_20^post62, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post62, a_146^0'=a_146^post62, a_247^0'=a_247^post62, temp0_15^0'=temp0_15^post62, __disjvr_1^0'=__disjvr_1^post62, length_43^0'=length_43^post62, __disjvr_2^0'=__disjvr_2^post62, rcd_102^0'=rcd_102^post62, __disjvr_12^0'=__disjvr_12^post62, ct_17^0'=ct_17^post62, x_14^0'=x_14^post62, lt_37^0'=lt_37^post62, __disjvr_7^0'=__disjvr_7^post62, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post62, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post62, __disjvr_17^0'=__disjvr_17^post62, i_44^0'=i_44^post62, __disjvr_27^0'=__disjvr_27^post62, x_28^0'=x_28^post62, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post62, (r_161^0-r_161^post62 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post62 == 0 /\ __disjvr_26^0-__disjvr_26^post62 == 0 /\ __disjvr_23^0-__disjvr_23^post62 == 0 /\ __disjvr_0^0-__disjvr_0^post62 == 0 /\ lt_36^0-lt_36^post62 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post62+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ __disjvr_22^0-__disjvr_22^post62 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post62+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -temp0_15^post62+temp0_15^0 == 0 /\ -__disjvr_6^post62+__disjvr_6^0 == 0 /\ x_177^0-x_177^post62 == 0 /\ result_11^0-result_11^post62 == 0 /\ -__disjvr_8^post62+__disjvr_8^0 == 0 /\ -x_28^post62+x_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post62 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post62+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post62+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ __disjvr_9^0-__disjvr_9^post62 == 0 /\ temp0_45^0-temp0_45^post62 == 0 /\ -__disjvr_2^post62+__disjvr_2^0 == 0 /\ -temp_49^post62+temp_49^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post62 == 0 /\ tmp_48^0-tmp_48^post62 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ __disjvr_20^0-__disjvr_20^post62 == 0 /\ -__disjvr_28^post62+__disjvr_28^0 == 0 /\ -__disjvr_27^post62+__disjvr_27^0 == 0 /\ -__disjvr_12^post62+__disjvr_12^0 == 0 /\ -__disjvr_26^0+__disjvr_26^post62 == 0 /\ y_19^0-y_19^post62 == 0 /\ -rcd_72^post62+rcd_72^0 == 0 /\ -__disjvr_16^post62+__disjvr_16^0 == 0 /\ -x_14^post62+x_14^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post62+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post62+__disjvr_1^0 == 0 /\ __disjvr_14^0-__disjvr_14^post62 == 0 /\ a_146^0-a_146^post62 == 0 /\ -i_44^post62+i_44^0 == 0 /\ -rcd_102^post62+rcd_102^0 == 0 /\ __disjvr_18^0-__disjvr_18^post62 == 0 /\ -__disjvr_25^post62+__disjvr_25^0 == 0 /\ -__disjvr_10^post62+__disjvr_10^0 == 0 /\ -len_180^post62+len_180^0 == 0 /\ __disjvr_3^0-__disjvr_3^post62 == 0 /\ x_238^0-x_238^post62 == 0 /\ __disjvr_13^0-__disjvr_13^post62 == 0 /\ __disjvr_4^0-__disjvr_4^post62 == 0 /\ -__disjvr_5^post62+__disjvr_5^0 == 0 /\ x_16^0-x_16^post62 == 0 /\ -a_305^post62+a_305^0 == 0 /\ x_20^0-x_20^post62 == 0 /\ -__disjvr_24^post62+__disjvr_24^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post62 == 0 /\ -temp0_32^post62+temp0_32^0 == 0 /\ -length_43^post62+length_43^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post62 == 0 /\ t_23^0-t_23^post62 == 0 /\ a_26^0-a_26^post62 == 0 /\ __disjvr_21^0-__disjvr_21^post62 == 0 /\ -__disjvr_7^post62+__disjvr_7^0 == 0 /\ -__disjvr_29^post62+__disjvr_29^0 == 0 /\ -a_197^post62+a_197^0 == 0 /\ -x_34^post62+x_34^0 == 0 /\ -__disjvr_17^post62+__disjvr_17^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post62 == 0 /\ -a_247^post62+a_247^0 == 0 /\ -fmt_31^post62+fmt_31^0 == 0 /\ __disjvr_11^0-__disjvr_11^post62 == 0 /\ -len_246^post62+len_246^0 == 0 /\ -i_108^post62+i_108^0 == 0 /\ a_283^0-a_283^post62 == 0 /\ -ct_17^post62+ct_17^0 == 0 /\ -head_46^post62+head_46^0 == 0 /\ r_53^0-r_53^post62 == 0 /\ __disjvr_15^0-__disjvr_15^post62 == 0 /\ lt_237^0-lt_237^post62 == 0 /\ i_125^0-i_125^post62 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post62+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ a_328^0-a_328^post62 == 0 /\ -lt_37^post62+lt_37^0 == 0), cost: 1
New rule:
l57 -> l58 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l58 -> l59 : __disjvr_0^0'=__disjvr_0^post63, a_283^0'=a_283^post63, temp0_45^0'=temp0_45^post63, __disjvr_21^0'=__disjvr_21^post63, y_19^0'=y_19^post63, __disjvr_4^0'=__disjvr_4^post63, result_11^0'=result_11^post63, __disjvr_14^0'=__disjvr_14^post63, head_46^0'=head_46^post63, __disjvr_24^0'=__disjvr_24^post63, x_177^0'=x_177^post63, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post63, __disjvr_9^0'=__disjvr_9^post63, a_197^0'=a_197^post63, t_23^0'=t_23^post63, __disjvr_19^0'=__disjvr_19^post63, len_246^0'=len_246^post63, __disjvr_29^0'=__disjvr_29^post63, x_SLAM_f_18^0'=x_SLAM_f_18^post63, r_53^0'=r_53^post63, __disjvr_11^0'=__disjvr_11^post63, a_328^0'=a_328^post63, tmp_48^0'=tmp_48^post63, lt_36^0'=lt_36^post63, __disjvr_6^0'=__disjvr_6^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, __disjvr_16^0'=__disjvr_16^post63, i_125^0'=i_125^post63, __disjvr_26^0'=__disjvr_26^post63, x_238^0'=x_238^post63, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post63, a_26^0'=a_26^post63, temp0_32^0'=temp0_32^post63, __disjvr_20^0'=__disjvr_20^post63, lt_237^0'=lt_237^post63, __disjvr_3^0'=__disjvr_3^post63, rcd_72^0'=rcd_72^post63, __disjvr_13^0'=__disjvr_13^post63, fmt_31^0'=fmt_31^post63, __disjvr_23^0'=__disjvr_23^post63, x_16^0'=x_16^post63, nondet_12^0'=nondet_12^post63, __disjvr_8^0'=__disjvr_8^post63, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post63, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post63, __disjvr_18^0'=__disjvr_18^post63, len_180^0'=len_180^post63, __disjvr_28^0'=__disjvr_28^post63, x_34^0'=x_34^post63, r_161^0'=r_161^post63, __disjvr_10^0'=__disjvr_10^post63, a_305^0'=a_305^post63, temp_49^0'=temp_49^post63, __disjvr_22^0'=__disjvr_22^post63, __disjvr_5^0'=__disjvr_5^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post63, __disjvr_15^0'=__disjvr_15^post63, i_108^0'=i_108^post63, __disjvr_25^0'=__disjvr_25^post63, x_20^0'=x_20^post63, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post63, a_146^0'=a_146^post63, a_247^0'=a_247^post63, temp0_15^0'=temp0_15^post63, __disjvr_1^0'=__disjvr_1^post63, length_43^0'=length_43^post63, __disjvr_2^0'=__disjvr_2^post63, rcd_102^0'=rcd_102^post63, __disjvr_12^0'=__disjvr_12^post63, ct_17^0'=ct_17^post63, x_14^0'=x_14^post63, lt_37^0'=lt_37^post63, __disjvr_7^0'=__disjvr_7^post63, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post63, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post63, __disjvr_17^0'=__disjvr_17^post63, i_44^0'=i_44^post63, __disjvr_27^0'=__disjvr_27^post63, x_28^0'=x_28^post63, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post63, (0 == 0 /\ -i_108^post63+i_108^0 == 0 /\ -__disjvr_1^post63+__disjvr_1^0 == 0 /\ y_19^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post63 == 0 /\ __disjvr_22^0-__disjvr_22^post63 == 0 /\ -__disjvr_2^post63+__disjvr_2^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post63+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -x_16^post63+x_16^0 == 0 /\ __disjvr_16^0-__disjvr_16^post63 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ -__disjvr_10^post63+__disjvr_10^0 == 0 /\ -fmt_31^post63+fmt_31^0 == 0 /\ -__disjvr_12^post63+__disjvr_12^0 == 0 /\ x_16^0-x_14^0 <= 0 /\ -1-a_328^post63+a_305^0 <= 0 /\ x_177^0-x_177^post63 == 0 /\ -a_146^post63+a_146^0 == 0 /\ -x_28^post63+x_28^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post63 == 0 /\ -__disjvr_28^post63+__disjvr_28^0 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post63 == 0 /\ -temp0_15^post63+temp0_15^0 == 0 /\ temp0_45^0-temp0_45^post63 == 0 /\ a_26^0-a_26^post63 == 0 /\ -__disjvr_23^post63+__disjvr_23^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post63+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -len_180^post63+len_180^0 == 0 /\ y_19^0-y_19^post63 == 0 /\ -y_19^0 <= 0 /\ ct_17^0-ct_17^post63 == 0 /\ len_246^0-len_246^post63 == 0 /\ __disjvr_11^0-__disjvr_11^post63 == 0 /\ -r_53^post63+r_53^0 == 0 /\ -rcd_102^post63+rcd_102^0 == 0 /\ __disjvr_9^0-__disjvr_9^post63 == 0 /\ y_19^0-ct_17^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post63 == 0 /\ __disjvr_18^0-__disjvr_18^post63 == 0 /\ -x_16^0+x_14^0 <= 0 /\ -r_161^post63+r_161^0 == 0 /\ __disjvr_14^0-__disjvr_14^post63 == 0 /\ -i_44^post63+i_44^0 == 0 /\ lt_237^0-lt_237^post63 == 0 /\ -__disjvr_20^post63+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post63+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -length_43^post63+length_43^0 == 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ i_125^0-i_125^post63 == 0 /\ -x_34^post63+x_34^0 == 0 /\ __disjvr_19^0-__disjvr_19^post63 == 0 /\ __disjvr_8^0-__disjvr_8^post63 == 0 /\ -temp_49^post63+temp_49^0 == 0 /\ -x_14^post63+x_14^0 == 0 /\ -__disjvr_5^post63+__disjvr_5^0 == 0 /\ __disjvr_26^0-__disjvr_26^post63 == 0 /\ __disjvr_29^0-__disjvr_29^post63 == 0 /\ head_46^0-head_46^post63 == 0 /\ __disjvr_21^0-__disjvr_21^post63 == 0 /\ 1+a_328^post63-a_305^0 <= 0 /\ lt_36^0-lt_36^post63 == 0 /\ rcd_72^0-rcd_72^post63 == 0 /\ temp0_32^0-temp0_32^post63 == 0 /\ -__disjvr_27^post63+__disjvr_27^0 == 0 /\ -__disjvr_17^post63+__disjvr_17^0 == 0 /\ -x_SLAM_f_18^0+x_14^0 <= 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post63+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post63 == 0 /\ -__disjvr_7^post63+__disjvr_7^0 == 0 /\ -x_20^post63+x_20^0 == 0 /\ __disjvr_25^0-__disjvr_25^post63 == 0 /\ -a_305^post63+a_305^0 == 0 /\ a_197^0-a_197^post63 == 0 /\ a_283^0-a_283^post63 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post63+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ tmp_48^0-tmp_48^post63 == 0 /\ result_11^0-result_11^post63 == 0 /\ ct_17^0 <= 0 /\ -x_SLAM_f_18^post63+x_SLAM_f_18^0 == 0 /\ -ct_17^0 <= 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post63 == 0 /\ -lt_37^post63+lt_37^0 == 0 /\ -nondet_12^post63+nondet_12^0 == 0 /\ -__disjvr_3^post63+__disjvr_3^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post63 == 0 /\ -a_247^post63+a_247^0 == 0 /\ __disjvr_4^0-__disjvr_4^post63 == 0 /\ x_238^0-x_238^post63 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post63 == 0 /\ __disjvr_13^0-__disjvr_13^post63 == 0 /\ t_23^post63-x_20^0 == 0 /\ __disjvr_15^0-__disjvr_15^post63 == 0 /\ x_SLAM_f_18^0-x_14^0 <= 0), cost: 1
New rule:
l58 -> l59 : t_23^0'=x_20^0, a_328^0'=-1+a_305^0, (-y_19^0+ct_17^0 == 0 /\ x_SLAM_f_18^0-x_16^0 == 0 /\ -x_SLAM_f_18^0+x_14^0 == 0 /\ ct_17^0 == 0), cost: 1

Applied preprocessing
Original rule:
l59 -> l60 : __disjvr_0^0'=__disjvr_0^post64, a_283^0'=a_283^post64, temp0_45^0'=temp0_45^post64, __disjvr_21^0'=__disjvr_21^post64, y_19^0'=y_19^post64, __disjvr_4^0'=__disjvr_4^post64, result_11^0'=result_11^post64, __disjvr_14^0'=__disjvr_14^post64, head_46^0'=head_46^post64, __disjvr_24^0'=__disjvr_24^post64, x_177^0'=x_177^post64, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post64, __disjvr_9^0'=__disjvr_9^post64, a_197^0'=a_197^post64, t_23^0'=t_23^post64, __disjvr_19^0'=__disjvr_19^post64, len_246^0'=len_246^post64, __disjvr_29^0'=__disjvr_29^post64, x_SLAM_f_18^0'=x_SLAM_f_18^post64, r_53^0'=r_53^post64, __disjvr_11^0'=__disjvr_11^post64, a_328^0'=a_328^post64, tmp_48^0'=tmp_48^post64, lt_36^0'=lt_36^post64, __disjvr_6^0'=__disjvr_6^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, __disjvr_16^0'=__disjvr_16^post64, i_125^0'=i_125^post64, __disjvr_26^0'=__disjvr_26^post64, x_238^0'=x_238^post64, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post64, a_26^0'=a_26^post64, temp0_32^0'=temp0_32^post64, __disjvr_20^0'=__disjvr_20^post64, lt_237^0'=lt_237^post64, __disjvr_3^0'=__disjvr_3^post64, rcd_72^0'=rcd_72^post64, __disjvr_13^0'=__disjvr_13^post64, fmt_31^0'=fmt_31^post64, __disjvr_23^0'=__disjvr_23^post64, x_16^0'=x_16^post64, nondet_12^0'=nondet_12^post64, __disjvr_8^0'=__disjvr_8^post64, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post64, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post64, __disjvr_18^0'=__disjvr_18^post64, len_180^0'=len_180^post64, __disjvr_28^0'=__disjvr_28^post64, x_34^0'=x_34^post64, r_161^0'=r_161^post64, __disjvr_10^0'=__disjvr_10^post64, a_305^0'=a_305^post64, temp_49^0'=temp_49^post64, __disjvr_22^0'=__disjvr_22^post64, __disjvr_5^0'=__disjvr_5^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post64, __disjvr_15^0'=__disjvr_15^post64, i_108^0'=i_108^post64, __disjvr_25^0'=__disjvr_25^post64, x_20^0'=x_20^post64, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post64, a_146^0'=a_146^post64, a_247^0'=a_247^post64, temp0_15^0'=temp0_15^post64, __disjvr_1^0'=__disjvr_1^post64, length_43^0'=length_43^post64, __disjvr_2^0'=__disjvr_2^post64, rcd_102^0'=rcd_102^post64, __disjvr_12^0'=__disjvr_12^post64, ct_17^0'=ct_17^post64, x_14^0'=x_14^post64, lt_37^0'=lt_37^post64, __disjvr_7^0'=__disjvr_7^post64, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post64, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post64, __disjvr_17^0'=__disjvr_17^post64, i_44^0'=i_44^post64, __disjvr_27^0'=__disjvr_27^post64, x_28^0'=x_28^post64, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post64, (-__disjvr_28^post64+__disjvr_28^0 == 0 /\ i_125^0-i_125^post64 == 0 /\ -__disjvr_10^post64+__disjvr_10^0 == 0 /\ -__disjvr_1^post64+__disjvr_1^0 == 0 /\ length_43^0-length_43^post64 == 0 /\ a_247^0-a_247^post64 == 0 /\ -x_28^post64+x_28^0 == 0 /\ head_46^0-head_46^post64 == 0 /\ __disjvr_21^0-__disjvr_21^post64 == 0 /\ -rcd_102^post64+rcd_102^0 == 0 /\ -r_161^post64+r_161^0 == 0 /\ __disjvr_11^0-__disjvr_11^post64 == 0 /\ -lt_37^post64+lt_37^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post64 == 0 /\ a_197^0-a_197^post64 == 0 /\ -__disjvr_12^post64+__disjvr_12^0 == 0 /\ __disjvr_6^0-__disjvr_6^post64 == 0 /\ __disjvr_16^0-__disjvr_16^post64 == 0 /\ -temp0_15^post64+temp0_15^0 == 0 /\ -__disjvr_26^post64+__disjvr_26^0 == 0 /\ rcd_72^0-rcd_72^post64 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post64+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post64+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ __disjvr_2^0-__disjvr_2^post64 == 0 /\ r_53^0-r_53^post64 == 0 /\ result_11^0-result_11^post64 == 0 /\ -i_44^post64+i_44^0 == 0 /\ lt_237^0-lt_237^post64 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post64+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_26^0-a_26^post64 == 0 /\ a_283^0-a_283^post64 == 0 /\ -x_34^post64+x_34^0 == 0 /\ __disjvr_23^0-__disjvr_23^post64 == 0 /\ len_180^0-len_180^post64 == 0 /\ -fmt_31^post64+fmt_31^0 == 0 /\ len_246^0-len_246^post64 == 0 /\ -__disjvr_22^post64+__disjvr_22^0 == 0 /\ __disjvr_4^0-__disjvr_4^post64 == 0 /\ temp0_32^0-temp0_32^post64 == 0 /\ __disjvr_0^0-__disjvr_0^post64 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post64+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -x_14^post64+x_14^0 == 0 /\ -lt_36^post64+lt_36^0 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post64 == 0 /\ -__disjvr_13^post64+__disjvr_13^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post64+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post64 == 0 /\ x_177^0-x_177^post64 == 0 /\ -__disjvr_20^post64+__disjvr_20^0 == 0 /\ __disjvr_25^0-__disjvr_25^post64 == 0 /\ __disjvr_27^post64-__disjvr_27^0 == 0 /\ -temp_49^post64+temp_49^0 == 0 /\ -__disjvr_15^post64+__disjvr_15^0 == 0 /\ -ct_17^post64+ct_17^0 == 0 /\ -t_23^post64+t_23^0 == 0 /\ temp0_45^0-temp0_45^post64 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post64 == 0 /\ __disjvr_17^0-__disjvr_17^post64 == 0 /\ -__disjvr_8^post64+__disjvr_8^0 == 0 /\ i_108^0-i_108^post64 == 0 /\ x_238^0-x_238^post64 == 0 /\ y_19^0-y_19^post64 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post64+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -x_16^post64+x_16^0 == 0 /\ __disjvr_14^0-__disjvr_14^post64 == 0 /\ -x_20^post64+x_20^0 == 0 /\ -__disjvr_5^post64+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post64 == 0 /\ -a_146^post64+a_146^0 == 0 /\ __disjvr_19^0-__disjvr_19^post64 == 0 /\ -__disjvr_27^post64+__disjvr_27^0 == 0 /\ a_305^0-a_305^post64 == 0 /\ __disjvr_3^0-__disjvr_3^post64 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post64+printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0 == 0 /\ tmp_48^0-tmp_48^post64 == 0 /\ -a_328^post64+a_328^0 == 0 /\ -__disjvr_7^post64+__disjvr_7^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post64 == 0 /\ __disjvr_24^0-__disjvr_24^post64 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post64 == 0), cost: 1
New rule:
l59 -> l60 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l60 -> l61 : __disjvr_0^0'=__disjvr_0^post65, a_283^0'=a_283^post65, temp0_45^0'=temp0_45^post65, __disjvr_21^0'=__disjvr_21^post65, y_19^0'=y_19^post65, __disjvr_4^0'=__disjvr_4^post65, result_11^0'=result_11^post65, __disjvr_14^0'=__disjvr_14^post65, head_46^0'=head_46^post65, __disjvr_24^0'=__disjvr_24^post65, x_177^0'=x_177^post65, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post65, __disjvr_9^0'=__disjvr_9^post65, a_197^0'=a_197^post65, t_23^0'=t_23^post65, __disjvr_19^0'=__disjvr_19^post65, len_246^0'=len_246^post65, __disjvr_29^0'=__disjvr_29^post65, x_SLAM_f_18^0'=x_SLAM_f_18^post65, r_53^0'=r_53^post65, __disjvr_11^0'=__disjvr_11^post65, a_328^0'=a_328^post65, tmp_48^0'=tmp_48^post65, lt_36^0'=lt_36^post65, __disjvr_6^0'=__disjvr_6^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, __disjvr_16^0'=__disjvr_16^post65, i_125^0'=i_125^post65, __disjvr_26^0'=__disjvr_26^post65, x_238^0'=x_238^post65, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post65, a_26^0'=a_26^post65, temp0_32^0'=temp0_32^post65, __disjvr_20^0'=__disjvr_20^post65, lt_237^0'=lt_237^post65, __disjvr_3^0'=__disjvr_3^post65, rcd_72^0'=rcd_72^post65, __disjvr_13^0'=__disjvr_13^post65, fmt_31^0'=fmt_31^post65, __disjvr_23^0'=__disjvr_23^post65, x_16^0'=x_16^post65, nondet_12^0'=nondet_12^post65, __disjvr_8^0'=__disjvr_8^post65, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post65, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post65, __disjvr_18^0'=__disjvr_18^post65, len_180^0'=len_180^post65, __disjvr_28^0'=__disjvr_28^post65, x_34^0'=x_34^post65, r_161^0'=r_161^post65, __disjvr_10^0'=__disjvr_10^post65, a_305^0'=a_305^post65, temp_49^0'=temp_49^post65, __disjvr_22^0'=__disjvr_22^post65, __disjvr_5^0'=__disjvr_5^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post65, __disjvr_15^0'=__disjvr_15^post65, i_108^0'=i_108^post65, __disjvr_25^0'=__disjvr_25^post65, x_20^0'=x_20^post65, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post65, a_146^0'=a_146^post65, a_247^0'=a_247^post65, temp0_15^0'=temp0_15^post65, __disjvr_1^0'=__disjvr_1^post65, length_43^0'=length_43^post65, __disjvr_2^0'=__disjvr_2^post65, rcd_102^0'=rcd_102^post65, __disjvr_12^0'=__disjvr_12^post65, ct_17^0'=ct_17^post65, x_14^0'=x_14^post65, lt_37^0'=lt_37^post65, __disjvr_7^0'=__disjvr_7^post65, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post65, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post65, __disjvr_17^0'=__disjvr_17^post65, i_44^0'=i_44^post65, __disjvr_27^0'=__disjvr_27^post65, x_28^0'=x_28^post65, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post65, (__disjvr_28^0-__disjvr_28^post65 == 0 /\ __disjvr_26^0-__disjvr_26^post65 == 0 /\ __disjvr_21^0-__disjvr_21^post65 == 0 /\ -__disjvr_12^post65+__disjvr_12^0 == 0 /\ a_328^0-a_328^post65 == 0 /\ -__disjvr_7^post65+__disjvr_7^0 == 0 /\ -__disjvr_1^post65+__disjvr_1^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -x_20^post65+x_20^0 == 0 /\ -len_180^post65+len_180^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post65+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ temp0_15^0-temp0_15^post65 == 0 /\ lt_36^0-lt_36^post65 == 0 /\ -r_161^post65+r_161^0 == 0 /\ x_238^0-x_238^post65 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post65 == 0 /\ -__disjvr_28^0+__disjvr_28^post65 == 0 /\ -i_125^post65+i_125^0 == 0 /\ rcd_102^0-rcd_102^post65 == 0 /\ __disjvr_16^0-__disjvr_16^post65 == 0 /\ -x_28^post65+x_28^0 == 0 /\ result_11^0-result_11^post65 == 0 /\ __disjvr_23^0-__disjvr_23^post65 == 0 /\ -lt_37^post65+lt_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post65+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -length_43^post65+length_43^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post65+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -a_26^post65+a_26^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post65 == 0 /\ -i_108^post65+i_108^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post65 == 0 /\ temp0_32^0-temp0_32^post65 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 == 0 /\ a_283^0-a_283^post65 == 0 /\ __disjvr_4^0-__disjvr_4^post65 == 0 /\ __disjvr_3^0-__disjvr_3^post65 == 0 /\ -a_247^post65+a_247^0 == 0 /\ x_177^0-x_177^post65 == 0 /\ -__disjvr_8^post65+__disjvr_8^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post65+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -rcd_72^post65+rcd_72^0 == 0 /\ __disjvr_22^0-__disjvr_22^post65 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post65+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ fmt_31^0-fmt_31^post65 == 0 /\ -a_146^post65+a_146^0 == 0 /\ __disjvr_20^0-__disjvr_20^post65 == 0 /\ -i_44^post65+i_44^0 == 0 /\ -ct_17^post65+ct_17^0 == 0 /\ -lt_237^post65+lt_237^0 == 0 /\ -__disjvr_19^post65+__disjvr_19^0 == 0 /\ a_197^0-a_197^post65 == 0 /\ -y_19^post65+y_19^0 == 0 /\ -temp_49^post65+temp_49^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post65 == 0 /\ -x_14^post65+x_14^0 == 0 /\ __disjvr_0^0-__disjvr_0^post65 == 0 /\ __disjvr_14^0-__disjvr_14^post65 == 0 /\ __disjvr_11^0-__disjvr_11^post65 == 0 /\ -__disjvr_15^post65+__disjvr_15^0 == 0 /\ r_53^0-r_53^post65 == 0 /\ x_34^0-x_34^post65 == 0 /\ -__disjvr_27^post65+__disjvr_27^0 == 0 /\ -__disjvr_2^post65+__disjvr_2^0 == 0 /\ temp0_45^0-temp0_45^post65 == 0 /\ -__disjvr_17^post65+__disjvr_17^0 == 0 /\ t_23^0-t_23^post65 == 0 /\ __disjvr_10^0-__disjvr_10^post65 == 0 /\ -tmp_48^post65+tmp_48^0 == 0 /\ -__disjvr_25^post65+__disjvr_25^0 == 0 /\ -a_305^post65+a_305^0 == 0 /\ __disjvr_9^0-__disjvr_9^post65 == 0 /\ -__disjvr_29^post65+__disjvr_29^0 == 0 /\ -__disjvr_18^post65+__disjvr_18^0 == 0 /\ len_246^0-len_246^post65 == 0 /\ -__disjvr_6^post65+__disjvr_6^0 == 0 /\ head_46^0-head_46^post65 == 0 /\ -x_16^post65+x_16^0 == 0 /\ __disjvr_24^0-__disjvr_24^post65 == 0 /\ -__disjvr_13^post65+__disjvr_13^0 == 0 /\ -__disjvr_5^post65+__disjvr_5^0 == 0), cost: 1
New rule:
l60 -> l61 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l61 -> l62 : __disjvr_0^0'=__disjvr_0^post66, a_283^0'=a_283^post66, temp0_45^0'=temp0_45^post66, __disjvr_21^0'=__disjvr_21^post66, y_19^0'=y_19^post66, __disjvr_4^0'=__disjvr_4^post66, result_11^0'=result_11^post66, __disjvr_14^0'=__disjvr_14^post66, head_46^0'=head_46^post66, __disjvr_24^0'=__disjvr_24^post66, x_177^0'=x_177^post66, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post66, __disjvr_9^0'=__disjvr_9^post66, a_197^0'=a_197^post66, t_23^0'=t_23^post66, __disjvr_19^0'=__disjvr_19^post66, len_246^0'=len_246^post66, __disjvr_29^0'=__disjvr_29^post66, x_SLAM_f_18^0'=x_SLAM_f_18^post66, r_53^0'=r_53^post66, __disjvr_11^0'=__disjvr_11^post66, a_328^0'=a_328^post66, tmp_48^0'=tmp_48^post66, lt_36^0'=lt_36^post66, __disjvr_6^0'=__disjvr_6^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, __disjvr_16^0'=__disjvr_16^post66, i_125^0'=i_125^post66, __disjvr_26^0'=__disjvr_26^post66, x_238^0'=x_238^post66, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post66, a_26^0'=a_26^post66, temp0_32^0'=temp0_32^post66, __disjvr_20^0'=__disjvr_20^post66, lt_237^0'=lt_237^post66, __disjvr_3^0'=__disjvr_3^post66, rcd_72^0'=rcd_72^post66, __disjvr_13^0'=__disjvr_13^post66, fmt_31^0'=fmt_31^post66, __disjvr_23^0'=__disjvr_23^post66, x_16^0'=x_16^post66, nondet_12^0'=nondet_12^post66, __disjvr_8^0'=__disjvr_8^post66, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post66, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post66, __disjvr_18^0'=__disjvr_18^post66, len_180^0'=len_180^post66, __disjvr_28^0'=__disjvr_28^post66, x_34^0'=x_34^post66, r_161^0'=r_161^post66, __disjvr_10^0'=__disjvr_10^post66, a_305^0'=a_305^post66, temp_49^0'=temp_49^post66, __disjvr_22^0'=__disjvr_22^post66, __disjvr_5^0'=__disjvr_5^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post66, __disjvr_15^0'=__disjvr_15^post66, i_108^0'=i_108^post66, __disjvr_25^0'=__disjvr_25^post66, x_20^0'=x_20^post66, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post66, a_146^0'=a_146^post66, a_247^0'=a_247^post66, temp0_15^0'=temp0_15^post66, __disjvr_1^0'=__disjvr_1^post66, length_43^0'=length_43^post66, __disjvr_2^0'=__disjvr_2^post66, rcd_102^0'=rcd_102^post66, __disjvr_12^0'=__disjvr_12^post66, ct_17^0'=ct_17^post66, x_14^0'=x_14^post66, lt_37^0'=lt_37^post66, __disjvr_7^0'=__disjvr_7^post66, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post66, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post66, __disjvr_17^0'=__disjvr_17^post66, i_44^0'=i_44^post66, __disjvr_27^0'=__disjvr_27^post66, x_28^0'=x_28^post66, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post66, (-len_180^post66+len_180^0 == 0 /\ -temp0_32^post66+temp0_32^0 == 0 /\ -x_SLAM_f_18^post66+x_SLAM_f_18^0 == 0 /\ a_283^0-a_283^post66 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post66+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_18^0-__disjvr_18^post66 == 0 /\ x_177^0-x_177^post66 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post66+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ temp0_15^0-temp0_15^post66 == 0 /\ -__disjvr_7^post66+__disjvr_7^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post66 == 0 /\ lt_237^0-lt_237^post66 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ -length_43^post66+length_43^0 == 0 /\ __disjvr_3^0-__disjvr_3^post66 == 0 /\ a_328^0-a_328^post66 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0 /\ -ct_17^post66+ct_17^0 == 0 /\ x_238^0-x_238^post66 == 0 /\ -x_34^post66+x_34^0 == 0 /\ -i_108^post66+i_108^0 == 0 /\ __disjvr_24^0-__disjvr_24^post66 == 0 /\ __disjvr_16^0-__disjvr_16^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0 == 0 /\ -lt_37^post66+lt_37^0 == 0 /\ -a_247^post66+a_247^0 == 0 /\ -fmt_31^post66+fmt_31^0 == 0 /\ __disjvr_0^0-__disjvr_0^post66 == 0 /\ lt_36^0-lt_36^post66 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 == 0 /\ __disjvr_13^0-__disjvr_13^post66 == 0 /\ temp0_45^0-temp0_45^post66 == 0 /\ head_46^0-head_46^post66 == 0 /\ -x_20^post66+x_20^0 == 0 /\ __disjvr_19^0-__disjvr_19^post66 == 0 /\ __disjvr_9^0-__disjvr_9^post66 == 0 /\ tmp_48^0-tmp_48^post66 == 0 /\ -__disjvr_29^0+__disjvr_29^post66 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post66 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post66+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_4^post66+__disjvr_4^0 == 0 /\ nondet_12^0-nondet_12^post66 == 0 /\ i_125^0-i_125^post66 == 0 /\ -__disjvr_22^post66+__disjvr_22^0 == 0 /\ -a_146^post66+a_146^0 == 0 /\ r_53^0-r_53^post66 == 0 /\ __disjvr_20^0-__disjvr_20^post66 == 0 /\ __disjvr_15^0-__disjvr_15^post66 == 0 /\ a_305^0-a_305^post66 == 0 /\ -x_28^post66+x_28^0 == 0 /\ -__disjvr_6^post66+__disjvr_6^0 == 0 /\ y_19^0-y_19^post66 == 0 /\ a_197^0-a_197^post66 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post66+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -__disjvr_8^post66+__disjvr_8^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_38^0-result_dot_printf_sdv_special_RETURN_VALUE_38^post66 == 0 /\ -__disjvr_2^post66+__disjvr_2^0 == 0 /\ __disjvr_11^0-__disjvr_11^post66 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post66+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ -__disjvr_12^post66+__disjvr_12^0 == 0 /\ x_16^0-x_16^post66 == 0 /\ __disjvr_29^0-__disjvr_29^post66 == 0 /\ r_161^0-r_161^post66 == 0 /\ -__disjvr_27^post66+__disjvr_27^0 == 0 /\ -temp_49^post66+temp_49^0 == 0 /\ -__disjvr_23^post66+__disjvr_23^0 == 0 /\ t_23^0-t_23^post66 == 0 /\ -__disjvr_1^post66+__disjvr_1^0 == 0 /\ -__disjvr_28^post66+__disjvr_28^0 == 0 /\ __disjvr_26^0-__disjvr_26^post66 == 0 /\ -x_14^post66+x_14^0 == 0 /\ -__disjvr_10^post66+__disjvr_10^0 == 0 /\ -rcd_72^post66+rcd_72^0 == 0 /\ a_26^0-a_26^post66 == 0 /\ len_246^0-len_246^post66 == 0 /\ -__disjvr_25^post66+__disjvr_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post66 == 0 /\ -__disjvr_5^post66+__disjvr_5^0 == 0 /\ -rcd_102^post66+rcd_102^0 == 0 /\ result_11^0-result_11^post66 == 0 /\ -i_44^post66+i_44^0 == 0), cost: 1
New rule:
l61 -> l62 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l62 -> l56 : __disjvr_0^0'=__disjvr_0^post67, a_283^0'=a_283^post67, temp0_45^0'=temp0_45^post67, __disjvr_21^0'=__disjvr_21^post67, y_19^0'=y_19^post67, __disjvr_4^0'=__disjvr_4^post67, result_11^0'=result_11^post67, __disjvr_14^0'=__disjvr_14^post67, head_46^0'=head_46^post67, __disjvr_24^0'=__disjvr_24^post67, x_177^0'=x_177^post67, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post67, __disjvr_9^0'=__disjvr_9^post67, a_197^0'=a_197^post67, t_23^0'=t_23^post67, __disjvr_19^0'=__disjvr_19^post67, len_246^0'=len_246^post67, __disjvr_29^0'=__disjvr_29^post67, x_SLAM_f_18^0'=x_SLAM_f_18^post67, r_53^0'=r_53^post67, __disjvr_11^0'=__disjvr_11^post67, a_328^0'=a_328^post67, tmp_48^0'=tmp_48^post67, lt_36^0'=lt_36^post67, __disjvr_6^0'=__disjvr_6^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, __disjvr_16^0'=__disjvr_16^post67, i_125^0'=i_125^post67, __disjvr_26^0'=__disjvr_26^post67, x_238^0'=x_238^post67, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post67, a_26^0'=a_26^post67, temp0_32^0'=temp0_32^post67, __disjvr_20^0'=__disjvr_20^post67, lt_237^0'=lt_237^post67, __disjvr_3^0'=__disjvr_3^post67, rcd_72^0'=rcd_72^post67, __disjvr_13^0'=__disjvr_13^post67, fmt_31^0'=fmt_31^post67, __disjvr_23^0'=__disjvr_23^post67, x_16^0'=x_16^post67, nondet_12^0'=nondet_12^post67, __disjvr_8^0'=__disjvr_8^post67, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post67, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post67, __disjvr_18^0'=__disjvr_18^post67, len_180^0'=len_180^post67, __disjvr_28^0'=__disjvr_28^post67, x_34^0'=x_34^post67, r_161^0'=r_161^post67, __disjvr_10^0'=__disjvr_10^post67, a_305^0'=a_305^post67, temp_49^0'=temp_49^post67, __disjvr_22^0'=__disjvr_22^post67, __disjvr_5^0'=__disjvr_5^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post67, __disjvr_15^0'=__disjvr_15^post67, i_108^0'=i_108^post67, __disjvr_25^0'=__disjvr_25^post67, x_20^0'=x_20^post67, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post67, a_146^0'=a_146^post67, a_247^0'=a_247^post67, temp0_15^0'=temp0_15^post67, __disjvr_1^0'=__disjvr_1^post67, length_43^0'=length_43^post67, __disjvr_2^0'=__disjvr_2^post67, rcd_102^0'=rcd_102^post67, __disjvr_12^0'=__disjvr_12^post67, ct_17^0'=ct_17^post67, x_14^0'=x_14^post67, lt_37^0'=lt_37^post67, __disjvr_7^0'=__disjvr_7^post67, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post67, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post67, __disjvr_17^0'=__disjvr_17^post67, i_44^0'=i_44^post67, __disjvr_27^0'=__disjvr_27^post67, x_28^0'=x_28^post67, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post67, (0 == 0 /\ -length_43^post67+length_43^0 == 0 /\ -x_34^post67+x_34^0 == 0 /\ a_283^0-a_283^post67 == 0 /\ __disjvr_11^0-__disjvr_11^post67 == 0 /\ x_177^0-x_177^post67 == 0 /\ tmp_48^0-tmp_48^post67 == 0 /\ -temp_49^post67+temp_49^0 == 0 /\ a_197^0-a_197^post67 == 0 /\ -__disjvr_5^post67+__disjvr_5^0 == 0 /\ -x_14^post67+x_14^0 == 0 /\ len_246^0-len_246^post67 == 0 /\ -r_161^post67+r_161^0 == 0 /\ __disjvr_18^0-__disjvr_18^post67 == 0 /\ -ct_17^post67+ct_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ -__disjvr_27^post67+__disjvr_27^0 == 0 /\ -i_125^post67+i_125^0 == 0 /\ __disjvr_24^0-__disjvr_24^post67 == 0 /\ a_328^0-a_305^post67 <= 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ -__disjvr_7^post67+__disjvr_7^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post67+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post67 == 0 /\ __disjvr_1^0-__disjvr_1^post67 == 0 /\ -x_20^post67+x_20^0 == 0 /\ __disjvr_26^0-__disjvr_26^post67 == 0 /\ __disjvr_29^0-__disjvr_29^post67 == 0 /\ __disjvr_0^0-__disjvr_0^post67 == 0 /\ temp0_45^0-temp0_45^post67 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post67+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ head_46^0-head_46^post67 == 0 /\ rcd_72^0-rcd_72^post67 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post67+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ -lt_37^post67+lt_37^0 == 0 /\ -nondet_12^post67+nondet_12^0 == 0 /\ -a_247^post67+a_247^0 == 0 /\ -a_328^0+a_305^post67 <= 0 /\ __disjvr_2^0-__disjvr_2^post67 == 0 /\ a_26^0-a_26^post67 == 0 /\ -__disjvr_3^post67+__disjvr_3^0 == 0 /\ __disjvr_6^0-__disjvr_6^post67 == 0 /\ -i_108^post67+i_108^0 == 0 /\ __disjvr_9^0-__disjvr_9^post67 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post67+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_25^0-__disjvr_25^post67 == 0 /\ -a_328^post67+a_328^0 == 0 /\ -x_16^post67+x_16^0 == 0 /\ result_11^0-result_11^post67 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post67 == 0 /\ -__disjvr_12^post67+__disjvr_12^0 == 0 /\ t_23^0-t_23^post67 == 0 /\ __disjvr_15^0-__disjvr_15^post67 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_8^post67+__disjvr_8^0 == 0 /\ -x_28^post67+x_28^0 == 0 /\ -__disjvr_10^post67+__disjvr_10^0 == 0 /\ x_238^0-x_238^post67 == 0 /\ -__disjvr_4^post67+__disjvr_4^0 == 0 /\ -temp0_15^post67+temp0_15^0 == 0 /\ -a_146^post67+a_146^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post67+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ y_19^0-y_19^post67 == 0 /\ lt_237^0-lt_237^post67 == 0 /\ -__disjvr_28^post67+__disjvr_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post67 == 0 /\ -len_180^post67+len_180^0 == 0 /\ -r_53^post67+r_53^0 == 0 /\ -__disjvr_22^post67+__disjvr_22^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ lt_36^0-lt_36^post67 == 0 /\ -__disjvr_13^post67+__disjvr_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post67 == 0 /\ -rcd_102^post67+rcd_102^0 == 0 /\ __disjvr_23^0-__disjvr_23^post67 == 0 /\ temp0_32^0-temp0_32^post67 == 0 /\ fmt_31^0-fmt_31^post67 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post67+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -__disjvr_20^post67+__disjvr_20^0 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post67 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post67 == 0 /\ __disjvr_21^0-__disjvr_21^post67 == 0 /\ -i_44^post67+i_44^0 == 0), cost: 1
New rule:
l62 -> l56 : a_305^0'=a_328^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l56 -> l4 : __disjvr_0^0'=__disjvr_0^post68, a_283^0'=a_283^post68, temp0_45^0'=temp0_45^post68, __disjvr_21^0'=__disjvr_21^post68, y_19^0'=y_19^post68, __disjvr_4^0'=__disjvr_4^post68, result_11^0'=result_11^post68, __disjvr_14^0'=__disjvr_14^post68, head_46^0'=head_46^post68, __disjvr_24^0'=__disjvr_24^post68, x_177^0'=x_177^post68, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post68, __disjvr_9^0'=__disjvr_9^post68, a_197^0'=a_197^post68, t_23^0'=t_23^post68, __disjvr_19^0'=__disjvr_19^post68, len_246^0'=len_246^post68, __disjvr_29^0'=__disjvr_29^post68, x_SLAM_f_18^0'=x_SLAM_f_18^post68, r_53^0'=r_53^post68, __disjvr_11^0'=__disjvr_11^post68, a_328^0'=a_328^post68, tmp_48^0'=tmp_48^post68, lt_36^0'=lt_36^post68, __disjvr_6^0'=__disjvr_6^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, __disjvr_16^0'=__disjvr_16^post68, i_125^0'=i_125^post68, __disjvr_26^0'=__disjvr_26^post68, x_238^0'=x_238^post68, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post68, a_26^0'=a_26^post68, temp0_32^0'=temp0_32^post68, __disjvr_20^0'=__disjvr_20^post68, lt_237^0'=lt_237^post68, __disjvr_3^0'=__disjvr_3^post68, rcd_72^0'=rcd_72^post68, __disjvr_13^0'=__disjvr_13^post68, fmt_31^0'=fmt_31^post68, __disjvr_23^0'=__disjvr_23^post68, x_16^0'=x_16^post68, nondet_12^0'=nondet_12^post68, __disjvr_8^0'=__disjvr_8^post68, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post68, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post68, __disjvr_18^0'=__disjvr_18^post68, len_180^0'=len_180^post68, __disjvr_28^0'=__disjvr_28^post68, x_34^0'=x_34^post68, r_161^0'=r_161^post68, __disjvr_10^0'=__disjvr_10^post68, a_305^0'=a_305^post68, temp_49^0'=temp_49^post68, __disjvr_22^0'=__disjvr_22^post68, __disjvr_5^0'=__disjvr_5^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post68, __disjvr_15^0'=__disjvr_15^post68, i_108^0'=i_108^post68, __disjvr_25^0'=__disjvr_25^post68, x_20^0'=x_20^post68, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post68, a_146^0'=a_146^post68, a_247^0'=a_247^post68, temp0_15^0'=temp0_15^post68, __disjvr_1^0'=__disjvr_1^post68, length_43^0'=length_43^post68, __disjvr_2^0'=__disjvr_2^post68, rcd_102^0'=rcd_102^post68, __disjvr_12^0'=__disjvr_12^post68, ct_17^0'=ct_17^post68, x_14^0'=x_14^post68, lt_37^0'=lt_37^post68, __disjvr_7^0'=__disjvr_7^post68, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post68, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post68, __disjvr_17^0'=__disjvr_17^post68, i_44^0'=i_44^post68, __disjvr_27^0'=__disjvr_27^post68, x_28^0'=x_28^post68, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post68, (-x_14^post68+x_14^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post68+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0 == 0 /\ r_53^0-r_53^post68 == 0 /\ result_11^0-result_11^post68 == 0 /\ -length_43^post68+length_43^0 == 0 /\ a_197^0-a_197^post68 == 0 /\ y_19^0-y_19^post68 == 0 /\ __disjvr_2^0-__disjvr_2^post68 == 0 /\ -__disjvr_13^post68+__disjvr_13^0 == 0 /\ __disjvr_9^0-__disjvr_9^post68 == 0 /\ -__disjvr_20^post68+__disjvr_20^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post68+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -ct_17^post68+ct_17^0 == 0 /\ len_180^0-len_180^post68 == 0 /\ a_305^0-a_305^post68 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -__disjvr_17^post68+__disjvr_17^0 == 0 /\ tmp_48^0-tmp_48^post68 == 0 /\ __disjvr_19^0-__disjvr_19^post68 == 0 /\ len_246^0-len_246^post68 == 0 /\ -__disjvr_25^post68+__disjvr_25^0 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ -a_328^post68+a_328^0 == 0 /\ -__disjvr_8^post68+__disjvr_8^0 == 0 /\ -__disjvr_5^post68+__disjvr_5^0 == 0 /\ __disjvr_26^0-__disjvr_26^post68 == 0 /\ __disjvr_23^0-__disjvr_23^post68 == 0 /\ __disjvr_29^0-__disjvr_29^post68 == 0 /\ a_247^0-a_247^post68 == 0 /\ x_177^0-x_177^post68 == 0 /\ -__disjvr_27^post68+__disjvr_27^0 == 0 /\ -lt_36^post68+lt_36^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post68+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ __disjvr_21^0-__disjvr_21^post68 == 0 /\ -__disjvr_7^post68+__disjvr_7^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^0-result_dot_printf_sdv_special_RETURN_VALUE_41^post68 == 0 /\ -a_146^post68+a_146^0 == 0 /\ -__disjvr_18^post68+__disjvr_18^0 == 0 /\ __disjvr_6^0-__disjvr_6^post68 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post68 == 0 /\ -x_28^post68+x_28^0 == 0 /\ a_26^0-a_26^post68 == 0 /\ -__disjvr_28^post68+__disjvr_28^0 == 0 /\ __disjvr_14^0-__disjvr_14^post68 == 0 /\ x_238^0-x_238^post68 == 0 /\ a_283^0-a_283^post68 == 0 /\ temp_49^0-temp_49^post68 == 0 /\ __disjvr_4^0-__disjvr_4^post68 == 0 /\ __disjvr_3^0-__disjvr_3^post68 == 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ -rcd_102^post68+rcd_102^0 == 0 /\ -temp0_45^post68+temp0_45^0 == 0 /\ i_108^0-i_108^post68 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post68 == 0 /\ -x_16^post68+x_16^0 == 0 /\ -__disjvr_10^post68+__disjvr_10^0 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ -temp0_15^post68+temp0_15^0 == 0 /\ -lt_37^post68+lt_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post68 == 0 /\ t_23^0-t_23^post68 == 0 /\ __disjvr_0^0-__disjvr_0^post68 == 0 /\ -__disjvr_15^post68+__disjvr_15^0 == 0 /\ temp0_32^0-temp0_32^post68 == 0 /\ -rcd_72^post68+rcd_72^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post68+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ -r_161^post68+r_161^0 == 0 /\ head_46^0-head_46^post68 == 0 /\ x_20^0-x_20^post68 == 0 /\ -i_44^post68+i_44^0 == 0 /\ -lt_237^post68+lt_237^0 == 0 /\ -__disjvr_22^post68+__disjvr_22^0 == 0 /\ -x_34^post68+x_34^0 == 0 /\ __disjvr_11^0-__disjvr_11^post68 == 0 /\ -i_125^post68+i_125^0 == 0 /\ __disjvr_16^0-__disjvr_16^post68 == 0 /\ fmt_31^0-fmt_31^post68 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post68+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post68+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -__disjvr_1^post68+__disjvr_1^0 == 0), cost: 1
New rule:
l56 -> l4 : TRUE, cost: 1

Applied preprocessing
Original rule:
l63 -> l18 : __disjvr_0^0'=__disjvr_0^post69, a_283^0'=a_283^post69, temp0_45^0'=temp0_45^post69, __disjvr_21^0'=__disjvr_21^post69, y_19^0'=y_19^post69, __disjvr_4^0'=__disjvr_4^post69, result_11^0'=result_11^post69, __disjvr_14^0'=__disjvr_14^post69, head_46^0'=head_46^post69, __disjvr_24^0'=__disjvr_24^post69, x_177^0'=x_177^post69, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post69, __disjvr_9^0'=__disjvr_9^post69, a_197^0'=a_197^post69, t_23^0'=t_23^post69, __disjvr_19^0'=__disjvr_19^post69, len_246^0'=len_246^post69, __disjvr_29^0'=__disjvr_29^post69, x_SLAM_f_18^0'=x_SLAM_f_18^post69, r_53^0'=r_53^post69, __disjvr_11^0'=__disjvr_11^post69, a_328^0'=a_328^post69, tmp_48^0'=tmp_48^post69, lt_36^0'=lt_36^post69, __disjvr_6^0'=__disjvr_6^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, __disjvr_16^0'=__disjvr_16^post69, i_125^0'=i_125^post69, __disjvr_26^0'=__disjvr_26^post69, x_238^0'=x_238^post69, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post69, a_26^0'=a_26^post69, temp0_32^0'=temp0_32^post69, __disjvr_20^0'=__disjvr_20^post69, lt_237^0'=lt_237^post69, __disjvr_3^0'=__disjvr_3^post69, rcd_72^0'=rcd_72^post69, __disjvr_13^0'=__disjvr_13^post69, fmt_31^0'=fmt_31^post69, __disjvr_23^0'=__disjvr_23^post69, x_16^0'=x_16^post69, nondet_12^0'=nondet_12^post69, __disjvr_8^0'=__disjvr_8^post69, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post69, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post69, __disjvr_18^0'=__disjvr_18^post69, len_180^0'=len_180^post69, __disjvr_28^0'=__disjvr_28^post69, x_34^0'=x_34^post69, r_161^0'=r_161^post69, __disjvr_10^0'=__disjvr_10^post69, a_305^0'=a_305^post69, temp_49^0'=temp_49^post69, __disjvr_22^0'=__disjvr_22^post69, __disjvr_5^0'=__disjvr_5^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post69, __disjvr_15^0'=__disjvr_15^post69, i_108^0'=i_108^post69, __disjvr_25^0'=__disjvr_25^post69, x_20^0'=x_20^post69, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post69, a_146^0'=a_146^post69, a_247^0'=a_247^post69, temp0_15^0'=temp0_15^post69, __disjvr_1^0'=__disjvr_1^post69, length_43^0'=length_43^post69, __disjvr_2^0'=__disjvr_2^post69, rcd_102^0'=rcd_102^post69, __disjvr_12^0'=__disjvr_12^post69, ct_17^0'=ct_17^post69, x_14^0'=x_14^post69, lt_37^0'=lt_37^post69, __disjvr_7^0'=__disjvr_7^post69, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post69, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post69, __disjvr_17^0'=__disjvr_17^post69, i_44^0'=i_44^post69, __disjvr_27^0'=__disjvr_27^post69, x_28^0'=x_28^post69, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post69, (temp_49^0-temp_49^post69 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post69+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0 == 0 /\ -x_14^post69+x_14^0 == 0 /\ __disjvr_14^0-__disjvr_14^post69 == 0 /\ __disjvr_10^0-__disjvr_10^post69 == 0 /\ -lt_237^post69+lt_237^0 == 0 /\ x_34^0-x_34^post69 == 0 /\ r_53^0-r_53^post69 == 0 /\ -__disjvr_25^post69+__disjvr_25^0 == 0 /\ rcd_72^0-rcd_72^post69 == 0 /\ -__disjvr_29^post69+__disjvr_29^0 == 0 /\ -x_238^post69+x_238^0 == 0 /\ -lt_36^post69+lt_36^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_38^post69+result_dot_printf_sdv_special_RETURN_VALUE_38^0 == 0 /\ x_16^0-x_16^post69 == 0 /\ printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0-printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post69 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post69 == 0 /\ __disjvr_4^0-__disjvr_4^post69 == 0 /\ __disjvr_19^0-__disjvr_19^post69 == 0 /\ a_283^0-a_283^post69 == 0 /\ len_246^0-len_246^post69 == 0 /\ tmp_48^0-tmp_48^post69 == 0 /\ __disjvr_24^0-__disjvr_24^post69 == 0 /\ -i_44^post69+i_44^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0-result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post69 == 0 /\ -ct_17^post69+ct_17^0 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ -__disjvr_2^post69+__disjvr_2^0 == 0 /\ head_46^0-head_46^post69 == 0 /\ -a_305^post69+a_305^0 == 0 /\ -temp0_15^post69+temp0_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post69 == 0 /\ temp0_32^0-temp0_32^post69 == 0 /\ __disjvr_28^0-__disjvr_28^post69 == 0 /\ fmt_31^0-fmt_31^post69 == 0 /\ a_247^0-a_247^post69 == 0 /\ -__disjvr_5^post69+__disjvr_5^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post69+result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0 == 0 /\ i_125^0-i_125^post69 == 0 /\ -a_146^post69+a_146^0 == 0 /\ -__disjvr_8^post69+__disjvr_8^0 == 0 /\ -__disjvr_17^post69+__disjvr_17^0 == 0 /\ rcd_102^0-rcd_102^post69 == 0 /\ -__disjvr_13^post69+__disjvr_13^0 == 0 /\ a_197^0-a_197^post69 == 0 /\ -a_328^post69+a_328^0 == 0 /\ __disjvr_6^0-__disjvr_6^post69 == 0 /\ __disjvr_0^0-__disjvr_0^post69 == 0 /\ -__disjvr_27^post69+__disjvr_27^0 == 0 /\ t_23^0-t_23^post69 == 0 /\ y_19^0-y_19^post69 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post69 == 0 /\ -i_108^post69+i_108^0 == 0 /\ -__disjvr_7^post69+__disjvr_7^0 == 0 /\ -__disjvr_1^post69+__disjvr_1^0 == 0 /\ -__disjvr_18^post69+__disjvr_18^0 == 0 /\ result_11^0-result_11^post69 == 0 /\ __disjvr_9^0-__disjvr_9^post69 == 0 /\ temp0_45^0-temp0_45^post69 == 0 /\ -r_161^post69+r_161^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post69 == 0 /\ -a_26^post69+a_26^0 == 0 /\ -__disjvr_12^post69+__disjvr_12^0 == 0 /\ -len_180^post69+len_180^0 == 0 /\ __disjvr_23^0-__disjvr_23^post69 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post69+printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0 == 0 /\ __disjvr_21^0-__disjvr_21^post69 == 0 /\ -printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post69+printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0 == 0 /\ -lt_37^post69+lt_37^0 == 0 /\ -__disjvr_15^post69+__disjvr_15^0 == 0 /\ __disjvr_3^0-__disjvr_3^post69 == 0 /\ -__disjvr_22^post69+__disjvr_22^0 == 0 /\ x_20^0-x_20^post69 == 0 /\ __disjvr_20^0-__disjvr_20^post69 == 0 /\ __disjvr_11^0-__disjvr_11^post69 == 0 /\ -x_28^post69+x_28^0 == 0 /\ -result_dot_printf_sdv_special_RETURN_VALUE_41^post69+result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ x_177^0-x_177^post69 == 0 /\ -length_43^post69+length_43^0 == 0 /\ __disjvr_16^0-__disjvr_16^post69 == 0), cost: 1
New rule:
l63 -> l18 : TRUE, cost: 1

Simplified rules
Start location: l63
 106: l4 -> l57 : x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, a_305^0 >= 0, cost: 1
  70: l11 -> l12 : x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, len_180^0 >= 0, cost: 1
  71: l12 -> l13 : 0 == 0, cost: 1
  72: l13 -> l14 : a_283^0'=a_305^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ x_SLAM_f_18^0-x_16^0 == 0 /\ -x_20^0+x_14^0 == 0 /\ -x_SLAM_f_18^0+x_14^0 == 0 /\ ct_17^0 == 0), cost: 1
  73: l14 -> l15 : 0 == 0, cost: 1
  74: l15 -> l16 : 0 == 0, cost: 1
  75: l16 -> l17 : 0 == 0, cost: 1
  76: l17 -> l4 : len_180^0'=1+a_283^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
  77: l18 -> l19 : head_46^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post17, length_43^0'=nondet_12^10, i_44^0'=0, 0 == 0, cost: 1
  86: l19 -> l20 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_43^0, temp_49^0'=temp_49^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^0, i_44^0'=1+i_44^0, (-1+length_43^0 >= 0 /\ i_44^0 == 0), cost: 1
  78: l20 -> l33 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_43^0, rcd_72^0'=rcd_72^post31, temp_49^0'=temp_49^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^0, i_44^0'=2, (-2+length_43^0 >= 0 /\ -1+i_44^0 == 0), cost: 1
  79: l33 -> l35 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post32, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post32, fmt_31^0'=fmt_31^post32, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, length_43^0'=length_43^post32, x_14^0'=head_46^0, i_44^0'=i_44^post32, x_28^0'=head_46^0, (length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 1
  84: l33 -> l39 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, temp_49^0'=temp_49^post37, i_108^0'=i_44^0, rcd_102^0'=rcd_102^post37, i_44^0'=1+i_44^0, (1-length_43^0+i_44^0 <= 0 /\ i_44^0 >= 0), cost: 1
  80: l35 -> l36 : 0 == 0, cost: 1
  81: l36 -> l37 : result_11^0'=result_11^post34, lt_36^0'=lt_36^post34, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, x_34^0'=x_34^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, (result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ a_26^0-x_14^0 == 0), cost: 1
  82: l37 -> l38 : 0 == 0, cost: 1
  83: l38 -> l34 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_125^0 <= 0), cost: 1
  97: l34 -> l49 : y_19^0'=0, result_11^0'=result_11^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, fmt_31^0'=fmt_31^post51, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, x_34^0'=x_34^post51, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, ct_17^0'=0, lt_37^0'=lt_37^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (-1+len_180^0 == 0 /\ a_146^0 >= 0 /\ x_28^0 == 0), cost: 1
 100: l34 -> l51 : x_177^0'=x_177^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, r_161^0'=r_161^post54, x_14^0'=x_14^post54, a_146^0 >= 0, cost: 1
  85: l39 -> l33 : TRUE, cost: 1
  87: l40 -> l41 : y_19^0'=0, result_11^0'=result_11^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, fmt_31^0'=fmt_31^post41, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, x_34^0'=x_34^post41, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, ct_17^0'=0, lt_37^0'=lt_37^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (a_197^0 >= 0 /\ len_180^0 >= 0 /\ x_28^0 == 0), cost: 1
  90: l40 -> l44 : r_53^0'=r_53^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, lt_237^0'=lt_237^post44, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_14^0'=x_14^post44, (a_197^0 >= 0 /\ len_180^0 >= 0), cost: 1
  88: l41 -> l42 : 0 == 0, cost: 1
  89: l42 -> l11 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
  91: l44 -> l45 : 0 == 0, cost: 1
  92: l45 -> l46 : result_11^0'=result_11^post46, len_246^0'=1+len_180^0, lt_36^0'=lt_36^post46, temp0_32^0'=temp0_32^post46, fmt_31^0'=fmt_31^post46, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ lt_237^0-x_28^0 == 0 /\ a_26^0-x_14^0 == 0), cost: 1
  93: l46 -> l47 : 0 == 0, cost: 1
  94: l47 -> l48 : 0 == 0, cost: 1
  95: l48 -> l43 : a_197^0'=a_247^0, len_180^0'=len_246^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
  96: l43 -> l40 : TRUE, cost: 1
  98: l49 -> l50 : 0 == 0, cost: 1
  99: l50 -> l11 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 101: l51 -> l52 : 0 == 0, cost: 1
 102: l52 -> l53 : result_11^0'=result_11^post56, lt_36^0'=lt_36^post56, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, x_34^0'=x_34^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ a_26^0-x_14^0 == 0), cost: 1
 103: l53 -> l54 : 0 == 0, cost: 1
 104: l54 -> l55 : 0 == 0, cost: 1
 105: l55 -> l40 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 107: l57 -> l58 : 0 == 0, cost: 1
 108: l58 -> l59 : t_23^0'=x_20^0, a_328^0'=-1+a_305^0, (-y_19^0+ct_17^0 == 0 /\ x_SLAM_f_18^0-x_16^0 == 0 /\ -x_SLAM_f_18^0+x_14^0 == 0 /\ ct_17^0 == 0), cost: 1
 109: l59 -> l60 : 0 == 0, cost: 1
 110: l60 -> l61 : 0 == 0, cost: 1
 111: l61 -> l62 : 0 == 0, cost: 1
 112: l62 -> l56 : a_305^0'=a_328^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 113: l56 -> l4 : TRUE, cost: 1
 114: l63 -> l18 : TRUE, cost: 1


Eliminating location l18 by chaining:

Applied chaining
First rule:
l63 -> l18 : TRUE, cost: 1
Second rule:
l18 -> l19 : head_46^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post17, length_43^0'=nondet_12^10, i_44^0'=0, 0 == 0, cost: 1
New rule:
l63 -> l19 : head_46^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post17, length_43^0'=nondet_12^10, i_44^0'=0, 0 == 0, cost: 2

Applied deletion
Removed the following rules: 77 114

Eliminating location l19 by chaining:

Applied chaining
First rule:
l63 -> l19 : head_46^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post17, length_43^0'=nondet_12^10, i_44^0'=0, 0 == 0, cost: 2
Second rule:
l19 -> l20 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_43^0, temp_49^0'=temp_49^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^0, i_44^0'=1+i_44^0, (-1+length_43^0 >= 0 /\ i_44^0 == 0), cost: 1
New rule:
l63 -> l20 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^0, length_43^0'=nondet_12^10, i_44^0'=1, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3

Applied simplification
Original rule:
l63 -> l20 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^0, length_43^0'=nondet_12^10, i_44^0'=1, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3
New rule:
l63 -> l20 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^0, length_43^0'=nondet_12^10, i_44^0'=1, -1+nondet_12^10 >= 0, cost: 3

Applied deletion
Removed the following rules: 86 115

Eliminating location l20 by chaining:

Applied chaining
First rule:
l63 -> l20 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^0, length_43^0'=nondet_12^10, i_44^0'=1, -1+nondet_12^10 >= 0, cost: 3
Second rule:
l20 -> l33 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_43^0, rcd_72^0'=rcd_72^post31, temp_49^0'=temp_49^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^0, i_44^0'=2, (-2+length_43^0 >= 0 /\ -1+i_44^0 == 0), cost: 1
New rule:
l63 -> l33 : head_46^0'=temp_49^post40, tmp_48^0'=temp_49^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_72^0'=rcd_72^post31, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^post40, length_43^0'=nondet_12^10, i_44^0'=2, (0 == 0 /\ -2+nondet_12^10 >= 0 /\ -1+nondet_12^10 >= 0), cost: 4

Applied simplification
Original rule:
l63 -> l33 : head_46^0'=temp_49^post40, tmp_48^0'=temp_49^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_72^0'=rcd_72^post31, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^post40, length_43^0'=nondet_12^10, i_44^0'=2, (0 == 0 /\ -2+nondet_12^10 >= 0 /\ -1+nondet_12^10 >= 0), cost: 4
New rule:
l63 -> l33 : head_46^0'=temp_49^post40, tmp_48^0'=temp_49^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_72^0'=rcd_72^post31, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^post40, length_43^0'=nondet_12^10, i_44^0'=2, -2+nondet_12^10 >= 0, cost: 4

Applied deletion
Removed the following rules: 78 116

Eliminating location l35 by chaining:

Applied chaining
First rule:
l33 -> l35 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post32, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post32, fmt_31^0'=fmt_31^post32, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, length_43^0'=length_43^post32, x_14^0'=head_46^0, i_44^0'=i_44^post32, x_28^0'=head_46^0, (length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 1
Second rule:
l35 -> l36 : 0 == 0, cost: 1
New rule:
l33 -> l36 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post32, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post32, fmt_31^0'=fmt_31^post32, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, length_43^0'=length_43^post32, x_14^0'=head_46^0, i_44^0'=i_44^post32, x_28^0'=head_46^0, (0 == 0 /\ length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 2

Applied simplification
Original rule:
l33 -> l36 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post32, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post32, fmt_31^0'=fmt_31^post32, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, length_43^0'=length_43^post32, x_14^0'=head_46^0, i_44^0'=i_44^post32, x_28^0'=head_46^0, (0 == 0 /\ length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 2
New rule:
l33 -> l36 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post32, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post32, fmt_31^0'=fmt_31^post32, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, length_43^0'=length_43^post32, x_14^0'=head_46^0, i_44^0'=i_44^post32, x_28^0'=head_46^0, (length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 79 80

Eliminating location l39 by chaining:

Applied chaining
First rule:
l33 -> l39 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, temp_49^0'=temp_49^post37, i_108^0'=i_44^0, rcd_102^0'=rcd_102^post37, i_44^0'=1+i_44^0, (1-length_43^0+i_44^0 <= 0 /\ i_44^0 >= 0), cost: 1
Second rule:
l39 -> l33 : TRUE, cost: 1
New rule:
l33 -> l33 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, temp_49^0'=temp_49^post37, i_108^0'=i_44^0, rcd_102^0'=rcd_102^post37, i_44^0'=1+i_44^0, (1-length_43^0+i_44^0 <= 0 /\ i_44^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 84 85

Eliminating location l36 by chaining:

Applied chaining
First rule:
l33 -> l36 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post32, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post32, fmt_31^0'=fmt_31^post32, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, length_43^0'=length_43^post32, x_14^0'=head_46^0, i_44^0'=i_44^post32, x_28^0'=head_46^0, (length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 2
Second rule:
l36 -> l37 : result_11^0'=result_11^post34, lt_36^0'=lt_36^post34, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, x_34^0'=x_34^post34, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, (result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ a_26^0-x_14^0 == 0), cost: 1
New rule:
l33 -> l37 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post34, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, x_34^0'=x_34^post34, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, length_43^0'=length_43^post32, x_14^0'=head_46^0, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, i_44^0'=i_44^post32, x_28^0'=head_46^0, (0 == 0 /\ length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 3

Applied simplification
Original rule:
l33 -> l37 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post34, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, x_34^0'=x_34^post34, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, length_43^0'=length_43^post32, x_14^0'=head_46^0, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, i_44^0'=i_44^post32, x_28^0'=head_46^0, (0 == 0 /\ length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 3
New rule:
l33 -> l37 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post34, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, x_34^0'=x_34^post34, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, length_43^0'=length_43^post32, x_14^0'=head_46^0, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, i_44^0'=i_44^post32, x_28^0'=head_46^0, (length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 3

Applied deletion
Removed the following rules: 81 118

Eliminating location l37 by chaining:

Applied chaining
First rule:
l33 -> l37 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post34, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, x_34^0'=x_34^post34, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, length_43^0'=length_43^post32, x_14^0'=head_46^0, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, i_44^0'=i_44^post32, x_28^0'=head_46^0, (length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 3
Second rule:
l37 -> l38 : 0 == 0, cost: 1
New rule:
l33 -> l38 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post34, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, x_34^0'=x_34^post34, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, length_43^0'=length_43^post32, x_14^0'=head_46^0, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, i_44^0'=i_44^post32, x_28^0'=head_46^0, (0 == 0 /\ length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 4

Applied simplification
Original rule:
l33 -> l38 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post34, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, x_34^0'=x_34^post34, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, length_43^0'=length_43^post32, x_14^0'=head_46^0, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, i_44^0'=i_44^post32, x_28^0'=head_46^0, (0 == 0 /\ length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 4
New rule:
l33 -> l38 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post34, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, x_34^0'=x_34^post34, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, length_43^0'=length_43^post32, x_14^0'=head_46^0, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, i_44^0'=i_44^post32, x_28^0'=head_46^0, (length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 4

Applied deletion
Removed the following rules: 82 120

Eliminating location l38 by chaining:

Applied chaining
First rule:
l33 -> l38 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post34, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, x_34^0'=x_34^post34, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, length_43^0'=length_43^post32, x_14^0'=head_46^0, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, i_44^0'=i_44^post32, x_28^0'=head_46^0, (length_43^0-i_44^0 <= 0 /\ -i_44^0 <= 0), cost: 4
Second rule:
l38 -> l34 : (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_125^0 <= 0), cost: 1
New rule:
l33 -> l34 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post34, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, x_34^0'=x_34^post34, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, length_43^0'=length_43^post32, x_14^0'=head_46^0, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, i_44^0'=i_44^post32, x_28^0'=head_46^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0 /\ length_43^0-i_44^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post32-i_125^post32 <= 0 /\ -i_44^0 <= 0), cost: 5

Applied deletion
Removed the following rules: 83 121

Eliminating location l49 by chaining:

Applied chaining
First rule:
l34 -> l49 : y_19^0'=0, result_11^0'=result_11^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, fmt_31^0'=fmt_31^post51, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, x_34^0'=x_34^post51, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, ct_17^0'=0, lt_37^0'=lt_37^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (-1+len_180^0 == 0 /\ a_146^0 >= 0 /\ x_28^0 == 0), cost: 1
Second rule:
l49 -> l50 : 0 == 0, cost: 1
New rule:
l34 -> l50 : y_19^0'=0, result_11^0'=result_11^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, fmt_31^0'=fmt_31^post51, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, x_34^0'=x_34^post51, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, ct_17^0'=0, lt_37^0'=lt_37^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (0 == 0 /\ -1+len_180^0 == 0 /\ a_146^0 >= 0 /\ x_28^0 == 0), cost: 2

Applied simplification
Original rule:
l34 -> l50 : y_19^0'=0, result_11^0'=result_11^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, fmt_31^0'=fmt_31^post51, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, x_34^0'=x_34^post51, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, ct_17^0'=0, lt_37^0'=lt_37^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (0 == 0 /\ -1+len_180^0 == 0 /\ a_146^0 >= 0 /\ x_28^0 == 0), cost: 2
New rule:
l34 -> l50 : y_19^0'=0, result_11^0'=result_11^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, fmt_31^0'=fmt_31^post51, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, x_34^0'=x_34^post51, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, ct_17^0'=0, lt_37^0'=lt_37^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (-1+len_180^0 == 0 /\ a_146^0 >= 0 /\ x_28^0 == 0), cost: 2

Applied deletion
Removed the following rules: 97 98

Eliminating location l51 by chaining:

Applied chaining
First rule:
l34 -> l51 : x_177^0'=x_177^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, r_161^0'=r_161^post54, x_14^0'=x_14^post54, a_146^0 >= 0, cost: 1
Second rule:
l51 -> l52 : 0 == 0, cost: 1
New rule:
l34 -> l52 : x_177^0'=x_177^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, r_161^0'=r_161^post54, x_14^0'=x_14^post54, (0 == 0 /\ a_146^0 >= 0), cost: 2

Applied simplification
Original rule:
l34 -> l52 : x_177^0'=x_177^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, r_161^0'=r_161^post54, x_14^0'=x_14^post54, (0 == 0 /\ a_146^0 >= 0), cost: 2
New rule:
l34 -> l52 : x_177^0'=x_177^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, r_161^0'=r_161^post54, x_14^0'=x_14^post54, a_146^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 100 101

Eliminating location l50 by chaining:

Applied chaining
First rule:
l34 -> l50 : y_19^0'=0, result_11^0'=result_11^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, fmt_31^0'=fmt_31^post51, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, x_34^0'=x_34^post51, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, ct_17^0'=0, lt_37^0'=lt_37^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (-1+len_180^0 == 0 /\ a_146^0 >= 0 /\ x_28^0 == 0), cost: 2
Second rule:
l50 -> l11 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l34 -> l11 : y_19^0'=0, result_11^0'=result_11^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, fmt_31^0'=fmt_31^post51, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, x_34^0'=x_34^post51, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, ct_17^0'=0, lt_37^0'=lt_37^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (-1+len_180^0 == 0 /\ a_146^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post51 >= 0 /\ x_28^0 == 0), cost: 3

Applied deletion
Removed the following rules: 99 123

Eliminating location l52 by chaining:

Applied chaining
First rule:
l34 -> l52 : x_177^0'=x_177^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, r_161^0'=r_161^post54, x_14^0'=x_14^post54, a_146^0 >= 0, cost: 2
Second rule:
l52 -> l53 : result_11^0'=result_11^post56, lt_36^0'=lt_36^post56, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, x_34^0'=x_34^post56, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ a_26^0-x_14^0 == 0), cost: 1
New rule:
l34 -> l53 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 3

Applied deletion
Removed the following rules: 102 124

Eliminating location l53 by chaining:

Applied chaining
First rule:
l34 -> l53 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 3
Second rule:
l53 -> l54 : 0 == 0, cost: 1
New rule:
l34 -> l54 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 4

Applied simplification
Original rule:
l34 -> l54 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 4
New rule:
l34 -> l54 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 4

Applied deletion
Removed the following rules: 103 126

Eliminating location l54 by chaining:

Applied chaining
First rule:
l34 -> l54 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 4
Second rule:
l54 -> l55 : 0 == 0, cost: 1
New rule:
l34 -> l55 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 5

Applied simplification
Original rule:
l34 -> l55 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 5
New rule:
l34 -> l55 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 5

Applied deletion
Removed the following rules: 104 127

Eliminating location l55 by chaining:

Applied chaining
First rule:
l34 -> l55 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 5
Second rule:
l55 -> l40 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l34 -> l40 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 6

Applied deletion
Removed the following rules: 105 128

Eliminating location l12 by chaining:

Applied chaining
First rule:
l11 -> l12 : x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, len_180^0 >= 0, cost: 1
Second rule:
l12 -> l13 : 0 == 0, cost: 1
New rule:
l11 -> l13 : x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (0 == 0 /\ len_180^0 >= 0), cost: 2

Applied simplification
Original rule:
l11 -> l13 : x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (0 == 0 /\ len_180^0 >= 0), cost: 2
New rule:
l11 -> l13 : x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, len_180^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 70 71

Eliminating location l13 by chaining:

Applied chaining
First rule:
l11 -> l13 : x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, len_180^0 >= 0, cost: 2
Second rule:
l13 -> l14 : a_283^0'=a_305^0, t_23^0'=x_20^0, (-y_19^0+ct_17^0 == 0 /\ x_SLAM_f_18^0-x_16^0 == 0 /\ -x_20^0+x_14^0 == 0 /\ -x_SLAM_f_18^0+x_14^0 == 0 /\ ct_17^0 == 0), cost: 1
New rule:
l11 -> l14 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ ct_17^post10-y_19^0 == 0), cost: 3

Applied deletion
Removed the following rules: 72 130

Eliminating location l14 by chaining:

Applied chaining
First rule:
l11 -> l14 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ ct_17^post10-y_19^0 == 0), cost: 3
Second rule:
l14 -> l15 : 0 == 0, cost: 1
New rule:
l11 -> l15 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (0 == 0 /\ ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ ct_17^post10-y_19^0 == 0), cost: 4

Applied simplification
Original rule:
l11 -> l15 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (0 == 0 /\ ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ ct_17^post10-y_19^0 == 0), cost: 4
New rule:
l11 -> l15 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ ct_17^post10-y_19^0 == 0), cost: 4

Applied deletion
Removed the following rules: 73 131

Eliminating location l15 by chaining:

Applied chaining
First rule:
l11 -> l15 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ ct_17^post10-y_19^0 == 0), cost: 4
Second rule:
l15 -> l16 : 0 == 0, cost: 1
New rule:
l11 -> l16 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (0 == 0 /\ ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ ct_17^post10-y_19^0 == 0), cost: 5

Applied simplification
Original rule:
l11 -> l16 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (0 == 0 /\ ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ ct_17^post10-y_19^0 == 0), cost: 5
New rule:
l11 -> l16 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ ct_17^post10-y_19^0 == 0), cost: 5

Applied deletion
Removed the following rules: 74 132

Eliminating location l16 by chaining:

Applied chaining
First rule:
l11 -> l16 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ ct_17^post10-y_19^0 == 0), cost: 5
Second rule:
l16 -> l17 : 0 == 0, cost: 1
New rule:
l11 -> l17 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (0 == 0 /\ ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ ct_17^post10-y_19^0 == 0), cost: 6

Applied simplification
Original rule:
l11 -> l17 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (0 == 0 /\ ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ ct_17^post10-y_19^0 == 0), cost: 6
New rule:
l11 -> l17 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ ct_17^post10-y_19^0 == 0), cost: 6

Applied deletion
Removed the following rules: 75 133

Eliminating location l17 by chaining:

Applied chaining
First rule:
l11 -> l17 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ ct_17^post10-y_19^0 == 0), cost: 6
Second rule:
l17 -> l4 : len_180^0'=1+a_283^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l11 -> l4 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, len_180^0'=1+a_305^0, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ ct_17^post10-y_19^0 == 0), cost: 7

Applied deletion
Removed the following rules: 76 134

Eliminating location l57 by chaining:

Applied chaining
First rule:
l4 -> l57 : x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, a_305^0 >= 0, cost: 1
Second rule:
l57 -> l58 : 0 == 0, cost: 1
New rule:
l4 -> l58 : x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (0 == 0 /\ a_305^0 >= 0), cost: 2

Applied simplification
Original rule:
l4 -> l58 : x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (0 == 0 /\ a_305^0 >= 0), cost: 2
New rule:
l4 -> l58 : x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, a_305^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 106 107

Eliminating location l58 by chaining:

Applied chaining
First rule:
l4 -> l58 : x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, a_305^0 >= 0, cost: 2
Second rule:
l58 -> l59 : t_23^0'=x_20^0, a_328^0'=-1+a_305^0, (-y_19^0+ct_17^0 == 0 /\ x_SLAM_f_18^0-x_16^0 == 0 /\ -x_SLAM_f_18^0+x_14^0 == 0 /\ ct_17^0 == 0), cost: 1
New rule:
l4 -> l59 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (-y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 3

Applied deletion
Removed the following rules: 108 136

Eliminating location l59 by chaining:

Applied chaining
First rule:
l4 -> l59 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (-y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 3
Second rule:
l59 -> l60 : 0 == 0, cost: 1
New rule:
l4 -> l60 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (0 == 0 /\ -y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 4

Applied simplification
Original rule:
l4 -> l60 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (0 == 0 /\ -y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 4
New rule:
l4 -> l60 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (-y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 4

Applied deletion
Removed the following rules: 109 137

Eliminating location l60 by chaining:

Applied chaining
First rule:
l4 -> l60 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (-y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 4
Second rule:
l60 -> l61 : 0 == 0, cost: 1
New rule:
l4 -> l61 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (0 == 0 /\ -y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 5

Applied simplification
Original rule:
l4 -> l61 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (0 == 0 /\ -y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 5
New rule:
l4 -> l61 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (-y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 5

Applied deletion
Removed the following rules: 110 138

Eliminating location l61 by chaining:

Applied chaining
First rule:
l4 -> l61 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (-y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 5
Second rule:
l61 -> l62 : 0 == 0, cost: 1
New rule:
l4 -> l62 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (0 == 0 /\ -y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 6

Applied simplification
Original rule:
l4 -> l62 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (0 == 0 /\ -y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 6
New rule:
l4 -> l62 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (-y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 6

Applied deletion
Removed the following rules: 111 139

Eliminating location l62 by chaining:

Applied chaining
First rule:
l4 -> l62 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (-y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 6
Second rule:
l62 -> l56 : a_305^0'=a_328^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l4 -> l56 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, a_305^0'=-1+a_305^0, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (-y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 7

Applied deletion
Removed the following rules: 112 140

Eliminating location l56 by chaining:

Applied chaining
First rule:
l4 -> l56 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, a_305^0'=-1+a_305^0, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (-y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 7
Second rule:
l56 -> l4 : TRUE, cost: 1
New rule:
l4 -> l4 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, a_305^0'=-1+a_305^0, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (-y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 8

Applied deletion
Removed the following rules: 113 141

Eliminating location l41 by chaining:

Applied chaining
First rule:
l40 -> l41 : y_19^0'=0, result_11^0'=result_11^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, fmt_31^0'=fmt_31^post41, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, x_34^0'=x_34^post41, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, ct_17^0'=0, lt_37^0'=lt_37^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (a_197^0 >= 0 /\ len_180^0 >= 0 /\ x_28^0 == 0), cost: 1
Second rule:
l41 -> l42 : 0 == 0, cost: 1
New rule:
l40 -> l42 : y_19^0'=0, result_11^0'=result_11^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, fmt_31^0'=fmt_31^post41, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, x_34^0'=x_34^post41, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, ct_17^0'=0, lt_37^0'=lt_37^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (0 == 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ x_28^0 == 0), cost: 2

Applied simplification
Original rule:
l40 -> l42 : y_19^0'=0, result_11^0'=result_11^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, fmt_31^0'=fmt_31^post41, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, x_34^0'=x_34^post41, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, ct_17^0'=0, lt_37^0'=lt_37^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (0 == 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ x_28^0 == 0), cost: 2
New rule:
l40 -> l42 : y_19^0'=0, result_11^0'=result_11^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, fmt_31^0'=fmt_31^post41, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, x_34^0'=x_34^post41, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, ct_17^0'=0, lt_37^0'=lt_37^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (a_197^0 >= 0 /\ len_180^0 >= 0 /\ x_28^0 == 0), cost: 2

Applied deletion
Removed the following rules: 87 88

Eliminating location l44 by chaining:

Applied chaining
First rule:
l40 -> l44 : r_53^0'=r_53^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, lt_237^0'=lt_237^post44, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_14^0'=x_14^post44, (a_197^0 >= 0 /\ len_180^0 >= 0), cost: 1
Second rule:
l44 -> l45 : 0 == 0, cost: 1
New rule:
l40 -> l45 : r_53^0'=r_53^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, lt_237^0'=lt_237^post44, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_14^0'=x_14^post44, (0 == 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0), cost: 2

Applied simplification
Original rule:
l40 -> l45 : r_53^0'=r_53^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, lt_237^0'=lt_237^post44, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_14^0'=x_14^post44, (0 == 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0), cost: 2
New rule:
l40 -> l45 : r_53^0'=r_53^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, lt_237^0'=lt_237^post44, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_14^0'=x_14^post44, (a_197^0 >= 0 /\ len_180^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 90 91

Eliminating location l42 by chaining:

Applied chaining
First rule:
l40 -> l42 : y_19^0'=0, result_11^0'=result_11^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, fmt_31^0'=fmt_31^post41, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, x_34^0'=x_34^post41, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, ct_17^0'=0, lt_37^0'=lt_37^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (a_197^0 >= 0 /\ len_180^0 >= 0 /\ x_28^0 == 0), cost: 2
Second rule:
l42 -> l11 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l40 -> l11 : y_19^0'=0, result_11^0'=result_11^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, fmt_31^0'=fmt_31^post41, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, x_34^0'=x_34^post41, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, ct_17^0'=0, lt_37^0'=lt_37^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ x_28^0 == 0), cost: 3

Applied deletion
Removed the following rules: 89 143

Eliminating location l45 by chaining:

Applied chaining
First rule:
l40 -> l45 : r_53^0'=r_53^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, lt_237^0'=lt_237^post44, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_14^0'=x_14^post44, (a_197^0 >= 0 /\ len_180^0 >= 0), cost: 2
Second rule:
l45 -> l46 : result_11^0'=result_11^post46, len_246^0'=1+len_180^0, lt_36^0'=lt_36^post46, temp0_32^0'=temp0_32^post46, fmt_31^0'=fmt_31^post46, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (result_dot_printf_sdv_special_RETURN_VALUE_41^0 == 0 /\ lt_237^0-x_28^0 == 0 /\ a_26^0-x_14^0 == 0), cost: 1
New rule:
l40 -> l46 : result_11^0'=result_11^post46, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (-x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 3

Applied deletion
Removed the following rules: 92 144

Eliminating location l46 by chaining:

Applied chaining
First rule:
l40 -> l46 : result_11^0'=result_11^post46, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (-x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 3
Second rule:
l46 -> l47 : 0 == 0, cost: 1
New rule:
l40 -> l47 : result_11^0'=result_11^post46, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (0 == 0 /\ -x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 4

Applied simplification
Original rule:
l40 -> l47 : result_11^0'=result_11^post46, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (0 == 0 /\ -x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 4
New rule:
l40 -> l47 : result_11^0'=result_11^post46, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (-x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 4

Applied deletion
Removed the following rules: 93 146

Eliminating location l47 by chaining:

Applied chaining
First rule:
l40 -> l47 : result_11^0'=result_11^post46, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (-x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 4
Second rule:
l47 -> l48 : 0 == 0, cost: 1
New rule:
l40 -> l48 : result_11^0'=result_11^post46, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (0 == 0 /\ -x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 5

Applied simplification
Original rule:
l40 -> l48 : result_11^0'=result_11^post46, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (0 == 0 /\ -x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 5
New rule:
l40 -> l48 : result_11^0'=result_11^post46, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (-x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 5

Applied deletion
Removed the following rules: 94 147

Eliminating location l48 by chaining:

Applied chaining
First rule:
l40 -> l48 : result_11^0'=result_11^post46, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (-x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 5
Second rule:
l48 -> l43 : a_197^0'=a_247^0, len_180^0'=len_246^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l40 -> l43 : result_11^0'=result_11^post46, a_197^0'=-1+a_197^0, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, len_180^0'=1+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (-x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 6

Applied deletion
Removed the following rules: 95 148

Eliminating location l43 by chaining:

Applied chaining
First rule:
l40 -> l43 : result_11^0'=result_11^post46, a_197^0'=-1+a_197^0, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, len_180^0'=1+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (-x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 6
Second rule:
l43 -> l40 : TRUE, cost: 1
New rule:
l40 -> l40 : result_11^0'=result_11^post46, a_197^0'=-1+a_197^0, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, len_180^0'=1+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (-x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 7

Applied deletion
Removed the following rules: 96 149

Eliminated locations on linear paths
Start location: l63
 142: l4 -> l4 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, a_305^0'=-1+a_305^0, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (-y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 8
 135: l11 -> l4 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, len_180^0'=1+a_305^0, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ ct_17^post10-y_19^0 == 0), cost: 7
 119: l33 -> l33 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, temp_49^0'=temp_49^post37, i_108^0'=i_44^0, rcd_102^0'=rcd_102^post37, i_44^0'=1+i_44^0, (1-length_43^0+i_44^0 <= 0 /\ i_44^0 >= 0), cost: 2
 122: l33 -> l34 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post34, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, x_34^0'=x_34^post34, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, length_43^0'=length_43^post32, x_14^0'=head_46^0, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, i_44^0'=i_44^post32, x_28^0'=head_46^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0 /\ length_43^0-i_44^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post32-i_125^post32 <= 0 /\ -i_44^0 <= 0), cost: 5
 125: l34 -> l11 : y_19^0'=0, result_11^0'=result_11^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, fmt_31^0'=fmt_31^post51, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, x_34^0'=x_34^post51, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, ct_17^0'=0, lt_37^0'=lt_37^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (-1+len_180^0 == 0 /\ a_146^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post51 >= 0 /\ x_28^0 == 0), cost: 3
 129: l34 -> l40 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 6
 145: l40 -> l11 : y_19^0'=0, result_11^0'=result_11^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, fmt_31^0'=fmt_31^post41, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, x_34^0'=x_34^post41, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, ct_17^0'=0, lt_37^0'=lt_37^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ x_28^0 == 0), cost: 3
 150: l40 -> l40 : result_11^0'=result_11^post46, a_197^0'=-1+a_197^0, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, len_180^0'=1+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (-x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 7
 117: l63 -> l33 : head_46^0'=temp_49^post40, tmp_48^0'=temp_49^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_72^0'=rcd_72^post31, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^post40, length_43^0'=nondet_12^10, i_44^0'=2, -2+nondet_12^10 >= 0, cost: 4


Applied simplification
Original rule:
l4 -> l4 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_16^post61, a_305^0'=-1+a_305^0, ct_17^0'=ct_17^post61, x_14^0'=x_14^post61, (-y_19^0+ct_17^post61 == 0 /\ ct_17^post61 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ x_14^post61-x_SLAM_f_18^post61 == 0 /\ a_305^0 >= 0 /\ -x_16^post61+x_SLAM_f_18^post61 == 0), cost: 8
New rule:
l4 -> l4 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_SLAM_f_18^post61, a_305^0'=-1+a_305^0, ct_17^0'=y_19^0, x_14^0'=x_SLAM_f_18^post61, (y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ a_305^0 >= 0), cost: 8

Simplified simple loops
Start location: l63
 151: l4 -> l4 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_SLAM_f_18^post61, a_305^0'=-1+a_305^0, ct_17^0'=y_19^0, x_14^0'=x_SLAM_f_18^post61, (y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ a_305^0 >= 0), cost: 8
 135: l11 -> l4 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, len_180^0'=1+a_305^0, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ ct_17^post10-y_19^0 == 0), cost: 7
 119: l33 -> l33 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, temp_49^0'=temp_49^post37, i_108^0'=i_44^0, rcd_102^0'=rcd_102^post37, i_44^0'=1+i_44^0, (1-length_43^0+i_44^0 <= 0 /\ i_44^0 >= 0), cost: 2
 122: l33 -> l34 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post34, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, x_34^0'=x_34^post34, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, length_43^0'=length_43^post32, x_14^0'=head_46^0, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, i_44^0'=i_44^post32, x_28^0'=head_46^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0 /\ length_43^0-i_44^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post32-i_125^post32 <= 0 /\ -i_44^0 <= 0), cost: 5
 125: l34 -> l11 : y_19^0'=0, result_11^0'=result_11^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, fmt_31^0'=fmt_31^post51, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, x_34^0'=x_34^post51, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, ct_17^0'=0, lt_37^0'=lt_37^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (-1+len_180^0 == 0 /\ a_146^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post51 >= 0 /\ x_28^0 == 0), cost: 3
 129: l34 -> l40 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 6
 145: l40 -> l11 : y_19^0'=0, result_11^0'=result_11^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, fmt_31^0'=fmt_31^post41, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, x_34^0'=x_34^post41, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, ct_17^0'=0, lt_37^0'=lt_37^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ x_28^0 == 0), cost: 3
 150: l40 -> l40 : result_11^0'=result_11^post46, a_197^0'=-1+a_197^0, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, len_180^0'=1+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (-x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 7
 117: l63 -> l33 : head_46^0'=temp_49^post40, tmp_48^0'=temp_49^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_72^0'=rcd_72^post31, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^post40, length_43^0'=nondet_12^10, i_44^0'=2, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l4 -> l4 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1+a_305^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_SLAM_f_18^post61, a_305^0'=-1+a_305^0, ct_17^0'=y_19^0, x_14^0'=x_SLAM_f_18^post61, (y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ a_305^0 >= 0), cost: 8
New rule:
l4 -> l4 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=a_305^0-n0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_SLAM_f_18^post61, a_305^0'=a_305^0-n0, ct_17^0'=y_19^0, x_14^0'=x_SLAM_f_18^post61, (y_19^0 >= 0 /\ -y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ -1+n0 >= 0 /\ 1+a_305^0-n0 >= 0), cost: 8*n0

Applied instantiation
Original rule:
l4 -> l4 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=a_305^0-n0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_SLAM_f_18^post61, a_305^0'=a_305^0-n0, ct_17^0'=y_19^0, x_14^0'=x_SLAM_f_18^post61, (y_19^0 >= 0 /\ -y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ -1+n0 >= 0 /\ 1+a_305^0-n0 >= 0), cost: 8*n0
New rule:
l4 -> l4 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_SLAM_f_18^post61, a_305^0'=-1, ct_17^0'=y_19^0, x_14^0'=x_SLAM_f_18^post61, (0 >= 0 /\ y_19^0 >= 0 /\ -y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ a_305^0 >= 0), cost: 8+8*a_305^0

Applied simplification
Original rule:
l4 -> l4 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_SLAM_f_18^post61, a_305^0'=-1, ct_17^0'=y_19^0, x_14^0'=x_SLAM_f_18^post61, (0 >= 0 /\ y_19^0 >= 0 /\ -y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ a_305^0 >= 0), cost: 8+8*a_305^0
New rule:
l4 -> l4 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_SLAM_f_18^post61, a_305^0'=-1, ct_17^0'=y_19^0, x_14^0'=x_SLAM_f_18^post61, (y_19^0 <= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ a_305^0 >= 0), cost: 8+8*a_305^0

Applied deletion
Removed the following rules: 151

Applied acceleration
Original rule:
l33 -> l33 : head_46^0'=temp_49^0, tmp_48^0'=temp_49^0, temp_49^0'=temp_49^post37, i_108^0'=i_44^0, rcd_102^0'=rcd_102^post37, i_44^0'=1+i_44^0, (1-length_43^0+i_44^0 <= 0 /\ i_44^0 >= 0), cost: 2
New rule:
l33 -> l33 : head_46^0'=temp_49^post37, tmp_48^0'=temp_49^post37, temp_49^0'=temp_49^post37, i_108^0'=-1+n3+i_44^0, rcd_102^0'=rcd_102^post37, i_44^0'=n3+i_44^0, (-n3+length_43^0-i_44^0 >= 0 /\ i_44^0 >= 0 /\ -2+n3 >= 0), cost: 2*n3

Applied instantiation
Original rule:
l33 -> l33 : head_46^0'=temp_49^post37, tmp_48^0'=temp_49^post37, temp_49^0'=temp_49^post37, i_108^0'=-1+n3+i_44^0, rcd_102^0'=rcd_102^post37, i_44^0'=n3+i_44^0, (-n3+length_43^0-i_44^0 >= 0 /\ i_44^0 >= 0 /\ -2+n3 >= 0), cost: 2*n3
New rule:
l33 -> l33 : head_46^0'=temp_49^post37, tmp_48^0'=temp_49^post37, temp_49^0'=temp_49^post37, i_108^0'=-1+length_43^0, rcd_102^0'=rcd_102^post37, i_44^0'=length_43^0, (0 >= 0 /\ -2+length_43^0-i_44^0 >= 0 /\ i_44^0 >= 0), cost: 2*length_43^0-2*i_44^0

Applied simplification
Original rule:
l33 -> l33 : head_46^0'=temp_49^post37, tmp_48^0'=temp_49^post37, temp_49^0'=temp_49^post37, i_108^0'=-1+length_43^0, rcd_102^0'=rcd_102^post37, i_44^0'=length_43^0, (0 >= 0 /\ -2+length_43^0-i_44^0 >= 0 /\ i_44^0 >= 0), cost: 2*length_43^0-2*i_44^0
New rule:
l33 -> l33 : head_46^0'=temp_49^post37, tmp_48^0'=temp_49^post37, temp_49^0'=temp_49^post37, i_108^0'=-1+length_43^0, rcd_102^0'=rcd_102^post37, i_44^0'=length_43^0, (-2+length_43^0-i_44^0 >= 0 /\ i_44^0 >= 0), cost: 2*length_43^0-2*i_44^0

Applied deletion
Removed the following rules: 119

Applied simplification
Original rule:
l40 -> l40 : result_11^0'=result_11^post46, a_197^0'=-1+a_197^0, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=lt_237^post44, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post44, len_180^0'=1+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=x_14^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (-x_14^post44+a_26^post44 == 0 /\ a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0 /\ lt_237^post44-x_28^0 == 0 /\ result_dot_printf_sdv_special_RETURN_VALUE_41^post44 == 0), cost: 7
New rule:
l40 -> l40 : result_11^0'=result_11^post46, a_197^0'=-1+a_197^0, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=x_28^0, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, len_180^0'=1+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=a_26^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0), cost: 7

Simplified simple loops
Start location: l63
 153: l4 -> l4 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_SLAM_f_18^post61, a_305^0'=-1, ct_17^0'=y_19^0, x_14^0'=x_SLAM_f_18^post61, (y_19^0 <= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ a_305^0 >= 0), cost: 8+8*a_305^0
 135: l11 -> l4 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, len_180^0'=1+a_305^0, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ ct_17^post10-y_19^0 == 0), cost: 7
 122: l33 -> l34 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post34, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, x_34^0'=x_34^post34, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, length_43^0'=length_43^post32, x_14^0'=head_46^0, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, i_44^0'=i_44^post32, x_28^0'=head_46^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0 /\ length_43^0-i_44^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post32-i_125^post32 <= 0 /\ -i_44^0 <= 0), cost: 5
 155: l33 -> l33 : head_46^0'=temp_49^post37, tmp_48^0'=temp_49^post37, temp_49^0'=temp_49^post37, i_108^0'=-1+length_43^0, rcd_102^0'=rcd_102^post37, i_44^0'=length_43^0, (-2+length_43^0-i_44^0 >= 0 /\ i_44^0 >= 0), cost: 2*length_43^0-2*i_44^0
 125: l34 -> l11 : y_19^0'=0, result_11^0'=result_11^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, fmt_31^0'=fmt_31^post51, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, x_34^0'=x_34^post51, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, ct_17^0'=0, lt_37^0'=lt_37^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (-1+len_180^0 == 0 /\ a_146^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post51 >= 0 /\ x_28^0 == 0), cost: 3
 129: l34 -> l40 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 6
 145: l40 -> l11 : y_19^0'=0, result_11^0'=result_11^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, fmt_31^0'=fmt_31^post41, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, x_34^0'=x_34^post41, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, ct_17^0'=0, lt_37^0'=lt_37^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ x_28^0 == 0), cost: 3
 156: l40 -> l40 : result_11^0'=result_11^post46, a_197^0'=-1+a_197^0, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=x_28^0, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, len_180^0'=1+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=a_26^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0), cost: 7
 117: l63 -> l33 : head_46^0'=temp_49^post40, tmp_48^0'=temp_49^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_72^0'=rcd_72^post31, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^post40, length_43^0'=nondet_12^10, i_44^0'=2, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l40 -> l40 : result_11^0'=result_11^post46, a_197^0'=-1+a_197^0, len_246^0'=1+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=x_28^0, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, len_180^0'=1+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1+a_197^0, x_14^0'=a_26^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0), cost: 7
New rule:
l40 -> l40 : result_11^0'=result_11^post46, a_197^0'=-n6+a_197^0, len_246^0'=n6+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=x_28^0, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, len_180^0'=n6+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-n6+a_197^0, x_14^0'=a_26^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (-1+n6 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ 1-n6+a_197^0 >= 0 /\ len_180^0 >= 0), cost: 7*n6

Applied instantiation
Original rule:
l40 -> l40 : result_11^0'=result_11^post46, a_197^0'=-n6+a_197^0, len_246^0'=n6+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=x_28^0, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, len_180^0'=n6+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-n6+a_197^0, x_14^0'=a_26^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (-1+n6 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ 1-n6+a_197^0 >= 0 /\ len_180^0 >= 0), cost: 7*n6
New rule:
l40 -> l40 : result_11^0'=result_11^post46, a_197^0'=-1, len_246^0'=1+a_197^0+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=x_28^0, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, len_180^0'=1+a_197^0+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1, x_14^0'=a_26^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (0 >= 0 /\ a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0), cost: 7+7*a_197^0

Applied simplification
Original rule:
l40 -> l40 : result_11^0'=result_11^post46, a_197^0'=-1, len_246^0'=1+a_197^0+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=x_28^0, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, len_180^0'=1+a_197^0+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1, x_14^0'=a_26^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (0 >= 0 /\ a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0), cost: 7+7*a_197^0
New rule:
l40 -> l40 : result_11^0'=result_11^post46, a_197^0'=-1, len_246^0'=1+a_197^0+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=x_28^0, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, len_180^0'=1+a_197^0+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1, x_14^0'=a_26^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0), cost: 7+7*a_197^0

Applied deletion
Removed the following rules: 156

Accelerated simple loops
Start location: l63
 153: l4 -> l4 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_SLAM_f_18^post61, a_305^0'=-1, ct_17^0'=y_19^0, x_14^0'=x_SLAM_f_18^post61, (y_19^0 <= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ a_305^0 >= 0), cost: 8+8*a_305^0
 135: l11 -> l4 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, len_180^0'=1+a_305^0, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ ct_17^post10-y_19^0 == 0), cost: 7
 122: l33 -> l34 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post34, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, x_34^0'=x_34^post34, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, length_43^0'=length_43^post32, x_14^0'=head_46^0, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, i_44^0'=i_44^post32, x_28^0'=head_46^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0 /\ length_43^0-i_44^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post32-i_125^post32 <= 0 /\ -i_44^0 <= 0), cost: 5
 155: l33 -> l33 : head_46^0'=temp_49^post37, tmp_48^0'=temp_49^post37, temp_49^0'=temp_49^post37, i_108^0'=-1+length_43^0, rcd_102^0'=rcd_102^post37, i_44^0'=length_43^0, (-2+length_43^0-i_44^0 >= 0 /\ i_44^0 >= 0), cost: 2*length_43^0-2*i_44^0
 125: l34 -> l11 : y_19^0'=0, result_11^0'=result_11^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, fmt_31^0'=fmt_31^post51, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, x_34^0'=x_34^post51, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, ct_17^0'=0, lt_37^0'=lt_37^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (-1+len_180^0 == 0 /\ a_146^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post51 >= 0 /\ x_28^0 == 0), cost: 3
 129: l34 -> l40 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 6
 145: l40 -> l11 : y_19^0'=0, result_11^0'=result_11^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, fmt_31^0'=fmt_31^post41, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, x_34^0'=x_34^post41, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, ct_17^0'=0, lt_37^0'=lt_37^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ x_28^0 == 0), cost: 3
 158: l40 -> l40 : result_11^0'=result_11^post46, a_197^0'=-1, len_246^0'=1+a_197^0+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=x_28^0, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, len_180^0'=1+a_197^0+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1, x_14^0'=a_26^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0), cost: 7+7*a_197^0
 117: l63 -> l33 : head_46^0'=temp_49^post40, tmp_48^0'=temp_49^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_72^0'=rcd_72^post31, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^post40, length_43^0'=nondet_12^10, i_44^0'=2, -2+nondet_12^10 >= 0, cost: 4


Applied chaining
First rule:
l11 -> l4 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, len_180^0'=1+a_305^0, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ ct_17^post10-y_19^0 == 0), cost: 7
Second rule:
l4 -> l4 : t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_SLAM_f_18^post61, a_305^0'=-1, ct_17^0'=y_19^0, x_14^0'=x_SLAM_f_18^post61, (y_19^0 <= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ a_305^0 >= 0), cost: 8+8*a_305^0
New rule:
l11 -> l4 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_SLAM_f_18^post61, len_180^0'=1+a_305^0, a_305^0'=-1, ct_17^0'=y_19^0, x_14^0'=x_SLAM_f_18^post61, (y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ len_180^0 >= 0 /\ a_305^0 >= 0), cost: 15+8*a_305^0

Applied deletion
Removed the following rules: 153

Applied chaining
First rule:
l63 -> l33 : head_46^0'=temp_49^post40, tmp_48^0'=temp_49^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_72^0'=rcd_72^post31, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^post40, length_43^0'=nondet_12^10, i_44^0'=2, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l33 -> l33 : head_46^0'=temp_49^post37, tmp_48^0'=temp_49^post37, temp_49^0'=temp_49^post37, i_108^0'=-1+length_43^0, rcd_102^0'=rcd_102^post37, i_44^0'=length_43^0, (-2+length_43^0-i_44^0 >= 0 /\ i_44^0 >= 0), cost: 2*length_43^0-2*i_44^0
New rule:
l63 -> l33 : head_46^0'=temp_49^post37, tmp_48^0'=temp_49^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_72^0'=rcd_72^post31, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^post40, i_108^0'=-1+nondet_12^10, length_43^0'=nondet_12^10, rcd_102^0'=rcd_102^post37, i_44^0'=nondet_12^10, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10

Applied deletion
Removed the following rules: 155

Applied chaining
First rule:
l34 -> l40 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 6
Second rule:
l40 -> l40 : result_11^0'=result_11^post46, a_197^0'=-1, len_246^0'=1+a_197^0+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=x_28^0, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, len_180^0'=1+a_197^0+len_180^0, x_34^0'=x_34^post46, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1, x_14^0'=a_26^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0), cost: 7+7*a_197^0
New rule:
l34 -> l40 : result_11^0'=result_11^post46, x_177^0'=x_177^post54, a_197^0'=-1, len_246^0'=1+a_197^0+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=x_28^0, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, len_180^0'=1+a_197^0+len_180^0, x_34^0'=x_34^post46, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1, x_14^0'=a_26^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0 /\ a_146^0 >= 0), cost: 13+7*a_197^0

Applied deletion
Removed the following rules: 158

Chained accelerated rules with incoming rules
Start location: l63
 135: l11 -> l4 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, x_16^0'=x_16^post10, len_180^0'=1+a_305^0, ct_17^0'=ct_17^post10, x_14^0'=x_14^post10, (ct_17^post10 == 0 /\ x_SLAM_f_18^post10-x_16^post10 == 0 /\ len_180^0 >= 0 /\ x_14^post10-x_SLAM_f_18^post10 == 0 /\ x_14^post10-x_20^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 >= 0 /\ ct_17^post10-y_19^0 == 0), cost: 7
 159: l11 -> l4 : a_283^0'=a_305^0, t_23^0'=x_20^0, x_SLAM_f_18^0'=x_SLAM_f_18^post61, r_53^0'=r_53^post61, a_328^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, x_16^0'=x_SLAM_f_18^post61, len_180^0'=1+a_305^0, a_305^0'=-1, ct_17^0'=y_19^0, x_14^0'=x_SLAM_f_18^post61, (y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 >= 0 /\ len_180^0 >= 0 /\ a_305^0 >= 0), cost: 15+8*a_305^0
 122: l33 -> l34 : temp0_45^0'=temp0_45^post32, result_11^0'=result_11^post34, head_46^0'=head_46^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=fmt_31^13, tmp_48^0'=tmp_48^post32, lt_36^0'=lt_36^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, i_125^0'=i_125^post32, a_26^0'=head_46^0, temp0_32^0'=temp0_32^post34, fmt_31^0'=fmt_31^post34, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, x_34^0'=x_34^post34, temp_49^0'=temp_49^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^post32, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post34, length_43^0'=length_43^post32, x_14^0'=head_46^0, lt_37^0'=lt_37^post34, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post34, i_44^0'=i_44^post32, x_28^0'=head_46^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0 /\ length_43^0-i_44^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post32-i_125^post32 <= 0 /\ -i_44^0 <= 0), cost: 5
 125: l34 -> l11 : y_19^0'=0, result_11^0'=result_11^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post51, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post51, a_26^0'=a_26^post51, temp0_32^0'=temp0_32^post51, fmt_31^0'=fmt_31^post51, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post51, x_34^0'=x_34^post51, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post51, ct_17^0'=0, lt_37^0'=lt_37^post51, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post51, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post51, x_28^0'=x_28^post51, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post51, (-1+len_180^0 == 0 /\ a_146^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post51 >= 0 /\ x_28^0 == 0), cost: 3
 129: l34 -> l40 : result_11^0'=result_11^post56, x_177^0'=x_177^post54, lt_36^0'=lt_36^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_26^0'=a_26^post54, temp0_32^0'=temp0_32^post56, fmt_31^0'=fmt_31^post56, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post54, x_34^0'=x_34^post56, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post56, x_14^0'=x_14^post54, lt_37^0'=lt_37^post56, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post56, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^154, (result_dot_printf_sdv_special_RETURN_VALUE_41^post54 == 0 /\ a_146^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 >= 0 /\ a_26^post54-x_14^post54 == 0), cost: 6
 161: l34 -> l40 : result_11^0'=result_11^post46, x_177^0'=x_177^post54, a_197^0'=-1, len_246^0'=1+a_197^0+len_180^0, r_53^0'=r_53^post44, lt_36^0'=lt_36^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, x_238^0'=x_238^post44, a_26^0'=a_26^post44, temp0_32^0'=temp0_32^post46, lt_237^0'=x_28^0, fmt_31^0'=fmt_31^post46, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=0, len_180^0'=1+a_197^0+len_180^0, x_34^0'=x_34^post46, r_161^0'=r_161^post54, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post46, a_247^0'=-1, x_14^0'=a_26^post44, lt_37^0'=lt_37^post46, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post46, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=fmt_31^152, (a_197^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_180^0 >= 0 /\ a_146^0 >= 0), cost: 13+7*a_197^0
 145: l40 -> l11 : y_19^0'=0, result_11^0'=result_11^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_27^post41, x_SLAM_f_18^0'=x_14^0, lt_36^0'=lt_36^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_2_29^post41, a_26^0'=a_26^post41, temp0_32^0'=temp0_32^post41, fmt_31^0'=fmt_31^post41, x_16^0'=x_14^0, result_dot_printf_sdv_special_RETURN_VALUE_41^0'=result_dot_printf_sdv_special_RETURN_VALUE_41^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_3_30^post41, x_34^0'=x_34^post41, x_20^0'=x_14^0, printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_35^post41, ct_17^0'=0, lt_37^0'=lt_37^post41, result_dot_printf_sdv_special_RETURN_VALUE_38^0'=result_dot_printf_sdv_special_RETURN_VALUE_38^post41, result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^0'=result_dot_printf_sdv_special_RETURN_VALUE_sdv_unique_name_2_40^post41, x_28^0'=x_28^post41, printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^0'=printf_dot_arg_dot_1_sdv_special_TEMPORARY_sdv_unique_name_3_33^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ a_197^0 >= 0 /\ len_180^0 >= 0 /\ x_28^0 == 0), cost: 3
 117: l63 -> l33 : head_46^0'=temp_49^post40, tmp_48^0'=temp_49^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_72^0'=rcd_72^post31, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^post40, length_43^0'=nondet_12^10, i_44^0'=2, -2+nondet_12^10 >= 0, cost: 4
 160: l63 -> l33 : head_46^0'=temp_49^post37, tmp_48^0'=temp_49^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, rcd_72^0'=rcd_72^post31, nondet_12^0'=nondet_12^post17, temp_49^0'=temp_49^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_47^0'=temp_49^post40, i_108^0'=-1+nondet_12^10, length_43^0'=nondet_12^10, rcd_102^0'=rcd_102^post37, i_44^0'=nondet_12^10, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10


Removed unreachable locations and irrelevant leafs
Start location: l63
  <empty>


Computing asymptotic complexity

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

Solved cost: 0
Rule cost:   0