WORST_CASE(Omega(0),?)

Initial ITS
Start location: l50
   0: l0 -> l2 : __disjvr_0^0'=__disjvr_0^post0, i_27^0'=i_27^post0, y_162^0'=y_162^post0, __disjvr_21^0'=__disjvr_21^post0, z_19^0'=z_19^post0, __disjvr_9^0'=__disjvr_9^post0, result_11^0'=result_11^post0, __disjvr_14^0'=__disjvr_14^post0, r_154^0'=r_154^post0, __disjvr_24^0'=__disjvr_24^post0, y_261^0'=y_261^post0, rcd_230^0'=rcd_230^post0, head_13^0'=head_13^post0, head_SLAM_f_26^0'=head_SLAM_f_26^post0, tmp_31^0'=tmp_31^post0, __disjvr_19^0'=__disjvr_19^post0, r_242^0'=r_242^post0, __disjvr_6^0'=__disjvr_6^post0, y_347^0'=y_347^post0, rcd_40^0'=rcd_40^post0, __disjvr_11^0'=__disjvr_11^post0, len_270^0'=len_270^post0, y_22^0'=y_22^post0, r_267^0'=r_267^post0, a_168^0'=a_168^post0, t_23^0'=t_23^post0, __disjvr_16^0'=__disjvr_16^post0, r_229^0'=r_229^post0, __disjvr_3^0'=__disjvr_3^post0, y_285^0'=y_285^post0, rcd_243^0'=rcd_243^post0, i_114^0'=i_114^post0, x_21^0'=x_21^post0, __disjvr_20^0'=__disjvr_20^post0, r_253^0'=r_253^post0, __disjvr_8^0'=__disjvr_8^post0, rcd_99^0'=rcd_99^post0, __disjvr_13^0'=__disjvr_13^post0, length_25^0'=length_25^post0, __disjvr_23^0'=__disjvr_23^post0, y_241^0'=y_241^post0, rcd_107^0'=rcd_107^post0, a_271^0'=a_271^post0, temp0_18^0'=temp0_18^post0, temp_32^0'=temp_32^post0, __disjvr_18^0'=__disjvr_18^post0, r_240^0'=r_240^post0, __disjvr_5^0'=__disjvr_5^post0, y_295^0'=y_295^post0, rcd_268^0'=rcd_268^post0, __disjvr_10^0'=__disjvr_10^post0, len_200^0'=len_200^post0, y_191^0'=y_191^post0, __disjvr_22^0'=__disjvr_22^post0, a_143^0'=a_143^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post0, __disjvr_15^0'=__disjvr_15^post0, r_183^0'=r_183^post0, __disjvr_2^0'=__disjvr_2^post0, y_269^0'=y_269^post0, rcd_239^0'=rcd_239^post0, head_29^0'=head_29^post0, i_105^0'=i_105^post0, w_20^0'=w_20^post0, __disjvr_1^0'=__disjvr_1^post0, r_247^0'=r_247^post0, __disjvr_7^0'=__disjvr_7^post0, rcd_64^0'=rcd_64^post0, __disjvr_12^0'=__disjvr_12^post0, length_14^0'=length_14^post0, y_231^0'=y_231^post0, r_36^0'=r_36^post0, a_215^0'=a_215^post0, tail_15^0'=tail_15^post0, temp0_28^0'=temp0_28^post0, __disjvr_17^0'=__disjvr_17^post0, r_238^0'=r_238^post0, __disjvr_4^0'=__disjvr_4^post0, y_290^0'=y_290^post0, rcd_248^0'=rcd_248^post0, (0 == 0 /\ head_29^0-head_29^post0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -__disjvr_3^post0+__disjvr_3^0 == 0 /\ -__disjvr_7^post0+__disjvr_7^0 == 0 /\ __disjvr_9^0-__disjvr_9^post0 == 0 /\ -r_36^post0+r_36^0 == 0 /\ -len_200^0 <= 0 /\ -r_183^post0+r_183^0 == 0 /\ r_247^0-r_247^post0 == 0 /\ -__disjvr_1^post0+__disjvr_1^0 == 0 /\ -y_290^post0+y_290^0 == 0 /\ __disjvr_21^0-__disjvr_21^post0 == 0 /\ -__disjvr_18^post0+__disjvr_18^0 == 0 /\ y_261^0-y_261^post0 == 0 /\ length_25^0-length_25^post0 == 0 /\ i_105^0-i_105^post0 == 0 /\ y_347^0-y_347^post0 == 0 /\ rcd_40^0-rcd_40^post0 == 0 /\ a_168^0-a_168^post0 == 0 /\ -__disjvr_16^post0+__disjvr_16^0 == 0 /\ y_295^0-y_295^post0 == 0 /\ -__disjvr_12^post0+__disjvr_12^0 == 0 /\ y_241^0-y_241^post0 == 0 /\ __disjvr_20^0-__disjvr_20^post0 == 0 /\ -rcd_248^post0+rcd_248^0 == 0 /\ -r_253^post0+r_253^0 == 0 /\ -rcd_64^post0+rcd_64^0 == 0 /\ -r_238^post0+r_238^0 == 0 /\ -r_240^post0+r_240^0 == 0 /\ r_242^0-r_242^post0 == 0 /\ -__disjvr_15^post0+__disjvr_15^0 == 0 /\ -rcd_243^post0+rcd_243^0 == 0 /\ -__disjvr_11^post0+__disjvr_11^0 == 0 /\ __disjvr_23^0-__disjvr_23^post0 == 0 /\ i_27^0-i_27^post0 == 0 /\ -rcd_239^post0+rcd_239^0 == 0 /\ len_270^0-len_270^post0 == 0 /\ tmp_31^0-tmp_31^post0 == 0 /\ r_229^0-r_229^post0 == 0 /\ rcd_230^0-rcd_230^post0 == 0 /\ rcd_268^0-rcd_268^post0 == 0 /\ temp_32^0-temp_32^post0 == 0 /\ -temp0_18^0+result_11^post0 == 0 /\ -__disjvr_4^post0+__disjvr_4^0 == 0 /\ -r_267^post0+r_267^0 == 0 /\ -__disjvr_17^post0+__disjvr_17^0 == 0 /\ -a_215^0 <= 0 /\ -rcd_107^post0+rcd_107^0 == 0 /\ __disjvr_8^0-__disjvr_8^post0 == 0 /\ -y_191^post0+y_191^0 == 0 /\ __disjvr_22^0-__disjvr_22^post0 == 0 /\ __disjvr_19^0-__disjvr_19^post0 == 0 /\ -x_21^0+w_20^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post0 == 0 /\ -__disjvr_2^post0+__disjvr_2^0 == 0 /\ -head_13^post0+head_13^0 == 0 /\ -r_154^post0+r_154^0 == 0 /\ __disjvr_0^0-__disjvr_0^post0 == 0 /\ temp0_18^0-temp0_18^post0 == 0 /\ -y_231^post0+y_231^0 == 0 /\ __disjvr_14^0-__disjvr_14^post0 == 0 /\ rcd_99^0-rcd_99^post0 == 0 /\ -temp0_28^post0+temp0_28^0 == 0 /\ y_162^0-y_162^post0 == 0 /\ -a_215^post0+a_215^0 == 0 /\ -len_200^post0+len_200^0 == 0 /\ -y_269^post0+y_269^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post0 == 0 /\ x_21^0-w_20^0 <= 0 /\ -a_271^post0+a_271^0 == 0 /\ __disjvr_5^0-__disjvr_5^post0 == 0 /\ -i_114^post0+i_114^0 == 0 /\ __disjvr_24^0-__disjvr_24^post0 == 0 /\ a_143^0-a_143^post0 == 0 /\ __disjvr_10^0-__disjvr_10^post0 == 0 /\ __disjvr_13^0-__disjvr_13^post0 == 0), cost: 1
   4: l0 -> l6 : __disjvr_0^0'=__disjvr_0^post4, i_27^0'=i_27^post4, y_162^0'=y_162^post4, __disjvr_21^0'=__disjvr_21^post4, z_19^0'=z_19^post4, __disjvr_9^0'=__disjvr_9^post4, result_11^0'=result_11^post4, __disjvr_14^0'=__disjvr_14^post4, r_154^0'=r_154^post4, __disjvr_24^0'=__disjvr_24^post4, y_261^0'=y_261^post4, rcd_230^0'=rcd_230^post4, head_13^0'=head_13^post4, head_SLAM_f_26^0'=head_SLAM_f_26^post4, tmp_31^0'=tmp_31^post4, __disjvr_19^0'=__disjvr_19^post4, r_242^0'=r_242^post4, __disjvr_6^0'=__disjvr_6^post4, y_347^0'=y_347^post4, rcd_40^0'=rcd_40^post4, __disjvr_11^0'=__disjvr_11^post4, len_270^0'=len_270^post4, y_22^0'=y_22^post4, r_267^0'=r_267^post4, a_168^0'=a_168^post4, t_23^0'=t_23^post4, __disjvr_16^0'=__disjvr_16^post4, r_229^0'=r_229^post4, __disjvr_3^0'=__disjvr_3^post4, y_285^0'=y_285^post4, rcd_243^0'=rcd_243^post4, i_114^0'=i_114^post4, x_21^0'=x_21^post4, __disjvr_20^0'=__disjvr_20^post4, r_253^0'=r_253^post4, __disjvr_8^0'=__disjvr_8^post4, rcd_99^0'=rcd_99^post4, __disjvr_13^0'=__disjvr_13^post4, length_25^0'=length_25^post4, __disjvr_23^0'=__disjvr_23^post4, y_241^0'=y_241^post4, rcd_107^0'=rcd_107^post4, a_271^0'=a_271^post4, temp0_18^0'=temp0_18^post4, temp_32^0'=temp_32^post4, __disjvr_18^0'=__disjvr_18^post4, r_240^0'=r_240^post4, __disjvr_5^0'=__disjvr_5^post4, y_295^0'=y_295^post4, rcd_268^0'=rcd_268^post4, __disjvr_10^0'=__disjvr_10^post4, len_200^0'=len_200^post4, y_191^0'=y_191^post4, __disjvr_22^0'=__disjvr_22^post4, a_143^0'=a_143^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post4, __disjvr_15^0'=__disjvr_15^post4, r_183^0'=r_183^post4, __disjvr_2^0'=__disjvr_2^post4, y_269^0'=y_269^post4, rcd_239^0'=rcd_239^post4, head_29^0'=head_29^post4, i_105^0'=i_105^post4, w_20^0'=w_20^post4, __disjvr_1^0'=__disjvr_1^post4, r_247^0'=r_247^post4, __disjvr_7^0'=__disjvr_7^post4, rcd_64^0'=rcd_64^post4, __disjvr_12^0'=__disjvr_12^post4, length_14^0'=length_14^post4, y_231^0'=y_231^post4, r_36^0'=r_36^post4, a_215^0'=a_215^post4, tail_15^0'=tail_15^post4, temp0_28^0'=temp0_28^post4, __disjvr_17^0'=__disjvr_17^post4, r_238^0'=r_238^post4, __disjvr_4^0'=__disjvr_4^post4, y_290^0'=y_290^post4, rcd_248^0'=rcd_248^post4, (0 == 0 /\ __disjvr_20^0-__disjvr_20^post4 == 0 /\ -y_231^post4+y_231^0 == 0 /\ y_162^0-y_162^post4 == 0 /\ rcd_40^0-rcd_40^post4 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ -r_267^post4+r_267^0 == 0 /\ -len_200^0 <= 0 /\ y_22^0-y_22^post4 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post4 == 0 /\ t_23^0-t_23^post4 == 0 /\ -len_200^post4+len_200^0 == 0 /\ __disjvr_23^0-__disjvr_23^post4 == 0 /\ rcd_268^0-rcd_268^post4 == 0 /\ rcd_107^0-rcd_107^post4 == 0 /\ a_143^0-a_143^post4 == 0 /\ -__disjvr_4^post4+__disjvr_4^0 == 0 /\ -x_21^post4+x_21^0 == 0 /\ head_29^0-head_29^post4 == 0 /\ r_229^0-r_229^post4 == 0 /\ -w_20^post4+w_20^0 == 0 /\ -a_215^post4+a_215^0 == 0 /\ __disjvr_3^0-__disjvr_3^post4 == 0 /\ -y_285^post4+y_285^0 == 0 /\ i_105^0-i_105^post4 == 0 /\ __disjvr_21^0-__disjvr_21^post4 == 0 /\ -a_271^post4+a_271^0 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -temp0_28^post4+temp0_28^0 == 0 /\ r_154^0-r_154^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -i_114^post4+i_114^0 == 0 /\ a_168^0-a_168^post4 == 0 /\ y_241^0-y_241^post4 == 0 /\ temp0_18^0-temp0_18^post4 == 0 /\ -__disjvr_1^post4+__disjvr_1^0 == 0 /\ -a_215^0 <= 0 /\ -__disjvr_18^post4+__disjvr_18^0 == 0 /\ -r_183^post4+r_183^0 == 0 /\ -y_290^post4+y_290^0 == 0 /\ -rcd_239^post4+rcd_239^0 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -r_36^post4+r_36^0 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ i_27^0-i_27^post4 == 0 /\ len_270^0-len_270^post4 == 0 /\ temp_32^0-temp_32^post4 == 0 /\ __disjvr_24^0-__disjvr_24^post4 == 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ -r_242^post4+r_242^0 == 0 /\ tmp_31^0-tmp_31^post4 == 0 /\ __disjvr_13^0-__disjvr_13^post4 == 0 /\ -__disjvr_12^post4+__disjvr_12^0 == 0 /\ -__disjvr_5^post4+__disjvr_5^0 == 0 /\ rcd_230^0-rcd_230^post4 == 0 /\ -__disjvr_16^post4+__disjvr_16^0 == 0 /\ -length_25^post4+length_25^0 == 0 /\ __disjvr_19^0-__disjvr_19^post4 == 0 /\ -rcd_99^post4+rcd_99^0 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ -rcd_243^post4+rcd_243^0 == 0 /\ -r_238^post4+r_238^0 == 0 /\ -__disjvr_11^post4+__disjvr_11^0 == 0 /\ -rcd_64^post4+rcd_64^0 == 0 /\ __disjvr_22^0-__disjvr_22^post4 == 0 /\ -__disjvr_15^post4+__disjvr_15^0 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ y_269^0-y_269^post4 == 0 /\ -r_240^post4+r_240^0 == 0 /\ -y_191^post4+y_191^0 == 0 /\ y_347^0-y_347^post4 == 0 /\ -r_247^post4+r_247^0 == 0 /\ y_295^0-y_295^post4 == 0 /\ -rcd_248^post4+rcd_248^0 == 0), cost: 1
   1: l2 -> l3 : __disjvr_0^0'=__disjvr_0^post1, i_27^0'=i_27^post1, y_162^0'=y_162^post1, __disjvr_21^0'=__disjvr_21^post1, z_19^0'=z_19^post1, __disjvr_9^0'=__disjvr_9^post1, result_11^0'=result_11^post1, __disjvr_14^0'=__disjvr_14^post1, r_154^0'=r_154^post1, __disjvr_24^0'=__disjvr_24^post1, y_261^0'=y_261^post1, rcd_230^0'=rcd_230^post1, head_13^0'=head_13^post1, head_SLAM_f_26^0'=head_SLAM_f_26^post1, tmp_31^0'=tmp_31^post1, __disjvr_19^0'=__disjvr_19^post1, r_242^0'=r_242^post1, __disjvr_6^0'=__disjvr_6^post1, y_347^0'=y_347^post1, rcd_40^0'=rcd_40^post1, __disjvr_11^0'=__disjvr_11^post1, len_270^0'=len_270^post1, y_22^0'=y_22^post1, r_267^0'=r_267^post1, a_168^0'=a_168^post1, t_23^0'=t_23^post1, __disjvr_16^0'=__disjvr_16^post1, r_229^0'=r_229^post1, __disjvr_3^0'=__disjvr_3^post1, y_285^0'=y_285^post1, rcd_243^0'=rcd_243^post1, i_114^0'=i_114^post1, x_21^0'=x_21^post1, __disjvr_20^0'=__disjvr_20^post1, r_253^0'=r_253^post1, __disjvr_8^0'=__disjvr_8^post1, rcd_99^0'=rcd_99^post1, __disjvr_13^0'=__disjvr_13^post1, length_25^0'=length_25^post1, __disjvr_23^0'=__disjvr_23^post1, y_241^0'=y_241^post1, rcd_107^0'=rcd_107^post1, a_271^0'=a_271^post1, temp0_18^0'=temp0_18^post1, temp_32^0'=temp_32^post1, __disjvr_18^0'=__disjvr_18^post1, r_240^0'=r_240^post1, __disjvr_5^0'=__disjvr_5^post1, y_295^0'=y_295^post1, rcd_268^0'=rcd_268^post1, __disjvr_10^0'=__disjvr_10^post1, len_200^0'=len_200^post1, y_191^0'=y_191^post1, __disjvr_22^0'=__disjvr_22^post1, a_143^0'=a_143^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post1, __disjvr_15^0'=__disjvr_15^post1, r_183^0'=r_183^post1, __disjvr_2^0'=__disjvr_2^post1, y_269^0'=y_269^post1, rcd_239^0'=rcd_239^post1, head_29^0'=head_29^post1, i_105^0'=i_105^post1, w_20^0'=w_20^post1, __disjvr_1^0'=__disjvr_1^post1, r_247^0'=r_247^post1, __disjvr_7^0'=__disjvr_7^post1, rcd_64^0'=rcd_64^post1, __disjvr_12^0'=__disjvr_12^post1, length_14^0'=length_14^post1, y_231^0'=y_231^post1, r_36^0'=r_36^post1, a_215^0'=a_215^post1, tail_15^0'=tail_15^post1, temp0_28^0'=temp0_28^post1, __disjvr_17^0'=__disjvr_17^post1, r_238^0'=r_238^post1, __disjvr_4^0'=__disjvr_4^post1, y_290^0'=y_290^post1, rcd_248^0'=rcd_248^post1, (r_154^0-r_154^post1 == 0 /\ -__disjvr_5^post1+__disjvr_5^0 == 0 /\ -r_240^post1+r_240^0 == 0 /\ -length_25^post1+length_25^0 == 0 /\ len_270^0-len_270^post1 == 0 /\ -__disjvr_12^post1+__disjvr_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post1 == 0 /\ head_29^0-head_29^post1 == 0 /\ -__disjvr_1^post1+__disjvr_1^0 == 0 /\ -rcd_64^post1+rcd_64^0 == 0 /\ w_20^0-w_20^post1 == 0 /\ -r_36^post1+r_36^0 == 0 /\ r_267^0-r_267^post1 == 0 /\ -__disjvr_8^post1+__disjvr_8^0 == 0 /\ -y_269^post1+y_269^0 == 0 /\ rcd_243^0-rcd_243^post1 == 0 /\ -r_247^post1+r_247^0 == 0 /\ -r_238^post1+r_238^0 == 0 /\ y_347^0-y_347^post1 == 0 /\ result_11^0-result_11^post1 == 0 /\ -rcd_239^post1+rcd_239^0 == 0 /\ y_285^0-y_285^post1 == 0 /\ temp_32^0-temp_32^post1 == 0 /\ y_241^0-y_241^post1 == 0 /\ a_271^0-a_271^post1 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -y_290^post1+y_290^0 == 0 /\ i_27^0-i_27^post1 == 0 /\ y_22^0-y_22^post1 == 0 /\ __disjvr_19^0-__disjvr_19^post1 == 0 /\ -length_14^post1+length_14^0 == 0 /\ __disjvr_13^0-__disjvr_13^post1 == 0 /\ -temp0_18^post1+temp0_18^0 == 0 /\ t_23^0-t_23^post1 == 0 /\ __disjvr_9^0-__disjvr_9^post1 == 0 /\ -r_183^post1+r_183^0 == 0 /\ -tail_15^post1+tail_15^0 == 0 /\ r_229^0-r_229^post1 == 0 /\ -__disjvr_17^post1+__disjvr_17^0 == 0 /\ __disjvr_3^0-__disjvr_3^post1 == 0 /\ rcd_230^0-rcd_230^post1 == 0 /\ rcd_40^0-rcd_40^post1 == 0 /\ __disjvr_11^0-__disjvr_11^post1 == 0 /\ -__disjvr_15^post1+__disjvr_15^0 == 0 /\ __disjvr_20^0-__disjvr_20^post1 == 0 /\ -__disjvr_23^post1+__disjvr_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post1 == 0 /\ -i_105^post1+i_105^0 == 0 /\ -rcd_248^post1+rcd_248^0 == 0 /\ -__disjvr_2^post1+__disjvr_2^0 == 0 /\ -z_19^post1+z_19^0 == 0 /\ -a_143^post1+a_143^0 == 0 /\ __disjvr_14^0-__disjvr_14^post1 == 0 /\ -y_261^post1+y_261^0 == 0 /\ __disjvr_24^0-__disjvr_24^post1 == 0 /\ rcd_99^0-rcd_99^post1 == 0 /\ y_162^0-y_162^post1 == 0 /\ i_114^0-i_114^post1 == 0 /\ -temp0_28^post1+temp0_28^0 == 0 /\ __disjvr_10^0-__disjvr_10^post1 == 0 /\ -y_231^post1+y_231^0 == 0 /\ -__disjvr_18^post1+__disjvr_18^0 == 0 /\ y_295^0-y_295^post1 == 0 /\ -y_191^post1+y_191^0 == 0 /\ r_253^0-r_253^post1 == 0 /\ -__disjvr_7^post1+__disjvr_7^0 == 0 /\ head_13^0-head_13^post1 == 0 /\ -x_21^post1+x_21^0 == 0 /\ -__disjvr_6^post1+__disjvr_6^0 == 0 /\ -len_200^post1+len_200^0 == 0 /\ rcd_268^0-rcd_268^post1 == 0 /\ -a_215^post1+a_215^0 == 0 /\ __disjvr_22^0-__disjvr_22^post1 == 0 /\ rcd_107^0-rcd_107^post1 == 0 /\ -__disjvr_0^0+__disjvr_0^post1 == 0 /\ r_242^0-r_242^post1 == 0 /\ -head_SLAM_f_26^post1+head_SLAM_f_26^0 == 0 /\ tmp_31^0-tmp_31^post1 == 0 /\ -__disjvr_16^post1+__disjvr_16^0 == 0 /\ -__disjvr_4^post1+__disjvr_4^0 == 0 /\ -a_168^post1+a_168^0 == 0), cost: 1
   2: l3 -> l4 : __disjvr_0^0'=__disjvr_0^post2, i_27^0'=i_27^post2, y_162^0'=y_162^post2, __disjvr_21^0'=__disjvr_21^post2, z_19^0'=z_19^post2, __disjvr_9^0'=__disjvr_9^post2, result_11^0'=result_11^post2, __disjvr_14^0'=__disjvr_14^post2, r_154^0'=r_154^post2, __disjvr_24^0'=__disjvr_24^post2, y_261^0'=y_261^post2, rcd_230^0'=rcd_230^post2, head_13^0'=head_13^post2, head_SLAM_f_26^0'=head_SLAM_f_26^post2, tmp_31^0'=tmp_31^post2, __disjvr_19^0'=__disjvr_19^post2, r_242^0'=r_242^post2, __disjvr_6^0'=__disjvr_6^post2, y_347^0'=y_347^post2, rcd_40^0'=rcd_40^post2, __disjvr_11^0'=__disjvr_11^post2, len_270^0'=len_270^post2, y_22^0'=y_22^post2, r_267^0'=r_267^post2, a_168^0'=a_168^post2, t_23^0'=t_23^post2, __disjvr_16^0'=__disjvr_16^post2, r_229^0'=r_229^post2, __disjvr_3^0'=__disjvr_3^post2, y_285^0'=y_285^post2, rcd_243^0'=rcd_243^post2, i_114^0'=i_114^post2, x_21^0'=x_21^post2, __disjvr_20^0'=__disjvr_20^post2, r_253^0'=r_253^post2, __disjvr_8^0'=__disjvr_8^post2, rcd_99^0'=rcd_99^post2, __disjvr_13^0'=__disjvr_13^post2, length_25^0'=length_25^post2, __disjvr_23^0'=__disjvr_23^post2, y_241^0'=y_241^post2, rcd_107^0'=rcd_107^post2, a_271^0'=a_271^post2, temp0_18^0'=temp0_18^post2, temp_32^0'=temp_32^post2, __disjvr_18^0'=__disjvr_18^post2, r_240^0'=r_240^post2, __disjvr_5^0'=__disjvr_5^post2, y_295^0'=y_295^post2, rcd_268^0'=rcd_268^post2, __disjvr_10^0'=__disjvr_10^post2, len_200^0'=len_200^post2, y_191^0'=y_191^post2, __disjvr_22^0'=__disjvr_22^post2, a_143^0'=a_143^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post2, __disjvr_15^0'=__disjvr_15^post2, r_183^0'=r_183^post2, __disjvr_2^0'=__disjvr_2^post2, y_269^0'=y_269^post2, rcd_239^0'=rcd_239^post2, head_29^0'=head_29^post2, i_105^0'=i_105^post2, w_20^0'=w_20^post2, __disjvr_1^0'=__disjvr_1^post2, r_247^0'=r_247^post2, __disjvr_7^0'=__disjvr_7^post2, rcd_64^0'=rcd_64^post2, __disjvr_12^0'=__disjvr_12^post2, length_14^0'=length_14^post2, y_231^0'=y_231^post2, r_36^0'=r_36^post2, a_215^0'=a_215^post2, tail_15^0'=tail_15^post2, temp0_28^0'=temp0_28^post2, __disjvr_17^0'=__disjvr_17^post2, r_238^0'=r_238^post2, __disjvr_4^0'=__disjvr_4^post2, y_290^0'=y_290^post2, rcd_248^0'=rcd_248^post2, (rcd_230^0-rcd_230^post2 == 0 /\ -a_143^post2+a_143^0 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ -x_21^post2+x_21^0 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ -temp0_28^post2+temp0_28^0 == 0 /\ -a_215^post2+a_215^0 == 0 /\ -__disjvr_1^post2+__disjvr_1^0 == 0 /\ -temp0_18^post2+temp0_18^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ __disjvr_14^0-__disjvr_14^post2 == 0 /\ r_267^0-r_267^post2 == 0 /\ __disjvr_6^0-__disjvr_6^post2 == 0 /\ -y_295^post2+y_295^0 == 0 /\ len_270^0-len_270^post2 == 0 /\ __disjvr_18^0-__disjvr_18^post2 == 0 /\ -y_269^post2+y_269^0 == 0 /\ y_285^0-y_285^post2 == 0 /\ r_253^0-r_253^post2 == 0 /\ __disjvr_13^0-__disjvr_13^post2 == 0 /\ -r_247^post2+r_247^0 == 0 /\ t_23^0-t_23^post2 == 0 /\ -temp_32^post2+temp_32^0 == 0 /\ __disjvr_16^0-__disjvr_16^post2 == 0 /\ __disjvr_24^0-__disjvr_24^post2 == 0 /\ rcd_99^0-rcd_99^post2 == 0 /\ y_162^0-y_162^post2 == 0 /\ -length_25^post2+length_25^0 == 0 /\ __disjvr_1^post2-__disjvr_1^0 == 0 /\ -length_14^post2+length_14^0 == 0 /\ __disjvr_19^0-__disjvr_19^post2 == 0 /\ -y_347^post2+y_347^0 == 0 /\ -r_36^post2+r_36^0 == 0 /\ -y_290^post2+y_290^0 == 0 /\ __disjvr_11^0-__disjvr_11^post2 == 0 /\ rcd_243^0-rcd_243^post2 == 0 /\ -head_29^post2+head_29^0 == 0 /\ -y_261^post2+y_261^0 == 0 /\ y_22^0-y_22^post2 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ len_200^0-len_200^post2 == 0 /\ -rcd_248^post2+rcd_248^0 == 0 /\ -__disjvr_9^post2+__disjvr_9^0 == 0 /\ rcd_40^0-rcd_40^post2 == 0 /\ a_168^0-a_168^post2 == 0 /\ z_19^0-z_19^post2 == 0 /\ -__disjvr_22^post2+__disjvr_22^0 == 0 /\ -r_238^post2+r_238^0 == 0 /\ -__disjvr_15^post2+__disjvr_15^0 == 0 /\ r_229^0-r_229^post2 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post2 == 0 /\ -rcd_107^post2+rcd_107^0 == 0 /\ tail_15^0-tail_15^post2 == 0 /\ -rcd_239^post2+rcd_239^0 == 0 /\ -i_105^post2+i_105^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -__disjvr_7^post2+__disjvr_7^0 == 0 /\ y_231^0-y_231^post2 == 0 /\ rcd_268^0-rcd_268^post2 == 0 /\ y_241^0-y_241^post2 == 0 /\ -__disjvr_5^post2+__disjvr_5^0 == 0 /\ -__disjvr_4^post2+__disjvr_4^0 == 0 /\ r_183^0-r_183^post2 == 0 /\ -__disjvr_20^post2+__disjvr_20^0 == 0 /\ tmp_31^0-tmp_31^post2 == 0 /\ head_13^0-head_13^post2 == 0 /\ i_114^0-i_114^post2 == 0 /\ -__disjvr_17^post2+__disjvr_17^0 == 0 /\ r_242^0-r_242^post2 == 0 /\ -__disjvr_3^post2+__disjvr_3^0 == 0 /\ -w_20^post2+w_20^0 == 0 /\ r_154^0-r_154^post2 == 0 /\ -rcd_64^post2+rcd_64^0 == 0 /\ a_271^0-a_271^post2 == 0 /\ -__disjvr_2^post2+__disjvr_2^0 == 0 /\ result_11^0-result_11^post2 == 0 /\ __disjvr_23^0-__disjvr_23^post2 == 0 /\ i_27^0-i_27^post2 == 0 /\ -__disjvr_10^post2+__disjvr_10^0 == 0 /\ -y_191^post2+y_191^0 == 0 /\ -r_240^post2+r_240^0 == 0), cost: 1
   3: l4 -> l1 : __disjvr_0^0'=__disjvr_0^post3, i_27^0'=i_27^post3, y_162^0'=y_162^post3, __disjvr_21^0'=__disjvr_21^post3, z_19^0'=z_19^post3, __disjvr_9^0'=__disjvr_9^post3, result_11^0'=result_11^post3, __disjvr_14^0'=__disjvr_14^post3, r_154^0'=r_154^post3, __disjvr_24^0'=__disjvr_24^post3, y_261^0'=y_261^post3, rcd_230^0'=rcd_230^post3, head_13^0'=head_13^post3, head_SLAM_f_26^0'=head_SLAM_f_26^post3, tmp_31^0'=tmp_31^post3, __disjvr_19^0'=__disjvr_19^post3, r_242^0'=r_242^post3, __disjvr_6^0'=__disjvr_6^post3, y_347^0'=y_347^post3, rcd_40^0'=rcd_40^post3, __disjvr_11^0'=__disjvr_11^post3, len_270^0'=len_270^post3, y_22^0'=y_22^post3, r_267^0'=r_267^post3, a_168^0'=a_168^post3, t_23^0'=t_23^post3, __disjvr_16^0'=__disjvr_16^post3, r_229^0'=r_229^post3, __disjvr_3^0'=__disjvr_3^post3, y_285^0'=y_285^post3, rcd_243^0'=rcd_243^post3, i_114^0'=i_114^post3, x_21^0'=x_21^post3, __disjvr_20^0'=__disjvr_20^post3, r_253^0'=r_253^post3, __disjvr_8^0'=__disjvr_8^post3, rcd_99^0'=rcd_99^post3, __disjvr_13^0'=__disjvr_13^post3, length_25^0'=length_25^post3, __disjvr_23^0'=__disjvr_23^post3, y_241^0'=y_241^post3, rcd_107^0'=rcd_107^post3, a_271^0'=a_271^post3, temp0_18^0'=temp0_18^post3, temp_32^0'=temp_32^post3, __disjvr_18^0'=__disjvr_18^post3, r_240^0'=r_240^post3, __disjvr_5^0'=__disjvr_5^post3, y_295^0'=y_295^post3, rcd_268^0'=rcd_268^post3, __disjvr_10^0'=__disjvr_10^post3, len_200^0'=len_200^post3, y_191^0'=y_191^post3, __disjvr_22^0'=__disjvr_22^post3, a_143^0'=a_143^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post3, __disjvr_15^0'=__disjvr_15^post3, r_183^0'=r_183^post3, __disjvr_2^0'=__disjvr_2^post3, y_269^0'=y_269^post3, rcd_239^0'=rcd_239^post3, head_29^0'=head_29^post3, i_105^0'=i_105^post3, w_20^0'=w_20^post3, __disjvr_1^0'=__disjvr_1^post3, r_247^0'=r_247^post3, __disjvr_7^0'=__disjvr_7^post3, rcd_64^0'=rcd_64^post3, __disjvr_12^0'=__disjvr_12^post3, length_14^0'=length_14^post3, y_231^0'=y_231^post3, r_36^0'=r_36^post3, a_215^0'=a_215^post3, tail_15^0'=tail_15^post3, temp0_28^0'=temp0_28^post3, __disjvr_17^0'=__disjvr_17^post3, r_238^0'=r_238^post3, __disjvr_4^0'=__disjvr_4^post3, y_290^0'=y_290^post3, rcd_248^0'=rcd_248^post3, (rcd_230^0-rcd_230^post3 == 0 /\ -len_200^post3+len_200^0 == 0 /\ -t_23^post3+t_23^0 == 0 /\ rcd_40^0-rcd_40^post3 == 0 /\ i_27^0-i_27^post3 == 0 /\ a_168^0-a_168^post3 == 0 /\ r_242^0-r_242^post3 == 0 /\ __disjvr_11^0-__disjvr_11^post3 == 0 /\ y_22^0-y_22^post3 == 0 /\ -r_229^post3+r_229^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post3 == 0 /\ -r_247^post3+r_247^0 == 0 /\ -__disjvr_17^post3+__disjvr_17^0 == 0 /\ __disjvr_10^0-__disjvr_10^post3 == 0 /\ -a_143^post3+a_143^0 == 0 /\ temp_32^0-temp_32^post3 == 0 /\ -__disjvr_13^post3+__disjvr_13^0 == 0 /\ __disjvr_14^0-__disjvr_14^post3 == 0 /\ -temp0_18^post3+temp0_18^0 == 0 /\ -a_215^post3+a_215^0 == 0 /\ -r_267^post3+r_267^0 == 0 /\ -length_14^post3+length_14^0 == 0 /\ i_105^0-i_105^post3 == 0 /\ __disjvr_24^0-__disjvr_24^post3 == 0 /\ __disjvr_16^0-__disjvr_16^post3 == 0 /\ -r_183^post3+r_183^0 == 0 /\ __disjvr_0^0-__disjvr_0^post3 == 0 /\ r_154^0-r_154^post3 == 0 /\ rcd_243^0-rcd_243^post3 == 0 /\ -rcd_107^post3+rcd_107^0 == 0 /\ -__disjvr_8^post3+__disjvr_8^0 == 0 /\ y_295^0-y_295^post3 == 0 /\ __disjvr_7^0-__disjvr_7^post3 == 0 /\ i_114^0-i_114^post3 == 0 /\ rcd_99^0-rcd_99^post3 == 0 /\ y_162^0-y_162^post3 == 0 /\ -temp0_28^post3+temp0_28^0 == 0 /\ r_240^0-r_240^post3 == 0 /\ -head_29^post3+head_29^0 == 0 /\ __disjvr_2^0-__disjvr_2^post3 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post3 == 0 /\ 2-length_14^0 <= 0 /\ -__disjvr_15^post3+__disjvr_15^0 == 0 /\ -w_20^post3+w_20^0 == 0 /\ -r_36^post3+r_36^0 == 0 /\ -rcd_248^post3+rcd_248^0 == 0 /\ rcd_239^0-rcd_239^post3 == 0 /\ -__disjvr_3^post3+__disjvr_3^0 == 0 /\ -__disjvr_22^post3+__disjvr_22^0 == 0 /\ y_285^0-y_285^post3 == 0 /\ z_19^0-z_19^post3 == 0 /\ tmp_31^0-tmp_31^post3 == 0 /\ r_253^0-r_253^post3 == 0 /\ -y_290^post3+y_290^0 == 0 /\ -__disjvr_5^post3+__disjvr_5^0 == 0 /\ -a_271^post3+a_271^0 == 0 /\ -__disjvr_18^post3+__disjvr_18^0 == 0 /\ -len_270^post3+len_270^0 == 0 /\ __disjvr_6^0-__disjvr_6^post3 == 0 /\ __disjvr_9^0-__disjvr_9^post3 == 0 /\ -tail_15^post3+tail_15^0 == 0 /\ __disjvr_19^0-__disjvr_19^post3 == 0 /\ -__disjvr_1^post3+__disjvr_1^0 == 0 /\ -rcd_64^post3+rcd_64^0 == 0 /\ __disjvr_23^0-__disjvr_23^post3 == 0 /\ -__disjvr_4^post3+__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post3 == 0 /\ length_25^0-length_25^post3 == 0 /\ -y_241^post3+y_241^0 == 0 /\ y_347^0-y_347^post3 == 0 /\ y_261^0-y_261^post3 == 0 /\ -head_13^post3+head_13^0 == 0 /\ x_21^0-x_21^post3 == 0 /\ -rcd_268^post3+rcd_268^0 == 0 /\ -r_238^post3+r_238^0 == 0 /\ -y_231^post3+y_231^0 == 0 /\ 1-length_14^0 <= 0 /\ result_11^0-result_11^post3 == 0 /\ y_191^0-y_191^post3 == 0 /\ y_269^0-y_269^post3 == 0 /\ -__disjvr_12^post3+__disjvr_12^0 == 0 /\ -__disjvr_20^post3+__disjvr_20^0 == 0), cost: 1
   5: l6 -> l7 : __disjvr_0^0'=__disjvr_0^post5, i_27^0'=i_27^post5, y_162^0'=y_162^post5, __disjvr_21^0'=__disjvr_21^post5, z_19^0'=z_19^post5, __disjvr_9^0'=__disjvr_9^post5, result_11^0'=result_11^post5, __disjvr_14^0'=__disjvr_14^post5, r_154^0'=r_154^post5, __disjvr_24^0'=__disjvr_24^post5, y_261^0'=y_261^post5, rcd_230^0'=rcd_230^post5, head_13^0'=head_13^post5, head_SLAM_f_26^0'=head_SLAM_f_26^post5, tmp_31^0'=tmp_31^post5, __disjvr_19^0'=__disjvr_19^post5, r_242^0'=r_242^post5, __disjvr_6^0'=__disjvr_6^post5, y_347^0'=y_347^post5, rcd_40^0'=rcd_40^post5, __disjvr_11^0'=__disjvr_11^post5, len_270^0'=len_270^post5, y_22^0'=y_22^post5, r_267^0'=r_267^post5, a_168^0'=a_168^post5, t_23^0'=t_23^post5, __disjvr_16^0'=__disjvr_16^post5, r_229^0'=r_229^post5, __disjvr_3^0'=__disjvr_3^post5, y_285^0'=y_285^post5, rcd_243^0'=rcd_243^post5, i_114^0'=i_114^post5, x_21^0'=x_21^post5, __disjvr_20^0'=__disjvr_20^post5, r_253^0'=r_253^post5, __disjvr_8^0'=__disjvr_8^post5, rcd_99^0'=rcd_99^post5, __disjvr_13^0'=__disjvr_13^post5, length_25^0'=length_25^post5, __disjvr_23^0'=__disjvr_23^post5, y_241^0'=y_241^post5, rcd_107^0'=rcd_107^post5, a_271^0'=a_271^post5, temp0_18^0'=temp0_18^post5, temp_32^0'=temp_32^post5, __disjvr_18^0'=__disjvr_18^post5, r_240^0'=r_240^post5, __disjvr_5^0'=__disjvr_5^post5, y_295^0'=y_295^post5, rcd_268^0'=rcd_268^post5, __disjvr_10^0'=__disjvr_10^post5, len_200^0'=len_200^post5, y_191^0'=y_191^post5, __disjvr_22^0'=__disjvr_22^post5, a_143^0'=a_143^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post5, __disjvr_15^0'=__disjvr_15^post5, r_183^0'=r_183^post5, __disjvr_2^0'=__disjvr_2^post5, y_269^0'=y_269^post5, rcd_239^0'=rcd_239^post5, head_29^0'=head_29^post5, i_105^0'=i_105^post5, w_20^0'=w_20^post5, __disjvr_1^0'=__disjvr_1^post5, r_247^0'=r_247^post5, __disjvr_7^0'=__disjvr_7^post5, rcd_64^0'=rcd_64^post5, __disjvr_12^0'=__disjvr_12^post5, length_14^0'=length_14^post5, y_231^0'=y_231^post5, r_36^0'=r_36^post5, a_215^0'=a_215^post5, tail_15^0'=tail_15^post5, temp0_28^0'=temp0_28^post5, __disjvr_17^0'=__disjvr_17^post5, r_238^0'=r_238^post5, __disjvr_4^0'=__disjvr_4^post5, y_290^0'=y_290^post5, rcd_248^0'=rcd_248^post5, (i_114^0-i_114^post5 == 0 /\ result_11^0-result_11^post5 == 0 /\ r_253^0-r_253^post5 == 0 /\ -i_105^post5+i_105^0 == 0 /\ -rcd_107^post5+rcd_107^0 == 0 /\ y_162^0-y_162^post5 == 0 /\ -length_14^post5+length_14^0 == 0 /\ z_19^0-z_19^post5 == 0 /\ -__disjvr_17^post5+__disjvr_17^0 == 0 /\ -__disjvr_20^post5+__disjvr_20^0 == 0 /\ y_285^0-y_285^post5 == 0 /\ -__disjvr_23^post5+__disjvr_23^0 == 0 /\ __disjvr_13^0-__disjvr_13^post5 == 0 /\ -y_191^post5+y_191^0 == 0 /\ -y_231^post5+y_231^0 == 0 /\ head_13^0-head_13^post5 == 0 /\ -rcd_248^post5+rcd_248^0 == 0 /\ tmp_31^0-tmp_31^post5 == 0 /\ -y_347^post5+y_347^0 == 0 /\ __disjvr_3^0-__disjvr_3^post5 == 0 /\ -a_143^post5+a_143^0 == 0 /\ -__disjvr_8^post5+__disjvr_8^0 == 0 /\ r_229^0-r_229^post5 == 0 /\ __disjvr_21^0-__disjvr_21^post5 == 0 /\ -x_21^post5+x_21^0 == 0 /\ len_270^0-len_270^post5 == 0 /\ __disjvr_19^0-__disjvr_19^post5 == 0 /\ head_29^0-head_29^post5 == 0 /\ -temp0_28^post5+temp0_28^0 == 0 /\ __disjvr_18^0-__disjvr_18^post5 == 0 /\ -len_200^post5+len_200^0 == 0 /\ -a_215^post5+a_215^0 == 0 /\ __disjvr_11^0-__disjvr_11^post5 == 0 /\ -a_168^post5+a_168^0 == 0 /\ -__disjvr_4^post5+__disjvr_4^0 == 0 /\ w_20^0-w_20^post5 == 0 /\ y_261^0-y_261^post5 == 0 /\ r_267^0-r_267^post5 == 0 /\ rcd_40^0-rcd_40^post5 == 0 /\ -__disjvr_7^post5+__disjvr_7^0 == 0 /\ -__disjvr_16^post5+__disjvr_16^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post5 == 0 /\ rcd_99^0-rcd_99^post5 == 0 /\ -__disjvr_10^post5+__disjvr_10^0 == 0 /\ -length_25^post5+length_25^0 == 0 /\ r_242^0-r_242^post5 == 0 /\ temp_32^0-temp_32^post5 == 0 /\ r_36^0-r_36^post5 == 0 /\ y_241^0-y_241^post5 == 0 /\ -__disjvr_5^post5+__disjvr_5^0 == 0 /\ -y_290^post5+y_290^0 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ i_27^0-i_27^post5 == 0 /\ y_22^0-y_22^post5 == 0 /\ -r_240^post5+r_240^0 == 0 /\ -__disjvr_1^post5+__disjvr_1^0 == 0 /\ -rcd_64^post5+rcd_64^0 == 0 /\ -__disjvr_2^0+__disjvr_2^post5 == 0 /\ t_23^0-t_23^post5 == 0 /\ __disjvr_9^0-__disjvr_9^post5 == 0 /\ -__disjvr_14^post5+__disjvr_14^0 == 0 /\ a_271^0-a_271^post5 == 0 /\ -y_269^post5+y_269^0 == 0 /\ -rcd_268^post5+rcd_268^0 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ __disjvr_15^0-__disjvr_15^post5 == 0 /\ r_154^0-r_154^post5 == 0 /\ __disjvr_22^0-__disjvr_22^post5 == 0 /\ -r_238^post5+r_238^0 == 0 /\ rcd_230^0-rcd_230^post5 == 0 /\ -__disjvr_24^post5+__disjvr_24^0 == 0 /\ -r_247^post5+r_247^0 == 0 /\ -temp0_18^post5+temp0_18^0 == 0 /\ -rcd_239^post5+rcd_239^0 == 0 /\ -y_295^post5+y_295^0 == 0 /\ -tail_15^post5+tail_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post5 == 0 /\ -r_183^post5+r_183^0 == 0 /\ rcd_243^0-rcd_243^post5 == 0 /\ __disjvr_2^0-__disjvr_2^post5 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post5+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0), cost: 1
   6: l7 -> l8 : __disjvr_0^0'=__disjvr_0^post6, i_27^0'=i_27^post6, y_162^0'=y_162^post6, __disjvr_21^0'=__disjvr_21^post6, z_19^0'=z_19^post6, __disjvr_9^0'=__disjvr_9^post6, result_11^0'=result_11^post6, __disjvr_14^0'=__disjvr_14^post6, r_154^0'=r_154^post6, __disjvr_24^0'=__disjvr_24^post6, y_261^0'=y_261^post6, rcd_230^0'=rcd_230^post6, head_13^0'=head_13^post6, head_SLAM_f_26^0'=head_SLAM_f_26^post6, tmp_31^0'=tmp_31^post6, __disjvr_19^0'=__disjvr_19^post6, r_242^0'=r_242^post6, __disjvr_6^0'=__disjvr_6^post6, y_347^0'=y_347^post6, rcd_40^0'=rcd_40^post6, __disjvr_11^0'=__disjvr_11^post6, len_270^0'=len_270^post6, y_22^0'=y_22^post6, r_267^0'=r_267^post6, a_168^0'=a_168^post6, t_23^0'=t_23^post6, __disjvr_16^0'=__disjvr_16^post6, r_229^0'=r_229^post6, __disjvr_3^0'=__disjvr_3^post6, y_285^0'=y_285^post6, rcd_243^0'=rcd_243^post6, i_114^0'=i_114^post6, x_21^0'=x_21^post6, __disjvr_20^0'=__disjvr_20^post6, r_253^0'=r_253^post6, __disjvr_8^0'=__disjvr_8^post6, rcd_99^0'=rcd_99^post6, __disjvr_13^0'=__disjvr_13^post6, length_25^0'=length_25^post6, __disjvr_23^0'=__disjvr_23^post6, y_241^0'=y_241^post6, rcd_107^0'=rcd_107^post6, a_271^0'=a_271^post6, temp0_18^0'=temp0_18^post6, temp_32^0'=temp_32^post6, __disjvr_18^0'=__disjvr_18^post6, r_240^0'=r_240^post6, __disjvr_5^0'=__disjvr_5^post6, y_295^0'=y_295^post6, rcd_268^0'=rcd_268^post6, __disjvr_10^0'=__disjvr_10^post6, len_200^0'=len_200^post6, y_191^0'=y_191^post6, __disjvr_22^0'=__disjvr_22^post6, a_143^0'=a_143^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post6, __disjvr_15^0'=__disjvr_15^post6, r_183^0'=r_183^post6, __disjvr_2^0'=__disjvr_2^post6, y_269^0'=y_269^post6, rcd_239^0'=rcd_239^post6, head_29^0'=head_29^post6, i_105^0'=i_105^post6, w_20^0'=w_20^post6, __disjvr_1^0'=__disjvr_1^post6, r_247^0'=r_247^post6, __disjvr_7^0'=__disjvr_7^post6, rcd_64^0'=rcd_64^post6, __disjvr_12^0'=__disjvr_12^post6, length_14^0'=length_14^post6, y_231^0'=y_231^post6, r_36^0'=r_36^post6, a_215^0'=a_215^post6, tail_15^0'=tail_15^post6, temp0_28^0'=temp0_28^post6, __disjvr_17^0'=__disjvr_17^post6, r_238^0'=r_238^post6, __disjvr_4^0'=__disjvr_4^post6, y_290^0'=y_290^post6, rcd_248^0'=rcd_248^post6, (0 == 0 /\ rcd_40^0-rcd_268^post6 <= 0 /\ -i_105^post6+i_105^0 == 0 /\ __disjvr_13^0-__disjvr_13^post6 == 0 /\ __disjvr_24^0-__disjvr_24^post6 == 0 /\ __disjvr_16^0-__disjvr_16^post6 == 0 /\ -head_29^post6+head_29^0 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ rcd_99^0-rcd_99^post6 == 0 /\ __disjvr_9^0-__disjvr_9^post6 == 0 /\ -length_14^post6+length_14^0 == 0 /\ -rcd_248^post6+rcd_248^0 == 0 /\ w_20^0-tail_15^0 <= 0 /\ -__disjvr_22^post6+__disjvr_22^0 == 0 /\ t_23^post6-y_22^post6 <= 0 /\ -rcd_239^post6+rcd_239^0 == 0 /\ -y_231^post6+y_231^0 == 0 /\ i_114^0-i_114^post6 == 0 /\ head_13^0-head_13^post6 == 0 /\ -tail_15^post6+tail_15^0 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ i_27^0-i_27^post6 == 0 /\ -r_238^post6+r_238^0 == 0 /\ r_267^post6-r_36^0 <= 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ -temp_32^post6+temp_32^0 == 0 /\ -rcd_107^post6+rcd_107^0 == 0 /\ -rcd_40^0+rcd_268^post6 <= 0 /\ y_261^0-y_261^post6 == 0 /\ __disjvr_12^0-__disjvr_12^post6 == 0 /\ r_247^0-r_247^post6 == 0 /\ rcd_243^0-rcd_243^post6 == 0 /\ -1+len_270^post6-len_200^0 <= 0 /\ -y_191^post6+y_191^0 == 0 /\ -__disjvr_4^post6+__disjvr_4^0 == 0 /\ r_229^0-r_229^post6 == 0 /\ -__disjvr_20^post6+__disjvr_20^0 == 0 /\ -w_20^0+tail_15^0 <= 0 /\ -t_23^post6+y_22^post6 <= 0 /\ -t_23^post6+y_22^post6 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ -tmp_31^post6+tmp_31^0 == 0 /\ -__disjvr_10^post6+__disjvr_10^0 == 0 /\ -__disjvr_3^post6+__disjvr_3^0 == 0 /\ -1-a_271^post6+a_215^0 <= 0 /\ r_253^0-r_253^post6 == 0 /\ -w_20^post6+w_20^0 == 0 /\ -a_143^post6+a_143^0 == 0 /\ -r_267^post6+r_36^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ -y_241^post6+y_241^0 == 0 /\ __disjvr_11^0-__disjvr_11^post6 == 0 /\ -rcd_64^post6+rcd_64^0 == 0 /\ rcd_40^0-rcd_40^post6 == 0 /\ -r_240^post6+r_240^0 == 0 /\ -y_162^0+y_269^post6 <= 0 /\ -y_347^post6+y_347^0 == 0 /\ -temp0_18^post6+temp0_18^0 == 0 /\ r_183^0-r_183^post6 == 0 /\ z_19^0-head_13^0 <= 0 /\ y_162^0-y_162^post6 == 0 /\ -a_215^post6+a_215^0 == 0 /\ r_242^0-r_242^post6 == 0 /\ r_36^0-r_36^post6 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ -rcd_230^post6+rcd_230^0 == 0 /\ x_21^0-x_21^post6 == 0 /\ r_154^0-r_154^post6 == 0 /\ -temp0_28^post6+temp0_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post6 == 0 /\ __disjvr_23^0-__disjvr_23^post6 == 0 /\ result_11^0-result_11^post6 == 0 /\ -y_295^post6+y_295^0 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0 /\ y_162^0-y_269^post6 <= 0 /\ 1-len_270^post6+len_200^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ -length_25^post6+length_25^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post6 == 0 /\ len_200^0-len_200^post6 == 0 /\ -z_19^0+head_13^0 <= 0 /\ __disjvr_2^0-__disjvr_2^post6 == 0 /\ __disjvr_8^0-__disjvr_8^post6 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post6 == 0 /\ 1+a_271^post6-a_215^0 <= 0 /\ z_19^0-z_19^post6 == 0 /\ a_168^0-a_168^post6 == 0 /\ __disjvr_6^0-__disjvr_6^post6 == 0 /\ -y_290^post6+y_290^0 == 0 /\ t_23^post6-x_21^0 == 0 /\ y_285^0-y_285^post6 == 0), cost: 1
   7: l8 -> l9 : __disjvr_0^0'=__disjvr_0^post7, i_27^0'=i_27^post7, y_162^0'=y_162^post7, __disjvr_21^0'=__disjvr_21^post7, z_19^0'=z_19^post7, __disjvr_9^0'=__disjvr_9^post7, result_11^0'=result_11^post7, __disjvr_14^0'=__disjvr_14^post7, r_154^0'=r_154^post7, __disjvr_24^0'=__disjvr_24^post7, y_261^0'=y_261^post7, rcd_230^0'=rcd_230^post7, head_13^0'=head_13^post7, head_SLAM_f_26^0'=head_SLAM_f_26^post7, tmp_31^0'=tmp_31^post7, __disjvr_19^0'=__disjvr_19^post7, r_242^0'=r_242^post7, __disjvr_6^0'=__disjvr_6^post7, y_347^0'=y_347^post7, rcd_40^0'=rcd_40^post7, __disjvr_11^0'=__disjvr_11^post7, len_270^0'=len_270^post7, y_22^0'=y_22^post7, r_267^0'=r_267^post7, a_168^0'=a_168^post7, t_23^0'=t_23^post7, __disjvr_16^0'=__disjvr_16^post7, r_229^0'=r_229^post7, __disjvr_3^0'=__disjvr_3^post7, y_285^0'=y_285^post7, rcd_243^0'=rcd_243^post7, i_114^0'=i_114^post7, x_21^0'=x_21^post7, __disjvr_20^0'=__disjvr_20^post7, r_253^0'=r_253^post7, __disjvr_8^0'=__disjvr_8^post7, rcd_99^0'=rcd_99^post7, __disjvr_13^0'=__disjvr_13^post7, length_25^0'=length_25^post7, __disjvr_23^0'=__disjvr_23^post7, y_241^0'=y_241^post7, rcd_107^0'=rcd_107^post7, a_271^0'=a_271^post7, temp0_18^0'=temp0_18^post7, temp_32^0'=temp_32^post7, __disjvr_18^0'=__disjvr_18^post7, r_240^0'=r_240^post7, __disjvr_5^0'=__disjvr_5^post7, y_295^0'=y_295^post7, rcd_268^0'=rcd_268^post7, __disjvr_10^0'=__disjvr_10^post7, len_200^0'=len_200^post7, y_191^0'=y_191^post7, __disjvr_22^0'=__disjvr_22^post7, a_143^0'=a_143^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post7, __disjvr_15^0'=__disjvr_15^post7, r_183^0'=r_183^post7, __disjvr_2^0'=__disjvr_2^post7, y_269^0'=y_269^post7, rcd_239^0'=rcd_239^post7, head_29^0'=head_29^post7, i_105^0'=i_105^post7, w_20^0'=w_20^post7, __disjvr_1^0'=__disjvr_1^post7, r_247^0'=r_247^post7, __disjvr_7^0'=__disjvr_7^post7, rcd_64^0'=rcd_64^post7, __disjvr_12^0'=__disjvr_12^post7, length_14^0'=length_14^post7, y_231^0'=y_231^post7, r_36^0'=r_36^post7, a_215^0'=a_215^post7, tail_15^0'=tail_15^post7, temp0_28^0'=temp0_28^post7, __disjvr_17^0'=__disjvr_17^post7, r_238^0'=r_238^post7, __disjvr_4^0'=__disjvr_4^post7, y_290^0'=y_290^post7, rcd_248^0'=rcd_248^post7, (y_241^0-y_241^post7 == 0 /\ t_23^0-t_23^post7 == 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ __disjvr_9^0-__disjvr_9^post7 == 0 /\ r_267^0-r_267^post7 == 0 /\ -head_29^post7+head_29^0 == 0 /\ __disjvr_16^0-__disjvr_16^post7 == 0 /\ temp_32^0-temp_32^post7 == 0 /\ -rcd_248^post7+rcd_248^0 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ -__disjvr_15^post7+__disjvr_15^0 == 0 /\ __disjvr_3^post7-__disjvr_3^0 == 0 /\ y_191^0-y_191^post7 == 0 /\ x_21^0-x_21^post7 == 0 /\ -i_105^post7+i_105^0 == 0 /\ r_154^0-r_154^post7 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0 /\ rcd_99^0-rcd_99^post7 == 0 /\ -a_271^post7+a_271^0 == 0 /\ -y_290^post7+y_290^0 == 0 /\ y_295^0-y_295^post7 == 0 /\ -len_270^post7+len_270^0 == 0 /\ -r_253^post7+r_253^0 == 0 /\ -rcd_239^post7+rcd_239^0 == 0 /\ rcd_230^0-rcd_230^post7 == 0 /\ -__disjvr_19^post7+__disjvr_19^0 == 0 /\ -__disjvr_1^post7+__disjvr_1^0 == 0 /\ -__disjvr_18^post7+__disjvr_18^0 == 0 /\ -tail_15^post7+tail_15^0 == 0 /\ i_27^0-i_27^post7 == 0 /\ -__disjvr_6^post7+__disjvr_6^0 == 0 /\ -__disjvr_2^post7+__disjvr_2^0 == 0 /\ -y_231^post7+y_231^0 == 0 /\ -__disjvr_4^post7+__disjvr_4^0 == 0 /\ y_22^0-y_22^post7 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post7 == 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ a_168^0-a_168^post7 == 0 /\ -rcd_64^post7+rcd_64^0 == 0 /\ rcd_243^0-rcd_243^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post7 == 0 /\ -__disjvr_13^post7+__disjvr_13^0 == 0 /\ -__disjvr_3^post7+__disjvr_3^0 == 0 /\ -rcd_268^post7+rcd_268^0 == 0 /\ -__disjvr_20^post7+__disjvr_20^0 == 0 /\ y_285^0-y_285^post7 == 0 /\ -r_238^post7+r_238^0 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ -w_20^post7+w_20^0 == 0 /\ -len_200^post7+len_200^0 == 0 /\ -r_240^post7+r_240^0 == 0 /\ -a_143^post7+a_143^0 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ __disjvr_23^0-__disjvr_23^post7 == 0 /\ y_162^0-y_162^post7 == 0 /\ -result_11^post7+result_11^0 == 0 /\ -r_229^post7+r_229^0 == 0 /\ length_25^0-length_25^post7 == 0 /\ a_215^0-a_215^post7 == 0 /\ y_347^0-y_347^post7 == 0 /\ -r_247^post7+r_247^0 == 0 /\ -temp0_18^post7+temp0_18^0 == 0 /\ head_13^0-head_13^post7 == 0 /\ y_269^0-y_269^post7 == 0 /\ __disjvr_22^0-__disjvr_22^post7 == 0 /\ __disjvr_11^0-__disjvr_11^post7 == 0 /\ -r_183^post7+r_183^0 == 0 /\ r_242^0-r_242^post7 == 0 /\ y_261^0-y_261^post7 == 0 /\ __disjvr_17^0-__disjvr_17^post7 == 0 /\ tmp_31^0-tmp_31^post7 == 0 /\ z_19^0-z_19^post7 == 0 /\ __disjvr_14^0-__disjvr_14^post7 == 0 /\ __disjvr_10^0-__disjvr_10^post7 == 0 /\ rcd_40^0-rcd_40^post7 == 0 /\ -r_36^post7+r_36^0 == 0 /\ -temp0_28^post7+temp0_28^0 == 0 /\ -i_114^post7+i_114^0 == 0 /\ -length_14^post7+length_14^0 == 0 /\ __disjvr_8^0-__disjvr_8^post7 == 0 /\ -rcd_107^post7+rcd_107^0 == 0), cost: 1
   8: l9 -> l10 : __disjvr_0^0'=__disjvr_0^post8, i_27^0'=i_27^post8, y_162^0'=y_162^post8, __disjvr_21^0'=__disjvr_21^post8, z_19^0'=z_19^post8, __disjvr_9^0'=__disjvr_9^post8, result_11^0'=result_11^post8, __disjvr_14^0'=__disjvr_14^post8, r_154^0'=r_154^post8, __disjvr_24^0'=__disjvr_24^post8, y_261^0'=y_261^post8, rcd_230^0'=rcd_230^post8, head_13^0'=head_13^post8, head_SLAM_f_26^0'=head_SLAM_f_26^post8, tmp_31^0'=tmp_31^post8, __disjvr_19^0'=__disjvr_19^post8, r_242^0'=r_242^post8, __disjvr_6^0'=__disjvr_6^post8, y_347^0'=y_347^post8, rcd_40^0'=rcd_40^post8, __disjvr_11^0'=__disjvr_11^post8, len_270^0'=len_270^post8, y_22^0'=y_22^post8, r_267^0'=r_267^post8, a_168^0'=a_168^post8, t_23^0'=t_23^post8, __disjvr_16^0'=__disjvr_16^post8, r_229^0'=r_229^post8, __disjvr_3^0'=__disjvr_3^post8, y_285^0'=y_285^post8, rcd_243^0'=rcd_243^post8, i_114^0'=i_114^post8, x_21^0'=x_21^post8, __disjvr_20^0'=__disjvr_20^post8, r_253^0'=r_253^post8, __disjvr_8^0'=__disjvr_8^post8, rcd_99^0'=rcd_99^post8, __disjvr_13^0'=__disjvr_13^post8, length_25^0'=length_25^post8, __disjvr_23^0'=__disjvr_23^post8, y_241^0'=y_241^post8, rcd_107^0'=rcd_107^post8, a_271^0'=a_271^post8, temp0_18^0'=temp0_18^post8, temp_32^0'=temp_32^post8, __disjvr_18^0'=__disjvr_18^post8, r_240^0'=r_240^post8, __disjvr_5^0'=__disjvr_5^post8, y_295^0'=y_295^post8, rcd_268^0'=rcd_268^post8, __disjvr_10^0'=__disjvr_10^post8, len_200^0'=len_200^post8, y_191^0'=y_191^post8, __disjvr_22^0'=__disjvr_22^post8, a_143^0'=a_143^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post8, __disjvr_15^0'=__disjvr_15^post8, r_183^0'=r_183^post8, __disjvr_2^0'=__disjvr_2^post8, y_269^0'=y_269^post8, rcd_239^0'=rcd_239^post8, head_29^0'=head_29^post8, i_105^0'=i_105^post8, w_20^0'=w_20^post8, __disjvr_1^0'=__disjvr_1^post8, r_247^0'=r_247^post8, __disjvr_7^0'=__disjvr_7^post8, rcd_64^0'=rcd_64^post8, __disjvr_12^0'=__disjvr_12^post8, length_14^0'=length_14^post8, y_231^0'=y_231^post8, r_36^0'=r_36^post8, a_215^0'=a_215^post8, tail_15^0'=tail_15^post8, temp0_28^0'=temp0_28^post8, __disjvr_17^0'=__disjvr_17^post8, r_238^0'=r_238^post8, __disjvr_4^0'=__disjvr_4^post8, y_290^0'=y_290^post8, rcd_248^0'=rcd_248^post8, (-rcd_239^post8+rcd_239^0 == 0 /\ -r_183^post8+r_183^0 == 0 /\ -y_290^post8+y_290^0 == 0 /\ __disjvr_19^0-__disjvr_19^post8 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_3^0-__disjvr_3^post8 == 0 /\ -__disjvr_7^post8+__disjvr_7^0 == 0 /\ r_154^0-r_154^post8 == 0 /\ r_267^0-r_267^post8 == 0 /\ -head_29^post8+head_29^0 == 0 /\ __disjvr_22^0-__disjvr_22^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ -length_25^post8+length_25^0 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ -w_20^post8+w_20^0 == 0 /\ y_162^0-y_162^post8 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ -__disjvr_10^post8+__disjvr_10^0 == 0 /\ __disjvr_20^0-__disjvr_20^post8 == 0 /\ -tail_15^post8+tail_15^0 == 0 /\ -rcd_99^post8+rcd_99^0 == 0 /\ -__disjvr_16^post8+__disjvr_16^0 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ y_22^0-y_22^post8 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ -r_238^post8+r_238^0 == 0 /\ -rcd_64^post8+rcd_64^0 == 0 /\ -__disjvr_15^post8+__disjvr_15^0 == 0 /\ __disjvr_8^0-__disjvr_8^post8 == 0 /\ -r_240^post8+r_240^0 == 0 /\ -y_191^post8+y_191^0 == 0 /\ t_23^0-t_23^post8 == 0 /\ -rcd_243^post8+rcd_243^0 == 0 /\ -__disjvr_1^post8+__disjvr_1^0 == 0 /\ y_285^0-y_285^post8 == 0 /\ z_19^0-z_19^post8 == 0 /\ -rcd_248^post8+rcd_248^0 == 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ rcd_107^0-rcd_107^post8 == 0 /\ -y_231^post8+y_231^0 == 0 /\ __disjvr_13^0-__disjvr_13^post8 == 0 /\ -r_247^post8+r_247^0 == 0 /\ y_269^0-y_269^post8 == 0 /\ -a_143^post8+a_143^0 == 0 /\ -__disjvr_6^post8+__disjvr_6^0 == 0 /\ -__disjvr_24^post8+__disjvr_24^0 == 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ -y_295^post8+y_295^0 == 0 /\ -len_200^post8+len_200^0 == 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0 /\ -__disjvr_23^post8+__disjvr_23^0 == 0 /\ y_347^0-y_347^post8 == 0 /\ -x_21^post8+x_21^0 == 0 /\ -temp0_18^post8+temp0_18^0 == 0 /\ -__disjvr_4^0+__disjvr_4^post8 == 0 /\ y_241^0-y_241^post8 == 0 /\ -a_215^post8+a_215^0 == 0 /\ i_114^0-i_114^post8 == 0 /\ -length_14^post8+length_14^0 == 0 /\ -a_168^post8+a_168^0 == 0 /\ -head_SLAM_f_26^post8+head_SLAM_f_26^0 == 0 /\ head_13^0-head_13^post8 == 0 /\ rcd_40^0-rcd_40^post8 == 0 /\ -a_271^post8+a_271^0 == 0 /\ __disjvr_11^0-__disjvr_11^post8 == 0 /\ rcd_230^0-rcd_230^post8 == 0 /\ r_242^0-r_242^post8 == 0 /\ y_261^0-y_261^post8 == 0 /\ i_27^0-i_27^post8 == 0 /\ -r_36^post8+r_36^0 == 0 /\ temp_32^0-temp_32^post8 == 0 /\ tmp_31^0-tmp_31^post8 == 0 /\ r_229^0-r_229^post8 == 0 /\ len_270^0-len_270^post8 == 0 /\ -i_105^post8+i_105^0 == 0 /\ -temp0_28^post8+temp0_28^0 == 0 /\ r_253^0-r_253^post8 == 0 /\ __disjvr_4^0-__disjvr_4^post8 == 0 /\ rcd_268^0-rcd_268^post8 == 0), cost: 1
   9: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post9, i_27^0'=i_27^post9, y_162^0'=y_162^post9, __disjvr_21^0'=__disjvr_21^post9, z_19^0'=z_19^post9, __disjvr_9^0'=__disjvr_9^post9, result_11^0'=result_11^post9, __disjvr_14^0'=__disjvr_14^post9, r_154^0'=r_154^post9, __disjvr_24^0'=__disjvr_24^post9, y_261^0'=y_261^post9, rcd_230^0'=rcd_230^post9, head_13^0'=head_13^post9, head_SLAM_f_26^0'=head_SLAM_f_26^post9, tmp_31^0'=tmp_31^post9, __disjvr_19^0'=__disjvr_19^post9, r_242^0'=r_242^post9, __disjvr_6^0'=__disjvr_6^post9, y_347^0'=y_347^post9, rcd_40^0'=rcd_40^post9, __disjvr_11^0'=__disjvr_11^post9, len_270^0'=len_270^post9, y_22^0'=y_22^post9, r_267^0'=r_267^post9, a_168^0'=a_168^post9, t_23^0'=t_23^post9, __disjvr_16^0'=__disjvr_16^post9, r_229^0'=r_229^post9, __disjvr_3^0'=__disjvr_3^post9, y_285^0'=y_285^post9, rcd_243^0'=rcd_243^post9, i_114^0'=i_114^post9, x_21^0'=x_21^post9, __disjvr_20^0'=__disjvr_20^post9, r_253^0'=r_253^post9, __disjvr_8^0'=__disjvr_8^post9, rcd_99^0'=rcd_99^post9, __disjvr_13^0'=__disjvr_13^post9, length_25^0'=length_25^post9, __disjvr_23^0'=__disjvr_23^post9, y_241^0'=y_241^post9, rcd_107^0'=rcd_107^post9, a_271^0'=a_271^post9, temp0_18^0'=temp0_18^post9, temp_32^0'=temp_32^post9, __disjvr_18^0'=__disjvr_18^post9, r_240^0'=r_240^post9, __disjvr_5^0'=__disjvr_5^post9, y_295^0'=y_295^post9, rcd_268^0'=rcd_268^post9, __disjvr_10^0'=__disjvr_10^post9, len_200^0'=len_200^post9, y_191^0'=y_191^post9, __disjvr_22^0'=__disjvr_22^post9, a_143^0'=a_143^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9, __disjvr_15^0'=__disjvr_15^post9, r_183^0'=r_183^post9, __disjvr_2^0'=__disjvr_2^post9, y_269^0'=y_269^post9, rcd_239^0'=rcd_239^post9, head_29^0'=head_29^post9, i_105^0'=i_105^post9, w_20^0'=w_20^post9, __disjvr_1^0'=__disjvr_1^post9, r_247^0'=r_247^post9, __disjvr_7^0'=__disjvr_7^post9, rcd_64^0'=rcd_64^post9, __disjvr_12^0'=__disjvr_12^post9, length_14^0'=length_14^post9, y_231^0'=y_231^post9, r_36^0'=r_36^post9, a_215^0'=a_215^post9, tail_15^0'=tail_15^post9, temp0_28^0'=temp0_28^post9, __disjvr_17^0'=__disjvr_17^post9, r_238^0'=r_238^post9, __disjvr_4^0'=__disjvr_4^post9, y_290^0'=y_290^post9, rcd_248^0'=rcd_248^post9, (-__disjvr_12^post9+__disjvr_12^0 == 0 /\ -y_290^post9+y_290^0 == 0 /\ -length_25^post9+length_25^0 == 0 /\ -r_36^post9+r_36^0 == 0 /\ __disjvr_0^0-__disjvr_0^post9 == 0 /\ -__disjvr_10^post9+__disjvr_10^0 == 0 /\ -__disjvr_1^post9+__disjvr_1^0 == 0 /\ -__disjvr_16^post9+__disjvr_16^0 == 0 /\ __disjvr_18^0-__disjvr_18^post9 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ y_261^0-y_261^post9 == 0 /\ -r_240^post9+r_240^0 == 0 /\ -y_269^post9+y_269^0 == 0 /\ a_168^0-a_168^post9 == 0 /\ y_162^0-y_162^post9 == 0 /\ -__disjvr_3^post9+__disjvr_3^0 == 0 /\ -rcd_64^post9+rcd_64^0 == 0 /\ -rcd_268^post9+rcd_268^0 == 0 /\ r_253^0-r_253^post9 == 0 /\ -rcd_239^post9+rcd_239^0 == 0 /\ z_19^0-z_19^post9 == 0 /\ i_114^0-i_114^post9 == 0 /\ r_242^0-r_242^post9 == 0 /\ -temp0_18^post9+temp0_18^0 == 0 /\ __disjvr_14^0-__disjvr_14^post9 == 0 /\ head_13^0-head_13^post9 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ length_14^0-length_14^post9 == 0 /\ __disjvr_7^0-__disjvr_7^post9 == 0 /\ -r_238^post9+r_238^0 == 0 /\ -r_183^post9+r_183^0 == 0 /\ __disjvr_5^post9-__disjvr_5^0 == 0 /\ -y_295^post9+y_295^0 == 0 /\ -tail_15^post9+tail_15^0 == 0 /\ -r_247^post9+r_247^0 == 0 /\ -__disjvr_22^post9+__disjvr_22^0 == 0 /\ r_229^0-r_229^post9 == 0 /\ __disjvr_24^0-__disjvr_24^post9 == 0 /\ -temp_32^post9+temp_32^0 == 0 /\ -__disjvr_20^post9+__disjvr_20^0 == 0 /\ -i_105^post9+i_105^0 == 0 /\ -__disjvr_17^post9+__disjvr_17^0 == 0 /\ -rcd_107^post9+rcd_107^0 == 0 /\ x_21^0-x_21^post9 == 0 /\ r_154^0-r_154^post9 == 0 /\ __disjvr_21^0-__disjvr_21^post9 == 0 /\ __disjvr_19^0-__disjvr_19^post9 == 0 /\ -tmp_31^post9+tmp_31^0 == 0 /\ -y_231^post9+y_231^0 == 0 /\ r_267^0-r_267^post9 == 0 /\ __disjvr_6^0-__disjvr_6^post9 == 0 /\ rcd_243^0-rcd_243^post9 == 0 /\ -rcd_248^post9+rcd_248^0 == 0 /\ -rcd_40^post9+rcd_40^0 == 0 /\ -y_191^post9+y_191^0 == 0 /\ rcd_99^0-rcd_99^post9 == 0 /\ __disjvr_2^0-__disjvr_2^post9 == 0 /\ -a_143^post9+a_143^0 == 0 /\ -__disjvr_13^post9+__disjvr_13^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post9 == 0 /\ -y_347^post9+y_347^0 == 0 /\ result_11^0-result_11^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9 == 0 /\ -len_270^post9+len_270^0 == 0 /\ -temp0_28^post9+temp0_28^0 == 0 /\ y_241^0-y_241^post9 == 0 /\ -w_20^post9+w_20^0 == 0 /\ -a_215^post9+a_215^0 == 0 /\ -__disjvr_8^post9+__disjvr_8^0 == 0 /\ i_27^0-i_27^post9 == 0 /\ y_22^0-y_22^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ y_285^0-y_285^post9 == 0 /\ -__disjvr_4^post9+__disjvr_4^0 == 0 /\ __disjvr_23^0-__disjvr_23^post9 == 0 /\ rcd_230^0-rcd_230^post9 == 0 /\ -head_29^post9+head_29^0 == 0 /\ a_271^0-a_271^post9 == 0 /\ __disjvr_15^0-__disjvr_15^post9 == 0 /\ t_23^0-t_23^post9 == 0 /\ -len_200^post9+len_200^0 == 0), cost: 1
  10: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post10, i_27^0'=i_27^post10, y_162^0'=y_162^post10, __disjvr_21^0'=__disjvr_21^post10, z_19^0'=z_19^post10, __disjvr_9^0'=__disjvr_9^post10, result_11^0'=result_11^post10, __disjvr_14^0'=__disjvr_14^post10, r_154^0'=r_154^post10, __disjvr_24^0'=__disjvr_24^post10, y_261^0'=y_261^post10, rcd_230^0'=rcd_230^post10, head_13^0'=head_13^post10, head_SLAM_f_26^0'=head_SLAM_f_26^post10, tmp_31^0'=tmp_31^post10, __disjvr_19^0'=__disjvr_19^post10, r_242^0'=r_242^post10, __disjvr_6^0'=__disjvr_6^post10, y_347^0'=y_347^post10, rcd_40^0'=rcd_40^post10, __disjvr_11^0'=__disjvr_11^post10, len_270^0'=len_270^post10, y_22^0'=y_22^post10, r_267^0'=r_267^post10, a_168^0'=a_168^post10, t_23^0'=t_23^post10, __disjvr_16^0'=__disjvr_16^post10, r_229^0'=r_229^post10, __disjvr_3^0'=__disjvr_3^post10, y_285^0'=y_285^post10, rcd_243^0'=rcd_243^post10, i_114^0'=i_114^post10, x_21^0'=x_21^post10, __disjvr_20^0'=__disjvr_20^post10, r_253^0'=r_253^post10, __disjvr_8^0'=__disjvr_8^post10, rcd_99^0'=rcd_99^post10, __disjvr_13^0'=__disjvr_13^post10, length_25^0'=length_25^post10, __disjvr_23^0'=__disjvr_23^post10, y_241^0'=y_241^post10, rcd_107^0'=rcd_107^post10, a_271^0'=a_271^post10, temp0_18^0'=temp0_18^post10, temp_32^0'=temp_32^post10, __disjvr_18^0'=__disjvr_18^post10, r_240^0'=r_240^post10, __disjvr_5^0'=__disjvr_5^post10, y_295^0'=y_295^post10, rcd_268^0'=rcd_268^post10, __disjvr_10^0'=__disjvr_10^post10, len_200^0'=len_200^post10, y_191^0'=y_191^post10, __disjvr_22^0'=__disjvr_22^post10, a_143^0'=a_143^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post10, __disjvr_15^0'=__disjvr_15^post10, r_183^0'=r_183^post10, __disjvr_2^0'=__disjvr_2^post10, y_269^0'=y_269^post10, rcd_239^0'=rcd_239^post10, head_29^0'=head_29^post10, i_105^0'=i_105^post10, w_20^0'=w_20^post10, __disjvr_1^0'=__disjvr_1^post10, r_247^0'=r_247^post10, __disjvr_7^0'=__disjvr_7^post10, rcd_64^0'=rcd_64^post10, __disjvr_12^0'=__disjvr_12^post10, length_14^0'=length_14^post10, y_231^0'=y_231^post10, r_36^0'=r_36^post10, a_215^0'=a_215^post10, tail_15^0'=tail_15^post10, temp0_28^0'=temp0_28^post10, __disjvr_17^0'=__disjvr_17^post10, r_238^0'=r_238^post10, __disjvr_4^0'=__disjvr_4^post10, y_290^0'=y_290^post10, rcd_248^0'=rcd_248^post10, (-rcd_64^post10+rcd_64^0 == 0 /\ y_261^0-y_261^post10 == 0 /\ -temp0_18^post10+temp0_18^0 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ -a_215^post10+a_215^0 == 0 /\ -__disjvr_3^post10+__disjvr_3^0 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0 /\ len_200^0-len_200^post10 == 0 /\ r_247^0-r_247^post10 == 0 /\ i_105^0-i_105^post10 == 0 /\ a_168^0-a_168^post10 == 0 /\ rcd_40^0-rcd_40^post10 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post10 == 0 /\ -rcd_268^post10+rcd_268^0 == 0 /\ __disjvr_11^0-__disjvr_11^post10 == 0 /\ __disjvr_7^0-__disjvr_7^post10 == 0 /\ -y_295^post10+y_295^0 == 0 /\ -r_229^post10+r_229^0 == 0 /\ -rcd_243^post10+rcd_243^0 == 0 /\ -r_36^post10+r_36^0 == 0 /\ -t_23^post10+t_23^0 == 0 /\ -r_183^post10+r_183^0 == 0 /\ i_114^0-i_114^post10 == 0 /\ i_27^0-i_27^post10 == 0 /\ -y_290^post10+y_290^0 == 0 /\ r_242^0-r_242^post10 == 0 /\ __disjvr_9^0-__disjvr_9^post10 == 0 /\ -length_25^post10+length_25^0 == 0 /\ r_240^0-r_240^post10 == 0 /\ result_11^0-result_11^post10 == 0 /\ r_154^0-r_154^post10 == 0 /\ __disjvr_23^0-__disjvr_23^post10 == 0 /\ -rcd_248^post10+rcd_248^0 == 0 /\ -length_14^post10+length_14^0 == 0 /\ __disjvr_18^0-__disjvr_18^post10 == 0 /\ -__disjvr_22^post10+__disjvr_22^0 == 0 /\ -head_29^post10+head_29^0 == 0 /\ __disjvr_8^0-__disjvr_8^post10 == 0 /\ -tail_15^post10+tail_15^0 == 0 /\ rcd_230^0-rcd_230^post10 == 0 /\ __disjvr_2^0-__disjvr_2^post10 == 0 /\ -head_13^post10+head_13^0 == 0 /\ __disjvr_6^0-__disjvr_6^post10 == 0 /\ -temp_32^post10+temp_32^0 == 0 /\ -y_231^post10+y_231^0 == 0 /\ r_253^0-r_253^post10 == 0 /\ -rcd_239^post10+rcd_239^0 == 0 /\ -rcd_107^post10+rcd_107^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ -r_238^post10+r_238^0 == 0 /\ -r_267^post10+r_267^0 == 0 /\ -__disjvr_15^post10+__disjvr_15^0 == 0 /\ -__disjvr_20^post10+__disjvr_20^0 == 0 /\ y_162^0-y_162^post10 == 0 /\ -__disjvr_4^post10+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ y_285^0-y_285^post10 == 0 /\ __disjvr_16^0-__disjvr_16^post10 == 0 /\ rcd_99^0-rcd_99^post10 == 0 /\ __disjvr_24^0-__disjvr_24^post10 == 0 /\ -temp0_28^post10+temp0_28^0 == 0 /\ -w_20^post10+w_20^0 == 0 /\ y_347^0-y_347^post10 == 0 /\ -y_191^post10+y_191^0 == 0 /\ z_19^0-z_19^post10 == 0 /\ y_269^0-y_269^post10 == 0 /\ -a_143^post10+a_143^0 == 0 /\ -__disjvr_6^0+__disjvr_6^post10 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post10 == 0 /\ -a_271^post10+a_271^0 == 0 /\ -__disjvr_5^post10+__disjvr_5^0 == 0 /\ -tmp_31^post10+tmp_31^0 == 0 /\ -len_270^post10+len_270^0 == 0 /\ -__disjvr_10^post10+__disjvr_10^0 == 0 /\ -y_241^post10+y_241^0 == 0 /\ -__disjvr_17^post10+__disjvr_17^0 == 0 /\ -__disjvr_13^post10+__disjvr_13^0 == 0 /\ x_21^0-x_21^post10 == 0 /\ y_22^0-y_22^post10 == 0 /\ __disjvr_19^0-__disjvr_19^post10 == 0), cost: 1
  11: l12 -> l5 : __disjvr_0^0'=__disjvr_0^post11, i_27^0'=i_27^post11, y_162^0'=y_162^post11, __disjvr_21^0'=__disjvr_21^post11, z_19^0'=z_19^post11, __disjvr_9^0'=__disjvr_9^post11, result_11^0'=result_11^post11, __disjvr_14^0'=__disjvr_14^post11, r_154^0'=r_154^post11, __disjvr_24^0'=__disjvr_24^post11, y_261^0'=y_261^post11, rcd_230^0'=rcd_230^post11, head_13^0'=head_13^post11, head_SLAM_f_26^0'=head_SLAM_f_26^post11, tmp_31^0'=tmp_31^post11, __disjvr_19^0'=__disjvr_19^post11, r_242^0'=r_242^post11, __disjvr_6^0'=__disjvr_6^post11, y_347^0'=y_347^post11, rcd_40^0'=rcd_40^post11, __disjvr_11^0'=__disjvr_11^post11, len_270^0'=len_270^post11, y_22^0'=y_22^post11, r_267^0'=r_267^post11, a_168^0'=a_168^post11, t_23^0'=t_23^post11, __disjvr_16^0'=__disjvr_16^post11, r_229^0'=r_229^post11, __disjvr_3^0'=__disjvr_3^post11, y_285^0'=y_285^post11, rcd_243^0'=rcd_243^post11, i_114^0'=i_114^post11, x_21^0'=x_21^post11, __disjvr_20^0'=__disjvr_20^post11, r_253^0'=r_253^post11, __disjvr_8^0'=__disjvr_8^post11, rcd_99^0'=rcd_99^post11, __disjvr_13^0'=__disjvr_13^post11, length_25^0'=length_25^post11, __disjvr_23^0'=__disjvr_23^post11, y_241^0'=y_241^post11, rcd_107^0'=rcd_107^post11, a_271^0'=a_271^post11, temp0_18^0'=temp0_18^post11, temp_32^0'=temp_32^post11, __disjvr_18^0'=__disjvr_18^post11, r_240^0'=r_240^post11, __disjvr_5^0'=__disjvr_5^post11, y_295^0'=y_295^post11, rcd_268^0'=rcd_268^post11, __disjvr_10^0'=__disjvr_10^post11, len_200^0'=len_200^post11, y_191^0'=y_191^post11, __disjvr_22^0'=__disjvr_22^post11, a_143^0'=a_143^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post11, __disjvr_15^0'=__disjvr_15^post11, r_183^0'=r_183^post11, __disjvr_2^0'=__disjvr_2^post11, y_269^0'=y_269^post11, rcd_239^0'=rcd_239^post11, head_29^0'=head_29^post11, i_105^0'=i_105^post11, w_20^0'=w_20^post11, __disjvr_1^0'=__disjvr_1^post11, r_247^0'=r_247^post11, __disjvr_7^0'=__disjvr_7^post11, rcd_64^0'=rcd_64^post11, __disjvr_12^0'=__disjvr_12^post11, length_14^0'=length_14^post11, y_231^0'=y_231^post11, r_36^0'=r_36^post11, a_215^0'=a_215^post11, tail_15^0'=tail_15^post11, temp0_28^0'=temp0_28^post11, __disjvr_17^0'=__disjvr_17^post11, r_238^0'=r_238^post11, __disjvr_4^0'=__disjvr_4^post11, y_290^0'=y_290^post11, rcd_248^0'=rcd_248^post11, (0 == 0 /\ -temp0_28^post11+temp0_28^0 == 0 /\ temp0_18^0-temp0_18^post11 == 0 /\ -r_240^post11+r_240^0 == 0 /\ -y_269^post11+y_269^0 == 0 /\ __disjvr_5^0-__disjvr_5^post11 == 0 /\ -rcd_268^post11+rcd_268^0 == 0 /\ rcd_107^0-rcd_107^post11 == 0 /\ -rcd_243^post11+rcd_243^0 == 0 /\ head_29^0-head_29^post11 == 0 /\ w_20^0-w_20^post11 == 0 /\ -a_271^0+a_215^post11 <= 0 /\ -r_229^post11+r_229^0 == 0 /\ r_267^0-r_267^post11 == 0 /\ len_270^0-len_270^post11 == 0 /\ -__disjvr_1^post11+__disjvr_1^0 == 0 /\ __disjvr_23^0-__disjvr_23^post11 == 0 /\ -r_183^post11+r_183^0 == 0 /\ -i_114^post11+i_114^0 == 0 /\ y_241^0-y_241^post11 == 0 /\ rcd_64^0-rcd_64^post11 == 0 /\ t_23^0-t_23^post11 == 0 /\ -r_247^post11+r_247^0 == 0 /\ temp_32^0-temp_32^post11 == 0 /\ y_347^0-y_347^post11 == 0 /\ -length_14^post11+length_14^0 == 0 /\ x_21^0-x_21^post11 == 0 /\ a_271^0-a_215^post11 <= 0 /\ __disjvr_3^0-__disjvr_3^post11 == 0 /\ __disjvr_9^0-__disjvr_9^post11 == 0 /\ -y_285^post11+y_285^0 == 0 /\ result_11^0-result_11^post11 == 0 /\ __disjvr_21^0-__disjvr_21^post11 == 0 /\ -r_238^post11+r_238^0 == 0 /\ -a_168^post11+a_168^0 == 0 /\ 2-length_14^0 <= 0 /\ i_27^0-i_27^post11 == 0 /\ __disjvr_20^0-__disjvr_20^post11 == 0 /\ __disjvr_11^0-__disjvr_11^post11 == 0 /\ -rcd_248^post11+rcd_248^0 == 0 /\ rcd_40^post11-rcd_268^0 <= 0 /\ y_261^0-y_261^post11 == 0 /\ rcd_230^0-rcd_230^post11 == 0 /\ length_25^0-length_25^post11 == 0 /\ len_200^post11-len_270^0 <= 0 /\ r_242^0-r_242^post11 == 0 /\ a_143^0-a_143^post11 == 0 /\ -a_271^post11+a_271^0 == 0 /\ __disjvr_14^0-__disjvr_14^post11 == 0 /\ -__disjvr_15^post11+__disjvr_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -y_290^post11+y_290^0 == 0 /\ -__disjvr_7^post11+__disjvr_7^0 == 0 /\ -r_253^post11+r_253^0 == 0 /\ -rcd_239^post11+rcd_239^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post11 == 0 /\ __disjvr_10^0-__disjvr_10^post11 == 0 /\ -i_105^post11+i_105^0 == 0 /\ -z_19^post11+z_19^0 == 0 /\ __disjvr_8^0-__disjvr_8^post11 == 0 /\ y_162^post11-y_269^0 <= 0 /\ -tail_15^post11+tail_15^0 == 0 /\ -r_267^0+r_36^post11 <= 0 /\ -__disjvr_18^post11+__disjvr_18^0 == 0 /\ -y_22^post11+y_22^0 == 0 /\ -y_231^post11+y_231^0 == 0 /\ -__disjvr_4^post11+__disjvr_4^0 == 0 /\ __disjvr_24^0-__disjvr_24^post11 == 0 /\ -rcd_40^post11+rcd_268^0 <= 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ -__disjvr_19^post11+__disjvr_19^0 == 0 /\ __disjvr_0^0-__disjvr_0^post11 == 0 /\ -__disjvr_6^post11+__disjvr_6^0 == 0 /\ -y_191^post11+y_191^0 == 0 /\ -__disjvr_13^post11+__disjvr_13^0 == 0 /\ y_295^0-y_295^post11 == 0 /\ -len_200^post11+len_270^0 <= 0 /\ tmp_31^0-tmp_31^post11 == 0 /\ -__disjvr_12^post11+__disjvr_12^0 == 0 /\ head_13^0-head_13^post11 == 0 /\ r_154^0-r_154^post11 == 0 /\ -__disjvr_16^post11+__disjvr_16^0 == 0 /\ 1-length_14^0 <= 0 /\ -rcd_99^post11+rcd_99^0 == 0 /\ __disjvr_22^0-__disjvr_22^post11 == 0 /\ -__disjvr_2^post11+__disjvr_2^0 == 0 /\ -y_162^post11+y_269^0 <= 0 /\ r_267^0-r_36^post11 <= 0), cost: 1
  12: l5 -> l0 : __disjvr_0^0'=__disjvr_0^post12, i_27^0'=i_27^post12, y_162^0'=y_162^post12, __disjvr_21^0'=__disjvr_21^post12, z_19^0'=z_19^post12, __disjvr_9^0'=__disjvr_9^post12, result_11^0'=result_11^post12, __disjvr_14^0'=__disjvr_14^post12, r_154^0'=r_154^post12, __disjvr_24^0'=__disjvr_24^post12, y_261^0'=y_261^post12, rcd_230^0'=rcd_230^post12, head_13^0'=head_13^post12, head_SLAM_f_26^0'=head_SLAM_f_26^post12, tmp_31^0'=tmp_31^post12, __disjvr_19^0'=__disjvr_19^post12, r_242^0'=r_242^post12, __disjvr_6^0'=__disjvr_6^post12, y_347^0'=y_347^post12, rcd_40^0'=rcd_40^post12, __disjvr_11^0'=__disjvr_11^post12, len_270^0'=len_270^post12, y_22^0'=y_22^post12, r_267^0'=r_267^post12, a_168^0'=a_168^post12, t_23^0'=t_23^post12, __disjvr_16^0'=__disjvr_16^post12, r_229^0'=r_229^post12, __disjvr_3^0'=__disjvr_3^post12, y_285^0'=y_285^post12, rcd_243^0'=rcd_243^post12, i_114^0'=i_114^post12, x_21^0'=x_21^post12, __disjvr_20^0'=__disjvr_20^post12, r_253^0'=r_253^post12, __disjvr_8^0'=__disjvr_8^post12, rcd_99^0'=rcd_99^post12, __disjvr_13^0'=__disjvr_13^post12, length_25^0'=length_25^post12, __disjvr_23^0'=__disjvr_23^post12, y_241^0'=y_241^post12, rcd_107^0'=rcd_107^post12, a_271^0'=a_271^post12, temp0_18^0'=temp0_18^post12, temp_32^0'=temp_32^post12, __disjvr_18^0'=__disjvr_18^post12, r_240^0'=r_240^post12, __disjvr_5^0'=__disjvr_5^post12, y_295^0'=y_295^post12, rcd_268^0'=rcd_268^post12, __disjvr_10^0'=__disjvr_10^post12, len_200^0'=len_200^post12, y_191^0'=y_191^post12, __disjvr_22^0'=__disjvr_22^post12, a_143^0'=a_143^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post12, __disjvr_15^0'=__disjvr_15^post12, r_183^0'=r_183^post12, __disjvr_2^0'=__disjvr_2^post12, y_269^0'=y_269^post12, rcd_239^0'=rcd_239^post12, head_29^0'=head_29^post12, i_105^0'=i_105^post12, w_20^0'=w_20^post12, __disjvr_1^0'=__disjvr_1^post12, r_247^0'=r_247^post12, __disjvr_7^0'=__disjvr_7^post12, rcd_64^0'=rcd_64^post12, __disjvr_12^0'=__disjvr_12^post12, length_14^0'=length_14^post12, y_231^0'=y_231^post12, r_36^0'=r_36^post12, a_215^0'=a_215^post12, tail_15^0'=tail_15^post12, temp0_28^0'=temp0_28^post12, __disjvr_17^0'=__disjvr_17^post12, r_238^0'=r_238^post12, __disjvr_4^0'=__disjvr_4^post12, y_290^0'=y_290^post12, rcd_248^0'=rcd_248^post12, (head_13^0-head_13^post12 == 0 /\ -a_143^post12+a_143^0 == 0 /\ -r_247^post12+r_247^0 == 0 /\ rcd_230^0-rcd_230^post12 == 0 /\ w_20^0-w_20^post12 == 0 /\ __disjvr_14^0-__disjvr_14^post12 == 0 /\ i_27^0-i_27^post12 == 0 /\ -y_231^post12+y_231^0 == 0 /\ -x_21^post12+x_21^0 == 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ -__disjvr_4^post12+__disjvr_4^0 == 0 /\ tmp_31^0-tmp_31^post12 == 0 /\ __disjvr_8^0-__disjvr_8^post12 == 0 /\ -length_14^post12+length_14^0 == 0 /\ -y_295^post12+y_295^0 == 0 /\ -temp0_18^post12+temp0_18^0 == 0 /\ -a_215^post12+a_215^0 == 0 /\ __disjvr_18^0-__disjvr_18^post12 == 0 /\ y_285^0-y_285^post12 == 0 /\ r_253^0-r_253^post12 == 0 /\ len_270^0-len_270^post12 == 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ -temp_32^post12+temp_32^0 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ __disjvr_13^0-__disjvr_13^post12 == 0 /\ -length_25^post12+length_25^0 == 0 /\ r_267^0-r_267^post12 == 0 /\ __disjvr_16^0-__disjvr_16^post12 == 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ -temp0_28^post12+temp0_28^0 == 0 /\ rcd_243^0-rcd_243^post12 == 0 /\ -y_347^post12+y_347^0 == 0 /\ -y_269^post12+y_269^0 == 0 /\ -r_36^post12+r_36^0 == 0 /\ -i_105^post12+i_105^0 == 0 /\ y_162^0-y_162^post12 == 0 /\ rcd_40^0-rcd_40^post12 == 0 /\ rcd_107^0-rcd_107^post12 == 0 /\ len_200^0-len_200^post12 == 0 /\ __disjvr_11^0-__disjvr_11^post12 == 0 /\ -rcd_239^post12+rcd_239^0 == 0 /\ y_22^0-y_22^post12 == 0 /\ -__disjvr_9^post12+__disjvr_9^0 == 0 /\ r_242^0-r_242^post12 == 0 /\ -y_261^post12+y_261^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ r_229^0-r_229^post12 == 0 /\ z_19^0-z_19^post12 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post12 == 0 /\ t_23^0-t_23^post12 == 0 /\ -__disjvr_22^post12+__disjvr_22^0 == 0 /\ -__disjvr_7^post12+__disjvr_7^0 == 0 /\ -r_183^post12+r_183^0 == 0 /\ tail_15^0-tail_15^post12 == 0 /\ -a_168^post12+a_168^0 == 0 /\ -y_290^post12+y_290^0 == 0 /\ -head_29^post12+head_29^0 == 0 /\ -a_271^post12+a_271^0 == 0 /\ -__disjvr_2^post12+__disjvr_2^0 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ rcd_268^0-rcd_268^post12 == 0 /\ y_241^0-y_241^post12 == 0 /\ -rcd_99^post12+rcd_99^0 == 0 /\ __disjvr_6^0-__disjvr_6^post12 == 0 /\ -__disjvr_23^post12+__disjvr_23^0 == 0 /\ -__disjvr_12^post12+__disjvr_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post12 == 0 /\ -__disjvr_20^post12+__disjvr_20^0 == 0 /\ -rcd_248^post12+rcd_248^0 == 0 /\ i_114^0-i_114^post12 == 0 /\ -rcd_64^post12+rcd_64^0 == 0 /\ -r_238^post12+r_238^0 == 0 /\ r_154^0-r_154^post12 == 0 /\ -r_240^post12+r_240^0 == 0 /\ -__disjvr_15^post12+__disjvr_15^0 == 0 /\ result_11^0-result_11^post12 == 0 /\ __disjvr_21^0-__disjvr_21^post12 == 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ -y_191^post12+y_191^0 == 0 /\ -__disjvr_1^post12+__disjvr_1^0 == 0), cost: 1
  13: l13 -> l14 : __disjvr_0^0'=__disjvr_0^post13, i_27^0'=i_27^post13, y_162^0'=y_162^post13, __disjvr_21^0'=__disjvr_21^post13, z_19^0'=z_19^post13, __disjvr_9^0'=__disjvr_9^post13, result_11^0'=result_11^post13, __disjvr_14^0'=__disjvr_14^post13, r_154^0'=r_154^post13, __disjvr_24^0'=__disjvr_24^post13, y_261^0'=y_261^post13, rcd_230^0'=rcd_230^post13, head_13^0'=head_13^post13, head_SLAM_f_26^0'=head_SLAM_f_26^post13, tmp_31^0'=tmp_31^post13, __disjvr_19^0'=__disjvr_19^post13, r_242^0'=r_242^post13, __disjvr_6^0'=__disjvr_6^post13, y_347^0'=y_347^post13, rcd_40^0'=rcd_40^post13, __disjvr_11^0'=__disjvr_11^post13, len_270^0'=len_270^post13, y_22^0'=y_22^post13, r_267^0'=r_267^post13, a_168^0'=a_168^post13, t_23^0'=t_23^post13, __disjvr_16^0'=__disjvr_16^post13, r_229^0'=r_229^post13, __disjvr_3^0'=__disjvr_3^post13, y_285^0'=y_285^post13, rcd_243^0'=rcd_243^post13, i_114^0'=i_114^post13, x_21^0'=x_21^post13, __disjvr_20^0'=__disjvr_20^post13, r_253^0'=r_253^post13, __disjvr_8^0'=__disjvr_8^post13, rcd_99^0'=rcd_99^post13, __disjvr_13^0'=__disjvr_13^post13, length_25^0'=length_25^post13, __disjvr_23^0'=__disjvr_23^post13, y_241^0'=y_241^post13, rcd_107^0'=rcd_107^post13, a_271^0'=a_271^post13, temp0_18^0'=temp0_18^post13, temp_32^0'=temp_32^post13, __disjvr_18^0'=__disjvr_18^post13, r_240^0'=r_240^post13, __disjvr_5^0'=__disjvr_5^post13, y_295^0'=y_295^post13, rcd_268^0'=rcd_268^post13, __disjvr_10^0'=__disjvr_10^post13, len_200^0'=len_200^post13, y_191^0'=y_191^post13, __disjvr_22^0'=__disjvr_22^post13, a_143^0'=a_143^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13, __disjvr_15^0'=__disjvr_15^post13, r_183^0'=r_183^post13, __disjvr_2^0'=__disjvr_2^post13, y_269^0'=y_269^post13, rcd_239^0'=rcd_239^post13, head_29^0'=head_29^post13, i_105^0'=i_105^post13, w_20^0'=w_20^post13, __disjvr_1^0'=__disjvr_1^post13, r_247^0'=r_247^post13, __disjvr_7^0'=__disjvr_7^post13, rcd_64^0'=rcd_64^post13, __disjvr_12^0'=__disjvr_12^post13, length_14^0'=length_14^post13, y_231^0'=y_231^post13, r_36^0'=r_36^post13, a_215^0'=a_215^post13, tail_15^0'=tail_15^post13, temp0_28^0'=temp0_28^post13, __disjvr_17^0'=__disjvr_17^post13, r_238^0'=r_238^post13, __disjvr_4^0'=__disjvr_4^post13, y_290^0'=y_290^post13, rcd_248^0'=rcd_248^post13, (0 == 0 /\ __disjvr_1^0-__disjvr_1^post13 == 0 /\ -__disjvr_20^post13+__disjvr_20^0 == 0 /\ r_242^0-r_242^post13 == 0 /\ -temp_32^post13+temp_32^0 == 0 /\ -r_229^post13+r_229^0 == 0 /\ __disjvr_11^0-__disjvr_11^post13 == 0 /\ __disjvr_14^0-__disjvr_14^post13 == 0 /\ i_27^0-i_27^post13 == 0 /\ -i_105^post13+i_105^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post13 == 0 /\ -__disjvr_4^post13+__disjvr_4^0 == 0 /\ -a_143^post13+a_143^0 == 0 /\ rcd_230^0-rcd_230^post13 == 0 /\ __disjvr_9^0-__disjvr_9^post13 == 0 /\ -__disjvr_17^post13+__disjvr_17^0 == 0 /\ -__disjvr_13^post13+__disjvr_13^0 == 0 /\ __disjvr_24^0-__disjvr_24^post13 == 0 /\ -y_231^post13+y_231^0 == 0 /\ -y_191^post13+y_191^0 == 0 /\ -a_271^post13+a_271^0 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ -a_215^post13+a_215^0 == 0 /\ -__disjvr_8^post13+__disjvr_8^0 == 0 /\ -y_269^post13+y_269^0 == 0 /\ r_154^0-r_154^post13 == 0 /\ __disjvr_6^0-__disjvr_6^post13 == 0 /\ __disjvr_7^0-__disjvr_7^post13 == 0 /\ -temp0_28^post13+temp0_28^0 == 0 /\ -rcd_107^post13+rcd_107^0 == 0 /\ rcd_243^0-rcd_243^post13 == 0 /\ a_168^0-a_168^post13 == 0 /\ __disjvr_16^0-__disjvr_16^post13 == 0 /\ rcd_99^0-rcd_99^post13 == 0 /\ y_162^0-y_162^post13 == 0 /\ i_114^0-i_114^post13 == 0 /\ -head_29^post13+head_29^0 == 0 /\ __disjvr_2^0-__disjvr_2^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13 == 0 /\ head_13^0-head_13^post13 == 0 /\ -r_36^post13+r_36^0 == 0 /\ -r_183^post13+r_183^0 == 0 /\ -x_21^0+w_20^0 <= 0 /\ y_285^0-y_285^post13 == 0 /\ -len_270^post13+len_270^0 == 0 /\ tmp_31^0-tmp_31^post13 == 0 /\ -__disjvr_3^post13+__disjvr_3^0 == 0 /\ -__disjvr_5^post13+__disjvr_5^0 == 0 /\ -temp0_18^0+result_11^post13 == 0 /\ -r_240^post13+r_240^0 == 0 /\ __disjvr_15^0-__disjvr_15^post13 == 0 /\ len_200^0-len_200^post13 == 0 /\ -__disjvr_10^post13+__disjvr_10^0 == 0 /\ -__disjvr_12^post13+__disjvr_12^0 == 0 /\ -temp0_18^post13+temp0_18^0 == 0 /\ -rcd_64^post13+rcd_64^0 == 0 /\ -r_253^post13+r_253^0 == 0 /\ -a_168^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post13 == 0 /\ __disjvr_18^0-__disjvr_18^post13 == 0 /\ -rcd_248^post13+rcd_248^0 == 0 /\ __disjvr_19^0-__disjvr_19^post13 == 0 /\ x_21^0-w_20^0 <= 0 /\ -r_247^post13+r_247^0 == 0 /\ -r_238^post13+r_238^0 == 0 /\ r_267^0-r_267^post13 == 0 /\ -__disjvr_22^post13+__disjvr_22^0 == 0 /\ length_25^0-length_25^post13 == 0 /\ __disjvr_21^0-__disjvr_21^post13 == 0 /\ y_261^0-y_261^post13 == 0 /\ y_241^0-y_241^post13 == 0 /\ rcd_40^0-rcd_40^post13 == 0 /\ -rcd_239^post13+rcd_239^0 == 0 /\ -y_295^post13+y_295^0 == 0 /\ y_347^0-y_347^post13 == 0 /\ -rcd_268^post13+rcd_268^0 == 0), cost: 1
  17: l13 -> l17 : __disjvr_0^0'=__disjvr_0^post17, i_27^0'=i_27^post17, y_162^0'=y_162^post17, __disjvr_21^0'=__disjvr_21^post17, z_19^0'=z_19^post17, __disjvr_9^0'=__disjvr_9^post17, result_11^0'=result_11^post17, __disjvr_14^0'=__disjvr_14^post17, r_154^0'=r_154^post17, __disjvr_24^0'=__disjvr_24^post17, y_261^0'=y_261^post17, rcd_230^0'=rcd_230^post17, head_13^0'=head_13^post17, head_SLAM_f_26^0'=head_SLAM_f_26^post17, tmp_31^0'=tmp_31^post17, __disjvr_19^0'=__disjvr_19^post17, r_242^0'=r_242^post17, __disjvr_6^0'=__disjvr_6^post17, y_347^0'=y_347^post17, rcd_40^0'=rcd_40^post17, __disjvr_11^0'=__disjvr_11^post17, len_270^0'=len_270^post17, y_22^0'=y_22^post17, r_267^0'=r_267^post17, a_168^0'=a_168^post17, t_23^0'=t_23^post17, __disjvr_16^0'=__disjvr_16^post17, r_229^0'=r_229^post17, __disjvr_3^0'=__disjvr_3^post17, y_285^0'=y_285^post17, rcd_243^0'=rcd_243^post17, i_114^0'=i_114^post17, x_21^0'=x_21^post17, __disjvr_20^0'=__disjvr_20^post17, r_253^0'=r_253^post17, __disjvr_8^0'=__disjvr_8^post17, rcd_99^0'=rcd_99^post17, __disjvr_13^0'=__disjvr_13^post17, length_25^0'=length_25^post17, __disjvr_23^0'=__disjvr_23^post17, y_241^0'=y_241^post17, rcd_107^0'=rcd_107^post17, a_271^0'=a_271^post17, temp0_18^0'=temp0_18^post17, temp_32^0'=temp_32^post17, __disjvr_18^0'=__disjvr_18^post17, r_240^0'=r_240^post17, __disjvr_5^0'=__disjvr_5^post17, y_295^0'=y_295^post17, rcd_268^0'=rcd_268^post17, __disjvr_10^0'=__disjvr_10^post17, len_200^0'=len_200^post17, y_191^0'=y_191^post17, __disjvr_22^0'=__disjvr_22^post17, a_143^0'=a_143^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post17, __disjvr_15^0'=__disjvr_15^post17, r_183^0'=r_183^post17, __disjvr_2^0'=__disjvr_2^post17, y_269^0'=y_269^post17, rcd_239^0'=rcd_239^post17, head_29^0'=head_29^post17, i_105^0'=i_105^post17, w_20^0'=w_20^post17, __disjvr_1^0'=__disjvr_1^post17, r_247^0'=r_247^post17, __disjvr_7^0'=__disjvr_7^post17, rcd_64^0'=rcd_64^post17, __disjvr_12^0'=__disjvr_12^post17, length_14^0'=length_14^post17, y_231^0'=y_231^post17, r_36^0'=r_36^post17, a_215^0'=a_215^post17, tail_15^0'=tail_15^post17, temp0_28^0'=temp0_28^post17, __disjvr_17^0'=__disjvr_17^post17, r_238^0'=r_238^post17, __disjvr_4^0'=__disjvr_4^post17, y_290^0'=y_290^post17, rcd_248^0'=rcd_248^post17, (0 == 0 /\ __disjvr_6^0-__disjvr_6^post17 == 0 /\ -r_36^post17+r_36^0 == 0 /\ r_154^0-r_154^post17 == 0 /\ -__disjvr_7^post17+__disjvr_7^0 == 0 /\ -__disjvr_3^post17+__disjvr_3^0 == 0 /\ __disjvr_21^0-__disjvr_21^post17 == 0 /\ -__disjvr_10^post17+__disjvr_10^0 == 0 /\ rcd_243^0-rcd_243^post17 == 0 /\ r_267^0-r_267^post17 == 0 /\ x_21^0-x_21^post17 == 0 /\ __disjvr_16^0-__disjvr_16^post17 == 0 /\ rcd_99^0-rcd_99^post17 == 0 /\ -r_253^post17+r_253^0 == 0 /\ -y_290^post17+y_290^0 == 0 /\ -a_271^post17+a_271^0 == 0 /\ -__disjvr_12^post17+__disjvr_12^0 == 0 /\ -w_20^post17+w_20^0 == 0 /\ -len_270^post17+len_270^0 == 0 /\ -y_241^post17+y_241^0 == 0 /\ __disjvr_1^0-__disjvr_1^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post17 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post17 == 0 /\ result_11^0-result_11^post17 == 0 /\ -rcd_64^post17+rcd_64^0 == 0 /\ -rcd_248^post17+rcd_248^0 == 0 /\ i_27^0-i_27^post17 == 0 /\ -__disjvr_2^post17+__disjvr_2^0 == 0 /\ -__disjvr_15^post17+__disjvr_15^0 == 0 /\ y_22^0-y_22^post17 == 0 /\ -__disjvr_19^post17+__disjvr_19^0 == 0 /\ -__disjvr_22^post17+__disjvr_22^0 == 0 /\ r_240^0-r_240^post17 == 0 /\ t_23^0-t_23^post17 == 0 /\ __disjvr_9^0-__disjvr_9^post17 == 0 /\ -rcd_268^post17+rcd_268^0 == 0 /\ __disjvr_5^0-__disjvr_5^post17 == 0 /\ -r_238^post17+r_238^0 == 0 /\ y_285^0-y_285^post17 == 0 /\ -r_247^post17+r_247^0 == 0 /\ -y_295^post17+y_295^0 == 0 /\ -rcd_239^post17+rcd_239^0 == 0 /\ -__disjvr_20^post17+__disjvr_20^0 == 0 /\ -__disjvr_4^post17+__disjvr_4^0 == 0 /\ a_215^0-a_215^post17 == 0 /\ y_231^0-y_231^post17 == 0 /\ __disjvr_23^0-__disjvr_23^post17 == 0 /\ __disjvr_0^0-__disjvr_0^post17 == 0 /\ -r_229^post17+r_229^0 == 0 /\ length_25^0-length_25^post17 == 0 /\ -__disjvr_13^post17+__disjvr_13^0 == 0 /\ y_347^0-y_347^post17 == 0 /\ y_261^0-y_261^post17 == 0 /\ -a_143^post17+a_143^0 == 0 /\ a_168^0-a_168^post17 == 0 /\ -temp0_18^post17+temp0_18^0 == 0 /\ y_162^0-y_162^post17 == 0 /\ -a_168^0 <= 0 /\ rcd_40^0-rcd_40^post17 == 0 /\ -head_29^post17+head_29^0 == 0 /\ r_242^0-r_242^post17 == 0 /\ __disjvr_11^0-__disjvr_11^post17 == 0 /\ -y_269^post17+y_269^0 == 0 /\ __disjvr_17^0-__disjvr_17^post17 == 0 /\ -i_105^post17+i_105^0 == 0 /\ -rcd_107^post17+rcd_107^0 == 0 /\ __disjvr_24^0-__disjvr_24^post17 == 0 /\ __disjvr_18^0-__disjvr_18^post17 == 0 /\ __disjvr_14^0-__disjvr_14^post17 == 0 /\ tmp_31^0-tmp_31^post17 == 0 /\ -i_114^post17+i_114^0 == 0 /\ len_200^0-len_200^post17 == 0 /\ -rcd_230^post17+rcd_230^0 == 0 /\ -temp_32^post17+temp_32^0 == 0 /\ __disjvr_8^0-__disjvr_8^post17 == 0 /\ -temp0_28^post17+temp0_28^0 == 0), cost: 1
  14: l14 -> l15 : __disjvr_0^0'=__disjvr_0^post14, i_27^0'=i_27^post14, y_162^0'=y_162^post14, __disjvr_21^0'=__disjvr_21^post14, z_19^0'=z_19^post14, __disjvr_9^0'=__disjvr_9^post14, result_11^0'=result_11^post14, __disjvr_14^0'=__disjvr_14^post14, r_154^0'=r_154^post14, __disjvr_24^0'=__disjvr_24^post14, y_261^0'=y_261^post14, rcd_230^0'=rcd_230^post14, head_13^0'=head_13^post14, head_SLAM_f_26^0'=head_SLAM_f_26^post14, tmp_31^0'=tmp_31^post14, __disjvr_19^0'=__disjvr_19^post14, r_242^0'=r_242^post14, __disjvr_6^0'=__disjvr_6^post14, y_347^0'=y_347^post14, rcd_40^0'=rcd_40^post14, __disjvr_11^0'=__disjvr_11^post14, len_270^0'=len_270^post14, y_22^0'=y_22^post14, r_267^0'=r_267^post14, a_168^0'=a_168^post14, t_23^0'=t_23^post14, __disjvr_16^0'=__disjvr_16^post14, r_229^0'=r_229^post14, __disjvr_3^0'=__disjvr_3^post14, y_285^0'=y_285^post14, rcd_243^0'=rcd_243^post14, i_114^0'=i_114^post14, x_21^0'=x_21^post14, __disjvr_20^0'=__disjvr_20^post14, r_253^0'=r_253^post14, __disjvr_8^0'=__disjvr_8^post14, rcd_99^0'=rcd_99^post14, __disjvr_13^0'=__disjvr_13^post14, length_25^0'=length_25^post14, __disjvr_23^0'=__disjvr_23^post14, y_241^0'=y_241^post14, rcd_107^0'=rcd_107^post14, a_271^0'=a_271^post14, temp0_18^0'=temp0_18^post14, temp_32^0'=temp_32^post14, __disjvr_18^0'=__disjvr_18^post14, r_240^0'=r_240^post14, __disjvr_5^0'=__disjvr_5^post14, y_295^0'=y_295^post14, rcd_268^0'=rcd_268^post14, __disjvr_10^0'=__disjvr_10^post14, len_200^0'=len_200^post14, y_191^0'=y_191^post14, __disjvr_22^0'=__disjvr_22^post14, a_143^0'=a_143^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post14, __disjvr_15^0'=__disjvr_15^post14, r_183^0'=r_183^post14, __disjvr_2^0'=__disjvr_2^post14, y_269^0'=y_269^post14, rcd_239^0'=rcd_239^post14, head_29^0'=head_29^post14, i_105^0'=i_105^post14, w_20^0'=w_20^post14, __disjvr_1^0'=__disjvr_1^post14, r_247^0'=r_247^post14, __disjvr_7^0'=__disjvr_7^post14, rcd_64^0'=rcd_64^post14, __disjvr_12^0'=__disjvr_12^post14, length_14^0'=length_14^post14, y_231^0'=y_231^post14, r_36^0'=r_36^post14, a_215^0'=a_215^post14, tail_15^0'=tail_15^post14, temp0_28^0'=temp0_28^post14, __disjvr_17^0'=__disjvr_17^post14, r_238^0'=r_238^post14, __disjvr_4^0'=__disjvr_4^post14, y_290^0'=y_290^post14, rcd_248^0'=rcd_248^post14, (-__disjvr_17^post14+__disjvr_17^0 == 0 /\ -tail_15^post14+tail_15^0 == 0 /\ -__disjvr_22^post14+__disjvr_22^0 == 0 /\ result_11^0-result_11^post14 == 0 /\ y_162^0-y_162^post14 == 0 /\ -r_267^post14+r_267^0 == 0 /\ -length_14^post14+length_14^0 == 0 /\ __disjvr_7^0-__disjvr_7^post14 == 0 /\ -r_253^post14+r_253^0 == 0 /\ -__disjvr_2^post14+__disjvr_2^0 == 0 /\ z_19^0-z_19^post14 == 0 /\ __disjvr_19^0-__disjvr_19^post14 == 0 /\ __disjvr_23^0-__disjvr_23^post14 == 0 /\ -temp_32^post14+temp_32^0 == 0 /\ -rcd_99^post14+rcd_99^0 == 0 /\ r_240^0-r_240^post14 == 0 /\ r_242^0-r_242^post14 == 0 /\ rcd_107^0-rcd_107^post14 == 0 /\ y_22^0-y_22^post14 == 0 /\ -rcd_248^post14+rcd_248^0 == 0 /\ -__disjvr_20^post14+__disjvr_20^0 == 0 /\ -y_231^post14+y_231^0 == 0 /\ r_154^0-r_154^post14 == 0 /\ t_23^0-t_23^post14 == 0 /\ -temp0_28^post14+temp0_28^0 == 0 /\ -y_241^post14+y_241^0 == 0 /\ -w_20^post14+w_20^0 == 0 /\ __disjvr_5^0-__disjvr_5^post14 == 0 /\ -__disjvr_7^0+__disjvr_7^post14 == 0 /\ __disjvr_3^0-__disjvr_3^post14 == 0 /\ __disjvr_8^0-__disjvr_8^post14 == 0 /\ -__disjvr_18^post14+__disjvr_18^0 == 0 /\ -a_271^post14+a_271^0 == 0 /\ __disjvr_21^0-__disjvr_21^post14 == 0 /\ -head_29^post14+head_29^0 == 0 /\ -len_200^post14+len_200^0 == 0 /\ -__disjvr_13^post14+__disjvr_13^0 == 0 /\ i_105^0-i_105^post14 == 0 /\ -a_143^post14+a_143^0 == 0 /\ a_168^0-a_168^post14 == 0 /\ -__disjvr_6^post14+__disjvr_6^0 == 0 /\ -__disjvr_4^post14+__disjvr_4^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post14 == 0 /\ -len_270^post14+len_270^0 == 0 /\ __disjvr_14^0-__disjvr_14^post14 == 0 /\ __disjvr_16^0-__disjvr_16^post14 == 0 /\ -__disjvr_1^post14+__disjvr_1^0 == 0 /\ __disjvr_24^0-__disjvr_24^post14 == 0 /\ -temp0_18^post14+temp0_18^0 == 0 /\ y_285^0-y_285^post14 == 0 /\ -rcd_64^post14+rcd_64^0 == 0 /\ tmp_31^0-tmp_31^post14 == 0 /\ head_13^0-head_13^post14 == 0 /\ i_114^0-i_114^post14 == 0 /\ y_347^0-y_347^post14 == 0 /\ -r_183^post14+r_183^0 == 0 /\ -__disjvr_10^post14+__disjvr_10^0 == 0 /\ -y_290^post14+y_290^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post14 == 0 /\ i_27^0-i_27^post14 == 0 /\ y_191^0-y_191^post14 == 0 /\ -rcd_268^post14+rcd_268^0 == 0 /\ __disjvr_9^0-__disjvr_9^post14 == 0 /\ a_215^0-a_215^post14 == 0 /\ -__disjvr_12^post14+__disjvr_12^0 == 0 /\ -rcd_243^post14+rcd_243^0 == 0 /\ -r_238^post14+r_238^0 == 0 /\ -__disjvr_15^post14+__disjvr_15^0 == 0 /\ x_21^0-x_21^post14 == 0 /\ length_25^0-length_25^post14 == 0 /\ y_261^0-y_261^post14 == 0 /\ -rcd_239^post14+rcd_239^0 == 0 /\ -y_295^post14+y_295^0 == 0 /\ rcd_230^0-rcd_230^post14 == 0 /\ -r_229^post14+r_229^0 == 0 /\ -r_36^post14+r_36^0 == 0 /\ y_269^0-y_269^post14 == 0 /\ -r_247^post14+r_247^0 == 0 /\ __disjvr_11^0-__disjvr_11^post14 == 0 /\ rcd_40^0-rcd_40^post14 == 0 /\ __disjvr_0^0-__disjvr_0^post14 == 0), cost: 1
  15: l15 -> l16 : __disjvr_0^0'=__disjvr_0^post15, i_27^0'=i_27^post15, y_162^0'=y_162^post15, __disjvr_21^0'=__disjvr_21^post15, z_19^0'=z_19^post15, __disjvr_9^0'=__disjvr_9^post15, result_11^0'=result_11^post15, __disjvr_14^0'=__disjvr_14^post15, r_154^0'=r_154^post15, __disjvr_24^0'=__disjvr_24^post15, y_261^0'=y_261^post15, rcd_230^0'=rcd_230^post15, head_13^0'=head_13^post15, head_SLAM_f_26^0'=head_SLAM_f_26^post15, tmp_31^0'=tmp_31^post15, __disjvr_19^0'=__disjvr_19^post15, r_242^0'=r_242^post15, __disjvr_6^0'=__disjvr_6^post15, y_347^0'=y_347^post15, rcd_40^0'=rcd_40^post15, __disjvr_11^0'=__disjvr_11^post15, len_270^0'=len_270^post15, y_22^0'=y_22^post15, r_267^0'=r_267^post15, a_168^0'=a_168^post15, t_23^0'=t_23^post15, __disjvr_16^0'=__disjvr_16^post15, r_229^0'=r_229^post15, __disjvr_3^0'=__disjvr_3^post15, y_285^0'=y_285^post15, rcd_243^0'=rcd_243^post15, i_114^0'=i_114^post15, x_21^0'=x_21^post15, __disjvr_20^0'=__disjvr_20^post15, r_253^0'=r_253^post15, __disjvr_8^0'=__disjvr_8^post15, rcd_99^0'=rcd_99^post15, __disjvr_13^0'=__disjvr_13^post15, length_25^0'=length_25^post15, __disjvr_23^0'=__disjvr_23^post15, y_241^0'=y_241^post15, rcd_107^0'=rcd_107^post15, a_271^0'=a_271^post15, temp0_18^0'=temp0_18^post15, temp_32^0'=temp_32^post15, __disjvr_18^0'=__disjvr_18^post15, r_240^0'=r_240^post15, __disjvr_5^0'=__disjvr_5^post15, y_295^0'=y_295^post15, rcd_268^0'=rcd_268^post15, __disjvr_10^0'=__disjvr_10^post15, len_200^0'=len_200^post15, y_191^0'=y_191^post15, __disjvr_22^0'=__disjvr_22^post15, a_143^0'=a_143^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post15, __disjvr_15^0'=__disjvr_15^post15, r_183^0'=r_183^post15, __disjvr_2^0'=__disjvr_2^post15, y_269^0'=y_269^post15, rcd_239^0'=rcd_239^post15, head_29^0'=head_29^post15, i_105^0'=i_105^post15, w_20^0'=w_20^post15, __disjvr_1^0'=__disjvr_1^post15, r_247^0'=r_247^post15, __disjvr_7^0'=__disjvr_7^post15, rcd_64^0'=rcd_64^post15, __disjvr_12^0'=__disjvr_12^post15, length_14^0'=length_14^post15, y_231^0'=y_231^post15, r_36^0'=r_36^post15, a_215^0'=a_215^post15, tail_15^0'=tail_15^post15, temp0_28^0'=temp0_28^post15, __disjvr_17^0'=__disjvr_17^post15, r_238^0'=r_238^post15, __disjvr_4^0'=__disjvr_4^post15, y_290^0'=y_290^post15, rcd_248^0'=rcd_248^post15, (-rcd_40^post15+rcd_40^0 == 0 /\ __disjvr_23^0-__disjvr_23^post15 == 0 /\ result_11^0-result_11^post15 == 0 /\ -__disjvr_8^0+__disjvr_8^post15 == 0 /\ rcd_64^0-rcd_64^post15 == 0 /\ -r_238^post15+r_238^0 == 0 /\ -r_253^post15+r_253^0 == 0 /\ -a_271^post15+a_271^0 == 0 /\ y_347^0-y_347^post15 == 0 /\ z_19^0-z_19^post15 == 0 /\ tmp_31^0-tmp_31^post15 == 0 /\ -tail_15^post15+tail_15^0 == 0 /\ head_13^0-head_13^post15 == 0 /\ __disjvr_3^0-__disjvr_3^post15 == 0 /\ y_162^0-y_162^post15 == 0 /\ __disjvr_22^0-__disjvr_22^post15 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post15+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -rcd_248^post15+rcd_248^0 == 0 /\ -i_105^post15+i_105^0 == 0 /\ -__disjvr_7^post15+__disjvr_7^0 == 0 /\ __disjvr_18^0-__disjvr_18^post15 == 0 /\ -y_22^post15+y_22^0 == 0 /\ __disjvr_8^0-__disjvr_8^post15 == 0 /\ -__disjvr_13^post15+__disjvr_13^0 == 0 /\ -y_231^post15+y_231^0 == 0 /\ temp0_18^0-temp0_18^post15 == 0 /\ length_25^0-length_25^post15 == 0 /\ rcd_107^0-rcd_107^post15 == 0 /\ y_261^0-y_261^post15 == 0 /\ -__disjvr_17^post15+__disjvr_17^0 == 0 /\ head_29^0-head_29^post15 == 0 /\ -y_191^post15+y_191^0 == 0 /\ w_20^0-w_20^post15 == 0 /\ -len_200^post15+len_200^0 == 0 /\ length_14^0-length_14^post15 == 0 /\ r_229^0-r_229^post15 == 0 /\ -__disjvr_11^post15+__disjvr_11^0 == 0 /\ -a_168^post15+a_168^0 == 0 /\ r_267^0-r_267^post15 == 0 /\ -__disjvr_2^post15+__disjvr_2^0 == 0 /\ len_270^0-len_270^post15 == 0 /\ -rcd_99^post15+rcd_99^0 == 0 /\ -__disjvr_4^post15+__disjvr_4^0 == 0 /\ -__disjvr_16^post15+__disjvr_16^0 == 0 /\ __disjvr_14^0-__disjvr_14^post15 == 0 /\ -rcd_243^post15+rcd_243^0 == 0 /\ -rcd_268^post15+rcd_268^0 == 0 /\ -r_240^post15+r_240^0 == 0 /\ y_241^0-y_241^post15 == 0 /\ -__disjvr_10^post15+__disjvr_10^0 == 0 /\ temp_32^0-temp_32^post15 == 0 /\ -__disjvr_12^post15+__disjvr_12^0 == 0 /\ -temp0_28^post15+temp0_28^0 == 0 /\ -__disjvr_24^post15+__disjvr_24^0 == 0 /\ -__disjvr_1^post15+__disjvr_1^0 == 0 /\ -a_215^post15+a_215^0 == 0 /\ r_242^0-r_242^post15 == 0 /\ -__disjvr_0^post15+__disjvr_0^0 == 0 /\ __disjvr_21^0-__disjvr_21^post15 == 0 /\ -y_269^post15+y_269^0 == 0 /\ t_23^0-t_23^post15 == 0 /\ __disjvr_9^0-__disjvr_9^post15 == 0 /\ __disjvr_19^0-__disjvr_19^post15 == 0 /\ x_21^0-x_21^post15 == 0 /\ -r_247^post15+r_247^0 == 0 /\ __disjvr_15^0-__disjvr_15^post15 == 0 /\ i_27^0-i_27^post15 == 0 /\ -r_154^post15+r_154^0 == 0 /\ -i_114^post15+i_114^0 == 0 /\ -y_295^post15+y_295^0 == 0 /\ __disjvr_20^0-__disjvr_20^post15 == 0 /\ -y_290^post15+y_290^0 == 0 /\ -rcd_239^post15+rcd_239^0 == 0 /\ rcd_230^0-rcd_230^post15 == 0 /\ __disjvr_5^0-__disjvr_5^post15 == 0 /\ a_143^0-a_143^post15 == 0 /\ __disjvr_6^0-__disjvr_6^post15 == 0 /\ -y_285^post15+y_285^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post15 == 0 /\ -r_183^post15+r_183^0 == 0 /\ -r_36^post15+r_36^0 == 0), cost: 1
  16: l16 -> l1 : __disjvr_0^0'=__disjvr_0^post16, i_27^0'=i_27^post16, y_162^0'=y_162^post16, __disjvr_21^0'=__disjvr_21^post16, z_19^0'=z_19^post16, __disjvr_9^0'=__disjvr_9^post16, result_11^0'=result_11^post16, __disjvr_14^0'=__disjvr_14^post16, r_154^0'=r_154^post16, __disjvr_24^0'=__disjvr_24^post16, y_261^0'=y_261^post16, rcd_230^0'=rcd_230^post16, head_13^0'=head_13^post16, head_SLAM_f_26^0'=head_SLAM_f_26^post16, tmp_31^0'=tmp_31^post16, __disjvr_19^0'=__disjvr_19^post16, r_242^0'=r_242^post16, __disjvr_6^0'=__disjvr_6^post16, y_347^0'=y_347^post16, rcd_40^0'=rcd_40^post16, __disjvr_11^0'=__disjvr_11^post16, len_270^0'=len_270^post16, y_22^0'=y_22^post16, r_267^0'=r_267^post16, a_168^0'=a_168^post16, t_23^0'=t_23^post16, __disjvr_16^0'=__disjvr_16^post16, r_229^0'=r_229^post16, __disjvr_3^0'=__disjvr_3^post16, y_285^0'=y_285^post16, rcd_243^0'=rcd_243^post16, i_114^0'=i_114^post16, x_21^0'=x_21^post16, __disjvr_20^0'=__disjvr_20^post16, r_253^0'=r_253^post16, __disjvr_8^0'=__disjvr_8^post16, rcd_99^0'=rcd_99^post16, __disjvr_13^0'=__disjvr_13^post16, length_25^0'=length_25^post16, __disjvr_23^0'=__disjvr_23^post16, y_241^0'=y_241^post16, rcd_107^0'=rcd_107^post16, a_271^0'=a_271^post16, temp0_18^0'=temp0_18^post16, temp_32^0'=temp_32^post16, __disjvr_18^0'=__disjvr_18^post16, r_240^0'=r_240^post16, __disjvr_5^0'=__disjvr_5^post16, y_295^0'=y_295^post16, rcd_268^0'=rcd_268^post16, __disjvr_10^0'=__disjvr_10^post16, len_200^0'=len_200^post16, y_191^0'=y_191^post16, __disjvr_22^0'=__disjvr_22^post16, a_143^0'=a_143^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, __disjvr_15^0'=__disjvr_15^post16, r_183^0'=r_183^post16, __disjvr_2^0'=__disjvr_2^post16, y_269^0'=y_269^post16, rcd_239^0'=rcd_239^post16, head_29^0'=head_29^post16, i_105^0'=i_105^post16, w_20^0'=w_20^post16, __disjvr_1^0'=__disjvr_1^post16, r_247^0'=r_247^post16, __disjvr_7^0'=__disjvr_7^post16, rcd_64^0'=rcd_64^post16, __disjvr_12^0'=__disjvr_12^post16, length_14^0'=length_14^post16, y_231^0'=y_231^post16, r_36^0'=r_36^post16, a_215^0'=a_215^post16, tail_15^0'=tail_15^post16, temp0_28^0'=temp0_28^post16, __disjvr_17^0'=__disjvr_17^post16, r_238^0'=r_238^post16, __disjvr_4^0'=__disjvr_4^post16, y_290^0'=y_290^post16, rcd_248^0'=rcd_248^post16, (__disjvr_13^0-__disjvr_13^post16 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ -head_29^post16+head_29^0 == 0 /\ a_271^0-a_271^post16 == 0 /\ __disjvr_16^0-__disjvr_16^post16 == 0 /\ __disjvr_24^0-__disjvr_24^post16 == 0 /\ -rcd_248^post16+rcd_248^0 == 0 /\ i_114^0-i_114^post16 == 0 /\ -__disjvr_22^post16+__disjvr_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post16 == 0 /\ -w_20^post16+w_20^0 == 0 /\ rcd_243^0-rcd_243^post16 == 0 /\ -tail_15^post16+tail_15^0 == 0 /\ -temp_32^post16+temp_32^0 == 0 /\ -r_183^post16+r_183^0 == 0 /\ -rcd_239^post16+rcd_239^0 == 0 /\ -y_290^post16+y_290^0 == 0 /\ -a_168^post16+a_168^0 == 0 /\ -__disjvr_7^post16+__disjvr_7^0 == 0 /\ r_240^0-r_240^post16 == 0 /\ -__disjvr_23^post16+__disjvr_23^0 == 0 /\ -y_191^post16+y_191^0 == 0 /\ __disjvr_11^0-__disjvr_11^post16 == 0 /\ head_13^0-head_13^post16 == 0 /\ i_27^0-i_27^post16 == 0 /\ -__disjvr_12^post16+__disjvr_12^0 == 0 /\ -__disjvr_5^post16+__disjvr_5^0 == 0 /\ -__disjvr_4^post16+__disjvr_4^0 == 0 /\ y_261^0-y_261^post16 == 0 /\ -__disjvr_20^post16+__disjvr_20^0 == 0 /\ r_253^0-r_253^post16 == 0 /\ -y_241^post16+y_241^0 == 0 /\ -rcd_99^post16+rcd_99^0 == 0 /\ -y_231^post16+y_231^0 == 0 /\ -__disjvr_1^post16+__disjvr_1^0 == 0 /\ -r_238^post16+r_238^0 == 0 /\ r_229^0-r_229^post16 == 0 /\ -rcd_64^post16+rcd_64^0 == 0 /\ length_14^0-length_14^post16 == 0 /\ len_270^0-len_270^post16 == 0 /\ -__disjvr_10^post16+__disjvr_10^0 == 0 /\ -rcd_40^post16+rcd_40^0 == 0 /\ -tmp_31^post16+tmp_31^0 == 0 /\ 2-length_14^0 <= 0 /\ -a_143^post16+a_143^0 == 0 /\ __disjvr_6^0-__disjvr_6^post16 == 0 /\ -rcd_268^post16+rcd_268^0 == 0 /\ t_23^0-t_23^post16 == 0 /\ -r_247^post16+r_247^0 == 0 /\ -temp0_18^post16+temp0_18^0 == 0 /\ __disjvr_3^0-__disjvr_3^post16 == 0 /\ __disjvr_0^0-__disjvr_0^post16 == 0 /\ r_267^0-r_267^post16 == 0 /\ r_242^0-r_242^post16 == 0 /\ -a_215^post16+a_215^0 == 0 /\ r_154^0-r_154^post16 == 0 /\ __disjvr_19^0-__disjvr_19^post16 == 0 /\ r_36^0-r_36^post16 == 0 /\ -y_295^post16+y_295^0 == 0 /\ result_11^0-result_11^post16 == 0 /\ -__disjvr_17^post16+__disjvr_17^0 == 0 /\ x_21^0-x_21^post16 == 0 /\ -rcd_230^post16+rcd_230^0 == 0 /\ y_162^0-y_162^post16 == 0 /\ -i_105^post16+i_105^0 == 0 /\ rcd_107^0-rcd_107^post16 == 0 /\ y_22^0-y_22^post16 == 0 /\ __disjvr_2^0-__disjvr_2^post16 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16 == 0 /\ len_200^0-len_200^post16 == 0 /\ -length_25^post16+length_25^0 == 0 /\ z_19^0-z_19^post16 == 0 /\ -__disjvr_8^post16+__disjvr_8^0 == 0 /\ __disjvr_14^0-__disjvr_14^post16 == 0 /\ __disjvr_15^0-__disjvr_15^post16 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post16 == 0 /\ 1-length_14^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post16 == 0 /\ -temp0_28^post16+temp0_28^0 == 0 /\ y_285^0-y_285^post16 == 0 /\ -y_347^post16+y_347^0 == 0 /\ -y_269^post16+y_269^0 == 0), cost: 1
  18: l17 -> l18 : __disjvr_0^0'=__disjvr_0^post18, i_27^0'=i_27^post18, y_162^0'=y_162^post18, __disjvr_21^0'=__disjvr_21^post18, z_19^0'=z_19^post18, __disjvr_9^0'=__disjvr_9^post18, result_11^0'=result_11^post18, __disjvr_14^0'=__disjvr_14^post18, r_154^0'=r_154^post18, __disjvr_24^0'=__disjvr_24^post18, y_261^0'=y_261^post18, rcd_230^0'=rcd_230^post18, head_13^0'=head_13^post18, head_SLAM_f_26^0'=head_SLAM_f_26^post18, tmp_31^0'=tmp_31^post18, __disjvr_19^0'=__disjvr_19^post18, r_242^0'=r_242^post18, __disjvr_6^0'=__disjvr_6^post18, y_347^0'=y_347^post18, rcd_40^0'=rcd_40^post18, __disjvr_11^0'=__disjvr_11^post18, len_270^0'=len_270^post18, y_22^0'=y_22^post18, r_267^0'=r_267^post18, a_168^0'=a_168^post18, t_23^0'=t_23^post18, __disjvr_16^0'=__disjvr_16^post18, r_229^0'=r_229^post18, __disjvr_3^0'=__disjvr_3^post18, y_285^0'=y_285^post18, rcd_243^0'=rcd_243^post18, i_114^0'=i_114^post18, x_21^0'=x_21^post18, __disjvr_20^0'=__disjvr_20^post18, r_253^0'=r_253^post18, __disjvr_8^0'=__disjvr_8^post18, rcd_99^0'=rcd_99^post18, __disjvr_13^0'=__disjvr_13^post18, length_25^0'=length_25^post18, __disjvr_23^0'=__disjvr_23^post18, y_241^0'=y_241^post18, rcd_107^0'=rcd_107^post18, a_271^0'=a_271^post18, temp0_18^0'=temp0_18^post18, temp_32^0'=temp_32^post18, __disjvr_18^0'=__disjvr_18^post18, r_240^0'=r_240^post18, __disjvr_5^0'=__disjvr_5^post18, y_295^0'=y_295^post18, rcd_268^0'=rcd_268^post18, __disjvr_10^0'=__disjvr_10^post18, len_200^0'=len_200^post18, y_191^0'=y_191^post18, __disjvr_22^0'=__disjvr_22^post18, a_143^0'=a_143^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18, __disjvr_15^0'=__disjvr_15^post18, r_183^0'=r_183^post18, __disjvr_2^0'=__disjvr_2^post18, y_269^0'=y_269^post18, rcd_239^0'=rcd_239^post18, head_29^0'=head_29^post18, i_105^0'=i_105^post18, w_20^0'=w_20^post18, __disjvr_1^0'=__disjvr_1^post18, r_247^0'=r_247^post18, __disjvr_7^0'=__disjvr_7^post18, rcd_64^0'=rcd_64^post18, __disjvr_12^0'=__disjvr_12^post18, length_14^0'=length_14^post18, y_231^0'=y_231^post18, r_36^0'=r_36^post18, a_215^0'=a_215^post18, tail_15^0'=tail_15^post18, temp0_28^0'=temp0_28^post18, __disjvr_17^0'=__disjvr_17^post18, r_238^0'=r_238^post18, __disjvr_4^0'=__disjvr_4^post18, y_290^0'=y_290^post18, rcd_248^0'=rcd_248^post18, (len_270^0-len_270^post18 == 0 /\ x_21^0-x_21^post18 == 0 /\ r_154^0-r_154^post18 == 0 /\ __disjvr_3^0-__disjvr_3^post18 == 0 /\ __disjvr_5^0-__disjvr_5^post18 == 0 /\ __disjvr_0^0-__disjvr_0^post18 == 0 /\ -r_183^post18+r_183^0 == 0 /\ -__disjvr_1^post18+__disjvr_1^0 == 0 /\ -y_290^post18+y_290^0 == 0 /\ rcd_230^0-rcd_230^post18 == 0 /\ -rcd_64^post18+rcd_64^0 == 0 /\ -r_36^post18+r_36^0 == 0 /\ temp0_18^0-temp0_18^post18 == 0 /\ -rcd_268^post18+rcd_268^0 == 0 /\ r_267^0-r_267^post18 == 0 /\ -__disjvr_12^post18+__disjvr_12^0 == 0 /\ -i_114^post18+i_114^0 == 0 /\ w_20^0-w_20^post18 == 0 /\ -rcd_99^post18+rcd_99^0 == 0 /\ y_347^0-y_347^post18 == 0 /\ y_285^0-y_285^post18 == 0 /\ y_162^0-y_162^post18 == 0 /\ -rcd_243^post18+rcd_243^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -__disjvr_15^post18+__disjvr_15^0 == 0 /\ -r_238^post18+r_238^0 == 0 /\ z_19^0-z_19^post18 == 0 /\ __disjvr_10^0-__disjvr_10^post18 == 0 /\ __disjvr_14^0-__disjvr_14^post18 == 0 /\ y_295^0-y_295^post18 == 0 /\ -r_229^post18+r_229^0 == 0 /\ t_23^0-t_23^post18 == 0 /\ __disjvr_8^0-__disjvr_8^post18 == 0 /\ y_22^0-y_22^post18 == 0 /\ __disjvr_24^0-__disjvr_24^post18 == 0 /\ -__disjvr_22^post18+__disjvr_22^0 == 0 /\ -r_247^post18+r_247^0 == 0 /\ -r_253^post18+r_253^0 == 0 /\ rcd_107^0-rcd_107^post18 == 0 /\ -__disjvr_19^post18+__disjvr_19^0 == 0 /\ length_25^0-length_25^post18 == 0 /\ -tail_15^post18+tail_15^0 == 0 /\ -y_231^post18+y_231^0 == 0 /\ -__disjvr_2^post18+__disjvr_2^0 == 0 /\ -__disjvr_6^post18+__disjvr_6^0 == 0 /\ __disjvr_21^0-__disjvr_21^post18 == 0 /\ -temp_32^post18+temp_32^0 == 0 /\ -__disjvr_17^post18+__disjvr_17^0 == 0 /\ y_269^0-y_269^post18 == 0 /\ -__disjvr_23^post18+__disjvr_23^0 == 0 /\ __disjvr_20^0-__disjvr_20^post18 == 0 /\ __disjvr_11^0-__disjvr_11^post18 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post18 == 0 /\ -length_14^post18+length_14^0 == 0 /\ -rcd_248^post18+rcd_248^0 == 0 /\ y_261^0-y_261^post18 == 0 /\ __disjvr_16^0-__disjvr_16^post18 == 0 /\ -__disjvr_9^0+__disjvr_9^post18 == 0 /\ tmp_31^0-tmp_31^post18 == 0 /\ -a_168^post18+a_168^0 == 0 /\ rcd_40^0-rcd_40^post18 == 0 /\ result_11^0-result_11^post18 == 0 /\ -a_143^post18+a_143^0 == 0 /\ y_191^0-y_191^post18 == 0 /\ -a_271^post18+a_271^0 == 0 /\ -__disjvr_7^post18+__disjvr_7^0 == 0 /\ -temp0_28^post18+temp0_28^0 == 0 /\ -y_241^post18+y_241^0 == 0 /\ rcd_239^0-rcd_239^post18 == 0 /\ head_13^0-head_13^post18 == 0 /\ i_27^0-i_27^post18 == 0 /\ -i_105^post18+i_105^0 == 0 /\ -__disjvr_13^post18+__disjvr_13^0 == 0 /\ -len_200^post18+len_200^0 == 0 /\ -__disjvr_18^post18+__disjvr_18^0 == 0 /\ -head_29^post18+head_29^0 == 0 /\ -__disjvr_4^post18+__disjvr_4^0 == 0 /\ r_240^0-r_240^post18 == 0 /\ r_242^0-r_242^post18 == 0 /\ __disjvr_9^0-__disjvr_9^post18 == 0 /\ -a_215^post18+a_215^0 == 0), cost: 1
  19: l18 -> l19 : __disjvr_0^0'=__disjvr_0^post19, i_27^0'=i_27^post19, y_162^0'=y_162^post19, __disjvr_21^0'=__disjvr_21^post19, z_19^0'=z_19^post19, __disjvr_9^0'=__disjvr_9^post19, result_11^0'=result_11^post19, __disjvr_14^0'=__disjvr_14^post19, r_154^0'=r_154^post19, __disjvr_24^0'=__disjvr_24^post19, y_261^0'=y_261^post19, rcd_230^0'=rcd_230^post19, head_13^0'=head_13^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post19, tmp_31^0'=tmp_31^post19, __disjvr_19^0'=__disjvr_19^post19, r_242^0'=r_242^post19, __disjvr_6^0'=__disjvr_6^post19, y_347^0'=y_347^post19, rcd_40^0'=rcd_40^post19, __disjvr_11^0'=__disjvr_11^post19, len_270^0'=len_270^post19, y_22^0'=y_22^post19, r_267^0'=r_267^post19, a_168^0'=a_168^post19, t_23^0'=t_23^post19, __disjvr_16^0'=__disjvr_16^post19, r_229^0'=r_229^post19, __disjvr_3^0'=__disjvr_3^post19, y_285^0'=y_285^post19, rcd_243^0'=rcd_243^post19, i_114^0'=i_114^post19, x_21^0'=x_21^post19, __disjvr_20^0'=__disjvr_20^post19, r_253^0'=r_253^post19, __disjvr_8^0'=__disjvr_8^post19, rcd_99^0'=rcd_99^post19, __disjvr_13^0'=__disjvr_13^post19, length_25^0'=length_25^post19, __disjvr_23^0'=__disjvr_23^post19, y_241^0'=y_241^post19, rcd_107^0'=rcd_107^post19, a_271^0'=a_271^post19, temp0_18^0'=temp0_18^post19, temp_32^0'=temp_32^post19, __disjvr_18^0'=__disjvr_18^post19, r_240^0'=r_240^post19, __disjvr_5^0'=__disjvr_5^post19, y_295^0'=y_295^post19, rcd_268^0'=rcd_268^post19, __disjvr_10^0'=__disjvr_10^post19, len_200^0'=len_200^post19, y_191^0'=y_191^post19, __disjvr_22^0'=__disjvr_22^post19, a_143^0'=a_143^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19, __disjvr_15^0'=__disjvr_15^post19, r_183^0'=r_183^post19, __disjvr_2^0'=__disjvr_2^post19, y_269^0'=y_269^post19, rcd_239^0'=rcd_239^post19, head_29^0'=head_29^post19, i_105^0'=i_105^post19, w_20^0'=w_20^post19, __disjvr_1^0'=__disjvr_1^post19, r_247^0'=r_247^post19, __disjvr_7^0'=__disjvr_7^post19, rcd_64^0'=rcd_64^post19, __disjvr_12^0'=__disjvr_12^post19, length_14^0'=length_14^post19, y_231^0'=y_231^post19, r_36^0'=r_36^post19, a_215^0'=a_215^post19, tail_15^0'=tail_15^post19, temp0_28^0'=temp0_28^post19, __disjvr_17^0'=__disjvr_17^post19, r_238^0'=r_238^post19, __disjvr_4^0'=__disjvr_4^post19, y_290^0'=y_290^post19, rcd_248^0'=rcd_248^post19, (-__disjvr_16^post19+__disjvr_16^0 == 0 /\ -__disjvr_10^post19+__disjvr_10^0 == 0 /\ __disjvr_8^0-__disjvr_8^post19 == 0 /\ y_261^0-y_261^post19 == 0 /\ -x_21^post19+x_21^0 == 0 /\ -temp0_28^post19+temp0_28^0 == 0 /\ rcd_230^0-rcd_230^post19 == 0 /\ r_229^0-r_229^post19 == 0 /\ length_25^0-length_25^post19 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ w_20^0-tail_15^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post19 == 0 /\ __disjvr_20^0-__disjvr_20^post19 == 0 /\ -t_23^post19+y_22^post19 <= 0 /\ -t_23^post19+y_22^post19 == 0 /\ -a_215^post19+a_215^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post19 == 0 /\ -r_240^post19+r_240^0 == 0 /\ a_168^0-a_168^post19 == 0 /\ -__disjvr_1^post19+__disjvr_1^0 == 0 /\ -x_21^0+t_23^post19 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ -rcd_243^post19+rcd_243^0 == 0 /\ __disjvr_14^0-__disjvr_14^post19 == 0 /\ -y_269^post19+y_269^0 == 0 /\ -r_242^post19+r_242^0 == 0 /\ rcd_268^0-rcd_268^post19 == 0 /\ -y_290^post19+y_290^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -r_36^post19+r_36^0 == 0 /\ y_162^0-y_162^post19 == 0 /\ tmp_31^0-tmp_31^post19 == 0 /\ -r_247^post19+r_247^0 == 0 /\ -i_114^post19+i_114^0 == 0 /\ z_19^0-z_19^post19 == 0 /\ length_14^0-length_14^post19 == 0 /\ -w_20^0+tail_15^0 <= 0 /\ t_23^post19-y_22^post19 <= 0 /\ -y_295^post19+y_295^0 == 0 /\ -rcd_239^post19+rcd_239^0 == 0 /\ head_13^0-head_13^post19 == 0 /\ -r_183^post19+r_183^0 == 0 /\ r_154^0-r_154^post19 == 0 /\ __disjvr_24^0-__disjvr_24^post19 == 0 /\ -__disjvr_22^post19+__disjvr_22^0 == 0 /\ -i_105^post19+i_105^0 == 0 /\ __disjvr_5^0-__disjvr_5^post19 == 0 /\ -a_271^post19+a_271^0 == 0 /\ __disjvr_15^0-__disjvr_15^post19 == 0 /\ -rcd_99^post19+rcd_99^0 == 0 /\ -__disjvr_11^post19+__disjvr_11^0 == 0 /\ -r_238^post19+r_238^0 == 0 /\ temp0_18^0-temp0_18^post19 == 0 /\ z_19^0-head_13^0 <= 0 /\ -temp_32^post19+temp_32^0 == 0 /\ -y_285^post19+y_285^0 == 0 /\ rcd_107^0-rcd_107^post19 == 0 /\ r_253^0-r_253^post19 == 0 /\ __disjvr_6^0-__disjvr_6^post19 == 0 /\ -tail_15^post19+tail_15^0 == 0 /\ -y_191^post19+y_191^0 == 0 /\ -y_231^post19+y_231^0 == 0 /\ len_270^0-len_270^post19 == 0 /\ -rcd_248^post19+rcd_248^0 == 0 /\ -__disjvr_7^post19+__disjvr_7^0 == 0 /\ -rcd_40^post19+rcd_40^0 == 0 /\ r_267^0-r_267^post19 == 0 /\ result_11^0-result_11^post19 == 0 /\ -__disjvr_17^post19+__disjvr_17^0 == 0 /\ y_241^0-y_241^post19 == 0 /\ -z_19^0+head_13^0 <= 0 /\ -w_20^post19+w_20^0 == 0 /\ __disjvr_13^0-__disjvr_13^post19 == 0 /\ a_143^0-a_143^post19 == 0 /\ y_347^0-y_347^post19 == 0 /\ -len_200^post19+len_200^0 == 0 /\ -__disjvr_23^post19+__disjvr_23^0 == 0 /\ -head_29^post19+head_29^0 == 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ -__disjvr_4^post19+__disjvr_4^0 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ __disjvr_21^0-__disjvr_21^post19 == 0 /\ -rcd_64^post19+rcd_64^0 == 0 /\ __disjvr_9^0-__disjvr_9^post19 == 0 /\ __disjvr_19^0-__disjvr_19^post19 == 0 /\ i_27^0-i_27^post19 == 0), cost: 1
  20: l19 -> l20 : __disjvr_0^0'=__disjvr_0^post20, i_27^0'=i_27^post20, y_162^0'=y_162^post20, __disjvr_21^0'=__disjvr_21^post20, z_19^0'=z_19^post20, __disjvr_9^0'=__disjvr_9^post20, result_11^0'=result_11^post20, __disjvr_14^0'=__disjvr_14^post20, r_154^0'=r_154^post20, __disjvr_24^0'=__disjvr_24^post20, y_261^0'=y_261^post20, rcd_230^0'=rcd_230^post20, head_13^0'=head_13^post20, head_SLAM_f_26^0'=head_SLAM_f_26^post20, tmp_31^0'=tmp_31^post20, __disjvr_19^0'=__disjvr_19^post20, r_242^0'=r_242^post20, __disjvr_6^0'=__disjvr_6^post20, y_347^0'=y_347^post20, rcd_40^0'=rcd_40^post20, __disjvr_11^0'=__disjvr_11^post20, len_270^0'=len_270^post20, y_22^0'=y_22^post20, r_267^0'=r_267^post20, a_168^0'=a_168^post20, t_23^0'=t_23^post20, __disjvr_16^0'=__disjvr_16^post20, r_229^0'=r_229^post20, __disjvr_3^0'=__disjvr_3^post20, y_285^0'=y_285^post20, rcd_243^0'=rcd_243^post20, i_114^0'=i_114^post20, x_21^0'=x_21^post20, __disjvr_20^0'=__disjvr_20^post20, r_253^0'=r_253^post20, __disjvr_8^0'=__disjvr_8^post20, rcd_99^0'=rcd_99^post20, __disjvr_13^0'=__disjvr_13^post20, length_25^0'=length_25^post20, __disjvr_23^0'=__disjvr_23^post20, y_241^0'=y_241^post20, rcd_107^0'=rcd_107^post20, a_271^0'=a_271^post20, temp0_18^0'=temp0_18^post20, temp_32^0'=temp_32^post20, __disjvr_18^0'=__disjvr_18^post20, r_240^0'=r_240^post20, __disjvr_5^0'=__disjvr_5^post20, y_295^0'=y_295^post20, rcd_268^0'=rcd_268^post20, __disjvr_10^0'=__disjvr_10^post20, len_200^0'=len_200^post20, y_191^0'=y_191^post20, __disjvr_22^0'=__disjvr_22^post20, a_143^0'=a_143^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20, __disjvr_15^0'=__disjvr_15^post20, r_183^0'=r_183^post20, __disjvr_2^0'=__disjvr_2^post20, y_269^0'=y_269^post20, rcd_239^0'=rcd_239^post20, head_29^0'=head_29^post20, i_105^0'=i_105^post20, w_20^0'=w_20^post20, __disjvr_1^0'=__disjvr_1^post20, r_247^0'=r_247^post20, __disjvr_7^0'=__disjvr_7^post20, rcd_64^0'=rcd_64^post20, __disjvr_12^0'=__disjvr_12^post20, length_14^0'=length_14^post20, y_231^0'=y_231^post20, r_36^0'=r_36^post20, a_215^0'=a_215^post20, tail_15^0'=tail_15^post20, temp0_28^0'=temp0_28^post20, __disjvr_17^0'=__disjvr_17^post20, r_238^0'=r_238^post20, __disjvr_4^0'=__disjvr_4^post20, y_290^0'=y_290^post20, rcd_248^0'=rcd_248^post20, (-rcd_268^post20+rcd_268^0 == 0 /\ y_22^0-y_22^post20 == 0 /\ y_261^0-y_261^post20 == 0 /\ a_168^0-a_168^post20 == 0 /\ -temp0_28^post20+temp0_28^0 == 0 /\ -temp0_18^post20+temp0_18^0 == 0 /\ len_200^0-len_200^post20 == 0 /\ -a_215^post20+a_215^0 == 0 /\ rcd_243^0-rcd_243^post20 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post20 == 0 /\ z_19^0-z_19^post20 == 0 /\ __disjvr_1^0-__disjvr_1^post20 == 0 /\ -r_247^post20+r_247^0 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ __disjvr_11^0-__disjvr_11^post20 == 0 /\ -y_295^post20+y_295^0 == 0 /\ -r_36^post20+r_36^0 == 0 /\ -r_229^post20+r_229^0 == 0 /\ a_271^0-a_271^post20 == 0 /\ __disjvr_6^0-__disjvr_6^post20 == 0 /\ -i_105^post20+i_105^0 == 0 /\ -length_25^post20+length_25^0 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ -length_14^post20+length_14^0 == 0 /\ r_242^0-r_242^post20 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ -y_269^post20+y_269^0 == 0 /\ i_114^0-i_114^post20 == 0 /\ r_154^0-r_154^post20 == 0 /\ -rcd_107^post20+rcd_107^0 == 0 /\ head_13^0-head_13^post20 == 0 /\ __disjvr_21^0-__disjvr_21^post20 == 0 /\ __disjvr_7^0-__disjvr_7^post20 == 0 /\ result_11^0-result_11^post20 == 0 /\ r_240^0-r_240^post20 == 0 /\ -__disjvr_8^post20+__disjvr_8^0 == 0 /\ __disjvr_18^0-__disjvr_18^post20 == 0 /\ -head_29^post20+head_29^0 == 0 /\ i_27^0-i_27^post20 == 0 /\ -w_20^post20+w_20^0 == 0 /\ -len_270^post20+len_270^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20 == 0 /\ -rcd_248^post20+rcd_248^0 == 0 /\ -__disjvr_22^post20+__disjvr_22^0 == 0 /\ __disjvr_2^0-__disjvr_2^post20 == 0 /\ rcd_230^0-rcd_230^post20 == 0 /\ -rcd_239^post20+rcd_239^0 == 0 /\ __disjvr_10^post20-__disjvr_10^0 == 0 /\ r_253^0-r_253^post20 == 0 /\ -r_183^post20+r_183^0 == 0 /\ -tail_15^post20+tail_15^0 == 0 /\ __disjvr_15^0-__disjvr_15^post20 == 0 /\ -temp_32^post20+temp_32^0 == 0 /\ y_285^0-y_285^post20 == 0 /\ __disjvr_16^0-__disjvr_16^post20 == 0 /\ -y_191^post20+y_191^0 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ -__disjvr_14^post20+__disjvr_14^0 == 0 /\ -__disjvr_4^post20+__disjvr_4^0 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ -__disjvr_20^post20+__disjvr_20^0 == 0 /\ r_267^0-r_267^post20 == 0 /\ t_23^0-t_23^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ y_347^0-y_347^post20 == 0 /\ -tmp_31^post20+tmp_31^0 == 0 /\ -y_231^post20+y_231^0 == 0 /\ y_162^0-y_162^post20 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ -__disjvr_10^post20+__disjvr_10^0 == 0 /\ rcd_99^0-rcd_99^post20 == 0 /\ -rcd_40^post20+rcd_40^0 == 0 /\ x_21^0-x_21^post20 == 0 /\ y_290^0-y_290^post20 == 0 /\ -a_143^post20+a_143^0 == 0 /\ -r_238^post20+r_238^0 == 0 /\ -rcd_64^post20+rcd_64^0 == 0 /\ -y_241^post20+y_241^0 == 0 /\ __disjvr_19^0-__disjvr_19^post20 == 0 /\ -__disjvr_13^post20+__disjvr_13^0 == 0), cost: 1
  21: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post21, i_27^0'=i_27^post21, y_162^0'=y_162^post21, __disjvr_21^0'=__disjvr_21^post21, z_19^0'=z_19^post21, __disjvr_9^0'=__disjvr_9^post21, result_11^0'=result_11^post21, __disjvr_14^0'=__disjvr_14^post21, r_154^0'=r_154^post21, __disjvr_24^0'=__disjvr_24^post21, y_261^0'=y_261^post21, rcd_230^0'=rcd_230^post21, head_13^0'=head_13^post21, head_SLAM_f_26^0'=head_SLAM_f_26^post21, tmp_31^0'=tmp_31^post21, __disjvr_19^0'=__disjvr_19^post21, r_242^0'=r_242^post21, __disjvr_6^0'=__disjvr_6^post21, y_347^0'=y_347^post21, rcd_40^0'=rcd_40^post21, __disjvr_11^0'=__disjvr_11^post21, len_270^0'=len_270^post21, y_22^0'=y_22^post21, r_267^0'=r_267^post21, a_168^0'=a_168^post21, t_23^0'=t_23^post21, __disjvr_16^0'=__disjvr_16^post21, r_229^0'=r_229^post21, __disjvr_3^0'=__disjvr_3^post21, y_285^0'=y_285^post21, rcd_243^0'=rcd_243^post21, i_114^0'=i_114^post21, x_21^0'=x_21^post21, __disjvr_20^0'=__disjvr_20^post21, r_253^0'=r_253^post21, __disjvr_8^0'=__disjvr_8^post21, rcd_99^0'=rcd_99^post21, __disjvr_13^0'=__disjvr_13^post21, length_25^0'=length_25^post21, __disjvr_23^0'=__disjvr_23^post21, y_241^0'=y_241^post21, rcd_107^0'=rcd_107^post21, a_271^0'=a_271^post21, temp0_18^0'=temp0_18^post21, temp_32^0'=temp_32^post21, __disjvr_18^0'=__disjvr_18^post21, r_240^0'=r_240^post21, __disjvr_5^0'=__disjvr_5^post21, y_295^0'=y_295^post21, rcd_268^0'=rcd_268^post21, __disjvr_10^0'=__disjvr_10^post21, len_200^0'=len_200^post21, y_191^0'=y_191^post21, __disjvr_22^0'=__disjvr_22^post21, a_143^0'=a_143^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21, __disjvr_15^0'=__disjvr_15^post21, r_183^0'=r_183^post21, __disjvr_2^0'=__disjvr_2^post21, y_269^0'=y_269^post21, rcd_239^0'=rcd_239^post21, head_29^0'=head_29^post21, i_105^0'=i_105^post21, w_20^0'=w_20^post21, __disjvr_1^0'=__disjvr_1^post21, r_247^0'=r_247^post21, __disjvr_7^0'=__disjvr_7^post21, rcd_64^0'=rcd_64^post21, __disjvr_12^0'=__disjvr_12^post21, length_14^0'=length_14^post21, y_231^0'=y_231^post21, r_36^0'=r_36^post21, a_215^0'=a_215^post21, tail_15^0'=tail_15^post21, temp0_28^0'=temp0_28^post21, __disjvr_17^0'=__disjvr_17^post21, r_238^0'=r_238^post21, __disjvr_4^0'=__disjvr_4^post21, y_290^0'=y_290^post21, rcd_248^0'=rcd_248^post21, (__disjvr_11^0-__disjvr_11^post21 == 0 /\ -y_231^post21+y_231^0 == 0 /\ i_27^0-i_27^post21 == 0 /\ -__disjvr_4^post21+__disjvr_4^0 == 0 /\ -y_295^post21+y_295^0 == 0 /\ head_13^0-head_13^post21 == 0 /\ y_22^0-y_22^post21 == 0 /\ -__disjvr_8^post21+__disjvr_8^0 == 0 /\ -r_247^post21+r_247^0 == 0 /\ -a_143^post21+a_143^0 == 0 /\ -rcd_268^post21+rcd_268^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ r_240^0-r_240^post21 == 0 /\ -temp0_28^post21+temp0_28^0 == 0 /\ y_261^0-y_261^post21 == 0 /\ -length_14^post21+length_14^0 == 0 /\ -temp0_18^post21+temp0_18^0 == 0 /\ -r_229^post21+r_229^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post21 == 0 /\ -a_215^post21+a_215^0 == 0 /\ z_19^0-z_19^post21 == 0 /\ len_200^0-len_200^post21 == 0 /\ __disjvr_14^0-__disjvr_14^post21 == 0 /\ -__disjvr_11^0+__disjvr_11^post21 == 0 /\ -rcd_107^post21+rcd_107^0 == 0 /\ -y_269^post21+y_269^0 == 0 /\ __disjvr_9^0-__disjvr_9^post21 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ r_267^0-r_267^post21 == 0 /\ rcd_64^0-rcd_64^post21 == 0 /\ -y_290^post21+y_290^0 == 0 /\ __disjvr_16^0-__disjvr_16^post21 == 0 /\ __disjvr_12^0-__disjvr_12^post21 == 0 /\ -temp_32^post21+temp_32^0 == 0 /\ rcd_99^0-rcd_99^post21 == 0 /\ x_21^0-x_21^post21 == 0 /\ length_25^0-length_25^post21 == 0 /\ r_242^0-r_242^post21 == 0 /\ y_162^0-y_162^post21 == 0 /\ r_154^0-r_154^post21 == 0 /\ -r_36^post21+r_36^0 == 0 /\ -i_105^post21+i_105^0 == 0 /\ -y_285^post21+y_285^0 == 0 /\ -i_114^post21+i_114^0 == 0 /\ -len_270^post21+len_270^0 == 0 /\ -__disjvr_18^post21+__disjvr_18^0 == 0 /\ rcd_40^0-rcd_40^post21 == 0 /\ __disjvr_20^0-__disjvr_20^post21 == 0 /\ -r_238^post21+r_238^0 == 0 /\ y_191^0-y_191^post21 == 0 /\ rcd_243^0-rcd_243^post21 == 0 /\ __disjvr_2^0-__disjvr_2^post21 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21 == 0 /\ -rcd_239^post21+rcd_239^0 == 0 /\ -head_29^post21+head_29^0 == 0 /\ r_183^0-r_183^post21 == 0 /\ __disjvr_24^0-__disjvr_24^post21 == 0 /\ -__disjvr_10^post21+__disjvr_10^0 == 0 /\ -y_241^post21+y_241^0 == 0 /\ -w_20^post21+w_20^0 == 0 /\ -r_253^post21+r_253^0 == 0 /\ rcd_230^0-rcd_230^post21 == 0 /\ -t_23^post21+t_23^0 == 0 /\ __disjvr_23^0-__disjvr_23^post21 == 0 /\ -__disjvr_17^post21+__disjvr_17^0 == 0 /\ -tail_15^post21+tail_15^0 == 0 /\ -__disjvr_3^post21+__disjvr_3^0 == 0 /\ -rcd_248^post21+rcd_248^0 == 0 /\ -__disjvr_5^post21+__disjvr_5^0 == 0 /\ -__disjvr_22^post21+__disjvr_22^0 == 0 /\ __disjvr_6^0-__disjvr_6^post21 == 0 /\ a_271^0-a_271^post21 == 0 /\ -__disjvr_13^post21+__disjvr_13^0 == 0 /\ -__disjvr_15^post21+__disjvr_15^0 == 0 /\ y_347^0-y_347^post21 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0 /\ __disjvr_19^0-__disjvr_19^post21 == 0 /\ -__disjvr_1^post21+__disjvr_1^0 == 0 /\ -tmp_31^post21+tmp_31^0 == 0 /\ a_168^0-a_168^post21 == 0), cost: 1
  22: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post22, i_27^0'=i_27^post22, y_162^0'=y_162^post22, __disjvr_21^0'=__disjvr_21^post22, z_19^0'=z_19^post22, __disjvr_9^0'=__disjvr_9^post22, result_11^0'=result_11^post22, __disjvr_14^0'=__disjvr_14^post22, r_154^0'=r_154^post22, __disjvr_24^0'=__disjvr_24^post22, y_261^0'=y_261^post22, rcd_230^0'=rcd_230^post22, head_13^0'=head_13^post22, head_SLAM_f_26^0'=head_SLAM_f_26^post22, tmp_31^0'=tmp_31^post22, __disjvr_19^0'=__disjvr_19^post22, r_242^0'=r_242^post22, __disjvr_6^0'=__disjvr_6^post22, y_347^0'=y_347^post22, rcd_40^0'=rcd_40^post22, __disjvr_11^0'=__disjvr_11^post22, len_270^0'=len_270^post22, y_22^0'=y_22^post22, r_267^0'=r_267^post22, a_168^0'=a_168^post22, t_23^0'=t_23^post22, __disjvr_16^0'=__disjvr_16^post22, r_229^0'=r_229^post22, __disjvr_3^0'=__disjvr_3^post22, y_285^0'=y_285^post22, rcd_243^0'=rcd_243^post22, i_114^0'=i_114^post22, x_21^0'=x_21^post22, __disjvr_20^0'=__disjvr_20^post22, r_253^0'=r_253^post22, __disjvr_8^0'=__disjvr_8^post22, rcd_99^0'=rcd_99^post22, __disjvr_13^0'=__disjvr_13^post22, length_25^0'=length_25^post22, __disjvr_23^0'=__disjvr_23^post22, y_241^0'=y_241^post22, rcd_107^0'=rcd_107^post22, a_271^0'=a_271^post22, temp0_18^0'=temp0_18^post22, temp_32^0'=temp_32^post22, __disjvr_18^0'=__disjvr_18^post22, r_240^0'=r_240^post22, __disjvr_5^0'=__disjvr_5^post22, y_295^0'=y_295^post22, rcd_268^0'=rcd_268^post22, __disjvr_10^0'=__disjvr_10^post22, len_200^0'=len_200^post22, y_191^0'=y_191^post22, __disjvr_22^0'=__disjvr_22^post22, a_143^0'=a_143^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22, __disjvr_15^0'=__disjvr_15^post22, r_183^0'=r_183^post22, __disjvr_2^0'=__disjvr_2^post22, y_269^0'=y_269^post22, rcd_239^0'=rcd_239^post22, head_29^0'=head_29^post22, i_105^0'=i_105^post22, w_20^0'=w_20^post22, __disjvr_1^0'=__disjvr_1^post22, r_247^0'=r_247^post22, __disjvr_7^0'=__disjvr_7^post22, rcd_64^0'=rcd_64^post22, __disjvr_12^0'=__disjvr_12^post22, length_14^0'=length_14^post22, y_231^0'=y_231^post22, r_36^0'=r_36^post22, a_215^0'=a_215^post22, tail_15^0'=tail_15^post22, temp0_28^0'=temp0_28^post22, __disjvr_17^0'=__disjvr_17^post22, r_238^0'=r_238^post22, __disjvr_4^0'=__disjvr_4^post22, y_290^0'=y_290^post22, rcd_248^0'=rcd_248^post22, (rcd_107^0-rcd_107^post22 == 0 /\ z_19^0-z_19^post22 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post22 == 0 /\ r_242^0-r_242^post22 == 0 /\ a_168^0-a_168^post22 == 0 /\ -__disjvr_13^post22+__disjvr_13^0 == 0 /\ -__disjvr_20^post22+__disjvr_20^0 == 0 /\ -__disjvr_4^post22+__disjvr_4^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ -y_231^post22+y_231^0 == 0 /\ -r_247^post22+r_247^0 == 0 /\ rcd_40^0-rcd_40^post22 == 0 /\ __disjvr_7^0-__disjvr_7^post22 == 0 /\ r_240^0-r_240^post22 == 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ y_22^0-y_22^post22 == 0 /\ len_200^0-len_200^post22 == 0 /\ -t_23^post22+t_23^0 == 0 /\ -a_143^post22+a_143^0 == 0 /\ -head_29^post22+head_29^0 == 0 /\ __disjvr_6^0-__disjvr_6^post22 == 0 /\ -length_14^post22+length_14^0 == 0 /\ r_154^0-r_154^post22 == 0 /\ __disjvr_23^0-__disjvr_23^post22 == 0 /\ -len_270^post22+len_270^0 == 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ i_105^0-i_105^post22 == 0 /\ __disjvr_21^0-__disjvr_21^post22 == 0 /\ -a_215^post22+a_215^0 == 0 /\ -r_267^post22+r_267^0 == 0 /\ __disjvr_2^0-__disjvr_2^post22 == 0 /\ -temp_32^post22+temp_32^0 == 0 /\ -temp0_28^post22+temp0_28^0 == 0 /\ -r_36^post22+r_36^0 == 0 /\ y_191^0-y_191^post22 == 0 /\ i_114^0-i_114^post22 == 0 /\ head_13^0-head_13^post22 == 0 /\ -__disjvr_18^post22+__disjvr_18^0 == 0 /\ __disjvr_12^post22-__disjvr_12^0 == 0 /\ i_27^0-i_27^post22 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ y_285^0-y_285^post22 == 0 /\ rcd_230^0-rcd_230^post22 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ -w_20^post22+w_20^0 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ __disjvr_14^0-__disjvr_14^post22 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22 == 0 /\ -y_290^post22+y_290^0 == 0 /\ -y_162^post22+y_162^0 == 0 /\ __disjvr_24^0-__disjvr_24^post22 == 0 /\ -r_183^post22+r_183^0 == 0 /\ -rcd_64^post22+rcd_64^0 == 0 /\ -a_271^post22+a_271^0 == 0 /\ __disjvr_8^0-__disjvr_8^post22 == 0 /\ tmp_31^0-tmp_31^post22 == 0 /\ -y_241^post22+y_241^0 == 0 /\ -rcd_268^post22+rcd_268^0 == 0 /\ y_269^0-y_269^post22 == 0 /\ -__disjvr_12^post22+__disjvr_12^0 == 0 /\ -rcd_248^post22+rcd_248^0 == 0 /\ -r_253^post22+r_253^0 == 0 /\ __disjvr_19^0-__disjvr_19^post22 == 0 /\ -rcd_99^post22+rcd_99^0 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ -temp0_18^post22+temp0_18^0 == 0 /\ -__disjvr_22^post22+__disjvr_22^0 == 0 /\ x_21^0-x_21^post22 == 0 /\ -tail_15^post22+tail_15^0 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0 /\ -rcd_243^post22+rcd_243^0 == 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ -r_238^post22+r_238^0 == 0 /\ -__disjvr_15^post22+__disjvr_15^0 == 0 /\ __disjvr_16^0-__disjvr_16^post22 == 0 /\ length_25^0-length_25^post22 == 0 /\ -y_295^post22+y_295^0 == 0 /\ y_347^0-y_347^post22 == 0 /\ y_261^0-y_261^post22 == 0 /\ -rcd_239^post22+rcd_239^0 == 0 /\ -r_229^post22+r_229^0 == 0), cost: 1
  23: l22 -> l0 : __disjvr_0^0'=__disjvr_0^post23, i_27^0'=i_27^post23, y_162^0'=y_162^post23, __disjvr_21^0'=__disjvr_21^post23, z_19^0'=z_19^post23, __disjvr_9^0'=__disjvr_9^post23, result_11^0'=result_11^post23, __disjvr_14^0'=__disjvr_14^post23, r_154^0'=r_154^post23, __disjvr_24^0'=__disjvr_24^post23, y_261^0'=y_261^post23, rcd_230^0'=rcd_230^post23, head_13^0'=head_13^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post23, tmp_31^0'=tmp_31^post23, __disjvr_19^0'=__disjvr_19^post23, r_242^0'=r_242^post23, __disjvr_6^0'=__disjvr_6^post23, y_347^0'=y_347^post23, rcd_40^0'=rcd_40^post23, __disjvr_11^0'=__disjvr_11^post23, len_270^0'=len_270^post23, y_22^0'=y_22^post23, r_267^0'=r_267^post23, a_168^0'=a_168^post23, t_23^0'=t_23^post23, __disjvr_16^0'=__disjvr_16^post23, r_229^0'=r_229^post23, __disjvr_3^0'=__disjvr_3^post23, y_285^0'=y_285^post23, rcd_243^0'=rcd_243^post23, i_114^0'=i_114^post23, x_21^0'=x_21^post23, __disjvr_20^0'=__disjvr_20^post23, r_253^0'=r_253^post23, __disjvr_8^0'=__disjvr_8^post23, rcd_99^0'=rcd_99^post23, __disjvr_13^0'=__disjvr_13^post23, length_25^0'=length_25^post23, __disjvr_23^0'=__disjvr_23^post23, y_241^0'=y_241^post23, rcd_107^0'=rcd_107^post23, a_271^0'=a_271^post23, temp0_18^0'=temp0_18^post23, temp_32^0'=temp_32^post23, __disjvr_18^0'=__disjvr_18^post23, r_240^0'=r_240^post23, __disjvr_5^0'=__disjvr_5^post23, y_295^0'=y_295^post23, rcd_268^0'=rcd_268^post23, __disjvr_10^0'=__disjvr_10^post23, len_200^0'=len_200^post23, y_191^0'=y_191^post23, __disjvr_22^0'=__disjvr_22^post23, a_143^0'=a_143^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, __disjvr_15^0'=__disjvr_15^post23, r_183^0'=r_183^post23, __disjvr_2^0'=__disjvr_2^post23, y_269^0'=y_269^post23, rcd_239^0'=rcd_239^post23, head_29^0'=head_29^post23, i_105^0'=i_105^post23, w_20^0'=w_20^post23, __disjvr_1^0'=__disjvr_1^post23, r_247^0'=r_247^post23, __disjvr_7^0'=__disjvr_7^post23, rcd_64^0'=rcd_64^post23, __disjvr_12^0'=__disjvr_12^post23, length_14^0'=length_14^post23, y_231^0'=y_231^post23, r_36^0'=r_36^post23, a_215^0'=a_215^post23, tail_15^0'=tail_15^post23, temp0_28^0'=temp0_28^post23, __disjvr_17^0'=__disjvr_17^post23, r_238^0'=r_238^post23, __disjvr_4^0'=__disjvr_4^post23, y_290^0'=y_290^post23, rcd_248^0'=rcd_248^post23, (-y_191^post23+y_191^0 == 0 /\ z_19^0-z_19^post23 == 0 /\ tmp_31^0-tmp_31^post23 == 0 /\ -y_285^post23+y_285^0 == 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ -y_231^post23+y_231^0 == 0 /\ y_347^0-y_347^post23 == 0 /\ -tail_15^post23+tail_15^0 == 0 /\ result_11^0-result_11^post23 == 0 /\ -__disjvr_4^post23+__disjvr_4^0 == 0 /\ head_13^0-head_13^post23 == 0 /\ y_162^0-y_162^post23 == 0 /\ -rcd_99^post23+rcd_99^0 == 0 /\ rcd_107^0-rcd_107^post23 == 0 /\ -r_238^post23+r_238^0 == 0 /\ -length_14^post23+length_14^0 == 0 /\ -__disjvr_11^post23+__disjvr_11^0 == 0 /\ __disjvr_23^0-__disjvr_23^post23 == 0 /\ len_270^0-len_270^post23 == 0 /\ r_229^0-r_229^post23 == 0 /\ length_25^0-length_25^post23 == 0 /\ __disjvr_21^0-__disjvr_21^post23 == 0 /\ __disjvr_3^0-__disjvr_3^post23 == 0 /\ -len_200^post23+len_200^0 == 0 /\ x_21^0-x_21^post23 == 0 /\ head_29^0-head_29^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -a_168^post23+a_168^0 == 0 /\ __disjvr_8^0-__disjvr_8^post23 == 0 /\ -y_269^post23+y_269^0 == 0 /\ -i_105^post23+i_105^0 == 0 /\ -__disjvr_13^post23+__disjvr_13^0 == 0 /\ temp0_18^0-temp0_18^post23 == 0 /\ y_241^0-y_241^post23 == 0 /\ r_267^0-r_267^post23 == 0 /\ -a_271^post23+a_271^0 == 0 /\ y_261^0-y_261^post23 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ w_20^0-w_20^post23 == 0 /\ -a_215^post23+a_215^0 == 0 /\ rcd_64^0-rcd_64^post23 == 0 /\ 2-length_14^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post23 == 0 /\ a_143^0-a_143^post23 == 0 /\ -__disjvr_1^post23+__disjvr_1^0 == 0 /\ y_295^0-y_295^post23 == 0 /\ -__disjvr_18^post23+__disjvr_18^0 == 0 /\ rcd_40^0-rcd_40^post23 == 0 /\ -r_183^post23+r_183^0 == 0 /\ t_23^0-t_23^post23 == 0 /\ rcd_230^0-rcd_230^post23 == 0 /\ -r_36^post23+r_36^0 == 0 /\ __disjvr_19^0-__disjvr_19^post23 == 0 /\ -rcd_268^post23+rcd_268^0 == 0 /\ -__disjvr_16^post23+__disjvr_16^0 == 0 /\ -rcd_243^post23+rcd_243^0 == 0 /\ __disjvr_9^0-__disjvr_9^post23 == 0 /\ i_27^0-i_27^post23 == 0 /\ r_242^0-r_242^post23 == 0 /\ -i_114^post23+i_114^0 == 0 /\ -y_22^post23+y_22^0 == 0 /\ -__disjvr_12^post23+__disjvr_12^0 == 0 /\ temp_32^0-temp_32^post23 == 0 /\ -temp0_28^post23+temp0_28^0 == 0 /\ -r_240^post23+r_240^0 == 0 /\ -__disjvr_10^post23+__disjvr_10^0 == 0 /\ r_154^0-r_154^post23 == 0 /\ -__disjvr_24^post23+__disjvr_24^0 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ -__disjvr_15^post23+__disjvr_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_6^0-__disjvr_6^post23 == 0 /\ -rcd_248^post23+rcd_248^0 == 0 /\ __disjvr_22^0-__disjvr_22^post23 == 0 /\ __disjvr_20^0-__disjvr_20^post23 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post23 == 0 /\ -y_290^post23+y_290^0 == 0 /\ 1-length_14^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ -r_253^post23+r_253^0 == 0 /\ -rcd_239^post23+rcd_239^0 == 0 /\ -r_247^post23+r_247^0 == 0), cost: 1
  24: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post24, i_27^0'=i_27^post24, y_162^0'=y_162^post24, __disjvr_21^0'=__disjvr_21^post24, z_19^0'=z_19^post24, __disjvr_9^0'=__disjvr_9^post24, result_11^0'=result_11^post24, __disjvr_14^0'=__disjvr_14^post24, r_154^0'=r_154^post24, __disjvr_24^0'=__disjvr_24^post24, y_261^0'=y_261^post24, rcd_230^0'=rcd_230^post24, head_13^0'=head_13^post24, head_SLAM_f_26^0'=head_SLAM_f_26^post24, tmp_31^0'=tmp_31^post24, __disjvr_19^0'=__disjvr_19^post24, r_242^0'=r_242^post24, __disjvr_6^0'=__disjvr_6^post24, y_347^0'=y_347^post24, rcd_40^0'=rcd_40^post24, __disjvr_11^0'=__disjvr_11^post24, len_270^0'=len_270^post24, y_22^0'=y_22^post24, r_267^0'=r_267^post24, a_168^0'=a_168^post24, t_23^0'=t_23^post24, __disjvr_16^0'=__disjvr_16^post24, r_229^0'=r_229^post24, __disjvr_3^0'=__disjvr_3^post24, y_285^0'=y_285^post24, rcd_243^0'=rcd_243^post24, i_114^0'=i_114^post24, x_21^0'=x_21^post24, __disjvr_20^0'=__disjvr_20^post24, r_253^0'=r_253^post24, __disjvr_8^0'=__disjvr_8^post24, rcd_99^0'=rcd_99^post24, __disjvr_13^0'=__disjvr_13^post24, length_25^0'=length_25^post24, __disjvr_23^0'=__disjvr_23^post24, y_241^0'=y_241^post24, rcd_107^0'=rcd_107^post24, a_271^0'=a_271^post24, temp0_18^0'=temp0_18^post24, temp_32^0'=temp_32^post24, __disjvr_18^0'=__disjvr_18^post24, r_240^0'=r_240^post24, __disjvr_5^0'=__disjvr_5^post24, y_295^0'=y_295^post24, rcd_268^0'=rcd_268^post24, __disjvr_10^0'=__disjvr_10^post24, len_200^0'=len_200^post24, y_191^0'=y_191^post24, __disjvr_22^0'=__disjvr_22^post24, a_143^0'=a_143^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24, __disjvr_15^0'=__disjvr_15^post24, r_183^0'=r_183^post24, __disjvr_2^0'=__disjvr_2^post24, y_269^0'=y_269^post24, rcd_239^0'=rcd_239^post24, head_29^0'=head_29^post24, i_105^0'=i_105^post24, w_20^0'=w_20^post24, __disjvr_1^0'=__disjvr_1^post24, r_247^0'=r_247^post24, __disjvr_7^0'=__disjvr_7^post24, rcd_64^0'=rcd_64^post24, __disjvr_12^0'=__disjvr_12^post24, length_14^0'=length_14^post24, y_231^0'=y_231^post24, r_36^0'=r_36^post24, a_215^0'=a_215^post24, tail_15^0'=tail_15^post24, temp0_28^0'=temp0_28^post24, __disjvr_17^0'=__disjvr_17^post24, r_238^0'=r_238^post24, __disjvr_4^0'=__disjvr_4^post24, y_290^0'=y_290^post24, rcd_248^0'=rcd_248^post24, (0 == 0 /\ -rcd_99^post24+rcd_99^0 == 0 /\ __disjvr_24^0-__disjvr_24^post24 == 0 /\ -a_143^0 <= 0 /\ y_285^0-y_285^post24 == 0 /\ -a_168^post24+a_168^0 == 0 /\ r_253^0-r_253^post24 == 0 /\ -temp_32^post24+temp_32^0 == 0 /\ -rcd_40^post24+rcd_40^0 == 0 /\ __disjvr_13^0-__disjvr_13^post24 == 0 /\ -r_238^post24+r_238^0 == 0 /\ a_271^0-a_271^post24 == 0 /\ i_114^0-i_114^post24 == 0 /\ -y_191^post24+y_191^0 == 0 /\ -i_105^post24+i_105^0 == 0 /\ -__disjvr_20^post24+__disjvr_20^0 == 0 /\ -rcd_248^post24+rcd_248^0 == 0 /\ __disjvr_21^0-__disjvr_21^post24 == 0 /\ head_13^0-head_13^post24 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ i_27^0-i_27^post24 == 0 /\ -tmp_31^post24+tmp_31^0 == 0 /\ len_270^0-len_270^post24 == 0 /\ rcd_243^0-rcd_243^post24 == 0 /\ y_261^0-y_261^post24 == 0 /\ -y_231^post24+y_231^0 == 0 /\ -__disjvr_17^post24+__disjvr_17^0 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ -a_143^post24+a_143^0 == 0 /\ -y_241^post24+y_241^0 == 0 /\ r_229^0-r_229^post24 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ -__disjvr_23^post24+__disjvr_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ -head_29^post24+head_29^0 == 0 /\ -__disjvr_4^post24+__disjvr_4^0 == 0 /\ __disjvr_11^0-__disjvr_11^post24 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ __disjvr_16^0-__disjvr_16^post24 == 0 /\ -__disjvr_10^post24+__disjvr_10^0 == 0 /\ -a_215^post24+a_215^0 == 0 /\ -y_269^post24+y_269^0 == 0 /\ r_267^0-r_267^post24 == 0 /\ -temp0_28^post24+temp0_28^0 == 0 /\ -rcd_230^post24+rcd_230^0 == 0 /\ -rcd_64^post24+rcd_64^0 == 0 /\ -r_240^post24+r_240^0 == 0 /\ r_36^0-r_36^post24 == 0 /\ -x_21^0+w_20^0 <= 0 /\ len_200^0-len_200^post24 == 0 /\ -y_347^post24+y_347^0 == 0 /\ __disjvr_19^0-__disjvr_19^post24 == 0 /\ -temp0_18^0+result_11^post24 == 0 /\ -rcd_268^post24+rcd_268^0 == 0 /\ y_162^0-y_162^post24 == 0 /\ r_242^0-r_242^post24 == 0 /\ -r_247^post24+r_247^0 == 0 /\ -__disjvr_1^post24+__disjvr_1^0 == 0 /\ __disjvr_3^0-__disjvr_3^post24 == 0 /\ r_154^0-r_154^post24 == 0 /\ -r_183^post24+r_183^0 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ -y_290^post24+y_290^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ __disjvr_15^0-__disjvr_15^post24 == 0 /\ -rcd_239^post24+rcd_239^0 == 0 /\ x_21^0-w_20^0 <= 0 /\ rcd_107^0-rcd_107^post24 == 0 /\ -length_25^post24+length_25^0 == 0 /\ __disjvr_2^0-__disjvr_2^post24 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post24 == 0 /\ __disjvr_14^0-__disjvr_14^post24 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ -temp0_18^post24+temp0_18^0 == 0), cost: 1
  27: l23 -> l26 : __disjvr_0^0'=__disjvr_0^post27, i_27^0'=i_27^post27, y_162^0'=y_162^post27, __disjvr_21^0'=__disjvr_21^post27, z_19^0'=z_19^post27, __disjvr_9^0'=__disjvr_9^post27, result_11^0'=result_11^post27, __disjvr_14^0'=__disjvr_14^post27, r_154^0'=r_154^post27, __disjvr_24^0'=__disjvr_24^post27, y_261^0'=y_261^post27, rcd_230^0'=rcd_230^post27, head_13^0'=head_13^post27, head_SLAM_f_26^0'=head_SLAM_f_26^post27, tmp_31^0'=tmp_31^post27, __disjvr_19^0'=__disjvr_19^post27, r_242^0'=r_242^post27, __disjvr_6^0'=__disjvr_6^post27, y_347^0'=y_347^post27, rcd_40^0'=rcd_40^post27, __disjvr_11^0'=__disjvr_11^post27, len_270^0'=len_270^post27, y_22^0'=y_22^post27, r_267^0'=r_267^post27, a_168^0'=a_168^post27, t_23^0'=t_23^post27, __disjvr_16^0'=__disjvr_16^post27, r_229^0'=r_229^post27, __disjvr_3^0'=__disjvr_3^post27, y_285^0'=y_285^post27, rcd_243^0'=rcd_243^post27, i_114^0'=i_114^post27, x_21^0'=x_21^post27, __disjvr_20^0'=__disjvr_20^post27, r_253^0'=r_253^post27, __disjvr_8^0'=__disjvr_8^post27, rcd_99^0'=rcd_99^post27, __disjvr_13^0'=__disjvr_13^post27, length_25^0'=length_25^post27, __disjvr_23^0'=__disjvr_23^post27, y_241^0'=y_241^post27, rcd_107^0'=rcd_107^post27, a_271^0'=a_271^post27, temp0_18^0'=temp0_18^post27, temp_32^0'=temp_32^post27, __disjvr_18^0'=__disjvr_18^post27, r_240^0'=r_240^post27, __disjvr_5^0'=__disjvr_5^post27, y_295^0'=y_295^post27, rcd_268^0'=rcd_268^post27, __disjvr_10^0'=__disjvr_10^post27, len_200^0'=len_200^post27, y_191^0'=y_191^post27, __disjvr_22^0'=__disjvr_22^post27, a_143^0'=a_143^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27, __disjvr_15^0'=__disjvr_15^post27, r_183^0'=r_183^post27, __disjvr_2^0'=__disjvr_2^post27, y_269^0'=y_269^post27, rcd_239^0'=rcd_239^post27, head_29^0'=head_29^post27, i_105^0'=i_105^post27, w_20^0'=w_20^post27, __disjvr_1^0'=__disjvr_1^post27, r_247^0'=r_247^post27, __disjvr_7^0'=__disjvr_7^post27, rcd_64^0'=rcd_64^post27, __disjvr_12^0'=__disjvr_12^post27, length_14^0'=length_14^post27, y_231^0'=y_231^post27, r_36^0'=r_36^post27, a_215^0'=a_215^post27, tail_15^0'=tail_15^post27, temp0_28^0'=temp0_28^post27, __disjvr_17^0'=__disjvr_17^post27, r_238^0'=r_238^post27, __disjvr_4^0'=__disjvr_4^post27, y_290^0'=y_290^post27, rcd_248^0'=rcd_248^post27, (0 == 0 /\ __disjvr_3^0-__disjvr_3^post27 == 0 /\ -r_183^post27+r_183^0 == 0 /\ -a_143^0 <= 0 /\ -y_22^post27+y_22^0 == 0 /\ __disjvr_8^0-__disjvr_8^post27 == 0 /\ __disjvr_22^0-__disjvr_22^post27 == 0 /\ -rcd_64^post27+rcd_64^0 == 0 /\ -__disjvr_10^post27+__disjvr_10^0 == 0 /\ -__disjvr_16^post27+__disjvr_16^0 == 0 /\ -r_36^post27+r_36^0 == 0 /\ __disjvr_20^0-__disjvr_20^post27 == 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ y_261^0-y_261^post27 == 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ length_25^0-length_25^post27 == 0 /\ a_168^0-a_168^post27 == 0 /\ -i_114^post27+i_114^0 == 0 /\ -w_20^post27+w_20^0 == 0 /\ y_162^0-y_162^post27 == 0 /\ __disjvr_14^0-__disjvr_14^post27 == 0 /\ tmp_31^0-tmp_31^post27 == 0 /\ -rcd_248^post27+rcd_248^0 == 0 /\ -rcd_40^post27+rcd_40^0 == 0 /\ -rcd_243^post27+rcd_243^0 == 0 /\ -r_253^post27+r_253^0 == 0 /\ -y_290^post27+y_290^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_24^0-__disjvr_24^post27 == 0 /\ rcd_268^0-rcd_268^post27 == 0 /\ rcd_107^0-rcd_107^post27 == 0 /\ __disjvr_18^0-__disjvr_18^post27 == 0 /\ -__disjvr_1^post27+__disjvr_1^0 == 0 /\ -r_242^post27+r_242^0 == 0 /\ -y_295^post27+y_295^0 == 0 /\ -__disjvr_2^post27+__disjvr_2^0 == 0 /\ -__disjvr_4^post27+__disjvr_4^0 == 0 /\ -__disjvr_17^post27+__disjvr_17^0 == 0 /\ -y_191^post27+y_191^0 == 0 /\ -r_247^post27+r_247^0 == 0 /\ __disjvr_6^0-__disjvr_6^post27 == 0 /\ __disjvr_21^0-__disjvr_21^post27 == 0 /\ len_270^0-len_270^post27 == 0 /\ -rcd_99^post27+rcd_99^0 == 0 /\ temp0_18^0-temp0_18^post27 == 0 /\ r_267^0-r_267^post27 == 0 /\ -y_285^post27+y_285^0 == 0 /\ -__disjvr_23^post27+__disjvr_23^0 == 0 /\ -__disjvr_11^post27+__disjvr_11^0 == 0 /\ -y_269^post27+y_269^0 == 0 /\ y_347^0-y_347^post27 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post27 == 0 /\ -temp0_28^post27+temp0_28^0 == 0 /\ a_143^0-a_143^post27 == 0 /\ -head_29^post27+head_29^0 == 0 /\ -len_200^post27+len_200^0 == 0 /\ result_11^0-result_11^post27 == 0 /\ -a_271^post27+a_271^0 == 0 /\ -x_21^post27+x_21^0 == 0 /\ -i_105^post27+i_105^0 == 0 /\ t_23^0-t_23^post27 == 0 /\ i_27^0-i_27^post27 == 0 /\ __disjvr_13^0-__disjvr_13^post27 == 0 /\ __disjvr_9^0-__disjvr_9^post27 == 0 /\ -__disjvr_7^post27+__disjvr_7^0 == 0 /\ __disjvr_19^0-__disjvr_19^post27 == 0 /\ temp_32^0-temp_32^post27 == 0 /\ __disjvr_5^0-__disjvr_5^post27 == 0 /\ -a_215^post27+a_215^0 == 0 /\ __disjvr_15^0-__disjvr_15^post27 == 0), cost: 1
  25: l24 -> l25 : __disjvr_0^0'=__disjvr_0^post25, i_27^0'=i_27^post25, y_162^0'=y_162^post25, __disjvr_21^0'=__disjvr_21^post25, z_19^0'=z_19^post25, __disjvr_9^0'=__disjvr_9^post25, result_11^0'=result_11^post25, __disjvr_14^0'=__disjvr_14^post25, r_154^0'=r_154^post25, __disjvr_24^0'=__disjvr_24^post25, y_261^0'=y_261^post25, rcd_230^0'=rcd_230^post25, head_13^0'=head_13^post25, head_SLAM_f_26^0'=head_SLAM_f_26^post25, tmp_31^0'=tmp_31^post25, __disjvr_19^0'=__disjvr_19^post25, r_242^0'=r_242^post25, __disjvr_6^0'=__disjvr_6^post25, y_347^0'=y_347^post25, rcd_40^0'=rcd_40^post25, __disjvr_11^0'=__disjvr_11^post25, len_270^0'=len_270^post25, y_22^0'=y_22^post25, r_267^0'=r_267^post25, a_168^0'=a_168^post25, t_23^0'=t_23^post25, __disjvr_16^0'=__disjvr_16^post25, r_229^0'=r_229^post25, __disjvr_3^0'=__disjvr_3^post25, y_285^0'=y_285^post25, rcd_243^0'=rcd_243^post25, i_114^0'=i_114^post25, x_21^0'=x_21^post25, __disjvr_20^0'=__disjvr_20^post25, r_253^0'=r_253^post25, __disjvr_8^0'=__disjvr_8^post25, rcd_99^0'=rcd_99^post25, __disjvr_13^0'=__disjvr_13^post25, length_25^0'=length_25^post25, __disjvr_23^0'=__disjvr_23^post25, y_241^0'=y_241^post25, rcd_107^0'=rcd_107^post25, a_271^0'=a_271^post25, temp0_18^0'=temp0_18^post25, temp_32^0'=temp_32^post25, __disjvr_18^0'=__disjvr_18^post25, r_240^0'=r_240^post25, __disjvr_5^0'=__disjvr_5^post25, y_295^0'=y_295^post25, rcd_268^0'=rcd_268^post25, __disjvr_10^0'=__disjvr_10^post25, len_200^0'=len_200^post25, y_191^0'=y_191^post25, __disjvr_22^0'=__disjvr_22^post25, a_143^0'=a_143^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25, __disjvr_15^0'=__disjvr_15^post25, r_183^0'=r_183^post25, __disjvr_2^0'=__disjvr_2^post25, y_269^0'=y_269^post25, rcd_239^0'=rcd_239^post25, head_29^0'=head_29^post25, i_105^0'=i_105^post25, w_20^0'=w_20^post25, __disjvr_1^0'=__disjvr_1^post25, r_247^0'=r_247^post25, __disjvr_7^0'=__disjvr_7^post25, rcd_64^0'=rcd_64^post25, __disjvr_12^0'=__disjvr_12^post25, length_14^0'=length_14^post25, y_231^0'=y_231^post25, r_36^0'=r_36^post25, a_215^0'=a_215^post25, tail_15^0'=tail_15^post25, temp0_28^0'=temp0_28^post25, __disjvr_17^0'=__disjvr_17^post25, r_238^0'=r_238^post25, __disjvr_4^0'=__disjvr_4^post25, y_290^0'=y_290^post25, rcd_248^0'=rcd_248^post25, (__disjvr_13^post25-__disjvr_13^0 == 0 /\ __disjvr_6^0-__disjvr_6^post25 == 0 /\ -rcd_239^post25+rcd_239^0 == 0 /\ -a_271^post25+a_271^0 == 0 /\ -r_238^post25+r_238^0 == 0 /\ -len_270^post25+len_270^0 == 0 /\ -y_241^post25+y_241^0 == 0 /\ -r_253^post25+r_253^0 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ r_267^0-r_267^post25 == 0 /\ t_23^0-t_23^post25 == 0 /\ __disjvr_16^0-__disjvr_16^post25 == 0 /\ rcd_99^0-rcd_99^post25 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ -w_20^post25+w_20^0 == 0 /\ r_242^0-r_242^post25 == 0 /\ -tail_15^post25+tail_15^0 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ x_21^0-x_21^post25 == 0 /\ r_154^0-r_154^post25 == 0 /\ __disjvr_19^0-__disjvr_19^post25 == 0 /\ -__disjvr_22^post25+__disjvr_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ -head_29^post25+head_29^0 == 0 /\ i_27^0-i_27^post25 == 0 /\ -__disjvr_13^post25+__disjvr_13^0 == 0 /\ y_22^0-y_22^post25 == 0 /\ -__disjvr_10^post25+__disjvr_10^0 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ a_168^0-a_168^post25 == 0 /\ r_240^0-r_240^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25 == 0 /\ rcd_243^0-rcd_243^post25 == 0 /\ -__disjvr_20^post25+__disjvr_20^0 == 0 /\ __disjvr_5^0-__disjvr_5^post25 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ -y_231^post25+y_231^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post25 == 0 /\ -rcd_248^post25+rcd_248^0 == 0 /\ __disjvr_1^0-__disjvr_1^post25 == 0 /\ -__disjvr_2^post25+__disjvr_2^0 == 0 /\ -y_191^post25+y_191^0 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ -a_143^post25+a_143^0 == 0 /\ -rcd_64^post25+rcd_64^0 == 0 /\ -__disjvr_15^post25+__disjvr_15^0 == 0 /\ -__disjvr_3^post25+__disjvr_3^0 == 0 /\ y_285^0-y_285^post25 == 0 /\ -rcd_268^post25+rcd_268^0 == 0 /\ __disjvr_23^0-__disjvr_23^post25 == 0 /\ -temp0_18^post25+temp0_18^0 == 0 /\ -r_247^post25+r_247^0 == 0 /\ tmp_31^0-tmp_31^post25 == 0 /\ -temp0_28^post25+temp0_28^0 == 0 /\ y_347^0-y_347^post25 == 0 /\ -y_295^post25+y_295^0 == 0 /\ -__disjvr_4^post25+__disjvr_4^0 == 0 /\ -rcd_230^post25+rcd_230^0 == 0 /\ i_114^0-i_114^post25 == 0 /\ result_11^0-result_11^post25 == 0 /\ y_162^0-y_162^post25 == 0 /\ a_215^0-a_215^post25 == 0 /\ -r_229^post25+r_229^0 == 0 /\ -r_36^post25+r_36^0 == 0 /\ y_261^0-y_261^post25 == 0 /\ -i_105^post25+i_105^0 == 0 /\ head_13^0-head_13^post25 == 0 /\ -y_290^post25+y_290^0 == 0 /\ len_200^0-len_200^post25 == 0 /\ __disjvr_8^0-__disjvr_8^post25 == 0 /\ length_25^0-length_25^post25 == 0 /\ rcd_40^0-rcd_40^post25 == 0 /\ -rcd_107^post25+rcd_107^0 == 0 /\ -length_14^post25+length_14^0 == 0 /\ -temp_32^post25+temp_32^0 == 0 /\ -y_269^post25+y_269^0 == 0 /\ z_19^0-z_19^post25 == 0 /\ r_183^0-r_183^post25 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ __disjvr_11^0-__disjvr_11^post25 == 0 /\ __disjvr_18^0-__disjvr_18^post25 == 0), cost: 1
  26: l25 -> l1 : __disjvr_0^0'=__disjvr_0^post26, i_27^0'=i_27^post26, y_162^0'=y_162^post26, __disjvr_21^0'=__disjvr_21^post26, z_19^0'=z_19^post26, __disjvr_9^0'=__disjvr_9^post26, result_11^0'=result_11^post26, __disjvr_14^0'=__disjvr_14^post26, r_154^0'=r_154^post26, __disjvr_24^0'=__disjvr_24^post26, y_261^0'=y_261^post26, rcd_230^0'=rcd_230^post26, head_13^0'=head_13^post26, head_SLAM_f_26^0'=head_SLAM_f_26^post26, tmp_31^0'=tmp_31^post26, __disjvr_19^0'=__disjvr_19^post26, r_242^0'=r_242^post26, __disjvr_6^0'=__disjvr_6^post26, y_347^0'=y_347^post26, rcd_40^0'=rcd_40^post26, __disjvr_11^0'=__disjvr_11^post26, len_270^0'=len_270^post26, y_22^0'=y_22^post26, r_267^0'=r_267^post26, a_168^0'=a_168^post26, t_23^0'=t_23^post26, __disjvr_16^0'=__disjvr_16^post26, r_229^0'=r_229^post26, __disjvr_3^0'=__disjvr_3^post26, y_285^0'=y_285^post26, rcd_243^0'=rcd_243^post26, i_114^0'=i_114^post26, x_21^0'=x_21^post26, __disjvr_20^0'=__disjvr_20^post26, r_253^0'=r_253^post26, __disjvr_8^0'=__disjvr_8^post26, rcd_99^0'=rcd_99^post26, __disjvr_13^0'=__disjvr_13^post26, length_25^0'=length_25^post26, __disjvr_23^0'=__disjvr_23^post26, y_241^0'=y_241^post26, rcd_107^0'=rcd_107^post26, a_271^0'=a_271^post26, temp0_18^0'=temp0_18^post26, temp_32^0'=temp_32^post26, __disjvr_18^0'=__disjvr_18^post26, r_240^0'=r_240^post26, __disjvr_5^0'=__disjvr_5^post26, y_295^0'=y_295^post26, rcd_268^0'=rcd_268^post26, __disjvr_10^0'=__disjvr_10^post26, len_200^0'=len_200^post26, y_191^0'=y_191^post26, __disjvr_22^0'=__disjvr_22^post26, a_143^0'=a_143^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26, __disjvr_15^0'=__disjvr_15^post26, r_183^0'=r_183^post26, __disjvr_2^0'=__disjvr_2^post26, y_269^0'=y_269^post26, rcd_239^0'=rcd_239^post26, head_29^0'=head_29^post26, i_105^0'=i_105^post26, w_20^0'=w_20^post26, __disjvr_1^0'=__disjvr_1^post26, r_247^0'=r_247^post26, __disjvr_7^0'=__disjvr_7^post26, rcd_64^0'=rcd_64^post26, __disjvr_12^0'=__disjvr_12^post26, length_14^0'=length_14^post26, y_231^0'=y_231^post26, r_36^0'=r_36^post26, a_215^0'=a_215^post26, tail_15^0'=tail_15^post26, temp0_28^0'=temp0_28^post26, __disjvr_17^0'=__disjvr_17^post26, r_238^0'=r_238^post26, __disjvr_4^0'=__disjvr_4^post26, y_290^0'=y_290^post26, rcd_248^0'=rcd_248^post26, (-__disjvr_18^post26+__disjvr_18^0 == 0 /\ -__disjvr_7^post26+__disjvr_7^0 == 0 /\ -r_36^post26+r_36^0 == 0 /\ x_21^0-x_21^post26 == 0 /\ t_23^0-t_23^post26 == 0 /\ r_154^0-r_154^post26 == 0 /\ -i_114^post26+i_114^0 == 0 /\ r_267^0-r_267^post26 == 0 /\ -w_20^post26+w_20^0 == 0 /\ __disjvr_23^0-__disjvr_23^post26 == 0 /\ __disjvr_0^0-__disjvr_0^post26 == 0 /\ y_162^0-y_162^post26 == 0 /\ __disjvr_3^0-__disjvr_3^post26 == 0 /\ -r_183^post26+r_183^0 == 0 /\ -a_271^post26+a_271^0 == 0 /\ -y_290^post26+y_290^0 == 0 /\ -a_168^post26+a_168^0 == 0 /\ -len_270^post26+len_270^0 == 0 /\ -y_241^post26+y_241^0 == 0 /\ temp0_18^0-temp0_18^post26 == 0 /\ -rcd_64^post26+rcd_64^0 == 0 /\ -r_253^post26+r_253^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post26 == 0 /\ -__disjvr_12^post26+__disjvr_12^0 == 0 /\ -rcd_248^post26+rcd_248^0 == 0 /\ rcd_107^0-rcd_107^post26 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26 == 0 /\ __disjvr_10^0-__disjvr_10^post26 == 0 /\ -__disjvr_22^post26+__disjvr_22^0 == 0 /\ -__disjvr_1^post26+__disjvr_1^0 == 0 /\ -tail_15^post26+tail_15^0 == 0 /\ y_285^0-y_285^post26 == 0 /\ y_22^0-y_22^post26 == 0 /\ -y_231^post26+y_231^0 == 0 /\ __disjvr_5^0-__disjvr_5^post26 == 0 /\ -__disjvr_19^post26+__disjvr_19^0 == 0 /\ __disjvr_14^0-__disjvr_14^post26 == 0 /\ __disjvr_24^0-__disjvr_24^post26 == 0 /\ -rcd_99^post26+rcd_99^0 == 0 /\ -r_238^post26+r_238^0 == 0 /\ -__disjvr_15^post26+__disjvr_15^0 == 0 /\ z_19^0-z_19^post26 == 0 /\ __disjvr_8^0-__disjvr_8^post26 == 0 /\ -rcd_268^post26+rcd_268^0 == 0 /\ y_269^0-y_269^post26 == 0 /\ -y_295^post26+y_295^0 == 0 /\ 2-length_14^0 <= 0 /\ -__disjvr_4^post26+__disjvr_4^0 == 0 /\ -r_229^post26+r_229^0 == 0 /\ -r_247^post26+r_247^0 == 0 /\ -rcd_243^post26+rcd_243^0 == 0 /\ a_215^0-a_215^post26 == 0 /\ y_261^0-y_261^post26 == 0 /\ -__disjvr_2^post26+__disjvr_2^0 == 0 /\ __disjvr_21^0-__disjvr_21^post26 == 0 /\ -__disjvr_6^post26+__disjvr_6^0 == 0 /\ __disjvr_16^0-__disjvr_16^post26 == 0 /\ -__disjvr_17^post26+__disjvr_17^0 == 0 /\ length_25^0-length_25^post26 == 0 /\ -a_143^post26+a_143^0 == 0 /\ -__disjvr_13^post26+__disjvr_13^0 == 0 /\ __disjvr_20^0-__disjvr_20^post26 == 0 /\ y_347^0-y_347^post26 == 0 /\ -i_105^post26+i_105^0 == 0 /\ rcd_239^0-rcd_239^post26 == 0 /\ head_13^0-head_13^post26 == 0 /\ r_242^0-r_242^post26 == 0 /\ i_27^0-i_27^post26 == 0 /\ y_191^0-y_191^post26 == 0 /\ -head_29^post26+head_29^0 == 0 /\ -len_200^post26+len_200^0 == 0 /\ rcd_40^0-rcd_40^post26 == 0 /\ -length_14^post26+length_14^0 == 0 /\ r_240^0-r_240^post26 == 0 /\ __disjvr_11^0-__disjvr_11^post26 == 0 /\ result_11^0-result_11^post26 == 0 /\ -temp_32^post26+temp_32^0 == 0 /\ __disjvr_9^0-__disjvr_9^post26 == 0 /\ -temp0_28^post26+temp0_28^0 == 0 /\ 1-length_14^0 <= 0 /\ tmp_31^0-tmp_31^post26 == 0 /\ rcd_230^0-rcd_230^post26 == 0), cost: 1
  28: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post28, i_27^0'=i_27^post28, y_162^0'=y_162^post28, __disjvr_21^0'=__disjvr_21^post28, z_19^0'=z_19^post28, __disjvr_9^0'=__disjvr_9^post28, result_11^0'=result_11^post28, __disjvr_14^0'=__disjvr_14^post28, r_154^0'=r_154^post28, __disjvr_24^0'=__disjvr_24^post28, y_261^0'=y_261^post28, rcd_230^0'=rcd_230^post28, head_13^0'=head_13^post28, head_SLAM_f_26^0'=head_SLAM_f_26^post28, tmp_31^0'=tmp_31^post28, __disjvr_19^0'=__disjvr_19^post28, r_242^0'=r_242^post28, __disjvr_6^0'=__disjvr_6^post28, y_347^0'=y_347^post28, rcd_40^0'=rcd_40^post28, __disjvr_11^0'=__disjvr_11^post28, len_270^0'=len_270^post28, y_22^0'=y_22^post28, r_267^0'=r_267^post28, a_168^0'=a_168^post28, t_23^0'=t_23^post28, __disjvr_16^0'=__disjvr_16^post28, r_229^0'=r_229^post28, __disjvr_3^0'=__disjvr_3^post28, y_285^0'=y_285^post28, rcd_243^0'=rcd_243^post28, i_114^0'=i_114^post28, x_21^0'=x_21^post28, __disjvr_20^0'=__disjvr_20^post28, r_253^0'=r_253^post28, __disjvr_8^0'=__disjvr_8^post28, rcd_99^0'=rcd_99^post28, __disjvr_13^0'=__disjvr_13^post28, length_25^0'=length_25^post28, __disjvr_23^0'=__disjvr_23^post28, y_241^0'=y_241^post28, rcd_107^0'=rcd_107^post28, a_271^0'=a_271^post28, temp0_18^0'=temp0_18^post28, temp_32^0'=temp_32^post28, __disjvr_18^0'=__disjvr_18^post28, r_240^0'=r_240^post28, __disjvr_5^0'=__disjvr_5^post28, y_295^0'=y_295^post28, rcd_268^0'=rcd_268^post28, __disjvr_10^0'=__disjvr_10^post28, len_200^0'=len_200^post28, y_191^0'=y_191^post28, __disjvr_22^0'=__disjvr_22^post28, a_143^0'=a_143^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28, __disjvr_15^0'=__disjvr_15^post28, r_183^0'=r_183^post28, __disjvr_2^0'=__disjvr_2^post28, y_269^0'=y_269^post28, rcd_239^0'=rcd_239^post28, head_29^0'=head_29^post28, i_105^0'=i_105^post28, w_20^0'=w_20^post28, __disjvr_1^0'=__disjvr_1^post28, r_247^0'=r_247^post28, __disjvr_7^0'=__disjvr_7^post28, rcd_64^0'=rcd_64^post28, __disjvr_12^0'=__disjvr_12^post28, length_14^0'=length_14^post28, y_231^0'=y_231^post28, r_36^0'=r_36^post28, a_215^0'=a_215^post28, tail_15^0'=tail_15^post28, temp0_28^0'=temp0_28^post28, __disjvr_17^0'=__disjvr_17^post28, r_238^0'=r_238^post28, __disjvr_4^0'=__disjvr_4^post28, y_290^0'=y_290^post28, rcd_248^0'=rcd_248^post28, (r_229^0-r_229^post28 == 0 /\ -__disjvr_5^post28+__disjvr_5^0 == 0 /\ -y_269^post28+y_269^0 == 0 /\ __disjvr_21^0-__disjvr_21^post28 == 0 /\ -__disjvr_10^post28+__disjvr_10^0 == 0 /\ rcd_243^0-rcd_243^post28 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ -rcd_64^post28+rcd_64^0 == 0 /\ a_168^0-a_168^post28 == 0 /\ -temp0_28^post28+temp0_28^0 == 0 /\ -r_36^post28+r_36^0 == 0 /\ __disjvr_11^0-__disjvr_11^post28 == 0 /\ y_261^0-y_261^post28 == 0 /\ __disjvr_16^0-__disjvr_16^post28 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post28 == 0 /\ -__disjvr_1^post28+__disjvr_1^0 == 0 /\ -y_290^post28+y_290^0 == 0 /\ -rcd_239^post28+rcd_239^0 == 0 /\ result_11^0-result_11^post28 == 0 /\ -r_247^post28+r_247^0 == 0 /\ a_271^0-a_271^post28 == 0 /\ -rcd_107^post28+rcd_107^0 == 0 /\ __disjvr_7^0-__disjvr_7^post28 == 0 /\ i_114^0-i_114^post28 == 0 /\ r_253^0-r_253^post28 == 0 /\ -rcd_268^post28+rcd_268^0 == 0 /\ -length_14^post28+length_14^0 == 0 /\ head_13^0-head_13^post28 == 0 /\ -y_295^post28+y_295^0 == 0 /\ -temp0_18^post28+temp0_18^0 == 0 /\ -length_25^post28+length_25^0 == 0 /\ r_240^0-r_240^post28 == 0 /\ __disjvr_3^0-__disjvr_3^post28 == 0 /\ -__disjvr_22^post28+__disjvr_22^0 == 0 /\ -tail_15^post28+tail_15^0 == 0 /\ i_27^0-i_27^post28 == 0 /\ -r_183^post28+r_183^0 == 0 /\ __disjvr_9^0-__disjvr_9^post28 == 0 /\ r_242^0-r_242^post28 == 0 /\ -temp_32^post28+temp_32^0 == 0 /\ x_21^0-x_21^post28 == 0 /\ __disjvr_15^0-__disjvr_15^post28 == 0 /\ r_154^0-r_154^post28 == 0 /\ -rcd_40^post28+rcd_40^0 == 0 /\ -__disjvr_23^post28+__disjvr_23^0 == 0 /\ -__disjvr_13^post28+__disjvr_13^0 == 0 /\ -r_238^post28+r_238^0 == 0 /\ __disjvr_18^0-__disjvr_18^post28 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ __disjvr_2^0-__disjvr_2^post28 == 0 /\ -__disjvr_20^post28+__disjvr_20^0 == 0 /\ -i_105^post28+i_105^0 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ -y_191^post28+y_191^0 == 0 /\ __disjvr_14^0-__disjvr_14^post28 == 0 /\ r_267^0-r_267^post28 == 0 /\ y_347^0-y_347^post28 == 0 /\ z_19^0-z_19^post28 == 0 /\ -len_270^post28+len_270^0 == 0 /\ -tmp_31^post28+tmp_31^0 == 0 /\ t_23^0-t_23^post28 == 0 /\ y_285^0-y_285^post28 == 0 /\ -y_241^post28+y_241^0 == 0 /\ y_162^0-y_162^post28 == 0 /\ rcd_99^0-rcd_99^post28 == 0 /\ -a_143^post28+a_143^0 == 0 /\ -y_231^post28+y_231^0 == 0 /\ -__disjvr_12^post28+__disjvr_12^0 == 0 /\ -__disjvr_4^post28+__disjvr_4^0 == 0 /\ __disjvr_19^0-__disjvr_19^post28 == 0 /\ -rcd_230^post28+rcd_230^0 == 0 /\ -__disjvr_17^post28+__disjvr_17^0 == 0 /\ len_200^0-len_200^post28 == 0 /\ y_22^0-y_22^post28 == 0 /\ -head_29^post28+head_29^0 == 0 /\ -__disjvr_14^0+__disjvr_14^post28 == 0 /\ -a_215^post28+a_215^0 == 0 /\ -w_20^post28+w_20^0 == 0 /\ rcd_248^0-rcd_248^post28 == 0 /\ __disjvr_24^0-__disjvr_24^post28 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28 == 0), cost: 1
  29: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post29, i_27^0'=i_27^post29, y_162^0'=y_162^post29, __disjvr_21^0'=__disjvr_21^post29, z_19^0'=z_19^post29, __disjvr_9^0'=__disjvr_9^post29, result_11^0'=result_11^post29, __disjvr_14^0'=__disjvr_14^post29, r_154^0'=r_154^post29, __disjvr_24^0'=__disjvr_24^post29, y_261^0'=y_261^post29, rcd_230^0'=rcd_230^post29, head_13^0'=head_13^post29, head_SLAM_f_26^0'=head_SLAM_f_26^post29, tmp_31^0'=tmp_31^post29, __disjvr_19^0'=__disjvr_19^post29, r_242^0'=r_242^post29, __disjvr_6^0'=__disjvr_6^post29, y_347^0'=y_347^post29, rcd_40^0'=rcd_40^post29, __disjvr_11^0'=__disjvr_11^post29, len_270^0'=len_270^post29, y_22^0'=y_22^post29, r_267^0'=r_267^post29, a_168^0'=a_168^post29, t_23^0'=t_23^post29, __disjvr_16^0'=__disjvr_16^post29, r_229^0'=r_229^post29, __disjvr_3^0'=__disjvr_3^post29, y_285^0'=y_285^post29, rcd_243^0'=rcd_243^post29, i_114^0'=i_114^post29, x_21^0'=x_21^post29, __disjvr_20^0'=__disjvr_20^post29, r_253^0'=r_253^post29, __disjvr_8^0'=__disjvr_8^post29, rcd_99^0'=rcd_99^post29, __disjvr_13^0'=__disjvr_13^post29, length_25^0'=length_25^post29, __disjvr_23^0'=__disjvr_23^post29, y_241^0'=y_241^post29, rcd_107^0'=rcd_107^post29, a_271^0'=a_271^post29, temp0_18^0'=temp0_18^post29, temp_32^0'=temp_32^post29, __disjvr_18^0'=__disjvr_18^post29, r_240^0'=r_240^post29, __disjvr_5^0'=__disjvr_5^post29, y_295^0'=y_295^post29, rcd_268^0'=rcd_268^post29, __disjvr_10^0'=__disjvr_10^post29, len_200^0'=len_200^post29, y_191^0'=y_191^post29, __disjvr_22^0'=__disjvr_22^post29, a_143^0'=a_143^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29, __disjvr_15^0'=__disjvr_15^post29, r_183^0'=r_183^post29, __disjvr_2^0'=__disjvr_2^post29, y_269^0'=y_269^post29, rcd_239^0'=rcd_239^post29, head_29^0'=head_29^post29, i_105^0'=i_105^post29, w_20^0'=w_20^post29, __disjvr_1^0'=__disjvr_1^post29, r_247^0'=r_247^post29, __disjvr_7^0'=__disjvr_7^post29, rcd_64^0'=rcd_64^post29, __disjvr_12^0'=__disjvr_12^post29, length_14^0'=length_14^post29, y_231^0'=y_231^post29, r_36^0'=r_36^post29, a_215^0'=a_215^post29, tail_15^0'=tail_15^post29, temp0_28^0'=temp0_28^post29, __disjvr_17^0'=__disjvr_17^post29, r_238^0'=r_238^post29, __disjvr_4^0'=__disjvr_4^post29, y_290^0'=y_290^post29, rcd_248^0'=rcd_248^post29, (0 == 0 /\ -rcd_64^post29+rcd_64^0 == 0 /\ __disjvr_5^0-__disjvr_5^post29 == 0 /\ r_240^0-r_240^post29 == 0 /\ len_200^0-len_200^post29 == 0 /\ __disjvr_21^0-__disjvr_21^post29 == 0 /\ len_270^0-len_270^post29 == 0 /\ 1-len_200^0 <= 0 /\ -1+len_200^0 <= 0 /\ -a_215^post29+a_215^0 == 0 /\ w_20^0-tail_15^0 <= 0 /\ temp0_18^0-temp0_18^post29 == 0 /\ rcd_107^0-rcd_107^post29 == 0 /\ rcd_230^0-rcd_40^0 <= 0 /\ -__disjvr_4^post29+__disjvr_4^0 == 0 /\ -y_22^post29+t_23^post29 <= 0 /\ t_23^post29-x_21^0 == 0 /\ -r_247^post29+r_247^0 == 0 /\ -temp0_28^post29+temp0_28^0 == 0 /\ -y_295^post29+y_295^0 == 0 /\ z_19^0-z_19^post29 == 0 /\ y_162^0-y_231^0 <= 0 /\ -r_229^0+r_36^0 <= 0 /\ -rcd_268^post29+rcd_268^0 == 0 /\ -rcd_243^post29+rcd_243^0 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ r_267^0-r_267^post29 == 0 /\ -y_290^post29+y_290^0 == 0 /\ y_285^0-y_285^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -length_14^post29+length_14^0 == 0 /\ -temp_32^post29+temp_32^0 == 0 /\ -r_229^post29+r_229^0 == 0 /\ y_347^0-y_347^post29 == 0 /\ -i_105^post29+i_105^0 == 0 /\ -r_36^post29+r_36^0 == 0 /\ -w_20^0+tail_15^0 <= 0 /\ -rcd_230^0+rcd_40^0 <= 0 /\ -i_114^post29+i_114^0 == 0 /\ y_22^post29-t_23^post29 <= 0 /\ y_22^post29-t_23^post29 == 0 /\ result_11^0-result_11^post29 == 0 /\ -y_269^post29+y_269^0 == 0 /\ __disjvr_12^0-__disjvr_12^post29 == 0 /\ __disjvr_3^0-__disjvr_3^post29 == 0 /\ __disjvr_23^0-__disjvr_23^post29 == 0 /\ -y_162^0+y_231^0 <= 0 /\ x_21^0-x_21^post29 == 0 /\ i_27^0-i_27^post29 == 0 /\ r_229^0-r_36^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post29 == 0 /\ y_261^0-y_261^post29 == 0 /\ -__disjvr_15^post29+__disjvr_15^0 == 0 /\ -a_271^post29+a_271^0 == 0 /\ -r_253^post29+r_253^0 == 0 /\ -w_20^post29+w_20^0 == 0 /\ rcd_230^0-rcd_230^post29 == 0 /\ length_25^0-length_25^post29 == 0 /\ -rcd_239^post29+rcd_239^0 == 0 /\ -tail_15^post29+tail_15^0 == 0 /\ rcd_40^0-rcd_40^post29 == 0 /\ -rcd_99^post29+rcd_99^0 == 0 /\ z_19^0-head_13^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post29 == 0 /\ -r_238^post29+r_238^0 == 0 /\ a_168^post29-a_215^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ -__disjvr_22^post29+__disjvr_22^0 == 0 /\ -__disjvr_19^post29+__disjvr_19^0 == 0 /\ y_231^0-y_231^post29 == 0 /\ __disjvr_14^0-__disjvr_14^post29 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post29 == 0 /\ -__disjvr_18^post29+__disjvr_18^0 == 0 /\ __disjvr_11^0-__disjvr_11^post29 == 0 /\ -head_29^post29+head_29^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ r_183^0-r_183^post29 == 0 /\ -__disjvr_7^post29+__disjvr_7^0 == 0 /\ __disjvr_24^0-__disjvr_24^post29 == 0 /\ tmp_31^0-tmp_31^post29 == 0 /\ y_162^0-y_162^post29 == 0 /\ __disjvr_16^0-__disjvr_16^post29 == 0 /\ -z_19^0+head_13^0 <= 0 /\ -__disjvr_1^post29+__disjvr_1^0 == 0 /\ -a_168^post29+a_215^0 <= 0 /\ -rcd_248^post29+rcd_248^0 == 0 /\ -__disjvr_2^post29+__disjvr_2^0 == 0 /\ -__disjvr_17^post29+__disjvr_17^0 == 0 /\ -y_241^post29+y_241^0 == 0 /\ r_242^0-r_242^post29 == 0 /\ head_13^0-head_13^post29 == 0 /\ -__disjvr_10^post29+__disjvr_10^0 == 0 /\ -__disjvr_13^post29+__disjvr_13^0 == 0 /\ r_154^0-r_154^post29 == 0 /\ -a_143^post29+a_143^0 == 0 /\ -y_191^post29+y_191^0 == 0), cost: 1
  30: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post30, i_27^0'=i_27^post30, y_162^0'=y_162^post30, __disjvr_21^0'=__disjvr_21^post30, z_19^0'=z_19^post30, __disjvr_9^0'=__disjvr_9^post30, result_11^0'=result_11^post30, __disjvr_14^0'=__disjvr_14^post30, r_154^0'=r_154^post30, __disjvr_24^0'=__disjvr_24^post30, y_261^0'=y_261^post30, rcd_230^0'=rcd_230^post30, head_13^0'=head_13^post30, head_SLAM_f_26^0'=head_SLAM_f_26^post30, tmp_31^0'=tmp_31^post30, __disjvr_19^0'=__disjvr_19^post30, r_242^0'=r_242^post30, __disjvr_6^0'=__disjvr_6^post30, y_347^0'=y_347^post30, rcd_40^0'=rcd_40^post30, __disjvr_11^0'=__disjvr_11^post30, len_270^0'=len_270^post30, y_22^0'=y_22^post30, r_267^0'=r_267^post30, a_168^0'=a_168^post30, t_23^0'=t_23^post30, __disjvr_16^0'=__disjvr_16^post30, r_229^0'=r_229^post30, __disjvr_3^0'=__disjvr_3^post30, y_285^0'=y_285^post30, rcd_243^0'=rcd_243^post30, i_114^0'=i_114^post30, x_21^0'=x_21^post30, __disjvr_20^0'=__disjvr_20^post30, r_253^0'=r_253^post30, __disjvr_8^0'=__disjvr_8^post30, rcd_99^0'=rcd_99^post30, __disjvr_13^0'=__disjvr_13^post30, length_25^0'=length_25^post30, __disjvr_23^0'=__disjvr_23^post30, y_241^0'=y_241^post30, rcd_107^0'=rcd_107^post30, a_271^0'=a_271^post30, temp0_18^0'=temp0_18^post30, temp_32^0'=temp_32^post30, __disjvr_18^0'=__disjvr_18^post30, r_240^0'=r_240^post30, __disjvr_5^0'=__disjvr_5^post30, y_295^0'=y_295^post30, rcd_268^0'=rcd_268^post30, __disjvr_10^0'=__disjvr_10^post30, len_200^0'=len_200^post30, y_191^0'=y_191^post30, __disjvr_22^0'=__disjvr_22^post30, a_143^0'=a_143^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30, __disjvr_15^0'=__disjvr_15^post30, r_183^0'=r_183^post30, __disjvr_2^0'=__disjvr_2^post30, y_269^0'=y_269^post30, rcd_239^0'=rcd_239^post30, head_29^0'=head_29^post30, i_105^0'=i_105^post30, w_20^0'=w_20^post30, __disjvr_1^0'=__disjvr_1^post30, r_247^0'=r_247^post30, __disjvr_7^0'=__disjvr_7^post30, rcd_64^0'=rcd_64^post30, __disjvr_12^0'=__disjvr_12^post30, length_14^0'=length_14^post30, y_231^0'=y_231^post30, r_36^0'=r_36^post30, a_215^0'=a_215^post30, tail_15^0'=tail_15^post30, temp0_28^0'=temp0_28^post30, __disjvr_17^0'=__disjvr_17^post30, r_238^0'=r_238^post30, __disjvr_4^0'=__disjvr_4^post30, y_290^0'=y_290^post30, rcd_248^0'=rcd_248^post30, (-temp0_28^post30+temp0_28^0 == 0 /\ i_27^0-i_27^post30 == 0 /\ y_191^0-y_191^post30 == 0 /\ -r_229^post30+r_229^0 == 0 /\ w_20^0-w_20^post30 == 0 /\ -rcd_243^post30+rcd_243^0 == 0 /\ __disjvr_24^0-__disjvr_24^post30 == 0 /\ __disjvr_5^0-__disjvr_5^post30 == 0 /\ __disjvr_14^0-__disjvr_14^post30 == 0 /\ -r_247^post30+r_247^0 == 0 /\ tmp_31^0-tmp_31^post30 == 0 /\ len_270^0-len_270^post30 == 0 /\ -__disjvr_13^post30+__disjvr_13^0 == 0 /\ __disjvr_10^0-__disjvr_10^post30 == 0 /\ rcd_230^0-rcd_230^post30 == 0 /\ __disjvr_8^0-__disjvr_8^post30 == 0 /\ temp_32^0-temp_32^post30 == 0 /\ -__disjvr_4^post30+__disjvr_4^0 == 0 /\ r_267^0-r_267^post30 == 0 /\ -length_14^post30+length_14^0 == 0 /\ -a_215^post30+a_215^0 == 0 /\ -y_285^post30+y_285^0 == 0 /\ __disjvr_0^0-__disjvr_0^post30 == 0 /\ rcd_64^0-rcd_64^post30 == 0 /\ -i_105^post30+i_105^0 == 0 /\ -len_200^post30+len_200^0 == 0 /\ -head_29^post30+head_29^0 == 0 /\ -r_183^post30+r_183^0 == 0 /\ t_23^0-t_23^post30 == 0 /\ __disjvr_16^0-__disjvr_16^post30 == 0 /\ y_162^0-y_162^post30 == 0 /\ -i_114^post30+i_114^0 == 0 /\ -y_269^post30+y_269^0 == 0 /\ x_21^0-x_21^post30 == 0 /\ y_261^0-y_261^post30 == 0 /\ length_25^0-length_25^post30 == 0 /\ y_347^0-y_347^post30 == 0 /\ y_295^0-y_295^post30 == 0 /\ temp0_18^0-temp0_18^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -r_238^post30+r_238^0 == 0 /\ -__disjvr_7^post30+__disjvr_7^0 == 0 /\ -__disjvr_15^post30+__disjvr_15^0 == 0 /\ r_242^0-r_242^post30 == 0 /\ -y_241^post30+y_241^0 == 0 /\ -r_36^post30+r_36^0 == 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ rcd_40^0-rcd_40^post30 == 0 /\ rcd_107^0-rcd_107^post30 == 0 /\ r_240^0-r_240^post30 == 0 /\ -a_168^post30+a_168^0 == 0 /\ -__disjvr_18^post30+__disjvr_18^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post30 == 0 /\ -y_290^post30+y_290^0 == 0 /\ -a_271^post30+a_271^0 == 0 /\ a_143^0-a_143^post30 == 0 /\ rcd_239^0-rcd_239^post30 == 0 /\ z_19^0-z_19^post30 == 0 /\ __disjvr_6^0-__disjvr_6^post30 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ -rcd_248^post30+rcd_248^0 == 0 /\ __disjvr_15^post30-__disjvr_15^0 == 0 /\ -__disjvr_22^post30+__disjvr_22^0 == 0 /\ -r_253^post30+r_253^0 == 0 /\ -__disjvr_17^post30+__disjvr_17^0 == 0 /\ -__disjvr_19^post30+__disjvr_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ -tail_15^post30+tail_15^0 == 0 /\ r_154^0-r_154^post30 == 0 /\ -__disjvr_2^post30+__disjvr_2^0 == 0 /\ -__disjvr_1^post30+__disjvr_1^0 == 0 /\ __disjvr_3^0-__disjvr_3^post30 == 0 /\ result_11^0-result_11^post30 == 0 /\ -y_22^post30+y_22^0 == 0 /\ -rcd_268^post30+rcd_268^0 == 0 /\ head_13^0-head_13^post30 == 0 /\ -__disjvr_23^post30+__disjvr_23^0 == 0 /\ -rcd_99^post30+rcd_99^0 == 0 /\ -y_231^post30+y_231^0 == 0 /\ __disjvr_21^0-__disjvr_21^post30 == 0 /\ __disjvr_20^0-__disjvr_20^post30 == 0), cost: 1
  31: l29 -> l30 : __disjvr_0^0'=__disjvr_0^post31, i_27^0'=i_27^post31, y_162^0'=y_162^post31, __disjvr_21^0'=__disjvr_21^post31, z_19^0'=z_19^post31, __disjvr_9^0'=__disjvr_9^post31, result_11^0'=result_11^post31, __disjvr_14^0'=__disjvr_14^post31, r_154^0'=r_154^post31, __disjvr_24^0'=__disjvr_24^post31, y_261^0'=y_261^post31, rcd_230^0'=rcd_230^post31, head_13^0'=head_13^post31, head_SLAM_f_26^0'=head_SLAM_f_26^post31, tmp_31^0'=tmp_31^post31, __disjvr_19^0'=__disjvr_19^post31, r_242^0'=r_242^post31, __disjvr_6^0'=__disjvr_6^post31, y_347^0'=y_347^post31, rcd_40^0'=rcd_40^post31, __disjvr_11^0'=__disjvr_11^post31, len_270^0'=len_270^post31, y_22^0'=y_22^post31, r_267^0'=r_267^post31, a_168^0'=a_168^post31, t_23^0'=t_23^post31, __disjvr_16^0'=__disjvr_16^post31, r_229^0'=r_229^post31, __disjvr_3^0'=__disjvr_3^post31, y_285^0'=y_285^post31, rcd_243^0'=rcd_243^post31, i_114^0'=i_114^post31, x_21^0'=x_21^post31, __disjvr_20^0'=__disjvr_20^post31, r_253^0'=r_253^post31, __disjvr_8^0'=__disjvr_8^post31, rcd_99^0'=rcd_99^post31, __disjvr_13^0'=__disjvr_13^post31, length_25^0'=length_25^post31, __disjvr_23^0'=__disjvr_23^post31, y_241^0'=y_241^post31, rcd_107^0'=rcd_107^post31, a_271^0'=a_271^post31, temp0_18^0'=temp0_18^post31, temp_32^0'=temp_32^post31, __disjvr_18^0'=__disjvr_18^post31, r_240^0'=r_240^post31, __disjvr_5^0'=__disjvr_5^post31, y_295^0'=y_295^post31, rcd_268^0'=rcd_268^post31, __disjvr_10^0'=__disjvr_10^post31, len_200^0'=len_200^post31, y_191^0'=y_191^post31, __disjvr_22^0'=__disjvr_22^post31, a_143^0'=a_143^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, __disjvr_15^0'=__disjvr_15^post31, r_183^0'=r_183^post31, __disjvr_2^0'=__disjvr_2^post31, y_269^0'=y_269^post31, rcd_239^0'=rcd_239^post31, head_29^0'=head_29^post31, i_105^0'=i_105^post31, w_20^0'=w_20^post31, __disjvr_1^0'=__disjvr_1^post31, r_247^0'=r_247^post31, __disjvr_7^0'=__disjvr_7^post31, rcd_64^0'=rcd_64^post31, __disjvr_12^0'=__disjvr_12^post31, length_14^0'=length_14^post31, y_231^0'=y_231^post31, r_36^0'=r_36^post31, a_215^0'=a_215^post31, tail_15^0'=tail_15^post31, temp0_28^0'=temp0_28^post31, __disjvr_17^0'=__disjvr_17^post31, r_238^0'=r_238^post31, __disjvr_4^0'=__disjvr_4^post31, y_290^0'=y_290^post31, rcd_248^0'=rcd_248^post31, (a_168^0-a_168^post31 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ -r_247^post31+r_247^0 == 0 /\ a_143^0-a_143^post31 == 0 /\ -y_295^post31+y_295^0 == 0 /\ -y_191^post31+y_191^0 == 0 /\ -y_231^post31+y_231^0 == 0 /\ __disjvr_14^0-__disjvr_14^post31 == 0 /\ __disjvr_24^0-__disjvr_24^post31 == 0 /\ __disjvr_18^0-__disjvr_18^post31 == 0 /\ -__disjvr_16^0+__disjvr_16^post31 == 0 /\ i_27^0-i_27^post31 == 0 /\ -length_14^post31+length_14^0 == 0 /\ -y_285^post31+y_285^0 == 0 /\ y_22^0-y_22^post31 == 0 /\ __disjvr_8^0-__disjvr_8^post31 == 0 /\ t_23^0-t_23^post31 == 0 /\ rcd_268^0-rcd_268^post31 == 0 /\ -__disjvr_23^post31+__disjvr_23^0 == 0 /\ rcd_230^0-rcd_230^post31 == 0 /\ a_271^0-a_271^post31 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0 /\ -rcd_99^post31+rcd_99^0 == 0 /\ -__disjvr_4^post31+__disjvr_4^0 == 0 /\ -__disjvr_2^post31+__disjvr_2^0 == 0 /\ -temp0_28^post31+temp0_28^0 == 0 /\ r_154^0-r_154^post31 == 0 /\ __disjvr_6^0-__disjvr_6^post31 == 0 /\ -x_21^post31+x_21^0 == 0 /\ -head_29^post31+head_29^0 == 0 /\ __disjvr_16^0-__disjvr_16^post31 == 0 /\ -__disjvr_7^post31+__disjvr_7^0 == 0 /\ -a_215^post31+a_215^0 == 0 /\ -temp_32^post31+temp_32^0 == 0 /\ __disjvr_20^0-__disjvr_20^post31 == 0 /\ rcd_243^0-rcd_243^post31 == 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ -i_105^post31+i_105^0 == 0 /\ -y_269^post31+y_269^0 == 0 /\ -head_SLAM_f_26^post31+head_SLAM_f_26^0 == 0 /\ i_114^0-i_114^post31 == 0 /\ head_13^0-head_13^post31 == 0 /\ y_347^0-y_347^post31 == 0 /\ y_162^0-y_162^post31 == 0 /\ -r_242^post31+r_242^0 == 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ -y_290^post31+y_290^0 == 0 /\ r_253^0-r_253^post31 == 0 /\ -length_25^post31+length_25^0 == 0 /\ __disjvr_13^0-__disjvr_13^post31 == 0 /\ __disjvr_15^0-__disjvr_15^post31 == 0 /\ -w_20^post31+w_20^0 == 0 /\ -rcd_64^post31+rcd_64^0 == 0 /\ rcd_107^0-rcd_107^post31 == 0 /\ -__disjvr_9^post31+__disjvr_9^0 == 0 /\ tmp_31^0-tmp_31^post31 == 0 /\ len_200^0-len_200^post31 == 0 /\ -r_36^post31+r_36^0 == 0 /\ z_19^0-z_19^post31 == 0 /\ -r_183^post31+r_183^0 == 0 /\ -rcd_248^post31+rcd_248^0 == 0 /\ -rcd_40^post31+rcd_40^0 == 0 /\ -__disjvr_22^post31+__disjvr_22^0 == 0 /\ r_229^0-r_229^post31 == 0 /\ -r_238^post31+r_238^0 == 0 /\ __disjvr_3^0-__disjvr_3^post31 == 0 /\ __disjvr_19^0-__disjvr_19^post31 == 0 /\ -__disjvr_10^post31+__disjvr_10^0 == 0 /\ r_267^0-r_267^post31 == 0 /\ -r_240^post31+r_240^0 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ len_270^0-len_270^post31 == 0 /\ __disjvr_21^0-__disjvr_21^post31 == 0 /\ __disjvr_11^0-__disjvr_11^post31 == 0 /\ result_11^0-result_11^post31 == 0 /\ -rcd_239^post31+rcd_239^0 == 0 /\ temp0_18^0-temp0_18^post31 == 0 /\ -tail_15^post31+tail_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ y_241^0-y_241^post31 == 0 /\ y_261^0-y_261^post31 == 0), cost: 1
  32: l30 -> l31 : __disjvr_0^0'=__disjvr_0^post32, i_27^0'=i_27^post32, y_162^0'=y_162^post32, __disjvr_21^0'=__disjvr_21^post32, z_19^0'=z_19^post32, __disjvr_9^0'=__disjvr_9^post32, result_11^0'=result_11^post32, __disjvr_14^0'=__disjvr_14^post32, r_154^0'=r_154^post32, __disjvr_24^0'=__disjvr_24^post32, y_261^0'=y_261^post32, rcd_230^0'=rcd_230^post32, head_13^0'=head_13^post32, head_SLAM_f_26^0'=head_SLAM_f_26^post32, tmp_31^0'=tmp_31^post32, __disjvr_19^0'=__disjvr_19^post32, r_242^0'=r_242^post32, __disjvr_6^0'=__disjvr_6^post32, y_347^0'=y_347^post32, rcd_40^0'=rcd_40^post32, __disjvr_11^0'=__disjvr_11^post32, len_270^0'=len_270^post32, y_22^0'=y_22^post32, r_267^0'=r_267^post32, a_168^0'=a_168^post32, t_23^0'=t_23^post32, __disjvr_16^0'=__disjvr_16^post32, r_229^0'=r_229^post32, __disjvr_3^0'=__disjvr_3^post32, y_285^0'=y_285^post32, rcd_243^0'=rcd_243^post32, i_114^0'=i_114^post32, x_21^0'=x_21^post32, __disjvr_20^0'=__disjvr_20^post32, r_253^0'=r_253^post32, __disjvr_8^0'=__disjvr_8^post32, rcd_99^0'=rcd_99^post32, __disjvr_13^0'=__disjvr_13^post32, length_25^0'=length_25^post32, __disjvr_23^0'=__disjvr_23^post32, y_241^0'=y_241^post32, rcd_107^0'=rcd_107^post32, a_271^0'=a_271^post32, temp0_18^0'=temp0_18^post32, temp_32^0'=temp_32^post32, __disjvr_18^0'=__disjvr_18^post32, r_240^0'=r_240^post32, __disjvr_5^0'=__disjvr_5^post32, y_295^0'=y_295^post32, rcd_268^0'=rcd_268^post32, __disjvr_10^0'=__disjvr_10^post32, len_200^0'=len_200^post32, y_191^0'=y_191^post32, __disjvr_22^0'=__disjvr_22^post32, a_143^0'=a_143^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32, __disjvr_15^0'=__disjvr_15^post32, r_183^0'=r_183^post32, __disjvr_2^0'=__disjvr_2^post32, y_269^0'=y_269^post32, rcd_239^0'=rcd_239^post32, head_29^0'=head_29^post32, i_105^0'=i_105^post32, w_20^0'=w_20^post32, __disjvr_1^0'=__disjvr_1^post32, r_247^0'=r_247^post32, __disjvr_7^0'=__disjvr_7^post32, rcd_64^0'=rcd_64^post32, __disjvr_12^0'=__disjvr_12^post32, length_14^0'=length_14^post32, y_231^0'=y_231^post32, r_36^0'=r_36^post32, a_215^0'=a_215^post32, tail_15^0'=tail_15^post32, temp0_28^0'=temp0_28^post32, __disjvr_17^0'=__disjvr_17^post32, r_238^0'=r_238^post32, __disjvr_4^0'=__disjvr_4^post32, y_290^0'=y_290^post32, rcd_248^0'=rcd_248^post32, (head_SLAM_f_26^0-head_SLAM_f_26^post32 == 0 /\ z_19^0-z_19^post32 == 0 /\ -__disjvr_13^post32+__disjvr_13^0 == 0 /\ -temp_32^post32+temp_32^0 == 0 /\ __disjvr_1^0-__disjvr_1^post32 == 0 /\ -length_14^post32+length_14^0 == 0 /\ __disjvr_7^0-__disjvr_7^post32 == 0 /\ result_11^0-result_11^post32 == 0 /\ y_162^0-y_162^post32 == 0 /\ -__disjvr_4^post32+__disjvr_4^0 == 0 /\ -__disjvr_23^post32+__disjvr_23^0 == 0 /\ -rcd_107^post32+rcd_107^0 == 0 /\ __disjvr_17^post32-__disjvr_17^0 == 0 /\ r_240^0-r_240^post32 == 0 /\ -rcd_248^post32+rcd_248^0 == 0 /\ -__disjvr_20^post32+__disjvr_20^0 == 0 /\ -r_238^post32+r_238^0 == 0 /\ len_200^0-len_200^post32 == 0 /\ y_22^0-y_22^post32 == 0 /\ t_23^0-t_23^post32 == 0 /\ r_242^0-r_242^post32 == 0 /\ __disjvr_3^0-__disjvr_3^post32 == 0 /\ -i_105^post32+i_105^0 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ __disjvr_21^0-__disjvr_21^post32 == 0 /\ __disjvr_15^0-__disjvr_15^post32 == 0 /\ -len_270^post32+len_270^0 == 0 /\ -a_143^post32+a_143^0 == 0 /\ r_154^0-r_154^post32 == 0 /\ -y_231^post32+y_231^0 == 0 /\ -w_20^post32+w_20^0 == 0 /\ a_168^0-a_168^post32 == 0 /\ -__disjvr_17^post32+__disjvr_17^0 == 0 /\ -a_215^post32+a_215^0 == 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ -__disjvr_18^post32+__disjvr_18^0 == 0 /\ -head_29^post32+head_29^0 == 0 /\ i_114^0-i_114^post32 == 0 /\ y_347^0-y_347^post32 == 0 /\ rcd_99^0-rcd_99^post32 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ y_191^0-y_191^post32 == 0 /\ y_285^0-y_285^post32 == 0 /\ -__disjvr_14^post32+__disjvr_14^0 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ rcd_230^0-rcd_230^post32 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ -y_241^post32+y_241^0 == 0 /\ -rcd_64^post32+rcd_64^0 == 0 /\ a_271^0-a_271^post32 == 0 /\ -__disjvr_8^post32+__disjvr_8^0 == 0 /\ head_13^0-head_13^post32 == 0 /\ i_27^0-i_27^post32 == 0 /\ -y_269^post32+y_269^0 == 0 /\ __disjvr_24^0-__disjvr_24^post32 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32 == 0 /\ -__disjvr_10^post32+__disjvr_10^0 == 0 /\ tmp_31^0-tmp_31^post32 == 0 /\ -r_36^post32+r_36^0 == 0 /\ rcd_243^0-rcd_243^post32 == 0 /\ -rcd_268^post32+rcd_268^0 == 0 /\ __disjvr_19^0-__disjvr_19^post32 == 0 /\ temp0_28^0-temp0_28^post32 == 0 /\ x_21^0-x_21^post32 == 0 /\ -r_247^post32+r_247^0 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ -temp0_18^post32+temp0_18^0 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ -__disjvr_22^post32+__disjvr_22^0 == 0 /\ -r_253^post32+r_253^0 == 0 /\ __disjvr_16^0-__disjvr_16^post32 == 0 /\ r_267^0-r_267^post32 == 0 /\ -y_295^post32+y_295^0 == 0 /\ -rcd_239^post32+rcd_239^0 == 0 /\ -r_229^post32+r_229^0 == 0 /\ -r_183^post32+r_183^0 == 0 /\ -tail_15^post32+tail_15^0 == 0 /\ -y_290^post32+y_290^0 == 0 /\ y_261^0-y_261^post32 == 0 /\ length_25^0-length_25^post32 == 0 /\ rcd_40^0-rcd_40^post32 == 0), cost: 1
  33: l31 -> l32 : __disjvr_0^0'=__disjvr_0^post33, i_27^0'=i_27^post33, y_162^0'=y_162^post33, __disjvr_21^0'=__disjvr_21^post33, z_19^0'=z_19^post33, __disjvr_9^0'=__disjvr_9^post33, result_11^0'=result_11^post33, __disjvr_14^0'=__disjvr_14^post33, r_154^0'=r_154^post33, __disjvr_24^0'=__disjvr_24^post33, y_261^0'=y_261^post33, rcd_230^0'=rcd_230^post33, head_13^0'=head_13^post33, head_SLAM_f_26^0'=head_SLAM_f_26^post33, tmp_31^0'=tmp_31^post33, __disjvr_19^0'=__disjvr_19^post33, r_242^0'=r_242^post33, __disjvr_6^0'=__disjvr_6^post33, y_347^0'=y_347^post33, rcd_40^0'=rcd_40^post33, __disjvr_11^0'=__disjvr_11^post33, len_270^0'=len_270^post33, y_22^0'=y_22^post33, r_267^0'=r_267^post33, a_168^0'=a_168^post33, t_23^0'=t_23^post33, __disjvr_16^0'=__disjvr_16^post33, r_229^0'=r_229^post33, __disjvr_3^0'=__disjvr_3^post33, y_285^0'=y_285^post33, rcd_243^0'=rcd_243^post33, i_114^0'=i_114^post33, x_21^0'=x_21^post33, __disjvr_20^0'=__disjvr_20^post33, r_253^0'=r_253^post33, __disjvr_8^0'=__disjvr_8^post33, rcd_99^0'=rcd_99^post33, __disjvr_13^0'=__disjvr_13^post33, length_25^0'=length_25^post33, __disjvr_23^0'=__disjvr_23^post33, y_241^0'=y_241^post33, rcd_107^0'=rcd_107^post33, a_271^0'=a_271^post33, temp0_18^0'=temp0_18^post33, temp_32^0'=temp_32^post33, __disjvr_18^0'=__disjvr_18^post33, r_240^0'=r_240^post33, __disjvr_5^0'=__disjvr_5^post33, y_295^0'=y_295^post33, rcd_268^0'=rcd_268^post33, __disjvr_10^0'=__disjvr_10^post33, len_200^0'=len_200^post33, y_191^0'=y_191^post33, __disjvr_22^0'=__disjvr_22^post33, a_143^0'=a_143^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33, __disjvr_15^0'=__disjvr_15^post33, r_183^0'=r_183^post33, __disjvr_2^0'=__disjvr_2^post33, y_269^0'=y_269^post33, rcd_239^0'=rcd_239^post33, head_29^0'=head_29^post33, i_105^0'=i_105^post33, w_20^0'=w_20^post33, __disjvr_1^0'=__disjvr_1^post33, r_247^0'=r_247^post33, __disjvr_7^0'=__disjvr_7^post33, rcd_64^0'=rcd_64^post33, __disjvr_12^0'=__disjvr_12^post33, length_14^0'=length_14^post33, y_231^0'=y_231^post33, r_36^0'=r_36^post33, a_215^0'=a_215^post33, tail_15^0'=tail_15^post33, temp0_28^0'=temp0_28^post33, __disjvr_17^0'=__disjvr_17^post33, r_238^0'=r_238^post33, __disjvr_4^0'=__disjvr_4^post33, y_290^0'=y_290^post33, rcd_248^0'=rcd_248^post33, (-__disjvr_11^post33+__disjvr_11^0 == 0 /\ -w_20^post33+w_20^0 == 0 /\ -head_29^post33+head_29^0 == 0 /\ -tail_15^post33+tail_15^0 == 0 /\ -y_285^post33+y_285^0 == 0 /\ tmp_31^0-tmp_31^post33 == 0 /\ -r_253^post33+r_253^0 == 0 /\ i_105^0-i_105^post33 == 0 /\ -__disjvr_2^post33+__disjvr_2^0 == 0 /\ -__disjvr_15^post33+__disjvr_15^0 == 0 /\ y_347^0-y_347^post33 == 0 /\ y_162^0-y_162^post33 == 0 /\ -rcd_99^post33+rcd_99^0 == 0 /\ -rcd_248^post33+rcd_248^0 == 0 /\ -__disjvr_22^post33+__disjvr_22^0 == 0 /\ rcd_107^0-rcd_107^post33 == 0 /\ -r_238^post33+r_238^0 == 0 /\ result_11^0-result_11^post33 == 0 /\ -temp_32^post33+temp_32^0 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ __disjvr_23^0-__disjvr_23^post33 == 0 /\ __disjvr_3^0-__disjvr_3^post33 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ x_21^0-x_21^post33 == 0 /\ len_270^0-len_270^post33 == 0 /\ length_25^0-length_25^post33 == 0 /\ -__disjvr_1^post33+__disjvr_1^0 == 0 /\ y_261^0-y_261^post33 == 0 /\ -__disjvr_4^post33+__disjvr_4^0 == 0 /\ -__disjvr_7^post33+__disjvr_7^0 == 0 /\ __disjvr_8^0-__disjvr_8^post33 == 0 /\ r_229^0-r_229^post33 == 0 /\ temp0_18^0-temp0_18^post33 == 0 /\ z_19^0-z_19^post33 == 0 /\ -y_241^post33+y_241^0 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ -__disjvr_17^post33+__disjvr_17^0 == 0 /\ -__disjvr_13^post33+__disjvr_13^0 == 0 /\ rcd_40^0-rcd_40^post33 == 0 /\ rcd_64^0-rcd_64^post33 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ __disjvr_18^post33-__disjvr_18^0 == 0 /\ -y_231^post33+y_231^0 == 0 /\ r_247^0-r_247^post33 == 0 /\ -head_13^post33+head_13^0 == 0 /\ -a_271^post33+a_271^0 == 0 /\ __disjvr_9^0-__disjvr_9^post33 == 0 /\ -a_215^post33+a_215^0 == 0 /\ -len_200^post33+len_200^0 == 0 /\ __disjvr_16^0-__disjvr_16^post33 == 0 /\ r_183^0-r_183^post33 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ __disjvr_24^0-__disjvr_24^post33 == 0 /\ a_143^0-a_143^post33 == 0 /\ -t_23^post33+t_23^0 == 0 /\ -y_269^post33+y_269^0 == 0 /\ __disjvr_19^0-__disjvr_19^post33 == 0 /\ -rcd_243^post33+rcd_243^0 == 0 /\ y_191^0-y_191^post33 == 0 /\ -i_114^post33+i_114^0 == 0 /\ -y_22^post33+y_22^0 == 0 /\ -rcd_268^post33+rcd_268^0 == 0 /\ r_242^0-r_242^post33 == 0 /\ i_27^0-i_27^post33 == 0 /\ -y_295^post33+y_295^0 == 0 /\ r_154^0-r_154^post33 == 0 /\ -temp0_28^post33+temp0_28^0 == 0 /\ rcd_230^0-rcd_230^post33 == 0 /\ r_240^0-r_240^post33 == 0 /\ __disjvr_5^0-__disjvr_5^post33 == 0 /\ -r_267^post33+r_267^0 == 0 /\ a_168^0-a_168^post33 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -r_36^post33+r_36^0 == 0 /\ __disjvr_20^0-__disjvr_20^post33 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0 /\ rcd_239^0-rcd_239^post33 == 0 /\ -length_14^post33+length_14^0 == 0 /\ -y_290^post33+y_290^0 == 0 /\ __disjvr_6^0-__disjvr_6^post33 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post33 == 0), cost: 1
  34: l32 -> l0 : __disjvr_0^0'=__disjvr_0^post34, i_27^0'=i_27^post34, y_162^0'=y_162^post34, __disjvr_21^0'=__disjvr_21^post34, z_19^0'=z_19^post34, __disjvr_9^0'=__disjvr_9^post34, result_11^0'=result_11^post34, __disjvr_14^0'=__disjvr_14^post34, r_154^0'=r_154^post34, __disjvr_24^0'=__disjvr_24^post34, y_261^0'=y_261^post34, rcd_230^0'=rcd_230^post34, head_13^0'=head_13^post34, head_SLAM_f_26^0'=head_SLAM_f_26^post34, tmp_31^0'=tmp_31^post34, __disjvr_19^0'=__disjvr_19^post34, r_242^0'=r_242^post34, __disjvr_6^0'=__disjvr_6^post34, y_347^0'=y_347^post34, rcd_40^0'=rcd_40^post34, __disjvr_11^0'=__disjvr_11^post34, len_270^0'=len_270^post34, y_22^0'=y_22^post34, r_267^0'=r_267^post34, a_168^0'=a_168^post34, t_23^0'=t_23^post34, __disjvr_16^0'=__disjvr_16^post34, r_229^0'=r_229^post34, __disjvr_3^0'=__disjvr_3^post34, y_285^0'=y_285^post34, rcd_243^0'=rcd_243^post34, i_114^0'=i_114^post34, x_21^0'=x_21^post34, __disjvr_20^0'=__disjvr_20^post34, r_253^0'=r_253^post34, __disjvr_8^0'=__disjvr_8^post34, rcd_99^0'=rcd_99^post34, __disjvr_13^0'=__disjvr_13^post34, length_25^0'=length_25^post34, __disjvr_23^0'=__disjvr_23^post34, y_241^0'=y_241^post34, rcd_107^0'=rcd_107^post34, a_271^0'=a_271^post34, temp0_18^0'=temp0_18^post34, temp_32^0'=temp_32^post34, __disjvr_18^0'=__disjvr_18^post34, r_240^0'=r_240^post34, __disjvr_5^0'=__disjvr_5^post34, y_295^0'=y_295^post34, rcd_268^0'=rcd_268^post34, __disjvr_10^0'=__disjvr_10^post34, len_200^0'=len_200^post34, y_191^0'=y_191^post34, __disjvr_22^0'=__disjvr_22^post34, a_143^0'=a_143^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, __disjvr_15^0'=__disjvr_15^post34, r_183^0'=r_183^post34, __disjvr_2^0'=__disjvr_2^post34, y_269^0'=y_269^post34, rcd_239^0'=rcd_239^post34, head_29^0'=head_29^post34, i_105^0'=i_105^post34, w_20^0'=w_20^post34, __disjvr_1^0'=__disjvr_1^post34, r_247^0'=r_247^post34, __disjvr_7^0'=__disjvr_7^post34, rcd_64^0'=rcd_64^post34, __disjvr_12^0'=__disjvr_12^post34, length_14^0'=length_14^post34, y_231^0'=y_231^post34, r_36^0'=r_36^post34, a_215^0'=a_215^post34, tail_15^0'=tail_15^post34, temp0_28^0'=temp0_28^post34, __disjvr_17^0'=__disjvr_17^post34, r_238^0'=r_238^post34, __disjvr_4^0'=__disjvr_4^post34, y_290^0'=y_290^post34, rcd_248^0'=rcd_248^post34, (0 == 0 /\ -r_238^post34+r_238^0 == 0 /\ -a_168^post34+a_168^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_9^0-__disjvr_9^post34 == 0 /\ a_271^0-a_271^post34 == 0 /\ -rcd_239^post34+rcd_239^0 == 0 /\ -__disjvr_7^post34+__disjvr_7^0 == 0 /\ -rcd_40^post34+rcd_40^0 == 0 /\ length_25^0-length_25^post34 == 0 /\ y_347^0-y_347^post34 == 0 /\ y_261^0-y_261^post34 == 0 /\ -head_29^post34+head_29^0 == 0 /\ -__disjvr_18^post34+__disjvr_18^0 == 0 /\ __disjvr_21^0-__disjvr_21^post34 == 0 /\ -r_253^post34+r_253^0 == 0 /\ y_241^0-y_241^post34 == 0 /\ y_295^0-y_295^post34 == 0 /\ head_13^0-head_13^post34 == 0 /\ -tail_15^post34+tail_15^0 == 0 /\ i_27^0-i_27^post34 == 0 /\ temp0_18^0-temp0_18^post34 == 0 /\ -__disjvr_16^post34+__disjvr_16^0 == 0 /\ -__disjvr_1^post34+__disjvr_1^0 == 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ -__disjvr_11^post34+__disjvr_11^0 == 0 /\ rcd_243^0-rcd_243^post34 == 0 /\ r_242^0-r_242^post34 == 0 /\ -rcd_64^post34+rcd_64^0 == 0 /\ -__disjvr_2^post34+__disjvr_2^0 == 0 /\ -r_240^post34+r_240^0 == 0 /\ w_20^0-w_20^post34 == 0 /\ length_14^0-length_14^post34 == 0 /\ -y_191^post34+y_191^0 == 0 /\ temp_32^0-temp_32^post34 == 0 /\ len_270^0-len_270^post34 == 0 /\ 1+a_168^0-a_143^post34 <= 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ tmp_31^0-tmp_31^post34 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ rcd_230^0-rcd_230^post34 == 0 /\ -rcd_248^post34+rcd_248^0 == 0 /\ rcd_268^0-rcd_268^post34 == 0 /\ -y_22^post34+y_22^0 == 0 /\ -y_231^post34+y_231^0 == 0 /\ -rcd_99^post34+rcd_99^0 == 0 /\ -__disjvr_23^post34+__disjvr_23^0 == 0 /\ r_229^0-r_229^post34 == 0 /\ r_267^0-r_267^post34 == 0 /\ t_23^0-t_23^post34 == 0 /\ __disjvr_19^0-__disjvr_19^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ 2-length_14^0 <= 0 /\ -temp0_28^post34+temp0_28^0 == 0 /\ -y_269^post34+y_269^0 == 0 /\ -len_200^post34+len_200^0 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ y_162^0-y_162^post34 == 0 /\ __disjvr_22^0-__disjvr_22^post34 == 0 /\ x_21^0-x_21^post34 == 0 /\ -__disjvr_4^post34+__disjvr_4^0 == 0 /\ -r_247^post34+r_247^0 == 0 /\ -y_285^post34+y_285^0 == 0 /\ -a_215^post34+a_215^0 == 0 /\ __disjvr_20^0-__disjvr_20^post34 == 0 /\ __disjvr_8^0-__disjvr_8^post34 == 0 /\ rcd_107^0-rcd_107^post34 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post34 == 0 /\ __disjvr_15^0-__disjvr_15^post34 == 0 /\ -y_290^post34+y_290^0 == 0 /\ -r_183^post34+r_183^0 == 0 /\ -r_154^post34+r_154^0 == 0 /\ -i_105^post34+i_105^0 == 0 /\ -r_36^post34+r_36^0 == 0 /\ __disjvr_24^0-__disjvr_24^post34 == 0 /\ -1-a_168^0+a_143^post34 <= 0 /\ __disjvr_5^0-__disjvr_5^post34 == 0 /\ z_19^0-z_19^post34 == 0 /\ -i_114^post34+i_114^0 == 0 /\ 1-length_14^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post34 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ __disjvr_14^0-__disjvr_14^post34 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0), cost: 1
  35: l33 -> l34 : __disjvr_0^0'=__disjvr_0^post35, i_27^0'=i_27^post35, y_162^0'=y_162^post35, __disjvr_21^0'=__disjvr_21^post35, z_19^0'=z_19^post35, __disjvr_9^0'=__disjvr_9^post35, result_11^0'=result_11^post35, __disjvr_14^0'=__disjvr_14^post35, r_154^0'=r_154^post35, __disjvr_24^0'=__disjvr_24^post35, y_261^0'=y_261^post35, rcd_230^0'=rcd_230^post35, head_13^0'=head_13^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, __disjvr_19^0'=__disjvr_19^post35, r_242^0'=r_242^post35, __disjvr_6^0'=__disjvr_6^post35, y_347^0'=y_347^post35, rcd_40^0'=rcd_40^post35, __disjvr_11^0'=__disjvr_11^post35, len_270^0'=len_270^post35, y_22^0'=y_22^post35, r_267^0'=r_267^post35, a_168^0'=a_168^post35, t_23^0'=t_23^post35, __disjvr_16^0'=__disjvr_16^post35, r_229^0'=r_229^post35, __disjvr_3^0'=__disjvr_3^post35, y_285^0'=y_285^post35, rcd_243^0'=rcd_243^post35, i_114^0'=i_114^post35, x_21^0'=x_21^post35, __disjvr_20^0'=__disjvr_20^post35, r_253^0'=r_253^post35, __disjvr_8^0'=__disjvr_8^post35, rcd_99^0'=rcd_99^post35, __disjvr_13^0'=__disjvr_13^post35, length_25^0'=length_25^post35, __disjvr_23^0'=__disjvr_23^post35, y_241^0'=y_241^post35, rcd_107^0'=rcd_107^post35, a_271^0'=a_271^post35, temp0_18^0'=temp0_18^post35, temp_32^0'=temp_32^post35, __disjvr_18^0'=__disjvr_18^post35, r_240^0'=r_240^post35, __disjvr_5^0'=__disjvr_5^post35, y_295^0'=y_295^post35, rcd_268^0'=rcd_268^post35, __disjvr_10^0'=__disjvr_10^post35, len_200^0'=len_200^post35, y_191^0'=y_191^post35, __disjvr_22^0'=__disjvr_22^post35, a_143^0'=a_143^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, __disjvr_15^0'=__disjvr_15^post35, r_183^0'=r_183^post35, __disjvr_2^0'=__disjvr_2^post35, y_269^0'=y_269^post35, rcd_239^0'=rcd_239^post35, head_29^0'=head_29^post35, i_105^0'=i_105^post35, w_20^0'=w_20^post35, __disjvr_1^0'=__disjvr_1^post35, r_247^0'=r_247^post35, __disjvr_7^0'=__disjvr_7^post35, rcd_64^0'=rcd_64^post35, __disjvr_12^0'=__disjvr_12^post35, length_14^0'=length_14^post35, y_231^0'=y_231^post35, r_36^0'=r_36^post35, a_215^0'=a_215^post35, tail_15^0'=tail_15^post35, temp0_28^0'=temp0_28^post35, __disjvr_17^0'=__disjvr_17^post35, r_238^0'=r_238^post35, __disjvr_4^0'=__disjvr_4^post35, y_290^0'=y_290^post35, rcd_248^0'=rcd_248^post35, (-y_241^post35+y_241^0 == 0 /\ -r_36^post35+r_36^0 == 0 /\ length_25^post35-length_14^0 <= 0 /\ length_25^post35-length_14^0 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ len_270^0-len_270^post35 == 0 /\ t_23^0-t_23^post35 == 0 /\ r_154^0-r_154^post35 == 0 /\ -y_290^post35+y_290^0 == 0 /\ __disjvr_21^0-__disjvr_21^post35 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ -rcd_239^post35+rcd_239^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ __disjvr_16^0-__disjvr_16^post35 == 0 /\ -__disjvr_5^post35+__disjvr_5^0 == 0 /\ r_267^0-r_267^post35 == 0 /\ head_SLAM_f_26^post35-tail_15^0 <= 0 /\ head_SLAM_f_26^post35-tail_15^0 == 0 /\ -w_20^post35+w_20^0 == 0 /\ head_29^post35-tail_15^0 <= 0 /\ rcd_243^0-rcd_243^post35 == 0 /\ -rcd_64^post35+rcd_64^0 == 0 /\ -__disjvr_22^post35+__disjvr_22^0 == 0 /\ -rcd_99^post35+rcd_99^0 == 0 /\ a_168^0-a_168^post35 == 0 /\ -length_25^post35+length_14^0 <= 0 /\ i_27^post35 <= 0 /\ i_27^post35 == 0 /\ r_240^0-r_240^post35 == 0 /\ -r_238^post35+r_238^0 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ y_285^0-y_285^post35 == 0 /\ -temp0_18^post35+temp0_18^0 == 0 /\ -__disjvr_10^post35+__disjvr_10^0 == 0 /\ -head_SLAM_f_26^post35+tail_15^0 <= 0 /\ y_22^0-y_22^post35 == 0 /\ __disjvr_13^0-__disjvr_13^post35 == 0 /\ -y_191^post35+y_191^0 == 0 /\ -y_231^post35+y_231^0 == 0 /\ -tail_15^post35+tail_15^0 == 0 /\ -__disjvr_15^post35+__disjvr_15^0 == 0 /\ -head_29^post35+tail_15^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_1^0-__disjvr_1^post35 == 0 /\ a_271^0-a_271^post35 == 0 /\ -rcd_248^post35+rcd_248^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ -y_295^post35+y_295^0 == 0 /\ -r_247^post35+r_247^0 == 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ -__disjvr_2^post35+__disjvr_2^0 == 0 /\ -a_143^post35+a_143^0 == 0 /\ -__disjvr_4^post35+__disjvr_4^0 == 0 /\ __disjvr_20^0-__disjvr_20^post35 == 0 /\ -head_SLAM_f_26^post35+head_29^post35 <= 0 /\ -head_SLAM_f_26^post35+head_29^post35 == 0 /\ y_347^0-y_347^post35 == 0 /\ -i_105^post35+i_105^0 == 0 /\ r_242^0-r_242^post35 == 0 /\ -__disjvr_8^post35+__disjvr_8^0 == 0 /\ len_200^0-len_200^post35 == 0 /\ r_253^0-r_253^post35 == 0 /\ head_13^0-head_13^post35 == 0 /\ y_162^0-y_162^post35 == 0 /\ i_114^0-i_114^post35 == 0 /\ -length_14^post35+length_14^0 == 0 /\ -x_21^post35+x_21^0 == 0 /\ -temp_32^post35+temp_32^0 == 0 /\ -rcd_230^post35+rcd_230^0 == 0 /\ -temp0_28^post35+temp0_28^0 == 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ __disjvr_14^0-__disjvr_14^post35 == 0 /\ -a_215^post35+a_215^0 == 0 /\ rcd_40^0-rcd_40^post35 == 0 /\ rcd_268^0-rcd_268^post35 == 0 /\ __disjvr_24^0-__disjvr_24^post35 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ r_229^0-r_229^post35 == 0 /\ z_19^0-z_19^post35 == 0 /\ tmp_31^0-tmp_31^post35 == 0 /\ -y_261^post35+y_261^0 == 0 /\ head_SLAM_f_26^post35-head_29^post35 <= 0 /\ __disjvr_18^0-__disjvr_18^post35 == 0 /\ rcd_107^0-rcd_107^post35 == 0 /\ -i_27^post35 <= 0 /\ r_183^0-r_183^post35 == 0 /\ -y_269^post35+y_269^0 == 0), cost: 1
  55: l34 -> l1 : __disjvr_0^0'=__disjvr_0^post55, i_27^0'=i_27^post55, y_162^0'=y_162^post55, __disjvr_21^0'=__disjvr_21^post55, z_19^0'=z_19^post55, __disjvr_9^0'=__disjvr_9^post55, result_11^0'=result_11^post55, __disjvr_14^0'=__disjvr_14^post55, r_154^0'=r_154^post55, __disjvr_24^0'=__disjvr_24^post55, y_261^0'=y_261^post55, rcd_230^0'=rcd_230^post55, head_13^0'=head_13^post55, head_SLAM_f_26^0'=head_SLAM_f_26^post55, tmp_31^0'=tmp_31^post55, __disjvr_19^0'=__disjvr_19^post55, r_242^0'=r_242^post55, __disjvr_6^0'=__disjvr_6^post55, y_347^0'=y_347^post55, rcd_40^0'=rcd_40^post55, __disjvr_11^0'=__disjvr_11^post55, len_270^0'=len_270^post55, y_22^0'=y_22^post55, r_267^0'=r_267^post55, a_168^0'=a_168^post55, t_23^0'=t_23^post55, __disjvr_16^0'=__disjvr_16^post55, r_229^0'=r_229^post55, __disjvr_3^0'=__disjvr_3^post55, y_285^0'=y_285^post55, rcd_243^0'=rcd_243^post55, i_114^0'=i_114^post55, x_21^0'=x_21^post55, __disjvr_20^0'=__disjvr_20^post55, r_253^0'=r_253^post55, __disjvr_8^0'=__disjvr_8^post55, rcd_99^0'=rcd_99^post55, __disjvr_13^0'=__disjvr_13^post55, length_25^0'=length_25^post55, __disjvr_23^0'=__disjvr_23^post55, y_241^0'=y_241^post55, rcd_107^0'=rcd_107^post55, a_271^0'=a_271^post55, temp0_18^0'=temp0_18^post55, temp_32^0'=temp_32^post55, __disjvr_18^0'=__disjvr_18^post55, r_240^0'=r_240^post55, __disjvr_5^0'=__disjvr_5^post55, y_295^0'=y_295^post55, rcd_268^0'=rcd_268^post55, __disjvr_10^0'=__disjvr_10^post55, len_200^0'=len_200^post55, y_191^0'=y_191^post55, __disjvr_22^0'=__disjvr_22^post55, a_143^0'=a_143^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post55, __disjvr_15^0'=__disjvr_15^post55, r_183^0'=r_183^post55, __disjvr_2^0'=__disjvr_2^post55, y_269^0'=y_269^post55, rcd_239^0'=rcd_239^post55, head_29^0'=head_29^post55, i_105^0'=i_105^post55, w_20^0'=w_20^post55, __disjvr_1^0'=__disjvr_1^post55, r_247^0'=r_247^post55, __disjvr_7^0'=__disjvr_7^post55, rcd_64^0'=rcd_64^post55, __disjvr_12^0'=__disjvr_12^post55, length_14^0'=length_14^post55, y_231^0'=y_231^post55, r_36^0'=r_36^post55, a_215^0'=a_215^post55, tail_15^0'=tail_15^post55, temp0_28^0'=temp0_28^post55, __disjvr_17^0'=__disjvr_17^post55, r_238^0'=r_238^post55, __disjvr_4^0'=__disjvr_4^post55, y_290^0'=y_290^post55, rcd_248^0'=rcd_248^post55, (0 == 0 /\ -x_21^10+tail_15^0 <= 0 /\ -y_22^10+tail_15^0 <= 0 /\ r_240^0-r_240^post55 == 0 /\ -y_191^post55+y_191^0 == 0 /\ y_241^0-y_241^post55 == 0 /\ -__disjvr_13^post55+__disjvr_13^0 == 0 /\ -__disjvr_7^post55+__disjvr_7^0 == 0 /\ -y_295^post55+y_295^0 == 0 /\ -__disjvr_17^post55+__disjvr_17^0 == 0 /\ -len_270^post55+len_270^0 == 0 /\ -__disjvr_12^post55+__disjvr_12^0 == 0 /\ __disjvr_24^0-__disjvr_24^post55 == 0 /\ -__disjvr_1^post55+__disjvr_1^0 == 0 /\ __disjvr_16^0-__disjvr_16^post55 == 0 /\ -temp0_18^post55+temp0_18^0 == 0 /\ rcd_230^0-rcd_230^post55 == 0 /\ a_168^0-a_168^post55 == 0 /\ x_21^10-tail_15^0 <= 0 /\ -i_27^0+length_25^0 <= 0 /\ y_22^10-tail_15^0 <= 0 /\ r_267^0-r_267^post55 == 0 /\ a_271^0-a_271^post55 == 0 /\ -y_269^post55+y_269^0 == 0 /\ -r_247^post55+r_247^0 == 0 /\ __disjvr_6^0-__disjvr_6^post55 == 0 /\ -__disjvr_2^post55+__disjvr_2^0 == 0 /\ rcd_268^0-rcd_268^post55 == 0 /\ -rcd_107^post55+rcd_107^0 == 0 /\ __disjvr_21^0-__disjvr_21^post55 == 0 /\ -__disjvr_4^post55+__disjvr_4^0 == 0 /\ rcd_64^0-rcd_64^post55 == 0 /\ y_261^0-y_261^post55 == 0 /\ -__disjvr_8^post55+__disjvr_8^0 == 0 /\ -r_242^post55+r_242^0 == 0 /\ length_14^post55 <= 0 /\ -a_215^post55+a_215^0 == 0 /\ y_285^0-y_285^post55 == 0 /\ rcd_243^0-rcd_243^post55 == 0 /\ -__disjvr_3^post55+__disjvr_3^0 == 0 /\ -r_183^post55+r_183^0 == 0 /\ -y_231^post55+y_231^0 == 0 /\ head_13^0-head_13^post55 == 0 /\ -y_22^10+w_20^10 <= 0 /\ -x_21^10+w_20^10 <= 0 /\ result_11^120-temp0_28^120 == 0 /\ length_14^10 <= 0 /\ -__disjvr_18^post55+__disjvr_18^0 == 0 /\ -a_143^post55+a_143^0 == 0 /\ __disjvr_15^0-__disjvr_15^post55 == 0 /\ rcd_40^0-rcd_40^post55 == 0 /\ -r_36^post55+r_36^0 == 0 /\ w_20^10-tail_15^0 <= 0 /\ w_20^10-tail_15^0 == 0 /\ -i_105^post55+i_105^0 == 0 /\ -__disjvr_10^post55+__disjvr_10^0 == 0 /\ z_19^10-head_13^0 <= 0 /\ z_19^10-head_13^0 == 0 /\ -__disjvr_9^post55+__disjvr_9^0 == 0 /\ -__disjvr_5^post55+__disjvr_5^0 == 0 /\ -temp0_18^0+result_11^post55 == 0 /\ -i_114^post55+i_114^0 == 0 /\ len_200^0-len_200^post55 == 0 /\ -__disjvr_22^post55+__disjvr_22^0 == 0 /\ y_22^10-w_20^10 <= 0 /\ y_22^10-w_20^10 == 0 /\ __disjvr_11^0-__disjvr_11^post55 == 0 /\ x_21^10-w_20^10 <= 0 /\ y_347^0-y_347^post55 == 0 /\ -__disjvr_14^post55+__disjvr_14^0 == 0 /\ __disjvr_0^0-__disjvr_0^post55 == 0 /\ temp0_28^120-head_29^0 == 0 /\ -__disjvr_23^post55+__disjvr_23^0 == 0 /\ r_154^0-r_154^post55 == 0 /\ __disjvr_19^0-__disjvr_19^post55 == 0 /\ -r_253^post55+r_253^0 == 0 /\ r_229^0-r_229^post55 == 0 /\ -r_238^post55+r_238^0 == 0 /\ __disjvr_20^0-__disjvr_20^post55 == 0 /\ -w_20^10+tail_15^0 <= 0 /\ -rcd_248^post55+rcd_248^0 == 0 /\ -tail_15^post55+tail_15^0 == 0 /\ -z_19^10+head_13^0 <= 0 /\ rcd_99^0-rcd_99^post55 == 0 /\ rcd_239^0-rcd_239^post55 == 0 /\ y_162^0-y_162^post55 == 0 /\ y_290^0-y_290^post55 == 0), cost: 1
  56: l34 -> l35 : __disjvr_0^0'=__disjvr_0^post56, i_27^0'=i_27^post56, y_162^0'=y_162^post56, __disjvr_21^0'=__disjvr_21^post56, z_19^0'=z_19^post56, __disjvr_9^0'=__disjvr_9^post56, result_11^0'=result_11^post56, __disjvr_14^0'=__disjvr_14^post56, r_154^0'=r_154^post56, __disjvr_24^0'=__disjvr_24^post56, y_261^0'=y_261^post56, rcd_230^0'=rcd_230^post56, head_13^0'=head_13^post56, head_SLAM_f_26^0'=head_SLAM_f_26^post56, tmp_31^0'=tmp_31^post56, __disjvr_19^0'=__disjvr_19^post56, r_242^0'=r_242^post56, __disjvr_6^0'=__disjvr_6^post56, y_347^0'=y_347^post56, rcd_40^0'=rcd_40^post56, __disjvr_11^0'=__disjvr_11^post56, len_270^0'=len_270^post56, y_22^0'=y_22^post56, r_267^0'=r_267^post56, a_168^0'=a_168^post56, t_23^0'=t_23^post56, __disjvr_16^0'=__disjvr_16^post56, r_229^0'=r_229^post56, __disjvr_3^0'=__disjvr_3^post56, y_285^0'=y_285^post56, rcd_243^0'=rcd_243^post56, i_114^0'=i_114^post56, x_21^0'=x_21^post56, __disjvr_20^0'=__disjvr_20^post56, r_253^0'=r_253^post56, __disjvr_8^0'=__disjvr_8^post56, rcd_99^0'=rcd_99^post56, __disjvr_13^0'=__disjvr_13^post56, length_25^0'=length_25^post56, __disjvr_23^0'=__disjvr_23^post56, y_241^0'=y_241^post56, rcd_107^0'=rcd_107^post56, a_271^0'=a_271^post56, temp0_18^0'=temp0_18^post56, temp_32^0'=temp_32^post56, __disjvr_18^0'=__disjvr_18^post56, r_240^0'=r_240^post56, __disjvr_5^0'=__disjvr_5^post56, y_295^0'=y_295^post56, rcd_268^0'=rcd_268^post56, __disjvr_10^0'=__disjvr_10^post56, len_200^0'=len_200^post56, y_191^0'=y_191^post56, __disjvr_22^0'=__disjvr_22^post56, a_143^0'=a_143^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56, __disjvr_15^0'=__disjvr_15^post56, r_183^0'=r_183^post56, __disjvr_2^0'=__disjvr_2^post56, y_269^0'=y_269^post56, rcd_239^0'=rcd_239^post56, head_29^0'=head_29^post56, i_105^0'=i_105^post56, w_20^0'=w_20^post56, __disjvr_1^0'=__disjvr_1^post56, r_247^0'=r_247^post56, __disjvr_7^0'=__disjvr_7^post56, rcd_64^0'=rcd_64^post56, __disjvr_12^0'=__disjvr_12^post56, length_14^0'=length_14^post56, y_231^0'=y_231^post56, r_36^0'=r_36^post56, a_215^0'=a_215^post56, tail_15^0'=tail_15^post56, temp0_28^0'=temp0_28^post56, __disjvr_17^0'=__disjvr_17^post56, r_238^0'=r_238^post56, __disjvr_4^0'=__disjvr_4^post56, y_290^0'=y_290^post56, rcd_248^0'=rcd_248^post56, (0 == 0 /\ -temp_32^0+tmp_31^post56 == 0 /\ len_270^0-len_270^post56 == 0 /\ -a_215^post56+a_215^0 == 0 /\ -__disjvr_1^post56+__disjvr_1^0 == 0 /\ -rcd_64^post56+rcd_64^0 == 0 /\ __disjvr_5^0-__disjvr_5^post56 == 0 /\ __disjvr_3^0-__disjvr_3^post56 == 0 /\ x_21^0-x_21^post56 == 0 /\ 1+i_27^0-length_25^0 <= 0 /\ rcd_230^0-rcd_230^post56 == 0 /\ -r_183^post56+r_183^0 == 0 /\ -y_290^post56+y_290^0 == 0 /\ -head_29^post56+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56 <= 0 /\ r_267^0-r_267^post56 == 0 /\ -i_114^post56+i_114^0 == 0 /\ -y_22^post56+y_22^0 == 0 /\ -rcd_268^post56+rcd_268^0 == 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ w_20^0-w_20^post56 == 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ -rcd_243^post56+rcd_243^0 == 0 /\ -r_238^post56+r_238^0 == 0 /\ __disjvr_24^0-__disjvr_24^post56 == 0 /\ y_347^0-y_347^post56 == 0 /\ y_162^0-y_162^post56 == 0 /\ -__disjvr_15^post56+__disjvr_15^0 == 0 /\ y_285^0-y_285^post56 == 0 /\ 1-i_27^post56 <= 0 /\ -1+i_27^post56 <= 0 /\ z_19^0-z_19^post56 == 0 /\ __disjvr_10^0-__disjvr_10^post56 == 0 /\ y_295^0-y_295^post56 == 0 /\ -r_229^post56+r_229^0 == 0 /\ -r_36^post56+r_36^0 == 0 /\ -r_247^post56+r_247^0 == 0 /\ head_29^post56-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56 <= 0 /\ t_23^0-t_23^post56 == 0 /\ __disjvr_8^0-__disjvr_8^post56 == 0 /\ -r_253^post56+r_253^0 == 0 /\ -1-i_27^0+i_27^post56 == 0 /\ rcd_107^0-rcd_107^post56 == 0 /\ -__disjvr_17^post56+__disjvr_17^0 == 0 /\ -__disjvr_22^post56+__disjvr_22^0 == 0 /\ -__disjvr_6^post56+__disjvr_6^0 == 0 /\ y_261^0-y_261^post56 == 0 /\ length_14^post56-length_25^0 <= 0 /\ length_25^0-length_25^post56 == 0 /\ -__disjvr_2^post56+__disjvr_2^0 == 0 /\ -__disjvr_19^post56+__disjvr_19^0 == 0 /\ -i_105^post56+i_105^0 == 0 /\ y_269^0-y_269^post56 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ temp0_18^0-temp0_18^post56 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56+tmp_31^post56 <= 0 /\ 1-length_25^0 <= 0 /\ rcd_40^0-rcd_40^post56 == 0 /\ -y_231^post56+y_231^0 == 0 /\ __disjvr_11^0-__disjvr_11^post56 == 0 /\ -head_SLAM_f_26^post56+tail_15^post56 <= 0 /\ -__disjvr_23^post56+__disjvr_23^0 == 0 /\ -rcd_248^post56+rcd_248^0 == 0 /\ __disjvr_16^0-__disjvr_16^post56 == 0 /\ head_29^post56-tmp_31^post56 <= 0 /\ head_29^post56-tmp_31^post56 == 0 /\ -rcd_99^post56+rcd_99^0 == 0 /\ -temp0_28^post56+temp0_28^0 == 0 /\ result_11^0-result_11^post56 == 0 /\ -y_241^post56+y_241^0 == 0 /\ -length_14^post56+length_25^0 <= 0 /\ -__disjvr_18^post56+__disjvr_18^0 == 0 /\ rcd_239^0-rcd_239^post56 == 0 /\ -head_13^post56+head_13^0 == 0 /\ y_191^0-y_191^post56 == 0 /\ -__disjvr_7^post56+__disjvr_7^0 == 0 /\ -a_271^post56+a_271^0 == 0 /\ -a_168^post56+a_168^0 == 0 /\ -a_143^post56+a_143^0 == 0 /\ -__disjvr_13^post56+__disjvr_13^0 == 0 /\ -len_200^post56+len_200^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56-tmp_31^post56 <= 0 /\ r_240^0-r_240^post56 == 0 /\ __disjvr_9^0-__disjvr_9^post56 == 0 /\ -__disjvr_4^post56+__disjvr_4^0 == 0 /\ r_242^0-r_242^post56 == 0 /\ head_SLAM_f_26^post56-tail_15^post56 <= 0 /\ -head_29^post56+tmp_31^post56 <= 0 /\ r_154^0-r_154^post56 == 0), cost: 1
  36: l35 -> l36 : __disjvr_0^0'=__disjvr_0^post36, i_27^0'=i_27^post36, y_162^0'=y_162^post36, __disjvr_21^0'=__disjvr_21^post36, z_19^0'=z_19^post36, __disjvr_9^0'=__disjvr_9^post36, result_11^0'=result_11^post36, __disjvr_14^0'=__disjvr_14^post36, r_154^0'=r_154^post36, __disjvr_24^0'=__disjvr_24^post36, y_261^0'=y_261^post36, rcd_230^0'=rcd_230^post36, head_13^0'=head_13^post36, head_SLAM_f_26^0'=head_SLAM_f_26^post36, tmp_31^0'=tmp_31^post36, __disjvr_19^0'=__disjvr_19^post36, r_242^0'=r_242^post36, __disjvr_6^0'=__disjvr_6^post36, y_347^0'=y_347^post36, rcd_40^0'=rcd_40^post36, __disjvr_11^0'=__disjvr_11^post36, len_270^0'=len_270^post36, y_22^0'=y_22^post36, r_267^0'=r_267^post36, a_168^0'=a_168^post36, t_23^0'=t_23^post36, __disjvr_16^0'=__disjvr_16^post36, r_229^0'=r_229^post36, __disjvr_3^0'=__disjvr_3^post36, y_285^0'=y_285^post36, rcd_243^0'=rcd_243^post36, i_114^0'=i_114^post36, x_21^0'=x_21^post36, __disjvr_20^0'=__disjvr_20^post36, r_253^0'=r_253^post36, __disjvr_8^0'=__disjvr_8^post36, rcd_99^0'=rcd_99^post36, __disjvr_13^0'=__disjvr_13^post36, length_25^0'=length_25^post36, __disjvr_23^0'=__disjvr_23^post36, y_241^0'=y_241^post36, rcd_107^0'=rcd_107^post36, a_271^0'=a_271^post36, temp0_18^0'=temp0_18^post36, temp_32^0'=temp_32^post36, __disjvr_18^0'=__disjvr_18^post36, r_240^0'=r_240^post36, __disjvr_5^0'=__disjvr_5^post36, y_295^0'=y_295^post36, rcd_268^0'=rcd_268^post36, __disjvr_10^0'=__disjvr_10^post36, len_200^0'=len_200^post36, y_191^0'=y_191^post36, __disjvr_22^0'=__disjvr_22^post36, a_143^0'=a_143^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post36, __disjvr_15^0'=__disjvr_15^post36, r_183^0'=r_183^post36, __disjvr_2^0'=__disjvr_2^post36, y_269^0'=y_269^post36, rcd_239^0'=rcd_239^post36, head_29^0'=head_29^post36, i_105^0'=i_105^post36, w_20^0'=w_20^post36, __disjvr_1^0'=__disjvr_1^post36, r_247^0'=r_247^post36, __disjvr_7^0'=__disjvr_7^post36, rcd_64^0'=rcd_64^post36, __disjvr_12^0'=__disjvr_12^post36, length_14^0'=length_14^post36, y_231^0'=y_231^post36, r_36^0'=r_36^post36, a_215^0'=a_215^post36, tail_15^0'=tail_15^post36, temp0_28^0'=temp0_28^post36, __disjvr_17^0'=__disjvr_17^post36, r_238^0'=r_238^post36, __disjvr_4^0'=__disjvr_4^post36, y_290^0'=y_290^post36, rcd_248^0'=rcd_248^post36, (0 == 0 /\ y_347^0-y_347^post36 == 0 /\ -__disjvr_2^post36+__disjvr_2^0 == 0 /\ -y_290^post36+y_290^0 == 0 /\ __disjvr_0^0-__disjvr_0^post36 == 0 /\ r_229^0-r_229^post36 == 0 /\ r_267^0-r_267^post36 == 0 /\ 1-length_14^post36 <= 0 /\ -1+length_14^post36 <= 0 /\ __disjvr_3^0-__disjvr_3^post36 == 0 /\ w_20^post36-tail_15^0 <= 0 /\ w_20^post36-tail_15^0 == 0 /\ -rcd_64^post36+rcd_64^0 == 0 /\ -r_36^post36+r_36^0 == 0 /\ -tail_15^post36+tail_15^0 == 0 /\ __disjvr_5^0-__disjvr_5^post36 == 0 /\ y_162^0-y_162^post36 == 0 /\ -a_168^post36+a_168^0 == 0 /\ __disjvr_21^0-__disjvr_21^post36 == 0 /\ -__disjvr_11^post36+__disjvr_11^0 == 0 /\ -r_183^post36+r_183^0 == 0 /\ -i_27^0+length_25^0 <= 0 /\ i_114^0-i_114^post36 == 0 /\ -__disjvr_10^post36+__disjvr_10^0 == 0 /\ __disjvr_7^0-__disjvr_7^post36 == 0 /\ -rcd_99^post36+rcd_99^0 == 0 /\ -__disjvr_12^post36+__disjvr_12^0 == 0 /\ len_270^0-len_270^post36 == 0 /\ r_253^0-r_253^post36 == 0 /\ -rcd_248^post36+rcd_248^0 == 0 /\ -r_238^post36+r_238^0 == 0 /\ -__disjvr_15^post36+__disjvr_15^0 == 0 /\ -w_20^post36+tail_15^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post36 == 0 /\ -a_271^post36+a_271^0 == 0 /\ temp0_18^0-temp0_18^post36 == 0 /\ -r_240^post36+r_240^0 == 0 /\ t_23^0-t_23^post36 == 0 /\ y_261^0-y_261^post36 == 0 /\ __disjvr_18^0-__disjvr_18^post36 == 0 /\ -__disjvr_23^post36+__disjvr_23^0 == 0 /\ __disjvr_16^0-__disjvr_16^post36 == 0 /\ -__disjvr_1^post36+__disjvr_1^0 == 0 /\ rcd_230^0-rcd_230^post36 == 0 /\ -rcd_243^post36+rcd_243^0 == 0 /\ __disjvr_9^0-__disjvr_9^post36 == 0 /\ -r_247^post36+r_247^0 == 0 /\ __disjvr_14^0-__disjvr_14^post36 == 0 /\ -head_13^0+z_19^post36 <= 0 /\ -head_13^0+z_19^post36 == 0 /\ x_21^0-x_21^post36 == 0 /\ y_269^0-y_269^post36 == 0 /\ __disjvr_13^0-__disjvr_13^post36 == 0 /\ a_143^0-a_143^post36 == 0 /\ __disjvr_22^0-__disjvr_22^post36 == 0 /\ rcd_239^0-rcd_239^post36 == 0 /\ -__disjvr_6^post36+__disjvr_6^0 == 0 /\ -y_191^post36+y_191^0 == 0 /\ -y_231^post36+y_231^0 == 0 /\ -__disjvr_20^post36+__disjvr_20^0 == 0 /\ __disjvr_19^0-__disjvr_19^post36 == 0 /\ -y_295^post36+y_295^0 == 0 /\ y_22^post36-tail_15^0 <= 0 /\ -__disjvr_17^post36+__disjvr_17^0 == 0 /\ w_20^post36-y_22^post36 <= 0 /\ -a_215^post36+a_215^0 == 0 /\ y_241^0-y_241^post36 == 0 /\ r_242^0-r_242^post36 == 0 /\ rcd_40^0-rcd_40^post36 == 0 /\ head_13^0-head_13^post36 == 0 /\ head_13^0-z_19^post36 <= 0 /\ r_154^0-r_154^post36 == 0 /\ rcd_107^0-rcd_107^post36 == 0 /\ y_285^0-y_285^post36 == 0 /\ -len_200^post36+len_200^0 == 0 /\ -rcd_268^post36+rcd_268^0 == 0 /\ __disjvr_24^0-__disjvr_24^post36 == 0 /\ -y_22^post36+tail_15^0 <= 0 /\ -w_20^post36+y_22^post36 <= 0 /\ -w_20^post36+y_22^post36 == 0 /\ __disjvr_4^0-__disjvr_4^post36 == 0 /\ -temp0_28^10+result_11^10 == 0 /\ -i_105^post36+i_105^0 == 0 /\ temp0_28^10-head_29^0 == 0), cost: 1
  37: l35 -> l37 : __disjvr_0^0'=__disjvr_0^post37, i_27^0'=i_27^post37, y_162^0'=y_162^post37, __disjvr_21^0'=__disjvr_21^post37, z_19^0'=z_19^post37, __disjvr_9^0'=__disjvr_9^post37, result_11^0'=result_11^post37, __disjvr_14^0'=__disjvr_14^post37, r_154^0'=r_154^post37, __disjvr_24^0'=__disjvr_24^post37, y_261^0'=y_261^post37, rcd_230^0'=rcd_230^post37, head_13^0'=head_13^post37, head_SLAM_f_26^0'=head_SLAM_f_26^post37, tmp_31^0'=tmp_31^post37, __disjvr_19^0'=__disjvr_19^post37, r_242^0'=r_242^post37, __disjvr_6^0'=__disjvr_6^post37, y_347^0'=y_347^post37, rcd_40^0'=rcd_40^post37, __disjvr_11^0'=__disjvr_11^post37, len_270^0'=len_270^post37, y_22^0'=y_22^post37, r_267^0'=r_267^post37, a_168^0'=a_168^post37, t_23^0'=t_23^post37, __disjvr_16^0'=__disjvr_16^post37, r_229^0'=r_229^post37, __disjvr_3^0'=__disjvr_3^post37, y_285^0'=y_285^post37, rcd_243^0'=rcd_243^post37, i_114^0'=i_114^post37, x_21^0'=x_21^post37, __disjvr_20^0'=__disjvr_20^post37, r_253^0'=r_253^post37, __disjvr_8^0'=__disjvr_8^post37, rcd_99^0'=rcd_99^post37, __disjvr_13^0'=__disjvr_13^post37, length_25^0'=length_25^post37, __disjvr_23^0'=__disjvr_23^post37, y_241^0'=y_241^post37, rcd_107^0'=rcd_107^post37, a_271^0'=a_271^post37, temp0_18^0'=temp0_18^post37, temp_32^0'=temp_32^post37, __disjvr_18^0'=__disjvr_18^post37, r_240^0'=r_240^post37, __disjvr_5^0'=__disjvr_5^post37, y_295^0'=y_295^post37, rcd_268^0'=rcd_268^post37, __disjvr_10^0'=__disjvr_10^post37, len_200^0'=len_200^post37, y_191^0'=y_191^post37, __disjvr_22^0'=__disjvr_22^post37, a_143^0'=a_143^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37, __disjvr_15^0'=__disjvr_15^post37, r_183^0'=r_183^post37, __disjvr_2^0'=__disjvr_2^post37, y_269^0'=y_269^post37, rcd_239^0'=rcd_239^post37, head_29^0'=head_29^post37, i_105^0'=i_105^post37, w_20^0'=w_20^post37, __disjvr_1^0'=__disjvr_1^post37, r_247^0'=r_247^post37, __disjvr_7^0'=__disjvr_7^post37, rcd_64^0'=rcd_64^post37, __disjvr_12^0'=__disjvr_12^post37, length_14^0'=length_14^post37, y_231^0'=y_231^post37, r_36^0'=r_36^post37, a_215^0'=a_215^post37, tail_15^0'=tail_15^post37, temp0_28^0'=temp0_28^post37, __disjvr_17^0'=__disjvr_17^post37, r_238^0'=r_238^post37, __disjvr_4^0'=__disjvr_4^post37, y_290^0'=y_290^post37, rcd_248^0'=rcd_248^post37, (0 == 0 /\ __disjvr_9^0-__disjvr_9^post37 == 0 /\ head_29^post37-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37 <= 0 /\ -__disjvr_15^post37+__disjvr_15^0 == 0 /\ -a_168^post37+a_168^0 == 0 /\ -w_20^post37+w_20^0 == 0 /\ y_241^0-y_241^post37 == 0 /\ -rcd_239^post37+rcd_239^0 == 0 /\ -y_285^post37+y_285^0 == 0 /\ -__disjvr_23^post37+__disjvr_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post37 == 0 /\ a_271^0-a_271^post37 == 0 /\ 1+i_27^0-length_25^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post37 == 0 /\ -rcd_99^post37+rcd_99^0 == 0 /\ rcd_268^0-rcd_268^post37 == 0 /\ -r_238^post37+r_238^0 == 0 /\ y_295^0-y_295^post37 == 0 /\ -r_253^post37+r_253^0 == 0 /\ head_SLAM_f_26^post37-tail_15^post37 <= 0 /\ -__disjvr_18^post37+__disjvr_18^0 == 0 /\ r_154^0-r_154^post37 == 0 /\ y_191^0-y_191^post37 == 0 /\ head_29^post37-tmp_31^post37 <= 0 /\ head_29^post37-tmp_31^post37 == 0 /\ __disjvr_19^0-__disjvr_19^post37 == 0 /\ -y_22^post37+y_22^0 == 0 /\ -head_29^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37 <= 0 /\ rcd_230^0-rcd_230^post37 == 0 /\ -__disjvr_7^post37+__disjvr_7^0 == 0 /\ rcd_243^0-rcd_243^post37 == 0 /\ -__disjvr_13^post37+__disjvr_13^0 == 0 /\ -__disjvr_1^post37+__disjvr_1^0 == 0 /\ length_25^0-length_25^post37 == 0 /\ __disjvr_20^0-__disjvr_20^post37 == 0 /\ -y_231^post37+y_231^0 == 0 /\ -__disjvr_12^post37+__disjvr_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post37 == 0 /\ -rcd_248^post37+rcd_248^0 == 0 /\ -__disjvr_11^post37+__disjvr_11^0 == 0 /\ -head_SLAM_f_26^post37+tail_15^post37 <= 0 /\ -__disjvr_5^post37+__disjvr_5^0 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ tmp_31^post37-temp_32^0 == 0 /\ -r_240^post37+r_240^0 == 0 /\ r_267^0-r_267^post37 == 0 /\ len_270^0-len_270^post37 == 0 /\ -__disjvr_2^post37+__disjvr_2^0 == 0 /\ -head_29^post37+tmp_31^post37 <= 0 /\ -2+i_27^post37 <= 0 /\ y_269^0-y_269^post37 == 0 /\ tmp_31^post37-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37 <= 0 /\ -x_21^post37+x_21^0 == 0 /\ t_23^0-t_23^post37 == 0 /\ y_347^0-y_347^post37 == 0 /\ y_162^0-y_162^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -__disjvr_4^post37+__disjvr_4^0 == 0 /\ -length_25^0+length_14^post37 <= 0 /\ __disjvr_22^0-__disjvr_22^post37 == 0 /\ -r_247^post37+r_247^0 == 0 /\ i_114^0-i_114^post37 == 0 /\ -temp0_28^post37+temp0_28^0 == 0 /\ -a_215^post37+a_215^0 == 0 /\ -1-i_27^0+i_27^post37 == 0 /\ 1-length_25^0 <= 0 /\ -len_200^post37+len_200^0 == 0 /\ __disjvr_3^0-__disjvr_3^post37 == 0 /\ head_13^0-head_13^post37 == 0 /\ -__disjvr_21^post37+__disjvr_21^0 == 0 /\ -__disjvr_6^post37+__disjvr_6^0 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0 /\ y_261^0-y_261^post37 == 0 /\ 2-length_25^0 <= 0 /\ -y_290^post37+y_290^0 == 0 /\ -tmp_31^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37 <= 0 /\ rcd_40^0-rcd_40^post37 == 0 /\ -i_105^post37+i_105^0 == 0 /\ r_229^0-r_229^post37 == 0 /\ temp0_18^0-temp0_18^post37 == 0 /\ rcd_107^0-rcd_107^post37 == 0 /\ -r_242^post37+r_242^0 == 0 /\ -r_183^post37+r_183^0 == 0 /\ length_25^0-length_14^post37 <= 0 /\ a_143^0-a_143^post37 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ z_19^0-z_19^post37 == 0 /\ -r_36^post37+r_36^0 == 0 /\ __disjvr_14^0-__disjvr_14^post37 == 0 /\ 2-i_27^post37 <= 0), cost: 1
  45: l36 -> l1 : __disjvr_0^0'=__disjvr_0^post45, i_27^0'=i_27^post45, y_162^0'=y_162^post45, __disjvr_21^0'=__disjvr_21^post45, z_19^0'=z_19^post45, __disjvr_9^0'=__disjvr_9^post45, result_11^0'=result_11^post45, __disjvr_14^0'=__disjvr_14^post45, r_154^0'=r_154^post45, __disjvr_24^0'=__disjvr_24^post45, y_261^0'=y_261^post45, rcd_230^0'=rcd_230^post45, head_13^0'=head_13^post45, head_SLAM_f_26^0'=head_SLAM_f_26^post45, tmp_31^0'=tmp_31^post45, __disjvr_19^0'=__disjvr_19^post45, r_242^0'=r_242^post45, __disjvr_6^0'=__disjvr_6^post45, y_347^0'=y_347^post45, rcd_40^0'=rcd_40^post45, __disjvr_11^0'=__disjvr_11^post45, len_270^0'=len_270^post45, y_22^0'=y_22^post45, r_267^0'=r_267^post45, a_168^0'=a_168^post45, t_23^0'=t_23^post45, __disjvr_16^0'=__disjvr_16^post45, r_229^0'=r_229^post45, __disjvr_3^0'=__disjvr_3^post45, y_285^0'=y_285^post45, rcd_243^0'=rcd_243^post45, i_114^0'=i_114^post45, x_21^0'=x_21^post45, __disjvr_20^0'=__disjvr_20^post45, r_253^0'=r_253^post45, __disjvr_8^0'=__disjvr_8^post45, rcd_99^0'=rcd_99^post45, __disjvr_13^0'=__disjvr_13^post45, length_25^0'=length_25^post45, __disjvr_23^0'=__disjvr_23^post45, y_241^0'=y_241^post45, rcd_107^0'=rcd_107^post45, a_271^0'=a_271^post45, temp0_18^0'=temp0_18^post45, temp_32^0'=temp_32^post45, __disjvr_18^0'=__disjvr_18^post45, r_240^0'=r_240^post45, __disjvr_5^0'=__disjvr_5^post45, y_295^0'=y_295^post45, rcd_268^0'=rcd_268^post45, __disjvr_10^0'=__disjvr_10^post45, len_200^0'=len_200^post45, y_191^0'=y_191^post45, __disjvr_22^0'=__disjvr_22^post45, a_143^0'=a_143^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post45, __disjvr_15^0'=__disjvr_15^post45, r_183^0'=r_183^post45, __disjvr_2^0'=__disjvr_2^post45, y_269^0'=y_269^post45, rcd_239^0'=rcd_239^post45, head_29^0'=head_29^post45, i_105^0'=i_105^post45, w_20^0'=w_20^post45, __disjvr_1^0'=__disjvr_1^post45, r_247^0'=r_247^post45, __disjvr_7^0'=__disjvr_7^post45, rcd_64^0'=rcd_64^post45, __disjvr_12^0'=__disjvr_12^post45, length_14^0'=length_14^post45, y_231^0'=y_231^post45, r_36^0'=r_36^post45, a_215^0'=a_215^post45, tail_15^0'=tail_15^post45, temp0_28^0'=temp0_28^post45, __disjvr_17^0'=__disjvr_17^post45, r_238^0'=r_238^post45, __disjvr_4^0'=__disjvr_4^post45, y_290^0'=y_290^post45, rcd_248^0'=rcd_248^post45, (0 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ -rcd_248^post45+rcd_248^0 == 0 /\ y_285^0-y_285^post45 == 0 /\ -rcd_40^post45+rcd_40^0 == 0 /\ -length_14^post45+length_14^0 == 0 /\ -temp0_18^0+result_11^post45 == 0 /\ i_114^0-i_114^post45 == 0 /\ y_162^0-y_162^post45 == 0 /\ -rcd_239^post45+rcd_239^0 == 0 /\ -i_105^post45+i_105^0 == 0 /\ -tail_15^post45+tail_15^0 == 0 /\ -y_231^post45+y_231^0 == 0 /\ -r_238^post45+r_238^0 == 0 /\ -__disjvr_20^post45+__disjvr_20^0 == 0 /\ -rcd_107^post45+rcd_107^0 == 0 /\ head_13^0-head_13^post45 == 0 /\ __disjvr_22^0-__disjvr_22^post45 == 0 /\ r_229^0-r_229^post45 == 0 /\ __disjvr_21^0-__disjvr_21^post45 == 0 /\ -tmp_31^post45+tmp_31^0 == 0 /\ __disjvr_3^0-__disjvr_3^post45 == 0 /\ -__disjvr_4^post45+__disjvr_4^0 == 0 /\ -y_191^post45+y_191^0 == 0 /\ __disjvr_18^0-__disjvr_18^post45 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ head_29^0-head_29^post45 == 0 /\ a_168^0-a_168^post45 == 0 /\ -__disjvr_10^post45+__disjvr_10^0 == 0 /\ -__disjvr_16^post45+__disjvr_16^0 == 0 /\ -__disjvr_2^post45+__disjvr_2^0 == 0 /\ y_261^0-y_261^post45 == 0 /\ -a_143^post45+a_143^0 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ -y_269^post45+y_269^0 == 0 /\ y_241^0-y_241^post45 == 0 /\ -r_240^post45+r_240^0 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ rcd_99^0-rcd_99^post45 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ temp_32^0-temp_32^post45 == 0 /\ -__disjvr_14^post45+__disjvr_14^0 == 0 /\ -rcd_64^post45+rcd_64^0 == 0 /\ __disjvr_13^0-__disjvr_13^post45 == 0 /\ -a_215^post45+a_215^0 == 0 /\ -len_200^post45+len_200^0 == 0 /\ -x_21^0+w_20^0 <= 0 /\ -__disjvr_8^post45+__disjvr_8^0 == 0 /\ __disjvr_19^0-__disjvr_19^post45 == 0 /\ -rcd_268^post45+rcd_268^0 == 0 /\ a_271^0-a_271^post45 == 0 /\ -y_347^post45+y_347^0 == 0 /\ i_27^0-i_27^post45 == 0 /\ -r_247^post45+r_247^0 == 0 /\ -__disjvr_24^post45+__disjvr_24^0 == 0 /\ r_242^0-r_242^post45 == 0 /\ -__disjvr_1^post45+__disjvr_1^0 == 0 /\ r_154^0-r_154^post45 == 0 /\ -y_295^post45+y_295^0 == 0 /\ -r_183^post45+r_183^0 == 0 /\ rcd_243^0-rcd_243^post45 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -r_36^post45+r_36^0 == 0 /\ -length_25^post45+length_25^0 == 0 /\ temp0_28^0-temp0_28^post45 == 0 /\ __disjvr_15^0-__disjvr_15^post45 == 0 /\ rcd_230^0-rcd_230^post45 == 0 /\ x_21^0-w_20^0 <= 0 /\ r_253^0-r_253^post45 == 0 /\ -y_290^post45+y_290^0 == 0 /\ -temp0_18^post45+temp0_18^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post45 == 0 /\ len_270^0-len_270^post45 == 0 /\ __disjvr_6^0-__disjvr_6^post45 == 0 /\ __disjvr_11^0-__disjvr_11^post45 == 0 /\ r_267^0-r_267^post45 == 0 /\ __disjvr_0^0-__disjvr_0^post45 == 0), cost: 1
  46: l36 -> l44 : __disjvr_0^0'=__disjvr_0^post46, i_27^0'=i_27^post46, y_162^0'=y_162^post46, __disjvr_21^0'=__disjvr_21^post46, z_19^0'=z_19^post46, __disjvr_9^0'=__disjvr_9^post46, result_11^0'=result_11^post46, __disjvr_14^0'=__disjvr_14^post46, r_154^0'=r_154^post46, __disjvr_24^0'=__disjvr_24^post46, y_261^0'=y_261^post46, rcd_230^0'=rcd_230^post46, head_13^0'=head_13^post46, head_SLAM_f_26^0'=head_SLAM_f_26^post46, tmp_31^0'=tmp_31^post46, __disjvr_19^0'=__disjvr_19^post46, r_242^0'=r_242^post46, __disjvr_6^0'=__disjvr_6^post46, y_347^0'=y_347^post46, rcd_40^0'=rcd_40^post46, __disjvr_11^0'=__disjvr_11^post46, len_270^0'=len_270^post46, y_22^0'=y_22^post46, r_267^0'=r_267^post46, a_168^0'=a_168^post46, t_23^0'=t_23^post46, __disjvr_16^0'=__disjvr_16^post46, r_229^0'=r_229^post46, __disjvr_3^0'=__disjvr_3^post46, y_285^0'=y_285^post46, rcd_243^0'=rcd_243^post46, i_114^0'=i_114^post46, x_21^0'=x_21^post46, __disjvr_20^0'=__disjvr_20^post46, r_253^0'=r_253^post46, __disjvr_8^0'=__disjvr_8^post46, rcd_99^0'=rcd_99^post46, __disjvr_13^0'=__disjvr_13^post46, length_25^0'=length_25^post46, __disjvr_23^0'=__disjvr_23^post46, y_241^0'=y_241^post46, rcd_107^0'=rcd_107^post46, a_271^0'=a_271^post46, temp0_18^0'=temp0_18^post46, temp_32^0'=temp_32^post46, __disjvr_18^0'=__disjvr_18^post46, r_240^0'=r_240^post46, __disjvr_5^0'=__disjvr_5^post46, y_295^0'=y_295^post46, rcd_268^0'=rcd_268^post46, __disjvr_10^0'=__disjvr_10^post46, len_200^0'=len_200^post46, y_191^0'=y_191^post46, __disjvr_22^0'=__disjvr_22^post46, a_143^0'=a_143^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post46, __disjvr_15^0'=__disjvr_15^post46, r_183^0'=r_183^post46, __disjvr_2^0'=__disjvr_2^post46, y_269^0'=y_269^post46, rcd_239^0'=rcd_239^post46, head_29^0'=head_29^post46, i_105^0'=i_105^post46, w_20^0'=w_20^post46, __disjvr_1^0'=__disjvr_1^post46, r_247^0'=r_247^post46, __disjvr_7^0'=__disjvr_7^post46, rcd_64^0'=rcd_64^post46, __disjvr_12^0'=__disjvr_12^post46, length_14^0'=length_14^post46, y_231^0'=y_231^post46, r_36^0'=r_36^post46, a_215^0'=a_215^post46, tail_15^0'=tail_15^post46, temp0_28^0'=temp0_28^post46, __disjvr_17^0'=__disjvr_17^post46, r_238^0'=r_238^post46, __disjvr_4^0'=__disjvr_4^post46, y_290^0'=y_290^post46, rcd_248^0'=rcd_248^post46, (0 == 0 /\ -rcd_239^post46+rcd_239^0 == 0 /\ __disjvr_13^0-__disjvr_13^post46 == 0 /\ -r_238^post46+r_238^0 == 0 /\ -y_241^post46+y_241^0 == 0 /\ -__disjvr_22^post46+__disjvr_22^0 == 0 /\ -__disjvr_15^post46+__disjvr_15^0 == 0 /\ __disjvr_16^0-__disjvr_16^post46 == 0 /\ rcd_99^0-rcd_99^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ y_162^0-y_162^post46 == 0 /\ -__disjvr_7^post46+__disjvr_7^0 == 0 /\ -i_105^post46+i_105^0 == 0 /\ -length_25^post46+length_25^0 == 0 /\ -head_29^post46+head_29^0 == 0 /\ __disjvr_12^0-__disjvr_12^post46 == 0 /\ i_114^0-i_114^post46 == 0 /\ i_27^0-i_27^post46 == 0 /\ result_11^0-result_11^post46 == 0 /\ -y_231^post46+y_231^0 == 0 /\ -__disjvr_5^post46+__disjvr_5^0 == 0 /\ r_240^0-r_240^post46 == 0 /\ rcd_243^0-rcd_243^post46 == 0 /\ -__disjvr_10^post46+__disjvr_10^0 == 0 /\ __disjvr_11^0-__disjvr_11^post46 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ y_261^0-y_261^post46 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ r_242^0-r_242^post46 == 0 /\ -rcd_64^post46+rcd_64^0 == 0 /\ r_229^0-r_229^post46 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ rcd_40^0-rcd_40^post46 == 0 /\ -rcd_248^post46+rcd_248^0 == 0 /\ -__disjvr_20^post46+__disjvr_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ r_247^0-r_247^post46 == 0 /\ r_253^0-r_253^post46 == 0 /\ len_270^0-len_270^post46 == 0 /\ -w_20^post46+w_20^0 == 0 /\ -__disjvr_3^post46+__disjvr_3^0 == 0 /\ r_183^0-r_183^post46 == 0 /\ a_271^0-a_271^post46 == 0 /\ -len_200^post46+len_200^0 == 0 /\ -y_269^post46+y_269^0 == 0 /\ __disjvr_19^0-__disjvr_19^post46 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ -tmp_31^post46+tmp_31^0 == 0 /\ -temp0_28^post46+temp0_28^0 == 0 /\ -a_143^post46+a_143^0 == 0 /\ -rcd_268^post46+rcd_268^0 == 0 /\ -t_23^post46+t_23^0 == 0 /\ y_191^0-y_191^post46 == 0 /\ x_21^0-x_21^post46 == 0 /\ -y_295^post46+y_295^0 == 0 /\ r_154^0-r_154^post46 == 0 /\ -__disjvr_4^post46+__disjvr_4^0 == 0 /\ -__disjvr_1^post46+__disjvr_1^0 == 0 /\ -a_215^post46+a_215^0 == 0 /\ -temp0_18^post46+temp0_18^0 == 0 /\ __disjvr_21^0-__disjvr_21^post46 == 0 /\ -temp_32^post46+temp_32^0 == 0 /\ __disjvr_8^0-__disjvr_8^post46 == 0 /\ __disjvr_2^0-__disjvr_2^post46 == 0 /\ -y_290^post46+y_290^0 == 0 /\ y_22^0-y_22^post46 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post46 == 0 /\ -r_267^post46+r_267^0 == 0 /\ a_168^0-a_168^post46 == 0 /\ rcd_230^0-rcd_230^post46 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post46 == 0 /\ -r_36^post46+r_36^0 == 0 /\ -y_347^post46+y_347^0 == 0 /\ y_285^0-y_285^post46 == 0 /\ -rcd_107^post46+rcd_107^0 == 0 /\ __disjvr_6^0-__disjvr_6^post46 == 0 /\ __disjvr_18^0-__disjvr_18^post46 == 0), cost: 1
  52: l37 -> l49 : __disjvr_0^0'=__disjvr_0^post52, i_27^0'=i_27^post52, y_162^0'=y_162^post52, __disjvr_21^0'=__disjvr_21^post52, z_19^0'=z_19^post52, __disjvr_9^0'=__disjvr_9^post52, result_11^0'=result_11^post52, __disjvr_14^0'=__disjvr_14^post52, r_154^0'=r_154^post52, __disjvr_24^0'=__disjvr_24^post52, y_261^0'=y_261^post52, rcd_230^0'=rcd_230^post52, head_13^0'=head_13^post52, head_SLAM_f_26^0'=head_SLAM_f_26^post52, tmp_31^0'=tmp_31^post52, __disjvr_19^0'=__disjvr_19^post52, r_242^0'=r_242^post52, __disjvr_6^0'=__disjvr_6^post52, y_347^0'=y_347^post52, rcd_40^0'=rcd_40^post52, __disjvr_11^0'=__disjvr_11^post52, len_270^0'=len_270^post52, y_22^0'=y_22^post52, r_267^0'=r_267^post52, a_168^0'=a_168^post52, t_23^0'=t_23^post52, __disjvr_16^0'=__disjvr_16^post52, r_229^0'=r_229^post52, __disjvr_3^0'=__disjvr_3^post52, y_285^0'=y_285^post52, rcd_243^0'=rcd_243^post52, i_114^0'=i_114^post52, x_21^0'=x_21^post52, __disjvr_20^0'=__disjvr_20^post52, r_253^0'=r_253^post52, __disjvr_8^0'=__disjvr_8^post52, rcd_99^0'=rcd_99^post52, __disjvr_13^0'=__disjvr_13^post52, length_25^0'=length_25^post52, __disjvr_23^0'=__disjvr_23^post52, y_241^0'=y_241^post52, rcd_107^0'=rcd_107^post52, a_271^0'=a_271^post52, temp0_18^0'=temp0_18^post52, temp_32^0'=temp_32^post52, __disjvr_18^0'=__disjvr_18^post52, r_240^0'=r_240^post52, __disjvr_5^0'=__disjvr_5^post52, y_295^0'=y_295^post52, rcd_268^0'=rcd_268^post52, __disjvr_10^0'=__disjvr_10^post52, len_200^0'=len_200^post52, y_191^0'=y_191^post52, __disjvr_22^0'=__disjvr_22^post52, a_143^0'=a_143^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post52, __disjvr_15^0'=__disjvr_15^post52, r_183^0'=r_183^post52, __disjvr_2^0'=__disjvr_2^post52, y_269^0'=y_269^post52, rcd_239^0'=rcd_239^post52, head_29^0'=head_29^post52, i_105^0'=i_105^post52, w_20^0'=w_20^post52, __disjvr_1^0'=__disjvr_1^post52, r_247^0'=r_247^post52, __disjvr_7^0'=__disjvr_7^post52, rcd_64^0'=rcd_64^post52, __disjvr_12^0'=__disjvr_12^post52, length_14^0'=length_14^post52, y_231^0'=y_231^post52, r_36^0'=r_36^post52, a_215^0'=a_215^post52, tail_15^0'=tail_15^post52, temp0_28^0'=temp0_28^post52, __disjvr_17^0'=__disjvr_17^post52, r_238^0'=r_238^post52, __disjvr_4^0'=__disjvr_4^post52, y_290^0'=y_290^post52, rcd_248^0'=rcd_248^post52, (0 == 0 /\ -y_295^post52+y_295^0 == 0 /\ r_242^0-r_242^post52 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post52 == 0 /\ -r_229^post52+r_229^0 == 0 /\ -1+i_27^post52-i_105^post52 <= 0 /\ z_19^0-z_19^post52 == 0 /\ __disjvr_1^0-__disjvr_1^post52 == 0 /\ -__disjvr_4^post52+__disjvr_4^0 == 0 /\ 1+i_27^0-length_25^0 <= 0 /\ -__disjvr_20^post52+__disjvr_20^0 == 0 /\ __disjvr_14^0-__disjvr_14^post52 == 0 /\ __disjvr_7^0-__disjvr_7^post52 == 0 /\ __disjvr_11^0-__disjvr_11^post52 == 0 /\ r_240^0-r_240^post52 == 0 /\ -length_14^post52+length_14^0 == 0 /\ -y_231^post52+y_231^0 == 0 /\ y_22^0-y_22^post52 == 0 /\ 1+i_105^post52-length_25^0 <= 0 /\ rcd_107^post52-rcd_40^0 <= 0 /\ -y_191^post52+y_191^0 == 0 /\ rcd_230^0-rcd_230^post52 == 0 /\ -a_143^post52+a_143^0 == 0 /\ -r_238^post52+r_238^0 == 0 /\ t_23^0-t_23^post52 == 0 /\ -1-i_27^0+i_27^post52 == 0 /\ -__disjvr_13^post52+__disjvr_13^0 == 0 /\ __disjvr_24^0-__disjvr_24^post52 == 0 /\ __disjvr_3^0-__disjvr_3^post52 == 0 /\ __disjvr_15^0-__disjvr_15^post52 == 0 /\ -a_271^post52+a_271^0 == 0 /\ -temp0_28^post52+temp0_28^0 == 0 /\ -w_20^post52+w_20^0 == 0 /\ r_154^0-r_154^post52 == 0 /\ -len_270^post52+len_270^0 == 0 /\ -i_27^0 <= 0 /\ -a_215^post52+a_215^0 == 0 /\ __disjvr_6^0-__disjvr_6^post52 == 0 /\ -rcd_107^post52+rcd_40^0 <= 0 /\ head_29^post52-tmp_31^post52 == 0 /\ a_168^0-a_168^post52 == 0 /\ y_162^0-y_162^post52 == 0 /\ -__disjvr_17^post52+__disjvr_17^0 == 0 /\ __disjvr_2^0-__disjvr_2^post52 == 0 /\ -temp_32^0+tmp_31^post52 == 0 /\ -r_36^post52+r_36^0 == 0 /\ 1-i_27^post52+i_105^post52 <= 0 /\ -__disjvr_18^post52+__disjvr_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post52 == 0 /\ i_114^0-i_114^post52 == 0 /\ result_11^0-result_11^post52 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ head_13^0-head_13^post52 == 0 /\ y_285^0-y_285^post52 == 0 /\ -y_269^post52+y_269^0 == 0 /\ -__disjvr_5^post52+__disjvr_5^0 == 0 /\ -__disjvr_10^post52+__disjvr_10^0 == 0 /\ len_200^0-len_200^post52 == 0 /\ rcd_107^post52-rcd_40^post52 <= 0 /\ __disjvr_9^0-__disjvr_9^post52 == 0 /\ __disjvr_23^0-__disjvr_23^post52 == 0 /\ -y_241^post52+y_241^0 == 0 /\ -rcd_64^post52+rcd_64^0 == 0 /\ -__disjvr_8^post52+__disjvr_8^0 == 0 /\ -rcd_268^post52+rcd_268^0 == 0 /\ x_21^0-x_21^post52 == 0 /\ -temp0_18^post52+temp0_18^0 == 0 /\ -rcd_248^post52+rcd_248^0 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0 /\ -r_253^post52+r_253^0 == 0 /\ __disjvr_19^0-__disjvr_19^post52 == 0 /\ -rcd_239^post52+rcd_239^0 == 0 /\ y_261^0-y_261^post52 == 0 /\ -r_183^post52+r_183^0 == 0 /\ -tail_15^post52+tail_15^0 == 0 /\ __disjvr_16^0-__disjvr_16^post52 == 0 /\ -y_290^post52+y_290^0 == 0 /\ -rcd_107^post52+rcd_40^post52 <= 0 /\ -r_247^post52+r_247^0 == 0 /\ -__disjvr_22^post52+__disjvr_22^0 == 0 /\ length_25^0-length_25^post52 == 0 /\ rcd_243^0-rcd_243^post52 == 0 /\ r_267^0-r_267^post52 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ y_347^0-y_347^post52 == 0), cost: 1
  54: l37 -> l38 : __disjvr_0^0'=__disjvr_0^post54, i_27^0'=i_27^post54, y_162^0'=y_162^post54, __disjvr_21^0'=__disjvr_21^post54, z_19^0'=z_19^post54, __disjvr_9^0'=__disjvr_9^post54, result_11^0'=result_11^post54, __disjvr_14^0'=__disjvr_14^post54, r_154^0'=r_154^post54, __disjvr_24^0'=__disjvr_24^post54, y_261^0'=y_261^post54, rcd_230^0'=rcd_230^post54, head_13^0'=head_13^post54, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, __disjvr_19^0'=__disjvr_19^post54, r_242^0'=r_242^post54, __disjvr_6^0'=__disjvr_6^post54, y_347^0'=y_347^post54, rcd_40^0'=rcd_40^post54, __disjvr_11^0'=__disjvr_11^post54, len_270^0'=len_270^post54, y_22^0'=y_22^post54, r_267^0'=r_267^post54, a_168^0'=a_168^post54, t_23^0'=t_23^post54, __disjvr_16^0'=__disjvr_16^post54, r_229^0'=r_229^post54, __disjvr_3^0'=__disjvr_3^post54, y_285^0'=y_285^post54, rcd_243^0'=rcd_243^post54, i_114^0'=i_114^post54, x_21^0'=x_21^post54, __disjvr_20^0'=__disjvr_20^post54, r_253^0'=r_253^post54, __disjvr_8^0'=__disjvr_8^post54, rcd_99^0'=rcd_99^post54, __disjvr_13^0'=__disjvr_13^post54, length_25^0'=length_25^post54, __disjvr_23^0'=__disjvr_23^post54, y_241^0'=y_241^post54, rcd_107^0'=rcd_107^post54, a_271^0'=a_271^post54, temp0_18^0'=temp0_18^post54, temp_32^0'=temp_32^post54, __disjvr_18^0'=__disjvr_18^post54, r_240^0'=r_240^post54, __disjvr_5^0'=__disjvr_5^post54, y_295^0'=y_295^post54, rcd_268^0'=rcd_268^post54, __disjvr_10^0'=__disjvr_10^post54, len_200^0'=len_200^post54, y_191^0'=y_191^post54, __disjvr_22^0'=__disjvr_22^post54, a_143^0'=a_143^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, __disjvr_15^0'=__disjvr_15^post54, r_183^0'=r_183^post54, __disjvr_2^0'=__disjvr_2^post54, y_269^0'=y_269^post54, rcd_239^0'=rcd_239^post54, head_29^0'=head_29^post54, i_105^0'=i_105^post54, w_20^0'=w_20^post54, __disjvr_1^0'=__disjvr_1^post54, r_247^0'=r_247^post54, __disjvr_7^0'=__disjvr_7^post54, rcd_64^0'=rcd_64^post54, __disjvr_12^0'=__disjvr_12^post54, length_14^0'=length_14^post54, y_231^0'=y_231^post54, r_36^0'=r_36^post54, a_215^0'=a_215^post54, tail_15^0'=tail_15^post54, temp0_28^0'=temp0_28^post54, __disjvr_17^0'=__disjvr_17^post54, r_238^0'=r_238^post54, __disjvr_4^0'=__disjvr_4^post54, y_290^0'=y_290^post54, rcd_248^0'=rcd_248^post54, (0 == 0 /\ y_191^0-y_191^post54 == 0 /\ -y_231^post54+y_231^0 == 0 /\ __disjvr_10^0-__disjvr_10^post54 == 0 /\ rcd_40^0-rcd_40^post54 == 0 /\ length_14^post54-i_114^0 <= 0 /\ -__disjvr_16^post54+__disjvr_16^0 == 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ __disjvr_7^0-__disjvr_7^post54 == 0 /\ -__disjvr_6^post54+__disjvr_6^0 == 0 /\ -r_267^post54+r_267^0 == 0 /\ -__disjvr_13^post54+__disjvr_13^0 == 0 /\ -a_143^post54+a_143^0 == 0 /\ y_22^post54-tail_15^0 <= 0 /\ len_270^0-len_270^post54 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ r_240^0-r_240^post54 == 0 /\ t_23^0-t_23^post54 == 0 /\ -rcd_248^post54+rcd_248^0 == 0 /\ -__disjvr_20^post54+__disjvr_20^0 == 0 /\ -rcd_107^post54+rcd_107^0 == 0 /\ -temp0_18^post54+temp0_18^0 == 0 /\ rcd_230^0-rcd_230^post54 == 0 /\ -rcd_239^post54+rcd_239^0 == 0 /\ -i_27^0+length_25^0 <= 0 /\ a_271^0-a_271^post54 == 0 /\ __disjvr_19^0-__disjvr_19^post54 == 0 /\ -y_241^post54+y_241^0 == 0 /\ i_105^0-i_105^post54 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ -i_27^0 <= 0 /\ result_11^11-temp0_28^110 == 0 /\ -len_200^post54+len_200^0 == 0 /\ -__disjvr_18^post54+__disjvr_18^0 == 0 /\ -y_22^post54+tail_15^0 <= 0 /\ -__disjvr_4^post54+__disjvr_4^0 == 0 /\ -y_347^post54+y_347^0 == 0 /\ -a_215^post54+a_215^0 == 0 /\ a_168^0-a_168^post54 == 0 /\ y_162^0-y_162^post54 == 0 /\ __disjvr_11^0-__disjvr_11^post54 == 0 /\ -r_183^post54+r_183^0 == 0 /\ -__disjvr_2^post54+__disjvr_2^0 == 0 /\ -y_290^post54+y_290^0 == 0 /\ y_285^0-y_285^post54 == 0 /\ -y_261^post54+y_261^0 == 0 /\ i_114^0-i_114^post54 == 0 /\ head_13^0-head_13^post54 == 0 /\ -rcd_64^post54+rcd_64^0 == 0 /\ r_242^0-r_242^post54 == 0 /\ __disjvr_8^0-__disjvr_8^post54 == 0 /\ head_13^0-z_19^post54 <= 0 /\ -__disjvr_12^post54+__disjvr_12^0 == 0 /\ -r_36^post54+r_36^0 == 0 /\ 2-length_14^post54 <= 0 /\ w_20^post54-tail_15^0 <= 0 /\ w_20^post54-tail_15^0 == 0 /\ rcd_268^0-rcd_268^post54 == 0 /\ y_22^post54-w_20^post54 <= 0 /\ y_22^post54-w_20^post54 == 0 /\ __disjvr_9^0-__disjvr_9^post54 == 0 /\ __disjvr_23^0-__disjvr_23^post54 == 0 /\ temp0_28^110-head_29^0 == 0 /\ -__disjvr_5^post54+__disjvr_5^0 == 0 /\ x_21^0-x_21^post54 == 0 /\ __disjvr_0^0-__disjvr_0^post54 == 0 /\ -rcd_99^post54+rcd_99^0 == 0 /\ -__disjvr_14^post54+__disjvr_14^0 == 0 /\ y_269^0-y_269^post54 == 0 /\ -r_238^post54+r_238^0 == 0 /\ -__disjvr_22^post54+__disjvr_22^0 == 0 /\ -__disjvr_15^post54+__disjvr_15^0 == 0 /\ __disjvr_21^0-__disjvr_21^post54 == 0 /\ 1-length_14^post54 <= 0 /\ -r_253^post54+r_253^0 == 0 /\ r_154^0-r_154^post54 == 0 /\ -y_295^post54+y_295^0 == 0 /\ -head_13^0+z_19^post54 <= 0 /\ -head_13^0+z_19^post54 == 0 /\ -r_229^post54+r_229^0 == 0 /\ -r_247^post54+r_247^0 == 0 /\ -w_20^post54+tail_15^0 <= 0 /\ -tail_15^post54+tail_15^0 == 0 /\ -__disjvr_1^post54+__disjvr_1^0 == 0 /\ -rcd_243^post54+rcd_243^0 == 0 /\ -y_22^post54+w_20^post54 <= 0), cost: 1
  38: l38 -> l1 : __disjvr_0^0'=__disjvr_0^post38, i_27^0'=i_27^post38, y_162^0'=y_162^post38, __disjvr_21^0'=__disjvr_21^post38, z_19^0'=z_19^post38, __disjvr_9^0'=__disjvr_9^post38, result_11^0'=result_11^post38, __disjvr_14^0'=__disjvr_14^post38, r_154^0'=r_154^post38, __disjvr_24^0'=__disjvr_24^post38, y_261^0'=y_261^post38, rcd_230^0'=rcd_230^post38, head_13^0'=head_13^post38, head_SLAM_f_26^0'=head_SLAM_f_26^post38, tmp_31^0'=tmp_31^post38, __disjvr_19^0'=__disjvr_19^post38, r_242^0'=r_242^post38, __disjvr_6^0'=__disjvr_6^post38, y_347^0'=y_347^post38, rcd_40^0'=rcd_40^post38, __disjvr_11^0'=__disjvr_11^post38, len_270^0'=len_270^post38, y_22^0'=y_22^post38, r_267^0'=r_267^post38, a_168^0'=a_168^post38, t_23^0'=t_23^post38, __disjvr_16^0'=__disjvr_16^post38, r_229^0'=r_229^post38, __disjvr_3^0'=__disjvr_3^post38, y_285^0'=y_285^post38, rcd_243^0'=rcd_243^post38, i_114^0'=i_114^post38, x_21^0'=x_21^post38, __disjvr_20^0'=__disjvr_20^post38, r_253^0'=r_253^post38, __disjvr_8^0'=__disjvr_8^post38, rcd_99^0'=rcd_99^post38, __disjvr_13^0'=__disjvr_13^post38, length_25^0'=length_25^post38, __disjvr_23^0'=__disjvr_23^post38, y_241^0'=y_241^post38, rcd_107^0'=rcd_107^post38, a_271^0'=a_271^post38, temp0_18^0'=temp0_18^post38, temp_32^0'=temp_32^post38, __disjvr_18^0'=__disjvr_18^post38, r_240^0'=r_240^post38, __disjvr_5^0'=__disjvr_5^post38, y_295^0'=y_295^post38, rcd_268^0'=rcd_268^post38, __disjvr_10^0'=__disjvr_10^post38, len_200^0'=len_200^post38, y_191^0'=y_191^post38, __disjvr_22^0'=__disjvr_22^post38, a_143^0'=a_143^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post38, __disjvr_15^0'=__disjvr_15^post38, r_183^0'=r_183^post38, __disjvr_2^0'=__disjvr_2^post38, y_269^0'=y_269^post38, rcd_239^0'=rcd_239^post38, head_29^0'=head_29^post38, i_105^0'=i_105^post38, w_20^0'=w_20^post38, __disjvr_1^0'=__disjvr_1^post38, r_247^0'=r_247^post38, __disjvr_7^0'=__disjvr_7^post38, rcd_64^0'=rcd_64^post38, __disjvr_12^0'=__disjvr_12^post38, length_14^0'=length_14^post38, y_231^0'=y_231^post38, r_36^0'=r_36^post38, a_215^0'=a_215^post38, tail_15^0'=tail_15^post38, temp0_28^0'=temp0_28^post38, __disjvr_17^0'=__disjvr_17^post38, r_238^0'=r_238^post38, __disjvr_4^0'=__disjvr_4^post38, y_290^0'=y_290^post38, rcd_248^0'=rcd_248^post38, (0 == 0 /\ __disjvr_6^0-__disjvr_6^post38 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -r_238^post38+r_238^0 == 0 /\ __disjvr_19^0-__disjvr_19^post38 == 0 /\ r_267^0-r_267^post38 == 0 /\ -__disjvr_7^post38+__disjvr_7^0 == 0 /\ -__disjvr_15^post38+__disjvr_15^0 == 0 /\ a_271^0-a_271^post38 == 0 /\ __disjvr_0^0-__disjvr_0^post38 == 0 /\ -rcd_239^post38+rcd_239^0 == 0 /\ -r_36^post38+r_36^0 == 0 /\ r_154^0-r_154^post38 == 0 /\ __disjvr_24^0-__disjvr_24^post38 == 0 /\ -y_290^post38+y_290^0 == 0 /\ 1-length_14^post38 <= 0 /\ -__disjvr_22^post38+__disjvr_22^0 == 0 /\ -__disjvr_5^post38+__disjvr_5^0 == 0 /\ __disjvr_21^0-__disjvr_21^post38 == 0 /\ -length_25^post38+length_25^0 == 0 /\ -__disjvr_16^post38+__disjvr_16^0 == 0 /\ -temp0_18^post38+temp0_18^0 == 0 /\ -__disjvr_12^post38+__disjvr_12^0 == 0 /\ -rcd_248^post38+rcd_248^0 == 0 /\ -rcd_64^post38+rcd_64^0 == 0 /\ -__disjvr_17^post38+__disjvr_17^0 == 0 /\ a_168^0-a_168^post38 == 0 /\ 2-length_14^post38 <= 0 /\ -__disjvr_10^post38+__disjvr_10^0 == 0 /\ -__disjvr_3^post38+__disjvr_3^0 == 0 /\ -r_240^post38+r_240^0 == 0 /\ -__disjvr_23^post38+__disjvr_23^0 == 0 /\ -tail_15^post38+tail_15^0 == 0 /\ -i_114^0+length_14^post38 <= 0 /\ -__disjvr_2^post38+__disjvr_2^0 == 0 /\ __disjvr_18^0-__disjvr_18^post38 == 0 /\ y_285^0-y_285^post38 == 0 /\ __disjvr_1^0-__disjvr_1^post38 == 0 /\ __disjvr_13^0-__disjvr_13^post38 == 0 /\ -y_191^post38+y_191^0 == 0 /\ -y_231^post38+y_231^0 == 0 /\ -y_295^post38+y_295^0 == 0 /\ -i_114^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post38 == 0 /\ -x_21^0+w_20^0 <= 0 /\ -a_143^post38+a_143^0 == 0 /\ -rcd_230^post38+rcd_230^0 == 0 /\ -r_247^post38+r_247^0 == 0 /\ rcd_99^0-rcd_99^post38 == 0 /\ head_13^0-head_13^post38 == 0 /\ y_347^0-y_347^post38 == 0 /\ i_114^0-i_114^post38 == 0 /\ y_162^0-y_162^post38 == 0 /\ __disjvr_20^0-__disjvr_20^post38 == 0 /\ y_241^0-y_241^post38 == 0 /\ rcd_107^0-rcd_107^post38 == 0 /\ len_200^0-len_200^post38 == 0 /\ temp0_28^0-temp0_28^post38 == 0 /\ i_27^0-i_27^post38 == 0 /\ r_242^0-r_242^post38 == 0 /\ r_253^0-r_253^post38 == 0 /\ -a_215^post38+a_215^0 == 0 /\ __disjvr_14^0-__disjvr_14^post38 == 0 /\ -i_105^post38+i_105^0 == 0 /\ __disjvr_11^0-__disjvr_11^post38 == 0 /\ -head_SLAM_f_26^post38+head_SLAM_f_26^0 == 0 /\ rcd_40^0-rcd_40^post38 == 0 /\ -head_29^post38+head_29^0 == 0 /\ -r_183^post38+r_183^0 == 0 /\ x_21^0-w_20^0 <= 0 /\ rcd_243^0-rcd_243^post38 == 0 /\ -y_261^post38+y_261^0 == 0 /\ result_11^post38-temp0_18^0 == 0 /\ -y_269^post38+y_269^0 == 0 /\ tmp_31^0-tmp_31^post38 == 0 /\ len_270^0-len_270^post38 == 0 /\ -__disjvr_8^post38+__disjvr_8^0 == 0 /\ temp_32^0-temp_32^post38 == 0 /\ r_229^0-r_229^post38 == 0 /\ __disjvr_4^0-__disjvr_4^post38 == 0 /\ rcd_268^0-rcd_268^post38 == 0), cost: 1
  39: l38 -> l39 : __disjvr_0^0'=__disjvr_0^post39, i_27^0'=i_27^post39, y_162^0'=y_162^post39, __disjvr_21^0'=__disjvr_21^post39, z_19^0'=z_19^post39, __disjvr_9^0'=__disjvr_9^post39, result_11^0'=result_11^post39, __disjvr_14^0'=__disjvr_14^post39, r_154^0'=r_154^post39, __disjvr_24^0'=__disjvr_24^post39, y_261^0'=y_261^post39, rcd_230^0'=rcd_230^post39, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, tmp_31^0'=tmp_31^post39, __disjvr_19^0'=__disjvr_19^post39, r_242^0'=r_242^post39, __disjvr_6^0'=__disjvr_6^post39, y_347^0'=y_347^post39, rcd_40^0'=rcd_40^post39, __disjvr_11^0'=__disjvr_11^post39, len_270^0'=len_270^post39, y_22^0'=y_22^post39, r_267^0'=r_267^post39, a_168^0'=a_168^post39, t_23^0'=t_23^post39, __disjvr_16^0'=__disjvr_16^post39, r_229^0'=r_229^post39, __disjvr_3^0'=__disjvr_3^post39, y_285^0'=y_285^post39, rcd_243^0'=rcd_243^post39, i_114^0'=i_114^post39, x_21^0'=x_21^post39, __disjvr_20^0'=__disjvr_20^post39, r_253^0'=r_253^post39, __disjvr_8^0'=__disjvr_8^post39, rcd_99^0'=rcd_99^post39, __disjvr_13^0'=__disjvr_13^post39, length_25^0'=length_25^post39, __disjvr_23^0'=__disjvr_23^post39, y_241^0'=y_241^post39, rcd_107^0'=rcd_107^post39, a_271^0'=a_271^post39, temp0_18^0'=temp0_18^post39, temp_32^0'=temp_32^post39, __disjvr_18^0'=__disjvr_18^post39, r_240^0'=r_240^post39, __disjvr_5^0'=__disjvr_5^post39, y_295^0'=y_295^post39, rcd_268^0'=rcd_268^post39, __disjvr_10^0'=__disjvr_10^post39, len_200^0'=len_200^post39, y_191^0'=y_191^post39, __disjvr_22^0'=__disjvr_22^post39, a_143^0'=a_143^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39, __disjvr_15^0'=__disjvr_15^post39, r_183^0'=r_183^post39, __disjvr_2^0'=__disjvr_2^post39, y_269^0'=y_269^post39, rcd_239^0'=rcd_239^post39, head_29^0'=head_29^post39, i_105^0'=i_105^post39, w_20^0'=w_20^post39, __disjvr_1^0'=__disjvr_1^post39, r_247^0'=r_247^post39, __disjvr_7^0'=__disjvr_7^post39, rcd_64^0'=rcd_64^post39, __disjvr_12^0'=__disjvr_12^post39, length_14^0'=length_14^post39, y_231^0'=y_231^post39, r_36^0'=r_36^post39, a_215^0'=a_215^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post39, __disjvr_17^0'=__disjvr_17^post39, r_238^0'=r_238^post39, __disjvr_4^0'=__disjvr_4^post39, y_290^0'=y_290^post39, rcd_248^0'=rcd_248^post39, (0 == 0 /\ -y_241^post39+y_241^0 == 0 /\ r_229^0-r_229^post39 == 0 /\ -__disjvr_3^post39+__disjvr_3^0 == 0 /\ -__disjvr_5^post39+__disjvr_5^0 == 0 /\ -r_36^post39+r_36^0 == 0 /\ -__disjvr_18^post39+__disjvr_18^0 == 0 /\ -y_290^post39+y_290^0 == 0 /\ i_105^0-i_105^post39 == 0 /\ r_267^0-r_267^post39 == 0 /\ -len_270^post39+len_270^0 == 0 /\ result_11^0-result_11^post39 == 0 /\ -w_20^post39+w_20^0 == 0 /\ -rcd_64^post39+rcd_64^0 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ -__disjvr_12^post39+__disjvr_12^0 == 0 /\ -r_183^post39+r_183^0 == 0 /\ y_261^0-y_261^post39 == 0 /\ rcd_99^0-rcd_99^post39 == 0 /\ rcd_40^0-rcd_40^post39 == 0 /\ i_114^0-i_114^post39 == 0 /\ -r_238^post39+r_238^0 == 0 /\ -r_253^post39+r_253^0 == 0 /\ y_162^0-y_162^post39 == 0 /\ -__disjvr_22^post39+__disjvr_22^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39 == 0 /\ -rcd_268^post39+rcd_268^0 == 0 /\ __disjvr_7^0-__disjvr_7^post39 == 0 /\ -__disjvr_2^post39+__disjvr_2^0 == 0 /\ y_22^0-y_22^post39 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ t_23^0-t_23^post39 == 0 /\ -__disjvr_15^post39+__disjvr_15^0 == 0 /\ -temp0_18^post39+temp0_18^0 == 0 /\ __disjvr_10^0-__disjvr_10^post39 == 0 /\ -__disjvr_1^post39+__disjvr_1^0 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ y_231^0-y_231^post39 == 0 /\ -rcd_107^post39+rcd_107^0 == 0 /\ r_154^0-r_154^post39 == 0 /\ -y_295^post39+y_295^0 == 0 /\ __disjvr_9^0-__disjvr_9^post39 == 0 /\ -i_114^0 <= 0 /\ __disjvr_19^0-__disjvr_19^post39 == 0 /\ a_215^0-a_215^post39 == 0 /\ __disjvr_6^0-__disjvr_6^post39 == 0 /\ -__disjvr_20^post39+__disjvr_20^0 == 0 /\ x_21^0-x_21^post39 == 0 /\ __disjvr_21^0-__disjvr_21^post39 == 0 /\ __disjvr_16^0-__disjvr_16^post39 == 0 /\ -a_143^post39+a_143^0 == 0 /\ length_25^0-length_25^post39 == 0 /\ -tmp_31^post39+tmp_31^0 == 0 /\ -__disjvr_13^post39+__disjvr_13^0 == 0 /\ a_168^0-a_168^post39 == 0 /\ -__disjvr_4^post39+__disjvr_4^0 == 0 /\ -temp0_28^post39+temp0_28^0 == 0 /\ y_347^0-y_347^post39 == 0 /\ y_191^0-y_191^post39 == 0 /\ rcd_239^0-rcd_239^post39 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post39 == 0 /\ -__disjvr_8^post39+__disjvr_8^0 == 0 /\ __disjvr_11^0-__disjvr_11^post39 == 0 /\ -len_200^post39+len_200^0 == 0 /\ r_240^0-r_240^post39 == 0 /\ -head_29^post39+head_29^0 == 0 /\ y_285^0-y_285^post39 == 0 /\ i_27^0-i_27^post39 == 0 /\ __disjvr_23^0-__disjvr_23^post39 == 0 /\ -temp_32^post39+temp_32^0 == 0 /\ -y_269^post39+y_269^0 == 0 /\ rcd_230^0-rcd_230^post39 == 0 /\ a_271^0-a_271^post39 == 0), cost: 1
  40: l39 -> l40 : __disjvr_0^0'=__disjvr_0^post40, i_27^0'=i_27^post40, y_162^0'=y_162^post40, __disjvr_21^0'=__disjvr_21^post40, z_19^0'=z_19^post40, __disjvr_9^0'=__disjvr_9^post40, result_11^0'=result_11^post40, __disjvr_14^0'=__disjvr_14^post40, r_154^0'=r_154^post40, __disjvr_24^0'=__disjvr_24^post40, y_261^0'=y_261^post40, rcd_230^0'=rcd_230^post40, head_13^0'=head_13^post40, head_SLAM_f_26^0'=head_SLAM_f_26^post40, tmp_31^0'=tmp_31^post40, __disjvr_19^0'=__disjvr_19^post40, r_242^0'=r_242^post40, __disjvr_6^0'=__disjvr_6^post40, y_347^0'=y_347^post40, rcd_40^0'=rcd_40^post40, __disjvr_11^0'=__disjvr_11^post40, len_270^0'=len_270^post40, y_22^0'=y_22^post40, r_267^0'=r_267^post40, a_168^0'=a_168^post40, t_23^0'=t_23^post40, __disjvr_16^0'=__disjvr_16^post40, r_229^0'=r_229^post40, __disjvr_3^0'=__disjvr_3^post40, y_285^0'=y_285^post40, rcd_243^0'=rcd_243^post40, i_114^0'=i_114^post40, x_21^0'=x_21^post40, __disjvr_20^0'=__disjvr_20^post40, r_253^0'=r_253^post40, __disjvr_8^0'=__disjvr_8^post40, rcd_99^0'=rcd_99^post40, __disjvr_13^0'=__disjvr_13^post40, length_25^0'=length_25^post40, __disjvr_23^0'=__disjvr_23^post40, y_241^0'=y_241^post40, rcd_107^0'=rcd_107^post40, a_271^0'=a_271^post40, temp0_18^0'=temp0_18^post40, temp_32^0'=temp_32^post40, __disjvr_18^0'=__disjvr_18^post40, r_240^0'=r_240^post40, __disjvr_5^0'=__disjvr_5^post40, y_295^0'=y_295^post40, rcd_268^0'=rcd_268^post40, __disjvr_10^0'=__disjvr_10^post40, len_200^0'=len_200^post40, y_191^0'=y_191^post40, __disjvr_22^0'=__disjvr_22^post40, a_143^0'=a_143^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40, __disjvr_15^0'=__disjvr_15^post40, r_183^0'=r_183^post40, __disjvr_2^0'=__disjvr_2^post40, y_269^0'=y_269^post40, rcd_239^0'=rcd_239^post40, head_29^0'=head_29^post40, i_105^0'=i_105^post40, w_20^0'=w_20^post40, __disjvr_1^0'=__disjvr_1^post40, r_247^0'=r_247^post40, __disjvr_7^0'=__disjvr_7^post40, rcd_64^0'=rcd_64^post40, __disjvr_12^0'=__disjvr_12^post40, length_14^0'=length_14^post40, y_231^0'=y_231^post40, r_36^0'=r_36^post40, a_215^0'=a_215^post40, tail_15^0'=tail_15^post40, temp0_28^0'=temp0_28^post40, __disjvr_17^0'=__disjvr_17^post40, r_238^0'=r_238^post40, __disjvr_4^0'=__disjvr_4^post40, y_290^0'=y_290^post40, rcd_248^0'=rcd_248^post40, (r_247^0-r_247^post40 == 0 /\ -i_114^post40+i_114^0 == 0 /\ r_229^0-r_229^post40 == 0 /\ -y_22^post40+y_22^0 == 0 /\ head_29^0-head_29^post40 == 0 /\ rcd_230^0-rcd_230^post40 == 0 /\ -__disjvr_16^post40+__disjvr_16^0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ -rcd_243^post40+rcd_243^0 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ a_168^0-a_168^post40 == 0 /\ -rcd_64^post40+rcd_64^0 == 0 /\ y_241^0-y_241^post40 == 0 /\ __disjvr_20^0-__disjvr_20^post40 == 0 /\ -r_240^post40+r_240^0 == 0 /\ -r_36^post40+r_36^0 == 0 /\ i_105^0-i_105^post40 == 0 /\ y_261^0-y_261^post40 == 0 /\ -temp0_28^post40+temp0_28^0 == 0 /\ length_25^0-length_25^post40 == 0 /\ rcd_40^0-rcd_40^post40 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ y_162^0-y_162^post40 == 0 /\ temp_32^0-temp_32^post40 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ -r_253^post40+r_253^0 == 0 /\ rcd_268^0-rcd_268^post40 == 0 /\ -t_23^post40+t_23^0 == 0 /\ i_27^0-i_27^post40 == 0 /\ -rcd_239^post40+rcd_239^0 == 0 /\ -r_242^post40+r_242^0 == 0 /\ -r_183^post40+r_183^0 == 0 /\ rcd_107^0-rcd_107^post40 == 0 /\ tmp_31^0-tmp_31^post40 == 0 /\ -tail_15^post40+tail_15^0 == 0 /\ -y_290^post40+y_290^0 == 0 /\ __disjvr_3^0-__disjvr_3^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -r_154^post40+r_154^0 == 0 /\ -__disjvr_22^post40+__disjvr_22^0 == 0 /\ -length_14^post40+length_14^0 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ -z_19^post40+z_19^0 == 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ len_270^0-len_270^post40 == 0 /\ -__disjvr_4^post40+__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ -__disjvr_11^post40+__disjvr_11^0 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ -rcd_248^post40+rcd_248^0 == 0 /\ -y_285^post40+y_285^0 == 0 /\ -r_238^post40+r_238^0 == 0 /\ temp0_18^0-temp0_18^post40 == 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ -r_267^post40+r_267^0 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ -__disjvr_2^post40+__disjvr_2^0 == 0 /\ __disjvr_10^0-__disjvr_10^post40 == 0 /\ a_143^0-a_143^post40 == 0 /\ y_347^0-y_347^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ y_295^0-y_295^post40 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post40 == 0 /\ rcd_99^0-rcd_99^post40 == 0 /\ -__disjvr_19^0+__disjvr_19^post40 == 0 /\ -head_13^post40+head_13^0 == 0 /\ -y_231^post40+y_231^0 == 0 /\ y_191^0-y_191^post40 == 0 /\ -a_271^post40+a_271^0 == 0 /\ -x_21^post40+x_21^0 == 0 /\ -w_20^post40+w_20^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ y_269^0-y_269^post40 == 0 /\ -len_200^post40+len_200^0 == 0 /\ -a_215^post40+a_215^0 == 0 /\ -__disjvr_18^post40+__disjvr_18^0 == 0 /\ __disjvr_5^0-__disjvr_5^post40 == 0), cost: 1
  41: l40 -> l41 : __disjvr_0^0'=__disjvr_0^post41, i_27^0'=i_27^post41, y_162^0'=y_162^post41, __disjvr_21^0'=__disjvr_21^post41, z_19^0'=z_19^post41, __disjvr_9^0'=__disjvr_9^post41, result_11^0'=result_11^post41, __disjvr_14^0'=__disjvr_14^post41, r_154^0'=r_154^post41, __disjvr_24^0'=__disjvr_24^post41, y_261^0'=y_261^post41, rcd_230^0'=rcd_230^post41, head_13^0'=head_13^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, tmp_31^0'=tmp_31^post41, __disjvr_19^0'=__disjvr_19^post41, r_242^0'=r_242^post41, __disjvr_6^0'=__disjvr_6^post41, y_347^0'=y_347^post41, rcd_40^0'=rcd_40^post41, __disjvr_11^0'=__disjvr_11^post41, len_270^0'=len_270^post41, y_22^0'=y_22^post41, r_267^0'=r_267^post41, a_168^0'=a_168^post41, t_23^0'=t_23^post41, __disjvr_16^0'=__disjvr_16^post41, r_229^0'=r_229^post41, __disjvr_3^0'=__disjvr_3^post41, y_285^0'=y_285^post41, rcd_243^0'=rcd_243^post41, i_114^0'=i_114^post41, x_21^0'=x_21^post41, __disjvr_20^0'=__disjvr_20^post41, r_253^0'=r_253^post41, __disjvr_8^0'=__disjvr_8^post41, rcd_99^0'=rcd_99^post41, __disjvr_13^0'=__disjvr_13^post41, length_25^0'=length_25^post41, __disjvr_23^0'=__disjvr_23^post41, y_241^0'=y_241^post41, rcd_107^0'=rcd_107^post41, a_271^0'=a_271^post41, temp0_18^0'=temp0_18^post41, temp_32^0'=temp_32^post41, __disjvr_18^0'=__disjvr_18^post41, r_240^0'=r_240^post41, __disjvr_5^0'=__disjvr_5^post41, y_295^0'=y_295^post41, rcd_268^0'=rcd_268^post41, __disjvr_10^0'=__disjvr_10^post41, len_200^0'=len_200^post41, y_191^0'=y_191^post41, __disjvr_22^0'=__disjvr_22^post41, a_143^0'=a_143^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41, __disjvr_15^0'=__disjvr_15^post41, r_183^0'=r_183^post41, __disjvr_2^0'=__disjvr_2^post41, y_269^0'=y_269^post41, rcd_239^0'=rcd_239^post41, head_29^0'=head_29^post41, i_105^0'=i_105^post41, w_20^0'=w_20^post41, __disjvr_1^0'=__disjvr_1^post41, r_247^0'=r_247^post41, __disjvr_7^0'=__disjvr_7^post41, rcd_64^0'=rcd_64^post41, __disjvr_12^0'=__disjvr_12^post41, length_14^0'=length_14^post41, y_231^0'=y_231^post41, r_36^0'=r_36^post41, a_215^0'=a_215^post41, tail_15^0'=tail_15^post41, temp0_28^0'=temp0_28^post41, __disjvr_17^0'=__disjvr_17^post41, r_238^0'=r_238^post41, __disjvr_4^0'=__disjvr_4^post41, y_290^0'=y_290^post41, rcd_248^0'=rcd_248^post41, (0 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ rcd_243^0-rcd_243^post41 == 0 /\ -temp0_18^post41+temp0_18^0 == 0 /\ y_162^0-y_22^post41 <= 0 /\ -len_200^post41+len_200^0 == 0 /\ -rcd_64^post41+rcd_64^0 == 0 /\ length_25^0-length_25^post41 == 0 /\ -t_23^post41+y_22^post41 <= 0 /\ -t_23^post41+y_22^post41 == 0 /\ -len_200^0 <= 0 /\ w_20^0-tail_15^0 <= 0 /\ -y_269^post41+y_269^0 == 0 /\ -__disjvr_12^post41+__disjvr_12^0 == 0 /\ w_20^0-w_20^post41 == 0 /\ z_19^0-z_19^post41 == 0 /\ a_168^0-a_168^post41 == 0 /\ -a_215^post41+a_215^0 == 0 /\ -x_21^0+t_23^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ length_14^0-length_14^post41 == 0 /\ head_29^0-head_29^post41 == 0 /\ -r_247^post41+r_247^0 == 0 /\ -temp0_28^post41+temp0_28^0 == 0 /\ y_285^0-y_285^post41 == 0 /\ -y_162^0+y_22^post41 <= 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ y_241^0-y_241^post41 == 0 /\ -r_183^post41+r_183^0 == 0 /\ temp_32^0-temp_32^post41 == 0 /\ t_23^post41-y_22^post41 <= 0 /\ y_347^0-y_347^post41 == 0 /\ -w_20^0+tail_15^0 <= 0 /\ -i_105^post41+i_105^0 == 0 /\ __disjvr_19^0-__disjvr_19^post41 == 0 /\ a_271^0-a_271^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ i_27^0-i_27^post41 == 0 /\ -y_290^post41+y_290^0 == 0 /\ -r_36^post41+r_36^0 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ rcd_230^0-rcd_230^post41 == 0 /\ -a_143^post41+a_215^0 <= 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ z_19^0-head_13^0 <= 0 /\ r_229^0-r_229^post41 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ -rcd_248^post41+rcd_248^0 == 0 /\ __disjvr_20^0-__disjvr_20^post41 == 0 /\ -tail_15^post41+tail_15^0 == 0 /\ -rcd_107^post41+rcd_107^0 == 0 /\ r_253^0-r_253^post41 == 0 /\ len_200^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ -y_261^post41+y_261^0 == 0 /\ -r_238^post41+r_238^0 == 0 /\ -r_242^0+r_36^0 <= 0 /\ rcd_40^0-rcd_40^post41 == 0 /\ r_267^0-r_267^post41 == 0 /\ -__disjvr_18^post41+__disjvr_18^0 == 0 /\ rcd_40^0-rcd_243^0 <= 0 /\ len_270^0-len_270^post41 == 0 /\ -rcd_239^post41+rcd_239^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post41 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ -y_191^post41+y_191^0 == 0 /\ a_143^post41-a_215^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ tmp_31^0-tmp_31^post41 == 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ rcd_268^0-rcd_268^post41 == 0 /\ -y_231^post41+y_231^0 == 0 /\ rcd_99^0-rcd_99^post41 == 0 /\ i_114^0-i_114^post41 == 0 /\ __disjvr_24^0-__disjvr_24^post41 == 0 /\ -__disjvr_4^post41+__disjvr_4^0 == 0 /\ -z_19^0+head_13^0 <= 0 /\ y_162^0-y_162^post41 == 0 /\ -__disjvr_7^post41+__disjvr_7^0 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ r_242^0-r_36^0 <= 0 /\ y_295^0-y_295^post41 == 0 /\ -__disjvr_11^post41+__disjvr_11^0 == 0 /\ -__disjvr_5^post41+__disjvr_5^0 == 0 /\ -__disjvr_2^post41+__disjvr_2^0 == 0 /\ r_242^0-r_242^post41 == 0 /\ -rcd_40^0+rcd_243^0 <= 0 /\ -x_21^post41+x_21^0 == 0 /\ head_13^0-head_13^post41 == 0 /\ -__disjvr_10^post41+__disjvr_10^0 == 0 /\ r_154^0-r_154^post41 == 0 /\ -r_240^post41+r_240^0 == 0), cost: 1
  42: l41 -> l42 : __disjvr_0^0'=__disjvr_0^post42, i_27^0'=i_27^post42, y_162^0'=y_162^post42, __disjvr_21^0'=__disjvr_21^post42, z_19^0'=z_19^post42, __disjvr_9^0'=__disjvr_9^post42, result_11^0'=result_11^post42, __disjvr_14^0'=__disjvr_14^post42, r_154^0'=r_154^post42, __disjvr_24^0'=__disjvr_24^post42, y_261^0'=y_261^post42, rcd_230^0'=rcd_230^post42, head_13^0'=head_13^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, tmp_31^0'=tmp_31^post42, __disjvr_19^0'=__disjvr_19^post42, r_242^0'=r_242^post42, __disjvr_6^0'=__disjvr_6^post42, y_347^0'=y_347^post42, rcd_40^0'=rcd_40^post42, __disjvr_11^0'=__disjvr_11^post42, len_270^0'=len_270^post42, y_22^0'=y_22^post42, r_267^0'=r_267^post42, a_168^0'=a_168^post42, t_23^0'=t_23^post42, __disjvr_16^0'=__disjvr_16^post42, r_229^0'=r_229^post42, __disjvr_3^0'=__disjvr_3^post42, y_285^0'=y_285^post42, rcd_243^0'=rcd_243^post42, i_114^0'=i_114^post42, x_21^0'=x_21^post42, __disjvr_20^0'=__disjvr_20^post42, r_253^0'=r_253^post42, __disjvr_8^0'=__disjvr_8^post42, rcd_99^0'=rcd_99^post42, __disjvr_13^0'=__disjvr_13^post42, length_25^0'=length_25^post42, __disjvr_23^0'=__disjvr_23^post42, y_241^0'=y_241^post42, rcd_107^0'=rcd_107^post42, a_271^0'=a_271^post42, temp0_18^0'=temp0_18^post42, temp_32^0'=temp_32^post42, __disjvr_18^0'=__disjvr_18^post42, r_240^0'=r_240^post42, __disjvr_5^0'=__disjvr_5^post42, y_295^0'=y_295^post42, rcd_268^0'=rcd_268^post42, __disjvr_10^0'=__disjvr_10^post42, len_200^0'=len_200^post42, y_191^0'=y_191^post42, __disjvr_22^0'=__disjvr_22^post42, a_143^0'=a_143^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42, __disjvr_15^0'=__disjvr_15^post42, r_183^0'=r_183^post42, __disjvr_2^0'=__disjvr_2^post42, y_269^0'=y_269^post42, rcd_239^0'=rcd_239^post42, head_29^0'=head_29^post42, i_105^0'=i_105^post42, w_20^0'=w_20^post42, __disjvr_1^0'=__disjvr_1^post42, r_247^0'=r_247^post42, __disjvr_7^0'=__disjvr_7^post42, rcd_64^0'=rcd_64^post42, __disjvr_12^0'=__disjvr_12^post42, length_14^0'=length_14^post42, y_231^0'=y_231^post42, r_36^0'=r_36^post42, a_215^0'=a_215^post42, tail_15^0'=tail_15^post42, temp0_28^0'=temp0_28^post42, __disjvr_17^0'=__disjvr_17^post42, r_238^0'=r_238^post42, __disjvr_4^0'=__disjvr_4^post42, y_290^0'=y_290^post42, rcd_248^0'=rcd_248^post42, (i_27^0-i_27^post42 == 0 /\ -__disjvr_8^post42+__disjvr_8^0 == 0 /\ -a_143^post42+a_143^0 == 0 /\ -t_23^post42+t_23^0 == 0 /\ len_200^0-len_200^post42 == 0 /\ -y_295^post42+y_295^0 == 0 /\ -temp0_28^post42+temp0_28^0 == 0 /\ -y_269^post42+y_269^0 == 0 /\ len_270^0-len_270^post42 == 0 /\ __disjvr_0^0-__disjvr_0^post42 == 0 /\ tmp_31^0-tmp_31^post42 == 0 /\ y_285^0-y_285^post42 == 0 /\ -x_21^post42+x_21^0 == 0 /\ r_253^0-r_253^post42 == 0 /\ -__disjvr_4^post42+__disjvr_4^0 == 0 /\ __disjvr_13^0-__disjvr_13^post42 == 0 /\ __disjvr_18^0-__disjvr_18^post42 == 0 /\ -r_247^post42+r_247^0 == 0 /\ -temp0_18^post42+temp0_18^0 == 0 /\ __disjvr_6^0-__disjvr_6^post42 == 0 /\ r_267^0-r_267^post42 == 0 /\ -a_215^post42+a_215^0 == 0 /\ __disjvr_19^0-__disjvr_19^post42 == 0 /\ a_271^0-a_271^post42 == 0 /\ -y_290^post42+y_290^0 == 0 /\ -temp_32^post42+temp_32^0 == 0 /\ -i_105^post42+i_105^0 == 0 /\ __disjvr_16^0-__disjvr_16^post42 == 0 /\ rcd_99^0-rcd_99^post42 == 0 /\ -y_347^post42+y_347^0 == 0 /\ __disjvr_21^0-__disjvr_21^post42 == 0 /\ -r_36^post42+r_36^0 == 0 /\ -rcd_107^post42+rcd_107^0 == 0 /\ y_261^0-y_261^post42 == 0 /\ -length_14^post42+length_14^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ __disjvr_12^0-__disjvr_12^post42 == 0 /\ tail_15^0-tail_15^post42 == 0 /\ -w_20^post42+w_20^0 == 0 /\ rcd_230^0-rcd_230^post42 == 0 /\ -r_238^post42+r_238^0 == 0 /\ -__disjvr_15^post42+__disjvr_15^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post42 == 0 /\ rcd_243^0-rcd_243^post42 == 0 /\ r_242^0-r_242^post42 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_11^0-__disjvr_11^post42 == 0 /\ a_168^0-a_168^post42 == 0 /\ y_22^0-y_22^post42 == 0 /\ -rcd_239^post42+rcd_239^0 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ -__disjvr_22^post42+__disjvr_22^0 == 0 /\ -__disjvr_9^post42+__disjvr_9^0 == 0 /\ -length_25^post42+length_25^0 == 0 /\ y_231^0-y_231^post42 == 0 /\ -head_29^post42+head_29^0 == 0 /\ rcd_40^0-rcd_40^post42 == 0 /\ z_19^0-z_19^post42 == 0 /\ __disjvr_20^post42-__disjvr_20^0 == 0 /\ rcd_268^0-rcd_268^post42 == 0 /\ -__disjvr_5^post42+__disjvr_5^0 == 0 /\ r_229^0-r_229^post42 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ -__disjvr_3^post42+__disjvr_3^0 == 0 /\ -__disjvr_23^post42+__disjvr_23^0 == 0 /\ -y_191^post42+y_191^0 == 0 /\ -__disjvr_1^post42+__disjvr_1^0 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ r_183^0-r_183^post42 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -rcd_64^post42+rcd_64^0 == 0 /\ -__disjvr_14^post42+__disjvr_14^0 == 0 /\ -__disjvr_2^post42+__disjvr_2^0 == 0 /\ -r_240^post42+r_240^0 == 0 /\ r_154^0-r_154^post42 == 0 /\ -__disjvr_20^post42+__disjvr_20^0 == 0 /\ -rcd_248^post42+rcd_248^0 == 0 /\ y_241^0-y_241^post42 == 0 /\ y_162^0-y_162^post42 == 0 /\ i_114^0-i_114^post42 == 0 /\ head_13^0-head_13^post42 == 0), cost: 1
  43: l42 -> l43 : __disjvr_0^0'=__disjvr_0^post43, i_27^0'=i_27^post43, y_162^0'=y_162^post43, __disjvr_21^0'=__disjvr_21^post43, z_19^0'=z_19^post43, __disjvr_9^0'=__disjvr_9^post43, result_11^0'=result_11^post43, __disjvr_14^0'=__disjvr_14^post43, r_154^0'=r_154^post43, __disjvr_24^0'=__disjvr_24^post43, y_261^0'=y_261^post43, rcd_230^0'=rcd_230^post43, head_13^0'=head_13^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, tmp_31^0'=tmp_31^post43, __disjvr_19^0'=__disjvr_19^post43, r_242^0'=r_242^post43, __disjvr_6^0'=__disjvr_6^post43, y_347^0'=y_347^post43, rcd_40^0'=rcd_40^post43, __disjvr_11^0'=__disjvr_11^post43, len_270^0'=len_270^post43, y_22^0'=y_22^post43, r_267^0'=r_267^post43, a_168^0'=a_168^post43, t_23^0'=t_23^post43, __disjvr_16^0'=__disjvr_16^post43, r_229^0'=r_229^post43, __disjvr_3^0'=__disjvr_3^post43, y_285^0'=y_285^post43, rcd_243^0'=rcd_243^post43, i_114^0'=i_114^post43, x_21^0'=x_21^post43, __disjvr_20^0'=__disjvr_20^post43, r_253^0'=r_253^post43, __disjvr_8^0'=__disjvr_8^post43, rcd_99^0'=rcd_99^post43, __disjvr_13^0'=__disjvr_13^post43, length_25^0'=length_25^post43, __disjvr_23^0'=__disjvr_23^post43, y_241^0'=y_241^post43, rcd_107^0'=rcd_107^post43, a_271^0'=a_271^post43, temp0_18^0'=temp0_18^post43, temp_32^0'=temp_32^post43, __disjvr_18^0'=__disjvr_18^post43, r_240^0'=r_240^post43, __disjvr_5^0'=__disjvr_5^post43, y_295^0'=y_295^post43, rcd_268^0'=rcd_268^post43, __disjvr_10^0'=__disjvr_10^post43, len_200^0'=len_200^post43, y_191^0'=y_191^post43, __disjvr_22^0'=__disjvr_22^post43, a_143^0'=a_143^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43, __disjvr_15^0'=__disjvr_15^post43, r_183^0'=r_183^post43, __disjvr_2^0'=__disjvr_2^post43, y_269^0'=y_269^post43, rcd_239^0'=rcd_239^post43, head_29^0'=head_29^post43, i_105^0'=i_105^post43, w_20^0'=w_20^post43, __disjvr_1^0'=__disjvr_1^post43, r_247^0'=r_247^post43, __disjvr_7^0'=__disjvr_7^post43, rcd_64^0'=rcd_64^post43, __disjvr_12^0'=__disjvr_12^post43, length_14^0'=length_14^post43, y_231^0'=y_231^post43, r_36^0'=r_36^post43, a_215^0'=a_215^post43, tail_15^0'=tail_15^post43, temp0_28^0'=temp0_28^post43, __disjvr_17^0'=__disjvr_17^post43, r_238^0'=r_238^post43, __disjvr_4^0'=__disjvr_4^post43, y_290^0'=y_290^post43, rcd_248^0'=rcd_248^post43, (r_242^0-r_242^post43 == 0 /\ -r_229^post43+r_229^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ -y_231^post43+y_231^0 == 0 /\ -__disjvr_20^post43+__disjvr_20^0 == 0 /\ -rcd_107^post43+rcd_107^0 == 0 /\ __disjvr_7^0-__disjvr_7^post43 == 0 /\ __disjvr_14^0-__disjvr_14^post43 == 0 /\ -r_247^post43+r_247^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ rcd_40^0-rcd_40^post43 == 0 /\ i_27^0-i_27^post43 == 0 /\ -__disjvr_13^post43+__disjvr_13^0 == 0 /\ temp_32^0-temp_32^post43 == 0 /\ len_270^0-len_270^post43 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ -len_200^post43+len_200^0 == 0 /\ rcd_230^0-rcd_230^post43 == 0 /\ -__disjvr_4^post43+__disjvr_4^0 == 0 /\ __disjvr_10^0-__disjvr_10^post43 == 0 /\ -length_14^post43+length_14^0 == 0 /\ i_105^0-i_105^post43 == 0 /\ -a_215^post43+a_215^0 == 0 /\ -__disjvr_8^post43+__disjvr_8^0 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ __disjvr_6^0-__disjvr_6^post43 == 0 /\ -a_271^post43+a_271^0 == 0 /\ r_154^0-r_154^post43 == 0 /\ __disjvr_12^0-__disjvr_12^post43 == 0 /\ -temp0_28^post43+temp0_28^0 == 0 /\ __disjvr_16^0-__disjvr_16^post43 == 0 /\ length_25^0-length_25^post43 == 0 /\ -r_36^post43+r_36^0 == 0 /\ r_267^0-r_267^post43 == 0 /\ rcd_243^0-rcd_243^post43 == 0 /\ rcd_99^0-rcd_99^post43 == 0 /\ y_295^0-y_295^post43 == 0 /\ -y_241^post43+y_241^0 == 0 /\ head_13^0-head_13^post43 == 0 /\ y_162^0-y_162^post43 == 0 /\ i_114^0-i_114^post43 == 0 /\ r_240^0-r_240^post43 == 0 /\ -y_290^post43+y_290^0 == 0 /\ -__disjvr_21^0+__disjvr_21^post43 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ y_285^0-y_285^post43 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ -head_29^post43+head_29^0 == 0 /\ -w_20^post43+w_20^0 == 0 /\ __disjvr_23^0-__disjvr_23^post43 == 0 /\ -__disjvr_18^post43+__disjvr_18^0 == 0 /\ z_19^0-z_19^post43 == 0 /\ tmp_31^0-tmp_31^post43 == 0 /\ -r_183^post43+r_183^0 == 0 /\ -r_253^post43+r_253^0 == 0 /\ -rcd_64^post43+rcd_64^0 == 0 /\ a_143^0-a_143^post43 == 0 /\ rcd_239^0-rcd_239^post43 == 0 /\ -__disjvr_3^post43+__disjvr_3^0 == 0 /\ -__disjvr_22^post43+__disjvr_22^0 == 0 /\ -tail_15^post43+tail_15^0 == 0 /\ -rcd_268^post43+rcd_268^0 == 0 /\ y_269^0-y_269^post43 == 0 /\ -r_238^post43+r_238^0 == 0 /\ __disjvr_19^0-__disjvr_19^post43 == 0 /\ __disjvr_21^0-__disjvr_21^post43 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0 /\ -t_23^post43+t_23^0 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ x_21^0-x_21^post43 == 0 /\ -temp0_18^post43+temp0_18^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ y_261^0-y_261^post43 == 0 /\ -__disjvr_1^post43+__disjvr_1^0 == 0 /\ -__disjvr_15^post43+__disjvr_15^0 == 0 /\ y_191^0-y_191^post43 == 0 /\ -y_22^post43+y_22^0 == 0 /\ a_168^0-a_168^post43 == 0 /\ y_347^0-y_347^post43 == 0 /\ -rcd_248^post43+rcd_248^0 == 0), cost: 1
  44: l43 -> l0 : __disjvr_0^0'=__disjvr_0^post44, i_27^0'=i_27^post44, y_162^0'=y_162^post44, __disjvr_21^0'=__disjvr_21^post44, z_19^0'=z_19^post44, __disjvr_9^0'=__disjvr_9^post44, result_11^0'=result_11^post44, __disjvr_14^0'=__disjvr_14^post44, r_154^0'=r_154^post44, __disjvr_24^0'=__disjvr_24^post44, y_261^0'=y_261^post44, rcd_230^0'=rcd_230^post44, head_13^0'=head_13^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, tmp_31^0'=tmp_31^post44, __disjvr_19^0'=__disjvr_19^post44, r_242^0'=r_242^post44, __disjvr_6^0'=__disjvr_6^post44, y_347^0'=y_347^post44, rcd_40^0'=rcd_40^post44, __disjvr_11^0'=__disjvr_11^post44, len_270^0'=len_270^post44, y_22^0'=y_22^post44, r_267^0'=r_267^post44, a_168^0'=a_168^post44, t_23^0'=t_23^post44, __disjvr_16^0'=__disjvr_16^post44, r_229^0'=r_229^post44, __disjvr_3^0'=__disjvr_3^post44, y_285^0'=y_285^post44, rcd_243^0'=rcd_243^post44, i_114^0'=i_114^post44, x_21^0'=x_21^post44, __disjvr_20^0'=__disjvr_20^post44, r_253^0'=r_253^post44, __disjvr_8^0'=__disjvr_8^post44, rcd_99^0'=rcd_99^post44, __disjvr_13^0'=__disjvr_13^post44, length_25^0'=length_25^post44, __disjvr_23^0'=__disjvr_23^post44, y_241^0'=y_241^post44, rcd_107^0'=rcd_107^post44, a_271^0'=a_271^post44, temp0_18^0'=temp0_18^post44, temp_32^0'=temp_32^post44, __disjvr_18^0'=__disjvr_18^post44, r_240^0'=r_240^post44, __disjvr_5^0'=__disjvr_5^post44, y_295^0'=y_295^post44, rcd_268^0'=rcd_268^post44, __disjvr_10^0'=__disjvr_10^post44, len_200^0'=len_200^post44, y_191^0'=y_191^post44, __disjvr_22^0'=__disjvr_22^post44, a_143^0'=a_143^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, __disjvr_15^0'=__disjvr_15^post44, r_183^0'=r_183^post44, __disjvr_2^0'=__disjvr_2^post44, y_269^0'=y_269^post44, rcd_239^0'=rcd_239^post44, head_29^0'=head_29^post44, i_105^0'=i_105^post44, w_20^0'=w_20^post44, __disjvr_1^0'=__disjvr_1^post44, r_247^0'=r_247^post44, __disjvr_7^0'=__disjvr_7^post44, rcd_64^0'=rcd_64^post44, __disjvr_12^0'=__disjvr_12^post44, length_14^0'=length_14^post44, y_231^0'=y_231^post44, r_36^0'=r_36^post44, a_215^0'=a_215^post44, tail_15^0'=tail_15^post44, temp0_28^0'=temp0_28^post44, __disjvr_17^0'=__disjvr_17^post44, r_238^0'=r_238^post44, __disjvr_4^0'=__disjvr_4^post44, y_290^0'=y_290^post44, rcd_248^0'=rcd_248^post44, (0 == 0 /\ z_19^0-z_19^post44 == 0 /\ -__disjvr_4^post44+__disjvr_4^0 == 0 /\ y_191^0-y_191^post44 == 0 /\ -length_14^post44+length_14^0 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ -rcd_99^post44+rcd_99^0 == 0 /\ rcd_268^0-rcd_268^post44 == 0 /\ -y_285^post44+y_285^0 == 0 /\ y_22^0-y_22^post44 == 0 /\ -__disjvr_23^post44+__disjvr_23^0 == 0 /\ -__disjvr_2^post44+__disjvr_2^0 == 0 /\ rcd_230^0-rcd_230^post44 == 0 /\ -y_231^post44+y_231^0 == 0 /\ t_23^0-t_23^post44 == 0 /\ -r_238^post44+r_238^0 == 0 /\ -1-a_143^0+i_114^post44 <= 0 /\ __disjvr_24^0-__disjvr_24^post44 == 0 /\ a_143^0-a_143^post44 == 0 /\ a_271^0-a_271^post44 == 0 /\ -r_267^post44+r_267^0 == 0 /\ -__disjvr_15^post44+__disjvr_15^0 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ head_29^0-head_29^post44 == 0 /\ r_154^0-r_154^post44 == 0 /\ -x_21^post44+x_21^0 == 0 /\ -w_20^post44+w_20^0 == 0 /\ __disjvr_8^0-__disjvr_8^post44 == 0 /\ -a_215^post44+a_215^0 == 0 /\ i_105^0-i_105^post44 == 0 /\ -len_200^post44+len_200^0 == 0 /\ y_241^0-y_241^post44 == 0 /\ -head_SLAM_f_26^post44+head_SLAM_f_26^0 == 0 /\ -__disjvr_6^post44+__disjvr_6^0 == 0 /\ a_168^0-a_168^post44 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ -__disjvr_7^post44+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post44 == 0 /\ -length_25^post44+length_25^0 == 0 /\ r_253^0-r_253^post44 == 0 /\ -r_242^post44+r_242^0 == 0 /\ -r_36^post44+r_36^0 == 0 /\ 2-length_14^0 <= 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ -i_114^0+length_14^0 <= 0 /\ result_11^0-result_11^post44 == 0 /\ y_162^0-y_162^post44 == 0 /\ -__disjvr_18^post44+__disjvr_18^0 == 0 /\ y_295^0-y_295^post44 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ -__disjvr_5^post44+__disjvr_5^0 == 0 /\ -__disjvr_10^post44+__disjvr_10^0 == 0 /\ -__disjvr_16^post44+__disjvr_16^0 == 0 /\ y_269^0-y_269^post44 == 0 /\ __disjvr_13^0-__disjvr_13^post44 == 0 /\ head_13^0-head_13^post44 == 0 /\ __disjvr_9^0-__disjvr_9^post44 == 0 /\ i_27^0-i_27^post44 == 0 /\ -temp0_28^post44+temp0_28^0 == 0 /\ tmp_31^0-tmp_31^post44 == 0 /\ -rcd_64^post44+rcd_64^0 == 0 /\ temp_32^0-temp_32^post44 == 0 /\ 1+a_143^0-i_114^post44 <= 0 /\ -r_240^post44+r_240^0 == 0 /\ rcd_107^0-rcd_107^post44 == 0 /\ r_229^0-r_229^post44 == 0 /\ -r_247^post44+r_247^0 == 0 /\ -rcd_248^post44+rcd_248^0 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ -rcd_243^post44+rcd_243^0 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ len_270^0-len_270^post44 == 0 /\ __disjvr_11^0-__disjvr_11^post44 == 0 /\ -r_183^post44+r_183^0 == 0 /\ -y_290^post44+y_290^0 == 0 /\ -tail_15^post44+tail_15^0 == 0 /\ temp0_18^0-temp0_18^post44 == 0 /\ 1-length_14^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -__disjvr_22^post44+__disjvr_22^0 == 0 /\ rcd_40^0-rcd_40^post44 == 0 /\ y_347^0-y_347^post44 == 0 /\ y_261^0-y_261^post44 == 0 /\ -rcd_239^post44+rcd_239^0 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0), cost: 1
  47: l44 -> l45 : __disjvr_0^0'=__disjvr_0^post47, i_27^0'=i_27^post47, y_162^0'=y_162^post47, __disjvr_21^0'=__disjvr_21^post47, z_19^0'=z_19^post47, __disjvr_9^0'=__disjvr_9^post47, result_11^0'=result_11^post47, __disjvr_14^0'=__disjvr_14^post47, r_154^0'=r_154^post47, __disjvr_24^0'=__disjvr_24^post47, y_261^0'=y_261^post47, rcd_230^0'=rcd_230^post47, head_13^0'=head_13^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, tmp_31^0'=tmp_31^post47, __disjvr_19^0'=__disjvr_19^post47, r_242^0'=r_242^post47, __disjvr_6^0'=__disjvr_6^post47, y_347^0'=y_347^post47, rcd_40^0'=rcd_40^post47, __disjvr_11^0'=__disjvr_11^post47, len_270^0'=len_270^post47, y_22^0'=y_22^post47, r_267^0'=r_267^post47, a_168^0'=a_168^post47, t_23^0'=t_23^post47, __disjvr_16^0'=__disjvr_16^post47, r_229^0'=r_229^post47, __disjvr_3^0'=__disjvr_3^post47, y_285^0'=y_285^post47, rcd_243^0'=rcd_243^post47, i_114^0'=i_114^post47, x_21^0'=x_21^post47, __disjvr_20^0'=__disjvr_20^post47, r_253^0'=r_253^post47, __disjvr_8^0'=__disjvr_8^post47, rcd_99^0'=rcd_99^post47, __disjvr_13^0'=__disjvr_13^post47, length_25^0'=length_25^post47, __disjvr_23^0'=__disjvr_23^post47, y_241^0'=y_241^post47, rcd_107^0'=rcd_107^post47, a_271^0'=a_271^post47, temp0_18^0'=temp0_18^post47, temp_32^0'=temp_32^post47, __disjvr_18^0'=__disjvr_18^post47, r_240^0'=r_240^post47, __disjvr_5^0'=__disjvr_5^post47, y_295^0'=y_295^post47, rcd_268^0'=rcd_268^post47, __disjvr_10^0'=__disjvr_10^post47, len_200^0'=len_200^post47, y_191^0'=y_191^post47, __disjvr_22^0'=__disjvr_22^post47, a_143^0'=a_143^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47, __disjvr_15^0'=__disjvr_15^post47, r_183^0'=r_183^post47, __disjvr_2^0'=__disjvr_2^post47, y_269^0'=y_269^post47, rcd_239^0'=rcd_239^post47, head_29^0'=head_29^post47, i_105^0'=i_105^post47, w_20^0'=w_20^post47, __disjvr_1^0'=__disjvr_1^post47, r_247^0'=r_247^post47, __disjvr_7^0'=__disjvr_7^post47, rcd_64^0'=rcd_64^post47, __disjvr_12^0'=__disjvr_12^post47, length_14^0'=length_14^post47, y_231^0'=y_231^post47, r_36^0'=r_36^post47, a_215^0'=a_215^post47, tail_15^0'=tail_15^post47, temp0_28^0'=temp0_28^post47, __disjvr_17^0'=__disjvr_17^post47, r_238^0'=r_238^post47, __disjvr_4^0'=__disjvr_4^post47, y_290^0'=y_290^post47, rcd_248^0'=rcd_248^post47, (__disjvr_3^0-__disjvr_3^post47 == 0 /\ __disjvr_0^0-__disjvr_0^post47 == 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ -r_242^post47+r_242^0 == 0 /\ __disjvr_22^0-__disjvr_22^post47 == 0 /\ x_21^0-x_21^post47 == 0 /\ -y_290^post47+y_290^0 == 0 /\ -rcd_239^post47+rcd_239^0 == 0 /\ -r_36^post47+r_36^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -i_114^post47+i_114^0 == 0 /\ -head_29^post47+head_29^0 == 0 /\ result_11^0-result_11^post47 == 0 /\ r_267^0-r_267^post47 == 0 /\ -w_20^post47+w_20^0 == 0 /\ -__disjvr_12^post47+__disjvr_12^0 == 0 /\ -r_183^post47+r_183^0 == 0 /\ y_347^0-y_347^post47 == 0 /\ -length_25^post47+length_25^0 == 0 /\ y_261^0-y_261^post47 == 0 /\ -__disjvr_16^post47+__disjvr_16^0 == 0 /\ head_13^0-head_13^post47 == 0 /\ -rcd_243^post47+rcd_243^0 == 0 /\ -rcd_40^post47+rcd_40^0 == 0 /\ -rcd_64^post47+rcd_64^0 == 0 /\ y_162^0-y_162^post47 == 0 /\ -r_238^post47+r_238^0 == 0 /\ -__disjvr_2^post47+__disjvr_2^0 == 0 /\ -r_240^post47+r_240^0 == 0 /\ -__disjvr_22^0+__disjvr_22^post47 == 0 /\ -__disjvr_10^post47+__disjvr_10^0 == 0 /\ y_22^0-y_22^post47 == 0 /\ -tail_15^post47+tail_15^0 == 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ rcd_268^0-rcd_268^post47 == 0 /\ t_23^0-t_23^post47 == 0 /\ __disjvr_24^0-__disjvr_24^post47 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ __disjvr_18^0-__disjvr_18^post47 == 0 /\ y_285^0-y_285^post47 == 0 /\ __disjvr_8^0-__disjvr_8^post47 == 0 /\ __disjvr_13^0-__disjvr_13^post47 == 0 /\ rcd_107^0-rcd_107^post47 == 0 /\ -rcd_248^post47+rcd_248^0 == 0 /\ z_19^0-z_19^post47 == 0 /\ tmp_31^0-tmp_31^post47 == 0 /\ -r_247^post47+r_247^0 == 0 /\ -r_154^post47+r_154^0 == 0 /\ -r_229^post47+r_229^0 == 0 /\ __disjvr_6^0-__disjvr_6^post47 == 0 /\ __disjvr_21^0-__disjvr_21^post47 == 0 /\ -y_295^post47+y_295^0 == 0 /\ __disjvr_9^0-__disjvr_9^post47 == 0 /\ __disjvr_19^0-__disjvr_19^post47 == 0 /\ -__disjvr_17^post47+__disjvr_17^0 == 0 /\ -y_191^post47+y_191^0 == 0 /\ -__disjvr_23^post47+__disjvr_23^0 == 0 /\ -len_200^post47+len_200^0 == 0 /\ -a_143^post47+a_143^0 == 0 /\ -length_14^post47+length_14^0 == 0 /\ temp0_18^0-temp0_18^post47 == 0 /\ -y_231^post47+y_231^0 == 0 /\ -rcd_99^post47+rcd_99^0 == 0 /\ y_241^0-y_241^post47 == 0 /\ __disjvr_20^0-__disjvr_20^post47 == 0 /\ -a_215^post47+a_215^0 == 0 /\ r_253^0-r_253^post47 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post47 == 0 /\ __disjvr_11^0-__disjvr_11^post47 == 0 /\ -a_168^post47+a_168^0 == 0 /\ -a_271^post47+a_271^0 == 0 /\ -temp0_28^post47+temp0_28^0 == 0 /\ __disjvr_15^0-__disjvr_15^post47 == 0 /\ i_27^0-i_27^post47 == 0 /\ len_270^0-len_270^post47 == 0 /\ -y_269^post47+y_269^0 == 0 /\ rcd_230^0-rcd_230^post47 == 0 /\ -i_105^post47+i_105^0 == 0 /\ temp_32^0-temp_32^post47 == 0 /\ __disjvr_5^0-__disjvr_5^post47 == 0 /\ __disjvr_4^0-__disjvr_4^post47 == 0), cost: 1
  48: l45 -> l46 : __disjvr_0^0'=__disjvr_0^post48, i_27^0'=i_27^post48, y_162^0'=y_162^post48, __disjvr_21^0'=__disjvr_21^post48, z_19^0'=z_19^post48, __disjvr_9^0'=__disjvr_9^post48, result_11^0'=result_11^post48, __disjvr_14^0'=__disjvr_14^post48, r_154^0'=r_154^post48, __disjvr_24^0'=__disjvr_24^post48, y_261^0'=y_261^post48, rcd_230^0'=rcd_230^post48, head_13^0'=head_13^post48, head_SLAM_f_26^0'=head_SLAM_f_26^post48, tmp_31^0'=tmp_31^post48, __disjvr_19^0'=__disjvr_19^post48, r_242^0'=r_242^post48, __disjvr_6^0'=__disjvr_6^post48, y_347^0'=y_347^post48, rcd_40^0'=rcd_40^post48, __disjvr_11^0'=__disjvr_11^post48, len_270^0'=len_270^post48, y_22^0'=y_22^post48, r_267^0'=r_267^post48, a_168^0'=a_168^post48, t_23^0'=t_23^post48, __disjvr_16^0'=__disjvr_16^post48, r_229^0'=r_229^post48, __disjvr_3^0'=__disjvr_3^post48, y_285^0'=y_285^post48, rcd_243^0'=rcd_243^post48, i_114^0'=i_114^post48, x_21^0'=x_21^post48, __disjvr_20^0'=__disjvr_20^post48, r_253^0'=r_253^post48, __disjvr_8^0'=__disjvr_8^post48, rcd_99^0'=rcd_99^post48, __disjvr_13^0'=__disjvr_13^post48, length_25^0'=length_25^post48, __disjvr_23^0'=__disjvr_23^post48, y_241^0'=y_241^post48, rcd_107^0'=rcd_107^post48, a_271^0'=a_271^post48, temp0_18^0'=temp0_18^post48, temp_32^0'=temp_32^post48, __disjvr_18^0'=__disjvr_18^post48, r_240^0'=r_240^post48, __disjvr_5^0'=__disjvr_5^post48, y_295^0'=y_295^post48, rcd_268^0'=rcd_268^post48, __disjvr_10^0'=__disjvr_10^post48, len_200^0'=len_200^post48, y_191^0'=y_191^post48, __disjvr_22^0'=__disjvr_22^post48, a_143^0'=a_143^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post48, __disjvr_15^0'=__disjvr_15^post48, r_183^0'=r_183^post48, __disjvr_2^0'=__disjvr_2^post48, y_269^0'=y_269^post48, rcd_239^0'=rcd_239^post48, head_29^0'=head_29^post48, i_105^0'=i_105^post48, w_20^0'=w_20^post48, __disjvr_1^0'=__disjvr_1^post48, r_247^0'=r_247^post48, __disjvr_7^0'=__disjvr_7^post48, rcd_64^0'=rcd_64^post48, __disjvr_12^0'=__disjvr_12^post48, length_14^0'=length_14^post48, y_231^0'=y_231^post48, r_36^0'=r_36^post48, a_215^0'=a_215^post48, tail_15^0'=tail_15^post48, temp0_28^0'=temp0_28^post48, __disjvr_17^0'=__disjvr_17^post48, r_238^0'=r_238^post48, __disjvr_4^0'=__disjvr_4^post48, y_290^0'=y_290^post48, rcd_248^0'=rcd_248^post48, (rcd_243^0-rcd_243^post48 == 0 /\ r_229^0-r_229^post48 == 0 /\ rcd_230^0-rcd_230^post48 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ -__disjvr_5^post48+__disjvr_5^0 == 0 /\ w_20^0-tail_15^0 <= 0 /\ -length_25^post48+length_25^0 == 0 /\ -y_241^post48+y_241^0 == 0 /\ -__disjvr_8^post48+__disjvr_8^0 == 0 /\ __disjvr_11^0-__disjvr_11^post48 == 0 /\ a_168^0-a_168^post48 == 0 /\ -rcd_64^post48+rcd_64^0 == 0 /\ -x_21^0+t_23^post48 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ __disjvr_16^0-__disjvr_16^post48 == 0 /\ y_261^0-y_261^post48 == 0 /\ -temp0_28^post48+temp0_28^0 == 0 /\ -__disjvr_10^post48+__disjvr_10^0 == 0 /\ -r_36^post48+r_36^0 == 0 /\ -y_269^post48+y_269^0 == 0 /\ i_114^0-i_114^post48 == 0 /\ r_253^0-r_253^post48 == 0 /\ r_242^0-r_242^post48 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0 /\ y_162^0-y_162^post48 == 0 /\ -rcd_268^post48+rcd_268^0 == 0 /\ length_14^0-length_14^post48 == 0 /\ -w_20^0+tail_15^0 <= 0 /\ -r_247^post48+r_247^0 == 0 /\ -temp0_18^post48+temp0_18^0 == 0 /\ -rcd_248^post48+rcd_248^0 == 0 /\ __disjvr_7^0-__disjvr_7^post48 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ r_240^0-r_240^post48 == 0 /\ __disjvr_9^0-__disjvr_9^post48 == 0 /\ -tail_15^post48+tail_15^0 == 0 /\ head_13^0-head_13^post48 == 0 /\ i_27^0-i_27^post48 == 0 /\ -r_183^post48+r_183^0 == 0 /\ -y_295^post48+y_295^0 == 0 /\ -rcd_239^post48+rcd_239^0 == 0 /\ -y_290^post48+y_290^0 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ -__disjvr_22^post48+__disjvr_22^0 == 0 /\ -rcd_107^post48+rcd_107^0 == 0 /\ -i_105^post48+i_105^0 == 0 /\ -__disjvr_13^post48+__disjvr_13^0 == 0 /\ __disjvr_15^0-__disjvr_15^post48 == 0 /\ r_154^0-r_154^post48 == 0 /\ __disjvr_19^0-__disjvr_19^post48 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ x_21^0-tail_15^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post48 == 0 /\ z_19^0-head_13^0 <= 0 /\ -__disjvr_4^post48+__disjvr_4^0 == 0 /\ x_21^0-x_21^post48 == 0 /\ -__disjvr_20^post48+__disjvr_20^0 == 0 /\ -y_22^post48+t_23^post48 <= 0 /\ -y_191^post48+y_191^0 == 0 /\ __disjvr_6^0-__disjvr_6^post48 == 0 /\ -y_231^post48+y_231^0 == 0 /\ -r_238^post48+r_238^0 == 0 /\ __disjvr_2^0-__disjvr_2^post48 == 0 /\ __disjvr_0^0-__disjvr_0^post48 == 0 /\ -rcd_40^post48+rcd_40^0 == 0 /\ -tmp_31^post48+tmp_31^0 == 0 /\ r_267^0-r_267^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ z_19^0-z_19^post48 == 0 /\ -y_347^post48+y_347^0 == 0 /\ -head_29^post48+head_29^0 == 0 /\ -a_143^post48+a_143^0 == 0 /\ rcd_99^0-rcd_99^post48 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post48 == 0 /\ -x_21^0+tail_15^0 <= 0 /\ -z_19^0+head_13^0 <= 0 /\ y_285^0-y_285^post48 == 0 /\ -len_270^post48+len_270^0 == 0 /\ -len_200^post48+len_200^0 == 0 /\ -w_20^post48+w_20^0 == 0 /\ y_22^post48-t_23^post48 <= 0 /\ y_22^post48-t_23^post48 == 0 /\ -a_215^post48+a_215^0 == 0 /\ __disjvr_23^0-__disjvr_23^post48 == 0 /\ -temp_32^post48+temp_32^0 == 0 /\ 1-length_14^0 <= 0 /\ -1+length_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post48 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ a_271^0-a_271^post48 == 0), cost: 1
  49: l46 -> l47 : __disjvr_0^0'=__disjvr_0^post49, i_27^0'=i_27^post49, y_162^0'=y_162^post49, __disjvr_21^0'=__disjvr_21^post49, z_19^0'=z_19^post49, __disjvr_9^0'=__disjvr_9^post49, result_11^0'=result_11^post49, __disjvr_14^0'=__disjvr_14^post49, r_154^0'=r_154^post49, __disjvr_24^0'=__disjvr_24^post49, y_261^0'=y_261^post49, rcd_230^0'=rcd_230^post49, head_13^0'=head_13^post49, head_SLAM_f_26^0'=head_SLAM_f_26^post49, tmp_31^0'=tmp_31^post49, __disjvr_19^0'=__disjvr_19^post49, r_242^0'=r_242^post49, __disjvr_6^0'=__disjvr_6^post49, y_347^0'=y_347^post49, rcd_40^0'=rcd_40^post49, __disjvr_11^0'=__disjvr_11^post49, len_270^0'=len_270^post49, y_22^0'=y_22^post49, r_267^0'=r_267^post49, a_168^0'=a_168^post49, t_23^0'=t_23^post49, __disjvr_16^0'=__disjvr_16^post49, r_229^0'=r_229^post49, __disjvr_3^0'=__disjvr_3^post49, y_285^0'=y_285^post49, rcd_243^0'=rcd_243^post49, i_114^0'=i_114^post49, x_21^0'=x_21^post49, __disjvr_20^0'=__disjvr_20^post49, r_253^0'=r_253^post49, __disjvr_8^0'=__disjvr_8^post49, rcd_99^0'=rcd_99^post49, __disjvr_13^0'=__disjvr_13^post49, length_25^0'=length_25^post49, __disjvr_23^0'=__disjvr_23^post49, y_241^0'=y_241^post49, rcd_107^0'=rcd_107^post49, a_271^0'=a_271^post49, temp0_18^0'=temp0_18^post49, temp_32^0'=temp_32^post49, __disjvr_18^0'=__disjvr_18^post49, r_240^0'=r_240^post49, __disjvr_5^0'=__disjvr_5^post49, y_295^0'=y_295^post49, rcd_268^0'=rcd_268^post49, __disjvr_10^0'=__disjvr_10^post49, len_200^0'=len_200^post49, y_191^0'=y_191^post49, __disjvr_22^0'=__disjvr_22^post49, a_143^0'=a_143^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post49, __disjvr_15^0'=__disjvr_15^post49, r_183^0'=r_183^post49, __disjvr_2^0'=__disjvr_2^post49, y_269^0'=y_269^post49, rcd_239^0'=rcd_239^post49, head_29^0'=head_29^post49, i_105^0'=i_105^post49, w_20^0'=w_20^post49, __disjvr_1^0'=__disjvr_1^post49, r_247^0'=r_247^post49, __disjvr_7^0'=__disjvr_7^post49, rcd_64^0'=rcd_64^post49, __disjvr_12^0'=__disjvr_12^post49, length_14^0'=length_14^post49, y_231^0'=y_231^post49, r_36^0'=r_36^post49, a_215^0'=a_215^post49, tail_15^0'=tail_15^post49, temp0_28^0'=temp0_28^post49, __disjvr_17^0'=__disjvr_17^post49, r_238^0'=r_238^post49, __disjvr_4^0'=__disjvr_4^post49, y_290^0'=y_290^post49, rcd_248^0'=rcd_248^post49, (__disjvr_21^0-__disjvr_21^post49 == 0 /\ __disjvr_11^0-__disjvr_11^post49 == 0 /\ y_22^0-y_22^post49 == 0 /\ __disjvr_5^0-__disjvr_5^post49 == 0 /\ x_21^0-x_21^post49 == 0 /\ len_200^0-len_200^post49 == 0 /\ -rcd_64^post49+rcd_64^0 == 0 /\ -__disjvr_12^post49+__disjvr_12^0 == 0 /\ -y_269^post49+y_269^0 == 0 /\ -a_215^post49+a_215^0 == 0 /\ temp0_18^0-temp0_18^post49 == 0 /\ a_168^0-a_168^post49 == 0 /\ z_19^0-z_19^post49 == 0 /\ -rcd_268^post49+rcd_268^0 == 0 /\ -rcd_243^post49+rcd_243^0 == 0 /\ -i_114^post49+i_114^0 == 0 /\ -r_247^post49+r_247^0 == 0 /\ __disjvr_6^0-__disjvr_6^post49 == 0 /\ -temp0_28^post49+temp0_28^0 == 0 /\ -__disjvr_23^0+__disjvr_23^post49 == 0 /\ -y_295^post49+y_295^0 == 0 /\ -length_25^post49+length_25^0 == 0 /\ -r_36^post49+r_36^0 == 0 /\ __disjvr_9^0-__disjvr_9^post49 == 0 /\ y_347^0-y_347^post49 == 0 /\ y_285^0-y_285^post49 == 0 /\ -r_229^post49+r_229^0 == 0 /\ result_11^0-result_11^post49 == 0 /\ i_27^0-i_27^post49 == 0 /\ -y_290^post49+y_290^0 == 0 /\ -t_23^post49+t_23^0 == 0 /\ __disjvr_23^0-__disjvr_23^post49 == 0 /\ __disjvr_3^0-__disjvr_3^post49 == 0 /\ r_240^0-r_240^post49 == 0 /\ rcd_230^0-rcd_230^post49 == 0 /\ y_261^0-y_261^post49 == 0 /\ __disjvr_18^0-__disjvr_18^post49 == 0 /\ -head_29^post49+head_29^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post49 == 0 /\ -length_14^post49+length_14^0 == 0 /\ -rcd_248^post49+rcd_248^0 == 0 /\ -__disjvr_15^post49+__disjvr_15^0 == 0 /\ -len_270^post49+len_270^0 == 0 /\ -__disjvr_19^post49+__disjvr_19^0 == 0 /\ __disjvr_2^0-__disjvr_2^post49 == 0 /\ __disjvr_8^0-__disjvr_8^post49 == 0 /\ -__disjvr_22^post49+__disjvr_22^0 == 0 /\ r_253^0-r_253^post49 == 0 /\ __disjvr_20^0-__disjvr_20^post49 == 0 /\ -i_105^post49+i_105^0 == 0 /\ -rcd_107^post49+rcd_107^0 == 0 /\ rcd_40^0-rcd_40^post49 == 0 /\ -tail_15^post49+tail_15^0 == 0 /\ -r_238^post49+r_238^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post49 == 0 /\ -r_267^post49+r_267^0 == 0 /\ -temp_32^post49+temp_32^0 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ -rcd_239^post49+rcd_239^0 == 0 /\ r_183^0-r_183^post49 == 0 /\ -__disjvr_13^post49+__disjvr_13^0 == 0 /\ -y_191^post49+y_191^0 == 0 /\ -__disjvr_1^post49+__disjvr_1^0 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ tmp_31^0-tmp_31^post49 == 0 /\ __disjvr_16^0-__disjvr_16^post49 == 0 /\ -__disjvr_4^post49+__disjvr_4^0 == 0 /\ rcd_99^0-rcd_99^post49 == 0 /\ -y_231^post49+y_231^0 == 0 /\ y_162^0-y_162^post49 == 0 /\ -__disjvr_7^post49+__disjvr_7^0 == 0 /\ -__disjvr_10^post49+__disjvr_10^0 == 0 /\ -a_271^post49+a_271^0 == 0 /\ r_242^0-r_242^post49 == 0 /\ -a_143^post49+a_143^0 == 0 /\ -w_20^post49+w_20^0 == 0 /\ head_13^0-head_13^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ -y_241^post49+y_241^0 == 0 /\ r_154^0-r_154^post49 == 0), cost: 1
  50: l47 -> l48 : __disjvr_0^0'=__disjvr_0^post50, i_27^0'=i_27^post50, y_162^0'=y_162^post50, __disjvr_21^0'=__disjvr_21^post50, z_19^0'=z_19^post50, __disjvr_9^0'=__disjvr_9^post50, result_11^0'=result_11^post50, __disjvr_14^0'=__disjvr_14^post50, r_154^0'=r_154^post50, __disjvr_24^0'=__disjvr_24^post50, y_261^0'=y_261^post50, rcd_230^0'=rcd_230^post50, head_13^0'=head_13^post50, head_SLAM_f_26^0'=head_SLAM_f_26^post50, tmp_31^0'=tmp_31^post50, __disjvr_19^0'=__disjvr_19^post50, r_242^0'=r_242^post50, __disjvr_6^0'=__disjvr_6^post50, y_347^0'=y_347^post50, rcd_40^0'=rcd_40^post50, __disjvr_11^0'=__disjvr_11^post50, len_270^0'=len_270^post50, y_22^0'=y_22^post50, r_267^0'=r_267^post50, a_168^0'=a_168^post50, t_23^0'=t_23^post50, __disjvr_16^0'=__disjvr_16^post50, r_229^0'=r_229^post50, __disjvr_3^0'=__disjvr_3^post50, y_285^0'=y_285^post50, rcd_243^0'=rcd_243^post50, i_114^0'=i_114^post50, x_21^0'=x_21^post50, __disjvr_20^0'=__disjvr_20^post50, r_253^0'=r_253^post50, __disjvr_8^0'=__disjvr_8^post50, rcd_99^0'=rcd_99^post50, __disjvr_13^0'=__disjvr_13^post50, length_25^0'=length_25^post50, __disjvr_23^0'=__disjvr_23^post50, y_241^0'=y_241^post50, rcd_107^0'=rcd_107^post50, a_271^0'=a_271^post50, temp0_18^0'=temp0_18^post50, temp_32^0'=temp_32^post50, __disjvr_18^0'=__disjvr_18^post50, r_240^0'=r_240^post50, __disjvr_5^0'=__disjvr_5^post50, y_295^0'=y_295^post50, rcd_268^0'=rcd_268^post50, __disjvr_10^0'=__disjvr_10^post50, len_200^0'=len_200^post50, y_191^0'=y_191^post50, __disjvr_22^0'=__disjvr_22^post50, a_143^0'=a_143^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post50, __disjvr_15^0'=__disjvr_15^post50, r_183^0'=r_183^post50, __disjvr_2^0'=__disjvr_2^post50, y_269^0'=y_269^post50, rcd_239^0'=rcd_239^post50, head_29^0'=head_29^post50, i_105^0'=i_105^post50, w_20^0'=w_20^post50, __disjvr_1^0'=__disjvr_1^post50, r_247^0'=r_247^post50, __disjvr_7^0'=__disjvr_7^post50, rcd_64^0'=rcd_64^post50, __disjvr_12^0'=__disjvr_12^post50, length_14^0'=length_14^post50, y_231^0'=y_231^post50, r_36^0'=r_36^post50, a_215^0'=a_215^post50, tail_15^0'=tail_15^post50, temp0_28^0'=temp0_28^post50, __disjvr_17^0'=__disjvr_17^post50, r_238^0'=r_238^post50, __disjvr_4^0'=__disjvr_4^post50, y_290^0'=y_290^post50, rcd_248^0'=rcd_248^post50, (0 == 0 /\ i_27^0-i_27^post50 == 0 /\ -len_200^post50+len_200^0 == 0 /\ temp0_18^0-temp0_18^post50 == 0 /\ -rcd_243^post50+rcd_243^0 == 0 /\ rcd_107^0-rcd_107^post50 == 0 /\ __disjvr_8^0-__disjvr_8^post50 == 0 /\ -y_269^post50+y_269^0 == 0 /\ -temp0_28^post50+temp0_28^0 == 0 /\ temp_32^0-temp_32^post50 == 0 /\ tmp_31^0-tmp_31^post50 == 0 /\ len_270^0-len_270^post50 == 0 /\ -r_229^post50+r_229^0 == 0 /\ -__disjvr_13^post50+__disjvr_13^0 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ __disjvr_5^0-__disjvr_5^post50 == 0 /\ -__disjvr_4^post50+__disjvr_4^0 == 0 /\ __disjvr_10^0-__disjvr_10^post50 == 0 /\ -r_247^post50+r_247^0 == 0 /\ -a_215^post50+a_215^0 == 0 /\ -y_285^post50+y_285^0 == 0 /\ -r_183^post50+r_183^0 == 0 /\ r_267^0-r_267^post50 == 0 /\ -y_290^post50+y_290^0 == 0 /\ -temp0_18^0+result_11^post50 == 0 /\ __disjvr_16^0-__disjvr_16^post50 == 0 /\ rcd_64^0-rcd_64^post50 == 0 /\ __disjvr_23^0-__disjvr_23^post50 == 0 /\ -r_36^post50+r_36^0 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0 /\ length_25^0-length_25^post50 == 0 /\ -length_14^post50+length_14^0 == 0 /\ -i_114^post50+i_114^0 == 0 /\ y_295^0-y_295^post50 == 0 /\ rcd_230^0-rcd_230^post50 == 0 /\ -rcd_99^post50+rcd_99^0 == 0 /\ __disjvr_20^0-__disjvr_20^post50 == 0 /\ -a_168^post50+a_168^0 == 0 /\ __disjvr_11^0-__disjvr_11^post50 == 0 /\ r_240^0-r_240^post50 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post50+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ r_242^0-r_242^post50 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post50 == 0 /\ -r_238^post50+r_238^0 == 0 /\ y_261^0-y_261^post50 == 0 /\ -__disjvr_7^post50+__disjvr_7^0 == 0 /\ -__disjvr_15^post50+__disjvr_15^0 == 0 /\ -y_241^post50+y_241^0 == 0 /\ -x_21^0+w_20^0 <= 0 /\ -i_105^post50+i_105^0 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ a_143^0-a_143^post50 == 0 /\ -__disjvr_18^post50+__disjvr_18^0 == 0 /\ -head_29^post50+head_29^0 == 0 /\ rcd_40^0-rcd_40^post50 == 0 /\ -a_271^post50+a_271^0 == 0 /\ rcd_239^0-rcd_239^post50 == 0 /\ -r_253^post50+r_253^0 == 0 /\ -__disjvr_19^post50+__disjvr_19^0 == 0 /\ -y_191^post50+y_191^0 == 0 /\ -y_231^post50+y_231^0 == 0 /\ -__disjvr_2^post50+__disjvr_2^0 == 0 /\ -__disjvr_1^post50+__disjvr_1^0 == 0 /\ -__disjvr_6^post50+__disjvr_6^0 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ x_21^0-w_20^0 <= 0 /\ r_154^0-r_154^post50 == 0 /\ -rcd_268^post50+rcd_268^0 == 0 /\ __disjvr_3^0-__disjvr_3^post50 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ 1-length_14^0 <= 0 /\ -1+length_14^0 <= 0 /\ -rcd_248^post50+rcd_248^0 == 0 /\ head_13^0-head_13^post50 == 0 /\ __disjvr_22^0-__disjvr_22^post50 == 0 /\ y_162^0-y_162^post50 == 0), cost: 1
  51: l48 -> l1 : __disjvr_0^0'=__disjvr_0^post51, i_27^0'=i_27^post51, y_162^0'=y_162^post51, __disjvr_21^0'=__disjvr_21^post51, z_19^0'=z_19^post51, __disjvr_9^0'=__disjvr_9^post51, result_11^0'=result_11^post51, __disjvr_14^0'=__disjvr_14^post51, r_154^0'=r_154^post51, __disjvr_24^0'=__disjvr_24^post51, y_261^0'=y_261^post51, rcd_230^0'=rcd_230^post51, head_13^0'=head_13^post51, head_SLAM_f_26^0'=head_SLAM_f_26^post51, tmp_31^0'=tmp_31^post51, __disjvr_19^0'=__disjvr_19^post51, r_242^0'=r_242^post51, __disjvr_6^0'=__disjvr_6^post51, y_347^0'=y_347^post51, rcd_40^0'=rcd_40^post51, __disjvr_11^0'=__disjvr_11^post51, len_270^0'=len_270^post51, y_22^0'=y_22^post51, r_267^0'=r_267^post51, a_168^0'=a_168^post51, t_23^0'=t_23^post51, __disjvr_16^0'=__disjvr_16^post51, r_229^0'=r_229^post51, __disjvr_3^0'=__disjvr_3^post51, y_285^0'=y_285^post51, rcd_243^0'=rcd_243^post51, i_114^0'=i_114^post51, x_21^0'=x_21^post51, __disjvr_20^0'=__disjvr_20^post51, r_253^0'=r_253^post51, __disjvr_8^0'=__disjvr_8^post51, rcd_99^0'=rcd_99^post51, __disjvr_13^0'=__disjvr_13^post51, length_25^0'=length_25^post51, __disjvr_23^0'=__disjvr_23^post51, y_241^0'=y_241^post51, rcd_107^0'=rcd_107^post51, a_271^0'=a_271^post51, temp0_18^0'=temp0_18^post51, temp_32^0'=temp_32^post51, __disjvr_18^0'=__disjvr_18^post51, r_240^0'=r_240^post51, __disjvr_5^0'=__disjvr_5^post51, y_295^0'=y_295^post51, rcd_268^0'=rcd_268^post51, __disjvr_10^0'=__disjvr_10^post51, len_200^0'=len_200^post51, y_191^0'=y_191^post51, __disjvr_22^0'=__disjvr_22^post51, a_143^0'=a_143^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post51, __disjvr_15^0'=__disjvr_15^post51, r_183^0'=r_183^post51, __disjvr_2^0'=__disjvr_2^post51, y_269^0'=y_269^post51, rcd_239^0'=rcd_239^post51, head_29^0'=head_29^post51, i_105^0'=i_105^post51, w_20^0'=w_20^post51, __disjvr_1^0'=__disjvr_1^post51, r_247^0'=r_247^post51, __disjvr_7^0'=__disjvr_7^post51, rcd_64^0'=rcd_64^post51, __disjvr_12^0'=__disjvr_12^post51, length_14^0'=length_14^post51, y_231^0'=y_231^post51, r_36^0'=r_36^post51, a_215^0'=a_215^post51, tail_15^0'=tail_15^post51, temp0_28^0'=temp0_28^post51, __disjvr_17^0'=__disjvr_17^post51, r_238^0'=r_238^post51, __disjvr_4^0'=__disjvr_4^post51, y_290^0'=y_290^post51, rcd_248^0'=rcd_248^post51, (-y_231^post51+y_231^0 == 0 /\ -a_143^post51+a_143^0 == 0 /\ -__disjvr_17^post51+__disjvr_17^0 == 0 /\ -r_247^post51+r_247^0 == 0 /\ __disjvr_14^0-__disjvr_14^post51 == 0 /\ -__disjvr_24^0+__disjvr_24^post51 == 0 /\ i_27^0-i_27^post51 == 0 /\ -y_295^post51+y_295^0 == 0 /\ len_270^0-len_270^post51 == 0 /\ __disjvr_8^0-__disjvr_8^post51 == 0 /\ rcd_268^0-rcd_268^post51 == 0 /\ -__disjvr_23^post51+__disjvr_23^0 == 0 /\ -__disjvr_4^post51+__disjvr_4^0 == 0 /\ rcd_230^0-rcd_230^post51 == 0 /\ r_229^0-r_229^post51 == 0 /\ __disjvr_1^0-__disjvr_1^post51 == 0 /\ a_271^0-a_271^post51 == 0 /\ __disjvr_13^0-__disjvr_13^post51 == 0 /\ r_253^0-r_253^post51 == 0 /\ __disjvr_18^0-__disjvr_18^post51 == 0 /\ -length_14^post51+length_14^0 == 0 /\ -a_215^post51+a_215^0 == 0 /\ -i_105^post51+i_105^0 == 0 /\ -x_21^post51+x_21^0 == 0 /\ __disjvr_6^0-__disjvr_6^post51 == 0 /\ __disjvr_0^0-__disjvr_0^post51 == 0 /\ -a_168^post51+a_168^0 == 0 /\ -temp0_28^post51+temp0_28^0 == 0 /\ r_154^0-r_154^post51 == 0 /\ __disjvr_24^0-__disjvr_24^post51 == 0 /\ __disjvr_16^0-__disjvr_16^post51 == 0 /\ -temp_32^post51+temp_32^0 == 0 /\ -y_285^post51+y_285^0 == 0 /\ -r_36^post51+r_36^0 == 0 /\ -head_SLAM_f_26^post51+head_SLAM_f_26^0 == 0 /\ rcd_243^0-rcd_243^post51 == 0 /\ r_267^0-r_267^post51 == 0 /\ y_162^0-y_162^post51 == 0 /\ -__disjvr_7^post51+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post51 == 0 /\ -y_269^post51+y_269^0 == 0 /\ len_200^0-len_200^post51 == 0 /\ -r_242^post51+r_242^0 == 0 /\ tail_15^0-tail_15^post51 == 0 /\ __disjvr_11^0-__disjvr_11^post51 == 0 /\ head_13^0-head_13^post51 == 0 /\ i_114^0-i_114^post51 == 0 /\ -y_290^post51+y_290^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post51+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ y_22^0-y_22^post51 == 0 /\ -w_20^post51+w_20^0 == 0 /\ -rcd_239^post51+rcd_239^0 == 0 /\ -__disjvr_5^post51+__disjvr_5^0 == 0 /\ -length_25^post51+length_25^0 == 0 /\ -__disjvr_9^post51+__disjvr_9^0 == 0 /\ -__disjvr_12^post51+__disjvr_12^0 == 0 /\ t_23^0-t_23^post51 == 0 /\ -head_29^post51+head_29^0 == 0 /\ __disjvr_15^0-__disjvr_15^post51 == 0 /\ -r_183^post51+r_183^0 == 0 /\ tmp_31^0-tmp_31^post51 == 0 /\ z_19^0-z_19^post51 == 0 /\ -rcd_64^post51+rcd_64^0 == 0 /\ -__disjvr_22^post51+__disjvr_22^0 == 0 /\ rcd_107^0-rcd_107^post51 == 0 /\ -__disjvr_10^post51+__disjvr_10^0 == 0 /\ -__disjvr_2^post51+__disjvr_2^0 == 0 /\ -rcd_99^post51+rcd_99^0 == 0 /\ -r_238^post51+r_238^0 == 0 /\ __disjvr_3^0-__disjvr_3^post51 == 0 /\ __disjvr_21^0-__disjvr_21^post51 == 0 /\ __disjvr_19^0-__disjvr_19^post51 == 0 /\ result_11^0-result_11^post51 == 0 /\ y_261^0-y_261^post51 == 0 /\ -r_240^post51+r_240^0 == 0 /\ -y_191^post51+y_191^0 == 0 /\ y_241^0-y_241^post51 == 0 /\ -rcd_248^post51+rcd_248^0 == 0 /\ -rcd_40^post51+rcd_40^0 == 0 /\ temp0_18^0-temp0_18^post51 == 0 /\ y_347^0-y_347^post51 == 0), cost: 1
  53: l49 -> l37 : __disjvr_0^0'=__disjvr_0^post53, i_27^0'=i_27^post53, y_162^0'=y_162^post53, __disjvr_21^0'=__disjvr_21^post53, z_19^0'=z_19^post53, __disjvr_9^0'=__disjvr_9^post53, result_11^0'=result_11^post53, __disjvr_14^0'=__disjvr_14^post53, r_154^0'=r_154^post53, __disjvr_24^0'=__disjvr_24^post53, y_261^0'=y_261^post53, rcd_230^0'=rcd_230^post53, head_13^0'=head_13^post53, head_SLAM_f_26^0'=head_SLAM_f_26^post53, tmp_31^0'=tmp_31^post53, __disjvr_19^0'=__disjvr_19^post53, r_242^0'=r_242^post53, __disjvr_6^0'=__disjvr_6^post53, y_347^0'=y_347^post53, rcd_40^0'=rcd_40^post53, __disjvr_11^0'=__disjvr_11^post53, len_270^0'=len_270^post53, y_22^0'=y_22^post53, r_267^0'=r_267^post53, a_168^0'=a_168^post53, t_23^0'=t_23^post53, __disjvr_16^0'=__disjvr_16^post53, r_229^0'=r_229^post53, __disjvr_3^0'=__disjvr_3^post53, y_285^0'=y_285^post53, rcd_243^0'=rcd_243^post53, i_114^0'=i_114^post53, x_21^0'=x_21^post53, __disjvr_20^0'=__disjvr_20^post53, r_253^0'=r_253^post53, __disjvr_8^0'=__disjvr_8^post53, rcd_99^0'=rcd_99^post53, __disjvr_13^0'=__disjvr_13^post53, length_25^0'=length_25^post53, __disjvr_23^0'=__disjvr_23^post53, y_241^0'=y_241^post53, rcd_107^0'=rcd_107^post53, a_271^0'=a_271^post53, temp0_18^0'=temp0_18^post53, temp_32^0'=temp_32^post53, __disjvr_18^0'=__disjvr_18^post53, r_240^0'=r_240^post53, __disjvr_5^0'=__disjvr_5^post53, y_295^0'=y_295^post53, rcd_268^0'=rcd_268^post53, __disjvr_10^0'=__disjvr_10^post53, len_200^0'=len_200^post53, y_191^0'=y_191^post53, __disjvr_22^0'=__disjvr_22^post53, a_143^0'=a_143^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post53, __disjvr_15^0'=__disjvr_15^post53, r_183^0'=r_183^post53, __disjvr_2^0'=__disjvr_2^post53, y_269^0'=y_269^post53, rcd_239^0'=rcd_239^post53, head_29^0'=head_29^post53, i_105^0'=i_105^post53, w_20^0'=w_20^post53, __disjvr_1^0'=__disjvr_1^post53, r_247^0'=r_247^post53, __disjvr_7^0'=__disjvr_7^post53, rcd_64^0'=rcd_64^post53, __disjvr_12^0'=__disjvr_12^post53, length_14^0'=length_14^post53, y_231^0'=y_231^post53, r_36^0'=r_36^post53, a_215^0'=a_215^post53, tail_15^0'=tail_15^post53, temp0_28^0'=temp0_28^post53, __disjvr_17^0'=__disjvr_17^post53, r_238^0'=r_238^post53, __disjvr_4^0'=__disjvr_4^post53, y_290^0'=y_290^post53, rcd_248^0'=rcd_248^post53, (y_162^0-y_162^post53 == 0 /\ -r_253^post53+r_253^0 == 0 /\ tmp_31^0-tmp_31^post53 == 0 /\ -rcd_248^post53+rcd_248^0 == 0 /\ y_347^0-y_347^post53 == 0 /\ -__disjvr_22^post53+__disjvr_22^0 == 0 /\ -tail_15^post53+tail_15^0 == 0 /\ -head_29^post53+head_29^0 == 0 /\ z_19^0-z_19^post53 == 0 /\ -length_14^post53+length_14^0 == 0 /\ -temp_32^post53+temp_32^0 == 0 /\ -y_231^post53+y_231^0 == 0 /\ -__disjvr_15^post53+__disjvr_15^0 == 0 /\ head_13^0-head_13^post53 == 0 /\ rcd_107^0-rcd_107^post53 == 0 /\ -rcd_99^post53+rcd_99^0 == 0 /\ -i_105^post53+i_105^0 == 0 /\ __disjvr_5^0-__disjvr_5^post53 == 0 /\ result_11^0-result_11^post53 == 0 /\ -y_285^post53+y_285^0 == 0 /\ t_23^0-t_23^post53 == 0 /\ r_240^0-r_240^post53 == 0 /\ -r_238^post53+r_238^0 == 0 /\ __disjvr_23^0-__disjvr_23^post53 == 0 /\ -r_267^post53+r_267^0 == 0 /\ y_22^0-y_22^post53 == 0 /\ -__disjvr_18^post53+__disjvr_18^0 == 0 /\ x_21^0-x_21^post53 == 0 /\ r_229^0-r_229^post53 == 0 /\ __disjvr_3^0-__disjvr_3^post53 == 0 /\ -__disjvr_4^post53+__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ r_247^0-r_247^post53 == 0 /\ __disjvr_8^0-__disjvr_8^post53 == 0 /\ -__disjvr_7^post53+__disjvr_7^0 == 0 /\ -__disjvr_2^post53+__disjvr_2^0 == 0 /\ rcd_40^0-rcd_40^post53 == 0 /\ temp0_18^0-temp0_18^post53 == 0 /\ -a_271^post53+a_271^0 == 0 /\ __disjvr_10^0-__disjvr_10^post53 == 0 /\ -len_270^post53+len_270^0 == 0 /\ a_168^0-a_168^post53 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ -w_20^post53+w_20^0 == 0 /\ -y_241^post53+y_241^0 == 0 /\ y_261^0-y_261^post53 == 0 /\ rcd_64^0-rcd_64^post53 == 0 /\ -a_143^post53+a_143^0 == 0 /\ -__disjvr_13^post53+__disjvr_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post53 == 0 /\ r_183^0-r_183^post53 == 0 /\ __disjvr_14^0-__disjvr_14^post53 == 0 /\ -__disjvr_12^post53+__disjvr_12^0 == 0 /\ __disjvr_24^0-__disjvr_24^post53 == 0 /\ -y_269^post53+y_269^0 == 0 /\ -len_200^post53+len_200^0 == 0 /\ -rcd_268^post53+rcd_268^0 == 0 /\ __disjvr_19^0-__disjvr_19^post53 == 0 /\ i_27^0-i_27^post53 == 0 /\ y_191^0-y_191^post53 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post53 == 0 /\ -temp0_28^post53+temp0_28^0 == 0 /\ -__disjvr_1^post53+__disjvr_1^0 == 0 /\ __disjvr_9^0-__disjvr_9^post53 == 0 /\ -i_114^post53+i_114^0 == 0 /\ r_242^0-r_242^post53 == 0 /\ a_215^0-a_215^post53 == 0 /\ r_154^0-r_154^post53 == 0 /\ -y_295^post53+y_295^0 == 0 /\ -r_36^post53+r_36^0 == 0 /\ length_25^0-length_25^post53 == 0 /\ -rcd_243^post53+rcd_243^0 == 0 /\ rcd_230^0-rcd_230^post53 == 0 /\ -y_290^post53+y_290^0 == 0 /\ __disjvr_20^0-__disjvr_20^post53 == 0 /\ rcd_239^0-rcd_239^post53 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post53 == 0 /\ __disjvr_6^0-__disjvr_6^post53 == 0 /\ __disjvr_0^0-__disjvr_0^post53 == 0 /\ __disjvr_11^0-__disjvr_11^post53 == 0), cost: 1
  57: l50 -> l33 : __disjvr_0^0'=__disjvr_0^post57, i_27^0'=i_27^post57, y_162^0'=y_162^post57, __disjvr_21^0'=__disjvr_21^post57, z_19^0'=z_19^post57, __disjvr_9^0'=__disjvr_9^post57, result_11^0'=result_11^post57, __disjvr_14^0'=__disjvr_14^post57, r_154^0'=r_154^post57, __disjvr_24^0'=__disjvr_24^post57, y_261^0'=y_261^post57, rcd_230^0'=rcd_230^post57, head_13^0'=head_13^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, tmp_31^0'=tmp_31^post57, __disjvr_19^0'=__disjvr_19^post57, r_242^0'=r_242^post57, __disjvr_6^0'=__disjvr_6^post57, y_347^0'=y_347^post57, rcd_40^0'=rcd_40^post57, __disjvr_11^0'=__disjvr_11^post57, len_270^0'=len_270^post57, y_22^0'=y_22^post57, r_267^0'=r_267^post57, a_168^0'=a_168^post57, t_23^0'=t_23^post57, __disjvr_16^0'=__disjvr_16^post57, r_229^0'=r_229^post57, __disjvr_3^0'=__disjvr_3^post57, y_285^0'=y_285^post57, rcd_243^0'=rcd_243^post57, i_114^0'=i_114^post57, x_21^0'=x_21^post57, __disjvr_20^0'=__disjvr_20^post57, r_253^0'=r_253^post57, __disjvr_8^0'=__disjvr_8^post57, rcd_99^0'=rcd_99^post57, __disjvr_13^0'=__disjvr_13^post57, length_25^0'=length_25^post57, __disjvr_23^0'=__disjvr_23^post57, y_241^0'=y_241^post57, rcd_107^0'=rcd_107^post57, a_271^0'=a_271^post57, temp0_18^0'=temp0_18^post57, temp_32^0'=temp_32^post57, __disjvr_18^0'=__disjvr_18^post57, r_240^0'=r_240^post57, __disjvr_5^0'=__disjvr_5^post57, y_295^0'=y_295^post57, rcd_268^0'=rcd_268^post57, __disjvr_10^0'=__disjvr_10^post57, len_200^0'=len_200^post57, y_191^0'=y_191^post57, __disjvr_22^0'=__disjvr_22^post57, a_143^0'=a_143^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post57, __disjvr_15^0'=__disjvr_15^post57, r_183^0'=r_183^post57, __disjvr_2^0'=__disjvr_2^post57, y_269^0'=y_269^post57, rcd_239^0'=rcd_239^post57, head_29^0'=head_29^post57, i_105^0'=i_105^post57, w_20^0'=w_20^post57, __disjvr_1^0'=__disjvr_1^post57, r_247^0'=r_247^post57, __disjvr_7^0'=__disjvr_7^post57, rcd_64^0'=rcd_64^post57, __disjvr_12^0'=__disjvr_12^post57, length_14^0'=length_14^post57, y_231^0'=y_231^post57, r_36^0'=r_36^post57, a_215^0'=a_215^post57, tail_15^0'=tail_15^post57, temp0_28^0'=temp0_28^post57, __disjvr_17^0'=__disjvr_17^post57, r_238^0'=r_238^post57, __disjvr_4^0'=__disjvr_4^post57, y_290^0'=y_290^post57, rcd_248^0'=rcd_248^post57, (i_27^0-i_27^post57 == 0 /\ __disjvr_18^0-__disjvr_18^post57 == 0 /\ y_22^0-y_22^post57 == 0 /\ __disjvr_8^0-__disjvr_8^post57 == 0 /\ -rcd_243^post57+rcd_243^0 == 0 /\ __disjvr_20^0-__disjvr_20^post57 == 0 /\ length_25^0-length_25^post57 == 0 /\ rcd_230^0-rcd_230^post57 == 0 /\ -x_21^post57+x_21^0 == 0 /\ y_261^0-y_261^post57 == 0 /\ -__disjvr_10^post57+__disjvr_10^0 == 0 /\ -temp0_28^post57+temp0_28^0 == 0 /\ -__disjvr_12^post57+__disjvr_12^0 == 0 /\ -r_240^post57+r_240^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post57 == 0 /\ -a_215^post57+a_215^0 == 0 /\ -__disjvr_1^post57+__disjvr_1^0 == 0 /\ a_168^0-a_168^post57 == 0 /\ a_143^0-a_143^post57 == 0 /\ __disjvr_0^0-__disjvr_0^post57 == 0 /\ length_14^0-length_14^post57 == 0 /\ r_229^0-r_229^post57 == 0 /\ -y_269^post57+y_269^0 == 0 /\ __disjvr_14^0-__disjvr_14^post57 == 0 /\ rcd_268^0-rcd_268^post57 == 0 /\ __disjvr_16^0-__disjvr_16^post57 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ -r_36^post57+r_36^0 == 0 /\ y_241^0-y_241^post57 == 0 /\ -r_242^post57+r_242^0 == 0 /\ -i_114^post57+i_114^0 == 0 /\ z_19^0-z_19^post57 == 0 /\ -y_295^post57+y_295^0 == 0 /\ -y_290^post57+y_290^0 == 0 /\ tmp_31^0-tmp_31^post57 == 0 /\ -r_247^post57+r_247^0 == 0 /\ -y_285^post57+y_285^0 == 0 /\ y_162^0-y_162^post57 == 0 /\ r_154^0-r_154^post57 == 0 /\ head_13^0-head_13^post57 == 0 /\ -r_183^post57+r_183^0 == 0 /\ __disjvr_3^0-__disjvr_3^post57 == 0 /\ __disjvr_15^0-__disjvr_15^post57 == 0 /\ -rcd_40^post57+rcd_40^0 == 0 /\ -__disjvr_22^post57+__disjvr_22^0 == 0 /\ -r_238^post57+r_238^0 == 0 /\ temp0_18^0-temp0_18^post57 == 0 /\ rcd_107^0-rcd_107^post57 == 0 /\ -a_271^post57+a_271^0 == 0 /\ -tail_15^post57+tail_15^0 == 0 /\ r_253^0-r_253^post57 == 0 /\ __disjvr_6^0-__disjvr_6^post57 == 0 /\ -temp_32^post57+temp_32^0 == 0 /\ r_267^0-r_267^post57 == 0 /\ len_270^0-len_270^post57 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post57+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -rcd_248^post57+rcd_248^0 == 0 /\ -rcd_239^post57+rcd_239^0 == 0 /\ -i_105^post57+i_105^0 == 0 /\ -__disjvr_7^post57+__disjvr_7^0 == 0 /\ __disjvr_13^0-__disjvr_13^post57 == 0 /\ result_11^0-result_11^post57 == 0 /\ -y_231^post57+y_231^0 == 0 /\ y_347^0-y_347^post57 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0 /\ -__disjvr_5^post57+__disjvr_5^0 == 0 /\ -y_191^post57+y_191^0 == 0 /\ -__disjvr_23^post57+__disjvr_23^0 == 0 /\ -w_20^post57+w_20^0 == 0 /\ -head_29^post57+head_29^0 == 0 /\ -__disjvr_11^post57+__disjvr_11^0 == 0 /\ -len_200^post57+len_200^0 == 0 /\ -rcd_64^post57+rcd_64^0 == 0 /\ __disjvr_21^0-__disjvr_21^post57 == 0 /\ t_23^0-t_23^post57 == 0 /\ __disjvr_9^0-__disjvr_9^post57 == 0 /\ -__disjvr_2^post57+__disjvr_2^0 == 0 /\ __disjvr_19^0-__disjvr_19^post57 == 0 /\ -rcd_99^post57+rcd_99^0 == 0 /\ -__disjvr_4^post57+__disjvr_4^0 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l50
   4: l0 -> l6 : __disjvr_0^0'=__disjvr_0^post4, i_27^0'=i_27^post4, y_162^0'=y_162^post4, __disjvr_21^0'=__disjvr_21^post4, z_19^0'=z_19^post4, __disjvr_9^0'=__disjvr_9^post4, result_11^0'=result_11^post4, __disjvr_14^0'=__disjvr_14^post4, r_154^0'=r_154^post4, __disjvr_24^0'=__disjvr_24^post4, y_261^0'=y_261^post4, rcd_230^0'=rcd_230^post4, head_13^0'=head_13^post4, head_SLAM_f_26^0'=head_SLAM_f_26^post4, tmp_31^0'=tmp_31^post4, __disjvr_19^0'=__disjvr_19^post4, r_242^0'=r_242^post4, __disjvr_6^0'=__disjvr_6^post4, y_347^0'=y_347^post4, rcd_40^0'=rcd_40^post4, __disjvr_11^0'=__disjvr_11^post4, len_270^0'=len_270^post4, y_22^0'=y_22^post4, r_267^0'=r_267^post4, a_168^0'=a_168^post4, t_23^0'=t_23^post4, __disjvr_16^0'=__disjvr_16^post4, r_229^0'=r_229^post4, __disjvr_3^0'=__disjvr_3^post4, y_285^0'=y_285^post4, rcd_243^0'=rcd_243^post4, i_114^0'=i_114^post4, x_21^0'=x_21^post4, __disjvr_20^0'=__disjvr_20^post4, r_253^0'=r_253^post4, __disjvr_8^0'=__disjvr_8^post4, rcd_99^0'=rcd_99^post4, __disjvr_13^0'=__disjvr_13^post4, length_25^0'=length_25^post4, __disjvr_23^0'=__disjvr_23^post4, y_241^0'=y_241^post4, rcd_107^0'=rcd_107^post4, a_271^0'=a_271^post4, temp0_18^0'=temp0_18^post4, temp_32^0'=temp_32^post4, __disjvr_18^0'=__disjvr_18^post4, r_240^0'=r_240^post4, __disjvr_5^0'=__disjvr_5^post4, y_295^0'=y_295^post4, rcd_268^0'=rcd_268^post4, __disjvr_10^0'=__disjvr_10^post4, len_200^0'=len_200^post4, y_191^0'=y_191^post4, __disjvr_22^0'=__disjvr_22^post4, a_143^0'=a_143^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post4, __disjvr_15^0'=__disjvr_15^post4, r_183^0'=r_183^post4, __disjvr_2^0'=__disjvr_2^post4, y_269^0'=y_269^post4, rcd_239^0'=rcd_239^post4, head_29^0'=head_29^post4, i_105^0'=i_105^post4, w_20^0'=w_20^post4, __disjvr_1^0'=__disjvr_1^post4, r_247^0'=r_247^post4, __disjvr_7^0'=__disjvr_7^post4, rcd_64^0'=rcd_64^post4, __disjvr_12^0'=__disjvr_12^post4, length_14^0'=length_14^post4, y_231^0'=y_231^post4, r_36^0'=r_36^post4, a_215^0'=a_215^post4, tail_15^0'=tail_15^post4, temp0_28^0'=temp0_28^post4, __disjvr_17^0'=__disjvr_17^post4, r_238^0'=r_238^post4, __disjvr_4^0'=__disjvr_4^post4, y_290^0'=y_290^post4, rcd_248^0'=rcd_248^post4, (0 == 0 /\ __disjvr_20^0-__disjvr_20^post4 == 0 /\ -y_231^post4+y_231^0 == 0 /\ y_162^0-y_162^post4 == 0 /\ rcd_40^0-rcd_40^post4 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ -r_267^post4+r_267^0 == 0 /\ -len_200^0 <= 0 /\ y_22^0-y_22^post4 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post4 == 0 /\ t_23^0-t_23^post4 == 0 /\ -len_200^post4+len_200^0 == 0 /\ __disjvr_23^0-__disjvr_23^post4 == 0 /\ rcd_268^0-rcd_268^post4 == 0 /\ rcd_107^0-rcd_107^post4 == 0 /\ a_143^0-a_143^post4 == 0 /\ -__disjvr_4^post4+__disjvr_4^0 == 0 /\ -x_21^post4+x_21^0 == 0 /\ head_29^0-head_29^post4 == 0 /\ r_229^0-r_229^post4 == 0 /\ -w_20^post4+w_20^0 == 0 /\ -a_215^post4+a_215^0 == 0 /\ __disjvr_3^0-__disjvr_3^post4 == 0 /\ -y_285^post4+y_285^0 == 0 /\ i_105^0-i_105^post4 == 0 /\ __disjvr_21^0-__disjvr_21^post4 == 0 /\ -a_271^post4+a_271^0 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -temp0_28^post4+temp0_28^0 == 0 /\ r_154^0-r_154^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -i_114^post4+i_114^0 == 0 /\ a_168^0-a_168^post4 == 0 /\ y_241^0-y_241^post4 == 0 /\ temp0_18^0-temp0_18^post4 == 0 /\ -__disjvr_1^post4+__disjvr_1^0 == 0 /\ -a_215^0 <= 0 /\ -__disjvr_18^post4+__disjvr_18^0 == 0 /\ -r_183^post4+r_183^0 == 0 /\ -y_290^post4+y_290^0 == 0 /\ -rcd_239^post4+rcd_239^0 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -r_36^post4+r_36^0 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ i_27^0-i_27^post4 == 0 /\ len_270^0-len_270^post4 == 0 /\ temp_32^0-temp_32^post4 == 0 /\ __disjvr_24^0-__disjvr_24^post4 == 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ -r_242^post4+r_242^0 == 0 /\ tmp_31^0-tmp_31^post4 == 0 /\ __disjvr_13^0-__disjvr_13^post4 == 0 /\ -__disjvr_12^post4+__disjvr_12^0 == 0 /\ -__disjvr_5^post4+__disjvr_5^0 == 0 /\ rcd_230^0-rcd_230^post4 == 0 /\ -__disjvr_16^post4+__disjvr_16^0 == 0 /\ -length_25^post4+length_25^0 == 0 /\ __disjvr_19^0-__disjvr_19^post4 == 0 /\ -rcd_99^post4+rcd_99^0 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ -rcd_243^post4+rcd_243^0 == 0 /\ -r_238^post4+r_238^0 == 0 /\ -__disjvr_11^post4+__disjvr_11^0 == 0 /\ -rcd_64^post4+rcd_64^0 == 0 /\ __disjvr_22^0-__disjvr_22^post4 == 0 /\ -__disjvr_15^post4+__disjvr_15^0 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ y_269^0-y_269^post4 == 0 /\ -r_240^post4+r_240^0 == 0 /\ -y_191^post4+y_191^0 == 0 /\ y_347^0-y_347^post4 == 0 /\ -r_247^post4+r_247^0 == 0 /\ y_295^0-y_295^post4 == 0 /\ -rcd_248^post4+rcd_248^0 == 0), cost: 1
   5: l6 -> l7 : __disjvr_0^0'=__disjvr_0^post5, i_27^0'=i_27^post5, y_162^0'=y_162^post5, __disjvr_21^0'=__disjvr_21^post5, z_19^0'=z_19^post5, __disjvr_9^0'=__disjvr_9^post5, result_11^0'=result_11^post5, __disjvr_14^0'=__disjvr_14^post5, r_154^0'=r_154^post5, __disjvr_24^0'=__disjvr_24^post5, y_261^0'=y_261^post5, rcd_230^0'=rcd_230^post5, head_13^0'=head_13^post5, head_SLAM_f_26^0'=head_SLAM_f_26^post5, tmp_31^0'=tmp_31^post5, __disjvr_19^0'=__disjvr_19^post5, r_242^0'=r_242^post5, __disjvr_6^0'=__disjvr_6^post5, y_347^0'=y_347^post5, rcd_40^0'=rcd_40^post5, __disjvr_11^0'=__disjvr_11^post5, len_270^0'=len_270^post5, y_22^0'=y_22^post5, r_267^0'=r_267^post5, a_168^0'=a_168^post5, t_23^0'=t_23^post5, __disjvr_16^0'=__disjvr_16^post5, r_229^0'=r_229^post5, __disjvr_3^0'=__disjvr_3^post5, y_285^0'=y_285^post5, rcd_243^0'=rcd_243^post5, i_114^0'=i_114^post5, x_21^0'=x_21^post5, __disjvr_20^0'=__disjvr_20^post5, r_253^0'=r_253^post5, __disjvr_8^0'=__disjvr_8^post5, rcd_99^0'=rcd_99^post5, __disjvr_13^0'=__disjvr_13^post5, length_25^0'=length_25^post5, __disjvr_23^0'=__disjvr_23^post5, y_241^0'=y_241^post5, rcd_107^0'=rcd_107^post5, a_271^0'=a_271^post5, temp0_18^0'=temp0_18^post5, temp_32^0'=temp_32^post5, __disjvr_18^0'=__disjvr_18^post5, r_240^0'=r_240^post5, __disjvr_5^0'=__disjvr_5^post5, y_295^0'=y_295^post5, rcd_268^0'=rcd_268^post5, __disjvr_10^0'=__disjvr_10^post5, len_200^0'=len_200^post5, y_191^0'=y_191^post5, __disjvr_22^0'=__disjvr_22^post5, a_143^0'=a_143^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post5, __disjvr_15^0'=__disjvr_15^post5, r_183^0'=r_183^post5, __disjvr_2^0'=__disjvr_2^post5, y_269^0'=y_269^post5, rcd_239^0'=rcd_239^post5, head_29^0'=head_29^post5, i_105^0'=i_105^post5, w_20^0'=w_20^post5, __disjvr_1^0'=__disjvr_1^post5, r_247^0'=r_247^post5, __disjvr_7^0'=__disjvr_7^post5, rcd_64^0'=rcd_64^post5, __disjvr_12^0'=__disjvr_12^post5, length_14^0'=length_14^post5, y_231^0'=y_231^post5, r_36^0'=r_36^post5, a_215^0'=a_215^post5, tail_15^0'=tail_15^post5, temp0_28^0'=temp0_28^post5, __disjvr_17^0'=__disjvr_17^post5, r_238^0'=r_238^post5, __disjvr_4^0'=__disjvr_4^post5, y_290^0'=y_290^post5, rcd_248^0'=rcd_248^post5, (i_114^0-i_114^post5 == 0 /\ result_11^0-result_11^post5 == 0 /\ r_253^0-r_253^post5 == 0 /\ -i_105^post5+i_105^0 == 0 /\ -rcd_107^post5+rcd_107^0 == 0 /\ y_162^0-y_162^post5 == 0 /\ -length_14^post5+length_14^0 == 0 /\ z_19^0-z_19^post5 == 0 /\ -__disjvr_17^post5+__disjvr_17^0 == 0 /\ -__disjvr_20^post5+__disjvr_20^0 == 0 /\ y_285^0-y_285^post5 == 0 /\ -__disjvr_23^post5+__disjvr_23^0 == 0 /\ __disjvr_13^0-__disjvr_13^post5 == 0 /\ -y_191^post5+y_191^0 == 0 /\ -y_231^post5+y_231^0 == 0 /\ head_13^0-head_13^post5 == 0 /\ -rcd_248^post5+rcd_248^0 == 0 /\ tmp_31^0-tmp_31^post5 == 0 /\ -y_347^post5+y_347^0 == 0 /\ __disjvr_3^0-__disjvr_3^post5 == 0 /\ -a_143^post5+a_143^0 == 0 /\ -__disjvr_8^post5+__disjvr_8^0 == 0 /\ r_229^0-r_229^post5 == 0 /\ __disjvr_21^0-__disjvr_21^post5 == 0 /\ -x_21^post5+x_21^0 == 0 /\ len_270^0-len_270^post5 == 0 /\ __disjvr_19^0-__disjvr_19^post5 == 0 /\ head_29^0-head_29^post5 == 0 /\ -temp0_28^post5+temp0_28^0 == 0 /\ __disjvr_18^0-__disjvr_18^post5 == 0 /\ -len_200^post5+len_200^0 == 0 /\ -a_215^post5+a_215^0 == 0 /\ __disjvr_11^0-__disjvr_11^post5 == 0 /\ -a_168^post5+a_168^0 == 0 /\ -__disjvr_4^post5+__disjvr_4^0 == 0 /\ w_20^0-w_20^post5 == 0 /\ y_261^0-y_261^post5 == 0 /\ r_267^0-r_267^post5 == 0 /\ rcd_40^0-rcd_40^post5 == 0 /\ -__disjvr_7^post5+__disjvr_7^0 == 0 /\ -__disjvr_16^post5+__disjvr_16^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post5 == 0 /\ rcd_99^0-rcd_99^post5 == 0 /\ -__disjvr_10^post5+__disjvr_10^0 == 0 /\ -length_25^post5+length_25^0 == 0 /\ r_242^0-r_242^post5 == 0 /\ temp_32^0-temp_32^post5 == 0 /\ r_36^0-r_36^post5 == 0 /\ y_241^0-y_241^post5 == 0 /\ -__disjvr_5^post5+__disjvr_5^0 == 0 /\ -y_290^post5+y_290^0 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ i_27^0-i_27^post5 == 0 /\ y_22^0-y_22^post5 == 0 /\ -r_240^post5+r_240^0 == 0 /\ -__disjvr_1^post5+__disjvr_1^0 == 0 /\ -rcd_64^post5+rcd_64^0 == 0 /\ -__disjvr_2^0+__disjvr_2^post5 == 0 /\ t_23^0-t_23^post5 == 0 /\ __disjvr_9^0-__disjvr_9^post5 == 0 /\ -__disjvr_14^post5+__disjvr_14^0 == 0 /\ a_271^0-a_271^post5 == 0 /\ -y_269^post5+y_269^0 == 0 /\ -rcd_268^post5+rcd_268^0 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ __disjvr_15^0-__disjvr_15^post5 == 0 /\ r_154^0-r_154^post5 == 0 /\ __disjvr_22^0-__disjvr_22^post5 == 0 /\ -r_238^post5+r_238^0 == 0 /\ rcd_230^0-rcd_230^post5 == 0 /\ -__disjvr_24^post5+__disjvr_24^0 == 0 /\ -r_247^post5+r_247^0 == 0 /\ -temp0_18^post5+temp0_18^0 == 0 /\ -rcd_239^post5+rcd_239^0 == 0 /\ -y_295^post5+y_295^0 == 0 /\ -tail_15^post5+tail_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post5 == 0 /\ -r_183^post5+r_183^0 == 0 /\ rcd_243^0-rcd_243^post5 == 0 /\ __disjvr_2^0-__disjvr_2^post5 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post5+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0), cost: 1
   6: l7 -> l8 : __disjvr_0^0'=__disjvr_0^post6, i_27^0'=i_27^post6, y_162^0'=y_162^post6, __disjvr_21^0'=__disjvr_21^post6, z_19^0'=z_19^post6, __disjvr_9^0'=__disjvr_9^post6, result_11^0'=result_11^post6, __disjvr_14^0'=__disjvr_14^post6, r_154^0'=r_154^post6, __disjvr_24^0'=__disjvr_24^post6, y_261^0'=y_261^post6, rcd_230^0'=rcd_230^post6, head_13^0'=head_13^post6, head_SLAM_f_26^0'=head_SLAM_f_26^post6, tmp_31^0'=tmp_31^post6, __disjvr_19^0'=__disjvr_19^post6, r_242^0'=r_242^post6, __disjvr_6^0'=__disjvr_6^post6, y_347^0'=y_347^post6, rcd_40^0'=rcd_40^post6, __disjvr_11^0'=__disjvr_11^post6, len_270^0'=len_270^post6, y_22^0'=y_22^post6, r_267^0'=r_267^post6, a_168^0'=a_168^post6, t_23^0'=t_23^post6, __disjvr_16^0'=__disjvr_16^post6, r_229^0'=r_229^post6, __disjvr_3^0'=__disjvr_3^post6, y_285^0'=y_285^post6, rcd_243^0'=rcd_243^post6, i_114^0'=i_114^post6, x_21^0'=x_21^post6, __disjvr_20^0'=__disjvr_20^post6, r_253^0'=r_253^post6, __disjvr_8^0'=__disjvr_8^post6, rcd_99^0'=rcd_99^post6, __disjvr_13^0'=__disjvr_13^post6, length_25^0'=length_25^post6, __disjvr_23^0'=__disjvr_23^post6, y_241^0'=y_241^post6, rcd_107^0'=rcd_107^post6, a_271^0'=a_271^post6, temp0_18^0'=temp0_18^post6, temp_32^0'=temp_32^post6, __disjvr_18^0'=__disjvr_18^post6, r_240^0'=r_240^post6, __disjvr_5^0'=__disjvr_5^post6, y_295^0'=y_295^post6, rcd_268^0'=rcd_268^post6, __disjvr_10^0'=__disjvr_10^post6, len_200^0'=len_200^post6, y_191^0'=y_191^post6, __disjvr_22^0'=__disjvr_22^post6, a_143^0'=a_143^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post6, __disjvr_15^0'=__disjvr_15^post6, r_183^0'=r_183^post6, __disjvr_2^0'=__disjvr_2^post6, y_269^0'=y_269^post6, rcd_239^0'=rcd_239^post6, head_29^0'=head_29^post6, i_105^0'=i_105^post6, w_20^0'=w_20^post6, __disjvr_1^0'=__disjvr_1^post6, r_247^0'=r_247^post6, __disjvr_7^0'=__disjvr_7^post6, rcd_64^0'=rcd_64^post6, __disjvr_12^0'=__disjvr_12^post6, length_14^0'=length_14^post6, y_231^0'=y_231^post6, r_36^0'=r_36^post6, a_215^0'=a_215^post6, tail_15^0'=tail_15^post6, temp0_28^0'=temp0_28^post6, __disjvr_17^0'=__disjvr_17^post6, r_238^0'=r_238^post6, __disjvr_4^0'=__disjvr_4^post6, y_290^0'=y_290^post6, rcd_248^0'=rcd_248^post6, (0 == 0 /\ rcd_40^0-rcd_268^post6 <= 0 /\ -i_105^post6+i_105^0 == 0 /\ __disjvr_13^0-__disjvr_13^post6 == 0 /\ __disjvr_24^0-__disjvr_24^post6 == 0 /\ __disjvr_16^0-__disjvr_16^post6 == 0 /\ -head_29^post6+head_29^0 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ rcd_99^0-rcd_99^post6 == 0 /\ __disjvr_9^0-__disjvr_9^post6 == 0 /\ -length_14^post6+length_14^0 == 0 /\ -rcd_248^post6+rcd_248^0 == 0 /\ w_20^0-tail_15^0 <= 0 /\ -__disjvr_22^post6+__disjvr_22^0 == 0 /\ t_23^post6-y_22^post6 <= 0 /\ -rcd_239^post6+rcd_239^0 == 0 /\ -y_231^post6+y_231^0 == 0 /\ i_114^0-i_114^post6 == 0 /\ head_13^0-head_13^post6 == 0 /\ -tail_15^post6+tail_15^0 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ i_27^0-i_27^post6 == 0 /\ -r_238^post6+r_238^0 == 0 /\ r_267^post6-r_36^0 <= 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ -temp_32^post6+temp_32^0 == 0 /\ -rcd_107^post6+rcd_107^0 == 0 /\ -rcd_40^0+rcd_268^post6 <= 0 /\ y_261^0-y_261^post6 == 0 /\ __disjvr_12^0-__disjvr_12^post6 == 0 /\ r_247^0-r_247^post6 == 0 /\ rcd_243^0-rcd_243^post6 == 0 /\ -1+len_270^post6-len_200^0 <= 0 /\ -y_191^post6+y_191^0 == 0 /\ -__disjvr_4^post6+__disjvr_4^0 == 0 /\ r_229^0-r_229^post6 == 0 /\ -__disjvr_20^post6+__disjvr_20^0 == 0 /\ -w_20^0+tail_15^0 <= 0 /\ -t_23^post6+y_22^post6 <= 0 /\ -t_23^post6+y_22^post6 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ -tmp_31^post6+tmp_31^0 == 0 /\ -__disjvr_10^post6+__disjvr_10^0 == 0 /\ -__disjvr_3^post6+__disjvr_3^0 == 0 /\ -1-a_271^post6+a_215^0 <= 0 /\ r_253^0-r_253^post6 == 0 /\ -w_20^post6+w_20^0 == 0 /\ -a_143^post6+a_143^0 == 0 /\ -r_267^post6+r_36^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ -y_241^post6+y_241^0 == 0 /\ __disjvr_11^0-__disjvr_11^post6 == 0 /\ -rcd_64^post6+rcd_64^0 == 0 /\ rcd_40^0-rcd_40^post6 == 0 /\ -r_240^post6+r_240^0 == 0 /\ -y_162^0+y_269^post6 <= 0 /\ -y_347^post6+y_347^0 == 0 /\ -temp0_18^post6+temp0_18^0 == 0 /\ r_183^0-r_183^post6 == 0 /\ z_19^0-head_13^0 <= 0 /\ y_162^0-y_162^post6 == 0 /\ -a_215^post6+a_215^0 == 0 /\ r_242^0-r_242^post6 == 0 /\ r_36^0-r_36^post6 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ -rcd_230^post6+rcd_230^0 == 0 /\ x_21^0-x_21^post6 == 0 /\ r_154^0-r_154^post6 == 0 /\ -temp0_28^post6+temp0_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post6 == 0 /\ __disjvr_23^0-__disjvr_23^post6 == 0 /\ result_11^0-result_11^post6 == 0 /\ -y_295^post6+y_295^0 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0 /\ y_162^0-y_269^post6 <= 0 /\ 1-len_270^post6+len_200^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ -length_25^post6+length_25^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post6 == 0 /\ len_200^0-len_200^post6 == 0 /\ -z_19^0+head_13^0 <= 0 /\ __disjvr_2^0-__disjvr_2^post6 == 0 /\ __disjvr_8^0-__disjvr_8^post6 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post6 == 0 /\ 1+a_271^post6-a_215^0 <= 0 /\ z_19^0-z_19^post6 == 0 /\ a_168^0-a_168^post6 == 0 /\ __disjvr_6^0-__disjvr_6^post6 == 0 /\ -y_290^post6+y_290^0 == 0 /\ t_23^post6-x_21^0 == 0 /\ y_285^0-y_285^post6 == 0), cost: 1
   7: l8 -> l9 : __disjvr_0^0'=__disjvr_0^post7, i_27^0'=i_27^post7, y_162^0'=y_162^post7, __disjvr_21^0'=__disjvr_21^post7, z_19^0'=z_19^post7, __disjvr_9^0'=__disjvr_9^post7, result_11^0'=result_11^post7, __disjvr_14^0'=__disjvr_14^post7, r_154^0'=r_154^post7, __disjvr_24^0'=__disjvr_24^post7, y_261^0'=y_261^post7, rcd_230^0'=rcd_230^post7, head_13^0'=head_13^post7, head_SLAM_f_26^0'=head_SLAM_f_26^post7, tmp_31^0'=tmp_31^post7, __disjvr_19^0'=__disjvr_19^post7, r_242^0'=r_242^post7, __disjvr_6^0'=__disjvr_6^post7, y_347^0'=y_347^post7, rcd_40^0'=rcd_40^post7, __disjvr_11^0'=__disjvr_11^post7, len_270^0'=len_270^post7, y_22^0'=y_22^post7, r_267^0'=r_267^post7, a_168^0'=a_168^post7, t_23^0'=t_23^post7, __disjvr_16^0'=__disjvr_16^post7, r_229^0'=r_229^post7, __disjvr_3^0'=__disjvr_3^post7, y_285^0'=y_285^post7, rcd_243^0'=rcd_243^post7, i_114^0'=i_114^post7, x_21^0'=x_21^post7, __disjvr_20^0'=__disjvr_20^post7, r_253^0'=r_253^post7, __disjvr_8^0'=__disjvr_8^post7, rcd_99^0'=rcd_99^post7, __disjvr_13^0'=__disjvr_13^post7, length_25^0'=length_25^post7, __disjvr_23^0'=__disjvr_23^post7, y_241^0'=y_241^post7, rcd_107^0'=rcd_107^post7, a_271^0'=a_271^post7, temp0_18^0'=temp0_18^post7, temp_32^0'=temp_32^post7, __disjvr_18^0'=__disjvr_18^post7, r_240^0'=r_240^post7, __disjvr_5^0'=__disjvr_5^post7, y_295^0'=y_295^post7, rcd_268^0'=rcd_268^post7, __disjvr_10^0'=__disjvr_10^post7, len_200^0'=len_200^post7, y_191^0'=y_191^post7, __disjvr_22^0'=__disjvr_22^post7, a_143^0'=a_143^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post7, __disjvr_15^0'=__disjvr_15^post7, r_183^0'=r_183^post7, __disjvr_2^0'=__disjvr_2^post7, y_269^0'=y_269^post7, rcd_239^0'=rcd_239^post7, head_29^0'=head_29^post7, i_105^0'=i_105^post7, w_20^0'=w_20^post7, __disjvr_1^0'=__disjvr_1^post7, r_247^0'=r_247^post7, __disjvr_7^0'=__disjvr_7^post7, rcd_64^0'=rcd_64^post7, __disjvr_12^0'=__disjvr_12^post7, length_14^0'=length_14^post7, y_231^0'=y_231^post7, r_36^0'=r_36^post7, a_215^0'=a_215^post7, tail_15^0'=tail_15^post7, temp0_28^0'=temp0_28^post7, __disjvr_17^0'=__disjvr_17^post7, r_238^0'=r_238^post7, __disjvr_4^0'=__disjvr_4^post7, y_290^0'=y_290^post7, rcd_248^0'=rcd_248^post7, (y_241^0-y_241^post7 == 0 /\ t_23^0-t_23^post7 == 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ __disjvr_9^0-__disjvr_9^post7 == 0 /\ r_267^0-r_267^post7 == 0 /\ -head_29^post7+head_29^0 == 0 /\ __disjvr_16^0-__disjvr_16^post7 == 0 /\ temp_32^0-temp_32^post7 == 0 /\ -rcd_248^post7+rcd_248^0 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ -__disjvr_15^post7+__disjvr_15^0 == 0 /\ __disjvr_3^post7-__disjvr_3^0 == 0 /\ y_191^0-y_191^post7 == 0 /\ x_21^0-x_21^post7 == 0 /\ -i_105^post7+i_105^0 == 0 /\ r_154^0-r_154^post7 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0 /\ rcd_99^0-rcd_99^post7 == 0 /\ -a_271^post7+a_271^0 == 0 /\ -y_290^post7+y_290^0 == 0 /\ y_295^0-y_295^post7 == 0 /\ -len_270^post7+len_270^0 == 0 /\ -r_253^post7+r_253^0 == 0 /\ -rcd_239^post7+rcd_239^0 == 0 /\ rcd_230^0-rcd_230^post7 == 0 /\ -__disjvr_19^post7+__disjvr_19^0 == 0 /\ -__disjvr_1^post7+__disjvr_1^0 == 0 /\ -__disjvr_18^post7+__disjvr_18^0 == 0 /\ -tail_15^post7+tail_15^0 == 0 /\ i_27^0-i_27^post7 == 0 /\ -__disjvr_6^post7+__disjvr_6^0 == 0 /\ -__disjvr_2^post7+__disjvr_2^0 == 0 /\ -y_231^post7+y_231^0 == 0 /\ -__disjvr_4^post7+__disjvr_4^0 == 0 /\ y_22^0-y_22^post7 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post7 == 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ a_168^0-a_168^post7 == 0 /\ -rcd_64^post7+rcd_64^0 == 0 /\ rcd_243^0-rcd_243^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post7 == 0 /\ -__disjvr_13^post7+__disjvr_13^0 == 0 /\ -__disjvr_3^post7+__disjvr_3^0 == 0 /\ -rcd_268^post7+rcd_268^0 == 0 /\ -__disjvr_20^post7+__disjvr_20^0 == 0 /\ y_285^0-y_285^post7 == 0 /\ -r_238^post7+r_238^0 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ -w_20^post7+w_20^0 == 0 /\ -len_200^post7+len_200^0 == 0 /\ -r_240^post7+r_240^0 == 0 /\ -a_143^post7+a_143^0 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ __disjvr_23^0-__disjvr_23^post7 == 0 /\ y_162^0-y_162^post7 == 0 /\ -result_11^post7+result_11^0 == 0 /\ -r_229^post7+r_229^0 == 0 /\ length_25^0-length_25^post7 == 0 /\ a_215^0-a_215^post7 == 0 /\ y_347^0-y_347^post7 == 0 /\ -r_247^post7+r_247^0 == 0 /\ -temp0_18^post7+temp0_18^0 == 0 /\ head_13^0-head_13^post7 == 0 /\ y_269^0-y_269^post7 == 0 /\ __disjvr_22^0-__disjvr_22^post7 == 0 /\ __disjvr_11^0-__disjvr_11^post7 == 0 /\ -r_183^post7+r_183^0 == 0 /\ r_242^0-r_242^post7 == 0 /\ y_261^0-y_261^post7 == 0 /\ __disjvr_17^0-__disjvr_17^post7 == 0 /\ tmp_31^0-tmp_31^post7 == 0 /\ z_19^0-z_19^post7 == 0 /\ __disjvr_14^0-__disjvr_14^post7 == 0 /\ __disjvr_10^0-__disjvr_10^post7 == 0 /\ rcd_40^0-rcd_40^post7 == 0 /\ -r_36^post7+r_36^0 == 0 /\ -temp0_28^post7+temp0_28^0 == 0 /\ -i_114^post7+i_114^0 == 0 /\ -length_14^post7+length_14^0 == 0 /\ __disjvr_8^0-__disjvr_8^post7 == 0 /\ -rcd_107^post7+rcd_107^0 == 0), cost: 1
   8: l9 -> l10 : __disjvr_0^0'=__disjvr_0^post8, i_27^0'=i_27^post8, y_162^0'=y_162^post8, __disjvr_21^0'=__disjvr_21^post8, z_19^0'=z_19^post8, __disjvr_9^0'=__disjvr_9^post8, result_11^0'=result_11^post8, __disjvr_14^0'=__disjvr_14^post8, r_154^0'=r_154^post8, __disjvr_24^0'=__disjvr_24^post8, y_261^0'=y_261^post8, rcd_230^0'=rcd_230^post8, head_13^0'=head_13^post8, head_SLAM_f_26^0'=head_SLAM_f_26^post8, tmp_31^0'=tmp_31^post8, __disjvr_19^0'=__disjvr_19^post8, r_242^0'=r_242^post8, __disjvr_6^0'=__disjvr_6^post8, y_347^0'=y_347^post8, rcd_40^0'=rcd_40^post8, __disjvr_11^0'=__disjvr_11^post8, len_270^0'=len_270^post8, y_22^0'=y_22^post8, r_267^0'=r_267^post8, a_168^0'=a_168^post8, t_23^0'=t_23^post8, __disjvr_16^0'=__disjvr_16^post8, r_229^0'=r_229^post8, __disjvr_3^0'=__disjvr_3^post8, y_285^0'=y_285^post8, rcd_243^0'=rcd_243^post8, i_114^0'=i_114^post8, x_21^0'=x_21^post8, __disjvr_20^0'=__disjvr_20^post8, r_253^0'=r_253^post8, __disjvr_8^0'=__disjvr_8^post8, rcd_99^0'=rcd_99^post8, __disjvr_13^0'=__disjvr_13^post8, length_25^0'=length_25^post8, __disjvr_23^0'=__disjvr_23^post8, y_241^0'=y_241^post8, rcd_107^0'=rcd_107^post8, a_271^0'=a_271^post8, temp0_18^0'=temp0_18^post8, temp_32^0'=temp_32^post8, __disjvr_18^0'=__disjvr_18^post8, r_240^0'=r_240^post8, __disjvr_5^0'=__disjvr_5^post8, y_295^0'=y_295^post8, rcd_268^0'=rcd_268^post8, __disjvr_10^0'=__disjvr_10^post8, len_200^0'=len_200^post8, y_191^0'=y_191^post8, __disjvr_22^0'=__disjvr_22^post8, a_143^0'=a_143^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post8, __disjvr_15^0'=__disjvr_15^post8, r_183^0'=r_183^post8, __disjvr_2^0'=__disjvr_2^post8, y_269^0'=y_269^post8, rcd_239^0'=rcd_239^post8, head_29^0'=head_29^post8, i_105^0'=i_105^post8, w_20^0'=w_20^post8, __disjvr_1^0'=__disjvr_1^post8, r_247^0'=r_247^post8, __disjvr_7^0'=__disjvr_7^post8, rcd_64^0'=rcd_64^post8, __disjvr_12^0'=__disjvr_12^post8, length_14^0'=length_14^post8, y_231^0'=y_231^post8, r_36^0'=r_36^post8, a_215^0'=a_215^post8, tail_15^0'=tail_15^post8, temp0_28^0'=temp0_28^post8, __disjvr_17^0'=__disjvr_17^post8, r_238^0'=r_238^post8, __disjvr_4^0'=__disjvr_4^post8, y_290^0'=y_290^post8, rcd_248^0'=rcd_248^post8, (-rcd_239^post8+rcd_239^0 == 0 /\ -r_183^post8+r_183^0 == 0 /\ -y_290^post8+y_290^0 == 0 /\ __disjvr_19^0-__disjvr_19^post8 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_3^0-__disjvr_3^post8 == 0 /\ -__disjvr_7^post8+__disjvr_7^0 == 0 /\ r_154^0-r_154^post8 == 0 /\ r_267^0-r_267^post8 == 0 /\ -head_29^post8+head_29^0 == 0 /\ __disjvr_22^0-__disjvr_22^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ -length_25^post8+length_25^0 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ -w_20^post8+w_20^0 == 0 /\ y_162^0-y_162^post8 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ -__disjvr_10^post8+__disjvr_10^0 == 0 /\ __disjvr_20^0-__disjvr_20^post8 == 0 /\ -tail_15^post8+tail_15^0 == 0 /\ -rcd_99^post8+rcd_99^0 == 0 /\ -__disjvr_16^post8+__disjvr_16^0 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ y_22^0-y_22^post8 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ -r_238^post8+r_238^0 == 0 /\ -rcd_64^post8+rcd_64^0 == 0 /\ -__disjvr_15^post8+__disjvr_15^0 == 0 /\ __disjvr_8^0-__disjvr_8^post8 == 0 /\ -r_240^post8+r_240^0 == 0 /\ -y_191^post8+y_191^0 == 0 /\ t_23^0-t_23^post8 == 0 /\ -rcd_243^post8+rcd_243^0 == 0 /\ -__disjvr_1^post8+__disjvr_1^0 == 0 /\ y_285^0-y_285^post8 == 0 /\ z_19^0-z_19^post8 == 0 /\ -rcd_248^post8+rcd_248^0 == 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ rcd_107^0-rcd_107^post8 == 0 /\ -y_231^post8+y_231^0 == 0 /\ __disjvr_13^0-__disjvr_13^post8 == 0 /\ -r_247^post8+r_247^0 == 0 /\ y_269^0-y_269^post8 == 0 /\ -a_143^post8+a_143^0 == 0 /\ -__disjvr_6^post8+__disjvr_6^0 == 0 /\ -__disjvr_24^post8+__disjvr_24^0 == 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ -y_295^post8+y_295^0 == 0 /\ -len_200^post8+len_200^0 == 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0 /\ -__disjvr_23^post8+__disjvr_23^0 == 0 /\ y_347^0-y_347^post8 == 0 /\ -x_21^post8+x_21^0 == 0 /\ -temp0_18^post8+temp0_18^0 == 0 /\ -__disjvr_4^0+__disjvr_4^post8 == 0 /\ y_241^0-y_241^post8 == 0 /\ -a_215^post8+a_215^0 == 0 /\ i_114^0-i_114^post8 == 0 /\ -length_14^post8+length_14^0 == 0 /\ -a_168^post8+a_168^0 == 0 /\ -head_SLAM_f_26^post8+head_SLAM_f_26^0 == 0 /\ head_13^0-head_13^post8 == 0 /\ rcd_40^0-rcd_40^post8 == 0 /\ -a_271^post8+a_271^0 == 0 /\ __disjvr_11^0-__disjvr_11^post8 == 0 /\ rcd_230^0-rcd_230^post8 == 0 /\ r_242^0-r_242^post8 == 0 /\ y_261^0-y_261^post8 == 0 /\ i_27^0-i_27^post8 == 0 /\ -r_36^post8+r_36^0 == 0 /\ temp_32^0-temp_32^post8 == 0 /\ tmp_31^0-tmp_31^post8 == 0 /\ r_229^0-r_229^post8 == 0 /\ len_270^0-len_270^post8 == 0 /\ -i_105^post8+i_105^0 == 0 /\ -temp0_28^post8+temp0_28^0 == 0 /\ r_253^0-r_253^post8 == 0 /\ __disjvr_4^0-__disjvr_4^post8 == 0 /\ rcd_268^0-rcd_268^post8 == 0), cost: 1
   9: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post9, i_27^0'=i_27^post9, y_162^0'=y_162^post9, __disjvr_21^0'=__disjvr_21^post9, z_19^0'=z_19^post9, __disjvr_9^0'=__disjvr_9^post9, result_11^0'=result_11^post9, __disjvr_14^0'=__disjvr_14^post9, r_154^0'=r_154^post9, __disjvr_24^0'=__disjvr_24^post9, y_261^0'=y_261^post9, rcd_230^0'=rcd_230^post9, head_13^0'=head_13^post9, head_SLAM_f_26^0'=head_SLAM_f_26^post9, tmp_31^0'=tmp_31^post9, __disjvr_19^0'=__disjvr_19^post9, r_242^0'=r_242^post9, __disjvr_6^0'=__disjvr_6^post9, y_347^0'=y_347^post9, rcd_40^0'=rcd_40^post9, __disjvr_11^0'=__disjvr_11^post9, len_270^0'=len_270^post9, y_22^0'=y_22^post9, r_267^0'=r_267^post9, a_168^0'=a_168^post9, t_23^0'=t_23^post9, __disjvr_16^0'=__disjvr_16^post9, r_229^0'=r_229^post9, __disjvr_3^0'=__disjvr_3^post9, y_285^0'=y_285^post9, rcd_243^0'=rcd_243^post9, i_114^0'=i_114^post9, x_21^0'=x_21^post9, __disjvr_20^0'=__disjvr_20^post9, r_253^0'=r_253^post9, __disjvr_8^0'=__disjvr_8^post9, rcd_99^0'=rcd_99^post9, __disjvr_13^0'=__disjvr_13^post9, length_25^0'=length_25^post9, __disjvr_23^0'=__disjvr_23^post9, y_241^0'=y_241^post9, rcd_107^0'=rcd_107^post9, a_271^0'=a_271^post9, temp0_18^0'=temp0_18^post9, temp_32^0'=temp_32^post9, __disjvr_18^0'=__disjvr_18^post9, r_240^0'=r_240^post9, __disjvr_5^0'=__disjvr_5^post9, y_295^0'=y_295^post9, rcd_268^0'=rcd_268^post9, __disjvr_10^0'=__disjvr_10^post9, len_200^0'=len_200^post9, y_191^0'=y_191^post9, __disjvr_22^0'=__disjvr_22^post9, a_143^0'=a_143^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9, __disjvr_15^0'=__disjvr_15^post9, r_183^0'=r_183^post9, __disjvr_2^0'=__disjvr_2^post9, y_269^0'=y_269^post9, rcd_239^0'=rcd_239^post9, head_29^0'=head_29^post9, i_105^0'=i_105^post9, w_20^0'=w_20^post9, __disjvr_1^0'=__disjvr_1^post9, r_247^0'=r_247^post9, __disjvr_7^0'=__disjvr_7^post9, rcd_64^0'=rcd_64^post9, __disjvr_12^0'=__disjvr_12^post9, length_14^0'=length_14^post9, y_231^0'=y_231^post9, r_36^0'=r_36^post9, a_215^0'=a_215^post9, tail_15^0'=tail_15^post9, temp0_28^0'=temp0_28^post9, __disjvr_17^0'=__disjvr_17^post9, r_238^0'=r_238^post9, __disjvr_4^0'=__disjvr_4^post9, y_290^0'=y_290^post9, rcd_248^0'=rcd_248^post9, (-__disjvr_12^post9+__disjvr_12^0 == 0 /\ -y_290^post9+y_290^0 == 0 /\ -length_25^post9+length_25^0 == 0 /\ -r_36^post9+r_36^0 == 0 /\ __disjvr_0^0-__disjvr_0^post9 == 0 /\ -__disjvr_10^post9+__disjvr_10^0 == 0 /\ -__disjvr_1^post9+__disjvr_1^0 == 0 /\ -__disjvr_16^post9+__disjvr_16^0 == 0 /\ __disjvr_18^0-__disjvr_18^post9 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ y_261^0-y_261^post9 == 0 /\ -r_240^post9+r_240^0 == 0 /\ -y_269^post9+y_269^0 == 0 /\ a_168^0-a_168^post9 == 0 /\ y_162^0-y_162^post9 == 0 /\ -__disjvr_3^post9+__disjvr_3^0 == 0 /\ -rcd_64^post9+rcd_64^0 == 0 /\ -rcd_268^post9+rcd_268^0 == 0 /\ r_253^0-r_253^post9 == 0 /\ -rcd_239^post9+rcd_239^0 == 0 /\ z_19^0-z_19^post9 == 0 /\ i_114^0-i_114^post9 == 0 /\ r_242^0-r_242^post9 == 0 /\ -temp0_18^post9+temp0_18^0 == 0 /\ __disjvr_14^0-__disjvr_14^post9 == 0 /\ head_13^0-head_13^post9 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ length_14^0-length_14^post9 == 0 /\ __disjvr_7^0-__disjvr_7^post9 == 0 /\ -r_238^post9+r_238^0 == 0 /\ -r_183^post9+r_183^0 == 0 /\ __disjvr_5^post9-__disjvr_5^0 == 0 /\ -y_295^post9+y_295^0 == 0 /\ -tail_15^post9+tail_15^0 == 0 /\ -r_247^post9+r_247^0 == 0 /\ -__disjvr_22^post9+__disjvr_22^0 == 0 /\ r_229^0-r_229^post9 == 0 /\ __disjvr_24^0-__disjvr_24^post9 == 0 /\ -temp_32^post9+temp_32^0 == 0 /\ -__disjvr_20^post9+__disjvr_20^0 == 0 /\ -i_105^post9+i_105^0 == 0 /\ -__disjvr_17^post9+__disjvr_17^0 == 0 /\ -rcd_107^post9+rcd_107^0 == 0 /\ x_21^0-x_21^post9 == 0 /\ r_154^0-r_154^post9 == 0 /\ __disjvr_21^0-__disjvr_21^post9 == 0 /\ __disjvr_19^0-__disjvr_19^post9 == 0 /\ -tmp_31^post9+tmp_31^0 == 0 /\ -y_231^post9+y_231^0 == 0 /\ r_267^0-r_267^post9 == 0 /\ __disjvr_6^0-__disjvr_6^post9 == 0 /\ rcd_243^0-rcd_243^post9 == 0 /\ -rcd_248^post9+rcd_248^0 == 0 /\ -rcd_40^post9+rcd_40^0 == 0 /\ -y_191^post9+y_191^0 == 0 /\ rcd_99^0-rcd_99^post9 == 0 /\ __disjvr_2^0-__disjvr_2^post9 == 0 /\ -a_143^post9+a_143^0 == 0 /\ -__disjvr_13^post9+__disjvr_13^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post9 == 0 /\ -y_347^post9+y_347^0 == 0 /\ result_11^0-result_11^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9 == 0 /\ -len_270^post9+len_270^0 == 0 /\ -temp0_28^post9+temp0_28^0 == 0 /\ y_241^0-y_241^post9 == 0 /\ -w_20^post9+w_20^0 == 0 /\ -a_215^post9+a_215^0 == 0 /\ -__disjvr_8^post9+__disjvr_8^0 == 0 /\ i_27^0-i_27^post9 == 0 /\ y_22^0-y_22^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ y_285^0-y_285^post9 == 0 /\ -__disjvr_4^post9+__disjvr_4^0 == 0 /\ __disjvr_23^0-__disjvr_23^post9 == 0 /\ rcd_230^0-rcd_230^post9 == 0 /\ -head_29^post9+head_29^0 == 0 /\ a_271^0-a_271^post9 == 0 /\ __disjvr_15^0-__disjvr_15^post9 == 0 /\ t_23^0-t_23^post9 == 0 /\ -len_200^post9+len_200^0 == 0), cost: 1
  10: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post10, i_27^0'=i_27^post10, y_162^0'=y_162^post10, __disjvr_21^0'=__disjvr_21^post10, z_19^0'=z_19^post10, __disjvr_9^0'=__disjvr_9^post10, result_11^0'=result_11^post10, __disjvr_14^0'=__disjvr_14^post10, r_154^0'=r_154^post10, __disjvr_24^0'=__disjvr_24^post10, y_261^0'=y_261^post10, rcd_230^0'=rcd_230^post10, head_13^0'=head_13^post10, head_SLAM_f_26^0'=head_SLAM_f_26^post10, tmp_31^0'=tmp_31^post10, __disjvr_19^0'=__disjvr_19^post10, r_242^0'=r_242^post10, __disjvr_6^0'=__disjvr_6^post10, y_347^0'=y_347^post10, rcd_40^0'=rcd_40^post10, __disjvr_11^0'=__disjvr_11^post10, len_270^0'=len_270^post10, y_22^0'=y_22^post10, r_267^0'=r_267^post10, a_168^0'=a_168^post10, t_23^0'=t_23^post10, __disjvr_16^0'=__disjvr_16^post10, r_229^0'=r_229^post10, __disjvr_3^0'=__disjvr_3^post10, y_285^0'=y_285^post10, rcd_243^0'=rcd_243^post10, i_114^0'=i_114^post10, x_21^0'=x_21^post10, __disjvr_20^0'=__disjvr_20^post10, r_253^0'=r_253^post10, __disjvr_8^0'=__disjvr_8^post10, rcd_99^0'=rcd_99^post10, __disjvr_13^0'=__disjvr_13^post10, length_25^0'=length_25^post10, __disjvr_23^0'=__disjvr_23^post10, y_241^0'=y_241^post10, rcd_107^0'=rcd_107^post10, a_271^0'=a_271^post10, temp0_18^0'=temp0_18^post10, temp_32^0'=temp_32^post10, __disjvr_18^0'=__disjvr_18^post10, r_240^0'=r_240^post10, __disjvr_5^0'=__disjvr_5^post10, y_295^0'=y_295^post10, rcd_268^0'=rcd_268^post10, __disjvr_10^0'=__disjvr_10^post10, len_200^0'=len_200^post10, y_191^0'=y_191^post10, __disjvr_22^0'=__disjvr_22^post10, a_143^0'=a_143^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post10, __disjvr_15^0'=__disjvr_15^post10, r_183^0'=r_183^post10, __disjvr_2^0'=__disjvr_2^post10, y_269^0'=y_269^post10, rcd_239^0'=rcd_239^post10, head_29^0'=head_29^post10, i_105^0'=i_105^post10, w_20^0'=w_20^post10, __disjvr_1^0'=__disjvr_1^post10, r_247^0'=r_247^post10, __disjvr_7^0'=__disjvr_7^post10, rcd_64^0'=rcd_64^post10, __disjvr_12^0'=__disjvr_12^post10, length_14^0'=length_14^post10, y_231^0'=y_231^post10, r_36^0'=r_36^post10, a_215^0'=a_215^post10, tail_15^0'=tail_15^post10, temp0_28^0'=temp0_28^post10, __disjvr_17^0'=__disjvr_17^post10, r_238^0'=r_238^post10, __disjvr_4^0'=__disjvr_4^post10, y_290^0'=y_290^post10, rcd_248^0'=rcd_248^post10, (-rcd_64^post10+rcd_64^0 == 0 /\ y_261^0-y_261^post10 == 0 /\ -temp0_18^post10+temp0_18^0 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ -a_215^post10+a_215^0 == 0 /\ -__disjvr_3^post10+__disjvr_3^0 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0 /\ len_200^0-len_200^post10 == 0 /\ r_247^0-r_247^post10 == 0 /\ i_105^0-i_105^post10 == 0 /\ a_168^0-a_168^post10 == 0 /\ rcd_40^0-rcd_40^post10 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post10 == 0 /\ -rcd_268^post10+rcd_268^0 == 0 /\ __disjvr_11^0-__disjvr_11^post10 == 0 /\ __disjvr_7^0-__disjvr_7^post10 == 0 /\ -y_295^post10+y_295^0 == 0 /\ -r_229^post10+r_229^0 == 0 /\ -rcd_243^post10+rcd_243^0 == 0 /\ -r_36^post10+r_36^0 == 0 /\ -t_23^post10+t_23^0 == 0 /\ -r_183^post10+r_183^0 == 0 /\ i_114^0-i_114^post10 == 0 /\ i_27^0-i_27^post10 == 0 /\ -y_290^post10+y_290^0 == 0 /\ r_242^0-r_242^post10 == 0 /\ __disjvr_9^0-__disjvr_9^post10 == 0 /\ -length_25^post10+length_25^0 == 0 /\ r_240^0-r_240^post10 == 0 /\ result_11^0-result_11^post10 == 0 /\ r_154^0-r_154^post10 == 0 /\ __disjvr_23^0-__disjvr_23^post10 == 0 /\ -rcd_248^post10+rcd_248^0 == 0 /\ -length_14^post10+length_14^0 == 0 /\ __disjvr_18^0-__disjvr_18^post10 == 0 /\ -__disjvr_22^post10+__disjvr_22^0 == 0 /\ -head_29^post10+head_29^0 == 0 /\ __disjvr_8^0-__disjvr_8^post10 == 0 /\ -tail_15^post10+tail_15^0 == 0 /\ rcd_230^0-rcd_230^post10 == 0 /\ __disjvr_2^0-__disjvr_2^post10 == 0 /\ -head_13^post10+head_13^0 == 0 /\ __disjvr_6^0-__disjvr_6^post10 == 0 /\ -temp_32^post10+temp_32^0 == 0 /\ -y_231^post10+y_231^0 == 0 /\ r_253^0-r_253^post10 == 0 /\ -rcd_239^post10+rcd_239^0 == 0 /\ -rcd_107^post10+rcd_107^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ -r_238^post10+r_238^0 == 0 /\ -r_267^post10+r_267^0 == 0 /\ -__disjvr_15^post10+__disjvr_15^0 == 0 /\ -__disjvr_20^post10+__disjvr_20^0 == 0 /\ y_162^0-y_162^post10 == 0 /\ -__disjvr_4^post10+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ y_285^0-y_285^post10 == 0 /\ __disjvr_16^0-__disjvr_16^post10 == 0 /\ rcd_99^0-rcd_99^post10 == 0 /\ __disjvr_24^0-__disjvr_24^post10 == 0 /\ -temp0_28^post10+temp0_28^0 == 0 /\ -w_20^post10+w_20^0 == 0 /\ y_347^0-y_347^post10 == 0 /\ -y_191^post10+y_191^0 == 0 /\ z_19^0-z_19^post10 == 0 /\ y_269^0-y_269^post10 == 0 /\ -a_143^post10+a_143^0 == 0 /\ -__disjvr_6^0+__disjvr_6^post10 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post10 == 0 /\ -a_271^post10+a_271^0 == 0 /\ -__disjvr_5^post10+__disjvr_5^0 == 0 /\ -tmp_31^post10+tmp_31^0 == 0 /\ -len_270^post10+len_270^0 == 0 /\ -__disjvr_10^post10+__disjvr_10^0 == 0 /\ -y_241^post10+y_241^0 == 0 /\ -__disjvr_17^post10+__disjvr_17^0 == 0 /\ -__disjvr_13^post10+__disjvr_13^0 == 0 /\ x_21^0-x_21^post10 == 0 /\ y_22^0-y_22^post10 == 0 /\ __disjvr_19^0-__disjvr_19^post10 == 0), cost: 1
  11: l12 -> l5 : __disjvr_0^0'=__disjvr_0^post11, i_27^0'=i_27^post11, y_162^0'=y_162^post11, __disjvr_21^0'=__disjvr_21^post11, z_19^0'=z_19^post11, __disjvr_9^0'=__disjvr_9^post11, result_11^0'=result_11^post11, __disjvr_14^0'=__disjvr_14^post11, r_154^0'=r_154^post11, __disjvr_24^0'=__disjvr_24^post11, y_261^0'=y_261^post11, rcd_230^0'=rcd_230^post11, head_13^0'=head_13^post11, head_SLAM_f_26^0'=head_SLAM_f_26^post11, tmp_31^0'=tmp_31^post11, __disjvr_19^0'=__disjvr_19^post11, r_242^0'=r_242^post11, __disjvr_6^0'=__disjvr_6^post11, y_347^0'=y_347^post11, rcd_40^0'=rcd_40^post11, __disjvr_11^0'=__disjvr_11^post11, len_270^0'=len_270^post11, y_22^0'=y_22^post11, r_267^0'=r_267^post11, a_168^0'=a_168^post11, t_23^0'=t_23^post11, __disjvr_16^0'=__disjvr_16^post11, r_229^0'=r_229^post11, __disjvr_3^0'=__disjvr_3^post11, y_285^0'=y_285^post11, rcd_243^0'=rcd_243^post11, i_114^0'=i_114^post11, x_21^0'=x_21^post11, __disjvr_20^0'=__disjvr_20^post11, r_253^0'=r_253^post11, __disjvr_8^0'=__disjvr_8^post11, rcd_99^0'=rcd_99^post11, __disjvr_13^0'=__disjvr_13^post11, length_25^0'=length_25^post11, __disjvr_23^0'=__disjvr_23^post11, y_241^0'=y_241^post11, rcd_107^0'=rcd_107^post11, a_271^0'=a_271^post11, temp0_18^0'=temp0_18^post11, temp_32^0'=temp_32^post11, __disjvr_18^0'=__disjvr_18^post11, r_240^0'=r_240^post11, __disjvr_5^0'=__disjvr_5^post11, y_295^0'=y_295^post11, rcd_268^0'=rcd_268^post11, __disjvr_10^0'=__disjvr_10^post11, len_200^0'=len_200^post11, y_191^0'=y_191^post11, __disjvr_22^0'=__disjvr_22^post11, a_143^0'=a_143^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post11, __disjvr_15^0'=__disjvr_15^post11, r_183^0'=r_183^post11, __disjvr_2^0'=__disjvr_2^post11, y_269^0'=y_269^post11, rcd_239^0'=rcd_239^post11, head_29^0'=head_29^post11, i_105^0'=i_105^post11, w_20^0'=w_20^post11, __disjvr_1^0'=__disjvr_1^post11, r_247^0'=r_247^post11, __disjvr_7^0'=__disjvr_7^post11, rcd_64^0'=rcd_64^post11, __disjvr_12^0'=__disjvr_12^post11, length_14^0'=length_14^post11, y_231^0'=y_231^post11, r_36^0'=r_36^post11, a_215^0'=a_215^post11, tail_15^0'=tail_15^post11, temp0_28^0'=temp0_28^post11, __disjvr_17^0'=__disjvr_17^post11, r_238^0'=r_238^post11, __disjvr_4^0'=__disjvr_4^post11, y_290^0'=y_290^post11, rcd_248^0'=rcd_248^post11, (0 == 0 /\ -temp0_28^post11+temp0_28^0 == 0 /\ temp0_18^0-temp0_18^post11 == 0 /\ -r_240^post11+r_240^0 == 0 /\ -y_269^post11+y_269^0 == 0 /\ __disjvr_5^0-__disjvr_5^post11 == 0 /\ -rcd_268^post11+rcd_268^0 == 0 /\ rcd_107^0-rcd_107^post11 == 0 /\ -rcd_243^post11+rcd_243^0 == 0 /\ head_29^0-head_29^post11 == 0 /\ w_20^0-w_20^post11 == 0 /\ -a_271^0+a_215^post11 <= 0 /\ -r_229^post11+r_229^0 == 0 /\ r_267^0-r_267^post11 == 0 /\ len_270^0-len_270^post11 == 0 /\ -__disjvr_1^post11+__disjvr_1^0 == 0 /\ __disjvr_23^0-__disjvr_23^post11 == 0 /\ -r_183^post11+r_183^0 == 0 /\ -i_114^post11+i_114^0 == 0 /\ y_241^0-y_241^post11 == 0 /\ rcd_64^0-rcd_64^post11 == 0 /\ t_23^0-t_23^post11 == 0 /\ -r_247^post11+r_247^0 == 0 /\ temp_32^0-temp_32^post11 == 0 /\ y_347^0-y_347^post11 == 0 /\ -length_14^post11+length_14^0 == 0 /\ x_21^0-x_21^post11 == 0 /\ a_271^0-a_215^post11 <= 0 /\ __disjvr_3^0-__disjvr_3^post11 == 0 /\ __disjvr_9^0-__disjvr_9^post11 == 0 /\ -y_285^post11+y_285^0 == 0 /\ result_11^0-result_11^post11 == 0 /\ __disjvr_21^0-__disjvr_21^post11 == 0 /\ -r_238^post11+r_238^0 == 0 /\ -a_168^post11+a_168^0 == 0 /\ 2-length_14^0 <= 0 /\ i_27^0-i_27^post11 == 0 /\ __disjvr_20^0-__disjvr_20^post11 == 0 /\ __disjvr_11^0-__disjvr_11^post11 == 0 /\ -rcd_248^post11+rcd_248^0 == 0 /\ rcd_40^post11-rcd_268^0 <= 0 /\ y_261^0-y_261^post11 == 0 /\ rcd_230^0-rcd_230^post11 == 0 /\ length_25^0-length_25^post11 == 0 /\ len_200^post11-len_270^0 <= 0 /\ r_242^0-r_242^post11 == 0 /\ a_143^0-a_143^post11 == 0 /\ -a_271^post11+a_271^0 == 0 /\ __disjvr_14^0-__disjvr_14^post11 == 0 /\ -__disjvr_15^post11+__disjvr_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -y_290^post11+y_290^0 == 0 /\ -__disjvr_7^post11+__disjvr_7^0 == 0 /\ -r_253^post11+r_253^0 == 0 /\ -rcd_239^post11+rcd_239^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post11 == 0 /\ __disjvr_10^0-__disjvr_10^post11 == 0 /\ -i_105^post11+i_105^0 == 0 /\ -z_19^post11+z_19^0 == 0 /\ __disjvr_8^0-__disjvr_8^post11 == 0 /\ y_162^post11-y_269^0 <= 0 /\ -tail_15^post11+tail_15^0 == 0 /\ -r_267^0+r_36^post11 <= 0 /\ -__disjvr_18^post11+__disjvr_18^0 == 0 /\ -y_22^post11+y_22^0 == 0 /\ -y_231^post11+y_231^0 == 0 /\ -__disjvr_4^post11+__disjvr_4^0 == 0 /\ __disjvr_24^0-__disjvr_24^post11 == 0 /\ -rcd_40^post11+rcd_268^0 <= 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ -__disjvr_19^post11+__disjvr_19^0 == 0 /\ __disjvr_0^0-__disjvr_0^post11 == 0 /\ -__disjvr_6^post11+__disjvr_6^0 == 0 /\ -y_191^post11+y_191^0 == 0 /\ -__disjvr_13^post11+__disjvr_13^0 == 0 /\ y_295^0-y_295^post11 == 0 /\ -len_200^post11+len_270^0 <= 0 /\ tmp_31^0-tmp_31^post11 == 0 /\ -__disjvr_12^post11+__disjvr_12^0 == 0 /\ head_13^0-head_13^post11 == 0 /\ r_154^0-r_154^post11 == 0 /\ -__disjvr_16^post11+__disjvr_16^0 == 0 /\ 1-length_14^0 <= 0 /\ -rcd_99^post11+rcd_99^0 == 0 /\ __disjvr_22^0-__disjvr_22^post11 == 0 /\ -__disjvr_2^post11+__disjvr_2^0 == 0 /\ -y_162^post11+y_269^0 <= 0 /\ r_267^0-r_36^post11 <= 0), cost: 1
  12: l5 -> l0 : __disjvr_0^0'=__disjvr_0^post12, i_27^0'=i_27^post12, y_162^0'=y_162^post12, __disjvr_21^0'=__disjvr_21^post12, z_19^0'=z_19^post12, __disjvr_9^0'=__disjvr_9^post12, result_11^0'=result_11^post12, __disjvr_14^0'=__disjvr_14^post12, r_154^0'=r_154^post12, __disjvr_24^0'=__disjvr_24^post12, y_261^0'=y_261^post12, rcd_230^0'=rcd_230^post12, head_13^0'=head_13^post12, head_SLAM_f_26^0'=head_SLAM_f_26^post12, tmp_31^0'=tmp_31^post12, __disjvr_19^0'=__disjvr_19^post12, r_242^0'=r_242^post12, __disjvr_6^0'=__disjvr_6^post12, y_347^0'=y_347^post12, rcd_40^0'=rcd_40^post12, __disjvr_11^0'=__disjvr_11^post12, len_270^0'=len_270^post12, y_22^0'=y_22^post12, r_267^0'=r_267^post12, a_168^0'=a_168^post12, t_23^0'=t_23^post12, __disjvr_16^0'=__disjvr_16^post12, r_229^0'=r_229^post12, __disjvr_3^0'=__disjvr_3^post12, y_285^0'=y_285^post12, rcd_243^0'=rcd_243^post12, i_114^0'=i_114^post12, x_21^0'=x_21^post12, __disjvr_20^0'=__disjvr_20^post12, r_253^0'=r_253^post12, __disjvr_8^0'=__disjvr_8^post12, rcd_99^0'=rcd_99^post12, __disjvr_13^0'=__disjvr_13^post12, length_25^0'=length_25^post12, __disjvr_23^0'=__disjvr_23^post12, y_241^0'=y_241^post12, rcd_107^0'=rcd_107^post12, a_271^0'=a_271^post12, temp0_18^0'=temp0_18^post12, temp_32^0'=temp_32^post12, __disjvr_18^0'=__disjvr_18^post12, r_240^0'=r_240^post12, __disjvr_5^0'=__disjvr_5^post12, y_295^0'=y_295^post12, rcd_268^0'=rcd_268^post12, __disjvr_10^0'=__disjvr_10^post12, len_200^0'=len_200^post12, y_191^0'=y_191^post12, __disjvr_22^0'=__disjvr_22^post12, a_143^0'=a_143^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post12, __disjvr_15^0'=__disjvr_15^post12, r_183^0'=r_183^post12, __disjvr_2^0'=__disjvr_2^post12, y_269^0'=y_269^post12, rcd_239^0'=rcd_239^post12, head_29^0'=head_29^post12, i_105^0'=i_105^post12, w_20^0'=w_20^post12, __disjvr_1^0'=__disjvr_1^post12, r_247^0'=r_247^post12, __disjvr_7^0'=__disjvr_7^post12, rcd_64^0'=rcd_64^post12, __disjvr_12^0'=__disjvr_12^post12, length_14^0'=length_14^post12, y_231^0'=y_231^post12, r_36^0'=r_36^post12, a_215^0'=a_215^post12, tail_15^0'=tail_15^post12, temp0_28^0'=temp0_28^post12, __disjvr_17^0'=__disjvr_17^post12, r_238^0'=r_238^post12, __disjvr_4^0'=__disjvr_4^post12, y_290^0'=y_290^post12, rcd_248^0'=rcd_248^post12, (head_13^0-head_13^post12 == 0 /\ -a_143^post12+a_143^0 == 0 /\ -r_247^post12+r_247^0 == 0 /\ rcd_230^0-rcd_230^post12 == 0 /\ w_20^0-w_20^post12 == 0 /\ __disjvr_14^0-__disjvr_14^post12 == 0 /\ i_27^0-i_27^post12 == 0 /\ -y_231^post12+y_231^0 == 0 /\ -x_21^post12+x_21^0 == 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ -__disjvr_4^post12+__disjvr_4^0 == 0 /\ tmp_31^0-tmp_31^post12 == 0 /\ __disjvr_8^0-__disjvr_8^post12 == 0 /\ -length_14^post12+length_14^0 == 0 /\ -y_295^post12+y_295^0 == 0 /\ -temp0_18^post12+temp0_18^0 == 0 /\ -a_215^post12+a_215^0 == 0 /\ __disjvr_18^0-__disjvr_18^post12 == 0 /\ y_285^0-y_285^post12 == 0 /\ r_253^0-r_253^post12 == 0 /\ len_270^0-len_270^post12 == 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ -temp_32^post12+temp_32^0 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ __disjvr_13^0-__disjvr_13^post12 == 0 /\ -length_25^post12+length_25^0 == 0 /\ r_267^0-r_267^post12 == 0 /\ __disjvr_16^0-__disjvr_16^post12 == 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ -temp0_28^post12+temp0_28^0 == 0 /\ rcd_243^0-rcd_243^post12 == 0 /\ -y_347^post12+y_347^0 == 0 /\ -y_269^post12+y_269^0 == 0 /\ -r_36^post12+r_36^0 == 0 /\ -i_105^post12+i_105^0 == 0 /\ y_162^0-y_162^post12 == 0 /\ rcd_40^0-rcd_40^post12 == 0 /\ rcd_107^0-rcd_107^post12 == 0 /\ len_200^0-len_200^post12 == 0 /\ __disjvr_11^0-__disjvr_11^post12 == 0 /\ -rcd_239^post12+rcd_239^0 == 0 /\ y_22^0-y_22^post12 == 0 /\ -__disjvr_9^post12+__disjvr_9^0 == 0 /\ r_242^0-r_242^post12 == 0 /\ -y_261^post12+y_261^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ r_229^0-r_229^post12 == 0 /\ z_19^0-z_19^post12 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post12 == 0 /\ t_23^0-t_23^post12 == 0 /\ -__disjvr_22^post12+__disjvr_22^0 == 0 /\ -__disjvr_7^post12+__disjvr_7^0 == 0 /\ -r_183^post12+r_183^0 == 0 /\ tail_15^0-tail_15^post12 == 0 /\ -a_168^post12+a_168^0 == 0 /\ -y_290^post12+y_290^0 == 0 /\ -head_29^post12+head_29^0 == 0 /\ -a_271^post12+a_271^0 == 0 /\ -__disjvr_2^post12+__disjvr_2^0 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ rcd_268^0-rcd_268^post12 == 0 /\ y_241^0-y_241^post12 == 0 /\ -rcd_99^post12+rcd_99^0 == 0 /\ __disjvr_6^0-__disjvr_6^post12 == 0 /\ -__disjvr_23^post12+__disjvr_23^0 == 0 /\ -__disjvr_12^post12+__disjvr_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post12 == 0 /\ -__disjvr_20^post12+__disjvr_20^0 == 0 /\ -rcd_248^post12+rcd_248^0 == 0 /\ i_114^0-i_114^post12 == 0 /\ -rcd_64^post12+rcd_64^0 == 0 /\ -r_238^post12+r_238^0 == 0 /\ r_154^0-r_154^post12 == 0 /\ -r_240^post12+r_240^0 == 0 /\ -__disjvr_15^post12+__disjvr_15^0 == 0 /\ result_11^0-result_11^post12 == 0 /\ __disjvr_21^0-__disjvr_21^post12 == 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ -y_191^post12+y_191^0 == 0 /\ -__disjvr_1^post12+__disjvr_1^0 == 0), cost: 1
  35: l33 -> l34 : __disjvr_0^0'=__disjvr_0^post35, i_27^0'=i_27^post35, y_162^0'=y_162^post35, __disjvr_21^0'=__disjvr_21^post35, z_19^0'=z_19^post35, __disjvr_9^0'=__disjvr_9^post35, result_11^0'=result_11^post35, __disjvr_14^0'=__disjvr_14^post35, r_154^0'=r_154^post35, __disjvr_24^0'=__disjvr_24^post35, y_261^0'=y_261^post35, rcd_230^0'=rcd_230^post35, head_13^0'=head_13^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, __disjvr_19^0'=__disjvr_19^post35, r_242^0'=r_242^post35, __disjvr_6^0'=__disjvr_6^post35, y_347^0'=y_347^post35, rcd_40^0'=rcd_40^post35, __disjvr_11^0'=__disjvr_11^post35, len_270^0'=len_270^post35, y_22^0'=y_22^post35, r_267^0'=r_267^post35, a_168^0'=a_168^post35, t_23^0'=t_23^post35, __disjvr_16^0'=__disjvr_16^post35, r_229^0'=r_229^post35, __disjvr_3^0'=__disjvr_3^post35, y_285^0'=y_285^post35, rcd_243^0'=rcd_243^post35, i_114^0'=i_114^post35, x_21^0'=x_21^post35, __disjvr_20^0'=__disjvr_20^post35, r_253^0'=r_253^post35, __disjvr_8^0'=__disjvr_8^post35, rcd_99^0'=rcd_99^post35, __disjvr_13^0'=__disjvr_13^post35, length_25^0'=length_25^post35, __disjvr_23^0'=__disjvr_23^post35, y_241^0'=y_241^post35, rcd_107^0'=rcd_107^post35, a_271^0'=a_271^post35, temp0_18^0'=temp0_18^post35, temp_32^0'=temp_32^post35, __disjvr_18^0'=__disjvr_18^post35, r_240^0'=r_240^post35, __disjvr_5^0'=__disjvr_5^post35, y_295^0'=y_295^post35, rcd_268^0'=rcd_268^post35, __disjvr_10^0'=__disjvr_10^post35, len_200^0'=len_200^post35, y_191^0'=y_191^post35, __disjvr_22^0'=__disjvr_22^post35, a_143^0'=a_143^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, __disjvr_15^0'=__disjvr_15^post35, r_183^0'=r_183^post35, __disjvr_2^0'=__disjvr_2^post35, y_269^0'=y_269^post35, rcd_239^0'=rcd_239^post35, head_29^0'=head_29^post35, i_105^0'=i_105^post35, w_20^0'=w_20^post35, __disjvr_1^0'=__disjvr_1^post35, r_247^0'=r_247^post35, __disjvr_7^0'=__disjvr_7^post35, rcd_64^0'=rcd_64^post35, __disjvr_12^0'=__disjvr_12^post35, length_14^0'=length_14^post35, y_231^0'=y_231^post35, r_36^0'=r_36^post35, a_215^0'=a_215^post35, tail_15^0'=tail_15^post35, temp0_28^0'=temp0_28^post35, __disjvr_17^0'=__disjvr_17^post35, r_238^0'=r_238^post35, __disjvr_4^0'=__disjvr_4^post35, y_290^0'=y_290^post35, rcd_248^0'=rcd_248^post35, (-y_241^post35+y_241^0 == 0 /\ -r_36^post35+r_36^0 == 0 /\ length_25^post35-length_14^0 <= 0 /\ length_25^post35-length_14^0 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ len_270^0-len_270^post35 == 0 /\ t_23^0-t_23^post35 == 0 /\ r_154^0-r_154^post35 == 0 /\ -y_290^post35+y_290^0 == 0 /\ __disjvr_21^0-__disjvr_21^post35 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ -rcd_239^post35+rcd_239^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ __disjvr_16^0-__disjvr_16^post35 == 0 /\ -__disjvr_5^post35+__disjvr_5^0 == 0 /\ r_267^0-r_267^post35 == 0 /\ head_SLAM_f_26^post35-tail_15^0 <= 0 /\ head_SLAM_f_26^post35-tail_15^0 == 0 /\ -w_20^post35+w_20^0 == 0 /\ head_29^post35-tail_15^0 <= 0 /\ rcd_243^0-rcd_243^post35 == 0 /\ -rcd_64^post35+rcd_64^0 == 0 /\ -__disjvr_22^post35+__disjvr_22^0 == 0 /\ -rcd_99^post35+rcd_99^0 == 0 /\ a_168^0-a_168^post35 == 0 /\ -length_25^post35+length_14^0 <= 0 /\ i_27^post35 <= 0 /\ i_27^post35 == 0 /\ r_240^0-r_240^post35 == 0 /\ -r_238^post35+r_238^0 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ y_285^0-y_285^post35 == 0 /\ -temp0_18^post35+temp0_18^0 == 0 /\ -__disjvr_10^post35+__disjvr_10^0 == 0 /\ -head_SLAM_f_26^post35+tail_15^0 <= 0 /\ y_22^0-y_22^post35 == 0 /\ __disjvr_13^0-__disjvr_13^post35 == 0 /\ -y_191^post35+y_191^0 == 0 /\ -y_231^post35+y_231^0 == 0 /\ -tail_15^post35+tail_15^0 == 0 /\ -__disjvr_15^post35+__disjvr_15^0 == 0 /\ -head_29^post35+tail_15^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_1^0-__disjvr_1^post35 == 0 /\ a_271^0-a_271^post35 == 0 /\ -rcd_248^post35+rcd_248^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ -y_295^post35+y_295^0 == 0 /\ -r_247^post35+r_247^0 == 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ -__disjvr_2^post35+__disjvr_2^0 == 0 /\ -a_143^post35+a_143^0 == 0 /\ -__disjvr_4^post35+__disjvr_4^0 == 0 /\ __disjvr_20^0-__disjvr_20^post35 == 0 /\ -head_SLAM_f_26^post35+head_29^post35 <= 0 /\ -head_SLAM_f_26^post35+head_29^post35 == 0 /\ y_347^0-y_347^post35 == 0 /\ -i_105^post35+i_105^0 == 0 /\ r_242^0-r_242^post35 == 0 /\ -__disjvr_8^post35+__disjvr_8^0 == 0 /\ len_200^0-len_200^post35 == 0 /\ r_253^0-r_253^post35 == 0 /\ head_13^0-head_13^post35 == 0 /\ y_162^0-y_162^post35 == 0 /\ i_114^0-i_114^post35 == 0 /\ -length_14^post35+length_14^0 == 0 /\ -x_21^post35+x_21^0 == 0 /\ -temp_32^post35+temp_32^0 == 0 /\ -rcd_230^post35+rcd_230^0 == 0 /\ -temp0_28^post35+temp0_28^0 == 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ __disjvr_14^0-__disjvr_14^post35 == 0 /\ -a_215^post35+a_215^0 == 0 /\ rcd_40^0-rcd_40^post35 == 0 /\ rcd_268^0-rcd_268^post35 == 0 /\ __disjvr_24^0-__disjvr_24^post35 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ r_229^0-r_229^post35 == 0 /\ z_19^0-z_19^post35 == 0 /\ tmp_31^0-tmp_31^post35 == 0 /\ -y_261^post35+y_261^0 == 0 /\ head_SLAM_f_26^post35-head_29^post35 <= 0 /\ __disjvr_18^0-__disjvr_18^post35 == 0 /\ rcd_107^0-rcd_107^post35 == 0 /\ -i_27^post35 <= 0 /\ r_183^0-r_183^post35 == 0 /\ -y_269^post35+y_269^0 == 0), cost: 1
  56: l34 -> l35 : __disjvr_0^0'=__disjvr_0^post56, i_27^0'=i_27^post56, y_162^0'=y_162^post56, __disjvr_21^0'=__disjvr_21^post56, z_19^0'=z_19^post56, __disjvr_9^0'=__disjvr_9^post56, result_11^0'=result_11^post56, __disjvr_14^0'=__disjvr_14^post56, r_154^0'=r_154^post56, __disjvr_24^0'=__disjvr_24^post56, y_261^0'=y_261^post56, rcd_230^0'=rcd_230^post56, head_13^0'=head_13^post56, head_SLAM_f_26^0'=head_SLAM_f_26^post56, tmp_31^0'=tmp_31^post56, __disjvr_19^0'=__disjvr_19^post56, r_242^0'=r_242^post56, __disjvr_6^0'=__disjvr_6^post56, y_347^0'=y_347^post56, rcd_40^0'=rcd_40^post56, __disjvr_11^0'=__disjvr_11^post56, len_270^0'=len_270^post56, y_22^0'=y_22^post56, r_267^0'=r_267^post56, a_168^0'=a_168^post56, t_23^0'=t_23^post56, __disjvr_16^0'=__disjvr_16^post56, r_229^0'=r_229^post56, __disjvr_3^0'=__disjvr_3^post56, y_285^0'=y_285^post56, rcd_243^0'=rcd_243^post56, i_114^0'=i_114^post56, x_21^0'=x_21^post56, __disjvr_20^0'=__disjvr_20^post56, r_253^0'=r_253^post56, __disjvr_8^0'=__disjvr_8^post56, rcd_99^0'=rcd_99^post56, __disjvr_13^0'=__disjvr_13^post56, length_25^0'=length_25^post56, __disjvr_23^0'=__disjvr_23^post56, y_241^0'=y_241^post56, rcd_107^0'=rcd_107^post56, a_271^0'=a_271^post56, temp0_18^0'=temp0_18^post56, temp_32^0'=temp_32^post56, __disjvr_18^0'=__disjvr_18^post56, r_240^0'=r_240^post56, __disjvr_5^0'=__disjvr_5^post56, y_295^0'=y_295^post56, rcd_268^0'=rcd_268^post56, __disjvr_10^0'=__disjvr_10^post56, len_200^0'=len_200^post56, y_191^0'=y_191^post56, __disjvr_22^0'=__disjvr_22^post56, a_143^0'=a_143^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56, __disjvr_15^0'=__disjvr_15^post56, r_183^0'=r_183^post56, __disjvr_2^0'=__disjvr_2^post56, y_269^0'=y_269^post56, rcd_239^0'=rcd_239^post56, head_29^0'=head_29^post56, i_105^0'=i_105^post56, w_20^0'=w_20^post56, __disjvr_1^0'=__disjvr_1^post56, r_247^0'=r_247^post56, __disjvr_7^0'=__disjvr_7^post56, rcd_64^0'=rcd_64^post56, __disjvr_12^0'=__disjvr_12^post56, length_14^0'=length_14^post56, y_231^0'=y_231^post56, r_36^0'=r_36^post56, a_215^0'=a_215^post56, tail_15^0'=tail_15^post56, temp0_28^0'=temp0_28^post56, __disjvr_17^0'=__disjvr_17^post56, r_238^0'=r_238^post56, __disjvr_4^0'=__disjvr_4^post56, y_290^0'=y_290^post56, rcd_248^0'=rcd_248^post56, (0 == 0 /\ -temp_32^0+tmp_31^post56 == 0 /\ len_270^0-len_270^post56 == 0 /\ -a_215^post56+a_215^0 == 0 /\ -__disjvr_1^post56+__disjvr_1^0 == 0 /\ -rcd_64^post56+rcd_64^0 == 0 /\ __disjvr_5^0-__disjvr_5^post56 == 0 /\ __disjvr_3^0-__disjvr_3^post56 == 0 /\ x_21^0-x_21^post56 == 0 /\ 1+i_27^0-length_25^0 <= 0 /\ rcd_230^0-rcd_230^post56 == 0 /\ -r_183^post56+r_183^0 == 0 /\ -y_290^post56+y_290^0 == 0 /\ -head_29^post56+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56 <= 0 /\ r_267^0-r_267^post56 == 0 /\ -i_114^post56+i_114^0 == 0 /\ -y_22^post56+y_22^0 == 0 /\ -rcd_268^post56+rcd_268^0 == 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ w_20^0-w_20^post56 == 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ -rcd_243^post56+rcd_243^0 == 0 /\ -r_238^post56+r_238^0 == 0 /\ __disjvr_24^0-__disjvr_24^post56 == 0 /\ y_347^0-y_347^post56 == 0 /\ y_162^0-y_162^post56 == 0 /\ -__disjvr_15^post56+__disjvr_15^0 == 0 /\ y_285^0-y_285^post56 == 0 /\ 1-i_27^post56 <= 0 /\ -1+i_27^post56 <= 0 /\ z_19^0-z_19^post56 == 0 /\ __disjvr_10^0-__disjvr_10^post56 == 0 /\ y_295^0-y_295^post56 == 0 /\ -r_229^post56+r_229^0 == 0 /\ -r_36^post56+r_36^0 == 0 /\ -r_247^post56+r_247^0 == 0 /\ head_29^post56-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56 <= 0 /\ t_23^0-t_23^post56 == 0 /\ __disjvr_8^0-__disjvr_8^post56 == 0 /\ -r_253^post56+r_253^0 == 0 /\ -1-i_27^0+i_27^post56 == 0 /\ rcd_107^0-rcd_107^post56 == 0 /\ -__disjvr_17^post56+__disjvr_17^0 == 0 /\ -__disjvr_22^post56+__disjvr_22^0 == 0 /\ -__disjvr_6^post56+__disjvr_6^0 == 0 /\ y_261^0-y_261^post56 == 0 /\ length_14^post56-length_25^0 <= 0 /\ length_25^0-length_25^post56 == 0 /\ -__disjvr_2^post56+__disjvr_2^0 == 0 /\ -__disjvr_19^post56+__disjvr_19^0 == 0 /\ -i_105^post56+i_105^0 == 0 /\ y_269^0-y_269^post56 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ temp0_18^0-temp0_18^post56 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56+tmp_31^post56 <= 0 /\ 1-length_25^0 <= 0 /\ rcd_40^0-rcd_40^post56 == 0 /\ -y_231^post56+y_231^0 == 0 /\ __disjvr_11^0-__disjvr_11^post56 == 0 /\ -head_SLAM_f_26^post56+tail_15^post56 <= 0 /\ -__disjvr_23^post56+__disjvr_23^0 == 0 /\ -rcd_248^post56+rcd_248^0 == 0 /\ __disjvr_16^0-__disjvr_16^post56 == 0 /\ head_29^post56-tmp_31^post56 <= 0 /\ head_29^post56-tmp_31^post56 == 0 /\ -rcd_99^post56+rcd_99^0 == 0 /\ -temp0_28^post56+temp0_28^0 == 0 /\ result_11^0-result_11^post56 == 0 /\ -y_241^post56+y_241^0 == 0 /\ -length_14^post56+length_25^0 <= 0 /\ -__disjvr_18^post56+__disjvr_18^0 == 0 /\ rcd_239^0-rcd_239^post56 == 0 /\ -head_13^post56+head_13^0 == 0 /\ y_191^0-y_191^post56 == 0 /\ -__disjvr_7^post56+__disjvr_7^0 == 0 /\ -a_271^post56+a_271^0 == 0 /\ -a_168^post56+a_168^0 == 0 /\ -a_143^post56+a_143^0 == 0 /\ -__disjvr_13^post56+__disjvr_13^0 == 0 /\ -len_200^post56+len_200^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56-tmp_31^post56 <= 0 /\ r_240^0-r_240^post56 == 0 /\ __disjvr_9^0-__disjvr_9^post56 == 0 /\ -__disjvr_4^post56+__disjvr_4^0 == 0 /\ r_242^0-r_242^post56 == 0 /\ head_SLAM_f_26^post56-tail_15^post56 <= 0 /\ -head_29^post56+tmp_31^post56 <= 0 /\ r_154^0-r_154^post56 == 0), cost: 1
  37: l35 -> l37 : __disjvr_0^0'=__disjvr_0^post37, i_27^0'=i_27^post37, y_162^0'=y_162^post37, __disjvr_21^0'=__disjvr_21^post37, z_19^0'=z_19^post37, __disjvr_9^0'=__disjvr_9^post37, result_11^0'=result_11^post37, __disjvr_14^0'=__disjvr_14^post37, r_154^0'=r_154^post37, __disjvr_24^0'=__disjvr_24^post37, y_261^0'=y_261^post37, rcd_230^0'=rcd_230^post37, head_13^0'=head_13^post37, head_SLAM_f_26^0'=head_SLAM_f_26^post37, tmp_31^0'=tmp_31^post37, __disjvr_19^0'=__disjvr_19^post37, r_242^0'=r_242^post37, __disjvr_6^0'=__disjvr_6^post37, y_347^0'=y_347^post37, rcd_40^0'=rcd_40^post37, __disjvr_11^0'=__disjvr_11^post37, len_270^0'=len_270^post37, y_22^0'=y_22^post37, r_267^0'=r_267^post37, a_168^0'=a_168^post37, t_23^0'=t_23^post37, __disjvr_16^0'=__disjvr_16^post37, r_229^0'=r_229^post37, __disjvr_3^0'=__disjvr_3^post37, y_285^0'=y_285^post37, rcd_243^0'=rcd_243^post37, i_114^0'=i_114^post37, x_21^0'=x_21^post37, __disjvr_20^0'=__disjvr_20^post37, r_253^0'=r_253^post37, __disjvr_8^0'=__disjvr_8^post37, rcd_99^0'=rcd_99^post37, __disjvr_13^0'=__disjvr_13^post37, length_25^0'=length_25^post37, __disjvr_23^0'=__disjvr_23^post37, y_241^0'=y_241^post37, rcd_107^0'=rcd_107^post37, a_271^0'=a_271^post37, temp0_18^0'=temp0_18^post37, temp_32^0'=temp_32^post37, __disjvr_18^0'=__disjvr_18^post37, r_240^0'=r_240^post37, __disjvr_5^0'=__disjvr_5^post37, y_295^0'=y_295^post37, rcd_268^0'=rcd_268^post37, __disjvr_10^0'=__disjvr_10^post37, len_200^0'=len_200^post37, y_191^0'=y_191^post37, __disjvr_22^0'=__disjvr_22^post37, a_143^0'=a_143^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37, __disjvr_15^0'=__disjvr_15^post37, r_183^0'=r_183^post37, __disjvr_2^0'=__disjvr_2^post37, y_269^0'=y_269^post37, rcd_239^0'=rcd_239^post37, head_29^0'=head_29^post37, i_105^0'=i_105^post37, w_20^0'=w_20^post37, __disjvr_1^0'=__disjvr_1^post37, r_247^0'=r_247^post37, __disjvr_7^0'=__disjvr_7^post37, rcd_64^0'=rcd_64^post37, __disjvr_12^0'=__disjvr_12^post37, length_14^0'=length_14^post37, y_231^0'=y_231^post37, r_36^0'=r_36^post37, a_215^0'=a_215^post37, tail_15^0'=tail_15^post37, temp0_28^0'=temp0_28^post37, __disjvr_17^0'=__disjvr_17^post37, r_238^0'=r_238^post37, __disjvr_4^0'=__disjvr_4^post37, y_290^0'=y_290^post37, rcd_248^0'=rcd_248^post37, (0 == 0 /\ __disjvr_9^0-__disjvr_9^post37 == 0 /\ head_29^post37-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37 <= 0 /\ -__disjvr_15^post37+__disjvr_15^0 == 0 /\ -a_168^post37+a_168^0 == 0 /\ -w_20^post37+w_20^0 == 0 /\ y_241^0-y_241^post37 == 0 /\ -rcd_239^post37+rcd_239^0 == 0 /\ -y_285^post37+y_285^0 == 0 /\ -__disjvr_23^post37+__disjvr_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post37 == 0 /\ a_271^0-a_271^post37 == 0 /\ 1+i_27^0-length_25^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post37 == 0 /\ -rcd_99^post37+rcd_99^0 == 0 /\ rcd_268^0-rcd_268^post37 == 0 /\ -r_238^post37+r_238^0 == 0 /\ y_295^0-y_295^post37 == 0 /\ -r_253^post37+r_253^0 == 0 /\ head_SLAM_f_26^post37-tail_15^post37 <= 0 /\ -__disjvr_18^post37+__disjvr_18^0 == 0 /\ r_154^0-r_154^post37 == 0 /\ y_191^0-y_191^post37 == 0 /\ head_29^post37-tmp_31^post37 <= 0 /\ head_29^post37-tmp_31^post37 == 0 /\ __disjvr_19^0-__disjvr_19^post37 == 0 /\ -y_22^post37+y_22^0 == 0 /\ -head_29^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37 <= 0 /\ rcd_230^0-rcd_230^post37 == 0 /\ -__disjvr_7^post37+__disjvr_7^0 == 0 /\ rcd_243^0-rcd_243^post37 == 0 /\ -__disjvr_13^post37+__disjvr_13^0 == 0 /\ -__disjvr_1^post37+__disjvr_1^0 == 0 /\ length_25^0-length_25^post37 == 0 /\ __disjvr_20^0-__disjvr_20^post37 == 0 /\ -y_231^post37+y_231^0 == 0 /\ -__disjvr_12^post37+__disjvr_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post37 == 0 /\ -rcd_248^post37+rcd_248^0 == 0 /\ -__disjvr_11^post37+__disjvr_11^0 == 0 /\ -head_SLAM_f_26^post37+tail_15^post37 <= 0 /\ -__disjvr_5^post37+__disjvr_5^0 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ tmp_31^post37-temp_32^0 == 0 /\ -r_240^post37+r_240^0 == 0 /\ r_267^0-r_267^post37 == 0 /\ len_270^0-len_270^post37 == 0 /\ -__disjvr_2^post37+__disjvr_2^0 == 0 /\ -head_29^post37+tmp_31^post37 <= 0 /\ -2+i_27^post37 <= 0 /\ y_269^0-y_269^post37 == 0 /\ tmp_31^post37-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37 <= 0 /\ -x_21^post37+x_21^0 == 0 /\ t_23^0-t_23^post37 == 0 /\ y_347^0-y_347^post37 == 0 /\ y_162^0-y_162^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -__disjvr_4^post37+__disjvr_4^0 == 0 /\ -length_25^0+length_14^post37 <= 0 /\ __disjvr_22^0-__disjvr_22^post37 == 0 /\ -r_247^post37+r_247^0 == 0 /\ i_114^0-i_114^post37 == 0 /\ -temp0_28^post37+temp0_28^0 == 0 /\ -a_215^post37+a_215^0 == 0 /\ -1-i_27^0+i_27^post37 == 0 /\ 1-length_25^0 <= 0 /\ -len_200^post37+len_200^0 == 0 /\ __disjvr_3^0-__disjvr_3^post37 == 0 /\ head_13^0-head_13^post37 == 0 /\ -__disjvr_21^post37+__disjvr_21^0 == 0 /\ -__disjvr_6^post37+__disjvr_6^0 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0 /\ y_261^0-y_261^post37 == 0 /\ 2-length_25^0 <= 0 /\ -y_290^post37+y_290^0 == 0 /\ -tmp_31^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37 <= 0 /\ rcd_40^0-rcd_40^post37 == 0 /\ -i_105^post37+i_105^0 == 0 /\ r_229^0-r_229^post37 == 0 /\ temp0_18^0-temp0_18^post37 == 0 /\ rcd_107^0-rcd_107^post37 == 0 /\ -r_242^post37+r_242^0 == 0 /\ -r_183^post37+r_183^0 == 0 /\ length_25^0-length_14^post37 <= 0 /\ a_143^0-a_143^post37 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ z_19^0-z_19^post37 == 0 /\ -r_36^post37+r_36^0 == 0 /\ __disjvr_14^0-__disjvr_14^post37 == 0 /\ 2-i_27^post37 <= 0), cost: 1
  52: l37 -> l49 : __disjvr_0^0'=__disjvr_0^post52, i_27^0'=i_27^post52, y_162^0'=y_162^post52, __disjvr_21^0'=__disjvr_21^post52, z_19^0'=z_19^post52, __disjvr_9^0'=__disjvr_9^post52, result_11^0'=result_11^post52, __disjvr_14^0'=__disjvr_14^post52, r_154^0'=r_154^post52, __disjvr_24^0'=__disjvr_24^post52, y_261^0'=y_261^post52, rcd_230^0'=rcd_230^post52, head_13^0'=head_13^post52, head_SLAM_f_26^0'=head_SLAM_f_26^post52, tmp_31^0'=tmp_31^post52, __disjvr_19^0'=__disjvr_19^post52, r_242^0'=r_242^post52, __disjvr_6^0'=__disjvr_6^post52, y_347^0'=y_347^post52, rcd_40^0'=rcd_40^post52, __disjvr_11^0'=__disjvr_11^post52, len_270^0'=len_270^post52, y_22^0'=y_22^post52, r_267^0'=r_267^post52, a_168^0'=a_168^post52, t_23^0'=t_23^post52, __disjvr_16^0'=__disjvr_16^post52, r_229^0'=r_229^post52, __disjvr_3^0'=__disjvr_3^post52, y_285^0'=y_285^post52, rcd_243^0'=rcd_243^post52, i_114^0'=i_114^post52, x_21^0'=x_21^post52, __disjvr_20^0'=__disjvr_20^post52, r_253^0'=r_253^post52, __disjvr_8^0'=__disjvr_8^post52, rcd_99^0'=rcd_99^post52, __disjvr_13^0'=__disjvr_13^post52, length_25^0'=length_25^post52, __disjvr_23^0'=__disjvr_23^post52, y_241^0'=y_241^post52, rcd_107^0'=rcd_107^post52, a_271^0'=a_271^post52, temp0_18^0'=temp0_18^post52, temp_32^0'=temp_32^post52, __disjvr_18^0'=__disjvr_18^post52, r_240^0'=r_240^post52, __disjvr_5^0'=__disjvr_5^post52, y_295^0'=y_295^post52, rcd_268^0'=rcd_268^post52, __disjvr_10^0'=__disjvr_10^post52, len_200^0'=len_200^post52, y_191^0'=y_191^post52, __disjvr_22^0'=__disjvr_22^post52, a_143^0'=a_143^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post52, __disjvr_15^0'=__disjvr_15^post52, r_183^0'=r_183^post52, __disjvr_2^0'=__disjvr_2^post52, y_269^0'=y_269^post52, rcd_239^0'=rcd_239^post52, head_29^0'=head_29^post52, i_105^0'=i_105^post52, w_20^0'=w_20^post52, __disjvr_1^0'=__disjvr_1^post52, r_247^0'=r_247^post52, __disjvr_7^0'=__disjvr_7^post52, rcd_64^0'=rcd_64^post52, __disjvr_12^0'=__disjvr_12^post52, length_14^0'=length_14^post52, y_231^0'=y_231^post52, r_36^0'=r_36^post52, a_215^0'=a_215^post52, tail_15^0'=tail_15^post52, temp0_28^0'=temp0_28^post52, __disjvr_17^0'=__disjvr_17^post52, r_238^0'=r_238^post52, __disjvr_4^0'=__disjvr_4^post52, y_290^0'=y_290^post52, rcd_248^0'=rcd_248^post52, (0 == 0 /\ -y_295^post52+y_295^0 == 0 /\ r_242^0-r_242^post52 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post52 == 0 /\ -r_229^post52+r_229^0 == 0 /\ -1+i_27^post52-i_105^post52 <= 0 /\ z_19^0-z_19^post52 == 0 /\ __disjvr_1^0-__disjvr_1^post52 == 0 /\ -__disjvr_4^post52+__disjvr_4^0 == 0 /\ 1+i_27^0-length_25^0 <= 0 /\ -__disjvr_20^post52+__disjvr_20^0 == 0 /\ __disjvr_14^0-__disjvr_14^post52 == 0 /\ __disjvr_7^0-__disjvr_7^post52 == 0 /\ __disjvr_11^0-__disjvr_11^post52 == 0 /\ r_240^0-r_240^post52 == 0 /\ -length_14^post52+length_14^0 == 0 /\ -y_231^post52+y_231^0 == 0 /\ y_22^0-y_22^post52 == 0 /\ 1+i_105^post52-length_25^0 <= 0 /\ rcd_107^post52-rcd_40^0 <= 0 /\ -y_191^post52+y_191^0 == 0 /\ rcd_230^0-rcd_230^post52 == 0 /\ -a_143^post52+a_143^0 == 0 /\ -r_238^post52+r_238^0 == 0 /\ t_23^0-t_23^post52 == 0 /\ -1-i_27^0+i_27^post52 == 0 /\ -__disjvr_13^post52+__disjvr_13^0 == 0 /\ __disjvr_24^0-__disjvr_24^post52 == 0 /\ __disjvr_3^0-__disjvr_3^post52 == 0 /\ __disjvr_15^0-__disjvr_15^post52 == 0 /\ -a_271^post52+a_271^0 == 0 /\ -temp0_28^post52+temp0_28^0 == 0 /\ -w_20^post52+w_20^0 == 0 /\ r_154^0-r_154^post52 == 0 /\ -len_270^post52+len_270^0 == 0 /\ -i_27^0 <= 0 /\ -a_215^post52+a_215^0 == 0 /\ __disjvr_6^0-__disjvr_6^post52 == 0 /\ -rcd_107^post52+rcd_40^0 <= 0 /\ head_29^post52-tmp_31^post52 == 0 /\ a_168^0-a_168^post52 == 0 /\ y_162^0-y_162^post52 == 0 /\ -__disjvr_17^post52+__disjvr_17^0 == 0 /\ __disjvr_2^0-__disjvr_2^post52 == 0 /\ -temp_32^0+tmp_31^post52 == 0 /\ -r_36^post52+r_36^0 == 0 /\ 1-i_27^post52+i_105^post52 <= 0 /\ -__disjvr_18^post52+__disjvr_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post52 == 0 /\ i_114^0-i_114^post52 == 0 /\ result_11^0-result_11^post52 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ head_13^0-head_13^post52 == 0 /\ y_285^0-y_285^post52 == 0 /\ -y_269^post52+y_269^0 == 0 /\ -__disjvr_5^post52+__disjvr_5^0 == 0 /\ -__disjvr_10^post52+__disjvr_10^0 == 0 /\ len_200^0-len_200^post52 == 0 /\ rcd_107^post52-rcd_40^post52 <= 0 /\ __disjvr_9^0-__disjvr_9^post52 == 0 /\ __disjvr_23^0-__disjvr_23^post52 == 0 /\ -y_241^post52+y_241^0 == 0 /\ -rcd_64^post52+rcd_64^0 == 0 /\ -__disjvr_8^post52+__disjvr_8^0 == 0 /\ -rcd_268^post52+rcd_268^0 == 0 /\ x_21^0-x_21^post52 == 0 /\ -temp0_18^post52+temp0_18^0 == 0 /\ -rcd_248^post52+rcd_248^0 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0 /\ -r_253^post52+r_253^0 == 0 /\ __disjvr_19^0-__disjvr_19^post52 == 0 /\ -rcd_239^post52+rcd_239^0 == 0 /\ y_261^0-y_261^post52 == 0 /\ -r_183^post52+r_183^0 == 0 /\ -tail_15^post52+tail_15^0 == 0 /\ __disjvr_16^0-__disjvr_16^post52 == 0 /\ -y_290^post52+y_290^0 == 0 /\ -rcd_107^post52+rcd_40^post52 <= 0 /\ -r_247^post52+r_247^0 == 0 /\ -__disjvr_22^post52+__disjvr_22^0 == 0 /\ length_25^0-length_25^post52 == 0 /\ rcd_243^0-rcd_243^post52 == 0 /\ r_267^0-r_267^post52 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ y_347^0-y_347^post52 == 0), cost: 1
  54: l37 -> l38 : __disjvr_0^0'=__disjvr_0^post54, i_27^0'=i_27^post54, y_162^0'=y_162^post54, __disjvr_21^0'=__disjvr_21^post54, z_19^0'=z_19^post54, __disjvr_9^0'=__disjvr_9^post54, result_11^0'=result_11^post54, __disjvr_14^0'=__disjvr_14^post54, r_154^0'=r_154^post54, __disjvr_24^0'=__disjvr_24^post54, y_261^0'=y_261^post54, rcd_230^0'=rcd_230^post54, head_13^0'=head_13^post54, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, __disjvr_19^0'=__disjvr_19^post54, r_242^0'=r_242^post54, __disjvr_6^0'=__disjvr_6^post54, y_347^0'=y_347^post54, rcd_40^0'=rcd_40^post54, __disjvr_11^0'=__disjvr_11^post54, len_270^0'=len_270^post54, y_22^0'=y_22^post54, r_267^0'=r_267^post54, a_168^0'=a_168^post54, t_23^0'=t_23^post54, __disjvr_16^0'=__disjvr_16^post54, r_229^0'=r_229^post54, __disjvr_3^0'=__disjvr_3^post54, y_285^0'=y_285^post54, rcd_243^0'=rcd_243^post54, i_114^0'=i_114^post54, x_21^0'=x_21^post54, __disjvr_20^0'=__disjvr_20^post54, r_253^0'=r_253^post54, __disjvr_8^0'=__disjvr_8^post54, rcd_99^0'=rcd_99^post54, __disjvr_13^0'=__disjvr_13^post54, length_25^0'=length_25^post54, __disjvr_23^0'=__disjvr_23^post54, y_241^0'=y_241^post54, rcd_107^0'=rcd_107^post54, a_271^0'=a_271^post54, temp0_18^0'=temp0_18^post54, temp_32^0'=temp_32^post54, __disjvr_18^0'=__disjvr_18^post54, r_240^0'=r_240^post54, __disjvr_5^0'=__disjvr_5^post54, y_295^0'=y_295^post54, rcd_268^0'=rcd_268^post54, __disjvr_10^0'=__disjvr_10^post54, len_200^0'=len_200^post54, y_191^0'=y_191^post54, __disjvr_22^0'=__disjvr_22^post54, a_143^0'=a_143^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, __disjvr_15^0'=__disjvr_15^post54, r_183^0'=r_183^post54, __disjvr_2^0'=__disjvr_2^post54, y_269^0'=y_269^post54, rcd_239^0'=rcd_239^post54, head_29^0'=head_29^post54, i_105^0'=i_105^post54, w_20^0'=w_20^post54, __disjvr_1^0'=__disjvr_1^post54, r_247^0'=r_247^post54, __disjvr_7^0'=__disjvr_7^post54, rcd_64^0'=rcd_64^post54, __disjvr_12^0'=__disjvr_12^post54, length_14^0'=length_14^post54, y_231^0'=y_231^post54, r_36^0'=r_36^post54, a_215^0'=a_215^post54, tail_15^0'=tail_15^post54, temp0_28^0'=temp0_28^post54, __disjvr_17^0'=__disjvr_17^post54, r_238^0'=r_238^post54, __disjvr_4^0'=__disjvr_4^post54, y_290^0'=y_290^post54, rcd_248^0'=rcd_248^post54, (0 == 0 /\ y_191^0-y_191^post54 == 0 /\ -y_231^post54+y_231^0 == 0 /\ __disjvr_10^0-__disjvr_10^post54 == 0 /\ rcd_40^0-rcd_40^post54 == 0 /\ length_14^post54-i_114^0 <= 0 /\ -__disjvr_16^post54+__disjvr_16^0 == 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ __disjvr_7^0-__disjvr_7^post54 == 0 /\ -__disjvr_6^post54+__disjvr_6^0 == 0 /\ -r_267^post54+r_267^0 == 0 /\ -__disjvr_13^post54+__disjvr_13^0 == 0 /\ -a_143^post54+a_143^0 == 0 /\ y_22^post54-tail_15^0 <= 0 /\ len_270^0-len_270^post54 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ r_240^0-r_240^post54 == 0 /\ t_23^0-t_23^post54 == 0 /\ -rcd_248^post54+rcd_248^0 == 0 /\ -__disjvr_20^post54+__disjvr_20^0 == 0 /\ -rcd_107^post54+rcd_107^0 == 0 /\ -temp0_18^post54+temp0_18^0 == 0 /\ rcd_230^0-rcd_230^post54 == 0 /\ -rcd_239^post54+rcd_239^0 == 0 /\ -i_27^0+length_25^0 <= 0 /\ a_271^0-a_271^post54 == 0 /\ __disjvr_19^0-__disjvr_19^post54 == 0 /\ -y_241^post54+y_241^0 == 0 /\ i_105^0-i_105^post54 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ -i_27^0 <= 0 /\ result_11^11-temp0_28^110 == 0 /\ -len_200^post54+len_200^0 == 0 /\ -__disjvr_18^post54+__disjvr_18^0 == 0 /\ -y_22^post54+tail_15^0 <= 0 /\ -__disjvr_4^post54+__disjvr_4^0 == 0 /\ -y_347^post54+y_347^0 == 0 /\ -a_215^post54+a_215^0 == 0 /\ a_168^0-a_168^post54 == 0 /\ y_162^0-y_162^post54 == 0 /\ __disjvr_11^0-__disjvr_11^post54 == 0 /\ -r_183^post54+r_183^0 == 0 /\ -__disjvr_2^post54+__disjvr_2^0 == 0 /\ -y_290^post54+y_290^0 == 0 /\ y_285^0-y_285^post54 == 0 /\ -y_261^post54+y_261^0 == 0 /\ i_114^0-i_114^post54 == 0 /\ head_13^0-head_13^post54 == 0 /\ -rcd_64^post54+rcd_64^0 == 0 /\ r_242^0-r_242^post54 == 0 /\ __disjvr_8^0-__disjvr_8^post54 == 0 /\ head_13^0-z_19^post54 <= 0 /\ -__disjvr_12^post54+__disjvr_12^0 == 0 /\ -r_36^post54+r_36^0 == 0 /\ 2-length_14^post54 <= 0 /\ w_20^post54-tail_15^0 <= 0 /\ w_20^post54-tail_15^0 == 0 /\ rcd_268^0-rcd_268^post54 == 0 /\ y_22^post54-w_20^post54 <= 0 /\ y_22^post54-w_20^post54 == 0 /\ __disjvr_9^0-__disjvr_9^post54 == 0 /\ __disjvr_23^0-__disjvr_23^post54 == 0 /\ temp0_28^110-head_29^0 == 0 /\ -__disjvr_5^post54+__disjvr_5^0 == 0 /\ x_21^0-x_21^post54 == 0 /\ __disjvr_0^0-__disjvr_0^post54 == 0 /\ -rcd_99^post54+rcd_99^0 == 0 /\ -__disjvr_14^post54+__disjvr_14^0 == 0 /\ y_269^0-y_269^post54 == 0 /\ -r_238^post54+r_238^0 == 0 /\ -__disjvr_22^post54+__disjvr_22^0 == 0 /\ -__disjvr_15^post54+__disjvr_15^0 == 0 /\ __disjvr_21^0-__disjvr_21^post54 == 0 /\ 1-length_14^post54 <= 0 /\ -r_253^post54+r_253^0 == 0 /\ r_154^0-r_154^post54 == 0 /\ -y_295^post54+y_295^0 == 0 /\ -head_13^0+z_19^post54 <= 0 /\ -head_13^0+z_19^post54 == 0 /\ -r_229^post54+r_229^0 == 0 /\ -r_247^post54+r_247^0 == 0 /\ -w_20^post54+tail_15^0 <= 0 /\ -tail_15^post54+tail_15^0 == 0 /\ -__disjvr_1^post54+__disjvr_1^0 == 0 /\ -rcd_243^post54+rcd_243^0 == 0 /\ -y_22^post54+w_20^post54 <= 0), cost: 1
  39: l38 -> l39 : __disjvr_0^0'=__disjvr_0^post39, i_27^0'=i_27^post39, y_162^0'=y_162^post39, __disjvr_21^0'=__disjvr_21^post39, z_19^0'=z_19^post39, __disjvr_9^0'=__disjvr_9^post39, result_11^0'=result_11^post39, __disjvr_14^0'=__disjvr_14^post39, r_154^0'=r_154^post39, __disjvr_24^0'=__disjvr_24^post39, y_261^0'=y_261^post39, rcd_230^0'=rcd_230^post39, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, tmp_31^0'=tmp_31^post39, __disjvr_19^0'=__disjvr_19^post39, r_242^0'=r_242^post39, __disjvr_6^0'=__disjvr_6^post39, y_347^0'=y_347^post39, rcd_40^0'=rcd_40^post39, __disjvr_11^0'=__disjvr_11^post39, len_270^0'=len_270^post39, y_22^0'=y_22^post39, r_267^0'=r_267^post39, a_168^0'=a_168^post39, t_23^0'=t_23^post39, __disjvr_16^0'=__disjvr_16^post39, r_229^0'=r_229^post39, __disjvr_3^0'=__disjvr_3^post39, y_285^0'=y_285^post39, rcd_243^0'=rcd_243^post39, i_114^0'=i_114^post39, x_21^0'=x_21^post39, __disjvr_20^0'=__disjvr_20^post39, r_253^0'=r_253^post39, __disjvr_8^0'=__disjvr_8^post39, rcd_99^0'=rcd_99^post39, __disjvr_13^0'=__disjvr_13^post39, length_25^0'=length_25^post39, __disjvr_23^0'=__disjvr_23^post39, y_241^0'=y_241^post39, rcd_107^0'=rcd_107^post39, a_271^0'=a_271^post39, temp0_18^0'=temp0_18^post39, temp_32^0'=temp_32^post39, __disjvr_18^0'=__disjvr_18^post39, r_240^0'=r_240^post39, __disjvr_5^0'=__disjvr_5^post39, y_295^0'=y_295^post39, rcd_268^0'=rcd_268^post39, __disjvr_10^0'=__disjvr_10^post39, len_200^0'=len_200^post39, y_191^0'=y_191^post39, __disjvr_22^0'=__disjvr_22^post39, a_143^0'=a_143^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39, __disjvr_15^0'=__disjvr_15^post39, r_183^0'=r_183^post39, __disjvr_2^0'=__disjvr_2^post39, y_269^0'=y_269^post39, rcd_239^0'=rcd_239^post39, head_29^0'=head_29^post39, i_105^0'=i_105^post39, w_20^0'=w_20^post39, __disjvr_1^0'=__disjvr_1^post39, r_247^0'=r_247^post39, __disjvr_7^0'=__disjvr_7^post39, rcd_64^0'=rcd_64^post39, __disjvr_12^0'=__disjvr_12^post39, length_14^0'=length_14^post39, y_231^0'=y_231^post39, r_36^0'=r_36^post39, a_215^0'=a_215^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post39, __disjvr_17^0'=__disjvr_17^post39, r_238^0'=r_238^post39, __disjvr_4^0'=__disjvr_4^post39, y_290^0'=y_290^post39, rcd_248^0'=rcd_248^post39, (0 == 0 /\ -y_241^post39+y_241^0 == 0 /\ r_229^0-r_229^post39 == 0 /\ -__disjvr_3^post39+__disjvr_3^0 == 0 /\ -__disjvr_5^post39+__disjvr_5^0 == 0 /\ -r_36^post39+r_36^0 == 0 /\ -__disjvr_18^post39+__disjvr_18^0 == 0 /\ -y_290^post39+y_290^0 == 0 /\ i_105^0-i_105^post39 == 0 /\ r_267^0-r_267^post39 == 0 /\ -len_270^post39+len_270^0 == 0 /\ result_11^0-result_11^post39 == 0 /\ -w_20^post39+w_20^0 == 0 /\ -rcd_64^post39+rcd_64^0 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ -__disjvr_12^post39+__disjvr_12^0 == 0 /\ -r_183^post39+r_183^0 == 0 /\ y_261^0-y_261^post39 == 0 /\ rcd_99^0-rcd_99^post39 == 0 /\ rcd_40^0-rcd_40^post39 == 0 /\ i_114^0-i_114^post39 == 0 /\ -r_238^post39+r_238^0 == 0 /\ -r_253^post39+r_253^0 == 0 /\ y_162^0-y_162^post39 == 0 /\ -__disjvr_22^post39+__disjvr_22^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39 == 0 /\ -rcd_268^post39+rcd_268^0 == 0 /\ __disjvr_7^0-__disjvr_7^post39 == 0 /\ -__disjvr_2^post39+__disjvr_2^0 == 0 /\ y_22^0-y_22^post39 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ t_23^0-t_23^post39 == 0 /\ -__disjvr_15^post39+__disjvr_15^0 == 0 /\ -temp0_18^post39+temp0_18^0 == 0 /\ __disjvr_10^0-__disjvr_10^post39 == 0 /\ -__disjvr_1^post39+__disjvr_1^0 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ y_231^0-y_231^post39 == 0 /\ -rcd_107^post39+rcd_107^0 == 0 /\ r_154^0-r_154^post39 == 0 /\ -y_295^post39+y_295^0 == 0 /\ __disjvr_9^0-__disjvr_9^post39 == 0 /\ -i_114^0 <= 0 /\ __disjvr_19^0-__disjvr_19^post39 == 0 /\ a_215^0-a_215^post39 == 0 /\ __disjvr_6^0-__disjvr_6^post39 == 0 /\ -__disjvr_20^post39+__disjvr_20^0 == 0 /\ x_21^0-x_21^post39 == 0 /\ __disjvr_21^0-__disjvr_21^post39 == 0 /\ __disjvr_16^0-__disjvr_16^post39 == 0 /\ -a_143^post39+a_143^0 == 0 /\ length_25^0-length_25^post39 == 0 /\ -tmp_31^post39+tmp_31^0 == 0 /\ -__disjvr_13^post39+__disjvr_13^0 == 0 /\ a_168^0-a_168^post39 == 0 /\ -__disjvr_4^post39+__disjvr_4^0 == 0 /\ -temp0_28^post39+temp0_28^0 == 0 /\ y_347^0-y_347^post39 == 0 /\ y_191^0-y_191^post39 == 0 /\ rcd_239^0-rcd_239^post39 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post39 == 0 /\ -__disjvr_8^post39+__disjvr_8^0 == 0 /\ __disjvr_11^0-__disjvr_11^post39 == 0 /\ -len_200^post39+len_200^0 == 0 /\ r_240^0-r_240^post39 == 0 /\ -head_29^post39+head_29^0 == 0 /\ y_285^0-y_285^post39 == 0 /\ i_27^0-i_27^post39 == 0 /\ __disjvr_23^0-__disjvr_23^post39 == 0 /\ -temp_32^post39+temp_32^0 == 0 /\ -y_269^post39+y_269^0 == 0 /\ rcd_230^0-rcd_230^post39 == 0 /\ a_271^0-a_271^post39 == 0), cost: 1
  40: l39 -> l40 : __disjvr_0^0'=__disjvr_0^post40, i_27^0'=i_27^post40, y_162^0'=y_162^post40, __disjvr_21^0'=__disjvr_21^post40, z_19^0'=z_19^post40, __disjvr_9^0'=__disjvr_9^post40, result_11^0'=result_11^post40, __disjvr_14^0'=__disjvr_14^post40, r_154^0'=r_154^post40, __disjvr_24^0'=__disjvr_24^post40, y_261^0'=y_261^post40, rcd_230^0'=rcd_230^post40, head_13^0'=head_13^post40, head_SLAM_f_26^0'=head_SLAM_f_26^post40, tmp_31^0'=tmp_31^post40, __disjvr_19^0'=__disjvr_19^post40, r_242^0'=r_242^post40, __disjvr_6^0'=__disjvr_6^post40, y_347^0'=y_347^post40, rcd_40^0'=rcd_40^post40, __disjvr_11^0'=__disjvr_11^post40, len_270^0'=len_270^post40, y_22^0'=y_22^post40, r_267^0'=r_267^post40, a_168^0'=a_168^post40, t_23^0'=t_23^post40, __disjvr_16^0'=__disjvr_16^post40, r_229^0'=r_229^post40, __disjvr_3^0'=__disjvr_3^post40, y_285^0'=y_285^post40, rcd_243^0'=rcd_243^post40, i_114^0'=i_114^post40, x_21^0'=x_21^post40, __disjvr_20^0'=__disjvr_20^post40, r_253^0'=r_253^post40, __disjvr_8^0'=__disjvr_8^post40, rcd_99^0'=rcd_99^post40, __disjvr_13^0'=__disjvr_13^post40, length_25^0'=length_25^post40, __disjvr_23^0'=__disjvr_23^post40, y_241^0'=y_241^post40, rcd_107^0'=rcd_107^post40, a_271^0'=a_271^post40, temp0_18^0'=temp0_18^post40, temp_32^0'=temp_32^post40, __disjvr_18^0'=__disjvr_18^post40, r_240^0'=r_240^post40, __disjvr_5^0'=__disjvr_5^post40, y_295^0'=y_295^post40, rcd_268^0'=rcd_268^post40, __disjvr_10^0'=__disjvr_10^post40, len_200^0'=len_200^post40, y_191^0'=y_191^post40, __disjvr_22^0'=__disjvr_22^post40, a_143^0'=a_143^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40, __disjvr_15^0'=__disjvr_15^post40, r_183^0'=r_183^post40, __disjvr_2^0'=__disjvr_2^post40, y_269^0'=y_269^post40, rcd_239^0'=rcd_239^post40, head_29^0'=head_29^post40, i_105^0'=i_105^post40, w_20^0'=w_20^post40, __disjvr_1^0'=__disjvr_1^post40, r_247^0'=r_247^post40, __disjvr_7^0'=__disjvr_7^post40, rcd_64^0'=rcd_64^post40, __disjvr_12^0'=__disjvr_12^post40, length_14^0'=length_14^post40, y_231^0'=y_231^post40, r_36^0'=r_36^post40, a_215^0'=a_215^post40, tail_15^0'=tail_15^post40, temp0_28^0'=temp0_28^post40, __disjvr_17^0'=__disjvr_17^post40, r_238^0'=r_238^post40, __disjvr_4^0'=__disjvr_4^post40, y_290^0'=y_290^post40, rcd_248^0'=rcd_248^post40, (r_247^0-r_247^post40 == 0 /\ -i_114^post40+i_114^0 == 0 /\ r_229^0-r_229^post40 == 0 /\ -y_22^post40+y_22^0 == 0 /\ head_29^0-head_29^post40 == 0 /\ rcd_230^0-rcd_230^post40 == 0 /\ -__disjvr_16^post40+__disjvr_16^0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ -rcd_243^post40+rcd_243^0 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ a_168^0-a_168^post40 == 0 /\ -rcd_64^post40+rcd_64^0 == 0 /\ y_241^0-y_241^post40 == 0 /\ __disjvr_20^0-__disjvr_20^post40 == 0 /\ -r_240^post40+r_240^0 == 0 /\ -r_36^post40+r_36^0 == 0 /\ i_105^0-i_105^post40 == 0 /\ y_261^0-y_261^post40 == 0 /\ -temp0_28^post40+temp0_28^0 == 0 /\ length_25^0-length_25^post40 == 0 /\ rcd_40^0-rcd_40^post40 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ y_162^0-y_162^post40 == 0 /\ temp_32^0-temp_32^post40 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ -r_253^post40+r_253^0 == 0 /\ rcd_268^0-rcd_268^post40 == 0 /\ -t_23^post40+t_23^0 == 0 /\ i_27^0-i_27^post40 == 0 /\ -rcd_239^post40+rcd_239^0 == 0 /\ -r_242^post40+r_242^0 == 0 /\ -r_183^post40+r_183^0 == 0 /\ rcd_107^0-rcd_107^post40 == 0 /\ tmp_31^0-tmp_31^post40 == 0 /\ -tail_15^post40+tail_15^0 == 0 /\ -y_290^post40+y_290^0 == 0 /\ __disjvr_3^0-__disjvr_3^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -r_154^post40+r_154^0 == 0 /\ -__disjvr_22^post40+__disjvr_22^0 == 0 /\ -length_14^post40+length_14^0 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ -z_19^post40+z_19^0 == 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ len_270^0-len_270^post40 == 0 /\ -__disjvr_4^post40+__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ -__disjvr_11^post40+__disjvr_11^0 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ -rcd_248^post40+rcd_248^0 == 0 /\ -y_285^post40+y_285^0 == 0 /\ -r_238^post40+r_238^0 == 0 /\ temp0_18^0-temp0_18^post40 == 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ -r_267^post40+r_267^0 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ -__disjvr_2^post40+__disjvr_2^0 == 0 /\ __disjvr_10^0-__disjvr_10^post40 == 0 /\ a_143^0-a_143^post40 == 0 /\ y_347^0-y_347^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ y_295^0-y_295^post40 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post40 == 0 /\ rcd_99^0-rcd_99^post40 == 0 /\ -__disjvr_19^0+__disjvr_19^post40 == 0 /\ -head_13^post40+head_13^0 == 0 /\ -y_231^post40+y_231^0 == 0 /\ y_191^0-y_191^post40 == 0 /\ -a_271^post40+a_271^0 == 0 /\ -x_21^post40+x_21^0 == 0 /\ -w_20^post40+w_20^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ y_269^0-y_269^post40 == 0 /\ -len_200^post40+len_200^0 == 0 /\ -a_215^post40+a_215^0 == 0 /\ -__disjvr_18^post40+__disjvr_18^0 == 0 /\ __disjvr_5^0-__disjvr_5^post40 == 0), cost: 1
  41: l40 -> l41 : __disjvr_0^0'=__disjvr_0^post41, i_27^0'=i_27^post41, y_162^0'=y_162^post41, __disjvr_21^0'=__disjvr_21^post41, z_19^0'=z_19^post41, __disjvr_9^0'=__disjvr_9^post41, result_11^0'=result_11^post41, __disjvr_14^0'=__disjvr_14^post41, r_154^0'=r_154^post41, __disjvr_24^0'=__disjvr_24^post41, y_261^0'=y_261^post41, rcd_230^0'=rcd_230^post41, head_13^0'=head_13^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, tmp_31^0'=tmp_31^post41, __disjvr_19^0'=__disjvr_19^post41, r_242^0'=r_242^post41, __disjvr_6^0'=__disjvr_6^post41, y_347^0'=y_347^post41, rcd_40^0'=rcd_40^post41, __disjvr_11^0'=__disjvr_11^post41, len_270^0'=len_270^post41, y_22^0'=y_22^post41, r_267^0'=r_267^post41, a_168^0'=a_168^post41, t_23^0'=t_23^post41, __disjvr_16^0'=__disjvr_16^post41, r_229^0'=r_229^post41, __disjvr_3^0'=__disjvr_3^post41, y_285^0'=y_285^post41, rcd_243^0'=rcd_243^post41, i_114^0'=i_114^post41, x_21^0'=x_21^post41, __disjvr_20^0'=__disjvr_20^post41, r_253^0'=r_253^post41, __disjvr_8^0'=__disjvr_8^post41, rcd_99^0'=rcd_99^post41, __disjvr_13^0'=__disjvr_13^post41, length_25^0'=length_25^post41, __disjvr_23^0'=__disjvr_23^post41, y_241^0'=y_241^post41, rcd_107^0'=rcd_107^post41, a_271^0'=a_271^post41, temp0_18^0'=temp0_18^post41, temp_32^0'=temp_32^post41, __disjvr_18^0'=__disjvr_18^post41, r_240^0'=r_240^post41, __disjvr_5^0'=__disjvr_5^post41, y_295^0'=y_295^post41, rcd_268^0'=rcd_268^post41, __disjvr_10^0'=__disjvr_10^post41, len_200^0'=len_200^post41, y_191^0'=y_191^post41, __disjvr_22^0'=__disjvr_22^post41, a_143^0'=a_143^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41, __disjvr_15^0'=__disjvr_15^post41, r_183^0'=r_183^post41, __disjvr_2^0'=__disjvr_2^post41, y_269^0'=y_269^post41, rcd_239^0'=rcd_239^post41, head_29^0'=head_29^post41, i_105^0'=i_105^post41, w_20^0'=w_20^post41, __disjvr_1^0'=__disjvr_1^post41, r_247^0'=r_247^post41, __disjvr_7^0'=__disjvr_7^post41, rcd_64^0'=rcd_64^post41, __disjvr_12^0'=__disjvr_12^post41, length_14^0'=length_14^post41, y_231^0'=y_231^post41, r_36^0'=r_36^post41, a_215^0'=a_215^post41, tail_15^0'=tail_15^post41, temp0_28^0'=temp0_28^post41, __disjvr_17^0'=__disjvr_17^post41, r_238^0'=r_238^post41, __disjvr_4^0'=__disjvr_4^post41, y_290^0'=y_290^post41, rcd_248^0'=rcd_248^post41, (0 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ rcd_243^0-rcd_243^post41 == 0 /\ -temp0_18^post41+temp0_18^0 == 0 /\ y_162^0-y_22^post41 <= 0 /\ -len_200^post41+len_200^0 == 0 /\ -rcd_64^post41+rcd_64^0 == 0 /\ length_25^0-length_25^post41 == 0 /\ -t_23^post41+y_22^post41 <= 0 /\ -t_23^post41+y_22^post41 == 0 /\ -len_200^0 <= 0 /\ w_20^0-tail_15^0 <= 0 /\ -y_269^post41+y_269^0 == 0 /\ -__disjvr_12^post41+__disjvr_12^0 == 0 /\ w_20^0-w_20^post41 == 0 /\ z_19^0-z_19^post41 == 0 /\ a_168^0-a_168^post41 == 0 /\ -a_215^post41+a_215^0 == 0 /\ -x_21^0+t_23^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ length_14^0-length_14^post41 == 0 /\ head_29^0-head_29^post41 == 0 /\ -r_247^post41+r_247^0 == 0 /\ -temp0_28^post41+temp0_28^0 == 0 /\ y_285^0-y_285^post41 == 0 /\ -y_162^0+y_22^post41 <= 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ y_241^0-y_241^post41 == 0 /\ -r_183^post41+r_183^0 == 0 /\ temp_32^0-temp_32^post41 == 0 /\ t_23^post41-y_22^post41 <= 0 /\ y_347^0-y_347^post41 == 0 /\ -w_20^0+tail_15^0 <= 0 /\ -i_105^post41+i_105^0 == 0 /\ __disjvr_19^0-__disjvr_19^post41 == 0 /\ a_271^0-a_271^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ i_27^0-i_27^post41 == 0 /\ -y_290^post41+y_290^0 == 0 /\ -r_36^post41+r_36^0 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ rcd_230^0-rcd_230^post41 == 0 /\ -a_143^post41+a_215^0 <= 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ z_19^0-head_13^0 <= 0 /\ r_229^0-r_229^post41 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ -rcd_248^post41+rcd_248^0 == 0 /\ __disjvr_20^0-__disjvr_20^post41 == 0 /\ -tail_15^post41+tail_15^0 == 0 /\ -rcd_107^post41+rcd_107^0 == 0 /\ r_253^0-r_253^post41 == 0 /\ len_200^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ -y_261^post41+y_261^0 == 0 /\ -r_238^post41+r_238^0 == 0 /\ -r_242^0+r_36^0 <= 0 /\ rcd_40^0-rcd_40^post41 == 0 /\ r_267^0-r_267^post41 == 0 /\ -__disjvr_18^post41+__disjvr_18^0 == 0 /\ rcd_40^0-rcd_243^0 <= 0 /\ len_270^0-len_270^post41 == 0 /\ -rcd_239^post41+rcd_239^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post41 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ -y_191^post41+y_191^0 == 0 /\ a_143^post41-a_215^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ tmp_31^0-tmp_31^post41 == 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ rcd_268^0-rcd_268^post41 == 0 /\ -y_231^post41+y_231^0 == 0 /\ rcd_99^0-rcd_99^post41 == 0 /\ i_114^0-i_114^post41 == 0 /\ __disjvr_24^0-__disjvr_24^post41 == 0 /\ -__disjvr_4^post41+__disjvr_4^0 == 0 /\ -z_19^0+head_13^0 <= 0 /\ y_162^0-y_162^post41 == 0 /\ -__disjvr_7^post41+__disjvr_7^0 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ r_242^0-r_36^0 <= 0 /\ y_295^0-y_295^post41 == 0 /\ -__disjvr_11^post41+__disjvr_11^0 == 0 /\ -__disjvr_5^post41+__disjvr_5^0 == 0 /\ -__disjvr_2^post41+__disjvr_2^0 == 0 /\ r_242^0-r_242^post41 == 0 /\ -rcd_40^0+rcd_243^0 <= 0 /\ -x_21^post41+x_21^0 == 0 /\ head_13^0-head_13^post41 == 0 /\ -__disjvr_10^post41+__disjvr_10^0 == 0 /\ r_154^0-r_154^post41 == 0 /\ -r_240^post41+r_240^0 == 0), cost: 1
  42: l41 -> l42 : __disjvr_0^0'=__disjvr_0^post42, i_27^0'=i_27^post42, y_162^0'=y_162^post42, __disjvr_21^0'=__disjvr_21^post42, z_19^0'=z_19^post42, __disjvr_9^0'=__disjvr_9^post42, result_11^0'=result_11^post42, __disjvr_14^0'=__disjvr_14^post42, r_154^0'=r_154^post42, __disjvr_24^0'=__disjvr_24^post42, y_261^0'=y_261^post42, rcd_230^0'=rcd_230^post42, head_13^0'=head_13^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, tmp_31^0'=tmp_31^post42, __disjvr_19^0'=__disjvr_19^post42, r_242^0'=r_242^post42, __disjvr_6^0'=__disjvr_6^post42, y_347^0'=y_347^post42, rcd_40^0'=rcd_40^post42, __disjvr_11^0'=__disjvr_11^post42, len_270^0'=len_270^post42, y_22^0'=y_22^post42, r_267^0'=r_267^post42, a_168^0'=a_168^post42, t_23^0'=t_23^post42, __disjvr_16^0'=__disjvr_16^post42, r_229^0'=r_229^post42, __disjvr_3^0'=__disjvr_3^post42, y_285^0'=y_285^post42, rcd_243^0'=rcd_243^post42, i_114^0'=i_114^post42, x_21^0'=x_21^post42, __disjvr_20^0'=__disjvr_20^post42, r_253^0'=r_253^post42, __disjvr_8^0'=__disjvr_8^post42, rcd_99^0'=rcd_99^post42, __disjvr_13^0'=__disjvr_13^post42, length_25^0'=length_25^post42, __disjvr_23^0'=__disjvr_23^post42, y_241^0'=y_241^post42, rcd_107^0'=rcd_107^post42, a_271^0'=a_271^post42, temp0_18^0'=temp0_18^post42, temp_32^0'=temp_32^post42, __disjvr_18^0'=__disjvr_18^post42, r_240^0'=r_240^post42, __disjvr_5^0'=__disjvr_5^post42, y_295^0'=y_295^post42, rcd_268^0'=rcd_268^post42, __disjvr_10^0'=__disjvr_10^post42, len_200^0'=len_200^post42, y_191^0'=y_191^post42, __disjvr_22^0'=__disjvr_22^post42, a_143^0'=a_143^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42, __disjvr_15^0'=__disjvr_15^post42, r_183^0'=r_183^post42, __disjvr_2^0'=__disjvr_2^post42, y_269^0'=y_269^post42, rcd_239^0'=rcd_239^post42, head_29^0'=head_29^post42, i_105^0'=i_105^post42, w_20^0'=w_20^post42, __disjvr_1^0'=__disjvr_1^post42, r_247^0'=r_247^post42, __disjvr_7^0'=__disjvr_7^post42, rcd_64^0'=rcd_64^post42, __disjvr_12^0'=__disjvr_12^post42, length_14^0'=length_14^post42, y_231^0'=y_231^post42, r_36^0'=r_36^post42, a_215^0'=a_215^post42, tail_15^0'=tail_15^post42, temp0_28^0'=temp0_28^post42, __disjvr_17^0'=__disjvr_17^post42, r_238^0'=r_238^post42, __disjvr_4^0'=__disjvr_4^post42, y_290^0'=y_290^post42, rcd_248^0'=rcd_248^post42, (i_27^0-i_27^post42 == 0 /\ -__disjvr_8^post42+__disjvr_8^0 == 0 /\ -a_143^post42+a_143^0 == 0 /\ -t_23^post42+t_23^0 == 0 /\ len_200^0-len_200^post42 == 0 /\ -y_295^post42+y_295^0 == 0 /\ -temp0_28^post42+temp0_28^0 == 0 /\ -y_269^post42+y_269^0 == 0 /\ len_270^0-len_270^post42 == 0 /\ __disjvr_0^0-__disjvr_0^post42 == 0 /\ tmp_31^0-tmp_31^post42 == 0 /\ y_285^0-y_285^post42 == 0 /\ -x_21^post42+x_21^0 == 0 /\ r_253^0-r_253^post42 == 0 /\ -__disjvr_4^post42+__disjvr_4^0 == 0 /\ __disjvr_13^0-__disjvr_13^post42 == 0 /\ __disjvr_18^0-__disjvr_18^post42 == 0 /\ -r_247^post42+r_247^0 == 0 /\ -temp0_18^post42+temp0_18^0 == 0 /\ __disjvr_6^0-__disjvr_6^post42 == 0 /\ r_267^0-r_267^post42 == 0 /\ -a_215^post42+a_215^0 == 0 /\ __disjvr_19^0-__disjvr_19^post42 == 0 /\ a_271^0-a_271^post42 == 0 /\ -y_290^post42+y_290^0 == 0 /\ -temp_32^post42+temp_32^0 == 0 /\ -i_105^post42+i_105^0 == 0 /\ __disjvr_16^0-__disjvr_16^post42 == 0 /\ rcd_99^0-rcd_99^post42 == 0 /\ -y_347^post42+y_347^0 == 0 /\ __disjvr_21^0-__disjvr_21^post42 == 0 /\ -r_36^post42+r_36^0 == 0 /\ -rcd_107^post42+rcd_107^0 == 0 /\ y_261^0-y_261^post42 == 0 /\ -length_14^post42+length_14^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ __disjvr_12^0-__disjvr_12^post42 == 0 /\ tail_15^0-tail_15^post42 == 0 /\ -w_20^post42+w_20^0 == 0 /\ rcd_230^0-rcd_230^post42 == 0 /\ -r_238^post42+r_238^0 == 0 /\ -__disjvr_15^post42+__disjvr_15^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post42 == 0 /\ rcd_243^0-rcd_243^post42 == 0 /\ r_242^0-r_242^post42 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_11^0-__disjvr_11^post42 == 0 /\ a_168^0-a_168^post42 == 0 /\ y_22^0-y_22^post42 == 0 /\ -rcd_239^post42+rcd_239^0 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ -__disjvr_22^post42+__disjvr_22^0 == 0 /\ -__disjvr_9^post42+__disjvr_9^0 == 0 /\ -length_25^post42+length_25^0 == 0 /\ y_231^0-y_231^post42 == 0 /\ -head_29^post42+head_29^0 == 0 /\ rcd_40^0-rcd_40^post42 == 0 /\ z_19^0-z_19^post42 == 0 /\ __disjvr_20^post42-__disjvr_20^0 == 0 /\ rcd_268^0-rcd_268^post42 == 0 /\ -__disjvr_5^post42+__disjvr_5^0 == 0 /\ r_229^0-r_229^post42 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ -__disjvr_3^post42+__disjvr_3^0 == 0 /\ -__disjvr_23^post42+__disjvr_23^0 == 0 /\ -y_191^post42+y_191^0 == 0 /\ -__disjvr_1^post42+__disjvr_1^0 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ r_183^0-r_183^post42 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -rcd_64^post42+rcd_64^0 == 0 /\ -__disjvr_14^post42+__disjvr_14^0 == 0 /\ -__disjvr_2^post42+__disjvr_2^0 == 0 /\ -r_240^post42+r_240^0 == 0 /\ r_154^0-r_154^post42 == 0 /\ -__disjvr_20^post42+__disjvr_20^0 == 0 /\ -rcd_248^post42+rcd_248^0 == 0 /\ y_241^0-y_241^post42 == 0 /\ y_162^0-y_162^post42 == 0 /\ i_114^0-i_114^post42 == 0 /\ head_13^0-head_13^post42 == 0), cost: 1
  43: l42 -> l43 : __disjvr_0^0'=__disjvr_0^post43, i_27^0'=i_27^post43, y_162^0'=y_162^post43, __disjvr_21^0'=__disjvr_21^post43, z_19^0'=z_19^post43, __disjvr_9^0'=__disjvr_9^post43, result_11^0'=result_11^post43, __disjvr_14^0'=__disjvr_14^post43, r_154^0'=r_154^post43, __disjvr_24^0'=__disjvr_24^post43, y_261^0'=y_261^post43, rcd_230^0'=rcd_230^post43, head_13^0'=head_13^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, tmp_31^0'=tmp_31^post43, __disjvr_19^0'=__disjvr_19^post43, r_242^0'=r_242^post43, __disjvr_6^0'=__disjvr_6^post43, y_347^0'=y_347^post43, rcd_40^0'=rcd_40^post43, __disjvr_11^0'=__disjvr_11^post43, len_270^0'=len_270^post43, y_22^0'=y_22^post43, r_267^0'=r_267^post43, a_168^0'=a_168^post43, t_23^0'=t_23^post43, __disjvr_16^0'=__disjvr_16^post43, r_229^0'=r_229^post43, __disjvr_3^0'=__disjvr_3^post43, y_285^0'=y_285^post43, rcd_243^0'=rcd_243^post43, i_114^0'=i_114^post43, x_21^0'=x_21^post43, __disjvr_20^0'=__disjvr_20^post43, r_253^0'=r_253^post43, __disjvr_8^0'=__disjvr_8^post43, rcd_99^0'=rcd_99^post43, __disjvr_13^0'=__disjvr_13^post43, length_25^0'=length_25^post43, __disjvr_23^0'=__disjvr_23^post43, y_241^0'=y_241^post43, rcd_107^0'=rcd_107^post43, a_271^0'=a_271^post43, temp0_18^0'=temp0_18^post43, temp_32^0'=temp_32^post43, __disjvr_18^0'=__disjvr_18^post43, r_240^0'=r_240^post43, __disjvr_5^0'=__disjvr_5^post43, y_295^0'=y_295^post43, rcd_268^0'=rcd_268^post43, __disjvr_10^0'=__disjvr_10^post43, len_200^0'=len_200^post43, y_191^0'=y_191^post43, __disjvr_22^0'=__disjvr_22^post43, a_143^0'=a_143^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43, __disjvr_15^0'=__disjvr_15^post43, r_183^0'=r_183^post43, __disjvr_2^0'=__disjvr_2^post43, y_269^0'=y_269^post43, rcd_239^0'=rcd_239^post43, head_29^0'=head_29^post43, i_105^0'=i_105^post43, w_20^0'=w_20^post43, __disjvr_1^0'=__disjvr_1^post43, r_247^0'=r_247^post43, __disjvr_7^0'=__disjvr_7^post43, rcd_64^0'=rcd_64^post43, __disjvr_12^0'=__disjvr_12^post43, length_14^0'=length_14^post43, y_231^0'=y_231^post43, r_36^0'=r_36^post43, a_215^0'=a_215^post43, tail_15^0'=tail_15^post43, temp0_28^0'=temp0_28^post43, __disjvr_17^0'=__disjvr_17^post43, r_238^0'=r_238^post43, __disjvr_4^0'=__disjvr_4^post43, y_290^0'=y_290^post43, rcd_248^0'=rcd_248^post43, (r_242^0-r_242^post43 == 0 /\ -r_229^post43+r_229^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ -y_231^post43+y_231^0 == 0 /\ -__disjvr_20^post43+__disjvr_20^0 == 0 /\ -rcd_107^post43+rcd_107^0 == 0 /\ __disjvr_7^0-__disjvr_7^post43 == 0 /\ __disjvr_14^0-__disjvr_14^post43 == 0 /\ -r_247^post43+r_247^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ rcd_40^0-rcd_40^post43 == 0 /\ i_27^0-i_27^post43 == 0 /\ -__disjvr_13^post43+__disjvr_13^0 == 0 /\ temp_32^0-temp_32^post43 == 0 /\ len_270^0-len_270^post43 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ -len_200^post43+len_200^0 == 0 /\ rcd_230^0-rcd_230^post43 == 0 /\ -__disjvr_4^post43+__disjvr_4^0 == 0 /\ __disjvr_10^0-__disjvr_10^post43 == 0 /\ -length_14^post43+length_14^0 == 0 /\ i_105^0-i_105^post43 == 0 /\ -a_215^post43+a_215^0 == 0 /\ -__disjvr_8^post43+__disjvr_8^0 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ __disjvr_6^0-__disjvr_6^post43 == 0 /\ -a_271^post43+a_271^0 == 0 /\ r_154^0-r_154^post43 == 0 /\ __disjvr_12^0-__disjvr_12^post43 == 0 /\ -temp0_28^post43+temp0_28^0 == 0 /\ __disjvr_16^0-__disjvr_16^post43 == 0 /\ length_25^0-length_25^post43 == 0 /\ -r_36^post43+r_36^0 == 0 /\ r_267^0-r_267^post43 == 0 /\ rcd_243^0-rcd_243^post43 == 0 /\ rcd_99^0-rcd_99^post43 == 0 /\ y_295^0-y_295^post43 == 0 /\ -y_241^post43+y_241^0 == 0 /\ head_13^0-head_13^post43 == 0 /\ y_162^0-y_162^post43 == 0 /\ i_114^0-i_114^post43 == 0 /\ r_240^0-r_240^post43 == 0 /\ -y_290^post43+y_290^0 == 0 /\ -__disjvr_21^0+__disjvr_21^post43 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ y_285^0-y_285^post43 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ -head_29^post43+head_29^0 == 0 /\ -w_20^post43+w_20^0 == 0 /\ __disjvr_23^0-__disjvr_23^post43 == 0 /\ -__disjvr_18^post43+__disjvr_18^0 == 0 /\ z_19^0-z_19^post43 == 0 /\ tmp_31^0-tmp_31^post43 == 0 /\ -r_183^post43+r_183^0 == 0 /\ -r_253^post43+r_253^0 == 0 /\ -rcd_64^post43+rcd_64^0 == 0 /\ a_143^0-a_143^post43 == 0 /\ rcd_239^0-rcd_239^post43 == 0 /\ -__disjvr_3^post43+__disjvr_3^0 == 0 /\ -__disjvr_22^post43+__disjvr_22^0 == 0 /\ -tail_15^post43+tail_15^0 == 0 /\ -rcd_268^post43+rcd_268^0 == 0 /\ y_269^0-y_269^post43 == 0 /\ -r_238^post43+r_238^0 == 0 /\ __disjvr_19^0-__disjvr_19^post43 == 0 /\ __disjvr_21^0-__disjvr_21^post43 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0 /\ -t_23^post43+t_23^0 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ x_21^0-x_21^post43 == 0 /\ -temp0_18^post43+temp0_18^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ y_261^0-y_261^post43 == 0 /\ -__disjvr_1^post43+__disjvr_1^0 == 0 /\ -__disjvr_15^post43+__disjvr_15^0 == 0 /\ y_191^0-y_191^post43 == 0 /\ -y_22^post43+y_22^0 == 0 /\ a_168^0-a_168^post43 == 0 /\ y_347^0-y_347^post43 == 0 /\ -rcd_248^post43+rcd_248^0 == 0), cost: 1
  44: l43 -> l0 : __disjvr_0^0'=__disjvr_0^post44, i_27^0'=i_27^post44, y_162^0'=y_162^post44, __disjvr_21^0'=__disjvr_21^post44, z_19^0'=z_19^post44, __disjvr_9^0'=__disjvr_9^post44, result_11^0'=result_11^post44, __disjvr_14^0'=__disjvr_14^post44, r_154^0'=r_154^post44, __disjvr_24^0'=__disjvr_24^post44, y_261^0'=y_261^post44, rcd_230^0'=rcd_230^post44, head_13^0'=head_13^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, tmp_31^0'=tmp_31^post44, __disjvr_19^0'=__disjvr_19^post44, r_242^0'=r_242^post44, __disjvr_6^0'=__disjvr_6^post44, y_347^0'=y_347^post44, rcd_40^0'=rcd_40^post44, __disjvr_11^0'=__disjvr_11^post44, len_270^0'=len_270^post44, y_22^0'=y_22^post44, r_267^0'=r_267^post44, a_168^0'=a_168^post44, t_23^0'=t_23^post44, __disjvr_16^0'=__disjvr_16^post44, r_229^0'=r_229^post44, __disjvr_3^0'=__disjvr_3^post44, y_285^0'=y_285^post44, rcd_243^0'=rcd_243^post44, i_114^0'=i_114^post44, x_21^0'=x_21^post44, __disjvr_20^0'=__disjvr_20^post44, r_253^0'=r_253^post44, __disjvr_8^0'=__disjvr_8^post44, rcd_99^0'=rcd_99^post44, __disjvr_13^0'=__disjvr_13^post44, length_25^0'=length_25^post44, __disjvr_23^0'=__disjvr_23^post44, y_241^0'=y_241^post44, rcd_107^0'=rcd_107^post44, a_271^0'=a_271^post44, temp0_18^0'=temp0_18^post44, temp_32^0'=temp_32^post44, __disjvr_18^0'=__disjvr_18^post44, r_240^0'=r_240^post44, __disjvr_5^0'=__disjvr_5^post44, y_295^0'=y_295^post44, rcd_268^0'=rcd_268^post44, __disjvr_10^0'=__disjvr_10^post44, len_200^0'=len_200^post44, y_191^0'=y_191^post44, __disjvr_22^0'=__disjvr_22^post44, a_143^0'=a_143^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, __disjvr_15^0'=__disjvr_15^post44, r_183^0'=r_183^post44, __disjvr_2^0'=__disjvr_2^post44, y_269^0'=y_269^post44, rcd_239^0'=rcd_239^post44, head_29^0'=head_29^post44, i_105^0'=i_105^post44, w_20^0'=w_20^post44, __disjvr_1^0'=__disjvr_1^post44, r_247^0'=r_247^post44, __disjvr_7^0'=__disjvr_7^post44, rcd_64^0'=rcd_64^post44, __disjvr_12^0'=__disjvr_12^post44, length_14^0'=length_14^post44, y_231^0'=y_231^post44, r_36^0'=r_36^post44, a_215^0'=a_215^post44, tail_15^0'=tail_15^post44, temp0_28^0'=temp0_28^post44, __disjvr_17^0'=__disjvr_17^post44, r_238^0'=r_238^post44, __disjvr_4^0'=__disjvr_4^post44, y_290^0'=y_290^post44, rcd_248^0'=rcd_248^post44, (0 == 0 /\ z_19^0-z_19^post44 == 0 /\ -__disjvr_4^post44+__disjvr_4^0 == 0 /\ y_191^0-y_191^post44 == 0 /\ -length_14^post44+length_14^0 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ -rcd_99^post44+rcd_99^0 == 0 /\ rcd_268^0-rcd_268^post44 == 0 /\ -y_285^post44+y_285^0 == 0 /\ y_22^0-y_22^post44 == 0 /\ -__disjvr_23^post44+__disjvr_23^0 == 0 /\ -__disjvr_2^post44+__disjvr_2^0 == 0 /\ rcd_230^0-rcd_230^post44 == 0 /\ -y_231^post44+y_231^0 == 0 /\ t_23^0-t_23^post44 == 0 /\ -r_238^post44+r_238^0 == 0 /\ -1-a_143^0+i_114^post44 <= 0 /\ __disjvr_24^0-__disjvr_24^post44 == 0 /\ a_143^0-a_143^post44 == 0 /\ a_271^0-a_271^post44 == 0 /\ -r_267^post44+r_267^0 == 0 /\ -__disjvr_15^post44+__disjvr_15^0 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ head_29^0-head_29^post44 == 0 /\ r_154^0-r_154^post44 == 0 /\ -x_21^post44+x_21^0 == 0 /\ -w_20^post44+w_20^0 == 0 /\ __disjvr_8^0-__disjvr_8^post44 == 0 /\ -a_215^post44+a_215^0 == 0 /\ i_105^0-i_105^post44 == 0 /\ -len_200^post44+len_200^0 == 0 /\ y_241^0-y_241^post44 == 0 /\ -head_SLAM_f_26^post44+head_SLAM_f_26^0 == 0 /\ -__disjvr_6^post44+__disjvr_6^0 == 0 /\ a_168^0-a_168^post44 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ -__disjvr_7^post44+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post44 == 0 /\ -length_25^post44+length_25^0 == 0 /\ r_253^0-r_253^post44 == 0 /\ -r_242^post44+r_242^0 == 0 /\ -r_36^post44+r_36^0 == 0 /\ 2-length_14^0 <= 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ -i_114^0+length_14^0 <= 0 /\ result_11^0-result_11^post44 == 0 /\ y_162^0-y_162^post44 == 0 /\ -__disjvr_18^post44+__disjvr_18^0 == 0 /\ y_295^0-y_295^post44 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ -__disjvr_5^post44+__disjvr_5^0 == 0 /\ -__disjvr_10^post44+__disjvr_10^0 == 0 /\ -__disjvr_16^post44+__disjvr_16^0 == 0 /\ y_269^0-y_269^post44 == 0 /\ __disjvr_13^0-__disjvr_13^post44 == 0 /\ head_13^0-head_13^post44 == 0 /\ __disjvr_9^0-__disjvr_9^post44 == 0 /\ i_27^0-i_27^post44 == 0 /\ -temp0_28^post44+temp0_28^0 == 0 /\ tmp_31^0-tmp_31^post44 == 0 /\ -rcd_64^post44+rcd_64^0 == 0 /\ temp_32^0-temp_32^post44 == 0 /\ 1+a_143^0-i_114^post44 <= 0 /\ -r_240^post44+r_240^0 == 0 /\ rcd_107^0-rcd_107^post44 == 0 /\ r_229^0-r_229^post44 == 0 /\ -r_247^post44+r_247^0 == 0 /\ -rcd_248^post44+rcd_248^0 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ -rcd_243^post44+rcd_243^0 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ len_270^0-len_270^post44 == 0 /\ __disjvr_11^0-__disjvr_11^post44 == 0 /\ -r_183^post44+r_183^0 == 0 /\ -y_290^post44+y_290^0 == 0 /\ -tail_15^post44+tail_15^0 == 0 /\ temp0_18^0-temp0_18^post44 == 0 /\ 1-length_14^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -__disjvr_22^post44+__disjvr_22^0 == 0 /\ rcd_40^0-rcd_40^post44 == 0 /\ y_347^0-y_347^post44 == 0 /\ y_261^0-y_261^post44 == 0 /\ -rcd_239^post44+rcd_239^0 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0), cost: 1
  53: l49 -> l37 : __disjvr_0^0'=__disjvr_0^post53, i_27^0'=i_27^post53, y_162^0'=y_162^post53, __disjvr_21^0'=__disjvr_21^post53, z_19^0'=z_19^post53, __disjvr_9^0'=__disjvr_9^post53, result_11^0'=result_11^post53, __disjvr_14^0'=__disjvr_14^post53, r_154^0'=r_154^post53, __disjvr_24^0'=__disjvr_24^post53, y_261^0'=y_261^post53, rcd_230^0'=rcd_230^post53, head_13^0'=head_13^post53, head_SLAM_f_26^0'=head_SLAM_f_26^post53, tmp_31^0'=tmp_31^post53, __disjvr_19^0'=__disjvr_19^post53, r_242^0'=r_242^post53, __disjvr_6^0'=__disjvr_6^post53, y_347^0'=y_347^post53, rcd_40^0'=rcd_40^post53, __disjvr_11^0'=__disjvr_11^post53, len_270^0'=len_270^post53, y_22^0'=y_22^post53, r_267^0'=r_267^post53, a_168^0'=a_168^post53, t_23^0'=t_23^post53, __disjvr_16^0'=__disjvr_16^post53, r_229^0'=r_229^post53, __disjvr_3^0'=__disjvr_3^post53, y_285^0'=y_285^post53, rcd_243^0'=rcd_243^post53, i_114^0'=i_114^post53, x_21^0'=x_21^post53, __disjvr_20^0'=__disjvr_20^post53, r_253^0'=r_253^post53, __disjvr_8^0'=__disjvr_8^post53, rcd_99^0'=rcd_99^post53, __disjvr_13^0'=__disjvr_13^post53, length_25^0'=length_25^post53, __disjvr_23^0'=__disjvr_23^post53, y_241^0'=y_241^post53, rcd_107^0'=rcd_107^post53, a_271^0'=a_271^post53, temp0_18^0'=temp0_18^post53, temp_32^0'=temp_32^post53, __disjvr_18^0'=__disjvr_18^post53, r_240^0'=r_240^post53, __disjvr_5^0'=__disjvr_5^post53, y_295^0'=y_295^post53, rcd_268^0'=rcd_268^post53, __disjvr_10^0'=__disjvr_10^post53, len_200^0'=len_200^post53, y_191^0'=y_191^post53, __disjvr_22^0'=__disjvr_22^post53, a_143^0'=a_143^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post53, __disjvr_15^0'=__disjvr_15^post53, r_183^0'=r_183^post53, __disjvr_2^0'=__disjvr_2^post53, y_269^0'=y_269^post53, rcd_239^0'=rcd_239^post53, head_29^0'=head_29^post53, i_105^0'=i_105^post53, w_20^0'=w_20^post53, __disjvr_1^0'=__disjvr_1^post53, r_247^0'=r_247^post53, __disjvr_7^0'=__disjvr_7^post53, rcd_64^0'=rcd_64^post53, __disjvr_12^0'=__disjvr_12^post53, length_14^0'=length_14^post53, y_231^0'=y_231^post53, r_36^0'=r_36^post53, a_215^0'=a_215^post53, tail_15^0'=tail_15^post53, temp0_28^0'=temp0_28^post53, __disjvr_17^0'=__disjvr_17^post53, r_238^0'=r_238^post53, __disjvr_4^0'=__disjvr_4^post53, y_290^0'=y_290^post53, rcd_248^0'=rcd_248^post53, (y_162^0-y_162^post53 == 0 /\ -r_253^post53+r_253^0 == 0 /\ tmp_31^0-tmp_31^post53 == 0 /\ -rcd_248^post53+rcd_248^0 == 0 /\ y_347^0-y_347^post53 == 0 /\ -__disjvr_22^post53+__disjvr_22^0 == 0 /\ -tail_15^post53+tail_15^0 == 0 /\ -head_29^post53+head_29^0 == 0 /\ z_19^0-z_19^post53 == 0 /\ -length_14^post53+length_14^0 == 0 /\ -temp_32^post53+temp_32^0 == 0 /\ -y_231^post53+y_231^0 == 0 /\ -__disjvr_15^post53+__disjvr_15^0 == 0 /\ head_13^0-head_13^post53 == 0 /\ rcd_107^0-rcd_107^post53 == 0 /\ -rcd_99^post53+rcd_99^0 == 0 /\ -i_105^post53+i_105^0 == 0 /\ __disjvr_5^0-__disjvr_5^post53 == 0 /\ result_11^0-result_11^post53 == 0 /\ -y_285^post53+y_285^0 == 0 /\ t_23^0-t_23^post53 == 0 /\ r_240^0-r_240^post53 == 0 /\ -r_238^post53+r_238^0 == 0 /\ __disjvr_23^0-__disjvr_23^post53 == 0 /\ -r_267^post53+r_267^0 == 0 /\ y_22^0-y_22^post53 == 0 /\ -__disjvr_18^post53+__disjvr_18^0 == 0 /\ x_21^0-x_21^post53 == 0 /\ r_229^0-r_229^post53 == 0 /\ __disjvr_3^0-__disjvr_3^post53 == 0 /\ -__disjvr_4^post53+__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ r_247^0-r_247^post53 == 0 /\ __disjvr_8^0-__disjvr_8^post53 == 0 /\ -__disjvr_7^post53+__disjvr_7^0 == 0 /\ -__disjvr_2^post53+__disjvr_2^0 == 0 /\ rcd_40^0-rcd_40^post53 == 0 /\ temp0_18^0-temp0_18^post53 == 0 /\ -a_271^post53+a_271^0 == 0 /\ __disjvr_10^0-__disjvr_10^post53 == 0 /\ -len_270^post53+len_270^0 == 0 /\ a_168^0-a_168^post53 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ -w_20^post53+w_20^0 == 0 /\ -y_241^post53+y_241^0 == 0 /\ y_261^0-y_261^post53 == 0 /\ rcd_64^0-rcd_64^post53 == 0 /\ -a_143^post53+a_143^0 == 0 /\ -__disjvr_13^post53+__disjvr_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post53 == 0 /\ r_183^0-r_183^post53 == 0 /\ __disjvr_14^0-__disjvr_14^post53 == 0 /\ -__disjvr_12^post53+__disjvr_12^0 == 0 /\ __disjvr_24^0-__disjvr_24^post53 == 0 /\ -y_269^post53+y_269^0 == 0 /\ -len_200^post53+len_200^0 == 0 /\ -rcd_268^post53+rcd_268^0 == 0 /\ __disjvr_19^0-__disjvr_19^post53 == 0 /\ i_27^0-i_27^post53 == 0 /\ y_191^0-y_191^post53 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post53 == 0 /\ -temp0_28^post53+temp0_28^0 == 0 /\ -__disjvr_1^post53+__disjvr_1^0 == 0 /\ __disjvr_9^0-__disjvr_9^post53 == 0 /\ -i_114^post53+i_114^0 == 0 /\ r_242^0-r_242^post53 == 0 /\ a_215^0-a_215^post53 == 0 /\ r_154^0-r_154^post53 == 0 /\ -y_295^post53+y_295^0 == 0 /\ -r_36^post53+r_36^0 == 0 /\ length_25^0-length_25^post53 == 0 /\ -rcd_243^post53+rcd_243^0 == 0 /\ rcd_230^0-rcd_230^post53 == 0 /\ -y_290^post53+y_290^0 == 0 /\ __disjvr_20^0-__disjvr_20^post53 == 0 /\ rcd_239^0-rcd_239^post53 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post53 == 0 /\ __disjvr_6^0-__disjvr_6^post53 == 0 /\ __disjvr_0^0-__disjvr_0^post53 == 0 /\ __disjvr_11^0-__disjvr_11^post53 == 0), cost: 1
  57: l50 -> l33 : __disjvr_0^0'=__disjvr_0^post57, i_27^0'=i_27^post57, y_162^0'=y_162^post57, __disjvr_21^0'=__disjvr_21^post57, z_19^0'=z_19^post57, __disjvr_9^0'=__disjvr_9^post57, result_11^0'=result_11^post57, __disjvr_14^0'=__disjvr_14^post57, r_154^0'=r_154^post57, __disjvr_24^0'=__disjvr_24^post57, y_261^0'=y_261^post57, rcd_230^0'=rcd_230^post57, head_13^0'=head_13^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, tmp_31^0'=tmp_31^post57, __disjvr_19^0'=__disjvr_19^post57, r_242^0'=r_242^post57, __disjvr_6^0'=__disjvr_6^post57, y_347^0'=y_347^post57, rcd_40^0'=rcd_40^post57, __disjvr_11^0'=__disjvr_11^post57, len_270^0'=len_270^post57, y_22^0'=y_22^post57, r_267^0'=r_267^post57, a_168^0'=a_168^post57, t_23^0'=t_23^post57, __disjvr_16^0'=__disjvr_16^post57, r_229^0'=r_229^post57, __disjvr_3^0'=__disjvr_3^post57, y_285^0'=y_285^post57, rcd_243^0'=rcd_243^post57, i_114^0'=i_114^post57, x_21^0'=x_21^post57, __disjvr_20^0'=__disjvr_20^post57, r_253^0'=r_253^post57, __disjvr_8^0'=__disjvr_8^post57, rcd_99^0'=rcd_99^post57, __disjvr_13^0'=__disjvr_13^post57, length_25^0'=length_25^post57, __disjvr_23^0'=__disjvr_23^post57, y_241^0'=y_241^post57, rcd_107^0'=rcd_107^post57, a_271^0'=a_271^post57, temp0_18^0'=temp0_18^post57, temp_32^0'=temp_32^post57, __disjvr_18^0'=__disjvr_18^post57, r_240^0'=r_240^post57, __disjvr_5^0'=__disjvr_5^post57, y_295^0'=y_295^post57, rcd_268^0'=rcd_268^post57, __disjvr_10^0'=__disjvr_10^post57, len_200^0'=len_200^post57, y_191^0'=y_191^post57, __disjvr_22^0'=__disjvr_22^post57, a_143^0'=a_143^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post57, __disjvr_15^0'=__disjvr_15^post57, r_183^0'=r_183^post57, __disjvr_2^0'=__disjvr_2^post57, y_269^0'=y_269^post57, rcd_239^0'=rcd_239^post57, head_29^0'=head_29^post57, i_105^0'=i_105^post57, w_20^0'=w_20^post57, __disjvr_1^0'=__disjvr_1^post57, r_247^0'=r_247^post57, __disjvr_7^0'=__disjvr_7^post57, rcd_64^0'=rcd_64^post57, __disjvr_12^0'=__disjvr_12^post57, length_14^0'=length_14^post57, y_231^0'=y_231^post57, r_36^0'=r_36^post57, a_215^0'=a_215^post57, tail_15^0'=tail_15^post57, temp0_28^0'=temp0_28^post57, __disjvr_17^0'=__disjvr_17^post57, r_238^0'=r_238^post57, __disjvr_4^0'=__disjvr_4^post57, y_290^0'=y_290^post57, rcd_248^0'=rcd_248^post57, (i_27^0-i_27^post57 == 0 /\ __disjvr_18^0-__disjvr_18^post57 == 0 /\ y_22^0-y_22^post57 == 0 /\ __disjvr_8^0-__disjvr_8^post57 == 0 /\ -rcd_243^post57+rcd_243^0 == 0 /\ __disjvr_20^0-__disjvr_20^post57 == 0 /\ length_25^0-length_25^post57 == 0 /\ rcd_230^0-rcd_230^post57 == 0 /\ -x_21^post57+x_21^0 == 0 /\ y_261^0-y_261^post57 == 0 /\ -__disjvr_10^post57+__disjvr_10^0 == 0 /\ -temp0_28^post57+temp0_28^0 == 0 /\ -__disjvr_12^post57+__disjvr_12^0 == 0 /\ -r_240^post57+r_240^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post57 == 0 /\ -a_215^post57+a_215^0 == 0 /\ -__disjvr_1^post57+__disjvr_1^0 == 0 /\ a_168^0-a_168^post57 == 0 /\ a_143^0-a_143^post57 == 0 /\ __disjvr_0^0-__disjvr_0^post57 == 0 /\ length_14^0-length_14^post57 == 0 /\ r_229^0-r_229^post57 == 0 /\ -y_269^post57+y_269^0 == 0 /\ __disjvr_14^0-__disjvr_14^post57 == 0 /\ rcd_268^0-rcd_268^post57 == 0 /\ __disjvr_16^0-__disjvr_16^post57 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ -r_36^post57+r_36^0 == 0 /\ y_241^0-y_241^post57 == 0 /\ -r_242^post57+r_242^0 == 0 /\ -i_114^post57+i_114^0 == 0 /\ z_19^0-z_19^post57 == 0 /\ -y_295^post57+y_295^0 == 0 /\ -y_290^post57+y_290^0 == 0 /\ tmp_31^0-tmp_31^post57 == 0 /\ -r_247^post57+r_247^0 == 0 /\ -y_285^post57+y_285^0 == 0 /\ y_162^0-y_162^post57 == 0 /\ r_154^0-r_154^post57 == 0 /\ head_13^0-head_13^post57 == 0 /\ -r_183^post57+r_183^0 == 0 /\ __disjvr_3^0-__disjvr_3^post57 == 0 /\ __disjvr_15^0-__disjvr_15^post57 == 0 /\ -rcd_40^post57+rcd_40^0 == 0 /\ -__disjvr_22^post57+__disjvr_22^0 == 0 /\ -r_238^post57+r_238^0 == 0 /\ temp0_18^0-temp0_18^post57 == 0 /\ rcd_107^0-rcd_107^post57 == 0 /\ -a_271^post57+a_271^0 == 0 /\ -tail_15^post57+tail_15^0 == 0 /\ r_253^0-r_253^post57 == 0 /\ __disjvr_6^0-__disjvr_6^post57 == 0 /\ -temp_32^post57+temp_32^0 == 0 /\ r_267^0-r_267^post57 == 0 /\ len_270^0-len_270^post57 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post57+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -rcd_248^post57+rcd_248^0 == 0 /\ -rcd_239^post57+rcd_239^0 == 0 /\ -i_105^post57+i_105^0 == 0 /\ -__disjvr_7^post57+__disjvr_7^0 == 0 /\ __disjvr_13^0-__disjvr_13^post57 == 0 /\ result_11^0-result_11^post57 == 0 /\ -y_231^post57+y_231^0 == 0 /\ y_347^0-y_347^post57 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0 /\ -__disjvr_5^post57+__disjvr_5^0 == 0 /\ -y_191^post57+y_191^0 == 0 /\ -__disjvr_23^post57+__disjvr_23^0 == 0 /\ -w_20^post57+w_20^0 == 0 /\ -head_29^post57+head_29^0 == 0 /\ -__disjvr_11^post57+__disjvr_11^0 == 0 /\ -len_200^post57+len_200^0 == 0 /\ -rcd_64^post57+rcd_64^0 == 0 /\ __disjvr_21^0-__disjvr_21^post57 == 0 /\ t_23^0-t_23^post57 == 0 /\ __disjvr_9^0-__disjvr_9^post57 == 0 /\ -__disjvr_2^post57+__disjvr_2^0 == 0 /\ __disjvr_19^0-__disjvr_19^post57 == 0 /\ -rcd_99^post57+rcd_99^0 == 0 /\ -__disjvr_4^post57+__disjvr_4^0 == 0), cost: 1


Applied preprocessing
Original rule:
l0 -> l6 : __disjvr_0^0'=__disjvr_0^post4, i_27^0'=i_27^post4, y_162^0'=y_162^post4, __disjvr_21^0'=__disjvr_21^post4, z_19^0'=z_19^post4, __disjvr_9^0'=__disjvr_9^post4, result_11^0'=result_11^post4, __disjvr_14^0'=__disjvr_14^post4, r_154^0'=r_154^post4, __disjvr_24^0'=__disjvr_24^post4, y_261^0'=y_261^post4, rcd_230^0'=rcd_230^post4, head_13^0'=head_13^post4, head_SLAM_f_26^0'=head_SLAM_f_26^post4, tmp_31^0'=tmp_31^post4, __disjvr_19^0'=__disjvr_19^post4, r_242^0'=r_242^post4, __disjvr_6^0'=__disjvr_6^post4, y_347^0'=y_347^post4, rcd_40^0'=rcd_40^post4, __disjvr_11^0'=__disjvr_11^post4, len_270^0'=len_270^post4, y_22^0'=y_22^post4, r_267^0'=r_267^post4, a_168^0'=a_168^post4, t_23^0'=t_23^post4, __disjvr_16^0'=__disjvr_16^post4, r_229^0'=r_229^post4, __disjvr_3^0'=__disjvr_3^post4, y_285^0'=y_285^post4, rcd_243^0'=rcd_243^post4, i_114^0'=i_114^post4, x_21^0'=x_21^post4, __disjvr_20^0'=__disjvr_20^post4, r_253^0'=r_253^post4, __disjvr_8^0'=__disjvr_8^post4, rcd_99^0'=rcd_99^post4, __disjvr_13^0'=__disjvr_13^post4, length_25^0'=length_25^post4, __disjvr_23^0'=__disjvr_23^post4, y_241^0'=y_241^post4, rcd_107^0'=rcd_107^post4, a_271^0'=a_271^post4, temp0_18^0'=temp0_18^post4, temp_32^0'=temp_32^post4, __disjvr_18^0'=__disjvr_18^post4, r_240^0'=r_240^post4, __disjvr_5^0'=__disjvr_5^post4, y_295^0'=y_295^post4, rcd_268^0'=rcd_268^post4, __disjvr_10^0'=__disjvr_10^post4, len_200^0'=len_200^post4, y_191^0'=y_191^post4, __disjvr_22^0'=__disjvr_22^post4, a_143^0'=a_143^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post4, __disjvr_15^0'=__disjvr_15^post4, r_183^0'=r_183^post4, __disjvr_2^0'=__disjvr_2^post4, y_269^0'=y_269^post4, rcd_239^0'=rcd_239^post4, head_29^0'=head_29^post4, i_105^0'=i_105^post4, w_20^0'=w_20^post4, __disjvr_1^0'=__disjvr_1^post4, r_247^0'=r_247^post4, __disjvr_7^0'=__disjvr_7^post4, rcd_64^0'=rcd_64^post4, __disjvr_12^0'=__disjvr_12^post4, length_14^0'=length_14^post4, y_231^0'=y_231^post4, r_36^0'=r_36^post4, a_215^0'=a_215^post4, tail_15^0'=tail_15^post4, temp0_28^0'=temp0_28^post4, __disjvr_17^0'=__disjvr_17^post4, r_238^0'=r_238^post4, __disjvr_4^0'=__disjvr_4^post4, y_290^0'=y_290^post4, rcd_248^0'=rcd_248^post4, (0 == 0 /\ __disjvr_20^0-__disjvr_20^post4 == 0 /\ -y_231^post4+y_231^0 == 0 /\ y_162^0-y_162^post4 == 0 /\ rcd_40^0-rcd_40^post4 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ -r_267^post4+r_267^0 == 0 /\ -len_200^0 <= 0 /\ y_22^0-y_22^post4 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post4 == 0 /\ t_23^0-t_23^post4 == 0 /\ -len_200^post4+len_200^0 == 0 /\ __disjvr_23^0-__disjvr_23^post4 == 0 /\ rcd_268^0-rcd_268^post4 == 0 /\ rcd_107^0-rcd_107^post4 == 0 /\ a_143^0-a_143^post4 == 0 /\ -__disjvr_4^post4+__disjvr_4^0 == 0 /\ -x_21^post4+x_21^0 == 0 /\ head_29^0-head_29^post4 == 0 /\ r_229^0-r_229^post4 == 0 /\ -w_20^post4+w_20^0 == 0 /\ -a_215^post4+a_215^0 == 0 /\ __disjvr_3^0-__disjvr_3^post4 == 0 /\ -y_285^post4+y_285^0 == 0 /\ i_105^0-i_105^post4 == 0 /\ __disjvr_21^0-__disjvr_21^post4 == 0 /\ -a_271^post4+a_271^0 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -temp0_28^post4+temp0_28^0 == 0 /\ r_154^0-r_154^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -i_114^post4+i_114^0 == 0 /\ a_168^0-a_168^post4 == 0 /\ y_241^0-y_241^post4 == 0 /\ temp0_18^0-temp0_18^post4 == 0 /\ -__disjvr_1^post4+__disjvr_1^0 == 0 /\ -a_215^0 <= 0 /\ -__disjvr_18^post4+__disjvr_18^0 == 0 /\ -r_183^post4+r_183^0 == 0 /\ -y_290^post4+y_290^0 == 0 /\ -rcd_239^post4+rcd_239^0 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -r_36^post4+r_36^0 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ i_27^0-i_27^post4 == 0 /\ len_270^0-len_270^post4 == 0 /\ temp_32^0-temp_32^post4 == 0 /\ __disjvr_24^0-__disjvr_24^post4 == 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ -r_242^post4+r_242^0 == 0 /\ tmp_31^0-tmp_31^post4 == 0 /\ __disjvr_13^0-__disjvr_13^post4 == 0 /\ -__disjvr_12^post4+__disjvr_12^0 == 0 /\ -__disjvr_5^post4+__disjvr_5^0 == 0 /\ rcd_230^0-rcd_230^post4 == 0 /\ -__disjvr_16^post4+__disjvr_16^0 == 0 /\ -length_25^post4+length_25^0 == 0 /\ __disjvr_19^0-__disjvr_19^post4 == 0 /\ -rcd_99^post4+rcd_99^0 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ -rcd_243^post4+rcd_243^0 == 0 /\ -r_238^post4+r_238^0 == 0 /\ -__disjvr_11^post4+__disjvr_11^0 == 0 /\ -rcd_64^post4+rcd_64^0 == 0 /\ __disjvr_22^0-__disjvr_22^post4 == 0 /\ -__disjvr_15^post4+__disjvr_15^0 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ y_269^0-y_269^post4 == 0 /\ -r_240^post4+r_240^0 == 0 /\ -y_191^post4+y_191^0 == 0 /\ y_347^0-y_347^post4 == 0 /\ -r_247^post4+r_247^0 == 0 /\ y_295^0-y_295^post4 == 0 /\ -rcd_248^post4+rcd_248^0 == 0), cost: 1
New rule:
l0 -> l6 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, r_253^0'=r_253^post4, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (len_200^0 >= 0 /\ a_215^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l6 -> l7 : __disjvr_0^0'=__disjvr_0^post5, i_27^0'=i_27^post5, y_162^0'=y_162^post5, __disjvr_21^0'=__disjvr_21^post5, z_19^0'=z_19^post5, __disjvr_9^0'=__disjvr_9^post5, result_11^0'=result_11^post5, __disjvr_14^0'=__disjvr_14^post5, r_154^0'=r_154^post5, __disjvr_24^0'=__disjvr_24^post5, y_261^0'=y_261^post5, rcd_230^0'=rcd_230^post5, head_13^0'=head_13^post5, head_SLAM_f_26^0'=head_SLAM_f_26^post5, tmp_31^0'=tmp_31^post5, __disjvr_19^0'=__disjvr_19^post5, r_242^0'=r_242^post5, __disjvr_6^0'=__disjvr_6^post5, y_347^0'=y_347^post5, rcd_40^0'=rcd_40^post5, __disjvr_11^0'=__disjvr_11^post5, len_270^0'=len_270^post5, y_22^0'=y_22^post5, r_267^0'=r_267^post5, a_168^0'=a_168^post5, t_23^0'=t_23^post5, __disjvr_16^0'=__disjvr_16^post5, r_229^0'=r_229^post5, __disjvr_3^0'=__disjvr_3^post5, y_285^0'=y_285^post5, rcd_243^0'=rcd_243^post5, i_114^0'=i_114^post5, x_21^0'=x_21^post5, __disjvr_20^0'=__disjvr_20^post5, r_253^0'=r_253^post5, __disjvr_8^0'=__disjvr_8^post5, rcd_99^0'=rcd_99^post5, __disjvr_13^0'=__disjvr_13^post5, length_25^0'=length_25^post5, __disjvr_23^0'=__disjvr_23^post5, y_241^0'=y_241^post5, rcd_107^0'=rcd_107^post5, a_271^0'=a_271^post5, temp0_18^0'=temp0_18^post5, temp_32^0'=temp_32^post5, __disjvr_18^0'=__disjvr_18^post5, r_240^0'=r_240^post5, __disjvr_5^0'=__disjvr_5^post5, y_295^0'=y_295^post5, rcd_268^0'=rcd_268^post5, __disjvr_10^0'=__disjvr_10^post5, len_200^0'=len_200^post5, y_191^0'=y_191^post5, __disjvr_22^0'=__disjvr_22^post5, a_143^0'=a_143^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post5, __disjvr_15^0'=__disjvr_15^post5, r_183^0'=r_183^post5, __disjvr_2^0'=__disjvr_2^post5, y_269^0'=y_269^post5, rcd_239^0'=rcd_239^post5, head_29^0'=head_29^post5, i_105^0'=i_105^post5, w_20^0'=w_20^post5, __disjvr_1^0'=__disjvr_1^post5, r_247^0'=r_247^post5, __disjvr_7^0'=__disjvr_7^post5, rcd_64^0'=rcd_64^post5, __disjvr_12^0'=__disjvr_12^post5, length_14^0'=length_14^post5, y_231^0'=y_231^post5, r_36^0'=r_36^post5, a_215^0'=a_215^post5, tail_15^0'=tail_15^post5, temp0_28^0'=temp0_28^post5, __disjvr_17^0'=__disjvr_17^post5, r_238^0'=r_238^post5, __disjvr_4^0'=__disjvr_4^post5, y_290^0'=y_290^post5, rcd_248^0'=rcd_248^post5, (i_114^0-i_114^post5 == 0 /\ result_11^0-result_11^post5 == 0 /\ r_253^0-r_253^post5 == 0 /\ -i_105^post5+i_105^0 == 0 /\ -rcd_107^post5+rcd_107^0 == 0 /\ y_162^0-y_162^post5 == 0 /\ -length_14^post5+length_14^0 == 0 /\ z_19^0-z_19^post5 == 0 /\ -__disjvr_17^post5+__disjvr_17^0 == 0 /\ -__disjvr_20^post5+__disjvr_20^0 == 0 /\ y_285^0-y_285^post5 == 0 /\ -__disjvr_23^post5+__disjvr_23^0 == 0 /\ __disjvr_13^0-__disjvr_13^post5 == 0 /\ -y_191^post5+y_191^0 == 0 /\ -y_231^post5+y_231^0 == 0 /\ head_13^0-head_13^post5 == 0 /\ -rcd_248^post5+rcd_248^0 == 0 /\ tmp_31^0-tmp_31^post5 == 0 /\ -y_347^post5+y_347^0 == 0 /\ __disjvr_3^0-__disjvr_3^post5 == 0 /\ -a_143^post5+a_143^0 == 0 /\ -__disjvr_8^post5+__disjvr_8^0 == 0 /\ r_229^0-r_229^post5 == 0 /\ __disjvr_21^0-__disjvr_21^post5 == 0 /\ -x_21^post5+x_21^0 == 0 /\ len_270^0-len_270^post5 == 0 /\ __disjvr_19^0-__disjvr_19^post5 == 0 /\ head_29^0-head_29^post5 == 0 /\ -temp0_28^post5+temp0_28^0 == 0 /\ __disjvr_18^0-__disjvr_18^post5 == 0 /\ -len_200^post5+len_200^0 == 0 /\ -a_215^post5+a_215^0 == 0 /\ __disjvr_11^0-__disjvr_11^post5 == 0 /\ -a_168^post5+a_168^0 == 0 /\ -__disjvr_4^post5+__disjvr_4^0 == 0 /\ w_20^0-w_20^post5 == 0 /\ y_261^0-y_261^post5 == 0 /\ r_267^0-r_267^post5 == 0 /\ rcd_40^0-rcd_40^post5 == 0 /\ -__disjvr_7^post5+__disjvr_7^0 == 0 /\ -__disjvr_16^post5+__disjvr_16^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post5 == 0 /\ rcd_99^0-rcd_99^post5 == 0 /\ -__disjvr_10^post5+__disjvr_10^0 == 0 /\ -length_25^post5+length_25^0 == 0 /\ r_242^0-r_242^post5 == 0 /\ temp_32^0-temp_32^post5 == 0 /\ r_36^0-r_36^post5 == 0 /\ y_241^0-y_241^post5 == 0 /\ -__disjvr_5^post5+__disjvr_5^0 == 0 /\ -y_290^post5+y_290^0 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ i_27^0-i_27^post5 == 0 /\ y_22^0-y_22^post5 == 0 /\ -r_240^post5+r_240^0 == 0 /\ -__disjvr_1^post5+__disjvr_1^0 == 0 /\ -rcd_64^post5+rcd_64^0 == 0 /\ -__disjvr_2^0+__disjvr_2^post5 == 0 /\ t_23^0-t_23^post5 == 0 /\ __disjvr_9^0-__disjvr_9^post5 == 0 /\ -__disjvr_14^post5+__disjvr_14^0 == 0 /\ a_271^0-a_271^post5 == 0 /\ -y_269^post5+y_269^0 == 0 /\ -rcd_268^post5+rcd_268^0 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ __disjvr_15^0-__disjvr_15^post5 == 0 /\ r_154^0-r_154^post5 == 0 /\ __disjvr_22^0-__disjvr_22^post5 == 0 /\ -r_238^post5+r_238^0 == 0 /\ rcd_230^0-rcd_230^post5 == 0 /\ -__disjvr_24^post5+__disjvr_24^0 == 0 /\ -r_247^post5+r_247^0 == 0 /\ -temp0_18^post5+temp0_18^0 == 0 /\ -rcd_239^post5+rcd_239^0 == 0 /\ -y_295^post5+y_295^0 == 0 /\ -tail_15^post5+tail_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post5 == 0 /\ -r_183^post5+r_183^0 == 0 /\ rcd_243^0-rcd_243^post5 == 0 /\ __disjvr_2^0-__disjvr_2^post5 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post5+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0), cost: 1
New rule:
l6 -> l7 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l7 -> l8 : __disjvr_0^0'=__disjvr_0^post6, i_27^0'=i_27^post6, y_162^0'=y_162^post6, __disjvr_21^0'=__disjvr_21^post6, z_19^0'=z_19^post6, __disjvr_9^0'=__disjvr_9^post6, result_11^0'=result_11^post6, __disjvr_14^0'=__disjvr_14^post6, r_154^0'=r_154^post6, __disjvr_24^0'=__disjvr_24^post6, y_261^0'=y_261^post6, rcd_230^0'=rcd_230^post6, head_13^0'=head_13^post6, head_SLAM_f_26^0'=head_SLAM_f_26^post6, tmp_31^0'=tmp_31^post6, __disjvr_19^0'=__disjvr_19^post6, r_242^0'=r_242^post6, __disjvr_6^0'=__disjvr_6^post6, y_347^0'=y_347^post6, rcd_40^0'=rcd_40^post6, __disjvr_11^0'=__disjvr_11^post6, len_270^0'=len_270^post6, y_22^0'=y_22^post6, r_267^0'=r_267^post6, a_168^0'=a_168^post6, t_23^0'=t_23^post6, __disjvr_16^0'=__disjvr_16^post6, r_229^0'=r_229^post6, __disjvr_3^0'=__disjvr_3^post6, y_285^0'=y_285^post6, rcd_243^0'=rcd_243^post6, i_114^0'=i_114^post6, x_21^0'=x_21^post6, __disjvr_20^0'=__disjvr_20^post6, r_253^0'=r_253^post6, __disjvr_8^0'=__disjvr_8^post6, rcd_99^0'=rcd_99^post6, __disjvr_13^0'=__disjvr_13^post6, length_25^0'=length_25^post6, __disjvr_23^0'=__disjvr_23^post6, y_241^0'=y_241^post6, rcd_107^0'=rcd_107^post6, a_271^0'=a_271^post6, temp0_18^0'=temp0_18^post6, temp_32^0'=temp_32^post6, __disjvr_18^0'=__disjvr_18^post6, r_240^0'=r_240^post6, __disjvr_5^0'=__disjvr_5^post6, y_295^0'=y_295^post6, rcd_268^0'=rcd_268^post6, __disjvr_10^0'=__disjvr_10^post6, len_200^0'=len_200^post6, y_191^0'=y_191^post6, __disjvr_22^0'=__disjvr_22^post6, a_143^0'=a_143^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post6, __disjvr_15^0'=__disjvr_15^post6, r_183^0'=r_183^post6, __disjvr_2^0'=__disjvr_2^post6, y_269^0'=y_269^post6, rcd_239^0'=rcd_239^post6, head_29^0'=head_29^post6, i_105^0'=i_105^post6, w_20^0'=w_20^post6, __disjvr_1^0'=__disjvr_1^post6, r_247^0'=r_247^post6, __disjvr_7^0'=__disjvr_7^post6, rcd_64^0'=rcd_64^post6, __disjvr_12^0'=__disjvr_12^post6, length_14^0'=length_14^post6, y_231^0'=y_231^post6, r_36^0'=r_36^post6, a_215^0'=a_215^post6, tail_15^0'=tail_15^post6, temp0_28^0'=temp0_28^post6, __disjvr_17^0'=__disjvr_17^post6, r_238^0'=r_238^post6, __disjvr_4^0'=__disjvr_4^post6, y_290^0'=y_290^post6, rcd_248^0'=rcd_248^post6, (0 == 0 /\ rcd_40^0-rcd_268^post6 <= 0 /\ -i_105^post6+i_105^0 == 0 /\ __disjvr_13^0-__disjvr_13^post6 == 0 /\ __disjvr_24^0-__disjvr_24^post6 == 0 /\ __disjvr_16^0-__disjvr_16^post6 == 0 /\ -head_29^post6+head_29^0 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ rcd_99^0-rcd_99^post6 == 0 /\ __disjvr_9^0-__disjvr_9^post6 == 0 /\ -length_14^post6+length_14^0 == 0 /\ -rcd_248^post6+rcd_248^0 == 0 /\ w_20^0-tail_15^0 <= 0 /\ -__disjvr_22^post6+__disjvr_22^0 == 0 /\ t_23^post6-y_22^post6 <= 0 /\ -rcd_239^post6+rcd_239^0 == 0 /\ -y_231^post6+y_231^0 == 0 /\ i_114^0-i_114^post6 == 0 /\ head_13^0-head_13^post6 == 0 /\ -tail_15^post6+tail_15^0 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ i_27^0-i_27^post6 == 0 /\ -r_238^post6+r_238^0 == 0 /\ r_267^post6-r_36^0 <= 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ -temp_32^post6+temp_32^0 == 0 /\ -rcd_107^post6+rcd_107^0 == 0 /\ -rcd_40^0+rcd_268^post6 <= 0 /\ y_261^0-y_261^post6 == 0 /\ __disjvr_12^0-__disjvr_12^post6 == 0 /\ r_247^0-r_247^post6 == 0 /\ rcd_243^0-rcd_243^post6 == 0 /\ -1+len_270^post6-len_200^0 <= 0 /\ -y_191^post6+y_191^0 == 0 /\ -__disjvr_4^post6+__disjvr_4^0 == 0 /\ r_229^0-r_229^post6 == 0 /\ -__disjvr_20^post6+__disjvr_20^0 == 0 /\ -w_20^0+tail_15^0 <= 0 /\ -t_23^post6+y_22^post6 <= 0 /\ -t_23^post6+y_22^post6 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ -tmp_31^post6+tmp_31^0 == 0 /\ -__disjvr_10^post6+__disjvr_10^0 == 0 /\ -__disjvr_3^post6+__disjvr_3^0 == 0 /\ -1-a_271^post6+a_215^0 <= 0 /\ r_253^0-r_253^post6 == 0 /\ -w_20^post6+w_20^0 == 0 /\ -a_143^post6+a_143^0 == 0 /\ -r_267^post6+r_36^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ -y_241^post6+y_241^0 == 0 /\ __disjvr_11^0-__disjvr_11^post6 == 0 /\ -rcd_64^post6+rcd_64^0 == 0 /\ rcd_40^0-rcd_40^post6 == 0 /\ -r_240^post6+r_240^0 == 0 /\ -y_162^0+y_269^post6 <= 0 /\ -y_347^post6+y_347^0 == 0 /\ -temp0_18^post6+temp0_18^0 == 0 /\ r_183^0-r_183^post6 == 0 /\ z_19^0-head_13^0 <= 0 /\ y_162^0-y_162^post6 == 0 /\ -a_215^post6+a_215^0 == 0 /\ r_242^0-r_242^post6 == 0 /\ r_36^0-r_36^post6 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ -rcd_230^post6+rcd_230^0 == 0 /\ x_21^0-x_21^post6 == 0 /\ r_154^0-r_154^post6 == 0 /\ -temp0_28^post6+temp0_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post6 == 0 /\ __disjvr_23^0-__disjvr_23^post6 == 0 /\ result_11^0-result_11^post6 == 0 /\ -y_295^post6+y_295^0 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0 /\ y_162^0-y_269^post6 <= 0 /\ 1-len_270^post6+len_200^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ -length_25^post6+length_25^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post6 == 0 /\ len_200^0-len_200^post6 == 0 /\ -z_19^0+head_13^0 <= 0 /\ __disjvr_2^0-__disjvr_2^post6 == 0 /\ __disjvr_8^0-__disjvr_8^post6 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post6 == 0 /\ 1+a_271^post6-a_215^0 <= 0 /\ z_19^0-z_19^post6 == 0 /\ a_168^0-a_168^post6 == 0 /\ __disjvr_6^0-__disjvr_6^post6 == 0 /\ -y_290^post6+y_290^0 == 0 /\ t_23^post6-x_21^0 == 0 /\ y_285^0-y_285^post6 == 0), cost: 1
New rule:
l7 -> l8 : len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, (w_20^0-tail_15^0 == 0 /\ z_19^0-head_13^0 == 0), cost: 1

Applied preprocessing
Original rule:
l8 -> l9 : __disjvr_0^0'=__disjvr_0^post7, i_27^0'=i_27^post7, y_162^0'=y_162^post7, __disjvr_21^0'=__disjvr_21^post7, z_19^0'=z_19^post7, __disjvr_9^0'=__disjvr_9^post7, result_11^0'=result_11^post7, __disjvr_14^0'=__disjvr_14^post7, r_154^0'=r_154^post7, __disjvr_24^0'=__disjvr_24^post7, y_261^0'=y_261^post7, rcd_230^0'=rcd_230^post7, head_13^0'=head_13^post7, head_SLAM_f_26^0'=head_SLAM_f_26^post7, tmp_31^0'=tmp_31^post7, __disjvr_19^0'=__disjvr_19^post7, r_242^0'=r_242^post7, __disjvr_6^0'=__disjvr_6^post7, y_347^0'=y_347^post7, rcd_40^0'=rcd_40^post7, __disjvr_11^0'=__disjvr_11^post7, len_270^0'=len_270^post7, y_22^0'=y_22^post7, r_267^0'=r_267^post7, a_168^0'=a_168^post7, t_23^0'=t_23^post7, __disjvr_16^0'=__disjvr_16^post7, r_229^0'=r_229^post7, __disjvr_3^0'=__disjvr_3^post7, y_285^0'=y_285^post7, rcd_243^0'=rcd_243^post7, i_114^0'=i_114^post7, x_21^0'=x_21^post7, __disjvr_20^0'=__disjvr_20^post7, r_253^0'=r_253^post7, __disjvr_8^0'=__disjvr_8^post7, rcd_99^0'=rcd_99^post7, __disjvr_13^0'=__disjvr_13^post7, length_25^0'=length_25^post7, __disjvr_23^0'=__disjvr_23^post7, y_241^0'=y_241^post7, rcd_107^0'=rcd_107^post7, a_271^0'=a_271^post7, temp0_18^0'=temp0_18^post7, temp_32^0'=temp_32^post7, __disjvr_18^0'=__disjvr_18^post7, r_240^0'=r_240^post7, __disjvr_5^0'=__disjvr_5^post7, y_295^0'=y_295^post7, rcd_268^0'=rcd_268^post7, __disjvr_10^0'=__disjvr_10^post7, len_200^0'=len_200^post7, y_191^0'=y_191^post7, __disjvr_22^0'=__disjvr_22^post7, a_143^0'=a_143^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post7, __disjvr_15^0'=__disjvr_15^post7, r_183^0'=r_183^post7, __disjvr_2^0'=__disjvr_2^post7, y_269^0'=y_269^post7, rcd_239^0'=rcd_239^post7, head_29^0'=head_29^post7, i_105^0'=i_105^post7, w_20^0'=w_20^post7, __disjvr_1^0'=__disjvr_1^post7, r_247^0'=r_247^post7, __disjvr_7^0'=__disjvr_7^post7, rcd_64^0'=rcd_64^post7, __disjvr_12^0'=__disjvr_12^post7, length_14^0'=length_14^post7, y_231^0'=y_231^post7, r_36^0'=r_36^post7, a_215^0'=a_215^post7, tail_15^0'=tail_15^post7, temp0_28^0'=temp0_28^post7, __disjvr_17^0'=__disjvr_17^post7, r_238^0'=r_238^post7, __disjvr_4^0'=__disjvr_4^post7, y_290^0'=y_290^post7, rcd_248^0'=rcd_248^post7, (y_241^0-y_241^post7 == 0 /\ t_23^0-t_23^post7 == 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ __disjvr_9^0-__disjvr_9^post7 == 0 /\ r_267^0-r_267^post7 == 0 /\ -head_29^post7+head_29^0 == 0 /\ __disjvr_16^0-__disjvr_16^post7 == 0 /\ temp_32^0-temp_32^post7 == 0 /\ -rcd_248^post7+rcd_248^0 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ -__disjvr_15^post7+__disjvr_15^0 == 0 /\ __disjvr_3^post7-__disjvr_3^0 == 0 /\ y_191^0-y_191^post7 == 0 /\ x_21^0-x_21^post7 == 0 /\ -i_105^post7+i_105^0 == 0 /\ r_154^0-r_154^post7 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0 /\ rcd_99^0-rcd_99^post7 == 0 /\ -a_271^post7+a_271^0 == 0 /\ -y_290^post7+y_290^0 == 0 /\ y_295^0-y_295^post7 == 0 /\ -len_270^post7+len_270^0 == 0 /\ -r_253^post7+r_253^0 == 0 /\ -rcd_239^post7+rcd_239^0 == 0 /\ rcd_230^0-rcd_230^post7 == 0 /\ -__disjvr_19^post7+__disjvr_19^0 == 0 /\ -__disjvr_1^post7+__disjvr_1^0 == 0 /\ -__disjvr_18^post7+__disjvr_18^0 == 0 /\ -tail_15^post7+tail_15^0 == 0 /\ i_27^0-i_27^post7 == 0 /\ -__disjvr_6^post7+__disjvr_6^0 == 0 /\ -__disjvr_2^post7+__disjvr_2^0 == 0 /\ -y_231^post7+y_231^0 == 0 /\ -__disjvr_4^post7+__disjvr_4^0 == 0 /\ y_22^0-y_22^post7 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post7 == 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ a_168^0-a_168^post7 == 0 /\ -rcd_64^post7+rcd_64^0 == 0 /\ rcd_243^0-rcd_243^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post7 == 0 /\ -__disjvr_13^post7+__disjvr_13^0 == 0 /\ -__disjvr_3^post7+__disjvr_3^0 == 0 /\ -rcd_268^post7+rcd_268^0 == 0 /\ -__disjvr_20^post7+__disjvr_20^0 == 0 /\ y_285^0-y_285^post7 == 0 /\ -r_238^post7+r_238^0 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ -w_20^post7+w_20^0 == 0 /\ -len_200^post7+len_200^0 == 0 /\ -r_240^post7+r_240^0 == 0 /\ -a_143^post7+a_143^0 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ __disjvr_23^0-__disjvr_23^post7 == 0 /\ y_162^0-y_162^post7 == 0 /\ -result_11^post7+result_11^0 == 0 /\ -r_229^post7+r_229^0 == 0 /\ length_25^0-length_25^post7 == 0 /\ a_215^0-a_215^post7 == 0 /\ y_347^0-y_347^post7 == 0 /\ -r_247^post7+r_247^0 == 0 /\ -temp0_18^post7+temp0_18^0 == 0 /\ head_13^0-head_13^post7 == 0 /\ y_269^0-y_269^post7 == 0 /\ __disjvr_22^0-__disjvr_22^post7 == 0 /\ __disjvr_11^0-__disjvr_11^post7 == 0 /\ -r_183^post7+r_183^0 == 0 /\ r_242^0-r_242^post7 == 0 /\ y_261^0-y_261^post7 == 0 /\ __disjvr_17^0-__disjvr_17^post7 == 0 /\ tmp_31^0-tmp_31^post7 == 0 /\ z_19^0-z_19^post7 == 0 /\ __disjvr_14^0-__disjvr_14^post7 == 0 /\ __disjvr_10^0-__disjvr_10^post7 == 0 /\ rcd_40^0-rcd_40^post7 == 0 /\ -r_36^post7+r_36^0 == 0 /\ -temp0_28^post7+temp0_28^0 == 0 /\ -i_114^post7+i_114^0 == 0 /\ -length_14^post7+length_14^0 == 0 /\ __disjvr_8^0-__disjvr_8^post7 == 0 /\ -rcd_107^post7+rcd_107^0 == 0), cost: 1
New rule:
l8 -> l9 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l9 -> l10 : __disjvr_0^0'=__disjvr_0^post8, i_27^0'=i_27^post8, y_162^0'=y_162^post8, __disjvr_21^0'=__disjvr_21^post8, z_19^0'=z_19^post8, __disjvr_9^0'=__disjvr_9^post8, result_11^0'=result_11^post8, __disjvr_14^0'=__disjvr_14^post8, r_154^0'=r_154^post8, __disjvr_24^0'=__disjvr_24^post8, y_261^0'=y_261^post8, rcd_230^0'=rcd_230^post8, head_13^0'=head_13^post8, head_SLAM_f_26^0'=head_SLAM_f_26^post8, tmp_31^0'=tmp_31^post8, __disjvr_19^0'=__disjvr_19^post8, r_242^0'=r_242^post8, __disjvr_6^0'=__disjvr_6^post8, y_347^0'=y_347^post8, rcd_40^0'=rcd_40^post8, __disjvr_11^0'=__disjvr_11^post8, len_270^0'=len_270^post8, y_22^0'=y_22^post8, r_267^0'=r_267^post8, a_168^0'=a_168^post8, t_23^0'=t_23^post8, __disjvr_16^0'=__disjvr_16^post8, r_229^0'=r_229^post8, __disjvr_3^0'=__disjvr_3^post8, y_285^0'=y_285^post8, rcd_243^0'=rcd_243^post8, i_114^0'=i_114^post8, x_21^0'=x_21^post8, __disjvr_20^0'=__disjvr_20^post8, r_253^0'=r_253^post8, __disjvr_8^0'=__disjvr_8^post8, rcd_99^0'=rcd_99^post8, __disjvr_13^0'=__disjvr_13^post8, length_25^0'=length_25^post8, __disjvr_23^0'=__disjvr_23^post8, y_241^0'=y_241^post8, rcd_107^0'=rcd_107^post8, a_271^0'=a_271^post8, temp0_18^0'=temp0_18^post8, temp_32^0'=temp_32^post8, __disjvr_18^0'=__disjvr_18^post8, r_240^0'=r_240^post8, __disjvr_5^0'=__disjvr_5^post8, y_295^0'=y_295^post8, rcd_268^0'=rcd_268^post8, __disjvr_10^0'=__disjvr_10^post8, len_200^0'=len_200^post8, y_191^0'=y_191^post8, __disjvr_22^0'=__disjvr_22^post8, a_143^0'=a_143^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post8, __disjvr_15^0'=__disjvr_15^post8, r_183^0'=r_183^post8, __disjvr_2^0'=__disjvr_2^post8, y_269^0'=y_269^post8, rcd_239^0'=rcd_239^post8, head_29^0'=head_29^post8, i_105^0'=i_105^post8, w_20^0'=w_20^post8, __disjvr_1^0'=__disjvr_1^post8, r_247^0'=r_247^post8, __disjvr_7^0'=__disjvr_7^post8, rcd_64^0'=rcd_64^post8, __disjvr_12^0'=__disjvr_12^post8, length_14^0'=length_14^post8, y_231^0'=y_231^post8, r_36^0'=r_36^post8, a_215^0'=a_215^post8, tail_15^0'=tail_15^post8, temp0_28^0'=temp0_28^post8, __disjvr_17^0'=__disjvr_17^post8, r_238^0'=r_238^post8, __disjvr_4^0'=__disjvr_4^post8, y_290^0'=y_290^post8, rcd_248^0'=rcd_248^post8, (-rcd_239^post8+rcd_239^0 == 0 /\ -r_183^post8+r_183^0 == 0 /\ -y_290^post8+y_290^0 == 0 /\ __disjvr_19^0-__disjvr_19^post8 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_3^0-__disjvr_3^post8 == 0 /\ -__disjvr_7^post8+__disjvr_7^0 == 0 /\ r_154^0-r_154^post8 == 0 /\ r_267^0-r_267^post8 == 0 /\ -head_29^post8+head_29^0 == 0 /\ __disjvr_22^0-__disjvr_22^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ -length_25^post8+length_25^0 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ -w_20^post8+w_20^0 == 0 /\ y_162^0-y_162^post8 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ -__disjvr_10^post8+__disjvr_10^0 == 0 /\ __disjvr_20^0-__disjvr_20^post8 == 0 /\ -tail_15^post8+tail_15^0 == 0 /\ -rcd_99^post8+rcd_99^0 == 0 /\ -__disjvr_16^post8+__disjvr_16^0 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ y_22^0-y_22^post8 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ -r_238^post8+r_238^0 == 0 /\ -rcd_64^post8+rcd_64^0 == 0 /\ -__disjvr_15^post8+__disjvr_15^0 == 0 /\ __disjvr_8^0-__disjvr_8^post8 == 0 /\ -r_240^post8+r_240^0 == 0 /\ -y_191^post8+y_191^0 == 0 /\ t_23^0-t_23^post8 == 0 /\ -rcd_243^post8+rcd_243^0 == 0 /\ -__disjvr_1^post8+__disjvr_1^0 == 0 /\ y_285^0-y_285^post8 == 0 /\ z_19^0-z_19^post8 == 0 /\ -rcd_248^post8+rcd_248^0 == 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ rcd_107^0-rcd_107^post8 == 0 /\ -y_231^post8+y_231^0 == 0 /\ __disjvr_13^0-__disjvr_13^post8 == 0 /\ -r_247^post8+r_247^0 == 0 /\ y_269^0-y_269^post8 == 0 /\ -a_143^post8+a_143^0 == 0 /\ -__disjvr_6^post8+__disjvr_6^0 == 0 /\ -__disjvr_24^post8+__disjvr_24^0 == 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ -y_295^post8+y_295^0 == 0 /\ -len_200^post8+len_200^0 == 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0 /\ -__disjvr_23^post8+__disjvr_23^0 == 0 /\ y_347^0-y_347^post8 == 0 /\ -x_21^post8+x_21^0 == 0 /\ -temp0_18^post8+temp0_18^0 == 0 /\ -__disjvr_4^0+__disjvr_4^post8 == 0 /\ y_241^0-y_241^post8 == 0 /\ -a_215^post8+a_215^0 == 0 /\ i_114^0-i_114^post8 == 0 /\ -length_14^post8+length_14^0 == 0 /\ -a_168^post8+a_168^0 == 0 /\ -head_SLAM_f_26^post8+head_SLAM_f_26^0 == 0 /\ head_13^0-head_13^post8 == 0 /\ rcd_40^0-rcd_40^post8 == 0 /\ -a_271^post8+a_271^0 == 0 /\ __disjvr_11^0-__disjvr_11^post8 == 0 /\ rcd_230^0-rcd_230^post8 == 0 /\ r_242^0-r_242^post8 == 0 /\ y_261^0-y_261^post8 == 0 /\ i_27^0-i_27^post8 == 0 /\ -r_36^post8+r_36^0 == 0 /\ temp_32^0-temp_32^post8 == 0 /\ tmp_31^0-tmp_31^post8 == 0 /\ r_229^0-r_229^post8 == 0 /\ len_270^0-len_270^post8 == 0 /\ -i_105^post8+i_105^0 == 0 /\ -temp0_28^post8+temp0_28^0 == 0 /\ r_253^0-r_253^post8 == 0 /\ __disjvr_4^0-__disjvr_4^post8 == 0 /\ rcd_268^0-rcd_268^post8 == 0), cost: 1
New rule:
l9 -> l10 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l10 -> l11 : __disjvr_0^0'=__disjvr_0^post9, i_27^0'=i_27^post9, y_162^0'=y_162^post9, __disjvr_21^0'=__disjvr_21^post9, z_19^0'=z_19^post9, __disjvr_9^0'=__disjvr_9^post9, result_11^0'=result_11^post9, __disjvr_14^0'=__disjvr_14^post9, r_154^0'=r_154^post9, __disjvr_24^0'=__disjvr_24^post9, y_261^0'=y_261^post9, rcd_230^0'=rcd_230^post9, head_13^0'=head_13^post9, head_SLAM_f_26^0'=head_SLAM_f_26^post9, tmp_31^0'=tmp_31^post9, __disjvr_19^0'=__disjvr_19^post9, r_242^0'=r_242^post9, __disjvr_6^0'=__disjvr_6^post9, y_347^0'=y_347^post9, rcd_40^0'=rcd_40^post9, __disjvr_11^0'=__disjvr_11^post9, len_270^0'=len_270^post9, y_22^0'=y_22^post9, r_267^0'=r_267^post9, a_168^0'=a_168^post9, t_23^0'=t_23^post9, __disjvr_16^0'=__disjvr_16^post9, r_229^0'=r_229^post9, __disjvr_3^0'=__disjvr_3^post9, y_285^0'=y_285^post9, rcd_243^0'=rcd_243^post9, i_114^0'=i_114^post9, x_21^0'=x_21^post9, __disjvr_20^0'=__disjvr_20^post9, r_253^0'=r_253^post9, __disjvr_8^0'=__disjvr_8^post9, rcd_99^0'=rcd_99^post9, __disjvr_13^0'=__disjvr_13^post9, length_25^0'=length_25^post9, __disjvr_23^0'=__disjvr_23^post9, y_241^0'=y_241^post9, rcd_107^0'=rcd_107^post9, a_271^0'=a_271^post9, temp0_18^0'=temp0_18^post9, temp_32^0'=temp_32^post9, __disjvr_18^0'=__disjvr_18^post9, r_240^0'=r_240^post9, __disjvr_5^0'=__disjvr_5^post9, y_295^0'=y_295^post9, rcd_268^0'=rcd_268^post9, __disjvr_10^0'=__disjvr_10^post9, len_200^0'=len_200^post9, y_191^0'=y_191^post9, __disjvr_22^0'=__disjvr_22^post9, a_143^0'=a_143^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9, __disjvr_15^0'=__disjvr_15^post9, r_183^0'=r_183^post9, __disjvr_2^0'=__disjvr_2^post9, y_269^0'=y_269^post9, rcd_239^0'=rcd_239^post9, head_29^0'=head_29^post9, i_105^0'=i_105^post9, w_20^0'=w_20^post9, __disjvr_1^0'=__disjvr_1^post9, r_247^0'=r_247^post9, __disjvr_7^0'=__disjvr_7^post9, rcd_64^0'=rcd_64^post9, __disjvr_12^0'=__disjvr_12^post9, length_14^0'=length_14^post9, y_231^0'=y_231^post9, r_36^0'=r_36^post9, a_215^0'=a_215^post9, tail_15^0'=tail_15^post9, temp0_28^0'=temp0_28^post9, __disjvr_17^0'=__disjvr_17^post9, r_238^0'=r_238^post9, __disjvr_4^0'=__disjvr_4^post9, y_290^0'=y_290^post9, rcd_248^0'=rcd_248^post9, (-__disjvr_12^post9+__disjvr_12^0 == 0 /\ -y_290^post9+y_290^0 == 0 /\ -length_25^post9+length_25^0 == 0 /\ -r_36^post9+r_36^0 == 0 /\ __disjvr_0^0-__disjvr_0^post9 == 0 /\ -__disjvr_10^post9+__disjvr_10^0 == 0 /\ -__disjvr_1^post9+__disjvr_1^0 == 0 /\ -__disjvr_16^post9+__disjvr_16^0 == 0 /\ __disjvr_18^0-__disjvr_18^post9 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ y_261^0-y_261^post9 == 0 /\ -r_240^post9+r_240^0 == 0 /\ -y_269^post9+y_269^0 == 0 /\ a_168^0-a_168^post9 == 0 /\ y_162^0-y_162^post9 == 0 /\ -__disjvr_3^post9+__disjvr_3^0 == 0 /\ -rcd_64^post9+rcd_64^0 == 0 /\ -rcd_268^post9+rcd_268^0 == 0 /\ r_253^0-r_253^post9 == 0 /\ -rcd_239^post9+rcd_239^0 == 0 /\ z_19^0-z_19^post9 == 0 /\ i_114^0-i_114^post9 == 0 /\ r_242^0-r_242^post9 == 0 /\ -temp0_18^post9+temp0_18^0 == 0 /\ __disjvr_14^0-__disjvr_14^post9 == 0 /\ head_13^0-head_13^post9 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ length_14^0-length_14^post9 == 0 /\ __disjvr_7^0-__disjvr_7^post9 == 0 /\ -r_238^post9+r_238^0 == 0 /\ -r_183^post9+r_183^0 == 0 /\ __disjvr_5^post9-__disjvr_5^0 == 0 /\ -y_295^post9+y_295^0 == 0 /\ -tail_15^post9+tail_15^0 == 0 /\ -r_247^post9+r_247^0 == 0 /\ -__disjvr_22^post9+__disjvr_22^0 == 0 /\ r_229^0-r_229^post9 == 0 /\ __disjvr_24^0-__disjvr_24^post9 == 0 /\ -temp_32^post9+temp_32^0 == 0 /\ -__disjvr_20^post9+__disjvr_20^0 == 0 /\ -i_105^post9+i_105^0 == 0 /\ -__disjvr_17^post9+__disjvr_17^0 == 0 /\ -rcd_107^post9+rcd_107^0 == 0 /\ x_21^0-x_21^post9 == 0 /\ r_154^0-r_154^post9 == 0 /\ __disjvr_21^0-__disjvr_21^post9 == 0 /\ __disjvr_19^0-__disjvr_19^post9 == 0 /\ -tmp_31^post9+tmp_31^0 == 0 /\ -y_231^post9+y_231^0 == 0 /\ r_267^0-r_267^post9 == 0 /\ __disjvr_6^0-__disjvr_6^post9 == 0 /\ rcd_243^0-rcd_243^post9 == 0 /\ -rcd_248^post9+rcd_248^0 == 0 /\ -rcd_40^post9+rcd_40^0 == 0 /\ -y_191^post9+y_191^0 == 0 /\ rcd_99^0-rcd_99^post9 == 0 /\ __disjvr_2^0-__disjvr_2^post9 == 0 /\ -a_143^post9+a_143^0 == 0 /\ -__disjvr_13^post9+__disjvr_13^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post9 == 0 /\ -y_347^post9+y_347^0 == 0 /\ result_11^0-result_11^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9 == 0 /\ -len_270^post9+len_270^0 == 0 /\ -temp0_28^post9+temp0_28^0 == 0 /\ y_241^0-y_241^post9 == 0 /\ -w_20^post9+w_20^0 == 0 /\ -a_215^post9+a_215^0 == 0 /\ -__disjvr_8^post9+__disjvr_8^0 == 0 /\ i_27^0-i_27^post9 == 0 /\ y_22^0-y_22^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ y_285^0-y_285^post9 == 0 /\ -__disjvr_4^post9+__disjvr_4^0 == 0 /\ __disjvr_23^0-__disjvr_23^post9 == 0 /\ rcd_230^0-rcd_230^post9 == 0 /\ -head_29^post9+head_29^0 == 0 /\ a_271^0-a_271^post9 == 0 /\ __disjvr_15^0-__disjvr_15^post9 == 0 /\ t_23^0-t_23^post9 == 0 /\ -len_200^post9+len_200^0 == 0), cost: 1
New rule:
l10 -> l11 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l11 -> l12 : __disjvr_0^0'=__disjvr_0^post10, i_27^0'=i_27^post10, y_162^0'=y_162^post10, __disjvr_21^0'=__disjvr_21^post10, z_19^0'=z_19^post10, __disjvr_9^0'=__disjvr_9^post10, result_11^0'=result_11^post10, __disjvr_14^0'=__disjvr_14^post10, r_154^0'=r_154^post10, __disjvr_24^0'=__disjvr_24^post10, y_261^0'=y_261^post10, rcd_230^0'=rcd_230^post10, head_13^0'=head_13^post10, head_SLAM_f_26^0'=head_SLAM_f_26^post10, tmp_31^0'=tmp_31^post10, __disjvr_19^0'=__disjvr_19^post10, r_242^0'=r_242^post10, __disjvr_6^0'=__disjvr_6^post10, y_347^0'=y_347^post10, rcd_40^0'=rcd_40^post10, __disjvr_11^0'=__disjvr_11^post10, len_270^0'=len_270^post10, y_22^0'=y_22^post10, r_267^0'=r_267^post10, a_168^0'=a_168^post10, t_23^0'=t_23^post10, __disjvr_16^0'=__disjvr_16^post10, r_229^0'=r_229^post10, __disjvr_3^0'=__disjvr_3^post10, y_285^0'=y_285^post10, rcd_243^0'=rcd_243^post10, i_114^0'=i_114^post10, x_21^0'=x_21^post10, __disjvr_20^0'=__disjvr_20^post10, r_253^0'=r_253^post10, __disjvr_8^0'=__disjvr_8^post10, rcd_99^0'=rcd_99^post10, __disjvr_13^0'=__disjvr_13^post10, length_25^0'=length_25^post10, __disjvr_23^0'=__disjvr_23^post10, y_241^0'=y_241^post10, rcd_107^0'=rcd_107^post10, a_271^0'=a_271^post10, temp0_18^0'=temp0_18^post10, temp_32^0'=temp_32^post10, __disjvr_18^0'=__disjvr_18^post10, r_240^0'=r_240^post10, __disjvr_5^0'=__disjvr_5^post10, y_295^0'=y_295^post10, rcd_268^0'=rcd_268^post10, __disjvr_10^0'=__disjvr_10^post10, len_200^0'=len_200^post10, y_191^0'=y_191^post10, __disjvr_22^0'=__disjvr_22^post10, a_143^0'=a_143^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post10, __disjvr_15^0'=__disjvr_15^post10, r_183^0'=r_183^post10, __disjvr_2^0'=__disjvr_2^post10, y_269^0'=y_269^post10, rcd_239^0'=rcd_239^post10, head_29^0'=head_29^post10, i_105^0'=i_105^post10, w_20^0'=w_20^post10, __disjvr_1^0'=__disjvr_1^post10, r_247^0'=r_247^post10, __disjvr_7^0'=__disjvr_7^post10, rcd_64^0'=rcd_64^post10, __disjvr_12^0'=__disjvr_12^post10, length_14^0'=length_14^post10, y_231^0'=y_231^post10, r_36^0'=r_36^post10, a_215^0'=a_215^post10, tail_15^0'=tail_15^post10, temp0_28^0'=temp0_28^post10, __disjvr_17^0'=__disjvr_17^post10, r_238^0'=r_238^post10, __disjvr_4^0'=__disjvr_4^post10, y_290^0'=y_290^post10, rcd_248^0'=rcd_248^post10, (-rcd_64^post10+rcd_64^0 == 0 /\ y_261^0-y_261^post10 == 0 /\ -temp0_18^post10+temp0_18^0 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ -a_215^post10+a_215^0 == 0 /\ -__disjvr_3^post10+__disjvr_3^0 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0 /\ len_200^0-len_200^post10 == 0 /\ r_247^0-r_247^post10 == 0 /\ i_105^0-i_105^post10 == 0 /\ a_168^0-a_168^post10 == 0 /\ rcd_40^0-rcd_40^post10 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post10 == 0 /\ -rcd_268^post10+rcd_268^0 == 0 /\ __disjvr_11^0-__disjvr_11^post10 == 0 /\ __disjvr_7^0-__disjvr_7^post10 == 0 /\ -y_295^post10+y_295^0 == 0 /\ -r_229^post10+r_229^0 == 0 /\ -rcd_243^post10+rcd_243^0 == 0 /\ -r_36^post10+r_36^0 == 0 /\ -t_23^post10+t_23^0 == 0 /\ -r_183^post10+r_183^0 == 0 /\ i_114^0-i_114^post10 == 0 /\ i_27^0-i_27^post10 == 0 /\ -y_290^post10+y_290^0 == 0 /\ r_242^0-r_242^post10 == 0 /\ __disjvr_9^0-__disjvr_9^post10 == 0 /\ -length_25^post10+length_25^0 == 0 /\ r_240^0-r_240^post10 == 0 /\ result_11^0-result_11^post10 == 0 /\ r_154^0-r_154^post10 == 0 /\ __disjvr_23^0-__disjvr_23^post10 == 0 /\ -rcd_248^post10+rcd_248^0 == 0 /\ -length_14^post10+length_14^0 == 0 /\ __disjvr_18^0-__disjvr_18^post10 == 0 /\ -__disjvr_22^post10+__disjvr_22^0 == 0 /\ -head_29^post10+head_29^0 == 0 /\ __disjvr_8^0-__disjvr_8^post10 == 0 /\ -tail_15^post10+tail_15^0 == 0 /\ rcd_230^0-rcd_230^post10 == 0 /\ __disjvr_2^0-__disjvr_2^post10 == 0 /\ -head_13^post10+head_13^0 == 0 /\ __disjvr_6^0-__disjvr_6^post10 == 0 /\ -temp_32^post10+temp_32^0 == 0 /\ -y_231^post10+y_231^0 == 0 /\ r_253^0-r_253^post10 == 0 /\ -rcd_239^post10+rcd_239^0 == 0 /\ -rcd_107^post10+rcd_107^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ -r_238^post10+r_238^0 == 0 /\ -r_267^post10+r_267^0 == 0 /\ -__disjvr_15^post10+__disjvr_15^0 == 0 /\ -__disjvr_20^post10+__disjvr_20^0 == 0 /\ y_162^0-y_162^post10 == 0 /\ -__disjvr_4^post10+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ y_285^0-y_285^post10 == 0 /\ __disjvr_16^0-__disjvr_16^post10 == 0 /\ rcd_99^0-rcd_99^post10 == 0 /\ __disjvr_24^0-__disjvr_24^post10 == 0 /\ -temp0_28^post10+temp0_28^0 == 0 /\ -w_20^post10+w_20^0 == 0 /\ y_347^0-y_347^post10 == 0 /\ -y_191^post10+y_191^0 == 0 /\ z_19^0-z_19^post10 == 0 /\ y_269^0-y_269^post10 == 0 /\ -a_143^post10+a_143^0 == 0 /\ -__disjvr_6^0+__disjvr_6^post10 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post10 == 0 /\ -a_271^post10+a_271^0 == 0 /\ -__disjvr_5^post10+__disjvr_5^0 == 0 /\ -tmp_31^post10+tmp_31^0 == 0 /\ -len_270^post10+len_270^0 == 0 /\ -__disjvr_10^post10+__disjvr_10^0 == 0 /\ -y_241^post10+y_241^0 == 0 /\ -__disjvr_17^post10+__disjvr_17^0 == 0 /\ -__disjvr_13^post10+__disjvr_13^0 == 0 /\ x_21^0-x_21^post10 == 0 /\ y_22^0-y_22^post10 == 0 /\ __disjvr_19^0-__disjvr_19^post10 == 0), cost: 1
New rule:
l11 -> l12 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l12 -> l5 : __disjvr_0^0'=__disjvr_0^post11, i_27^0'=i_27^post11, y_162^0'=y_162^post11, __disjvr_21^0'=__disjvr_21^post11, z_19^0'=z_19^post11, __disjvr_9^0'=__disjvr_9^post11, result_11^0'=result_11^post11, __disjvr_14^0'=__disjvr_14^post11, r_154^0'=r_154^post11, __disjvr_24^0'=__disjvr_24^post11, y_261^0'=y_261^post11, rcd_230^0'=rcd_230^post11, head_13^0'=head_13^post11, head_SLAM_f_26^0'=head_SLAM_f_26^post11, tmp_31^0'=tmp_31^post11, __disjvr_19^0'=__disjvr_19^post11, r_242^0'=r_242^post11, __disjvr_6^0'=__disjvr_6^post11, y_347^0'=y_347^post11, rcd_40^0'=rcd_40^post11, __disjvr_11^0'=__disjvr_11^post11, len_270^0'=len_270^post11, y_22^0'=y_22^post11, r_267^0'=r_267^post11, a_168^0'=a_168^post11, t_23^0'=t_23^post11, __disjvr_16^0'=__disjvr_16^post11, r_229^0'=r_229^post11, __disjvr_3^0'=__disjvr_3^post11, y_285^0'=y_285^post11, rcd_243^0'=rcd_243^post11, i_114^0'=i_114^post11, x_21^0'=x_21^post11, __disjvr_20^0'=__disjvr_20^post11, r_253^0'=r_253^post11, __disjvr_8^0'=__disjvr_8^post11, rcd_99^0'=rcd_99^post11, __disjvr_13^0'=__disjvr_13^post11, length_25^0'=length_25^post11, __disjvr_23^0'=__disjvr_23^post11, y_241^0'=y_241^post11, rcd_107^0'=rcd_107^post11, a_271^0'=a_271^post11, temp0_18^0'=temp0_18^post11, temp_32^0'=temp_32^post11, __disjvr_18^0'=__disjvr_18^post11, r_240^0'=r_240^post11, __disjvr_5^0'=__disjvr_5^post11, y_295^0'=y_295^post11, rcd_268^0'=rcd_268^post11, __disjvr_10^0'=__disjvr_10^post11, len_200^0'=len_200^post11, y_191^0'=y_191^post11, __disjvr_22^0'=__disjvr_22^post11, a_143^0'=a_143^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post11, __disjvr_15^0'=__disjvr_15^post11, r_183^0'=r_183^post11, __disjvr_2^0'=__disjvr_2^post11, y_269^0'=y_269^post11, rcd_239^0'=rcd_239^post11, head_29^0'=head_29^post11, i_105^0'=i_105^post11, w_20^0'=w_20^post11, __disjvr_1^0'=__disjvr_1^post11, r_247^0'=r_247^post11, __disjvr_7^0'=__disjvr_7^post11, rcd_64^0'=rcd_64^post11, __disjvr_12^0'=__disjvr_12^post11, length_14^0'=length_14^post11, y_231^0'=y_231^post11, r_36^0'=r_36^post11, a_215^0'=a_215^post11, tail_15^0'=tail_15^post11, temp0_28^0'=temp0_28^post11, __disjvr_17^0'=__disjvr_17^post11, r_238^0'=r_238^post11, __disjvr_4^0'=__disjvr_4^post11, y_290^0'=y_290^post11, rcd_248^0'=rcd_248^post11, (0 == 0 /\ -temp0_28^post11+temp0_28^0 == 0 /\ temp0_18^0-temp0_18^post11 == 0 /\ -r_240^post11+r_240^0 == 0 /\ -y_269^post11+y_269^0 == 0 /\ __disjvr_5^0-__disjvr_5^post11 == 0 /\ -rcd_268^post11+rcd_268^0 == 0 /\ rcd_107^0-rcd_107^post11 == 0 /\ -rcd_243^post11+rcd_243^0 == 0 /\ head_29^0-head_29^post11 == 0 /\ w_20^0-w_20^post11 == 0 /\ -a_271^0+a_215^post11 <= 0 /\ -r_229^post11+r_229^0 == 0 /\ r_267^0-r_267^post11 == 0 /\ len_270^0-len_270^post11 == 0 /\ -__disjvr_1^post11+__disjvr_1^0 == 0 /\ __disjvr_23^0-__disjvr_23^post11 == 0 /\ -r_183^post11+r_183^0 == 0 /\ -i_114^post11+i_114^0 == 0 /\ y_241^0-y_241^post11 == 0 /\ rcd_64^0-rcd_64^post11 == 0 /\ t_23^0-t_23^post11 == 0 /\ -r_247^post11+r_247^0 == 0 /\ temp_32^0-temp_32^post11 == 0 /\ y_347^0-y_347^post11 == 0 /\ -length_14^post11+length_14^0 == 0 /\ x_21^0-x_21^post11 == 0 /\ a_271^0-a_215^post11 <= 0 /\ __disjvr_3^0-__disjvr_3^post11 == 0 /\ __disjvr_9^0-__disjvr_9^post11 == 0 /\ -y_285^post11+y_285^0 == 0 /\ result_11^0-result_11^post11 == 0 /\ __disjvr_21^0-__disjvr_21^post11 == 0 /\ -r_238^post11+r_238^0 == 0 /\ -a_168^post11+a_168^0 == 0 /\ 2-length_14^0 <= 0 /\ i_27^0-i_27^post11 == 0 /\ __disjvr_20^0-__disjvr_20^post11 == 0 /\ __disjvr_11^0-__disjvr_11^post11 == 0 /\ -rcd_248^post11+rcd_248^0 == 0 /\ rcd_40^post11-rcd_268^0 <= 0 /\ y_261^0-y_261^post11 == 0 /\ rcd_230^0-rcd_230^post11 == 0 /\ length_25^0-length_25^post11 == 0 /\ len_200^post11-len_270^0 <= 0 /\ r_242^0-r_242^post11 == 0 /\ a_143^0-a_143^post11 == 0 /\ -a_271^post11+a_271^0 == 0 /\ __disjvr_14^0-__disjvr_14^post11 == 0 /\ -__disjvr_15^post11+__disjvr_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -y_290^post11+y_290^0 == 0 /\ -__disjvr_7^post11+__disjvr_7^0 == 0 /\ -r_253^post11+r_253^0 == 0 /\ -rcd_239^post11+rcd_239^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post11 == 0 /\ __disjvr_10^0-__disjvr_10^post11 == 0 /\ -i_105^post11+i_105^0 == 0 /\ -z_19^post11+z_19^0 == 0 /\ __disjvr_8^0-__disjvr_8^post11 == 0 /\ y_162^post11-y_269^0 <= 0 /\ -tail_15^post11+tail_15^0 == 0 /\ -r_267^0+r_36^post11 <= 0 /\ -__disjvr_18^post11+__disjvr_18^0 == 0 /\ -y_22^post11+y_22^0 == 0 /\ -y_231^post11+y_231^0 == 0 /\ -__disjvr_4^post11+__disjvr_4^0 == 0 /\ __disjvr_24^0-__disjvr_24^post11 == 0 /\ -rcd_40^post11+rcd_268^0 <= 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ -__disjvr_19^post11+__disjvr_19^0 == 0 /\ __disjvr_0^0-__disjvr_0^post11 == 0 /\ -__disjvr_6^post11+__disjvr_6^0 == 0 /\ -y_191^post11+y_191^0 == 0 /\ -__disjvr_13^post11+__disjvr_13^0 == 0 /\ y_295^0-y_295^post11 == 0 /\ -len_200^post11+len_270^0 <= 0 /\ tmp_31^0-tmp_31^post11 == 0 /\ -__disjvr_12^post11+__disjvr_12^0 == 0 /\ head_13^0-head_13^post11 == 0 /\ r_154^0-r_154^post11 == 0 /\ -__disjvr_16^post11+__disjvr_16^0 == 0 /\ 1-length_14^0 <= 0 /\ -rcd_99^post11+rcd_99^0 == 0 /\ __disjvr_22^0-__disjvr_22^post11 == 0 /\ -__disjvr_2^post11+__disjvr_2^0 == 0 /\ -y_162^post11+y_269^0 <= 0 /\ r_267^0-r_36^post11 <= 0), cost: 1
New rule:
l12 -> l5 : y_162^0'=y_269^0, rcd_40^0'=rcd_268^0, len_200^0'=len_270^0, r_36^0'=r_267^0, a_215^0'=a_271^0, -2+length_14^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l5 -> l0 : __disjvr_0^0'=__disjvr_0^post12, i_27^0'=i_27^post12, y_162^0'=y_162^post12, __disjvr_21^0'=__disjvr_21^post12, z_19^0'=z_19^post12, __disjvr_9^0'=__disjvr_9^post12, result_11^0'=result_11^post12, __disjvr_14^0'=__disjvr_14^post12, r_154^0'=r_154^post12, __disjvr_24^0'=__disjvr_24^post12, y_261^0'=y_261^post12, rcd_230^0'=rcd_230^post12, head_13^0'=head_13^post12, head_SLAM_f_26^0'=head_SLAM_f_26^post12, tmp_31^0'=tmp_31^post12, __disjvr_19^0'=__disjvr_19^post12, r_242^0'=r_242^post12, __disjvr_6^0'=__disjvr_6^post12, y_347^0'=y_347^post12, rcd_40^0'=rcd_40^post12, __disjvr_11^0'=__disjvr_11^post12, len_270^0'=len_270^post12, y_22^0'=y_22^post12, r_267^0'=r_267^post12, a_168^0'=a_168^post12, t_23^0'=t_23^post12, __disjvr_16^0'=__disjvr_16^post12, r_229^0'=r_229^post12, __disjvr_3^0'=__disjvr_3^post12, y_285^0'=y_285^post12, rcd_243^0'=rcd_243^post12, i_114^0'=i_114^post12, x_21^0'=x_21^post12, __disjvr_20^0'=__disjvr_20^post12, r_253^0'=r_253^post12, __disjvr_8^0'=__disjvr_8^post12, rcd_99^0'=rcd_99^post12, __disjvr_13^0'=__disjvr_13^post12, length_25^0'=length_25^post12, __disjvr_23^0'=__disjvr_23^post12, y_241^0'=y_241^post12, rcd_107^0'=rcd_107^post12, a_271^0'=a_271^post12, temp0_18^0'=temp0_18^post12, temp_32^0'=temp_32^post12, __disjvr_18^0'=__disjvr_18^post12, r_240^0'=r_240^post12, __disjvr_5^0'=__disjvr_5^post12, y_295^0'=y_295^post12, rcd_268^0'=rcd_268^post12, __disjvr_10^0'=__disjvr_10^post12, len_200^0'=len_200^post12, y_191^0'=y_191^post12, __disjvr_22^0'=__disjvr_22^post12, a_143^0'=a_143^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post12, __disjvr_15^0'=__disjvr_15^post12, r_183^0'=r_183^post12, __disjvr_2^0'=__disjvr_2^post12, y_269^0'=y_269^post12, rcd_239^0'=rcd_239^post12, head_29^0'=head_29^post12, i_105^0'=i_105^post12, w_20^0'=w_20^post12, __disjvr_1^0'=__disjvr_1^post12, r_247^0'=r_247^post12, __disjvr_7^0'=__disjvr_7^post12, rcd_64^0'=rcd_64^post12, __disjvr_12^0'=__disjvr_12^post12, length_14^0'=length_14^post12, y_231^0'=y_231^post12, r_36^0'=r_36^post12, a_215^0'=a_215^post12, tail_15^0'=tail_15^post12, temp0_28^0'=temp0_28^post12, __disjvr_17^0'=__disjvr_17^post12, r_238^0'=r_238^post12, __disjvr_4^0'=__disjvr_4^post12, y_290^0'=y_290^post12, rcd_248^0'=rcd_248^post12, (head_13^0-head_13^post12 == 0 /\ -a_143^post12+a_143^0 == 0 /\ -r_247^post12+r_247^0 == 0 /\ rcd_230^0-rcd_230^post12 == 0 /\ w_20^0-w_20^post12 == 0 /\ __disjvr_14^0-__disjvr_14^post12 == 0 /\ i_27^0-i_27^post12 == 0 /\ -y_231^post12+y_231^0 == 0 /\ -x_21^post12+x_21^0 == 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ -__disjvr_4^post12+__disjvr_4^0 == 0 /\ tmp_31^0-tmp_31^post12 == 0 /\ __disjvr_8^0-__disjvr_8^post12 == 0 /\ -length_14^post12+length_14^0 == 0 /\ -y_295^post12+y_295^0 == 0 /\ -temp0_18^post12+temp0_18^0 == 0 /\ -a_215^post12+a_215^0 == 0 /\ __disjvr_18^0-__disjvr_18^post12 == 0 /\ y_285^0-y_285^post12 == 0 /\ r_253^0-r_253^post12 == 0 /\ len_270^0-len_270^post12 == 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ -temp_32^post12+temp_32^0 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ __disjvr_13^0-__disjvr_13^post12 == 0 /\ -length_25^post12+length_25^0 == 0 /\ r_267^0-r_267^post12 == 0 /\ __disjvr_16^0-__disjvr_16^post12 == 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ -temp0_28^post12+temp0_28^0 == 0 /\ rcd_243^0-rcd_243^post12 == 0 /\ -y_347^post12+y_347^0 == 0 /\ -y_269^post12+y_269^0 == 0 /\ -r_36^post12+r_36^0 == 0 /\ -i_105^post12+i_105^0 == 0 /\ y_162^0-y_162^post12 == 0 /\ rcd_40^0-rcd_40^post12 == 0 /\ rcd_107^0-rcd_107^post12 == 0 /\ len_200^0-len_200^post12 == 0 /\ __disjvr_11^0-__disjvr_11^post12 == 0 /\ -rcd_239^post12+rcd_239^0 == 0 /\ y_22^0-y_22^post12 == 0 /\ -__disjvr_9^post12+__disjvr_9^0 == 0 /\ r_242^0-r_242^post12 == 0 /\ -y_261^post12+y_261^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ r_229^0-r_229^post12 == 0 /\ z_19^0-z_19^post12 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post12 == 0 /\ t_23^0-t_23^post12 == 0 /\ -__disjvr_22^post12+__disjvr_22^0 == 0 /\ -__disjvr_7^post12+__disjvr_7^0 == 0 /\ -r_183^post12+r_183^0 == 0 /\ tail_15^0-tail_15^post12 == 0 /\ -a_168^post12+a_168^0 == 0 /\ -y_290^post12+y_290^0 == 0 /\ -head_29^post12+head_29^0 == 0 /\ -a_271^post12+a_271^0 == 0 /\ -__disjvr_2^post12+__disjvr_2^0 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ rcd_268^0-rcd_268^post12 == 0 /\ y_241^0-y_241^post12 == 0 /\ -rcd_99^post12+rcd_99^0 == 0 /\ __disjvr_6^0-__disjvr_6^post12 == 0 /\ -__disjvr_23^post12+__disjvr_23^0 == 0 /\ -__disjvr_12^post12+__disjvr_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post12 == 0 /\ -__disjvr_20^post12+__disjvr_20^0 == 0 /\ -rcd_248^post12+rcd_248^0 == 0 /\ i_114^0-i_114^post12 == 0 /\ -rcd_64^post12+rcd_64^0 == 0 /\ -r_238^post12+r_238^0 == 0 /\ r_154^0-r_154^post12 == 0 /\ -r_240^post12+r_240^0 == 0 /\ -__disjvr_15^post12+__disjvr_15^0 == 0 /\ result_11^0-result_11^post12 == 0 /\ __disjvr_21^0-__disjvr_21^post12 == 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ -y_191^post12+y_191^0 == 0 /\ -__disjvr_1^post12+__disjvr_1^0 == 0), cost: 1
New rule:
l5 -> l0 : TRUE, cost: 1

Applied preprocessing
Original rule:
l33 -> l34 : __disjvr_0^0'=__disjvr_0^post35, i_27^0'=i_27^post35, y_162^0'=y_162^post35, __disjvr_21^0'=__disjvr_21^post35, z_19^0'=z_19^post35, __disjvr_9^0'=__disjvr_9^post35, result_11^0'=result_11^post35, __disjvr_14^0'=__disjvr_14^post35, r_154^0'=r_154^post35, __disjvr_24^0'=__disjvr_24^post35, y_261^0'=y_261^post35, rcd_230^0'=rcd_230^post35, head_13^0'=head_13^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, __disjvr_19^0'=__disjvr_19^post35, r_242^0'=r_242^post35, __disjvr_6^0'=__disjvr_6^post35, y_347^0'=y_347^post35, rcd_40^0'=rcd_40^post35, __disjvr_11^0'=__disjvr_11^post35, len_270^0'=len_270^post35, y_22^0'=y_22^post35, r_267^0'=r_267^post35, a_168^0'=a_168^post35, t_23^0'=t_23^post35, __disjvr_16^0'=__disjvr_16^post35, r_229^0'=r_229^post35, __disjvr_3^0'=__disjvr_3^post35, y_285^0'=y_285^post35, rcd_243^0'=rcd_243^post35, i_114^0'=i_114^post35, x_21^0'=x_21^post35, __disjvr_20^0'=__disjvr_20^post35, r_253^0'=r_253^post35, __disjvr_8^0'=__disjvr_8^post35, rcd_99^0'=rcd_99^post35, __disjvr_13^0'=__disjvr_13^post35, length_25^0'=length_25^post35, __disjvr_23^0'=__disjvr_23^post35, y_241^0'=y_241^post35, rcd_107^0'=rcd_107^post35, a_271^0'=a_271^post35, temp0_18^0'=temp0_18^post35, temp_32^0'=temp_32^post35, __disjvr_18^0'=__disjvr_18^post35, r_240^0'=r_240^post35, __disjvr_5^0'=__disjvr_5^post35, y_295^0'=y_295^post35, rcd_268^0'=rcd_268^post35, __disjvr_10^0'=__disjvr_10^post35, len_200^0'=len_200^post35, y_191^0'=y_191^post35, __disjvr_22^0'=__disjvr_22^post35, a_143^0'=a_143^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, __disjvr_15^0'=__disjvr_15^post35, r_183^0'=r_183^post35, __disjvr_2^0'=__disjvr_2^post35, y_269^0'=y_269^post35, rcd_239^0'=rcd_239^post35, head_29^0'=head_29^post35, i_105^0'=i_105^post35, w_20^0'=w_20^post35, __disjvr_1^0'=__disjvr_1^post35, r_247^0'=r_247^post35, __disjvr_7^0'=__disjvr_7^post35, rcd_64^0'=rcd_64^post35, __disjvr_12^0'=__disjvr_12^post35, length_14^0'=length_14^post35, y_231^0'=y_231^post35, r_36^0'=r_36^post35, a_215^0'=a_215^post35, tail_15^0'=tail_15^post35, temp0_28^0'=temp0_28^post35, __disjvr_17^0'=__disjvr_17^post35, r_238^0'=r_238^post35, __disjvr_4^0'=__disjvr_4^post35, y_290^0'=y_290^post35, rcd_248^0'=rcd_248^post35, (-y_241^post35+y_241^0 == 0 /\ -r_36^post35+r_36^0 == 0 /\ length_25^post35-length_14^0 <= 0 /\ length_25^post35-length_14^0 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ len_270^0-len_270^post35 == 0 /\ t_23^0-t_23^post35 == 0 /\ r_154^0-r_154^post35 == 0 /\ -y_290^post35+y_290^0 == 0 /\ __disjvr_21^0-__disjvr_21^post35 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ -rcd_239^post35+rcd_239^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ __disjvr_16^0-__disjvr_16^post35 == 0 /\ -__disjvr_5^post35+__disjvr_5^0 == 0 /\ r_267^0-r_267^post35 == 0 /\ head_SLAM_f_26^post35-tail_15^0 <= 0 /\ head_SLAM_f_26^post35-tail_15^0 == 0 /\ -w_20^post35+w_20^0 == 0 /\ head_29^post35-tail_15^0 <= 0 /\ rcd_243^0-rcd_243^post35 == 0 /\ -rcd_64^post35+rcd_64^0 == 0 /\ -__disjvr_22^post35+__disjvr_22^0 == 0 /\ -rcd_99^post35+rcd_99^0 == 0 /\ a_168^0-a_168^post35 == 0 /\ -length_25^post35+length_14^0 <= 0 /\ i_27^post35 <= 0 /\ i_27^post35 == 0 /\ r_240^0-r_240^post35 == 0 /\ -r_238^post35+r_238^0 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ y_285^0-y_285^post35 == 0 /\ -temp0_18^post35+temp0_18^0 == 0 /\ -__disjvr_10^post35+__disjvr_10^0 == 0 /\ -head_SLAM_f_26^post35+tail_15^0 <= 0 /\ y_22^0-y_22^post35 == 0 /\ __disjvr_13^0-__disjvr_13^post35 == 0 /\ -y_191^post35+y_191^0 == 0 /\ -y_231^post35+y_231^0 == 0 /\ -tail_15^post35+tail_15^0 == 0 /\ -__disjvr_15^post35+__disjvr_15^0 == 0 /\ -head_29^post35+tail_15^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_1^0-__disjvr_1^post35 == 0 /\ a_271^0-a_271^post35 == 0 /\ -rcd_248^post35+rcd_248^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ -y_295^post35+y_295^0 == 0 /\ -r_247^post35+r_247^0 == 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ -__disjvr_2^post35+__disjvr_2^0 == 0 /\ -a_143^post35+a_143^0 == 0 /\ -__disjvr_4^post35+__disjvr_4^0 == 0 /\ __disjvr_20^0-__disjvr_20^post35 == 0 /\ -head_SLAM_f_26^post35+head_29^post35 <= 0 /\ -head_SLAM_f_26^post35+head_29^post35 == 0 /\ y_347^0-y_347^post35 == 0 /\ -i_105^post35+i_105^0 == 0 /\ r_242^0-r_242^post35 == 0 /\ -__disjvr_8^post35+__disjvr_8^0 == 0 /\ len_200^0-len_200^post35 == 0 /\ r_253^0-r_253^post35 == 0 /\ head_13^0-head_13^post35 == 0 /\ y_162^0-y_162^post35 == 0 /\ i_114^0-i_114^post35 == 0 /\ -length_14^post35+length_14^0 == 0 /\ -x_21^post35+x_21^0 == 0 /\ -temp_32^post35+temp_32^0 == 0 /\ -rcd_230^post35+rcd_230^0 == 0 /\ -temp0_28^post35+temp0_28^0 == 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ __disjvr_14^0-__disjvr_14^post35 == 0 /\ -a_215^post35+a_215^0 == 0 /\ rcd_40^0-rcd_40^post35 == 0 /\ rcd_268^0-rcd_268^post35 == 0 /\ __disjvr_24^0-__disjvr_24^post35 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ r_229^0-r_229^post35 == 0 /\ z_19^0-z_19^post35 == 0 /\ tmp_31^0-tmp_31^post35 == 0 /\ -y_261^post35+y_261^0 == 0 /\ head_SLAM_f_26^post35-head_29^post35 <= 0 /\ __disjvr_18^0-__disjvr_18^post35 == 0 /\ rcd_107^0-rcd_107^post35 == 0 /\ -i_27^post35 <= 0 /\ r_183^0-r_183^post35 == 0 /\ -y_269^post35+y_269^0 == 0), cost: 1
New rule:
l33 -> l34 : i_27^0'=0, head_SLAM_f_26^0'=tail_15^0, length_25^0'=length_14^0, head_29^0'=tail_15^0, 0 == 0, cost: 1

Applied preprocessing
Original rule:
l35 -> l37 : __disjvr_0^0'=__disjvr_0^post37, i_27^0'=i_27^post37, y_162^0'=y_162^post37, __disjvr_21^0'=__disjvr_21^post37, z_19^0'=z_19^post37, __disjvr_9^0'=__disjvr_9^post37, result_11^0'=result_11^post37, __disjvr_14^0'=__disjvr_14^post37, r_154^0'=r_154^post37, __disjvr_24^0'=__disjvr_24^post37, y_261^0'=y_261^post37, rcd_230^0'=rcd_230^post37, head_13^0'=head_13^post37, head_SLAM_f_26^0'=head_SLAM_f_26^post37, tmp_31^0'=tmp_31^post37, __disjvr_19^0'=__disjvr_19^post37, r_242^0'=r_242^post37, __disjvr_6^0'=__disjvr_6^post37, y_347^0'=y_347^post37, rcd_40^0'=rcd_40^post37, __disjvr_11^0'=__disjvr_11^post37, len_270^0'=len_270^post37, y_22^0'=y_22^post37, r_267^0'=r_267^post37, a_168^0'=a_168^post37, t_23^0'=t_23^post37, __disjvr_16^0'=__disjvr_16^post37, r_229^0'=r_229^post37, __disjvr_3^0'=__disjvr_3^post37, y_285^0'=y_285^post37, rcd_243^0'=rcd_243^post37, i_114^0'=i_114^post37, x_21^0'=x_21^post37, __disjvr_20^0'=__disjvr_20^post37, r_253^0'=r_253^post37, __disjvr_8^0'=__disjvr_8^post37, rcd_99^0'=rcd_99^post37, __disjvr_13^0'=__disjvr_13^post37, length_25^0'=length_25^post37, __disjvr_23^0'=__disjvr_23^post37, y_241^0'=y_241^post37, rcd_107^0'=rcd_107^post37, a_271^0'=a_271^post37, temp0_18^0'=temp0_18^post37, temp_32^0'=temp_32^post37, __disjvr_18^0'=__disjvr_18^post37, r_240^0'=r_240^post37, __disjvr_5^0'=__disjvr_5^post37, y_295^0'=y_295^post37, rcd_268^0'=rcd_268^post37, __disjvr_10^0'=__disjvr_10^post37, len_200^0'=len_200^post37, y_191^0'=y_191^post37, __disjvr_22^0'=__disjvr_22^post37, a_143^0'=a_143^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37, __disjvr_15^0'=__disjvr_15^post37, r_183^0'=r_183^post37, __disjvr_2^0'=__disjvr_2^post37, y_269^0'=y_269^post37, rcd_239^0'=rcd_239^post37, head_29^0'=head_29^post37, i_105^0'=i_105^post37, w_20^0'=w_20^post37, __disjvr_1^0'=__disjvr_1^post37, r_247^0'=r_247^post37, __disjvr_7^0'=__disjvr_7^post37, rcd_64^0'=rcd_64^post37, __disjvr_12^0'=__disjvr_12^post37, length_14^0'=length_14^post37, y_231^0'=y_231^post37, r_36^0'=r_36^post37, a_215^0'=a_215^post37, tail_15^0'=tail_15^post37, temp0_28^0'=temp0_28^post37, __disjvr_17^0'=__disjvr_17^post37, r_238^0'=r_238^post37, __disjvr_4^0'=__disjvr_4^post37, y_290^0'=y_290^post37, rcd_248^0'=rcd_248^post37, (0 == 0 /\ __disjvr_9^0-__disjvr_9^post37 == 0 /\ head_29^post37-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37 <= 0 /\ -__disjvr_15^post37+__disjvr_15^0 == 0 /\ -a_168^post37+a_168^0 == 0 /\ -w_20^post37+w_20^0 == 0 /\ y_241^0-y_241^post37 == 0 /\ -rcd_239^post37+rcd_239^0 == 0 /\ -y_285^post37+y_285^0 == 0 /\ -__disjvr_23^post37+__disjvr_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post37 == 0 /\ a_271^0-a_271^post37 == 0 /\ 1+i_27^0-length_25^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post37 == 0 /\ -rcd_99^post37+rcd_99^0 == 0 /\ rcd_268^0-rcd_268^post37 == 0 /\ -r_238^post37+r_238^0 == 0 /\ y_295^0-y_295^post37 == 0 /\ -r_253^post37+r_253^0 == 0 /\ head_SLAM_f_26^post37-tail_15^post37 <= 0 /\ -__disjvr_18^post37+__disjvr_18^0 == 0 /\ r_154^0-r_154^post37 == 0 /\ y_191^0-y_191^post37 == 0 /\ head_29^post37-tmp_31^post37 <= 0 /\ head_29^post37-tmp_31^post37 == 0 /\ __disjvr_19^0-__disjvr_19^post37 == 0 /\ -y_22^post37+y_22^0 == 0 /\ -head_29^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37 <= 0 /\ rcd_230^0-rcd_230^post37 == 0 /\ -__disjvr_7^post37+__disjvr_7^0 == 0 /\ rcd_243^0-rcd_243^post37 == 0 /\ -__disjvr_13^post37+__disjvr_13^0 == 0 /\ -__disjvr_1^post37+__disjvr_1^0 == 0 /\ length_25^0-length_25^post37 == 0 /\ __disjvr_20^0-__disjvr_20^post37 == 0 /\ -y_231^post37+y_231^0 == 0 /\ -__disjvr_12^post37+__disjvr_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post37 == 0 /\ -rcd_248^post37+rcd_248^0 == 0 /\ -__disjvr_11^post37+__disjvr_11^0 == 0 /\ -head_SLAM_f_26^post37+tail_15^post37 <= 0 /\ -__disjvr_5^post37+__disjvr_5^0 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ tmp_31^post37-temp_32^0 == 0 /\ -r_240^post37+r_240^0 == 0 /\ r_267^0-r_267^post37 == 0 /\ len_270^0-len_270^post37 == 0 /\ -__disjvr_2^post37+__disjvr_2^0 == 0 /\ -head_29^post37+tmp_31^post37 <= 0 /\ -2+i_27^post37 <= 0 /\ y_269^0-y_269^post37 == 0 /\ tmp_31^post37-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37 <= 0 /\ -x_21^post37+x_21^0 == 0 /\ t_23^0-t_23^post37 == 0 /\ y_347^0-y_347^post37 == 0 /\ y_162^0-y_162^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -__disjvr_4^post37+__disjvr_4^0 == 0 /\ -length_25^0+length_14^post37 <= 0 /\ __disjvr_22^0-__disjvr_22^post37 == 0 /\ -r_247^post37+r_247^0 == 0 /\ i_114^0-i_114^post37 == 0 /\ -temp0_28^post37+temp0_28^0 == 0 /\ -a_215^post37+a_215^0 == 0 /\ -1-i_27^0+i_27^post37 == 0 /\ 1-length_25^0 <= 0 /\ -len_200^post37+len_200^0 == 0 /\ __disjvr_3^0-__disjvr_3^post37 == 0 /\ head_13^0-head_13^post37 == 0 /\ -__disjvr_21^post37+__disjvr_21^0 == 0 /\ -__disjvr_6^post37+__disjvr_6^0 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0 /\ y_261^0-y_261^post37 == 0 /\ 2-length_25^0 <= 0 /\ -y_290^post37+y_290^0 == 0 /\ -tmp_31^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37 <= 0 /\ rcd_40^0-rcd_40^post37 == 0 /\ -i_105^post37+i_105^0 == 0 /\ r_229^0-r_229^post37 == 0 /\ temp0_18^0-temp0_18^post37 == 0 /\ rcd_107^0-rcd_107^post37 == 0 /\ -r_242^post37+r_242^0 == 0 /\ -r_183^post37+r_183^0 == 0 /\ length_25^0-length_14^post37 <= 0 /\ a_143^0-a_143^post37 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ z_19^0-z_19^post37 == 0 /\ -r_36^post37+r_36^0 == 0 /\ __disjvr_14^0-__disjvr_14^post37 == 0 /\ 2-i_27^post37 <= 0), cost: 1
New rule:
l35 -> l37 : i_27^0'=2, head_SLAM_f_26^0'=tail_15^post37, tmp_31^0'=temp_32^0, temp_32^0'=temp_32^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, rcd_64^0'=rcd_64^post37, length_14^0'=length_25^0, tail_15^0'=tail_15^post37, (-1+i_27^0 == 0 /\ -2+length_25^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l38 -> l39 : __disjvr_0^0'=__disjvr_0^post39, i_27^0'=i_27^post39, y_162^0'=y_162^post39, __disjvr_21^0'=__disjvr_21^post39, z_19^0'=z_19^post39, __disjvr_9^0'=__disjvr_9^post39, result_11^0'=result_11^post39, __disjvr_14^0'=__disjvr_14^post39, r_154^0'=r_154^post39, __disjvr_24^0'=__disjvr_24^post39, y_261^0'=y_261^post39, rcd_230^0'=rcd_230^post39, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, tmp_31^0'=tmp_31^post39, __disjvr_19^0'=__disjvr_19^post39, r_242^0'=r_242^post39, __disjvr_6^0'=__disjvr_6^post39, y_347^0'=y_347^post39, rcd_40^0'=rcd_40^post39, __disjvr_11^0'=__disjvr_11^post39, len_270^0'=len_270^post39, y_22^0'=y_22^post39, r_267^0'=r_267^post39, a_168^0'=a_168^post39, t_23^0'=t_23^post39, __disjvr_16^0'=__disjvr_16^post39, r_229^0'=r_229^post39, __disjvr_3^0'=__disjvr_3^post39, y_285^0'=y_285^post39, rcd_243^0'=rcd_243^post39, i_114^0'=i_114^post39, x_21^0'=x_21^post39, __disjvr_20^0'=__disjvr_20^post39, r_253^0'=r_253^post39, __disjvr_8^0'=__disjvr_8^post39, rcd_99^0'=rcd_99^post39, __disjvr_13^0'=__disjvr_13^post39, length_25^0'=length_25^post39, __disjvr_23^0'=__disjvr_23^post39, y_241^0'=y_241^post39, rcd_107^0'=rcd_107^post39, a_271^0'=a_271^post39, temp0_18^0'=temp0_18^post39, temp_32^0'=temp_32^post39, __disjvr_18^0'=__disjvr_18^post39, r_240^0'=r_240^post39, __disjvr_5^0'=__disjvr_5^post39, y_295^0'=y_295^post39, rcd_268^0'=rcd_268^post39, __disjvr_10^0'=__disjvr_10^post39, len_200^0'=len_200^post39, y_191^0'=y_191^post39, __disjvr_22^0'=__disjvr_22^post39, a_143^0'=a_143^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39, __disjvr_15^0'=__disjvr_15^post39, r_183^0'=r_183^post39, __disjvr_2^0'=__disjvr_2^post39, y_269^0'=y_269^post39, rcd_239^0'=rcd_239^post39, head_29^0'=head_29^post39, i_105^0'=i_105^post39, w_20^0'=w_20^post39, __disjvr_1^0'=__disjvr_1^post39, r_247^0'=r_247^post39, __disjvr_7^0'=__disjvr_7^post39, rcd_64^0'=rcd_64^post39, __disjvr_12^0'=__disjvr_12^post39, length_14^0'=length_14^post39, y_231^0'=y_231^post39, r_36^0'=r_36^post39, a_215^0'=a_215^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post39, __disjvr_17^0'=__disjvr_17^post39, r_238^0'=r_238^post39, __disjvr_4^0'=__disjvr_4^post39, y_290^0'=y_290^post39, rcd_248^0'=rcd_248^post39, (0 == 0 /\ -y_241^post39+y_241^0 == 0 /\ r_229^0-r_229^post39 == 0 /\ -__disjvr_3^post39+__disjvr_3^0 == 0 /\ -__disjvr_5^post39+__disjvr_5^0 == 0 /\ -r_36^post39+r_36^0 == 0 /\ -__disjvr_18^post39+__disjvr_18^0 == 0 /\ -y_290^post39+y_290^0 == 0 /\ i_105^0-i_105^post39 == 0 /\ r_267^0-r_267^post39 == 0 /\ -len_270^post39+len_270^0 == 0 /\ result_11^0-result_11^post39 == 0 /\ -w_20^post39+w_20^0 == 0 /\ -rcd_64^post39+rcd_64^0 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ -__disjvr_12^post39+__disjvr_12^0 == 0 /\ -r_183^post39+r_183^0 == 0 /\ y_261^0-y_261^post39 == 0 /\ rcd_99^0-rcd_99^post39 == 0 /\ rcd_40^0-rcd_40^post39 == 0 /\ i_114^0-i_114^post39 == 0 /\ -r_238^post39+r_238^0 == 0 /\ -r_253^post39+r_253^0 == 0 /\ y_162^0-y_162^post39 == 0 /\ -__disjvr_22^post39+__disjvr_22^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39 == 0 /\ -rcd_268^post39+rcd_268^0 == 0 /\ __disjvr_7^0-__disjvr_7^post39 == 0 /\ -__disjvr_2^post39+__disjvr_2^0 == 0 /\ y_22^0-y_22^post39 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ t_23^0-t_23^post39 == 0 /\ -__disjvr_15^post39+__disjvr_15^0 == 0 /\ -temp0_18^post39+temp0_18^0 == 0 /\ __disjvr_10^0-__disjvr_10^post39 == 0 /\ -__disjvr_1^post39+__disjvr_1^0 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ y_231^0-y_231^post39 == 0 /\ -rcd_107^post39+rcd_107^0 == 0 /\ r_154^0-r_154^post39 == 0 /\ -y_295^post39+y_295^0 == 0 /\ __disjvr_9^0-__disjvr_9^post39 == 0 /\ -i_114^0 <= 0 /\ __disjvr_19^0-__disjvr_19^post39 == 0 /\ a_215^0-a_215^post39 == 0 /\ __disjvr_6^0-__disjvr_6^post39 == 0 /\ -__disjvr_20^post39+__disjvr_20^0 == 0 /\ x_21^0-x_21^post39 == 0 /\ __disjvr_21^0-__disjvr_21^post39 == 0 /\ __disjvr_16^0-__disjvr_16^post39 == 0 /\ -a_143^post39+a_143^0 == 0 /\ length_25^0-length_25^post39 == 0 /\ -tmp_31^post39+tmp_31^0 == 0 /\ -__disjvr_13^post39+__disjvr_13^0 == 0 /\ a_168^0-a_168^post39 == 0 /\ -__disjvr_4^post39+__disjvr_4^0 == 0 /\ -temp0_28^post39+temp0_28^0 == 0 /\ y_347^0-y_347^post39 == 0 /\ y_191^0-y_191^post39 == 0 /\ rcd_239^0-rcd_239^post39 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post39 == 0 /\ -__disjvr_8^post39+__disjvr_8^0 == 0 /\ __disjvr_11^0-__disjvr_11^post39 == 0 /\ -len_200^post39+len_200^0 == 0 /\ r_240^0-r_240^post39 == 0 /\ -head_29^post39+head_29^0 == 0 /\ y_285^0-y_285^post39 == 0 /\ i_27^0-i_27^post39 == 0 /\ __disjvr_23^0-__disjvr_23^post39 == 0 /\ -temp_32^post39+temp_32^0 == 0 /\ -y_269^post39+y_269^0 == 0 /\ rcd_230^0-rcd_230^post39 == 0 /\ a_271^0-a_271^post39 == 0), cost: 1
New rule:
l38 -> l39 : z_19^0'=z_19^post39, head_13^0'=head_13^post39, r_242^0'=r_242^post39, rcd_243^0'=rcd_243^post39, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, rcd_248^0'=rcd_248^post39, i_114^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l39 -> l40 : __disjvr_0^0'=__disjvr_0^post40, i_27^0'=i_27^post40, y_162^0'=y_162^post40, __disjvr_21^0'=__disjvr_21^post40, z_19^0'=z_19^post40, __disjvr_9^0'=__disjvr_9^post40, result_11^0'=result_11^post40, __disjvr_14^0'=__disjvr_14^post40, r_154^0'=r_154^post40, __disjvr_24^0'=__disjvr_24^post40, y_261^0'=y_261^post40, rcd_230^0'=rcd_230^post40, head_13^0'=head_13^post40, head_SLAM_f_26^0'=head_SLAM_f_26^post40, tmp_31^0'=tmp_31^post40, __disjvr_19^0'=__disjvr_19^post40, r_242^0'=r_242^post40, __disjvr_6^0'=__disjvr_6^post40, y_347^0'=y_347^post40, rcd_40^0'=rcd_40^post40, __disjvr_11^0'=__disjvr_11^post40, len_270^0'=len_270^post40, y_22^0'=y_22^post40, r_267^0'=r_267^post40, a_168^0'=a_168^post40, t_23^0'=t_23^post40, __disjvr_16^0'=__disjvr_16^post40, r_229^0'=r_229^post40, __disjvr_3^0'=__disjvr_3^post40, y_285^0'=y_285^post40, rcd_243^0'=rcd_243^post40, i_114^0'=i_114^post40, x_21^0'=x_21^post40, __disjvr_20^0'=__disjvr_20^post40, r_253^0'=r_253^post40, __disjvr_8^0'=__disjvr_8^post40, rcd_99^0'=rcd_99^post40, __disjvr_13^0'=__disjvr_13^post40, length_25^0'=length_25^post40, __disjvr_23^0'=__disjvr_23^post40, y_241^0'=y_241^post40, rcd_107^0'=rcd_107^post40, a_271^0'=a_271^post40, temp0_18^0'=temp0_18^post40, temp_32^0'=temp_32^post40, __disjvr_18^0'=__disjvr_18^post40, r_240^0'=r_240^post40, __disjvr_5^0'=__disjvr_5^post40, y_295^0'=y_295^post40, rcd_268^0'=rcd_268^post40, __disjvr_10^0'=__disjvr_10^post40, len_200^0'=len_200^post40, y_191^0'=y_191^post40, __disjvr_22^0'=__disjvr_22^post40, a_143^0'=a_143^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40, __disjvr_15^0'=__disjvr_15^post40, r_183^0'=r_183^post40, __disjvr_2^0'=__disjvr_2^post40, y_269^0'=y_269^post40, rcd_239^0'=rcd_239^post40, head_29^0'=head_29^post40, i_105^0'=i_105^post40, w_20^0'=w_20^post40, __disjvr_1^0'=__disjvr_1^post40, r_247^0'=r_247^post40, __disjvr_7^0'=__disjvr_7^post40, rcd_64^0'=rcd_64^post40, __disjvr_12^0'=__disjvr_12^post40, length_14^0'=length_14^post40, y_231^0'=y_231^post40, r_36^0'=r_36^post40, a_215^0'=a_215^post40, tail_15^0'=tail_15^post40, temp0_28^0'=temp0_28^post40, __disjvr_17^0'=__disjvr_17^post40, r_238^0'=r_238^post40, __disjvr_4^0'=__disjvr_4^post40, y_290^0'=y_290^post40, rcd_248^0'=rcd_248^post40, (r_247^0-r_247^post40 == 0 /\ -i_114^post40+i_114^0 == 0 /\ r_229^0-r_229^post40 == 0 /\ -y_22^post40+y_22^0 == 0 /\ head_29^0-head_29^post40 == 0 /\ rcd_230^0-rcd_230^post40 == 0 /\ -__disjvr_16^post40+__disjvr_16^0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ -rcd_243^post40+rcd_243^0 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ a_168^0-a_168^post40 == 0 /\ -rcd_64^post40+rcd_64^0 == 0 /\ y_241^0-y_241^post40 == 0 /\ __disjvr_20^0-__disjvr_20^post40 == 0 /\ -r_240^post40+r_240^0 == 0 /\ -r_36^post40+r_36^0 == 0 /\ i_105^0-i_105^post40 == 0 /\ y_261^0-y_261^post40 == 0 /\ -temp0_28^post40+temp0_28^0 == 0 /\ length_25^0-length_25^post40 == 0 /\ rcd_40^0-rcd_40^post40 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ y_162^0-y_162^post40 == 0 /\ temp_32^0-temp_32^post40 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ -r_253^post40+r_253^0 == 0 /\ rcd_268^0-rcd_268^post40 == 0 /\ -t_23^post40+t_23^0 == 0 /\ i_27^0-i_27^post40 == 0 /\ -rcd_239^post40+rcd_239^0 == 0 /\ -r_242^post40+r_242^0 == 0 /\ -r_183^post40+r_183^0 == 0 /\ rcd_107^0-rcd_107^post40 == 0 /\ tmp_31^0-tmp_31^post40 == 0 /\ -tail_15^post40+tail_15^0 == 0 /\ -y_290^post40+y_290^0 == 0 /\ __disjvr_3^0-__disjvr_3^post40 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -r_154^post40+r_154^0 == 0 /\ -__disjvr_22^post40+__disjvr_22^0 == 0 /\ -length_14^post40+length_14^0 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ -z_19^post40+z_19^0 == 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ len_270^0-len_270^post40 == 0 /\ -__disjvr_4^post40+__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ -__disjvr_11^post40+__disjvr_11^0 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ -rcd_248^post40+rcd_248^0 == 0 /\ -y_285^post40+y_285^0 == 0 /\ -r_238^post40+r_238^0 == 0 /\ temp0_18^0-temp0_18^post40 == 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ -r_267^post40+r_267^0 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ -__disjvr_2^post40+__disjvr_2^0 == 0 /\ __disjvr_10^0-__disjvr_10^post40 == 0 /\ a_143^0-a_143^post40 == 0 /\ y_347^0-y_347^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ y_295^0-y_295^post40 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post40 == 0 /\ rcd_99^0-rcd_99^post40 == 0 /\ -__disjvr_19^0+__disjvr_19^post40 == 0 /\ -head_13^post40+head_13^0 == 0 /\ -y_231^post40+y_231^0 == 0 /\ y_191^0-y_191^post40 == 0 /\ -a_271^post40+a_271^0 == 0 /\ -x_21^post40+x_21^0 == 0 /\ -w_20^post40+w_20^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ y_269^0-y_269^post40 == 0 /\ -len_200^post40+len_200^0 == 0 /\ -a_215^post40+a_215^0 == 0 /\ -__disjvr_18^post40+__disjvr_18^0 == 0 /\ __disjvr_5^0-__disjvr_5^post40 == 0), cost: 1
New rule:
l39 -> l40 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l40 -> l41 : __disjvr_0^0'=__disjvr_0^post41, i_27^0'=i_27^post41, y_162^0'=y_162^post41, __disjvr_21^0'=__disjvr_21^post41, z_19^0'=z_19^post41, __disjvr_9^0'=__disjvr_9^post41, result_11^0'=result_11^post41, __disjvr_14^0'=__disjvr_14^post41, r_154^0'=r_154^post41, __disjvr_24^0'=__disjvr_24^post41, y_261^0'=y_261^post41, rcd_230^0'=rcd_230^post41, head_13^0'=head_13^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, tmp_31^0'=tmp_31^post41, __disjvr_19^0'=__disjvr_19^post41, r_242^0'=r_242^post41, __disjvr_6^0'=__disjvr_6^post41, y_347^0'=y_347^post41, rcd_40^0'=rcd_40^post41, __disjvr_11^0'=__disjvr_11^post41, len_270^0'=len_270^post41, y_22^0'=y_22^post41, r_267^0'=r_267^post41, a_168^0'=a_168^post41, t_23^0'=t_23^post41, __disjvr_16^0'=__disjvr_16^post41, r_229^0'=r_229^post41, __disjvr_3^0'=__disjvr_3^post41, y_285^0'=y_285^post41, rcd_243^0'=rcd_243^post41, i_114^0'=i_114^post41, x_21^0'=x_21^post41, __disjvr_20^0'=__disjvr_20^post41, r_253^0'=r_253^post41, __disjvr_8^0'=__disjvr_8^post41, rcd_99^0'=rcd_99^post41, __disjvr_13^0'=__disjvr_13^post41, length_25^0'=length_25^post41, __disjvr_23^0'=__disjvr_23^post41, y_241^0'=y_241^post41, rcd_107^0'=rcd_107^post41, a_271^0'=a_271^post41, temp0_18^0'=temp0_18^post41, temp_32^0'=temp_32^post41, __disjvr_18^0'=__disjvr_18^post41, r_240^0'=r_240^post41, __disjvr_5^0'=__disjvr_5^post41, y_295^0'=y_295^post41, rcd_268^0'=rcd_268^post41, __disjvr_10^0'=__disjvr_10^post41, len_200^0'=len_200^post41, y_191^0'=y_191^post41, __disjvr_22^0'=__disjvr_22^post41, a_143^0'=a_143^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41, __disjvr_15^0'=__disjvr_15^post41, r_183^0'=r_183^post41, __disjvr_2^0'=__disjvr_2^post41, y_269^0'=y_269^post41, rcd_239^0'=rcd_239^post41, head_29^0'=head_29^post41, i_105^0'=i_105^post41, w_20^0'=w_20^post41, __disjvr_1^0'=__disjvr_1^post41, r_247^0'=r_247^post41, __disjvr_7^0'=__disjvr_7^post41, rcd_64^0'=rcd_64^post41, __disjvr_12^0'=__disjvr_12^post41, length_14^0'=length_14^post41, y_231^0'=y_231^post41, r_36^0'=r_36^post41, a_215^0'=a_215^post41, tail_15^0'=tail_15^post41, temp0_28^0'=temp0_28^post41, __disjvr_17^0'=__disjvr_17^post41, r_238^0'=r_238^post41, __disjvr_4^0'=__disjvr_4^post41, y_290^0'=y_290^post41, rcd_248^0'=rcd_248^post41, (0 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ rcd_243^0-rcd_243^post41 == 0 /\ -temp0_18^post41+temp0_18^0 == 0 /\ y_162^0-y_22^post41 <= 0 /\ -len_200^post41+len_200^0 == 0 /\ -rcd_64^post41+rcd_64^0 == 0 /\ length_25^0-length_25^post41 == 0 /\ -t_23^post41+y_22^post41 <= 0 /\ -t_23^post41+y_22^post41 == 0 /\ -len_200^0 <= 0 /\ w_20^0-tail_15^0 <= 0 /\ -y_269^post41+y_269^0 == 0 /\ -__disjvr_12^post41+__disjvr_12^0 == 0 /\ w_20^0-w_20^post41 == 0 /\ z_19^0-z_19^post41 == 0 /\ a_168^0-a_168^post41 == 0 /\ -a_215^post41+a_215^0 == 0 /\ -x_21^0+t_23^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ length_14^0-length_14^post41 == 0 /\ head_29^0-head_29^post41 == 0 /\ -r_247^post41+r_247^0 == 0 /\ -temp0_28^post41+temp0_28^0 == 0 /\ y_285^0-y_285^post41 == 0 /\ -y_162^0+y_22^post41 <= 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ y_241^0-y_241^post41 == 0 /\ -r_183^post41+r_183^0 == 0 /\ temp_32^0-temp_32^post41 == 0 /\ t_23^post41-y_22^post41 <= 0 /\ y_347^0-y_347^post41 == 0 /\ -w_20^0+tail_15^0 <= 0 /\ -i_105^post41+i_105^0 == 0 /\ __disjvr_19^0-__disjvr_19^post41 == 0 /\ a_271^0-a_271^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ i_27^0-i_27^post41 == 0 /\ -y_290^post41+y_290^0 == 0 /\ -r_36^post41+r_36^0 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ rcd_230^0-rcd_230^post41 == 0 /\ -a_143^post41+a_215^0 <= 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ z_19^0-head_13^0 <= 0 /\ r_229^0-r_229^post41 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ -rcd_248^post41+rcd_248^0 == 0 /\ __disjvr_20^0-__disjvr_20^post41 == 0 /\ -tail_15^post41+tail_15^0 == 0 /\ -rcd_107^post41+rcd_107^0 == 0 /\ r_253^0-r_253^post41 == 0 /\ len_200^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ -y_261^post41+y_261^0 == 0 /\ -r_238^post41+r_238^0 == 0 /\ -r_242^0+r_36^0 <= 0 /\ rcd_40^0-rcd_40^post41 == 0 /\ r_267^0-r_267^post41 == 0 /\ -__disjvr_18^post41+__disjvr_18^0 == 0 /\ rcd_40^0-rcd_243^0 <= 0 /\ len_270^0-len_270^post41 == 0 /\ -rcd_239^post41+rcd_239^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post41 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ -y_191^post41+y_191^0 == 0 /\ a_143^post41-a_215^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ tmp_31^0-tmp_31^post41 == 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ rcd_268^0-rcd_268^post41 == 0 /\ -y_231^post41+y_231^0 == 0 /\ rcd_99^0-rcd_99^post41 == 0 /\ i_114^0-i_114^post41 == 0 /\ __disjvr_24^0-__disjvr_24^post41 == 0 /\ -__disjvr_4^post41+__disjvr_4^0 == 0 /\ -z_19^0+head_13^0 <= 0 /\ y_162^0-y_162^post41 == 0 /\ -__disjvr_7^post41+__disjvr_7^0 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ r_242^0-r_36^0 <= 0 /\ y_295^0-y_295^post41 == 0 /\ -__disjvr_11^post41+__disjvr_11^0 == 0 /\ -__disjvr_5^post41+__disjvr_5^0 == 0 /\ -__disjvr_2^post41+__disjvr_2^0 == 0 /\ r_242^0-r_242^post41 == 0 /\ -rcd_40^0+rcd_243^0 <= 0 /\ -x_21^post41+x_21^0 == 0 /\ head_13^0-head_13^post41 == 0 /\ -__disjvr_10^post41+__disjvr_10^0 == 0 /\ r_154^0-r_154^post41 == 0 /\ -r_240^post41+r_240^0 == 0), cost: 1
New rule:
l40 -> l41 : y_22^0'=y_162^0, t_23^0'=y_162^0, a_143^0'=a_215^0, (w_20^0-tail_15^0 == 0 /\ y_162^0-x_21^0 == 0 /\ z_19^0-head_13^0 == 0 /\ len_200^0 == 0 /\ -r_242^0+r_36^0 == 0 /\ rcd_40^0-rcd_243^0 == 0), cost: 1

Applied preprocessing
Original rule:
l41 -> l42 : __disjvr_0^0'=__disjvr_0^post42, i_27^0'=i_27^post42, y_162^0'=y_162^post42, __disjvr_21^0'=__disjvr_21^post42, z_19^0'=z_19^post42, __disjvr_9^0'=__disjvr_9^post42, result_11^0'=result_11^post42, __disjvr_14^0'=__disjvr_14^post42, r_154^0'=r_154^post42, __disjvr_24^0'=__disjvr_24^post42, y_261^0'=y_261^post42, rcd_230^0'=rcd_230^post42, head_13^0'=head_13^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, tmp_31^0'=tmp_31^post42, __disjvr_19^0'=__disjvr_19^post42, r_242^0'=r_242^post42, __disjvr_6^0'=__disjvr_6^post42, y_347^0'=y_347^post42, rcd_40^0'=rcd_40^post42, __disjvr_11^0'=__disjvr_11^post42, len_270^0'=len_270^post42, y_22^0'=y_22^post42, r_267^0'=r_267^post42, a_168^0'=a_168^post42, t_23^0'=t_23^post42, __disjvr_16^0'=__disjvr_16^post42, r_229^0'=r_229^post42, __disjvr_3^0'=__disjvr_3^post42, y_285^0'=y_285^post42, rcd_243^0'=rcd_243^post42, i_114^0'=i_114^post42, x_21^0'=x_21^post42, __disjvr_20^0'=__disjvr_20^post42, r_253^0'=r_253^post42, __disjvr_8^0'=__disjvr_8^post42, rcd_99^0'=rcd_99^post42, __disjvr_13^0'=__disjvr_13^post42, length_25^0'=length_25^post42, __disjvr_23^0'=__disjvr_23^post42, y_241^0'=y_241^post42, rcd_107^0'=rcd_107^post42, a_271^0'=a_271^post42, temp0_18^0'=temp0_18^post42, temp_32^0'=temp_32^post42, __disjvr_18^0'=__disjvr_18^post42, r_240^0'=r_240^post42, __disjvr_5^0'=__disjvr_5^post42, y_295^0'=y_295^post42, rcd_268^0'=rcd_268^post42, __disjvr_10^0'=__disjvr_10^post42, len_200^0'=len_200^post42, y_191^0'=y_191^post42, __disjvr_22^0'=__disjvr_22^post42, a_143^0'=a_143^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42, __disjvr_15^0'=__disjvr_15^post42, r_183^0'=r_183^post42, __disjvr_2^0'=__disjvr_2^post42, y_269^0'=y_269^post42, rcd_239^0'=rcd_239^post42, head_29^0'=head_29^post42, i_105^0'=i_105^post42, w_20^0'=w_20^post42, __disjvr_1^0'=__disjvr_1^post42, r_247^0'=r_247^post42, __disjvr_7^0'=__disjvr_7^post42, rcd_64^0'=rcd_64^post42, __disjvr_12^0'=__disjvr_12^post42, length_14^0'=length_14^post42, y_231^0'=y_231^post42, r_36^0'=r_36^post42, a_215^0'=a_215^post42, tail_15^0'=tail_15^post42, temp0_28^0'=temp0_28^post42, __disjvr_17^0'=__disjvr_17^post42, r_238^0'=r_238^post42, __disjvr_4^0'=__disjvr_4^post42, y_290^0'=y_290^post42, rcd_248^0'=rcd_248^post42, (i_27^0-i_27^post42 == 0 /\ -__disjvr_8^post42+__disjvr_8^0 == 0 /\ -a_143^post42+a_143^0 == 0 /\ -t_23^post42+t_23^0 == 0 /\ len_200^0-len_200^post42 == 0 /\ -y_295^post42+y_295^0 == 0 /\ -temp0_28^post42+temp0_28^0 == 0 /\ -y_269^post42+y_269^0 == 0 /\ len_270^0-len_270^post42 == 0 /\ __disjvr_0^0-__disjvr_0^post42 == 0 /\ tmp_31^0-tmp_31^post42 == 0 /\ y_285^0-y_285^post42 == 0 /\ -x_21^post42+x_21^0 == 0 /\ r_253^0-r_253^post42 == 0 /\ -__disjvr_4^post42+__disjvr_4^0 == 0 /\ __disjvr_13^0-__disjvr_13^post42 == 0 /\ __disjvr_18^0-__disjvr_18^post42 == 0 /\ -r_247^post42+r_247^0 == 0 /\ -temp0_18^post42+temp0_18^0 == 0 /\ __disjvr_6^0-__disjvr_6^post42 == 0 /\ r_267^0-r_267^post42 == 0 /\ -a_215^post42+a_215^0 == 0 /\ __disjvr_19^0-__disjvr_19^post42 == 0 /\ a_271^0-a_271^post42 == 0 /\ -y_290^post42+y_290^0 == 0 /\ -temp_32^post42+temp_32^0 == 0 /\ -i_105^post42+i_105^0 == 0 /\ __disjvr_16^0-__disjvr_16^post42 == 0 /\ rcd_99^0-rcd_99^post42 == 0 /\ -y_347^post42+y_347^0 == 0 /\ __disjvr_21^0-__disjvr_21^post42 == 0 /\ -r_36^post42+r_36^0 == 0 /\ -rcd_107^post42+rcd_107^0 == 0 /\ y_261^0-y_261^post42 == 0 /\ -length_14^post42+length_14^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ __disjvr_12^0-__disjvr_12^post42 == 0 /\ tail_15^0-tail_15^post42 == 0 /\ -w_20^post42+w_20^0 == 0 /\ rcd_230^0-rcd_230^post42 == 0 /\ -r_238^post42+r_238^0 == 0 /\ -__disjvr_15^post42+__disjvr_15^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post42 == 0 /\ rcd_243^0-rcd_243^post42 == 0 /\ r_242^0-r_242^post42 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_11^0-__disjvr_11^post42 == 0 /\ a_168^0-a_168^post42 == 0 /\ y_22^0-y_22^post42 == 0 /\ -rcd_239^post42+rcd_239^0 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ -__disjvr_22^post42+__disjvr_22^0 == 0 /\ -__disjvr_9^post42+__disjvr_9^0 == 0 /\ -length_25^post42+length_25^0 == 0 /\ y_231^0-y_231^post42 == 0 /\ -head_29^post42+head_29^0 == 0 /\ rcd_40^0-rcd_40^post42 == 0 /\ z_19^0-z_19^post42 == 0 /\ __disjvr_20^post42-__disjvr_20^0 == 0 /\ rcd_268^0-rcd_268^post42 == 0 /\ -__disjvr_5^post42+__disjvr_5^0 == 0 /\ r_229^0-r_229^post42 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ -__disjvr_3^post42+__disjvr_3^0 == 0 /\ -__disjvr_23^post42+__disjvr_23^0 == 0 /\ -y_191^post42+y_191^0 == 0 /\ -__disjvr_1^post42+__disjvr_1^0 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ r_183^0-r_183^post42 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -rcd_64^post42+rcd_64^0 == 0 /\ -__disjvr_14^post42+__disjvr_14^0 == 0 /\ -__disjvr_2^post42+__disjvr_2^0 == 0 /\ -r_240^post42+r_240^0 == 0 /\ r_154^0-r_154^post42 == 0 /\ -__disjvr_20^post42+__disjvr_20^0 == 0 /\ -rcd_248^post42+rcd_248^0 == 0 /\ y_241^0-y_241^post42 == 0 /\ y_162^0-y_162^post42 == 0 /\ i_114^0-i_114^post42 == 0 /\ head_13^0-head_13^post42 == 0), cost: 1
New rule:
l41 -> l42 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l42 -> l43 : __disjvr_0^0'=__disjvr_0^post43, i_27^0'=i_27^post43, y_162^0'=y_162^post43, __disjvr_21^0'=__disjvr_21^post43, z_19^0'=z_19^post43, __disjvr_9^0'=__disjvr_9^post43, result_11^0'=result_11^post43, __disjvr_14^0'=__disjvr_14^post43, r_154^0'=r_154^post43, __disjvr_24^0'=__disjvr_24^post43, y_261^0'=y_261^post43, rcd_230^0'=rcd_230^post43, head_13^0'=head_13^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, tmp_31^0'=tmp_31^post43, __disjvr_19^0'=__disjvr_19^post43, r_242^0'=r_242^post43, __disjvr_6^0'=__disjvr_6^post43, y_347^0'=y_347^post43, rcd_40^0'=rcd_40^post43, __disjvr_11^0'=__disjvr_11^post43, len_270^0'=len_270^post43, y_22^0'=y_22^post43, r_267^0'=r_267^post43, a_168^0'=a_168^post43, t_23^0'=t_23^post43, __disjvr_16^0'=__disjvr_16^post43, r_229^0'=r_229^post43, __disjvr_3^0'=__disjvr_3^post43, y_285^0'=y_285^post43, rcd_243^0'=rcd_243^post43, i_114^0'=i_114^post43, x_21^0'=x_21^post43, __disjvr_20^0'=__disjvr_20^post43, r_253^0'=r_253^post43, __disjvr_8^0'=__disjvr_8^post43, rcd_99^0'=rcd_99^post43, __disjvr_13^0'=__disjvr_13^post43, length_25^0'=length_25^post43, __disjvr_23^0'=__disjvr_23^post43, y_241^0'=y_241^post43, rcd_107^0'=rcd_107^post43, a_271^0'=a_271^post43, temp0_18^0'=temp0_18^post43, temp_32^0'=temp_32^post43, __disjvr_18^0'=__disjvr_18^post43, r_240^0'=r_240^post43, __disjvr_5^0'=__disjvr_5^post43, y_295^0'=y_295^post43, rcd_268^0'=rcd_268^post43, __disjvr_10^0'=__disjvr_10^post43, len_200^0'=len_200^post43, y_191^0'=y_191^post43, __disjvr_22^0'=__disjvr_22^post43, a_143^0'=a_143^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43, __disjvr_15^0'=__disjvr_15^post43, r_183^0'=r_183^post43, __disjvr_2^0'=__disjvr_2^post43, y_269^0'=y_269^post43, rcd_239^0'=rcd_239^post43, head_29^0'=head_29^post43, i_105^0'=i_105^post43, w_20^0'=w_20^post43, __disjvr_1^0'=__disjvr_1^post43, r_247^0'=r_247^post43, __disjvr_7^0'=__disjvr_7^post43, rcd_64^0'=rcd_64^post43, __disjvr_12^0'=__disjvr_12^post43, length_14^0'=length_14^post43, y_231^0'=y_231^post43, r_36^0'=r_36^post43, a_215^0'=a_215^post43, tail_15^0'=tail_15^post43, temp0_28^0'=temp0_28^post43, __disjvr_17^0'=__disjvr_17^post43, r_238^0'=r_238^post43, __disjvr_4^0'=__disjvr_4^post43, y_290^0'=y_290^post43, rcd_248^0'=rcd_248^post43, (r_242^0-r_242^post43 == 0 /\ -r_229^post43+r_229^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ -y_231^post43+y_231^0 == 0 /\ -__disjvr_20^post43+__disjvr_20^0 == 0 /\ -rcd_107^post43+rcd_107^0 == 0 /\ __disjvr_7^0-__disjvr_7^post43 == 0 /\ __disjvr_14^0-__disjvr_14^post43 == 0 /\ -r_247^post43+r_247^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ rcd_40^0-rcd_40^post43 == 0 /\ i_27^0-i_27^post43 == 0 /\ -__disjvr_13^post43+__disjvr_13^0 == 0 /\ temp_32^0-temp_32^post43 == 0 /\ len_270^0-len_270^post43 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ -len_200^post43+len_200^0 == 0 /\ rcd_230^0-rcd_230^post43 == 0 /\ -__disjvr_4^post43+__disjvr_4^0 == 0 /\ __disjvr_10^0-__disjvr_10^post43 == 0 /\ -length_14^post43+length_14^0 == 0 /\ i_105^0-i_105^post43 == 0 /\ -a_215^post43+a_215^0 == 0 /\ -__disjvr_8^post43+__disjvr_8^0 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ __disjvr_6^0-__disjvr_6^post43 == 0 /\ -a_271^post43+a_271^0 == 0 /\ r_154^0-r_154^post43 == 0 /\ __disjvr_12^0-__disjvr_12^post43 == 0 /\ -temp0_28^post43+temp0_28^0 == 0 /\ __disjvr_16^0-__disjvr_16^post43 == 0 /\ length_25^0-length_25^post43 == 0 /\ -r_36^post43+r_36^0 == 0 /\ r_267^0-r_267^post43 == 0 /\ rcd_243^0-rcd_243^post43 == 0 /\ rcd_99^0-rcd_99^post43 == 0 /\ y_295^0-y_295^post43 == 0 /\ -y_241^post43+y_241^0 == 0 /\ head_13^0-head_13^post43 == 0 /\ y_162^0-y_162^post43 == 0 /\ i_114^0-i_114^post43 == 0 /\ r_240^0-r_240^post43 == 0 /\ -y_290^post43+y_290^0 == 0 /\ -__disjvr_21^0+__disjvr_21^post43 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ y_285^0-y_285^post43 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ -head_29^post43+head_29^0 == 0 /\ -w_20^post43+w_20^0 == 0 /\ __disjvr_23^0-__disjvr_23^post43 == 0 /\ -__disjvr_18^post43+__disjvr_18^0 == 0 /\ z_19^0-z_19^post43 == 0 /\ tmp_31^0-tmp_31^post43 == 0 /\ -r_183^post43+r_183^0 == 0 /\ -r_253^post43+r_253^0 == 0 /\ -rcd_64^post43+rcd_64^0 == 0 /\ a_143^0-a_143^post43 == 0 /\ rcd_239^0-rcd_239^post43 == 0 /\ -__disjvr_3^post43+__disjvr_3^0 == 0 /\ -__disjvr_22^post43+__disjvr_22^0 == 0 /\ -tail_15^post43+tail_15^0 == 0 /\ -rcd_268^post43+rcd_268^0 == 0 /\ y_269^0-y_269^post43 == 0 /\ -r_238^post43+r_238^0 == 0 /\ __disjvr_19^0-__disjvr_19^post43 == 0 /\ __disjvr_21^0-__disjvr_21^post43 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0 /\ -t_23^post43+t_23^0 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ x_21^0-x_21^post43 == 0 /\ -temp0_18^post43+temp0_18^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ y_261^0-y_261^post43 == 0 /\ -__disjvr_1^post43+__disjvr_1^0 == 0 /\ -__disjvr_15^post43+__disjvr_15^0 == 0 /\ y_191^0-y_191^post43 == 0 /\ -y_22^post43+y_22^0 == 0 /\ a_168^0-a_168^post43 == 0 /\ y_347^0-y_347^post43 == 0 /\ -rcd_248^post43+rcd_248^0 == 0), cost: 1
New rule:
l42 -> l43 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l43 -> l0 : __disjvr_0^0'=__disjvr_0^post44, i_27^0'=i_27^post44, y_162^0'=y_162^post44, __disjvr_21^0'=__disjvr_21^post44, z_19^0'=z_19^post44, __disjvr_9^0'=__disjvr_9^post44, result_11^0'=result_11^post44, __disjvr_14^0'=__disjvr_14^post44, r_154^0'=r_154^post44, __disjvr_24^0'=__disjvr_24^post44, y_261^0'=y_261^post44, rcd_230^0'=rcd_230^post44, head_13^0'=head_13^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, tmp_31^0'=tmp_31^post44, __disjvr_19^0'=__disjvr_19^post44, r_242^0'=r_242^post44, __disjvr_6^0'=__disjvr_6^post44, y_347^0'=y_347^post44, rcd_40^0'=rcd_40^post44, __disjvr_11^0'=__disjvr_11^post44, len_270^0'=len_270^post44, y_22^0'=y_22^post44, r_267^0'=r_267^post44, a_168^0'=a_168^post44, t_23^0'=t_23^post44, __disjvr_16^0'=__disjvr_16^post44, r_229^0'=r_229^post44, __disjvr_3^0'=__disjvr_3^post44, y_285^0'=y_285^post44, rcd_243^0'=rcd_243^post44, i_114^0'=i_114^post44, x_21^0'=x_21^post44, __disjvr_20^0'=__disjvr_20^post44, r_253^0'=r_253^post44, __disjvr_8^0'=__disjvr_8^post44, rcd_99^0'=rcd_99^post44, __disjvr_13^0'=__disjvr_13^post44, length_25^0'=length_25^post44, __disjvr_23^0'=__disjvr_23^post44, y_241^0'=y_241^post44, rcd_107^0'=rcd_107^post44, a_271^0'=a_271^post44, temp0_18^0'=temp0_18^post44, temp_32^0'=temp_32^post44, __disjvr_18^0'=__disjvr_18^post44, r_240^0'=r_240^post44, __disjvr_5^0'=__disjvr_5^post44, y_295^0'=y_295^post44, rcd_268^0'=rcd_268^post44, __disjvr_10^0'=__disjvr_10^post44, len_200^0'=len_200^post44, y_191^0'=y_191^post44, __disjvr_22^0'=__disjvr_22^post44, a_143^0'=a_143^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, __disjvr_15^0'=__disjvr_15^post44, r_183^0'=r_183^post44, __disjvr_2^0'=__disjvr_2^post44, y_269^0'=y_269^post44, rcd_239^0'=rcd_239^post44, head_29^0'=head_29^post44, i_105^0'=i_105^post44, w_20^0'=w_20^post44, __disjvr_1^0'=__disjvr_1^post44, r_247^0'=r_247^post44, __disjvr_7^0'=__disjvr_7^post44, rcd_64^0'=rcd_64^post44, __disjvr_12^0'=__disjvr_12^post44, length_14^0'=length_14^post44, y_231^0'=y_231^post44, r_36^0'=r_36^post44, a_215^0'=a_215^post44, tail_15^0'=tail_15^post44, temp0_28^0'=temp0_28^post44, __disjvr_17^0'=__disjvr_17^post44, r_238^0'=r_238^post44, __disjvr_4^0'=__disjvr_4^post44, y_290^0'=y_290^post44, rcd_248^0'=rcd_248^post44, (0 == 0 /\ z_19^0-z_19^post44 == 0 /\ -__disjvr_4^post44+__disjvr_4^0 == 0 /\ y_191^0-y_191^post44 == 0 /\ -length_14^post44+length_14^0 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ -rcd_99^post44+rcd_99^0 == 0 /\ rcd_268^0-rcd_268^post44 == 0 /\ -y_285^post44+y_285^0 == 0 /\ y_22^0-y_22^post44 == 0 /\ -__disjvr_23^post44+__disjvr_23^0 == 0 /\ -__disjvr_2^post44+__disjvr_2^0 == 0 /\ rcd_230^0-rcd_230^post44 == 0 /\ -y_231^post44+y_231^0 == 0 /\ t_23^0-t_23^post44 == 0 /\ -r_238^post44+r_238^0 == 0 /\ -1-a_143^0+i_114^post44 <= 0 /\ __disjvr_24^0-__disjvr_24^post44 == 0 /\ a_143^0-a_143^post44 == 0 /\ a_271^0-a_271^post44 == 0 /\ -r_267^post44+r_267^0 == 0 /\ -__disjvr_15^post44+__disjvr_15^0 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ head_29^0-head_29^post44 == 0 /\ r_154^0-r_154^post44 == 0 /\ -x_21^post44+x_21^0 == 0 /\ -w_20^post44+w_20^0 == 0 /\ __disjvr_8^0-__disjvr_8^post44 == 0 /\ -a_215^post44+a_215^0 == 0 /\ i_105^0-i_105^post44 == 0 /\ -len_200^post44+len_200^0 == 0 /\ y_241^0-y_241^post44 == 0 /\ -head_SLAM_f_26^post44+head_SLAM_f_26^0 == 0 /\ -__disjvr_6^post44+__disjvr_6^0 == 0 /\ a_168^0-a_168^post44 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ -__disjvr_7^post44+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post44 == 0 /\ -length_25^post44+length_25^0 == 0 /\ r_253^0-r_253^post44 == 0 /\ -r_242^post44+r_242^0 == 0 /\ -r_36^post44+r_36^0 == 0 /\ 2-length_14^0 <= 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ -i_114^0+length_14^0 <= 0 /\ result_11^0-result_11^post44 == 0 /\ y_162^0-y_162^post44 == 0 /\ -__disjvr_18^post44+__disjvr_18^0 == 0 /\ y_295^0-y_295^post44 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ -__disjvr_5^post44+__disjvr_5^0 == 0 /\ -__disjvr_10^post44+__disjvr_10^0 == 0 /\ -__disjvr_16^post44+__disjvr_16^0 == 0 /\ y_269^0-y_269^post44 == 0 /\ __disjvr_13^0-__disjvr_13^post44 == 0 /\ head_13^0-head_13^post44 == 0 /\ __disjvr_9^0-__disjvr_9^post44 == 0 /\ i_27^0-i_27^post44 == 0 /\ -temp0_28^post44+temp0_28^0 == 0 /\ tmp_31^0-tmp_31^post44 == 0 /\ -rcd_64^post44+rcd_64^0 == 0 /\ temp_32^0-temp_32^post44 == 0 /\ 1+a_143^0-i_114^post44 <= 0 /\ -r_240^post44+r_240^0 == 0 /\ rcd_107^0-rcd_107^post44 == 0 /\ r_229^0-r_229^post44 == 0 /\ -r_247^post44+r_247^0 == 0 /\ -rcd_248^post44+rcd_248^0 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ -rcd_243^post44+rcd_243^0 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ len_270^0-len_270^post44 == 0 /\ __disjvr_11^0-__disjvr_11^post44 == 0 /\ -r_183^post44+r_183^0 == 0 /\ -y_290^post44+y_290^0 == 0 /\ -tail_15^post44+tail_15^0 == 0 /\ temp0_18^0-temp0_18^post44 == 0 /\ 1-length_14^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -__disjvr_22^post44+__disjvr_22^0 == 0 /\ rcd_40^0-rcd_40^post44 == 0 /\ y_347^0-y_347^post44 == 0 /\ y_261^0-y_261^post44 == 0 /\ -rcd_239^post44+rcd_239^0 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0), cost: 1
New rule:
l43 -> l0 : i_114^0'=1+a_143^0, (-2+length_14^0 >= 0 /\ -i_114^0+length_14^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l37 -> l49 : __disjvr_0^0'=__disjvr_0^post52, i_27^0'=i_27^post52, y_162^0'=y_162^post52, __disjvr_21^0'=__disjvr_21^post52, z_19^0'=z_19^post52, __disjvr_9^0'=__disjvr_9^post52, result_11^0'=result_11^post52, __disjvr_14^0'=__disjvr_14^post52, r_154^0'=r_154^post52, __disjvr_24^0'=__disjvr_24^post52, y_261^0'=y_261^post52, rcd_230^0'=rcd_230^post52, head_13^0'=head_13^post52, head_SLAM_f_26^0'=head_SLAM_f_26^post52, tmp_31^0'=tmp_31^post52, __disjvr_19^0'=__disjvr_19^post52, r_242^0'=r_242^post52, __disjvr_6^0'=__disjvr_6^post52, y_347^0'=y_347^post52, rcd_40^0'=rcd_40^post52, __disjvr_11^0'=__disjvr_11^post52, len_270^0'=len_270^post52, y_22^0'=y_22^post52, r_267^0'=r_267^post52, a_168^0'=a_168^post52, t_23^0'=t_23^post52, __disjvr_16^0'=__disjvr_16^post52, r_229^0'=r_229^post52, __disjvr_3^0'=__disjvr_3^post52, y_285^0'=y_285^post52, rcd_243^0'=rcd_243^post52, i_114^0'=i_114^post52, x_21^0'=x_21^post52, __disjvr_20^0'=__disjvr_20^post52, r_253^0'=r_253^post52, __disjvr_8^0'=__disjvr_8^post52, rcd_99^0'=rcd_99^post52, __disjvr_13^0'=__disjvr_13^post52, length_25^0'=length_25^post52, __disjvr_23^0'=__disjvr_23^post52, y_241^0'=y_241^post52, rcd_107^0'=rcd_107^post52, a_271^0'=a_271^post52, temp0_18^0'=temp0_18^post52, temp_32^0'=temp_32^post52, __disjvr_18^0'=__disjvr_18^post52, r_240^0'=r_240^post52, __disjvr_5^0'=__disjvr_5^post52, y_295^0'=y_295^post52, rcd_268^0'=rcd_268^post52, __disjvr_10^0'=__disjvr_10^post52, len_200^0'=len_200^post52, y_191^0'=y_191^post52, __disjvr_22^0'=__disjvr_22^post52, a_143^0'=a_143^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post52, __disjvr_15^0'=__disjvr_15^post52, r_183^0'=r_183^post52, __disjvr_2^0'=__disjvr_2^post52, y_269^0'=y_269^post52, rcd_239^0'=rcd_239^post52, head_29^0'=head_29^post52, i_105^0'=i_105^post52, w_20^0'=w_20^post52, __disjvr_1^0'=__disjvr_1^post52, r_247^0'=r_247^post52, __disjvr_7^0'=__disjvr_7^post52, rcd_64^0'=rcd_64^post52, __disjvr_12^0'=__disjvr_12^post52, length_14^0'=length_14^post52, y_231^0'=y_231^post52, r_36^0'=r_36^post52, a_215^0'=a_215^post52, tail_15^0'=tail_15^post52, temp0_28^0'=temp0_28^post52, __disjvr_17^0'=__disjvr_17^post52, r_238^0'=r_238^post52, __disjvr_4^0'=__disjvr_4^post52, y_290^0'=y_290^post52, rcd_248^0'=rcd_248^post52, (0 == 0 /\ -y_295^post52+y_295^0 == 0 /\ r_242^0-r_242^post52 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post52 == 0 /\ -r_229^post52+r_229^0 == 0 /\ -1+i_27^post52-i_105^post52 <= 0 /\ z_19^0-z_19^post52 == 0 /\ __disjvr_1^0-__disjvr_1^post52 == 0 /\ -__disjvr_4^post52+__disjvr_4^0 == 0 /\ 1+i_27^0-length_25^0 <= 0 /\ -__disjvr_20^post52+__disjvr_20^0 == 0 /\ __disjvr_14^0-__disjvr_14^post52 == 0 /\ __disjvr_7^0-__disjvr_7^post52 == 0 /\ __disjvr_11^0-__disjvr_11^post52 == 0 /\ r_240^0-r_240^post52 == 0 /\ -length_14^post52+length_14^0 == 0 /\ -y_231^post52+y_231^0 == 0 /\ y_22^0-y_22^post52 == 0 /\ 1+i_105^post52-length_25^0 <= 0 /\ rcd_107^post52-rcd_40^0 <= 0 /\ -y_191^post52+y_191^0 == 0 /\ rcd_230^0-rcd_230^post52 == 0 /\ -a_143^post52+a_143^0 == 0 /\ -r_238^post52+r_238^0 == 0 /\ t_23^0-t_23^post52 == 0 /\ -1-i_27^0+i_27^post52 == 0 /\ -__disjvr_13^post52+__disjvr_13^0 == 0 /\ __disjvr_24^0-__disjvr_24^post52 == 0 /\ __disjvr_3^0-__disjvr_3^post52 == 0 /\ __disjvr_15^0-__disjvr_15^post52 == 0 /\ -a_271^post52+a_271^0 == 0 /\ -temp0_28^post52+temp0_28^0 == 0 /\ -w_20^post52+w_20^0 == 0 /\ r_154^0-r_154^post52 == 0 /\ -len_270^post52+len_270^0 == 0 /\ -i_27^0 <= 0 /\ -a_215^post52+a_215^0 == 0 /\ __disjvr_6^0-__disjvr_6^post52 == 0 /\ -rcd_107^post52+rcd_40^0 <= 0 /\ head_29^post52-tmp_31^post52 == 0 /\ a_168^0-a_168^post52 == 0 /\ y_162^0-y_162^post52 == 0 /\ -__disjvr_17^post52+__disjvr_17^0 == 0 /\ __disjvr_2^0-__disjvr_2^post52 == 0 /\ -temp_32^0+tmp_31^post52 == 0 /\ -r_36^post52+r_36^0 == 0 /\ 1-i_27^post52+i_105^post52 <= 0 /\ -__disjvr_18^post52+__disjvr_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post52 == 0 /\ i_114^0-i_114^post52 == 0 /\ result_11^0-result_11^post52 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ head_13^0-head_13^post52 == 0 /\ y_285^0-y_285^post52 == 0 /\ -y_269^post52+y_269^0 == 0 /\ -__disjvr_5^post52+__disjvr_5^0 == 0 /\ -__disjvr_10^post52+__disjvr_10^0 == 0 /\ len_200^0-len_200^post52 == 0 /\ rcd_107^post52-rcd_40^post52 <= 0 /\ __disjvr_9^0-__disjvr_9^post52 == 0 /\ __disjvr_23^0-__disjvr_23^post52 == 0 /\ -y_241^post52+y_241^0 == 0 /\ -rcd_64^post52+rcd_64^0 == 0 /\ -__disjvr_8^post52+__disjvr_8^0 == 0 /\ -rcd_268^post52+rcd_268^0 == 0 /\ x_21^0-x_21^post52 == 0 /\ -temp0_18^post52+temp0_18^0 == 0 /\ -rcd_248^post52+rcd_248^0 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0 /\ -r_253^post52+r_253^0 == 0 /\ __disjvr_19^0-__disjvr_19^post52 == 0 /\ -rcd_239^post52+rcd_239^0 == 0 /\ y_261^0-y_261^post52 == 0 /\ -r_183^post52+r_183^0 == 0 /\ -tail_15^post52+tail_15^0 == 0 /\ __disjvr_16^0-__disjvr_16^post52 == 0 /\ -y_290^post52+y_290^0 == 0 /\ -rcd_107^post52+rcd_40^post52 <= 0 /\ -r_247^post52+r_247^0 == 0 /\ -__disjvr_22^post52+__disjvr_22^0 == 0 /\ length_25^0-length_25^post52 == 0 /\ rcd_243^0-rcd_243^post52 == 0 /\ r_267^0-r_267^post52 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ y_347^0-y_347^post52 == 0), cost: 1
New rule:
l37 -> l49 : i_27^0'=1+i_27^0, tmp_31^0'=temp_32^0, rcd_99^0'=rcd_99^post52, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, head_29^0'=temp_32^0, i_105^0'=i_27^0, (i_27^0 >= 0 /\ 1+i_27^0-length_25^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l49 -> l37 : __disjvr_0^0'=__disjvr_0^post53, i_27^0'=i_27^post53, y_162^0'=y_162^post53, __disjvr_21^0'=__disjvr_21^post53, z_19^0'=z_19^post53, __disjvr_9^0'=__disjvr_9^post53, result_11^0'=result_11^post53, __disjvr_14^0'=__disjvr_14^post53, r_154^0'=r_154^post53, __disjvr_24^0'=__disjvr_24^post53, y_261^0'=y_261^post53, rcd_230^0'=rcd_230^post53, head_13^0'=head_13^post53, head_SLAM_f_26^0'=head_SLAM_f_26^post53, tmp_31^0'=tmp_31^post53, __disjvr_19^0'=__disjvr_19^post53, r_242^0'=r_242^post53, __disjvr_6^0'=__disjvr_6^post53, y_347^0'=y_347^post53, rcd_40^0'=rcd_40^post53, __disjvr_11^0'=__disjvr_11^post53, len_270^0'=len_270^post53, y_22^0'=y_22^post53, r_267^0'=r_267^post53, a_168^0'=a_168^post53, t_23^0'=t_23^post53, __disjvr_16^0'=__disjvr_16^post53, r_229^0'=r_229^post53, __disjvr_3^0'=__disjvr_3^post53, y_285^0'=y_285^post53, rcd_243^0'=rcd_243^post53, i_114^0'=i_114^post53, x_21^0'=x_21^post53, __disjvr_20^0'=__disjvr_20^post53, r_253^0'=r_253^post53, __disjvr_8^0'=__disjvr_8^post53, rcd_99^0'=rcd_99^post53, __disjvr_13^0'=__disjvr_13^post53, length_25^0'=length_25^post53, __disjvr_23^0'=__disjvr_23^post53, y_241^0'=y_241^post53, rcd_107^0'=rcd_107^post53, a_271^0'=a_271^post53, temp0_18^0'=temp0_18^post53, temp_32^0'=temp_32^post53, __disjvr_18^0'=__disjvr_18^post53, r_240^0'=r_240^post53, __disjvr_5^0'=__disjvr_5^post53, y_295^0'=y_295^post53, rcd_268^0'=rcd_268^post53, __disjvr_10^0'=__disjvr_10^post53, len_200^0'=len_200^post53, y_191^0'=y_191^post53, __disjvr_22^0'=__disjvr_22^post53, a_143^0'=a_143^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post53, __disjvr_15^0'=__disjvr_15^post53, r_183^0'=r_183^post53, __disjvr_2^0'=__disjvr_2^post53, y_269^0'=y_269^post53, rcd_239^0'=rcd_239^post53, head_29^0'=head_29^post53, i_105^0'=i_105^post53, w_20^0'=w_20^post53, __disjvr_1^0'=__disjvr_1^post53, r_247^0'=r_247^post53, __disjvr_7^0'=__disjvr_7^post53, rcd_64^0'=rcd_64^post53, __disjvr_12^0'=__disjvr_12^post53, length_14^0'=length_14^post53, y_231^0'=y_231^post53, r_36^0'=r_36^post53, a_215^0'=a_215^post53, tail_15^0'=tail_15^post53, temp0_28^0'=temp0_28^post53, __disjvr_17^0'=__disjvr_17^post53, r_238^0'=r_238^post53, __disjvr_4^0'=__disjvr_4^post53, y_290^0'=y_290^post53, rcd_248^0'=rcd_248^post53, (y_162^0-y_162^post53 == 0 /\ -r_253^post53+r_253^0 == 0 /\ tmp_31^0-tmp_31^post53 == 0 /\ -rcd_248^post53+rcd_248^0 == 0 /\ y_347^0-y_347^post53 == 0 /\ -__disjvr_22^post53+__disjvr_22^0 == 0 /\ -tail_15^post53+tail_15^0 == 0 /\ -head_29^post53+head_29^0 == 0 /\ z_19^0-z_19^post53 == 0 /\ -length_14^post53+length_14^0 == 0 /\ -temp_32^post53+temp_32^0 == 0 /\ -y_231^post53+y_231^0 == 0 /\ -__disjvr_15^post53+__disjvr_15^0 == 0 /\ head_13^0-head_13^post53 == 0 /\ rcd_107^0-rcd_107^post53 == 0 /\ -rcd_99^post53+rcd_99^0 == 0 /\ -i_105^post53+i_105^0 == 0 /\ __disjvr_5^0-__disjvr_5^post53 == 0 /\ result_11^0-result_11^post53 == 0 /\ -y_285^post53+y_285^0 == 0 /\ t_23^0-t_23^post53 == 0 /\ r_240^0-r_240^post53 == 0 /\ -r_238^post53+r_238^0 == 0 /\ __disjvr_23^0-__disjvr_23^post53 == 0 /\ -r_267^post53+r_267^0 == 0 /\ y_22^0-y_22^post53 == 0 /\ -__disjvr_18^post53+__disjvr_18^0 == 0 /\ x_21^0-x_21^post53 == 0 /\ r_229^0-r_229^post53 == 0 /\ __disjvr_3^0-__disjvr_3^post53 == 0 /\ -__disjvr_4^post53+__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ r_247^0-r_247^post53 == 0 /\ __disjvr_8^0-__disjvr_8^post53 == 0 /\ -__disjvr_7^post53+__disjvr_7^0 == 0 /\ -__disjvr_2^post53+__disjvr_2^0 == 0 /\ rcd_40^0-rcd_40^post53 == 0 /\ temp0_18^0-temp0_18^post53 == 0 /\ -a_271^post53+a_271^0 == 0 /\ __disjvr_10^0-__disjvr_10^post53 == 0 /\ -len_270^post53+len_270^0 == 0 /\ a_168^0-a_168^post53 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ -w_20^post53+w_20^0 == 0 /\ -y_241^post53+y_241^0 == 0 /\ y_261^0-y_261^post53 == 0 /\ rcd_64^0-rcd_64^post53 == 0 /\ -a_143^post53+a_143^0 == 0 /\ -__disjvr_13^post53+__disjvr_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post53 == 0 /\ r_183^0-r_183^post53 == 0 /\ __disjvr_14^0-__disjvr_14^post53 == 0 /\ -__disjvr_12^post53+__disjvr_12^0 == 0 /\ __disjvr_24^0-__disjvr_24^post53 == 0 /\ -y_269^post53+y_269^0 == 0 /\ -len_200^post53+len_200^0 == 0 /\ -rcd_268^post53+rcd_268^0 == 0 /\ __disjvr_19^0-__disjvr_19^post53 == 0 /\ i_27^0-i_27^post53 == 0 /\ y_191^0-y_191^post53 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post53 == 0 /\ -temp0_28^post53+temp0_28^0 == 0 /\ -__disjvr_1^post53+__disjvr_1^0 == 0 /\ __disjvr_9^0-__disjvr_9^post53 == 0 /\ -i_114^post53+i_114^0 == 0 /\ r_242^0-r_242^post53 == 0 /\ a_215^0-a_215^post53 == 0 /\ r_154^0-r_154^post53 == 0 /\ -y_295^post53+y_295^0 == 0 /\ -r_36^post53+r_36^0 == 0 /\ length_25^0-length_25^post53 == 0 /\ -rcd_243^post53+rcd_243^0 == 0 /\ rcd_230^0-rcd_230^post53 == 0 /\ -y_290^post53+y_290^0 == 0 /\ __disjvr_20^0-__disjvr_20^post53 == 0 /\ rcd_239^0-rcd_239^post53 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post53 == 0 /\ __disjvr_6^0-__disjvr_6^post53 == 0 /\ __disjvr_0^0-__disjvr_0^post53 == 0 /\ __disjvr_11^0-__disjvr_11^post53 == 0), cost: 1
New rule:
l49 -> l37 : TRUE, cost: 1

Applied preprocessing
Original rule:
l37 -> l38 : __disjvr_0^0'=__disjvr_0^post54, i_27^0'=i_27^post54, y_162^0'=y_162^post54, __disjvr_21^0'=__disjvr_21^post54, z_19^0'=z_19^post54, __disjvr_9^0'=__disjvr_9^post54, result_11^0'=result_11^post54, __disjvr_14^0'=__disjvr_14^post54, r_154^0'=r_154^post54, __disjvr_24^0'=__disjvr_24^post54, y_261^0'=y_261^post54, rcd_230^0'=rcd_230^post54, head_13^0'=head_13^post54, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, __disjvr_19^0'=__disjvr_19^post54, r_242^0'=r_242^post54, __disjvr_6^0'=__disjvr_6^post54, y_347^0'=y_347^post54, rcd_40^0'=rcd_40^post54, __disjvr_11^0'=__disjvr_11^post54, len_270^0'=len_270^post54, y_22^0'=y_22^post54, r_267^0'=r_267^post54, a_168^0'=a_168^post54, t_23^0'=t_23^post54, __disjvr_16^0'=__disjvr_16^post54, r_229^0'=r_229^post54, __disjvr_3^0'=__disjvr_3^post54, y_285^0'=y_285^post54, rcd_243^0'=rcd_243^post54, i_114^0'=i_114^post54, x_21^0'=x_21^post54, __disjvr_20^0'=__disjvr_20^post54, r_253^0'=r_253^post54, __disjvr_8^0'=__disjvr_8^post54, rcd_99^0'=rcd_99^post54, __disjvr_13^0'=__disjvr_13^post54, length_25^0'=length_25^post54, __disjvr_23^0'=__disjvr_23^post54, y_241^0'=y_241^post54, rcd_107^0'=rcd_107^post54, a_271^0'=a_271^post54, temp0_18^0'=temp0_18^post54, temp_32^0'=temp_32^post54, __disjvr_18^0'=__disjvr_18^post54, r_240^0'=r_240^post54, __disjvr_5^0'=__disjvr_5^post54, y_295^0'=y_295^post54, rcd_268^0'=rcd_268^post54, __disjvr_10^0'=__disjvr_10^post54, len_200^0'=len_200^post54, y_191^0'=y_191^post54, __disjvr_22^0'=__disjvr_22^post54, a_143^0'=a_143^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, __disjvr_15^0'=__disjvr_15^post54, r_183^0'=r_183^post54, __disjvr_2^0'=__disjvr_2^post54, y_269^0'=y_269^post54, rcd_239^0'=rcd_239^post54, head_29^0'=head_29^post54, i_105^0'=i_105^post54, w_20^0'=w_20^post54, __disjvr_1^0'=__disjvr_1^post54, r_247^0'=r_247^post54, __disjvr_7^0'=__disjvr_7^post54, rcd_64^0'=rcd_64^post54, __disjvr_12^0'=__disjvr_12^post54, length_14^0'=length_14^post54, y_231^0'=y_231^post54, r_36^0'=r_36^post54, a_215^0'=a_215^post54, tail_15^0'=tail_15^post54, temp0_28^0'=temp0_28^post54, __disjvr_17^0'=__disjvr_17^post54, r_238^0'=r_238^post54, __disjvr_4^0'=__disjvr_4^post54, y_290^0'=y_290^post54, rcd_248^0'=rcd_248^post54, (0 == 0 /\ y_191^0-y_191^post54 == 0 /\ -y_231^post54+y_231^0 == 0 /\ __disjvr_10^0-__disjvr_10^post54 == 0 /\ rcd_40^0-rcd_40^post54 == 0 /\ length_14^post54-i_114^0 <= 0 /\ -__disjvr_16^post54+__disjvr_16^0 == 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ __disjvr_7^0-__disjvr_7^post54 == 0 /\ -__disjvr_6^post54+__disjvr_6^0 == 0 /\ -r_267^post54+r_267^0 == 0 /\ -__disjvr_13^post54+__disjvr_13^0 == 0 /\ -a_143^post54+a_143^0 == 0 /\ y_22^post54-tail_15^0 <= 0 /\ len_270^0-len_270^post54 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ r_240^0-r_240^post54 == 0 /\ t_23^0-t_23^post54 == 0 /\ -rcd_248^post54+rcd_248^0 == 0 /\ -__disjvr_20^post54+__disjvr_20^0 == 0 /\ -rcd_107^post54+rcd_107^0 == 0 /\ -temp0_18^post54+temp0_18^0 == 0 /\ rcd_230^0-rcd_230^post54 == 0 /\ -rcd_239^post54+rcd_239^0 == 0 /\ -i_27^0+length_25^0 <= 0 /\ a_271^0-a_271^post54 == 0 /\ __disjvr_19^0-__disjvr_19^post54 == 0 /\ -y_241^post54+y_241^0 == 0 /\ i_105^0-i_105^post54 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ -i_27^0 <= 0 /\ result_11^11-temp0_28^110 == 0 /\ -len_200^post54+len_200^0 == 0 /\ -__disjvr_18^post54+__disjvr_18^0 == 0 /\ -y_22^post54+tail_15^0 <= 0 /\ -__disjvr_4^post54+__disjvr_4^0 == 0 /\ -y_347^post54+y_347^0 == 0 /\ -a_215^post54+a_215^0 == 0 /\ a_168^0-a_168^post54 == 0 /\ y_162^0-y_162^post54 == 0 /\ __disjvr_11^0-__disjvr_11^post54 == 0 /\ -r_183^post54+r_183^0 == 0 /\ -__disjvr_2^post54+__disjvr_2^0 == 0 /\ -y_290^post54+y_290^0 == 0 /\ y_285^0-y_285^post54 == 0 /\ -y_261^post54+y_261^0 == 0 /\ i_114^0-i_114^post54 == 0 /\ head_13^0-head_13^post54 == 0 /\ -rcd_64^post54+rcd_64^0 == 0 /\ r_242^0-r_242^post54 == 0 /\ __disjvr_8^0-__disjvr_8^post54 == 0 /\ head_13^0-z_19^post54 <= 0 /\ -__disjvr_12^post54+__disjvr_12^0 == 0 /\ -r_36^post54+r_36^0 == 0 /\ 2-length_14^post54 <= 0 /\ w_20^post54-tail_15^0 <= 0 /\ w_20^post54-tail_15^0 == 0 /\ rcd_268^0-rcd_268^post54 == 0 /\ y_22^post54-w_20^post54 <= 0 /\ y_22^post54-w_20^post54 == 0 /\ __disjvr_9^0-__disjvr_9^post54 == 0 /\ __disjvr_23^0-__disjvr_23^post54 == 0 /\ temp0_28^110-head_29^0 == 0 /\ -__disjvr_5^post54+__disjvr_5^0 == 0 /\ x_21^0-x_21^post54 == 0 /\ __disjvr_0^0-__disjvr_0^post54 == 0 /\ -rcd_99^post54+rcd_99^0 == 0 /\ -__disjvr_14^post54+__disjvr_14^0 == 0 /\ y_269^0-y_269^post54 == 0 /\ -r_238^post54+r_238^0 == 0 /\ -__disjvr_22^post54+__disjvr_22^0 == 0 /\ -__disjvr_15^post54+__disjvr_15^0 == 0 /\ __disjvr_21^0-__disjvr_21^post54 == 0 /\ 1-length_14^post54 <= 0 /\ -r_253^post54+r_253^0 == 0 /\ r_154^0-r_154^post54 == 0 /\ -y_295^post54+y_295^0 == 0 /\ -head_13^0+z_19^post54 <= 0 /\ -head_13^0+z_19^post54 == 0 /\ -r_229^post54+r_229^0 == 0 /\ -r_247^post54+r_247^0 == 0 /\ -w_20^post54+tail_15^0 <= 0 /\ -tail_15^post54+tail_15^0 == 0 /\ -__disjvr_1^post54+__disjvr_1^0 == 0 /\ -rcd_243^post54+rcd_243^0 == 0 /\ -y_22^post54+w_20^post54 <= 0), cost: 1
New rule:
l37 -> l38 : i_27^0'=i_27^post54, z_19^0'=head_13^0, result_11^0'=result_11^post54, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, y_22^0'=tail_15^0, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, length_14^0'=length_14^post54, temp0_28^0'=temp0_28^post54, (length_14^post54-i_114^0 <= 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l34 -> l35 : __disjvr_0^0'=__disjvr_0^post56, i_27^0'=i_27^post56, y_162^0'=y_162^post56, __disjvr_21^0'=__disjvr_21^post56, z_19^0'=z_19^post56, __disjvr_9^0'=__disjvr_9^post56, result_11^0'=result_11^post56, __disjvr_14^0'=__disjvr_14^post56, r_154^0'=r_154^post56, __disjvr_24^0'=__disjvr_24^post56, y_261^0'=y_261^post56, rcd_230^0'=rcd_230^post56, head_13^0'=head_13^post56, head_SLAM_f_26^0'=head_SLAM_f_26^post56, tmp_31^0'=tmp_31^post56, __disjvr_19^0'=__disjvr_19^post56, r_242^0'=r_242^post56, __disjvr_6^0'=__disjvr_6^post56, y_347^0'=y_347^post56, rcd_40^0'=rcd_40^post56, __disjvr_11^0'=__disjvr_11^post56, len_270^0'=len_270^post56, y_22^0'=y_22^post56, r_267^0'=r_267^post56, a_168^0'=a_168^post56, t_23^0'=t_23^post56, __disjvr_16^0'=__disjvr_16^post56, r_229^0'=r_229^post56, __disjvr_3^0'=__disjvr_3^post56, y_285^0'=y_285^post56, rcd_243^0'=rcd_243^post56, i_114^0'=i_114^post56, x_21^0'=x_21^post56, __disjvr_20^0'=__disjvr_20^post56, r_253^0'=r_253^post56, __disjvr_8^0'=__disjvr_8^post56, rcd_99^0'=rcd_99^post56, __disjvr_13^0'=__disjvr_13^post56, length_25^0'=length_25^post56, __disjvr_23^0'=__disjvr_23^post56, y_241^0'=y_241^post56, rcd_107^0'=rcd_107^post56, a_271^0'=a_271^post56, temp0_18^0'=temp0_18^post56, temp_32^0'=temp_32^post56, __disjvr_18^0'=__disjvr_18^post56, r_240^0'=r_240^post56, __disjvr_5^0'=__disjvr_5^post56, y_295^0'=y_295^post56, rcd_268^0'=rcd_268^post56, __disjvr_10^0'=__disjvr_10^post56, len_200^0'=len_200^post56, y_191^0'=y_191^post56, __disjvr_22^0'=__disjvr_22^post56, a_143^0'=a_143^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56, __disjvr_15^0'=__disjvr_15^post56, r_183^0'=r_183^post56, __disjvr_2^0'=__disjvr_2^post56, y_269^0'=y_269^post56, rcd_239^0'=rcd_239^post56, head_29^0'=head_29^post56, i_105^0'=i_105^post56, w_20^0'=w_20^post56, __disjvr_1^0'=__disjvr_1^post56, r_247^0'=r_247^post56, __disjvr_7^0'=__disjvr_7^post56, rcd_64^0'=rcd_64^post56, __disjvr_12^0'=__disjvr_12^post56, length_14^0'=length_14^post56, y_231^0'=y_231^post56, r_36^0'=r_36^post56, a_215^0'=a_215^post56, tail_15^0'=tail_15^post56, temp0_28^0'=temp0_28^post56, __disjvr_17^0'=__disjvr_17^post56, r_238^0'=r_238^post56, __disjvr_4^0'=__disjvr_4^post56, y_290^0'=y_290^post56, rcd_248^0'=rcd_248^post56, (0 == 0 /\ -temp_32^0+tmp_31^post56 == 0 /\ len_270^0-len_270^post56 == 0 /\ -a_215^post56+a_215^0 == 0 /\ -__disjvr_1^post56+__disjvr_1^0 == 0 /\ -rcd_64^post56+rcd_64^0 == 0 /\ __disjvr_5^0-__disjvr_5^post56 == 0 /\ __disjvr_3^0-__disjvr_3^post56 == 0 /\ x_21^0-x_21^post56 == 0 /\ 1+i_27^0-length_25^0 <= 0 /\ rcd_230^0-rcd_230^post56 == 0 /\ -r_183^post56+r_183^0 == 0 /\ -y_290^post56+y_290^0 == 0 /\ -head_29^post56+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56 <= 0 /\ r_267^0-r_267^post56 == 0 /\ -i_114^post56+i_114^0 == 0 /\ -y_22^post56+y_22^0 == 0 /\ -rcd_268^post56+rcd_268^0 == 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ w_20^0-w_20^post56 == 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ -rcd_243^post56+rcd_243^0 == 0 /\ -r_238^post56+r_238^0 == 0 /\ __disjvr_24^0-__disjvr_24^post56 == 0 /\ y_347^0-y_347^post56 == 0 /\ y_162^0-y_162^post56 == 0 /\ -__disjvr_15^post56+__disjvr_15^0 == 0 /\ y_285^0-y_285^post56 == 0 /\ 1-i_27^post56 <= 0 /\ -1+i_27^post56 <= 0 /\ z_19^0-z_19^post56 == 0 /\ __disjvr_10^0-__disjvr_10^post56 == 0 /\ y_295^0-y_295^post56 == 0 /\ -r_229^post56+r_229^0 == 0 /\ -r_36^post56+r_36^0 == 0 /\ -r_247^post56+r_247^0 == 0 /\ head_29^post56-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56 <= 0 /\ t_23^0-t_23^post56 == 0 /\ __disjvr_8^0-__disjvr_8^post56 == 0 /\ -r_253^post56+r_253^0 == 0 /\ -1-i_27^0+i_27^post56 == 0 /\ rcd_107^0-rcd_107^post56 == 0 /\ -__disjvr_17^post56+__disjvr_17^0 == 0 /\ -__disjvr_22^post56+__disjvr_22^0 == 0 /\ -__disjvr_6^post56+__disjvr_6^0 == 0 /\ y_261^0-y_261^post56 == 0 /\ length_14^post56-length_25^0 <= 0 /\ length_25^0-length_25^post56 == 0 /\ -__disjvr_2^post56+__disjvr_2^0 == 0 /\ -__disjvr_19^post56+__disjvr_19^0 == 0 /\ -i_105^post56+i_105^0 == 0 /\ y_269^0-y_269^post56 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ temp0_18^0-temp0_18^post56 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56+tmp_31^post56 <= 0 /\ 1-length_25^0 <= 0 /\ rcd_40^0-rcd_40^post56 == 0 /\ -y_231^post56+y_231^0 == 0 /\ __disjvr_11^0-__disjvr_11^post56 == 0 /\ -head_SLAM_f_26^post56+tail_15^post56 <= 0 /\ -__disjvr_23^post56+__disjvr_23^0 == 0 /\ -rcd_248^post56+rcd_248^0 == 0 /\ __disjvr_16^0-__disjvr_16^post56 == 0 /\ head_29^post56-tmp_31^post56 <= 0 /\ head_29^post56-tmp_31^post56 == 0 /\ -rcd_99^post56+rcd_99^0 == 0 /\ -temp0_28^post56+temp0_28^0 == 0 /\ result_11^0-result_11^post56 == 0 /\ -y_241^post56+y_241^0 == 0 /\ -length_14^post56+length_25^0 <= 0 /\ -__disjvr_18^post56+__disjvr_18^0 == 0 /\ rcd_239^0-rcd_239^post56 == 0 /\ -head_13^post56+head_13^0 == 0 /\ y_191^0-y_191^post56 == 0 /\ -__disjvr_7^post56+__disjvr_7^0 == 0 /\ -a_271^post56+a_271^0 == 0 /\ -a_168^post56+a_168^0 == 0 /\ -a_143^post56+a_143^0 == 0 /\ -__disjvr_13^post56+__disjvr_13^0 == 0 /\ -len_200^post56+len_200^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post56-tmp_31^post56 <= 0 /\ r_240^0-r_240^post56 == 0 /\ __disjvr_9^0-__disjvr_9^post56 == 0 /\ -__disjvr_4^post56+__disjvr_4^0 == 0 /\ r_242^0-r_242^post56 == 0 /\ head_SLAM_f_26^post56-tail_15^post56 <= 0 /\ -head_29^post56+tmp_31^post56 <= 0 /\ r_154^0-r_154^post56 == 0), cost: 1
New rule:
l34 -> l35 : i_27^0'=1, head_SLAM_f_26^0'=tail_15^post56, tmp_31^0'=temp_32^0, temp_32^0'=temp_32^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, length_14^0'=length_25^0, tail_15^0'=tail_15^post56, (i_27^0 == 0 /\ -1+length_25^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l50 -> l33 : __disjvr_0^0'=__disjvr_0^post57, i_27^0'=i_27^post57, y_162^0'=y_162^post57, __disjvr_21^0'=__disjvr_21^post57, z_19^0'=z_19^post57, __disjvr_9^0'=__disjvr_9^post57, result_11^0'=result_11^post57, __disjvr_14^0'=__disjvr_14^post57, r_154^0'=r_154^post57, __disjvr_24^0'=__disjvr_24^post57, y_261^0'=y_261^post57, rcd_230^0'=rcd_230^post57, head_13^0'=head_13^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, tmp_31^0'=tmp_31^post57, __disjvr_19^0'=__disjvr_19^post57, r_242^0'=r_242^post57, __disjvr_6^0'=__disjvr_6^post57, y_347^0'=y_347^post57, rcd_40^0'=rcd_40^post57, __disjvr_11^0'=__disjvr_11^post57, len_270^0'=len_270^post57, y_22^0'=y_22^post57, r_267^0'=r_267^post57, a_168^0'=a_168^post57, t_23^0'=t_23^post57, __disjvr_16^0'=__disjvr_16^post57, r_229^0'=r_229^post57, __disjvr_3^0'=__disjvr_3^post57, y_285^0'=y_285^post57, rcd_243^0'=rcd_243^post57, i_114^0'=i_114^post57, x_21^0'=x_21^post57, __disjvr_20^0'=__disjvr_20^post57, r_253^0'=r_253^post57, __disjvr_8^0'=__disjvr_8^post57, rcd_99^0'=rcd_99^post57, __disjvr_13^0'=__disjvr_13^post57, length_25^0'=length_25^post57, __disjvr_23^0'=__disjvr_23^post57, y_241^0'=y_241^post57, rcd_107^0'=rcd_107^post57, a_271^0'=a_271^post57, temp0_18^0'=temp0_18^post57, temp_32^0'=temp_32^post57, __disjvr_18^0'=__disjvr_18^post57, r_240^0'=r_240^post57, __disjvr_5^0'=__disjvr_5^post57, y_295^0'=y_295^post57, rcd_268^0'=rcd_268^post57, __disjvr_10^0'=__disjvr_10^post57, len_200^0'=len_200^post57, y_191^0'=y_191^post57, __disjvr_22^0'=__disjvr_22^post57, a_143^0'=a_143^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post57, __disjvr_15^0'=__disjvr_15^post57, r_183^0'=r_183^post57, __disjvr_2^0'=__disjvr_2^post57, y_269^0'=y_269^post57, rcd_239^0'=rcd_239^post57, head_29^0'=head_29^post57, i_105^0'=i_105^post57, w_20^0'=w_20^post57, __disjvr_1^0'=__disjvr_1^post57, r_247^0'=r_247^post57, __disjvr_7^0'=__disjvr_7^post57, rcd_64^0'=rcd_64^post57, __disjvr_12^0'=__disjvr_12^post57, length_14^0'=length_14^post57, y_231^0'=y_231^post57, r_36^0'=r_36^post57, a_215^0'=a_215^post57, tail_15^0'=tail_15^post57, temp0_28^0'=temp0_28^post57, __disjvr_17^0'=__disjvr_17^post57, r_238^0'=r_238^post57, __disjvr_4^0'=__disjvr_4^post57, y_290^0'=y_290^post57, rcd_248^0'=rcd_248^post57, (i_27^0-i_27^post57 == 0 /\ __disjvr_18^0-__disjvr_18^post57 == 0 /\ y_22^0-y_22^post57 == 0 /\ __disjvr_8^0-__disjvr_8^post57 == 0 /\ -rcd_243^post57+rcd_243^0 == 0 /\ __disjvr_20^0-__disjvr_20^post57 == 0 /\ length_25^0-length_25^post57 == 0 /\ rcd_230^0-rcd_230^post57 == 0 /\ -x_21^post57+x_21^0 == 0 /\ y_261^0-y_261^post57 == 0 /\ -__disjvr_10^post57+__disjvr_10^0 == 0 /\ -temp0_28^post57+temp0_28^0 == 0 /\ -__disjvr_12^post57+__disjvr_12^0 == 0 /\ -r_240^post57+r_240^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post57 == 0 /\ -a_215^post57+a_215^0 == 0 /\ -__disjvr_1^post57+__disjvr_1^0 == 0 /\ a_168^0-a_168^post57 == 0 /\ a_143^0-a_143^post57 == 0 /\ __disjvr_0^0-__disjvr_0^post57 == 0 /\ length_14^0-length_14^post57 == 0 /\ r_229^0-r_229^post57 == 0 /\ -y_269^post57+y_269^0 == 0 /\ __disjvr_14^0-__disjvr_14^post57 == 0 /\ rcd_268^0-rcd_268^post57 == 0 /\ __disjvr_16^0-__disjvr_16^post57 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ -r_36^post57+r_36^0 == 0 /\ y_241^0-y_241^post57 == 0 /\ -r_242^post57+r_242^0 == 0 /\ -i_114^post57+i_114^0 == 0 /\ z_19^0-z_19^post57 == 0 /\ -y_295^post57+y_295^0 == 0 /\ -y_290^post57+y_290^0 == 0 /\ tmp_31^0-tmp_31^post57 == 0 /\ -r_247^post57+r_247^0 == 0 /\ -y_285^post57+y_285^0 == 0 /\ y_162^0-y_162^post57 == 0 /\ r_154^0-r_154^post57 == 0 /\ head_13^0-head_13^post57 == 0 /\ -r_183^post57+r_183^0 == 0 /\ __disjvr_3^0-__disjvr_3^post57 == 0 /\ __disjvr_15^0-__disjvr_15^post57 == 0 /\ -rcd_40^post57+rcd_40^0 == 0 /\ -__disjvr_22^post57+__disjvr_22^0 == 0 /\ -r_238^post57+r_238^0 == 0 /\ temp0_18^0-temp0_18^post57 == 0 /\ rcd_107^0-rcd_107^post57 == 0 /\ -a_271^post57+a_271^0 == 0 /\ -tail_15^post57+tail_15^0 == 0 /\ r_253^0-r_253^post57 == 0 /\ __disjvr_6^0-__disjvr_6^post57 == 0 /\ -temp_32^post57+temp_32^0 == 0 /\ r_267^0-r_267^post57 == 0 /\ len_270^0-len_270^post57 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post57+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -rcd_248^post57+rcd_248^0 == 0 /\ -rcd_239^post57+rcd_239^0 == 0 /\ -i_105^post57+i_105^0 == 0 /\ -__disjvr_7^post57+__disjvr_7^0 == 0 /\ __disjvr_13^0-__disjvr_13^post57 == 0 /\ result_11^0-result_11^post57 == 0 /\ -y_231^post57+y_231^0 == 0 /\ y_347^0-y_347^post57 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0 /\ -__disjvr_5^post57+__disjvr_5^0 == 0 /\ -y_191^post57+y_191^0 == 0 /\ -__disjvr_23^post57+__disjvr_23^0 == 0 /\ -w_20^post57+w_20^0 == 0 /\ -head_29^post57+head_29^0 == 0 /\ -__disjvr_11^post57+__disjvr_11^0 == 0 /\ -len_200^post57+len_200^0 == 0 /\ -rcd_64^post57+rcd_64^0 == 0 /\ __disjvr_21^0-__disjvr_21^post57 == 0 /\ t_23^0-t_23^post57 == 0 /\ __disjvr_9^0-__disjvr_9^post57 == 0 /\ -__disjvr_2^post57+__disjvr_2^0 == 0 /\ __disjvr_19^0-__disjvr_19^post57 == 0 /\ -rcd_99^post57+rcd_99^0 == 0 /\ -__disjvr_4^post57+__disjvr_4^0 == 0), cost: 1
New rule:
l50 -> l33 : TRUE, cost: 1

Simplified rules
Start location: l50
  58: l0 -> l6 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, r_253^0'=r_253^post4, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (len_200^0 >= 0 /\ a_215^0 >= 0), cost: 1
  59: l6 -> l7 : 0 == 0, cost: 1
  60: l7 -> l8 : len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, (w_20^0-tail_15^0 == 0 /\ z_19^0-head_13^0 == 0), cost: 1
  61: l8 -> l9 : 0 == 0, cost: 1
  62: l9 -> l10 : 0 == 0, cost: 1
  63: l10 -> l11 : 0 == 0, cost: 1
  64: l11 -> l12 : 0 == 0, cost: 1
  65: l12 -> l5 : y_162^0'=y_269^0, rcd_40^0'=rcd_268^0, len_200^0'=len_270^0, r_36^0'=r_267^0, a_215^0'=a_271^0, -2+length_14^0 >= 0, cost: 1
  66: l5 -> l0 : TRUE, cost: 1
  67: l33 -> l34 : i_27^0'=0, head_SLAM_f_26^0'=tail_15^0, length_25^0'=length_14^0, head_29^0'=tail_15^0, 0 == 0, cost: 1
  78: l34 -> l35 : i_27^0'=1, head_SLAM_f_26^0'=tail_15^post56, tmp_31^0'=temp_32^0, temp_32^0'=temp_32^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, length_14^0'=length_25^0, tail_15^0'=tail_15^post56, (i_27^0 == 0 /\ -1+length_25^0 >= 0), cost: 1
  68: l35 -> l37 : i_27^0'=2, head_SLAM_f_26^0'=tail_15^post37, tmp_31^0'=temp_32^0, temp_32^0'=temp_32^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, rcd_64^0'=rcd_64^post37, length_14^0'=length_25^0, tail_15^0'=tail_15^post37, (-1+i_27^0 == 0 /\ -2+length_25^0 >= 0), cost: 1
  75: l37 -> l49 : i_27^0'=1+i_27^0, tmp_31^0'=temp_32^0, rcd_99^0'=rcd_99^post52, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, head_29^0'=temp_32^0, i_105^0'=i_27^0, (i_27^0 >= 0 /\ 1+i_27^0-length_25^0 <= 0), cost: 1
  77: l37 -> l38 : i_27^0'=i_27^post54, z_19^0'=head_13^0, result_11^0'=result_11^post54, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, y_22^0'=tail_15^0, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, length_14^0'=length_14^post54, temp0_28^0'=temp0_28^post54, (length_14^post54-i_114^0 <= 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0), cost: 1
  69: l38 -> l39 : z_19^0'=z_19^post39, head_13^0'=head_13^post39, r_242^0'=r_242^post39, rcd_243^0'=rcd_243^post39, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, rcd_248^0'=rcd_248^post39, i_114^0 >= 0, cost: 1
  70: l39 -> l40 : 0 == 0, cost: 1
  71: l40 -> l41 : y_22^0'=y_162^0, t_23^0'=y_162^0, a_143^0'=a_215^0, (w_20^0-tail_15^0 == 0 /\ y_162^0-x_21^0 == 0 /\ z_19^0-head_13^0 == 0 /\ len_200^0 == 0 /\ -r_242^0+r_36^0 == 0 /\ rcd_40^0-rcd_243^0 == 0), cost: 1
  72: l41 -> l42 : 0 == 0, cost: 1
  73: l42 -> l43 : 0 == 0, cost: 1
  74: l43 -> l0 : i_114^0'=1+a_143^0, (-2+length_14^0 >= 0 /\ -i_114^0+length_14^0 <= 0), cost: 1
  76: l49 -> l37 : TRUE, cost: 1
  79: l50 -> l33 : TRUE, cost: 1


Eliminating location l33 by chaining:

Applied chaining
First rule:
l50 -> l33 : TRUE, cost: 1
Second rule:
l33 -> l34 : i_27^0'=0, head_SLAM_f_26^0'=tail_15^0, length_25^0'=length_14^0, head_29^0'=tail_15^0, 0 == 0, cost: 1
New rule:
l50 -> l34 : i_27^0'=0, head_SLAM_f_26^0'=tail_15^0, length_25^0'=length_14^0, head_29^0'=tail_15^0, 0 == 0, cost: 2

Applied deletion
Removed the following rules: 67 79

Eliminating location l34 by chaining:

Applied chaining
First rule:
l50 -> l34 : i_27^0'=0, head_SLAM_f_26^0'=tail_15^0, length_25^0'=length_14^0, head_29^0'=tail_15^0, 0 == 0, cost: 2
Second rule:
l34 -> l35 : i_27^0'=1, head_SLAM_f_26^0'=tail_15^post56, tmp_31^0'=temp_32^0, temp_32^0'=temp_32^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, length_14^0'=length_25^0, tail_15^0'=tail_15^post56, (i_27^0 == 0 /\ -1+length_25^0 >= 0), cost: 1
New rule:
l50 -> l35 : i_27^0'=1, head_SLAM_f_26^0'=tail_15^post56, tmp_31^0'=temp_32^0, length_25^0'=length_14^0, temp_32^0'=temp_32^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, length_14^0'=length_14^0, tail_15^0'=tail_15^post56, (0 == 0 /\ -1+length_14^0 >= 0), cost: 3

Applied simplification
Original rule:
l50 -> l35 : i_27^0'=1, head_SLAM_f_26^0'=tail_15^post56, tmp_31^0'=temp_32^0, length_25^0'=length_14^0, temp_32^0'=temp_32^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, length_14^0'=length_14^0, tail_15^0'=tail_15^post56, (0 == 0 /\ -1+length_14^0 >= 0), cost: 3
New rule:
l50 -> l35 : i_27^0'=1, head_SLAM_f_26^0'=tail_15^post56, tmp_31^0'=temp_32^0, length_25^0'=length_14^0, temp_32^0'=temp_32^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, length_14^0'=length_14^0, tail_15^0'=tail_15^post56, -1+length_14^0 >= 0, cost: 3

Applied deletion
Removed the following rules: 78 80

Eliminating location l35 by chaining:

Applied chaining
First rule:
l50 -> l35 : i_27^0'=1, head_SLAM_f_26^0'=tail_15^post56, tmp_31^0'=temp_32^0, length_25^0'=length_14^0, temp_32^0'=temp_32^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, length_14^0'=length_14^0, tail_15^0'=tail_15^post56, -1+length_14^0 >= 0, cost: 3
Second rule:
l35 -> l37 : i_27^0'=2, head_SLAM_f_26^0'=tail_15^post37, tmp_31^0'=temp_32^0, temp_32^0'=temp_32^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, rcd_64^0'=rcd_64^post37, length_14^0'=length_25^0, tail_15^0'=tail_15^post37, (-1+i_27^0 == 0 /\ -2+length_25^0 >= 0), cost: 1
New rule:
l50 -> l37 : i_27^0'=2, head_SLAM_f_26^0'=tail_15^post37, tmp_31^0'=temp_32^post56, length_25^0'=length_14^0, temp_32^0'=temp_32^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post56, head_29^0'=temp_32^post56, rcd_64^0'=rcd_64^post37, length_14^0'=length_14^0, tail_15^0'=tail_15^post37, (0 == 0 /\ -2+length_14^0 >= 0 /\ -1+length_14^0 >= 0), cost: 4

Applied simplification
Original rule:
l50 -> l37 : i_27^0'=2, head_SLAM_f_26^0'=tail_15^post37, tmp_31^0'=temp_32^post56, length_25^0'=length_14^0, temp_32^0'=temp_32^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post56, head_29^0'=temp_32^post56, rcd_64^0'=rcd_64^post37, length_14^0'=length_14^0, tail_15^0'=tail_15^post37, (0 == 0 /\ -2+length_14^0 >= 0 /\ -1+length_14^0 >= 0), cost: 4
New rule:
l50 -> l37 : i_27^0'=2, head_SLAM_f_26^0'=tail_15^post37, tmp_31^0'=temp_32^post56, length_25^0'=length_14^0, temp_32^0'=temp_32^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post56, head_29^0'=temp_32^post56, rcd_64^0'=rcd_64^post37, length_14^0'=length_14^0, tail_15^0'=tail_15^post37, -2+length_14^0 >= 0, cost: 4

Applied deletion
Removed the following rules: 68 81

Eliminating location l38 by chaining:

Applied chaining
First rule:
l37 -> l38 : i_27^0'=i_27^post54, z_19^0'=head_13^0, result_11^0'=result_11^post54, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, y_22^0'=tail_15^0, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, length_14^0'=length_14^post54, temp0_28^0'=temp0_28^post54, (length_14^post54-i_114^0 <= 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0), cost: 1
Second rule:
l38 -> l39 : z_19^0'=z_19^post39, head_13^0'=head_13^post39, r_242^0'=r_242^post39, rcd_243^0'=rcd_243^post39, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, rcd_248^0'=rcd_248^post39, i_114^0 >= 0, cost: 1
New rule:
l37 -> l39 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=tail_15^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ i_114^0 >= 0), cost: 2

Applied simplification
Original rule:
l37 -> l39 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=tail_15^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ i_114^0 >= 0), cost: 2
New rule:
l37 -> l39 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=tail_15^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 69 77

Eliminating location l49 by chaining:

Applied chaining
First rule:
l37 -> l49 : i_27^0'=1+i_27^0, tmp_31^0'=temp_32^0, rcd_99^0'=rcd_99^post52, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, head_29^0'=temp_32^0, i_105^0'=i_27^0, (i_27^0 >= 0 /\ 1+i_27^0-length_25^0 <= 0), cost: 1
Second rule:
l49 -> l37 : TRUE, cost: 1
New rule:
l37 -> l37 : i_27^0'=1+i_27^0, tmp_31^0'=temp_32^0, rcd_99^0'=rcd_99^post52, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, head_29^0'=temp_32^0, i_105^0'=i_27^0, (i_27^0 >= 0 /\ 1+i_27^0-length_25^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 75 76

Eliminating location l39 by chaining:

Applied chaining
First rule:
l37 -> l39 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=tail_15^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0), cost: 2
Second rule:
l39 -> l40 : 0 == 0, cost: 1
New rule:
l37 -> l40 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=tail_15^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (0 == 0 /\ length_14^post54-i_114^0 <= 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0), cost: 3

Applied simplification
Original rule:
l37 -> l40 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=tail_15^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (0 == 0 /\ length_14^post54-i_114^0 <= 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0), cost: 3
New rule:
l37 -> l40 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=tail_15^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0), cost: 3

Applied deletion
Removed the following rules: 70 83

Eliminating location l40 by chaining:

Applied chaining
First rule:
l37 -> l40 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=tail_15^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0), cost: 3
Second rule:
l40 -> l41 : y_22^0'=y_162^0, t_23^0'=y_162^0, a_143^0'=a_215^0, (w_20^0-tail_15^0 == 0 /\ y_162^0-x_21^0 == 0 /\ z_19^0-head_13^0 == 0 /\ len_200^0 == 0 /\ -r_242^0+r_36^0 == 0 /\ rcd_40^0-rcd_243^0 == 0), cost: 1
New rule:
l37 -> l41 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0), cost: 4

Applied deletion
Removed the following rules: 71 85

Eliminating location l41 by chaining:

Applied chaining
First rule:
l37 -> l41 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0), cost: 4
Second rule:
l41 -> l42 : 0 == 0, cost: 1
New rule:
l37 -> l42 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (0 == 0 /\ length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0), cost: 5

Applied simplification
Original rule:
l37 -> l42 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (0 == 0 /\ length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0), cost: 5
New rule:
l37 -> l42 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0), cost: 5

Applied deletion
Removed the following rules: 72 86

Eliminating location l42 by chaining:

Applied chaining
First rule:
l37 -> l42 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0), cost: 5
Second rule:
l42 -> l43 : 0 == 0, cost: 1
New rule:
l37 -> l43 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (0 == 0 /\ length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0), cost: 6

Applied simplification
Original rule:
l37 -> l43 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (0 == 0 /\ length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0), cost: 6
New rule:
l37 -> l43 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0), cost: 6

Applied deletion
Removed the following rules: 73 87

Eliminating location l43 by chaining:

Applied chaining
First rule:
l37 -> l43 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0), cost: 6
Second rule:
l43 -> l0 : i_114^0'=1+a_143^0, (-2+length_14^0 >= 0 /\ -i_114^0+length_14^0 <= 0), cost: 1
New rule:
l37 -> l0 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, i_114^0'=1+a_215^0, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ -i_114^0+length_14^post39 <= 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0 /\ -2+length_14^post39 >= 0), cost: 7

Applied deletion
Removed the following rules: 74 88

Eliminating location l6 by chaining:

Applied chaining
First rule:
l0 -> l6 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, r_253^0'=r_253^post4, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (len_200^0 >= 0 /\ a_215^0 >= 0), cost: 1
Second rule:
l6 -> l7 : 0 == 0, cost: 1
New rule:
l0 -> l7 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, r_253^0'=r_253^post4, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (0 == 0 /\ len_200^0 >= 0 /\ a_215^0 >= 0), cost: 2

Applied simplification
Original rule:
l0 -> l7 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, r_253^0'=r_253^post4, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (0 == 0 /\ len_200^0 >= 0 /\ a_215^0 >= 0), cost: 2
New rule:
l0 -> l7 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, r_253^0'=r_253^post4, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (len_200^0 >= 0 /\ a_215^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 58 59

Eliminating location l7 by chaining:

Applied chaining
First rule:
l0 -> l7 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, r_253^0'=r_253^post4, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (len_200^0 >= 0 /\ a_215^0 >= 0), cost: 2
Second rule:
l7 -> l8 : len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, (w_20^0-tail_15^0 == 0 /\ z_19^0-head_13^0 == 0), cost: 1
New rule:
l0 -> l8 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (-tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 3

Applied deletion
Removed the following rules: 60 90

Eliminating location l8 by chaining:

Applied chaining
First rule:
l0 -> l8 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (-tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 3
Second rule:
l8 -> l9 : 0 == 0, cost: 1
New rule:
l0 -> l9 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (0 == 0 /\ -tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 4

Applied simplification
Original rule:
l0 -> l9 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (0 == 0 /\ -tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 4
New rule:
l0 -> l9 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (-tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 4

Applied deletion
Removed the following rules: 61 91

Eliminating location l9 by chaining:

Applied chaining
First rule:
l0 -> l9 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (-tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 4
Second rule:
l9 -> l10 : 0 == 0, cost: 1
New rule:
l0 -> l10 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (0 == 0 /\ -tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 5

Applied simplification
Original rule:
l0 -> l10 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (0 == 0 /\ -tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 5
New rule:
l0 -> l10 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (-tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 5

Applied deletion
Removed the following rules: 62 92

Eliminating location l10 by chaining:

Applied chaining
First rule:
l0 -> l10 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (-tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 5
Second rule:
l10 -> l11 : 0 == 0, cost: 1
New rule:
l0 -> l11 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (0 == 0 /\ -tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 6

Applied simplification
Original rule:
l0 -> l11 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (0 == 0 /\ -tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 6
New rule:
l0 -> l11 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (-tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 6

Applied deletion
Removed the following rules: 63 93

Eliminating location l11 by chaining:

Applied chaining
First rule:
l0 -> l11 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (-tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 6
Second rule:
l11 -> l12 : 0 == 0, cost: 1
New rule:
l0 -> l12 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (0 == 0 /\ -tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 7

Applied simplification
Original rule:
l0 -> l12 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (0 == 0 /\ -tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 7
New rule:
l0 -> l12 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (-tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 7

Applied deletion
Removed the following rules: 64 94

Eliminating location l12 by chaining:

Applied chaining
First rule:
l0 -> l12 : z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, tail_15^0'=tail_15^post4, (-tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 7
Second rule:
l12 -> l5 : y_162^0'=y_269^0, rcd_40^0'=rcd_268^0, len_200^0'=len_270^0, r_36^0'=r_267^0, a_215^0'=a_271^0, -2+length_14^0 >= 0, cost: 1
New rule:
l0 -> l5 : y_162^0'=y_162^0, z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, rcd_40^0'=rcd_40^0, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, r_36^0'=r_36^0, a_215^0'=-1+a_215^0, tail_15^0'=tail_15^post4, (-2+length_14^post4 >= 0 /\ -tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 8

Applied deletion
Removed the following rules: 65 95

Eliminating location l5 by chaining:

Applied chaining
First rule:
l0 -> l5 : y_162^0'=y_162^0, z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, rcd_40^0'=rcd_40^0, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, r_36^0'=r_36^0, a_215^0'=-1+a_215^0, tail_15^0'=tail_15^post4, (-2+length_14^post4 >= 0 /\ -tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 8
Second rule:
l5 -> l0 : TRUE, cost: 1
New rule:
l0 -> l0 : y_162^0'=y_162^0, z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, rcd_40^0'=rcd_40^0, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, r_36^0'=r_36^0, a_215^0'=-1+a_215^0, tail_15^0'=tail_15^post4, (-2+length_14^post4 >= 0 /\ -tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 9

Applied deletion
Removed the following rules: 66 96

Eliminated locations on linear paths
Start location: l50
  97: l0 -> l0 : y_162^0'=y_162^0, z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, rcd_40^0'=rcd_40^0, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, r_36^0'=r_36^0, a_215^0'=-1+a_215^0, tail_15^0'=tail_15^post4, (-2+length_14^post4 >= 0 /\ -tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 9
  84: l37 -> l37 : i_27^0'=1+i_27^0, tmp_31^0'=temp_32^0, rcd_99^0'=rcd_99^post52, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, head_29^0'=temp_32^0, i_105^0'=i_27^0, (i_27^0 >= 0 /\ 1+i_27^0-length_25^0 <= 0), cost: 2
  89: l37 -> l0 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, i_114^0'=1+a_215^0, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ -i_114^0+length_14^post39 <= 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0 /\ -2+length_14^post39 >= 0), cost: 7
  82: l50 -> l37 : i_27^0'=2, head_SLAM_f_26^0'=tail_15^post37, tmp_31^0'=temp_32^post56, length_25^0'=length_14^0, temp_32^0'=temp_32^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post56, head_29^0'=temp_32^post56, rcd_64^0'=rcd_64^post37, length_14^0'=length_14^0, tail_15^0'=tail_15^post37, -2+length_14^0 >= 0, cost: 4


Applied simplification
Original rule:
l0 -> l0 : y_162^0'=y_162^0, z_19^0'=z_19^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, rcd_40^0'=rcd_40^0, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, r_36^0'=r_36^0, a_215^0'=-1+a_215^0, tail_15^0'=tail_15^post4, (-2+length_14^post4 >= 0 /\ -tail_15^post4+w_20^0 == 0 /\ len_200^0 >= 0 /\ z_19^post4-head_13^post4 == 0 /\ a_215^0 >= 0), cost: 9
New rule:
l0 -> l0 : z_19^0'=head_13^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, a_215^0'=-1+a_215^0, tail_15^0'=w_20^0, (-2+length_14^post4 >= 0 /\ len_200^0 >= 0 /\ a_215^0 >= 0), cost: 9

Simplified simple loops
Start location: l50
  98: l0 -> l0 : z_19^0'=head_13^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, a_215^0'=-1+a_215^0, tail_15^0'=w_20^0, (-2+length_14^post4 >= 0 /\ len_200^0 >= 0 /\ a_215^0 >= 0), cost: 9
  84: l37 -> l37 : i_27^0'=1+i_27^0, tmp_31^0'=temp_32^0, rcd_99^0'=rcd_99^post52, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, head_29^0'=temp_32^0, i_105^0'=i_27^0, (i_27^0 >= 0 /\ 1+i_27^0-length_25^0 <= 0), cost: 2
  89: l37 -> l0 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, i_114^0'=1+a_215^0, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ -i_114^0+length_14^post39 <= 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0 /\ -2+length_14^post39 >= 0), cost: 7
  82: l50 -> l37 : i_27^0'=2, head_SLAM_f_26^0'=tail_15^post37, tmp_31^0'=temp_32^post56, length_25^0'=length_14^0, temp_32^0'=temp_32^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post56, head_29^0'=temp_32^post56, rcd_64^0'=rcd_64^post37, length_14^0'=length_14^0, tail_15^0'=tail_15^post37, -2+length_14^0 >= 0, cost: 4


Applied acceleration
Original rule:
l0 -> l0 : z_19^0'=head_13^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1+a_215^0, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, a_215^0'=-1+a_215^0, tail_15^0'=w_20^0, (-2+length_14^post4 >= 0 /\ len_200^0 >= 0 /\ a_215^0 >= 0), cost: 9
New rule:
l0 -> l0 : z_19^0'=head_13^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=n0+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-n0+a_215^0, rcd_268^0'=rcd_40^0, len_200^0'=n0+len_200^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, a_215^0'=-n0+a_215^0, tail_15^0'=w_20^0, (-2+length_14^post4 >= 0 /\ 1-n0+a_215^0 >= 0 /\ len_200^0 >= 0 /\ -1+n0 >= 0), cost: 9*n0

Applied instantiation
Original rule:
l0 -> l0 : z_19^0'=head_13^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=n0+len_200^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-n0+a_215^0, rcd_268^0'=rcd_40^0, len_200^0'=n0+len_200^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, a_215^0'=-n0+a_215^0, tail_15^0'=w_20^0, (-2+length_14^post4 >= 0 /\ 1-n0+a_215^0 >= 0 /\ len_200^0 >= 0 /\ -1+n0 >= 0), cost: 9*n0
New rule:
l0 -> l0 : z_19^0'=head_13^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0+a_215^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0+a_215^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, a_215^0'=-1, tail_15^0'=w_20^0, (0 >= 0 /\ -2+length_14^post4 >= 0 /\ len_200^0 >= 0 /\ a_215^0 >= 0), cost: 9+9*a_215^0

Applied simplification
Original rule:
l0 -> l0 : z_19^0'=head_13^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0+a_215^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0+a_215^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, a_215^0'=-1, tail_15^0'=w_20^0, (0 >= 0 /\ -2+length_14^post4 >= 0 /\ len_200^0 >= 0 /\ a_215^0 >= 0), cost: 9+9*a_215^0
New rule:
l0 -> l0 : z_19^0'=head_13^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0+a_215^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0+a_215^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, a_215^0'=-1, tail_15^0'=w_20^0, (-2+length_14^post4 >= 0 /\ len_200^0 >= 0 /\ a_215^0 >= 0), cost: 9+9*a_215^0

Applied deletion
Removed the following rules: 98

Applied acceleration
Original rule:
l37 -> l37 : i_27^0'=1+i_27^0, tmp_31^0'=temp_32^0, rcd_99^0'=rcd_99^post52, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, head_29^0'=temp_32^0, i_105^0'=i_27^0, (i_27^0 >= 0 /\ 1+i_27^0-length_25^0 <= 0), cost: 2
New rule:
l37 -> l37 : i_27^0'=i_27^0+n3, tmp_31^0'=temp_32^post52, rcd_99^0'=rcd_99^post52, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, head_29^0'=temp_32^post52, i_105^0'=-1+i_27^0+n3, (i_27^0 >= 0 /\ -i_27^0+length_25^0-n3 >= 0 /\ -2+n3 >= 0), cost: 2*n3

Applied instantiation
Original rule:
l37 -> l37 : i_27^0'=i_27^0+n3, tmp_31^0'=temp_32^post52, rcd_99^0'=rcd_99^post52, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, head_29^0'=temp_32^post52, i_105^0'=-1+i_27^0+n3, (i_27^0 >= 0 /\ -i_27^0+length_25^0-n3 >= 0 /\ -2+n3 >= 0), cost: 2*n3
New rule:
l37 -> l37 : i_27^0'=length_25^0, tmp_31^0'=temp_32^post52, rcd_99^0'=rcd_99^post52, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, head_29^0'=temp_32^post52, i_105^0'=-1+length_25^0, (0 >= 0 /\ i_27^0 >= 0 /\ -2-i_27^0+length_25^0 >= 0), cost: -2*i_27^0+2*length_25^0

Applied simplification
Original rule:
l37 -> l37 : i_27^0'=length_25^0, tmp_31^0'=temp_32^post52, rcd_99^0'=rcd_99^post52, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, head_29^0'=temp_32^post52, i_105^0'=-1+length_25^0, (0 >= 0 /\ i_27^0 >= 0 /\ -2-i_27^0+length_25^0 >= 0), cost: -2*i_27^0+2*length_25^0
New rule:
l37 -> l37 : i_27^0'=length_25^0, tmp_31^0'=temp_32^post52, rcd_99^0'=rcd_99^post52, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, head_29^0'=temp_32^post52, i_105^0'=-1+length_25^0, (i_27^0 >= 0 /\ -2-i_27^0+length_25^0 >= 0), cost: -2*i_27^0+2*length_25^0

Applied deletion
Removed the following rules: 84

Accelerated simple loops
Start location: l50
 100: l0 -> l0 : z_19^0'=head_13^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0+a_215^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0+a_215^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, a_215^0'=-1, tail_15^0'=w_20^0, (-2+length_14^post4 >= 0 /\ len_200^0 >= 0 /\ a_215^0 >= 0), cost: 9+9*a_215^0
  89: l37 -> l0 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, i_114^0'=1+a_215^0, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ -i_114^0+length_14^post39 <= 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0 /\ -2+length_14^post39 >= 0), cost: 7
 102: l37 -> l37 : i_27^0'=length_25^0, tmp_31^0'=temp_32^post52, rcd_99^0'=rcd_99^post52, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, head_29^0'=temp_32^post52, i_105^0'=-1+length_25^0, (i_27^0 >= 0 /\ -2-i_27^0+length_25^0 >= 0), cost: -2*i_27^0+2*length_25^0
  82: l50 -> l37 : i_27^0'=2, head_SLAM_f_26^0'=tail_15^post37, tmp_31^0'=temp_32^post56, length_25^0'=length_14^0, temp_32^0'=temp_32^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post56, head_29^0'=temp_32^post56, rcd_64^0'=rcd_64^post37, length_14^0'=length_14^0, tail_15^0'=tail_15^post37, -2+length_14^0 >= 0, cost: 4


Applied chaining
First rule:
l37 -> l0 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, i_114^0'=1+a_215^0, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ -i_114^0+length_14^post39 <= 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0 /\ -2+length_14^post39 >= 0), cost: 7
Second rule:
l0 -> l0 : z_19^0'=head_13^post4, y_261^0'=y_261^post4, head_13^0'=head_13^post4, len_270^0'=1+len_200^0+a_215^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, r_253^0'=r_253^post4, a_271^0'=-1, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0+a_215^0, y_269^0'=y_162^0, length_14^0'=length_14^post4, a_215^0'=-1, tail_15^0'=w_20^0, (-2+length_14^post4 >= 0 /\ len_200^0 >= 0 /\ a_215^0 >= 0), cost: 9+9*a_215^0
New rule:
l37 -> l0 : i_27^0'=i_27^post54, z_19^0'=head_13^post4, result_11^0'=result_11^post54, y_261^0'=y_261^post4, head_13^0'=head_13^post4, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_36^0, len_270^0'=1+len_200^0+a_215^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, rcd_243^0'=rcd_40^0, i_114^0'=1+a_215^0, r_253^0'=r_253^post4, length_25^0'=length_25^post54, a_271^0'=-1, temp_32^0'=temp_32^post54, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0+a_215^0, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, y_269^0'=y_162^0, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post4, a_215^0'=-1, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (y_162^0-x_21^0 == 0 /\ -2+length_14^post4 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -2+i_114^0 >= 0 /\ len_200^0 == 0 /\ a_215^0 >= 0), cost: 16+9*a_215^0

Applied deletion
Removed the following rules: 100

Applied chaining
First rule:
l50 -> l37 : i_27^0'=2, head_SLAM_f_26^0'=tail_15^post37, tmp_31^0'=temp_32^post56, length_25^0'=length_14^0, temp_32^0'=temp_32^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post56, head_29^0'=temp_32^post56, rcd_64^0'=rcd_64^post37, length_14^0'=length_14^0, tail_15^0'=tail_15^post37, -2+length_14^0 >= 0, cost: 4
Second rule:
l37 -> l37 : i_27^0'=length_25^0, tmp_31^0'=temp_32^post52, rcd_99^0'=rcd_99^post52, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, head_29^0'=temp_32^post52, i_105^0'=-1+length_25^0, (i_27^0 >= 0 /\ -2-i_27^0+length_25^0 >= 0), cost: -2*i_27^0+2*length_25^0
New rule:
l50 -> l37 : i_27^0'=length_14^0, head_SLAM_f_26^0'=tail_15^post37, tmp_31^0'=temp_32^post52, rcd_99^0'=rcd_99^post52, length_25^0'=length_14^0, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post56, head_29^0'=temp_32^post52, i_105^0'=-1+length_14^0, rcd_64^0'=rcd_64^post37, tail_15^0'=tail_15^post37, -4+length_14^0 >= 0, cost: 2*length_14^0

Applied deletion
Removed the following rules: 102

Chained accelerated rules with incoming rules
Start location: l50
  89: l37 -> l0 : i_27^0'=i_27^post54, z_19^0'=z_19^post39, result_11^0'=result_11^post54, head_13^0'=head_13^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_242^post39, y_22^0'=y_162^0, t_23^0'=y_162^0, rcd_243^0'=rcd_243^post39, i_114^0'=1+a_215^0, length_25^0'=length_25^post54, temp_32^0'=temp_32^post54, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post39, tail_15^0'=tail_15^post39, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (length_14^post54-i_114^0 <= 0 /\ y_162^0-x_21^0 == 0 /\ rcd_40^0-rcd_243^post39 == 0 /\ -2+length_14^post54 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -tail_15^post39+tail_15^0 == 0 /\ -head_13^post39+z_19^post39 == 0 /\ -i_114^0+length_14^post39 <= 0 /\ len_200^0 == 0 /\ -r_242^post39+r_36^0 == 0 /\ -2+length_14^post39 >= 0), cost: 7
 103: l37 -> l0 : i_27^0'=i_27^post54, z_19^0'=head_13^post4, result_11^0'=result_11^post54, y_261^0'=y_261^post4, head_13^0'=head_13^post4, head_SLAM_f_26^0'=head_SLAM_f_26^post54, tmp_31^0'=tmp_31^post54, r_242^0'=r_36^0, len_270^0'=1+len_200^0+a_215^0, y_22^0'=x_21^0, r_267^0'=r_36^0, t_23^0'=x_21^0, rcd_243^0'=rcd_40^0, i_114^0'=1+a_215^0, r_253^0'=r_253^post4, length_25^0'=length_25^post54, a_271^0'=-1, temp_32^0'=temp_32^post54, rcd_268^0'=rcd_40^0, len_200^0'=1+len_200^0+a_215^0, a_143^0'=a_215^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post54, y_269^0'=y_162^0, head_29^0'=head_29^post54, w_20^0'=tail_15^0, r_247^0'=r_247^post39, length_14^0'=length_14^post4, a_215^0'=-1, temp0_28^0'=temp0_28^post54, rcd_248^0'=rcd_248^post39, (y_162^0-x_21^0 == 0 /\ -2+length_14^post4 >= 0 /\ -i_27^0+length_25^0 <= 0 /\ -i_27^0 <= 0 /\ -2+i_114^0 >= 0 /\ len_200^0 == 0 /\ a_215^0 >= 0), cost: 16+9*a_215^0
  82: l50 -> l37 : i_27^0'=2, head_SLAM_f_26^0'=tail_15^post37, tmp_31^0'=temp_32^post56, length_25^0'=length_14^0, temp_32^0'=temp_32^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post56, head_29^0'=temp_32^post56, rcd_64^0'=rcd_64^post37, length_14^0'=length_14^0, tail_15^0'=tail_15^post37, -2+length_14^0 >= 0, cost: 4
 104: l50 -> l37 : i_27^0'=length_14^0, head_SLAM_f_26^0'=tail_15^post37, tmp_31^0'=temp_32^post52, rcd_99^0'=rcd_99^post52, length_25^0'=length_14^0, rcd_107^0'=rcd_40^0, temp_32^0'=temp_32^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post56, head_29^0'=temp_32^post52, i_105^0'=-1+length_14^0, rcd_64^0'=rcd_64^post37, tail_15^0'=tail_15^post37, -4+length_14^0 >= 0, cost: 2*length_14^0


Removed unreachable locations and irrelevant leafs
Start location: l50
  <empty>


Computing asymptotic complexity

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

Solved cost: 0
Rule cost:   0