WORST_CASE(Omega(0),?) Initial ITS Start location: l31 0: l0 -> l2 : __disjvr_0^0'=__disjvr_0^post0, x_21^0'=x_21^post0, a_130^0'=a_130^post0, rcd_63^0'=rcd_63^post0, __disjvr_2^0'=__disjvr_2^post0, a_28^0'=a_28^post0, temp0_31^0'=temp0_31^post0, tmp_27^0'=tmp_27^post0, __disjvr_7^0'=__disjvr_7^post0, len_14^0'=len_14^post0, __disjvr_11^0'=__disjvr_11^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post0, __disjvr_4^0'=__disjvr_4^post0, d_29^0'=d_29^post0, x_17^0'=x_17^post0, __disjvr_9^0'=__disjvr_9^post0, rcd_100^0'=rcd_100^post0, __disjvr_1^0'=__disjvr_1^post0, a_175^0'=a_175^post0, temp0_16^0'=temp0_16^post0, __disjvr_6^0'=__disjvr_6^post0, i_13^0'=i_13^post0, __disjvr_10^0'=__disjvr_10^post0, x_32^0'=x_32^post0, a_152^0'=a_152^post0, result_11^0'=result_11^post0, __disjvr_3^0'=__disjvr_3^post0, ct_18^0'=ct_18^post0, temp_33^0'=temp_33^post0, x_15^0'=x_15^post0, __disjvr_8^0'=__disjvr_8^post0, r_37^0'=r_37^post0, __disjvr_12^0'=__disjvr_12^post0, y_20^0'=y_20^post0, t_24^0'=t_24^post0, __disjvr_5^0'=__disjvr_5^post0, i_111^0'=i_111^post0, (0 == 0 /\ -temp_33^post0+temp_33^0 == 0 /\ -x_21^0+y_20^0 <= 0 /\ temp0_31^0-temp0_31^post0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post0 == 0 /\ -__disjvr_3^post0+__disjvr_3^0 == 0 /\ -__disjvr_12^post0+__disjvr_12^0 == 0 /\ a_130^0-a_130^post0 == 0 /\ -__disjvr_8^post0+__disjvr_8^0 == 0 /\ -i_111^post0+i_111^0 == 0 /\ a_28^0-a_28^post0 == 0 /\ x_21^0-y_20^0 <= 0 /\ d_29^0-d_29^post0 == 0 /\ -__disjvr_10^post0+__disjvr_10^0 == 0 /\ -a_130^0 <= 0 /\ r_37^0-r_37^post0 == 0 /\ -__disjvr_5^post0+__disjvr_5^0 == 0 /\ -a_175^post0+a_175^0 == 0 /\ result_11^post0-temp0_16^0 == 0 /\ a_152^0-a_152^post0 == 0 /\ __disjvr_4^0-__disjvr_4^post0 == 0 /\ tmp_27^0-tmp_27^post0 == 0 /\ __disjvr_7^0-__disjvr_7^post0 == 0 /\ __disjvr_11^0-__disjvr_11^post0 == 0 /\ -temp0_16^post0+temp0_16^0 == 0 /\ rcd_100^0-rcd_100^post0 == 0 /\ __disjvr_0^0-__disjvr_0^post0 == 0 /\ __disjvr_2^0-__disjvr_2^post0 == 0 /\ __disjvr_9^0-__disjvr_9^post0 == 0 /\ -__disjvr_1^post0+__disjvr_1^0 == 0 /\ -x_32^post0+x_32^0 == 0 /\ __disjvr_6^0-__disjvr_6^post0 == 0 /\ rcd_63^0-rcd_63^post0 == 0), cost: 1 3: l0 -> l5 : __disjvr_0^0'=__disjvr_0^post3, x_21^0'=x_21^post3, a_130^0'=a_130^post3, rcd_63^0'=rcd_63^post3, __disjvr_2^0'=__disjvr_2^post3, a_28^0'=a_28^post3, temp0_31^0'=temp0_31^post3, tmp_27^0'=tmp_27^post3, __disjvr_7^0'=__disjvr_7^post3, len_14^0'=len_14^post3, __disjvr_11^0'=__disjvr_11^post3, x_SLAM_f_19^0'=x_SLAM_f_19^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post3, __disjvr_4^0'=__disjvr_4^post3, d_29^0'=d_29^post3, x_17^0'=x_17^post3, __disjvr_9^0'=__disjvr_9^post3, rcd_100^0'=rcd_100^post3, __disjvr_1^0'=__disjvr_1^post3, a_175^0'=a_175^post3, temp0_16^0'=temp0_16^post3, __disjvr_6^0'=__disjvr_6^post3, i_13^0'=i_13^post3, __disjvr_10^0'=__disjvr_10^post3, x_32^0'=x_32^post3, a_152^0'=a_152^post3, result_11^0'=result_11^post3, __disjvr_3^0'=__disjvr_3^post3, ct_18^0'=ct_18^post3, temp_33^0'=temp_33^post3, x_15^0'=x_15^post3, __disjvr_8^0'=__disjvr_8^post3, r_37^0'=r_37^post3, __disjvr_12^0'=__disjvr_12^post3, y_20^0'=y_20^post3, t_24^0'=t_24^post3, __disjvr_5^0'=__disjvr_5^post3, i_111^0'=i_111^post3, (0 == 0 /\ -y_20^post3+y_20^0 == 0 /\ __disjvr_6^0-__disjvr_6^post3 == 0 /\ __disjvr_8^0-__disjvr_8^post3 == 0 /\ rcd_100^0-rcd_100^post3 == 0 /\ -t_24^post3+t_24^0 == 0 /\ __disjvr_4^0-__disjvr_4^post3 == 0 /\ __disjvr_2^0-__disjvr_2^post3 == 0 /\ -__disjvr_10^post3+__disjvr_10^0 == 0 /\ -a_175^post3+a_175^0 == 0 /\ __disjvr_0^0-__disjvr_0^post3 == 0 /\ -a_130^0 <= 0 /\ temp_33^0-temp_33^post3 == 0 /\ -__disjvr_9^post3+__disjvr_9^0 == 0 /\ -i_111^post3+i_111^0 == 0 /\ -__disjvr_5^post3+__disjvr_5^0 == 0 /\ -r_37^post3+r_37^0 == 0 /\ result_11^0-result_11^post3 == 0 /\ a_130^0-a_130^post3 == 0 /\ -temp0_16^post3+temp0_16^0 == 0 /\ rcd_63^0-rcd_63^post3 == 0 /\ temp0_31^0-temp0_31^post3 == 0 /\ -a_152^post3+a_152^0 == 0 /\ -__disjvr_11^post3+__disjvr_11^0 == 0 /\ d_29^0-d_29^post3 == 0 /\ x_21^0-x_21^post3 == 0 /\ a_28^0-a_28^post3 == 0 /\ -__disjvr_12^post3+__disjvr_12^0 == 0 /\ __disjvr_7^0-__disjvr_7^post3 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post3 == 0 /\ __disjvr_3^0-__disjvr_3^post3 == 0 /\ x_32^0-x_32^post3 == 0 /\ __disjvr_1^0-__disjvr_1^post3 == 0), cost: 1 1: l2 -> l3 : __disjvr_0^0'=__disjvr_0^post1, x_21^0'=x_21^post1, a_130^0'=a_130^post1, rcd_63^0'=rcd_63^post1, __disjvr_2^0'=__disjvr_2^post1, a_28^0'=a_28^post1, temp0_31^0'=temp0_31^post1, tmp_27^0'=tmp_27^post1, __disjvr_7^0'=__disjvr_7^post1, len_14^0'=len_14^post1, __disjvr_11^0'=__disjvr_11^post1, x_SLAM_f_19^0'=x_SLAM_f_19^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post1, __disjvr_4^0'=__disjvr_4^post1, d_29^0'=d_29^post1, x_17^0'=x_17^post1, __disjvr_9^0'=__disjvr_9^post1, rcd_100^0'=rcd_100^post1, __disjvr_1^0'=__disjvr_1^post1, a_175^0'=a_175^post1, temp0_16^0'=temp0_16^post1, __disjvr_6^0'=__disjvr_6^post1, i_13^0'=i_13^post1, __disjvr_10^0'=__disjvr_10^post1, x_32^0'=x_32^post1, a_152^0'=a_152^post1, result_11^0'=result_11^post1, __disjvr_3^0'=__disjvr_3^post1, ct_18^0'=ct_18^post1, temp_33^0'=temp_33^post1, x_15^0'=x_15^post1, __disjvr_8^0'=__disjvr_8^post1, r_37^0'=r_37^post1, __disjvr_12^0'=__disjvr_12^post1, y_20^0'=y_20^post1, t_24^0'=t_24^post1, __disjvr_5^0'=__disjvr_5^post1, i_111^0'=i_111^post1, (-__disjvr_0^0+__disjvr_0^post1 == 0 /\ -__disjvr_6^post1+__disjvr_6^0 == 0 /\ __disjvr_4^0-__disjvr_4^post1 == 0 /\ -__disjvr_3^post1+__disjvr_3^0 == 0 /\ -__disjvr_12^post1+__disjvr_12^0 == 0 /\ -rcd_100^post1+rcd_100^0 == 0 /\ __disjvr_11^0-__disjvr_11^post1 == 0 /\ temp0_31^0-temp0_31^post1 == 0 /\ -y_20^post1+y_20^0 == 0 /\ __disjvr_2^0-__disjvr_2^post1 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post1 == 0 /\ __disjvr_0^0-__disjvr_0^post1 == 0 /\ -i_111^post1+i_111^0 == 0 /\ -temp_33^post1+temp_33^0 == 0 /\ rcd_63^0-rcd_63^post1 == 0 /\ x_15^0-x_15^post1 == 0 /\ -a_175^post1+a_175^0 == 0 /\ __disjvr_10^0-__disjvr_10^post1 == 0 /\ -result_11^post1+result_11^0 == 0 /\ __disjvr_9^0-__disjvr_9^post1 == 0 /\ __disjvr_1^0-__disjvr_1^post1 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -a_152^post1+a_152^0 == 0 /\ -d_29^post1+d_29^0 == 0 /\ x_17^0-x_17^post1 == 0 /\ len_14^0-len_14^post1 == 0 /\ tmp_27^0-tmp_27^post1 == 0 /\ x_21^0-x_21^post1 == 0 /\ a_130^0-a_130^post1 == 0 /\ a_28^0-a_28^post1 == 0 /\ -ct_18^post1+ct_18^0 == 0 /\ -r_37^post1+r_37^0 == 0 /\ __disjvr_7^0-__disjvr_7^post1 == 0 /\ __disjvr_5^0-__disjvr_5^post1 == 0 /\ temp0_16^0-temp0_16^post1 == 0 /\ i_13^0-i_13^post1 == 0 /\ -t_24^post1+t_24^0 == 0 /\ -x_32^post1+x_32^0 == 0 /\ -__disjvr_8^post1+__disjvr_8^0 == 0), cost: 1 2: l3 -> l1 : __disjvr_0^0'=__disjvr_0^post2, x_21^0'=x_21^post2, a_130^0'=a_130^post2, rcd_63^0'=rcd_63^post2, __disjvr_2^0'=__disjvr_2^post2, a_28^0'=a_28^post2, temp0_31^0'=temp0_31^post2, tmp_27^0'=tmp_27^post2, __disjvr_7^0'=__disjvr_7^post2, len_14^0'=len_14^post2, __disjvr_11^0'=__disjvr_11^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post2, __disjvr_4^0'=__disjvr_4^post2, d_29^0'=d_29^post2, x_17^0'=x_17^post2, __disjvr_9^0'=__disjvr_9^post2, rcd_100^0'=rcd_100^post2, __disjvr_1^0'=__disjvr_1^post2, a_175^0'=a_175^post2, temp0_16^0'=temp0_16^post2, __disjvr_6^0'=__disjvr_6^post2, i_13^0'=i_13^post2, __disjvr_10^0'=__disjvr_10^post2, x_32^0'=x_32^post2, a_152^0'=a_152^post2, result_11^0'=result_11^post2, __disjvr_3^0'=__disjvr_3^post2, ct_18^0'=ct_18^post2, temp_33^0'=temp_33^post2, x_15^0'=x_15^post2, __disjvr_8^0'=__disjvr_8^post2, r_37^0'=r_37^post2, __disjvr_12^0'=__disjvr_12^post2, y_20^0'=y_20^post2, t_24^0'=t_24^post2, __disjvr_5^0'=__disjvr_5^post2, i_111^0'=i_111^post2, (__disjvr_4^0-__disjvr_4^post2 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post2 == 0 /\ -t_24^post2+t_24^0 == 0 /\ -x_32^post2+x_32^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ a_175^0-a_175^post2 == 0 /\ rcd_100^0-rcd_100^post2 == 0 /\ 1-len_14^0 <= 0 /\ -y_20^post2+y_20^0 == 0 /\ __disjvr_8^0-__disjvr_8^post2 == 0 /\ -ct_18^post2+ct_18^0 == 0 /\ __disjvr_2^0-__disjvr_2^post2 == 0 /\ tmp_27^0-tmp_27^post2 == 0 /\ __disjvr_10^0-__disjvr_10^post2 == 0 /\ 2-len_14^0 <= 0 /\ -__disjvr_11^post2+__disjvr_11^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ __disjvr_9^0-__disjvr_9^post2 == 0 /\ rcd_63^0-rcd_63^post2 == 0 /\ -temp_33^post2+temp_33^0 == 0 /\ x_15^0-x_15^post2 == 0 /\ -__disjvr_3^post2+__disjvr_3^0 == 0 /\ -i_111^post2+i_111^0 == 0 /\ x_17^0-x_17^post2 == 0 /\ -temp0_16^post2+temp0_16^0 == 0 /\ result_11^0-result_11^post2 == 0 /\ -a_152^post2+a_152^0 == 0 /\ len_14^0-len_14^post2 == 0 /\ temp0_31^0-temp0_31^post2 == 0 /\ -__disjvr_5^post2+__disjvr_5^0 == 0 /\ x_21^0-x_21^post2 == 0 /\ a_130^0-a_130^post2 == 0 /\ -r_37^post2+r_37^0 == 0 /\ -__disjvr_1^post2+__disjvr_1^0 == 0 /\ __disjvr_7^0-__disjvr_7^post2 == 0 /\ d_29^0-d_29^post2 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ -__disjvr_6^post2+__disjvr_6^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post2 == 0 /\ i_13^0-i_13^post2 == 0 /\ a_28^0-a_28^post2 == 0), cost: 1 4: l5 -> l6 : __disjvr_0^0'=__disjvr_0^post4, x_21^0'=x_21^post4, a_130^0'=a_130^post4, rcd_63^0'=rcd_63^post4, __disjvr_2^0'=__disjvr_2^post4, a_28^0'=a_28^post4, temp0_31^0'=temp0_31^post4, tmp_27^0'=tmp_27^post4, __disjvr_7^0'=__disjvr_7^post4, len_14^0'=len_14^post4, __disjvr_11^0'=__disjvr_11^post4, x_SLAM_f_19^0'=x_SLAM_f_19^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post4, __disjvr_4^0'=__disjvr_4^post4, d_29^0'=d_29^post4, x_17^0'=x_17^post4, __disjvr_9^0'=__disjvr_9^post4, rcd_100^0'=rcd_100^post4, __disjvr_1^0'=__disjvr_1^post4, a_175^0'=a_175^post4, temp0_16^0'=temp0_16^post4, __disjvr_6^0'=__disjvr_6^post4, i_13^0'=i_13^post4, __disjvr_10^0'=__disjvr_10^post4, x_32^0'=x_32^post4, a_152^0'=a_152^post4, result_11^0'=result_11^post4, __disjvr_3^0'=__disjvr_3^post4, ct_18^0'=ct_18^post4, temp_33^0'=temp_33^post4, x_15^0'=x_15^post4, __disjvr_8^0'=__disjvr_8^post4, r_37^0'=r_37^post4, __disjvr_12^0'=__disjvr_12^post4, y_20^0'=y_20^post4, t_24^0'=t_24^post4, __disjvr_5^0'=__disjvr_5^post4, i_111^0'=i_111^post4, (x_17^0-x_17^post4 == 0 /\ -x_15^post4+x_15^0 == 0 /\ __disjvr_11^0-__disjvr_11^post4 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post4 == 0 /\ -y_20^post4+y_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ d_29^0-d_29^post4 == 0 /\ -i_111^post4+i_111^0 == 0 /\ -__disjvr_4^post4+__disjvr_4^0 == 0 /\ __disjvr_2^0-__disjvr_2^post4 == 0 /\ rcd_63^0-rcd_63^post4 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ -rcd_100^post4+rcd_100^0 == 0 /\ i_13^0-i_13^post4 == 0 /\ __disjvr_12^0-__disjvr_12^post4 == 0 /\ -temp_33^post4+temp_33^0 == 0 /\ ct_18^0-ct_18^post4 == 0 /\ -__disjvr_3^post4+__disjvr_3^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -result_11^post4+result_11^0 == 0 /\ -__disjvr_1^0+__disjvr_1^post4 == 0 /\ -__disjvr_5^post4+__disjvr_5^0 == 0 /\ -a_152^post4+a_152^0 == 0 /\ len_14^0-len_14^post4 == 0 /\ -a_175^post4+a_175^0 == 0 /\ -r_37^post4+r_37^0 == 0 /\ temp0_31^0-temp0_31^post4 == 0 /\ tmp_27^0-tmp_27^post4 == 0 /\ x_21^0-x_21^post4 == 0 /\ a_130^0-a_130^post4 == 0 /\ __disjvr_1^0-__disjvr_1^post4 == 0 /\ temp0_16^0-temp0_16^post4 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -x_32^post4+x_32^0 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ a_28^0-a_28^post4 == 0 /\ -__disjvr_8^post4+__disjvr_8^0 == 0 /\ -t_24^post4+t_24^0 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0), cost: 1 5: l6 -> l7 : __disjvr_0^0'=__disjvr_0^post5, x_21^0'=x_21^post5, a_130^0'=a_130^post5, rcd_63^0'=rcd_63^post5, __disjvr_2^0'=__disjvr_2^post5, a_28^0'=a_28^post5, temp0_31^0'=temp0_31^post5, tmp_27^0'=tmp_27^post5, __disjvr_7^0'=__disjvr_7^post5, len_14^0'=len_14^post5, __disjvr_11^0'=__disjvr_11^post5, x_SLAM_f_19^0'=x_SLAM_f_19^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post5, __disjvr_4^0'=__disjvr_4^post5, d_29^0'=d_29^post5, x_17^0'=x_17^post5, __disjvr_9^0'=__disjvr_9^post5, rcd_100^0'=rcd_100^post5, __disjvr_1^0'=__disjvr_1^post5, a_175^0'=a_175^post5, temp0_16^0'=temp0_16^post5, __disjvr_6^0'=__disjvr_6^post5, i_13^0'=i_13^post5, __disjvr_10^0'=__disjvr_10^post5, x_32^0'=x_32^post5, a_152^0'=a_152^post5, result_11^0'=result_11^post5, __disjvr_3^0'=__disjvr_3^post5, ct_18^0'=ct_18^post5, temp_33^0'=temp_33^post5, x_15^0'=x_15^post5, __disjvr_8^0'=__disjvr_8^post5, r_37^0'=r_37^post5, __disjvr_12^0'=__disjvr_12^post5, y_20^0'=y_20^post5, t_24^0'=t_24^post5, __disjvr_5^0'=__disjvr_5^post5, i_111^0'=i_111^post5, (i_13^0-i_13^post5 == 0 /\ -temp_33^post5+temp_33^0 == 0 /\ -ct_18^post5+ct_18^0 == 0 /\ -x_32^post5+x_32^0 == 0 /\ -y_20^post5+y_20^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post5+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -x_SLAM_f_19^0+x_15^0 <= 0 /\ -ct_18^0 <= 0 /\ tmp_27^0-tmp_27^post5 == 0 /\ -x_15^post5+x_15^0 == 0 /\ -__disjvr_10^post5+__disjvr_10^0 == 0 /\ a_130^0-a_130^post5 == 0 /\ __disjvr_2^0-__disjvr_2^post5 == 0 /\ d_29^0-d_29^post5 == 0 /\ __disjvr_7^0-__disjvr_7^post5 == 0 /\ -__disjvr_3^post5+__disjvr_3^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ __disjvr_12^0-__disjvr_12^post5 == 0 /\ x_SLAM_f_19^0-x_15^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ -result_11^post5+result_11^0 == 0 /\ -r_37^post5+r_37^0 == 0 /\ rcd_100^0-rcd_100^post5 == 0 /\ -tmp_27^0+x_15^0 <= 0 /\ -x_21^0+t_24^post5 == 0 /\ a_175^0-a_175^post5 == 0 /\ __disjvr_4^0-__disjvr_4^post5 == 0 /\ -__disjvr_1^post5+__disjvr_1^0 == 0 /\ -temp0_16^post5+temp0_16^0 == 0 /\ -__disjvr_8^post5+__disjvr_8^0 == 0 /\ rcd_63^0-rcd_63^post5 == 0 /\ -i_111^post5+i_111^0 == 0 /\ __disjvr_11^0-__disjvr_11^post5 == 0 /\ -x_17^0+x_15^0 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post5 == 0 /\ -x_17^post5+x_17^0 == 0 /\ ct_18^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ -a_152^post5+a_152^0 == 0 /\ -__disjvr_6^post5+__disjvr_6^0 == 0 /\ tmp_27^0-x_15^0 <= 0 /\ temp0_31^0-temp0_31^post5 == 0 /\ x_21^0-x_21^post5 == 0 /\ __disjvr_9^0-__disjvr_9^post5 == 0 /\ a_28^0-a_28^post5 == 0 /\ y_20^0 <= 0 /\ -y_20^0 <= 0 /\ -__disjvr_5^post5+__disjvr_5^0 == 0 /\ -len_14^post5+len_14^0 == 0 /\ x_17^0-x_15^0 <= 0 /\ -ct_18^0+y_20^0 <= 0), cost: 1 6: l7 -> l8 : __disjvr_0^0'=__disjvr_0^post6, x_21^0'=x_21^post6, a_130^0'=a_130^post6, rcd_63^0'=rcd_63^post6, __disjvr_2^0'=__disjvr_2^post6, a_28^0'=a_28^post6, temp0_31^0'=temp0_31^post6, tmp_27^0'=tmp_27^post6, __disjvr_7^0'=__disjvr_7^post6, len_14^0'=len_14^post6, __disjvr_11^0'=__disjvr_11^post6, x_SLAM_f_19^0'=x_SLAM_f_19^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post6, __disjvr_4^0'=__disjvr_4^post6, d_29^0'=d_29^post6, x_17^0'=x_17^post6, __disjvr_9^0'=__disjvr_9^post6, rcd_100^0'=rcd_100^post6, __disjvr_1^0'=__disjvr_1^post6, a_175^0'=a_175^post6, temp0_16^0'=temp0_16^post6, __disjvr_6^0'=__disjvr_6^post6, i_13^0'=i_13^post6, __disjvr_10^0'=__disjvr_10^post6, x_32^0'=x_32^post6, a_152^0'=a_152^post6, result_11^0'=result_11^post6, __disjvr_3^0'=__disjvr_3^post6, ct_18^0'=ct_18^post6, temp_33^0'=temp_33^post6, x_15^0'=x_15^post6, __disjvr_8^0'=__disjvr_8^post6, r_37^0'=r_37^post6, __disjvr_12^0'=__disjvr_12^post6, y_20^0'=y_20^post6, t_24^0'=t_24^post6, __disjvr_5^0'=__disjvr_5^post6, i_111^0'=i_111^post6, (-x_15^post6+x_15^0 == 0 /\ -y_20^post6+y_20^0 == 0 /\ -t_24^post6+t_24^0 == 0 /\ __disjvr_6^0-__disjvr_6^post6 == 0 /\ tmp_27^0-tmp_27^post6 == 0 /\ rcd_63^0-rcd_63^post6 == 0 /\ a_130^0-a_130^post6 == 0 /\ -ct_18^post6+ct_18^0 == 0 /\ d_29^0-d_29^post6 == 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ x_21^0-x_21^post6 == 0 /\ -__disjvr_9^post6+__disjvr_9^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post6 == 0 /\ a_28^0-a_28^post6 == 0 /\ -i_111^post6+i_111^0 == 0 /\ a_175^0-a_175^post6 == 0 /\ -temp_33^post6+temp_33^0 == 0 /\ __disjvr_2^post6-__disjvr_2^0 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ -r_37^post6+r_37^0 == 0 /\ -__disjvr_8^post6+__disjvr_8^0 == 0 /\ x_32^0-x_32^post6 == 0 /\ -result_11^post6+result_11^0 == 0 /\ __disjvr_4^0-__disjvr_4^post6 == 0 /\ -a_152^post6+a_152^0 == 0 /\ __disjvr_7^0-__disjvr_7^post6 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post6 == 0 /\ rcd_100^0-rcd_100^post6 == 0 /\ temp0_31^0-temp0_31^post6 == 0 /\ __disjvr_11^0-__disjvr_11^post6 == 0 /\ -temp0_16^post6+temp0_16^0 == 0 /\ -__disjvr_12^post6+__disjvr_12^0 == 0 /\ -__disjvr_2^post6+__disjvr_2^0 == 0 /\ -len_14^post6+len_14^0 == 0 /\ __disjvr_10^0-__disjvr_10^post6 == 0 /\ -x_17^post6+x_17^0 == 0 /\ __disjvr_3^0-__disjvr_3^post6 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ -i_13^post6+i_13^0 == 0), cost: 1 7: l8 -> l9 : __disjvr_0^0'=__disjvr_0^post7, x_21^0'=x_21^post7, a_130^0'=a_130^post7, rcd_63^0'=rcd_63^post7, __disjvr_2^0'=__disjvr_2^post7, a_28^0'=a_28^post7, temp0_31^0'=temp0_31^post7, tmp_27^0'=tmp_27^post7, __disjvr_7^0'=__disjvr_7^post7, len_14^0'=len_14^post7, __disjvr_11^0'=__disjvr_11^post7, x_SLAM_f_19^0'=x_SLAM_f_19^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post7, __disjvr_4^0'=__disjvr_4^post7, d_29^0'=d_29^post7, x_17^0'=x_17^post7, __disjvr_9^0'=__disjvr_9^post7, rcd_100^0'=rcd_100^post7, __disjvr_1^0'=__disjvr_1^post7, a_175^0'=a_175^post7, temp0_16^0'=temp0_16^post7, __disjvr_6^0'=__disjvr_6^post7, i_13^0'=i_13^post7, __disjvr_10^0'=__disjvr_10^post7, x_32^0'=x_32^post7, a_152^0'=a_152^post7, result_11^0'=result_11^post7, __disjvr_3^0'=__disjvr_3^post7, ct_18^0'=ct_18^post7, temp_33^0'=temp_33^post7, x_15^0'=x_15^post7, __disjvr_8^0'=__disjvr_8^post7, r_37^0'=r_37^post7, __disjvr_12^0'=__disjvr_12^post7, y_20^0'=y_20^post7, t_24^0'=t_24^post7, __disjvr_5^0'=__disjvr_5^post7, i_111^0'=i_111^post7, (-y_20^post7+y_20^0 == 0 /\ -temp_33^post7+temp_33^0 == 0 /\ __disjvr_6^0-__disjvr_6^post7 == 0 /\ -rcd_100^post7+rcd_100^0 == 0 /\ x_17^0-x_17^post7 == 0 /\ -ct_18^post7+ct_18^0 == 0 /\ a_130^0-a_130^post7 == 0 /\ -x_15^post7+x_15^0 == 0 /\ rcd_63^0-rcd_63^post7 == 0 /\ len_14^0-len_14^post7 == 0 /\ -t_24^post7+t_24^0 == 0 /\ tmp_27^0-tmp_27^post7 == 0 /\ d_29^0-d_29^post7 == 0 /\ x_21^0-x_21^post7 == 0 /\ temp0_16^0-temp0_16^post7 == 0 /\ a_28^0-a_28^post7 == 0 /\ -__disjvr_4^post7+__disjvr_4^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post7 == 0 /\ -i_111^post7+i_111^0 == 0 /\ -__disjvr_9^post7+__disjvr_9^0 == 0 /\ -temp0_31^post7+temp0_31^0 == 0 /\ -r_37^post7+r_37^0 == 0 /\ -result_11^post7+result_11^0 == 0 /\ -__disjvr_5^post7+__disjvr_5^0 == 0 /\ -__disjvr_8^post7+__disjvr_8^0 == 0 /\ x_32^0-x_32^post7 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ -a_175^post7+a_175^0 == 0 /\ -__disjvr_3^0+__disjvr_3^post7 == 0 /\ -x_SLAM_f_19^post7+x_SLAM_f_19^0 == 0 /\ __disjvr_11^0-__disjvr_11^post7 == 0 /\ __disjvr_2^0-__disjvr_2^post7 == 0 /\ __disjvr_1^0-__disjvr_1^post7 == 0 /\ __disjvr_10^0-__disjvr_10^post7 == 0 /\ -i_13^post7+i_13^0 == 0 /\ a_152^0-a_152^post7 == 0 /\ __disjvr_3^0-__disjvr_3^post7 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0), cost: 1 8: l9 -> l4 : __disjvr_0^0'=__disjvr_0^post8, x_21^0'=x_21^post8, a_130^0'=a_130^post8, rcd_63^0'=rcd_63^post8, __disjvr_2^0'=__disjvr_2^post8, a_28^0'=a_28^post8, temp0_31^0'=temp0_31^post8, tmp_27^0'=tmp_27^post8, __disjvr_7^0'=__disjvr_7^post8, len_14^0'=len_14^post8, __disjvr_11^0'=__disjvr_11^post8, x_SLAM_f_19^0'=x_SLAM_f_19^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post8, __disjvr_4^0'=__disjvr_4^post8, d_29^0'=d_29^post8, x_17^0'=x_17^post8, __disjvr_9^0'=__disjvr_9^post8, rcd_100^0'=rcd_100^post8, __disjvr_1^0'=__disjvr_1^post8, a_175^0'=a_175^post8, temp0_16^0'=temp0_16^post8, __disjvr_6^0'=__disjvr_6^post8, i_13^0'=i_13^post8, __disjvr_10^0'=__disjvr_10^post8, x_32^0'=x_32^post8, a_152^0'=a_152^post8, result_11^0'=result_11^post8, __disjvr_3^0'=__disjvr_3^post8, ct_18^0'=ct_18^post8, temp_33^0'=temp_33^post8, x_15^0'=x_15^post8, __disjvr_8^0'=__disjvr_8^post8, r_37^0'=r_37^post8, __disjvr_12^0'=__disjvr_12^post8, y_20^0'=y_20^post8, t_24^0'=t_24^post8, __disjvr_5^0'=__disjvr_5^post8, i_111^0'=i_111^post8, (-x_32^post8+x_32^0 == 0 /\ i_13^0-i_13^post8 == 0 /\ len_14^0-i_13^0 <= 0 /\ a_130^0-a_130^post8 == 0 /\ -temp_33^post8+temp_33^0 == 0 /\ -t_24^post8+t_24^0 == 0 /\ r_37^0-r_37^post8 == 0 /\ 1-len_14^0 <= 0 /\ x_17^0-x_17^post8 == 0 /\ tmp_27^0-tmp_27^post8 == 0 /\ -__disjvr_4^post8+__disjvr_4^0 == 0 /\ d_29^0-d_29^post8 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ rcd_63^0-rcd_63^post8 == 0 /\ -__disjvr_10^post8+__disjvr_10^0 == 0 /\ -__disjvr_3^post8+__disjvr_3^0 == 0 /\ 2-len_14^0 <= 0 /\ x_21^0-x_21^post8 == 0 /\ -rcd_100^post8+rcd_100^0 == 0 /\ -x_SLAM_f_19^post8+x_SLAM_f_19^0 == 0 /\ a_28^0-a_28^post8 == 0 /\ -i_111^post8+i_111^0 == 0 /\ -a_175^post8+a_175^0 == 0 /\ -temp0_31^post8+temp0_31^0 == 0 /\ __disjvr_11^0-__disjvr_11^post8 == 0 /\ -__disjvr_8^post8+__disjvr_8^0 == 0 /\ __disjvr_7^0-__disjvr_7^post8 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ __disjvr_2^0-__disjvr_2^post8 == 0 /\ -result_11^post8+result_11^0 == 0 /\ -__disjvr_6^post8+__disjvr_6^0 == 0 /\ temp0_16^0-temp0_16^post8 == 0 /\ len_14^0-len_14^post8 == 0 /\ __disjvr_1^0-__disjvr_1^post8 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ a_152^0-a_152^post8 == 0 /\ -x_15^post8+x_15^0 == 0 /\ ct_18^0-ct_18^post8 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ -y_20^post8+y_20^0 == 0), cost: 1 17: l4 -> l1 : __disjvr_0^0'=__disjvr_0^post17, x_21^0'=x_21^post17, a_130^0'=a_130^post17, rcd_63^0'=rcd_63^post17, __disjvr_2^0'=__disjvr_2^post17, a_28^0'=a_28^post17, temp0_31^0'=temp0_31^post17, tmp_27^0'=tmp_27^post17, __disjvr_7^0'=__disjvr_7^post17, len_14^0'=len_14^post17, __disjvr_11^0'=__disjvr_11^post17, x_SLAM_f_19^0'=x_SLAM_f_19^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post17, __disjvr_4^0'=__disjvr_4^post17, d_29^0'=d_29^post17, x_17^0'=x_17^post17, __disjvr_9^0'=__disjvr_9^post17, rcd_100^0'=rcd_100^post17, __disjvr_1^0'=__disjvr_1^post17, a_175^0'=a_175^post17, temp0_16^0'=temp0_16^post17, __disjvr_6^0'=__disjvr_6^post17, i_13^0'=i_13^post17, __disjvr_10^0'=__disjvr_10^post17, x_32^0'=x_32^post17, a_152^0'=a_152^post17, result_11^0'=result_11^post17, __disjvr_3^0'=__disjvr_3^post17, ct_18^0'=ct_18^post17, temp_33^0'=temp_33^post17, x_15^0'=x_15^post17, __disjvr_8^0'=__disjvr_8^post17, r_37^0'=r_37^post17, __disjvr_12^0'=__disjvr_12^post17, y_20^0'=y_20^post17, t_24^0'=t_24^post17, __disjvr_5^0'=__disjvr_5^post17, i_111^0'=i_111^post17, (0 == 0 /\ -x_21^0+y_20^0 <= 0 /\ -__disjvr_5^post17+__disjvr_5^0 == 0 /\ -__disjvr_12^post17+__disjvr_12^0 == 0 /\ -x_15^post17+x_15^0 == 0 /\ -a_152^0 <= 0 /\ -__disjvr_8^post17+__disjvr_8^0 == 0 /\ -__disjvr_3^post17+__disjvr_3^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post17 == 0 /\ -a_152^post17+a_152^0 == 0 /\ -temp0_16^0+result_11^post17 == 0 /\ rcd_100^0-rcd_100^post17 == 0 /\ a_175^0-a_175^post17 == 0 /\ x_21^0-y_20^0 <= 0 /\ -temp_33^post17+temp_33^0 == 0 /\ -__disjvr_4^post17+__disjvr_4^0 == 0 /\ -__disjvr_10^post17+__disjvr_10^0 == 0 /\ i_13^0-i_13^post17 == 0 /\ __disjvr_0^0-__disjvr_0^post17 == 0 /\ -__disjvr_11^post17+__disjvr_11^0 == 0 /\ a_28^0-a_28^post17 == 0 /\ __disjvr_6^0-__disjvr_6^post17 == 0 /\ a_130^0-a_130^post17 == 0 /\ -temp0_16^post17+temp0_16^0 == 0 /\ 2-len_14^post17 <= 0 /\ d_29^0-d_29^post17 == 0 /\ 1-len_14^post17 <= 0 /\ __disjvr_7^0-__disjvr_7^post17 == 0 /\ -r_37^post17+r_37^0 == 0 /\ -i_111^post17+i_111^0 == 0 /\ __disjvr_1^0-__disjvr_1^post17 == 0 /\ __disjvr_9^0-__disjvr_9^post17 == 0 /\ rcd_63^0-rcd_63^post17 == 0 /\ temp0_31^0-temp0_31^post17 == 0 /\ __disjvr_2^0-__disjvr_2^post17 == 0 /\ tmp_27^0-tmp_27^post17 == 0 /\ -x_32^post17+x_32^0 == 0), cost: 1 18: l4 -> l20 : __disjvr_0^0'=__disjvr_0^post18, x_21^0'=x_21^post18, a_130^0'=a_130^post18, rcd_63^0'=rcd_63^post18, __disjvr_2^0'=__disjvr_2^post18, a_28^0'=a_28^post18, temp0_31^0'=temp0_31^post18, tmp_27^0'=tmp_27^post18, __disjvr_7^0'=__disjvr_7^post18, len_14^0'=len_14^post18, __disjvr_11^0'=__disjvr_11^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18, __disjvr_4^0'=__disjvr_4^post18, d_29^0'=d_29^post18, x_17^0'=x_17^post18, __disjvr_9^0'=__disjvr_9^post18, rcd_100^0'=rcd_100^post18, __disjvr_1^0'=__disjvr_1^post18, a_175^0'=a_175^post18, temp0_16^0'=temp0_16^post18, __disjvr_6^0'=__disjvr_6^post18, i_13^0'=i_13^post18, __disjvr_10^0'=__disjvr_10^post18, x_32^0'=x_32^post18, a_152^0'=a_152^post18, result_11^0'=result_11^post18, __disjvr_3^0'=__disjvr_3^post18, ct_18^0'=ct_18^post18, temp_33^0'=temp_33^post18, x_15^0'=x_15^post18, __disjvr_8^0'=__disjvr_8^post18, r_37^0'=r_37^post18, __disjvr_12^0'=__disjvr_12^post18, y_20^0'=y_20^post18, t_24^0'=t_24^post18, __disjvr_5^0'=__disjvr_5^post18, i_111^0'=i_111^post18, (0 == 0 /\ -__disjvr_9^post18+__disjvr_9^0 == 0 /\ a_175^0-a_175^post18 == 0 /\ -a_152^0 <= 0 /\ -i_111^post18+i_111^0 == 0 /\ rcd_100^0-rcd_100^post18 == 0 /\ x_21^0-x_21^post18 == 0 /\ temp0_31^0-temp0_31^post18 == 0 /\ -__disjvr_8^post18+__disjvr_8^0 == 0 /\ temp_33^0-temp_33^post18 == 0 /\ -__disjvr_12^post18+__disjvr_12^0 == 0 /\ -y_20^post18+y_20^0 == 0 /\ __disjvr_3^0-__disjvr_3^post18 == 0 /\ -__disjvr_5^post18+__disjvr_5^0 == 0 /\ a_28^0-a_28^post18 == 0 /\ __disjvr_4^0-__disjvr_4^post18 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18 == 0 /\ a_152^0-a_152^post18 == 0 /\ result_11^0-result_11^post18 == 0 /\ -__disjvr_10^post18+__disjvr_10^0 == 0 /\ __disjvr_0^0-__disjvr_0^post18 == 0 /\ -__disjvr_1^post18+__disjvr_1^0 == 0 /\ __disjvr_7^0-__disjvr_7^post18 == 0 /\ -t_24^post18+t_24^0 == 0 /\ __disjvr_11^0-__disjvr_11^post18 == 0 /\ __disjvr_2^0-__disjvr_2^post18 == 0 /\ d_29^0-d_29^post18 == 0 /\ a_130^0-a_130^post18 == 0 /\ rcd_63^0-rcd_63^post18 == 0 /\ -temp0_16^post18+temp0_16^0 == 0 /\ x_32^0-x_32^post18 == 0 /\ __disjvr_6^0-__disjvr_6^post18 == 0), cost: 1 9: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post9, x_21^0'=x_21^post9, a_130^0'=a_130^post9, rcd_63^0'=rcd_63^post9, __disjvr_2^0'=__disjvr_2^post9, a_28^0'=a_28^post9, temp0_31^0'=temp0_31^post9, tmp_27^0'=tmp_27^post9, __disjvr_7^0'=__disjvr_7^post9, len_14^0'=len_14^post9, __disjvr_11^0'=__disjvr_11^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9, __disjvr_4^0'=__disjvr_4^post9, d_29^0'=d_29^post9, x_17^0'=x_17^post9, __disjvr_9^0'=__disjvr_9^post9, rcd_100^0'=rcd_100^post9, __disjvr_1^0'=__disjvr_1^post9, a_175^0'=a_175^post9, temp0_16^0'=temp0_16^post9, __disjvr_6^0'=__disjvr_6^post9, i_13^0'=i_13^post9, __disjvr_10^0'=__disjvr_10^post9, x_32^0'=x_32^post9, a_152^0'=a_152^post9, result_11^0'=result_11^post9, __disjvr_3^0'=__disjvr_3^post9, ct_18^0'=ct_18^post9, temp_33^0'=temp_33^post9, x_15^0'=x_15^post9, __disjvr_8^0'=__disjvr_8^post9, r_37^0'=r_37^post9, __disjvr_12^0'=__disjvr_12^post9, y_20^0'=y_20^post9, t_24^0'=t_24^post9, __disjvr_5^0'=__disjvr_5^post9, i_111^0'=i_111^post9, (-x_32^post9+x_32^0 == 0 /\ -temp_33^post9+temp_33^0 == 0 /\ -ct_18^post9+ct_18^0 == 0 /\ -y_20^post9+y_20^0 == 0 /\ rcd_63^0-rcd_63^post9 == 0 /\ tmp_27^0-tmp_27^post9 == 0 /\ -t_24^post9+t_24^0 == 0 /\ a_130^0-a_130^post9 == 0 /\ d_29^0-d_29^post9 == 0 /\ __disjvr_7^0-__disjvr_7^post9 == 0 /\ __disjvr_10^0-__disjvr_10^post9 == 0 /\ __disjvr_1^0-__disjvr_1^post9 == 0 /\ x_21^0-x_21^post9 == 0 /\ temp0_31^0-temp0_31^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9 == 0 /\ -__disjvr_3^post9+__disjvr_3^0 == 0 /\ a_28^0-a_28^post9 == 0 /\ -rcd_100^post9+rcd_100^0 == 0 /\ -i_13^post9 <= 0 /\ -r_37^post9+r_37^0 == 0 /\ i_13^post9 <= 0 /\ i_13^post9 == 0 /\ -__disjvr_8^post9+__disjvr_8^0 == 0 /\ __disjvr_4^0-__disjvr_4^post9 == 0 /\ -result_11^post9+result_11^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post9 == 0 /\ -i_111^post9+i_111^0 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ x_17^0-x_17^post9 == 0 /\ -temp0_16^post9+temp0_16^0 == 0 /\ -__disjvr_6^post9+__disjvr_6^0 == 0 /\ -__disjvr_2^post9+__disjvr_2^0 == 0 /\ -a_152^post9+a_152^0 == 0 /\ x_15^post9 <= 0 /\ x_15^post9 == 0 /\ -x_15^post9 <= 0 /\ -len_14^post9+len_14^0 == 0 /\ -__disjvr_12^post9+__disjvr_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post9 == 0 /\ a_175^0-a_175^post9 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0), cost: 1 33: l11 -> l1 : __disjvr_0^0'=__disjvr_0^post33, x_21^0'=x_21^post33, a_130^0'=a_130^post33, rcd_63^0'=rcd_63^post33, __disjvr_2^0'=__disjvr_2^post33, a_28^0'=a_28^post33, temp0_31^0'=temp0_31^post33, tmp_27^0'=tmp_27^post33, __disjvr_7^0'=__disjvr_7^post33, len_14^0'=len_14^post33, __disjvr_11^0'=__disjvr_11^post33, x_SLAM_f_19^0'=x_SLAM_f_19^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33, __disjvr_4^0'=__disjvr_4^post33, d_29^0'=d_29^post33, x_17^0'=x_17^post33, __disjvr_9^0'=__disjvr_9^post33, rcd_100^0'=rcd_100^post33, __disjvr_1^0'=__disjvr_1^post33, a_175^0'=a_175^post33, temp0_16^0'=temp0_16^post33, __disjvr_6^0'=__disjvr_6^post33, i_13^0'=i_13^post33, __disjvr_10^0'=__disjvr_10^post33, x_32^0'=x_32^post33, a_152^0'=a_152^post33, result_11^0'=result_11^post33, __disjvr_3^0'=__disjvr_3^post33, ct_18^0'=ct_18^post33, temp_33^0'=temp_33^post33, x_15^0'=x_15^post33, __disjvr_8^0'=__disjvr_8^post33, r_37^0'=r_37^post33, __disjvr_12^0'=__disjvr_12^post33, y_20^0'=y_20^post33, t_24^0'=t_24^post33, __disjvr_5^0'=__disjvr_5^post33, i_111^0'=i_111^post33, (0 == 0 /\ temp_33^0-temp_33^post33 == 0 /\ -x_32^post33+x_32^0 == 0 /\ x_SLAM_f_19^150 <= 0 /\ len_14^0-i_13^0 <= 0 /\ a_175^0-a_175^post33 == 0 /\ ct_18^15 <= 0 /\ ct_18^15 == 0 /\ -__disjvr_5^post33+__disjvr_5^0 == 0 /\ ct_18^15-y_20^130 <= 0 /\ x_15^0-x_17^120 <= 0 /\ __disjvr_7^0-__disjvr_7^post33 == 0 /\ x_SLAM_f_19^150-x_21^130 <= 0 /\ __disjvr_2^0-__disjvr_2^post33 == 0 /\ y_20^130-x_21^130 <= 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ x_SLAM_f_19^150-x_17^120 <= 0 /\ x_SLAM_f_19^150-x_17^120 == 0 /\ -d_29^post33+d_29^0 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ -x_SLAM_f_19^150 <= 0 /\ y_20^130 <= 0 /\ -__disjvr_8^post33+__disjvr_8^0 == 0 /\ -x_15^post33+x_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post33 == 0 /\ -rcd_100^post33+rcd_100^0 == 0 /\ -ct_18^15+y_20^130 <= 0 /\ -ct_18^15+y_20^130 == 0 /\ -x_15^0+x_17^120 <= 0 /\ -x_15^0+x_17^120 == 0 /\ a_130^0-a_130^post33 == 0 /\ -a_152^post33+a_152^0 == 0 /\ len_14^post33 <= 0 /\ -x_SLAM_f_19^150+x_21^130 <= 0 /\ -x_SLAM_f_19^150+x_21^130 == 0 /\ -ct_18^15 <= 0 /\ a_28^0-a_28^post33 == 0 /\ -i_13^0 <= 0 /\ -__disjvr_3^post33+__disjvr_3^0 == 0 /\ __disjvr_11^0-__disjvr_11^post33 == 0 /\ -y_20^130+x_21^130 <= 0 /\ -x_SLAM_f_19^150+x_17^120 <= 0 /\ __disjvr_6^0-__disjvr_6^post33 == 0 /\ i_13^0-i_13^post33 == 0 /\ temp0_16^0-temp0_16^post33 == 0 /\ i_13^0 <= 0 /\ -i_111^post33+i_111^0 == 0 /\ -temp0_16^0+result_11^post33 == 0 /\ -x_21^130 <= 0 /\ rcd_63^0-rcd_63^post33 == 0 /\ -x_17^120 <= 0 /\ x_15^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post33 == 0 /\ -y_20^130 <= 0 /\ __disjvr_1^0-__disjvr_1^post33 == 0 /\ -x_15^0 <= 0 /\ tmp_27^0-tmp_27^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0 /\ -r_37^post33+r_37^0 == 0 /\ x_17^120 <= 0 /\ temp0_31^0-temp0_31^post33 == 0 /\ x_21^130 <= 0), cost: 1 34: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post34, x_21^0'=x_21^post34, a_130^0'=a_130^post34, rcd_63^0'=rcd_63^post34, __disjvr_2^0'=__disjvr_2^post34, a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, tmp_27^0'=tmp_27^post34, __disjvr_7^0'=__disjvr_7^post34, len_14^0'=len_14^post34, __disjvr_11^0'=__disjvr_11^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, __disjvr_4^0'=__disjvr_4^post34, d_29^0'=d_29^post34, x_17^0'=x_17^post34, __disjvr_9^0'=__disjvr_9^post34, rcd_100^0'=rcd_100^post34, __disjvr_1^0'=__disjvr_1^post34, a_175^0'=a_175^post34, temp0_16^0'=temp0_16^post34, __disjvr_6^0'=__disjvr_6^post34, i_13^0'=i_13^post34, __disjvr_10^0'=__disjvr_10^post34, x_32^0'=x_32^post34, a_152^0'=a_152^post34, result_11^0'=result_11^post34, __disjvr_3^0'=__disjvr_3^post34, ct_18^0'=ct_18^post34, temp_33^0'=temp_33^post34, x_15^0'=x_15^post34, __disjvr_8^0'=__disjvr_8^post34, r_37^0'=r_37^post34, __disjvr_12^0'=__disjvr_12^post34, y_20^0'=y_20^post34, t_24^0'=t_24^post34, __disjvr_5^0'=__disjvr_5^post34, i_111^0'=i_111^post34, (0 == 0 /\ __disjvr_7^0-__disjvr_7^post34 == 0 /\ 1-len_14^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post34 == 0 /\ len_14^0-len_14^post34 == 0 /\ -x_17^post34+x_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ x_21^0-x_21^post34 == 0 /\ -r_37^post34+r_37^0 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -ct_18^post34+ct_18^0 == 0 /\ -i_111^post34+i_111^0 == 0 /\ a_130^0-a_130^post34 == 0 /\ -t_24^post34+t_24^0 == 0 /\ temp0_31^120-x_32^120 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ -x_SLAM_f_19^post34+x_SLAM_f_19^0 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ -__disjvr_9^post34+__disjvr_9^0 == 0 /\ __disjvr_11^0-__disjvr_11^post34 == 0 /\ -temp0_31^120+result_11^120 == 0 /\ a_175^0-a_175^post34 == 0 /\ -rcd_63^post34+rcd_63^0 == 0 /\ a_152^0-a_152^post34 == 0 /\ __disjvr_2^0-__disjvr_2^post34 == 0 /\ d_29^120-x_15^0 == 0 /\ -__disjvr_10^post34+__disjvr_10^0 == 0 /\ -tmp_27^post34+x_15^post34 <= 0 /\ -tmp_27^post34+x_15^post34 == 0 /\ 1-i_13^post34 <= 0 /\ -1+i_13^post34 <= 0 /\ x_32^120-temp_33^0 == 0 /\ tmp_27^post34-result_11^120 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ rcd_100^0-rcd_100^post34 == 0 /\ -y_20^post34+y_20^0 == 0 /\ -1-i_13^0+i_13^post34 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -__disjvr_8^post34+__disjvr_8^0 == 0 /\ a_28^12-i_13^0 == 0 /\ tmp_27^post34-x_15^post34 <= 0), cost: 1 10: l12 -> l13 : __disjvr_0^0'=__disjvr_0^post10, x_21^0'=x_21^post10, a_130^0'=a_130^post10, rcd_63^0'=rcd_63^post10, __disjvr_2^0'=__disjvr_2^post10, a_28^0'=a_28^post10, temp0_31^0'=temp0_31^post10, tmp_27^0'=tmp_27^post10, __disjvr_7^0'=__disjvr_7^post10, len_14^0'=len_14^post10, __disjvr_11^0'=__disjvr_11^post10, x_SLAM_f_19^0'=x_SLAM_f_19^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post10, __disjvr_4^0'=__disjvr_4^post10, d_29^0'=d_29^post10, x_17^0'=x_17^post10, __disjvr_9^0'=__disjvr_9^post10, rcd_100^0'=rcd_100^post10, __disjvr_1^0'=__disjvr_1^post10, a_175^0'=a_175^post10, temp0_16^0'=temp0_16^post10, __disjvr_6^0'=__disjvr_6^post10, i_13^0'=i_13^post10, __disjvr_10^0'=__disjvr_10^post10, x_32^0'=x_32^post10, a_152^0'=a_152^post10, result_11^0'=result_11^post10, __disjvr_3^0'=__disjvr_3^post10, ct_18^0'=ct_18^post10, temp_33^0'=temp_33^post10, x_15^0'=x_15^post10, __disjvr_8^0'=__disjvr_8^post10, r_37^0'=r_37^post10, __disjvr_12^0'=__disjvr_12^post10, y_20^0'=y_20^post10, t_24^0'=t_24^post10, __disjvr_5^0'=__disjvr_5^post10, i_111^0'=i_111^post10, (0 == 0 /\ a_28^0-a_28^post10 == 0 /\ -rcd_100^post10+rcd_100^0 == 0 /\ x_15^0-x_21^post10 <= 0 /\ __disjvr_11^0-__disjvr_11^post10 == 0 /\ rcd_63^0-rcd_63^post10 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_32^0-x_32^post10 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ -t_24^post10+t_24^0 == 0 /\ x_17^10-x_SLAM_f_19^110 <= 0 /\ -__disjvr_10^post10+__disjvr_10^0 == 0 /\ 1-len_14^0 <= 0 /\ -1+len_14^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post10 == 0 /\ -tmp_27^10+x_15^0 <= 0 /\ -y_20^post10+ct_18^11 <= 0 /\ -d_29^post10+d_29^0 == 0 /\ -x_15^0+x_21^post10 <= 0 /\ -a_175^post10+a_175^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ -__disjvr_9^post10+__disjvr_9^0 == 0 /\ -temp0_16^post10+temp0_16^0 == 0 /\ -x_17^10+x_SLAM_f_19^110 <= 0 /\ -x_17^10+x_SLAM_f_19^110 == 0 /\ -__disjvr_3^post10+__disjvr_3^0 == 0 /\ __disjvr_6^0-__disjvr_6^post10 == 0 /\ -i_111^post10+i_111^0 == 0 /\ 1-i_13^0 <= 0 /\ -1+i_13^0 <= 0 /\ temp_33^0-temp_33^post10 == 0 /\ __disjvr_2^0-__disjvr_2^post10 == 0 /\ -a_152^post10+a_152^0 == 0 /\ tmp_27^10-x_15^0 <= 0 /\ -result_11^post10+result_11^0 == 0 /\ -__disjvr_8^post10+__disjvr_8^0 == 0 /\ y_20^post10-ct_18^11 <= 0 /\ y_20^post10-ct_18^11 == 0 /\ -ct_18^11 <= 0 /\ -x_SLAM_f_19^110+x_15^0 <= 0 /\ temp0_31^0-temp0_31^post10 == 0 /\ a_130^0-a_130^post10 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post10 == 0 /\ x_SLAM_f_19^110-x_21^post10 <= 0 /\ -__disjvr_5^post10+__disjvr_5^0 == 0 /\ -x_17^10+x_15^0 <= 0 /\ y_20^post10 <= 0 /\ x_SLAM_f_19^110-x_15^0 <= 0 /\ -r_37^post10+r_37^0 == 0 /\ -x_SLAM_f_19^110+x_21^post10 <= 0 /\ -x_SLAM_f_19^110+x_21^post10 == 0 /\ __disjvr_1^0-__disjvr_1^post10 == 0 /\ ct_18^11 <= 0 /\ ct_18^11 == 0 /\ x_17^10-x_15^0 <= 0 /\ x_17^10-x_15^0 == 0 /\ -y_20^post10 <= 0 /\ -__disjvr_7^post10+__disjvr_7^0 == 0), cost: 1 16: l12 -> l18 : __disjvr_0^0'=__disjvr_0^post16, x_21^0'=x_21^post16, a_130^0'=a_130^post16, rcd_63^0'=rcd_63^post16, __disjvr_2^0'=__disjvr_2^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, tmp_27^0'=tmp_27^post16, __disjvr_7^0'=__disjvr_7^post16, len_14^0'=len_14^post16, __disjvr_11^0'=__disjvr_11^post16, x_SLAM_f_19^0'=x_SLAM_f_19^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, __disjvr_4^0'=__disjvr_4^post16, d_29^0'=d_29^post16, x_17^0'=x_17^post16, __disjvr_9^0'=__disjvr_9^post16, rcd_100^0'=rcd_100^post16, __disjvr_1^0'=__disjvr_1^post16, a_175^0'=a_175^post16, temp0_16^0'=temp0_16^post16, __disjvr_6^0'=__disjvr_6^post16, i_13^0'=i_13^post16, __disjvr_10^0'=__disjvr_10^post16, x_32^0'=x_32^post16, a_152^0'=a_152^post16, result_11^0'=result_11^post16, __disjvr_3^0'=__disjvr_3^post16, ct_18^0'=ct_18^post16, temp_33^0'=temp_33^post16, x_15^0'=x_15^post16, __disjvr_8^0'=__disjvr_8^post16, r_37^0'=r_37^post16, __disjvr_12^0'=__disjvr_12^post16, y_20^0'=y_20^post16, t_24^0'=t_24^post16, __disjvr_5^0'=__disjvr_5^post16, i_111^0'=i_111^post16, (0 == 0 /\ -__disjvr_6^post16+__disjvr_6^0 == 0 /\ 2-i_13^post16 <= 0 /\ x_21^0-x_21^post16 == 0 /\ -1-i_13^0+i_13^post16 == 0 /\ __disjvr_2^0-__disjvr_2^post16 == 0 /\ -__disjvr_8^post16+__disjvr_8^0 == 0 /\ -__disjvr_3^post16+__disjvr_3^0 == 0 /\ -__disjvr_12^post16+__disjvr_12^0 == 0 /\ a_130^0-a_130^post16 == 0 /\ 1-len_14^0 <= 0 /\ -i_13^0+a_28^10 == 0 /\ -y_20^post16+y_20^0 == 0 /\ -i_111^post16+i_111^0 == 0 /\ -rcd_100^post16+rcd_100^0 == 0 /\ tmp_27^post16-result_11^10 == 0 /\ -x_15^post16+tmp_27^post16 <= 0 /\ temp0_31^10-x_32^10 == 0 /\ __disjvr_10^0-__disjvr_10^post16 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ d_29^10-x_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ 2-len_14^0 <= 0 /\ -a_175^post16+a_175^0 == 0 /\ __disjvr_1^0-__disjvr_1^post16 == 0 /\ x_32^10-temp_33^0 == 0 /\ x_17^0-x_17^post16 == 0 /\ x_15^post16-tmp_27^post16 <= 0 /\ x_15^post16-tmp_27^post16 == 0 /\ -__disjvr_5^post16+__disjvr_5^0 == 0 /\ __disjvr_4^0-__disjvr_4^post16 == 0 /\ -temp0_31^10+result_11^10 == 0 /\ -a_152^post16+a_152^0 == 0 /\ ct_18^0-ct_18^post16 == 0 /\ -2+i_13^post16 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post16 == 0 /\ __disjvr_11^0-__disjvr_11^post16 == 0 /\ __disjvr_0^0-__disjvr_0^post16 == 0 /\ -r_37^post16+r_37^0 == 0 /\ -t_24^post16+t_24^0 == 0 /\ -len_14^post16+len_14^0 == 0 /\ temp0_16^0-temp0_16^post16 == 0 /\ __disjvr_7^0-__disjvr_7^post16 == 0), cost: 1 11: l13 -> l14 : __disjvr_0^0'=__disjvr_0^post11, x_21^0'=x_21^post11, a_130^0'=a_130^post11, rcd_63^0'=rcd_63^post11, __disjvr_2^0'=__disjvr_2^post11, a_28^0'=a_28^post11, temp0_31^0'=temp0_31^post11, tmp_27^0'=tmp_27^post11, __disjvr_7^0'=__disjvr_7^post11, len_14^0'=len_14^post11, __disjvr_11^0'=__disjvr_11^post11, x_SLAM_f_19^0'=x_SLAM_f_19^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post11, __disjvr_4^0'=__disjvr_4^post11, d_29^0'=d_29^post11, x_17^0'=x_17^post11, __disjvr_9^0'=__disjvr_9^post11, rcd_100^0'=rcd_100^post11, __disjvr_1^0'=__disjvr_1^post11, a_175^0'=a_175^post11, temp0_16^0'=temp0_16^post11, __disjvr_6^0'=__disjvr_6^post11, i_13^0'=i_13^post11, __disjvr_10^0'=__disjvr_10^post11, x_32^0'=x_32^post11, a_152^0'=a_152^post11, result_11^0'=result_11^post11, __disjvr_3^0'=__disjvr_3^post11, ct_18^0'=ct_18^post11, temp_33^0'=temp_33^post11, x_15^0'=x_15^post11, __disjvr_8^0'=__disjvr_8^post11, r_37^0'=r_37^post11, __disjvr_12^0'=__disjvr_12^post11, y_20^0'=y_20^post11, t_24^0'=t_24^post11, __disjvr_5^0'=__disjvr_5^post11, i_111^0'=i_111^post11, (-x_15^post11+x_15^0 == 0 /\ i_13^0-i_13^post11 == 0 /\ -t_24^post11+t_24^0 == 0 /\ a_130^0-a_130^post11 == 0 /\ -x_32^post11+x_32^0 == 0 /\ -temp_33^post11+temp_33^0 == 0 /\ x_17^0-x_17^post11 == 0 /\ -__disjvr_10^post11+__disjvr_10^0 == 0 /\ tmp_27^0-tmp_27^post11 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -__disjvr_4^post11+__disjvr_4^0 == 0 /\ len_14^0-len_14^post11 == 0 /\ -ct_18^post11+ct_18^0 == 0 /\ d_29^0-d_29^post11 == 0 /\ rcd_63^0-rcd_63^post11 == 0 /\ x_21^0-x_21^post11 == 0 /\ a_28^0-a_28^post11 == 0 /\ -rcd_100^post11+rcd_100^0 == 0 /\ -__disjvr_3^post11+__disjvr_3^0 == 0 /\ __disjvr_4^post11-__disjvr_4^0 == 0 /\ -temp0_31^post11+temp0_31^0 == 0 /\ -a_175^post11+a_175^0 == 0 /\ -result_11^post11+result_11^0 == 0 /\ -r_37^post11+r_37^0 == 0 /\ -__disjvr_12^post11+__disjvr_12^0 == 0 /\ __disjvr_7^0-__disjvr_7^post11 == 0 /\ __disjvr_2^0-__disjvr_2^post11 == 0 /\ -__disjvr_8^post11+__disjvr_8^0 == 0 /\ -x_SLAM_f_19^post11+x_SLAM_f_19^0 == 0 /\ temp0_16^0-temp0_16^post11 == 0 /\ -i_111^post11+i_111^0 == 0 /\ __disjvr_11^0-__disjvr_11^post11 == 0 /\ -__disjvr_6^post11+__disjvr_6^0 == 0 /\ a_152^0-a_152^post11 == 0 /\ __disjvr_9^0-__disjvr_9^post11 == 0 /\ __disjvr_1^0-__disjvr_1^post11 == 0 /\ -__disjvr_5^post11+__disjvr_5^0 == 0 /\ -y_20^post11+y_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post11 == 0), cost: 1 12: l14 -> l15 : __disjvr_0^0'=__disjvr_0^post12, x_21^0'=x_21^post12, a_130^0'=a_130^post12, rcd_63^0'=rcd_63^post12, __disjvr_2^0'=__disjvr_2^post12, a_28^0'=a_28^post12, temp0_31^0'=temp0_31^post12, tmp_27^0'=tmp_27^post12, __disjvr_7^0'=__disjvr_7^post12, len_14^0'=len_14^post12, __disjvr_11^0'=__disjvr_11^post12, x_SLAM_f_19^0'=x_SLAM_f_19^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post12, __disjvr_4^0'=__disjvr_4^post12, d_29^0'=d_29^post12, x_17^0'=x_17^post12, __disjvr_9^0'=__disjvr_9^post12, rcd_100^0'=rcd_100^post12, __disjvr_1^0'=__disjvr_1^post12, a_175^0'=a_175^post12, temp0_16^0'=temp0_16^post12, __disjvr_6^0'=__disjvr_6^post12, i_13^0'=i_13^post12, __disjvr_10^0'=__disjvr_10^post12, x_32^0'=x_32^post12, a_152^0'=a_152^post12, result_11^0'=result_11^post12, __disjvr_3^0'=__disjvr_3^post12, ct_18^0'=ct_18^post12, temp_33^0'=temp_33^post12, x_15^0'=x_15^post12, __disjvr_8^0'=__disjvr_8^post12, r_37^0'=r_37^post12, __disjvr_12^0'=__disjvr_12^post12, y_20^0'=y_20^post12, t_24^0'=t_24^post12, __disjvr_5^0'=__disjvr_5^post12, i_111^0'=i_111^post12, (-__disjvr_10^post12+__disjvr_10^0 == 0 /\ -x_15^0+t_24^post12 <= 0 /\ x_21^0 <= 0 /\ -ct_18^post12+ct_18^0 == 0 /\ -x_21^0+t_24^post12 == 0 /\ -y_20^post12+y_20^0 == 0 /\ i_13^0-i_13^post12 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ a_130^0-a_130^post12 == 0 /\ -x_SLAM_f_19^0+x_15^0 <= 0 /\ 1-len_14^0 <= 0 /\ -1+len_14^0 <= 0 /\ -x_32^post12+x_32^0 == 0 /\ rcd_63^0-rcd_63^post12 == 0 /\ -ct_18^0 <= 0 /\ temp0_31^0-temp0_31^post12 == 0 /\ tmp_27^0-tmp_27^post12 == 0 /\ -x_15^post12+x_15^0 == 0 /\ -temp_33^post12+temp_33^0 == 0 /\ x_15^0-t_24^post12 <= 0 /\ d_29^0-d_29^post12 == 0 /\ x_21^0-x_21^post12 == 0 /\ a_28^0-a_28^post12 == 0 /\ __disjvr_7^0-__disjvr_7^post12 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post12 == 0 /\ -x_21^0 <= 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ x_SLAM_f_19^0-x_15^0 <= 0 /\ -__disjvr_3^post12+__disjvr_3^0 == 0 /\ 1-i_13^0 <= 0 /\ -1+i_13^0 <= 0 /\ -__disjvr_8^post12+__disjvr_8^0 == 0 /\ -tmp_27^0+x_15^0 <= 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ -result_11^post12+result_11^0 == 0 /\ -r_37^post12+r_37^0 == 0 /\ __disjvr_4^0-__disjvr_4^post12 == 0 /\ -x_17^post12+x_17^0 == 0 /\ -i_111^post12+i_111^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post12 == 0 /\ -temp0_16^post12+temp0_16^0 == 0 /\ rcd_100^0-rcd_100^post12 == 0 /\ __disjvr_11^0-__disjvr_11^post12 == 0 /\ -a_152^post12+a_152^0 == 0 /\ -x_17^0+x_15^0 <= 0 /\ ct_18^0 <= 0 /\ __disjvr_2^0-__disjvr_2^post12 == 0 /\ ct_18^0-y_20^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post12 == 0 /\ tmp_27^0-x_15^0 <= 0 /\ -__disjvr_12^post12+__disjvr_12^0 == 0 /\ -len_14^post12+len_14^0 == 0 /\ -__disjvr_6^post12+__disjvr_6^0 == 0 /\ y_20^0 <= 0 /\ -y_20^0 <= 0 /\ -__disjvr_1^post12+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ x_17^0-x_15^0 <= 0 /\ a_175^0-a_175^post12 == 0 /\ -ct_18^0+y_20^0 <= 0), cost: 1 13: l15 -> l16 : __disjvr_0^0'=__disjvr_0^post13, x_21^0'=x_21^post13, a_130^0'=a_130^post13, rcd_63^0'=rcd_63^post13, __disjvr_2^0'=__disjvr_2^post13, a_28^0'=a_28^post13, temp0_31^0'=temp0_31^post13, tmp_27^0'=tmp_27^post13, __disjvr_7^0'=__disjvr_7^post13, len_14^0'=len_14^post13, __disjvr_11^0'=__disjvr_11^post13, x_SLAM_f_19^0'=x_SLAM_f_19^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13, __disjvr_4^0'=__disjvr_4^post13, d_29^0'=d_29^post13, x_17^0'=x_17^post13, __disjvr_9^0'=__disjvr_9^post13, rcd_100^0'=rcd_100^post13, __disjvr_1^0'=__disjvr_1^post13, a_175^0'=a_175^post13, temp0_16^0'=temp0_16^post13, __disjvr_6^0'=__disjvr_6^post13, i_13^0'=i_13^post13, __disjvr_10^0'=__disjvr_10^post13, x_32^0'=x_32^post13, a_152^0'=a_152^post13, result_11^0'=result_11^post13, __disjvr_3^0'=__disjvr_3^post13, ct_18^0'=ct_18^post13, temp_33^0'=temp_33^post13, x_15^0'=x_15^post13, __disjvr_8^0'=__disjvr_8^post13, r_37^0'=r_37^post13, __disjvr_12^0'=__disjvr_12^post13, y_20^0'=y_20^post13, t_24^0'=t_24^post13, __disjvr_5^0'=__disjvr_5^post13, i_111^0'=i_111^post13, (tmp_27^0-tmp_27^post13 == 0 /\ a_130^0-a_130^post13 == 0 /\ -x_32^post13+x_32^0 == 0 /\ __disjvr_7^0-__disjvr_7^post13 == 0 /\ rcd_100^0-rcd_100^post13 == 0 /\ -temp_33^post13+temp_33^0 == 0 /\ rcd_63^0-rcd_63^post13 == 0 /\ -t_24^post13+t_24^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13 == 0 /\ __disjvr_9^0-__disjvr_9^post13 == 0 /\ temp0_31^0-temp0_31^post13 == 0 /\ -temp0_16^post13+temp0_16^0 == 0 /\ __disjvr_10^0-__disjvr_10^post13 == 0 /\ x_21^0-x_21^post13 == 0 /\ a_28^0-a_28^post13 == 0 /\ -ct_18^post13+ct_18^0 == 0 /\ -r_37^post13+r_37^0 == 0 /\ y_20^0-y_20^post13 == 0 /\ __disjvr_11^0-__disjvr_11^post13 == 0 /\ -i_111^post13+i_111^0 == 0 /\ __disjvr_5^post13-__disjvr_5^0 == 0 /\ x_17^0-x_17^post13 == 0 /\ __disjvr_4^0-__disjvr_4^post13 == 0 /\ -__disjvr_12^post13+__disjvr_12^0 == 0 /\ -__disjvr_8^post13+__disjvr_8^0 == 0 /\ -a_175^post13+a_175^0 == 0 /\ -__disjvr_3^post13+__disjvr_3^0 == 0 /\ -__disjvr_6^post13+__disjvr_6^0 == 0 /\ len_14^0-len_14^post13 == 0 /\ d_29^0-d_29^post13 == 0 /\ -i_13^post13+i_13^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post13 == 0 /\ -x_15^post13+x_15^0 == 0 /\ -__disjvr_5^post13+__disjvr_5^0 == 0 /\ -__disjvr_2^post13+__disjvr_2^0 == 0 /\ -a_152^post13+a_152^0 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ result_11^0-result_11^post13 == 0 /\ -__disjvr_1^post13+__disjvr_1^0 == 0), cost: 1 14: l16 -> l17 : __disjvr_0^0'=__disjvr_0^post14, x_21^0'=x_21^post14, a_130^0'=a_130^post14, rcd_63^0'=rcd_63^post14, __disjvr_2^0'=__disjvr_2^post14, a_28^0'=a_28^post14, temp0_31^0'=temp0_31^post14, tmp_27^0'=tmp_27^post14, __disjvr_7^0'=__disjvr_7^post14, len_14^0'=len_14^post14, __disjvr_11^0'=__disjvr_11^post14, x_SLAM_f_19^0'=x_SLAM_f_19^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post14, __disjvr_4^0'=__disjvr_4^post14, d_29^0'=d_29^post14, x_17^0'=x_17^post14, __disjvr_9^0'=__disjvr_9^post14, rcd_100^0'=rcd_100^post14, __disjvr_1^0'=__disjvr_1^post14, a_175^0'=a_175^post14, temp0_16^0'=temp0_16^post14, __disjvr_6^0'=__disjvr_6^post14, i_13^0'=i_13^post14, __disjvr_10^0'=__disjvr_10^post14, x_32^0'=x_32^post14, a_152^0'=a_152^post14, result_11^0'=result_11^post14, __disjvr_3^0'=__disjvr_3^post14, ct_18^0'=ct_18^post14, temp_33^0'=temp_33^post14, x_15^0'=x_15^post14, __disjvr_8^0'=__disjvr_8^post14, r_37^0'=r_37^post14, __disjvr_12^0'=__disjvr_12^post14, y_20^0'=y_20^post14, t_24^0'=t_24^post14, __disjvr_5^0'=__disjvr_5^post14, i_111^0'=i_111^post14, (0 == 0 /\ -x_21^0+y_20^0 <= 0 /\ -i_111^post14+i_111^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post14 == 0 /\ __disjvr_0^0-__disjvr_0^post14 == 0 /\ 1-len_14^0 <= 0 /\ d_29^0-d_29^post14 == 0 /\ -temp_33^post14+temp_33^0 == 0 /\ x_21^0-y_20^0 <= 0 /\ -__disjvr_4^post14+__disjvr_4^0 == 0 /\ temp0_16^0-temp0_16^post14 == 0 /\ -__disjvr_5^post14+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post14 == 0 /\ a_28^0-a_28^post14 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post14 == 0 /\ __disjvr_10^0-__disjvr_10^post14 == 0 /\ -rcd_100^post14+rcd_100^0 == 0 /\ -__disjvr_3^post14+__disjvr_3^0 == 0 /\ a_130^0-a_130^post14 == 0 /\ -a_152^post14+a_152^0 == 0 /\ temp0_31^0-temp0_31^post14 == 0 /\ -rcd_63^post14+rcd_63^0 == 0 /\ __disjvr_7^0-__disjvr_7^post14 == 0 /\ -a_175^post14+a_175^0 == 0 /\ -temp0_16^0+result_11^post14 == 0 /\ -r_37^post14+r_37^0 == 0 /\ -__disjvr_8^post14+__disjvr_8^0 == 0 /\ -i_13^post14+i_13^0 == 0 /\ tmp_27^0-tmp_27^post14 == 0 /\ __disjvr_2^0-__disjvr_2^post14 == 0 /\ __disjvr_1^0-__disjvr_1^post14 == 0 /\ -x_32^post14+x_32^0 == 0 /\ len_14^0-len_14^post14 == 0 /\ -__disjvr_12^post14+__disjvr_12^0 == 0 /\ -__disjvr_6^post14+__disjvr_6^0 == 0), cost: 1 15: l17 -> l1 : __disjvr_0^0'=__disjvr_0^post15, x_21^0'=x_21^post15, a_130^0'=a_130^post15, rcd_63^0'=rcd_63^post15, __disjvr_2^0'=__disjvr_2^post15, a_28^0'=a_28^post15, temp0_31^0'=temp0_31^post15, tmp_27^0'=tmp_27^post15, __disjvr_7^0'=__disjvr_7^post15, len_14^0'=len_14^post15, __disjvr_11^0'=__disjvr_11^post15, x_SLAM_f_19^0'=x_SLAM_f_19^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post15, __disjvr_4^0'=__disjvr_4^post15, d_29^0'=d_29^post15, x_17^0'=x_17^post15, __disjvr_9^0'=__disjvr_9^post15, rcd_100^0'=rcd_100^post15, __disjvr_1^0'=__disjvr_1^post15, a_175^0'=a_175^post15, temp0_16^0'=temp0_16^post15, __disjvr_6^0'=__disjvr_6^post15, i_13^0'=i_13^post15, __disjvr_10^0'=__disjvr_10^post15, x_32^0'=x_32^post15, a_152^0'=a_152^post15, result_11^0'=result_11^post15, __disjvr_3^0'=__disjvr_3^post15, ct_18^0'=ct_18^post15, temp_33^0'=temp_33^post15, x_15^0'=x_15^post15, __disjvr_8^0'=__disjvr_8^post15, r_37^0'=r_37^post15, __disjvr_12^0'=__disjvr_12^post15, y_20^0'=y_20^post15, t_24^0'=t_24^post15, __disjvr_5^0'=__disjvr_5^post15, i_111^0'=i_111^post15, (-temp_33^post15+temp_33^0 == 0 /\ -y_20^post15+y_20^0 == 0 /\ i_13^0-i_13^post15 == 0 /\ -__disjvr_10^post15+__disjvr_10^0 == 0 /\ -ct_18^post15+ct_18^0 == 0 /\ a_130^0-a_130^post15 == 0 /\ -x_15^post15+x_15^0 == 0 /\ -t_24^post15+t_24^0 == 0 /\ rcd_63^0-rcd_63^post15 == 0 /\ temp0_31^0-temp0_31^post15 == 0 /\ -x_32^post15+x_32^0 == 0 /\ tmp_27^0-tmp_27^post15 == 0 /\ x_21^0-x_21^post15 == 0 /\ -__disjvr_3^post15+__disjvr_3^0 == 0 /\ a_28^0-a_28^post15 == 0 /\ d_29^0-d_29^post15 == 0 /\ __disjvr_7^0-__disjvr_7^post15 == 0 /\ -i_111^post15+i_111^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post15 == 0 /\ a_175^0-a_175^post15 == 0 /\ -result_11^post15+result_11^0 == 0 /\ -__disjvr_5^post15+__disjvr_5^0 == 0 /\ rcd_100^0-rcd_100^post15 == 0 /\ __disjvr_6^post15-__disjvr_6^0 == 0 /\ -__disjvr_8^post15+__disjvr_8^0 == 0 /\ -r_37^post15+r_37^0 == 0 /\ __disjvr_4^0-__disjvr_4^post15 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post15 == 0 /\ -temp0_16^post15+temp0_16^0 == 0 /\ __disjvr_11^0-__disjvr_11^post15 == 0 /\ -x_17^post15+x_17^0 == 0 /\ -a_152^post15+a_152^0 == 0 /\ __disjvr_2^0-__disjvr_2^post15 == 0 /\ -__disjvr_12^post15+__disjvr_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post15 == 0 /\ __disjvr_9^0-__disjvr_9^post15 == 0 /\ -__disjvr_6^post15+__disjvr_6^0 == 0 /\ -len_14^post15+len_14^0 == 0 /\ -__disjvr_1^post15+__disjvr_1^0 == 0), cost: 1 25: l18 -> l25 : __disjvr_0^0'=__disjvr_0^post25, x_21^0'=x_21^post25, a_130^0'=a_130^post25, rcd_63^0'=rcd_63^post25, __disjvr_2^0'=__disjvr_2^post25, a_28^0'=a_28^post25, temp0_31^0'=temp0_31^post25, tmp_27^0'=tmp_27^post25, __disjvr_7^0'=__disjvr_7^post25, len_14^0'=len_14^post25, __disjvr_11^0'=__disjvr_11^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25, __disjvr_4^0'=__disjvr_4^post25, d_29^0'=d_29^post25, x_17^0'=x_17^post25, __disjvr_9^0'=__disjvr_9^post25, rcd_100^0'=rcd_100^post25, __disjvr_1^0'=__disjvr_1^post25, a_175^0'=a_175^post25, temp0_16^0'=temp0_16^post25, __disjvr_6^0'=__disjvr_6^post25, i_13^0'=i_13^post25, __disjvr_10^0'=__disjvr_10^post25, x_32^0'=x_32^post25, a_152^0'=a_152^post25, result_11^0'=result_11^post25, __disjvr_3^0'=__disjvr_3^post25, ct_18^0'=ct_18^post25, temp_33^0'=temp_33^post25, x_15^0'=x_15^post25, __disjvr_8^0'=__disjvr_8^post25, r_37^0'=r_37^post25, __disjvr_12^0'=__disjvr_12^post25, y_20^0'=y_20^post25, t_24^0'=t_24^post25, __disjvr_5^0'=__disjvr_5^post25, i_111^0'=i_111^post25, (0 == 0 /\ len_14^0-i_13^0 <= 0 /\ -rcd_100^post25+rcd_100^0 == 0 /\ __disjvr_2^0-__disjvr_2^post25 == 0 /\ x_17^110-x_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ x_21^post25-x_SLAM_f_19^140 == 0 /\ __disjvr_6^0-__disjvr_6^post25 == 0 /\ temp0_31^0-temp0_31^post25 == 0 /\ -x_17^110+x_SLAM_f_19^140 == 0 /\ ct_18^14 == 0 /\ -t_24^post25+t_24^0 == 0 /\ temp0_16^0-temp0_16^post25 == 0 /\ d_29^0-d_29^post25 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -r_37^post25+r_37^0 == 0 /\ -i_13^0 <= 0 /\ -a_175^post25+a_175^0 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ -__disjvr_4^post25+__disjvr_4^0 == 0 /\ -__disjvr_9^post25+__disjvr_9^0 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ -__disjvr_8^post25+__disjvr_8^0 == 0 /\ rcd_63^0-rcd_63^post25 == 0 /\ -i_111^post25+i_111^0 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ x_32^0-x_32^post25 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ a_130^0-a_130^post25 == 0 /\ -ct_18^14+y_20^post25 == 0 /\ a_28^0-a_28^post25 == 0 /\ __disjvr_10^0-__disjvr_10^post25 == 0 /\ __disjvr_11^0-__disjvr_11^post25 == 0 /\ -a_152^post25+a_152^0 == 0 /\ -temp_33^post25+temp_33^0 == 0 /\ __disjvr_1^0-__disjvr_1^post25 == 0 /\ -__disjvr_5^post25+__disjvr_5^0 == 0), cost: 1 31: l18 -> l30 : __disjvr_0^0'=__disjvr_0^post31, x_21^0'=x_21^post31, a_130^0'=a_130^post31, rcd_63^0'=rcd_63^post31, __disjvr_2^0'=__disjvr_2^post31, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=tmp_27^post31, __disjvr_7^0'=__disjvr_7^post31, len_14^0'=len_14^post31, __disjvr_11^0'=__disjvr_11^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, __disjvr_4^0'=__disjvr_4^post31, d_29^0'=d_29^post31, x_17^0'=x_17^post31, __disjvr_9^0'=__disjvr_9^post31, rcd_100^0'=rcd_100^post31, __disjvr_1^0'=__disjvr_1^post31, a_175^0'=a_175^post31, temp0_16^0'=temp0_16^post31, __disjvr_6^0'=__disjvr_6^post31, i_13^0'=i_13^post31, __disjvr_10^0'=__disjvr_10^post31, x_32^0'=x_32^post31, a_152^0'=a_152^post31, result_11^0'=result_11^post31, __disjvr_3^0'=__disjvr_3^post31, ct_18^0'=ct_18^post31, temp_33^0'=temp_33^post31, x_15^0'=x_15^post31, __disjvr_8^0'=__disjvr_8^post31, r_37^0'=r_37^post31, __disjvr_12^0'=__disjvr_12^post31, y_20^0'=y_20^post31, t_24^0'=t_24^post31, __disjvr_5^0'=__disjvr_5^post31, i_111^0'=i_111^post31, (0 == 0 /\ -__disjvr_11^post31+__disjvr_11^0 == 0 /\ -__disjvr_9^post31+__disjvr_9^0 == 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ result_11^110-temp0_31^110 == 0 /\ -x_17^post31+x_17^0 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -r_37^post31+r_37^0 == 0 /\ __disjvr_4^0-__disjvr_4^post31 == 0 /\ x_15^post31-tmp_27^post31 == 0 /\ -1+i_13^post31-i_111^post31 <= 0 /\ a_130^0-a_130^post31 == 0 /\ -__disjvr_10^post31+__disjvr_10^0 == 0 /\ -i_13^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ y_20^0-y_20^post31 == 0 /\ d_29^110-x_15^0 == 0 /\ __disjvr_7^0-__disjvr_7^post31 == 0 /\ -__disjvr_8^post31+__disjvr_8^0 == 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ a_28^11-i_13^0 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ -x_32^110+temp0_31^110 == 0 /\ ct_18^0-ct_18^post31 == 0 /\ 1-len_14^0+i_111^post31 <= 0 /\ x_32^110-temp_33^0 == 0 /\ -rcd_63^post31+rcd_63^0 == 0 /\ -result_11^110+tmp_27^post31 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0 /\ -1+i_13^post31-i_13^0 == 0 /\ x_21^0-x_21^post31 == 0 /\ __disjvr_6^0-__disjvr_6^post31 == 0 /\ -t_24^post31+t_24^0 == 0 /\ __disjvr_2^0-__disjvr_2^post31 == 0 /\ -a_175^post31+a_175^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post31 == 0 /\ 1-i_13^post31+i_111^post31 <= 0 /\ -a_152^post31+a_152^0 == 0 /\ len_14^0-len_14^post31 == 0), cost: 1 19: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post19, x_21^0'=x_21^post19, a_130^0'=a_130^post19, rcd_63^0'=rcd_63^post19, __disjvr_2^0'=__disjvr_2^post19, a_28^0'=a_28^post19, temp0_31^0'=temp0_31^post19, tmp_27^0'=tmp_27^post19, __disjvr_7^0'=__disjvr_7^post19, len_14^0'=len_14^post19, __disjvr_11^0'=__disjvr_11^post19, x_SLAM_f_19^0'=x_SLAM_f_19^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19, __disjvr_4^0'=__disjvr_4^post19, d_29^0'=d_29^post19, x_17^0'=x_17^post19, __disjvr_9^0'=__disjvr_9^post19, rcd_100^0'=rcd_100^post19, __disjvr_1^0'=__disjvr_1^post19, a_175^0'=a_175^post19, temp0_16^0'=temp0_16^post19, __disjvr_6^0'=__disjvr_6^post19, i_13^0'=i_13^post19, __disjvr_10^0'=__disjvr_10^post19, x_32^0'=x_32^post19, a_152^0'=a_152^post19, result_11^0'=result_11^post19, __disjvr_3^0'=__disjvr_3^post19, ct_18^0'=ct_18^post19, temp_33^0'=temp_33^post19, x_15^0'=x_15^post19, __disjvr_8^0'=__disjvr_8^post19, r_37^0'=r_37^post19, __disjvr_12^0'=__disjvr_12^post19, y_20^0'=y_20^post19, t_24^0'=t_24^post19, __disjvr_5^0'=__disjvr_5^post19, i_111^0'=i_111^post19, (-__disjvr_3^post19+__disjvr_3^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post19 == 0 /\ -i_13^post19+i_13^0 == 0 /\ -y_20^post19+y_20^0 == 0 /\ x_21^0-x_21^post19 == 0 /\ -__disjvr_9^post19+__disjvr_9^0 == 0 /\ temp0_31^0-temp0_31^post19 == 0 /\ -result_11^post19+result_11^0 == 0 /\ r_37^0-r_37^post19 == 0 /\ a_130^0-a_130^post19 == 0 /\ __disjvr_11^0-__disjvr_11^post19 == 0 /\ -__disjvr_10^post19+__disjvr_10^0 == 0 /\ temp_33^0-temp_33^post19 == 0 /\ -x_15^post19+x_15^0 == 0 /\ -a_175^post19+a_175^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19 == 0 /\ x_17^0-x_17^post19 == 0 /\ -i_111^post19+i_111^0 == 0 /\ __disjvr_4^0-__disjvr_4^post19 == 0 /\ __disjvr_1^0-__disjvr_1^post19 == 0 /\ len_14^0-len_14^post19 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ -rcd_63^post19+rcd_63^0 == 0 /\ -__disjvr_7^0+__disjvr_7^post19 == 0 /\ __disjvr_2^0-__disjvr_2^post19 == 0 /\ -d_29^post19+d_29^0 == 0 /\ -rcd_100^post19+rcd_100^0 == 0 /\ -__disjvr_8^post19+__disjvr_8^0 == 0 /\ -ct_18^post19+ct_18^0 == 0 /\ -tmp_27^post19+tmp_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ temp0_16^0-temp0_16^post19 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ x_32^0-x_32^post19 == 0 /\ __disjvr_6^0-__disjvr_6^post19 == 0 /\ a_28^0-a_28^post19 == 0 /\ -t_24^post19+t_24^0 == 0 /\ a_152^0-a_152^post19 == 0 /\ __disjvr_7^0-__disjvr_7^post19 == 0), cost: 1 20: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post20, x_21^0'=x_21^post20, a_130^0'=a_130^post20, rcd_63^0'=rcd_63^post20, __disjvr_2^0'=__disjvr_2^post20, a_28^0'=a_28^post20, temp0_31^0'=temp0_31^post20, tmp_27^0'=tmp_27^post20, __disjvr_7^0'=__disjvr_7^post20, len_14^0'=len_14^post20, __disjvr_11^0'=__disjvr_11^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20, __disjvr_4^0'=__disjvr_4^post20, d_29^0'=d_29^post20, x_17^0'=x_17^post20, __disjvr_9^0'=__disjvr_9^post20, rcd_100^0'=rcd_100^post20, __disjvr_1^0'=__disjvr_1^post20, a_175^0'=a_175^post20, temp0_16^0'=temp0_16^post20, __disjvr_6^0'=__disjvr_6^post20, i_13^0'=i_13^post20, __disjvr_10^0'=__disjvr_10^post20, x_32^0'=x_32^post20, a_152^0'=a_152^post20, result_11^0'=result_11^post20, __disjvr_3^0'=__disjvr_3^post20, ct_18^0'=ct_18^post20, temp_33^0'=temp_33^post20, x_15^0'=x_15^post20, __disjvr_8^0'=__disjvr_8^post20, r_37^0'=r_37^post20, __disjvr_12^0'=__disjvr_12^post20, y_20^0'=y_20^post20, t_24^0'=t_24^post20, __disjvr_5^0'=__disjvr_5^post20, i_111^0'=i_111^post20, (0 == 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ -__disjvr_6^post20+__disjvr_6^0 == 0 /\ temp0_31^0-temp0_31^post20 == 0 /\ -i_111^post20+i_111^0 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -x_SLAM_f_19^0+x_15^0 <= 0 /\ -__disjvr_3^post20+__disjvr_3^0 == 0 /\ -rcd_100^post20+rcd_100^0 == 0 /\ -ct_18^0 <= 0 /\ -1-a_175^post20+a_152^0 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post20 == 0 /\ __disjvr_2^0-__disjvr_2^post20 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ -result_11^post20+result_11^0 == 0 /\ rcd_63^0-rcd_63^post20 == 0 /\ __disjvr_11^0-__disjvr_11^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ x_15^0-x_15^post20 == 0 /\ -y_20^post20+y_20^0 == 0 /\ -temp_33^post20+temp_33^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ x_SLAM_f_19^0-x_15^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post20 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_10^0-__disjvr_10^post20 == 0 /\ -x_21^0+t_24^post20 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ -a_152^post20+a_152^0 == 0 /\ x_17^0-x_17^post20 == 0 /\ -tmp_27^0+x_15^0 <= 0 /\ len_14^0-len_14^post20 == 0 /\ 1+a_175^post20-a_152^0 <= 0 /\ x_21^0-x_21^post20 == 0 /\ a_130^0-a_130^post20 == 0 /\ -d_29^post20+d_29^0 == 0 /\ -x_17^0+x_15^0 <= 0 /\ ct_18^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ -x_32^post20+x_32^0 == 0 /\ __disjvr_7^0-__disjvr_7^post20 == 0 /\ tmp_27^0-x_15^0 <= 0 /\ temp0_16^0-temp0_16^post20 == 0 /\ y_20^0 <= 0 /\ -r_37^post20+r_37^0 == 0 /\ -y_20^0 <= 0 /\ i_13^0-i_13^post20 == 0 /\ -__disjvr_8^post20+__disjvr_8^0 == 0 /\ -tmp_27^post20+tmp_27^0 == 0 /\ -ct_18^post20+ct_18^0 == 0 /\ x_17^0-x_15^0 <= 0 /\ a_28^0-a_28^post20 == 0 /\ -ct_18^0+y_20^0 <= 0), cost: 1 21: l22 -> l23 : __disjvr_0^0'=__disjvr_0^post21, x_21^0'=x_21^post21, a_130^0'=a_130^post21, rcd_63^0'=rcd_63^post21, __disjvr_2^0'=__disjvr_2^post21, a_28^0'=a_28^post21, temp0_31^0'=temp0_31^post21, tmp_27^0'=tmp_27^post21, __disjvr_7^0'=__disjvr_7^post21, len_14^0'=len_14^post21, __disjvr_11^0'=__disjvr_11^post21, x_SLAM_f_19^0'=x_SLAM_f_19^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21, __disjvr_4^0'=__disjvr_4^post21, d_29^0'=d_29^post21, x_17^0'=x_17^post21, __disjvr_9^0'=__disjvr_9^post21, rcd_100^0'=rcd_100^post21, __disjvr_1^0'=__disjvr_1^post21, a_175^0'=a_175^post21, temp0_16^0'=temp0_16^post21, __disjvr_6^0'=__disjvr_6^post21, i_13^0'=i_13^post21, __disjvr_10^0'=__disjvr_10^post21, x_32^0'=x_32^post21, a_152^0'=a_152^post21, result_11^0'=result_11^post21, __disjvr_3^0'=__disjvr_3^post21, ct_18^0'=ct_18^post21, temp_33^0'=temp_33^post21, x_15^0'=x_15^post21, __disjvr_8^0'=__disjvr_8^post21, r_37^0'=r_37^post21, __disjvr_12^0'=__disjvr_12^post21, y_20^0'=y_20^post21, t_24^0'=t_24^post21, __disjvr_5^0'=__disjvr_5^post21, i_111^0'=i_111^post21, (-__disjvr_3^post21+__disjvr_3^0 == 0 /\ a_175^0-a_175^post21 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post21 == 0 /\ -__disjvr_12^post21+__disjvr_12^0 == 0 /\ rcd_100^0-rcd_100^post21 == 0 /\ -ct_18^post21+ct_18^0 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ tmp_27^0-tmp_27^post21 == 0 /\ rcd_63^0-rcd_63^post21 == 0 /\ a_130^0-a_130^post21 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ -y_20^post21+y_20^0 == 0 /\ __disjvr_2^0-__disjvr_2^post21 == 0 /\ __disjvr_9^0-__disjvr_9^post21 == 0 /\ -i_111^post21+i_111^0 == 0 /\ x_15^0-x_15^post21 == 0 /\ -__disjvr_8^0+__disjvr_8^post21 == 0 /\ -temp_33^post21+temp_33^0 == 0 /\ __disjvr_10^0-__disjvr_10^post21 == 0 /\ -a_152^post21+a_152^0 == 0 /\ __disjvr_4^0-__disjvr_4^post21 == 0 /\ result_11^0-result_11^post21 == 0 /\ x_17^0-x_17^post21 == 0 /\ len_14^0-len_14^post21 == 0 /\ temp0_31^0-temp0_31^post21 == 0 /\ x_21^0-x_21^post21 == 0 /\ -__disjvr_1^post21+__disjvr_1^0 == 0 /\ -__disjvr_5^post21+__disjvr_5^0 == 0 /\ -r_37^post21+r_37^0 == 0 /\ __disjvr_7^0-__disjvr_7^post21 == 0 /\ -x_32^post21+x_32^0 == 0 /\ d_29^0-d_29^post21 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21 == 0 /\ -temp0_16^post21+temp0_16^0 == 0 /\ a_28^0-a_28^post21 == 0 /\ -t_24^post21+t_24^0 == 0 /\ -__disjvr_6^post21+__disjvr_6^0 == 0 /\ i_13^0-i_13^post21 == 0), cost: 1 22: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post22, x_21^0'=x_21^post22, a_130^0'=a_130^post22, rcd_63^0'=rcd_63^post22, __disjvr_2^0'=__disjvr_2^post22, a_28^0'=a_28^post22, temp0_31^0'=temp0_31^post22, tmp_27^0'=tmp_27^post22, __disjvr_7^0'=__disjvr_7^post22, len_14^0'=len_14^post22, __disjvr_11^0'=__disjvr_11^post22, x_SLAM_f_19^0'=x_SLAM_f_19^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22, __disjvr_4^0'=__disjvr_4^post22, d_29^0'=d_29^post22, x_17^0'=x_17^post22, __disjvr_9^0'=__disjvr_9^post22, rcd_100^0'=rcd_100^post22, __disjvr_1^0'=__disjvr_1^post22, a_175^0'=a_175^post22, temp0_16^0'=temp0_16^post22, __disjvr_6^0'=__disjvr_6^post22, i_13^0'=i_13^post22, __disjvr_10^0'=__disjvr_10^post22, x_32^0'=x_32^post22, a_152^0'=a_152^post22, result_11^0'=result_11^post22, __disjvr_3^0'=__disjvr_3^post22, ct_18^0'=ct_18^post22, temp_33^0'=temp_33^post22, x_15^0'=x_15^post22, __disjvr_8^0'=__disjvr_8^post22, r_37^0'=r_37^post22, __disjvr_12^0'=__disjvr_12^post22, y_20^0'=y_20^post22, t_24^0'=t_24^post22, __disjvr_5^0'=__disjvr_5^post22, i_111^0'=i_111^post22, (-t_24^post22+t_24^0 == 0 /\ rcd_100^0-rcd_100^post22 == 0 /\ __disjvr_4^0-__disjvr_4^post22 == 0 /\ -x_15^post22+x_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post22 == 0 /\ -__disjvr_9^post22+__disjvr_9^0 == 0 /\ -i_13^post22+i_13^0 == 0 /\ -ct_18^post22+ct_18^0 == 0 /\ -y_20^post22+y_20^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post22 == 0 /\ __disjvr_8^0-__disjvr_8^post22 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ temp_33^0-temp_33^post22 == 0 /\ -i_111^post22+i_111^0 == 0 /\ __disjvr_2^0-__disjvr_2^post22 == 0 /\ rcd_63^0-rcd_63^post22 == 0 /\ __disjvr_9^post22-__disjvr_9^0 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ -a_175^post22+a_175^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ -temp0_16^post22+temp0_16^0 == 0 /\ x_17^0-x_17^post22 == 0 /\ -a_152^post22+a_152^0 == 0 /\ -r_37^post22+r_37^0 == 0 /\ -__disjvr_11^post22+__disjvr_11^0 == 0 /\ len_14^0-len_14^post22 == 0 /\ tmp_27^0-tmp_27^post22 == 0 /\ temp0_31^0-temp0_31^post22 == 0 /\ x_21^0-x_21^post22 == 0 /\ a_130^0-a_130^post22 == 0 /\ a_28^0-a_28^post22 == 0 /\ d_29^0-d_29^post22 == 0 /\ __disjvr_7^0-__disjvr_7^post22 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22 == 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ x_32^0-x_32^post22 == 0 /\ -__disjvr_12^post22+__disjvr_12^0 == 0), cost: 1 23: l24 -> l19 : __disjvr_0^0'=__disjvr_0^post23, x_21^0'=x_21^post23, a_130^0'=a_130^post23, rcd_63^0'=rcd_63^post23, __disjvr_2^0'=__disjvr_2^post23, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, tmp_27^0'=tmp_27^post23, __disjvr_7^0'=__disjvr_7^post23, len_14^0'=len_14^post23, __disjvr_11^0'=__disjvr_11^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, __disjvr_4^0'=__disjvr_4^post23, d_29^0'=d_29^post23, x_17^0'=x_17^post23, __disjvr_9^0'=__disjvr_9^post23, rcd_100^0'=rcd_100^post23, __disjvr_1^0'=__disjvr_1^post23, a_175^0'=a_175^post23, temp0_16^0'=temp0_16^post23, __disjvr_6^0'=__disjvr_6^post23, i_13^0'=i_13^post23, __disjvr_10^0'=__disjvr_10^post23, x_32^0'=x_32^post23, a_152^0'=a_152^post23, result_11^0'=result_11^post23, __disjvr_3^0'=__disjvr_3^post23, ct_18^0'=ct_18^post23, temp_33^0'=temp_33^post23, x_15^0'=x_15^post23, __disjvr_8^0'=__disjvr_8^post23, r_37^0'=r_37^post23, __disjvr_12^0'=__disjvr_12^post23, y_20^0'=y_20^post23, t_24^0'=t_24^post23, __disjvr_5^0'=__disjvr_5^post23, i_111^0'=i_111^post23, (0 == 0 /\ -rcd_100^post23+rcd_100^0 == 0 /\ __disjvr_4^0-__disjvr_4^post23 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post23 == 0 /\ -__disjvr_3^post23+__disjvr_3^0 == 0 /\ -__disjvr_6^post23+__disjvr_6^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_17^0-x_17^post23 == 0 /\ 1-len_14^0 <= 0 /\ a_175^0-a_152^post23 <= 0 /\ -y_20^post23+y_20^0 == 0 /\ -temp_33^post23+temp_33^0 == 0 /\ __disjvr_2^0-__disjvr_2^post23 == 0 /\ -__disjvr_10^post23+__disjvr_10^0 == 0 /\ d_29^0-d_29^post23 == 0 /\ 2-len_14^0 <= 0 /\ -a_175^post23+a_175^0 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ __disjvr_11^0-__disjvr_11^post23 == 0 /\ rcd_63^0-rcd_63^post23 == 0 /\ -x_15^post23+x_15^0 == 0 /\ -a_175^0+a_152^post23 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -i_111^post23+i_111^0 == 0 /\ i_13^0-i_13^post23 == 0 /\ __disjvr_12^0-__disjvr_12^post23 == 0 /\ -result_11^post23+result_11^0 == 0 /\ ct_18^0-ct_18^post23 == 0 /\ len_14^0-len_14^post23 == 0 /\ -__disjvr_5^post23+__disjvr_5^0 == 0 /\ temp0_31^0-temp0_31^post23 == 0 /\ x_21^0-x_21^post23 == 0 /\ -r_37^post23+r_37^0 == 0 /\ a_130^0-a_130^post23 == 0 /\ temp0_16^0-temp0_16^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -__disjvr_8^post23+__disjvr_8^0 == 0 /\ __disjvr_9^0-__disjvr_9^post23 == 0 /\ __disjvr_1^0-__disjvr_1^post23 == 0 /\ -t_24^post23+t_24^0 == 0 /\ -tmp_27^post23+tmp_27^0 == 0 /\ a_28^0-a_28^post23 == 0 /\ -x_32^post23+x_32^0 == 0), cost: 1 24: l19 -> l4 : __disjvr_0^0'=__disjvr_0^post24, x_21^0'=x_21^post24, a_130^0'=a_130^post24, rcd_63^0'=rcd_63^post24, __disjvr_2^0'=__disjvr_2^post24, a_28^0'=a_28^post24, temp0_31^0'=temp0_31^post24, tmp_27^0'=tmp_27^post24, __disjvr_7^0'=__disjvr_7^post24, len_14^0'=len_14^post24, __disjvr_11^0'=__disjvr_11^post24, x_SLAM_f_19^0'=x_SLAM_f_19^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24, __disjvr_4^0'=__disjvr_4^post24, d_29^0'=d_29^post24, x_17^0'=x_17^post24, __disjvr_9^0'=__disjvr_9^post24, rcd_100^0'=rcd_100^post24, __disjvr_1^0'=__disjvr_1^post24, a_175^0'=a_175^post24, temp0_16^0'=temp0_16^post24, __disjvr_6^0'=__disjvr_6^post24, i_13^0'=i_13^post24, __disjvr_10^0'=__disjvr_10^post24, x_32^0'=x_32^post24, a_152^0'=a_152^post24, result_11^0'=result_11^post24, __disjvr_3^0'=__disjvr_3^post24, ct_18^0'=ct_18^post24, temp_33^0'=temp_33^post24, x_15^0'=x_15^post24, __disjvr_8^0'=__disjvr_8^post24, r_37^0'=r_37^post24, __disjvr_12^0'=__disjvr_12^post24, y_20^0'=y_20^post24, t_24^0'=t_24^post24, __disjvr_5^0'=__disjvr_5^post24, i_111^0'=i_111^post24, (-x_15^post24+x_15^0 == 0 /\ -y_20^post24+y_20^0 == 0 /\ i_13^0-i_13^post24 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -t_24^post24+t_24^0 == 0 /\ -temp_33^post24+temp_33^0 == 0 /\ -x_32^post24+x_32^0 == 0 /\ -__disjvr_10^post24+__disjvr_10^0 == 0 /\ a_130^0-a_130^post24 == 0 /\ __disjvr_2^0-__disjvr_2^post24 == 0 /\ -ct_18^post24+ct_18^0 == 0 /\ __disjvr_7^0-__disjvr_7^post24 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ d_29^0-d_29^post24 == 0 /\ -i_111^post24+i_111^0 == 0 /\ -__disjvr_3^post24+__disjvr_3^0 == 0 /\ -result_11^post24+result_11^0 == 0 /\ __disjvr_12^0-__disjvr_12^post24 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ -len_14^post24+len_14^0 == 0 /\ __disjvr_4^0-__disjvr_4^post24 == 0 /\ -__disjvr_1^post24+__disjvr_1^0 == 0 /\ -x_17^post24+x_17^0 == 0 /\ -temp0_16^post24+temp0_16^0 == 0 /\ -__disjvr_8^post24+__disjvr_8^0 == 0 /\ -r_37^post24+r_37^0 == 0 /\ a_175^0-a_175^post24 == 0 /\ rcd_100^0-rcd_100^post24 == 0 /\ __disjvr_11^0-__disjvr_11^post24 == 0 /\ -a_152^post24+a_152^0 == 0 /\ rcd_63^0-rcd_63^post24 == 0 /\ temp0_31^0-temp0_31^post24 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post24 == 0 /\ tmp_27^0-tmp_27^post24 == 0 /\ x_21^0-x_21^post24 == 0 /\ a_28^0-a_28^post24 == 0 /\ -__disjvr_6^post24+__disjvr_6^0 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0), cost: 1 26: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post26, x_21^0'=x_21^post26, a_130^0'=a_130^post26, rcd_63^0'=rcd_63^post26, __disjvr_2^0'=__disjvr_2^post26, a_28^0'=a_28^post26, temp0_31^0'=temp0_31^post26, tmp_27^0'=tmp_27^post26, __disjvr_7^0'=__disjvr_7^post26, len_14^0'=len_14^post26, __disjvr_11^0'=__disjvr_11^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26, __disjvr_4^0'=__disjvr_4^post26, d_29^0'=d_29^post26, x_17^0'=x_17^post26, __disjvr_9^0'=__disjvr_9^post26, rcd_100^0'=rcd_100^post26, __disjvr_1^0'=__disjvr_1^post26, a_175^0'=a_175^post26, temp0_16^0'=temp0_16^post26, __disjvr_6^0'=__disjvr_6^post26, i_13^0'=i_13^post26, __disjvr_10^0'=__disjvr_10^post26, x_32^0'=x_32^post26, a_152^0'=a_152^post26, result_11^0'=result_11^post26, __disjvr_3^0'=__disjvr_3^post26, ct_18^0'=ct_18^post26, temp_33^0'=temp_33^post26, x_15^0'=x_15^post26, __disjvr_8^0'=__disjvr_8^post26, r_37^0'=r_37^post26, __disjvr_12^0'=__disjvr_12^post26, y_20^0'=y_20^post26, t_24^0'=t_24^post26, __disjvr_5^0'=__disjvr_5^post26, i_111^0'=i_111^post26, (__disjvr_10^post26-__disjvr_10^0 == 0 /\ -__disjvr_3^post26+__disjvr_3^0 == 0 /\ -__disjvr_12^post26+__disjvr_12^0 == 0 /\ temp0_31^0-temp0_31^post26 == 0 /\ -__disjvr_6^post26+__disjvr_6^0 == 0 /\ -i_111^post26+i_111^0 == 0 /\ x_21^0-x_21^post26 == 0 /\ -__disjvr_10^post26+__disjvr_10^0 == 0 /\ -result_11^post26+result_11^0 == 0 /\ -__disjvr_5^post26+__disjvr_5^0 == 0 /\ -y_20^post26+y_20^0 == 0 /\ x_15^0-x_15^post26 == 0 /\ d_29^0-d_29^post26 == 0 /\ -x_17^post26+x_17^0 == 0 /\ a_28^0-a_28^post26 == 0 /\ __disjvr_7^0-__disjvr_7^post26 == 0 /\ -a_152^post26+a_152^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26 == 0 /\ -temp_33^post26+temp_33^0 == 0 /\ i_13^0-i_13^post26 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post26 == 0 /\ ct_18^0-ct_18^post26 == 0 /\ a_175^0-a_175^post26 == 0 /\ -len_14^post26+len_14^0 == 0 /\ -a_130^post26+a_130^0 == 0 /\ -__disjvr_8^post26+__disjvr_8^0 == 0 /\ rcd_63^0-rcd_63^post26 == 0 /\ __disjvr_11^0-__disjvr_11^post26 == 0 /\ __disjvr_0^0-__disjvr_0^post26 == 0 /\ tmp_27^0-tmp_27^post26 == 0 /\ __disjvr_2^0-__disjvr_2^post26 == 0 /\ -r_37^post26+r_37^0 == 0 /\ __disjvr_9^0-__disjvr_9^post26 == 0 /\ rcd_100^0-rcd_100^post26 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ -t_24^post26+t_24^0 == 0 /\ __disjvr_1^0-__disjvr_1^post26 == 0 /\ __disjvr_4^0-__disjvr_4^post26 == 0 /\ -x_32^post26+x_32^0 == 0), cost: 1 27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post27, x_21^0'=x_21^post27, a_130^0'=a_130^post27, rcd_63^0'=rcd_63^post27, __disjvr_2^0'=__disjvr_2^post27, a_28^0'=a_28^post27, temp0_31^0'=temp0_31^post27, tmp_27^0'=tmp_27^post27, __disjvr_7^0'=__disjvr_7^post27, len_14^0'=len_14^post27, __disjvr_11^0'=__disjvr_11^post27, x_SLAM_f_19^0'=x_SLAM_f_19^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27, __disjvr_4^0'=__disjvr_4^post27, d_29^0'=d_29^post27, x_17^0'=x_17^post27, __disjvr_9^0'=__disjvr_9^post27, rcd_100^0'=rcd_100^post27, __disjvr_1^0'=__disjvr_1^post27, a_175^0'=a_175^post27, temp0_16^0'=temp0_16^post27, __disjvr_6^0'=__disjvr_6^post27, i_13^0'=i_13^post27, __disjvr_10^0'=__disjvr_10^post27, x_32^0'=x_32^post27, a_152^0'=a_152^post27, result_11^0'=result_11^post27, __disjvr_3^0'=__disjvr_3^post27, ct_18^0'=ct_18^post27, temp_33^0'=temp_33^post27, x_15^0'=x_15^post27, __disjvr_8^0'=__disjvr_8^post27, r_37^0'=r_37^post27, __disjvr_12^0'=__disjvr_12^post27, y_20^0'=y_20^post27, t_24^0'=t_24^post27, __disjvr_5^0'=__disjvr_5^post27, i_111^0'=i_111^post27, (0 == 0 /\ -__disjvr_3^post27+__disjvr_3^0 == 0 /\ a_175^0-a_175^post27 == 0 /\ rcd_100^0-rcd_100^post27 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -x_SLAM_f_19^0+x_15^0 <= 0 /\ temp0_31^0-temp0_31^post27 == 0 /\ -ct_18^post27+ct_18^0 == 0 /\ -ct_18^0 <= 0 /\ -i_13^post27+i_13^0 == 0 /\ x_15^0-t_24^post27 <= 0 /\ x_21^0-x_21^post27 == 0 /\ -y_20^post27+y_20^0 == 0 /\ -i_111^post27+i_111^0 == 0 /\ __disjvr_7^0-__disjvr_7^post27 == 0 /\ d_29^0-d_29^post27 == 0 /\ -temp_33^post27+temp_33^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ x_SLAM_f_19^0-x_15^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post27 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27 == 0 /\ x_15^0-x_15^post27 == 0 /\ -x_15^0+t_24^post27 <= 0 /\ __disjvr_10^0-__disjvr_10^post27 == 0 /\ a_28^0-a_28^post27 == 0 /\ -x_21^0+t_24^post27 == 0 /\ result_11^0-result_11^post27 == 0 /\ -x_17^post27+x_17^0 == 0 /\ -tmp_27^0+x_15^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post27 == 0 /\ -temp0_16^post27+temp0_16^0 == 0 /\ -a_152^post27+a_152^0 == 0 /\ __disjvr_11^0-__disjvr_11^post27 == 0 /\ -__disjvr_1^post27+__disjvr_1^0 == 0 /\ a_152^0-a_130^post27 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post27 == 0 /\ -x_17^0+x_15^0 <= 0 /\ -r_37^post27+r_37^0 == 0 /\ ct_18^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ tmp_27^0-x_15^0 <= 0 /\ tmp_27^0-tmp_27^post27 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ __disjvr_5^0-__disjvr_5^post27 == 0 /\ rcd_63^0-rcd_63^post27 == 0 /\ y_20^0 <= 0 /\ -y_20^0 <= 0 /\ -__disjvr_8^post27+__disjvr_8^0 == 0 /\ -x_32^post27+x_32^0 == 0 /\ -a_152^0+a_130^post27 <= 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ x_17^0-x_15^0 <= 0 /\ -len_14^post27+len_14^0 == 0 /\ -__disjvr_6^post27+__disjvr_6^0 == 0 /\ -ct_18^0+y_20^0 <= 0), cost: 1 28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post28, x_21^0'=x_21^post28, a_130^0'=a_130^post28, rcd_63^0'=rcd_63^post28, __disjvr_2^0'=__disjvr_2^post28, a_28^0'=a_28^post28, temp0_31^0'=temp0_31^post28, tmp_27^0'=tmp_27^post28, __disjvr_7^0'=__disjvr_7^post28, len_14^0'=len_14^post28, __disjvr_11^0'=__disjvr_11^post28, x_SLAM_f_19^0'=x_SLAM_f_19^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28, __disjvr_4^0'=__disjvr_4^post28, d_29^0'=d_29^post28, x_17^0'=x_17^post28, __disjvr_9^0'=__disjvr_9^post28, rcd_100^0'=rcd_100^post28, __disjvr_1^0'=__disjvr_1^post28, a_175^0'=a_175^post28, temp0_16^0'=temp0_16^post28, __disjvr_6^0'=__disjvr_6^post28, i_13^0'=i_13^post28, __disjvr_10^0'=__disjvr_10^post28, x_32^0'=x_32^post28, a_152^0'=a_152^post28, result_11^0'=result_11^post28, __disjvr_3^0'=__disjvr_3^post28, ct_18^0'=ct_18^post28, temp_33^0'=temp_33^post28, x_15^0'=x_15^post28, __disjvr_8^0'=__disjvr_8^post28, r_37^0'=r_37^post28, __disjvr_12^0'=__disjvr_12^post28, y_20^0'=y_20^post28, t_24^0'=t_24^post28, __disjvr_5^0'=__disjvr_5^post28, i_111^0'=i_111^post28, (rcd_100^0-rcd_100^post28 == 0 /\ __disjvr_4^0-__disjvr_4^post28 == 0 /\ len_14^0-len_14^post28 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ a_175^0-a_175^post28 == 0 /\ -__disjvr_12^post28+__disjvr_12^0 == 0 /\ -i_13^post28+i_13^0 == 0 /\ -__disjvr_9^post28+__disjvr_9^0 == 0 /\ temp0_31^0-temp0_31^post28 == 0 /\ x_21^0-x_21^post28 == 0 /\ r_37^0-r_37^post28 == 0 /\ temp_33^0-temp_33^post28 == 0 /\ -y_20^post28+y_20^0 == 0 /\ -i_111^post28+i_111^0 == 0 /\ -x_15^post28+x_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28 == 0 /\ -__disjvr_10^post28+__disjvr_10^0 == 0 /\ a_28^0-a_28^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ -__disjvr_1^post28+__disjvr_1^0 == 0 /\ -rcd_63^post28+rcd_63^0 == 0 /\ -temp0_16^post28+temp0_16^0 == 0 /\ x_17^0-x_17^post28 == 0 /\ -__disjvr_11^0+__disjvr_11^post28 == 0 /\ a_130^0-a_130^post28 == 0 /\ -__disjvr_5^post28+__disjvr_5^0 == 0 /\ __disjvr_2^0-__disjvr_2^post28 == 0 /\ tmp_27^0-tmp_27^post28 == 0 /\ -ct_18^post28+ct_18^0 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ d_29^0-d_29^post28 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ __disjvr_11^0-__disjvr_11^post28 == 0 /\ __disjvr_7^0-__disjvr_7^post28 == 0 /\ -x_SLAM_f_19^post28+x_SLAM_f_19^0 == 0 /\ -t_24^post28+t_24^0 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ a_152^0-a_152^post28 == 0 /\ x_32^0-x_32^post28 == 0), cost: 1 29: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post29, x_21^0'=x_21^post29, a_130^0'=a_130^post29, rcd_63^0'=rcd_63^post29, __disjvr_2^0'=__disjvr_2^post29, a_28^0'=a_28^post29, temp0_31^0'=temp0_31^post29, tmp_27^0'=tmp_27^post29, __disjvr_7^0'=__disjvr_7^post29, len_14^0'=len_14^post29, __disjvr_11^0'=__disjvr_11^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29, __disjvr_4^0'=__disjvr_4^post29, d_29^0'=d_29^post29, x_17^0'=x_17^post29, __disjvr_9^0'=__disjvr_9^post29, rcd_100^0'=rcd_100^post29, __disjvr_1^0'=__disjvr_1^post29, a_175^0'=a_175^post29, temp0_16^0'=temp0_16^post29, __disjvr_6^0'=__disjvr_6^post29, i_13^0'=i_13^post29, __disjvr_10^0'=__disjvr_10^post29, x_32^0'=x_32^post29, a_152^0'=a_152^post29, result_11^0'=result_11^post29, __disjvr_3^0'=__disjvr_3^post29, ct_18^0'=ct_18^post29, temp_33^0'=temp_33^post29, x_15^0'=x_15^post29, __disjvr_8^0'=__disjvr_8^post29, r_37^0'=r_37^post29, __disjvr_12^0'=__disjvr_12^post29, y_20^0'=y_20^post29, t_24^0'=t_24^post29, __disjvr_5^0'=__disjvr_5^post29, i_111^0'=i_111^post29, (__disjvr_4^0-__disjvr_4^post29 == 0 /\ -i_13^post29+i_13^0 == 0 /\ -t_24^post29+t_24^0 == 0 /\ -x_15^post29+x_15^0 == 0 /\ -y_20^post29+y_20^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post29 == 0 /\ x_32^0-x_32^post29 == 0 /\ -rcd_100^post29+rcd_100^0 == 0 /\ x_21^0-x_21^post29 == 0 /\ -__disjvr_9^post29+__disjvr_9^0 == 0 /\ __disjvr_2^0-__disjvr_2^post29 == 0 /\ -a_175^post29+a_175^0 == 0 /\ -i_111^post29+i_111^0 == 0 /\ -__disjvr_10^post29+__disjvr_10^0 == 0 /\ -result_11^post29+result_11^0 == 0 /\ temp_33^0-temp_33^post29 == 0 /\ __disjvr_11^0-__disjvr_11^post29 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29 == 0 /\ -__disjvr_3^post29+__disjvr_3^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ r_37^0-r_37^post29 == 0 /\ __disjvr_1^0-__disjvr_1^post29 == 0 /\ x_17^0-x_17^post29 == 0 /\ len_14^0-len_14^post29 == 0 /\ -__disjvr_5^post29+__disjvr_5^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ -d_29^post29+d_29^0 == 0 /\ -rcd_63^post29+rcd_63^0 == 0 /\ a_130^0-a_130^post29 == 0 /\ __disjvr_12^post29-__disjvr_12^0 == 0 /\ __disjvr_7^0-__disjvr_7^post29 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ temp0_16^0-temp0_16^post29 == 0 /\ a_152^0-a_152^post29 == 0 /\ -__disjvr_8^post29+__disjvr_8^0 == 0 /\ a_28^0-a_28^post29 == 0 /\ -tmp_27^post29+tmp_27^0 == 0 /\ ct_18^0-ct_18^post29 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0), cost: 1 30: l29 -> l4 : __disjvr_0^0'=__disjvr_0^post30, x_21^0'=x_21^post30, a_130^0'=a_130^post30, rcd_63^0'=rcd_63^post30, __disjvr_2^0'=__disjvr_2^post30, a_28^0'=a_28^post30, temp0_31^0'=temp0_31^post30, tmp_27^0'=tmp_27^post30, __disjvr_7^0'=__disjvr_7^post30, len_14^0'=len_14^post30, __disjvr_11^0'=__disjvr_11^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30, __disjvr_4^0'=__disjvr_4^post30, d_29^0'=d_29^post30, x_17^0'=x_17^post30, __disjvr_9^0'=__disjvr_9^post30, rcd_100^0'=rcd_100^post30, __disjvr_1^0'=__disjvr_1^post30, a_175^0'=a_175^post30, temp0_16^0'=temp0_16^post30, __disjvr_6^0'=__disjvr_6^post30, i_13^0'=i_13^post30, __disjvr_10^0'=__disjvr_10^post30, x_32^0'=x_32^post30, a_152^0'=a_152^post30, result_11^0'=result_11^post30, __disjvr_3^0'=__disjvr_3^post30, ct_18^0'=ct_18^post30, temp_33^0'=temp_33^post30, x_15^0'=x_15^post30, __disjvr_8^0'=__disjvr_8^post30, r_37^0'=r_37^post30, __disjvr_12^0'=__disjvr_12^post30, y_20^0'=y_20^post30, t_24^0'=t_24^post30, __disjvr_5^0'=__disjvr_5^post30, i_111^0'=i_111^post30, (0 == 0 /\ -__disjvr_3^post30+__disjvr_3^0 == 0 /\ -rcd_100^post30+rcd_100^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ -1-a_130^0+i_13^post30 <= 0 /\ __disjvr_4^0-__disjvr_4^post30 == 0 /\ -y_20^post30+y_20^0 == 0 /\ temp0_31^0-temp0_31^post30 == 0 /\ 1-len_14^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ __disjvr_2^0-__disjvr_2^post30 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post30 == 0 /\ __disjvr_0^0-__disjvr_0^post30 == 0 /\ 2-len_14^0 <= 0 /\ -i_111^post30+i_111^0 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ x_15^0-x_15^post30 == 0 /\ -result_11^post30+result_11^0 == 0 /\ __disjvr_10^0-__disjvr_10^post30 == 0 /\ -temp_33^post30+temp_33^0 == 0 /\ -d_29^post30+d_29^0 == 0 /\ -__disjvr_8^post30+__disjvr_8^0 == 0 /\ x_17^0-x_17^post30 == 0 /\ -a_152^post30+a_152^0 == 0 /\ 1+a_130^0-i_13^post30 <= 0 /\ a_130^0-a_130^post30 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ rcd_63^0-rcd_63^post30 == 0 /\ len_14^0-len_14^post30 == 0 /\ -r_37^post30+r_37^0 == 0 /\ tmp_27^0-tmp_27^post30 == 0 /\ x_21^0-x_21^post30 == 0 /\ a_28^0-a_28^post30 == 0 /\ __disjvr_7^0-__disjvr_7^post30 == 0 /\ __disjvr_5^0-__disjvr_5^post30 == 0 /\ -ct_18^post30+ct_18^0 == 0 /\ a_175^0-a_175^post30 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ -__disjvr_6^post30+__disjvr_6^0 == 0 /\ -t_24^post30+t_24^0 == 0 /\ -x_32^post30+x_32^0 == 0), cost: 1 32: l30 -> l18 : __disjvr_0^0'=__disjvr_0^post32, x_21^0'=x_21^post32, a_130^0'=a_130^post32, rcd_63^0'=rcd_63^post32, __disjvr_2^0'=__disjvr_2^post32, a_28^0'=a_28^post32, temp0_31^0'=temp0_31^post32, tmp_27^0'=tmp_27^post32, __disjvr_7^0'=__disjvr_7^post32, len_14^0'=len_14^post32, __disjvr_11^0'=__disjvr_11^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32, __disjvr_4^0'=__disjvr_4^post32, d_29^0'=d_29^post32, x_17^0'=x_17^post32, __disjvr_9^0'=__disjvr_9^post32, rcd_100^0'=rcd_100^post32, __disjvr_1^0'=__disjvr_1^post32, a_175^0'=a_175^post32, temp0_16^0'=temp0_16^post32, __disjvr_6^0'=__disjvr_6^post32, i_13^0'=i_13^post32, __disjvr_10^0'=__disjvr_10^post32, x_32^0'=x_32^post32, a_152^0'=a_152^post32, result_11^0'=result_11^post32, __disjvr_3^0'=__disjvr_3^post32, ct_18^0'=ct_18^post32, temp_33^0'=temp_33^post32, x_15^0'=x_15^post32, __disjvr_8^0'=__disjvr_8^post32, r_37^0'=r_37^post32, __disjvr_12^0'=__disjvr_12^post32, y_20^0'=y_20^post32, t_24^0'=t_24^post32, __disjvr_5^0'=__disjvr_5^post32, i_111^0'=i_111^post32, (-temp0_16^post32+temp0_16^0 == 0 /\ a_130^0-a_130^post32 == 0 /\ -x_17^post32+x_17^0 == 0 /\ d_29^0-d_29^post32 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ -a_152^post32+a_152^0 == 0 /\ x_15^0-x_15^post32 == 0 /\ -r_37^post32+r_37^0 == 0 /\ i_13^0-i_13^post32 == 0 /\ -__disjvr_1^post32+__disjvr_1^0 == 0 /\ __disjvr_4^0-__disjvr_4^post32 == 0 /\ a_175^0-a_175^post32 == 0 /\ rcd_100^0-rcd_100^post32 == 0 /\ -__disjvr_6^post32+__disjvr_6^0 == 0 /\ -__disjvr_8^post32+__disjvr_8^0 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ a_28^0-a_28^post32 == 0 /\ __disjvr_7^0-__disjvr_7^post32 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ -y_20^post32+y_20^0 == 0 /\ rcd_63^0-rcd_63^post32 == 0 /\ -x_32^post32+x_32^0 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ -ct_18^post32+ct_18^0 == 0 /\ -x_21^post32+x_21^0 == 0 /\ t_24^0-t_24^post32 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post32 == 0 /\ -i_111^post32+i_111^0 == 0 /\ -__disjvr_10^post32+__disjvr_10^0 == 0 /\ len_14^0-len_14^post32 == 0 /\ -result_11^post32+result_11^0 == 0 /\ -temp_33^post32+temp_33^0 == 0 /\ tmp_27^0-tmp_27^post32 == 0 /\ __disjvr_2^0-__disjvr_2^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ temp0_31^0-temp0_31^post32 == 0), cost: 1 35: l31 -> l10 : __disjvr_0^0'=__disjvr_0^post35, x_21^0'=x_21^post35, a_130^0'=a_130^post35, rcd_63^0'=rcd_63^post35, __disjvr_2^0'=__disjvr_2^post35, a_28^0'=a_28^post35, temp0_31^0'=temp0_31^post35, tmp_27^0'=tmp_27^post35, __disjvr_7^0'=__disjvr_7^post35, len_14^0'=len_14^post35, __disjvr_11^0'=__disjvr_11^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, __disjvr_4^0'=__disjvr_4^post35, d_29^0'=d_29^post35, x_17^0'=x_17^post35, __disjvr_9^0'=__disjvr_9^post35, rcd_100^0'=rcd_100^post35, __disjvr_1^0'=__disjvr_1^post35, a_175^0'=a_175^post35, temp0_16^0'=temp0_16^post35, __disjvr_6^0'=__disjvr_6^post35, i_13^0'=i_13^post35, __disjvr_10^0'=__disjvr_10^post35, x_32^0'=x_32^post35, a_152^0'=a_152^post35, result_11^0'=result_11^post35, __disjvr_3^0'=__disjvr_3^post35, ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post35, x_15^0'=x_15^post35, __disjvr_8^0'=__disjvr_8^post35, r_37^0'=r_37^post35, __disjvr_12^0'=__disjvr_12^post35, y_20^0'=y_20^post35, t_24^0'=t_24^post35, __disjvr_5^0'=__disjvr_5^post35, i_111^0'=i_111^post35, (-__disjvr_1^post35+__disjvr_1^0 == 0 /\ __disjvr_10^0-__disjvr_10^post35 == 0 /\ __disjvr_2^0-__disjvr_2^post35 == 0 /\ temp0_16^0-temp0_16^post35 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35 == 0 /\ a_175^0-a_175^post35 == 0 /\ -__disjvr_5^post35+__disjvr_5^0 == 0 /\ -r_37^post35+r_37^0 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ len_14^0-len_14^post35 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ -i_13^post35+i_13^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post35 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ -t_24^post35+t_24^0 == 0 /\ -x_32^post35+x_32^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ tmp_27^0-tmp_27^post35 == 0 /\ d_29^0-d_29^post35 == 0 /\ rcd_63^0-rcd_63^post35 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ -x_15^post35+x_15^0 == 0 /\ -temp_33^post35+temp_33^0 == 0 /\ -ct_18^post35+ct_18^0 == 0 /\ -y_20^post35+y_20^0 == 0 /\ a_152^0-a_152^post35 == 0 /\ -i_111^post35+i_111^0 == 0 /\ x_17^0-x_17^post35 == 0 /\ rcd_100^0-rcd_100^post35 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ -a_28^post35+a_28^0 == 0 /\ -__disjvr_9^post35+__disjvr_9^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ -__disjvr_4^post35+__disjvr_4^0 == 0 /\ a_130^0-a_130^post35 == 0 /\ x_21^0-x_21^post35 == 0), cost: 1 Removed unreachable rules and leafs Start location: l31 18: l4 -> l20 : __disjvr_0^0'=__disjvr_0^post18, x_21^0'=x_21^post18, a_130^0'=a_130^post18, rcd_63^0'=rcd_63^post18, __disjvr_2^0'=__disjvr_2^post18, a_28^0'=a_28^post18, temp0_31^0'=temp0_31^post18, tmp_27^0'=tmp_27^post18, __disjvr_7^0'=__disjvr_7^post18, len_14^0'=len_14^post18, __disjvr_11^0'=__disjvr_11^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18, __disjvr_4^0'=__disjvr_4^post18, d_29^0'=d_29^post18, x_17^0'=x_17^post18, __disjvr_9^0'=__disjvr_9^post18, rcd_100^0'=rcd_100^post18, __disjvr_1^0'=__disjvr_1^post18, a_175^0'=a_175^post18, temp0_16^0'=temp0_16^post18, __disjvr_6^0'=__disjvr_6^post18, i_13^0'=i_13^post18, __disjvr_10^0'=__disjvr_10^post18, x_32^0'=x_32^post18, a_152^0'=a_152^post18, result_11^0'=result_11^post18, __disjvr_3^0'=__disjvr_3^post18, ct_18^0'=ct_18^post18, temp_33^0'=temp_33^post18, x_15^0'=x_15^post18, __disjvr_8^0'=__disjvr_8^post18, r_37^0'=r_37^post18, __disjvr_12^0'=__disjvr_12^post18, y_20^0'=y_20^post18, t_24^0'=t_24^post18, __disjvr_5^0'=__disjvr_5^post18, i_111^0'=i_111^post18, (0 == 0 /\ -__disjvr_9^post18+__disjvr_9^0 == 0 /\ a_175^0-a_175^post18 == 0 /\ -a_152^0 <= 0 /\ -i_111^post18+i_111^0 == 0 /\ rcd_100^0-rcd_100^post18 == 0 /\ x_21^0-x_21^post18 == 0 /\ temp0_31^0-temp0_31^post18 == 0 /\ -__disjvr_8^post18+__disjvr_8^0 == 0 /\ temp_33^0-temp_33^post18 == 0 /\ -__disjvr_12^post18+__disjvr_12^0 == 0 /\ -y_20^post18+y_20^0 == 0 /\ __disjvr_3^0-__disjvr_3^post18 == 0 /\ -__disjvr_5^post18+__disjvr_5^0 == 0 /\ a_28^0-a_28^post18 == 0 /\ __disjvr_4^0-__disjvr_4^post18 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18 == 0 /\ a_152^0-a_152^post18 == 0 /\ result_11^0-result_11^post18 == 0 /\ -__disjvr_10^post18+__disjvr_10^0 == 0 /\ __disjvr_0^0-__disjvr_0^post18 == 0 /\ -__disjvr_1^post18+__disjvr_1^0 == 0 /\ __disjvr_7^0-__disjvr_7^post18 == 0 /\ -t_24^post18+t_24^0 == 0 /\ __disjvr_11^0-__disjvr_11^post18 == 0 /\ __disjvr_2^0-__disjvr_2^post18 == 0 /\ d_29^0-d_29^post18 == 0 /\ a_130^0-a_130^post18 == 0 /\ rcd_63^0-rcd_63^post18 == 0 /\ -temp0_16^post18+temp0_16^0 == 0 /\ x_32^0-x_32^post18 == 0 /\ __disjvr_6^0-__disjvr_6^post18 == 0), cost: 1 9: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post9, x_21^0'=x_21^post9, a_130^0'=a_130^post9, rcd_63^0'=rcd_63^post9, __disjvr_2^0'=__disjvr_2^post9, a_28^0'=a_28^post9, temp0_31^0'=temp0_31^post9, tmp_27^0'=tmp_27^post9, __disjvr_7^0'=__disjvr_7^post9, len_14^0'=len_14^post9, __disjvr_11^0'=__disjvr_11^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9, __disjvr_4^0'=__disjvr_4^post9, d_29^0'=d_29^post9, x_17^0'=x_17^post9, __disjvr_9^0'=__disjvr_9^post9, rcd_100^0'=rcd_100^post9, __disjvr_1^0'=__disjvr_1^post9, a_175^0'=a_175^post9, temp0_16^0'=temp0_16^post9, __disjvr_6^0'=__disjvr_6^post9, i_13^0'=i_13^post9, __disjvr_10^0'=__disjvr_10^post9, x_32^0'=x_32^post9, a_152^0'=a_152^post9, result_11^0'=result_11^post9, __disjvr_3^0'=__disjvr_3^post9, ct_18^0'=ct_18^post9, temp_33^0'=temp_33^post9, x_15^0'=x_15^post9, __disjvr_8^0'=__disjvr_8^post9, r_37^0'=r_37^post9, __disjvr_12^0'=__disjvr_12^post9, y_20^0'=y_20^post9, t_24^0'=t_24^post9, __disjvr_5^0'=__disjvr_5^post9, i_111^0'=i_111^post9, (-x_32^post9+x_32^0 == 0 /\ -temp_33^post9+temp_33^0 == 0 /\ -ct_18^post9+ct_18^0 == 0 /\ -y_20^post9+y_20^0 == 0 /\ rcd_63^0-rcd_63^post9 == 0 /\ tmp_27^0-tmp_27^post9 == 0 /\ -t_24^post9+t_24^0 == 0 /\ a_130^0-a_130^post9 == 0 /\ d_29^0-d_29^post9 == 0 /\ __disjvr_7^0-__disjvr_7^post9 == 0 /\ __disjvr_10^0-__disjvr_10^post9 == 0 /\ __disjvr_1^0-__disjvr_1^post9 == 0 /\ x_21^0-x_21^post9 == 0 /\ temp0_31^0-temp0_31^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9 == 0 /\ -__disjvr_3^post9+__disjvr_3^0 == 0 /\ a_28^0-a_28^post9 == 0 /\ -rcd_100^post9+rcd_100^0 == 0 /\ -i_13^post9 <= 0 /\ -r_37^post9+r_37^0 == 0 /\ i_13^post9 <= 0 /\ i_13^post9 == 0 /\ -__disjvr_8^post9+__disjvr_8^0 == 0 /\ __disjvr_4^0-__disjvr_4^post9 == 0 /\ -result_11^post9+result_11^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post9 == 0 /\ -i_111^post9+i_111^0 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ x_17^0-x_17^post9 == 0 /\ -temp0_16^post9+temp0_16^0 == 0 /\ -__disjvr_6^post9+__disjvr_6^0 == 0 /\ -__disjvr_2^post9+__disjvr_2^0 == 0 /\ -a_152^post9+a_152^0 == 0 /\ x_15^post9 <= 0 /\ x_15^post9 == 0 /\ -x_15^post9 <= 0 /\ -len_14^post9+len_14^0 == 0 /\ -__disjvr_12^post9+__disjvr_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post9 == 0 /\ a_175^0-a_175^post9 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0), cost: 1 34: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post34, x_21^0'=x_21^post34, a_130^0'=a_130^post34, rcd_63^0'=rcd_63^post34, __disjvr_2^0'=__disjvr_2^post34, a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, tmp_27^0'=tmp_27^post34, __disjvr_7^0'=__disjvr_7^post34, len_14^0'=len_14^post34, __disjvr_11^0'=__disjvr_11^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, __disjvr_4^0'=__disjvr_4^post34, d_29^0'=d_29^post34, x_17^0'=x_17^post34, __disjvr_9^0'=__disjvr_9^post34, rcd_100^0'=rcd_100^post34, __disjvr_1^0'=__disjvr_1^post34, a_175^0'=a_175^post34, temp0_16^0'=temp0_16^post34, __disjvr_6^0'=__disjvr_6^post34, i_13^0'=i_13^post34, __disjvr_10^0'=__disjvr_10^post34, x_32^0'=x_32^post34, a_152^0'=a_152^post34, result_11^0'=result_11^post34, __disjvr_3^0'=__disjvr_3^post34, ct_18^0'=ct_18^post34, temp_33^0'=temp_33^post34, x_15^0'=x_15^post34, __disjvr_8^0'=__disjvr_8^post34, r_37^0'=r_37^post34, __disjvr_12^0'=__disjvr_12^post34, y_20^0'=y_20^post34, t_24^0'=t_24^post34, __disjvr_5^0'=__disjvr_5^post34, i_111^0'=i_111^post34, (0 == 0 /\ __disjvr_7^0-__disjvr_7^post34 == 0 /\ 1-len_14^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post34 == 0 /\ len_14^0-len_14^post34 == 0 /\ -x_17^post34+x_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ x_21^0-x_21^post34 == 0 /\ -r_37^post34+r_37^0 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -ct_18^post34+ct_18^0 == 0 /\ -i_111^post34+i_111^0 == 0 /\ a_130^0-a_130^post34 == 0 /\ -t_24^post34+t_24^0 == 0 /\ temp0_31^120-x_32^120 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ -x_SLAM_f_19^post34+x_SLAM_f_19^0 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ -__disjvr_9^post34+__disjvr_9^0 == 0 /\ __disjvr_11^0-__disjvr_11^post34 == 0 /\ -temp0_31^120+result_11^120 == 0 /\ a_175^0-a_175^post34 == 0 /\ -rcd_63^post34+rcd_63^0 == 0 /\ a_152^0-a_152^post34 == 0 /\ __disjvr_2^0-__disjvr_2^post34 == 0 /\ d_29^120-x_15^0 == 0 /\ -__disjvr_10^post34+__disjvr_10^0 == 0 /\ -tmp_27^post34+x_15^post34 <= 0 /\ -tmp_27^post34+x_15^post34 == 0 /\ 1-i_13^post34 <= 0 /\ -1+i_13^post34 <= 0 /\ x_32^120-temp_33^0 == 0 /\ tmp_27^post34-result_11^120 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ rcd_100^0-rcd_100^post34 == 0 /\ -y_20^post34+y_20^0 == 0 /\ -1-i_13^0+i_13^post34 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -__disjvr_8^post34+__disjvr_8^0 == 0 /\ a_28^12-i_13^0 == 0 /\ tmp_27^post34-x_15^post34 <= 0), cost: 1 16: l12 -> l18 : __disjvr_0^0'=__disjvr_0^post16, x_21^0'=x_21^post16, a_130^0'=a_130^post16, rcd_63^0'=rcd_63^post16, __disjvr_2^0'=__disjvr_2^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, tmp_27^0'=tmp_27^post16, __disjvr_7^0'=__disjvr_7^post16, len_14^0'=len_14^post16, __disjvr_11^0'=__disjvr_11^post16, x_SLAM_f_19^0'=x_SLAM_f_19^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, __disjvr_4^0'=__disjvr_4^post16, d_29^0'=d_29^post16, x_17^0'=x_17^post16, __disjvr_9^0'=__disjvr_9^post16, rcd_100^0'=rcd_100^post16, __disjvr_1^0'=__disjvr_1^post16, a_175^0'=a_175^post16, temp0_16^0'=temp0_16^post16, __disjvr_6^0'=__disjvr_6^post16, i_13^0'=i_13^post16, __disjvr_10^0'=__disjvr_10^post16, x_32^0'=x_32^post16, a_152^0'=a_152^post16, result_11^0'=result_11^post16, __disjvr_3^0'=__disjvr_3^post16, ct_18^0'=ct_18^post16, temp_33^0'=temp_33^post16, x_15^0'=x_15^post16, __disjvr_8^0'=__disjvr_8^post16, r_37^0'=r_37^post16, __disjvr_12^0'=__disjvr_12^post16, y_20^0'=y_20^post16, t_24^0'=t_24^post16, __disjvr_5^0'=__disjvr_5^post16, i_111^0'=i_111^post16, (0 == 0 /\ -__disjvr_6^post16+__disjvr_6^0 == 0 /\ 2-i_13^post16 <= 0 /\ x_21^0-x_21^post16 == 0 /\ -1-i_13^0+i_13^post16 == 0 /\ __disjvr_2^0-__disjvr_2^post16 == 0 /\ -__disjvr_8^post16+__disjvr_8^0 == 0 /\ -__disjvr_3^post16+__disjvr_3^0 == 0 /\ -__disjvr_12^post16+__disjvr_12^0 == 0 /\ a_130^0-a_130^post16 == 0 /\ 1-len_14^0 <= 0 /\ -i_13^0+a_28^10 == 0 /\ -y_20^post16+y_20^0 == 0 /\ -i_111^post16+i_111^0 == 0 /\ -rcd_100^post16+rcd_100^0 == 0 /\ tmp_27^post16-result_11^10 == 0 /\ -x_15^post16+tmp_27^post16 <= 0 /\ temp0_31^10-x_32^10 == 0 /\ __disjvr_10^0-__disjvr_10^post16 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ d_29^10-x_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ 2-len_14^0 <= 0 /\ -a_175^post16+a_175^0 == 0 /\ __disjvr_1^0-__disjvr_1^post16 == 0 /\ x_32^10-temp_33^0 == 0 /\ x_17^0-x_17^post16 == 0 /\ x_15^post16-tmp_27^post16 <= 0 /\ x_15^post16-tmp_27^post16 == 0 /\ -__disjvr_5^post16+__disjvr_5^0 == 0 /\ __disjvr_4^0-__disjvr_4^post16 == 0 /\ -temp0_31^10+result_11^10 == 0 /\ -a_152^post16+a_152^0 == 0 /\ ct_18^0-ct_18^post16 == 0 /\ -2+i_13^post16 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post16 == 0 /\ __disjvr_11^0-__disjvr_11^post16 == 0 /\ __disjvr_0^0-__disjvr_0^post16 == 0 /\ -r_37^post16+r_37^0 == 0 /\ -t_24^post16+t_24^0 == 0 /\ -len_14^post16+len_14^0 == 0 /\ temp0_16^0-temp0_16^post16 == 0 /\ __disjvr_7^0-__disjvr_7^post16 == 0), cost: 1 25: l18 -> l25 : __disjvr_0^0'=__disjvr_0^post25, x_21^0'=x_21^post25, a_130^0'=a_130^post25, rcd_63^0'=rcd_63^post25, __disjvr_2^0'=__disjvr_2^post25, a_28^0'=a_28^post25, temp0_31^0'=temp0_31^post25, tmp_27^0'=tmp_27^post25, __disjvr_7^0'=__disjvr_7^post25, len_14^0'=len_14^post25, __disjvr_11^0'=__disjvr_11^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25, __disjvr_4^0'=__disjvr_4^post25, d_29^0'=d_29^post25, x_17^0'=x_17^post25, __disjvr_9^0'=__disjvr_9^post25, rcd_100^0'=rcd_100^post25, __disjvr_1^0'=__disjvr_1^post25, a_175^0'=a_175^post25, temp0_16^0'=temp0_16^post25, __disjvr_6^0'=__disjvr_6^post25, i_13^0'=i_13^post25, __disjvr_10^0'=__disjvr_10^post25, x_32^0'=x_32^post25, a_152^0'=a_152^post25, result_11^0'=result_11^post25, __disjvr_3^0'=__disjvr_3^post25, ct_18^0'=ct_18^post25, temp_33^0'=temp_33^post25, x_15^0'=x_15^post25, __disjvr_8^0'=__disjvr_8^post25, r_37^0'=r_37^post25, __disjvr_12^0'=__disjvr_12^post25, y_20^0'=y_20^post25, t_24^0'=t_24^post25, __disjvr_5^0'=__disjvr_5^post25, i_111^0'=i_111^post25, (0 == 0 /\ len_14^0-i_13^0 <= 0 /\ -rcd_100^post25+rcd_100^0 == 0 /\ __disjvr_2^0-__disjvr_2^post25 == 0 /\ x_17^110-x_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ x_21^post25-x_SLAM_f_19^140 == 0 /\ __disjvr_6^0-__disjvr_6^post25 == 0 /\ temp0_31^0-temp0_31^post25 == 0 /\ -x_17^110+x_SLAM_f_19^140 == 0 /\ ct_18^14 == 0 /\ -t_24^post25+t_24^0 == 0 /\ temp0_16^0-temp0_16^post25 == 0 /\ d_29^0-d_29^post25 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -r_37^post25+r_37^0 == 0 /\ -i_13^0 <= 0 /\ -a_175^post25+a_175^0 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ -__disjvr_4^post25+__disjvr_4^0 == 0 /\ -__disjvr_9^post25+__disjvr_9^0 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ -__disjvr_8^post25+__disjvr_8^0 == 0 /\ rcd_63^0-rcd_63^post25 == 0 /\ -i_111^post25+i_111^0 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ x_32^0-x_32^post25 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ a_130^0-a_130^post25 == 0 /\ -ct_18^14+y_20^post25 == 0 /\ a_28^0-a_28^post25 == 0 /\ __disjvr_10^0-__disjvr_10^post25 == 0 /\ __disjvr_11^0-__disjvr_11^post25 == 0 /\ -a_152^post25+a_152^0 == 0 /\ -temp_33^post25+temp_33^0 == 0 /\ __disjvr_1^0-__disjvr_1^post25 == 0 /\ -__disjvr_5^post25+__disjvr_5^0 == 0), cost: 1 31: l18 -> l30 : __disjvr_0^0'=__disjvr_0^post31, x_21^0'=x_21^post31, a_130^0'=a_130^post31, rcd_63^0'=rcd_63^post31, __disjvr_2^0'=__disjvr_2^post31, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=tmp_27^post31, __disjvr_7^0'=__disjvr_7^post31, len_14^0'=len_14^post31, __disjvr_11^0'=__disjvr_11^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, __disjvr_4^0'=__disjvr_4^post31, d_29^0'=d_29^post31, x_17^0'=x_17^post31, __disjvr_9^0'=__disjvr_9^post31, rcd_100^0'=rcd_100^post31, __disjvr_1^0'=__disjvr_1^post31, a_175^0'=a_175^post31, temp0_16^0'=temp0_16^post31, __disjvr_6^0'=__disjvr_6^post31, i_13^0'=i_13^post31, __disjvr_10^0'=__disjvr_10^post31, x_32^0'=x_32^post31, a_152^0'=a_152^post31, result_11^0'=result_11^post31, __disjvr_3^0'=__disjvr_3^post31, ct_18^0'=ct_18^post31, temp_33^0'=temp_33^post31, x_15^0'=x_15^post31, __disjvr_8^0'=__disjvr_8^post31, r_37^0'=r_37^post31, __disjvr_12^0'=__disjvr_12^post31, y_20^0'=y_20^post31, t_24^0'=t_24^post31, __disjvr_5^0'=__disjvr_5^post31, i_111^0'=i_111^post31, (0 == 0 /\ -__disjvr_11^post31+__disjvr_11^0 == 0 /\ -__disjvr_9^post31+__disjvr_9^0 == 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ result_11^110-temp0_31^110 == 0 /\ -x_17^post31+x_17^0 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -r_37^post31+r_37^0 == 0 /\ __disjvr_4^0-__disjvr_4^post31 == 0 /\ x_15^post31-tmp_27^post31 == 0 /\ -1+i_13^post31-i_111^post31 <= 0 /\ a_130^0-a_130^post31 == 0 /\ -__disjvr_10^post31+__disjvr_10^0 == 0 /\ -i_13^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ y_20^0-y_20^post31 == 0 /\ d_29^110-x_15^0 == 0 /\ __disjvr_7^0-__disjvr_7^post31 == 0 /\ -__disjvr_8^post31+__disjvr_8^0 == 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ a_28^11-i_13^0 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ -x_32^110+temp0_31^110 == 0 /\ ct_18^0-ct_18^post31 == 0 /\ 1-len_14^0+i_111^post31 <= 0 /\ x_32^110-temp_33^0 == 0 /\ -rcd_63^post31+rcd_63^0 == 0 /\ -result_11^110+tmp_27^post31 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0 /\ -1+i_13^post31-i_13^0 == 0 /\ x_21^0-x_21^post31 == 0 /\ __disjvr_6^0-__disjvr_6^post31 == 0 /\ -t_24^post31+t_24^0 == 0 /\ __disjvr_2^0-__disjvr_2^post31 == 0 /\ -a_175^post31+a_175^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post31 == 0 /\ 1-i_13^post31+i_111^post31 <= 0 /\ -a_152^post31+a_152^0 == 0 /\ len_14^0-len_14^post31 == 0), cost: 1 19: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post19, x_21^0'=x_21^post19, a_130^0'=a_130^post19, rcd_63^0'=rcd_63^post19, __disjvr_2^0'=__disjvr_2^post19, a_28^0'=a_28^post19, temp0_31^0'=temp0_31^post19, tmp_27^0'=tmp_27^post19, __disjvr_7^0'=__disjvr_7^post19, len_14^0'=len_14^post19, __disjvr_11^0'=__disjvr_11^post19, x_SLAM_f_19^0'=x_SLAM_f_19^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19, __disjvr_4^0'=__disjvr_4^post19, d_29^0'=d_29^post19, x_17^0'=x_17^post19, __disjvr_9^0'=__disjvr_9^post19, rcd_100^0'=rcd_100^post19, __disjvr_1^0'=__disjvr_1^post19, a_175^0'=a_175^post19, temp0_16^0'=temp0_16^post19, __disjvr_6^0'=__disjvr_6^post19, i_13^0'=i_13^post19, __disjvr_10^0'=__disjvr_10^post19, x_32^0'=x_32^post19, a_152^0'=a_152^post19, result_11^0'=result_11^post19, __disjvr_3^0'=__disjvr_3^post19, ct_18^0'=ct_18^post19, temp_33^0'=temp_33^post19, x_15^0'=x_15^post19, __disjvr_8^0'=__disjvr_8^post19, r_37^0'=r_37^post19, __disjvr_12^0'=__disjvr_12^post19, y_20^0'=y_20^post19, t_24^0'=t_24^post19, __disjvr_5^0'=__disjvr_5^post19, i_111^0'=i_111^post19, (-__disjvr_3^post19+__disjvr_3^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post19 == 0 /\ -i_13^post19+i_13^0 == 0 /\ -y_20^post19+y_20^0 == 0 /\ x_21^0-x_21^post19 == 0 /\ -__disjvr_9^post19+__disjvr_9^0 == 0 /\ temp0_31^0-temp0_31^post19 == 0 /\ -result_11^post19+result_11^0 == 0 /\ r_37^0-r_37^post19 == 0 /\ a_130^0-a_130^post19 == 0 /\ __disjvr_11^0-__disjvr_11^post19 == 0 /\ -__disjvr_10^post19+__disjvr_10^0 == 0 /\ temp_33^0-temp_33^post19 == 0 /\ -x_15^post19+x_15^0 == 0 /\ -a_175^post19+a_175^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19 == 0 /\ x_17^0-x_17^post19 == 0 /\ -i_111^post19+i_111^0 == 0 /\ __disjvr_4^0-__disjvr_4^post19 == 0 /\ __disjvr_1^0-__disjvr_1^post19 == 0 /\ len_14^0-len_14^post19 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ -rcd_63^post19+rcd_63^0 == 0 /\ -__disjvr_7^0+__disjvr_7^post19 == 0 /\ __disjvr_2^0-__disjvr_2^post19 == 0 /\ -d_29^post19+d_29^0 == 0 /\ -rcd_100^post19+rcd_100^0 == 0 /\ -__disjvr_8^post19+__disjvr_8^0 == 0 /\ -ct_18^post19+ct_18^0 == 0 /\ -tmp_27^post19+tmp_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ temp0_16^0-temp0_16^post19 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ x_32^0-x_32^post19 == 0 /\ __disjvr_6^0-__disjvr_6^post19 == 0 /\ a_28^0-a_28^post19 == 0 /\ -t_24^post19+t_24^0 == 0 /\ a_152^0-a_152^post19 == 0 /\ __disjvr_7^0-__disjvr_7^post19 == 0), cost: 1 20: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post20, x_21^0'=x_21^post20, a_130^0'=a_130^post20, rcd_63^0'=rcd_63^post20, __disjvr_2^0'=__disjvr_2^post20, a_28^0'=a_28^post20, temp0_31^0'=temp0_31^post20, tmp_27^0'=tmp_27^post20, __disjvr_7^0'=__disjvr_7^post20, len_14^0'=len_14^post20, __disjvr_11^0'=__disjvr_11^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20, __disjvr_4^0'=__disjvr_4^post20, d_29^0'=d_29^post20, x_17^0'=x_17^post20, __disjvr_9^0'=__disjvr_9^post20, rcd_100^0'=rcd_100^post20, __disjvr_1^0'=__disjvr_1^post20, a_175^0'=a_175^post20, temp0_16^0'=temp0_16^post20, __disjvr_6^0'=__disjvr_6^post20, i_13^0'=i_13^post20, __disjvr_10^0'=__disjvr_10^post20, x_32^0'=x_32^post20, a_152^0'=a_152^post20, result_11^0'=result_11^post20, __disjvr_3^0'=__disjvr_3^post20, ct_18^0'=ct_18^post20, temp_33^0'=temp_33^post20, x_15^0'=x_15^post20, __disjvr_8^0'=__disjvr_8^post20, r_37^0'=r_37^post20, __disjvr_12^0'=__disjvr_12^post20, y_20^0'=y_20^post20, t_24^0'=t_24^post20, __disjvr_5^0'=__disjvr_5^post20, i_111^0'=i_111^post20, (0 == 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ -__disjvr_6^post20+__disjvr_6^0 == 0 /\ temp0_31^0-temp0_31^post20 == 0 /\ -i_111^post20+i_111^0 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -x_SLAM_f_19^0+x_15^0 <= 0 /\ -__disjvr_3^post20+__disjvr_3^0 == 0 /\ -rcd_100^post20+rcd_100^0 == 0 /\ -ct_18^0 <= 0 /\ -1-a_175^post20+a_152^0 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post20 == 0 /\ __disjvr_2^0-__disjvr_2^post20 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ -result_11^post20+result_11^0 == 0 /\ rcd_63^0-rcd_63^post20 == 0 /\ __disjvr_11^0-__disjvr_11^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ x_15^0-x_15^post20 == 0 /\ -y_20^post20+y_20^0 == 0 /\ -temp_33^post20+temp_33^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ x_SLAM_f_19^0-x_15^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post20 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_10^0-__disjvr_10^post20 == 0 /\ -x_21^0+t_24^post20 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ -a_152^post20+a_152^0 == 0 /\ x_17^0-x_17^post20 == 0 /\ -tmp_27^0+x_15^0 <= 0 /\ len_14^0-len_14^post20 == 0 /\ 1+a_175^post20-a_152^0 <= 0 /\ x_21^0-x_21^post20 == 0 /\ a_130^0-a_130^post20 == 0 /\ -d_29^post20+d_29^0 == 0 /\ -x_17^0+x_15^0 <= 0 /\ ct_18^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ -x_32^post20+x_32^0 == 0 /\ __disjvr_7^0-__disjvr_7^post20 == 0 /\ tmp_27^0-x_15^0 <= 0 /\ temp0_16^0-temp0_16^post20 == 0 /\ y_20^0 <= 0 /\ -r_37^post20+r_37^0 == 0 /\ -y_20^0 <= 0 /\ i_13^0-i_13^post20 == 0 /\ -__disjvr_8^post20+__disjvr_8^0 == 0 /\ -tmp_27^post20+tmp_27^0 == 0 /\ -ct_18^post20+ct_18^0 == 0 /\ x_17^0-x_15^0 <= 0 /\ a_28^0-a_28^post20 == 0 /\ -ct_18^0+y_20^0 <= 0), cost: 1 21: l22 -> l23 : __disjvr_0^0'=__disjvr_0^post21, x_21^0'=x_21^post21, a_130^0'=a_130^post21, rcd_63^0'=rcd_63^post21, __disjvr_2^0'=__disjvr_2^post21, a_28^0'=a_28^post21, temp0_31^0'=temp0_31^post21, tmp_27^0'=tmp_27^post21, __disjvr_7^0'=__disjvr_7^post21, len_14^0'=len_14^post21, __disjvr_11^0'=__disjvr_11^post21, x_SLAM_f_19^0'=x_SLAM_f_19^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21, __disjvr_4^0'=__disjvr_4^post21, d_29^0'=d_29^post21, x_17^0'=x_17^post21, __disjvr_9^0'=__disjvr_9^post21, rcd_100^0'=rcd_100^post21, __disjvr_1^0'=__disjvr_1^post21, a_175^0'=a_175^post21, temp0_16^0'=temp0_16^post21, __disjvr_6^0'=__disjvr_6^post21, i_13^0'=i_13^post21, __disjvr_10^0'=__disjvr_10^post21, x_32^0'=x_32^post21, a_152^0'=a_152^post21, result_11^0'=result_11^post21, __disjvr_3^0'=__disjvr_3^post21, ct_18^0'=ct_18^post21, temp_33^0'=temp_33^post21, x_15^0'=x_15^post21, __disjvr_8^0'=__disjvr_8^post21, r_37^0'=r_37^post21, __disjvr_12^0'=__disjvr_12^post21, y_20^0'=y_20^post21, t_24^0'=t_24^post21, __disjvr_5^0'=__disjvr_5^post21, i_111^0'=i_111^post21, (-__disjvr_3^post21+__disjvr_3^0 == 0 /\ a_175^0-a_175^post21 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post21 == 0 /\ -__disjvr_12^post21+__disjvr_12^0 == 0 /\ rcd_100^0-rcd_100^post21 == 0 /\ -ct_18^post21+ct_18^0 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ tmp_27^0-tmp_27^post21 == 0 /\ rcd_63^0-rcd_63^post21 == 0 /\ a_130^0-a_130^post21 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ -y_20^post21+y_20^0 == 0 /\ __disjvr_2^0-__disjvr_2^post21 == 0 /\ __disjvr_9^0-__disjvr_9^post21 == 0 /\ -i_111^post21+i_111^0 == 0 /\ x_15^0-x_15^post21 == 0 /\ -__disjvr_8^0+__disjvr_8^post21 == 0 /\ -temp_33^post21+temp_33^0 == 0 /\ __disjvr_10^0-__disjvr_10^post21 == 0 /\ -a_152^post21+a_152^0 == 0 /\ __disjvr_4^0-__disjvr_4^post21 == 0 /\ result_11^0-result_11^post21 == 0 /\ x_17^0-x_17^post21 == 0 /\ len_14^0-len_14^post21 == 0 /\ temp0_31^0-temp0_31^post21 == 0 /\ x_21^0-x_21^post21 == 0 /\ -__disjvr_1^post21+__disjvr_1^0 == 0 /\ -__disjvr_5^post21+__disjvr_5^0 == 0 /\ -r_37^post21+r_37^0 == 0 /\ __disjvr_7^0-__disjvr_7^post21 == 0 /\ -x_32^post21+x_32^0 == 0 /\ d_29^0-d_29^post21 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21 == 0 /\ -temp0_16^post21+temp0_16^0 == 0 /\ a_28^0-a_28^post21 == 0 /\ -t_24^post21+t_24^0 == 0 /\ -__disjvr_6^post21+__disjvr_6^0 == 0 /\ i_13^0-i_13^post21 == 0), cost: 1 22: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post22, x_21^0'=x_21^post22, a_130^0'=a_130^post22, rcd_63^0'=rcd_63^post22, __disjvr_2^0'=__disjvr_2^post22, a_28^0'=a_28^post22, temp0_31^0'=temp0_31^post22, tmp_27^0'=tmp_27^post22, __disjvr_7^0'=__disjvr_7^post22, len_14^0'=len_14^post22, __disjvr_11^0'=__disjvr_11^post22, x_SLAM_f_19^0'=x_SLAM_f_19^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22, __disjvr_4^0'=__disjvr_4^post22, d_29^0'=d_29^post22, x_17^0'=x_17^post22, __disjvr_9^0'=__disjvr_9^post22, rcd_100^0'=rcd_100^post22, __disjvr_1^0'=__disjvr_1^post22, a_175^0'=a_175^post22, temp0_16^0'=temp0_16^post22, __disjvr_6^0'=__disjvr_6^post22, i_13^0'=i_13^post22, __disjvr_10^0'=__disjvr_10^post22, x_32^0'=x_32^post22, a_152^0'=a_152^post22, result_11^0'=result_11^post22, __disjvr_3^0'=__disjvr_3^post22, ct_18^0'=ct_18^post22, temp_33^0'=temp_33^post22, x_15^0'=x_15^post22, __disjvr_8^0'=__disjvr_8^post22, r_37^0'=r_37^post22, __disjvr_12^0'=__disjvr_12^post22, y_20^0'=y_20^post22, t_24^0'=t_24^post22, __disjvr_5^0'=__disjvr_5^post22, i_111^0'=i_111^post22, (-t_24^post22+t_24^0 == 0 /\ rcd_100^0-rcd_100^post22 == 0 /\ __disjvr_4^0-__disjvr_4^post22 == 0 /\ -x_15^post22+x_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post22 == 0 /\ -__disjvr_9^post22+__disjvr_9^0 == 0 /\ -i_13^post22+i_13^0 == 0 /\ -ct_18^post22+ct_18^0 == 0 /\ -y_20^post22+y_20^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post22 == 0 /\ __disjvr_8^0-__disjvr_8^post22 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ temp_33^0-temp_33^post22 == 0 /\ -i_111^post22+i_111^0 == 0 /\ __disjvr_2^0-__disjvr_2^post22 == 0 /\ rcd_63^0-rcd_63^post22 == 0 /\ __disjvr_9^post22-__disjvr_9^0 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ -a_175^post22+a_175^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ -temp0_16^post22+temp0_16^0 == 0 /\ x_17^0-x_17^post22 == 0 /\ -a_152^post22+a_152^0 == 0 /\ -r_37^post22+r_37^0 == 0 /\ -__disjvr_11^post22+__disjvr_11^0 == 0 /\ len_14^0-len_14^post22 == 0 /\ tmp_27^0-tmp_27^post22 == 0 /\ temp0_31^0-temp0_31^post22 == 0 /\ x_21^0-x_21^post22 == 0 /\ a_130^0-a_130^post22 == 0 /\ a_28^0-a_28^post22 == 0 /\ d_29^0-d_29^post22 == 0 /\ __disjvr_7^0-__disjvr_7^post22 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22 == 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ x_32^0-x_32^post22 == 0 /\ -__disjvr_12^post22+__disjvr_12^0 == 0), cost: 1 23: l24 -> l19 : __disjvr_0^0'=__disjvr_0^post23, x_21^0'=x_21^post23, a_130^0'=a_130^post23, rcd_63^0'=rcd_63^post23, __disjvr_2^0'=__disjvr_2^post23, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, tmp_27^0'=tmp_27^post23, __disjvr_7^0'=__disjvr_7^post23, len_14^0'=len_14^post23, __disjvr_11^0'=__disjvr_11^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, __disjvr_4^0'=__disjvr_4^post23, d_29^0'=d_29^post23, x_17^0'=x_17^post23, __disjvr_9^0'=__disjvr_9^post23, rcd_100^0'=rcd_100^post23, __disjvr_1^0'=__disjvr_1^post23, a_175^0'=a_175^post23, temp0_16^0'=temp0_16^post23, __disjvr_6^0'=__disjvr_6^post23, i_13^0'=i_13^post23, __disjvr_10^0'=__disjvr_10^post23, x_32^0'=x_32^post23, a_152^0'=a_152^post23, result_11^0'=result_11^post23, __disjvr_3^0'=__disjvr_3^post23, ct_18^0'=ct_18^post23, temp_33^0'=temp_33^post23, x_15^0'=x_15^post23, __disjvr_8^0'=__disjvr_8^post23, r_37^0'=r_37^post23, __disjvr_12^0'=__disjvr_12^post23, y_20^0'=y_20^post23, t_24^0'=t_24^post23, __disjvr_5^0'=__disjvr_5^post23, i_111^0'=i_111^post23, (0 == 0 /\ -rcd_100^post23+rcd_100^0 == 0 /\ __disjvr_4^0-__disjvr_4^post23 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post23 == 0 /\ -__disjvr_3^post23+__disjvr_3^0 == 0 /\ -__disjvr_6^post23+__disjvr_6^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_17^0-x_17^post23 == 0 /\ 1-len_14^0 <= 0 /\ a_175^0-a_152^post23 <= 0 /\ -y_20^post23+y_20^0 == 0 /\ -temp_33^post23+temp_33^0 == 0 /\ __disjvr_2^0-__disjvr_2^post23 == 0 /\ -__disjvr_10^post23+__disjvr_10^0 == 0 /\ d_29^0-d_29^post23 == 0 /\ 2-len_14^0 <= 0 /\ -a_175^post23+a_175^0 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ __disjvr_11^0-__disjvr_11^post23 == 0 /\ rcd_63^0-rcd_63^post23 == 0 /\ -x_15^post23+x_15^0 == 0 /\ -a_175^0+a_152^post23 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -i_111^post23+i_111^0 == 0 /\ i_13^0-i_13^post23 == 0 /\ __disjvr_12^0-__disjvr_12^post23 == 0 /\ -result_11^post23+result_11^0 == 0 /\ ct_18^0-ct_18^post23 == 0 /\ len_14^0-len_14^post23 == 0 /\ -__disjvr_5^post23+__disjvr_5^0 == 0 /\ temp0_31^0-temp0_31^post23 == 0 /\ x_21^0-x_21^post23 == 0 /\ -r_37^post23+r_37^0 == 0 /\ a_130^0-a_130^post23 == 0 /\ temp0_16^0-temp0_16^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -__disjvr_8^post23+__disjvr_8^0 == 0 /\ __disjvr_9^0-__disjvr_9^post23 == 0 /\ __disjvr_1^0-__disjvr_1^post23 == 0 /\ -t_24^post23+t_24^0 == 0 /\ -tmp_27^post23+tmp_27^0 == 0 /\ a_28^0-a_28^post23 == 0 /\ -x_32^post23+x_32^0 == 0), cost: 1 24: l19 -> l4 : __disjvr_0^0'=__disjvr_0^post24, x_21^0'=x_21^post24, a_130^0'=a_130^post24, rcd_63^0'=rcd_63^post24, __disjvr_2^0'=__disjvr_2^post24, a_28^0'=a_28^post24, temp0_31^0'=temp0_31^post24, tmp_27^0'=tmp_27^post24, __disjvr_7^0'=__disjvr_7^post24, len_14^0'=len_14^post24, __disjvr_11^0'=__disjvr_11^post24, x_SLAM_f_19^0'=x_SLAM_f_19^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24, __disjvr_4^0'=__disjvr_4^post24, d_29^0'=d_29^post24, x_17^0'=x_17^post24, __disjvr_9^0'=__disjvr_9^post24, rcd_100^0'=rcd_100^post24, __disjvr_1^0'=__disjvr_1^post24, a_175^0'=a_175^post24, temp0_16^0'=temp0_16^post24, __disjvr_6^0'=__disjvr_6^post24, i_13^0'=i_13^post24, __disjvr_10^0'=__disjvr_10^post24, x_32^0'=x_32^post24, a_152^0'=a_152^post24, result_11^0'=result_11^post24, __disjvr_3^0'=__disjvr_3^post24, ct_18^0'=ct_18^post24, temp_33^0'=temp_33^post24, x_15^0'=x_15^post24, __disjvr_8^0'=__disjvr_8^post24, r_37^0'=r_37^post24, __disjvr_12^0'=__disjvr_12^post24, y_20^0'=y_20^post24, t_24^0'=t_24^post24, __disjvr_5^0'=__disjvr_5^post24, i_111^0'=i_111^post24, (-x_15^post24+x_15^0 == 0 /\ -y_20^post24+y_20^0 == 0 /\ i_13^0-i_13^post24 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -t_24^post24+t_24^0 == 0 /\ -temp_33^post24+temp_33^0 == 0 /\ -x_32^post24+x_32^0 == 0 /\ -__disjvr_10^post24+__disjvr_10^0 == 0 /\ a_130^0-a_130^post24 == 0 /\ __disjvr_2^0-__disjvr_2^post24 == 0 /\ -ct_18^post24+ct_18^0 == 0 /\ __disjvr_7^0-__disjvr_7^post24 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ d_29^0-d_29^post24 == 0 /\ -i_111^post24+i_111^0 == 0 /\ -__disjvr_3^post24+__disjvr_3^0 == 0 /\ -result_11^post24+result_11^0 == 0 /\ __disjvr_12^0-__disjvr_12^post24 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ -len_14^post24+len_14^0 == 0 /\ __disjvr_4^0-__disjvr_4^post24 == 0 /\ -__disjvr_1^post24+__disjvr_1^0 == 0 /\ -x_17^post24+x_17^0 == 0 /\ -temp0_16^post24+temp0_16^0 == 0 /\ -__disjvr_8^post24+__disjvr_8^0 == 0 /\ -r_37^post24+r_37^0 == 0 /\ a_175^0-a_175^post24 == 0 /\ rcd_100^0-rcd_100^post24 == 0 /\ __disjvr_11^0-__disjvr_11^post24 == 0 /\ -a_152^post24+a_152^0 == 0 /\ rcd_63^0-rcd_63^post24 == 0 /\ temp0_31^0-temp0_31^post24 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post24 == 0 /\ tmp_27^0-tmp_27^post24 == 0 /\ x_21^0-x_21^post24 == 0 /\ a_28^0-a_28^post24 == 0 /\ -__disjvr_6^post24+__disjvr_6^0 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0), cost: 1 26: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post26, x_21^0'=x_21^post26, a_130^0'=a_130^post26, rcd_63^0'=rcd_63^post26, __disjvr_2^0'=__disjvr_2^post26, a_28^0'=a_28^post26, temp0_31^0'=temp0_31^post26, tmp_27^0'=tmp_27^post26, __disjvr_7^0'=__disjvr_7^post26, len_14^0'=len_14^post26, __disjvr_11^0'=__disjvr_11^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26, __disjvr_4^0'=__disjvr_4^post26, d_29^0'=d_29^post26, x_17^0'=x_17^post26, __disjvr_9^0'=__disjvr_9^post26, rcd_100^0'=rcd_100^post26, __disjvr_1^0'=__disjvr_1^post26, a_175^0'=a_175^post26, temp0_16^0'=temp0_16^post26, __disjvr_6^0'=__disjvr_6^post26, i_13^0'=i_13^post26, __disjvr_10^0'=__disjvr_10^post26, x_32^0'=x_32^post26, a_152^0'=a_152^post26, result_11^0'=result_11^post26, __disjvr_3^0'=__disjvr_3^post26, ct_18^0'=ct_18^post26, temp_33^0'=temp_33^post26, x_15^0'=x_15^post26, __disjvr_8^0'=__disjvr_8^post26, r_37^0'=r_37^post26, __disjvr_12^0'=__disjvr_12^post26, y_20^0'=y_20^post26, t_24^0'=t_24^post26, __disjvr_5^0'=__disjvr_5^post26, i_111^0'=i_111^post26, (__disjvr_10^post26-__disjvr_10^0 == 0 /\ -__disjvr_3^post26+__disjvr_3^0 == 0 /\ -__disjvr_12^post26+__disjvr_12^0 == 0 /\ temp0_31^0-temp0_31^post26 == 0 /\ -__disjvr_6^post26+__disjvr_6^0 == 0 /\ -i_111^post26+i_111^0 == 0 /\ x_21^0-x_21^post26 == 0 /\ -__disjvr_10^post26+__disjvr_10^0 == 0 /\ -result_11^post26+result_11^0 == 0 /\ -__disjvr_5^post26+__disjvr_5^0 == 0 /\ -y_20^post26+y_20^0 == 0 /\ x_15^0-x_15^post26 == 0 /\ d_29^0-d_29^post26 == 0 /\ -x_17^post26+x_17^0 == 0 /\ a_28^0-a_28^post26 == 0 /\ __disjvr_7^0-__disjvr_7^post26 == 0 /\ -a_152^post26+a_152^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26 == 0 /\ -temp_33^post26+temp_33^0 == 0 /\ i_13^0-i_13^post26 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post26 == 0 /\ ct_18^0-ct_18^post26 == 0 /\ a_175^0-a_175^post26 == 0 /\ -len_14^post26+len_14^0 == 0 /\ -a_130^post26+a_130^0 == 0 /\ -__disjvr_8^post26+__disjvr_8^0 == 0 /\ rcd_63^0-rcd_63^post26 == 0 /\ __disjvr_11^0-__disjvr_11^post26 == 0 /\ __disjvr_0^0-__disjvr_0^post26 == 0 /\ tmp_27^0-tmp_27^post26 == 0 /\ __disjvr_2^0-__disjvr_2^post26 == 0 /\ -r_37^post26+r_37^0 == 0 /\ __disjvr_9^0-__disjvr_9^post26 == 0 /\ rcd_100^0-rcd_100^post26 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ -t_24^post26+t_24^0 == 0 /\ __disjvr_1^0-__disjvr_1^post26 == 0 /\ __disjvr_4^0-__disjvr_4^post26 == 0 /\ -x_32^post26+x_32^0 == 0), cost: 1 27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post27, x_21^0'=x_21^post27, a_130^0'=a_130^post27, rcd_63^0'=rcd_63^post27, __disjvr_2^0'=__disjvr_2^post27, a_28^0'=a_28^post27, temp0_31^0'=temp0_31^post27, tmp_27^0'=tmp_27^post27, __disjvr_7^0'=__disjvr_7^post27, len_14^0'=len_14^post27, __disjvr_11^0'=__disjvr_11^post27, x_SLAM_f_19^0'=x_SLAM_f_19^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27, __disjvr_4^0'=__disjvr_4^post27, d_29^0'=d_29^post27, x_17^0'=x_17^post27, __disjvr_9^0'=__disjvr_9^post27, rcd_100^0'=rcd_100^post27, __disjvr_1^0'=__disjvr_1^post27, a_175^0'=a_175^post27, temp0_16^0'=temp0_16^post27, __disjvr_6^0'=__disjvr_6^post27, i_13^0'=i_13^post27, __disjvr_10^0'=__disjvr_10^post27, x_32^0'=x_32^post27, a_152^0'=a_152^post27, result_11^0'=result_11^post27, __disjvr_3^0'=__disjvr_3^post27, ct_18^0'=ct_18^post27, temp_33^0'=temp_33^post27, x_15^0'=x_15^post27, __disjvr_8^0'=__disjvr_8^post27, r_37^0'=r_37^post27, __disjvr_12^0'=__disjvr_12^post27, y_20^0'=y_20^post27, t_24^0'=t_24^post27, __disjvr_5^0'=__disjvr_5^post27, i_111^0'=i_111^post27, (0 == 0 /\ -__disjvr_3^post27+__disjvr_3^0 == 0 /\ a_175^0-a_175^post27 == 0 /\ rcd_100^0-rcd_100^post27 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -x_SLAM_f_19^0+x_15^0 <= 0 /\ temp0_31^0-temp0_31^post27 == 0 /\ -ct_18^post27+ct_18^0 == 0 /\ -ct_18^0 <= 0 /\ -i_13^post27+i_13^0 == 0 /\ x_15^0-t_24^post27 <= 0 /\ x_21^0-x_21^post27 == 0 /\ -y_20^post27+y_20^0 == 0 /\ -i_111^post27+i_111^0 == 0 /\ __disjvr_7^0-__disjvr_7^post27 == 0 /\ d_29^0-d_29^post27 == 0 /\ -temp_33^post27+temp_33^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ x_SLAM_f_19^0-x_15^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post27 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27 == 0 /\ x_15^0-x_15^post27 == 0 /\ -x_15^0+t_24^post27 <= 0 /\ __disjvr_10^0-__disjvr_10^post27 == 0 /\ a_28^0-a_28^post27 == 0 /\ -x_21^0+t_24^post27 == 0 /\ result_11^0-result_11^post27 == 0 /\ -x_17^post27+x_17^0 == 0 /\ -tmp_27^0+x_15^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post27 == 0 /\ -temp0_16^post27+temp0_16^0 == 0 /\ -a_152^post27+a_152^0 == 0 /\ __disjvr_11^0-__disjvr_11^post27 == 0 /\ -__disjvr_1^post27+__disjvr_1^0 == 0 /\ a_152^0-a_130^post27 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post27 == 0 /\ -x_17^0+x_15^0 <= 0 /\ -r_37^post27+r_37^0 == 0 /\ ct_18^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ tmp_27^0-x_15^0 <= 0 /\ tmp_27^0-tmp_27^post27 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ __disjvr_5^0-__disjvr_5^post27 == 0 /\ rcd_63^0-rcd_63^post27 == 0 /\ y_20^0 <= 0 /\ -y_20^0 <= 0 /\ -__disjvr_8^post27+__disjvr_8^0 == 0 /\ -x_32^post27+x_32^0 == 0 /\ -a_152^0+a_130^post27 <= 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ x_17^0-x_15^0 <= 0 /\ -len_14^post27+len_14^0 == 0 /\ -__disjvr_6^post27+__disjvr_6^0 == 0 /\ -ct_18^0+y_20^0 <= 0), cost: 1 28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post28, x_21^0'=x_21^post28, a_130^0'=a_130^post28, rcd_63^0'=rcd_63^post28, __disjvr_2^0'=__disjvr_2^post28, a_28^0'=a_28^post28, temp0_31^0'=temp0_31^post28, tmp_27^0'=tmp_27^post28, __disjvr_7^0'=__disjvr_7^post28, len_14^0'=len_14^post28, __disjvr_11^0'=__disjvr_11^post28, x_SLAM_f_19^0'=x_SLAM_f_19^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28, __disjvr_4^0'=__disjvr_4^post28, d_29^0'=d_29^post28, x_17^0'=x_17^post28, __disjvr_9^0'=__disjvr_9^post28, rcd_100^0'=rcd_100^post28, __disjvr_1^0'=__disjvr_1^post28, a_175^0'=a_175^post28, temp0_16^0'=temp0_16^post28, __disjvr_6^0'=__disjvr_6^post28, i_13^0'=i_13^post28, __disjvr_10^0'=__disjvr_10^post28, x_32^0'=x_32^post28, a_152^0'=a_152^post28, result_11^0'=result_11^post28, __disjvr_3^0'=__disjvr_3^post28, ct_18^0'=ct_18^post28, temp_33^0'=temp_33^post28, x_15^0'=x_15^post28, __disjvr_8^0'=__disjvr_8^post28, r_37^0'=r_37^post28, __disjvr_12^0'=__disjvr_12^post28, y_20^0'=y_20^post28, t_24^0'=t_24^post28, __disjvr_5^0'=__disjvr_5^post28, i_111^0'=i_111^post28, (rcd_100^0-rcd_100^post28 == 0 /\ __disjvr_4^0-__disjvr_4^post28 == 0 /\ len_14^0-len_14^post28 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ a_175^0-a_175^post28 == 0 /\ -__disjvr_12^post28+__disjvr_12^0 == 0 /\ -i_13^post28+i_13^0 == 0 /\ -__disjvr_9^post28+__disjvr_9^0 == 0 /\ temp0_31^0-temp0_31^post28 == 0 /\ x_21^0-x_21^post28 == 0 /\ r_37^0-r_37^post28 == 0 /\ temp_33^0-temp_33^post28 == 0 /\ -y_20^post28+y_20^0 == 0 /\ -i_111^post28+i_111^0 == 0 /\ -x_15^post28+x_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28 == 0 /\ -__disjvr_10^post28+__disjvr_10^0 == 0 /\ a_28^0-a_28^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ -__disjvr_1^post28+__disjvr_1^0 == 0 /\ -rcd_63^post28+rcd_63^0 == 0 /\ -temp0_16^post28+temp0_16^0 == 0 /\ x_17^0-x_17^post28 == 0 /\ -__disjvr_11^0+__disjvr_11^post28 == 0 /\ a_130^0-a_130^post28 == 0 /\ -__disjvr_5^post28+__disjvr_5^0 == 0 /\ __disjvr_2^0-__disjvr_2^post28 == 0 /\ tmp_27^0-tmp_27^post28 == 0 /\ -ct_18^post28+ct_18^0 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ d_29^0-d_29^post28 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ __disjvr_11^0-__disjvr_11^post28 == 0 /\ __disjvr_7^0-__disjvr_7^post28 == 0 /\ -x_SLAM_f_19^post28+x_SLAM_f_19^0 == 0 /\ -t_24^post28+t_24^0 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ a_152^0-a_152^post28 == 0 /\ x_32^0-x_32^post28 == 0), cost: 1 29: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post29, x_21^0'=x_21^post29, a_130^0'=a_130^post29, rcd_63^0'=rcd_63^post29, __disjvr_2^0'=__disjvr_2^post29, a_28^0'=a_28^post29, temp0_31^0'=temp0_31^post29, tmp_27^0'=tmp_27^post29, __disjvr_7^0'=__disjvr_7^post29, len_14^0'=len_14^post29, __disjvr_11^0'=__disjvr_11^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29, __disjvr_4^0'=__disjvr_4^post29, d_29^0'=d_29^post29, x_17^0'=x_17^post29, __disjvr_9^0'=__disjvr_9^post29, rcd_100^0'=rcd_100^post29, __disjvr_1^0'=__disjvr_1^post29, a_175^0'=a_175^post29, temp0_16^0'=temp0_16^post29, __disjvr_6^0'=__disjvr_6^post29, i_13^0'=i_13^post29, __disjvr_10^0'=__disjvr_10^post29, x_32^0'=x_32^post29, a_152^0'=a_152^post29, result_11^0'=result_11^post29, __disjvr_3^0'=__disjvr_3^post29, ct_18^0'=ct_18^post29, temp_33^0'=temp_33^post29, x_15^0'=x_15^post29, __disjvr_8^0'=__disjvr_8^post29, r_37^0'=r_37^post29, __disjvr_12^0'=__disjvr_12^post29, y_20^0'=y_20^post29, t_24^0'=t_24^post29, __disjvr_5^0'=__disjvr_5^post29, i_111^0'=i_111^post29, (__disjvr_4^0-__disjvr_4^post29 == 0 /\ -i_13^post29+i_13^0 == 0 /\ -t_24^post29+t_24^0 == 0 /\ -x_15^post29+x_15^0 == 0 /\ -y_20^post29+y_20^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post29 == 0 /\ x_32^0-x_32^post29 == 0 /\ -rcd_100^post29+rcd_100^0 == 0 /\ x_21^0-x_21^post29 == 0 /\ -__disjvr_9^post29+__disjvr_9^0 == 0 /\ __disjvr_2^0-__disjvr_2^post29 == 0 /\ -a_175^post29+a_175^0 == 0 /\ -i_111^post29+i_111^0 == 0 /\ -__disjvr_10^post29+__disjvr_10^0 == 0 /\ -result_11^post29+result_11^0 == 0 /\ temp_33^0-temp_33^post29 == 0 /\ __disjvr_11^0-__disjvr_11^post29 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29 == 0 /\ -__disjvr_3^post29+__disjvr_3^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ r_37^0-r_37^post29 == 0 /\ __disjvr_1^0-__disjvr_1^post29 == 0 /\ x_17^0-x_17^post29 == 0 /\ len_14^0-len_14^post29 == 0 /\ -__disjvr_5^post29+__disjvr_5^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ -d_29^post29+d_29^0 == 0 /\ -rcd_63^post29+rcd_63^0 == 0 /\ a_130^0-a_130^post29 == 0 /\ __disjvr_12^post29-__disjvr_12^0 == 0 /\ __disjvr_7^0-__disjvr_7^post29 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ temp0_16^0-temp0_16^post29 == 0 /\ a_152^0-a_152^post29 == 0 /\ -__disjvr_8^post29+__disjvr_8^0 == 0 /\ a_28^0-a_28^post29 == 0 /\ -tmp_27^post29+tmp_27^0 == 0 /\ ct_18^0-ct_18^post29 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0), cost: 1 30: l29 -> l4 : __disjvr_0^0'=__disjvr_0^post30, x_21^0'=x_21^post30, a_130^0'=a_130^post30, rcd_63^0'=rcd_63^post30, __disjvr_2^0'=__disjvr_2^post30, a_28^0'=a_28^post30, temp0_31^0'=temp0_31^post30, tmp_27^0'=tmp_27^post30, __disjvr_7^0'=__disjvr_7^post30, len_14^0'=len_14^post30, __disjvr_11^0'=__disjvr_11^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30, __disjvr_4^0'=__disjvr_4^post30, d_29^0'=d_29^post30, x_17^0'=x_17^post30, __disjvr_9^0'=__disjvr_9^post30, rcd_100^0'=rcd_100^post30, __disjvr_1^0'=__disjvr_1^post30, a_175^0'=a_175^post30, temp0_16^0'=temp0_16^post30, __disjvr_6^0'=__disjvr_6^post30, i_13^0'=i_13^post30, __disjvr_10^0'=__disjvr_10^post30, x_32^0'=x_32^post30, a_152^0'=a_152^post30, result_11^0'=result_11^post30, __disjvr_3^0'=__disjvr_3^post30, ct_18^0'=ct_18^post30, temp_33^0'=temp_33^post30, x_15^0'=x_15^post30, __disjvr_8^0'=__disjvr_8^post30, r_37^0'=r_37^post30, __disjvr_12^0'=__disjvr_12^post30, y_20^0'=y_20^post30, t_24^0'=t_24^post30, __disjvr_5^0'=__disjvr_5^post30, i_111^0'=i_111^post30, (0 == 0 /\ -__disjvr_3^post30+__disjvr_3^0 == 0 /\ -rcd_100^post30+rcd_100^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ -1-a_130^0+i_13^post30 <= 0 /\ __disjvr_4^0-__disjvr_4^post30 == 0 /\ -y_20^post30+y_20^0 == 0 /\ temp0_31^0-temp0_31^post30 == 0 /\ 1-len_14^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ __disjvr_2^0-__disjvr_2^post30 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post30 == 0 /\ __disjvr_0^0-__disjvr_0^post30 == 0 /\ 2-len_14^0 <= 0 /\ -i_111^post30+i_111^0 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ x_15^0-x_15^post30 == 0 /\ -result_11^post30+result_11^0 == 0 /\ __disjvr_10^0-__disjvr_10^post30 == 0 /\ -temp_33^post30+temp_33^0 == 0 /\ -d_29^post30+d_29^0 == 0 /\ -__disjvr_8^post30+__disjvr_8^0 == 0 /\ x_17^0-x_17^post30 == 0 /\ -a_152^post30+a_152^0 == 0 /\ 1+a_130^0-i_13^post30 <= 0 /\ a_130^0-a_130^post30 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ rcd_63^0-rcd_63^post30 == 0 /\ len_14^0-len_14^post30 == 0 /\ -r_37^post30+r_37^0 == 0 /\ tmp_27^0-tmp_27^post30 == 0 /\ x_21^0-x_21^post30 == 0 /\ a_28^0-a_28^post30 == 0 /\ __disjvr_7^0-__disjvr_7^post30 == 0 /\ __disjvr_5^0-__disjvr_5^post30 == 0 /\ -ct_18^post30+ct_18^0 == 0 /\ a_175^0-a_175^post30 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ -__disjvr_6^post30+__disjvr_6^0 == 0 /\ -t_24^post30+t_24^0 == 0 /\ -x_32^post30+x_32^0 == 0), cost: 1 32: l30 -> l18 : __disjvr_0^0'=__disjvr_0^post32, x_21^0'=x_21^post32, a_130^0'=a_130^post32, rcd_63^0'=rcd_63^post32, __disjvr_2^0'=__disjvr_2^post32, a_28^0'=a_28^post32, temp0_31^0'=temp0_31^post32, tmp_27^0'=tmp_27^post32, __disjvr_7^0'=__disjvr_7^post32, len_14^0'=len_14^post32, __disjvr_11^0'=__disjvr_11^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32, __disjvr_4^0'=__disjvr_4^post32, d_29^0'=d_29^post32, x_17^0'=x_17^post32, __disjvr_9^0'=__disjvr_9^post32, rcd_100^0'=rcd_100^post32, __disjvr_1^0'=__disjvr_1^post32, a_175^0'=a_175^post32, temp0_16^0'=temp0_16^post32, __disjvr_6^0'=__disjvr_6^post32, i_13^0'=i_13^post32, __disjvr_10^0'=__disjvr_10^post32, x_32^0'=x_32^post32, a_152^0'=a_152^post32, result_11^0'=result_11^post32, __disjvr_3^0'=__disjvr_3^post32, ct_18^0'=ct_18^post32, temp_33^0'=temp_33^post32, x_15^0'=x_15^post32, __disjvr_8^0'=__disjvr_8^post32, r_37^0'=r_37^post32, __disjvr_12^0'=__disjvr_12^post32, y_20^0'=y_20^post32, t_24^0'=t_24^post32, __disjvr_5^0'=__disjvr_5^post32, i_111^0'=i_111^post32, (-temp0_16^post32+temp0_16^0 == 0 /\ a_130^0-a_130^post32 == 0 /\ -x_17^post32+x_17^0 == 0 /\ d_29^0-d_29^post32 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ -a_152^post32+a_152^0 == 0 /\ x_15^0-x_15^post32 == 0 /\ -r_37^post32+r_37^0 == 0 /\ i_13^0-i_13^post32 == 0 /\ -__disjvr_1^post32+__disjvr_1^0 == 0 /\ __disjvr_4^0-__disjvr_4^post32 == 0 /\ a_175^0-a_175^post32 == 0 /\ rcd_100^0-rcd_100^post32 == 0 /\ -__disjvr_6^post32+__disjvr_6^0 == 0 /\ -__disjvr_8^post32+__disjvr_8^0 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ a_28^0-a_28^post32 == 0 /\ __disjvr_7^0-__disjvr_7^post32 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ -y_20^post32+y_20^0 == 0 /\ rcd_63^0-rcd_63^post32 == 0 /\ -x_32^post32+x_32^0 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ -ct_18^post32+ct_18^0 == 0 /\ -x_21^post32+x_21^0 == 0 /\ t_24^0-t_24^post32 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post32 == 0 /\ -i_111^post32+i_111^0 == 0 /\ -__disjvr_10^post32+__disjvr_10^0 == 0 /\ len_14^0-len_14^post32 == 0 /\ -result_11^post32+result_11^0 == 0 /\ -temp_33^post32+temp_33^0 == 0 /\ tmp_27^0-tmp_27^post32 == 0 /\ __disjvr_2^0-__disjvr_2^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ temp0_31^0-temp0_31^post32 == 0), cost: 1 35: l31 -> l10 : __disjvr_0^0'=__disjvr_0^post35, x_21^0'=x_21^post35, a_130^0'=a_130^post35, rcd_63^0'=rcd_63^post35, __disjvr_2^0'=__disjvr_2^post35, a_28^0'=a_28^post35, temp0_31^0'=temp0_31^post35, tmp_27^0'=tmp_27^post35, __disjvr_7^0'=__disjvr_7^post35, len_14^0'=len_14^post35, __disjvr_11^0'=__disjvr_11^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, __disjvr_4^0'=__disjvr_4^post35, d_29^0'=d_29^post35, x_17^0'=x_17^post35, __disjvr_9^0'=__disjvr_9^post35, rcd_100^0'=rcd_100^post35, __disjvr_1^0'=__disjvr_1^post35, a_175^0'=a_175^post35, temp0_16^0'=temp0_16^post35, __disjvr_6^0'=__disjvr_6^post35, i_13^0'=i_13^post35, __disjvr_10^0'=__disjvr_10^post35, x_32^0'=x_32^post35, a_152^0'=a_152^post35, result_11^0'=result_11^post35, __disjvr_3^0'=__disjvr_3^post35, ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post35, x_15^0'=x_15^post35, __disjvr_8^0'=__disjvr_8^post35, r_37^0'=r_37^post35, __disjvr_12^0'=__disjvr_12^post35, y_20^0'=y_20^post35, t_24^0'=t_24^post35, __disjvr_5^0'=__disjvr_5^post35, i_111^0'=i_111^post35, (-__disjvr_1^post35+__disjvr_1^0 == 0 /\ __disjvr_10^0-__disjvr_10^post35 == 0 /\ __disjvr_2^0-__disjvr_2^post35 == 0 /\ temp0_16^0-temp0_16^post35 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35 == 0 /\ a_175^0-a_175^post35 == 0 /\ -__disjvr_5^post35+__disjvr_5^0 == 0 /\ -r_37^post35+r_37^0 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ len_14^0-len_14^post35 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ -i_13^post35+i_13^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post35 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ -t_24^post35+t_24^0 == 0 /\ -x_32^post35+x_32^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ tmp_27^0-tmp_27^post35 == 0 /\ d_29^0-d_29^post35 == 0 /\ rcd_63^0-rcd_63^post35 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ -x_15^post35+x_15^0 == 0 /\ -temp_33^post35+temp_33^0 == 0 /\ -ct_18^post35+ct_18^0 == 0 /\ -y_20^post35+y_20^0 == 0 /\ a_152^0-a_152^post35 == 0 /\ -i_111^post35+i_111^0 == 0 /\ x_17^0-x_17^post35 == 0 /\ rcd_100^0-rcd_100^post35 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ -a_28^post35+a_28^0 == 0 /\ -__disjvr_9^post35+__disjvr_9^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ -__disjvr_4^post35+__disjvr_4^0 == 0 /\ a_130^0-a_130^post35 == 0 /\ x_21^0-x_21^post35 == 0), cost: 1 Applied preprocessing Original rule: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post9, x_21^0'=x_21^post9, a_130^0'=a_130^post9, rcd_63^0'=rcd_63^post9, __disjvr_2^0'=__disjvr_2^post9, a_28^0'=a_28^post9, temp0_31^0'=temp0_31^post9, tmp_27^0'=tmp_27^post9, __disjvr_7^0'=__disjvr_7^post9, len_14^0'=len_14^post9, __disjvr_11^0'=__disjvr_11^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9, __disjvr_4^0'=__disjvr_4^post9, d_29^0'=d_29^post9, x_17^0'=x_17^post9, __disjvr_9^0'=__disjvr_9^post9, rcd_100^0'=rcd_100^post9, __disjvr_1^0'=__disjvr_1^post9, a_175^0'=a_175^post9, temp0_16^0'=temp0_16^post9, __disjvr_6^0'=__disjvr_6^post9, i_13^0'=i_13^post9, __disjvr_10^0'=__disjvr_10^post9, x_32^0'=x_32^post9, a_152^0'=a_152^post9, result_11^0'=result_11^post9, __disjvr_3^0'=__disjvr_3^post9, ct_18^0'=ct_18^post9, temp_33^0'=temp_33^post9, x_15^0'=x_15^post9, __disjvr_8^0'=__disjvr_8^post9, r_37^0'=r_37^post9, __disjvr_12^0'=__disjvr_12^post9, y_20^0'=y_20^post9, t_24^0'=t_24^post9, __disjvr_5^0'=__disjvr_5^post9, i_111^0'=i_111^post9, (-x_32^post9+x_32^0 == 0 /\ -temp_33^post9+temp_33^0 == 0 /\ -ct_18^post9+ct_18^0 == 0 /\ -y_20^post9+y_20^0 == 0 /\ rcd_63^0-rcd_63^post9 == 0 /\ tmp_27^0-tmp_27^post9 == 0 /\ -t_24^post9+t_24^0 == 0 /\ a_130^0-a_130^post9 == 0 /\ d_29^0-d_29^post9 == 0 /\ __disjvr_7^0-__disjvr_7^post9 == 0 /\ __disjvr_10^0-__disjvr_10^post9 == 0 /\ __disjvr_1^0-__disjvr_1^post9 == 0 /\ x_21^0-x_21^post9 == 0 /\ temp0_31^0-temp0_31^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9 == 0 /\ -__disjvr_3^post9+__disjvr_3^0 == 0 /\ a_28^0-a_28^post9 == 0 /\ -rcd_100^post9+rcd_100^0 == 0 /\ -i_13^post9 <= 0 /\ -r_37^post9+r_37^0 == 0 /\ i_13^post9 <= 0 /\ i_13^post9 == 0 /\ -__disjvr_8^post9+__disjvr_8^0 == 0 /\ __disjvr_4^0-__disjvr_4^post9 == 0 /\ -result_11^post9+result_11^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post9 == 0 /\ -i_111^post9+i_111^0 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ x_17^0-x_17^post9 == 0 /\ -temp0_16^post9+temp0_16^0 == 0 /\ -__disjvr_6^post9+__disjvr_6^0 == 0 /\ -__disjvr_2^post9+__disjvr_2^0 == 0 /\ -a_152^post9+a_152^0 == 0 /\ x_15^post9 <= 0 /\ x_15^post9 == 0 /\ -x_15^post9 <= 0 /\ -len_14^post9+len_14^0 == 0 /\ -__disjvr_12^post9+__disjvr_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post9 == 0 /\ a_175^0-a_175^post9 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0), cost: 1 New rule: l10 -> l11 : i_13^0'=0, x_15^0'=0, 0 == 0, cost: 1 Applied preprocessing Original rule: l12 -> l18 : __disjvr_0^0'=__disjvr_0^post16, x_21^0'=x_21^post16, a_130^0'=a_130^post16, rcd_63^0'=rcd_63^post16, __disjvr_2^0'=__disjvr_2^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, tmp_27^0'=tmp_27^post16, __disjvr_7^0'=__disjvr_7^post16, len_14^0'=len_14^post16, __disjvr_11^0'=__disjvr_11^post16, x_SLAM_f_19^0'=x_SLAM_f_19^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, __disjvr_4^0'=__disjvr_4^post16, d_29^0'=d_29^post16, x_17^0'=x_17^post16, __disjvr_9^0'=__disjvr_9^post16, rcd_100^0'=rcd_100^post16, __disjvr_1^0'=__disjvr_1^post16, a_175^0'=a_175^post16, temp0_16^0'=temp0_16^post16, __disjvr_6^0'=__disjvr_6^post16, i_13^0'=i_13^post16, __disjvr_10^0'=__disjvr_10^post16, x_32^0'=x_32^post16, a_152^0'=a_152^post16, result_11^0'=result_11^post16, __disjvr_3^0'=__disjvr_3^post16, ct_18^0'=ct_18^post16, temp_33^0'=temp_33^post16, x_15^0'=x_15^post16, __disjvr_8^0'=__disjvr_8^post16, r_37^0'=r_37^post16, __disjvr_12^0'=__disjvr_12^post16, y_20^0'=y_20^post16, t_24^0'=t_24^post16, __disjvr_5^0'=__disjvr_5^post16, i_111^0'=i_111^post16, (0 == 0 /\ -__disjvr_6^post16+__disjvr_6^0 == 0 /\ 2-i_13^post16 <= 0 /\ x_21^0-x_21^post16 == 0 /\ -1-i_13^0+i_13^post16 == 0 /\ __disjvr_2^0-__disjvr_2^post16 == 0 /\ -__disjvr_8^post16+__disjvr_8^0 == 0 /\ -__disjvr_3^post16+__disjvr_3^0 == 0 /\ -__disjvr_12^post16+__disjvr_12^0 == 0 /\ a_130^0-a_130^post16 == 0 /\ 1-len_14^0 <= 0 /\ -i_13^0+a_28^10 == 0 /\ -y_20^post16+y_20^0 == 0 /\ -i_111^post16+i_111^0 == 0 /\ -rcd_100^post16+rcd_100^0 == 0 /\ tmp_27^post16-result_11^10 == 0 /\ -x_15^post16+tmp_27^post16 <= 0 /\ temp0_31^10-x_32^10 == 0 /\ __disjvr_10^0-__disjvr_10^post16 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ d_29^10-x_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ 2-len_14^0 <= 0 /\ -a_175^post16+a_175^0 == 0 /\ __disjvr_1^0-__disjvr_1^post16 == 0 /\ x_32^10-temp_33^0 == 0 /\ x_17^0-x_17^post16 == 0 /\ x_15^post16-tmp_27^post16 <= 0 /\ x_15^post16-tmp_27^post16 == 0 /\ -__disjvr_5^post16+__disjvr_5^0 == 0 /\ __disjvr_4^0-__disjvr_4^post16 == 0 /\ -temp0_31^10+result_11^10 == 0 /\ -a_152^post16+a_152^0 == 0 /\ ct_18^0-ct_18^post16 == 0 /\ -2+i_13^post16 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post16 == 0 /\ __disjvr_11^0-__disjvr_11^post16 == 0 /\ __disjvr_0^0-__disjvr_0^post16 == 0 /\ -r_37^post16+r_37^0 == 0 /\ -t_24^post16+t_24^0 == 0 /\ -len_14^post16+len_14^0 == 0 /\ temp0_16^0-temp0_16^post16 == 0 /\ __disjvr_7^0-__disjvr_7^post16 == 0), cost: 1 New rule: l12 -> l18 : rcd_63^0'=rcd_63^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, d_29^0'=d_29^post16, i_13^0'=2, x_32^0'=x_32^post16, result_11^0'=result_11^post16, temp_33^0'=temp_33^post16, x_15^0'=temp_33^0, (-1+i_13^0 == 0 /\ -2+len_14^0 >= 0), cost: 1 Applied preprocessing Original rule: l4 -> l20 : __disjvr_0^0'=__disjvr_0^post18, x_21^0'=x_21^post18, a_130^0'=a_130^post18, rcd_63^0'=rcd_63^post18, __disjvr_2^0'=__disjvr_2^post18, a_28^0'=a_28^post18, temp0_31^0'=temp0_31^post18, tmp_27^0'=tmp_27^post18, __disjvr_7^0'=__disjvr_7^post18, len_14^0'=len_14^post18, __disjvr_11^0'=__disjvr_11^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18, __disjvr_4^0'=__disjvr_4^post18, d_29^0'=d_29^post18, x_17^0'=x_17^post18, __disjvr_9^0'=__disjvr_9^post18, rcd_100^0'=rcd_100^post18, __disjvr_1^0'=__disjvr_1^post18, a_175^0'=a_175^post18, temp0_16^0'=temp0_16^post18, __disjvr_6^0'=__disjvr_6^post18, i_13^0'=i_13^post18, __disjvr_10^0'=__disjvr_10^post18, x_32^0'=x_32^post18, a_152^0'=a_152^post18, result_11^0'=result_11^post18, __disjvr_3^0'=__disjvr_3^post18, ct_18^0'=ct_18^post18, temp_33^0'=temp_33^post18, x_15^0'=x_15^post18, __disjvr_8^0'=__disjvr_8^post18, r_37^0'=r_37^post18, __disjvr_12^0'=__disjvr_12^post18, y_20^0'=y_20^post18, t_24^0'=t_24^post18, __disjvr_5^0'=__disjvr_5^post18, i_111^0'=i_111^post18, (0 == 0 /\ -__disjvr_9^post18+__disjvr_9^0 == 0 /\ a_175^0-a_175^post18 == 0 /\ -a_152^0 <= 0 /\ -i_111^post18+i_111^0 == 0 /\ rcd_100^0-rcd_100^post18 == 0 /\ x_21^0-x_21^post18 == 0 /\ temp0_31^0-temp0_31^post18 == 0 /\ -__disjvr_8^post18+__disjvr_8^0 == 0 /\ temp_33^0-temp_33^post18 == 0 /\ -__disjvr_12^post18+__disjvr_12^0 == 0 /\ -y_20^post18+y_20^0 == 0 /\ __disjvr_3^0-__disjvr_3^post18 == 0 /\ -__disjvr_5^post18+__disjvr_5^0 == 0 /\ a_28^0-a_28^post18 == 0 /\ __disjvr_4^0-__disjvr_4^post18 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18 == 0 /\ a_152^0-a_152^post18 == 0 /\ result_11^0-result_11^post18 == 0 /\ -__disjvr_10^post18+__disjvr_10^0 == 0 /\ __disjvr_0^0-__disjvr_0^post18 == 0 /\ -__disjvr_1^post18+__disjvr_1^0 == 0 /\ __disjvr_7^0-__disjvr_7^post18 == 0 /\ -t_24^post18+t_24^0 == 0 /\ __disjvr_11^0-__disjvr_11^post18 == 0 /\ __disjvr_2^0-__disjvr_2^post18 == 0 /\ d_29^0-d_29^post18 == 0 /\ a_130^0-a_130^post18 == 0 /\ rcd_63^0-rcd_63^post18 == 0 /\ -temp0_16^post18+temp0_16^0 == 0 /\ x_32^0-x_32^post18 == 0 /\ __disjvr_6^0-__disjvr_6^post18 == 0), cost: 1 New rule: l4 -> l20 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, a_152^0 >= 0, cost: 1 Applied preprocessing Original rule: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post19, x_21^0'=x_21^post19, a_130^0'=a_130^post19, rcd_63^0'=rcd_63^post19, __disjvr_2^0'=__disjvr_2^post19, a_28^0'=a_28^post19, temp0_31^0'=temp0_31^post19, tmp_27^0'=tmp_27^post19, __disjvr_7^0'=__disjvr_7^post19, len_14^0'=len_14^post19, __disjvr_11^0'=__disjvr_11^post19, x_SLAM_f_19^0'=x_SLAM_f_19^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19, __disjvr_4^0'=__disjvr_4^post19, d_29^0'=d_29^post19, x_17^0'=x_17^post19, __disjvr_9^0'=__disjvr_9^post19, rcd_100^0'=rcd_100^post19, __disjvr_1^0'=__disjvr_1^post19, a_175^0'=a_175^post19, temp0_16^0'=temp0_16^post19, __disjvr_6^0'=__disjvr_6^post19, i_13^0'=i_13^post19, __disjvr_10^0'=__disjvr_10^post19, x_32^0'=x_32^post19, a_152^0'=a_152^post19, result_11^0'=result_11^post19, __disjvr_3^0'=__disjvr_3^post19, ct_18^0'=ct_18^post19, temp_33^0'=temp_33^post19, x_15^0'=x_15^post19, __disjvr_8^0'=__disjvr_8^post19, r_37^0'=r_37^post19, __disjvr_12^0'=__disjvr_12^post19, y_20^0'=y_20^post19, t_24^0'=t_24^post19, __disjvr_5^0'=__disjvr_5^post19, i_111^0'=i_111^post19, (-__disjvr_3^post19+__disjvr_3^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post19 == 0 /\ -i_13^post19+i_13^0 == 0 /\ -y_20^post19+y_20^0 == 0 /\ x_21^0-x_21^post19 == 0 /\ -__disjvr_9^post19+__disjvr_9^0 == 0 /\ temp0_31^0-temp0_31^post19 == 0 /\ -result_11^post19+result_11^0 == 0 /\ r_37^0-r_37^post19 == 0 /\ a_130^0-a_130^post19 == 0 /\ __disjvr_11^0-__disjvr_11^post19 == 0 /\ -__disjvr_10^post19+__disjvr_10^0 == 0 /\ temp_33^0-temp_33^post19 == 0 /\ -x_15^post19+x_15^0 == 0 /\ -a_175^post19+a_175^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19 == 0 /\ x_17^0-x_17^post19 == 0 /\ -i_111^post19+i_111^0 == 0 /\ __disjvr_4^0-__disjvr_4^post19 == 0 /\ __disjvr_1^0-__disjvr_1^post19 == 0 /\ len_14^0-len_14^post19 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ -rcd_63^post19+rcd_63^0 == 0 /\ -__disjvr_7^0+__disjvr_7^post19 == 0 /\ __disjvr_2^0-__disjvr_2^post19 == 0 /\ -d_29^post19+d_29^0 == 0 /\ -rcd_100^post19+rcd_100^0 == 0 /\ -__disjvr_8^post19+__disjvr_8^0 == 0 /\ -ct_18^post19+ct_18^0 == 0 /\ -tmp_27^post19+tmp_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ temp0_16^0-temp0_16^post19 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ x_32^0-x_32^post19 == 0 /\ __disjvr_6^0-__disjvr_6^post19 == 0 /\ a_28^0-a_28^post19 == 0 /\ -t_24^post19+t_24^0 == 0 /\ a_152^0-a_152^post19 == 0 /\ __disjvr_7^0-__disjvr_7^post19 == 0), cost: 1 New rule: l20 -> l21 : 0 == 0, cost: 1 Applied preprocessing Original rule: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post20, x_21^0'=x_21^post20, a_130^0'=a_130^post20, rcd_63^0'=rcd_63^post20, __disjvr_2^0'=__disjvr_2^post20, a_28^0'=a_28^post20, temp0_31^0'=temp0_31^post20, tmp_27^0'=tmp_27^post20, __disjvr_7^0'=__disjvr_7^post20, len_14^0'=len_14^post20, __disjvr_11^0'=__disjvr_11^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20, __disjvr_4^0'=__disjvr_4^post20, d_29^0'=d_29^post20, x_17^0'=x_17^post20, __disjvr_9^0'=__disjvr_9^post20, rcd_100^0'=rcd_100^post20, __disjvr_1^0'=__disjvr_1^post20, a_175^0'=a_175^post20, temp0_16^0'=temp0_16^post20, __disjvr_6^0'=__disjvr_6^post20, i_13^0'=i_13^post20, __disjvr_10^0'=__disjvr_10^post20, x_32^0'=x_32^post20, a_152^0'=a_152^post20, result_11^0'=result_11^post20, __disjvr_3^0'=__disjvr_3^post20, ct_18^0'=ct_18^post20, temp_33^0'=temp_33^post20, x_15^0'=x_15^post20, __disjvr_8^0'=__disjvr_8^post20, r_37^0'=r_37^post20, __disjvr_12^0'=__disjvr_12^post20, y_20^0'=y_20^post20, t_24^0'=t_24^post20, __disjvr_5^0'=__disjvr_5^post20, i_111^0'=i_111^post20, (0 == 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ -__disjvr_6^post20+__disjvr_6^0 == 0 /\ temp0_31^0-temp0_31^post20 == 0 /\ -i_111^post20+i_111^0 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -x_SLAM_f_19^0+x_15^0 <= 0 /\ -__disjvr_3^post20+__disjvr_3^0 == 0 /\ -rcd_100^post20+rcd_100^0 == 0 /\ -ct_18^0 <= 0 /\ -1-a_175^post20+a_152^0 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post20 == 0 /\ __disjvr_2^0-__disjvr_2^post20 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ -result_11^post20+result_11^0 == 0 /\ rcd_63^0-rcd_63^post20 == 0 /\ __disjvr_11^0-__disjvr_11^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ x_15^0-x_15^post20 == 0 /\ -y_20^post20+y_20^0 == 0 /\ -temp_33^post20+temp_33^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ x_SLAM_f_19^0-x_15^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post20 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ __disjvr_10^0-__disjvr_10^post20 == 0 /\ -x_21^0+t_24^post20 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ -a_152^post20+a_152^0 == 0 /\ x_17^0-x_17^post20 == 0 /\ -tmp_27^0+x_15^0 <= 0 /\ len_14^0-len_14^post20 == 0 /\ 1+a_175^post20-a_152^0 <= 0 /\ x_21^0-x_21^post20 == 0 /\ a_130^0-a_130^post20 == 0 /\ -d_29^post20+d_29^0 == 0 /\ -x_17^0+x_15^0 <= 0 /\ ct_18^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ -x_32^post20+x_32^0 == 0 /\ __disjvr_7^0-__disjvr_7^post20 == 0 /\ tmp_27^0-x_15^0 <= 0 /\ temp0_16^0-temp0_16^post20 == 0 /\ y_20^0 <= 0 /\ -r_37^post20+r_37^0 == 0 /\ -y_20^0 <= 0 /\ i_13^0-i_13^post20 == 0 /\ -__disjvr_8^post20+__disjvr_8^0 == 0 /\ -tmp_27^post20+tmp_27^0 == 0 /\ -ct_18^post20+ct_18^0 == 0 /\ x_17^0-x_15^0 <= 0 /\ a_28^0-a_28^post20 == 0 /\ -ct_18^0+y_20^0 <= 0), cost: 1 New rule: l21 -> l22 : a_175^0'=-1+a_152^0, t_24^0'=x_21^0, (-x_SLAM_f_19^0+x_15^0 == 0 /\ -tmp_27^0+x_15^0 == 0 /\ -x_17^0+x_15^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ y_20^0 == 0), cost: 1 Applied preprocessing Original rule: l22 -> l23 : __disjvr_0^0'=__disjvr_0^post21, x_21^0'=x_21^post21, a_130^0'=a_130^post21, rcd_63^0'=rcd_63^post21, __disjvr_2^0'=__disjvr_2^post21, a_28^0'=a_28^post21, temp0_31^0'=temp0_31^post21, tmp_27^0'=tmp_27^post21, __disjvr_7^0'=__disjvr_7^post21, len_14^0'=len_14^post21, __disjvr_11^0'=__disjvr_11^post21, x_SLAM_f_19^0'=x_SLAM_f_19^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21, __disjvr_4^0'=__disjvr_4^post21, d_29^0'=d_29^post21, x_17^0'=x_17^post21, __disjvr_9^0'=__disjvr_9^post21, rcd_100^0'=rcd_100^post21, __disjvr_1^0'=__disjvr_1^post21, a_175^0'=a_175^post21, temp0_16^0'=temp0_16^post21, __disjvr_6^0'=__disjvr_6^post21, i_13^0'=i_13^post21, __disjvr_10^0'=__disjvr_10^post21, x_32^0'=x_32^post21, a_152^0'=a_152^post21, result_11^0'=result_11^post21, __disjvr_3^0'=__disjvr_3^post21, ct_18^0'=ct_18^post21, temp_33^0'=temp_33^post21, x_15^0'=x_15^post21, __disjvr_8^0'=__disjvr_8^post21, r_37^0'=r_37^post21, __disjvr_12^0'=__disjvr_12^post21, y_20^0'=y_20^post21, t_24^0'=t_24^post21, __disjvr_5^0'=__disjvr_5^post21, i_111^0'=i_111^post21, (-__disjvr_3^post21+__disjvr_3^0 == 0 /\ a_175^0-a_175^post21 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post21 == 0 /\ -__disjvr_12^post21+__disjvr_12^0 == 0 /\ rcd_100^0-rcd_100^post21 == 0 /\ -ct_18^post21+ct_18^0 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ tmp_27^0-tmp_27^post21 == 0 /\ rcd_63^0-rcd_63^post21 == 0 /\ a_130^0-a_130^post21 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ -y_20^post21+y_20^0 == 0 /\ __disjvr_2^0-__disjvr_2^post21 == 0 /\ __disjvr_9^0-__disjvr_9^post21 == 0 /\ -i_111^post21+i_111^0 == 0 /\ x_15^0-x_15^post21 == 0 /\ -__disjvr_8^0+__disjvr_8^post21 == 0 /\ -temp_33^post21+temp_33^0 == 0 /\ __disjvr_10^0-__disjvr_10^post21 == 0 /\ -a_152^post21+a_152^0 == 0 /\ __disjvr_4^0-__disjvr_4^post21 == 0 /\ result_11^0-result_11^post21 == 0 /\ x_17^0-x_17^post21 == 0 /\ len_14^0-len_14^post21 == 0 /\ temp0_31^0-temp0_31^post21 == 0 /\ x_21^0-x_21^post21 == 0 /\ -__disjvr_1^post21+__disjvr_1^0 == 0 /\ -__disjvr_5^post21+__disjvr_5^0 == 0 /\ -r_37^post21+r_37^0 == 0 /\ __disjvr_7^0-__disjvr_7^post21 == 0 /\ -x_32^post21+x_32^0 == 0 /\ d_29^0-d_29^post21 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21 == 0 /\ -temp0_16^post21+temp0_16^0 == 0 /\ a_28^0-a_28^post21 == 0 /\ -t_24^post21+t_24^0 == 0 /\ -__disjvr_6^post21+__disjvr_6^0 == 0 /\ i_13^0-i_13^post21 == 0), cost: 1 New rule: l22 -> l23 : 0 == 0, cost: 1 Applied preprocessing Original rule: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post22, x_21^0'=x_21^post22, a_130^0'=a_130^post22, rcd_63^0'=rcd_63^post22, __disjvr_2^0'=__disjvr_2^post22, a_28^0'=a_28^post22, temp0_31^0'=temp0_31^post22, tmp_27^0'=tmp_27^post22, __disjvr_7^0'=__disjvr_7^post22, len_14^0'=len_14^post22, __disjvr_11^0'=__disjvr_11^post22, x_SLAM_f_19^0'=x_SLAM_f_19^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22, __disjvr_4^0'=__disjvr_4^post22, d_29^0'=d_29^post22, x_17^0'=x_17^post22, __disjvr_9^0'=__disjvr_9^post22, rcd_100^0'=rcd_100^post22, __disjvr_1^0'=__disjvr_1^post22, a_175^0'=a_175^post22, temp0_16^0'=temp0_16^post22, __disjvr_6^0'=__disjvr_6^post22, i_13^0'=i_13^post22, __disjvr_10^0'=__disjvr_10^post22, x_32^0'=x_32^post22, a_152^0'=a_152^post22, result_11^0'=result_11^post22, __disjvr_3^0'=__disjvr_3^post22, ct_18^0'=ct_18^post22, temp_33^0'=temp_33^post22, x_15^0'=x_15^post22, __disjvr_8^0'=__disjvr_8^post22, r_37^0'=r_37^post22, __disjvr_12^0'=__disjvr_12^post22, y_20^0'=y_20^post22, t_24^0'=t_24^post22, __disjvr_5^0'=__disjvr_5^post22, i_111^0'=i_111^post22, (-t_24^post22+t_24^0 == 0 /\ rcd_100^0-rcd_100^post22 == 0 /\ __disjvr_4^0-__disjvr_4^post22 == 0 /\ -x_15^post22+x_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post22 == 0 /\ -__disjvr_9^post22+__disjvr_9^0 == 0 /\ -i_13^post22+i_13^0 == 0 /\ -ct_18^post22+ct_18^0 == 0 /\ -y_20^post22+y_20^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post22 == 0 /\ __disjvr_8^0-__disjvr_8^post22 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ temp_33^0-temp_33^post22 == 0 /\ -i_111^post22+i_111^0 == 0 /\ __disjvr_2^0-__disjvr_2^post22 == 0 /\ rcd_63^0-rcd_63^post22 == 0 /\ __disjvr_9^post22-__disjvr_9^0 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ -a_175^post22+a_175^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ -temp0_16^post22+temp0_16^0 == 0 /\ x_17^0-x_17^post22 == 0 /\ -a_152^post22+a_152^0 == 0 /\ -r_37^post22+r_37^0 == 0 /\ -__disjvr_11^post22+__disjvr_11^0 == 0 /\ len_14^0-len_14^post22 == 0 /\ tmp_27^0-tmp_27^post22 == 0 /\ temp0_31^0-temp0_31^post22 == 0 /\ x_21^0-x_21^post22 == 0 /\ a_130^0-a_130^post22 == 0 /\ a_28^0-a_28^post22 == 0 /\ d_29^0-d_29^post22 == 0 /\ __disjvr_7^0-__disjvr_7^post22 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22 == 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ x_32^0-x_32^post22 == 0 /\ -__disjvr_12^post22+__disjvr_12^0 == 0), cost: 1 New rule: l23 -> l24 : 0 == 0, cost: 1 Applied preprocessing Original rule: l24 -> l19 : __disjvr_0^0'=__disjvr_0^post23, x_21^0'=x_21^post23, a_130^0'=a_130^post23, rcd_63^0'=rcd_63^post23, __disjvr_2^0'=__disjvr_2^post23, a_28^0'=a_28^post23, temp0_31^0'=temp0_31^post23, tmp_27^0'=tmp_27^post23, __disjvr_7^0'=__disjvr_7^post23, len_14^0'=len_14^post23, __disjvr_11^0'=__disjvr_11^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, __disjvr_4^0'=__disjvr_4^post23, d_29^0'=d_29^post23, x_17^0'=x_17^post23, __disjvr_9^0'=__disjvr_9^post23, rcd_100^0'=rcd_100^post23, __disjvr_1^0'=__disjvr_1^post23, a_175^0'=a_175^post23, temp0_16^0'=temp0_16^post23, __disjvr_6^0'=__disjvr_6^post23, i_13^0'=i_13^post23, __disjvr_10^0'=__disjvr_10^post23, x_32^0'=x_32^post23, a_152^0'=a_152^post23, result_11^0'=result_11^post23, __disjvr_3^0'=__disjvr_3^post23, ct_18^0'=ct_18^post23, temp_33^0'=temp_33^post23, x_15^0'=x_15^post23, __disjvr_8^0'=__disjvr_8^post23, r_37^0'=r_37^post23, __disjvr_12^0'=__disjvr_12^post23, y_20^0'=y_20^post23, t_24^0'=t_24^post23, __disjvr_5^0'=__disjvr_5^post23, i_111^0'=i_111^post23, (0 == 0 /\ -rcd_100^post23+rcd_100^0 == 0 /\ __disjvr_4^0-__disjvr_4^post23 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post23 == 0 /\ -__disjvr_3^post23+__disjvr_3^0 == 0 /\ -__disjvr_6^post23+__disjvr_6^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ x_17^0-x_17^post23 == 0 /\ 1-len_14^0 <= 0 /\ a_175^0-a_152^post23 <= 0 /\ -y_20^post23+y_20^0 == 0 /\ -temp_33^post23+temp_33^0 == 0 /\ __disjvr_2^0-__disjvr_2^post23 == 0 /\ -__disjvr_10^post23+__disjvr_10^0 == 0 /\ d_29^0-d_29^post23 == 0 /\ 2-len_14^0 <= 0 /\ -a_175^post23+a_175^0 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ __disjvr_11^0-__disjvr_11^post23 == 0 /\ rcd_63^0-rcd_63^post23 == 0 /\ -x_15^post23+x_15^0 == 0 /\ -a_175^0+a_152^post23 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -i_111^post23+i_111^0 == 0 /\ i_13^0-i_13^post23 == 0 /\ __disjvr_12^0-__disjvr_12^post23 == 0 /\ -result_11^post23+result_11^0 == 0 /\ ct_18^0-ct_18^post23 == 0 /\ len_14^0-len_14^post23 == 0 /\ -__disjvr_5^post23+__disjvr_5^0 == 0 /\ temp0_31^0-temp0_31^post23 == 0 /\ x_21^0-x_21^post23 == 0 /\ -r_37^post23+r_37^0 == 0 /\ a_130^0-a_130^post23 == 0 /\ temp0_16^0-temp0_16^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -__disjvr_8^post23+__disjvr_8^0 == 0 /\ __disjvr_9^0-__disjvr_9^post23 == 0 /\ __disjvr_1^0-__disjvr_1^post23 == 0 /\ -t_24^post23+t_24^0 == 0 /\ -tmp_27^post23+tmp_27^0 == 0 /\ a_28^0-a_28^post23 == 0 /\ -x_32^post23+x_32^0 == 0), cost: 1 New rule: l24 -> l19 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1 Applied preprocessing Original rule: l19 -> l4 : __disjvr_0^0'=__disjvr_0^post24, x_21^0'=x_21^post24, a_130^0'=a_130^post24, rcd_63^0'=rcd_63^post24, __disjvr_2^0'=__disjvr_2^post24, a_28^0'=a_28^post24, temp0_31^0'=temp0_31^post24, tmp_27^0'=tmp_27^post24, __disjvr_7^0'=__disjvr_7^post24, len_14^0'=len_14^post24, __disjvr_11^0'=__disjvr_11^post24, x_SLAM_f_19^0'=x_SLAM_f_19^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24, __disjvr_4^0'=__disjvr_4^post24, d_29^0'=d_29^post24, x_17^0'=x_17^post24, __disjvr_9^0'=__disjvr_9^post24, rcd_100^0'=rcd_100^post24, __disjvr_1^0'=__disjvr_1^post24, a_175^0'=a_175^post24, temp0_16^0'=temp0_16^post24, __disjvr_6^0'=__disjvr_6^post24, i_13^0'=i_13^post24, __disjvr_10^0'=__disjvr_10^post24, x_32^0'=x_32^post24, a_152^0'=a_152^post24, result_11^0'=result_11^post24, __disjvr_3^0'=__disjvr_3^post24, ct_18^0'=ct_18^post24, temp_33^0'=temp_33^post24, x_15^0'=x_15^post24, __disjvr_8^0'=__disjvr_8^post24, r_37^0'=r_37^post24, __disjvr_12^0'=__disjvr_12^post24, y_20^0'=y_20^post24, t_24^0'=t_24^post24, __disjvr_5^0'=__disjvr_5^post24, i_111^0'=i_111^post24, (-x_15^post24+x_15^0 == 0 /\ -y_20^post24+y_20^0 == 0 /\ i_13^0-i_13^post24 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -t_24^post24+t_24^0 == 0 /\ -temp_33^post24+temp_33^0 == 0 /\ -x_32^post24+x_32^0 == 0 /\ -__disjvr_10^post24+__disjvr_10^0 == 0 /\ a_130^0-a_130^post24 == 0 /\ __disjvr_2^0-__disjvr_2^post24 == 0 /\ -ct_18^post24+ct_18^0 == 0 /\ __disjvr_7^0-__disjvr_7^post24 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ d_29^0-d_29^post24 == 0 /\ -i_111^post24+i_111^0 == 0 /\ -__disjvr_3^post24+__disjvr_3^0 == 0 /\ -result_11^post24+result_11^0 == 0 /\ __disjvr_12^0-__disjvr_12^post24 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ -len_14^post24+len_14^0 == 0 /\ __disjvr_4^0-__disjvr_4^post24 == 0 /\ -__disjvr_1^post24+__disjvr_1^0 == 0 /\ -x_17^post24+x_17^0 == 0 /\ -temp0_16^post24+temp0_16^0 == 0 /\ -__disjvr_8^post24+__disjvr_8^0 == 0 /\ -r_37^post24+r_37^0 == 0 /\ a_175^0-a_175^post24 == 0 /\ rcd_100^0-rcd_100^post24 == 0 /\ __disjvr_11^0-__disjvr_11^post24 == 0 /\ -a_152^post24+a_152^0 == 0 /\ rcd_63^0-rcd_63^post24 == 0 /\ temp0_31^0-temp0_31^post24 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post24 == 0 /\ tmp_27^0-tmp_27^post24 == 0 /\ x_21^0-x_21^post24 == 0 /\ a_28^0-a_28^post24 == 0 /\ -__disjvr_6^post24+__disjvr_6^0 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0), cost: 1 New rule: l19 -> l4 : TRUE, cost: 1 Applied preprocessing Original rule: l18 -> l25 : __disjvr_0^0'=__disjvr_0^post25, x_21^0'=x_21^post25, a_130^0'=a_130^post25, rcd_63^0'=rcd_63^post25, __disjvr_2^0'=__disjvr_2^post25, a_28^0'=a_28^post25, temp0_31^0'=temp0_31^post25, tmp_27^0'=tmp_27^post25, __disjvr_7^0'=__disjvr_7^post25, len_14^0'=len_14^post25, __disjvr_11^0'=__disjvr_11^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25, __disjvr_4^0'=__disjvr_4^post25, d_29^0'=d_29^post25, x_17^0'=x_17^post25, __disjvr_9^0'=__disjvr_9^post25, rcd_100^0'=rcd_100^post25, __disjvr_1^0'=__disjvr_1^post25, a_175^0'=a_175^post25, temp0_16^0'=temp0_16^post25, __disjvr_6^0'=__disjvr_6^post25, i_13^0'=i_13^post25, __disjvr_10^0'=__disjvr_10^post25, x_32^0'=x_32^post25, a_152^0'=a_152^post25, result_11^0'=result_11^post25, __disjvr_3^0'=__disjvr_3^post25, ct_18^0'=ct_18^post25, temp_33^0'=temp_33^post25, x_15^0'=x_15^post25, __disjvr_8^0'=__disjvr_8^post25, r_37^0'=r_37^post25, __disjvr_12^0'=__disjvr_12^post25, y_20^0'=y_20^post25, t_24^0'=t_24^post25, __disjvr_5^0'=__disjvr_5^post25, i_111^0'=i_111^post25, (0 == 0 /\ len_14^0-i_13^0 <= 0 /\ -rcd_100^post25+rcd_100^0 == 0 /\ __disjvr_2^0-__disjvr_2^post25 == 0 /\ x_17^110-x_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ x_21^post25-x_SLAM_f_19^140 == 0 /\ __disjvr_6^0-__disjvr_6^post25 == 0 /\ temp0_31^0-temp0_31^post25 == 0 /\ -x_17^110+x_SLAM_f_19^140 == 0 /\ ct_18^14 == 0 /\ -t_24^post25+t_24^0 == 0 /\ temp0_16^0-temp0_16^post25 == 0 /\ d_29^0-d_29^post25 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -r_37^post25+r_37^0 == 0 /\ -i_13^0 <= 0 /\ -a_175^post25+a_175^0 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ -__disjvr_4^post25+__disjvr_4^0 == 0 /\ -__disjvr_9^post25+__disjvr_9^0 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ -__disjvr_8^post25+__disjvr_8^0 == 0 /\ rcd_63^0-rcd_63^post25 == 0 /\ -i_111^post25+i_111^0 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ x_32^0-x_32^post25 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ a_130^0-a_130^post25 == 0 /\ -ct_18^14+y_20^post25 == 0 /\ a_28^0-a_28^post25 == 0 /\ __disjvr_10^0-__disjvr_10^post25 == 0 /\ __disjvr_11^0-__disjvr_11^post25 == 0 /\ -a_152^post25+a_152^0 == 0 /\ -temp_33^post25+temp_33^0 == 0 /\ __disjvr_1^0-__disjvr_1^post25 == 0 /\ -__disjvr_5^post25+__disjvr_5^0 == 0), cost: 1 New rule: l18 -> l25 : x_21^0'=x_15^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, (len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 1 Applied preprocessing Original rule: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post26, x_21^0'=x_21^post26, a_130^0'=a_130^post26, rcd_63^0'=rcd_63^post26, __disjvr_2^0'=__disjvr_2^post26, a_28^0'=a_28^post26, temp0_31^0'=temp0_31^post26, tmp_27^0'=tmp_27^post26, __disjvr_7^0'=__disjvr_7^post26, len_14^0'=len_14^post26, __disjvr_11^0'=__disjvr_11^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26, __disjvr_4^0'=__disjvr_4^post26, d_29^0'=d_29^post26, x_17^0'=x_17^post26, __disjvr_9^0'=__disjvr_9^post26, rcd_100^0'=rcd_100^post26, __disjvr_1^0'=__disjvr_1^post26, a_175^0'=a_175^post26, temp0_16^0'=temp0_16^post26, __disjvr_6^0'=__disjvr_6^post26, i_13^0'=i_13^post26, __disjvr_10^0'=__disjvr_10^post26, x_32^0'=x_32^post26, a_152^0'=a_152^post26, result_11^0'=result_11^post26, __disjvr_3^0'=__disjvr_3^post26, ct_18^0'=ct_18^post26, temp_33^0'=temp_33^post26, x_15^0'=x_15^post26, __disjvr_8^0'=__disjvr_8^post26, r_37^0'=r_37^post26, __disjvr_12^0'=__disjvr_12^post26, y_20^0'=y_20^post26, t_24^0'=t_24^post26, __disjvr_5^0'=__disjvr_5^post26, i_111^0'=i_111^post26, (__disjvr_10^post26-__disjvr_10^0 == 0 /\ -__disjvr_3^post26+__disjvr_3^0 == 0 /\ -__disjvr_12^post26+__disjvr_12^0 == 0 /\ temp0_31^0-temp0_31^post26 == 0 /\ -__disjvr_6^post26+__disjvr_6^0 == 0 /\ -i_111^post26+i_111^0 == 0 /\ x_21^0-x_21^post26 == 0 /\ -__disjvr_10^post26+__disjvr_10^0 == 0 /\ -result_11^post26+result_11^0 == 0 /\ -__disjvr_5^post26+__disjvr_5^0 == 0 /\ -y_20^post26+y_20^0 == 0 /\ x_15^0-x_15^post26 == 0 /\ d_29^0-d_29^post26 == 0 /\ -x_17^post26+x_17^0 == 0 /\ a_28^0-a_28^post26 == 0 /\ __disjvr_7^0-__disjvr_7^post26 == 0 /\ -a_152^post26+a_152^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26 == 0 /\ -temp_33^post26+temp_33^0 == 0 /\ i_13^0-i_13^post26 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post26 == 0 /\ ct_18^0-ct_18^post26 == 0 /\ a_175^0-a_175^post26 == 0 /\ -len_14^post26+len_14^0 == 0 /\ -a_130^post26+a_130^0 == 0 /\ -__disjvr_8^post26+__disjvr_8^0 == 0 /\ rcd_63^0-rcd_63^post26 == 0 /\ __disjvr_11^0-__disjvr_11^post26 == 0 /\ __disjvr_0^0-__disjvr_0^post26 == 0 /\ tmp_27^0-tmp_27^post26 == 0 /\ __disjvr_2^0-__disjvr_2^post26 == 0 /\ -r_37^post26+r_37^0 == 0 /\ __disjvr_9^0-__disjvr_9^post26 == 0 /\ rcd_100^0-rcd_100^post26 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ -t_24^post26+t_24^0 == 0 /\ __disjvr_1^0-__disjvr_1^post26 == 0 /\ __disjvr_4^0-__disjvr_4^post26 == 0 /\ -x_32^post26+x_32^0 == 0), cost: 1 New rule: l25 -> l26 : 0 == 0, cost: 1 Applied preprocessing Original rule: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post27, x_21^0'=x_21^post27, a_130^0'=a_130^post27, rcd_63^0'=rcd_63^post27, __disjvr_2^0'=__disjvr_2^post27, a_28^0'=a_28^post27, temp0_31^0'=temp0_31^post27, tmp_27^0'=tmp_27^post27, __disjvr_7^0'=__disjvr_7^post27, len_14^0'=len_14^post27, __disjvr_11^0'=__disjvr_11^post27, x_SLAM_f_19^0'=x_SLAM_f_19^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27, __disjvr_4^0'=__disjvr_4^post27, d_29^0'=d_29^post27, x_17^0'=x_17^post27, __disjvr_9^0'=__disjvr_9^post27, rcd_100^0'=rcd_100^post27, __disjvr_1^0'=__disjvr_1^post27, a_175^0'=a_175^post27, temp0_16^0'=temp0_16^post27, __disjvr_6^0'=__disjvr_6^post27, i_13^0'=i_13^post27, __disjvr_10^0'=__disjvr_10^post27, x_32^0'=x_32^post27, a_152^0'=a_152^post27, result_11^0'=result_11^post27, __disjvr_3^0'=__disjvr_3^post27, ct_18^0'=ct_18^post27, temp_33^0'=temp_33^post27, x_15^0'=x_15^post27, __disjvr_8^0'=__disjvr_8^post27, r_37^0'=r_37^post27, __disjvr_12^0'=__disjvr_12^post27, y_20^0'=y_20^post27, t_24^0'=t_24^post27, __disjvr_5^0'=__disjvr_5^post27, i_111^0'=i_111^post27, (0 == 0 /\ -__disjvr_3^post27+__disjvr_3^0 == 0 /\ a_175^0-a_175^post27 == 0 /\ rcd_100^0-rcd_100^post27 == 0 /\ x_SLAM_f_19^0-x_17^0 <= 0 /\ -x_SLAM_f_19^0+x_15^0 <= 0 /\ temp0_31^0-temp0_31^post27 == 0 /\ -ct_18^post27+ct_18^0 == 0 /\ -ct_18^0 <= 0 /\ -i_13^post27+i_13^0 == 0 /\ x_15^0-t_24^post27 <= 0 /\ x_21^0-x_21^post27 == 0 /\ -y_20^post27+y_20^0 == 0 /\ -i_111^post27+i_111^0 == 0 /\ __disjvr_7^0-__disjvr_7^post27 == 0 /\ d_29^0-d_29^post27 == 0 /\ -temp_33^post27+temp_33^0 == 0 /\ -x_SLAM_f_19^0+x_17^0 <= 0 /\ x_SLAM_f_19^0-x_15^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post27 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27 == 0 /\ x_15^0-x_15^post27 == 0 /\ -x_15^0+t_24^post27 <= 0 /\ __disjvr_10^0-__disjvr_10^post27 == 0 /\ a_28^0-a_28^post27 == 0 /\ -x_21^0+t_24^post27 == 0 /\ result_11^0-result_11^post27 == 0 /\ -x_17^post27+x_17^0 == 0 /\ -tmp_27^0+x_15^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post27 == 0 /\ -temp0_16^post27+temp0_16^0 == 0 /\ -a_152^post27+a_152^0 == 0 /\ __disjvr_11^0-__disjvr_11^post27 == 0 /\ -__disjvr_1^post27+__disjvr_1^0 == 0 /\ a_152^0-a_130^post27 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post27 == 0 /\ -x_17^0+x_15^0 <= 0 /\ -r_37^post27+r_37^0 == 0 /\ ct_18^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ tmp_27^0-x_15^0 <= 0 /\ tmp_27^0-tmp_27^post27 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ __disjvr_5^0-__disjvr_5^post27 == 0 /\ rcd_63^0-rcd_63^post27 == 0 /\ y_20^0 <= 0 /\ -y_20^0 <= 0 /\ -__disjvr_8^post27+__disjvr_8^0 == 0 /\ -x_32^post27+x_32^0 == 0 /\ -a_152^0+a_130^post27 <= 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ x_17^0-x_15^0 <= 0 /\ -len_14^post27+len_14^0 == 0 /\ -__disjvr_6^post27+__disjvr_6^0 == 0 /\ -ct_18^0+y_20^0 <= 0), cost: 1 New rule: l26 -> l27 : a_130^0'=a_152^0, t_24^0'=x_15^0, (-x_SLAM_f_19^0+x_15^0 == 0 /\ -x_21^0+x_15^0 == 0 /\ -tmp_27^0+x_15^0 == 0 /\ -x_17^0+x_15^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ y_20^0 == 0), cost: 1 Applied preprocessing Original rule: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post28, x_21^0'=x_21^post28, a_130^0'=a_130^post28, rcd_63^0'=rcd_63^post28, __disjvr_2^0'=__disjvr_2^post28, a_28^0'=a_28^post28, temp0_31^0'=temp0_31^post28, tmp_27^0'=tmp_27^post28, __disjvr_7^0'=__disjvr_7^post28, len_14^0'=len_14^post28, __disjvr_11^0'=__disjvr_11^post28, x_SLAM_f_19^0'=x_SLAM_f_19^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28, __disjvr_4^0'=__disjvr_4^post28, d_29^0'=d_29^post28, x_17^0'=x_17^post28, __disjvr_9^0'=__disjvr_9^post28, rcd_100^0'=rcd_100^post28, __disjvr_1^0'=__disjvr_1^post28, a_175^0'=a_175^post28, temp0_16^0'=temp0_16^post28, __disjvr_6^0'=__disjvr_6^post28, i_13^0'=i_13^post28, __disjvr_10^0'=__disjvr_10^post28, x_32^0'=x_32^post28, a_152^0'=a_152^post28, result_11^0'=result_11^post28, __disjvr_3^0'=__disjvr_3^post28, ct_18^0'=ct_18^post28, temp_33^0'=temp_33^post28, x_15^0'=x_15^post28, __disjvr_8^0'=__disjvr_8^post28, r_37^0'=r_37^post28, __disjvr_12^0'=__disjvr_12^post28, y_20^0'=y_20^post28, t_24^0'=t_24^post28, __disjvr_5^0'=__disjvr_5^post28, i_111^0'=i_111^post28, (rcd_100^0-rcd_100^post28 == 0 /\ __disjvr_4^0-__disjvr_4^post28 == 0 /\ len_14^0-len_14^post28 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ a_175^0-a_175^post28 == 0 /\ -__disjvr_12^post28+__disjvr_12^0 == 0 /\ -i_13^post28+i_13^0 == 0 /\ -__disjvr_9^post28+__disjvr_9^0 == 0 /\ temp0_31^0-temp0_31^post28 == 0 /\ x_21^0-x_21^post28 == 0 /\ r_37^0-r_37^post28 == 0 /\ temp_33^0-temp_33^post28 == 0 /\ -y_20^post28+y_20^0 == 0 /\ -i_111^post28+i_111^0 == 0 /\ -x_15^post28+x_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28 == 0 /\ -__disjvr_10^post28+__disjvr_10^0 == 0 /\ a_28^0-a_28^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ -__disjvr_1^post28+__disjvr_1^0 == 0 /\ -rcd_63^post28+rcd_63^0 == 0 /\ -temp0_16^post28+temp0_16^0 == 0 /\ x_17^0-x_17^post28 == 0 /\ -__disjvr_11^0+__disjvr_11^post28 == 0 /\ a_130^0-a_130^post28 == 0 /\ -__disjvr_5^post28+__disjvr_5^0 == 0 /\ __disjvr_2^0-__disjvr_2^post28 == 0 /\ tmp_27^0-tmp_27^post28 == 0 /\ -ct_18^post28+ct_18^0 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ d_29^0-d_29^post28 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ __disjvr_11^0-__disjvr_11^post28 == 0 /\ __disjvr_7^0-__disjvr_7^post28 == 0 /\ -x_SLAM_f_19^post28+x_SLAM_f_19^0 == 0 /\ -t_24^post28+t_24^0 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ a_152^0-a_152^post28 == 0 /\ x_32^0-x_32^post28 == 0), cost: 1 New rule: l27 -> l28 : 0 == 0, cost: 1 Applied preprocessing Original rule: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post29, x_21^0'=x_21^post29, a_130^0'=a_130^post29, rcd_63^0'=rcd_63^post29, __disjvr_2^0'=__disjvr_2^post29, a_28^0'=a_28^post29, temp0_31^0'=temp0_31^post29, tmp_27^0'=tmp_27^post29, __disjvr_7^0'=__disjvr_7^post29, len_14^0'=len_14^post29, __disjvr_11^0'=__disjvr_11^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29, __disjvr_4^0'=__disjvr_4^post29, d_29^0'=d_29^post29, x_17^0'=x_17^post29, __disjvr_9^0'=__disjvr_9^post29, rcd_100^0'=rcd_100^post29, __disjvr_1^0'=__disjvr_1^post29, a_175^0'=a_175^post29, temp0_16^0'=temp0_16^post29, __disjvr_6^0'=__disjvr_6^post29, i_13^0'=i_13^post29, __disjvr_10^0'=__disjvr_10^post29, x_32^0'=x_32^post29, a_152^0'=a_152^post29, result_11^0'=result_11^post29, __disjvr_3^0'=__disjvr_3^post29, ct_18^0'=ct_18^post29, temp_33^0'=temp_33^post29, x_15^0'=x_15^post29, __disjvr_8^0'=__disjvr_8^post29, r_37^0'=r_37^post29, __disjvr_12^0'=__disjvr_12^post29, y_20^0'=y_20^post29, t_24^0'=t_24^post29, __disjvr_5^0'=__disjvr_5^post29, i_111^0'=i_111^post29, (__disjvr_4^0-__disjvr_4^post29 == 0 /\ -i_13^post29+i_13^0 == 0 /\ -t_24^post29+t_24^0 == 0 /\ -x_15^post29+x_15^0 == 0 /\ -y_20^post29+y_20^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post29 == 0 /\ x_32^0-x_32^post29 == 0 /\ -rcd_100^post29+rcd_100^0 == 0 /\ x_21^0-x_21^post29 == 0 /\ -__disjvr_9^post29+__disjvr_9^0 == 0 /\ __disjvr_2^0-__disjvr_2^post29 == 0 /\ -a_175^post29+a_175^0 == 0 /\ -i_111^post29+i_111^0 == 0 /\ -__disjvr_10^post29+__disjvr_10^0 == 0 /\ -result_11^post29+result_11^0 == 0 /\ temp_33^0-temp_33^post29 == 0 /\ __disjvr_11^0-__disjvr_11^post29 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29 == 0 /\ -__disjvr_3^post29+__disjvr_3^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ r_37^0-r_37^post29 == 0 /\ __disjvr_1^0-__disjvr_1^post29 == 0 /\ x_17^0-x_17^post29 == 0 /\ len_14^0-len_14^post29 == 0 /\ -__disjvr_5^post29+__disjvr_5^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ -d_29^post29+d_29^0 == 0 /\ -rcd_63^post29+rcd_63^0 == 0 /\ a_130^0-a_130^post29 == 0 /\ __disjvr_12^post29-__disjvr_12^0 == 0 /\ __disjvr_7^0-__disjvr_7^post29 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ temp0_16^0-temp0_16^post29 == 0 /\ a_152^0-a_152^post29 == 0 /\ -__disjvr_8^post29+__disjvr_8^0 == 0 /\ a_28^0-a_28^post29 == 0 /\ -tmp_27^post29+tmp_27^0 == 0 /\ ct_18^0-ct_18^post29 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0), cost: 1 New rule: l28 -> l29 : 0 == 0, cost: 1 Applied preprocessing Original rule: l29 -> l4 : __disjvr_0^0'=__disjvr_0^post30, x_21^0'=x_21^post30, a_130^0'=a_130^post30, rcd_63^0'=rcd_63^post30, __disjvr_2^0'=__disjvr_2^post30, a_28^0'=a_28^post30, temp0_31^0'=temp0_31^post30, tmp_27^0'=tmp_27^post30, __disjvr_7^0'=__disjvr_7^post30, len_14^0'=len_14^post30, __disjvr_11^0'=__disjvr_11^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30, __disjvr_4^0'=__disjvr_4^post30, d_29^0'=d_29^post30, x_17^0'=x_17^post30, __disjvr_9^0'=__disjvr_9^post30, rcd_100^0'=rcd_100^post30, __disjvr_1^0'=__disjvr_1^post30, a_175^0'=a_175^post30, temp0_16^0'=temp0_16^post30, __disjvr_6^0'=__disjvr_6^post30, i_13^0'=i_13^post30, __disjvr_10^0'=__disjvr_10^post30, x_32^0'=x_32^post30, a_152^0'=a_152^post30, result_11^0'=result_11^post30, __disjvr_3^0'=__disjvr_3^post30, ct_18^0'=ct_18^post30, temp_33^0'=temp_33^post30, x_15^0'=x_15^post30, __disjvr_8^0'=__disjvr_8^post30, r_37^0'=r_37^post30, __disjvr_12^0'=__disjvr_12^post30, y_20^0'=y_20^post30, t_24^0'=t_24^post30, __disjvr_5^0'=__disjvr_5^post30, i_111^0'=i_111^post30, (0 == 0 /\ -__disjvr_3^post30+__disjvr_3^0 == 0 /\ -rcd_100^post30+rcd_100^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ len_14^0-i_13^0 <= 0 /\ -1-a_130^0+i_13^post30 <= 0 /\ __disjvr_4^0-__disjvr_4^post30 == 0 /\ -y_20^post30+y_20^0 == 0 /\ temp0_31^0-temp0_31^post30 == 0 /\ 1-len_14^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ __disjvr_2^0-__disjvr_2^post30 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post30 == 0 /\ __disjvr_0^0-__disjvr_0^post30 == 0 /\ 2-len_14^0 <= 0 /\ -i_111^post30+i_111^0 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ x_15^0-x_15^post30 == 0 /\ -result_11^post30+result_11^0 == 0 /\ __disjvr_10^0-__disjvr_10^post30 == 0 /\ -temp_33^post30+temp_33^0 == 0 /\ -d_29^post30+d_29^0 == 0 /\ -__disjvr_8^post30+__disjvr_8^0 == 0 /\ x_17^0-x_17^post30 == 0 /\ -a_152^post30+a_152^0 == 0 /\ 1+a_130^0-i_13^post30 <= 0 /\ a_130^0-a_130^post30 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ rcd_63^0-rcd_63^post30 == 0 /\ len_14^0-len_14^post30 == 0 /\ -r_37^post30+r_37^0 == 0 /\ tmp_27^0-tmp_27^post30 == 0 /\ x_21^0-x_21^post30 == 0 /\ a_28^0-a_28^post30 == 0 /\ __disjvr_7^0-__disjvr_7^post30 == 0 /\ __disjvr_5^0-__disjvr_5^post30 == 0 /\ -ct_18^post30+ct_18^0 == 0 /\ a_175^0-a_175^post30 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ -__disjvr_6^post30+__disjvr_6^0 == 0 /\ -t_24^post30+t_24^0 == 0 /\ -x_32^post30+x_32^0 == 0), cost: 1 New rule: l29 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1 Applied preprocessing Original rule: l18 -> l30 : __disjvr_0^0'=__disjvr_0^post31, x_21^0'=x_21^post31, a_130^0'=a_130^post31, rcd_63^0'=rcd_63^post31, __disjvr_2^0'=__disjvr_2^post31, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=tmp_27^post31, __disjvr_7^0'=__disjvr_7^post31, len_14^0'=len_14^post31, __disjvr_11^0'=__disjvr_11^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, __disjvr_4^0'=__disjvr_4^post31, d_29^0'=d_29^post31, x_17^0'=x_17^post31, __disjvr_9^0'=__disjvr_9^post31, rcd_100^0'=rcd_100^post31, __disjvr_1^0'=__disjvr_1^post31, a_175^0'=a_175^post31, temp0_16^0'=temp0_16^post31, __disjvr_6^0'=__disjvr_6^post31, i_13^0'=i_13^post31, __disjvr_10^0'=__disjvr_10^post31, x_32^0'=x_32^post31, a_152^0'=a_152^post31, result_11^0'=result_11^post31, __disjvr_3^0'=__disjvr_3^post31, ct_18^0'=ct_18^post31, temp_33^0'=temp_33^post31, x_15^0'=x_15^post31, __disjvr_8^0'=__disjvr_8^post31, r_37^0'=r_37^post31, __disjvr_12^0'=__disjvr_12^post31, y_20^0'=y_20^post31, t_24^0'=t_24^post31, __disjvr_5^0'=__disjvr_5^post31, i_111^0'=i_111^post31, (0 == 0 /\ -__disjvr_11^post31+__disjvr_11^0 == 0 /\ -__disjvr_9^post31+__disjvr_9^0 == 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ result_11^110-temp0_31^110 == 0 /\ -x_17^post31+x_17^0 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -r_37^post31+r_37^0 == 0 /\ __disjvr_4^0-__disjvr_4^post31 == 0 /\ x_15^post31-tmp_27^post31 == 0 /\ -1+i_13^post31-i_111^post31 <= 0 /\ a_130^0-a_130^post31 == 0 /\ -__disjvr_10^post31+__disjvr_10^0 == 0 /\ -i_13^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ y_20^0-y_20^post31 == 0 /\ d_29^110-x_15^0 == 0 /\ __disjvr_7^0-__disjvr_7^post31 == 0 /\ -__disjvr_8^post31+__disjvr_8^0 == 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ a_28^11-i_13^0 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ -x_32^110+temp0_31^110 == 0 /\ ct_18^0-ct_18^post31 == 0 /\ 1-len_14^0+i_111^post31 <= 0 /\ x_32^110-temp_33^0 == 0 /\ -rcd_63^post31+rcd_63^0 == 0 /\ -result_11^110+tmp_27^post31 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0 /\ -1+i_13^post31-i_13^0 == 0 /\ x_21^0-x_21^post31 == 0 /\ __disjvr_6^0-__disjvr_6^post31 == 0 /\ -t_24^post31+t_24^0 == 0 /\ __disjvr_2^0-__disjvr_2^post31 == 0 /\ -a_175^post31+a_175^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post31 == 0 /\ 1-i_13^post31+i_111^post31 <= 0 /\ -a_152^post31+a_152^0 == 0 /\ len_14^0-len_14^post31 == 0), cost: 1 New rule: l18 -> l30 : a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^0, i_111^0'=i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 1 Applied preprocessing Original rule: l30 -> l18 : __disjvr_0^0'=__disjvr_0^post32, x_21^0'=x_21^post32, a_130^0'=a_130^post32, rcd_63^0'=rcd_63^post32, __disjvr_2^0'=__disjvr_2^post32, a_28^0'=a_28^post32, temp0_31^0'=temp0_31^post32, tmp_27^0'=tmp_27^post32, __disjvr_7^0'=__disjvr_7^post32, len_14^0'=len_14^post32, __disjvr_11^0'=__disjvr_11^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32, __disjvr_4^0'=__disjvr_4^post32, d_29^0'=d_29^post32, x_17^0'=x_17^post32, __disjvr_9^0'=__disjvr_9^post32, rcd_100^0'=rcd_100^post32, __disjvr_1^0'=__disjvr_1^post32, a_175^0'=a_175^post32, temp0_16^0'=temp0_16^post32, __disjvr_6^0'=__disjvr_6^post32, i_13^0'=i_13^post32, __disjvr_10^0'=__disjvr_10^post32, x_32^0'=x_32^post32, a_152^0'=a_152^post32, result_11^0'=result_11^post32, __disjvr_3^0'=__disjvr_3^post32, ct_18^0'=ct_18^post32, temp_33^0'=temp_33^post32, x_15^0'=x_15^post32, __disjvr_8^0'=__disjvr_8^post32, r_37^0'=r_37^post32, __disjvr_12^0'=__disjvr_12^post32, y_20^0'=y_20^post32, t_24^0'=t_24^post32, __disjvr_5^0'=__disjvr_5^post32, i_111^0'=i_111^post32, (-temp0_16^post32+temp0_16^0 == 0 /\ a_130^0-a_130^post32 == 0 /\ -x_17^post32+x_17^0 == 0 /\ d_29^0-d_29^post32 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ -a_152^post32+a_152^0 == 0 /\ x_15^0-x_15^post32 == 0 /\ -r_37^post32+r_37^0 == 0 /\ i_13^0-i_13^post32 == 0 /\ -__disjvr_1^post32+__disjvr_1^0 == 0 /\ __disjvr_4^0-__disjvr_4^post32 == 0 /\ a_175^0-a_175^post32 == 0 /\ rcd_100^0-rcd_100^post32 == 0 /\ -__disjvr_6^post32+__disjvr_6^0 == 0 /\ -__disjvr_8^post32+__disjvr_8^0 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ a_28^0-a_28^post32 == 0 /\ __disjvr_7^0-__disjvr_7^post32 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ -y_20^post32+y_20^0 == 0 /\ rcd_63^0-rcd_63^post32 == 0 /\ -x_32^post32+x_32^0 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ -ct_18^post32+ct_18^0 == 0 /\ -x_21^post32+x_21^0 == 0 /\ t_24^0-t_24^post32 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post32 == 0 /\ -i_111^post32+i_111^0 == 0 /\ -__disjvr_10^post32+__disjvr_10^0 == 0 /\ len_14^0-len_14^post32 == 0 /\ -result_11^post32+result_11^0 == 0 /\ -temp_33^post32+temp_33^0 == 0 /\ tmp_27^0-tmp_27^post32 == 0 /\ __disjvr_2^0-__disjvr_2^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ temp0_31^0-temp0_31^post32 == 0), cost: 1 New rule: l30 -> l18 : TRUE, cost: 1 Applied preprocessing Original rule: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post34, x_21^0'=x_21^post34, a_130^0'=a_130^post34, rcd_63^0'=rcd_63^post34, __disjvr_2^0'=__disjvr_2^post34, a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, tmp_27^0'=tmp_27^post34, __disjvr_7^0'=__disjvr_7^post34, len_14^0'=len_14^post34, __disjvr_11^0'=__disjvr_11^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, __disjvr_4^0'=__disjvr_4^post34, d_29^0'=d_29^post34, x_17^0'=x_17^post34, __disjvr_9^0'=__disjvr_9^post34, rcd_100^0'=rcd_100^post34, __disjvr_1^0'=__disjvr_1^post34, a_175^0'=a_175^post34, temp0_16^0'=temp0_16^post34, __disjvr_6^0'=__disjvr_6^post34, i_13^0'=i_13^post34, __disjvr_10^0'=__disjvr_10^post34, x_32^0'=x_32^post34, a_152^0'=a_152^post34, result_11^0'=result_11^post34, __disjvr_3^0'=__disjvr_3^post34, ct_18^0'=ct_18^post34, temp_33^0'=temp_33^post34, x_15^0'=x_15^post34, __disjvr_8^0'=__disjvr_8^post34, r_37^0'=r_37^post34, __disjvr_12^0'=__disjvr_12^post34, y_20^0'=y_20^post34, t_24^0'=t_24^post34, __disjvr_5^0'=__disjvr_5^post34, i_111^0'=i_111^post34, (0 == 0 /\ __disjvr_7^0-__disjvr_7^post34 == 0 /\ 1-len_14^0 <= 0 /\ __disjvr_1^0-__disjvr_1^post34 == 0 /\ len_14^0-len_14^post34 == 0 /\ -x_17^post34+x_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ x_21^0-x_21^post34 == 0 /\ -r_37^post34+r_37^0 == 0 /\ 1-len_14^0+i_13^0 <= 0 /\ -ct_18^post34+ct_18^0 == 0 /\ -i_111^post34+i_111^0 == 0 /\ a_130^0-a_130^post34 == 0 /\ -t_24^post34+t_24^0 == 0 /\ temp0_31^120-x_32^120 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ -x_SLAM_f_19^post34+x_SLAM_f_19^0 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ -__disjvr_9^post34+__disjvr_9^0 == 0 /\ __disjvr_11^0-__disjvr_11^post34 == 0 /\ -temp0_31^120+result_11^120 == 0 /\ a_175^0-a_175^post34 == 0 /\ -rcd_63^post34+rcd_63^0 == 0 /\ a_152^0-a_152^post34 == 0 /\ __disjvr_2^0-__disjvr_2^post34 == 0 /\ d_29^120-x_15^0 == 0 /\ -__disjvr_10^post34+__disjvr_10^0 == 0 /\ -tmp_27^post34+x_15^post34 <= 0 /\ -tmp_27^post34+x_15^post34 == 0 /\ 1-i_13^post34 <= 0 /\ -1+i_13^post34 <= 0 /\ x_32^120-temp_33^0 == 0 /\ tmp_27^post34-result_11^120 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ rcd_100^0-rcd_100^post34 == 0 /\ -y_20^post34+y_20^0 == 0 /\ -1-i_13^0+i_13^post34 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -__disjvr_8^post34+__disjvr_8^0 == 0 /\ a_28^12-i_13^0 == 0 /\ tmp_27^post34-x_15^post34 <= 0), cost: 1 New rule: l11 -> l12 : a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, d_29^0'=d_29^post34, i_13^0'=1, x_32^0'=x_32^post34, result_11^0'=result_11^post34, temp_33^0'=temp_33^post34, x_15^0'=temp_33^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 == 0), cost: 1 Applied preprocessing Original rule: l31 -> l10 : __disjvr_0^0'=__disjvr_0^post35, x_21^0'=x_21^post35, a_130^0'=a_130^post35, rcd_63^0'=rcd_63^post35, __disjvr_2^0'=__disjvr_2^post35, a_28^0'=a_28^post35, temp0_31^0'=temp0_31^post35, tmp_27^0'=tmp_27^post35, __disjvr_7^0'=__disjvr_7^post35, len_14^0'=len_14^post35, __disjvr_11^0'=__disjvr_11^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, __disjvr_4^0'=__disjvr_4^post35, d_29^0'=d_29^post35, x_17^0'=x_17^post35, __disjvr_9^0'=__disjvr_9^post35, rcd_100^0'=rcd_100^post35, __disjvr_1^0'=__disjvr_1^post35, a_175^0'=a_175^post35, temp0_16^0'=temp0_16^post35, __disjvr_6^0'=__disjvr_6^post35, i_13^0'=i_13^post35, __disjvr_10^0'=__disjvr_10^post35, x_32^0'=x_32^post35, a_152^0'=a_152^post35, result_11^0'=result_11^post35, __disjvr_3^0'=__disjvr_3^post35, ct_18^0'=ct_18^post35, temp_33^0'=temp_33^post35, x_15^0'=x_15^post35, __disjvr_8^0'=__disjvr_8^post35, r_37^0'=r_37^post35, __disjvr_12^0'=__disjvr_12^post35, y_20^0'=y_20^post35, t_24^0'=t_24^post35, __disjvr_5^0'=__disjvr_5^post35, i_111^0'=i_111^post35, (-__disjvr_1^post35+__disjvr_1^0 == 0 /\ __disjvr_10^0-__disjvr_10^post35 == 0 /\ __disjvr_2^0-__disjvr_2^post35 == 0 /\ temp0_16^0-temp0_16^post35 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35 == 0 /\ a_175^0-a_175^post35 == 0 /\ -__disjvr_5^post35+__disjvr_5^0 == 0 /\ -r_37^post35+r_37^0 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ len_14^0-len_14^post35 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ -i_13^post35+i_13^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post35 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ -t_24^post35+t_24^0 == 0 /\ -x_32^post35+x_32^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ tmp_27^0-tmp_27^post35 == 0 /\ d_29^0-d_29^post35 == 0 /\ rcd_63^0-rcd_63^post35 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ -x_15^post35+x_15^0 == 0 /\ -temp_33^post35+temp_33^0 == 0 /\ -ct_18^post35+ct_18^0 == 0 /\ -y_20^post35+y_20^0 == 0 /\ a_152^0-a_152^post35 == 0 /\ -i_111^post35+i_111^0 == 0 /\ x_17^0-x_17^post35 == 0 /\ rcd_100^0-rcd_100^post35 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ -a_28^post35+a_28^0 == 0 /\ -__disjvr_9^post35+__disjvr_9^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ -__disjvr_4^post35+__disjvr_4^0 == 0 /\ a_130^0-a_130^post35 == 0 /\ x_21^0-x_21^post35 == 0), cost: 1 New rule: l31 -> l10 : TRUE, cost: 1 Simplified rules Start location: l31 38: l4 -> l20 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, a_152^0 >= 0, cost: 1 36: l10 -> l11 : i_13^0'=0, x_15^0'=0, 0 == 0, cost: 1 53: l11 -> l12 : a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, d_29^0'=d_29^post34, i_13^0'=1, x_32^0'=x_32^post34, result_11^0'=result_11^post34, temp_33^0'=temp_33^post34, x_15^0'=temp_33^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 == 0), cost: 1 37: l12 -> l18 : rcd_63^0'=rcd_63^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, d_29^0'=d_29^post16, i_13^0'=2, x_32^0'=x_32^post16, result_11^0'=result_11^post16, temp_33^0'=temp_33^post16, x_15^0'=temp_33^0, (-1+i_13^0 == 0 /\ -2+len_14^0 >= 0), cost: 1 45: l18 -> l25 : x_21^0'=x_15^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, (len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 1 51: l18 -> l30 : a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^0, i_111^0'=i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 1 39: l20 -> l21 : 0 == 0, cost: 1 40: l21 -> l22 : a_175^0'=-1+a_152^0, t_24^0'=x_21^0, (-x_SLAM_f_19^0+x_15^0 == 0 /\ -tmp_27^0+x_15^0 == 0 /\ -x_17^0+x_15^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ y_20^0 == 0), cost: 1 41: l22 -> l23 : 0 == 0, cost: 1 42: l23 -> l24 : 0 == 0, cost: 1 43: l24 -> l19 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1 44: l19 -> l4 : TRUE, cost: 1 46: l25 -> l26 : 0 == 0, cost: 1 47: l26 -> l27 : a_130^0'=a_152^0, t_24^0'=x_15^0, (-x_SLAM_f_19^0+x_15^0 == 0 /\ -x_21^0+x_15^0 == 0 /\ -tmp_27^0+x_15^0 == 0 /\ -x_17^0+x_15^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ y_20^0 == 0), cost: 1 48: l27 -> l28 : 0 == 0, cost: 1 49: l28 -> l29 : 0 == 0, cost: 1 50: l29 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1 52: l30 -> l18 : TRUE, cost: 1 54: l31 -> l10 : TRUE, cost: 1 Eliminating location l10 by chaining: Applied chaining First rule: l31 -> l10 : TRUE, cost: 1 Second rule: l10 -> l11 : i_13^0'=0, x_15^0'=0, 0 == 0, cost: 1 New rule: l31 -> l11 : i_13^0'=0, x_15^0'=0, 0 == 0, cost: 2 Applied deletion Removed the following rules: 36 54 Eliminating location l11 by chaining: Applied chaining First rule: l31 -> l11 : i_13^0'=0, x_15^0'=0, 0 == 0, cost: 2 Second rule: l11 -> l12 : a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, d_29^0'=d_29^post34, i_13^0'=1, x_32^0'=x_32^post34, result_11^0'=result_11^post34, temp_33^0'=temp_33^post34, x_15^0'=temp_33^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 == 0), cost: 1 New rule: l31 -> l12 : a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, d_29^0'=d_29^post34, i_13^0'=1, x_32^0'=x_32^post34, result_11^0'=result_11^post34, temp_33^0'=temp_33^post34, x_15^0'=temp_33^0, (0 == 0 /\ 1-len_14^0 <= 0), cost: 3 Applied simplification Original rule: l31 -> l12 : a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, d_29^0'=d_29^post34, i_13^0'=1, x_32^0'=x_32^post34, result_11^0'=result_11^post34, temp_33^0'=temp_33^post34, x_15^0'=temp_33^0, (0 == 0 /\ 1-len_14^0 <= 0), cost: 3 New rule: l31 -> l12 : a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, d_29^0'=d_29^post34, i_13^0'=1, x_32^0'=x_32^post34, result_11^0'=result_11^post34, temp_33^0'=temp_33^post34, x_15^0'=temp_33^0, -1+len_14^0 >= 0, cost: 3 Applied deletion Removed the following rules: 53 55 Eliminating location l12 by chaining: Applied chaining First rule: l31 -> l12 : a_28^0'=a_28^post34, temp0_31^0'=temp0_31^post34, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, d_29^0'=d_29^post34, i_13^0'=1, x_32^0'=x_32^post34, result_11^0'=result_11^post34, temp_33^0'=temp_33^post34, x_15^0'=temp_33^0, -1+len_14^0 >= 0, cost: 3 Second rule: l12 -> l18 : rcd_63^0'=rcd_63^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, d_29^0'=d_29^post16, i_13^0'=2, x_32^0'=x_32^post16, result_11^0'=result_11^post16, temp_33^0'=temp_33^post16, x_15^0'=temp_33^0, (-1+i_13^0 == 0 /\ -2+len_14^0 >= 0), cost: 1 New rule: l31 -> l18 : rcd_63^0'=rcd_63^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, d_29^0'=d_29^post16, i_13^0'=2, x_32^0'=x_32^post16, result_11^0'=result_11^post16, temp_33^0'=temp_33^post16, x_15^0'=temp_33^post34, (0 == 0 /\ -1+len_14^0 >= 0 /\ -2+len_14^0 >= 0), cost: 4 Applied simplification Original rule: l31 -> l18 : rcd_63^0'=rcd_63^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, d_29^0'=d_29^post16, i_13^0'=2, x_32^0'=x_32^post16, result_11^0'=result_11^post16, temp_33^0'=temp_33^post16, x_15^0'=temp_33^post34, (0 == 0 /\ -1+len_14^0 >= 0 /\ -2+len_14^0 >= 0), cost: 4 New rule: l31 -> l18 : rcd_63^0'=rcd_63^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, d_29^0'=d_29^post16, i_13^0'=2, x_32^0'=x_32^post16, result_11^0'=result_11^post16, temp_33^0'=temp_33^post16, x_15^0'=temp_33^post34, -2+len_14^0 >= 0, cost: 4 Applied deletion Removed the following rules: 37 56 Eliminating location l25 by chaining: Applied chaining First rule: l18 -> l25 : x_21^0'=x_15^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, (len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 1 Second rule: l25 -> l26 : 0 == 0, cost: 1 New rule: l18 -> l26 : x_21^0'=x_15^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, (0 == 0 /\ len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 2 Applied simplification Original rule: l18 -> l26 : x_21^0'=x_15^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, (0 == 0 /\ len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 2 New rule: l18 -> l26 : x_21^0'=x_15^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, (len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 2 Applied deletion Removed the following rules: 45 46 Eliminating location l30 by chaining: Applied chaining First rule: l18 -> l30 : a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^0, i_111^0'=i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 1 Second rule: l30 -> l18 : TRUE, cost: 1 New rule: l18 -> l18 : a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^0, i_111^0'=i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2 Applied deletion Removed the following rules: 51 52 Eliminating location l26 by chaining: Applied chaining First rule: l18 -> l26 : x_21^0'=x_15^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, (len_14^0-i_13^0 <= 0 /\ -i_13^0 <= 0), cost: 2 Second rule: l26 -> l27 : a_130^0'=a_152^0, t_24^0'=x_15^0, (-x_SLAM_f_19^0+x_15^0 == 0 /\ -x_21^0+x_15^0 == 0 /\ -tmp_27^0+x_15^0 == 0 /\ -x_17^0+x_15^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ y_20^0 == 0), cost: 1 New rule: l18 -> l27 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (0 == 0 /\ len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 3 Applied simplification Original rule: l18 -> l27 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (0 == 0 /\ len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 3 New rule: l18 -> l27 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 3 Applied deletion Removed the following rules: 47 58 Eliminating location l27 by chaining: Applied chaining First rule: l18 -> l27 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 3 Second rule: l27 -> l28 : 0 == 0, cost: 1 New rule: l18 -> l28 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (0 == 0 /\ len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 4 Applied simplification Original rule: l18 -> l28 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (0 == 0 /\ len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 4 New rule: l18 -> l28 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 4 Applied deletion Removed the following rules: 48 60 Eliminating location l28 by chaining: Applied chaining First rule: l18 -> l28 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 4 Second rule: l28 -> l29 : 0 == 0, cost: 1 New rule: l18 -> l29 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (0 == 0 /\ len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 5 Applied simplification Original rule: l18 -> l29 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (0 == 0 /\ len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 5 New rule: l18 -> l29 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 5 Applied deletion Removed the following rules: 49 61 Eliminating location l29 by chaining: Applied chaining First rule: l18 -> l29 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=i_13^post25, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 5 Second rule: l29 -> l4 : i_13^0'=1+a_130^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1 New rule: l18 -> l4 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=1+a_152^0, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ -2+len_14^post25 >= 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 6 Applied deletion Removed the following rules: 50 62 Eliminating location l20 by chaining: Applied chaining First rule: l4 -> l20 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, a_152^0 >= 0, cost: 1 Second rule: l20 -> l21 : 0 == 0, cost: 1 New rule: l4 -> l21 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, (0 == 0 /\ a_152^0 >= 0), cost: 2 Applied simplification Original rule: l4 -> l21 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, (0 == 0 /\ a_152^0 >= 0), cost: 2 New rule: l4 -> l21 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, a_152^0 >= 0, cost: 2 Applied deletion Removed the following rules: 38 39 Eliminating location l21 by chaining: Applied chaining First rule: l4 -> l21 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, a_152^0 >= 0, cost: 2 Second rule: l21 -> l22 : a_175^0'=-1+a_152^0, t_24^0'=x_21^0, (-x_SLAM_f_19^0+x_15^0 == 0 /\ -tmp_27^0+x_15^0 == 0 /\ -x_17^0+x_15^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ y_20^0 == 0), cost: 1 New rule: l4 -> l22 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (-tmp_27^post18+x_15^post18 == 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 3 Applied deletion Removed the following rules: 40 64 Eliminating location l22 by chaining: Applied chaining First rule: l4 -> l22 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (-tmp_27^post18+x_15^post18 == 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 3 Second rule: l22 -> l23 : 0 == 0, cost: 1 New rule: l4 -> l23 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (0 == 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 4 Applied simplification Original rule: l4 -> l23 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (0 == 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 4 New rule: l4 -> l23 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (-tmp_27^post18+x_15^post18 == 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 4 Applied deletion Removed the following rules: 41 65 Eliminating location l23 by chaining: Applied chaining First rule: l4 -> l23 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (-tmp_27^post18+x_15^post18 == 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 4 Second rule: l23 -> l24 : 0 == 0, cost: 1 New rule: l4 -> l24 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (0 == 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 5 Applied simplification Original rule: l4 -> l24 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (0 == 0 /\ -tmp_27^post18+x_15^post18 == 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 5 New rule: l4 -> l24 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (-tmp_27^post18+x_15^post18 == 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 5 Applied deletion Removed the following rules: 42 66 Eliminating location l24 by chaining: Applied chaining First rule: l4 -> l24 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (-tmp_27^post18+x_15^post18 == 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 5 Second rule: l24 -> l19 : a_152^0'=a_175^0, (len_14^0-i_13^0 <= 0 /\ -2+len_14^0 >= 0), cost: 1 New rule: l4 -> l19 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, a_152^0'=-1+a_152^0, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (-tmp_27^post18+x_15^post18 == 0 /\ -i_13^post18+len_14^post18 <= 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 6 Applied deletion Removed the following rules: 43 67 Eliminating location l19 by chaining: Applied chaining First rule: l4 -> l19 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, a_152^0'=-1+a_152^0, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (-tmp_27^post18+x_15^post18 == 0 /\ -i_13^post18+len_14^post18 <= 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 6 Second rule: l19 -> l4 : TRUE, cost: 1 New rule: l4 -> l4 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, a_152^0'=-1+a_152^0, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (-tmp_27^post18+x_15^post18 == 0 /\ -i_13^post18+len_14^post18 <= 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 7 Applied deletion Removed the following rules: 44 68 Eliminated locations on linear paths Start location: l31 69: l4 -> l4 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, a_152^0'=-1+a_152^0, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (-tmp_27^post18+x_15^post18 == 0 /\ -i_13^post18+len_14^post18 <= 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 7 59: l18 -> l18 : a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^0, i_111^0'=i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2 63: l18 -> l4 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=1+a_152^0, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ -2+len_14^post25 >= 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 6 57: l31 -> l18 : rcd_63^0'=rcd_63^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, d_29^0'=d_29^post16, i_13^0'=2, x_32^0'=x_32^post16, result_11^0'=result_11^post16, temp_33^0'=temp_33^post16, x_15^0'=temp_33^post34, -2+len_14^0 >= 0, cost: 4 Applied simplification Original rule: l4 -> l4 : tmp_27^0'=tmp_27^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, a_152^0'=-1+a_152^0, ct_18^0'=ct_18^post18, x_15^0'=x_15^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (-tmp_27^post18+x_15^post18 == 0 /\ -i_13^post18+len_14^post18 <= 0 /\ x_15^post18-x_17^post18 == 0 /\ ct_18^post18-y_20^0 == 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0 /\ y_20^0 == 0 /\ -x_SLAM_f_19^post18+x_15^post18 == 0), cost: 7 New rule: l4 -> l4 : tmp_27^0'=x_17^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_17^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, a_152^0'=-1+a_152^0, ct_18^0'=y_20^0, x_15^0'=x_17^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (-i_13^post18+len_14^post18 <= 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0 /\ y_20^0 == 0), cost: 7 Simplified simple loops Start location: l31 70: l4 -> l4 : tmp_27^0'=x_17^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_17^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, a_152^0'=-1+a_152^0, ct_18^0'=y_20^0, x_15^0'=x_17^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (-i_13^post18+len_14^post18 <= 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0 /\ y_20^0 == 0), cost: 7 59: l18 -> l18 : a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^0, i_111^0'=i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2 63: l18 -> l4 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=1+a_152^0, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ -2+len_14^post25 >= 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 6 57: l31 -> l18 : rcd_63^0'=rcd_63^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, d_29^0'=d_29^post16, i_13^0'=2, x_32^0'=x_32^post16, result_11^0'=result_11^post16, temp_33^0'=temp_33^post16, x_15^0'=temp_33^post34, -2+len_14^0 >= 0, cost: 4 Applied acceleration Original rule: l4 -> l4 : tmp_27^0'=x_17^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_17^post18, x_17^0'=x_17^post18, a_175^0'=-1+a_152^0, i_13^0'=i_13^post18, a_152^0'=-1+a_152^0, ct_18^0'=y_20^0, x_15^0'=x_17^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (-i_13^post18+len_14^post18 <= 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0 /\ y_20^0 == 0), cost: 7 New rule: l4 -> l4 : tmp_27^0'=x_17^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_17^post18, x_17^0'=x_17^post18, a_175^0'=a_152^0-n0, i_13^0'=i_13^post18, a_152^0'=a_152^0-n0, ct_18^0'=y_20^0, x_15^0'=x_17^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (i_13^post18-len_14^post18 >= 0 /\ -1+n0 >= 0 /\ 1+a_152^0-n0 >= 0 /\ -2+len_14^post18 >= 0 /\ y_20^0 >= 0 /\ -y_20^0 >= 0), cost: 7*n0 Applied instantiation Original rule: l4 -> l4 : tmp_27^0'=x_17^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_17^post18, x_17^0'=x_17^post18, a_175^0'=a_152^0-n0, i_13^0'=i_13^post18, a_152^0'=a_152^0-n0, ct_18^0'=y_20^0, x_15^0'=x_17^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (i_13^post18-len_14^post18 >= 0 /\ -1+n0 >= 0 /\ 1+a_152^0-n0 >= 0 /\ -2+len_14^post18 >= 0 /\ y_20^0 >= 0 /\ -y_20^0 >= 0), cost: 7*n0 New rule: l4 -> l4 : tmp_27^0'=x_17^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_17^post18, x_17^0'=x_17^post18, a_175^0'=-1, i_13^0'=i_13^post18, a_152^0'=-1, ct_18^0'=y_20^0, x_15^0'=x_17^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (0 >= 0 /\ i_13^post18-len_14^post18 >= 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0 /\ y_20^0 >= 0 /\ -y_20^0 >= 0), cost: 7+7*a_152^0 Applied simplification Original rule: l4 -> l4 : tmp_27^0'=x_17^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_17^post18, x_17^0'=x_17^post18, a_175^0'=-1, i_13^0'=i_13^post18, a_152^0'=-1, ct_18^0'=y_20^0, x_15^0'=x_17^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (0 >= 0 /\ i_13^post18-len_14^post18 >= 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0 /\ y_20^0 >= 0 /\ -y_20^0 >= 0), cost: 7+7*a_152^0 New rule: l4 -> l4 : tmp_27^0'=x_17^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_17^post18, x_17^0'=x_17^post18, a_175^0'=-1, i_13^0'=i_13^post18, a_152^0'=-1, ct_18^0'=y_20^0, x_15^0'=x_17^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (i_13^post18-len_14^post18 >= 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0), cost: 7+7*a_152^0 Applied deletion Removed the following rules: 70 Applied acceleration Original rule: l18 -> l18 : a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=1+i_13^0, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^0, i_111^0'=i_13^0, (1-len_14^0+i_13^0 <= 0 /\ i_13^0 >= 0), cost: 2 New rule: l18 -> l18 : a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=i_13^0+n3, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^post31, i_111^0'=-1+i_13^0+n3, (-2+n3 >= 0 /\ len_14^0-i_13^0-n3 >= 0 /\ i_13^0 >= 0), cost: 2*n3 Applied instantiation Original rule: l18 -> l18 : a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=i_13^0+n3, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^post31, i_111^0'=-1+i_13^0+n3, (-2+n3 >= 0 /\ len_14^0-i_13^0-n3 >= 0 /\ i_13^0 >= 0), cost: 2*n3 New rule: l18 -> l18 : a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=len_14^0, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^post31, i_111^0'=-1+len_14^0, (0 >= 0 /\ -2+len_14^0-i_13^0 >= 0 /\ i_13^0 >= 0), cost: 2*len_14^0-2*i_13^0 Applied simplification Original rule: l18 -> l18 : a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=len_14^0, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^post31, i_111^0'=-1+len_14^0, (0 >= 0 /\ -2+len_14^0-i_13^0 >= 0 /\ i_13^0 >= 0), cost: 2*len_14^0-2*i_13^0 New rule: l18 -> l18 : a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=len_14^0, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^post31, i_111^0'=-1+len_14^0, (-2+len_14^0-i_13^0 >= 0 /\ i_13^0 >= 0), cost: 2*len_14^0-2*i_13^0 Applied deletion Removed the following rules: 59 Accelerated simple loops Start location: l31 72: l4 -> l4 : tmp_27^0'=x_17^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_17^post18, x_17^0'=x_17^post18, a_175^0'=-1, i_13^0'=i_13^post18, a_152^0'=-1, ct_18^0'=y_20^0, x_15^0'=x_17^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (i_13^post18-len_14^post18 >= 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0), cost: 7+7*a_152^0 63: l18 -> l4 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=1+a_152^0, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ -2+len_14^post25 >= 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 6 74: l18 -> l18 : a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=len_14^0, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^post31, i_111^0'=-1+len_14^0, (-2+len_14^0-i_13^0 >= 0 /\ i_13^0 >= 0), cost: 2*len_14^0-2*i_13^0 57: l31 -> l18 : rcd_63^0'=rcd_63^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, d_29^0'=d_29^post16, i_13^0'=2, x_32^0'=x_32^post16, result_11^0'=result_11^post16, temp_33^0'=temp_33^post16, x_15^0'=temp_33^post34, -2+len_14^0 >= 0, cost: 4 Applied chaining First rule: l18 -> l4 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=1+a_152^0, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ -2+len_14^post25 >= 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 6 Second rule: l4 -> l4 : tmp_27^0'=x_17^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_17^post18, x_17^0'=x_17^post18, a_175^0'=-1, i_13^0'=i_13^post18, a_152^0'=-1, ct_18^0'=y_20^0, x_15^0'=x_17^post18, r_37^0'=r_37^post18, t_24^0'=x_21^0, (i_13^post18-len_14^post18 >= 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0), cost: 7+7*a_152^0 New rule: l18 -> l4 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=x_17^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_17^post18, x_17^0'=x_17^post18, a_175^0'=-1, i_13^0'=i_13^post18, a_152^0'=-1, ct_18^0'=0, x_15^0'=x_17^post18, r_37^0'=r_37^post18, y_20^0'=0, t_24^0'=x_15^0, (len_14^0-i_13^0 <= 0 /\ i_13^post18-len_14^post18 >= 0 /\ -i_13^0 <= 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0), cost: 13+7*a_152^0 Applied deletion Removed the following rules: 72 Applied chaining First rule: l31 -> l18 : rcd_63^0'=rcd_63^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, d_29^0'=d_29^post16, i_13^0'=2, x_32^0'=x_32^post16, result_11^0'=result_11^post16, temp_33^0'=temp_33^post16, x_15^0'=temp_33^post34, -2+len_14^0 >= 0, cost: 4 Second rule: l18 -> l18 : a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=len_14^0, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^post31, i_111^0'=-1+len_14^0, (-2+len_14^0-i_13^0 >= 0 /\ i_13^0 >= 0), cost: 2*len_14^0-2*i_13^0 New rule: l31 -> l18 : rcd_63^0'=rcd_63^post16, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=len_14^0, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^post31, i_111^0'=-1+len_14^0, -4+len_14^0 >= 0, cost: 2*len_14^0 Applied deletion Removed the following rules: 74 Chained accelerated rules with incoming rules Start location: l31 63: l18 -> l4 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=tmp_27^post25, len_14^0'=len_14^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, x_17^0'=x_17^post25, i_13^0'=1+a_152^0, ct_18^0'=ct_18^post25, x_15^0'=x_15^post25, y_20^0'=0, t_24^0'=x_15^post25, (len_14^0-i_13^0 <= 0 /\ ct_18^post25 == 0 /\ -i_13^0 <= 0 /\ x_15^post25-x_17^post25 == 0 /\ -i_13^post25+len_14^post25 <= 0 /\ x_15^post25-x_15^0 == 0 /\ -x_SLAM_f_19^post25+x_15^post25 == 0 /\ -2+len_14^post25 >= 0 /\ x_15^post25-tmp_27^post25 == 0), cost: 6 75: l18 -> l4 : x_21^0'=x_15^0, a_130^0'=a_152^0, tmp_27^0'=x_17^post18, len_14^0'=len_14^post18, x_SLAM_f_19^0'=x_17^post18, x_17^0'=x_17^post18, a_175^0'=-1, i_13^0'=i_13^post18, a_152^0'=-1, ct_18^0'=0, x_15^0'=x_17^post18, r_37^0'=r_37^post18, y_20^0'=0, t_24^0'=x_15^0, (len_14^0-i_13^0 <= 0 /\ i_13^post18-len_14^post18 >= 0 /\ -i_13^0 <= 0 /\ -2+len_14^post18 >= 0 /\ a_152^0 >= 0), cost: 13+7*a_152^0 57: l31 -> l18 : rcd_63^0'=rcd_63^post16, a_28^0'=a_28^post16, temp0_31^0'=temp0_31^post16, tmp_27^0'=temp_33^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, d_29^0'=d_29^post16, i_13^0'=2, x_32^0'=x_32^post16, result_11^0'=result_11^post16, temp_33^0'=temp_33^post16, x_15^0'=temp_33^post34, -2+len_14^0 >= 0, cost: 4 76: l31 -> l18 : rcd_63^0'=rcd_63^post16, a_28^0'=a_28^post31, temp0_31^0'=temp0_31^post31, tmp_27^0'=temp_33^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, d_29^0'=d_29^post31, rcd_100^0'=rcd_100^post31, i_13^0'=len_14^0, x_32^0'=x_32^post31, result_11^0'=result_11^post31, temp_33^0'=temp_33^post31, x_15^0'=temp_33^post31, i_111^0'=-1+len_14^0, -4+len_14^0 >= 0, cost: 2*len_14^0 Removed unreachable locations and irrelevant leafs Start location: l31 Computing asymptotic complexity Proved the following lower bound Complexity: Unknown Cpx degree: ? Solved cost: 0 Rule cost: 0