WORST_CASE(Omega(0),?)

Initial ITS
Start location: l79
   0: l0 -> l2 : a_148^0'=a_148^post0, r_258^0'=r_258^post0, i_33^0'=i_33^post0, r_167^0'=r_167^post0, t_30^0'=t_30^post0, a_358^0'=a_358^post0, r_42^0'=r_42^post0, len_275^0'=len_275^post0, rcd_409^0'=rcd_409^post0, r_243^0'=r_243^post0, r_246^0'=r_246^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post0, head_35^0'=head_35^post0, rcd_248^0'=rcd_248^post0, lt_509^0'=lt_509^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post0, a_220^0'=a_220^post0, r_272^0'=r_272^post0, rcd_363^0'=rcd_363^post0, r_196^0'=r_196^post0, temp0_34^0'=temp0_34^post0, c_28^0'=c_28^post0, rcd_113^0'=rcd_113^post0, length_32^0'=length_32^post0, rcd_46^0'=rcd_46^post0, r_252^0'=r_252^post0, i_120^0'=i_120^post0, rcd_273^0'=rcd_273^post0, r_159^0'=r_159^post0, t_24^0'=t_24^post0, a_332^0'=a_332^post0, r_29^0'=r_29^post0, len_205^0'=len_205^post0, rcd_387^0'=rcd_387^post0, r_236^0'=r_236^post0, tmp_37^0'=tmp_37^post0, x_23^0'=x_23^post0, head_13^0'=head_13^post0, rcd_244^0'=rcd_244^post0, lt_397^0'=lt_397^post0, result_11^0'=result_11^post0, a_173^0'=a_173^post0, r_266^0'=r_266^post0, l_27^0'=l_27^post0, r_188^0'=r_188^post0, temp0_18^0'=temp0_18^post0, a_388^0'=a_388^post0, rcd_105^0'=rcd_105^post0, len_297^0'=len_297^post0, rcd_427^0'=rcd_427^post0, r_245^0'=r_245^post0, r_247^0'=r_247^post0, y_22^0'=y_22^post0, i_111^0'=i_111^post0, rcd_253^0'=rcd_253^post0, nondet_12^0'=nondet_12^post0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, a_276^0'=a_276^post0, r_274^0'=r_274^post0, rcd_367^0'=rcd_367^post0, r_234^0'=r_234^post0, temp_38^0'=temp_38^post0, x_19^0'=x_19^post0, ct_20^0'=ct_20^post0, rcd_235^0'=rcd_235^post0, lt_17^0'=lt_17^post0, rcd_70^0'=rcd_70^post0, (0 == 0 /\ r_245^0-r_245^post0 == 0 /\ r_236^0-r_236^post0 == 0 /\ -lt_17^post0+lt_17^0 == 0 /\ -a_173^post0+a_173^0 == 0 /\ x_SLAM_f_21^post0-x_23^post0 <= 0 /\ -len_205^post0+len_205^0 == 0 /\ -a_220^0 <= 0 /\ -rcd_363^post0+rcd_363^0 == 0 /\ -r_266^post0+r_266^0 == 0 /\ result_11^0-result_11^post0 == 0 /\ tmp_37^0-tmp_37^post0 == 0 /\ i_33^0-i_33^post0 == 0 /\ -rcd_427^post0+rcd_427^0 == 0 /\ r_42^0-r_42^post0 == 0 /\ -a_276^post0+a_276^0 == 0 /\ x_23^post0-lt_17^0 <= 0 /\ -r_247^post0+r_247^0 == 0 /\ -x_SLAM_f_21^post0+lt_17^0 <= 0 /\ i_120^0-i_120^post0 == 0 /\ length_32^0-length_32^post0 == 0 /\ -rcd_273^post0+rcd_273^0 == 0 /\ -rcd_253^post0+rcd_253^0 == 0 /\ lt_509^0-lt_509^post0 == 0 /\ -rcd_235^post0+rcd_235^0 == 0 /\ c_28^0 <= 0 /\ -r_234^post0+r_234^0 == 0 /\ -x_SLAM_f_21^post0+x_23^post0 <= 0 /\ -x_SLAM_f_21^post0+x_23^post0 == 0 /\ -lt_397^post0+lt_397^0 == 0 /\ rcd_244^0-rcd_244^post0 == 0 /\ 1+len_205^0-len_297^0 <= 0 /\ a_332^0-a_332^post0 == 0 /\ r_252^0-r_252^post0 == 0 /\ ct_20^post0 <= 0 /\ ct_20^post0 == 0 /\ -x_23^post0+lt_17^0 <= 0 /\ -temp0_18^post0+temp0_18^0 == 0 /\ -r_274^post0+r_274^0 == 0 /\ x_SLAM_f_21^post0-lt_17^0 <= 0 /\ -r_188^post0+r_188^0 == 0 /\ -x_SLAM_f_21^post0+x_19^post0 <= 0 /\ -rcd_367^post0+rcd_367^0 == 0 /\ x_19^post0-lt_17^0 <= 0 /\ x_19^post0-lt_17^0 == 0 /\ rcd_248^0-rcd_248^post0 == 0 /\ a_148^0-a_148^post0 == 0 /\ ct_20^post0-y_22^post0 <= 0 /\ a_358^0-a_358^post0 == 0 /\ rcd_409^0-rcd_409^post0 == 0 /\ rcd_113^0-rcd_113^post0 == 0 /\ head_13^0-head_13^post0 == 0 /\ head_35^0-head_35^post0 == 0 /\ -r_258^post0+r_258^0 == 0 /\ -i_111^post0+i_111^0 == 0 /\ -len_205^0 <= 0 /\ r_272^0-r_272^post0 == 0 /\ temp_38^0-temp_38^post0 == 0 /\ rcd_387^0-rcd_387^post0 == 0 /\ a_220^0-a_220^post0 == 0 /\ -rcd_105^post0+rcd_105^0 == 0 /\ -ct_20^post0 <= 0 /\ x_SLAM_f_21^post0-x_19^post0 <= 0 /\ x_SLAM_f_21^post0-x_19^post0 == 0 /\ -x_19^post0+lt_17^0 <= 0 /\ -temp0_34^post0+temp0_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -r_159^post0+r_159^0 == 0 /\ len_275^0-len_275^post0 == 0 /\ len_297^0-len_297^post0 == 0 /\ -ct_20^post0+y_22^post0 <= 0 /\ -ct_20^post0+y_22^post0 == 0 /\ -rcd_70^post0+rcd_70^0 == 0 /\ y_22^post0 <= 0 /\ -nondet_12^post0+nondet_12^0 == 0 /\ r_243^0-r_243^post0 == 0 /\ r_246^0-r_246^post0 == 0 /\ -rcd_46^post0+rcd_46^0 == 0 /\ r_196^0-r_196^post0 == 0 /\ -a_388^post0+a_388^0 == 0 /\ r_167^0-r_167^post0 == 0 /\ -y_22^post0 <= 0 /\ -1-len_205^0+len_297^0 <= 0 /\ -c_28^0 <= 0 /\ -t_24^post0+t_24^0 == 0), cost: 1
   6: l0 -> l6 : a_148^0'=a_148^post6, r_258^0'=r_258^post6, i_33^0'=i_33^post6, r_167^0'=r_167^post6, t_30^0'=t_30^post6, a_358^0'=a_358^post6, r_42^0'=r_42^post6, len_275^0'=len_275^post6, rcd_409^0'=rcd_409^post6, r_243^0'=r_243^post6, r_246^0'=r_246^post6, x_SLAM_f_21^0'=x_SLAM_f_21^post6, head_35^0'=head_35^post6, rcd_248^0'=rcd_248^post6, lt_509^0'=lt_509^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post6, a_220^0'=a_220^post6, r_272^0'=r_272^post6, rcd_363^0'=rcd_363^post6, r_196^0'=r_196^post6, temp0_34^0'=temp0_34^post6, c_28^0'=c_28^post6, rcd_113^0'=rcd_113^post6, length_32^0'=length_32^post6, rcd_46^0'=rcd_46^post6, r_252^0'=r_252^post6, i_120^0'=i_120^post6, rcd_273^0'=rcd_273^post6, r_159^0'=r_159^post6, t_24^0'=t_24^post6, a_332^0'=a_332^post6, r_29^0'=r_29^post6, len_205^0'=len_205^post6, rcd_387^0'=rcd_387^post6, r_236^0'=r_236^post6, tmp_37^0'=tmp_37^post6, x_23^0'=x_23^post6, head_13^0'=head_13^post6, rcd_244^0'=rcd_244^post6, lt_397^0'=lt_397^post6, result_11^0'=result_11^post6, a_173^0'=a_173^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, r_188^0'=r_188^post6, temp0_18^0'=temp0_18^post6, a_388^0'=a_388^post6, rcd_105^0'=rcd_105^post6, len_297^0'=len_297^post6, rcd_427^0'=rcd_427^post6, r_245^0'=r_245^post6, r_247^0'=r_247^post6, y_22^0'=y_22^post6, i_111^0'=i_111^post6, rcd_253^0'=rcd_253^post6, nondet_12^0'=nondet_12^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=a_276^post6, r_274^0'=r_274^post6, rcd_367^0'=rcd_367^post6, r_234^0'=r_234^post6, temp_38^0'=temp_38^post6, x_19^0'=x_19^post6, ct_20^0'=ct_20^post6, rcd_235^0'=rcd_235^post6, lt_17^0'=lt_17^post6, rcd_70^0'=rcd_70^post6, (0 == 0 /\ r_252^0-r_252^post6 == 0 /\ r_247^0-r_247^post6 == 0 /\ -tmp_37^post6+tmp_37^0 == 0 /\ r_236^0-r_236^post6 == 0 /\ -a_276^post6+a_276^0 == 0 /\ -y_22^post6+y_22^0 == 0 /\ -a_220^0 <= 0 /\ -rcd_363^post6+rcd_363^0 == 0 /\ -rcd_253^post6+rcd_253^0 == 0 /\ -rcd_70^post6+rcd_70^0 == 0 /\ -r_159^post6+r_159^0 == 0 /\ rcd_113^0-rcd_113^post6 == 0 /\ i_33^0-i_33^post6 == 0 /\ rcd_387^0-rcd_387^post6 == 0 /\ r_42^0-r_42^post6 == 0 /\ a_148^0-a_148^post6 == 0 /\ len_205^0-len_205^post6 == 0 /\ rcd_46^0-rcd_46^post6 == 0 /\ -r_274^post6+r_274^0 == 0 /\ c_28^0-c_28^post6 == 0 /\ -r_29^post6+r_29^0 == 0 /\ a_388^0-a_388^post6 == 0 /\ rcd_273^0-rcd_273^post6 == 0 /\ lt_509^0-lt_509^post6 == 0 /\ -i_111^post6+i_111^0 == 0 /\ -lt_17^post6+lt_17^0 == 0 /\ nondet_12^0-nondet_12^post6 == 0 /\ -length_32^post6+length_32^0 == 0 /\ t_24^0-t_24^post6 == 0 /\ -rcd_427^post6+rcd_427^0 == 0 /\ t_30^0-t_30^post6 == 0 /\ -r_234^post6+r_234^0 == 0 /\ -result_11^post6+result_11^0 == 0 /\ r_167^0-r_167^post6 == 0 /\ a_358^0-a_358^post6 == 0 /\ -x_SLAM_f_21^post6+x_SLAM_f_21^0 == 0 /\ rcd_409^0-rcd_409^post6 == 0 /\ head_35^0-head_35^post6 == 0 /\ -len_205^0 <= 0 /\ r_272^0-r_272^post6 == 0 /\ -r_243^post6+r_243^0 == 0 /\ -rcd_367^post6+rcd_367^0 == 0 /\ x_23^0-x_23^post6 == 0 /\ a_220^0-a_220^post6 == 0 /\ -i_120^post6+i_120^0 == 0 /\ -temp0_18^post6+temp0_18^0 == 0 /\ -len_297^post6+len_297^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -temp0_34^post6+temp0_34^0 == 0 /\ rcd_235^0-rcd_235^post6 == 0 /\ -temp_38^post6+temp_38^0 == 0 /\ -x_19^post6+x_19^0 == 0 /\ len_275^0-len_275^post6 == 0 /\ r_246^0-r_246^post6 == 0 /\ -a_173^post6+a_173^0 == 0 /\ -rcd_248^post6+rcd_248^0 == 0 /\ r_196^0-r_196^post6 == 0 /\ lt_397^0-lt_397^post6 == 0 /\ a_332^0-a_332^post6 == 0 /\ -rcd_244^post6+rcd_244^0 == 0 /\ -rcd_105^post6+rcd_105^0 == 0 /\ -ct_20^post6+ct_20^0 == 0 /\ -r_245^post6+r_245^0 == 0 /\ r_188^0-r_188^post6 == 0), cost: 1
   1: l2 -> l3 : a_148^0'=a_148^post1, r_258^0'=r_258^post1, i_33^0'=i_33^post1, r_167^0'=r_167^post1, t_30^0'=t_30^post1, a_358^0'=a_358^post1, r_42^0'=r_42^post1, len_275^0'=len_275^post1, rcd_409^0'=rcd_409^post1, r_243^0'=r_243^post1, r_246^0'=r_246^post1, x_SLAM_f_21^0'=x_SLAM_f_21^post1, head_35^0'=head_35^post1, rcd_248^0'=rcd_248^post1, lt_509^0'=lt_509^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post1, a_220^0'=a_220^post1, r_272^0'=r_272^post1, rcd_363^0'=rcd_363^post1, r_196^0'=r_196^post1, temp0_34^0'=temp0_34^post1, c_28^0'=c_28^post1, rcd_113^0'=rcd_113^post1, length_32^0'=length_32^post1, rcd_46^0'=rcd_46^post1, r_252^0'=r_252^post1, i_120^0'=i_120^post1, rcd_273^0'=rcd_273^post1, r_159^0'=r_159^post1, t_24^0'=t_24^post1, a_332^0'=a_332^post1, r_29^0'=r_29^post1, len_205^0'=len_205^post1, rcd_387^0'=rcd_387^post1, r_236^0'=r_236^post1, tmp_37^0'=tmp_37^post1, x_23^0'=x_23^post1, head_13^0'=head_13^post1, rcd_244^0'=rcd_244^post1, lt_397^0'=lt_397^post1, result_11^0'=result_11^post1, a_173^0'=a_173^post1, r_266^0'=r_266^post1, l_27^0'=l_27^post1, r_188^0'=r_188^post1, temp0_18^0'=temp0_18^post1, a_388^0'=a_388^post1, rcd_105^0'=rcd_105^post1, len_297^0'=len_297^post1, rcd_427^0'=rcd_427^post1, r_245^0'=r_245^post1, r_247^0'=r_247^post1, y_22^0'=y_22^post1, i_111^0'=i_111^post1, rcd_253^0'=rcd_253^post1, nondet_12^0'=nondet_12^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, a_276^0'=a_276^post1, r_274^0'=r_274^post1, rcd_367^0'=rcd_367^post1, r_234^0'=r_234^post1, temp_38^0'=temp_38^post1, x_19^0'=x_19^post1, ct_20^0'=ct_20^post1, rcd_235^0'=rcd_235^post1, lt_17^0'=lt_17^post1, rcd_70^0'=rcd_70^post1, (-rcd_70^post1+rcd_70^0 == 0 /\ -r_196^post1+r_196^0 == 0 /\ a_358^0-a_358^post1 == 0 /\ -y_22^post1+y_22^0 == 0 /\ -len_205^post1+len_205^0 == 0 /\ -a_276^post1+a_276^0 == 0 /\ -rcd_253^post1+rcd_253^0 == 0 /\ -rcd_113^post1+rcd_113^0 == 0 /\ -x_19^post1+x_19^0 == 0 /\ a_148^0-a_148^post1 == 0 /\ len_275^0-len_275^post1 == 0 /\ x_23^0-x_23^post1 == 0 /\ -r_274^post1+r_274^0 == 0 /\ rcd_248^0-rcd_248^post1 == 0 /\ temp0_34^0-temp0_34^post1 == 0 /\ rcd_409^0-rcd_409^post1 == 0 /\ a_173^0-a_173^post1 == 0 /\ -temp0_18^post1+temp0_18^0 == 0 /\ c_28^0-c_28^post1 == 0 /\ rcd_46^0-rcd_46^post1 == 0 /\ r_272^0-r_272^post1 == 0 /\ lt_397^0-lt_397^post1 == 0 /\ r_243^0-r_243^post1 == 0 /\ r_167^0-r_167^post1 == 0 /\ -r_266^post1+r_266^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post1 == 0 /\ -i_111^post1+i_111^0 == 0 /\ -lt_17^post1+lt_17^0 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ r_159^0-r_159^post1 == 0 /\ -result_11^post1+result_11^0 == 0 /\ rcd_244^0-rcd_244^post1 == 0 /\ -l_27^post1+l_27^0 == 0 /\ i_33^0-i_33^post1 == 0 /\ rcd_363^0-rcd_363^post1 == 0 /\ -r_234^post1+r_234^0 == 0 /\ tmp_37^0-tmp_37^post1 == 0 /\ r_258^0-r_258^post1 == 0 /\ -a_332^post1+a_332^0 == 0 /\ r_29^0-r_29^post1 == 0 /\ -r_245^post1+r_245^0 == 0 /\ -head_35^post1+head_35^0 == 0 /\ r_42^0-r_42^post1 == 0 /\ i_120^0-i_120^post1 == 0 /\ rcd_367^0-rcd_367^post1 == 0 /\ -rcd_235^post1+rcd_235^0 == 0 /\ length_32^0-length_32^post1 == 0 /\ -len_297^post1+len_297^0 == 0 /\ -r_188^post1+r_188^0 == 0 /\ r_246^0-r_246^post1 == 0 /\ -temp_38^post1+temp_38^0 == 0 /\ -head_13^post1+head_13^0 == 0 /\ 1-lt_17^0 <= 0 /\ -r_252^post1+r_252^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post1 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_388^0-a_388^post1 == 0 /\ -t_24^post1+t_24^0 == 0 /\ rcd_427^0-rcd_427^post1 == 0 /\ -r_247^post1+r_247^0 == 0 /\ -r_236^post1+r_236^0 == 0 /\ -rcd_387^post1+rcd_387^0 == 0 /\ rcd_273^0-rcd_273^post1 == 0 /\ t_30^0-t_30^post1 == 0 /\ -ct_20^post1+ct_20^0 == 0 /\ -rcd_105^post1+rcd_105^0 == 0 /\ lt_509^0-lt_509^post1 == 0 /\ -a_220^post1+a_220^0 == 0), cost: 1
   2: l2 -> l3 : a_148^0'=a_148^post2, r_258^0'=r_258^post2, i_33^0'=i_33^post2, r_167^0'=r_167^post2, t_30^0'=t_30^post2, a_358^0'=a_358^post2, r_42^0'=r_42^post2, len_275^0'=len_275^post2, rcd_409^0'=rcd_409^post2, r_243^0'=r_243^post2, r_246^0'=r_246^post2, x_SLAM_f_21^0'=x_SLAM_f_21^post2, head_35^0'=head_35^post2, rcd_248^0'=rcd_248^post2, lt_509^0'=lt_509^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post2, a_220^0'=a_220^post2, r_272^0'=r_272^post2, rcd_363^0'=rcd_363^post2, r_196^0'=r_196^post2, temp0_34^0'=temp0_34^post2, c_28^0'=c_28^post2, rcd_113^0'=rcd_113^post2, length_32^0'=length_32^post2, rcd_46^0'=rcd_46^post2, r_252^0'=r_252^post2, i_120^0'=i_120^post2, rcd_273^0'=rcd_273^post2, r_159^0'=r_159^post2, t_24^0'=t_24^post2, a_332^0'=a_332^post2, r_29^0'=r_29^post2, len_205^0'=len_205^post2, rcd_387^0'=rcd_387^post2, r_236^0'=r_236^post2, tmp_37^0'=tmp_37^post2, x_23^0'=x_23^post2, head_13^0'=head_13^post2, rcd_244^0'=rcd_244^post2, lt_397^0'=lt_397^post2, result_11^0'=result_11^post2, a_173^0'=a_173^post2, r_266^0'=r_266^post2, l_27^0'=l_27^post2, r_188^0'=r_188^post2, temp0_18^0'=temp0_18^post2, a_388^0'=a_388^post2, rcd_105^0'=rcd_105^post2, len_297^0'=len_297^post2, rcd_427^0'=rcd_427^post2, r_245^0'=r_245^post2, r_247^0'=r_247^post2, y_22^0'=y_22^post2, i_111^0'=i_111^post2, rcd_253^0'=rcd_253^post2, nondet_12^0'=nondet_12^post2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post2, a_276^0'=a_276^post2, r_274^0'=r_274^post2, rcd_367^0'=rcd_367^post2, r_234^0'=r_234^post2, temp_38^0'=temp_38^post2, x_19^0'=x_19^post2, ct_20^0'=ct_20^post2, rcd_235^0'=rcd_235^post2, lt_17^0'=lt_17^post2, rcd_70^0'=rcd_70^post2, (r_42^0-r_42^post2 == 0 /\ t_30^0-t_30^post2 == 0 /\ -a_388^post2+a_388^0 == 0 /\ a_220^0-a_220^post2 == 0 /\ rcd_363^0-rcd_363^post2 == 0 /\ -r_274^post2+r_274^0 == 0 /\ -i_111^post2+i_111^0 == 0 /\ r_246^0-r_246^post2 == 0 /\ -length_32^post2+length_32^0 == 0 /\ r_258^0-r_258^post2 == 0 /\ -ct_20^post2+ct_20^0 == 0 /\ r_159^0-r_159^post2 == 0 /\ r_196^0-r_196^post2 == 0 /\ r_272^0-r_272^post2 == 0 /\ rcd_113^0-rcd_113^post2 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ rcd_248^0-rcd_248^post2 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post2 == 0 /\ a_358^0-a_358^post2 == 0 /\ -x_19^post2+x_19^0 == 0 /\ -result_11^post2+result_11^0 == 0 /\ -rcd_70^post2+rcd_70^0 == 0 /\ 1+lt_17^0 <= 0 /\ -r_236^post2+r_236^0 == 0 /\ -r_29^post2+r_29^0 == 0 /\ -r_247^post2+r_247^0 == 0 /\ lt_397^0-lt_397^post2 == 0 /\ -head_13^post2+head_13^0 == 0 /\ i_33^0-i_33^post2 == 0 /\ -r_167^post2+r_167^0 == 0 /\ t_24^0-t_24^post2 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_205^0-len_205^post2 == 0 /\ -temp0_18^post2+temp0_18^0 == 0 /\ -len_297^post2+len_297^0 == 0 /\ temp0_34^0-temp0_34^post2 == 0 /\ rcd_427^0-rcd_427^post2 == 0 /\ r_252^0-r_252^post2 == 0 /\ rcd_409^0-rcd_409^post2 == 0 /\ r_234^0-r_234^post2 == 0 /\ -r_245^post2+r_245^0 == 0 /\ rcd_46^0-rcd_46^post2 == 0 /\ -lt_17^post2+lt_17^0 == 0 /\ x_23^0-x_23^post2 == 0 /\ -l_27^post2+l_27^0 == 0 /\ -a_173^post2+a_173^0 == 0 /\ -lt_509^post2+lt_509^0 == 0 /\ rcd_273^0-rcd_273^post2 == 0 /\ len_275^0-len_275^post2 == 0 /\ -tmp_37^post2+tmp_37^0 == 0 /\ -rcd_244^post2+rcd_244^0 == 0 /\ -a_332^post2+a_332^0 == 0 /\ -a_276^post2+a_276^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post2 == 0 /\ r_266^0-r_266^post2 == 0 /\ r_188^0-r_188^post2 == 0 /\ -rcd_105^post2+rcd_105^0 == 0 /\ -y_22^post2+y_22^0 == 0 /\ a_148^0-a_148^post2 == 0 /\ -rcd_367^post2+rcd_367^0 == 0 /\ c_28^0-c_28^post2 == 0 /\ -temp_38^post2+temp_38^0 == 0 /\ -i_120^post2+i_120^0 == 0 /\ -rcd_253^post2+rcd_253^0 == 0 /\ head_35^0-head_35^post2 == 0 /\ r_243^0-r_243^post2 == 0 /\ -rcd_235^post2+rcd_235^0 == 0 /\ -rcd_387^post2+rcd_387^0 == 0), cost: 1
   3: l3 -> l4 : a_148^0'=a_148^post3, r_258^0'=r_258^post3, i_33^0'=i_33^post3, r_167^0'=r_167^post3, t_30^0'=t_30^post3, a_358^0'=a_358^post3, r_42^0'=r_42^post3, len_275^0'=len_275^post3, rcd_409^0'=rcd_409^post3, r_243^0'=r_243^post3, r_246^0'=r_246^post3, x_SLAM_f_21^0'=x_SLAM_f_21^post3, head_35^0'=head_35^post3, rcd_248^0'=rcd_248^post3, lt_509^0'=lt_509^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post3, a_220^0'=a_220^post3, r_272^0'=r_272^post3, rcd_363^0'=rcd_363^post3, r_196^0'=r_196^post3, temp0_34^0'=temp0_34^post3, c_28^0'=c_28^post3, rcd_113^0'=rcd_113^post3, length_32^0'=length_32^post3, rcd_46^0'=rcd_46^post3, r_252^0'=r_252^post3, i_120^0'=i_120^post3, rcd_273^0'=rcd_273^post3, r_159^0'=r_159^post3, t_24^0'=t_24^post3, a_332^0'=a_332^post3, r_29^0'=r_29^post3, len_205^0'=len_205^post3, rcd_387^0'=rcd_387^post3, r_236^0'=r_236^post3, tmp_37^0'=tmp_37^post3, x_23^0'=x_23^post3, head_13^0'=head_13^post3, rcd_244^0'=rcd_244^post3, lt_397^0'=lt_397^post3, result_11^0'=result_11^post3, a_173^0'=a_173^post3, r_266^0'=r_266^post3, l_27^0'=l_27^post3, r_188^0'=r_188^post3, temp0_18^0'=temp0_18^post3, a_388^0'=a_388^post3, rcd_105^0'=rcd_105^post3, len_297^0'=len_297^post3, rcd_427^0'=rcd_427^post3, r_245^0'=r_245^post3, r_247^0'=r_247^post3, y_22^0'=y_22^post3, i_111^0'=i_111^post3, rcd_253^0'=rcd_253^post3, nondet_12^0'=nondet_12^post3, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post3, a_276^0'=a_276^post3, r_274^0'=r_274^post3, rcd_367^0'=rcd_367^post3, r_234^0'=r_234^post3, temp_38^0'=temp_38^post3, x_19^0'=x_19^post3, ct_20^0'=ct_20^post3, rcd_235^0'=rcd_235^post3, lt_17^0'=lt_17^post3, rcd_70^0'=rcd_70^post3, (-ct_20^post3+ct_20^0 == 0 /\ lt_509^0-lt_509^post3 == 0 /\ len_275^0-len_275^post3 == 0 /\ -temp_38^post3+temp_38^0 == 0 /\ -length_32^post3+length_32^0 == 0 /\ -r_188^post3+r_188^0 == 0 /\ -nondet_12^post3+nondet_12^0 == 0 /\ -len_297^post3+len_297^0 == 0 /\ t_24^0-t_24^post3 == 0 /\ -x_23^post3+x_23^0 == 0 /\ r_196^0-r_196^post3 == 0 /\ -rcd_46^post3+rcd_46^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post3 == 0 /\ -a_220^post3+a_220^0 == 0 /\ -rcd_367^post3+rcd_367^0 == 0 /\ -a_388^post3+a_388^0 == 0 /\ rcd_409^0-rcd_409^post3 == 0 /\ -x_19^post3+x_19^0 == 0 /\ r_236^0-r_236^post3 == 0 /\ r_247^0-r_247^post3 == 0 /\ r_252^0-r_252^post3 == 0 /\ 1-r_167^0 <= 0 /\ result_11^0-result_11^post3 == 0 /\ i_33^0-i_33^post3 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post3+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ temp0_34^0-temp0_34^post3 == 0 /\ -a_173^post3+a_173^0 == 0 /\ r_42^0-r_42^post3 == 0 /\ rcd_387^0-rcd_387^post3 == 0 /\ a_148^0-a_148^post3 == 0 /\ -r_245^post3+r_245^0 == 0 /\ c_28^0-c_28^post3 == 0 /\ r_246^0-r_246^post3 == 0 /\ -y_22^post3+y_22^0 == 0 /\ -rcd_244^post3+rcd_244^0 == 0 /\ -lt_17^post3+lt_17^0 == 0 /\ r_243^0-r_243^post3 == 0 /\ -t_30^post3+t_30^0 == 0 /\ -rcd_70^post3+rcd_70^0 == 0 /\ r_167^0-r_167^post3 == 0 /\ -len_205^post3+len_205^0 == 0 /\ -rcd_363^post3+rcd_363^0 == 0 /\ -rcd_253^post3+rcd_253^0 == 0 /\ -a_276^post3+a_276^0 == 0 /\ -r_159^post3+r_159^0 == 0 /\ a_332^0-a_332^post3 == 0 /\ temp0_18^0-temp0_18^post3 == 0 /\ head_13^0-head_13^post3 == 0 /\ r_258^0-r_258^post3 == 0 /\ head_35^0-head_35^post3 == 0 /\ -rcd_235^post3+rcd_235^0 == 0 /\ -r_274^post3+r_274^0 == 0 /\ rcd_113^0-rcd_113^post3 == 0 /\ -lt_397^post3+lt_397^0 == 0 /\ rcd_105^0-rcd_105^post3 == 0 /\ -i_111^post3+i_111^0 == 0 /\ a_358^0-a_358^post3 == 0 /\ -rcd_273^post3+rcd_273^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post3 == 0 /\ -r_266^post3+r_266^0 == 0 /\ r_272^0-r_272^post3 == 0 /\ -l_27^post3+l_27^0 == 0 /\ -r_234^post3+r_234^0 == 0 /\ -rcd_427^post3+rcd_427^0 == 0 /\ -tmp_37^post3+tmp_37^0 == 0 /\ i_120^0-i_120^post3 == 0 /\ -r_29^post3+r_29^0 == 0 /\ rcd_248^0-rcd_248^post3 == 0), cost: 1
   4: l3 -> l4 : a_148^0'=a_148^post4, r_258^0'=r_258^post4, i_33^0'=i_33^post4, r_167^0'=r_167^post4, t_30^0'=t_30^post4, a_358^0'=a_358^post4, r_42^0'=r_42^post4, len_275^0'=len_275^post4, rcd_409^0'=rcd_409^post4, r_243^0'=r_243^post4, r_246^0'=r_246^post4, x_SLAM_f_21^0'=x_SLAM_f_21^post4, head_35^0'=head_35^post4, rcd_248^0'=rcd_248^post4, lt_509^0'=lt_509^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post4, a_220^0'=a_220^post4, r_272^0'=r_272^post4, rcd_363^0'=rcd_363^post4, r_196^0'=r_196^post4, temp0_34^0'=temp0_34^post4, c_28^0'=c_28^post4, rcd_113^0'=rcd_113^post4, length_32^0'=length_32^post4, rcd_46^0'=rcd_46^post4, r_252^0'=r_252^post4, i_120^0'=i_120^post4, rcd_273^0'=rcd_273^post4, r_159^0'=r_159^post4, t_24^0'=t_24^post4, a_332^0'=a_332^post4, r_29^0'=r_29^post4, len_205^0'=len_205^post4, rcd_387^0'=rcd_387^post4, r_236^0'=r_236^post4, tmp_37^0'=tmp_37^post4, x_23^0'=x_23^post4, head_13^0'=head_13^post4, rcd_244^0'=rcd_244^post4, lt_397^0'=lt_397^post4, result_11^0'=result_11^post4, a_173^0'=a_173^post4, r_266^0'=r_266^post4, l_27^0'=l_27^post4, r_188^0'=r_188^post4, temp0_18^0'=temp0_18^post4, a_388^0'=a_388^post4, rcd_105^0'=rcd_105^post4, len_297^0'=len_297^post4, rcd_427^0'=rcd_427^post4, r_245^0'=r_245^post4, r_247^0'=r_247^post4, y_22^0'=y_22^post4, i_111^0'=i_111^post4, rcd_253^0'=rcd_253^post4, nondet_12^0'=nondet_12^post4, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post4, a_276^0'=a_276^post4, r_274^0'=r_274^post4, rcd_367^0'=rcd_367^post4, r_234^0'=r_234^post4, temp_38^0'=temp_38^post4, x_19^0'=x_19^post4, ct_20^0'=ct_20^post4, rcd_235^0'=rcd_235^post4, lt_17^0'=lt_17^post4, rcd_70^0'=rcd_70^post4, (y_22^0-y_22^post4 == 0 /\ -temp0_34^post4+temp0_34^0 == 0 /\ -rcd_235^post4+rcd_235^0 == 0 /\ a_332^0-a_332^post4 == 0 /\ -r_234^post4+r_234^0 == 0 /\ -rcd_46^post4+rcd_46^0 == 0 /\ -head_13^post4+head_13^0 == 0 /\ r_243^0-r_243^post4 == 0 /\ -r_252^post4+r_252^0 == 0 /\ r_167^0-r_167^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post4+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_358^0-a_358^post4 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post4 == 0 /\ l_27^0-l_27^post4 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post4 == 0 /\ temp0_18^0-temp0_18^post4 == 0 /\ rcd_363^0-rcd_363^post4 == 0 /\ -t_24^post4+t_24^0 == 0 /\ -rcd_105^post4+rcd_105^0 == 0 /\ tmp_37^0-tmp_37^post4 == 0 /\ -rcd_367^post4+rcd_367^0 == 0 /\ -ct_20^post4+ct_20^0 == 0 /\ -rcd_387^post4+rcd_387^0 == 0 /\ r_258^0-r_258^post4 == 0 /\ -c_28^post4+c_28^0 == 0 /\ -r_236^post4+r_236^0 == 0 /\ len_275^0-len_275^post4 == 0 /\ i_120^0-i_120^post4 == 0 /\ rcd_248^0-rcd_248^post4 == 0 /\ -temp_38^post4+temp_38^0 == 0 /\ -r_247^post4+r_247^0 == 0 /\ r_245^0-r_245^post4 == 0 /\ -r_188^post4+r_188^0 == 0 /\ -a_276^post4+a_276^0 == 0 /\ a_173^0-a_173^post4 == 0 /\ rcd_113^0-rcd_113^post4 == 0 /\ -rcd_70^post4+rcd_70^0 == 0 /\ r_246^0-r_246^post4 == 0 /\ -i_111^post4+i_111^0 == 0 /\ -rcd_253^post4+rcd_253^0 == 0 /\ 1+r_167^0 <= 0 /\ -a_388^post4+a_388^0 == 0 /\ -r_196^post4+r_196^0 == 0 /\ lt_509^0-lt_509^post4 == 0 /\ -r_274^post4+r_274^0 == 0 /\ -lt_397^post4+lt_397^0 == 0 /\ -rcd_409^post4+rcd_409^0 == 0 /\ r_29^0-r_29^post4 == 0 /\ head_35^0-head_35^post4 == 0 /\ -r_272^post4+r_272^0 == 0 /\ x_19^0-x_19^post4 == 0 /\ a_220^0-a_220^post4 == 0 /\ r_159^0-r_159^post4 == 0 /\ -lt_17^post4+lt_17^0 == 0 /\ rcd_244^0-rcd_244^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -rcd_427^post4+rcd_427^0 == 0 /\ r_42^0-r_42^post4 == 0 /\ -x_23^post4+x_23^0 == 0 /\ t_30^0-t_30^post4 == 0 /\ i_33^0-i_33^post4 == 0 /\ len_297^0-len_297^post4 == 0 /\ -len_205^post4+len_205^0 == 0 /\ rcd_273^0-rcd_273^post4 == 0 /\ a_148^0-a_148^post4 == 0 /\ length_32^0-length_32^post4 == 0 /\ -r_266^post4+r_266^0 == 0 /\ -nondet_12^post4+nondet_12^0 == 0), cost: 1
   5: l4 -> l1 : a_148^0'=a_148^post5, r_258^0'=r_258^post5, i_33^0'=i_33^post5, r_167^0'=r_167^post5, t_30^0'=t_30^post5, a_358^0'=a_358^post5, r_42^0'=r_42^post5, len_275^0'=len_275^post5, rcd_409^0'=rcd_409^post5, r_243^0'=r_243^post5, r_246^0'=r_246^post5, x_SLAM_f_21^0'=x_SLAM_f_21^post5, head_35^0'=head_35^post5, rcd_248^0'=rcd_248^post5, lt_509^0'=lt_509^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post5, a_220^0'=a_220^post5, r_272^0'=r_272^post5, rcd_363^0'=rcd_363^post5, r_196^0'=r_196^post5, temp0_34^0'=temp0_34^post5, c_28^0'=c_28^post5, rcd_113^0'=rcd_113^post5, length_32^0'=length_32^post5, rcd_46^0'=rcd_46^post5, r_252^0'=r_252^post5, i_120^0'=i_120^post5, rcd_273^0'=rcd_273^post5, r_159^0'=r_159^post5, t_24^0'=t_24^post5, a_332^0'=a_332^post5, r_29^0'=r_29^post5, len_205^0'=len_205^post5, rcd_387^0'=rcd_387^post5, r_236^0'=r_236^post5, tmp_37^0'=tmp_37^post5, x_23^0'=x_23^post5, head_13^0'=head_13^post5, rcd_244^0'=rcd_244^post5, lt_397^0'=lt_397^post5, result_11^0'=result_11^post5, a_173^0'=a_173^post5, r_266^0'=r_266^post5, l_27^0'=l_27^post5, r_188^0'=r_188^post5, temp0_18^0'=temp0_18^post5, a_388^0'=a_388^post5, rcd_105^0'=rcd_105^post5, len_297^0'=len_297^post5, rcd_427^0'=rcd_427^post5, r_245^0'=r_245^post5, r_247^0'=r_247^post5, y_22^0'=y_22^post5, i_111^0'=i_111^post5, rcd_253^0'=rcd_253^post5, nondet_12^0'=nondet_12^post5, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post5, a_276^0'=a_276^post5, r_274^0'=r_274^post5, rcd_367^0'=rcd_367^post5, r_234^0'=r_234^post5, temp_38^0'=temp_38^post5, x_19^0'=x_19^post5, ct_20^0'=ct_20^post5, rcd_235^0'=rcd_235^post5, lt_17^0'=lt_17^post5, rcd_70^0'=rcd_70^post5, (rcd_253^0-rcd_253^post5 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post5+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_272^0-r_272^post5 == 0 /\ -r_236^post5+r_236^0 == 0 /\ i_111^0-i_111^post5 == 0 /\ -r_245^post5+r_245^0 == 0 /\ c_28^0-c_28^post5 == 0 /\ -rcd_244^post5+rcd_244^0 == 0 /\ head_35^0-head_35^post5 == 0 /\ -r_247^post5+r_247^0 == 0 /\ -lt_17^post5+lt_17^0 == 0 /\ a_358^0-a_358^post5 == 0 /\ r_29^0-r_29^post5 == 0 /\ -l_27^post5+l_27^0 == 0 /\ t_30^0-t_30^post5 == 0 /\ -len_297^post5+len_297^0 == 0 /\ x_23^0-x_23^post5 == 0 /\ -r_234^post5+r_234^0 == 0 /\ -r_266^post5+r_266^0 == 0 /\ -a_332^post5+a_332^0 == 0 /\ length_32^0-length_32^post5 == 0 /\ temp0_34^0-temp0_34^post5 == 0 /\ -tmp_37^post5+tmp_37^0 == 0 /\ a_220^0-a_220^post5 == 0 /\ lt_397^0-lt_397^post5 == 0 /\ -a_276^post5+a_276^0 == 0 /\ r_159^0-r_159^post5 == 0 /\ -temp0_18^post5+temp0_18^0 == 0 /\ -rcd_113^post5+rcd_113^0 == 0 /\ -rcd_387^post5+rcd_387^0 == 0 /\ -y_22^post5+y_22^0 == 0 /\ -rcd_235^post5+rcd_235^0 == 0 /\ len_275^0-len_275^post5 == 0 /\ r_196^0-r_196^post5 == 0 /\ -r_252^post5+r_252^0 == 0 /\ a_148^0-a_148^post5 == 0 /\ rcd_248^0-rcd_248^post5 == 0 /\ -r_274^post5+r_274^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post5 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ r_167^0-r_167^post5 == 0 /\ -r_188^post5+r_188^0 == 0 /\ -rcd_367^post5+rcd_367^0 == 0 /\ -temp_38^post5+temp_38^0 == 0 /\ -r_246^post5+r_246^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post5 == 0 /\ i_33^0-i_33^post5 == 0 /\ i_120^0-i_120^post5 == 0 /\ -rcd_105^post5+rcd_105^0 == 0 /\ -result_11^post5+result_11^0 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ rcd_273^0-rcd_273^post5 == 0 /\ -lt_509^post5+lt_509^0 == 0 /\ r_243^0-r_243^post5 == 0 /\ len_205^0-len_205^post5 == 0 /\ r_42^0-r_42^post5 == 0 /\ ct_20^0-ct_20^post5 == 0 /\ t_24^0-t_24^post5 == 0 /\ a_173^0-a_173^post5 == 0 /\ rcd_409^0-rcd_409^post5 == 0 /\ -x_19^post5+x_19^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -a_388^post5+a_388^0 == 0 /\ rcd_363^0-rcd_363^post5 == 0 /\ rcd_46^0-rcd_46^post5 == 0 /\ r_258^0-r_258^post5 == 0 /\ -head_13^post5+head_13^0 == 0 /\ -rcd_70^post5+rcd_70^0 == 0 /\ rcd_427^0-rcd_427^post5 == 0), cost: 1
 116: l1 -> l72 : a_148^0'=a_148^post116, r_258^0'=r_258^post116, i_33^0'=i_33^post116, r_167^0'=r_167^post116, t_30^0'=t_30^post116, a_358^0'=a_358^post116, r_42^0'=r_42^post116, len_275^0'=len_275^post116, rcd_409^0'=rcd_409^post116, r_243^0'=r_243^post116, r_246^0'=r_246^post116, x_SLAM_f_21^0'=x_SLAM_f_21^post116, head_35^0'=head_35^post116, rcd_248^0'=rcd_248^post116, lt_509^0'=lt_509^post116, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post116, a_220^0'=a_220^post116, r_272^0'=r_272^post116, rcd_363^0'=rcd_363^post116, r_196^0'=r_196^post116, temp0_34^0'=temp0_34^post116, c_28^0'=c_28^post116, rcd_113^0'=rcd_113^post116, length_32^0'=length_32^post116, rcd_46^0'=rcd_46^post116, r_252^0'=r_252^post116, i_120^0'=i_120^post116, rcd_273^0'=rcd_273^post116, r_159^0'=r_159^post116, t_24^0'=t_24^post116, a_332^0'=a_332^post116, r_29^0'=r_29^post116, len_205^0'=len_205^post116, rcd_387^0'=rcd_387^post116, r_236^0'=r_236^post116, tmp_37^0'=tmp_37^post116, x_23^0'=x_23^post116, head_13^0'=head_13^post116, rcd_244^0'=rcd_244^post116, lt_397^0'=lt_397^post116, result_11^0'=result_11^post116, a_173^0'=a_173^post116, r_266^0'=r_266^post116, l_27^0'=l_27^post116, r_188^0'=r_188^post116, temp0_18^0'=temp0_18^post116, a_388^0'=a_388^post116, rcd_105^0'=rcd_105^post116, len_297^0'=len_297^post116, rcd_427^0'=rcd_427^post116, r_245^0'=r_245^post116, r_247^0'=r_247^post116, y_22^0'=y_22^post116, i_111^0'=i_111^post116, rcd_253^0'=rcd_253^post116, nondet_12^0'=nondet_12^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, a_276^0'=a_276^post116, r_274^0'=r_274^post116, rcd_367^0'=rcd_367^post116, r_234^0'=r_234^post116, temp_38^0'=temp_38^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, rcd_235^0'=rcd_235^post116, lt_17^0'=lt_17^post116, rcd_70^0'=rcd_70^post116, (0 == 0 /\ lt_397^0-lt_397^post116 == 0 /\ r_42^0-r_42^post116 == 0 /\ t_30^0-t_30^post116 == 0 /\ i_120^0-i_120^post116 == 0 /\ -a_388^post116+a_388^0 == 0 /\ -t_24^post116+t_24^0 == 0 /\ r_246^0-r_246^post116 == 0 /\ r_258^0-r_258^post116 == 0 /\ -r_274^post116+r_274^0 == 0 /\ -len_297^0 <= 0 /\ rcd_46^0-rcd_46^post116 == 0 /\ -y_22^post116+y_22^0 == 0 /\ x_23^0-x_23^post116 == 0 /\ r_196^0-r_196^post116 == 0 /\ -rcd_427^post116+rcd_427^0 == 0 /\ -len_205^post116+len_205^0 == 0 /\ r_236^0-r_236^post116 == 0 /\ -rcd_70^post116+rcd_70^0 == 0 /\ c_28^0-c_28^post116 == 0 /\ r_29^0-r_29^post116 == 0 /\ -i_111^post116+i_111^0 == 0 /\ i_33^0-i_33^post116 == 0 /\ lt_509^0-lt_509^post116 == 0 /\ a_276^0-a_276^post116 == 0 /\ a_358^0-a_358^post116 == 0 /\ -rcd_235^post116+rcd_235^0 == 0 /\ -nondet_12^post116+nondet_12^0 == 0 /\ -l_27^post116+l_27^0 == 0 /\ -head_13^post116+head_13^0 == 0 /\ length_32^0-length_32^post116 == 0 /\ -temp0_34^post116+temp0_34^0 == 0 /\ -r_266^post116+r_266^0 == 0 /\ a_220^0-a_220^post116 == 0 /\ r_159^0-r_159^post116 == 0 /\ -a_173^post116+a_173^0 == 0 /\ rcd_273^0-rcd_273^post116 == 0 /\ rcd_409^0-rcd_409^post116 == 0 /\ len_297^0-len_297^post116 == 0 /\ -temp0_18^post116+temp0_18^0 == 0 /\ -r_234^post116+r_234^0 == 0 /\ -r_245^post116+r_245^0 == 0 /\ -rcd_244^post116+rcd_244^0 == 0 /\ rcd_113^0-rcd_113^post116 == 0 /\ r_167^0-r_167^post116 == 0 /\ -r_252^post116+r_252^0 == 0 /\ -rcd_105^post116+rcd_105^0 == 0 /\ -a_332^post116+a_332^0 == 0 /\ -len_275^post116+len_275^0 == 0 /\ a_148^0-a_148^post116 == 0 /\ -r_188^post116+r_188^0 == 0 /\ rcd_248^0-rcd_248^post116 == 0 /\ -tmp_37^post116+tmp_37^0 == 0 /\ -rcd_387^post116+rcd_387^0 == 0 /\ -temp_38^post116+temp_38^0 == 0 /\ -r_247^post116+r_247^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post116 == 0 /\ r_243^0-r_243^post116 == 0 /\ result_11^0-result_11^post116 == 0 /\ r_272^0-r_272^post116 == 0 /\ head_35^0-head_35^post116 == 0 /\ -rcd_253^post116+rcd_253^0 == 0), cost: 1
   7: l6 -> l7 : a_148^0'=a_148^post7, r_258^0'=r_258^post7, i_33^0'=i_33^post7, r_167^0'=r_167^post7, t_30^0'=t_30^post7, a_358^0'=a_358^post7, r_42^0'=r_42^post7, len_275^0'=len_275^post7, rcd_409^0'=rcd_409^post7, r_243^0'=r_243^post7, r_246^0'=r_246^post7, x_SLAM_f_21^0'=x_SLAM_f_21^post7, head_35^0'=head_35^post7, rcd_248^0'=rcd_248^post7, lt_509^0'=lt_509^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post7, a_220^0'=a_220^post7, r_272^0'=r_272^post7, rcd_363^0'=rcd_363^post7, r_196^0'=r_196^post7, temp0_34^0'=temp0_34^post7, c_28^0'=c_28^post7, rcd_113^0'=rcd_113^post7, length_32^0'=length_32^post7, rcd_46^0'=rcd_46^post7, r_252^0'=r_252^post7, i_120^0'=i_120^post7, rcd_273^0'=rcd_273^post7, r_159^0'=r_159^post7, t_24^0'=t_24^post7, a_332^0'=a_332^post7, r_29^0'=r_29^post7, len_205^0'=len_205^post7, rcd_387^0'=rcd_387^post7, r_236^0'=r_236^post7, tmp_37^0'=tmp_37^post7, x_23^0'=x_23^post7, head_13^0'=head_13^post7, rcd_244^0'=rcd_244^post7, lt_397^0'=lt_397^post7, result_11^0'=result_11^post7, a_173^0'=a_173^post7, r_266^0'=r_266^post7, l_27^0'=l_27^post7, r_188^0'=r_188^post7, temp0_18^0'=temp0_18^post7, a_388^0'=a_388^post7, rcd_105^0'=rcd_105^post7, len_297^0'=len_297^post7, rcd_427^0'=rcd_427^post7, r_245^0'=r_245^post7, r_247^0'=r_247^post7, y_22^0'=y_22^post7, i_111^0'=i_111^post7, rcd_253^0'=rcd_253^post7, nondet_12^0'=nondet_12^post7, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post7, a_276^0'=a_276^post7, r_274^0'=r_274^post7, rcd_367^0'=rcd_367^post7, r_234^0'=r_234^post7, temp_38^0'=temp_38^post7, x_19^0'=x_19^post7, ct_20^0'=ct_20^post7, rcd_235^0'=rcd_235^post7, lt_17^0'=lt_17^post7, rcd_70^0'=rcd_70^post7, (-a_388^post7+a_388^0 == 0 /\ -i_111^post7+i_111^0 == 0 /\ tmp_37^0-tmp_37^post7 == 0 /\ a_358^0-a_358^post7 == 0 /\ len_205^0-len_205^post7 == 0 /\ -rcd_253^post7+rcd_253^0 == 0 /\ -rcd_70^post7+rcd_70^0 == 0 /\ rcd_363^0-rcd_363^post7 == 0 /\ -x_19^post7+x_19^0 == 0 /\ length_32^0-length_32^post7 == 0 /\ a_148^0-a_148^post7 == 0 /\ len_275^0-len_275^post7 == 0 /\ -r_196^post7+r_196^0 == 0 /\ rcd_409^0-rcd_409^post7 == 0 /\ -r_274^post7+r_274^0 == 0 /\ -t_24^post7+t_24^0 == 0 /\ temp0_34^0-temp0_34^post7 == 0 /\ y_22^0-y_22^post7 == 0 /\ rcd_387^0-rcd_387^post7 == 0 /\ a_332^0-a_332^post7 == 0 /\ rcd_248^0-rcd_248^post7 == 0 /\ -lt_17^post7+lt_17^0 == 0 /\ r_272^0-r_272^post7 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post7 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ -x_23^post7+x_23^0 == 0 /\ result_11^0-result_11^post7 == 0 /\ -r_159^post7+r_159^0 == 0 /\ r_167^0-r_167^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post7 == 0 /\ -head_35^post7+head_35^0 == 0 /\ i_33^0-i_33^post7 == 0 /\ rcd_105^0-rcd_105^post7 == 0 /\ -rcd_235^post7+rcd_235^0 == 0 /\ temp0_18^0-temp0_18^post7 == 0 /\ i_120^0-i_120^post7 == 0 /\ r_258^0-r_258^post7 == 0 /\ -rcd_46^post7+rcd_46^0 == 0 /\ -len_297^post7+len_297^0 == 0 /\ -r_247^post7+r_247^0 == 0 /\ -r_245^post7+r_245^0 == 0 /\ r_42^0-r_42^post7 == 0 /\ -rcd_273^post7+rcd_273^0 == 0 /\ -r_234^post7+r_234^0 == 0 /\ r_252^0-r_252^post7 == 0 /\ -rcd_427^post7+rcd_427^0 == 0 /\ -a_173^post7+a_173^0 == 0 /\ r_246^0-r_246^post7 == 0 /\ rcd_113^0-rcd_113^post7 == 0 /\ -r_266^post7+r_266^0 == 0 /\ -rcd_244^post7+rcd_244^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post7 == 0 /\ -ct_20^post7+ct_20^0 == 0 /\ -c_28^post7+c_28^0 == 0 /\ head_13^0-head_13^post7 == 0 /\ t_30^0-t_30^post7 == 0 /\ 1-c_28^0 <= 0 /\ r_236^0-r_236^post7 == 0 /\ -r_188^post7+r_188^0 == 0 /\ lt_509^0-lt_509^post7 == 0 /\ r_29^0-r_29^post7 == 0 /\ -a_220^post7+a_220^0 == 0 /\ -rcd_367^post7+rcd_367^0 == 0 /\ -lt_397^post7+lt_397^0 == 0 /\ r_243^0-r_243^post7 == 0 /\ l_27^0-l_27^post7 == 0 /\ -a_276^post7+a_276^0 == 0 /\ -temp_38^post7+temp_38^0 == 0), cost: 1
   8: l6 -> l7 : a_148^0'=a_148^post8, r_258^0'=r_258^post8, i_33^0'=i_33^post8, r_167^0'=r_167^post8, t_30^0'=t_30^post8, a_358^0'=a_358^post8, r_42^0'=r_42^post8, len_275^0'=len_275^post8, rcd_409^0'=rcd_409^post8, r_243^0'=r_243^post8, r_246^0'=r_246^post8, x_SLAM_f_21^0'=x_SLAM_f_21^post8, head_35^0'=head_35^post8, rcd_248^0'=rcd_248^post8, lt_509^0'=lt_509^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post8, a_220^0'=a_220^post8, r_272^0'=r_272^post8, rcd_363^0'=rcd_363^post8, r_196^0'=r_196^post8, temp0_34^0'=temp0_34^post8, c_28^0'=c_28^post8, rcd_113^0'=rcd_113^post8, length_32^0'=length_32^post8, rcd_46^0'=rcd_46^post8, r_252^0'=r_252^post8, i_120^0'=i_120^post8, rcd_273^0'=rcd_273^post8, r_159^0'=r_159^post8, t_24^0'=t_24^post8, a_332^0'=a_332^post8, r_29^0'=r_29^post8, len_205^0'=len_205^post8, rcd_387^0'=rcd_387^post8, r_236^0'=r_236^post8, tmp_37^0'=tmp_37^post8, x_23^0'=x_23^post8, head_13^0'=head_13^post8, rcd_244^0'=rcd_244^post8, lt_397^0'=lt_397^post8, result_11^0'=result_11^post8, a_173^0'=a_173^post8, r_266^0'=r_266^post8, l_27^0'=l_27^post8, r_188^0'=r_188^post8, temp0_18^0'=temp0_18^post8, a_388^0'=a_388^post8, rcd_105^0'=rcd_105^post8, len_297^0'=len_297^post8, rcd_427^0'=rcd_427^post8, r_245^0'=r_245^post8, r_247^0'=r_247^post8, y_22^0'=y_22^post8, i_111^0'=i_111^post8, rcd_253^0'=rcd_253^post8, nondet_12^0'=nondet_12^post8, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post8, a_276^0'=a_276^post8, r_274^0'=r_274^post8, rcd_367^0'=rcd_367^post8, r_234^0'=r_234^post8, temp_38^0'=temp_38^post8, x_19^0'=x_19^post8, ct_20^0'=ct_20^post8, rcd_235^0'=rcd_235^post8, lt_17^0'=lt_17^post8, rcd_70^0'=rcd_70^post8, (-rcd_105^post8+rcd_105^0 == 0 /\ r_42^0-r_42^post8 == 0 /\ t_30^0-t_30^post8 == 0 /\ -rcd_367^post8+rcd_367^0 == 0 /\ -ct_20^post8+ct_20^0 == 0 /\ -r_188^post8+r_188^0 == 0 /\ -r_272^post8+r_272^0 == 0 /\ 1+c_28^0 <= 0 /\ -x_23^post8+x_23^0 == 0 /\ r_258^0-r_258^post8 == 0 /\ r_246^0-r_246^post8 == 0 /\ -temp_38^post8+temp_38^0 == 0 /\ rcd_46^0-rcd_46^post8 == 0 /\ -nondet_12^post8+nondet_12^0 == 0 /\ r_196^0-r_196^post8 == 0 /\ -i_111^post8+i_111^0 == 0 /\ rcd_244^0-rcd_244^post8 == 0 /\ a_332^0-a_332^post8 == 0 /\ r_245^0-r_245^post8 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post8 == 0 /\ -a_388^post8+a_388^0 == 0 /\ -head_13^post8+head_13^0 == 0 /\ a_276^0-a_276^post8 == 0 /\ a_220^0-a_220^post8 == 0 /\ a_358^0-a_358^post8 == 0 /\ -rcd_70^post8+rcd_70^0 == 0 /\ a_173^0-a_173^post8 == 0 /\ -x_19^post8+x_19^0 == 0 /\ -t_24^post8+t_24^0 == 0 /\ i_33^0-i_33^post8 == 0 /\ c_28^0-c_28^post8 == 0 /\ i_120^0-i_120^post8 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post8+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_273^0-rcd_273^post8 == 0 /\ r_243^0-r_243^post8 == 0 /\ len_297^0-len_297^post8 == 0 /\ length_32^0-length_32^post8 == 0 /\ -len_205^post8+len_205^0 == 0 /\ -r_167^post8+r_167^0 == 0 /\ -r_236^post8+r_236^0 == 0 /\ -rcd_427^post8+rcd_427^0 == 0 /\ temp0_34^0-temp0_34^post8 == 0 /\ rcd_363^0-rcd_363^post8 == 0 /\ rcd_409^0-rcd_409^post8 == 0 /\ -r_247^post8+r_247^0 == 0 /\ -lt_17^post8+lt_17^0 == 0 /\ r_159^0-r_159^post8 == 0 /\ len_275^0-len_275^post8 == 0 /\ -lt_509^post8+lt_509^0 == 0 /\ rcd_248^0-rcd_248^post8 == 0 /\ -r_266^post8+r_266^0 == 0 /\ -lt_397^post8+lt_397^0 == 0 /\ r_29^0-r_29^post8 == 0 /\ -l_27^post8+l_27^0 == 0 /\ -temp0_18^post8+temp0_18^0 == 0 /\ result_11^0-result_11^post8 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post8 == 0 /\ -r_234^post8+r_234^0 == 0 /\ -rcd_113^post8+rcd_113^0 == 0 /\ a_148^0-a_148^post8 == 0 /\ -r_274^post8+r_274^0 == 0 /\ rcd_387^0-rcd_387^post8 == 0 /\ -rcd_253^post8+rcd_253^0 == 0 /\ tmp_37^0-tmp_37^post8 == 0 /\ head_35^0-head_35^post8 == 0 /\ -r_252^post8+r_252^0 == 0 /\ -rcd_235^post8+rcd_235^0 == 0 /\ -y_22^post8+y_22^0 == 0), cost: 1
   9: l7 -> l8 : a_148^0'=a_148^post9, r_258^0'=r_258^post9, i_33^0'=i_33^post9, r_167^0'=r_167^post9, t_30^0'=t_30^post9, a_358^0'=a_358^post9, r_42^0'=r_42^post9, len_275^0'=len_275^post9, rcd_409^0'=rcd_409^post9, r_243^0'=r_243^post9, r_246^0'=r_246^post9, x_SLAM_f_21^0'=x_SLAM_f_21^post9, head_35^0'=head_35^post9, rcd_248^0'=rcd_248^post9, lt_509^0'=lt_509^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post9, a_220^0'=a_220^post9, r_272^0'=r_272^post9, rcd_363^0'=rcd_363^post9, r_196^0'=r_196^post9, temp0_34^0'=temp0_34^post9, c_28^0'=c_28^post9, rcd_113^0'=rcd_113^post9, length_32^0'=length_32^post9, rcd_46^0'=rcd_46^post9, r_252^0'=r_252^post9, i_120^0'=i_120^post9, rcd_273^0'=rcd_273^post9, r_159^0'=r_159^post9, t_24^0'=t_24^post9, a_332^0'=a_332^post9, r_29^0'=r_29^post9, len_205^0'=len_205^post9, rcd_387^0'=rcd_387^post9, r_236^0'=r_236^post9, tmp_37^0'=tmp_37^post9, x_23^0'=x_23^post9, head_13^0'=head_13^post9, rcd_244^0'=rcd_244^post9, lt_397^0'=lt_397^post9, result_11^0'=result_11^post9, a_173^0'=a_173^post9, r_266^0'=r_266^post9, l_27^0'=l_27^post9, r_188^0'=r_188^post9, temp0_18^0'=temp0_18^post9, a_388^0'=a_388^post9, rcd_105^0'=rcd_105^post9, len_297^0'=len_297^post9, rcd_427^0'=rcd_427^post9, r_245^0'=r_245^post9, r_247^0'=r_247^post9, y_22^0'=y_22^post9, i_111^0'=i_111^post9, rcd_253^0'=rcd_253^post9, nondet_12^0'=nondet_12^post9, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post9, a_276^0'=a_276^post9, r_274^0'=r_274^post9, rcd_367^0'=rcd_367^post9, r_234^0'=r_234^post9, temp_38^0'=temp_38^post9, x_19^0'=x_19^post9, ct_20^0'=ct_20^post9, rcd_235^0'=rcd_235^post9, lt_17^0'=lt_17^post9, rcd_70^0'=rcd_70^post9, (0 == 0 /\ r_42^0-r_272^post9 <= 0 /\ -ct_20^post9+ct_20^0 == 0 /\ -r_234^post9+r_234^0 == 0 /\ 1-a_220^0+a_276^post9 <= 0 /\ -r_245^post9+r_245^0 == 0 /\ -result_11^post9+result_11^0 == 0 /\ -nondet_12^post9+nondet_12^0 == 0 /\ -r_252^post9+r_252^0 == 0 /\ -head_13^post9+head_13^0 == 0 /\ r_167^0-r_274^post9 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post9 == 0 /\ r_236^0-r_236^post9 == 0 /\ -len_297^post9+len_297^0 == 0 /\ lt_397^0-lt_397^post9 == 0 /\ -temp0_18^post9+temp0_18^0 == 0 /\ -x_19^post9+x_19^0 == 0 /\ rcd_409^0-rcd_409^post9 == 0 /\ -i_120^post9+i_120^0 == 0 /\ -r_42^0+r_272^post9 <= 0 /\ -rcd_387^post9+rcd_387^0 == 0 /\ rcd_363^0-rcd_363^post9 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post9+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_367^post9+rcd_367^0 == 0 /\ -rcd_244^post9+rcd_244^0 == 0 /\ -temp_38^post9+temp_38^0 == 0 /\ -rcd_70^post9+rcd_70^0 == 0 /\ head_35^0-head_35^post9 == 0 /\ rcd_113^0-rcd_113^post9 == 0 /\ temp0_34^0-temp0_34^post9 == 0 /\ 1-len_275^post9+len_205^0 <= 0 /\ x_23^0-x_23^post9 == 0 /\ t_30^post9-c_28^0 == 0 /\ -a_332^post9+a_332^0 == 0 /\ -r_167^0+r_274^post9 <= 0 /\ r_42^0-r_42^post9 == 0 /\ r_159^0-r_159^post9 == 0 /\ a_148^0-a_148^post9 == 0 /\ -rcd_105^post9+rcd_105^0 == 0 /\ -r_247^post9+r_247^0 == 0 /\ a_388^0-a_388^post9 == 0 /\ r_188^0-r_188^post9 == 0 /\ r_246^0-r_246^post9 == 0 /\ rcd_46^0-rcd_46^post9 == 0 /\ -1+a_220^0-a_276^post9 <= 0 /\ -tmp_37^post9+tmp_37^0 == 0 /\ c_28^0-c_28^post9 == 0 /\ r_266^0-r_266^post9 == 0 /\ lt_509^0-lt_509^post9 == 0 /\ -lt_17^post9+lt_17^0 == 0 /\ r_196^0-r_196^post9 == 0 /\ rcd_427^0-rcd_427^post9 == 0 /\ r_243^0-r_243^post9 == 0 /\ rcd_46^0-rcd_273^post9 <= 0 /\ r_167^0-r_167^post9 == 0 /\ -y_22^post9+y_22^0 == 0 /\ -rcd_253^post9+rcd_253^0 == 0 /\ -t_30^post9+r_29^post9 <= 0 /\ -t_30^post9+r_29^post9 == 0 /\ -head_13^0+l_27^0 <= 0 /\ t_24^0-t_24^post9 == 0 /\ r_258^0-r_258^post9 == 0 /\ len_205^0-len_205^post9 == 0 /\ -rcd_235^post9+rcd_235^0 == 0 /\ a_358^0-a_358^post9 == 0 /\ -i_111^post9+i_111^0 == 0 /\ -rcd_46^0+rcd_273^post9 <= 0 /\ rcd_248^0-rcd_248^post9 == 0 /\ -1+len_275^post9-len_205^0 <= 0 /\ i_33^0-i_33^post9 == 0 /\ -length_32^post9+length_32^0 == 0 /\ a_173^0-a_173^post9 == 0 /\ t_30^post9-r_29^post9 <= 0 /\ head_13^0-l_27^0 <= 0 /\ -l_27^post9+l_27^0 == 0 /\ a_220^0-a_220^post9 == 0), cost: 1
  10: l8 -> l9 : a_148^0'=a_148^post10, r_258^0'=r_258^post10, i_33^0'=i_33^post10, r_167^0'=r_167^post10, t_30^0'=t_30^post10, a_358^0'=a_358^post10, r_42^0'=r_42^post10, len_275^0'=len_275^post10, rcd_409^0'=rcd_409^post10, r_243^0'=r_243^post10, r_246^0'=r_246^post10, x_SLAM_f_21^0'=x_SLAM_f_21^post10, head_35^0'=head_35^post10, rcd_248^0'=rcd_248^post10, lt_509^0'=lt_509^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post10, a_220^0'=a_220^post10, r_272^0'=r_272^post10, rcd_363^0'=rcd_363^post10, r_196^0'=r_196^post10, temp0_34^0'=temp0_34^post10, c_28^0'=c_28^post10, rcd_113^0'=rcd_113^post10, length_32^0'=length_32^post10, rcd_46^0'=rcd_46^post10, r_252^0'=r_252^post10, i_120^0'=i_120^post10, rcd_273^0'=rcd_273^post10, r_159^0'=r_159^post10, t_24^0'=t_24^post10, a_332^0'=a_332^post10, r_29^0'=r_29^post10, len_205^0'=len_205^post10, rcd_387^0'=rcd_387^post10, r_236^0'=r_236^post10, tmp_37^0'=tmp_37^post10, x_23^0'=x_23^post10, head_13^0'=head_13^post10, rcd_244^0'=rcd_244^post10, lt_397^0'=lt_397^post10, result_11^0'=result_11^post10, a_173^0'=a_173^post10, r_266^0'=r_266^post10, l_27^0'=l_27^post10, r_188^0'=r_188^post10, temp0_18^0'=temp0_18^post10, a_388^0'=a_388^post10, rcd_105^0'=rcd_105^post10, len_297^0'=len_297^post10, rcd_427^0'=rcd_427^post10, r_245^0'=r_245^post10, r_247^0'=r_247^post10, y_22^0'=y_22^post10, i_111^0'=i_111^post10, rcd_253^0'=rcd_253^post10, nondet_12^0'=nondet_12^post10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post10, a_276^0'=a_276^post10, r_274^0'=r_274^post10, rcd_367^0'=rcd_367^post10, r_234^0'=r_234^post10, temp_38^0'=temp_38^post10, x_19^0'=x_19^post10, ct_20^0'=ct_20^post10, rcd_235^0'=rcd_235^post10, lt_17^0'=lt_17^post10, rcd_70^0'=rcd_70^post10, (rcd_113^0-rcd_113^post10 == 0 /\ -a_173^post10+a_173^0 == 0 /\ r_266^0-r_266^post10 == 0 /\ r_196^0-r_196^post10 == 0 /\ r_272^0-r_272^post10 == 0 /\ -temp0_34^post10+temp0_34^0 == 0 /\ -r_29^post10+r_29^0 == 0 /\ head_13^0-head_13^post10 == 0 /\ -rcd_235^post10+rcd_235^0 == 0 /\ -r_234^post10+r_234^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post10+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ head_35^0-head_35^post10 == 0 /\ r_243^0-r_243^post10 == 0 /\ t_30^0-t_30^post10 == 0 /\ -rcd_244^post10+rcd_244^0 == 0 /\ lt_509^0-lt_509^post10 == 0 /\ r_167^0-r_167^post10 == 0 /\ a_358^0-a_358^post10 == 0 /\ l_27^0-l_27^post10 == 0 /\ -rcd_273^post10+rcd_273^0 == 0 /\ rcd_387^0-rcd_387^post10 == 0 /\ -rcd_427^post10+rcd_427^0 == 0 /\ i_33^0-i_33^post10 == 0 /\ -a_276^post10+a_276^0 == 0 /\ -c_28^post10+c_28^0 == 0 /\ -a_220^post10+a_220^0 == 0 /\ -rcd_367^post10+rcd_367^0 == 0 /\ -y_22^post10+y_22^0 == 0 /\ len_205^0-len_205^post10 == 0 /\ -a_332^post10+a_332^0 == 0 /\ -ct_20^post10+ct_20^0 == 0 /\ r_258^0-r_258^post10 == 0 /\ t_24^0-t_24^post10 == 0 /\ len_275^0-len_275^post10 == 0 /\ r_247^0-r_247^post10 == 0 /\ -lt_397^post10+lt_397^0 == 0 /\ -len_297^post10+len_297^0 == 0 /\ -rcd_363^post10+rcd_363^0 == 0 /\ 1-t_30^0 <= 0 /\ -r_188^post10+r_188^0 == 0 /\ -i_120^post10+i_120^0 == 0 /\ rcd_46^0-rcd_46^post10 == 0 /\ r_246^0-r_246^post10 == 0 /\ -x_23^post10+x_23^0 == 0 /\ -length_32^post10+length_32^0 == 0 /\ -r_274^post10+r_274^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post10 == 0 /\ -rcd_253^post10+rcd_253^0 == 0 /\ -rcd_70^post10+rcd_70^0 == 0 /\ -temp_38^post10+temp_38^0 == 0 /\ -i_111^post10+i_111^0 == 0 /\ -rcd_248^post10+rcd_248^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post10 == 0 /\ r_236^0-r_236^post10 == 0 /\ rcd_105^0-rcd_105^post10 == 0 /\ -tmp_37^post10+tmp_37^0 == 0 /\ -r_159^post10+r_159^0 == 0 /\ -lt_17^post10+lt_17^0 == 0 /\ -result_11^post10+result_11^0 == 0 /\ temp0_18^0-temp0_18^post10 == 0 /\ r_42^0-r_42^post10 == 0 /\ x_19^0-x_19^post10 == 0 /\ -r_245^post10+r_245^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ a_148^0-a_148^post10 == 0 /\ -a_388^post10+a_388^0 == 0 /\ rcd_409^0-rcd_409^post10 == 0 /\ r_252^0-r_252^post10 == 0), cost: 1
  11: l8 -> l9 : a_148^0'=a_148^post11, r_258^0'=r_258^post11, i_33^0'=i_33^post11, r_167^0'=r_167^post11, t_30^0'=t_30^post11, a_358^0'=a_358^post11, r_42^0'=r_42^post11, len_275^0'=len_275^post11, rcd_409^0'=rcd_409^post11, r_243^0'=r_243^post11, r_246^0'=r_246^post11, x_SLAM_f_21^0'=x_SLAM_f_21^post11, head_35^0'=head_35^post11, rcd_248^0'=rcd_248^post11, lt_509^0'=lt_509^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post11, a_220^0'=a_220^post11, r_272^0'=r_272^post11, rcd_363^0'=rcd_363^post11, r_196^0'=r_196^post11, temp0_34^0'=temp0_34^post11, c_28^0'=c_28^post11, rcd_113^0'=rcd_113^post11, length_32^0'=length_32^post11, rcd_46^0'=rcd_46^post11, r_252^0'=r_252^post11, i_120^0'=i_120^post11, rcd_273^0'=rcd_273^post11, r_159^0'=r_159^post11, t_24^0'=t_24^post11, a_332^0'=a_332^post11, r_29^0'=r_29^post11, len_205^0'=len_205^post11, rcd_387^0'=rcd_387^post11, r_236^0'=r_236^post11, tmp_37^0'=tmp_37^post11, x_23^0'=x_23^post11, head_13^0'=head_13^post11, rcd_244^0'=rcd_244^post11, lt_397^0'=lt_397^post11, result_11^0'=result_11^post11, a_173^0'=a_173^post11, r_266^0'=r_266^post11, l_27^0'=l_27^post11, r_188^0'=r_188^post11, temp0_18^0'=temp0_18^post11, a_388^0'=a_388^post11, rcd_105^0'=rcd_105^post11, len_297^0'=len_297^post11, rcd_427^0'=rcd_427^post11, r_245^0'=r_245^post11, r_247^0'=r_247^post11, y_22^0'=y_22^post11, i_111^0'=i_111^post11, rcd_253^0'=rcd_253^post11, nondet_12^0'=nondet_12^post11, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post11, a_276^0'=a_276^post11, r_274^0'=r_274^post11, rcd_367^0'=rcd_367^post11, r_234^0'=r_234^post11, temp_38^0'=temp_38^post11, x_19^0'=x_19^post11, ct_20^0'=ct_20^post11, rcd_235^0'=rcd_235^post11, lt_17^0'=lt_17^post11, rcd_70^0'=rcd_70^post11, (rcd_253^0-rcd_253^post11 == 0 /\ -len_205^post11+len_205^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post11+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post11+rcd_427^0 == 0 /\ r_245^0-r_245^post11 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post11 == 0 /\ result_11^0-result_11^post11 == 0 /\ tmp_37^0-tmp_37^post11 == 0 /\ -r_159^post11+r_159^0 == 0 /\ i_120^0-i_120^post11 == 0 /\ length_32^0-length_32^post11 == 0 /\ -lt_17^post11+lt_17^0 == 0 /\ i_33^0-i_33^post11 == 0 /\ -l_27^post11+l_27^0 == 0 /\ -lt_397^post11+lt_397^0 == 0 /\ -r_29^post11+r_29^0 == 0 /\ r_42^0-r_42^post11 == 0 /\ -i_111^post11+i_111^0 == 0 /\ -r_234^post11+r_234^0 == 0 /\ lt_509^0-lt_509^post11 == 0 /\ -r_266^post11+r_266^0 == 0 /\ t_30^0-t_30^post11 == 0 /\ temp0_34^0-temp0_34^post11 == 0 /\ -temp0_18^post11+temp0_18^0 == 0 /\ y_22^0-y_22^post11 == 0 /\ -a_276^post11+a_276^0 == 0 /\ a_332^0-a_332^post11 == 0 /\ -r_196^post11+r_196^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post11 == 0 /\ -rcd_273^post11+rcd_273^0 == 0 /\ -rcd_235^post11+rcd_235^0 == 0 /\ rcd_363^0-rcd_363^post11 == 0 /\ rcd_244^0-rcd_244^post11 == 0 /\ a_148^0-a_148^post11 == 0 /\ r_252^0-r_252^post11 == 0 /\ -r_272^post11+r_272^0 == 0 /\ head_35^0-head_35^post11 == 0 /\ -r_274^post11+r_274^0 == 0 /\ rcd_409^0-rcd_409^post11 == 0 /\ r_167^0-r_167^post11 == 0 /\ -rcd_367^post11+rcd_367^0 == 0 /\ -rcd_105^post11+rcd_105^0 == 0 /\ rcd_387^0-rcd_387^post11 == 0 /\ -r_188^post11+r_188^0 == 0 /\ rcd_113^0-rcd_113^post11 == 0 /\ a_220^0-a_220^post11 == 0 /\ 1+t_30^0 <= 0 /\ rcd_248^0-rcd_248^post11 == 0 /\ -x_23^post11+x_23^0 == 0 /\ -nondet_12^post11+nondet_12^0 == 0 /\ temp_38^0-temp_38^post11 == 0 /\ -rcd_46^post11+rcd_46^0 == 0 /\ len_297^0-len_297^post11 == 0 /\ -a_388^post11+a_388^0 == 0 /\ r_243^0-r_243^post11 == 0 /\ -head_13^post11+head_13^0 == 0 /\ ct_20^0-ct_20^post11 == 0 /\ -a_358^post11+a_358^0 == 0 /\ r_246^0-r_246^post11 == 0 /\ -t_24^post11+t_24^0 == 0 /\ -r_247^post11+r_247^0 == 0 /\ r_258^0-r_258^post11 == 0 /\ r_236^0-r_236^post11 == 0 /\ -c_28^post11+c_28^0 == 0 /\ -a_173^post11+a_173^0 == 0 /\ len_275^0-len_275^post11 == 0 /\ -rcd_70^post11+rcd_70^0 == 0 /\ -x_19^post11+x_19^0 == 0), cost: 1
  12: l9 -> l10 : a_148^0'=a_148^post12, r_258^0'=r_258^post12, i_33^0'=i_33^post12, r_167^0'=r_167^post12, t_30^0'=t_30^post12, a_358^0'=a_358^post12, r_42^0'=r_42^post12, len_275^0'=len_275^post12, rcd_409^0'=rcd_409^post12, r_243^0'=r_243^post12, r_246^0'=r_246^post12, x_SLAM_f_21^0'=x_SLAM_f_21^post12, head_35^0'=head_35^post12, rcd_248^0'=rcd_248^post12, lt_509^0'=lt_509^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post12, a_220^0'=a_220^post12, r_272^0'=r_272^post12, rcd_363^0'=rcd_363^post12, r_196^0'=r_196^post12, temp0_34^0'=temp0_34^post12, c_28^0'=c_28^post12, rcd_113^0'=rcd_113^post12, length_32^0'=length_32^post12, rcd_46^0'=rcd_46^post12, r_252^0'=r_252^post12, i_120^0'=i_120^post12, rcd_273^0'=rcd_273^post12, r_159^0'=r_159^post12, t_24^0'=t_24^post12, a_332^0'=a_332^post12, r_29^0'=r_29^post12, len_205^0'=len_205^post12, rcd_387^0'=rcd_387^post12, r_236^0'=r_236^post12, tmp_37^0'=tmp_37^post12, x_23^0'=x_23^post12, head_13^0'=head_13^post12, rcd_244^0'=rcd_244^post12, lt_397^0'=lt_397^post12, result_11^0'=result_11^post12, a_173^0'=a_173^post12, r_266^0'=r_266^post12, l_27^0'=l_27^post12, r_188^0'=r_188^post12, temp0_18^0'=temp0_18^post12, a_388^0'=a_388^post12, rcd_105^0'=rcd_105^post12, len_297^0'=len_297^post12, rcd_427^0'=rcd_427^post12, r_245^0'=r_245^post12, r_247^0'=r_247^post12, y_22^0'=y_22^post12, i_111^0'=i_111^post12, rcd_253^0'=rcd_253^post12, nondet_12^0'=nondet_12^post12, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post12, a_276^0'=a_276^post12, r_274^0'=r_274^post12, rcd_367^0'=rcd_367^post12, r_234^0'=r_234^post12, temp_38^0'=temp_38^post12, x_19^0'=x_19^post12, ct_20^0'=ct_20^post12, rcd_235^0'=rcd_235^post12, lt_17^0'=lt_17^post12, rcd_70^0'=rcd_70^post12, (-a_276^post12+a_276^0 == 0 /\ a_358^0-a_358^post12 == 0 /\ -rcd_113^post12+rcd_113^0 == 0 /\ rcd_409^0-rcd_409^post12 == 0 /\ i_33^0-i_33^post12 == 0 /\ a_220^0-a_220^post12 == 0 /\ a_173^0-a_173^post12 == 0 /\ head_35^0-head_35^post12 == 0 /\ -y_22^post12+y_22^0 == 0 /\ rcd_46^0-rcd_46^post12 == 0 /\ rcd_273^0-rcd_273^post12 == 0 /\ -rcd_253^post12+rcd_253^0 == 0 /\ -r_196^post12+r_196^0 == 0 /\ -t_24^post12+t_24^0 == 0 /\ -rcd_70^post12+rcd_70^0 == 0 /\ a_148^0-a_148^post12 == 0 /\ x_23^0-x_23^post12 == 0 /\ temp0_34^0-temp0_34^post12 == 0 /\ -r_274^post12+r_274^0 == 0 /\ len_275^0-len_275^post12 == 0 /\ 1-r_167^0 <= 0 /\ r_272^0-r_272^post12 == 0 /\ -i_111^post12+i_111^0 == 0 /\ c_28^0-c_28^post12 == 0 /\ r_167^0-r_167^post12 == 0 /\ -result_11^post12+result_11^0 == 0 /\ -lt_17^post12+lt_17^0 == 0 /\ r_29^0-r_29^post12 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ -l_27^post12+l_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post12 == 0 /\ lt_397^0-lt_397^post12 == 0 /\ -len_205^post12+len_205^0 == 0 /\ -r_234^post12+r_234^0 == 0 /\ tmp_37^0-tmp_37^post12 == 0 /\ r_258^0-r_258^post12 == 0 /\ -len_297^post12+len_297^0 == 0 /\ length_32^0-length_32^post12 == 0 /\ -head_13^post12+head_13^0 == 0 /\ -r_266^post12+r_266^0 == 0 /\ rcd_363^0-rcd_363^post12 == 0 /\ -r_243^post12+r_243^0 == 0 /\ -rcd_367^post12+rcd_367^0 == 0 /\ -temp0_18^post12+temp0_18^0 == 0 /\ r_159^0-r_159^post12 == 0 /\ -r_245^post12+r_245^0 == 0 /\ -rcd_105^post12+rcd_105^0 == 0 /\ rcd_235^0-rcd_235^post12 == 0 /\ -x_19^post12+x_19^0 == 0 /\ -r_42^post12+r_42^0 == 0 /\ -r_188^post12+r_188^0 == 0 /\ -temp_38^post12+temp_38^0 == 0 /\ -rcd_244^post12+rcd_244^0 == 0 /\ -i_120^post12+i_120^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post12+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_388^0-a_388^post12 == 0 /\ -r_252^post12+r_252^0 == 0 /\ rcd_427^0-rcd_427^post12 == 0 /\ lt_509^0-lt_509^post12 == 0 /\ rcd_248^0-rcd_248^post12 == 0 /\ -r_247^post12+r_247^0 == 0 /\ -r_246^post12+r_246^0 == 0 /\ -r_236^post12+r_236^0 == 0 /\ t_30^0-t_30^post12 == 0 /\ -ct_20^post12+ct_20^0 == 0 /\ -rcd_387^post12+rcd_387^0 == 0 /\ -a_332^post12+a_332^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post12 == 0), cost: 1
  13: l9 -> l10 : a_148^0'=a_148^post13, r_258^0'=r_258^post13, i_33^0'=i_33^post13, r_167^0'=r_167^post13, t_30^0'=t_30^post13, a_358^0'=a_358^post13, r_42^0'=r_42^post13, len_275^0'=len_275^post13, rcd_409^0'=rcd_409^post13, r_243^0'=r_243^post13, r_246^0'=r_246^post13, x_SLAM_f_21^0'=x_SLAM_f_21^post13, head_35^0'=head_35^post13, rcd_248^0'=rcd_248^post13, lt_509^0'=lt_509^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post13, a_220^0'=a_220^post13, r_272^0'=r_272^post13, rcd_363^0'=rcd_363^post13, r_196^0'=r_196^post13, temp0_34^0'=temp0_34^post13, c_28^0'=c_28^post13, rcd_113^0'=rcd_113^post13, length_32^0'=length_32^post13, rcd_46^0'=rcd_46^post13, r_252^0'=r_252^post13, i_120^0'=i_120^post13, rcd_273^0'=rcd_273^post13, r_159^0'=r_159^post13, t_24^0'=t_24^post13, a_332^0'=a_332^post13, r_29^0'=r_29^post13, len_205^0'=len_205^post13, rcd_387^0'=rcd_387^post13, r_236^0'=r_236^post13, tmp_37^0'=tmp_37^post13, x_23^0'=x_23^post13, head_13^0'=head_13^post13, rcd_244^0'=rcd_244^post13, lt_397^0'=lt_397^post13, result_11^0'=result_11^post13, a_173^0'=a_173^post13, r_266^0'=r_266^post13, l_27^0'=l_27^post13, r_188^0'=r_188^post13, temp0_18^0'=temp0_18^post13, a_388^0'=a_388^post13, rcd_105^0'=rcd_105^post13, len_297^0'=len_297^post13, rcd_427^0'=rcd_427^post13, r_245^0'=r_245^post13, r_247^0'=r_247^post13, y_22^0'=y_22^post13, i_111^0'=i_111^post13, rcd_253^0'=rcd_253^post13, nondet_12^0'=nondet_12^post13, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post13, a_276^0'=a_276^post13, r_274^0'=r_274^post13, rcd_367^0'=rcd_367^post13, r_234^0'=r_234^post13, temp_38^0'=temp_38^post13, x_19^0'=x_19^post13, ct_20^0'=ct_20^post13, rcd_235^0'=rcd_235^post13, lt_17^0'=lt_17^post13, rcd_70^0'=rcd_70^post13, (-temp_38^post13+temp_38^0 == 0 /\ -i_111^post13+i_111^0 == 0 /\ -i_120^post13+i_120^0 == 0 /\ -length_32^post13+length_32^0 == 0 /\ -rcd_248^post13+rcd_248^0 == 0 /\ r_42^0-r_42^post13 == 0 /\ t_30^0-t_30^post13 == 0 /\ -rcd_70^post13+rcd_70^0 == 0 /\ -x_19^post13+x_19^0 == 0 /\ r_258^0-r_258^post13 == 0 /\ r_188^0-r_188^post13 == 0 /\ rcd_363^0-rcd_363^post13 == 0 /\ -a_332^post13+a_332^0 == 0 /\ r_246^0-r_246^post13 == 0 /\ r_159^0-r_159^post13 == 0 /\ -r_274^post13+r_274^0 == 0 /\ y_22^0-y_22^post13 == 0 /\ -r_245^post13+r_245^0 == 0 /\ -result_11^post13+result_11^0 == 0 /\ -lt_17^post13+lt_17^0 == 0 /\ head_13^0-head_13^post13 == 0 /\ rcd_113^0-rcd_113^post13 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post13 == 0 /\ len_205^0-len_205^post13 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -a_388^post13+a_388^0 == 0 /\ lt_509^0-lt_509^post13 == 0 /\ a_358^0-a_358^post13 == 0 /\ -nondet_12^post13+nondet_12^0 == 0 /\ r_272^0-r_272^post13 == 0 /\ x_23^0-x_23^post13 == 0 /\ -temp0_34^post13+temp0_34^0 == 0 /\ -rcd_235^post13+rcd_235^0 == 0 /\ 1+r_167^0 <= 0 /\ -a_173^post13+a_173^0 == 0 /\ lt_397^0-lt_397^post13 == 0 /\ -len_297^post13+len_297^0 == 0 /\ -rcd_387^post13+rcd_387^0 == 0 /\ -r_247^post13+r_247^0 == 0 /\ t_24^0-t_24^post13 == 0 /\ -r_236^post13+r_236^0 == 0 /\ -rcd_244^post13+rcd_244^0 == 0 /\ -r_234^post13+r_234^0 == 0 /\ a_148^0-a_148^post13 == 0 /\ -rcd_427^post13+rcd_427^0 == 0 /\ r_196^0-r_196^post13 == 0 /\ r_252^0-r_252^post13 == 0 /\ rcd_46^0-rcd_46^post13 == 0 /\ rcd_409^0-rcd_409^post13 == 0 /\ r_266^0-r_266^post13 == 0 /\ r_167^0-r_167^post13 == 0 /\ -rcd_273^post13+rcd_273^0 == 0 /\ -ct_20^post13+ct_20^0 == 0 /\ a_220^0-a_220^post13 == 0 /\ -r_29^post13+r_29^0 == 0 /\ -tmp_37^post13+tmp_37^0 == 0 /\ -x_SLAM_f_21^post13+x_SLAM_f_21^0 == 0 /\ -len_275^post13+len_275^0 == 0 /\ -a_276^post13+a_276^0 == 0 /\ -rcd_253^post13+rcd_253^0 == 0 /\ c_28^0-c_28^post13 == 0 /\ -rcd_367^post13+rcd_367^0 == 0 /\ head_35^0-head_35^post13 == 0 /\ -temp0_18^post13+temp0_18^0 == 0 /\ i_33^0-i_33^post13 == 0 /\ rcd_105^0-rcd_105^post13 == 0 /\ r_243^0-r_243^post13 == 0 /\ l_27^0-l_27^post13 == 0), cost: 1
  14: l10 -> l11 : a_148^0'=a_148^post14, r_258^0'=r_258^post14, i_33^0'=i_33^post14, r_167^0'=r_167^post14, t_30^0'=t_30^post14, a_358^0'=a_358^post14, r_42^0'=r_42^post14, len_275^0'=len_275^post14, rcd_409^0'=rcd_409^post14, r_243^0'=r_243^post14, r_246^0'=r_246^post14, x_SLAM_f_21^0'=x_SLAM_f_21^post14, head_35^0'=head_35^post14, rcd_248^0'=rcd_248^post14, lt_509^0'=lt_509^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post14, a_220^0'=a_220^post14, r_272^0'=r_272^post14, rcd_363^0'=rcd_363^post14, r_196^0'=r_196^post14, temp0_34^0'=temp0_34^post14, c_28^0'=c_28^post14, rcd_113^0'=rcd_113^post14, length_32^0'=length_32^post14, rcd_46^0'=rcd_46^post14, r_252^0'=r_252^post14, i_120^0'=i_120^post14, rcd_273^0'=rcd_273^post14, r_159^0'=r_159^post14, t_24^0'=t_24^post14, a_332^0'=a_332^post14, r_29^0'=r_29^post14, len_205^0'=len_205^post14, rcd_387^0'=rcd_387^post14, r_236^0'=r_236^post14, tmp_37^0'=tmp_37^post14, x_23^0'=x_23^post14, head_13^0'=head_13^post14, rcd_244^0'=rcd_244^post14, lt_397^0'=lt_397^post14, result_11^0'=result_11^post14, a_173^0'=a_173^post14, r_266^0'=r_266^post14, l_27^0'=l_27^post14, r_188^0'=r_188^post14, temp0_18^0'=temp0_18^post14, a_388^0'=a_388^post14, rcd_105^0'=rcd_105^post14, len_297^0'=len_297^post14, rcd_427^0'=rcd_427^post14, r_245^0'=r_245^post14, r_247^0'=r_247^post14, y_22^0'=y_22^post14, i_111^0'=i_111^post14, rcd_253^0'=rcd_253^post14, nondet_12^0'=nondet_12^post14, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post14, a_276^0'=a_276^post14, r_274^0'=r_274^post14, rcd_367^0'=rcd_367^post14, r_234^0'=r_234^post14, temp_38^0'=temp_38^post14, x_19^0'=x_19^post14, ct_20^0'=ct_20^post14, rcd_235^0'=rcd_235^post14, lt_17^0'=lt_17^post14, rcd_70^0'=rcd_70^post14, (len_275^0-len_275^post14 == 0 /\ -rcd_367^post14+rcd_367^0 == 0 /\ c_28^0-c_28^post14 == 0 /\ -rcd_105^post14+rcd_105^0 == 0 /\ -rcd_46^post14+rcd_46^0 == 0 /\ 1-r_266^0 <= 0 /\ temp0_34^0-temp0_34^post14 == 0 /\ r_272^0-r_272^post14 == 0 /\ -a_220^post14+a_220^0 == 0 /\ -r_245^post14+r_245^0 == 0 /\ r_196^0-r_196^post14 == 0 /\ lt_509^0-lt_509^post14 == 0 /\ -temp_38^post14+temp_38^0 == 0 /\ -ct_20^post14+ct_20^0 == 0 /\ -i_111^post14+i_111^0 == 0 /\ t_24^0-t_24^post14 == 0 /\ -r_188^post14+r_188^0 == 0 /\ a_148^0-a_148^post14 == 0 /\ result_11^0-result_11^post14 == 0 /\ -a_173^post14+a_173^0 == 0 /\ rcd_244^0-rcd_244^post14 == 0 /\ rcd_253^0-rcd_253^post14 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ -rcd_70^post14+rcd_70^0 == 0 /\ -rcd_363^post14+rcd_363^0 == 0 /\ i_33^0-i_33^post14 == 0 /\ r_167^0-r_167^post14 == 0 /\ -a_388^post14+a_388^0 == 0 /\ r_252^0-r_252^post14 == 0 /\ a_276^0-a_276^post14 == 0 /\ rcd_387^0-rcd_387^post14 == 0 /\ -x_19^post14+x_19^0 == 0 /\ length_32^0-length_32^post14 == 0 /\ r_42^0-r_42^post14 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post14+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_243^0-r_243^post14 == 0 /\ -lt_17^post14+lt_17^0 == 0 /\ t_30^0-t_30^post14 == 0 /\ len_297^0-len_297^post14 == 0 /\ -len_205^post14+len_205^0 == 0 /\ -tmp_37^post14+tmp_37^0 == 0 /\ -rcd_409^post14+rcd_409^0 == 0 /\ -rcd_427^post14+rcd_427^0 == 0 /\ -r_159^post14+r_159^0 == 0 /\ r_246^0-r_246^post14 == 0 /\ -r_247^post14+r_247^0 == 0 /\ -lt_397^post14+lt_397^0 == 0 /\ a_332^0-a_332^post14 == 0 /\ temp0_18^0-temp0_18^post14 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post14 == 0 /\ r_236^0-r_236^post14 == 0 /\ r_258^0-r_258^post14 == 0 /\ -x_23^post14+x_23^0 == 0 /\ -l_27^post14+l_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post14 == 0 /\ a_358^0-a_358^post14 == 0 /\ head_35^0-head_35^post14 == 0 /\ -r_234^post14+r_234^0 == 0 /\ -r_29^post14+r_29^0 == 0 /\ -rcd_235^post14+rcd_235^0 == 0 /\ rcd_113^0-rcd_113^post14 == 0 /\ -r_274^post14+r_274^0 == 0 /\ i_120^0-i_120^post14 == 0 /\ rcd_248^0-rcd_248^post14 == 0 /\ head_13^0-head_13^post14 == 0 /\ -y_22^post14+y_22^0 == 0 /\ -rcd_273^post14+rcd_273^0 == 0 /\ -r_266^post14+r_266^0 == 0), cost: 1
  15: l10 -> l11 : a_148^0'=a_148^post15, r_258^0'=r_258^post15, i_33^0'=i_33^post15, r_167^0'=r_167^post15, t_30^0'=t_30^post15, a_358^0'=a_358^post15, r_42^0'=r_42^post15, len_275^0'=len_275^post15, rcd_409^0'=rcd_409^post15, r_243^0'=r_243^post15, r_246^0'=r_246^post15, x_SLAM_f_21^0'=x_SLAM_f_21^post15, head_35^0'=head_35^post15, rcd_248^0'=rcd_248^post15, lt_509^0'=lt_509^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post15, a_220^0'=a_220^post15, r_272^0'=r_272^post15, rcd_363^0'=rcd_363^post15, r_196^0'=r_196^post15, temp0_34^0'=temp0_34^post15, c_28^0'=c_28^post15, rcd_113^0'=rcd_113^post15, length_32^0'=length_32^post15, rcd_46^0'=rcd_46^post15, r_252^0'=r_252^post15, i_120^0'=i_120^post15, rcd_273^0'=rcd_273^post15, r_159^0'=r_159^post15, t_24^0'=t_24^post15, a_332^0'=a_332^post15, r_29^0'=r_29^post15, len_205^0'=len_205^post15, rcd_387^0'=rcd_387^post15, r_236^0'=r_236^post15, tmp_37^0'=tmp_37^post15, x_23^0'=x_23^post15, head_13^0'=head_13^post15, rcd_244^0'=rcd_244^post15, lt_397^0'=lt_397^post15, result_11^0'=result_11^post15, a_173^0'=a_173^post15, r_266^0'=r_266^post15, l_27^0'=l_27^post15, r_188^0'=r_188^post15, temp0_18^0'=temp0_18^post15, a_388^0'=a_388^post15, rcd_105^0'=rcd_105^post15, len_297^0'=len_297^post15, rcd_427^0'=rcd_427^post15, r_245^0'=r_245^post15, r_247^0'=r_247^post15, y_22^0'=y_22^post15, i_111^0'=i_111^post15, rcd_253^0'=rcd_253^post15, nondet_12^0'=nondet_12^post15, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post15, a_276^0'=a_276^post15, r_274^0'=r_274^post15, rcd_367^0'=rcd_367^post15, r_234^0'=r_234^post15, temp_38^0'=temp_38^post15, x_19^0'=x_19^post15, ct_20^0'=ct_20^post15, rcd_235^0'=rcd_235^post15, lt_17^0'=lt_17^post15, rcd_70^0'=rcd_70^post15, (-r_234^post15+r_234^0 == 0 /\ a_332^0-a_332^post15 == 0 /\ -head_13^post15+head_13^0 == 0 /\ rcd_113^0-rcd_113^post15 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post15 == 0 /\ -r_266^post15+r_266^0 == 0 /\ rcd_248^0-rcd_248^post15 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post15 == 0 /\ -rcd_367^post15+rcd_367^0 == 0 /\ -r_245^post15+r_245^0 == 0 /\ r_243^0-r_243^post15 == 0 /\ -rcd_235^post15+rcd_235^0 == 0 /\ t_30^0-t_30^post15 == 0 /\ -len_297^post15+len_297^0 == 0 /\ -temp0_18^post15+temp0_18^0 == 0 /\ r_167^0-r_167^post15 == 0 /\ -c_28^post15+c_28^0 == 0 /\ a_173^0-a_173^post15 == 0 /\ a_358^0-a_358^post15 == 0 /\ -r_252^post15+r_252^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post15+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_258^0-r_258^post15 == 0 /\ i_120^0-i_120^post15 == 0 /\ rcd_363^0-rcd_363^post15 == 0 /\ -temp_38^post15+temp_38^0 == 0 /\ rcd_46^0-rcd_46^post15 == 0 /\ rcd_273^0-rcd_273^post15 == 0 /\ r_274^0-r_274^post15 == 0 /\ -ct_20^post15+ct_20^0 == 0 /\ -rcd_387^post15+rcd_387^0 == 0 /\ -rcd_105^post15+rcd_105^0 == 0 /\ -r_247^post15+r_247^0 == 0 /\ -r_236^post15+r_236^0 == 0 /\ r_188^0-r_188^post15 == 0 /\ a_388^0-a_388^post15 == 0 /\ rcd_427^0-rcd_427^post15 == 0 /\ -lt_397^post15+lt_397^0 == 0 /\ -rcd_253^post15+rcd_253^0 == 0 /\ -a_276^post15+a_276^0 == 0 /\ -y_22^post15+y_22^0 == 0 /\ -t_24^post15+t_24^0 == 0 /\ lt_509^0-lt_509^post15 == 0 /\ r_29^0-r_29^post15 == 0 /\ -x_19^post15+x_19^0 == 0 /\ -r_196^post15+r_196^0 == 0 /\ head_35^0-head_35^post15 == 0 /\ result_11^0-result_11^post15 == 0 /\ tmp_37^0-tmp_37^post15 == 0 /\ -rcd_70^post15+rcd_70^0 == 0 /\ -rcd_409^post15+rcd_409^0 == 0 /\ -len_205^post15+len_205^0 == 0 /\ i_33^0-i_33^post15 == 0 /\ 1+r_266^0 <= 0 /\ a_220^0-a_220^post15 == 0 /\ rcd_244^0-rcd_244^post15 == 0 /\ length_32^0-length_32^post15 == 0 /\ -i_111^post15+i_111^0 == 0 /\ -r_272^post15+r_272^0 == 0 /\ r_42^0-r_42^post15 == 0 /\ len_275^0-len_275^post15 == 0 /\ -lt_17^post15+lt_17^0 == 0 /\ -x_23^post15+x_23^0 == 0 /\ a_148^0-a_148^post15 == 0 /\ r_159^0-r_159^post15 == 0 /\ r_246^0-r_246^post15 == 0 /\ temp0_34^0-temp0_34^post15 == 0 /\ -l_27^post15+l_27^0 == 0), cost: 1
  16: l11 -> l12 : a_148^0'=a_148^post16, r_258^0'=r_258^post16, i_33^0'=i_33^post16, r_167^0'=r_167^post16, t_30^0'=t_30^post16, a_358^0'=a_358^post16, r_42^0'=r_42^post16, len_275^0'=len_275^post16, rcd_409^0'=rcd_409^post16, r_243^0'=r_243^post16, r_246^0'=r_246^post16, x_SLAM_f_21^0'=x_SLAM_f_21^post16, head_35^0'=head_35^post16, rcd_248^0'=rcd_248^post16, lt_509^0'=lt_509^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post16, a_220^0'=a_220^post16, r_272^0'=r_272^post16, rcd_363^0'=rcd_363^post16, r_196^0'=r_196^post16, temp0_34^0'=temp0_34^post16, c_28^0'=c_28^post16, rcd_113^0'=rcd_113^post16, length_32^0'=length_32^post16, rcd_46^0'=rcd_46^post16, r_252^0'=r_252^post16, i_120^0'=i_120^post16, rcd_273^0'=rcd_273^post16, r_159^0'=r_159^post16, t_24^0'=t_24^post16, a_332^0'=a_332^post16, r_29^0'=r_29^post16, len_205^0'=len_205^post16, rcd_387^0'=rcd_387^post16, r_236^0'=r_236^post16, tmp_37^0'=tmp_37^post16, x_23^0'=x_23^post16, head_13^0'=head_13^post16, rcd_244^0'=rcd_244^post16, lt_397^0'=lt_397^post16, result_11^0'=result_11^post16, a_173^0'=a_173^post16, r_266^0'=r_266^post16, l_27^0'=l_27^post16, r_188^0'=r_188^post16, temp0_18^0'=temp0_18^post16, a_388^0'=a_388^post16, rcd_105^0'=rcd_105^post16, len_297^0'=len_297^post16, rcd_427^0'=rcd_427^post16, r_245^0'=r_245^post16, r_247^0'=r_247^post16, y_22^0'=y_22^post16, i_111^0'=i_111^post16, rcd_253^0'=rcd_253^post16, nondet_12^0'=nondet_12^post16, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post16, a_276^0'=a_276^post16, r_274^0'=r_274^post16, rcd_367^0'=rcd_367^post16, r_234^0'=r_234^post16, temp_38^0'=temp_38^post16, x_19^0'=x_19^post16, ct_20^0'=ct_20^post16, rcd_235^0'=rcd_235^post16, lt_17^0'=lt_17^post16, rcd_70^0'=rcd_70^post16, (head_35^0-head_35^post16 == 0 /\ -a_173^post16+a_173^0 == 0 /\ -rcd_387^post16+rcd_387^0 == 0 /\ r_266^0-r_266^post16 == 0 /\ r_29^0-r_29^post16 == 0 /\ rcd_409^0-rcd_409^post16 == 0 /\ r_159^0-r_159^post16 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post16+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post16+rcd_427^0 == 0 /\ -lt_17^post16+lt_17^0 == 0 /\ a_220^0-a_220^post16 == 0 /\ -r_236^post16+r_236^0 == 0 /\ a_358^0-a_358^post16 == 0 /\ -r_234^post16+r_234^0 == 0 /\ -rcd_244^post16+rcd_244^0 == 0 /\ c_28^0-c_28^post16 == 0 /\ -rcd_273^post16+rcd_273^0 == 0 /\ r_272^0-r_272^post16 == 0 /\ -a_276^post16+a_276^0 == 0 /\ length_32^0-length_32^post16 == 0 /\ -rcd_113^post16+rcd_113^0 == 0 /\ len_275^0-len_275^post16 == 0 /\ -ct_20^post16+ct_20^0 == 0 /\ -y_22^post16+y_22^0 == 0 /\ t_30^0-t_30^post16 == 0 /\ x_23^0-x_23^post16 == 0 /\ -rcd_253^post16+rcd_253^0 == 0 /\ r_247^0-r_247^post16 == 0 /\ r_196^0-r_196^post16 == 0 /\ -len_297^post16+len_297^0 == 0 /\ -lt_397^post16+lt_397^0 == 0 /\ -r_188^post16+r_188^0 == 0 /\ -i_120^post16+i_120^0 == 0 /\ -tmp_37^post16+tmp_37^0 == 0 /\ -rcd_367^post16+rcd_367^0 == 0 /\ -rcd_235^post16+rcd_235^0 == 0 /\ r_167^0-r_167^post16 == 0 /\ -x_19^post16+x_19^0 == 0 /\ r_252^0-r_252^post16 == 0 /\ -r_274^post16+r_274^0 == 0 /\ -temp_38^post16+temp_38^0 == 0 /\ a_148^0-a_148^post16 == 0 /\ -i_111^post16+i_111^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post16 == 0 /\ -result_11^post16+result_11^0 == 0 /\ len_205^0-len_205^post16 == 0 /\ l_27^0-l_27^post16 == 0 /\ i_33^0-i_33^post16 == 0 /\ -a_332^post16+a_332^0 == 0 /\ r_243^0-r_243^post16 == 0 /\ rcd_105^0-rcd_105^post16 == 0 /\ rcd_248^0-rcd_248^post16 == 0 /\ r_42^0-r_42^post16 == 0 /\ -r_245^post16+r_245^0 == 0 /\ lt_509^0-lt_509^post16 == 0 /\ -r_246^post16+r_246^0 == 0 /\ temp0_18^0-temp0_18^post16 == 0 /\ temp0_34^0-temp0_34^post16 == 0 /\ -head_13^post16+head_13^0 == 0 /\ -rcd_70^post16+rcd_70^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post16 == 0 /\ t_24^0-t_24^post16 == 0 /\ r_258^0-r_258^post16 == 0 /\ -nondet_12^post16+nondet_12^0 == 0 /\ 1-r_274^0 <= 0 /\ rcd_46^0-rcd_46^post16 == 0 /\ rcd_363^0-rcd_363^post16 == 0 /\ -a_388^post16+a_388^0 == 0), cost: 1
  17: l11 -> l12 : a_148^0'=a_148^post17, r_258^0'=r_258^post17, i_33^0'=i_33^post17, r_167^0'=r_167^post17, t_30^0'=t_30^post17, a_358^0'=a_358^post17, r_42^0'=r_42^post17, len_275^0'=len_275^post17, rcd_409^0'=rcd_409^post17, r_243^0'=r_243^post17, r_246^0'=r_246^post17, x_SLAM_f_21^0'=x_SLAM_f_21^post17, head_35^0'=head_35^post17, rcd_248^0'=rcd_248^post17, lt_509^0'=lt_509^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post17, a_220^0'=a_220^post17, r_272^0'=r_272^post17, rcd_363^0'=rcd_363^post17, r_196^0'=r_196^post17, temp0_34^0'=temp0_34^post17, c_28^0'=c_28^post17, rcd_113^0'=rcd_113^post17, length_32^0'=length_32^post17, rcd_46^0'=rcd_46^post17, r_252^0'=r_252^post17, i_120^0'=i_120^post17, rcd_273^0'=rcd_273^post17, r_159^0'=r_159^post17, t_24^0'=t_24^post17, a_332^0'=a_332^post17, r_29^0'=r_29^post17, len_205^0'=len_205^post17, rcd_387^0'=rcd_387^post17, r_236^0'=r_236^post17, tmp_37^0'=tmp_37^post17, x_23^0'=x_23^post17, head_13^0'=head_13^post17, rcd_244^0'=rcd_244^post17, lt_397^0'=lt_397^post17, result_11^0'=result_11^post17, a_173^0'=a_173^post17, r_266^0'=r_266^post17, l_27^0'=l_27^post17, r_188^0'=r_188^post17, temp0_18^0'=temp0_18^post17, a_388^0'=a_388^post17, rcd_105^0'=rcd_105^post17, len_297^0'=len_297^post17, rcd_427^0'=rcd_427^post17, r_245^0'=r_245^post17, r_247^0'=r_247^post17, y_22^0'=y_22^post17, i_111^0'=i_111^post17, rcd_253^0'=rcd_253^post17, nondet_12^0'=nondet_12^post17, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post17, a_276^0'=a_276^post17, r_274^0'=r_274^post17, rcd_367^0'=rcd_367^post17, r_234^0'=r_234^post17, temp_38^0'=temp_38^post17, x_19^0'=x_19^post17, ct_20^0'=ct_20^post17, rcd_235^0'=rcd_235^post17, lt_17^0'=lt_17^post17, rcd_70^0'=rcd_70^post17, (a_148^0-a_148^post17 == 0 /\ -r_159^post17+r_159^0 == 0 /\ len_205^0-len_205^post17 == 0 /\ r_252^0-r_252^post17 == 0 /\ -lt_17^post17+lt_17^0 == 0 /\ -rcd_427^post17+rcd_427^0 == 0 /\ r_245^0-r_245^post17 == 0 /\ result_11^0-result_11^post17 == 0 /\ l_27^0-l_27^post17 == 0 /\ i_33^0-i_33^post17 == 0 /\ -tmp_37^post17+tmp_37^0 == 0 /\ r_42^0-r_42^post17 == 0 /\ -rcd_253^post17+rcd_253^0 == 0 /\ i_120^0-i_120^post17 == 0 /\ 1+r_274^0 <= 0 /\ -a_276^post17+a_276^0 == 0 /\ rcd_113^0-rcd_113^post17 == 0 /\ -lt_397^post17+lt_397^0 == 0 /\ -r_266^post17+r_266^0 == 0 /\ -i_111^post17+i_111^0 == 0 /\ -length_32^post17+length_32^0 == 0 /\ c_28^0-c_28^post17 == 0 /\ rcd_46^0-rcd_46^post17 == 0 /\ -rcd_235^post17+rcd_235^0 == 0 /\ -temp0_18^post17+temp0_18^0 == 0 /\ r_243^0-r_243^post17 == 0 /\ y_22^0-y_22^post17 == 0 /\ rcd_387^0-rcd_387^post17 == 0 /\ lt_509^0-lt_509^post17 == 0 /\ -r_234^post17+r_234^0 == 0 /\ -rcd_273^post17+rcd_273^0 == 0 /\ t_30^0-t_30^post17 == 0 /\ -r_274^post17+r_274^0 == 0 /\ r_236^0-r_236^post17 == 0 /\ t_24^0-t_24^post17 == 0 /\ r_258^0-r_258^post17 == 0 /\ rcd_244^0-rcd_244^post17 == 0 /\ a_220^0-a_220^post17 == 0 /\ a_358^0-a_358^post17 == 0 /\ head_13^0-head_13^post17 == 0 /\ rcd_409^0-rcd_409^post17 == 0 /\ rcd_367^0-rcd_367^post17 == 0 /\ -rcd_105^post17+rcd_105^0 == 0 /\ -ct_20^post17+ct_20^0 == 0 /\ -r_188^post17+r_188^0 == 0 /\ -r_29^post17+r_29^0 == 0 /\ temp_38^0-temp_38^post17 == 0 /\ -x_SLAM_f_21^post17+x_SLAM_f_21^0 == 0 /\ -x_23^post17+x_23^0 == 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ -rcd_248^post17+rcd_248^0 == 0 /\ len_297^0-len_297^post17 == 0 /\ -rcd_363^post17+rcd_363^0 == 0 /\ r_246^0-r_246^post17 == 0 /\ -a_388^post17+a_388^0 == 0 /\ -rcd_70^post17+rcd_70^0 == 0 /\ r_196^0-r_196^post17 == 0 /\ r_272^0-r_272^post17 == 0 /\ a_332^0-a_332^post17 == 0 /\ -x_19^post17+x_19^0 == 0 /\ len_275^0-len_275^post17 == 0 /\ -r_247^post17+r_247^0 == 0 /\ -temp0_34^post17+temp0_34^0 == 0 /\ head_35^0-head_35^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post17 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post17+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_173^post17+a_173^0 == 0 /\ r_167^0-r_167^post17 == 0), cost: 1
  18: l12 -> l5 : a_148^0'=a_148^post18, r_258^0'=r_258^post18, i_33^0'=i_33^post18, r_167^0'=r_167^post18, t_30^0'=t_30^post18, a_358^0'=a_358^post18, r_42^0'=r_42^post18, len_275^0'=len_275^post18, rcd_409^0'=rcd_409^post18, r_243^0'=r_243^post18, r_246^0'=r_246^post18, x_SLAM_f_21^0'=x_SLAM_f_21^post18, head_35^0'=head_35^post18, rcd_248^0'=rcd_248^post18, lt_509^0'=lt_509^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post18, a_220^0'=a_220^post18, r_272^0'=r_272^post18, rcd_363^0'=rcd_363^post18, r_196^0'=r_196^post18, temp0_34^0'=temp0_34^post18, c_28^0'=c_28^post18, rcd_113^0'=rcd_113^post18, length_32^0'=length_32^post18, rcd_46^0'=rcd_46^post18, r_252^0'=r_252^post18, i_120^0'=i_120^post18, rcd_273^0'=rcd_273^post18, r_159^0'=r_159^post18, t_24^0'=t_24^post18, a_332^0'=a_332^post18, r_29^0'=r_29^post18, len_205^0'=len_205^post18, rcd_387^0'=rcd_387^post18, r_236^0'=r_236^post18, tmp_37^0'=tmp_37^post18, x_23^0'=x_23^post18, head_13^0'=head_13^post18, rcd_244^0'=rcd_244^post18, lt_397^0'=lt_397^post18, result_11^0'=result_11^post18, a_173^0'=a_173^post18, r_266^0'=r_266^post18, l_27^0'=l_27^post18, r_188^0'=r_188^post18, temp0_18^0'=temp0_18^post18, a_388^0'=a_388^post18, rcd_105^0'=rcd_105^post18, len_297^0'=len_297^post18, rcd_427^0'=rcd_427^post18, r_245^0'=r_245^post18, r_247^0'=r_247^post18, y_22^0'=y_22^post18, i_111^0'=i_111^post18, rcd_253^0'=rcd_253^post18, nondet_12^0'=nondet_12^post18, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post18, a_276^0'=a_276^post18, r_274^0'=r_274^post18, rcd_367^0'=rcd_367^post18, r_234^0'=r_234^post18, temp_38^0'=temp_38^post18, x_19^0'=x_19^post18, ct_20^0'=ct_20^post18, rcd_235^0'=rcd_235^post18, lt_17^0'=lt_17^post18, rcd_70^0'=rcd_70^post18, (0 == 0 /\ temp0_34^0-temp0_34^post18 == 0 /\ a_173^0-a_173^post18 == 0 /\ -t_24^post18+t_24^0 == 0 /\ -rcd_46^post18+rcd_273^0 <= 0 /\ length_32^0-length_32^post18 == 0 /\ -a_220^post18+a_276^0 <= 0 /\ -r_167^post18+r_274^0 <= 0 /\ rcd_409^0-rcd_409^post18 == 0 /\ rcd_273^0-rcd_273^post18 == 0 /\ -x_19^post18+x_19^0 == 0 /\ rcd_363^0-rcd_363^post18 == 0 /\ -r_274^post18+r_274^0 == 0 /\ -y_22^post18+y_22^0 == 0 /\ len_275^0-len_275^post18 == 0 /\ x_23^0-x_23^post18 == 0 /\ a_332^0-a_332^post18 == 0 /\ -lt_17^post18+lt_17^0 == 0 /\ rcd_113^0-rcd_113^post18 == 0 /\ rcd_248^0-rcd_248^post18 == 0 /\ r_272^0-r_272^post18 == 0 /\ rcd_46^post18-rcd_273^0 <= 0 /\ a_148^0-a_148^post18 == 0 /\ rcd_253^0-rcd_253^post18 == 0 /\ -r_159^post18+r_159^0 == 0 /\ a_220^post18-a_276^0 <= 0 /\ r_167^post18-r_274^0 <= 0 /\ -rcd_70^post18+rcd_70^0 == 0 /\ -result_11^post18+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post18 == 0 /\ r_29^0-r_29^post18 == 0 /\ lt_397^0-lt_397^post18 == 0 /\ tmp_37^0-tmp_37^post18 == 0 /\ i_111^0-i_111^post18 == 0 /\ -l_27^post18+l_27^0 == 0 /\ -len_297^post18+len_297^0 == 0 /\ -nondet_12^post18+nondet_12^0 == 0 /\ t_30^0-t_30^post18 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_244^0-rcd_244^post18 == 0 /\ i_120^0-i_120^post18 == 0 /\ -r_266^post18+r_266^0 == 0 /\ -head_13^post18+head_13^0 == 0 /\ -head_35^post18+head_35^0 == 0 /\ -rcd_235^post18+rcd_235^0 == 0 /\ r_246^0-r_246^post18 == 0 /\ r_258^0-r_258^post18 == 0 /\ -c_28^post18+c_28^0 == 0 /\ -temp0_18^post18+temp0_18^0 == 0 /\ r_234^0-r_234^post18 == 0 /\ -len_205^post18+len_275^0 <= 0 /\ r_252^0-r_252^post18 == 0 /\ -r_245^post18+r_245^0 == 0 /\ -r_272^0+r_42^post18 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post18+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_105^post18+rcd_105^0 == 0 /\ -rcd_387^post18+rcd_387^0 == 0 /\ -r_196^post18+r_196^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post18 == 0 /\ -rcd_367^post18+rcd_367^0 == 0 /\ r_236^0-r_236^post18 == 0 /\ -temp_38^post18+temp_38^0 == 0 /\ a_388^0-a_388^post18 == 0 /\ rcd_427^0-rcd_427^post18 == 0 /\ -r_188^post18+r_188^0 == 0 /\ r_243^0-r_243^post18 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -a_276^post18+a_276^0 == 0 /\ -ct_20^post18+ct_20^0 == 0 /\ -r_247^post18+r_247^0 == 0 /\ len_205^post18-len_275^0 <= 0 /\ i_33^0-i_33^post18 == 0 /\ lt_509^0-lt_509^post18 == 0 /\ a_358^0-a_358^post18 == 0 /\ r_272^0-r_42^post18 <= 0), cost: 1
  19: l5 -> l0 : a_148^0'=a_148^post19, r_258^0'=r_258^post19, i_33^0'=i_33^post19, r_167^0'=r_167^post19, t_30^0'=t_30^post19, a_358^0'=a_358^post19, r_42^0'=r_42^post19, len_275^0'=len_275^post19, rcd_409^0'=rcd_409^post19, r_243^0'=r_243^post19, r_246^0'=r_246^post19, x_SLAM_f_21^0'=x_SLAM_f_21^post19, head_35^0'=head_35^post19, rcd_248^0'=rcd_248^post19, lt_509^0'=lt_509^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post19, a_220^0'=a_220^post19, r_272^0'=r_272^post19, rcd_363^0'=rcd_363^post19, r_196^0'=r_196^post19, temp0_34^0'=temp0_34^post19, c_28^0'=c_28^post19, rcd_113^0'=rcd_113^post19, length_32^0'=length_32^post19, rcd_46^0'=rcd_46^post19, r_252^0'=r_252^post19, i_120^0'=i_120^post19, rcd_273^0'=rcd_273^post19, r_159^0'=r_159^post19, t_24^0'=t_24^post19, a_332^0'=a_332^post19, r_29^0'=r_29^post19, len_205^0'=len_205^post19, rcd_387^0'=rcd_387^post19, r_236^0'=r_236^post19, tmp_37^0'=tmp_37^post19, x_23^0'=x_23^post19, head_13^0'=head_13^post19, rcd_244^0'=rcd_244^post19, lt_397^0'=lt_397^post19, result_11^0'=result_11^post19, a_173^0'=a_173^post19, r_266^0'=r_266^post19, l_27^0'=l_27^post19, r_188^0'=r_188^post19, temp0_18^0'=temp0_18^post19, a_388^0'=a_388^post19, rcd_105^0'=rcd_105^post19, len_297^0'=len_297^post19, rcd_427^0'=rcd_427^post19, r_245^0'=r_245^post19, r_247^0'=r_247^post19, y_22^0'=y_22^post19, i_111^0'=i_111^post19, rcd_253^0'=rcd_253^post19, nondet_12^0'=nondet_12^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, a_276^0'=a_276^post19, r_274^0'=r_274^post19, rcd_367^0'=rcd_367^post19, r_234^0'=r_234^post19, temp_38^0'=temp_38^post19, x_19^0'=x_19^post19, ct_20^0'=ct_20^post19, rcd_235^0'=rcd_235^post19, lt_17^0'=lt_17^post19, rcd_70^0'=rcd_70^post19, (c_28^0-c_28^post19 == 0 /\ rcd_46^0-rcd_46^post19 == 0 /\ -temp_38^post19+temp_38^0 == 0 /\ -r_252^post19+r_252^0 == 0 /\ nondet_12^0-nondet_12^post19 == 0 /\ -ct_20^post19+ct_20^0 == 0 /\ -r_274^post19+r_274^0 == 0 /\ r_246^0-r_246^post19 == 0 /\ r_247^0-r_247^post19 == 0 /\ -a_332^post19+a_332^0 == 0 /\ r_188^0-r_188^post19 == 0 /\ r_196^0-r_196^post19 == 0 /\ r_159^0-r_159^post19 == 0 /\ -i_111^post19+i_111^0 == 0 /\ t_30^0-t_30^post19 == 0 /\ r_258^0-r_258^post19 == 0 /\ -r_272^post19+r_272^0 == 0 /\ -r_245^post19+r_245^0 == 0 /\ -rcd_70^post19+rcd_70^0 == 0 /\ -result_11^post19+result_11^0 == 0 /\ a_358^0-a_358^post19 == 0 /\ head_13^0-head_13^post19 == 0 /\ len_205^0-len_205^post19 == 0 /\ -a_388^post19+a_388^0 == 0 /\ i_33^0-i_33^post19 == 0 /\ a_220^0-a_220^post19 == 0 /\ -x_19^post19+x_19^0 == 0 /\ length_32^0-length_32^post19 == 0 /\ x_23^0-x_23^post19 == 0 /\ lt_397^0-lt_397^post19 == 0 /\ r_243^0-r_243^post19 == 0 /\ -lt_17^post19+lt_17^0 == 0 /\ rcd_273^0-rcd_273^post19 == 0 /\ len_275^0-len_275^post19 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post19+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_387^post19+rcd_387^0 == 0 /\ -lt_509^post19+lt_509^0 == 0 /\ -a_173^post19+a_173^0 == 0 /\ t_24^0-t_24^post19 == 0 /\ -rcd_244^post19+rcd_244^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post19 == 0 /\ rcd_363^0-rcd_363^post19 == 0 /\ -r_167^post19+r_167^0 == 0 /\ -rcd_427^post19+rcd_427^0 == 0 /\ -l_27^post19+l_27^0 == 0 /\ -rcd_113^post19+rcd_113^0 == 0 /\ -r_236^post19+r_236^0 == 0 /\ -r_234^post19+r_234^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post19 == 0 /\ head_35^0-head_35^post19 == 0 /\ r_266^0-r_266^post19 == 0 /\ -rcd_253^post19+rcd_253^0 == 0 /\ a_148^0-a_148^post19 == 0 /\ -rcd_235^post19+rcd_235^0 == 0 /\ -a_276^post19+a_276^0 == 0 /\ rcd_409^0-rcd_409^post19 == 0 /\ tmp_37^0-tmp_37^post19 == 0 /\ -rcd_367^post19+rcd_367^0 == 0 /\ -y_22^post19+y_22^0 == 0 /\ -r_29^post19+r_29^0 == 0 /\ temp0_34^0-temp0_34^post19 == 0 /\ -len_297^post19+len_297^0 == 0 /\ rcd_248^0-rcd_248^post19 == 0 /\ r_42^0-r_42^post19 == 0 /\ -temp0_18^post19+temp0_18^0 == 0 /\ -i_120^post19+i_120^0 == 0 /\ rcd_105^0-rcd_105^post19 == 0), cost: 1
  20: l13 -> l14 : a_148^0'=a_148^post20, r_258^0'=r_258^post20, i_33^0'=i_33^post20, r_167^0'=r_167^post20, t_30^0'=t_30^post20, a_358^0'=a_358^post20, r_42^0'=r_42^post20, len_275^0'=len_275^post20, rcd_409^0'=rcd_409^post20, r_243^0'=r_243^post20, r_246^0'=r_246^post20, x_SLAM_f_21^0'=x_SLAM_f_21^post20, head_35^0'=head_35^post20, rcd_248^0'=rcd_248^post20, lt_509^0'=lt_509^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post20, a_220^0'=a_220^post20, r_272^0'=r_272^post20, rcd_363^0'=rcd_363^post20, r_196^0'=r_196^post20, temp0_34^0'=temp0_34^post20, c_28^0'=c_28^post20, rcd_113^0'=rcd_113^post20, length_32^0'=length_32^post20, rcd_46^0'=rcd_46^post20, r_252^0'=r_252^post20, i_120^0'=i_120^post20, rcd_273^0'=rcd_273^post20, r_159^0'=r_159^post20, t_24^0'=t_24^post20, a_332^0'=a_332^post20, r_29^0'=r_29^post20, len_205^0'=len_205^post20, rcd_387^0'=rcd_387^post20, r_236^0'=r_236^post20, tmp_37^0'=tmp_37^post20, x_23^0'=x_23^post20, head_13^0'=head_13^post20, rcd_244^0'=rcd_244^post20, lt_397^0'=lt_397^post20, result_11^0'=result_11^post20, a_173^0'=a_173^post20, r_266^0'=r_266^post20, l_27^0'=l_27^post20, r_188^0'=r_188^post20, temp0_18^0'=temp0_18^post20, a_388^0'=a_388^post20, rcd_105^0'=rcd_105^post20, len_297^0'=len_297^post20, rcd_427^0'=rcd_427^post20, r_245^0'=r_245^post20, r_247^0'=r_247^post20, y_22^0'=y_22^post20, i_111^0'=i_111^post20, rcd_253^0'=rcd_253^post20, nondet_12^0'=nondet_12^post20, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post20, a_276^0'=a_276^post20, r_274^0'=r_274^post20, rcd_367^0'=rcd_367^post20, r_234^0'=r_234^post20, temp_38^0'=temp_38^post20, x_19^0'=x_19^post20, ct_20^0'=ct_20^post20, rcd_235^0'=rcd_235^post20, lt_17^0'=lt_17^post20, rcd_70^0'=rcd_70^post20, (0 == 0 /\ -r_234^post20+r_234^0 == 0 /\ ct_20^post20-y_22^post20 <= 0 /\ -r_245^post20+r_245^0 == 0 /\ len_275^0-len_275^post20 == 0 /\ -x_23^post20+lt_17^0 <= 0 /\ r_236^0-r_236^post20 == 0 /\ -rcd_235^post20+rcd_235^0 == 0 /\ -nondet_12^post20+nondet_12^0 == 0 /\ x_SLAM_f_21^post20-x_19^post20 <= 0 /\ x_SLAM_f_21^post20-x_19^post20 == 0 /\ -temp_38^post20+temp_38^0 == 0 /\ -rcd_367^post20+rcd_367^0 == 0 /\ -rcd_46^post20+rcd_46^0 == 0 /\ t_24^0-t_24^post20 == 0 /\ -r_188^post20+r_188^0 == 0 /\ -a_388^post20+a_388^0 == 0 /\ rcd_244^0-rcd_244^post20 == 0 /\ result_11^0-result_11^post20 == 0 /\ -a_173^post20+a_173^0 == 0 /\ -ct_20^post20 <= 0 /\ 2-len_297^0 <= 0 /\ -r_247^post20+r_247^0 == 0 /\ -ct_20^post20+y_22^post20 <= 0 /\ -ct_20^post20+y_22^post20 == 0 /\ c_28^0 <= 0 /\ rcd_363^0-rcd_363^post20 == 0 /\ r_252^0-r_252^post20 == 0 /\ -rcd_105^post20+rcd_105^0 == 0 /\ x_23^post20-lt_17^0 <= 0 /\ r_42^0-r_42^post20 == 0 /\ -a_173^0 <= 0 /\ rcd_387^0-rcd_387^post20 == 0 /\ a_148^0-a_148^post20 == 0 /\ -x_SLAM_f_21^post20+x_19^post20 <= 0 /\ rcd_113^0-rcd_113^post20 == 0 /\ temp0_34^0-temp0_34^post20 == 0 /\ rcd_46^0-rcd_409^post20 <= 0 /\ -y_22^post20 <= 0 /\ ct_20^post20 <= 0 /\ ct_20^post20 == 0 /\ r_196^0-r_196^post20 == 0 /\ -len_205^post20+len_205^0 == 0 /\ -rcd_253^post20+rcd_253^0 == 0 /\ -r_159^post20+r_159^0 == 0 /\ -i_33^post20+i_33^0 == 0 /\ r_272^0-r_272^post20 == 0 /\ -x_SLAM_f_21^post20+x_23^post20 <= 0 /\ -x_SLAM_f_21^post20+x_23^post20 == 0 /\ x_SLAM_f_21^post20-lt_17^0 <= 0 /\ -tmp_37^post20+tmp_37^0 == 0 /\ head_35^0-head_35^post20 == 0 /\ lt_509^0-lt_509^post20 == 0 /\ a_332^0-a_332^post20 == 0 /\ r_243^0-r_243^post20 == 0 /\ temp0_18^0-temp0_18^post20 == 0 /\ -x_19^post20+lt_17^0 <= 0 /\ -lt_397^post20+lt_397^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -a_276^post20+a_276^0 == 0 /\ -rcd_70^post20+rcd_70^0 == 0 /\ r_167^0-r_167^post20 == 0 /\ -rcd_46^0+rcd_409^post20 <= 0 /\ a_358^0-a_358^post20 == 0 /\ -r_274^post20+r_274^0 == 0 /\ a_220^0-a_220^post20 == 0 /\ -2+len_297^0 <= 0 /\ r_258^0-r_258^post20 == 0 /\ -length_32^post20+length_32^0 == 0 /\ -i_111^post20+i_111^0 == 0 /\ -rcd_427^post20+rcd_427^0 == 0 /\ x_SLAM_f_21^post20-x_23^post20 <= 0 /\ i_120^0-i_120^post20 == 0 /\ -x_SLAM_f_21^post20+lt_17^0 <= 0 /\ rcd_248^0-rcd_248^post20 == 0 /\ y_22^post20 <= 0 /\ x_19^post20-lt_17^0 <= 0 /\ x_19^post20-lt_17^0 == 0 /\ -c_28^0 <= 0 /\ r_246^0-r_246^post20 == 0 /\ head_13^0-head_13^post20 == 0 /\ -lt_17^post20+lt_17^0 == 0 /\ len_297^0-len_297^post20 == 0 /\ -r_266^post20+r_266^0 == 0 /\ -rcd_273^post20+rcd_273^0 == 0), cost: 1
  26: l13 -> l17 : a_148^0'=a_148^post26, r_258^0'=r_258^post26, i_33^0'=i_33^post26, r_167^0'=r_167^post26, t_30^0'=t_30^post26, a_358^0'=a_358^post26, r_42^0'=r_42^post26, len_275^0'=len_275^post26, rcd_409^0'=rcd_409^post26, r_243^0'=r_243^post26, r_246^0'=r_246^post26, x_SLAM_f_21^0'=x_SLAM_f_21^post26, head_35^0'=head_35^post26, rcd_248^0'=rcd_248^post26, lt_509^0'=lt_509^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post26, a_220^0'=a_220^post26, r_272^0'=r_272^post26, rcd_363^0'=rcd_363^post26, r_196^0'=r_196^post26, temp0_34^0'=temp0_34^post26, c_28^0'=c_28^post26, rcd_113^0'=rcd_113^post26, length_32^0'=length_32^post26, rcd_46^0'=rcd_46^post26, r_252^0'=r_252^post26, i_120^0'=i_120^post26, rcd_273^0'=rcd_273^post26, r_159^0'=r_159^post26, t_24^0'=t_24^post26, a_332^0'=a_332^post26, r_29^0'=r_29^post26, len_205^0'=len_205^post26, rcd_387^0'=rcd_387^post26, r_236^0'=r_236^post26, tmp_37^0'=tmp_37^post26, x_23^0'=x_23^post26, head_13^0'=head_13^post26, rcd_244^0'=rcd_244^post26, lt_397^0'=lt_397^post26, result_11^0'=result_11^post26, a_173^0'=a_173^post26, r_266^0'=r_266^post26, l_27^0'=l_27^post26, r_188^0'=r_188^post26, temp0_18^0'=temp0_18^post26, a_388^0'=a_388^post26, rcd_105^0'=rcd_105^post26, len_297^0'=len_297^post26, rcd_427^0'=rcd_427^post26, r_245^0'=r_245^post26, r_247^0'=r_247^post26, y_22^0'=y_22^post26, i_111^0'=i_111^post26, rcd_253^0'=rcd_253^post26, nondet_12^0'=nondet_12^post26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post26, a_276^0'=a_276^post26, r_274^0'=r_274^post26, rcd_367^0'=rcd_367^post26, r_234^0'=r_234^post26, temp_38^0'=temp_38^post26, x_19^0'=x_19^post26, ct_20^0'=ct_20^post26, rcd_235^0'=rcd_235^post26, lt_17^0'=lt_17^post26, rcd_70^0'=rcd_70^post26, (0 == 0 /\ c_28^0-c_28^post26 == 0 /\ -rcd_235^post26+rcd_235^0 == 0 /\ r_167^0-r_167^post26 == 0 /\ -r_245^post26+r_245^0 == 0 /\ rcd_46^0-rcd_46^post26 == 0 /\ r_272^0-r_272^post26 == 0 /\ -a_332^post26+a_332^0 == 0 /\ r_266^0-r_266^post26 == 0 /\ -len_297^post26+len_297^0 == 0 /\ -temp0_18^post26+temp0_18^0 == 0 /\ -r_247^post26+r_247^0 == 0 /\ -result_11^post26+result_11^0 == 0 /\ -r_234^post26+r_234^0 == 0 /\ lt_397^0-lt_397^post26 == 0 /\ -a_173^post26+a_173^0 == 0 /\ -r_252^post26+r_252^0 == 0 /\ a_358^0-a_358^post26 == 0 /\ -y_22^post26+y_22^0 == 0 /\ r_274^0-r_274^post26 == 0 /\ -rcd_367^post26+rcd_367^0 == 0 /\ a_220^0-a_220^post26 == 0 /\ r_159^0-r_159^post26 == 0 /\ -t_24^post26+t_24^0 == 0 /\ -rcd_387^post26+rcd_387^0 == 0 /\ i_33^0-i_33^post26 == 0 /\ -r_236^post26+r_236^0 == 0 /\ -ct_20^post26+ct_20^0 == 0 /\ r_29^0-r_29^post26 == 0 /\ -rcd_105^post26+rcd_105^0 == 0 /\ nondet_12^0-nondet_12^post26 == 0 /\ r_258^0-r_258^post26 == 0 /\ -a_173^0 <= 0 /\ -i_120^post26+i_120^0 == 0 /\ length_32^0-length_32^post26 == 0 /\ -rcd_244^post26+rcd_244^0 == 0 /\ x_23^0-x_23^post26 == 0 /\ -r_246^post26+r_246^0 == 0 /\ -a_276^post26+a_276^0 == 0 /\ -rcd_253^post26+rcd_253^0 == 0 /\ -r_243^post26+r_243^0 == 0 /\ -temp_38^post26+temp_38^0 == 0 /\ rcd_273^0-rcd_273^post26 == 0 /\ -i_111^post26+i_111^0 == 0 /\ -lt_509^post26+lt_509^0 == 0 /\ len_275^0-len_275^post26 == 0 /\ rcd_427^0-rcd_427^post26 == 0 /\ a_388^0-a_388^post26 == 0 /\ -x_19^post26+x_19^0 == 0 /\ -tmp_37^post26+tmp_37^0 == 0 /\ -rcd_113^post26+rcd_113^0 == 0 /\ -rcd_70^post26+rcd_70^0 == 0 /\ -a_148^post26+a_148^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post26 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post26 == 0 /\ rcd_409^0-rcd_409^post26 == 0 /\ temp0_34^0-temp0_34^post26 == 0 /\ len_205^0-len_205^post26 == 0 /\ rcd_363^0-rcd_363^post26 == 0 /\ head_35^0-head_35^post26 == 0 /\ -lt_17^post26+lt_17^0 == 0 /\ t_30^0-t_30^post26 == 0 /\ rcd_248^0-rcd_248^post26 == 0 /\ r_42^0-r_42^post26 == 0), cost: 1
  21: l14 -> l15 : a_148^0'=a_148^post21, r_258^0'=r_258^post21, i_33^0'=i_33^post21, r_167^0'=r_167^post21, t_30^0'=t_30^post21, a_358^0'=a_358^post21, r_42^0'=r_42^post21, len_275^0'=len_275^post21, rcd_409^0'=rcd_409^post21, r_243^0'=r_243^post21, r_246^0'=r_246^post21, x_SLAM_f_21^0'=x_SLAM_f_21^post21, head_35^0'=head_35^post21, rcd_248^0'=rcd_248^post21, lt_509^0'=lt_509^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post21, a_220^0'=a_220^post21, r_272^0'=r_272^post21, rcd_363^0'=rcd_363^post21, r_196^0'=r_196^post21, temp0_34^0'=temp0_34^post21, c_28^0'=c_28^post21, rcd_113^0'=rcd_113^post21, length_32^0'=length_32^post21, rcd_46^0'=rcd_46^post21, r_252^0'=r_252^post21, i_120^0'=i_120^post21, rcd_273^0'=rcd_273^post21, r_159^0'=r_159^post21, t_24^0'=t_24^post21, a_332^0'=a_332^post21, r_29^0'=r_29^post21, len_205^0'=len_205^post21, rcd_387^0'=rcd_387^post21, r_236^0'=r_236^post21, tmp_37^0'=tmp_37^post21, x_23^0'=x_23^post21, head_13^0'=head_13^post21, rcd_244^0'=rcd_244^post21, lt_397^0'=lt_397^post21, result_11^0'=result_11^post21, a_173^0'=a_173^post21, r_266^0'=r_266^post21, l_27^0'=l_27^post21, r_188^0'=r_188^post21, temp0_18^0'=temp0_18^post21, a_388^0'=a_388^post21, rcd_105^0'=rcd_105^post21, len_297^0'=len_297^post21, rcd_427^0'=rcd_427^post21, r_245^0'=r_245^post21, r_247^0'=r_247^post21, y_22^0'=y_22^post21, i_111^0'=i_111^post21, rcd_253^0'=rcd_253^post21, nondet_12^0'=nondet_12^post21, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post21, a_276^0'=a_276^post21, r_274^0'=r_274^post21, rcd_367^0'=rcd_367^post21, r_234^0'=r_234^post21, temp_38^0'=temp_38^post21, x_19^0'=x_19^post21, ct_20^0'=ct_20^post21, rcd_235^0'=rcd_235^post21, lt_17^0'=lt_17^post21, rcd_70^0'=rcd_70^post21, (r_167^0-r_167^post21 == 0 /\ i_111^0-i_111^post21 == 0 /\ -head_13^post21+head_13^0 == 0 /\ a_332^0-a_332^post21 == 0 /\ rcd_113^0-rcd_113^post21 == 0 /\ -rcd_363^post21+rcd_363^0 == 0 /\ -r_266^post21+r_266^0 == 0 /\ rcd_248^0-rcd_248^post21 == 0 /\ -len_297^post21+len_297^0 == 0 /\ -temp0_18^post21+temp0_18^0 == 0 /\ a_148^0-a_148^post21 == 0 /\ a_358^0-a_358^post21 == 0 /\ l_27^0-l_27^post21 == 0 /\ -lt_17^post21+lt_17^0 == 0 /\ -temp0_34^post21+temp0_34^0 == 0 /\ tmp_37^0-tmp_37^post21 == 0 /\ head_35^0-head_35^post21 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post21+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_272^0-r_272^post21 == 0 /\ -r_245^post21+r_245^0 == 0 /\ r_243^0-r_243^post21 == 0 /\ a_276^0-a_276^post21 == 0 /\ -r_234^post21+r_234^0 == 0 /\ lt_509^0-lt_509^post21 == 0 /\ -c_28^post21+c_28^0 == 0 /\ -y_22^post21+y_22^0 == 0 /\ a_173^0-a_173^post21 == 0 /\ -r_252^post21+r_252^0 == 0 /\ i_120^0-i_120^post21 == 0 /\ -rcd_105^post21+rcd_105^0 == 0 /\ -temp_38^post21+temp_38^0 == 0 /\ rcd_46^0-rcd_46^post21 == 0 /\ -r_247^post21+r_247^0 == 0 /\ -r_188^post21+r_188^0 == 0 /\ -rcd_253^post21+rcd_253^0 == 0 /\ r_258^0-r_258^post21 == 0 /\ -rcd_367^post21+rcd_367^0 == 0 /\ r_246^0-r_246^post21 == 0 /\ len_275^0-len_275^post21 == 0 /\ r_196^0-r_196^post21 == 0 /\ -rcd_235^post21+rcd_235^0 == 0 /\ -rcd_387^post21+rcd_387^0 == 0 /\ -lt_397^post21+lt_397^0 == 0 /\ -r_274^post21+r_274^0 == 0 /\ -x_19^post21+x_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post21 == 0 /\ -a_388^post21+a_388^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post21 == 0 /\ r_236^0-r_236^post21 == 0 /\ -t_24^post21+t_24^0 == 0 /\ -a_220^post21+a_220^0 == 0 /\ i_33^0-i_33^post21 == 0 /\ -ct_20^post21+ct_20^0 == 0 /\ r_29^0-r_29^post21 == 0 /\ 1-lt_17^0 <= 0 /\ result_11^0-result_11^post21 == 0 /\ -len_205^post21+len_205^0 == 0 /\ r_42^0-r_42^post21 == 0 /\ t_30^0-t_30^post21 == 0 /\ -rcd_427^post21+rcd_427^0 == 0 /\ rcd_244^0-rcd_244^post21 == 0 /\ length_32^0-length_32^post21 == 0 /\ -rcd_70^post21+rcd_70^0 == 0 /\ rcd_409^0-rcd_409^post21 == 0 /\ -nondet_12^post21+nondet_12^0 == 0 /\ r_159^0-r_159^post21 == 0 /\ rcd_273^0-rcd_273^post21 == 0 /\ -x_23^post21+x_23^0 == 0), cost: 1
  22: l14 -> l15 : a_148^0'=a_148^post22, r_258^0'=r_258^post22, i_33^0'=i_33^post22, r_167^0'=r_167^post22, t_30^0'=t_30^post22, a_358^0'=a_358^post22, r_42^0'=r_42^post22, len_275^0'=len_275^post22, rcd_409^0'=rcd_409^post22, r_243^0'=r_243^post22, r_246^0'=r_246^post22, x_SLAM_f_21^0'=x_SLAM_f_21^post22, head_35^0'=head_35^post22, rcd_248^0'=rcd_248^post22, lt_509^0'=lt_509^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post22, a_220^0'=a_220^post22, r_272^0'=r_272^post22, rcd_363^0'=rcd_363^post22, r_196^0'=r_196^post22, temp0_34^0'=temp0_34^post22, c_28^0'=c_28^post22, rcd_113^0'=rcd_113^post22, length_32^0'=length_32^post22, rcd_46^0'=rcd_46^post22, r_252^0'=r_252^post22, i_120^0'=i_120^post22, rcd_273^0'=rcd_273^post22, r_159^0'=r_159^post22, t_24^0'=t_24^post22, a_332^0'=a_332^post22, r_29^0'=r_29^post22, len_205^0'=len_205^post22, rcd_387^0'=rcd_387^post22, r_236^0'=r_236^post22, tmp_37^0'=tmp_37^post22, x_23^0'=x_23^post22, head_13^0'=head_13^post22, rcd_244^0'=rcd_244^post22, lt_397^0'=lt_397^post22, result_11^0'=result_11^post22, a_173^0'=a_173^post22, r_266^0'=r_266^post22, l_27^0'=l_27^post22, r_188^0'=r_188^post22, temp0_18^0'=temp0_18^post22, a_388^0'=a_388^post22, rcd_105^0'=rcd_105^post22, len_297^0'=len_297^post22, rcd_427^0'=rcd_427^post22, r_245^0'=r_245^post22, r_247^0'=r_247^post22, y_22^0'=y_22^post22, i_111^0'=i_111^post22, rcd_253^0'=rcd_253^post22, nondet_12^0'=nondet_12^post22, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post22, a_276^0'=a_276^post22, r_274^0'=r_274^post22, rcd_367^0'=rcd_367^post22, r_234^0'=r_234^post22, temp_38^0'=temp_38^post22, x_19^0'=x_19^post22, ct_20^0'=ct_20^post22, rcd_235^0'=rcd_235^post22, lt_17^0'=lt_17^post22, rcd_70^0'=rcd_70^post22, (r_258^0-r_258^post22 == 0 /\ -rcd_427^post22+rcd_427^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post22 == 0 /\ r_29^0-r_29^post22 == 0 /\ -rcd_387^post22+rcd_387^0 == 0 /\ r_159^0-r_159^post22 == 0 /\ -rcd_244^post22+rcd_244^0 == 0 /\ -lt_509^post22+lt_509^0 == 0 /\ -lt_17^post22+lt_17^0 == 0 /\ i_33^0-i_33^post22 == 0 /\ -r_236^post22+r_236^0 == 0 /\ r_42^0-r_42^post22 == 0 /\ -r_247^post22+r_247^0 == 0 /\ -rcd_253^post22+rcd_253^0 == 0 /\ c_28^0-c_28^post22 == 0 /\ -a_276^post22+a_276^0 == 0 /\ -len_297^post22+len_297^0 == 0 /\ length_32^0-length_32^post22 == 0 /\ -rcd_113^post22+rcd_113^0 == 0 /\ -rcd_235^post22+rcd_235^0 == 0 /\ rcd_273^0-rcd_273^post22 == 0 /\ x_23^0-x_23^post22 == 0 /\ -l_27^post22+l_27^0 == 0 /\ -r_234^post22+r_234^0 == 0 /\ -temp0_18^post22+temp0_18^0 == 0 /\ -tmp_37^post22+tmp_37^0 == 0 /\ -y_22^post22+y_22^0 == 0 /\ r_196^0-r_196^post22 == 0 /\ -r_274^post22+r_274^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post22 == 0 /\ 1+lt_17^0 <= 0 /\ t_30^0-t_30^post22 == 0 /\ -rcd_105^post22+rcd_105^0 == 0 /\ rcd_409^0-rcd_409^post22 == 0 /\ r_252^0-r_252^post22 == 0 /\ rcd_363^0-rcd_363^post22 == 0 /\ -i_120^post22+i_120^0 == 0 /\ -temp_38^post22+temp_38^0 == 0 /\ head_35^0-head_35^post22 == 0 /\ -result_11^post22+result_11^0 == 0 /\ temp0_34^0-temp0_34^post22 == 0 /\ len_205^0-len_205^post22 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ a_388^0-a_388^post22 == 0 /\ -r_272^post22+r_272^0 == 0 /\ -a_332^post22+a_332^0 == 0 /\ a_148^0-a_148^post22 == 0 /\ -a_358^post22+a_358^0 == 0 /\ -i_111^post22+i_111^0 == 0 /\ rcd_248^0-rcd_248^post22 == 0 /\ r_266^0-r_266^post22 == 0 /\ -rcd_367^post22+rcd_367^0 == 0 /\ a_220^0-a_220^post22 == 0 /\ ct_20^0-ct_20^post22 == 0 /\ -r_245^post22+r_245^0 == 0 /\ r_246^0-r_246^post22 == 0 /\ len_275^0-len_275^post22 == 0 /\ -head_13^post22+head_13^0 == 0 /\ -rcd_70^post22+rcd_70^0 == 0 /\ r_243^0-r_243^post22 == 0 /\ -x_19^post22+x_19^0 == 0 /\ lt_397^0-lt_397^post22 == 0 /\ t_24^0-t_24^post22 == 0 /\ r_167^0-r_167^post22 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post22+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_173^post22+a_173^0 == 0 /\ r_188^0-r_188^post22 == 0 /\ rcd_46^0-rcd_46^post22 == 0), cost: 1
  23: l15 -> l16 : a_148^0'=a_148^post23, r_258^0'=r_258^post23, i_33^0'=i_33^post23, r_167^0'=r_167^post23, t_30^0'=t_30^post23, a_358^0'=a_358^post23, r_42^0'=r_42^post23, len_275^0'=len_275^post23, rcd_409^0'=rcd_409^post23, r_243^0'=r_243^post23, r_246^0'=r_246^post23, x_SLAM_f_21^0'=x_SLAM_f_21^post23, head_35^0'=head_35^post23, rcd_248^0'=rcd_248^post23, lt_509^0'=lt_509^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post23, a_220^0'=a_220^post23, r_272^0'=r_272^post23, rcd_363^0'=rcd_363^post23, r_196^0'=r_196^post23, temp0_34^0'=temp0_34^post23, c_28^0'=c_28^post23, rcd_113^0'=rcd_113^post23, length_32^0'=length_32^post23, rcd_46^0'=rcd_46^post23, r_252^0'=r_252^post23, i_120^0'=i_120^post23, rcd_273^0'=rcd_273^post23, r_159^0'=r_159^post23, t_24^0'=t_24^post23, a_332^0'=a_332^post23, r_29^0'=r_29^post23, len_205^0'=len_205^post23, rcd_387^0'=rcd_387^post23, r_236^0'=r_236^post23, tmp_37^0'=tmp_37^post23, x_23^0'=x_23^post23, head_13^0'=head_13^post23, rcd_244^0'=rcd_244^post23, lt_397^0'=lt_397^post23, result_11^0'=result_11^post23, a_173^0'=a_173^post23, r_266^0'=r_266^post23, l_27^0'=l_27^post23, r_188^0'=r_188^post23, temp0_18^0'=temp0_18^post23, a_388^0'=a_388^post23, rcd_105^0'=rcd_105^post23, len_297^0'=len_297^post23, rcd_427^0'=rcd_427^post23, r_245^0'=r_245^post23, r_247^0'=r_247^post23, y_22^0'=y_22^post23, i_111^0'=i_111^post23, rcd_253^0'=rcd_253^post23, nondet_12^0'=nondet_12^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post23, a_276^0'=a_276^post23, r_274^0'=r_274^post23, rcd_367^0'=rcd_367^post23, r_234^0'=r_234^post23, temp_38^0'=temp_38^post23, x_19^0'=x_19^post23, ct_20^0'=ct_20^post23, rcd_235^0'=rcd_235^post23, lt_17^0'=lt_17^post23, rcd_70^0'=rcd_70^post23, (-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -r_159^post23+r_159^0 == 0 /\ -rcd_253^post23+rcd_253^0 == 0 /\ temp0_34^0-temp0_34^post23 == 0 /\ -rcd_70^post23+rcd_70^0 == 0 /\ len_205^0-len_205^post23 == 0 /\ r_252^0-r_252^post23 == 0 /\ r_247^0-r_247^post23 == 0 /\ a_220^0-a_220^post23 == 0 /\ -tmp_37^post23+tmp_37^0 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ i_33^0-i_33^post23 == 0 /\ len_275^0-len_275^post23 == 0 /\ a_148^0-a_148^post23 == 0 /\ -r_274^post23+r_274^0 == 0 /\ -lt_397^post23+lt_397^0 == 0 /\ -x_19^post23+x_19^0 == 0 /\ -a_388^post23+a_388^0 == 0 /\ rcd_409^0-rcd_409^post23 == 0 /\ rcd_113^0-rcd_113^post23 == 0 /\ head_13^0-head_13^post23 == 0 /\ -y_22^post23+y_22^0 == 0 /\ -lt_17^post23+lt_17^0 == 0 /\ -length_32^post23+length_32^0 == 0 /\ c_28^0-c_28^post23 == 0 /\ rcd_46^0-rcd_46^post23 == 0 /\ 1-r_167^0 <= 0 /\ -x_23^post23+x_23^0 == 0 /\ rcd_387^0-rcd_387^post23 == 0 /\ head_35^0-head_35^post23 == 0 /\ -r_266^post23+r_266^0 == 0 /\ r_167^0-r_167^post23 == 0 /\ -rcd_273^post23+rcd_273^0 == 0 /\ -i_111^post23+i_111^0 == 0 /\ -rcd_427^post23+rcd_427^0 == 0 /\ t_24^0-t_24^post23 == 0 /\ r_236^0-r_236^post23 == 0 /\ -result_11^post23+result_11^0 == 0 /\ -l_27^post23+l_27^0 == 0 /\ rcd_105^0-rcd_105^post23 == 0 /\ temp0_18^0-temp0_18^post23 == 0 /\ -r_245^post23+r_245^0 == 0 /\ -r_234^post23+r_234^0 == 0 /\ r_258^0-r_258^post23 == 0 /\ i_120^0-i_120^post23 == 0 /\ -r_29^post23+r_29^0 == 0 /\ -r_42^post23+r_42^0 == 0 /\ -len_297^post23+len_297^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post23+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_246^0-r_246^post23 == 0 /\ -temp_38^post23+temp_38^0 == 0 /\ -r_243^post23+r_243^0 == 0 /\ -rcd_248^post23+rcd_248^0 == 0 /\ -r_188^post23+r_188^0 == 0 /\ -rcd_367^post23+rcd_367^0 == 0 /\ -rcd_363^post23+rcd_363^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post23 == 0 /\ -ct_20^post23+ct_20^0 == 0 /\ r_196^0-r_196^post23 == 0 /\ r_272^0-r_272^post23 == 0 /\ rcd_235^0-rcd_235^post23 == 0 /\ -a_173^post23+a_173^0 == 0 /\ t_30^0-t_30^post23 == 0 /\ a_332^0-a_332^post23 == 0 /\ lt_509^0-lt_509^post23 == 0 /\ -a_276^post23+a_276^0 == 0 /\ -rcd_244^post23+rcd_244^0 == 0 /\ a_358^0-a_358^post23 == 0), cost: 1
  24: l15 -> l16 : a_148^0'=a_148^post24, r_258^0'=r_258^post24, i_33^0'=i_33^post24, r_167^0'=r_167^post24, t_30^0'=t_30^post24, a_358^0'=a_358^post24, r_42^0'=r_42^post24, len_275^0'=len_275^post24, rcd_409^0'=rcd_409^post24, r_243^0'=r_243^post24, r_246^0'=r_246^post24, x_SLAM_f_21^0'=x_SLAM_f_21^post24, head_35^0'=head_35^post24, rcd_248^0'=rcd_248^post24, lt_509^0'=lt_509^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post24, a_220^0'=a_220^post24, r_272^0'=r_272^post24, rcd_363^0'=rcd_363^post24, r_196^0'=r_196^post24, temp0_34^0'=temp0_34^post24, c_28^0'=c_28^post24, rcd_113^0'=rcd_113^post24, length_32^0'=length_32^post24, rcd_46^0'=rcd_46^post24, r_252^0'=r_252^post24, i_120^0'=i_120^post24, rcd_273^0'=rcd_273^post24, r_159^0'=r_159^post24, t_24^0'=t_24^post24, a_332^0'=a_332^post24, r_29^0'=r_29^post24, len_205^0'=len_205^post24, rcd_387^0'=rcd_387^post24, r_236^0'=r_236^post24, tmp_37^0'=tmp_37^post24, x_23^0'=x_23^post24, head_13^0'=head_13^post24, rcd_244^0'=rcd_244^post24, lt_397^0'=lt_397^post24, result_11^0'=result_11^post24, a_173^0'=a_173^post24, r_266^0'=r_266^post24, l_27^0'=l_27^post24, r_188^0'=r_188^post24, temp0_18^0'=temp0_18^post24, a_388^0'=a_388^post24, rcd_105^0'=rcd_105^post24, len_297^0'=len_297^post24, rcd_427^0'=rcd_427^post24, r_245^0'=r_245^post24, r_247^0'=r_247^post24, y_22^0'=y_22^post24, i_111^0'=i_111^post24, rcd_253^0'=rcd_253^post24, nondet_12^0'=nondet_12^post24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post24, a_276^0'=a_276^post24, r_274^0'=r_274^post24, rcd_367^0'=rcd_367^post24, r_234^0'=r_234^post24, temp_38^0'=temp_38^post24, x_19^0'=x_19^post24, ct_20^0'=ct_20^post24, rcd_235^0'=rcd_235^post24, lt_17^0'=lt_17^post24, rcd_70^0'=rcd_70^post24, (r_42^0-r_42^post24 == 0 /\ -a_388^post24+a_388^0 == 0 /\ i_120^0-i_120^post24 == 0 /\ t_30^0-t_30^post24 == 0 /\ r_243^0-r_243^post24 == 0 /\ -t_24^post24+t_24^0 == 0 /\ length_32^0-length_32^post24 == 0 /\ -r_274^post24+r_274^0 == 0 /\ r_246^0-r_246^post24 == 0 /\ -rcd_367^post24+rcd_367^0 == 0 /\ rcd_244^0-rcd_244^post24 == 0 /\ -ct_20^post24+ct_20^0 == 0 /\ -i_111^post24+i_111^0 == 0 /\ rcd_363^0-rcd_363^post24 == 0 /\ y_22^0-y_22^post24 == 0 /\ r_258^0-r_258^post24 == 0 /\ -rcd_105^post24+rcd_105^0 == 0 /\ r_245^0-r_245^post24 == 0 /\ a_332^0-a_332^post24 == 0 /\ rcd_113^0-rcd_113^post24 == 0 /\ rcd_248^0-rcd_248^post24 == 0 /\ r_272^0-r_272^post24 == 0 /\ -r_159^post24+r_159^0 == 0 /\ -nondet_12^post24+nondet_12^0 == 0 /\ -len_205^post24+len_205^0 == 0 /\ a_358^0-a_358^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post24 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post24 == 0 /\ -rcd_46^post24+rcd_46^0 == 0 /\ -head_13^post24+head_13^0 == 0 /\ -x_23^post24+x_23^0 == 0 /\ tmp_37^0-tmp_37^post24 == 0 /\ -x_19^post24+x_19^0 == 0 /\ -rcd_70^post24+rcd_70^0 == 0 /\ -temp0_18^post24+temp0_18^0 == 0 /\ i_33^0-i_33^post24 == 0 /\ -a_173^post24+a_173^0 == 0 /\ -rcd_427^post24+rcd_427^0 == 0 /\ 1+r_167^0 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post24 == 0 /\ r_252^0-r_252^post24 == 0 /\ -c_28^post24+c_28^0 == 0 /\ rcd_409^0-rcd_409^post24 == 0 /\ -r_266^post24+r_266^0 == 0 /\ -r_247^post24+r_247^0 == 0 /\ rcd_273^0-rcd_273^post24 == 0 /\ -temp0_34^post24+temp0_34^0 == 0 /\ -r_196^post24+r_196^0 == 0 /\ rcd_387^0-rcd_387^post24 == 0 /\ -r_234^post24+r_234^0 == 0 /\ head_35^0-head_35^post24 == 0 /\ -a_276^post24+a_276^0 == 0 /\ -len_275^post24+len_275^0 == 0 /\ -a_220^post24+a_220^0 == 0 /\ r_236^0-r_236^post24 == 0 /\ -rcd_253^post24+rcd_253^0 == 0 /\ r_167^0-r_167^post24 == 0 /\ a_148^0-a_148^post24 == 0 /\ l_27^0-l_27^post24 == 0 /\ -rcd_235^post24+rcd_235^0 == 0 /\ -lt_397^post24+lt_397^0 == 0 /\ result_11^0-result_11^post24 == 0 /\ -len_297^post24+len_297^0 == 0 /\ lt_509^0-lt_509^post24 == 0 /\ lt_17^0-lt_17^post24 == 0 /\ -r_188^post24+r_188^0 == 0 /\ -temp_38^post24+temp_38^0 == 0 /\ r_29^0-r_29^post24 == 0), cost: 1
  25: l16 -> l1 : a_148^0'=a_148^post25, r_258^0'=r_258^post25, i_33^0'=i_33^post25, r_167^0'=r_167^post25, t_30^0'=t_30^post25, a_358^0'=a_358^post25, r_42^0'=r_42^post25, len_275^0'=len_275^post25, rcd_409^0'=rcd_409^post25, r_243^0'=r_243^post25, r_246^0'=r_246^post25, x_SLAM_f_21^0'=x_SLAM_f_21^post25, head_35^0'=head_35^post25, rcd_248^0'=rcd_248^post25, lt_509^0'=lt_509^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post25, a_220^0'=a_220^post25, r_272^0'=r_272^post25, rcd_363^0'=rcd_363^post25, r_196^0'=r_196^post25, temp0_34^0'=temp0_34^post25, c_28^0'=c_28^post25, rcd_113^0'=rcd_113^post25, length_32^0'=length_32^post25, rcd_46^0'=rcd_46^post25, r_252^0'=r_252^post25, i_120^0'=i_120^post25, rcd_273^0'=rcd_273^post25, r_159^0'=r_159^post25, t_24^0'=t_24^post25, a_332^0'=a_332^post25, r_29^0'=r_29^post25, len_205^0'=len_205^post25, rcd_387^0'=rcd_387^post25, r_236^0'=r_236^post25, tmp_37^0'=tmp_37^post25, x_23^0'=x_23^post25, head_13^0'=head_13^post25, rcd_244^0'=rcd_244^post25, lt_397^0'=lt_397^post25, result_11^0'=result_11^post25, a_173^0'=a_173^post25, r_266^0'=r_266^post25, l_27^0'=l_27^post25, r_188^0'=r_188^post25, temp0_18^0'=temp0_18^post25, a_388^0'=a_388^post25, rcd_105^0'=rcd_105^post25, len_297^0'=len_297^post25, rcd_427^0'=rcd_427^post25, r_245^0'=r_245^post25, r_247^0'=r_247^post25, y_22^0'=y_22^post25, i_111^0'=i_111^post25, rcd_253^0'=rcd_253^post25, nondet_12^0'=nondet_12^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, a_276^0'=a_276^post25, r_274^0'=r_274^post25, rcd_367^0'=rcd_367^post25, r_234^0'=r_234^post25, temp_38^0'=temp_38^post25, x_19^0'=x_19^post25, ct_20^0'=ct_20^post25, rcd_235^0'=rcd_235^post25, lt_17^0'=lt_17^post25, rcd_70^0'=rcd_70^post25, (0 == 0 /\ rcd_273^0-rcd_273^post25 == 0 /\ c_28^0-c_28^post25 == 0 /\ -ct_20^post25+ct_20^0 == 0 /\ -r_252^post25+r_252^0 == 0 /\ len_275^0-len_275^post25 == 0 /\ lt_397^0-lt_397^post25 == 0 /\ x_23^0-x_23^post25 == 0 /\ r_246^0-r_246^post25 == 0 /\ -i_120^post25+i_120^0 == 0 /\ r_196^0-r_196^post25 == 0 /\ i_111^0-i_111^post25 == 0 /\ -rcd_367^post25+rcd_367^0 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -r_272^post25+r_272^0 == 0 /\ -rcd_235^post25+rcd_235^0 == 0 /\ -a_332^post25+a_332^0 == 0 /\ -head_13^post25+head_13^0 == 0 /\ -temp_38^post25+temp_38^0 == 0 /\ -x_19^post25+x_19^0 == 0 /\ -r_247^post25+r_247^0 == 0 /\ a_276^0-a_276^post25 == 0 /\ r_29^0-r_29^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post25+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_159^0-r_159^post25 == 0 /\ i_33^0-i_33^post25 == 0 /\ -t_24^post25+t_24^0 == 0 /\ temp0_34^0-temp0_34^post25 == 0 /\ -rcd_105^post25+rcd_105^0 == 0 /\ r_42^0-r_42^post25 == 0 /\ a_148^0-a_148^post25 == 0 /\ -r_245^post25+r_245^0 == 0 /\ a_220^0-a_220^post25 == 0 /\ rcd_253^0-rcd_253^post25 == 0 /\ len_297^0-len_297^post25 == 0 /\ length_32^0-length_32^post25 == 0 /\ -rcd_244^post25+rcd_244^0 == 0 /\ -y_22^post25+y_22^0 == 0 /\ r_243^0-r_243^post25 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ r_167^0-r_167^post25 == 0 /\ -lt_509^post25+lt_509^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post25 == 0 /\ r_188^0-r_188^post25 == 0 /\ rcd_363^0-rcd_363^post25 == 0 /\ -rcd_387^post25+rcd_387^0 == 0 /\ -rcd_409^0+rcd_46^post25 <= 0 /\ t_30^0-t_30^post25 == 0 /\ -r_236^post25+r_236^0 == 0 /\ -a_388^post25+a_388^0 == 0 /\ -rcd_113^post25+rcd_113^0 == 0 /\ -rcd_409^post25+rcd_409^0 == 0 /\ a_358^0-a_358^post25 == 0 /\ -r_266^post25+r_266^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post25 == 0 /\ head_35^0-head_35^post25 == 0 /\ -r_274^post25+r_274^0 == 0 /\ r_258^0-r_258^post25 == 0 /\ -temp0_18^post25+temp0_18^0 == 0 /\ tmp_37^0-tmp_37^post25 == 0 /\ a_173^0-a_173^post25 == 0 /\ -lt_17^post25+lt_17^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -l_27^post25+l_27^0 == 0 /\ rcd_248^0-rcd_248^post25 == 0 /\ rcd_409^0-rcd_46^post25 <= 0 /\ -r_234^post25+r_234^0 == 0 /\ rcd_70^0-rcd_70^post25 == 0 /\ len_205^0-len_205^post25 == 0 /\ -rcd_427^post25+rcd_427^0 == 0), cost: 1
  27: l17 -> l18 : a_148^0'=a_148^post27, r_258^0'=r_258^post27, i_33^0'=i_33^post27, r_167^0'=r_167^post27, t_30^0'=t_30^post27, a_358^0'=a_358^post27, r_42^0'=r_42^post27, len_275^0'=len_275^post27, rcd_409^0'=rcd_409^post27, r_243^0'=r_243^post27, r_246^0'=r_246^post27, x_SLAM_f_21^0'=x_SLAM_f_21^post27, head_35^0'=head_35^post27, rcd_248^0'=rcd_248^post27, lt_509^0'=lt_509^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post27, a_220^0'=a_220^post27, r_272^0'=r_272^post27, rcd_363^0'=rcd_363^post27, r_196^0'=r_196^post27, temp0_34^0'=temp0_34^post27, c_28^0'=c_28^post27, rcd_113^0'=rcd_113^post27, length_32^0'=length_32^post27, rcd_46^0'=rcd_46^post27, r_252^0'=r_252^post27, i_120^0'=i_120^post27, rcd_273^0'=rcd_273^post27, r_159^0'=r_159^post27, t_24^0'=t_24^post27, a_332^0'=a_332^post27, r_29^0'=r_29^post27, len_205^0'=len_205^post27, rcd_387^0'=rcd_387^post27, r_236^0'=r_236^post27, tmp_37^0'=tmp_37^post27, x_23^0'=x_23^post27, head_13^0'=head_13^post27, rcd_244^0'=rcd_244^post27, lt_397^0'=lt_397^post27, result_11^0'=result_11^post27, a_173^0'=a_173^post27, r_266^0'=r_266^post27, l_27^0'=l_27^post27, r_188^0'=r_188^post27, temp0_18^0'=temp0_18^post27, a_388^0'=a_388^post27, rcd_105^0'=rcd_105^post27, len_297^0'=len_297^post27, rcd_427^0'=rcd_427^post27, r_245^0'=r_245^post27, r_247^0'=r_247^post27, y_22^0'=y_22^post27, i_111^0'=i_111^post27, rcd_253^0'=rcd_253^post27, nondet_12^0'=nondet_12^post27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_276^0'=a_276^post27, r_274^0'=r_274^post27, rcd_367^0'=rcd_367^post27, r_234^0'=r_234^post27, temp_38^0'=temp_38^post27, x_19^0'=x_19^post27, ct_20^0'=ct_20^post27, rcd_235^0'=rcd_235^post27, lt_17^0'=lt_17^post27, rcd_70^0'=rcd_70^post27, (rcd_387^0-rcd_387^post27 == 0 /\ rcd_113^0-rcd_113^post27 == 0 /\ -r_29^post27+r_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post27+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_236^0-r_236^post27 == 0 /\ a_148^0-a_148^post27 == 0 /\ -temp0_34^post27+temp0_34^0 == 0 /\ r_167^0-r_167^post27 == 0 /\ -rcd_244^post27+rcd_244^0 == 0 /\ -r_245^post27+r_245^0 == 0 /\ -lt_17^post27+lt_17^0 == 0 /\ -rcd_427^post27+rcd_427^0 == 0 /\ -l_27^post27+l_27^0 == 0 /\ -r_247^post27+r_247^0 == 0 /\ -r_234^post27+r_234^0 == 0 /\ -a_332^post27+a_332^0 == 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ rcd_273^0-rcd_273^post27 == 0 /\ -tmp_37^post27+tmp_37^0 == 0 /\ -rcd_253^post27+rcd_253^0 == 0 /\ t_24^0-t_24^post27 == 0 /\ -a_276^post27+a_276^0 == 0 /\ len_205^0-len_205^post27 == 0 /\ r_42^0-r_42^post27 == 0 /\ rcd_363^0-rcd_363^post27 == 0 /\ r_274^0-r_274^post27 == 0 /\ t_30^0-t_30^post27 == 0 /\ -y_22^post27+y_22^0 == 0 /\ -rcd_367^post27+rcd_367^0 == 0 /\ rcd_46^0-rcd_46^post27 == 0 /\ r_258^0-r_258^post27 == 0 /\ -x_SLAM_f_21^post27+x_SLAM_f_21^0 == 0 /\ -rcd_235^post27+rcd_235^0 == 0 /\ -temp0_18^post27+temp0_18^0 == 0 /\ rcd_409^0-rcd_409^post27 == 0 /\ -len_297^post27+len_297^0 == 0 /\ r_266^0-r_266^post27 == 0 /\ -temp_38^post27+temp_38^0 == 0 /\ -i_120^post27+i_120^0 == 0 /\ r_272^0-r_272^post27 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -r_243^post27+r_243^0 == 0 /\ a_388^0-a_388^post27 == 0 /\ -i_111^post27+i_111^0 == 0 /\ c_28^0-c_28^post27 == 0 /\ -rcd_248^post27+rcd_248^0 == 0 /\ -length_32^post27+length_32^0 == 0 /\ lt_509^0-lt_509^post27 == 0 /\ -rcd_105^post27+rcd_105^0 == 0 /\ head_35^0-head_35^post27 == 0 /\ -i_33^post27+i_33^0 == 0 /\ -ct_20^post27+ct_20^0 == 0 /\ a_358^0-a_358^post27 == 0 /\ a_173^0-a_173^post27 == 0 /\ -r_159^post27+r_159^0 == 0 /\ -result_11^post27+result_11^0 == 0 /\ lt_397^0-lt_397^post27 == 0 /\ a_220^0-a_220^post27 == 0 /\ r_188^0-r_188^post27 == 0 /\ 1-c_28^0 <= 0 /\ r_252^0-r_252^post27 == 0 /\ r_246^0-r_246^post27 == 0 /\ -head_13^post27+head_13^0 == 0 /\ len_275^0-len_275^post27 == 0 /\ -rcd_70^post27+rcd_70^0 == 0 /\ x_23^0-x_23^post27 == 0 /\ -x_19^post27+x_19^0 == 0 /\ r_196^0-r_196^post27 == 0), cost: 1
  28: l17 -> l18 : a_148^0'=a_148^post28, r_258^0'=r_258^post28, i_33^0'=i_33^post28, r_167^0'=r_167^post28, t_30^0'=t_30^post28, a_358^0'=a_358^post28, r_42^0'=r_42^post28, len_275^0'=len_275^post28, rcd_409^0'=rcd_409^post28, r_243^0'=r_243^post28, r_246^0'=r_246^post28, x_SLAM_f_21^0'=x_SLAM_f_21^post28, head_35^0'=head_35^post28, rcd_248^0'=rcd_248^post28, lt_509^0'=lt_509^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post28, a_220^0'=a_220^post28, r_272^0'=r_272^post28, rcd_363^0'=rcd_363^post28, r_196^0'=r_196^post28, temp0_34^0'=temp0_34^post28, c_28^0'=c_28^post28, rcd_113^0'=rcd_113^post28, length_32^0'=length_32^post28, rcd_46^0'=rcd_46^post28, r_252^0'=r_252^post28, i_120^0'=i_120^post28, rcd_273^0'=rcd_273^post28, r_159^0'=r_159^post28, t_24^0'=t_24^post28, a_332^0'=a_332^post28, r_29^0'=r_29^post28, len_205^0'=len_205^post28, rcd_387^0'=rcd_387^post28, r_236^0'=r_236^post28, tmp_37^0'=tmp_37^post28, x_23^0'=x_23^post28, head_13^0'=head_13^post28, rcd_244^0'=rcd_244^post28, lt_397^0'=lt_397^post28, result_11^0'=result_11^post28, a_173^0'=a_173^post28, r_266^0'=r_266^post28, l_27^0'=l_27^post28, r_188^0'=r_188^post28, temp0_18^0'=temp0_18^post28, a_388^0'=a_388^post28, rcd_105^0'=rcd_105^post28, len_297^0'=len_297^post28, rcd_427^0'=rcd_427^post28, r_245^0'=r_245^post28, r_247^0'=r_247^post28, y_22^0'=y_22^post28, i_111^0'=i_111^post28, rcd_253^0'=rcd_253^post28, nondet_12^0'=nondet_12^post28, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, a_276^0'=a_276^post28, r_274^0'=r_274^post28, rcd_367^0'=rcd_367^post28, r_234^0'=r_234^post28, temp_38^0'=temp_38^post28, x_19^0'=x_19^post28, ct_20^0'=ct_20^post28, rcd_235^0'=rcd_235^post28, lt_17^0'=lt_17^post28, rcd_70^0'=rcd_70^post28, (-a_276^post28+a_276^0 == 0 /\ -c_28^post28+c_28^0 == 0 /\ r_167^0-r_167^post28 == 0 /\ a_358^0-a_358^post28 == 0 /\ -y_22^post28+y_22^0 == 0 /\ rcd_409^0-rcd_409^post28 == 0 /\ r_272^0-r_272^post28 == 0 /\ tmp_37^0-tmp_37^post28 == 0 /\ -rcd_70^post28+rcd_70^0 == 0 /\ -r_159^post28+r_159^0 == 0 /\ 1+c_28^0 <= 0 /\ rcd_387^0-rcd_387^post28 == 0 /\ -lt_397^post28+lt_397^0 == 0 /\ r_266^0-r_266^post28 == 0 /\ head_13^0-head_13^post28 == 0 /\ -len_205^post28+len_205^0 == 0 /\ -rcd_363^post28+rcd_363^0 == 0 /\ -temp0_34^post28+temp0_34^0 == 0 /\ length_32^0-length_32^post28 == 0 /\ -a_388^post28+a_388^0 == 0 /\ -rcd_235^post28+rcd_235^0 == 0 /\ len_275^0-len_275^post28 == 0 /\ -rcd_253^post28+rcd_253^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 == 0 /\ -x_23^post28+x_23^0 == 0 /\ -r_274^post28+r_274^0 == 0 /\ -head_35^post28+head_35^0 == 0 /\ -i_111^post28+i_111^0 == 0 /\ r_246^0-r_246^post28 == 0 /\ -lt_17^post28+lt_17^0 == 0 /\ -rcd_427^post28+rcd_427^0 == 0 /\ r_196^0-r_196^post28 == 0 /\ -r_234^post28+r_234^0 == 0 /\ -r_29^post28+r_29^0 == 0 /\ r_258^0-r_258^post28 == 0 /\ a_332^0-a_332^post28 == 0 /\ -rcd_273^post28+rcd_273^0 == 0 /\ l_27^0-l_27^post28 == 0 /\ -result_11^post28+result_11^0 == 0 /\ -a_220^post28+a_220^0 == 0 /\ r_236^0-r_236^post28 == 0 /\ r_252^0-r_252^post28 == 0 /\ -ct_20^post28+ct_20^0 == 0 /\ rcd_113^0-rcd_113^post28 == 0 /\ rcd_105^0-rcd_105^post28 == 0 /\ -r_245^post28+r_245^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post28 == 0 /\ i_33^0-i_33^post28 == 0 /\ i_120^0-i_120^post28 == 0 /\ -rcd_46^post28+rcd_46^0 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ -len_297^post28+len_297^0 == 0 /\ a_148^0-a_148^post28 == 0 /\ -temp_38^post28+temp_38^0 == 0 /\ -rcd_367^post28+rcd_367^0 == 0 /\ -r_188^post28+r_188^0 == 0 /\ rcd_248^0-rcd_248^post28 == 0 /\ r_42^0-r_42^post28 == 0 /\ -x_19^post28+x_19^0 == 0 /\ t_30^0-t_30^post28 == 0 /\ -a_173^post28+a_173^0 == 0 /\ lt_509^0-lt_509^post28 == 0 /\ -r_247^post28+r_247^0 == 0 /\ r_243^0-r_243^post28 == 0 /\ -t_24^post28+t_24^0 == 0 /\ temp0_18^0-temp0_18^post28 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post28 == 0 /\ -rcd_244^post28+rcd_244^0 == 0), cost: 1
  29: l18 -> l19 : a_148^0'=a_148^post29, r_258^0'=r_258^post29, i_33^0'=i_33^post29, r_167^0'=r_167^post29, t_30^0'=t_30^post29, a_358^0'=a_358^post29, r_42^0'=r_42^post29, len_275^0'=len_275^post29, rcd_409^0'=rcd_409^post29, r_243^0'=r_243^post29, r_246^0'=r_246^post29, x_SLAM_f_21^0'=x_SLAM_f_21^post29, head_35^0'=head_35^post29, rcd_248^0'=rcd_248^post29, lt_509^0'=lt_509^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post29, a_220^0'=a_220^post29, r_272^0'=r_272^post29, rcd_363^0'=rcd_363^post29, r_196^0'=r_196^post29, temp0_34^0'=temp0_34^post29, c_28^0'=c_28^post29, rcd_113^0'=rcd_113^post29, length_32^0'=length_32^post29, rcd_46^0'=rcd_46^post29, r_252^0'=r_252^post29, i_120^0'=i_120^post29, rcd_273^0'=rcd_273^post29, r_159^0'=r_159^post29, t_24^0'=t_24^post29, a_332^0'=a_332^post29, r_29^0'=r_29^post29, len_205^0'=len_205^post29, rcd_387^0'=rcd_387^post29, r_236^0'=r_236^post29, tmp_37^0'=tmp_37^post29, x_23^0'=x_23^post29, head_13^0'=head_13^post29, rcd_244^0'=rcd_244^post29, lt_397^0'=lt_397^post29, result_11^0'=result_11^post29, a_173^0'=a_173^post29, r_266^0'=r_266^post29, l_27^0'=l_27^post29, r_188^0'=r_188^post29, temp0_18^0'=temp0_18^post29, a_388^0'=a_388^post29, rcd_105^0'=rcd_105^post29, len_297^0'=len_297^post29, rcd_427^0'=rcd_427^post29, r_245^0'=r_245^post29, r_247^0'=r_247^post29, y_22^0'=y_22^post29, i_111^0'=i_111^post29, rcd_253^0'=rcd_253^post29, nondet_12^0'=nondet_12^post29, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post29, a_276^0'=a_276^post29, r_274^0'=r_274^post29, rcd_367^0'=rcd_367^post29, r_234^0'=r_234^post29, temp_38^0'=temp_38^post29, x_19^0'=x_19^post29, ct_20^0'=ct_20^post29, rcd_235^0'=rcd_235^post29, lt_17^0'=lt_17^post29, rcd_70^0'=rcd_70^post29, (-lt_397^post29+lt_397^0 == 0 /\ -i_111^post29+i_111^0 == 0 /\ -a_388^post29+a_388^0 == 0 /\ -rcd_113^post29+rcd_113^0 == 0 /\ i_120^0-i_120^post29 == 0 /\ r_258^0-r_258^post29 == 0 /\ -rcd_253^post29+rcd_253^0 == 0 /\ -x_19^post29+x_19^0 == 0 /\ i_33^0-i_33^post29 == 0 /\ rcd_244^0-rcd_244^post29 == 0 /\ rcd_248^0-rcd_248^post29 == 0 /\ r_42^0-r_42^post29 == 0 /\ -r_196^post29+r_196^0 == 0 /\ r_246^0-r_246^post29 == 0 /\ -c_28^0+t_30^post29 == 0 /\ r_245^0-r_245^post29 == 0 /\ -r_274^post29+r_274^0 == 0 /\ -t_24^post29+t_24^0 == 0 /\ -rcd_70^post29+rcd_70^0 == 0 /\ -r_272^post29+r_272^0 == 0 /\ -len_205^post29+len_205^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post29 == 0 /\ a_332^0-a_332^post29 == 0 /\ -rcd_427^post29+rcd_427^0 == 0 /\ c_28^0-c_28^post29 == 0 /\ rcd_46^0-rcd_46^post29 == 0 /\ -lt_509^post29+lt_509^0 == 0 /\ -lt_17^post29+lt_17^0 == 0 /\ a_276^0-a_276^post29 == 0 /\ -x_23^post29+x_23^0 == 0 /\ r_243^0-r_243^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ rcd_363^0-rcd_363^post29 == 0 /\ -head_13^post29+head_13^0 == 0 /\ a_220^0-a_220^post29 == 0 /\ tmp_37^0-tmp_37^post29 == 0 /\ rcd_409^0-rcd_409^post29 == 0 /\ -r_266^post29+r_266^0 == 0 /\ -rcd_235^post29+rcd_235^0 == 0 /\ -a_358^post29+a_358^0 == 0 /\ t_30^post29-r_29^post29 <= 0 /\ -l_27^post29+l_27^0 == 0 /\ -temp0_18^post29+temp0_18^0 == 0 /\ -r_234^post29+r_234^0 == 0 /\ length_32^0-length_32^post29 == 0 /\ len_297^0-len_297^post29 == 0 /\ -r_252^post29+r_252^0 == 0 /\ rcd_367^0-rcd_367^post29 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post29+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_159^0-r_159^post29 == 0 /\ -a_173^post29+a_173^0 == 0 /\ a_148^0-a_148^post29 == 0 /\ temp0_34^0-temp0_34^post29 == 0 /\ -head_13^0+l_27^0 <= 0 /\ rcd_273^0-rcd_273^post29 == 0 /\ -y_22^post29+y_22^0 == 0 /\ rcd_387^0-rcd_387^post29 == 0 /\ -t_30^post29+r_29^post29 <= 0 /\ -t_30^post29+r_29^post29 == 0 /\ -rcd_105^post29+rcd_105^0 == 0 /\ len_275^0-len_275^post29 == 0 /\ -ct_20^post29+ct_20^0 == 0 /\ -r_247^post29+r_247^0 == 0 /\ -r_236^post29+r_236^0 == 0 /\ -temp_38^post29+temp_38^0 == 0 /\ -r_188^post29+r_188^0 == 0 /\ head_35^0-head_35^post29 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post29 == 0 /\ head_13^0-l_27^0 <= 0 /\ result_11^0-result_11^post29 == 0 /\ r_167^0-r_167^post29 == 0), cost: 1
  30: l19 -> l20 : a_148^0'=a_148^post30, r_258^0'=r_258^post30, i_33^0'=i_33^post30, r_167^0'=r_167^post30, t_30^0'=t_30^post30, a_358^0'=a_358^post30, r_42^0'=r_42^post30, len_275^0'=len_275^post30, rcd_409^0'=rcd_409^post30, r_243^0'=r_243^post30, r_246^0'=r_246^post30, x_SLAM_f_21^0'=x_SLAM_f_21^post30, head_35^0'=head_35^post30, rcd_248^0'=rcd_248^post30, lt_509^0'=lt_509^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post30, a_220^0'=a_220^post30, r_272^0'=r_272^post30, rcd_363^0'=rcd_363^post30, r_196^0'=r_196^post30, temp0_34^0'=temp0_34^post30, c_28^0'=c_28^post30, rcd_113^0'=rcd_113^post30, length_32^0'=length_32^post30, rcd_46^0'=rcd_46^post30, r_252^0'=r_252^post30, i_120^0'=i_120^post30, rcd_273^0'=rcd_273^post30, r_159^0'=r_159^post30, t_24^0'=t_24^post30, a_332^0'=a_332^post30, r_29^0'=r_29^post30, len_205^0'=len_205^post30, rcd_387^0'=rcd_387^post30, r_236^0'=r_236^post30, tmp_37^0'=tmp_37^post30, x_23^0'=x_23^post30, head_13^0'=head_13^post30, rcd_244^0'=rcd_244^post30, lt_397^0'=lt_397^post30, result_11^0'=result_11^post30, a_173^0'=a_173^post30, r_266^0'=r_266^post30, l_27^0'=l_27^post30, r_188^0'=r_188^post30, temp0_18^0'=temp0_18^post30, a_388^0'=a_388^post30, rcd_105^0'=rcd_105^post30, len_297^0'=len_297^post30, rcd_427^0'=rcd_427^post30, r_245^0'=r_245^post30, r_247^0'=r_247^post30, y_22^0'=y_22^post30, i_111^0'=i_111^post30, rcd_253^0'=rcd_253^post30, nondet_12^0'=nondet_12^post30, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post30, a_276^0'=a_276^post30, r_274^0'=r_274^post30, rcd_367^0'=rcd_367^post30, r_234^0'=r_234^post30, temp_38^0'=temp_38^post30, x_19^0'=x_19^post30, ct_20^0'=ct_20^post30, rcd_235^0'=rcd_235^post30, lt_17^0'=lt_17^post30, rcd_70^0'=rcd_70^post30, (-rcd_105^post30+rcd_105^0 == 0 /\ r_243^0-r_243^post30 == 0 /\ temp0_34^0-temp0_34^post30 == 0 /\ rcd_273^0-rcd_273^post30 == 0 /\ -length_32^post30+length_32^0 == 0 /\ -x_19^post30+x_19^0 == 0 /\ -i_120^post30+i_120^0 == 0 /\ -rcd_367^post30+rcd_367^0 == 0 /\ -temp_38^post30+temp_38^0 == 0 /\ x_23^0-x_23^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ lt_397^0-lt_397^post30 == 0 /\ -result_11^post30+result_11^0 == 0 /\ rcd_409^0-rcd_409^post30 == 0 /\ rcd_363^0-rcd_363^post30 == 0 /\ -a_332^post30+a_332^0 == 0 /\ len_275^0-len_275^post30 == 0 /\ -i_111^post30+i_111^0 == 0 /\ rcd_113^0-rcd_113^post30 == 0 /\ r_167^0-r_167^post30 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ r_29^0-r_29^post30 == 0 /\ r_159^0-r_159^post30 == 0 /\ a_148^0-a_148^post30 == 0 /\ -head_13^post30+head_13^0 == 0 /\ r_274^0-r_274^post30 == 0 /\ -rcd_70^post30+rcd_70^0 == 0 /\ 1-t_30^0 <= 0 /\ r_272^0-r_272^post30 == 0 /\ -t_24^post30+t_24^0 == 0 /\ head_35^0-head_35^post30 == 0 /\ -r_245^post30+r_245^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post30+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_42^post30+r_42^0 == 0 /\ -rcd_387^post30+rcd_387^0 == 0 /\ r_234^0-r_234^post30 == 0 /\ -r_236^post30+r_236^0 == 0 /\ -rcd_244^post30+rcd_244^0 == 0 /\ t_30^0-t_30^post30 == 0 /\ r_246^0-r_246^post30 == 0 /\ -lt_17^post30+lt_17^0 == 0 /\ r_258^0-r_258^post30 == 0 /\ -a_276^post30+a_276^0 == 0 /\ r_188^0-r_188^post30 == 0 /\ -r_247^post30+r_247^0 == 0 /\ rcd_46^0-rcd_46^post30 == 0 /\ r_196^0-r_196^post30 == 0 /\ rcd_427^0-rcd_427^post30 == 0 /\ r_252^0-r_252^post30 == 0 /\ -len_297^post30+len_297^0 == 0 /\ -l_27^post30+l_27^0 == 0 /\ -ct_20^post30+ct_20^0 == 0 /\ -tmp_37^post30+tmp_37^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post30 == 0 /\ -r_266^post30+r_266^0 == 0 /\ a_358^0-a_358^post30 == 0 /\ len_205^0-len_205^post30 == 0 /\ -rcd_253^post30+rcd_253^0 == 0 /\ a_220^0-a_220^post30 == 0 /\ a_388^0-a_388^post30 == 0 /\ -temp0_18^post30+temp0_18^0 == 0 /\ a_173^0-a_173^post30 == 0 /\ c_28^0-c_28^post30 == 0 /\ i_33^0-i_33^post30 == 0 /\ -y_22^post30+y_22^0 == 0 /\ rcd_248^0-rcd_248^post30 == 0 /\ -rcd_235^post30+rcd_235^0 == 0 /\ lt_509^0-lt_509^post30 == 0), cost: 1
  31: l19 -> l20 : a_148^0'=a_148^post31, r_258^0'=r_258^post31, i_33^0'=i_33^post31, r_167^0'=r_167^post31, t_30^0'=t_30^post31, a_358^0'=a_358^post31, r_42^0'=r_42^post31, len_275^0'=len_275^post31, rcd_409^0'=rcd_409^post31, r_243^0'=r_243^post31, r_246^0'=r_246^post31, x_SLAM_f_21^0'=x_SLAM_f_21^post31, head_35^0'=head_35^post31, rcd_248^0'=rcd_248^post31, lt_509^0'=lt_509^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post31, a_220^0'=a_220^post31, r_272^0'=r_272^post31, rcd_363^0'=rcd_363^post31, r_196^0'=r_196^post31, temp0_34^0'=temp0_34^post31, c_28^0'=c_28^post31, rcd_113^0'=rcd_113^post31, length_32^0'=length_32^post31, rcd_46^0'=rcd_46^post31, r_252^0'=r_252^post31, i_120^0'=i_120^post31, rcd_273^0'=rcd_273^post31, r_159^0'=r_159^post31, t_24^0'=t_24^post31, a_332^0'=a_332^post31, r_29^0'=r_29^post31, len_205^0'=len_205^post31, rcd_387^0'=rcd_387^post31, r_236^0'=r_236^post31, tmp_37^0'=tmp_37^post31, x_23^0'=x_23^post31, head_13^0'=head_13^post31, rcd_244^0'=rcd_244^post31, lt_397^0'=lt_397^post31, result_11^0'=result_11^post31, a_173^0'=a_173^post31, r_266^0'=r_266^post31, l_27^0'=l_27^post31, r_188^0'=r_188^post31, temp0_18^0'=temp0_18^post31, a_388^0'=a_388^post31, rcd_105^0'=rcd_105^post31, len_297^0'=len_297^post31, rcd_427^0'=rcd_427^post31, r_245^0'=r_245^post31, r_247^0'=r_247^post31, y_22^0'=y_22^post31, i_111^0'=i_111^post31, rcd_253^0'=rcd_253^post31, nondet_12^0'=nondet_12^post31, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post31, a_276^0'=a_276^post31, r_274^0'=r_274^post31, rcd_367^0'=rcd_367^post31, r_234^0'=r_234^post31, temp_38^0'=temp_38^post31, x_19^0'=x_19^post31, ct_20^0'=ct_20^post31, rcd_235^0'=rcd_235^post31, lt_17^0'=lt_17^post31, rcd_70^0'=rcd_70^post31, (r_188^0-r_188^post31 == 0 /\ c_28^0-c_28^post31 == 0 /\ -rcd_367^post31+rcd_367^0 == 0 /\ -rcd_273^post31+rcd_273^0 == 0 /\ -result_11^post31+result_11^0 == 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ lt_509^0-lt_509^post31 == 0 /\ -r_245^post31+r_245^0 == 0 /\ r_246^0-r_246^post31 == 0 /\ -ct_20^post31+ct_20^0 == 0 /\ -a_220^post31+a_220^0 == 0 /\ r_243^0-r_243^post31 == 0 /\ rcd_387^0-rcd_387^post31 == 0 /\ r_196^0-r_196^post31 == 0 /\ -r_29^post31+r_29^0 == 0 /\ r_167^0-r_167^post31 == 0 /\ -len_297^post31+len_297^0 == 0 /\ -i_120^post31+i_120^0 == 0 /\ t_30^0-t_30^post31 == 0 /\ r_258^0-r_258^post31 == 0 /\ r_247^0-r_247^post31 == 0 /\ -temp_38^post31+temp_38^0 == 0 /\ -temp0_34^post31+temp0_34^0 == 0 /\ -rcd_248^post31+rcd_248^0 == 0 /\ len_205^0-len_205^post31 == 0 /\ -rcd_70^post31+rcd_70^0 == 0 /\ a_358^0-a_358^post31 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post31+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -x_19^post31+x_19^0 == 0 /\ -a_173^post31+a_173^0 == 0 /\ -rcd_244^post31+rcd_244^0 == 0 /\ -a_332^post31+a_332^0 == 0 /\ i_33^0-i_33^post31 == 0 /\ head_13^0-head_13^post31 == 0 /\ -tmp_37^post31+tmp_37^0 == 0 /\ -a_276^post31+a_276^0 == 0 /\ rcd_46^0-rcd_46^post31 == 0 /\ -lt_17^post31+lt_17^0 == 0 /\ -lt_397^post31+lt_397^0 == 0 /\ -y_22^post31+y_22^0 == 0 /\ -rcd_363^post31+rcd_363^0 == 0 /\ 1+t_30^0 <= 0 /\ r_236^0-r_236^post31 == 0 /\ -rcd_253^post31+rcd_253^0 == 0 /\ -a_388^post31+a_388^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post31 == 0 /\ -len_275^post31+len_275^0 == 0 /\ t_24^0-t_24^post31 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post31 == 0 /\ a_148^0-a_148^post31 == 0 /\ r_159^0-r_159^post31 == 0 /\ -length_32^post31+length_32^0 == 0 /\ temp0_18^0-temp0_18^post31 == 0 /\ r_252^0-r_252^post31 == 0 /\ -rcd_235^post31+rcd_235^0 == 0 /\ -r_274^post31+r_274^0 == 0 /\ head_35^0-head_35^post31 == 0 /\ rcd_409^0-rcd_409^post31 == 0 /\ rcd_105^0-rcd_105^post31 == 0 /\ -r_234^post31+r_234^0 == 0 /\ x_23^0-x_23^post31 == 0 /\ r_266^0-r_266^post31 == 0 /\ rcd_113^0-rcd_113^post31 == 0 /\ r_272^0-r_272^post31 == 0 /\ -i_111^post31+i_111^0 == 0 /\ -l_27^post31+l_27^0 == 0 /\ -rcd_427^post31+rcd_427^0 == 0 /\ r_42^0-r_42^post31 == 0), cost: 1
  32: l20 -> l21 : a_148^0'=a_148^post32, r_258^0'=r_258^post32, i_33^0'=i_33^post32, r_167^0'=r_167^post32, t_30^0'=t_30^post32, a_358^0'=a_358^post32, r_42^0'=r_42^post32, len_275^0'=len_275^post32, rcd_409^0'=rcd_409^post32, r_243^0'=r_243^post32, r_246^0'=r_246^post32, x_SLAM_f_21^0'=x_SLAM_f_21^post32, head_35^0'=head_35^post32, rcd_248^0'=rcd_248^post32, lt_509^0'=lt_509^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post32, a_220^0'=a_220^post32, r_272^0'=r_272^post32, rcd_363^0'=rcd_363^post32, r_196^0'=r_196^post32, temp0_34^0'=temp0_34^post32, c_28^0'=c_28^post32, rcd_113^0'=rcd_113^post32, length_32^0'=length_32^post32, rcd_46^0'=rcd_46^post32, r_252^0'=r_252^post32, i_120^0'=i_120^post32, rcd_273^0'=rcd_273^post32, r_159^0'=r_159^post32, t_24^0'=t_24^post32, a_332^0'=a_332^post32, r_29^0'=r_29^post32, len_205^0'=len_205^post32, rcd_387^0'=rcd_387^post32, r_236^0'=r_236^post32, tmp_37^0'=tmp_37^post32, x_23^0'=x_23^post32, head_13^0'=head_13^post32, rcd_244^0'=rcd_244^post32, lt_397^0'=lt_397^post32, result_11^0'=result_11^post32, a_173^0'=a_173^post32, r_266^0'=r_266^post32, l_27^0'=l_27^post32, r_188^0'=r_188^post32, temp0_18^0'=temp0_18^post32, a_388^0'=a_388^post32, rcd_105^0'=rcd_105^post32, len_297^0'=len_297^post32, rcd_427^0'=rcd_427^post32, r_245^0'=r_245^post32, r_247^0'=r_247^post32, y_22^0'=y_22^post32, i_111^0'=i_111^post32, rcd_253^0'=rcd_253^post32, nondet_12^0'=nondet_12^post32, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post32, a_276^0'=a_276^post32, r_274^0'=r_274^post32, rcd_367^0'=rcd_367^post32, r_234^0'=r_234^post32, temp_38^0'=temp_38^post32, x_19^0'=x_19^post32, ct_20^0'=ct_20^post32, rcd_235^0'=rcd_235^post32, lt_17^0'=lt_17^post32, rcd_70^0'=rcd_70^post32, (-l_27^post32+l_27^0 == 0 /\ -a_173^post32+a_173^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post32 == 0 /\ -r_234^post32+r_234^0 == 0 /\ -r_247^post32+r_247^0 == 0 /\ -r_29^post32+r_29^0 == 0 /\ -rcd_273^post32+rcd_273^0 == 0 /\ -rcd_235^post32+rcd_235^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post32+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post32+rcd_427^0 == 0 /\ result_11^0-result_11^post32 == 0 /\ -r_245^post32+r_245^0 == 0 /\ -c_28^post32+c_28^0 == 0 /\ tmp_37^0-tmp_37^post32 == 0 /\ -r_266^post32+r_266^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post32 == 0 /\ a_276^0-a_276^post32 == 0 /\ temp0_18^0-temp0_18^post32 == 0 /\ 1-r_167^0 <= 0 /\ length_32^0-length_32^post32 == 0 /\ -rcd_367^post32+rcd_367^0 == 0 /\ rcd_363^0-rcd_363^post32 == 0 /\ r_42^0-r_42^post32 == 0 /\ a_148^0-a_148^post32 == 0 /\ rcd_244^0-rcd_244^post32 == 0 /\ rcd_253^0-rcd_253^post32 == 0 /\ -ct_20^post32+ct_20^0 == 0 /\ -lt_397^post32+lt_397^0 == 0 /\ -temp_38^post32+temp_38^0 == 0 /\ -r_236^post32+r_236^0 == 0 /\ temp0_34^0-temp0_34^post32 == 0 /\ -r_188^post32+r_188^0 == 0 /\ r_252^0-r_252^post32 == 0 /\ y_22^0-y_22^post32 == 0 /\ -a_388^post32+a_388^0 == 0 /\ -rcd_70^post32+rcd_70^0 == 0 /\ rcd_113^0-rcd_113^post32 == 0 /\ rcd_387^0-rcd_387^post32 == 0 /\ rcd_248^0-rcd_248^post32 == 0 /\ -x_23^post32+x_23^0 == 0 /\ a_332^0-a_332^post32 == 0 /\ head_13^0-head_13^post32 == 0 /\ -i_111^post32+i_111^0 == 0 /\ t_30^0-t_30^post32 == 0 /\ -rcd_105^post32+rcd_105^0 == 0 /\ r_243^0-r_243^post32 == 0 /\ head_35^0-head_35^post32 == 0 /\ -x_19^post32+x_19^0 == 0 /\ lt_509^0-lt_509^post32 == 0 /\ -r_196^post32+r_196^0 == 0 /\ -r_274^post32+r_274^0 == 0 /\ r_167^0-r_167^post32 == 0 /\ -lt_17^post32+lt_17^0 == 0 /\ i_33^0-i_33^post32 == 0 /\ i_120^0-i_120^post32 == 0 /\ a_220^0-a_220^post32 == 0 /\ a_358^0-a_358^post32 == 0 /\ r_258^0-r_258^post32 == 0 /\ t_24^0-t_24^post32 == 0 /\ -rcd_409^post32+rcd_409^0 == 0 /\ -len_205^post32+len_205^0 == 0 /\ -r_159^post32+r_159^0 == 0 /\ len_297^0-len_297^post32 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ len_275^0-len_275^post32 == 0 /\ r_246^0-r_246^post32 == 0 /\ -r_272^post32+r_272^0 == 0 /\ -rcd_46^post32+rcd_46^0 == 0), cost: 1
  33: l20 -> l21 : a_148^0'=a_148^post33, r_258^0'=r_258^post33, i_33^0'=i_33^post33, r_167^0'=r_167^post33, t_30^0'=t_30^post33, a_358^0'=a_358^post33, r_42^0'=r_42^post33, len_275^0'=len_275^post33, rcd_409^0'=rcd_409^post33, r_243^0'=r_243^post33, r_246^0'=r_246^post33, x_SLAM_f_21^0'=x_SLAM_f_21^post33, head_35^0'=head_35^post33, rcd_248^0'=rcd_248^post33, lt_509^0'=lt_509^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post33, a_220^0'=a_220^post33, r_272^0'=r_272^post33, rcd_363^0'=rcd_363^post33, r_196^0'=r_196^post33, temp0_34^0'=temp0_34^post33, c_28^0'=c_28^post33, rcd_113^0'=rcd_113^post33, length_32^0'=length_32^post33, rcd_46^0'=rcd_46^post33, r_252^0'=r_252^post33, i_120^0'=i_120^post33, rcd_273^0'=rcd_273^post33, r_159^0'=r_159^post33, t_24^0'=t_24^post33, a_332^0'=a_332^post33, r_29^0'=r_29^post33, len_205^0'=len_205^post33, rcd_387^0'=rcd_387^post33, r_236^0'=r_236^post33, tmp_37^0'=tmp_37^post33, x_23^0'=x_23^post33, head_13^0'=head_13^post33, rcd_244^0'=rcd_244^post33, lt_397^0'=lt_397^post33, result_11^0'=result_11^post33, a_173^0'=a_173^post33, r_266^0'=r_266^post33, l_27^0'=l_27^post33, r_188^0'=r_188^post33, temp0_18^0'=temp0_18^post33, a_388^0'=a_388^post33, rcd_105^0'=rcd_105^post33, len_297^0'=len_297^post33, rcd_427^0'=rcd_427^post33, r_245^0'=r_245^post33, r_247^0'=r_247^post33, y_22^0'=y_22^post33, i_111^0'=i_111^post33, rcd_253^0'=rcd_253^post33, nondet_12^0'=nondet_12^post33, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post33, a_276^0'=a_276^post33, r_274^0'=r_274^post33, rcd_367^0'=rcd_367^post33, r_234^0'=r_234^post33, temp_38^0'=temp_38^post33, x_19^0'=x_19^post33, ct_20^0'=ct_20^post33, rcd_235^0'=rcd_235^post33, lt_17^0'=lt_17^post33, rcd_70^0'=rcd_70^post33, (-len_205^post33+len_205^0 == 0 /\ head_35^0-head_35^post33 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post33+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_148^0-a_148^post33 == 0 /\ r_167^0-r_167^post33 == 0 /\ a_220^0-a_220^post33 == 0 /\ a_173^0-a_173^post33 == 0 /\ -r_247^post33+r_247^0 == 0 /\ a_358^0-a_358^post33 == 0 /\ rcd_248^0-rcd_248^post33 == 0 /\ -lt_17^post33+lt_17^0 == 0 /\ -l_27^post33+l_27^0 == 0 /\ -rcd_113^post33+rcd_113^0 == 0 /\ -r_236^post33+r_236^0 == 0 /\ r_272^0-r_272^post33 == 0 /\ -r_234^post33+r_234^0 == 0 /\ -rcd_387^post33+rcd_387^0 == 0 /\ -r_266^post33+r_266^0 == 0 /\ rcd_46^0-rcd_46^post33 == 0 /\ c_28^0-c_28^post33 == 0 /\ nondet_12^0-nondet_12^post33 == 0 /\ -len_297^post33+len_297^0 == 0 /\ -temp0_18^post33+temp0_18^0 == 0 /\ lt_397^0-lt_397^post33 == 0 /\ -a_276^post33+a_276^0 == 0 /\ r_274^0-r_274^post33 == 0 /\ -rcd_367^post33+rcd_367^0 == 0 /\ -rcd_253^post33+rcd_253^0 == 0 /\ r_258^0-r_258^post33 == 0 /\ -r_196^post33+r_196^0 == 0 /\ -rcd_235^post33+rcd_235^0 == 0 /\ rcd_363^0-rcd_363^post33 == 0 /\ -y_22^post33+y_22^0 == 0 /\ len_275^0-len_275^post33 == 0 /\ -r_252^post33+r_252^0 == 0 /\ -rcd_105^post33+rcd_105^0 == 0 /\ r_29^0-r_29^post33 == 0 /\ 1+r_167^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post33 == 0 /\ r_159^0-r_159^post33 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post33 == 0 /\ -r_243^post33+r_243^0 == 0 /\ tmp_37^0-tmp_37^post33 == 0 /\ -temp_38^post33+temp_38^0 == 0 /\ -r_188^post33+r_188^0 == 0 /\ -i_111^post33+i_111^0 == 0 /\ i_120^0-i_120^post33 == 0 /\ -result_11^post33+result_11^0 == 0 /\ -a_332^post33+a_332^0 == 0 /\ length_32^0-length_32^post33 == 0 /\ -x_23^post33+x_23^0 == 0 /\ i_33^0-i_33^post33 == 0 /\ -ct_20^post33+ct_20^0 == 0 /\ -r_246^post33+r_246^0 == 0 /\ lt_509^0-lt_509^post33 == 0 /\ rcd_273^0-rcd_273^post33 == 0 /\ r_42^0-r_42^post33 == 0 /\ -head_13^post33+head_13^0 == 0 /\ t_30^0-t_30^post33 == 0 /\ -a_388^post33+a_388^0 == 0 /\ temp0_34^0-temp0_34^post33 == 0 /\ -t_24^post33+t_24^0 == 0 /\ rcd_409^0-rcd_409^post33 == 0 /\ -rcd_70^post33+rcd_70^0 == 0 /\ -r_245^post33+r_245^0 == 0 /\ rcd_427^0-rcd_427^post33 == 0 /\ -x_19^post33+x_19^0 == 0 /\ rcd_244^0-rcd_244^post33 == 0), cost: 1
  34: l21 -> l22 : a_148^0'=a_148^post34, r_258^0'=r_258^post34, i_33^0'=i_33^post34, r_167^0'=r_167^post34, t_30^0'=t_30^post34, a_358^0'=a_358^post34, r_42^0'=r_42^post34, len_275^0'=len_275^post34, rcd_409^0'=rcd_409^post34, r_243^0'=r_243^post34, r_246^0'=r_246^post34, x_SLAM_f_21^0'=x_SLAM_f_21^post34, head_35^0'=head_35^post34, rcd_248^0'=rcd_248^post34, lt_509^0'=lt_509^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post34, a_220^0'=a_220^post34, r_272^0'=r_272^post34, rcd_363^0'=rcd_363^post34, r_196^0'=r_196^post34, temp0_34^0'=temp0_34^post34, c_28^0'=c_28^post34, rcd_113^0'=rcd_113^post34, length_32^0'=length_32^post34, rcd_46^0'=rcd_46^post34, r_252^0'=r_252^post34, i_120^0'=i_120^post34, rcd_273^0'=rcd_273^post34, r_159^0'=r_159^post34, t_24^0'=t_24^post34, a_332^0'=a_332^post34, r_29^0'=r_29^post34, len_205^0'=len_205^post34, rcd_387^0'=rcd_387^post34, r_236^0'=r_236^post34, tmp_37^0'=tmp_37^post34, x_23^0'=x_23^post34, head_13^0'=head_13^post34, rcd_244^0'=rcd_244^post34, lt_397^0'=lt_397^post34, result_11^0'=result_11^post34, a_173^0'=a_173^post34, r_266^0'=r_266^post34, l_27^0'=l_27^post34, r_188^0'=r_188^post34, temp0_18^0'=temp0_18^post34, a_388^0'=a_388^post34, rcd_105^0'=rcd_105^post34, len_297^0'=len_297^post34, rcd_427^0'=rcd_427^post34, r_245^0'=r_245^post34, r_247^0'=r_247^post34, y_22^0'=y_22^post34, i_111^0'=i_111^post34, rcd_253^0'=rcd_253^post34, nondet_12^0'=nondet_12^post34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post34, a_276^0'=a_276^post34, r_274^0'=r_274^post34, rcd_367^0'=rcd_367^post34, r_234^0'=r_234^post34, temp_38^0'=temp_38^post34, x_19^0'=x_19^post34, ct_20^0'=ct_20^post34, rcd_235^0'=rcd_235^post34, lt_17^0'=lt_17^post34, rcd_70^0'=rcd_70^post34, (r_258^0-r_258^post34 == 0 /\ -a_276^post34+a_276^0 == 0 /\ a_220^0-a_220^post34 == 0 /\ -rcd_113^post34+rcd_113^0 == 0 /\ -y_22^post34+y_22^0 == 0 /\ rcd_363^0-rcd_363^post34 == 0 /\ -rcd_70^post34+rcd_70^0 == 0 /\ -tmp_37^post34+tmp_37^0 == 0 /\ r_42^0-r_42^post34 == 0 /\ r_159^0-r_159^post34 == 0 /\ -rcd_253^post34+rcd_253^0 == 0 /\ -rcd_235^post34+rcd_235^0 == 0 /\ a_388^0-a_388^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post34 == 0 /\ -r_274^post34+r_274^0 == 0 /\ r_196^0-r_196^post34 == 0 /\ lt_509^0-lt_509^post34 == 0 /\ rcd_248^0-rcd_248^post34 == 0 /\ -length_32^post34+length_32^0 == 0 /\ r_272^0-r_272^post34 == 0 /\ -i_111^post34+i_111^0 == 0 /\ -lt_17^post34+lt_17^0 == 0 /\ -rcd_427^post34+rcd_427^0 == 0 /\ -r_234^post34+r_234^0 == 0 /\ t_30^0-t_30^post34 == 0 /\ rcd_409^0-rcd_409^post34 == 0 /\ l_27^0-l_27^post34 == 0 /\ t_24^0-t_24^post34 == 0 /\ -len_297^post34+len_297^0 == 0 /\ -r_245^post34+r_245^0 == 0 /\ len_205^0-len_205^post34 == 0 /\ -ct_20^post34+ct_20^0 == 0 /\ -head_13^post34+head_13^0 == 0 /\ head_35^0-head_35^post34 == 0 /\ r_252^0-r_252^post34 == 0 /\ i_33^0-i_33^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ a_358^0-a_358^post34 == 0 /\ -x_SLAM_f_21^post34+x_SLAM_f_21^0 == 0 /\ -temp0_18^post34+temp0_18^0 == 0 /\ rcd_273^0-rcd_273^post34 == 0 /\ -a_173^post34+a_173^0 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ -rcd_367^post34+rcd_367^0 == 0 /\ a_148^0-a_148^post34 == 0 /\ -r_29^post34+r_29^0 == 0 /\ x_23^0-x_23^post34 == 0 /\ r_246^0-r_246^post34 == 0 /\ -x_19^post34+x_19^0 == 0 /\ -i_120^post34+i_120^0 == 0 /\ -rcd_387^post34+rcd_387^0 == 0 /\ r_188^0-r_188^post34 == 0 /\ r_243^0-r_243^post34 == 0 /\ -r_247^post34+r_247^0 == 0 /\ -temp_38^post34+temp_38^0 == 0 /\ -temp0_34^post34+temp0_34^0 == 0 /\ len_275^0-len_275^post34 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ r_266^0-r_266^post34 == 0 /\ c_28^0-c_28^post34 == 0 /\ rcd_46^0-rcd_46^post34 == 0 /\ 1-r_196^0 <= 0 /\ -rcd_244^post34+rcd_244^0 == 0 /\ r_167^0-r_167^post34 == 0 /\ -r_236^post34+r_236^0 == 0 /\ -a_332^post34+a_332^0 == 0 /\ -rcd_105^post34+rcd_105^0 == 0 /\ lt_397^0-lt_397^post34 == 0), cost: 1
  35: l21 -> l22 : a_148^0'=a_148^post35, r_258^0'=r_258^post35, i_33^0'=i_33^post35, r_167^0'=r_167^post35, t_30^0'=t_30^post35, a_358^0'=a_358^post35, r_42^0'=r_42^post35, len_275^0'=len_275^post35, rcd_409^0'=rcd_409^post35, r_243^0'=r_243^post35, r_246^0'=r_246^post35, x_SLAM_f_21^0'=x_SLAM_f_21^post35, head_35^0'=head_35^post35, rcd_248^0'=rcd_248^post35, lt_509^0'=lt_509^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post35, a_220^0'=a_220^post35, r_272^0'=r_272^post35, rcd_363^0'=rcd_363^post35, r_196^0'=r_196^post35, temp0_34^0'=temp0_34^post35, c_28^0'=c_28^post35, rcd_113^0'=rcd_113^post35, length_32^0'=length_32^post35, rcd_46^0'=rcd_46^post35, r_252^0'=r_252^post35, i_120^0'=i_120^post35, rcd_273^0'=rcd_273^post35, r_159^0'=r_159^post35, t_24^0'=t_24^post35, a_332^0'=a_332^post35, r_29^0'=r_29^post35, len_205^0'=len_205^post35, rcd_387^0'=rcd_387^post35, r_236^0'=r_236^post35, tmp_37^0'=tmp_37^post35, x_23^0'=x_23^post35, head_13^0'=head_13^post35, rcd_244^0'=rcd_244^post35, lt_397^0'=lt_397^post35, result_11^0'=result_11^post35, a_173^0'=a_173^post35, r_266^0'=r_266^post35, l_27^0'=l_27^post35, r_188^0'=r_188^post35, temp0_18^0'=temp0_18^post35, a_388^0'=a_388^post35, rcd_105^0'=rcd_105^post35, len_297^0'=len_297^post35, rcd_427^0'=rcd_427^post35, r_245^0'=r_245^post35, r_247^0'=r_247^post35, y_22^0'=y_22^post35, i_111^0'=i_111^post35, rcd_253^0'=rcd_253^post35, nondet_12^0'=nondet_12^post35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, a_276^0'=a_276^post35, r_274^0'=r_274^post35, rcd_367^0'=rcd_367^post35, r_234^0'=r_234^post35, temp_38^0'=temp_38^post35, x_19^0'=x_19^post35, ct_20^0'=ct_20^post35, rcd_235^0'=rcd_235^post35, lt_17^0'=lt_17^post35, rcd_70^0'=rcd_70^post35, (lt_509^0-lt_509^post35 == 0 /\ -x_23^post35+x_23^0 == 0 /\ -length_32^post35+length_32^0 == 0 /\ temp0_34^0-temp0_34^post35 == 0 /\ -r_188^post35+r_188^0 == 0 /\ -rcd_253^post35+rcd_253^0 == 0 /\ -temp_38^post35+temp_38^0 == 0 /\ -i_111^post35+i_111^0 == 0 /\ -a_388^post35+a_388^0 == 0 /\ -rcd_70^post35+rcd_70^0 == 0 /\ -x_19^post35+x_19^0 == 0 /\ t_24^0-t_24^post35 == 0 /\ 1+r_196^0 <= 0 /\ len_275^0-len_275^post35 == 0 /\ a_148^0-a_148^post35 == 0 /\ r_196^0-r_196^post35 == 0 /\ rcd_409^0-rcd_409^post35 == 0 /\ -r_274^post35+r_274^0 == 0 /\ r_252^0-r_252^post35 == 0 /\ -rcd_46^post35+rcd_46^0 == 0 /\ -r_159^post35+r_159^0 == 0 /\ r_167^0-r_167^post35 == 0 /\ -lt_17^post35+lt_17^0 == 0 /\ -r_245^post35+r_245^0 == 0 /\ -rcd_427^post35+rcd_427^0 == 0 /\ r_236^0-r_236^post35 == 0 /\ result_11^0-result_11^post35 == 0 /\ a_220^0-a_220^post35 == 0 /\ i_33^0-i_33^post35 == 0 /\ c_28^0-c_28^post35 == 0 /\ a_276^0-a_276^post35 == 0 /\ rcd_387^0-rcd_387^post35 == 0 /\ r_243^0-r_243^post35 == 0 /\ -nondet_12^post35+nondet_12^0 == 0 /\ i_120^0-i_120^post35 == 0 /\ -rcd_363^post35+rcd_363^0 == 0 /\ -l_27^post35+l_27^0 == 0 /\ -rcd_235^post35+rcd_235^0 == 0 /\ t_30^0-t_30^post35 == 0 /\ r_42^0-r_42^post35 == 0 /\ r_258^0-r_258^post35 == 0 /\ -r_234^post35+r_234^0 == 0 /\ -a_173^post35+a_173^0 == 0 /\ -r_266^post35+r_266^0 == 0 /\ len_297^0-len_297^post35 == 0 /\ -len_205^post35+len_205^0 == 0 /\ rcd_367^0-rcd_367^post35 == 0 /\ -rcd_244^post35+rcd_244^0 == 0 /\ temp0_18^0-temp0_18^post35 == 0 /\ -rcd_273^post35+rcd_273^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_246^0-r_246^post35 == 0 /\ rcd_248^0-rcd_248^post35 == 0 /\ -y_22^post35+y_22^0 == 0 /\ a_332^0-a_332^post35 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post35 == 0 /\ -rcd_105^post35+rcd_105^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post35 == 0 /\ -tmp_37^post35+tmp_37^0 == 0 /\ head_13^0-head_13^post35 == 0 /\ rcd_113^0-rcd_113^post35 == 0 /\ -ct_20^post35+ct_20^0 == 0 /\ -r_247^post35+r_247^0 == 0 /\ -lt_397^post35+lt_397^0 == 0 /\ -r_29^post35+r_29^0 == 0 /\ head_35^0-head_35^post35 == 0 /\ a_358^0-a_358^post35 == 0 /\ r_272^0-r_272^post35 == 0), cost: 1
  36: l22 -> l0 : a_148^0'=a_148^post36, r_258^0'=r_258^post36, i_33^0'=i_33^post36, r_167^0'=r_167^post36, t_30^0'=t_30^post36, a_358^0'=a_358^post36, r_42^0'=r_42^post36, len_275^0'=len_275^post36, rcd_409^0'=rcd_409^post36, r_243^0'=r_243^post36, r_246^0'=r_246^post36, x_SLAM_f_21^0'=x_SLAM_f_21^post36, head_35^0'=head_35^post36, rcd_248^0'=rcd_248^post36, lt_509^0'=lt_509^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post36, a_220^0'=a_220^post36, r_272^0'=r_272^post36, rcd_363^0'=rcd_363^post36, r_196^0'=r_196^post36, temp0_34^0'=temp0_34^post36, c_28^0'=c_28^post36, rcd_113^0'=rcd_113^post36, length_32^0'=length_32^post36, rcd_46^0'=rcd_46^post36, r_252^0'=r_252^post36, i_120^0'=i_120^post36, rcd_273^0'=rcd_273^post36, r_159^0'=r_159^post36, t_24^0'=t_24^post36, a_332^0'=a_332^post36, r_29^0'=r_29^post36, len_205^0'=len_205^post36, rcd_387^0'=rcd_387^post36, r_236^0'=r_236^post36, tmp_37^0'=tmp_37^post36, x_23^0'=x_23^post36, head_13^0'=head_13^post36, rcd_244^0'=rcd_244^post36, lt_397^0'=lt_397^post36, result_11^0'=result_11^post36, a_173^0'=a_173^post36, r_266^0'=r_266^post36, l_27^0'=l_27^post36, r_188^0'=r_188^post36, temp0_18^0'=temp0_18^post36, a_388^0'=a_388^post36, rcd_105^0'=rcd_105^post36, len_297^0'=len_297^post36, rcd_427^0'=rcd_427^post36, r_245^0'=r_245^post36, r_247^0'=r_247^post36, y_22^0'=y_22^post36, i_111^0'=i_111^post36, rcd_253^0'=rcd_253^post36, nondet_12^0'=nondet_12^post36, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post36, a_276^0'=a_276^post36, r_274^0'=r_274^post36, rcd_367^0'=rcd_367^post36, r_234^0'=r_234^post36, temp_38^0'=temp_38^post36, x_19^0'=x_19^post36, ct_20^0'=ct_20^post36, rcd_235^0'=rcd_235^post36, lt_17^0'=lt_17^post36, rcd_70^0'=rcd_70^post36, (r_42^0-r_42^post36 == 0 /\ -r_252^post36+r_252^0 == 0 /\ -rcd_105^post36+rcd_105^0 == 0 /\ t_30^0-t_30^post36 == 0 /\ r_243^0-r_243^post36 == 0 /\ -temp_38^post36+temp_38^0 == 0 /\ -rcd_367^post36+rcd_367^0 == 0 /\ a_332^0-a_332^post36 == 0 /\ -ct_20^post36+ct_20^0 == 0 /\ -x_23^post36+x_23^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post36 == 0 /\ -rcd_46^post36+rcd_46^0 == 0 /\ -head_13^post36+head_13^0 == 0 /\ r_258^0-r_258^post36 == 0 /\ -i_111^post36+i_111^0 == 0 /\ -nondet_12^post36+nondet_12^0 == 0 /\ -rcd_70^post36+rcd_70^0 == 0 /\ -r_236^post36+r_236^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post36 == 0 /\ rcd_363^0-rcd_363^post36 == 0 /\ -t_24^post36+t_24^0 == 0 /\ tmp_37^0-tmp_37^post36 == 0 /\ r_245^0-r_245^post36 == 0 /\ -x_19^post36+x_19^0 == 0 /\ rcd_113^0-rcd_113^post36 == 0 /\ rcd_248^0-rcd_248^post36 == 0 /\ r_274^0-r_274^post36 == 0 /\ i_120^0-i_120^post36 == 0 /\ a_358^0-a_358^post36 == 0 /\ r_272^0-r_272^post36 == 0 /\ -c_28^post36+c_28^0 == 0 /\ a_173^0-a_173^post36 == 0 /\ -r_196^post36+r_196^0 == 0 /\ r_246^0-r_246^post36 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post36+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_275^0-len_275^post36 == 0 /\ r_234^0-r_234^post36 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ lt_509^0-lt_509^post36 == 0 /\ temp0_34^0-temp0_34^post36 == 0 /\ rcd_273^0-rcd_273^post36 == 0 /\ -len_205^post36+len_205^0 == 0 /\ -rcd_387^post36+rcd_387^0 == 0 /\ r_188^0-r_188^post36 == 0 /\ -rcd_409^post36+rcd_409^0 == 0 /\ -r_247^post36+r_247^0 == 0 /\ -lt_397^post36+lt_397^0 == 0 /\ rcd_427^0-rcd_427^post36 == 0 /\ -lt_17^post36+lt_17^0 == 0 /\ -r_167^post36+r_167^0 == 0 /\ -len_297^post36+len_297^0 == 0 /\ rcd_244^0-rcd_244^post36 == 0 /\ -l_27^post36+l_27^0 == 0 /\ r_159^0-r_159^post36 == 0 /\ a_148^0-a_148^post36 == 0 /\ r_29^0-r_29^post36 == 0 /\ -a_276^post36+a_276^0 == 0 /\ result_11^0-result_11^post36 == 0 /\ -rcd_253^post36+rcd_253^0 == 0 /\ -head_35^post36+head_35^0 == 0 /\ a_388^0-a_388^post36 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -rcd_235^post36+rcd_235^0 == 0 /\ -temp0_18^post36+temp0_18^0 == 0 /\ -y_22^post36+y_22^0 == 0 /\ i_33^0-i_33^post36 == 0 /\ -r_266^post36+r_266^0 == 0 /\ length_32^0-length_32^post36 == 0 /\ a_220^0-a_220^post36 == 0), cost: 1
  37: l23 -> l24 : a_148^0'=a_148^post37, r_258^0'=r_258^post37, i_33^0'=i_33^post37, r_167^0'=r_167^post37, t_30^0'=t_30^post37, a_358^0'=a_358^post37, r_42^0'=r_42^post37, len_275^0'=len_275^post37, rcd_409^0'=rcd_409^post37, r_243^0'=r_243^post37, r_246^0'=r_246^post37, x_SLAM_f_21^0'=x_SLAM_f_21^post37, head_35^0'=head_35^post37, rcd_248^0'=rcd_248^post37, lt_509^0'=lt_509^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post37, a_220^0'=a_220^post37, r_272^0'=r_272^post37, rcd_363^0'=rcd_363^post37, r_196^0'=r_196^post37, temp0_34^0'=temp0_34^post37, c_28^0'=c_28^post37, rcd_113^0'=rcd_113^post37, length_32^0'=length_32^post37, rcd_46^0'=rcd_46^post37, r_252^0'=r_252^post37, i_120^0'=i_120^post37, rcd_273^0'=rcd_273^post37, r_159^0'=r_159^post37, t_24^0'=t_24^post37, a_332^0'=a_332^post37, r_29^0'=r_29^post37, len_205^0'=len_205^post37, rcd_387^0'=rcd_387^post37, r_236^0'=r_236^post37, tmp_37^0'=tmp_37^post37, x_23^0'=x_23^post37, head_13^0'=head_13^post37, rcd_244^0'=rcd_244^post37, lt_397^0'=lt_397^post37, result_11^0'=result_11^post37, a_173^0'=a_173^post37, r_266^0'=r_266^post37, l_27^0'=l_27^post37, r_188^0'=r_188^post37, temp0_18^0'=temp0_18^post37, a_388^0'=a_388^post37, rcd_105^0'=rcd_105^post37, len_297^0'=len_297^post37, rcd_427^0'=rcd_427^post37, r_245^0'=r_245^post37, r_247^0'=r_247^post37, y_22^0'=y_22^post37, i_111^0'=i_111^post37, rcd_253^0'=rcd_253^post37, nondet_12^0'=nondet_12^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, a_276^0'=a_276^post37, r_274^0'=r_274^post37, rcd_367^0'=rcd_367^post37, r_234^0'=r_234^post37, temp_38^0'=temp_38^post37, x_19^0'=x_19^post37, ct_20^0'=ct_20^post37, rcd_235^0'=rcd_235^post37, lt_17^0'=lt_17^post37, rcd_70^0'=rcd_70^post37, (0 == 0 /\ -head_13^post37+head_13^0 == 0 /\ r_188^0-r_188^post37 == 0 /\ r_196^0-r_196^post37 == 0 /\ r_272^0-r_272^post37 == 0 /\ -x_23^post37+lt_17^0 <= 0 /\ -y_22^post37 <= 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ -y_22^post37+ct_20^post37 <= 0 /\ head_35^0-head_35^post37 == 0 /\ y_22^post37 <= 0 /\ -rcd_367^post37+rcd_367^0 == 0 /\ -r_245^post37+r_245^0 == 0 /\ a_358^0-a_358^post37 == 0 /\ -len_297^post37+len_297^0 == 0 /\ -rcd_235^post37+rcd_235^0 == 0 /\ -i_120^post37+i_120^0 == 0 /\ 1-len_297^0 <= 0 /\ -1+len_297^0 <= 0 /\ i_33^0-i_33^post37 == 0 /\ -ct_20^post37 <= 0 /\ r_247^0-r_247^post37 == 0 /\ -temp_38^post37+temp_38^0 == 0 /\ -rcd_244^post37+rcd_244^0 == 0 /\ x_23^post37-lt_17^0 <= 0 /\ -r_252^post37+r_252^0 == 0 /\ y_22^post37-ct_20^post37 <= 0 /\ y_22^post37-ct_20^post37 == 0 /\ c_28^0 <= 0 /\ a_220^0-a_220^post37 == 0 /\ length_32^0-length_32^post37 == 0 /\ -a_148^0 <= 0 /\ len_275^0-len_275^post37 == 0 /\ -rcd_387^post37+rcd_387^0 == 0 /\ -r_236^post37+r_236^0 == 0 /\ -a_332^post37+a_332^0 == 0 /\ -rcd_113^post37+rcd_113^0 == 0 /\ r_159^0-r_159^post37 == 0 /\ a_148^0-a_148^post37 == 0 /\ temp0_34^0-temp0_34^post37 == 0 /\ -x_19^post37+x_SLAM_f_21^post37 <= 0 /\ -x_19^post37+x_SLAM_f_21^post37 == 0 /\ -a_276^post37+a_276^0 == 0 /\ rcd_46^0-rcd_427^post37 <= 0 /\ ct_20^post37 <= 0 /\ ct_20^post37 == 0 /\ -r_246^post37+r_246^0 == 0 /\ rcd_248^0-rcd_248^post37 == 0 /\ r_243^0-r_243^post37 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post37 == 0 /\ -x_19^post37+lt_17^0 <= 0 /\ r_167^0-r_167^post37 == 0 /\ -lt_397^post37+lt_397^0 == 0 /\ -rcd_253^post37+rcd_253^0 == 0 /\ -x_SLAM_f_21^post37+x_23^post37 <= 0 /\ -x_SLAM_f_21^post37+x_23^post37 == 0 /\ -a_388^post37+a_388^0 == 0 /\ x_SLAM_f_21^post37-lt_17^0 <= 0 /\ -rcd_70^post37+rcd_70^0 == 0 /\ -tmp_37^post37+tmp_37^0 == 0 /\ x_19^post37-x_SLAM_f_21^post37 <= 0 /\ t_24^0-t_24^post37 == 0 /\ r_258^0-r_258^post37 == 0 /\ a_173^0-a_173^post37 == 0 /\ -rcd_46^0+rcd_427^post37 <= 0 /\ temp0_18^0-temp0_18^post37 == 0 /\ rcd_363^0-rcd_363^post37 == 0 /\ r_42^0-r_42^post37 == 0 /\ len_205^0-len_205^post37 == 0 /\ -r_274^post37+r_274^0 == 0 /\ rcd_105^0-rcd_105^post37 == 0 /\ r_266^0-r_266^post37 == 0 /\ rcd_46^0-rcd_46^post37 == 0 /\ x_19^post37-lt_17^0 <= 0 /\ x_19^post37-lt_17^0 == 0 /\ -lt_509^post37+lt_509^0 == 0 /\ -i_111^post37+i_111^0 == 0 /\ -lt_17^post37+lt_17^0 == 0 /\ x_SLAM_f_21^post37-x_23^post37 <= 0 /\ -result_11^post37+result_11^0 == 0 /\ -rcd_273^post37+rcd_273^0 == 0 /\ -c_28^0 <= 0 /\ -x_SLAM_f_21^post37+lt_17^0 <= 0 /\ -r_234^post37+r_234^0 == 0 /\ rcd_409^0-rcd_409^post37 == 0), cost: 1
  41: l23 -> l26 : a_148^0'=a_148^post41, r_258^0'=r_258^post41, i_33^0'=i_33^post41, r_167^0'=r_167^post41, t_30^0'=t_30^post41, a_358^0'=a_358^post41, r_42^0'=r_42^post41, len_275^0'=len_275^post41, rcd_409^0'=rcd_409^post41, r_243^0'=r_243^post41, r_246^0'=r_246^post41, x_SLAM_f_21^0'=x_SLAM_f_21^post41, head_35^0'=head_35^post41, rcd_248^0'=rcd_248^post41, lt_509^0'=lt_509^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post41, a_220^0'=a_220^post41, r_272^0'=r_272^post41, rcd_363^0'=rcd_363^post41, r_196^0'=r_196^post41, temp0_34^0'=temp0_34^post41, c_28^0'=c_28^post41, rcd_113^0'=rcd_113^post41, length_32^0'=length_32^post41, rcd_46^0'=rcd_46^post41, r_252^0'=r_252^post41, i_120^0'=i_120^post41, rcd_273^0'=rcd_273^post41, r_159^0'=r_159^post41, t_24^0'=t_24^post41, a_332^0'=a_332^post41, r_29^0'=r_29^post41, len_205^0'=len_205^post41, rcd_387^0'=rcd_387^post41, r_236^0'=r_236^post41, tmp_37^0'=tmp_37^post41, x_23^0'=x_23^post41, head_13^0'=head_13^post41, rcd_244^0'=rcd_244^post41, lt_397^0'=lt_397^post41, result_11^0'=result_11^post41, a_173^0'=a_173^post41, r_266^0'=r_266^post41, l_27^0'=l_27^post41, r_188^0'=r_188^post41, temp0_18^0'=temp0_18^post41, a_388^0'=a_388^post41, rcd_105^0'=rcd_105^post41, len_297^0'=len_297^post41, rcd_427^0'=rcd_427^post41, r_245^0'=r_245^post41, r_247^0'=r_247^post41, y_22^0'=y_22^post41, i_111^0'=i_111^post41, rcd_253^0'=rcd_253^post41, nondet_12^0'=nondet_12^post41, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post41, a_276^0'=a_276^post41, r_274^0'=r_274^post41, rcd_367^0'=rcd_367^post41, r_234^0'=r_234^post41, temp_38^0'=temp_38^post41, x_19^0'=x_19^post41, ct_20^0'=ct_20^post41, rcd_235^0'=rcd_235^post41, lt_17^0'=lt_17^post41, rcd_70^0'=rcd_70^post41, (0 == 0 /\ -x_23^post41+x_23^0 == 0 /\ len_275^0-len_275^post41 == 0 /\ -r_274^post41+r_274^0 == 0 /\ -temp_38^post41+temp_38^0 == 0 /\ temp0_34^0-temp0_34^post41 == 0 /\ -i_111^post41+i_111^0 == 0 /\ t_24^0-t_24^post41 == 0 /\ -ct_20^post41+ct_20^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post41 == 0 /\ y_22^0-y_22^post41 == 0 /\ r_252^0-r_252^post41 == 0 /\ rcd_363^0-rcd_363^post41 == 0 /\ a_148^0-a_148^post41 == 0 /\ head_35^0-head_35^post41 == 0 /\ -rcd_70^post41+rcd_70^0 == 0 /\ rcd_113^0-rcd_113^post41 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ rcd_409^0-rcd_409^post41 == 0 /\ r_167^0-r_167^post41 == 0 /\ -a_148^0 <= 0 /\ result_11^0-result_11^post41 == 0 /\ r_272^0-r_272^post41 == 0 /\ -x_19^post41+x_19^0 == 0 /\ rcd_105^0-rcd_105^post41 == 0 /\ -a_388^post41+a_388^0 == 0 /\ rcd_387^0-rcd_387^post41 == 0 /\ r_42^0-r_42^post41 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -a_173^post41+a_173^0 == 0 /\ -lt_17^post41+lt_17^0 == 0 /\ i_120^0-i_120^post41 == 0 /\ rcd_46^0-rcd_46^post41 == 0 /\ -r_247^post41+r_247^0 == 0 /\ lt_509^0-lt_509^post41 == 0 /\ -r_29^post41+r_29^0 == 0 /\ -r_266^post41+r_266^0 == 0 /\ r_196^0-r_196^post41 == 0 /\ temp0_18^0-temp0_18^post41 == 0 /\ -rcd_273^post41+rcd_273^0 == 0 /\ r_258^0-r_258^post41 == 0 /\ -rcd_427^post41+rcd_427^0 == 0 /\ rcd_248^0-rcd_248^post41 == 0 /\ -rcd_253^post41+rcd_253^0 == 0 /\ a_332^0-a_332^post41 == 0 /\ -t_30^post41+t_30^0 == 0 /\ -a_276^post41+a_276^0 == 0 /\ a_358^0-a_358^post41 == 0 /\ i_33^0-i_33^post41 == 0 /\ -length_32^post41+length_32^0 == 0 /\ -len_297^post41+len_297^0 == 0 /\ -rcd_367^post41+rcd_367^0 == 0 /\ -lt_397^post41+lt_397^0 == 0 /\ len_205^0-len_205^post41 == 0 /\ -tmp_37^post41+tmp_37^0 == 0 /\ a_220^0-a_220^post41 == 0 /\ -r_188^post41+r_188^0 == 0 /\ c_28^0-c_28^post41 == 0), cost: 1
  38: l24 -> l25 : a_148^0'=a_148^post38, r_258^0'=r_258^post38, i_33^0'=i_33^post38, r_167^0'=r_167^post38, t_30^0'=t_30^post38, a_358^0'=a_358^post38, r_42^0'=r_42^post38, len_275^0'=len_275^post38, rcd_409^0'=rcd_409^post38, r_243^0'=r_243^post38, r_246^0'=r_246^post38, x_SLAM_f_21^0'=x_SLAM_f_21^post38, head_35^0'=head_35^post38, rcd_248^0'=rcd_248^post38, lt_509^0'=lt_509^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post38, a_220^0'=a_220^post38, r_272^0'=r_272^post38, rcd_363^0'=rcd_363^post38, r_196^0'=r_196^post38, temp0_34^0'=temp0_34^post38, c_28^0'=c_28^post38, rcd_113^0'=rcd_113^post38, length_32^0'=length_32^post38, rcd_46^0'=rcd_46^post38, r_252^0'=r_252^post38, i_120^0'=i_120^post38, rcd_273^0'=rcd_273^post38, r_159^0'=r_159^post38, t_24^0'=t_24^post38, a_332^0'=a_332^post38, r_29^0'=r_29^post38, len_205^0'=len_205^post38, rcd_387^0'=rcd_387^post38, r_236^0'=r_236^post38, tmp_37^0'=tmp_37^post38, x_23^0'=x_23^post38, head_13^0'=head_13^post38, rcd_244^0'=rcd_244^post38, lt_397^0'=lt_397^post38, result_11^0'=result_11^post38, a_173^0'=a_173^post38, r_266^0'=r_266^post38, l_27^0'=l_27^post38, r_188^0'=r_188^post38, temp0_18^0'=temp0_18^post38, a_388^0'=a_388^post38, rcd_105^0'=rcd_105^post38, len_297^0'=len_297^post38, rcd_427^0'=rcd_427^post38, r_245^0'=r_245^post38, r_247^0'=r_247^post38, y_22^0'=y_22^post38, i_111^0'=i_111^post38, rcd_253^0'=rcd_253^post38, nondet_12^0'=nondet_12^post38, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post38, a_276^0'=a_276^post38, r_274^0'=r_274^post38, rcd_367^0'=rcd_367^post38, r_234^0'=r_234^post38, temp_38^0'=temp_38^post38, x_19^0'=x_19^post38, ct_20^0'=ct_20^post38, rcd_235^0'=rcd_235^post38, lt_17^0'=lt_17^post38, rcd_70^0'=rcd_70^post38, (r_236^0-r_236^post38 == 0 /\ -rcd_235^post38+rcd_235^0 == 0 /\ -a_173^post38+a_173^0 == 0 /\ -r_247^post38+r_247^0 == 0 /\ a_148^0-a_148^post38 == 0 /\ rcd_113^0-rcd_113^post38 == 0 /\ l_27^0-l_27^post38 == 0 /\ -rcd_273^post38+rcd_273^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post38+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_205^0-len_205^post38 == 0 /\ -rcd_427^post38+rcd_427^0 == 0 /\ -r_234^post38+r_234^0 == 0 /\ -r_159^post38+r_159^0 == 0 /\ rcd_387^0-rcd_387^post38 == 0 /\ -r_266^post38+r_266^0 == 0 /\ result_11^0-result_11^post38 == 0 /\ i_33^0-i_33^post38 == 0 /\ -temp0_34^post38+temp0_34^0 == 0 /\ r_243^0-r_243^post38 == 0 /\ -ct_20^post38+ct_20^0 == 0 /\ lt_509^0-lt_509^post38 == 0 /\ r_42^0-r_42^post38 == 0 /\ temp0_18^0-temp0_18^post38 == 0 /\ t_30^0-t_30^post38 == 0 /\ -rcd_105^post38+rcd_105^0 == 0 /\ t_24^0-t_24^post38 == 0 /\ r_258^0-r_258^post38 == 0 /\ rcd_244^0-rcd_244^post38 == 0 /\ rcd_363^0-rcd_363^post38 == 0 /\ -r_29^post38+r_29^0 == 0 /\ rcd_409^0-rcd_409^post38 == 0 /\ -tmp_37^post38+tmp_37^0 == 0 /\ -temp_38^post38+temp_38^0 == 0 /\ -lt_397^post38+lt_397^0 == 0 /\ rcd_46^0-rcd_46^post38 == 0 /\ -r_188^post38+r_188^0 == 0 /\ -a_276^post38+a_276^0 == 0 /\ -rcd_253^post38+rcd_253^0 == 0 /\ y_22^0-y_22^post38 == 0 /\ -rcd_367^post38+rcd_367^0 == 0 /\ -a_388^post38+a_388^0 == 0 /\ head_35^0-head_35^post38 == 0 /\ -rcd_248^post38+rcd_248^0 == 0 /\ -x_SLAM_f_21^post38+x_SLAM_f_21^0 == 0 /\ -x_23^post38+x_23^0 == 0 /\ -length_32^post38+length_32^0 == 0 /\ head_13^0-head_13^post38 == 0 /\ -rcd_70^post38+rcd_70^0 == 0 /\ r_167^0-r_167^post38 == 0 /\ -i_111^post38+i_111^0 == 0 /\ a_358^0-a_358^post38 == 0 /\ a_220^0-a_220^post38 == 0 /\ -r_274^post38+r_274^0 == 0 /\ c_28^0-c_28^post38 == 0 /\ 1-lt_17^0 <= 0 /\ r_272^0-r_272^post38 == 0 /\ -r_245^post38+r_245^0 == 0 /\ x_19^0-x_19^post38 == 0 /\ i_120^0-i_120^post38 == 0 /\ r_246^0-r_246^post38 == 0 /\ -lt_17^post38+lt_17^0 == 0 /\ len_297^0-len_297^post38 == 0 /\ -nondet_12^post38+nondet_12^0 == 0 /\ r_196^0-r_196^post38 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ a_332^0-a_332^post38 == 0 /\ r_252^0-r_252^post38 == 0 /\ len_275^0-len_275^post38 == 0), cost: 1
  39: l24 -> l25 : a_148^0'=a_148^post39, r_258^0'=r_258^post39, i_33^0'=i_33^post39, r_167^0'=r_167^post39, t_30^0'=t_30^post39, a_358^0'=a_358^post39, r_42^0'=r_42^post39, len_275^0'=len_275^post39, rcd_409^0'=rcd_409^post39, r_243^0'=r_243^post39, r_246^0'=r_246^post39, x_SLAM_f_21^0'=x_SLAM_f_21^post39, head_35^0'=head_35^post39, rcd_248^0'=rcd_248^post39, lt_509^0'=lt_509^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39, a_220^0'=a_220^post39, r_272^0'=r_272^post39, rcd_363^0'=rcd_363^post39, r_196^0'=r_196^post39, temp0_34^0'=temp0_34^post39, c_28^0'=c_28^post39, rcd_113^0'=rcd_113^post39, length_32^0'=length_32^post39, rcd_46^0'=rcd_46^post39, r_252^0'=r_252^post39, i_120^0'=i_120^post39, rcd_273^0'=rcd_273^post39, r_159^0'=r_159^post39, t_24^0'=t_24^post39, a_332^0'=a_332^post39, r_29^0'=r_29^post39, len_205^0'=len_205^post39, rcd_387^0'=rcd_387^post39, r_236^0'=r_236^post39, tmp_37^0'=tmp_37^post39, x_23^0'=x_23^post39, head_13^0'=head_13^post39, rcd_244^0'=rcd_244^post39, lt_397^0'=lt_397^post39, result_11^0'=result_11^post39, a_173^0'=a_173^post39, r_266^0'=r_266^post39, l_27^0'=l_27^post39, r_188^0'=r_188^post39, temp0_18^0'=temp0_18^post39, a_388^0'=a_388^post39, rcd_105^0'=rcd_105^post39, len_297^0'=len_297^post39, rcd_427^0'=rcd_427^post39, r_245^0'=r_245^post39, r_247^0'=r_247^post39, y_22^0'=y_22^post39, i_111^0'=i_111^post39, rcd_253^0'=rcd_253^post39, nondet_12^0'=nondet_12^post39, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post39, a_276^0'=a_276^post39, r_274^0'=r_274^post39, rcd_367^0'=rcd_367^post39, r_234^0'=r_234^post39, temp_38^0'=temp_38^post39, x_19^0'=x_19^post39, ct_20^0'=ct_20^post39, rcd_235^0'=rcd_235^post39, lt_17^0'=lt_17^post39, rcd_70^0'=rcd_70^post39, (a_358^0-a_358^post39 == 0 /\ -r_159^post39+r_159^0 == 0 /\ rcd_409^0-rcd_409^post39 == 0 /\ -len_205^post39+len_205^0 == 0 /\ -lt_17^post39+lt_17^0 == 0 /\ rcd_363^0-rcd_363^post39 == 0 /\ tmp_37^0-tmp_37^post39 == 0 /\ -r_196^post39+r_196^0 == 0 /\ temp0_34^0-temp0_34^post39 == 0 /\ -rcd_253^post39+rcd_253^0 == 0 /\ a_173^0-a_173^post39 == 0 /\ -r_247^post39+r_247^0 == 0 /\ length_32^0-length_32^post39 == 0 /\ -a_276^post39+a_276^0 == 0 /\ a_148^0-a_148^post39 == 0 /\ -rcd_387^post39+rcd_387^0 == 0 /\ -r_266^post39+r_266^0 == 0 /\ r_246^0-r_246^post39 == 0 /\ r_272^0-r_272^post39 == 0 /\ -temp0_18^post39+temp0_18^0 == 0 /\ -l_27^post39+l_27^0 == 0 /\ len_275^0-len_275^post39 == 0 /\ lt_397^0-lt_397^post39 == 0 /\ -len_297^post39+len_297^0 == 0 /\ -r_29^post39+r_29^0 == 0 /\ -r_234^post39+r_234^0 == 0 /\ -rcd_235^post39+rcd_235^0 == 0 /\ -r_274^post39+r_274^0 == 0 /\ r_167^0-r_167^post39 == 0 /\ i_111^0-i_111^post39 == 0 /\ a_332^0-a_332^post39 == 0 /\ -head_35^post39+head_35^0 == 0 /\ -y_22^post39+y_22^0 == 0 /\ 1+lt_17^0 <= 0 /\ r_258^0-r_258^post39 == 0 /\ -rcd_367^post39+rcd_367^0 == 0 /\ -rcd_105^post39+rcd_105^0 == 0 /\ -rcd_46^post39+rcd_46^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39 == 0 /\ i_33^0-i_33^post39 == 0 /\ r_252^0-r_252^post39 == 0 /\ -x_23^post39+x_23^0 == 0 /\ -r_188^post39+r_188^0 == 0 /\ rcd_248^0-rcd_248^post39 == 0 /\ r_42^0-r_42^post39 == 0 /\ -temp_38^post39+temp_38^0 == 0 /\ -result_11^post39+result_11^0 == 0 /\ i_120^0-i_120^post39 == 0 /\ -nondet_12^post39+nondet_12^0 == 0 /\ rcd_113^0-rcd_113^post39 == 0 /\ -head_13^post39+head_13^0 == 0 /\ rcd_273^0-rcd_273^post39 == 0 /\ r_243^0-r_243^post39 == 0 /\ -rcd_70^post39+rcd_70^0 == 0 /\ ct_20^0-ct_20^post39 == 0 /\ -t_24^post39+t_24^0 == 0 /\ -x_19^post39+x_19^0 == 0 /\ -a_388^post39+a_388^0 == 0 /\ lt_509^0-lt_509^post39 == 0 /\ -c_28^post39+c_28^0 == 0 /\ -a_220^post39+a_220^0 == 0 /\ -r_245^post39+r_245^0 == 0 /\ t_30^0-t_30^post39 == 0 /\ rcd_427^0-rcd_427^post39 == 0 /\ rcd_244^0-rcd_244^post39 == 0 /\ r_236^0-r_236^post39 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post39+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post39 == 0), cost: 1
  40: l25 -> l1 : a_148^0'=a_148^post40, r_258^0'=r_258^post40, i_33^0'=i_33^post40, r_167^0'=r_167^post40, t_30^0'=t_30^post40, a_358^0'=a_358^post40, r_42^0'=r_42^post40, len_275^0'=len_275^post40, rcd_409^0'=rcd_409^post40, r_243^0'=r_243^post40, r_246^0'=r_246^post40, x_SLAM_f_21^0'=x_SLAM_f_21^post40, head_35^0'=head_35^post40, rcd_248^0'=rcd_248^post40, lt_509^0'=lt_509^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, a_220^0'=a_220^post40, r_272^0'=r_272^post40, rcd_363^0'=rcd_363^post40, r_196^0'=r_196^post40, temp0_34^0'=temp0_34^post40, c_28^0'=c_28^post40, rcd_113^0'=rcd_113^post40, length_32^0'=length_32^post40, rcd_46^0'=rcd_46^post40, r_252^0'=r_252^post40, i_120^0'=i_120^post40, rcd_273^0'=rcd_273^post40, r_159^0'=r_159^post40, t_24^0'=t_24^post40, a_332^0'=a_332^post40, r_29^0'=r_29^post40, len_205^0'=len_205^post40, rcd_387^0'=rcd_387^post40, r_236^0'=r_236^post40, tmp_37^0'=tmp_37^post40, x_23^0'=x_23^post40, head_13^0'=head_13^post40, rcd_244^0'=rcd_244^post40, lt_397^0'=lt_397^post40, result_11^0'=result_11^post40, a_173^0'=a_173^post40, r_266^0'=r_266^post40, l_27^0'=l_27^post40, r_188^0'=r_188^post40, temp0_18^0'=temp0_18^post40, a_388^0'=a_388^post40, rcd_105^0'=rcd_105^post40, len_297^0'=len_297^post40, rcd_427^0'=rcd_427^post40, r_245^0'=r_245^post40, r_247^0'=r_247^post40, y_22^0'=y_22^post40, i_111^0'=i_111^post40, rcd_253^0'=rcd_253^post40, nondet_12^0'=nondet_12^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, a_276^0'=a_276^post40, r_274^0'=r_274^post40, rcd_367^0'=rcd_367^post40, r_234^0'=r_234^post40, temp_38^0'=temp_38^post40, x_19^0'=x_19^post40, ct_20^0'=ct_20^post40, rcd_235^0'=rcd_235^post40, lt_17^0'=lt_17^post40, rcd_70^0'=rcd_70^post40, (0 == 0 /\ i_33^0-i_33^post40 == 0 /\ r_42^0-r_42^post40 == 0 /\ r_247^0-r_247^post40 == 0 /\ -rcd_70^post40+rcd_70^0 == 0 /\ -a_276^post40+a_276^0 == 0 /\ t_30^0-t_30^post40 == 0 /\ r_258^0-r_258^post40 == 0 /\ r_246^0-r_246^post40 == 0 /\ -y_22^post40+y_22^0 == 0 /\ -x_19^post40+x_19^0 == 0 /\ r_196^0-r_196^post40 == 0 /\ a_388^0-a_388^post40 == 0 /\ -rcd_427^post40+rcd_427^0 == 0 /\ -lt_509^post40+lt_509^0 == 0 /\ -r_274^post40+r_274^0 == 0 /\ -lt_17^post40+lt_17^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post40 == 0 /\ nondet_12^0-nondet_12^post40 == 0 /\ -i_111^post40+i_111^0 == 0 /\ c_28^0-c_28^post40 == 0 /\ -r_272^post40+r_272^0 == 0 /\ a_358^0-a_358^post40 == 0 /\ -l_27^post40+l_27^0 == 0 /\ -r_245^post40+r_245^0 == 0 /\ -r_236^post40+r_236^0 == 0 /\ len_205^0-len_205^post40 == 0 /\ t_24^0-t_24^post40 == 0 /\ -len_297^post40+len_297^0 == 0 /\ -r_167^post40+r_167^0 == 0 /\ temp0_34^0-temp0_34^post40 == 0 /\ -r_234^post40+r_234^0 == 0 /\ -rcd_235^post40+rcd_235^0 == 0 /\ length_32^0-length_32^post40 == 0 /\ -head_13^post40+head_13^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_363^0-rcd_363^post40 == 0 /\ a_220^0-a_220^post40 == 0 /\ -result_11^post40+result_11^0 == 0 /\ -temp0_18^post40+temp0_18^0 == 0 /\ r_159^0-r_159^post40 == 0 /\ x_23^0-x_23^post40 == 0 /\ -r_29^post40+r_29^0 == 0 /\ rcd_427^0-rcd_46^post40 <= 0 /\ rcd_273^0-rcd_273^post40 == 0 /\ a_148^0-a_148^post40 == 0 /\ len_275^0-len_275^post40 == 0 /\ -a_173^post40+a_173^0 == 0 /\ rcd_409^0-rcd_409^post40 == 0 /\ r_188^0-r_188^post40 == 0 /\ -rcd_387^post40+rcd_387^0 == 0 /\ -r_252^post40+r_252^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post40+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -i_120^post40+i_120^0 == 0 /\ rcd_248^0-rcd_248^post40 == 0 /\ -r_243^post40+r_243^0 == 0 /\ r_266^0-r_266^post40 == 0 /\ -temp_38^post40+temp_38^0 == 0 /\ -rcd_367^post40+rcd_367^0 == 0 /\ -rcd_244^post40+rcd_244^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -ct_20^post40+ct_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40 == 0 /\ -rcd_427^0+rcd_46^post40 <= 0 /\ -a_332^post40+a_332^0 == 0 /\ -rcd_113^post40+rcd_113^0 == 0 /\ -rcd_253^post40+rcd_253^0 == 0 /\ tmp_37^0-tmp_37^post40 == 0 /\ lt_397^0-lt_397^post40 == 0 /\ -rcd_105^post40+rcd_105^0 == 0 /\ head_35^0-head_35^post40 == 0), cost: 1
  42: l26 -> l27 : a_148^0'=a_148^post42, r_258^0'=r_258^post42, i_33^0'=i_33^post42, r_167^0'=r_167^post42, t_30^0'=t_30^post42, a_358^0'=a_358^post42, r_42^0'=r_42^post42, len_275^0'=len_275^post42, rcd_409^0'=rcd_409^post42, r_243^0'=r_243^post42, r_246^0'=r_246^post42, x_SLAM_f_21^0'=x_SLAM_f_21^post42, head_35^0'=head_35^post42, rcd_248^0'=rcd_248^post42, lt_509^0'=lt_509^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post42, a_220^0'=a_220^post42, r_272^0'=r_272^post42, rcd_363^0'=rcd_363^post42, r_196^0'=r_196^post42, temp0_34^0'=temp0_34^post42, c_28^0'=c_28^post42, rcd_113^0'=rcd_113^post42, length_32^0'=length_32^post42, rcd_46^0'=rcd_46^post42, r_252^0'=r_252^post42, i_120^0'=i_120^post42, rcd_273^0'=rcd_273^post42, r_159^0'=r_159^post42, t_24^0'=t_24^post42, a_332^0'=a_332^post42, r_29^0'=r_29^post42, len_205^0'=len_205^post42, rcd_387^0'=rcd_387^post42, r_236^0'=r_236^post42, tmp_37^0'=tmp_37^post42, x_23^0'=x_23^post42, head_13^0'=head_13^post42, rcd_244^0'=rcd_244^post42, lt_397^0'=lt_397^post42, result_11^0'=result_11^post42, a_173^0'=a_173^post42, r_266^0'=r_266^post42, l_27^0'=l_27^post42, r_188^0'=r_188^post42, temp0_18^0'=temp0_18^post42, a_388^0'=a_388^post42, rcd_105^0'=rcd_105^post42, len_297^0'=len_297^post42, rcd_427^0'=rcd_427^post42, r_245^0'=r_245^post42, r_247^0'=r_247^post42, y_22^0'=y_22^post42, i_111^0'=i_111^post42, rcd_253^0'=rcd_253^post42, nondet_12^0'=nondet_12^post42, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post42, a_276^0'=a_276^post42, r_274^0'=r_274^post42, rcd_367^0'=rcd_367^post42, r_234^0'=r_234^post42, temp_38^0'=temp_38^post42, x_19^0'=x_19^post42, ct_20^0'=ct_20^post42, rcd_235^0'=rcd_235^post42, lt_17^0'=lt_17^post42, rcd_70^0'=rcd_70^post42, (-r_234^post42+r_234^0 == 0 /\ -r_252^post42+r_252^0 == 0 /\ r_246^0-r_246^post42 == 0 /\ r_196^0-r_196^post42 == 0 /\ c_28^0-c_28^post42 == 0 /\ -rcd_105^post42+rcd_105^0 == 0 /\ r_272^0-r_272^post42 == 0 /\ a_332^0-a_332^post42 == 0 /\ i_111^0-i_111^post42 == 0 /\ -nondet_12^post42+nondet_12^0 == 0 /\ lt_509^0-lt_509^post42 == 0 /\ -r_188^post42+r_188^0 == 0 /\ -rcd_367^post42+rcd_367^0 == 0 /\ r_243^0-r_243^post42 == 0 /\ -rcd_235^post42+rcd_235^0 == 0 /\ t_30^0-t_30^post42 == 0 /\ head_35^0-head_35^post42 == 0 /\ -rcd_46^post42+rcd_46^0 == 0 /\ -x_23^post42+x_23^0 == 0 /\ -temp_38^post42+temp_38^0 == 0 /\ r_167^0-r_167^post42 == 0 /\ -rcd_363^post42+rcd_363^0 == 0 /\ a_358^0-a_358^post42 == 0 /\ -a_388^post42+a_388^0 == 0 /\ -head_13^post42+head_13^0 == 0 /\ r_258^0-r_258^post42 == 0 /\ a_276^0-a_276^post42 == 0 /\ -r_247^post42+r_247^0 == 0 /\ i_33^0-i_33^post42 == 0 /\ -t_24^post42+t_24^0 == 0 /\ r_245^0-r_245^post42 == 0 /\ a_173^0-a_173^post42 == 0 /\ -temp0_34^post42+temp0_34^0 == 0 /\ rcd_113^0-rcd_113^post42 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post42+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ i_120^0-i_120^post42 == 0 /\ rcd_248^0-rcd_248^post42 == 0 /\ -ct_20^post42+ct_20^0 == 0 /\ -a_220^post42+a_220^0 == 0 /\ len_297^0-len_297^post42 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post42 == 0 /\ -y_22^post42+y_22^0 == 0 /\ -rcd_253^post42+rcd_253^0 == 0 /\ rcd_273^0-rcd_273^post42 == 0 /\ -len_275^post42+len_275^0 == 0 /\ -len_205^post42+len_205^0 == 0 /\ r_236^0-r_236^post42 == 0 /\ -tmp_37^post42+tmp_37^0 == 0 /\ -rcd_70^post42+rcd_70^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post42 == 0 /\ -lt_397^post42+lt_397^0 == 0 /\ rcd_244^0-rcd_244^post42 == 0 /\ -temp0_18^post42+temp0_18^0 == 0 /\ r_159^0-r_159^post42 == 0 /\ l_27^0-l_27^post42 == 0 /\ rcd_409^0-rcd_409^post42 == 0 /\ r_29^0-r_29^post42 == 0 /\ x_19^0-x_19^post42 == 0 /\ result_11^0-result_11^post42 == 0 /\ rcd_387^0-rcd_387^post42 == 0 /\ 1-c_28^0 <= 0 /\ r_42^0-r_42^post42 == 0 /\ -rcd_427^post42+rcd_427^0 == 0 /\ length_32^0-length_32^post42 == 0 /\ -lt_17^post42+lt_17^0 == 0 /\ -r_274^post42+r_274^0 == 0 /\ -r_266^post42+r_266^0 == 0 /\ a_148^0-a_148^post42 == 0), cost: 1
  43: l26 -> l27 : a_148^0'=a_148^post43, r_258^0'=r_258^post43, i_33^0'=i_33^post43, r_167^0'=r_167^post43, t_30^0'=t_30^post43, a_358^0'=a_358^post43, r_42^0'=r_42^post43, len_275^0'=len_275^post43, rcd_409^0'=rcd_409^post43, r_243^0'=r_243^post43, r_246^0'=r_246^post43, x_SLAM_f_21^0'=x_SLAM_f_21^post43, head_35^0'=head_35^post43, rcd_248^0'=rcd_248^post43, lt_509^0'=lt_509^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post43, a_220^0'=a_220^post43, r_272^0'=r_272^post43, rcd_363^0'=rcd_363^post43, r_196^0'=r_196^post43, temp0_34^0'=temp0_34^post43, c_28^0'=c_28^post43, rcd_113^0'=rcd_113^post43, length_32^0'=length_32^post43, rcd_46^0'=rcd_46^post43, r_252^0'=r_252^post43, i_120^0'=i_120^post43, rcd_273^0'=rcd_273^post43, r_159^0'=r_159^post43, t_24^0'=t_24^post43, a_332^0'=a_332^post43, r_29^0'=r_29^post43, len_205^0'=len_205^post43, rcd_387^0'=rcd_387^post43, r_236^0'=r_236^post43, tmp_37^0'=tmp_37^post43, x_23^0'=x_23^post43, head_13^0'=head_13^post43, rcd_244^0'=rcd_244^post43, lt_397^0'=lt_397^post43, result_11^0'=result_11^post43, a_173^0'=a_173^post43, r_266^0'=r_266^post43, l_27^0'=l_27^post43, r_188^0'=r_188^post43, temp0_18^0'=temp0_18^post43, a_388^0'=a_388^post43, rcd_105^0'=rcd_105^post43, len_297^0'=len_297^post43, rcd_427^0'=rcd_427^post43, r_245^0'=r_245^post43, r_247^0'=r_247^post43, y_22^0'=y_22^post43, i_111^0'=i_111^post43, rcd_253^0'=rcd_253^post43, nondet_12^0'=nondet_12^post43, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post43, a_276^0'=a_276^post43, r_274^0'=r_274^post43, rcd_367^0'=rcd_367^post43, r_234^0'=r_234^post43, temp_38^0'=temp_38^post43, x_19^0'=x_19^post43, ct_20^0'=ct_20^post43, rcd_235^0'=rcd_235^post43, lt_17^0'=lt_17^post43, rcd_70^0'=rcd_70^post43, (-rcd_235^post43+rcd_235^0 == 0 /\ -len_297^post43+len_297^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ rcd_253^0-rcd_253^post43 == 0 /\ -head_13^post43+head_13^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post43 == 0 /\ c_28^0-c_28^post43 == 0 /\ -lt_17^post43+lt_17^0 == 0 /\ 1+c_28^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post43+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -l_27^post43+l_27^0 == 0 /\ r_29^0-r_29^post43 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post43 == 0 /\ -temp0_18^post43+temp0_18^0 == 0 /\ -r_234^post43+r_234^0 == 0 /\ lt_397^0-lt_397^post43 == 0 /\ i_33^0-i_33^post43 == 0 /\ -r_245^post43+r_245^0 == 0 /\ temp0_34^0-temp0_34^post43 == 0 /\ -a_276^post43+a_276^0 == 0 /\ -rcd_105^post43+rcd_105^0 == 0 /\ -r_196^post43+r_196^0 == 0 /\ -rcd_244^post43+rcd_244^0 == 0 /\ -ct_20^post43+ct_20^0 == 0 /\ r_42^0-r_42^post43 == 0 /\ -i_120^post43+i_120^0 == 0 /\ t_30^0-t_30^post43 == 0 /\ -r_252^post43+r_252^0 == 0 /\ length_32^0-length_32^post43 == 0 /\ rcd_273^0-rcd_273^post43 == 0 /\ -temp_38^post43+temp_38^0 == 0 /\ -r_247^post43+r_247^0 == 0 /\ rcd_363^0-rcd_363^post43 == 0 /\ -rcd_367^post43+rcd_367^0 == 0 /\ -r_236^post43+r_236^0 == 0 /\ -rcd_387^post43+rcd_387^0 == 0 /\ -a_332^post43+a_332^0 == 0 /\ r_159^0-r_159^post43 == 0 /\ x_23^0-x_23^post43 == 0 /\ -rcd_113^post43+rcd_113^0 == 0 /\ r_167^0-r_167^post43 == 0 /\ r_188^0-r_188^post43 == 0 /\ -r_274^post43+r_274^0 == 0 /\ -x_19^post43+x_19^0 == 0 /\ a_148^0-a_148^post43 == 0 /\ r_266^0-r_266^post43 == 0 /\ -r_272^post43+r_272^0 == 0 /\ rcd_427^0-rcd_427^post43 == 0 /\ a_388^0-a_388^post43 == 0 /\ rcd_248^0-rcd_248^post43 == 0 /\ r_243^0-r_243^post43 == 0 /\ head_35^0-head_35^post43 == 0 /\ -y_22^post43+y_22^0 == 0 /\ lt_509^0-lt_509^post43 == 0 /\ a_358^0-a_358^post43 == 0 /\ -tmp_37^post43+tmp_37^0 == 0 /\ t_24^0-t_24^post43 == 0 /\ a_173^0-a_173^post43 == 0 /\ a_220^0-a_220^post43 == 0 /\ len_205^0-len_205^post43 == 0 /\ -rcd_70^post43+rcd_70^0 == 0 /\ r_246^0-r_246^post43 == 0 /\ rcd_46^0-rcd_46^post43 == 0 /\ r_258^0-r_258^post43 == 0 /\ -result_11^post43+result_11^0 == 0 /\ len_275^0-len_275^post43 == 0 /\ -i_111^post43+i_111^0 == 0 /\ -rcd_409^post43+rcd_409^0 == 0), cost: 1
  44: l27 -> l28 : a_148^0'=a_148^post44, r_258^0'=r_258^post44, i_33^0'=i_33^post44, r_167^0'=r_167^post44, t_30^0'=t_30^post44, a_358^0'=a_358^post44, r_42^0'=r_42^post44, len_275^0'=len_275^post44, rcd_409^0'=rcd_409^post44, r_243^0'=r_243^post44, r_246^0'=r_246^post44, x_SLAM_f_21^0'=x_SLAM_f_21^post44, head_35^0'=head_35^post44, rcd_248^0'=rcd_248^post44, lt_509^0'=lt_509^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post44, a_220^0'=a_220^post44, r_272^0'=r_272^post44, rcd_363^0'=rcd_363^post44, r_196^0'=r_196^post44, temp0_34^0'=temp0_34^post44, c_28^0'=c_28^post44, rcd_113^0'=rcd_113^post44, length_32^0'=length_32^post44, rcd_46^0'=rcd_46^post44, r_252^0'=r_252^post44, i_120^0'=i_120^post44, rcd_273^0'=rcd_273^post44, r_159^0'=r_159^post44, t_24^0'=t_24^post44, a_332^0'=a_332^post44, r_29^0'=r_29^post44, len_205^0'=len_205^post44, rcd_387^0'=rcd_387^post44, r_236^0'=r_236^post44, tmp_37^0'=tmp_37^post44, x_23^0'=x_23^post44, head_13^0'=head_13^post44, rcd_244^0'=rcd_244^post44, lt_397^0'=lt_397^post44, result_11^0'=result_11^post44, a_173^0'=a_173^post44, r_266^0'=r_266^post44, l_27^0'=l_27^post44, r_188^0'=r_188^post44, temp0_18^0'=temp0_18^post44, a_388^0'=a_388^post44, rcd_105^0'=rcd_105^post44, len_297^0'=len_297^post44, rcd_427^0'=rcd_427^post44, r_245^0'=r_245^post44, r_247^0'=r_247^post44, y_22^0'=y_22^post44, i_111^0'=i_111^post44, rcd_253^0'=rcd_253^post44, nondet_12^0'=nondet_12^post44, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post44, a_276^0'=a_276^post44, r_274^0'=r_274^post44, rcd_367^0'=rcd_367^post44, r_234^0'=r_234^post44, temp_38^0'=temp_38^post44, x_19^0'=x_19^post44, ct_20^0'=ct_20^post44, rcd_235^0'=rcd_235^post44, lt_17^0'=lt_17^post44, rcd_70^0'=rcd_70^post44, (0 == 0 /\ r_236^0-r_236^post44 == 0 /\ -y_22^post44+y_22^0 == 0 /\ a_148^0-a_148^post44 == 0 /\ -rcd_427^post44+rcd_427^0 == 0 /\ -lt_17^post44+lt_17^0 == 0 /\ -r_42^0+r_234^0 <= 0 /\ a_358^0-a_358^post44 == 0 /\ rcd_113^0-rcd_113^post44 == 0 /\ -rcd_244^post44+rcd_244^0 == 0 /\ head_13^0-head_13^post44 == 0 /\ head_35^0-head_35^post44 == 0 /\ rcd_409^0-rcd_409^post44 == 0 /\ temp0_34^0-temp0_34^post44 == 0 /\ len_205^0-len_205^post44 == 0 /\ r_272^0-r_272^post44 == 0 /\ a_220^0-a_220^post44 == 0 /\ -r_159^post44+r_159^0 == 0 /\ rcd_387^0-rcd_387^post44 == 0 /\ -rcd_46^0+rcd_235^0 <= 0 /\ -a_276^post44+a_276^0 == 0 /\ r_266^0-r_266^post44 == 0 /\ i_33^0-i_33^post44 == 0 /\ -r_247^post44+r_247^0 == 0 /\ -rcd_273^post44+rcd_273^0 == 0 /\ -i_111^post44+i_111^0 == 0 /\ len_275^0-len_275^post44 == 0 /\ -rcd_253^post44+rcd_253^0 == 0 /\ -rcd_235^post44+rcd_235^0 == 0 /\ r_42^0-r_234^0 <= 0 /\ -lt_397^post44+lt_397^0 == 0 /\ -l_27^post44+l_27^0 == 0 /\ -r_234^post44+r_234^0 == 0 /\ -tmp_37^post44+tmp_37^0 == 0 /\ t_24^0-t_24^post44 == 0 /\ rcd_363^0-rcd_363^post44 == 0 /\ r_167^0-r_167^post44 == 0 /\ rcd_46^0-rcd_235^0 <= 0 /\ -len_297^post44+len_297^0 == 0 /\ -r_274^post44+r_274^0 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ rcd_46^0-rcd_46^post44 == 0 /\ r_258^0-r_258^post44 == 0 /\ -r_188^post44+r_188^0 == 0 /\ -r_167^0+r_236^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post44 == 0 /\ -rcd_367^post44+rcd_367^0 == 0 /\ -rcd_248^post44+rcd_248^0 == 0 /\ -t_30^post44+r_29^post44 <= 0 /\ -t_30^post44+r_29^post44 == 0 /\ -x_23^post44+x_23^0 == 0 /\ -length_32^post44+length_32^0 == 0 /\ -temp_38^post44+temp_38^0 == 0 /\ -a_220^0+a_173^post44 <= 0 /\ -ct_20^post44+ct_20^0 == 0 /\ 1-len_205^0 <= 0 /\ -1+len_205^0 <= 0 /\ r_42^0-r_42^post44 == 0 /\ c_28^0-c_28^post44 == 0 /\ rcd_105^0-rcd_105^post44 == 0 /\ -head_13^0+l_27^0 <= 0 /\ i_120^0-i_120^post44 == 0 /\ -r_243^post44+r_243^0 == 0 /\ r_167^0-r_236^0 <= 0 /\ t_30^post44-r_29^post44 <= 0 /\ -r_245^post44+r_245^0 == 0 /\ lt_509^0-lt_509^post44 == 0 /\ -rcd_70^post44+rcd_70^0 == 0 /\ -x_19^post44+x_19^0 == 0 /\ -result_11^post44+result_11^0 == 0 /\ a_220^0-a_173^post44 <= 0 /\ -r_246^post44+r_246^0 == 0 /\ -a_388^post44+a_388^0 == 0 /\ r_196^0-r_196^post44 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post44+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_332^0-a_332^post44 == 0 /\ r_252^0-r_252^post44 == 0 /\ temp0_18^0-temp0_18^post44 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post44 == 0 /\ head_13^0-l_27^0 <= 0 /\ t_30^post44-c_28^0 == 0), cost: 1
  45: l28 -> l29 : a_148^0'=a_148^post45, r_258^0'=r_258^post45, i_33^0'=i_33^post45, r_167^0'=r_167^post45, t_30^0'=t_30^post45, a_358^0'=a_358^post45, r_42^0'=r_42^post45, len_275^0'=len_275^post45, rcd_409^0'=rcd_409^post45, r_243^0'=r_243^post45, r_246^0'=r_246^post45, x_SLAM_f_21^0'=x_SLAM_f_21^post45, head_35^0'=head_35^post45, rcd_248^0'=rcd_248^post45, lt_509^0'=lt_509^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post45, a_220^0'=a_220^post45, r_272^0'=r_272^post45, rcd_363^0'=rcd_363^post45, r_196^0'=r_196^post45, temp0_34^0'=temp0_34^post45, c_28^0'=c_28^post45, rcd_113^0'=rcd_113^post45, length_32^0'=length_32^post45, rcd_46^0'=rcd_46^post45, r_252^0'=r_252^post45, i_120^0'=i_120^post45, rcd_273^0'=rcd_273^post45, r_159^0'=r_159^post45, t_24^0'=t_24^post45, a_332^0'=a_332^post45, r_29^0'=r_29^post45, len_205^0'=len_205^post45, rcd_387^0'=rcd_387^post45, r_236^0'=r_236^post45, tmp_37^0'=tmp_37^post45, x_23^0'=x_23^post45, head_13^0'=head_13^post45, rcd_244^0'=rcd_244^post45, lt_397^0'=lt_397^post45, result_11^0'=result_11^post45, a_173^0'=a_173^post45, r_266^0'=r_266^post45, l_27^0'=l_27^post45, r_188^0'=r_188^post45, temp0_18^0'=temp0_18^post45, a_388^0'=a_388^post45, rcd_105^0'=rcd_105^post45, len_297^0'=len_297^post45, rcd_427^0'=rcd_427^post45, r_245^0'=r_245^post45, r_247^0'=r_247^post45, y_22^0'=y_22^post45, i_111^0'=i_111^post45, rcd_253^0'=rcd_253^post45, nondet_12^0'=nondet_12^post45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, a_276^0'=a_276^post45, r_274^0'=r_274^post45, rcd_367^0'=rcd_367^post45, r_234^0'=r_234^post45, temp_38^0'=temp_38^post45, x_19^0'=x_19^post45, ct_20^0'=ct_20^post45, rcd_235^0'=rcd_235^post45, lt_17^0'=lt_17^post45, rcd_70^0'=rcd_70^post45, (result_11^0-result_11^post45 == 0 /\ -rcd_70^post45+rcd_70^0 == 0 /\ rcd_244^0-rcd_244^post45 == 0 /\ rcd_363^0-rcd_363^post45 == 0 /\ -len_205^post45+len_205^0 == 0 /\ r_258^0-r_258^post45 == 0 /\ tmp_37^0-tmp_37^post45 == 0 /\ -r_159^post45+r_159^0 == 0 /\ r_42^0-r_42^post45 == 0 /\ -rcd_253^post45+rcd_253^0 == 0 /\ r_245^0-r_245^post45 == 0 /\ -x_19^post45+x_19^0 == 0 /\ i_120^0-i_120^post45 == 0 /\ length_32^0-length_32^post45 == 0 /\ -r_274^post45+r_274^0 == 0 /\ -lt_397^post45+lt_397^0 == 0 /\ r_246^0-r_246^post45 == 0 /\ -y_22^post45+y_22^0 == 0 /\ -a_388^post45+a_388^0 == 0 /\ -lt_17^post45+lt_17^0 == 0 /\ -rcd_427^post45+rcd_427^0 == 0 /\ -x_23^post45+x_23^0 == 0 /\ -temp0_18^post45+temp0_18^0 == 0 /\ -r_29^post45+r_29^0 == 0 /\ r_272^0-r_272^post45 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post45 == 0 /\ r_196^0-r_196^post45 == 0 /\ t_30^0-t_30^post45 == 0 /\ lt_509^0-lt_509^post45 == 0 /\ a_332^0-a_332^post45 == 0 /\ 1-t_30^0 <= 0 /\ -rcd_273^post45+rcd_273^0 == 0 /\ -r_266^post45+r_266^0 == 0 /\ -i_111^post45+i_111^0 == 0 /\ -len_297^post45+len_297^0 == 0 /\ temp_38^0-temp_38^post45 == 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ -r_234^post45+r_234^0 == 0 /\ a_358^0-a_358^post45 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post45 == 0 /\ -rcd_46^post45+rcd_46^0 == 0 /\ i_33^0-i_33^post45 == 0 /\ r_252^0-r_252^post45 == 0 /\ rcd_113^0-rcd_113^post45 == 0 /\ -rcd_235^post45+rcd_235^0 == 0 /\ len_275^0-len_275^post45 == 0 /\ a_148^0-a_148^post45 == 0 /\ rcd_248^0-rcd_248^post45 == 0 /\ rcd_409^0-rcd_409^post45 == 0 /\ -r_188^post45+r_188^0 == 0 /\ -head_13^post45+head_13^0 == 0 /\ -x_SLAM_f_21^post45+x_SLAM_f_21^0 == 0 /\ -a_173^post45+a_173^0 == 0 /\ -t_24^post45+t_24^0 == 0 /\ -rcd_367^post45+rcd_367^0 == 0 /\ rcd_387^0-rcd_387^post45 == 0 /\ r_243^0-r_243^post45 == 0 /\ -c_28^post45+c_28^0 == 0 /\ head_35^0-head_35^post45 == 0 /\ -a_276^post45+a_276^0 == 0 /\ -a_220^post45+a_220^0 == 0 /\ -rcd_105^post45+rcd_105^0 == 0 /\ -ct_20^post45+ct_20^0 == 0 /\ -r_247^post45+r_247^0 == 0 /\ l_27^0-l_27^post45 == 0 /\ r_167^0-r_167^post45 == 0 /\ -temp0_34^post45+temp0_34^0 == 0 /\ r_236^0-r_236^post45 == 0), cost: 1
  46: l28 -> l29 : a_148^0'=a_148^post46, r_258^0'=r_258^post46, i_33^0'=i_33^post46, r_167^0'=r_167^post46, t_30^0'=t_30^post46, a_358^0'=a_358^post46, r_42^0'=r_42^post46, len_275^0'=len_275^post46, rcd_409^0'=rcd_409^post46, r_243^0'=r_243^post46, r_246^0'=r_246^post46, x_SLAM_f_21^0'=x_SLAM_f_21^post46, head_35^0'=head_35^post46, rcd_248^0'=rcd_248^post46, lt_509^0'=lt_509^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post46, a_220^0'=a_220^post46, r_272^0'=r_272^post46, rcd_363^0'=rcd_363^post46, r_196^0'=r_196^post46, temp0_34^0'=temp0_34^post46, c_28^0'=c_28^post46, rcd_113^0'=rcd_113^post46, length_32^0'=length_32^post46, rcd_46^0'=rcd_46^post46, r_252^0'=r_252^post46, i_120^0'=i_120^post46, rcd_273^0'=rcd_273^post46, r_159^0'=r_159^post46, t_24^0'=t_24^post46, a_332^0'=a_332^post46, r_29^0'=r_29^post46, len_205^0'=len_205^post46, rcd_387^0'=rcd_387^post46, r_236^0'=r_236^post46, tmp_37^0'=tmp_37^post46, x_23^0'=x_23^post46, head_13^0'=head_13^post46, rcd_244^0'=rcd_244^post46, lt_397^0'=lt_397^post46, result_11^0'=result_11^post46, a_173^0'=a_173^post46, r_266^0'=r_266^post46, l_27^0'=l_27^post46, r_188^0'=r_188^post46, temp0_18^0'=temp0_18^post46, a_388^0'=a_388^post46, rcd_105^0'=rcd_105^post46, len_297^0'=len_297^post46, rcd_427^0'=rcd_427^post46, r_245^0'=r_245^post46, r_247^0'=r_247^post46, y_22^0'=y_22^post46, i_111^0'=i_111^post46, rcd_253^0'=rcd_253^post46, nondet_12^0'=nondet_12^post46, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post46, a_276^0'=a_276^post46, r_274^0'=r_274^post46, rcd_367^0'=rcd_367^post46, r_234^0'=r_234^post46, temp_38^0'=temp_38^post46, x_19^0'=x_19^post46, ct_20^0'=ct_20^post46, rcd_235^0'=rcd_235^post46, lt_17^0'=lt_17^post46, rcd_70^0'=rcd_70^post46, (a_173^0-a_173^post46 == 0 /\ -temp_38^post46+temp_38^0 == 0 /\ lt_397^0-lt_397^post46 == 0 /\ i_33^0-i_33^post46 == 0 /\ temp0_34^0-temp0_34^post46 == 0 /\ -t_24^post46+t_24^0 == 0 /\ -r_274^post46+r_274^0 == 0 /\ rcd_409^0-rcd_409^post46 == 0 /\ -i_111^post46+i_111^0 == 0 /\ rcd_46^0-rcd_46^post46 == 0 /\ x_23^0-x_23^post46 == 0 /\ -rcd_105^post46+rcd_105^0 == 0 /\ -r_196^post46+r_196^0 == 0 /\ -ct_20^post46+ct_20^0 == 0 /\ rcd_273^0-rcd_273^post46 == 0 /\ len_275^0-len_275^post46 == 0 /\ -len_205^post46+len_205^0 == 0 /\ -lt_509^post46+lt_509^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post46 == 0 /\ r_167^0-r_167^post46 == 0 /\ rcd_253^0-rcd_253^post46 == 0 /\ -nondet_12^post46+nondet_12^0 == 0 /\ a_148^0-a_148^post46 == 0 /\ -r_272^post46+r_272^0 == 0 /\ c_28^0-c_28^post46 == 0 /\ a_276^0-a_276^post46 == 0 /\ r_29^0-r_29^post46 == 0 /\ -a_388^post46+a_388^0 == 0 /\ -rcd_70^post46+rcd_70^0 == 0 /\ -result_11^post46+result_11^0 == 0 /\ -x_19^post46+x_19^0 == 0 /\ -r_247^post46+r_247^0 == 0 /\ -r_236^post46+r_236^0 == 0 /\ t_30^0-t_30^post46 == 0 /\ -head_13^post46+head_13^0 == 0 /\ r_243^0-r_243^post46 == 0 /\ r_42^0-r_42^post46 == 0 /\ -r_266^post46+r_266^0 == 0 /\ length_32^0-length_32^post46 == 0 /\ len_297^0-len_297^post46 == 0 /\ rcd_363^0-rcd_363^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post46+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -temp0_18^post46+temp0_18^0 == 0 /\ a_220^0-a_220^post46 == 0 /\ r_246^0-r_246^post46 == 0 /\ r_258^0-r_258^post46 == 0 /\ -r_245^post46+r_245^0 == 0 /\ -lt_17^post46+lt_17^0 == 0 /\ 1+t_30^0 <= 0 /\ -rcd_427^post46+rcd_427^0 == 0 /\ -l_27^post46+l_27^0 == 0 /\ r_159^0-r_159^post46 == 0 /\ -r_234^post46+r_234^0 == 0 /\ -rcd_244^post46+rcd_244^0 == 0 /\ -a_332^post46+a_332^0 == 0 /\ -r_252^post46+r_252^0 == 0 /\ rcd_248^0-rcd_248^post46 == 0 /\ -rcd_367^post46+rcd_367^0 == 0 /\ -r_188^post46+r_188^0 == 0 /\ -rcd_387^post46+rcd_387^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post46 == 0 /\ a_358^0-a_358^post46 == 0 /\ -i_120^post46+i_120^0 == 0 /\ -y_22^post46+y_22^0 == 0 /\ -rcd_235^post46+rcd_235^0 == 0 /\ -rcd_113^post46+rcd_113^0 == 0 /\ tmp_37^0-tmp_37^post46 == 0 /\ head_35^0-head_35^post46 == 0), cost: 1
  47: l29 -> l30 : a_148^0'=a_148^post47, r_258^0'=r_258^post47, i_33^0'=i_33^post47, r_167^0'=r_167^post47, t_30^0'=t_30^post47, a_358^0'=a_358^post47, r_42^0'=r_42^post47, len_275^0'=len_275^post47, rcd_409^0'=rcd_409^post47, r_243^0'=r_243^post47, r_246^0'=r_246^post47, x_SLAM_f_21^0'=x_SLAM_f_21^post47, head_35^0'=head_35^post47, rcd_248^0'=rcd_248^post47, lt_509^0'=lt_509^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post47, a_220^0'=a_220^post47, r_272^0'=r_272^post47, rcd_363^0'=rcd_363^post47, r_196^0'=r_196^post47, temp0_34^0'=temp0_34^post47, c_28^0'=c_28^post47, rcd_113^0'=rcd_113^post47, length_32^0'=length_32^post47, rcd_46^0'=rcd_46^post47, r_252^0'=r_252^post47, i_120^0'=i_120^post47, rcd_273^0'=rcd_273^post47, r_159^0'=r_159^post47, t_24^0'=t_24^post47, a_332^0'=a_332^post47, r_29^0'=r_29^post47, len_205^0'=len_205^post47, rcd_387^0'=rcd_387^post47, r_236^0'=r_236^post47, tmp_37^0'=tmp_37^post47, x_23^0'=x_23^post47, head_13^0'=head_13^post47, rcd_244^0'=rcd_244^post47, lt_397^0'=lt_397^post47, result_11^0'=result_11^post47, a_173^0'=a_173^post47, r_266^0'=r_266^post47, l_27^0'=l_27^post47, r_188^0'=r_188^post47, temp0_18^0'=temp0_18^post47, a_388^0'=a_388^post47, rcd_105^0'=rcd_105^post47, len_297^0'=len_297^post47, rcd_427^0'=rcd_427^post47, r_245^0'=r_245^post47, r_247^0'=r_247^post47, y_22^0'=y_22^post47, i_111^0'=i_111^post47, rcd_253^0'=rcd_253^post47, nondet_12^0'=nondet_12^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post47, a_276^0'=a_276^post47, r_274^0'=r_274^post47, rcd_367^0'=rcd_367^post47, r_234^0'=r_234^post47, temp_38^0'=temp_38^post47, x_19^0'=x_19^post47, ct_20^0'=ct_20^post47, rcd_235^0'=rcd_235^post47, lt_17^0'=lt_17^post47, rcd_70^0'=rcd_70^post47, (-ct_20^post47+ct_20^0 == 0 /\ len_275^0-len_275^post47 == 0 /\ r_243^0-r_243^post47 == 0 /\ rcd_273^0-rcd_273^post47 == 0 /\ -i_120^post47+i_120^0 == 0 /\ -length_32^post47+length_32^0 == 0 /\ -len_297^post47+len_297^0 == 0 /\ -nondet_12^post47+nondet_12^0 == 0 /\ r_167^0-r_167^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post47 == 0 /\ -temp_38^post47+temp_38^0 == 0 /\ -rcd_367^post47+rcd_367^0 == 0 /\ t_30^0-t_30^post47 == 0 /\ -a_332^post47+a_332^0 == 0 /\ rcd_363^0-rcd_363^post47 == 0 /\ head_13^0-head_13^post47 == 0 /\ -x_19^post47+x_19^0 == 0 /\ r_258^0-r_258^post47 == 0 /\ head_35^0-head_35^post47 == 0 /\ rcd_113^0-rcd_113^post47 == 0 /\ -r_247^post47+r_247^0 == 0 /\ 1-r_167^0 <= 0 /\ rcd_409^0-rcd_409^post47 == 0 /\ a_358^0-a_358^post47 == 0 /\ r_272^0-r_272^post47 == 0 /\ -rcd_105^post47+rcd_105^0 == 0 /\ len_205^0-len_205^post47 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post47+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_173^post47+a_173^0 == 0 /\ -r_245^post47+r_245^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ r_274^0-r_274^post47 == 0 /\ -rcd_248^post47+rcd_248^0 == 0 /\ rcd_46^0-rcd_46^post47 == 0 /\ rcd_427^0-rcd_427^post47 == 0 /\ -rcd_387^post47+rcd_387^0 == 0 /\ lt_509^0-lt_509^post47 == 0 /\ r_246^0-r_246^post47 == 0 /\ -rcd_244^post47+rcd_244^0 == 0 /\ -y_22^post47+y_22^0 == 0 /\ x_23^0-x_23^post47 == 0 /\ -lt_17^post47+lt_17^0 == 0 /\ -rcd_70^post47+rcd_70^0 == 0 /\ r_196^0-r_196^post47 == 0 /\ t_24^0-t_24^post47 == 0 /\ -r_236^post47+r_236^0 == 0 /\ -a_276^post47+a_276^0 == 0 /\ -rcd_253^post47+rcd_253^0 == 0 /\ r_188^0-r_188^post47 == 0 /\ -temp0_18^post47+temp0_18^0 == 0 /\ -rcd_235^post47+rcd_235^0 == 0 /\ r_252^0-r_252^post47 == 0 /\ -lt_397^post47+lt_397^0 == 0 /\ r_159^0-r_159^post47 == 0 /\ -i_111^post47+i_111^0 == 0 /\ i_33^0-i_33^post47 == 0 /\ -l_27^post47+l_27^0 == 0 /\ temp0_34^0-temp0_34^post47 == 0 /\ a_220^0-a_220^post47 == 0 /\ -r_234^post47+r_234^0 == 0 /\ r_42^0-r_42^post47 == 0 /\ -r_29^post47+r_29^0 == 0 /\ -tmp_37^post47+tmp_37^0 == 0 /\ a_388^0-a_388^post47 == 0 /\ a_148^0-a_148^post47 == 0 /\ r_266^0-r_266^post47 == 0 /\ c_28^0-c_28^post47 == 0), cost: 1
  48: l29 -> l30 : a_148^0'=a_148^post48, r_258^0'=r_258^post48, i_33^0'=i_33^post48, r_167^0'=r_167^post48, t_30^0'=t_30^post48, a_358^0'=a_358^post48, r_42^0'=r_42^post48, len_275^0'=len_275^post48, rcd_409^0'=rcd_409^post48, r_243^0'=r_243^post48, r_246^0'=r_246^post48, x_SLAM_f_21^0'=x_SLAM_f_21^post48, head_35^0'=head_35^post48, rcd_248^0'=rcd_248^post48, lt_509^0'=lt_509^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48, a_220^0'=a_220^post48, r_272^0'=r_272^post48, rcd_363^0'=rcd_363^post48, r_196^0'=r_196^post48, temp0_34^0'=temp0_34^post48, c_28^0'=c_28^post48, rcd_113^0'=rcd_113^post48, length_32^0'=length_32^post48, rcd_46^0'=rcd_46^post48, r_252^0'=r_252^post48, i_120^0'=i_120^post48, rcd_273^0'=rcd_273^post48, r_159^0'=r_159^post48, t_24^0'=t_24^post48, a_332^0'=a_332^post48, r_29^0'=r_29^post48, len_205^0'=len_205^post48, rcd_387^0'=rcd_387^post48, r_236^0'=r_236^post48, tmp_37^0'=tmp_37^post48, x_23^0'=x_23^post48, head_13^0'=head_13^post48, rcd_244^0'=rcd_244^post48, lt_397^0'=lt_397^post48, result_11^0'=result_11^post48, a_173^0'=a_173^post48, r_266^0'=r_266^post48, l_27^0'=l_27^post48, r_188^0'=r_188^post48, temp0_18^0'=temp0_18^post48, a_388^0'=a_388^post48, rcd_105^0'=rcd_105^post48, len_297^0'=len_297^post48, rcd_427^0'=rcd_427^post48, r_245^0'=r_245^post48, r_247^0'=r_247^post48, y_22^0'=y_22^post48, i_111^0'=i_111^post48, rcd_253^0'=rcd_253^post48, nondet_12^0'=nondet_12^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post48, a_276^0'=a_276^post48, r_274^0'=r_274^post48, rcd_367^0'=rcd_367^post48, r_234^0'=r_234^post48, temp_38^0'=temp_38^post48, x_19^0'=x_19^post48, ct_20^0'=ct_20^post48, rcd_235^0'=rcd_235^post48, lt_17^0'=lt_17^post48, rcd_70^0'=rcd_70^post48, (r_246^0-r_246^post48 == 0 /\ -r_245^post48+r_245^0 == 0 /\ r_196^0-r_196^post48 == 0 /\ r_266^0-r_266^post48 == 0 /\ -rcd_273^post48+rcd_273^0 == 0 /\ c_28^0-c_28^post48 == 0 /\ -len_297^post48+len_297^0 == 0 /\ -rcd_235^post48+rcd_235^0 == 0 /\ -r_234^post48+r_234^0 == 0 /\ -rcd_46^post48+rcd_46^0 == 0 /\ r_272^0-r_272^post48 == 0 /\ lt_509^0-lt_509^post48 == 0 /\ head_35^0-head_35^post48 == 0 /\ -r_29^post48+r_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post48+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_173^post48+a_173^0 == 0 /\ -rcd_244^post48+rcd_244^0 == 0 /\ -rcd_367^post48+rcd_367^0 == 0 /\ -rcd_363^post48+rcd_363^0 == 0 /\ a_358^0-a_358^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ r_247^0-r_247^post48 == 0 /\ r_252^0-r_252^post48 == 0 /\ -ct_20^post48+ct_20^0 == 0 /\ t_30^0-t_30^post48 == 0 /\ -i_120^post48+i_120^0 == 0 /\ i_33^0-i_33^post48 == 0 /\ -temp_38^post48+temp_38^0 == 0 /\ -temp0_34^post48+temp0_34^0 == 0 /\ -a_220^post48+a_220^0 == 0 /\ -r_188^post48+r_188^0 == 0 /\ -a_276^post48+a_276^0 == 0 /\ a_148^0-a_148^post48 == 0 /\ length_32^0-length_32^post48 == 0 /\ -lt_397^post48+lt_397^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post48 == 0 /\ -i_111^post48+i_111^0 == 0 /\ -rcd_253^post48+rcd_253^0 == 0 /\ -r_159^post48+r_159^0 == 0 /\ -a_388^post48+a_388^0 == 0 /\ -x_19^post48+x_19^0 == 0 /\ 1+r_167^0 <= 0 /\ a_332^0-a_332^post48 == 0 /\ -rcd_70^post48+rcd_70^0 == 0 /\ rcd_387^0-rcd_387^post48 == 0 /\ -len_275^post48+len_275^0 == 0 /\ r_236^0-r_236^post48 == 0 /\ -tmp_37^post48+tmp_37^0 == 0 /\ r_243^0-r_243^post48 == 0 /\ r_167^0-r_167^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48 == 0 /\ -y_22^post48+y_22^0 == 0 /\ l_27^0-l_27^post48 == 0 /\ -r_274^post48+r_274^0 == 0 /\ temp0_18^0-temp0_18^post48 == 0 /\ t_24^0-t_24^post48 == 0 /\ -lt_17^post48+lt_17^0 == 0 /\ rcd_105^0-rcd_105^post48 == 0 /\ rcd_409^0-rcd_409^post48 == 0 /\ -rcd_427^post48+rcd_427^0 == 0 /\ -x_23^post48+x_23^0 == 0 /\ r_258^0-r_258^post48 == 0 /\ -len_205^post48+len_205^0 == 0 /\ r_42^0-r_42^post48 == 0 /\ rcd_248^0-rcd_248^post48 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ head_13^0-head_13^post48 == 0 /\ rcd_113^0-rcd_113^post48 == 0), cost: 1
  49: l30 -> l31 : a_148^0'=a_148^post49, r_258^0'=r_258^post49, i_33^0'=i_33^post49, r_167^0'=r_167^post49, t_30^0'=t_30^post49, a_358^0'=a_358^post49, r_42^0'=r_42^post49, len_275^0'=len_275^post49, rcd_409^0'=rcd_409^post49, r_243^0'=r_243^post49, r_246^0'=r_246^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post49, head_35^0'=head_35^post49, rcd_248^0'=rcd_248^post49, lt_509^0'=lt_509^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post49, a_220^0'=a_220^post49, r_272^0'=r_272^post49, rcd_363^0'=rcd_363^post49, r_196^0'=r_196^post49, temp0_34^0'=temp0_34^post49, c_28^0'=c_28^post49, rcd_113^0'=rcd_113^post49, length_32^0'=length_32^post49, rcd_46^0'=rcd_46^post49, r_252^0'=r_252^post49, i_120^0'=i_120^post49, rcd_273^0'=rcd_273^post49, r_159^0'=r_159^post49, t_24^0'=t_24^post49, a_332^0'=a_332^post49, r_29^0'=r_29^post49, len_205^0'=len_205^post49, rcd_387^0'=rcd_387^post49, r_236^0'=r_236^post49, tmp_37^0'=tmp_37^post49, x_23^0'=x_23^post49, head_13^0'=head_13^post49, rcd_244^0'=rcd_244^post49, lt_397^0'=lt_397^post49, result_11^0'=result_11^post49, a_173^0'=a_173^post49, r_266^0'=r_266^post49, l_27^0'=l_27^post49, r_188^0'=r_188^post49, temp0_18^0'=temp0_18^post49, a_388^0'=a_388^post49, rcd_105^0'=rcd_105^post49, len_297^0'=len_297^post49, rcd_427^0'=rcd_427^post49, r_245^0'=r_245^post49, r_247^0'=r_247^post49, y_22^0'=y_22^post49, i_111^0'=i_111^post49, rcd_253^0'=rcd_253^post49, nondet_12^0'=nondet_12^post49, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, a_276^0'=a_276^post49, r_274^0'=r_274^post49, rcd_367^0'=rcd_367^post49, r_234^0'=r_234^post49, temp_38^0'=temp_38^post49, x_19^0'=x_19^post49, ct_20^0'=ct_20^post49, rcd_235^0'=rcd_235^post49, lt_17^0'=lt_17^post49, rcd_70^0'=rcd_70^post49, (rcd_113^0-rcd_113^post49 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post49+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_148^0-a_148^post49 == 0 /\ -rcd_427^post49+rcd_427^0 == 0 /\ r_245^0-r_245^post49 == 0 /\ rcd_248^0-rcd_248^post49 == 0 /\ a_332^0-a_332^post49 == 0 /\ -r_236^post49+r_236^0 == 0 /\ l_27^0-l_27^post49 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post49 == 0 /\ rcd_253^0-rcd_253^post49 == 0 /\ result_11^0-result_11^post49 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post49 == 0 /\ -c_28^post49+c_28^0 == 0 /\ -r_247^post49+r_247^0 == 0 /\ i_33^0-i_33^post49 == 0 /\ i_120^0-i_120^post49 == 0 /\ -lt_17^post49+lt_17^0 == 0 /\ -rcd_273^post49+rcd_273^0 == 0 /\ temp0_34^0-temp0_34^post49 == 0 /\ -r_234^post49+r_234^0 == 0 /\ -r_196^post49+r_196^0 == 0 /\ r_42^0-r_42^post49 == 0 /\ r_243^0-r_243^post49 == 0 /\ t_30^0-t_30^post49 == 0 /\ -r_266^post49+r_266^0 == 0 /\ -lt_397^post49+lt_397^0 == 0 /\ 1-r_236^0 <= 0 /\ -a_276^post49+a_276^0 == 0 /\ -temp0_18^post49+temp0_18^0 == 0 /\ -rcd_235^post49+rcd_235^0 == 0 /\ -rcd_387^post49+rcd_387^0 == 0 /\ y_22^0-y_22^post49 == 0 /\ rcd_363^0-rcd_363^post49 == 0 /\ r_258^0-r_258^post49 == 0 /\ rcd_244^0-rcd_244^post49 == 0 /\ rcd_46^0-rcd_46^post49 == 0 /\ -r_252^post49+r_252^0 == 0 /\ rcd_367^0-rcd_367^post49 == 0 /\ r_167^0-r_167^post49 == 0 /\ head_13^0-head_13^post49 == 0 /\ -r_272^post49+r_272^0 == 0 /\ -r_274^post49+r_274^0 == 0 /\ -t_24^post49+t_24^0 == 0 /\ -r_188^post49+r_188^0 == 0 /\ -ct_20^post49+ct_20^0 == 0 /\ temp_38^0-temp_38^post49 == 0 /\ -x_23^post49+x_23^0 == 0 /\ head_35^0-head_35^post49 == 0 /\ tmp_37^0-tmp_37^post49 == 0 /\ lt_509^0-lt_509^post49 == 0 /\ -i_111^post49+i_111^0 == 0 /\ -rcd_105^post49+rcd_105^0 == 0 /\ a_358^0-a_358^post49 == 0 /\ r_29^0-r_29^post49 == 0 /\ -nondet_12^post49+nondet_12^0 == 0 /\ -rcd_70^post49+rcd_70^0 == 0 /\ len_297^0-len_297^post49 == 0 /\ -len_205^post49+len_205^0 == 0 /\ length_32^0-length_32^post49 == 0 /\ a_220^0-a_220^post49 == 0 /\ -a_388^post49+a_388^0 == 0 /\ -x_19^post49+x_19^0 == 0 /\ r_159^0-r_159^post49 == 0 /\ r_246^0-r_246^post49 == 0 /\ -a_173^post49+a_173^0 == 0 /\ len_275^0-len_275^post49 == 0 /\ -rcd_409^post49+rcd_409^0 == 0), cost: 1
  50: l30 -> l31 : a_148^0'=a_148^post50, r_258^0'=r_258^post50, i_33^0'=i_33^post50, r_167^0'=r_167^post50, t_30^0'=t_30^post50, a_358^0'=a_358^post50, r_42^0'=r_42^post50, len_275^0'=len_275^post50, rcd_409^0'=rcd_409^post50, r_243^0'=r_243^post50, r_246^0'=r_246^post50, x_SLAM_f_21^0'=x_SLAM_f_21^post50, head_35^0'=head_35^post50, rcd_248^0'=rcd_248^post50, lt_509^0'=lt_509^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post50, a_220^0'=a_220^post50, r_272^0'=r_272^post50, rcd_363^0'=rcd_363^post50, r_196^0'=r_196^post50, temp0_34^0'=temp0_34^post50, c_28^0'=c_28^post50, rcd_113^0'=rcd_113^post50, length_32^0'=length_32^post50, rcd_46^0'=rcd_46^post50, r_252^0'=r_252^post50, i_120^0'=i_120^post50, rcd_273^0'=rcd_273^post50, r_159^0'=r_159^post50, t_24^0'=t_24^post50, a_332^0'=a_332^post50, r_29^0'=r_29^post50, len_205^0'=len_205^post50, rcd_387^0'=rcd_387^post50, r_236^0'=r_236^post50, tmp_37^0'=tmp_37^post50, x_23^0'=x_23^post50, head_13^0'=head_13^post50, rcd_244^0'=rcd_244^post50, lt_397^0'=lt_397^post50, result_11^0'=result_11^post50, a_173^0'=a_173^post50, r_266^0'=r_266^post50, l_27^0'=l_27^post50, r_188^0'=r_188^post50, temp0_18^0'=temp0_18^post50, a_388^0'=a_388^post50, rcd_105^0'=rcd_105^post50, len_297^0'=len_297^post50, rcd_427^0'=rcd_427^post50, r_245^0'=r_245^post50, r_247^0'=r_247^post50, y_22^0'=y_22^post50, i_111^0'=i_111^post50, rcd_253^0'=rcd_253^post50, nondet_12^0'=nondet_12^post50, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post50, a_276^0'=a_276^post50, r_274^0'=r_274^post50, rcd_367^0'=rcd_367^post50, r_234^0'=r_234^post50, temp_38^0'=temp_38^post50, x_19^0'=x_19^post50, ct_20^0'=ct_20^post50, rcd_235^0'=rcd_235^post50, lt_17^0'=lt_17^post50, rcd_70^0'=rcd_70^post50, (-tmp_37^post50+tmp_37^0 == 0 /\ -a_276^post50+a_276^0 == 0 /\ a_148^0-a_148^post50 == 0 /\ a_358^0-a_358^post50 == 0 /\ rcd_409^0-rcd_409^post50 == 0 /\ r_159^0-r_159^post50 == 0 /\ -y_22^post50+y_22^0 == 0 /\ head_35^0-head_35^post50 == 0 /\ r_272^0-r_272^post50 == 0 /\ temp0_34^0-temp0_34^post50 == 0 /\ x_23^0-x_23^post50 == 0 /\ -x_19^post50+x_19^0 == 0 /\ a_220^0-a_220^post50 == 0 /\ a_173^0-a_173^post50 == 0 /\ -rcd_113^post50+rcd_113^0 == 0 /\ -r_236^post50+r_236^0 == 0 /\ length_32^0-length_32^post50 == 0 /\ -r_274^post50+r_274^0 == 0 /\ -rcd_253^post50+rcd_253^0 == 0 /\ len_275^0-len_275^post50 == 0 /\ -r_266^post50+r_266^0 == 0 /\ r_196^0-r_196^post50 == 0 /\ lt_397^0-lt_397^post50 == 0 /\ r_29^0-r_29^post50 == 0 /\ -len_205^post50+len_205^0 == 0 /\ -lt_17^post50+lt_17^0 == 0 /\ r_167^0-r_167^post50 == 0 /\ -l_27^post50+l_27^0 == 0 /\ i_111^0-i_111^post50 == 0 /\ -r_234^post50+r_234^0 == 0 /\ r_258^0-r_258^post50 == 0 /\ r_252^0-r_252^post50 == 0 /\ -a_332^post50+a_332^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post50 == 0 /\ rcd_244^0-rcd_244^post50 == 0 /\ -result_11^post50+result_11^0 == 0 /\ -nondet_12^post50+nondet_12^0 == 0 /\ -r_245^post50+r_245^0 == 0 /\ 1+r_236^0 <= 0 /\ -head_13^post50+head_13^0 == 0 /\ i_120^0-i_120^post50 == 0 /\ i_33^0-i_33^post50 == 0 /\ -rcd_367^post50+rcd_367^0 == 0 /\ rcd_248^0-rcd_248^post50 == 0 /\ -len_297^post50+len_297^0 == 0 /\ -temp0_18^post50+temp0_18^0 == 0 /\ r_42^0-r_42^post50 == 0 /\ -rcd_235^post50+rcd_235^0 == 0 /\ c_28^0-c_28^post50 == 0 /\ rcd_46^0-rcd_46^post50 == 0 /\ -r_247^post50+r_247^0 == 0 /\ rcd_427^0-rcd_427^post50 == 0 /\ -r_188^post50+r_188^0 == 0 /\ a_388^0-a_388^post50 == 0 /\ -temp_38^post50+temp_38^0 == 0 /\ lt_509^0-lt_509^post50 == 0 /\ rcd_273^0-rcd_273^post50 == 0 /\ -rcd_70^post50+rcd_70^0 == 0 /\ r_243^0-r_243^post50 == 0 /\ -r_246^post50+r_246^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post50+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_387^post50+rcd_387^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post50 == 0 /\ -rcd_105^post50+rcd_105^0 == 0 /\ t_24^0-t_24^post50 == 0 /\ -ct_20^post50+ct_20^0 == 0 /\ rcd_363^0-rcd_363^post50 == 0 /\ t_30^0-t_30^post50 == 0), cost: 1
  51: l31 -> l32 : a_148^0'=a_148^post51, r_258^0'=r_258^post51, i_33^0'=i_33^post51, r_167^0'=r_167^post51, t_30^0'=t_30^post51, a_358^0'=a_358^post51, r_42^0'=r_42^post51, len_275^0'=len_275^post51, rcd_409^0'=rcd_409^post51, r_243^0'=r_243^post51, r_246^0'=r_246^post51, x_SLAM_f_21^0'=x_SLAM_f_21^post51, head_35^0'=head_35^post51, rcd_248^0'=rcd_248^post51, lt_509^0'=lt_509^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post51, a_220^0'=a_220^post51, r_272^0'=r_272^post51, rcd_363^0'=rcd_363^post51, r_196^0'=r_196^post51, temp0_34^0'=temp0_34^post51, c_28^0'=c_28^post51, rcd_113^0'=rcd_113^post51, length_32^0'=length_32^post51, rcd_46^0'=rcd_46^post51, r_252^0'=r_252^post51, i_120^0'=i_120^post51, rcd_273^0'=rcd_273^post51, r_159^0'=r_159^post51, t_24^0'=t_24^post51, a_332^0'=a_332^post51, r_29^0'=r_29^post51, len_205^0'=len_205^post51, rcd_387^0'=rcd_387^post51, r_236^0'=r_236^post51, tmp_37^0'=tmp_37^post51, x_23^0'=x_23^post51, head_13^0'=head_13^post51, rcd_244^0'=rcd_244^post51, lt_397^0'=lt_397^post51, result_11^0'=result_11^post51, a_173^0'=a_173^post51, r_266^0'=r_266^post51, l_27^0'=l_27^post51, r_188^0'=r_188^post51, temp0_18^0'=temp0_18^post51, a_388^0'=a_388^post51, rcd_105^0'=rcd_105^post51, len_297^0'=len_297^post51, rcd_427^0'=rcd_427^post51, r_245^0'=r_245^post51, r_247^0'=r_247^post51, y_22^0'=y_22^post51, i_111^0'=i_111^post51, rcd_253^0'=rcd_253^post51, nondet_12^0'=nondet_12^post51, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post51, a_276^0'=a_276^post51, r_274^0'=r_274^post51, rcd_367^0'=rcd_367^post51, r_234^0'=r_234^post51, temp_38^0'=temp_38^post51, x_19^0'=x_19^post51, ct_20^0'=ct_20^post51, rcd_235^0'=rcd_235^post51, lt_17^0'=lt_17^post51, rcd_70^0'=rcd_70^post51, (-i_111^post51+i_111^0 == 0 /\ -rcd_70^post51+rcd_70^0 == 0 /\ i_33^0-i_33^post51 == 0 /\ -a_388^post51+a_388^0 == 0 /\ nondet_12^0-nondet_12^post51 == 0 /\ r_258^0-r_258^post51 == 0 /\ 1-r_246^0 <= 0 /\ -rcd_253^post51+rcd_253^0 == 0 /\ -x_19^post51+x_19^0 == 0 /\ r_42^0-r_42^post51 == 0 /\ r_159^0-r_159^post51 == 0 /\ r_252^0-r_252^post51 == 0 /\ r_247^0-r_247^post51 == 0 /\ -r_274^post51+r_274^0 == 0 /\ r_246^0-r_246^post51 == 0 /\ rcd_113^0-rcd_113^post51 == 0 /\ -tmp_37^post51+tmp_37^0 == 0 /\ head_13^0-head_13^post51 == 0 /\ c_28^0-c_28^post51 == 0 /\ rcd_46^0-rcd_46^post51 == 0 /\ -length_32^post51+length_32^0 == 0 /\ t_30^0-t_30^post51 == 0 /\ r_236^0-r_236^post51 == 0 /\ lt_509^0-lt_509^post51 == 0 /\ -result_11^post51+result_11^0 == 0 /\ -lt_17^post51+lt_17^0 == 0 /\ -temp0_18^post51+temp0_18^0 == 0 /\ a_220^0-a_220^post51 == 0 /\ lt_397^0-lt_397^post51 == 0 /\ a_358^0-a_358^post51 == 0 /\ -a_173^post51+a_173^0 == 0 /\ len_205^0-len_205^post51 == 0 /\ t_24^0-t_24^post51 == 0 /\ -r_29^post51+r_29^0 == 0 /\ -l_27^post51+l_27^0 == 0 /\ -r_245^post51+r_245^0 == 0 /\ a_148^0-a_148^post51 == 0 /\ len_275^0-len_275^post51 == 0 /\ -rcd_235^post51+rcd_235^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post51+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post51+rcd_427^0 == 0 /\ -r_234^post51+r_234^0 == 0 /\ rcd_409^0-rcd_409^post51 == 0 /\ x_23^0-x_23^post51 == 0 /\ rcd_273^0-rcd_273^post51 == 0 /\ -rcd_244^post51+rcd_244^0 == 0 /\ -x_SLAM_f_21^post51+x_SLAM_f_21^0 == 0 /\ r_266^0-r_266^post51 == 0 /\ r_196^0-r_196^post51 == 0 /\ -y_22^post51+y_22^0 == 0 /\ -a_332^post51+a_332^0 == 0 /\ r_188^0-r_188^post51 == 0 /\ rcd_248^0-rcd_248^post51 == 0 /\ r_272^0-r_272^post51 == 0 /\ -rcd_105^post51+rcd_105^0 == 0 /\ -rcd_387^post51+rcd_387^0 == 0 /\ -ct_20^post51+ct_20^0 == 0 /\ head_35^0-head_35^post51 == 0 /\ -len_297^post51+len_297^0 == 0 /\ -i_120^post51+i_120^0 == 0 /\ -r_243^post51+r_243^0 == 0 /\ r_167^0-r_167^post51 == 0 /\ -rcd_363^post51+rcd_363^0 == 0 /\ -temp0_34^post51+temp0_34^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post51 == 0 /\ -temp_38^post51+temp_38^0 == 0 /\ -a_276^post51+a_276^0 == 0 /\ -rcd_367^post51+rcd_367^0 == 0), cost: 1
  52: l31 -> l32 : a_148^0'=a_148^post52, r_258^0'=r_258^post52, i_33^0'=i_33^post52, r_167^0'=r_167^post52, t_30^0'=t_30^post52, a_358^0'=a_358^post52, r_42^0'=r_42^post52, len_275^0'=len_275^post52, rcd_409^0'=rcd_409^post52, r_243^0'=r_243^post52, r_246^0'=r_246^post52, x_SLAM_f_21^0'=x_SLAM_f_21^post52, head_35^0'=head_35^post52, rcd_248^0'=rcd_248^post52, lt_509^0'=lt_509^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post52, a_220^0'=a_220^post52, r_272^0'=r_272^post52, rcd_363^0'=rcd_363^post52, r_196^0'=r_196^post52, temp0_34^0'=temp0_34^post52, c_28^0'=c_28^post52, rcd_113^0'=rcd_113^post52, length_32^0'=length_32^post52, rcd_46^0'=rcd_46^post52, r_252^0'=r_252^post52, i_120^0'=i_120^post52, rcd_273^0'=rcd_273^post52, r_159^0'=r_159^post52, t_24^0'=t_24^post52, a_332^0'=a_332^post52, r_29^0'=r_29^post52, len_205^0'=len_205^post52, rcd_387^0'=rcd_387^post52, r_236^0'=r_236^post52, tmp_37^0'=tmp_37^post52, x_23^0'=x_23^post52, head_13^0'=head_13^post52, rcd_244^0'=rcd_244^post52, lt_397^0'=lt_397^post52, result_11^0'=result_11^post52, a_173^0'=a_173^post52, r_266^0'=r_266^post52, l_27^0'=l_27^post52, r_188^0'=r_188^post52, temp0_18^0'=temp0_18^post52, a_388^0'=a_388^post52, rcd_105^0'=rcd_105^post52, len_297^0'=len_297^post52, rcd_427^0'=rcd_427^post52, r_245^0'=r_245^post52, r_247^0'=r_247^post52, y_22^0'=y_22^post52, i_111^0'=i_111^post52, rcd_253^0'=rcd_253^post52, nondet_12^0'=nondet_12^post52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, a_276^0'=a_276^post52, r_274^0'=r_274^post52, rcd_367^0'=rcd_367^post52, r_234^0'=r_234^post52, temp_38^0'=temp_38^post52, x_19^0'=x_19^post52, ct_20^0'=ct_20^post52, rcd_235^0'=rcd_235^post52, lt_17^0'=lt_17^post52, rcd_70^0'=rcd_70^post52, (-rcd_367^post52+rcd_367^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 == 0 /\ length_32^0-length_32^post52 == 0 /\ -rcd_105^post52+rcd_105^0 == 0 /\ -r_188^post52+r_188^0 == 0 /\ temp0_34^0-temp0_34^post52 == 0 /\ y_22^0-y_22^post52 == 0 /\ -x_23^post52+x_23^0 == 0 /\ -rcd_46^post52+rcd_46^0 == 0 /\ rcd_363^0-rcd_363^post52 == 0 /\ rcd_409^0-rcd_409^post52 == 0 /\ t_24^0-t_24^post52 == 0 /\ -temp_38^post52+temp_38^0 == 0 /\ -ct_20^post52+ct_20^0 == 0 /\ -i_111^post52+i_111^0 == 0 /\ -nondet_12^post52+nondet_12^0 == 0 /\ len_275^0-len_275^post52 == 0 /\ r_167^0-r_167^post52 == 0 /\ r_252^0-r_252^post52 == 0 /\ result_11^0-result_11^post52 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post52 == 0 /\ -a_388^post52+a_388^0 == 0 /\ rcd_113^0-rcd_113^post52 == 0 /\ a_148^0-a_148^post52 == 0 /\ rcd_253^0-rcd_253^post52 == 0 /\ rcd_387^0-rcd_387^post52 == 0 /\ -r_245^post52+r_245^0 == 0 /\ tmp_37^0-tmp_37^post52 == 0 /\ -x_19^post52+x_19^0 == 0 /\ r_272^0-r_272^post52 == 0 /\ r_243^0-r_243^post52 == 0 /\ -rcd_70^post52+rcd_70^0 == 0 /\ -a_173^post52+a_173^0 == 0 /\ lt_509^0-lt_509^post52 == 0 /\ r_42^0-r_42^post52 == 0 /\ t_30^0-t_30^post52 == 0 /\ -len_205^post52+len_205^0 == 0 /\ -rcd_244^post52+rcd_244^0 == 0 /\ -c_28^post52+c_28^0 == 0 /\ -rcd_427^post52+rcd_427^0 == 0 /\ temp0_18^0-temp0_18^post52 == 0 /\ -r_159^post52+r_159^0 == 0 /\ -r_247^post52+r_247^0 == 0 /\ r_246^0-r_246^post52 == 0 /\ -lt_17^post52+lt_17^0 == 0 /\ r_258^0-r_258^post52 == 0 /\ -a_276^post52+a_276^0 == 0 /\ -head_35^post52+head_35^0 == 0 /\ -r_234^post52+r_234^0 == 0 /\ a_332^0-a_332^post52 == 0 /\ -lt_397^post52+lt_397^0 == 0 /\ -r_266^post52+r_266^0 == 0 /\ head_13^0-head_13^post52 == 0 /\ -rcd_273^post52+rcd_273^0 == 0 /\ -len_297^post52+len_297^0 == 0 /\ l_27^0-l_27^post52 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post52 == 0 /\ 1+r_246^0 <= 0 /\ r_236^0-r_236^post52 == 0 /\ -r_196^post52+r_196^0 == 0 /\ a_220^0-a_220^post52 == 0 /\ -r_274^post52+r_274^0 == 0 /\ a_358^0-a_358^post52 == 0 /\ rcd_248^0-rcd_248^post52 == 0 /\ i_120^0-i_120^post52 == 0 /\ -r_29^post52+r_29^0 == 0 /\ -rcd_235^post52+rcd_235^0 == 0 /\ i_33^0-i_33^post52 == 0), cost: 1
  53: l32 -> l0 : a_148^0'=a_148^post53, r_258^0'=r_258^post53, i_33^0'=i_33^post53, r_167^0'=r_167^post53, t_30^0'=t_30^post53, a_358^0'=a_358^post53, r_42^0'=r_42^post53, len_275^0'=len_275^post53, rcd_409^0'=rcd_409^post53, r_243^0'=r_243^post53, r_246^0'=r_246^post53, x_SLAM_f_21^0'=x_SLAM_f_21^post53, head_35^0'=head_35^post53, rcd_248^0'=rcd_248^post53, lt_509^0'=lt_509^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post53, a_220^0'=a_220^post53, r_272^0'=r_272^post53, rcd_363^0'=rcd_363^post53, r_196^0'=r_196^post53, temp0_34^0'=temp0_34^post53, c_28^0'=c_28^post53, rcd_113^0'=rcd_113^post53, length_32^0'=length_32^post53, rcd_46^0'=rcd_46^post53, r_252^0'=r_252^post53, i_120^0'=i_120^post53, rcd_273^0'=rcd_273^post53, r_159^0'=r_159^post53, t_24^0'=t_24^post53, a_332^0'=a_332^post53, r_29^0'=r_29^post53, len_205^0'=len_205^post53, rcd_387^0'=rcd_387^post53, r_236^0'=r_236^post53, tmp_37^0'=tmp_37^post53, x_23^0'=x_23^post53, head_13^0'=head_13^post53, rcd_244^0'=rcd_244^post53, lt_397^0'=lt_397^post53, result_11^0'=result_11^post53, a_173^0'=a_173^post53, r_266^0'=r_266^post53, l_27^0'=l_27^post53, r_188^0'=r_188^post53, temp0_18^0'=temp0_18^post53, a_388^0'=a_388^post53, rcd_105^0'=rcd_105^post53, len_297^0'=len_297^post53, rcd_427^0'=rcd_427^post53, r_245^0'=r_245^post53, r_247^0'=r_247^post53, y_22^0'=y_22^post53, i_111^0'=i_111^post53, rcd_253^0'=rcd_253^post53, nondet_12^0'=nondet_12^post53, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, a_276^0'=a_276^post53, r_274^0'=r_274^post53, rcd_367^0'=rcd_367^post53, r_234^0'=r_234^post53, temp_38^0'=temp_38^post53, x_19^0'=x_19^post53, ct_20^0'=ct_20^post53, rcd_235^0'=rcd_235^post53, lt_17^0'=lt_17^post53, rcd_70^0'=rcd_70^post53, (0 == 0 /\ -ct_20^post53+ct_20^0 == 0 /\ -nondet_12^post53+nondet_12^0 == 0 /\ -rcd_46^post53+rcd_46^0 == 0 /\ a_332^0-a_332^post53 == 0 /\ -r_266^post53+r_266^0 == 0 /\ r_196^0-r_196^post53 == 0 /\ r_243^0-r_243^post53 == 0 /\ -r_252^post53+r_252^0 == 0 /\ -temp0_18^post53+temp0_18^0 == 0 /\ r_167^0-r_167^post53 == 0 /\ -r_272^post53+r_272^0 == 0 /\ -head_13^post53+head_13^0 == 0 /\ t_30^0-t_30^post53 == 0 /\ i_111^0-i_111^post53 == 0 /\ -len_297^post53+len_297^0 == 0 /\ -1+a_148^post53-a_173^0 <= 0 /\ -rcd_367^post53+rcd_367^0 == 0 /\ -rcd_387^post53+rcd_387^0 == 0 /\ -x_19^post53+x_19^0 == 0 /\ r_258^0-r_258^post53 == 0 /\ a_276^0-a_276^post53 == 0 /\ -r_188^post53+r_188^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post53+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_236^post53+r_236^0 == 0 /\ -c_28^post53+c_28^0 == 0 /\ i_33^0-i_33^post53 == 0 /\ a_358^0-a_358^post53 == 0 /\ i_120^0-i_120^post53 == 0 /\ -temp_38^post53+temp_38^0 == 0 /\ -r_246^post53+r_246^0 == 0 /\ rcd_248^0-rcd_248^post53 == 0 /\ r_245^0-r_245^post53 == 0 /\ a_173^0-a_173^post53 == 0 /\ rcd_113^0-rcd_113^post53 == 0 /\ -rcd_105^post53+rcd_105^0 == 0 /\ a_220^0-a_220^post53 == 0 /\ -r_247^post53+r_247^0 == 0 /\ r_274^0-r_274^post53 == 0 /\ -lt_509^post53+lt_509^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ len_275^0-len_275^post53 == 0 /\ -lt_397^post53+lt_397^0 == 0 /\ -lt_17^post53+lt_17^0 == 0 /\ r_29^0-r_29^post53 == 0 /\ -a_388^post53+a_388^0 == 0 /\ -rcd_70^post53+rcd_70^0 == 0 /\ -y_22^post53+y_22^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post53 == 0 /\ -rcd_253^post53+rcd_253^0 == 0 /\ 1-a_148^post53+a_173^0 <= 0 /\ -t_24^post53+t_24^0 == 0 /\ rcd_409^0-rcd_409^post53 == 0 /\ -rcd_235^post53+rcd_235^0 == 0 /\ rcd_363^0-rcd_363^post53 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post53 == 0 /\ result_11^0-result_11^post53 == 0 /\ -rcd_427^post53+rcd_427^0 == 0 /\ rcd_244^0-rcd_244^post53 == 0 /\ -x_23^post53+x_23^0 == 0 /\ tmp_37^0-tmp_37^post53 == 0 /\ head_35^0-head_35^post53 == 0 /\ length_32^0-length_32^post53 == 0 /\ -l_27^post53+l_27^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ temp0_34^0-temp0_34^post53 == 0 /\ rcd_273^0-rcd_273^post53 == 0 /\ -r_234^post53+r_234^0 == 0 /\ r_42^0-r_42^post53 == 0 /\ r_159^0-r_159^post53 == 0 /\ -len_205^post53+len_205^0 == 0), cost: 1
  54: l33 -> l35 : a_148^0'=a_148^post54, r_258^0'=r_258^post54, i_33^0'=i_33^post54, r_167^0'=r_167^post54, t_30^0'=t_30^post54, a_358^0'=a_358^post54, r_42^0'=r_42^post54, len_275^0'=len_275^post54, rcd_409^0'=rcd_409^post54, r_243^0'=r_243^post54, r_246^0'=r_246^post54, x_SLAM_f_21^0'=x_SLAM_f_21^post54, head_35^0'=head_35^post54, rcd_248^0'=rcd_248^post54, lt_509^0'=lt_509^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post54, a_220^0'=a_220^post54, r_272^0'=r_272^post54, rcd_363^0'=rcd_363^post54, r_196^0'=r_196^post54, temp0_34^0'=temp0_34^post54, c_28^0'=c_28^post54, rcd_113^0'=rcd_113^post54, length_32^0'=length_32^post54, rcd_46^0'=rcd_46^post54, r_252^0'=r_252^post54, i_120^0'=i_120^post54, rcd_273^0'=rcd_273^post54, r_159^0'=r_159^post54, t_24^0'=t_24^post54, a_332^0'=a_332^post54, r_29^0'=r_29^post54, len_205^0'=len_205^post54, rcd_387^0'=rcd_387^post54, r_236^0'=r_236^post54, tmp_37^0'=tmp_37^post54, x_23^0'=x_23^post54, head_13^0'=head_13^post54, rcd_244^0'=rcd_244^post54, lt_397^0'=lt_397^post54, result_11^0'=result_11^post54, a_173^0'=a_173^post54, r_266^0'=r_266^post54, l_27^0'=l_27^post54, r_188^0'=r_188^post54, temp0_18^0'=temp0_18^post54, a_388^0'=a_388^post54, rcd_105^0'=rcd_105^post54, len_297^0'=len_297^post54, rcd_427^0'=rcd_427^post54, r_245^0'=r_245^post54, r_247^0'=r_247^post54, y_22^0'=y_22^post54, i_111^0'=i_111^post54, rcd_253^0'=rcd_253^post54, nondet_12^0'=nondet_12^post54, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post54, a_276^0'=a_276^post54, r_274^0'=r_274^post54, rcd_367^0'=rcd_367^post54, r_234^0'=r_234^post54, temp_38^0'=temp_38^post54, x_19^0'=x_19^post54, ct_20^0'=ct_20^post54, rcd_235^0'=rcd_235^post54, lt_17^0'=lt_17^post54, rcd_70^0'=rcd_70^post54, (0 == 0 /\ -rcd_244^post54+rcd_244^0 == 0 /\ -nondet_12^post54+nondet_12^0 == 0 /\ y_22^0-y_22^post54 == 0 /\ rcd_363^0-rcd_363^post54 == 0 /\ temp0_34^10-head_35^0 == 0 /\ -t_24^post54+t_24^0 == 0 /\ -rcd_367^post54+rcd_367^0 == 0 /\ i_120^0-i_120^post54 == 0 /\ -lt_397^post54+lt_397^0 == 0 /\ -i_33^0+length_32^0 <= 0 /\ -ct_20^post54+ct_20^0 == 0 /\ -r_196^post54+r_196^0 == 0 /\ len_275^0-len_275^post54 == 0 /\ r_272^0-r_272^post54 == 0 /\ -r_247^post54+r_247^0 == 0 /\ a_332^0-a_332^post54 == 0 /\ -len_205^post54+len_205^0 == 0 /\ rcd_113^0-rcd_113^post54 == 0 /\ rcd_248^0-rcd_248^post54 == 0 /\ -r_266^post54+r_266^0 == 0 /\ -rcd_273^post54+rcd_273^0 == 0 /\ r_167^0-r_167^post54 == 0 /\ a_148^0-a_148^post54 == 0 /\ -rcd_46^post54+rcd_46^0 == 0 /\ -temp0_34^10+result_11^10 == 0 /\ -len_297^post54+len_297^0 == 0 /\ -r_159^post54+r_159^0 == 0 /\ -temp0_18^post54+temp0_18^0 == 0 /\ -x_19^post54+x_19^0 == 0 /\ -rcd_70^post54+rcd_70^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^10 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^10 <= 0 /\ -r_42^post54+r_42^0 == 0 /\ t_30^0-t_30^post54 == 0 /\ r_243^0-r_243^post54 == 0 /\ -a_276^post54+a_276^0 == 0 /\ -r_188^post54+r_188^0 == 0 /\ r_252^0-r_252^post54 == 0 /\ -l_27^10+head_13^0 <= 0 /\ -rcd_105^post54+rcd_105^0 == 0 /\ r_258^0-r_258^post54 == 0 /\ -lt_17^post54+lt_17^0 == 0 /\ -r_29^post54 <= 0 /\ -x_23^post54+x_23^0 == 0 /\ r_246^0-r_246^post54 == 0 /\ -c_28^post54+c_28^0 == 0 /\ -r_274^post54+r_274^0 == 0 /\ -a_220^post54+a_220^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post54 == 0 /\ rcd_387^0-rcd_387^post54 == 0 /\ rcd_409^0-rcd_409^post54 == 0 /\ l_27^10-head_13^0 <= 0 /\ l_27^10-head_13^0 == 0 /\ -a_173^post54+a_173^0 == 0 /\ a_358^0-a_358^post54 == 0 /\ rcd_427^0-rcd_427^post54 == 0 /\ -i_111^post54+i_111^0 == 0 /\ -r_245^post54+r_245^0 == 0 /\ -rcd_253^post54+rcd_253^0 == 0 /\ r_236^0-r_236^post54 == 0 /\ lt_509^0-lt_509^post54 == 0 /\ r_29^post54 <= 0 /\ r_29^post54 == 0 /\ -rcd_235^post54+rcd_235^0 == 0 /\ -r_234^post54+r_234^0 == 0 /\ -a_388^post54+a_388^0 == 0), cost: 1
  74: l33 -> l47 : a_148^0'=a_148^post74, r_258^0'=r_258^post74, i_33^0'=i_33^post74, r_167^0'=r_167^post74, t_30^0'=t_30^post74, a_358^0'=a_358^post74, r_42^0'=r_42^post74, len_275^0'=len_275^post74, rcd_409^0'=rcd_409^post74, r_243^0'=r_243^post74, r_246^0'=r_246^post74, x_SLAM_f_21^0'=x_SLAM_f_21^post74, head_35^0'=head_35^post74, rcd_248^0'=rcd_248^post74, lt_509^0'=lt_509^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74, a_220^0'=a_220^post74, r_272^0'=r_272^post74, rcd_363^0'=rcd_363^post74, r_196^0'=r_196^post74, temp0_34^0'=temp0_34^post74, c_28^0'=c_28^post74, rcd_113^0'=rcd_113^post74, length_32^0'=length_32^post74, rcd_46^0'=rcd_46^post74, r_252^0'=r_252^post74, i_120^0'=i_120^post74, rcd_273^0'=rcd_273^post74, r_159^0'=r_159^post74, t_24^0'=t_24^post74, a_332^0'=a_332^post74, r_29^0'=r_29^post74, len_205^0'=len_205^post74, rcd_387^0'=rcd_387^post74, r_236^0'=r_236^post74, tmp_37^0'=tmp_37^post74, x_23^0'=x_23^post74, head_13^0'=head_13^post74, rcd_244^0'=rcd_244^post74, lt_397^0'=lt_397^post74, result_11^0'=result_11^post74, a_173^0'=a_173^post74, r_266^0'=r_266^post74, l_27^0'=l_27^post74, r_188^0'=r_188^post74, temp0_18^0'=temp0_18^post74, a_388^0'=a_388^post74, rcd_105^0'=rcd_105^post74, len_297^0'=len_297^post74, rcd_427^0'=rcd_427^post74, r_245^0'=r_245^post74, r_247^0'=r_247^post74, y_22^0'=y_22^post74, i_111^0'=i_111^post74, rcd_253^0'=rcd_253^post74, nondet_12^0'=nondet_12^post74, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post74, a_276^0'=a_276^post74, r_274^0'=r_274^post74, rcd_367^0'=rcd_367^post74, r_234^0'=r_234^post74, temp_38^0'=temp_38^post74, x_19^0'=x_19^post74, ct_20^0'=ct_20^post74, rcd_235^0'=rcd_235^post74, lt_17^0'=lt_17^post74, rcd_70^0'=rcd_70^post74, (0 == 0 /\ -rcd_253^post74+rcd_253^0 == 0 /\ -a_276^post74+a_276^0 == 0 /\ -rcd_113^post74+rcd_113^0 == 0 /\ r_247^0-r_247^post74 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74+tmp_37^post74 <= 0 /\ r_159^0-r_159^post74 == 0 /\ r_258^0-r_258^post74 == 0 /\ r_29^0-r_29^post74 == 0 /\ -y_22^post74+y_22^0 == 0 /\ r_42^0-r_42^post74 == 0 /\ rcd_46^0-rcd_46^post74 == 0 /\ -r_196^post74+r_196^0 == 0 /\ r_246^0-r_246^post74 == 0 /\ -lt_17^post74+lt_17^0 == 0 /\ -r_274^post74+r_274^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74-tmp_37^post74 <= 0 /\ a_388^0-a_388^post74 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post74 == 0 /\ rcd_273^0-rcd_273^post74 == 0 /\ -i_111^post74+i_111^0 == 0 /\ c_28^0-c_28^post74 == 0 /\ -lt_509^post74+lt_509^0 == 0 /\ t_30^0-t_30^post74 == 0 /\ 1+i_33^0-length_32^0 <= 0 /\ nondet_12^0-nondet_12^post74 == 0 /\ -l_27^post74+l_27^0 == 0 /\ a_358^0-a_358^post74 == 0 /\ -r_272^post74+r_272^0 == 0 /\ -r_234^post74+r_234^0 == 0 /\ -2+i_33^post74 <= 0 /\ -rcd_427^post74+rcd_427^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post74-length_32^0 <= 0 /\ -result_11^post74+result_11^0 == 0 /\ len_205^0-len_205^post74 == 0 /\ 2-length_32^0 <= 0 /\ -tmp_37^post74+head_35^post74 <= 0 /\ -tmp_37^post74+head_35^post74 == 0 /\ -r_245^post74+r_245^0 == 0 /\ -1-i_33^0+i_33^post74 == 0 /\ a_220^0-a_220^post74 == 0 /\ length_32^0-length_32^post74 == 0 /\ -a_332^post74+a_332^0 == 0 /\ -rcd_235^post74+rcd_235^0 == 0 /\ rcd_363^0-rcd_363^post74 == 0 /\ a_148^0-a_148^post74 == 0 /\ r_266^0-r_266^post74 == 0 /\ -r_243^post74+r_243^0 == 0 /\ len_275^0-len_275^post74 == 0 /\ -len_297^post74+len_297^0 == 0 /\ -rcd_367^post74+rcd_367^0 == 0 /\ x_23^0-x_23^post74 == 0 /\ -temp0_18^post74+temp0_18^0 == 0 /\ temp0_34^0-temp0_34^post74 == 0 /\ -i_120^post74+i_120^0 == 0 /\ rcd_409^0-rcd_409^post74 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74-head_35^post74 <= 0 /\ -head_13^post74+head_13^0 == 0 /\ tmp_37^post74-temp_38^0 == 0 /\ -a_173^post74+a_173^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post74+length_32^0 <= 0 /\ -x_19^post74+x_19^0 == 0 /\ tmp_37^post74-head_35^post74 <= 0 /\ -rcd_387^post74+rcd_387^0 == 0 /\ -r_252^post74+r_252^0 == 0 /\ rcd_248^0-rcd_248^post74 == 0 /\ lt_397^0-lt_397^post74 == 0 /\ -rcd_105^post74+rcd_105^0 == 0 /\ -ct_20^post74+ct_20^0 == 0 /\ -rcd_244^post74+rcd_244^0 == 0 /\ -r_236^post74+r_236^0 == 0 /\ 2-i_33^post74 <= 0 /\ r_167^0-r_167^post74 == 0 /\ r_188^0-r_188^post74 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74+head_35^post74 <= 0 /\ t_24^0-t_24^post74 == 0 /\ 1-length_32^0 <= 0), cost: 1
  55: l35 -> l36 : a_148^0'=a_148^post55, r_258^0'=r_258^post55, i_33^0'=i_33^post55, r_167^0'=r_167^post55, t_30^0'=t_30^post55, a_358^0'=a_358^post55, r_42^0'=r_42^post55, len_275^0'=len_275^post55, rcd_409^0'=rcd_409^post55, r_243^0'=r_243^post55, r_246^0'=r_246^post55, x_SLAM_f_21^0'=x_SLAM_f_21^post55, head_35^0'=head_35^post55, rcd_248^0'=rcd_248^post55, lt_509^0'=lt_509^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post55, a_220^0'=a_220^post55, r_272^0'=r_272^post55, rcd_363^0'=rcd_363^post55, r_196^0'=r_196^post55, temp0_34^0'=temp0_34^post55, c_28^0'=c_28^post55, rcd_113^0'=rcd_113^post55, length_32^0'=length_32^post55, rcd_46^0'=rcd_46^post55, r_252^0'=r_252^post55, i_120^0'=i_120^post55, rcd_273^0'=rcd_273^post55, r_159^0'=r_159^post55, t_24^0'=t_24^post55, a_332^0'=a_332^post55, r_29^0'=r_29^post55, len_205^0'=len_205^post55, rcd_387^0'=rcd_387^post55, r_236^0'=r_236^post55, tmp_37^0'=tmp_37^post55, x_23^0'=x_23^post55, head_13^0'=head_13^post55, rcd_244^0'=rcd_244^post55, lt_397^0'=lt_397^post55, result_11^0'=result_11^post55, a_173^0'=a_173^post55, r_266^0'=r_266^post55, l_27^0'=l_27^post55, r_188^0'=r_188^post55, temp0_18^0'=temp0_18^post55, a_388^0'=a_388^post55, rcd_105^0'=rcd_105^post55, len_297^0'=len_297^post55, rcd_427^0'=rcd_427^post55, r_245^0'=r_245^post55, r_247^0'=r_247^post55, y_22^0'=y_22^post55, i_111^0'=i_111^post55, rcd_253^0'=rcd_253^post55, nondet_12^0'=nondet_12^post55, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post55, a_276^0'=a_276^post55, r_274^0'=r_274^post55, rcd_367^0'=rcd_367^post55, r_234^0'=r_234^post55, temp_38^0'=temp_38^post55, x_19^0'=x_19^post55, ct_20^0'=ct_20^post55, rcd_235^0'=rcd_235^post55, lt_17^0'=lt_17^post55, rcd_70^0'=rcd_70^post55, (-a_276^post55+a_276^0 == 0 /\ tmp_37^0-tmp_37^post55 == 0 /\ r_258^0-r_258^post55 == 0 /\ a_358^0-a_358^post55 == 0 /\ -y_22^post55+y_22^0 == 0 /\ rcd_363^0-rcd_363^post55 == 0 /\ -rcd_253^post55+rcd_253^0 == 0 /\ len_275^0-len_275^post55 == 0 /\ length_32^0-length_32^post55 == 0 /\ -r_196^post55+r_196^0 == 0 /\ -rcd_70^post55+rcd_70^0 == 0 /\ temp0_34^0-temp0_34^post55 == 0 /\ r_245^0-r_245^post55 == 0 /\ -t_24^post55+t_24^0 == 0 /\ rcd_409^0-rcd_409^post55 == 0 /\ a_173^0-a_173^post55 == 0 /\ r_272^0-r_272^post55 == 0 /\ -r_274^post55+r_274^0 == 0 /\ -temp0_18^post55+temp0_18^0 == 0 /\ rcd_248^0-rcd_248^post55 == 0 /\ a_332^0-a_332^post55 == 0 /\ lt_397^0-lt_397^post55 == 0 /\ -lt_17^post55+lt_17^0 == 0 /\ i_111^0-i_111^post55 == 0 /\ -x_23^post55+x_23^0 == 0 /\ -rcd_46^post55+rcd_46^0 == 0 /\ -l_27^post55+l_27^0 == 0 /\ -r_234^post55+r_234^0 == 0 /\ -len_205^post55+len_205^0 == 0 /\ -r_266^post55+r_266^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post55 == 0 /\ -r_159^post55+r_159^0 == 0 /\ i_33^0-i_33^post55 == 0 /\ rcd_244^0-rcd_244^post55 == 0 /\ -result_11^post55+result_11^0 == 0 /\ -ct_20^post55+ct_20^0 == 0 /\ -head_35^post55+head_35^0 == 0 /\ r_42^0-r_42^post55 == 0 /\ i_120^0-i_120^post55 == 0 /\ r_252^0-r_252^post55 == 0 /\ -nondet_12^post55+nondet_12^0 == 0 /\ -len_297^post55+len_297^0 == 0 /\ -r_188^post55+r_188^0 == 0 /\ a_148^0-a_148^post55 == 0 /\ r_246^0-r_246^post55 == 0 /\ rcd_113^0-rcd_113^post55 == 0 /\ -rcd_367^post55+rcd_367^0 == 0 /\ -rcd_235^post55+rcd_235^0 == 0 /\ -head_13^post55+head_13^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post55 == 0 /\ rcd_427^0-rcd_427^post55 == 0 /\ -temp_38^post55+temp_38^0 == 0 /\ a_388^0-a_388^post55 == 0 /\ -x_19^post55+x_19^0 == 0 /\ -r_247^post55+r_247^0 == 0 /\ -c_28^post55+c_28^0 == 0 /\ r_243^0-r_243^post55 == 0 /\ rcd_387^0-rcd_387^post55 == 0 /\ rcd_273^0-rcd_273^post55 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post55+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ t_30^0-t_30^post55 == 0 /\ 1-c_28^0 <= 0 /\ r_167^0-r_167^post55 == 0 /\ r_236^0-r_236^post55 == 0 /\ lt_509^0-lt_509^post55 == 0 /\ -rcd_105^post55+rcd_105^0 == 0 /\ r_29^0-r_29^post55 == 0 /\ -a_220^post55+a_220^0 == 0), cost: 1
  56: l35 -> l36 : a_148^0'=a_148^post56, r_258^0'=r_258^post56, i_33^0'=i_33^post56, r_167^0'=r_167^post56, t_30^0'=t_30^post56, a_358^0'=a_358^post56, r_42^0'=r_42^post56, len_275^0'=len_275^post56, rcd_409^0'=rcd_409^post56, r_243^0'=r_243^post56, r_246^0'=r_246^post56, x_SLAM_f_21^0'=x_SLAM_f_21^post56, head_35^0'=head_35^post56, rcd_248^0'=rcd_248^post56, lt_509^0'=lt_509^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post56, a_220^0'=a_220^post56, r_272^0'=r_272^post56, rcd_363^0'=rcd_363^post56, r_196^0'=r_196^post56, temp0_34^0'=temp0_34^post56, c_28^0'=c_28^post56, rcd_113^0'=rcd_113^post56, length_32^0'=length_32^post56, rcd_46^0'=rcd_46^post56, r_252^0'=r_252^post56, i_120^0'=i_120^post56, rcd_273^0'=rcd_273^post56, r_159^0'=r_159^post56, t_24^0'=t_24^post56, a_332^0'=a_332^post56, r_29^0'=r_29^post56, len_205^0'=len_205^post56, rcd_387^0'=rcd_387^post56, r_236^0'=r_236^post56, tmp_37^0'=tmp_37^post56, x_23^0'=x_23^post56, head_13^0'=head_13^post56, rcd_244^0'=rcd_244^post56, lt_397^0'=lt_397^post56, result_11^0'=result_11^post56, a_173^0'=a_173^post56, r_266^0'=r_266^post56, l_27^0'=l_27^post56, r_188^0'=r_188^post56, temp0_18^0'=temp0_18^post56, a_388^0'=a_388^post56, rcd_105^0'=rcd_105^post56, len_297^0'=len_297^post56, rcd_427^0'=rcd_427^post56, r_245^0'=r_245^post56, r_247^0'=r_247^post56, y_22^0'=y_22^post56, i_111^0'=i_111^post56, rcd_253^0'=rcd_253^post56, nondet_12^0'=nondet_12^post56, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, a_276^0'=a_276^post56, r_274^0'=r_274^post56, rcd_367^0'=rcd_367^post56, r_234^0'=r_234^post56, temp_38^0'=temp_38^post56, x_19^0'=x_19^post56, ct_20^0'=ct_20^post56, rcd_235^0'=rcd_235^post56, lt_17^0'=lt_17^post56, rcd_70^0'=rcd_70^post56, (-r_272^post56+r_272^0 == 0 /\ -i_111^post56+i_111^0 == 0 /\ -x_23^post56+x_23^0 == 0 /\ -t_24^post56+t_24^0 == 0 /\ r_42^0-r_42^post56 == 0 /\ t_30^0-t_30^post56 == 0 /\ -a_388^post56+a_388^0 == 0 /\ -rcd_70^post56+rcd_70^0 == 0 /\ -x_19^post56+x_19^0 == 0 /\ nondet_12^0-nondet_12^post56 == 0 /\ -a_332^post56+a_332^0 == 0 /\ 1+c_28^0 <= 0 /\ a_148^0-a_148^post56 == 0 /\ r_246^0-r_246^post56 == 0 /\ r_258^0-r_258^post56 == 0 /\ r_247^0-r_247^post56 == 0 /\ r_196^0-r_196^post56 == 0 /\ -r_274^post56+r_274^0 == 0 /\ rcd_46^0-rcd_46^post56 == 0 /\ r_29^0-r_29^post56 == 0 /\ -rcd_427^post56+rcd_427^0 == 0 /\ -lt_17^post56+lt_17^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post56 == 0 /\ -r_245^post56+r_245^0 == 0 /\ a_220^0-a_220^post56 == 0 /\ a_358^0-a_358^post56 == 0 /\ c_28^0-c_28^post56 == 0 /\ -result_11^post56+result_11^0 == 0 /\ rcd_387^0-rcd_387^post56 == 0 /\ i_33^0-i_33^post56 == 0 /\ -rcd_235^post56+rcd_235^0 == 0 /\ length_32^0-length_32^post56 == 0 /\ temp0_34^0-temp0_34^post56 == 0 /\ -l_27^post56+l_27^0 == 0 /\ -len_297^post56+len_297^0 == 0 /\ -temp0_18^post56+temp0_18^0 == 0 /\ -r_236^post56+r_236^0 == 0 /\ -r_234^post56+r_234^0 == 0 /\ rcd_363^0-rcd_363^post56 == 0 /\ rcd_409^0-rcd_409^post56 == 0 /\ -rcd_244^post56+rcd_244^0 == 0 /\ r_159^0-r_159^post56 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post56+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_167^post56+r_167^0 == 0 /\ -a_173^post56+a_173^0 == 0 /\ -lt_509^post56+lt_509^0 == 0 /\ rcd_273^0-rcd_273^post56 == 0 /\ len_275^0-len_275^post56 == 0 /\ rcd_248^0-rcd_248^post56 == 0 /\ -y_22^post56+y_22^0 == 0 /\ -rcd_367^post56+rcd_367^0 == 0 /\ head_35^0-head_35^post56 == 0 /\ head_13^0-head_13^post56 == 0 /\ r_188^0-r_188^post56 == 0 /\ -rcd_105^post56+rcd_105^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post56 == 0 /\ r_266^0-r_266^post56 == 0 /\ -rcd_113^post56+rcd_113^0 == 0 /\ -ct_20^post56+ct_20^0 == 0 /\ -i_120^post56+i_120^0 == 0 /\ len_205^0-len_205^post56 == 0 /\ -lt_397^post56+lt_397^0 == 0 /\ tmp_37^0-tmp_37^post56 == 0 /\ -rcd_253^post56+rcd_253^0 == 0 /\ -r_252^post56+r_252^0 == 0 /\ -a_276^post56+a_276^0 == 0 /\ -temp_38^post56+temp_38^0 == 0 /\ -r_243^post56+r_243^0 == 0), cost: 1
  57: l36 -> l37 : a_148^0'=a_148^post57, r_258^0'=r_258^post57, i_33^0'=i_33^post57, r_167^0'=r_167^post57, t_30^0'=t_30^post57, a_358^0'=a_358^post57, r_42^0'=r_42^post57, len_275^0'=len_275^post57, rcd_409^0'=rcd_409^post57, r_243^0'=r_243^post57, r_246^0'=r_246^post57, x_SLAM_f_21^0'=x_SLAM_f_21^post57, head_35^0'=head_35^post57, rcd_248^0'=rcd_248^post57, lt_509^0'=lt_509^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post57, a_220^0'=a_220^post57, r_272^0'=r_272^post57, rcd_363^0'=rcd_363^post57, r_196^0'=r_196^post57, temp0_34^0'=temp0_34^post57, c_28^0'=c_28^post57, rcd_113^0'=rcd_113^post57, length_32^0'=length_32^post57, rcd_46^0'=rcd_46^post57, r_252^0'=r_252^post57, i_120^0'=i_120^post57, rcd_273^0'=rcd_273^post57, r_159^0'=r_159^post57, t_24^0'=t_24^post57, a_332^0'=a_332^post57, r_29^0'=r_29^post57, len_205^0'=len_205^post57, rcd_387^0'=rcd_387^post57, r_236^0'=r_236^post57, tmp_37^0'=tmp_37^post57, x_23^0'=x_23^post57, head_13^0'=head_13^post57, rcd_244^0'=rcd_244^post57, lt_397^0'=lt_397^post57, result_11^0'=result_11^post57, a_173^0'=a_173^post57, r_266^0'=r_266^post57, l_27^0'=l_27^post57, r_188^0'=r_188^post57, temp0_18^0'=temp0_18^post57, a_388^0'=a_388^post57, rcd_105^0'=rcd_105^post57, len_297^0'=len_297^post57, rcd_427^0'=rcd_427^post57, r_245^0'=r_245^post57, r_247^0'=r_247^post57, y_22^0'=y_22^post57, i_111^0'=i_111^post57, rcd_253^0'=rcd_253^post57, nondet_12^0'=nondet_12^post57, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post57, a_276^0'=a_276^post57, r_274^0'=r_274^post57, rcd_367^0'=rcd_367^post57, r_234^0'=r_234^post57, temp_38^0'=temp_38^post57, x_19^0'=x_19^post57, ct_20^0'=ct_20^post57, rcd_235^0'=rcd_235^post57, lt_17^0'=lt_17^post57, rcd_70^0'=rcd_70^post57, (-rcd_367^post57+rcd_367^0 == 0 /\ r_246^0-r_246^post57 == 0 /\ c_28^0-c_28^post57 == 0 /\ r_196^0-r_196^post57 == 0 /\ -rcd_105^post57+rcd_105^0 == 0 /\ r_272^0-r_272^post57 == 0 /\ -ct_20^post57+ct_20^0 == 0 /\ -rcd_46^post57+rcd_46^0 == 0 /\ lt_509^0-lt_509^post57 == 0 /\ i_111^0-i_111^post57 == 0 /\ -r_188^post57+r_188^0 == 0 /\ a_332^0-a_332^post57 == 0 /\ head_35^0-head_35^post57 == 0 /\ -nondet_12^post57+nondet_12^0 == 0 /\ -x_23^post57+x_23^0 == 0 /\ -temp_38^post57+temp_38^0 == 0 /\ r_167^0-r_167^post57 == 0 /\ t_30^post57-r_29^post57 <= 0 /\ t_24^0-t_24^post57 == 0 /\ rcd_244^0-rcd_244^post57 == 0 /\ a_358^0-a_358^post57 == 0 /\ -head_13^post57+head_13^0 == 0 /\ -rcd_363^post57+rcd_363^0 == 0 /\ r_258^0-r_258^post57 == 0 /\ -a_388^post57+a_388^0 == 0 /\ r_252^0-r_252^post57 == 0 /\ c_28^0 <= 0 /\ a_276^0-a_276^post57 == 0 /\ r_245^0-r_245^post57 == 0 /\ -x_19^post57+x_19^0 == 0 /\ -r_247^post57+r_247^0 == 0 /\ i_33^0-i_33^post57 == 0 /\ a_173^0-a_173^post57 == 0 /\ -temp0_34^post57+temp0_34^0 == 0 /\ -a_220^post57+a_220^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post57+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ i_120^0-i_120^post57 == 0 /\ length_32^0-length_32^post57 == 0 /\ -c_28^0+t_30^post57 == 0 /\ -t_30^post57+r_29^post57 <= 0 /\ -t_30^post57+r_29^post57 == 0 /\ len_297^0-len_297^post57 == 0 /\ -y_22^post57+y_22^0 == 0 /\ -len_205^post57+len_205^0 == 0 /\ -r_159^post57+r_159^0 == 0 /\ -rcd_427^post57+rcd_427^0 == 0 /\ -len_275^post57+len_275^0 == 0 /\ r_243^0-r_243^post57 == 0 /\ rcd_273^0-rcd_273^post57 == 0 /\ -tmp_37^post57+tmp_37^0 == 0 /\ -rcd_253^post57+rcd_253^0 == 0 /\ -rcd_70^post57+rcd_70^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post57 == 0 /\ -head_13^0+l_27^0 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post57 == 0 /\ -lt_397^post57+lt_397^0 == 0 /\ r_236^0-r_236^post57 == 0 /\ rcd_409^0-rcd_409^post57 == 0 /\ -r_266^post57+r_266^0 == 0 /\ -rcd_235^post57+rcd_235^0 == 0 /\ -l_27^post57+l_27^0 == 0 /\ result_11^0-result_11^post57 == 0 /\ -temp0_18^post57+temp0_18^0 == 0 /\ -r_234^post57+r_234^0 == 0 /\ rcd_248^0-rcd_248^post57 == 0 /\ rcd_387^0-rcd_387^post57 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ r_42^0-r_42^post57 == 0 /\ -lt_17^post57+lt_17^0 == 0 /\ -c_28^0 <= 0 /\ -r_274^post57+r_274^0 == 0 /\ rcd_113^0-rcd_113^post57 == 0 /\ head_13^0-l_27^0 <= 0 /\ a_148^0-a_148^post57 == 0), cost: 1
  58: l37 -> l38 : a_148^0'=a_148^post58, r_258^0'=r_258^post58, i_33^0'=i_33^post58, r_167^0'=r_167^post58, t_30^0'=t_30^post58, a_358^0'=a_358^post58, r_42^0'=r_42^post58, len_275^0'=len_275^post58, rcd_409^0'=rcd_409^post58, r_243^0'=r_243^post58, r_246^0'=r_246^post58, x_SLAM_f_21^0'=x_SLAM_f_21^post58, head_35^0'=head_35^post58, rcd_248^0'=rcd_248^post58, lt_509^0'=lt_509^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post58, a_220^0'=a_220^post58, r_272^0'=r_272^post58, rcd_363^0'=rcd_363^post58, r_196^0'=r_196^post58, temp0_34^0'=temp0_34^post58, c_28^0'=c_28^post58, rcd_113^0'=rcd_113^post58, length_32^0'=length_32^post58, rcd_46^0'=rcd_46^post58, r_252^0'=r_252^post58, i_120^0'=i_120^post58, rcd_273^0'=rcd_273^post58, r_159^0'=r_159^post58, t_24^0'=t_24^post58, a_332^0'=a_332^post58, r_29^0'=r_29^post58, len_205^0'=len_205^post58, rcd_387^0'=rcd_387^post58, r_236^0'=r_236^post58, tmp_37^0'=tmp_37^post58, x_23^0'=x_23^post58, head_13^0'=head_13^post58, rcd_244^0'=rcd_244^post58, lt_397^0'=lt_397^post58, result_11^0'=result_11^post58, a_173^0'=a_173^post58, r_266^0'=r_266^post58, l_27^0'=l_27^post58, r_188^0'=r_188^post58, temp0_18^0'=temp0_18^post58, a_388^0'=a_388^post58, rcd_105^0'=rcd_105^post58, len_297^0'=len_297^post58, rcd_427^0'=rcd_427^post58, r_245^0'=r_245^post58, r_247^0'=r_247^post58, y_22^0'=y_22^post58, i_111^0'=i_111^post58, rcd_253^0'=rcd_253^post58, nondet_12^0'=nondet_12^post58, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post58, a_276^0'=a_276^post58, r_274^0'=r_274^post58, rcd_367^0'=rcd_367^post58, r_234^0'=r_234^post58, temp_38^0'=temp_38^post58, x_19^0'=x_19^post58, ct_20^0'=ct_20^post58, rcd_235^0'=rcd_235^post58, lt_17^0'=lt_17^post58, rcd_70^0'=rcd_70^post58, (rcd_113^0-rcd_113^post58 == 0 /\ -rcd_235^post58+rcd_235^0 == 0 /\ -l_27^post58+l_27^0 == 0 /\ -r_236^post58+r_236^0 == 0 /\ -len_297^post58+len_297^0 == 0 /\ -nondet_12^post58+nondet_12^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post58 == 0 /\ -r_234^post58+r_234^0 == 0 /\ rcd_253^0-rcd_253^post58 == 0 /\ -head_13^post58+head_13^0 == 0 /\ r_243^0-r_243^post58 == 0 /\ r_29^0-r_29^post58 == 0 /\ -temp0_18^post58+temp0_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post58 == 0 /\ -c_28^post58+c_28^0 == 0 /\ lt_397^0-lt_397^post58 == 0 /\ i_33^0-i_33^post58 == 0 /\ -r_245^post58+r_245^0 == 0 /\ -ct_20^post58+ct_20^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post58+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_105^post58+rcd_105^0 == 0 /\ temp0_34^0-temp0_34^post58 == 0 /\ -rcd_387^post58+rcd_387^0 == 0 /\ -r_196^post58+r_196^0 == 0 /\ r_274^0-r_274^post58 == 0 /\ t_30^0-t_30^post58 == 0 /\ r_42^0-r_42^post58 == 0 /\ -rcd_367^post58+rcd_367^0 == 0 /\ -temp_38^post58+temp_38^0 == 0 /\ -rcd_244^post58+rcd_244^0 == 0 /\ -i_120^post58+i_120^0 == 0 /\ -a_276^post58+a_276^0 == 0 /\ rcd_273^0-rcd_273^post58 == 0 /\ rcd_363^0-rcd_363^post58 == 0 /\ rcd_46^0-rcd_46^post58 == 0 /\ -r_247^post58+r_247^0 == 0 /\ 1-t_30^0 <= 0 /\ r_159^0-r_159^post58 == 0 /\ -a_332^post58+a_332^0 == 0 /\ x_23^0-x_23^post58 == 0 /\ -r_252^post58+r_252^0 == 0 /\ -x_19^post58+x_19^0 == 0 /\ r_167^0-r_167^post58 == 0 /\ r_188^0-r_188^post58 == 0 /\ a_148^0-a_148^post58 == 0 /\ a_388^0-a_388^post58 == 0 /\ rcd_427^0-rcd_427^post58 == 0 /\ r_266^0-r_266^post58 == 0 /\ rcd_248^0-rcd_248^post58 == 0 /\ -y_22^post58+y_22^0 == 0 /\ head_35^0-head_35^post58 == 0 /\ tmp_37^0-tmp_37^post58 == 0 /\ lt_509^0-lt_509^post58 == 0 /\ a_358^0-a_358^post58 == 0 /\ len_205^0-len_205^post58 == 0 /\ t_24^0-t_24^post58 == 0 /\ a_173^0-a_173^post58 == 0 /\ length_32^0-length_32^post58 == 0 /\ a_220^0-a_220^post58 == 0 /\ -lt_17^post58+lt_17^0 == 0 /\ r_246^0-r_246^post58 == 0 /\ -rcd_70^post58+rcd_70^0 == 0 /\ r_258^0-r_258^post58 == 0 /\ -result_11^post58+result_11^0 == 0 /\ -r_272^post58+r_272^0 == 0 /\ -i_111^post58+i_111^0 == 0 /\ -rcd_409^post58+rcd_409^0 == 0 /\ len_275^0-len_275^post58 == 0), cost: 1
  59: l37 -> l38 : a_148^0'=a_148^post59, r_258^0'=r_258^post59, i_33^0'=i_33^post59, r_167^0'=r_167^post59, t_30^0'=t_30^post59, a_358^0'=a_358^post59, r_42^0'=r_42^post59, len_275^0'=len_275^post59, rcd_409^0'=rcd_409^post59, r_243^0'=r_243^post59, r_246^0'=r_246^post59, x_SLAM_f_21^0'=x_SLAM_f_21^post59, head_35^0'=head_35^post59, rcd_248^0'=rcd_248^post59, lt_509^0'=lt_509^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post59, a_220^0'=a_220^post59, r_272^0'=r_272^post59, rcd_363^0'=rcd_363^post59, r_196^0'=r_196^post59, temp0_34^0'=temp0_34^post59, c_28^0'=c_28^post59, rcd_113^0'=rcd_113^post59, length_32^0'=length_32^post59, rcd_46^0'=rcd_46^post59, r_252^0'=r_252^post59, i_120^0'=i_120^post59, rcd_273^0'=rcd_273^post59, r_159^0'=r_159^post59, t_24^0'=t_24^post59, a_332^0'=a_332^post59, r_29^0'=r_29^post59, len_205^0'=len_205^post59, rcd_387^0'=rcd_387^post59, r_236^0'=r_236^post59, tmp_37^0'=tmp_37^post59, x_23^0'=x_23^post59, head_13^0'=head_13^post59, rcd_244^0'=rcd_244^post59, lt_397^0'=lt_397^post59, result_11^0'=result_11^post59, a_173^0'=a_173^post59, r_266^0'=r_266^post59, l_27^0'=l_27^post59, r_188^0'=r_188^post59, temp0_18^0'=temp0_18^post59, a_388^0'=a_388^post59, rcd_105^0'=rcd_105^post59, len_297^0'=len_297^post59, rcd_427^0'=rcd_427^post59, r_245^0'=r_245^post59, r_247^0'=r_247^post59, y_22^0'=y_22^post59, i_111^0'=i_111^post59, rcd_253^0'=rcd_253^post59, nondet_12^0'=nondet_12^post59, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post59, a_276^0'=a_276^post59, r_274^0'=r_274^post59, rcd_367^0'=rcd_367^post59, r_234^0'=r_234^post59, temp_38^0'=temp_38^post59, x_19^0'=x_19^post59, ct_20^0'=ct_20^post59, rcd_235^0'=rcd_235^post59, lt_17^0'=lt_17^post59, rcd_70^0'=rcd_70^post59, (head_35^0-head_35^post59 == 0 /\ r_266^0-r_266^post59 == 0 /\ -lt_17^post59+lt_17^0 == 0 /\ a_148^0-a_148^post59 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post59+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_167^0-r_167^post59 == 0 /\ a_358^0-a_358^post59 == 0 /\ -a_173^post59+a_173^0 == 0 /\ head_13^0-head_13^post59 == 0 /\ rcd_409^0-rcd_409^post59 == 0 /\ -rcd_244^post59+rcd_244^0 == 0 /\ r_272^0-r_272^post59 == 0 /\ len_205^0-len_205^post59 == 0 /\ temp0_34^0-temp0_34^post59 == 0 /\ a_220^0-a_220^post59 == 0 /\ -rcd_427^post59+rcd_427^0 == 0 /\ -rcd_113^post59+rcd_113^0 == 0 /\ -r_236^post59+r_236^0 == 0 /\ rcd_387^0-rcd_387^post59 == 0 /\ -rcd_253^post59+rcd_253^0 == 0 /\ -rcd_273^post59+rcd_273^0 == 0 /\ len_275^0-len_275^post59 == 0 /\ -rcd_235^post59+rcd_235^0 == 0 /\ -a_276^post59+a_276^0 == 0 /\ -r_234^post59+r_234^0 == 0 /\ -lt_397^post59+lt_397^0 == 0 /\ t_24^0-t_24^post59 == 0 /\ r_196^0-r_196^post59 == 0 /\ -y_22^post59+y_22^0 == 0 /\ -r_29^post59+r_29^0 == 0 /\ -i_120^post59+i_120^0 == 0 /\ -tmp_37^post59+tmp_37^0 == 0 /\ rcd_46^0-rcd_46^post59 == 0 /\ r_258^0-r_258^post59 == 0 /\ -len_297^post59+len_297^0 == 0 /\ r_247^0-r_247^post59 == 0 /\ -rcd_367^post59+rcd_367^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post59 == 0 /\ -r_243^post59+r_243^0 == 0 /\ -temp_38^post59+temp_38^0 == 0 /\ -length_32^post59+length_32^0 == 0 /\ -rcd_248^post59+rcd_248^0 == 0 /\ -r_188^post59+r_188^0 == 0 /\ -ct_20^post59+ct_20^0 == 0 /\ -x_23^post59+x_23^0 == 0 /\ -r_274^post59+r_274^0 == 0 /\ l_27^0-l_27^post59 == 0 /\ -i_111^post59+i_111^0 == 0 /\ 1+t_30^0 <= 0 /\ i_33^0-i_33^post59 == 0 /\ r_42^0-r_42^post59 == 0 /\ rcd_105^0-rcd_105^post59 == 0 /\ c_28^0-c_28^post59 == 0 /\ -r_245^post59+r_245^0 == 0 /\ -r_159^post59+r_159^0 == 0 /\ lt_509^0-lt_509^post59 == 0 /\ -x_19^post59+x_19^0 == 0 /\ -rcd_70^post59+rcd_70^0 == 0 /\ -result_11^post59+result_11^0 == 0 /\ -r_246^post59+r_246^0 == 0 /\ -nondet_12^post59+nondet_12^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post59 == 0 /\ -a_388^post59+a_388^0 == 0 /\ r_252^0-r_252^post59 == 0 /\ rcd_363^0-rcd_363^post59 == 0 /\ a_332^0-a_332^post59 == 0 /\ temp0_18^0-temp0_18^post59 == 0 /\ t_30^0-t_30^post59 == 0), cost: 1
  60: l38 -> l39 : a_148^0'=a_148^post60, r_258^0'=r_258^post60, i_33^0'=i_33^post60, r_167^0'=r_167^post60, t_30^0'=t_30^post60, a_358^0'=a_358^post60, r_42^0'=r_42^post60, len_275^0'=len_275^post60, rcd_409^0'=rcd_409^post60, r_243^0'=r_243^post60, r_246^0'=r_246^post60, x_SLAM_f_21^0'=x_SLAM_f_21^post60, head_35^0'=head_35^post60, rcd_248^0'=rcd_248^post60, lt_509^0'=lt_509^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post60, a_220^0'=a_220^post60, r_272^0'=r_272^post60, rcd_363^0'=rcd_363^post60, r_196^0'=r_196^post60, temp0_34^0'=temp0_34^post60, c_28^0'=c_28^post60, rcd_113^0'=rcd_113^post60, length_32^0'=length_32^post60, rcd_46^0'=rcd_46^post60, r_252^0'=r_252^post60, i_120^0'=i_120^post60, rcd_273^0'=rcd_273^post60, r_159^0'=r_159^post60, t_24^0'=t_24^post60, a_332^0'=a_332^post60, r_29^0'=r_29^post60, len_205^0'=len_205^post60, rcd_387^0'=rcd_387^post60, r_236^0'=r_236^post60, tmp_37^0'=tmp_37^post60, x_23^0'=x_23^post60, head_13^0'=head_13^post60, rcd_244^0'=rcd_244^post60, lt_397^0'=lt_397^post60, result_11^0'=result_11^post60, a_173^0'=a_173^post60, r_266^0'=r_266^post60, l_27^0'=l_27^post60, r_188^0'=r_188^post60, temp0_18^0'=temp0_18^post60, a_388^0'=a_388^post60, rcd_105^0'=rcd_105^post60, len_297^0'=len_297^post60, rcd_427^0'=rcd_427^post60, r_245^0'=r_245^post60, r_247^0'=r_247^post60, y_22^0'=y_22^post60, i_111^0'=i_111^post60, rcd_253^0'=rcd_253^post60, nondet_12^0'=nondet_12^post60, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post60, a_276^0'=a_276^post60, r_274^0'=r_274^post60, rcd_367^0'=rcd_367^post60, r_234^0'=r_234^post60, temp_38^0'=temp_38^post60, x_19^0'=x_19^post60, ct_20^0'=ct_20^post60, rcd_235^0'=rcd_235^post60, lt_17^0'=lt_17^post60, rcd_70^0'=rcd_70^post60, (0 == 0 /\ result_11^0-result_11^post60 == 0 /\ rcd_244^0-rcd_244^post60 == 0 /\ i_33^0-i_33^post60 == 0 /\ -rcd_70^post60+rcd_70^0 == 0 /\ r_258^0-r_258^post60 == 0 /\ -len_205^post60+len_205^0 == 0 /\ tmp_37^0-tmp_37^post60 == 0 /\ -r_159^post60+r_159^0 == 0 /\ -rcd_253^post60+rcd_253^0 == 0 /\ -a_276^post60+a_276^0 == 0 /\ r_42^0-r_42^post60 == 0 /\ r_245^0-r_245^post60 == 0 /\ i_120^0-i_120^post60 == 0 /\ x_SLAM_f_21^post60-lt_17^0 <= 0 /\ -r_274^post60+r_274^0 == 0 /\ -x_19^post60+lt_17^0 <= 0 /\ -lt_397^post60+lt_397^0 == 0 /\ r_246^0-r_246^post60 == 0 /\ length_32^0-length_32^post60 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^post60 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^post60 <= 0 /\ -a_388^post60+a_388^0 == 0 /\ -temp0_18^post60+temp0_18^0 == 0 /\ c_28^0 <= 0 /\ -i_111^post60+i_111^0 == 0 /\ r_236^0-r_236^post60 == 0 /\ -rcd_427^post60+rcd_427^0 == 0 /\ ct_20^post60 <= 0 /\ ct_20^post60 == 0 /\ -x_SLAM_f_21^post60+lt_17^0 <= 0 /\ lt_509^0-lt_509^post60 == 0 /\ a_332^0-a_332^post60 == 0 /\ x_19^post60-lt_17^0 <= 0 /\ x_19^post60-lt_17^0 == 0 /\ -rcd_273^post60+rcd_273^0 == 0 /\ -lt_17^post60+lt_17^0 == 0 /\ -r_266^post60+r_266^0 == 0 /\ -ct_20^post60 <= 0 /\ a_220^0-a_220^post60 == 0 /\ -r_234^post60+r_234^0 == 0 /\ -rcd_46^post60+rcd_46^0 == 0 /\ a_358^0-a_358^post60 == 0 /\ -ct_20^post60+y_22^post60 <= 0 /\ -ct_20^post60+y_22^post60 == 0 /\ r_252^0-r_252^post60 == 0 /\ rcd_113^0-rcd_113^post60 == 0 /\ rcd_387^0-rcd_387^post60 == 0 /\ -x_23^post60+lt_17^0 <= 0 /\ -rcd_235^post60+rcd_235^0 == 0 /\ a_148^0-a_148^post60 == 0 /\ len_275^0-len_275^post60 == 0 /\ x_SLAM_f_21^post60-x_23^post60 <= 0 /\ -nondet_12^post60+nondet_12^0 == 0 /\ -x_SLAM_f_21^post60+x_19^post60 <= 0 /\ rcd_248^0-rcd_248^post60 == 0 /\ rcd_409^0-rcd_409^post60 == 0 /\ -head_13^post60+head_13^0 == 0 /\ temp_38^0-temp_38^post60 == 0 /\ len_297^0-len_297^post60 == 0 /\ -r_188^post60+r_188^0 == 0 /\ -a_173^post60+a_173^0 == 0 /\ y_22^post60 <= 0 /\ -y_22^post60 <= 0 /\ r_196^0-r_196^post60 == 0 /\ -r_247^post60+r_247^0 == 0 /\ ct_20^post60-y_22^post60 <= 0 /\ -t_24^post60+t_24^0 == 0 /\ r_272^0-r_272^post60 == 0 /\ -rcd_367^post60+rcd_367^0 == 0 /\ x_23^post60-lt_17^0 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -x_SLAM_f_21^post60+x_23^post60 <= 0 /\ -x_SLAM_f_21^post60+x_23^post60 == 0 /\ -rcd_105^post60+rcd_105^0 == 0 /\ head_35^0-head_35^post60 == 0 /\ x_SLAM_f_21^post60-x_19^post60 <= 0 /\ x_SLAM_f_21^post60-x_19^post60 == 0 /\ r_243^0-r_243^post60 == 0 /\ -c_28^0 <= 0 /\ r_167^0-r_167^post60 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post60 == 0 /\ -temp0_34^post60+temp0_34^0 == 0 /\ -rcd_363^post60+rcd_363^0 == 0), cost: 1
  61: l39 -> l40 : a_148^0'=a_148^post61, r_258^0'=r_258^post61, i_33^0'=i_33^post61, r_167^0'=r_167^post61, t_30^0'=t_30^post61, a_358^0'=a_358^post61, r_42^0'=r_42^post61, len_275^0'=len_275^post61, rcd_409^0'=rcd_409^post61, r_243^0'=r_243^post61, r_246^0'=r_246^post61, x_SLAM_f_21^0'=x_SLAM_f_21^post61, head_35^0'=head_35^post61, rcd_248^0'=rcd_248^post61, lt_509^0'=lt_509^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post61, a_220^0'=a_220^post61, r_272^0'=r_272^post61, rcd_363^0'=rcd_363^post61, r_196^0'=r_196^post61, temp0_34^0'=temp0_34^post61, c_28^0'=c_28^post61, rcd_113^0'=rcd_113^post61, length_32^0'=length_32^post61, rcd_46^0'=rcd_46^post61, r_252^0'=r_252^post61, i_120^0'=i_120^post61, rcd_273^0'=rcd_273^post61, r_159^0'=r_159^post61, t_24^0'=t_24^post61, a_332^0'=a_332^post61, r_29^0'=r_29^post61, len_205^0'=len_205^post61, rcd_387^0'=rcd_387^post61, r_236^0'=r_236^post61, tmp_37^0'=tmp_37^post61, x_23^0'=x_23^post61, head_13^0'=head_13^post61, rcd_244^0'=rcd_244^post61, lt_397^0'=lt_397^post61, result_11^0'=result_11^post61, a_173^0'=a_173^post61, r_266^0'=r_266^post61, l_27^0'=l_27^post61, r_188^0'=r_188^post61, temp0_18^0'=temp0_18^post61, a_388^0'=a_388^post61, rcd_105^0'=rcd_105^post61, len_297^0'=len_297^post61, rcd_427^0'=rcd_427^post61, r_245^0'=r_245^post61, r_247^0'=r_247^post61, y_22^0'=y_22^post61, i_111^0'=i_111^post61, rcd_253^0'=rcd_253^post61, nondet_12^0'=nondet_12^post61, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post61, a_276^0'=a_276^post61, r_274^0'=r_274^post61, rcd_367^0'=rcd_367^post61, r_234^0'=r_234^post61, temp_38^0'=temp_38^post61, x_19^0'=x_19^post61, ct_20^0'=ct_20^post61, rcd_235^0'=rcd_235^post61, lt_17^0'=lt_17^post61, rcd_70^0'=rcd_70^post61, (-r_274^post61+r_274^0 == 0 /\ a_173^0-a_173^post61 == 0 /\ temp0_34^0-temp0_34^post61 == 0 /\ -t_24^post61+t_24^0 == 0 /\ -i_111^post61+i_111^0 == 0 /\ rcd_409^0-rcd_409^post61 == 0 /\ rcd_46^0-rcd_46^post61 == 0 /\ -ct_20^post61+ct_20^0 == 0 /\ len_275^0-len_275^post61 == 0 /\ x_23^0-x_23^post61 == 0 /\ rcd_273^0-rcd_273^post61 == 0 /\ -r_196^post61+r_196^0 == 0 /\ r_167^0-r_167^post61 == 0 /\ -len_205^post61+len_205^0 == 0 /\ -nondet_12^post61+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post61 == 0 /\ a_148^0-a_148^post61 == 0 /\ rcd_253^0-rcd_253^post61 == 0 /\ c_28^0-c_28^post61 == 0 /\ -rcd_70^post61+rcd_70^0 == 0 /\ a_276^0-a_276^post61 == 0 /\ -result_11^post61+result_11^0 == 0 /\ -x_19^post61+x_19^0 == 0 /\ r_272^0-r_272^post61 == 0 /\ lt_397^0-lt_397^post61 == 0 /\ r_243^0-r_243^post61 == 0 /\ r_29^0-r_29^post61 == 0 /\ lt_509^0-lt_509^post61 == 0 /\ -head_13^post61+head_13^0 == 0 /\ t_30^0-t_30^post61 == 0 /\ r_42^0-r_42^post61 == 0 /\ -r_266^post61+r_266^0 == 0 /\ -len_297^post61+len_297^0 == 0 /\ rcd_363^0-rcd_363^post61 == 0 /\ -temp0_18^post61+temp0_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post61+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ length_32^0-length_32^post61 == 0 /\ -r_245^post61+r_245^0 == 0 /\ r_258^0-r_258^post61 == 0 /\ -lt_17^post61+lt_17^0 == 0 /\ r_246^0-r_246^post61 == 0 /\ -l_27^post61+l_27^0 == 0 /\ -head_35^post61+head_35^0 == 0 /\ r_159^0-r_159^post61 == 0 /\ -r_234^post61+r_234^0 == 0 /\ 1-lt_17^0 <= 0 /\ -rcd_244^post61+rcd_244^0 == 0 /\ -a_332^post61+a_332^0 == 0 /\ -y_22^post61+y_22^0 == 0 /\ -r_252^post61+r_252^0 == 0 /\ -rcd_105^post61+rcd_105^0 == 0 /\ rcd_248^0-rcd_248^post61 == 0 /\ rcd_427^0-rcd_427^post61 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post61 == 0 /\ -i_120^post61+i_120^0 == 0 /\ a_388^0-a_388^post61 == 0 /\ a_220^0-a_220^post61 == 0 /\ -r_247^post61+r_247^0 == 0 /\ a_358^0-a_358^post61 == 0 /\ -temp_38^post61+temp_38^0 == 0 /\ -rcd_367^post61+rcd_367^0 == 0 /\ -r_188^post61+r_188^0 == 0 /\ i_33^0-i_33^post61 == 0 /\ -rcd_235^post61+rcd_235^0 == 0 /\ -rcd_113^post61+rcd_113^0 == 0 /\ -rcd_387^post61+rcd_387^0 == 0 /\ -r_236^post61+r_236^0 == 0 /\ tmp_37^0-tmp_37^post61 == 0), cost: 1
  62: l39 -> l40 : a_148^0'=a_148^post62, r_258^0'=r_258^post62, i_33^0'=i_33^post62, r_167^0'=r_167^post62, t_30^0'=t_30^post62, a_358^0'=a_358^post62, r_42^0'=r_42^post62, len_275^0'=len_275^post62, rcd_409^0'=rcd_409^post62, r_243^0'=r_243^post62, r_246^0'=r_246^post62, x_SLAM_f_21^0'=x_SLAM_f_21^post62, head_35^0'=head_35^post62, rcd_248^0'=rcd_248^post62, lt_509^0'=lt_509^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post62, a_220^0'=a_220^post62, r_272^0'=r_272^post62, rcd_363^0'=rcd_363^post62, r_196^0'=r_196^post62, temp0_34^0'=temp0_34^post62, c_28^0'=c_28^post62, rcd_113^0'=rcd_113^post62, length_32^0'=length_32^post62, rcd_46^0'=rcd_46^post62, r_252^0'=r_252^post62, i_120^0'=i_120^post62, rcd_273^0'=rcd_273^post62, r_159^0'=r_159^post62, t_24^0'=t_24^post62, a_332^0'=a_332^post62, r_29^0'=r_29^post62, len_205^0'=len_205^post62, rcd_387^0'=rcd_387^post62, r_236^0'=r_236^post62, tmp_37^0'=tmp_37^post62, x_23^0'=x_23^post62, head_13^0'=head_13^post62, rcd_244^0'=rcd_244^post62, lt_397^0'=lt_397^post62, result_11^0'=result_11^post62, a_173^0'=a_173^post62, r_266^0'=r_266^post62, l_27^0'=l_27^post62, r_188^0'=r_188^post62, temp0_18^0'=temp0_18^post62, a_388^0'=a_388^post62, rcd_105^0'=rcd_105^post62, len_297^0'=len_297^post62, rcd_427^0'=rcd_427^post62, r_245^0'=r_245^post62, r_247^0'=r_247^post62, y_22^0'=y_22^post62, i_111^0'=i_111^post62, rcd_253^0'=rcd_253^post62, nondet_12^0'=nondet_12^post62, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post62, a_276^0'=a_276^post62, r_274^0'=r_274^post62, rcd_367^0'=rcd_367^post62, r_234^0'=r_234^post62, temp_38^0'=temp_38^post62, x_19^0'=x_19^post62, ct_20^0'=ct_20^post62, rcd_235^0'=rcd_235^post62, lt_17^0'=lt_17^post62, rcd_70^0'=rcd_70^post62, (-ct_20^post62+ct_20^0 == 0 /\ -i_120^post62+i_120^0 == 0 /\ -temp_38^post62+temp_38^0 == 0 /\ r_243^0-r_243^post62 == 0 /\ -length_32^post62+length_32^0 == 0 /\ -result_11^post62+result_11^0 == 0 /\ -nondet_12^post62+nondet_12^0 == 0 /\ r_167^0-r_167^post62 == 0 /\ r_188^0-r_188^post62 == 0 /\ -a_332^post62+a_332^0 == 0 /\ rcd_363^0-rcd_363^post62 == 0 /\ -rcd_367^post62+rcd_367^0 == 0 /\ t_30^0-t_30^post62 == 0 /\ r_258^0-r_258^post62 == 0 /\ -r_245^post62+r_245^0 == 0 /\ head_13^0-head_13^post62 == 0 /\ rcd_113^0-rcd_113^post62 == 0 /\ -r_247^post62+r_247^0 == 0 /\ -rcd_70^post62+rcd_70^0 == 0 /\ a_358^0-a_358^post62 == 0 /\ -x_19^post62+x_19^0 == 0 /\ len_205^0-len_205^post62 == 0 /\ -a_388^post62+a_388^0 == 0 /\ r_274^0-r_274^post62 == 0 /\ -r_246^post62+r_246^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post62+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_173^post62+a_173^0 == 0 /\ -rcd_248^post62+rcd_248^0 == 0 /\ 1+lt_17^0 <= 0 /\ r_272^0-r_272^post62 == 0 /\ -lt_509^post62+lt_509^0 == 0 /\ len_275^0-len_275^post62 == 0 /\ -y_22^post62+y_22^0 == 0 /\ rcd_427^0-rcd_427^post62 == 0 /\ -rcd_387^post62+rcd_387^0 == 0 /\ -rcd_244^post62+rcd_244^0 == 0 /\ -lt_17^post62+lt_17^0 == 0 /\ x_23^0-x_23^post62 == 0 /\ t_24^0-t_24^post62 == 0 /\ r_196^0-r_196^post62 == 0 /\ -r_236^post62+r_236^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post62 == 0 /\ -rcd_253^post62+rcd_253^0 == 0 /\ rcd_46^0-rcd_46^post62 == 0 /\ -a_276^post62+a_276^0 == 0 /\ -len_297^post62+len_297^0 == 0 /\ rcd_409^0-rcd_409^post62 == 0 /\ -i_111^post62+i_111^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post62 == 0 /\ r_252^0-r_252^post62 == 0 /\ -rcd_235^post62+rcd_235^0 == 0 /\ r_159^0-r_159^post62 == 0 /\ -lt_397^post62+lt_397^0 == 0 /\ head_35^0-head_35^post62 == 0 /\ -rcd_273^post62+rcd_273^0 == 0 /\ -l_27^post62+l_27^0 == 0 /\ temp0_34^0-temp0_34^post62 == 0 /\ i_33^0-i_33^post62 == 0 /\ -temp0_18^post62+temp0_18^0 == 0 /\ rcd_105^0-rcd_105^post62 == 0 /\ a_220^0-a_220^post62 == 0 /\ -r_234^post62+r_234^0 == 0 /\ r_42^0-r_42^post62 == 0 /\ a_148^0-a_148^post62 == 0 /\ -tmp_37^post62+tmp_37^0 == 0 /\ c_28^0-c_28^post62 == 0 /\ r_266^0-r_266^post62 == 0 /\ -r_29^post62+r_29^0 == 0), cost: 1
  63: l40 -> l41 : a_148^0'=a_148^post63, r_258^0'=r_258^post63, i_33^0'=i_33^post63, r_167^0'=r_167^post63, t_30^0'=t_30^post63, a_358^0'=a_358^post63, r_42^0'=r_42^post63, len_275^0'=len_275^post63, rcd_409^0'=rcd_409^post63, r_243^0'=r_243^post63, r_246^0'=r_246^post63, x_SLAM_f_21^0'=x_SLAM_f_21^post63, head_35^0'=head_35^post63, rcd_248^0'=rcd_248^post63, lt_509^0'=lt_509^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post63, a_220^0'=a_220^post63, r_272^0'=r_272^post63, rcd_363^0'=rcd_363^post63, r_196^0'=r_196^post63, temp0_34^0'=temp0_34^post63, c_28^0'=c_28^post63, rcd_113^0'=rcd_113^post63, length_32^0'=length_32^post63, rcd_46^0'=rcd_46^post63, r_252^0'=r_252^post63, i_120^0'=i_120^post63, rcd_273^0'=rcd_273^post63, r_159^0'=r_159^post63, t_24^0'=t_24^post63, a_332^0'=a_332^post63, r_29^0'=r_29^post63, len_205^0'=len_205^post63, rcd_387^0'=rcd_387^post63, r_236^0'=r_236^post63, tmp_37^0'=tmp_37^post63, x_23^0'=x_23^post63, head_13^0'=head_13^post63, rcd_244^0'=rcd_244^post63, lt_397^0'=lt_397^post63, result_11^0'=result_11^post63, a_173^0'=a_173^post63, r_266^0'=r_266^post63, l_27^0'=l_27^post63, r_188^0'=r_188^post63, temp0_18^0'=temp0_18^post63, a_388^0'=a_388^post63, rcd_105^0'=rcd_105^post63, len_297^0'=len_297^post63, rcd_427^0'=rcd_427^post63, r_245^0'=r_245^post63, r_247^0'=r_247^post63, y_22^0'=y_22^post63, i_111^0'=i_111^post63, rcd_253^0'=rcd_253^post63, nondet_12^0'=nondet_12^post63, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post63, a_276^0'=a_276^post63, r_274^0'=r_274^post63, rcd_367^0'=rcd_367^post63, r_234^0'=r_234^post63, temp_38^0'=temp_38^post63, x_19^0'=x_19^post63, ct_20^0'=ct_20^post63, rcd_235^0'=rcd_235^post63, lt_17^0'=lt_17^post63, rcd_70^0'=rcd_70^post63, (0 == 0 /\ -rcd_46^post63+rcd_46^0 == 0 /\ r_196^0-r_196^post63 == 0 /\ c_28^0-c_28^post63 == 0 /\ -r_234^post63+r_234^0 == 0 /\ r_272^0-r_272^post63 == 0 /\ -r_245^post63+r_245^0 == 0 /\ -len_297^post63+len_297^0 == 0 /\ -rcd_235^post63+rcd_235^0 == 0 /\ lt_509^0-lt_509^post63 == 0 /\ -r_29^post63+r_29^0 == 0 /\ t_24^0-t_24^post63 == 0 /\ -temp_38^post63+temp_38^0 == 0 /\ -r_188^post63+r_188^0 == 0 /\ -rcd_363^post63+rcd_363^0 == 0 /\ temp0_34^0-temp0_34^post63 == 0 /\ -rcd_367^post63+rcd_367^0 == 0 /\ rcd_244^0-rcd_244^post63 == 0 /\ result_11^0-result_11^post63 == 0 /\ r_252^0-r_252^post63 == 0 /\ temp0_18^0-temp0_18^post63 == 0 /\ r_247^0-r_247^post63 == 0 /\ -a_173^post63+a_173^0 == 0 /\ r_42^0-r_42^post63 == 0 /\ i_33^0-i_33^post63 == 0 /\ -a_220^post63+a_220^0 == 0 /\ a_148^0-a_148^post63 == 0 /\ length_32^0-length_32^post63 == 0 /\ -a_276^post63+a_276^0 == 0 /\ rcd_409^0-rcd_409^post63 == 0 /\ -rcd_253^post63+rcd_253^0 == 0 /\ -rcd_70^post63+rcd_70^0 == 0 /\ -r_159^post63+r_159^0 == 0 /\ -t_30^post63+t_30^0 == 0 /\ -a_388^post63+a_388^0 == 0 /\ -tmp_37^post63+tmp_37^0 == 0 /\ rcd_387^0-rcd_387^post63 == 0 /\ -lt_397^post63+lt_397^0 == 0 /\ -r_274^post63+r_274^0 == 0 /\ r_243^0-r_243^post63 == 0 /\ a_332^0-a_332^post63 == 0 /\ r_167^0-r_167^post63 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post63 == 0 /\ a_358^0-a_358^post63 == 0 /\ l_27^0-l_27^post63 == 0 /\ -y_22^post63+y_22^0 == 0 /\ r_236^0-r_236^post63 == 0 /\ rcd_105^0-rcd_105^post63 == 0 /\ head_35^0-head_35^post63 == 0 /\ -rcd_427^post63+rcd_427^0 == 0 /\ r_258^0-r_258^post63 == 0 /\ -x_23^post63+x_23^0 == 0 /\ len_275^0-len_275^post63 == 0 /\ rcd_248^0-rcd_248^post63 == 0 /\ i_120^0-i_120^post63 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -len_205^post63+len_205^0 == 0 /\ -r_266^post63+r_266^0 == 0 /\ -rcd_273^post63+rcd_273^0 == 0 /\ -i_111^post63+i_111^0 == 0 /\ -nondet_12^post63+nondet_12^0 == 0 /\ rcd_113^0-rcd_113^post63 == 0 /\ r_246^0-r_246^post63 == 0 /\ head_13^0-head_13^post63 == 0), cost: 1
  64: l41 -> l42 : a_148^0'=a_148^post64, r_258^0'=r_258^post64, i_33^0'=i_33^post64, r_167^0'=r_167^post64, t_30^0'=t_30^post64, a_358^0'=a_358^post64, r_42^0'=r_42^post64, len_275^0'=len_275^post64, rcd_409^0'=rcd_409^post64, r_243^0'=r_243^post64, r_246^0'=r_246^post64, x_SLAM_f_21^0'=x_SLAM_f_21^post64, head_35^0'=head_35^post64, rcd_248^0'=rcd_248^post64, lt_509^0'=lt_509^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post64, a_220^0'=a_220^post64, r_272^0'=r_272^post64, rcd_363^0'=rcd_363^post64, r_196^0'=r_196^post64, temp0_34^0'=temp0_34^post64, c_28^0'=c_28^post64, rcd_113^0'=rcd_113^post64, length_32^0'=length_32^post64, rcd_46^0'=rcd_46^post64, r_252^0'=r_252^post64, i_120^0'=i_120^post64, rcd_273^0'=rcd_273^post64, r_159^0'=r_159^post64, t_24^0'=t_24^post64, a_332^0'=a_332^post64, r_29^0'=r_29^post64, len_205^0'=len_205^post64, rcd_387^0'=rcd_387^post64, r_236^0'=r_236^post64, tmp_37^0'=tmp_37^post64, x_23^0'=x_23^post64, head_13^0'=head_13^post64, rcd_244^0'=rcd_244^post64, lt_397^0'=lt_397^post64, result_11^0'=result_11^post64, a_173^0'=a_173^post64, r_266^0'=r_266^post64, l_27^0'=l_27^post64, r_188^0'=r_188^post64, temp0_18^0'=temp0_18^post64, a_388^0'=a_388^post64, rcd_105^0'=rcd_105^post64, len_297^0'=len_297^post64, rcd_427^0'=rcd_427^post64, r_245^0'=r_245^post64, r_247^0'=r_247^post64, y_22^0'=y_22^post64, i_111^0'=i_111^post64, rcd_253^0'=rcd_253^post64, nondet_12^0'=nondet_12^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, a_276^0'=a_276^post64, r_274^0'=r_274^post64, rcd_367^0'=rcd_367^post64, r_234^0'=r_234^post64, temp_38^0'=temp_38^post64, x_19^0'=x_19^post64, ct_20^0'=ct_20^post64, rcd_235^0'=rcd_235^post64, lt_17^0'=lt_17^post64, rcd_70^0'=rcd_70^post64, (a_332^0-a_332^post64 == 0 /\ rcd_113^0-rcd_113^post64 == 0 /\ rcd_248^0-rcd_248^post64 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post64+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_236^post64+r_236^0 == 0 /\ -rcd_427^post64+rcd_427^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post64 == 0 /\ 1-x_23^0+y_22^0 <= 0 /\ r_167^0-r_167^post64 == 0 /\ a_148^0-a_148^post64 == 0 /\ -r_245^post64+r_245^0 == 0 /\ a_358^0-a_358^post64 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post64 == 0 /\ -c_28^post64+c_28^0 == 0 /\ l_27^0-l_27^post64 == 0 /\ -r_266^post64+r_266^0 == 0 /\ i_33^0-i_33^post64 == 0 /\ -lt_17^post64+lt_17^0 == 0 /\ -r_247^post64+r_247^0 == 0 /\ -temp0_34^post64+temp0_34^0 == 0 /\ -r_196^post64+r_196^0 == 0 /\ -r_234^post64+r_234^0 == 0 /\ i_120^0-i_120^post64 == 0 /\ lt_397^0-lt_397^post64 == 0 /\ r_243^0-r_243^post64 == 0 /\ -rcd_253^post64+rcd_253^0 == 0 /\ a_173^0-a_173^post64 == 0 /\ -a_276^post64+a_276^0 == 0 /\ -temp0_18^post64+temp0_18^0 == 0 /\ y_22^0-y_22^post64 == 0 /\ -rcd_235^post64+rcd_235^0 == 0 /\ rcd_363^0-rcd_363^post64 == 0 /\ rcd_46^0-rcd_46^post64 == 0 /\ -rcd_387^post64+rcd_387^0 == 0 /\ r_258^0-r_258^post64 == 0 /\ len_275^0-len_275^post64 == 0 /\ -r_252^post64+r_252^0 == 0 /\ rcd_367^0-rcd_367^post64 == 0 /\ -r_188^post64+r_188^0 == 0 /\ -x_23^post64+x_23^0 == 0 /\ -t_24^post64+t_24^0 == 0 /\ -r_274^post64+r_274^0 == 0 /\ -ct_20^post64+ct_20^0 == 0 /\ -i_111^post64+i_111^0 == 0 /\ temp_38^0-temp_38^post64 == 0 /\ -rcd_105^post64+rcd_105^0 == 0 /\ tmp_37^0-tmp_37^post64 == 0 /\ lt_509^0-lt_509^post64 == 0 /\ head_35^0-head_35^post64 == 0 /\ r_29^0-r_29^post64 == 0 /\ r_42^0-r_42^post64 == 0 /\ -result_11^post64+result_11^0 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ t_30^0-t_30^post64 == 0 /\ len_297^0-len_297^post64 == 0 /\ length_32^0-length_32^post64 == 0 /\ -len_205^post64+len_205^0 == 0 /\ a_220^0-a_220^post64 == 0 /\ rcd_244^0-rcd_244^post64 == 0 /\ -a_388^post64+a_388^0 == 0 /\ r_246^0-r_246^post64 == 0 /\ r_159^0-r_159^post64 == 0 /\ -r_272^post64+r_272^0 == 0 /\ -rcd_409^post64+rcd_409^0 == 0 /\ -head_13^post64+head_13^0 == 0 /\ rcd_273^0-rcd_273^post64 == 0 /\ -rcd_70^post64+rcd_70^0 == 0 /\ -x_19^post64+x_19^0 == 0), cost: 1
  65: l41 -> l42 : a_148^0'=a_148^post65, r_258^0'=r_258^post65, i_33^0'=i_33^post65, r_167^0'=r_167^post65, t_30^0'=t_30^post65, a_358^0'=a_358^post65, r_42^0'=r_42^post65, len_275^0'=len_275^post65, rcd_409^0'=rcd_409^post65, r_243^0'=r_243^post65, r_246^0'=r_246^post65, x_SLAM_f_21^0'=x_SLAM_f_21^post65, head_35^0'=head_35^post65, rcd_248^0'=rcd_248^post65, lt_509^0'=lt_509^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post65, a_220^0'=a_220^post65, r_272^0'=r_272^post65, rcd_363^0'=rcd_363^post65, r_196^0'=r_196^post65, temp0_34^0'=temp0_34^post65, c_28^0'=c_28^post65, rcd_113^0'=rcd_113^post65, length_32^0'=length_32^post65, rcd_46^0'=rcd_46^post65, r_252^0'=r_252^post65, i_120^0'=i_120^post65, rcd_273^0'=rcd_273^post65, r_159^0'=r_159^post65, t_24^0'=t_24^post65, a_332^0'=a_332^post65, r_29^0'=r_29^post65, len_205^0'=len_205^post65, rcd_387^0'=rcd_387^post65, r_236^0'=r_236^post65, tmp_37^0'=tmp_37^post65, x_23^0'=x_23^post65, head_13^0'=head_13^post65, rcd_244^0'=rcd_244^post65, lt_397^0'=lt_397^post65, result_11^0'=result_11^post65, a_173^0'=a_173^post65, r_266^0'=r_266^post65, l_27^0'=l_27^post65, r_188^0'=r_188^post65, temp0_18^0'=temp0_18^post65, a_388^0'=a_388^post65, rcd_105^0'=rcd_105^post65, len_297^0'=len_297^post65, rcd_427^0'=rcd_427^post65, r_245^0'=r_245^post65, r_247^0'=r_247^post65, y_22^0'=y_22^post65, i_111^0'=i_111^post65, rcd_253^0'=rcd_253^post65, nondet_12^0'=nondet_12^post65, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post65, a_276^0'=a_276^post65, r_274^0'=r_274^post65, rcd_367^0'=rcd_367^post65, r_234^0'=r_234^post65, temp_38^0'=temp_38^post65, x_19^0'=x_19^post65, ct_20^0'=ct_20^post65, rcd_235^0'=rcd_235^post65, lt_17^0'=lt_17^post65, rcd_70^0'=rcd_70^post65, (-a_276^post65+a_276^0 == 0 /\ head_35^0-head_35^post65 == 0 /\ r_258^0-r_258^post65 == 0 /\ -rcd_244^post65+rcd_244^0 == 0 /\ a_358^0-a_358^post65 == 0 /\ r_29^0-r_29^post65 == 0 /\ rcd_409^0-rcd_409^post65 == 0 /\ r_159^0-r_159^post65 == 0 /\ -y_22^post65+y_22^0 == 0 /\ -rcd_253^post65+rcd_253^0 == 0 /\ r_272^0-r_272^post65 == 0 /\ -rcd_70^post65+rcd_70^0 == 0 /\ a_220^0-a_220^post65 == 0 /\ -r_236^post65+r_236^0 == 0 /\ -rcd_113^post65+rcd_113^0 == 0 /\ length_32^0-length_32^post65 == 0 /\ -rcd_387^post65+rcd_387^0 == 0 /\ len_275^0-len_275^post65 == 0 /\ -r_274^post65+r_274^0 == 0 /\ 1+x_23^0-y_22^0 <= 0 /\ x_23^0-x_23^post65 == 0 /\ lt_397^0-lt_397^post65 == 0 /\ -r_266^post65+r_266^0 == 0 /\ r_196^0-r_196^post65 == 0 /\ -lt_17^post65+lt_17^0 == 0 /\ i_111^0-i_111^post65 == 0 /\ -l_27^post65+l_27^0 == 0 /\ t_30^0-t_30^post65 == 0 /\ -r_234^post65+r_234^0 == 0 /\ -tmp_37^post65+tmp_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post65 == 0 /\ r_252^0-r_252^post65 == 0 /\ -nondet_12^post65+nondet_12^0 == 0 /\ i_33^0-i_33^post65 == 0 /\ i_120^0-i_120^post65 == 0 /\ -len_297^post65+len_297^0 == 0 /\ -rcd_367^post65+rcd_367^0 == 0 /\ -result_11^post65+result_11^0 == 0 /\ -temp0_18^post65+temp0_18^0 == 0 /\ a_148^0-a_148^post65 == 0 /\ rcd_248^0-rcd_248^post65 == 0 /\ -r_188^post65+r_188^0 == 0 /\ r_42^0-r_42^post65 == 0 /\ temp0_34^0-temp0_34^post65 == 0 /\ -a_332^post65+a_332^0 == 0 /\ len_205^0-len_205^post65 == 0 /\ -rcd_235^post65+rcd_235^0 == 0 /\ -head_13^post65+head_13^0 == 0 /\ c_28^0-c_28^post65 == 0 /\ rcd_46^0-rcd_46^post65 == 0 /\ rcd_427^0-rcd_427^post65 == 0 /\ -temp_38^post65+temp_38^0 == 0 /\ -r_247^post65+r_247^0 == 0 /\ a_388^0-a_388^post65 == 0 /\ -x_19^post65+x_19^0 == 0 /\ rcd_273^0-rcd_273^post65 == 0 /\ lt_509^0-lt_509^post65 == 0 /\ r_243^0-r_243^post65 == 0 /\ -r_246^post65+r_246^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post65+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_167^0-r_167^post65 == 0 /\ -rcd_105^post65+rcd_105^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post65 == 0 /\ t_24^0-t_24^post65 == 0 /\ rcd_363^0-rcd_363^post65 == 0 /\ -r_245^post65+r_245^0 == 0 /\ -ct_20^post65+ct_20^0 == 0 /\ -a_173^post65+a_173^0 == 0), cost: 1
  66: l42 -> l43 : a_148^0'=a_148^post66, r_258^0'=r_258^post66, i_33^0'=i_33^post66, r_167^0'=r_167^post66, t_30^0'=t_30^post66, a_358^0'=a_358^post66, r_42^0'=r_42^post66, len_275^0'=len_275^post66, rcd_409^0'=rcd_409^post66, r_243^0'=r_243^post66, r_246^0'=r_246^post66, x_SLAM_f_21^0'=x_SLAM_f_21^post66, head_35^0'=head_35^post66, rcd_248^0'=rcd_248^post66, lt_509^0'=lt_509^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post66, a_220^0'=a_220^post66, r_272^0'=r_272^post66, rcd_363^0'=rcd_363^post66, r_196^0'=r_196^post66, temp0_34^0'=temp0_34^post66, c_28^0'=c_28^post66, rcd_113^0'=rcd_113^post66, length_32^0'=length_32^post66, rcd_46^0'=rcd_46^post66, r_252^0'=r_252^post66, i_120^0'=i_120^post66, rcd_273^0'=rcd_273^post66, r_159^0'=r_159^post66, t_24^0'=t_24^post66, a_332^0'=a_332^post66, r_29^0'=r_29^post66, len_205^0'=len_205^post66, rcd_387^0'=rcd_387^post66, r_236^0'=r_236^post66, tmp_37^0'=tmp_37^post66, x_23^0'=x_23^post66, head_13^0'=head_13^post66, rcd_244^0'=rcd_244^post66, lt_397^0'=lt_397^post66, result_11^0'=result_11^post66, a_173^0'=a_173^post66, r_266^0'=r_266^post66, l_27^0'=l_27^post66, r_188^0'=r_188^post66, temp0_18^0'=temp0_18^post66, a_388^0'=a_388^post66, rcd_105^0'=rcd_105^post66, len_297^0'=len_297^post66, rcd_427^0'=rcd_427^post66, r_245^0'=r_245^post66, r_247^0'=r_247^post66, y_22^0'=y_22^post66, i_111^0'=i_111^post66, rcd_253^0'=rcd_253^post66, nondet_12^0'=nondet_12^post66, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post66, a_276^0'=a_276^post66, r_274^0'=r_274^post66, rcd_367^0'=rcd_367^post66, r_234^0'=r_234^post66, temp_38^0'=temp_38^post66, x_19^0'=x_19^post66, ct_20^0'=ct_20^post66, rcd_235^0'=rcd_235^post66, lt_17^0'=lt_17^post66, rcd_70^0'=rcd_70^post66, (-i_111^post66+i_111^0 == 0 /\ len_205^0-len_205^post66 == 0 /\ -a_388^post66+a_388^0 == 0 /\ r_252^0-r_252^post66 == 0 /\ i_33^0-i_33^post66 == 0 /\ -x_19^post66+x_19^0 == 0 /\ nondet_12^0-nondet_12^post66 == 0 /\ -rcd_70^post66+rcd_70^0 == 0 /\ r_42^0-r_42^post66 == 0 /\ y_22^0-ct_20^0 <= 0 /\ -t_24^post66+lt_17^0 <= 0 /\ a_148^0-a_148^post66 == 0 /\ -tmp_37^post66+tmp_37^0 == 0 /\ r_247^0-r_247^post66 == 0 /\ r_246^0-r_246^post66 == 0 /\ rcd_113^0-rcd_113^post66 == 0 /\ -r_274^post66+r_274^0 == 0 /\ -x_23^0 <= 0 /\ rcd_387^0-rcd_387^post66 == 0 /\ -length_32^post66+length_32^0 == 0 /\ -lt_17^post66+lt_17^0 == 0 /\ rcd_46^0-rcd_46^post66 == 0 /\ c_28^0-c_28^post66 == 0 /\ t_30^0-t_30^post66 == 0 /\ r_236^0-r_236^post66 == 0 /\ -y_22^0+ct_20^0 <= 0 /\ t_24^post66-lt_17^0 <= 0 /\ lt_509^0-lt_509^post66 == 0 /\ -r_159^post66+r_159^0 == 0 /\ -result_11^post66+result_11^0 == 0 /\ -r_245^post66+r_245^0 == 0 /\ lt_397^0-lt_397^post66 == 0 /\ a_358^0-a_358^post66 == 0 /\ a_220^0-a_220^post66 == 0 /\ x_23^0 <= 0 /\ -rcd_235^post66+rcd_235^0 == 0 /\ -head_13^post66+head_13^0 == 0 /\ -len_297^post66+len_297^0 == 0 /\ -x_19^0+lt_17^0 <= 0 /\ -l_27^post66+l_27^0 == 0 /\ -temp0_18^post66+temp0_18^0 == 0 /\ r_258^0-r_258^post66 == 0 /\ -r_234^post66+r_234^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post66+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post66+rcd_427^0 == 0 /\ -x_23^0+t_24^post66 == 0 /\ rcd_409^0-rcd_409^post66 == 0 /\ -a_173^post66+a_173^0 == 0 /\ x_23^0-x_23^post66 == 0 /\ -ct_20^0 <= 0 /\ -rcd_244^post66+rcd_244^0 == 0 /\ x_SLAM_f_21^0-x_19^0 <= 0 /\ -r_29^post66+r_29^0 == 0 /\ rcd_273^0-rcd_273^post66 == 0 /\ -x_SLAM_f_21^post66+x_SLAM_f_21^0 == 0 /\ r_266^0-r_266^post66 == 0 /\ y_22^0 <= 0 /\ -y_22^0 <= 0 /\ r_196^0-r_196^post66 == 0 /\ -y_22^post66+y_22^0 == 0 /\ a_332^0-a_332^post66 == 0 /\ r_188^0-r_188^post66 == 0 /\ len_275^0-len_275^post66 == 0 /\ -ct_20^post66+ct_20^0 == 0 /\ -rcd_105^post66+rcd_105^0 == 0 /\ rcd_248^0-rcd_248^post66 == 0 /\ x_19^0-lt_17^0 <= 0 /\ r_272^0-r_272^post66 == 0 /\ -i_120^post66+i_120^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ head_35^0-head_35^post66 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ -a_276^post66+a_276^0 == 0 /\ ct_20^0 <= 0 /\ -r_243^post66+r_243^0 == 0 /\ -rcd_253^post66+rcd_253^0 == 0 /\ -temp_38^post66+temp_38^0 == 0 /\ -rcd_367^post66+rcd_367^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post66 == 0 /\ -x_SLAM_f_21^0+x_19^0 <= 0 /\ r_167^0-r_167^post66 == 0 /\ -temp0_34^post66+temp0_34^0 == 0 /\ -rcd_363^post66+rcd_363^0 == 0), cost: 1
  67: l43 -> l44 : a_148^0'=a_148^post67, r_258^0'=r_258^post67, i_33^0'=i_33^post67, r_167^0'=r_167^post67, t_30^0'=t_30^post67, a_358^0'=a_358^post67, r_42^0'=r_42^post67, len_275^0'=len_275^post67, rcd_409^0'=rcd_409^post67, r_243^0'=r_243^post67, r_246^0'=r_246^post67, x_SLAM_f_21^0'=x_SLAM_f_21^post67, head_35^0'=head_35^post67, rcd_248^0'=rcd_248^post67, lt_509^0'=lt_509^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post67, a_220^0'=a_220^post67, r_272^0'=r_272^post67, rcd_363^0'=rcd_363^post67, r_196^0'=r_196^post67, temp0_34^0'=temp0_34^post67, c_28^0'=c_28^post67, rcd_113^0'=rcd_113^post67, length_32^0'=length_32^post67, rcd_46^0'=rcd_46^post67, r_252^0'=r_252^post67, i_120^0'=i_120^post67, rcd_273^0'=rcd_273^post67, r_159^0'=r_159^post67, t_24^0'=t_24^post67, a_332^0'=a_332^post67, r_29^0'=r_29^post67, len_205^0'=len_205^post67, rcd_387^0'=rcd_387^post67, r_236^0'=r_236^post67, tmp_37^0'=tmp_37^post67, x_23^0'=x_23^post67, head_13^0'=head_13^post67, rcd_244^0'=rcd_244^post67, lt_397^0'=lt_397^post67, result_11^0'=result_11^post67, a_173^0'=a_173^post67, r_266^0'=r_266^post67, l_27^0'=l_27^post67, r_188^0'=r_188^post67, temp0_18^0'=temp0_18^post67, a_388^0'=a_388^post67, rcd_105^0'=rcd_105^post67, len_297^0'=len_297^post67, rcd_427^0'=rcd_427^post67, r_245^0'=r_245^post67, r_247^0'=r_247^post67, y_22^0'=y_22^post67, i_111^0'=i_111^post67, rcd_253^0'=rcd_253^post67, nondet_12^0'=nondet_12^post67, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post67, a_276^0'=a_276^post67, r_274^0'=r_274^post67, rcd_367^0'=rcd_367^post67, r_234^0'=r_234^post67, temp_38^0'=temp_38^post67, x_19^0'=x_19^post67, ct_20^0'=ct_20^post67, rcd_235^0'=rcd_235^post67, lt_17^0'=lt_17^post67, rcd_70^0'=rcd_70^post67, (-t_24^post67+t_24^0 == 0 /\ r_243^0-r_243^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post67 == 0 /\ length_32^0-length_32^post67 == 0 /\ -rcd_105^post67+rcd_105^0 == 0 /\ -r_188^post67+r_188^0 == 0 /\ -rcd_367^post67+rcd_367^0 == 0 /\ temp0_34^0-temp0_34^post67 == 0 /\ rcd_363^0-rcd_363^post67 == 0 /\ -x_23^post67+x_23^0 == 0 /\ y_22^0-y_22^post67 == 0 /\ -temp_38^post67+temp_38^0 == 0 /\ rcd_409^0-rcd_409^post67 == 0 /\ -ct_20^post67+ct_20^0 == 0 /\ -i_111^post67+i_111^0 == 0 /\ len_275^0-len_275^post67 == 0 /\ r_167^0-r_167^post67 == 0 /\ rcd_248^0-rcd_248^post67 == 0 /\ -rcd_46^post67+rcd_46^0 == 0 /\ -r_159^post67+r_159^0 == 0 /\ a_332^0-a_332^post67 == 0 /\ -nondet_12^post67+nondet_12^0 == 0 /\ -rcd_70^post67+rcd_70^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post67 == 0 /\ result_11^0-result_11^post67 == 0 /\ rcd_253^0-rcd_253^post67 == 0 /\ -a_388^post67+a_388^0 == 0 /\ a_148^0-a_148^post67 == 0 /\ rcd_113^0-rcd_113^post67 == 0 /\ -a_173^post67+a_173^0 == 0 /\ rcd_387^0-rcd_387^post67 == 0 /\ -x_19^post67+x_19^0 == 0 /\ tmp_37^0-tmp_37^post67 == 0 /\ r_272^0-r_272^post67 == 0 /\ -r_245^post67+r_245^0 == 0 /\ -rcd_427^post67+rcd_427^0 == 0 /\ -lt_17^post67+lt_17^0 == 0 /\ -rcd_244^post67+rcd_244^0 == 0 /\ r_42^0-r_42^post67 == 0 /\ t_30^0-t_30^post67 == 0 /\ -a_276^post67+a_276^0 == 0 /\ -c_28^post67+c_28^0 == 0 /\ r_258^0-r_258^post67 == 0 /\ -r_247^post67+r_247^0 == 0 /\ r_246^0-r_246^post67 == 0 /\ -len_205^post67+len_205^0 == 0 /\ -head_35^post67+head_35^0 == 0 /\ 1-lt_17^0 <= 0 /\ temp0_18^0-temp0_18^post67 == 0 /\ head_13^0-head_13^post67 == 0 /\ -lt_397^post67+lt_397^0 == 0 /\ -len_297^post67+len_297^0 == 0 /\ -r_234^post67+r_234^0 == 0 /\ -r_196^post67+r_196^0 == 0 /\ l_27^0-l_27^post67 == 0 /\ -rcd_273^post67+rcd_273^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post67 == 0 /\ -r_266^post67+r_266^0 == 0 /\ r_236^0-r_236^post67 == 0 /\ -rcd_235^post67+rcd_235^0 == 0 /\ a_358^0-a_358^post67 == 0 /\ -r_274^post67+r_274^0 == 0 /\ a_220^0-a_220^post67 == 0 /\ -r_252^post67+r_252^0 == 0 /\ i_33^0-i_33^post67 == 0 /\ i_120^0-i_120^post67 == 0 /\ r_29^0-r_29^post67 == 0 /\ lt_509^0-lt_509^post67 == 0), cost: 1
  68: l43 -> l44 : a_148^0'=a_148^post68, r_258^0'=r_258^post68, i_33^0'=i_33^post68, r_167^0'=r_167^post68, t_30^0'=t_30^post68, a_358^0'=a_358^post68, r_42^0'=r_42^post68, len_275^0'=len_275^post68, rcd_409^0'=rcd_409^post68, r_243^0'=r_243^post68, r_246^0'=r_246^post68, x_SLAM_f_21^0'=x_SLAM_f_21^post68, head_35^0'=head_35^post68, rcd_248^0'=rcd_248^post68, lt_509^0'=lt_509^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post68, a_220^0'=a_220^post68, r_272^0'=r_272^post68, rcd_363^0'=rcd_363^post68, r_196^0'=r_196^post68, temp0_34^0'=temp0_34^post68, c_28^0'=c_28^post68, rcd_113^0'=rcd_113^post68, length_32^0'=length_32^post68, rcd_46^0'=rcd_46^post68, r_252^0'=r_252^post68, i_120^0'=i_120^post68, rcd_273^0'=rcd_273^post68, r_159^0'=r_159^post68, t_24^0'=t_24^post68, a_332^0'=a_332^post68, r_29^0'=r_29^post68, len_205^0'=len_205^post68, rcd_387^0'=rcd_387^post68, r_236^0'=r_236^post68, tmp_37^0'=tmp_37^post68, x_23^0'=x_23^post68, head_13^0'=head_13^post68, rcd_244^0'=rcd_244^post68, lt_397^0'=lt_397^post68, result_11^0'=result_11^post68, a_173^0'=a_173^post68, r_266^0'=r_266^post68, l_27^0'=l_27^post68, r_188^0'=r_188^post68, temp0_18^0'=temp0_18^post68, a_388^0'=a_388^post68, rcd_105^0'=rcd_105^post68, len_297^0'=len_297^post68, rcd_427^0'=rcd_427^post68, r_245^0'=r_245^post68, r_247^0'=r_247^post68, y_22^0'=y_22^post68, i_111^0'=i_111^post68, rcd_253^0'=rcd_253^post68, nondet_12^0'=nondet_12^post68, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post68, a_276^0'=a_276^post68, r_274^0'=r_274^post68, rcd_367^0'=rcd_367^post68, r_234^0'=r_234^post68, temp_38^0'=temp_38^post68, x_19^0'=x_19^post68, ct_20^0'=ct_20^post68, rcd_235^0'=rcd_235^post68, lt_17^0'=lt_17^post68, rcd_70^0'=rcd_70^post68, (-r_252^post68+r_252^0 == 0 /\ -r_234^post68+r_234^0 == 0 /\ c_28^0-c_28^post68 == 0 /\ rcd_46^0-rcd_46^post68 == 0 /\ a_332^0-a_332^post68 == 0 /\ -nondet_12^post68+nondet_12^0 == 0 /\ r_196^0-r_196^post68 == 0 /\ -rcd_367^post68+rcd_367^0 == 0 /\ r_167^0-r_167^post68 == 0 /\ -r_272^post68+r_272^0 == 0 /\ -head_13^post68+head_13^0 == 0 /\ i_111^0-i_111^post68 == 0 /\ t_30^0-t_30^post68 == 0 /\ -temp0_18^post68+temp0_18^0 == 0 /\ -len_297^post68+len_297^0 == 0 /\ r_258^0-r_258^post68 == 0 /\ -r_188^post68+r_188^0 == 0 /\ -rcd_387^post68+rcd_387^0 == 0 /\ a_276^0-a_276^post68 == 0 /\ r_159^0-r_159^post68 == 0 /\ -r_236^post68+r_236^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post68+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -temp_38^post68+temp_38^0 == 0 /\ a_358^0-a_358^post68 == 0 /\ -rcd_70^post68+rcd_70^0 == 0 /\ i_120^0-i_120^post68 == 0 /\ -r_246^post68+r_246^0 == 0 /\ r_245^0-r_245^post68 == 0 /\ i_33^0-i_33^post68 == 0 /\ a_173^0-a_173^post68 == 0 /\ length_32^0-length_32^post68 == 0 /\ -rcd_105^post68+rcd_105^0 == 0 /\ -ct_20^post68+ct_20^0 == 0 /\ 1+lt_17^0 <= 0 /\ -r_247^post68+r_247^0 == 0 /\ a_220^0-a_220^post68 == 0 /\ len_275^0-len_275^post68 == 0 /\ -lt_509^post68+lt_509^0 == 0 /\ -lt_17^post68+lt_17^0 == 0 /\ -lt_397^post68+lt_397^0 == 0 /\ r_29^0-r_29^post68 == 0 /\ -y_22^post68+y_22^0 == 0 /\ -a_388^post68+a_388^0 == 0 /\ r_243^0-r_243^post68 == 0 /\ -rcd_113^post68+rcd_113^0 == 0 /\ rcd_363^0-rcd_363^post68 == 0 /\ -rcd_253^post68+rcd_253^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post68 == 0 /\ -x_19^post68+x_19^0 == 0 /\ -t_24^post68+t_24^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post68 == 0 /\ -rcd_235^post68+rcd_235^0 == 0 /\ a_148^0-a_148^post68 == 0 /\ result_11^0-result_11^post68 == 0 /\ rcd_244^0-rcd_244^post68 == 0 /\ -x_23^post68+x_23^0 == 0 /\ -r_274^post68+r_274^0 == 0 /\ head_35^0-head_35^post68 == 0 /\ tmp_37^0-tmp_37^post68 == 0 /\ rcd_409^0-rcd_409^post68 == 0 /\ -len_205^post68+len_205^0 == 0 /\ temp0_34^0-temp0_34^post68 == 0 /\ rcd_248^0-rcd_248^post68 == 0 /\ -r_266^post68+r_266^0 == 0 /\ rcd_273^0-rcd_273^post68 == 0 /\ -rcd_427^post68+rcd_427^0 == 0 /\ r_42^0-r_42^post68 == 0 /\ -l_27^post68+l_27^0 == 0), cost: 1
  69: l44 -> l45 : a_148^0'=a_148^post69, r_258^0'=r_258^post69, i_33^0'=i_33^post69, r_167^0'=r_167^post69, t_30^0'=t_30^post69, a_358^0'=a_358^post69, r_42^0'=r_42^post69, len_275^0'=len_275^post69, rcd_409^0'=rcd_409^post69, r_243^0'=r_243^post69, r_246^0'=r_246^post69, x_SLAM_f_21^0'=x_SLAM_f_21^post69, head_35^0'=head_35^post69, rcd_248^0'=rcd_248^post69, lt_509^0'=lt_509^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post69, a_220^0'=a_220^post69, r_272^0'=r_272^post69, rcd_363^0'=rcd_363^post69, r_196^0'=r_196^post69, temp0_34^0'=temp0_34^post69, c_28^0'=c_28^post69, rcd_113^0'=rcd_113^post69, length_32^0'=length_32^post69, rcd_46^0'=rcd_46^post69, r_252^0'=r_252^post69, i_120^0'=i_120^post69, rcd_273^0'=rcd_273^post69, r_159^0'=r_159^post69, t_24^0'=t_24^post69, a_332^0'=a_332^post69, r_29^0'=r_29^post69, len_205^0'=len_205^post69, rcd_387^0'=rcd_387^post69, r_236^0'=r_236^post69, tmp_37^0'=tmp_37^post69, x_23^0'=x_23^post69, head_13^0'=head_13^post69, rcd_244^0'=rcd_244^post69, lt_397^0'=lt_397^post69, result_11^0'=result_11^post69, a_173^0'=a_173^post69, r_266^0'=r_266^post69, l_27^0'=l_27^post69, r_188^0'=r_188^post69, temp0_18^0'=temp0_18^post69, a_388^0'=a_388^post69, rcd_105^0'=rcd_105^post69, len_297^0'=len_297^post69, rcd_427^0'=rcd_427^post69, r_245^0'=r_245^post69, r_247^0'=r_247^post69, y_22^0'=y_22^post69, i_111^0'=i_111^post69, rcd_253^0'=rcd_253^post69, nondet_12^0'=nondet_12^post69, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post69, a_276^0'=a_276^post69, r_274^0'=r_274^post69, rcd_367^0'=rcd_367^post69, r_234^0'=r_234^post69, temp_38^0'=temp_38^post69, x_19^0'=x_19^post69, ct_20^0'=ct_20^post69, rcd_235^0'=rcd_235^post69, lt_17^0'=lt_17^post69, rcd_70^0'=rcd_70^post69, (-temp0_18^post69+temp0_18^0 == 0 /\ -r_247^post69+r_247^0 == 0 /\ rcd_113^0-rcd_113^post69 == 0 /\ -rcd_387^post69+rcd_387^0 == 0 /\ -rcd_235^post69+rcd_235^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post69+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post69+rcd_427^0 == 0 /\ -l_27^post69+l_27^0 == 0 /\ r_236^0-r_236^post69 == 0 /\ -r_234^post69+r_234^0 == 0 /\ -rcd_244^post69+rcd_244^0 == 0 /\ r_29^0-r_29^post69 == 0 /\ -a_276^post69+a_276^0 == 0 /\ x_23^0-x_23^post69 == 0 /\ temp0_34^0-temp0_34^post69 == 0 /\ -y_22^post69+y_22^0 == 0 /\ -ct_20^post69+ct_20^0 == 0 /\ nondet_12^0-nondet_12^post69 == 0 /\ -a_332^post69+a_332^0 == 0 /\ r_42^0-r_42^post69 == 0 /\ rcd_363^0-rcd_363^post69 == 0 /\ r_274^0-r_274^post69 == 0 /\ -x_SLAM_f_21^post69+x_SLAM_f_21^0 == 0 /\ a_148^0-a_148^post69 == 0 /\ r_159^0-r_159^post69 == 0 /\ 1-y_22^0+lt_17^0 <= 0 /\ rcd_46^0-rcd_46^post69 == 0 /\ -len_297^post69+len_297^0 == 0 /\ -rcd_367^post69+rcd_367^0 == 0 /\ rcd_409^0-rcd_409^post69 == 0 /\ -temp_38^post69+temp_38^0 == 0 /\ rcd_273^0-rcd_273^post69 == 0 /\ -i_120^post69+i_120^0 == 0 /\ -r_252^post69+r_252^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ r_272^0-r_272^post69 == 0 /\ -rcd_253^post69+rcd_253^0 == 0 /\ r_196^0-r_196^post69 == 0 /\ -t_30^post69+t_30^0 == 0 /\ r_266^0-r_266^post69 == 0 /\ -rcd_70^post69+rcd_70^0 == 0 /\ rcd_248^0-rcd_248^post69 == 0 /\ -i_111^post69+i_111^0 == 0 /\ r_188^0-r_188^post69 == 0 /\ c_28^0-c_28^post69 == 0 /\ head_35^0-head_35^post69 == 0 /\ -length_32^post69+length_32^0 == 0 /\ r_243^0-r_243^post69 == 0 /\ -rcd_105^post69+rcd_105^0 == 0 /\ -i_33^post69+i_33^0 == 0 /\ a_388^0-a_388^post69 == 0 /\ lt_509^0-lt_509^post69 == 0 /\ -x_19^post69+x_19^0 == 0 /\ r_167^0-r_167^post69 == 0 /\ a_358^0-a_358^post69 == 0 /\ -tmp_37^post69+tmp_37^0 == 0 /\ lt_397^0-lt_397^post69 == 0 /\ -result_11^post69+result_11^0 == 0 /\ -lt_17^post69+lt_17^0 == 0 /\ len_205^0-len_205^post69 == 0 /\ a_220^0-a_220^post69 == 0 /\ a_173^0-a_173^post69 == 0 /\ r_258^0-r_258^post69 == 0 /\ t_24^0-t_24^post69 == 0 /\ -r_245^post69+r_245^0 == 0 /\ len_275^0-len_275^post69 == 0 /\ -head_13^post69+head_13^0 == 0 /\ r_246^0-r_246^post69 == 0), cost: 1
  70: l44 -> l45 : a_148^0'=a_148^post70, r_258^0'=r_258^post70, i_33^0'=i_33^post70, r_167^0'=r_167^post70, t_30^0'=t_30^post70, a_358^0'=a_358^post70, r_42^0'=r_42^post70, len_275^0'=len_275^post70, rcd_409^0'=rcd_409^post70, r_243^0'=r_243^post70, r_246^0'=r_246^post70, x_SLAM_f_21^0'=x_SLAM_f_21^post70, head_35^0'=head_35^post70, rcd_248^0'=rcd_248^post70, lt_509^0'=lt_509^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post70, a_220^0'=a_220^post70, r_272^0'=r_272^post70, rcd_363^0'=rcd_363^post70, r_196^0'=r_196^post70, temp0_34^0'=temp0_34^post70, c_28^0'=c_28^post70, rcd_113^0'=rcd_113^post70, length_32^0'=length_32^post70, rcd_46^0'=rcd_46^post70, r_252^0'=r_252^post70, i_120^0'=i_120^post70, rcd_273^0'=rcd_273^post70, r_159^0'=r_159^post70, t_24^0'=t_24^post70, a_332^0'=a_332^post70, r_29^0'=r_29^post70, len_205^0'=len_205^post70, rcd_387^0'=rcd_387^post70, r_236^0'=r_236^post70, tmp_37^0'=tmp_37^post70, x_23^0'=x_23^post70, head_13^0'=head_13^post70, rcd_244^0'=rcd_244^post70, lt_397^0'=lt_397^post70, result_11^0'=result_11^post70, a_173^0'=a_173^post70, r_266^0'=r_266^post70, l_27^0'=l_27^post70, r_188^0'=r_188^post70, temp0_18^0'=temp0_18^post70, a_388^0'=a_388^post70, rcd_105^0'=rcd_105^post70, len_297^0'=len_297^post70, rcd_427^0'=rcd_427^post70, r_245^0'=r_245^post70, r_247^0'=r_247^post70, y_22^0'=y_22^post70, i_111^0'=i_111^post70, rcd_253^0'=rcd_253^post70, nondet_12^0'=nondet_12^post70, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post70, a_276^0'=a_276^post70, r_274^0'=r_274^post70, rcd_367^0'=rcd_367^post70, r_234^0'=r_234^post70, temp_38^0'=temp_38^post70, x_19^0'=x_19^post70, ct_20^0'=ct_20^post70, rcd_235^0'=rcd_235^post70, lt_17^0'=lt_17^post70, rcd_70^0'=rcd_70^post70, (-rcd_363^post70+rcd_363^0 == 0 /\ r_252^0-r_252^post70 == 0 /\ -y_22^post70+y_22^0 == 0 /\ -rcd_244^post70+rcd_244^0 == 0 /\ head_13^0-head_13^post70 == 0 /\ -rcd_427^post70+rcd_427^0 == 0 /\ -c_28^post70+c_28^0 == 0 /\ r_167^0-r_167^post70 == 0 /\ a_148^0-a_148^post70 == 0 /\ -temp0_34^post70+temp0_34^0 == 0 /\ 1+y_22^0-lt_17^0 <= 0 /\ a_358^0-a_358^post70 == 0 /\ tmp_37^0-tmp_37^post70 == 0 /\ rcd_113^0-rcd_113^post70 == 0 /\ rcd_387^0-rcd_387^post70 == 0 /\ l_27^0-l_27^post70 == 0 /\ -r_159^post70+r_159^0 == 0 /\ r_266^0-r_266^post70 == 0 /\ -a_276^post70+a_276^0 == 0 /\ -lt_17^post70+lt_17^0 == 0 /\ r_272^0-r_272^post70 == 0 /\ len_205^0-len_205^post70 == 0 /\ -lt_397^post70+lt_397^0 == 0 /\ -head_35^post70+head_35^0 == 0 /\ -r_234^post70+r_234^0 == 0 /\ rcd_46^0-rcd_46^post70 == 0 /\ -r_29^post70+r_29^0 == 0 /\ -i_111^post70+i_111^0 == 0 /\ r_243^0-r_243^post70 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post70 == 0 /\ -rcd_253^post70+rcd_253^0 == 0 /\ r_246^0-r_246^post70 == 0 /\ -len_297^post70+len_297^0 == 0 /\ -length_32^post70+length_32^0 == 0 /\ -rcd_273^post70+rcd_273^0 == 0 /\ r_196^0-r_196^post70 == 0 /\ -rcd_235^post70+rcd_235^0 == 0 /\ r_258^0-r_258^post70 == 0 /\ t_24^0-t_24^post70 == 0 /\ len_275^0-len_275^post70 == 0 /\ -r_274^post70+r_274^0 == 0 /\ r_236^0-r_236^post70 == 0 /\ rcd_367^0-rcd_367^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post70 == 0 /\ -temp_38^post70+temp_38^0 == 0 /\ -r_188^post70+r_188^0 == 0 /\ rcd_105^0-rcd_105^post70 == 0 /\ i_120^0-i_120^post70 == 0 /\ -result_11^post70+result_11^0 == 0 /\ -a_220^post70+a_220^0 == 0 /\ i_33^0-i_33^post70 == 0 /\ -ct_20^post70+ct_20^0 == 0 /\ -x_23^post70+x_23^0 == 0 /\ -nondet_12^post70+nondet_12^0 == 0 /\ lt_509^0-lt_509^post70 == 0 /\ r_42^0-r_42^post70 == 0 /\ -a_388^post70+a_388^0 == 0 /\ t_30^0-t_30^post70 == 0 /\ -r_247^post70+r_247^0 == 0 /\ a_332^0-a_332^post70 == 0 /\ temp0_18^0-temp0_18^post70 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post70 == 0 /\ -r_245^post70+r_245^0 == 0 /\ -rcd_248^post70+rcd_248^0 == 0 /\ rcd_409^0-rcd_409^post70 == 0 /\ -a_173^post70+a_173^0 == 0 /\ -x_19^post70+x_19^0 == 0 /\ -rcd_70^post70+rcd_70^0 == 0), cost: 1
  71: l45 -> l46 : a_148^0'=a_148^post71, r_258^0'=r_258^post71, i_33^0'=i_33^post71, r_167^0'=r_167^post71, t_30^0'=t_30^post71, a_358^0'=a_358^post71, r_42^0'=r_42^post71, len_275^0'=len_275^post71, rcd_409^0'=rcd_409^post71, r_243^0'=r_243^post71, r_246^0'=r_246^post71, x_SLAM_f_21^0'=x_SLAM_f_21^post71, head_35^0'=head_35^post71, rcd_248^0'=rcd_248^post71, lt_509^0'=lt_509^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post71, a_220^0'=a_220^post71, r_272^0'=r_272^post71, rcd_363^0'=rcd_363^post71, r_196^0'=r_196^post71, temp0_34^0'=temp0_34^post71, c_28^0'=c_28^post71, rcd_113^0'=rcd_113^post71, length_32^0'=length_32^post71, rcd_46^0'=rcd_46^post71, r_252^0'=r_252^post71, i_120^0'=i_120^post71, rcd_273^0'=rcd_273^post71, r_159^0'=r_159^post71, t_24^0'=t_24^post71, a_332^0'=a_332^post71, r_29^0'=r_29^post71, len_205^0'=len_205^post71, rcd_387^0'=rcd_387^post71, r_236^0'=r_236^post71, tmp_37^0'=tmp_37^post71, x_23^0'=x_23^post71, head_13^0'=head_13^post71, rcd_244^0'=rcd_244^post71, lt_397^0'=lt_397^post71, result_11^0'=result_11^post71, a_173^0'=a_173^post71, r_266^0'=r_266^post71, l_27^0'=l_27^post71, r_188^0'=r_188^post71, temp0_18^0'=temp0_18^post71, a_388^0'=a_388^post71, rcd_105^0'=rcd_105^post71, len_297^0'=len_297^post71, rcd_427^0'=rcd_427^post71, r_245^0'=r_245^post71, r_247^0'=r_247^post71, y_22^0'=y_22^post71, i_111^0'=i_111^post71, rcd_253^0'=rcd_253^post71, nondet_12^0'=nondet_12^post71, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post71, a_276^0'=a_276^post71, r_274^0'=r_274^post71, rcd_367^0'=rcd_367^post71, r_234^0'=r_234^post71, temp_38^0'=temp_38^post71, x_19^0'=x_19^post71, ct_20^0'=ct_20^post71, rcd_235^0'=rcd_235^post71, lt_17^0'=lt_17^post71, rcd_70^0'=rcd_70^post71, (0 == 0 /\ rcd_363^0-rcd_363^post71 == 0 /\ -x_23^0+y_22^0 <= 0 /\ -a_173^post71+a_173^0 == 0 /\ r_243^0-r_243^post71 == 0 /\ temp0_34^0-temp0_34^post71 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post71 == 0 /\ -rcd_367^post71+rcd_367^0 == 0 /\ tmp_37^0-tmp_37^post71 == 0 /\ -rcd_253^post71+rcd_253^0 == 0 /\ -temp0_18^post71+temp0_18^0 == 0 /\ -rcd_70^post71+rcd_70^0 == 0 /\ -len_297^post71+len_297^0 == 0 /\ head_13^0-head_13^post71 == 0 /\ rcd_113^0-rcd_113^post71 == 0 /\ -r_196^post71+r_196^0 == 0 /\ len_205^0-len_205^post71 == 0 /\ r_246^0-r_246^post71 == 0 /\ a_148^0-a_148^post71 == 0 /\ -nondet_12^post71+nondet_12^0 == 0 /\ -rcd_273^post71+rcd_273^0 == 0 /\ -r_266^post71+r_266^0 == 0 /\ i_111^0-i_111^post71 == 0 /\ rcd_387^0-rcd_387^post71 == 0 /\ x_23^0-y_22^0 <= 0 /\ r_167^0-r_167^post71 == 0 /\ -rcd_105^post71+rcd_105^0 == 0 /\ r_272^0-r_272^post71 == 0 /\ -r_29^post71+r_29^0 == 0 /\ -r_247^post71+r_247^0 == 0 /\ -temp_38^post71+temp_38^0 == 0 /\ -r_188^post71+r_188^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post71 == 0 /\ rcd_46^0-rcd_46^post71 == 0 /\ -rcd_244^post71+rcd_244^0 == 0 /\ -length_32^post71+length_32^0 == 0 /\ -rcd_248^post71+rcd_248^0 == 0 /\ -rcd_235^post71+rcd_235^0 == 0 /\ -a_388^post71+a_388^0 == 0 /\ t_30^0-t_30^post71 == 0 /\ r_258^0-r_258^post71 == 0 /\ i_33^0-i_33^post71 == 0 /\ rcd_409^0-rcd_409^post71 == 0 /\ -a_276^post71+a_276^0 == 0 /\ len_275^0-len_275^post71 == 0 /\ -lt_397^post71+lt_397^0 == 0 /\ -r_42^post71+r_42^0 == 0 /\ i_120^0-i_120^post71 == 0 /\ -temp0_18^0+result_11^post71 == 0 /\ -r_245^post71+r_245^0 == 0 /\ -r_159^post71+r_159^0 == 0 /\ -r_234^post71+r_234^0 == 0 /\ l_27^0-l_27^post71 == 0 /\ -c_28^post71+c_28^0 == 0 /\ -rcd_427^post71+rcd_427^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -a_220^post71+a_220^0 == 0 /\ head_35^0-head_35^post71 == 0 /\ r_252^0-r_252^post71 == 0 /\ a_332^0-a_332^post71 == 0 /\ a_358^0-a_358^post71 == 0 /\ -r_274^post71+r_274^0 == 0 /\ r_236^0-r_236^post71 == 0), cost: 1
  72: l46 -> l34 : a_148^0'=a_148^post72, r_258^0'=r_258^post72, i_33^0'=i_33^post72, r_167^0'=r_167^post72, t_30^0'=t_30^post72, a_358^0'=a_358^post72, r_42^0'=r_42^post72, len_275^0'=len_275^post72, rcd_409^0'=rcd_409^post72, r_243^0'=r_243^post72, r_246^0'=r_246^post72, x_SLAM_f_21^0'=x_SLAM_f_21^post72, head_35^0'=head_35^post72, rcd_248^0'=rcd_248^post72, lt_509^0'=lt_509^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post72, a_220^0'=a_220^post72, r_272^0'=r_272^post72, rcd_363^0'=rcd_363^post72, r_196^0'=r_196^post72, temp0_34^0'=temp0_34^post72, c_28^0'=c_28^post72, rcd_113^0'=rcd_113^post72, length_32^0'=length_32^post72, rcd_46^0'=rcd_46^post72, r_252^0'=r_252^post72, i_120^0'=i_120^post72, rcd_273^0'=rcd_273^post72, r_159^0'=r_159^post72, t_24^0'=t_24^post72, a_332^0'=a_332^post72, r_29^0'=r_29^post72, len_205^0'=len_205^post72, rcd_387^0'=rcd_387^post72, r_236^0'=r_236^post72, tmp_37^0'=tmp_37^post72, x_23^0'=x_23^post72, head_13^0'=head_13^post72, rcd_244^0'=rcd_244^post72, lt_397^0'=lt_397^post72, result_11^0'=result_11^post72, a_173^0'=a_173^post72, r_266^0'=r_266^post72, l_27^0'=l_27^post72, r_188^0'=r_188^post72, temp0_18^0'=temp0_18^post72, a_388^0'=a_388^post72, rcd_105^0'=rcd_105^post72, len_297^0'=len_297^post72, rcd_427^0'=rcd_427^post72, r_245^0'=r_245^post72, r_247^0'=r_247^post72, y_22^0'=y_22^post72, i_111^0'=i_111^post72, rcd_253^0'=rcd_253^post72, nondet_12^0'=nondet_12^post72, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post72, a_276^0'=a_276^post72, r_274^0'=r_274^post72, rcd_367^0'=rcd_367^post72, r_234^0'=r_234^post72, temp_38^0'=temp_38^post72, x_19^0'=x_19^post72, ct_20^0'=ct_20^post72, rcd_235^0'=rcd_235^post72, lt_17^0'=lt_17^post72, rcd_70^0'=rcd_70^post72, (rcd_113^0-rcd_113^post72 == 0 /\ y_22^0-y_22^post72 == 0 /\ -r_266^post72+r_266^0 == 0 /\ -temp0_34^post72+temp0_34^0 == 0 /\ -r_29^post72+r_29^0 == 0 /\ -rcd_273^post72+rcd_273^0 == 0 /\ -rcd_235^post72+rcd_235^0 == 0 /\ r_236^0-r_236^post72 == 0 /\ -r_234^post72+r_234^0 == 0 /\ 1-lt_509^0 <= 0 /\ r_243^0-r_243^post72 == 0 /\ result_11^0-result_11^post72 == 0 /\ -r_245^post72+r_245^0 == 0 /\ i_33^0-i_33^post72 == 0 /\ l_27^0-l_27^post72 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post72+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_387^0-rcd_387^post72 == 0 /\ -a_173^post72+a_173^0 == 0 /\ temp0_18^0-temp0_18^post72 == 0 /\ r_42^0-r_42^post72 == 0 /\ -rcd_367^post72+rcd_367^0 == 0 /\ -rcd_105^post72+rcd_105^0 == 0 /\ -tmp_37^post72+tmp_37^0 == 0 /\ len_205^0-len_205^post72 == 0 /\ -a_332^post72+a_332^0 == 0 /\ -r_188^post72+r_188^0 == 0 /\ -ct_20^post72+ct_20^0 == 0 /\ t_30^0-t_30^post72 == 0 /\ rcd_244^0-rcd_244^post72 == 0 /\ r_258^0-r_258^post72 == 0 /\ t_24^0-t_24^post72 == 0 /\ -rcd_253^post72+rcd_253^0 == 0 /\ rcd_409^0-rcd_409^post72 == 0 /\ -r_247^post72+r_247^0 == 0 /\ -temp_38^post72+temp_38^0 == 0 /\ -a_276^post72+a_276^0 == 0 /\ rcd_363^0-rcd_363^post72 == 0 /\ rcd_46^0-rcd_46^post72 == 0 /\ -x_SLAM_f_21^post72+x_SLAM_f_21^0 == 0 /\ -lt_397^post72+lt_397^0 == 0 /\ -length_32^post72+length_32^0 == 0 /\ r_167^0-r_167^post72 == 0 /\ -rcd_70^post72+rcd_70^0 == 0 /\ -a_388^post72+a_388^0 == 0 /\ -rcd_248^post72+rcd_248^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post72+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ a_358^0-a_358^post72 == 0 /\ -r_274^post72+r_274^0 == 0 /\ a_220^0-a_220^post72 == 0 /\ c_28^0-c_28^post72 == 0 /\ r_272^0-r_272^post72 == 0 /\ head_35^0-head_35^post72 == 0 /\ lt_509^0-lt_509^post72 == 0 /\ -r_159^post72+r_159^0 == 0 /\ -lt_17^post72+lt_17^0 == 0 /\ i_120^0-i_120^post72 == 0 /\ -rcd_427^post72+rcd_427^0 == 0 /\ x_19^0-x_19^post72 == 0 /\ -x_23^post72+x_23^0 == 0 /\ len_297^0-len_297^post72 == 0 /\ head_13^0-head_13^post72 == 0 /\ a_148^0-a_148^post72 == 0 /\ r_246^0-r_246^post72 == 0 /\ len_275^0-len_275^post72 == 0 /\ -i_111^post72+i_111^0 == 0 /\ r_196^0-r_196^post72 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ r_252^0-r_252^post72 == 0), cost: 1
  73: l46 -> l34 : a_148^0'=a_148^post73, r_258^0'=r_258^post73, i_33^0'=i_33^post73, r_167^0'=r_167^post73, t_30^0'=t_30^post73, a_358^0'=a_358^post73, r_42^0'=r_42^post73, len_275^0'=len_275^post73, rcd_409^0'=rcd_409^post73, r_243^0'=r_243^post73, r_246^0'=r_246^post73, x_SLAM_f_21^0'=x_SLAM_f_21^post73, head_35^0'=head_35^post73, rcd_248^0'=rcd_248^post73, lt_509^0'=lt_509^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post73, a_220^0'=a_220^post73, r_272^0'=r_272^post73, rcd_363^0'=rcd_363^post73, r_196^0'=r_196^post73, temp0_34^0'=temp0_34^post73, c_28^0'=c_28^post73, rcd_113^0'=rcd_113^post73, length_32^0'=length_32^post73, rcd_46^0'=rcd_46^post73, r_252^0'=r_252^post73, i_120^0'=i_120^post73, rcd_273^0'=rcd_273^post73, r_159^0'=r_159^post73, t_24^0'=t_24^post73, a_332^0'=a_332^post73, r_29^0'=r_29^post73, len_205^0'=len_205^post73, rcd_387^0'=rcd_387^post73, r_236^0'=r_236^post73, tmp_37^0'=tmp_37^post73, x_23^0'=x_23^post73, head_13^0'=head_13^post73, rcd_244^0'=rcd_244^post73, lt_397^0'=lt_397^post73, result_11^0'=result_11^post73, a_173^0'=a_173^post73, r_266^0'=r_266^post73, l_27^0'=l_27^post73, r_188^0'=r_188^post73, temp0_18^0'=temp0_18^post73, a_388^0'=a_388^post73, rcd_105^0'=rcd_105^post73, len_297^0'=len_297^post73, rcd_427^0'=rcd_427^post73, r_245^0'=r_245^post73, r_247^0'=r_247^post73, y_22^0'=y_22^post73, i_111^0'=i_111^post73, rcd_253^0'=rcd_253^post73, nondet_12^0'=nondet_12^post73, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post73, a_276^0'=a_276^post73, r_274^0'=r_274^post73, rcd_367^0'=rcd_367^post73, r_234^0'=r_234^post73, temp_38^0'=temp_38^post73, x_19^0'=x_19^post73, ct_20^0'=ct_20^post73, rcd_235^0'=rcd_235^post73, lt_17^0'=lt_17^post73, rcd_70^0'=rcd_70^post73, (-rcd_387^post73+rcd_387^0 == 0 /\ a_148^0-a_148^post73 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post73+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ i_111^0-i_111^post73 == 0 /\ a_358^0-a_358^post73 == 0 /\ tmp_37^0-tmp_37^post73 == 0 /\ rcd_409^0-rcd_409^post73 == 0 /\ -rcd_363^post73+rcd_363^0 == 0 /\ r_272^0-r_272^post73 == 0 /\ temp0_34^0-temp0_34^post73 == 0 /\ -r_159^post73+r_159^0 == 0 /\ length_32^0-length_32^post73 == 0 /\ -rcd_253^post73+rcd_253^0 == 0 /\ -lt_17^post73+lt_17^0 == 0 /\ -r_247^post73+r_247^0 == 0 /\ -len_205^post73+len_205^0 == 0 /\ -l_27^post73+l_27^0 == 0 /\ -r_234^post73+r_234^0 == 0 /\ len_275^0-len_275^post73 == 0 /\ a_173^0-a_173^post73 == 0 /\ -r_266^post73+r_266^0 == 0 /\ r_246^0-r_246^post73 == 0 /\ lt_397^0-lt_397^post73 == 0 /\ -a_276^post73+a_276^0 == 0 /\ -temp0_18^post73+temp0_18^0 == 0 /\ r_196^0-r_196^post73 == 0 /\ a_332^0-a_332^post73 == 0 /\ -head_35^post73+head_35^0 == 0 /\ -rcd_235^post73+rcd_235^0 == 0 /\ -y_22^post73+y_22^0 == 0 /\ r_167^0-r_167^post73 == 0 /\ -len_297^post73+len_297^0 == 0 /\ r_258^0-r_258^post73 == 0 /\ r_29^0-r_29^post73 == 0 /\ r_252^0-r_252^post73 == 0 /\ -r_188^post73+r_188^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post73 == 0 /\ -x_23^post73+x_23^0 == 0 /\ -r_274^post73+r_274^0 == 0 /\ -rcd_367^post73+rcd_367^0 == 0 /\ -a_220^post73+a_220^0 == 0 /\ -temp_38^post73+temp_38^0 == 0 /\ rcd_113^0-rcd_113^post73 == 0 /\ i_33^0-i_33^post73 == 0 /\ rcd_248^0-rcd_248^post73 == 0 /\ r_42^0-r_42^post73 == 0 /\ i_120^0-i_120^post73 == 0 /\ -rcd_46^post73+rcd_46^0 == 0 /\ -rcd_105^post73+rcd_105^0 == 0 /\ -r_245^post73+r_245^0 == 0 /\ -nondet_12^post73+nondet_12^0 == 0 /\ rcd_273^0-rcd_273^post73 == 0 /\ r_243^0-r_243^post73 == 0 /\ -head_13^post73+head_13^0 == 0 /\ ct_20^0-ct_20^post73 == 0 /\ lt_509^0-lt_509^post73 == 0 /\ -t_24^post73+t_24^0 == 0 /\ -rcd_70^post73+rcd_70^0 == 0 /\ -result_11^post73+result_11^0 == 0 /\ 1+lt_509^0 <= 0 /\ -a_388^post73+a_388^0 == 0 /\ r_236^0-r_236^post73 == 0 /\ rcd_244^0-rcd_244^post73 == 0 /\ -c_28^post73+c_28^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post73 == 0 /\ rcd_427^0-rcd_427^post73 == 0 /\ -x_19^post73+x_19^0 == 0 /\ t_30^0-t_30^post73 == 0), cost: 1
  75: l47 -> l48 : a_148^0'=a_148^post75, r_258^0'=r_258^post75, i_33^0'=i_33^post75, r_167^0'=r_167^post75, t_30^0'=t_30^post75, a_358^0'=a_358^post75, r_42^0'=r_42^post75, len_275^0'=len_275^post75, rcd_409^0'=rcd_409^post75, r_243^0'=r_243^post75, r_246^0'=r_246^post75, x_SLAM_f_21^0'=x_SLAM_f_21^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, lt_509^0'=lt_509^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, a_220^0'=a_220^post75, r_272^0'=r_272^post75, rcd_363^0'=rcd_363^post75, r_196^0'=r_196^post75, temp0_34^0'=temp0_34^post75, c_28^0'=c_28^post75, rcd_113^0'=rcd_113^post75, length_32^0'=length_32^post75, rcd_46^0'=rcd_46^post75, r_252^0'=r_252^post75, i_120^0'=i_120^post75, rcd_273^0'=rcd_273^post75, r_159^0'=r_159^post75, t_24^0'=t_24^post75, a_332^0'=a_332^post75, r_29^0'=r_29^post75, len_205^0'=len_205^post75, rcd_387^0'=rcd_387^post75, r_236^0'=r_236^post75, tmp_37^0'=tmp_37^post75, x_23^0'=x_23^post75, head_13^0'=head_13^post75, rcd_244^0'=rcd_244^post75, lt_397^0'=lt_397^post75, result_11^0'=result_11^post75, a_173^0'=a_173^post75, r_266^0'=r_266^post75, l_27^0'=l_27^post75, r_188^0'=r_188^post75, temp0_18^0'=temp0_18^post75, a_388^0'=a_388^post75, rcd_105^0'=rcd_105^post75, len_297^0'=len_297^post75, rcd_427^0'=rcd_427^post75, r_245^0'=r_245^post75, r_247^0'=r_247^post75, y_22^0'=y_22^post75, i_111^0'=i_111^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, a_276^0'=a_276^post75, r_274^0'=r_274^post75, rcd_367^0'=rcd_367^post75, r_234^0'=r_234^post75, temp_38^0'=temp_38^post75, x_19^0'=x_19^post75, ct_20^0'=ct_20^post75, rcd_235^0'=rcd_235^post75, lt_17^0'=lt_17^post75, rcd_70^0'=rcd_70^post75, (0 == 0 /\ -rcd_70^post75+rcd_70^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^110-i_120^0 <= 0 /\ r_245^0-r_245^post75 == 0 /\ r_29^post75 <= 0 /\ r_29^post75 == 0 /\ -i_111^post75+i_111^0 == 0 /\ nondet_12^0-nondet_12^post75 == 0 /\ -c_28^post75+c_28^0 == 0 /\ a_148^0-a_148^post75 == 0 /\ len_275^0-len_275^post75 == 0 /\ -x_19^post75+x_19^0 == 0 /\ -len_205^post75+len_205^0 == 0 /\ -rcd_363^post75+rcd_363^0 == 0 /\ rcd_409^0-rcd_409^post75 == 0 /\ -i_33^0+length_32^0 <= 0 /\ -r_188^post75+r_188^0 == 0 /\ -r_29^post75 <= 0 /\ -lt_17^post75+lt_17^0 == 0 /\ -a_173^post75+a_173^0 == 0 /\ lt_509^0-lt_509^post75 == 0 /\ -i_33^0 <= 0 /\ -rcd_244^post75+rcd_244^0 == 0 /\ r_243^0-r_243^post75 == 0 /\ -rcd_105^post75+rcd_105^0 == 0 /\ r_274^0-r_274^post75 == 0 /\ r_196^0-r_196^post75 == 0 /\ r_167^0-r_167^post75 == 0 /\ -t_24^post75+t_24^0 == 0 /\ a_332^0-a_332^post75 == 0 /\ -i_120^0 <= 0 /\ -r_234^post75+r_234^0 == 0 /\ head_13^0-l_27^11 <= 0 /\ r_258^0-r_258^post75 == 0 /\ r_42^0-r_42^post75 == 0 /\ -rcd_235^post75+rcd_235^0 == 0 /\ rcd_113^0-rcd_113^post75 == 0 /\ -x_23^post75+x_23^0 == 0 /\ r_236^0-r_236^post75 == 0 /\ -lt_397^post75+lt_397^0 == 0 /\ rcd_367^0-rcd_367^post75 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ r_272^0-r_272^post75 == 0 /\ -a_276^post75+a_276^0 == 0 /\ temp0_18^0-temp0_18^post75 == 0 /\ r_246^0-r_246^post75 == 0 /\ a_220^0-a_220^post75 == 0 /\ -a_388^post75+a_388^0 == 0 /\ rcd_387^0-rcd_387^post75 == 0 /\ -r_159^post75+r_159^0 == 0 /\ -rcd_46^post75+rcd_46^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post75 == 0 /\ -y_22^post75+y_22^0 == 0 /\ -head_13^0+l_27^11 <= 0 /\ -head_13^0+l_27^11 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ temp0_34^110-head_35^0 == 0 /\ -rcd_427^post75+rcd_427^0 == 0 /\ t_30^0-t_30^post75 == 0 /\ -ct_20^post75+ct_20^0 == 0 /\ i_120^0-i_120^post75 == 0 /\ -temp0_34^110+result_11^110 == 0 /\ a_358^0-a_358^post75 == 0 /\ len_297^0-len_297^post75 == 0 /\ -rcd_273^post75+rcd_273^0 == 0 /\ -r_266^post75+r_266^0 == 0), cost: 1
  84: l47 -> l53 : a_148^0'=a_148^post84, r_258^0'=r_258^post84, i_33^0'=i_33^post84, r_167^0'=r_167^post84, t_30^0'=t_30^post84, a_358^0'=a_358^post84, r_42^0'=r_42^post84, len_275^0'=len_275^post84, rcd_409^0'=rcd_409^post84, r_243^0'=r_243^post84, r_246^0'=r_246^post84, x_SLAM_f_21^0'=x_SLAM_f_21^post84, head_35^0'=head_35^post84, rcd_248^0'=rcd_248^post84, lt_509^0'=lt_509^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post84, a_220^0'=a_220^post84, r_272^0'=r_272^post84, rcd_363^0'=rcd_363^post84, r_196^0'=r_196^post84, temp0_34^0'=temp0_34^post84, c_28^0'=c_28^post84, rcd_113^0'=rcd_113^post84, length_32^0'=length_32^post84, rcd_46^0'=rcd_46^post84, r_252^0'=r_252^post84, i_120^0'=i_120^post84, rcd_273^0'=rcd_273^post84, r_159^0'=r_159^post84, t_24^0'=t_24^post84, a_332^0'=a_332^post84, r_29^0'=r_29^post84, len_205^0'=len_205^post84, rcd_387^0'=rcd_387^post84, r_236^0'=r_236^post84, tmp_37^0'=tmp_37^post84, x_23^0'=x_23^post84, head_13^0'=head_13^post84, rcd_244^0'=rcd_244^post84, lt_397^0'=lt_397^post84, result_11^0'=result_11^post84, a_173^0'=a_173^post84, r_266^0'=r_266^post84, l_27^0'=l_27^post84, r_188^0'=r_188^post84, temp0_18^0'=temp0_18^post84, a_388^0'=a_388^post84, rcd_105^0'=rcd_105^post84, len_297^0'=len_297^post84, rcd_427^0'=rcd_427^post84, r_245^0'=r_245^post84, r_247^0'=r_247^post84, y_22^0'=y_22^post84, i_111^0'=i_111^post84, rcd_253^0'=rcd_253^post84, nondet_12^0'=nondet_12^post84, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post84, a_276^0'=a_276^post84, r_274^0'=r_274^post84, rcd_367^0'=rcd_367^post84, r_234^0'=r_234^post84, temp_38^0'=temp_38^post84, x_19^0'=x_19^post84, ct_20^0'=ct_20^post84, rcd_235^0'=rcd_235^post84, lt_17^0'=lt_17^post84, rcd_70^0'=rcd_70^post84, (0 == 0 /\ -rcd_46^post84+rcd_113^post84 <= 0 /\ -r_188^post84+r_188^0 == 0 /\ length_32^0-length_32^post84 == 0 /\ r_42^0-r_42^post84 == 0 /\ -x_19^post84+x_19^0 == 0 /\ -x_23^post84+x_23^0 == 0 /\ -r_274^post84+r_274^0 == 0 /\ -rcd_70^post84+rcd_70^0 == 0 /\ t_30^0-t_30^post84 == 0 /\ r_258^0-r_258^post84 == 0 /\ 1+i_111^post84-i_33^post84 <= 0 /\ r_246^0-r_246^post84 == 0 /\ rcd_244^0-rcd_244^post84 == 0 /\ -rcd_46^0+rcd_113^post84 <= 0 /\ a_332^0-a_332^post84 == 0 /\ r_196^0-r_196^post84 == 0 /\ tmp_37^post84-temp_38^0 == 0 /\ rcd_248^0-rcd_248^post84 == 0 /\ rcd_46^post84-rcd_113^post84 <= 0 /\ r_245^0-r_245^post84 == 0 /\ -i_33^0 <= 0 /\ -r_159^post84+r_159^0 == 0 /\ -lt_509^post84+lt_509^0 == 0 /\ 1+i_111^post84-length_32^0 <= 0 /\ -lt_17^post84+lt_17^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post84 == 0 /\ -nondet_12^post84+nondet_12^0 == 0 /\ c_28^0-c_28^post84 == 0 /\ -r_272^post84+r_272^0 == 0 /\ a_276^0-a_276^post84 == 0 /\ 1+i_33^0-length_32^0 <= 0 /\ -head_13^post84+head_13^0 == 0 /\ -a_388^post84+a_388^0 == 0 /\ rcd_46^0-rcd_113^post84 <= 0 /\ -tmp_37^post84+head_35^post84 == 0 /\ -t_24^post84+t_24^0 == 0 /\ a_358^0-a_358^post84 == 0 /\ i_120^0-i_120^post84 == 0 /\ -r_236^post84+r_236^0 == 0 /\ -r_167^post84+r_167^0 == 0 /\ temp0_34^0-temp0_34^post84 == 0 /\ rcd_273^0-rcd_273^post84 == 0 /\ -rcd_235^post84+rcd_235^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post84+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_297^0-len_297^post84 == 0 /\ rcd_363^0-rcd_363^post84 == 0 /\ -a_173^post84+a_173^0 == 0 /\ a_220^0-a_220^post84 == 0 /\ -1-i_33^0+i_33^post84 == 0 /\ -l_27^post84+l_27^0 == 0 /\ -1-i_111^post84+i_33^post84 <= 0 /\ -len_205^post84+len_205^0 == 0 /\ r_234^0-r_234^post84 == 0 /\ -r_266^post84+r_266^0 == 0 /\ a_148^0-a_148^post84 == 0 /\ len_275^0-len_275^post84 == 0 /\ -rcd_427^post84+rcd_427^0 == 0 /\ rcd_409^0-rcd_409^post84 == 0 /\ -r_247^post84+r_247^0 == 0 /\ r_29^0-r_29^post84 == 0 /\ -ct_20^post84+ct_20^0 == 0 /\ -lt_397^post84+lt_397^0 == 0 /\ -y_22^post84+y_22^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post84 == 0 /\ -r_252^post84+r_252^0 == 0 /\ result_11^0-result_11^post84 == 0 /\ -rcd_253^post84+rcd_253^0 == 0 /\ -rcd_367^post84+rcd_367^0 == 0 /\ -temp0_18^post84+temp0_18^0 == 0 /\ rcd_387^0-rcd_387^post84 == 0 /\ r_243^0-r_243^post84 == 0), cost: 1
  76: l48 -> l49 : a_148^0'=a_148^post76, r_258^0'=r_258^post76, i_33^0'=i_33^post76, r_167^0'=r_167^post76, t_30^0'=t_30^post76, a_358^0'=a_358^post76, r_42^0'=r_42^post76, len_275^0'=len_275^post76, rcd_409^0'=rcd_409^post76, r_243^0'=r_243^post76, r_246^0'=r_246^post76, x_SLAM_f_21^0'=x_SLAM_f_21^post76, head_35^0'=head_35^post76, rcd_248^0'=rcd_248^post76, lt_509^0'=lt_509^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post76, a_220^0'=a_220^post76, r_272^0'=r_272^post76, rcd_363^0'=rcd_363^post76, r_196^0'=r_196^post76, temp0_34^0'=temp0_34^post76, c_28^0'=c_28^post76, rcd_113^0'=rcd_113^post76, length_32^0'=length_32^post76, rcd_46^0'=rcd_46^post76, r_252^0'=r_252^post76, i_120^0'=i_120^post76, rcd_273^0'=rcd_273^post76, r_159^0'=r_159^post76, t_24^0'=t_24^post76, a_332^0'=a_332^post76, r_29^0'=r_29^post76, len_205^0'=len_205^post76, rcd_387^0'=rcd_387^post76, r_236^0'=r_236^post76, tmp_37^0'=tmp_37^post76, x_23^0'=x_23^post76, head_13^0'=head_13^post76, rcd_244^0'=rcd_244^post76, lt_397^0'=lt_397^post76, result_11^0'=result_11^post76, a_173^0'=a_173^post76, r_266^0'=r_266^post76, l_27^0'=l_27^post76, r_188^0'=r_188^post76, temp0_18^0'=temp0_18^post76, a_388^0'=a_388^post76, rcd_105^0'=rcd_105^post76, len_297^0'=len_297^post76, rcd_427^0'=rcd_427^post76, r_245^0'=r_245^post76, r_247^0'=r_247^post76, y_22^0'=y_22^post76, i_111^0'=i_111^post76, rcd_253^0'=rcd_253^post76, nondet_12^0'=nondet_12^post76, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, a_276^0'=a_276^post76, r_274^0'=r_274^post76, rcd_367^0'=rcd_367^post76, r_234^0'=r_234^post76, temp_38^0'=temp_38^post76, x_19^0'=x_19^post76, ct_20^0'=ct_20^post76, rcd_235^0'=rcd_235^post76, lt_17^0'=lt_17^post76, rcd_70^0'=rcd_70^post76, (-result_dot_nondet_sdv_special_RETURN_VALUE_14^post76+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post76+rcd_427^0 == 0 /\ -a_173^post76+a_173^0 == 0 /\ r_272^0-r_272^post76 == 0 /\ -rcd_363^post76+rcd_363^0 == 0 /\ -r_29^post76+r_29^0 == 0 /\ result_11^0-result_11^post76 == 0 /\ -r_245^post76+r_245^0 == 0 /\ -c_28^post76+c_28^0 == 0 /\ tmp_37^0-tmp_37^post76 == 0 /\ -r_247^post76+r_247^0 == 0 /\ -lt_17^post76+lt_17^0 == 0 /\ -r_266^post76+r_266^0 == 0 /\ -temp0_34^post76+temp0_34^0 == 0 /\ -rcd_273^post76+rcd_273^0 == 0 /\ r_42^0-r_42^post76 == 0 /\ lt_509^0-lt_509^post76 == 0 /\ temp0_18^0-temp0_18^post76 == 0 /\ -r_234^post76+r_234^0 == 0 /\ t_30^0-t_30^post76 == 0 /\ -a_220^post76+a_220^0 == 0 /\ length_32^0-length_32^post76 == 0 /\ -rcd_253^post76+rcd_253^0 == 0 /\ -a_276^post76+a_276^0 == 0 /\ rcd_244^0-rcd_244^post76 == 0 /\ -rcd_235^post76+rcd_235^0 == 0 /\ -y_22^post76+y_22^0 == 0 /\ -temp_38^post76+temp_38^0 == 0 /\ -lt_397^post76+lt_397^0 == 0 /\ -r_188^post76+r_188^0 == 0 /\ r_252^0-r_252^post76 == 0 /\ r_196^0-r_196^post76 == 0 /\ -a_388^post76+a_388^0 == 0 /\ -x_SLAM_f_21^post76+x_SLAM_f_21^0 == 0 /\ rcd_113^0-rcd_113^post76 == 0 /\ a_148^0-a_148^post76 == 0 /\ rcd_387^0-rcd_387^post76 == 0 /\ rcd_248^0-rcd_248^post76 == 0 /\ head_35^0-head_35^post76 == 0 /\ -x_23^post76+x_23^0 == 0 /\ a_332^0-a_332^post76 == 0 /\ l_27^0-l_27^post76 == 0 /\ rcd_409^0-rcd_409^post76 == 0 /\ -r_274^post76+r_274^0 == 0 /\ r_236^0-r_236^post76 == 0 /\ head_13^0-head_13^post76 == 0 /\ r_167^0-r_167^post76 == 0 /\ -rcd_367^post76+rcd_367^0 == 0 /\ -rcd_105^post76+rcd_105^0 == 0 /\ -i_111^post76+i_111^0 == 0 /\ -ct_20^post76+ct_20^0 == 0 /\ a_358^0-a_358^post76 == 0 /\ i_33^0-i_33^post76 == 0 /\ -nondet_12^post76+nondet_12^0 == 0 /\ i_120^0-i_120^post76 == 0 /\ r_243^0-r_243^post76 == 0 /\ r_246^0-r_246^post76 == 0 /\ -len_205^post76+len_205^0 == 0 /\ t_24^0-t_24^post76 == 0 /\ -r_159^post76+r_159^0 == 0 /\ len_297^0-len_297^post76 == 0 /\ 1-c_28^0 <= 0 /\ r_258^0-r_258^post76 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post76+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_46^post76+rcd_46^0 == 0 /\ len_275^0-len_275^post76 == 0 /\ -rcd_70^post76+rcd_70^0 == 0 /\ -x_19^post76+x_19^0 == 0), cost: 1
  77: l48 -> l49 : a_148^0'=a_148^post77, r_258^0'=r_258^post77, i_33^0'=i_33^post77, r_167^0'=r_167^post77, t_30^0'=t_30^post77, a_358^0'=a_358^post77, r_42^0'=r_42^post77, len_275^0'=len_275^post77, rcd_409^0'=rcd_409^post77, r_243^0'=r_243^post77, r_246^0'=r_246^post77, x_SLAM_f_21^0'=x_SLAM_f_21^post77, head_35^0'=head_35^post77, rcd_248^0'=rcd_248^post77, lt_509^0'=lt_509^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post77, a_220^0'=a_220^post77, r_272^0'=r_272^post77, rcd_363^0'=rcd_363^post77, r_196^0'=r_196^post77, temp0_34^0'=temp0_34^post77, c_28^0'=c_28^post77, rcd_113^0'=rcd_113^post77, length_32^0'=length_32^post77, rcd_46^0'=rcd_46^post77, r_252^0'=r_252^post77, i_120^0'=i_120^post77, rcd_273^0'=rcd_273^post77, r_159^0'=r_159^post77, t_24^0'=t_24^post77, a_332^0'=a_332^post77, r_29^0'=r_29^post77, len_205^0'=len_205^post77, rcd_387^0'=rcd_387^post77, r_236^0'=r_236^post77, tmp_37^0'=tmp_37^post77, x_23^0'=x_23^post77, head_13^0'=head_13^post77, rcd_244^0'=rcd_244^post77, lt_397^0'=lt_397^post77, result_11^0'=result_11^post77, a_173^0'=a_173^post77, r_266^0'=r_266^post77, l_27^0'=l_27^post77, r_188^0'=r_188^post77, temp0_18^0'=temp0_18^post77, a_388^0'=a_388^post77, rcd_105^0'=rcd_105^post77, len_297^0'=len_297^post77, rcd_427^0'=rcd_427^post77, r_245^0'=r_245^post77, r_247^0'=r_247^post77, y_22^0'=y_22^post77, i_111^0'=i_111^post77, rcd_253^0'=rcd_253^post77, nondet_12^0'=nondet_12^post77, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post77, a_276^0'=a_276^post77, r_274^0'=r_274^post77, rcd_367^0'=rcd_367^post77, r_234^0'=r_234^post77, temp_38^0'=temp_38^post77, x_19^0'=x_19^post77, ct_20^0'=ct_20^post77, rcd_235^0'=rcd_235^post77, lt_17^0'=lt_17^post77, rcd_70^0'=rcd_70^post77, (a_358^0-a_358^post77 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post77 == 0 /\ -len_205^post77+len_205^0 == 0 /\ rcd_409^0-rcd_409^post77 == 0 /\ -a_276^post77+a_276^0 == 0 /\ -y_22^post77+y_22^0 == 0 /\ 1+c_28^0 <= 0 /\ -rcd_253^post77+rcd_253^0 == 0 /\ a_173^0-a_173^post77 == 0 /\ -rcd_70^post77+rcd_70^0 == 0 /\ i_33^0-i_33^post77 == 0 /\ rcd_248^0-rcd_248^post77 == 0 /\ -a_388^post77+a_388^0 == 0 /\ -rcd_113^post77+rcd_113^0 == 0 /\ -r_236^post77+r_236^0 == 0 /\ a_148^0-a_148^post77 == 0 /\ temp0_34^0-temp0_34^post77 == 0 /\ -rcd_387^post77+rcd_387^0 == 0 /\ -r_274^post77+r_274^0 == 0 /\ rcd_46^0-rcd_46^post77 == 0 /\ c_28^0-c_28^post77 == 0 /\ -r_266^post77+r_266^0 == 0 /\ r_246^0-r_246^post77 == 0 /\ len_275^0-len_275^post77 == 0 /\ lt_509^0-lt_509^post77 == 0 /\ -i_111^post77+i_111^0 == 0 /\ r_243^0-r_243^post77 == 0 /\ lt_397^0-lt_397^post77 == 0 /\ -temp0_18^post77+temp0_18^0 == 0 /\ r_167^0-r_167^post77 == 0 /\ -lt_17^post77+lt_17^0 == 0 /\ -l_27^post77+l_27^0 == 0 /\ rcd_363^0-rcd_363^post77 == 0 /\ -r_234^post77+r_234^0 == 0 /\ -rcd_427^post77+rcd_427^0 == 0 /\ -r_196^post77+r_196^0 == 0 /\ head_35^0-head_35^post77 == 0 /\ r_258^0-r_258^post77 == 0 /\ -r_252^post77+r_252^0 == 0 /\ r_29^0-r_29^post77 == 0 /\ -nondet_12^post77+nondet_12^0 == 0 /\ r_159^0-r_159^post77 == 0 /\ rcd_367^0-rcd_367^post77 == 0 /\ tmp_37^0-tmp_37^post77 == 0 /\ -temp_38^post77+temp_38^0 == 0 /\ -r_188^post77+r_188^0 == 0 /\ r_42^0-r_42^post77 == 0 /\ a_220^0-a_220^post77 == 0 /\ i_120^0-i_120^post77 == 0 /\ -result_11^post77+result_11^0 == 0 /\ len_297^0-len_297^post77 == 0 /\ -rcd_235^post77+rcd_235^0 == 0 /\ -x_23^post77+x_23^0 == 0 /\ -r_272^post77+r_272^0 == 0 /\ -a_332^post77+a_332^0 == 0 /\ length_32^0-length_32^post77 == 0 /\ rcd_273^0-rcd_273^post77 == 0 /\ -head_13^post77+head_13^0 == 0 /\ -r_247^post77+r_247^0 == 0 /\ -x_19^post77+x_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post77+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -t_24^post77+t_24^0 == 0 /\ -rcd_105^post77+rcd_105^0 == 0 /\ t_30^0-t_30^post77 == 0 /\ -r_245^post77+r_245^0 == 0 /\ -ct_20^post77+ct_20^0 == 0 /\ rcd_244^0-rcd_244^post77 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post77 == 0), cost: 1
  78: l49 -> l50 : a_148^0'=a_148^post78, r_258^0'=r_258^post78, i_33^0'=i_33^post78, r_167^0'=r_167^post78, t_30^0'=t_30^post78, a_358^0'=a_358^post78, r_42^0'=r_42^post78, len_275^0'=len_275^post78, rcd_409^0'=rcd_409^post78, r_243^0'=r_243^post78, r_246^0'=r_246^post78, x_SLAM_f_21^0'=x_SLAM_f_21^post78, head_35^0'=head_35^post78, rcd_248^0'=rcd_248^post78, lt_509^0'=lt_509^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post78, a_220^0'=a_220^post78, r_272^0'=r_272^post78, rcd_363^0'=rcd_363^post78, r_196^0'=r_196^post78, temp0_34^0'=temp0_34^post78, c_28^0'=c_28^post78, rcd_113^0'=rcd_113^post78, length_32^0'=length_32^post78, rcd_46^0'=rcd_46^post78, r_252^0'=r_252^post78, i_120^0'=i_120^post78, rcd_273^0'=rcd_273^post78, r_159^0'=r_159^post78, t_24^0'=t_24^post78, a_332^0'=a_332^post78, r_29^0'=r_29^post78, len_205^0'=len_205^post78, rcd_387^0'=rcd_387^post78, r_236^0'=r_236^post78, tmp_37^0'=tmp_37^post78, x_23^0'=x_23^post78, head_13^0'=head_13^post78, rcd_244^0'=rcd_244^post78, lt_397^0'=lt_397^post78, result_11^0'=result_11^post78, a_173^0'=a_173^post78, r_266^0'=r_266^post78, l_27^0'=l_27^post78, r_188^0'=r_188^post78, temp0_18^0'=temp0_18^post78, a_388^0'=a_388^post78, rcd_105^0'=rcd_105^post78, len_297^0'=len_297^post78, rcd_427^0'=rcd_427^post78, r_245^0'=r_245^post78, r_247^0'=r_247^post78, y_22^0'=y_22^post78, i_111^0'=i_111^post78, rcd_253^0'=rcd_253^post78, nondet_12^0'=nondet_12^post78, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post78, a_276^0'=a_276^post78, r_274^0'=r_274^post78, rcd_367^0'=rcd_367^post78, r_234^0'=r_234^post78, temp_38^0'=temp_38^post78, x_19^0'=x_19^post78, ct_20^0'=ct_20^post78, rcd_235^0'=rcd_235^post78, lt_17^0'=lt_17^post78, rcd_70^0'=rcd_70^post78, (0 == 0 /\ -i_111^post78+i_111^0 == 0 /\ a_220^0-a_220^post78 == 0 /\ -rcd_113^post78+rcd_113^0 == 0 /\ r_42^0-r_247^0 <= 0 /\ r_42^0-r_42^post78 == 0 /\ a_148^post78-a_220^0 <= 0 /\ rcd_363^0-rcd_363^post78 == 0 /\ -rcd_70^post78+rcd_70^0 == 0 /\ -x_19^post78+x_19^0 == 0 /\ r_258^0-r_258^post78 == 0 /\ r_167^0-r_29^post78 <= 0 /\ -tmp_37^post78+tmp_37^0 == 0 /\ -t_30^post78+r_29^post78 <= 0 /\ -t_30^post78+r_29^post78 == 0 /\ rcd_409^0-rcd_409^post78 == 0 /\ -r_274^post78+r_274^0 == 0 /\ r_159^0-r_159^post78 == 0 /\ -c_28^0+t_30^post78 == 0 /\ r_196^0-r_196^post78 == 0 /\ -r_42^0+r_247^0 <= 0 /\ -a_148^post78+a_220^0 <= 0 /\ rcd_248^0-rcd_248^post78 == 0 /\ -lt_17^post78+lt_17^0 == 0 /\ -length_32^post78+length_32^0 == 0 /\ r_272^0-r_272^post78 == 0 /\ -r_167^0+r_29^post78 <= 0 /\ -nondet_12^post78+nondet_12^0 == 0 /\ t_30^post78-r_29^post78 <= 0 /\ head_35^0-head_35^post78 == 0 /\ a_358^0-a_358^post78 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post78 == 0 /\ len_205^0 <= 0 /\ -temp0_18^post78+temp0_18^0 == 0 /\ t_24^0-t_24^post78 == 0 /\ -r_245^post78+r_245^0 == 0 /\ -r_167^post78+r_167^0 == 0 /\ temp0_34^0-temp0_34^post78 == 0 /\ i_33^0-i_33^post78 == 0 /\ len_205^0-len_205^post78 == 0 /\ -rcd_235^post78+rcd_235^0 == 0 /\ -head_13^post78+head_13^0 == 0 /\ -len_297^post78+len_297^0 == 0 /\ -r_247^post78+r_247^0 == 0 /\ -result_11^post78+result_11^0 == 0 /\ rcd_248^0-rcd_46^0 <= 0 /\ -l_27^post78+l_27^0 == 0 /\ -len_205^0 <= 0 /\ r_234^0-r_234^post78 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post78+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_275^0-len_275^post78 == 0 /\ r_252^0-r_252^post78 == 0 /\ rcd_273^0-rcd_273^post78 == 0 /\ -a_173^post78+a_173^0 == 0 /\ rcd_427^0-rcd_427^post78 == 0 /\ r_246^0-r_246^post78 == 0 /\ x_23^0-x_23^post78 == 0 /\ -head_13^0+l_27^0 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post78 == 0 /\ -ct_20^post78+ct_20^0 == 0 /\ -rcd_387^post78+rcd_387^0 == 0 /\ -y_22^post78+y_22^0 == 0 /\ -i_120^post78+i_120^0 == 0 /\ a_388^0-a_388^post78 == 0 /\ -rcd_105^post78+rcd_105^0 == 0 /\ r_266^0-r_266^post78 == 0 /\ c_28^0-c_28^post78 == 0 /\ rcd_46^0-rcd_46^post78 == 0 /\ -rcd_248^0+rcd_46^0 <= 0 /\ -rcd_244^post78+rcd_244^0 == 0 /\ -r_188^post78+r_188^0 == 0 /\ -r_236^post78+r_236^0 == 0 /\ lt_509^0-lt_509^post78 == 0 /\ -a_332^post78+a_332^0 == 0 /\ -rcd_253^post78+rcd_253^0 == 0 /\ -rcd_367^post78+rcd_367^0 == 0 /\ head_13^0-l_27^0 <= 0 /\ lt_397^0-lt_397^post78 == 0 /\ r_243^0-r_243^post78 == 0 /\ -temp_38^post78+temp_38^0 == 0 /\ -a_276^post78+a_276^0 == 0), cost: 1
  79: l50 -> l51 : a_148^0'=a_148^post79, r_258^0'=r_258^post79, i_33^0'=i_33^post79, r_167^0'=r_167^post79, t_30^0'=t_30^post79, a_358^0'=a_358^post79, r_42^0'=r_42^post79, len_275^0'=len_275^post79, rcd_409^0'=rcd_409^post79, r_243^0'=r_243^post79, r_246^0'=r_246^post79, x_SLAM_f_21^0'=x_SLAM_f_21^post79, head_35^0'=head_35^post79, rcd_248^0'=rcd_248^post79, lt_509^0'=lt_509^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post79, a_220^0'=a_220^post79, r_272^0'=r_272^post79, rcd_363^0'=rcd_363^post79, r_196^0'=r_196^post79, temp0_34^0'=temp0_34^post79, c_28^0'=c_28^post79, rcd_113^0'=rcd_113^post79, length_32^0'=length_32^post79, rcd_46^0'=rcd_46^post79, r_252^0'=r_252^post79, i_120^0'=i_120^post79, rcd_273^0'=rcd_273^post79, r_159^0'=r_159^post79, t_24^0'=t_24^post79, a_332^0'=a_332^post79, r_29^0'=r_29^post79, len_205^0'=len_205^post79, rcd_387^0'=rcd_387^post79, r_236^0'=r_236^post79, tmp_37^0'=tmp_37^post79, x_23^0'=x_23^post79, head_13^0'=head_13^post79, rcd_244^0'=rcd_244^post79, lt_397^0'=lt_397^post79, result_11^0'=result_11^post79, a_173^0'=a_173^post79, r_266^0'=r_266^post79, l_27^0'=l_27^post79, r_188^0'=r_188^post79, temp0_18^0'=temp0_18^post79, a_388^0'=a_388^post79, rcd_105^0'=rcd_105^post79, len_297^0'=len_297^post79, rcd_427^0'=rcd_427^post79, r_245^0'=r_245^post79, r_247^0'=r_247^post79, y_22^0'=y_22^post79, i_111^0'=i_111^post79, rcd_253^0'=rcd_253^post79, nondet_12^0'=nondet_12^post79, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post79, a_276^0'=a_276^post79, r_274^0'=r_274^post79, rcd_367^0'=rcd_367^post79, r_234^0'=r_234^post79, temp_38^0'=temp_38^post79, x_19^0'=x_19^post79, ct_20^0'=ct_20^post79, rcd_235^0'=rcd_235^post79, lt_17^0'=lt_17^post79, rcd_70^0'=rcd_70^post79, (-x_23^post79+x_23^0 == 0 /\ lt_509^0-lt_509^post79 == 0 /\ -rcd_367^post79+rcd_367^0 == 0 /\ r_42^0-r_42^post79 == 0 /\ -length_32^post79+length_32^0 == 0 /\ -i_120^post79+i_120^0 == 0 /\ -ct_20^post79+ct_20^0 == 0 /\ t_24^0-t_24^post79 == 0 /\ r_188^0-r_188^post79 == 0 /\ -temp_38^post79+temp_38^0 == 0 /\ r_246^0-r_246^post79 == 0 /\ r_247^0-r_247^post79 == 0 /\ -nondet_12^post79+nondet_12^0 == 0 /\ r_196^0-r_196^post79 == 0 /\ -i_111^post79+i_111^0 == 0 /\ r_252^0-r_252^post79 == 0 /\ -rcd_46^post79+rcd_46^0 == 0 /\ a_148^0-a_148^post79 == 0 /\ -r_159^post79+r_159^0 == 0 /\ -rcd_70^post79+rcd_70^0 == 0 /\ r_167^0-r_167^post79 == 0 /\ -r_245^post79+r_245^0 == 0 /\ -a_388^post79+a_388^0 == 0 /\ r_236^0-r_236^post79 == 0 /\ result_11^0-result_11^post79 == 0 /\ a_220^0-a_220^post79 == 0 /\ a_358^0-a_358^post79 == 0 /\ temp0_34^0-temp0_34^post79 == 0 /\ -x_19^post79+x_19^0 == 0 /\ 1-t_30^0 <= 0 /\ i_33^0-i_33^post79 == 0 /\ c_28^0-c_28^post79 == 0 /\ rcd_387^0-rcd_387^post79 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post79+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_243^0-r_243^post79 == 0 /\ -lt_17^post79+lt_17^0 == 0 /\ -rcd_363^post79+rcd_363^0 == 0 /\ -a_173^post79+a_173^0 == 0 /\ -rcd_427^post79+rcd_427^0 == 0 /\ -a_276^post79+a_276^0 == 0 /\ -len_205^post79+len_205^0 == 0 /\ rcd_409^0-rcd_409^post79 == 0 /\ -rcd_244^post79+rcd_244^0 == 0 /\ r_258^0-r_258^post79 == 0 /\ rcd_248^0-rcd_248^post79 == 0 /\ -len_275^post79+len_275^0 == 0 /\ -rcd_253^post79+rcd_253^0 == 0 /\ a_332^0-a_332^post79 == 0 /\ -len_297^post79+len_297^0 == 0 /\ -t_30^post79+t_30^0 == 0 /\ -lt_397^post79+lt_397^0 == 0 /\ -l_27^post79+l_27^0 == 0 /\ -temp0_18^post79+temp0_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post79 == 0 /\ -r_234^post79+r_234^0 == 0 /\ -rcd_273^post79+rcd_273^0 == 0 /\ -tmp_37^post79+tmp_37^0 == 0 /\ rcd_113^0-rcd_113^post79 == 0 /\ head_13^0-head_13^post79 == 0 /\ -rcd_235^post79+rcd_235^0 == 0 /\ rcd_105^0-rcd_105^post79 == 0 /\ -r_274^post79+r_274^0 == 0 /\ -r_29^post79+r_29^0 == 0 /\ -x_SLAM_f_21^post79+x_SLAM_f_21^0 == 0 /\ r_266^0-r_266^post79 == 0 /\ head_35^0-head_35^post79 == 0 /\ r_272^0-r_272^post79 == 0 /\ -y_22^post79+y_22^0 == 0), cost: 1
  80: l50 -> l51 : a_148^0'=a_148^post80, r_258^0'=r_258^post80, i_33^0'=i_33^post80, r_167^0'=r_167^post80, t_30^0'=t_30^post80, a_358^0'=a_358^post80, r_42^0'=r_42^post80, len_275^0'=len_275^post80, rcd_409^0'=rcd_409^post80, r_243^0'=r_243^post80, r_246^0'=r_246^post80, x_SLAM_f_21^0'=x_SLAM_f_21^post80, head_35^0'=head_35^post80, rcd_248^0'=rcd_248^post80, lt_509^0'=lt_509^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post80, a_220^0'=a_220^post80, r_272^0'=r_272^post80, rcd_363^0'=rcd_363^post80, r_196^0'=r_196^post80, temp0_34^0'=temp0_34^post80, c_28^0'=c_28^post80, rcd_113^0'=rcd_113^post80, length_32^0'=length_32^post80, rcd_46^0'=rcd_46^post80, r_252^0'=r_252^post80, i_120^0'=i_120^post80, rcd_273^0'=rcd_273^post80, r_159^0'=r_159^post80, t_24^0'=t_24^post80, a_332^0'=a_332^post80, r_29^0'=r_29^post80, len_205^0'=len_205^post80, rcd_387^0'=rcd_387^post80, r_236^0'=r_236^post80, tmp_37^0'=tmp_37^post80, x_23^0'=x_23^post80, head_13^0'=head_13^post80, rcd_244^0'=rcd_244^post80, lt_397^0'=lt_397^post80, result_11^0'=result_11^post80, a_173^0'=a_173^post80, r_266^0'=r_266^post80, l_27^0'=l_27^post80, r_188^0'=r_188^post80, temp0_18^0'=temp0_18^post80, a_388^0'=a_388^post80, rcd_105^0'=rcd_105^post80, len_297^0'=len_297^post80, rcd_427^0'=rcd_427^post80, r_245^0'=r_245^post80, r_247^0'=r_247^post80, y_22^0'=y_22^post80, i_111^0'=i_111^post80, rcd_253^0'=rcd_253^post80, nondet_12^0'=nondet_12^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, a_276^0'=a_276^post80, r_274^0'=r_274^post80, rcd_367^0'=rcd_367^post80, r_234^0'=r_234^post80, temp_38^0'=temp_38^post80, x_19^0'=x_19^post80, ct_20^0'=ct_20^post80, rcd_235^0'=rcd_235^post80, lt_17^0'=lt_17^post80, rcd_70^0'=rcd_70^post80, (-r_252^post80+r_252^0 == 0 /\ -r_234^post80+r_234^0 == 0 /\ len_275^0-len_275^post80 == 0 /\ -rcd_273^post80+rcd_273^0 == 0 /\ y_22^0-y_22^post80 == 0 /\ -r_266^post80+r_266^0 == 0 /\ -nondet_12^post80+nondet_12^0 == 0 /\ a_332^0-a_332^post80 == 0 /\ r_243^0-r_243^post80 == 0 /\ -rcd_235^post80+rcd_235^0 == 0 /\ -rcd_46^post80+rcd_46^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post80 == 0 /\ -r_188^post80+r_188^0 == 0 /\ -r_236^post80+r_236^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post80 == 0 /\ rcd_363^0-rcd_363^post80 == 0 /\ result_11^0-result_11^post80 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post80+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_258^0-r_258^post80 == 0 /\ rcd_244^0-rcd_244^post80 == 0 /\ -t_24^post80+t_24^0 == 0 /\ -a_173^post80+a_173^0 == 0 /\ temp0_18^0-temp0_18^post80 == 0 /\ tmp_37^0-tmp_37^post80 == 0 /\ -temp_38^post80+temp_38^0 == 0 /\ -rcd_367^post80+rcd_367^0 == 0 /\ r_245^0-r_245^post80 == 0 /\ temp0_34^0-temp0_34^post80 == 0 /\ rcd_113^0-rcd_113^post80 == 0 /\ -c_28^post80+c_28^0 == 0 /\ rcd_248^0-rcd_248^post80 == 0 /\ r_272^0-r_272^post80 == 0 /\ r_42^0-r_42^post80 == 0 /\ -rcd_105^post80+rcd_105^0 == 0 /\ -ct_20^post80+ct_20^0 == 0 /\ -r_247^post80+r_247^0 == 0 /\ -r_196^post80+r_196^0 == 0 /\ r_246^0-r_246^post80 == 0 /\ -a_276^post80+a_276^0 == 0 /\ -rcd_253^post80+rcd_253^0 == 0 /\ -lt_397^post80+lt_397^0 == 0 /\ lt_509^0-lt_509^post80 == 0 /\ -len_205^post80+len_205^0 == 0 /\ -rcd_387^post80+rcd_387^0 == 0 /\ -a_388^post80+a_388^0 == 0 /\ r_167^0-r_167^post80 == 0 /\ 1+t_30^0 <= 0 /\ -rcd_409^post80+rcd_409^0 == 0 /\ t_30^0-t_30^post80 == 0 /\ -rcd_70^post80+rcd_70^0 == 0 /\ r_159^0-r_159^post80 == 0 /\ l_27^0-l_27^post80 == 0 /\ -rcd_427^post80+rcd_427^0 == 0 /\ x_19^0-x_19^post80 == 0 /\ -r_274^post80+r_274^0 == 0 /\ -x_23^post80+x_23^0 == 0 /\ a_358^0-a_358^post80 == 0 /\ i_120^0-i_120^post80 == 0 /\ r_29^0-r_29^post80 == 0 /\ -i_111^post80+i_111^0 == 0 /\ -head_35^post80+head_35^0 == 0 /\ i_33^0-i_33^post80 == 0 /\ len_297^0-len_297^post80 == 0 /\ length_32^0-length_32^post80 == 0 /\ -lt_17^post80+lt_17^0 == 0 /\ head_13^0-head_13^post80 == 0 /\ a_148^0-a_148^post80 == 0 /\ a_220^0-a_220^post80 == 0), cost: 1
  81: l51 -> l52 : a_148^0'=a_148^post81, r_258^0'=r_258^post81, i_33^0'=i_33^post81, r_167^0'=r_167^post81, t_30^0'=t_30^post81, a_358^0'=a_358^post81, r_42^0'=r_42^post81, len_275^0'=len_275^post81, rcd_409^0'=rcd_409^post81, r_243^0'=r_243^post81, r_246^0'=r_246^post81, x_SLAM_f_21^0'=x_SLAM_f_21^post81, head_35^0'=head_35^post81, rcd_248^0'=rcd_248^post81, lt_509^0'=lt_509^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post81, a_220^0'=a_220^post81, r_272^0'=r_272^post81, rcd_363^0'=rcd_363^post81, r_196^0'=r_196^post81, temp0_34^0'=temp0_34^post81, c_28^0'=c_28^post81, rcd_113^0'=rcd_113^post81, length_32^0'=length_32^post81, rcd_46^0'=rcd_46^post81, r_252^0'=r_252^post81, i_120^0'=i_120^post81, rcd_273^0'=rcd_273^post81, r_159^0'=r_159^post81, t_24^0'=t_24^post81, a_332^0'=a_332^post81, r_29^0'=r_29^post81, len_205^0'=len_205^post81, rcd_387^0'=rcd_387^post81, r_236^0'=r_236^post81, tmp_37^0'=tmp_37^post81, x_23^0'=x_23^post81, head_13^0'=head_13^post81, rcd_244^0'=rcd_244^post81, lt_397^0'=lt_397^post81, result_11^0'=result_11^post81, a_173^0'=a_173^post81, r_266^0'=r_266^post81, l_27^0'=l_27^post81, r_188^0'=r_188^post81, temp0_18^0'=temp0_18^post81, a_388^0'=a_388^post81, rcd_105^0'=rcd_105^post81, len_297^0'=len_297^post81, rcd_427^0'=rcd_427^post81, r_245^0'=r_245^post81, r_247^0'=r_247^post81, y_22^0'=y_22^post81, i_111^0'=i_111^post81, rcd_253^0'=rcd_253^post81, nondet_12^0'=nondet_12^post81, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post81, a_276^0'=a_276^post81, r_274^0'=r_274^post81, rcd_367^0'=rcd_367^post81, r_234^0'=r_234^post81, temp_38^0'=temp_38^post81, x_19^0'=x_19^post81, ct_20^0'=ct_20^post81, rcd_235^0'=rcd_235^post81, lt_17^0'=lt_17^post81, rcd_70^0'=rcd_70^post81, (r_196^0-r_196^post81 == 0 /\ r_272^0-r_272^post81 == 0 /\ i_111^0-i_111^post81 == 0 /\ -temp0_18^post81+temp0_18^0 == 0 /\ -r_247^post81+r_247^0 == 0 /\ -rcd_387^post81+rcd_387^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post81+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ c_28^0-c_28^post81 == 0 /\ head_35^0-head_35^post81 == 0 /\ -lt_17^post81+lt_17^0 == 0 /\ t_30^0-t_30^post81 == 0 /\ r_29^0-r_29^post81 == 0 /\ -l_27^post81+l_27^0 == 0 /\ r_167^0-r_167^post81 == 0 /\ -r_234^post81+r_234^0 == 0 /\ a_358^0-a_358^post81 == 0 /\ -r_266^post81+r_266^0 == 0 /\ lt_397^0-lt_397^post81 == 0 /\ i_33^0-i_33^post81 == 0 /\ -a_276^post81+a_276^0 == 0 /\ i_120^0-i_120^post81 == 0 /\ -ct_20^post81+ct_20^0 == 0 /\ -y_22^post81+y_22^0 == 0 /\ -r_252^post81+r_252^0 == 0 /\ 1-r_167^0 <= 0 /\ a_220^0-a_220^post81 == 0 /\ length_32^0-length_32^post81 == 0 /\ a_173^0-a_173^post81 == 0 /\ r_258^0-r_258^post81 == 0 /\ len_275^0-len_275^post81 == 0 /\ -len_297^post81+len_297^0 == 0 /\ -r_188^post81+r_188^0 == 0 /\ -rcd_367^post81+rcd_367^0 == 0 /\ -a_332^post81+a_332^0 == 0 /\ -r_236^post81+r_236^0 == 0 /\ -rcd_113^post81+rcd_113^0 == 0 /\ -rcd_235^post81+rcd_235^0 == 0 /\ r_159^0-r_159^post81 == 0 /\ -x_23^post81+x_23^0 == 0 /\ -rcd_253^post81+rcd_253^0 == 0 /\ -r_274^post81+r_274^0 == 0 /\ -temp_38^post81+temp_38^0 == 0 /\ -x_19^post81+x_19^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post81 == 0 /\ rcd_248^0-rcd_248^post81 == 0 /\ -r_246^post81+r_246^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post81 == 0 /\ -rcd_105^post81+rcd_105^0 == 0 /\ r_243^0-r_243^post81 == 0 /\ -tmp_37^post81+tmp_37^0 == 0 /\ -result_11^post81+result_11^0 == 0 /\ temp0_34^0-temp0_34^post81 == 0 /\ t_24^0-t_24^post81 == 0 /\ -len_205^post81+len_205^0 == 0 /\ rcd_363^0-rcd_363^post81 == 0 /\ r_42^0-r_42^post81 == 0 /\ -r_245^post81+r_245^0 == 0 /\ rcd_46^0-rcd_46^post81 == 0 /\ -lt_509^post81+lt_509^0 == 0 /\ rcd_244^0-rcd_244^post81 == 0 /\ rcd_427^0-rcd_427^post81 == 0 /\ -nondet_12^post81+nondet_12^0 == 0 /\ a_148^0-a_148^post81 == 0 /\ -rcd_70^post81+rcd_70^0 == 0 /\ rcd_273^0-rcd_273^post81 == 0 /\ -a_388^post81+a_388^0 == 0 /\ rcd_409^0-rcd_409^post81 == 0 /\ -head_13^post81+head_13^0 == 0), cost: 1
  82: l51 -> l52 : a_148^0'=a_148^post82, r_258^0'=r_258^post82, i_33^0'=i_33^post82, r_167^0'=r_167^post82, t_30^0'=t_30^post82, a_358^0'=a_358^post82, r_42^0'=r_42^post82, len_275^0'=len_275^post82, rcd_409^0'=rcd_409^post82, r_243^0'=r_243^post82, r_246^0'=r_246^post82, x_SLAM_f_21^0'=x_SLAM_f_21^post82, head_35^0'=head_35^post82, rcd_248^0'=rcd_248^post82, lt_509^0'=lt_509^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post82, a_220^0'=a_220^post82, r_272^0'=r_272^post82, rcd_363^0'=rcd_363^post82, r_196^0'=r_196^post82, temp0_34^0'=temp0_34^post82, c_28^0'=c_28^post82, rcd_113^0'=rcd_113^post82, length_32^0'=length_32^post82, rcd_46^0'=rcd_46^post82, r_252^0'=r_252^post82, i_120^0'=i_120^post82, rcd_273^0'=rcd_273^post82, r_159^0'=r_159^post82, t_24^0'=t_24^post82, a_332^0'=a_332^post82, r_29^0'=r_29^post82, len_205^0'=len_205^post82, rcd_387^0'=rcd_387^post82, r_236^0'=r_236^post82, tmp_37^0'=tmp_37^post82, x_23^0'=x_23^post82, head_13^0'=head_13^post82, rcd_244^0'=rcd_244^post82, lt_397^0'=lt_397^post82, result_11^0'=result_11^post82, a_173^0'=a_173^post82, r_266^0'=r_266^post82, l_27^0'=l_27^post82, r_188^0'=r_188^post82, temp0_18^0'=temp0_18^post82, a_388^0'=a_388^post82, rcd_105^0'=rcd_105^post82, len_297^0'=len_297^post82, rcd_427^0'=rcd_427^post82, r_245^0'=r_245^post82, r_247^0'=r_247^post82, y_22^0'=y_22^post82, i_111^0'=i_111^post82, rcd_253^0'=rcd_253^post82, nondet_12^0'=nondet_12^post82, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post82, a_276^0'=a_276^post82, r_274^0'=r_274^post82, rcd_367^0'=rcd_367^post82, r_234^0'=r_234^post82, temp_38^0'=temp_38^post82, x_19^0'=x_19^post82, ct_20^0'=ct_20^post82, rcd_235^0'=rcd_235^post82, lt_17^0'=lt_17^post82, rcd_70^0'=rcd_70^post82, (-y_22^post82+y_22^0 == 0 /\ r_236^0-r_236^post82 == 0 /\ -rcd_244^post82+rcd_244^0 == 0 /\ r_247^0-r_247^post82 == 0 /\ -rcd_427^post82+rcd_427^0 == 0 /\ r_29^0-r_29^post82 == 0 /\ rcd_113^0-rcd_113^post82 == 0 /\ -rcd_387^post82+rcd_387^0 == 0 /\ -r_159^post82+r_159^0 == 0 /\ -a_276^post82+a_276^0 == 0 /\ -lt_17^post82+lt_17^0 == 0 /\ i_33^0-i_33^post82 == 0 /\ -temp0_34^post82+temp0_34^0 == 0 /\ r_42^0-r_42^post82 == 0 /\ -i_111^post82+i_111^0 == 0 /\ lt_509^0-lt_509^post82 == 0 /\ t_30^0-t_30^post82 == 0 /\ -rcd_253^post82+rcd_253^0 == 0 /\ x_23^0-x_23^post82 == 0 /\ -l_27^post82+l_27^0 == 0 /\ -len_297^post82+len_297^0 == 0 /\ -temp0_18^post82+temp0_18^0 == 0 /\ rcd_273^0-rcd_273^post82 == 0 /\ -r_234^post82+r_234^0 == 0 /\ rcd_363^0-rcd_363^post82 == 0 /\ -rcd_235^post82+rcd_235^0 == 0 /\ rcd_409^0-rcd_409^post82 == 0 /\ -tmp_37^post82+tmp_37^0 == 0 /\ rcd_46^0-rcd_46^post82 == 0 /\ -r_274^post82+r_274^0 == 0 /\ nondet_12^0-nondet_12^post82 == 0 /\ -a_332^post82+a_332^0 == 0 /\ -rcd_367^post82+rcd_367^0 == 0 /\ head_35^0-head_35^post82 == 0 /\ -rcd_248^post82+rcd_248^0 == 0 /\ -x_SLAM_f_21^post82+x_SLAM_f_21^0 == 0 /\ -length_32^post82+length_32^0 == 0 /\ 1+r_167^0 <= 0 /\ -rcd_105^post82+rcd_105^0 == 0 /\ r_167^0-r_167^post82 == 0 /\ -ct_20^post82+ct_20^0 == 0 /\ a_148^0-a_148^post82 == 0 /\ -i_120^post82+i_120^0 == 0 /\ a_358^0-a_358^post82 == 0 /\ a_220^0-a_220^post82 == 0 /\ a_388^0-a_388^post82 == 0 /\ -result_11^post82+result_11^0 == 0 /\ c_28^0-c_28^post82 == 0 /\ r_266^0-r_266^post82 == 0 /\ -temp_38^post82+temp_38^0 == 0 /\ -r_243^post82+r_243^0 == 0 /\ len_205^0-len_205^post82 == 0 /\ r_272^0-r_272^post82 == 0 /\ -head_13^post82+head_13^0 == 0 /\ r_246^0-r_246^post82 == 0 /\ -x_19^post82+x_19^0 == 0 /\ lt_397^0-lt_397^post82 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post82+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_245^post82+r_245^0 == 0 /\ r_196^0-r_196^post82 == 0 /\ r_258^0-r_258^post82 == 0 /\ t_24^0-t_24^post82 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post82+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ r_188^0-r_188^post82 == 0 /\ -a_173^post82+a_173^0 == 0 /\ r_252^0-r_252^post82 == 0 /\ len_275^0-len_275^post82 == 0 /\ -rcd_70^post82+rcd_70^0 == 0), cost: 1
  83: l52 -> l0 : a_148^0'=a_148^post83, r_258^0'=r_258^post83, i_33^0'=i_33^post83, r_167^0'=r_167^post83, t_30^0'=t_30^post83, a_358^0'=a_358^post83, r_42^0'=r_42^post83, len_275^0'=len_275^post83, rcd_409^0'=rcd_409^post83, r_243^0'=r_243^post83, r_246^0'=r_246^post83, x_SLAM_f_21^0'=x_SLAM_f_21^post83, head_35^0'=head_35^post83, rcd_248^0'=rcd_248^post83, lt_509^0'=lt_509^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post83, a_220^0'=a_220^post83, r_272^0'=r_272^post83, rcd_363^0'=rcd_363^post83, r_196^0'=r_196^post83, temp0_34^0'=temp0_34^post83, c_28^0'=c_28^post83, rcd_113^0'=rcd_113^post83, length_32^0'=length_32^post83, rcd_46^0'=rcd_46^post83, r_252^0'=r_252^post83, i_120^0'=i_120^post83, rcd_273^0'=rcd_273^post83, r_159^0'=r_159^post83, t_24^0'=t_24^post83, a_332^0'=a_332^post83, r_29^0'=r_29^post83, len_205^0'=len_205^post83, rcd_387^0'=rcd_387^post83, r_236^0'=r_236^post83, tmp_37^0'=tmp_37^post83, x_23^0'=x_23^post83, head_13^0'=head_13^post83, rcd_244^0'=rcd_244^post83, lt_397^0'=lt_397^post83, result_11^0'=result_11^post83, a_173^0'=a_173^post83, r_266^0'=r_266^post83, l_27^0'=l_27^post83, r_188^0'=r_188^post83, temp0_18^0'=temp0_18^post83, a_388^0'=a_388^post83, rcd_105^0'=rcd_105^post83, len_297^0'=len_297^post83, rcd_427^0'=rcd_427^post83, r_245^0'=r_245^post83, r_247^0'=r_247^post83, y_22^0'=y_22^post83, i_111^0'=i_111^post83, rcd_253^0'=rcd_253^post83, nondet_12^0'=nondet_12^post83, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post83, a_276^0'=a_276^post83, r_274^0'=r_274^post83, rcd_367^0'=rcd_367^post83, r_234^0'=r_234^post83, temp_38^0'=temp_38^post83, x_19^0'=x_19^post83, ct_20^0'=ct_20^post83, rcd_235^0'=rcd_235^post83, lt_17^0'=lt_17^post83, rcd_70^0'=rcd_70^post83, (0 == 0 /\ a_358^0-a_358^post83 == 0 /\ len_205^0-len_205^post83 == 0 /\ rcd_409^0-rcd_409^post83 == 0 /\ t_24^0-t_24^post83 == 0 /\ -lt_397^post83+lt_397^0 == 0 /\ rcd_363^0-rcd_363^post83 == 0 /\ tmp_37^0-tmp_37^post83 == 0 /\ -r_196^post83+r_196^0 == 0 /\ -a_388^post83+a_388^0 == 0 /\ head_13^0-head_13^post83 == 0 /\ -rcd_253^post83+rcd_253^0 == 0 /\ -r_274^post83+r_274^0 == 0 /\ length_32^0-length_32^post83 == 0 /\ 1+a_148^0-i_120^post83 <= 0 /\ r_252^0-r_252^post83 == 0 /\ -rcd_70^post83+rcd_70^0 == 0 /\ -y_22^post83+y_22^0 == 0 /\ a_148^0-a_148^post83 == 0 /\ temp0_34^0-temp0_34^post83 == 0 /\ -rcd_427^post83+rcd_427^0 == 0 /\ rcd_387^0-rcd_387^post83 == 0 /\ r_246^0-r_246^post83 == 0 /\ r_272^0-r_272^post83 == 0 /\ len_275^0-len_275^post83 == 0 /\ r_243^0-r_243^post83 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post83 == 0 /\ r_167^0-r_167^post83 == 0 /\ -lt_17^post83+lt_17^0 == 0 /\ -x_23^post83+x_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post83 == 0 /\ -i_111^post83+i_111^0 == 0 /\ result_11^0-result_11^post83 == 0 /\ -head_35^post83+head_35^0 == 0 /\ -r_159^post83+r_159^0 == 0 /\ rcd_105^0-rcd_105^post83 == 0 /\ r_258^0-r_258^post83 == 0 /\ -nondet_12^post83+nondet_12^0 == 0 /\ -rcd_46^post83+rcd_46^0 == 0 /\ -len_297^post83+len_297^0 == 0 /\ i_33^0-i_33^post83 == 0 /\ -r_234^post83+r_234^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -r_266^post83+r_266^0 == 0 /\ -rcd_273^post83+rcd_273^0 == 0 /\ temp0_18^0-temp0_18^post83 == 0 /\ -a_173^post83+a_173^0 == 0 /\ -1-a_148^0+i_120^post83 <= 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ r_42^0-r_42^post83 == 0 /\ -r_29^post83+r_29^0 == 0 /\ -r_245^post83+r_245^0 == 0 /\ rcd_113^0-rcd_113^post83 == 0 /\ -rcd_235^post83+rcd_235^0 == 0 /\ -x_19^post83+x_19^0 == 0 /\ -r_188^post83+r_188^0 == 0 /\ -rcd_367^post83+rcd_367^0 == 0 /\ -temp_38^post83+temp_38^0 == 0 /\ -rcd_244^post83+rcd_244^0 == 0 /\ lt_509^0-lt_509^post83 == 0 /\ a_332^0-a_332^post83 == 0 /\ rcd_248^0-rcd_248^post83 == 0 /\ -a_276^post83+a_276^0 == 0 /\ -c_28^post83+c_28^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -a_220^post83+a_220^0 == 0 /\ -r_247^post83+r_247^0 == 0 /\ t_30^0-t_30^post83 == 0 /\ l_27^0-l_27^post83 == 0 /\ -ct_20^post83+ct_20^0 == 0 /\ r_236^0-r_236^post83 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post83 == 0), cost: 1
  85: l53 -> l47 : a_148^0'=a_148^post85, r_258^0'=r_258^post85, i_33^0'=i_33^post85, r_167^0'=r_167^post85, t_30^0'=t_30^post85, a_358^0'=a_358^post85, r_42^0'=r_42^post85, len_275^0'=len_275^post85, rcd_409^0'=rcd_409^post85, r_243^0'=r_243^post85, r_246^0'=r_246^post85, x_SLAM_f_21^0'=x_SLAM_f_21^post85, head_35^0'=head_35^post85, rcd_248^0'=rcd_248^post85, lt_509^0'=lt_509^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post85, a_220^0'=a_220^post85, r_272^0'=r_272^post85, rcd_363^0'=rcd_363^post85, r_196^0'=r_196^post85, temp0_34^0'=temp0_34^post85, c_28^0'=c_28^post85, rcd_113^0'=rcd_113^post85, length_32^0'=length_32^post85, rcd_46^0'=rcd_46^post85, r_252^0'=r_252^post85, i_120^0'=i_120^post85, rcd_273^0'=rcd_273^post85, r_159^0'=r_159^post85, t_24^0'=t_24^post85, a_332^0'=a_332^post85, r_29^0'=r_29^post85, len_205^0'=len_205^post85, rcd_387^0'=rcd_387^post85, r_236^0'=r_236^post85, tmp_37^0'=tmp_37^post85, x_23^0'=x_23^post85, head_13^0'=head_13^post85, rcd_244^0'=rcd_244^post85, lt_397^0'=lt_397^post85, result_11^0'=result_11^post85, a_173^0'=a_173^post85, r_266^0'=r_266^post85, l_27^0'=l_27^post85, r_188^0'=r_188^post85, temp0_18^0'=temp0_18^post85, a_388^0'=a_388^post85, rcd_105^0'=rcd_105^post85, len_297^0'=len_297^post85, rcd_427^0'=rcd_427^post85, r_245^0'=r_245^post85, r_247^0'=r_247^post85, y_22^0'=y_22^post85, i_111^0'=i_111^post85, rcd_253^0'=rcd_253^post85, nondet_12^0'=nondet_12^post85, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post85, a_276^0'=a_276^post85, r_274^0'=r_274^post85, rcd_367^0'=rcd_367^post85, r_234^0'=r_234^post85, temp_38^0'=temp_38^post85, x_19^0'=x_19^post85, ct_20^0'=ct_20^post85, rcd_235^0'=rcd_235^post85, lt_17^0'=lt_17^post85, rcd_70^0'=rcd_70^post85, (len_275^0-len_275^post85 == 0 /\ -result_11^post85+result_11^0 == 0 /\ c_28^0-c_28^post85 == 0 /\ -rcd_367^post85+rcd_367^0 == 0 /\ -a_332^post85+a_332^0 == 0 /\ temp0_34^0-temp0_34^post85 == 0 /\ rcd_273^0-rcd_273^post85 == 0 /\ rcd_46^0-rcd_46^post85 == 0 /\ -r_245^post85+r_245^0 == 0 /\ -i_120^post85+i_120^0 == 0 /\ -ct_20^post85+ct_20^0 == 0 /\ -nondet_12^post85+nondet_12^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post85 == 0 /\ lt_397^0-lt_397^post85 == 0 /\ -len_297^post85+len_297^0 == 0 /\ -temp_38^post85+temp_38^0 == 0 /\ -r_252^post85+r_252^0 == 0 /\ -head_13^post85+head_13^0 == 0 /\ rcd_363^0-rcd_363^post85 == 0 /\ a_148^0-a_148^post85 == 0 /\ r_159^0-r_159^post85 == 0 /\ head_35^0-head_35^post85 == 0 /\ -r_236^post85+r_236^0 == 0 /\ -rcd_70^post85+rcd_70^0 == 0 /\ -r_247^post85+r_247^0 == 0 /\ rcd_409^0-rcd_409^post85 == 0 /\ r_167^0-r_167^post85 == 0 /\ -t_24^post85+t_24^0 == 0 /\ r_29^0-r_29^post85 == 0 /\ r_272^0-r_272^post85 == 0 /\ -rcd_105^post85+rcd_105^0 == 0 /\ x_23^0-x_23^post85 == 0 /\ -x_19^post85+x_19^0 == 0 /\ -rcd_244^post85+rcd_244^0 == 0 /\ length_32^0-length_32^post85 == 0 /\ r_42^0-r_42^post85 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post85+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post85+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ r_243^0-r_243^post85 == 0 /\ -lt_17^post85+lt_17^0 == 0 /\ rcd_427^0-rcd_427^post85 == 0 /\ a_388^0-a_388^post85 == 0 /\ lt_509^0-lt_509^post85 == 0 /\ -y_22^post85+y_22^0 == 0 /\ -tmp_37^post85+tmp_37^0 == 0 /\ r_246^0-r_246^post85 == 0 /\ -a_276^post85+a_276^0 == 0 /\ -rcd_113^post85+rcd_113^0 == 0 /\ r_196^0-r_196^post85 == 0 /\ -rcd_387^post85+rcd_387^0 == 0 /\ r_258^0-r_258^post85 == 0 /\ r_188^0-r_188^post85 == 0 /\ -rcd_253^post85+rcd_253^0 == 0 /\ -temp0_18^post85+temp0_18^0 == 0 /\ -l_27^post85+l_27^0 == 0 /\ -t_30^post85+t_30^0 == 0 /\ a_358^0-a_358^post85 == 0 /\ -r_234^post85+r_234^0 == 0 /\ -i_111^post85+i_111^0 == 0 /\ -rcd_235^post85+rcd_235^0 == 0 /\ i_33^0-i_33^post85 == 0 /\ -r_274^post85+r_274^0 == 0 /\ rcd_248^0-rcd_248^post85 == 0 /\ len_205^0-len_205^post85 == 0 /\ a_220^0-a_220^post85 == 0 /\ a_173^0-a_173^post85 == 0 /\ -r_266^post85+r_266^0 == 0), cost: 1
  86: l54 -> l33 : a_148^0'=a_148^post86, r_258^0'=r_258^post86, i_33^0'=i_33^post86, r_167^0'=r_167^post86, t_30^0'=t_30^post86, a_358^0'=a_358^post86, r_42^0'=r_42^post86, len_275^0'=len_275^post86, rcd_409^0'=rcd_409^post86, r_243^0'=r_243^post86, r_246^0'=r_246^post86, x_SLAM_f_21^0'=x_SLAM_f_21^post86, head_35^0'=head_35^post86, rcd_248^0'=rcd_248^post86, lt_509^0'=lt_509^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86, a_220^0'=a_220^post86, r_272^0'=r_272^post86, rcd_363^0'=rcd_363^post86, r_196^0'=r_196^post86, temp0_34^0'=temp0_34^post86, c_28^0'=c_28^post86, rcd_113^0'=rcd_113^post86, length_32^0'=length_32^post86, rcd_46^0'=rcd_46^post86, r_252^0'=r_252^post86, i_120^0'=i_120^post86, rcd_273^0'=rcd_273^post86, r_159^0'=r_159^post86, t_24^0'=t_24^post86, a_332^0'=a_332^post86, r_29^0'=r_29^post86, len_205^0'=len_205^post86, rcd_387^0'=rcd_387^post86, r_236^0'=r_236^post86, tmp_37^0'=tmp_37^post86, x_23^0'=x_23^post86, head_13^0'=head_13^post86, rcd_244^0'=rcd_244^post86, lt_397^0'=lt_397^post86, result_11^0'=result_11^post86, a_173^0'=a_173^post86, r_266^0'=r_266^post86, l_27^0'=l_27^post86, r_188^0'=r_188^post86, temp0_18^0'=temp0_18^post86, a_388^0'=a_388^post86, rcd_105^0'=rcd_105^post86, len_297^0'=len_297^post86, rcd_427^0'=rcd_427^post86, r_245^0'=r_245^post86, r_247^0'=r_247^post86, y_22^0'=y_22^post86, i_111^0'=i_111^post86, rcd_253^0'=rcd_253^post86, nondet_12^0'=nondet_12^post86, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post86, a_276^0'=a_276^post86, r_274^0'=r_274^post86, rcd_367^0'=rcd_367^post86, r_234^0'=r_234^post86, temp_38^0'=temp_38^post86, x_19^0'=x_19^post86, ct_20^0'=ct_20^post86, rcd_235^0'=rcd_235^post86, lt_17^0'=lt_17^post86, rcd_70^0'=rcd_70^post86, (0 == 0 /\ -r_234^post86+r_234^0 == 0 /\ r_246^0-r_246^post86 == 0 /\ rcd_113^0-rcd_113^post86 == 0 /\ rcd_387^0-rcd_387^post86 == 0 /\ y_22^0-y_22^post86 == 0 /\ -r_29^post86+r_29^0 == 0 /\ -len_297^post86+len_297^0 == 0 /\ r_266^0-r_266^post86 == 0 /\ -nondet_12^post86+nondet_12^0 == 0 /\ r_272^0-r_272^post86 == 0 /\ length_32^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post86 <= 0 /\ -1+i_33^post86-i_33^0 == 0 /\ lt_509^0-lt_509^post86 == 0 /\ -rcd_367^post86+rcd_367^0 == 0 /\ -head_35^post86+tmp_37^post86 <= 0 /\ -r_245^post86+r_245^0 == 0 /\ r_243^0-r_243^post86 == 0 /\ -rcd_235^post86+rcd_235^0 == 0 /\ t_30^0-t_30^post86 == 0 /\ r_236^0-r_236^post86 == 0 /\ -rcd_273^post86+rcd_273^0 == 0 /\ -a_173^post86+a_173^0 == 0 /\ r_167^0-r_167^post86 == 0 /\ -a_332^post86+a_332^0 == 0 /\ -rcd_244^post86+rcd_244^0 == 0 /\ a_358^0-a_358^post86 == 0 /\ 1-i_33^post86 <= 0 /\ -1+i_33^post86 <= 0 /\ r_258^0-r_258^post86 == 0 /\ t_24^0-t_24^post86 == 0 /\ r_247^0-r_247^post86 == 0 /\ rcd_363^0-rcd_363^post86 == 0 /\ -i_120^post86+i_120^0 == 0 /\ len_205^0-len_205^post86 == 0 /\ -length_32^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post86 <= 0 /\ -temp0_34^post86+temp0_34^0 == 0 /\ head_35^post86-tmp_37^post86 <= 0 /\ head_35^post86-tmp_37^post86 == 0 /\ 1+i_33^0-length_32^0 <= 0 /\ rcd_46^0-rcd_46^post86 == 0 /\ -r_188^post86+r_188^0 == 0 /\ head_13^0-head_13^post86 == 0 /\ -ct_20^post86+ct_20^0 == 0 /\ -a_220^post86+a_220^0 == 0 /\ -lt_397^post86+lt_397^0 == 0 /\ r_196^0-r_196^post86 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post86 == 0 /\ -a_388^post86+a_388^0 == 0 /\ -len_275^post86+len_275^0 == 0 /\ -a_276^post86+a_276^0 == 0 /\ -rcd_253^post86+rcd_253^0 == 0 /\ c_28^0-c_28^post86 == 0 /\ -rcd_248^post86+rcd_248^0 == 0 /\ -length_32^post86+length_32^0 == 0 /\ tmp_37^post86-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86 <= 0 /\ head_35^post86-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86 <= 0 /\ -rcd_70^post86+rcd_70^0 == 0 /\ temp0_18^0-temp0_18^post86 == 0 /\ tmp_37^post86-temp_38^0 == 0 /\ l_27^0-l_27^post86 == 0 /\ rcd_409^0-rcd_409^post86 == 0 /\ rcd_105^0-rcd_105^post86 == 0 /\ -rcd_427^post86+rcd_427^0 == 0 /\ x_19^0-x_19^post86 == 0 /\ -r_274^post86+r_274^0 == 0 /\ r_252^0-r_252^post86 == 0 /\ -i_111^post86+i_111^0 == 0 /\ r_42^0-r_42^post86 == 0 /\ -r_159^post86+r_159^0 == 0 /\ -tmp_37^post86+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86 <= 0 /\ -head_35^post86+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86 <= 0 /\ -result_11^post86+result_11^0 == 0 /\ x_23^0-x_23^post86 == 0 /\ -lt_17^post86+lt_17^0 == 0 /\ a_148^0-a_148^post86 == 0 /\ 1-length_32^0 <= 0), cost: 1
  87: l54 -> l34 : a_148^0'=a_148^post87, r_258^0'=r_258^post87, i_33^0'=i_33^post87, r_167^0'=r_167^post87, t_30^0'=t_30^post87, a_358^0'=a_358^post87, r_42^0'=r_42^post87, len_275^0'=len_275^post87, rcd_409^0'=rcd_409^post87, r_243^0'=r_243^post87, r_246^0'=r_246^post87, x_SLAM_f_21^0'=x_SLAM_f_21^post87, head_35^0'=head_35^post87, rcd_248^0'=rcd_248^post87, lt_509^0'=lt_509^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post87, a_220^0'=a_220^post87, r_272^0'=r_272^post87, rcd_363^0'=rcd_363^post87, r_196^0'=r_196^post87, temp0_34^0'=temp0_34^post87, c_28^0'=c_28^post87, rcd_113^0'=rcd_113^post87, length_32^0'=length_32^post87, rcd_46^0'=rcd_46^post87, r_252^0'=r_252^post87, i_120^0'=i_120^post87, rcd_273^0'=rcd_273^post87, r_159^0'=r_159^post87, t_24^0'=t_24^post87, a_332^0'=a_332^post87, r_29^0'=r_29^post87, len_205^0'=len_205^post87, rcd_387^0'=rcd_387^post87, r_236^0'=r_236^post87, tmp_37^0'=tmp_37^post87, x_23^0'=x_23^post87, head_13^0'=head_13^post87, rcd_244^0'=rcd_244^post87, lt_397^0'=lt_397^post87, result_11^0'=result_11^post87, a_173^0'=a_173^post87, r_266^0'=r_266^post87, l_27^0'=l_27^post87, r_188^0'=r_188^post87, temp0_18^0'=temp0_18^post87, a_388^0'=a_388^post87, rcd_105^0'=rcd_105^post87, len_297^0'=len_297^post87, rcd_427^0'=rcd_427^post87, r_245^0'=r_245^post87, r_247^0'=r_247^post87, y_22^0'=y_22^post87, i_111^0'=i_111^post87, rcd_253^0'=rcd_253^post87, nondet_12^0'=nondet_12^post87, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post87, a_276^0'=a_276^post87, r_274^0'=r_274^post87, rcd_367^0'=rcd_367^post87, r_234^0'=r_234^post87, temp_38^0'=temp_38^post87, x_19^0'=x_19^post87, ct_20^0'=ct_20^post87, rcd_235^0'=rcd_235^post87, lt_17^0'=lt_17^post87, rcd_70^0'=rcd_70^post87, (0 == 0 /\ -x_19^10+x_SLAM_f_21^110 <= 0 /\ -x_19^10+x_SLAM_f_21^110 == 0 /\ -lt_397^post87+lt_397^0 == 0 /\ -rcd_105^post87+rcd_105^0 == 0 /\ -r_274^post87+r_274^0 == 0 /\ r_42^0-r_42^post87 == 0 /\ -r_245^post87+r_245^0 == 0 /\ -i_111^post87+i_111^0 == 0 /\ r_258^0-r_258^post87 == 0 /\ -x_19^10+lt_17^0 <= 0 /\ rcd_248^0-rcd_248^post87 == 0 /\ -len_205^post87+len_205^0 == 0 /\ head_13^0-head_13^post87 == 0 /\ ct_20^110 <= 0 /\ ct_20^110 == 0 /\ -ct_20^110 <= 0 /\ -rcd_46^post87+rcd_46^0 == 0 /\ -x_SLAM_f_21^110+x_23^110 <= 0 /\ -x_SLAM_f_21^110+x_23^110 == 0 /\ -i_33^0+length_32^0 <= 0 /\ i_120^0-i_120^post87 == 0 /\ x_19^10-x_SLAM_f_21^110 <= 0 /\ y_22^110 <= 0 /\ -rcd_273^post87+rcd_273^0 == 0 /\ result_11^post87-temp0_18^0 == 0 /\ c_28^10 <= 0 /\ x_19^10 <= 0 /\ r_196^0-r_196^post87 == 0 /\ -temp0_18^post87+temp0_18^0 == 0 /\ -rcd_70^post87+rcd_70^0 == 0 /\ x_19^10-lt_17^0 <= 0 /\ x_19^10-lt_17^0 == 0 /\ -nondet_12^post87+nondet_12^0 == 0 /\ x_SLAM_f_21^110 <= 0 /\ r_29^10 <= 0 /\ r_29^10 == 0 /\ -x_23^110 <= 0 /\ x_SLAM_f_21^110-x_23^110 <= 0 /\ a_358^0-a_358^post87 == 0 /\ -r_29^10 <= 0 /\ -rcd_235^post87+rcd_235^0 == 0 /\ r_159^0-r_159^post87 == 0 /\ -r_188^post87+r_188^0 == 0 /\ -x_SLAM_f_21^110 <= 0 /\ a_332^0-a_332^post87 == 0 /\ lt_509^0-lt_509^post87 == 0 /\ -y_22^110+x_23^110 <= 0 /\ -r_247^post87+r_247^0 == 0 /\ -r_266^post87+r_266^0 == 0 /\ -a_173^post87+a_173^0 == 0 /\ x_23^110 <= 0 /\ rcd_409^0-rcd_409^post87 == 0 /\ -temp0_34^120+result_11^120 == 0 /\ -lt_17^0 <= 0 /\ -r_234^post87+r_234^0 == 0 /\ ct_20^110-y_22^110 <= 0 /\ rcd_387^0-rcd_387^post87 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^120 <= 0 /\ r_252^0-r_252^post87 == 0 /\ -l_27^120+head_13^0 <= 0 /\ -rcd_244^post87+rcd_244^0 == 0 /\ r_167^0-r_167^post87 == 0 /\ -r_236^post87+r_236^0 == 0 /\ -a_276^post87+a_276^0 == 0 /\ r_272^0-r_272^post87 == 0 /\ -len_275^post87+len_275^0 == 0 /\ -len_297^post87+len_297^0 == 0 /\ y_22^110-x_23^110 <= 0 /\ -y_22^110 <= 0 /\ a_148^0-a_148^post87 == 0 /\ rcd_113^0-rcd_113^post87 == 0 /\ -x_19^10 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post87 <= 0 /\ -rcd_427^post87+rcd_427^0 == 0 /\ -r_246^post87+r_246^0 == 0 /\ r_243^0-r_243^post87 == 0 /\ -ct_20^110+y_22^110 <= 0 /\ -ct_20^110+y_22^110 == 0 /\ -rcd_367^post87+rcd_367^0 == 0 /\ a_220^0-a_220^post87 == 0 /\ rcd_363^0-rcd_363^post87 == 0 /\ -head_35^0+temp0_34^120 == 0 /\ lt_17^0 <= 0 /\ a_388^0-a_388^post87 == 0 /\ -c_28^10 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^20 <= 0 /\ l_27^120-head_13^0 <= 0 /\ l_27^120-head_13^0 == 0 /\ -rcd_253^post87+rcd_253^0 == 0), cost: 1
  88: l55 -> l34 : a_148^0'=a_148^post88, r_258^0'=r_258^post88, i_33^0'=i_33^post88, r_167^0'=r_167^post88, t_30^0'=t_30^post88, a_358^0'=a_358^post88, r_42^0'=r_42^post88, len_275^0'=len_275^post88, rcd_409^0'=rcd_409^post88, r_243^0'=r_243^post88, r_246^0'=r_246^post88, x_SLAM_f_21^0'=x_SLAM_f_21^post88, head_35^0'=head_35^post88, rcd_248^0'=rcd_248^post88, lt_509^0'=lt_509^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post88, a_220^0'=a_220^post88, r_272^0'=r_272^post88, rcd_363^0'=rcd_363^post88, r_196^0'=r_196^post88, temp0_34^0'=temp0_34^post88, c_28^0'=c_28^post88, rcd_113^0'=rcd_113^post88, length_32^0'=length_32^post88, rcd_46^0'=rcd_46^post88, r_252^0'=r_252^post88, i_120^0'=i_120^post88, rcd_273^0'=rcd_273^post88, r_159^0'=r_159^post88, t_24^0'=t_24^post88, a_332^0'=a_332^post88, r_29^0'=r_29^post88, len_205^0'=len_205^post88, rcd_387^0'=rcd_387^post88, r_236^0'=r_236^post88, tmp_37^0'=tmp_37^post88, x_23^0'=x_23^post88, head_13^0'=head_13^post88, rcd_244^0'=rcd_244^post88, lt_397^0'=lt_397^post88, result_11^0'=result_11^post88, a_173^0'=a_173^post88, r_266^0'=r_266^post88, l_27^0'=l_27^post88, r_188^0'=r_188^post88, temp0_18^0'=temp0_18^post88, a_388^0'=a_388^post88, rcd_105^0'=rcd_105^post88, len_297^0'=len_297^post88, rcd_427^0'=rcd_427^post88, r_245^0'=r_245^post88, r_247^0'=r_247^post88, y_22^0'=y_22^post88, i_111^0'=i_111^post88, rcd_253^0'=rcd_253^post88, nondet_12^0'=nondet_12^post88, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post88, a_276^0'=a_276^post88, r_274^0'=r_274^post88, rcd_367^0'=rcd_367^post88, r_234^0'=r_234^post88, temp_38^0'=temp_38^post88, x_19^0'=x_19^post88, ct_20^0'=ct_20^post88, rcd_235^0'=rcd_235^post88, lt_17^0'=lt_17^post88, rcd_70^0'=rcd_70^post88, (0 == 0 /\ -x_23^0+y_22^0 <= 0 /\ -rcd_105^post88+rcd_105^0 == 0 /\ r_258^0-r_258^post88 == 0 /\ -a_332^post88+a_332^0 == 0 /\ lt_397^0-lt_397^post88 == 0 /\ -rcd_367^post88+rcd_367^0 == 0 /\ -rcd_253^post88+rcd_253^0 == 0 /\ -temp_38^post88+temp_38^0 == 0 /\ r_42^0-r_42^post88 == 0 /\ -r_188^post88+r_188^0 == 0 /\ a_220^0-a_220^post88 == 0 /\ -rcd_70^post88+rcd_70^0 == 0 /\ -nondet_12^post88+nondet_12^0 == 0 /\ r_272^0-r_272^post88 == 0 /\ x_23^0-y_22^0 <= 0 /\ tmp_37^0-tmp_37^post88 == 0 /\ -c_28^post88+c_28^0 == 0 /\ length_32^0-length_32^post88 == 0 /\ -rcd_248^post88+rcd_248^0 == 0 /\ -a_388^post88+a_388^0 == 0 /\ -r_245^post88+r_245^0 == 0 /\ r_252^0-r_252^post88 == 0 /\ -r_236^post88+r_236^0 == 0 /\ -a_358^0 <= 0 /\ t_30^0-t_30^post88 == 0 /\ head_13^0-head_13^post88 == 0 /\ len_205^0-len_205^post88 == 0 /\ -a_173^post88+a_173^0 == 0 /\ -rcd_244^post88+rcd_244^0 == 0 /\ -r_234^post88+r_234^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^post88 <= 0 /\ rcd_113^0-rcd_113^post88 == 0 /\ a_358^0-a_358^post88 == 0 /\ rcd_409^0-rcd_409^post88 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post88 == 0 /\ -rcd_427^post88+rcd_427^0 == 0 /\ temp0_18^0-temp0_18^post88 == 0 /\ -rcd_387^post88+rcd_387^0 == 0 /\ -r_196^post88+r_196^0 == 0 /\ -r_247^post88+r_247^0 == 0 /\ -rcd_235^post88+rcd_235^0 == 0 /\ -a_276^post88+a_276^0 == 0 /\ -temp0_18^0+result_11^post88 == 0 /\ a_148^0-a_148^post88 == 0 /\ i_33^0-i_33^post88 == 0 /\ -r_266^post88+r_266^0 == 0 /\ lt_509^0-lt_509^post88 == 0 /\ -r_29^post88+r_29^0 == 0 /\ r_159^0-r_159^post88 == 0 /\ r_246^0-r_246^post88 == 0 /\ -i_111^post88+i_111^0 == 0 /\ -rcd_273^post88+rcd_273^0 == 0 /\ -len_297^post88+len_297^0 == 0 /\ l_27^0-l_27^post88 == 0 /\ len_275^0-len_275^post88 == 0 /\ -r_274^post88+r_274^0 == 0 /\ -temp0_34^post88+temp0_34^0 == 0 /\ rcd_363^0-rcd_363^post88 == 0 /\ r_243^0-r_243^post88 == 0 /\ head_35^0-head_35^post88 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^post88 <= 0 /\ i_120^0-i_120^post88 == 0 /\ -rcd_46^post88+rcd_46^0 == 0 /\ r_167^0-r_167^post88 == 0), cost: 1
  89: l55 -> l57 : a_148^0'=a_148^post89, r_258^0'=r_258^post89, i_33^0'=i_33^post89, r_167^0'=r_167^post89, t_30^0'=t_30^post89, a_358^0'=a_358^post89, r_42^0'=r_42^post89, len_275^0'=len_275^post89, rcd_409^0'=rcd_409^post89, r_243^0'=r_243^post89, r_246^0'=r_246^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, head_35^0'=head_35^post89, rcd_248^0'=rcd_248^post89, lt_509^0'=lt_509^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post89, a_220^0'=a_220^post89, r_272^0'=r_272^post89, rcd_363^0'=rcd_363^post89, r_196^0'=r_196^post89, temp0_34^0'=temp0_34^post89, c_28^0'=c_28^post89, rcd_113^0'=rcd_113^post89, length_32^0'=length_32^post89, rcd_46^0'=rcd_46^post89, r_252^0'=r_252^post89, i_120^0'=i_120^post89, rcd_273^0'=rcd_273^post89, r_159^0'=r_159^post89, t_24^0'=t_24^post89, a_332^0'=a_332^post89, r_29^0'=r_29^post89, len_205^0'=len_205^post89, rcd_387^0'=rcd_387^post89, r_236^0'=r_236^post89, tmp_37^0'=tmp_37^post89, x_23^0'=x_23^post89, head_13^0'=head_13^post89, rcd_244^0'=rcd_244^post89, lt_397^0'=lt_397^post89, result_11^0'=result_11^post89, a_173^0'=a_173^post89, r_266^0'=r_266^post89, l_27^0'=l_27^post89, r_188^0'=r_188^post89, temp0_18^0'=temp0_18^post89, a_388^0'=a_388^post89, rcd_105^0'=rcd_105^post89, len_297^0'=len_297^post89, rcd_427^0'=rcd_427^post89, r_245^0'=r_245^post89, r_247^0'=r_247^post89, y_22^0'=y_22^post89, i_111^0'=i_111^post89, rcd_253^0'=rcd_253^post89, nondet_12^0'=nondet_12^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, a_276^0'=a_276^post89, r_274^0'=r_274^post89, rcd_367^0'=rcd_367^post89, r_234^0'=r_234^post89, temp_38^0'=temp_38^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, rcd_235^0'=rcd_235^post89, lt_17^0'=lt_17^post89, rcd_70^0'=rcd_70^post89, (0 == 0 /\ lt_509^0-lt_509^post89 == 0 /\ r_243^0-r_243^post89 == 0 /\ t_30^0-t_30^post89 == 0 /\ -r_274^post89+r_274^0 == 0 /\ -i_120^post89+i_120^0 == 0 /\ -temp_38^post89+temp_38^0 == 0 /\ -a_220^post89+a_220^0 == 0 /\ r_246^0-r_246^post89 == 0 /\ r_258^0-r_258^post89 == 0 /\ -i_111^post89+i_111^0 == 0 /\ r_247^0-r_247^post89 == 0 /\ rcd_363^0-rcd_363^post89 == 0 /\ -result_11^post89+result_11^0 == 0 /\ r_188^0-r_188^post89 == 0 /\ -a_332^post89+a_332^0 == 0 /\ head_13^0-head_13^post89 == 0 /\ -a_388^post89+a_388^0 == 0 /\ -nondet_12^post89+nondet_12^0 == 0 /\ -rcd_248^post89+rcd_248^0 == 0 /\ a_358^0-a_358^post89 == 0 /\ rcd_113^0-rcd_113^post89 == 0 /\ -a_358^0 <= 0 /\ -rcd_70^post89+rcd_70^0 == 0 /\ -r_245^post89+r_245^0 == 0 /\ -a_173^post89+a_173^0 == 0 /\ i_33^0-i_33^post89 == 0 /\ len_205^0-len_205^post89 == 0 /\ c_28^0-c_28^post89 == 0 /\ rcd_46^0-rcd_46^post89 == 0 /\ -rcd_244^post89+rcd_244^0 == 0 /\ x_23^0-x_23^post89 == 0 /\ -rcd_427^post89+rcd_427^0 == 0 /\ -temp0_34^post89+temp0_34^0 == 0 /\ r_196^0-r_196^post89 == 0 /\ t_24^0-t_24^post89 == 0 /\ rcd_409^0-rcd_409^post89 == 0 /\ -r_236^post89+r_236^0 == 0 /\ -r_234^post89+r_234^0 == 0 /\ -rcd_387^post89+rcd_387^0 == 0 /\ r_252^0-r_252^post89 == 0 /\ -lt_397^post89+lt_397^0 == 0 /\ -r_29^post89+r_29^0 == 0 /\ head_35^0-head_35^post89 == 0 /\ -rcd_273^post89+rcd_273^0 == 0 /\ -len_297^post89+len_297^0 == 0 /\ -temp0_18^post89+temp0_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post89 == 0 /\ -a_276^post89+a_276^0 == 0 /\ a_148^0-a_148^post89 == 0 /\ r_167^0-r_167^post89 == 0 /\ r_159^0-r_159^post89 == 0 /\ -len_275^post89+len_275^0 == 0 /\ -rcd_367^post89+rcd_367^0 == 0 /\ l_27^0-l_27^post89 == 0 /\ -length_32^post89+length_32^0 == 0 /\ -rcd_253^post89+rcd_253^0 == 0 /\ rcd_105^0-rcd_105^post89 == 0 /\ r_266^0-r_266^post89 == 0 /\ -rcd_235^post89+rcd_235^0 == 0 /\ -y_22^post89+y_22^0 == 0 /\ -tmp_37^post89+tmp_37^0 == 0 /\ r_272^0-r_272^post89 == 0), cost: 1
  90: l57 -> l58 : a_148^0'=a_148^post90, r_258^0'=r_258^post90, i_33^0'=i_33^post90, r_167^0'=r_167^post90, t_30^0'=t_30^post90, a_358^0'=a_358^post90, r_42^0'=r_42^post90, len_275^0'=len_275^post90, rcd_409^0'=rcd_409^post90, r_243^0'=r_243^post90, r_246^0'=r_246^post90, x_SLAM_f_21^0'=x_SLAM_f_21^post90, head_35^0'=head_35^post90, rcd_248^0'=rcd_248^post90, lt_509^0'=lt_509^post90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post90, a_220^0'=a_220^post90, r_272^0'=r_272^post90, rcd_363^0'=rcd_363^post90, r_196^0'=r_196^post90, temp0_34^0'=temp0_34^post90, c_28^0'=c_28^post90, rcd_113^0'=rcd_113^post90, length_32^0'=length_32^post90, rcd_46^0'=rcd_46^post90, r_252^0'=r_252^post90, i_120^0'=i_120^post90, rcd_273^0'=rcd_273^post90, r_159^0'=r_159^post90, t_24^0'=t_24^post90, a_332^0'=a_332^post90, r_29^0'=r_29^post90, len_205^0'=len_205^post90, rcd_387^0'=rcd_387^post90, r_236^0'=r_236^post90, tmp_37^0'=tmp_37^post90, x_23^0'=x_23^post90, head_13^0'=head_13^post90, rcd_244^0'=rcd_244^post90, lt_397^0'=lt_397^post90, result_11^0'=result_11^post90, a_173^0'=a_173^post90, r_266^0'=r_266^post90, l_27^0'=l_27^post90, r_188^0'=r_188^post90, temp0_18^0'=temp0_18^post90, a_388^0'=a_388^post90, rcd_105^0'=rcd_105^post90, len_297^0'=len_297^post90, rcd_427^0'=rcd_427^post90, r_245^0'=r_245^post90, r_247^0'=r_247^post90, y_22^0'=y_22^post90, i_111^0'=i_111^post90, rcd_253^0'=rcd_253^post90, nondet_12^0'=nondet_12^post90, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post90, a_276^0'=a_276^post90, r_274^0'=r_274^post90, rcd_367^0'=rcd_367^post90, r_234^0'=r_234^post90, temp_38^0'=temp_38^post90, x_19^0'=x_19^post90, ct_20^0'=ct_20^post90, rcd_235^0'=rcd_235^post90, lt_17^0'=lt_17^post90, rcd_70^0'=rcd_70^post90, (-rcd_273^post90+rcd_273^0 == 0 /\ -r_245^post90+r_245^0 == 0 /\ -ct_20^post90+ct_20^0 == 0 /\ r_196^0-r_196^post90 == 0 /\ -r_266^post90+r_266^0 == 0 /\ 1-x_23^0+y_22^0 <= 0 /\ -rcd_46^post90+rcd_46^0 == 0 /\ len_275^0-len_275^post90 == 0 /\ r_272^0-r_272^post90 == 0 /\ -a_173^post90+a_173^0 == 0 /\ -nondet_12^post90+nondet_12^0 == 0 /\ i_111^0-i_111^post90 == 0 /\ -rcd_367^post90+rcd_367^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post90 == 0 /\ -r_29^post90+r_29^0 == 0 /\ -x_19^post90+x_19^0 == 0 /\ -c_28^post90+c_28^0 == 0 /\ result_11^0-result_11^post90 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post90 == 0 /\ a_276^0-a_276^post90 == 0 /\ -r_247^post90+r_247^0 == 0 /\ rcd_244^0-rcd_244^post90 == 0 /\ -temp_38^post90+temp_38^0 == 0 /\ r_252^0-r_252^post90 == 0 /\ i_33^0-i_33^post90 == 0 /\ temp0_18^0-temp0_18^post90 == 0 /\ -r_188^post90+r_188^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post90+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ temp0_34^0-temp0_34^post90 == 0 /\ length_32^0-length_32^post90 == 0 /\ r_42^0-r_42^post90 == 0 /\ -a_220^post90+a_220^0 == 0 /\ rcd_253^0-rcd_253^post90 == 0 /\ a_148^0-a_148^post90 == 0 /\ -rcd_105^post90+rcd_105^0 == 0 /\ -rcd_363^post90+rcd_363^0 == 0 /\ r_246^0-r_246^post90 == 0 /\ r_243^0-r_243^post90 == 0 /\ a_332^0-a_332^post90 == 0 /\ rcd_387^0-rcd_387^post90 == 0 /\ -lt_397^post90+lt_397^0 == 0 /\ -y_22^post90+y_22^0 == 0 /\ lt_509^0-lt_509^post90 == 0 /\ rcd_248^0-rcd_248^post90 == 0 /\ r_236^0-r_236^post90 == 0 /\ r_167^0-r_167^post90 == 0 /\ -a_388^post90+a_388^0 == 0 /\ -tmp_37^post90+tmp_37^0 == 0 /\ t_30^0-t_30^post90 == 0 /\ -rcd_409^post90+rcd_409^0 == 0 /\ -rcd_235^post90+rcd_235^0 == 0 /\ t_24^0-t_24^post90 == 0 /\ r_258^0-r_258^post90 == 0 /\ -r_274^post90+r_274^0 == 0 /\ -x_23^post90+x_23^0 == 0 /\ i_120^0-i_120^post90 == 0 /\ a_358^0-a_358^post90 == 0 /\ -lt_17^post90+lt_17^0 == 0 /\ -rcd_427^post90+rcd_427^0 == 0 /\ head_13^0-head_13^post90 == 0 /\ -l_27^post90+l_27^0 == 0 /\ -r_234^post90+r_234^0 == 0 /\ len_297^0-len_297^post90 == 0 /\ -r_159^post90+r_159^0 == 0 /\ rcd_113^0-rcd_113^post90 == 0 /\ -len_205^post90+len_205^0 == 0 /\ rcd_70^0-rcd_70^post90 == 0 /\ -head_35^post90+head_35^0 == 0), cost: 1
  91: l57 -> l58 : a_148^0'=a_148^post91, r_258^0'=r_258^post91, i_33^0'=i_33^post91, r_167^0'=r_167^post91, t_30^0'=t_30^post91, a_358^0'=a_358^post91, r_42^0'=r_42^post91, len_275^0'=len_275^post91, rcd_409^0'=rcd_409^post91, r_243^0'=r_243^post91, r_246^0'=r_246^post91, x_SLAM_f_21^0'=x_SLAM_f_21^post91, head_35^0'=head_35^post91, rcd_248^0'=rcd_248^post91, lt_509^0'=lt_509^post91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post91, a_220^0'=a_220^post91, r_272^0'=r_272^post91, rcd_363^0'=rcd_363^post91, r_196^0'=r_196^post91, temp0_34^0'=temp0_34^post91, c_28^0'=c_28^post91, rcd_113^0'=rcd_113^post91, length_32^0'=length_32^post91, rcd_46^0'=rcd_46^post91, r_252^0'=r_252^post91, i_120^0'=i_120^post91, rcd_273^0'=rcd_273^post91, r_159^0'=r_159^post91, t_24^0'=t_24^post91, a_332^0'=a_332^post91, r_29^0'=r_29^post91, len_205^0'=len_205^post91, rcd_387^0'=rcd_387^post91, r_236^0'=r_236^post91, tmp_37^0'=tmp_37^post91, x_23^0'=x_23^post91, head_13^0'=head_13^post91, rcd_244^0'=rcd_244^post91, lt_397^0'=lt_397^post91, result_11^0'=result_11^post91, a_173^0'=a_173^post91, r_266^0'=r_266^post91, l_27^0'=l_27^post91, r_188^0'=r_188^post91, temp0_18^0'=temp0_18^post91, a_388^0'=a_388^post91, rcd_105^0'=rcd_105^post91, len_297^0'=len_297^post91, rcd_427^0'=rcd_427^post91, r_245^0'=r_245^post91, r_247^0'=r_247^post91, y_22^0'=y_22^post91, i_111^0'=i_111^post91, rcd_253^0'=rcd_253^post91, nondet_12^0'=nondet_12^post91, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post91, a_276^0'=a_276^post91, r_274^0'=r_274^post91, rcd_367^0'=rcd_367^post91, r_234^0'=r_234^post91, temp_38^0'=temp_38^post91, x_19^0'=x_19^post91, ct_20^0'=ct_20^post91, rcd_235^0'=rcd_235^post91, lt_17^0'=lt_17^post91, rcd_70^0'=rcd_70^post91, (rcd_248^0-rcd_248^post91 == 0 /\ a_332^0-a_332^post91 == 0 /\ r_167^0-r_167^post91 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post91 == 0 /\ -len_297^post91+len_297^0 == 0 /\ -rcd_387^post91+rcd_387^0 == 0 /\ -l_27^post91+l_27^0 == 0 /\ -rcd_235^post91+rcd_235^0 == 0 /\ -r_236^post91+r_236^0 == 0 /\ -c_28^post91+c_28^0 == 0 /\ -r_234^post91+r_234^0 == 0 /\ -r_266^post91+r_266^0 == 0 /\ -len_205^post91+len_205^0 == 0 /\ i_33^0-i_33^post91 == 0 /\ a_358^0-a_358^post91 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post91+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_243^0-r_243^post91 == 0 /\ -rcd_367^post91+rcd_367^0 == 0 /\ i_120^0-i_120^post91 == 0 /\ lt_509^0-lt_509^post91 == 0 /\ lt_397^0-lt_397^post91 == 0 /\ r_274^0-r_274^post91 == 0 /\ -y_22^post91+y_22^0 == 0 /\ -rcd_105^post91+rcd_105^0 == 0 /\ -ct_20^post91+ct_20^0 == 0 /\ -r_196^post91+r_196^0 == 0 /\ 1+x_23^0-y_22^0 <= 0 /\ a_173^0-a_173^post91 == 0 /\ nondet_12^0-nondet_12^post91 == 0 /\ -rcd_113^post91+rcd_113^0 == 0 /\ r_258^0-r_258^post91 == 0 /\ rcd_363^0-rcd_363^post91 == 0 /\ -r_247^post91+r_247^0 == 0 /\ -a_276^post91+a_276^0 == 0 /\ len_275^0-len_275^post91 == 0 /\ rcd_46^0-rcd_46^post91 == 0 /\ -r_252^post91+r_252^0 == 0 /\ -temp0_18^post91+temp0_18^0 == 0 /\ -r_188^post91+r_188^0 == 0 /\ -t_24^post91+t_24^0 == 0 /\ -x_23^post91+x_23^0 == 0 /\ r_29^0-r_29^post91 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post91 == 0 /\ -temp_38^post91+temp_38^0 == 0 /\ -rcd_253^post91+rcd_253^0 == 0 /\ -i_111^post91+i_111^0 == 0 /\ rcd_427^0-rcd_427^post91 == 0 /\ -x_19^post91+x_19^0 == 0 /\ -rcd_70^post91+rcd_70^0 == 0 /\ -r_246^post91+r_246^0 == 0 /\ -r_272^post91+r_272^0 == 0 /\ a_388^0-a_388^post91 == 0 /\ a_220^0-a_220^post91 == 0 /\ tmp_37^0-tmp_37^post91 == 0 /\ head_35^0-head_35^post91 == 0 /\ length_32^0-length_32^post91 == 0 /\ -result_11^post91+result_11^0 == 0 /\ -lt_17^post91+lt_17^0 == 0 /\ temp0_34^0-temp0_34^post91 == 0 /\ -r_245^post91+r_245^0 == 0 /\ t_30^0-t_30^post91 == 0 /\ r_42^0-r_42^post91 == 0 /\ -head_13^post91+head_13^0 == 0 /\ rcd_244^0-rcd_244^post91 == 0 /\ r_159^0-r_159^post91 == 0 /\ a_148^0-a_148^post91 == 0 /\ rcd_273^0-rcd_273^post91 == 0 /\ rcd_409^0-rcd_409^post91 == 0), cost: 1
  92: l58 -> l59 : a_148^0'=a_148^post92, r_258^0'=r_258^post92, i_33^0'=i_33^post92, r_167^0'=r_167^post92, t_30^0'=t_30^post92, a_358^0'=a_358^post92, r_42^0'=r_42^post92, len_275^0'=len_275^post92, rcd_409^0'=rcd_409^post92, r_243^0'=r_243^post92, r_246^0'=r_246^post92, x_SLAM_f_21^0'=x_SLAM_f_21^post92, head_35^0'=head_35^post92, rcd_248^0'=rcd_248^post92, lt_509^0'=lt_509^post92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post92, a_220^0'=a_220^post92, r_272^0'=r_272^post92, rcd_363^0'=rcd_363^post92, r_196^0'=r_196^post92, temp0_34^0'=temp0_34^post92, c_28^0'=c_28^post92, rcd_113^0'=rcd_113^post92, length_32^0'=length_32^post92, rcd_46^0'=rcd_46^post92, r_252^0'=r_252^post92, i_120^0'=i_120^post92, rcd_273^0'=rcd_273^post92, r_159^0'=r_159^post92, t_24^0'=t_24^post92, a_332^0'=a_332^post92, r_29^0'=r_29^post92, len_205^0'=len_205^post92, rcd_387^0'=rcd_387^post92, r_236^0'=r_236^post92, tmp_37^0'=tmp_37^post92, x_23^0'=x_23^post92, head_13^0'=head_13^post92, rcd_244^0'=rcd_244^post92, lt_397^0'=lt_397^post92, result_11^0'=result_11^post92, a_173^0'=a_173^post92, r_266^0'=r_266^post92, l_27^0'=l_27^post92, r_188^0'=r_188^post92, temp0_18^0'=temp0_18^post92, a_388^0'=a_388^post92, rcd_105^0'=rcd_105^post92, len_297^0'=len_297^post92, rcd_427^0'=rcd_427^post92, r_245^0'=r_245^post92, r_247^0'=r_247^post92, y_22^0'=y_22^post92, i_111^0'=i_111^post92, rcd_253^0'=rcd_253^post92, nondet_12^0'=nondet_12^post92, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post92, a_276^0'=a_276^post92, r_274^0'=r_274^post92, rcd_367^0'=rcd_367^post92, r_234^0'=r_234^post92, temp_38^0'=temp_38^post92, x_19^0'=x_19^post92, ct_20^0'=ct_20^post92, rcd_235^0'=rcd_235^post92, lt_17^0'=lt_17^post92, rcd_70^0'=rcd_70^post92, (0 == 0 /\ rcd_409^0-rcd_409^post92 == 0 /\ -rcd_427^post92+rcd_427^0 == 0 /\ r_159^0-r_159^post92 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post92+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_363^0-rcd_363^post92 == 0 /\ -tmp_37^post92+tmp_37^0 == 0 /\ r_29^0-r_29^post92 == 0 /\ head_35^0-head_35^post92 == 0 /\ y_22^0-ct_20^0 <= 0 /\ -rcd_113^post92+rcd_113^0 == 0 /\ r_272^0-r_272^post92 == 0 /\ length_32^0-length_32^post92 == 0 /\ -r_247^post92+r_247^0 == 0 /\ -temp0_34^post92+temp0_34^0 == 0 /\ -lt_17^post92+lt_17^0 == 0 /\ a_220^0-a_220^post92 == 0 /\ r_42^0-r_42^post92 == 0 /\ -len_297^post92+len_297^0 == 0 /\ t_30^0-t_30^post92 == 0 /\ -1+a_358^0-a_388^post92 <= 0 /\ -r_234^post92+r_234^0 == 0 /\ x_23^0-x_23^post92 == 0 /\ rcd_273^0-rcd_273^post92 == 0 /\ -a_276^post92+a_276^0 == 0 /\ r_196^0-r_196^post92 == 0 /\ -rcd_253^post92+rcd_253^0 == 0 /\ -x_23^0+t_24^post92 == 0 /\ -rcd_235^post92+rcd_235^0 == 0 /\ -y_22^0+ct_20^0 <= 0 /\ -y_22^post92+y_22^0 == 0 /\ -r_274^post92+r_274^0 == 0 /\ r_252^0-r_252^post92 == 0 /\ a_148^0-a_148^post92 == 0 /\ -a_332^post92+a_332^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post92 == 0 /\ -temp_38^post92+temp_38^0 == 0 /\ -rcd_367^post92+rcd_367^0 == 0 /\ l_27^0-l_27^post92 == 0 /\ -r_188^post92+r_188^0 == 0 /\ r_167^0-r_167^post92 == 0 /\ -rcd_387^post92+rcd_46^0 <= 0 /\ -x_19^0+lt_17^0 <= 0 /\ -i_120^post92+i_120^0 == 0 /\ -ct_20^post92+ct_20^0 == 0 /\ rcd_105^0-rcd_105^post92 == 0 /\ r_266^0-r_266^post92 == 0 /\ i_33^0-i_33^post92 == 0 /\ rcd_248^0-rcd_248^post92 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ a_358^0-a_358^post92 == 0 /\ -head_13^post92+head_13^0 == 0 /\ len_205^0-len_205^post92 == 0 /\ -ct_20^0 <= 0 /\ -i_111^post92+i_111^0 == 0 /\ x_SLAM_f_21^0-x_19^0 <= 0 /\ -result_11^post92+result_11^0 == 0 /\ -nondet_12^post92+nondet_12^0 == 0 /\ c_28^0-c_28^post92 == 0 /\ -rcd_70^post92+rcd_70^0 == 0 /\ len_275^0-len_275^post92 == 0 /\ 1-a_358^0+a_388^post92 <= 0 /\ -r_236^post92+r_236^0 == 0 /\ rcd_46^0-rcd_46^post92 == 0 /\ y_22^0 <= 0 /\ -y_22^0 <= 0 /\ r_243^0-r_243^post92 == 0 /\ -a_173^post92+a_173^0 == 0 /\ lt_509^0-lt_509^post92 == 0 /\ rcd_387^post92-rcd_46^0 <= 0 /\ x_19^0-lt_17^0 <= 0 /\ -x_19^post92+x_19^0 == 0 /\ -r_245^post92+r_245^0 == 0 /\ -r_246^post92+r_246^0 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ lt_397^0-lt_397^post92 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post92 == 0 /\ ct_20^0 <= 0 /\ r_258^0-r_258^post92 == 0 /\ temp0_18^0-temp0_18^post92 == 0 /\ -x_SLAM_f_21^0+x_19^0 <= 0 /\ -rcd_244^post92+rcd_244^0 == 0), cost: 1
  93: l59 -> l60 : a_148^0'=a_148^post93, r_258^0'=r_258^post93, i_33^0'=i_33^post93, r_167^0'=r_167^post93, t_30^0'=t_30^post93, a_358^0'=a_358^post93, r_42^0'=r_42^post93, len_275^0'=len_275^post93, rcd_409^0'=rcd_409^post93, r_243^0'=r_243^post93, r_246^0'=r_246^post93, x_SLAM_f_21^0'=x_SLAM_f_21^post93, head_35^0'=head_35^post93, rcd_248^0'=rcd_248^post93, lt_509^0'=lt_509^post93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post93, a_220^0'=a_220^post93, r_272^0'=r_272^post93, rcd_363^0'=rcd_363^post93, r_196^0'=r_196^post93, temp0_34^0'=temp0_34^post93, c_28^0'=c_28^post93, rcd_113^0'=rcd_113^post93, length_32^0'=length_32^post93, rcd_46^0'=rcd_46^post93, r_252^0'=r_252^post93, i_120^0'=i_120^post93, rcd_273^0'=rcd_273^post93, r_159^0'=r_159^post93, t_24^0'=t_24^post93, a_332^0'=a_332^post93, r_29^0'=r_29^post93, len_205^0'=len_205^post93, rcd_387^0'=rcd_387^post93, r_236^0'=r_236^post93, tmp_37^0'=tmp_37^post93, x_23^0'=x_23^post93, head_13^0'=head_13^post93, rcd_244^0'=rcd_244^post93, lt_397^0'=lt_397^post93, result_11^0'=result_11^post93, a_173^0'=a_173^post93, r_266^0'=r_266^post93, l_27^0'=l_27^post93, r_188^0'=r_188^post93, temp0_18^0'=temp0_18^post93, a_388^0'=a_388^post93, rcd_105^0'=rcd_105^post93, len_297^0'=len_297^post93, rcd_427^0'=rcd_427^post93, r_245^0'=r_245^post93, r_247^0'=r_247^post93, y_22^0'=y_22^post93, i_111^0'=i_111^post93, rcd_253^0'=rcd_253^post93, nondet_12^0'=nondet_12^post93, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post93, a_276^0'=a_276^post93, r_274^0'=r_274^post93, rcd_367^0'=rcd_367^post93, r_234^0'=r_234^post93, temp_38^0'=temp_38^post93, x_19^0'=x_19^post93, ct_20^0'=ct_20^post93, rcd_235^0'=rcd_235^post93, lt_17^0'=lt_17^post93, rcd_70^0'=rcd_70^post93, (i_33^0-i_33^post93 == 0 /\ t_24^0-t_24^post93 == 0 /\ -a_276^post93+a_276^0 == 0 /\ -y_22^post93+y_22^0 == 0 /\ r_42^0-r_42^post93 == 0 /\ len_205^0-len_205^post93 == 0 /\ -length_32^post93+length_32^0 == 0 /\ rcd_46^0-rcd_46^post93 == 0 /\ i_120^0-i_120^post93 == 0 /\ -lt_397^post93+lt_397^0 == 0 /\ -rcd_253^post93+rcd_253^0 == 0 /\ head_13^0-head_13^post93 == 0 /\ r_252^0-r_252^post93 == 0 /\ -a_388^post93+a_388^0 == 0 /\ -x_19^post93+x_19^0 == 0 /\ -rcd_70^post93+rcd_70^0 == 0 /\ -tmp_37^post93+tmp_37^0 == 0 /\ a_148^0-a_148^post93 == 0 /\ r_246^0-r_246^post93 == 0 /\ temp0_34^0-temp0_34^post93 == 0 /\ rcd_387^0-rcd_387^post93 == 0 /\ r_243^0-r_243^post93 == 0 /\ c_28^0-c_28^post93 == 0 /\ -r_274^post93+r_274^0 == 0 /\ -x_23^post93+x_23^0 == 0 /\ -r_159^post93+r_159^0 == 0 /\ r_167^0-r_167^post93 == 0 /\ -r_266^post93+r_266^0 == 0 /\ -i_111^post93+i_111^0 == 0 /\ r_236^0-r_236^post93 == 0 /\ -lt_17^post93+lt_17^0 == 0 /\ lt_509^0-lt_509^post93 == 0 /\ -rcd_273^post93+rcd_273^0 == 0 /\ a_358^0-a_358^post93 == 0 /\ result_11^0-result_11^post93 == 0 /\ -l_27^post93+l_27^0 == 0 /\ -r_234^post93+r_234^0 == 0 /\ -rcd_427^post93+rcd_427^0 == 0 /\ temp_38^0-temp_38^post93 == 0 /\ r_258^0-r_258^post93 == 0 /\ -nondet_12^post93+nondet_12^0 == 0 /\ a_220^0-a_220^post93 == 0 /\ rcd_367^0-rcd_367^post93 == 0 /\ -a_173^post93+a_173^0 == 0 /\ -r_245^post93+r_245^0 == 0 /\ -temp0_18^post93+temp0_18^0 == 0 /\ rcd_409^0-rcd_409^post93 == 0 /\ -r_29^post93+r_29^0 == 0 /\ -rcd_235^post93+rcd_235^0 == 0 /\ len_297^0-len_297^post93 == 0 /\ 1-lt_17^0 <= 0 /\ -r_247^post93+r_247^0 == 0 /\ r_196^0-r_196^post93 == 0 /\ r_272^0-r_272^post93 == 0 /\ -r_188^post93+r_188^0 == 0 /\ -rcd_244^post93+rcd_244^0 == 0 /\ rcd_113^0-rcd_113^post93 == 0 /\ rcd_248^0-rcd_248^post93 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post93+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_332^0-a_332^post93 == 0 /\ -x_SLAM_f_21^post93+x_SLAM_f_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post93 == 0 /\ head_35^0-head_35^post93 == 0 /\ -len_275^post93+len_275^0 == 0 /\ t_30^0-t_30^post93 == 0 /\ -ct_20^post93+ct_20^0 == 0 /\ -rcd_363^post93+rcd_363^0 == 0 /\ -rcd_105^post93+rcd_105^0 == 0), cost: 1
  94: l59 -> l60 : a_148^0'=a_148^post94, r_258^0'=r_258^post94, i_33^0'=i_33^post94, r_167^0'=r_167^post94, t_30^0'=t_30^post94, a_358^0'=a_358^post94, r_42^0'=r_42^post94, len_275^0'=len_275^post94, rcd_409^0'=rcd_409^post94, r_243^0'=r_243^post94, r_246^0'=r_246^post94, x_SLAM_f_21^0'=x_SLAM_f_21^post94, head_35^0'=head_35^post94, rcd_248^0'=rcd_248^post94, lt_509^0'=lt_509^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post94, a_220^0'=a_220^post94, r_272^0'=r_272^post94, rcd_363^0'=rcd_363^post94, r_196^0'=r_196^post94, temp0_34^0'=temp0_34^post94, c_28^0'=c_28^post94, rcd_113^0'=rcd_113^post94, length_32^0'=length_32^post94, rcd_46^0'=rcd_46^post94, r_252^0'=r_252^post94, i_120^0'=i_120^post94, rcd_273^0'=rcd_273^post94, r_159^0'=r_159^post94, t_24^0'=t_24^post94, a_332^0'=a_332^post94, r_29^0'=r_29^post94, len_205^0'=len_205^post94, rcd_387^0'=rcd_387^post94, r_236^0'=r_236^post94, tmp_37^0'=tmp_37^post94, x_23^0'=x_23^post94, head_13^0'=head_13^post94, rcd_244^0'=rcd_244^post94, lt_397^0'=lt_397^post94, result_11^0'=result_11^post94, a_173^0'=a_173^post94, r_266^0'=r_266^post94, l_27^0'=l_27^post94, r_188^0'=r_188^post94, temp0_18^0'=temp0_18^post94, a_388^0'=a_388^post94, rcd_105^0'=rcd_105^post94, len_297^0'=len_297^post94, rcd_427^0'=rcd_427^post94, r_245^0'=r_245^post94, r_247^0'=r_247^post94, y_22^0'=y_22^post94, i_111^0'=i_111^post94, rcd_253^0'=rcd_253^post94, nondet_12^0'=nondet_12^post94, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post94, a_276^0'=a_276^post94, r_274^0'=r_274^post94, rcd_367^0'=rcd_367^post94, r_234^0'=r_234^post94, temp_38^0'=temp_38^post94, x_19^0'=x_19^post94, ct_20^0'=ct_20^post94, rcd_235^0'=rcd_235^post94, lt_17^0'=lt_17^post94, rcd_70^0'=rcd_70^post94, (-x_19^post94+x_19^0 == 0 /\ length_32^0-length_32^post94 == 0 /\ lt_397^0-lt_397^post94 == 0 /\ temp0_34^0-temp0_34^post94 == 0 /\ -rcd_70^post94+rcd_70^0 == 0 /\ -i_111^post94+i_111^0 == 0 /\ a_173^0-a_173^post94 == 0 /\ r_258^0-r_258^post94 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post94 == 0 /\ rcd_363^0-rcd_363^post94 == 0 /\ -r_274^post94+r_274^0 == 0 /\ a_332^0-a_332^post94 == 0 /\ x_23^0-x_23^post94 == 0 /\ rcd_273^0-rcd_273^post94 == 0 /\ len_275^0-len_275^post94 == 0 /\ rcd_248^0-rcd_248^post94 == 0 /\ r_245^0-r_245^post94 == 0 /\ rcd_113^0-rcd_113^post94 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post94 == 0 /\ r_167^0-r_167^post94 == 0 /\ -lt_17^post94+lt_17^0 == 0 /\ -rcd_46^post94+rcd_46^0 == 0 /\ -nondet_12^post94+nondet_12^0 == 0 /\ tmp_37^0-tmp_37^post94 == 0 /\ -rcd_409^post94+rcd_409^0 == 0 /\ -head_13^post94+head_13^0 == 0 /\ r_272^0-r_272^post94 == 0 /\ 1+lt_17^0 <= 0 /\ -result_11^post94+result_11^0 == 0 /\ -t_24^post94+t_24^0 == 0 /\ lt_509^0-lt_509^post94 == 0 /\ -rcd_235^post94+rcd_235^0 == 0 /\ -temp0_18^post94+temp0_18^0 == 0 /\ r_42^0-r_42^post94 == 0 /\ t_30^0-t_30^post94 == 0 /\ -c_28^post94+c_28^0 == 0 /\ r_246^0-r_246^post94 == 0 /\ -r_247^post94+r_247^0 == 0 /\ -l_27^post94+l_27^0 == 0 /\ r_234^0-r_234^post94 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post94+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_236^post94+r_236^0 == 0 /\ rcd_427^0-rcd_427^post94 == 0 /\ -r_266^post94+r_266^0 == 0 /\ -rcd_244^post94+rcd_244^0 == 0 /\ -len_205^post94+len_205^0 == 0 /\ -ct_20^post94+ct_20^0 == 0 /\ r_29^0-r_29^post94 == 0 /\ -head_35^post94+head_35^0 == 0 /\ -y_22^post94+y_22^0 == 0 /\ a_388^0-a_388^post94 == 0 /\ r_159^0-r_159^post94 == 0 /\ a_148^0-a_148^post94 == 0 /\ -rcd_105^post94+rcd_105^0 == 0 /\ -len_297^post94+len_297^0 == 0 /\ -r_196^post94+r_196^0 == 0 /\ -r_252^post94+r_252^0 == 0 /\ a_358^0-a_358^post94 == 0 /\ -i_120^post94+i_120^0 == 0 /\ a_220^0-a_220^post94 == 0 /\ rcd_387^0-rcd_387^post94 == 0 /\ -temp_38^post94+temp_38^0 == 0 /\ i_33^0-i_33^post94 == 0 /\ -r_188^post94+r_188^0 == 0 /\ -rcd_253^post94+rcd_253^0 == 0 /\ -a_276^post94+a_276^0 == 0 /\ -rcd_367^post94+rcd_367^0 == 0 /\ r_243^0-r_243^post94 == 0), cost: 1
  95: l60 -> l61 : a_148^0'=a_148^post95, r_258^0'=r_258^post95, i_33^0'=i_33^post95, r_167^0'=r_167^post95, t_30^0'=t_30^post95, a_358^0'=a_358^post95, r_42^0'=r_42^post95, len_275^0'=len_275^post95, rcd_409^0'=rcd_409^post95, r_243^0'=r_243^post95, r_246^0'=r_246^post95, x_SLAM_f_21^0'=x_SLAM_f_21^post95, head_35^0'=head_35^post95, rcd_248^0'=rcd_248^post95, lt_509^0'=lt_509^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post95, a_220^0'=a_220^post95, r_272^0'=r_272^post95, rcd_363^0'=rcd_363^post95, r_196^0'=r_196^post95, temp0_34^0'=temp0_34^post95, c_28^0'=c_28^post95, rcd_113^0'=rcd_113^post95, length_32^0'=length_32^post95, rcd_46^0'=rcd_46^post95, r_252^0'=r_252^post95, i_120^0'=i_120^post95, rcd_273^0'=rcd_273^post95, r_159^0'=r_159^post95, t_24^0'=t_24^post95, a_332^0'=a_332^post95, r_29^0'=r_29^post95, len_205^0'=len_205^post95, rcd_387^0'=rcd_387^post95, r_236^0'=r_236^post95, tmp_37^0'=tmp_37^post95, x_23^0'=x_23^post95, head_13^0'=head_13^post95, rcd_244^0'=rcd_244^post95, lt_397^0'=lt_397^post95, result_11^0'=result_11^post95, a_173^0'=a_173^post95, r_266^0'=r_266^post95, l_27^0'=l_27^post95, r_188^0'=r_188^post95, temp0_18^0'=temp0_18^post95, a_388^0'=a_388^post95, rcd_105^0'=rcd_105^post95, len_297^0'=len_297^post95, rcd_427^0'=rcd_427^post95, r_245^0'=r_245^post95, r_247^0'=r_247^post95, y_22^0'=y_22^post95, i_111^0'=i_111^post95, rcd_253^0'=rcd_253^post95, nondet_12^0'=nondet_12^post95, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post95, a_276^0'=a_276^post95, r_274^0'=r_274^post95, rcd_367^0'=rcd_367^post95, r_234^0'=r_234^post95, temp_38^0'=temp_38^post95, x_19^0'=x_19^post95, ct_20^0'=ct_20^post95, rcd_235^0'=rcd_235^post95, lt_17^0'=lt_17^post95, rcd_70^0'=rcd_70^post95, (-rcd_367^post95+rcd_367^0 == 0 /\ c_28^0-c_28^post95 == 0 /\ r_272^0-r_272^post95 == 0 /\ r_196^0-r_196^post95 == 0 /\ -ct_20^post95+ct_20^0 == 0 /\ rcd_46^0-rcd_46^post95 == 0 /\ -a_332^post95+a_332^0 == 0 /\ -i_120^post95+i_120^0 == 0 /\ r_167^0-r_167^post95 == 0 /\ r_188^0-r_188^post95 == 0 /\ -temp_38^post95+temp_38^0 == 0 /\ -result_11^post95+result_11^0 == 0 /\ r_247^0-r_247^post95 == 0 /\ -nondet_12^post95+nondet_12^0 == 0 /\ -r_252^post95+r_252^0 == 0 /\ t_30^0-t_30^post95 == 0 /\ a_358^0-a_358^post95 == 0 /\ a_220^0-a_220^post95 == 0 /\ -rcd_70^post95+rcd_70^0 == 0 /\ r_258^0-r_258^post95 == 0 /\ r_159^0-r_159^post95 == 0 /\ head_13^0-head_13^post95 == 0 /\ -t_24^post95+t_24^0 == 0 /\ -x_19^post95+x_19^0 == 0 /\ i_33^0-i_33^post95 == 0 /\ -r_236^post95+r_236^0 == 0 /\ -a_388^post95+a_388^0 == 0 /\ r_29^0-r_29^post95 == 0 /\ 1-y_22^0+lt_17^0 <= 0 /\ length_32^0-length_32^post95 == 0 /\ -r_245^post95+r_245^0 == 0 /\ -r_246^post95+r_246^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post95+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_205^0-len_205^post95 == 0 /\ -a_173^post95+a_173^0 == 0 /\ -lt_509^post95+lt_509^0 == 0 /\ r_243^0-r_243^post95 == 0 /\ -lt_17^post95+lt_17^0 == 0 /\ -rcd_244^post95+rcd_244^0 == 0 /\ len_275^0-len_275^post95 == 0 /\ -rcd_427^post95+rcd_427^0 == 0 /\ x_23^0-x_23^post95 == 0 /\ -tmp_37^post95+tmp_37^0 == 0 /\ -rcd_113^post95+rcd_113^0 == 0 /\ -rcd_253^post95+rcd_253^0 == 0 /\ -a_276^post95+a_276^0 == 0 /\ -rcd_387^post95+rcd_387^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post95 == 0 /\ -lt_397^post95+lt_397^0 == 0 /\ rcd_409^0-rcd_409^post95 == 0 /\ -i_111^post95+i_111^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post95 == 0 /\ rcd_363^0-rcd_363^post95 == 0 /\ head_35^0-head_35^post95 == 0 /\ -l_27^post95+l_27^0 == 0 /\ -rcd_273^post95+rcd_273^0 == 0 /\ -temp0_18^post95+temp0_18^0 == 0 /\ -len_297^post95+len_297^0 == 0 /\ -r_234^post95+r_234^0 == 0 /\ -rcd_235^post95+rcd_235^0 == 0 /\ -r_274^post95+r_274^0 == 0 /\ rcd_105^0-rcd_105^post95 == 0 /\ temp0_34^0-temp0_34^post95 == 0 /\ rcd_248^0-rcd_248^post95 == 0 /\ r_42^0-r_42^post95 == 0 /\ r_266^0-r_266^post95 == 0 /\ a_148^0-a_148^post95 == 0 /\ -y_22^post95+y_22^0 == 0), cost: 1
  96: l60 -> l61 : a_148^0'=a_148^post96, r_258^0'=r_258^post96, i_33^0'=i_33^post96, r_167^0'=r_167^post96, t_30^0'=t_30^post96, a_358^0'=a_358^post96, r_42^0'=r_42^post96, len_275^0'=len_275^post96, rcd_409^0'=rcd_409^post96, r_243^0'=r_243^post96, r_246^0'=r_246^post96, x_SLAM_f_21^0'=x_SLAM_f_21^post96, head_35^0'=head_35^post96, rcd_248^0'=rcd_248^post96, lt_509^0'=lt_509^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post96, a_220^0'=a_220^post96, r_272^0'=r_272^post96, rcd_363^0'=rcd_363^post96, r_196^0'=r_196^post96, temp0_34^0'=temp0_34^post96, c_28^0'=c_28^post96, rcd_113^0'=rcd_113^post96, length_32^0'=length_32^post96, rcd_46^0'=rcd_46^post96, r_252^0'=r_252^post96, i_120^0'=i_120^post96, rcd_273^0'=rcd_273^post96, r_159^0'=r_159^post96, t_24^0'=t_24^post96, a_332^0'=a_332^post96, r_29^0'=r_29^post96, len_205^0'=len_205^post96, rcd_387^0'=rcd_387^post96, r_236^0'=r_236^post96, tmp_37^0'=tmp_37^post96, x_23^0'=x_23^post96, head_13^0'=head_13^post96, rcd_244^0'=rcd_244^post96, lt_397^0'=lt_397^post96, result_11^0'=result_11^post96, a_173^0'=a_173^post96, r_266^0'=r_266^post96, l_27^0'=l_27^post96, r_188^0'=r_188^post96, temp0_18^0'=temp0_18^post96, a_388^0'=a_388^post96, rcd_105^0'=rcd_105^post96, len_297^0'=len_297^post96, rcd_427^0'=rcd_427^post96, r_245^0'=r_245^post96, r_247^0'=r_247^post96, y_22^0'=y_22^post96, i_111^0'=i_111^post96, rcd_253^0'=rcd_253^post96, nondet_12^0'=nondet_12^post96, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post96, a_276^0'=a_276^post96, r_274^0'=r_274^post96, rcd_367^0'=rcd_367^post96, r_234^0'=r_234^post96, temp_38^0'=temp_38^post96, x_19^0'=x_19^post96, ct_20^0'=ct_20^post96, rcd_235^0'=rcd_235^post96, lt_17^0'=lt_17^post96, rcd_70^0'=rcd_70^post96, (-temp0_34^post96+temp0_34^0 == 0 /\ -r_245^post96+r_245^0 == 0 /\ -r_234^post96+r_234^0 == 0 /\ -rcd_273^post96+rcd_273^0 == 0 /\ -nondet_12^post96+nondet_12^0 == 0 /\ rcd_113^0-rcd_113^post96 == 0 /\ y_22^0-y_22^post96 == 0 /\ -rcd_235^post96+rcd_235^0 == 0 /\ -r_266^post96+r_266^0 == 0 /\ r_236^0-r_236^post96 == 0 /\ 1+y_22^0-lt_17^0 <= 0 /\ -r_29^post96+r_29^0 == 0 /\ r_243^0-r_243^post96 == 0 /\ -a_173^post96+a_173^0 == 0 /\ l_27^0-l_27^post96 == 0 /\ -tmp_37^post96+tmp_37^0 == 0 /\ -r_188^post96+r_188^0 == 0 /\ result_11^0-result_11^post96 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post96+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_244^0-rcd_244^post96 == 0 /\ r_42^0-r_42^post96 == 0 /\ rcd_363^0-rcd_363^post96 == 0 /\ temp0_18^0-temp0_18^post96 == 0 /\ -temp_38^post96+temp_38^0 == 0 /\ -rcd_367^post96+rcd_367^0 == 0 /\ t_30^0-t_30^post96 == 0 /\ -ct_20^post96+ct_20^0 == 0 /\ -x_SLAM_f_21^post96+x_SLAM_f_21^0 == 0 /\ a_148^0-a_148^post96 == 0 /\ rcd_46^0-rcd_46^post96 == 0 /\ -rcd_253^post96+rcd_253^0 == 0 /\ -r_247^post96+r_247^0 == 0 /\ rcd_409^0-rcd_409^post96 == 0 /\ -rcd_105^post96+rcd_105^0 == 0 /\ r_272^0-r_272^post96 == 0 /\ r_167^0-r_167^post96 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post96+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ rcd_387^0-rcd_387^post96 == 0 /\ a_332^0-a_332^post96 == 0 /\ -lt_397^post96+lt_397^0 == 0 /\ -rcd_70^post96+rcd_70^0 == 0 /\ -a_276^post96+a_276^0 == 0 /\ -a_388^post96+a_388^0 == 0 /\ c_28^0-c_28^post96 == 0 /\ -rcd_248^post96+rcd_248^0 == 0 /\ -length_32^post96+length_32^0 == 0 /\ lt_509^0-lt_509^post96 == 0 /\ a_358^0-a_358^post96 == 0 /\ -i_33^post96+i_33^0 == 0 /\ head_35^0-head_35^post96 == 0 /\ t_24^0-t_24^post96 == 0 /\ -rcd_427^post96+rcd_427^0 == 0 /\ -x_23^post96+x_23^0 == 0 /\ -r_159^post96+r_159^0 == 0 /\ -r_274^post96+r_274^0 == 0 /\ x_19^0-x_19^post96 == 0 /\ -lt_17^post96+lt_17^0 == 0 /\ a_220^0-a_220^post96 == 0 /\ i_120^0-i_120^post96 == 0 /\ r_258^0-r_258^post96 == 0 /\ r_252^0-r_252^post96 == 0 /\ head_13^0-head_13^post96 == 0 /\ -i_111^post96+i_111^0 == 0 /\ r_246^0-r_246^post96 == 0 /\ len_275^0-len_275^post96 == 0 /\ len_297^0-len_297^post96 == 0 /\ -len_205^post96+len_205^0 == 0 /\ r_196^0-r_196^post96 == 0), cost: 1
  97: l61 -> l62 : a_148^0'=a_148^post97, r_258^0'=r_258^post97, i_33^0'=i_33^post97, r_167^0'=r_167^post97, t_30^0'=t_30^post97, a_358^0'=a_358^post97, r_42^0'=r_42^post97, len_275^0'=len_275^post97, rcd_409^0'=rcd_409^post97, r_243^0'=r_243^post97, r_246^0'=r_246^post97, x_SLAM_f_21^0'=x_SLAM_f_21^post97, head_35^0'=head_35^post97, rcd_248^0'=rcd_248^post97, lt_509^0'=lt_509^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post97, a_220^0'=a_220^post97, r_272^0'=r_272^post97, rcd_363^0'=rcd_363^post97, r_196^0'=r_196^post97, temp0_34^0'=temp0_34^post97, c_28^0'=c_28^post97, rcd_113^0'=rcd_113^post97, length_32^0'=length_32^post97, rcd_46^0'=rcd_46^post97, r_252^0'=r_252^post97, i_120^0'=i_120^post97, rcd_273^0'=rcd_273^post97, r_159^0'=r_159^post97, t_24^0'=t_24^post97, a_332^0'=a_332^post97, r_29^0'=r_29^post97, len_205^0'=len_205^post97, rcd_387^0'=rcd_387^post97, r_236^0'=r_236^post97, tmp_37^0'=tmp_37^post97, x_23^0'=x_23^post97, head_13^0'=head_13^post97, rcd_244^0'=rcd_244^post97, lt_397^0'=lt_397^post97, result_11^0'=result_11^post97, a_173^0'=a_173^post97, r_266^0'=r_266^post97, l_27^0'=l_27^post97, r_188^0'=r_188^post97, temp0_18^0'=temp0_18^post97, a_388^0'=a_388^post97, rcd_105^0'=rcd_105^post97, len_297^0'=len_297^post97, rcd_427^0'=rcd_427^post97, r_245^0'=r_245^post97, r_247^0'=r_247^post97, y_22^0'=y_22^post97, i_111^0'=i_111^post97, rcd_253^0'=rcd_253^post97, nondet_12^0'=nondet_12^post97, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post97, a_276^0'=a_276^post97, r_274^0'=r_274^post97, rcd_367^0'=rcd_367^post97, r_234^0'=r_234^post97, temp_38^0'=temp_38^post97, x_19^0'=x_19^post97, ct_20^0'=ct_20^post97, rcd_235^0'=rcd_235^post97, lt_17^0'=lt_17^post97, rcd_70^0'=rcd_70^post97, (a_148^0-a_148^post97 == 0 /\ rcd_248^0-rcd_248^post97 == 0 /\ -c_28^post97+c_28^0 == 0 /\ -lt_17^post97+lt_17^0 == 0 /\ -r_247^post97+r_247^0 == 0 /\ a_332^0-a_332^post97 == 0 /\ i_111^0-i_111^post97 == 0 /\ a_358^0-a_358^post97 == 0 /\ -rcd_387^post97+rcd_387^0 == 0 /\ r_167^0-r_167^post97 == 0 /\ rcd_409^0-rcd_409^post97 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post97+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_272^0-r_272^post97 == 0 /\ tmp_37^0-tmp_37^post97 == 0 /\ -r_266^post97+r_266^0 == 0 /\ -len_205^post97+len_205^0 == 0 /\ -l_27^post97+l_27^0 == 0 /\ -temp0_34^post97+temp0_34^0 == 0 /\ -r_234^post97+r_234^0 == 0 /\ -rcd_363^post97+rcd_363^0 == 0 /\ length_32^0-length_32^post97 == 0 /\ lt_397^0-lt_397^post97 == 0 /\ len_275^0-len_275^post97 == 0 /\ r_243^0-r_243^post97 == 0 /\ -rcd_253^post97+rcd_253^0 == 0 /\ i_120^0-i_120^post97 == 0 /\ -a_276^post97+a_276^0 == 0 /\ r_246^0-r_246^post97 == 0 /\ -head_35^post97+head_35^0 == 0 /\ a_173^0-a_173^post97 == 0 /\ -y_22^post97+y_22^0 == 0 /\ -rcd_235^post97+rcd_235^0 == 0 /\ -len_297^post97+len_297^0 == 0 /\ r_196^0-r_196^post97 == 0 /\ -rcd_367^post97+rcd_367^0 == 0 /\ -r_252^post97+r_252^0 == 0 /\ -temp0_18^post97+temp0_18^0 == 0 /\ r_258^0-r_258^post97 == 0 /\ -r_188^post97+r_188^0 == 0 /\ -x_23^post97+x_23^0 == 0 /\ -r_274^post97+r_274^0 == 0 /\ r_236^0-r_236^post97 == 0 /\ -a_220^post97+a_220^0 == 0 /\ -temp_38^post97+temp_38^0 == 0 /\ -t_24^post97+t_24^0 == 0 /\ rcd_113^0-rcd_113^post97 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post97 == 0 /\ i_33^0-i_33^post97 == 0 /\ -ct_20^post97+ct_20^0 == 0 /\ -rcd_46^post97+rcd_46^0 == 0 /\ -rcd_105^post97+rcd_105^0 == 0 /\ r_29^0-r_29^post97 == 0 /\ r_42^0-r_42^post97 == 0 /\ t_30^0-t_30^post97 == 0 /\ -rcd_70^post97+rcd_70^0 == 0 /\ -result_11^post97+result_11^0 == 0 /\ lt_509^0-lt_509^post97 == 0 /\ -r_245^post97+r_245^0 == 0 /\ -nondet_12^post97+nondet_12^0 == 0 /\ -head_13^post97+head_13^0 == 0 /\ rcd_427^0-rcd_427^post97 == 0 /\ -x_19^post97+x_19^0 == 0 /\ rcd_244^0-rcd_244^post97 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post97 == 0 /\ r_159^0-r_159^post97 == 0 /\ rcd_273^0-rcd_273^post97 == 0 /\ -a_388^post97+a_388^0 == 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 1
  98: l61 -> l62 : a_148^0'=a_148^post98, r_258^0'=r_258^post98, i_33^0'=i_33^post98, r_167^0'=r_167^post98, t_30^0'=t_30^post98, a_358^0'=a_358^post98, r_42^0'=r_42^post98, len_275^0'=len_275^post98, rcd_409^0'=rcd_409^post98, r_243^0'=r_243^post98, r_246^0'=r_246^post98, x_SLAM_f_21^0'=x_SLAM_f_21^post98, head_35^0'=head_35^post98, rcd_248^0'=rcd_248^post98, lt_509^0'=lt_509^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post98, a_220^0'=a_220^post98, r_272^0'=r_272^post98, rcd_363^0'=rcd_363^post98, r_196^0'=r_196^post98, temp0_34^0'=temp0_34^post98, c_28^0'=c_28^post98, rcd_113^0'=rcd_113^post98, length_32^0'=length_32^post98, rcd_46^0'=rcd_46^post98, r_252^0'=r_252^post98, i_120^0'=i_120^post98, rcd_273^0'=rcd_273^post98, r_159^0'=r_159^post98, t_24^0'=t_24^post98, a_332^0'=a_332^post98, r_29^0'=r_29^post98, len_205^0'=len_205^post98, rcd_387^0'=rcd_387^post98, r_236^0'=r_236^post98, tmp_37^0'=tmp_37^post98, x_23^0'=x_23^post98, head_13^0'=head_13^post98, rcd_244^0'=rcd_244^post98, lt_397^0'=lt_397^post98, result_11^0'=result_11^post98, a_173^0'=a_173^post98, r_266^0'=r_266^post98, l_27^0'=l_27^post98, r_188^0'=r_188^post98, temp0_18^0'=temp0_18^post98, a_388^0'=a_388^post98, rcd_105^0'=rcd_105^post98, len_297^0'=len_297^post98, rcd_427^0'=rcd_427^post98, r_245^0'=r_245^post98, r_247^0'=r_247^post98, y_22^0'=y_22^post98, i_111^0'=i_111^post98, rcd_253^0'=rcd_253^post98, nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post98, a_276^0'=a_276^post98, r_274^0'=r_274^post98, rcd_367^0'=rcd_367^post98, r_234^0'=r_234^post98, temp_38^0'=temp_38^post98, x_19^0'=x_19^post98, ct_20^0'=ct_20^post98, rcd_235^0'=rcd_235^post98, lt_17^0'=lt_17^post98, rcd_70^0'=rcd_70^post98, (r_159^0-r_159^post98 == 0 /\ r_247^0-r_247^post98 == 0 /\ r_258^0-r_258^post98 == 0 /\ -y_22^post98+y_22^0 == 0 /\ -rcd_253^post98+rcd_253^0 == 0 /\ r_29^0-r_29^post98 == 0 /\ -r_196^post98+r_196^0 == 0 /\ i_33^0-i_33^post98 == 0 /\ -rcd_387^post98+rcd_387^0 == 0 /\ r_42^0-r_42^post98 == 0 /\ -rcd_113^post98+rcd_113^0 == 0 /\ -rcd_70^post98+rcd_70^0 == 0 /\ -a_276^post98+a_276^0 == 0 /\ length_32^0-length_32^post98 == 0 /\ -x_19^post98+x_19^0 == 0 /\ -temp0_18^post98+temp0_18^0 == 0 /\ -r_272^post98+r_272^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post98 == 0 /\ -i_111^post98+i_111^0 == 0 /\ x_23^0-x_23^post98 == 0 /\ c_28^0-c_28^post98 == 0 /\ rcd_273^0-rcd_273^post98 == 0 /\ -len_297^post98+len_297^0 == 0 /\ -rcd_427^post98+rcd_427^0 == 0 /\ t_30^0-t_30^post98 == 0 /\ -lt_509^post98+lt_509^0 == 0 /\ -lt_17^post98+lt_17^0 == 0 /\ nondet_12^0-nondet_12^post98 == 0 /\ -r_274^post98+r_274^0 == 0 /\ -l_27^post98+l_27^0 == 0 /\ rcd_363^0-rcd_363^post98 == 0 /\ r_252^0-r_252^post98 == 0 /\ -a_332^post98+a_332^0 == 0 /\ tmp_37^0-tmp_37^post98 == 0 /\ a_220^0-a_220^post98 == 0 /\ rcd_409^0-rcd_409^post98 == 0 /\ -a_358^post98+a_358^0 == 0 /\ -rcd_105^post98+rcd_105^0 == 0 /\ -i_120^post98+i_120^0 == 0 /\ -rcd_367^post98+rcd_367^0 == 0 /\ r_266^0-r_266^post98 == 0 /\ a_388^0-a_388^post98 == 0 /\ -rcd_235^post98+rcd_235^0 == 0 /\ len_205^0-len_205^post98 == 0 /\ rcd_248^0-rcd_248^post98 == 0 /\ r_234^0-r_234^post98 == 0 /\ -result_11^post98+result_11^0 == 0 /\ a_148^0-a_148^post98 == 0 /\ -temp_38^post98+temp_38^0 == 0 /\ temp0_34^0-temp0_34^post98 == 0 /\ 1+t_24^0-y_22^0 <= 0 /\ r_246^0-r_246^post98 == 0 /\ rcd_46^0-rcd_46^post98 == 0 /\ -head_13^post98+head_13^0 == 0 /\ len_275^0-len_275^post98 == 0 /\ -r_245^post98+r_245^0 == 0 /\ -r_236^post98+r_236^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post98+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ lt_397^0-lt_397^post98 == 0 /\ r_243^0-r_243^post98 == 0 /\ head_35^0-head_35^post98 == 0 /\ r_188^0-r_188^post98 == 0 /\ -a_173^post98+a_173^0 == 0 /\ t_24^0-t_24^post98 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post98 == 0 /\ -ct_20^post98+ct_20^0 == 0 /\ -rcd_244^post98+rcd_244^0 == 0 /\ r_167^0-r_167^post98 == 0), cost: 1
  99: l62 -> l56 : a_148^0'=a_148^post99, r_258^0'=r_258^post99, i_33^0'=i_33^post99, r_167^0'=r_167^post99, t_30^0'=t_30^post99, a_358^0'=a_358^post99, r_42^0'=r_42^post99, len_275^0'=len_275^post99, rcd_409^0'=rcd_409^post99, r_243^0'=r_243^post99, r_246^0'=r_246^post99, x_SLAM_f_21^0'=x_SLAM_f_21^post99, head_35^0'=head_35^post99, rcd_248^0'=rcd_248^post99, lt_509^0'=lt_509^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post99, a_220^0'=a_220^post99, r_272^0'=r_272^post99, rcd_363^0'=rcd_363^post99, r_196^0'=r_196^post99, temp0_34^0'=temp0_34^post99, c_28^0'=c_28^post99, rcd_113^0'=rcd_113^post99, length_32^0'=length_32^post99, rcd_46^0'=rcd_46^post99, r_252^0'=r_252^post99, i_120^0'=i_120^post99, rcd_273^0'=rcd_273^post99, r_159^0'=r_159^post99, t_24^0'=t_24^post99, a_332^0'=a_332^post99, r_29^0'=r_29^post99, len_205^0'=len_205^post99, rcd_387^0'=rcd_387^post99, r_236^0'=r_236^post99, tmp_37^0'=tmp_37^post99, x_23^0'=x_23^post99, head_13^0'=head_13^post99, rcd_244^0'=rcd_244^post99, lt_397^0'=lt_397^post99, result_11^0'=result_11^post99, a_173^0'=a_173^post99, r_266^0'=r_266^post99, l_27^0'=l_27^post99, r_188^0'=r_188^post99, temp0_18^0'=temp0_18^post99, a_388^0'=a_388^post99, rcd_105^0'=rcd_105^post99, len_297^0'=len_297^post99, rcd_427^0'=rcd_427^post99, r_245^0'=r_245^post99, r_247^0'=r_247^post99, y_22^0'=y_22^post99, i_111^0'=i_111^post99, rcd_253^0'=rcd_253^post99, nondet_12^0'=nondet_12^post99, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post99, a_276^0'=a_276^post99, r_274^0'=r_274^post99, rcd_367^0'=rcd_367^post99, r_234^0'=r_234^post99, temp_38^0'=temp_38^post99, x_19^0'=x_19^post99, ct_20^0'=ct_20^post99, rcd_235^0'=rcd_235^post99, lt_17^0'=lt_17^post99, rcd_70^0'=rcd_70^post99, (0 == 0 /\ temp0_34^0-temp0_34^post99 == 0 /\ len_205^0-len_205^post99 == 0 /\ -a_388^0+a_358^post99 <= 0 /\ -x_19^post99+x_19^0 == 0 /\ -lt_397^post99+lt_397^0 == 0 /\ t_24^0-t_24^post99 == 0 /\ -r_274^post99+r_274^0 == 0 /\ a_220^0-a_220^post99 == 0 /\ -a_388^post99+a_388^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post99+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ head_13^0-head_13^post99 == 0 /\ -length_32^post99+length_32^0 == 0 /\ rcd_409^0-rcd_409^post99 == 0 /\ rcd_363^0-rcd_363^post99 == 0 /\ r_252^0-r_252^post99 == 0 /\ rcd_113^0-rcd_113^post99 == 0 /\ len_275^0-len_275^post99 == 0 /\ -y_22^post99+y_22^0 == 0 /\ -tmp_37^post99+tmp_37^0 == 0 /\ a_388^0-a_358^post99 <= 0 /\ r_167^0-r_167^post99 == 0 /\ rcd_387^0-rcd_387^post99 == 0 /\ a_148^0-a_148^post99 == 0 /\ c_28^0-c_28^post99 == 0 /\ -rcd_427^post99+rcd_427^0 == 0 /\ -rcd_70^post99+rcd_70^0 == 0 /\ -r_159^post99+r_159^0 == 0 /\ -x_23^post99+x_23^0 == 0 /\ r_236^0-r_236^post99 == 0 /\ -i_111^post99+i_111^0 == 0 /\ r_272^0-r_272^post99 == 0 /\ result_11^0-result_11^post99 == 0 /\ head_35^0-head_35^post99 == 0 /\ -rcd_235^post99+rcd_235^0 == 0 /\ rcd_105^0-rcd_105^post99 == 0 /\ -r_266^post99+r_266^0 == 0 /\ -r_42^post99+r_42^0 == 0 /\ -len_297^post99+len_297^0 == 0 /\ -nondet_12^post99+nondet_12^0 == 0 /\ t_30^0-t_30^post99 == 0 /\ rcd_46^post99-rcd_387^0 <= 0 /\ i_120^0-i_120^post99 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -rcd_273^post99+rcd_273^0 == 0 /\ temp0_18^0-temp0_18^post99 == 0 /\ r_246^0-r_246^post99 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post99+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -lt_17^post99+lt_17^0 == 0 /\ -a_173^post99+a_173^0 == 0 /\ r_258^0-r_258^post99 == 0 /\ -l_27^post99+l_27^0 == 0 /\ -r_234^post99+r_234^0 == 0 /\ -r_29^post99+r_29^0 == 0 /\ r_196^0-r_196^post99 == 0 /\ -r_245^post99+r_245^0 == 0 /\ -a_276^post99+a_276^0 == 0 /\ -rcd_244^post99+rcd_244^0 == 0 /\ -ct_20^post99+ct_20^0 == 0 /\ -r_188^post99+r_188^0 == 0 /\ -rcd_46^post99+rcd_387^0 <= 0 /\ a_332^0-a_332^post99 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post99 == 0 /\ rcd_248^0-rcd_248^post99 == 0 /\ -rcd_253^post99+rcd_253^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -temp_38^post99+temp_38^0 == 0 /\ -r_243^post99+r_243^0 == 0 /\ -r_247^post99+r_247^0 == 0 /\ i_33^0-i_33^post99 == 0 /\ -rcd_367^post99+rcd_367^0 == 0 /\ lt_509^0-lt_509^post99 == 0), cost: 1
 100: l56 -> l55 : a_148^0'=a_148^post100, r_258^0'=r_258^post100, i_33^0'=i_33^post100, r_167^0'=r_167^post100, t_30^0'=t_30^post100, a_358^0'=a_358^post100, r_42^0'=r_42^post100, len_275^0'=len_275^post100, rcd_409^0'=rcd_409^post100, r_243^0'=r_243^post100, r_246^0'=r_246^post100, x_SLAM_f_21^0'=x_SLAM_f_21^post100, head_35^0'=head_35^post100, rcd_248^0'=rcd_248^post100, lt_509^0'=lt_509^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post100, a_220^0'=a_220^post100, r_272^0'=r_272^post100, rcd_363^0'=rcd_363^post100, r_196^0'=r_196^post100, temp0_34^0'=temp0_34^post100, c_28^0'=c_28^post100, rcd_113^0'=rcd_113^post100, length_32^0'=length_32^post100, rcd_46^0'=rcd_46^post100, r_252^0'=r_252^post100, i_120^0'=i_120^post100, rcd_273^0'=rcd_273^post100, r_159^0'=r_159^post100, t_24^0'=t_24^post100, a_332^0'=a_332^post100, r_29^0'=r_29^post100, len_205^0'=len_205^post100, rcd_387^0'=rcd_387^post100, r_236^0'=r_236^post100, tmp_37^0'=tmp_37^post100, x_23^0'=x_23^post100, head_13^0'=head_13^post100, rcd_244^0'=rcd_244^post100, lt_397^0'=lt_397^post100, result_11^0'=result_11^post100, a_173^0'=a_173^post100, r_266^0'=r_266^post100, l_27^0'=l_27^post100, r_188^0'=r_188^post100, temp0_18^0'=temp0_18^post100, a_388^0'=a_388^post100, rcd_105^0'=rcd_105^post100, len_297^0'=len_297^post100, rcd_427^0'=rcd_427^post100, r_245^0'=r_245^post100, r_247^0'=r_247^post100, y_22^0'=y_22^post100, i_111^0'=i_111^post100, rcd_253^0'=rcd_253^post100, nondet_12^0'=nondet_12^post100, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post100, a_276^0'=a_276^post100, r_274^0'=r_274^post100, rcd_367^0'=rcd_367^post100, r_234^0'=r_234^post100, temp_38^0'=temp_38^post100, x_19^0'=x_19^post100, ct_20^0'=ct_20^post100, rcd_235^0'=rcd_235^post100, lt_17^0'=lt_17^post100, rcd_70^0'=rcd_70^post100, (length_32^0-length_32^post100 == 0 /\ -r_188^post100+r_188^0 == 0 /\ -a_220^post100+a_220^0 == 0 /\ -rcd_367^post100+rcd_367^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post100 == 0 /\ lt_509^0-lt_509^post100 == 0 /\ -x_23^post100+x_23^0 == 0 /\ r_243^0-r_243^post100 == 0 /\ r_246^0-r_246^post100 == 0 /\ -temp_38^post100+temp_38^0 == 0 /\ y_22^0-y_22^post100 == 0 /\ -ct_20^post100+ct_20^0 == 0 /\ rcd_363^0-rcd_363^post100 == 0 /\ r_167^0-r_167^post100 == 0 /\ rcd_244^0-rcd_244^post100 == 0 /\ a_332^0-a_332^post100 == 0 /\ t_30^0-t_30^post100 == 0 /\ -rcd_105^post100+rcd_105^0 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ r_258^0-r_258^post100 == 0 /\ -temp0_34^post100+temp0_34^0 == 0 /\ rcd_248^0-rcd_248^post100 == 0 /\ r_245^0-r_245^post100 == 0 /\ -rcd_70^post100+rcd_70^0 == 0 /\ a_358^0-a_358^post100 == 0 /\ -x_19^post100+x_19^0 == 0 /\ rcd_113^0-rcd_113^post100 == 0 /\ -rcd_46^post100+rcd_46^0 == 0 /\ -a_388^post100+a_388^0 == 0 /\ tmp_37^0-tmp_37^post100 == 0 /\ -head_13^post100+head_13^0 == 0 /\ -t_24^post100+t_24^0 == 0 /\ i_120^0-i_120^post100 == 0 /\ -rcd_427^post100+rcd_427^0 == 0 /\ rcd_273^0-rcd_273^post100 == 0 /\ len_297^0-len_297^post100 == 0 /\ -lt_17^post100+lt_17^0 == 0 /\ -c_28^post100+c_28^0 == 0 /\ -a_173^post100+a_173^0 == 0 /\ -len_205^post100+len_205^0 == 0 /\ -r_236^post100+r_236^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post100 == 0 /\ -a_276^post100+a_276^0 == 0 /\ -r_247^post100+r_247^0 == 0 /\ -len_275^post100+len_275^0 == 0 /\ r_29^0-r_29^post100 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post100 == 0 /\ a_148^0-a_148^post100 == 0 /\ -i_111^post100+i_111^0 == 0 /\ -rcd_253^post100+rcd_253^0 == 0 /\ -rcd_235^post100+rcd_235^0 == 0 /\ r_159^0-r_159^post100 == 0 /\ -r_266^post100+r_266^0 == 0 /\ -lt_397^post100+lt_397^0 == 0 /\ l_27^0-l_27^post100 == 0 /\ -r_234^post100+r_234^0 == 0 /\ head_35^0-head_35^post100 == 0 /\ rcd_409^0-rcd_409^post100 == 0 /\ -r_252^post100+r_252^0 == 0 /\ -r_196^post100+r_196^0 == 0 /\ result_11^0-result_11^post100 == 0 /\ r_272^0-r_272^post100 == 0 /\ rcd_387^0-rcd_387^post100 == 0 /\ r_42^0-r_42^post100 == 0 /\ -r_274^post100+r_274^0 == 0 /\ i_33^0-i_33^post100 == 0 /\ -temp0_18^post100+temp0_18^0 == 0), cost: 1
 101: l63 -> l64 : a_148^0'=a_148^post101, r_258^0'=r_258^post101, i_33^0'=i_33^post101, r_167^0'=r_167^post101, t_30^0'=t_30^post101, a_358^0'=a_358^post101, r_42^0'=r_42^post101, len_275^0'=len_275^post101, rcd_409^0'=rcd_409^post101, r_243^0'=r_243^post101, r_246^0'=r_246^post101, x_SLAM_f_21^0'=x_SLAM_f_21^post101, head_35^0'=head_35^post101, rcd_248^0'=rcd_248^post101, lt_509^0'=lt_509^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post101, a_220^0'=a_220^post101, r_272^0'=r_272^post101, rcd_363^0'=rcd_363^post101, r_196^0'=r_196^post101, temp0_34^0'=temp0_34^post101, c_28^0'=c_28^post101, rcd_113^0'=rcd_113^post101, length_32^0'=length_32^post101, rcd_46^0'=rcd_46^post101, r_252^0'=r_252^post101, i_120^0'=i_120^post101, rcd_273^0'=rcd_273^post101, r_159^0'=r_159^post101, t_24^0'=t_24^post101, a_332^0'=a_332^post101, r_29^0'=r_29^post101, len_205^0'=len_205^post101, rcd_387^0'=rcd_387^post101, r_236^0'=r_236^post101, tmp_37^0'=tmp_37^post101, x_23^0'=x_23^post101, head_13^0'=head_13^post101, rcd_244^0'=rcd_244^post101, lt_397^0'=lt_397^post101, result_11^0'=result_11^post101, a_173^0'=a_173^post101, r_266^0'=r_266^post101, l_27^0'=l_27^post101, r_188^0'=r_188^post101, temp0_18^0'=temp0_18^post101, a_388^0'=a_388^post101, rcd_105^0'=rcd_105^post101, len_297^0'=len_297^post101, rcd_427^0'=rcd_427^post101, r_245^0'=r_245^post101, r_247^0'=r_247^post101, y_22^0'=y_22^post101, i_111^0'=i_111^post101, rcd_253^0'=rcd_253^post101, nondet_12^0'=nondet_12^post101, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post101, a_276^0'=a_276^post101, r_274^0'=r_274^post101, rcd_367^0'=rcd_367^post101, r_234^0'=r_234^post101, temp_38^0'=temp_38^post101, x_19^0'=x_19^post101, ct_20^0'=ct_20^post101, rcd_235^0'=rcd_235^post101, lt_17^0'=lt_17^post101, rcd_70^0'=rcd_70^post101, (0 == 0 /\ -x_23^0+y_22^0 <= 0 /\ -rcd_367^post101+rcd_367^0 == 0 /\ result_11^post101-temp0_18^0 == 0 /\ a_358^0-a_358^post101 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post101 == 0 /\ -rcd_70^post101+rcd_70^0 == 0 /\ -temp_38^post101+temp_38^0 == 0 /\ temp0_34^0-temp0_34^post101 == 0 /\ i_33^0-i_33^post101 == 0 /\ a_148^0-a_148^post101 == 0 /\ -a_332^post101+a_332^0 == 0 /\ r_188^0-r_188^post101 == 0 /\ -rcd_253^post101+rcd_253^0 == 0 /\ -nondet_12^post101+nondet_12^0 == 0 /\ r_42^0-r_42^post101 == 0 /\ head_13^0-head_13^post101 == 0 /\ x_23^0-y_22^0 <= 0 /\ lt_509^0-lt_509^post101 == 0 /\ -a_388^post101+a_388^0 == 0 /\ -c_28^post101+c_28^0 == 0 /\ r_247^0-r_247^post101 == 0 /\ len_205^0-len_205^post101 == 0 /\ length_32^0-length_32^post101 == 0 /\ r_167^0-r_167^post101 == 0 /\ r_252^0-r_252^post101 == 0 /\ -r_196^post101+r_196^0 == 0 /\ -rcd_244^post101+rcd_244^0 == 0 /\ -rcd_248^post101+rcd_248^0 == 0 /\ rcd_363^0-rcd_363^post101 == 0 /\ -r_245^post101+r_245^0 == 0 /\ r_258^0-r_258^post101 == 0 /\ head_35^0-head_35^post101 == 0 /\ -r_272^post101+r_272^0 == 0 /\ -rcd_235^post101+rcd_235^0 == 0 /\ rcd_409^0-rcd_409^post101 == 0 /\ -rcd_427^post101+rcd_427^0 == 0 /\ -a_173^post101+a_173^0 == 0 /\ r_236^0-r_236^post101 == 0 /\ a_220^0-a_220^post101 == 0 /\ -a_332^0 <= 0 /\ -tmp_37^post101+tmp_37^0 == 0 /\ -rcd_387^post101+rcd_387^0 == 0 /\ -a_276^post101+a_276^0 == 0 /\ len_275^0-len_275^post101 == 0 /\ -rcd_273^post101+rcd_273^0 == 0 /\ -i_111^post101+i_111^0 == 0 /\ r_246^0-r_246^post101 == 0 /\ r_159^0-r_159^post101 == 0 /\ -r_266^post101+r_266^0 == 0 /\ -l_27^post101+l_27^0 == 0 /\ -temp0_18^post101+temp0_18^0 == 0 /\ -len_297^post101+len_297^0 == 0 /\ -r_234^post101+r_234^0 == 0 /\ -rcd_46^post101+rcd_46^0 == 0 /\ rcd_105^0-rcd_105^post101 == 0 /\ -r_29^post101+r_29^0 == 0 /\ rcd_113^0-rcd_113^post101 == 0 /\ r_243^0-r_243^post101 == 0 /\ -r_274^post101+r_274^0 == 0 /\ i_120^0-i_120^post101 == 0 /\ t_30^0-t_30^post101 == 0), cost: 1
 105: l63 -> l66 : a_148^0'=a_148^post105, r_258^0'=r_258^post105, i_33^0'=i_33^post105, r_167^0'=r_167^post105, t_30^0'=t_30^post105, a_358^0'=a_358^post105, r_42^0'=r_42^post105, len_275^0'=len_275^post105, rcd_409^0'=rcd_409^post105, r_243^0'=r_243^post105, r_246^0'=r_246^post105, x_SLAM_f_21^0'=x_SLAM_f_21^post105, head_35^0'=head_35^post105, rcd_248^0'=rcd_248^post105, lt_509^0'=lt_509^post105, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post105, a_220^0'=a_220^post105, r_272^0'=r_272^post105, rcd_363^0'=rcd_363^post105, r_196^0'=r_196^post105, temp0_34^0'=temp0_34^post105, c_28^0'=c_28^post105, rcd_113^0'=rcd_113^post105, length_32^0'=length_32^post105, rcd_46^0'=rcd_46^post105, r_252^0'=r_252^post105, i_120^0'=i_120^post105, rcd_273^0'=rcd_273^post105, r_159^0'=r_159^post105, t_24^0'=t_24^post105, a_332^0'=a_332^post105, r_29^0'=r_29^post105, len_205^0'=len_205^post105, rcd_387^0'=rcd_387^post105, r_236^0'=r_236^post105, tmp_37^0'=tmp_37^post105, x_23^0'=x_23^post105, head_13^0'=head_13^post105, rcd_244^0'=rcd_244^post105, lt_397^0'=lt_397^post105, result_11^0'=result_11^post105, a_173^0'=a_173^post105, r_266^0'=r_266^post105, l_27^0'=l_27^post105, r_188^0'=r_188^post105, temp0_18^0'=temp0_18^post105, a_388^0'=a_388^post105, rcd_105^0'=rcd_105^post105, len_297^0'=len_297^post105, rcd_427^0'=rcd_427^post105, r_245^0'=r_245^post105, r_247^0'=r_247^post105, y_22^0'=y_22^post105, i_111^0'=i_111^post105, rcd_253^0'=rcd_253^post105, nondet_12^0'=nondet_12^post105, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post105, a_276^0'=a_276^post105, r_274^0'=r_274^post105, rcd_367^0'=rcd_367^post105, r_234^0'=r_234^post105, temp_38^0'=temp_38^post105, x_19^0'=x_19^post105, ct_20^0'=ct_20^post105, rcd_235^0'=rcd_235^post105, lt_17^0'=lt_17^post105, rcd_70^0'=rcd_70^post105, (0 == 0 /\ -a_388^post105+a_388^0 == 0 /\ -rcd_70^post105+rcd_70^0 == 0 /\ i_33^0-i_33^post105 == 0 /\ nondet_12^0-nondet_12^post105 == 0 /\ r_258^0-r_258^post105 == 0 /\ -i_111^post105+i_111^0 == 0 /\ r_42^0-r_42^post105 == 0 /\ -rcd_253^post105+rcd_253^0 == 0 /\ r_159^0-r_159^post105 == 0 /\ r_247^0-r_247^post105 == 0 /\ -r_274^post105+r_274^0 == 0 /\ r_246^0-r_246^post105 == 0 /\ rcd_113^0-rcd_113^post105 == 0 /\ -tmp_37^post105+tmp_37^0 == 0 /\ rcd_248^0-rcd_248^post105 == 0 /\ head_13^0-head_13^post105 == 0 /\ -length_32^post105+length_32^0 == 0 /\ c_28^0-c_28^post105 == 0 /\ t_30^0-t_30^post105 == 0 /\ r_236^0-r_236^post105 == 0 /\ lt_509^0-lt_509^post105 == 0 /\ -result_11^post105+result_11^0 == 0 /\ -temp0_18^post105+temp0_18^0 == 0 /\ a_220^0-a_220^post105 == 0 /\ x_23^0-x_23^post105 == 0 /\ lt_397^0-lt_397^post105 == 0 /\ -r_234^post105+r_234^0 == 0 /\ -a_173^post105+a_173^0 == 0 /\ a_358^0-a_358^post105 == 0 /\ t_24^0-t_24^post105 == 0 /\ len_205^0-len_205^post105 == 0 /\ -r_29^post105+r_29^0 == 0 /\ -rcd_235^post105+rcd_235^0 == 0 /\ -l_27^post105+l_27^0 == 0 /\ len_275^0-len_275^post105 == 0 /\ -r_245^post105+r_245^0 == 0 /\ a_148^0-a_148^post105 == 0 /\ -rcd_427^post105+rcd_427^0 == 0 /\ rcd_46^0-rcd_46^post105 == 0 /\ -a_332^0 <= 0 /\ rcd_409^0-rcd_409^post105 == 0 /\ r_252^0-r_252^post105 == 0 /\ rcd_273^0-rcd_273^post105 == 0 /\ -rcd_244^post105+rcd_244^0 == 0 /\ r_272^0-r_272^post105 == 0 /\ r_266^0-r_266^post105 == 0 /\ -y_22^post105+y_22^0 == 0 /\ r_196^0-r_196^post105 == 0 /\ -a_332^post105+a_332^0 == 0 /\ -rcd_105^post105+rcd_105^0 == 0 /\ r_188^0-r_188^post105 == 0 /\ r_243^0-r_243^post105 == 0 /\ -len_297^post105+len_297^0 == 0 /\ head_35^0-head_35^post105 == 0 /\ -rcd_387^post105+rcd_387^0 == 0 /\ -i_120^post105+i_120^0 == 0 /\ -temp_38^post105+temp_38^0 == 0 /\ r_167^0-r_167^post105 == 0 /\ -temp0_34^post105+temp0_34^0 == 0 /\ -rcd_363^post105+rcd_363^0 == 0 /\ -a_276^post105+a_276^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post105 == 0 /\ -rcd_367^post105+rcd_367^0 == 0), cost: 1
 102: l64 -> l65 : a_148^0'=a_148^post102, r_258^0'=r_258^post102, i_33^0'=i_33^post102, r_167^0'=r_167^post102, t_30^0'=t_30^post102, a_358^0'=a_358^post102, r_42^0'=r_42^post102, len_275^0'=len_275^post102, rcd_409^0'=rcd_409^post102, r_243^0'=r_243^post102, r_246^0'=r_246^post102, x_SLAM_f_21^0'=x_SLAM_f_21^post102, head_35^0'=head_35^post102, rcd_248^0'=rcd_248^post102, lt_509^0'=lt_509^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post102, a_220^0'=a_220^post102, r_272^0'=r_272^post102, rcd_363^0'=rcd_363^post102, r_196^0'=r_196^post102, temp0_34^0'=temp0_34^post102, c_28^0'=c_28^post102, rcd_113^0'=rcd_113^post102, length_32^0'=length_32^post102, rcd_46^0'=rcd_46^post102, r_252^0'=r_252^post102, i_120^0'=i_120^post102, rcd_273^0'=rcd_273^post102, r_159^0'=r_159^post102, t_24^0'=t_24^post102, a_332^0'=a_332^post102, r_29^0'=r_29^post102, len_205^0'=len_205^post102, rcd_387^0'=rcd_387^post102, r_236^0'=r_236^post102, tmp_37^0'=tmp_37^post102, x_23^0'=x_23^post102, head_13^0'=head_13^post102, rcd_244^0'=rcd_244^post102, lt_397^0'=lt_397^post102, result_11^0'=result_11^post102, a_173^0'=a_173^post102, r_266^0'=r_266^post102, l_27^0'=l_27^post102, r_188^0'=r_188^post102, temp0_18^0'=temp0_18^post102, a_388^0'=a_388^post102, rcd_105^0'=rcd_105^post102, len_297^0'=len_297^post102, rcd_427^0'=rcd_427^post102, r_245^0'=r_245^post102, r_247^0'=r_247^post102, y_22^0'=y_22^post102, i_111^0'=i_111^post102, rcd_253^0'=rcd_253^post102, nondet_12^0'=nondet_12^post102, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post102, a_276^0'=a_276^post102, r_274^0'=r_274^post102, rcd_367^0'=rcd_367^post102, r_234^0'=r_234^post102, temp_38^0'=temp_38^post102, x_19^0'=x_19^post102, ct_20^0'=ct_20^post102, rcd_235^0'=rcd_235^post102, lt_17^0'=lt_17^post102, rcd_70^0'=rcd_70^post102, (r_246^0-r_246^post102 == 0 /\ -len_297^post102+len_297^0 == 0 /\ r_196^0-r_196^post102 == 0 /\ r_266^0-r_266^post102 == 0 /\ c_28^0-c_28^post102 == 0 /\ -rcd_235^post102+rcd_235^0 == 0 /\ -rcd_46^post102+rcd_46^0 == 0 /\ r_272^0-r_272^post102 == 0 /\ -r_234^post102+r_234^0 == 0 /\ -r_29^post102+r_29^0 == 0 /\ lt_509^0-lt_509^post102 == 0 /\ t_30^0-t_30^post102 == 0 /\ head_35^0-head_35^post102 == 0 /\ -rcd_273^post102+rcd_273^0 == 0 /\ -r_245^post102+r_245^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post102+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_173^post102+a_173^0 == 0 /\ r_167^0-r_167^post102 == 0 /\ -rcd_244^post102+rcd_244^0 == 0 /\ -rcd_367^post102+rcd_367^0 == 0 /\ -y_22^post102+y_22^0 == 0 /\ -rcd_363^post102+rcd_363^0 == 0 /\ a_358^0-a_358^post102 == 0 /\ r_247^0-r_247^post102 == 0 /\ r_252^0-r_252^post102 == 0 /\ -i_120^post102+i_120^0 == 0 /\ i_33^0-i_33^post102 == 0 /\ -ct_20^post102+ct_20^0 == 0 /\ length_32^0-length_32^post102 == 0 /\ -temp_38^post102+temp_38^0 == 0 /\ -temp0_34^post102+temp0_34^0 == 0 /\ 1-lt_397^0 <= 0 /\ -a_276^post102+a_276^0 == 0 /\ a_148^0-a_148^post102 == 0 /\ head_13^0-head_13^post102 == 0 /\ -r_188^post102+r_188^0 == 0 /\ -a_220^post102+a_220^0 == 0 /\ -lt_397^post102+lt_397^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post102 == 0 /\ -r_159^post102+r_159^0 == 0 /\ -i_111^post102+i_111^0 == 0 /\ -rcd_253^post102+rcd_253^0 == 0 /\ rcd_387^0-rcd_387^post102 == 0 /\ -a_388^post102+a_388^0 == 0 /\ a_332^0-a_332^post102 == 0 /\ -rcd_70^post102+rcd_70^0 == 0 /\ -x_19^post102+x_19^0 == 0 /\ -len_275^post102+len_275^0 == 0 /\ r_236^0-r_236^post102 == 0 /\ -tmp_37^post102+tmp_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post102 == 0 /\ r_243^0-r_243^post102 == 0 /\ l_27^0-l_27^post102 == 0 /\ -r_274^post102+r_274^0 == 0 /\ t_24^0-t_24^post102 == 0 /\ temp0_18^0-temp0_18^post102 == 0 /\ rcd_409^0-rcd_409^post102 == 0 /\ -lt_17^post102+lt_17^0 == 0 /\ rcd_105^0-rcd_105^post102 == 0 /\ -rcd_427^post102+rcd_427^0 == 0 /\ r_258^0-r_258^post102 == 0 /\ -len_205^post102+len_205^0 == 0 /\ r_42^0-r_42^post102 == 0 /\ rcd_248^0-rcd_248^post102 == 0 /\ -result_11^post102+result_11^0 == 0 /\ x_23^0-x_23^post102 == 0 /\ rcd_113^0-rcd_113^post102 == 0 /\ -nondet_12^post102+nondet_12^0 == 0), cost: 1
 103: l64 -> l65 : a_148^0'=a_148^post103, r_258^0'=r_258^post103, i_33^0'=i_33^post103, r_167^0'=r_167^post103, t_30^0'=t_30^post103, a_358^0'=a_358^post103, r_42^0'=r_42^post103, len_275^0'=len_275^post103, rcd_409^0'=rcd_409^post103, r_243^0'=r_243^post103, r_246^0'=r_246^post103, x_SLAM_f_21^0'=x_SLAM_f_21^post103, head_35^0'=head_35^post103, rcd_248^0'=rcd_248^post103, lt_509^0'=lt_509^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post103, a_220^0'=a_220^post103, r_272^0'=r_272^post103, rcd_363^0'=rcd_363^post103, r_196^0'=r_196^post103, temp0_34^0'=temp0_34^post103, c_28^0'=c_28^post103, rcd_113^0'=rcd_113^post103, length_32^0'=length_32^post103, rcd_46^0'=rcd_46^post103, r_252^0'=r_252^post103, i_120^0'=i_120^post103, rcd_273^0'=rcd_273^post103, r_159^0'=r_159^post103, t_24^0'=t_24^post103, a_332^0'=a_332^post103, r_29^0'=r_29^post103, len_205^0'=len_205^post103, rcd_387^0'=rcd_387^post103, r_236^0'=r_236^post103, tmp_37^0'=tmp_37^post103, x_23^0'=x_23^post103, head_13^0'=head_13^post103, rcd_244^0'=rcd_244^post103, lt_397^0'=lt_397^post103, result_11^0'=result_11^post103, a_173^0'=a_173^post103, r_266^0'=r_266^post103, l_27^0'=l_27^post103, r_188^0'=r_188^post103, temp0_18^0'=temp0_18^post103, a_388^0'=a_388^post103, rcd_105^0'=rcd_105^post103, len_297^0'=len_297^post103, rcd_427^0'=rcd_427^post103, r_245^0'=r_245^post103, r_247^0'=r_247^post103, y_22^0'=y_22^post103, i_111^0'=i_111^post103, rcd_253^0'=rcd_253^post103, nondet_12^0'=nondet_12^post103, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post103, a_276^0'=a_276^post103, r_274^0'=r_274^post103, rcd_367^0'=rcd_367^post103, r_234^0'=r_234^post103, temp_38^0'=temp_38^post103, x_19^0'=x_19^post103, ct_20^0'=ct_20^post103, rcd_235^0'=rcd_235^post103, lt_17^0'=lt_17^post103, rcd_70^0'=rcd_70^post103, (rcd_113^0-rcd_113^post103 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post103+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post103+rcd_427^0 == 0 /\ r_245^0-r_245^post103 == 0 /\ a_332^0-a_332^post103 == 0 /\ rcd_248^0-rcd_248^post103 == 0 /\ -r_236^post103+r_236^0 == 0 /\ l_27^0-l_27^post103 == 0 /\ result_11^0-result_11^post103 == 0 /\ rcd_253^0-rcd_253^post103 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post103 == 0 /\ -c_28^post103+c_28^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post103 == 0 /\ -r_247^post103+r_247^0 == 0 /\ i_33^0-i_33^post103 == 0 /\ i_120^0-i_120^post103 == 0 /\ -len_205^post103+len_205^0 == 0 /\ -lt_17^post103+lt_17^0 == 0 /\ -rcd_273^post103+rcd_273^0 == 0 /\ temp0_34^0-temp0_34^post103 == 0 /\ r_243^0-r_243^post103 == 0 /\ -r_196^post103+r_196^0 == 0 /\ -r_234^post103+r_234^0 == 0 /\ r_42^0-r_42^post103 == 0 /\ -lt_397^post103+lt_397^0 == 0 /\ t_30^0-t_30^post103 == 0 /\ -a_276^post103+a_276^0 == 0 /\ -r_266^post103+r_266^0 == 0 /\ y_22^0-y_22^post103 == 0 /\ -temp0_18^post103+temp0_18^0 == 0 /\ -rcd_235^post103+rcd_235^0 == 0 /\ rcd_363^0-rcd_363^post103 == 0 /\ -r_274^post103+r_274^0 == 0 /\ rcd_46^0-rcd_46^post103 == 0 /\ rcd_244^0-rcd_244^post103 == 0 /\ -r_252^post103+r_252^0 == 0 /\ -r_29^post103+r_29^0 == 0 /\ -rcd_105^post103+rcd_105^0 == 0 /\ rcd_367^0-rcd_367^post103 == 0 /\ head_13^0-head_13^post103 == 0 /\ r_167^0-r_167^post103 == 0 /\ -t_24^post103+t_24^0 == 0 /\ a_148^0-a_148^post103 == 0 /\ -r_272^post103+r_272^0 == 0 /\ -r_188^post103+r_188^0 == 0 /\ -ct_20^post103+ct_20^0 == 0 /\ 1+lt_397^0 <= 0 /\ temp_38^0-temp_38^post103 == 0 /\ -x_23^post103+x_23^0 == 0 /\ tmp_37^0-tmp_37^post103 == 0 /\ head_35^0-head_35^post103 == 0 /\ rcd_387^0-rcd_387^post103 == 0 /\ -i_111^post103+i_111^0 == 0 /\ lt_509^0-lt_509^post103 == 0 /\ a_358^0-a_358^post103 == 0 /\ -nondet_12^post103+nondet_12^0 == 0 /\ len_297^0-len_297^post103 == 0 /\ length_32^0-length_32^post103 == 0 /\ a_220^0-a_220^post103 == 0 /\ -rcd_70^post103+rcd_70^0 == 0 /\ r_246^0-r_246^post103 == 0 /\ -x_19^post103+x_19^0 == 0 /\ r_159^0-r_159^post103 == 0 /\ -a_388^post103+a_388^0 == 0 /\ r_258^0-r_258^post103 == 0 /\ -a_173^post103+a_173^0 == 0 /\ len_275^0-len_275^post103 == 0 /\ -rcd_409^post103+rcd_409^0 == 0), cost: 1
 104: l65 -> l34 : a_148^0'=a_148^post104, r_258^0'=r_258^post104, i_33^0'=i_33^post104, r_167^0'=r_167^post104, t_30^0'=t_30^post104, a_358^0'=a_358^post104, r_42^0'=r_42^post104, len_275^0'=len_275^post104, rcd_409^0'=rcd_409^post104, r_243^0'=r_243^post104, r_246^0'=r_246^post104, x_SLAM_f_21^0'=x_SLAM_f_21^post104, head_35^0'=head_35^post104, rcd_248^0'=rcd_248^post104, lt_509^0'=lt_509^post104, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post104, a_220^0'=a_220^post104, r_272^0'=r_272^post104, rcd_363^0'=rcd_363^post104, r_196^0'=r_196^post104, temp0_34^0'=temp0_34^post104, c_28^0'=c_28^post104, rcd_113^0'=rcd_113^post104, length_32^0'=length_32^post104, rcd_46^0'=rcd_46^post104, r_252^0'=r_252^post104, i_120^0'=i_120^post104, rcd_273^0'=rcd_273^post104, r_159^0'=r_159^post104, t_24^0'=t_24^post104, a_332^0'=a_332^post104, r_29^0'=r_29^post104, len_205^0'=len_205^post104, rcd_387^0'=rcd_387^post104, r_236^0'=r_236^post104, tmp_37^0'=tmp_37^post104, x_23^0'=x_23^post104, head_13^0'=head_13^post104, rcd_244^0'=rcd_244^post104, lt_397^0'=lt_397^post104, result_11^0'=result_11^post104, a_173^0'=a_173^post104, r_266^0'=r_266^post104, l_27^0'=l_27^post104, r_188^0'=r_188^post104, temp0_18^0'=temp0_18^post104, a_388^0'=a_388^post104, rcd_105^0'=rcd_105^post104, len_297^0'=len_297^post104, rcd_427^0'=rcd_427^post104, r_245^0'=r_245^post104, r_247^0'=r_247^post104, y_22^0'=y_22^post104, i_111^0'=i_111^post104, rcd_253^0'=rcd_253^post104, nondet_12^0'=nondet_12^post104, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post104, a_276^0'=a_276^post104, r_274^0'=r_274^post104, rcd_367^0'=rcd_367^post104, r_234^0'=r_234^post104, temp_38^0'=temp_38^post104, x_19^0'=x_19^post104, ct_20^0'=ct_20^post104, rcd_235^0'=rcd_235^post104, lt_17^0'=lt_17^post104, rcd_70^0'=rcd_70^post104, (-tmp_37^post104+tmp_37^0 == 0 /\ a_148^0-a_148^post104 == 0 /\ -a_276^post104+a_276^0 == 0 /\ -lt_17^post104+lt_17^0 == 0 /\ a_358^0-a_358^post104 == 0 /\ -y_22^post104+y_22^0 == 0 /\ head_35^0-head_35^post104 == 0 /\ rcd_409^0-rcd_409^post104 == 0 /\ x_23^0-x_23^post104 == 0 /\ temp0_34^0-temp0_34^post104 == 0 /\ r_272^0-r_272^post104 == 0 /\ a_220^0-a_220^post104 == 0 /\ -x_19^post104+x_19^0 == 0 /\ -rcd_113^post104+rcd_113^0 == 0 /\ a_173^0-a_173^post104 == 0 /\ length_32^0-length_32^post104 == 0 /\ len_275^0-len_275^post104 == 0 /\ -rcd_253^post104+rcd_253^0 == 0 /\ -rcd_235^post104+rcd_235^0 == 0 /\ -r_274^post104+r_274^0 == 0 /\ r_196^0-r_196^post104 == 0 /\ -r_266^post104+r_266^0 == 0 /\ r_29^0-r_29^post104 == 0 /\ lt_397^0-lt_397^post104 == 0 /\ -len_205^post104+len_205^0 == 0 /\ r_167^0-r_167^post104 == 0 /\ -l_27^post104+l_27^0 == 0 /\ i_111^0-i_111^post104 == 0 /\ -r_234^post104+r_234^0 == 0 /\ r_258^0-r_258^post104 == 0 /\ r_252^0-r_252^post104 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post104 == 0 /\ r_159^0-r_159^post104 == 0 /\ rcd_244^0-rcd_244^post104 == 0 /\ -result_11^post104+result_11^0 == 0 /\ -nondet_12^post104+nondet_12^0 == 0 /\ -r_245^post104+r_245^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -a_332^post104+a_332^0 == 0 /\ -ct_20^post104+ct_20^0 == 0 /\ i_120^0-i_120^post104 == 0 /\ -head_13^post104+head_13^0 == 0 /\ i_33^0-i_33^post104 == 0 /\ -rcd_367^post104+rcd_367^0 == 0 /\ -len_297^post104+len_297^0 == 0 /\ rcd_248^0-rcd_248^post104 == 0 /\ r_42^0-r_42^post104 == 0 /\ -temp0_18^post104+temp0_18^0 == 0 /\ -r_236^post104+r_236^0 == 0 /\ c_28^0-c_28^post104 == 0 /\ -temp_38^post104+temp_38^0 == 0 /\ -t_24^post104+t_24^0 == 0 /\ -r_247^post104+r_247^0 == 0 /\ rcd_427^0-rcd_427^post104 == 0 /\ -r_188^post104+r_188^0 == 0 /\ rcd_46^0-rcd_46^post104 == 0 /\ a_388^0-a_388^post104 == 0 /\ lt_509^0-lt_509^post104 == 0 /\ -rcd_70^post104+rcd_70^0 == 0 /\ rcd_273^0-rcd_273^post104 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post104+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_243^0-r_243^post104 == 0 /\ -rcd_387^post104+rcd_387^0 == 0 /\ -r_246^post104+r_246^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post104 == 0 /\ -rcd_105^post104+rcd_105^0 == 0 /\ rcd_363^0-rcd_363^post104 == 0 /\ t_30^0-t_30^post104 == 0), cost: 1
 106: l66 -> l67 : a_148^0'=a_148^post106, r_258^0'=r_258^post106, i_33^0'=i_33^post106, r_167^0'=r_167^post106, t_30^0'=t_30^post106, a_358^0'=a_358^post106, r_42^0'=r_42^post106, len_275^0'=len_275^post106, rcd_409^0'=rcd_409^post106, r_243^0'=r_243^post106, r_246^0'=r_246^post106, x_SLAM_f_21^0'=x_SLAM_f_21^post106, head_35^0'=head_35^post106, rcd_248^0'=rcd_248^post106, lt_509^0'=lt_509^post106, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post106, a_220^0'=a_220^post106, r_272^0'=r_272^post106, rcd_363^0'=rcd_363^post106, r_196^0'=r_196^post106, temp0_34^0'=temp0_34^post106, c_28^0'=c_28^post106, rcd_113^0'=rcd_113^post106, length_32^0'=length_32^post106, rcd_46^0'=rcd_46^post106, r_252^0'=r_252^post106, i_120^0'=i_120^post106, rcd_273^0'=rcd_273^post106, r_159^0'=r_159^post106, t_24^0'=t_24^post106, a_332^0'=a_332^post106, r_29^0'=r_29^post106, len_205^0'=len_205^post106, rcd_387^0'=rcd_387^post106, r_236^0'=r_236^post106, tmp_37^0'=tmp_37^post106, x_23^0'=x_23^post106, head_13^0'=head_13^post106, rcd_244^0'=rcd_244^post106, lt_397^0'=lt_397^post106, result_11^0'=result_11^post106, a_173^0'=a_173^post106, r_266^0'=r_266^post106, l_27^0'=l_27^post106, r_188^0'=r_188^post106, temp0_18^0'=temp0_18^post106, a_388^0'=a_388^post106, rcd_105^0'=rcd_105^post106, len_297^0'=len_297^post106, rcd_427^0'=rcd_427^post106, r_245^0'=r_245^post106, r_247^0'=r_247^post106, y_22^0'=y_22^post106, i_111^0'=i_111^post106, rcd_253^0'=rcd_253^post106, nondet_12^0'=nondet_12^post106, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post106, a_276^0'=a_276^post106, r_274^0'=r_274^post106, rcd_367^0'=rcd_367^post106, r_234^0'=r_234^post106, temp_38^0'=temp_38^post106, x_19^0'=x_19^post106, ct_20^0'=ct_20^post106, rcd_235^0'=rcd_235^post106, lt_17^0'=lt_17^post106, rcd_70^0'=rcd_70^post106, (c_28^0-c_28^post106 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post106 == 0 /\ -rcd_105^post106+rcd_105^0 == 0 /\ 1-x_23^0+y_22^0 <= 0 /\ temp0_34^0-temp0_34^post106 == 0 /\ -r_274^post106+r_274^0 == 0 /\ -rcd_46^post106+rcd_46^0 == 0 /\ rcd_363^0-rcd_363^post106 == 0 /\ -x_23^post106+x_23^0 == 0 /\ y_22^0-y_22^post106 == 0 /\ rcd_409^0-rcd_409^post106 == 0 /\ -r_188^post106+r_188^0 == 0 /\ -temp_38^post106+temp_38^0 == 0 /\ t_24^0-t_24^post106 == 0 /\ -nondet_12^post106+nondet_12^0 == 0 /\ -ct_20^post106+ct_20^0 == 0 /\ len_275^0-len_275^post106 == 0 /\ r_252^0-r_252^post106 == 0 /\ result_11^0-result_11^post106 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post106 == 0 /\ -a_388^post106+a_388^0 == 0 /\ r_167^0-r_167^post106 == 0 /\ rcd_253^0-rcd_253^post106 == 0 /\ a_148^0-a_148^post106 == 0 /\ rcd_387^0-rcd_387^post106 == 0 /\ tmp_37^0-tmp_37^post106 == 0 /\ -r_245^post106+r_245^0 == 0 /\ -rcd_70^post106+rcd_70^0 == 0 /\ r_272^0-r_272^post106 == 0 /\ -x_19^post106+x_19^0 == 0 /\ length_32^0-length_32^post106 == 0 /\ -a_173^post106+a_173^0 == 0 /\ lt_509^0-lt_509^post106 == 0 /\ t_30^0-t_30^post106 == 0 /\ r_243^0-r_243^post106 == 0 /\ r_42^0-r_42^post106 == 0 /\ -len_205^post106+len_205^0 == 0 /\ -rcd_244^post106+rcd_244^0 == 0 /\ -rcd_427^post106+rcd_427^0 == 0 /\ temp0_18^0-temp0_18^post106 == 0 /\ -r_159^post106+r_159^0 == 0 /\ -r_247^post106+r_247^0 == 0 /\ r_246^0-r_246^post106 == 0 /\ -a_276^post106+a_276^0 == 0 /\ r_258^0-r_258^post106 == 0 /\ -lt_17^post106+lt_17^0 == 0 /\ -l_27^post106+l_27^0 == 0 /\ a_332^0-a_332^post106 == 0 /\ -r_234^post106+r_234^0 == 0 /\ -r_266^post106+r_266^0 == 0 /\ -lt_397^post106+lt_397^0 == 0 /\ -r_29^post106+r_29^0 == 0 /\ -i_111^post106+i_111^0 == 0 /\ head_13^0-head_13^post106 == 0 /\ -head_35^post106+head_35^0 == 0 /\ -rcd_273^post106+rcd_273^0 == 0 /\ -len_297^post106+len_297^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post106 == 0 /\ -r_196^post106+r_196^0 == 0 /\ r_236^0-r_236^post106 == 0 /\ -rcd_367^post106+rcd_367^0 == 0 /\ a_220^0-a_220^post106 == 0 /\ a_358^0-a_358^post106 == 0 /\ rcd_113^0-rcd_113^post106 == 0 /\ i_120^0-i_120^post106 == 0 /\ rcd_248^0-rcd_248^post106 == 0 /\ -rcd_235^post106+rcd_235^0 == 0 /\ i_33^0-i_33^post106 == 0), cost: 1
 107: l66 -> l67 : a_148^0'=a_148^post107, r_258^0'=r_258^post107, i_33^0'=i_33^post107, r_167^0'=r_167^post107, t_30^0'=t_30^post107, a_358^0'=a_358^post107, r_42^0'=r_42^post107, len_275^0'=len_275^post107, rcd_409^0'=rcd_409^post107, r_243^0'=r_243^post107, r_246^0'=r_246^post107, x_SLAM_f_21^0'=x_SLAM_f_21^post107, head_35^0'=head_35^post107, rcd_248^0'=rcd_248^post107, lt_509^0'=lt_509^post107, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post107, a_220^0'=a_220^post107, r_272^0'=r_272^post107, rcd_363^0'=rcd_363^post107, r_196^0'=r_196^post107, temp0_34^0'=temp0_34^post107, c_28^0'=c_28^post107, rcd_113^0'=rcd_113^post107, length_32^0'=length_32^post107, rcd_46^0'=rcd_46^post107, r_252^0'=r_252^post107, i_120^0'=i_120^post107, rcd_273^0'=rcd_273^post107, r_159^0'=r_159^post107, t_24^0'=t_24^post107, a_332^0'=a_332^post107, r_29^0'=r_29^post107, len_205^0'=len_205^post107, rcd_387^0'=rcd_387^post107, r_236^0'=r_236^post107, tmp_37^0'=tmp_37^post107, x_23^0'=x_23^post107, head_13^0'=head_13^post107, rcd_244^0'=rcd_244^post107, lt_397^0'=lt_397^post107, result_11^0'=result_11^post107, a_173^0'=a_173^post107, r_266^0'=r_266^post107, l_27^0'=l_27^post107, r_188^0'=r_188^post107, temp0_18^0'=temp0_18^post107, a_388^0'=a_388^post107, rcd_105^0'=rcd_105^post107, len_297^0'=len_297^post107, rcd_427^0'=rcd_427^post107, r_245^0'=r_245^post107, r_247^0'=r_247^post107, y_22^0'=y_22^post107, i_111^0'=i_111^post107, rcd_253^0'=rcd_253^post107, nondet_12^0'=nondet_12^post107, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post107, a_276^0'=a_276^post107, r_274^0'=r_274^post107, rcd_367^0'=rcd_367^post107, r_234^0'=r_234^post107, temp_38^0'=temp_38^post107, x_19^0'=x_19^post107, ct_20^0'=ct_20^post107, rcd_235^0'=rcd_235^post107, lt_17^0'=lt_17^post107, rcd_70^0'=rcd_70^post107, (-ct_20^post107+ct_20^0 == 0 /\ -len_297^post107+len_297^0 == 0 /\ -rcd_46^post107+rcd_46^0 == 0 /\ -r_266^post107+r_266^0 == 0 /\ a_332^0-a_332^post107 == 0 /\ r_243^0-r_243^post107 == 0 /\ -head_13^post107+head_13^0 == 0 /\ rcd_248^0-rcd_248^post107 == 0 /\ -r_252^post107+r_252^0 == 0 /\ -nondet_12^post107+nondet_12^0 == 0 /\ -temp0_18^post107+temp0_18^0 == 0 /\ r_167^0-r_167^post107 == 0 /\ -r_272^post107+r_272^0 == 0 /\ -rcd_367^post107+rcd_367^0 == 0 /\ i_111^0-i_111^post107 == 0 /\ t_30^0-t_30^post107 == 0 /\ -rcd_387^post107+rcd_387^0 == 0 /\ -x_19^post107+x_19^0 == 0 /\ -r_188^post107+r_188^0 == 0 /\ r_258^0-r_258^post107 == 0 /\ tmp_37^0-tmp_37^post107 == 0 /\ a_173^0-a_173^post107 == 0 /\ 1+x_23^0-y_22^0 <= 0 /\ i_33^0-i_33^post107 == 0 /\ -c_28^post107+c_28^0 == 0 /\ i_120^0-i_120^post107 == 0 /\ -temp_38^post107+temp_38^0 == 0 /\ a_358^0-a_358^post107 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post107+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_236^post107+r_236^0 == 0 /\ -r_246^post107+r_246^0 == 0 /\ r_245^0-r_245^post107 == 0 /\ rcd_113^0-rcd_113^post107 == 0 /\ -r_247^post107+r_247^0 == 0 /\ a_220^0-a_220^post107 == 0 /\ r_274^0-r_274^post107 == 0 /\ -rcd_105^post107+rcd_105^0 == 0 /\ -lt_509^post107+lt_509^0 == 0 /\ -lt_397^post107+lt_397^0 == 0 /\ len_275^0-len_275^post107 == 0 /\ -lt_17^post107+lt_17^0 == 0 /\ -r_196^post107+r_196^0 == 0 /\ r_29^0-r_29^post107 == 0 /\ -rcd_70^post107+rcd_70^0 == 0 /\ -a_388^post107+a_388^0 == 0 /\ -y_22^post107+y_22^0 == 0 /\ -t_24^post107+t_24^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post107 == 0 /\ -a_276^post107+a_276^0 == 0 /\ -rcd_253^post107+rcd_253^0 == 0 /\ rcd_409^0-rcd_409^post107 == 0 /\ -rcd_235^post107+rcd_235^0 == 0 /\ result_11^0-result_11^post107 == 0 /\ -rcd_427^post107+rcd_427^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post107 == 0 /\ rcd_363^0-rcd_363^post107 == 0 /\ -x_23^post107+x_23^0 == 0 /\ rcd_244^0-rcd_244^post107 == 0 /\ head_35^0-head_35^post107 == 0 /\ length_32^0-length_32^post107 == 0 /\ -l_27^post107+l_27^0 == 0 /\ temp0_34^0-temp0_34^post107 == 0 /\ rcd_273^0-rcd_273^post107 == 0 /\ -r_234^post107+r_234^0 == 0 /\ r_42^0-r_42^post107 == 0 /\ a_148^0-a_148^post107 == 0 /\ r_159^0-r_159^post107 == 0 /\ -len_205^post107+len_205^0 == 0), cost: 1
 108: l67 -> l68 : a_148^0'=a_148^post108, r_258^0'=r_258^post108, i_33^0'=i_33^post108, r_167^0'=r_167^post108, t_30^0'=t_30^post108, a_358^0'=a_358^post108, r_42^0'=r_42^post108, len_275^0'=len_275^post108, rcd_409^0'=rcd_409^post108, r_243^0'=r_243^post108, r_246^0'=r_246^post108, x_SLAM_f_21^0'=x_SLAM_f_21^post108, head_35^0'=head_35^post108, rcd_248^0'=rcd_248^post108, lt_509^0'=lt_509^post108, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post108, a_220^0'=a_220^post108, r_272^0'=r_272^post108, rcd_363^0'=rcd_363^post108, r_196^0'=r_196^post108, temp0_34^0'=temp0_34^post108, c_28^0'=c_28^post108, rcd_113^0'=rcd_113^post108, length_32^0'=length_32^post108, rcd_46^0'=rcd_46^post108, r_252^0'=r_252^post108, i_120^0'=i_120^post108, rcd_273^0'=rcd_273^post108, r_159^0'=r_159^post108, t_24^0'=t_24^post108, a_332^0'=a_332^post108, r_29^0'=r_29^post108, len_205^0'=len_205^post108, rcd_387^0'=rcd_387^post108, r_236^0'=r_236^post108, tmp_37^0'=tmp_37^post108, x_23^0'=x_23^post108, head_13^0'=head_13^post108, rcd_244^0'=rcd_244^post108, lt_397^0'=lt_397^post108, result_11^0'=result_11^post108, a_173^0'=a_173^post108, r_266^0'=r_266^post108, l_27^0'=l_27^post108, r_188^0'=r_188^post108, temp0_18^0'=temp0_18^post108, a_388^0'=a_388^post108, rcd_105^0'=rcd_105^post108, len_297^0'=len_297^post108, rcd_427^0'=rcd_427^post108, r_245^0'=r_245^post108, r_247^0'=r_247^post108, y_22^0'=y_22^post108, i_111^0'=i_111^post108, rcd_253^0'=rcd_253^post108, nondet_12^0'=nondet_12^post108, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post108, a_276^0'=a_276^post108, r_274^0'=r_274^post108, rcd_367^0'=rcd_367^post108, r_234^0'=r_234^post108, temp_38^0'=temp_38^post108, x_19^0'=x_19^post108, ct_20^0'=ct_20^post108, rcd_235^0'=rcd_235^post108, lt_17^0'=lt_17^post108, rcd_70^0'=rcd_70^post108, (-temp0_34^post108+temp0_34^0 == 0 /\ -rcd_387^post108+rcd_387^0 == 0 /\ -rcd_235^post108+rcd_235^0 == 0 /\ -r_236^post108+r_236^0 == 0 /\ -r_234^post108+r_234^0 == 0 /\ y_22^0-ct_20^0 <= 0 /\ -rcd_244^post108+rcd_244^0 == 0 /\ c_28^0-c_28^post108 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post108+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_272^0-r_272^post108 == 0 /\ r_29^0-r_29^post108 == 0 /\ -rcd_427^post108+rcd_427^0 == 0 /\ -rcd_367^post108+rcd_367^0 == 0 /\ length_32^0-length_32^post108 == 0 /\ x_23^0-x_23^post108 == 0 /\ -x_SLAM_f_21^post108+x_SLAM_f_21^0 == 0 /\ r_247^0-r_247^post108 == 0 /\ -ct_20^post108+ct_20^0 == 0 /\ r_42^0-r_42^post108 == 0 /\ -a_332^post108+a_332^0 == 0 /\ t_30^0-t_30^post108 == 0 /\ -tmp_37^post108+tmp_37^0 == 0 /\ -rcd_113^post108+rcd_113^0 == 0 /\ -y_22^0+ct_20^0 <= 0 /\ -a_276^post108+a_276^0 == 0 /\ r_159^0-r_159^post108 == 0 /\ a_148^0-a_148^post108 == 0 /\ -i_120^post108+i_120^0 == 0 /\ -x_23^0+t_24^post108 == 0 /\ -temp0_18^post108+temp0_18^0 == 0 /\ -r_252^post108+r_252^0 == 0 /\ rcd_273^0-rcd_273^post108 == 0 /\ r_196^0-r_196^post108 == 0 /\ -len_297^post108+len_297^0 == 0 /\ rcd_409^0-rcd_409^post108 == 0 /\ rcd_248^0-rcd_248^post108 == 0 /\ r_266^0-r_266^post108 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post108+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -i_111^post108+i_111^0 == 0 /\ -rcd_253^post108+rcd_253^0 == 0 /\ -temp_38^post108+temp_38^0 == 0 /\ -x_19^post108+x_19^0 == 0 /\ -rcd_70^post108+rcd_70^0 == 0 /\ r_188^0-r_188^post108 == 0 /\ -x_19^0+lt_17^0 <= 0 /\ head_35^0-head_35^post108 == 0 /\ r_243^0-r_243^post108 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ len_205^0-len_205^post108 == 0 /\ a_388^0-a_388^post108 == 0 /\ -rcd_105^post108+rcd_105^0 == 0 /\ i_33^0-i_33^post108 == 0 /\ r_167^0-r_167^post108 == 0 /\ lt_509^0-lt_509^post108 == 0 /\ a_358^0-a_358^post108 == 0 /\ -ct_20^0 <= 0 /\ -y_22^post108+y_22^0 == 0 /\ l_27^0-l_27^post108 == 0 /\ x_SLAM_f_21^0-x_19^0 <= 0 /\ -r_274^post108+r_274^0 == 0 /\ lt_397^0-lt_397^post108 == 0 /\ y_22^0 <= 0 /\ -y_22^0 <= 0 /\ -lt_17^post108+lt_17^0 == 0 /\ -result_11^post108+result_11^0 == 0 /\ a_220^0-a_220^post108 == 0 /\ -r_245^post108+r_245^0 == 0 /\ a_173^0-a_173^post108 == 0 /\ x_19^0-lt_17^0 <= 0 /\ r_258^0-r_258^post108 == 0 /\ rcd_363^0-rcd_363^post108 == 0 /\ -head_13^post108+head_13^0 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ len_275^0-len_275^post108 == 0 /\ rcd_46^0-rcd_46^post108 == 0 /\ ct_20^0 <= 0 /\ -nondet_12^post108+nondet_12^0 == 0 /\ -x_SLAM_f_21^0+x_19^0 <= 0 /\ r_246^0-r_246^post108 == 0), cost: 1
 109: l68 -> l69 : a_148^0'=a_148^post109, r_258^0'=r_258^post109, i_33^0'=i_33^post109, r_167^0'=r_167^post109, t_30^0'=t_30^post109, a_358^0'=a_358^post109, r_42^0'=r_42^post109, len_275^0'=len_275^post109, rcd_409^0'=rcd_409^post109, r_243^0'=r_243^post109, r_246^0'=r_246^post109, x_SLAM_f_21^0'=x_SLAM_f_21^post109, head_35^0'=head_35^post109, rcd_248^0'=rcd_248^post109, lt_509^0'=lt_509^post109, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post109, a_220^0'=a_220^post109, r_272^0'=r_272^post109, rcd_363^0'=rcd_363^post109, r_196^0'=r_196^post109, temp0_34^0'=temp0_34^post109, c_28^0'=c_28^post109, rcd_113^0'=rcd_113^post109, length_32^0'=length_32^post109, rcd_46^0'=rcd_46^post109, r_252^0'=r_252^post109, i_120^0'=i_120^post109, rcd_273^0'=rcd_273^post109, r_159^0'=r_159^post109, t_24^0'=t_24^post109, a_332^0'=a_332^post109, r_29^0'=r_29^post109, len_205^0'=len_205^post109, rcd_387^0'=rcd_387^post109, r_236^0'=r_236^post109, tmp_37^0'=tmp_37^post109, x_23^0'=x_23^post109, head_13^0'=head_13^post109, rcd_244^0'=rcd_244^post109, lt_397^0'=lt_397^post109, result_11^0'=result_11^post109, a_173^0'=a_173^post109, r_266^0'=r_266^post109, l_27^0'=l_27^post109, r_188^0'=r_188^post109, temp0_18^0'=temp0_18^post109, a_388^0'=a_388^post109, rcd_105^0'=rcd_105^post109, len_297^0'=len_297^post109, rcd_427^0'=rcd_427^post109, r_245^0'=r_245^post109, r_247^0'=r_247^post109, y_22^0'=y_22^post109, i_111^0'=i_111^post109, rcd_253^0'=rcd_253^post109, nondet_12^0'=nondet_12^post109, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post109, a_276^0'=a_276^post109, r_274^0'=r_274^post109, rcd_367^0'=rcd_367^post109, r_234^0'=r_234^post109, temp_38^0'=temp_38^post109, x_19^0'=x_19^post109, ct_20^0'=ct_20^post109, rcd_235^0'=rcd_235^post109, lt_17^0'=lt_17^post109, rcd_70^0'=rcd_70^post109, (-result_dot_nondet_sdv_special_RETURN_VALUE_14^post109+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_148^0-a_148^post109 == 0 /\ r_252^0-r_252^post109 == 0 /\ -rcd_427^post109+rcd_427^0 == 0 /\ head_13^0-head_13^post109 == 0 /\ -tmp_37^post109+tmp_37^0 == 0 /\ -r_159^post109+r_159^0 == 0 /\ l_27^0-l_27^post109 == 0 /\ rcd_409^0-rcd_409^post109 == 0 /\ r_167^0-r_167^post109 == 0 /\ rcd_387^0-rcd_387^post109 == 0 /\ -rcd_363^post109+rcd_363^0 == 0 /\ rcd_113^0-rcd_113^post109 == 0 /\ i_33^0-i_33^post109 == 0 /\ r_266^0-r_266^post109 == 0 /\ a_358^0-a_358^post109 == 0 /\ len_205^0-len_205^post109 == 0 /\ -r_247^post109+r_247^0 == 0 /\ -lt_397^post109+lt_397^0 == 0 /\ -temp0_34^post109+temp0_34^0 == 0 /\ -lt_17^post109+lt_17^0 == 0 /\ -head_35^post109+head_35^0 == 0 /\ c_28^0-c_28^post109 == 0 /\ len_275^0-len_275^post109 == 0 /\ -r_29^post109+r_29^0 == 0 /\ -r_234^post109+r_234^0 == 0 /\ rcd_46^0-rcd_46^post109 == 0 /\ r_243^0-r_243^post109 == 0 /\ lt_509^0-lt_509^post109 == 0 /\ r_246^0-r_246^post109 == 0 /\ -rcd_253^post109+rcd_253^0 == 0 /\ -a_276^post109+a_276^0 == 0 /\ -rcd_235^post109+rcd_235^0 == 0 /\ -rcd_273^post109+rcd_273^0 == 0 /\ y_22^0-y_22^post109 == 0 /\ -length_32^post109+length_32^0 == 0 /\ r_258^0-r_258^post109 == 0 /\ t_24^0-t_24^post109 == 0 /\ r_236^0-r_236^post109 == 0 /\ rcd_367^0-rcd_367^post109 == 0 /\ -r_274^post109+r_274^0 == 0 /\ -ct_20^post109+ct_20^0 == 0 /\ -r_188^post109+r_188^0 == 0 /\ i_120^0-i_120^post109 == 0 /\ r_272^0-r_272^post109 == 0 /\ -x_23^post109+x_23^0 == 0 /\ -result_11^post109+result_11^0 == 0 /\ 1-lt_17^0 <= 0 /\ -i_111^post109+i_111^0 == 0 /\ -rcd_105^post109+rcd_105^0 == 0 /\ -temp_38^post109+temp_38^0 == 0 /\ a_220^0-a_220^post109 == 0 /\ r_42^0-r_42^post109 == 0 /\ -nondet_12^post109+nondet_12^0 == 0 /\ t_30^0-t_30^post109 == 0 /\ -a_388^post109+a_388^0 == 0 /\ len_297^0-len_297^post109 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post109+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ r_196^0-r_196^post109 == 0 /\ -x_19^post109+x_19^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post109 == 0 /\ -r_245^post109+r_245^0 == 0 /\ a_332^0-a_332^post109 == 0 /\ -rcd_248^post109+rcd_248^0 == 0 /\ temp0_18^0-temp0_18^post109 == 0 /\ -a_173^post109+a_173^0 == 0 /\ -rcd_70^post109+rcd_70^0 == 0 /\ -rcd_244^post109+rcd_244^0 == 0), cost: 1
 110: l68 -> l69 : a_148^0'=a_148^post110, r_258^0'=r_258^post110, i_33^0'=i_33^post110, r_167^0'=r_167^post110, t_30^0'=t_30^post110, a_358^0'=a_358^post110, r_42^0'=r_42^post110, len_275^0'=len_275^post110, rcd_409^0'=rcd_409^post110, r_243^0'=r_243^post110, r_246^0'=r_246^post110, x_SLAM_f_21^0'=x_SLAM_f_21^post110, head_35^0'=head_35^post110, rcd_248^0'=rcd_248^post110, lt_509^0'=lt_509^post110, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post110, a_220^0'=a_220^post110, r_272^0'=r_272^post110, rcd_363^0'=rcd_363^post110, r_196^0'=r_196^post110, temp0_34^0'=temp0_34^post110, c_28^0'=c_28^post110, rcd_113^0'=rcd_113^post110, length_32^0'=length_32^post110, rcd_46^0'=rcd_46^post110, r_252^0'=r_252^post110, i_120^0'=i_120^post110, rcd_273^0'=rcd_273^post110, r_159^0'=r_159^post110, t_24^0'=t_24^post110, a_332^0'=a_332^post110, r_29^0'=r_29^post110, len_205^0'=len_205^post110, rcd_387^0'=rcd_387^post110, r_236^0'=r_236^post110, tmp_37^0'=tmp_37^post110, x_23^0'=x_23^post110, head_13^0'=head_13^post110, rcd_244^0'=rcd_244^post110, lt_397^0'=lt_397^post110, result_11^0'=result_11^post110, a_173^0'=a_173^post110, r_266^0'=r_266^post110, l_27^0'=l_27^post110, r_188^0'=r_188^post110, temp0_18^0'=temp0_18^post110, a_388^0'=a_388^post110, rcd_105^0'=rcd_105^post110, len_297^0'=len_297^post110, rcd_427^0'=rcd_427^post110, r_245^0'=r_245^post110, r_247^0'=r_247^post110, y_22^0'=y_22^post110, i_111^0'=i_111^post110, rcd_253^0'=rcd_253^post110, nondet_12^0'=nondet_12^post110, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post110, a_276^0'=a_276^post110, r_274^0'=r_274^post110, rcd_367^0'=rcd_367^post110, r_234^0'=r_234^post110, temp_38^0'=temp_38^post110, x_19^0'=x_19^post110, ct_20^0'=ct_20^post110, rcd_235^0'=rcd_235^post110, lt_17^0'=lt_17^post110, rcd_70^0'=rcd_70^post110, (tmp_37^0-tmp_37^post110 == 0 /\ -lt_397^post110+lt_397^0 == 0 /\ r_258^0-r_258^post110 == 0 /\ -a_276^post110+a_276^0 == 0 /\ i_120^0-i_120^post110 == 0 /\ rcd_244^0-rcd_244^post110 == 0 /\ length_32^0-length_32^post110 == 0 /\ -y_22^post110+y_22^0 == 0 /\ rcd_363^0-rcd_363^post110 == 0 /\ -rcd_253^post110+rcd_253^0 == 0 /\ -rcd_70^post110+rcd_70^0 == 0 /\ r_42^0-r_42^post110 == 0 /\ -t_24^post110+t_24^0 == 0 /\ -x_19^post110+x_19^0 == 0 /\ r_245^0-r_245^post110 == 0 /\ -r_196^post110+r_196^0 == 0 /\ -r_274^post110+r_274^0 == 0 /\ r_272^0-r_272^post110 == 0 /\ -len_205^post110+len_205^0 == 0 /\ rcd_113^0-rcd_113^post110 == 0 /\ a_332^0-a_332^post110 == 0 /\ rcd_248^0-rcd_248^post110 == 0 /\ -r_159^post110+r_159^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post110 == 0 /\ -x_23^post110+x_23^0 == 0 /\ t_30^0-t_30^post110 == 0 /\ -lt_17^post110+lt_17^0 == 0 /\ -rcd_46^post110+rcd_46^0 == 0 /\ -l_27^post110+l_27^0 == 0 /\ i_111^0-i_111^post110 == 0 /\ -r_234^post110+r_234^0 == 0 /\ 1+lt_17^0 <= 0 /\ i_33^0-i_33^post110 == 0 /\ -r_266^post110+r_266^0 == 0 /\ -a_358^post110+a_358^0 == 0 /\ rcd_409^0-rcd_409^post110 == 0 /\ -nondet_12^post110+nondet_12^0 == 0 /\ -head_35^post110+head_35^0 == 0 /\ -head_13^post110+head_13^0 == 0 /\ rcd_273^0-rcd_273^post110 == 0 /\ -a_173^post110+a_173^0 == 0 /\ -rcd_367^post110+rcd_367^0 == 0 /\ r_252^0-r_252^post110 == 0 /\ -temp0_18^post110+temp0_18^0 == 0 /\ -len_297^post110+len_297^0 == 0 /\ -rcd_235^post110+rcd_235^0 == 0 /\ a_148^0-a_148^post110 == 0 /\ temp0_34^0-temp0_34^post110 == 0 /\ r_246^0-r_246^post110 == 0 /\ -c_28^post110+c_28^0 == 0 /\ rcd_427^0-rcd_427^post110 == 0 /\ -r_247^post110+r_247^0 == 0 /\ -a_220^post110+a_220^0 == 0 /\ rcd_387^0-rcd_387^post110 == 0 /\ a_388^0-a_388^post110 == 0 /\ -temp_38^post110+temp_38^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post110 == 0 /\ len_275^0-len_275^post110 == 0 /\ -r_188^post110+r_188^0 == 0 /\ r_243^0-r_243^post110 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post110+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_167^0-r_167^post110 == 0 /\ r_236^0-r_236^post110 == 0 /\ r_29^0-r_29^post110 == 0 /\ lt_509^0-lt_509^post110 == 0 /\ -rcd_105^post110+rcd_105^0 == 0 /\ -ct_20^post110+ct_20^0 == 0 /\ result_11^0-result_11^post110 == 0), cost: 1
 111: l69 -> l70 : a_148^0'=a_148^post111, r_258^0'=r_258^post111, i_33^0'=i_33^post111, r_167^0'=r_167^post111, t_30^0'=t_30^post111, a_358^0'=a_358^post111, r_42^0'=r_42^post111, len_275^0'=len_275^post111, rcd_409^0'=rcd_409^post111, r_243^0'=r_243^post111, r_246^0'=r_246^post111, x_SLAM_f_21^0'=x_SLAM_f_21^post111, head_35^0'=head_35^post111, rcd_248^0'=rcd_248^post111, lt_509^0'=lt_509^post111, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post111, a_220^0'=a_220^post111, r_272^0'=r_272^post111, rcd_363^0'=rcd_363^post111, r_196^0'=r_196^post111, temp0_34^0'=temp0_34^post111, c_28^0'=c_28^post111, rcd_113^0'=rcd_113^post111, length_32^0'=length_32^post111, rcd_46^0'=rcd_46^post111, r_252^0'=r_252^post111, i_120^0'=i_120^post111, rcd_273^0'=rcd_273^post111, r_159^0'=r_159^post111, t_24^0'=t_24^post111, a_332^0'=a_332^post111, r_29^0'=r_29^post111, len_205^0'=len_205^post111, rcd_387^0'=rcd_387^post111, r_236^0'=r_236^post111, tmp_37^0'=tmp_37^post111, x_23^0'=x_23^post111, head_13^0'=head_13^post111, rcd_244^0'=rcd_244^post111, lt_397^0'=lt_397^post111, result_11^0'=result_11^post111, a_173^0'=a_173^post111, r_266^0'=r_266^post111, l_27^0'=l_27^post111, r_188^0'=r_188^post111, temp0_18^0'=temp0_18^post111, a_388^0'=a_388^post111, rcd_105^0'=rcd_105^post111, len_297^0'=len_297^post111, rcd_427^0'=rcd_427^post111, r_245^0'=r_245^post111, r_247^0'=r_247^post111, y_22^0'=y_22^post111, i_111^0'=i_111^post111, rcd_253^0'=rcd_253^post111, nondet_12^0'=nondet_12^post111, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post111, a_276^0'=a_276^post111, r_274^0'=r_274^post111, rcd_367^0'=rcd_367^post111, r_234^0'=r_234^post111, temp_38^0'=temp_38^post111, x_19^0'=x_19^post111, ct_20^0'=ct_20^post111, rcd_235^0'=rcd_235^post111, lt_17^0'=lt_17^post111, rcd_70^0'=rcd_70^post111, (-i_111^post111+i_111^0 == 0 /\ r_42^0-r_42^post111 == 0 /\ temp0_34^0-temp0_34^post111 == 0 /\ x_23^0-x_23^post111 == 0 /\ -a_388^post111+a_388^0 == 0 /\ -r_272^post111+r_272^0 == 0 /\ nondet_12^0-nondet_12^post111 == 0 /\ a_173^0-a_173^post111 == 0 /\ r_246^0-r_246^post111 == 0 /\ -rcd_70^post111+rcd_70^0 == 0 /\ lt_397^0-lt_397^post111 == 0 /\ -x_19^post111+x_19^0 == 0 /\ -a_332^post111+a_332^0 == 0 /\ r_247^0-r_247^post111 == 0 /\ r_196^0-r_196^post111 == 0 /\ -r_274^post111+r_274^0 == 0 /\ rcd_46^0-rcd_46^post111 == 0 /\ r_29^0-r_29^post111 == 0 /\ r_167^0-r_167^post111 == 0 /\ -r_245^post111+r_245^0 == 0 /\ r_159^0-r_159^post111 == 0 /\ a_148^0-a_148^post111 == 0 /\ -lt_17^post111+lt_17^0 == 0 /\ -result_11^post111+result_11^0 == 0 /\ 1-y_22^0+lt_17^0 <= 0 /\ a_220^0-a_220^post111 == 0 /\ -head_13^post111+head_13^0 == 0 /\ c_28^0-c_28^post111 == 0 /\ i_33^0-i_33^post111 == 0 /\ -t_24^post111+t_24^0 == 0 /\ length_32^0-length_32^post111 == 0 /\ -temp0_18^post111+temp0_18^0 == 0 /\ -rcd_387^post111+rcd_387^0 == 0 /\ -rcd_235^post111+rcd_235^0 == 0 /\ -rcd_244^post111+rcd_244^0 == 0 /\ t_30^0-t_30^post111 == 0 /\ -l_27^post111+l_27^0 == 0 /\ r_258^0-r_258^post111 == 0 /\ -r_236^post111+r_236^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post111 == 0 /\ rcd_363^0-rcd_363^post111 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post111+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post111+rcd_427^0 == 0 /\ -r_234^post111+r_234^0 == 0 /\ rcd_409^0-rcd_409^post111 == 0 /\ -lt_509^post111+lt_509^0 == 0 /\ rcd_273^0-rcd_273^post111 == 0 /\ len_275^0-len_275^post111 == 0 /\ rcd_248^0-rcd_248^post111 == 0 /\ -ct_20^post111+ct_20^0 == 0 /\ head_35^0-head_35^post111 == 0 /\ -y_22^post111+y_22^0 == 0 /\ -rcd_113^post111+rcd_113^0 == 0 /\ r_188^0-r_188^post111 == 0 /\ -r_266^post111+r_266^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post111 == 0 /\ -rcd_105^post111+rcd_105^0 == 0 /\ -r_252^post111+r_252^0 == 0 /\ -len_297^post111+len_297^0 == 0 /\ tmp_37^0-tmp_37^post111 == 0 /\ len_205^0-len_205^post111 == 0 /\ -i_120^post111+i_120^0 == 0 /\ -r_243^post111+r_243^0 == 0 /\ -rcd_253^post111+rcd_253^0 == 0 /\ a_358^0-a_358^post111 == 0 /\ -temp_38^post111+temp_38^0 == 0 /\ -a_276^post111+a_276^0 == 0 /\ -rcd_367^post111+rcd_367^0 == 0), cost: 1
 112: l69 -> l70 : a_148^0'=a_148^post112, r_258^0'=r_258^post112, i_33^0'=i_33^post112, r_167^0'=r_167^post112, t_30^0'=t_30^post112, a_358^0'=a_358^post112, r_42^0'=r_42^post112, len_275^0'=len_275^post112, rcd_409^0'=rcd_409^post112, r_243^0'=r_243^post112, r_246^0'=r_246^post112, x_SLAM_f_21^0'=x_SLAM_f_21^post112, head_35^0'=head_35^post112, rcd_248^0'=rcd_248^post112, lt_509^0'=lt_509^post112, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post112, a_220^0'=a_220^post112, r_272^0'=r_272^post112, rcd_363^0'=rcd_363^post112, r_196^0'=r_196^post112, temp0_34^0'=temp0_34^post112, c_28^0'=c_28^post112, rcd_113^0'=rcd_113^post112, length_32^0'=length_32^post112, rcd_46^0'=rcd_46^post112, r_252^0'=r_252^post112, i_120^0'=i_120^post112, rcd_273^0'=rcd_273^post112, r_159^0'=r_159^post112, t_24^0'=t_24^post112, a_332^0'=a_332^post112, r_29^0'=r_29^post112, len_205^0'=len_205^post112, rcd_387^0'=rcd_387^post112, r_236^0'=r_236^post112, tmp_37^0'=tmp_37^post112, x_23^0'=x_23^post112, head_13^0'=head_13^post112, rcd_244^0'=rcd_244^post112, lt_397^0'=lt_397^post112, result_11^0'=result_11^post112, a_173^0'=a_173^post112, r_266^0'=r_266^post112, l_27^0'=l_27^post112, r_188^0'=r_188^post112, temp0_18^0'=temp0_18^post112, a_388^0'=a_388^post112, rcd_105^0'=rcd_105^post112, len_297^0'=len_297^post112, rcd_427^0'=rcd_427^post112, r_245^0'=r_245^post112, r_247^0'=r_247^post112, y_22^0'=y_22^post112, i_111^0'=i_111^post112, rcd_253^0'=rcd_253^post112, nondet_12^0'=nondet_12^post112, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post112, a_276^0'=a_276^post112, r_274^0'=r_274^post112, rcd_367^0'=rcd_367^post112, r_234^0'=r_234^post112, temp_38^0'=temp_38^post112, x_19^0'=x_19^post112, ct_20^0'=ct_20^post112, rcd_235^0'=rcd_235^post112, lt_17^0'=lt_17^post112, rcd_70^0'=rcd_70^post112, (r_243^0-r_243^post112 == 0 /\ -rcd_367^post112+rcd_367^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post112 == 0 /\ -rcd_105^post112+rcd_105^0 == 0 /\ len_275^0-len_275^post112 == 0 /\ -a_332^post112+a_332^0 == 0 /\ -r_188^post112+r_188^0 == 0 /\ -ct_20^post112+ct_20^0 == 0 /\ rcd_387^0-rcd_387^post112 == 0 /\ -r_245^post112+r_245^0 == 0 /\ y_22^0-y_22^post112 == 0 /\ 1+y_22^0-lt_17^0 <= 0 /\ -temp_38^post112+temp_38^0 == 0 /\ -i_111^post112+i_111^0 == 0 /\ -nondet_12^post112+nondet_12^0 == 0 /\ r_236^0-r_236^post112 == 0 /\ r_258^0-r_258^post112 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post112 == 0 /\ rcd_409^0-rcd_409^post112 == 0 /\ -rcd_70^post112+rcd_70^0 == 0 /\ rcd_363^0-rcd_363^post112 == 0 /\ result_11^0-result_11^post112 == 0 /\ -a_388^post112+a_388^0 == 0 /\ head_35^0-head_35^post112 == 0 /\ -rcd_248^post112+rcd_248^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post112+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ rcd_113^0-rcd_113^post112 == 0 /\ temp0_34^0-temp0_34^post112 == 0 /\ r_42^0-r_42^post112 == 0 /\ -x_19^post112+x_19^0 == 0 /\ len_205^0-len_205^post112 == 0 /\ -a_173^post112+a_173^0 == 0 /\ r_246^0-r_246^post112 == 0 /\ -lt_17^post112+lt_17^0 == 0 /\ -rcd_244^post112+rcd_244^0 == 0 /\ c_28^0-c_28^post112 == 0 /\ -tmp_37^post112+tmp_37^0 == 0 /\ r_272^0-r_272^post112 == 0 /\ rcd_46^0-rcd_46^post112 == 0 /\ r_196^0-r_196^post112 == 0 /\ -rcd_427^post112+rcd_427^0 == 0 /\ lt_509^0-lt_509^post112 == 0 /\ temp0_18^0-temp0_18^post112 == 0 /\ -r_247^post112+r_247^0 == 0 /\ -a_276^post112+a_276^0 == 0 /\ -t_30^post112+t_30^0 == 0 /\ t_24^0-t_24^post112 == 0 /\ a_358^0-a_358^post112 == 0 /\ a_220^0-a_220^post112 == 0 /\ -length_32^post112+length_32^0 == 0 /\ -rcd_253^post112+rcd_253^0 == 0 /\ -r_266^post112+r_266^0 == 0 /\ -lt_397^post112+lt_397^0 == 0 /\ r_159^0-r_159^post112 == 0 /\ head_13^0-head_13^post112 == 0 /\ a_148^0-a_148^post112 == 0 /\ -r_29^post112+r_29^0 == 0 /\ r_167^0-r_167^post112 == 0 /\ i_33^0-i_33^post112 == 0 /\ -rcd_273^post112+rcd_273^0 == 0 /\ -r_234^post112+r_234^0 == 0 /\ -len_297^post112+len_297^0 == 0 /\ l_27^0-l_27^post112 == 0 /\ -rcd_235^post112+rcd_235^0 == 0 /\ r_252^0-r_252^post112 == 0 /\ -r_274^post112+r_274^0 == 0 /\ x_23^0-x_23^post112 == 0 /\ i_120^0-i_120^post112 == 0), cost: 1
 113: l70 -> l71 : a_148^0'=a_148^post113, r_258^0'=r_258^post113, i_33^0'=i_33^post113, r_167^0'=r_167^post113, t_30^0'=t_30^post113, a_358^0'=a_358^post113, r_42^0'=r_42^post113, len_275^0'=len_275^post113, rcd_409^0'=rcd_409^post113, r_243^0'=r_243^post113, r_246^0'=r_246^post113, x_SLAM_f_21^0'=x_SLAM_f_21^post113, head_35^0'=head_35^post113, rcd_248^0'=rcd_248^post113, lt_509^0'=lt_509^post113, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post113, a_220^0'=a_220^post113, r_272^0'=r_272^post113, rcd_363^0'=rcd_363^post113, r_196^0'=r_196^post113, temp0_34^0'=temp0_34^post113, c_28^0'=c_28^post113, rcd_113^0'=rcd_113^post113, length_32^0'=length_32^post113, rcd_46^0'=rcd_46^post113, r_252^0'=r_252^post113, i_120^0'=i_120^post113, rcd_273^0'=rcd_273^post113, r_159^0'=r_159^post113, t_24^0'=t_24^post113, a_332^0'=a_332^post113, r_29^0'=r_29^post113, len_205^0'=len_205^post113, rcd_387^0'=rcd_387^post113, r_236^0'=r_236^post113, tmp_37^0'=tmp_37^post113, x_23^0'=x_23^post113, head_13^0'=head_13^post113, rcd_244^0'=rcd_244^post113, lt_397^0'=lt_397^post113, result_11^0'=result_11^post113, a_173^0'=a_173^post113, r_266^0'=r_266^post113, l_27^0'=l_27^post113, r_188^0'=r_188^post113, temp0_18^0'=temp0_18^post113, a_388^0'=a_388^post113, rcd_105^0'=rcd_105^post113, len_297^0'=len_297^post113, rcd_427^0'=rcd_427^post113, r_245^0'=r_245^post113, r_247^0'=r_247^post113, y_22^0'=y_22^post113, i_111^0'=i_111^post113, rcd_253^0'=rcd_253^post113, nondet_12^0'=nondet_12^post113, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post113, a_276^0'=a_276^post113, r_274^0'=r_274^post113, rcd_367^0'=rcd_367^post113, r_234^0'=r_234^post113, temp_38^0'=temp_38^post113, x_19^0'=x_19^post113, ct_20^0'=ct_20^post113, rcd_235^0'=rcd_235^post113, lt_17^0'=lt_17^post113, rcd_70^0'=rcd_70^post113, (r_196^0-r_196^post113 == 0 /\ -temp0_34^post113+temp0_34^0 == 0 /\ -r_29^post113+r_29^0 == 0 /\ -nondet_12^post113+nondet_12^0 == 0 /\ -r_234^post113+r_234^0 == 0 /\ r_272^0-r_272^post113 == 0 /\ r_167^0-r_167^post113 == 0 /\ -r_266^post113+r_266^0 == 0 /\ -temp0_18^post113+temp0_18^0 == 0 /\ -rcd_235^post113+rcd_235^0 == 0 /\ -head_13^post113+head_13^0 == 0 /\ -c_28^post113+c_28^0 == 0 /\ i_111^0-i_111^post113 == 0 /\ lt_509^0-lt_509^post113 == 0 /\ a_358^0-a_358^post113 == 0 /\ -len_297^post113+len_297^0 == 0 /\ tmp_37^0-tmp_37^post113 == 0 /\ head_35^0-head_35^post113 == 0 /\ -rcd_387^post113+rcd_387^0 == 0 /\ a_276^0-a_276^post113 == 0 /\ -r_188^post113+r_188^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post113+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ i_33^0-i_33^post113 == 0 /\ length_32^0-length_32^post113 == 0 /\ -a_220^post113+a_220^0 == 0 /\ -rcd_367^post113+rcd_367^0 == 0 /\ i_120^0-i_120^post113 == 0 /\ -temp_38^post113+temp_38^0 == 0 /\ r_258^0-r_258^post113 == 0 /\ r_252^0-r_252^post113 == 0 /\ -ct_20^post113+ct_20^0 == 0 /\ -rcd_363^post113+rcd_363^0 == 0 /\ len_275^0-len_275^post113 == 0 /\ r_245^0-r_245^post113 == 0 /\ a_173^0-a_173^post113 == 0 /\ -rcd_253^post113+rcd_253^0 == 0 /\ r_246^0-r_246^post113 == 0 /\ -rcd_105^post113+rcd_105^0 == 0 /\ -r_247^post113+r_247^0 == 0 /\ a_148^0-a_148^post113 == 0 /\ a_332^0-a_332^post113 == 0 /\ rcd_113^0-rcd_113^post113 == 0 /\ r_236^0-r_236^post113 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post113 == 0 /\ rcd_248^0-rcd_248^post113 == 0 /\ -lt_397^post113+lt_397^0 == 0 /\ -a_388^post113+a_388^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post113 == 0 /\ r_243^0-r_243^post113 == 0 /\ -y_22^post113+y_22^0 == 0 /\ -rcd_70^post113+rcd_70^0 == 0 /\ -x_19^post113+x_19^0 == 0 /\ -len_205^post113+len_205^0 == 0 /\ result_11^0-result_11^post113 == 0 /\ -rcd_427^post113+rcd_427^0 == 0 /\ rcd_244^0-rcd_244^post113 == 0 /\ t_24^0-t_24^post113 == 0 /\ -x_23^post113+x_23^0 == 0 /\ r_42^0-r_42^post113 == 0 /\ -r_274^post113+r_274^0 == 0 /\ t_30^0-t_30^post113 == 0 /\ rcd_273^0-rcd_273^post113 == 0 /\ -r_159^post113+r_159^0 == 0 /\ -lt_17^post113+lt_17^0 == 0 /\ rcd_409^0-rcd_409^post113 == 0 /\ -rcd_46^post113+rcd_46^0 == 0 /\ 1-t_24^0+y_22^0 <= 0 /\ -l_27^post113+l_27^0 == 0), cost: 1
 114: l70 -> l71 : a_148^0'=a_148^post114, r_258^0'=r_258^post114, i_33^0'=i_33^post114, r_167^0'=r_167^post114, t_30^0'=t_30^post114, a_358^0'=a_358^post114, r_42^0'=r_42^post114, len_275^0'=len_275^post114, rcd_409^0'=rcd_409^post114, r_243^0'=r_243^post114, r_246^0'=r_246^post114, x_SLAM_f_21^0'=x_SLAM_f_21^post114, head_35^0'=head_35^post114, rcd_248^0'=rcd_248^post114, lt_509^0'=lt_509^post114, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post114, a_220^0'=a_220^post114, r_272^0'=r_272^post114, rcd_363^0'=rcd_363^post114, r_196^0'=r_196^post114, temp0_34^0'=temp0_34^post114, c_28^0'=c_28^post114, rcd_113^0'=rcd_113^post114, length_32^0'=length_32^post114, rcd_46^0'=rcd_46^post114, r_252^0'=r_252^post114, i_120^0'=i_120^post114, rcd_273^0'=rcd_273^post114, r_159^0'=r_159^post114, t_24^0'=t_24^post114, a_332^0'=a_332^post114, r_29^0'=r_29^post114, len_205^0'=len_205^post114, rcd_387^0'=rcd_387^post114, r_236^0'=r_236^post114, tmp_37^0'=tmp_37^post114, x_23^0'=x_23^post114, head_13^0'=head_13^post114, rcd_244^0'=rcd_244^post114, lt_397^0'=lt_397^post114, result_11^0'=result_11^post114, a_173^0'=a_173^post114, r_266^0'=r_266^post114, l_27^0'=l_27^post114, r_188^0'=r_188^post114, temp0_18^0'=temp0_18^post114, a_388^0'=a_388^post114, rcd_105^0'=rcd_105^post114, len_297^0'=len_297^post114, rcd_427^0'=rcd_427^post114, r_245^0'=r_245^post114, r_247^0'=r_247^post114, y_22^0'=y_22^post114, i_111^0'=i_111^post114, rcd_253^0'=rcd_253^post114, nondet_12^0'=nondet_12^post114, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post114, a_276^0'=a_276^post114, r_274^0'=r_274^post114, rcd_367^0'=rcd_367^post114, r_234^0'=r_234^post114, temp_38^0'=temp_38^post114, x_19^0'=x_19^post114, ct_20^0'=ct_20^post114, rcd_235^0'=rcd_235^post114, lt_17^0'=lt_17^post114, rcd_70^0'=rcd_70^post114, (-c_28^post114+c_28^0 == 0 /\ -lt_17^post114+lt_17^0 == 0 /\ -r_247^post114+r_247^0 == 0 /\ rcd_253^0-rcd_253^post114 == 0 /\ -temp0_18^post114+temp0_18^0 == 0 /\ -rcd_387^post114+rcd_387^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post114 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post114+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ i_33^0-i_33^post114 == 0 /\ -rcd_244^post114+rcd_244^0 == 0 /\ -l_27^post114+l_27^0 == 0 /\ -r_236^post114+r_236^0 == 0 /\ -r_234^post114+r_234^0 == 0 /\ r_29^0-r_29^post114 == 0 /\ rcd_248^0-rcd_248^post114 == 0 /\ -rcd_427^post114+rcd_427^0 == 0 /\ r_42^0-r_42^post114 == 0 /\ -a_276^post114+a_276^0 == 0 /\ -rcd_113^post114+rcd_113^0 == 0 /\ rcd_46^0-rcd_46^post114 == 0 /\ t_30^0-t_30^post114 == 0 /\ x_23^0-x_23^post114 == 0 /\ lt_509^0-lt_509^post114 == 0 /\ temp0_34^0-temp0_34^post114 == 0 /\ nondet_12^0-nondet_12^post114 == 0 /\ r_274^0-r_274^post114 == 0 /\ -a_332^post114+a_332^0 == 0 /\ -y_22^post114+y_22^0 == 0 /\ -r_243^post114+r_243^0 == 0 /\ -rcd_367^post114+rcd_367^0 == 0 /\ -len_297^post114+len_297^0 == 0 /\ -r_196^post114+r_196^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post114 == 0 /\ rcd_273^0-rcd_273^post114 == 0 /\ -i_120^post114+i_120^0 == 0 /\ rcd_363^0-rcd_363^post114 == 0 /\ -rcd_235^post114+rcd_235^0 == 0 /\ a_148^0-a_148^post114 == 0 /\ r_266^0-r_266^post114 == 0 /\ head_35^0-head_35^post114 == 0 /\ -temp_38^post114+temp_38^0 == 0 /\ -x_19^post114+x_19^0 == 0 /\ r_159^0-r_159^post114 == 0 /\ rcd_409^0-rcd_409^post114 == 0 /\ -i_111^post114+i_111^0 == 0 /\ r_167^0-r_167^post114 == 0 /\ r_188^0-r_188^post114 == 0 /\ -r_252^post114+r_252^0 == 0 /\ tmp_37^0-tmp_37^post114 == 0 /\ -rcd_105^post114+rcd_105^0 == 0 /\ a_220^0-a_220^post114 == 0 /\ a_388^0-a_388^post114 == 0 /\ len_205^0-len_205^post114 == 0 /\ -r_272^post114+r_272^0 == 0 /\ -ct_20^post114+ct_20^0 == 0 /\ 1+t_24^0-y_22^0 <= 0 /\ -rcd_70^post114+rcd_70^0 == 0 /\ lt_397^0-lt_397^post114 == 0 /\ len_275^0-len_275^post114 == 0 /\ length_32^0-length_32^post114 == 0 /\ -result_11^post114+result_11^0 == 0 /\ r_246^0-r_246^post114 == 0 /\ a_173^0-a_173^post114 == 0 /\ -r_245^post114+r_245^0 == 0 /\ -a_358^post114+a_358^0 == 0 /\ -t_24^post114+t_24^0 == 0 /\ r_258^0-r_258^post114 == 0 /\ -head_13^post114+head_13^0 == 0), cost: 1
 115: l71 -> l55 : a_148^0'=a_148^post115, r_258^0'=r_258^post115, i_33^0'=i_33^post115, r_167^0'=r_167^post115, t_30^0'=t_30^post115, a_358^0'=a_358^post115, r_42^0'=r_42^post115, len_275^0'=len_275^post115, rcd_409^0'=rcd_409^post115, r_243^0'=r_243^post115, r_246^0'=r_246^post115, x_SLAM_f_21^0'=x_SLAM_f_21^post115, head_35^0'=head_35^post115, rcd_248^0'=rcd_248^post115, lt_509^0'=lt_509^post115, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post115, a_220^0'=a_220^post115, r_272^0'=r_272^post115, rcd_363^0'=rcd_363^post115, r_196^0'=r_196^post115, temp0_34^0'=temp0_34^post115, c_28^0'=c_28^post115, rcd_113^0'=rcd_113^post115, length_32^0'=length_32^post115, rcd_46^0'=rcd_46^post115, r_252^0'=r_252^post115, i_120^0'=i_120^post115, rcd_273^0'=rcd_273^post115, r_159^0'=r_159^post115, t_24^0'=t_24^post115, a_332^0'=a_332^post115, r_29^0'=r_29^post115, len_205^0'=len_205^post115, rcd_387^0'=rcd_387^post115, r_236^0'=r_236^post115, tmp_37^0'=tmp_37^post115, x_23^0'=x_23^post115, head_13^0'=head_13^post115, rcd_244^0'=rcd_244^post115, lt_397^0'=lt_397^post115, result_11^0'=result_11^post115, a_173^0'=a_173^post115, r_266^0'=r_266^post115, l_27^0'=l_27^post115, r_188^0'=r_188^post115, temp0_18^0'=temp0_18^post115, a_388^0'=a_388^post115, rcd_105^0'=rcd_105^post115, len_297^0'=len_297^post115, rcd_427^0'=rcd_427^post115, r_245^0'=r_245^post115, r_247^0'=r_247^post115, y_22^0'=y_22^post115, i_111^0'=i_111^post115, rcd_253^0'=rcd_253^post115, nondet_12^0'=nondet_12^post115, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post115, a_276^0'=a_276^post115, r_274^0'=r_274^post115, rcd_367^0'=rcd_367^post115, r_234^0'=r_234^post115, temp_38^0'=temp_38^post115, x_19^0'=x_19^post115, ct_20^0'=ct_20^post115, rcd_235^0'=rcd_235^post115, lt_17^0'=lt_17^post115, rcd_70^0'=rcd_70^post115, (-y_22^post115+y_22^0 == 0 /\ a_220^0-a_220^post115 == 0 /\ rcd_363^0-rcd_363^post115 == 0 /\ a_358^0-a_358^post115 == 0 /\ head_13^0-head_13^post115 == 0 /\ rcd_409^0-rcd_409^post115 == 0 /\ -rcd_253^post115+rcd_253^0 == 0 /\ -r_159^post115+r_159^0 == 0 /\ -rcd_113^post115+rcd_113^0 == 0 /\ rcd_387^0-rcd_387^post115 == 0 /\ -tmp_37^post115+tmp_37^0 == 0 /\ r_266^0-r_266^post115 == 0 /\ -a_276^post115+a_276^0 == 0 /\ -rcd_70^post115+rcd_70^0 == 0 /\ -x_19^post115+x_19^0 == 0 /\ -lt_397^post115+lt_397^0 == 0 /\ a_148^0-a_148^post115 == 0 /\ temp0_34^0-temp0_34^post115 == 0 /\ len_205^0-len_205^post115 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post115 == 0 /\ -r_29^post115+r_29^0 == 0 /\ -i_111^post115+i_111^0 == 0 /\ -length_32^post115+length_32^0 == 0 /\ r_196^0-r_196^post115 == 0 /\ r_272^0-r_272^post115 == 0 /\ -len_297^post115+len_297^0 == 0 /\ len_275^0-len_275^post115 == 0 /\ -r_234^post115+r_234^0 == 0 /\ -rcd_273^post115+rcd_273^0 == 0 /\ head_35^0-head_35^post115 == 0 /\ -rcd_427^post115+rcd_427^0 == 0 /\ -lt_17^post115+lt_17^0 == 0 /\ t_24^0-t_24^post115 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post115 == 0 /\ -r_274^post115+r_274^0 == 0 /\ r_167^0-r_167^post115 == 0 /\ r_258^0-r_258^post115 == 0 /\ r_252^0-r_252^post115 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ i_33^0-i_33^post115 == 0 /\ l_27^0-l_27^post115 == 0 /\ -r_188^post115+r_188^0 == 0 /\ rcd_105^0-rcd_105^post115 == 0 /\ i_120^0-i_120^post115 == 0 /\ -x_23^post115+x_23^0 == 0 /\ -temp_38^post115+temp_38^0 == 0 /\ -rcd_367^post115+rcd_367^0 == 0 /\ -result_11^post115+result_11^0 == 0 /\ -nondet_12^post115+nondet_12^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post115 == 0 /\ -a_388^post115+a_388^0 == 0 /\ rcd_235^0-rcd_235^post115 == 0 /\ c_28^0-c_28^post115 == 0 /\ -r_42^post115+r_42^0 == 0 /\ r_243^0-r_243^post115 == 0 /\ -r_247^post115+r_247^0 == 0 /\ rcd_46^0-rcd_46^post115 == 0 /\ -r_236^post115+r_236^0 == 0 /\ lt_509^0-lt_509^post115 == 0 /\ a_332^0-a_332^post115 == 0 /\ temp0_18^0-temp0_18^post115 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -rcd_248^post115+rcd_248^0 == 0 /\ t_30^0-t_30^post115 == 0 /\ -r_245^post115+r_245^0 == 0 /\ -a_173^post115+a_173^0 == 0 /\ -rcd_244^post115+rcd_244^0 == 0 /\ -ct_20^post115+ct_20^0 == 0 /\ -r_246^post115+r_246^0 == 0), cost: 1
 117: l72 -> l73 : a_148^0'=a_148^post117, r_258^0'=r_258^post117, i_33^0'=i_33^post117, r_167^0'=r_167^post117, t_30^0'=t_30^post117, a_358^0'=a_358^post117, r_42^0'=r_42^post117, len_275^0'=len_275^post117, rcd_409^0'=rcd_409^post117, r_243^0'=r_243^post117, r_246^0'=r_246^post117, x_SLAM_f_21^0'=x_SLAM_f_21^post117, head_35^0'=head_35^post117, rcd_248^0'=rcd_248^post117, lt_509^0'=lt_509^post117, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post117, a_220^0'=a_220^post117, r_272^0'=r_272^post117, rcd_363^0'=rcd_363^post117, r_196^0'=r_196^post117, temp0_34^0'=temp0_34^post117, c_28^0'=c_28^post117, rcd_113^0'=rcd_113^post117, length_32^0'=length_32^post117, rcd_46^0'=rcd_46^post117, r_252^0'=r_252^post117, i_120^0'=i_120^post117, rcd_273^0'=rcd_273^post117, r_159^0'=r_159^post117, t_24^0'=t_24^post117, a_332^0'=a_332^post117, r_29^0'=r_29^post117, len_205^0'=len_205^post117, rcd_387^0'=rcd_387^post117, r_236^0'=r_236^post117, tmp_37^0'=tmp_37^post117, x_23^0'=x_23^post117, head_13^0'=head_13^post117, rcd_244^0'=rcd_244^post117, lt_397^0'=lt_397^post117, result_11^0'=result_11^post117, a_173^0'=a_173^post117, r_266^0'=r_266^post117, l_27^0'=l_27^post117, r_188^0'=r_188^post117, temp0_18^0'=temp0_18^post117, a_388^0'=a_388^post117, rcd_105^0'=rcd_105^post117, len_297^0'=len_297^post117, rcd_427^0'=rcd_427^post117, r_245^0'=r_245^post117, r_247^0'=r_247^post117, y_22^0'=y_22^post117, i_111^0'=i_111^post117, rcd_253^0'=rcd_253^post117, nondet_12^0'=nondet_12^post117, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post117, a_276^0'=a_276^post117, r_274^0'=r_274^post117, rcd_367^0'=rcd_367^post117, r_234^0'=r_234^post117, temp_38^0'=temp_38^post117, x_19^0'=x_19^post117, ct_20^0'=ct_20^post117, rcd_235^0'=rcd_235^post117, lt_17^0'=lt_17^post117, rcd_70^0'=rcd_70^post117, (-ct_20^post117+ct_20^0 == 0 /\ r_243^0-r_243^post117 == 0 /\ r_272^0-r_272^post117 == 0 /\ 1-x_23^0+y_22^0 <= 0 /\ -i_120^post117+i_120^0 == 0 /\ r_196^0-r_196^post117 == 0 /\ r_167^0-r_167^post117 == 0 /\ r_188^0-r_188^post117 == 0 /\ -temp_38^post117+temp_38^0 == 0 /\ -result_11^post117+result_11^0 == 0 /\ -i_111^post117+i_111^0 == 0 /\ t_30^0-t_30^post117 == 0 /\ -rcd_367^post117+rcd_367^0 == 0 /\ -a_332^post117+a_332^0 == 0 /\ r_247^0-r_247^post117 == 0 /\ head_13^0-head_13^post117 == 0 /\ r_258^0-r_258^post117 == 0 /\ -x_19^post117+x_19^0 == 0 /\ -nondet_12^post117+nondet_12^0 == 0 /\ -r_236^post117+r_236^0 == 0 /\ rcd_113^0-rcd_113^post117 == 0 /\ i_33^0-i_33^post117 == 0 /\ -a_388^post117+a_388^0 == 0 /\ a_358^0-a_358^post117 == 0 /\ len_205^0-len_205^post117 == 0 /\ -a_173^post117+a_173^0 == 0 /\ -r_246^post117+r_246^0 == 0 /\ -rcd_248^post117+rcd_248^0 == 0 /\ a_220^0-a_220^post117 == 0 /\ -r_245^post117+r_245^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post117+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_274^0-r_274^post117 == 0 /\ -rcd_427^post117+rcd_427^0 == 0 /\ rcd_46^0-rcd_46^post117 == 0 /\ -a_276^post117+a_276^0 == 0 /\ -lt_509^post117+lt_509^0 == 0 /\ len_275^0-len_275^post117 == 0 /\ -rcd_244^post117+rcd_244^0 == 0 /\ x_23^0-x_23^post117 == 0 /\ -rcd_70^post117+rcd_70^0 == 0 /\ t_24^0-t_24^post117 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post117 == 0 /\ -rcd_387^post117+rcd_387^0 == 0 /\ -rcd_253^post117+rcd_253^0 == 0 /\ rcd_409^0-rcd_409^post117 == 0 /\ -rcd_235^post117+rcd_235^0 == 0 /\ rcd_363^0-rcd_363^post117 == 0 /\ -len_297^post117+len_297^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post117 == 0 /\ r_252^0-r_252^post117 == 0 /\ -lt_397^post117+lt_397^0 == 0 /\ r_159^0-r_159^post117 == 0 /\ head_35^0-head_35^post117 == 0 /\ -rcd_273^post117+rcd_273^0 == 0 /\ -lt_17^post117+lt_17^0 == 0 /\ temp0_34^0-temp0_34^post117 == 0 /\ rcd_105^0-rcd_105^post117 == 0 /\ -length_32^post117+length_32^0 == 0 /\ -l_27^post117+l_27^0 == 0 /\ -temp0_18^post117+temp0_18^0 == 0 /\ -r_234^post117+r_234^0 == 0 /\ r_42^0-r_42^post117 == 0 /\ -y_22^post117+y_22^0 == 0 /\ -r_29^post117+r_29^0 == 0 /\ -tmp_37^post117+tmp_37^0 == 0 /\ a_148^0-a_148^post117 == 0 /\ r_266^0-r_266^post117 == 0 /\ c_28^0-c_28^post117 == 0), cost: 1
 118: l72 -> l73 : a_148^0'=a_148^post118, r_258^0'=r_258^post118, i_33^0'=i_33^post118, r_167^0'=r_167^post118, t_30^0'=t_30^post118, a_358^0'=a_358^post118, r_42^0'=r_42^post118, len_275^0'=len_275^post118, rcd_409^0'=rcd_409^post118, r_243^0'=r_243^post118, r_246^0'=r_246^post118, x_SLAM_f_21^0'=x_SLAM_f_21^post118, head_35^0'=head_35^post118, rcd_248^0'=rcd_248^post118, lt_509^0'=lt_509^post118, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post118, a_220^0'=a_220^post118, r_272^0'=r_272^post118, rcd_363^0'=rcd_363^post118, r_196^0'=r_196^post118, temp0_34^0'=temp0_34^post118, c_28^0'=c_28^post118, rcd_113^0'=rcd_113^post118, length_32^0'=length_32^post118, rcd_46^0'=rcd_46^post118, r_252^0'=r_252^post118, i_120^0'=i_120^post118, rcd_273^0'=rcd_273^post118, r_159^0'=r_159^post118, t_24^0'=t_24^post118, a_332^0'=a_332^post118, r_29^0'=r_29^post118, len_205^0'=len_205^post118, rcd_387^0'=rcd_387^post118, r_236^0'=r_236^post118, tmp_37^0'=tmp_37^post118, x_23^0'=x_23^post118, head_13^0'=head_13^post118, rcd_244^0'=rcd_244^post118, lt_397^0'=lt_397^post118, result_11^0'=result_11^post118, a_173^0'=a_173^post118, r_266^0'=r_266^post118, l_27^0'=l_27^post118, r_188^0'=r_188^post118, temp0_18^0'=temp0_18^post118, a_388^0'=a_388^post118, rcd_105^0'=rcd_105^post118, len_297^0'=len_297^post118, rcd_427^0'=rcd_427^post118, r_245^0'=r_245^post118, r_247^0'=r_247^post118, y_22^0'=y_22^post118, i_111^0'=i_111^post118, rcd_253^0'=rcd_253^post118, nondet_12^0'=nondet_12^post118, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post118, a_276^0'=a_276^post118, r_274^0'=r_274^post118, rcd_367^0'=rcd_367^post118, r_234^0'=r_234^post118, temp_38^0'=temp_38^post118, x_19^0'=x_19^post118, ct_20^0'=ct_20^post118, rcd_235^0'=rcd_235^post118, lt_17^0'=lt_17^post118, rcd_70^0'=rcd_70^post118, (-temp0_34^post118+temp0_34^0 == 0 /\ -rcd_273^post118+rcd_273^0 == 0 /\ -r_245^post118+r_245^0 == 0 /\ y_22^0-y_22^post118 == 0 /\ -rcd_235^post118+rcd_235^0 == 0 /\ r_196^0-r_196^post118 == 0 /\ c_28^0-c_28^post118 == 0 /\ -r_234^post118+r_234^0 == 0 /\ -rcd_46^post118+rcd_46^0 == 0 /\ -r_29^post118+r_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post118+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_367^post118+rcd_367^0 == 0 /\ -r_188^post118+r_188^0 == 0 /\ -rcd_363^post118+rcd_363^0 == 0 /\ result_11^0-result_11^post118 == 0 /\ rcd_244^0-rcd_244^post118 == 0 /\ r_252^0-r_252^post118 == 0 /\ -a_173^post118+a_173^0 == 0 /\ 1+x_23^0-y_22^0 <= 0 /\ temp0_18^0-temp0_18^post118 == 0 /\ -x_SLAM_f_21^post118+x_SLAM_f_21^0 == 0 /\ t_30^0-t_30^post118 == 0 /\ r_42^0-r_42^post118 == 0 /\ -temp_38^post118+temp_38^0 == 0 /\ -ct_20^post118+ct_20^0 == 0 /\ length_32^0-length_32^post118 == 0 /\ -a_276^post118+a_276^0 == 0 /\ a_148^0-a_148^post118 == 0 /\ -rcd_105^post118+rcd_105^0 == 0 /\ rcd_409^0-rcd_409^post118 == 0 /\ -r_247^post118+r_247^0 == 0 /\ r_272^0-r_272^post118 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post118+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_253^post118+rcd_253^0 == 0 /\ -r_159^post118+r_159^0 == 0 /\ r_167^0-r_167^post118 == 0 /\ -i_111^post118+i_111^0 == 0 /\ rcd_387^0-rcd_387^post118 == 0 /\ -rcd_70^post118+rcd_70^0 == 0 /\ a_332^0-a_332^post118 == 0 /\ -x_19^post118+x_19^0 == 0 /\ -lt_397^post118+lt_397^0 == 0 /\ r_236^0-r_236^post118 == 0 /\ -tmp_37^post118+tmp_37^0 == 0 /\ -a_388^post118+a_388^0 == 0 /\ lt_509^0-lt_509^post118 == 0 /\ -i_33^post118+i_33^0 == 0 /\ a_358^0-a_358^post118 == 0 /\ r_243^0-r_243^post118 == 0 /\ l_27^0-l_27^post118 == 0 /\ head_35^0-head_35^post118 == 0 /\ -r_274^post118+r_274^0 == 0 /\ t_24^0-t_24^post118 == 0 /\ -lt_17^post118+lt_17^0 == 0 /\ a_220^0-a_220^post118 == 0 /\ -x_23^post118+x_23^0 == 0 /\ r_258^0-r_258^post118 == 0 /\ i_120^0-i_120^post118 == 0 /\ -len_205^post118+len_205^0 == 0 /\ rcd_248^0-rcd_248^post118 == 0 /\ -r_266^post118+r_266^0 == 0 /\ len_275^0-len_275^post118 == 0 /\ -rcd_427^post118+rcd_427^0 == 0 /\ len_297^0-len_297^post118 == 0 /\ rcd_113^0-rcd_113^post118 == 0 /\ head_13^0-head_13^post118 == 0 /\ r_246^0-r_246^post118 == 0 /\ -nondet_12^post118+nondet_12^0 == 0), cost: 1
 119: l73 -> l74 : a_148^0'=a_148^post119, r_258^0'=r_258^post119, i_33^0'=i_33^post119, r_167^0'=r_167^post119, t_30^0'=t_30^post119, a_358^0'=a_358^post119, r_42^0'=r_42^post119, len_275^0'=len_275^post119, rcd_409^0'=rcd_409^post119, r_243^0'=r_243^post119, r_246^0'=r_246^post119, x_SLAM_f_21^0'=x_SLAM_f_21^post119, head_35^0'=head_35^post119, rcd_248^0'=rcd_248^post119, lt_509^0'=lt_509^post119, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post119, a_220^0'=a_220^post119, r_272^0'=r_272^post119, rcd_363^0'=rcd_363^post119, r_196^0'=r_196^post119, temp0_34^0'=temp0_34^post119, c_28^0'=c_28^post119, rcd_113^0'=rcd_113^post119, length_32^0'=length_32^post119, rcd_46^0'=rcd_46^post119, r_252^0'=r_252^post119, i_120^0'=i_120^post119, rcd_273^0'=rcd_273^post119, r_159^0'=r_159^post119, t_24^0'=t_24^post119, a_332^0'=a_332^post119, r_29^0'=r_29^post119, len_205^0'=len_205^post119, rcd_387^0'=rcd_387^post119, r_236^0'=r_236^post119, tmp_37^0'=tmp_37^post119, x_23^0'=x_23^post119, head_13^0'=head_13^post119, rcd_244^0'=rcd_244^post119, lt_397^0'=lt_397^post119, result_11^0'=result_11^post119, a_173^0'=a_173^post119, r_266^0'=r_266^post119, l_27^0'=l_27^post119, r_188^0'=r_188^post119, temp0_18^0'=temp0_18^post119, a_388^0'=a_388^post119, rcd_105^0'=rcd_105^post119, len_297^0'=len_297^post119, rcd_427^0'=rcd_427^post119, r_245^0'=r_245^post119, r_247^0'=r_247^post119, y_22^0'=y_22^post119, i_111^0'=i_111^post119, rcd_253^0'=rcd_253^post119, nondet_12^0'=nondet_12^post119, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post119, a_276^0'=a_276^post119, r_274^0'=r_274^post119, rcd_367^0'=rcd_367^post119, r_234^0'=r_234^post119, temp_38^0'=temp_38^post119, x_19^0'=x_19^post119, ct_20^0'=ct_20^post119, rcd_235^0'=rcd_235^post119, lt_17^0'=lt_17^post119, rcd_70^0'=rcd_70^post119, (0 == 0 /\ rcd_113^0-rcd_113^post119 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post119+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_148^0-a_148^post119 == 0 /\ -rcd_427^post119+rcd_427^0 == 0 /\ -temp0_18^post119+temp0_18^0 == 0 /\ -rcd_363^0+rcd_46^0 <= 0 /\ rcd_248^0-rcd_248^post119 == 0 /\ rcd_409^0-rcd_409^post119 == 0 /\ -r_236^post119+r_236^0 == 0 /\ l_27^0-l_27^post119 == 0 /\ r_167^0-r_167^post119 == 0 /\ -c_28^post119+c_28^0 == 0 /\ y_22^0-ct_20^0 <= 0 /\ a_358^0-a_358^post119 == 0 /\ -r_247^post119+r_247^0 == 0 /\ i_33^0-i_33^post119 == 0 /\ -r_266^post119+r_266^0 == 0 /\ -temp0_34^post119+temp0_34^0 == 0 /\ t_24^post119-x_23^0 == 0 /\ -lt_17^post119+lt_17^0 == 0 /\ lt_397^0-lt_397^post119 == 0 /\ r_243^0-r_243^post119 == 0 /\ i_120^0-i_120^post119 == 0 /\ len_275^0-len_275^post119 == 0 /\ -r_196^post119+r_196^0 == 0 /\ rcd_363^0-rcd_46^0 <= 0 /\ -r_234^post119+r_234^0 == 0 /\ r_246^0-r_246^post119 == 0 /\ -a_276^post119+a_276^0 == 0 /\ a_173^0-a_173^post119 == 0 /\ -rcd_253^post119+rcd_253^0 == 0 /\ -head_35^post119+head_35^0 == 0 /\ y_22^0-y_22^post119 == 0 /\ -rcd_235^post119+rcd_235^0 == 0 /\ -y_22^0+ct_20^0 <= 0 /\ -rcd_387^post119+rcd_387^0 == 0 /\ -r_274^post119+r_274^0 == 0 /\ rcd_363^0-rcd_363^post119 == 0 /\ -len_297^post119+len_297^0 == 0 /\ rcd_46^0-rcd_46^post119 == 0 /\ r_258^0-r_258^post119 == 0 /\ -temp_38^post119+temp_38^0 == 0 /\ -r_252^post119+r_252^0 == 0 /\ -r_188^post119+r_188^0 == 0 /\ rcd_367^0-rcd_367^post119 == 0 /\ a_358^0-a_332^post119 <= 0 /\ -x_23^post119+x_23^0 == 0 /\ -t_24^post119+lt_17^0 <= 0 /\ -r_272^post119+r_272^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post119 == 0 /\ -x_19^0+lt_17^0 <= 0 /\ -ct_20^post119+ct_20^0 == 0 /\ -rcd_105^post119+rcd_105^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ tmp_37^0-tmp_37^post119 == 0 /\ -ct_20^0 <= 0 /\ r_29^0-r_29^post119 == 0 /\ -i_111^post119+i_111^0 == 0 /\ x_SLAM_f_21^0-x_19^0 <= 0 /\ r_42^0-r_42^post119 == 0 /\ -nondet_12^post119+nondet_12^0 == 0 /\ t_30^0-t_30^post119 == 0 /\ -rcd_70^post119+rcd_70^0 == 0 /\ -result_11^post119+result_11^0 == 0 /\ lt_509^0-lt_509^post119 == 0 /\ -a_358^0+a_332^post119 <= 0 /\ y_22^0 <= 0 /\ -y_22^0 <= 0 /\ t_24^post119-lt_17^0 <= 0 /\ -len_205^post119+len_205^0 == 0 /\ length_32^0-length_32^post119 == 0 /\ a_220^0-a_220^post119 == 0 /\ -r_245^post119+r_245^0 == 0 /\ x_19^0-lt_17^0 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post119 == 0 /\ -x_19^post119+x_19^0 == 0 /\ r_159^0-r_159^post119 == 0 /\ rcd_244^0-rcd_244^post119 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ ct_20^0 <= 0 /\ rcd_273^0-rcd_273^post119 == 0 /\ -head_13^post119+head_13^0 == 0 /\ -x_SLAM_f_21^0+x_19^0 <= 0 /\ -a_388^post119+a_388^0 == 0), cost: 1
 120: l74 -> l75 : a_148^0'=a_148^post120, r_258^0'=r_258^post120, i_33^0'=i_33^post120, r_167^0'=r_167^post120, t_30^0'=t_30^post120, a_358^0'=a_358^post120, r_42^0'=r_42^post120, len_275^0'=len_275^post120, rcd_409^0'=rcd_409^post120, r_243^0'=r_243^post120, r_246^0'=r_246^post120, x_SLAM_f_21^0'=x_SLAM_f_21^post120, head_35^0'=head_35^post120, rcd_248^0'=rcd_248^post120, lt_509^0'=lt_509^post120, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post120, a_220^0'=a_220^post120, r_272^0'=r_272^post120, rcd_363^0'=rcd_363^post120, r_196^0'=r_196^post120, temp0_34^0'=temp0_34^post120, c_28^0'=c_28^post120, rcd_113^0'=rcd_113^post120, length_32^0'=length_32^post120, rcd_46^0'=rcd_46^post120, r_252^0'=r_252^post120, i_120^0'=i_120^post120, rcd_273^0'=rcd_273^post120, r_159^0'=r_159^post120, t_24^0'=t_24^post120, a_332^0'=a_332^post120, r_29^0'=r_29^post120, len_205^0'=len_205^post120, rcd_387^0'=rcd_387^post120, r_236^0'=r_236^post120, tmp_37^0'=tmp_37^post120, x_23^0'=x_23^post120, head_13^0'=head_13^post120, rcd_244^0'=rcd_244^post120, lt_397^0'=lt_397^post120, result_11^0'=result_11^post120, a_173^0'=a_173^post120, r_266^0'=r_266^post120, l_27^0'=l_27^post120, r_188^0'=r_188^post120, temp0_18^0'=temp0_18^post120, a_388^0'=a_388^post120, rcd_105^0'=rcd_105^post120, len_297^0'=len_297^post120, rcd_427^0'=rcd_427^post120, r_245^0'=r_245^post120, r_247^0'=r_247^post120, y_22^0'=y_22^post120, i_111^0'=i_111^post120, rcd_253^0'=rcd_253^post120, nondet_12^0'=nondet_12^post120, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post120, a_276^0'=a_276^post120, r_274^0'=r_274^post120, rcd_367^0'=rcd_367^post120, r_234^0'=r_234^post120, temp_38^0'=temp_38^post120, x_19^0'=x_19^post120, ct_20^0'=ct_20^post120, rcd_235^0'=rcd_235^post120, lt_17^0'=lt_17^post120, rcd_70^0'=rcd_70^post120, (-rcd_244^post120+rcd_244^0 == 0 /\ -tmp_37^post120+tmp_37^0 == 0 /\ -a_276^post120+a_276^0 == 0 /\ r_258^0-r_258^post120 == 0 /\ r_29^0-r_29^post120 == 0 /\ -y_22^post120+y_22^0 == 0 /\ r_159^0-r_159^post120 == 0 /\ head_35^0-head_35^post120 == 0 /\ r_42^0-r_42^post120 == 0 /\ -rcd_253^post120+rcd_253^0 == 0 /\ r_272^0-r_272^post120 == 0 /\ a_220^0-a_220^post120 == 0 /\ -x_19^post120+x_19^0 == 0 /\ -rcd_113^post120+rcd_113^0 == 0 /\ -rcd_70^post120+rcd_70^0 == 0 /\ -rcd_387^post120+rcd_387^0 == 0 /\ length_32^0-length_32^post120 == 0 /\ x_23^0-x_23^post120 == 0 /\ -temp0_18^post120+temp0_18^0 == 0 /\ rcd_273^0-rcd_273^post120 == 0 /\ -r_274^post120+r_274^0 == 0 /\ r_196^0-r_196^post120 == 0 /\ t_30^0-t_30^post120 == 0 /\ -lt_17^post120+lt_17^0 == 0 /\ i_111^0-i_111^post120 == 0 /\ -l_27^post120+l_27^0 == 0 /\ -r_234^post120+r_234^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post120 == 0 /\ -a_332^post120+a_332^0 == 0 /\ r_252^0-r_252^post120 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post120 == 0 /\ rcd_409^0-rcd_409^post120 == 0 /\ -a_358^post120+a_358^0 == 0 /\ -nondet_12^post120+nondet_12^0 == 0 /\ -i_120^post120+i_120^0 == 0 /\ -rcd_367^post120+rcd_367^0 == 0 /\ -temp_38^post120+temp_38^0 == 0 /\ i_33^0-i_33^post120 == 0 /\ -len_297^post120+len_297^0 == 0 /\ r_266^0-r_266^post120 == 0 /\ -rcd_235^post120+rcd_235^0 == 0 /\ rcd_248^0-rcd_248^post120 == 0 /\ -result_11^post120+result_11^0 == 0 /\ len_205^0-len_205^post120 == 0 /\ 1-lt_17^0 <= 0 /\ a_148^0-a_148^post120 == 0 /\ temp0_34^0-temp0_34^post120 == 0 /\ -r_236^post120+r_236^0 == 0 /\ rcd_427^0-rcd_427^post120 == 0 /\ c_28^0-c_28^post120 == 0 /\ -r_247^post120+r_247^0 == 0 /\ -head_13^post120+head_13^0 == 0 /\ r_246^0-r_246^post120 == 0 /\ rcd_46^0-rcd_46^post120 == 0 /\ a_388^0-a_388^post120 == 0 /\ lt_509^0-lt_509^post120 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post120+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_243^0-r_243^post120 == 0 /\ len_275^0-len_275^post120 == 0 /\ r_167^0-r_167^post120 == 0 /\ lt_397^0-lt_397^post120 == 0 /\ -r_245^post120+r_245^0 == 0 /\ t_24^0-t_24^post120 == 0 /\ -ct_20^post120+ct_20^0 == 0 /\ -rcd_105^post120+rcd_105^0 == 0 /\ r_188^0-r_188^post120 == 0 /\ rcd_363^0-rcd_363^post120 == 0 /\ -a_173^post120+a_173^0 == 0), cost: 1
 121: l74 -> l75 : a_148^0'=a_148^post121, r_258^0'=r_258^post121, i_33^0'=i_33^post121, r_167^0'=r_167^post121, t_30^0'=t_30^post121, a_358^0'=a_358^post121, r_42^0'=r_42^post121, len_275^0'=len_275^post121, rcd_409^0'=rcd_409^post121, r_243^0'=r_243^post121, r_246^0'=r_246^post121, x_SLAM_f_21^0'=x_SLAM_f_21^post121, head_35^0'=head_35^post121, rcd_248^0'=rcd_248^post121, lt_509^0'=lt_509^post121, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post121, a_220^0'=a_220^post121, r_272^0'=r_272^post121, rcd_363^0'=rcd_363^post121, r_196^0'=r_196^post121, temp0_34^0'=temp0_34^post121, c_28^0'=c_28^post121, rcd_113^0'=rcd_113^post121, length_32^0'=length_32^post121, rcd_46^0'=rcd_46^post121, r_252^0'=r_252^post121, i_120^0'=i_120^post121, rcd_273^0'=rcd_273^post121, r_159^0'=r_159^post121, t_24^0'=t_24^post121, a_332^0'=a_332^post121, r_29^0'=r_29^post121, len_205^0'=len_205^post121, rcd_387^0'=rcd_387^post121, r_236^0'=r_236^post121, tmp_37^0'=tmp_37^post121, x_23^0'=x_23^post121, head_13^0'=head_13^post121, rcd_244^0'=rcd_244^post121, lt_397^0'=lt_397^post121, result_11^0'=result_11^post121, a_173^0'=a_173^post121, r_266^0'=r_266^post121, l_27^0'=l_27^post121, r_188^0'=r_188^post121, temp0_18^0'=temp0_18^post121, a_388^0'=a_388^post121, rcd_105^0'=rcd_105^post121, len_297^0'=len_297^post121, rcd_427^0'=rcd_427^post121, r_245^0'=r_245^post121, r_247^0'=r_247^post121, y_22^0'=y_22^post121, i_111^0'=i_111^post121, rcd_253^0'=rcd_253^post121, nondet_12^0'=nondet_12^post121, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post121, a_276^0'=a_276^post121, r_274^0'=r_274^post121, rcd_367^0'=rcd_367^post121, r_234^0'=r_234^post121, temp_38^0'=temp_38^post121, x_19^0'=x_19^post121, ct_20^0'=ct_20^post121, rcd_235^0'=rcd_235^post121, lt_17^0'=lt_17^post121, rcd_70^0'=rcd_70^post121, (len_205^0-len_205^post121 == 0 /\ -a_388^post121+a_388^0 == 0 /\ -x_19^post121+x_19^0 == 0 /\ i_33^0-i_33^post121 == 0 /\ t_24^0-t_24^post121 == 0 /\ temp0_34^0-temp0_34^post121 == 0 /\ nondet_12^0-nondet_12^post121 == 0 /\ -lt_397^post121+lt_397^0 == 0 /\ -i_111^post121+i_111^0 == 0 /\ head_13^0-head_13^post121 == 0 /\ rcd_46^0-rcd_46^post121 == 0 /\ r_247^0-r_247^post121 == 0 /\ r_252^0-r_252^post121 == 0 /\ -r_274^post121+r_274^0 == 0 /\ r_246^0-r_246^post121 == 0 /\ rcd_113^0-rcd_113^post121 == 0 /\ -tmp_37^post121+tmp_37^0 == 0 /\ len_275^0-len_275^post121 == 0 /\ r_167^0-r_167^post121 == 0 /\ rcd_387^0-rcd_387^post121 == 0 /\ a_148^0-a_148^post121 == 0 /\ c_28^0-c_28^post121 == 0 /\ -length_32^post121+length_32^0 == 0 /\ -lt_17^post121+lt_17^0 == 0 /\ r_236^0-r_236^post121 == 0 /\ -rcd_70^post121+rcd_70^0 == 0 /\ -x_23^post121+x_23^0 == 0 /\ lt_509^0-lt_509^post121 == 0 /\ result_11^0-result_11^post121 == 0 /\ -r_159^post121+r_159^0 == 0 /\ 1+lt_17^0 <= 0 /\ -temp0_18^post121+temp0_18^0 == 0 /\ -rcd_235^post121+rcd_235^0 == 0 /\ a_220^0-a_220^post121 == 0 /\ t_30^0-t_30^post121 == 0 /\ i_120^0-i_120^post121 == 0 /\ -rcd_273^post121+rcd_273^0 == 0 /\ -r_266^post121+r_266^0 == 0 /\ r_258^0-r_258^post121 == 0 /\ -l_27^post121+l_27^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post121+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post121+rcd_427^0 == 0 /\ -r_234^post121+r_234^0 == 0 /\ -a_173^post121+a_173^0 == 0 /\ rcd_409^0-rcd_409^post121 == 0 /\ -r_245^post121+r_245^0 == 0 /\ -r_42^post121+r_42^0 == 0 /\ -r_29^post121+r_29^0 == 0 /\ -ct_20^post121+ct_20^0 == 0 /\ r_272^0-r_272^post121 == 0 /\ -x_SLAM_f_21^post121+x_SLAM_f_21^0 == 0 /\ -y_22^post121+y_22^0 == 0 /\ r_196^0-r_196^post121 == 0 /\ -rcd_244^post121+rcd_244^0 == 0 /\ -rcd_105^post121+rcd_105^0 == 0 /\ rcd_248^0-rcd_248^post121 == 0 /\ r_188^0-r_188^post121 == 0 /\ a_332^0-a_332^post121 == 0 /\ -len_297^post121+len_297^0 == 0 /\ head_35^0-head_35^post121 == 0 /\ -temp_38^post121+temp_38^0 == 0 /\ -r_243^post121+r_243^0 == 0 /\ -rcd_363^post121+rcd_363^0 == 0 /\ -rcd_253^post121+rcd_253^0 == 0 /\ -a_276^post121+a_276^0 == 0 /\ a_358^0-a_358^post121 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post121 == 0 /\ -rcd_367^post121+rcd_367^0 == 0), cost: 1
 122: l75 -> l76 : a_148^0'=a_148^post122, r_258^0'=r_258^post122, i_33^0'=i_33^post122, r_167^0'=r_167^post122, t_30^0'=t_30^post122, a_358^0'=a_358^post122, r_42^0'=r_42^post122, len_275^0'=len_275^post122, rcd_409^0'=rcd_409^post122, r_243^0'=r_243^post122, r_246^0'=r_246^post122, x_SLAM_f_21^0'=x_SLAM_f_21^post122, head_35^0'=head_35^post122, rcd_248^0'=rcd_248^post122, lt_509^0'=lt_509^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post122, a_220^0'=a_220^post122, r_272^0'=r_272^post122, rcd_363^0'=rcd_363^post122, r_196^0'=r_196^post122, temp0_34^0'=temp0_34^post122, c_28^0'=c_28^post122, rcd_113^0'=rcd_113^post122, length_32^0'=length_32^post122, rcd_46^0'=rcd_46^post122, r_252^0'=r_252^post122, i_120^0'=i_120^post122, rcd_273^0'=rcd_273^post122, r_159^0'=r_159^post122, t_24^0'=t_24^post122, a_332^0'=a_332^post122, r_29^0'=r_29^post122, len_205^0'=len_205^post122, rcd_387^0'=rcd_387^post122, r_236^0'=r_236^post122, tmp_37^0'=tmp_37^post122, x_23^0'=x_23^post122, head_13^0'=head_13^post122, rcd_244^0'=rcd_244^post122, lt_397^0'=lt_397^post122, result_11^0'=result_11^post122, a_173^0'=a_173^post122, r_266^0'=r_266^post122, l_27^0'=l_27^post122, r_188^0'=r_188^post122, temp0_18^0'=temp0_18^post122, a_388^0'=a_388^post122, rcd_105^0'=rcd_105^post122, len_297^0'=len_297^post122, rcd_427^0'=rcd_427^post122, r_245^0'=r_245^post122, r_247^0'=r_247^post122, y_22^0'=y_22^post122, i_111^0'=i_111^post122, rcd_253^0'=rcd_253^post122, nondet_12^0'=nondet_12^post122, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post122, a_276^0'=a_276^post122, r_274^0'=r_274^post122, rcd_367^0'=rcd_367^post122, r_234^0'=r_234^post122, temp_38^0'=temp_38^post122, x_19^0'=x_19^post122, ct_20^0'=ct_20^post122, rcd_235^0'=rcd_235^post122, lt_17^0'=lt_17^post122, rcd_70^0'=rcd_70^post122, (-t_24^post122+t_24^0 == 0 /\ r_243^0-r_243^post122 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post122 == 0 /\ -rcd_105^post122+rcd_105^0 == 0 /\ length_32^0-length_32^post122 == 0 /\ -rcd_367^post122+rcd_367^0 == 0 /\ -ct_20^post122+ct_20^0 == 0 /\ -x_23^post122+x_23^0 == 0 /\ rcd_363^0-rcd_363^post122 == 0 /\ y_22^0-y_22^post122 == 0 /\ rcd_409^0-rcd_409^post122 == 0 /\ -r_188^post122+r_188^0 == 0 /\ rcd_244^0-rcd_244^post122 == 0 /\ -temp_38^post122+temp_38^0 == 0 /\ -nondet_12^post122+nondet_12^0 == 0 /\ a_332^0-a_332^post122 == 0 /\ t_30^0-t_30^post122 == 0 /\ r_258^0-r_258^post122 == 0 /\ len_275^0-len_275^post122 == 0 /\ rcd_248^0-rcd_248^post122 == 0 /\ -rcd_70^post122+rcd_70^0 == 0 /\ -r_159^post122+r_159^0 == 0 /\ r_245^0-r_245^post122 == 0 /\ -temp0_34^post122+temp0_34^0 == 0 /\ -x_19^post122+x_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post122 == 0 /\ -a_388^post122+a_388^0 == 0 /\ -rcd_46^post122+rcd_46^0 == 0 /\ rcd_113^0-rcd_113^post122 == 0 /\ 1-y_22^0+lt_17^0 <= 0 /\ -head_13^post122+head_13^0 == 0 /\ tmp_37^0-tmp_37^post122 == 0 /\ r_272^0-r_272^post122 == 0 /\ lt_509^0-lt_509^post122 == 0 /\ r_42^0-r_42^post122 == 0 /\ -lt_17^post122+lt_17^0 == 0 /\ -a_173^post122+a_173^0 == 0 /\ -rcd_427^post122+rcd_427^0 == 0 /\ -c_28^post122+c_28^0 == 0 /\ temp0_18^0-temp0_18^post122 == 0 /\ -r_247^post122+r_247^0 == 0 /\ -len_205^post122+len_205^0 == 0 /\ r_246^0-r_246^post122 == 0 /\ -a_276^post122+a_276^0 == 0 /\ -r_266^post122+r_266^0 == 0 /\ -lt_397^post122+lt_397^0 == 0 /\ r_29^0-r_29^post122 == 0 /\ -rcd_253^post122+rcd_253^0 == 0 /\ -i_111^post122+i_111^0 == 0 /\ a_148^0-a_148^post122 == 0 /\ -head_35^post122+head_35^0 == 0 /\ -rcd_273^post122+rcd_273^0 == 0 /\ r_167^0-r_167^post122 == 0 /\ -len_297^post122+len_297^0 == 0 /\ l_27^0-l_27^post122 == 0 /\ -r_234^post122+r_234^0 == 0 /\ -rcd_235^post122+rcd_235^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post122 == 0 /\ -r_196^post122+r_196^0 == 0 /\ r_236^0-r_236^post122 == 0 /\ -r_274^post122+r_274^0 == 0 /\ a_220^0-a_220^post122 == 0 /\ a_358^0-a_358^post122 == 0 /\ result_11^0-result_11^post122 == 0 /\ -r_252^post122+r_252^0 == 0 /\ i_120^0-i_120^post122 == 0 /\ rcd_387^0-rcd_387^post122 == 0 /\ i_33^0-i_33^post122 == 0), cost: 1
 123: l75 -> l76 : a_148^0'=a_148^post123, r_258^0'=r_258^post123, i_33^0'=i_33^post123, r_167^0'=r_167^post123, t_30^0'=t_30^post123, a_358^0'=a_358^post123, r_42^0'=r_42^post123, len_275^0'=len_275^post123, rcd_409^0'=rcd_409^post123, r_243^0'=r_243^post123, r_246^0'=r_246^post123, x_SLAM_f_21^0'=x_SLAM_f_21^post123, head_35^0'=head_35^post123, rcd_248^0'=rcd_248^post123, lt_509^0'=lt_509^post123, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post123, a_220^0'=a_220^post123, r_272^0'=r_272^post123, rcd_363^0'=rcd_363^post123, r_196^0'=r_196^post123, temp0_34^0'=temp0_34^post123, c_28^0'=c_28^post123, rcd_113^0'=rcd_113^post123, length_32^0'=length_32^post123, rcd_46^0'=rcd_46^post123, r_252^0'=r_252^post123, i_120^0'=i_120^post123, rcd_273^0'=rcd_273^post123, r_159^0'=r_159^post123, t_24^0'=t_24^post123, a_332^0'=a_332^post123, r_29^0'=r_29^post123, len_205^0'=len_205^post123, rcd_387^0'=rcd_387^post123, r_236^0'=r_236^post123, tmp_37^0'=tmp_37^post123, x_23^0'=x_23^post123, head_13^0'=head_13^post123, rcd_244^0'=rcd_244^post123, lt_397^0'=lt_397^post123, result_11^0'=result_11^post123, a_173^0'=a_173^post123, r_266^0'=r_266^post123, l_27^0'=l_27^post123, r_188^0'=r_188^post123, temp0_18^0'=temp0_18^post123, a_388^0'=a_388^post123, rcd_105^0'=rcd_105^post123, len_297^0'=len_297^post123, rcd_427^0'=rcd_427^post123, r_245^0'=r_245^post123, r_247^0'=r_247^post123, y_22^0'=y_22^post123, i_111^0'=i_111^post123, rcd_253^0'=rcd_253^post123, nondet_12^0'=nondet_12^post123, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post123, a_276^0'=a_276^post123, r_274^0'=r_274^post123, rcd_367^0'=rcd_367^post123, r_234^0'=r_234^post123, temp_38^0'=temp_38^post123, x_19^0'=x_19^post123, ct_20^0'=ct_20^post123, rcd_235^0'=rcd_235^post123, lt_17^0'=lt_17^post123, rcd_70^0'=rcd_70^post123, (-l_27^post123+l_27^0 == 0 /\ -nondet_12^post123+nondet_12^0 == 0 /\ -len_297^post123+len_297^0 == 0 /\ c_28^0-c_28^post123 == 0 /\ rcd_46^0-rcd_46^post123 == 0 /\ -r_234^post123+r_234^0 == 0 /\ -r_266^post123+r_266^0 == 0 /\ -a_332^post123+a_332^0 == 0 /\ -head_13^post123+head_13^0 == 0 /\ r_196^0-r_196^post123 == 0 /\ -temp0_18^post123+temp0_18^0 == 0 /\ 1+y_22^0-lt_17^0 <= 0 /\ r_167^0-r_167^post123 == 0 /\ -rcd_235^post123+rcd_235^0 == 0 /\ -r_272^post123+r_272^0 == 0 /\ t_30^0-t_30^post123 == 0 /\ i_111^0-i_111^post123 == 0 /\ -r_252^post123+r_252^0 == 0 /\ r_159^0-r_159^post123 == 0 /\ a_276^0-a_276^post123 == 0 /\ -r_188^post123+r_188^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post123+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_236^post123+r_236^0 == 0 /\ a_173^0-a_173^post123 == 0 /\ -t_24^post123+t_24^0 == 0 /\ i_33^0-i_33^post123 == 0 /\ i_120^0-i_120^post123 == 0 /\ -temp_38^post123+temp_38^0 == 0 /\ -rcd_367^post123+rcd_367^0 == 0 /\ a_358^0-a_358^post123 == 0 /\ r_29^0-r_29^post123 == 0 /\ a_148^0-a_148^post123 == 0 /\ -r_245^post123+r_245^0 == 0 /\ -ct_20^post123+ct_20^0 == 0 /\ rcd_253^0-rcd_253^post123 == 0 /\ -r_246^post123+r_246^0 == 0 /\ length_32^0-length_32^post123 == 0 /\ -r_247^post123+r_247^0 == 0 /\ a_220^0-a_220^post123 == 0 /\ -rcd_105^post123+rcd_105^0 == 0 /\ -lt_509^post123+lt_509^0 == 0 /\ -lt_397^post123+lt_397^0 == 0 /\ len_275^0-len_275^post123 == 0 /\ -a_388^post123+a_388^0 == 0 /\ -rcd_113^post123+rcd_113^0 == 0 /\ -y_22^post123+y_22^0 == 0 /\ -rcd_387^post123+rcd_387^0 == 0 /\ r_243^0-r_243^post123 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post123 == 0 /\ -rcd_70^post123+rcd_70^0 == 0 /\ -x_19^post123+x_19^0 == 0 /\ rcd_409^0-rcd_409^post123 == 0 /\ result_11^0-result_11^post123 == 0 /\ rcd_363^0-rcd_363^post123 == 0 /\ -rcd_427^post123+rcd_427^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post123 == 0 /\ r_258^0-r_258^post123 == 0 /\ -r_274^post123+r_274^0 == 0 /\ rcd_244^0-rcd_244^post123 == 0 /\ -x_23^post123+x_23^0 == 0 /\ head_35^0-head_35^post123 == 0 /\ tmp_37^0-tmp_37^post123 == 0 /\ temp0_34^0-temp0_34^post123 == 0 /\ rcd_248^0-rcd_248^post123 == 0 /\ rcd_273^0-rcd_273^post123 == 0 /\ r_42^0-r_42^post123 == 0 /\ len_205^0-len_205^post123 == 0 /\ -lt_17^post123+lt_17^0 == 0), cost: 1
 124: l76 -> l77 : a_148^0'=a_148^post124, r_258^0'=r_258^post124, i_33^0'=i_33^post124, r_167^0'=r_167^post124, t_30^0'=t_30^post124, a_358^0'=a_358^post124, r_42^0'=r_42^post124, len_275^0'=len_275^post124, rcd_409^0'=rcd_409^post124, r_243^0'=r_243^post124, r_246^0'=r_246^post124, x_SLAM_f_21^0'=x_SLAM_f_21^post124, head_35^0'=head_35^post124, rcd_248^0'=rcd_248^post124, lt_509^0'=lt_509^post124, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post124, a_220^0'=a_220^post124, r_272^0'=r_272^post124, rcd_363^0'=rcd_363^post124, r_196^0'=r_196^post124, temp0_34^0'=temp0_34^post124, c_28^0'=c_28^post124, rcd_113^0'=rcd_113^post124, length_32^0'=length_32^post124, rcd_46^0'=rcd_46^post124, r_252^0'=r_252^post124, i_120^0'=i_120^post124, rcd_273^0'=rcd_273^post124, r_159^0'=r_159^post124, t_24^0'=t_24^post124, a_332^0'=a_332^post124, r_29^0'=r_29^post124, len_205^0'=len_205^post124, rcd_387^0'=rcd_387^post124, r_236^0'=r_236^post124, tmp_37^0'=tmp_37^post124, x_23^0'=x_23^post124, head_13^0'=head_13^post124, rcd_244^0'=rcd_244^post124, lt_397^0'=lt_397^post124, result_11^0'=result_11^post124, a_173^0'=a_173^post124, r_266^0'=r_266^post124, l_27^0'=l_27^post124, r_188^0'=r_188^post124, temp0_18^0'=temp0_18^post124, a_388^0'=a_388^post124, rcd_105^0'=rcd_105^post124, len_297^0'=len_297^post124, rcd_427^0'=rcd_427^post124, r_245^0'=r_245^post124, r_247^0'=r_247^post124, y_22^0'=y_22^post124, i_111^0'=i_111^post124, rcd_253^0'=rcd_253^post124, nondet_12^0'=nondet_12^post124, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post124, a_276^0'=a_276^post124, r_274^0'=r_274^post124, rcd_367^0'=rcd_367^post124, r_234^0'=r_234^post124, temp_38^0'=temp_38^post124, x_19^0'=x_19^post124, ct_20^0'=ct_20^post124, rcd_235^0'=rcd_235^post124, lt_17^0'=lt_17^post124, rcd_70^0'=rcd_70^post124, (-temp0_34^post124+temp0_34^0 == 0 /\ -r_247^post124+r_247^0 == 0 /\ -r_29^post124+r_29^0 == 0 /\ rcd_113^0-rcd_113^post124 == 0 /\ -rcd_387^post124+rcd_387^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post124+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -lt_17^post124+lt_17^0 == 0 /\ -rcd_244^post124+rcd_244^0 == 0 /\ r_236^0-r_236^post124 == 0 /\ -l_27^post124+l_27^0 == 0 /\ -r_234^post124+r_234^0 == 0 /\ -rcd_427^post124+rcd_427^0 == 0 /\ nondet_12^0-nondet_12^post124 == 0 /\ x_23^0-x_23^post124 == 0 /\ -a_276^post124+a_276^0 == 0 /\ t_24^0-t_24^post124 == 0 /\ rcd_363^0-rcd_363^post124 == 0 /\ -x_SLAM_f_21^post124+x_SLAM_f_21^0 == 0 /\ r_42^0-r_42^post124 == 0 /\ r_274^0-r_274^post124 == 0 /\ t_30^0-t_30^post124 == 0 /\ -y_22^post124+y_22^0 == 0 /\ rcd_46^0-rcd_46^post124 == 0 /\ -r_243^post124+r_243^0 == 0 /\ -rcd_367^post124+rcd_367^0 == 0 /\ a_148^0-a_148^post124 == 0 /\ -i_120^post124+i_120^0 == 0 /\ rcd_273^0-rcd_273^post124 == 0 /\ -temp0_18^post124+temp0_18^0 == 0 /\ -len_297^post124+len_297^0 == 0 /\ rcd_409^0-rcd_409^post124 == 0 /\ -rcd_235^post124+rcd_235^0 == 0 /\ -a_332^post124+a_332^0 == 0 /\ r_196^0-r_196^post124 == 0 /\ r_266^0-r_266^post124 == 0 /\ r_272^0-r_272^post124 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post124+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_253^post124+rcd_253^0 == 0 /\ -temp_38^post124+temp_38^0 == 0 /\ -x_19^post124+x_19^0 == 0 /\ -i_111^post124+i_111^0 == 0 /\ r_188^0-r_188^post124 == 0 /\ -rcd_248^post124+rcd_248^0 == 0 /\ head_35^0-head_35^post124 == 0 /\ c_28^0-c_28^post124 == 0 /\ len_205^0-len_205^post124 == 0 /\ a_388^0-a_388^post124 == 0 /\ -length_32^post124+length_32^0 == 0 /\ -rcd_105^post124+rcd_105^0 == 0 /\ r_167^0-r_167^post124 == 0 /\ -i_33^post124+i_33^0 == 0 /\ lt_509^0-lt_509^post124 == 0 /\ a_358^0-a_358^post124 == 0 /\ -ct_20^post124+ct_20^0 == 0 /\ -tmp_37^post124+tmp_37^0 == 0 /\ lt_397^0-lt_397^post124 == 0 /\ -result_11^post124+result_11^0 == 0 /\ -r_245^post124+r_245^0 == 0 /\ a_220^0-a_220^post124 == 0 /\ a_173^0-a_173^post124 == 0 /\ r_258^0-r_258^post124 == 0 /\ r_252^0-r_252^post124 == 0 /\ -head_13^post124+head_13^0 == 0 /\ -r_159^post124+r_159^0 == 0 /\ -rcd_70^post124+rcd_70^0 == 0 /\ len_275^0-len_275^post124 == 0 /\ r_246^0-r_246^post124 == 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 1
 125: l76 -> l77 : a_148^0'=a_148^post125, r_258^0'=r_258^post125, i_33^0'=i_33^post125, r_167^0'=r_167^post125, t_30^0'=t_30^post125, a_358^0'=a_358^post125, r_42^0'=r_42^post125, len_275^0'=len_275^post125, rcd_409^0'=rcd_409^post125, r_243^0'=r_243^post125, r_246^0'=r_246^post125, x_SLAM_f_21^0'=x_SLAM_f_21^post125, head_35^0'=head_35^post125, rcd_248^0'=rcd_248^post125, lt_509^0'=lt_509^post125, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post125, a_220^0'=a_220^post125, r_272^0'=r_272^post125, rcd_363^0'=rcd_363^post125, r_196^0'=r_196^post125, temp0_34^0'=temp0_34^post125, c_28^0'=c_28^post125, rcd_113^0'=rcd_113^post125, length_32^0'=length_32^post125, rcd_46^0'=rcd_46^post125, r_252^0'=r_252^post125, i_120^0'=i_120^post125, rcd_273^0'=rcd_273^post125, r_159^0'=r_159^post125, t_24^0'=t_24^post125, a_332^0'=a_332^post125, r_29^0'=r_29^post125, len_205^0'=len_205^post125, rcd_387^0'=rcd_387^post125, r_236^0'=r_236^post125, tmp_37^0'=tmp_37^post125, x_23^0'=x_23^post125, head_13^0'=head_13^post125, rcd_244^0'=rcd_244^post125, lt_397^0'=lt_397^post125, result_11^0'=result_11^post125, a_173^0'=a_173^post125, r_266^0'=r_266^post125, l_27^0'=l_27^post125, r_188^0'=r_188^post125, temp0_18^0'=temp0_18^post125, a_388^0'=a_388^post125, rcd_105^0'=rcd_105^post125, len_297^0'=len_297^post125, rcd_427^0'=rcd_427^post125, r_245^0'=r_245^post125, r_247^0'=r_247^post125, y_22^0'=y_22^post125, i_111^0'=i_111^post125, rcd_253^0'=rcd_253^post125, nondet_12^0'=nondet_12^post125, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post125, a_276^0'=a_276^post125, r_274^0'=r_274^post125, rcd_367^0'=rcd_367^post125, r_234^0'=r_234^post125, temp_38^0'=temp_38^post125, x_19^0'=x_19^post125, ct_20^0'=ct_20^post125, rcd_235^0'=rcd_235^post125, lt_17^0'=lt_17^post125, rcd_70^0'=rcd_70^post125, (a_148^0-a_148^post125 == 0 /\ -c_28^post125+c_28^0 == 0 /\ head_13^0-head_13^post125 == 0 /\ -y_22^post125+y_22^0 == 0 /\ rcd_409^0-rcd_409^post125 == 0 /\ r_167^0-r_167^post125 == 0 /\ rcd_387^0-rcd_387^post125 == 0 /\ tmp_37^0-tmp_37^post125 == 0 /\ r_266^0-r_266^post125 == 0 /\ a_358^0-a_358^post125 == 0 /\ -r_159^post125+r_159^0 == 0 /\ len_205^0-len_205^post125 == 0 /\ -lt_397^post125+lt_397^0 == 0 /\ -temp0_34^post125+temp0_34^0 == 0 /\ -lt_17^post125+lt_17^0 == 0 /\ r_272^0-r_272^post125 == 0 /\ -rcd_363^post125+rcd_363^0 == 0 /\ -a_276^post125+a_276^0 == 0 /\ -head_35^post125+head_35^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post125 == 0 /\ length_32^0-length_32^post125 == 0 /\ -r_29^post125+r_29^0 == 0 /\ len_275^0-len_275^post125 == 0 /\ -i_111^post125+i_111^0 == 0 /\ r_246^0-r_246^post125 == 0 /\ -len_297^post125+len_297^0 == 0 /\ -rcd_253^post125+rcd_253^0 == 0 /\ -r_234^post125+r_234^0 == 0 /\ -rcd_235^post125+rcd_235^0 == 0 /\ -rcd_273^post125+rcd_273^0 == 0 /\ -rcd_427^post125+rcd_427^0 == 0 /\ r_196^0-r_196^post125 == 0 /\ r_258^0-r_258^post125 == 0 /\ t_24^0-t_24^post125 == 0 /\ -r_274^post125+r_274^0 == 0 /\ -ct_20^post125+ct_20^0 == 0 /\ r_236^0-r_236^post125 == 0 /\ r_252^0-r_252^post125 == 0 /\ rcd_113^0-rcd_113^post125 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post125 == 0 /\ l_27^0-l_27^post125 == 0 /\ -nondet_12^post125+nondet_12^0 == 0 /\ -r_188^post125+r_188^0 == 0 /\ i_33^0-i_33^post125 == 0 /\ rcd_105^0-rcd_105^post125 == 0 /\ i_120^0-i_120^post125 == 0 /\ -x_23^post125+x_23^0 == 0 /\ -a_220^post125+a_220^0 == 0 /\ rcd_248^0-rcd_248^post125 == 0 /\ -result_11^post125+result_11^0 == 0 /\ -rcd_367^post125+rcd_367^0 == 0 /\ -temp_38^post125+temp_38^0 == 0 /\ 1+t_24^0-y_22^0 <= 0 /\ r_42^0-r_42^post125 == 0 /\ t_30^0-t_30^post125 == 0 /\ -a_388^post125+a_388^0 == 0 /\ -rcd_70^post125+rcd_70^0 == 0 /\ lt_509^0-lt_509^post125 == 0 /\ -rcd_46^post125+rcd_46^0 == 0 /\ -r_247^post125+r_247^0 == 0 /\ -x_19^post125+x_19^0 == 0 /\ r_243^0-r_243^post125 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post125 == 0 /\ -r_245^post125+r_245^0 == 0 /\ a_332^0-a_332^post125 == 0 /\ temp0_18^0-temp0_18^post125 == 0 /\ -a_173^post125+a_173^0 == 0 /\ -rcd_244^post125+rcd_244^0 == 0), cost: 1
 126: l77 -> l55 : a_148^0'=a_148^post126, r_258^0'=r_258^post126, i_33^0'=i_33^post126, r_167^0'=r_167^post126, t_30^0'=t_30^post126, a_358^0'=a_358^post126, r_42^0'=r_42^post126, len_275^0'=len_275^post126, rcd_409^0'=rcd_409^post126, r_243^0'=r_243^post126, r_246^0'=r_246^post126, x_SLAM_f_21^0'=x_SLAM_f_21^post126, head_35^0'=head_35^post126, rcd_248^0'=rcd_248^post126, lt_509^0'=lt_509^post126, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post126, a_220^0'=a_220^post126, r_272^0'=r_272^post126, rcd_363^0'=rcd_363^post126, r_196^0'=r_196^post126, temp0_34^0'=temp0_34^post126, c_28^0'=c_28^post126, rcd_113^0'=rcd_113^post126, length_32^0'=length_32^post126, rcd_46^0'=rcd_46^post126, r_252^0'=r_252^post126, i_120^0'=i_120^post126, rcd_273^0'=rcd_273^post126, r_159^0'=r_159^post126, t_24^0'=t_24^post126, a_332^0'=a_332^post126, r_29^0'=r_29^post126, len_205^0'=len_205^post126, rcd_387^0'=rcd_387^post126, r_236^0'=r_236^post126, tmp_37^0'=tmp_37^post126, x_23^0'=x_23^post126, head_13^0'=head_13^post126, rcd_244^0'=rcd_244^post126, lt_397^0'=lt_397^post126, result_11^0'=result_11^post126, a_173^0'=a_173^post126, r_266^0'=r_266^post126, l_27^0'=l_27^post126, r_188^0'=r_188^post126, temp0_18^0'=temp0_18^post126, a_388^0'=a_388^post126, rcd_105^0'=rcd_105^post126, len_297^0'=len_297^post126, rcd_427^0'=rcd_427^post126, r_245^0'=r_245^post126, r_247^0'=r_247^post126, y_22^0'=y_22^post126, i_111^0'=i_111^post126, rcd_253^0'=rcd_253^post126, nondet_12^0'=nondet_12^post126, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post126, a_276^0'=a_276^post126, r_274^0'=r_274^post126, rcd_367^0'=rcd_367^post126, r_234^0'=r_234^post126, temp_38^0'=temp_38^post126, x_19^0'=x_19^post126, ct_20^0'=ct_20^post126, rcd_235^0'=rcd_235^post126, lt_17^0'=lt_17^post126, rcd_70^0'=rcd_70^post126, (0 == 0 /\ -lt_397^post126+lt_397^0 == 0 /\ r_258^0-r_258^post126 == 0 /\ i_33^0-i_33^post126 == 0 /\ -r_196^post126+r_196^0 == 0 /\ i_120^0-i_120^post126 == 0 /\ rcd_244^0-rcd_244^post126 == 0 /\ -rcd_113^post126+rcd_113^0 == 0 /\ -a_388^post126+a_388^0 == 0 /\ -r_274^post126+r_274^0 == 0 /\ -rcd_253^post126+rcd_253^0 == 0 /\ -rcd_70^post126+rcd_70^0 == 0 /\ r_42^0-r_42^post126 == 0 /\ -t_24^post126+t_24^0 == 0 /\ r_245^0-r_245^post126 == 0 /\ -x_19^post126+x_19^0 == 0 /\ -1-a_332^0+len_297^post126 <= 0 /\ -y_22^post126+y_22^0 == 0 /\ -len_205^post126+len_205^0 == 0 /\ rcd_46^0-rcd_46^post126 == 0 /\ c_28^0-c_28^post126 == 0 /\ -r_272^post126+r_272^0 == 0 /\ a_332^0-a_332^post126 == 0 /\ rcd_248^0-rcd_248^post126 == 0 /\ -rcd_427^post126+rcd_427^0 == 0 /\ -r_159^post126+r_159^0 == 0 /\ -x_23^post126+x_23^0 == 0 /\ t_30^0-t_30^post126 == 0 /\ -lt_17^post126+lt_17^0 == 0 /\ -nondet_12^post126+nondet_12^0 == 0 /\ -i_111^post126+i_111^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post126 == 0 /\ -lt_509^post126+lt_509^0 == 0 /\ a_276^0-a_276^post126 == 0 /\ rcd_363^0-rcd_363^post126 == 0 /\ a_220^0-a_220^post126 == 0 /\ -r_266^post126+r_266^0 == 0 /\ -a_358^post126+a_358^0 == 0 /\ rcd_409^0-rcd_409^post126 == 0 /\ -l_27^post126+l_27^0 == 0 /\ tmp_37^0-tmp_37^post126 == 0 /\ head_35^0-head_35^post126 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -r_234^post126+r_234^0 == 0 /\ -head_13^post126+head_13^0 == 0 /\ rcd_273^0-rcd_273^post126 == 0 /\ -a_173^post126+a_173^0 == 0 /\ rcd_367^0-rcd_367^post126 == 0 /\ length_32^0-length_32^post126 == 0 /\ r_252^0-r_252^post126 == 0 /\ -temp0_18^post126+temp0_18^0 == 0 /\ 1+a_332^0-len_297^post126 <= 0 /\ -rcd_235^post126+rcd_235^0 == 0 /\ a_148^0-a_148^post126 == 0 /\ temp0_34^0-temp0_34^post126 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post126+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_387^0-rcd_387^post126 == 0 /\ -rcd_105^post126+rcd_105^0 == 0 /\ r_246^0-r_246^post126 == 0 /\ len_275^0-len_275^post126 == 0 /\ -r_188^post126+r_188^0 == 0 /\ r_243^0-r_243^post126 == 0 /\ -r_236^post126+r_236^0 == 0 /\ r_167^0-r_167^post126 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -temp_38^post126+temp_38^0 == 0 /\ -r_247^post126+r_247^0 == 0 /\ r_29^0-r_29^post126 == 0 /\ -ct_20^post126+ct_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post126 == 0 /\ result_11^0-result_11^post126 == 0), cost: 1
 127: l78 -> l54 : a_148^0'=a_148^post127, r_258^0'=r_258^post127, i_33^0'=i_33^post127, r_167^0'=r_167^post127, t_30^0'=t_30^post127, a_358^0'=a_358^post127, r_42^0'=r_42^post127, len_275^0'=len_275^post127, rcd_409^0'=rcd_409^post127, r_243^0'=r_243^post127, r_246^0'=r_246^post127, x_SLAM_f_21^0'=x_SLAM_f_21^post127, head_35^0'=head_35^post127, rcd_248^0'=rcd_248^post127, lt_509^0'=lt_509^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post127, a_220^0'=a_220^post127, r_272^0'=r_272^post127, rcd_363^0'=rcd_363^post127, r_196^0'=r_196^post127, temp0_34^0'=temp0_34^post127, c_28^0'=c_28^post127, rcd_113^0'=rcd_113^post127, length_32^0'=length_32^post127, rcd_46^0'=rcd_46^post127, r_252^0'=r_252^post127, i_120^0'=i_120^post127, rcd_273^0'=rcd_273^post127, r_159^0'=r_159^post127, t_24^0'=t_24^post127, a_332^0'=a_332^post127, r_29^0'=r_29^post127, len_205^0'=len_205^post127, rcd_387^0'=rcd_387^post127, r_236^0'=r_236^post127, tmp_37^0'=tmp_37^post127, x_23^0'=x_23^post127, head_13^0'=head_13^post127, rcd_244^0'=rcd_244^post127, lt_397^0'=lt_397^post127, result_11^0'=result_11^post127, a_173^0'=a_173^post127, r_266^0'=r_266^post127, l_27^0'=l_27^post127, r_188^0'=r_188^post127, temp0_18^0'=temp0_18^post127, a_388^0'=a_388^post127, rcd_105^0'=rcd_105^post127, len_297^0'=len_297^post127, rcd_427^0'=rcd_427^post127, r_245^0'=r_245^post127, r_247^0'=r_247^post127, y_22^0'=y_22^post127, i_111^0'=i_111^post127, rcd_253^0'=rcd_253^post127, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post127, a_276^0'=a_276^post127, r_274^0'=r_274^post127, rcd_367^0'=rcd_367^post127, r_234^0'=r_234^post127, temp_38^0'=temp_38^post127, x_19^0'=x_19^post127, ct_20^0'=ct_20^post127, rcd_235^0'=rcd_235^post127, lt_17^0'=lt_17^post127, rcd_70^0'=rcd_70^post127, (0 == 0 /\ -rcd_235^post127+rcd_235^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post127-length_32^post127 <= 0 /\ -rcd_427^post127+rcd_427^0 == 0 /\ i_33^post127 <= 0 /\ i_33^post127 == 0 /\ a_148^0-a_148^post127 == 0 /\ len_275^0-len_275^post127 == 0 /\ c_28^0-c_28^post127 == 0 /\ -head_13^post127+head_13^0 == 0 /\ -lt_17^post127+lt_17^0 == 0 /\ l_27^0-l_27^post127 == 0 /\ -r_234^post127+r_234^0 == 0 /\ r_29^0-r_29^post127 == 0 /\ r_243^0-r_243^post127 == 0 /\ -r_247^post127+r_247^0 == 0 /\ -r_245^post127+r_245^0 == 0 /\ r_266^0-r_266^post127 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post127 == 0 /\ lt_397^0-lt_397^post127 == 0 /\ -rcd_273^post127+rcd_273^0 == 0 /\ -len_297^post127+len_297^0 == 0 /\ rcd_409^0-rcd_409^post127 == 0 /\ -a_276^post127+a_276^0 == 0 /\ -i_33^post127 <= 0 /\ -rcd_387^post127+rcd_387^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post127+length_32^post127 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post127+length_32^post127 == 0 /\ rcd_363^0-rcd_363^post127 == 0 /\ -ct_20^post127+ct_20^0 == 0 /\ -rcd_244^post127+rcd_244^0 == 0 /\ -r_252^post127+r_252^0 == 0 /\ -head_35^post127 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post127+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ temp0_34^0-temp0_34^post127 == 0 /\ r_258^0-r_258^post127 == 0 /\ -y_22^post127+y_22^0 == 0 /\ r_42^0-r_42^post127 == 0 /\ -r_236^post127+r_236^0 == 0 /\ -a_332^post127+a_332^0 == 0 /\ r_159^0-r_159^post127 == 0 /\ -rcd_367^post127+rcd_367^0 == 0 /\ x_23^0-x_23^post127 == 0 /\ head_35^post127 <= 0 /\ head_35^post127 == 0 /\ -rcd_113^post127+rcd_113^0 == 0 /\ -r_274^post127+r_274^0 == 0 /\ r_246^0-r_246^post127 == 0 /\ r_272^0-r_272^post127 == 0 /\ -temp_38^post127+temp_38^0 == 0 /\ r_196^0-r_196^post127 == 0 /\ -r_188^post127+r_188^0 == 0 /\ rcd_248^0-rcd_248^post127 == 0 /\ lt_509^0-lt_509^post127 == 0 /\ -rcd_253^post127+rcd_253^0 == 0 /\ -result_11^post127+result_11^0 == 0 /\ r_167^0-r_167^post127 == 0 /\ rcd_105^0-rcd_105^post127 == 0 /\ -t_30^post127+t_30^0 == 0 /\ -tmp_37^post127+tmp_37^0 == 0 /\ -i_111^post127+i_111^0 == 0 /\ i_120^0-i_120^post127 == 0 /\ a_358^0-a_358^post127 == 0 /\ len_205^0-len_205^post127 == 0 /\ a_220^0-a_220^post127 == 0 /\ t_24^0-t_24^post127 == 0 /\ x_19^0-x_19^post127 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post127-nondet_12^10 == 0 /\ -a_388^post127+a_388^0 == 0 /\ -rcd_70^post127+rcd_70^0 == 0 /\ rcd_46^0-rcd_46^post127 == 0 /\ -a_173^post127+a_173^0 == 0 /\ temp0_18^0-temp0_18^post127 == 0), cost: 1
 128: l79 -> l78 : a_148^0'=a_148^post128, r_258^0'=r_258^post128, i_33^0'=i_33^post128, r_167^0'=r_167^post128, t_30^0'=t_30^post128, a_358^0'=a_358^post128, r_42^0'=r_42^post128, len_275^0'=len_275^post128, rcd_409^0'=rcd_409^post128, r_243^0'=r_243^post128, r_246^0'=r_246^post128, x_SLAM_f_21^0'=x_SLAM_f_21^post128, head_35^0'=head_35^post128, rcd_248^0'=rcd_248^post128, lt_509^0'=lt_509^post128, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post128, a_220^0'=a_220^post128, r_272^0'=r_272^post128, rcd_363^0'=rcd_363^post128, r_196^0'=r_196^post128, temp0_34^0'=temp0_34^post128, c_28^0'=c_28^post128, rcd_113^0'=rcd_113^post128, length_32^0'=length_32^post128, rcd_46^0'=rcd_46^post128, r_252^0'=r_252^post128, i_120^0'=i_120^post128, rcd_273^0'=rcd_273^post128, r_159^0'=r_159^post128, t_24^0'=t_24^post128, a_332^0'=a_332^post128, r_29^0'=r_29^post128, len_205^0'=len_205^post128, rcd_387^0'=rcd_387^post128, r_236^0'=r_236^post128, tmp_37^0'=tmp_37^post128, x_23^0'=x_23^post128, head_13^0'=head_13^post128, rcd_244^0'=rcd_244^post128, lt_397^0'=lt_397^post128, result_11^0'=result_11^post128, a_173^0'=a_173^post128, r_266^0'=r_266^post128, l_27^0'=l_27^post128, r_188^0'=r_188^post128, temp0_18^0'=temp0_18^post128, a_388^0'=a_388^post128, rcd_105^0'=rcd_105^post128, len_297^0'=len_297^post128, rcd_427^0'=rcd_427^post128, r_245^0'=r_245^post128, r_247^0'=r_247^post128, y_22^0'=y_22^post128, i_111^0'=i_111^post128, rcd_253^0'=rcd_253^post128, nondet_12^0'=nondet_12^post128, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post128, a_276^0'=a_276^post128, r_274^0'=r_274^post128, rcd_367^0'=rcd_367^post128, r_234^0'=r_234^post128, temp_38^0'=temp_38^post128, x_19^0'=x_19^post128, ct_20^0'=ct_20^post128, rcd_235^0'=rcd_235^post128, lt_17^0'=lt_17^post128, rcd_70^0'=rcd_70^post128, (-temp0_34^post128+temp0_34^0 == 0 /\ r_266^0-r_266^post128 == 0 /\ r_272^0-r_272^post128 == 0 /\ -rcd_235^post128+rcd_235^0 == 0 /\ r_167^0-r_167^post128 == 0 /\ -a_173^post128+a_173^0 == 0 /\ rcd_113^0-rcd_113^post128 == 0 /\ head_13^0-head_13^post128 == 0 /\ r_236^0-r_236^post128 == 0 /\ -r_234^post128+r_234^0 == 0 /\ -rcd_244^post128+rcd_244^0 == 0 /\ len_205^0-len_205^post128 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post128+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post128+rcd_427^0 == 0 /\ lt_509^0-lt_509^post128 == 0 /\ a_358^0-a_358^post128 == 0 /\ r_243^0-r_243^post128 == 0 /\ rcd_387^0-rcd_387^post128 == 0 /\ l_27^0-l_27^post128 == 0 /\ i_33^0-i_33^post128 == 0 /\ head_35^0-head_35^post128 == 0 /\ -rcd_367^post128+rcd_367^0 == 0 /\ -rcd_273^post128+rcd_273^0 == 0 /\ -ct_20^post128+ct_20^0 == 0 /\ -a_220^post128+a_220^0 == 0 /\ t_24^0-t_24^post128 == 0 /\ r_258^0-r_258^post128 == 0 /\ r_247^0-r_247^post128 == 0 /\ -lt_397^post128+lt_397^0 == 0 /\ rcd_363^0-rcd_363^post128 == 0 /\ -tmp_37^post128+tmp_37^0 == 0 /\ len_275^0-len_275^post128 == 0 /\ -r_29^post128+r_29^0 == 0 /\ -len_297^post128+len_297^0 == 0 /\ -a_276^post128+a_276^0 == 0 /\ -rcd_253^post128+rcd_253^0 == 0 /\ r_246^0-r_246^post128 == 0 /\ -i_120^post128+i_120^0 == 0 /\ rcd_46^0-rcd_46^post128 == 0 /\ y_22^0-y_22^post128 == 0 /\ -rcd_248^post128+rcd_248^0 == 0 /\ -i_111^post128+i_111^0 == 0 /\ -temp_38^post128+temp_38^0 == 0 /\ -length_32^post128+length_32^0 == 0 /\ -r_188^post128+r_188^0 == 0 /\ -rcd_70^post128+rcd_70^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post128 == 0 /\ -x_23^post128+x_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post128 == 0 /\ c_28^0-c_28^post128 == 0 /\ -r_274^post128+r_274^0 == 0 /\ rcd_105^0-rcd_105^post128 == 0 /\ x_19^0-x_19^post128 == 0 /\ -r_159^post128+r_159^0 == 0 /\ -r_245^post128+r_245^0 == 0 /\ -result_11^post128+result_11^0 == 0 /\ -lt_17^post128+lt_17^0 == 0 /\ r_42^0-r_42^post128 == 0 /\ t_30^0-t_30^post128 == 0 /\ a_148^0-a_148^post128 == 0 /\ r_252^0-r_252^post128 == 0 /\ -a_388^post128+a_388^0 == 0 /\ r_196^0-r_196^post128 == 0 /\ a_332^0-a_332^post128 == 0 /\ temp0_18^0-temp0_18^post128 == 0 /\ -nondet_12^post128+nondet_12^0 == 0 /\ rcd_409^0-rcd_409^post128 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l79
   0: l0 -> l2 : a_148^0'=a_148^post0, r_258^0'=r_258^post0, i_33^0'=i_33^post0, r_167^0'=r_167^post0, t_30^0'=t_30^post0, a_358^0'=a_358^post0, r_42^0'=r_42^post0, len_275^0'=len_275^post0, rcd_409^0'=rcd_409^post0, r_243^0'=r_243^post0, r_246^0'=r_246^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post0, head_35^0'=head_35^post0, rcd_248^0'=rcd_248^post0, lt_509^0'=lt_509^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post0, a_220^0'=a_220^post0, r_272^0'=r_272^post0, rcd_363^0'=rcd_363^post0, r_196^0'=r_196^post0, temp0_34^0'=temp0_34^post0, c_28^0'=c_28^post0, rcd_113^0'=rcd_113^post0, length_32^0'=length_32^post0, rcd_46^0'=rcd_46^post0, r_252^0'=r_252^post0, i_120^0'=i_120^post0, rcd_273^0'=rcd_273^post0, r_159^0'=r_159^post0, t_24^0'=t_24^post0, a_332^0'=a_332^post0, r_29^0'=r_29^post0, len_205^0'=len_205^post0, rcd_387^0'=rcd_387^post0, r_236^0'=r_236^post0, tmp_37^0'=tmp_37^post0, x_23^0'=x_23^post0, head_13^0'=head_13^post0, rcd_244^0'=rcd_244^post0, lt_397^0'=lt_397^post0, result_11^0'=result_11^post0, a_173^0'=a_173^post0, r_266^0'=r_266^post0, l_27^0'=l_27^post0, r_188^0'=r_188^post0, temp0_18^0'=temp0_18^post0, a_388^0'=a_388^post0, rcd_105^0'=rcd_105^post0, len_297^0'=len_297^post0, rcd_427^0'=rcd_427^post0, r_245^0'=r_245^post0, r_247^0'=r_247^post0, y_22^0'=y_22^post0, i_111^0'=i_111^post0, rcd_253^0'=rcd_253^post0, nondet_12^0'=nondet_12^post0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, a_276^0'=a_276^post0, r_274^0'=r_274^post0, rcd_367^0'=rcd_367^post0, r_234^0'=r_234^post0, temp_38^0'=temp_38^post0, x_19^0'=x_19^post0, ct_20^0'=ct_20^post0, rcd_235^0'=rcd_235^post0, lt_17^0'=lt_17^post0, rcd_70^0'=rcd_70^post0, (0 == 0 /\ r_245^0-r_245^post0 == 0 /\ r_236^0-r_236^post0 == 0 /\ -lt_17^post0+lt_17^0 == 0 /\ -a_173^post0+a_173^0 == 0 /\ x_SLAM_f_21^post0-x_23^post0 <= 0 /\ -len_205^post0+len_205^0 == 0 /\ -a_220^0 <= 0 /\ -rcd_363^post0+rcd_363^0 == 0 /\ -r_266^post0+r_266^0 == 0 /\ result_11^0-result_11^post0 == 0 /\ tmp_37^0-tmp_37^post0 == 0 /\ i_33^0-i_33^post0 == 0 /\ -rcd_427^post0+rcd_427^0 == 0 /\ r_42^0-r_42^post0 == 0 /\ -a_276^post0+a_276^0 == 0 /\ x_23^post0-lt_17^0 <= 0 /\ -r_247^post0+r_247^0 == 0 /\ -x_SLAM_f_21^post0+lt_17^0 <= 0 /\ i_120^0-i_120^post0 == 0 /\ length_32^0-length_32^post0 == 0 /\ -rcd_273^post0+rcd_273^0 == 0 /\ -rcd_253^post0+rcd_253^0 == 0 /\ lt_509^0-lt_509^post0 == 0 /\ -rcd_235^post0+rcd_235^0 == 0 /\ c_28^0 <= 0 /\ -r_234^post0+r_234^0 == 0 /\ -x_SLAM_f_21^post0+x_23^post0 <= 0 /\ -x_SLAM_f_21^post0+x_23^post0 == 0 /\ -lt_397^post0+lt_397^0 == 0 /\ rcd_244^0-rcd_244^post0 == 0 /\ 1+len_205^0-len_297^0 <= 0 /\ a_332^0-a_332^post0 == 0 /\ r_252^0-r_252^post0 == 0 /\ ct_20^post0 <= 0 /\ ct_20^post0 == 0 /\ -x_23^post0+lt_17^0 <= 0 /\ -temp0_18^post0+temp0_18^0 == 0 /\ -r_274^post0+r_274^0 == 0 /\ x_SLAM_f_21^post0-lt_17^0 <= 0 /\ -r_188^post0+r_188^0 == 0 /\ -x_SLAM_f_21^post0+x_19^post0 <= 0 /\ -rcd_367^post0+rcd_367^0 == 0 /\ x_19^post0-lt_17^0 <= 0 /\ x_19^post0-lt_17^0 == 0 /\ rcd_248^0-rcd_248^post0 == 0 /\ a_148^0-a_148^post0 == 0 /\ ct_20^post0-y_22^post0 <= 0 /\ a_358^0-a_358^post0 == 0 /\ rcd_409^0-rcd_409^post0 == 0 /\ rcd_113^0-rcd_113^post0 == 0 /\ head_13^0-head_13^post0 == 0 /\ head_35^0-head_35^post0 == 0 /\ -r_258^post0+r_258^0 == 0 /\ -i_111^post0+i_111^0 == 0 /\ -len_205^0 <= 0 /\ r_272^0-r_272^post0 == 0 /\ temp_38^0-temp_38^post0 == 0 /\ rcd_387^0-rcd_387^post0 == 0 /\ a_220^0-a_220^post0 == 0 /\ -rcd_105^post0+rcd_105^0 == 0 /\ -ct_20^post0 <= 0 /\ x_SLAM_f_21^post0-x_19^post0 <= 0 /\ x_SLAM_f_21^post0-x_19^post0 == 0 /\ -x_19^post0+lt_17^0 <= 0 /\ -temp0_34^post0+temp0_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -r_159^post0+r_159^0 == 0 /\ len_275^0-len_275^post0 == 0 /\ len_297^0-len_297^post0 == 0 /\ -ct_20^post0+y_22^post0 <= 0 /\ -ct_20^post0+y_22^post0 == 0 /\ -rcd_70^post0+rcd_70^0 == 0 /\ y_22^post0 <= 0 /\ -nondet_12^post0+nondet_12^0 == 0 /\ r_243^0-r_243^post0 == 0 /\ r_246^0-r_246^post0 == 0 /\ -rcd_46^post0+rcd_46^0 == 0 /\ r_196^0-r_196^post0 == 0 /\ -a_388^post0+a_388^0 == 0 /\ r_167^0-r_167^post0 == 0 /\ -y_22^post0 <= 0 /\ -1-len_205^0+len_297^0 <= 0 /\ -c_28^0 <= 0 /\ -t_24^post0+t_24^0 == 0), cost: 1
   6: l0 -> l6 : a_148^0'=a_148^post6, r_258^0'=r_258^post6, i_33^0'=i_33^post6, r_167^0'=r_167^post6, t_30^0'=t_30^post6, a_358^0'=a_358^post6, r_42^0'=r_42^post6, len_275^0'=len_275^post6, rcd_409^0'=rcd_409^post6, r_243^0'=r_243^post6, r_246^0'=r_246^post6, x_SLAM_f_21^0'=x_SLAM_f_21^post6, head_35^0'=head_35^post6, rcd_248^0'=rcd_248^post6, lt_509^0'=lt_509^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post6, a_220^0'=a_220^post6, r_272^0'=r_272^post6, rcd_363^0'=rcd_363^post6, r_196^0'=r_196^post6, temp0_34^0'=temp0_34^post6, c_28^0'=c_28^post6, rcd_113^0'=rcd_113^post6, length_32^0'=length_32^post6, rcd_46^0'=rcd_46^post6, r_252^0'=r_252^post6, i_120^0'=i_120^post6, rcd_273^0'=rcd_273^post6, r_159^0'=r_159^post6, t_24^0'=t_24^post6, a_332^0'=a_332^post6, r_29^0'=r_29^post6, len_205^0'=len_205^post6, rcd_387^0'=rcd_387^post6, r_236^0'=r_236^post6, tmp_37^0'=tmp_37^post6, x_23^0'=x_23^post6, head_13^0'=head_13^post6, rcd_244^0'=rcd_244^post6, lt_397^0'=lt_397^post6, result_11^0'=result_11^post6, a_173^0'=a_173^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, r_188^0'=r_188^post6, temp0_18^0'=temp0_18^post6, a_388^0'=a_388^post6, rcd_105^0'=rcd_105^post6, len_297^0'=len_297^post6, rcd_427^0'=rcd_427^post6, r_245^0'=r_245^post6, r_247^0'=r_247^post6, y_22^0'=y_22^post6, i_111^0'=i_111^post6, rcd_253^0'=rcd_253^post6, nondet_12^0'=nondet_12^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=a_276^post6, r_274^0'=r_274^post6, rcd_367^0'=rcd_367^post6, r_234^0'=r_234^post6, temp_38^0'=temp_38^post6, x_19^0'=x_19^post6, ct_20^0'=ct_20^post6, rcd_235^0'=rcd_235^post6, lt_17^0'=lt_17^post6, rcd_70^0'=rcd_70^post6, (0 == 0 /\ r_252^0-r_252^post6 == 0 /\ r_247^0-r_247^post6 == 0 /\ -tmp_37^post6+tmp_37^0 == 0 /\ r_236^0-r_236^post6 == 0 /\ -a_276^post6+a_276^0 == 0 /\ -y_22^post6+y_22^0 == 0 /\ -a_220^0 <= 0 /\ -rcd_363^post6+rcd_363^0 == 0 /\ -rcd_253^post6+rcd_253^0 == 0 /\ -rcd_70^post6+rcd_70^0 == 0 /\ -r_159^post6+r_159^0 == 0 /\ rcd_113^0-rcd_113^post6 == 0 /\ i_33^0-i_33^post6 == 0 /\ rcd_387^0-rcd_387^post6 == 0 /\ r_42^0-r_42^post6 == 0 /\ a_148^0-a_148^post6 == 0 /\ len_205^0-len_205^post6 == 0 /\ rcd_46^0-rcd_46^post6 == 0 /\ -r_274^post6+r_274^0 == 0 /\ c_28^0-c_28^post6 == 0 /\ -r_29^post6+r_29^0 == 0 /\ a_388^0-a_388^post6 == 0 /\ rcd_273^0-rcd_273^post6 == 0 /\ lt_509^0-lt_509^post6 == 0 /\ -i_111^post6+i_111^0 == 0 /\ -lt_17^post6+lt_17^0 == 0 /\ nondet_12^0-nondet_12^post6 == 0 /\ -length_32^post6+length_32^0 == 0 /\ t_24^0-t_24^post6 == 0 /\ -rcd_427^post6+rcd_427^0 == 0 /\ t_30^0-t_30^post6 == 0 /\ -r_234^post6+r_234^0 == 0 /\ -result_11^post6+result_11^0 == 0 /\ r_167^0-r_167^post6 == 0 /\ a_358^0-a_358^post6 == 0 /\ -x_SLAM_f_21^post6+x_SLAM_f_21^0 == 0 /\ rcd_409^0-rcd_409^post6 == 0 /\ head_35^0-head_35^post6 == 0 /\ -len_205^0 <= 0 /\ r_272^0-r_272^post6 == 0 /\ -r_243^post6+r_243^0 == 0 /\ -rcd_367^post6+rcd_367^0 == 0 /\ x_23^0-x_23^post6 == 0 /\ a_220^0-a_220^post6 == 0 /\ -i_120^post6+i_120^0 == 0 /\ -temp0_18^post6+temp0_18^0 == 0 /\ -len_297^post6+len_297^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -temp0_34^post6+temp0_34^0 == 0 /\ rcd_235^0-rcd_235^post6 == 0 /\ -temp_38^post6+temp_38^0 == 0 /\ -x_19^post6+x_19^0 == 0 /\ len_275^0-len_275^post6 == 0 /\ r_246^0-r_246^post6 == 0 /\ -a_173^post6+a_173^0 == 0 /\ -rcd_248^post6+rcd_248^0 == 0 /\ r_196^0-r_196^post6 == 0 /\ lt_397^0-lt_397^post6 == 0 /\ a_332^0-a_332^post6 == 0 /\ -rcd_244^post6+rcd_244^0 == 0 /\ -rcd_105^post6+rcd_105^0 == 0 /\ -ct_20^post6+ct_20^0 == 0 /\ -r_245^post6+r_245^0 == 0 /\ r_188^0-r_188^post6 == 0), cost: 1
   1: l2 -> l3 : a_148^0'=a_148^post1, r_258^0'=r_258^post1, i_33^0'=i_33^post1, r_167^0'=r_167^post1, t_30^0'=t_30^post1, a_358^0'=a_358^post1, r_42^0'=r_42^post1, len_275^0'=len_275^post1, rcd_409^0'=rcd_409^post1, r_243^0'=r_243^post1, r_246^0'=r_246^post1, x_SLAM_f_21^0'=x_SLAM_f_21^post1, head_35^0'=head_35^post1, rcd_248^0'=rcd_248^post1, lt_509^0'=lt_509^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post1, a_220^0'=a_220^post1, r_272^0'=r_272^post1, rcd_363^0'=rcd_363^post1, r_196^0'=r_196^post1, temp0_34^0'=temp0_34^post1, c_28^0'=c_28^post1, rcd_113^0'=rcd_113^post1, length_32^0'=length_32^post1, rcd_46^0'=rcd_46^post1, r_252^0'=r_252^post1, i_120^0'=i_120^post1, rcd_273^0'=rcd_273^post1, r_159^0'=r_159^post1, t_24^0'=t_24^post1, a_332^0'=a_332^post1, r_29^0'=r_29^post1, len_205^0'=len_205^post1, rcd_387^0'=rcd_387^post1, r_236^0'=r_236^post1, tmp_37^0'=tmp_37^post1, x_23^0'=x_23^post1, head_13^0'=head_13^post1, rcd_244^0'=rcd_244^post1, lt_397^0'=lt_397^post1, result_11^0'=result_11^post1, a_173^0'=a_173^post1, r_266^0'=r_266^post1, l_27^0'=l_27^post1, r_188^0'=r_188^post1, temp0_18^0'=temp0_18^post1, a_388^0'=a_388^post1, rcd_105^0'=rcd_105^post1, len_297^0'=len_297^post1, rcd_427^0'=rcd_427^post1, r_245^0'=r_245^post1, r_247^0'=r_247^post1, y_22^0'=y_22^post1, i_111^0'=i_111^post1, rcd_253^0'=rcd_253^post1, nondet_12^0'=nondet_12^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, a_276^0'=a_276^post1, r_274^0'=r_274^post1, rcd_367^0'=rcd_367^post1, r_234^0'=r_234^post1, temp_38^0'=temp_38^post1, x_19^0'=x_19^post1, ct_20^0'=ct_20^post1, rcd_235^0'=rcd_235^post1, lt_17^0'=lt_17^post1, rcd_70^0'=rcd_70^post1, (-rcd_70^post1+rcd_70^0 == 0 /\ -r_196^post1+r_196^0 == 0 /\ a_358^0-a_358^post1 == 0 /\ -y_22^post1+y_22^0 == 0 /\ -len_205^post1+len_205^0 == 0 /\ -a_276^post1+a_276^0 == 0 /\ -rcd_253^post1+rcd_253^0 == 0 /\ -rcd_113^post1+rcd_113^0 == 0 /\ -x_19^post1+x_19^0 == 0 /\ a_148^0-a_148^post1 == 0 /\ len_275^0-len_275^post1 == 0 /\ x_23^0-x_23^post1 == 0 /\ -r_274^post1+r_274^0 == 0 /\ rcd_248^0-rcd_248^post1 == 0 /\ temp0_34^0-temp0_34^post1 == 0 /\ rcd_409^0-rcd_409^post1 == 0 /\ a_173^0-a_173^post1 == 0 /\ -temp0_18^post1+temp0_18^0 == 0 /\ c_28^0-c_28^post1 == 0 /\ rcd_46^0-rcd_46^post1 == 0 /\ r_272^0-r_272^post1 == 0 /\ lt_397^0-lt_397^post1 == 0 /\ r_243^0-r_243^post1 == 0 /\ r_167^0-r_167^post1 == 0 /\ -r_266^post1+r_266^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post1 == 0 /\ -i_111^post1+i_111^0 == 0 /\ -lt_17^post1+lt_17^0 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ r_159^0-r_159^post1 == 0 /\ -result_11^post1+result_11^0 == 0 /\ rcd_244^0-rcd_244^post1 == 0 /\ -l_27^post1+l_27^0 == 0 /\ i_33^0-i_33^post1 == 0 /\ rcd_363^0-rcd_363^post1 == 0 /\ -r_234^post1+r_234^0 == 0 /\ tmp_37^0-tmp_37^post1 == 0 /\ r_258^0-r_258^post1 == 0 /\ -a_332^post1+a_332^0 == 0 /\ r_29^0-r_29^post1 == 0 /\ -r_245^post1+r_245^0 == 0 /\ -head_35^post1+head_35^0 == 0 /\ r_42^0-r_42^post1 == 0 /\ i_120^0-i_120^post1 == 0 /\ rcd_367^0-rcd_367^post1 == 0 /\ -rcd_235^post1+rcd_235^0 == 0 /\ length_32^0-length_32^post1 == 0 /\ -len_297^post1+len_297^0 == 0 /\ -r_188^post1+r_188^0 == 0 /\ r_246^0-r_246^post1 == 0 /\ -temp_38^post1+temp_38^0 == 0 /\ -head_13^post1+head_13^0 == 0 /\ 1-lt_17^0 <= 0 /\ -r_252^post1+r_252^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post1 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_388^0-a_388^post1 == 0 /\ -t_24^post1+t_24^0 == 0 /\ rcd_427^0-rcd_427^post1 == 0 /\ -r_247^post1+r_247^0 == 0 /\ -r_236^post1+r_236^0 == 0 /\ -rcd_387^post1+rcd_387^0 == 0 /\ rcd_273^0-rcd_273^post1 == 0 /\ t_30^0-t_30^post1 == 0 /\ -ct_20^post1+ct_20^0 == 0 /\ -rcd_105^post1+rcd_105^0 == 0 /\ lt_509^0-lt_509^post1 == 0 /\ -a_220^post1+a_220^0 == 0), cost: 1
   2: l2 -> l3 : a_148^0'=a_148^post2, r_258^0'=r_258^post2, i_33^0'=i_33^post2, r_167^0'=r_167^post2, t_30^0'=t_30^post2, a_358^0'=a_358^post2, r_42^0'=r_42^post2, len_275^0'=len_275^post2, rcd_409^0'=rcd_409^post2, r_243^0'=r_243^post2, r_246^0'=r_246^post2, x_SLAM_f_21^0'=x_SLAM_f_21^post2, head_35^0'=head_35^post2, rcd_248^0'=rcd_248^post2, lt_509^0'=lt_509^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post2, a_220^0'=a_220^post2, r_272^0'=r_272^post2, rcd_363^0'=rcd_363^post2, r_196^0'=r_196^post2, temp0_34^0'=temp0_34^post2, c_28^0'=c_28^post2, rcd_113^0'=rcd_113^post2, length_32^0'=length_32^post2, rcd_46^0'=rcd_46^post2, r_252^0'=r_252^post2, i_120^0'=i_120^post2, rcd_273^0'=rcd_273^post2, r_159^0'=r_159^post2, t_24^0'=t_24^post2, a_332^0'=a_332^post2, r_29^0'=r_29^post2, len_205^0'=len_205^post2, rcd_387^0'=rcd_387^post2, r_236^0'=r_236^post2, tmp_37^0'=tmp_37^post2, x_23^0'=x_23^post2, head_13^0'=head_13^post2, rcd_244^0'=rcd_244^post2, lt_397^0'=lt_397^post2, result_11^0'=result_11^post2, a_173^0'=a_173^post2, r_266^0'=r_266^post2, l_27^0'=l_27^post2, r_188^0'=r_188^post2, temp0_18^0'=temp0_18^post2, a_388^0'=a_388^post2, rcd_105^0'=rcd_105^post2, len_297^0'=len_297^post2, rcd_427^0'=rcd_427^post2, r_245^0'=r_245^post2, r_247^0'=r_247^post2, y_22^0'=y_22^post2, i_111^0'=i_111^post2, rcd_253^0'=rcd_253^post2, nondet_12^0'=nondet_12^post2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post2, a_276^0'=a_276^post2, r_274^0'=r_274^post2, rcd_367^0'=rcd_367^post2, r_234^0'=r_234^post2, temp_38^0'=temp_38^post2, x_19^0'=x_19^post2, ct_20^0'=ct_20^post2, rcd_235^0'=rcd_235^post2, lt_17^0'=lt_17^post2, rcd_70^0'=rcd_70^post2, (r_42^0-r_42^post2 == 0 /\ t_30^0-t_30^post2 == 0 /\ -a_388^post2+a_388^0 == 0 /\ a_220^0-a_220^post2 == 0 /\ rcd_363^0-rcd_363^post2 == 0 /\ -r_274^post2+r_274^0 == 0 /\ -i_111^post2+i_111^0 == 0 /\ r_246^0-r_246^post2 == 0 /\ -length_32^post2+length_32^0 == 0 /\ r_258^0-r_258^post2 == 0 /\ -ct_20^post2+ct_20^0 == 0 /\ r_159^0-r_159^post2 == 0 /\ r_196^0-r_196^post2 == 0 /\ r_272^0-r_272^post2 == 0 /\ rcd_113^0-rcd_113^post2 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ rcd_248^0-rcd_248^post2 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post2 == 0 /\ a_358^0-a_358^post2 == 0 /\ -x_19^post2+x_19^0 == 0 /\ -result_11^post2+result_11^0 == 0 /\ -rcd_70^post2+rcd_70^0 == 0 /\ 1+lt_17^0 <= 0 /\ -r_236^post2+r_236^0 == 0 /\ -r_29^post2+r_29^0 == 0 /\ -r_247^post2+r_247^0 == 0 /\ lt_397^0-lt_397^post2 == 0 /\ -head_13^post2+head_13^0 == 0 /\ i_33^0-i_33^post2 == 0 /\ -r_167^post2+r_167^0 == 0 /\ t_24^0-t_24^post2 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_205^0-len_205^post2 == 0 /\ -temp0_18^post2+temp0_18^0 == 0 /\ -len_297^post2+len_297^0 == 0 /\ temp0_34^0-temp0_34^post2 == 0 /\ rcd_427^0-rcd_427^post2 == 0 /\ r_252^0-r_252^post2 == 0 /\ rcd_409^0-rcd_409^post2 == 0 /\ r_234^0-r_234^post2 == 0 /\ -r_245^post2+r_245^0 == 0 /\ rcd_46^0-rcd_46^post2 == 0 /\ -lt_17^post2+lt_17^0 == 0 /\ x_23^0-x_23^post2 == 0 /\ -l_27^post2+l_27^0 == 0 /\ -a_173^post2+a_173^0 == 0 /\ -lt_509^post2+lt_509^0 == 0 /\ rcd_273^0-rcd_273^post2 == 0 /\ len_275^0-len_275^post2 == 0 /\ -tmp_37^post2+tmp_37^0 == 0 /\ -rcd_244^post2+rcd_244^0 == 0 /\ -a_332^post2+a_332^0 == 0 /\ -a_276^post2+a_276^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post2 == 0 /\ r_266^0-r_266^post2 == 0 /\ r_188^0-r_188^post2 == 0 /\ -rcd_105^post2+rcd_105^0 == 0 /\ -y_22^post2+y_22^0 == 0 /\ a_148^0-a_148^post2 == 0 /\ -rcd_367^post2+rcd_367^0 == 0 /\ c_28^0-c_28^post2 == 0 /\ -temp_38^post2+temp_38^0 == 0 /\ -i_120^post2+i_120^0 == 0 /\ -rcd_253^post2+rcd_253^0 == 0 /\ head_35^0-head_35^post2 == 0 /\ r_243^0-r_243^post2 == 0 /\ -rcd_235^post2+rcd_235^0 == 0 /\ -rcd_387^post2+rcd_387^0 == 0), cost: 1
   3: l3 -> l4 : a_148^0'=a_148^post3, r_258^0'=r_258^post3, i_33^0'=i_33^post3, r_167^0'=r_167^post3, t_30^0'=t_30^post3, a_358^0'=a_358^post3, r_42^0'=r_42^post3, len_275^0'=len_275^post3, rcd_409^0'=rcd_409^post3, r_243^0'=r_243^post3, r_246^0'=r_246^post3, x_SLAM_f_21^0'=x_SLAM_f_21^post3, head_35^0'=head_35^post3, rcd_248^0'=rcd_248^post3, lt_509^0'=lt_509^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post3, a_220^0'=a_220^post3, r_272^0'=r_272^post3, rcd_363^0'=rcd_363^post3, r_196^0'=r_196^post3, temp0_34^0'=temp0_34^post3, c_28^0'=c_28^post3, rcd_113^0'=rcd_113^post3, length_32^0'=length_32^post3, rcd_46^0'=rcd_46^post3, r_252^0'=r_252^post3, i_120^0'=i_120^post3, rcd_273^0'=rcd_273^post3, r_159^0'=r_159^post3, t_24^0'=t_24^post3, a_332^0'=a_332^post3, r_29^0'=r_29^post3, len_205^0'=len_205^post3, rcd_387^0'=rcd_387^post3, r_236^0'=r_236^post3, tmp_37^0'=tmp_37^post3, x_23^0'=x_23^post3, head_13^0'=head_13^post3, rcd_244^0'=rcd_244^post3, lt_397^0'=lt_397^post3, result_11^0'=result_11^post3, a_173^0'=a_173^post3, r_266^0'=r_266^post3, l_27^0'=l_27^post3, r_188^0'=r_188^post3, temp0_18^0'=temp0_18^post3, a_388^0'=a_388^post3, rcd_105^0'=rcd_105^post3, len_297^0'=len_297^post3, rcd_427^0'=rcd_427^post3, r_245^0'=r_245^post3, r_247^0'=r_247^post3, y_22^0'=y_22^post3, i_111^0'=i_111^post3, rcd_253^0'=rcd_253^post3, nondet_12^0'=nondet_12^post3, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post3, a_276^0'=a_276^post3, r_274^0'=r_274^post3, rcd_367^0'=rcd_367^post3, r_234^0'=r_234^post3, temp_38^0'=temp_38^post3, x_19^0'=x_19^post3, ct_20^0'=ct_20^post3, rcd_235^0'=rcd_235^post3, lt_17^0'=lt_17^post3, rcd_70^0'=rcd_70^post3, (-ct_20^post3+ct_20^0 == 0 /\ lt_509^0-lt_509^post3 == 0 /\ len_275^0-len_275^post3 == 0 /\ -temp_38^post3+temp_38^0 == 0 /\ -length_32^post3+length_32^0 == 0 /\ -r_188^post3+r_188^0 == 0 /\ -nondet_12^post3+nondet_12^0 == 0 /\ -len_297^post3+len_297^0 == 0 /\ t_24^0-t_24^post3 == 0 /\ -x_23^post3+x_23^0 == 0 /\ r_196^0-r_196^post3 == 0 /\ -rcd_46^post3+rcd_46^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post3 == 0 /\ -a_220^post3+a_220^0 == 0 /\ -rcd_367^post3+rcd_367^0 == 0 /\ -a_388^post3+a_388^0 == 0 /\ rcd_409^0-rcd_409^post3 == 0 /\ -x_19^post3+x_19^0 == 0 /\ r_236^0-r_236^post3 == 0 /\ r_247^0-r_247^post3 == 0 /\ r_252^0-r_252^post3 == 0 /\ 1-r_167^0 <= 0 /\ result_11^0-result_11^post3 == 0 /\ i_33^0-i_33^post3 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post3+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ temp0_34^0-temp0_34^post3 == 0 /\ -a_173^post3+a_173^0 == 0 /\ r_42^0-r_42^post3 == 0 /\ rcd_387^0-rcd_387^post3 == 0 /\ a_148^0-a_148^post3 == 0 /\ -r_245^post3+r_245^0 == 0 /\ c_28^0-c_28^post3 == 0 /\ r_246^0-r_246^post3 == 0 /\ -y_22^post3+y_22^0 == 0 /\ -rcd_244^post3+rcd_244^0 == 0 /\ -lt_17^post3+lt_17^0 == 0 /\ r_243^0-r_243^post3 == 0 /\ -t_30^post3+t_30^0 == 0 /\ -rcd_70^post3+rcd_70^0 == 0 /\ r_167^0-r_167^post3 == 0 /\ -len_205^post3+len_205^0 == 0 /\ -rcd_363^post3+rcd_363^0 == 0 /\ -rcd_253^post3+rcd_253^0 == 0 /\ -a_276^post3+a_276^0 == 0 /\ -r_159^post3+r_159^0 == 0 /\ a_332^0-a_332^post3 == 0 /\ temp0_18^0-temp0_18^post3 == 0 /\ head_13^0-head_13^post3 == 0 /\ r_258^0-r_258^post3 == 0 /\ head_35^0-head_35^post3 == 0 /\ -rcd_235^post3+rcd_235^0 == 0 /\ -r_274^post3+r_274^0 == 0 /\ rcd_113^0-rcd_113^post3 == 0 /\ -lt_397^post3+lt_397^0 == 0 /\ rcd_105^0-rcd_105^post3 == 0 /\ -i_111^post3+i_111^0 == 0 /\ a_358^0-a_358^post3 == 0 /\ -rcd_273^post3+rcd_273^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post3 == 0 /\ -r_266^post3+r_266^0 == 0 /\ r_272^0-r_272^post3 == 0 /\ -l_27^post3+l_27^0 == 0 /\ -r_234^post3+r_234^0 == 0 /\ -rcd_427^post3+rcd_427^0 == 0 /\ -tmp_37^post3+tmp_37^0 == 0 /\ i_120^0-i_120^post3 == 0 /\ -r_29^post3+r_29^0 == 0 /\ rcd_248^0-rcd_248^post3 == 0), cost: 1
   4: l3 -> l4 : a_148^0'=a_148^post4, r_258^0'=r_258^post4, i_33^0'=i_33^post4, r_167^0'=r_167^post4, t_30^0'=t_30^post4, a_358^0'=a_358^post4, r_42^0'=r_42^post4, len_275^0'=len_275^post4, rcd_409^0'=rcd_409^post4, r_243^0'=r_243^post4, r_246^0'=r_246^post4, x_SLAM_f_21^0'=x_SLAM_f_21^post4, head_35^0'=head_35^post4, rcd_248^0'=rcd_248^post4, lt_509^0'=lt_509^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post4, a_220^0'=a_220^post4, r_272^0'=r_272^post4, rcd_363^0'=rcd_363^post4, r_196^0'=r_196^post4, temp0_34^0'=temp0_34^post4, c_28^0'=c_28^post4, rcd_113^0'=rcd_113^post4, length_32^0'=length_32^post4, rcd_46^0'=rcd_46^post4, r_252^0'=r_252^post4, i_120^0'=i_120^post4, rcd_273^0'=rcd_273^post4, r_159^0'=r_159^post4, t_24^0'=t_24^post4, a_332^0'=a_332^post4, r_29^0'=r_29^post4, len_205^0'=len_205^post4, rcd_387^0'=rcd_387^post4, r_236^0'=r_236^post4, tmp_37^0'=tmp_37^post4, x_23^0'=x_23^post4, head_13^0'=head_13^post4, rcd_244^0'=rcd_244^post4, lt_397^0'=lt_397^post4, result_11^0'=result_11^post4, a_173^0'=a_173^post4, r_266^0'=r_266^post4, l_27^0'=l_27^post4, r_188^0'=r_188^post4, temp0_18^0'=temp0_18^post4, a_388^0'=a_388^post4, rcd_105^0'=rcd_105^post4, len_297^0'=len_297^post4, rcd_427^0'=rcd_427^post4, r_245^0'=r_245^post4, r_247^0'=r_247^post4, y_22^0'=y_22^post4, i_111^0'=i_111^post4, rcd_253^0'=rcd_253^post4, nondet_12^0'=nondet_12^post4, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post4, a_276^0'=a_276^post4, r_274^0'=r_274^post4, rcd_367^0'=rcd_367^post4, r_234^0'=r_234^post4, temp_38^0'=temp_38^post4, x_19^0'=x_19^post4, ct_20^0'=ct_20^post4, rcd_235^0'=rcd_235^post4, lt_17^0'=lt_17^post4, rcd_70^0'=rcd_70^post4, (y_22^0-y_22^post4 == 0 /\ -temp0_34^post4+temp0_34^0 == 0 /\ -rcd_235^post4+rcd_235^0 == 0 /\ a_332^0-a_332^post4 == 0 /\ -r_234^post4+r_234^0 == 0 /\ -rcd_46^post4+rcd_46^0 == 0 /\ -head_13^post4+head_13^0 == 0 /\ r_243^0-r_243^post4 == 0 /\ -r_252^post4+r_252^0 == 0 /\ r_167^0-r_167^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post4+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_358^0-a_358^post4 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post4 == 0 /\ l_27^0-l_27^post4 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post4 == 0 /\ temp0_18^0-temp0_18^post4 == 0 /\ rcd_363^0-rcd_363^post4 == 0 /\ -t_24^post4+t_24^0 == 0 /\ -rcd_105^post4+rcd_105^0 == 0 /\ tmp_37^0-tmp_37^post4 == 0 /\ -rcd_367^post4+rcd_367^0 == 0 /\ -ct_20^post4+ct_20^0 == 0 /\ -rcd_387^post4+rcd_387^0 == 0 /\ r_258^0-r_258^post4 == 0 /\ -c_28^post4+c_28^0 == 0 /\ -r_236^post4+r_236^0 == 0 /\ len_275^0-len_275^post4 == 0 /\ i_120^0-i_120^post4 == 0 /\ rcd_248^0-rcd_248^post4 == 0 /\ -temp_38^post4+temp_38^0 == 0 /\ -r_247^post4+r_247^0 == 0 /\ r_245^0-r_245^post4 == 0 /\ -r_188^post4+r_188^0 == 0 /\ -a_276^post4+a_276^0 == 0 /\ a_173^0-a_173^post4 == 0 /\ rcd_113^0-rcd_113^post4 == 0 /\ -rcd_70^post4+rcd_70^0 == 0 /\ r_246^0-r_246^post4 == 0 /\ -i_111^post4+i_111^0 == 0 /\ -rcd_253^post4+rcd_253^0 == 0 /\ 1+r_167^0 <= 0 /\ -a_388^post4+a_388^0 == 0 /\ -r_196^post4+r_196^0 == 0 /\ lt_509^0-lt_509^post4 == 0 /\ -r_274^post4+r_274^0 == 0 /\ -lt_397^post4+lt_397^0 == 0 /\ -rcd_409^post4+rcd_409^0 == 0 /\ r_29^0-r_29^post4 == 0 /\ head_35^0-head_35^post4 == 0 /\ -r_272^post4+r_272^0 == 0 /\ x_19^0-x_19^post4 == 0 /\ a_220^0-a_220^post4 == 0 /\ r_159^0-r_159^post4 == 0 /\ -lt_17^post4+lt_17^0 == 0 /\ rcd_244^0-rcd_244^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -rcd_427^post4+rcd_427^0 == 0 /\ r_42^0-r_42^post4 == 0 /\ -x_23^post4+x_23^0 == 0 /\ t_30^0-t_30^post4 == 0 /\ i_33^0-i_33^post4 == 0 /\ len_297^0-len_297^post4 == 0 /\ -len_205^post4+len_205^0 == 0 /\ rcd_273^0-rcd_273^post4 == 0 /\ a_148^0-a_148^post4 == 0 /\ length_32^0-length_32^post4 == 0 /\ -r_266^post4+r_266^0 == 0 /\ -nondet_12^post4+nondet_12^0 == 0), cost: 1
   5: l4 -> l1 : a_148^0'=a_148^post5, r_258^0'=r_258^post5, i_33^0'=i_33^post5, r_167^0'=r_167^post5, t_30^0'=t_30^post5, a_358^0'=a_358^post5, r_42^0'=r_42^post5, len_275^0'=len_275^post5, rcd_409^0'=rcd_409^post5, r_243^0'=r_243^post5, r_246^0'=r_246^post5, x_SLAM_f_21^0'=x_SLAM_f_21^post5, head_35^0'=head_35^post5, rcd_248^0'=rcd_248^post5, lt_509^0'=lt_509^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post5, a_220^0'=a_220^post5, r_272^0'=r_272^post5, rcd_363^0'=rcd_363^post5, r_196^0'=r_196^post5, temp0_34^0'=temp0_34^post5, c_28^0'=c_28^post5, rcd_113^0'=rcd_113^post5, length_32^0'=length_32^post5, rcd_46^0'=rcd_46^post5, r_252^0'=r_252^post5, i_120^0'=i_120^post5, rcd_273^0'=rcd_273^post5, r_159^0'=r_159^post5, t_24^0'=t_24^post5, a_332^0'=a_332^post5, r_29^0'=r_29^post5, len_205^0'=len_205^post5, rcd_387^0'=rcd_387^post5, r_236^0'=r_236^post5, tmp_37^0'=tmp_37^post5, x_23^0'=x_23^post5, head_13^0'=head_13^post5, rcd_244^0'=rcd_244^post5, lt_397^0'=lt_397^post5, result_11^0'=result_11^post5, a_173^0'=a_173^post5, r_266^0'=r_266^post5, l_27^0'=l_27^post5, r_188^0'=r_188^post5, temp0_18^0'=temp0_18^post5, a_388^0'=a_388^post5, rcd_105^0'=rcd_105^post5, len_297^0'=len_297^post5, rcd_427^0'=rcd_427^post5, r_245^0'=r_245^post5, r_247^0'=r_247^post5, y_22^0'=y_22^post5, i_111^0'=i_111^post5, rcd_253^0'=rcd_253^post5, nondet_12^0'=nondet_12^post5, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post5, a_276^0'=a_276^post5, r_274^0'=r_274^post5, rcd_367^0'=rcd_367^post5, r_234^0'=r_234^post5, temp_38^0'=temp_38^post5, x_19^0'=x_19^post5, ct_20^0'=ct_20^post5, rcd_235^0'=rcd_235^post5, lt_17^0'=lt_17^post5, rcd_70^0'=rcd_70^post5, (rcd_253^0-rcd_253^post5 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post5+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_272^0-r_272^post5 == 0 /\ -r_236^post5+r_236^0 == 0 /\ i_111^0-i_111^post5 == 0 /\ -r_245^post5+r_245^0 == 0 /\ c_28^0-c_28^post5 == 0 /\ -rcd_244^post5+rcd_244^0 == 0 /\ head_35^0-head_35^post5 == 0 /\ -r_247^post5+r_247^0 == 0 /\ -lt_17^post5+lt_17^0 == 0 /\ a_358^0-a_358^post5 == 0 /\ r_29^0-r_29^post5 == 0 /\ -l_27^post5+l_27^0 == 0 /\ t_30^0-t_30^post5 == 0 /\ -len_297^post5+len_297^0 == 0 /\ x_23^0-x_23^post5 == 0 /\ -r_234^post5+r_234^0 == 0 /\ -r_266^post5+r_266^0 == 0 /\ -a_332^post5+a_332^0 == 0 /\ length_32^0-length_32^post5 == 0 /\ temp0_34^0-temp0_34^post5 == 0 /\ -tmp_37^post5+tmp_37^0 == 0 /\ a_220^0-a_220^post5 == 0 /\ lt_397^0-lt_397^post5 == 0 /\ -a_276^post5+a_276^0 == 0 /\ r_159^0-r_159^post5 == 0 /\ -temp0_18^post5+temp0_18^0 == 0 /\ -rcd_113^post5+rcd_113^0 == 0 /\ -rcd_387^post5+rcd_387^0 == 0 /\ -y_22^post5+y_22^0 == 0 /\ -rcd_235^post5+rcd_235^0 == 0 /\ len_275^0-len_275^post5 == 0 /\ r_196^0-r_196^post5 == 0 /\ -r_252^post5+r_252^0 == 0 /\ a_148^0-a_148^post5 == 0 /\ rcd_248^0-rcd_248^post5 == 0 /\ -r_274^post5+r_274^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post5 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ r_167^0-r_167^post5 == 0 /\ -r_188^post5+r_188^0 == 0 /\ -rcd_367^post5+rcd_367^0 == 0 /\ -temp_38^post5+temp_38^0 == 0 /\ -r_246^post5+r_246^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post5 == 0 /\ i_33^0-i_33^post5 == 0 /\ i_120^0-i_120^post5 == 0 /\ -rcd_105^post5+rcd_105^0 == 0 /\ -result_11^post5+result_11^0 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ rcd_273^0-rcd_273^post5 == 0 /\ -lt_509^post5+lt_509^0 == 0 /\ r_243^0-r_243^post5 == 0 /\ len_205^0-len_205^post5 == 0 /\ r_42^0-r_42^post5 == 0 /\ ct_20^0-ct_20^post5 == 0 /\ t_24^0-t_24^post5 == 0 /\ a_173^0-a_173^post5 == 0 /\ rcd_409^0-rcd_409^post5 == 0 /\ -x_19^post5+x_19^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -a_388^post5+a_388^0 == 0 /\ rcd_363^0-rcd_363^post5 == 0 /\ rcd_46^0-rcd_46^post5 == 0 /\ r_258^0-r_258^post5 == 0 /\ -head_13^post5+head_13^0 == 0 /\ -rcd_70^post5+rcd_70^0 == 0 /\ rcd_427^0-rcd_427^post5 == 0), cost: 1
 116: l1 -> l72 : a_148^0'=a_148^post116, r_258^0'=r_258^post116, i_33^0'=i_33^post116, r_167^0'=r_167^post116, t_30^0'=t_30^post116, a_358^0'=a_358^post116, r_42^0'=r_42^post116, len_275^0'=len_275^post116, rcd_409^0'=rcd_409^post116, r_243^0'=r_243^post116, r_246^0'=r_246^post116, x_SLAM_f_21^0'=x_SLAM_f_21^post116, head_35^0'=head_35^post116, rcd_248^0'=rcd_248^post116, lt_509^0'=lt_509^post116, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post116, a_220^0'=a_220^post116, r_272^0'=r_272^post116, rcd_363^0'=rcd_363^post116, r_196^0'=r_196^post116, temp0_34^0'=temp0_34^post116, c_28^0'=c_28^post116, rcd_113^0'=rcd_113^post116, length_32^0'=length_32^post116, rcd_46^0'=rcd_46^post116, r_252^0'=r_252^post116, i_120^0'=i_120^post116, rcd_273^0'=rcd_273^post116, r_159^0'=r_159^post116, t_24^0'=t_24^post116, a_332^0'=a_332^post116, r_29^0'=r_29^post116, len_205^0'=len_205^post116, rcd_387^0'=rcd_387^post116, r_236^0'=r_236^post116, tmp_37^0'=tmp_37^post116, x_23^0'=x_23^post116, head_13^0'=head_13^post116, rcd_244^0'=rcd_244^post116, lt_397^0'=lt_397^post116, result_11^0'=result_11^post116, a_173^0'=a_173^post116, r_266^0'=r_266^post116, l_27^0'=l_27^post116, r_188^0'=r_188^post116, temp0_18^0'=temp0_18^post116, a_388^0'=a_388^post116, rcd_105^0'=rcd_105^post116, len_297^0'=len_297^post116, rcd_427^0'=rcd_427^post116, r_245^0'=r_245^post116, r_247^0'=r_247^post116, y_22^0'=y_22^post116, i_111^0'=i_111^post116, rcd_253^0'=rcd_253^post116, nondet_12^0'=nondet_12^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, a_276^0'=a_276^post116, r_274^0'=r_274^post116, rcd_367^0'=rcd_367^post116, r_234^0'=r_234^post116, temp_38^0'=temp_38^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, rcd_235^0'=rcd_235^post116, lt_17^0'=lt_17^post116, rcd_70^0'=rcd_70^post116, (0 == 0 /\ lt_397^0-lt_397^post116 == 0 /\ r_42^0-r_42^post116 == 0 /\ t_30^0-t_30^post116 == 0 /\ i_120^0-i_120^post116 == 0 /\ -a_388^post116+a_388^0 == 0 /\ -t_24^post116+t_24^0 == 0 /\ r_246^0-r_246^post116 == 0 /\ r_258^0-r_258^post116 == 0 /\ -r_274^post116+r_274^0 == 0 /\ -len_297^0 <= 0 /\ rcd_46^0-rcd_46^post116 == 0 /\ -y_22^post116+y_22^0 == 0 /\ x_23^0-x_23^post116 == 0 /\ r_196^0-r_196^post116 == 0 /\ -rcd_427^post116+rcd_427^0 == 0 /\ -len_205^post116+len_205^0 == 0 /\ r_236^0-r_236^post116 == 0 /\ -rcd_70^post116+rcd_70^0 == 0 /\ c_28^0-c_28^post116 == 0 /\ r_29^0-r_29^post116 == 0 /\ -i_111^post116+i_111^0 == 0 /\ i_33^0-i_33^post116 == 0 /\ lt_509^0-lt_509^post116 == 0 /\ a_276^0-a_276^post116 == 0 /\ a_358^0-a_358^post116 == 0 /\ -rcd_235^post116+rcd_235^0 == 0 /\ -nondet_12^post116+nondet_12^0 == 0 /\ -l_27^post116+l_27^0 == 0 /\ -head_13^post116+head_13^0 == 0 /\ length_32^0-length_32^post116 == 0 /\ -temp0_34^post116+temp0_34^0 == 0 /\ -r_266^post116+r_266^0 == 0 /\ a_220^0-a_220^post116 == 0 /\ r_159^0-r_159^post116 == 0 /\ -a_173^post116+a_173^0 == 0 /\ rcd_273^0-rcd_273^post116 == 0 /\ rcd_409^0-rcd_409^post116 == 0 /\ len_297^0-len_297^post116 == 0 /\ -temp0_18^post116+temp0_18^0 == 0 /\ -r_234^post116+r_234^0 == 0 /\ -r_245^post116+r_245^0 == 0 /\ -rcd_244^post116+rcd_244^0 == 0 /\ rcd_113^0-rcd_113^post116 == 0 /\ r_167^0-r_167^post116 == 0 /\ -r_252^post116+r_252^0 == 0 /\ -rcd_105^post116+rcd_105^0 == 0 /\ -a_332^post116+a_332^0 == 0 /\ -len_275^post116+len_275^0 == 0 /\ a_148^0-a_148^post116 == 0 /\ -r_188^post116+r_188^0 == 0 /\ rcd_248^0-rcd_248^post116 == 0 /\ -tmp_37^post116+tmp_37^0 == 0 /\ -rcd_387^post116+rcd_387^0 == 0 /\ -temp_38^post116+temp_38^0 == 0 /\ -r_247^post116+r_247^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post116 == 0 /\ r_243^0-r_243^post116 == 0 /\ result_11^0-result_11^post116 == 0 /\ r_272^0-r_272^post116 == 0 /\ head_35^0-head_35^post116 == 0 /\ -rcd_253^post116+rcd_253^0 == 0), cost: 1
   7: l6 -> l7 : a_148^0'=a_148^post7, r_258^0'=r_258^post7, i_33^0'=i_33^post7, r_167^0'=r_167^post7, t_30^0'=t_30^post7, a_358^0'=a_358^post7, r_42^0'=r_42^post7, len_275^0'=len_275^post7, rcd_409^0'=rcd_409^post7, r_243^0'=r_243^post7, r_246^0'=r_246^post7, x_SLAM_f_21^0'=x_SLAM_f_21^post7, head_35^0'=head_35^post7, rcd_248^0'=rcd_248^post7, lt_509^0'=lt_509^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post7, a_220^0'=a_220^post7, r_272^0'=r_272^post7, rcd_363^0'=rcd_363^post7, r_196^0'=r_196^post7, temp0_34^0'=temp0_34^post7, c_28^0'=c_28^post7, rcd_113^0'=rcd_113^post7, length_32^0'=length_32^post7, rcd_46^0'=rcd_46^post7, r_252^0'=r_252^post7, i_120^0'=i_120^post7, rcd_273^0'=rcd_273^post7, r_159^0'=r_159^post7, t_24^0'=t_24^post7, a_332^0'=a_332^post7, r_29^0'=r_29^post7, len_205^0'=len_205^post7, rcd_387^0'=rcd_387^post7, r_236^0'=r_236^post7, tmp_37^0'=tmp_37^post7, x_23^0'=x_23^post7, head_13^0'=head_13^post7, rcd_244^0'=rcd_244^post7, lt_397^0'=lt_397^post7, result_11^0'=result_11^post7, a_173^0'=a_173^post7, r_266^0'=r_266^post7, l_27^0'=l_27^post7, r_188^0'=r_188^post7, temp0_18^0'=temp0_18^post7, a_388^0'=a_388^post7, rcd_105^0'=rcd_105^post7, len_297^0'=len_297^post7, rcd_427^0'=rcd_427^post7, r_245^0'=r_245^post7, r_247^0'=r_247^post7, y_22^0'=y_22^post7, i_111^0'=i_111^post7, rcd_253^0'=rcd_253^post7, nondet_12^0'=nondet_12^post7, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post7, a_276^0'=a_276^post7, r_274^0'=r_274^post7, rcd_367^0'=rcd_367^post7, r_234^0'=r_234^post7, temp_38^0'=temp_38^post7, x_19^0'=x_19^post7, ct_20^0'=ct_20^post7, rcd_235^0'=rcd_235^post7, lt_17^0'=lt_17^post7, rcd_70^0'=rcd_70^post7, (-a_388^post7+a_388^0 == 0 /\ -i_111^post7+i_111^0 == 0 /\ tmp_37^0-tmp_37^post7 == 0 /\ a_358^0-a_358^post7 == 0 /\ len_205^0-len_205^post7 == 0 /\ -rcd_253^post7+rcd_253^0 == 0 /\ -rcd_70^post7+rcd_70^0 == 0 /\ rcd_363^0-rcd_363^post7 == 0 /\ -x_19^post7+x_19^0 == 0 /\ length_32^0-length_32^post7 == 0 /\ a_148^0-a_148^post7 == 0 /\ len_275^0-len_275^post7 == 0 /\ -r_196^post7+r_196^0 == 0 /\ rcd_409^0-rcd_409^post7 == 0 /\ -r_274^post7+r_274^0 == 0 /\ -t_24^post7+t_24^0 == 0 /\ temp0_34^0-temp0_34^post7 == 0 /\ y_22^0-y_22^post7 == 0 /\ rcd_387^0-rcd_387^post7 == 0 /\ a_332^0-a_332^post7 == 0 /\ rcd_248^0-rcd_248^post7 == 0 /\ -lt_17^post7+lt_17^0 == 0 /\ r_272^0-r_272^post7 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post7 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ -x_23^post7+x_23^0 == 0 /\ result_11^0-result_11^post7 == 0 /\ -r_159^post7+r_159^0 == 0 /\ r_167^0-r_167^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post7 == 0 /\ -head_35^post7+head_35^0 == 0 /\ i_33^0-i_33^post7 == 0 /\ rcd_105^0-rcd_105^post7 == 0 /\ -rcd_235^post7+rcd_235^0 == 0 /\ temp0_18^0-temp0_18^post7 == 0 /\ i_120^0-i_120^post7 == 0 /\ r_258^0-r_258^post7 == 0 /\ -rcd_46^post7+rcd_46^0 == 0 /\ -len_297^post7+len_297^0 == 0 /\ -r_247^post7+r_247^0 == 0 /\ -r_245^post7+r_245^0 == 0 /\ r_42^0-r_42^post7 == 0 /\ -rcd_273^post7+rcd_273^0 == 0 /\ -r_234^post7+r_234^0 == 0 /\ r_252^0-r_252^post7 == 0 /\ -rcd_427^post7+rcd_427^0 == 0 /\ -a_173^post7+a_173^0 == 0 /\ r_246^0-r_246^post7 == 0 /\ rcd_113^0-rcd_113^post7 == 0 /\ -r_266^post7+r_266^0 == 0 /\ -rcd_244^post7+rcd_244^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post7 == 0 /\ -ct_20^post7+ct_20^0 == 0 /\ -c_28^post7+c_28^0 == 0 /\ head_13^0-head_13^post7 == 0 /\ t_30^0-t_30^post7 == 0 /\ 1-c_28^0 <= 0 /\ r_236^0-r_236^post7 == 0 /\ -r_188^post7+r_188^0 == 0 /\ lt_509^0-lt_509^post7 == 0 /\ r_29^0-r_29^post7 == 0 /\ -a_220^post7+a_220^0 == 0 /\ -rcd_367^post7+rcd_367^0 == 0 /\ -lt_397^post7+lt_397^0 == 0 /\ r_243^0-r_243^post7 == 0 /\ l_27^0-l_27^post7 == 0 /\ -a_276^post7+a_276^0 == 0 /\ -temp_38^post7+temp_38^0 == 0), cost: 1
   8: l6 -> l7 : a_148^0'=a_148^post8, r_258^0'=r_258^post8, i_33^0'=i_33^post8, r_167^0'=r_167^post8, t_30^0'=t_30^post8, a_358^0'=a_358^post8, r_42^0'=r_42^post8, len_275^0'=len_275^post8, rcd_409^0'=rcd_409^post8, r_243^0'=r_243^post8, r_246^0'=r_246^post8, x_SLAM_f_21^0'=x_SLAM_f_21^post8, head_35^0'=head_35^post8, rcd_248^0'=rcd_248^post8, lt_509^0'=lt_509^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post8, a_220^0'=a_220^post8, r_272^0'=r_272^post8, rcd_363^0'=rcd_363^post8, r_196^0'=r_196^post8, temp0_34^0'=temp0_34^post8, c_28^0'=c_28^post8, rcd_113^0'=rcd_113^post8, length_32^0'=length_32^post8, rcd_46^0'=rcd_46^post8, r_252^0'=r_252^post8, i_120^0'=i_120^post8, rcd_273^0'=rcd_273^post8, r_159^0'=r_159^post8, t_24^0'=t_24^post8, a_332^0'=a_332^post8, r_29^0'=r_29^post8, len_205^0'=len_205^post8, rcd_387^0'=rcd_387^post8, r_236^0'=r_236^post8, tmp_37^0'=tmp_37^post8, x_23^0'=x_23^post8, head_13^0'=head_13^post8, rcd_244^0'=rcd_244^post8, lt_397^0'=lt_397^post8, result_11^0'=result_11^post8, a_173^0'=a_173^post8, r_266^0'=r_266^post8, l_27^0'=l_27^post8, r_188^0'=r_188^post8, temp0_18^0'=temp0_18^post8, a_388^0'=a_388^post8, rcd_105^0'=rcd_105^post8, len_297^0'=len_297^post8, rcd_427^0'=rcd_427^post8, r_245^0'=r_245^post8, r_247^0'=r_247^post8, y_22^0'=y_22^post8, i_111^0'=i_111^post8, rcd_253^0'=rcd_253^post8, nondet_12^0'=nondet_12^post8, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post8, a_276^0'=a_276^post8, r_274^0'=r_274^post8, rcd_367^0'=rcd_367^post8, r_234^0'=r_234^post8, temp_38^0'=temp_38^post8, x_19^0'=x_19^post8, ct_20^0'=ct_20^post8, rcd_235^0'=rcd_235^post8, lt_17^0'=lt_17^post8, rcd_70^0'=rcd_70^post8, (-rcd_105^post8+rcd_105^0 == 0 /\ r_42^0-r_42^post8 == 0 /\ t_30^0-t_30^post8 == 0 /\ -rcd_367^post8+rcd_367^0 == 0 /\ -ct_20^post8+ct_20^0 == 0 /\ -r_188^post8+r_188^0 == 0 /\ -r_272^post8+r_272^0 == 0 /\ 1+c_28^0 <= 0 /\ -x_23^post8+x_23^0 == 0 /\ r_258^0-r_258^post8 == 0 /\ r_246^0-r_246^post8 == 0 /\ -temp_38^post8+temp_38^0 == 0 /\ rcd_46^0-rcd_46^post8 == 0 /\ -nondet_12^post8+nondet_12^0 == 0 /\ r_196^0-r_196^post8 == 0 /\ -i_111^post8+i_111^0 == 0 /\ rcd_244^0-rcd_244^post8 == 0 /\ a_332^0-a_332^post8 == 0 /\ r_245^0-r_245^post8 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post8 == 0 /\ -a_388^post8+a_388^0 == 0 /\ -head_13^post8+head_13^0 == 0 /\ a_276^0-a_276^post8 == 0 /\ a_220^0-a_220^post8 == 0 /\ a_358^0-a_358^post8 == 0 /\ -rcd_70^post8+rcd_70^0 == 0 /\ a_173^0-a_173^post8 == 0 /\ -x_19^post8+x_19^0 == 0 /\ -t_24^post8+t_24^0 == 0 /\ i_33^0-i_33^post8 == 0 /\ c_28^0-c_28^post8 == 0 /\ i_120^0-i_120^post8 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post8+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_273^0-rcd_273^post8 == 0 /\ r_243^0-r_243^post8 == 0 /\ len_297^0-len_297^post8 == 0 /\ length_32^0-length_32^post8 == 0 /\ -len_205^post8+len_205^0 == 0 /\ -r_167^post8+r_167^0 == 0 /\ -r_236^post8+r_236^0 == 0 /\ -rcd_427^post8+rcd_427^0 == 0 /\ temp0_34^0-temp0_34^post8 == 0 /\ rcd_363^0-rcd_363^post8 == 0 /\ rcd_409^0-rcd_409^post8 == 0 /\ -r_247^post8+r_247^0 == 0 /\ -lt_17^post8+lt_17^0 == 0 /\ r_159^0-r_159^post8 == 0 /\ len_275^0-len_275^post8 == 0 /\ -lt_509^post8+lt_509^0 == 0 /\ rcd_248^0-rcd_248^post8 == 0 /\ -r_266^post8+r_266^0 == 0 /\ -lt_397^post8+lt_397^0 == 0 /\ r_29^0-r_29^post8 == 0 /\ -l_27^post8+l_27^0 == 0 /\ -temp0_18^post8+temp0_18^0 == 0 /\ result_11^0-result_11^post8 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post8 == 0 /\ -r_234^post8+r_234^0 == 0 /\ -rcd_113^post8+rcd_113^0 == 0 /\ a_148^0-a_148^post8 == 0 /\ -r_274^post8+r_274^0 == 0 /\ rcd_387^0-rcd_387^post8 == 0 /\ -rcd_253^post8+rcd_253^0 == 0 /\ tmp_37^0-tmp_37^post8 == 0 /\ head_35^0-head_35^post8 == 0 /\ -r_252^post8+r_252^0 == 0 /\ -rcd_235^post8+rcd_235^0 == 0 /\ -y_22^post8+y_22^0 == 0), cost: 1
   9: l7 -> l8 : a_148^0'=a_148^post9, r_258^0'=r_258^post9, i_33^0'=i_33^post9, r_167^0'=r_167^post9, t_30^0'=t_30^post9, a_358^0'=a_358^post9, r_42^0'=r_42^post9, len_275^0'=len_275^post9, rcd_409^0'=rcd_409^post9, r_243^0'=r_243^post9, r_246^0'=r_246^post9, x_SLAM_f_21^0'=x_SLAM_f_21^post9, head_35^0'=head_35^post9, rcd_248^0'=rcd_248^post9, lt_509^0'=lt_509^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post9, a_220^0'=a_220^post9, r_272^0'=r_272^post9, rcd_363^0'=rcd_363^post9, r_196^0'=r_196^post9, temp0_34^0'=temp0_34^post9, c_28^0'=c_28^post9, rcd_113^0'=rcd_113^post9, length_32^0'=length_32^post9, rcd_46^0'=rcd_46^post9, r_252^0'=r_252^post9, i_120^0'=i_120^post9, rcd_273^0'=rcd_273^post9, r_159^0'=r_159^post9, t_24^0'=t_24^post9, a_332^0'=a_332^post9, r_29^0'=r_29^post9, len_205^0'=len_205^post9, rcd_387^0'=rcd_387^post9, r_236^0'=r_236^post9, tmp_37^0'=tmp_37^post9, x_23^0'=x_23^post9, head_13^0'=head_13^post9, rcd_244^0'=rcd_244^post9, lt_397^0'=lt_397^post9, result_11^0'=result_11^post9, a_173^0'=a_173^post9, r_266^0'=r_266^post9, l_27^0'=l_27^post9, r_188^0'=r_188^post9, temp0_18^0'=temp0_18^post9, a_388^0'=a_388^post9, rcd_105^0'=rcd_105^post9, len_297^0'=len_297^post9, rcd_427^0'=rcd_427^post9, r_245^0'=r_245^post9, r_247^0'=r_247^post9, y_22^0'=y_22^post9, i_111^0'=i_111^post9, rcd_253^0'=rcd_253^post9, nondet_12^0'=nondet_12^post9, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post9, a_276^0'=a_276^post9, r_274^0'=r_274^post9, rcd_367^0'=rcd_367^post9, r_234^0'=r_234^post9, temp_38^0'=temp_38^post9, x_19^0'=x_19^post9, ct_20^0'=ct_20^post9, rcd_235^0'=rcd_235^post9, lt_17^0'=lt_17^post9, rcd_70^0'=rcd_70^post9, (0 == 0 /\ r_42^0-r_272^post9 <= 0 /\ -ct_20^post9+ct_20^0 == 0 /\ -r_234^post9+r_234^0 == 0 /\ 1-a_220^0+a_276^post9 <= 0 /\ -r_245^post9+r_245^0 == 0 /\ -result_11^post9+result_11^0 == 0 /\ -nondet_12^post9+nondet_12^0 == 0 /\ -r_252^post9+r_252^0 == 0 /\ -head_13^post9+head_13^0 == 0 /\ r_167^0-r_274^post9 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post9 == 0 /\ r_236^0-r_236^post9 == 0 /\ -len_297^post9+len_297^0 == 0 /\ lt_397^0-lt_397^post9 == 0 /\ -temp0_18^post9+temp0_18^0 == 0 /\ -x_19^post9+x_19^0 == 0 /\ rcd_409^0-rcd_409^post9 == 0 /\ -i_120^post9+i_120^0 == 0 /\ -r_42^0+r_272^post9 <= 0 /\ -rcd_387^post9+rcd_387^0 == 0 /\ rcd_363^0-rcd_363^post9 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post9+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_367^post9+rcd_367^0 == 0 /\ -rcd_244^post9+rcd_244^0 == 0 /\ -temp_38^post9+temp_38^0 == 0 /\ -rcd_70^post9+rcd_70^0 == 0 /\ head_35^0-head_35^post9 == 0 /\ rcd_113^0-rcd_113^post9 == 0 /\ temp0_34^0-temp0_34^post9 == 0 /\ 1-len_275^post9+len_205^0 <= 0 /\ x_23^0-x_23^post9 == 0 /\ t_30^post9-c_28^0 == 0 /\ -a_332^post9+a_332^0 == 0 /\ -r_167^0+r_274^post9 <= 0 /\ r_42^0-r_42^post9 == 0 /\ r_159^0-r_159^post9 == 0 /\ a_148^0-a_148^post9 == 0 /\ -rcd_105^post9+rcd_105^0 == 0 /\ -r_247^post9+r_247^0 == 0 /\ a_388^0-a_388^post9 == 0 /\ r_188^0-r_188^post9 == 0 /\ r_246^0-r_246^post9 == 0 /\ rcd_46^0-rcd_46^post9 == 0 /\ -1+a_220^0-a_276^post9 <= 0 /\ -tmp_37^post9+tmp_37^0 == 0 /\ c_28^0-c_28^post9 == 0 /\ r_266^0-r_266^post9 == 0 /\ lt_509^0-lt_509^post9 == 0 /\ -lt_17^post9+lt_17^0 == 0 /\ r_196^0-r_196^post9 == 0 /\ rcd_427^0-rcd_427^post9 == 0 /\ r_243^0-r_243^post9 == 0 /\ rcd_46^0-rcd_273^post9 <= 0 /\ r_167^0-r_167^post9 == 0 /\ -y_22^post9+y_22^0 == 0 /\ -rcd_253^post9+rcd_253^0 == 0 /\ -t_30^post9+r_29^post9 <= 0 /\ -t_30^post9+r_29^post9 == 0 /\ -head_13^0+l_27^0 <= 0 /\ t_24^0-t_24^post9 == 0 /\ r_258^0-r_258^post9 == 0 /\ len_205^0-len_205^post9 == 0 /\ -rcd_235^post9+rcd_235^0 == 0 /\ a_358^0-a_358^post9 == 0 /\ -i_111^post9+i_111^0 == 0 /\ -rcd_46^0+rcd_273^post9 <= 0 /\ rcd_248^0-rcd_248^post9 == 0 /\ -1+len_275^post9-len_205^0 <= 0 /\ i_33^0-i_33^post9 == 0 /\ -length_32^post9+length_32^0 == 0 /\ a_173^0-a_173^post9 == 0 /\ t_30^post9-r_29^post9 <= 0 /\ head_13^0-l_27^0 <= 0 /\ -l_27^post9+l_27^0 == 0 /\ a_220^0-a_220^post9 == 0), cost: 1
  10: l8 -> l9 : a_148^0'=a_148^post10, r_258^0'=r_258^post10, i_33^0'=i_33^post10, r_167^0'=r_167^post10, t_30^0'=t_30^post10, a_358^0'=a_358^post10, r_42^0'=r_42^post10, len_275^0'=len_275^post10, rcd_409^0'=rcd_409^post10, r_243^0'=r_243^post10, r_246^0'=r_246^post10, x_SLAM_f_21^0'=x_SLAM_f_21^post10, head_35^0'=head_35^post10, rcd_248^0'=rcd_248^post10, lt_509^0'=lt_509^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post10, a_220^0'=a_220^post10, r_272^0'=r_272^post10, rcd_363^0'=rcd_363^post10, r_196^0'=r_196^post10, temp0_34^0'=temp0_34^post10, c_28^0'=c_28^post10, rcd_113^0'=rcd_113^post10, length_32^0'=length_32^post10, rcd_46^0'=rcd_46^post10, r_252^0'=r_252^post10, i_120^0'=i_120^post10, rcd_273^0'=rcd_273^post10, r_159^0'=r_159^post10, t_24^0'=t_24^post10, a_332^0'=a_332^post10, r_29^0'=r_29^post10, len_205^0'=len_205^post10, rcd_387^0'=rcd_387^post10, r_236^0'=r_236^post10, tmp_37^0'=tmp_37^post10, x_23^0'=x_23^post10, head_13^0'=head_13^post10, rcd_244^0'=rcd_244^post10, lt_397^0'=lt_397^post10, result_11^0'=result_11^post10, a_173^0'=a_173^post10, r_266^0'=r_266^post10, l_27^0'=l_27^post10, r_188^0'=r_188^post10, temp0_18^0'=temp0_18^post10, a_388^0'=a_388^post10, rcd_105^0'=rcd_105^post10, len_297^0'=len_297^post10, rcd_427^0'=rcd_427^post10, r_245^0'=r_245^post10, r_247^0'=r_247^post10, y_22^0'=y_22^post10, i_111^0'=i_111^post10, rcd_253^0'=rcd_253^post10, nondet_12^0'=nondet_12^post10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post10, a_276^0'=a_276^post10, r_274^0'=r_274^post10, rcd_367^0'=rcd_367^post10, r_234^0'=r_234^post10, temp_38^0'=temp_38^post10, x_19^0'=x_19^post10, ct_20^0'=ct_20^post10, rcd_235^0'=rcd_235^post10, lt_17^0'=lt_17^post10, rcd_70^0'=rcd_70^post10, (rcd_113^0-rcd_113^post10 == 0 /\ -a_173^post10+a_173^0 == 0 /\ r_266^0-r_266^post10 == 0 /\ r_196^0-r_196^post10 == 0 /\ r_272^0-r_272^post10 == 0 /\ -temp0_34^post10+temp0_34^0 == 0 /\ -r_29^post10+r_29^0 == 0 /\ head_13^0-head_13^post10 == 0 /\ -rcd_235^post10+rcd_235^0 == 0 /\ -r_234^post10+r_234^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post10+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ head_35^0-head_35^post10 == 0 /\ r_243^0-r_243^post10 == 0 /\ t_30^0-t_30^post10 == 0 /\ -rcd_244^post10+rcd_244^0 == 0 /\ lt_509^0-lt_509^post10 == 0 /\ r_167^0-r_167^post10 == 0 /\ a_358^0-a_358^post10 == 0 /\ l_27^0-l_27^post10 == 0 /\ -rcd_273^post10+rcd_273^0 == 0 /\ rcd_387^0-rcd_387^post10 == 0 /\ -rcd_427^post10+rcd_427^0 == 0 /\ i_33^0-i_33^post10 == 0 /\ -a_276^post10+a_276^0 == 0 /\ -c_28^post10+c_28^0 == 0 /\ -a_220^post10+a_220^0 == 0 /\ -rcd_367^post10+rcd_367^0 == 0 /\ -y_22^post10+y_22^0 == 0 /\ len_205^0-len_205^post10 == 0 /\ -a_332^post10+a_332^0 == 0 /\ -ct_20^post10+ct_20^0 == 0 /\ r_258^0-r_258^post10 == 0 /\ t_24^0-t_24^post10 == 0 /\ len_275^0-len_275^post10 == 0 /\ r_247^0-r_247^post10 == 0 /\ -lt_397^post10+lt_397^0 == 0 /\ -len_297^post10+len_297^0 == 0 /\ -rcd_363^post10+rcd_363^0 == 0 /\ 1-t_30^0 <= 0 /\ -r_188^post10+r_188^0 == 0 /\ -i_120^post10+i_120^0 == 0 /\ rcd_46^0-rcd_46^post10 == 0 /\ r_246^0-r_246^post10 == 0 /\ -x_23^post10+x_23^0 == 0 /\ -length_32^post10+length_32^0 == 0 /\ -r_274^post10+r_274^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post10 == 0 /\ -rcd_253^post10+rcd_253^0 == 0 /\ -rcd_70^post10+rcd_70^0 == 0 /\ -temp_38^post10+temp_38^0 == 0 /\ -i_111^post10+i_111^0 == 0 /\ -rcd_248^post10+rcd_248^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post10 == 0 /\ r_236^0-r_236^post10 == 0 /\ rcd_105^0-rcd_105^post10 == 0 /\ -tmp_37^post10+tmp_37^0 == 0 /\ -r_159^post10+r_159^0 == 0 /\ -lt_17^post10+lt_17^0 == 0 /\ -result_11^post10+result_11^0 == 0 /\ temp0_18^0-temp0_18^post10 == 0 /\ r_42^0-r_42^post10 == 0 /\ x_19^0-x_19^post10 == 0 /\ -r_245^post10+r_245^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ a_148^0-a_148^post10 == 0 /\ -a_388^post10+a_388^0 == 0 /\ rcd_409^0-rcd_409^post10 == 0 /\ r_252^0-r_252^post10 == 0), cost: 1
  11: l8 -> l9 : a_148^0'=a_148^post11, r_258^0'=r_258^post11, i_33^0'=i_33^post11, r_167^0'=r_167^post11, t_30^0'=t_30^post11, a_358^0'=a_358^post11, r_42^0'=r_42^post11, len_275^0'=len_275^post11, rcd_409^0'=rcd_409^post11, r_243^0'=r_243^post11, r_246^0'=r_246^post11, x_SLAM_f_21^0'=x_SLAM_f_21^post11, head_35^0'=head_35^post11, rcd_248^0'=rcd_248^post11, lt_509^0'=lt_509^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post11, a_220^0'=a_220^post11, r_272^0'=r_272^post11, rcd_363^0'=rcd_363^post11, r_196^0'=r_196^post11, temp0_34^0'=temp0_34^post11, c_28^0'=c_28^post11, rcd_113^0'=rcd_113^post11, length_32^0'=length_32^post11, rcd_46^0'=rcd_46^post11, r_252^0'=r_252^post11, i_120^0'=i_120^post11, rcd_273^0'=rcd_273^post11, r_159^0'=r_159^post11, t_24^0'=t_24^post11, a_332^0'=a_332^post11, r_29^0'=r_29^post11, len_205^0'=len_205^post11, rcd_387^0'=rcd_387^post11, r_236^0'=r_236^post11, tmp_37^0'=tmp_37^post11, x_23^0'=x_23^post11, head_13^0'=head_13^post11, rcd_244^0'=rcd_244^post11, lt_397^0'=lt_397^post11, result_11^0'=result_11^post11, a_173^0'=a_173^post11, r_266^0'=r_266^post11, l_27^0'=l_27^post11, r_188^0'=r_188^post11, temp0_18^0'=temp0_18^post11, a_388^0'=a_388^post11, rcd_105^0'=rcd_105^post11, len_297^0'=len_297^post11, rcd_427^0'=rcd_427^post11, r_245^0'=r_245^post11, r_247^0'=r_247^post11, y_22^0'=y_22^post11, i_111^0'=i_111^post11, rcd_253^0'=rcd_253^post11, nondet_12^0'=nondet_12^post11, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post11, a_276^0'=a_276^post11, r_274^0'=r_274^post11, rcd_367^0'=rcd_367^post11, r_234^0'=r_234^post11, temp_38^0'=temp_38^post11, x_19^0'=x_19^post11, ct_20^0'=ct_20^post11, rcd_235^0'=rcd_235^post11, lt_17^0'=lt_17^post11, rcd_70^0'=rcd_70^post11, (rcd_253^0-rcd_253^post11 == 0 /\ -len_205^post11+len_205^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post11+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post11+rcd_427^0 == 0 /\ r_245^0-r_245^post11 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post11 == 0 /\ result_11^0-result_11^post11 == 0 /\ tmp_37^0-tmp_37^post11 == 0 /\ -r_159^post11+r_159^0 == 0 /\ i_120^0-i_120^post11 == 0 /\ length_32^0-length_32^post11 == 0 /\ -lt_17^post11+lt_17^0 == 0 /\ i_33^0-i_33^post11 == 0 /\ -l_27^post11+l_27^0 == 0 /\ -lt_397^post11+lt_397^0 == 0 /\ -r_29^post11+r_29^0 == 0 /\ r_42^0-r_42^post11 == 0 /\ -i_111^post11+i_111^0 == 0 /\ -r_234^post11+r_234^0 == 0 /\ lt_509^0-lt_509^post11 == 0 /\ -r_266^post11+r_266^0 == 0 /\ t_30^0-t_30^post11 == 0 /\ temp0_34^0-temp0_34^post11 == 0 /\ -temp0_18^post11+temp0_18^0 == 0 /\ y_22^0-y_22^post11 == 0 /\ -a_276^post11+a_276^0 == 0 /\ a_332^0-a_332^post11 == 0 /\ -r_196^post11+r_196^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post11 == 0 /\ -rcd_273^post11+rcd_273^0 == 0 /\ -rcd_235^post11+rcd_235^0 == 0 /\ rcd_363^0-rcd_363^post11 == 0 /\ rcd_244^0-rcd_244^post11 == 0 /\ a_148^0-a_148^post11 == 0 /\ r_252^0-r_252^post11 == 0 /\ -r_272^post11+r_272^0 == 0 /\ head_35^0-head_35^post11 == 0 /\ -r_274^post11+r_274^0 == 0 /\ rcd_409^0-rcd_409^post11 == 0 /\ r_167^0-r_167^post11 == 0 /\ -rcd_367^post11+rcd_367^0 == 0 /\ -rcd_105^post11+rcd_105^0 == 0 /\ rcd_387^0-rcd_387^post11 == 0 /\ -r_188^post11+r_188^0 == 0 /\ rcd_113^0-rcd_113^post11 == 0 /\ a_220^0-a_220^post11 == 0 /\ 1+t_30^0 <= 0 /\ rcd_248^0-rcd_248^post11 == 0 /\ -x_23^post11+x_23^0 == 0 /\ -nondet_12^post11+nondet_12^0 == 0 /\ temp_38^0-temp_38^post11 == 0 /\ -rcd_46^post11+rcd_46^0 == 0 /\ len_297^0-len_297^post11 == 0 /\ -a_388^post11+a_388^0 == 0 /\ r_243^0-r_243^post11 == 0 /\ -head_13^post11+head_13^0 == 0 /\ ct_20^0-ct_20^post11 == 0 /\ -a_358^post11+a_358^0 == 0 /\ r_246^0-r_246^post11 == 0 /\ -t_24^post11+t_24^0 == 0 /\ -r_247^post11+r_247^0 == 0 /\ r_258^0-r_258^post11 == 0 /\ r_236^0-r_236^post11 == 0 /\ -c_28^post11+c_28^0 == 0 /\ -a_173^post11+a_173^0 == 0 /\ len_275^0-len_275^post11 == 0 /\ -rcd_70^post11+rcd_70^0 == 0 /\ -x_19^post11+x_19^0 == 0), cost: 1
  12: l9 -> l10 : a_148^0'=a_148^post12, r_258^0'=r_258^post12, i_33^0'=i_33^post12, r_167^0'=r_167^post12, t_30^0'=t_30^post12, a_358^0'=a_358^post12, r_42^0'=r_42^post12, len_275^0'=len_275^post12, rcd_409^0'=rcd_409^post12, r_243^0'=r_243^post12, r_246^0'=r_246^post12, x_SLAM_f_21^0'=x_SLAM_f_21^post12, head_35^0'=head_35^post12, rcd_248^0'=rcd_248^post12, lt_509^0'=lt_509^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post12, a_220^0'=a_220^post12, r_272^0'=r_272^post12, rcd_363^0'=rcd_363^post12, r_196^0'=r_196^post12, temp0_34^0'=temp0_34^post12, c_28^0'=c_28^post12, rcd_113^0'=rcd_113^post12, length_32^0'=length_32^post12, rcd_46^0'=rcd_46^post12, r_252^0'=r_252^post12, i_120^0'=i_120^post12, rcd_273^0'=rcd_273^post12, r_159^0'=r_159^post12, t_24^0'=t_24^post12, a_332^0'=a_332^post12, r_29^0'=r_29^post12, len_205^0'=len_205^post12, rcd_387^0'=rcd_387^post12, r_236^0'=r_236^post12, tmp_37^0'=tmp_37^post12, x_23^0'=x_23^post12, head_13^0'=head_13^post12, rcd_244^0'=rcd_244^post12, lt_397^0'=lt_397^post12, result_11^0'=result_11^post12, a_173^0'=a_173^post12, r_266^0'=r_266^post12, l_27^0'=l_27^post12, r_188^0'=r_188^post12, temp0_18^0'=temp0_18^post12, a_388^0'=a_388^post12, rcd_105^0'=rcd_105^post12, len_297^0'=len_297^post12, rcd_427^0'=rcd_427^post12, r_245^0'=r_245^post12, r_247^0'=r_247^post12, y_22^0'=y_22^post12, i_111^0'=i_111^post12, rcd_253^0'=rcd_253^post12, nondet_12^0'=nondet_12^post12, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post12, a_276^0'=a_276^post12, r_274^0'=r_274^post12, rcd_367^0'=rcd_367^post12, r_234^0'=r_234^post12, temp_38^0'=temp_38^post12, x_19^0'=x_19^post12, ct_20^0'=ct_20^post12, rcd_235^0'=rcd_235^post12, lt_17^0'=lt_17^post12, rcd_70^0'=rcd_70^post12, (-a_276^post12+a_276^0 == 0 /\ a_358^0-a_358^post12 == 0 /\ -rcd_113^post12+rcd_113^0 == 0 /\ rcd_409^0-rcd_409^post12 == 0 /\ i_33^0-i_33^post12 == 0 /\ a_220^0-a_220^post12 == 0 /\ a_173^0-a_173^post12 == 0 /\ head_35^0-head_35^post12 == 0 /\ -y_22^post12+y_22^0 == 0 /\ rcd_46^0-rcd_46^post12 == 0 /\ rcd_273^0-rcd_273^post12 == 0 /\ -rcd_253^post12+rcd_253^0 == 0 /\ -r_196^post12+r_196^0 == 0 /\ -t_24^post12+t_24^0 == 0 /\ -rcd_70^post12+rcd_70^0 == 0 /\ a_148^0-a_148^post12 == 0 /\ x_23^0-x_23^post12 == 0 /\ temp0_34^0-temp0_34^post12 == 0 /\ -r_274^post12+r_274^0 == 0 /\ len_275^0-len_275^post12 == 0 /\ 1-r_167^0 <= 0 /\ r_272^0-r_272^post12 == 0 /\ -i_111^post12+i_111^0 == 0 /\ c_28^0-c_28^post12 == 0 /\ r_167^0-r_167^post12 == 0 /\ -result_11^post12+result_11^0 == 0 /\ -lt_17^post12+lt_17^0 == 0 /\ r_29^0-r_29^post12 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ -l_27^post12+l_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post12 == 0 /\ lt_397^0-lt_397^post12 == 0 /\ -len_205^post12+len_205^0 == 0 /\ -r_234^post12+r_234^0 == 0 /\ tmp_37^0-tmp_37^post12 == 0 /\ r_258^0-r_258^post12 == 0 /\ -len_297^post12+len_297^0 == 0 /\ length_32^0-length_32^post12 == 0 /\ -head_13^post12+head_13^0 == 0 /\ -r_266^post12+r_266^0 == 0 /\ rcd_363^0-rcd_363^post12 == 0 /\ -r_243^post12+r_243^0 == 0 /\ -rcd_367^post12+rcd_367^0 == 0 /\ -temp0_18^post12+temp0_18^0 == 0 /\ r_159^0-r_159^post12 == 0 /\ -r_245^post12+r_245^0 == 0 /\ -rcd_105^post12+rcd_105^0 == 0 /\ rcd_235^0-rcd_235^post12 == 0 /\ -x_19^post12+x_19^0 == 0 /\ -r_42^post12+r_42^0 == 0 /\ -r_188^post12+r_188^0 == 0 /\ -temp_38^post12+temp_38^0 == 0 /\ -rcd_244^post12+rcd_244^0 == 0 /\ -i_120^post12+i_120^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post12+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_388^0-a_388^post12 == 0 /\ -r_252^post12+r_252^0 == 0 /\ rcd_427^0-rcd_427^post12 == 0 /\ lt_509^0-lt_509^post12 == 0 /\ rcd_248^0-rcd_248^post12 == 0 /\ -r_247^post12+r_247^0 == 0 /\ -r_246^post12+r_246^0 == 0 /\ -r_236^post12+r_236^0 == 0 /\ t_30^0-t_30^post12 == 0 /\ -ct_20^post12+ct_20^0 == 0 /\ -rcd_387^post12+rcd_387^0 == 0 /\ -a_332^post12+a_332^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post12 == 0), cost: 1
  13: l9 -> l10 : a_148^0'=a_148^post13, r_258^0'=r_258^post13, i_33^0'=i_33^post13, r_167^0'=r_167^post13, t_30^0'=t_30^post13, a_358^0'=a_358^post13, r_42^0'=r_42^post13, len_275^0'=len_275^post13, rcd_409^0'=rcd_409^post13, r_243^0'=r_243^post13, r_246^0'=r_246^post13, x_SLAM_f_21^0'=x_SLAM_f_21^post13, head_35^0'=head_35^post13, rcd_248^0'=rcd_248^post13, lt_509^0'=lt_509^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post13, a_220^0'=a_220^post13, r_272^0'=r_272^post13, rcd_363^0'=rcd_363^post13, r_196^0'=r_196^post13, temp0_34^0'=temp0_34^post13, c_28^0'=c_28^post13, rcd_113^0'=rcd_113^post13, length_32^0'=length_32^post13, rcd_46^0'=rcd_46^post13, r_252^0'=r_252^post13, i_120^0'=i_120^post13, rcd_273^0'=rcd_273^post13, r_159^0'=r_159^post13, t_24^0'=t_24^post13, a_332^0'=a_332^post13, r_29^0'=r_29^post13, len_205^0'=len_205^post13, rcd_387^0'=rcd_387^post13, r_236^0'=r_236^post13, tmp_37^0'=tmp_37^post13, x_23^0'=x_23^post13, head_13^0'=head_13^post13, rcd_244^0'=rcd_244^post13, lt_397^0'=lt_397^post13, result_11^0'=result_11^post13, a_173^0'=a_173^post13, r_266^0'=r_266^post13, l_27^0'=l_27^post13, r_188^0'=r_188^post13, temp0_18^0'=temp0_18^post13, a_388^0'=a_388^post13, rcd_105^0'=rcd_105^post13, len_297^0'=len_297^post13, rcd_427^0'=rcd_427^post13, r_245^0'=r_245^post13, r_247^0'=r_247^post13, y_22^0'=y_22^post13, i_111^0'=i_111^post13, rcd_253^0'=rcd_253^post13, nondet_12^0'=nondet_12^post13, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post13, a_276^0'=a_276^post13, r_274^0'=r_274^post13, rcd_367^0'=rcd_367^post13, r_234^0'=r_234^post13, temp_38^0'=temp_38^post13, x_19^0'=x_19^post13, ct_20^0'=ct_20^post13, rcd_235^0'=rcd_235^post13, lt_17^0'=lt_17^post13, rcd_70^0'=rcd_70^post13, (-temp_38^post13+temp_38^0 == 0 /\ -i_111^post13+i_111^0 == 0 /\ -i_120^post13+i_120^0 == 0 /\ -length_32^post13+length_32^0 == 0 /\ -rcd_248^post13+rcd_248^0 == 0 /\ r_42^0-r_42^post13 == 0 /\ t_30^0-t_30^post13 == 0 /\ -rcd_70^post13+rcd_70^0 == 0 /\ -x_19^post13+x_19^0 == 0 /\ r_258^0-r_258^post13 == 0 /\ r_188^0-r_188^post13 == 0 /\ rcd_363^0-rcd_363^post13 == 0 /\ -a_332^post13+a_332^0 == 0 /\ r_246^0-r_246^post13 == 0 /\ r_159^0-r_159^post13 == 0 /\ -r_274^post13+r_274^0 == 0 /\ y_22^0-y_22^post13 == 0 /\ -r_245^post13+r_245^0 == 0 /\ -result_11^post13+result_11^0 == 0 /\ -lt_17^post13+lt_17^0 == 0 /\ head_13^0-head_13^post13 == 0 /\ rcd_113^0-rcd_113^post13 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post13 == 0 /\ len_205^0-len_205^post13 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -a_388^post13+a_388^0 == 0 /\ lt_509^0-lt_509^post13 == 0 /\ a_358^0-a_358^post13 == 0 /\ -nondet_12^post13+nondet_12^0 == 0 /\ r_272^0-r_272^post13 == 0 /\ x_23^0-x_23^post13 == 0 /\ -temp0_34^post13+temp0_34^0 == 0 /\ -rcd_235^post13+rcd_235^0 == 0 /\ 1+r_167^0 <= 0 /\ -a_173^post13+a_173^0 == 0 /\ lt_397^0-lt_397^post13 == 0 /\ -len_297^post13+len_297^0 == 0 /\ -rcd_387^post13+rcd_387^0 == 0 /\ -r_247^post13+r_247^0 == 0 /\ t_24^0-t_24^post13 == 0 /\ -r_236^post13+r_236^0 == 0 /\ -rcd_244^post13+rcd_244^0 == 0 /\ -r_234^post13+r_234^0 == 0 /\ a_148^0-a_148^post13 == 0 /\ -rcd_427^post13+rcd_427^0 == 0 /\ r_196^0-r_196^post13 == 0 /\ r_252^0-r_252^post13 == 0 /\ rcd_46^0-rcd_46^post13 == 0 /\ rcd_409^0-rcd_409^post13 == 0 /\ r_266^0-r_266^post13 == 0 /\ r_167^0-r_167^post13 == 0 /\ -rcd_273^post13+rcd_273^0 == 0 /\ -ct_20^post13+ct_20^0 == 0 /\ a_220^0-a_220^post13 == 0 /\ -r_29^post13+r_29^0 == 0 /\ -tmp_37^post13+tmp_37^0 == 0 /\ -x_SLAM_f_21^post13+x_SLAM_f_21^0 == 0 /\ -len_275^post13+len_275^0 == 0 /\ -a_276^post13+a_276^0 == 0 /\ -rcd_253^post13+rcd_253^0 == 0 /\ c_28^0-c_28^post13 == 0 /\ -rcd_367^post13+rcd_367^0 == 0 /\ head_35^0-head_35^post13 == 0 /\ -temp0_18^post13+temp0_18^0 == 0 /\ i_33^0-i_33^post13 == 0 /\ rcd_105^0-rcd_105^post13 == 0 /\ r_243^0-r_243^post13 == 0 /\ l_27^0-l_27^post13 == 0), cost: 1
  14: l10 -> l11 : a_148^0'=a_148^post14, r_258^0'=r_258^post14, i_33^0'=i_33^post14, r_167^0'=r_167^post14, t_30^0'=t_30^post14, a_358^0'=a_358^post14, r_42^0'=r_42^post14, len_275^0'=len_275^post14, rcd_409^0'=rcd_409^post14, r_243^0'=r_243^post14, r_246^0'=r_246^post14, x_SLAM_f_21^0'=x_SLAM_f_21^post14, head_35^0'=head_35^post14, rcd_248^0'=rcd_248^post14, lt_509^0'=lt_509^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post14, a_220^0'=a_220^post14, r_272^0'=r_272^post14, rcd_363^0'=rcd_363^post14, r_196^0'=r_196^post14, temp0_34^0'=temp0_34^post14, c_28^0'=c_28^post14, rcd_113^0'=rcd_113^post14, length_32^0'=length_32^post14, rcd_46^0'=rcd_46^post14, r_252^0'=r_252^post14, i_120^0'=i_120^post14, rcd_273^0'=rcd_273^post14, r_159^0'=r_159^post14, t_24^0'=t_24^post14, a_332^0'=a_332^post14, r_29^0'=r_29^post14, len_205^0'=len_205^post14, rcd_387^0'=rcd_387^post14, r_236^0'=r_236^post14, tmp_37^0'=tmp_37^post14, x_23^0'=x_23^post14, head_13^0'=head_13^post14, rcd_244^0'=rcd_244^post14, lt_397^0'=lt_397^post14, result_11^0'=result_11^post14, a_173^0'=a_173^post14, r_266^0'=r_266^post14, l_27^0'=l_27^post14, r_188^0'=r_188^post14, temp0_18^0'=temp0_18^post14, a_388^0'=a_388^post14, rcd_105^0'=rcd_105^post14, len_297^0'=len_297^post14, rcd_427^0'=rcd_427^post14, r_245^0'=r_245^post14, r_247^0'=r_247^post14, y_22^0'=y_22^post14, i_111^0'=i_111^post14, rcd_253^0'=rcd_253^post14, nondet_12^0'=nondet_12^post14, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post14, a_276^0'=a_276^post14, r_274^0'=r_274^post14, rcd_367^0'=rcd_367^post14, r_234^0'=r_234^post14, temp_38^0'=temp_38^post14, x_19^0'=x_19^post14, ct_20^0'=ct_20^post14, rcd_235^0'=rcd_235^post14, lt_17^0'=lt_17^post14, rcd_70^0'=rcd_70^post14, (len_275^0-len_275^post14 == 0 /\ -rcd_367^post14+rcd_367^0 == 0 /\ c_28^0-c_28^post14 == 0 /\ -rcd_105^post14+rcd_105^0 == 0 /\ -rcd_46^post14+rcd_46^0 == 0 /\ 1-r_266^0 <= 0 /\ temp0_34^0-temp0_34^post14 == 0 /\ r_272^0-r_272^post14 == 0 /\ -a_220^post14+a_220^0 == 0 /\ -r_245^post14+r_245^0 == 0 /\ r_196^0-r_196^post14 == 0 /\ lt_509^0-lt_509^post14 == 0 /\ -temp_38^post14+temp_38^0 == 0 /\ -ct_20^post14+ct_20^0 == 0 /\ -i_111^post14+i_111^0 == 0 /\ t_24^0-t_24^post14 == 0 /\ -r_188^post14+r_188^0 == 0 /\ a_148^0-a_148^post14 == 0 /\ result_11^0-result_11^post14 == 0 /\ -a_173^post14+a_173^0 == 0 /\ rcd_244^0-rcd_244^post14 == 0 /\ rcd_253^0-rcd_253^post14 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ -rcd_70^post14+rcd_70^0 == 0 /\ -rcd_363^post14+rcd_363^0 == 0 /\ i_33^0-i_33^post14 == 0 /\ r_167^0-r_167^post14 == 0 /\ -a_388^post14+a_388^0 == 0 /\ r_252^0-r_252^post14 == 0 /\ a_276^0-a_276^post14 == 0 /\ rcd_387^0-rcd_387^post14 == 0 /\ -x_19^post14+x_19^0 == 0 /\ length_32^0-length_32^post14 == 0 /\ r_42^0-r_42^post14 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post14+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_243^0-r_243^post14 == 0 /\ -lt_17^post14+lt_17^0 == 0 /\ t_30^0-t_30^post14 == 0 /\ len_297^0-len_297^post14 == 0 /\ -len_205^post14+len_205^0 == 0 /\ -tmp_37^post14+tmp_37^0 == 0 /\ -rcd_409^post14+rcd_409^0 == 0 /\ -rcd_427^post14+rcd_427^0 == 0 /\ -r_159^post14+r_159^0 == 0 /\ r_246^0-r_246^post14 == 0 /\ -r_247^post14+r_247^0 == 0 /\ -lt_397^post14+lt_397^0 == 0 /\ a_332^0-a_332^post14 == 0 /\ temp0_18^0-temp0_18^post14 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post14 == 0 /\ r_236^0-r_236^post14 == 0 /\ r_258^0-r_258^post14 == 0 /\ -x_23^post14+x_23^0 == 0 /\ -l_27^post14+l_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post14 == 0 /\ a_358^0-a_358^post14 == 0 /\ head_35^0-head_35^post14 == 0 /\ -r_234^post14+r_234^0 == 0 /\ -r_29^post14+r_29^0 == 0 /\ -rcd_235^post14+rcd_235^0 == 0 /\ rcd_113^0-rcd_113^post14 == 0 /\ -r_274^post14+r_274^0 == 0 /\ i_120^0-i_120^post14 == 0 /\ rcd_248^0-rcd_248^post14 == 0 /\ head_13^0-head_13^post14 == 0 /\ -y_22^post14+y_22^0 == 0 /\ -rcd_273^post14+rcd_273^0 == 0 /\ -r_266^post14+r_266^0 == 0), cost: 1
  15: l10 -> l11 : a_148^0'=a_148^post15, r_258^0'=r_258^post15, i_33^0'=i_33^post15, r_167^0'=r_167^post15, t_30^0'=t_30^post15, a_358^0'=a_358^post15, r_42^0'=r_42^post15, len_275^0'=len_275^post15, rcd_409^0'=rcd_409^post15, r_243^0'=r_243^post15, r_246^0'=r_246^post15, x_SLAM_f_21^0'=x_SLAM_f_21^post15, head_35^0'=head_35^post15, rcd_248^0'=rcd_248^post15, lt_509^0'=lt_509^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post15, a_220^0'=a_220^post15, r_272^0'=r_272^post15, rcd_363^0'=rcd_363^post15, r_196^0'=r_196^post15, temp0_34^0'=temp0_34^post15, c_28^0'=c_28^post15, rcd_113^0'=rcd_113^post15, length_32^0'=length_32^post15, rcd_46^0'=rcd_46^post15, r_252^0'=r_252^post15, i_120^0'=i_120^post15, rcd_273^0'=rcd_273^post15, r_159^0'=r_159^post15, t_24^0'=t_24^post15, a_332^0'=a_332^post15, r_29^0'=r_29^post15, len_205^0'=len_205^post15, rcd_387^0'=rcd_387^post15, r_236^0'=r_236^post15, tmp_37^0'=tmp_37^post15, x_23^0'=x_23^post15, head_13^0'=head_13^post15, rcd_244^0'=rcd_244^post15, lt_397^0'=lt_397^post15, result_11^0'=result_11^post15, a_173^0'=a_173^post15, r_266^0'=r_266^post15, l_27^0'=l_27^post15, r_188^0'=r_188^post15, temp0_18^0'=temp0_18^post15, a_388^0'=a_388^post15, rcd_105^0'=rcd_105^post15, len_297^0'=len_297^post15, rcd_427^0'=rcd_427^post15, r_245^0'=r_245^post15, r_247^0'=r_247^post15, y_22^0'=y_22^post15, i_111^0'=i_111^post15, rcd_253^0'=rcd_253^post15, nondet_12^0'=nondet_12^post15, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post15, a_276^0'=a_276^post15, r_274^0'=r_274^post15, rcd_367^0'=rcd_367^post15, r_234^0'=r_234^post15, temp_38^0'=temp_38^post15, x_19^0'=x_19^post15, ct_20^0'=ct_20^post15, rcd_235^0'=rcd_235^post15, lt_17^0'=lt_17^post15, rcd_70^0'=rcd_70^post15, (-r_234^post15+r_234^0 == 0 /\ a_332^0-a_332^post15 == 0 /\ -head_13^post15+head_13^0 == 0 /\ rcd_113^0-rcd_113^post15 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post15 == 0 /\ -r_266^post15+r_266^0 == 0 /\ rcd_248^0-rcd_248^post15 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post15 == 0 /\ -rcd_367^post15+rcd_367^0 == 0 /\ -r_245^post15+r_245^0 == 0 /\ r_243^0-r_243^post15 == 0 /\ -rcd_235^post15+rcd_235^0 == 0 /\ t_30^0-t_30^post15 == 0 /\ -len_297^post15+len_297^0 == 0 /\ -temp0_18^post15+temp0_18^0 == 0 /\ r_167^0-r_167^post15 == 0 /\ -c_28^post15+c_28^0 == 0 /\ a_173^0-a_173^post15 == 0 /\ a_358^0-a_358^post15 == 0 /\ -r_252^post15+r_252^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post15+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_258^0-r_258^post15 == 0 /\ i_120^0-i_120^post15 == 0 /\ rcd_363^0-rcd_363^post15 == 0 /\ -temp_38^post15+temp_38^0 == 0 /\ rcd_46^0-rcd_46^post15 == 0 /\ rcd_273^0-rcd_273^post15 == 0 /\ r_274^0-r_274^post15 == 0 /\ -ct_20^post15+ct_20^0 == 0 /\ -rcd_387^post15+rcd_387^0 == 0 /\ -rcd_105^post15+rcd_105^0 == 0 /\ -r_247^post15+r_247^0 == 0 /\ -r_236^post15+r_236^0 == 0 /\ r_188^0-r_188^post15 == 0 /\ a_388^0-a_388^post15 == 0 /\ rcd_427^0-rcd_427^post15 == 0 /\ -lt_397^post15+lt_397^0 == 0 /\ -rcd_253^post15+rcd_253^0 == 0 /\ -a_276^post15+a_276^0 == 0 /\ -y_22^post15+y_22^0 == 0 /\ -t_24^post15+t_24^0 == 0 /\ lt_509^0-lt_509^post15 == 0 /\ r_29^0-r_29^post15 == 0 /\ -x_19^post15+x_19^0 == 0 /\ -r_196^post15+r_196^0 == 0 /\ head_35^0-head_35^post15 == 0 /\ result_11^0-result_11^post15 == 0 /\ tmp_37^0-tmp_37^post15 == 0 /\ -rcd_70^post15+rcd_70^0 == 0 /\ -rcd_409^post15+rcd_409^0 == 0 /\ -len_205^post15+len_205^0 == 0 /\ i_33^0-i_33^post15 == 0 /\ 1+r_266^0 <= 0 /\ a_220^0-a_220^post15 == 0 /\ rcd_244^0-rcd_244^post15 == 0 /\ length_32^0-length_32^post15 == 0 /\ -i_111^post15+i_111^0 == 0 /\ -r_272^post15+r_272^0 == 0 /\ r_42^0-r_42^post15 == 0 /\ len_275^0-len_275^post15 == 0 /\ -lt_17^post15+lt_17^0 == 0 /\ -x_23^post15+x_23^0 == 0 /\ a_148^0-a_148^post15 == 0 /\ r_159^0-r_159^post15 == 0 /\ r_246^0-r_246^post15 == 0 /\ temp0_34^0-temp0_34^post15 == 0 /\ -l_27^post15+l_27^0 == 0), cost: 1
  16: l11 -> l12 : a_148^0'=a_148^post16, r_258^0'=r_258^post16, i_33^0'=i_33^post16, r_167^0'=r_167^post16, t_30^0'=t_30^post16, a_358^0'=a_358^post16, r_42^0'=r_42^post16, len_275^0'=len_275^post16, rcd_409^0'=rcd_409^post16, r_243^0'=r_243^post16, r_246^0'=r_246^post16, x_SLAM_f_21^0'=x_SLAM_f_21^post16, head_35^0'=head_35^post16, rcd_248^0'=rcd_248^post16, lt_509^0'=lt_509^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post16, a_220^0'=a_220^post16, r_272^0'=r_272^post16, rcd_363^0'=rcd_363^post16, r_196^0'=r_196^post16, temp0_34^0'=temp0_34^post16, c_28^0'=c_28^post16, rcd_113^0'=rcd_113^post16, length_32^0'=length_32^post16, rcd_46^0'=rcd_46^post16, r_252^0'=r_252^post16, i_120^0'=i_120^post16, rcd_273^0'=rcd_273^post16, r_159^0'=r_159^post16, t_24^0'=t_24^post16, a_332^0'=a_332^post16, r_29^0'=r_29^post16, len_205^0'=len_205^post16, rcd_387^0'=rcd_387^post16, r_236^0'=r_236^post16, tmp_37^0'=tmp_37^post16, x_23^0'=x_23^post16, head_13^0'=head_13^post16, rcd_244^0'=rcd_244^post16, lt_397^0'=lt_397^post16, result_11^0'=result_11^post16, a_173^0'=a_173^post16, r_266^0'=r_266^post16, l_27^0'=l_27^post16, r_188^0'=r_188^post16, temp0_18^0'=temp0_18^post16, a_388^0'=a_388^post16, rcd_105^0'=rcd_105^post16, len_297^0'=len_297^post16, rcd_427^0'=rcd_427^post16, r_245^0'=r_245^post16, r_247^0'=r_247^post16, y_22^0'=y_22^post16, i_111^0'=i_111^post16, rcd_253^0'=rcd_253^post16, nondet_12^0'=nondet_12^post16, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post16, a_276^0'=a_276^post16, r_274^0'=r_274^post16, rcd_367^0'=rcd_367^post16, r_234^0'=r_234^post16, temp_38^0'=temp_38^post16, x_19^0'=x_19^post16, ct_20^0'=ct_20^post16, rcd_235^0'=rcd_235^post16, lt_17^0'=lt_17^post16, rcd_70^0'=rcd_70^post16, (head_35^0-head_35^post16 == 0 /\ -a_173^post16+a_173^0 == 0 /\ -rcd_387^post16+rcd_387^0 == 0 /\ r_266^0-r_266^post16 == 0 /\ r_29^0-r_29^post16 == 0 /\ rcd_409^0-rcd_409^post16 == 0 /\ r_159^0-r_159^post16 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post16+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post16+rcd_427^0 == 0 /\ -lt_17^post16+lt_17^0 == 0 /\ a_220^0-a_220^post16 == 0 /\ -r_236^post16+r_236^0 == 0 /\ a_358^0-a_358^post16 == 0 /\ -r_234^post16+r_234^0 == 0 /\ -rcd_244^post16+rcd_244^0 == 0 /\ c_28^0-c_28^post16 == 0 /\ -rcd_273^post16+rcd_273^0 == 0 /\ r_272^0-r_272^post16 == 0 /\ -a_276^post16+a_276^0 == 0 /\ length_32^0-length_32^post16 == 0 /\ -rcd_113^post16+rcd_113^0 == 0 /\ len_275^0-len_275^post16 == 0 /\ -ct_20^post16+ct_20^0 == 0 /\ -y_22^post16+y_22^0 == 0 /\ t_30^0-t_30^post16 == 0 /\ x_23^0-x_23^post16 == 0 /\ -rcd_253^post16+rcd_253^0 == 0 /\ r_247^0-r_247^post16 == 0 /\ r_196^0-r_196^post16 == 0 /\ -len_297^post16+len_297^0 == 0 /\ -lt_397^post16+lt_397^0 == 0 /\ -r_188^post16+r_188^0 == 0 /\ -i_120^post16+i_120^0 == 0 /\ -tmp_37^post16+tmp_37^0 == 0 /\ -rcd_367^post16+rcd_367^0 == 0 /\ -rcd_235^post16+rcd_235^0 == 0 /\ r_167^0-r_167^post16 == 0 /\ -x_19^post16+x_19^0 == 0 /\ r_252^0-r_252^post16 == 0 /\ -r_274^post16+r_274^0 == 0 /\ -temp_38^post16+temp_38^0 == 0 /\ a_148^0-a_148^post16 == 0 /\ -i_111^post16+i_111^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post16 == 0 /\ -result_11^post16+result_11^0 == 0 /\ len_205^0-len_205^post16 == 0 /\ l_27^0-l_27^post16 == 0 /\ i_33^0-i_33^post16 == 0 /\ -a_332^post16+a_332^0 == 0 /\ r_243^0-r_243^post16 == 0 /\ rcd_105^0-rcd_105^post16 == 0 /\ rcd_248^0-rcd_248^post16 == 0 /\ r_42^0-r_42^post16 == 0 /\ -r_245^post16+r_245^0 == 0 /\ lt_509^0-lt_509^post16 == 0 /\ -r_246^post16+r_246^0 == 0 /\ temp0_18^0-temp0_18^post16 == 0 /\ temp0_34^0-temp0_34^post16 == 0 /\ -head_13^post16+head_13^0 == 0 /\ -rcd_70^post16+rcd_70^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post16 == 0 /\ t_24^0-t_24^post16 == 0 /\ r_258^0-r_258^post16 == 0 /\ -nondet_12^post16+nondet_12^0 == 0 /\ 1-r_274^0 <= 0 /\ rcd_46^0-rcd_46^post16 == 0 /\ rcd_363^0-rcd_363^post16 == 0 /\ -a_388^post16+a_388^0 == 0), cost: 1
  17: l11 -> l12 : a_148^0'=a_148^post17, r_258^0'=r_258^post17, i_33^0'=i_33^post17, r_167^0'=r_167^post17, t_30^0'=t_30^post17, a_358^0'=a_358^post17, r_42^0'=r_42^post17, len_275^0'=len_275^post17, rcd_409^0'=rcd_409^post17, r_243^0'=r_243^post17, r_246^0'=r_246^post17, x_SLAM_f_21^0'=x_SLAM_f_21^post17, head_35^0'=head_35^post17, rcd_248^0'=rcd_248^post17, lt_509^0'=lt_509^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post17, a_220^0'=a_220^post17, r_272^0'=r_272^post17, rcd_363^0'=rcd_363^post17, r_196^0'=r_196^post17, temp0_34^0'=temp0_34^post17, c_28^0'=c_28^post17, rcd_113^0'=rcd_113^post17, length_32^0'=length_32^post17, rcd_46^0'=rcd_46^post17, r_252^0'=r_252^post17, i_120^0'=i_120^post17, rcd_273^0'=rcd_273^post17, r_159^0'=r_159^post17, t_24^0'=t_24^post17, a_332^0'=a_332^post17, r_29^0'=r_29^post17, len_205^0'=len_205^post17, rcd_387^0'=rcd_387^post17, r_236^0'=r_236^post17, tmp_37^0'=tmp_37^post17, x_23^0'=x_23^post17, head_13^0'=head_13^post17, rcd_244^0'=rcd_244^post17, lt_397^0'=lt_397^post17, result_11^0'=result_11^post17, a_173^0'=a_173^post17, r_266^0'=r_266^post17, l_27^0'=l_27^post17, r_188^0'=r_188^post17, temp0_18^0'=temp0_18^post17, a_388^0'=a_388^post17, rcd_105^0'=rcd_105^post17, len_297^0'=len_297^post17, rcd_427^0'=rcd_427^post17, r_245^0'=r_245^post17, r_247^0'=r_247^post17, y_22^0'=y_22^post17, i_111^0'=i_111^post17, rcd_253^0'=rcd_253^post17, nondet_12^0'=nondet_12^post17, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post17, a_276^0'=a_276^post17, r_274^0'=r_274^post17, rcd_367^0'=rcd_367^post17, r_234^0'=r_234^post17, temp_38^0'=temp_38^post17, x_19^0'=x_19^post17, ct_20^0'=ct_20^post17, rcd_235^0'=rcd_235^post17, lt_17^0'=lt_17^post17, rcd_70^0'=rcd_70^post17, (a_148^0-a_148^post17 == 0 /\ -r_159^post17+r_159^0 == 0 /\ len_205^0-len_205^post17 == 0 /\ r_252^0-r_252^post17 == 0 /\ -lt_17^post17+lt_17^0 == 0 /\ -rcd_427^post17+rcd_427^0 == 0 /\ r_245^0-r_245^post17 == 0 /\ result_11^0-result_11^post17 == 0 /\ l_27^0-l_27^post17 == 0 /\ i_33^0-i_33^post17 == 0 /\ -tmp_37^post17+tmp_37^0 == 0 /\ r_42^0-r_42^post17 == 0 /\ -rcd_253^post17+rcd_253^0 == 0 /\ i_120^0-i_120^post17 == 0 /\ 1+r_274^0 <= 0 /\ -a_276^post17+a_276^0 == 0 /\ rcd_113^0-rcd_113^post17 == 0 /\ -lt_397^post17+lt_397^0 == 0 /\ -r_266^post17+r_266^0 == 0 /\ -i_111^post17+i_111^0 == 0 /\ -length_32^post17+length_32^0 == 0 /\ c_28^0-c_28^post17 == 0 /\ rcd_46^0-rcd_46^post17 == 0 /\ -rcd_235^post17+rcd_235^0 == 0 /\ -temp0_18^post17+temp0_18^0 == 0 /\ r_243^0-r_243^post17 == 0 /\ y_22^0-y_22^post17 == 0 /\ rcd_387^0-rcd_387^post17 == 0 /\ lt_509^0-lt_509^post17 == 0 /\ -r_234^post17+r_234^0 == 0 /\ -rcd_273^post17+rcd_273^0 == 0 /\ t_30^0-t_30^post17 == 0 /\ -r_274^post17+r_274^0 == 0 /\ r_236^0-r_236^post17 == 0 /\ t_24^0-t_24^post17 == 0 /\ r_258^0-r_258^post17 == 0 /\ rcd_244^0-rcd_244^post17 == 0 /\ a_220^0-a_220^post17 == 0 /\ a_358^0-a_358^post17 == 0 /\ head_13^0-head_13^post17 == 0 /\ rcd_409^0-rcd_409^post17 == 0 /\ rcd_367^0-rcd_367^post17 == 0 /\ -rcd_105^post17+rcd_105^0 == 0 /\ -ct_20^post17+ct_20^0 == 0 /\ -r_188^post17+r_188^0 == 0 /\ -r_29^post17+r_29^0 == 0 /\ temp_38^0-temp_38^post17 == 0 /\ -x_SLAM_f_21^post17+x_SLAM_f_21^0 == 0 /\ -x_23^post17+x_23^0 == 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ -rcd_248^post17+rcd_248^0 == 0 /\ len_297^0-len_297^post17 == 0 /\ -rcd_363^post17+rcd_363^0 == 0 /\ r_246^0-r_246^post17 == 0 /\ -a_388^post17+a_388^0 == 0 /\ -rcd_70^post17+rcd_70^0 == 0 /\ r_196^0-r_196^post17 == 0 /\ r_272^0-r_272^post17 == 0 /\ a_332^0-a_332^post17 == 0 /\ -x_19^post17+x_19^0 == 0 /\ len_275^0-len_275^post17 == 0 /\ -r_247^post17+r_247^0 == 0 /\ -temp0_34^post17+temp0_34^0 == 0 /\ head_35^0-head_35^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post17 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post17+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_173^post17+a_173^0 == 0 /\ r_167^0-r_167^post17 == 0), cost: 1
  18: l12 -> l5 : a_148^0'=a_148^post18, r_258^0'=r_258^post18, i_33^0'=i_33^post18, r_167^0'=r_167^post18, t_30^0'=t_30^post18, a_358^0'=a_358^post18, r_42^0'=r_42^post18, len_275^0'=len_275^post18, rcd_409^0'=rcd_409^post18, r_243^0'=r_243^post18, r_246^0'=r_246^post18, x_SLAM_f_21^0'=x_SLAM_f_21^post18, head_35^0'=head_35^post18, rcd_248^0'=rcd_248^post18, lt_509^0'=lt_509^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post18, a_220^0'=a_220^post18, r_272^0'=r_272^post18, rcd_363^0'=rcd_363^post18, r_196^0'=r_196^post18, temp0_34^0'=temp0_34^post18, c_28^0'=c_28^post18, rcd_113^0'=rcd_113^post18, length_32^0'=length_32^post18, rcd_46^0'=rcd_46^post18, r_252^0'=r_252^post18, i_120^0'=i_120^post18, rcd_273^0'=rcd_273^post18, r_159^0'=r_159^post18, t_24^0'=t_24^post18, a_332^0'=a_332^post18, r_29^0'=r_29^post18, len_205^0'=len_205^post18, rcd_387^0'=rcd_387^post18, r_236^0'=r_236^post18, tmp_37^0'=tmp_37^post18, x_23^0'=x_23^post18, head_13^0'=head_13^post18, rcd_244^0'=rcd_244^post18, lt_397^0'=lt_397^post18, result_11^0'=result_11^post18, a_173^0'=a_173^post18, r_266^0'=r_266^post18, l_27^0'=l_27^post18, r_188^0'=r_188^post18, temp0_18^0'=temp0_18^post18, a_388^0'=a_388^post18, rcd_105^0'=rcd_105^post18, len_297^0'=len_297^post18, rcd_427^0'=rcd_427^post18, r_245^0'=r_245^post18, r_247^0'=r_247^post18, y_22^0'=y_22^post18, i_111^0'=i_111^post18, rcd_253^0'=rcd_253^post18, nondet_12^0'=nondet_12^post18, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post18, a_276^0'=a_276^post18, r_274^0'=r_274^post18, rcd_367^0'=rcd_367^post18, r_234^0'=r_234^post18, temp_38^0'=temp_38^post18, x_19^0'=x_19^post18, ct_20^0'=ct_20^post18, rcd_235^0'=rcd_235^post18, lt_17^0'=lt_17^post18, rcd_70^0'=rcd_70^post18, (0 == 0 /\ temp0_34^0-temp0_34^post18 == 0 /\ a_173^0-a_173^post18 == 0 /\ -t_24^post18+t_24^0 == 0 /\ -rcd_46^post18+rcd_273^0 <= 0 /\ length_32^0-length_32^post18 == 0 /\ -a_220^post18+a_276^0 <= 0 /\ -r_167^post18+r_274^0 <= 0 /\ rcd_409^0-rcd_409^post18 == 0 /\ rcd_273^0-rcd_273^post18 == 0 /\ -x_19^post18+x_19^0 == 0 /\ rcd_363^0-rcd_363^post18 == 0 /\ -r_274^post18+r_274^0 == 0 /\ -y_22^post18+y_22^0 == 0 /\ len_275^0-len_275^post18 == 0 /\ x_23^0-x_23^post18 == 0 /\ a_332^0-a_332^post18 == 0 /\ -lt_17^post18+lt_17^0 == 0 /\ rcd_113^0-rcd_113^post18 == 0 /\ rcd_248^0-rcd_248^post18 == 0 /\ r_272^0-r_272^post18 == 0 /\ rcd_46^post18-rcd_273^0 <= 0 /\ a_148^0-a_148^post18 == 0 /\ rcd_253^0-rcd_253^post18 == 0 /\ -r_159^post18+r_159^0 == 0 /\ a_220^post18-a_276^0 <= 0 /\ r_167^post18-r_274^0 <= 0 /\ -rcd_70^post18+rcd_70^0 == 0 /\ -result_11^post18+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post18 == 0 /\ r_29^0-r_29^post18 == 0 /\ lt_397^0-lt_397^post18 == 0 /\ tmp_37^0-tmp_37^post18 == 0 /\ i_111^0-i_111^post18 == 0 /\ -l_27^post18+l_27^0 == 0 /\ -len_297^post18+len_297^0 == 0 /\ -nondet_12^post18+nondet_12^0 == 0 /\ t_30^0-t_30^post18 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_244^0-rcd_244^post18 == 0 /\ i_120^0-i_120^post18 == 0 /\ -r_266^post18+r_266^0 == 0 /\ -head_13^post18+head_13^0 == 0 /\ -head_35^post18+head_35^0 == 0 /\ -rcd_235^post18+rcd_235^0 == 0 /\ r_246^0-r_246^post18 == 0 /\ r_258^0-r_258^post18 == 0 /\ -c_28^post18+c_28^0 == 0 /\ -temp0_18^post18+temp0_18^0 == 0 /\ r_234^0-r_234^post18 == 0 /\ -len_205^post18+len_275^0 <= 0 /\ r_252^0-r_252^post18 == 0 /\ -r_245^post18+r_245^0 == 0 /\ -r_272^0+r_42^post18 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post18+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_105^post18+rcd_105^0 == 0 /\ -rcd_387^post18+rcd_387^0 == 0 /\ -r_196^post18+r_196^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post18 == 0 /\ -rcd_367^post18+rcd_367^0 == 0 /\ r_236^0-r_236^post18 == 0 /\ -temp_38^post18+temp_38^0 == 0 /\ a_388^0-a_388^post18 == 0 /\ rcd_427^0-rcd_427^post18 == 0 /\ -r_188^post18+r_188^0 == 0 /\ r_243^0-r_243^post18 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -a_276^post18+a_276^0 == 0 /\ -ct_20^post18+ct_20^0 == 0 /\ -r_247^post18+r_247^0 == 0 /\ len_205^post18-len_275^0 <= 0 /\ i_33^0-i_33^post18 == 0 /\ lt_509^0-lt_509^post18 == 0 /\ a_358^0-a_358^post18 == 0 /\ r_272^0-r_42^post18 <= 0), cost: 1
  19: l5 -> l0 : a_148^0'=a_148^post19, r_258^0'=r_258^post19, i_33^0'=i_33^post19, r_167^0'=r_167^post19, t_30^0'=t_30^post19, a_358^0'=a_358^post19, r_42^0'=r_42^post19, len_275^0'=len_275^post19, rcd_409^0'=rcd_409^post19, r_243^0'=r_243^post19, r_246^0'=r_246^post19, x_SLAM_f_21^0'=x_SLAM_f_21^post19, head_35^0'=head_35^post19, rcd_248^0'=rcd_248^post19, lt_509^0'=lt_509^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post19, a_220^0'=a_220^post19, r_272^0'=r_272^post19, rcd_363^0'=rcd_363^post19, r_196^0'=r_196^post19, temp0_34^0'=temp0_34^post19, c_28^0'=c_28^post19, rcd_113^0'=rcd_113^post19, length_32^0'=length_32^post19, rcd_46^0'=rcd_46^post19, r_252^0'=r_252^post19, i_120^0'=i_120^post19, rcd_273^0'=rcd_273^post19, r_159^0'=r_159^post19, t_24^0'=t_24^post19, a_332^0'=a_332^post19, r_29^0'=r_29^post19, len_205^0'=len_205^post19, rcd_387^0'=rcd_387^post19, r_236^0'=r_236^post19, tmp_37^0'=tmp_37^post19, x_23^0'=x_23^post19, head_13^0'=head_13^post19, rcd_244^0'=rcd_244^post19, lt_397^0'=lt_397^post19, result_11^0'=result_11^post19, a_173^0'=a_173^post19, r_266^0'=r_266^post19, l_27^0'=l_27^post19, r_188^0'=r_188^post19, temp0_18^0'=temp0_18^post19, a_388^0'=a_388^post19, rcd_105^0'=rcd_105^post19, len_297^0'=len_297^post19, rcd_427^0'=rcd_427^post19, r_245^0'=r_245^post19, r_247^0'=r_247^post19, y_22^0'=y_22^post19, i_111^0'=i_111^post19, rcd_253^0'=rcd_253^post19, nondet_12^0'=nondet_12^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, a_276^0'=a_276^post19, r_274^0'=r_274^post19, rcd_367^0'=rcd_367^post19, r_234^0'=r_234^post19, temp_38^0'=temp_38^post19, x_19^0'=x_19^post19, ct_20^0'=ct_20^post19, rcd_235^0'=rcd_235^post19, lt_17^0'=lt_17^post19, rcd_70^0'=rcd_70^post19, (c_28^0-c_28^post19 == 0 /\ rcd_46^0-rcd_46^post19 == 0 /\ -temp_38^post19+temp_38^0 == 0 /\ -r_252^post19+r_252^0 == 0 /\ nondet_12^0-nondet_12^post19 == 0 /\ -ct_20^post19+ct_20^0 == 0 /\ -r_274^post19+r_274^0 == 0 /\ r_246^0-r_246^post19 == 0 /\ r_247^0-r_247^post19 == 0 /\ -a_332^post19+a_332^0 == 0 /\ r_188^0-r_188^post19 == 0 /\ r_196^0-r_196^post19 == 0 /\ r_159^0-r_159^post19 == 0 /\ -i_111^post19+i_111^0 == 0 /\ t_30^0-t_30^post19 == 0 /\ r_258^0-r_258^post19 == 0 /\ -r_272^post19+r_272^0 == 0 /\ -r_245^post19+r_245^0 == 0 /\ -rcd_70^post19+rcd_70^0 == 0 /\ -result_11^post19+result_11^0 == 0 /\ a_358^0-a_358^post19 == 0 /\ head_13^0-head_13^post19 == 0 /\ len_205^0-len_205^post19 == 0 /\ -a_388^post19+a_388^0 == 0 /\ i_33^0-i_33^post19 == 0 /\ a_220^0-a_220^post19 == 0 /\ -x_19^post19+x_19^0 == 0 /\ length_32^0-length_32^post19 == 0 /\ x_23^0-x_23^post19 == 0 /\ lt_397^0-lt_397^post19 == 0 /\ r_243^0-r_243^post19 == 0 /\ -lt_17^post19+lt_17^0 == 0 /\ rcd_273^0-rcd_273^post19 == 0 /\ len_275^0-len_275^post19 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post19+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_387^post19+rcd_387^0 == 0 /\ -lt_509^post19+lt_509^0 == 0 /\ -a_173^post19+a_173^0 == 0 /\ t_24^0-t_24^post19 == 0 /\ -rcd_244^post19+rcd_244^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post19 == 0 /\ rcd_363^0-rcd_363^post19 == 0 /\ -r_167^post19+r_167^0 == 0 /\ -rcd_427^post19+rcd_427^0 == 0 /\ -l_27^post19+l_27^0 == 0 /\ -rcd_113^post19+rcd_113^0 == 0 /\ -r_236^post19+r_236^0 == 0 /\ -r_234^post19+r_234^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post19 == 0 /\ head_35^0-head_35^post19 == 0 /\ r_266^0-r_266^post19 == 0 /\ -rcd_253^post19+rcd_253^0 == 0 /\ a_148^0-a_148^post19 == 0 /\ -rcd_235^post19+rcd_235^0 == 0 /\ -a_276^post19+a_276^0 == 0 /\ rcd_409^0-rcd_409^post19 == 0 /\ tmp_37^0-tmp_37^post19 == 0 /\ -rcd_367^post19+rcd_367^0 == 0 /\ -y_22^post19+y_22^0 == 0 /\ -r_29^post19+r_29^0 == 0 /\ temp0_34^0-temp0_34^post19 == 0 /\ -len_297^post19+len_297^0 == 0 /\ rcd_248^0-rcd_248^post19 == 0 /\ r_42^0-r_42^post19 == 0 /\ -temp0_18^post19+temp0_18^0 == 0 /\ -i_120^post19+i_120^0 == 0 /\ rcd_105^0-rcd_105^post19 == 0), cost: 1
  74: l33 -> l47 : a_148^0'=a_148^post74, r_258^0'=r_258^post74, i_33^0'=i_33^post74, r_167^0'=r_167^post74, t_30^0'=t_30^post74, a_358^0'=a_358^post74, r_42^0'=r_42^post74, len_275^0'=len_275^post74, rcd_409^0'=rcd_409^post74, r_243^0'=r_243^post74, r_246^0'=r_246^post74, x_SLAM_f_21^0'=x_SLAM_f_21^post74, head_35^0'=head_35^post74, rcd_248^0'=rcd_248^post74, lt_509^0'=lt_509^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74, a_220^0'=a_220^post74, r_272^0'=r_272^post74, rcd_363^0'=rcd_363^post74, r_196^0'=r_196^post74, temp0_34^0'=temp0_34^post74, c_28^0'=c_28^post74, rcd_113^0'=rcd_113^post74, length_32^0'=length_32^post74, rcd_46^0'=rcd_46^post74, r_252^0'=r_252^post74, i_120^0'=i_120^post74, rcd_273^0'=rcd_273^post74, r_159^0'=r_159^post74, t_24^0'=t_24^post74, a_332^0'=a_332^post74, r_29^0'=r_29^post74, len_205^0'=len_205^post74, rcd_387^0'=rcd_387^post74, r_236^0'=r_236^post74, tmp_37^0'=tmp_37^post74, x_23^0'=x_23^post74, head_13^0'=head_13^post74, rcd_244^0'=rcd_244^post74, lt_397^0'=lt_397^post74, result_11^0'=result_11^post74, a_173^0'=a_173^post74, r_266^0'=r_266^post74, l_27^0'=l_27^post74, r_188^0'=r_188^post74, temp0_18^0'=temp0_18^post74, a_388^0'=a_388^post74, rcd_105^0'=rcd_105^post74, len_297^0'=len_297^post74, rcd_427^0'=rcd_427^post74, r_245^0'=r_245^post74, r_247^0'=r_247^post74, y_22^0'=y_22^post74, i_111^0'=i_111^post74, rcd_253^0'=rcd_253^post74, nondet_12^0'=nondet_12^post74, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post74, a_276^0'=a_276^post74, r_274^0'=r_274^post74, rcd_367^0'=rcd_367^post74, r_234^0'=r_234^post74, temp_38^0'=temp_38^post74, x_19^0'=x_19^post74, ct_20^0'=ct_20^post74, rcd_235^0'=rcd_235^post74, lt_17^0'=lt_17^post74, rcd_70^0'=rcd_70^post74, (0 == 0 /\ -rcd_253^post74+rcd_253^0 == 0 /\ -a_276^post74+a_276^0 == 0 /\ -rcd_113^post74+rcd_113^0 == 0 /\ r_247^0-r_247^post74 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74+tmp_37^post74 <= 0 /\ r_159^0-r_159^post74 == 0 /\ r_258^0-r_258^post74 == 0 /\ r_29^0-r_29^post74 == 0 /\ -y_22^post74+y_22^0 == 0 /\ r_42^0-r_42^post74 == 0 /\ rcd_46^0-rcd_46^post74 == 0 /\ -r_196^post74+r_196^0 == 0 /\ r_246^0-r_246^post74 == 0 /\ -lt_17^post74+lt_17^0 == 0 /\ -r_274^post74+r_274^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74-tmp_37^post74 <= 0 /\ a_388^0-a_388^post74 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post74 == 0 /\ rcd_273^0-rcd_273^post74 == 0 /\ -i_111^post74+i_111^0 == 0 /\ c_28^0-c_28^post74 == 0 /\ -lt_509^post74+lt_509^0 == 0 /\ t_30^0-t_30^post74 == 0 /\ 1+i_33^0-length_32^0 <= 0 /\ nondet_12^0-nondet_12^post74 == 0 /\ -l_27^post74+l_27^0 == 0 /\ a_358^0-a_358^post74 == 0 /\ -r_272^post74+r_272^0 == 0 /\ -r_234^post74+r_234^0 == 0 /\ -2+i_33^post74 <= 0 /\ -rcd_427^post74+rcd_427^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post74-length_32^0 <= 0 /\ -result_11^post74+result_11^0 == 0 /\ len_205^0-len_205^post74 == 0 /\ 2-length_32^0 <= 0 /\ -tmp_37^post74+head_35^post74 <= 0 /\ -tmp_37^post74+head_35^post74 == 0 /\ -r_245^post74+r_245^0 == 0 /\ -1-i_33^0+i_33^post74 == 0 /\ a_220^0-a_220^post74 == 0 /\ length_32^0-length_32^post74 == 0 /\ -a_332^post74+a_332^0 == 0 /\ -rcd_235^post74+rcd_235^0 == 0 /\ rcd_363^0-rcd_363^post74 == 0 /\ a_148^0-a_148^post74 == 0 /\ r_266^0-r_266^post74 == 0 /\ -r_243^post74+r_243^0 == 0 /\ len_275^0-len_275^post74 == 0 /\ -len_297^post74+len_297^0 == 0 /\ -rcd_367^post74+rcd_367^0 == 0 /\ x_23^0-x_23^post74 == 0 /\ -temp0_18^post74+temp0_18^0 == 0 /\ temp0_34^0-temp0_34^post74 == 0 /\ -i_120^post74+i_120^0 == 0 /\ rcd_409^0-rcd_409^post74 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74-head_35^post74 <= 0 /\ -head_13^post74+head_13^0 == 0 /\ tmp_37^post74-temp_38^0 == 0 /\ -a_173^post74+a_173^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post74+length_32^0 <= 0 /\ -x_19^post74+x_19^0 == 0 /\ tmp_37^post74-head_35^post74 <= 0 /\ -rcd_387^post74+rcd_387^0 == 0 /\ -r_252^post74+r_252^0 == 0 /\ rcd_248^0-rcd_248^post74 == 0 /\ lt_397^0-lt_397^post74 == 0 /\ -rcd_105^post74+rcd_105^0 == 0 /\ -ct_20^post74+ct_20^0 == 0 /\ -rcd_244^post74+rcd_244^0 == 0 /\ -r_236^post74+r_236^0 == 0 /\ 2-i_33^post74 <= 0 /\ r_167^0-r_167^post74 == 0 /\ r_188^0-r_188^post74 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74+head_35^post74 <= 0 /\ t_24^0-t_24^post74 == 0 /\ 1-length_32^0 <= 0), cost: 1
  75: l47 -> l48 : a_148^0'=a_148^post75, r_258^0'=r_258^post75, i_33^0'=i_33^post75, r_167^0'=r_167^post75, t_30^0'=t_30^post75, a_358^0'=a_358^post75, r_42^0'=r_42^post75, len_275^0'=len_275^post75, rcd_409^0'=rcd_409^post75, r_243^0'=r_243^post75, r_246^0'=r_246^post75, x_SLAM_f_21^0'=x_SLAM_f_21^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, lt_509^0'=lt_509^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, a_220^0'=a_220^post75, r_272^0'=r_272^post75, rcd_363^0'=rcd_363^post75, r_196^0'=r_196^post75, temp0_34^0'=temp0_34^post75, c_28^0'=c_28^post75, rcd_113^0'=rcd_113^post75, length_32^0'=length_32^post75, rcd_46^0'=rcd_46^post75, r_252^0'=r_252^post75, i_120^0'=i_120^post75, rcd_273^0'=rcd_273^post75, r_159^0'=r_159^post75, t_24^0'=t_24^post75, a_332^0'=a_332^post75, r_29^0'=r_29^post75, len_205^0'=len_205^post75, rcd_387^0'=rcd_387^post75, r_236^0'=r_236^post75, tmp_37^0'=tmp_37^post75, x_23^0'=x_23^post75, head_13^0'=head_13^post75, rcd_244^0'=rcd_244^post75, lt_397^0'=lt_397^post75, result_11^0'=result_11^post75, a_173^0'=a_173^post75, r_266^0'=r_266^post75, l_27^0'=l_27^post75, r_188^0'=r_188^post75, temp0_18^0'=temp0_18^post75, a_388^0'=a_388^post75, rcd_105^0'=rcd_105^post75, len_297^0'=len_297^post75, rcd_427^0'=rcd_427^post75, r_245^0'=r_245^post75, r_247^0'=r_247^post75, y_22^0'=y_22^post75, i_111^0'=i_111^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, a_276^0'=a_276^post75, r_274^0'=r_274^post75, rcd_367^0'=rcd_367^post75, r_234^0'=r_234^post75, temp_38^0'=temp_38^post75, x_19^0'=x_19^post75, ct_20^0'=ct_20^post75, rcd_235^0'=rcd_235^post75, lt_17^0'=lt_17^post75, rcd_70^0'=rcd_70^post75, (0 == 0 /\ -rcd_70^post75+rcd_70^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^110-i_120^0 <= 0 /\ r_245^0-r_245^post75 == 0 /\ r_29^post75 <= 0 /\ r_29^post75 == 0 /\ -i_111^post75+i_111^0 == 0 /\ nondet_12^0-nondet_12^post75 == 0 /\ -c_28^post75+c_28^0 == 0 /\ a_148^0-a_148^post75 == 0 /\ len_275^0-len_275^post75 == 0 /\ -x_19^post75+x_19^0 == 0 /\ -len_205^post75+len_205^0 == 0 /\ -rcd_363^post75+rcd_363^0 == 0 /\ rcd_409^0-rcd_409^post75 == 0 /\ -i_33^0+length_32^0 <= 0 /\ -r_188^post75+r_188^0 == 0 /\ -r_29^post75 <= 0 /\ -lt_17^post75+lt_17^0 == 0 /\ -a_173^post75+a_173^0 == 0 /\ lt_509^0-lt_509^post75 == 0 /\ -i_33^0 <= 0 /\ -rcd_244^post75+rcd_244^0 == 0 /\ r_243^0-r_243^post75 == 0 /\ -rcd_105^post75+rcd_105^0 == 0 /\ r_274^0-r_274^post75 == 0 /\ r_196^0-r_196^post75 == 0 /\ r_167^0-r_167^post75 == 0 /\ -t_24^post75+t_24^0 == 0 /\ a_332^0-a_332^post75 == 0 /\ -i_120^0 <= 0 /\ -r_234^post75+r_234^0 == 0 /\ head_13^0-l_27^11 <= 0 /\ r_258^0-r_258^post75 == 0 /\ r_42^0-r_42^post75 == 0 /\ -rcd_235^post75+rcd_235^0 == 0 /\ rcd_113^0-rcd_113^post75 == 0 /\ -x_23^post75+x_23^0 == 0 /\ r_236^0-r_236^post75 == 0 /\ -lt_397^post75+lt_397^0 == 0 /\ rcd_367^0-rcd_367^post75 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ r_272^0-r_272^post75 == 0 /\ -a_276^post75+a_276^0 == 0 /\ temp0_18^0-temp0_18^post75 == 0 /\ r_246^0-r_246^post75 == 0 /\ a_220^0-a_220^post75 == 0 /\ -a_388^post75+a_388^0 == 0 /\ rcd_387^0-rcd_387^post75 == 0 /\ -r_159^post75+r_159^0 == 0 /\ -rcd_46^post75+rcd_46^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post75 == 0 /\ -y_22^post75+y_22^0 == 0 /\ -head_13^0+l_27^11 <= 0 /\ -head_13^0+l_27^11 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ temp0_34^110-head_35^0 == 0 /\ -rcd_427^post75+rcd_427^0 == 0 /\ t_30^0-t_30^post75 == 0 /\ -ct_20^post75+ct_20^0 == 0 /\ i_120^0-i_120^post75 == 0 /\ -temp0_34^110+result_11^110 == 0 /\ a_358^0-a_358^post75 == 0 /\ len_297^0-len_297^post75 == 0 /\ -rcd_273^post75+rcd_273^0 == 0 /\ -r_266^post75+r_266^0 == 0), cost: 1
  84: l47 -> l53 : a_148^0'=a_148^post84, r_258^0'=r_258^post84, i_33^0'=i_33^post84, r_167^0'=r_167^post84, t_30^0'=t_30^post84, a_358^0'=a_358^post84, r_42^0'=r_42^post84, len_275^0'=len_275^post84, rcd_409^0'=rcd_409^post84, r_243^0'=r_243^post84, r_246^0'=r_246^post84, x_SLAM_f_21^0'=x_SLAM_f_21^post84, head_35^0'=head_35^post84, rcd_248^0'=rcd_248^post84, lt_509^0'=lt_509^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post84, a_220^0'=a_220^post84, r_272^0'=r_272^post84, rcd_363^0'=rcd_363^post84, r_196^0'=r_196^post84, temp0_34^0'=temp0_34^post84, c_28^0'=c_28^post84, rcd_113^0'=rcd_113^post84, length_32^0'=length_32^post84, rcd_46^0'=rcd_46^post84, r_252^0'=r_252^post84, i_120^0'=i_120^post84, rcd_273^0'=rcd_273^post84, r_159^0'=r_159^post84, t_24^0'=t_24^post84, a_332^0'=a_332^post84, r_29^0'=r_29^post84, len_205^0'=len_205^post84, rcd_387^0'=rcd_387^post84, r_236^0'=r_236^post84, tmp_37^0'=tmp_37^post84, x_23^0'=x_23^post84, head_13^0'=head_13^post84, rcd_244^0'=rcd_244^post84, lt_397^0'=lt_397^post84, result_11^0'=result_11^post84, a_173^0'=a_173^post84, r_266^0'=r_266^post84, l_27^0'=l_27^post84, r_188^0'=r_188^post84, temp0_18^0'=temp0_18^post84, a_388^0'=a_388^post84, rcd_105^0'=rcd_105^post84, len_297^0'=len_297^post84, rcd_427^0'=rcd_427^post84, r_245^0'=r_245^post84, r_247^0'=r_247^post84, y_22^0'=y_22^post84, i_111^0'=i_111^post84, rcd_253^0'=rcd_253^post84, nondet_12^0'=nondet_12^post84, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post84, a_276^0'=a_276^post84, r_274^0'=r_274^post84, rcd_367^0'=rcd_367^post84, r_234^0'=r_234^post84, temp_38^0'=temp_38^post84, x_19^0'=x_19^post84, ct_20^0'=ct_20^post84, rcd_235^0'=rcd_235^post84, lt_17^0'=lt_17^post84, rcd_70^0'=rcd_70^post84, (0 == 0 /\ -rcd_46^post84+rcd_113^post84 <= 0 /\ -r_188^post84+r_188^0 == 0 /\ length_32^0-length_32^post84 == 0 /\ r_42^0-r_42^post84 == 0 /\ -x_19^post84+x_19^0 == 0 /\ -x_23^post84+x_23^0 == 0 /\ -r_274^post84+r_274^0 == 0 /\ -rcd_70^post84+rcd_70^0 == 0 /\ t_30^0-t_30^post84 == 0 /\ r_258^0-r_258^post84 == 0 /\ 1+i_111^post84-i_33^post84 <= 0 /\ r_246^0-r_246^post84 == 0 /\ rcd_244^0-rcd_244^post84 == 0 /\ -rcd_46^0+rcd_113^post84 <= 0 /\ a_332^0-a_332^post84 == 0 /\ r_196^0-r_196^post84 == 0 /\ tmp_37^post84-temp_38^0 == 0 /\ rcd_248^0-rcd_248^post84 == 0 /\ rcd_46^post84-rcd_113^post84 <= 0 /\ r_245^0-r_245^post84 == 0 /\ -i_33^0 <= 0 /\ -r_159^post84+r_159^0 == 0 /\ -lt_509^post84+lt_509^0 == 0 /\ 1+i_111^post84-length_32^0 <= 0 /\ -lt_17^post84+lt_17^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post84 == 0 /\ -nondet_12^post84+nondet_12^0 == 0 /\ c_28^0-c_28^post84 == 0 /\ -r_272^post84+r_272^0 == 0 /\ a_276^0-a_276^post84 == 0 /\ 1+i_33^0-length_32^0 <= 0 /\ -head_13^post84+head_13^0 == 0 /\ -a_388^post84+a_388^0 == 0 /\ rcd_46^0-rcd_113^post84 <= 0 /\ -tmp_37^post84+head_35^post84 == 0 /\ -t_24^post84+t_24^0 == 0 /\ a_358^0-a_358^post84 == 0 /\ i_120^0-i_120^post84 == 0 /\ -r_236^post84+r_236^0 == 0 /\ -r_167^post84+r_167^0 == 0 /\ temp0_34^0-temp0_34^post84 == 0 /\ rcd_273^0-rcd_273^post84 == 0 /\ -rcd_235^post84+rcd_235^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post84+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_297^0-len_297^post84 == 0 /\ rcd_363^0-rcd_363^post84 == 0 /\ -a_173^post84+a_173^0 == 0 /\ a_220^0-a_220^post84 == 0 /\ -1-i_33^0+i_33^post84 == 0 /\ -l_27^post84+l_27^0 == 0 /\ -1-i_111^post84+i_33^post84 <= 0 /\ -len_205^post84+len_205^0 == 0 /\ r_234^0-r_234^post84 == 0 /\ -r_266^post84+r_266^0 == 0 /\ a_148^0-a_148^post84 == 0 /\ len_275^0-len_275^post84 == 0 /\ -rcd_427^post84+rcd_427^0 == 0 /\ rcd_409^0-rcd_409^post84 == 0 /\ -r_247^post84+r_247^0 == 0 /\ r_29^0-r_29^post84 == 0 /\ -ct_20^post84+ct_20^0 == 0 /\ -lt_397^post84+lt_397^0 == 0 /\ -y_22^post84+y_22^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post84 == 0 /\ -r_252^post84+r_252^0 == 0 /\ result_11^0-result_11^post84 == 0 /\ -rcd_253^post84+rcd_253^0 == 0 /\ -rcd_367^post84+rcd_367^0 == 0 /\ -temp0_18^post84+temp0_18^0 == 0 /\ rcd_387^0-rcd_387^post84 == 0 /\ r_243^0-r_243^post84 == 0), cost: 1
  76: l48 -> l49 : a_148^0'=a_148^post76, r_258^0'=r_258^post76, i_33^0'=i_33^post76, r_167^0'=r_167^post76, t_30^0'=t_30^post76, a_358^0'=a_358^post76, r_42^0'=r_42^post76, len_275^0'=len_275^post76, rcd_409^0'=rcd_409^post76, r_243^0'=r_243^post76, r_246^0'=r_246^post76, x_SLAM_f_21^0'=x_SLAM_f_21^post76, head_35^0'=head_35^post76, rcd_248^0'=rcd_248^post76, lt_509^0'=lt_509^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post76, a_220^0'=a_220^post76, r_272^0'=r_272^post76, rcd_363^0'=rcd_363^post76, r_196^0'=r_196^post76, temp0_34^0'=temp0_34^post76, c_28^0'=c_28^post76, rcd_113^0'=rcd_113^post76, length_32^0'=length_32^post76, rcd_46^0'=rcd_46^post76, r_252^0'=r_252^post76, i_120^0'=i_120^post76, rcd_273^0'=rcd_273^post76, r_159^0'=r_159^post76, t_24^0'=t_24^post76, a_332^0'=a_332^post76, r_29^0'=r_29^post76, len_205^0'=len_205^post76, rcd_387^0'=rcd_387^post76, r_236^0'=r_236^post76, tmp_37^0'=tmp_37^post76, x_23^0'=x_23^post76, head_13^0'=head_13^post76, rcd_244^0'=rcd_244^post76, lt_397^0'=lt_397^post76, result_11^0'=result_11^post76, a_173^0'=a_173^post76, r_266^0'=r_266^post76, l_27^0'=l_27^post76, r_188^0'=r_188^post76, temp0_18^0'=temp0_18^post76, a_388^0'=a_388^post76, rcd_105^0'=rcd_105^post76, len_297^0'=len_297^post76, rcd_427^0'=rcd_427^post76, r_245^0'=r_245^post76, r_247^0'=r_247^post76, y_22^0'=y_22^post76, i_111^0'=i_111^post76, rcd_253^0'=rcd_253^post76, nondet_12^0'=nondet_12^post76, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, a_276^0'=a_276^post76, r_274^0'=r_274^post76, rcd_367^0'=rcd_367^post76, r_234^0'=r_234^post76, temp_38^0'=temp_38^post76, x_19^0'=x_19^post76, ct_20^0'=ct_20^post76, rcd_235^0'=rcd_235^post76, lt_17^0'=lt_17^post76, rcd_70^0'=rcd_70^post76, (-result_dot_nondet_sdv_special_RETURN_VALUE_14^post76+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post76+rcd_427^0 == 0 /\ -a_173^post76+a_173^0 == 0 /\ r_272^0-r_272^post76 == 0 /\ -rcd_363^post76+rcd_363^0 == 0 /\ -r_29^post76+r_29^0 == 0 /\ result_11^0-result_11^post76 == 0 /\ -r_245^post76+r_245^0 == 0 /\ -c_28^post76+c_28^0 == 0 /\ tmp_37^0-tmp_37^post76 == 0 /\ -r_247^post76+r_247^0 == 0 /\ -lt_17^post76+lt_17^0 == 0 /\ -r_266^post76+r_266^0 == 0 /\ -temp0_34^post76+temp0_34^0 == 0 /\ -rcd_273^post76+rcd_273^0 == 0 /\ r_42^0-r_42^post76 == 0 /\ lt_509^0-lt_509^post76 == 0 /\ temp0_18^0-temp0_18^post76 == 0 /\ -r_234^post76+r_234^0 == 0 /\ t_30^0-t_30^post76 == 0 /\ -a_220^post76+a_220^0 == 0 /\ length_32^0-length_32^post76 == 0 /\ -rcd_253^post76+rcd_253^0 == 0 /\ -a_276^post76+a_276^0 == 0 /\ rcd_244^0-rcd_244^post76 == 0 /\ -rcd_235^post76+rcd_235^0 == 0 /\ -y_22^post76+y_22^0 == 0 /\ -temp_38^post76+temp_38^0 == 0 /\ -lt_397^post76+lt_397^0 == 0 /\ -r_188^post76+r_188^0 == 0 /\ r_252^0-r_252^post76 == 0 /\ r_196^0-r_196^post76 == 0 /\ -a_388^post76+a_388^0 == 0 /\ -x_SLAM_f_21^post76+x_SLAM_f_21^0 == 0 /\ rcd_113^0-rcd_113^post76 == 0 /\ a_148^0-a_148^post76 == 0 /\ rcd_387^0-rcd_387^post76 == 0 /\ rcd_248^0-rcd_248^post76 == 0 /\ head_35^0-head_35^post76 == 0 /\ -x_23^post76+x_23^0 == 0 /\ a_332^0-a_332^post76 == 0 /\ l_27^0-l_27^post76 == 0 /\ rcd_409^0-rcd_409^post76 == 0 /\ -r_274^post76+r_274^0 == 0 /\ r_236^0-r_236^post76 == 0 /\ head_13^0-head_13^post76 == 0 /\ r_167^0-r_167^post76 == 0 /\ -rcd_367^post76+rcd_367^0 == 0 /\ -rcd_105^post76+rcd_105^0 == 0 /\ -i_111^post76+i_111^0 == 0 /\ -ct_20^post76+ct_20^0 == 0 /\ a_358^0-a_358^post76 == 0 /\ i_33^0-i_33^post76 == 0 /\ -nondet_12^post76+nondet_12^0 == 0 /\ i_120^0-i_120^post76 == 0 /\ r_243^0-r_243^post76 == 0 /\ r_246^0-r_246^post76 == 0 /\ -len_205^post76+len_205^0 == 0 /\ t_24^0-t_24^post76 == 0 /\ -r_159^post76+r_159^0 == 0 /\ len_297^0-len_297^post76 == 0 /\ 1-c_28^0 <= 0 /\ r_258^0-r_258^post76 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post76+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_46^post76+rcd_46^0 == 0 /\ len_275^0-len_275^post76 == 0 /\ -rcd_70^post76+rcd_70^0 == 0 /\ -x_19^post76+x_19^0 == 0), cost: 1
  77: l48 -> l49 : a_148^0'=a_148^post77, r_258^0'=r_258^post77, i_33^0'=i_33^post77, r_167^0'=r_167^post77, t_30^0'=t_30^post77, a_358^0'=a_358^post77, r_42^0'=r_42^post77, len_275^0'=len_275^post77, rcd_409^0'=rcd_409^post77, r_243^0'=r_243^post77, r_246^0'=r_246^post77, x_SLAM_f_21^0'=x_SLAM_f_21^post77, head_35^0'=head_35^post77, rcd_248^0'=rcd_248^post77, lt_509^0'=lt_509^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post77, a_220^0'=a_220^post77, r_272^0'=r_272^post77, rcd_363^0'=rcd_363^post77, r_196^0'=r_196^post77, temp0_34^0'=temp0_34^post77, c_28^0'=c_28^post77, rcd_113^0'=rcd_113^post77, length_32^0'=length_32^post77, rcd_46^0'=rcd_46^post77, r_252^0'=r_252^post77, i_120^0'=i_120^post77, rcd_273^0'=rcd_273^post77, r_159^0'=r_159^post77, t_24^0'=t_24^post77, a_332^0'=a_332^post77, r_29^0'=r_29^post77, len_205^0'=len_205^post77, rcd_387^0'=rcd_387^post77, r_236^0'=r_236^post77, tmp_37^0'=tmp_37^post77, x_23^0'=x_23^post77, head_13^0'=head_13^post77, rcd_244^0'=rcd_244^post77, lt_397^0'=lt_397^post77, result_11^0'=result_11^post77, a_173^0'=a_173^post77, r_266^0'=r_266^post77, l_27^0'=l_27^post77, r_188^0'=r_188^post77, temp0_18^0'=temp0_18^post77, a_388^0'=a_388^post77, rcd_105^0'=rcd_105^post77, len_297^0'=len_297^post77, rcd_427^0'=rcd_427^post77, r_245^0'=r_245^post77, r_247^0'=r_247^post77, y_22^0'=y_22^post77, i_111^0'=i_111^post77, rcd_253^0'=rcd_253^post77, nondet_12^0'=nondet_12^post77, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post77, a_276^0'=a_276^post77, r_274^0'=r_274^post77, rcd_367^0'=rcd_367^post77, r_234^0'=r_234^post77, temp_38^0'=temp_38^post77, x_19^0'=x_19^post77, ct_20^0'=ct_20^post77, rcd_235^0'=rcd_235^post77, lt_17^0'=lt_17^post77, rcd_70^0'=rcd_70^post77, (a_358^0-a_358^post77 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post77 == 0 /\ -len_205^post77+len_205^0 == 0 /\ rcd_409^0-rcd_409^post77 == 0 /\ -a_276^post77+a_276^0 == 0 /\ -y_22^post77+y_22^0 == 0 /\ 1+c_28^0 <= 0 /\ -rcd_253^post77+rcd_253^0 == 0 /\ a_173^0-a_173^post77 == 0 /\ -rcd_70^post77+rcd_70^0 == 0 /\ i_33^0-i_33^post77 == 0 /\ rcd_248^0-rcd_248^post77 == 0 /\ -a_388^post77+a_388^0 == 0 /\ -rcd_113^post77+rcd_113^0 == 0 /\ -r_236^post77+r_236^0 == 0 /\ a_148^0-a_148^post77 == 0 /\ temp0_34^0-temp0_34^post77 == 0 /\ -rcd_387^post77+rcd_387^0 == 0 /\ -r_274^post77+r_274^0 == 0 /\ rcd_46^0-rcd_46^post77 == 0 /\ c_28^0-c_28^post77 == 0 /\ -r_266^post77+r_266^0 == 0 /\ r_246^0-r_246^post77 == 0 /\ len_275^0-len_275^post77 == 0 /\ lt_509^0-lt_509^post77 == 0 /\ -i_111^post77+i_111^0 == 0 /\ r_243^0-r_243^post77 == 0 /\ lt_397^0-lt_397^post77 == 0 /\ -temp0_18^post77+temp0_18^0 == 0 /\ r_167^0-r_167^post77 == 0 /\ -lt_17^post77+lt_17^0 == 0 /\ -l_27^post77+l_27^0 == 0 /\ rcd_363^0-rcd_363^post77 == 0 /\ -r_234^post77+r_234^0 == 0 /\ -rcd_427^post77+rcd_427^0 == 0 /\ -r_196^post77+r_196^0 == 0 /\ head_35^0-head_35^post77 == 0 /\ r_258^0-r_258^post77 == 0 /\ -r_252^post77+r_252^0 == 0 /\ r_29^0-r_29^post77 == 0 /\ -nondet_12^post77+nondet_12^0 == 0 /\ r_159^0-r_159^post77 == 0 /\ rcd_367^0-rcd_367^post77 == 0 /\ tmp_37^0-tmp_37^post77 == 0 /\ -temp_38^post77+temp_38^0 == 0 /\ -r_188^post77+r_188^0 == 0 /\ r_42^0-r_42^post77 == 0 /\ a_220^0-a_220^post77 == 0 /\ i_120^0-i_120^post77 == 0 /\ -result_11^post77+result_11^0 == 0 /\ len_297^0-len_297^post77 == 0 /\ -rcd_235^post77+rcd_235^0 == 0 /\ -x_23^post77+x_23^0 == 0 /\ -r_272^post77+r_272^0 == 0 /\ -a_332^post77+a_332^0 == 0 /\ length_32^0-length_32^post77 == 0 /\ rcd_273^0-rcd_273^post77 == 0 /\ -head_13^post77+head_13^0 == 0 /\ -r_247^post77+r_247^0 == 0 /\ -x_19^post77+x_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post77+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -t_24^post77+t_24^0 == 0 /\ -rcd_105^post77+rcd_105^0 == 0 /\ t_30^0-t_30^post77 == 0 /\ -r_245^post77+r_245^0 == 0 /\ -ct_20^post77+ct_20^0 == 0 /\ rcd_244^0-rcd_244^post77 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post77 == 0), cost: 1
  78: l49 -> l50 : a_148^0'=a_148^post78, r_258^0'=r_258^post78, i_33^0'=i_33^post78, r_167^0'=r_167^post78, t_30^0'=t_30^post78, a_358^0'=a_358^post78, r_42^0'=r_42^post78, len_275^0'=len_275^post78, rcd_409^0'=rcd_409^post78, r_243^0'=r_243^post78, r_246^0'=r_246^post78, x_SLAM_f_21^0'=x_SLAM_f_21^post78, head_35^0'=head_35^post78, rcd_248^0'=rcd_248^post78, lt_509^0'=lt_509^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post78, a_220^0'=a_220^post78, r_272^0'=r_272^post78, rcd_363^0'=rcd_363^post78, r_196^0'=r_196^post78, temp0_34^0'=temp0_34^post78, c_28^0'=c_28^post78, rcd_113^0'=rcd_113^post78, length_32^0'=length_32^post78, rcd_46^0'=rcd_46^post78, r_252^0'=r_252^post78, i_120^0'=i_120^post78, rcd_273^0'=rcd_273^post78, r_159^0'=r_159^post78, t_24^0'=t_24^post78, a_332^0'=a_332^post78, r_29^0'=r_29^post78, len_205^0'=len_205^post78, rcd_387^0'=rcd_387^post78, r_236^0'=r_236^post78, tmp_37^0'=tmp_37^post78, x_23^0'=x_23^post78, head_13^0'=head_13^post78, rcd_244^0'=rcd_244^post78, lt_397^0'=lt_397^post78, result_11^0'=result_11^post78, a_173^0'=a_173^post78, r_266^0'=r_266^post78, l_27^0'=l_27^post78, r_188^0'=r_188^post78, temp0_18^0'=temp0_18^post78, a_388^0'=a_388^post78, rcd_105^0'=rcd_105^post78, len_297^0'=len_297^post78, rcd_427^0'=rcd_427^post78, r_245^0'=r_245^post78, r_247^0'=r_247^post78, y_22^0'=y_22^post78, i_111^0'=i_111^post78, rcd_253^0'=rcd_253^post78, nondet_12^0'=nondet_12^post78, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post78, a_276^0'=a_276^post78, r_274^0'=r_274^post78, rcd_367^0'=rcd_367^post78, r_234^0'=r_234^post78, temp_38^0'=temp_38^post78, x_19^0'=x_19^post78, ct_20^0'=ct_20^post78, rcd_235^0'=rcd_235^post78, lt_17^0'=lt_17^post78, rcd_70^0'=rcd_70^post78, (0 == 0 /\ -i_111^post78+i_111^0 == 0 /\ a_220^0-a_220^post78 == 0 /\ -rcd_113^post78+rcd_113^0 == 0 /\ r_42^0-r_247^0 <= 0 /\ r_42^0-r_42^post78 == 0 /\ a_148^post78-a_220^0 <= 0 /\ rcd_363^0-rcd_363^post78 == 0 /\ -rcd_70^post78+rcd_70^0 == 0 /\ -x_19^post78+x_19^0 == 0 /\ r_258^0-r_258^post78 == 0 /\ r_167^0-r_29^post78 <= 0 /\ -tmp_37^post78+tmp_37^0 == 0 /\ -t_30^post78+r_29^post78 <= 0 /\ -t_30^post78+r_29^post78 == 0 /\ rcd_409^0-rcd_409^post78 == 0 /\ -r_274^post78+r_274^0 == 0 /\ r_159^0-r_159^post78 == 0 /\ -c_28^0+t_30^post78 == 0 /\ r_196^0-r_196^post78 == 0 /\ -r_42^0+r_247^0 <= 0 /\ -a_148^post78+a_220^0 <= 0 /\ rcd_248^0-rcd_248^post78 == 0 /\ -lt_17^post78+lt_17^0 == 0 /\ -length_32^post78+length_32^0 == 0 /\ r_272^0-r_272^post78 == 0 /\ -r_167^0+r_29^post78 <= 0 /\ -nondet_12^post78+nondet_12^0 == 0 /\ t_30^post78-r_29^post78 <= 0 /\ head_35^0-head_35^post78 == 0 /\ a_358^0-a_358^post78 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post78 == 0 /\ len_205^0 <= 0 /\ -temp0_18^post78+temp0_18^0 == 0 /\ t_24^0-t_24^post78 == 0 /\ -r_245^post78+r_245^0 == 0 /\ -r_167^post78+r_167^0 == 0 /\ temp0_34^0-temp0_34^post78 == 0 /\ i_33^0-i_33^post78 == 0 /\ len_205^0-len_205^post78 == 0 /\ -rcd_235^post78+rcd_235^0 == 0 /\ -head_13^post78+head_13^0 == 0 /\ -len_297^post78+len_297^0 == 0 /\ -r_247^post78+r_247^0 == 0 /\ -result_11^post78+result_11^0 == 0 /\ rcd_248^0-rcd_46^0 <= 0 /\ -l_27^post78+l_27^0 == 0 /\ -len_205^0 <= 0 /\ r_234^0-r_234^post78 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post78+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_275^0-len_275^post78 == 0 /\ r_252^0-r_252^post78 == 0 /\ rcd_273^0-rcd_273^post78 == 0 /\ -a_173^post78+a_173^0 == 0 /\ rcd_427^0-rcd_427^post78 == 0 /\ r_246^0-r_246^post78 == 0 /\ x_23^0-x_23^post78 == 0 /\ -head_13^0+l_27^0 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post78 == 0 /\ -ct_20^post78+ct_20^0 == 0 /\ -rcd_387^post78+rcd_387^0 == 0 /\ -y_22^post78+y_22^0 == 0 /\ -i_120^post78+i_120^0 == 0 /\ a_388^0-a_388^post78 == 0 /\ -rcd_105^post78+rcd_105^0 == 0 /\ r_266^0-r_266^post78 == 0 /\ c_28^0-c_28^post78 == 0 /\ rcd_46^0-rcd_46^post78 == 0 /\ -rcd_248^0+rcd_46^0 <= 0 /\ -rcd_244^post78+rcd_244^0 == 0 /\ -r_188^post78+r_188^0 == 0 /\ -r_236^post78+r_236^0 == 0 /\ lt_509^0-lt_509^post78 == 0 /\ -a_332^post78+a_332^0 == 0 /\ -rcd_253^post78+rcd_253^0 == 0 /\ -rcd_367^post78+rcd_367^0 == 0 /\ head_13^0-l_27^0 <= 0 /\ lt_397^0-lt_397^post78 == 0 /\ r_243^0-r_243^post78 == 0 /\ -temp_38^post78+temp_38^0 == 0 /\ -a_276^post78+a_276^0 == 0), cost: 1
  79: l50 -> l51 : a_148^0'=a_148^post79, r_258^0'=r_258^post79, i_33^0'=i_33^post79, r_167^0'=r_167^post79, t_30^0'=t_30^post79, a_358^0'=a_358^post79, r_42^0'=r_42^post79, len_275^0'=len_275^post79, rcd_409^0'=rcd_409^post79, r_243^0'=r_243^post79, r_246^0'=r_246^post79, x_SLAM_f_21^0'=x_SLAM_f_21^post79, head_35^0'=head_35^post79, rcd_248^0'=rcd_248^post79, lt_509^0'=lt_509^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post79, a_220^0'=a_220^post79, r_272^0'=r_272^post79, rcd_363^0'=rcd_363^post79, r_196^0'=r_196^post79, temp0_34^0'=temp0_34^post79, c_28^0'=c_28^post79, rcd_113^0'=rcd_113^post79, length_32^0'=length_32^post79, rcd_46^0'=rcd_46^post79, r_252^0'=r_252^post79, i_120^0'=i_120^post79, rcd_273^0'=rcd_273^post79, r_159^0'=r_159^post79, t_24^0'=t_24^post79, a_332^0'=a_332^post79, r_29^0'=r_29^post79, len_205^0'=len_205^post79, rcd_387^0'=rcd_387^post79, r_236^0'=r_236^post79, tmp_37^0'=tmp_37^post79, x_23^0'=x_23^post79, head_13^0'=head_13^post79, rcd_244^0'=rcd_244^post79, lt_397^0'=lt_397^post79, result_11^0'=result_11^post79, a_173^0'=a_173^post79, r_266^0'=r_266^post79, l_27^0'=l_27^post79, r_188^0'=r_188^post79, temp0_18^0'=temp0_18^post79, a_388^0'=a_388^post79, rcd_105^0'=rcd_105^post79, len_297^0'=len_297^post79, rcd_427^0'=rcd_427^post79, r_245^0'=r_245^post79, r_247^0'=r_247^post79, y_22^0'=y_22^post79, i_111^0'=i_111^post79, rcd_253^0'=rcd_253^post79, nondet_12^0'=nondet_12^post79, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post79, a_276^0'=a_276^post79, r_274^0'=r_274^post79, rcd_367^0'=rcd_367^post79, r_234^0'=r_234^post79, temp_38^0'=temp_38^post79, x_19^0'=x_19^post79, ct_20^0'=ct_20^post79, rcd_235^0'=rcd_235^post79, lt_17^0'=lt_17^post79, rcd_70^0'=rcd_70^post79, (-x_23^post79+x_23^0 == 0 /\ lt_509^0-lt_509^post79 == 0 /\ -rcd_367^post79+rcd_367^0 == 0 /\ r_42^0-r_42^post79 == 0 /\ -length_32^post79+length_32^0 == 0 /\ -i_120^post79+i_120^0 == 0 /\ -ct_20^post79+ct_20^0 == 0 /\ t_24^0-t_24^post79 == 0 /\ r_188^0-r_188^post79 == 0 /\ -temp_38^post79+temp_38^0 == 0 /\ r_246^0-r_246^post79 == 0 /\ r_247^0-r_247^post79 == 0 /\ -nondet_12^post79+nondet_12^0 == 0 /\ r_196^0-r_196^post79 == 0 /\ -i_111^post79+i_111^0 == 0 /\ r_252^0-r_252^post79 == 0 /\ -rcd_46^post79+rcd_46^0 == 0 /\ a_148^0-a_148^post79 == 0 /\ -r_159^post79+r_159^0 == 0 /\ -rcd_70^post79+rcd_70^0 == 0 /\ r_167^0-r_167^post79 == 0 /\ -r_245^post79+r_245^0 == 0 /\ -a_388^post79+a_388^0 == 0 /\ r_236^0-r_236^post79 == 0 /\ result_11^0-result_11^post79 == 0 /\ a_220^0-a_220^post79 == 0 /\ a_358^0-a_358^post79 == 0 /\ temp0_34^0-temp0_34^post79 == 0 /\ -x_19^post79+x_19^0 == 0 /\ 1-t_30^0 <= 0 /\ i_33^0-i_33^post79 == 0 /\ c_28^0-c_28^post79 == 0 /\ rcd_387^0-rcd_387^post79 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post79+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_243^0-r_243^post79 == 0 /\ -lt_17^post79+lt_17^0 == 0 /\ -rcd_363^post79+rcd_363^0 == 0 /\ -a_173^post79+a_173^0 == 0 /\ -rcd_427^post79+rcd_427^0 == 0 /\ -a_276^post79+a_276^0 == 0 /\ -len_205^post79+len_205^0 == 0 /\ rcd_409^0-rcd_409^post79 == 0 /\ -rcd_244^post79+rcd_244^0 == 0 /\ r_258^0-r_258^post79 == 0 /\ rcd_248^0-rcd_248^post79 == 0 /\ -len_275^post79+len_275^0 == 0 /\ -rcd_253^post79+rcd_253^0 == 0 /\ a_332^0-a_332^post79 == 0 /\ -len_297^post79+len_297^0 == 0 /\ -t_30^post79+t_30^0 == 0 /\ -lt_397^post79+lt_397^0 == 0 /\ -l_27^post79+l_27^0 == 0 /\ -temp0_18^post79+temp0_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post79 == 0 /\ -r_234^post79+r_234^0 == 0 /\ -rcd_273^post79+rcd_273^0 == 0 /\ -tmp_37^post79+tmp_37^0 == 0 /\ rcd_113^0-rcd_113^post79 == 0 /\ head_13^0-head_13^post79 == 0 /\ -rcd_235^post79+rcd_235^0 == 0 /\ rcd_105^0-rcd_105^post79 == 0 /\ -r_274^post79+r_274^0 == 0 /\ -r_29^post79+r_29^0 == 0 /\ -x_SLAM_f_21^post79+x_SLAM_f_21^0 == 0 /\ r_266^0-r_266^post79 == 0 /\ head_35^0-head_35^post79 == 0 /\ r_272^0-r_272^post79 == 0 /\ -y_22^post79+y_22^0 == 0), cost: 1
  80: l50 -> l51 : a_148^0'=a_148^post80, r_258^0'=r_258^post80, i_33^0'=i_33^post80, r_167^0'=r_167^post80, t_30^0'=t_30^post80, a_358^0'=a_358^post80, r_42^0'=r_42^post80, len_275^0'=len_275^post80, rcd_409^0'=rcd_409^post80, r_243^0'=r_243^post80, r_246^0'=r_246^post80, x_SLAM_f_21^0'=x_SLAM_f_21^post80, head_35^0'=head_35^post80, rcd_248^0'=rcd_248^post80, lt_509^0'=lt_509^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post80, a_220^0'=a_220^post80, r_272^0'=r_272^post80, rcd_363^0'=rcd_363^post80, r_196^0'=r_196^post80, temp0_34^0'=temp0_34^post80, c_28^0'=c_28^post80, rcd_113^0'=rcd_113^post80, length_32^0'=length_32^post80, rcd_46^0'=rcd_46^post80, r_252^0'=r_252^post80, i_120^0'=i_120^post80, rcd_273^0'=rcd_273^post80, r_159^0'=r_159^post80, t_24^0'=t_24^post80, a_332^0'=a_332^post80, r_29^0'=r_29^post80, len_205^0'=len_205^post80, rcd_387^0'=rcd_387^post80, r_236^0'=r_236^post80, tmp_37^0'=tmp_37^post80, x_23^0'=x_23^post80, head_13^0'=head_13^post80, rcd_244^0'=rcd_244^post80, lt_397^0'=lt_397^post80, result_11^0'=result_11^post80, a_173^0'=a_173^post80, r_266^0'=r_266^post80, l_27^0'=l_27^post80, r_188^0'=r_188^post80, temp0_18^0'=temp0_18^post80, a_388^0'=a_388^post80, rcd_105^0'=rcd_105^post80, len_297^0'=len_297^post80, rcd_427^0'=rcd_427^post80, r_245^0'=r_245^post80, r_247^0'=r_247^post80, y_22^0'=y_22^post80, i_111^0'=i_111^post80, rcd_253^0'=rcd_253^post80, nondet_12^0'=nondet_12^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, a_276^0'=a_276^post80, r_274^0'=r_274^post80, rcd_367^0'=rcd_367^post80, r_234^0'=r_234^post80, temp_38^0'=temp_38^post80, x_19^0'=x_19^post80, ct_20^0'=ct_20^post80, rcd_235^0'=rcd_235^post80, lt_17^0'=lt_17^post80, rcd_70^0'=rcd_70^post80, (-r_252^post80+r_252^0 == 0 /\ -r_234^post80+r_234^0 == 0 /\ len_275^0-len_275^post80 == 0 /\ -rcd_273^post80+rcd_273^0 == 0 /\ y_22^0-y_22^post80 == 0 /\ -r_266^post80+r_266^0 == 0 /\ -nondet_12^post80+nondet_12^0 == 0 /\ a_332^0-a_332^post80 == 0 /\ r_243^0-r_243^post80 == 0 /\ -rcd_235^post80+rcd_235^0 == 0 /\ -rcd_46^post80+rcd_46^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post80 == 0 /\ -r_188^post80+r_188^0 == 0 /\ -r_236^post80+r_236^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post80 == 0 /\ rcd_363^0-rcd_363^post80 == 0 /\ result_11^0-result_11^post80 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post80+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_258^0-r_258^post80 == 0 /\ rcd_244^0-rcd_244^post80 == 0 /\ -t_24^post80+t_24^0 == 0 /\ -a_173^post80+a_173^0 == 0 /\ temp0_18^0-temp0_18^post80 == 0 /\ tmp_37^0-tmp_37^post80 == 0 /\ -temp_38^post80+temp_38^0 == 0 /\ -rcd_367^post80+rcd_367^0 == 0 /\ r_245^0-r_245^post80 == 0 /\ temp0_34^0-temp0_34^post80 == 0 /\ rcd_113^0-rcd_113^post80 == 0 /\ -c_28^post80+c_28^0 == 0 /\ rcd_248^0-rcd_248^post80 == 0 /\ r_272^0-r_272^post80 == 0 /\ r_42^0-r_42^post80 == 0 /\ -rcd_105^post80+rcd_105^0 == 0 /\ -ct_20^post80+ct_20^0 == 0 /\ -r_247^post80+r_247^0 == 0 /\ -r_196^post80+r_196^0 == 0 /\ r_246^0-r_246^post80 == 0 /\ -a_276^post80+a_276^0 == 0 /\ -rcd_253^post80+rcd_253^0 == 0 /\ -lt_397^post80+lt_397^0 == 0 /\ lt_509^0-lt_509^post80 == 0 /\ -len_205^post80+len_205^0 == 0 /\ -rcd_387^post80+rcd_387^0 == 0 /\ -a_388^post80+a_388^0 == 0 /\ r_167^0-r_167^post80 == 0 /\ 1+t_30^0 <= 0 /\ -rcd_409^post80+rcd_409^0 == 0 /\ t_30^0-t_30^post80 == 0 /\ -rcd_70^post80+rcd_70^0 == 0 /\ r_159^0-r_159^post80 == 0 /\ l_27^0-l_27^post80 == 0 /\ -rcd_427^post80+rcd_427^0 == 0 /\ x_19^0-x_19^post80 == 0 /\ -r_274^post80+r_274^0 == 0 /\ -x_23^post80+x_23^0 == 0 /\ a_358^0-a_358^post80 == 0 /\ i_120^0-i_120^post80 == 0 /\ r_29^0-r_29^post80 == 0 /\ -i_111^post80+i_111^0 == 0 /\ -head_35^post80+head_35^0 == 0 /\ i_33^0-i_33^post80 == 0 /\ len_297^0-len_297^post80 == 0 /\ length_32^0-length_32^post80 == 0 /\ -lt_17^post80+lt_17^0 == 0 /\ head_13^0-head_13^post80 == 0 /\ a_148^0-a_148^post80 == 0 /\ a_220^0-a_220^post80 == 0), cost: 1
  81: l51 -> l52 : a_148^0'=a_148^post81, r_258^0'=r_258^post81, i_33^0'=i_33^post81, r_167^0'=r_167^post81, t_30^0'=t_30^post81, a_358^0'=a_358^post81, r_42^0'=r_42^post81, len_275^0'=len_275^post81, rcd_409^0'=rcd_409^post81, r_243^0'=r_243^post81, r_246^0'=r_246^post81, x_SLAM_f_21^0'=x_SLAM_f_21^post81, head_35^0'=head_35^post81, rcd_248^0'=rcd_248^post81, lt_509^0'=lt_509^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post81, a_220^0'=a_220^post81, r_272^0'=r_272^post81, rcd_363^0'=rcd_363^post81, r_196^0'=r_196^post81, temp0_34^0'=temp0_34^post81, c_28^0'=c_28^post81, rcd_113^0'=rcd_113^post81, length_32^0'=length_32^post81, rcd_46^0'=rcd_46^post81, r_252^0'=r_252^post81, i_120^0'=i_120^post81, rcd_273^0'=rcd_273^post81, r_159^0'=r_159^post81, t_24^0'=t_24^post81, a_332^0'=a_332^post81, r_29^0'=r_29^post81, len_205^0'=len_205^post81, rcd_387^0'=rcd_387^post81, r_236^0'=r_236^post81, tmp_37^0'=tmp_37^post81, x_23^0'=x_23^post81, head_13^0'=head_13^post81, rcd_244^0'=rcd_244^post81, lt_397^0'=lt_397^post81, result_11^0'=result_11^post81, a_173^0'=a_173^post81, r_266^0'=r_266^post81, l_27^0'=l_27^post81, r_188^0'=r_188^post81, temp0_18^0'=temp0_18^post81, a_388^0'=a_388^post81, rcd_105^0'=rcd_105^post81, len_297^0'=len_297^post81, rcd_427^0'=rcd_427^post81, r_245^0'=r_245^post81, r_247^0'=r_247^post81, y_22^0'=y_22^post81, i_111^0'=i_111^post81, rcd_253^0'=rcd_253^post81, nondet_12^0'=nondet_12^post81, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post81, a_276^0'=a_276^post81, r_274^0'=r_274^post81, rcd_367^0'=rcd_367^post81, r_234^0'=r_234^post81, temp_38^0'=temp_38^post81, x_19^0'=x_19^post81, ct_20^0'=ct_20^post81, rcd_235^0'=rcd_235^post81, lt_17^0'=lt_17^post81, rcd_70^0'=rcd_70^post81, (r_196^0-r_196^post81 == 0 /\ r_272^0-r_272^post81 == 0 /\ i_111^0-i_111^post81 == 0 /\ -temp0_18^post81+temp0_18^0 == 0 /\ -r_247^post81+r_247^0 == 0 /\ -rcd_387^post81+rcd_387^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post81+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ c_28^0-c_28^post81 == 0 /\ head_35^0-head_35^post81 == 0 /\ -lt_17^post81+lt_17^0 == 0 /\ t_30^0-t_30^post81 == 0 /\ r_29^0-r_29^post81 == 0 /\ -l_27^post81+l_27^0 == 0 /\ r_167^0-r_167^post81 == 0 /\ -r_234^post81+r_234^0 == 0 /\ a_358^0-a_358^post81 == 0 /\ -r_266^post81+r_266^0 == 0 /\ lt_397^0-lt_397^post81 == 0 /\ i_33^0-i_33^post81 == 0 /\ -a_276^post81+a_276^0 == 0 /\ i_120^0-i_120^post81 == 0 /\ -ct_20^post81+ct_20^0 == 0 /\ -y_22^post81+y_22^0 == 0 /\ -r_252^post81+r_252^0 == 0 /\ 1-r_167^0 <= 0 /\ a_220^0-a_220^post81 == 0 /\ length_32^0-length_32^post81 == 0 /\ a_173^0-a_173^post81 == 0 /\ r_258^0-r_258^post81 == 0 /\ len_275^0-len_275^post81 == 0 /\ -len_297^post81+len_297^0 == 0 /\ -r_188^post81+r_188^0 == 0 /\ -rcd_367^post81+rcd_367^0 == 0 /\ -a_332^post81+a_332^0 == 0 /\ -r_236^post81+r_236^0 == 0 /\ -rcd_113^post81+rcd_113^0 == 0 /\ -rcd_235^post81+rcd_235^0 == 0 /\ r_159^0-r_159^post81 == 0 /\ -x_23^post81+x_23^0 == 0 /\ -rcd_253^post81+rcd_253^0 == 0 /\ -r_274^post81+r_274^0 == 0 /\ -temp_38^post81+temp_38^0 == 0 /\ -x_19^post81+x_19^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post81 == 0 /\ rcd_248^0-rcd_248^post81 == 0 /\ -r_246^post81+r_246^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post81 == 0 /\ -rcd_105^post81+rcd_105^0 == 0 /\ r_243^0-r_243^post81 == 0 /\ -tmp_37^post81+tmp_37^0 == 0 /\ -result_11^post81+result_11^0 == 0 /\ temp0_34^0-temp0_34^post81 == 0 /\ t_24^0-t_24^post81 == 0 /\ -len_205^post81+len_205^0 == 0 /\ rcd_363^0-rcd_363^post81 == 0 /\ r_42^0-r_42^post81 == 0 /\ -r_245^post81+r_245^0 == 0 /\ rcd_46^0-rcd_46^post81 == 0 /\ -lt_509^post81+lt_509^0 == 0 /\ rcd_244^0-rcd_244^post81 == 0 /\ rcd_427^0-rcd_427^post81 == 0 /\ -nondet_12^post81+nondet_12^0 == 0 /\ a_148^0-a_148^post81 == 0 /\ -rcd_70^post81+rcd_70^0 == 0 /\ rcd_273^0-rcd_273^post81 == 0 /\ -a_388^post81+a_388^0 == 0 /\ rcd_409^0-rcd_409^post81 == 0 /\ -head_13^post81+head_13^0 == 0), cost: 1
  82: l51 -> l52 : a_148^0'=a_148^post82, r_258^0'=r_258^post82, i_33^0'=i_33^post82, r_167^0'=r_167^post82, t_30^0'=t_30^post82, a_358^0'=a_358^post82, r_42^0'=r_42^post82, len_275^0'=len_275^post82, rcd_409^0'=rcd_409^post82, r_243^0'=r_243^post82, r_246^0'=r_246^post82, x_SLAM_f_21^0'=x_SLAM_f_21^post82, head_35^0'=head_35^post82, rcd_248^0'=rcd_248^post82, lt_509^0'=lt_509^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post82, a_220^0'=a_220^post82, r_272^0'=r_272^post82, rcd_363^0'=rcd_363^post82, r_196^0'=r_196^post82, temp0_34^0'=temp0_34^post82, c_28^0'=c_28^post82, rcd_113^0'=rcd_113^post82, length_32^0'=length_32^post82, rcd_46^0'=rcd_46^post82, r_252^0'=r_252^post82, i_120^0'=i_120^post82, rcd_273^0'=rcd_273^post82, r_159^0'=r_159^post82, t_24^0'=t_24^post82, a_332^0'=a_332^post82, r_29^0'=r_29^post82, len_205^0'=len_205^post82, rcd_387^0'=rcd_387^post82, r_236^0'=r_236^post82, tmp_37^0'=tmp_37^post82, x_23^0'=x_23^post82, head_13^0'=head_13^post82, rcd_244^0'=rcd_244^post82, lt_397^0'=lt_397^post82, result_11^0'=result_11^post82, a_173^0'=a_173^post82, r_266^0'=r_266^post82, l_27^0'=l_27^post82, r_188^0'=r_188^post82, temp0_18^0'=temp0_18^post82, a_388^0'=a_388^post82, rcd_105^0'=rcd_105^post82, len_297^0'=len_297^post82, rcd_427^0'=rcd_427^post82, r_245^0'=r_245^post82, r_247^0'=r_247^post82, y_22^0'=y_22^post82, i_111^0'=i_111^post82, rcd_253^0'=rcd_253^post82, nondet_12^0'=nondet_12^post82, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post82, a_276^0'=a_276^post82, r_274^0'=r_274^post82, rcd_367^0'=rcd_367^post82, r_234^0'=r_234^post82, temp_38^0'=temp_38^post82, x_19^0'=x_19^post82, ct_20^0'=ct_20^post82, rcd_235^0'=rcd_235^post82, lt_17^0'=lt_17^post82, rcd_70^0'=rcd_70^post82, (-y_22^post82+y_22^0 == 0 /\ r_236^0-r_236^post82 == 0 /\ -rcd_244^post82+rcd_244^0 == 0 /\ r_247^0-r_247^post82 == 0 /\ -rcd_427^post82+rcd_427^0 == 0 /\ r_29^0-r_29^post82 == 0 /\ rcd_113^0-rcd_113^post82 == 0 /\ -rcd_387^post82+rcd_387^0 == 0 /\ -r_159^post82+r_159^0 == 0 /\ -a_276^post82+a_276^0 == 0 /\ -lt_17^post82+lt_17^0 == 0 /\ i_33^0-i_33^post82 == 0 /\ -temp0_34^post82+temp0_34^0 == 0 /\ r_42^0-r_42^post82 == 0 /\ -i_111^post82+i_111^0 == 0 /\ lt_509^0-lt_509^post82 == 0 /\ t_30^0-t_30^post82 == 0 /\ -rcd_253^post82+rcd_253^0 == 0 /\ x_23^0-x_23^post82 == 0 /\ -l_27^post82+l_27^0 == 0 /\ -len_297^post82+len_297^0 == 0 /\ -temp0_18^post82+temp0_18^0 == 0 /\ rcd_273^0-rcd_273^post82 == 0 /\ -r_234^post82+r_234^0 == 0 /\ rcd_363^0-rcd_363^post82 == 0 /\ -rcd_235^post82+rcd_235^0 == 0 /\ rcd_409^0-rcd_409^post82 == 0 /\ -tmp_37^post82+tmp_37^0 == 0 /\ rcd_46^0-rcd_46^post82 == 0 /\ -r_274^post82+r_274^0 == 0 /\ nondet_12^0-nondet_12^post82 == 0 /\ -a_332^post82+a_332^0 == 0 /\ -rcd_367^post82+rcd_367^0 == 0 /\ head_35^0-head_35^post82 == 0 /\ -rcd_248^post82+rcd_248^0 == 0 /\ -x_SLAM_f_21^post82+x_SLAM_f_21^0 == 0 /\ -length_32^post82+length_32^0 == 0 /\ 1+r_167^0 <= 0 /\ -rcd_105^post82+rcd_105^0 == 0 /\ r_167^0-r_167^post82 == 0 /\ -ct_20^post82+ct_20^0 == 0 /\ a_148^0-a_148^post82 == 0 /\ -i_120^post82+i_120^0 == 0 /\ a_358^0-a_358^post82 == 0 /\ a_220^0-a_220^post82 == 0 /\ a_388^0-a_388^post82 == 0 /\ -result_11^post82+result_11^0 == 0 /\ c_28^0-c_28^post82 == 0 /\ r_266^0-r_266^post82 == 0 /\ -temp_38^post82+temp_38^0 == 0 /\ -r_243^post82+r_243^0 == 0 /\ len_205^0-len_205^post82 == 0 /\ r_272^0-r_272^post82 == 0 /\ -head_13^post82+head_13^0 == 0 /\ r_246^0-r_246^post82 == 0 /\ -x_19^post82+x_19^0 == 0 /\ lt_397^0-lt_397^post82 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post82+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_245^post82+r_245^0 == 0 /\ r_196^0-r_196^post82 == 0 /\ r_258^0-r_258^post82 == 0 /\ t_24^0-t_24^post82 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post82+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ r_188^0-r_188^post82 == 0 /\ -a_173^post82+a_173^0 == 0 /\ r_252^0-r_252^post82 == 0 /\ len_275^0-len_275^post82 == 0 /\ -rcd_70^post82+rcd_70^0 == 0), cost: 1
  83: l52 -> l0 : a_148^0'=a_148^post83, r_258^0'=r_258^post83, i_33^0'=i_33^post83, r_167^0'=r_167^post83, t_30^0'=t_30^post83, a_358^0'=a_358^post83, r_42^0'=r_42^post83, len_275^0'=len_275^post83, rcd_409^0'=rcd_409^post83, r_243^0'=r_243^post83, r_246^0'=r_246^post83, x_SLAM_f_21^0'=x_SLAM_f_21^post83, head_35^0'=head_35^post83, rcd_248^0'=rcd_248^post83, lt_509^0'=lt_509^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post83, a_220^0'=a_220^post83, r_272^0'=r_272^post83, rcd_363^0'=rcd_363^post83, r_196^0'=r_196^post83, temp0_34^0'=temp0_34^post83, c_28^0'=c_28^post83, rcd_113^0'=rcd_113^post83, length_32^0'=length_32^post83, rcd_46^0'=rcd_46^post83, r_252^0'=r_252^post83, i_120^0'=i_120^post83, rcd_273^0'=rcd_273^post83, r_159^0'=r_159^post83, t_24^0'=t_24^post83, a_332^0'=a_332^post83, r_29^0'=r_29^post83, len_205^0'=len_205^post83, rcd_387^0'=rcd_387^post83, r_236^0'=r_236^post83, tmp_37^0'=tmp_37^post83, x_23^0'=x_23^post83, head_13^0'=head_13^post83, rcd_244^0'=rcd_244^post83, lt_397^0'=lt_397^post83, result_11^0'=result_11^post83, a_173^0'=a_173^post83, r_266^0'=r_266^post83, l_27^0'=l_27^post83, r_188^0'=r_188^post83, temp0_18^0'=temp0_18^post83, a_388^0'=a_388^post83, rcd_105^0'=rcd_105^post83, len_297^0'=len_297^post83, rcd_427^0'=rcd_427^post83, r_245^0'=r_245^post83, r_247^0'=r_247^post83, y_22^0'=y_22^post83, i_111^0'=i_111^post83, rcd_253^0'=rcd_253^post83, nondet_12^0'=nondet_12^post83, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post83, a_276^0'=a_276^post83, r_274^0'=r_274^post83, rcd_367^0'=rcd_367^post83, r_234^0'=r_234^post83, temp_38^0'=temp_38^post83, x_19^0'=x_19^post83, ct_20^0'=ct_20^post83, rcd_235^0'=rcd_235^post83, lt_17^0'=lt_17^post83, rcd_70^0'=rcd_70^post83, (0 == 0 /\ a_358^0-a_358^post83 == 0 /\ len_205^0-len_205^post83 == 0 /\ rcd_409^0-rcd_409^post83 == 0 /\ t_24^0-t_24^post83 == 0 /\ -lt_397^post83+lt_397^0 == 0 /\ rcd_363^0-rcd_363^post83 == 0 /\ tmp_37^0-tmp_37^post83 == 0 /\ -r_196^post83+r_196^0 == 0 /\ -a_388^post83+a_388^0 == 0 /\ head_13^0-head_13^post83 == 0 /\ -rcd_253^post83+rcd_253^0 == 0 /\ -r_274^post83+r_274^0 == 0 /\ length_32^0-length_32^post83 == 0 /\ 1+a_148^0-i_120^post83 <= 0 /\ r_252^0-r_252^post83 == 0 /\ -rcd_70^post83+rcd_70^0 == 0 /\ -y_22^post83+y_22^0 == 0 /\ a_148^0-a_148^post83 == 0 /\ temp0_34^0-temp0_34^post83 == 0 /\ -rcd_427^post83+rcd_427^0 == 0 /\ rcd_387^0-rcd_387^post83 == 0 /\ r_246^0-r_246^post83 == 0 /\ r_272^0-r_272^post83 == 0 /\ len_275^0-len_275^post83 == 0 /\ r_243^0-r_243^post83 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post83 == 0 /\ r_167^0-r_167^post83 == 0 /\ -lt_17^post83+lt_17^0 == 0 /\ -x_23^post83+x_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post83 == 0 /\ -i_111^post83+i_111^0 == 0 /\ result_11^0-result_11^post83 == 0 /\ -head_35^post83+head_35^0 == 0 /\ -r_159^post83+r_159^0 == 0 /\ rcd_105^0-rcd_105^post83 == 0 /\ r_258^0-r_258^post83 == 0 /\ -nondet_12^post83+nondet_12^0 == 0 /\ -rcd_46^post83+rcd_46^0 == 0 /\ -len_297^post83+len_297^0 == 0 /\ i_33^0-i_33^post83 == 0 /\ -r_234^post83+r_234^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -r_266^post83+r_266^0 == 0 /\ -rcd_273^post83+rcd_273^0 == 0 /\ temp0_18^0-temp0_18^post83 == 0 /\ -a_173^post83+a_173^0 == 0 /\ -1-a_148^0+i_120^post83 <= 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ r_42^0-r_42^post83 == 0 /\ -r_29^post83+r_29^0 == 0 /\ -r_245^post83+r_245^0 == 0 /\ rcd_113^0-rcd_113^post83 == 0 /\ -rcd_235^post83+rcd_235^0 == 0 /\ -x_19^post83+x_19^0 == 0 /\ -r_188^post83+r_188^0 == 0 /\ -rcd_367^post83+rcd_367^0 == 0 /\ -temp_38^post83+temp_38^0 == 0 /\ -rcd_244^post83+rcd_244^0 == 0 /\ lt_509^0-lt_509^post83 == 0 /\ a_332^0-a_332^post83 == 0 /\ rcd_248^0-rcd_248^post83 == 0 /\ -a_276^post83+a_276^0 == 0 /\ -c_28^post83+c_28^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -a_220^post83+a_220^0 == 0 /\ -r_247^post83+r_247^0 == 0 /\ t_30^0-t_30^post83 == 0 /\ l_27^0-l_27^post83 == 0 /\ -ct_20^post83+ct_20^0 == 0 /\ r_236^0-r_236^post83 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post83 == 0), cost: 1
  85: l53 -> l47 : a_148^0'=a_148^post85, r_258^0'=r_258^post85, i_33^0'=i_33^post85, r_167^0'=r_167^post85, t_30^0'=t_30^post85, a_358^0'=a_358^post85, r_42^0'=r_42^post85, len_275^0'=len_275^post85, rcd_409^0'=rcd_409^post85, r_243^0'=r_243^post85, r_246^0'=r_246^post85, x_SLAM_f_21^0'=x_SLAM_f_21^post85, head_35^0'=head_35^post85, rcd_248^0'=rcd_248^post85, lt_509^0'=lt_509^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post85, a_220^0'=a_220^post85, r_272^0'=r_272^post85, rcd_363^0'=rcd_363^post85, r_196^0'=r_196^post85, temp0_34^0'=temp0_34^post85, c_28^0'=c_28^post85, rcd_113^0'=rcd_113^post85, length_32^0'=length_32^post85, rcd_46^0'=rcd_46^post85, r_252^0'=r_252^post85, i_120^0'=i_120^post85, rcd_273^0'=rcd_273^post85, r_159^0'=r_159^post85, t_24^0'=t_24^post85, a_332^0'=a_332^post85, r_29^0'=r_29^post85, len_205^0'=len_205^post85, rcd_387^0'=rcd_387^post85, r_236^0'=r_236^post85, tmp_37^0'=tmp_37^post85, x_23^0'=x_23^post85, head_13^0'=head_13^post85, rcd_244^0'=rcd_244^post85, lt_397^0'=lt_397^post85, result_11^0'=result_11^post85, a_173^0'=a_173^post85, r_266^0'=r_266^post85, l_27^0'=l_27^post85, r_188^0'=r_188^post85, temp0_18^0'=temp0_18^post85, a_388^0'=a_388^post85, rcd_105^0'=rcd_105^post85, len_297^0'=len_297^post85, rcd_427^0'=rcd_427^post85, r_245^0'=r_245^post85, r_247^0'=r_247^post85, y_22^0'=y_22^post85, i_111^0'=i_111^post85, rcd_253^0'=rcd_253^post85, nondet_12^0'=nondet_12^post85, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post85, a_276^0'=a_276^post85, r_274^0'=r_274^post85, rcd_367^0'=rcd_367^post85, r_234^0'=r_234^post85, temp_38^0'=temp_38^post85, x_19^0'=x_19^post85, ct_20^0'=ct_20^post85, rcd_235^0'=rcd_235^post85, lt_17^0'=lt_17^post85, rcd_70^0'=rcd_70^post85, (len_275^0-len_275^post85 == 0 /\ -result_11^post85+result_11^0 == 0 /\ c_28^0-c_28^post85 == 0 /\ -rcd_367^post85+rcd_367^0 == 0 /\ -a_332^post85+a_332^0 == 0 /\ temp0_34^0-temp0_34^post85 == 0 /\ rcd_273^0-rcd_273^post85 == 0 /\ rcd_46^0-rcd_46^post85 == 0 /\ -r_245^post85+r_245^0 == 0 /\ -i_120^post85+i_120^0 == 0 /\ -ct_20^post85+ct_20^0 == 0 /\ -nondet_12^post85+nondet_12^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post85 == 0 /\ lt_397^0-lt_397^post85 == 0 /\ -len_297^post85+len_297^0 == 0 /\ -temp_38^post85+temp_38^0 == 0 /\ -r_252^post85+r_252^0 == 0 /\ -head_13^post85+head_13^0 == 0 /\ rcd_363^0-rcd_363^post85 == 0 /\ a_148^0-a_148^post85 == 0 /\ r_159^0-r_159^post85 == 0 /\ head_35^0-head_35^post85 == 0 /\ -r_236^post85+r_236^0 == 0 /\ -rcd_70^post85+rcd_70^0 == 0 /\ -r_247^post85+r_247^0 == 0 /\ rcd_409^0-rcd_409^post85 == 0 /\ r_167^0-r_167^post85 == 0 /\ -t_24^post85+t_24^0 == 0 /\ r_29^0-r_29^post85 == 0 /\ r_272^0-r_272^post85 == 0 /\ -rcd_105^post85+rcd_105^0 == 0 /\ x_23^0-x_23^post85 == 0 /\ -x_19^post85+x_19^0 == 0 /\ -rcd_244^post85+rcd_244^0 == 0 /\ length_32^0-length_32^post85 == 0 /\ r_42^0-r_42^post85 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post85+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post85+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ r_243^0-r_243^post85 == 0 /\ -lt_17^post85+lt_17^0 == 0 /\ rcd_427^0-rcd_427^post85 == 0 /\ a_388^0-a_388^post85 == 0 /\ lt_509^0-lt_509^post85 == 0 /\ -y_22^post85+y_22^0 == 0 /\ -tmp_37^post85+tmp_37^0 == 0 /\ r_246^0-r_246^post85 == 0 /\ -a_276^post85+a_276^0 == 0 /\ -rcd_113^post85+rcd_113^0 == 0 /\ r_196^0-r_196^post85 == 0 /\ -rcd_387^post85+rcd_387^0 == 0 /\ r_258^0-r_258^post85 == 0 /\ r_188^0-r_188^post85 == 0 /\ -rcd_253^post85+rcd_253^0 == 0 /\ -temp0_18^post85+temp0_18^0 == 0 /\ -l_27^post85+l_27^0 == 0 /\ -t_30^post85+t_30^0 == 0 /\ a_358^0-a_358^post85 == 0 /\ -r_234^post85+r_234^0 == 0 /\ -i_111^post85+i_111^0 == 0 /\ -rcd_235^post85+rcd_235^0 == 0 /\ i_33^0-i_33^post85 == 0 /\ -r_274^post85+r_274^0 == 0 /\ rcd_248^0-rcd_248^post85 == 0 /\ len_205^0-len_205^post85 == 0 /\ a_220^0-a_220^post85 == 0 /\ a_173^0-a_173^post85 == 0 /\ -r_266^post85+r_266^0 == 0), cost: 1
  86: l54 -> l33 : a_148^0'=a_148^post86, r_258^0'=r_258^post86, i_33^0'=i_33^post86, r_167^0'=r_167^post86, t_30^0'=t_30^post86, a_358^0'=a_358^post86, r_42^0'=r_42^post86, len_275^0'=len_275^post86, rcd_409^0'=rcd_409^post86, r_243^0'=r_243^post86, r_246^0'=r_246^post86, x_SLAM_f_21^0'=x_SLAM_f_21^post86, head_35^0'=head_35^post86, rcd_248^0'=rcd_248^post86, lt_509^0'=lt_509^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86, a_220^0'=a_220^post86, r_272^0'=r_272^post86, rcd_363^0'=rcd_363^post86, r_196^0'=r_196^post86, temp0_34^0'=temp0_34^post86, c_28^0'=c_28^post86, rcd_113^0'=rcd_113^post86, length_32^0'=length_32^post86, rcd_46^0'=rcd_46^post86, r_252^0'=r_252^post86, i_120^0'=i_120^post86, rcd_273^0'=rcd_273^post86, r_159^0'=r_159^post86, t_24^0'=t_24^post86, a_332^0'=a_332^post86, r_29^0'=r_29^post86, len_205^0'=len_205^post86, rcd_387^0'=rcd_387^post86, r_236^0'=r_236^post86, tmp_37^0'=tmp_37^post86, x_23^0'=x_23^post86, head_13^0'=head_13^post86, rcd_244^0'=rcd_244^post86, lt_397^0'=lt_397^post86, result_11^0'=result_11^post86, a_173^0'=a_173^post86, r_266^0'=r_266^post86, l_27^0'=l_27^post86, r_188^0'=r_188^post86, temp0_18^0'=temp0_18^post86, a_388^0'=a_388^post86, rcd_105^0'=rcd_105^post86, len_297^0'=len_297^post86, rcd_427^0'=rcd_427^post86, r_245^0'=r_245^post86, r_247^0'=r_247^post86, y_22^0'=y_22^post86, i_111^0'=i_111^post86, rcd_253^0'=rcd_253^post86, nondet_12^0'=nondet_12^post86, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post86, a_276^0'=a_276^post86, r_274^0'=r_274^post86, rcd_367^0'=rcd_367^post86, r_234^0'=r_234^post86, temp_38^0'=temp_38^post86, x_19^0'=x_19^post86, ct_20^0'=ct_20^post86, rcd_235^0'=rcd_235^post86, lt_17^0'=lt_17^post86, rcd_70^0'=rcd_70^post86, (0 == 0 /\ -r_234^post86+r_234^0 == 0 /\ r_246^0-r_246^post86 == 0 /\ rcd_113^0-rcd_113^post86 == 0 /\ rcd_387^0-rcd_387^post86 == 0 /\ y_22^0-y_22^post86 == 0 /\ -r_29^post86+r_29^0 == 0 /\ -len_297^post86+len_297^0 == 0 /\ r_266^0-r_266^post86 == 0 /\ -nondet_12^post86+nondet_12^0 == 0 /\ r_272^0-r_272^post86 == 0 /\ length_32^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post86 <= 0 /\ -1+i_33^post86-i_33^0 == 0 /\ lt_509^0-lt_509^post86 == 0 /\ -rcd_367^post86+rcd_367^0 == 0 /\ -head_35^post86+tmp_37^post86 <= 0 /\ -r_245^post86+r_245^0 == 0 /\ r_243^0-r_243^post86 == 0 /\ -rcd_235^post86+rcd_235^0 == 0 /\ t_30^0-t_30^post86 == 0 /\ r_236^0-r_236^post86 == 0 /\ -rcd_273^post86+rcd_273^0 == 0 /\ -a_173^post86+a_173^0 == 0 /\ r_167^0-r_167^post86 == 0 /\ -a_332^post86+a_332^0 == 0 /\ -rcd_244^post86+rcd_244^0 == 0 /\ a_358^0-a_358^post86 == 0 /\ 1-i_33^post86 <= 0 /\ -1+i_33^post86 <= 0 /\ r_258^0-r_258^post86 == 0 /\ t_24^0-t_24^post86 == 0 /\ r_247^0-r_247^post86 == 0 /\ rcd_363^0-rcd_363^post86 == 0 /\ -i_120^post86+i_120^0 == 0 /\ len_205^0-len_205^post86 == 0 /\ -length_32^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post86 <= 0 /\ -temp0_34^post86+temp0_34^0 == 0 /\ head_35^post86-tmp_37^post86 <= 0 /\ head_35^post86-tmp_37^post86 == 0 /\ 1+i_33^0-length_32^0 <= 0 /\ rcd_46^0-rcd_46^post86 == 0 /\ -r_188^post86+r_188^0 == 0 /\ head_13^0-head_13^post86 == 0 /\ -ct_20^post86+ct_20^0 == 0 /\ -a_220^post86+a_220^0 == 0 /\ -lt_397^post86+lt_397^0 == 0 /\ r_196^0-r_196^post86 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post86 == 0 /\ -a_388^post86+a_388^0 == 0 /\ -len_275^post86+len_275^0 == 0 /\ -a_276^post86+a_276^0 == 0 /\ -rcd_253^post86+rcd_253^0 == 0 /\ c_28^0-c_28^post86 == 0 /\ -rcd_248^post86+rcd_248^0 == 0 /\ -length_32^post86+length_32^0 == 0 /\ tmp_37^post86-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86 <= 0 /\ head_35^post86-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86 <= 0 /\ -rcd_70^post86+rcd_70^0 == 0 /\ temp0_18^0-temp0_18^post86 == 0 /\ tmp_37^post86-temp_38^0 == 0 /\ l_27^0-l_27^post86 == 0 /\ rcd_409^0-rcd_409^post86 == 0 /\ rcd_105^0-rcd_105^post86 == 0 /\ -rcd_427^post86+rcd_427^0 == 0 /\ x_19^0-x_19^post86 == 0 /\ -r_274^post86+r_274^0 == 0 /\ r_252^0-r_252^post86 == 0 /\ -i_111^post86+i_111^0 == 0 /\ r_42^0-r_42^post86 == 0 /\ -r_159^post86+r_159^0 == 0 /\ -tmp_37^post86+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86 <= 0 /\ -head_35^post86+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86 <= 0 /\ -result_11^post86+result_11^0 == 0 /\ x_23^0-x_23^post86 == 0 /\ -lt_17^post86+lt_17^0 == 0 /\ a_148^0-a_148^post86 == 0 /\ 1-length_32^0 <= 0), cost: 1
  89: l55 -> l57 : a_148^0'=a_148^post89, r_258^0'=r_258^post89, i_33^0'=i_33^post89, r_167^0'=r_167^post89, t_30^0'=t_30^post89, a_358^0'=a_358^post89, r_42^0'=r_42^post89, len_275^0'=len_275^post89, rcd_409^0'=rcd_409^post89, r_243^0'=r_243^post89, r_246^0'=r_246^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, head_35^0'=head_35^post89, rcd_248^0'=rcd_248^post89, lt_509^0'=lt_509^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post89, a_220^0'=a_220^post89, r_272^0'=r_272^post89, rcd_363^0'=rcd_363^post89, r_196^0'=r_196^post89, temp0_34^0'=temp0_34^post89, c_28^0'=c_28^post89, rcd_113^0'=rcd_113^post89, length_32^0'=length_32^post89, rcd_46^0'=rcd_46^post89, r_252^0'=r_252^post89, i_120^0'=i_120^post89, rcd_273^0'=rcd_273^post89, r_159^0'=r_159^post89, t_24^0'=t_24^post89, a_332^0'=a_332^post89, r_29^0'=r_29^post89, len_205^0'=len_205^post89, rcd_387^0'=rcd_387^post89, r_236^0'=r_236^post89, tmp_37^0'=tmp_37^post89, x_23^0'=x_23^post89, head_13^0'=head_13^post89, rcd_244^0'=rcd_244^post89, lt_397^0'=lt_397^post89, result_11^0'=result_11^post89, a_173^0'=a_173^post89, r_266^0'=r_266^post89, l_27^0'=l_27^post89, r_188^0'=r_188^post89, temp0_18^0'=temp0_18^post89, a_388^0'=a_388^post89, rcd_105^0'=rcd_105^post89, len_297^0'=len_297^post89, rcd_427^0'=rcd_427^post89, r_245^0'=r_245^post89, r_247^0'=r_247^post89, y_22^0'=y_22^post89, i_111^0'=i_111^post89, rcd_253^0'=rcd_253^post89, nondet_12^0'=nondet_12^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, a_276^0'=a_276^post89, r_274^0'=r_274^post89, rcd_367^0'=rcd_367^post89, r_234^0'=r_234^post89, temp_38^0'=temp_38^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, rcd_235^0'=rcd_235^post89, lt_17^0'=lt_17^post89, rcd_70^0'=rcd_70^post89, (0 == 0 /\ lt_509^0-lt_509^post89 == 0 /\ r_243^0-r_243^post89 == 0 /\ t_30^0-t_30^post89 == 0 /\ -r_274^post89+r_274^0 == 0 /\ -i_120^post89+i_120^0 == 0 /\ -temp_38^post89+temp_38^0 == 0 /\ -a_220^post89+a_220^0 == 0 /\ r_246^0-r_246^post89 == 0 /\ r_258^0-r_258^post89 == 0 /\ -i_111^post89+i_111^0 == 0 /\ r_247^0-r_247^post89 == 0 /\ rcd_363^0-rcd_363^post89 == 0 /\ -result_11^post89+result_11^0 == 0 /\ r_188^0-r_188^post89 == 0 /\ -a_332^post89+a_332^0 == 0 /\ head_13^0-head_13^post89 == 0 /\ -a_388^post89+a_388^0 == 0 /\ -nondet_12^post89+nondet_12^0 == 0 /\ -rcd_248^post89+rcd_248^0 == 0 /\ a_358^0-a_358^post89 == 0 /\ rcd_113^0-rcd_113^post89 == 0 /\ -a_358^0 <= 0 /\ -rcd_70^post89+rcd_70^0 == 0 /\ -r_245^post89+r_245^0 == 0 /\ -a_173^post89+a_173^0 == 0 /\ i_33^0-i_33^post89 == 0 /\ len_205^0-len_205^post89 == 0 /\ c_28^0-c_28^post89 == 0 /\ rcd_46^0-rcd_46^post89 == 0 /\ -rcd_244^post89+rcd_244^0 == 0 /\ x_23^0-x_23^post89 == 0 /\ -rcd_427^post89+rcd_427^0 == 0 /\ -temp0_34^post89+temp0_34^0 == 0 /\ r_196^0-r_196^post89 == 0 /\ t_24^0-t_24^post89 == 0 /\ rcd_409^0-rcd_409^post89 == 0 /\ -r_236^post89+r_236^0 == 0 /\ -r_234^post89+r_234^0 == 0 /\ -rcd_387^post89+rcd_387^0 == 0 /\ r_252^0-r_252^post89 == 0 /\ -lt_397^post89+lt_397^0 == 0 /\ -r_29^post89+r_29^0 == 0 /\ head_35^0-head_35^post89 == 0 /\ -rcd_273^post89+rcd_273^0 == 0 /\ -len_297^post89+len_297^0 == 0 /\ -temp0_18^post89+temp0_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post89 == 0 /\ -a_276^post89+a_276^0 == 0 /\ a_148^0-a_148^post89 == 0 /\ r_167^0-r_167^post89 == 0 /\ r_159^0-r_159^post89 == 0 /\ -len_275^post89+len_275^0 == 0 /\ -rcd_367^post89+rcd_367^0 == 0 /\ l_27^0-l_27^post89 == 0 /\ -length_32^post89+length_32^0 == 0 /\ -rcd_253^post89+rcd_253^0 == 0 /\ rcd_105^0-rcd_105^post89 == 0 /\ r_266^0-r_266^post89 == 0 /\ -rcd_235^post89+rcd_235^0 == 0 /\ -y_22^post89+y_22^0 == 0 /\ -tmp_37^post89+tmp_37^0 == 0 /\ r_272^0-r_272^post89 == 0), cost: 1
  90: l57 -> l58 : a_148^0'=a_148^post90, r_258^0'=r_258^post90, i_33^0'=i_33^post90, r_167^0'=r_167^post90, t_30^0'=t_30^post90, a_358^0'=a_358^post90, r_42^0'=r_42^post90, len_275^0'=len_275^post90, rcd_409^0'=rcd_409^post90, r_243^0'=r_243^post90, r_246^0'=r_246^post90, x_SLAM_f_21^0'=x_SLAM_f_21^post90, head_35^0'=head_35^post90, rcd_248^0'=rcd_248^post90, lt_509^0'=lt_509^post90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post90, a_220^0'=a_220^post90, r_272^0'=r_272^post90, rcd_363^0'=rcd_363^post90, r_196^0'=r_196^post90, temp0_34^0'=temp0_34^post90, c_28^0'=c_28^post90, rcd_113^0'=rcd_113^post90, length_32^0'=length_32^post90, rcd_46^0'=rcd_46^post90, r_252^0'=r_252^post90, i_120^0'=i_120^post90, rcd_273^0'=rcd_273^post90, r_159^0'=r_159^post90, t_24^0'=t_24^post90, a_332^0'=a_332^post90, r_29^0'=r_29^post90, len_205^0'=len_205^post90, rcd_387^0'=rcd_387^post90, r_236^0'=r_236^post90, tmp_37^0'=tmp_37^post90, x_23^0'=x_23^post90, head_13^0'=head_13^post90, rcd_244^0'=rcd_244^post90, lt_397^0'=lt_397^post90, result_11^0'=result_11^post90, a_173^0'=a_173^post90, r_266^0'=r_266^post90, l_27^0'=l_27^post90, r_188^0'=r_188^post90, temp0_18^0'=temp0_18^post90, a_388^0'=a_388^post90, rcd_105^0'=rcd_105^post90, len_297^0'=len_297^post90, rcd_427^0'=rcd_427^post90, r_245^0'=r_245^post90, r_247^0'=r_247^post90, y_22^0'=y_22^post90, i_111^0'=i_111^post90, rcd_253^0'=rcd_253^post90, nondet_12^0'=nondet_12^post90, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post90, a_276^0'=a_276^post90, r_274^0'=r_274^post90, rcd_367^0'=rcd_367^post90, r_234^0'=r_234^post90, temp_38^0'=temp_38^post90, x_19^0'=x_19^post90, ct_20^0'=ct_20^post90, rcd_235^0'=rcd_235^post90, lt_17^0'=lt_17^post90, rcd_70^0'=rcd_70^post90, (-rcd_273^post90+rcd_273^0 == 0 /\ -r_245^post90+r_245^0 == 0 /\ -ct_20^post90+ct_20^0 == 0 /\ r_196^0-r_196^post90 == 0 /\ -r_266^post90+r_266^0 == 0 /\ 1-x_23^0+y_22^0 <= 0 /\ -rcd_46^post90+rcd_46^0 == 0 /\ len_275^0-len_275^post90 == 0 /\ r_272^0-r_272^post90 == 0 /\ -a_173^post90+a_173^0 == 0 /\ -nondet_12^post90+nondet_12^0 == 0 /\ i_111^0-i_111^post90 == 0 /\ -rcd_367^post90+rcd_367^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post90 == 0 /\ -r_29^post90+r_29^0 == 0 /\ -x_19^post90+x_19^0 == 0 /\ -c_28^post90+c_28^0 == 0 /\ result_11^0-result_11^post90 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post90 == 0 /\ a_276^0-a_276^post90 == 0 /\ -r_247^post90+r_247^0 == 0 /\ rcd_244^0-rcd_244^post90 == 0 /\ -temp_38^post90+temp_38^0 == 0 /\ r_252^0-r_252^post90 == 0 /\ i_33^0-i_33^post90 == 0 /\ temp0_18^0-temp0_18^post90 == 0 /\ -r_188^post90+r_188^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post90+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ temp0_34^0-temp0_34^post90 == 0 /\ length_32^0-length_32^post90 == 0 /\ r_42^0-r_42^post90 == 0 /\ -a_220^post90+a_220^0 == 0 /\ rcd_253^0-rcd_253^post90 == 0 /\ a_148^0-a_148^post90 == 0 /\ -rcd_105^post90+rcd_105^0 == 0 /\ -rcd_363^post90+rcd_363^0 == 0 /\ r_246^0-r_246^post90 == 0 /\ r_243^0-r_243^post90 == 0 /\ a_332^0-a_332^post90 == 0 /\ rcd_387^0-rcd_387^post90 == 0 /\ -lt_397^post90+lt_397^0 == 0 /\ -y_22^post90+y_22^0 == 0 /\ lt_509^0-lt_509^post90 == 0 /\ rcd_248^0-rcd_248^post90 == 0 /\ r_236^0-r_236^post90 == 0 /\ r_167^0-r_167^post90 == 0 /\ -a_388^post90+a_388^0 == 0 /\ -tmp_37^post90+tmp_37^0 == 0 /\ t_30^0-t_30^post90 == 0 /\ -rcd_409^post90+rcd_409^0 == 0 /\ -rcd_235^post90+rcd_235^0 == 0 /\ t_24^0-t_24^post90 == 0 /\ r_258^0-r_258^post90 == 0 /\ -r_274^post90+r_274^0 == 0 /\ -x_23^post90+x_23^0 == 0 /\ i_120^0-i_120^post90 == 0 /\ a_358^0-a_358^post90 == 0 /\ -lt_17^post90+lt_17^0 == 0 /\ -rcd_427^post90+rcd_427^0 == 0 /\ head_13^0-head_13^post90 == 0 /\ -l_27^post90+l_27^0 == 0 /\ -r_234^post90+r_234^0 == 0 /\ len_297^0-len_297^post90 == 0 /\ -r_159^post90+r_159^0 == 0 /\ rcd_113^0-rcd_113^post90 == 0 /\ -len_205^post90+len_205^0 == 0 /\ rcd_70^0-rcd_70^post90 == 0 /\ -head_35^post90+head_35^0 == 0), cost: 1
  91: l57 -> l58 : a_148^0'=a_148^post91, r_258^0'=r_258^post91, i_33^0'=i_33^post91, r_167^0'=r_167^post91, t_30^0'=t_30^post91, a_358^0'=a_358^post91, r_42^0'=r_42^post91, len_275^0'=len_275^post91, rcd_409^0'=rcd_409^post91, r_243^0'=r_243^post91, r_246^0'=r_246^post91, x_SLAM_f_21^0'=x_SLAM_f_21^post91, head_35^0'=head_35^post91, rcd_248^0'=rcd_248^post91, lt_509^0'=lt_509^post91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post91, a_220^0'=a_220^post91, r_272^0'=r_272^post91, rcd_363^0'=rcd_363^post91, r_196^0'=r_196^post91, temp0_34^0'=temp0_34^post91, c_28^0'=c_28^post91, rcd_113^0'=rcd_113^post91, length_32^0'=length_32^post91, rcd_46^0'=rcd_46^post91, r_252^0'=r_252^post91, i_120^0'=i_120^post91, rcd_273^0'=rcd_273^post91, r_159^0'=r_159^post91, t_24^0'=t_24^post91, a_332^0'=a_332^post91, r_29^0'=r_29^post91, len_205^0'=len_205^post91, rcd_387^0'=rcd_387^post91, r_236^0'=r_236^post91, tmp_37^0'=tmp_37^post91, x_23^0'=x_23^post91, head_13^0'=head_13^post91, rcd_244^0'=rcd_244^post91, lt_397^0'=lt_397^post91, result_11^0'=result_11^post91, a_173^0'=a_173^post91, r_266^0'=r_266^post91, l_27^0'=l_27^post91, r_188^0'=r_188^post91, temp0_18^0'=temp0_18^post91, a_388^0'=a_388^post91, rcd_105^0'=rcd_105^post91, len_297^0'=len_297^post91, rcd_427^0'=rcd_427^post91, r_245^0'=r_245^post91, r_247^0'=r_247^post91, y_22^0'=y_22^post91, i_111^0'=i_111^post91, rcd_253^0'=rcd_253^post91, nondet_12^0'=nondet_12^post91, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post91, a_276^0'=a_276^post91, r_274^0'=r_274^post91, rcd_367^0'=rcd_367^post91, r_234^0'=r_234^post91, temp_38^0'=temp_38^post91, x_19^0'=x_19^post91, ct_20^0'=ct_20^post91, rcd_235^0'=rcd_235^post91, lt_17^0'=lt_17^post91, rcd_70^0'=rcd_70^post91, (rcd_248^0-rcd_248^post91 == 0 /\ a_332^0-a_332^post91 == 0 /\ r_167^0-r_167^post91 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post91 == 0 /\ -len_297^post91+len_297^0 == 0 /\ -rcd_387^post91+rcd_387^0 == 0 /\ -l_27^post91+l_27^0 == 0 /\ -rcd_235^post91+rcd_235^0 == 0 /\ -r_236^post91+r_236^0 == 0 /\ -c_28^post91+c_28^0 == 0 /\ -r_234^post91+r_234^0 == 0 /\ -r_266^post91+r_266^0 == 0 /\ -len_205^post91+len_205^0 == 0 /\ i_33^0-i_33^post91 == 0 /\ a_358^0-a_358^post91 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post91+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_243^0-r_243^post91 == 0 /\ -rcd_367^post91+rcd_367^0 == 0 /\ i_120^0-i_120^post91 == 0 /\ lt_509^0-lt_509^post91 == 0 /\ lt_397^0-lt_397^post91 == 0 /\ r_274^0-r_274^post91 == 0 /\ -y_22^post91+y_22^0 == 0 /\ -rcd_105^post91+rcd_105^0 == 0 /\ -ct_20^post91+ct_20^0 == 0 /\ -r_196^post91+r_196^0 == 0 /\ 1+x_23^0-y_22^0 <= 0 /\ a_173^0-a_173^post91 == 0 /\ nondet_12^0-nondet_12^post91 == 0 /\ -rcd_113^post91+rcd_113^0 == 0 /\ r_258^0-r_258^post91 == 0 /\ rcd_363^0-rcd_363^post91 == 0 /\ -r_247^post91+r_247^0 == 0 /\ -a_276^post91+a_276^0 == 0 /\ len_275^0-len_275^post91 == 0 /\ rcd_46^0-rcd_46^post91 == 0 /\ -r_252^post91+r_252^0 == 0 /\ -temp0_18^post91+temp0_18^0 == 0 /\ -r_188^post91+r_188^0 == 0 /\ -t_24^post91+t_24^0 == 0 /\ -x_23^post91+x_23^0 == 0 /\ r_29^0-r_29^post91 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post91 == 0 /\ -temp_38^post91+temp_38^0 == 0 /\ -rcd_253^post91+rcd_253^0 == 0 /\ -i_111^post91+i_111^0 == 0 /\ rcd_427^0-rcd_427^post91 == 0 /\ -x_19^post91+x_19^0 == 0 /\ -rcd_70^post91+rcd_70^0 == 0 /\ -r_246^post91+r_246^0 == 0 /\ -r_272^post91+r_272^0 == 0 /\ a_388^0-a_388^post91 == 0 /\ a_220^0-a_220^post91 == 0 /\ tmp_37^0-tmp_37^post91 == 0 /\ head_35^0-head_35^post91 == 0 /\ length_32^0-length_32^post91 == 0 /\ -result_11^post91+result_11^0 == 0 /\ -lt_17^post91+lt_17^0 == 0 /\ temp0_34^0-temp0_34^post91 == 0 /\ -r_245^post91+r_245^0 == 0 /\ t_30^0-t_30^post91 == 0 /\ r_42^0-r_42^post91 == 0 /\ -head_13^post91+head_13^0 == 0 /\ rcd_244^0-rcd_244^post91 == 0 /\ r_159^0-r_159^post91 == 0 /\ a_148^0-a_148^post91 == 0 /\ rcd_273^0-rcd_273^post91 == 0 /\ rcd_409^0-rcd_409^post91 == 0), cost: 1
  92: l58 -> l59 : a_148^0'=a_148^post92, r_258^0'=r_258^post92, i_33^0'=i_33^post92, r_167^0'=r_167^post92, t_30^0'=t_30^post92, a_358^0'=a_358^post92, r_42^0'=r_42^post92, len_275^0'=len_275^post92, rcd_409^0'=rcd_409^post92, r_243^0'=r_243^post92, r_246^0'=r_246^post92, x_SLAM_f_21^0'=x_SLAM_f_21^post92, head_35^0'=head_35^post92, rcd_248^0'=rcd_248^post92, lt_509^0'=lt_509^post92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post92, a_220^0'=a_220^post92, r_272^0'=r_272^post92, rcd_363^0'=rcd_363^post92, r_196^0'=r_196^post92, temp0_34^0'=temp0_34^post92, c_28^0'=c_28^post92, rcd_113^0'=rcd_113^post92, length_32^0'=length_32^post92, rcd_46^0'=rcd_46^post92, r_252^0'=r_252^post92, i_120^0'=i_120^post92, rcd_273^0'=rcd_273^post92, r_159^0'=r_159^post92, t_24^0'=t_24^post92, a_332^0'=a_332^post92, r_29^0'=r_29^post92, len_205^0'=len_205^post92, rcd_387^0'=rcd_387^post92, r_236^0'=r_236^post92, tmp_37^0'=tmp_37^post92, x_23^0'=x_23^post92, head_13^0'=head_13^post92, rcd_244^0'=rcd_244^post92, lt_397^0'=lt_397^post92, result_11^0'=result_11^post92, a_173^0'=a_173^post92, r_266^0'=r_266^post92, l_27^0'=l_27^post92, r_188^0'=r_188^post92, temp0_18^0'=temp0_18^post92, a_388^0'=a_388^post92, rcd_105^0'=rcd_105^post92, len_297^0'=len_297^post92, rcd_427^0'=rcd_427^post92, r_245^0'=r_245^post92, r_247^0'=r_247^post92, y_22^0'=y_22^post92, i_111^0'=i_111^post92, rcd_253^0'=rcd_253^post92, nondet_12^0'=nondet_12^post92, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post92, a_276^0'=a_276^post92, r_274^0'=r_274^post92, rcd_367^0'=rcd_367^post92, r_234^0'=r_234^post92, temp_38^0'=temp_38^post92, x_19^0'=x_19^post92, ct_20^0'=ct_20^post92, rcd_235^0'=rcd_235^post92, lt_17^0'=lt_17^post92, rcd_70^0'=rcd_70^post92, (0 == 0 /\ rcd_409^0-rcd_409^post92 == 0 /\ -rcd_427^post92+rcd_427^0 == 0 /\ r_159^0-r_159^post92 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post92+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_363^0-rcd_363^post92 == 0 /\ -tmp_37^post92+tmp_37^0 == 0 /\ r_29^0-r_29^post92 == 0 /\ head_35^0-head_35^post92 == 0 /\ y_22^0-ct_20^0 <= 0 /\ -rcd_113^post92+rcd_113^0 == 0 /\ r_272^0-r_272^post92 == 0 /\ length_32^0-length_32^post92 == 0 /\ -r_247^post92+r_247^0 == 0 /\ -temp0_34^post92+temp0_34^0 == 0 /\ -lt_17^post92+lt_17^0 == 0 /\ a_220^0-a_220^post92 == 0 /\ r_42^0-r_42^post92 == 0 /\ -len_297^post92+len_297^0 == 0 /\ t_30^0-t_30^post92 == 0 /\ -1+a_358^0-a_388^post92 <= 0 /\ -r_234^post92+r_234^0 == 0 /\ x_23^0-x_23^post92 == 0 /\ rcd_273^0-rcd_273^post92 == 0 /\ -a_276^post92+a_276^0 == 0 /\ r_196^0-r_196^post92 == 0 /\ -rcd_253^post92+rcd_253^0 == 0 /\ -x_23^0+t_24^post92 == 0 /\ -rcd_235^post92+rcd_235^0 == 0 /\ -y_22^0+ct_20^0 <= 0 /\ -y_22^post92+y_22^0 == 0 /\ -r_274^post92+r_274^0 == 0 /\ r_252^0-r_252^post92 == 0 /\ a_148^0-a_148^post92 == 0 /\ -a_332^post92+a_332^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post92 == 0 /\ -temp_38^post92+temp_38^0 == 0 /\ -rcd_367^post92+rcd_367^0 == 0 /\ l_27^0-l_27^post92 == 0 /\ -r_188^post92+r_188^0 == 0 /\ r_167^0-r_167^post92 == 0 /\ -rcd_387^post92+rcd_46^0 <= 0 /\ -x_19^0+lt_17^0 <= 0 /\ -i_120^post92+i_120^0 == 0 /\ -ct_20^post92+ct_20^0 == 0 /\ rcd_105^0-rcd_105^post92 == 0 /\ r_266^0-r_266^post92 == 0 /\ i_33^0-i_33^post92 == 0 /\ rcd_248^0-rcd_248^post92 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ a_358^0-a_358^post92 == 0 /\ -head_13^post92+head_13^0 == 0 /\ len_205^0-len_205^post92 == 0 /\ -ct_20^0 <= 0 /\ -i_111^post92+i_111^0 == 0 /\ x_SLAM_f_21^0-x_19^0 <= 0 /\ -result_11^post92+result_11^0 == 0 /\ -nondet_12^post92+nondet_12^0 == 0 /\ c_28^0-c_28^post92 == 0 /\ -rcd_70^post92+rcd_70^0 == 0 /\ len_275^0-len_275^post92 == 0 /\ 1-a_358^0+a_388^post92 <= 0 /\ -r_236^post92+r_236^0 == 0 /\ rcd_46^0-rcd_46^post92 == 0 /\ y_22^0 <= 0 /\ -y_22^0 <= 0 /\ r_243^0-r_243^post92 == 0 /\ -a_173^post92+a_173^0 == 0 /\ lt_509^0-lt_509^post92 == 0 /\ rcd_387^post92-rcd_46^0 <= 0 /\ x_19^0-lt_17^0 <= 0 /\ -x_19^post92+x_19^0 == 0 /\ -r_245^post92+r_245^0 == 0 /\ -r_246^post92+r_246^0 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ lt_397^0-lt_397^post92 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post92 == 0 /\ ct_20^0 <= 0 /\ r_258^0-r_258^post92 == 0 /\ temp0_18^0-temp0_18^post92 == 0 /\ -x_SLAM_f_21^0+x_19^0 <= 0 /\ -rcd_244^post92+rcd_244^0 == 0), cost: 1
  93: l59 -> l60 : a_148^0'=a_148^post93, r_258^0'=r_258^post93, i_33^0'=i_33^post93, r_167^0'=r_167^post93, t_30^0'=t_30^post93, a_358^0'=a_358^post93, r_42^0'=r_42^post93, len_275^0'=len_275^post93, rcd_409^0'=rcd_409^post93, r_243^0'=r_243^post93, r_246^0'=r_246^post93, x_SLAM_f_21^0'=x_SLAM_f_21^post93, head_35^0'=head_35^post93, rcd_248^0'=rcd_248^post93, lt_509^0'=lt_509^post93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post93, a_220^0'=a_220^post93, r_272^0'=r_272^post93, rcd_363^0'=rcd_363^post93, r_196^0'=r_196^post93, temp0_34^0'=temp0_34^post93, c_28^0'=c_28^post93, rcd_113^0'=rcd_113^post93, length_32^0'=length_32^post93, rcd_46^0'=rcd_46^post93, r_252^0'=r_252^post93, i_120^0'=i_120^post93, rcd_273^0'=rcd_273^post93, r_159^0'=r_159^post93, t_24^0'=t_24^post93, a_332^0'=a_332^post93, r_29^0'=r_29^post93, len_205^0'=len_205^post93, rcd_387^0'=rcd_387^post93, r_236^0'=r_236^post93, tmp_37^0'=tmp_37^post93, x_23^0'=x_23^post93, head_13^0'=head_13^post93, rcd_244^0'=rcd_244^post93, lt_397^0'=lt_397^post93, result_11^0'=result_11^post93, a_173^0'=a_173^post93, r_266^0'=r_266^post93, l_27^0'=l_27^post93, r_188^0'=r_188^post93, temp0_18^0'=temp0_18^post93, a_388^0'=a_388^post93, rcd_105^0'=rcd_105^post93, len_297^0'=len_297^post93, rcd_427^0'=rcd_427^post93, r_245^0'=r_245^post93, r_247^0'=r_247^post93, y_22^0'=y_22^post93, i_111^0'=i_111^post93, rcd_253^0'=rcd_253^post93, nondet_12^0'=nondet_12^post93, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post93, a_276^0'=a_276^post93, r_274^0'=r_274^post93, rcd_367^0'=rcd_367^post93, r_234^0'=r_234^post93, temp_38^0'=temp_38^post93, x_19^0'=x_19^post93, ct_20^0'=ct_20^post93, rcd_235^0'=rcd_235^post93, lt_17^0'=lt_17^post93, rcd_70^0'=rcd_70^post93, (i_33^0-i_33^post93 == 0 /\ t_24^0-t_24^post93 == 0 /\ -a_276^post93+a_276^0 == 0 /\ -y_22^post93+y_22^0 == 0 /\ r_42^0-r_42^post93 == 0 /\ len_205^0-len_205^post93 == 0 /\ -length_32^post93+length_32^0 == 0 /\ rcd_46^0-rcd_46^post93 == 0 /\ i_120^0-i_120^post93 == 0 /\ -lt_397^post93+lt_397^0 == 0 /\ -rcd_253^post93+rcd_253^0 == 0 /\ head_13^0-head_13^post93 == 0 /\ r_252^0-r_252^post93 == 0 /\ -a_388^post93+a_388^0 == 0 /\ -x_19^post93+x_19^0 == 0 /\ -rcd_70^post93+rcd_70^0 == 0 /\ -tmp_37^post93+tmp_37^0 == 0 /\ a_148^0-a_148^post93 == 0 /\ r_246^0-r_246^post93 == 0 /\ temp0_34^0-temp0_34^post93 == 0 /\ rcd_387^0-rcd_387^post93 == 0 /\ r_243^0-r_243^post93 == 0 /\ c_28^0-c_28^post93 == 0 /\ -r_274^post93+r_274^0 == 0 /\ -x_23^post93+x_23^0 == 0 /\ -r_159^post93+r_159^0 == 0 /\ r_167^0-r_167^post93 == 0 /\ -r_266^post93+r_266^0 == 0 /\ -i_111^post93+i_111^0 == 0 /\ r_236^0-r_236^post93 == 0 /\ -lt_17^post93+lt_17^0 == 0 /\ lt_509^0-lt_509^post93 == 0 /\ -rcd_273^post93+rcd_273^0 == 0 /\ a_358^0-a_358^post93 == 0 /\ result_11^0-result_11^post93 == 0 /\ -l_27^post93+l_27^0 == 0 /\ -r_234^post93+r_234^0 == 0 /\ -rcd_427^post93+rcd_427^0 == 0 /\ temp_38^0-temp_38^post93 == 0 /\ r_258^0-r_258^post93 == 0 /\ -nondet_12^post93+nondet_12^0 == 0 /\ a_220^0-a_220^post93 == 0 /\ rcd_367^0-rcd_367^post93 == 0 /\ -a_173^post93+a_173^0 == 0 /\ -r_245^post93+r_245^0 == 0 /\ -temp0_18^post93+temp0_18^0 == 0 /\ rcd_409^0-rcd_409^post93 == 0 /\ -r_29^post93+r_29^0 == 0 /\ -rcd_235^post93+rcd_235^0 == 0 /\ len_297^0-len_297^post93 == 0 /\ 1-lt_17^0 <= 0 /\ -r_247^post93+r_247^0 == 0 /\ r_196^0-r_196^post93 == 0 /\ r_272^0-r_272^post93 == 0 /\ -r_188^post93+r_188^0 == 0 /\ -rcd_244^post93+rcd_244^0 == 0 /\ rcd_113^0-rcd_113^post93 == 0 /\ rcd_248^0-rcd_248^post93 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post93+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_332^0-a_332^post93 == 0 /\ -x_SLAM_f_21^post93+x_SLAM_f_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post93 == 0 /\ head_35^0-head_35^post93 == 0 /\ -len_275^post93+len_275^0 == 0 /\ t_30^0-t_30^post93 == 0 /\ -ct_20^post93+ct_20^0 == 0 /\ -rcd_363^post93+rcd_363^0 == 0 /\ -rcd_105^post93+rcd_105^0 == 0), cost: 1
  94: l59 -> l60 : a_148^0'=a_148^post94, r_258^0'=r_258^post94, i_33^0'=i_33^post94, r_167^0'=r_167^post94, t_30^0'=t_30^post94, a_358^0'=a_358^post94, r_42^0'=r_42^post94, len_275^0'=len_275^post94, rcd_409^0'=rcd_409^post94, r_243^0'=r_243^post94, r_246^0'=r_246^post94, x_SLAM_f_21^0'=x_SLAM_f_21^post94, head_35^0'=head_35^post94, rcd_248^0'=rcd_248^post94, lt_509^0'=lt_509^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post94, a_220^0'=a_220^post94, r_272^0'=r_272^post94, rcd_363^0'=rcd_363^post94, r_196^0'=r_196^post94, temp0_34^0'=temp0_34^post94, c_28^0'=c_28^post94, rcd_113^0'=rcd_113^post94, length_32^0'=length_32^post94, rcd_46^0'=rcd_46^post94, r_252^0'=r_252^post94, i_120^0'=i_120^post94, rcd_273^0'=rcd_273^post94, r_159^0'=r_159^post94, t_24^0'=t_24^post94, a_332^0'=a_332^post94, r_29^0'=r_29^post94, len_205^0'=len_205^post94, rcd_387^0'=rcd_387^post94, r_236^0'=r_236^post94, tmp_37^0'=tmp_37^post94, x_23^0'=x_23^post94, head_13^0'=head_13^post94, rcd_244^0'=rcd_244^post94, lt_397^0'=lt_397^post94, result_11^0'=result_11^post94, a_173^0'=a_173^post94, r_266^0'=r_266^post94, l_27^0'=l_27^post94, r_188^0'=r_188^post94, temp0_18^0'=temp0_18^post94, a_388^0'=a_388^post94, rcd_105^0'=rcd_105^post94, len_297^0'=len_297^post94, rcd_427^0'=rcd_427^post94, r_245^0'=r_245^post94, r_247^0'=r_247^post94, y_22^0'=y_22^post94, i_111^0'=i_111^post94, rcd_253^0'=rcd_253^post94, nondet_12^0'=nondet_12^post94, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post94, a_276^0'=a_276^post94, r_274^0'=r_274^post94, rcd_367^0'=rcd_367^post94, r_234^0'=r_234^post94, temp_38^0'=temp_38^post94, x_19^0'=x_19^post94, ct_20^0'=ct_20^post94, rcd_235^0'=rcd_235^post94, lt_17^0'=lt_17^post94, rcd_70^0'=rcd_70^post94, (-x_19^post94+x_19^0 == 0 /\ length_32^0-length_32^post94 == 0 /\ lt_397^0-lt_397^post94 == 0 /\ temp0_34^0-temp0_34^post94 == 0 /\ -rcd_70^post94+rcd_70^0 == 0 /\ -i_111^post94+i_111^0 == 0 /\ a_173^0-a_173^post94 == 0 /\ r_258^0-r_258^post94 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post94 == 0 /\ rcd_363^0-rcd_363^post94 == 0 /\ -r_274^post94+r_274^0 == 0 /\ a_332^0-a_332^post94 == 0 /\ x_23^0-x_23^post94 == 0 /\ rcd_273^0-rcd_273^post94 == 0 /\ len_275^0-len_275^post94 == 0 /\ rcd_248^0-rcd_248^post94 == 0 /\ r_245^0-r_245^post94 == 0 /\ rcd_113^0-rcd_113^post94 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post94 == 0 /\ r_167^0-r_167^post94 == 0 /\ -lt_17^post94+lt_17^0 == 0 /\ -rcd_46^post94+rcd_46^0 == 0 /\ -nondet_12^post94+nondet_12^0 == 0 /\ tmp_37^0-tmp_37^post94 == 0 /\ -rcd_409^post94+rcd_409^0 == 0 /\ -head_13^post94+head_13^0 == 0 /\ r_272^0-r_272^post94 == 0 /\ 1+lt_17^0 <= 0 /\ -result_11^post94+result_11^0 == 0 /\ -t_24^post94+t_24^0 == 0 /\ lt_509^0-lt_509^post94 == 0 /\ -rcd_235^post94+rcd_235^0 == 0 /\ -temp0_18^post94+temp0_18^0 == 0 /\ r_42^0-r_42^post94 == 0 /\ t_30^0-t_30^post94 == 0 /\ -c_28^post94+c_28^0 == 0 /\ r_246^0-r_246^post94 == 0 /\ -r_247^post94+r_247^0 == 0 /\ -l_27^post94+l_27^0 == 0 /\ r_234^0-r_234^post94 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post94+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_236^post94+r_236^0 == 0 /\ rcd_427^0-rcd_427^post94 == 0 /\ -r_266^post94+r_266^0 == 0 /\ -rcd_244^post94+rcd_244^0 == 0 /\ -len_205^post94+len_205^0 == 0 /\ -ct_20^post94+ct_20^0 == 0 /\ r_29^0-r_29^post94 == 0 /\ -head_35^post94+head_35^0 == 0 /\ -y_22^post94+y_22^0 == 0 /\ a_388^0-a_388^post94 == 0 /\ r_159^0-r_159^post94 == 0 /\ a_148^0-a_148^post94 == 0 /\ -rcd_105^post94+rcd_105^0 == 0 /\ -len_297^post94+len_297^0 == 0 /\ -r_196^post94+r_196^0 == 0 /\ -r_252^post94+r_252^0 == 0 /\ a_358^0-a_358^post94 == 0 /\ -i_120^post94+i_120^0 == 0 /\ a_220^0-a_220^post94 == 0 /\ rcd_387^0-rcd_387^post94 == 0 /\ -temp_38^post94+temp_38^0 == 0 /\ i_33^0-i_33^post94 == 0 /\ -r_188^post94+r_188^0 == 0 /\ -rcd_253^post94+rcd_253^0 == 0 /\ -a_276^post94+a_276^0 == 0 /\ -rcd_367^post94+rcd_367^0 == 0 /\ r_243^0-r_243^post94 == 0), cost: 1
  95: l60 -> l61 : a_148^0'=a_148^post95, r_258^0'=r_258^post95, i_33^0'=i_33^post95, r_167^0'=r_167^post95, t_30^0'=t_30^post95, a_358^0'=a_358^post95, r_42^0'=r_42^post95, len_275^0'=len_275^post95, rcd_409^0'=rcd_409^post95, r_243^0'=r_243^post95, r_246^0'=r_246^post95, x_SLAM_f_21^0'=x_SLAM_f_21^post95, head_35^0'=head_35^post95, rcd_248^0'=rcd_248^post95, lt_509^0'=lt_509^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post95, a_220^0'=a_220^post95, r_272^0'=r_272^post95, rcd_363^0'=rcd_363^post95, r_196^0'=r_196^post95, temp0_34^0'=temp0_34^post95, c_28^0'=c_28^post95, rcd_113^0'=rcd_113^post95, length_32^0'=length_32^post95, rcd_46^0'=rcd_46^post95, r_252^0'=r_252^post95, i_120^0'=i_120^post95, rcd_273^0'=rcd_273^post95, r_159^0'=r_159^post95, t_24^0'=t_24^post95, a_332^0'=a_332^post95, r_29^0'=r_29^post95, len_205^0'=len_205^post95, rcd_387^0'=rcd_387^post95, r_236^0'=r_236^post95, tmp_37^0'=tmp_37^post95, x_23^0'=x_23^post95, head_13^0'=head_13^post95, rcd_244^0'=rcd_244^post95, lt_397^0'=lt_397^post95, result_11^0'=result_11^post95, a_173^0'=a_173^post95, r_266^0'=r_266^post95, l_27^0'=l_27^post95, r_188^0'=r_188^post95, temp0_18^0'=temp0_18^post95, a_388^0'=a_388^post95, rcd_105^0'=rcd_105^post95, len_297^0'=len_297^post95, rcd_427^0'=rcd_427^post95, r_245^0'=r_245^post95, r_247^0'=r_247^post95, y_22^0'=y_22^post95, i_111^0'=i_111^post95, rcd_253^0'=rcd_253^post95, nondet_12^0'=nondet_12^post95, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post95, a_276^0'=a_276^post95, r_274^0'=r_274^post95, rcd_367^0'=rcd_367^post95, r_234^0'=r_234^post95, temp_38^0'=temp_38^post95, x_19^0'=x_19^post95, ct_20^0'=ct_20^post95, rcd_235^0'=rcd_235^post95, lt_17^0'=lt_17^post95, rcd_70^0'=rcd_70^post95, (-rcd_367^post95+rcd_367^0 == 0 /\ c_28^0-c_28^post95 == 0 /\ r_272^0-r_272^post95 == 0 /\ r_196^0-r_196^post95 == 0 /\ -ct_20^post95+ct_20^0 == 0 /\ rcd_46^0-rcd_46^post95 == 0 /\ -a_332^post95+a_332^0 == 0 /\ -i_120^post95+i_120^0 == 0 /\ r_167^0-r_167^post95 == 0 /\ r_188^0-r_188^post95 == 0 /\ -temp_38^post95+temp_38^0 == 0 /\ -result_11^post95+result_11^0 == 0 /\ r_247^0-r_247^post95 == 0 /\ -nondet_12^post95+nondet_12^0 == 0 /\ -r_252^post95+r_252^0 == 0 /\ t_30^0-t_30^post95 == 0 /\ a_358^0-a_358^post95 == 0 /\ a_220^0-a_220^post95 == 0 /\ -rcd_70^post95+rcd_70^0 == 0 /\ r_258^0-r_258^post95 == 0 /\ r_159^0-r_159^post95 == 0 /\ head_13^0-head_13^post95 == 0 /\ -t_24^post95+t_24^0 == 0 /\ -x_19^post95+x_19^0 == 0 /\ i_33^0-i_33^post95 == 0 /\ -r_236^post95+r_236^0 == 0 /\ -a_388^post95+a_388^0 == 0 /\ r_29^0-r_29^post95 == 0 /\ 1-y_22^0+lt_17^0 <= 0 /\ length_32^0-length_32^post95 == 0 /\ -r_245^post95+r_245^0 == 0 /\ -r_246^post95+r_246^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post95+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_205^0-len_205^post95 == 0 /\ -a_173^post95+a_173^0 == 0 /\ -lt_509^post95+lt_509^0 == 0 /\ r_243^0-r_243^post95 == 0 /\ -lt_17^post95+lt_17^0 == 0 /\ -rcd_244^post95+rcd_244^0 == 0 /\ len_275^0-len_275^post95 == 0 /\ -rcd_427^post95+rcd_427^0 == 0 /\ x_23^0-x_23^post95 == 0 /\ -tmp_37^post95+tmp_37^0 == 0 /\ -rcd_113^post95+rcd_113^0 == 0 /\ -rcd_253^post95+rcd_253^0 == 0 /\ -a_276^post95+a_276^0 == 0 /\ -rcd_387^post95+rcd_387^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post95 == 0 /\ -lt_397^post95+lt_397^0 == 0 /\ rcd_409^0-rcd_409^post95 == 0 /\ -i_111^post95+i_111^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post95 == 0 /\ rcd_363^0-rcd_363^post95 == 0 /\ head_35^0-head_35^post95 == 0 /\ -l_27^post95+l_27^0 == 0 /\ -rcd_273^post95+rcd_273^0 == 0 /\ -temp0_18^post95+temp0_18^0 == 0 /\ -len_297^post95+len_297^0 == 0 /\ -r_234^post95+r_234^0 == 0 /\ -rcd_235^post95+rcd_235^0 == 0 /\ -r_274^post95+r_274^0 == 0 /\ rcd_105^0-rcd_105^post95 == 0 /\ temp0_34^0-temp0_34^post95 == 0 /\ rcd_248^0-rcd_248^post95 == 0 /\ r_42^0-r_42^post95 == 0 /\ r_266^0-r_266^post95 == 0 /\ a_148^0-a_148^post95 == 0 /\ -y_22^post95+y_22^0 == 0), cost: 1
  96: l60 -> l61 : a_148^0'=a_148^post96, r_258^0'=r_258^post96, i_33^0'=i_33^post96, r_167^0'=r_167^post96, t_30^0'=t_30^post96, a_358^0'=a_358^post96, r_42^0'=r_42^post96, len_275^0'=len_275^post96, rcd_409^0'=rcd_409^post96, r_243^0'=r_243^post96, r_246^0'=r_246^post96, x_SLAM_f_21^0'=x_SLAM_f_21^post96, head_35^0'=head_35^post96, rcd_248^0'=rcd_248^post96, lt_509^0'=lt_509^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post96, a_220^0'=a_220^post96, r_272^0'=r_272^post96, rcd_363^0'=rcd_363^post96, r_196^0'=r_196^post96, temp0_34^0'=temp0_34^post96, c_28^0'=c_28^post96, rcd_113^0'=rcd_113^post96, length_32^0'=length_32^post96, rcd_46^0'=rcd_46^post96, r_252^0'=r_252^post96, i_120^0'=i_120^post96, rcd_273^0'=rcd_273^post96, r_159^0'=r_159^post96, t_24^0'=t_24^post96, a_332^0'=a_332^post96, r_29^0'=r_29^post96, len_205^0'=len_205^post96, rcd_387^0'=rcd_387^post96, r_236^0'=r_236^post96, tmp_37^0'=tmp_37^post96, x_23^0'=x_23^post96, head_13^0'=head_13^post96, rcd_244^0'=rcd_244^post96, lt_397^0'=lt_397^post96, result_11^0'=result_11^post96, a_173^0'=a_173^post96, r_266^0'=r_266^post96, l_27^0'=l_27^post96, r_188^0'=r_188^post96, temp0_18^0'=temp0_18^post96, a_388^0'=a_388^post96, rcd_105^0'=rcd_105^post96, len_297^0'=len_297^post96, rcd_427^0'=rcd_427^post96, r_245^0'=r_245^post96, r_247^0'=r_247^post96, y_22^0'=y_22^post96, i_111^0'=i_111^post96, rcd_253^0'=rcd_253^post96, nondet_12^0'=nondet_12^post96, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post96, a_276^0'=a_276^post96, r_274^0'=r_274^post96, rcd_367^0'=rcd_367^post96, r_234^0'=r_234^post96, temp_38^0'=temp_38^post96, x_19^0'=x_19^post96, ct_20^0'=ct_20^post96, rcd_235^0'=rcd_235^post96, lt_17^0'=lt_17^post96, rcd_70^0'=rcd_70^post96, (-temp0_34^post96+temp0_34^0 == 0 /\ -r_245^post96+r_245^0 == 0 /\ -r_234^post96+r_234^0 == 0 /\ -rcd_273^post96+rcd_273^0 == 0 /\ -nondet_12^post96+nondet_12^0 == 0 /\ rcd_113^0-rcd_113^post96 == 0 /\ y_22^0-y_22^post96 == 0 /\ -rcd_235^post96+rcd_235^0 == 0 /\ -r_266^post96+r_266^0 == 0 /\ r_236^0-r_236^post96 == 0 /\ 1+y_22^0-lt_17^0 <= 0 /\ -r_29^post96+r_29^0 == 0 /\ r_243^0-r_243^post96 == 0 /\ -a_173^post96+a_173^0 == 0 /\ l_27^0-l_27^post96 == 0 /\ -tmp_37^post96+tmp_37^0 == 0 /\ -r_188^post96+r_188^0 == 0 /\ result_11^0-result_11^post96 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post96+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_244^0-rcd_244^post96 == 0 /\ r_42^0-r_42^post96 == 0 /\ rcd_363^0-rcd_363^post96 == 0 /\ temp0_18^0-temp0_18^post96 == 0 /\ -temp_38^post96+temp_38^0 == 0 /\ -rcd_367^post96+rcd_367^0 == 0 /\ t_30^0-t_30^post96 == 0 /\ -ct_20^post96+ct_20^0 == 0 /\ -x_SLAM_f_21^post96+x_SLAM_f_21^0 == 0 /\ a_148^0-a_148^post96 == 0 /\ rcd_46^0-rcd_46^post96 == 0 /\ -rcd_253^post96+rcd_253^0 == 0 /\ -r_247^post96+r_247^0 == 0 /\ rcd_409^0-rcd_409^post96 == 0 /\ -rcd_105^post96+rcd_105^0 == 0 /\ r_272^0-r_272^post96 == 0 /\ r_167^0-r_167^post96 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post96+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ rcd_387^0-rcd_387^post96 == 0 /\ a_332^0-a_332^post96 == 0 /\ -lt_397^post96+lt_397^0 == 0 /\ -rcd_70^post96+rcd_70^0 == 0 /\ -a_276^post96+a_276^0 == 0 /\ -a_388^post96+a_388^0 == 0 /\ c_28^0-c_28^post96 == 0 /\ -rcd_248^post96+rcd_248^0 == 0 /\ -length_32^post96+length_32^0 == 0 /\ lt_509^0-lt_509^post96 == 0 /\ a_358^0-a_358^post96 == 0 /\ -i_33^post96+i_33^0 == 0 /\ head_35^0-head_35^post96 == 0 /\ t_24^0-t_24^post96 == 0 /\ -rcd_427^post96+rcd_427^0 == 0 /\ -x_23^post96+x_23^0 == 0 /\ -r_159^post96+r_159^0 == 0 /\ -r_274^post96+r_274^0 == 0 /\ x_19^0-x_19^post96 == 0 /\ -lt_17^post96+lt_17^0 == 0 /\ a_220^0-a_220^post96 == 0 /\ i_120^0-i_120^post96 == 0 /\ r_258^0-r_258^post96 == 0 /\ r_252^0-r_252^post96 == 0 /\ head_13^0-head_13^post96 == 0 /\ -i_111^post96+i_111^0 == 0 /\ r_246^0-r_246^post96 == 0 /\ len_275^0-len_275^post96 == 0 /\ len_297^0-len_297^post96 == 0 /\ -len_205^post96+len_205^0 == 0 /\ r_196^0-r_196^post96 == 0), cost: 1
  97: l61 -> l62 : a_148^0'=a_148^post97, r_258^0'=r_258^post97, i_33^0'=i_33^post97, r_167^0'=r_167^post97, t_30^0'=t_30^post97, a_358^0'=a_358^post97, r_42^0'=r_42^post97, len_275^0'=len_275^post97, rcd_409^0'=rcd_409^post97, r_243^0'=r_243^post97, r_246^0'=r_246^post97, x_SLAM_f_21^0'=x_SLAM_f_21^post97, head_35^0'=head_35^post97, rcd_248^0'=rcd_248^post97, lt_509^0'=lt_509^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post97, a_220^0'=a_220^post97, r_272^0'=r_272^post97, rcd_363^0'=rcd_363^post97, r_196^0'=r_196^post97, temp0_34^0'=temp0_34^post97, c_28^0'=c_28^post97, rcd_113^0'=rcd_113^post97, length_32^0'=length_32^post97, rcd_46^0'=rcd_46^post97, r_252^0'=r_252^post97, i_120^0'=i_120^post97, rcd_273^0'=rcd_273^post97, r_159^0'=r_159^post97, t_24^0'=t_24^post97, a_332^0'=a_332^post97, r_29^0'=r_29^post97, len_205^0'=len_205^post97, rcd_387^0'=rcd_387^post97, r_236^0'=r_236^post97, tmp_37^0'=tmp_37^post97, x_23^0'=x_23^post97, head_13^0'=head_13^post97, rcd_244^0'=rcd_244^post97, lt_397^0'=lt_397^post97, result_11^0'=result_11^post97, a_173^0'=a_173^post97, r_266^0'=r_266^post97, l_27^0'=l_27^post97, r_188^0'=r_188^post97, temp0_18^0'=temp0_18^post97, a_388^0'=a_388^post97, rcd_105^0'=rcd_105^post97, len_297^0'=len_297^post97, rcd_427^0'=rcd_427^post97, r_245^0'=r_245^post97, r_247^0'=r_247^post97, y_22^0'=y_22^post97, i_111^0'=i_111^post97, rcd_253^0'=rcd_253^post97, nondet_12^0'=nondet_12^post97, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post97, a_276^0'=a_276^post97, r_274^0'=r_274^post97, rcd_367^0'=rcd_367^post97, r_234^0'=r_234^post97, temp_38^0'=temp_38^post97, x_19^0'=x_19^post97, ct_20^0'=ct_20^post97, rcd_235^0'=rcd_235^post97, lt_17^0'=lt_17^post97, rcd_70^0'=rcd_70^post97, (a_148^0-a_148^post97 == 0 /\ rcd_248^0-rcd_248^post97 == 0 /\ -c_28^post97+c_28^0 == 0 /\ -lt_17^post97+lt_17^0 == 0 /\ -r_247^post97+r_247^0 == 0 /\ a_332^0-a_332^post97 == 0 /\ i_111^0-i_111^post97 == 0 /\ a_358^0-a_358^post97 == 0 /\ -rcd_387^post97+rcd_387^0 == 0 /\ r_167^0-r_167^post97 == 0 /\ rcd_409^0-rcd_409^post97 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post97+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_272^0-r_272^post97 == 0 /\ tmp_37^0-tmp_37^post97 == 0 /\ -r_266^post97+r_266^0 == 0 /\ -len_205^post97+len_205^0 == 0 /\ -l_27^post97+l_27^0 == 0 /\ -temp0_34^post97+temp0_34^0 == 0 /\ -r_234^post97+r_234^0 == 0 /\ -rcd_363^post97+rcd_363^0 == 0 /\ length_32^0-length_32^post97 == 0 /\ lt_397^0-lt_397^post97 == 0 /\ len_275^0-len_275^post97 == 0 /\ r_243^0-r_243^post97 == 0 /\ -rcd_253^post97+rcd_253^0 == 0 /\ i_120^0-i_120^post97 == 0 /\ -a_276^post97+a_276^0 == 0 /\ r_246^0-r_246^post97 == 0 /\ -head_35^post97+head_35^0 == 0 /\ a_173^0-a_173^post97 == 0 /\ -y_22^post97+y_22^0 == 0 /\ -rcd_235^post97+rcd_235^0 == 0 /\ -len_297^post97+len_297^0 == 0 /\ r_196^0-r_196^post97 == 0 /\ -rcd_367^post97+rcd_367^0 == 0 /\ -r_252^post97+r_252^0 == 0 /\ -temp0_18^post97+temp0_18^0 == 0 /\ r_258^0-r_258^post97 == 0 /\ -r_188^post97+r_188^0 == 0 /\ -x_23^post97+x_23^0 == 0 /\ -r_274^post97+r_274^0 == 0 /\ r_236^0-r_236^post97 == 0 /\ -a_220^post97+a_220^0 == 0 /\ -temp_38^post97+temp_38^0 == 0 /\ -t_24^post97+t_24^0 == 0 /\ rcd_113^0-rcd_113^post97 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post97 == 0 /\ i_33^0-i_33^post97 == 0 /\ -ct_20^post97+ct_20^0 == 0 /\ -rcd_46^post97+rcd_46^0 == 0 /\ -rcd_105^post97+rcd_105^0 == 0 /\ r_29^0-r_29^post97 == 0 /\ r_42^0-r_42^post97 == 0 /\ t_30^0-t_30^post97 == 0 /\ -rcd_70^post97+rcd_70^0 == 0 /\ -result_11^post97+result_11^0 == 0 /\ lt_509^0-lt_509^post97 == 0 /\ -r_245^post97+r_245^0 == 0 /\ -nondet_12^post97+nondet_12^0 == 0 /\ -head_13^post97+head_13^0 == 0 /\ rcd_427^0-rcd_427^post97 == 0 /\ -x_19^post97+x_19^0 == 0 /\ rcd_244^0-rcd_244^post97 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post97 == 0 /\ r_159^0-r_159^post97 == 0 /\ rcd_273^0-rcd_273^post97 == 0 /\ -a_388^post97+a_388^0 == 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 1
  98: l61 -> l62 : a_148^0'=a_148^post98, r_258^0'=r_258^post98, i_33^0'=i_33^post98, r_167^0'=r_167^post98, t_30^0'=t_30^post98, a_358^0'=a_358^post98, r_42^0'=r_42^post98, len_275^0'=len_275^post98, rcd_409^0'=rcd_409^post98, r_243^0'=r_243^post98, r_246^0'=r_246^post98, x_SLAM_f_21^0'=x_SLAM_f_21^post98, head_35^0'=head_35^post98, rcd_248^0'=rcd_248^post98, lt_509^0'=lt_509^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post98, a_220^0'=a_220^post98, r_272^0'=r_272^post98, rcd_363^0'=rcd_363^post98, r_196^0'=r_196^post98, temp0_34^0'=temp0_34^post98, c_28^0'=c_28^post98, rcd_113^0'=rcd_113^post98, length_32^0'=length_32^post98, rcd_46^0'=rcd_46^post98, r_252^0'=r_252^post98, i_120^0'=i_120^post98, rcd_273^0'=rcd_273^post98, r_159^0'=r_159^post98, t_24^0'=t_24^post98, a_332^0'=a_332^post98, r_29^0'=r_29^post98, len_205^0'=len_205^post98, rcd_387^0'=rcd_387^post98, r_236^0'=r_236^post98, tmp_37^0'=tmp_37^post98, x_23^0'=x_23^post98, head_13^0'=head_13^post98, rcd_244^0'=rcd_244^post98, lt_397^0'=lt_397^post98, result_11^0'=result_11^post98, a_173^0'=a_173^post98, r_266^0'=r_266^post98, l_27^0'=l_27^post98, r_188^0'=r_188^post98, temp0_18^0'=temp0_18^post98, a_388^0'=a_388^post98, rcd_105^0'=rcd_105^post98, len_297^0'=len_297^post98, rcd_427^0'=rcd_427^post98, r_245^0'=r_245^post98, r_247^0'=r_247^post98, y_22^0'=y_22^post98, i_111^0'=i_111^post98, rcd_253^0'=rcd_253^post98, nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post98, a_276^0'=a_276^post98, r_274^0'=r_274^post98, rcd_367^0'=rcd_367^post98, r_234^0'=r_234^post98, temp_38^0'=temp_38^post98, x_19^0'=x_19^post98, ct_20^0'=ct_20^post98, rcd_235^0'=rcd_235^post98, lt_17^0'=lt_17^post98, rcd_70^0'=rcd_70^post98, (r_159^0-r_159^post98 == 0 /\ r_247^0-r_247^post98 == 0 /\ r_258^0-r_258^post98 == 0 /\ -y_22^post98+y_22^0 == 0 /\ -rcd_253^post98+rcd_253^0 == 0 /\ r_29^0-r_29^post98 == 0 /\ -r_196^post98+r_196^0 == 0 /\ i_33^0-i_33^post98 == 0 /\ -rcd_387^post98+rcd_387^0 == 0 /\ r_42^0-r_42^post98 == 0 /\ -rcd_113^post98+rcd_113^0 == 0 /\ -rcd_70^post98+rcd_70^0 == 0 /\ -a_276^post98+a_276^0 == 0 /\ length_32^0-length_32^post98 == 0 /\ -x_19^post98+x_19^0 == 0 /\ -temp0_18^post98+temp0_18^0 == 0 /\ -r_272^post98+r_272^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post98 == 0 /\ -i_111^post98+i_111^0 == 0 /\ x_23^0-x_23^post98 == 0 /\ c_28^0-c_28^post98 == 0 /\ rcd_273^0-rcd_273^post98 == 0 /\ -len_297^post98+len_297^0 == 0 /\ -rcd_427^post98+rcd_427^0 == 0 /\ t_30^0-t_30^post98 == 0 /\ -lt_509^post98+lt_509^0 == 0 /\ -lt_17^post98+lt_17^0 == 0 /\ nondet_12^0-nondet_12^post98 == 0 /\ -r_274^post98+r_274^0 == 0 /\ -l_27^post98+l_27^0 == 0 /\ rcd_363^0-rcd_363^post98 == 0 /\ r_252^0-r_252^post98 == 0 /\ -a_332^post98+a_332^0 == 0 /\ tmp_37^0-tmp_37^post98 == 0 /\ a_220^0-a_220^post98 == 0 /\ rcd_409^0-rcd_409^post98 == 0 /\ -a_358^post98+a_358^0 == 0 /\ -rcd_105^post98+rcd_105^0 == 0 /\ -i_120^post98+i_120^0 == 0 /\ -rcd_367^post98+rcd_367^0 == 0 /\ r_266^0-r_266^post98 == 0 /\ a_388^0-a_388^post98 == 0 /\ -rcd_235^post98+rcd_235^0 == 0 /\ len_205^0-len_205^post98 == 0 /\ rcd_248^0-rcd_248^post98 == 0 /\ r_234^0-r_234^post98 == 0 /\ -result_11^post98+result_11^0 == 0 /\ a_148^0-a_148^post98 == 0 /\ -temp_38^post98+temp_38^0 == 0 /\ temp0_34^0-temp0_34^post98 == 0 /\ 1+t_24^0-y_22^0 <= 0 /\ r_246^0-r_246^post98 == 0 /\ rcd_46^0-rcd_46^post98 == 0 /\ -head_13^post98+head_13^0 == 0 /\ len_275^0-len_275^post98 == 0 /\ -r_245^post98+r_245^0 == 0 /\ -r_236^post98+r_236^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post98+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ lt_397^0-lt_397^post98 == 0 /\ r_243^0-r_243^post98 == 0 /\ head_35^0-head_35^post98 == 0 /\ r_188^0-r_188^post98 == 0 /\ -a_173^post98+a_173^0 == 0 /\ t_24^0-t_24^post98 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post98 == 0 /\ -ct_20^post98+ct_20^0 == 0 /\ -rcd_244^post98+rcd_244^0 == 0 /\ r_167^0-r_167^post98 == 0), cost: 1
  99: l62 -> l56 : a_148^0'=a_148^post99, r_258^0'=r_258^post99, i_33^0'=i_33^post99, r_167^0'=r_167^post99, t_30^0'=t_30^post99, a_358^0'=a_358^post99, r_42^0'=r_42^post99, len_275^0'=len_275^post99, rcd_409^0'=rcd_409^post99, r_243^0'=r_243^post99, r_246^0'=r_246^post99, x_SLAM_f_21^0'=x_SLAM_f_21^post99, head_35^0'=head_35^post99, rcd_248^0'=rcd_248^post99, lt_509^0'=lt_509^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post99, a_220^0'=a_220^post99, r_272^0'=r_272^post99, rcd_363^0'=rcd_363^post99, r_196^0'=r_196^post99, temp0_34^0'=temp0_34^post99, c_28^0'=c_28^post99, rcd_113^0'=rcd_113^post99, length_32^0'=length_32^post99, rcd_46^0'=rcd_46^post99, r_252^0'=r_252^post99, i_120^0'=i_120^post99, rcd_273^0'=rcd_273^post99, r_159^0'=r_159^post99, t_24^0'=t_24^post99, a_332^0'=a_332^post99, r_29^0'=r_29^post99, len_205^0'=len_205^post99, rcd_387^0'=rcd_387^post99, r_236^0'=r_236^post99, tmp_37^0'=tmp_37^post99, x_23^0'=x_23^post99, head_13^0'=head_13^post99, rcd_244^0'=rcd_244^post99, lt_397^0'=lt_397^post99, result_11^0'=result_11^post99, a_173^0'=a_173^post99, r_266^0'=r_266^post99, l_27^0'=l_27^post99, r_188^0'=r_188^post99, temp0_18^0'=temp0_18^post99, a_388^0'=a_388^post99, rcd_105^0'=rcd_105^post99, len_297^0'=len_297^post99, rcd_427^0'=rcd_427^post99, r_245^0'=r_245^post99, r_247^0'=r_247^post99, y_22^0'=y_22^post99, i_111^0'=i_111^post99, rcd_253^0'=rcd_253^post99, nondet_12^0'=nondet_12^post99, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post99, a_276^0'=a_276^post99, r_274^0'=r_274^post99, rcd_367^0'=rcd_367^post99, r_234^0'=r_234^post99, temp_38^0'=temp_38^post99, x_19^0'=x_19^post99, ct_20^0'=ct_20^post99, rcd_235^0'=rcd_235^post99, lt_17^0'=lt_17^post99, rcd_70^0'=rcd_70^post99, (0 == 0 /\ temp0_34^0-temp0_34^post99 == 0 /\ len_205^0-len_205^post99 == 0 /\ -a_388^0+a_358^post99 <= 0 /\ -x_19^post99+x_19^0 == 0 /\ -lt_397^post99+lt_397^0 == 0 /\ t_24^0-t_24^post99 == 0 /\ -r_274^post99+r_274^0 == 0 /\ a_220^0-a_220^post99 == 0 /\ -a_388^post99+a_388^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post99+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ head_13^0-head_13^post99 == 0 /\ -length_32^post99+length_32^0 == 0 /\ rcd_409^0-rcd_409^post99 == 0 /\ rcd_363^0-rcd_363^post99 == 0 /\ r_252^0-r_252^post99 == 0 /\ rcd_113^0-rcd_113^post99 == 0 /\ len_275^0-len_275^post99 == 0 /\ -y_22^post99+y_22^0 == 0 /\ -tmp_37^post99+tmp_37^0 == 0 /\ a_388^0-a_358^post99 <= 0 /\ r_167^0-r_167^post99 == 0 /\ rcd_387^0-rcd_387^post99 == 0 /\ a_148^0-a_148^post99 == 0 /\ c_28^0-c_28^post99 == 0 /\ -rcd_427^post99+rcd_427^0 == 0 /\ -rcd_70^post99+rcd_70^0 == 0 /\ -r_159^post99+r_159^0 == 0 /\ -x_23^post99+x_23^0 == 0 /\ r_236^0-r_236^post99 == 0 /\ -i_111^post99+i_111^0 == 0 /\ r_272^0-r_272^post99 == 0 /\ result_11^0-result_11^post99 == 0 /\ head_35^0-head_35^post99 == 0 /\ -rcd_235^post99+rcd_235^0 == 0 /\ rcd_105^0-rcd_105^post99 == 0 /\ -r_266^post99+r_266^0 == 0 /\ -r_42^post99+r_42^0 == 0 /\ -len_297^post99+len_297^0 == 0 /\ -nondet_12^post99+nondet_12^0 == 0 /\ t_30^0-t_30^post99 == 0 /\ rcd_46^post99-rcd_387^0 <= 0 /\ i_120^0-i_120^post99 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -rcd_273^post99+rcd_273^0 == 0 /\ temp0_18^0-temp0_18^post99 == 0 /\ r_246^0-r_246^post99 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post99+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -lt_17^post99+lt_17^0 == 0 /\ -a_173^post99+a_173^0 == 0 /\ r_258^0-r_258^post99 == 0 /\ -l_27^post99+l_27^0 == 0 /\ -r_234^post99+r_234^0 == 0 /\ -r_29^post99+r_29^0 == 0 /\ r_196^0-r_196^post99 == 0 /\ -r_245^post99+r_245^0 == 0 /\ -a_276^post99+a_276^0 == 0 /\ -rcd_244^post99+rcd_244^0 == 0 /\ -ct_20^post99+ct_20^0 == 0 /\ -r_188^post99+r_188^0 == 0 /\ -rcd_46^post99+rcd_387^0 <= 0 /\ a_332^0-a_332^post99 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post99 == 0 /\ rcd_248^0-rcd_248^post99 == 0 /\ -rcd_253^post99+rcd_253^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -temp_38^post99+temp_38^0 == 0 /\ -r_243^post99+r_243^0 == 0 /\ -r_247^post99+r_247^0 == 0 /\ i_33^0-i_33^post99 == 0 /\ -rcd_367^post99+rcd_367^0 == 0 /\ lt_509^0-lt_509^post99 == 0), cost: 1
 100: l56 -> l55 : a_148^0'=a_148^post100, r_258^0'=r_258^post100, i_33^0'=i_33^post100, r_167^0'=r_167^post100, t_30^0'=t_30^post100, a_358^0'=a_358^post100, r_42^0'=r_42^post100, len_275^0'=len_275^post100, rcd_409^0'=rcd_409^post100, r_243^0'=r_243^post100, r_246^0'=r_246^post100, x_SLAM_f_21^0'=x_SLAM_f_21^post100, head_35^0'=head_35^post100, rcd_248^0'=rcd_248^post100, lt_509^0'=lt_509^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post100, a_220^0'=a_220^post100, r_272^0'=r_272^post100, rcd_363^0'=rcd_363^post100, r_196^0'=r_196^post100, temp0_34^0'=temp0_34^post100, c_28^0'=c_28^post100, rcd_113^0'=rcd_113^post100, length_32^0'=length_32^post100, rcd_46^0'=rcd_46^post100, r_252^0'=r_252^post100, i_120^0'=i_120^post100, rcd_273^0'=rcd_273^post100, r_159^0'=r_159^post100, t_24^0'=t_24^post100, a_332^0'=a_332^post100, r_29^0'=r_29^post100, len_205^0'=len_205^post100, rcd_387^0'=rcd_387^post100, r_236^0'=r_236^post100, tmp_37^0'=tmp_37^post100, x_23^0'=x_23^post100, head_13^0'=head_13^post100, rcd_244^0'=rcd_244^post100, lt_397^0'=lt_397^post100, result_11^0'=result_11^post100, a_173^0'=a_173^post100, r_266^0'=r_266^post100, l_27^0'=l_27^post100, r_188^0'=r_188^post100, temp0_18^0'=temp0_18^post100, a_388^0'=a_388^post100, rcd_105^0'=rcd_105^post100, len_297^0'=len_297^post100, rcd_427^0'=rcd_427^post100, r_245^0'=r_245^post100, r_247^0'=r_247^post100, y_22^0'=y_22^post100, i_111^0'=i_111^post100, rcd_253^0'=rcd_253^post100, nondet_12^0'=nondet_12^post100, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post100, a_276^0'=a_276^post100, r_274^0'=r_274^post100, rcd_367^0'=rcd_367^post100, r_234^0'=r_234^post100, temp_38^0'=temp_38^post100, x_19^0'=x_19^post100, ct_20^0'=ct_20^post100, rcd_235^0'=rcd_235^post100, lt_17^0'=lt_17^post100, rcd_70^0'=rcd_70^post100, (length_32^0-length_32^post100 == 0 /\ -r_188^post100+r_188^0 == 0 /\ -a_220^post100+a_220^0 == 0 /\ -rcd_367^post100+rcd_367^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post100 == 0 /\ lt_509^0-lt_509^post100 == 0 /\ -x_23^post100+x_23^0 == 0 /\ r_243^0-r_243^post100 == 0 /\ r_246^0-r_246^post100 == 0 /\ -temp_38^post100+temp_38^0 == 0 /\ y_22^0-y_22^post100 == 0 /\ -ct_20^post100+ct_20^0 == 0 /\ rcd_363^0-rcd_363^post100 == 0 /\ r_167^0-r_167^post100 == 0 /\ rcd_244^0-rcd_244^post100 == 0 /\ a_332^0-a_332^post100 == 0 /\ t_30^0-t_30^post100 == 0 /\ -rcd_105^post100+rcd_105^0 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ r_258^0-r_258^post100 == 0 /\ -temp0_34^post100+temp0_34^0 == 0 /\ rcd_248^0-rcd_248^post100 == 0 /\ r_245^0-r_245^post100 == 0 /\ -rcd_70^post100+rcd_70^0 == 0 /\ a_358^0-a_358^post100 == 0 /\ -x_19^post100+x_19^0 == 0 /\ rcd_113^0-rcd_113^post100 == 0 /\ -rcd_46^post100+rcd_46^0 == 0 /\ -a_388^post100+a_388^0 == 0 /\ tmp_37^0-tmp_37^post100 == 0 /\ -head_13^post100+head_13^0 == 0 /\ -t_24^post100+t_24^0 == 0 /\ i_120^0-i_120^post100 == 0 /\ -rcd_427^post100+rcd_427^0 == 0 /\ rcd_273^0-rcd_273^post100 == 0 /\ len_297^0-len_297^post100 == 0 /\ -lt_17^post100+lt_17^0 == 0 /\ -c_28^post100+c_28^0 == 0 /\ -a_173^post100+a_173^0 == 0 /\ -len_205^post100+len_205^0 == 0 /\ -r_236^post100+r_236^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post100 == 0 /\ -a_276^post100+a_276^0 == 0 /\ -r_247^post100+r_247^0 == 0 /\ -len_275^post100+len_275^0 == 0 /\ r_29^0-r_29^post100 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post100 == 0 /\ a_148^0-a_148^post100 == 0 /\ -i_111^post100+i_111^0 == 0 /\ -rcd_253^post100+rcd_253^0 == 0 /\ -rcd_235^post100+rcd_235^0 == 0 /\ r_159^0-r_159^post100 == 0 /\ -r_266^post100+r_266^0 == 0 /\ -lt_397^post100+lt_397^0 == 0 /\ l_27^0-l_27^post100 == 0 /\ -r_234^post100+r_234^0 == 0 /\ head_35^0-head_35^post100 == 0 /\ rcd_409^0-rcd_409^post100 == 0 /\ -r_252^post100+r_252^0 == 0 /\ -r_196^post100+r_196^0 == 0 /\ result_11^0-result_11^post100 == 0 /\ r_272^0-r_272^post100 == 0 /\ rcd_387^0-rcd_387^post100 == 0 /\ r_42^0-r_42^post100 == 0 /\ -r_274^post100+r_274^0 == 0 /\ i_33^0-i_33^post100 == 0 /\ -temp0_18^post100+temp0_18^0 == 0), cost: 1
 117: l72 -> l73 : a_148^0'=a_148^post117, r_258^0'=r_258^post117, i_33^0'=i_33^post117, r_167^0'=r_167^post117, t_30^0'=t_30^post117, a_358^0'=a_358^post117, r_42^0'=r_42^post117, len_275^0'=len_275^post117, rcd_409^0'=rcd_409^post117, r_243^0'=r_243^post117, r_246^0'=r_246^post117, x_SLAM_f_21^0'=x_SLAM_f_21^post117, head_35^0'=head_35^post117, rcd_248^0'=rcd_248^post117, lt_509^0'=lt_509^post117, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post117, a_220^0'=a_220^post117, r_272^0'=r_272^post117, rcd_363^0'=rcd_363^post117, r_196^0'=r_196^post117, temp0_34^0'=temp0_34^post117, c_28^0'=c_28^post117, rcd_113^0'=rcd_113^post117, length_32^0'=length_32^post117, rcd_46^0'=rcd_46^post117, r_252^0'=r_252^post117, i_120^0'=i_120^post117, rcd_273^0'=rcd_273^post117, r_159^0'=r_159^post117, t_24^0'=t_24^post117, a_332^0'=a_332^post117, r_29^0'=r_29^post117, len_205^0'=len_205^post117, rcd_387^0'=rcd_387^post117, r_236^0'=r_236^post117, tmp_37^0'=tmp_37^post117, x_23^0'=x_23^post117, head_13^0'=head_13^post117, rcd_244^0'=rcd_244^post117, lt_397^0'=lt_397^post117, result_11^0'=result_11^post117, a_173^0'=a_173^post117, r_266^0'=r_266^post117, l_27^0'=l_27^post117, r_188^0'=r_188^post117, temp0_18^0'=temp0_18^post117, a_388^0'=a_388^post117, rcd_105^0'=rcd_105^post117, len_297^0'=len_297^post117, rcd_427^0'=rcd_427^post117, r_245^0'=r_245^post117, r_247^0'=r_247^post117, y_22^0'=y_22^post117, i_111^0'=i_111^post117, rcd_253^0'=rcd_253^post117, nondet_12^0'=nondet_12^post117, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post117, a_276^0'=a_276^post117, r_274^0'=r_274^post117, rcd_367^0'=rcd_367^post117, r_234^0'=r_234^post117, temp_38^0'=temp_38^post117, x_19^0'=x_19^post117, ct_20^0'=ct_20^post117, rcd_235^0'=rcd_235^post117, lt_17^0'=lt_17^post117, rcd_70^0'=rcd_70^post117, (-ct_20^post117+ct_20^0 == 0 /\ r_243^0-r_243^post117 == 0 /\ r_272^0-r_272^post117 == 0 /\ 1-x_23^0+y_22^0 <= 0 /\ -i_120^post117+i_120^0 == 0 /\ r_196^0-r_196^post117 == 0 /\ r_167^0-r_167^post117 == 0 /\ r_188^0-r_188^post117 == 0 /\ -temp_38^post117+temp_38^0 == 0 /\ -result_11^post117+result_11^0 == 0 /\ -i_111^post117+i_111^0 == 0 /\ t_30^0-t_30^post117 == 0 /\ -rcd_367^post117+rcd_367^0 == 0 /\ -a_332^post117+a_332^0 == 0 /\ r_247^0-r_247^post117 == 0 /\ head_13^0-head_13^post117 == 0 /\ r_258^0-r_258^post117 == 0 /\ -x_19^post117+x_19^0 == 0 /\ -nondet_12^post117+nondet_12^0 == 0 /\ -r_236^post117+r_236^0 == 0 /\ rcd_113^0-rcd_113^post117 == 0 /\ i_33^0-i_33^post117 == 0 /\ -a_388^post117+a_388^0 == 0 /\ a_358^0-a_358^post117 == 0 /\ len_205^0-len_205^post117 == 0 /\ -a_173^post117+a_173^0 == 0 /\ -r_246^post117+r_246^0 == 0 /\ -rcd_248^post117+rcd_248^0 == 0 /\ a_220^0-a_220^post117 == 0 /\ -r_245^post117+r_245^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post117+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_274^0-r_274^post117 == 0 /\ -rcd_427^post117+rcd_427^0 == 0 /\ rcd_46^0-rcd_46^post117 == 0 /\ -a_276^post117+a_276^0 == 0 /\ -lt_509^post117+lt_509^0 == 0 /\ len_275^0-len_275^post117 == 0 /\ -rcd_244^post117+rcd_244^0 == 0 /\ x_23^0-x_23^post117 == 0 /\ -rcd_70^post117+rcd_70^0 == 0 /\ t_24^0-t_24^post117 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post117 == 0 /\ -rcd_387^post117+rcd_387^0 == 0 /\ -rcd_253^post117+rcd_253^0 == 0 /\ rcd_409^0-rcd_409^post117 == 0 /\ -rcd_235^post117+rcd_235^0 == 0 /\ rcd_363^0-rcd_363^post117 == 0 /\ -len_297^post117+len_297^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post117 == 0 /\ r_252^0-r_252^post117 == 0 /\ -lt_397^post117+lt_397^0 == 0 /\ r_159^0-r_159^post117 == 0 /\ head_35^0-head_35^post117 == 0 /\ -rcd_273^post117+rcd_273^0 == 0 /\ -lt_17^post117+lt_17^0 == 0 /\ temp0_34^0-temp0_34^post117 == 0 /\ rcd_105^0-rcd_105^post117 == 0 /\ -length_32^post117+length_32^0 == 0 /\ -l_27^post117+l_27^0 == 0 /\ -temp0_18^post117+temp0_18^0 == 0 /\ -r_234^post117+r_234^0 == 0 /\ r_42^0-r_42^post117 == 0 /\ -y_22^post117+y_22^0 == 0 /\ -r_29^post117+r_29^0 == 0 /\ -tmp_37^post117+tmp_37^0 == 0 /\ a_148^0-a_148^post117 == 0 /\ r_266^0-r_266^post117 == 0 /\ c_28^0-c_28^post117 == 0), cost: 1
 118: l72 -> l73 : a_148^0'=a_148^post118, r_258^0'=r_258^post118, i_33^0'=i_33^post118, r_167^0'=r_167^post118, t_30^0'=t_30^post118, a_358^0'=a_358^post118, r_42^0'=r_42^post118, len_275^0'=len_275^post118, rcd_409^0'=rcd_409^post118, r_243^0'=r_243^post118, r_246^0'=r_246^post118, x_SLAM_f_21^0'=x_SLAM_f_21^post118, head_35^0'=head_35^post118, rcd_248^0'=rcd_248^post118, lt_509^0'=lt_509^post118, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post118, a_220^0'=a_220^post118, r_272^0'=r_272^post118, rcd_363^0'=rcd_363^post118, r_196^0'=r_196^post118, temp0_34^0'=temp0_34^post118, c_28^0'=c_28^post118, rcd_113^0'=rcd_113^post118, length_32^0'=length_32^post118, rcd_46^0'=rcd_46^post118, r_252^0'=r_252^post118, i_120^0'=i_120^post118, rcd_273^0'=rcd_273^post118, r_159^0'=r_159^post118, t_24^0'=t_24^post118, a_332^0'=a_332^post118, r_29^0'=r_29^post118, len_205^0'=len_205^post118, rcd_387^0'=rcd_387^post118, r_236^0'=r_236^post118, tmp_37^0'=tmp_37^post118, x_23^0'=x_23^post118, head_13^0'=head_13^post118, rcd_244^0'=rcd_244^post118, lt_397^0'=lt_397^post118, result_11^0'=result_11^post118, a_173^0'=a_173^post118, r_266^0'=r_266^post118, l_27^0'=l_27^post118, r_188^0'=r_188^post118, temp0_18^0'=temp0_18^post118, a_388^0'=a_388^post118, rcd_105^0'=rcd_105^post118, len_297^0'=len_297^post118, rcd_427^0'=rcd_427^post118, r_245^0'=r_245^post118, r_247^0'=r_247^post118, y_22^0'=y_22^post118, i_111^0'=i_111^post118, rcd_253^0'=rcd_253^post118, nondet_12^0'=nondet_12^post118, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post118, a_276^0'=a_276^post118, r_274^0'=r_274^post118, rcd_367^0'=rcd_367^post118, r_234^0'=r_234^post118, temp_38^0'=temp_38^post118, x_19^0'=x_19^post118, ct_20^0'=ct_20^post118, rcd_235^0'=rcd_235^post118, lt_17^0'=lt_17^post118, rcd_70^0'=rcd_70^post118, (-temp0_34^post118+temp0_34^0 == 0 /\ -rcd_273^post118+rcd_273^0 == 0 /\ -r_245^post118+r_245^0 == 0 /\ y_22^0-y_22^post118 == 0 /\ -rcd_235^post118+rcd_235^0 == 0 /\ r_196^0-r_196^post118 == 0 /\ c_28^0-c_28^post118 == 0 /\ -r_234^post118+r_234^0 == 0 /\ -rcd_46^post118+rcd_46^0 == 0 /\ -r_29^post118+r_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post118+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_367^post118+rcd_367^0 == 0 /\ -r_188^post118+r_188^0 == 0 /\ -rcd_363^post118+rcd_363^0 == 0 /\ result_11^0-result_11^post118 == 0 /\ rcd_244^0-rcd_244^post118 == 0 /\ r_252^0-r_252^post118 == 0 /\ -a_173^post118+a_173^0 == 0 /\ 1+x_23^0-y_22^0 <= 0 /\ temp0_18^0-temp0_18^post118 == 0 /\ -x_SLAM_f_21^post118+x_SLAM_f_21^0 == 0 /\ t_30^0-t_30^post118 == 0 /\ r_42^0-r_42^post118 == 0 /\ -temp_38^post118+temp_38^0 == 0 /\ -ct_20^post118+ct_20^0 == 0 /\ length_32^0-length_32^post118 == 0 /\ -a_276^post118+a_276^0 == 0 /\ a_148^0-a_148^post118 == 0 /\ -rcd_105^post118+rcd_105^0 == 0 /\ rcd_409^0-rcd_409^post118 == 0 /\ -r_247^post118+r_247^0 == 0 /\ r_272^0-r_272^post118 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post118+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_253^post118+rcd_253^0 == 0 /\ -r_159^post118+r_159^0 == 0 /\ r_167^0-r_167^post118 == 0 /\ -i_111^post118+i_111^0 == 0 /\ rcd_387^0-rcd_387^post118 == 0 /\ -rcd_70^post118+rcd_70^0 == 0 /\ a_332^0-a_332^post118 == 0 /\ -x_19^post118+x_19^0 == 0 /\ -lt_397^post118+lt_397^0 == 0 /\ r_236^0-r_236^post118 == 0 /\ -tmp_37^post118+tmp_37^0 == 0 /\ -a_388^post118+a_388^0 == 0 /\ lt_509^0-lt_509^post118 == 0 /\ -i_33^post118+i_33^0 == 0 /\ a_358^0-a_358^post118 == 0 /\ r_243^0-r_243^post118 == 0 /\ l_27^0-l_27^post118 == 0 /\ head_35^0-head_35^post118 == 0 /\ -r_274^post118+r_274^0 == 0 /\ t_24^0-t_24^post118 == 0 /\ -lt_17^post118+lt_17^0 == 0 /\ a_220^0-a_220^post118 == 0 /\ -x_23^post118+x_23^0 == 0 /\ r_258^0-r_258^post118 == 0 /\ i_120^0-i_120^post118 == 0 /\ -len_205^post118+len_205^0 == 0 /\ rcd_248^0-rcd_248^post118 == 0 /\ -r_266^post118+r_266^0 == 0 /\ len_275^0-len_275^post118 == 0 /\ -rcd_427^post118+rcd_427^0 == 0 /\ len_297^0-len_297^post118 == 0 /\ rcd_113^0-rcd_113^post118 == 0 /\ head_13^0-head_13^post118 == 0 /\ r_246^0-r_246^post118 == 0 /\ -nondet_12^post118+nondet_12^0 == 0), cost: 1
 119: l73 -> l74 : a_148^0'=a_148^post119, r_258^0'=r_258^post119, i_33^0'=i_33^post119, r_167^0'=r_167^post119, t_30^0'=t_30^post119, a_358^0'=a_358^post119, r_42^0'=r_42^post119, len_275^0'=len_275^post119, rcd_409^0'=rcd_409^post119, r_243^0'=r_243^post119, r_246^0'=r_246^post119, x_SLAM_f_21^0'=x_SLAM_f_21^post119, head_35^0'=head_35^post119, rcd_248^0'=rcd_248^post119, lt_509^0'=lt_509^post119, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post119, a_220^0'=a_220^post119, r_272^0'=r_272^post119, rcd_363^0'=rcd_363^post119, r_196^0'=r_196^post119, temp0_34^0'=temp0_34^post119, c_28^0'=c_28^post119, rcd_113^0'=rcd_113^post119, length_32^0'=length_32^post119, rcd_46^0'=rcd_46^post119, r_252^0'=r_252^post119, i_120^0'=i_120^post119, rcd_273^0'=rcd_273^post119, r_159^0'=r_159^post119, t_24^0'=t_24^post119, a_332^0'=a_332^post119, r_29^0'=r_29^post119, len_205^0'=len_205^post119, rcd_387^0'=rcd_387^post119, r_236^0'=r_236^post119, tmp_37^0'=tmp_37^post119, x_23^0'=x_23^post119, head_13^0'=head_13^post119, rcd_244^0'=rcd_244^post119, lt_397^0'=lt_397^post119, result_11^0'=result_11^post119, a_173^0'=a_173^post119, r_266^0'=r_266^post119, l_27^0'=l_27^post119, r_188^0'=r_188^post119, temp0_18^0'=temp0_18^post119, a_388^0'=a_388^post119, rcd_105^0'=rcd_105^post119, len_297^0'=len_297^post119, rcd_427^0'=rcd_427^post119, r_245^0'=r_245^post119, r_247^0'=r_247^post119, y_22^0'=y_22^post119, i_111^0'=i_111^post119, rcd_253^0'=rcd_253^post119, nondet_12^0'=nondet_12^post119, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post119, a_276^0'=a_276^post119, r_274^0'=r_274^post119, rcd_367^0'=rcd_367^post119, r_234^0'=r_234^post119, temp_38^0'=temp_38^post119, x_19^0'=x_19^post119, ct_20^0'=ct_20^post119, rcd_235^0'=rcd_235^post119, lt_17^0'=lt_17^post119, rcd_70^0'=rcd_70^post119, (0 == 0 /\ rcd_113^0-rcd_113^post119 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post119+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_148^0-a_148^post119 == 0 /\ -rcd_427^post119+rcd_427^0 == 0 /\ -temp0_18^post119+temp0_18^0 == 0 /\ -rcd_363^0+rcd_46^0 <= 0 /\ rcd_248^0-rcd_248^post119 == 0 /\ rcd_409^0-rcd_409^post119 == 0 /\ -r_236^post119+r_236^0 == 0 /\ l_27^0-l_27^post119 == 0 /\ r_167^0-r_167^post119 == 0 /\ -c_28^post119+c_28^0 == 0 /\ y_22^0-ct_20^0 <= 0 /\ a_358^0-a_358^post119 == 0 /\ -r_247^post119+r_247^0 == 0 /\ i_33^0-i_33^post119 == 0 /\ -r_266^post119+r_266^0 == 0 /\ -temp0_34^post119+temp0_34^0 == 0 /\ t_24^post119-x_23^0 == 0 /\ -lt_17^post119+lt_17^0 == 0 /\ lt_397^0-lt_397^post119 == 0 /\ r_243^0-r_243^post119 == 0 /\ i_120^0-i_120^post119 == 0 /\ len_275^0-len_275^post119 == 0 /\ -r_196^post119+r_196^0 == 0 /\ rcd_363^0-rcd_46^0 <= 0 /\ -r_234^post119+r_234^0 == 0 /\ r_246^0-r_246^post119 == 0 /\ -a_276^post119+a_276^0 == 0 /\ a_173^0-a_173^post119 == 0 /\ -rcd_253^post119+rcd_253^0 == 0 /\ -head_35^post119+head_35^0 == 0 /\ y_22^0-y_22^post119 == 0 /\ -rcd_235^post119+rcd_235^0 == 0 /\ -y_22^0+ct_20^0 <= 0 /\ -rcd_387^post119+rcd_387^0 == 0 /\ -r_274^post119+r_274^0 == 0 /\ rcd_363^0-rcd_363^post119 == 0 /\ -len_297^post119+len_297^0 == 0 /\ rcd_46^0-rcd_46^post119 == 0 /\ r_258^0-r_258^post119 == 0 /\ -temp_38^post119+temp_38^0 == 0 /\ -r_252^post119+r_252^0 == 0 /\ -r_188^post119+r_188^0 == 0 /\ rcd_367^0-rcd_367^post119 == 0 /\ a_358^0-a_332^post119 <= 0 /\ -x_23^post119+x_23^0 == 0 /\ -t_24^post119+lt_17^0 <= 0 /\ -r_272^post119+r_272^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post119 == 0 /\ -x_19^0+lt_17^0 <= 0 /\ -ct_20^post119+ct_20^0 == 0 /\ -rcd_105^post119+rcd_105^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ tmp_37^0-tmp_37^post119 == 0 /\ -ct_20^0 <= 0 /\ r_29^0-r_29^post119 == 0 /\ -i_111^post119+i_111^0 == 0 /\ x_SLAM_f_21^0-x_19^0 <= 0 /\ r_42^0-r_42^post119 == 0 /\ -nondet_12^post119+nondet_12^0 == 0 /\ t_30^0-t_30^post119 == 0 /\ -rcd_70^post119+rcd_70^0 == 0 /\ -result_11^post119+result_11^0 == 0 /\ lt_509^0-lt_509^post119 == 0 /\ -a_358^0+a_332^post119 <= 0 /\ y_22^0 <= 0 /\ -y_22^0 <= 0 /\ t_24^post119-lt_17^0 <= 0 /\ -len_205^post119+len_205^0 == 0 /\ length_32^0-length_32^post119 == 0 /\ a_220^0-a_220^post119 == 0 /\ -r_245^post119+r_245^0 == 0 /\ x_19^0-lt_17^0 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post119 == 0 /\ -x_19^post119+x_19^0 == 0 /\ r_159^0-r_159^post119 == 0 /\ rcd_244^0-rcd_244^post119 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ ct_20^0 <= 0 /\ rcd_273^0-rcd_273^post119 == 0 /\ -head_13^post119+head_13^0 == 0 /\ -x_SLAM_f_21^0+x_19^0 <= 0 /\ -a_388^post119+a_388^0 == 0), cost: 1
 120: l74 -> l75 : a_148^0'=a_148^post120, r_258^0'=r_258^post120, i_33^0'=i_33^post120, r_167^0'=r_167^post120, t_30^0'=t_30^post120, a_358^0'=a_358^post120, r_42^0'=r_42^post120, len_275^0'=len_275^post120, rcd_409^0'=rcd_409^post120, r_243^0'=r_243^post120, r_246^0'=r_246^post120, x_SLAM_f_21^0'=x_SLAM_f_21^post120, head_35^0'=head_35^post120, rcd_248^0'=rcd_248^post120, lt_509^0'=lt_509^post120, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post120, a_220^0'=a_220^post120, r_272^0'=r_272^post120, rcd_363^0'=rcd_363^post120, r_196^0'=r_196^post120, temp0_34^0'=temp0_34^post120, c_28^0'=c_28^post120, rcd_113^0'=rcd_113^post120, length_32^0'=length_32^post120, rcd_46^0'=rcd_46^post120, r_252^0'=r_252^post120, i_120^0'=i_120^post120, rcd_273^0'=rcd_273^post120, r_159^0'=r_159^post120, t_24^0'=t_24^post120, a_332^0'=a_332^post120, r_29^0'=r_29^post120, len_205^0'=len_205^post120, rcd_387^0'=rcd_387^post120, r_236^0'=r_236^post120, tmp_37^0'=tmp_37^post120, x_23^0'=x_23^post120, head_13^0'=head_13^post120, rcd_244^0'=rcd_244^post120, lt_397^0'=lt_397^post120, result_11^0'=result_11^post120, a_173^0'=a_173^post120, r_266^0'=r_266^post120, l_27^0'=l_27^post120, r_188^0'=r_188^post120, temp0_18^0'=temp0_18^post120, a_388^0'=a_388^post120, rcd_105^0'=rcd_105^post120, len_297^0'=len_297^post120, rcd_427^0'=rcd_427^post120, r_245^0'=r_245^post120, r_247^0'=r_247^post120, y_22^0'=y_22^post120, i_111^0'=i_111^post120, rcd_253^0'=rcd_253^post120, nondet_12^0'=nondet_12^post120, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post120, a_276^0'=a_276^post120, r_274^0'=r_274^post120, rcd_367^0'=rcd_367^post120, r_234^0'=r_234^post120, temp_38^0'=temp_38^post120, x_19^0'=x_19^post120, ct_20^0'=ct_20^post120, rcd_235^0'=rcd_235^post120, lt_17^0'=lt_17^post120, rcd_70^0'=rcd_70^post120, (-rcd_244^post120+rcd_244^0 == 0 /\ -tmp_37^post120+tmp_37^0 == 0 /\ -a_276^post120+a_276^0 == 0 /\ r_258^0-r_258^post120 == 0 /\ r_29^0-r_29^post120 == 0 /\ -y_22^post120+y_22^0 == 0 /\ r_159^0-r_159^post120 == 0 /\ head_35^0-head_35^post120 == 0 /\ r_42^0-r_42^post120 == 0 /\ -rcd_253^post120+rcd_253^0 == 0 /\ r_272^0-r_272^post120 == 0 /\ a_220^0-a_220^post120 == 0 /\ -x_19^post120+x_19^0 == 0 /\ -rcd_113^post120+rcd_113^0 == 0 /\ -rcd_70^post120+rcd_70^0 == 0 /\ -rcd_387^post120+rcd_387^0 == 0 /\ length_32^0-length_32^post120 == 0 /\ x_23^0-x_23^post120 == 0 /\ -temp0_18^post120+temp0_18^0 == 0 /\ rcd_273^0-rcd_273^post120 == 0 /\ -r_274^post120+r_274^0 == 0 /\ r_196^0-r_196^post120 == 0 /\ t_30^0-t_30^post120 == 0 /\ -lt_17^post120+lt_17^0 == 0 /\ i_111^0-i_111^post120 == 0 /\ -l_27^post120+l_27^0 == 0 /\ -r_234^post120+r_234^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post120 == 0 /\ -a_332^post120+a_332^0 == 0 /\ r_252^0-r_252^post120 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post120 == 0 /\ rcd_409^0-rcd_409^post120 == 0 /\ -a_358^post120+a_358^0 == 0 /\ -nondet_12^post120+nondet_12^0 == 0 /\ -i_120^post120+i_120^0 == 0 /\ -rcd_367^post120+rcd_367^0 == 0 /\ -temp_38^post120+temp_38^0 == 0 /\ i_33^0-i_33^post120 == 0 /\ -len_297^post120+len_297^0 == 0 /\ r_266^0-r_266^post120 == 0 /\ -rcd_235^post120+rcd_235^0 == 0 /\ rcd_248^0-rcd_248^post120 == 0 /\ -result_11^post120+result_11^0 == 0 /\ len_205^0-len_205^post120 == 0 /\ 1-lt_17^0 <= 0 /\ a_148^0-a_148^post120 == 0 /\ temp0_34^0-temp0_34^post120 == 0 /\ -r_236^post120+r_236^0 == 0 /\ rcd_427^0-rcd_427^post120 == 0 /\ c_28^0-c_28^post120 == 0 /\ -r_247^post120+r_247^0 == 0 /\ -head_13^post120+head_13^0 == 0 /\ r_246^0-r_246^post120 == 0 /\ rcd_46^0-rcd_46^post120 == 0 /\ a_388^0-a_388^post120 == 0 /\ lt_509^0-lt_509^post120 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post120+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_243^0-r_243^post120 == 0 /\ len_275^0-len_275^post120 == 0 /\ r_167^0-r_167^post120 == 0 /\ lt_397^0-lt_397^post120 == 0 /\ -r_245^post120+r_245^0 == 0 /\ t_24^0-t_24^post120 == 0 /\ -ct_20^post120+ct_20^0 == 0 /\ -rcd_105^post120+rcd_105^0 == 0 /\ r_188^0-r_188^post120 == 0 /\ rcd_363^0-rcd_363^post120 == 0 /\ -a_173^post120+a_173^0 == 0), cost: 1
 121: l74 -> l75 : a_148^0'=a_148^post121, r_258^0'=r_258^post121, i_33^0'=i_33^post121, r_167^0'=r_167^post121, t_30^0'=t_30^post121, a_358^0'=a_358^post121, r_42^0'=r_42^post121, len_275^0'=len_275^post121, rcd_409^0'=rcd_409^post121, r_243^0'=r_243^post121, r_246^0'=r_246^post121, x_SLAM_f_21^0'=x_SLAM_f_21^post121, head_35^0'=head_35^post121, rcd_248^0'=rcd_248^post121, lt_509^0'=lt_509^post121, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post121, a_220^0'=a_220^post121, r_272^0'=r_272^post121, rcd_363^0'=rcd_363^post121, r_196^0'=r_196^post121, temp0_34^0'=temp0_34^post121, c_28^0'=c_28^post121, rcd_113^0'=rcd_113^post121, length_32^0'=length_32^post121, rcd_46^0'=rcd_46^post121, r_252^0'=r_252^post121, i_120^0'=i_120^post121, rcd_273^0'=rcd_273^post121, r_159^0'=r_159^post121, t_24^0'=t_24^post121, a_332^0'=a_332^post121, r_29^0'=r_29^post121, len_205^0'=len_205^post121, rcd_387^0'=rcd_387^post121, r_236^0'=r_236^post121, tmp_37^0'=tmp_37^post121, x_23^0'=x_23^post121, head_13^0'=head_13^post121, rcd_244^0'=rcd_244^post121, lt_397^0'=lt_397^post121, result_11^0'=result_11^post121, a_173^0'=a_173^post121, r_266^0'=r_266^post121, l_27^0'=l_27^post121, r_188^0'=r_188^post121, temp0_18^0'=temp0_18^post121, a_388^0'=a_388^post121, rcd_105^0'=rcd_105^post121, len_297^0'=len_297^post121, rcd_427^0'=rcd_427^post121, r_245^0'=r_245^post121, r_247^0'=r_247^post121, y_22^0'=y_22^post121, i_111^0'=i_111^post121, rcd_253^0'=rcd_253^post121, nondet_12^0'=nondet_12^post121, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post121, a_276^0'=a_276^post121, r_274^0'=r_274^post121, rcd_367^0'=rcd_367^post121, r_234^0'=r_234^post121, temp_38^0'=temp_38^post121, x_19^0'=x_19^post121, ct_20^0'=ct_20^post121, rcd_235^0'=rcd_235^post121, lt_17^0'=lt_17^post121, rcd_70^0'=rcd_70^post121, (len_205^0-len_205^post121 == 0 /\ -a_388^post121+a_388^0 == 0 /\ -x_19^post121+x_19^0 == 0 /\ i_33^0-i_33^post121 == 0 /\ t_24^0-t_24^post121 == 0 /\ temp0_34^0-temp0_34^post121 == 0 /\ nondet_12^0-nondet_12^post121 == 0 /\ -lt_397^post121+lt_397^0 == 0 /\ -i_111^post121+i_111^0 == 0 /\ head_13^0-head_13^post121 == 0 /\ rcd_46^0-rcd_46^post121 == 0 /\ r_247^0-r_247^post121 == 0 /\ r_252^0-r_252^post121 == 0 /\ -r_274^post121+r_274^0 == 0 /\ r_246^0-r_246^post121 == 0 /\ rcd_113^0-rcd_113^post121 == 0 /\ -tmp_37^post121+tmp_37^0 == 0 /\ len_275^0-len_275^post121 == 0 /\ r_167^0-r_167^post121 == 0 /\ rcd_387^0-rcd_387^post121 == 0 /\ a_148^0-a_148^post121 == 0 /\ c_28^0-c_28^post121 == 0 /\ -length_32^post121+length_32^0 == 0 /\ -lt_17^post121+lt_17^0 == 0 /\ r_236^0-r_236^post121 == 0 /\ -rcd_70^post121+rcd_70^0 == 0 /\ -x_23^post121+x_23^0 == 0 /\ lt_509^0-lt_509^post121 == 0 /\ result_11^0-result_11^post121 == 0 /\ -r_159^post121+r_159^0 == 0 /\ 1+lt_17^0 <= 0 /\ -temp0_18^post121+temp0_18^0 == 0 /\ -rcd_235^post121+rcd_235^0 == 0 /\ a_220^0-a_220^post121 == 0 /\ t_30^0-t_30^post121 == 0 /\ i_120^0-i_120^post121 == 0 /\ -rcd_273^post121+rcd_273^0 == 0 /\ -r_266^post121+r_266^0 == 0 /\ r_258^0-r_258^post121 == 0 /\ -l_27^post121+l_27^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post121+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post121+rcd_427^0 == 0 /\ -r_234^post121+r_234^0 == 0 /\ -a_173^post121+a_173^0 == 0 /\ rcd_409^0-rcd_409^post121 == 0 /\ -r_245^post121+r_245^0 == 0 /\ -r_42^post121+r_42^0 == 0 /\ -r_29^post121+r_29^0 == 0 /\ -ct_20^post121+ct_20^0 == 0 /\ r_272^0-r_272^post121 == 0 /\ -x_SLAM_f_21^post121+x_SLAM_f_21^0 == 0 /\ -y_22^post121+y_22^0 == 0 /\ r_196^0-r_196^post121 == 0 /\ -rcd_244^post121+rcd_244^0 == 0 /\ -rcd_105^post121+rcd_105^0 == 0 /\ rcd_248^0-rcd_248^post121 == 0 /\ r_188^0-r_188^post121 == 0 /\ a_332^0-a_332^post121 == 0 /\ -len_297^post121+len_297^0 == 0 /\ head_35^0-head_35^post121 == 0 /\ -temp_38^post121+temp_38^0 == 0 /\ -r_243^post121+r_243^0 == 0 /\ -rcd_363^post121+rcd_363^0 == 0 /\ -rcd_253^post121+rcd_253^0 == 0 /\ -a_276^post121+a_276^0 == 0 /\ a_358^0-a_358^post121 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post121 == 0 /\ -rcd_367^post121+rcd_367^0 == 0), cost: 1
 122: l75 -> l76 : a_148^0'=a_148^post122, r_258^0'=r_258^post122, i_33^0'=i_33^post122, r_167^0'=r_167^post122, t_30^0'=t_30^post122, a_358^0'=a_358^post122, r_42^0'=r_42^post122, len_275^0'=len_275^post122, rcd_409^0'=rcd_409^post122, r_243^0'=r_243^post122, r_246^0'=r_246^post122, x_SLAM_f_21^0'=x_SLAM_f_21^post122, head_35^0'=head_35^post122, rcd_248^0'=rcd_248^post122, lt_509^0'=lt_509^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post122, a_220^0'=a_220^post122, r_272^0'=r_272^post122, rcd_363^0'=rcd_363^post122, r_196^0'=r_196^post122, temp0_34^0'=temp0_34^post122, c_28^0'=c_28^post122, rcd_113^0'=rcd_113^post122, length_32^0'=length_32^post122, rcd_46^0'=rcd_46^post122, r_252^0'=r_252^post122, i_120^0'=i_120^post122, rcd_273^0'=rcd_273^post122, r_159^0'=r_159^post122, t_24^0'=t_24^post122, a_332^0'=a_332^post122, r_29^0'=r_29^post122, len_205^0'=len_205^post122, rcd_387^0'=rcd_387^post122, r_236^0'=r_236^post122, tmp_37^0'=tmp_37^post122, x_23^0'=x_23^post122, head_13^0'=head_13^post122, rcd_244^0'=rcd_244^post122, lt_397^0'=lt_397^post122, result_11^0'=result_11^post122, a_173^0'=a_173^post122, r_266^0'=r_266^post122, l_27^0'=l_27^post122, r_188^0'=r_188^post122, temp0_18^0'=temp0_18^post122, a_388^0'=a_388^post122, rcd_105^0'=rcd_105^post122, len_297^0'=len_297^post122, rcd_427^0'=rcd_427^post122, r_245^0'=r_245^post122, r_247^0'=r_247^post122, y_22^0'=y_22^post122, i_111^0'=i_111^post122, rcd_253^0'=rcd_253^post122, nondet_12^0'=nondet_12^post122, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post122, a_276^0'=a_276^post122, r_274^0'=r_274^post122, rcd_367^0'=rcd_367^post122, r_234^0'=r_234^post122, temp_38^0'=temp_38^post122, x_19^0'=x_19^post122, ct_20^0'=ct_20^post122, rcd_235^0'=rcd_235^post122, lt_17^0'=lt_17^post122, rcd_70^0'=rcd_70^post122, (-t_24^post122+t_24^0 == 0 /\ r_243^0-r_243^post122 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post122 == 0 /\ -rcd_105^post122+rcd_105^0 == 0 /\ length_32^0-length_32^post122 == 0 /\ -rcd_367^post122+rcd_367^0 == 0 /\ -ct_20^post122+ct_20^0 == 0 /\ -x_23^post122+x_23^0 == 0 /\ rcd_363^0-rcd_363^post122 == 0 /\ y_22^0-y_22^post122 == 0 /\ rcd_409^0-rcd_409^post122 == 0 /\ -r_188^post122+r_188^0 == 0 /\ rcd_244^0-rcd_244^post122 == 0 /\ -temp_38^post122+temp_38^0 == 0 /\ -nondet_12^post122+nondet_12^0 == 0 /\ a_332^0-a_332^post122 == 0 /\ t_30^0-t_30^post122 == 0 /\ r_258^0-r_258^post122 == 0 /\ len_275^0-len_275^post122 == 0 /\ rcd_248^0-rcd_248^post122 == 0 /\ -rcd_70^post122+rcd_70^0 == 0 /\ -r_159^post122+r_159^0 == 0 /\ r_245^0-r_245^post122 == 0 /\ -temp0_34^post122+temp0_34^0 == 0 /\ -x_19^post122+x_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post122 == 0 /\ -a_388^post122+a_388^0 == 0 /\ -rcd_46^post122+rcd_46^0 == 0 /\ rcd_113^0-rcd_113^post122 == 0 /\ 1-y_22^0+lt_17^0 <= 0 /\ -head_13^post122+head_13^0 == 0 /\ tmp_37^0-tmp_37^post122 == 0 /\ r_272^0-r_272^post122 == 0 /\ lt_509^0-lt_509^post122 == 0 /\ r_42^0-r_42^post122 == 0 /\ -lt_17^post122+lt_17^0 == 0 /\ -a_173^post122+a_173^0 == 0 /\ -rcd_427^post122+rcd_427^0 == 0 /\ -c_28^post122+c_28^0 == 0 /\ temp0_18^0-temp0_18^post122 == 0 /\ -r_247^post122+r_247^0 == 0 /\ -len_205^post122+len_205^0 == 0 /\ r_246^0-r_246^post122 == 0 /\ -a_276^post122+a_276^0 == 0 /\ -r_266^post122+r_266^0 == 0 /\ -lt_397^post122+lt_397^0 == 0 /\ r_29^0-r_29^post122 == 0 /\ -rcd_253^post122+rcd_253^0 == 0 /\ -i_111^post122+i_111^0 == 0 /\ a_148^0-a_148^post122 == 0 /\ -head_35^post122+head_35^0 == 0 /\ -rcd_273^post122+rcd_273^0 == 0 /\ r_167^0-r_167^post122 == 0 /\ -len_297^post122+len_297^0 == 0 /\ l_27^0-l_27^post122 == 0 /\ -r_234^post122+r_234^0 == 0 /\ -rcd_235^post122+rcd_235^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post122 == 0 /\ -r_196^post122+r_196^0 == 0 /\ r_236^0-r_236^post122 == 0 /\ -r_274^post122+r_274^0 == 0 /\ a_220^0-a_220^post122 == 0 /\ a_358^0-a_358^post122 == 0 /\ result_11^0-result_11^post122 == 0 /\ -r_252^post122+r_252^0 == 0 /\ i_120^0-i_120^post122 == 0 /\ rcd_387^0-rcd_387^post122 == 0 /\ i_33^0-i_33^post122 == 0), cost: 1
 123: l75 -> l76 : a_148^0'=a_148^post123, r_258^0'=r_258^post123, i_33^0'=i_33^post123, r_167^0'=r_167^post123, t_30^0'=t_30^post123, a_358^0'=a_358^post123, r_42^0'=r_42^post123, len_275^0'=len_275^post123, rcd_409^0'=rcd_409^post123, r_243^0'=r_243^post123, r_246^0'=r_246^post123, x_SLAM_f_21^0'=x_SLAM_f_21^post123, head_35^0'=head_35^post123, rcd_248^0'=rcd_248^post123, lt_509^0'=lt_509^post123, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post123, a_220^0'=a_220^post123, r_272^0'=r_272^post123, rcd_363^0'=rcd_363^post123, r_196^0'=r_196^post123, temp0_34^0'=temp0_34^post123, c_28^0'=c_28^post123, rcd_113^0'=rcd_113^post123, length_32^0'=length_32^post123, rcd_46^0'=rcd_46^post123, r_252^0'=r_252^post123, i_120^0'=i_120^post123, rcd_273^0'=rcd_273^post123, r_159^0'=r_159^post123, t_24^0'=t_24^post123, a_332^0'=a_332^post123, r_29^0'=r_29^post123, len_205^0'=len_205^post123, rcd_387^0'=rcd_387^post123, r_236^0'=r_236^post123, tmp_37^0'=tmp_37^post123, x_23^0'=x_23^post123, head_13^0'=head_13^post123, rcd_244^0'=rcd_244^post123, lt_397^0'=lt_397^post123, result_11^0'=result_11^post123, a_173^0'=a_173^post123, r_266^0'=r_266^post123, l_27^0'=l_27^post123, r_188^0'=r_188^post123, temp0_18^0'=temp0_18^post123, a_388^0'=a_388^post123, rcd_105^0'=rcd_105^post123, len_297^0'=len_297^post123, rcd_427^0'=rcd_427^post123, r_245^0'=r_245^post123, r_247^0'=r_247^post123, y_22^0'=y_22^post123, i_111^0'=i_111^post123, rcd_253^0'=rcd_253^post123, nondet_12^0'=nondet_12^post123, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post123, a_276^0'=a_276^post123, r_274^0'=r_274^post123, rcd_367^0'=rcd_367^post123, r_234^0'=r_234^post123, temp_38^0'=temp_38^post123, x_19^0'=x_19^post123, ct_20^0'=ct_20^post123, rcd_235^0'=rcd_235^post123, lt_17^0'=lt_17^post123, rcd_70^0'=rcd_70^post123, (-l_27^post123+l_27^0 == 0 /\ -nondet_12^post123+nondet_12^0 == 0 /\ -len_297^post123+len_297^0 == 0 /\ c_28^0-c_28^post123 == 0 /\ rcd_46^0-rcd_46^post123 == 0 /\ -r_234^post123+r_234^0 == 0 /\ -r_266^post123+r_266^0 == 0 /\ -a_332^post123+a_332^0 == 0 /\ -head_13^post123+head_13^0 == 0 /\ r_196^0-r_196^post123 == 0 /\ -temp0_18^post123+temp0_18^0 == 0 /\ 1+y_22^0-lt_17^0 <= 0 /\ r_167^0-r_167^post123 == 0 /\ -rcd_235^post123+rcd_235^0 == 0 /\ -r_272^post123+r_272^0 == 0 /\ t_30^0-t_30^post123 == 0 /\ i_111^0-i_111^post123 == 0 /\ -r_252^post123+r_252^0 == 0 /\ r_159^0-r_159^post123 == 0 /\ a_276^0-a_276^post123 == 0 /\ -r_188^post123+r_188^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post123+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_236^post123+r_236^0 == 0 /\ a_173^0-a_173^post123 == 0 /\ -t_24^post123+t_24^0 == 0 /\ i_33^0-i_33^post123 == 0 /\ i_120^0-i_120^post123 == 0 /\ -temp_38^post123+temp_38^0 == 0 /\ -rcd_367^post123+rcd_367^0 == 0 /\ a_358^0-a_358^post123 == 0 /\ r_29^0-r_29^post123 == 0 /\ a_148^0-a_148^post123 == 0 /\ -r_245^post123+r_245^0 == 0 /\ -ct_20^post123+ct_20^0 == 0 /\ rcd_253^0-rcd_253^post123 == 0 /\ -r_246^post123+r_246^0 == 0 /\ length_32^0-length_32^post123 == 0 /\ -r_247^post123+r_247^0 == 0 /\ a_220^0-a_220^post123 == 0 /\ -rcd_105^post123+rcd_105^0 == 0 /\ -lt_509^post123+lt_509^0 == 0 /\ -lt_397^post123+lt_397^0 == 0 /\ len_275^0-len_275^post123 == 0 /\ -a_388^post123+a_388^0 == 0 /\ -rcd_113^post123+rcd_113^0 == 0 /\ -y_22^post123+y_22^0 == 0 /\ -rcd_387^post123+rcd_387^0 == 0 /\ r_243^0-r_243^post123 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post123 == 0 /\ -rcd_70^post123+rcd_70^0 == 0 /\ -x_19^post123+x_19^0 == 0 /\ rcd_409^0-rcd_409^post123 == 0 /\ result_11^0-result_11^post123 == 0 /\ rcd_363^0-rcd_363^post123 == 0 /\ -rcd_427^post123+rcd_427^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post123 == 0 /\ r_258^0-r_258^post123 == 0 /\ -r_274^post123+r_274^0 == 0 /\ rcd_244^0-rcd_244^post123 == 0 /\ -x_23^post123+x_23^0 == 0 /\ head_35^0-head_35^post123 == 0 /\ tmp_37^0-tmp_37^post123 == 0 /\ temp0_34^0-temp0_34^post123 == 0 /\ rcd_248^0-rcd_248^post123 == 0 /\ rcd_273^0-rcd_273^post123 == 0 /\ r_42^0-r_42^post123 == 0 /\ len_205^0-len_205^post123 == 0 /\ -lt_17^post123+lt_17^0 == 0), cost: 1
 124: l76 -> l77 : a_148^0'=a_148^post124, r_258^0'=r_258^post124, i_33^0'=i_33^post124, r_167^0'=r_167^post124, t_30^0'=t_30^post124, a_358^0'=a_358^post124, r_42^0'=r_42^post124, len_275^0'=len_275^post124, rcd_409^0'=rcd_409^post124, r_243^0'=r_243^post124, r_246^0'=r_246^post124, x_SLAM_f_21^0'=x_SLAM_f_21^post124, head_35^0'=head_35^post124, rcd_248^0'=rcd_248^post124, lt_509^0'=lt_509^post124, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post124, a_220^0'=a_220^post124, r_272^0'=r_272^post124, rcd_363^0'=rcd_363^post124, r_196^0'=r_196^post124, temp0_34^0'=temp0_34^post124, c_28^0'=c_28^post124, rcd_113^0'=rcd_113^post124, length_32^0'=length_32^post124, rcd_46^0'=rcd_46^post124, r_252^0'=r_252^post124, i_120^0'=i_120^post124, rcd_273^0'=rcd_273^post124, r_159^0'=r_159^post124, t_24^0'=t_24^post124, a_332^0'=a_332^post124, r_29^0'=r_29^post124, len_205^0'=len_205^post124, rcd_387^0'=rcd_387^post124, r_236^0'=r_236^post124, tmp_37^0'=tmp_37^post124, x_23^0'=x_23^post124, head_13^0'=head_13^post124, rcd_244^0'=rcd_244^post124, lt_397^0'=lt_397^post124, result_11^0'=result_11^post124, a_173^0'=a_173^post124, r_266^0'=r_266^post124, l_27^0'=l_27^post124, r_188^0'=r_188^post124, temp0_18^0'=temp0_18^post124, a_388^0'=a_388^post124, rcd_105^0'=rcd_105^post124, len_297^0'=len_297^post124, rcd_427^0'=rcd_427^post124, r_245^0'=r_245^post124, r_247^0'=r_247^post124, y_22^0'=y_22^post124, i_111^0'=i_111^post124, rcd_253^0'=rcd_253^post124, nondet_12^0'=nondet_12^post124, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post124, a_276^0'=a_276^post124, r_274^0'=r_274^post124, rcd_367^0'=rcd_367^post124, r_234^0'=r_234^post124, temp_38^0'=temp_38^post124, x_19^0'=x_19^post124, ct_20^0'=ct_20^post124, rcd_235^0'=rcd_235^post124, lt_17^0'=lt_17^post124, rcd_70^0'=rcd_70^post124, (-temp0_34^post124+temp0_34^0 == 0 /\ -r_247^post124+r_247^0 == 0 /\ -r_29^post124+r_29^0 == 0 /\ rcd_113^0-rcd_113^post124 == 0 /\ -rcd_387^post124+rcd_387^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post124+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -lt_17^post124+lt_17^0 == 0 /\ -rcd_244^post124+rcd_244^0 == 0 /\ r_236^0-r_236^post124 == 0 /\ -l_27^post124+l_27^0 == 0 /\ -r_234^post124+r_234^0 == 0 /\ -rcd_427^post124+rcd_427^0 == 0 /\ nondet_12^0-nondet_12^post124 == 0 /\ x_23^0-x_23^post124 == 0 /\ -a_276^post124+a_276^0 == 0 /\ t_24^0-t_24^post124 == 0 /\ rcd_363^0-rcd_363^post124 == 0 /\ -x_SLAM_f_21^post124+x_SLAM_f_21^0 == 0 /\ r_42^0-r_42^post124 == 0 /\ r_274^0-r_274^post124 == 0 /\ t_30^0-t_30^post124 == 0 /\ -y_22^post124+y_22^0 == 0 /\ rcd_46^0-rcd_46^post124 == 0 /\ -r_243^post124+r_243^0 == 0 /\ -rcd_367^post124+rcd_367^0 == 0 /\ a_148^0-a_148^post124 == 0 /\ -i_120^post124+i_120^0 == 0 /\ rcd_273^0-rcd_273^post124 == 0 /\ -temp0_18^post124+temp0_18^0 == 0 /\ -len_297^post124+len_297^0 == 0 /\ rcd_409^0-rcd_409^post124 == 0 /\ -rcd_235^post124+rcd_235^0 == 0 /\ -a_332^post124+a_332^0 == 0 /\ r_196^0-r_196^post124 == 0 /\ r_266^0-r_266^post124 == 0 /\ r_272^0-r_272^post124 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post124+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_253^post124+rcd_253^0 == 0 /\ -temp_38^post124+temp_38^0 == 0 /\ -x_19^post124+x_19^0 == 0 /\ -i_111^post124+i_111^0 == 0 /\ r_188^0-r_188^post124 == 0 /\ -rcd_248^post124+rcd_248^0 == 0 /\ head_35^0-head_35^post124 == 0 /\ c_28^0-c_28^post124 == 0 /\ len_205^0-len_205^post124 == 0 /\ a_388^0-a_388^post124 == 0 /\ -length_32^post124+length_32^0 == 0 /\ -rcd_105^post124+rcd_105^0 == 0 /\ r_167^0-r_167^post124 == 0 /\ -i_33^post124+i_33^0 == 0 /\ lt_509^0-lt_509^post124 == 0 /\ a_358^0-a_358^post124 == 0 /\ -ct_20^post124+ct_20^0 == 0 /\ -tmp_37^post124+tmp_37^0 == 0 /\ lt_397^0-lt_397^post124 == 0 /\ -result_11^post124+result_11^0 == 0 /\ -r_245^post124+r_245^0 == 0 /\ a_220^0-a_220^post124 == 0 /\ a_173^0-a_173^post124 == 0 /\ r_258^0-r_258^post124 == 0 /\ r_252^0-r_252^post124 == 0 /\ -head_13^post124+head_13^0 == 0 /\ -r_159^post124+r_159^0 == 0 /\ -rcd_70^post124+rcd_70^0 == 0 /\ len_275^0-len_275^post124 == 0 /\ r_246^0-r_246^post124 == 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 1
 125: l76 -> l77 : a_148^0'=a_148^post125, r_258^0'=r_258^post125, i_33^0'=i_33^post125, r_167^0'=r_167^post125, t_30^0'=t_30^post125, a_358^0'=a_358^post125, r_42^0'=r_42^post125, len_275^0'=len_275^post125, rcd_409^0'=rcd_409^post125, r_243^0'=r_243^post125, r_246^0'=r_246^post125, x_SLAM_f_21^0'=x_SLAM_f_21^post125, head_35^0'=head_35^post125, rcd_248^0'=rcd_248^post125, lt_509^0'=lt_509^post125, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post125, a_220^0'=a_220^post125, r_272^0'=r_272^post125, rcd_363^0'=rcd_363^post125, r_196^0'=r_196^post125, temp0_34^0'=temp0_34^post125, c_28^0'=c_28^post125, rcd_113^0'=rcd_113^post125, length_32^0'=length_32^post125, rcd_46^0'=rcd_46^post125, r_252^0'=r_252^post125, i_120^0'=i_120^post125, rcd_273^0'=rcd_273^post125, r_159^0'=r_159^post125, t_24^0'=t_24^post125, a_332^0'=a_332^post125, r_29^0'=r_29^post125, len_205^0'=len_205^post125, rcd_387^0'=rcd_387^post125, r_236^0'=r_236^post125, tmp_37^0'=tmp_37^post125, x_23^0'=x_23^post125, head_13^0'=head_13^post125, rcd_244^0'=rcd_244^post125, lt_397^0'=lt_397^post125, result_11^0'=result_11^post125, a_173^0'=a_173^post125, r_266^0'=r_266^post125, l_27^0'=l_27^post125, r_188^0'=r_188^post125, temp0_18^0'=temp0_18^post125, a_388^0'=a_388^post125, rcd_105^0'=rcd_105^post125, len_297^0'=len_297^post125, rcd_427^0'=rcd_427^post125, r_245^0'=r_245^post125, r_247^0'=r_247^post125, y_22^0'=y_22^post125, i_111^0'=i_111^post125, rcd_253^0'=rcd_253^post125, nondet_12^0'=nondet_12^post125, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post125, a_276^0'=a_276^post125, r_274^0'=r_274^post125, rcd_367^0'=rcd_367^post125, r_234^0'=r_234^post125, temp_38^0'=temp_38^post125, x_19^0'=x_19^post125, ct_20^0'=ct_20^post125, rcd_235^0'=rcd_235^post125, lt_17^0'=lt_17^post125, rcd_70^0'=rcd_70^post125, (a_148^0-a_148^post125 == 0 /\ -c_28^post125+c_28^0 == 0 /\ head_13^0-head_13^post125 == 0 /\ -y_22^post125+y_22^0 == 0 /\ rcd_409^0-rcd_409^post125 == 0 /\ r_167^0-r_167^post125 == 0 /\ rcd_387^0-rcd_387^post125 == 0 /\ tmp_37^0-tmp_37^post125 == 0 /\ r_266^0-r_266^post125 == 0 /\ a_358^0-a_358^post125 == 0 /\ -r_159^post125+r_159^0 == 0 /\ len_205^0-len_205^post125 == 0 /\ -lt_397^post125+lt_397^0 == 0 /\ -temp0_34^post125+temp0_34^0 == 0 /\ -lt_17^post125+lt_17^0 == 0 /\ r_272^0-r_272^post125 == 0 /\ -rcd_363^post125+rcd_363^0 == 0 /\ -a_276^post125+a_276^0 == 0 /\ -head_35^post125+head_35^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post125 == 0 /\ length_32^0-length_32^post125 == 0 /\ -r_29^post125+r_29^0 == 0 /\ len_275^0-len_275^post125 == 0 /\ -i_111^post125+i_111^0 == 0 /\ r_246^0-r_246^post125 == 0 /\ -len_297^post125+len_297^0 == 0 /\ -rcd_253^post125+rcd_253^0 == 0 /\ -r_234^post125+r_234^0 == 0 /\ -rcd_235^post125+rcd_235^0 == 0 /\ -rcd_273^post125+rcd_273^0 == 0 /\ -rcd_427^post125+rcd_427^0 == 0 /\ r_196^0-r_196^post125 == 0 /\ r_258^0-r_258^post125 == 0 /\ t_24^0-t_24^post125 == 0 /\ -r_274^post125+r_274^0 == 0 /\ -ct_20^post125+ct_20^0 == 0 /\ r_236^0-r_236^post125 == 0 /\ r_252^0-r_252^post125 == 0 /\ rcd_113^0-rcd_113^post125 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post125 == 0 /\ l_27^0-l_27^post125 == 0 /\ -nondet_12^post125+nondet_12^0 == 0 /\ -r_188^post125+r_188^0 == 0 /\ i_33^0-i_33^post125 == 0 /\ rcd_105^0-rcd_105^post125 == 0 /\ i_120^0-i_120^post125 == 0 /\ -x_23^post125+x_23^0 == 0 /\ -a_220^post125+a_220^0 == 0 /\ rcd_248^0-rcd_248^post125 == 0 /\ -result_11^post125+result_11^0 == 0 /\ -rcd_367^post125+rcd_367^0 == 0 /\ -temp_38^post125+temp_38^0 == 0 /\ 1+t_24^0-y_22^0 <= 0 /\ r_42^0-r_42^post125 == 0 /\ t_30^0-t_30^post125 == 0 /\ -a_388^post125+a_388^0 == 0 /\ -rcd_70^post125+rcd_70^0 == 0 /\ lt_509^0-lt_509^post125 == 0 /\ -rcd_46^post125+rcd_46^0 == 0 /\ -r_247^post125+r_247^0 == 0 /\ -x_19^post125+x_19^0 == 0 /\ r_243^0-r_243^post125 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post125 == 0 /\ -r_245^post125+r_245^0 == 0 /\ a_332^0-a_332^post125 == 0 /\ temp0_18^0-temp0_18^post125 == 0 /\ -a_173^post125+a_173^0 == 0 /\ -rcd_244^post125+rcd_244^0 == 0), cost: 1
 126: l77 -> l55 : a_148^0'=a_148^post126, r_258^0'=r_258^post126, i_33^0'=i_33^post126, r_167^0'=r_167^post126, t_30^0'=t_30^post126, a_358^0'=a_358^post126, r_42^0'=r_42^post126, len_275^0'=len_275^post126, rcd_409^0'=rcd_409^post126, r_243^0'=r_243^post126, r_246^0'=r_246^post126, x_SLAM_f_21^0'=x_SLAM_f_21^post126, head_35^0'=head_35^post126, rcd_248^0'=rcd_248^post126, lt_509^0'=lt_509^post126, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post126, a_220^0'=a_220^post126, r_272^0'=r_272^post126, rcd_363^0'=rcd_363^post126, r_196^0'=r_196^post126, temp0_34^0'=temp0_34^post126, c_28^0'=c_28^post126, rcd_113^0'=rcd_113^post126, length_32^0'=length_32^post126, rcd_46^0'=rcd_46^post126, r_252^0'=r_252^post126, i_120^0'=i_120^post126, rcd_273^0'=rcd_273^post126, r_159^0'=r_159^post126, t_24^0'=t_24^post126, a_332^0'=a_332^post126, r_29^0'=r_29^post126, len_205^0'=len_205^post126, rcd_387^0'=rcd_387^post126, r_236^0'=r_236^post126, tmp_37^0'=tmp_37^post126, x_23^0'=x_23^post126, head_13^0'=head_13^post126, rcd_244^0'=rcd_244^post126, lt_397^0'=lt_397^post126, result_11^0'=result_11^post126, a_173^0'=a_173^post126, r_266^0'=r_266^post126, l_27^0'=l_27^post126, r_188^0'=r_188^post126, temp0_18^0'=temp0_18^post126, a_388^0'=a_388^post126, rcd_105^0'=rcd_105^post126, len_297^0'=len_297^post126, rcd_427^0'=rcd_427^post126, r_245^0'=r_245^post126, r_247^0'=r_247^post126, y_22^0'=y_22^post126, i_111^0'=i_111^post126, rcd_253^0'=rcd_253^post126, nondet_12^0'=nondet_12^post126, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post126, a_276^0'=a_276^post126, r_274^0'=r_274^post126, rcd_367^0'=rcd_367^post126, r_234^0'=r_234^post126, temp_38^0'=temp_38^post126, x_19^0'=x_19^post126, ct_20^0'=ct_20^post126, rcd_235^0'=rcd_235^post126, lt_17^0'=lt_17^post126, rcd_70^0'=rcd_70^post126, (0 == 0 /\ -lt_397^post126+lt_397^0 == 0 /\ r_258^0-r_258^post126 == 0 /\ i_33^0-i_33^post126 == 0 /\ -r_196^post126+r_196^0 == 0 /\ i_120^0-i_120^post126 == 0 /\ rcd_244^0-rcd_244^post126 == 0 /\ -rcd_113^post126+rcd_113^0 == 0 /\ -a_388^post126+a_388^0 == 0 /\ -r_274^post126+r_274^0 == 0 /\ -rcd_253^post126+rcd_253^0 == 0 /\ -rcd_70^post126+rcd_70^0 == 0 /\ r_42^0-r_42^post126 == 0 /\ -t_24^post126+t_24^0 == 0 /\ r_245^0-r_245^post126 == 0 /\ -x_19^post126+x_19^0 == 0 /\ -1-a_332^0+len_297^post126 <= 0 /\ -y_22^post126+y_22^0 == 0 /\ -len_205^post126+len_205^0 == 0 /\ rcd_46^0-rcd_46^post126 == 0 /\ c_28^0-c_28^post126 == 0 /\ -r_272^post126+r_272^0 == 0 /\ a_332^0-a_332^post126 == 0 /\ rcd_248^0-rcd_248^post126 == 0 /\ -rcd_427^post126+rcd_427^0 == 0 /\ -r_159^post126+r_159^0 == 0 /\ -x_23^post126+x_23^0 == 0 /\ t_30^0-t_30^post126 == 0 /\ -lt_17^post126+lt_17^0 == 0 /\ -nondet_12^post126+nondet_12^0 == 0 /\ -i_111^post126+i_111^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post126 == 0 /\ -lt_509^post126+lt_509^0 == 0 /\ a_276^0-a_276^post126 == 0 /\ rcd_363^0-rcd_363^post126 == 0 /\ a_220^0-a_220^post126 == 0 /\ -r_266^post126+r_266^0 == 0 /\ -a_358^post126+a_358^0 == 0 /\ rcd_409^0-rcd_409^post126 == 0 /\ -l_27^post126+l_27^0 == 0 /\ tmp_37^0-tmp_37^post126 == 0 /\ head_35^0-head_35^post126 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -r_234^post126+r_234^0 == 0 /\ -head_13^post126+head_13^0 == 0 /\ rcd_273^0-rcd_273^post126 == 0 /\ -a_173^post126+a_173^0 == 0 /\ rcd_367^0-rcd_367^post126 == 0 /\ length_32^0-length_32^post126 == 0 /\ r_252^0-r_252^post126 == 0 /\ -temp0_18^post126+temp0_18^0 == 0 /\ 1+a_332^0-len_297^post126 <= 0 /\ -rcd_235^post126+rcd_235^0 == 0 /\ a_148^0-a_148^post126 == 0 /\ temp0_34^0-temp0_34^post126 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post126+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_387^0-rcd_387^post126 == 0 /\ -rcd_105^post126+rcd_105^0 == 0 /\ r_246^0-r_246^post126 == 0 /\ len_275^0-len_275^post126 == 0 /\ -r_188^post126+r_188^0 == 0 /\ r_243^0-r_243^post126 == 0 /\ -r_236^post126+r_236^0 == 0 /\ r_167^0-r_167^post126 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -temp_38^post126+temp_38^0 == 0 /\ -r_247^post126+r_247^0 == 0 /\ r_29^0-r_29^post126 == 0 /\ -ct_20^post126+ct_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post126 == 0 /\ result_11^0-result_11^post126 == 0), cost: 1
 127: l78 -> l54 : a_148^0'=a_148^post127, r_258^0'=r_258^post127, i_33^0'=i_33^post127, r_167^0'=r_167^post127, t_30^0'=t_30^post127, a_358^0'=a_358^post127, r_42^0'=r_42^post127, len_275^0'=len_275^post127, rcd_409^0'=rcd_409^post127, r_243^0'=r_243^post127, r_246^0'=r_246^post127, x_SLAM_f_21^0'=x_SLAM_f_21^post127, head_35^0'=head_35^post127, rcd_248^0'=rcd_248^post127, lt_509^0'=lt_509^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post127, a_220^0'=a_220^post127, r_272^0'=r_272^post127, rcd_363^0'=rcd_363^post127, r_196^0'=r_196^post127, temp0_34^0'=temp0_34^post127, c_28^0'=c_28^post127, rcd_113^0'=rcd_113^post127, length_32^0'=length_32^post127, rcd_46^0'=rcd_46^post127, r_252^0'=r_252^post127, i_120^0'=i_120^post127, rcd_273^0'=rcd_273^post127, r_159^0'=r_159^post127, t_24^0'=t_24^post127, a_332^0'=a_332^post127, r_29^0'=r_29^post127, len_205^0'=len_205^post127, rcd_387^0'=rcd_387^post127, r_236^0'=r_236^post127, tmp_37^0'=tmp_37^post127, x_23^0'=x_23^post127, head_13^0'=head_13^post127, rcd_244^0'=rcd_244^post127, lt_397^0'=lt_397^post127, result_11^0'=result_11^post127, a_173^0'=a_173^post127, r_266^0'=r_266^post127, l_27^0'=l_27^post127, r_188^0'=r_188^post127, temp0_18^0'=temp0_18^post127, a_388^0'=a_388^post127, rcd_105^0'=rcd_105^post127, len_297^0'=len_297^post127, rcd_427^0'=rcd_427^post127, r_245^0'=r_245^post127, r_247^0'=r_247^post127, y_22^0'=y_22^post127, i_111^0'=i_111^post127, rcd_253^0'=rcd_253^post127, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post127, a_276^0'=a_276^post127, r_274^0'=r_274^post127, rcd_367^0'=rcd_367^post127, r_234^0'=r_234^post127, temp_38^0'=temp_38^post127, x_19^0'=x_19^post127, ct_20^0'=ct_20^post127, rcd_235^0'=rcd_235^post127, lt_17^0'=lt_17^post127, rcd_70^0'=rcd_70^post127, (0 == 0 /\ -rcd_235^post127+rcd_235^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post127-length_32^post127 <= 0 /\ -rcd_427^post127+rcd_427^0 == 0 /\ i_33^post127 <= 0 /\ i_33^post127 == 0 /\ a_148^0-a_148^post127 == 0 /\ len_275^0-len_275^post127 == 0 /\ c_28^0-c_28^post127 == 0 /\ -head_13^post127+head_13^0 == 0 /\ -lt_17^post127+lt_17^0 == 0 /\ l_27^0-l_27^post127 == 0 /\ -r_234^post127+r_234^0 == 0 /\ r_29^0-r_29^post127 == 0 /\ r_243^0-r_243^post127 == 0 /\ -r_247^post127+r_247^0 == 0 /\ -r_245^post127+r_245^0 == 0 /\ r_266^0-r_266^post127 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post127 == 0 /\ lt_397^0-lt_397^post127 == 0 /\ -rcd_273^post127+rcd_273^0 == 0 /\ -len_297^post127+len_297^0 == 0 /\ rcd_409^0-rcd_409^post127 == 0 /\ -a_276^post127+a_276^0 == 0 /\ -i_33^post127 <= 0 /\ -rcd_387^post127+rcd_387^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post127+length_32^post127 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post127+length_32^post127 == 0 /\ rcd_363^0-rcd_363^post127 == 0 /\ -ct_20^post127+ct_20^0 == 0 /\ -rcd_244^post127+rcd_244^0 == 0 /\ -r_252^post127+r_252^0 == 0 /\ -head_35^post127 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post127+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ temp0_34^0-temp0_34^post127 == 0 /\ r_258^0-r_258^post127 == 0 /\ -y_22^post127+y_22^0 == 0 /\ r_42^0-r_42^post127 == 0 /\ -r_236^post127+r_236^0 == 0 /\ -a_332^post127+a_332^0 == 0 /\ r_159^0-r_159^post127 == 0 /\ -rcd_367^post127+rcd_367^0 == 0 /\ x_23^0-x_23^post127 == 0 /\ head_35^post127 <= 0 /\ head_35^post127 == 0 /\ -rcd_113^post127+rcd_113^0 == 0 /\ -r_274^post127+r_274^0 == 0 /\ r_246^0-r_246^post127 == 0 /\ r_272^0-r_272^post127 == 0 /\ -temp_38^post127+temp_38^0 == 0 /\ r_196^0-r_196^post127 == 0 /\ -r_188^post127+r_188^0 == 0 /\ rcd_248^0-rcd_248^post127 == 0 /\ lt_509^0-lt_509^post127 == 0 /\ -rcd_253^post127+rcd_253^0 == 0 /\ -result_11^post127+result_11^0 == 0 /\ r_167^0-r_167^post127 == 0 /\ rcd_105^0-rcd_105^post127 == 0 /\ -t_30^post127+t_30^0 == 0 /\ -tmp_37^post127+tmp_37^0 == 0 /\ -i_111^post127+i_111^0 == 0 /\ i_120^0-i_120^post127 == 0 /\ a_358^0-a_358^post127 == 0 /\ len_205^0-len_205^post127 == 0 /\ a_220^0-a_220^post127 == 0 /\ t_24^0-t_24^post127 == 0 /\ x_19^0-x_19^post127 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post127-nondet_12^10 == 0 /\ -a_388^post127+a_388^0 == 0 /\ -rcd_70^post127+rcd_70^0 == 0 /\ rcd_46^0-rcd_46^post127 == 0 /\ -a_173^post127+a_173^0 == 0 /\ temp0_18^0-temp0_18^post127 == 0), cost: 1
 128: l79 -> l78 : a_148^0'=a_148^post128, r_258^0'=r_258^post128, i_33^0'=i_33^post128, r_167^0'=r_167^post128, t_30^0'=t_30^post128, a_358^0'=a_358^post128, r_42^0'=r_42^post128, len_275^0'=len_275^post128, rcd_409^0'=rcd_409^post128, r_243^0'=r_243^post128, r_246^0'=r_246^post128, x_SLAM_f_21^0'=x_SLAM_f_21^post128, head_35^0'=head_35^post128, rcd_248^0'=rcd_248^post128, lt_509^0'=lt_509^post128, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post128, a_220^0'=a_220^post128, r_272^0'=r_272^post128, rcd_363^0'=rcd_363^post128, r_196^0'=r_196^post128, temp0_34^0'=temp0_34^post128, c_28^0'=c_28^post128, rcd_113^0'=rcd_113^post128, length_32^0'=length_32^post128, rcd_46^0'=rcd_46^post128, r_252^0'=r_252^post128, i_120^0'=i_120^post128, rcd_273^0'=rcd_273^post128, r_159^0'=r_159^post128, t_24^0'=t_24^post128, a_332^0'=a_332^post128, r_29^0'=r_29^post128, len_205^0'=len_205^post128, rcd_387^0'=rcd_387^post128, r_236^0'=r_236^post128, tmp_37^0'=tmp_37^post128, x_23^0'=x_23^post128, head_13^0'=head_13^post128, rcd_244^0'=rcd_244^post128, lt_397^0'=lt_397^post128, result_11^0'=result_11^post128, a_173^0'=a_173^post128, r_266^0'=r_266^post128, l_27^0'=l_27^post128, r_188^0'=r_188^post128, temp0_18^0'=temp0_18^post128, a_388^0'=a_388^post128, rcd_105^0'=rcd_105^post128, len_297^0'=len_297^post128, rcd_427^0'=rcd_427^post128, r_245^0'=r_245^post128, r_247^0'=r_247^post128, y_22^0'=y_22^post128, i_111^0'=i_111^post128, rcd_253^0'=rcd_253^post128, nondet_12^0'=nondet_12^post128, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post128, a_276^0'=a_276^post128, r_274^0'=r_274^post128, rcd_367^0'=rcd_367^post128, r_234^0'=r_234^post128, temp_38^0'=temp_38^post128, x_19^0'=x_19^post128, ct_20^0'=ct_20^post128, rcd_235^0'=rcd_235^post128, lt_17^0'=lt_17^post128, rcd_70^0'=rcd_70^post128, (-temp0_34^post128+temp0_34^0 == 0 /\ r_266^0-r_266^post128 == 0 /\ r_272^0-r_272^post128 == 0 /\ -rcd_235^post128+rcd_235^0 == 0 /\ r_167^0-r_167^post128 == 0 /\ -a_173^post128+a_173^0 == 0 /\ rcd_113^0-rcd_113^post128 == 0 /\ head_13^0-head_13^post128 == 0 /\ r_236^0-r_236^post128 == 0 /\ -r_234^post128+r_234^0 == 0 /\ -rcd_244^post128+rcd_244^0 == 0 /\ len_205^0-len_205^post128 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post128+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post128+rcd_427^0 == 0 /\ lt_509^0-lt_509^post128 == 0 /\ a_358^0-a_358^post128 == 0 /\ r_243^0-r_243^post128 == 0 /\ rcd_387^0-rcd_387^post128 == 0 /\ l_27^0-l_27^post128 == 0 /\ i_33^0-i_33^post128 == 0 /\ head_35^0-head_35^post128 == 0 /\ -rcd_367^post128+rcd_367^0 == 0 /\ -rcd_273^post128+rcd_273^0 == 0 /\ -ct_20^post128+ct_20^0 == 0 /\ -a_220^post128+a_220^0 == 0 /\ t_24^0-t_24^post128 == 0 /\ r_258^0-r_258^post128 == 0 /\ r_247^0-r_247^post128 == 0 /\ -lt_397^post128+lt_397^0 == 0 /\ rcd_363^0-rcd_363^post128 == 0 /\ -tmp_37^post128+tmp_37^0 == 0 /\ len_275^0-len_275^post128 == 0 /\ -r_29^post128+r_29^0 == 0 /\ -len_297^post128+len_297^0 == 0 /\ -a_276^post128+a_276^0 == 0 /\ -rcd_253^post128+rcd_253^0 == 0 /\ r_246^0-r_246^post128 == 0 /\ -i_120^post128+i_120^0 == 0 /\ rcd_46^0-rcd_46^post128 == 0 /\ y_22^0-y_22^post128 == 0 /\ -rcd_248^post128+rcd_248^0 == 0 /\ -i_111^post128+i_111^0 == 0 /\ -temp_38^post128+temp_38^0 == 0 /\ -length_32^post128+length_32^0 == 0 /\ -r_188^post128+r_188^0 == 0 /\ -rcd_70^post128+rcd_70^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post128 == 0 /\ -x_23^post128+x_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post128 == 0 /\ c_28^0-c_28^post128 == 0 /\ -r_274^post128+r_274^0 == 0 /\ rcd_105^0-rcd_105^post128 == 0 /\ x_19^0-x_19^post128 == 0 /\ -r_159^post128+r_159^0 == 0 /\ -r_245^post128+r_245^0 == 0 /\ -result_11^post128+result_11^0 == 0 /\ -lt_17^post128+lt_17^0 == 0 /\ r_42^0-r_42^post128 == 0 /\ t_30^0-t_30^post128 == 0 /\ a_148^0-a_148^post128 == 0 /\ r_252^0-r_252^post128 == 0 /\ -a_388^post128+a_388^0 == 0 /\ r_196^0-r_196^post128 == 0 /\ a_332^0-a_332^post128 == 0 /\ temp0_18^0-temp0_18^post128 == 0 /\ -nondet_12^post128+nondet_12^0 == 0 /\ rcd_409^0-rcd_409^post128 == 0), cost: 1


Applied preprocessing
Original rule:
l0 -> l2 : a_148^0'=a_148^post0, r_258^0'=r_258^post0, i_33^0'=i_33^post0, r_167^0'=r_167^post0, t_30^0'=t_30^post0, a_358^0'=a_358^post0, r_42^0'=r_42^post0, len_275^0'=len_275^post0, rcd_409^0'=rcd_409^post0, r_243^0'=r_243^post0, r_246^0'=r_246^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post0, head_35^0'=head_35^post0, rcd_248^0'=rcd_248^post0, lt_509^0'=lt_509^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post0, a_220^0'=a_220^post0, r_272^0'=r_272^post0, rcd_363^0'=rcd_363^post0, r_196^0'=r_196^post0, temp0_34^0'=temp0_34^post0, c_28^0'=c_28^post0, rcd_113^0'=rcd_113^post0, length_32^0'=length_32^post0, rcd_46^0'=rcd_46^post0, r_252^0'=r_252^post0, i_120^0'=i_120^post0, rcd_273^0'=rcd_273^post0, r_159^0'=r_159^post0, t_24^0'=t_24^post0, a_332^0'=a_332^post0, r_29^0'=r_29^post0, len_205^0'=len_205^post0, rcd_387^0'=rcd_387^post0, r_236^0'=r_236^post0, tmp_37^0'=tmp_37^post0, x_23^0'=x_23^post0, head_13^0'=head_13^post0, rcd_244^0'=rcd_244^post0, lt_397^0'=lt_397^post0, result_11^0'=result_11^post0, a_173^0'=a_173^post0, r_266^0'=r_266^post0, l_27^0'=l_27^post0, r_188^0'=r_188^post0, temp0_18^0'=temp0_18^post0, a_388^0'=a_388^post0, rcd_105^0'=rcd_105^post0, len_297^0'=len_297^post0, rcd_427^0'=rcd_427^post0, r_245^0'=r_245^post0, r_247^0'=r_247^post0, y_22^0'=y_22^post0, i_111^0'=i_111^post0, rcd_253^0'=rcd_253^post0, nondet_12^0'=nondet_12^post0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, a_276^0'=a_276^post0, r_274^0'=r_274^post0, rcd_367^0'=rcd_367^post0, r_234^0'=r_234^post0, temp_38^0'=temp_38^post0, x_19^0'=x_19^post0, ct_20^0'=ct_20^post0, rcd_235^0'=rcd_235^post0, lt_17^0'=lt_17^post0, rcd_70^0'=rcd_70^post0, (0 == 0 /\ r_245^0-r_245^post0 == 0 /\ r_236^0-r_236^post0 == 0 /\ -lt_17^post0+lt_17^0 == 0 /\ -a_173^post0+a_173^0 == 0 /\ x_SLAM_f_21^post0-x_23^post0 <= 0 /\ -len_205^post0+len_205^0 == 0 /\ -a_220^0 <= 0 /\ -rcd_363^post0+rcd_363^0 == 0 /\ -r_266^post0+r_266^0 == 0 /\ result_11^0-result_11^post0 == 0 /\ tmp_37^0-tmp_37^post0 == 0 /\ i_33^0-i_33^post0 == 0 /\ -rcd_427^post0+rcd_427^0 == 0 /\ r_42^0-r_42^post0 == 0 /\ -a_276^post0+a_276^0 == 0 /\ x_23^post0-lt_17^0 <= 0 /\ -r_247^post0+r_247^0 == 0 /\ -x_SLAM_f_21^post0+lt_17^0 <= 0 /\ i_120^0-i_120^post0 == 0 /\ length_32^0-length_32^post0 == 0 /\ -rcd_273^post0+rcd_273^0 == 0 /\ -rcd_253^post0+rcd_253^0 == 0 /\ lt_509^0-lt_509^post0 == 0 /\ -rcd_235^post0+rcd_235^0 == 0 /\ c_28^0 <= 0 /\ -r_234^post0+r_234^0 == 0 /\ -x_SLAM_f_21^post0+x_23^post0 <= 0 /\ -x_SLAM_f_21^post0+x_23^post0 == 0 /\ -lt_397^post0+lt_397^0 == 0 /\ rcd_244^0-rcd_244^post0 == 0 /\ 1+len_205^0-len_297^0 <= 0 /\ a_332^0-a_332^post0 == 0 /\ r_252^0-r_252^post0 == 0 /\ ct_20^post0 <= 0 /\ ct_20^post0 == 0 /\ -x_23^post0+lt_17^0 <= 0 /\ -temp0_18^post0+temp0_18^0 == 0 /\ -r_274^post0+r_274^0 == 0 /\ x_SLAM_f_21^post0-lt_17^0 <= 0 /\ -r_188^post0+r_188^0 == 0 /\ -x_SLAM_f_21^post0+x_19^post0 <= 0 /\ -rcd_367^post0+rcd_367^0 == 0 /\ x_19^post0-lt_17^0 <= 0 /\ x_19^post0-lt_17^0 == 0 /\ rcd_248^0-rcd_248^post0 == 0 /\ a_148^0-a_148^post0 == 0 /\ ct_20^post0-y_22^post0 <= 0 /\ a_358^0-a_358^post0 == 0 /\ rcd_409^0-rcd_409^post0 == 0 /\ rcd_113^0-rcd_113^post0 == 0 /\ head_13^0-head_13^post0 == 0 /\ head_35^0-head_35^post0 == 0 /\ -r_258^post0+r_258^0 == 0 /\ -i_111^post0+i_111^0 == 0 /\ -len_205^0 <= 0 /\ r_272^0-r_272^post0 == 0 /\ temp_38^0-temp_38^post0 == 0 /\ rcd_387^0-rcd_387^post0 == 0 /\ a_220^0-a_220^post0 == 0 /\ -rcd_105^post0+rcd_105^0 == 0 /\ -ct_20^post0 <= 0 /\ x_SLAM_f_21^post0-x_19^post0 <= 0 /\ x_SLAM_f_21^post0-x_19^post0 == 0 /\ -x_19^post0+lt_17^0 <= 0 /\ -temp0_34^post0+temp0_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -r_159^post0+r_159^0 == 0 /\ len_275^0-len_275^post0 == 0 /\ len_297^0-len_297^post0 == 0 /\ -ct_20^post0+y_22^post0 <= 0 /\ -ct_20^post0+y_22^post0 == 0 /\ -rcd_70^post0+rcd_70^0 == 0 /\ y_22^post0 <= 0 /\ -nondet_12^post0+nondet_12^0 == 0 /\ r_243^0-r_243^post0 == 0 /\ r_246^0-r_246^post0 == 0 /\ -rcd_46^post0+rcd_46^0 == 0 /\ r_196^0-r_196^post0 == 0 /\ -a_388^post0+a_388^0 == 0 /\ r_167^0-r_167^post0 == 0 /\ -y_22^post0 <= 0 /\ -1-len_205^0+len_297^0 <= 0 /\ -c_28^0 <= 0 /\ -t_24^post0+t_24^0 == 0), cost: 1
New rule:
l0 -> l2 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l2 -> l3 : a_148^0'=a_148^post1, r_258^0'=r_258^post1, i_33^0'=i_33^post1, r_167^0'=r_167^post1, t_30^0'=t_30^post1, a_358^0'=a_358^post1, r_42^0'=r_42^post1, len_275^0'=len_275^post1, rcd_409^0'=rcd_409^post1, r_243^0'=r_243^post1, r_246^0'=r_246^post1, x_SLAM_f_21^0'=x_SLAM_f_21^post1, head_35^0'=head_35^post1, rcd_248^0'=rcd_248^post1, lt_509^0'=lt_509^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post1, a_220^0'=a_220^post1, r_272^0'=r_272^post1, rcd_363^0'=rcd_363^post1, r_196^0'=r_196^post1, temp0_34^0'=temp0_34^post1, c_28^0'=c_28^post1, rcd_113^0'=rcd_113^post1, length_32^0'=length_32^post1, rcd_46^0'=rcd_46^post1, r_252^0'=r_252^post1, i_120^0'=i_120^post1, rcd_273^0'=rcd_273^post1, r_159^0'=r_159^post1, t_24^0'=t_24^post1, a_332^0'=a_332^post1, r_29^0'=r_29^post1, len_205^0'=len_205^post1, rcd_387^0'=rcd_387^post1, r_236^0'=r_236^post1, tmp_37^0'=tmp_37^post1, x_23^0'=x_23^post1, head_13^0'=head_13^post1, rcd_244^0'=rcd_244^post1, lt_397^0'=lt_397^post1, result_11^0'=result_11^post1, a_173^0'=a_173^post1, r_266^0'=r_266^post1, l_27^0'=l_27^post1, r_188^0'=r_188^post1, temp0_18^0'=temp0_18^post1, a_388^0'=a_388^post1, rcd_105^0'=rcd_105^post1, len_297^0'=len_297^post1, rcd_427^0'=rcd_427^post1, r_245^0'=r_245^post1, r_247^0'=r_247^post1, y_22^0'=y_22^post1, i_111^0'=i_111^post1, rcd_253^0'=rcd_253^post1, nondet_12^0'=nondet_12^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, a_276^0'=a_276^post1, r_274^0'=r_274^post1, rcd_367^0'=rcd_367^post1, r_234^0'=r_234^post1, temp_38^0'=temp_38^post1, x_19^0'=x_19^post1, ct_20^0'=ct_20^post1, rcd_235^0'=rcd_235^post1, lt_17^0'=lt_17^post1, rcd_70^0'=rcd_70^post1, (-rcd_70^post1+rcd_70^0 == 0 /\ -r_196^post1+r_196^0 == 0 /\ a_358^0-a_358^post1 == 0 /\ -y_22^post1+y_22^0 == 0 /\ -len_205^post1+len_205^0 == 0 /\ -a_276^post1+a_276^0 == 0 /\ -rcd_253^post1+rcd_253^0 == 0 /\ -rcd_113^post1+rcd_113^0 == 0 /\ -x_19^post1+x_19^0 == 0 /\ a_148^0-a_148^post1 == 0 /\ len_275^0-len_275^post1 == 0 /\ x_23^0-x_23^post1 == 0 /\ -r_274^post1+r_274^0 == 0 /\ rcd_248^0-rcd_248^post1 == 0 /\ temp0_34^0-temp0_34^post1 == 0 /\ rcd_409^0-rcd_409^post1 == 0 /\ a_173^0-a_173^post1 == 0 /\ -temp0_18^post1+temp0_18^0 == 0 /\ c_28^0-c_28^post1 == 0 /\ rcd_46^0-rcd_46^post1 == 0 /\ r_272^0-r_272^post1 == 0 /\ lt_397^0-lt_397^post1 == 0 /\ r_243^0-r_243^post1 == 0 /\ r_167^0-r_167^post1 == 0 /\ -r_266^post1+r_266^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post1 == 0 /\ -i_111^post1+i_111^0 == 0 /\ -lt_17^post1+lt_17^0 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ r_159^0-r_159^post1 == 0 /\ -result_11^post1+result_11^0 == 0 /\ rcd_244^0-rcd_244^post1 == 0 /\ -l_27^post1+l_27^0 == 0 /\ i_33^0-i_33^post1 == 0 /\ rcd_363^0-rcd_363^post1 == 0 /\ -r_234^post1+r_234^0 == 0 /\ tmp_37^0-tmp_37^post1 == 0 /\ r_258^0-r_258^post1 == 0 /\ -a_332^post1+a_332^0 == 0 /\ r_29^0-r_29^post1 == 0 /\ -r_245^post1+r_245^0 == 0 /\ -head_35^post1+head_35^0 == 0 /\ r_42^0-r_42^post1 == 0 /\ i_120^0-i_120^post1 == 0 /\ rcd_367^0-rcd_367^post1 == 0 /\ -rcd_235^post1+rcd_235^0 == 0 /\ length_32^0-length_32^post1 == 0 /\ -len_297^post1+len_297^0 == 0 /\ -r_188^post1+r_188^0 == 0 /\ r_246^0-r_246^post1 == 0 /\ -temp_38^post1+temp_38^0 == 0 /\ -head_13^post1+head_13^0 == 0 /\ 1-lt_17^0 <= 0 /\ -r_252^post1+r_252^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post1 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_388^0-a_388^post1 == 0 /\ -t_24^post1+t_24^0 == 0 /\ rcd_427^0-rcd_427^post1 == 0 /\ -r_247^post1+r_247^0 == 0 /\ -r_236^post1+r_236^0 == 0 /\ -rcd_387^post1+rcd_387^0 == 0 /\ rcd_273^0-rcd_273^post1 == 0 /\ t_30^0-t_30^post1 == 0 /\ -ct_20^post1+ct_20^0 == 0 /\ -rcd_105^post1+rcd_105^0 == 0 /\ lt_509^0-lt_509^post1 == 0 /\ -a_220^post1+a_220^0 == 0), cost: 1
New rule:
l2 -> l3 : -1+lt_17^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l2 -> l3 : a_148^0'=a_148^post2, r_258^0'=r_258^post2, i_33^0'=i_33^post2, r_167^0'=r_167^post2, t_30^0'=t_30^post2, a_358^0'=a_358^post2, r_42^0'=r_42^post2, len_275^0'=len_275^post2, rcd_409^0'=rcd_409^post2, r_243^0'=r_243^post2, r_246^0'=r_246^post2, x_SLAM_f_21^0'=x_SLAM_f_21^post2, head_35^0'=head_35^post2, rcd_248^0'=rcd_248^post2, lt_509^0'=lt_509^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post2, a_220^0'=a_220^post2, r_272^0'=r_272^post2, rcd_363^0'=rcd_363^post2, r_196^0'=r_196^post2, temp0_34^0'=temp0_34^post2, c_28^0'=c_28^post2, rcd_113^0'=rcd_113^post2, length_32^0'=length_32^post2, rcd_46^0'=rcd_46^post2, r_252^0'=r_252^post2, i_120^0'=i_120^post2, rcd_273^0'=rcd_273^post2, r_159^0'=r_159^post2, t_24^0'=t_24^post2, a_332^0'=a_332^post2, r_29^0'=r_29^post2, len_205^0'=len_205^post2, rcd_387^0'=rcd_387^post2, r_236^0'=r_236^post2, tmp_37^0'=tmp_37^post2, x_23^0'=x_23^post2, head_13^0'=head_13^post2, rcd_244^0'=rcd_244^post2, lt_397^0'=lt_397^post2, result_11^0'=result_11^post2, a_173^0'=a_173^post2, r_266^0'=r_266^post2, l_27^0'=l_27^post2, r_188^0'=r_188^post2, temp0_18^0'=temp0_18^post2, a_388^0'=a_388^post2, rcd_105^0'=rcd_105^post2, len_297^0'=len_297^post2, rcd_427^0'=rcd_427^post2, r_245^0'=r_245^post2, r_247^0'=r_247^post2, y_22^0'=y_22^post2, i_111^0'=i_111^post2, rcd_253^0'=rcd_253^post2, nondet_12^0'=nondet_12^post2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post2, a_276^0'=a_276^post2, r_274^0'=r_274^post2, rcd_367^0'=rcd_367^post2, r_234^0'=r_234^post2, temp_38^0'=temp_38^post2, x_19^0'=x_19^post2, ct_20^0'=ct_20^post2, rcd_235^0'=rcd_235^post2, lt_17^0'=lt_17^post2, rcd_70^0'=rcd_70^post2, (r_42^0-r_42^post2 == 0 /\ t_30^0-t_30^post2 == 0 /\ -a_388^post2+a_388^0 == 0 /\ a_220^0-a_220^post2 == 0 /\ rcd_363^0-rcd_363^post2 == 0 /\ -r_274^post2+r_274^0 == 0 /\ -i_111^post2+i_111^0 == 0 /\ r_246^0-r_246^post2 == 0 /\ -length_32^post2+length_32^0 == 0 /\ r_258^0-r_258^post2 == 0 /\ -ct_20^post2+ct_20^0 == 0 /\ r_159^0-r_159^post2 == 0 /\ r_196^0-r_196^post2 == 0 /\ r_272^0-r_272^post2 == 0 /\ rcd_113^0-rcd_113^post2 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ rcd_248^0-rcd_248^post2 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post2 == 0 /\ a_358^0-a_358^post2 == 0 /\ -x_19^post2+x_19^0 == 0 /\ -result_11^post2+result_11^0 == 0 /\ -rcd_70^post2+rcd_70^0 == 0 /\ 1+lt_17^0 <= 0 /\ -r_236^post2+r_236^0 == 0 /\ -r_29^post2+r_29^0 == 0 /\ -r_247^post2+r_247^0 == 0 /\ lt_397^0-lt_397^post2 == 0 /\ -head_13^post2+head_13^0 == 0 /\ i_33^0-i_33^post2 == 0 /\ -r_167^post2+r_167^0 == 0 /\ t_24^0-t_24^post2 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_205^0-len_205^post2 == 0 /\ -temp0_18^post2+temp0_18^0 == 0 /\ -len_297^post2+len_297^0 == 0 /\ temp0_34^0-temp0_34^post2 == 0 /\ rcd_427^0-rcd_427^post2 == 0 /\ r_252^0-r_252^post2 == 0 /\ rcd_409^0-rcd_409^post2 == 0 /\ r_234^0-r_234^post2 == 0 /\ -r_245^post2+r_245^0 == 0 /\ rcd_46^0-rcd_46^post2 == 0 /\ -lt_17^post2+lt_17^0 == 0 /\ x_23^0-x_23^post2 == 0 /\ -l_27^post2+l_27^0 == 0 /\ -a_173^post2+a_173^0 == 0 /\ -lt_509^post2+lt_509^0 == 0 /\ rcd_273^0-rcd_273^post2 == 0 /\ len_275^0-len_275^post2 == 0 /\ -tmp_37^post2+tmp_37^0 == 0 /\ -rcd_244^post2+rcd_244^0 == 0 /\ -a_332^post2+a_332^0 == 0 /\ -a_276^post2+a_276^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post2 == 0 /\ r_266^0-r_266^post2 == 0 /\ r_188^0-r_188^post2 == 0 /\ -rcd_105^post2+rcd_105^0 == 0 /\ -y_22^post2+y_22^0 == 0 /\ a_148^0-a_148^post2 == 0 /\ -rcd_367^post2+rcd_367^0 == 0 /\ c_28^0-c_28^post2 == 0 /\ -temp_38^post2+temp_38^0 == 0 /\ -i_120^post2+i_120^0 == 0 /\ -rcd_253^post2+rcd_253^0 == 0 /\ head_35^0-head_35^post2 == 0 /\ r_243^0-r_243^post2 == 0 /\ -rcd_235^post2+rcd_235^0 == 0 /\ -rcd_387^post2+rcd_387^0 == 0), cost: 1
New rule:
l2 -> l3 : 1+lt_17^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l3 -> l4 : a_148^0'=a_148^post3, r_258^0'=r_258^post3, i_33^0'=i_33^post3, r_167^0'=r_167^post3, t_30^0'=t_30^post3, a_358^0'=a_358^post3, r_42^0'=r_42^post3, len_275^0'=len_275^post3, rcd_409^0'=rcd_409^post3, r_243^0'=r_243^post3, r_246^0'=r_246^post3, x_SLAM_f_21^0'=x_SLAM_f_21^post3, head_35^0'=head_35^post3, rcd_248^0'=rcd_248^post3, lt_509^0'=lt_509^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post3, a_220^0'=a_220^post3, r_272^0'=r_272^post3, rcd_363^0'=rcd_363^post3, r_196^0'=r_196^post3, temp0_34^0'=temp0_34^post3, c_28^0'=c_28^post3, rcd_113^0'=rcd_113^post3, length_32^0'=length_32^post3, rcd_46^0'=rcd_46^post3, r_252^0'=r_252^post3, i_120^0'=i_120^post3, rcd_273^0'=rcd_273^post3, r_159^0'=r_159^post3, t_24^0'=t_24^post3, a_332^0'=a_332^post3, r_29^0'=r_29^post3, len_205^0'=len_205^post3, rcd_387^0'=rcd_387^post3, r_236^0'=r_236^post3, tmp_37^0'=tmp_37^post3, x_23^0'=x_23^post3, head_13^0'=head_13^post3, rcd_244^0'=rcd_244^post3, lt_397^0'=lt_397^post3, result_11^0'=result_11^post3, a_173^0'=a_173^post3, r_266^0'=r_266^post3, l_27^0'=l_27^post3, r_188^0'=r_188^post3, temp0_18^0'=temp0_18^post3, a_388^0'=a_388^post3, rcd_105^0'=rcd_105^post3, len_297^0'=len_297^post3, rcd_427^0'=rcd_427^post3, r_245^0'=r_245^post3, r_247^0'=r_247^post3, y_22^0'=y_22^post3, i_111^0'=i_111^post3, rcd_253^0'=rcd_253^post3, nondet_12^0'=nondet_12^post3, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post3, a_276^0'=a_276^post3, r_274^0'=r_274^post3, rcd_367^0'=rcd_367^post3, r_234^0'=r_234^post3, temp_38^0'=temp_38^post3, x_19^0'=x_19^post3, ct_20^0'=ct_20^post3, rcd_235^0'=rcd_235^post3, lt_17^0'=lt_17^post3, rcd_70^0'=rcd_70^post3, (-ct_20^post3+ct_20^0 == 0 /\ lt_509^0-lt_509^post3 == 0 /\ len_275^0-len_275^post3 == 0 /\ -temp_38^post3+temp_38^0 == 0 /\ -length_32^post3+length_32^0 == 0 /\ -r_188^post3+r_188^0 == 0 /\ -nondet_12^post3+nondet_12^0 == 0 /\ -len_297^post3+len_297^0 == 0 /\ t_24^0-t_24^post3 == 0 /\ -x_23^post3+x_23^0 == 0 /\ r_196^0-r_196^post3 == 0 /\ -rcd_46^post3+rcd_46^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post3 == 0 /\ -a_220^post3+a_220^0 == 0 /\ -rcd_367^post3+rcd_367^0 == 0 /\ -a_388^post3+a_388^0 == 0 /\ rcd_409^0-rcd_409^post3 == 0 /\ -x_19^post3+x_19^0 == 0 /\ r_236^0-r_236^post3 == 0 /\ r_247^0-r_247^post3 == 0 /\ r_252^0-r_252^post3 == 0 /\ 1-r_167^0 <= 0 /\ result_11^0-result_11^post3 == 0 /\ i_33^0-i_33^post3 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post3+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ temp0_34^0-temp0_34^post3 == 0 /\ -a_173^post3+a_173^0 == 0 /\ r_42^0-r_42^post3 == 0 /\ rcd_387^0-rcd_387^post3 == 0 /\ a_148^0-a_148^post3 == 0 /\ -r_245^post3+r_245^0 == 0 /\ c_28^0-c_28^post3 == 0 /\ r_246^0-r_246^post3 == 0 /\ -y_22^post3+y_22^0 == 0 /\ -rcd_244^post3+rcd_244^0 == 0 /\ -lt_17^post3+lt_17^0 == 0 /\ r_243^0-r_243^post3 == 0 /\ -t_30^post3+t_30^0 == 0 /\ -rcd_70^post3+rcd_70^0 == 0 /\ r_167^0-r_167^post3 == 0 /\ -len_205^post3+len_205^0 == 0 /\ -rcd_363^post3+rcd_363^0 == 0 /\ -rcd_253^post3+rcd_253^0 == 0 /\ -a_276^post3+a_276^0 == 0 /\ -r_159^post3+r_159^0 == 0 /\ a_332^0-a_332^post3 == 0 /\ temp0_18^0-temp0_18^post3 == 0 /\ head_13^0-head_13^post3 == 0 /\ r_258^0-r_258^post3 == 0 /\ head_35^0-head_35^post3 == 0 /\ -rcd_235^post3+rcd_235^0 == 0 /\ -r_274^post3+r_274^0 == 0 /\ rcd_113^0-rcd_113^post3 == 0 /\ -lt_397^post3+lt_397^0 == 0 /\ rcd_105^0-rcd_105^post3 == 0 /\ -i_111^post3+i_111^0 == 0 /\ a_358^0-a_358^post3 == 0 /\ -rcd_273^post3+rcd_273^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post3 == 0 /\ -r_266^post3+r_266^0 == 0 /\ r_272^0-r_272^post3 == 0 /\ -l_27^post3+l_27^0 == 0 /\ -r_234^post3+r_234^0 == 0 /\ -rcd_427^post3+rcd_427^0 == 0 /\ -tmp_37^post3+tmp_37^0 == 0 /\ i_120^0-i_120^post3 == 0 /\ -r_29^post3+r_29^0 == 0 /\ rcd_248^0-rcd_248^post3 == 0), cost: 1
New rule:
l3 -> l4 : -1+r_167^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l3 -> l4 : a_148^0'=a_148^post4, r_258^0'=r_258^post4, i_33^0'=i_33^post4, r_167^0'=r_167^post4, t_30^0'=t_30^post4, a_358^0'=a_358^post4, r_42^0'=r_42^post4, len_275^0'=len_275^post4, rcd_409^0'=rcd_409^post4, r_243^0'=r_243^post4, r_246^0'=r_246^post4, x_SLAM_f_21^0'=x_SLAM_f_21^post4, head_35^0'=head_35^post4, rcd_248^0'=rcd_248^post4, lt_509^0'=lt_509^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post4, a_220^0'=a_220^post4, r_272^0'=r_272^post4, rcd_363^0'=rcd_363^post4, r_196^0'=r_196^post4, temp0_34^0'=temp0_34^post4, c_28^0'=c_28^post4, rcd_113^0'=rcd_113^post4, length_32^0'=length_32^post4, rcd_46^0'=rcd_46^post4, r_252^0'=r_252^post4, i_120^0'=i_120^post4, rcd_273^0'=rcd_273^post4, r_159^0'=r_159^post4, t_24^0'=t_24^post4, a_332^0'=a_332^post4, r_29^0'=r_29^post4, len_205^0'=len_205^post4, rcd_387^0'=rcd_387^post4, r_236^0'=r_236^post4, tmp_37^0'=tmp_37^post4, x_23^0'=x_23^post4, head_13^0'=head_13^post4, rcd_244^0'=rcd_244^post4, lt_397^0'=lt_397^post4, result_11^0'=result_11^post4, a_173^0'=a_173^post4, r_266^0'=r_266^post4, l_27^0'=l_27^post4, r_188^0'=r_188^post4, temp0_18^0'=temp0_18^post4, a_388^0'=a_388^post4, rcd_105^0'=rcd_105^post4, len_297^0'=len_297^post4, rcd_427^0'=rcd_427^post4, r_245^0'=r_245^post4, r_247^0'=r_247^post4, y_22^0'=y_22^post4, i_111^0'=i_111^post4, rcd_253^0'=rcd_253^post4, nondet_12^0'=nondet_12^post4, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post4, a_276^0'=a_276^post4, r_274^0'=r_274^post4, rcd_367^0'=rcd_367^post4, r_234^0'=r_234^post4, temp_38^0'=temp_38^post4, x_19^0'=x_19^post4, ct_20^0'=ct_20^post4, rcd_235^0'=rcd_235^post4, lt_17^0'=lt_17^post4, rcd_70^0'=rcd_70^post4, (y_22^0-y_22^post4 == 0 /\ -temp0_34^post4+temp0_34^0 == 0 /\ -rcd_235^post4+rcd_235^0 == 0 /\ a_332^0-a_332^post4 == 0 /\ -r_234^post4+r_234^0 == 0 /\ -rcd_46^post4+rcd_46^0 == 0 /\ -head_13^post4+head_13^0 == 0 /\ r_243^0-r_243^post4 == 0 /\ -r_252^post4+r_252^0 == 0 /\ r_167^0-r_167^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post4+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_358^0-a_358^post4 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post4 == 0 /\ l_27^0-l_27^post4 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post4 == 0 /\ temp0_18^0-temp0_18^post4 == 0 /\ rcd_363^0-rcd_363^post4 == 0 /\ -t_24^post4+t_24^0 == 0 /\ -rcd_105^post4+rcd_105^0 == 0 /\ tmp_37^0-tmp_37^post4 == 0 /\ -rcd_367^post4+rcd_367^0 == 0 /\ -ct_20^post4+ct_20^0 == 0 /\ -rcd_387^post4+rcd_387^0 == 0 /\ r_258^0-r_258^post4 == 0 /\ -c_28^post4+c_28^0 == 0 /\ -r_236^post4+r_236^0 == 0 /\ len_275^0-len_275^post4 == 0 /\ i_120^0-i_120^post4 == 0 /\ rcd_248^0-rcd_248^post4 == 0 /\ -temp_38^post4+temp_38^0 == 0 /\ -r_247^post4+r_247^0 == 0 /\ r_245^0-r_245^post4 == 0 /\ -r_188^post4+r_188^0 == 0 /\ -a_276^post4+a_276^0 == 0 /\ a_173^0-a_173^post4 == 0 /\ rcd_113^0-rcd_113^post4 == 0 /\ -rcd_70^post4+rcd_70^0 == 0 /\ r_246^0-r_246^post4 == 0 /\ -i_111^post4+i_111^0 == 0 /\ -rcd_253^post4+rcd_253^0 == 0 /\ 1+r_167^0 <= 0 /\ -a_388^post4+a_388^0 == 0 /\ -r_196^post4+r_196^0 == 0 /\ lt_509^0-lt_509^post4 == 0 /\ -r_274^post4+r_274^0 == 0 /\ -lt_397^post4+lt_397^0 == 0 /\ -rcd_409^post4+rcd_409^0 == 0 /\ r_29^0-r_29^post4 == 0 /\ head_35^0-head_35^post4 == 0 /\ -r_272^post4+r_272^0 == 0 /\ x_19^0-x_19^post4 == 0 /\ a_220^0-a_220^post4 == 0 /\ r_159^0-r_159^post4 == 0 /\ -lt_17^post4+lt_17^0 == 0 /\ rcd_244^0-rcd_244^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -rcd_427^post4+rcd_427^0 == 0 /\ r_42^0-r_42^post4 == 0 /\ -x_23^post4+x_23^0 == 0 /\ t_30^0-t_30^post4 == 0 /\ i_33^0-i_33^post4 == 0 /\ len_297^0-len_297^post4 == 0 /\ -len_205^post4+len_205^0 == 0 /\ rcd_273^0-rcd_273^post4 == 0 /\ a_148^0-a_148^post4 == 0 /\ length_32^0-length_32^post4 == 0 /\ -r_266^post4+r_266^0 == 0 /\ -nondet_12^post4+nondet_12^0 == 0), cost: 1
New rule:
l3 -> l4 : 1+r_167^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l4 -> l1 : a_148^0'=a_148^post5, r_258^0'=r_258^post5, i_33^0'=i_33^post5, r_167^0'=r_167^post5, t_30^0'=t_30^post5, a_358^0'=a_358^post5, r_42^0'=r_42^post5, len_275^0'=len_275^post5, rcd_409^0'=rcd_409^post5, r_243^0'=r_243^post5, r_246^0'=r_246^post5, x_SLAM_f_21^0'=x_SLAM_f_21^post5, head_35^0'=head_35^post5, rcd_248^0'=rcd_248^post5, lt_509^0'=lt_509^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post5, a_220^0'=a_220^post5, r_272^0'=r_272^post5, rcd_363^0'=rcd_363^post5, r_196^0'=r_196^post5, temp0_34^0'=temp0_34^post5, c_28^0'=c_28^post5, rcd_113^0'=rcd_113^post5, length_32^0'=length_32^post5, rcd_46^0'=rcd_46^post5, r_252^0'=r_252^post5, i_120^0'=i_120^post5, rcd_273^0'=rcd_273^post5, r_159^0'=r_159^post5, t_24^0'=t_24^post5, a_332^0'=a_332^post5, r_29^0'=r_29^post5, len_205^0'=len_205^post5, rcd_387^0'=rcd_387^post5, r_236^0'=r_236^post5, tmp_37^0'=tmp_37^post5, x_23^0'=x_23^post5, head_13^0'=head_13^post5, rcd_244^0'=rcd_244^post5, lt_397^0'=lt_397^post5, result_11^0'=result_11^post5, a_173^0'=a_173^post5, r_266^0'=r_266^post5, l_27^0'=l_27^post5, r_188^0'=r_188^post5, temp0_18^0'=temp0_18^post5, a_388^0'=a_388^post5, rcd_105^0'=rcd_105^post5, len_297^0'=len_297^post5, rcd_427^0'=rcd_427^post5, r_245^0'=r_245^post5, r_247^0'=r_247^post5, y_22^0'=y_22^post5, i_111^0'=i_111^post5, rcd_253^0'=rcd_253^post5, nondet_12^0'=nondet_12^post5, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post5, a_276^0'=a_276^post5, r_274^0'=r_274^post5, rcd_367^0'=rcd_367^post5, r_234^0'=r_234^post5, temp_38^0'=temp_38^post5, x_19^0'=x_19^post5, ct_20^0'=ct_20^post5, rcd_235^0'=rcd_235^post5, lt_17^0'=lt_17^post5, rcd_70^0'=rcd_70^post5, (rcd_253^0-rcd_253^post5 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post5+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_272^0-r_272^post5 == 0 /\ -r_236^post5+r_236^0 == 0 /\ i_111^0-i_111^post5 == 0 /\ -r_245^post5+r_245^0 == 0 /\ c_28^0-c_28^post5 == 0 /\ -rcd_244^post5+rcd_244^0 == 0 /\ head_35^0-head_35^post5 == 0 /\ -r_247^post5+r_247^0 == 0 /\ -lt_17^post5+lt_17^0 == 0 /\ a_358^0-a_358^post5 == 0 /\ r_29^0-r_29^post5 == 0 /\ -l_27^post5+l_27^0 == 0 /\ t_30^0-t_30^post5 == 0 /\ -len_297^post5+len_297^0 == 0 /\ x_23^0-x_23^post5 == 0 /\ -r_234^post5+r_234^0 == 0 /\ -r_266^post5+r_266^0 == 0 /\ -a_332^post5+a_332^0 == 0 /\ length_32^0-length_32^post5 == 0 /\ temp0_34^0-temp0_34^post5 == 0 /\ -tmp_37^post5+tmp_37^0 == 0 /\ a_220^0-a_220^post5 == 0 /\ lt_397^0-lt_397^post5 == 0 /\ -a_276^post5+a_276^0 == 0 /\ r_159^0-r_159^post5 == 0 /\ -temp0_18^post5+temp0_18^0 == 0 /\ -rcd_113^post5+rcd_113^0 == 0 /\ -rcd_387^post5+rcd_387^0 == 0 /\ -y_22^post5+y_22^0 == 0 /\ -rcd_235^post5+rcd_235^0 == 0 /\ len_275^0-len_275^post5 == 0 /\ r_196^0-r_196^post5 == 0 /\ -r_252^post5+r_252^0 == 0 /\ a_148^0-a_148^post5 == 0 /\ rcd_248^0-rcd_248^post5 == 0 /\ -r_274^post5+r_274^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post5 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ r_167^0-r_167^post5 == 0 /\ -r_188^post5+r_188^0 == 0 /\ -rcd_367^post5+rcd_367^0 == 0 /\ -temp_38^post5+temp_38^0 == 0 /\ -r_246^post5+r_246^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post5 == 0 /\ i_33^0-i_33^post5 == 0 /\ i_120^0-i_120^post5 == 0 /\ -rcd_105^post5+rcd_105^0 == 0 /\ -result_11^post5+result_11^0 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ rcd_273^0-rcd_273^post5 == 0 /\ -lt_509^post5+lt_509^0 == 0 /\ r_243^0-r_243^post5 == 0 /\ len_205^0-len_205^post5 == 0 /\ r_42^0-r_42^post5 == 0 /\ ct_20^0-ct_20^post5 == 0 /\ t_24^0-t_24^post5 == 0 /\ a_173^0-a_173^post5 == 0 /\ rcd_409^0-rcd_409^post5 == 0 /\ -x_19^post5+x_19^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -a_388^post5+a_388^0 == 0 /\ rcd_363^0-rcd_363^post5 == 0 /\ rcd_46^0-rcd_46^post5 == 0 /\ r_258^0-r_258^post5 == 0 /\ -head_13^post5+head_13^0 == 0 /\ -rcd_70^post5+rcd_70^0 == 0 /\ rcd_427^0-rcd_427^post5 == 0), cost: 1
New rule:
l4 -> l1 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l0 -> l6 : a_148^0'=a_148^post6, r_258^0'=r_258^post6, i_33^0'=i_33^post6, r_167^0'=r_167^post6, t_30^0'=t_30^post6, a_358^0'=a_358^post6, r_42^0'=r_42^post6, len_275^0'=len_275^post6, rcd_409^0'=rcd_409^post6, r_243^0'=r_243^post6, r_246^0'=r_246^post6, x_SLAM_f_21^0'=x_SLAM_f_21^post6, head_35^0'=head_35^post6, rcd_248^0'=rcd_248^post6, lt_509^0'=lt_509^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post6, a_220^0'=a_220^post6, r_272^0'=r_272^post6, rcd_363^0'=rcd_363^post6, r_196^0'=r_196^post6, temp0_34^0'=temp0_34^post6, c_28^0'=c_28^post6, rcd_113^0'=rcd_113^post6, length_32^0'=length_32^post6, rcd_46^0'=rcd_46^post6, r_252^0'=r_252^post6, i_120^0'=i_120^post6, rcd_273^0'=rcd_273^post6, r_159^0'=r_159^post6, t_24^0'=t_24^post6, a_332^0'=a_332^post6, r_29^0'=r_29^post6, len_205^0'=len_205^post6, rcd_387^0'=rcd_387^post6, r_236^0'=r_236^post6, tmp_37^0'=tmp_37^post6, x_23^0'=x_23^post6, head_13^0'=head_13^post6, rcd_244^0'=rcd_244^post6, lt_397^0'=lt_397^post6, result_11^0'=result_11^post6, a_173^0'=a_173^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, r_188^0'=r_188^post6, temp0_18^0'=temp0_18^post6, a_388^0'=a_388^post6, rcd_105^0'=rcd_105^post6, len_297^0'=len_297^post6, rcd_427^0'=rcd_427^post6, r_245^0'=r_245^post6, r_247^0'=r_247^post6, y_22^0'=y_22^post6, i_111^0'=i_111^post6, rcd_253^0'=rcd_253^post6, nondet_12^0'=nondet_12^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=a_276^post6, r_274^0'=r_274^post6, rcd_367^0'=rcd_367^post6, r_234^0'=r_234^post6, temp_38^0'=temp_38^post6, x_19^0'=x_19^post6, ct_20^0'=ct_20^post6, rcd_235^0'=rcd_235^post6, lt_17^0'=lt_17^post6, rcd_70^0'=rcd_70^post6, (0 == 0 /\ r_252^0-r_252^post6 == 0 /\ r_247^0-r_247^post6 == 0 /\ -tmp_37^post6+tmp_37^0 == 0 /\ r_236^0-r_236^post6 == 0 /\ -a_276^post6+a_276^0 == 0 /\ -y_22^post6+y_22^0 == 0 /\ -a_220^0 <= 0 /\ -rcd_363^post6+rcd_363^0 == 0 /\ -rcd_253^post6+rcd_253^0 == 0 /\ -rcd_70^post6+rcd_70^0 == 0 /\ -r_159^post6+r_159^0 == 0 /\ rcd_113^0-rcd_113^post6 == 0 /\ i_33^0-i_33^post6 == 0 /\ rcd_387^0-rcd_387^post6 == 0 /\ r_42^0-r_42^post6 == 0 /\ a_148^0-a_148^post6 == 0 /\ len_205^0-len_205^post6 == 0 /\ rcd_46^0-rcd_46^post6 == 0 /\ -r_274^post6+r_274^0 == 0 /\ c_28^0-c_28^post6 == 0 /\ -r_29^post6+r_29^0 == 0 /\ a_388^0-a_388^post6 == 0 /\ rcd_273^0-rcd_273^post6 == 0 /\ lt_509^0-lt_509^post6 == 0 /\ -i_111^post6+i_111^0 == 0 /\ -lt_17^post6+lt_17^0 == 0 /\ nondet_12^0-nondet_12^post6 == 0 /\ -length_32^post6+length_32^0 == 0 /\ t_24^0-t_24^post6 == 0 /\ -rcd_427^post6+rcd_427^0 == 0 /\ t_30^0-t_30^post6 == 0 /\ -r_234^post6+r_234^0 == 0 /\ -result_11^post6+result_11^0 == 0 /\ r_167^0-r_167^post6 == 0 /\ a_358^0-a_358^post6 == 0 /\ -x_SLAM_f_21^post6+x_SLAM_f_21^0 == 0 /\ rcd_409^0-rcd_409^post6 == 0 /\ head_35^0-head_35^post6 == 0 /\ -len_205^0 <= 0 /\ r_272^0-r_272^post6 == 0 /\ -r_243^post6+r_243^0 == 0 /\ -rcd_367^post6+rcd_367^0 == 0 /\ x_23^0-x_23^post6 == 0 /\ a_220^0-a_220^post6 == 0 /\ -i_120^post6+i_120^0 == 0 /\ -temp0_18^post6+temp0_18^0 == 0 /\ -len_297^post6+len_297^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -temp0_34^post6+temp0_34^0 == 0 /\ rcd_235^0-rcd_235^post6 == 0 /\ -temp_38^post6+temp_38^0 == 0 /\ -x_19^post6+x_19^0 == 0 /\ len_275^0-len_275^post6 == 0 /\ r_246^0-r_246^post6 == 0 /\ -a_173^post6+a_173^0 == 0 /\ -rcd_248^post6+rcd_248^0 == 0 /\ r_196^0-r_196^post6 == 0 /\ lt_397^0-lt_397^post6 == 0 /\ a_332^0-a_332^post6 == 0 /\ -rcd_244^post6+rcd_244^0 == 0 /\ -rcd_105^post6+rcd_105^0 == 0 /\ -ct_20^post6+ct_20^0 == 0 /\ -r_245^post6+r_245^0 == 0 /\ r_188^0-r_188^post6 == 0), cost: 1
New rule:
l0 -> l6 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, (a_220^0 >= 0 /\ len_205^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l6 -> l7 : a_148^0'=a_148^post7, r_258^0'=r_258^post7, i_33^0'=i_33^post7, r_167^0'=r_167^post7, t_30^0'=t_30^post7, a_358^0'=a_358^post7, r_42^0'=r_42^post7, len_275^0'=len_275^post7, rcd_409^0'=rcd_409^post7, r_243^0'=r_243^post7, r_246^0'=r_246^post7, x_SLAM_f_21^0'=x_SLAM_f_21^post7, head_35^0'=head_35^post7, rcd_248^0'=rcd_248^post7, lt_509^0'=lt_509^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post7, a_220^0'=a_220^post7, r_272^0'=r_272^post7, rcd_363^0'=rcd_363^post7, r_196^0'=r_196^post7, temp0_34^0'=temp0_34^post7, c_28^0'=c_28^post7, rcd_113^0'=rcd_113^post7, length_32^0'=length_32^post7, rcd_46^0'=rcd_46^post7, r_252^0'=r_252^post7, i_120^0'=i_120^post7, rcd_273^0'=rcd_273^post7, r_159^0'=r_159^post7, t_24^0'=t_24^post7, a_332^0'=a_332^post7, r_29^0'=r_29^post7, len_205^0'=len_205^post7, rcd_387^0'=rcd_387^post7, r_236^0'=r_236^post7, tmp_37^0'=tmp_37^post7, x_23^0'=x_23^post7, head_13^0'=head_13^post7, rcd_244^0'=rcd_244^post7, lt_397^0'=lt_397^post7, result_11^0'=result_11^post7, a_173^0'=a_173^post7, r_266^0'=r_266^post7, l_27^0'=l_27^post7, r_188^0'=r_188^post7, temp0_18^0'=temp0_18^post7, a_388^0'=a_388^post7, rcd_105^0'=rcd_105^post7, len_297^0'=len_297^post7, rcd_427^0'=rcd_427^post7, r_245^0'=r_245^post7, r_247^0'=r_247^post7, y_22^0'=y_22^post7, i_111^0'=i_111^post7, rcd_253^0'=rcd_253^post7, nondet_12^0'=nondet_12^post7, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post7, a_276^0'=a_276^post7, r_274^0'=r_274^post7, rcd_367^0'=rcd_367^post7, r_234^0'=r_234^post7, temp_38^0'=temp_38^post7, x_19^0'=x_19^post7, ct_20^0'=ct_20^post7, rcd_235^0'=rcd_235^post7, lt_17^0'=lt_17^post7, rcd_70^0'=rcd_70^post7, (-a_388^post7+a_388^0 == 0 /\ -i_111^post7+i_111^0 == 0 /\ tmp_37^0-tmp_37^post7 == 0 /\ a_358^0-a_358^post7 == 0 /\ len_205^0-len_205^post7 == 0 /\ -rcd_253^post7+rcd_253^0 == 0 /\ -rcd_70^post7+rcd_70^0 == 0 /\ rcd_363^0-rcd_363^post7 == 0 /\ -x_19^post7+x_19^0 == 0 /\ length_32^0-length_32^post7 == 0 /\ a_148^0-a_148^post7 == 0 /\ len_275^0-len_275^post7 == 0 /\ -r_196^post7+r_196^0 == 0 /\ rcd_409^0-rcd_409^post7 == 0 /\ -r_274^post7+r_274^0 == 0 /\ -t_24^post7+t_24^0 == 0 /\ temp0_34^0-temp0_34^post7 == 0 /\ y_22^0-y_22^post7 == 0 /\ rcd_387^0-rcd_387^post7 == 0 /\ a_332^0-a_332^post7 == 0 /\ rcd_248^0-rcd_248^post7 == 0 /\ -lt_17^post7+lt_17^0 == 0 /\ r_272^0-r_272^post7 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post7 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ -x_23^post7+x_23^0 == 0 /\ result_11^0-result_11^post7 == 0 /\ -r_159^post7+r_159^0 == 0 /\ r_167^0-r_167^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post7 == 0 /\ -head_35^post7+head_35^0 == 0 /\ i_33^0-i_33^post7 == 0 /\ rcd_105^0-rcd_105^post7 == 0 /\ -rcd_235^post7+rcd_235^0 == 0 /\ temp0_18^0-temp0_18^post7 == 0 /\ i_120^0-i_120^post7 == 0 /\ r_258^0-r_258^post7 == 0 /\ -rcd_46^post7+rcd_46^0 == 0 /\ -len_297^post7+len_297^0 == 0 /\ -r_247^post7+r_247^0 == 0 /\ -r_245^post7+r_245^0 == 0 /\ r_42^0-r_42^post7 == 0 /\ -rcd_273^post7+rcd_273^0 == 0 /\ -r_234^post7+r_234^0 == 0 /\ r_252^0-r_252^post7 == 0 /\ -rcd_427^post7+rcd_427^0 == 0 /\ -a_173^post7+a_173^0 == 0 /\ r_246^0-r_246^post7 == 0 /\ rcd_113^0-rcd_113^post7 == 0 /\ -r_266^post7+r_266^0 == 0 /\ -rcd_244^post7+rcd_244^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post7 == 0 /\ -ct_20^post7+ct_20^0 == 0 /\ -c_28^post7+c_28^0 == 0 /\ head_13^0-head_13^post7 == 0 /\ t_30^0-t_30^post7 == 0 /\ 1-c_28^0 <= 0 /\ r_236^0-r_236^post7 == 0 /\ -r_188^post7+r_188^0 == 0 /\ lt_509^0-lt_509^post7 == 0 /\ r_29^0-r_29^post7 == 0 /\ -a_220^post7+a_220^0 == 0 /\ -rcd_367^post7+rcd_367^0 == 0 /\ -lt_397^post7+lt_397^0 == 0 /\ r_243^0-r_243^post7 == 0 /\ l_27^0-l_27^post7 == 0 /\ -a_276^post7+a_276^0 == 0 /\ -temp_38^post7+temp_38^0 == 0), cost: 1
New rule:
l6 -> l7 : -1+c_28^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l6 -> l7 : a_148^0'=a_148^post8, r_258^0'=r_258^post8, i_33^0'=i_33^post8, r_167^0'=r_167^post8, t_30^0'=t_30^post8, a_358^0'=a_358^post8, r_42^0'=r_42^post8, len_275^0'=len_275^post8, rcd_409^0'=rcd_409^post8, r_243^0'=r_243^post8, r_246^0'=r_246^post8, x_SLAM_f_21^0'=x_SLAM_f_21^post8, head_35^0'=head_35^post8, rcd_248^0'=rcd_248^post8, lt_509^0'=lt_509^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post8, a_220^0'=a_220^post8, r_272^0'=r_272^post8, rcd_363^0'=rcd_363^post8, r_196^0'=r_196^post8, temp0_34^0'=temp0_34^post8, c_28^0'=c_28^post8, rcd_113^0'=rcd_113^post8, length_32^0'=length_32^post8, rcd_46^0'=rcd_46^post8, r_252^0'=r_252^post8, i_120^0'=i_120^post8, rcd_273^0'=rcd_273^post8, r_159^0'=r_159^post8, t_24^0'=t_24^post8, a_332^0'=a_332^post8, r_29^0'=r_29^post8, len_205^0'=len_205^post8, rcd_387^0'=rcd_387^post8, r_236^0'=r_236^post8, tmp_37^0'=tmp_37^post8, x_23^0'=x_23^post8, head_13^0'=head_13^post8, rcd_244^0'=rcd_244^post8, lt_397^0'=lt_397^post8, result_11^0'=result_11^post8, a_173^0'=a_173^post8, r_266^0'=r_266^post8, l_27^0'=l_27^post8, r_188^0'=r_188^post8, temp0_18^0'=temp0_18^post8, a_388^0'=a_388^post8, rcd_105^0'=rcd_105^post8, len_297^0'=len_297^post8, rcd_427^0'=rcd_427^post8, r_245^0'=r_245^post8, r_247^0'=r_247^post8, y_22^0'=y_22^post8, i_111^0'=i_111^post8, rcd_253^0'=rcd_253^post8, nondet_12^0'=nondet_12^post8, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post8, a_276^0'=a_276^post8, r_274^0'=r_274^post8, rcd_367^0'=rcd_367^post8, r_234^0'=r_234^post8, temp_38^0'=temp_38^post8, x_19^0'=x_19^post8, ct_20^0'=ct_20^post8, rcd_235^0'=rcd_235^post8, lt_17^0'=lt_17^post8, rcd_70^0'=rcd_70^post8, (-rcd_105^post8+rcd_105^0 == 0 /\ r_42^0-r_42^post8 == 0 /\ t_30^0-t_30^post8 == 0 /\ -rcd_367^post8+rcd_367^0 == 0 /\ -ct_20^post8+ct_20^0 == 0 /\ -r_188^post8+r_188^0 == 0 /\ -r_272^post8+r_272^0 == 0 /\ 1+c_28^0 <= 0 /\ -x_23^post8+x_23^0 == 0 /\ r_258^0-r_258^post8 == 0 /\ r_246^0-r_246^post8 == 0 /\ -temp_38^post8+temp_38^0 == 0 /\ rcd_46^0-rcd_46^post8 == 0 /\ -nondet_12^post8+nondet_12^0 == 0 /\ r_196^0-r_196^post8 == 0 /\ -i_111^post8+i_111^0 == 0 /\ rcd_244^0-rcd_244^post8 == 0 /\ a_332^0-a_332^post8 == 0 /\ r_245^0-r_245^post8 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post8 == 0 /\ -a_388^post8+a_388^0 == 0 /\ -head_13^post8+head_13^0 == 0 /\ a_276^0-a_276^post8 == 0 /\ a_220^0-a_220^post8 == 0 /\ a_358^0-a_358^post8 == 0 /\ -rcd_70^post8+rcd_70^0 == 0 /\ a_173^0-a_173^post8 == 0 /\ -x_19^post8+x_19^0 == 0 /\ -t_24^post8+t_24^0 == 0 /\ i_33^0-i_33^post8 == 0 /\ c_28^0-c_28^post8 == 0 /\ i_120^0-i_120^post8 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post8+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_273^0-rcd_273^post8 == 0 /\ r_243^0-r_243^post8 == 0 /\ len_297^0-len_297^post8 == 0 /\ length_32^0-length_32^post8 == 0 /\ -len_205^post8+len_205^0 == 0 /\ -r_167^post8+r_167^0 == 0 /\ -r_236^post8+r_236^0 == 0 /\ -rcd_427^post8+rcd_427^0 == 0 /\ temp0_34^0-temp0_34^post8 == 0 /\ rcd_363^0-rcd_363^post8 == 0 /\ rcd_409^0-rcd_409^post8 == 0 /\ -r_247^post8+r_247^0 == 0 /\ -lt_17^post8+lt_17^0 == 0 /\ r_159^0-r_159^post8 == 0 /\ len_275^0-len_275^post8 == 0 /\ -lt_509^post8+lt_509^0 == 0 /\ rcd_248^0-rcd_248^post8 == 0 /\ -r_266^post8+r_266^0 == 0 /\ -lt_397^post8+lt_397^0 == 0 /\ r_29^0-r_29^post8 == 0 /\ -l_27^post8+l_27^0 == 0 /\ -temp0_18^post8+temp0_18^0 == 0 /\ result_11^0-result_11^post8 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post8 == 0 /\ -r_234^post8+r_234^0 == 0 /\ -rcd_113^post8+rcd_113^0 == 0 /\ a_148^0-a_148^post8 == 0 /\ -r_274^post8+r_274^0 == 0 /\ rcd_387^0-rcd_387^post8 == 0 /\ -rcd_253^post8+rcd_253^0 == 0 /\ tmp_37^0-tmp_37^post8 == 0 /\ head_35^0-head_35^post8 == 0 /\ -r_252^post8+r_252^0 == 0 /\ -rcd_235^post8+rcd_235^0 == 0 /\ -y_22^post8+y_22^0 == 0), cost: 1
New rule:
l6 -> l7 : 1+c_28^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l7 -> l8 : a_148^0'=a_148^post9, r_258^0'=r_258^post9, i_33^0'=i_33^post9, r_167^0'=r_167^post9, t_30^0'=t_30^post9, a_358^0'=a_358^post9, r_42^0'=r_42^post9, len_275^0'=len_275^post9, rcd_409^0'=rcd_409^post9, r_243^0'=r_243^post9, r_246^0'=r_246^post9, x_SLAM_f_21^0'=x_SLAM_f_21^post9, head_35^0'=head_35^post9, rcd_248^0'=rcd_248^post9, lt_509^0'=lt_509^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post9, a_220^0'=a_220^post9, r_272^0'=r_272^post9, rcd_363^0'=rcd_363^post9, r_196^0'=r_196^post9, temp0_34^0'=temp0_34^post9, c_28^0'=c_28^post9, rcd_113^0'=rcd_113^post9, length_32^0'=length_32^post9, rcd_46^0'=rcd_46^post9, r_252^0'=r_252^post9, i_120^0'=i_120^post9, rcd_273^0'=rcd_273^post9, r_159^0'=r_159^post9, t_24^0'=t_24^post9, a_332^0'=a_332^post9, r_29^0'=r_29^post9, len_205^0'=len_205^post9, rcd_387^0'=rcd_387^post9, r_236^0'=r_236^post9, tmp_37^0'=tmp_37^post9, x_23^0'=x_23^post9, head_13^0'=head_13^post9, rcd_244^0'=rcd_244^post9, lt_397^0'=lt_397^post9, result_11^0'=result_11^post9, a_173^0'=a_173^post9, r_266^0'=r_266^post9, l_27^0'=l_27^post9, r_188^0'=r_188^post9, temp0_18^0'=temp0_18^post9, a_388^0'=a_388^post9, rcd_105^0'=rcd_105^post9, len_297^0'=len_297^post9, rcd_427^0'=rcd_427^post9, r_245^0'=r_245^post9, r_247^0'=r_247^post9, y_22^0'=y_22^post9, i_111^0'=i_111^post9, rcd_253^0'=rcd_253^post9, nondet_12^0'=nondet_12^post9, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post9, a_276^0'=a_276^post9, r_274^0'=r_274^post9, rcd_367^0'=rcd_367^post9, r_234^0'=r_234^post9, temp_38^0'=temp_38^post9, x_19^0'=x_19^post9, ct_20^0'=ct_20^post9, rcd_235^0'=rcd_235^post9, lt_17^0'=lt_17^post9, rcd_70^0'=rcd_70^post9, (0 == 0 /\ r_42^0-r_272^post9 <= 0 /\ -ct_20^post9+ct_20^0 == 0 /\ -r_234^post9+r_234^0 == 0 /\ 1-a_220^0+a_276^post9 <= 0 /\ -r_245^post9+r_245^0 == 0 /\ -result_11^post9+result_11^0 == 0 /\ -nondet_12^post9+nondet_12^0 == 0 /\ -r_252^post9+r_252^0 == 0 /\ -head_13^post9+head_13^0 == 0 /\ r_167^0-r_274^post9 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post9 == 0 /\ r_236^0-r_236^post9 == 0 /\ -len_297^post9+len_297^0 == 0 /\ lt_397^0-lt_397^post9 == 0 /\ -temp0_18^post9+temp0_18^0 == 0 /\ -x_19^post9+x_19^0 == 0 /\ rcd_409^0-rcd_409^post9 == 0 /\ -i_120^post9+i_120^0 == 0 /\ -r_42^0+r_272^post9 <= 0 /\ -rcd_387^post9+rcd_387^0 == 0 /\ rcd_363^0-rcd_363^post9 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post9+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_367^post9+rcd_367^0 == 0 /\ -rcd_244^post9+rcd_244^0 == 0 /\ -temp_38^post9+temp_38^0 == 0 /\ -rcd_70^post9+rcd_70^0 == 0 /\ head_35^0-head_35^post9 == 0 /\ rcd_113^0-rcd_113^post9 == 0 /\ temp0_34^0-temp0_34^post9 == 0 /\ 1-len_275^post9+len_205^0 <= 0 /\ x_23^0-x_23^post9 == 0 /\ t_30^post9-c_28^0 == 0 /\ -a_332^post9+a_332^0 == 0 /\ -r_167^0+r_274^post9 <= 0 /\ r_42^0-r_42^post9 == 0 /\ r_159^0-r_159^post9 == 0 /\ a_148^0-a_148^post9 == 0 /\ -rcd_105^post9+rcd_105^0 == 0 /\ -r_247^post9+r_247^0 == 0 /\ a_388^0-a_388^post9 == 0 /\ r_188^0-r_188^post9 == 0 /\ r_246^0-r_246^post9 == 0 /\ rcd_46^0-rcd_46^post9 == 0 /\ -1+a_220^0-a_276^post9 <= 0 /\ -tmp_37^post9+tmp_37^0 == 0 /\ c_28^0-c_28^post9 == 0 /\ r_266^0-r_266^post9 == 0 /\ lt_509^0-lt_509^post9 == 0 /\ -lt_17^post9+lt_17^0 == 0 /\ r_196^0-r_196^post9 == 0 /\ rcd_427^0-rcd_427^post9 == 0 /\ r_243^0-r_243^post9 == 0 /\ rcd_46^0-rcd_273^post9 <= 0 /\ r_167^0-r_167^post9 == 0 /\ -y_22^post9+y_22^0 == 0 /\ -rcd_253^post9+rcd_253^0 == 0 /\ -t_30^post9+r_29^post9 <= 0 /\ -t_30^post9+r_29^post9 == 0 /\ -head_13^0+l_27^0 <= 0 /\ t_24^0-t_24^post9 == 0 /\ r_258^0-r_258^post9 == 0 /\ len_205^0-len_205^post9 == 0 /\ -rcd_235^post9+rcd_235^0 == 0 /\ a_358^0-a_358^post9 == 0 /\ -i_111^post9+i_111^0 == 0 /\ -rcd_46^0+rcd_273^post9 <= 0 /\ rcd_248^0-rcd_248^post9 == 0 /\ -1+len_275^post9-len_205^0 <= 0 /\ i_33^0-i_33^post9 == 0 /\ -length_32^post9+length_32^0 == 0 /\ a_173^0-a_173^post9 == 0 /\ t_30^post9-r_29^post9 <= 0 /\ head_13^0-l_27^0 <= 0 /\ -l_27^post9+l_27^0 == 0 /\ a_220^0-a_220^post9 == 0), cost: 1
New rule:
l7 -> l8 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, -head_13^0+l_27^0 == 0, cost: 1

Applied preprocessing
Original rule:
l8 -> l9 : a_148^0'=a_148^post10, r_258^0'=r_258^post10, i_33^0'=i_33^post10, r_167^0'=r_167^post10, t_30^0'=t_30^post10, a_358^0'=a_358^post10, r_42^0'=r_42^post10, len_275^0'=len_275^post10, rcd_409^0'=rcd_409^post10, r_243^0'=r_243^post10, r_246^0'=r_246^post10, x_SLAM_f_21^0'=x_SLAM_f_21^post10, head_35^0'=head_35^post10, rcd_248^0'=rcd_248^post10, lt_509^0'=lt_509^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post10, a_220^0'=a_220^post10, r_272^0'=r_272^post10, rcd_363^0'=rcd_363^post10, r_196^0'=r_196^post10, temp0_34^0'=temp0_34^post10, c_28^0'=c_28^post10, rcd_113^0'=rcd_113^post10, length_32^0'=length_32^post10, rcd_46^0'=rcd_46^post10, r_252^0'=r_252^post10, i_120^0'=i_120^post10, rcd_273^0'=rcd_273^post10, r_159^0'=r_159^post10, t_24^0'=t_24^post10, a_332^0'=a_332^post10, r_29^0'=r_29^post10, len_205^0'=len_205^post10, rcd_387^0'=rcd_387^post10, r_236^0'=r_236^post10, tmp_37^0'=tmp_37^post10, x_23^0'=x_23^post10, head_13^0'=head_13^post10, rcd_244^0'=rcd_244^post10, lt_397^0'=lt_397^post10, result_11^0'=result_11^post10, a_173^0'=a_173^post10, r_266^0'=r_266^post10, l_27^0'=l_27^post10, r_188^0'=r_188^post10, temp0_18^0'=temp0_18^post10, a_388^0'=a_388^post10, rcd_105^0'=rcd_105^post10, len_297^0'=len_297^post10, rcd_427^0'=rcd_427^post10, r_245^0'=r_245^post10, r_247^0'=r_247^post10, y_22^0'=y_22^post10, i_111^0'=i_111^post10, rcd_253^0'=rcd_253^post10, nondet_12^0'=nondet_12^post10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post10, a_276^0'=a_276^post10, r_274^0'=r_274^post10, rcd_367^0'=rcd_367^post10, r_234^0'=r_234^post10, temp_38^0'=temp_38^post10, x_19^0'=x_19^post10, ct_20^0'=ct_20^post10, rcd_235^0'=rcd_235^post10, lt_17^0'=lt_17^post10, rcd_70^0'=rcd_70^post10, (rcd_113^0-rcd_113^post10 == 0 /\ -a_173^post10+a_173^0 == 0 /\ r_266^0-r_266^post10 == 0 /\ r_196^0-r_196^post10 == 0 /\ r_272^0-r_272^post10 == 0 /\ -temp0_34^post10+temp0_34^0 == 0 /\ -r_29^post10+r_29^0 == 0 /\ head_13^0-head_13^post10 == 0 /\ -rcd_235^post10+rcd_235^0 == 0 /\ -r_234^post10+r_234^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post10+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ head_35^0-head_35^post10 == 0 /\ r_243^0-r_243^post10 == 0 /\ t_30^0-t_30^post10 == 0 /\ -rcd_244^post10+rcd_244^0 == 0 /\ lt_509^0-lt_509^post10 == 0 /\ r_167^0-r_167^post10 == 0 /\ a_358^0-a_358^post10 == 0 /\ l_27^0-l_27^post10 == 0 /\ -rcd_273^post10+rcd_273^0 == 0 /\ rcd_387^0-rcd_387^post10 == 0 /\ -rcd_427^post10+rcd_427^0 == 0 /\ i_33^0-i_33^post10 == 0 /\ -a_276^post10+a_276^0 == 0 /\ -c_28^post10+c_28^0 == 0 /\ -a_220^post10+a_220^0 == 0 /\ -rcd_367^post10+rcd_367^0 == 0 /\ -y_22^post10+y_22^0 == 0 /\ len_205^0-len_205^post10 == 0 /\ -a_332^post10+a_332^0 == 0 /\ -ct_20^post10+ct_20^0 == 0 /\ r_258^0-r_258^post10 == 0 /\ t_24^0-t_24^post10 == 0 /\ len_275^0-len_275^post10 == 0 /\ r_247^0-r_247^post10 == 0 /\ -lt_397^post10+lt_397^0 == 0 /\ -len_297^post10+len_297^0 == 0 /\ -rcd_363^post10+rcd_363^0 == 0 /\ 1-t_30^0 <= 0 /\ -r_188^post10+r_188^0 == 0 /\ -i_120^post10+i_120^0 == 0 /\ rcd_46^0-rcd_46^post10 == 0 /\ r_246^0-r_246^post10 == 0 /\ -x_23^post10+x_23^0 == 0 /\ -length_32^post10+length_32^0 == 0 /\ -r_274^post10+r_274^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post10 == 0 /\ -rcd_253^post10+rcd_253^0 == 0 /\ -rcd_70^post10+rcd_70^0 == 0 /\ -temp_38^post10+temp_38^0 == 0 /\ -i_111^post10+i_111^0 == 0 /\ -rcd_248^post10+rcd_248^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post10 == 0 /\ r_236^0-r_236^post10 == 0 /\ rcd_105^0-rcd_105^post10 == 0 /\ -tmp_37^post10+tmp_37^0 == 0 /\ -r_159^post10+r_159^0 == 0 /\ -lt_17^post10+lt_17^0 == 0 /\ -result_11^post10+result_11^0 == 0 /\ temp0_18^0-temp0_18^post10 == 0 /\ r_42^0-r_42^post10 == 0 /\ x_19^0-x_19^post10 == 0 /\ -r_245^post10+r_245^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ a_148^0-a_148^post10 == 0 /\ -a_388^post10+a_388^0 == 0 /\ rcd_409^0-rcd_409^post10 == 0 /\ r_252^0-r_252^post10 == 0), cost: 1
New rule:
l8 -> l9 : -1+t_30^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l8 -> l9 : a_148^0'=a_148^post11, r_258^0'=r_258^post11, i_33^0'=i_33^post11, r_167^0'=r_167^post11, t_30^0'=t_30^post11, a_358^0'=a_358^post11, r_42^0'=r_42^post11, len_275^0'=len_275^post11, rcd_409^0'=rcd_409^post11, r_243^0'=r_243^post11, r_246^0'=r_246^post11, x_SLAM_f_21^0'=x_SLAM_f_21^post11, head_35^0'=head_35^post11, rcd_248^0'=rcd_248^post11, lt_509^0'=lt_509^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post11, a_220^0'=a_220^post11, r_272^0'=r_272^post11, rcd_363^0'=rcd_363^post11, r_196^0'=r_196^post11, temp0_34^0'=temp0_34^post11, c_28^0'=c_28^post11, rcd_113^0'=rcd_113^post11, length_32^0'=length_32^post11, rcd_46^0'=rcd_46^post11, r_252^0'=r_252^post11, i_120^0'=i_120^post11, rcd_273^0'=rcd_273^post11, r_159^0'=r_159^post11, t_24^0'=t_24^post11, a_332^0'=a_332^post11, r_29^0'=r_29^post11, len_205^0'=len_205^post11, rcd_387^0'=rcd_387^post11, r_236^0'=r_236^post11, tmp_37^0'=tmp_37^post11, x_23^0'=x_23^post11, head_13^0'=head_13^post11, rcd_244^0'=rcd_244^post11, lt_397^0'=lt_397^post11, result_11^0'=result_11^post11, a_173^0'=a_173^post11, r_266^0'=r_266^post11, l_27^0'=l_27^post11, r_188^0'=r_188^post11, temp0_18^0'=temp0_18^post11, a_388^0'=a_388^post11, rcd_105^0'=rcd_105^post11, len_297^0'=len_297^post11, rcd_427^0'=rcd_427^post11, r_245^0'=r_245^post11, r_247^0'=r_247^post11, y_22^0'=y_22^post11, i_111^0'=i_111^post11, rcd_253^0'=rcd_253^post11, nondet_12^0'=nondet_12^post11, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post11, a_276^0'=a_276^post11, r_274^0'=r_274^post11, rcd_367^0'=rcd_367^post11, r_234^0'=r_234^post11, temp_38^0'=temp_38^post11, x_19^0'=x_19^post11, ct_20^0'=ct_20^post11, rcd_235^0'=rcd_235^post11, lt_17^0'=lt_17^post11, rcd_70^0'=rcd_70^post11, (rcd_253^0-rcd_253^post11 == 0 /\ -len_205^post11+len_205^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post11+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post11+rcd_427^0 == 0 /\ r_245^0-r_245^post11 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post11 == 0 /\ result_11^0-result_11^post11 == 0 /\ tmp_37^0-tmp_37^post11 == 0 /\ -r_159^post11+r_159^0 == 0 /\ i_120^0-i_120^post11 == 0 /\ length_32^0-length_32^post11 == 0 /\ -lt_17^post11+lt_17^0 == 0 /\ i_33^0-i_33^post11 == 0 /\ -l_27^post11+l_27^0 == 0 /\ -lt_397^post11+lt_397^0 == 0 /\ -r_29^post11+r_29^0 == 0 /\ r_42^0-r_42^post11 == 0 /\ -i_111^post11+i_111^0 == 0 /\ -r_234^post11+r_234^0 == 0 /\ lt_509^0-lt_509^post11 == 0 /\ -r_266^post11+r_266^0 == 0 /\ t_30^0-t_30^post11 == 0 /\ temp0_34^0-temp0_34^post11 == 0 /\ -temp0_18^post11+temp0_18^0 == 0 /\ y_22^0-y_22^post11 == 0 /\ -a_276^post11+a_276^0 == 0 /\ a_332^0-a_332^post11 == 0 /\ -r_196^post11+r_196^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post11 == 0 /\ -rcd_273^post11+rcd_273^0 == 0 /\ -rcd_235^post11+rcd_235^0 == 0 /\ rcd_363^0-rcd_363^post11 == 0 /\ rcd_244^0-rcd_244^post11 == 0 /\ a_148^0-a_148^post11 == 0 /\ r_252^0-r_252^post11 == 0 /\ -r_272^post11+r_272^0 == 0 /\ head_35^0-head_35^post11 == 0 /\ -r_274^post11+r_274^0 == 0 /\ rcd_409^0-rcd_409^post11 == 0 /\ r_167^0-r_167^post11 == 0 /\ -rcd_367^post11+rcd_367^0 == 0 /\ -rcd_105^post11+rcd_105^0 == 0 /\ rcd_387^0-rcd_387^post11 == 0 /\ -r_188^post11+r_188^0 == 0 /\ rcd_113^0-rcd_113^post11 == 0 /\ a_220^0-a_220^post11 == 0 /\ 1+t_30^0 <= 0 /\ rcd_248^0-rcd_248^post11 == 0 /\ -x_23^post11+x_23^0 == 0 /\ -nondet_12^post11+nondet_12^0 == 0 /\ temp_38^0-temp_38^post11 == 0 /\ -rcd_46^post11+rcd_46^0 == 0 /\ len_297^0-len_297^post11 == 0 /\ -a_388^post11+a_388^0 == 0 /\ r_243^0-r_243^post11 == 0 /\ -head_13^post11+head_13^0 == 0 /\ ct_20^0-ct_20^post11 == 0 /\ -a_358^post11+a_358^0 == 0 /\ r_246^0-r_246^post11 == 0 /\ -t_24^post11+t_24^0 == 0 /\ -r_247^post11+r_247^0 == 0 /\ r_258^0-r_258^post11 == 0 /\ r_236^0-r_236^post11 == 0 /\ -c_28^post11+c_28^0 == 0 /\ -a_173^post11+a_173^0 == 0 /\ len_275^0-len_275^post11 == 0 /\ -rcd_70^post11+rcd_70^0 == 0 /\ -x_19^post11+x_19^0 == 0), cost: 1
New rule:
l8 -> l9 : 1+t_30^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l9 -> l10 : a_148^0'=a_148^post12, r_258^0'=r_258^post12, i_33^0'=i_33^post12, r_167^0'=r_167^post12, t_30^0'=t_30^post12, a_358^0'=a_358^post12, r_42^0'=r_42^post12, len_275^0'=len_275^post12, rcd_409^0'=rcd_409^post12, r_243^0'=r_243^post12, r_246^0'=r_246^post12, x_SLAM_f_21^0'=x_SLAM_f_21^post12, head_35^0'=head_35^post12, rcd_248^0'=rcd_248^post12, lt_509^0'=lt_509^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post12, a_220^0'=a_220^post12, r_272^0'=r_272^post12, rcd_363^0'=rcd_363^post12, r_196^0'=r_196^post12, temp0_34^0'=temp0_34^post12, c_28^0'=c_28^post12, rcd_113^0'=rcd_113^post12, length_32^0'=length_32^post12, rcd_46^0'=rcd_46^post12, r_252^0'=r_252^post12, i_120^0'=i_120^post12, rcd_273^0'=rcd_273^post12, r_159^0'=r_159^post12, t_24^0'=t_24^post12, a_332^0'=a_332^post12, r_29^0'=r_29^post12, len_205^0'=len_205^post12, rcd_387^0'=rcd_387^post12, r_236^0'=r_236^post12, tmp_37^0'=tmp_37^post12, x_23^0'=x_23^post12, head_13^0'=head_13^post12, rcd_244^0'=rcd_244^post12, lt_397^0'=lt_397^post12, result_11^0'=result_11^post12, a_173^0'=a_173^post12, r_266^0'=r_266^post12, l_27^0'=l_27^post12, r_188^0'=r_188^post12, temp0_18^0'=temp0_18^post12, a_388^0'=a_388^post12, rcd_105^0'=rcd_105^post12, len_297^0'=len_297^post12, rcd_427^0'=rcd_427^post12, r_245^0'=r_245^post12, r_247^0'=r_247^post12, y_22^0'=y_22^post12, i_111^0'=i_111^post12, rcd_253^0'=rcd_253^post12, nondet_12^0'=nondet_12^post12, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post12, a_276^0'=a_276^post12, r_274^0'=r_274^post12, rcd_367^0'=rcd_367^post12, r_234^0'=r_234^post12, temp_38^0'=temp_38^post12, x_19^0'=x_19^post12, ct_20^0'=ct_20^post12, rcd_235^0'=rcd_235^post12, lt_17^0'=lt_17^post12, rcd_70^0'=rcd_70^post12, (-a_276^post12+a_276^0 == 0 /\ a_358^0-a_358^post12 == 0 /\ -rcd_113^post12+rcd_113^0 == 0 /\ rcd_409^0-rcd_409^post12 == 0 /\ i_33^0-i_33^post12 == 0 /\ a_220^0-a_220^post12 == 0 /\ a_173^0-a_173^post12 == 0 /\ head_35^0-head_35^post12 == 0 /\ -y_22^post12+y_22^0 == 0 /\ rcd_46^0-rcd_46^post12 == 0 /\ rcd_273^0-rcd_273^post12 == 0 /\ -rcd_253^post12+rcd_253^0 == 0 /\ -r_196^post12+r_196^0 == 0 /\ -t_24^post12+t_24^0 == 0 /\ -rcd_70^post12+rcd_70^0 == 0 /\ a_148^0-a_148^post12 == 0 /\ x_23^0-x_23^post12 == 0 /\ temp0_34^0-temp0_34^post12 == 0 /\ -r_274^post12+r_274^0 == 0 /\ len_275^0-len_275^post12 == 0 /\ 1-r_167^0 <= 0 /\ r_272^0-r_272^post12 == 0 /\ -i_111^post12+i_111^0 == 0 /\ c_28^0-c_28^post12 == 0 /\ r_167^0-r_167^post12 == 0 /\ -result_11^post12+result_11^0 == 0 /\ -lt_17^post12+lt_17^0 == 0 /\ r_29^0-r_29^post12 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ -l_27^post12+l_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post12 == 0 /\ lt_397^0-lt_397^post12 == 0 /\ -len_205^post12+len_205^0 == 0 /\ -r_234^post12+r_234^0 == 0 /\ tmp_37^0-tmp_37^post12 == 0 /\ r_258^0-r_258^post12 == 0 /\ -len_297^post12+len_297^0 == 0 /\ length_32^0-length_32^post12 == 0 /\ -head_13^post12+head_13^0 == 0 /\ -r_266^post12+r_266^0 == 0 /\ rcd_363^0-rcd_363^post12 == 0 /\ -r_243^post12+r_243^0 == 0 /\ -rcd_367^post12+rcd_367^0 == 0 /\ -temp0_18^post12+temp0_18^0 == 0 /\ r_159^0-r_159^post12 == 0 /\ -r_245^post12+r_245^0 == 0 /\ -rcd_105^post12+rcd_105^0 == 0 /\ rcd_235^0-rcd_235^post12 == 0 /\ -x_19^post12+x_19^0 == 0 /\ -r_42^post12+r_42^0 == 0 /\ -r_188^post12+r_188^0 == 0 /\ -temp_38^post12+temp_38^0 == 0 /\ -rcd_244^post12+rcd_244^0 == 0 /\ -i_120^post12+i_120^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post12+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_388^0-a_388^post12 == 0 /\ -r_252^post12+r_252^0 == 0 /\ rcd_427^0-rcd_427^post12 == 0 /\ lt_509^0-lt_509^post12 == 0 /\ rcd_248^0-rcd_248^post12 == 0 /\ -r_247^post12+r_247^0 == 0 /\ -r_246^post12+r_246^0 == 0 /\ -r_236^post12+r_236^0 == 0 /\ t_30^0-t_30^post12 == 0 /\ -ct_20^post12+ct_20^0 == 0 /\ -rcd_387^post12+rcd_387^0 == 0 /\ -a_332^post12+a_332^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post12 == 0), cost: 1
New rule:
l9 -> l10 : -1+r_167^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l9 -> l10 : a_148^0'=a_148^post13, r_258^0'=r_258^post13, i_33^0'=i_33^post13, r_167^0'=r_167^post13, t_30^0'=t_30^post13, a_358^0'=a_358^post13, r_42^0'=r_42^post13, len_275^0'=len_275^post13, rcd_409^0'=rcd_409^post13, r_243^0'=r_243^post13, r_246^0'=r_246^post13, x_SLAM_f_21^0'=x_SLAM_f_21^post13, head_35^0'=head_35^post13, rcd_248^0'=rcd_248^post13, lt_509^0'=lt_509^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post13, a_220^0'=a_220^post13, r_272^0'=r_272^post13, rcd_363^0'=rcd_363^post13, r_196^0'=r_196^post13, temp0_34^0'=temp0_34^post13, c_28^0'=c_28^post13, rcd_113^0'=rcd_113^post13, length_32^0'=length_32^post13, rcd_46^0'=rcd_46^post13, r_252^0'=r_252^post13, i_120^0'=i_120^post13, rcd_273^0'=rcd_273^post13, r_159^0'=r_159^post13, t_24^0'=t_24^post13, a_332^0'=a_332^post13, r_29^0'=r_29^post13, len_205^0'=len_205^post13, rcd_387^0'=rcd_387^post13, r_236^0'=r_236^post13, tmp_37^0'=tmp_37^post13, x_23^0'=x_23^post13, head_13^0'=head_13^post13, rcd_244^0'=rcd_244^post13, lt_397^0'=lt_397^post13, result_11^0'=result_11^post13, a_173^0'=a_173^post13, r_266^0'=r_266^post13, l_27^0'=l_27^post13, r_188^0'=r_188^post13, temp0_18^0'=temp0_18^post13, a_388^0'=a_388^post13, rcd_105^0'=rcd_105^post13, len_297^0'=len_297^post13, rcd_427^0'=rcd_427^post13, r_245^0'=r_245^post13, r_247^0'=r_247^post13, y_22^0'=y_22^post13, i_111^0'=i_111^post13, rcd_253^0'=rcd_253^post13, nondet_12^0'=nondet_12^post13, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post13, a_276^0'=a_276^post13, r_274^0'=r_274^post13, rcd_367^0'=rcd_367^post13, r_234^0'=r_234^post13, temp_38^0'=temp_38^post13, x_19^0'=x_19^post13, ct_20^0'=ct_20^post13, rcd_235^0'=rcd_235^post13, lt_17^0'=lt_17^post13, rcd_70^0'=rcd_70^post13, (-temp_38^post13+temp_38^0 == 0 /\ -i_111^post13+i_111^0 == 0 /\ -i_120^post13+i_120^0 == 0 /\ -length_32^post13+length_32^0 == 0 /\ -rcd_248^post13+rcd_248^0 == 0 /\ r_42^0-r_42^post13 == 0 /\ t_30^0-t_30^post13 == 0 /\ -rcd_70^post13+rcd_70^0 == 0 /\ -x_19^post13+x_19^0 == 0 /\ r_258^0-r_258^post13 == 0 /\ r_188^0-r_188^post13 == 0 /\ rcd_363^0-rcd_363^post13 == 0 /\ -a_332^post13+a_332^0 == 0 /\ r_246^0-r_246^post13 == 0 /\ r_159^0-r_159^post13 == 0 /\ -r_274^post13+r_274^0 == 0 /\ y_22^0-y_22^post13 == 0 /\ -r_245^post13+r_245^0 == 0 /\ -result_11^post13+result_11^0 == 0 /\ -lt_17^post13+lt_17^0 == 0 /\ head_13^0-head_13^post13 == 0 /\ rcd_113^0-rcd_113^post13 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post13 == 0 /\ len_205^0-len_205^post13 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -a_388^post13+a_388^0 == 0 /\ lt_509^0-lt_509^post13 == 0 /\ a_358^0-a_358^post13 == 0 /\ -nondet_12^post13+nondet_12^0 == 0 /\ r_272^0-r_272^post13 == 0 /\ x_23^0-x_23^post13 == 0 /\ -temp0_34^post13+temp0_34^0 == 0 /\ -rcd_235^post13+rcd_235^0 == 0 /\ 1+r_167^0 <= 0 /\ -a_173^post13+a_173^0 == 0 /\ lt_397^0-lt_397^post13 == 0 /\ -len_297^post13+len_297^0 == 0 /\ -rcd_387^post13+rcd_387^0 == 0 /\ -r_247^post13+r_247^0 == 0 /\ t_24^0-t_24^post13 == 0 /\ -r_236^post13+r_236^0 == 0 /\ -rcd_244^post13+rcd_244^0 == 0 /\ -r_234^post13+r_234^0 == 0 /\ a_148^0-a_148^post13 == 0 /\ -rcd_427^post13+rcd_427^0 == 0 /\ r_196^0-r_196^post13 == 0 /\ r_252^0-r_252^post13 == 0 /\ rcd_46^0-rcd_46^post13 == 0 /\ rcd_409^0-rcd_409^post13 == 0 /\ r_266^0-r_266^post13 == 0 /\ r_167^0-r_167^post13 == 0 /\ -rcd_273^post13+rcd_273^0 == 0 /\ -ct_20^post13+ct_20^0 == 0 /\ a_220^0-a_220^post13 == 0 /\ -r_29^post13+r_29^0 == 0 /\ -tmp_37^post13+tmp_37^0 == 0 /\ -x_SLAM_f_21^post13+x_SLAM_f_21^0 == 0 /\ -len_275^post13+len_275^0 == 0 /\ -a_276^post13+a_276^0 == 0 /\ -rcd_253^post13+rcd_253^0 == 0 /\ c_28^0-c_28^post13 == 0 /\ -rcd_367^post13+rcd_367^0 == 0 /\ head_35^0-head_35^post13 == 0 /\ -temp0_18^post13+temp0_18^0 == 0 /\ i_33^0-i_33^post13 == 0 /\ rcd_105^0-rcd_105^post13 == 0 /\ r_243^0-r_243^post13 == 0 /\ l_27^0-l_27^post13 == 0), cost: 1
New rule:
l9 -> l10 : 1+r_167^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l10 -> l11 : a_148^0'=a_148^post14, r_258^0'=r_258^post14, i_33^0'=i_33^post14, r_167^0'=r_167^post14, t_30^0'=t_30^post14, a_358^0'=a_358^post14, r_42^0'=r_42^post14, len_275^0'=len_275^post14, rcd_409^0'=rcd_409^post14, r_243^0'=r_243^post14, r_246^0'=r_246^post14, x_SLAM_f_21^0'=x_SLAM_f_21^post14, head_35^0'=head_35^post14, rcd_248^0'=rcd_248^post14, lt_509^0'=lt_509^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post14, a_220^0'=a_220^post14, r_272^0'=r_272^post14, rcd_363^0'=rcd_363^post14, r_196^0'=r_196^post14, temp0_34^0'=temp0_34^post14, c_28^0'=c_28^post14, rcd_113^0'=rcd_113^post14, length_32^0'=length_32^post14, rcd_46^0'=rcd_46^post14, r_252^0'=r_252^post14, i_120^0'=i_120^post14, rcd_273^0'=rcd_273^post14, r_159^0'=r_159^post14, t_24^0'=t_24^post14, a_332^0'=a_332^post14, r_29^0'=r_29^post14, len_205^0'=len_205^post14, rcd_387^0'=rcd_387^post14, r_236^0'=r_236^post14, tmp_37^0'=tmp_37^post14, x_23^0'=x_23^post14, head_13^0'=head_13^post14, rcd_244^0'=rcd_244^post14, lt_397^0'=lt_397^post14, result_11^0'=result_11^post14, a_173^0'=a_173^post14, r_266^0'=r_266^post14, l_27^0'=l_27^post14, r_188^0'=r_188^post14, temp0_18^0'=temp0_18^post14, a_388^0'=a_388^post14, rcd_105^0'=rcd_105^post14, len_297^0'=len_297^post14, rcd_427^0'=rcd_427^post14, r_245^0'=r_245^post14, r_247^0'=r_247^post14, y_22^0'=y_22^post14, i_111^0'=i_111^post14, rcd_253^0'=rcd_253^post14, nondet_12^0'=nondet_12^post14, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post14, a_276^0'=a_276^post14, r_274^0'=r_274^post14, rcd_367^0'=rcd_367^post14, r_234^0'=r_234^post14, temp_38^0'=temp_38^post14, x_19^0'=x_19^post14, ct_20^0'=ct_20^post14, rcd_235^0'=rcd_235^post14, lt_17^0'=lt_17^post14, rcd_70^0'=rcd_70^post14, (len_275^0-len_275^post14 == 0 /\ -rcd_367^post14+rcd_367^0 == 0 /\ c_28^0-c_28^post14 == 0 /\ -rcd_105^post14+rcd_105^0 == 0 /\ -rcd_46^post14+rcd_46^0 == 0 /\ 1-r_266^0 <= 0 /\ temp0_34^0-temp0_34^post14 == 0 /\ r_272^0-r_272^post14 == 0 /\ -a_220^post14+a_220^0 == 0 /\ -r_245^post14+r_245^0 == 0 /\ r_196^0-r_196^post14 == 0 /\ lt_509^0-lt_509^post14 == 0 /\ -temp_38^post14+temp_38^0 == 0 /\ -ct_20^post14+ct_20^0 == 0 /\ -i_111^post14+i_111^0 == 0 /\ t_24^0-t_24^post14 == 0 /\ -r_188^post14+r_188^0 == 0 /\ a_148^0-a_148^post14 == 0 /\ result_11^0-result_11^post14 == 0 /\ -a_173^post14+a_173^0 == 0 /\ rcd_244^0-rcd_244^post14 == 0 /\ rcd_253^0-rcd_253^post14 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ -rcd_70^post14+rcd_70^0 == 0 /\ -rcd_363^post14+rcd_363^0 == 0 /\ i_33^0-i_33^post14 == 0 /\ r_167^0-r_167^post14 == 0 /\ -a_388^post14+a_388^0 == 0 /\ r_252^0-r_252^post14 == 0 /\ a_276^0-a_276^post14 == 0 /\ rcd_387^0-rcd_387^post14 == 0 /\ -x_19^post14+x_19^0 == 0 /\ length_32^0-length_32^post14 == 0 /\ r_42^0-r_42^post14 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post14+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_243^0-r_243^post14 == 0 /\ -lt_17^post14+lt_17^0 == 0 /\ t_30^0-t_30^post14 == 0 /\ len_297^0-len_297^post14 == 0 /\ -len_205^post14+len_205^0 == 0 /\ -tmp_37^post14+tmp_37^0 == 0 /\ -rcd_409^post14+rcd_409^0 == 0 /\ -rcd_427^post14+rcd_427^0 == 0 /\ -r_159^post14+r_159^0 == 0 /\ r_246^0-r_246^post14 == 0 /\ -r_247^post14+r_247^0 == 0 /\ -lt_397^post14+lt_397^0 == 0 /\ a_332^0-a_332^post14 == 0 /\ temp0_18^0-temp0_18^post14 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post14 == 0 /\ r_236^0-r_236^post14 == 0 /\ r_258^0-r_258^post14 == 0 /\ -x_23^post14+x_23^0 == 0 /\ -l_27^post14+l_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post14 == 0 /\ a_358^0-a_358^post14 == 0 /\ head_35^0-head_35^post14 == 0 /\ -r_234^post14+r_234^0 == 0 /\ -r_29^post14+r_29^0 == 0 /\ -rcd_235^post14+rcd_235^0 == 0 /\ rcd_113^0-rcd_113^post14 == 0 /\ -r_274^post14+r_274^0 == 0 /\ i_120^0-i_120^post14 == 0 /\ rcd_248^0-rcd_248^post14 == 0 /\ head_13^0-head_13^post14 == 0 /\ -y_22^post14+y_22^0 == 0 /\ -rcd_273^post14+rcd_273^0 == 0 /\ -r_266^post14+r_266^0 == 0), cost: 1
New rule:
l10 -> l11 : -1+r_266^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l10 -> l11 : a_148^0'=a_148^post15, r_258^0'=r_258^post15, i_33^0'=i_33^post15, r_167^0'=r_167^post15, t_30^0'=t_30^post15, a_358^0'=a_358^post15, r_42^0'=r_42^post15, len_275^0'=len_275^post15, rcd_409^0'=rcd_409^post15, r_243^0'=r_243^post15, r_246^0'=r_246^post15, x_SLAM_f_21^0'=x_SLAM_f_21^post15, head_35^0'=head_35^post15, rcd_248^0'=rcd_248^post15, lt_509^0'=lt_509^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post15, a_220^0'=a_220^post15, r_272^0'=r_272^post15, rcd_363^0'=rcd_363^post15, r_196^0'=r_196^post15, temp0_34^0'=temp0_34^post15, c_28^0'=c_28^post15, rcd_113^0'=rcd_113^post15, length_32^0'=length_32^post15, rcd_46^0'=rcd_46^post15, r_252^0'=r_252^post15, i_120^0'=i_120^post15, rcd_273^0'=rcd_273^post15, r_159^0'=r_159^post15, t_24^0'=t_24^post15, a_332^0'=a_332^post15, r_29^0'=r_29^post15, len_205^0'=len_205^post15, rcd_387^0'=rcd_387^post15, r_236^0'=r_236^post15, tmp_37^0'=tmp_37^post15, x_23^0'=x_23^post15, head_13^0'=head_13^post15, rcd_244^0'=rcd_244^post15, lt_397^0'=lt_397^post15, result_11^0'=result_11^post15, a_173^0'=a_173^post15, r_266^0'=r_266^post15, l_27^0'=l_27^post15, r_188^0'=r_188^post15, temp0_18^0'=temp0_18^post15, a_388^0'=a_388^post15, rcd_105^0'=rcd_105^post15, len_297^0'=len_297^post15, rcd_427^0'=rcd_427^post15, r_245^0'=r_245^post15, r_247^0'=r_247^post15, y_22^0'=y_22^post15, i_111^0'=i_111^post15, rcd_253^0'=rcd_253^post15, nondet_12^0'=nondet_12^post15, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post15, a_276^0'=a_276^post15, r_274^0'=r_274^post15, rcd_367^0'=rcd_367^post15, r_234^0'=r_234^post15, temp_38^0'=temp_38^post15, x_19^0'=x_19^post15, ct_20^0'=ct_20^post15, rcd_235^0'=rcd_235^post15, lt_17^0'=lt_17^post15, rcd_70^0'=rcd_70^post15, (-r_234^post15+r_234^0 == 0 /\ a_332^0-a_332^post15 == 0 /\ -head_13^post15+head_13^0 == 0 /\ rcd_113^0-rcd_113^post15 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post15 == 0 /\ -r_266^post15+r_266^0 == 0 /\ rcd_248^0-rcd_248^post15 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post15 == 0 /\ -rcd_367^post15+rcd_367^0 == 0 /\ -r_245^post15+r_245^0 == 0 /\ r_243^0-r_243^post15 == 0 /\ -rcd_235^post15+rcd_235^0 == 0 /\ t_30^0-t_30^post15 == 0 /\ -len_297^post15+len_297^0 == 0 /\ -temp0_18^post15+temp0_18^0 == 0 /\ r_167^0-r_167^post15 == 0 /\ -c_28^post15+c_28^0 == 0 /\ a_173^0-a_173^post15 == 0 /\ a_358^0-a_358^post15 == 0 /\ -r_252^post15+r_252^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post15+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_258^0-r_258^post15 == 0 /\ i_120^0-i_120^post15 == 0 /\ rcd_363^0-rcd_363^post15 == 0 /\ -temp_38^post15+temp_38^0 == 0 /\ rcd_46^0-rcd_46^post15 == 0 /\ rcd_273^0-rcd_273^post15 == 0 /\ r_274^0-r_274^post15 == 0 /\ -ct_20^post15+ct_20^0 == 0 /\ -rcd_387^post15+rcd_387^0 == 0 /\ -rcd_105^post15+rcd_105^0 == 0 /\ -r_247^post15+r_247^0 == 0 /\ -r_236^post15+r_236^0 == 0 /\ r_188^0-r_188^post15 == 0 /\ a_388^0-a_388^post15 == 0 /\ rcd_427^0-rcd_427^post15 == 0 /\ -lt_397^post15+lt_397^0 == 0 /\ -rcd_253^post15+rcd_253^0 == 0 /\ -a_276^post15+a_276^0 == 0 /\ -y_22^post15+y_22^0 == 0 /\ -t_24^post15+t_24^0 == 0 /\ lt_509^0-lt_509^post15 == 0 /\ r_29^0-r_29^post15 == 0 /\ -x_19^post15+x_19^0 == 0 /\ -r_196^post15+r_196^0 == 0 /\ head_35^0-head_35^post15 == 0 /\ result_11^0-result_11^post15 == 0 /\ tmp_37^0-tmp_37^post15 == 0 /\ -rcd_70^post15+rcd_70^0 == 0 /\ -rcd_409^post15+rcd_409^0 == 0 /\ -len_205^post15+len_205^0 == 0 /\ i_33^0-i_33^post15 == 0 /\ 1+r_266^0 <= 0 /\ a_220^0-a_220^post15 == 0 /\ rcd_244^0-rcd_244^post15 == 0 /\ length_32^0-length_32^post15 == 0 /\ -i_111^post15+i_111^0 == 0 /\ -r_272^post15+r_272^0 == 0 /\ r_42^0-r_42^post15 == 0 /\ len_275^0-len_275^post15 == 0 /\ -lt_17^post15+lt_17^0 == 0 /\ -x_23^post15+x_23^0 == 0 /\ a_148^0-a_148^post15 == 0 /\ r_159^0-r_159^post15 == 0 /\ r_246^0-r_246^post15 == 0 /\ temp0_34^0-temp0_34^post15 == 0 /\ -l_27^post15+l_27^0 == 0), cost: 1
New rule:
l10 -> l11 : 1+r_266^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l11 -> l12 : a_148^0'=a_148^post16, r_258^0'=r_258^post16, i_33^0'=i_33^post16, r_167^0'=r_167^post16, t_30^0'=t_30^post16, a_358^0'=a_358^post16, r_42^0'=r_42^post16, len_275^0'=len_275^post16, rcd_409^0'=rcd_409^post16, r_243^0'=r_243^post16, r_246^0'=r_246^post16, x_SLAM_f_21^0'=x_SLAM_f_21^post16, head_35^0'=head_35^post16, rcd_248^0'=rcd_248^post16, lt_509^0'=lt_509^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post16, a_220^0'=a_220^post16, r_272^0'=r_272^post16, rcd_363^0'=rcd_363^post16, r_196^0'=r_196^post16, temp0_34^0'=temp0_34^post16, c_28^0'=c_28^post16, rcd_113^0'=rcd_113^post16, length_32^0'=length_32^post16, rcd_46^0'=rcd_46^post16, r_252^0'=r_252^post16, i_120^0'=i_120^post16, rcd_273^0'=rcd_273^post16, r_159^0'=r_159^post16, t_24^0'=t_24^post16, a_332^0'=a_332^post16, r_29^0'=r_29^post16, len_205^0'=len_205^post16, rcd_387^0'=rcd_387^post16, r_236^0'=r_236^post16, tmp_37^0'=tmp_37^post16, x_23^0'=x_23^post16, head_13^0'=head_13^post16, rcd_244^0'=rcd_244^post16, lt_397^0'=lt_397^post16, result_11^0'=result_11^post16, a_173^0'=a_173^post16, r_266^0'=r_266^post16, l_27^0'=l_27^post16, r_188^0'=r_188^post16, temp0_18^0'=temp0_18^post16, a_388^0'=a_388^post16, rcd_105^0'=rcd_105^post16, len_297^0'=len_297^post16, rcd_427^0'=rcd_427^post16, r_245^0'=r_245^post16, r_247^0'=r_247^post16, y_22^0'=y_22^post16, i_111^0'=i_111^post16, rcd_253^0'=rcd_253^post16, nondet_12^0'=nondet_12^post16, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post16, a_276^0'=a_276^post16, r_274^0'=r_274^post16, rcd_367^0'=rcd_367^post16, r_234^0'=r_234^post16, temp_38^0'=temp_38^post16, x_19^0'=x_19^post16, ct_20^0'=ct_20^post16, rcd_235^0'=rcd_235^post16, lt_17^0'=lt_17^post16, rcd_70^0'=rcd_70^post16, (head_35^0-head_35^post16 == 0 /\ -a_173^post16+a_173^0 == 0 /\ -rcd_387^post16+rcd_387^0 == 0 /\ r_266^0-r_266^post16 == 0 /\ r_29^0-r_29^post16 == 0 /\ rcd_409^0-rcd_409^post16 == 0 /\ r_159^0-r_159^post16 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post16+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post16+rcd_427^0 == 0 /\ -lt_17^post16+lt_17^0 == 0 /\ a_220^0-a_220^post16 == 0 /\ -r_236^post16+r_236^0 == 0 /\ a_358^0-a_358^post16 == 0 /\ -r_234^post16+r_234^0 == 0 /\ -rcd_244^post16+rcd_244^0 == 0 /\ c_28^0-c_28^post16 == 0 /\ -rcd_273^post16+rcd_273^0 == 0 /\ r_272^0-r_272^post16 == 0 /\ -a_276^post16+a_276^0 == 0 /\ length_32^0-length_32^post16 == 0 /\ -rcd_113^post16+rcd_113^0 == 0 /\ len_275^0-len_275^post16 == 0 /\ -ct_20^post16+ct_20^0 == 0 /\ -y_22^post16+y_22^0 == 0 /\ t_30^0-t_30^post16 == 0 /\ x_23^0-x_23^post16 == 0 /\ -rcd_253^post16+rcd_253^0 == 0 /\ r_247^0-r_247^post16 == 0 /\ r_196^0-r_196^post16 == 0 /\ -len_297^post16+len_297^0 == 0 /\ -lt_397^post16+lt_397^0 == 0 /\ -r_188^post16+r_188^0 == 0 /\ -i_120^post16+i_120^0 == 0 /\ -tmp_37^post16+tmp_37^0 == 0 /\ -rcd_367^post16+rcd_367^0 == 0 /\ -rcd_235^post16+rcd_235^0 == 0 /\ r_167^0-r_167^post16 == 0 /\ -x_19^post16+x_19^0 == 0 /\ r_252^0-r_252^post16 == 0 /\ -r_274^post16+r_274^0 == 0 /\ -temp_38^post16+temp_38^0 == 0 /\ a_148^0-a_148^post16 == 0 /\ -i_111^post16+i_111^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post16 == 0 /\ -result_11^post16+result_11^0 == 0 /\ len_205^0-len_205^post16 == 0 /\ l_27^0-l_27^post16 == 0 /\ i_33^0-i_33^post16 == 0 /\ -a_332^post16+a_332^0 == 0 /\ r_243^0-r_243^post16 == 0 /\ rcd_105^0-rcd_105^post16 == 0 /\ rcd_248^0-rcd_248^post16 == 0 /\ r_42^0-r_42^post16 == 0 /\ -r_245^post16+r_245^0 == 0 /\ lt_509^0-lt_509^post16 == 0 /\ -r_246^post16+r_246^0 == 0 /\ temp0_18^0-temp0_18^post16 == 0 /\ temp0_34^0-temp0_34^post16 == 0 /\ -head_13^post16+head_13^0 == 0 /\ -rcd_70^post16+rcd_70^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post16 == 0 /\ t_24^0-t_24^post16 == 0 /\ r_258^0-r_258^post16 == 0 /\ -nondet_12^post16+nondet_12^0 == 0 /\ 1-r_274^0 <= 0 /\ rcd_46^0-rcd_46^post16 == 0 /\ rcd_363^0-rcd_363^post16 == 0 /\ -a_388^post16+a_388^0 == 0), cost: 1
New rule:
l11 -> l12 : -1+r_274^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l11 -> l12 : a_148^0'=a_148^post17, r_258^0'=r_258^post17, i_33^0'=i_33^post17, r_167^0'=r_167^post17, t_30^0'=t_30^post17, a_358^0'=a_358^post17, r_42^0'=r_42^post17, len_275^0'=len_275^post17, rcd_409^0'=rcd_409^post17, r_243^0'=r_243^post17, r_246^0'=r_246^post17, x_SLAM_f_21^0'=x_SLAM_f_21^post17, head_35^0'=head_35^post17, rcd_248^0'=rcd_248^post17, lt_509^0'=lt_509^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post17, a_220^0'=a_220^post17, r_272^0'=r_272^post17, rcd_363^0'=rcd_363^post17, r_196^0'=r_196^post17, temp0_34^0'=temp0_34^post17, c_28^0'=c_28^post17, rcd_113^0'=rcd_113^post17, length_32^0'=length_32^post17, rcd_46^0'=rcd_46^post17, r_252^0'=r_252^post17, i_120^0'=i_120^post17, rcd_273^0'=rcd_273^post17, r_159^0'=r_159^post17, t_24^0'=t_24^post17, a_332^0'=a_332^post17, r_29^0'=r_29^post17, len_205^0'=len_205^post17, rcd_387^0'=rcd_387^post17, r_236^0'=r_236^post17, tmp_37^0'=tmp_37^post17, x_23^0'=x_23^post17, head_13^0'=head_13^post17, rcd_244^0'=rcd_244^post17, lt_397^0'=lt_397^post17, result_11^0'=result_11^post17, a_173^0'=a_173^post17, r_266^0'=r_266^post17, l_27^0'=l_27^post17, r_188^0'=r_188^post17, temp0_18^0'=temp0_18^post17, a_388^0'=a_388^post17, rcd_105^0'=rcd_105^post17, len_297^0'=len_297^post17, rcd_427^0'=rcd_427^post17, r_245^0'=r_245^post17, r_247^0'=r_247^post17, y_22^0'=y_22^post17, i_111^0'=i_111^post17, rcd_253^0'=rcd_253^post17, nondet_12^0'=nondet_12^post17, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post17, a_276^0'=a_276^post17, r_274^0'=r_274^post17, rcd_367^0'=rcd_367^post17, r_234^0'=r_234^post17, temp_38^0'=temp_38^post17, x_19^0'=x_19^post17, ct_20^0'=ct_20^post17, rcd_235^0'=rcd_235^post17, lt_17^0'=lt_17^post17, rcd_70^0'=rcd_70^post17, (a_148^0-a_148^post17 == 0 /\ -r_159^post17+r_159^0 == 0 /\ len_205^0-len_205^post17 == 0 /\ r_252^0-r_252^post17 == 0 /\ -lt_17^post17+lt_17^0 == 0 /\ -rcd_427^post17+rcd_427^0 == 0 /\ r_245^0-r_245^post17 == 0 /\ result_11^0-result_11^post17 == 0 /\ l_27^0-l_27^post17 == 0 /\ i_33^0-i_33^post17 == 0 /\ -tmp_37^post17+tmp_37^0 == 0 /\ r_42^0-r_42^post17 == 0 /\ -rcd_253^post17+rcd_253^0 == 0 /\ i_120^0-i_120^post17 == 0 /\ 1+r_274^0 <= 0 /\ -a_276^post17+a_276^0 == 0 /\ rcd_113^0-rcd_113^post17 == 0 /\ -lt_397^post17+lt_397^0 == 0 /\ -r_266^post17+r_266^0 == 0 /\ -i_111^post17+i_111^0 == 0 /\ -length_32^post17+length_32^0 == 0 /\ c_28^0-c_28^post17 == 0 /\ rcd_46^0-rcd_46^post17 == 0 /\ -rcd_235^post17+rcd_235^0 == 0 /\ -temp0_18^post17+temp0_18^0 == 0 /\ r_243^0-r_243^post17 == 0 /\ y_22^0-y_22^post17 == 0 /\ rcd_387^0-rcd_387^post17 == 0 /\ lt_509^0-lt_509^post17 == 0 /\ -r_234^post17+r_234^0 == 0 /\ -rcd_273^post17+rcd_273^0 == 0 /\ t_30^0-t_30^post17 == 0 /\ -r_274^post17+r_274^0 == 0 /\ r_236^0-r_236^post17 == 0 /\ t_24^0-t_24^post17 == 0 /\ r_258^0-r_258^post17 == 0 /\ rcd_244^0-rcd_244^post17 == 0 /\ a_220^0-a_220^post17 == 0 /\ a_358^0-a_358^post17 == 0 /\ head_13^0-head_13^post17 == 0 /\ rcd_409^0-rcd_409^post17 == 0 /\ rcd_367^0-rcd_367^post17 == 0 /\ -rcd_105^post17+rcd_105^0 == 0 /\ -ct_20^post17+ct_20^0 == 0 /\ -r_188^post17+r_188^0 == 0 /\ -r_29^post17+r_29^0 == 0 /\ temp_38^0-temp_38^post17 == 0 /\ -x_SLAM_f_21^post17+x_SLAM_f_21^0 == 0 /\ -x_23^post17+x_23^0 == 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ -rcd_248^post17+rcd_248^0 == 0 /\ len_297^0-len_297^post17 == 0 /\ -rcd_363^post17+rcd_363^0 == 0 /\ r_246^0-r_246^post17 == 0 /\ -a_388^post17+a_388^0 == 0 /\ -rcd_70^post17+rcd_70^0 == 0 /\ r_196^0-r_196^post17 == 0 /\ r_272^0-r_272^post17 == 0 /\ a_332^0-a_332^post17 == 0 /\ -x_19^post17+x_19^0 == 0 /\ len_275^0-len_275^post17 == 0 /\ -r_247^post17+r_247^0 == 0 /\ -temp0_34^post17+temp0_34^0 == 0 /\ head_35^0-head_35^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post17 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post17+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_173^post17+a_173^0 == 0 /\ r_167^0-r_167^post17 == 0), cost: 1
New rule:
l11 -> l12 : 1+r_274^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l12 -> l5 : a_148^0'=a_148^post18, r_258^0'=r_258^post18, i_33^0'=i_33^post18, r_167^0'=r_167^post18, t_30^0'=t_30^post18, a_358^0'=a_358^post18, r_42^0'=r_42^post18, len_275^0'=len_275^post18, rcd_409^0'=rcd_409^post18, r_243^0'=r_243^post18, r_246^0'=r_246^post18, x_SLAM_f_21^0'=x_SLAM_f_21^post18, head_35^0'=head_35^post18, rcd_248^0'=rcd_248^post18, lt_509^0'=lt_509^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post18, a_220^0'=a_220^post18, r_272^0'=r_272^post18, rcd_363^0'=rcd_363^post18, r_196^0'=r_196^post18, temp0_34^0'=temp0_34^post18, c_28^0'=c_28^post18, rcd_113^0'=rcd_113^post18, length_32^0'=length_32^post18, rcd_46^0'=rcd_46^post18, r_252^0'=r_252^post18, i_120^0'=i_120^post18, rcd_273^0'=rcd_273^post18, r_159^0'=r_159^post18, t_24^0'=t_24^post18, a_332^0'=a_332^post18, r_29^0'=r_29^post18, len_205^0'=len_205^post18, rcd_387^0'=rcd_387^post18, r_236^0'=r_236^post18, tmp_37^0'=tmp_37^post18, x_23^0'=x_23^post18, head_13^0'=head_13^post18, rcd_244^0'=rcd_244^post18, lt_397^0'=lt_397^post18, result_11^0'=result_11^post18, a_173^0'=a_173^post18, r_266^0'=r_266^post18, l_27^0'=l_27^post18, r_188^0'=r_188^post18, temp0_18^0'=temp0_18^post18, a_388^0'=a_388^post18, rcd_105^0'=rcd_105^post18, len_297^0'=len_297^post18, rcd_427^0'=rcd_427^post18, r_245^0'=r_245^post18, r_247^0'=r_247^post18, y_22^0'=y_22^post18, i_111^0'=i_111^post18, rcd_253^0'=rcd_253^post18, nondet_12^0'=nondet_12^post18, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post18, a_276^0'=a_276^post18, r_274^0'=r_274^post18, rcd_367^0'=rcd_367^post18, r_234^0'=r_234^post18, temp_38^0'=temp_38^post18, x_19^0'=x_19^post18, ct_20^0'=ct_20^post18, rcd_235^0'=rcd_235^post18, lt_17^0'=lt_17^post18, rcd_70^0'=rcd_70^post18, (0 == 0 /\ temp0_34^0-temp0_34^post18 == 0 /\ a_173^0-a_173^post18 == 0 /\ -t_24^post18+t_24^0 == 0 /\ -rcd_46^post18+rcd_273^0 <= 0 /\ length_32^0-length_32^post18 == 0 /\ -a_220^post18+a_276^0 <= 0 /\ -r_167^post18+r_274^0 <= 0 /\ rcd_409^0-rcd_409^post18 == 0 /\ rcd_273^0-rcd_273^post18 == 0 /\ -x_19^post18+x_19^0 == 0 /\ rcd_363^0-rcd_363^post18 == 0 /\ -r_274^post18+r_274^0 == 0 /\ -y_22^post18+y_22^0 == 0 /\ len_275^0-len_275^post18 == 0 /\ x_23^0-x_23^post18 == 0 /\ a_332^0-a_332^post18 == 0 /\ -lt_17^post18+lt_17^0 == 0 /\ rcd_113^0-rcd_113^post18 == 0 /\ rcd_248^0-rcd_248^post18 == 0 /\ r_272^0-r_272^post18 == 0 /\ rcd_46^post18-rcd_273^0 <= 0 /\ a_148^0-a_148^post18 == 0 /\ rcd_253^0-rcd_253^post18 == 0 /\ -r_159^post18+r_159^0 == 0 /\ a_220^post18-a_276^0 <= 0 /\ r_167^post18-r_274^0 <= 0 /\ -rcd_70^post18+rcd_70^0 == 0 /\ -result_11^post18+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post18 == 0 /\ r_29^0-r_29^post18 == 0 /\ lt_397^0-lt_397^post18 == 0 /\ tmp_37^0-tmp_37^post18 == 0 /\ i_111^0-i_111^post18 == 0 /\ -l_27^post18+l_27^0 == 0 /\ -len_297^post18+len_297^0 == 0 /\ -nondet_12^post18+nondet_12^0 == 0 /\ t_30^0-t_30^post18 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_244^0-rcd_244^post18 == 0 /\ i_120^0-i_120^post18 == 0 /\ -r_266^post18+r_266^0 == 0 /\ -head_13^post18+head_13^0 == 0 /\ -head_35^post18+head_35^0 == 0 /\ -rcd_235^post18+rcd_235^0 == 0 /\ r_246^0-r_246^post18 == 0 /\ r_258^0-r_258^post18 == 0 /\ -c_28^post18+c_28^0 == 0 /\ -temp0_18^post18+temp0_18^0 == 0 /\ r_234^0-r_234^post18 == 0 /\ -len_205^post18+len_275^0 <= 0 /\ r_252^0-r_252^post18 == 0 /\ -r_245^post18+r_245^0 == 0 /\ -r_272^0+r_42^post18 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post18+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_105^post18+rcd_105^0 == 0 /\ -rcd_387^post18+rcd_387^0 == 0 /\ -r_196^post18+r_196^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post18 == 0 /\ -rcd_367^post18+rcd_367^0 == 0 /\ r_236^0-r_236^post18 == 0 /\ -temp_38^post18+temp_38^0 == 0 /\ a_388^0-a_388^post18 == 0 /\ rcd_427^0-rcd_427^post18 == 0 /\ -r_188^post18+r_188^0 == 0 /\ r_243^0-r_243^post18 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -a_276^post18+a_276^0 == 0 /\ -ct_20^post18+ct_20^0 == 0 /\ -r_247^post18+r_247^0 == 0 /\ len_205^post18-len_275^0 <= 0 /\ i_33^0-i_33^post18 == 0 /\ lt_509^0-lt_509^post18 == 0 /\ a_358^0-a_358^post18 == 0 /\ r_272^0-r_42^post18 <= 0), cost: 1
New rule:
l12 -> l5 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l5 -> l0 : a_148^0'=a_148^post19, r_258^0'=r_258^post19, i_33^0'=i_33^post19, r_167^0'=r_167^post19, t_30^0'=t_30^post19, a_358^0'=a_358^post19, r_42^0'=r_42^post19, len_275^0'=len_275^post19, rcd_409^0'=rcd_409^post19, r_243^0'=r_243^post19, r_246^0'=r_246^post19, x_SLAM_f_21^0'=x_SLAM_f_21^post19, head_35^0'=head_35^post19, rcd_248^0'=rcd_248^post19, lt_509^0'=lt_509^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post19, a_220^0'=a_220^post19, r_272^0'=r_272^post19, rcd_363^0'=rcd_363^post19, r_196^0'=r_196^post19, temp0_34^0'=temp0_34^post19, c_28^0'=c_28^post19, rcd_113^0'=rcd_113^post19, length_32^0'=length_32^post19, rcd_46^0'=rcd_46^post19, r_252^0'=r_252^post19, i_120^0'=i_120^post19, rcd_273^0'=rcd_273^post19, r_159^0'=r_159^post19, t_24^0'=t_24^post19, a_332^0'=a_332^post19, r_29^0'=r_29^post19, len_205^0'=len_205^post19, rcd_387^0'=rcd_387^post19, r_236^0'=r_236^post19, tmp_37^0'=tmp_37^post19, x_23^0'=x_23^post19, head_13^0'=head_13^post19, rcd_244^0'=rcd_244^post19, lt_397^0'=lt_397^post19, result_11^0'=result_11^post19, a_173^0'=a_173^post19, r_266^0'=r_266^post19, l_27^0'=l_27^post19, r_188^0'=r_188^post19, temp0_18^0'=temp0_18^post19, a_388^0'=a_388^post19, rcd_105^0'=rcd_105^post19, len_297^0'=len_297^post19, rcd_427^0'=rcd_427^post19, r_245^0'=r_245^post19, r_247^0'=r_247^post19, y_22^0'=y_22^post19, i_111^0'=i_111^post19, rcd_253^0'=rcd_253^post19, nondet_12^0'=nondet_12^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, a_276^0'=a_276^post19, r_274^0'=r_274^post19, rcd_367^0'=rcd_367^post19, r_234^0'=r_234^post19, temp_38^0'=temp_38^post19, x_19^0'=x_19^post19, ct_20^0'=ct_20^post19, rcd_235^0'=rcd_235^post19, lt_17^0'=lt_17^post19, rcd_70^0'=rcd_70^post19, (c_28^0-c_28^post19 == 0 /\ rcd_46^0-rcd_46^post19 == 0 /\ -temp_38^post19+temp_38^0 == 0 /\ -r_252^post19+r_252^0 == 0 /\ nondet_12^0-nondet_12^post19 == 0 /\ -ct_20^post19+ct_20^0 == 0 /\ -r_274^post19+r_274^0 == 0 /\ r_246^0-r_246^post19 == 0 /\ r_247^0-r_247^post19 == 0 /\ -a_332^post19+a_332^0 == 0 /\ r_188^0-r_188^post19 == 0 /\ r_196^0-r_196^post19 == 0 /\ r_159^0-r_159^post19 == 0 /\ -i_111^post19+i_111^0 == 0 /\ t_30^0-t_30^post19 == 0 /\ r_258^0-r_258^post19 == 0 /\ -r_272^post19+r_272^0 == 0 /\ -r_245^post19+r_245^0 == 0 /\ -rcd_70^post19+rcd_70^0 == 0 /\ -result_11^post19+result_11^0 == 0 /\ a_358^0-a_358^post19 == 0 /\ head_13^0-head_13^post19 == 0 /\ len_205^0-len_205^post19 == 0 /\ -a_388^post19+a_388^0 == 0 /\ i_33^0-i_33^post19 == 0 /\ a_220^0-a_220^post19 == 0 /\ -x_19^post19+x_19^0 == 0 /\ length_32^0-length_32^post19 == 0 /\ x_23^0-x_23^post19 == 0 /\ lt_397^0-lt_397^post19 == 0 /\ r_243^0-r_243^post19 == 0 /\ -lt_17^post19+lt_17^0 == 0 /\ rcd_273^0-rcd_273^post19 == 0 /\ len_275^0-len_275^post19 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post19+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_387^post19+rcd_387^0 == 0 /\ -lt_509^post19+lt_509^0 == 0 /\ -a_173^post19+a_173^0 == 0 /\ t_24^0-t_24^post19 == 0 /\ -rcd_244^post19+rcd_244^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post19 == 0 /\ rcd_363^0-rcd_363^post19 == 0 /\ -r_167^post19+r_167^0 == 0 /\ -rcd_427^post19+rcd_427^0 == 0 /\ -l_27^post19+l_27^0 == 0 /\ -rcd_113^post19+rcd_113^0 == 0 /\ -r_236^post19+r_236^0 == 0 /\ -r_234^post19+r_234^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post19 == 0 /\ head_35^0-head_35^post19 == 0 /\ r_266^0-r_266^post19 == 0 /\ -rcd_253^post19+rcd_253^0 == 0 /\ a_148^0-a_148^post19 == 0 /\ -rcd_235^post19+rcd_235^0 == 0 /\ -a_276^post19+a_276^0 == 0 /\ rcd_409^0-rcd_409^post19 == 0 /\ tmp_37^0-tmp_37^post19 == 0 /\ -rcd_367^post19+rcd_367^0 == 0 /\ -y_22^post19+y_22^0 == 0 /\ -r_29^post19+r_29^0 == 0 /\ temp0_34^0-temp0_34^post19 == 0 /\ -len_297^post19+len_297^0 == 0 /\ rcd_248^0-rcd_248^post19 == 0 /\ r_42^0-r_42^post19 == 0 /\ -temp0_18^post19+temp0_18^0 == 0 /\ -i_120^post19+i_120^0 == 0 /\ rcd_105^0-rcd_105^post19 == 0), cost: 1
New rule:
l5 -> l0 : TRUE, cost: 1

Applied preprocessing
Original rule:
l33 -> l47 : a_148^0'=a_148^post74, r_258^0'=r_258^post74, i_33^0'=i_33^post74, r_167^0'=r_167^post74, t_30^0'=t_30^post74, a_358^0'=a_358^post74, r_42^0'=r_42^post74, len_275^0'=len_275^post74, rcd_409^0'=rcd_409^post74, r_243^0'=r_243^post74, r_246^0'=r_246^post74, x_SLAM_f_21^0'=x_SLAM_f_21^post74, head_35^0'=head_35^post74, rcd_248^0'=rcd_248^post74, lt_509^0'=lt_509^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74, a_220^0'=a_220^post74, r_272^0'=r_272^post74, rcd_363^0'=rcd_363^post74, r_196^0'=r_196^post74, temp0_34^0'=temp0_34^post74, c_28^0'=c_28^post74, rcd_113^0'=rcd_113^post74, length_32^0'=length_32^post74, rcd_46^0'=rcd_46^post74, r_252^0'=r_252^post74, i_120^0'=i_120^post74, rcd_273^0'=rcd_273^post74, r_159^0'=r_159^post74, t_24^0'=t_24^post74, a_332^0'=a_332^post74, r_29^0'=r_29^post74, len_205^0'=len_205^post74, rcd_387^0'=rcd_387^post74, r_236^0'=r_236^post74, tmp_37^0'=tmp_37^post74, x_23^0'=x_23^post74, head_13^0'=head_13^post74, rcd_244^0'=rcd_244^post74, lt_397^0'=lt_397^post74, result_11^0'=result_11^post74, a_173^0'=a_173^post74, r_266^0'=r_266^post74, l_27^0'=l_27^post74, r_188^0'=r_188^post74, temp0_18^0'=temp0_18^post74, a_388^0'=a_388^post74, rcd_105^0'=rcd_105^post74, len_297^0'=len_297^post74, rcd_427^0'=rcd_427^post74, r_245^0'=r_245^post74, r_247^0'=r_247^post74, y_22^0'=y_22^post74, i_111^0'=i_111^post74, rcd_253^0'=rcd_253^post74, nondet_12^0'=nondet_12^post74, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post74, a_276^0'=a_276^post74, r_274^0'=r_274^post74, rcd_367^0'=rcd_367^post74, r_234^0'=r_234^post74, temp_38^0'=temp_38^post74, x_19^0'=x_19^post74, ct_20^0'=ct_20^post74, rcd_235^0'=rcd_235^post74, lt_17^0'=lt_17^post74, rcd_70^0'=rcd_70^post74, (0 == 0 /\ -rcd_253^post74+rcd_253^0 == 0 /\ -a_276^post74+a_276^0 == 0 /\ -rcd_113^post74+rcd_113^0 == 0 /\ r_247^0-r_247^post74 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74+tmp_37^post74 <= 0 /\ r_159^0-r_159^post74 == 0 /\ r_258^0-r_258^post74 == 0 /\ r_29^0-r_29^post74 == 0 /\ -y_22^post74+y_22^0 == 0 /\ r_42^0-r_42^post74 == 0 /\ rcd_46^0-rcd_46^post74 == 0 /\ -r_196^post74+r_196^0 == 0 /\ r_246^0-r_246^post74 == 0 /\ -lt_17^post74+lt_17^0 == 0 /\ -r_274^post74+r_274^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74-tmp_37^post74 <= 0 /\ a_388^0-a_388^post74 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post74 == 0 /\ rcd_273^0-rcd_273^post74 == 0 /\ -i_111^post74+i_111^0 == 0 /\ c_28^0-c_28^post74 == 0 /\ -lt_509^post74+lt_509^0 == 0 /\ t_30^0-t_30^post74 == 0 /\ 1+i_33^0-length_32^0 <= 0 /\ nondet_12^0-nondet_12^post74 == 0 /\ -l_27^post74+l_27^0 == 0 /\ a_358^0-a_358^post74 == 0 /\ -r_272^post74+r_272^0 == 0 /\ -r_234^post74+r_234^0 == 0 /\ -2+i_33^post74 <= 0 /\ -rcd_427^post74+rcd_427^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post74-length_32^0 <= 0 /\ -result_11^post74+result_11^0 == 0 /\ len_205^0-len_205^post74 == 0 /\ 2-length_32^0 <= 0 /\ -tmp_37^post74+head_35^post74 <= 0 /\ -tmp_37^post74+head_35^post74 == 0 /\ -r_245^post74+r_245^0 == 0 /\ -1-i_33^0+i_33^post74 == 0 /\ a_220^0-a_220^post74 == 0 /\ length_32^0-length_32^post74 == 0 /\ -a_332^post74+a_332^0 == 0 /\ -rcd_235^post74+rcd_235^0 == 0 /\ rcd_363^0-rcd_363^post74 == 0 /\ a_148^0-a_148^post74 == 0 /\ r_266^0-r_266^post74 == 0 /\ -r_243^post74+r_243^0 == 0 /\ len_275^0-len_275^post74 == 0 /\ -len_297^post74+len_297^0 == 0 /\ -rcd_367^post74+rcd_367^0 == 0 /\ x_23^0-x_23^post74 == 0 /\ -temp0_18^post74+temp0_18^0 == 0 /\ temp0_34^0-temp0_34^post74 == 0 /\ -i_120^post74+i_120^0 == 0 /\ rcd_409^0-rcd_409^post74 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74-head_35^post74 <= 0 /\ -head_13^post74+head_13^0 == 0 /\ tmp_37^post74-temp_38^0 == 0 /\ -a_173^post74+a_173^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post74+length_32^0 <= 0 /\ -x_19^post74+x_19^0 == 0 /\ tmp_37^post74-head_35^post74 <= 0 /\ -rcd_387^post74+rcd_387^0 == 0 /\ -r_252^post74+r_252^0 == 0 /\ rcd_248^0-rcd_248^post74 == 0 /\ lt_397^0-lt_397^post74 == 0 /\ -rcd_105^post74+rcd_105^0 == 0 /\ -ct_20^post74+ct_20^0 == 0 /\ -rcd_244^post74+rcd_244^0 == 0 /\ -r_236^post74+r_236^0 == 0 /\ 2-i_33^post74 <= 0 /\ r_167^0-r_167^post74 == 0 /\ r_188^0-r_188^post74 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post74+head_35^post74 <= 0 /\ t_24^0-t_24^post74 == 0 /\ 1-length_32^0 <= 0), cost: 1
New rule:
l33 -> l47 : i_33^0'=2, head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_32^0, temp_38^0'=temp_38^post74, rcd_70^0'=rcd_70^post74, (-2+length_32^0 >= 0 /\ -1+i_33^0 == 0), cost: 1

Applied preprocessing
Original rule:
l47 -> l48 : a_148^0'=a_148^post75, r_258^0'=r_258^post75, i_33^0'=i_33^post75, r_167^0'=r_167^post75, t_30^0'=t_30^post75, a_358^0'=a_358^post75, r_42^0'=r_42^post75, len_275^0'=len_275^post75, rcd_409^0'=rcd_409^post75, r_243^0'=r_243^post75, r_246^0'=r_246^post75, x_SLAM_f_21^0'=x_SLAM_f_21^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, lt_509^0'=lt_509^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, a_220^0'=a_220^post75, r_272^0'=r_272^post75, rcd_363^0'=rcd_363^post75, r_196^0'=r_196^post75, temp0_34^0'=temp0_34^post75, c_28^0'=c_28^post75, rcd_113^0'=rcd_113^post75, length_32^0'=length_32^post75, rcd_46^0'=rcd_46^post75, r_252^0'=r_252^post75, i_120^0'=i_120^post75, rcd_273^0'=rcd_273^post75, r_159^0'=r_159^post75, t_24^0'=t_24^post75, a_332^0'=a_332^post75, r_29^0'=r_29^post75, len_205^0'=len_205^post75, rcd_387^0'=rcd_387^post75, r_236^0'=r_236^post75, tmp_37^0'=tmp_37^post75, x_23^0'=x_23^post75, head_13^0'=head_13^post75, rcd_244^0'=rcd_244^post75, lt_397^0'=lt_397^post75, result_11^0'=result_11^post75, a_173^0'=a_173^post75, r_266^0'=r_266^post75, l_27^0'=l_27^post75, r_188^0'=r_188^post75, temp0_18^0'=temp0_18^post75, a_388^0'=a_388^post75, rcd_105^0'=rcd_105^post75, len_297^0'=len_297^post75, rcd_427^0'=rcd_427^post75, r_245^0'=r_245^post75, r_247^0'=r_247^post75, y_22^0'=y_22^post75, i_111^0'=i_111^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, a_276^0'=a_276^post75, r_274^0'=r_274^post75, rcd_367^0'=rcd_367^post75, r_234^0'=r_234^post75, temp_38^0'=temp_38^post75, x_19^0'=x_19^post75, ct_20^0'=ct_20^post75, rcd_235^0'=rcd_235^post75, lt_17^0'=lt_17^post75, rcd_70^0'=rcd_70^post75, (0 == 0 /\ -rcd_70^post75+rcd_70^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^110-i_120^0 <= 0 /\ r_245^0-r_245^post75 == 0 /\ r_29^post75 <= 0 /\ r_29^post75 == 0 /\ -i_111^post75+i_111^0 == 0 /\ nondet_12^0-nondet_12^post75 == 0 /\ -c_28^post75+c_28^0 == 0 /\ a_148^0-a_148^post75 == 0 /\ len_275^0-len_275^post75 == 0 /\ -x_19^post75+x_19^0 == 0 /\ -len_205^post75+len_205^0 == 0 /\ -rcd_363^post75+rcd_363^0 == 0 /\ rcd_409^0-rcd_409^post75 == 0 /\ -i_33^0+length_32^0 <= 0 /\ -r_188^post75+r_188^0 == 0 /\ -r_29^post75 <= 0 /\ -lt_17^post75+lt_17^0 == 0 /\ -a_173^post75+a_173^0 == 0 /\ lt_509^0-lt_509^post75 == 0 /\ -i_33^0 <= 0 /\ -rcd_244^post75+rcd_244^0 == 0 /\ r_243^0-r_243^post75 == 0 /\ -rcd_105^post75+rcd_105^0 == 0 /\ r_274^0-r_274^post75 == 0 /\ r_196^0-r_196^post75 == 0 /\ r_167^0-r_167^post75 == 0 /\ -t_24^post75+t_24^0 == 0 /\ a_332^0-a_332^post75 == 0 /\ -i_120^0 <= 0 /\ -r_234^post75+r_234^0 == 0 /\ head_13^0-l_27^11 <= 0 /\ r_258^0-r_258^post75 == 0 /\ r_42^0-r_42^post75 == 0 /\ -rcd_235^post75+rcd_235^0 == 0 /\ rcd_113^0-rcd_113^post75 == 0 /\ -x_23^post75+x_23^0 == 0 /\ r_236^0-r_236^post75 == 0 /\ -lt_397^post75+lt_397^0 == 0 /\ rcd_367^0-rcd_367^post75 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ r_272^0-r_272^post75 == 0 /\ -a_276^post75+a_276^0 == 0 /\ temp0_18^0-temp0_18^post75 == 0 /\ r_246^0-r_246^post75 == 0 /\ a_220^0-a_220^post75 == 0 /\ -a_388^post75+a_388^0 == 0 /\ rcd_387^0-rcd_387^post75 == 0 /\ -r_159^post75+r_159^0 == 0 /\ -rcd_46^post75+rcd_46^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post75 == 0 /\ -y_22^post75+y_22^0 == 0 /\ -head_13^0+l_27^11 <= 0 /\ -head_13^0+l_27^11 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ temp0_34^110-head_35^0 == 0 /\ -rcd_427^post75+rcd_427^0 == 0 /\ t_30^0-t_30^post75 == 0 /\ -ct_20^post75+ct_20^0 == 0 /\ i_120^0-i_120^post75 == 0 /\ -temp0_34^110+result_11^110 == 0 /\ a_358^0-a_358^post75 == 0 /\ len_297^0-len_297^post75 == 0 /\ -rcd_273^post75+rcd_273^0 == 0 /\ -r_266^post75+r_266^0 == 0), cost: 1
New rule:
l47 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, (-i_33^0+length_32^0 <= 0 /\ -i_33^0 <= 0 /\ -2+i_120^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l48 -> l49 : a_148^0'=a_148^post76, r_258^0'=r_258^post76, i_33^0'=i_33^post76, r_167^0'=r_167^post76, t_30^0'=t_30^post76, a_358^0'=a_358^post76, r_42^0'=r_42^post76, len_275^0'=len_275^post76, rcd_409^0'=rcd_409^post76, r_243^0'=r_243^post76, r_246^0'=r_246^post76, x_SLAM_f_21^0'=x_SLAM_f_21^post76, head_35^0'=head_35^post76, rcd_248^0'=rcd_248^post76, lt_509^0'=lt_509^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post76, a_220^0'=a_220^post76, r_272^0'=r_272^post76, rcd_363^0'=rcd_363^post76, r_196^0'=r_196^post76, temp0_34^0'=temp0_34^post76, c_28^0'=c_28^post76, rcd_113^0'=rcd_113^post76, length_32^0'=length_32^post76, rcd_46^0'=rcd_46^post76, r_252^0'=r_252^post76, i_120^0'=i_120^post76, rcd_273^0'=rcd_273^post76, r_159^0'=r_159^post76, t_24^0'=t_24^post76, a_332^0'=a_332^post76, r_29^0'=r_29^post76, len_205^0'=len_205^post76, rcd_387^0'=rcd_387^post76, r_236^0'=r_236^post76, tmp_37^0'=tmp_37^post76, x_23^0'=x_23^post76, head_13^0'=head_13^post76, rcd_244^0'=rcd_244^post76, lt_397^0'=lt_397^post76, result_11^0'=result_11^post76, a_173^0'=a_173^post76, r_266^0'=r_266^post76, l_27^0'=l_27^post76, r_188^0'=r_188^post76, temp0_18^0'=temp0_18^post76, a_388^0'=a_388^post76, rcd_105^0'=rcd_105^post76, len_297^0'=len_297^post76, rcd_427^0'=rcd_427^post76, r_245^0'=r_245^post76, r_247^0'=r_247^post76, y_22^0'=y_22^post76, i_111^0'=i_111^post76, rcd_253^0'=rcd_253^post76, nondet_12^0'=nondet_12^post76, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post76, a_276^0'=a_276^post76, r_274^0'=r_274^post76, rcd_367^0'=rcd_367^post76, r_234^0'=r_234^post76, temp_38^0'=temp_38^post76, x_19^0'=x_19^post76, ct_20^0'=ct_20^post76, rcd_235^0'=rcd_235^post76, lt_17^0'=lt_17^post76, rcd_70^0'=rcd_70^post76, (-result_dot_nondet_sdv_special_RETURN_VALUE_14^post76+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post76+rcd_427^0 == 0 /\ -a_173^post76+a_173^0 == 0 /\ r_272^0-r_272^post76 == 0 /\ -rcd_363^post76+rcd_363^0 == 0 /\ -r_29^post76+r_29^0 == 0 /\ result_11^0-result_11^post76 == 0 /\ -r_245^post76+r_245^0 == 0 /\ -c_28^post76+c_28^0 == 0 /\ tmp_37^0-tmp_37^post76 == 0 /\ -r_247^post76+r_247^0 == 0 /\ -lt_17^post76+lt_17^0 == 0 /\ -r_266^post76+r_266^0 == 0 /\ -temp0_34^post76+temp0_34^0 == 0 /\ -rcd_273^post76+rcd_273^0 == 0 /\ r_42^0-r_42^post76 == 0 /\ lt_509^0-lt_509^post76 == 0 /\ temp0_18^0-temp0_18^post76 == 0 /\ -r_234^post76+r_234^0 == 0 /\ t_30^0-t_30^post76 == 0 /\ -a_220^post76+a_220^0 == 0 /\ length_32^0-length_32^post76 == 0 /\ -rcd_253^post76+rcd_253^0 == 0 /\ -a_276^post76+a_276^0 == 0 /\ rcd_244^0-rcd_244^post76 == 0 /\ -rcd_235^post76+rcd_235^0 == 0 /\ -y_22^post76+y_22^0 == 0 /\ -temp_38^post76+temp_38^0 == 0 /\ -lt_397^post76+lt_397^0 == 0 /\ -r_188^post76+r_188^0 == 0 /\ r_252^0-r_252^post76 == 0 /\ r_196^0-r_196^post76 == 0 /\ -a_388^post76+a_388^0 == 0 /\ -x_SLAM_f_21^post76+x_SLAM_f_21^0 == 0 /\ rcd_113^0-rcd_113^post76 == 0 /\ a_148^0-a_148^post76 == 0 /\ rcd_387^0-rcd_387^post76 == 0 /\ rcd_248^0-rcd_248^post76 == 0 /\ head_35^0-head_35^post76 == 0 /\ -x_23^post76+x_23^0 == 0 /\ a_332^0-a_332^post76 == 0 /\ l_27^0-l_27^post76 == 0 /\ rcd_409^0-rcd_409^post76 == 0 /\ -r_274^post76+r_274^0 == 0 /\ r_236^0-r_236^post76 == 0 /\ head_13^0-head_13^post76 == 0 /\ r_167^0-r_167^post76 == 0 /\ -rcd_367^post76+rcd_367^0 == 0 /\ -rcd_105^post76+rcd_105^0 == 0 /\ -i_111^post76+i_111^0 == 0 /\ -ct_20^post76+ct_20^0 == 0 /\ a_358^0-a_358^post76 == 0 /\ i_33^0-i_33^post76 == 0 /\ -nondet_12^post76+nondet_12^0 == 0 /\ i_120^0-i_120^post76 == 0 /\ r_243^0-r_243^post76 == 0 /\ r_246^0-r_246^post76 == 0 /\ -len_205^post76+len_205^0 == 0 /\ t_24^0-t_24^post76 == 0 /\ -r_159^post76+r_159^0 == 0 /\ len_297^0-len_297^post76 == 0 /\ 1-c_28^0 <= 0 /\ r_258^0-r_258^post76 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post76+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_46^post76+rcd_46^0 == 0 /\ len_275^0-len_275^post76 == 0 /\ -rcd_70^post76+rcd_70^0 == 0 /\ -x_19^post76+x_19^0 == 0), cost: 1
New rule:
l48 -> l49 : -1+c_28^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l48 -> l49 : a_148^0'=a_148^post77, r_258^0'=r_258^post77, i_33^0'=i_33^post77, r_167^0'=r_167^post77, t_30^0'=t_30^post77, a_358^0'=a_358^post77, r_42^0'=r_42^post77, len_275^0'=len_275^post77, rcd_409^0'=rcd_409^post77, r_243^0'=r_243^post77, r_246^0'=r_246^post77, x_SLAM_f_21^0'=x_SLAM_f_21^post77, head_35^0'=head_35^post77, rcd_248^0'=rcd_248^post77, lt_509^0'=lt_509^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post77, a_220^0'=a_220^post77, r_272^0'=r_272^post77, rcd_363^0'=rcd_363^post77, r_196^0'=r_196^post77, temp0_34^0'=temp0_34^post77, c_28^0'=c_28^post77, rcd_113^0'=rcd_113^post77, length_32^0'=length_32^post77, rcd_46^0'=rcd_46^post77, r_252^0'=r_252^post77, i_120^0'=i_120^post77, rcd_273^0'=rcd_273^post77, r_159^0'=r_159^post77, t_24^0'=t_24^post77, a_332^0'=a_332^post77, r_29^0'=r_29^post77, len_205^0'=len_205^post77, rcd_387^0'=rcd_387^post77, r_236^0'=r_236^post77, tmp_37^0'=tmp_37^post77, x_23^0'=x_23^post77, head_13^0'=head_13^post77, rcd_244^0'=rcd_244^post77, lt_397^0'=lt_397^post77, result_11^0'=result_11^post77, a_173^0'=a_173^post77, r_266^0'=r_266^post77, l_27^0'=l_27^post77, r_188^0'=r_188^post77, temp0_18^0'=temp0_18^post77, a_388^0'=a_388^post77, rcd_105^0'=rcd_105^post77, len_297^0'=len_297^post77, rcd_427^0'=rcd_427^post77, r_245^0'=r_245^post77, r_247^0'=r_247^post77, y_22^0'=y_22^post77, i_111^0'=i_111^post77, rcd_253^0'=rcd_253^post77, nondet_12^0'=nondet_12^post77, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post77, a_276^0'=a_276^post77, r_274^0'=r_274^post77, rcd_367^0'=rcd_367^post77, r_234^0'=r_234^post77, temp_38^0'=temp_38^post77, x_19^0'=x_19^post77, ct_20^0'=ct_20^post77, rcd_235^0'=rcd_235^post77, lt_17^0'=lt_17^post77, rcd_70^0'=rcd_70^post77, (a_358^0-a_358^post77 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post77 == 0 /\ -len_205^post77+len_205^0 == 0 /\ rcd_409^0-rcd_409^post77 == 0 /\ -a_276^post77+a_276^0 == 0 /\ -y_22^post77+y_22^0 == 0 /\ 1+c_28^0 <= 0 /\ -rcd_253^post77+rcd_253^0 == 0 /\ a_173^0-a_173^post77 == 0 /\ -rcd_70^post77+rcd_70^0 == 0 /\ i_33^0-i_33^post77 == 0 /\ rcd_248^0-rcd_248^post77 == 0 /\ -a_388^post77+a_388^0 == 0 /\ -rcd_113^post77+rcd_113^0 == 0 /\ -r_236^post77+r_236^0 == 0 /\ a_148^0-a_148^post77 == 0 /\ temp0_34^0-temp0_34^post77 == 0 /\ -rcd_387^post77+rcd_387^0 == 0 /\ -r_274^post77+r_274^0 == 0 /\ rcd_46^0-rcd_46^post77 == 0 /\ c_28^0-c_28^post77 == 0 /\ -r_266^post77+r_266^0 == 0 /\ r_246^0-r_246^post77 == 0 /\ len_275^0-len_275^post77 == 0 /\ lt_509^0-lt_509^post77 == 0 /\ -i_111^post77+i_111^0 == 0 /\ r_243^0-r_243^post77 == 0 /\ lt_397^0-lt_397^post77 == 0 /\ -temp0_18^post77+temp0_18^0 == 0 /\ r_167^0-r_167^post77 == 0 /\ -lt_17^post77+lt_17^0 == 0 /\ -l_27^post77+l_27^0 == 0 /\ rcd_363^0-rcd_363^post77 == 0 /\ -r_234^post77+r_234^0 == 0 /\ -rcd_427^post77+rcd_427^0 == 0 /\ -r_196^post77+r_196^0 == 0 /\ head_35^0-head_35^post77 == 0 /\ r_258^0-r_258^post77 == 0 /\ -r_252^post77+r_252^0 == 0 /\ r_29^0-r_29^post77 == 0 /\ -nondet_12^post77+nondet_12^0 == 0 /\ r_159^0-r_159^post77 == 0 /\ rcd_367^0-rcd_367^post77 == 0 /\ tmp_37^0-tmp_37^post77 == 0 /\ -temp_38^post77+temp_38^0 == 0 /\ -r_188^post77+r_188^0 == 0 /\ r_42^0-r_42^post77 == 0 /\ a_220^0-a_220^post77 == 0 /\ i_120^0-i_120^post77 == 0 /\ -result_11^post77+result_11^0 == 0 /\ len_297^0-len_297^post77 == 0 /\ -rcd_235^post77+rcd_235^0 == 0 /\ -x_23^post77+x_23^0 == 0 /\ -r_272^post77+r_272^0 == 0 /\ -a_332^post77+a_332^0 == 0 /\ length_32^0-length_32^post77 == 0 /\ rcd_273^0-rcd_273^post77 == 0 /\ -head_13^post77+head_13^0 == 0 /\ -r_247^post77+r_247^0 == 0 /\ -x_19^post77+x_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post77+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -t_24^post77+t_24^0 == 0 /\ -rcd_105^post77+rcd_105^0 == 0 /\ t_30^0-t_30^post77 == 0 /\ -r_245^post77+r_245^0 == 0 /\ -ct_20^post77+ct_20^0 == 0 /\ rcd_244^0-rcd_244^post77 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post77 == 0), cost: 1
New rule:
l48 -> l49 : 1+c_28^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l49 -> l50 : a_148^0'=a_148^post78, r_258^0'=r_258^post78, i_33^0'=i_33^post78, r_167^0'=r_167^post78, t_30^0'=t_30^post78, a_358^0'=a_358^post78, r_42^0'=r_42^post78, len_275^0'=len_275^post78, rcd_409^0'=rcd_409^post78, r_243^0'=r_243^post78, r_246^0'=r_246^post78, x_SLAM_f_21^0'=x_SLAM_f_21^post78, head_35^0'=head_35^post78, rcd_248^0'=rcd_248^post78, lt_509^0'=lt_509^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post78, a_220^0'=a_220^post78, r_272^0'=r_272^post78, rcd_363^0'=rcd_363^post78, r_196^0'=r_196^post78, temp0_34^0'=temp0_34^post78, c_28^0'=c_28^post78, rcd_113^0'=rcd_113^post78, length_32^0'=length_32^post78, rcd_46^0'=rcd_46^post78, r_252^0'=r_252^post78, i_120^0'=i_120^post78, rcd_273^0'=rcd_273^post78, r_159^0'=r_159^post78, t_24^0'=t_24^post78, a_332^0'=a_332^post78, r_29^0'=r_29^post78, len_205^0'=len_205^post78, rcd_387^0'=rcd_387^post78, r_236^0'=r_236^post78, tmp_37^0'=tmp_37^post78, x_23^0'=x_23^post78, head_13^0'=head_13^post78, rcd_244^0'=rcd_244^post78, lt_397^0'=lt_397^post78, result_11^0'=result_11^post78, a_173^0'=a_173^post78, r_266^0'=r_266^post78, l_27^0'=l_27^post78, r_188^0'=r_188^post78, temp0_18^0'=temp0_18^post78, a_388^0'=a_388^post78, rcd_105^0'=rcd_105^post78, len_297^0'=len_297^post78, rcd_427^0'=rcd_427^post78, r_245^0'=r_245^post78, r_247^0'=r_247^post78, y_22^0'=y_22^post78, i_111^0'=i_111^post78, rcd_253^0'=rcd_253^post78, nondet_12^0'=nondet_12^post78, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post78, a_276^0'=a_276^post78, r_274^0'=r_274^post78, rcd_367^0'=rcd_367^post78, r_234^0'=r_234^post78, temp_38^0'=temp_38^post78, x_19^0'=x_19^post78, ct_20^0'=ct_20^post78, rcd_235^0'=rcd_235^post78, lt_17^0'=lt_17^post78, rcd_70^0'=rcd_70^post78, (0 == 0 /\ -i_111^post78+i_111^0 == 0 /\ a_220^0-a_220^post78 == 0 /\ -rcd_113^post78+rcd_113^0 == 0 /\ r_42^0-r_247^0 <= 0 /\ r_42^0-r_42^post78 == 0 /\ a_148^post78-a_220^0 <= 0 /\ rcd_363^0-rcd_363^post78 == 0 /\ -rcd_70^post78+rcd_70^0 == 0 /\ -x_19^post78+x_19^0 == 0 /\ r_258^0-r_258^post78 == 0 /\ r_167^0-r_29^post78 <= 0 /\ -tmp_37^post78+tmp_37^0 == 0 /\ -t_30^post78+r_29^post78 <= 0 /\ -t_30^post78+r_29^post78 == 0 /\ rcd_409^0-rcd_409^post78 == 0 /\ -r_274^post78+r_274^0 == 0 /\ r_159^0-r_159^post78 == 0 /\ -c_28^0+t_30^post78 == 0 /\ r_196^0-r_196^post78 == 0 /\ -r_42^0+r_247^0 <= 0 /\ -a_148^post78+a_220^0 <= 0 /\ rcd_248^0-rcd_248^post78 == 0 /\ -lt_17^post78+lt_17^0 == 0 /\ -length_32^post78+length_32^0 == 0 /\ r_272^0-r_272^post78 == 0 /\ -r_167^0+r_29^post78 <= 0 /\ -nondet_12^post78+nondet_12^0 == 0 /\ t_30^post78-r_29^post78 <= 0 /\ head_35^0-head_35^post78 == 0 /\ a_358^0-a_358^post78 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post78 == 0 /\ len_205^0 <= 0 /\ -temp0_18^post78+temp0_18^0 == 0 /\ t_24^0-t_24^post78 == 0 /\ -r_245^post78+r_245^0 == 0 /\ -r_167^post78+r_167^0 == 0 /\ temp0_34^0-temp0_34^post78 == 0 /\ i_33^0-i_33^post78 == 0 /\ len_205^0-len_205^post78 == 0 /\ -rcd_235^post78+rcd_235^0 == 0 /\ -head_13^post78+head_13^0 == 0 /\ -len_297^post78+len_297^0 == 0 /\ -r_247^post78+r_247^0 == 0 /\ -result_11^post78+result_11^0 == 0 /\ rcd_248^0-rcd_46^0 <= 0 /\ -l_27^post78+l_27^0 == 0 /\ -len_205^0 <= 0 /\ r_234^0-r_234^post78 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post78+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_275^0-len_275^post78 == 0 /\ r_252^0-r_252^post78 == 0 /\ rcd_273^0-rcd_273^post78 == 0 /\ -a_173^post78+a_173^0 == 0 /\ rcd_427^0-rcd_427^post78 == 0 /\ r_246^0-r_246^post78 == 0 /\ x_23^0-x_23^post78 == 0 /\ -head_13^0+l_27^0 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post78 == 0 /\ -ct_20^post78+ct_20^0 == 0 /\ -rcd_387^post78+rcd_387^0 == 0 /\ -y_22^post78+y_22^0 == 0 /\ -i_120^post78+i_120^0 == 0 /\ a_388^0-a_388^post78 == 0 /\ -rcd_105^post78+rcd_105^0 == 0 /\ r_266^0-r_266^post78 == 0 /\ c_28^0-c_28^post78 == 0 /\ rcd_46^0-rcd_46^post78 == 0 /\ -rcd_248^0+rcd_46^0 <= 0 /\ -rcd_244^post78+rcd_244^0 == 0 /\ -r_188^post78+r_188^0 == 0 /\ -r_236^post78+r_236^0 == 0 /\ lt_509^0-lt_509^post78 == 0 /\ -a_332^post78+a_332^0 == 0 /\ -rcd_253^post78+rcd_253^0 == 0 /\ -rcd_367^post78+rcd_367^0 == 0 /\ head_13^0-l_27^0 <= 0 /\ lt_397^0-lt_397^post78 == 0 /\ r_243^0-r_243^post78 == 0 /\ -temp_38^post78+temp_38^0 == 0 /\ -a_276^post78+a_276^0 == 0), cost: 1
New rule:
l49 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0), cost: 1

Applied preprocessing
Original rule:
l50 -> l51 : a_148^0'=a_148^post79, r_258^0'=r_258^post79, i_33^0'=i_33^post79, r_167^0'=r_167^post79, t_30^0'=t_30^post79, a_358^0'=a_358^post79, r_42^0'=r_42^post79, len_275^0'=len_275^post79, rcd_409^0'=rcd_409^post79, r_243^0'=r_243^post79, r_246^0'=r_246^post79, x_SLAM_f_21^0'=x_SLAM_f_21^post79, head_35^0'=head_35^post79, rcd_248^0'=rcd_248^post79, lt_509^0'=lt_509^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post79, a_220^0'=a_220^post79, r_272^0'=r_272^post79, rcd_363^0'=rcd_363^post79, r_196^0'=r_196^post79, temp0_34^0'=temp0_34^post79, c_28^0'=c_28^post79, rcd_113^0'=rcd_113^post79, length_32^0'=length_32^post79, rcd_46^0'=rcd_46^post79, r_252^0'=r_252^post79, i_120^0'=i_120^post79, rcd_273^0'=rcd_273^post79, r_159^0'=r_159^post79, t_24^0'=t_24^post79, a_332^0'=a_332^post79, r_29^0'=r_29^post79, len_205^0'=len_205^post79, rcd_387^0'=rcd_387^post79, r_236^0'=r_236^post79, tmp_37^0'=tmp_37^post79, x_23^0'=x_23^post79, head_13^0'=head_13^post79, rcd_244^0'=rcd_244^post79, lt_397^0'=lt_397^post79, result_11^0'=result_11^post79, a_173^0'=a_173^post79, r_266^0'=r_266^post79, l_27^0'=l_27^post79, r_188^0'=r_188^post79, temp0_18^0'=temp0_18^post79, a_388^0'=a_388^post79, rcd_105^0'=rcd_105^post79, len_297^0'=len_297^post79, rcd_427^0'=rcd_427^post79, r_245^0'=r_245^post79, r_247^0'=r_247^post79, y_22^0'=y_22^post79, i_111^0'=i_111^post79, rcd_253^0'=rcd_253^post79, nondet_12^0'=nondet_12^post79, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post79, a_276^0'=a_276^post79, r_274^0'=r_274^post79, rcd_367^0'=rcd_367^post79, r_234^0'=r_234^post79, temp_38^0'=temp_38^post79, x_19^0'=x_19^post79, ct_20^0'=ct_20^post79, rcd_235^0'=rcd_235^post79, lt_17^0'=lt_17^post79, rcd_70^0'=rcd_70^post79, (-x_23^post79+x_23^0 == 0 /\ lt_509^0-lt_509^post79 == 0 /\ -rcd_367^post79+rcd_367^0 == 0 /\ r_42^0-r_42^post79 == 0 /\ -length_32^post79+length_32^0 == 0 /\ -i_120^post79+i_120^0 == 0 /\ -ct_20^post79+ct_20^0 == 0 /\ t_24^0-t_24^post79 == 0 /\ r_188^0-r_188^post79 == 0 /\ -temp_38^post79+temp_38^0 == 0 /\ r_246^0-r_246^post79 == 0 /\ r_247^0-r_247^post79 == 0 /\ -nondet_12^post79+nondet_12^0 == 0 /\ r_196^0-r_196^post79 == 0 /\ -i_111^post79+i_111^0 == 0 /\ r_252^0-r_252^post79 == 0 /\ -rcd_46^post79+rcd_46^0 == 0 /\ a_148^0-a_148^post79 == 0 /\ -r_159^post79+r_159^0 == 0 /\ -rcd_70^post79+rcd_70^0 == 0 /\ r_167^0-r_167^post79 == 0 /\ -r_245^post79+r_245^0 == 0 /\ -a_388^post79+a_388^0 == 0 /\ r_236^0-r_236^post79 == 0 /\ result_11^0-result_11^post79 == 0 /\ a_220^0-a_220^post79 == 0 /\ a_358^0-a_358^post79 == 0 /\ temp0_34^0-temp0_34^post79 == 0 /\ -x_19^post79+x_19^0 == 0 /\ 1-t_30^0 <= 0 /\ i_33^0-i_33^post79 == 0 /\ c_28^0-c_28^post79 == 0 /\ rcd_387^0-rcd_387^post79 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post79+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_243^0-r_243^post79 == 0 /\ -lt_17^post79+lt_17^0 == 0 /\ -rcd_363^post79+rcd_363^0 == 0 /\ -a_173^post79+a_173^0 == 0 /\ -rcd_427^post79+rcd_427^0 == 0 /\ -a_276^post79+a_276^0 == 0 /\ -len_205^post79+len_205^0 == 0 /\ rcd_409^0-rcd_409^post79 == 0 /\ -rcd_244^post79+rcd_244^0 == 0 /\ r_258^0-r_258^post79 == 0 /\ rcd_248^0-rcd_248^post79 == 0 /\ -len_275^post79+len_275^0 == 0 /\ -rcd_253^post79+rcd_253^0 == 0 /\ a_332^0-a_332^post79 == 0 /\ -len_297^post79+len_297^0 == 0 /\ -t_30^post79+t_30^0 == 0 /\ -lt_397^post79+lt_397^0 == 0 /\ -l_27^post79+l_27^0 == 0 /\ -temp0_18^post79+temp0_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post79 == 0 /\ -r_234^post79+r_234^0 == 0 /\ -rcd_273^post79+rcd_273^0 == 0 /\ -tmp_37^post79+tmp_37^0 == 0 /\ rcd_113^0-rcd_113^post79 == 0 /\ head_13^0-head_13^post79 == 0 /\ -rcd_235^post79+rcd_235^0 == 0 /\ rcd_105^0-rcd_105^post79 == 0 /\ -r_274^post79+r_274^0 == 0 /\ -r_29^post79+r_29^0 == 0 /\ -x_SLAM_f_21^post79+x_SLAM_f_21^0 == 0 /\ r_266^0-r_266^post79 == 0 /\ head_35^0-head_35^post79 == 0 /\ r_272^0-r_272^post79 == 0 /\ -y_22^post79+y_22^0 == 0), cost: 1
New rule:
l50 -> l51 : -1+t_30^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l50 -> l51 : a_148^0'=a_148^post80, r_258^0'=r_258^post80, i_33^0'=i_33^post80, r_167^0'=r_167^post80, t_30^0'=t_30^post80, a_358^0'=a_358^post80, r_42^0'=r_42^post80, len_275^0'=len_275^post80, rcd_409^0'=rcd_409^post80, r_243^0'=r_243^post80, r_246^0'=r_246^post80, x_SLAM_f_21^0'=x_SLAM_f_21^post80, head_35^0'=head_35^post80, rcd_248^0'=rcd_248^post80, lt_509^0'=lt_509^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post80, a_220^0'=a_220^post80, r_272^0'=r_272^post80, rcd_363^0'=rcd_363^post80, r_196^0'=r_196^post80, temp0_34^0'=temp0_34^post80, c_28^0'=c_28^post80, rcd_113^0'=rcd_113^post80, length_32^0'=length_32^post80, rcd_46^0'=rcd_46^post80, r_252^0'=r_252^post80, i_120^0'=i_120^post80, rcd_273^0'=rcd_273^post80, r_159^0'=r_159^post80, t_24^0'=t_24^post80, a_332^0'=a_332^post80, r_29^0'=r_29^post80, len_205^0'=len_205^post80, rcd_387^0'=rcd_387^post80, r_236^0'=r_236^post80, tmp_37^0'=tmp_37^post80, x_23^0'=x_23^post80, head_13^0'=head_13^post80, rcd_244^0'=rcd_244^post80, lt_397^0'=lt_397^post80, result_11^0'=result_11^post80, a_173^0'=a_173^post80, r_266^0'=r_266^post80, l_27^0'=l_27^post80, r_188^0'=r_188^post80, temp0_18^0'=temp0_18^post80, a_388^0'=a_388^post80, rcd_105^0'=rcd_105^post80, len_297^0'=len_297^post80, rcd_427^0'=rcd_427^post80, r_245^0'=r_245^post80, r_247^0'=r_247^post80, y_22^0'=y_22^post80, i_111^0'=i_111^post80, rcd_253^0'=rcd_253^post80, nondet_12^0'=nondet_12^post80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post80, a_276^0'=a_276^post80, r_274^0'=r_274^post80, rcd_367^0'=rcd_367^post80, r_234^0'=r_234^post80, temp_38^0'=temp_38^post80, x_19^0'=x_19^post80, ct_20^0'=ct_20^post80, rcd_235^0'=rcd_235^post80, lt_17^0'=lt_17^post80, rcd_70^0'=rcd_70^post80, (-r_252^post80+r_252^0 == 0 /\ -r_234^post80+r_234^0 == 0 /\ len_275^0-len_275^post80 == 0 /\ -rcd_273^post80+rcd_273^0 == 0 /\ y_22^0-y_22^post80 == 0 /\ -r_266^post80+r_266^0 == 0 /\ -nondet_12^post80+nondet_12^0 == 0 /\ a_332^0-a_332^post80 == 0 /\ r_243^0-r_243^post80 == 0 /\ -rcd_235^post80+rcd_235^0 == 0 /\ -rcd_46^post80+rcd_46^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post80 == 0 /\ -r_188^post80+r_188^0 == 0 /\ -r_236^post80+r_236^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post80 == 0 /\ rcd_363^0-rcd_363^post80 == 0 /\ result_11^0-result_11^post80 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post80+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_258^0-r_258^post80 == 0 /\ rcd_244^0-rcd_244^post80 == 0 /\ -t_24^post80+t_24^0 == 0 /\ -a_173^post80+a_173^0 == 0 /\ temp0_18^0-temp0_18^post80 == 0 /\ tmp_37^0-tmp_37^post80 == 0 /\ -temp_38^post80+temp_38^0 == 0 /\ -rcd_367^post80+rcd_367^0 == 0 /\ r_245^0-r_245^post80 == 0 /\ temp0_34^0-temp0_34^post80 == 0 /\ rcd_113^0-rcd_113^post80 == 0 /\ -c_28^post80+c_28^0 == 0 /\ rcd_248^0-rcd_248^post80 == 0 /\ r_272^0-r_272^post80 == 0 /\ r_42^0-r_42^post80 == 0 /\ -rcd_105^post80+rcd_105^0 == 0 /\ -ct_20^post80+ct_20^0 == 0 /\ -r_247^post80+r_247^0 == 0 /\ -r_196^post80+r_196^0 == 0 /\ r_246^0-r_246^post80 == 0 /\ -a_276^post80+a_276^0 == 0 /\ -rcd_253^post80+rcd_253^0 == 0 /\ -lt_397^post80+lt_397^0 == 0 /\ lt_509^0-lt_509^post80 == 0 /\ -len_205^post80+len_205^0 == 0 /\ -rcd_387^post80+rcd_387^0 == 0 /\ -a_388^post80+a_388^0 == 0 /\ r_167^0-r_167^post80 == 0 /\ 1+t_30^0 <= 0 /\ -rcd_409^post80+rcd_409^0 == 0 /\ t_30^0-t_30^post80 == 0 /\ -rcd_70^post80+rcd_70^0 == 0 /\ r_159^0-r_159^post80 == 0 /\ l_27^0-l_27^post80 == 0 /\ -rcd_427^post80+rcd_427^0 == 0 /\ x_19^0-x_19^post80 == 0 /\ -r_274^post80+r_274^0 == 0 /\ -x_23^post80+x_23^0 == 0 /\ a_358^0-a_358^post80 == 0 /\ i_120^0-i_120^post80 == 0 /\ r_29^0-r_29^post80 == 0 /\ -i_111^post80+i_111^0 == 0 /\ -head_35^post80+head_35^0 == 0 /\ i_33^0-i_33^post80 == 0 /\ len_297^0-len_297^post80 == 0 /\ length_32^0-length_32^post80 == 0 /\ -lt_17^post80+lt_17^0 == 0 /\ head_13^0-head_13^post80 == 0 /\ a_148^0-a_148^post80 == 0 /\ a_220^0-a_220^post80 == 0), cost: 1
New rule:
l50 -> l51 : 1+t_30^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l51 -> l52 : a_148^0'=a_148^post81, r_258^0'=r_258^post81, i_33^0'=i_33^post81, r_167^0'=r_167^post81, t_30^0'=t_30^post81, a_358^0'=a_358^post81, r_42^0'=r_42^post81, len_275^0'=len_275^post81, rcd_409^0'=rcd_409^post81, r_243^0'=r_243^post81, r_246^0'=r_246^post81, x_SLAM_f_21^0'=x_SLAM_f_21^post81, head_35^0'=head_35^post81, rcd_248^0'=rcd_248^post81, lt_509^0'=lt_509^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post81, a_220^0'=a_220^post81, r_272^0'=r_272^post81, rcd_363^0'=rcd_363^post81, r_196^0'=r_196^post81, temp0_34^0'=temp0_34^post81, c_28^0'=c_28^post81, rcd_113^0'=rcd_113^post81, length_32^0'=length_32^post81, rcd_46^0'=rcd_46^post81, r_252^0'=r_252^post81, i_120^0'=i_120^post81, rcd_273^0'=rcd_273^post81, r_159^0'=r_159^post81, t_24^0'=t_24^post81, a_332^0'=a_332^post81, r_29^0'=r_29^post81, len_205^0'=len_205^post81, rcd_387^0'=rcd_387^post81, r_236^0'=r_236^post81, tmp_37^0'=tmp_37^post81, x_23^0'=x_23^post81, head_13^0'=head_13^post81, rcd_244^0'=rcd_244^post81, lt_397^0'=lt_397^post81, result_11^0'=result_11^post81, a_173^0'=a_173^post81, r_266^0'=r_266^post81, l_27^0'=l_27^post81, r_188^0'=r_188^post81, temp0_18^0'=temp0_18^post81, a_388^0'=a_388^post81, rcd_105^0'=rcd_105^post81, len_297^0'=len_297^post81, rcd_427^0'=rcd_427^post81, r_245^0'=r_245^post81, r_247^0'=r_247^post81, y_22^0'=y_22^post81, i_111^0'=i_111^post81, rcd_253^0'=rcd_253^post81, nondet_12^0'=nondet_12^post81, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post81, a_276^0'=a_276^post81, r_274^0'=r_274^post81, rcd_367^0'=rcd_367^post81, r_234^0'=r_234^post81, temp_38^0'=temp_38^post81, x_19^0'=x_19^post81, ct_20^0'=ct_20^post81, rcd_235^0'=rcd_235^post81, lt_17^0'=lt_17^post81, rcd_70^0'=rcd_70^post81, (r_196^0-r_196^post81 == 0 /\ r_272^0-r_272^post81 == 0 /\ i_111^0-i_111^post81 == 0 /\ -temp0_18^post81+temp0_18^0 == 0 /\ -r_247^post81+r_247^0 == 0 /\ -rcd_387^post81+rcd_387^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post81+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ c_28^0-c_28^post81 == 0 /\ head_35^0-head_35^post81 == 0 /\ -lt_17^post81+lt_17^0 == 0 /\ t_30^0-t_30^post81 == 0 /\ r_29^0-r_29^post81 == 0 /\ -l_27^post81+l_27^0 == 0 /\ r_167^0-r_167^post81 == 0 /\ -r_234^post81+r_234^0 == 0 /\ a_358^0-a_358^post81 == 0 /\ -r_266^post81+r_266^0 == 0 /\ lt_397^0-lt_397^post81 == 0 /\ i_33^0-i_33^post81 == 0 /\ -a_276^post81+a_276^0 == 0 /\ i_120^0-i_120^post81 == 0 /\ -ct_20^post81+ct_20^0 == 0 /\ -y_22^post81+y_22^0 == 0 /\ -r_252^post81+r_252^0 == 0 /\ 1-r_167^0 <= 0 /\ a_220^0-a_220^post81 == 0 /\ length_32^0-length_32^post81 == 0 /\ a_173^0-a_173^post81 == 0 /\ r_258^0-r_258^post81 == 0 /\ len_275^0-len_275^post81 == 0 /\ -len_297^post81+len_297^0 == 0 /\ -r_188^post81+r_188^0 == 0 /\ -rcd_367^post81+rcd_367^0 == 0 /\ -a_332^post81+a_332^0 == 0 /\ -r_236^post81+r_236^0 == 0 /\ -rcd_113^post81+rcd_113^0 == 0 /\ -rcd_235^post81+rcd_235^0 == 0 /\ r_159^0-r_159^post81 == 0 /\ -x_23^post81+x_23^0 == 0 /\ -rcd_253^post81+rcd_253^0 == 0 /\ -r_274^post81+r_274^0 == 0 /\ -temp_38^post81+temp_38^0 == 0 /\ -x_19^post81+x_19^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post81 == 0 /\ rcd_248^0-rcd_248^post81 == 0 /\ -r_246^post81+r_246^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post81 == 0 /\ -rcd_105^post81+rcd_105^0 == 0 /\ r_243^0-r_243^post81 == 0 /\ -tmp_37^post81+tmp_37^0 == 0 /\ -result_11^post81+result_11^0 == 0 /\ temp0_34^0-temp0_34^post81 == 0 /\ t_24^0-t_24^post81 == 0 /\ -len_205^post81+len_205^0 == 0 /\ rcd_363^0-rcd_363^post81 == 0 /\ r_42^0-r_42^post81 == 0 /\ -r_245^post81+r_245^0 == 0 /\ rcd_46^0-rcd_46^post81 == 0 /\ -lt_509^post81+lt_509^0 == 0 /\ rcd_244^0-rcd_244^post81 == 0 /\ rcd_427^0-rcd_427^post81 == 0 /\ -nondet_12^post81+nondet_12^0 == 0 /\ a_148^0-a_148^post81 == 0 /\ -rcd_70^post81+rcd_70^0 == 0 /\ rcd_273^0-rcd_273^post81 == 0 /\ -a_388^post81+a_388^0 == 0 /\ rcd_409^0-rcd_409^post81 == 0 /\ -head_13^post81+head_13^0 == 0), cost: 1
New rule:
l51 -> l52 : -1+r_167^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l51 -> l52 : a_148^0'=a_148^post82, r_258^0'=r_258^post82, i_33^0'=i_33^post82, r_167^0'=r_167^post82, t_30^0'=t_30^post82, a_358^0'=a_358^post82, r_42^0'=r_42^post82, len_275^0'=len_275^post82, rcd_409^0'=rcd_409^post82, r_243^0'=r_243^post82, r_246^0'=r_246^post82, x_SLAM_f_21^0'=x_SLAM_f_21^post82, head_35^0'=head_35^post82, rcd_248^0'=rcd_248^post82, lt_509^0'=lt_509^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post82, a_220^0'=a_220^post82, r_272^0'=r_272^post82, rcd_363^0'=rcd_363^post82, r_196^0'=r_196^post82, temp0_34^0'=temp0_34^post82, c_28^0'=c_28^post82, rcd_113^0'=rcd_113^post82, length_32^0'=length_32^post82, rcd_46^0'=rcd_46^post82, r_252^0'=r_252^post82, i_120^0'=i_120^post82, rcd_273^0'=rcd_273^post82, r_159^0'=r_159^post82, t_24^0'=t_24^post82, a_332^0'=a_332^post82, r_29^0'=r_29^post82, len_205^0'=len_205^post82, rcd_387^0'=rcd_387^post82, r_236^0'=r_236^post82, tmp_37^0'=tmp_37^post82, x_23^0'=x_23^post82, head_13^0'=head_13^post82, rcd_244^0'=rcd_244^post82, lt_397^0'=lt_397^post82, result_11^0'=result_11^post82, a_173^0'=a_173^post82, r_266^0'=r_266^post82, l_27^0'=l_27^post82, r_188^0'=r_188^post82, temp0_18^0'=temp0_18^post82, a_388^0'=a_388^post82, rcd_105^0'=rcd_105^post82, len_297^0'=len_297^post82, rcd_427^0'=rcd_427^post82, r_245^0'=r_245^post82, r_247^0'=r_247^post82, y_22^0'=y_22^post82, i_111^0'=i_111^post82, rcd_253^0'=rcd_253^post82, nondet_12^0'=nondet_12^post82, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post82, a_276^0'=a_276^post82, r_274^0'=r_274^post82, rcd_367^0'=rcd_367^post82, r_234^0'=r_234^post82, temp_38^0'=temp_38^post82, x_19^0'=x_19^post82, ct_20^0'=ct_20^post82, rcd_235^0'=rcd_235^post82, lt_17^0'=lt_17^post82, rcd_70^0'=rcd_70^post82, (-y_22^post82+y_22^0 == 0 /\ r_236^0-r_236^post82 == 0 /\ -rcd_244^post82+rcd_244^0 == 0 /\ r_247^0-r_247^post82 == 0 /\ -rcd_427^post82+rcd_427^0 == 0 /\ r_29^0-r_29^post82 == 0 /\ rcd_113^0-rcd_113^post82 == 0 /\ -rcd_387^post82+rcd_387^0 == 0 /\ -r_159^post82+r_159^0 == 0 /\ -a_276^post82+a_276^0 == 0 /\ -lt_17^post82+lt_17^0 == 0 /\ i_33^0-i_33^post82 == 0 /\ -temp0_34^post82+temp0_34^0 == 0 /\ r_42^0-r_42^post82 == 0 /\ -i_111^post82+i_111^0 == 0 /\ lt_509^0-lt_509^post82 == 0 /\ t_30^0-t_30^post82 == 0 /\ -rcd_253^post82+rcd_253^0 == 0 /\ x_23^0-x_23^post82 == 0 /\ -l_27^post82+l_27^0 == 0 /\ -len_297^post82+len_297^0 == 0 /\ -temp0_18^post82+temp0_18^0 == 0 /\ rcd_273^0-rcd_273^post82 == 0 /\ -r_234^post82+r_234^0 == 0 /\ rcd_363^0-rcd_363^post82 == 0 /\ -rcd_235^post82+rcd_235^0 == 0 /\ rcd_409^0-rcd_409^post82 == 0 /\ -tmp_37^post82+tmp_37^0 == 0 /\ rcd_46^0-rcd_46^post82 == 0 /\ -r_274^post82+r_274^0 == 0 /\ nondet_12^0-nondet_12^post82 == 0 /\ -a_332^post82+a_332^0 == 0 /\ -rcd_367^post82+rcd_367^0 == 0 /\ head_35^0-head_35^post82 == 0 /\ -rcd_248^post82+rcd_248^0 == 0 /\ -x_SLAM_f_21^post82+x_SLAM_f_21^0 == 0 /\ -length_32^post82+length_32^0 == 0 /\ 1+r_167^0 <= 0 /\ -rcd_105^post82+rcd_105^0 == 0 /\ r_167^0-r_167^post82 == 0 /\ -ct_20^post82+ct_20^0 == 0 /\ a_148^0-a_148^post82 == 0 /\ -i_120^post82+i_120^0 == 0 /\ a_358^0-a_358^post82 == 0 /\ a_220^0-a_220^post82 == 0 /\ a_388^0-a_388^post82 == 0 /\ -result_11^post82+result_11^0 == 0 /\ c_28^0-c_28^post82 == 0 /\ r_266^0-r_266^post82 == 0 /\ -temp_38^post82+temp_38^0 == 0 /\ -r_243^post82+r_243^0 == 0 /\ len_205^0-len_205^post82 == 0 /\ r_272^0-r_272^post82 == 0 /\ -head_13^post82+head_13^0 == 0 /\ r_246^0-r_246^post82 == 0 /\ -x_19^post82+x_19^0 == 0 /\ lt_397^0-lt_397^post82 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post82+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_245^post82+r_245^0 == 0 /\ r_196^0-r_196^post82 == 0 /\ r_258^0-r_258^post82 == 0 /\ t_24^0-t_24^post82 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post82+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ r_188^0-r_188^post82 == 0 /\ -a_173^post82+a_173^0 == 0 /\ r_252^0-r_252^post82 == 0 /\ len_275^0-len_275^post82 == 0 /\ -rcd_70^post82+rcd_70^0 == 0), cost: 1
New rule:
l51 -> l52 : 1+r_167^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l52 -> l0 : a_148^0'=a_148^post83, r_258^0'=r_258^post83, i_33^0'=i_33^post83, r_167^0'=r_167^post83, t_30^0'=t_30^post83, a_358^0'=a_358^post83, r_42^0'=r_42^post83, len_275^0'=len_275^post83, rcd_409^0'=rcd_409^post83, r_243^0'=r_243^post83, r_246^0'=r_246^post83, x_SLAM_f_21^0'=x_SLAM_f_21^post83, head_35^0'=head_35^post83, rcd_248^0'=rcd_248^post83, lt_509^0'=lt_509^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post83, a_220^0'=a_220^post83, r_272^0'=r_272^post83, rcd_363^0'=rcd_363^post83, r_196^0'=r_196^post83, temp0_34^0'=temp0_34^post83, c_28^0'=c_28^post83, rcd_113^0'=rcd_113^post83, length_32^0'=length_32^post83, rcd_46^0'=rcd_46^post83, r_252^0'=r_252^post83, i_120^0'=i_120^post83, rcd_273^0'=rcd_273^post83, r_159^0'=r_159^post83, t_24^0'=t_24^post83, a_332^0'=a_332^post83, r_29^0'=r_29^post83, len_205^0'=len_205^post83, rcd_387^0'=rcd_387^post83, r_236^0'=r_236^post83, tmp_37^0'=tmp_37^post83, x_23^0'=x_23^post83, head_13^0'=head_13^post83, rcd_244^0'=rcd_244^post83, lt_397^0'=lt_397^post83, result_11^0'=result_11^post83, a_173^0'=a_173^post83, r_266^0'=r_266^post83, l_27^0'=l_27^post83, r_188^0'=r_188^post83, temp0_18^0'=temp0_18^post83, a_388^0'=a_388^post83, rcd_105^0'=rcd_105^post83, len_297^0'=len_297^post83, rcd_427^0'=rcd_427^post83, r_245^0'=r_245^post83, r_247^0'=r_247^post83, y_22^0'=y_22^post83, i_111^0'=i_111^post83, rcd_253^0'=rcd_253^post83, nondet_12^0'=nondet_12^post83, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post83, a_276^0'=a_276^post83, r_274^0'=r_274^post83, rcd_367^0'=rcd_367^post83, r_234^0'=r_234^post83, temp_38^0'=temp_38^post83, x_19^0'=x_19^post83, ct_20^0'=ct_20^post83, rcd_235^0'=rcd_235^post83, lt_17^0'=lt_17^post83, rcd_70^0'=rcd_70^post83, (0 == 0 /\ a_358^0-a_358^post83 == 0 /\ len_205^0-len_205^post83 == 0 /\ rcd_409^0-rcd_409^post83 == 0 /\ t_24^0-t_24^post83 == 0 /\ -lt_397^post83+lt_397^0 == 0 /\ rcd_363^0-rcd_363^post83 == 0 /\ tmp_37^0-tmp_37^post83 == 0 /\ -r_196^post83+r_196^0 == 0 /\ -a_388^post83+a_388^0 == 0 /\ head_13^0-head_13^post83 == 0 /\ -rcd_253^post83+rcd_253^0 == 0 /\ -r_274^post83+r_274^0 == 0 /\ length_32^0-length_32^post83 == 0 /\ 1+a_148^0-i_120^post83 <= 0 /\ r_252^0-r_252^post83 == 0 /\ -rcd_70^post83+rcd_70^0 == 0 /\ -y_22^post83+y_22^0 == 0 /\ a_148^0-a_148^post83 == 0 /\ temp0_34^0-temp0_34^post83 == 0 /\ -rcd_427^post83+rcd_427^0 == 0 /\ rcd_387^0-rcd_387^post83 == 0 /\ r_246^0-r_246^post83 == 0 /\ r_272^0-r_272^post83 == 0 /\ len_275^0-len_275^post83 == 0 /\ r_243^0-r_243^post83 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post83 == 0 /\ r_167^0-r_167^post83 == 0 /\ -lt_17^post83+lt_17^0 == 0 /\ -x_23^post83+x_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post83 == 0 /\ -i_111^post83+i_111^0 == 0 /\ result_11^0-result_11^post83 == 0 /\ -head_35^post83+head_35^0 == 0 /\ -r_159^post83+r_159^0 == 0 /\ rcd_105^0-rcd_105^post83 == 0 /\ r_258^0-r_258^post83 == 0 /\ -nondet_12^post83+nondet_12^0 == 0 /\ -rcd_46^post83+rcd_46^0 == 0 /\ -len_297^post83+len_297^0 == 0 /\ i_33^0-i_33^post83 == 0 /\ -r_234^post83+r_234^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -r_266^post83+r_266^0 == 0 /\ -rcd_273^post83+rcd_273^0 == 0 /\ temp0_18^0-temp0_18^post83 == 0 /\ -a_173^post83+a_173^0 == 0 /\ -1-a_148^0+i_120^post83 <= 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ r_42^0-r_42^post83 == 0 /\ -r_29^post83+r_29^0 == 0 /\ -r_245^post83+r_245^0 == 0 /\ rcd_113^0-rcd_113^post83 == 0 /\ -rcd_235^post83+rcd_235^0 == 0 /\ -x_19^post83+x_19^0 == 0 /\ -r_188^post83+r_188^0 == 0 /\ -rcd_367^post83+rcd_367^0 == 0 /\ -temp_38^post83+temp_38^0 == 0 /\ -rcd_244^post83+rcd_244^0 == 0 /\ lt_509^0-lt_509^post83 == 0 /\ a_332^0-a_332^post83 == 0 /\ rcd_248^0-rcd_248^post83 == 0 /\ -a_276^post83+a_276^0 == 0 /\ -c_28^post83+c_28^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -a_220^post83+a_220^0 == 0 /\ -r_247^post83+r_247^0 == 0 /\ t_30^0-t_30^post83 == 0 /\ l_27^0-l_27^post83 == 0 /\ -ct_20^post83+ct_20^0 == 0 /\ r_236^0-r_236^post83 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post83 == 0), cost: 1
New rule:
l52 -> l0 : i_120^0'=1+a_148^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l47 -> l53 : a_148^0'=a_148^post84, r_258^0'=r_258^post84, i_33^0'=i_33^post84, r_167^0'=r_167^post84, t_30^0'=t_30^post84, a_358^0'=a_358^post84, r_42^0'=r_42^post84, len_275^0'=len_275^post84, rcd_409^0'=rcd_409^post84, r_243^0'=r_243^post84, r_246^0'=r_246^post84, x_SLAM_f_21^0'=x_SLAM_f_21^post84, head_35^0'=head_35^post84, rcd_248^0'=rcd_248^post84, lt_509^0'=lt_509^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post84, a_220^0'=a_220^post84, r_272^0'=r_272^post84, rcd_363^0'=rcd_363^post84, r_196^0'=r_196^post84, temp0_34^0'=temp0_34^post84, c_28^0'=c_28^post84, rcd_113^0'=rcd_113^post84, length_32^0'=length_32^post84, rcd_46^0'=rcd_46^post84, r_252^0'=r_252^post84, i_120^0'=i_120^post84, rcd_273^0'=rcd_273^post84, r_159^0'=r_159^post84, t_24^0'=t_24^post84, a_332^0'=a_332^post84, r_29^0'=r_29^post84, len_205^0'=len_205^post84, rcd_387^0'=rcd_387^post84, r_236^0'=r_236^post84, tmp_37^0'=tmp_37^post84, x_23^0'=x_23^post84, head_13^0'=head_13^post84, rcd_244^0'=rcd_244^post84, lt_397^0'=lt_397^post84, result_11^0'=result_11^post84, a_173^0'=a_173^post84, r_266^0'=r_266^post84, l_27^0'=l_27^post84, r_188^0'=r_188^post84, temp0_18^0'=temp0_18^post84, a_388^0'=a_388^post84, rcd_105^0'=rcd_105^post84, len_297^0'=len_297^post84, rcd_427^0'=rcd_427^post84, r_245^0'=r_245^post84, r_247^0'=r_247^post84, y_22^0'=y_22^post84, i_111^0'=i_111^post84, rcd_253^0'=rcd_253^post84, nondet_12^0'=nondet_12^post84, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post84, a_276^0'=a_276^post84, r_274^0'=r_274^post84, rcd_367^0'=rcd_367^post84, r_234^0'=r_234^post84, temp_38^0'=temp_38^post84, x_19^0'=x_19^post84, ct_20^0'=ct_20^post84, rcd_235^0'=rcd_235^post84, lt_17^0'=lt_17^post84, rcd_70^0'=rcd_70^post84, (0 == 0 /\ -rcd_46^post84+rcd_113^post84 <= 0 /\ -r_188^post84+r_188^0 == 0 /\ length_32^0-length_32^post84 == 0 /\ r_42^0-r_42^post84 == 0 /\ -x_19^post84+x_19^0 == 0 /\ -x_23^post84+x_23^0 == 0 /\ -r_274^post84+r_274^0 == 0 /\ -rcd_70^post84+rcd_70^0 == 0 /\ t_30^0-t_30^post84 == 0 /\ r_258^0-r_258^post84 == 0 /\ 1+i_111^post84-i_33^post84 <= 0 /\ r_246^0-r_246^post84 == 0 /\ rcd_244^0-rcd_244^post84 == 0 /\ -rcd_46^0+rcd_113^post84 <= 0 /\ a_332^0-a_332^post84 == 0 /\ r_196^0-r_196^post84 == 0 /\ tmp_37^post84-temp_38^0 == 0 /\ rcd_248^0-rcd_248^post84 == 0 /\ rcd_46^post84-rcd_113^post84 <= 0 /\ r_245^0-r_245^post84 == 0 /\ -i_33^0 <= 0 /\ -r_159^post84+r_159^0 == 0 /\ -lt_509^post84+lt_509^0 == 0 /\ 1+i_111^post84-length_32^0 <= 0 /\ -lt_17^post84+lt_17^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post84 == 0 /\ -nondet_12^post84+nondet_12^0 == 0 /\ c_28^0-c_28^post84 == 0 /\ -r_272^post84+r_272^0 == 0 /\ a_276^0-a_276^post84 == 0 /\ 1+i_33^0-length_32^0 <= 0 /\ -head_13^post84+head_13^0 == 0 /\ -a_388^post84+a_388^0 == 0 /\ rcd_46^0-rcd_113^post84 <= 0 /\ -tmp_37^post84+head_35^post84 == 0 /\ -t_24^post84+t_24^0 == 0 /\ a_358^0-a_358^post84 == 0 /\ i_120^0-i_120^post84 == 0 /\ -r_236^post84+r_236^0 == 0 /\ -r_167^post84+r_167^0 == 0 /\ temp0_34^0-temp0_34^post84 == 0 /\ rcd_273^0-rcd_273^post84 == 0 /\ -rcd_235^post84+rcd_235^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post84+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_297^0-len_297^post84 == 0 /\ rcd_363^0-rcd_363^post84 == 0 /\ -a_173^post84+a_173^0 == 0 /\ a_220^0-a_220^post84 == 0 /\ -1-i_33^0+i_33^post84 == 0 /\ -l_27^post84+l_27^0 == 0 /\ -1-i_111^post84+i_33^post84 <= 0 /\ -len_205^post84+len_205^0 == 0 /\ r_234^0-r_234^post84 == 0 /\ -r_266^post84+r_266^0 == 0 /\ a_148^0-a_148^post84 == 0 /\ len_275^0-len_275^post84 == 0 /\ -rcd_427^post84+rcd_427^0 == 0 /\ rcd_409^0-rcd_409^post84 == 0 /\ -r_247^post84+r_247^0 == 0 /\ r_29^0-r_29^post84 == 0 /\ -ct_20^post84+ct_20^0 == 0 /\ -lt_397^post84+lt_397^0 == 0 /\ -y_22^post84+y_22^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post84 == 0 /\ -r_252^post84+r_252^0 == 0 /\ result_11^0-result_11^post84 == 0 /\ -rcd_253^post84+rcd_253^0 == 0 /\ -rcd_367^post84+rcd_367^0 == 0 /\ -temp0_18^post84+temp0_18^0 == 0 /\ rcd_387^0-rcd_387^post84 == 0 /\ r_243^0-r_243^post84 == 0), cost: 1
New rule:
l47 -> l53 : i_33^0'=1+i_33^0, head_35^0'=temp_38^0, rcd_113^0'=rcd_46^0, tmp_37^0'=temp_38^0, rcd_105^0'=rcd_105^post84, i_111^0'=i_33^0, temp_38^0'=temp_38^post84, (i_33^0 >= 0 /\ 1+i_33^0-length_32^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l53 -> l47 : a_148^0'=a_148^post85, r_258^0'=r_258^post85, i_33^0'=i_33^post85, r_167^0'=r_167^post85, t_30^0'=t_30^post85, a_358^0'=a_358^post85, r_42^0'=r_42^post85, len_275^0'=len_275^post85, rcd_409^0'=rcd_409^post85, r_243^0'=r_243^post85, r_246^0'=r_246^post85, x_SLAM_f_21^0'=x_SLAM_f_21^post85, head_35^0'=head_35^post85, rcd_248^0'=rcd_248^post85, lt_509^0'=lt_509^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post85, a_220^0'=a_220^post85, r_272^0'=r_272^post85, rcd_363^0'=rcd_363^post85, r_196^0'=r_196^post85, temp0_34^0'=temp0_34^post85, c_28^0'=c_28^post85, rcd_113^0'=rcd_113^post85, length_32^0'=length_32^post85, rcd_46^0'=rcd_46^post85, r_252^0'=r_252^post85, i_120^0'=i_120^post85, rcd_273^0'=rcd_273^post85, r_159^0'=r_159^post85, t_24^0'=t_24^post85, a_332^0'=a_332^post85, r_29^0'=r_29^post85, len_205^0'=len_205^post85, rcd_387^0'=rcd_387^post85, r_236^0'=r_236^post85, tmp_37^0'=tmp_37^post85, x_23^0'=x_23^post85, head_13^0'=head_13^post85, rcd_244^0'=rcd_244^post85, lt_397^0'=lt_397^post85, result_11^0'=result_11^post85, a_173^0'=a_173^post85, r_266^0'=r_266^post85, l_27^0'=l_27^post85, r_188^0'=r_188^post85, temp0_18^0'=temp0_18^post85, a_388^0'=a_388^post85, rcd_105^0'=rcd_105^post85, len_297^0'=len_297^post85, rcd_427^0'=rcd_427^post85, r_245^0'=r_245^post85, r_247^0'=r_247^post85, y_22^0'=y_22^post85, i_111^0'=i_111^post85, rcd_253^0'=rcd_253^post85, nondet_12^0'=nondet_12^post85, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post85, a_276^0'=a_276^post85, r_274^0'=r_274^post85, rcd_367^0'=rcd_367^post85, r_234^0'=r_234^post85, temp_38^0'=temp_38^post85, x_19^0'=x_19^post85, ct_20^0'=ct_20^post85, rcd_235^0'=rcd_235^post85, lt_17^0'=lt_17^post85, rcd_70^0'=rcd_70^post85, (len_275^0-len_275^post85 == 0 /\ -result_11^post85+result_11^0 == 0 /\ c_28^0-c_28^post85 == 0 /\ -rcd_367^post85+rcd_367^0 == 0 /\ -a_332^post85+a_332^0 == 0 /\ temp0_34^0-temp0_34^post85 == 0 /\ rcd_273^0-rcd_273^post85 == 0 /\ rcd_46^0-rcd_46^post85 == 0 /\ -r_245^post85+r_245^0 == 0 /\ -i_120^post85+i_120^0 == 0 /\ -ct_20^post85+ct_20^0 == 0 /\ -nondet_12^post85+nondet_12^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post85 == 0 /\ lt_397^0-lt_397^post85 == 0 /\ -len_297^post85+len_297^0 == 0 /\ -temp_38^post85+temp_38^0 == 0 /\ -r_252^post85+r_252^0 == 0 /\ -head_13^post85+head_13^0 == 0 /\ rcd_363^0-rcd_363^post85 == 0 /\ a_148^0-a_148^post85 == 0 /\ r_159^0-r_159^post85 == 0 /\ head_35^0-head_35^post85 == 0 /\ -r_236^post85+r_236^0 == 0 /\ -rcd_70^post85+rcd_70^0 == 0 /\ -r_247^post85+r_247^0 == 0 /\ rcd_409^0-rcd_409^post85 == 0 /\ r_167^0-r_167^post85 == 0 /\ -t_24^post85+t_24^0 == 0 /\ r_29^0-r_29^post85 == 0 /\ r_272^0-r_272^post85 == 0 /\ -rcd_105^post85+rcd_105^0 == 0 /\ x_23^0-x_23^post85 == 0 /\ -x_19^post85+x_19^0 == 0 /\ -rcd_244^post85+rcd_244^0 == 0 /\ length_32^0-length_32^post85 == 0 /\ r_42^0-r_42^post85 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post85+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post85+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ r_243^0-r_243^post85 == 0 /\ -lt_17^post85+lt_17^0 == 0 /\ rcd_427^0-rcd_427^post85 == 0 /\ a_388^0-a_388^post85 == 0 /\ lt_509^0-lt_509^post85 == 0 /\ -y_22^post85+y_22^0 == 0 /\ -tmp_37^post85+tmp_37^0 == 0 /\ r_246^0-r_246^post85 == 0 /\ -a_276^post85+a_276^0 == 0 /\ -rcd_113^post85+rcd_113^0 == 0 /\ r_196^0-r_196^post85 == 0 /\ -rcd_387^post85+rcd_387^0 == 0 /\ r_258^0-r_258^post85 == 0 /\ r_188^0-r_188^post85 == 0 /\ -rcd_253^post85+rcd_253^0 == 0 /\ -temp0_18^post85+temp0_18^0 == 0 /\ -l_27^post85+l_27^0 == 0 /\ -t_30^post85+t_30^0 == 0 /\ a_358^0-a_358^post85 == 0 /\ -r_234^post85+r_234^0 == 0 /\ -i_111^post85+i_111^0 == 0 /\ -rcd_235^post85+rcd_235^0 == 0 /\ i_33^0-i_33^post85 == 0 /\ -r_274^post85+r_274^0 == 0 /\ rcd_248^0-rcd_248^post85 == 0 /\ len_205^0-len_205^post85 == 0 /\ a_220^0-a_220^post85 == 0 /\ a_173^0-a_173^post85 == 0 /\ -r_266^post85+r_266^0 == 0), cost: 1
New rule:
l53 -> l47 : TRUE, cost: 1

Applied preprocessing
Original rule:
l54 -> l33 : a_148^0'=a_148^post86, r_258^0'=r_258^post86, i_33^0'=i_33^post86, r_167^0'=r_167^post86, t_30^0'=t_30^post86, a_358^0'=a_358^post86, r_42^0'=r_42^post86, len_275^0'=len_275^post86, rcd_409^0'=rcd_409^post86, r_243^0'=r_243^post86, r_246^0'=r_246^post86, x_SLAM_f_21^0'=x_SLAM_f_21^post86, head_35^0'=head_35^post86, rcd_248^0'=rcd_248^post86, lt_509^0'=lt_509^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86, a_220^0'=a_220^post86, r_272^0'=r_272^post86, rcd_363^0'=rcd_363^post86, r_196^0'=r_196^post86, temp0_34^0'=temp0_34^post86, c_28^0'=c_28^post86, rcd_113^0'=rcd_113^post86, length_32^0'=length_32^post86, rcd_46^0'=rcd_46^post86, r_252^0'=r_252^post86, i_120^0'=i_120^post86, rcd_273^0'=rcd_273^post86, r_159^0'=r_159^post86, t_24^0'=t_24^post86, a_332^0'=a_332^post86, r_29^0'=r_29^post86, len_205^0'=len_205^post86, rcd_387^0'=rcd_387^post86, r_236^0'=r_236^post86, tmp_37^0'=tmp_37^post86, x_23^0'=x_23^post86, head_13^0'=head_13^post86, rcd_244^0'=rcd_244^post86, lt_397^0'=lt_397^post86, result_11^0'=result_11^post86, a_173^0'=a_173^post86, r_266^0'=r_266^post86, l_27^0'=l_27^post86, r_188^0'=r_188^post86, temp0_18^0'=temp0_18^post86, a_388^0'=a_388^post86, rcd_105^0'=rcd_105^post86, len_297^0'=len_297^post86, rcd_427^0'=rcd_427^post86, r_245^0'=r_245^post86, r_247^0'=r_247^post86, y_22^0'=y_22^post86, i_111^0'=i_111^post86, rcd_253^0'=rcd_253^post86, nondet_12^0'=nondet_12^post86, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post86, a_276^0'=a_276^post86, r_274^0'=r_274^post86, rcd_367^0'=rcd_367^post86, r_234^0'=r_234^post86, temp_38^0'=temp_38^post86, x_19^0'=x_19^post86, ct_20^0'=ct_20^post86, rcd_235^0'=rcd_235^post86, lt_17^0'=lt_17^post86, rcd_70^0'=rcd_70^post86, (0 == 0 /\ -r_234^post86+r_234^0 == 0 /\ r_246^0-r_246^post86 == 0 /\ rcd_113^0-rcd_113^post86 == 0 /\ rcd_387^0-rcd_387^post86 == 0 /\ y_22^0-y_22^post86 == 0 /\ -r_29^post86+r_29^0 == 0 /\ -len_297^post86+len_297^0 == 0 /\ r_266^0-r_266^post86 == 0 /\ -nondet_12^post86+nondet_12^0 == 0 /\ r_272^0-r_272^post86 == 0 /\ length_32^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post86 <= 0 /\ -1+i_33^post86-i_33^0 == 0 /\ lt_509^0-lt_509^post86 == 0 /\ -rcd_367^post86+rcd_367^0 == 0 /\ -head_35^post86+tmp_37^post86 <= 0 /\ -r_245^post86+r_245^0 == 0 /\ r_243^0-r_243^post86 == 0 /\ -rcd_235^post86+rcd_235^0 == 0 /\ t_30^0-t_30^post86 == 0 /\ r_236^0-r_236^post86 == 0 /\ -rcd_273^post86+rcd_273^0 == 0 /\ -a_173^post86+a_173^0 == 0 /\ r_167^0-r_167^post86 == 0 /\ -a_332^post86+a_332^0 == 0 /\ -rcd_244^post86+rcd_244^0 == 0 /\ a_358^0-a_358^post86 == 0 /\ 1-i_33^post86 <= 0 /\ -1+i_33^post86 <= 0 /\ r_258^0-r_258^post86 == 0 /\ t_24^0-t_24^post86 == 0 /\ r_247^0-r_247^post86 == 0 /\ rcd_363^0-rcd_363^post86 == 0 /\ -i_120^post86+i_120^0 == 0 /\ len_205^0-len_205^post86 == 0 /\ -length_32^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post86 <= 0 /\ -temp0_34^post86+temp0_34^0 == 0 /\ head_35^post86-tmp_37^post86 <= 0 /\ head_35^post86-tmp_37^post86 == 0 /\ 1+i_33^0-length_32^0 <= 0 /\ rcd_46^0-rcd_46^post86 == 0 /\ -r_188^post86+r_188^0 == 0 /\ head_13^0-head_13^post86 == 0 /\ -ct_20^post86+ct_20^0 == 0 /\ -a_220^post86+a_220^0 == 0 /\ -lt_397^post86+lt_397^0 == 0 /\ r_196^0-r_196^post86 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post86 == 0 /\ -a_388^post86+a_388^0 == 0 /\ -len_275^post86+len_275^0 == 0 /\ -a_276^post86+a_276^0 == 0 /\ -rcd_253^post86+rcd_253^0 == 0 /\ c_28^0-c_28^post86 == 0 /\ -rcd_248^post86+rcd_248^0 == 0 /\ -length_32^post86+length_32^0 == 0 /\ tmp_37^post86-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86 <= 0 /\ head_35^post86-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86 <= 0 /\ -rcd_70^post86+rcd_70^0 == 0 /\ temp0_18^0-temp0_18^post86 == 0 /\ tmp_37^post86-temp_38^0 == 0 /\ l_27^0-l_27^post86 == 0 /\ rcd_409^0-rcd_409^post86 == 0 /\ rcd_105^0-rcd_105^post86 == 0 /\ -rcd_427^post86+rcd_427^0 == 0 /\ x_19^0-x_19^post86 == 0 /\ -r_274^post86+r_274^0 == 0 /\ r_252^0-r_252^post86 == 0 /\ -i_111^post86+i_111^0 == 0 /\ r_42^0-r_42^post86 == 0 /\ -r_159^post86+r_159^0 == 0 /\ -tmp_37^post86+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86 <= 0 /\ -head_35^post86+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post86 <= 0 /\ -result_11^post86+result_11^0 == 0 /\ x_23^0-x_23^post86 == 0 /\ -lt_17^post86+lt_17^0 == 0 /\ a_148^0-a_148^post86 == 0 /\ 1-length_32^0 <= 0), cost: 1
New rule:
l54 -> l33 : i_33^0'=1+i_33^0, head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_32^0, temp_38^0'=temp_38^post86, (i_33^0 == 0 /\ -1+length_32^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l55 -> l57 : a_148^0'=a_148^post89, r_258^0'=r_258^post89, i_33^0'=i_33^post89, r_167^0'=r_167^post89, t_30^0'=t_30^post89, a_358^0'=a_358^post89, r_42^0'=r_42^post89, len_275^0'=len_275^post89, rcd_409^0'=rcd_409^post89, r_243^0'=r_243^post89, r_246^0'=r_246^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, head_35^0'=head_35^post89, rcd_248^0'=rcd_248^post89, lt_509^0'=lt_509^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post89, a_220^0'=a_220^post89, r_272^0'=r_272^post89, rcd_363^0'=rcd_363^post89, r_196^0'=r_196^post89, temp0_34^0'=temp0_34^post89, c_28^0'=c_28^post89, rcd_113^0'=rcd_113^post89, length_32^0'=length_32^post89, rcd_46^0'=rcd_46^post89, r_252^0'=r_252^post89, i_120^0'=i_120^post89, rcd_273^0'=rcd_273^post89, r_159^0'=r_159^post89, t_24^0'=t_24^post89, a_332^0'=a_332^post89, r_29^0'=r_29^post89, len_205^0'=len_205^post89, rcd_387^0'=rcd_387^post89, r_236^0'=r_236^post89, tmp_37^0'=tmp_37^post89, x_23^0'=x_23^post89, head_13^0'=head_13^post89, rcd_244^0'=rcd_244^post89, lt_397^0'=lt_397^post89, result_11^0'=result_11^post89, a_173^0'=a_173^post89, r_266^0'=r_266^post89, l_27^0'=l_27^post89, r_188^0'=r_188^post89, temp0_18^0'=temp0_18^post89, a_388^0'=a_388^post89, rcd_105^0'=rcd_105^post89, len_297^0'=len_297^post89, rcd_427^0'=rcd_427^post89, r_245^0'=r_245^post89, r_247^0'=r_247^post89, y_22^0'=y_22^post89, i_111^0'=i_111^post89, rcd_253^0'=rcd_253^post89, nondet_12^0'=nondet_12^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, a_276^0'=a_276^post89, r_274^0'=r_274^post89, rcd_367^0'=rcd_367^post89, r_234^0'=r_234^post89, temp_38^0'=temp_38^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, rcd_235^0'=rcd_235^post89, lt_17^0'=lt_17^post89, rcd_70^0'=rcd_70^post89, (0 == 0 /\ lt_509^0-lt_509^post89 == 0 /\ r_243^0-r_243^post89 == 0 /\ t_30^0-t_30^post89 == 0 /\ -r_274^post89+r_274^0 == 0 /\ -i_120^post89+i_120^0 == 0 /\ -temp_38^post89+temp_38^0 == 0 /\ -a_220^post89+a_220^0 == 0 /\ r_246^0-r_246^post89 == 0 /\ r_258^0-r_258^post89 == 0 /\ -i_111^post89+i_111^0 == 0 /\ r_247^0-r_247^post89 == 0 /\ rcd_363^0-rcd_363^post89 == 0 /\ -result_11^post89+result_11^0 == 0 /\ r_188^0-r_188^post89 == 0 /\ -a_332^post89+a_332^0 == 0 /\ head_13^0-head_13^post89 == 0 /\ -a_388^post89+a_388^0 == 0 /\ -nondet_12^post89+nondet_12^0 == 0 /\ -rcd_248^post89+rcd_248^0 == 0 /\ a_358^0-a_358^post89 == 0 /\ rcd_113^0-rcd_113^post89 == 0 /\ -a_358^0 <= 0 /\ -rcd_70^post89+rcd_70^0 == 0 /\ -r_245^post89+r_245^0 == 0 /\ -a_173^post89+a_173^0 == 0 /\ i_33^0-i_33^post89 == 0 /\ len_205^0-len_205^post89 == 0 /\ c_28^0-c_28^post89 == 0 /\ rcd_46^0-rcd_46^post89 == 0 /\ -rcd_244^post89+rcd_244^0 == 0 /\ x_23^0-x_23^post89 == 0 /\ -rcd_427^post89+rcd_427^0 == 0 /\ -temp0_34^post89+temp0_34^0 == 0 /\ r_196^0-r_196^post89 == 0 /\ t_24^0-t_24^post89 == 0 /\ rcd_409^0-rcd_409^post89 == 0 /\ -r_236^post89+r_236^0 == 0 /\ -r_234^post89+r_234^0 == 0 /\ -rcd_387^post89+rcd_387^0 == 0 /\ r_252^0-r_252^post89 == 0 /\ -lt_397^post89+lt_397^0 == 0 /\ -r_29^post89+r_29^0 == 0 /\ head_35^0-head_35^post89 == 0 /\ -rcd_273^post89+rcd_273^0 == 0 /\ -len_297^post89+len_297^0 == 0 /\ -temp0_18^post89+temp0_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post89 == 0 /\ -a_276^post89+a_276^0 == 0 /\ a_148^0-a_148^post89 == 0 /\ r_167^0-r_167^post89 == 0 /\ r_159^0-r_159^post89 == 0 /\ -len_275^post89+len_275^0 == 0 /\ -rcd_367^post89+rcd_367^0 == 0 /\ l_27^0-l_27^post89 == 0 /\ -length_32^post89+length_32^0 == 0 /\ -rcd_253^post89+rcd_253^0 == 0 /\ rcd_105^0-rcd_105^post89 == 0 /\ r_266^0-r_266^post89 == 0 /\ -rcd_235^post89+rcd_235^0 == 0 /\ -y_22^post89+y_22^0 == 0 /\ -tmp_37^post89+tmp_37^0 == 0 /\ r_272^0-r_272^post89 == 0), cost: 1
New rule:
l55 -> l57 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, a_358^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l57 -> l58 : a_148^0'=a_148^post90, r_258^0'=r_258^post90, i_33^0'=i_33^post90, r_167^0'=r_167^post90, t_30^0'=t_30^post90, a_358^0'=a_358^post90, r_42^0'=r_42^post90, len_275^0'=len_275^post90, rcd_409^0'=rcd_409^post90, r_243^0'=r_243^post90, r_246^0'=r_246^post90, x_SLAM_f_21^0'=x_SLAM_f_21^post90, head_35^0'=head_35^post90, rcd_248^0'=rcd_248^post90, lt_509^0'=lt_509^post90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post90, a_220^0'=a_220^post90, r_272^0'=r_272^post90, rcd_363^0'=rcd_363^post90, r_196^0'=r_196^post90, temp0_34^0'=temp0_34^post90, c_28^0'=c_28^post90, rcd_113^0'=rcd_113^post90, length_32^0'=length_32^post90, rcd_46^0'=rcd_46^post90, r_252^0'=r_252^post90, i_120^0'=i_120^post90, rcd_273^0'=rcd_273^post90, r_159^0'=r_159^post90, t_24^0'=t_24^post90, a_332^0'=a_332^post90, r_29^0'=r_29^post90, len_205^0'=len_205^post90, rcd_387^0'=rcd_387^post90, r_236^0'=r_236^post90, tmp_37^0'=tmp_37^post90, x_23^0'=x_23^post90, head_13^0'=head_13^post90, rcd_244^0'=rcd_244^post90, lt_397^0'=lt_397^post90, result_11^0'=result_11^post90, a_173^0'=a_173^post90, r_266^0'=r_266^post90, l_27^0'=l_27^post90, r_188^0'=r_188^post90, temp0_18^0'=temp0_18^post90, a_388^0'=a_388^post90, rcd_105^0'=rcd_105^post90, len_297^0'=len_297^post90, rcd_427^0'=rcd_427^post90, r_245^0'=r_245^post90, r_247^0'=r_247^post90, y_22^0'=y_22^post90, i_111^0'=i_111^post90, rcd_253^0'=rcd_253^post90, nondet_12^0'=nondet_12^post90, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post90, a_276^0'=a_276^post90, r_274^0'=r_274^post90, rcd_367^0'=rcd_367^post90, r_234^0'=r_234^post90, temp_38^0'=temp_38^post90, x_19^0'=x_19^post90, ct_20^0'=ct_20^post90, rcd_235^0'=rcd_235^post90, lt_17^0'=lt_17^post90, rcd_70^0'=rcd_70^post90, (-rcd_273^post90+rcd_273^0 == 0 /\ -r_245^post90+r_245^0 == 0 /\ -ct_20^post90+ct_20^0 == 0 /\ r_196^0-r_196^post90 == 0 /\ -r_266^post90+r_266^0 == 0 /\ 1-x_23^0+y_22^0 <= 0 /\ -rcd_46^post90+rcd_46^0 == 0 /\ len_275^0-len_275^post90 == 0 /\ r_272^0-r_272^post90 == 0 /\ -a_173^post90+a_173^0 == 0 /\ -nondet_12^post90+nondet_12^0 == 0 /\ i_111^0-i_111^post90 == 0 /\ -rcd_367^post90+rcd_367^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post90 == 0 /\ -r_29^post90+r_29^0 == 0 /\ -x_19^post90+x_19^0 == 0 /\ -c_28^post90+c_28^0 == 0 /\ result_11^0-result_11^post90 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post90 == 0 /\ a_276^0-a_276^post90 == 0 /\ -r_247^post90+r_247^0 == 0 /\ rcd_244^0-rcd_244^post90 == 0 /\ -temp_38^post90+temp_38^0 == 0 /\ r_252^0-r_252^post90 == 0 /\ i_33^0-i_33^post90 == 0 /\ temp0_18^0-temp0_18^post90 == 0 /\ -r_188^post90+r_188^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post90+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ temp0_34^0-temp0_34^post90 == 0 /\ length_32^0-length_32^post90 == 0 /\ r_42^0-r_42^post90 == 0 /\ -a_220^post90+a_220^0 == 0 /\ rcd_253^0-rcd_253^post90 == 0 /\ a_148^0-a_148^post90 == 0 /\ -rcd_105^post90+rcd_105^0 == 0 /\ -rcd_363^post90+rcd_363^0 == 0 /\ r_246^0-r_246^post90 == 0 /\ r_243^0-r_243^post90 == 0 /\ a_332^0-a_332^post90 == 0 /\ rcd_387^0-rcd_387^post90 == 0 /\ -lt_397^post90+lt_397^0 == 0 /\ -y_22^post90+y_22^0 == 0 /\ lt_509^0-lt_509^post90 == 0 /\ rcd_248^0-rcd_248^post90 == 0 /\ r_236^0-r_236^post90 == 0 /\ r_167^0-r_167^post90 == 0 /\ -a_388^post90+a_388^0 == 0 /\ -tmp_37^post90+tmp_37^0 == 0 /\ t_30^0-t_30^post90 == 0 /\ -rcd_409^post90+rcd_409^0 == 0 /\ -rcd_235^post90+rcd_235^0 == 0 /\ t_24^0-t_24^post90 == 0 /\ r_258^0-r_258^post90 == 0 /\ -r_274^post90+r_274^0 == 0 /\ -x_23^post90+x_23^0 == 0 /\ i_120^0-i_120^post90 == 0 /\ a_358^0-a_358^post90 == 0 /\ -lt_17^post90+lt_17^0 == 0 /\ -rcd_427^post90+rcd_427^0 == 0 /\ head_13^0-head_13^post90 == 0 /\ -l_27^post90+l_27^0 == 0 /\ -r_234^post90+r_234^0 == 0 /\ len_297^0-len_297^post90 == 0 /\ -r_159^post90+r_159^0 == 0 /\ rcd_113^0-rcd_113^post90 == 0 /\ -len_205^post90+len_205^0 == 0 /\ rcd_70^0-rcd_70^post90 == 0 /\ -head_35^post90+head_35^0 == 0), cost: 1
New rule:
l57 -> l58 : 1-x_23^0+y_22^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l57 -> l58 : a_148^0'=a_148^post91, r_258^0'=r_258^post91, i_33^0'=i_33^post91, r_167^0'=r_167^post91, t_30^0'=t_30^post91, a_358^0'=a_358^post91, r_42^0'=r_42^post91, len_275^0'=len_275^post91, rcd_409^0'=rcd_409^post91, r_243^0'=r_243^post91, r_246^0'=r_246^post91, x_SLAM_f_21^0'=x_SLAM_f_21^post91, head_35^0'=head_35^post91, rcd_248^0'=rcd_248^post91, lt_509^0'=lt_509^post91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post91, a_220^0'=a_220^post91, r_272^0'=r_272^post91, rcd_363^0'=rcd_363^post91, r_196^0'=r_196^post91, temp0_34^0'=temp0_34^post91, c_28^0'=c_28^post91, rcd_113^0'=rcd_113^post91, length_32^0'=length_32^post91, rcd_46^0'=rcd_46^post91, r_252^0'=r_252^post91, i_120^0'=i_120^post91, rcd_273^0'=rcd_273^post91, r_159^0'=r_159^post91, t_24^0'=t_24^post91, a_332^0'=a_332^post91, r_29^0'=r_29^post91, len_205^0'=len_205^post91, rcd_387^0'=rcd_387^post91, r_236^0'=r_236^post91, tmp_37^0'=tmp_37^post91, x_23^0'=x_23^post91, head_13^0'=head_13^post91, rcd_244^0'=rcd_244^post91, lt_397^0'=lt_397^post91, result_11^0'=result_11^post91, a_173^0'=a_173^post91, r_266^0'=r_266^post91, l_27^0'=l_27^post91, r_188^0'=r_188^post91, temp0_18^0'=temp0_18^post91, a_388^0'=a_388^post91, rcd_105^0'=rcd_105^post91, len_297^0'=len_297^post91, rcd_427^0'=rcd_427^post91, r_245^0'=r_245^post91, r_247^0'=r_247^post91, y_22^0'=y_22^post91, i_111^0'=i_111^post91, rcd_253^0'=rcd_253^post91, nondet_12^0'=nondet_12^post91, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post91, a_276^0'=a_276^post91, r_274^0'=r_274^post91, rcd_367^0'=rcd_367^post91, r_234^0'=r_234^post91, temp_38^0'=temp_38^post91, x_19^0'=x_19^post91, ct_20^0'=ct_20^post91, rcd_235^0'=rcd_235^post91, lt_17^0'=lt_17^post91, rcd_70^0'=rcd_70^post91, (rcd_248^0-rcd_248^post91 == 0 /\ a_332^0-a_332^post91 == 0 /\ r_167^0-r_167^post91 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post91 == 0 /\ -len_297^post91+len_297^0 == 0 /\ -rcd_387^post91+rcd_387^0 == 0 /\ -l_27^post91+l_27^0 == 0 /\ -rcd_235^post91+rcd_235^0 == 0 /\ -r_236^post91+r_236^0 == 0 /\ -c_28^post91+c_28^0 == 0 /\ -r_234^post91+r_234^0 == 0 /\ -r_266^post91+r_266^0 == 0 /\ -len_205^post91+len_205^0 == 0 /\ i_33^0-i_33^post91 == 0 /\ a_358^0-a_358^post91 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post91+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_243^0-r_243^post91 == 0 /\ -rcd_367^post91+rcd_367^0 == 0 /\ i_120^0-i_120^post91 == 0 /\ lt_509^0-lt_509^post91 == 0 /\ lt_397^0-lt_397^post91 == 0 /\ r_274^0-r_274^post91 == 0 /\ -y_22^post91+y_22^0 == 0 /\ -rcd_105^post91+rcd_105^0 == 0 /\ -ct_20^post91+ct_20^0 == 0 /\ -r_196^post91+r_196^0 == 0 /\ 1+x_23^0-y_22^0 <= 0 /\ a_173^0-a_173^post91 == 0 /\ nondet_12^0-nondet_12^post91 == 0 /\ -rcd_113^post91+rcd_113^0 == 0 /\ r_258^0-r_258^post91 == 0 /\ rcd_363^0-rcd_363^post91 == 0 /\ -r_247^post91+r_247^0 == 0 /\ -a_276^post91+a_276^0 == 0 /\ len_275^0-len_275^post91 == 0 /\ rcd_46^0-rcd_46^post91 == 0 /\ -r_252^post91+r_252^0 == 0 /\ -temp0_18^post91+temp0_18^0 == 0 /\ -r_188^post91+r_188^0 == 0 /\ -t_24^post91+t_24^0 == 0 /\ -x_23^post91+x_23^0 == 0 /\ r_29^0-r_29^post91 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post91 == 0 /\ -temp_38^post91+temp_38^0 == 0 /\ -rcd_253^post91+rcd_253^0 == 0 /\ -i_111^post91+i_111^0 == 0 /\ rcd_427^0-rcd_427^post91 == 0 /\ -x_19^post91+x_19^0 == 0 /\ -rcd_70^post91+rcd_70^0 == 0 /\ -r_246^post91+r_246^0 == 0 /\ -r_272^post91+r_272^0 == 0 /\ a_388^0-a_388^post91 == 0 /\ a_220^0-a_220^post91 == 0 /\ tmp_37^0-tmp_37^post91 == 0 /\ head_35^0-head_35^post91 == 0 /\ length_32^0-length_32^post91 == 0 /\ -result_11^post91+result_11^0 == 0 /\ -lt_17^post91+lt_17^0 == 0 /\ temp0_34^0-temp0_34^post91 == 0 /\ -r_245^post91+r_245^0 == 0 /\ t_30^0-t_30^post91 == 0 /\ r_42^0-r_42^post91 == 0 /\ -head_13^post91+head_13^0 == 0 /\ rcd_244^0-rcd_244^post91 == 0 /\ r_159^0-r_159^post91 == 0 /\ a_148^0-a_148^post91 == 0 /\ rcd_273^0-rcd_273^post91 == 0 /\ rcd_409^0-rcd_409^post91 == 0), cost: 1
New rule:
l57 -> l58 : 1+x_23^0-y_22^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l58 -> l59 : a_148^0'=a_148^post92, r_258^0'=r_258^post92, i_33^0'=i_33^post92, r_167^0'=r_167^post92, t_30^0'=t_30^post92, a_358^0'=a_358^post92, r_42^0'=r_42^post92, len_275^0'=len_275^post92, rcd_409^0'=rcd_409^post92, r_243^0'=r_243^post92, r_246^0'=r_246^post92, x_SLAM_f_21^0'=x_SLAM_f_21^post92, head_35^0'=head_35^post92, rcd_248^0'=rcd_248^post92, lt_509^0'=lt_509^post92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post92, a_220^0'=a_220^post92, r_272^0'=r_272^post92, rcd_363^0'=rcd_363^post92, r_196^0'=r_196^post92, temp0_34^0'=temp0_34^post92, c_28^0'=c_28^post92, rcd_113^0'=rcd_113^post92, length_32^0'=length_32^post92, rcd_46^0'=rcd_46^post92, r_252^0'=r_252^post92, i_120^0'=i_120^post92, rcd_273^0'=rcd_273^post92, r_159^0'=r_159^post92, t_24^0'=t_24^post92, a_332^0'=a_332^post92, r_29^0'=r_29^post92, len_205^0'=len_205^post92, rcd_387^0'=rcd_387^post92, r_236^0'=r_236^post92, tmp_37^0'=tmp_37^post92, x_23^0'=x_23^post92, head_13^0'=head_13^post92, rcd_244^0'=rcd_244^post92, lt_397^0'=lt_397^post92, result_11^0'=result_11^post92, a_173^0'=a_173^post92, r_266^0'=r_266^post92, l_27^0'=l_27^post92, r_188^0'=r_188^post92, temp0_18^0'=temp0_18^post92, a_388^0'=a_388^post92, rcd_105^0'=rcd_105^post92, len_297^0'=len_297^post92, rcd_427^0'=rcd_427^post92, r_245^0'=r_245^post92, r_247^0'=r_247^post92, y_22^0'=y_22^post92, i_111^0'=i_111^post92, rcd_253^0'=rcd_253^post92, nondet_12^0'=nondet_12^post92, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post92, a_276^0'=a_276^post92, r_274^0'=r_274^post92, rcd_367^0'=rcd_367^post92, r_234^0'=r_234^post92, temp_38^0'=temp_38^post92, x_19^0'=x_19^post92, ct_20^0'=ct_20^post92, rcd_235^0'=rcd_235^post92, lt_17^0'=lt_17^post92, rcd_70^0'=rcd_70^post92, (0 == 0 /\ rcd_409^0-rcd_409^post92 == 0 /\ -rcd_427^post92+rcd_427^0 == 0 /\ r_159^0-r_159^post92 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post92+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_363^0-rcd_363^post92 == 0 /\ -tmp_37^post92+tmp_37^0 == 0 /\ r_29^0-r_29^post92 == 0 /\ head_35^0-head_35^post92 == 0 /\ y_22^0-ct_20^0 <= 0 /\ -rcd_113^post92+rcd_113^0 == 0 /\ r_272^0-r_272^post92 == 0 /\ length_32^0-length_32^post92 == 0 /\ -r_247^post92+r_247^0 == 0 /\ -temp0_34^post92+temp0_34^0 == 0 /\ -lt_17^post92+lt_17^0 == 0 /\ a_220^0-a_220^post92 == 0 /\ r_42^0-r_42^post92 == 0 /\ -len_297^post92+len_297^0 == 0 /\ t_30^0-t_30^post92 == 0 /\ -1+a_358^0-a_388^post92 <= 0 /\ -r_234^post92+r_234^0 == 0 /\ x_23^0-x_23^post92 == 0 /\ rcd_273^0-rcd_273^post92 == 0 /\ -a_276^post92+a_276^0 == 0 /\ r_196^0-r_196^post92 == 0 /\ -rcd_253^post92+rcd_253^0 == 0 /\ -x_23^0+t_24^post92 == 0 /\ -rcd_235^post92+rcd_235^0 == 0 /\ -y_22^0+ct_20^0 <= 0 /\ -y_22^post92+y_22^0 == 0 /\ -r_274^post92+r_274^0 == 0 /\ r_252^0-r_252^post92 == 0 /\ a_148^0-a_148^post92 == 0 /\ -a_332^post92+a_332^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post92 == 0 /\ -temp_38^post92+temp_38^0 == 0 /\ -rcd_367^post92+rcd_367^0 == 0 /\ l_27^0-l_27^post92 == 0 /\ -r_188^post92+r_188^0 == 0 /\ r_167^0-r_167^post92 == 0 /\ -rcd_387^post92+rcd_46^0 <= 0 /\ -x_19^0+lt_17^0 <= 0 /\ -i_120^post92+i_120^0 == 0 /\ -ct_20^post92+ct_20^0 == 0 /\ rcd_105^0-rcd_105^post92 == 0 /\ r_266^0-r_266^post92 == 0 /\ i_33^0-i_33^post92 == 0 /\ rcd_248^0-rcd_248^post92 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ a_358^0-a_358^post92 == 0 /\ -head_13^post92+head_13^0 == 0 /\ len_205^0-len_205^post92 == 0 /\ -ct_20^0 <= 0 /\ -i_111^post92+i_111^0 == 0 /\ x_SLAM_f_21^0-x_19^0 <= 0 /\ -result_11^post92+result_11^0 == 0 /\ -nondet_12^post92+nondet_12^0 == 0 /\ c_28^0-c_28^post92 == 0 /\ -rcd_70^post92+rcd_70^0 == 0 /\ len_275^0-len_275^post92 == 0 /\ 1-a_358^0+a_388^post92 <= 0 /\ -r_236^post92+r_236^0 == 0 /\ rcd_46^0-rcd_46^post92 == 0 /\ y_22^0 <= 0 /\ -y_22^0 <= 0 /\ r_243^0-r_243^post92 == 0 /\ -a_173^post92+a_173^0 == 0 /\ lt_509^0-lt_509^post92 == 0 /\ rcd_387^post92-rcd_46^0 <= 0 /\ x_19^0-lt_17^0 <= 0 /\ -x_19^post92+x_19^0 == 0 /\ -r_245^post92+r_245^0 == 0 /\ -r_246^post92+r_246^0 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ lt_397^0-lt_397^post92 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post92 == 0 /\ ct_20^0 <= 0 /\ r_258^0-r_258^post92 == 0 /\ temp0_18^0-temp0_18^post92 == 0 /\ -x_SLAM_f_21^0+x_19^0 <= 0 /\ -rcd_244^post92+rcd_244^0 == 0), cost: 1
New rule:
l58 -> l59 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, (x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 1

Applied preprocessing
Original rule:
l59 -> l60 : a_148^0'=a_148^post93, r_258^0'=r_258^post93, i_33^0'=i_33^post93, r_167^0'=r_167^post93, t_30^0'=t_30^post93, a_358^0'=a_358^post93, r_42^0'=r_42^post93, len_275^0'=len_275^post93, rcd_409^0'=rcd_409^post93, r_243^0'=r_243^post93, r_246^0'=r_246^post93, x_SLAM_f_21^0'=x_SLAM_f_21^post93, head_35^0'=head_35^post93, rcd_248^0'=rcd_248^post93, lt_509^0'=lt_509^post93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post93, a_220^0'=a_220^post93, r_272^0'=r_272^post93, rcd_363^0'=rcd_363^post93, r_196^0'=r_196^post93, temp0_34^0'=temp0_34^post93, c_28^0'=c_28^post93, rcd_113^0'=rcd_113^post93, length_32^0'=length_32^post93, rcd_46^0'=rcd_46^post93, r_252^0'=r_252^post93, i_120^0'=i_120^post93, rcd_273^0'=rcd_273^post93, r_159^0'=r_159^post93, t_24^0'=t_24^post93, a_332^0'=a_332^post93, r_29^0'=r_29^post93, len_205^0'=len_205^post93, rcd_387^0'=rcd_387^post93, r_236^0'=r_236^post93, tmp_37^0'=tmp_37^post93, x_23^0'=x_23^post93, head_13^0'=head_13^post93, rcd_244^0'=rcd_244^post93, lt_397^0'=lt_397^post93, result_11^0'=result_11^post93, a_173^0'=a_173^post93, r_266^0'=r_266^post93, l_27^0'=l_27^post93, r_188^0'=r_188^post93, temp0_18^0'=temp0_18^post93, a_388^0'=a_388^post93, rcd_105^0'=rcd_105^post93, len_297^0'=len_297^post93, rcd_427^0'=rcd_427^post93, r_245^0'=r_245^post93, r_247^0'=r_247^post93, y_22^0'=y_22^post93, i_111^0'=i_111^post93, rcd_253^0'=rcd_253^post93, nondet_12^0'=nondet_12^post93, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post93, a_276^0'=a_276^post93, r_274^0'=r_274^post93, rcd_367^0'=rcd_367^post93, r_234^0'=r_234^post93, temp_38^0'=temp_38^post93, x_19^0'=x_19^post93, ct_20^0'=ct_20^post93, rcd_235^0'=rcd_235^post93, lt_17^0'=lt_17^post93, rcd_70^0'=rcd_70^post93, (i_33^0-i_33^post93 == 0 /\ t_24^0-t_24^post93 == 0 /\ -a_276^post93+a_276^0 == 0 /\ -y_22^post93+y_22^0 == 0 /\ r_42^0-r_42^post93 == 0 /\ len_205^0-len_205^post93 == 0 /\ -length_32^post93+length_32^0 == 0 /\ rcd_46^0-rcd_46^post93 == 0 /\ i_120^0-i_120^post93 == 0 /\ -lt_397^post93+lt_397^0 == 0 /\ -rcd_253^post93+rcd_253^0 == 0 /\ head_13^0-head_13^post93 == 0 /\ r_252^0-r_252^post93 == 0 /\ -a_388^post93+a_388^0 == 0 /\ -x_19^post93+x_19^0 == 0 /\ -rcd_70^post93+rcd_70^0 == 0 /\ -tmp_37^post93+tmp_37^0 == 0 /\ a_148^0-a_148^post93 == 0 /\ r_246^0-r_246^post93 == 0 /\ temp0_34^0-temp0_34^post93 == 0 /\ rcd_387^0-rcd_387^post93 == 0 /\ r_243^0-r_243^post93 == 0 /\ c_28^0-c_28^post93 == 0 /\ -r_274^post93+r_274^0 == 0 /\ -x_23^post93+x_23^0 == 0 /\ -r_159^post93+r_159^0 == 0 /\ r_167^0-r_167^post93 == 0 /\ -r_266^post93+r_266^0 == 0 /\ -i_111^post93+i_111^0 == 0 /\ r_236^0-r_236^post93 == 0 /\ -lt_17^post93+lt_17^0 == 0 /\ lt_509^0-lt_509^post93 == 0 /\ -rcd_273^post93+rcd_273^0 == 0 /\ a_358^0-a_358^post93 == 0 /\ result_11^0-result_11^post93 == 0 /\ -l_27^post93+l_27^0 == 0 /\ -r_234^post93+r_234^0 == 0 /\ -rcd_427^post93+rcd_427^0 == 0 /\ temp_38^0-temp_38^post93 == 0 /\ r_258^0-r_258^post93 == 0 /\ -nondet_12^post93+nondet_12^0 == 0 /\ a_220^0-a_220^post93 == 0 /\ rcd_367^0-rcd_367^post93 == 0 /\ -a_173^post93+a_173^0 == 0 /\ -r_245^post93+r_245^0 == 0 /\ -temp0_18^post93+temp0_18^0 == 0 /\ rcd_409^0-rcd_409^post93 == 0 /\ -r_29^post93+r_29^0 == 0 /\ -rcd_235^post93+rcd_235^0 == 0 /\ len_297^0-len_297^post93 == 0 /\ 1-lt_17^0 <= 0 /\ -r_247^post93+r_247^0 == 0 /\ r_196^0-r_196^post93 == 0 /\ r_272^0-r_272^post93 == 0 /\ -r_188^post93+r_188^0 == 0 /\ -rcd_244^post93+rcd_244^0 == 0 /\ rcd_113^0-rcd_113^post93 == 0 /\ rcd_248^0-rcd_248^post93 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post93+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_332^0-a_332^post93 == 0 /\ -x_SLAM_f_21^post93+x_SLAM_f_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post93 == 0 /\ head_35^0-head_35^post93 == 0 /\ -len_275^post93+len_275^0 == 0 /\ t_30^0-t_30^post93 == 0 /\ -ct_20^post93+ct_20^0 == 0 /\ -rcd_363^post93+rcd_363^0 == 0 /\ -rcd_105^post93+rcd_105^0 == 0), cost: 1
New rule:
l59 -> l60 : -1+lt_17^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l59 -> l60 : a_148^0'=a_148^post94, r_258^0'=r_258^post94, i_33^0'=i_33^post94, r_167^0'=r_167^post94, t_30^0'=t_30^post94, a_358^0'=a_358^post94, r_42^0'=r_42^post94, len_275^0'=len_275^post94, rcd_409^0'=rcd_409^post94, r_243^0'=r_243^post94, r_246^0'=r_246^post94, x_SLAM_f_21^0'=x_SLAM_f_21^post94, head_35^0'=head_35^post94, rcd_248^0'=rcd_248^post94, lt_509^0'=lt_509^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post94, a_220^0'=a_220^post94, r_272^0'=r_272^post94, rcd_363^0'=rcd_363^post94, r_196^0'=r_196^post94, temp0_34^0'=temp0_34^post94, c_28^0'=c_28^post94, rcd_113^0'=rcd_113^post94, length_32^0'=length_32^post94, rcd_46^0'=rcd_46^post94, r_252^0'=r_252^post94, i_120^0'=i_120^post94, rcd_273^0'=rcd_273^post94, r_159^0'=r_159^post94, t_24^0'=t_24^post94, a_332^0'=a_332^post94, r_29^0'=r_29^post94, len_205^0'=len_205^post94, rcd_387^0'=rcd_387^post94, r_236^0'=r_236^post94, tmp_37^0'=tmp_37^post94, x_23^0'=x_23^post94, head_13^0'=head_13^post94, rcd_244^0'=rcd_244^post94, lt_397^0'=lt_397^post94, result_11^0'=result_11^post94, a_173^0'=a_173^post94, r_266^0'=r_266^post94, l_27^0'=l_27^post94, r_188^0'=r_188^post94, temp0_18^0'=temp0_18^post94, a_388^0'=a_388^post94, rcd_105^0'=rcd_105^post94, len_297^0'=len_297^post94, rcd_427^0'=rcd_427^post94, r_245^0'=r_245^post94, r_247^0'=r_247^post94, y_22^0'=y_22^post94, i_111^0'=i_111^post94, rcd_253^0'=rcd_253^post94, nondet_12^0'=nondet_12^post94, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post94, a_276^0'=a_276^post94, r_274^0'=r_274^post94, rcd_367^0'=rcd_367^post94, r_234^0'=r_234^post94, temp_38^0'=temp_38^post94, x_19^0'=x_19^post94, ct_20^0'=ct_20^post94, rcd_235^0'=rcd_235^post94, lt_17^0'=lt_17^post94, rcd_70^0'=rcd_70^post94, (-x_19^post94+x_19^0 == 0 /\ length_32^0-length_32^post94 == 0 /\ lt_397^0-lt_397^post94 == 0 /\ temp0_34^0-temp0_34^post94 == 0 /\ -rcd_70^post94+rcd_70^0 == 0 /\ -i_111^post94+i_111^0 == 0 /\ a_173^0-a_173^post94 == 0 /\ r_258^0-r_258^post94 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post94 == 0 /\ rcd_363^0-rcd_363^post94 == 0 /\ -r_274^post94+r_274^0 == 0 /\ a_332^0-a_332^post94 == 0 /\ x_23^0-x_23^post94 == 0 /\ rcd_273^0-rcd_273^post94 == 0 /\ len_275^0-len_275^post94 == 0 /\ rcd_248^0-rcd_248^post94 == 0 /\ r_245^0-r_245^post94 == 0 /\ rcd_113^0-rcd_113^post94 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post94 == 0 /\ r_167^0-r_167^post94 == 0 /\ -lt_17^post94+lt_17^0 == 0 /\ -rcd_46^post94+rcd_46^0 == 0 /\ -nondet_12^post94+nondet_12^0 == 0 /\ tmp_37^0-tmp_37^post94 == 0 /\ -rcd_409^post94+rcd_409^0 == 0 /\ -head_13^post94+head_13^0 == 0 /\ r_272^0-r_272^post94 == 0 /\ 1+lt_17^0 <= 0 /\ -result_11^post94+result_11^0 == 0 /\ -t_24^post94+t_24^0 == 0 /\ lt_509^0-lt_509^post94 == 0 /\ -rcd_235^post94+rcd_235^0 == 0 /\ -temp0_18^post94+temp0_18^0 == 0 /\ r_42^0-r_42^post94 == 0 /\ t_30^0-t_30^post94 == 0 /\ -c_28^post94+c_28^0 == 0 /\ r_246^0-r_246^post94 == 0 /\ -r_247^post94+r_247^0 == 0 /\ -l_27^post94+l_27^0 == 0 /\ r_234^0-r_234^post94 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post94+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_236^post94+r_236^0 == 0 /\ rcd_427^0-rcd_427^post94 == 0 /\ -r_266^post94+r_266^0 == 0 /\ -rcd_244^post94+rcd_244^0 == 0 /\ -len_205^post94+len_205^0 == 0 /\ -ct_20^post94+ct_20^0 == 0 /\ r_29^0-r_29^post94 == 0 /\ -head_35^post94+head_35^0 == 0 /\ -y_22^post94+y_22^0 == 0 /\ a_388^0-a_388^post94 == 0 /\ r_159^0-r_159^post94 == 0 /\ a_148^0-a_148^post94 == 0 /\ -rcd_105^post94+rcd_105^0 == 0 /\ -len_297^post94+len_297^0 == 0 /\ -r_196^post94+r_196^0 == 0 /\ -r_252^post94+r_252^0 == 0 /\ a_358^0-a_358^post94 == 0 /\ -i_120^post94+i_120^0 == 0 /\ a_220^0-a_220^post94 == 0 /\ rcd_387^0-rcd_387^post94 == 0 /\ -temp_38^post94+temp_38^0 == 0 /\ i_33^0-i_33^post94 == 0 /\ -r_188^post94+r_188^0 == 0 /\ -rcd_253^post94+rcd_253^0 == 0 /\ -a_276^post94+a_276^0 == 0 /\ -rcd_367^post94+rcd_367^0 == 0 /\ r_243^0-r_243^post94 == 0), cost: 1
New rule:
l59 -> l60 : 1+lt_17^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l60 -> l61 : a_148^0'=a_148^post95, r_258^0'=r_258^post95, i_33^0'=i_33^post95, r_167^0'=r_167^post95, t_30^0'=t_30^post95, a_358^0'=a_358^post95, r_42^0'=r_42^post95, len_275^0'=len_275^post95, rcd_409^0'=rcd_409^post95, r_243^0'=r_243^post95, r_246^0'=r_246^post95, x_SLAM_f_21^0'=x_SLAM_f_21^post95, head_35^0'=head_35^post95, rcd_248^0'=rcd_248^post95, lt_509^0'=lt_509^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post95, a_220^0'=a_220^post95, r_272^0'=r_272^post95, rcd_363^0'=rcd_363^post95, r_196^0'=r_196^post95, temp0_34^0'=temp0_34^post95, c_28^0'=c_28^post95, rcd_113^0'=rcd_113^post95, length_32^0'=length_32^post95, rcd_46^0'=rcd_46^post95, r_252^0'=r_252^post95, i_120^0'=i_120^post95, rcd_273^0'=rcd_273^post95, r_159^0'=r_159^post95, t_24^0'=t_24^post95, a_332^0'=a_332^post95, r_29^0'=r_29^post95, len_205^0'=len_205^post95, rcd_387^0'=rcd_387^post95, r_236^0'=r_236^post95, tmp_37^0'=tmp_37^post95, x_23^0'=x_23^post95, head_13^0'=head_13^post95, rcd_244^0'=rcd_244^post95, lt_397^0'=lt_397^post95, result_11^0'=result_11^post95, a_173^0'=a_173^post95, r_266^0'=r_266^post95, l_27^0'=l_27^post95, r_188^0'=r_188^post95, temp0_18^0'=temp0_18^post95, a_388^0'=a_388^post95, rcd_105^0'=rcd_105^post95, len_297^0'=len_297^post95, rcd_427^0'=rcd_427^post95, r_245^0'=r_245^post95, r_247^0'=r_247^post95, y_22^0'=y_22^post95, i_111^0'=i_111^post95, rcd_253^0'=rcd_253^post95, nondet_12^0'=nondet_12^post95, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post95, a_276^0'=a_276^post95, r_274^0'=r_274^post95, rcd_367^0'=rcd_367^post95, r_234^0'=r_234^post95, temp_38^0'=temp_38^post95, x_19^0'=x_19^post95, ct_20^0'=ct_20^post95, rcd_235^0'=rcd_235^post95, lt_17^0'=lt_17^post95, rcd_70^0'=rcd_70^post95, (-rcd_367^post95+rcd_367^0 == 0 /\ c_28^0-c_28^post95 == 0 /\ r_272^0-r_272^post95 == 0 /\ r_196^0-r_196^post95 == 0 /\ -ct_20^post95+ct_20^0 == 0 /\ rcd_46^0-rcd_46^post95 == 0 /\ -a_332^post95+a_332^0 == 0 /\ -i_120^post95+i_120^0 == 0 /\ r_167^0-r_167^post95 == 0 /\ r_188^0-r_188^post95 == 0 /\ -temp_38^post95+temp_38^0 == 0 /\ -result_11^post95+result_11^0 == 0 /\ r_247^0-r_247^post95 == 0 /\ -nondet_12^post95+nondet_12^0 == 0 /\ -r_252^post95+r_252^0 == 0 /\ t_30^0-t_30^post95 == 0 /\ a_358^0-a_358^post95 == 0 /\ a_220^0-a_220^post95 == 0 /\ -rcd_70^post95+rcd_70^0 == 0 /\ r_258^0-r_258^post95 == 0 /\ r_159^0-r_159^post95 == 0 /\ head_13^0-head_13^post95 == 0 /\ -t_24^post95+t_24^0 == 0 /\ -x_19^post95+x_19^0 == 0 /\ i_33^0-i_33^post95 == 0 /\ -r_236^post95+r_236^0 == 0 /\ -a_388^post95+a_388^0 == 0 /\ r_29^0-r_29^post95 == 0 /\ 1-y_22^0+lt_17^0 <= 0 /\ length_32^0-length_32^post95 == 0 /\ -r_245^post95+r_245^0 == 0 /\ -r_246^post95+r_246^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post95+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_205^0-len_205^post95 == 0 /\ -a_173^post95+a_173^0 == 0 /\ -lt_509^post95+lt_509^0 == 0 /\ r_243^0-r_243^post95 == 0 /\ -lt_17^post95+lt_17^0 == 0 /\ -rcd_244^post95+rcd_244^0 == 0 /\ len_275^0-len_275^post95 == 0 /\ -rcd_427^post95+rcd_427^0 == 0 /\ x_23^0-x_23^post95 == 0 /\ -tmp_37^post95+tmp_37^0 == 0 /\ -rcd_113^post95+rcd_113^0 == 0 /\ -rcd_253^post95+rcd_253^0 == 0 /\ -a_276^post95+a_276^0 == 0 /\ -rcd_387^post95+rcd_387^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post95 == 0 /\ -lt_397^post95+lt_397^0 == 0 /\ rcd_409^0-rcd_409^post95 == 0 /\ -i_111^post95+i_111^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post95 == 0 /\ rcd_363^0-rcd_363^post95 == 0 /\ head_35^0-head_35^post95 == 0 /\ -l_27^post95+l_27^0 == 0 /\ -rcd_273^post95+rcd_273^0 == 0 /\ -temp0_18^post95+temp0_18^0 == 0 /\ -len_297^post95+len_297^0 == 0 /\ -r_234^post95+r_234^0 == 0 /\ -rcd_235^post95+rcd_235^0 == 0 /\ -r_274^post95+r_274^0 == 0 /\ rcd_105^0-rcd_105^post95 == 0 /\ temp0_34^0-temp0_34^post95 == 0 /\ rcd_248^0-rcd_248^post95 == 0 /\ r_42^0-r_42^post95 == 0 /\ r_266^0-r_266^post95 == 0 /\ a_148^0-a_148^post95 == 0 /\ -y_22^post95+y_22^0 == 0), cost: 1
New rule:
l60 -> l61 : 1-y_22^0+lt_17^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l60 -> l61 : a_148^0'=a_148^post96, r_258^0'=r_258^post96, i_33^0'=i_33^post96, r_167^0'=r_167^post96, t_30^0'=t_30^post96, a_358^0'=a_358^post96, r_42^0'=r_42^post96, len_275^0'=len_275^post96, rcd_409^0'=rcd_409^post96, r_243^0'=r_243^post96, r_246^0'=r_246^post96, x_SLAM_f_21^0'=x_SLAM_f_21^post96, head_35^0'=head_35^post96, rcd_248^0'=rcd_248^post96, lt_509^0'=lt_509^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post96, a_220^0'=a_220^post96, r_272^0'=r_272^post96, rcd_363^0'=rcd_363^post96, r_196^0'=r_196^post96, temp0_34^0'=temp0_34^post96, c_28^0'=c_28^post96, rcd_113^0'=rcd_113^post96, length_32^0'=length_32^post96, rcd_46^0'=rcd_46^post96, r_252^0'=r_252^post96, i_120^0'=i_120^post96, rcd_273^0'=rcd_273^post96, r_159^0'=r_159^post96, t_24^0'=t_24^post96, a_332^0'=a_332^post96, r_29^0'=r_29^post96, len_205^0'=len_205^post96, rcd_387^0'=rcd_387^post96, r_236^0'=r_236^post96, tmp_37^0'=tmp_37^post96, x_23^0'=x_23^post96, head_13^0'=head_13^post96, rcd_244^0'=rcd_244^post96, lt_397^0'=lt_397^post96, result_11^0'=result_11^post96, a_173^0'=a_173^post96, r_266^0'=r_266^post96, l_27^0'=l_27^post96, r_188^0'=r_188^post96, temp0_18^0'=temp0_18^post96, a_388^0'=a_388^post96, rcd_105^0'=rcd_105^post96, len_297^0'=len_297^post96, rcd_427^0'=rcd_427^post96, r_245^0'=r_245^post96, r_247^0'=r_247^post96, y_22^0'=y_22^post96, i_111^0'=i_111^post96, rcd_253^0'=rcd_253^post96, nondet_12^0'=nondet_12^post96, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post96, a_276^0'=a_276^post96, r_274^0'=r_274^post96, rcd_367^0'=rcd_367^post96, r_234^0'=r_234^post96, temp_38^0'=temp_38^post96, x_19^0'=x_19^post96, ct_20^0'=ct_20^post96, rcd_235^0'=rcd_235^post96, lt_17^0'=lt_17^post96, rcd_70^0'=rcd_70^post96, (-temp0_34^post96+temp0_34^0 == 0 /\ -r_245^post96+r_245^0 == 0 /\ -r_234^post96+r_234^0 == 0 /\ -rcd_273^post96+rcd_273^0 == 0 /\ -nondet_12^post96+nondet_12^0 == 0 /\ rcd_113^0-rcd_113^post96 == 0 /\ y_22^0-y_22^post96 == 0 /\ -rcd_235^post96+rcd_235^0 == 0 /\ -r_266^post96+r_266^0 == 0 /\ r_236^0-r_236^post96 == 0 /\ 1+y_22^0-lt_17^0 <= 0 /\ -r_29^post96+r_29^0 == 0 /\ r_243^0-r_243^post96 == 0 /\ -a_173^post96+a_173^0 == 0 /\ l_27^0-l_27^post96 == 0 /\ -tmp_37^post96+tmp_37^0 == 0 /\ -r_188^post96+r_188^0 == 0 /\ result_11^0-result_11^post96 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post96+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_244^0-rcd_244^post96 == 0 /\ r_42^0-r_42^post96 == 0 /\ rcd_363^0-rcd_363^post96 == 0 /\ temp0_18^0-temp0_18^post96 == 0 /\ -temp_38^post96+temp_38^0 == 0 /\ -rcd_367^post96+rcd_367^0 == 0 /\ t_30^0-t_30^post96 == 0 /\ -ct_20^post96+ct_20^0 == 0 /\ -x_SLAM_f_21^post96+x_SLAM_f_21^0 == 0 /\ a_148^0-a_148^post96 == 0 /\ rcd_46^0-rcd_46^post96 == 0 /\ -rcd_253^post96+rcd_253^0 == 0 /\ -r_247^post96+r_247^0 == 0 /\ rcd_409^0-rcd_409^post96 == 0 /\ -rcd_105^post96+rcd_105^0 == 0 /\ r_272^0-r_272^post96 == 0 /\ r_167^0-r_167^post96 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post96+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ rcd_387^0-rcd_387^post96 == 0 /\ a_332^0-a_332^post96 == 0 /\ -lt_397^post96+lt_397^0 == 0 /\ -rcd_70^post96+rcd_70^0 == 0 /\ -a_276^post96+a_276^0 == 0 /\ -a_388^post96+a_388^0 == 0 /\ c_28^0-c_28^post96 == 0 /\ -rcd_248^post96+rcd_248^0 == 0 /\ -length_32^post96+length_32^0 == 0 /\ lt_509^0-lt_509^post96 == 0 /\ a_358^0-a_358^post96 == 0 /\ -i_33^post96+i_33^0 == 0 /\ head_35^0-head_35^post96 == 0 /\ t_24^0-t_24^post96 == 0 /\ -rcd_427^post96+rcd_427^0 == 0 /\ -x_23^post96+x_23^0 == 0 /\ -r_159^post96+r_159^0 == 0 /\ -r_274^post96+r_274^0 == 0 /\ x_19^0-x_19^post96 == 0 /\ -lt_17^post96+lt_17^0 == 0 /\ a_220^0-a_220^post96 == 0 /\ i_120^0-i_120^post96 == 0 /\ r_258^0-r_258^post96 == 0 /\ r_252^0-r_252^post96 == 0 /\ head_13^0-head_13^post96 == 0 /\ -i_111^post96+i_111^0 == 0 /\ r_246^0-r_246^post96 == 0 /\ len_275^0-len_275^post96 == 0 /\ len_297^0-len_297^post96 == 0 /\ -len_205^post96+len_205^0 == 0 /\ r_196^0-r_196^post96 == 0), cost: 1
New rule:
l60 -> l61 : 1+y_22^0-lt_17^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l61 -> l62 : a_148^0'=a_148^post97, r_258^0'=r_258^post97, i_33^0'=i_33^post97, r_167^0'=r_167^post97, t_30^0'=t_30^post97, a_358^0'=a_358^post97, r_42^0'=r_42^post97, len_275^0'=len_275^post97, rcd_409^0'=rcd_409^post97, r_243^0'=r_243^post97, r_246^0'=r_246^post97, x_SLAM_f_21^0'=x_SLAM_f_21^post97, head_35^0'=head_35^post97, rcd_248^0'=rcd_248^post97, lt_509^0'=lt_509^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post97, a_220^0'=a_220^post97, r_272^0'=r_272^post97, rcd_363^0'=rcd_363^post97, r_196^0'=r_196^post97, temp0_34^0'=temp0_34^post97, c_28^0'=c_28^post97, rcd_113^0'=rcd_113^post97, length_32^0'=length_32^post97, rcd_46^0'=rcd_46^post97, r_252^0'=r_252^post97, i_120^0'=i_120^post97, rcd_273^0'=rcd_273^post97, r_159^0'=r_159^post97, t_24^0'=t_24^post97, a_332^0'=a_332^post97, r_29^0'=r_29^post97, len_205^0'=len_205^post97, rcd_387^0'=rcd_387^post97, r_236^0'=r_236^post97, tmp_37^0'=tmp_37^post97, x_23^0'=x_23^post97, head_13^0'=head_13^post97, rcd_244^0'=rcd_244^post97, lt_397^0'=lt_397^post97, result_11^0'=result_11^post97, a_173^0'=a_173^post97, r_266^0'=r_266^post97, l_27^0'=l_27^post97, r_188^0'=r_188^post97, temp0_18^0'=temp0_18^post97, a_388^0'=a_388^post97, rcd_105^0'=rcd_105^post97, len_297^0'=len_297^post97, rcd_427^0'=rcd_427^post97, r_245^0'=r_245^post97, r_247^0'=r_247^post97, y_22^0'=y_22^post97, i_111^0'=i_111^post97, rcd_253^0'=rcd_253^post97, nondet_12^0'=nondet_12^post97, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post97, a_276^0'=a_276^post97, r_274^0'=r_274^post97, rcd_367^0'=rcd_367^post97, r_234^0'=r_234^post97, temp_38^0'=temp_38^post97, x_19^0'=x_19^post97, ct_20^0'=ct_20^post97, rcd_235^0'=rcd_235^post97, lt_17^0'=lt_17^post97, rcd_70^0'=rcd_70^post97, (a_148^0-a_148^post97 == 0 /\ rcd_248^0-rcd_248^post97 == 0 /\ -c_28^post97+c_28^0 == 0 /\ -lt_17^post97+lt_17^0 == 0 /\ -r_247^post97+r_247^0 == 0 /\ a_332^0-a_332^post97 == 0 /\ i_111^0-i_111^post97 == 0 /\ a_358^0-a_358^post97 == 0 /\ -rcd_387^post97+rcd_387^0 == 0 /\ r_167^0-r_167^post97 == 0 /\ rcd_409^0-rcd_409^post97 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post97+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_272^0-r_272^post97 == 0 /\ tmp_37^0-tmp_37^post97 == 0 /\ -r_266^post97+r_266^0 == 0 /\ -len_205^post97+len_205^0 == 0 /\ -l_27^post97+l_27^0 == 0 /\ -temp0_34^post97+temp0_34^0 == 0 /\ -r_234^post97+r_234^0 == 0 /\ -rcd_363^post97+rcd_363^0 == 0 /\ length_32^0-length_32^post97 == 0 /\ lt_397^0-lt_397^post97 == 0 /\ len_275^0-len_275^post97 == 0 /\ r_243^0-r_243^post97 == 0 /\ -rcd_253^post97+rcd_253^0 == 0 /\ i_120^0-i_120^post97 == 0 /\ -a_276^post97+a_276^0 == 0 /\ r_246^0-r_246^post97 == 0 /\ -head_35^post97+head_35^0 == 0 /\ a_173^0-a_173^post97 == 0 /\ -y_22^post97+y_22^0 == 0 /\ -rcd_235^post97+rcd_235^0 == 0 /\ -len_297^post97+len_297^0 == 0 /\ r_196^0-r_196^post97 == 0 /\ -rcd_367^post97+rcd_367^0 == 0 /\ -r_252^post97+r_252^0 == 0 /\ -temp0_18^post97+temp0_18^0 == 0 /\ r_258^0-r_258^post97 == 0 /\ -r_188^post97+r_188^0 == 0 /\ -x_23^post97+x_23^0 == 0 /\ -r_274^post97+r_274^0 == 0 /\ r_236^0-r_236^post97 == 0 /\ -a_220^post97+a_220^0 == 0 /\ -temp_38^post97+temp_38^0 == 0 /\ -t_24^post97+t_24^0 == 0 /\ rcd_113^0-rcd_113^post97 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post97 == 0 /\ i_33^0-i_33^post97 == 0 /\ -ct_20^post97+ct_20^0 == 0 /\ -rcd_46^post97+rcd_46^0 == 0 /\ -rcd_105^post97+rcd_105^0 == 0 /\ r_29^0-r_29^post97 == 0 /\ r_42^0-r_42^post97 == 0 /\ t_30^0-t_30^post97 == 0 /\ -rcd_70^post97+rcd_70^0 == 0 /\ -result_11^post97+result_11^0 == 0 /\ lt_509^0-lt_509^post97 == 0 /\ -r_245^post97+r_245^0 == 0 /\ -nondet_12^post97+nondet_12^0 == 0 /\ -head_13^post97+head_13^0 == 0 /\ rcd_427^0-rcd_427^post97 == 0 /\ -x_19^post97+x_19^0 == 0 /\ rcd_244^0-rcd_244^post97 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post97 == 0 /\ r_159^0-r_159^post97 == 0 /\ rcd_273^0-rcd_273^post97 == 0 /\ -a_388^post97+a_388^0 == 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 1
New rule:
l61 -> l62 : 1-t_24^0+y_22^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l61 -> l62 : a_148^0'=a_148^post98, r_258^0'=r_258^post98, i_33^0'=i_33^post98, r_167^0'=r_167^post98, t_30^0'=t_30^post98, a_358^0'=a_358^post98, r_42^0'=r_42^post98, len_275^0'=len_275^post98, rcd_409^0'=rcd_409^post98, r_243^0'=r_243^post98, r_246^0'=r_246^post98, x_SLAM_f_21^0'=x_SLAM_f_21^post98, head_35^0'=head_35^post98, rcd_248^0'=rcd_248^post98, lt_509^0'=lt_509^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post98, a_220^0'=a_220^post98, r_272^0'=r_272^post98, rcd_363^0'=rcd_363^post98, r_196^0'=r_196^post98, temp0_34^0'=temp0_34^post98, c_28^0'=c_28^post98, rcd_113^0'=rcd_113^post98, length_32^0'=length_32^post98, rcd_46^0'=rcd_46^post98, r_252^0'=r_252^post98, i_120^0'=i_120^post98, rcd_273^0'=rcd_273^post98, r_159^0'=r_159^post98, t_24^0'=t_24^post98, a_332^0'=a_332^post98, r_29^0'=r_29^post98, len_205^0'=len_205^post98, rcd_387^0'=rcd_387^post98, r_236^0'=r_236^post98, tmp_37^0'=tmp_37^post98, x_23^0'=x_23^post98, head_13^0'=head_13^post98, rcd_244^0'=rcd_244^post98, lt_397^0'=lt_397^post98, result_11^0'=result_11^post98, a_173^0'=a_173^post98, r_266^0'=r_266^post98, l_27^0'=l_27^post98, r_188^0'=r_188^post98, temp0_18^0'=temp0_18^post98, a_388^0'=a_388^post98, rcd_105^0'=rcd_105^post98, len_297^0'=len_297^post98, rcd_427^0'=rcd_427^post98, r_245^0'=r_245^post98, r_247^0'=r_247^post98, y_22^0'=y_22^post98, i_111^0'=i_111^post98, rcd_253^0'=rcd_253^post98, nondet_12^0'=nondet_12^post98, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post98, a_276^0'=a_276^post98, r_274^0'=r_274^post98, rcd_367^0'=rcd_367^post98, r_234^0'=r_234^post98, temp_38^0'=temp_38^post98, x_19^0'=x_19^post98, ct_20^0'=ct_20^post98, rcd_235^0'=rcd_235^post98, lt_17^0'=lt_17^post98, rcd_70^0'=rcd_70^post98, (r_159^0-r_159^post98 == 0 /\ r_247^0-r_247^post98 == 0 /\ r_258^0-r_258^post98 == 0 /\ -y_22^post98+y_22^0 == 0 /\ -rcd_253^post98+rcd_253^0 == 0 /\ r_29^0-r_29^post98 == 0 /\ -r_196^post98+r_196^0 == 0 /\ i_33^0-i_33^post98 == 0 /\ -rcd_387^post98+rcd_387^0 == 0 /\ r_42^0-r_42^post98 == 0 /\ -rcd_113^post98+rcd_113^0 == 0 /\ -rcd_70^post98+rcd_70^0 == 0 /\ -a_276^post98+a_276^0 == 0 /\ length_32^0-length_32^post98 == 0 /\ -x_19^post98+x_19^0 == 0 /\ -temp0_18^post98+temp0_18^0 == 0 /\ -r_272^post98+r_272^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post98 == 0 /\ -i_111^post98+i_111^0 == 0 /\ x_23^0-x_23^post98 == 0 /\ c_28^0-c_28^post98 == 0 /\ rcd_273^0-rcd_273^post98 == 0 /\ -len_297^post98+len_297^0 == 0 /\ -rcd_427^post98+rcd_427^0 == 0 /\ t_30^0-t_30^post98 == 0 /\ -lt_509^post98+lt_509^0 == 0 /\ -lt_17^post98+lt_17^0 == 0 /\ nondet_12^0-nondet_12^post98 == 0 /\ -r_274^post98+r_274^0 == 0 /\ -l_27^post98+l_27^0 == 0 /\ rcd_363^0-rcd_363^post98 == 0 /\ r_252^0-r_252^post98 == 0 /\ -a_332^post98+a_332^0 == 0 /\ tmp_37^0-tmp_37^post98 == 0 /\ a_220^0-a_220^post98 == 0 /\ rcd_409^0-rcd_409^post98 == 0 /\ -a_358^post98+a_358^0 == 0 /\ -rcd_105^post98+rcd_105^0 == 0 /\ -i_120^post98+i_120^0 == 0 /\ -rcd_367^post98+rcd_367^0 == 0 /\ r_266^0-r_266^post98 == 0 /\ a_388^0-a_388^post98 == 0 /\ -rcd_235^post98+rcd_235^0 == 0 /\ len_205^0-len_205^post98 == 0 /\ rcd_248^0-rcd_248^post98 == 0 /\ r_234^0-r_234^post98 == 0 /\ -result_11^post98+result_11^0 == 0 /\ a_148^0-a_148^post98 == 0 /\ -temp_38^post98+temp_38^0 == 0 /\ temp0_34^0-temp0_34^post98 == 0 /\ 1+t_24^0-y_22^0 <= 0 /\ r_246^0-r_246^post98 == 0 /\ rcd_46^0-rcd_46^post98 == 0 /\ -head_13^post98+head_13^0 == 0 /\ len_275^0-len_275^post98 == 0 /\ -r_245^post98+r_245^0 == 0 /\ -r_236^post98+r_236^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post98+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ lt_397^0-lt_397^post98 == 0 /\ r_243^0-r_243^post98 == 0 /\ head_35^0-head_35^post98 == 0 /\ r_188^0-r_188^post98 == 0 /\ -a_173^post98+a_173^0 == 0 /\ t_24^0-t_24^post98 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post98 == 0 /\ -ct_20^post98+ct_20^0 == 0 /\ -rcd_244^post98+rcd_244^0 == 0 /\ r_167^0-r_167^post98 == 0), cost: 1
New rule:
l61 -> l62 : 1+t_24^0-y_22^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l62 -> l56 : a_148^0'=a_148^post99, r_258^0'=r_258^post99, i_33^0'=i_33^post99, r_167^0'=r_167^post99, t_30^0'=t_30^post99, a_358^0'=a_358^post99, r_42^0'=r_42^post99, len_275^0'=len_275^post99, rcd_409^0'=rcd_409^post99, r_243^0'=r_243^post99, r_246^0'=r_246^post99, x_SLAM_f_21^0'=x_SLAM_f_21^post99, head_35^0'=head_35^post99, rcd_248^0'=rcd_248^post99, lt_509^0'=lt_509^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post99, a_220^0'=a_220^post99, r_272^0'=r_272^post99, rcd_363^0'=rcd_363^post99, r_196^0'=r_196^post99, temp0_34^0'=temp0_34^post99, c_28^0'=c_28^post99, rcd_113^0'=rcd_113^post99, length_32^0'=length_32^post99, rcd_46^0'=rcd_46^post99, r_252^0'=r_252^post99, i_120^0'=i_120^post99, rcd_273^0'=rcd_273^post99, r_159^0'=r_159^post99, t_24^0'=t_24^post99, a_332^0'=a_332^post99, r_29^0'=r_29^post99, len_205^0'=len_205^post99, rcd_387^0'=rcd_387^post99, r_236^0'=r_236^post99, tmp_37^0'=tmp_37^post99, x_23^0'=x_23^post99, head_13^0'=head_13^post99, rcd_244^0'=rcd_244^post99, lt_397^0'=lt_397^post99, result_11^0'=result_11^post99, a_173^0'=a_173^post99, r_266^0'=r_266^post99, l_27^0'=l_27^post99, r_188^0'=r_188^post99, temp0_18^0'=temp0_18^post99, a_388^0'=a_388^post99, rcd_105^0'=rcd_105^post99, len_297^0'=len_297^post99, rcd_427^0'=rcd_427^post99, r_245^0'=r_245^post99, r_247^0'=r_247^post99, y_22^0'=y_22^post99, i_111^0'=i_111^post99, rcd_253^0'=rcd_253^post99, nondet_12^0'=nondet_12^post99, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post99, a_276^0'=a_276^post99, r_274^0'=r_274^post99, rcd_367^0'=rcd_367^post99, r_234^0'=r_234^post99, temp_38^0'=temp_38^post99, x_19^0'=x_19^post99, ct_20^0'=ct_20^post99, rcd_235^0'=rcd_235^post99, lt_17^0'=lt_17^post99, rcd_70^0'=rcd_70^post99, (0 == 0 /\ temp0_34^0-temp0_34^post99 == 0 /\ len_205^0-len_205^post99 == 0 /\ -a_388^0+a_358^post99 <= 0 /\ -x_19^post99+x_19^0 == 0 /\ -lt_397^post99+lt_397^0 == 0 /\ t_24^0-t_24^post99 == 0 /\ -r_274^post99+r_274^0 == 0 /\ a_220^0-a_220^post99 == 0 /\ -a_388^post99+a_388^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post99+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ head_13^0-head_13^post99 == 0 /\ -length_32^post99+length_32^0 == 0 /\ rcd_409^0-rcd_409^post99 == 0 /\ rcd_363^0-rcd_363^post99 == 0 /\ r_252^0-r_252^post99 == 0 /\ rcd_113^0-rcd_113^post99 == 0 /\ len_275^0-len_275^post99 == 0 /\ -y_22^post99+y_22^0 == 0 /\ -tmp_37^post99+tmp_37^0 == 0 /\ a_388^0-a_358^post99 <= 0 /\ r_167^0-r_167^post99 == 0 /\ rcd_387^0-rcd_387^post99 == 0 /\ a_148^0-a_148^post99 == 0 /\ c_28^0-c_28^post99 == 0 /\ -rcd_427^post99+rcd_427^0 == 0 /\ -rcd_70^post99+rcd_70^0 == 0 /\ -r_159^post99+r_159^0 == 0 /\ -x_23^post99+x_23^0 == 0 /\ r_236^0-r_236^post99 == 0 /\ -i_111^post99+i_111^0 == 0 /\ r_272^0-r_272^post99 == 0 /\ result_11^0-result_11^post99 == 0 /\ head_35^0-head_35^post99 == 0 /\ -rcd_235^post99+rcd_235^0 == 0 /\ rcd_105^0-rcd_105^post99 == 0 /\ -r_266^post99+r_266^0 == 0 /\ -r_42^post99+r_42^0 == 0 /\ -len_297^post99+len_297^0 == 0 /\ -nondet_12^post99+nondet_12^0 == 0 /\ t_30^0-t_30^post99 == 0 /\ rcd_46^post99-rcd_387^0 <= 0 /\ i_120^0-i_120^post99 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -rcd_273^post99+rcd_273^0 == 0 /\ temp0_18^0-temp0_18^post99 == 0 /\ r_246^0-r_246^post99 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post99+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -lt_17^post99+lt_17^0 == 0 /\ -a_173^post99+a_173^0 == 0 /\ r_258^0-r_258^post99 == 0 /\ -l_27^post99+l_27^0 == 0 /\ -r_234^post99+r_234^0 == 0 /\ -r_29^post99+r_29^0 == 0 /\ r_196^0-r_196^post99 == 0 /\ -r_245^post99+r_245^0 == 0 /\ -a_276^post99+a_276^0 == 0 /\ -rcd_244^post99+rcd_244^0 == 0 /\ -ct_20^post99+ct_20^0 == 0 /\ -r_188^post99+r_188^0 == 0 /\ -rcd_46^post99+rcd_387^0 <= 0 /\ a_332^0-a_332^post99 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post99 == 0 /\ rcd_248^0-rcd_248^post99 == 0 /\ -rcd_253^post99+rcd_253^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -temp_38^post99+temp_38^0 == 0 /\ -r_243^post99+r_243^0 == 0 /\ -r_247^post99+r_247^0 == 0 /\ i_33^0-i_33^post99 == 0 /\ -rcd_367^post99+rcd_367^0 == 0 /\ lt_509^0-lt_509^post99 == 0), cost: 1
New rule:
l62 -> l56 : a_358^0'=a_388^0, rcd_46^0'=rcd_387^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l56 -> l55 : a_148^0'=a_148^post100, r_258^0'=r_258^post100, i_33^0'=i_33^post100, r_167^0'=r_167^post100, t_30^0'=t_30^post100, a_358^0'=a_358^post100, r_42^0'=r_42^post100, len_275^0'=len_275^post100, rcd_409^0'=rcd_409^post100, r_243^0'=r_243^post100, r_246^0'=r_246^post100, x_SLAM_f_21^0'=x_SLAM_f_21^post100, head_35^0'=head_35^post100, rcd_248^0'=rcd_248^post100, lt_509^0'=lt_509^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post100, a_220^0'=a_220^post100, r_272^0'=r_272^post100, rcd_363^0'=rcd_363^post100, r_196^0'=r_196^post100, temp0_34^0'=temp0_34^post100, c_28^0'=c_28^post100, rcd_113^0'=rcd_113^post100, length_32^0'=length_32^post100, rcd_46^0'=rcd_46^post100, r_252^0'=r_252^post100, i_120^0'=i_120^post100, rcd_273^0'=rcd_273^post100, r_159^0'=r_159^post100, t_24^0'=t_24^post100, a_332^0'=a_332^post100, r_29^0'=r_29^post100, len_205^0'=len_205^post100, rcd_387^0'=rcd_387^post100, r_236^0'=r_236^post100, tmp_37^0'=tmp_37^post100, x_23^0'=x_23^post100, head_13^0'=head_13^post100, rcd_244^0'=rcd_244^post100, lt_397^0'=lt_397^post100, result_11^0'=result_11^post100, a_173^0'=a_173^post100, r_266^0'=r_266^post100, l_27^0'=l_27^post100, r_188^0'=r_188^post100, temp0_18^0'=temp0_18^post100, a_388^0'=a_388^post100, rcd_105^0'=rcd_105^post100, len_297^0'=len_297^post100, rcd_427^0'=rcd_427^post100, r_245^0'=r_245^post100, r_247^0'=r_247^post100, y_22^0'=y_22^post100, i_111^0'=i_111^post100, rcd_253^0'=rcd_253^post100, nondet_12^0'=nondet_12^post100, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post100, a_276^0'=a_276^post100, r_274^0'=r_274^post100, rcd_367^0'=rcd_367^post100, r_234^0'=r_234^post100, temp_38^0'=temp_38^post100, x_19^0'=x_19^post100, ct_20^0'=ct_20^post100, rcd_235^0'=rcd_235^post100, lt_17^0'=lt_17^post100, rcd_70^0'=rcd_70^post100, (length_32^0-length_32^post100 == 0 /\ -r_188^post100+r_188^0 == 0 /\ -a_220^post100+a_220^0 == 0 /\ -rcd_367^post100+rcd_367^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post100 == 0 /\ lt_509^0-lt_509^post100 == 0 /\ -x_23^post100+x_23^0 == 0 /\ r_243^0-r_243^post100 == 0 /\ r_246^0-r_246^post100 == 0 /\ -temp_38^post100+temp_38^0 == 0 /\ y_22^0-y_22^post100 == 0 /\ -ct_20^post100+ct_20^0 == 0 /\ rcd_363^0-rcd_363^post100 == 0 /\ r_167^0-r_167^post100 == 0 /\ rcd_244^0-rcd_244^post100 == 0 /\ a_332^0-a_332^post100 == 0 /\ t_30^0-t_30^post100 == 0 /\ -rcd_105^post100+rcd_105^0 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ r_258^0-r_258^post100 == 0 /\ -temp0_34^post100+temp0_34^0 == 0 /\ rcd_248^0-rcd_248^post100 == 0 /\ r_245^0-r_245^post100 == 0 /\ -rcd_70^post100+rcd_70^0 == 0 /\ a_358^0-a_358^post100 == 0 /\ -x_19^post100+x_19^0 == 0 /\ rcd_113^0-rcd_113^post100 == 0 /\ -rcd_46^post100+rcd_46^0 == 0 /\ -a_388^post100+a_388^0 == 0 /\ tmp_37^0-tmp_37^post100 == 0 /\ -head_13^post100+head_13^0 == 0 /\ -t_24^post100+t_24^0 == 0 /\ i_120^0-i_120^post100 == 0 /\ -rcd_427^post100+rcd_427^0 == 0 /\ rcd_273^0-rcd_273^post100 == 0 /\ len_297^0-len_297^post100 == 0 /\ -lt_17^post100+lt_17^0 == 0 /\ -c_28^post100+c_28^0 == 0 /\ -a_173^post100+a_173^0 == 0 /\ -len_205^post100+len_205^0 == 0 /\ -r_236^post100+r_236^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post100 == 0 /\ -a_276^post100+a_276^0 == 0 /\ -r_247^post100+r_247^0 == 0 /\ -len_275^post100+len_275^0 == 0 /\ r_29^0-r_29^post100 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post100 == 0 /\ a_148^0-a_148^post100 == 0 /\ -i_111^post100+i_111^0 == 0 /\ -rcd_253^post100+rcd_253^0 == 0 /\ -rcd_235^post100+rcd_235^0 == 0 /\ r_159^0-r_159^post100 == 0 /\ -r_266^post100+r_266^0 == 0 /\ -lt_397^post100+lt_397^0 == 0 /\ l_27^0-l_27^post100 == 0 /\ -r_234^post100+r_234^0 == 0 /\ head_35^0-head_35^post100 == 0 /\ rcd_409^0-rcd_409^post100 == 0 /\ -r_252^post100+r_252^0 == 0 /\ -r_196^post100+r_196^0 == 0 /\ result_11^0-result_11^post100 == 0 /\ r_272^0-r_272^post100 == 0 /\ rcd_387^0-rcd_387^post100 == 0 /\ r_42^0-r_42^post100 == 0 /\ -r_274^post100+r_274^0 == 0 /\ i_33^0-i_33^post100 == 0 /\ -temp0_18^post100+temp0_18^0 == 0), cost: 1
New rule:
l56 -> l55 : TRUE, cost: 1

Applied preprocessing
Original rule:
l1 -> l72 : a_148^0'=a_148^post116, r_258^0'=r_258^post116, i_33^0'=i_33^post116, r_167^0'=r_167^post116, t_30^0'=t_30^post116, a_358^0'=a_358^post116, r_42^0'=r_42^post116, len_275^0'=len_275^post116, rcd_409^0'=rcd_409^post116, r_243^0'=r_243^post116, r_246^0'=r_246^post116, x_SLAM_f_21^0'=x_SLAM_f_21^post116, head_35^0'=head_35^post116, rcd_248^0'=rcd_248^post116, lt_509^0'=lt_509^post116, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post116, a_220^0'=a_220^post116, r_272^0'=r_272^post116, rcd_363^0'=rcd_363^post116, r_196^0'=r_196^post116, temp0_34^0'=temp0_34^post116, c_28^0'=c_28^post116, rcd_113^0'=rcd_113^post116, length_32^0'=length_32^post116, rcd_46^0'=rcd_46^post116, r_252^0'=r_252^post116, i_120^0'=i_120^post116, rcd_273^0'=rcd_273^post116, r_159^0'=r_159^post116, t_24^0'=t_24^post116, a_332^0'=a_332^post116, r_29^0'=r_29^post116, len_205^0'=len_205^post116, rcd_387^0'=rcd_387^post116, r_236^0'=r_236^post116, tmp_37^0'=tmp_37^post116, x_23^0'=x_23^post116, head_13^0'=head_13^post116, rcd_244^0'=rcd_244^post116, lt_397^0'=lt_397^post116, result_11^0'=result_11^post116, a_173^0'=a_173^post116, r_266^0'=r_266^post116, l_27^0'=l_27^post116, r_188^0'=r_188^post116, temp0_18^0'=temp0_18^post116, a_388^0'=a_388^post116, rcd_105^0'=rcd_105^post116, len_297^0'=len_297^post116, rcd_427^0'=rcd_427^post116, r_245^0'=r_245^post116, r_247^0'=r_247^post116, y_22^0'=y_22^post116, i_111^0'=i_111^post116, rcd_253^0'=rcd_253^post116, nondet_12^0'=nondet_12^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, a_276^0'=a_276^post116, r_274^0'=r_274^post116, rcd_367^0'=rcd_367^post116, r_234^0'=r_234^post116, temp_38^0'=temp_38^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, rcd_235^0'=rcd_235^post116, lt_17^0'=lt_17^post116, rcd_70^0'=rcd_70^post116, (0 == 0 /\ lt_397^0-lt_397^post116 == 0 /\ r_42^0-r_42^post116 == 0 /\ t_30^0-t_30^post116 == 0 /\ i_120^0-i_120^post116 == 0 /\ -a_388^post116+a_388^0 == 0 /\ -t_24^post116+t_24^0 == 0 /\ r_246^0-r_246^post116 == 0 /\ r_258^0-r_258^post116 == 0 /\ -r_274^post116+r_274^0 == 0 /\ -len_297^0 <= 0 /\ rcd_46^0-rcd_46^post116 == 0 /\ -y_22^post116+y_22^0 == 0 /\ x_23^0-x_23^post116 == 0 /\ r_196^0-r_196^post116 == 0 /\ -rcd_427^post116+rcd_427^0 == 0 /\ -len_205^post116+len_205^0 == 0 /\ r_236^0-r_236^post116 == 0 /\ -rcd_70^post116+rcd_70^0 == 0 /\ c_28^0-c_28^post116 == 0 /\ r_29^0-r_29^post116 == 0 /\ -i_111^post116+i_111^0 == 0 /\ i_33^0-i_33^post116 == 0 /\ lt_509^0-lt_509^post116 == 0 /\ a_276^0-a_276^post116 == 0 /\ a_358^0-a_358^post116 == 0 /\ -rcd_235^post116+rcd_235^0 == 0 /\ -nondet_12^post116+nondet_12^0 == 0 /\ -l_27^post116+l_27^0 == 0 /\ -head_13^post116+head_13^0 == 0 /\ length_32^0-length_32^post116 == 0 /\ -temp0_34^post116+temp0_34^0 == 0 /\ -r_266^post116+r_266^0 == 0 /\ a_220^0-a_220^post116 == 0 /\ r_159^0-r_159^post116 == 0 /\ -a_173^post116+a_173^0 == 0 /\ rcd_273^0-rcd_273^post116 == 0 /\ rcd_409^0-rcd_409^post116 == 0 /\ len_297^0-len_297^post116 == 0 /\ -temp0_18^post116+temp0_18^0 == 0 /\ -r_234^post116+r_234^0 == 0 /\ -r_245^post116+r_245^0 == 0 /\ -rcd_244^post116+rcd_244^0 == 0 /\ rcd_113^0-rcd_113^post116 == 0 /\ r_167^0-r_167^post116 == 0 /\ -r_252^post116+r_252^0 == 0 /\ -rcd_105^post116+rcd_105^0 == 0 /\ -a_332^post116+a_332^0 == 0 /\ -len_275^post116+len_275^0 == 0 /\ a_148^0-a_148^post116 == 0 /\ -r_188^post116+r_188^0 == 0 /\ rcd_248^0-rcd_248^post116 == 0 /\ -tmp_37^post116+tmp_37^0 == 0 /\ -rcd_387^post116+rcd_387^0 == 0 /\ -temp_38^post116+temp_38^0 == 0 /\ -r_247^post116+r_247^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post116 == 0 /\ r_243^0-r_243^post116 == 0 /\ result_11^0-result_11^post116 == 0 /\ r_272^0-r_272^post116 == 0 /\ head_35^0-head_35^post116 == 0 /\ -rcd_253^post116+rcd_253^0 == 0), cost: 1
New rule:
l1 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, len_297^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l72 -> l73 : a_148^0'=a_148^post117, r_258^0'=r_258^post117, i_33^0'=i_33^post117, r_167^0'=r_167^post117, t_30^0'=t_30^post117, a_358^0'=a_358^post117, r_42^0'=r_42^post117, len_275^0'=len_275^post117, rcd_409^0'=rcd_409^post117, r_243^0'=r_243^post117, r_246^0'=r_246^post117, x_SLAM_f_21^0'=x_SLAM_f_21^post117, head_35^0'=head_35^post117, rcd_248^0'=rcd_248^post117, lt_509^0'=lt_509^post117, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post117, a_220^0'=a_220^post117, r_272^0'=r_272^post117, rcd_363^0'=rcd_363^post117, r_196^0'=r_196^post117, temp0_34^0'=temp0_34^post117, c_28^0'=c_28^post117, rcd_113^0'=rcd_113^post117, length_32^0'=length_32^post117, rcd_46^0'=rcd_46^post117, r_252^0'=r_252^post117, i_120^0'=i_120^post117, rcd_273^0'=rcd_273^post117, r_159^0'=r_159^post117, t_24^0'=t_24^post117, a_332^0'=a_332^post117, r_29^0'=r_29^post117, len_205^0'=len_205^post117, rcd_387^0'=rcd_387^post117, r_236^0'=r_236^post117, tmp_37^0'=tmp_37^post117, x_23^0'=x_23^post117, head_13^0'=head_13^post117, rcd_244^0'=rcd_244^post117, lt_397^0'=lt_397^post117, result_11^0'=result_11^post117, a_173^0'=a_173^post117, r_266^0'=r_266^post117, l_27^0'=l_27^post117, r_188^0'=r_188^post117, temp0_18^0'=temp0_18^post117, a_388^0'=a_388^post117, rcd_105^0'=rcd_105^post117, len_297^0'=len_297^post117, rcd_427^0'=rcd_427^post117, r_245^0'=r_245^post117, r_247^0'=r_247^post117, y_22^0'=y_22^post117, i_111^0'=i_111^post117, rcd_253^0'=rcd_253^post117, nondet_12^0'=nondet_12^post117, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post117, a_276^0'=a_276^post117, r_274^0'=r_274^post117, rcd_367^0'=rcd_367^post117, r_234^0'=r_234^post117, temp_38^0'=temp_38^post117, x_19^0'=x_19^post117, ct_20^0'=ct_20^post117, rcd_235^0'=rcd_235^post117, lt_17^0'=lt_17^post117, rcd_70^0'=rcd_70^post117, (-ct_20^post117+ct_20^0 == 0 /\ r_243^0-r_243^post117 == 0 /\ r_272^0-r_272^post117 == 0 /\ 1-x_23^0+y_22^0 <= 0 /\ -i_120^post117+i_120^0 == 0 /\ r_196^0-r_196^post117 == 0 /\ r_167^0-r_167^post117 == 0 /\ r_188^0-r_188^post117 == 0 /\ -temp_38^post117+temp_38^0 == 0 /\ -result_11^post117+result_11^0 == 0 /\ -i_111^post117+i_111^0 == 0 /\ t_30^0-t_30^post117 == 0 /\ -rcd_367^post117+rcd_367^0 == 0 /\ -a_332^post117+a_332^0 == 0 /\ r_247^0-r_247^post117 == 0 /\ head_13^0-head_13^post117 == 0 /\ r_258^0-r_258^post117 == 0 /\ -x_19^post117+x_19^0 == 0 /\ -nondet_12^post117+nondet_12^0 == 0 /\ -r_236^post117+r_236^0 == 0 /\ rcd_113^0-rcd_113^post117 == 0 /\ i_33^0-i_33^post117 == 0 /\ -a_388^post117+a_388^0 == 0 /\ a_358^0-a_358^post117 == 0 /\ len_205^0-len_205^post117 == 0 /\ -a_173^post117+a_173^0 == 0 /\ -r_246^post117+r_246^0 == 0 /\ -rcd_248^post117+rcd_248^0 == 0 /\ a_220^0-a_220^post117 == 0 /\ -r_245^post117+r_245^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post117+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_274^0-r_274^post117 == 0 /\ -rcd_427^post117+rcd_427^0 == 0 /\ rcd_46^0-rcd_46^post117 == 0 /\ -a_276^post117+a_276^0 == 0 /\ -lt_509^post117+lt_509^0 == 0 /\ len_275^0-len_275^post117 == 0 /\ -rcd_244^post117+rcd_244^0 == 0 /\ x_23^0-x_23^post117 == 0 /\ -rcd_70^post117+rcd_70^0 == 0 /\ t_24^0-t_24^post117 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post117 == 0 /\ -rcd_387^post117+rcd_387^0 == 0 /\ -rcd_253^post117+rcd_253^0 == 0 /\ rcd_409^0-rcd_409^post117 == 0 /\ -rcd_235^post117+rcd_235^0 == 0 /\ rcd_363^0-rcd_363^post117 == 0 /\ -len_297^post117+len_297^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post117 == 0 /\ r_252^0-r_252^post117 == 0 /\ -lt_397^post117+lt_397^0 == 0 /\ r_159^0-r_159^post117 == 0 /\ head_35^0-head_35^post117 == 0 /\ -rcd_273^post117+rcd_273^0 == 0 /\ -lt_17^post117+lt_17^0 == 0 /\ temp0_34^0-temp0_34^post117 == 0 /\ rcd_105^0-rcd_105^post117 == 0 /\ -length_32^post117+length_32^0 == 0 /\ -l_27^post117+l_27^0 == 0 /\ -temp0_18^post117+temp0_18^0 == 0 /\ -r_234^post117+r_234^0 == 0 /\ r_42^0-r_42^post117 == 0 /\ -y_22^post117+y_22^0 == 0 /\ -r_29^post117+r_29^0 == 0 /\ -tmp_37^post117+tmp_37^0 == 0 /\ a_148^0-a_148^post117 == 0 /\ r_266^0-r_266^post117 == 0 /\ c_28^0-c_28^post117 == 0), cost: 1
New rule:
l72 -> l73 : 1-x_23^0+y_22^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l72 -> l73 : a_148^0'=a_148^post118, r_258^0'=r_258^post118, i_33^0'=i_33^post118, r_167^0'=r_167^post118, t_30^0'=t_30^post118, a_358^0'=a_358^post118, r_42^0'=r_42^post118, len_275^0'=len_275^post118, rcd_409^0'=rcd_409^post118, r_243^0'=r_243^post118, r_246^0'=r_246^post118, x_SLAM_f_21^0'=x_SLAM_f_21^post118, head_35^0'=head_35^post118, rcd_248^0'=rcd_248^post118, lt_509^0'=lt_509^post118, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post118, a_220^0'=a_220^post118, r_272^0'=r_272^post118, rcd_363^0'=rcd_363^post118, r_196^0'=r_196^post118, temp0_34^0'=temp0_34^post118, c_28^0'=c_28^post118, rcd_113^0'=rcd_113^post118, length_32^0'=length_32^post118, rcd_46^0'=rcd_46^post118, r_252^0'=r_252^post118, i_120^0'=i_120^post118, rcd_273^0'=rcd_273^post118, r_159^0'=r_159^post118, t_24^0'=t_24^post118, a_332^0'=a_332^post118, r_29^0'=r_29^post118, len_205^0'=len_205^post118, rcd_387^0'=rcd_387^post118, r_236^0'=r_236^post118, tmp_37^0'=tmp_37^post118, x_23^0'=x_23^post118, head_13^0'=head_13^post118, rcd_244^0'=rcd_244^post118, lt_397^0'=lt_397^post118, result_11^0'=result_11^post118, a_173^0'=a_173^post118, r_266^0'=r_266^post118, l_27^0'=l_27^post118, r_188^0'=r_188^post118, temp0_18^0'=temp0_18^post118, a_388^0'=a_388^post118, rcd_105^0'=rcd_105^post118, len_297^0'=len_297^post118, rcd_427^0'=rcd_427^post118, r_245^0'=r_245^post118, r_247^0'=r_247^post118, y_22^0'=y_22^post118, i_111^0'=i_111^post118, rcd_253^0'=rcd_253^post118, nondet_12^0'=nondet_12^post118, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post118, a_276^0'=a_276^post118, r_274^0'=r_274^post118, rcd_367^0'=rcd_367^post118, r_234^0'=r_234^post118, temp_38^0'=temp_38^post118, x_19^0'=x_19^post118, ct_20^0'=ct_20^post118, rcd_235^0'=rcd_235^post118, lt_17^0'=lt_17^post118, rcd_70^0'=rcd_70^post118, (-temp0_34^post118+temp0_34^0 == 0 /\ -rcd_273^post118+rcd_273^0 == 0 /\ -r_245^post118+r_245^0 == 0 /\ y_22^0-y_22^post118 == 0 /\ -rcd_235^post118+rcd_235^0 == 0 /\ r_196^0-r_196^post118 == 0 /\ c_28^0-c_28^post118 == 0 /\ -r_234^post118+r_234^0 == 0 /\ -rcd_46^post118+rcd_46^0 == 0 /\ -r_29^post118+r_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post118+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_367^post118+rcd_367^0 == 0 /\ -r_188^post118+r_188^0 == 0 /\ -rcd_363^post118+rcd_363^0 == 0 /\ result_11^0-result_11^post118 == 0 /\ rcd_244^0-rcd_244^post118 == 0 /\ r_252^0-r_252^post118 == 0 /\ -a_173^post118+a_173^0 == 0 /\ 1+x_23^0-y_22^0 <= 0 /\ temp0_18^0-temp0_18^post118 == 0 /\ -x_SLAM_f_21^post118+x_SLAM_f_21^0 == 0 /\ t_30^0-t_30^post118 == 0 /\ r_42^0-r_42^post118 == 0 /\ -temp_38^post118+temp_38^0 == 0 /\ -ct_20^post118+ct_20^0 == 0 /\ length_32^0-length_32^post118 == 0 /\ -a_276^post118+a_276^0 == 0 /\ a_148^0-a_148^post118 == 0 /\ -rcd_105^post118+rcd_105^0 == 0 /\ rcd_409^0-rcd_409^post118 == 0 /\ -r_247^post118+r_247^0 == 0 /\ r_272^0-r_272^post118 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post118+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_253^post118+rcd_253^0 == 0 /\ -r_159^post118+r_159^0 == 0 /\ r_167^0-r_167^post118 == 0 /\ -i_111^post118+i_111^0 == 0 /\ rcd_387^0-rcd_387^post118 == 0 /\ -rcd_70^post118+rcd_70^0 == 0 /\ a_332^0-a_332^post118 == 0 /\ -x_19^post118+x_19^0 == 0 /\ -lt_397^post118+lt_397^0 == 0 /\ r_236^0-r_236^post118 == 0 /\ -tmp_37^post118+tmp_37^0 == 0 /\ -a_388^post118+a_388^0 == 0 /\ lt_509^0-lt_509^post118 == 0 /\ -i_33^post118+i_33^0 == 0 /\ a_358^0-a_358^post118 == 0 /\ r_243^0-r_243^post118 == 0 /\ l_27^0-l_27^post118 == 0 /\ head_35^0-head_35^post118 == 0 /\ -r_274^post118+r_274^0 == 0 /\ t_24^0-t_24^post118 == 0 /\ -lt_17^post118+lt_17^0 == 0 /\ a_220^0-a_220^post118 == 0 /\ -x_23^post118+x_23^0 == 0 /\ r_258^0-r_258^post118 == 0 /\ i_120^0-i_120^post118 == 0 /\ -len_205^post118+len_205^0 == 0 /\ rcd_248^0-rcd_248^post118 == 0 /\ -r_266^post118+r_266^0 == 0 /\ len_275^0-len_275^post118 == 0 /\ -rcd_427^post118+rcd_427^0 == 0 /\ len_297^0-len_297^post118 == 0 /\ rcd_113^0-rcd_113^post118 == 0 /\ head_13^0-head_13^post118 == 0 /\ r_246^0-r_246^post118 == 0 /\ -nondet_12^post118+nondet_12^0 == 0), cost: 1
New rule:
l72 -> l73 : 1+x_23^0-y_22^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l73 -> l74 : a_148^0'=a_148^post119, r_258^0'=r_258^post119, i_33^0'=i_33^post119, r_167^0'=r_167^post119, t_30^0'=t_30^post119, a_358^0'=a_358^post119, r_42^0'=r_42^post119, len_275^0'=len_275^post119, rcd_409^0'=rcd_409^post119, r_243^0'=r_243^post119, r_246^0'=r_246^post119, x_SLAM_f_21^0'=x_SLAM_f_21^post119, head_35^0'=head_35^post119, rcd_248^0'=rcd_248^post119, lt_509^0'=lt_509^post119, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post119, a_220^0'=a_220^post119, r_272^0'=r_272^post119, rcd_363^0'=rcd_363^post119, r_196^0'=r_196^post119, temp0_34^0'=temp0_34^post119, c_28^0'=c_28^post119, rcd_113^0'=rcd_113^post119, length_32^0'=length_32^post119, rcd_46^0'=rcd_46^post119, r_252^0'=r_252^post119, i_120^0'=i_120^post119, rcd_273^0'=rcd_273^post119, r_159^0'=r_159^post119, t_24^0'=t_24^post119, a_332^0'=a_332^post119, r_29^0'=r_29^post119, len_205^0'=len_205^post119, rcd_387^0'=rcd_387^post119, r_236^0'=r_236^post119, tmp_37^0'=tmp_37^post119, x_23^0'=x_23^post119, head_13^0'=head_13^post119, rcd_244^0'=rcd_244^post119, lt_397^0'=lt_397^post119, result_11^0'=result_11^post119, a_173^0'=a_173^post119, r_266^0'=r_266^post119, l_27^0'=l_27^post119, r_188^0'=r_188^post119, temp0_18^0'=temp0_18^post119, a_388^0'=a_388^post119, rcd_105^0'=rcd_105^post119, len_297^0'=len_297^post119, rcd_427^0'=rcd_427^post119, r_245^0'=r_245^post119, r_247^0'=r_247^post119, y_22^0'=y_22^post119, i_111^0'=i_111^post119, rcd_253^0'=rcd_253^post119, nondet_12^0'=nondet_12^post119, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post119, a_276^0'=a_276^post119, r_274^0'=r_274^post119, rcd_367^0'=rcd_367^post119, r_234^0'=r_234^post119, temp_38^0'=temp_38^post119, x_19^0'=x_19^post119, ct_20^0'=ct_20^post119, rcd_235^0'=rcd_235^post119, lt_17^0'=lt_17^post119, rcd_70^0'=rcd_70^post119, (0 == 0 /\ rcd_113^0-rcd_113^post119 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post119+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_148^0-a_148^post119 == 0 /\ -rcd_427^post119+rcd_427^0 == 0 /\ -temp0_18^post119+temp0_18^0 == 0 /\ -rcd_363^0+rcd_46^0 <= 0 /\ rcd_248^0-rcd_248^post119 == 0 /\ rcd_409^0-rcd_409^post119 == 0 /\ -r_236^post119+r_236^0 == 0 /\ l_27^0-l_27^post119 == 0 /\ r_167^0-r_167^post119 == 0 /\ -c_28^post119+c_28^0 == 0 /\ y_22^0-ct_20^0 <= 0 /\ a_358^0-a_358^post119 == 0 /\ -r_247^post119+r_247^0 == 0 /\ i_33^0-i_33^post119 == 0 /\ -r_266^post119+r_266^0 == 0 /\ -temp0_34^post119+temp0_34^0 == 0 /\ t_24^post119-x_23^0 == 0 /\ -lt_17^post119+lt_17^0 == 0 /\ lt_397^0-lt_397^post119 == 0 /\ r_243^0-r_243^post119 == 0 /\ i_120^0-i_120^post119 == 0 /\ len_275^0-len_275^post119 == 0 /\ -r_196^post119+r_196^0 == 0 /\ rcd_363^0-rcd_46^0 <= 0 /\ -r_234^post119+r_234^0 == 0 /\ r_246^0-r_246^post119 == 0 /\ -a_276^post119+a_276^0 == 0 /\ a_173^0-a_173^post119 == 0 /\ -rcd_253^post119+rcd_253^0 == 0 /\ -head_35^post119+head_35^0 == 0 /\ y_22^0-y_22^post119 == 0 /\ -rcd_235^post119+rcd_235^0 == 0 /\ -y_22^0+ct_20^0 <= 0 /\ -rcd_387^post119+rcd_387^0 == 0 /\ -r_274^post119+r_274^0 == 0 /\ rcd_363^0-rcd_363^post119 == 0 /\ -len_297^post119+len_297^0 == 0 /\ rcd_46^0-rcd_46^post119 == 0 /\ r_258^0-r_258^post119 == 0 /\ -temp_38^post119+temp_38^0 == 0 /\ -r_252^post119+r_252^0 == 0 /\ -r_188^post119+r_188^0 == 0 /\ rcd_367^0-rcd_367^post119 == 0 /\ a_358^0-a_332^post119 <= 0 /\ -x_23^post119+x_23^0 == 0 /\ -t_24^post119+lt_17^0 <= 0 /\ -r_272^post119+r_272^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post119 == 0 /\ -x_19^0+lt_17^0 <= 0 /\ -ct_20^post119+ct_20^0 == 0 /\ -rcd_105^post119+rcd_105^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ tmp_37^0-tmp_37^post119 == 0 /\ -ct_20^0 <= 0 /\ r_29^0-r_29^post119 == 0 /\ -i_111^post119+i_111^0 == 0 /\ x_SLAM_f_21^0-x_19^0 <= 0 /\ r_42^0-r_42^post119 == 0 /\ -nondet_12^post119+nondet_12^0 == 0 /\ t_30^0-t_30^post119 == 0 /\ -rcd_70^post119+rcd_70^0 == 0 /\ -result_11^post119+result_11^0 == 0 /\ lt_509^0-lt_509^post119 == 0 /\ -a_358^0+a_332^post119 <= 0 /\ y_22^0 <= 0 /\ -y_22^0 <= 0 /\ t_24^post119-lt_17^0 <= 0 /\ -len_205^post119+len_205^0 == 0 /\ length_32^0-length_32^post119 == 0 /\ a_220^0-a_220^post119 == 0 /\ -r_245^post119+r_245^0 == 0 /\ x_19^0-lt_17^0 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post119 == 0 /\ -x_19^post119+x_19^0 == 0 /\ r_159^0-r_159^post119 == 0 /\ rcd_244^0-rcd_244^post119 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ ct_20^0 <= 0 /\ rcd_273^0-rcd_273^post119 == 0 /\ -head_13^post119+head_13^0 == 0 /\ -x_SLAM_f_21^0+x_19^0 <= 0 /\ -a_388^post119+a_388^0 == 0), cost: 1
New rule:
l73 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, (-rcd_363^0+rcd_46^0 == 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 1

Applied preprocessing
Original rule:
l74 -> l75 : a_148^0'=a_148^post120, r_258^0'=r_258^post120, i_33^0'=i_33^post120, r_167^0'=r_167^post120, t_30^0'=t_30^post120, a_358^0'=a_358^post120, r_42^0'=r_42^post120, len_275^0'=len_275^post120, rcd_409^0'=rcd_409^post120, r_243^0'=r_243^post120, r_246^0'=r_246^post120, x_SLAM_f_21^0'=x_SLAM_f_21^post120, head_35^0'=head_35^post120, rcd_248^0'=rcd_248^post120, lt_509^0'=lt_509^post120, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post120, a_220^0'=a_220^post120, r_272^0'=r_272^post120, rcd_363^0'=rcd_363^post120, r_196^0'=r_196^post120, temp0_34^0'=temp0_34^post120, c_28^0'=c_28^post120, rcd_113^0'=rcd_113^post120, length_32^0'=length_32^post120, rcd_46^0'=rcd_46^post120, r_252^0'=r_252^post120, i_120^0'=i_120^post120, rcd_273^0'=rcd_273^post120, r_159^0'=r_159^post120, t_24^0'=t_24^post120, a_332^0'=a_332^post120, r_29^0'=r_29^post120, len_205^0'=len_205^post120, rcd_387^0'=rcd_387^post120, r_236^0'=r_236^post120, tmp_37^0'=tmp_37^post120, x_23^0'=x_23^post120, head_13^0'=head_13^post120, rcd_244^0'=rcd_244^post120, lt_397^0'=lt_397^post120, result_11^0'=result_11^post120, a_173^0'=a_173^post120, r_266^0'=r_266^post120, l_27^0'=l_27^post120, r_188^0'=r_188^post120, temp0_18^0'=temp0_18^post120, a_388^0'=a_388^post120, rcd_105^0'=rcd_105^post120, len_297^0'=len_297^post120, rcd_427^0'=rcd_427^post120, r_245^0'=r_245^post120, r_247^0'=r_247^post120, y_22^0'=y_22^post120, i_111^0'=i_111^post120, rcd_253^0'=rcd_253^post120, nondet_12^0'=nondet_12^post120, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post120, a_276^0'=a_276^post120, r_274^0'=r_274^post120, rcd_367^0'=rcd_367^post120, r_234^0'=r_234^post120, temp_38^0'=temp_38^post120, x_19^0'=x_19^post120, ct_20^0'=ct_20^post120, rcd_235^0'=rcd_235^post120, lt_17^0'=lt_17^post120, rcd_70^0'=rcd_70^post120, (-rcd_244^post120+rcd_244^0 == 0 /\ -tmp_37^post120+tmp_37^0 == 0 /\ -a_276^post120+a_276^0 == 0 /\ r_258^0-r_258^post120 == 0 /\ r_29^0-r_29^post120 == 0 /\ -y_22^post120+y_22^0 == 0 /\ r_159^0-r_159^post120 == 0 /\ head_35^0-head_35^post120 == 0 /\ r_42^0-r_42^post120 == 0 /\ -rcd_253^post120+rcd_253^0 == 0 /\ r_272^0-r_272^post120 == 0 /\ a_220^0-a_220^post120 == 0 /\ -x_19^post120+x_19^0 == 0 /\ -rcd_113^post120+rcd_113^0 == 0 /\ -rcd_70^post120+rcd_70^0 == 0 /\ -rcd_387^post120+rcd_387^0 == 0 /\ length_32^0-length_32^post120 == 0 /\ x_23^0-x_23^post120 == 0 /\ -temp0_18^post120+temp0_18^0 == 0 /\ rcd_273^0-rcd_273^post120 == 0 /\ -r_274^post120+r_274^0 == 0 /\ r_196^0-r_196^post120 == 0 /\ t_30^0-t_30^post120 == 0 /\ -lt_17^post120+lt_17^0 == 0 /\ i_111^0-i_111^post120 == 0 /\ -l_27^post120+l_27^0 == 0 /\ -r_234^post120+r_234^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post120 == 0 /\ -a_332^post120+a_332^0 == 0 /\ r_252^0-r_252^post120 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post120 == 0 /\ rcd_409^0-rcd_409^post120 == 0 /\ -a_358^post120+a_358^0 == 0 /\ -nondet_12^post120+nondet_12^0 == 0 /\ -i_120^post120+i_120^0 == 0 /\ -rcd_367^post120+rcd_367^0 == 0 /\ -temp_38^post120+temp_38^0 == 0 /\ i_33^0-i_33^post120 == 0 /\ -len_297^post120+len_297^0 == 0 /\ r_266^0-r_266^post120 == 0 /\ -rcd_235^post120+rcd_235^0 == 0 /\ rcd_248^0-rcd_248^post120 == 0 /\ -result_11^post120+result_11^0 == 0 /\ len_205^0-len_205^post120 == 0 /\ 1-lt_17^0 <= 0 /\ a_148^0-a_148^post120 == 0 /\ temp0_34^0-temp0_34^post120 == 0 /\ -r_236^post120+r_236^0 == 0 /\ rcd_427^0-rcd_427^post120 == 0 /\ c_28^0-c_28^post120 == 0 /\ -r_247^post120+r_247^0 == 0 /\ -head_13^post120+head_13^0 == 0 /\ r_246^0-r_246^post120 == 0 /\ rcd_46^0-rcd_46^post120 == 0 /\ a_388^0-a_388^post120 == 0 /\ lt_509^0-lt_509^post120 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post120+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_243^0-r_243^post120 == 0 /\ len_275^0-len_275^post120 == 0 /\ r_167^0-r_167^post120 == 0 /\ lt_397^0-lt_397^post120 == 0 /\ -r_245^post120+r_245^0 == 0 /\ t_24^0-t_24^post120 == 0 /\ -ct_20^post120+ct_20^0 == 0 /\ -rcd_105^post120+rcd_105^0 == 0 /\ r_188^0-r_188^post120 == 0 /\ rcd_363^0-rcd_363^post120 == 0 /\ -a_173^post120+a_173^0 == 0), cost: 1
New rule:
l74 -> l75 : -1+lt_17^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l74 -> l75 : a_148^0'=a_148^post121, r_258^0'=r_258^post121, i_33^0'=i_33^post121, r_167^0'=r_167^post121, t_30^0'=t_30^post121, a_358^0'=a_358^post121, r_42^0'=r_42^post121, len_275^0'=len_275^post121, rcd_409^0'=rcd_409^post121, r_243^0'=r_243^post121, r_246^0'=r_246^post121, x_SLAM_f_21^0'=x_SLAM_f_21^post121, head_35^0'=head_35^post121, rcd_248^0'=rcd_248^post121, lt_509^0'=lt_509^post121, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post121, a_220^0'=a_220^post121, r_272^0'=r_272^post121, rcd_363^0'=rcd_363^post121, r_196^0'=r_196^post121, temp0_34^0'=temp0_34^post121, c_28^0'=c_28^post121, rcd_113^0'=rcd_113^post121, length_32^0'=length_32^post121, rcd_46^0'=rcd_46^post121, r_252^0'=r_252^post121, i_120^0'=i_120^post121, rcd_273^0'=rcd_273^post121, r_159^0'=r_159^post121, t_24^0'=t_24^post121, a_332^0'=a_332^post121, r_29^0'=r_29^post121, len_205^0'=len_205^post121, rcd_387^0'=rcd_387^post121, r_236^0'=r_236^post121, tmp_37^0'=tmp_37^post121, x_23^0'=x_23^post121, head_13^0'=head_13^post121, rcd_244^0'=rcd_244^post121, lt_397^0'=lt_397^post121, result_11^0'=result_11^post121, a_173^0'=a_173^post121, r_266^0'=r_266^post121, l_27^0'=l_27^post121, r_188^0'=r_188^post121, temp0_18^0'=temp0_18^post121, a_388^0'=a_388^post121, rcd_105^0'=rcd_105^post121, len_297^0'=len_297^post121, rcd_427^0'=rcd_427^post121, r_245^0'=r_245^post121, r_247^0'=r_247^post121, y_22^0'=y_22^post121, i_111^0'=i_111^post121, rcd_253^0'=rcd_253^post121, nondet_12^0'=nondet_12^post121, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post121, a_276^0'=a_276^post121, r_274^0'=r_274^post121, rcd_367^0'=rcd_367^post121, r_234^0'=r_234^post121, temp_38^0'=temp_38^post121, x_19^0'=x_19^post121, ct_20^0'=ct_20^post121, rcd_235^0'=rcd_235^post121, lt_17^0'=lt_17^post121, rcd_70^0'=rcd_70^post121, (len_205^0-len_205^post121 == 0 /\ -a_388^post121+a_388^0 == 0 /\ -x_19^post121+x_19^0 == 0 /\ i_33^0-i_33^post121 == 0 /\ t_24^0-t_24^post121 == 0 /\ temp0_34^0-temp0_34^post121 == 0 /\ nondet_12^0-nondet_12^post121 == 0 /\ -lt_397^post121+lt_397^0 == 0 /\ -i_111^post121+i_111^0 == 0 /\ head_13^0-head_13^post121 == 0 /\ rcd_46^0-rcd_46^post121 == 0 /\ r_247^0-r_247^post121 == 0 /\ r_252^0-r_252^post121 == 0 /\ -r_274^post121+r_274^0 == 0 /\ r_246^0-r_246^post121 == 0 /\ rcd_113^0-rcd_113^post121 == 0 /\ -tmp_37^post121+tmp_37^0 == 0 /\ len_275^0-len_275^post121 == 0 /\ r_167^0-r_167^post121 == 0 /\ rcd_387^0-rcd_387^post121 == 0 /\ a_148^0-a_148^post121 == 0 /\ c_28^0-c_28^post121 == 0 /\ -length_32^post121+length_32^0 == 0 /\ -lt_17^post121+lt_17^0 == 0 /\ r_236^0-r_236^post121 == 0 /\ -rcd_70^post121+rcd_70^0 == 0 /\ -x_23^post121+x_23^0 == 0 /\ lt_509^0-lt_509^post121 == 0 /\ result_11^0-result_11^post121 == 0 /\ -r_159^post121+r_159^0 == 0 /\ 1+lt_17^0 <= 0 /\ -temp0_18^post121+temp0_18^0 == 0 /\ -rcd_235^post121+rcd_235^0 == 0 /\ a_220^0-a_220^post121 == 0 /\ t_30^0-t_30^post121 == 0 /\ i_120^0-i_120^post121 == 0 /\ -rcd_273^post121+rcd_273^0 == 0 /\ -r_266^post121+r_266^0 == 0 /\ r_258^0-r_258^post121 == 0 /\ -l_27^post121+l_27^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post121+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post121+rcd_427^0 == 0 /\ -r_234^post121+r_234^0 == 0 /\ -a_173^post121+a_173^0 == 0 /\ rcd_409^0-rcd_409^post121 == 0 /\ -r_245^post121+r_245^0 == 0 /\ -r_42^post121+r_42^0 == 0 /\ -r_29^post121+r_29^0 == 0 /\ -ct_20^post121+ct_20^0 == 0 /\ r_272^0-r_272^post121 == 0 /\ -x_SLAM_f_21^post121+x_SLAM_f_21^0 == 0 /\ -y_22^post121+y_22^0 == 0 /\ r_196^0-r_196^post121 == 0 /\ -rcd_244^post121+rcd_244^0 == 0 /\ -rcd_105^post121+rcd_105^0 == 0 /\ rcd_248^0-rcd_248^post121 == 0 /\ r_188^0-r_188^post121 == 0 /\ a_332^0-a_332^post121 == 0 /\ -len_297^post121+len_297^0 == 0 /\ head_35^0-head_35^post121 == 0 /\ -temp_38^post121+temp_38^0 == 0 /\ -r_243^post121+r_243^0 == 0 /\ -rcd_363^post121+rcd_363^0 == 0 /\ -rcd_253^post121+rcd_253^0 == 0 /\ -a_276^post121+a_276^0 == 0 /\ a_358^0-a_358^post121 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post121 == 0 /\ -rcd_367^post121+rcd_367^0 == 0), cost: 1
New rule:
l74 -> l75 : 1+lt_17^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l75 -> l76 : a_148^0'=a_148^post122, r_258^0'=r_258^post122, i_33^0'=i_33^post122, r_167^0'=r_167^post122, t_30^0'=t_30^post122, a_358^0'=a_358^post122, r_42^0'=r_42^post122, len_275^0'=len_275^post122, rcd_409^0'=rcd_409^post122, r_243^0'=r_243^post122, r_246^0'=r_246^post122, x_SLAM_f_21^0'=x_SLAM_f_21^post122, head_35^0'=head_35^post122, rcd_248^0'=rcd_248^post122, lt_509^0'=lt_509^post122, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post122, a_220^0'=a_220^post122, r_272^0'=r_272^post122, rcd_363^0'=rcd_363^post122, r_196^0'=r_196^post122, temp0_34^0'=temp0_34^post122, c_28^0'=c_28^post122, rcd_113^0'=rcd_113^post122, length_32^0'=length_32^post122, rcd_46^0'=rcd_46^post122, r_252^0'=r_252^post122, i_120^0'=i_120^post122, rcd_273^0'=rcd_273^post122, r_159^0'=r_159^post122, t_24^0'=t_24^post122, a_332^0'=a_332^post122, r_29^0'=r_29^post122, len_205^0'=len_205^post122, rcd_387^0'=rcd_387^post122, r_236^0'=r_236^post122, tmp_37^0'=tmp_37^post122, x_23^0'=x_23^post122, head_13^0'=head_13^post122, rcd_244^0'=rcd_244^post122, lt_397^0'=lt_397^post122, result_11^0'=result_11^post122, a_173^0'=a_173^post122, r_266^0'=r_266^post122, l_27^0'=l_27^post122, r_188^0'=r_188^post122, temp0_18^0'=temp0_18^post122, a_388^0'=a_388^post122, rcd_105^0'=rcd_105^post122, len_297^0'=len_297^post122, rcd_427^0'=rcd_427^post122, r_245^0'=r_245^post122, r_247^0'=r_247^post122, y_22^0'=y_22^post122, i_111^0'=i_111^post122, rcd_253^0'=rcd_253^post122, nondet_12^0'=nondet_12^post122, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post122, a_276^0'=a_276^post122, r_274^0'=r_274^post122, rcd_367^0'=rcd_367^post122, r_234^0'=r_234^post122, temp_38^0'=temp_38^post122, x_19^0'=x_19^post122, ct_20^0'=ct_20^post122, rcd_235^0'=rcd_235^post122, lt_17^0'=lt_17^post122, rcd_70^0'=rcd_70^post122, (-t_24^post122+t_24^0 == 0 /\ r_243^0-r_243^post122 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post122 == 0 /\ -rcd_105^post122+rcd_105^0 == 0 /\ length_32^0-length_32^post122 == 0 /\ -rcd_367^post122+rcd_367^0 == 0 /\ -ct_20^post122+ct_20^0 == 0 /\ -x_23^post122+x_23^0 == 0 /\ rcd_363^0-rcd_363^post122 == 0 /\ y_22^0-y_22^post122 == 0 /\ rcd_409^0-rcd_409^post122 == 0 /\ -r_188^post122+r_188^0 == 0 /\ rcd_244^0-rcd_244^post122 == 0 /\ -temp_38^post122+temp_38^0 == 0 /\ -nondet_12^post122+nondet_12^0 == 0 /\ a_332^0-a_332^post122 == 0 /\ t_30^0-t_30^post122 == 0 /\ r_258^0-r_258^post122 == 0 /\ len_275^0-len_275^post122 == 0 /\ rcd_248^0-rcd_248^post122 == 0 /\ -rcd_70^post122+rcd_70^0 == 0 /\ -r_159^post122+r_159^0 == 0 /\ r_245^0-r_245^post122 == 0 /\ -temp0_34^post122+temp0_34^0 == 0 /\ -x_19^post122+x_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post122 == 0 /\ -a_388^post122+a_388^0 == 0 /\ -rcd_46^post122+rcd_46^0 == 0 /\ rcd_113^0-rcd_113^post122 == 0 /\ 1-y_22^0+lt_17^0 <= 0 /\ -head_13^post122+head_13^0 == 0 /\ tmp_37^0-tmp_37^post122 == 0 /\ r_272^0-r_272^post122 == 0 /\ lt_509^0-lt_509^post122 == 0 /\ r_42^0-r_42^post122 == 0 /\ -lt_17^post122+lt_17^0 == 0 /\ -a_173^post122+a_173^0 == 0 /\ -rcd_427^post122+rcd_427^0 == 0 /\ -c_28^post122+c_28^0 == 0 /\ temp0_18^0-temp0_18^post122 == 0 /\ -r_247^post122+r_247^0 == 0 /\ -len_205^post122+len_205^0 == 0 /\ r_246^0-r_246^post122 == 0 /\ -a_276^post122+a_276^0 == 0 /\ -r_266^post122+r_266^0 == 0 /\ -lt_397^post122+lt_397^0 == 0 /\ r_29^0-r_29^post122 == 0 /\ -rcd_253^post122+rcd_253^0 == 0 /\ -i_111^post122+i_111^0 == 0 /\ a_148^0-a_148^post122 == 0 /\ -head_35^post122+head_35^0 == 0 /\ -rcd_273^post122+rcd_273^0 == 0 /\ r_167^0-r_167^post122 == 0 /\ -len_297^post122+len_297^0 == 0 /\ l_27^0-l_27^post122 == 0 /\ -r_234^post122+r_234^0 == 0 /\ -rcd_235^post122+rcd_235^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post122 == 0 /\ -r_196^post122+r_196^0 == 0 /\ r_236^0-r_236^post122 == 0 /\ -r_274^post122+r_274^0 == 0 /\ a_220^0-a_220^post122 == 0 /\ a_358^0-a_358^post122 == 0 /\ result_11^0-result_11^post122 == 0 /\ -r_252^post122+r_252^0 == 0 /\ i_120^0-i_120^post122 == 0 /\ rcd_387^0-rcd_387^post122 == 0 /\ i_33^0-i_33^post122 == 0), cost: 1
New rule:
l75 -> l76 : 1-y_22^0+lt_17^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l75 -> l76 : a_148^0'=a_148^post123, r_258^0'=r_258^post123, i_33^0'=i_33^post123, r_167^0'=r_167^post123, t_30^0'=t_30^post123, a_358^0'=a_358^post123, r_42^0'=r_42^post123, len_275^0'=len_275^post123, rcd_409^0'=rcd_409^post123, r_243^0'=r_243^post123, r_246^0'=r_246^post123, x_SLAM_f_21^0'=x_SLAM_f_21^post123, head_35^0'=head_35^post123, rcd_248^0'=rcd_248^post123, lt_509^0'=lt_509^post123, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post123, a_220^0'=a_220^post123, r_272^0'=r_272^post123, rcd_363^0'=rcd_363^post123, r_196^0'=r_196^post123, temp0_34^0'=temp0_34^post123, c_28^0'=c_28^post123, rcd_113^0'=rcd_113^post123, length_32^0'=length_32^post123, rcd_46^0'=rcd_46^post123, r_252^0'=r_252^post123, i_120^0'=i_120^post123, rcd_273^0'=rcd_273^post123, r_159^0'=r_159^post123, t_24^0'=t_24^post123, a_332^0'=a_332^post123, r_29^0'=r_29^post123, len_205^0'=len_205^post123, rcd_387^0'=rcd_387^post123, r_236^0'=r_236^post123, tmp_37^0'=tmp_37^post123, x_23^0'=x_23^post123, head_13^0'=head_13^post123, rcd_244^0'=rcd_244^post123, lt_397^0'=lt_397^post123, result_11^0'=result_11^post123, a_173^0'=a_173^post123, r_266^0'=r_266^post123, l_27^0'=l_27^post123, r_188^0'=r_188^post123, temp0_18^0'=temp0_18^post123, a_388^0'=a_388^post123, rcd_105^0'=rcd_105^post123, len_297^0'=len_297^post123, rcd_427^0'=rcd_427^post123, r_245^0'=r_245^post123, r_247^0'=r_247^post123, y_22^0'=y_22^post123, i_111^0'=i_111^post123, rcd_253^0'=rcd_253^post123, nondet_12^0'=nondet_12^post123, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post123, a_276^0'=a_276^post123, r_274^0'=r_274^post123, rcd_367^0'=rcd_367^post123, r_234^0'=r_234^post123, temp_38^0'=temp_38^post123, x_19^0'=x_19^post123, ct_20^0'=ct_20^post123, rcd_235^0'=rcd_235^post123, lt_17^0'=lt_17^post123, rcd_70^0'=rcd_70^post123, (-l_27^post123+l_27^0 == 0 /\ -nondet_12^post123+nondet_12^0 == 0 /\ -len_297^post123+len_297^0 == 0 /\ c_28^0-c_28^post123 == 0 /\ rcd_46^0-rcd_46^post123 == 0 /\ -r_234^post123+r_234^0 == 0 /\ -r_266^post123+r_266^0 == 0 /\ -a_332^post123+a_332^0 == 0 /\ -head_13^post123+head_13^0 == 0 /\ r_196^0-r_196^post123 == 0 /\ -temp0_18^post123+temp0_18^0 == 0 /\ 1+y_22^0-lt_17^0 <= 0 /\ r_167^0-r_167^post123 == 0 /\ -rcd_235^post123+rcd_235^0 == 0 /\ -r_272^post123+r_272^0 == 0 /\ t_30^0-t_30^post123 == 0 /\ i_111^0-i_111^post123 == 0 /\ -r_252^post123+r_252^0 == 0 /\ r_159^0-r_159^post123 == 0 /\ a_276^0-a_276^post123 == 0 /\ -r_188^post123+r_188^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post123+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_236^post123+r_236^0 == 0 /\ a_173^0-a_173^post123 == 0 /\ -t_24^post123+t_24^0 == 0 /\ i_33^0-i_33^post123 == 0 /\ i_120^0-i_120^post123 == 0 /\ -temp_38^post123+temp_38^0 == 0 /\ -rcd_367^post123+rcd_367^0 == 0 /\ a_358^0-a_358^post123 == 0 /\ r_29^0-r_29^post123 == 0 /\ a_148^0-a_148^post123 == 0 /\ -r_245^post123+r_245^0 == 0 /\ -ct_20^post123+ct_20^0 == 0 /\ rcd_253^0-rcd_253^post123 == 0 /\ -r_246^post123+r_246^0 == 0 /\ length_32^0-length_32^post123 == 0 /\ -r_247^post123+r_247^0 == 0 /\ a_220^0-a_220^post123 == 0 /\ -rcd_105^post123+rcd_105^0 == 0 /\ -lt_509^post123+lt_509^0 == 0 /\ -lt_397^post123+lt_397^0 == 0 /\ len_275^0-len_275^post123 == 0 /\ -a_388^post123+a_388^0 == 0 /\ -rcd_113^post123+rcd_113^0 == 0 /\ -y_22^post123+y_22^0 == 0 /\ -rcd_387^post123+rcd_387^0 == 0 /\ r_243^0-r_243^post123 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post123 == 0 /\ -rcd_70^post123+rcd_70^0 == 0 /\ -x_19^post123+x_19^0 == 0 /\ rcd_409^0-rcd_409^post123 == 0 /\ result_11^0-result_11^post123 == 0 /\ rcd_363^0-rcd_363^post123 == 0 /\ -rcd_427^post123+rcd_427^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post123 == 0 /\ r_258^0-r_258^post123 == 0 /\ -r_274^post123+r_274^0 == 0 /\ rcd_244^0-rcd_244^post123 == 0 /\ -x_23^post123+x_23^0 == 0 /\ head_35^0-head_35^post123 == 0 /\ tmp_37^0-tmp_37^post123 == 0 /\ temp0_34^0-temp0_34^post123 == 0 /\ rcd_248^0-rcd_248^post123 == 0 /\ rcd_273^0-rcd_273^post123 == 0 /\ r_42^0-r_42^post123 == 0 /\ len_205^0-len_205^post123 == 0 /\ -lt_17^post123+lt_17^0 == 0), cost: 1
New rule:
l75 -> l76 : 1+y_22^0-lt_17^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l76 -> l77 : a_148^0'=a_148^post124, r_258^0'=r_258^post124, i_33^0'=i_33^post124, r_167^0'=r_167^post124, t_30^0'=t_30^post124, a_358^0'=a_358^post124, r_42^0'=r_42^post124, len_275^0'=len_275^post124, rcd_409^0'=rcd_409^post124, r_243^0'=r_243^post124, r_246^0'=r_246^post124, x_SLAM_f_21^0'=x_SLAM_f_21^post124, head_35^0'=head_35^post124, rcd_248^0'=rcd_248^post124, lt_509^0'=lt_509^post124, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post124, a_220^0'=a_220^post124, r_272^0'=r_272^post124, rcd_363^0'=rcd_363^post124, r_196^0'=r_196^post124, temp0_34^0'=temp0_34^post124, c_28^0'=c_28^post124, rcd_113^0'=rcd_113^post124, length_32^0'=length_32^post124, rcd_46^0'=rcd_46^post124, r_252^0'=r_252^post124, i_120^0'=i_120^post124, rcd_273^0'=rcd_273^post124, r_159^0'=r_159^post124, t_24^0'=t_24^post124, a_332^0'=a_332^post124, r_29^0'=r_29^post124, len_205^0'=len_205^post124, rcd_387^0'=rcd_387^post124, r_236^0'=r_236^post124, tmp_37^0'=tmp_37^post124, x_23^0'=x_23^post124, head_13^0'=head_13^post124, rcd_244^0'=rcd_244^post124, lt_397^0'=lt_397^post124, result_11^0'=result_11^post124, a_173^0'=a_173^post124, r_266^0'=r_266^post124, l_27^0'=l_27^post124, r_188^0'=r_188^post124, temp0_18^0'=temp0_18^post124, a_388^0'=a_388^post124, rcd_105^0'=rcd_105^post124, len_297^0'=len_297^post124, rcd_427^0'=rcd_427^post124, r_245^0'=r_245^post124, r_247^0'=r_247^post124, y_22^0'=y_22^post124, i_111^0'=i_111^post124, rcd_253^0'=rcd_253^post124, nondet_12^0'=nondet_12^post124, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post124, a_276^0'=a_276^post124, r_274^0'=r_274^post124, rcd_367^0'=rcd_367^post124, r_234^0'=r_234^post124, temp_38^0'=temp_38^post124, x_19^0'=x_19^post124, ct_20^0'=ct_20^post124, rcd_235^0'=rcd_235^post124, lt_17^0'=lt_17^post124, rcd_70^0'=rcd_70^post124, (-temp0_34^post124+temp0_34^0 == 0 /\ -r_247^post124+r_247^0 == 0 /\ -r_29^post124+r_29^0 == 0 /\ rcd_113^0-rcd_113^post124 == 0 /\ -rcd_387^post124+rcd_387^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post124+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -lt_17^post124+lt_17^0 == 0 /\ -rcd_244^post124+rcd_244^0 == 0 /\ r_236^0-r_236^post124 == 0 /\ -l_27^post124+l_27^0 == 0 /\ -r_234^post124+r_234^0 == 0 /\ -rcd_427^post124+rcd_427^0 == 0 /\ nondet_12^0-nondet_12^post124 == 0 /\ x_23^0-x_23^post124 == 0 /\ -a_276^post124+a_276^0 == 0 /\ t_24^0-t_24^post124 == 0 /\ rcd_363^0-rcd_363^post124 == 0 /\ -x_SLAM_f_21^post124+x_SLAM_f_21^0 == 0 /\ r_42^0-r_42^post124 == 0 /\ r_274^0-r_274^post124 == 0 /\ t_30^0-t_30^post124 == 0 /\ -y_22^post124+y_22^0 == 0 /\ rcd_46^0-rcd_46^post124 == 0 /\ -r_243^post124+r_243^0 == 0 /\ -rcd_367^post124+rcd_367^0 == 0 /\ a_148^0-a_148^post124 == 0 /\ -i_120^post124+i_120^0 == 0 /\ rcd_273^0-rcd_273^post124 == 0 /\ -temp0_18^post124+temp0_18^0 == 0 /\ -len_297^post124+len_297^0 == 0 /\ rcd_409^0-rcd_409^post124 == 0 /\ -rcd_235^post124+rcd_235^0 == 0 /\ -a_332^post124+a_332^0 == 0 /\ r_196^0-r_196^post124 == 0 /\ r_266^0-r_266^post124 == 0 /\ r_272^0-r_272^post124 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post124+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_253^post124+rcd_253^0 == 0 /\ -temp_38^post124+temp_38^0 == 0 /\ -x_19^post124+x_19^0 == 0 /\ -i_111^post124+i_111^0 == 0 /\ r_188^0-r_188^post124 == 0 /\ -rcd_248^post124+rcd_248^0 == 0 /\ head_35^0-head_35^post124 == 0 /\ c_28^0-c_28^post124 == 0 /\ len_205^0-len_205^post124 == 0 /\ a_388^0-a_388^post124 == 0 /\ -length_32^post124+length_32^0 == 0 /\ -rcd_105^post124+rcd_105^0 == 0 /\ r_167^0-r_167^post124 == 0 /\ -i_33^post124+i_33^0 == 0 /\ lt_509^0-lt_509^post124 == 0 /\ a_358^0-a_358^post124 == 0 /\ -ct_20^post124+ct_20^0 == 0 /\ -tmp_37^post124+tmp_37^0 == 0 /\ lt_397^0-lt_397^post124 == 0 /\ -result_11^post124+result_11^0 == 0 /\ -r_245^post124+r_245^0 == 0 /\ a_220^0-a_220^post124 == 0 /\ a_173^0-a_173^post124 == 0 /\ r_258^0-r_258^post124 == 0 /\ r_252^0-r_252^post124 == 0 /\ -head_13^post124+head_13^0 == 0 /\ -r_159^post124+r_159^0 == 0 /\ -rcd_70^post124+rcd_70^0 == 0 /\ len_275^0-len_275^post124 == 0 /\ r_246^0-r_246^post124 == 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 1
New rule:
l76 -> l77 : 1-t_24^0+y_22^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l76 -> l77 : a_148^0'=a_148^post125, r_258^0'=r_258^post125, i_33^0'=i_33^post125, r_167^0'=r_167^post125, t_30^0'=t_30^post125, a_358^0'=a_358^post125, r_42^0'=r_42^post125, len_275^0'=len_275^post125, rcd_409^0'=rcd_409^post125, r_243^0'=r_243^post125, r_246^0'=r_246^post125, x_SLAM_f_21^0'=x_SLAM_f_21^post125, head_35^0'=head_35^post125, rcd_248^0'=rcd_248^post125, lt_509^0'=lt_509^post125, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post125, a_220^0'=a_220^post125, r_272^0'=r_272^post125, rcd_363^0'=rcd_363^post125, r_196^0'=r_196^post125, temp0_34^0'=temp0_34^post125, c_28^0'=c_28^post125, rcd_113^0'=rcd_113^post125, length_32^0'=length_32^post125, rcd_46^0'=rcd_46^post125, r_252^0'=r_252^post125, i_120^0'=i_120^post125, rcd_273^0'=rcd_273^post125, r_159^0'=r_159^post125, t_24^0'=t_24^post125, a_332^0'=a_332^post125, r_29^0'=r_29^post125, len_205^0'=len_205^post125, rcd_387^0'=rcd_387^post125, r_236^0'=r_236^post125, tmp_37^0'=tmp_37^post125, x_23^0'=x_23^post125, head_13^0'=head_13^post125, rcd_244^0'=rcd_244^post125, lt_397^0'=lt_397^post125, result_11^0'=result_11^post125, a_173^0'=a_173^post125, r_266^0'=r_266^post125, l_27^0'=l_27^post125, r_188^0'=r_188^post125, temp0_18^0'=temp0_18^post125, a_388^0'=a_388^post125, rcd_105^0'=rcd_105^post125, len_297^0'=len_297^post125, rcd_427^0'=rcd_427^post125, r_245^0'=r_245^post125, r_247^0'=r_247^post125, y_22^0'=y_22^post125, i_111^0'=i_111^post125, rcd_253^0'=rcd_253^post125, nondet_12^0'=nondet_12^post125, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post125, a_276^0'=a_276^post125, r_274^0'=r_274^post125, rcd_367^0'=rcd_367^post125, r_234^0'=r_234^post125, temp_38^0'=temp_38^post125, x_19^0'=x_19^post125, ct_20^0'=ct_20^post125, rcd_235^0'=rcd_235^post125, lt_17^0'=lt_17^post125, rcd_70^0'=rcd_70^post125, (a_148^0-a_148^post125 == 0 /\ -c_28^post125+c_28^0 == 0 /\ head_13^0-head_13^post125 == 0 /\ -y_22^post125+y_22^0 == 0 /\ rcd_409^0-rcd_409^post125 == 0 /\ r_167^0-r_167^post125 == 0 /\ rcd_387^0-rcd_387^post125 == 0 /\ tmp_37^0-tmp_37^post125 == 0 /\ r_266^0-r_266^post125 == 0 /\ a_358^0-a_358^post125 == 0 /\ -r_159^post125+r_159^0 == 0 /\ len_205^0-len_205^post125 == 0 /\ -lt_397^post125+lt_397^0 == 0 /\ -temp0_34^post125+temp0_34^0 == 0 /\ -lt_17^post125+lt_17^0 == 0 /\ r_272^0-r_272^post125 == 0 /\ -rcd_363^post125+rcd_363^0 == 0 /\ -a_276^post125+a_276^0 == 0 /\ -head_35^post125+head_35^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post125 == 0 /\ length_32^0-length_32^post125 == 0 /\ -r_29^post125+r_29^0 == 0 /\ len_275^0-len_275^post125 == 0 /\ -i_111^post125+i_111^0 == 0 /\ r_246^0-r_246^post125 == 0 /\ -len_297^post125+len_297^0 == 0 /\ -rcd_253^post125+rcd_253^0 == 0 /\ -r_234^post125+r_234^0 == 0 /\ -rcd_235^post125+rcd_235^0 == 0 /\ -rcd_273^post125+rcd_273^0 == 0 /\ -rcd_427^post125+rcd_427^0 == 0 /\ r_196^0-r_196^post125 == 0 /\ r_258^0-r_258^post125 == 0 /\ t_24^0-t_24^post125 == 0 /\ -r_274^post125+r_274^0 == 0 /\ -ct_20^post125+ct_20^0 == 0 /\ r_236^0-r_236^post125 == 0 /\ r_252^0-r_252^post125 == 0 /\ rcd_113^0-rcd_113^post125 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post125 == 0 /\ l_27^0-l_27^post125 == 0 /\ -nondet_12^post125+nondet_12^0 == 0 /\ -r_188^post125+r_188^0 == 0 /\ i_33^0-i_33^post125 == 0 /\ rcd_105^0-rcd_105^post125 == 0 /\ i_120^0-i_120^post125 == 0 /\ -x_23^post125+x_23^0 == 0 /\ -a_220^post125+a_220^0 == 0 /\ rcd_248^0-rcd_248^post125 == 0 /\ -result_11^post125+result_11^0 == 0 /\ -rcd_367^post125+rcd_367^0 == 0 /\ -temp_38^post125+temp_38^0 == 0 /\ 1+t_24^0-y_22^0 <= 0 /\ r_42^0-r_42^post125 == 0 /\ t_30^0-t_30^post125 == 0 /\ -a_388^post125+a_388^0 == 0 /\ -rcd_70^post125+rcd_70^0 == 0 /\ lt_509^0-lt_509^post125 == 0 /\ -rcd_46^post125+rcd_46^0 == 0 /\ -r_247^post125+r_247^0 == 0 /\ -x_19^post125+x_19^0 == 0 /\ r_243^0-r_243^post125 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post125 == 0 /\ -r_245^post125+r_245^0 == 0 /\ a_332^0-a_332^post125 == 0 /\ temp0_18^0-temp0_18^post125 == 0 /\ -a_173^post125+a_173^0 == 0 /\ -rcd_244^post125+rcd_244^0 == 0), cost: 1
New rule:
l76 -> l77 : 1+t_24^0-y_22^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l77 -> l55 : a_148^0'=a_148^post126, r_258^0'=r_258^post126, i_33^0'=i_33^post126, r_167^0'=r_167^post126, t_30^0'=t_30^post126, a_358^0'=a_358^post126, r_42^0'=r_42^post126, len_275^0'=len_275^post126, rcd_409^0'=rcd_409^post126, r_243^0'=r_243^post126, r_246^0'=r_246^post126, x_SLAM_f_21^0'=x_SLAM_f_21^post126, head_35^0'=head_35^post126, rcd_248^0'=rcd_248^post126, lt_509^0'=lt_509^post126, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post126, a_220^0'=a_220^post126, r_272^0'=r_272^post126, rcd_363^0'=rcd_363^post126, r_196^0'=r_196^post126, temp0_34^0'=temp0_34^post126, c_28^0'=c_28^post126, rcd_113^0'=rcd_113^post126, length_32^0'=length_32^post126, rcd_46^0'=rcd_46^post126, r_252^0'=r_252^post126, i_120^0'=i_120^post126, rcd_273^0'=rcd_273^post126, r_159^0'=r_159^post126, t_24^0'=t_24^post126, a_332^0'=a_332^post126, r_29^0'=r_29^post126, len_205^0'=len_205^post126, rcd_387^0'=rcd_387^post126, r_236^0'=r_236^post126, tmp_37^0'=tmp_37^post126, x_23^0'=x_23^post126, head_13^0'=head_13^post126, rcd_244^0'=rcd_244^post126, lt_397^0'=lt_397^post126, result_11^0'=result_11^post126, a_173^0'=a_173^post126, r_266^0'=r_266^post126, l_27^0'=l_27^post126, r_188^0'=r_188^post126, temp0_18^0'=temp0_18^post126, a_388^0'=a_388^post126, rcd_105^0'=rcd_105^post126, len_297^0'=len_297^post126, rcd_427^0'=rcd_427^post126, r_245^0'=r_245^post126, r_247^0'=r_247^post126, y_22^0'=y_22^post126, i_111^0'=i_111^post126, rcd_253^0'=rcd_253^post126, nondet_12^0'=nondet_12^post126, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post126, a_276^0'=a_276^post126, r_274^0'=r_274^post126, rcd_367^0'=rcd_367^post126, r_234^0'=r_234^post126, temp_38^0'=temp_38^post126, x_19^0'=x_19^post126, ct_20^0'=ct_20^post126, rcd_235^0'=rcd_235^post126, lt_17^0'=lt_17^post126, rcd_70^0'=rcd_70^post126, (0 == 0 /\ -lt_397^post126+lt_397^0 == 0 /\ r_258^0-r_258^post126 == 0 /\ i_33^0-i_33^post126 == 0 /\ -r_196^post126+r_196^0 == 0 /\ i_120^0-i_120^post126 == 0 /\ rcd_244^0-rcd_244^post126 == 0 /\ -rcd_113^post126+rcd_113^0 == 0 /\ -a_388^post126+a_388^0 == 0 /\ -r_274^post126+r_274^0 == 0 /\ -rcd_253^post126+rcd_253^0 == 0 /\ -rcd_70^post126+rcd_70^0 == 0 /\ r_42^0-r_42^post126 == 0 /\ -t_24^post126+t_24^0 == 0 /\ r_245^0-r_245^post126 == 0 /\ -x_19^post126+x_19^0 == 0 /\ -1-a_332^0+len_297^post126 <= 0 /\ -y_22^post126+y_22^0 == 0 /\ -len_205^post126+len_205^0 == 0 /\ rcd_46^0-rcd_46^post126 == 0 /\ c_28^0-c_28^post126 == 0 /\ -r_272^post126+r_272^0 == 0 /\ a_332^0-a_332^post126 == 0 /\ rcd_248^0-rcd_248^post126 == 0 /\ -rcd_427^post126+rcd_427^0 == 0 /\ -r_159^post126+r_159^0 == 0 /\ -x_23^post126+x_23^0 == 0 /\ t_30^0-t_30^post126 == 0 /\ -lt_17^post126+lt_17^0 == 0 /\ -nondet_12^post126+nondet_12^0 == 0 /\ -i_111^post126+i_111^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post126 == 0 /\ -lt_509^post126+lt_509^0 == 0 /\ a_276^0-a_276^post126 == 0 /\ rcd_363^0-rcd_363^post126 == 0 /\ a_220^0-a_220^post126 == 0 /\ -r_266^post126+r_266^0 == 0 /\ -a_358^post126+a_358^0 == 0 /\ rcd_409^0-rcd_409^post126 == 0 /\ -l_27^post126+l_27^0 == 0 /\ tmp_37^0-tmp_37^post126 == 0 /\ head_35^0-head_35^post126 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -r_234^post126+r_234^0 == 0 /\ -head_13^post126+head_13^0 == 0 /\ rcd_273^0-rcd_273^post126 == 0 /\ -a_173^post126+a_173^0 == 0 /\ rcd_367^0-rcd_367^post126 == 0 /\ length_32^0-length_32^post126 == 0 /\ r_252^0-r_252^post126 == 0 /\ -temp0_18^post126+temp0_18^0 == 0 /\ 1+a_332^0-len_297^post126 <= 0 /\ -rcd_235^post126+rcd_235^0 == 0 /\ a_148^0-a_148^post126 == 0 /\ temp0_34^0-temp0_34^post126 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post126+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_387^0-rcd_387^post126 == 0 /\ -rcd_105^post126+rcd_105^0 == 0 /\ r_246^0-r_246^post126 == 0 /\ len_275^0-len_275^post126 == 0 /\ -r_188^post126+r_188^0 == 0 /\ r_243^0-r_243^post126 == 0 /\ -r_236^post126+r_236^0 == 0 /\ r_167^0-r_167^post126 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -temp_38^post126+temp_38^0 == 0 /\ -r_247^post126+r_247^0 == 0 /\ r_29^0-r_29^post126 == 0 /\ -ct_20^post126+ct_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post126 == 0 /\ result_11^0-result_11^post126 == 0), cost: 1
New rule:
l77 -> l55 : len_297^0'=1+a_332^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l78 -> l54 : a_148^0'=a_148^post127, r_258^0'=r_258^post127, i_33^0'=i_33^post127, r_167^0'=r_167^post127, t_30^0'=t_30^post127, a_358^0'=a_358^post127, r_42^0'=r_42^post127, len_275^0'=len_275^post127, rcd_409^0'=rcd_409^post127, r_243^0'=r_243^post127, r_246^0'=r_246^post127, x_SLAM_f_21^0'=x_SLAM_f_21^post127, head_35^0'=head_35^post127, rcd_248^0'=rcd_248^post127, lt_509^0'=lt_509^post127, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post127, a_220^0'=a_220^post127, r_272^0'=r_272^post127, rcd_363^0'=rcd_363^post127, r_196^0'=r_196^post127, temp0_34^0'=temp0_34^post127, c_28^0'=c_28^post127, rcd_113^0'=rcd_113^post127, length_32^0'=length_32^post127, rcd_46^0'=rcd_46^post127, r_252^0'=r_252^post127, i_120^0'=i_120^post127, rcd_273^0'=rcd_273^post127, r_159^0'=r_159^post127, t_24^0'=t_24^post127, a_332^0'=a_332^post127, r_29^0'=r_29^post127, len_205^0'=len_205^post127, rcd_387^0'=rcd_387^post127, r_236^0'=r_236^post127, tmp_37^0'=tmp_37^post127, x_23^0'=x_23^post127, head_13^0'=head_13^post127, rcd_244^0'=rcd_244^post127, lt_397^0'=lt_397^post127, result_11^0'=result_11^post127, a_173^0'=a_173^post127, r_266^0'=r_266^post127, l_27^0'=l_27^post127, r_188^0'=r_188^post127, temp0_18^0'=temp0_18^post127, a_388^0'=a_388^post127, rcd_105^0'=rcd_105^post127, len_297^0'=len_297^post127, rcd_427^0'=rcd_427^post127, r_245^0'=r_245^post127, r_247^0'=r_247^post127, y_22^0'=y_22^post127, i_111^0'=i_111^post127, rcd_253^0'=rcd_253^post127, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post127, a_276^0'=a_276^post127, r_274^0'=r_274^post127, rcd_367^0'=rcd_367^post127, r_234^0'=r_234^post127, temp_38^0'=temp_38^post127, x_19^0'=x_19^post127, ct_20^0'=ct_20^post127, rcd_235^0'=rcd_235^post127, lt_17^0'=lt_17^post127, rcd_70^0'=rcd_70^post127, (0 == 0 /\ -rcd_235^post127+rcd_235^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post127-length_32^post127 <= 0 /\ -rcd_427^post127+rcd_427^0 == 0 /\ i_33^post127 <= 0 /\ i_33^post127 == 0 /\ a_148^0-a_148^post127 == 0 /\ len_275^0-len_275^post127 == 0 /\ c_28^0-c_28^post127 == 0 /\ -head_13^post127+head_13^0 == 0 /\ -lt_17^post127+lt_17^0 == 0 /\ l_27^0-l_27^post127 == 0 /\ -r_234^post127+r_234^0 == 0 /\ r_29^0-r_29^post127 == 0 /\ r_243^0-r_243^post127 == 0 /\ -r_247^post127+r_247^0 == 0 /\ -r_245^post127+r_245^0 == 0 /\ r_266^0-r_266^post127 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post127 == 0 /\ lt_397^0-lt_397^post127 == 0 /\ -rcd_273^post127+rcd_273^0 == 0 /\ -len_297^post127+len_297^0 == 0 /\ rcd_409^0-rcd_409^post127 == 0 /\ -a_276^post127+a_276^0 == 0 /\ -i_33^post127 <= 0 /\ -rcd_387^post127+rcd_387^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post127+length_32^post127 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post127+length_32^post127 == 0 /\ rcd_363^0-rcd_363^post127 == 0 /\ -ct_20^post127+ct_20^0 == 0 /\ -rcd_244^post127+rcd_244^0 == 0 /\ -r_252^post127+r_252^0 == 0 /\ -head_35^post127 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post127+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ temp0_34^0-temp0_34^post127 == 0 /\ r_258^0-r_258^post127 == 0 /\ -y_22^post127+y_22^0 == 0 /\ r_42^0-r_42^post127 == 0 /\ -r_236^post127+r_236^0 == 0 /\ -a_332^post127+a_332^0 == 0 /\ r_159^0-r_159^post127 == 0 /\ -rcd_367^post127+rcd_367^0 == 0 /\ x_23^0-x_23^post127 == 0 /\ head_35^post127 <= 0 /\ head_35^post127 == 0 /\ -rcd_113^post127+rcd_113^0 == 0 /\ -r_274^post127+r_274^0 == 0 /\ r_246^0-r_246^post127 == 0 /\ r_272^0-r_272^post127 == 0 /\ -temp_38^post127+temp_38^0 == 0 /\ r_196^0-r_196^post127 == 0 /\ -r_188^post127+r_188^0 == 0 /\ rcd_248^0-rcd_248^post127 == 0 /\ lt_509^0-lt_509^post127 == 0 /\ -rcd_253^post127+rcd_253^0 == 0 /\ -result_11^post127+result_11^0 == 0 /\ r_167^0-r_167^post127 == 0 /\ rcd_105^0-rcd_105^post127 == 0 /\ -t_30^post127+t_30^0 == 0 /\ -tmp_37^post127+tmp_37^0 == 0 /\ -i_111^post127+i_111^0 == 0 /\ i_120^0-i_120^post127 == 0 /\ a_358^0-a_358^post127 == 0 /\ len_205^0-len_205^post127 == 0 /\ a_220^0-a_220^post127 == 0 /\ t_24^0-t_24^post127 == 0 /\ x_19^0-x_19^post127 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post127-nondet_12^10 == 0 /\ -a_388^post127+a_388^0 == 0 /\ -rcd_70^post127+rcd_70^0 == 0 /\ rcd_46^0-rcd_46^post127 == 0 /\ -a_173^post127+a_173^0 == 0 /\ temp0_18^0-temp0_18^post127 == 0), cost: 1
New rule:
l78 -> l54 : i_33^0'=0, head_35^0'=0, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, 0 == 0, cost: 1

Applied preprocessing
Original rule:
l79 -> l78 : a_148^0'=a_148^post128, r_258^0'=r_258^post128, i_33^0'=i_33^post128, r_167^0'=r_167^post128, t_30^0'=t_30^post128, a_358^0'=a_358^post128, r_42^0'=r_42^post128, len_275^0'=len_275^post128, rcd_409^0'=rcd_409^post128, r_243^0'=r_243^post128, r_246^0'=r_246^post128, x_SLAM_f_21^0'=x_SLAM_f_21^post128, head_35^0'=head_35^post128, rcd_248^0'=rcd_248^post128, lt_509^0'=lt_509^post128, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post128, a_220^0'=a_220^post128, r_272^0'=r_272^post128, rcd_363^0'=rcd_363^post128, r_196^0'=r_196^post128, temp0_34^0'=temp0_34^post128, c_28^0'=c_28^post128, rcd_113^0'=rcd_113^post128, length_32^0'=length_32^post128, rcd_46^0'=rcd_46^post128, r_252^0'=r_252^post128, i_120^0'=i_120^post128, rcd_273^0'=rcd_273^post128, r_159^0'=r_159^post128, t_24^0'=t_24^post128, a_332^0'=a_332^post128, r_29^0'=r_29^post128, len_205^0'=len_205^post128, rcd_387^0'=rcd_387^post128, r_236^0'=r_236^post128, tmp_37^0'=tmp_37^post128, x_23^0'=x_23^post128, head_13^0'=head_13^post128, rcd_244^0'=rcd_244^post128, lt_397^0'=lt_397^post128, result_11^0'=result_11^post128, a_173^0'=a_173^post128, r_266^0'=r_266^post128, l_27^0'=l_27^post128, r_188^0'=r_188^post128, temp0_18^0'=temp0_18^post128, a_388^0'=a_388^post128, rcd_105^0'=rcd_105^post128, len_297^0'=len_297^post128, rcd_427^0'=rcd_427^post128, r_245^0'=r_245^post128, r_247^0'=r_247^post128, y_22^0'=y_22^post128, i_111^0'=i_111^post128, rcd_253^0'=rcd_253^post128, nondet_12^0'=nondet_12^post128, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post128, a_276^0'=a_276^post128, r_274^0'=r_274^post128, rcd_367^0'=rcd_367^post128, r_234^0'=r_234^post128, temp_38^0'=temp_38^post128, x_19^0'=x_19^post128, ct_20^0'=ct_20^post128, rcd_235^0'=rcd_235^post128, lt_17^0'=lt_17^post128, rcd_70^0'=rcd_70^post128, (-temp0_34^post128+temp0_34^0 == 0 /\ r_266^0-r_266^post128 == 0 /\ r_272^0-r_272^post128 == 0 /\ -rcd_235^post128+rcd_235^0 == 0 /\ r_167^0-r_167^post128 == 0 /\ -a_173^post128+a_173^0 == 0 /\ rcd_113^0-rcd_113^post128 == 0 /\ head_13^0-head_13^post128 == 0 /\ r_236^0-r_236^post128 == 0 /\ -r_234^post128+r_234^0 == 0 /\ -rcd_244^post128+rcd_244^0 == 0 /\ len_205^0-len_205^post128 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post128+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_427^post128+rcd_427^0 == 0 /\ lt_509^0-lt_509^post128 == 0 /\ a_358^0-a_358^post128 == 0 /\ r_243^0-r_243^post128 == 0 /\ rcd_387^0-rcd_387^post128 == 0 /\ l_27^0-l_27^post128 == 0 /\ i_33^0-i_33^post128 == 0 /\ head_35^0-head_35^post128 == 0 /\ -rcd_367^post128+rcd_367^0 == 0 /\ -rcd_273^post128+rcd_273^0 == 0 /\ -ct_20^post128+ct_20^0 == 0 /\ -a_220^post128+a_220^0 == 0 /\ t_24^0-t_24^post128 == 0 /\ r_258^0-r_258^post128 == 0 /\ r_247^0-r_247^post128 == 0 /\ -lt_397^post128+lt_397^0 == 0 /\ rcd_363^0-rcd_363^post128 == 0 /\ -tmp_37^post128+tmp_37^0 == 0 /\ len_275^0-len_275^post128 == 0 /\ -r_29^post128+r_29^0 == 0 /\ -len_297^post128+len_297^0 == 0 /\ -a_276^post128+a_276^0 == 0 /\ -rcd_253^post128+rcd_253^0 == 0 /\ r_246^0-r_246^post128 == 0 /\ -i_120^post128+i_120^0 == 0 /\ rcd_46^0-rcd_46^post128 == 0 /\ y_22^0-y_22^post128 == 0 /\ -rcd_248^post128+rcd_248^0 == 0 /\ -i_111^post128+i_111^0 == 0 /\ -temp_38^post128+temp_38^0 == 0 /\ -length_32^post128+length_32^0 == 0 /\ -r_188^post128+r_188^0 == 0 /\ -rcd_70^post128+rcd_70^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post128 == 0 /\ -x_23^post128+x_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post128 == 0 /\ c_28^0-c_28^post128 == 0 /\ -r_274^post128+r_274^0 == 0 /\ rcd_105^0-rcd_105^post128 == 0 /\ x_19^0-x_19^post128 == 0 /\ -r_159^post128+r_159^0 == 0 /\ -r_245^post128+r_245^0 == 0 /\ -result_11^post128+result_11^0 == 0 /\ -lt_17^post128+lt_17^0 == 0 /\ r_42^0-r_42^post128 == 0 /\ t_30^0-t_30^post128 == 0 /\ a_148^0-a_148^post128 == 0 /\ r_252^0-r_252^post128 == 0 /\ -a_388^post128+a_388^0 == 0 /\ r_196^0-r_196^post128 == 0 /\ a_332^0-a_332^post128 == 0 /\ temp0_18^0-temp0_18^post128 == 0 /\ -nondet_12^post128+nondet_12^0 == 0 /\ rcd_409^0-rcd_409^post128 == 0), cost: 1
New rule:
l79 -> l78 : TRUE, cost: 1

Simplified rules
Start location: l79
 129: l0 -> l2 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0), cost: 1
 135: l0 -> l6 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, (a_220^0 >= 0 /\ len_205^0 >= 0), cost: 1
 130: l2 -> l3 : -1+lt_17^0 >= 0, cost: 1
 131: l2 -> l3 : 1+lt_17^0 <= 0, cost: 1
 132: l3 -> l4 : -1+r_167^0 >= 0, cost: 1
 133: l3 -> l4 : 1+r_167^0 <= 0, cost: 1
 134: l4 -> l1 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 174: l1 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, len_297^0 >= 0, cost: 1
 136: l6 -> l7 : -1+c_28^0 >= 0, cost: 1
 137: l6 -> l7 : 1+c_28^0 <= 0, cost: 1
 138: l7 -> l8 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, -head_13^0+l_27^0 == 0, cost: 1
 139: l8 -> l9 : -1+t_30^0 >= 0, cost: 1
 140: l8 -> l9 : 1+t_30^0 <= 0, cost: 1
 141: l9 -> l10 : -1+r_167^0 >= 0, cost: 1
 142: l9 -> l10 : 1+r_167^0 <= 0, cost: 1
 143: l10 -> l11 : -1+r_266^0 >= 0, cost: 1
 144: l10 -> l11 : 1+r_266^0 <= 0, cost: 1
 145: l11 -> l12 : -1+r_274^0 >= 0, cost: 1
 146: l11 -> l12 : 1+r_274^0 <= 0, cost: 1
 147: l12 -> l5 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 148: l5 -> l0 : TRUE, cost: 1
 149: l33 -> l47 : i_33^0'=2, head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_32^0, temp_38^0'=temp_38^post74, rcd_70^0'=rcd_70^post74, (-2+length_32^0 >= 0 /\ -1+i_33^0 == 0), cost: 1
 150: l47 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, (-i_33^0+length_32^0 <= 0 /\ -i_33^0 <= 0 /\ -2+i_120^0 >= 0), cost: 1
 159: l47 -> l53 : i_33^0'=1+i_33^0, head_35^0'=temp_38^0, rcd_113^0'=rcd_46^0, tmp_37^0'=temp_38^0, rcd_105^0'=rcd_105^post84, i_111^0'=i_33^0, temp_38^0'=temp_38^post84, (i_33^0 >= 0 /\ 1+i_33^0-length_32^0 <= 0), cost: 1
 151: l48 -> l49 : -1+c_28^0 >= 0, cost: 1
 152: l48 -> l49 : 1+c_28^0 <= 0, cost: 1
 153: l49 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0), cost: 1
 154: l50 -> l51 : -1+t_30^0 >= 0, cost: 1
 155: l50 -> l51 : 1+t_30^0 <= 0, cost: 1
 156: l51 -> l52 : -1+r_167^0 >= 0, cost: 1
 157: l51 -> l52 : 1+r_167^0 <= 0, cost: 1
 158: l52 -> l0 : i_120^0'=1+a_148^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
 160: l53 -> l47 : TRUE, cost: 1
 161: l54 -> l33 : i_33^0'=1+i_33^0, head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_32^0, temp_38^0'=temp_38^post86, (i_33^0 == 0 /\ -1+length_32^0 >= 0), cost: 1
 162: l55 -> l57 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, a_358^0 >= 0, cost: 1
 163: l57 -> l58 : 1-x_23^0+y_22^0 <= 0, cost: 1
 164: l57 -> l58 : 1+x_23^0-y_22^0 <= 0, cost: 1
 165: l58 -> l59 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, (x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 1
 166: l59 -> l60 : -1+lt_17^0 >= 0, cost: 1
 167: l59 -> l60 : 1+lt_17^0 <= 0, cost: 1
 168: l60 -> l61 : 1-y_22^0+lt_17^0 <= 0, cost: 1
 169: l60 -> l61 : 1+y_22^0-lt_17^0 <= 0, cost: 1
 170: l61 -> l62 : 1-t_24^0+y_22^0 <= 0, cost: 1
 171: l61 -> l62 : 1+t_24^0-y_22^0 <= 0, cost: 1
 172: l62 -> l56 : a_358^0'=a_388^0, rcd_46^0'=rcd_387^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 173: l56 -> l55 : TRUE, cost: 1
 175: l72 -> l73 : 1-x_23^0+y_22^0 <= 0, cost: 1
 176: l72 -> l73 : 1+x_23^0-y_22^0 <= 0, cost: 1
 177: l73 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, (-rcd_363^0+rcd_46^0 == 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 1
 178: l74 -> l75 : -1+lt_17^0 >= 0, cost: 1
 179: l74 -> l75 : 1+lt_17^0 <= 0, cost: 1
 180: l75 -> l76 : 1-y_22^0+lt_17^0 <= 0, cost: 1
 181: l75 -> l76 : 1+y_22^0-lt_17^0 <= 0, cost: 1
 182: l76 -> l77 : 1-t_24^0+y_22^0 <= 0, cost: 1
 183: l76 -> l77 : 1+t_24^0-y_22^0 <= 0, cost: 1
 184: l77 -> l55 : len_297^0'=1+a_332^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 185: l78 -> l54 : i_33^0'=0, head_35^0'=0, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, 0 == 0, cost: 1
 186: l79 -> l78 : TRUE, cost: 1


Eliminating location l78 by chaining:

Applied chaining
First rule:
l79 -> l78 : TRUE, cost: 1
Second rule:
l78 -> l54 : i_33^0'=0, head_35^0'=0, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, 0 == 0, cost: 1
New rule:
l79 -> l54 : i_33^0'=0, head_35^0'=0, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, 0 == 0, cost: 2

Applied deletion
Removed the following rules: 185 186

Eliminating location l54 by chaining:

Applied chaining
First rule:
l79 -> l54 : i_33^0'=0, head_35^0'=0, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, 0 == 0, cost: 2
Second rule:
l54 -> l33 : i_33^0'=1+i_33^0, head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_32^0, temp_38^0'=temp_38^post86, (i_33^0 == 0 /\ -1+length_32^0 >= 0), cost: 1
New rule:
l79 -> l33 : i_33^0'=1, head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^0, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post86, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3

Applied simplification
Original rule:
l79 -> l33 : i_33^0'=1, head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^0, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post86, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3
New rule:
l79 -> l33 : i_33^0'=1, head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^0, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post86, -1+nondet_12^10 >= 0, cost: 3

Applied deletion
Removed the following rules: 161 187

Eliminating location l33 by chaining:

Applied chaining
First rule:
l79 -> l33 : i_33^0'=1, head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^0, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post86, -1+nondet_12^10 >= 0, cost: 3
Second rule:
l33 -> l47 : i_33^0'=2, head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_32^0, temp_38^0'=temp_38^post74, rcd_70^0'=rcd_70^post74, (-2+length_32^0 >= 0 /\ -1+i_33^0 == 0), cost: 1
New rule:
l79 -> l47 : i_33^0'=2, head_35^0'=temp_38^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post86, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^post86, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post74, rcd_70^0'=rcd_70^post74, (0 == 0 /\ -1+nondet_12^10 >= 0 /\ -2+nondet_12^10 >= 0), cost: 4

Applied simplification
Original rule:
l79 -> l47 : i_33^0'=2, head_35^0'=temp_38^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post86, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^post86, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post74, rcd_70^0'=rcd_70^post74, (0 == 0 /\ -1+nondet_12^10 >= 0 /\ -2+nondet_12^10 >= 0), cost: 4
New rule:
l79 -> l47 : i_33^0'=2, head_35^0'=temp_38^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post86, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^post86, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post74, rcd_70^0'=rcd_70^post74, -2+nondet_12^10 >= 0, cost: 4

Applied deletion
Removed the following rules: 149 188

Eliminating location l53 by chaining:

Applied chaining
First rule:
l47 -> l53 : i_33^0'=1+i_33^0, head_35^0'=temp_38^0, rcd_113^0'=rcd_46^0, tmp_37^0'=temp_38^0, rcd_105^0'=rcd_105^post84, i_111^0'=i_33^0, temp_38^0'=temp_38^post84, (i_33^0 >= 0 /\ 1+i_33^0-length_32^0 <= 0), cost: 1
Second rule:
l53 -> l47 : TRUE, cost: 1
New rule:
l47 -> l47 : i_33^0'=1+i_33^0, head_35^0'=temp_38^0, rcd_113^0'=rcd_46^0, tmp_37^0'=temp_38^0, rcd_105^0'=rcd_105^post84, i_111^0'=i_33^0, temp_38^0'=temp_38^post84, (i_33^0 >= 0 /\ 1+i_33^0-length_32^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 159 160

Eliminating location l1 by chaining:

Applied chaining
First rule:
l4 -> l1 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
Second rule:
l1 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, len_297^0 >= 0, cost: 1
New rule:
l4 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_297^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 134 174

Eliminating location l56 by chaining:

Applied chaining
First rule:
l62 -> l56 : a_358^0'=a_388^0, rcd_46^0'=rcd_387^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
Second rule:
l56 -> l55 : TRUE, cost: 1
New rule:
l62 -> l55 : a_358^0'=a_388^0, rcd_46^0'=rcd_387^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 172 173

Eliminating location l5 by chaining:

Applied chaining
First rule:
l12 -> l5 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
Second rule:
l5 -> l0 : TRUE, cost: 1
New rule:
l12 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 147 148

Eliminated locations on linear paths
Start location: l79
 129: l0 -> l2 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0), cost: 1
 135: l0 -> l6 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, (a_220^0 >= 0 /\ len_205^0 >= 0), cost: 1
 130: l2 -> l3 : -1+lt_17^0 >= 0, cost: 1
 131: l2 -> l3 : 1+lt_17^0 <= 0, cost: 1
 132: l3 -> l4 : -1+r_167^0 >= 0, cost: 1
 133: l3 -> l4 : 1+r_167^0 <= 0, cost: 1
 191: l4 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_297^0 >= 0), cost: 2
 136: l6 -> l7 : -1+c_28^0 >= 0, cost: 1
 137: l6 -> l7 : 1+c_28^0 <= 0, cost: 1
 138: l7 -> l8 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, -head_13^0+l_27^0 == 0, cost: 1
 139: l8 -> l9 : -1+t_30^0 >= 0, cost: 1
 140: l8 -> l9 : 1+t_30^0 <= 0, cost: 1
 141: l9 -> l10 : -1+r_167^0 >= 0, cost: 1
 142: l9 -> l10 : 1+r_167^0 <= 0, cost: 1
 143: l10 -> l11 : -1+r_266^0 >= 0, cost: 1
 144: l10 -> l11 : 1+r_266^0 <= 0, cost: 1
 145: l11 -> l12 : -1+r_274^0 >= 0, cost: 1
 146: l11 -> l12 : 1+r_274^0 <= 0, cost: 1
 193: l12 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
 150: l47 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, (-i_33^0+length_32^0 <= 0 /\ -i_33^0 <= 0 /\ -2+i_120^0 >= 0), cost: 1
 190: l47 -> l47 : i_33^0'=1+i_33^0, head_35^0'=temp_38^0, rcd_113^0'=rcd_46^0, tmp_37^0'=temp_38^0, rcd_105^0'=rcd_105^post84, i_111^0'=i_33^0, temp_38^0'=temp_38^post84, (i_33^0 >= 0 /\ 1+i_33^0-length_32^0 <= 0), cost: 2
 151: l48 -> l49 : -1+c_28^0 >= 0, cost: 1
 152: l48 -> l49 : 1+c_28^0 <= 0, cost: 1
 153: l49 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0), cost: 1
 154: l50 -> l51 : -1+t_30^0 >= 0, cost: 1
 155: l50 -> l51 : 1+t_30^0 <= 0, cost: 1
 156: l51 -> l52 : -1+r_167^0 >= 0, cost: 1
 157: l51 -> l52 : 1+r_167^0 <= 0, cost: 1
 158: l52 -> l0 : i_120^0'=1+a_148^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
 162: l55 -> l57 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, a_358^0 >= 0, cost: 1
 163: l57 -> l58 : 1-x_23^0+y_22^0 <= 0, cost: 1
 164: l57 -> l58 : 1+x_23^0-y_22^0 <= 0, cost: 1
 165: l58 -> l59 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, (x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 1
 166: l59 -> l60 : -1+lt_17^0 >= 0, cost: 1
 167: l59 -> l60 : 1+lt_17^0 <= 0, cost: 1
 168: l60 -> l61 : 1-y_22^0+lt_17^0 <= 0, cost: 1
 169: l60 -> l61 : 1+y_22^0-lt_17^0 <= 0, cost: 1
 170: l61 -> l62 : 1-t_24^0+y_22^0 <= 0, cost: 1
 171: l61 -> l62 : 1+t_24^0-y_22^0 <= 0, cost: 1
 192: l62 -> l55 : a_358^0'=a_388^0, rcd_46^0'=rcd_387^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
 175: l72 -> l73 : 1-x_23^0+y_22^0 <= 0, cost: 1
 176: l72 -> l73 : 1+x_23^0-y_22^0 <= 0, cost: 1
 177: l73 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, (-rcd_363^0+rcd_46^0 == 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 1
 178: l74 -> l75 : -1+lt_17^0 >= 0, cost: 1
 179: l74 -> l75 : 1+lt_17^0 <= 0, cost: 1
 180: l75 -> l76 : 1-y_22^0+lt_17^0 <= 0, cost: 1
 181: l75 -> l76 : 1+y_22^0-lt_17^0 <= 0, cost: 1
 182: l76 -> l77 : 1-t_24^0+y_22^0 <= 0, cost: 1
 183: l76 -> l77 : 1+t_24^0-y_22^0 <= 0, cost: 1
 184: l77 -> l55 : len_297^0'=1+a_332^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 189: l79 -> l47 : i_33^0'=2, head_35^0'=temp_38^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post86, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^post86, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post74, rcd_70^0'=rcd_70^post74, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l47 -> l47 : i_33^0'=1+i_33^0, head_35^0'=temp_38^0, rcd_113^0'=rcd_46^0, tmp_37^0'=temp_38^0, rcd_105^0'=rcd_105^post84, i_111^0'=i_33^0, temp_38^0'=temp_38^post84, (i_33^0 >= 0 /\ 1+i_33^0-length_32^0 <= 0), cost: 2
New rule:
l47 -> l47 : i_33^0'=i_33^0+n0, head_35^0'=temp_38^post84, rcd_113^0'=rcd_46^0, tmp_37^0'=temp_38^post84, rcd_105^0'=rcd_105^post84, i_111^0'=-1+i_33^0+n0, temp_38^0'=temp_38^post84, (i_33^0 >= 0 /\ -2+n0 >= 0 /\ -i_33^0-n0+length_32^0 >= 0), cost: 2*n0

Applied instantiation
Original rule:
l47 -> l47 : i_33^0'=i_33^0+n0, head_35^0'=temp_38^post84, rcd_113^0'=rcd_46^0, tmp_37^0'=temp_38^post84, rcd_105^0'=rcd_105^post84, i_111^0'=-1+i_33^0+n0, temp_38^0'=temp_38^post84, (i_33^0 >= 0 /\ -2+n0 >= 0 /\ -i_33^0-n0+length_32^0 >= 0), cost: 2*n0
New rule:
l47 -> l47 : i_33^0'=length_32^0, head_35^0'=temp_38^post84, rcd_113^0'=rcd_46^0, tmp_37^0'=temp_38^post84, rcd_105^0'=rcd_105^post84, i_111^0'=-1+length_32^0, temp_38^0'=temp_38^post84, (0 >= 0 /\ i_33^0 >= 0 /\ -2-i_33^0+length_32^0 >= 0), cost: -2*i_33^0+2*length_32^0

Applied simplification
Original rule:
l47 -> l47 : i_33^0'=length_32^0, head_35^0'=temp_38^post84, rcd_113^0'=rcd_46^0, tmp_37^0'=temp_38^post84, rcd_105^0'=rcd_105^post84, i_111^0'=-1+length_32^0, temp_38^0'=temp_38^post84, (0 >= 0 /\ i_33^0 >= 0 /\ -2-i_33^0+length_32^0 >= 0), cost: -2*i_33^0+2*length_32^0
New rule:
l47 -> l47 : i_33^0'=length_32^0, head_35^0'=temp_38^post84, rcd_113^0'=rcd_46^0, tmp_37^0'=temp_38^post84, rcd_105^0'=rcd_105^post84, i_111^0'=-1+length_32^0, temp_38^0'=temp_38^post84, (i_33^0 >= 0 /\ -2-i_33^0+length_32^0 >= 0), cost: -2*i_33^0+2*length_32^0

Applied deletion
Removed the following rules: 190

Accelerated simple loops
Start location: l79
 129: l0 -> l2 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0), cost: 1
 135: l0 -> l6 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, (a_220^0 >= 0 /\ len_205^0 >= 0), cost: 1
 130: l2 -> l3 : -1+lt_17^0 >= 0, cost: 1
 131: l2 -> l3 : 1+lt_17^0 <= 0, cost: 1
 132: l3 -> l4 : -1+r_167^0 >= 0, cost: 1
 133: l3 -> l4 : 1+r_167^0 <= 0, cost: 1
 191: l4 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_297^0 >= 0), cost: 2
 136: l6 -> l7 : -1+c_28^0 >= 0, cost: 1
 137: l6 -> l7 : 1+c_28^0 <= 0, cost: 1
 138: l7 -> l8 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, -head_13^0+l_27^0 == 0, cost: 1
 139: l8 -> l9 : -1+t_30^0 >= 0, cost: 1
 140: l8 -> l9 : 1+t_30^0 <= 0, cost: 1
 141: l9 -> l10 : -1+r_167^0 >= 0, cost: 1
 142: l9 -> l10 : 1+r_167^0 <= 0, cost: 1
 143: l10 -> l11 : -1+r_266^0 >= 0, cost: 1
 144: l10 -> l11 : 1+r_266^0 <= 0, cost: 1
 145: l11 -> l12 : -1+r_274^0 >= 0, cost: 1
 146: l11 -> l12 : 1+r_274^0 <= 0, cost: 1
 193: l12 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
 150: l47 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, (-i_33^0+length_32^0 <= 0 /\ -i_33^0 <= 0 /\ -2+i_120^0 >= 0), cost: 1
 195: l47 -> l47 : i_33^0'=length_32^0, head_35^0'=temp_38^post84, rcd_113^0'=rcd_46^0, tmp_37^0'=temp_38^post84, rcd_105^0'=rcd_105^post84, i_111^0'=-1+length_32^0, temp_38^0'=temp_38^post84, (i_33^0 >= 0 /\ -2-i_33^0+length_32^0 >= 0), cost: -2*i_33^0+2*length_32^0
 151: l48 -> l49 : -1+c_28^0 >= 0, cost: 1
 152: l48 -> l49 : 1+c_28^0 <= 0, cost: 1
 153: l49 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0), cost: 1
 154: l50 -> l51 : -1+t_30^0 >= 0, cost: 1
 155: l50 -> l51 : 1+t_30^0 <= 0, cost: 1
 156: l51 -> l52 : -1+r_167^0 >= 0, cost: 1
 157: l51 -> l52 : 1+r_167^0 <= 0, cost: 1
 158: l52 -> l0 : i_120^0'=1+a_148^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
 162: l55 -> l57 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, a_358^0 >= 0, cost: 1
 163: l57 -> l58 : 1-x_23^0+y_22^0 <= 0, cost: 1
 164: l57 -> l58 : 1+x_23^0-y_22^0 <= 0, cost: 1
 165: l58 -> l59 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, (x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 1
 166: l59 -> l60 : -1+lt_17^0 >= 0, cost: 1
 167: l59 -> l60 : 1+lt_17^0 <= 0, cost: 1
 168: l60 -> l61 : 1-y_22^0+lt_17^0 <= 0, cost: 1
 169: l60 -> l61 : 1+y_22^0-lt_17^0 <= 0, cost: 1
 170: l61 -> l62 : 1-t_24^0+y_22^0 <= 0, cost: 1
 171: l61 -> l62 : 1+t_24^0-y_22^0 <= 0, cost: 1
 192: l62 -> l55 : a_358^0'=a_388^0, rcd_46^0'=rcd_387^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
 175: l72 -> l73 : 1-x_23^0+y_22^0 <= 0, cost: 1
 176: l72 -> l73 : 1+x_23^0-y_22^0 <= 0, cost: 1
 177: l73 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, (-rcd_363^0+rcd_46^0 == 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 1
 178: l74 -> l75 : -1+lt_17^0 >= 0, cost: 1
 179: l74 -> l75 : 1+lt_17^0 <= 0, cost: 1
 180: l75 -> l76 : 1-y_22^0+lt_17^0 <= 0, cost: 1
 181: l75 -> l76 : 1+y_22^0-lt_17^0 <= 0, cost: 1
 182: l76 -> l77 : 1-t_24^0+y_22^0 <= 0, cost: 1
 183: l76 -> l77 : 1+t_24^0-y_22^0 <= 0, cost: 1
 184: l77 -> l55 : len_297^0'=1+a_332^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 189: l79 -> l47 : i_33^0'=2, head_35^0'=temp_38^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post86, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^post86, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post74, rcd_70^0'=rcd_70^post74, -2+nondet_12^10 >= 0, cost: 4


Applied chaining
First rule:
l79 -> l47 : i_33^0'=2, head_35^0'=temp_38^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post86, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^post86, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post74, rcd_70^0'=rcd_70^post74, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l47 -> l47 : i_33^0'=length_32^0, head_35^0'=temp_38^post84, rcd_113^0'=rcd_46^0, tmp_37^0'=temp_38^post84, rcd_105^0'=rcd_105^post84, i_111^0'=-1+length_32^0, temp_38^0'=temp_38^post84, (i_33^0 >= 0 /\ -2-i_33^0+length_32^0 >= 0), cost: -2*i_33^0+2*length_32^0
New rule:
l79 -> l47 : i_33^0'=nondet_12^10, head_35^0'=temp_38^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post86, rcd_113^0'=rcd_46^0, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^post84, rcd_105^0'=rcd_105^post84, i_111^0'=-1+nondet_12^10, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post84, rcd_70^0'=rcd_70^post74, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10

Applied deletion
Removed the following rules: 195

Chained accelerated rules with incoming rules
Start location: l79
 129: l0 -> l2 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0), cost: 1
 135: l0 -> l6 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, (a_220^0 >= 0 /\ len_205^0 >= 0), cost: 1
 130: l2 -> l3 : -1+lt_17^0 >= 0, cost: 1
 131: l2 -> l3 : 1+lt_17^0 <= 0, cost: 1
 132: l3 -> l4 : -1+r_167^0 >= 0, cost: 1
 133: l3 -> l4 : 1+r_167^0 <= 0, cost: 1
 191: l4 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_297^0 >= 0), cost: 2
 136: l6 -> l7 : -1+c_28^0 >= 0, cost: 1
 137: l6 -> l7 : 1+c_28^0 <= 0, cost: 1
 138: l7 -> l8 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, -head_13^0+l_27^0 == 0, cost: 1
 139: l8 -> l9 : -1+t_30^0 >= 0, cost: 1
 140: l8 -> l9 : 1+t_30^0 <= 0, cost: 1
 141: l9 -> l10 : -1+r_167^0 >= 0, cost: 1
 142: l9 -> l10 : 1+r_167^0 <= 0, cost: 1
 143: l10 -> l11 : -1+r_266^0 >= 0, cost: 1
 144: l10 -> l11 : 1+r_266^0 <= 0, cost: 1
 145: l11 -> l12 : -1+r_274^0 >= 0, cost: 1
 146: l11 -> l12 : 1+r_274^0 <= 0, cost: 1
 193: l12 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
 150: l47 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, (-i_33^0+length_32^0 <= 0 /\ -i_33^0 <= 0 /\ -2+i_120^0 >= 0), cost: 1
 151: l48 -> l49 : -1+c_28^0 >= 0, cost: 1
 152: l48 -> l49 : 1+c_28^0 <= 0, cost: 1
 153: l49 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0), cost: 1
 154: l50 -> l51 : -1+t_30^0 >= 0, cost: 1
 155: l50 -> l51 : 1+t_30^0 <= 0, cost: 1
 156: l51 -> l52 : -1+r_167^0 >= 0, cost: 1
 157: l51 -> l52 : 1+r_167^0 <= 0, cost: 1
 158: l52 -> l0 : i_120^0'=1+a_148^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
 162: l55 -> l57 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, a_358^0 >= 0, cost: 1
 163: l57 -> l58 : 1-x_23^0+y_22^0 <= 0, cost: 1
 164: l57 -> l58 : 1+x_23^0-y_22^0 <= 0, cost: 1
 165: l58 -> l59 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, (x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 1
 166: l59 -> l60 : -1+lt_17^0 >= 0, cost: 1
 167: l59 -> l60 : 1+lt_17^0 <= 0, cost: 1
 168: l60 -> l61 : 1-y_22^0+lt_17^0 <= 0, cost: 1
 169: l60 -> l61 : 1+y_22^0-lt_17^0 <= 0, cost: 1
 170: l61 -> l62 : 1-t_24^0+y_22^0 <= 0, cost: 1
 171: l61 -> l62 : 1+t_24^0-y_22^0 <= 0, cost: 1
 192: l62 -> l55 : a_358^0'=a_388^0, rcd_46^0'=rcd_387^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
 175: l72 -> l73 : 1-x_23^0+y_22^0 <= 0, cost: 1
 176: l72 -> l73 : 1+x_23^0-y_22^0 <= 0, cost: 1
 177: l73 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, (-rcd_363^0+rcd_46^0 == 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 1
 178: l74 -> l75 : -1+lt_17^0 >= 0, cost: 1
 179: l74 -> l75 : 1+lt_17^0 <= 0, cost: 1
 180: l75 -> l76 : 1-y_22^0+lt_17^0 <= 0, cost: 1
 181: l75 -> l76 : 1+y_22^0-lt_17^0 <= 0, cost: 1
 182: l76 -> l77 : 1-t_24^0+y_22^0 <= 0, cost: 1
 183: l76 -> l77 : 1+t_24^0-y_22^0 <= 0, cost: 1
 184: l77 -> l55 : len_297^0'=1+a_332^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 189: l79 -> l47 : i_33^0'=2, head_35^0'=temp_38^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post86, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^post86, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post74, rcd_70^0'=rcd_70^post74, -2+nondet_12^10 >= 0, cost: 4
 196: l79 -> l47 : i_33^0'=nondet_12^10, head_35^0'=temp_38^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post86, rcd_113^0'=rcd_46^0, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^post84, rcd_105^0'=rcd_105^post84, i_111^0'=-1+nondet_12^10, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post84, rcd_70^0'=rcd_70^post74, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10


Eliminating location l47 by chaining:

Applied chaining
First rule:
l79 -> l47 : i_33^0'=2, head_35^0'=temp_38^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post86, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^post86, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post74, rcd_70^0'=rcd_70^post74, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l47 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, (-i_33^0+length_32^0 <= 0 /\ -i_33^0 <= 0 /\ -2+i_120^0 >= 0), cost: 1
New rule:
l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2 <= 0 /\ -2+i_120^0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5

Applied simplification
Original rule:
l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2 <= 0 /\ -2+i_120^0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
New rule:
l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5

Applied chaining
First rule:
l79 -> l47 : i_33^0'=nondet_12^10, head_35^0'=temp_38^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post86, rcd_113^0'=rcd_46^0, length_32^0'=nondet_12^10, tmp_37^0'=temp_38^post84, rcd_105^0'=rcd_105^post84, i_111^0'=-1+nondet_12^10, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post84, rcd_70^0'=rcd_70^post74, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10
Second rule:
l47 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, (-i_33^0+length_32^0 <= 0 /\ -i_33^0 <= 0 /\ -2+i_120^0 >= 0), cost: 1
New rule:
l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (0 <= 0 /\ -nondet_12^10 <= 0 /\ -2+i_120^0 >= 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10

Applied simplification
Original rule:
l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (0 <= 0 /\ -nondet_12^10 <= 0 /\ -2+i_120^0 >= 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10
New rule:
l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10

Applied deletion
Removed the following rules: 150 189 196

Eliminating location l49 by chaining:

Applied chaining
First rule:
l48 -> l49 : -1+c_28^0 >= 0, cost: 1
Second rule:
l49 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0), cost: 1
New rule:
l48 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0 /\ -1+c_28^0 >= 0), cost: 2

Applied chaining
First rule:
l48 -> l49 : 1+c_28^0 <= 0, cost: 1
Second rule:
l49 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0), cost: 1
New rule:
l48 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ 1+c_28^0 <= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0), cost: 2

Applied deletion
Removed the following rules: 151 152 153

Eliminating location l51 by chaining:

Applied chaining
First rule:
l50 -> l51 : -1+t_30^0 >= 0, cost: 1
Second rule:
l51 -> l52 : -1+r_167^0 >= 0, cost: 1
New rule:
l50 -> l52 : (-1+r_167^0 >= 0 /\ -1+t_30^0 >= 0), cost: 2

Applied chaining
First rule:
l50 -> l51 : -1+t_30^0 >= 0, cost: 1
Second rule:
l51 -> l52 : 1+r_167^0 <= 0, cost: 1
New rule:
l50 -> l52 : (-1+t_30^0 >= 0 /\ 1+r_167^0 <= 0), cost: 2

Applied chaining
First rule:
l50 -> l51 : 1+t_30^0 <= 0, cost: 1
Second rule:
l51 -> l52 : -1+r_167^0 >= 0, cost: 1
New rule:
l50 -> l52 : (-1+r_167^0 >= 0 /\ 1+t_30^0 <= 0), cost: 2

Applied chaining
First rule:
l50 -> l51 : 1+t_30^0 <= 0, cost: 1
Second rule:
l51 -> l52 : 1+r_167^0 <= 0, cost: 1
New rule:
l50 -> l52 : (1+r_167^0 <= 0 /\ 1+t_30^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 154 155 156 157

Eliminating location l2 by chaining:

Applied chaining
First rule:
l0 -> l2 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0), cost: 1
Second rule:
l2 -> l3 : -1+lt_17^0 >= 0, cost: 1
New rule:
l0 -> l3 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0), cost: 2

Applied chaining
First rule:
l0 -> l2 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0), cost: 1
Second rule:
l2 -> l3 : 1+lt_17^0 <= 0, cost: 1
New rule:
l0 -> l3 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 129 130 131

Eliminating location l6 by chaining:

Applied chaining
First rule:
l0 -> l6 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, (a_220^0 >= 0 /\ len_205^0 >= 0), cost: 1
Second rule:
l6 -> l7 : -1+c_28^0 >= 0, cost: 1
New rule:
l0 -> l7 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, (a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0), cost: 2

Applied chaining
First rule:
l0 -> l6 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, (a_220^0 >= 0 /\ len_205^0 >= 0), cost: 1
Second rule:
l6 -> l7 : 1+c_28^0 <= 0, cost: 1
New rule:
l0 -> l7 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 135 136 137

Eliminating location l4 by chaining:

Applied chaining
First rule:
l3 -> l4 : -1+r_167^0 >= 0, cost: 1
Second rule:
l4 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_297^0 >= 0), cost: 2
New rule:
l3 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_167^0 >= 0 /\ len_297^0 >= 0), cost: 3

Applied chaining
First rule:
l3 -> l4 : 1+r_167^0 <= 0, cost: 1
Second rule:
l4 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ len_297^0 >= 0), cost: 2
New rule:
l3 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_167^0 <= 0 /\ len_297^0 >= 0), cost: 3

Applied deletion
Removed the following rules: 132 133 191

Eliminating location l73 by chaining:

Applied chaining
First rule:
l72 -> l73 : 1-x_23^0+y_22^0 <= 0, cost: 1
Second rule:
l73 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, (-rcd_363^0+rcd_46^0 == 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 1
New rule:
l72 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, (-rcd_363^0+rcd_46^0 == 0 /\ 1-x_23^0+y_22^0 <= 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 2

Applied chaining
First rule:
l72 -> l73 : 1+x_23^0-y_22^0 <= 0, cost: 1
Second rule:
l73 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, (-rcd_363^0+rcd_46^0 == 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 1
New rule:
l72 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, (-rcd_363^0+rcd_46^0 == 0 /\ 1+x_23^0-y_22^0 <= 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 2

Applied deletion
Removed the following rules: 175 176 177

Eliminating location l75 by chaining:

Applied chaining
First rule:
l74 -> l75 : -1+lt_17^0 >= 0, cost: 1
Second rule:
l75 -> l76 : 1-y_22^0+lt_17^0 <= 0, cost: 1
New rule:
l74 -> l76 : (1-y_22^0+lt_17^0 <= 0 /\ -1+lt_17^0 >= 0), cost: 2

Applied chaining
First rule:
l74 -> l75 : -1+lt_17^0 >= 0, cost: 1
Second rule:
l75 -> l76 : 1+y_22^0-lt_17^0 <= 0, cost: 1
New rule:
l74 -> l76 : (1+y_22^0-lt_17^0 <= 0 /\ -1+lt_17^0 >= 0), cost: 2

Applied chaining
First rule:
l74 -> l75 : 1+lt_17^0 <= 0, cost: 1
Second rule:
l75 -> l76 : 1-y_22^0+lt_17^0 <= 0, cost: 1
New rule:
l74 -> l76 : (1-y_22^0+lt_17^0 <= 0 /\ 1+lt_17^0 <= 0), cost: 2

Applied chaining
First rule:
l74 -> l75 : 1+lt_17^0 <= 0, cost: 1
Second rule:
l75 -> l76 : 1+y_22^0-lt_17^0 <= 0, cost: 1
New rule:
l74 -> l76 : (1+y_22^0-lt_17^0 <= 0 /\ 1+lt_17^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 178 179 180 181

Eliminating location l77 by chaining:

Applied chaining
First rule:
l76 -> l77 : 1-t_24^0+y_22^0 <= 0, cost: 1
Second rule:
l77 -> l55 : len_297^0'=1+a_332^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
New rule:
l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 2

Applied chaining
First rule:
l76 -> l77 : 1+t_24^0-y_22^0 <= 0, cost: 1
Second rule:
l77 -> l55 : len_297^0'=1+a_332^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
New rule:
l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+t_24^0-y_22^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 182 183 184

Eliminating location l57 by chaining:

Applied chaining
First rule:
l55 -> l57 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, a_358^0 >= 0, cost: 1
Second rule:
l57 -> l58 : 1-x_23^0+y_22^0 <= 0, cost: 1
New rule:
l55 -> l58 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0), cost: 2

Applied chaining
First rule:
l55 -> l57 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, a_358^0 >= 0, cost: 1
Second rule:
l57 -> l58 : 1+x_23^0-y_22^0 <= 0, cost: 1
New rule:
l55 -> l58 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 162 163 164

Eliminating location l59 by chaining:

Applied chaining
First rule:
l58 -> l59 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, (x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 1
Second rule:
l59 -> l60 : -1+lt_17^0 >= 0, cost: 1
New rule:
l58 -> l60 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, (x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ -1+lt_17^0 >= 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 2

Applied chaining
First rule:
l58 -> l59 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, (x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 1
Second rule:
l59 -> l60 : 1+lt_17^0 <= 0, cost: 1
New rule:
l58 -> l60 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, (1+lt_17^0 <= 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 2

Applied deletion
Removed the following rules: 165 166 167

Eliminating location l61 by chaining:

Applied chaining
First rule:
l60 -> l61 : 1-y_22^0+lt_17^0 <= 0, cost: 1
Second rule:
l61 -> l62 : 1-t_24^0+y_22^0 <= 0, cost: 1
New rule:
l60 -> l62 : (1-y_22^0+lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 2

Applied chaining
First rule:
l60 -> l61 : 1-y_22^0+lt_17^0 <= 0, cost: 1
Second rule:
l61 -> l62 : 1+t_24^0-y_22^0 <= 0, cost: 1
New rule:
l60 -> l62 : (1-y_22^0+lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0), cost: 2

Applied chaining
First rule:
l60 -> l61 : 1+y_22^0-lt_17^0 <= 0, cost: 1
Second rule:
l61 -> l62 : 1-t_24^0+y_22^0 <= 0, cost: 1
New rule:
l60 -> l62 : (1+y_22^0-lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 2

Applied chaining
First rule:
l60 -> l61 : 1+y_22^0-lt_17^0 <= 0, cost: 1
Second rule:
l61 -> l62 : 1+t_24^0-y_22^0 <= 0, cost: 1
New rule:
l60 -> l62 : (1+y_22^0-lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 168 169 170 171

Eliminating location l8 by chaining:

Applied chaining
First rule:
l7 -> l8 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, -head_13^0+l_27^0 == 0, cost: 1
Second rule:
l8 -> l9 : -1+t_30^0 >= 0, cost: 1
New rule:
l7 -> l9 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^0+l_27^0 == 0 /\ -1+c_28^0 >= 0), cost: 2

Applied chaining
First rule:
l7 -> l8 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, -head_13^0+l_27^0 == 0, cost: 1
Second rule:
l8 -> l9 : 1+t_30^0 <= 0, cost: 1
New rule:
l7 -> l9 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (1+c_28^0 <= 0 /\ -head_13^0+l_27^0 == 0), cost: 2

Applied deletion
Removed the following rules: 138 139 140

Eliminating location l10 by chaining:

Applied chaining
First rule:
l9 -> l10 : -1+r_167^0 >= 0, cost: 1
Second rule:
l10 -> l11 : -1+r_266^0 >= 0, cost: 1
New rule:
l9 -> l11 : (-1+r_266^0 >= 0 /\ -1+r_167^0 >= 0), cost: 2

Applied chaining
First rule:
l9 -> l10 : -1+r_167^0 >= 0, cost: 1
Second rule:
l10 -> l11 : 1+r_266^0 <= 0, cost: 1
New rule:
l9 -> l11 : (-1+r_167^0 >= 0 /\ 1+r_266^0 <= 0), cost: 2

Applied chaining
First rule:
l9 -> l10 : 1+r_167^0 <= 0, cost: 1
Second rule:
l10 -> l11 : -1+r_266^0 >= 0, cost: 1
New rule:
l9 -> l11 : (-1+r_266^0 >= 0 /\ 1+r_167^0 <= 0), cost: 2

Applied chaining
First rule:
l9 -> l10 : 1+r_167^0 <= 0, cost: 1
Second rule:
l10 -> l11 : 1+r_266^0 <= 0, cost: 1
New rule:
l9 -> l11 : (1+r_167^0 <= 0 /\ 1+r_266^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 141 142 143 144

Eliminating location l12 by chaining:

Applied chaining
First rule:
l11 -> l12 : -1+r_274^0 >= 0, cost: 1
Second rule:
l12 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
New rule:
l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_274^0 >= 0), cost: 3

Applied chaining
First rule:
l11 -> l12 : 1+r_274^0 <= 0, cost: 1
Second rule:
l12 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
New rule:
l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_274^0 <= 0), cost: 3

Applied deletion
Removed the following rules: 145 146 193

Eliminated locations on tree-shaped paths
Start location: l79
 205: l0 -> l3 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0), cost: 2
 206: l0 -> l3 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0), cost: 2
 207: l0 -> l7 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, (a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0), cost: 2
 208: l0 -> l7 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0), cost: 2
 209: l3 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_167^0 >= 0 /\ len_297^0 >= 0), cost: 3
 210: l3 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_167^0 <= 0 /\ len_297^0 >= 0), cost: 3
 227: l7 -> l9 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^0+l_27^0 == 0 /\ -1+c_28^0 >= 0), cost: 2
 228: l7 -> l9 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (1+c_28^0 <= 0 /\ -head_13^0+l_27^0 == 0), cost: 2
 229: l9 -> l11 : (-1+r_266^0 >= 0 /\ -1+r_167^0 >= 0), cost: 2
 230: l9 -> l11 : (-1+r_167^0 >= 0 /\ 1+r_266^0 <= 0), cost: 2
 231: l9 -> l11 : (-1+r_266^0 >= 0 /\ 1+r_167^0 <= 0), cost: 2
 232: l9 -> l11 : (1+r_167^0 <= 0 /\ 1+r_266^0 <= 0), cost: 2
 233: l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_274^0 >= 0), cost: 3
 234: l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_274^0 <= 0), cost: 3
 199: l48 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0 /\ -1+c_28^0 >= 0), cost: 2
 200: l48 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ 1+c_28^0 <= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0), cost: 2
 201: l50 -> l52 : (-1+r_167^0 >= 0 /\ -1+t_30^0 >= 0), cost: 2
 202: l50 -> l52 : (-1+t_30^0 >= 0 /\ 1+r_167^0 <= 0), cost: 2
 203: l50 -> l52 : (-1+r_167^0 >= 0 /\ 1+t_30^0 <= 0), cost: 2
 204: l50 -> l52 : (1+r_167^0 <= 0 /\ 1+t_30^0 <= 0), cost: 2
 158: l52 -> l0 : i_120^0'=1+a_148^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
 219: l55 -> l58 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0), cost: 2
 220: l55 -> l58 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0), cost: 2
 221: l58 -> l60 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, (x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ -1+lt_17^0 >= 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 2
 222: l58 -> l60 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, (1+lt_17^0 <= 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 2
 223: l60 -> l62 : (1-y_22^0+lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 2
 224: l60 -> l62 : (1-y_22^0+lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0), cost: 2
 225: l60 -> l62 : (1+y_22^0-lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 2
 226: l60 -> l62 : (1+y_22^0-lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0), cost: 2
 192: l62 -> l55 : a_358^0'=a_388^0, rcd_46^0'=rcd_387^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
 211: l72 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, (-rcd_363^0+rcd_46^0 == 0 /\ 1-x_23^0+y_22^0 <= 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 2
 212: l72 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, (-rcd_363^0+rcd_46^0 == 0 /\ 1+x_23^0-y_22^0 <= 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 2
 213: l74 -> l76 : (1-y_22^0+lt_17^0 <= 0 /\ -1+lt_17^0 >= 0), cost: 2
 214: l74 -> l76 : (1+y_22^0-lt_17^0 <= 0 /\ -1+lt_17^0 >= 0), cost: 2
 215: l74 -> l76 : (1-y_22^0+lt_17^0 <= 0 /\ 1+lt_17^0 <= 0), cost: 2
 216: l74 -> l76 : (1+y_22^0-lt_17^0 <= 0 /\ 1+lt_17^0 <= 0), cost: 2
 217: l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 2
 218: l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+t_24^0-y_22^0 <= 0), cost: 2
 197: l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
 198: l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10


Applied merging
first rule:
l0 -> l3 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0), cost: 2
second rule:
l0 -> l3 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0), cost: 2
new rule:
l0 -> l3 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0)), cost: 2

Applied merging
first rule:
l0 -> l7 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, (a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0), cost: 2
second rule:
l0 -> l7 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0), cost: 2
new rule:
l0 -> l7 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)), cost: 2

Applied merging
first rule:
l3 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_167^0 >= 0 /\ len_297^0 >= 0), cost: 3
second rule:
l3 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_167^0 <= 0 /\ len_297^0 >= 0), cost: 3
new rule:
l3 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_167^0 >= 0 /\ len_297^0 >= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_167^0 <= 0 /\ len_297^0 >= 0)), cost: 3

Applied merging
first rule:
l7 -> l9 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^0+l_27^0 == 0 /\ -1+c_28^0 >= 0), cost: 2
second rule:
l7 -> l9 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (1+c_28^0 <= 0 /\ -head_13^0+l_27^0 == 0), cost: 2
new rule:
l7 -> l9 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, ((-head_13^0+l_27^0 == 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ -head_13^0+l_27^0 == 0)), cost: 2

Applied merging
first rule:
l9 -> l11 : (-1+r_266^0 >= 0 /\ -1+r_167^0 >= 0), cost: 2
second rule:
l9 -> l11 : (-1+r_167^0 >= 0 /\ 1+r_266^0 <= 0), cost: 2
new rule:
l9 -> l11 : ((-1+r_167^0 >= 0 /\ 1+r_266^0 <= 0) \/ (-1+r_266^0 >= 0 /\ -1+r_167^0 >= 0)), cost: 2

Applied merging
first rule:
l9 -> l11 : (-1+r_266^0 >= 0 /\ 1+r_167^0 <= 0), cost: 2
second rule:
l9 -> l11 : (1+r_167^0 <= 0 /\ 1+r_266^0 <= 0), cost: 2
new rule:
l9 -> l11 : ((1+r_167^0 <= 0 /\ 1+r_266^0 <= 0) \/ (-1+r_266^0 >= 0 /\ 1+r_167^0 <= 0)), cost: 2

Applied merging
first rule:
l9 -> l11 : ((-1+r_167^0 >= 0 /\ 1+r_266^0 <= 0) \/ (-1+r_266^0 >= 0 /\ -1+r_167^0 >= 0)), cost: 2
second rule:
l9 -> l11 : ((1+r_167^0 <= 0 /\ 1+r_266^0 <= 0) \/ (-1+r_266^0 >= 0 /\ 1+r_167^0 <= 0)), cost: 2
new rule:
l9 -> l11 : ((-1+r_266^0 >= 0 /\ -1+r_167^0 >= 0) \/ (1+r_167^0 <= 0 /\ 1+r_266^0 <= 0) \/ (-1+r_167^0 >= 0 /\ 1+r_266^0 <= 0) \/ (-1+r_266^0 >= 0 /\ 1+r_167^0 <= 0)), cost: 2

Applied merging
first rule:
l48 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0 /\ -1+c_28^0 >= 0), cost: 2
second rule:
l48 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ 1+c_28^0 <= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0), cost: 2
new rule:
l48 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, ((r_42^0-r_247^0 == 0 /\ 1+c_28^0 <= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0) \/ (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0 /\ -1+c_28^0 >= 0)), cost: 2

Applied merging
first rule:
l50 -> l52 : (-1+r_167^0 >= 0 /\ -1+t_30^0 >= 0), cost: 2
second rule:
l50 -> l52 : (-1+t_30^0 >= 0 /\ 1+r_167^0 <= 0), cost: 2
new rule:
l50 -> l52 : ((-1+t_30^0 >= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_167^0 >= 0 /\ -1+t_30^0 >= 0)), cost: 2

Applied merging
first rule:
l50 -> l52 : (-1+r_167^0 >= 0 /\ 1+t_30^0 <= 0), cost: 2
second rule:
l50 -> l52 : (1+r_167^0 <= 0 /\ 1+t_30^0 <= 0), cost: 2
new rule:
l50 -> l52 : ((1+r_167^0 <= 0 /\ 1+t_30^0 <= 0) \/ (-1+r_167^0 >= 0 /\ 1+t_30^0 <= 0)), cost: 2

Applied merging
first rule:
l50 -> l52 : ((-1+t_30^0 >= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_167^0 >= 0 /\ -1+t_30^0 >= 0)), cost: 2
second rule:
l50 -> l52 : ((1+r_167^0 <= 0 /\ 1+t_30^0 <= 0) \/ (-1+r_167^0 >= 0 /\ 1+t_30^0 <= 0)), cost: 2
new rule:
l50 -> l52 : ((-1+r_167^0 >= 0 /\ 1+t_30^0 <= 0) \/ (-1+t_30^0 >= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_167^0 >= 0 /\ -1+t_30^0 >= 0) \/ (1+r_167^0 <= 0 /\ 1+t_30^0 <= 0)), cost: 2

Applied merging
first rule:
l55 -> l58 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0), cost: 2
second rule:
l55 -> l58 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0), cost: 2
new rule:
l55 -> l58 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, ((a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0) \/ (1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0)), cost: 2

Applied merging
first rule:
l58 -> l60 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, (x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ -1+lt_17^0 >= 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 2
second rule:
l58 -> l60 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, (1+lt_17^0 <= 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 2
new rule:
l58 -> l60 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, ((x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ -1+lt_17^0 >= 0 /\ y_22^0 == 0 /\ ct_20^0 == 0) \/ (1+lt_17^0 <= 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0)), cost: 2

Applied merging
first rule:
l60 -> l62 : (1-y_22^0+lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 2
second rule:
l60 -> l62 : (1-y_22^0+lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0), cost: 2
new rule:
l60 -> l62 : ((1-y_22^0+lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0)), cost: 2

Applied merging
first rule:
l60 -> l62 : (1+y_22^0-lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 2
second rule:
l60 -> l62 : (1+y_22^0-lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0), cost: 2
new rule:
l60 -> l62 : ((1+y_22^0-lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0) \/ (1+y_22^0-lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0)), cost: 2

Applied merging
first rule:
l60 -> l62 : ((1-y_22^0+lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0)), cost: 2
second rule:
l60 -> l62 : ((1+y_22^0-lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0) \/ (1+y_22^0-lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0)), cost: 2
new rule:
l60 -> l62 : ((1-y_22^0+lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0) \/ (1+y_22^0-lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0) \/ (1+y_22^0-lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0)), cost: 2

Applied merging
first rule:
l72 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, (-rcd_363^0+rcd_46^0 == 0 /\ 1-x_23^0+y_22^0 <= 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 2
second rule:
l72 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, (-rcd_363^0+rcd_46^0 == 0 /\ 1+x_23^0-y_22^0 <= 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0), cost: 2
new rule:
l72 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, ((-rcd_363^0+rcd_46^0 == 0 /\ 1+x_23^0-y_22^0 <= 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0) \/ (-rcd_363^0+rcd_46^0 == 0 /\ 1-x_23^0+y_22^0 <= 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0)), cost: 2

Applied merging
first rule:
l74 -> l76 : (1-y_22^0+lt_17^0 <= 0 /\ -1+lt_17^0 >= 0), cost: 2
second rule:
l74 -> l76 : (1+y_22^0-lt_17^0 <= 0 /\ -1+lt_17^0 >= 0), cost: 2
new rule:
l74 -> l76 : ((1+y_22^0-lt_17^0 <= 0 /\ -1+lt_17^0 >= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ -1+lt_17^0 >= 0)), cost: 2

Applied merging
first rule:
l74 -> l76 : (1-y_22^0+lt_17^0 <= 0 /\ 1+lt_17^0 <= 0), cost: 2
second rule:
l74 -> l76 : (1+y_22^0-lt_17^0 <= 0 /\ 1+lt_17^0 <= 0), cost: 2
new rule:
l74 -> l76 : ((1+y_22^0-lt_17^0 <= 0 /\ 1+lt_17^0 <= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ 1+lt_17^0 <= 0)), cost: 2

Applied merging
first rule:
l74 -> l76 : ((1+y_22^0-lt_17^0 <= 0 /\ -1+lt_17^0 >= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ -1+lt_17^0 >= 0)), cost: 2
second rule:
l74 -> l76 : ((1+y_22^0-lt_17^0 <= 0 /\ 1+lt_17^0 <= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ 1+lt_17^0 <= 0)), cost: 2
new rule:
l74 -> l76 : ((1+y_22^0-lt_17^0 <= 0 /\ 1+lt_17^0 <= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ 1+lt_17^0 <= 0) \/ (1+y_22^0-lt_17^0 <= 0 /\ -1+lt_17^0 >= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ -1+lt_17^0 >= 0)), cost: 2

Merged rules
Start location: l79
 235: l0 -> l3 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0)), cost: 2
 236: l0 -> l7 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)), cost: 2
 237: l3 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_167^0 >= 0 /\ len_297^0 >= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_167^0 <= 0 /\ len_297^0 >= 0)), cost: 3
 238: l7 -> l9 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, ((-head_13^0+l_27^0 == 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ -head_13^0+l_27^0 == 0)), cost: 2
 241: l9 -> l11 : ((-1+r_266^0 >= 0 /\ -1+r_167^0 >= 0) \/ (1+r_167^0 <= 0 /\ 1+r_266^0 <= 0) \/ (-1+r_167^0 >= 0 /\ 1+r_266^0 <= 0) \/ (-1+r_266^0 >= 0 /\ 1+r_167^0 <= 0)), cost: 2
 233: l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_274^0 >= 0), cost: 3
 234: l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_274^0 <= 0), cost: 3
 242: l48 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, ((r_42^0-r_247^0 == 0 /\ 1+c_28^0 <= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0) \/ (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0 /\ -1+c_28^0 >= 0)), cost: 2
 245: l50 -> l52 : ((-1+r_167^0 >= 0 /\ 1+t_30^0 <= 0) \/ (-1+t_30^0 >= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_167^0 >= 0 /\ -1+t_30^0 >= 0) \/ (1+r_167^0 <= 0 /\ 1+t_30^0 <= 0)), cost: 2
 158: l52 -> l0 : i_120^0'=1+a_148^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
 246: l55 -> l58 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, ((a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0) \/ (1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0)), cost: 2
 247: l58 -> l60 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, ((x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ -1+lt_17^0 >= 0 /\ y_22^0 == 0 /\ ct_20^0 == 0) \/ (1+lt_17^0 <= 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0)), cost: 2
 250: l60 -> l62 : ((1-y_22^0+lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0) \/ (1+y_22^0-lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0) \/ (1+y_22^0-lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0)), cost: 2
 192: l62 -> l55 : a_358^0'=a_388^0, rcd_46^0'=rcd_387^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
 251: l72 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, ((-rcd_363^0+rcd_46^0 == 0 /\ 1+x_23^0-y_22^0 <= 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0) \/ (-rcd_363^0+rcd_46^0 == 0 /\ 1-x_23^0+y_22^0 <= 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0)), cost: 2
 254: l74 -> l76 : ((1+y_22^0-lt_17^0 <= 0 /\ 1+lt_17^0 <= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ 1+lt_17^0 <= 0) \/ (1+y_22^0-lt_17^0 <= 0 /\ -1+lt_17^0 >= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ -1+lt_17^0 >= 0)), cost: 2
 217: l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 2
 218: l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+t_24^0-y_22^0 <= 0), cost: 2
 197: l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
 198: l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10


Eliminating location l50 by chaining:

Applied chaining
First rule:
l48 -> l50 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, ((r_42^0-r_247^0 == 0 /\ 1+c_28^0 <= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0) \/ (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0 /\ -1+c_28^0 >= 0)), cost: 2
Second rule:
l50 -> l52 : ((-1+r_167^0 >= 0 /\ 1+t_30^0 <= 0) \/ (-1+t_30^0 >= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_167^0 >= 0 /\ -1+t_30^0 >= 0) \/ (1+r_167^0 <= 0 /\ 1+t_30^0 <= 0)), cost: 2
New rule:
l48 -> l52 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (((r_42^0-r_247^0 == 0 /\ 1+c_28^0 <= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0) \/ (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0 /\ -1+c_28^0 >= 0)) /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0 \/ (-1+r_167^0 >= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_167^0 >= 0 /\ 1+r_167^0 <= 0))), cost: 4

Applied simplification
Original rule:
l48 -> l52 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (((r_42^0-r_247^0 == 0 /\ 1+c_28^0 <= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0) \/ (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0 /\ -1+c_28^0 >= 0)) /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0 \/ (-1+r_167^0 >= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_167^0 >= 0 /\ 1+r_167^0 <= 0))), cost: 4
New rule:
l48 -> l52 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0 /\ ((-1+r_167^0 >= 0 /\ 1+r_167^0 <= 0) \/ -1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 4

Applied deletion
Removed the following rules: 242 245

Eliminating location l52 by chaining:

Applied chaining
First rule:
l48 -> l52 : a_148^0'=a_220^0, t_30^0'=r_167^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -head_13^0+l_27^0 == 0 /\ ((-1+r_167^0 >= 0 /\ 1+r_167^0 <= 0) \/ -1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 4
Second rule:
l52 -> l0 : i_120^0'=1+a_148^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
New rule:
l48 -> l0 : a_148^0'=a_220^0, t_30^0'=r_167^0, i_120^0'=1+a_220^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -head_13^0+l_27^0 == 0 /\ ((-1+r_167^0 >= 0 /\ 1+r_167^0 <= 0) \/ -1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 5

Applied simplification
Original rule:
l48 -> l0 : a_148^0'=a_220^0, t_30^0'=r_167^0, i_120^0'=1+a_220^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -head_13^0+l_27^0 == 0 /\ ((-1+r_167^0 >= 0 /\ 1+r_167^0 <= 0) \/ -1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 5
New rule:
l48 -> l0 : a_148^0'=a_220^0, t_30^0'=r_167^0, i_120^0'=1+a_220^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -head_13^0+l_27^0 == 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 5

Applied deletion
Removed the following rules: 158 255

Eliminating location l3 by chaining:

Applied chaining
First rule:
l0 -> l3 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=lt_17^0, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, x_19^0'=lt_17^0, ct_20^0'=0, ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0)), cost: 2
Second rule:
l3 -> l72 : x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_167^0 >= 0 /\ len_297^0 >= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_167^0 <= 0 /\ len_297^0 >= 0)), cost: 3
New rule:
l0 -> l72 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0)) /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0 /\ len_297^0 >= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0 /\ len_297^0 >= 0))), cost: 5

Applied simplification
Original rule:
l0 -> l72 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0)) /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0 /\ len_297^0 >= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0 /\ len_297^0 >= 0))), cost: 5
New rule:
l0 -> l72 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0 /\ len_297^0 >= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0)) /\ ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0))), cost: 5

Applied deletion
Removed the following rules: 235 237

Eliminating location l7 by chaining:

Applied chaining
First rule:
l0 -> l7 : r_258^0'=r_258^post6, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)), cost: 2
Second rule:
l7 -> l9 : t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, ((-head_13^0+l_27^0 == 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ -head_13^0+l_27^0 == 0)), cost: 2
New rule:
l0 -> l9 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (((-head_13^post6+l_27^post6 == 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ -head_13^post6+l_27^post6 == 0)) /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0))), cost: 4

Applied simplification
Original rule:
l0 -> l9 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (((-head_13^post6+l_27^post6 == 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ -head_13^post6+l_27^post6 == 0)) /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0))), cost: 4
New rule:
l0 -> l9 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^post6+l_27^post6 == 0 /\ ((1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0))), cost: 4

Applied deletion
Removed the following rules: 236 238

Eliminating location l9 by chaining:

Applied chaining
First rule:
l0 -> l9 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^post6+l_27^post6 == 0 /\ ((1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0))), cost: 4
Second rule:
l9 -> l11 : ((-1+r_266^0 >= 0 /\ -1+r_167^0 >= 0) \/ (1+r_167^0 <= 0 /\ 1+r_266^0 <= 0) \/ (-1+r_167^0 >= 0 /\ 1+r_266^0 <= 0) \/ (-1+r_266^0 >= 0 /\ 1+r_167^0 <= 0)), cost: 2
New rule:
l0 -> l11 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^post6+l_27^post6 == 0 /\ ((1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0)) /\ ((1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0) \/ (-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0))), cost: 6

Applied simplification
Original rule:
l0 -> l11 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^post6+l_27^post6 == 0 /\ ((1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0)) /\ ((1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0) \/ (-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0))), cost: 6
New rule:
l0 -> l11 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^post6+l_27^post6 == 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 6

Applied deletion
Removed the following rules: 241 258

Eliminating location l72 by chaining:

Applied chaining
First rule:
l0 -> l72 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0 /\ len_297^0 >= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0)) /\ ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0))), cost: 5
Second rule:
l72 -> l74 : t_24^0'=x_23^0, a_332^0'=a_358^0, ((-rcd_363^0+rcd_46^0 == 0 /\ 1+x_23^0-y_22^0 <= 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0) \/ (-rcd_363^0+rcd_46^0 == 0 /\ 1-x_23^0+y_22^0 <= 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0)), cost: 2
New rule:
l0 -> l74 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, t_24^0'=lt_17^0, a_332^0'=a_358^0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0 /\ len_297^0 >= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0)) /\ ((0 == 0 /\ x_SLAM_f_21^post116-lt_17^post116 == 0 /\ ct_20^post116 == 0 /\ -rcd_363^post116+rcd_46^0 == 0 /\ -lt_17^0+lt_17^post116 == 0 /\ 1-lt_17^0 <= 0 /\ x_SLAM_f_21^post116-x_19^post116 == 0) \/ (0 == 0 /\ x_SLAM_f_21^post116-lt_17^post116 == 0 /\ ct_20^post116 == 0 /\ 1+lt_17^0 <= 0 /\ -rcd_363^post116+rcd_46^0 == 0 /\ -lt_17^0+lt_17^post116 == 0 /\ x_SLAM_f_21^post116-x_19^post116 == 0)) /\ ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0))), cost: 7

Applied simplification
Original rule:
l0 -> l74 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, t_24^0'=lt_17^0, a_332^0'=a_358^0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0 /\ len_297^0 >= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0)) /\ ((0 == 0 /\ x_SLAM_f_21^post116-lt_17^post116 == 0 /\ ct_20^post116 == 0 /\ -rcd_363^post116+rcd_46^0 == 0 /\ -lt_17^0+lt_17^post116 == 0 /\ 1-lt_17^0 <= 0 /\ x_SLAM_f_21^post116-x_19^post116 == 0) \/ (0 == 0 /\ x_SLAM_f_21^post116-lt_17^post116 == 0 /\ ct_20^post116 == 0 /\ 1+lt_17^0 <= 0 /\ -rcd_363^post116+rcd_46^0 == 0 /\ -lt_17^0+lt_17^post116 == 0 /\ x_SLAM_f_21^post116-x_19^post116 == 0)) /\ ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0))), cost: 7
New rule:
l0 -> l74 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, t_24^0'=lt_17^0, a_332^0'=a_358^0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (x_SLAM_f_21^post116-lt_17^post116 == 0 /\ ct_20^post116 == 0 /\ -rcd_363^post116+rcd_46^0 == 0 /\ -lt_17^0+lt_17^post116 == 0 /\ x_SLAM_f_21^post116-x_19^post116 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0)) /\ ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0))), cost: 7

Applied deletion
Removed the following rules: 251 257

Eliminating location l74 by chaining:

Applied chaining
First rule:
l0 -> l74 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, t_24^0'=lt_17^0, a_332^0'=a_358^0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (x_SLAM_f_21^post116-lt_17^post116 == 0 /\ ct_20^post116 == 0 /\ -rcd_363^post116+rcd_46^0 == 0 /\ -lt_17^0+lt_17^post116 == 0 /\ x_SLAM_f_21^post116-x_19^post116 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0)) /\ ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0))), cost: 7
Second rule:
l74 -> l76 : ((1+y_22^0-lt_17^0 <= 0 /\ 1+lt_17^0 <= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ 1+lt_17^0 <= 0) \/ (1+y_22^0-lt_17^0 <= 0 /\ -1+lt_17^0 >= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ -1+lt_17^0 >= 0)), cost: 2
New rule:
l0 -> l76 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, t_24^0'=lt_17^0, a_332^0'=a_358^0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (x_SLAM_f_21^post116-lt_17^post116 == 0 /\ ct_20^post116 == 0 /\ -rcd_363^post116+rcd_46^0 == 0 /\ -lt_17^0+lt_17^post116 == 0 /\ x_SLAM_f_21^post116-x_19^post116 == 0 /\ ((1+lt_17^post116 <= 0 /\ -1+lt_17^post116 >= 0) \/ (1-lt_17^post116 <= 0 /\ -1+lt_17^post116 >= 0) \/ 1+lt_17^post116 <= 0 \/ (1+lt_17^post116 <= 0 /\ 1-lt_17^post116 <= 0)) /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0)) /\ ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0))), cost: 9

Applied simplification
Original rule:
l0 -> l76 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, t_24^0'=lt_17^0, a_332^0'=a_358^0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (x_SLAM_f_21^post116-lt_17^post116 == 0 /\ ct_20^post116 == 0 /\ -rcd_363^post116+rcd_46^0 == 0 /\ -lt_17^0+lt_17^post116 == 0 /\ x_SLAM_f_21^post116-x_19^post116 == 0 /\ ((1+lt_17^post116 <= 0 /\ -1+lt_17^post116 >= 0) \/ (1-lt_17^post116 <= 0 /\ -1+lt_17^post116 >= 0) \/ 1+lt_17^post116 <= 0 \/ (1+lt_17^post116 <= 0 /\ 1-lt_17^post116 <= 0)) /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0)) /\ ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0))), cost: 9
New rule:
l0 -> l76 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, t_24^0'=lt_17^0, a_332^0'=a_358^0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (x_SLAM_f_21^post116-lt_17^post116 == 0 /\ ct_20^post116 == 0 /\ -rcd_363^post116+rcd_46^0 == 0 /\ -lt_17^0+lt_17^post116 == 0 /\ x_SLAM_f_21^post116-x_19^post116 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0)) /\ ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0))), cost: 9

Applied deletion
Removed the following rules: 254 260

Eliminating location l58 by chaining:

Applied chaining
First rule:
l55 -> l58 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, ((a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0) \/ (1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0)), cost: 2
Second rule:
l58 -> l60 : t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, ((x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ -1+lt_17^0 >= 0 /\ y_22^0 == 0 /\ ct_20^0 == 0) \/ (1+lt_17^0 <= 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ x_SLAM_f_21^0-x_19^0 == 0 /\ y_22^0 == 0 /\ ct_20^0 == 0)), cost: 2
New rule:
l55 -> l60 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (((x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ 1+lt_17^post89 <= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0) \/ (x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ -1+lt_17^post89 >= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0)) /\ ((a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0) \/ (1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0))), cost: 4

Applied simplification
Original rule:
l55 -> l60 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (((x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ 1+lt_17^post89 <= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0) \/ (x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ -1+lt_17^post89 >= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0)) /\ ((a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0) \/ (1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0))), cost: 4
New rule:
l55 -> l60 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (((1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0) \/ (a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0)) /\ ((x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ 1+lt_17^post89 <= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0) \/ (x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ -1+lt_17^post89 >= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0))), cost: 4

Applied deletion
Removed the following rules: 246 247

Eliminating location l60 by chaining:

Applied chaining
First rule:
l55 -> l60 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (((1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0) \/ (a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0)) /\ ((x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ 1+lt_17^post89 <= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0) \/ (x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ -1+lt_17^post89 >= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0))), cost: 4
Second rule:
l60 -> l62 : ((1-y_22^0+lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0) \/ (1+y_22^0-lt_17^0 <= 0 /\ 1+t_24^0-y_22^0 <= 0) \/ (1+y_22^0-lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0) \/ (1-y_22^0+lt_17^0 <= 0 /\ 1-t_24^0+y_22^0 <= 0)), cost: 2
New rule:
l55 -> l62 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (((1-x_23^0+y_22^0 <= 0 /\ 1-y_22^0+lt_17^post89 <= 0) \/ (1+y_22^0-lt_17^post89 <= 0 /\ 1+x_23^0-y_22^0 <= 0) \/ (1+x_23^0-y_22^0 <= 0 /\ 1-y_22^0+lt_17^post89 <= 0) \/ (1-x_23^0+y_22^0 <= 0 /\ 1+y_22^0-lt_17^post89 <= 0)) /\ ((1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0) \/ (a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0)) /\ ((x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ 1+lt_17^post89 <= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0) \/ (x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ -1+lt_17^post89 >= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0))), cost: 6

Applied simplification
Original rule:
l55 -> l62 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (((1-x_23^0+y_22^0 <= 0 /\ 1-y_22^0+lt_17^post89 <= 0) \/ (1+y_22^0-lt_17^post89 <= 0 /\ 1+x_23^0-y_22^0 <= 0) \/ (1+x_23^0-y_22^0 <= 0 /\ 1-y_22^0+lt_17^post89 <= 0) \/ (1-x_23^0+y_22^0 <= 0 /\ 1+y_22^0-lt_17^post89 <= 0)) /\ ((1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0) \/ (a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0)) /\ ((x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ 1+lt_17^post89 <= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0) \/ (x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ -1+lt_17^post89 >= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0))), cost: 6
New rule:
l55 -> l62 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (((x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ -1+lt_17^post89 >= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0) \/ (x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ 1+lt_17^post89 <= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0)) /\ ((1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0) \/ (a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0))), cost: 6

Applied deletion
Removed the following rules: 250 262

Eliminating location l62 by chaining:

Applied chaining
First rule:
l55 -> l62 : r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (((x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ -1+lt_17^post89 >= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0) \/ (x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ 1+lt_17^post89 <= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0)) /\ ((1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0) \/ (a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0))), cost: 6
Second rule:
l62 -> l55 : a_358^0'=a_388^0, rcd_46^0'=rcd_387^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
New rule:
l55 -> l55 : a_358^0'=-1+a_358^0, r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, rcd_46^0'=rcd_46^0, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ ((x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ -1+lt_17^post89 >= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0) \/ (x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ 1+lt_17^post89 <= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0)) /\ ((1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0) \/ (a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0))), cost: 8

Applied simplification
Original rule:
l55 -> l55 : a_358^0'=-1+a_358^0, r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, rcd_46^0'=rcd_46^0, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ ((x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ -1+lt_17^post89 >= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0) \/ (x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ 1+lt_17^post89 <= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0)) /\ ((1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0) \/ (a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0))), cost: 8
New rule:
l55 -> l55 : a_358^0'=-1+a_358^0, r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, rcd_46^0'=rcd_46^0, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ ((1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0) \/ (a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0)) /\ ((x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ 1+lt_17^post89 <= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0) \/ (x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ -1+lt_17^post89 >= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0))), cost: 8

Applied deletion
Removed the following rules: 192 263

Eliminated locations on linear paths
Start location: l79
 259: l0 -> l11 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^post6+l_27^post6 == 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 6
 261: l0 -> l76 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, t_24^0'=lt_17^0, a_332^0'=a_358^0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (x_SLAM_f_21^post116-lt_17^post116 == 0 /\ ct_20^post116 == 0 /\ -rcd_363^post116+rcd_46^0 == 0 /\ -lt_17^0+lt_17^post116 == 0 /\ x_SLAM_f_21^post116-x_19^post116 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0)) /\ ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0))), cost: 9
 233: l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_274^0 >= 0), cost: 3
 234: l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_274^0 <= 0), cost: 3
 256: l48 -> l0 : a_148^0'=a_220^0, t_30^0'=r_167^0, i_120^0'=1+a_220^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -head_13^0+l_27^0 == 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 5
 264: l55 -> l55 : a_358^0'=-1+a_358^0, r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, rcd_46^0'=rcd_46^0, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ ((1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0) \/ (a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0)) /\ ((x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ 1+lt_17^post89 <= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0) \/ (x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ -1+lt_17^post89 >= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0))), cost: 8
 217: l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 2
 218: l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+t_24^0-y_22^0 <= 0), cost: 2
 197: l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
 198: l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10


Applied simplification
Original rule:
l55 -> l55 : a_358^0'=-1+a_358^0, r_42^0'=r_42^post89, x_SLAM_f_21^0'=x_SLAM_f_21^post89, rcd_46^0'=rcd_46^0, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=x_19^post89, ct_20^0'=ct_20^post89, lt_17^0'=lt_17^post89, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ ((1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0) \/ (a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0)) /\ ((x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ 1+lt_17^post89 <= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0) \/ (x_SLAM_f_21^post89-lt_17^post89 == 0 /\ ct_20^post89 == 0 /\ -1+lt_17^post89 >= 0 /\ y_22^0 == 0 /\ x_SLAM_f_21^post89-x_19^post89 == 0))), cost: 8
New rule:
l55 -> l55 : a_358^0'=-1+a_358^0, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ ((-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 == 0) \/ (0 == 0 /\ y_22^0 == 0 /\ 1-x_SLAM_f_21^post89+2*x_19^post89 <= 0)) /\ ((a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0) \/ (1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0))), cost: 8

Simplified simple loops
Start location: l79
 259: l0 -> l11 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^post6+l_27^post6 == 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 6
 261: l0 -> l76 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, t_24^0'=lt_17^0, a_332^0'=a_358^0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (x_SLAM_f_21^post116-lt_17^post116 == 0 /\ ct_20^post116 == 0 /\ -rcd_363^post116+rcd_46^0 == 0 /\ -lt_17^0+lt_17^post116 == 0 /\ x_SLAM_f_21^post116-x_19^post116 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0)) /\ ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0))), cost: 9
 233: l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_274^0 >= 0), cost: 3
 234: l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_274^0 <= 0), cost: 3
 256: l48 -> l0 : a_148^0'=a_220^0, t_30^0'=r_167^0, i_120^0'=1+a_220^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -head_13^0+l_27^0 == 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 5
 265: l55 -> l55 : a_358^0'=-1+a_358^0, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ ((-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 == 0) \/ (0 == 0 /\ y_22^0 == 0 /\ 1-x_SLAM_f_21^post89+2*x_19^post89 <= 0)) /\ ((a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0) \/ (1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0))), cost: 8
 217: l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 2
 218: l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+t_24^0-y_22^0 <= 0), cost: 2
 197: l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
 198: l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10


Applied acceleration
Original rule:
l55 -> l55 : a_358^0'=-1+a_358^0, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1+a_358^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ ((-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 == 0) \/ (0 == 0 /\ y_22^0 == 0 /\ 1-x_SLAM_f_21^post89+2*x_19^post89 <= 0)) /\ ((a_358^0 >= 0 /\ 1+x_23^0-y_22^0 <= 0) \/ (1-x_23^0+y_22^0 <= 0 /\ a_358^0 >= 0))), cost: 8
New rule:
l55 -> l55 : a_358^0'=a_358^0-n3, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=a_358^0-n3, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ -1+n3 >= 0 /\ ((-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 >= 0 /\ -y_22^0 >= 0) \/ (0 >= 0 /\ y_22^0 >= 0 /\ -y_22^0 >= 0 /\ -1+x_SLAM_f_21^post89-2*x_19^post89 >= 0)) /\ ((1+a_358^0-n3 >= 0 /\ -1+x_23^0-y_22^0 >= 0) \/ (1+a_358^0-n3 >= 0 /\ -1-x_23^0+y_22^0 >= 0))), cost: 8*n3

Applied instantiation
Original rule:
l55 -> l55 : a_358^0'=a_358^0-n3, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=a_358^0-n3, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ -1+n3 >= 0 /\ ((-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 >= 0 /\ -y_22^0 >= 0) \/ (0 >= 0 /\ y_22^0 >= 0 /\ -y_22^0 >= 0 /\ -1+x_SLAM_f_21^post89-2*x_19^post89 >= 0)) /\ ((1+a_358^0-n3 >= 0 /\ -1+x_23^0-y_22^0 >= 0) \/ (1+a_358^0-n3 >= 0 /\ -1-x_23^0+y_22^0 >= 0))), cost: 8*n3
New rule:
l55 -> l55 : a_358^0'=-1, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (a_358^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ ((-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 >= 0 /\ -y_22^0 >= 0) \/ (0 >= 0 /\ y_22^0 >= 0 /\ -y_22^0 >= 0 /\ -1+x_SLAM_f_21^post89-2*x_19^post89 >= 0)) /\ ((0 >= 0 /\ -1+x_23^0-y_22^0 >= 0) \/ (0 >= 0 /\ -1-x_23^0+y_22^0 >= 0))), cost: 8+8*a_358^0

Applied simplification
Original rule:
l55 -> l55 : a_358^0'=-1, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (a_358^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ ((-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 >= 0 /\ -y_22^0 >= 0) \/ (0 >= 0 /\ y_22^0 >= 0 /\ -y_22^0 >= 0 /\ -1+x_SLAM_f_21^post89-2*x_19^post89 >= 0)) /\ ((0 >= 0 /\ -1+x_23^0-y_22^0 >= 0) \/ (0 >= 0 /\ -1-x_23^0+y_22^0 >= 0))), cost: 8+8*a_358^0
New rule:
l55 -> l55 : a_358^0'=-1, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (a_358^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ ((y_22^0 >= 0 /\ -y_22^0 >= 0 /\ -1+x_SLAM_f_21^post89-2*x_19^post89 >= 0) \/ (-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 <= 0 /\ y_22^0 >= 0)) /\ ((0 >= 0 /\ -1-x_23^0+y_22^0 >= 0) \/ (0 >= 0 /\ -1+x_23^0-y_22^0 >= 0))), cost: 8+8*a_358^0

Applied deletion
Removed the following rules: 265

Accelerated simple loops
Start location: l79
 259: l0 -> l11 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^post6+l_27^post6 == 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 6
 261: l0 -> l76 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, t_24^0'=lt_17^0, a_332^0'=a_358^0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (x_SLAM_f_21^post116-lt_17^post116 == 0 /\ ct_20^post116 == 0 /\ -rcd_363^post116+rcd_46^0 == 0 /\ -lt_17^0+lt_17^post116 == 0 /\ x_SLAM_f_21^post116-x_19^post116 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0)) /\ ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0))), cost: 9
 233: l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_274^0 >= 0), cost: 3
 234: l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_274^0 <= 0), cost: 3
 256: l48 -> l0 : a_148^0'=a_220^0, t_30^0'=r_167^0, i_120^0'=1+a_220^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -head_13^0+l_27^0 == 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 5
 267: l55 -> l55 : a_358^0'=-1, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (a_358^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ ((y_22^0 >= 0 /\ -y_22^0 >= 0 /\ -1+x_SLAM_f_21^post89-2*x_19^post89 >= 0) \/ (-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 <= 0 /\ y_22^0 >= 0)) /\ ((0 >= 0 /\ -1-x_23^0+y_22^0 >= 0) \/ (0 >= 0 /\ -1+x_23^0-y_22^0 >= 0))), cost: 8+8*a_358^0
 217: l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 2
 218: l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+t_24^0-y_22^0 <= 0), cost: 2
 197: l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
 198: l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10


Applied chaining
First rule:
l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 2
Second rule:
l55 -> l55 : a_358^0'=-1, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (a_358^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ ((y_22^0 >= 0 /\ -y_22^0 >= 0 /\ -1+x_SLAM_f_21^post89-2*x_19^post89 >= 0) \/ (-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 <= 0 /\ y_22^0 >= 0)) /\ ((0 >= 0 /\ -1-x_23^0+y_22^0 >= 0) \/ (0 >= 0 /\ -1+x_23^0-y_22^0 >= 0))), cost: 8+8*a_358^0
New rule:
l76 -> l55 : a_358^0'=-1, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1, len_297^0'=1+a_332^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ a_358^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ 1-t_24^0+y_22^0 <= 0 /\ ((0 >= 0 /\ -1-x_23^0+y_22^0 >= 0) \/ -1+x_23^0-y_22^0 >= 0) /\ ((y_22^0 <= 0 /\ y_22^0 >= 0 /\ -1+x_SLAM_f_21^post89-2*x_19^post89 >= 0) \/ (-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 <= 0 /\ y_22^0 >= 0))), cost: 10+8*a_358^0

Applied chaining
First rule:
l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+t_24^0-y_22^0 <= 0), cost: 2
Second rule:
l55 -> l55 : a_358^0'=-1, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (a_358^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ ((y_22^0 >= 0 /\ -y_22^0 >= 0 /\ -1+x_SLAM_f_21^post89-2*x_19^post89 >= 0) \/ (-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 <= 0 /\ y_22^0 >= 0)) /\ ((0 >= 0 /\ -1-x_23^0+y_22^0 >= 0) \/ (0 >= 0 /\ -1+x_23^0-y_22^0 >= 0))), cost: 8+8*a_358^0
New rule:
l76 -> l55 : a_358^0'=-1, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1, len_297^0'=1+a_332^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ a_358^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ 1+t_24^0-y_22^0 <= 0 /\ ((0 >= 0 /\ -1-x_23^0+y_22^0 >= 0) \/ -1+x_23^0-y_22^0 >= 0) /\ ((y_22^0 >= 0 /\ -y_22^0 >= 0 /\ -1+x_SLAM_f_21^post89-2*x_19^post89 >= 0) \/ (-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 <= 0 /\ y_22^0 >= 0))), cost: 10+8*a_358^0

Applied deletion
Removed the following rules: 267

Chained accelerated rules with incoming rules
Start location: l79
 259: l0 -> l11 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^post6+l_27^post6 == 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 6
 261: l0 -> l76 : t_30^0'=t_30^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post116, rcd_363^0'=rcd_363^post116, c_28^0'=c_28^post0, t_24^0'=lt_17^0, a_332^0'=a_358^0, r_29^0'=r_29^post0, x_23^0'=lt_17^0, l_27^0'=l_27^post0, y_22^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post116, rcd_367^0'=rcd_367^post116, x_19^0'=x_19^post116, ct_20^0'=ct_20^post116, lt_17^0'=lt_17^post116, (x_SLAM_f_21^post116-lt_17^post116 == 0 /\ ct_20^post116 == 0 /\ -rcd_363^post116+rcd_46^0 == 0 /\ -lt_17^0+lt_17^post116 == 0 /\ x_SLAM_f_21^post116-x_19^post116 == 0 /\ ((-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ -1+r_167^0 >= 0) \/ (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 >= 0 /\ 1+r_167^0 <= 0)) /\ ((a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ 1+lt_17^0 <= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ c_28^0 == 0 /\ 1+len_205^0-len_297^0 == 0 /\ len_205^0 >= 0 /\ -1+lt_17^0 >= 0))), cost: 9
 233: l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_274^0 >= 0), cost: 3
 234: l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_274^0 <= 0), cost: 3
 256: l48 -> l0 : a_148^0'=a_220^0, t_30^0'=r_167^0, i_120^0'=1+a_220^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -head_13^0+l_27^0 == 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 5
 217: l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1-t_24^0+y_22^0 <= 0), cost: 2
 218: l76 -> l55 : len_297^0'=1+a_332^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+t_24^0-y_22^0 <= 0), cost: 2
 268: l76 -> l55 : a_358^0'=-1, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1, len_297^0'=1+a_332^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ a_358^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ 1-t_24^0+y_22^0 <= 0 /\ ((0 >= 0 /\ -1-x_23^0+y_22^0 >= 0) \/ -1+x_23^0-y_22^0 >= 0) /\ ((y_22^0 <= 0 /\ y_22^0 >= 0 /\ -1+x_SLAM_f_21^post89-2*x_19^post89 >= 0) \/ (-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 <= 0 /\ y_22^0 >= 0))), cost: 10+8*a_358^0
 269: l76 -> l55 : a_358^0'=-1, r_42^0'=r_42^post89, x_SLAM_f_21^0'=-x_SLAM_f_21^post89+2*x_19^post89, t_24^0'=x_23^0, rcd_387^0'=rcd_46^0, a_388^0'=-1, len_297^0'=1+a_332^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post89, x_19^0'=-x_SLAM_f_21^post89+2*x_19^post89, ct_20^0'=0, lt_17^0'=-x_SLAM_f_21^post89+2*x_19^post89, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ a_358^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post89 >= 0 /\ 1+t_24^0-y_22^0 <= 0 /\ ((0 >= 0 /\ -1-x_23^0+y_22^0 >= 0) \/ -1+x_23^0-y_22^0 >= 0) /\ ((y_22^0 >= 0 /\ -y_22^0 >= 0 /\ -1+x_SLAM_f_21^post89-2*x_19^post89 >= 0) \/ (-1-x_SLAM_f_21^post89+2*x_19^post89 >= 0 /\ y_22^0 <= 0 /\ y_22^0 >= 0))), cost: 10+8*a_358^0
 197: l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
 198: l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10


Removed unreachable locations and irrelevant leafs
Start location: l79
 259: l0 -> l11 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^post6+l_27^post6 == 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 6
 233: l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_274^0 >= 0), cost: 3
 234: l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_274^0 <= 0), cost: 3
 256: l48 -> l0 : a_148^0'=a_220^0, t_30^0'=r_167^0, i_120^0'=1+a_220^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -head_13^0+l_27^0 == 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 5
 197: l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
 198: l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10


Eliminating location l48 by chaining:

Applied chaining
First rule:
l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
Second rule:
l48 -> l0 : a_148^0'=a_220^0, t_30^0'=r_167^0, i_120^0'=1+a_220^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -head_13^0+l_27^0 == 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 5
New rule:
l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ -2+i_120^0 >= 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 10

Applied simplification
Original rule:
l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ -2+i_120^0 >= 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 10
New rule:
l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 10

Applied chaining
First rule:
l79 -> l48 : i_33^0'=i_33^post75, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, r_29^0'=0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (-2+i_120^0 >= 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10
Second rule:
l48 -> l0 : a_148^0'=a_220^0, t_30^0'=r_167^0, i_120^0'=1+a_220^0, r_29^0'=r_167^0, (r_42^0-r_247^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ r_167^0-c_28^0 == 0 /\ len_205^0 == 0 /\ rcd_248^0-rcd_46^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -head_13^0+l_27^0 == 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 5
New rule:
l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ -2+i_120^0 >= 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 6+2*nondet_12^10

Applied simplification
Original rule:
l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ -2+i_120^0 >= 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 6+2*nondet_12^10
New rule:
l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 6+2*nondet_12^10

Applied deletion
Removed the following rules: 197 198 256

Eliminating location l11 by chaining:

Applied chaining
First rule:
l0 -> l11 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^post6+l_27^post6 == 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 6
Second rule:
l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -1+r_274^0 >= 0), cost: 3
New rule:
l0 -> l0 : r_258^0'=r_258^post6, r_167^0'=r_167^0, t_30^0'=c_28^0, r_42^0'=r_42^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_46^0'=rcd_46^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-1+r_167^0 >= 0 /\ -head_13^post6+l_27^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 9

Applied simplification
Original rule:
l0 -> l0 : r_258^0'=r_258^post6, r_167^0'=r_167^0, t_30^0'=c_28^0, r_42^0'=r_42^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_46^0'=rcd_46^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-1+r_167^0 >= 0 /\ -head_13^post6+l_27^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 9
New rule:
l0 -> l0 : r_258^0'=r_258^post6, r_167^0'=r_167^0, t_30^0'=c_28^0, r_42^0'=r_42^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_46^0'=rcd_46^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-1+r_167^0 >= 0 /\ -head_13^post6+l_27^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 9

Applied chaining
First rule:
l0 -> l11 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-head_13^post6+l_27^post6 == 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 6
Second rule:
l11 -> l0 : r_167^0'=r_274^0, r_42^0'=r_272^0, a_220^0'=a_276^0, rcd_46^0'=rcd_273^0, len_205^0'=len_275^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+r_274^0 <= 0), cost: 3
New rule:
l0 -> l0 : r_258^0'=r_258^post6, r_167^0'=r_167^0, t_30^0'=c_28^0, r_42^0'=r_42^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_46^0'=rcd_46^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (1+r_167^0 <= 0 /\ -head_13^post6+l_27^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 9

Applied simplification
Original rule:
l0 -> l0 : r_258^0'=r_258^post6, r_167^0'=r_167^0, t_30^0'=c_28^0, r_42^0'=r_42^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_46^0'=rcd_46^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (1+r_167^0 <= 0 /\ -head_13^post6+l_27^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 9
New rule:
l0 -> l0 : r_258^0'=r_258^post6, r_167^0'=r_167^0, t_30^0'=c_28^0, r_42^0'=r_42^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_46^0'=rcd_46^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (1+r_167^0 <= 0 /\ -head_13^post6+l_27^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0)) /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0))), cost: 9

Applied deletion
Removed the following rules: 233 234 259

Eliminated locations on tree-shaped paths
Start location: l79
 272: l0 -> l0 : r_258^0'=r_258^post6, r_167^0'=r_167^0, t_30^0'=c_28^0, r_42^0'=r_42^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_46^0'=rcd_46^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-1+r_167^0 >= 0 /\ -head_13^post6+l_27^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 9
 273: l0 -> l0 : r_258^0'=r_258^post6, r_167^0'=r_167^0, t_30^0'=c_28^0, r_42^0'=r_42^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_46^0'=rcd_46^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (1+r_167^0 <= 0 /\ -head_13^post6+l_27^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0)) /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0))), cost: 9
 270: l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 10
 271: l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 6+2*nondet_12^10


Applied simplification
Original rule:
l0 -> l0 : r_258^0'=r_258^post6, r_167^0'=r_167^0, t_30^0'=c_28^0, r_42^0'=r_42^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_46^0'=rcd_46^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-1+r_167^0 >= 0 /\ -head_13^post6+l_27^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 9
New rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 9

Applied simplification
Original rule:
l0 -> l0 : r_258^0'=r_258^post6, r_167^0'=r_167^0, t_30^0'=c_28^0, r_42^0'=r_42^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_46^0'=rcd_46^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=l_27^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (1+r_167^0 <= 0 /\ -head_13^post6+l_27^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0)) /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0))), cost: 9
New rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0)) /\ ((-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0))), cost: 9

Simplified simple loops
Start location: l79
 274: l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 9
 275: l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0)) /\ ((-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0))), cost: 9
 270: l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 10
 271: l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 6+2*nondet_12^10


Applied acceleration
Original rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0))), cost: 9
New rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=n7+len_205^0, a_220^0'=a_220^0-n7, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=n7+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=a_220^0-n7, r_274^0'=r_167^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ -1+n7 >= 0 /\ ((-1-c_28^0 >= 0 /\ len_205^0 >= 0 /\ 1+a_220^0-n7 >= 0) \/ (len_205^0 >= 0 /\ 1+a_220^0-n7 >= 0 /\ -1+c_28^0 >= 0)) /\ ((-1-r_266^post6 >= 0 /\ -1+r_167^0 >= 0) \/ (-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0))), cost: 9*n7

Applied instantiation
Original rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=n7+len_205^0, a_220^0'=a_220^0-n7, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=n7+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=a_220^0-n7, r_274^0'=r_167^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ -1+n7 >= 0 /\ ((-1-c_28^0 >= 0 /\ len_205^0 >= 0 /\ 1+a_220^0-n7 >= 0) \/ (len_205^0 >= 0 /\ 1+a_220^0-n7 >= 0 /\ -1+c_28^0 >= 0)) /\ ((-1-r_266^post6 >= 0 /\ -1+r_167^0 >= 0) \/ (-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0))), cost: 9*n7
New rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, a_220^0'=-1, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, (a_220^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (-1-r_266^post6 >= 0 /\ -1+r_167^0 >= 0)) /\ ((0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (0 >= 0 /\ -1-c_28^0 >= 0 /\ len_205^0 >= 0))), cost: 9+9*a_220^0

Applied acceleration
Original rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+len_205^0, a_220^0'=-1+a_220^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1+a_220^0, r_274^0'=r_167^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((1+c_28^0 <= 0 /\ a_220^0 >= 0 /\ len_205^0 >= 0) \/ (a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0)) /\ ((-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0))), cost: 9
New rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=n9+len_205^0, a_220^0'=-n9+a_220^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=n9+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-n9+a_220^0, r_274^0'=r_167^0, (-1+n9 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((-1-r_266^post6 >= 0 /\ -1-r_167^0 >= 0) \/ (-1+r_266^post6 >= 0 /\ -1-r_167^0 >= 0)) /\ ((1-n9+a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (-1-c_28^0 >= 0 /\ 1-n9+a_220^0 >= 0 /\ len_205^0 >= 0))), cost: 9*n9

Applied instantiation
Original rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=n9+len_205^0, a_220^0'=-n9+a_220^0, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=n9+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-n9+a_220^0, r_274^0'=r_167^0, (-1+n9 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((-1-r_266^post6 >= 0 /\ -1-r_167^0 >= 0) \/ (-1+r_266^post6 >= 0 /\ -1-r_167^0 >= 0)) /\ ((1-n9+a_220^0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (-1-c_28^0 >= 0 /\ 1-n9+a_220^0 >= 0 /\ len_205^0 >= 0))), cost: 9*n9
New rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, a_220^0'=-1, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, (a_220^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (0 >= 0 /\ -1-c_28^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_266^post6 >= 0 /\ -1-r_167^0 >= 0) \/ (-1-r_266^post6 >= 0 /\ -1-r_167^0 >= 0))), cost: 9+9*a_220^0

Applied simplification
Original rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, a_220^0'=-1, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, (a_220^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0) \/ (-1-r_266^post6 >= 0 /\ -1+r_167^0 >= 0)) /\ ((0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (0 >= 0 /\ -1-c_28^0 >= 0 /\ len_205^0 >= 0))), cost: 9+9*a_220^0
New rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, a_220^0'=-1, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, (a_220^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0) \/ (-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0)) /\ ((0 >= 0 /\ 1+c_28^0 <= 0 /\ len_205^0 >= 0) \/ (len_205^0 >= 0 /\ -1+c_28^0 >= 0))), cost: 9+9*a_220^0

Applied simplification
Original rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, a_220^0'=-1, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, (a_220^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((0 >= 0 /\ len_205^0 >= 0 /\ -1+c_28^0 >= 0) \/ (0 >= 0 /\ -1-c_28^0 >= 0 /\ len_205^0 >= 0)) /\ ((-1+r_266^post6 >= 0 /\ -1-r_167^0 >= 0) \/ (-1-r_266^post6 >= 0 /\ -1-r_167^0 >= 0))), cost: 9+9*a_220^0
New rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, a_220^0'=-1, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, (a_220^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1-r_167^0 >= 0)) /\ ((0 >= 0 /\ 1+c_28^0 <= 0 /\ len_205^0 >= 0) \/ (len_205^0 >= 0 /\ -1+c_28^0 >= 0))), cost: 9+9*a_220^0

Applied deletion
Removed the following rules: 274 275

Accelerated simple loops
Start location: l79
 278: l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, a_220^0'=-1, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, (a_220^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0) \/ (-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0)) /\ ((0 >= 0 /\ 1+c_28^0 <= 0 /\ len_205^0 >= 0) \/ (len_205^0 >= 0 /\ -1+c_28^0 >= 0))), cost: 9+9*a_220^0
 279: l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, a_220^0'=-1, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, (a_220^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1-r_167^0 >= 0)) /\ ((0 >= 0 /\ 1+c_28^0 <= 0 /\ len_205^0 >= 0) \/ (len_205^0 >= 0 /\ -1+c_28^0 >= 0))), cost: 9+9*a_220^0
 270: l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 10
 271: l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 6+2*nondet_12^10


Applied chaining
First rule:
l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 10
Second rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, a_220^0'=-1, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, (a_220^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0) \/ (-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0)) /\ ((0 >= 0 /\ 1+c_28^0 <= 0 /\ len_205^0 >= 0) \/ (len_205^0 >= 0 /\ -1+c_28^0 >= 0))), cost: 9+9*a_220^0
New rule:
l79 -> l0 : a_148^0'=a_220^0, r_258^0'=r_258^post6, i_33^0'=i_33^post75, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, a_220^0'=-1, r_272^0'=r_42^0, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post6, result_11^0'=result_11^post75, r_266^0'=r_266^post6, l_27^0'=head_13^post6, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (a_220^0 >= 0 /\ l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ ((1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0) \/ (-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0))), cost: 19+9*a_220^0

Applied chaining
First rule:
l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 6+2*nondet_12^10
Second rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, a_220^0'=-1, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, (a_220^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0) \/ (-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0)) /\ ((0 >= 0 /\ 1+c_28^0 <= 0 /\ len_205^0 >= 0) \/ (len_205^0 >= 0 /\ -1+c_28^0 >= 0))), cost: 9+9*a_220^0
New rule:
l79 -> l0 : a_148^0'=a_220^0, r_258^0'=r_258^post6, i_33^0'=i_33^post75, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, a_220^0'=-1, r_272^0'=r_42^0, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post6, result_11^0'=result_11^post75, r_266^0'=r_266^post6, l_27^0'=head_13^post6, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (a_220^0 >= 0 /\ l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ ((1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0) \/ (-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0))), cost: 15+2*nondet_12^10+9*a_220^0

Applied chaining
First rule:
l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 10
Second rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, a_220^0'=-1, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, (a_220^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1-r_167^0 >= 0)) /\ ((0 >= 0 /\ 1+c_28^0 <= 0 /\ len_205^0 >= 0) \/ (len_205^0 >= 0 /\ -1+c_28^0 >= 0))), cost: 9+9*a_220^0
New rule:
l79 -> l0 : a_148^0'=a_220^0, r_258^0'=r_258^post6, i_33^0'=i_33^post75, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, a_220^0'=-1, r_272^0'=r_42^0, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post6, result_11^0'=result_11^post75, r_266^0'=r_266^post6, l_27^0'=head_13^post6, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (a_220^0 >= 0 /\ l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ ((1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0))), cost: 19+9*a_220^0

Applied chaining
First rule:
l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 6+2*nondet_12^10
Second rule:
l0 -> l0 : r_258^0'=r_258^post6, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, a_220^0'=-1, r_272^0'=r_42^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, head_13^0'=head_13^post6, r_266^0'=r_266^post6, l_27^0'=head_13^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, (a_220^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ ((-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ -1-r_167^0 >= 0)) /\ ((0 >= 0 /\ 1+c_28^0 <= 0 /\ len_205^0 >= 0) \/ (len_205^0 >= 0 /\ -1+c_28^0 >= 0))), cost: 9+9*a_220^0
New rule:
l79 -> l0 : a_148^0'=a_220^0, r_258^0'=r_258^post6, i_33^0'=i_33^post75, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, a_220^0'=-1, r_272^0'=r_42^0, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post6, result_11^0'=result_11^post75, r_266^0'=r_266^post6, l_27^0'=head_13^post6, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (a_220^0 >= 0 /\ l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ ((-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0))), cost: 15+2*nondet_12^10+9*a_220^0

Applied deletion
Removed the following rules: 278 279

Chained accelerated rules with incoming rules
Start location: l79
 270: l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 10
 271: l79 -> l0 : a_148^0'=a_220^0, i_33^0'=i_33^post75, t_30^0'=r_167^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, r_29^0'=r_167^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post75, result_11^0'=result_11^post75, l_27^0'=l_27^post75, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post75, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ (-1+r_167^0 >= 0 \/ 1+r_167^0 <= 0)), cost: 6+2*nondet_12^10
 280: l79 -> l0 : a_148^0'=a_220^0, r_258^0'=r_258^post6, i_33^0'=i_33^post75, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, a_220^0'=-1, r_272^0'=r_42^0, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post6, result_11^0'=result_11^post75, r_266^0'=r_266^post6, l_27^0'=head_13^post6, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (a_220^0 >= 0 /\ l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ ((1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0) \/ (-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0))), cost: 19+9*a_220^0
 281: l79 -> l0 : a_148^0'=a_220^0, r_258^0'=r_258^post6, i_33^0'=i_33^post75, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, a_220^0'=-1, r_272^0'=r_42^0, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post6, result_11^0'=result_11^post75, r_266^0'=r_266^post6, l_27^0'=head_13^post6, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (a_220^0 >= 0 /\ l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ ((1+r_266^post6 <= 0 /\ -1+r_167^0 >= 0) \/ (-1+r_167^0 >= 0 /\ -1+r_266^post6 >= 0))), cost: 15+2*nondet_12^10+9*a_220^0
 282: l79 -> l0 : a_148^0'=a_220^0, r_258^0'=r_258^post6, i_33^0'=i_33^post75, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, a_220^0'=-1, r_272^0'=r_42^0, temp0_34^0'=temp0_34^post75, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post6, result_11^0'=result_11^post75, r_266^0'=r_266^post6, l_27^0'=head_13^post6, r_247^0'=r_247^post75, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (a_220^0 >= 0 /\ l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ ((1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0) \/ (-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0))), cost: 19+9*a_220^0
 283: l79 -> l0 : a_148^0'=a_220^0, r_258^0'=r_258^post6, i_33^0'=i_33^post75, t_30^0'=c_28^0, len_275^0'=1+a_220^0+len_205^0, head_35^0'=head_35^post75, rcd_248^0'=rcd_248^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post75, a_220^0'=-1, r_272^0'=r_42^0, temp0_34^0'=temp0_34^post75, rcd_113^0'=rcd_46^0, length_32^0'=length_32^post75, r_252^0'=r_252^post75, i_120^0'=1+a_220^0, rcd_273^0'=rcd_46^0, r_29^0'=c_28^0, len_205^0'=1+a_220^0+len_205^0, tmp_37^0'=tmp_37^post75, head_13^0'=head_13^post6, result_11^0'=result_11^post75, r_266^0'=r_266^post6, l_27^0'=head_13^post6, rcd_105^0'=rcd_105^post84, r_247^0'=r_247^post75, i_111^0'=-1+nondet_12^10, rcd_253^0'=rcd_253^post75, nondet_12^0'=nondet_12^post127, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, a_276^0'=-1, r_274^0'=r_167^0, temp_38^0'=temp_38^post75, rcd_70^0'=rcd_70^post74, (a_220^0 >= 0 /\ l_27^post75-head_13^post75 == 0 /\ r_42^0-r_247^post75 == 0 /\ r_167^0-c_28^0 == 0 /\ -rcd_46^0+rcd_248^post75 == 0 /\ len_205^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post75-i_120^0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post75 >= 0 /\ ((-1+r_266^post6 >= 0 /\ 1+r_167^0 <= 0) \/ (1+r_266^post6 <= 0 /\ 1+r_167^0 <= 0))), cost: 15+2*nondet_12^10+9*a_220^0


Removed unreachable locations and irrelevant leafs
Start location: l79
  <empty>


Computing asymptotic complexity

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

Solved cost: 0
Rule cost:   0