WORST_CASE(Omega(0),?)

Initial ITS
Start location: l31
   0: l0 -> l2 : a_137^0'=a_137^post0, rcd_110^0'=rcd_110^post0, tail_15^0'=tail_15^post0, head_SLAM_f_26^0'=head_SLAM_f_26^post0, rcd_192^0'=rcd_192^post0, tmp_31^0'=tmp_31^post0, x_SLAM_f_20^0'=x_SLAM_f_20^post0, nondet_12^0'=nondet_12^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post0, a_193^0'=a_193^post0, temp0_28^0'=temp0_28^post0, i_127^0'=i_127^post0, rcd_67^0'=rcd_67^post0, rcd_102^0'=rcd_102^post0, t_23^0'=t_23^post0, head_29^0'=head_29^post0, rcd_172^0'=rcd_172^post0, temp_33^0'=temp_33^post0, length_25^0'=length_25^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post0, a_163^0'=a_163^post0, rcd_168^0'=rcd_168^post0, temp0_19^0'=temp0_19^post0, i_108^0'=i_108^post0, rcd_41^0'=rcd_41^post0, x_22^0'=x_22^post0, y_21^0'=y_21^post0, r_37^0'=r_37^post0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, head_16^0'=head_16^post0, temp_32^0'=temp_32^post0, i_27^0'=i_27^post0, result_11^0'=result_11^post0, (0 == 0 /\ -x_22^post0+x_22^0 == 0 /\ a_163^0-a_163^post0 == 0 /\ nondet_12^0-nondet_12^post0 == 0 /\ -head_29^post0+head_29^0 == 0 /\ -temp_32^post0+temp_32^0 == 0 /\ temp_33^0-temp_33^post0 == 0 /\ -rcd_41^post0+rcd_41^0 == 0 /\ rcd_102^0-rcd_102^post0 == 0 /\ -y_21^post0+y_21^0 == 0 /\ rcd_172^0-rcd_172^post0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post0 == 0 /\ rcd_110^0-rcd_110^post0 == 0 /\ -a_137^0 <= 0 /\ -i_108^post0+i_108^0 == 0 /\ -r_37^post0+r_37^0 == 0 /\ i_127^0-i_127^post0 == 0 /\ -t_23^post0+t_23^0 == 0 /\ a_193^0-a_193^post0 == 0 /\ -result_11^post0+result_11^0 == 0 /\ length_25^0-length_25^post0 == 0 /\ -temp0_19^post0+temp0_19^0 == 0 /\ -i_27^post0+i_27^0 == 0 /\ -rcd_67^post0+rcd_67^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post0 == 0 /\ -tmp_31^post0+tmp_31^0 == 0 /\ rcd_192^0-rcd_192^post0 == 0 /\ a_137^0-a_137^post0 == 0 /\ temp0_28^0-temp0_28^post0 == 0 /\ -rcd_168^post0+rcd_168^0 == 0), cost: 1
   9: l0 -> l8 : a_137^0'=a_137^post9, rcd_110^0'=rcd_110^post9, tail_15^0'=tail_15^post9, head_SLAM_f_26^0'=head_SLAM_f_26^post9, rcd_192^0'=rcd_192^post9, tmp_31^0'=tmp_31^post9, x_SLAM_f_20^0'=x_SLAM_f_20^post9, nondet_12^0'=nondet_12^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9, a_193^0'=a_193^post9, temp0_28^0'=temp0_28^post9, i_127^0'=i_127^post9, rcd_67^0'=rcd_67^post9, rcd_102^0'=rcd_102^post9, t_23^0'=t_23^post9, head_29^0'=head_29^post9, rcd_172^0'=rcd_172^post9, temp_33^0'=temp_33^post9, length_25^0'=length_25^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post9, a_163^0'=a_163^post9, rcd_168^0'=rcd_168^post9, temp0_19^0'=temp0_19^post9, i_108^0'=i_108^post9, rcd_41^0'=rcd_41^post9, x_22^0'=x_22^post9, y_21^0'=y_21^post9, r_37^0'=r_37^post9, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post9, head_16^0'=head_16^post9, temp_32^0'=temp_32^post9, i_27^0'=i_27^post9, result_11^0'=result_11^post9, (0 == 0 /\ a_163^0-a_163^post9 == 0 /\ -length_25^post9+length_25^0 == 0 /\ -x_22^0+y_21^0 <= 0 /\ -temp_32^post9+temp_32^0 == 0 /\ -rcd_41^post9+rcd_41^0 == 0 /\ -rcd_102^post9+rcd_102^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post9 == 0 /\ -a_137^0 <= 0 /\ -i_108^post9+i_108^0 == 0 /\ rcd_110^0-rcd_110^post9 == 0 /\ -r_37^post9+r_37^0 == 0 /\ x_22^0-y_21^0 <= 0 /\ result_11^post9-temp0_19^0 == 0 /\ temp0_28^0-temp0_28^post9 == 0 /\ rcd_67^0-rcd_67^post9 == 0 /\ rcd_192^0-rcd_192^post9 == 0 /\ -temp0_19^post9+temp0_19^0 == 0 /\ nondet_12^0-nondet_12^post9 == 0 /\ -rcd_172^post9+rcd_172^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post9 == 0 /\ -i_27^post9+i_27^0 == 0 /\ tmp_31^0-tmp_31^post9 == 0 /\ head_29^0-head_29^post9 == 0 /\ temp_33^0-temp_33^post9 == 0 /\ i_127^0-i_127^post9 == 0 /\ -a_193^post9+a_193^0 == 0 /\ a_137^0-a_137^post9 == 0 /\ tail_15^0-tail_15^post9 == 0 /\ -rcd_168^post9+rcd_168^0 == 0), cost: 1
   1: l2 -> l3 : a_137^0'=a_137^post1, rcd_110^0'=rcd_110^post1, tail_15^0'=tail_15^post1, head_SLAM_f_26^0'=head_SLAM_f_26^post1, rcd_192^0'=rcd_192^post1, tmp_31^0'=tmp_31^post1, x_SLAM_f_20^0'=x_SLAM_f_20^post1, nondet_12^0'=nondet_12^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post1, a_193^0'=a_193^post1, temp0_28^0'=temp0_28^post1, i_127^0'=i_127^post1, rcd_67^0'=rcd_67^post1, rcd_102^0'=rcd_102^post1, t_23^0'=t_23^post1, head_29^0'=head_29^post1, rcd_172^0'=rcd_172^post1, temp_33^0'=temp_33^post1, length_25^0'=length_25^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post1, a_163^0'=a_163^post1, rcd_168^0'=rcd_168^post1, temp0_19^0'=temp0_19^post1, i_108^0'=i_108^post1, rcd_41^0'=rcd_41^post1, x_22^0'=x_22^post1, y_21^0'=y_21^post1, r_37^0'=r_37^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, head_16^0'=head_16^post1, temp_32^0'=temp_32^post1, i_27^0'=i_27^post1, result_11^0'=result_11^post1, (-head_29^post1+head_29^0 == 0 /\ rcd_168^0-rcd_168^post1 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ temp_33^0-temp_33^post1 == 0 /\ -x_22^post1+x_22^0 == 0 /\ -result_11^post1+result_11^0 == 0 /\ rcd_102^0-rcd_102^post1 == 0 /\ a_137^0-a_137^post1 == 0 /\ -temp0_28^post1+temp0_28^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post1 == 0 /\ -r_37^post1+r_37^0 == 0 /\ -rcd_41^post1+rcd_41^0 == 0 /\ -a_163^post1+a_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -i_127^post1+i_127^0 == 0 /\ rcd_67^0-rcd_67^post1 == 0 /\ -t_23^post1+t_23^0 == 0 /\ rcd_172^0-rcd_172^post1 == 0 /\ -i_27^post1+i_27^0 == 0 /\ a_193^0-a_193^post1 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post1 == 0 /\ length_25^0-length_25^post1 == 0 /\ tmp_31^0-tmp_31^post1 == 0 /\ -head_16^post1+head_16^0 == 0 /\ i_108^0-i_108^post1 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ temp_32^0-temp_32^post1 == 0 /\ rcd_110^0-rcd_110^post1 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post1 == 0 /\ tail_15^0-tail_15^post1 == 0 /\ rcd_192^0-rcd_192^post1 == 0 /\ -temp0_19^post1+temp0_19^0 == 0 /\ -y_21^post1+y_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post1 == 0), cost: 1
   2: l2 -> l3 : a_137^0'=a_137^post2, rcd_110^0'=rcd_110^post2, tail_15^0'=tail_15^post2, head_SLAM_f_26^0'=head_SLAM_f_26^post2, rcd_192^0'=rcd_192^post2, tmp_31^0'=tmp_31^post2, x_SLAM_f_20^0'=x_SLAM_f_20^post2, nondet_12^0'=nondet_12^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post2, a_193^0'=a_193^post2, temp0_28^0'=temp0_28^post2, i_127^0'=i_127^post2, rcd_67^0'=rcd_67^post2, rcd_102^0'=rcd_102^post2, t_23^0'=t_23^post2, head_29^0'=head_29^post2, rcd_172^0'=rcd_172^post2, temp_33^0'=temp_33^post2, length_25^0'=length_25^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post2, a_163^0'=a_163^post2, rcd_168^0'=rcd_168^post2, temp0_19^0'=temp0_19^post2, i_108^0'=i_108^post2, rcd_41^0'=rcd_41^post2, x_22^0'=x_22^post2, y_21^0'=y_21^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post2, head_16^0'=head_16^post2, temp_32^0'=temp_32^post2, i_27^0'=i_27^post2, result_11^0'=result_11^post2, (-result_11^post2+result_11^0 == 0 /\ -temp0_19^post2+temp0_19^0 == 0 /\ -rcd_172^post2+rcd_172^0 == 0 /\ rcd_168^0-rcd_168^post2 == 0 /\ a_137^0-a_137^post2 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post2 == 0 /\ rcd_67^0-rcd_67^post2 == 0 /\ temp0_28^0-temp0_28^post2 == 0 /\ a_193^0-a_193^post2 == 0 /\ length_25^0-length_25^post2 == 0 /\ -a_163^post2+a_163^0 == 0 /\ -i_27^post2+i_27^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -head_16^post2+head_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post2 == 0 /\ head_29^0-head_29^post2 == 0 /\ -y_21^post2+y_21^0 == 0 /\ tmp_31^0-tmp_31^post2 == 0 /\ -x_22^post2+x_22^0 == 0 /\ rcd_110^0-rcd_110^post2 == 0 /\ i_108^0-i_108^post2 == 0 /\ -rcd_41^post2+rcd_41^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_127^0-i_127^post2 == 0 /\ temp_32^0-temp_32^post2 == 0 /\ -temp_33^post2+temp_33^0 == 0 /\ -r_37^post2+r_37^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post2 == 0 /\ t_23^0-t_23^post2 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ tail_15^0-tail_15^post2 == 0 /\ rcd_192^0-rcd_192^post2 == 0 /\ -rcd_102^post2+rcd_102^0 == 0), cost: 1
   3: l3 -> l4 : a_137^0'=a_137^post3, rcd_110^0'=rcd_110^post3, tail_15^0'=tail_15^post3, head_SLAM_f_26^0'=head_SLAM_f_26^post3, rcd_192^0'=rcd_192^post3, tmp_31^0'=tmp_31^post3, x_SLAM_f_20^0'=x_SLAM_f_20^post3, nondet_12^0'=nondet_12^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post3, a_193^0'=a_193^post3, temp0_28^0'=temp0_28^post3, i_127^0'=i_127^post3, rcd_67^0'=rcd_67^post3, rcd_102^0'=rcd_102^post3, t_23^0'=t_23^post3, head_29^0'=head_29^post3, rcd_172^0'=rcd_172^post3, temp_33^0'=temp_33^post3, length_25^0'=length_25^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post3, a_163^0'=a_163^post3, rcd_168^0'=rcd_168^post3, temp0_19^0'=temp0_19^post3, i_108^0'=i_108^post3, rcd_41^0'=rcd_41^post3, x_22^0'=x_22^post3, y_21^0'=y_21^post3, r_37^0'=r_37^post3, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post3, head_16^0'=head_16^post3, temp_32^0'=temp_32^post3, i_27^0'=i_27^post3, result_11^0'=result_11^post3, (-rcd_102^post3+rcd_102^0 == 0 /\ tail_15^0-tail_15^post3 == 0 /\ -head_16^post3+head_16^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post3 == 0 /\ rcd_67^0-rcd_67^post3 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -i_108^post3+i_108^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ i_127^0-i_127^post3 == 0 /\ y_21^0-y_21^post3 == 0 /\ length_25^0-length_25^post3 == 0 /\ a_137^0-a_137^post3 == 0 /\ -result_11^post3+result_11^0 == 0 /\ tail_15^0-y_21^0 <= 0 /\ -rcd_172^post3+rcd_172^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ head_29^0-head_29^post3 == 0 /\ rcd_192^0-rcd_192^post3 == 0 /\ -temp0_28^post3+temp0_28^0 == 0 /\ -i_27^post3+i_27^0 == 0 /\ -x_22^post3+x_22^0 == 0 /\ rcd_110^0-rcd_110^post3 == 0 /\ temp0_19^0-temp0_19^post3 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post3+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post3 == 0 /\ -rcd_168^post3+rcd_168^0 == 0 /\ -r_37^post3+r_37^0 == 0 /\ -a_193^post3+a_193^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_20^0+head_16^0 <= 0 /\ t_23^post3-x_22^0 == 0 /\ tmp_31^0-tmp_31^post3 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post3+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -temp_33^post3+temp_33^0 == 0 /\ -a_163^post3+a_163^0 == 0 /\ -temp_32^post3+temp_32^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post3 == 0 /\ -rcd_41^post3+rcd_41^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_SLAM_f_20^0-head_16^0 <= 0), cost: 1
   4: l4 -> l5 : a_137^0'=a_137^post4, rcd_110^0'=rcd_110^post4, tail_15^0'=tail_15^post4, head_SLAM_f_26^0'=head_SLAM_f_26^post4, rcd_192^0'=rcd_192^post4, tmp_31^0'=tmp_31^post4, x_SLAM_f_20^0'=x_SLAM_f_20^post4, nondet_12^0'=nondet_12^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post4, a_193^0'=a_193^post4, temp0_28^0'=temp0_28^post4, i_127^0'=i_127^post4, rcd_67^0'=rcd_67^post4, rcd_102^0'=rcd_102^post4, t_23^0'=t_23^post4, head_29^0'=head_29^post4, rcd_172^0'=rcd_172^post4, temp_33^0'=temp_33^post4, length_25^0'=length_25^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post4, a_163^0'=a_163^post4, rcd_168^0'=rcd_168^post4, temp0_19^0'=temp0_19^post4, i_108^0'=i_108^post4, rcd_41^0'=rcd_41^post4, x_22^0'=x_22^post4, y_21^0'=y_21^post4, r_37^0'=r_37^post4, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post4, head_16^0'=head_16^post4, temp_32^0'=temp_32^post4, i_27^0'=i_27^post4, result_11^0'=result_11^post4, (tail_15^0-tail_15^post4 == 0 /\ -length_25^post4+length_25^0 == 0 /\ -temp_32^post4+temp_32^0 == 0 /\ -i_108^post4+i_108^0 == 0 /\ 1-y_21^0+head_16^0 <= 0 /\ temp_33^0-temp_33^post4 == 0 /\ rcd_102^0-rcd_102^post4 == 0 /\ y_21^0-y_21^post4 == 0 /\ -x_22^post4+x_22^0 == 0 /\ i_127^0-i_127^post4 == 0 /\ -x_SLAM_f_20^post4+x_SLAM_f_20^0 == 0 /\ a_137^0-a_137^post4 == 0 /\ t_23^0-t_23^post4 == 0 /\ -rcd_172^post4+rcd_172^0 == 0 /\ a_193^0-a_193^post4 == 0 /\ temp0_19^0-temp0_19^post4 == 0 /\ rcd_192^0-rcd_192^post4 == 0 /\ -r_37^post4+r_37^0 == 0 /\ nondet_12^0-nondet_12^post4 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post4 == 0 /\ -rcd_168^post4+rcd_168^0 == 0 /\ -head_29^post4+head_29^0 == 0 /\ -a_163^post4+a_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post4+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post4 == 0 /\ -rcd_41^post4+rcd_41^0 == 0 /\ tmp_31^0-tmp_31^post4 == 0 /\ -head_16^post4+head_16^0 == 0 /\ temp0_28^0-temp0_28^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -i_27^post4+i_27^0 == 0 /\ rcd_110^0-rcd_110^post4 == 0 /\ -rcd_67^post4+rcd_67^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post4 == 0), cost: 1
   5: l4 -> l5 : a_137^0'=a_137^post5, rcd_110^0'=rcd_110^post5, tail_15^0'=tail_15^post5, head_SLAM_f_26^0'=head_SLAM_f_26^post5, rcd_192^0'=rcd_192^post5, tmp_31^0'=tmp_31^post5, x_SLAM_f_20^0'=x_SLAM_f_20^post5, nondet_12^0'=nondet_12^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post5, a_193^0'=a_193^post5, temp0_28^0'=temp0_28^post5, i_127^0'=i_127^post5, rcd_67^0'=rcd_67^post5, rcd_102^0'=rcd_102^post5, t_23^0'=t_23^post5, head_29^0'=head_29^post5, rcd_172^0'=rcd_172^post5, temp_33^0'=temp_33^post5, length_25^0'=length_25^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post5, a_163^0'=a_163^post5, rcd_168^0'=rcd_168^post5, temp0_19^0'=temp0_19^post5, i_108^0'=i_108^post5, rcd_41^0'=rcd_41^post5, x_22^0'=x_22^post5, y_21^0'=y_21^post5, r_37^0'=r_37^post5, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post5, head_16^0'=head_16^post5, temp_32^0'=temp_32^post5, i_27^0'=i_27^post5, result_11^0'=result_11^post5, (-r_37^post5+r_37^0 == 0 /\ -x_22^post5+x_22^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post5 == 0 /\ -rcd_168^post5+rcd_168^0 == 0 /\ -i_27^post5+i_27^0 == 0 /\ rcd_102^0-rcd_102^post5 == 0 /\ 1+y_21^0-head_16^0 <= 0 /\ -temp_32^post5+temp_32^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post5 == 0 /\ i_127^0-i_127^post5 == 0 /\ tail_15^0-tail_15^post5 == 0 /\ rcd_192^0-rcd_192^post5 == 0 /\ a_137^0-a_137^post5 == 0 /\ t_23^0-t_23^post5 == 0 /\ a_193^0-a_193^post5 == 0 /\ nondet_12^0-nondet_12^post5 == 0 /\ -a_163^post5+a_163^0 == 0 /\ -rcd_110^post5+rcd_110^0 == 0 /\ temp_33^0-temp_33^post5 == 0 /\ -head_16^post5+head_16^0 == 0 /\ -temp0_19^post5+temp0_19^0 == 0 /\ -i_108^post5+i_108^0 == 0 /\ -result_11^post5+result_11^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post5 == 0 /\ -rcd_67^post5+rcd_67^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post5 == 0 /\ -y_21^post5+y_21^0 == 0 /\ -head_29^post5+head_29^0 == 0 /\ rcd_41^0-rcd_41^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post5 == 0 /\ temp0_28^0-temp0_28^post5 == 0 /\ -rcd_172^post5+rcd_172^0 == 0 /\ tmp_31^0-tmp_31^post5 == 0 /\ -length_25^post5+length_25^0 == 0), cost: 1
   6: l5 -> l6 : a_137^0'=a_137^post6, rcd_110^0'=rcd_110^post6, tail_15^0'=tail_15^post6, head_SLAM_f_26^0'=head_SLAM_f_26^post6, rcd_192^0'=rcd_192^post6, tmp_31^0'=tmp_31^post6, x_SLAM_f_20^0'=x_SLAM_f_20^post6, nondet_12^0'=nondet_12^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post6, a_193^0'=a_193^post6, temp0_28^0'=temp0_28^post6, i_127^0'=i_127^post6, rcd_67^0'=rcd_67^post6, rcd_102^0'=rcd_102^post6, t_23^0'=t_23^post6, head_29^0'=head_29^post6, rcd_172^0'=rcd_172^post6, temp_33^0'=temp_33^post6, length_25^0'=length_25^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post6, a_163^0'=a_163^post6, rcd_168^0'=rcd_168^post6, temp0_19^0'=temp0_19^post6, i_108^0'=i_108^post6, rcd_41^0'=rcd_41^post6, x_22^0'=x_22^post6, y_21^0'=y_21^post6, r_37^0'=r_37^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, head_16^0'=head_16^post6, temp_32^0'=temp_32^post6, i_27^0'=i_27^post6, result_11^0'=result_11^post6, (tmp_31^0-tmp_31^post6 == 0 /\ -i_27^post6+i_27^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 == 0 /\ -temp_33^post6+temp_33^0 == 0 /\ head_29^0-head_29^post6 == 0 /\ -r_37^post6+r_37^0 == 0 /\ -rcd_168^post6+rcd_168^0 == 0 /\ rcd_110^0-rcd_110^post6 == 0 /\ -temp0_28^post6+temp0_28^0 == 0 /\ -i_127^post6+i_127^0 == 0 /\ length_25^0-length_25^post6 == 0 /\ rcd_192^0-rcd_192^post6 == 0 /\ tail_15^0-tail_15^post6 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post6 == 0 /\ a_163^0-a_163^post6 == 0 /\ -temp_32^post6+temp_32^0 == 0 /\ a_193^0-a_193^post6 == 0 /\ -head_16^post6+head_16^0 == 0 /\ a_137^0-a_137^post6 == 0 /\ rcd_102^0-rcd_102^post6 == 0 /\ rcd_172^0-rcd_172^post6 == 0 /\ -i_108^post6+i_108^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post6 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ rcd_67^0-rcd_67^post6 == 0 /\ -t_23^post6+t_23^0 == 0 /\ -x_22^post6+x_22^0 == 0 /\ rcd_41^0-rcd_41^post6 == 0 /\ -temp0_19^post6+temp0_19^0 == 0 /\ -result_11^post6+result_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1-t_23^0+y_21^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post6 == 0 /\ -y_21^post6+y_21^0 == 0), cost: 1
   7: l5 -> l6 : a_137^0'=a_137^post7, rcd_110^0'=rcd_110^post7, tail_15^0'=tail_15^post7, head_SLAM_f_26^0'=head_SLAM_f_26^post7, rcd_192^0'=rcd_192^post7, tmp_31^0'=tmp_31^post7, x_SLAM_f_20^0'=x_SLAM_f_20^post7, nondet_12^0'=nondet_12^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post7, a_193^0'=a_193^post7, temp0_28^0'=temp0_28^post7, i_127^0'=i_127^post7, rcd_67^0'=rcd_67^post7, rcd_102^0'=rcd_102^post7, t_23^0'=t_23^post7, head_29^0'=head_29^post7, rcd_172^0'=rcd_172^post7, temp_33^0'=temp_33^post7, length_25^0'=length_25^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post7, a_163^0'=a_163^post7, rcd_168^0'=rcd_168^post7, temp0_19^0'=temp0_19^post7, i_108^0'=i_108^post7, rcd_41^0'=rcd_41^post7, x_22^0'=x_22^post7, y_21^0'=y_21^post7, r_37^0'=r_37^post7, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post7, head_16^0'=head_16^post7, temp_32^0'=temp_32^post7, i_27^0'=i_27^post7, result_11^0'=result_11^post7, (head_29^0-head_29^post7 == 0 /\ -a_163^post7+a_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post7+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_110^0-rcd_110^post7 == 0 /\ -i_127^post7+i_127^0 == 0 /\ length_25^0-length_25^post7 == 0 /\ rcd_192^0-rcd_192^post7 == 0 /\ -temp_33^post7+temp_33^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post7 == 0 /\ temp0_19^0-temp0_19^post7 == 0 /\ temp0_28^0-temp0_28^post7 == 0 /\ tmp_31^0-tmp_31^post7 == 0 /\ r_37^0-r_37^post7 == 0 /\ a_193^0-a_193^post7 == 0 /\ -head_16^post7+head_16^0 == 0 /\ -result_11^post7+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post7 == 0 /\ rcd_102^0-rcd_102^post7 == 0 /\ -t_23^post7+t_23^0 == 0 /\ -rcd_41^post7+rcd_41^0 == 0 /\ tail_15^0-tail_15^post7 == 0 /\ rcd_67^0-rcd_67^post7 == 0 /\ -y_21^post7+y_21^0 == 0 /\ 1+t_23^0-y_21^0 <= 0 /\ rcd_172^0-rcd_172^post7 == 0 /\ -head_SLAM_f_26^post7+head_SLAM_f_26^0 == 0 /\ -i_27^post7+i_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ -temp_32^post7+temp_32^0 == 0 /\ -i_108^post7+i_108^0 == 0 /\ a_137^0-a_137^post7 == 0 /\ -x_22^post7+x_22^0 == 0 /\ rcd_168^0-rcd_168^post7 == 0), cost: 1
   8: l6 -> l1 : a_137^0'=a_137^post8, rcd_110^0'=rcd_110^post8, tail_15^0'=tail_15^post8, head_SLAM_f_26^0'=head_SLAM_f_26^post8, rcd_192^0'=rcd_192^post8, tmp_31^0'=tmp_31^post8, x_SLAM_f_20^0'=x_SLAM_f_20^post8, nondet_12^0'=nondet_12^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post8, a_193^0'=a_193^post8, temp0_28^0'=temp0_28^post8, i_127^0'=i_127^post8, rcd_67^0'=rcd_67^post8, rcd_102^0'=rcd_102^post8, t_23^0'=t_23^post8, head_29^0'=head_29^post8, rcd_172^0'=rcd_172^post8, temp_33^0'=temp_33^post8, length_25^0'=length_25^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post8, a_163^0'=a_163^post8, rcd_168^0'=rcd_168^post8, temp0_19^0'=temp0_19^post8, i_108^0'=i_108^post8, rcd_41^0'=rcd_41^post8, x_22^0'=x_22^post8, y_21^0'=y_21^post8, r_37^0'=r_37^post8, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post8, head_16^0'=head_16^post8, temp_32^0'=temp_32^post8, i_27^0'=i_27^post8, result_11^0'=result_11^post8, (rcd_110^0-rcd_110^post8 == 0 /\ temp0_19^0-temp0_19^post8 == 0 /\ temp0_28^0-temp0_28^post8 == 0 /\ r_37^0-r_37^post8 == 0 /\ -rcd_67^post8+rcd_67^0 == 0 /\ -rcd_102^post8+rcd_102^0 == 0 /\ -length_25^post8+length_25^0 == 0 /\ rcd_192^0-rcd_192^post8 == 0 /\ -head_16^post8+head_16^0 == 0 /\ x_22^0-x_22^post8 == 0 /\ -result_11^post8+result_11^0 == 0 /\ -rcd_172^post8+rcd_172^0 == 0 /\ -y_21^post8+y_21^0 == 0 /\ -x_SLAM_f_20^post8+x_SLAM_f_20^0 == 0 /\ t_23^0-t_23^post8 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_193^post8+a_193^0 == 0 /\ -head_SLAM_f_26^post8+head_SLAM_f_26^0 == 0 /\ -i_27^post8+i_27^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post8 == 0 /\ tail_15^0-tail_15^post8 == 0 /\ a_137^0-a_137^post8 == 0 /\ tmp_31^0-tmp_31^post8 == 0 /\ i_108^0-i_108^post8 == 0 /\ temp_33^0-temp_33^post8 == 0 /\ i_127^0-i_127^post8 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post8+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -temp_32^post8+temp_32^0 == 0 /\ head_29^0-head_29^post8 == 0 /\ -rcd_41^post8+rcd_41^0 == 0 /\ -a_163^post8+a_163^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_168^0-rcd_168^post8 == 0), cost: 1
  24: l1 -> l7 : a_137^0'=a_137^post24, rcd_110^0'=rcd_110^post24, tail_15^0'=tail_15^post24, head_SLAM_f_26^0'=head_SLAM_f_26^post24, rcd_192^0'=rcd_192^post24, tmp_31^0'=tmp_31^post24, x_SLAM_f_20^0'=x_SLAM_f_20^post24, nondet_12^0'=nondet_12^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24, a_193^0'=a_193^post24, temp0_28^0'=temp0_28^post24, i_127^0'=i_127^post24, rcd_67^0'=rcd_67^post24, rcd_102^0'=rcd_102^post24, t_23^0'=t_23^post24, head_29^0'=head_29^post24, rcd_172^0'=rcd_172^post24, temp_33^0'=temp_33^post24, length_25^0'=length_25^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post24, a_163^0'=a_163^post24, rcd_168^0'=rcd_168^post24, temp0_19^0'=temp0_19^post24, i_108^0'=i_108^post24, rcd_41^0'=rcd_41^post24, x_22^0'=x_22^post24, y_21^0'=y_21^post24, r_37^0'=r_37^post24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post24, head_16^0'=head_16^post24, temp_32^0'=temp_32^post24, i_27^0'=i_27^post24, result_11^0'=result_11^post24, (0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^post24 <= 0 /\ -i_27^post24+i_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post24+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -r_37^post24+r_37^0 == 0 /\ a_193^0-a_193^post24 == 0 /\ result_11^post24-temp0_19^0 == 0 /\ -head_29^post24+head_29^0 == 0 /\ -x_22^0+y_21^0 <= 0 /\ temp_33^0-temp_33^post24 == 0 /\ rcd_168^0-rcd_168^post24 == 0 /\ rcd_172^0-rcd_172^post24 == 0 /\ tail_15^0-tail_15^post24 == 0 /\ -temp_32^post24+temp_32^0 == 0 /\ -a_163^0 <= 0 /\ temp0_28^0-temp0_28^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post24 == 0 /\ rcd_67^0-rcd_67^post24 == 0 /\ rcd_192^0-rcd_192^post24 == 0 /\ -rcd_41^post24+rcd_41^0 == 0 /\ -a_163^post24+a_163^0 == 0 /\ x_22^0-y_21^0 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^post24 <= 0 /\ -i_127^post24+i_127^0 == 0 /\ i_108^0-i_108^post24 == 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ a_137^0-a_137^post24 == 0 /\ length_25^0-length_25^post24 == 0 /\ -head_16^post24+head_16^0 == 0 /\ rcd_102^0-rcd_102^post24 == 0 /\ -temp0_19^post24+temp0_19^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post24 == 0 /\ rcd_110^0-rcd_110^post24 == 0 /\ tmp_31^0-tmp_31^post24 == 0), cost: 1
  25: l1 -> l20 : a_137^0'=a_137^post25, rcd_110^0'=rcd_110^post25, tail_15^0'=tail_15^post25, head_SLAM_f_26^0'=head_SLAM_f_26^post25, rcd_192^0'=rcd_192^post25, tmp_31^0'=tmp_31^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, nondet_12^0'=nondet_12^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25, a_193^0'=a_193^post25, temp0_28^0'=temp0_28^post25, i_127^0'=i_127^post25, rcd_67^0'=rcd_67^post25, rcd_102^0'=rcd_102^post25, t_23^0'=t_23^post25, head_29^0'=head_29^post25, rcd_172^0'=rcd_172^post25, temp_33^0'=temp_33^post25, length_25^0'=length_25^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, a_163^0'=a_163^post25, rcd_168^0'=rcd_168^post25, temp0_19^0'=temp0_19^post25, i_108^0'=i_108^post25, rcd_41^0'=rcd_41^post25, x_22^0'=x_22^post25, y_21^0'=y_21^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, temp_32^0'=temp_32^post25, i_27^0'=i_27^post25, result_11^0'=result_11^post25, (0 == 0 /\ -i_27^post25+i_27^0 == 0 /\ tmp_31^0-tmp_31^post25 == 0 /\ -temp_33^post25+temp_33^0 == 0 /\ rcd_110^0-rcd_110^post25 == 0 /\ rcd_168^0-rcd_168^post25 == 0 /\ -rcd_172^post25+rcd_172^0 == 0 /\ rcd_67^0-rcd_67^post25 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -rcd_41^post25+rcd_41^0 == 0 /\ rcd_192^0-rcd_192^post25 == 0 /\ -a_163^0 <= 0 /\ -a_163^post25+a_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25 == 0 /\ -temp_32^post25+temp_32^0 == 0 /\ -length_25^post25+length_25^0 == 0 /\ i_108^0-i_108^post25 == 0 /\ head_29^0-head_29^post25 == 0 /\ a_137^0-a_137^post25 == 0 /\ i_127^0-i_127^post25 == 0 /\ -temp0_28^post25+temp0_28^0 == 0 /\ a_193^0-a_193^post25 == 0 /\ -head_SLAM_f_26^post25+head_SLAM_f_26^0 == 0 /\ -temp0_19^post25+temp0_19^0 == 0 /\ -rcd_102^post25+rcd_102^0 == 0 /\ t_23^0-t_23^post25 == 0 /\ nondet_12^0-nondet_12^post25 == 0 /\ -y_21^post25+y_21^0 == 0 /\ -x_22^post25+x_22^0 == 0), cost: 1
  10: l8 -> l9 : a_137^0'=a_137^post10, rcd_110^0'=rcd_110^post10, tail_15^0'=tail_15^post10, head_SLAM_f_26^0'=head_SLAM_f_26^post10, rcd_192^0'=rcd_192^post10, tmp_31^0'=tmp_31^post10, x_SLAM_f_20^0'=x_SLAM_f_20^post10, nondet_12^0'=nondet_12^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post10, a_193^0'=a_193^post10, temp0_28^0'=temp0_28^post10, i_127^0'=i_127^post10, rcd_67^0'=rcd_67^post10, rcd_102^0'=rcd_102^post10, t_23^0'=t_23^post10, head_29^0'=head_29^post10, rcd_172^0'=rcd_172^post10, temp_33^0'=temp_33^post10, length_25^0'=length_25^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post10, a_163^0'=a_163^post10, rcd_168^0'=rcd_168^post10, temp0_19^0'=temp0_19^post10, i_108^0'=i_108^post10, rcd_41^0'=rcd_41^post10, x_22^0'=x_22^post10, y_21^0'=y_21^post10, r_37^0'=r_37^post10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post10, head_16^0'=head_16^post10, temp_32^0'=temp_32^post10, i_27^0'=i_27^post10, result_11^0'=result_11^post10, (-head_29^post10+head_29^0 == 0 /\ tmp_31^0-tmp_31^post10 == 0 /\ -rcd_168^post10+rcd_168^0 == 0 /\ -rcd_41^post10+rcd_41^0 == 0 /\ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-head_16^0 <= 0 /\ a_163^0-a_163^post10 == 0 /\ a_137^0-a_137^post10 == 0 /\ -y_21^post10+y_21^0 == 0 /\ temp_33^0-temp_33^post10 == 0 /\ -x_22^post10+x_22^0 == 0 /\ rcd_102^0-rcd_102^post10 == 0 /\ -i_27^post10+i_27^0 == 0 /\ rcd_192^0-rcd_192^post10 == 0 /\ -temp_32^post10+temp_32^0 == 0 /\ -i_108^post10+i_108^0 == 0 /\ temp0_28^0-temp0_28^post10 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post10 == 0 /\ rcd_67^0-rcd_67^post10 == 0 /\ -t_23^post10+t_23^0 == 0 /\ rcd_172^0-rcd_172^post10 == 0 /\ rcd_110^0-rcd_110^post10 == 0 /\ head_16^0-head_16^post10 == 0 /\ -i_127^post10+i_127^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post10 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post10+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -r_37^post10+r_37^0 == 0 /\ length_25^0-length_25^post10 == 0 /\ -temp0_19^post10+temp0_19^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post10 == 0 /\ tail_15^0-tail_15^post10 == 0 /\ nondet_12^0-nondet_12^post10 == 0 /\ a_193^0-a_193^post10 == 0 /\ -result_11^post10+result_11^0 == 0), cost: 1
  11: l8 -> l9 : a_137^0'=a_137^post11, rcd_110^0'=rcd_110^post11, tail_15^0'=tail_15^post11, head_SLAM_f_26^0'=head_SLAM_f_26^post11, rcd_192^0'=rcd_192^post11, tmp_31^0'=tmp_31^post11, x_SLAM_f_20^0'=x_SLAM_f_20^post11, nondet_12^0'=nondet_12^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post11, a_193^0'=a_193^post11, temp0_28^0'=temp0_28^post11, i_127^0'=i_127^post11, rcd_67^0'=rcd_67^post11, rcd_102^0'=rcd_102^post11, t_23^0'=t_23^post11, head_29^0'=head_29^post11, rcd_172^0'=rcd_172^post11, temp_33^0'=temp_33^post11, length_25^0'=length_25^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post11, a_163^0'=a_163^post11, rcd_168^0'=rcd_168^post11, temp0_19^0'=temp0_19^post11, i_108^0'=i_108^post11, rcd_41^0'=rcd_41^post11, x_22^0'=x_22^post11, y_21^0'=y_21^post11, r_37^0'=r_37^post11, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post11, head_16^0'=head_16^post11, temp_32^0'=temp_32^post11, i_27^0'=i_27^post11, result_11^0'=result_11^post11, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post11 == 0 /\ -result_11^post11+result_11^0 == 0 /\ tmp_31^0-tmp_31^post11 == 0 /\ -temp0_19^post11+temp0_19^0 == 0 /\ temp_33^0-temp_33^post11 == 0 /\ rcd_168^0-rcd_168^post11 == 0 /\ rcd_102^0-rcd_102^post11 == 0 /\ a_137^0-a_137^post11 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post11+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_172^0-rcd_172^post11 == 0 /\ rcd_67^0-rcd_67^post11 == 0 /\ tail_15^0-tail_15^post11 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post11 == 0 /\ temp0_28^0-temp0_28^post11 == 0 /\ -i_127^post11+i_127^0 == 0 /\ rcd_192^0-rcd_192^post11 == 0 /\ -t_23^post11+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -a_163^post11+a_163^0 == 0 /\ -i_27^post11+i_27^0 == 0 /\ 1-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+head_16^0 <= 0 /\ -head_29^post11+head_29^0 == 0 /\ -head_16^post11+head_16^0 == 0 /\ -y_21^post11+y_21^0 == 0 /\ -rcd_41^post11+rcd_41^0 == 0 /\ rcd_110^0-rcd_110^post11 == 0 /\ i_108^0-i_108^post11 == 0 /\ temp_32^0-temp_32^post11 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post11 == 0 /\ -length_25^post11+length_25^0 == 0 /\ -r_37^post11+r_37^0 == 0 /\ -x_22^post11+x_22^0 == 0 /\ a_193^0-a_193^post11 == 0 /\ nondet_12^0-nondet_12^post11 == 0), cost: 1
  12: l9 -> l7 : a_137^0'=a_137^post12, rcd_110^0'=rcd_110^post12, tail_15^0'=tail_15^post12, head_SLAM_f_26^0'=head_SLAM_f_26^post12, rcd_192^0'=rcd_192^post12, tmp_31^0'=tmp_31^post12, x_SLAM_f_20^0'=x_SLAM_f_20^post12, nondet_12^0'=nondet_12^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post12, a_193^0'=a_193^post12, temp0_28^0'=temp0_28^post12, i_127^0'=i_127^post12, rcd_67^0'=rcd_67^post12, rcd_102^0'=rcd_102^post12, t_23^0'=t_23^post12, head_29^0'=head_29^post12, rcd_172^0'=rcd_172^post12, temp_33^0'=temp_33^post12, length_25^0'=length_25^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post12, a_163^0'=a_163^post12, rcd_168^0'=rcd_168^post12, temp0_19^0'=temp0_19^post12, i_108^0'=i_108^post12, rcd_41^0'=rcd_41^post12, x_22^0'=x_22^post12, y_21^0'=y_21^post12, r_37^0'=r_37^post12, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post12, head_16^0'=head_16^post12, temp_32^0'=temp_32^post12, i_27^0'=i_27^post12, result_11^0'=result_11^post12, (rcd_110^0-rcd_110^post12 == 0 /\ -rcd_102^post12+rcd_102^0 == 0 /\ -temp0_19^post12+temp0_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post12+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_67^0-rcd_67^post12 == 0 /\ -result_11^post12+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post12 == 0 /\ rcd_192^0-rcd_192^post12 == 0 /\ -a_163^post12+a_163^0 == 0 /\ tmp_31^0-tmp_31^post12 == 0 /\ i_127^0-i_127^post12 == 0 /\ length_25^0-length_25^post12 == 0 /\ -head_16^post12+head_16^0 == 0 /\ -i_27^post12+i_27^0 == 0 /\ a_137^0-a_137^post12 == 0 /\ -rcd_168^post12+rcd_168^0 == 0 /\ -rcd_172^post12+rcd_172^0 == 0 /\ head_29^0-head_29^post12 == 0 /\ -x_22^post12+x_22^0 == 0 /\ -temp0_28^post12+temp0_28^0 == 0 /\ -rcd_41^post12+rcd_41^0 == 0 /\ -head_SLAM_f_26^post12+head_SLAM_f_26^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ i_108^0-i_108^post12 == 0 /\ temp_32^0-temp_32^post12 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post12 == 0 /\ -y_21^post12+y_21^0 == 0 /\ tail_15^0-tail_15^post12 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ -temp_33^post12+temp_33^0 == 0 /\ a_193^0-a_193^post12 == 0 /\ -r_37^post12+r_37^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -t_23^post12+t_23^0 == 0), cost: 1
  13: l10 -> l11 : a_137^0'=a_137^post13, rcd_110^0'=rcd_110^post13, tail_15^0'=tail_15^post13, head_SLAM_f_26^0'=head_SLAM_f_26^post13, rcd_192^0'=rcd_192^post13, tmp_31^0'=tmp_31^post13, x_SLAM_f_20^0'=x_SLAM_f_20^post13, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13, a_193^0'=a_193^post13, temp0_28^0'=temp0_28^post13, i_127^0'=i_127^post13, rcd_67^0'=rcd_67^post13, rcd_102^0'=rcd_102^post13, t_23^0'=t_23^post13, head_29^0'=head_29^post13, rcd_172^0'=rcd_172^post13, temp_33^0'=temp_33^post13, length_25^0'=length_25^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13, a_163^0'=a_163^post13, rcd_168^0'=rcd_168^post13, temp0_19^0'=temp0_19^post13, i_108^0'=i_108^post13, rcd_41^0'=rcd_41^post13, x_22^0'=x_22^post13, y_21^0'=y_21^post13, r_37^0'=r_37^post13, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post13, head_16^0'=head_16^post13, temp_32^0'=temp_32^post13, i_27^0'=i_27^post13, result_11^0'=result_11^post13, (0 == 0 /\ tmp_31^0-tmp_31^post13 == 0 /\ -t_23^post13+t_23^0 == 0 /\ i_27^post13 <= 0 /\ i_27^post13 == 0 /\ rcd_168^0-rcd_168^post13 == 0 /\ -x_22^post13+x_22^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13-head_29^post13 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13+head_SLAM_f_26^post13 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post13+length_25^post13 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post13+length_25^post13 == 0 /\ rcd_110^0-rcd_110^post13 == 0 /\ rcd_192^0-rcd_192^post13 == 0 /\ -a_163^post13+a_163^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13+head_29^post13 <= 0 /\ -rcd_41^post13+rcd_41^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13-head_SLAM_f_26^post13 <= 0 /\ -temp0_28^post13+temp0_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post13-length_25^post13 <= 0 /\ -head_16^post13+head_16^0 == 0 /\ i_127^0-i_127^post13 == 0 /\ -rcd_102^post13+rcd_102^0 == 0 /\ -i_27^post13 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13+tail_15^post13 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post13-nondet_12^10 == 0 /\ a_137^0-a_137^post13 == 0 /\ i_108^0-i_108^post13 == 0 /\ a_193^0-a_193^post13 == 0 /\ -head_SLAM_f_26^post13+head_29^post13 <= 0 /\ -head_SLAM_f_26^post13+head_29^post13 == 0 /\ -tail_15^post13+head_SLAM_f_26^post13 <= 0 /\ -tail_15^post13+head_SLAM_f_26^post13 == 0 /\ temp_32^0-temp_32^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13-tail_15^post13 <= 0 /\ tail_15^post13-temp_33^0 == 0 /\ -r_37^post13+r_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13 == 0 /\ -result_11^post13+result_11^0 == 0 /\ head_SLAM_f_26^post13-head_29^post13 <= 0 /\ -y_21^post13+y_21^0 == 0 /\ rcd_67^0-rcd_67^post13 == 0 /\ tail_15^post13-head_SLAM_f_26^post13 <= 0 /\ rcd_172^0-rcd_172^post13 == 0 /\ -temp0_19^post13+temp0_19^0 == 0), cost: 1
  46: l11 -> l7 : a_137^0'=a_137^post46, rcd_110^0'=rcd_110^post46, tail_15^0'=tail_15^post46, head_SLAM_f_26^0'=head_SLAM_f_26^post46, rcd_192^0'=rcd_192^post46, tmp_31^0'=tmp_31^post46, x_SLAM_f_20^0'=x_SLAM_f_20^post46, nondet_12^0'=nondet_12^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post46, a_193^0'=a_193^post46, temp0_28^0'=temp0_28^post46, i_127^0'=i_127^post46, rcd_67^0'=rcd_67^post46, rcd_102^0'=rcd_102^post46, t_23^0'=t_23^post46, head_29^0'=head_29^post46, rcd_172^0'=rcd_172^post46, temp_33^0'=temp_33^post46, length_25^0'=length_25^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46, a_163^0'=a_163^post46, rcd_168^0'=rcd_168^post46, temp0_19^0'=temp0_19^post46, i_108^0'=i_108^post46, rcd_41^0'=rcd_41^post46, x_22^0'=x_22^post46, y_21^0'=y_21^post46, r_37^0'=r_37^post46, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post46, head_16^0'=head_16^post46, temp_32^0'=temp_32^post46, i_27^0'=i_27^post46, result_11^0'=result_11^post46, (0 == 0 /\ -i_108^post46+i_108^0 == 0 /\ -rcd_102^post46+rcd_102^0 == 0 /\ x_SLAM_f_20^120-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^120 <= 0 /\ a_193^0-a_193^post46 == 0 /\ a_163^0-a_163^post46 == 0 /\ x_SLAM_f_20^120-head_16^post46 <= 0 /\ x_SLAM_f_20^120-head_16^post46 == 0 /\ head_16^post46-result_11^111 == 0 /\ -temp0_28^120+result_11^111 == 0 /\ x_SLAM_f_20^120-x_22^10 <= 0 /\ a_137^0-a_137^post46 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post46 <= 0 /\ length_25^0-i_27^0 <= 0 /\ -x_SLAM_f_20^120+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46 <= 0 /\ temp0_28^120-head_29^0 == 0 /\ -temp0_19^post46+temp0_19^0 == 0 /\ i_127^0-i_127^post46 == 0 /\ -rcd_172^post46+rcd_172^0 == 0 /\ -x_SLAM_f_20^120+head_16^post46 <= 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ -x_SLAM_f_20^120+x_22^10 <= 0 /\ -x_SLAM_f_20^120+x_22^10 == 0 /\ x_22^10-y_21^10 <= 0 /\ tail_15^0-y_21^10 <= 0 /\ -temp0_19^0+result_11^post46 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46+y_21^10 <= 0 /\ -head_16^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46 <= 0 /\ -tail_15^post46+tail_15^0 == 0 /\ -x_22^10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46 <= 0 /\ -r_37^post46+r_37^0 == 0 /\ rcd_110^0-rcd_110^post46 == 0 /\ -x_22^10+y_21^10 <= 0 /\ -temp_33^post46+temp_33^0 == 0 /\ -tail_15^0+y_21^10 <= 0 /\ -tail_15^0+y_21^10 == 0 /\ rcd_192^0-rcd_192^post46 == 0 /\ -rcd_41^post46+rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46-y_21^10 <= 0 /\ head_16^post46-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46 <= 0 /\ x_22^10-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46 <= 0 /\ rcd_168^0-rcd_168^post46 == 0 /\ rcd_67^0-rcd_67^post46 == 0), cost: 1
  47: l11 -> l12 : a_137^0'=a_137^post47, rcd_110^0'=rcd_110^post47, tail_15^0'=tail_15^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, rcd_192^0'=rcd_192^post47, tmp_31^0'=tmp_31^post47, x_SLAM_f_20^0'=x_SLAM_f_20^post47, nondet_12^0'=nondet_12^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47, a_193^0'=a_193^post47, temp0_28^0'=temp0_28^post47, i_127^0'=i_127^post47, rcd_67^0'=rcd_67^post47, rcd_102^0'=rcd_102^post47, t_23^0'=t_23^post47, head_29^0'=head_29^post47, rcd_172^0'=rcd_172^post47, temp_33^0'=temp_33^post47, length_25^0'=length_25^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47, a_163^0'=a_163^post47, rcd_168^0'=rcd_168^post47, temp0_19^0'=temp0_19^post47, i_108^0'=i_108^post47, rcd_41^0'=rcd_41^post47, x_22^0'=x_22^post47, y_21^0'=y_21^post47, r_37^0'=r_37^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post47, head_16^0'=head_16^post47, temp_32^0'=temp_32^post47, i_27^0'=i_27^post47, result_11^0'=result_11^post47, (0 == 0 /\ tail_15^post47-head_SLAM_f_26^post47 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47+head_29^post47 <= 0 /\ rcd_102^0-rcd_102^post47 == 0 /\ -i_127^post47+i_127^0 == 0 /\ rcd_110^0-rcd_110^post47 == 0 /\ -temp0_19^post47+temp0_19^0 == 0 /\ 1-length_25^0+i_27^0 <= 0 /\ length_25^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post47 <= 0 /\ rcd_192^0-rcd_192^post47 == 0 /\ a_163^0-a_163^post47 == 0 /\ -tail_15^post47+head_SLAM_f_26^post47 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47-head_29^post47 <= 0 /\ -rcd_67^post47+rcd_67^0 == 0 /\ 1-i_27^post47 <= 0 /\ -1+i_27^post47 <= 0 /\ -head_16^post47+head_16^0 == 0 /\ -result_11^post47+result_11^0 == 0 /\ -length_25^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post47 <= 0 /\ 1-length_25^0 <= 0 /\ -rcd_168^post47+rcd_168^0 == 0 /\ rcd_172^0-rcd_172^post47 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47-tail_15^post47 <= 0 /\ tmp_31^post47-temp_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47+tmp_31^post47 <= 0 /\ temp0_28^0-temp0_28^post47 == 0 /\ rcd_41^0-rcd_41^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47+head_SLAM_f_26^post47 <= 0 /\ tmp_31^post47-head_29^post47 <= 0 /\ -y_21^post47+y_21^0 == 0 /\ -x_22^post47+x_22^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post47 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ length_25^0-length_25^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47+tail_15^post47 <= 0 /\ a_137^0-a_137^post47 == 0 /\ a_193^0-a_193^post47 == 0 /\ -i_108^post47+i_108^0 == 0 /\ -temp_33^post47+temp_33^0 == 0 /\ -1+i_27^post47-i_27^0 == 0 /\ -t_23^post47+t_23^0 == 0 /\ -r_37^post47+r_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47-tmp_31^post47 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47-head_SLAM_f_26^post47 <= 0 /\ -tmp_31^post47+head_29^post47 <= 0 /\ -tmp_31^post47+head_29^post47 == 0), cost: 1
  14: l12 -> l13 : a_137^0'=a_137^post14, rcd_110^0'=rcd_110^post14, tail_15^0'=tail_15^post14, head_SLAM_f_26^0'=head_SLAM_f_26^post14, rcd_192^0'=rcd_192^post14, tmp_31^0'=tmp_31^post14, x_SLAM_f_20^0'=x_SLAM_f_20^post14, nondet_12^0'=nondet_12^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post14, a_193^0'=a_193^post14, temp0_28^0'=temp0_28^post14, i_127^0'=i_127^post14, rcd_67^0'=rcd_67^post14, rcd_102^0'=rcd_102^post14, t_23^0'=t_23^post14, head_29^0'=head_29^post14, rcd_172^0'=rcd_172^post14, temp_33^0'=temp_33^post14, length_25^0'=length_25^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post14, a_163^0'=a_163^post14, rcd_168^0'=rcd_168^post14, temp0_19^0'=temp0_19^post14, i_108^0'=i_108^post14, rcd_41^0'=rcd_41^post14, x_22^0'=x_22^post14, y_21^0'=y_21^post14, r_37^0'=r_37^post14, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post14, head_16^0'=head_16^post14, temp_32^0'=temp_32^post14, i_27^0'=i_27^post14, result_11^0'=result_11^post14, (0 == 0 /\ -x_22^post14+head_16^10 <= 0 /\ i_127^0-i_127^post14 == 0 /\ x_SLAM_f_20^10-head_16^10 <= 0 /\ x_SLAM_f_20^10-head_16^10 == 0 /\ -x_SLAM_f_20^10+x_22^post14 <= 0 /\ -x_SLAM_f_20^10+x_22^post14 == 0 /\ -t_23^post14+t_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^10-y_21^post14 <= 0 /\ temp0_19^0-temp0_19^post14 == 0 /\ -a_163^post14+a_163^0 == 0 /\ tail_15^0-y_21^post14 <= 0 /\ -rcd_41^post14+rcd_41^0 == 0 /\ -a_193^post14+a_193^0 == 0 /\ x_22^post14-head_16^10 <= 0 /\ length_25^0-i_27^0 <= 0 /\ -x_SLAM_f_20^10+head_16^10 <= 0 /\ x_SLAM_f_20^10-x_22^post14 <= 0 /\ nondet_12^0-nondet_12^post14 == 0 /\ -r_37^post14+r_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^10+y_21^post14 <= 0 /\ rcd_110^0-rcd_110^post14 == 0 /\ rcd_172^0-rcd_172^post14 == 0 /\ -tail_15^0+y_21^post14 <= 0 /\ -tail_15^0+y_21^post14 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^10+tail_15^0 <= 0 /\ temp0_28^10-head_29^0 == 0 /\ -i_108^post14+i_108^0 == 0 /\ rcd_192^0-rcd_192^post14 == 0 /\ -temp_33^post14+temp_33^0 == 0 /\ -rcd_67^post14+rcd_67^0 == 0 /\ head_16^10-result_11^10 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^10 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^10 <= 0 /\ rcd_102^0-rcd_102^post14 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^10-tail_15^0 <= 0 /\ -temp0_28^10+result_11^10 == 0 /\ a_137^0-a_137^post14 == 0 /\ -rcd_168^post14+rcd_168^0 == 0), cost: 1
  23: l12 -> l18 : a_137^0'=a_137^post23, rcd_110^0'=rcd_110^post23, tail_15^0'=tail_15^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post23, rcd_192^0'=rcd_192^post23, tmp_31^0'=tmp_31^post23, x_SLAM_f_20^0'=x_SLAM_f_20^post23, nondet_12^0'=nondet_12^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, a_193^0'=a_193^post23, temp0_28^0'=temp0_28^post23, i_127^0'=i_127^post23, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post23, t_23^0'=t_23^post23, head_29^0'=head_29^post23, rcd_172^0'=rcd_172^post23, temp_33^0'=temp_33^post23, length_25^0'=length_25^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, a_163^0'=a_163^post23, rcd_168^0'=rcd_168^post23, temp0_19^0'=temp0_19^post23, i_108^0'=i_108^post23, rcd_41^0'=rcd_41^post23, x_22^0'=x_22^post23, y_21^0'=y_21^post23, r_37^0'=r_37^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post23, head_16^0'=head_16^post23, temp_32^0'=temp_32^post23, i_27^0'=i_27^post23, result_11^0'=result_11^post23, (0 == 0 /\ tmp_31^post23-temp_32^0 == 0 /\ -i_108^post23+i_108^0 == 0 /\ a_193^0-a_193^post23 == 0 /\ tmp_31^post23-head_29^post23 <= 0 /\ 1-length_25^0+i_27^0 <= 0 /\ -t_23^post23+t_23^0 == 0 /\ 2-length_25^0 <= 0 /\ tail_15^post23-head_SLAM_f_26^post23 <= 0 /\ a_163^0-a_163^post23 == 0 /\ -r_37^post23+r_37^0 == 0 /\ -tmp_31^post23+head_29^post23 <= 0 /\ -tmp_31^post23+head_29^post23 == 0 /\ -y_21^post23+y_21^0 == 0 /\ rcd_192^0-rcd_192^post23 == 0 /\ 1-length_25^0 <= 0 /\ -2+i_27^post23 <= 0 /\ -x_22^post23+x_22^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post23 == 0 /\ -tail_15^post23+head_SLAM_f_26^post23 <= 0 /\ temp0_28^0-temp0_28^post23 == 0 /\ rcd_172^0-rcd_172^post23 == 0 /\ -1+i_27^post23-i_27^0 == 0 /\ head_16^0-head_16^post23 == 0 /\ -temp0_19^post23+temp0_19^0 == 0 /\ rcd_41^0-rcd_41^post23 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23+head_29^post23 <= 0 /\ tail_15^post23-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23-tmp_31^post23 <= 0 /\ -i_127^post23+i_127^0 == 0 /\ head_SLAM_f_26^post23-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 /\ -temp_33^post23+temp_33^0 == 0 /\ -length_25^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post23 <= 0 /\ -result_11^post23+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23-head_29^post23 <= 0 /\ rcd_102^0-rcd_102^post23 == 0 /\ -rcd_168^post23+rcd_168^0 == 0 /\ -tail_15^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23+tmp_31^post23 <= 0 /\ length_25^0-length_25^post23 == 0 /\ rcd_110^0-rcd_110^post23 == 0 /\ 2-i_27^post23 <= 0 /\ -head_SLAM_f_26^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 /\ length_25^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post23 <= 0 /\ a_137^0-a_137^post23 == 0), cost: 1
  15: l13 -> l14 : a_137^0'=a_137^post15, rcd_110^0'=rcd_110^post15, tail_15^0'=tail_15^post15, head_SLAM_f_26^0'=head_SLAM_f_26^post15, rcd_192^0'=rcd_192^post15, tmp_31^0'=tmp_31^post15, x_SLAM_f_20^0'=x_SLAM_f_20^post15, nondet_12^0'=nondet_12^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post15, a_193^0'=a_193^post15, temp0_28^0'=temp0_28^post15, i_127^0'=i_127^post15, rcd_67^0'=rcd_67^post15, rcd_102^0'=rcd_102^post15, t_23^0'=t_23^post15, head_29^0'=head_29^post15, rcd_172^0'=rcd_172^post15, temp_33^0'=temp_33^post15, length_25^0'=length_25^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post15, a_163^0'=a_163^post15, rcd_168^0'=rcd_168^post15, temp0_19^0'=temp0_19^post15, i_108^0'=i_108^post15, rcd_41^0'=rcd_41^post15, x_22^0'=x_22^post15, y_21^0'=y_21^post15, r_37^0'=r_37^post15, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post15, head_16^0'=head_16^post15, temp_32^0'=temp_32^post15, i_27^0'=i_27^post15, result_11^0'=result_11^post15, (a_137^0-a_137^post15 == 0 /\ -temp_33^post15+temp_33^0 == 0 /\ -i_27^post15+i_27^0 == 0 /\ -r_37^post15+r_37^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ t_23^0-t_23^post15 == 0 /\ -temp0_28^post15+temp0_28^0 == 0 /\ -rcd_172^post15+rcd_172^0 == 0 /\ rcd_168^0-rcd_168^post15 == 0 /\ rcd_67^0-rcd_67^post15 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post15 == 0 /\ rcd_110^0-rcd_110^post15 == 0 /\ -temp_32^post15+temp_32^0 == 0 /\ -rcd_41^post15+rcd_41^0 == 0 /\ -a_163^post15+a_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post15+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ tmp_31^0-tmp_31^post15 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ i_108^0-i_108^post15 == 0 /\ i_127^0-i_127^post15 == 0 /\ head_29^0-head_29^post15 == 0 /\ -rcd_102^post15+rcd_102^0 == 0 /\ -head_16^post15+head_16^0 == 0 /\ -length_25^post15+length_25^0 == 0 /\ -result_11^post15+result_11^0 == 0 /\ -temp0_19^post15+temp0_19^0 == 0 /\ -y_21^post15+y_21^0 == 0 /\ -x_22^post15+x_22^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post15 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post15 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post15+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_193^0-a_193^post15 == 0 /\ tail_15^0-tail_15^post15 == 0 /\ rcd_192^0-rcd_192^post15 == 0), cost: 1
  16: l13 -> l14 : a_137^0'=a_137^post16, rcd_110^0'=rcd_110^post16, tail_15^0'=tail_15^post16, head_SLAM_f_26^0'=head_SLAM_f_26^post16, rcd_192^0'=rcd_192^post16, tmp_31^0'=tmp_31^post16, x_SLAM_f_20^0'=x_SLAM_f_20^post16, nondet_12^0'=nondet_12^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16, a_193^0'=a_193^post16, temp0_28^0'=temp0_28^post16, i_127^0'=i_127^post16, rcd_67^0'=rcd_67^post16, rcd_102^0'=rcd_102^post16, t_23^0'=t_23^post16, head_29^0'=head_29^post16, rcd_172^0'=rcd_172^post16, temp_33^0'=temp_33^post16, length_25^0'=length_25^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post16, a_163^0'=a_163^post16, rcd_168^0'=rcd_168^post16, temp0_19^0'=temp0_19^post16, i_108^0'=i_108^post16, rcd_41^0'=rcd_41^post16, x_22^0'=x_22^post16, y_21^0'=y_21^post16, r_37^0'=r_37^post16, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post16, head_16^0'=head_16^post16, temp_32^0'=temp_32^post16, i_27^0'=i_27^post16, result_11^0'=result_11^post16, (head_SLAM_f_26^0-head_SLAM_f_26^post16 == 0 /\ -result_11^post16+result_11^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post16+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -temp_33^post16+temp_33^0 == 0 /\ a_137^0-a_137^post16 == 0 /\ tail_15^0-tail_15^post16 == 0 /\ -rcd_172^post16+rcd_172^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post16 == 0 /\ y_21^0-y_21^post16 == 0 /\ rcd_67^0-rcd_67^post16 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ -head_16^post16+head_16^0 == 0 /\ -i_27^post16+i_27^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -rcd_168^post16+rcd_168^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post16 == 0 /\ -length_25^post16+length_25^0 == 0 /\ rcd_110^0-rcd_110^post16 == 0 /\ head_29^0-head_29^post16 == 0 /\ rcd_192^0-rcd_192^post16 == 0 /\ tmp_31^0-tmp_31^post16 == 0 /\ i_127^0-i_127^post16 == 0 /\ temp0_19^0-temp0_19^post16 == 0 /\ -temp_32^post16+temp_32^0 == 0 /\ -rcd_41^post16+rcd_41^0 == 0 /\ -temp0_28^post16+temp0_28^0 == 0 /\ a_193^0-a_193^post16 == 0 /\ a_163^0-a_163^post16 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post16+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_102^post16+rcd_102^0 == 0 /\ t_23^0-t_23^post16 == 0 /\ -i_108^post16+i_108^0 == 0 /\ -r_37^post16+r_37^0 == 0 /\ -x_22^post16+x_22^0 == 0), cost: 1
  17: l14 -> l15 : a_137^0'=a_137^post17, rcd_110^0'=rcd_110^post17, tail_15^0'=tail_15^post17, head_SLAM_f_26^0'=head_SLAM_f_26^post17, rcd_192^0'=rcd_192^post17, tmp_31^0'=tmp_31^post17, x_SLAM_f_20^0'=x_SLAM_f_20^post17, nondet_12^0'=nondet_12^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post17, a_193^0'=a_193^post17, temp0_28^0'=temp0_28^post17, i_127^0'=i_127^post17, rcd_67^0'=rcd_67^post17, rcd_102^0'=rcd_102^post17, t_23^0'=t_23^post17, head_29^0'=head_29^post17, rcd_172^0'=rcd_172^post17, temp_33^0'=temp_33^post17, length_25^0'=length_25^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post17, a_163^0'=a_163^post17, rcd_168^0'=rcd_168^post17, temp0_19^0'=temp0_19^post17, i_108^0'=i_108^post17, rcd_41^0'=rcd_41^post17, x_22^0'=x_22^post17, y_21^0'=y_21^post17, r_37^0'=r_37^post17, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post17, head_16^0'=head_16^post17, temp_32^0'=temp_32^post17, i_27^0'=i_27^post17, result_11^0'=result_11^post17, (head_SLAM_f_26^0-head_SLAM_f_26^post17 == 0 /\ -head_16^0+t_23^post17 <= 0 /\ rcd_172^0-rcd_172^post17 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post17 == 0 /\ -head_16^post17+head_16^0 == 0 /\ nondet_12^0-nondet_12^post17 == 0 /\ y_21^0-y_21^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ -rcd_67^post17+rcd_67^0 == 0 /\ tail_15^0-tail_15^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-x_22^0 <= 0 /\ -length_25^post17+length_25^0 == 0 /\ i_127^0-i_127^post17 == 0 /\ head_16^0-t_23^post17 <= 0 /\ a_137^0-a_137^post17 == 0 /\ tail_15^0-y_21^0 <= 0 /\ temp_33^0-temp_33^post17 == 0 /\ rcd_102^0-rcd_102^post17 == 0 /\ -x_22^0+t_23^post17 == 0 /\ -result_11^post17+result_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+x_22^0 <= 0 /\ -head_29^post17+head_29^0 == 0 /\ -r_37^post17+r_37^0 == 0 /\ -rcd_168^post17+rcd_168^0 == 0 /\ temp0_28^0-temp0_28^post17 == 0 /\ rcd_110^0-rcd_110^post17 == 0 /\ -rcd_41^post17+rcd_41^0 == 0 /\ -i_27^post17+i_27^0 == 0 /\ -x_22^post17+x_22^0 == 0 /\ a_193^0-a_193^post17 == 0 /\ rcd_192^0-rcd_192^post17 == 0 /\ tmp_31^0-tmp_31^post17 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp0_19^0-temp0_19^post17 == 0 /\ -x_SLAM_f_20^0+head_16^0 <= 0 /\ -i_108^post17+i_108^0 == 0 /\ -temp_32^post17+temp_32^0 == 0 /\ a_163^0-a_163^post17 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post17+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post17+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_SLAM_f_20^0-head_16^0 <= 0), cost: 1
  18: l15 -> l16 : a_137^0'=a_137^post18, rcd_110^0'=rcd_110^post18, tail_15^0'=tail_15^post18, head_SLAM_f_26^0'=head_SLAM_f_26^post18, rcd_192^0'=rcd_192^post18, tmp_31^0'=tmp_31^post18, x_SLAM_f_20^0'=x_SLAM_f_20^post18, nondet_12^0'=nondet_12^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18, a_193^0'=a_193^post18, temp0_28^0'=temp0_28^post18, i_127^0'=i_127^post18, rcd_67^0'=rcd_67^post18, rcd_102^0'=rcd_102^post18, t_23^0'=t_23^post18, head_29^0'=head_29^post18, rcd_172^0'=rcd_172^post18, temp_33^0'=temp_33^post18, length_25^0'=length_25^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18, a_163^0'=a_163^post18, rcd_168^0'=rcd_168^post18, temp0_19^0'=temp0_19^post18, i_108^0'=i_108^post18, rcd_41^0'=rcd_41^post18, x_22^0'=x_22^post18, y_21^0'=y_21^post18, r_37^0'=r_37^post18, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post18, head_16^0'=head_16^post18, temp_32^0'=temp_32^post18, i_27^0'=i_27^post18, result_11^0'=result_11^post18, (1-y_21^0+head_16^0 <= 0 /\ -y_21^post18+y_21^0 == 0 /\ tail_15^0-tail_15^post18 == 0 /\ -temp_32^post18+temp_32^0 == 0 /\ -rcd_67^post18+rcd_67^0 == 0 /\ -length_25^post18+length_25^0 == 0 /\ nondet_12^0-nondet_12^post18 == 0 /\ temp_33^0-temp_33^post18 == 0 /\ -x_22^post18+x_22^0 == 0 /\ i_127^0-i_127^post18 == 0 /\ -r_37^post18+r_37^0 == 0 /\ rcd_102^0-rcd_102^post18 == 0 /\ a_137^0-a_137^post18 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post18 == 0 /\ -i_108^post18+i_108^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post18 == 0 /\ -result_11^post18+result_11^0 == 0 /\ temp0_28^0-temp0_28^post18 == 0 /\ -temp0_19^post18+temp0_19^0 == 0 /\ -rcd_192^post18+rcd_192^0 == 0 /\ t_23^0-t_23^post18 == 0 /\ -rcd_172^post18+rcd_172^0 == 0 /\ a_193^0-a_193^post18 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18 == 0 /\ -a_163^post18+a_163^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post18+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -i_27^post18+i_27^0 == 0 /\ tmp_31^0-tmp_31^post18 == 0 /\ -rcd_168^post18+rcd_168^0 == 0 /\ rcd_110^0-rcd_110^post18 == 0 /\ -head_29^post18+head_29^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post18 == 0 /\ rcd_41^0-rcd_41^post18 == 0 /\ -head_16^post18+head_16^0 == 0), cost: 1
  19: l15 -> l16 : a_137^0'=a_137^post19, rcd_110^0'=rcd_110^post19, tail_15^0'=tail_15^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post19, rcd_192^0'=rcd_192^post19, tmp_31^0'=tmp_31^post19, x_SLAM_f_20^0'=x_SLAM_f_20^post19, nondet_12^0'=nondet_12^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19, a_193^0'=a_193^post19, temp0_28^0'=temp0_28^post19, i_127^0'=i_127^post19, rcd_67^0'=rcd_67^post19, rcd_102^0'=rcd_102^post19, t_23^0'=t_23^post19, head_29^0'=head_29^post19, rcd_172^0'=rcd_172^post19, temp_33^0'=temp_33^post19, length_25^0'=length_25^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19, a_163^0'=a_163^post19, rcd_168^0'=rcd_168^post19, temp0_19^0'=temp0_19^post19, i_108^0'=i_108^post19, rcd_41^0'=rcd_41^post19, x_22^0'=x_22^post19, y_21^0'=y_21^post19, r_37^0'=r_37^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, head_16^0'=head_16^post19, temp_32^0'=temp_32^post19, i_27^0'=i_27^post19, result_11^0'=result_11^post19, (i_127^0-i_127^post19 == 0 /\ -temp0_28^post19+temp0_28^0 == 0 /\ length_25^0-length_25^post19 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -y_21^post19+y_21^0 == 0 /\ -x_22^post19+x_22^0 == 0 /\ -temp_32^post19+temp_32^0 == 0 /\ head_29^0-head_29^post19 == 0 /\ 1+y_21^0-head_16^0 <= 0 /\ -i_108^post19+i_108^0 == 0 /\ -temp_33^post19+temp_33^0 == 0 /\ -t_23^post19+t_23^0 == 0 /\ -r_37^post19+r_37^0 == 0 /\ a_193^0-a_193^post19 == 0 /\ tail_15^0-tail_15^post19 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 == 0 /\ rcd_192^0-rcd_192^post19 == 0 /\ tmp_31^0-tmp_31^post19 == 0 /\ -nondet_12^post19+nondet_12^0 == 0 /\ a_137^0-a_137^post19 == 0 /\ -temp0_19^post19+temp0_19^0 == 0 /\ -a_163^post19+a_163^0 == 0 /\ rcd_102^0-rcd_102^post19 == 0 /\ rcd_172^0-rcd_172^post19 == 0 /\ -i_27^post19+i_27^0 == 0 /\ rcd_110^0-rcd_110^post19 == 0 /\ -head_16^post19+head_16^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post19 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post19 == 0 /\ rcd_67^0-rcd_67^post19 == 0 /\ -result_11^post19+result_11^0 == 0 /\ rcd_41^0-rcd_41^post19 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post19 == 0 /\ -rcd_168^post19+rcd_168^0 == 0), cost: 1
  20: l16 -> l17 : a_137^0'=a_137^post20, rcd_110^0'=rcd_110^post20, tail_15^0'=tail_15^post20, head_SLAM_f_26^0'=head_SLAM_f_26^post20, rcd_192^0'=rcd_192^post20, tmp_31^0'=tmp_31^post20, x_SLAM_f_20^0'=x_SLAM_f_20^post20, nondet_12^0'=nondet_12^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20, a_193^0'=a_193^post20, temp0_28^0'=temp0_28^post20, i_127^0'=i_127^post20, rcd_67^0'=rcd_67^post20, rcd_102^0'=rcd_102^post20, t_23^0'=t_23^post20, head_29^0'=head_29^post20, rcd_172^0'=rcd_172^post20, temp_33^0'=temp_33^post20, length_25^0'=length_25^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post20, a_163^0'=a_163^post20, rcd_168^0'=rcd_168^post20, temp0_19^0'=temp0_19^post20, i_108^0'=i_108^post20, rcd_41^0'=rcd_41^post20, x_22^0'=x_22^post20, y_21^0'=y_21^post20, r_37^0'=r_37^post20, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post20, head_16^0'=head_16^post20, temp_32^0'=temp_32^post20, i_27^0'=i_27^post20, result_11^0'=result_11^post20, (0 == 0 /\ length_25^0-length_25^post20 == 0 /\ i_127^0-i_127^post20 == 0 /\ -temp0_28^post20+temp0_28^0 == 0 /\ head_29^0-head_29^post20 == 0 /\ -x_22^0+y_21^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post20+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -r_37^post20+r_37^0 == 0 /\ rcd_110^0-rcd_110^post20 == 0 /\ tail_15^0-tail_15^post20 == 0 /\ -a_163^post20+a_163^0 == 0 /\ -rcd_41^post20+rcd_41^0 == 0 /\ a_193^0-a_193^post20 == 0 /\ x_22^0-y_21^0 <= 0 /\ -temp_33^post20+temp_33^0 == 0 /\ -i_27^post20+i_27^0 == 0 /\ -temp_32^post20+temp_32^0 == 0 /\ -i_108^post20+i_108^0 == 0 /\ tmp_31^0-tmp_31^post20 == 0 /\ rcd_168^0-rcd_168^post20 == 0 /\ -nondet_12^post20+nondet_12^0 == 0 /\ rcd_102^0-rcd_102^post20 == 0 /\ -temp0_19^0+result_11^post20 == 0 /\ a_137^0-a_137^post20 == 0 /\ -head_SLAM_f_26^post20+head_SLAM_f_26^0 == 0 /\ rcd_192^0-rcd_192^post20 == 0 /\ rcd_67^0-rcd_67^post20 == 0 /\ temp0_19^0-temp0_19^post20 == 0 /\ rcd_172^0-rcd_172^post20 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post20 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
  21: l17 -> l7 : a_137^0'=a_137^post21, rcd_110^0'=rcd_110^post21, tail_15^0'=tail_15^post21, head_SLAM_f_26^0'=head_SLAM_f_26^post21, rcd_192^0'=rcd_192^post21, tmp_31^0'=tmp_31^post21, x_SLAM_f_20^0'=x_SLAM_f_20^post21, nondet_12^0'=nondet_12^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21, a_193^0'=a_193^post21, temp0_28^0'=temp0_28^post21, i_127^0'=i_127^post21, rcd_67^0'=rcd_67^post21, rcd_102^0'=rcd_102^post21, t_23^0'=t_23^post21, head_29^0'=head_29^post21, rcd_172^0'=rcd_172^post21, temp_33^0'=temp_33^post21, length_25^0'=length_25^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post21, a_163^0'=a_163^post21, rcd_168^0'=rcd_168^post21, temp0_19^0'=temp0_19^post21, i_108^0'=i_108^post21, rcd_41^0'=rcd_41^post21, x_22^0'=x_22^post21, y_21^0'=y_21^post21, r_37^0'=r_37^post21, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post21, head_16^0'=head_16^post21, temp_32^0'=temp_32^post21, i_27^0'=i_27^post21, result_11^0'=result_11^post21, (-result_11^post21+result_11^0 == 0 /\ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-head_16^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post21 == 0 /\ temp0_19^0-temp0_19^post21 == 0 /\ x_22^0-x_22^post21 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post21 == 0 /\ temp0_28^0-temp0_28^post21 == 0 /\ -a_163^post21+a_163^0 == 0 /\ r_37^0-r_37^post21 == 0 /\ rcd_110^0-rcd_110^post21 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post21+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ i_127^0-i_127^post21 == 0 /\ -a_193^post21+a_193^0 == 0 /\ t_23^0-t_23^post21 == 0 /\ -rcd_67^post21+rcd_67^0 == 0 /\ tail_15^0-tail_15^post21 == 0 /\ -i_27^post21+i_27^0 == 0 /\ nondet_12^0-nondet_12^post21 == 0 /\ -rcd_172^post21+rcd_172^0 == 0 /\ -head_16^post21+head_16^0 == 0 /\ -length_25^post21+length_25^0 == 0 /\ rcd_168^0-rcd_168^post21 == 0 /\ -y_21^post21+y_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post21 == 0 /\ a_137^0-a_137^post21 == 0 /\ -temp_32^post21+temp_32^0 == 0 /\ tmp_31^0-tmp_31^post21 == 0 /\ -rcd_41^post21+rcd_41^0 == 0 /\ rcd_192^0-rcd_192^post21 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post21+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_108^post21+i_108^0 == 0 /\ temp_33^0-temp_33^post21 == 0 /\ head_29^0-head_29^post21 == 0 /\ -rcd_102^post21+rcd_102^0 == 0), cost: 1
  22: l17 -> l7 : a_137^0'=a_137^post22, rcd_110^0'=rcd_110^post22, tail_15^0'=tail_15^post22, head_SLAM_f_26^0'=head_SLAM_f_26^post22, rcd_192^0'=rcd_192^post22, tmp_31^0'=tmp_31^post22, x_SLAM_f_20^0'=x_SLAM_f_20^post22, nondet_12^0'=nondet_12^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22, a_193^0'=a_193^post22, temp0_28^0'=temp0_28^post22, i_127^0'=i_127^post22, rcd_67^0'=rcd_67^post22, rcd_102^0'=rcd_102^post22, t_23^0'=t_23^post22, head_29^0'=head_29^post22, rcd_172^0'=rcd_172^post22, temp_33^0'=temp_33^post22, length_25^0'=length_25^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post22, a_163^0'=a_163^post22, rcd_168^0'=rcd_168^post22, temp0_19^0'=temp0_19^post22, i_108^0'=i_108^post22, rcd_41^0'=rcd_41^post22, x_22^0'=x_22^post22, y_21^0'=y_21^post22, r_37^0'=r_37^post22, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post22, head_16^0'=head_16^post22, temp_32^0'=temp_32^post22, i_27^0'=i_27^post22, result_11^0'=result_11^post22, (-head_16^post22+head_16^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post22 == 0 /\ -rcd_102^post22+rcd_102^0 == 0 /\ temp0_28^0-temp0_28^post22 == 0 /\ -i_108^post22+i_108^0 == 0 /\ a_163^0-a_163^post22 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post22 == 0 /\ x_22^0-x_22^post22 == 0 /\ -rcd_67^post22+rcd_67^0 == 0 /\ tail_15^0-tail_15^post22 == 0 /\ -temp0_19^post22+temp0_19^0 == 0 /\ nondet_12^0-nondet_12^post22 == 0 /\ 1-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+head_16^0 <= 0 /\ -length_25^post22+length_25^0 == 0 /\ -result_11^post22+result_11^0 == 0 /\ -rcd_172^post22+rcd_172^0 == 0 /\ rcd_110^0-rcd_110^post22 == 0 /\ -y_21^post22+y_21^0 == 0 /\ t_23^0-t_23^post22 == 0 /\ -i_27^post22+i_27^0 == 0 /\ rcd_41^0-rcd_41^post22 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_37^post22+r_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post22 == 0 /\ -a_193^post22+a_193^0 == 0 /\ tmp_31^0-tmp_31^post22 == 0 /\ -rcd_168^post22+rcd_168^0 == 0 /\ rcd_192^0-rcd_192^post22 == 0 /\ i_127^0-i_127^post22 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post22+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ temp_33^0-temp_33^post22 == 0 /\ a_137^0-a_137^post22 == 0 /\ -temp_32^post22+temp_32^0 == 0 /\ head_29^0-head_29^post22 == 0), cost: 1
  35: l18 -> l25 : a_137^0'=a_137^post35, rcd_110^0'=rcd_110^post35, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, rcd_192^0'=rcd_192^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, a_193^0'=a_193^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post35, rcd_102^0'=rcd_102^post35, t_23^0'=t_23^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post35, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, a_163^0'=a_163^post35, rcd_168^0'=rcd_168^post35, temp0_19^0'=temp0_19^post35, i_108^0'=i_108^post35, rcd_41^0'=rcd_41^post35, x_22^0'=x_22^post35, y_21^0'=y_21^post35, r_37^0'=r_37^post35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (0 == 0 /\ -i_27^post35 <= 0 /\ -rcd_41^post35+rcd_41^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ rcd_110^0-rcd_110^post35 == 0 /\ -head_16^11+x_22^post35 <= 0 /\ -rcd_102^post35+rcd_102^0 == 0 /\ rcd_192^0-rcd_192^post35 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110+y_21^post35 <= 0 /\ length_25^0-i_27^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ head_16^11-x_22^post35 <= 0 /\ t_23^0-t_23^post35 == 0 /\ a_163^0-a_163^post35 == 0 /\ r_37^0-r_37^post35 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110-y_21^post35 <= 0 /\ head_16^11-x_SLAM_f_20^110 <= 0 /\ -tail_15^0+y_21^post35 <= 0 /\ -tail_15^0+y_21^post35 == 0 /\ x_SLAM_f_20^110-x_22^post35 <= 0 /\ result_11^110-temp0_28^110 == 0 /\ -temp0_19^post35+temp0_19^0 == 0 /\ head_16^11-result_11^110 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^110-i_27^post35 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ -i_27^0 <= 0 /\ -head_29^0+temp0_28^110 == 0 /\ -head_16^11+x_SLAM_f_20^110 <= 0 /\ -head_16^11+x_SLAM_f_20^110 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ temp_33^0-temp_33^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ tail_15^0-y_21^post35 <= 0 /\ -x_SLAM_f_20^110+x_22^post35 <= 0 /\ -x_SLAM_f_20^110+x_22^post35 == 0 /\ a_193^0-a_193^post35 == 0 /\ a_137^0-a_137^post35 == 0 /\ rcd_67^0-rcd_67^post35 == 0 /\ i_108^0-i_108^post35 == 0), cost: 1
  44: l18 -> l30 : a_137^0'=a_137^post44, rcd_110^0'=rcd_110^post44, tail_15^0'=tail_15^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, rcd_192^0'=rcd_192^post44, tmp_31^0'=tmp_31^post44, x_SLAM_f_20^0'=x_SLAM_f_20^post44, nondet_12^0'=nondet_12^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_193^0'=a_193^post44, temp0_28^0'=temp0_28^post44, i_127^0'=i_127^post44, rcd_67^0'=rcd_67^post44, rcd_102^0'=rcd_102^post44, t_23^0'=t_23^post44, head_29^0'=head_29^post44, rcd_172^0'=rcd_172^post44, temp_33^0'=temp_33^post44, length_25^0'=length_25^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post44, a_163^0'=a_163^post44, rcd_168^0'=rcd_168^post44, temp0_19^0'=temp0_19^post44, i_108^0'=i_108^post44, rcd_41^0'=rcd_41^post44, x_22^0'=x_22^post44, y_21^0'=y_21^post44, r_37^0'=r_37^post44, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post44, head_16^0'=head_16^post44, temp_32^0'=temp_32^post44, i_27^0'=i_27^post44, result_11^0'=result_11^post44, (0 == 0 /\ -1+i_27^post44-i_27^0 == 0 /\ 1-length_25^0+i_108^post44 <= 0 /\ temp0_19^0-temp0_19^post44 == 0 /\ temp0_28^0-temp0_28^post44 == 0 /\ tail_15^0-tail_15^post44 == 0 /\ r_37^0-r_37^post44 == 0 /\ -a_163^post44+a_163^0 == 0 /\ -rcd_67^post44+rcd_67^0 == 0 /\ 1-length_25^0+i_27^0 <= 0 /\ -1+i_27^post44-i_108^post44 <= 0 /\ -tmp_31^post44+head_29^post44 == 0 /\ -length_25^post44+length_25^0 == 0 /\ -head_16^post44+head_16^0 == 0 /\ x_22^0-x_22^post44 == 0 /\ -result_11^post44+result_11^0 == 0 /\ -rcd_172^post44+rcd_172^0 == 0 /\ -y_21^post44+y_21^0 == 0 /\ tmp_31^post44-temp_32^0 == 0 /\ -x_SLAM_f_20^post44+x_SLAM_f_20^0 == 0 /\ t_23^0-t_23^post44 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_192^0-rcd_192^post44 == 0 /\ -a_193^post44+a_193^0 == 0 /\ 1-i_27^post44+i_108^post44 <= 0 /\ -rcd_41^post44+rcd_110^post44 <= 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ -rcd_110^post44+rcd_41^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44 == 0 /\ -i_27^0 <= 0 /\ a_137^0-a_137^post44 == 0 /\ temp_33^0-temp_33^post44 == 0 /\ i_127^0-i_127^post44 == 0 /\ rcd_41^post44-rcd_110^post44 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post44+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_110^post44-rcd_41^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post44 == 0 /\ rcd_168^0-rcd_168^post44 == 0), cost: 1
  26: l20 -> l21 : a_137^0'=a_137^post26, rcd_110^0'=rcd_110^post26, tail_15^0'=tail_15^post26, head_SLAM_f_26^0'=head_SLAM_f_26^post26, rcd_192^0'=rcd_192^post26, tmp_31^0'=tmp_31^post26, x_SLAM_f_20^0'=x_SLAM_f_20^post26, nondet_12^0'=nondet_12^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26, a_193^0'=a_193^post26, temp0_28^0'=temp0_28^post26, i_127^0'=i_127^post26, rcd_67^0'=rcd_67^post26, rcd_102^0'=rcd_102^post26, t_23^0'=t_23^post26, head_29^0'=head_29^post26, rcd_172^0'=rcd_172^post26, temp_33^0'=temp_33^post26, length_25^0'=length_25^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post26, a_163^0'=a_163^post26, rcd_168^0'=rcd_168^post26, temp0_19^0'=temp0_19^post26, i_108^0'=i_108^post26, rcd_41^0'=rcd_41^post26, x_22^0'=x_22^post26, y_21^0'=y_21^post26, r_37^0'=r_37^post26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post26, head_16^0'=head_16^post26, temp_32^0'=temp_32^post26, i_27^0'=i_27^post26, result_11^0'=result_11^post26, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26 == 0 /\ -result_11^post26+result_11^0 == 0 /\ -rcd_172^post26+rcd_172^0 == 0 /\ -head_16^post26+head_16^0 == 0 /\ rcd_192^0-rcd_192^post26 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ rcd_110^0-rcd_110^post26 == 0 /\ rcd_67^0-rcd_67^post26 == 0 /\ tmp_31^0-tmp_31^post26 == 0 /\ y_21^0-y_21^post26 == 0 /\ -temp_33^post26+temp_33^0 == 0 /\ -i_27^post26+i_27^0 == 0 /\ length_25^0-length_25^post26 == 0 /\ -rcd_168^post26+rcd_168^0 == 0 /\ head_29^0-head_29^post26 == 0 /\ -rcd_41^post26+rcd_41^0 == 0 /\ -head_SLAM_f_26^post26+head_SLAM_f_26^0 == 0 /\ a_137^0-a_137^post26 == 0 /\ tail_15^0-tail_15^post26 == 0 /\ i_127^0-i_127^post26 == 0 /\ temp0_19^0-temp0_19^post26 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post26 == 0 /\ t_23^0-t_23^post26 == 0 /\ nondet_12^0-nondet_12^post26 == 0 /\ -i_108^post26+i_108^0 == 0 /\ a_193^0-a_193^post26 == 0 /\ -temp_32^post26+temp_32^0 == 0 /\ a_163^0-a_163^post26 == 0 /\ -x_22^post26+x_22^0 == 0 /\ -temp0_28^post26+temp0_28^0 == 0 /\ -rcd_102^post26+rcd_102^0 == 0 /\ -r_37^post26+r_37^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post26+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0), cost: 1
  27: l20 -> l21 : a_137^0'=a_137^post27, rcd_110^0'=rcd_110^post27, tail_15^0'=tail_15^post27, head_SLAM_f_26^0'=head_SLAM_f_26^post27, rcd_192^0'=rcd_192^post27, tmp_31^0'=tmp_31^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, nondet_12^0'=nondet_12^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27, a_193^0'=a_193^post27, temp0_28^0'=temp0_28^post27, i_127^0'=i_127^post27, rcd_67^0'=rcd_67^post27, rcd_102^0'=rcd_102^post27, t_23^0'=t_23^post27, head_29^0'=head_29^post27, rcd_172^0'=rcd_172^post27, temp_33^0'=temp_33^post27, length_25^0'=length_25^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, a_163^0'=a_163^post27, rcd_168^0'=rcd_168^post27, temp0_19^0'=temp0_19^post27, i_108^0'=i_108^post27, rcd_41^0'=rcd_41^post27, x_22^0'=x_22^post27, y_21^0'=y_21^post27, r_37^0'=r_37^post27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, head_16^0'=head_16^post27, temp_32^0'=temp_32^post27, i_27^0'=i_27^post27, result_11^0'=result_11^post27, (-temp_32^post27+temp_32^0 == 0 /\ -head_16^post27+head_16^0 == 0 /\ rcd_192^0-rcd_192^post27 == 0 /\ -rcd_67^post27+rcd_67^0 == 0 /\ -length_25^post27+length_25^0 == 0 /\ -i_108^post27+i_108^0 == 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ y_21^0-y_21^post27 == 0 /\ temp_33^0-temp_33^post27 == 0 /\ -x_22^post27+x_22^0 == 0 /\ i_127^0-i_127^post27 == 0 /\ rcd_102^0-rcd_102^post27 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post27 == 0 /\ rcd_110^0-rcd_110^post27 == 0 /\ -tmp_31^post27+tmp_31^0 == 0 /\ temp0_19^0-temp0_19^post27 == 0 /\ temp0_28^0-temp0_28^post27 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post27 == 0 /\ tail_15^0-tail_15^post27 == 0 /\ -r_37^post27+r_37^0 == 0 /\ -rcd_168^post27+rcd_168^0 == 0 /\ -rcd_172^post27+rcd_172^0 == 0 /\ -result_11^post27+result_11^0 == 0 /\ a_193^0-a_193^post27 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -head_29^post27+head_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post27+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_163^post27+a_163^0 == 0 /\ t_23^0-t_23^post27 == 0 /\ a_137^0-a_137^post27 == 0 /\ -i_27^post27+i_27^0 == 0 /\ -rcd_41^post27+rcd_41^0 == 0), cost: 1
  28: l21 -> l22 : a_137^0'=a_137^post28, rcd_110^0'=rcd_110^post28, tail_15^0'=tail_15^post28, head_SLAM_f_26^0'=head_SLAM_f_26^post28, rcd_192^0'=rcd_192^post28, tmp_31^0'=tmp_31^post28, x_SLAM_f_20^0'=x_SLAM_f_20^post28, nondet_12^0'=nondet_12^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28, a_193^0'=a_193^post28, temp0_28^0'=temp0_28^post28, i_127^0'=i_127^post28, rcd_67^0'=rcd_67^post28, rcd_102^0'=rcd_102^post28, t_23^0'=t_23^post28, head_29^0'=head_29^post28, rcd_172^0'=rcd_172^post28, temp_33^0'=temp_33^post28, length_25^0'=length_25^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28, a_163^0'=a_163^post28, rcd_168^0'=rcd_168^post28, temp0_19^0'=temp0_19^post28, i_108^0'=i_108^post28, rcd_41^0'=rcd_41^post28, x_22^0'=x_22^post28, y_21^0'=y_21^post28, r_37^0'=r_37^post28, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, head_16^0'=head_16^post28, temp_32^0'=temp_32^post28, i_27^0'=i_27^post28, result_11^0'=result_11^post28, (0 == 0 /\ nondet_12^0-nondet_12^post28 == 0 /\ -x_22^0+t_23^post28 == 0 /\ -length_25^post28+length_25^0 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -temp_32^post28+temp_32^0 == 0 /\ -y_21^post28+y_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ temp_33^0-temp_33^post28 == 0 /\ rcd_102^0-rcd_102^post28 == 0 /\ tail_15^0-y_21^0 <= 0 /\ -r_37^post28+r_37^0 == 0 /\ rcd_110^0-rcd_110^post28 == 0 /\ -i_108^post28+i_108^0 == 0 /\ i_127^0-i_127^post28 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post28 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 == 0 /\ -x_22^post28+x_22^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ -1-a_193^post28+a_163^0 <= 0 /\ -result_11^post28+result_11^0 == 0 /\ rcd_41^0-rcd_192^post28 <= 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post28 == 0 /\ -rcd_172^post28+rcd_172^0 == 0 /\ -temp0_19^post28+temp0_19^0 == 0 /\ tail_15^0-tail_15^post28 == 0 /\ -tmp_31^post28+tmp_31^0 == 0 /\ -a_163^post28+a_163^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_20^0+head_16^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28 == 0 /\ -rcd_41^0+rcd_192^post28 <= 0 /\ -i_27^post28+i_27^0 == 0 /\ -head_16^post28+head_16^0 == 0 /\ -rcd_168^post28+rcd_168^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 == 0 /\ a_137^0-a_137^post28 == 0 /\ rcd_41^0-rcd_41^post28 == 0 /\ -rcd_67^post28+rcd_67^0 == 0 /\ temp0_28^0-temp0_28^post28 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_29^post28+head_29^0 == 0 /\ 1+a_193^post28-a_163^0 <= 0 /\ x_SLAM_f_20^0-head_16^0 <= 0), cost: 1
  29: l22 -> l23 : a_137^0'=a_137^post29, rcd_110^0'=rcd_110^post29, tail_15^0'=tail_15^post29, head_SLAM_f_26^0'=head_SLAM_f_26^post29, rcd_192^0'=rcd_192^post29, tmp_31^0'=tmp_31^post29, x_SLAM_f_20^0'=x_SLAM_f_20^post29, nondet_12^0'=nondet_12^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29, a_193^0'=a_193^post29, temp0_28^0'=temp0_28^post29, i_127^0'=i_127^post29, rcd_67^0'=rcd_67^post29, rcd_102^0'=rcd_102^post29, t_23^0'=t_23^post29, head_29^0'=head_29^post29, rcd_172^0'=rcd_172^post29, temp_33^0'=temp_33^post29, length_25^0'=length_25^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29, a_163^0'=a_163^post29, rcd_168^0'=rcd_168^post29, temp0_19^0'=temp0_19^post29, i_108^0'=i_108^post29, rcd_41^0'=rcd_41^post29, x_22^0'=x_22^post29, y_21^0'=y_21^post29, r_37^0'=r_37^post29, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post29, head_16^0'=head_16^post29, temp_32^0'=temp_32^post29, i_27^0'=i_27^post29, result_11^0'=result_11^post29, (-i_27^post29+i_27^0 == 0 /\ a_137^0-a_137^post29 == 0 /\ length_25^0-length_25^post29 == 0 /\ -r_37^post29+r_37^0 == 0 /\ 1-y_21^0+head_16^0 <= 0 /\ i_127^0-i_127^post29 == 0 /\ -temp0_28^post29+temp0_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post29 == 0 /\ -x_22^post29+x_22^0 == 0 /\ head_29^0-head_29^post29 == 0 /\ rcd_168^0-rcd_168^post29 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post29 == 0 /\ -i_108^post29+i_108^0 == 0 /\ rcd_110^0-rcd_110^post29 == 0 /\ -t_23^post29+t_23^0 == 0 /\ a_193^0-a_193^post29 == 0 /\ -temp_32^post29+temp_32^0 == 0 /\ -temp_33^post29+temp_33^0 == 0 /\ -head_16^post29+head_16^0 == 0 /\ tmp_31^0-tmp_31^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ -a_163^post29+a_163^0 == 0 /\ rcd_102^0-rcd_102^post29 == 0 /\ -temp0_19^post29+temp0_19^0 == 0 /\ rcd_192^0-rcd_192^post29 == 0 /\ rcd_67^0-rcd_67^post29 == 0 /\ tail_15^0-tail_15^post29 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post29 == 0 /\ rcd_172^0-rcd_172^post29 == 0 /\ -result_11^post29+result_11^0 == 0 /\ -y_21^post29+y_21^0 == 0 /\ rcd_41^0-rcd_41^post29 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1
  30: l22 -> l23 : a_137^0'=a_137^post30, rcd_110^0'=rcd_110^post30, tail_15^0'=tail_15^post30, head_SLAM_f_26^0'=head_SLAM_f_26^post30, rcd_192^0'=rcd_192^post30, tmp_31^0'=tmp_31^post30, x_SLAM_f_20^0'=x_SLAM_f_20^post30, nondet_12^0'=nondet_12^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30, a_193^0'=a_193^post30, temp0_28^0'=temp0_28^post30, i_127^0'=i_127^post30, rcd_67^0'=rcd_67^post30, rcd_102^0'=rcd_102^post30, t_23^0'=t_23^post30, head_29^0'=head_29^post30, rcd_172^0'=rcd_172^post30, temp_33^0'=temp_33^post30, length_25^0'=length_25^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30, a_163^0'=a_163^post30, rcd_168^0'=rcd_168^post30, temp0_19^0'=temp0_19^post30, i_108^0'=i_108^post30, rcd_41^0'=rcd_41^post30, x_22^0'=x_22^post30, y_21^0'=y_21^post30, r_37^0'=r_37^post30, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post30, head_16^0'=head_16^post30, temp_32^0'=temp_32^post30, i_27^0'=i_27^post30, result_11^0'=result_11^post30, (-temp_33^post30+temp_33^0 == 0 /\ rcd_168^0-rcd_168^post30 == 0 /\ head_29^0-head_29^post30 == 0 /\ temp0_19^0-temp0_19^post30 == 0 /\ -a_163^post30+a_163^0 == 0 /\ r_37^0-r_37^post30 == 0 /\ -result_11^post30+result_11^0 == 0 /\ -temp0_28^post30+temp0_28^0 == 0 /\ a_137^0-a_137^post30 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post30 == 0 /\ length_25^0-length_25^post30 == 0 /\ -i_127^post30+i_127^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post30+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ 1+y_21^0-head_16^0 <= 0 /\ -head_16^post30+head_16^0 == 0 /\ -i_27^post30+i_27^0 == 0 /\ a_193^0-a_193^post30 == 0 /\ -y_21^post30+y_21^0 == 0 /\ tmp_31^0-tmp_31^post30 == 0 /\ rcd_102^0-rcd_102^post30 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ -rcd_41^post30+rcd_41^0 == 0 /\ rcd_172^0-rcd_172^post30 == 0 /\ temp_32^0-temp_32^post30 == 0 /\ -t_23^post30+t_23^0 == 0 /\ rcd_110^0-rcd_110^post30 == 0 /\ tail_15^0-tail_15^post30 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post30 == 0 /\ rcd_67^0-rcd_67^post30 == 0 /\ -x_22^post30+x_22^0 == 0 /\ rcd_192^0-rcd_192^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30 == 0 /\ -i_108^post30+i_108^0 == 0), cost: 1
  31: l23 -> l24 : a_137^0'=a_137^post31, rcd_110^0'=rcd_110^post31, tail_15^0'=tail_15^post31, head_SLAM_f_26^0'=head_SLAM_f_26^post31, rcd_192^0'=rcd_192^post31, tmp_31^0'=tmp_31^post31, x_SLAM_f_20^0'=x_SLAM_f_20^post31, nondet_12^0'=nondet_12^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, a_193^0'=a_193^post31, temp0_28^0'=temp0_28^post31, i_127^0'=i_127^post31, rcd_67^0'=rcd_67^post31, rcd_102^0'=rcd_102^post31, t_23^0'=t_23^post31, head_29^0'=head_29^post31, rcd_172^0'=rcd_172^post31, temp_33^0'=temp_33^post31, length_25^0'=length_25^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31, a_163^0'=a_163^post31, rcd_168^0'=rcd_168^post31, temp0_19^0'=temp0_19^post31, i_108^0'=i_108^post31, rcd_41^0'=rcd_41^post31, x_22^0'=x_22^post31, y_21^0'=y_21^post31, r_37^0'=r_37^post31, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post31, head_16^0'=head_16^post31, temp_32^0'=temp_32^post31, i_27^0'=i_27^post31, result_11^0'=result_11^post31, (head_SLAM_f_26^0-head_SLAM_f_26^post31 == 0 /\ -rcd_102^post31+rcd_102^0 == 0 /\ temp0_28^0-temp0_28^post31 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post31 == 0 /\ -rcd_67^post31+rcd_67^0 == 0 /\ x_22^0-x_22^post31 == 0 /\ -a_163^post31+a_163^0 == 0 /\ -head_16^post31+head_16^0 == 0 /\ temp0_19^0-temp0_19^post31 == 0 /\ tail_15^0-tail_15^post31 == 0 /\ -result_11^post31+result_11^0 == 0 /\ a_137^0-a_137^post31 == 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ -length_25^post31+length_25^0 == 0 /\ -rcd_172^post31+rcd_172^0 == 0 /\ t_23^0-t_23^post31 == 0 /\ -r_37^post31+r_37^0 == 0 /\ rcd_110^0-rcd_110^post31 == 0 /\ -rcd_41^post31+rcd_41^0 == 0 /\ -rcd_168^post31+rcd_168^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31 == 0 /\ -i_27^post31+i_27^0 == 0 /\ -a_193^post31+a_193^0 == 0 /\ tmp_31^0-tmp_31^post31 == 0 /\ -y_21^post31+y_21^0 == 0 /\ rcd_192^0-rcd_192^post31 == 0 /\ i_127^0-i_127^post31 == 0 /\ -i_108^post31+i_108^0 == 0 /\ -temp_32^post31+temp_32^0 == 0 /\ temp_33^0-temp_33^post31 == 0 /\ 1-t_23^0+y_21^0 <= 0 /\ head_29^0-head_29^post31 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post31+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0), cost: 1
  32: l23 -> l24 : a_137^0'=a_137^post32, rcd_110^0'=rcd_110^post32, tail_15^0'=tail_15^post32, head_SLAM_f_26^0'=head_SLAM_f_26^post32, rcd_192^0'=rcd_192^post32, tmp_31^0'=tmp_31^post32, x_SLAM_f_20^0'=x_SLAM_f_20^post32, nondet_12^0'=nondet_12^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32, a_193^0'=a_193^post32, temp0_28^0'=temp0_28^post32, i_127^0'=i_127^post32, rcd_67^0'=rcd_67^post32, rcd_102^0'=rcd_102^post32, t_23^0'=t_23^post32, head_29^0'=head_29^post32, rcd_172^0'=rcd_172^post32, temp_33^0'=temp_33^post32, length_25^0'=length_25^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32, a_163^0'=a_163^post32, rcd_168^0'=rcd_168^post32, temp0_19^0'=temp0_19^post32, i_108^0'=i_108^post32, rcd_41^0'=rcd_41^post32, x_22^0'=x_22^post32, y_21^0'=y_21^post32, r_37^0'=r_37^post32, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post32, head_16^0'=head_16^post32, temp_32^0'=temp_32^post32, i_27^0'=i_27^post32, result_11^0'=result_11^post32, (-i_108^post32+i_108^0 == 0 /\ -head_16^post32+head_16^0 == 0 /\ -rcd_67^post32+rcd_67^0 == 0 /\ temp0_28^0-temp0_28^post32 == 0 /\ tail_15^0-tail_15^post32 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post32 == 0 /\ -rcd_102^post32+rcd_102^0 == 0 /\ -length_25^post32+length_25^0 == 0 /\ a_163^0-a_163^post32 == 0 /\ x_22^0-x_22^post32 == 0 /\ a_137^0-a_137^post32 == 0 /\ -rcd_172^post32+rcd_172^0 == 0 /\ -result_11^post32+result_11^0 == 0 /\ y_21^0-y_21^post32 == 0 /\ t_23^0-t_23^post32 == 0 /\ -temp0_19^post32+temp0_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_192^0-rcd_192^post32 == 0 /\ rcd_41^0-rcd_41^post32 == 0 /\ -i_27^post32+i_27^0 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ -r_37^post32+r_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32 == 0 /\ -rcd_168^post32+rcd_168^0 == 0 /\ 1+t_23^0-y_21^0 <= 0 /\ -a_193^post32+a_193^0 == 0 /\ tmp_31^0-tmp_31^post32 == 0 /\ i_127^0-i_127^post32 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post32+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ temp_33^0-temp_33^post32 == 0 /\ head_29^0-head_29^post32 == 0 /\ -temp_32^post32+temp_32^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post32 == 0 /\ rcd_110^0-rcd_110^post32 == 0), cost: 1
  33: l24 -> l19 : a_137^0'=a_137^post33, rcd_110^0'=rcd_110^post33, tail_15^0'=tail_15^post33, head_SLAM_f_26^0'=head_SLAM_f_26^post33, rcd_192^0'=rcd_192^post33, tmp_31^0'=tmp_31^post33, x_SLAM_f_20^0'=x_SLAM_f_20^post33, nondet_12^0'=nondet_12^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33, a_193^0'=a_193^post33, temp0_28^0'=temp0_28^post33, i_127^0'=i_127^post33, rcd_67^0'=rcd_67^post33, rcd_102^0'=rcd_102^post33, t_23^0'=t_23^post33, head_29^0'=head_29^post33, rcd_172^0'=rcd_172^post33, temp_33^0'=temp_33^post33, length_25^0'=length_25^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33, a_163^0'=a_163^post33, rcd_168^0'=rcd_168^post33, temp0_19^0'=temp0_19^post33, i_108^0'=i_108^post33, rcd_41^0'=rcd_41^post33, x_22^0'=x_22^post33, y_21^0'=y_21^post33, r_37^0'=r_37^post33, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post33, head_16^0'=head_16^post33, temp_32^0'=temp_32^post33, i_27^0'=i_27^post33, result_11^0'=result_11^post33, (0 == 0 /\ -rcd_168^post33+rcd_168^0 == 0 /\ -x_22^post33+x_22^0 == 0 /\ a_193^0-a_193^post33 == 0 /\ -head_29^post33+head_29^0 == 0 /\ -y_21^post33+y_21^0 == 0 /\ -rcd_192^0+rcd_41^post33 <= 0 /\ temp_33^0-temp_33^post33 == 0 /\ -i_27^post33+i_27^0 == 0 /\ -temp_32^post33+temp_32^0 == 0 /\ rcd_172^0-rcd_172^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33 == 0 /\ rcd_67^0-rcd_67^post33 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post33 == 0 /\ tail_15^0-tail_15^post33 == 0 /\ temp0_28^0-temp0_28^post33 == 0 /\ rcd_192^0-rcd_192^post33 == 0 /\ -i_108^post33+i_108^0 == 0 /\ rcd_192^0-rcd_41^post33 <= 0 /\ -t_23^post33+t_23^0 == 0 /\ -r_37^post33+r_37^0 == 0 /\ a_193^0-a_163^post33 <= 0 /\ -temp0_19^post33+temp0_19^0 == 0 /\ -i_127^post33+i_127^0 == 0 /\ nondet_12^0-nondet_12^post33 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ a_137^0-a_137^post33 == 0 /\ length_25^0-length_25^post33 == 0 /\ -a_193^0+a_163^post33 <= 0 /\ rcd_102^0-rcd_102^post33 == 0 /\ -head_16^post33+head_16^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post33 == 0 /\ rcd_110^0-rcd_110^post33 == 0 /\ -result_11^post33+result_11^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ tmp_31^0-tmp_31^post33 == 0), cost: 1
  34: l19 -> l1 : a_137^0'=a_137^post34, rcd_110^0'=rcd_110^post34, tail_15^0'=tail_15^post34, head_SLAM_f_26^0'=head_SLAM_f_26^post34, rcd_192^0'=rcd_192^post34, tmp_31^0'=tmp_31^post34, x_SLAM_f_20^0'=x_SLAM_f_20^post34, nondet_12^0'=nondet_12^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, a_193^0'=a_193^post34, temp0_28^0'=temp0_28^post34, i_127^0'=i_127^post34, rcd_67^0'=rcd_67^post34, rcd_102^0'=rcd_102^post34, t_23^0'=t_23^post34, head_29^0'=head_29^post34, rcd_172^0'=rcd_172^post34, temp_33^0'=temp_33^post34, length_25^0'=length_25^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34, a_163^0'=a_163^post34, rcd_168^0'=rcd_168^post34, temp0_19^0'=temp0_19^post34, i_108^0'=i_108^post34, rcd_41^0'=rcd_41^post34, x_22^0'=x_22^post34, y_21^0'=y_21^post34, r_37^0'=r_37^post34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post34, head_16^0'=head_16^post34, temp_32^0'=temp_32^post34, i_27^0'=i_27^post34, result_11^0'=result_11^post34, (result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post34 == 0 /\ -i_27^post34+i_27^0 == 0 /\ -r_37^post34+r_37^0 == 0 /\ -rcd_168^post34+rcd_168^0 == 0 /\ temp_33^0-temp_33^post34 == 0 /\ rcd_102^0-rcd_102^post34 == 0 /\ -x_22^post34+x_22^0 == 0 /\ -head_29^post34+head_29^0 == 0 /\ rcd_67^0-rcd_67^post34 == 0 /\ temp0_28^0-temp0_28^post34 == 0 /\ rcd_172^0-rcd_172^post34 == 0 /\ -temp_32^post34+temp_32^0 == 0 /\ -i_127^post34+i_127^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post34 == 0 /\ -t_23^post34+t_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34 == 0 /\ -a_163^post34+a_163^0 == 0 /\ tail_15^0-tail_15^post34 == 0 /\ rcd_192^0-rcd_192^post34 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ a_137^0-a_137^post34 == 0 /\ length_25^0-length_25^post34 == 0 /\ -rcd_110^post34+rcd_110^0 == 0 /\ -i_108^post34+i_108^0 == 0 /\ -head_16^post34+head_16^0 == 0 /\ -result_11^post34+result_11^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post34 == 0 /\ -y_21^post34+y_21^0 == 0 /\ -temp0_19^post34+temp0_19^0 == 0 /\ rcd_41^0-rcd_41^post34 == 0 /\ a_193^0-a_193^post34 == 0 /\ nondet_12^0-nondet_12^post34 == 0 /\ tmp_31^0-tmp_31^post34 == 0), cost: 1
  36: l25 -> l26 : a_137^0'=a_137^post36, rcd_110^0'=rcd_110^post36, tail_15^0'=tail_15^post36, head_SLAM_f_26^0'=head_SLAM_f_26^post36, rcd_192^0'=rcd_192^post36, tmp_31^0'=tmp_31^post36, x_SLAM_f_20^0'=x_SLAM_f_20^post36, nondet_12^0'=nondet_12^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post36, a_193^0'=a_193^post36, temp0_28^0'=temp0_28^post36, i_127^0'=i_127^post36, rcd_67^0'=rcd_67^post36, rcd_102^0'=rcd_102^post36, t_23^0'=t_23^post36, head_29^0'=head_29^post36, rcd_172^0'=rcd_172^post36, temp_33^0'=temp_33^post36, length_25^0'=length_25^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post36, a_163^0'=a_163^post36, rcd_168^0'=rcd_168^post36, temp0_19^0'=temp0_19^post36, i_108^0'=i_108^post36, rcd_41^0'=rcd_41^post36, x_22^0'=x_22^post36, y_21^0'=y_21^post36, r_37^0'=r_37^post36, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post36, head_16^0'=head_16^post36, temp_32^0'=temp_32^post36, i_27^0'=i_27^post36, result_11^0'=result_11^post36, (-x_22^post36+x_22^0 == 0 /\ a_163^0-a_163^post36 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ a_193^0-a_193^post36 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ -head_29^post36+head_29^0 == 0 /\ -temp_32^post36+temp_32^0 == 0 /\ temp_33^0-temp_33^post36 == 0 /\ -rcd_41^post36+rcd_41^0 == 0 /\ rcd_102^0-rcd_102^post36 == 0 /\ -y_21^post36+y_21^0 == 0 /\ rcd_172^0-rcd_172^post36 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post36 == 0 /\ rcd_110^0-rcd_110^post36 == 0 /\ rcd_67^0-rcd_67^post36 == 0 /\ temp0_28^0-temp0_28^post36 == 0 /\ -i_108^post36+i_108^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post36 == 0 /\ -r_37^post36+r_37^0 == 0 /\ head_16^0-head_16^post36 == 0 /\ -t_23^post36+t_23^0 == 0 /\ -i_127^post36+i_127^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post36+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -result_11^post36+result_11^0 == 0 /\ length_25^0-length_25^post36 == 0 /\ -temp0_19^post36+temp0_19^0 == 0 /\ -i_27^post36+i_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post36 == 0 /\ -tmp_31^post36+tmp_31^0 == 0 /\ rcd_192^0-rcd_192^post36 == 0 /\ a_137^0-a_137^post36 == 0 /\ tail_15^0-tail_15^post36 == 0 /\ -rcd_168^post36+rcd_168^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post36 == 0), cost: 1
  37: l25 -> l26 : a_137^0'=a_137^post37, rcd_110^0'=rcd_110^post37, tail_15^0'=tail_15^post37, head_SLAM_f_26^0'=head_SLAM_f_26^post37, rcd_192^0'=rcd_192^post37, tmp_31^0'=tmp_31^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, nondet_12^0'=nondet_12^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37, a_193^0'=a_193^post37, temp0_28^0'=temp0_28^post37, i_127^0'=i_127^post37, rcd_67^0'=rcd_67^post37, rcd_102^0'=rcd_102^post37, t_23^0'=t_23^post37, head_29^0'=head_29^post37, rcd_172^0'=rcd_172^post37, temp_33^0'=temp_33^post37, length_25^0'=length_25^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, a_163^0'=a_163^post37, rcd_168^0'=rcd_168^post37, temp0_19^0'=temp0_19^post37, i_108^0'=i_108^post37, rcd_41^0'=rcd_41^post37, x_22^0'=x_22^post37, y_21^0'=y_21^post37, r_37^0'=r_37^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, head_16^0'=head_16^post37, temp_32^0'=temp_32^post37, i_27^0'=i_27^post37, result_11^0'=result_11^post37, (-head_29^post37+head_29^0 == 0 /\ temp_33^0-temp_33^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -x_22^post37+x_22^0 == 0 /\ rcd_102^0-rcd_102^post37 == 0 /\ rcd_168^0-rcd_168^post37 == 0 /\ a_137^0-a_137^post37 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post37 == 0 /\ -r_37^post37+r_37^0 == 0 /\ -rcd_41^post37+rcd_41^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post37+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_163^post37+a_163^0 == 0 /\ temp0_28^0-temp0_28^post37 == 0 /\ -t_23^post37+t_23^0 == 0 /\ rcd_67^0-rcd_67^post37 == 0 /\ rcd_172^0-rcd_172^post37 == 0 /\ -i_127^post37+i_127^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -i_27^post37+i_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ tmp_31^0-tmp_31^post37 == 0 /\ length_25^0-length_25^post37 == 0 /\ -head_16^post37+head_16^0 == 0 /\ i_108^0-i_108^post37 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ temp_32^0-temp_32^post37 == 0 /\ rcd_110^0-rcd_110^post37 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post37 == 0 /\ tail_15^0-tail_15^post37 == 0 /\ rcd_192^0-rcd_192^post37 == 0 /\ a_193^0-a_193^post37 == 0 /\ -temp0_19^post37+temp0_19^0 == 0 /\ -y_21^post37+y_21^0 == 0), cost: 1
  38: l26 -> l27 : a_137^0'=a_137^post38, rcd_110^0'=rcd_110^post38, tail_15^0'=tail_15^post38, head_SLAM_f_26^0'=head_SLAM_f_26^post38, rcd_192^0'=rcd_192^post38, tmp_31^0'=tmp_31^post38, x_SLAM_f_20^0'=x_SLAM_f_20^post38, nondet_12^0'=nondet_12^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post38, a_193^0'=a_193^post38, temp0_28^0'=temp0_28^post38, i_127^0'=i_127^post38, rcd_67^0'=rcd_67^post38, rcd_102^0'=rcd_102^post38, t_23^0'=t_23^post38, head_29^0'=head_29^post38, rcd_172^0'=rcd_172^post38, temp_33^0'=temp_33^post38, length_25^0'=length_25^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post38, a_163^0'=a_163^post38, rcd_168^0'=rcd_168^post38, temp0_19^0'=temp0_19^post38, i_108^0'=i_108^post38, rcd_41^0'=rcd_41^post38, x_22^0'=x_22^post38, y_21^0'=y_21^post38, r_37^0'=r_37^post38, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post38, head_16^0'=head_16^post38, temp_32^0'=temp_32^post38, i_27^0'=i_27^post38, result_11^0'=result_11^post38, (0 == 0 /\ -result_11^post38+result_11^0 == 0 /\ -temp0_19^post38+temp0_19^0 == 0 /\ -rcd_172^post38+rcd_172^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post38 == 0 /\ -a_163^0+a_137^post38 <= 0 /\ rcd_168^0-rcd_168^post38 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post38+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post38 == 0 /\ rcd_67^0-rcd_67^post38 == 0 /\ rcd_168^0-rcd_41^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ -a_163^post38+a_163^0 == 0 /\ -i_27^post38+i_27^0 == 0 /\ length_25^0-length_25^post38 == 0 /\ a_163^0-a_137^post38 <= 0 /\ tail_15^0-y_21^0 <= 0 /\ -head_16^post38+head_16^0 == 0 /\ -rcd_168^0+rcd_41^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ head_29^0-head_29^post38 == 0 /\ t_23^post38-head_16^0 <= 0 /\ -y_21^post38+y_21^0 == 0 /\ tmp_31^0-tmp_31^post38 == 0 /\ -x_22^post38+x_22^0 == 0 /\ -rcd_41^post38+rcd_41^0 == 0 /\ rcd_110^0-rcd_110^post38 == 0 /\ i_108^0-i_108^post38 == 0 /\ t_23^post38-x_22^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_127^0-i_127^post38 == 0 /\ temp_32^0-temp_32^post38 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_20^0+head_16^0 <= 0 /\ -temp_33^post38+temp_33^0 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -r_37^post38+r_37^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post38 == 0 /\ -t_23^post38+head_16^0 <= 0 /\ a_193^0-a_193^post38 == 0 /\ tail_15^0-tail_15^post38 == 0 /\ rcd_192^0-rcd_192^post38 == 0 /\ -temp0_28^post38+temp0_28^0 == 0 /\ -rcd_102^post38+rcd_102^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_SLAM_f_20^0-head_16^0 <= 0), cost: 1
  39: l27 -> l28 : a_137^0'=a_137^post39, rcd_110^0'=rcd_110^post39, tail_15^0'=tail_15^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, rcd_192^0'=rcd_192^post39, tmp_31^0'=tmp_31^post39, x_SLAM_f_20^0'=x_SLAM_f_20^post39, nondet_12^0'=nondet_12^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39, a_193^0'=a_193^post39, temp0_28^0'=temp0_28^post39, i_127^0'=i_127^post39, rcd_67^0'=rcd_67^post39, rcd_102^0'=rcd_102^post39, t_23^0'=t_23^post39, head_29^0'=head_29^post39, rcd_172^0'=rcd_172^post39, temp_33^0'=temp_33^post39, length_25^0'=length_25^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post39, a_163^0'=a_163^post39, rcd_168^0'=rcd_168^post39, temp0_19^0'=temp0_19^post39, i_108^0'=i_108^post39, rcd_41^0'=rcd_41^post39, x_22^0'=x_22^post39, y_21^0'=y_21^post39, r_37^0'=r_37^post39, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post39, head_16^0'=head_16^post39, temp_32^0'=temp_32^post39, i_27^0'=i_27^post39, result_11^0'=result_11^post39, (-head_16^post39+head_16^0 == 0 /\ -rcd_102^post39+rcd_102^0 == 0 /\ tail_15^0-tail_15^post39 == 0 /\ 1-y_21^0+head_16^0 <= 0 /\ rcd_67^0-rcd_67^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39 == 0 /\ -i_108^post39+i_108^0 == 0 /\ i_127^0-i_127^post39 == 0 /\ y_21^0-y_21^post39 == 0 /\ length_25^0-length_25^post39 == 0 /\ a_137^0-a_137^post39 == 0 /\ -result_11^post39+result_11^0 == 0 /\ -rcd_172^post39+rcd_172^0 == 0 /\ head_29^0-head_29^post39 == 0 /\ -x_22^post39+x_22^0 == 0 /\ rcd_192^0-rcd_192^post39 == 0 /\ -temp0_28^post39+temp0_28^0 == 0 /\ -i_27^post39+i_27^0 == 0 /\ rcd_110^0-rcd_110^post39 == 0 /\ temp0_19^0-temp0_19^post39 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_37^post39+r_37^0 == 0 /\ -rcd_168^post39+rcd_168^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post39 == 0 /\ tmp_31^0-tmp_31^post39 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post39+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ -temp_33^post39+temp_33^0 == 0 /\ a_193^0-a_193^post39 == 0 /\ -a_163^post39+a_163^0 == 0 /\ -temp_32^post39+temp_32^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post39 == 0 /\ -t_23^post39+t_23^0 == 0 /\ -rcd_41^post39+rcd_41^0 == 0), cost: 1
  40: l27 -> l28 : a_137^0'=a_137^post40, rcd_110^0'=rcd_110^post40, tail_15^0'=tail_15^post40, head_SLAM_f_26^0'=head_SLAM_f_26^post40, rcd_192^0'=rcd_192^post40, tmp_31^0'=tmp_31^post40, x_SLAM_f_20^0'=x_SLAM_f_20^post40, nondet_12^0'=nondet_12^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40, a_193^0'=a_193^post40, temp0_28^0'=temp0_28^post40, i_127^0'=i_127^post40, rcd_67^0'=rcd_67^post40, rcd_102^0'=rcd_102^post40, t_23^0'=t_23^post40, head_29^0'=head_29^post40, rcd_172^0'=rcd_172^post40, temp_33^0'=temp_33^post40, length_25^0'=length_25^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post40, a_163^0'=a_163^post40, rcd_168^0'=rcd_168^post40, temp0_19^0'=temp0_19^post40, i_108^0'=i_108^post40, rcd_41^0'=rcd_41^post40, x_22^0'=x_22^post40, y_21^0'=y_21^post40, r_37^0'=r_37^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, head_16^0'=head_16^post40, temp_32^0'=temp_32^post40, i_27^0'=i_27^post40, result_11^0'=result_11^post40, (tail_15^0-tail_15^post40 == 0 /\ -length_25^post40+length_25^0 == 0 /\ nondet_12^0-nondet_12^post40 == 0 /\ -temp_32^post40+temp_32^0 == 0 /\ -i_108^post40+i_108^0 == 0 /\ temp_33^0-temp_33^post40 == 0 /\ rcd_102^0-rcd_102^post40 == 0 /\ 1+y_21^0-head_16^0 <= 0 /\ y_21^0-y_21^post40 == 0 /\ i_127^0-i_127^post40 == 0 /\ -x_22^post40+x_22^0 == 0 /\ a_137^0-a_137^post40 == 0 /\ a_193^0-a_193^post40 == 0 /\ t_23^0-t_23^post40 == 0 /\ -rcd_172^post40+rcd_172^0 == 0 /\ temp0_19^0-temp0_19^post40 == 0 /\ rcd_192^0-rcd_192^post40 == 0 /\ -r_37^post40+r_37^0 == 0 /\ -rcd_168^post40+rcd_168^0 == 0 /\ -a_163^post40+a_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40 == 0 /\ -head_29^post40+head_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post40+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post40 == 0 /\ -rcd_41^post40+rcd_41^0 == 0 /\ -tmp_31^post40+tmp_31^0 == 0 /\ -head_16^post40+head_16^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ temp0_28^0-temp0_28^post40 == 0 /\ -i_27^post40+i_27^0 == 0 /\ rcd_110^0-rcd_110^post40 == 0 /\ -rcd_67^post40+rcd_67^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post40 == 0), cost: 1
  41: l28 -> l29 : a_137^0'=a_137^post41, rcd_110^0'=rcd_110^post41, tail_15^0'=tail_15^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, rcd_192^0'=rcd_192^post41, tmp_31^0'=tmp_31^post41, x_SLAM_f_20^0'=x_SLAM_f_20^post41, nondet_12^0'=nondet_12^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41, a_193^0'=a_193^post41, temp0_28^0'=temp0_28^post41, i_127^0'=i_127^post41, rcd_67^0'=rcd_67^post41, rcd_102^0'=rcd_102^post41, t_23^0'=t_23^post41, head_29^0'=head_29^post41, rcd_172^0'=rcd_172^post41, temp_33^0'=temp_33^post41, length_25^0'=length_25^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post41, a_163^0'=a_163^post41, rcd_168^0'=rcd_168^post41, temp0_19^0'=temp0_19^post41, i_108^0'=i_108^post41, rcd_41^0'=rcd_41^post41, x_22^0'=x_22^post41, y_21^0'=y_21^post41, r_37^0'=r_37^post41, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post41, head_16^0'=head_16^post41, temp_32^0'=temp_32^post41, i_27^0'=i_27^post41, result_11^0'=result_11^post41, (-r_37^post41+r_37^0 == 0 /\ -x_22^post41+x_22^0 == 0 /\ -rcd_168^post41+rcd_168^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post41 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ -i_27^post41+i_27^0 == 0 /\ rcd_102^0-rcd_102^post41 == 0 /\ -temp_32^post41+temp_32^0 == 0 /\ tail_15^0-tail_15^post41 == 0 /\ i_127^0-i_127^post41 == 0 /\ a_137^0-a_137^post41 == 0 /\ t_23^0-t_23^post41 == 0 /\ a_193^0-a_193^post41 == 0 /\ -a_163^post41+a_163^0 == 0 /\ -rcd_110^post41+rcd_110^0 == 0 /\ temp_33^0-temp_33^post41 == 0 /\ -head_16^post41+head_16^0 == 0 /\ -temp0_19^post41+temp0_19^0 == 0 /\ -i_108^post41+i_108^0 == 0 /\ -result_11^post41+result_11^0 == 0 /\ -tmp_31^post41+tmp_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post41 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41 == 0 /\ -rcd_67^post41+rcd_67^0 == 0 /\ -y_21^post41+y_21^0 == 0 /\ -head_29^post41+head_29^0 == 0 /\ rcd_41^0-rcd_41^post41 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post41 == 0 /\ temp0_28^0-temp0_28^post41 == 0 /\ -rcd_172^post41+rcd_172^0 == 0 /\ rcd_192^0-rcd_192^post41 == 0 /\ 1-t_23^0+y_21^0 <= 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post41 == 0 /\ -length_25^post41+length_25^0 == 0), cost: 1
  42: l28 -> l29 : a_137^0'=a_137^post42, rcd_110^0'=rcd_110^post42, tail_15^0'=tail_15^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, rcd_192^0'=rcd_192^post42, tmp_31^0'=tmp_31^post42, x_SLAM_f_20^0'=x_SLAM_f_20^post42, nondet_12^0'=nondet_12^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42, a_193^0'=a_193^post42, temp0_28^0'=temp0_28^post42, i_127^0'=i_127^post42, rcd_67^0'=rcd_67^post42, rcd_102^0'=rcd_102^post42, t_23^0'=t_23^post42, head_29^0'=head_29^post42, rcd_172^0'=rcd_172^post42, temp_33^0'=temp_33^post42, length_25^0'=length_25^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post42, a_163^0'=a_163^post42, rcd_168^0'=rcd_168^post42, temp0_19^0'=temp0_19^post42, i_108^0'=i_108^post42, rcd_41^0'=rcd_41^post42, x_22^0'=x_22^post42, y_21^0'=y_21^post42, r_37^0'=r_37^post42, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post42, head_16^0'=head_16^post42, temp_32^0'=temp_32^post42, i_27^0'=i_27^post42, result_11^0'=result_11^post42, (-i_27^post42+i_27^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post42 == 0 /\ -temp_33^post42+temp_33^0 == 0 /\ head_29^0-head_29^post42 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post42 == 0 /\ -r_37^post42+r_37^0 == 0 /\ -rcd_168^post42+rcd_168^0 == 0 /\ rcd_110^0-rcd_110^post42 == 0 /\ -i_127^post42+i_127^0 == 0 /\ -temp0_28^post42+temp0_28^0 == 0 /\ length_25^0-length_25^post42 == 0 /\ tail_15^0-tail_15^post42 == 0 /\ a_163^0-a_163^post42 == 0 /\ -temp_32^post42+temp_32^0 == 0 /\ a_193^0-a_193^post42 == 0 /\ a_137^0-a_137^post42 == 0 /\ -head_16^post42+head_16^0 == 0 /\ rcd_102^0-rcd_102^post42 == 0 /\ tmp_31^0-tmp_31^post42 == 0 /\ rcd_172^0-rcd_172^post42 == 0 /\ -i_108^post42+i_108^0 == 0 /\ 1+t_23^0-y_21^0 <= 0 /\ rcd_67^0-rcd_67^post42 == 0 /\ -nondet_12^post42+nondet_12^0 == 0 /\ -t_23^post42+t_23^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post42 == 0 /\ -x_22^post42+x_22^0 == 0 /\ rcd_41^0-rcd_41^post42 == 0 /\ rcd_192^0-rcd_192^post42 == 0 /\ -result_11^post42+result_11^0 == 0 /\ -temp0_19^post42+temp0_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42 == 0 /\ -y_21^post42+y_21^0 == 0), cost: 1
  43: l29 -> l1 : a_137^0'=a_137^post43, rcd_110^0'=rcd_110^post43, tail_15^0'=tail_15^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, rcd_192^0'=rcd_192^post43, tmp_31^0'=tmp_31^post43, x_SLAM_f_20^0'=x_SLAM_f_20^post43, nondet_12^0'=nondet_12^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43, a_193^0'=a_193^post43, temp0_28^0'=temp0_28^post43, i_127^0'=i_127^post43, rcd_67^0'=rcd_67^post43, rcd_102^0'=rcd_102^post43, t_23^0'=t_23^post43, head_29^0'=head_29^post43, rcd_172^0'=rcd_172^post43, temp_33^0'=temp_33^post43, length_25^0'=length_25^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post43, a_163^0'=a_163^post43, rcd_168^0'=rcd_168^post43, temp0_19^0'=temp0_19^post43, i_108^0'=i_108^post43, rcd_41^0'=rcd_41^post43, x_22^0'=x_22^post43, y_21^0'=y_21^post43, r_37^0'=r_37^post43, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post43, head_16^0'=head_16^post43, temp_32^0'=temp_32^post43, i_27^0'=i_27^post43, result_11^0'=result_11^post43, (0 == 0 /\ head_29^0-head_29^post43 == 0 /\ -a_163^post43+a_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post43+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_110^0-rcd_110^post43 == 0 /\ length_25^0-length_25^post43 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ -temp_33^post43+temp_33^0 == 0 /\ temp0_28^0-temp0_28^post43 == 0 /\ temp0_19^0-temp0_19^post43 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post43 == 0 /\ r_37^0-r_37^post43 == 0 /\ a_193^0-a_193^post43 == 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -head_16^post43+head_16^0 == 0 /\ -result_11^post43+result_11^0 == 0 /\ 1+a_137^0-i_127^post43 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43 == 0 /\ rcd_102^0-rcd_102^post43 == 0 /\ -t_23^post43+t_23^0 == 0 /\ -rcd_41^post43+rcd_41^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_192^0-rcd_192^post43 == 0 /\ tmp_31^0-tmp_31^post43 == 0 /\ -y_21^post43+y_21^0 == 0 /\ rcd_67^0-rcd_67^post43 == 0 /\ rcd_172^0-rcd_172^post43 == 0 /\ -i_27^post43+i_27^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ -temp_32^post43+temp_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_108^post43+i_108^0 == 0 /\ tail_15^0-tail_15^post43 == 0 /\ a_137^0-a_137^post43 == 0 /\ -x_22^post43+x_22^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1-a_137^0+i_127^post43 <= 0 /\ rcd_168^0-rcd_168^post43 == 0), cost: 1
  45: l30 -> l18 : a_137^0'=a_137^post45, rcd_110^0'=rcd_110^post45, tail_15^0'=tail_15^post45, head_SLAM_f_26^0'=head_SLAM_f_26^post45, rcd_192^0'=rcd_192^post45, tmp_31^0'=tmp_31^post45, x_SLAM_f_20^0'=x_SLAM_f_20^post45, nondet_12^0'=nondet_12^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post45, a_193^0'=a_193^post45, temp0_28^0'=temp0_28^post45, i_127^0'=i_127^post45, rcd_67^0'=rcd_67^post45, rcd_102^0'=rcd_102^post45, t_23^0'=t_23^post45, head_29^0'=head_29^post45, rcd_172^0'=rcd_172^post45, temp_33^0'=temp_33^post45, length_25^0'=length_25^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, a_163^0'=a_163^post45, rcd_168^0'=rcd_168^post45, temp0_19^0'=temp0_19^post45, i_108^0'=i_108^post45, rcd_41^0'=rcd_41^post45, x_22^0'=x_22^post45, y_21^0'=y_21^post45, r_37^0'=r_37^post45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, head_16^0'=head_16^post45, temp_32^0'=temp_32^post45, i_27^0'=i_27^post45, result_11^0'=result_11^post45, (-y_21^post45+y_21^0 == 0 /\ a_163^0-a_163^post45 == 0 /\ -length_25^post45+length_25^0 == 0 /\ t_23^0-t_23^post45 == 0 /\ tail_15^0-tail_15^post45 == 0 /\ -temp_32^post45+temp_32^0 == 0 /\ -rcd_41^post45+rcd_41^0 == 0 /\ -rcd_102^post45+rcd_102^0 == 0 /\ x_22^0-x_22^post45 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_37^post45+r_37^0 == 0 /\ head_16^0-head_16^post45 == 0 /\ -i_108^post45+i_108^0 == 0 /\ -x_SLAM_f_20^post45+x_SLAM_f_20^0 == 0 /\ a_137^0-a_137^post45 == 0 /\ rcd_67^0-rcd_67^post45 == 0 /\ temp0_28^0-temp0_28^post45 == 0 /\ rcd_192^0-rcd_192^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post45+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ -temp0_19^post45+temp0_19^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ -rcd_172^post45+rcd_172^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post45 == 0 /\ -i_27^post45+i_27^0 == 0 /\ tmp_31^0-tmp_31^post45 == 0 /\ head_29^0-head_29^post45 == 0 /\ temp_33^0-temp_33^post45 == 0 /\ i_127^0-i_127^post45 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post45 == 0 /\ rcd_110^0-rcd_110^post45 == 0 /\ -a_193^post45+a_193^0 == 0 /\ -rcd_168^post45+rcd_168^0 == 0), cost: 1
  48: l31 -> l10 : a_137^0'=a_137^post48, rcd_110^0'=rcd_110^post48, tail_15^0'=tail_15^post48, head_SLAM_f_26^0'=head_SLAM_f_26^post48, rcd_192^0'=rcd_192^post48, tmp_31^0'=tmp_31^post48, x_SLAM_f_20^0'=x_SLAM_f_20^post48, nondet_12^0'=nondet_12^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post48, a_193^0'=a_193^post48, temp0_28^0'=temp0_28^post48, i_127^0'=i_127^post48, rcd_67^0'=rcd_67^post48, rcd_102^0'=rcd_102^post48, t_23^0'=t_23^post48, head_29^0'=head_29^post48, rcd_172^0'=rcd_172^post48, temp_33^0'=temp_33^post48, length_25^0'=length_25^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48, a_163^0'=a_163^post48, rcd_168^0'=rcd_168^post48, temp0_19^0'=temp0_19^post48, i_108^0'=i_108^post48, rcd_41^0'=rcd_41^post48, x_22^0'=x_22^post48, y_21^0'=y_21^post48, r_37^0'=r_37^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post48, head_16^0'=head_16^post48, temp_32^0'=temp_32^post48, i_27^0'=i_27^post48, result_11^0'=result_11^post48, (-temp_32^post48+temp_32^0 == 0 /\ rcd_192^0-rcd_192^post48 == 0 /\ r_37^0-r_37^post48 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48 == 0 /\ tmp_31^0-tmp_31^post48 == 0 /\ i_127^0-i_127^post48 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post48 == 0 /\ -temp0_19^post48+temp0_19^0 == 0 /\ -y_21^post48+y_21^0 == 0 /\ rcd_110^0-rcd_110^post48 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post48 == 0 /\ tail_15^0-tail_15^post48 == 0 /\ -head_29^post48+head_29^0 == 0 /\ rcd_172^0-rcd_172^post48 == 0 /\ -x_22^post48+x_22^0 == 0 /\ -result_11^post48+result_11^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post48+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -temp0_28^post48+temp0_28^0 == 0 /\ a_193^0-a_193^post48 == 0 /\ -a_163^post48+a_163^0 == 0 /\ length_25^0-length_25^post48 == 0 /\ i_108^0-i_108^post48 == 0 /\ -rcd_41^post48+rcd_41^0 == 0 /\ rcd_168^0-rcd_168^post48 == 0 /\ -t_23^post48+t_23^0 == 0 /\ -head_16^post48+head_16^0 == 0 /\ rcd_102^0-rcd_102^post48 == 0 /\ -temp_33^post48+temp_33^0 == 0 /\ rcd_67^0-rcd_67^post48 == 0 /\ -i_27^post48+i_27^0 == 0 /\ a_137^0-a_137^post48 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l31
  25: l1 -> l20 : a_137^0'=a_137^post25, rcd_110^0'=rcd_110^post25, tail_15^0'=tail_15^post25, head_SLAM_f_26^0'=head_SLAM_f_26^post25, rcd_192^0'=rcd_192^post25, tmp_31^0'=tmp_31^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, nondet_12^0'=nondet_12^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25, a_193^0'=a_193^post25, temp0_28^0'=temp0_28^post25, i_127^0'=i_127^post25, rcd_67^0'=rcd_67^post25, rcd_102^0'=rcd_102^post25, t_23^0'=t_23^post25, head_29^0'=head_29^post25, rcd_172^0'=rcd_172^post25, temp_33^0'=temp_33^post25, length_25^0'=length_25^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, a_163^0'=a_163^post25, rcd_168^0'=rcd_168^post25, temp0_19^0'=temp0_19^post25, i_108^0'=i_108^post25, rcd_41^0'=rcd_41^post25, x_22^0'=x_22^post25, y_21^0'=y_21^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, temp_32^0'=temp_32^post25, i_27^0'=i_27^post25, result_11^0'=result_11^post25, (0 == 0 /\ -i_27^post25+i_27^0 == 0 /\ tmp_31^0-tmp_31^post25 == 0 /\ -temp_33^post25+temp_33^0 == 0 /\ rcd_110^0-rcd_110^post25 == 0 /\ rcd_168^0-rcd_168^post25 == 0 /\ -rcd_172^post25+rcd_172^0 == 0 /\ rcd_67^0-rcd_67^post25 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -rcd_41^post25+rcd_41^0 == 0 /\ rcd_192^0-rcd_192^post25 == 0 /\ -a_163^0 <= 0 /\ -a_163^post25+a_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25 == 0 /\ -temp_32^post25+temp_32^0 == 0 /\ -length_25^post25+length_25^0 == 0 /\ i_108^0-i_108^post25 == 0 /\ head_29^0-head_29^post25 == 0 /\ a_137^0-a_137^post25 == 0 /\ i_127^0-i_127^post25 == 0 /\ -temp0_28^post25+temp0_28^0 == 0 /\ a_193^0-a_193^post25 == 0 /\ -head_SLAM_f_26^post25+head_SLAM_f_26^0 == 0 /\ -temp0_19^post25+temp0_19^0 == 0 /\ -rcd_102^post25+rcd_102^0 == 0 /\ t_23^0-t_23^post25 == 0 /\ nondet_12^0-nondet_12^post25 == 0 /\ -y_21^post25+y_21^0 == 0 /\ -x_22^post25+x_22^0 == 0), cost: 1
  13: l10 -> l11 : a_137^0'=a_137^post13, rcd_110^0'=rcd_110^post13, tail_15^0'=tail_15^post13, head_SLAM_f_26^0'=head_SLAM_f_26^post13, rcd_192^0'=rcd_192^post13, tmp_31^0'=tmp_31^post13, x_SLAM_f_20^0'=x_SLAM_f_20^post13, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13, a_193^0'=a_193^post13, temp0_28^0'=temp0_28^post13, i_127^0'=i_127^post13, rcd_67^0'=rcd_67^post13, rcd_102^0'=rcd_102^post13, t_23^0'=t_23^post13, head_29^0'=head_29^post13, rcd_172^0'=rcd_172^post13, temp_33^0'=temp_33^post13, length_25^0'=length_25^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13, a_163^0'=a_163^post13, rcd_168^0'=rcd_168^post13, temp0_19^0'=temp0_19^post13, i_108^0'=i_108^post13, rcd_41^0'=rcd_41^post13, x_22^0'=x_22^post13, y_21^0'=y_21^post13, r_37^0'=r_37^post13, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post13, head_16^0'=head_16^post13, temp_32^0'=temp_32^post13, i_27^0'=i_27^post13, result_11^0'=result_11^post13, (0 == 0 /\ tmp_31^0-tmp_31^post13 == 0 /\ -t_23^post13+t_23^0 == 0 /\ i_27^post13 <= 0 /\ i_27^post13 == 0 /\ rcd_168^0-rcd_168^post13 == 0 /\ -x_22^post13+x_22^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13-head_29^post13 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13+head_SLAM_f_26^post13 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post13+length_25^post13 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post13+length_25^post13 == 0 /\ rcd_110^0-rcd_110^post13 == 0 /\ rcd_192^0-rcd_192^post13 == 0 /\ -a_163^post13+a_163^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13+head_29^post13 <= 0 /\ -rcd_41^post13+rcd_41^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13-head_SLAM_f_26^post13 <= 0 /\ -temp0_28^post13+temp0_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post13-length_25^post13 <= 0 /\ -head_16^post13+head_16^0 == 0 /\ i_127^0-i_127^post13 == 0 /\ -rcd_102^post13+rcd_102^0 == 0 /\ -i_27^post13 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13+tail_15^post13 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post13-nondet_12^10 == 0 /\ a_137^0-a_137^post13 == 0 /\ i_108^0-i_108^post13 == 0 /\ a_193^0-a_193^post13 == 0 /\ -head_SLAM_f_26^post13+head_29^post13 <= 0 /\ -head_SLAM_f_26^post13+head_29^post13 == 0 /\ -tail_15^post13+head_SLAM_f_26^post13 <= 0 /\ -tail_15^post13+head_SLAM_f_26^post13 == 0 /\ temp_32^0-temp_32^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13-tail_15^post13 <= 0 /\ tail_15^post13-temp_33^0 == 0 /\ -r_37^post13+r_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13 == 0 /\ -result_11^post13+result_11^0 == 0 /\ head_SLAM_f_26^post13-head_29^post13 <= 0 /\ -y_21^post13+y_21^0 == 0 /\ rcd_67^0-rcd_67^post13 == 0 /\ tail_15^post13-head_SLAM_f_26^post13 <= 0 /\ rcd_172^0-rcd_172^post13 == 0 /\ -temp0_19^post13+temp0_19^0 == 0), cost: 1
  47: l11 -> l12 : a_137^0'=a_137^post47, rcd_110^0'=rcd_110^post47, tail_15^0'=tail_15^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, rcd_192^0'=rcd_192^post47, tmp_31^0'=tmp_31^post47, x_SLAM_f_20^0'=x_SLAM_f_20^post47, nondet_12^0'=nondet_12^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47, a_193^0'=a_193^post47, temp0_28^0'=temp0_28^post47, i_127^0'=i_127^post47, rcd_67^0'=rcd_67^post47, rcd_102^0'=rcd_102^post47, t_23^0'=t_23^post47, head_29^0'=head_29^post47, rcd_172^0'=rcd_172^post47, temp_33^0'=temp_33^post47, length_25^0'=length_25^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47, a_163^0'=a_163^post47, rcd_168^0'=rcd_168^post47, temp0_19^0'=temp0_19^post47, i_108^0'=i_108^post47, rcd_41^0'=rcd_41^post47, x_22^0'=x_22^post47, y_21^0'=y_21^post47, r_37^0'=r_37^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post47, head_16^0'=head_16^post47, temp_32^0'=temp_32^post47, i_27^0'=i_27^post47, result_11^0'=result_11^post47, (0 == 0 /\ tail_15^post47-head_SLAM_f_26^post47 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47+head_29^post47 <= 0 /\ rcd_102^0-rcd_102^post47 == 0 /\ -i_127^post47+i_127^0 == 0 /\ rcd_110^0-rcd_110^post47 == 0 /\ -temp0_19^post47+temp0_19^0 == 0 /\ 1-length_25^0+i_27^0 <= 0 /\ length_25^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post47 <= 0 /\ rcd_192^0-rcd_192^post47 == 0 /\ a_163^0-a_163^post47 == 0 /\ -tail_15^post47+head_SLAM_f_26^post47 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47-head_29^post47 <= 0 /\ -rcd_67^post47+rcd_67^0 == 0 /\ 1-i_27^post47 <= 0 /\ -1+i_27^post47 <= 0 /\ -head_16^post47+head_16^0 == 0 /\ -result_11^post47+result_11^0 == 0 /\ -length_25^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post47 <= 0 /\ 1-length_25^0 <= 0 /\ -rcd_168^post47+rcd_168^0 == 0 /\ rcd_172^0-rcd_172^post47 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47-tail_15^post47 <= 0 /\ tmp_31^post47-temp_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47+tmp_31^post47 <= 0 /\ temp0_28^0-temp0_28^post47 == 0 /\ rcd_41^0-rcd_41^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47+head_SLAM_f_26^post47 <= 0 /\ tmp_31^post47-head_29^post47 <= 0 /\ -y_21^post47+y_21^0 == 0 /\ -x_22^post47+x_22^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post47 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ length_25^0-length_25^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47+tail_15^post47 <= 0 /\ a_137^0-a_137^post47 == 0 /\ a_193^0-a_193^post47 == 0 /\ -i_108^post47+i_108^0 == 0 /\ -temp_33^post47+temp_33^0 == 0 /\ -1+i_27^post47-i_27^0 == 0 /\ -t_23^post47+t_23^0 == 0 /\ -r_37^post47+r_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47-tmp_31^post47 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47-head_SLAM_f_26^post47 <= 0 /\ -tmp_31^post47+head_29^post47 <= 0 /\ -tmp_31^post47+head_29^post47 == 0), cost: 1
  23: l12 -> l18 : a_137^0'=a_137^post23, rcd_110^0'=rcd_110^post23, tail_15^0'=tail_15^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post23, rcd_192^0'=rcd_192^post23, tmp_31^0'=tmp_31^post23, x_SLAM_f_20^0'=x_SLAM_f_20^post23, nondet_12^0'=nondet_12^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, a_193^0'=a_193^post23, temp0_28^0'=temp0_28^post23, i_127^0'=i_127^post23, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post23, t_23^0'=t_23^post23, head_29^0'=head_29^post23, rcd_172^0'=rcd_172^post23, temp_33^0'=temp_33^post23, length_25^0'=length_25^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, a_163^0'=a_163^post23, rcd_168^0'=rcd_168^post23, temp0_19^0'=temp0_19^post23, i_108^0'=i_108^post23, rcd_41^0'=rcd_41^post23, x_22^0'=x_22^post23, y_21^0'=y_21^post23, r_37^0'=r_37^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post23, head_16^0'=head_16^post23, temp_32^0'=temp_32^post23, i_27^0'=i_27^post23, result_11^0'=result_11^post23, (0 == 0 /\ tmp_31^post23-temp_32^0 == 0 /\ -i_108^post23+i_108^0 == 0 /\ a_193^0-a_193^post23 == 0 /\ tmp_31^post23-head_29^post23 <= 0 /\ 1-length_25^0+i_27^0 <= 0 /\ -t_23^post23+t_23^0 == 0 /\ 2-length_25^0 <= 0 /\ tail_15^post23-head_SLAM_f_26^post23 <= 0 /\ a_163^0-a_163^post23 == 0 /\ -r_37^post23+r_37^0 == 0 /\ -tmp_31^post23+head_29^post23 <= 0 /\ -tmp_31^post23+head_29^post23 == 0 /\ -y_21^post23+y_21^0 == 0 /\ rcd_192^0-rcd_192^post23 == 0 /\ 1-length_25^0 <= 0 /\ -2+i_27^post23 <= 0 /\ -x_22^post23+x_22^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post23 == 0 /\ -tail_15^post23+head_SLAM_f_26^post23 <= 0 /\ temp0_28^0-temp0_28^post23 == 0 /\ rcd_172^0-rcd_172^post23 == 0 /\ -1+i_27^post23-i_27^0 == 0 /\ head_16^0-head_16^post23 == 0 /\ -temp0_19^post23+temp0_19^0 == 0 /\ rcd_41^0-rcd_41^post23 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23+head_29^post23 <= 0 /\ tail_15^post23-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23-tmp_31^post23 <= 0 /\ -i_127^post23+i_127^0 == 0 /\ head_SLAM_f_26^post23-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 /\ -temp_33^post23+temp_33^0 == 0 /\ -length_25^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post23 <= 0 /\ -result_11^post23+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23-head_29^post23 <= 0 /\ rcd_102^0-rcd_102^post23 == 0 /\ -rcd_168^post23+rcd_168^0 == 0 /\ -tail_15^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23+tmp_31^post23 <= 0 /\ length_25^0-length_25^post23 == 0 /\ rcd_110^0-rcd_110^post23 == 0 /\ 2-i_27^post23 <= 0 /\ -head_SLAM_f_26^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 /\ length_25^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post23 <= 0 /\ a_137^0-a_137^post23 == 0), cost: 1
  35: l18 -> l25 : a_137^0'=a_137^post35, rcd_110^0'=rcd_110^post35, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, rcd_192^0'=rcd_192^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, a_193^0'=a_193^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post35, rcd_102^0'=rcd_102^post35, t_23^0'=t_23^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post35, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, a_163^0'=a_163^post35, rcd_168^0'=rcd_168^post35, temp0_19^0'=temp0_19^post35, i_108^0'=i_108^post35, rcd_41^0'=rcd_41^post35, x_22^0'=x_22^post35, y_21^0'=y_21^post35, r_37^0'=r_37^post35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (0 == 0 /\ -i_27^post35 <= 0 /\ -rcd_41^post35+rcd_41^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ rcd_110^0-rcd_110^post35 == 0 /\ -head_16^11+x_22^post35 <= 0 /\ -rcd_102^post35+rcd_102^0 == 0 /\ rcd_192^0-rcd_192^post35 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110+y_21^post35 <= 0 /\ length_25^0-i_27^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ head_16^11-x_22^post35 <= 0 /\ t_23^0-t_23^post35 == 0 /\ a_163^0-a_163^post35 == 0 /\ r_37^0-r_37^post35 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110-y_21^post35 <= 0 /\ head_16^11-x_SLAM_f_20^110 <= 0 /\ -tail_15^0+y_21^post35 <= 0 /\ -tail_15^0+y_21^post35 == 0 /\ x_SLAM_f_20^110-x_22^post35 <= 0 /\ result_11^110-temp0_28^110 == 0 /\ -temp0_19^post35+temp0_19^0 == 0 /\ head_16^11-result_11^110 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^110-i_27^post35 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ -i_27^0 <= 0 /\ -head_29^0+temp0_28^110 == 0 /\ -head_16^11+x_SLAM_f_20^110 <= 0 /\ -head_16^11+x_SLAM_f_20^110 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ temp_33^0-temp_33^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ tail_15^0-y_21^post35 <= 0 /\ -x_SLAM_f_20^110+x_22^post35 <= 0 /\ -x_SLAM_f_20^110+x_22^post35 == 0 /\ a_193^0-a_193^post35 == 0 /\ a_137^0-a_137^post35 == 0 /\ rcd_67^0-rcd_67^post35 == 0 /\ i_108^0-i_108^post35 == 0), cost: 1
  44: l18 -> l30 : a_137^0'=a_137^post44, rcd_110^0'=rcd_110^post44, tail_15^0'=tail_15^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, rcd_192^0'=rcd_192^post44, tmp_31^0'=tmp_31^post44, x_SLAM_f_20^0'=x_SLAM_f_20^post44, nondet_12^0'=nondet_12^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_193^0'=a_193^post44, temp0_28^0'=temp0_28^post44, i_127^0'=i_127^post44, rcd_67^0'=rcd_67^post44, rcd_102^0'=rcd_102^post44, t_23^0'=t_23^post44, head_29^0'=head_29^post44, rcd_172^0'=rcd_172^post44, temp_33^0'=temp_33^post44, length_25^0'=length_25^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post44, a_163^0'=a_163^post44, rcd_168^0'=rcd_168^post44, temp0_19^0'=temp0_19^post44, i_108^0'=i_108^post44, rcd_41^0'=rcd_41^post44, x_22^0'=x_22^post44, y_21^0'=y_21^post44, r_37^0'=r_37^post44, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post44, head_16^0'=head_16^post44, temp_32^0'=temp_32^post44, i_27^0'=i_27^post44, result_11^0'=result_11^post44, (0 == 0 /\ -1+i_27^post44-i_27^0 == 0 /\ 1-length_25^0+i_108^post44 <= 0 /\ temp0_19^0-temp0_19^post44 == 0 /\ temp0_28^0-temp0_28^post44 == 0 /\ tail_15^0-tail_15^post44 == 0 /\ r_37^0-r_37^post44 == 0 /\ -a_163^post44+a_163^0 == 0 /\ -rcd_67^post44+rcd_67^0 == 0 /\ 1-length_25^0+i_27^0 <= 0 /\ -1+i_27^post44-i_108^post44 <= 0 /\ -tmp_31^post44+head_29^post44 == 0 /\ -length_25^post44+length_25^0 == 0 /\ -head_16^post44+head_16^0 == 0 /\ x_22^0-x_22^post44 == 0 /\ -result_11^post44+result_11^0 == 0 /\ -rcd_172^post44+rcd_172^0 == 0 /\ -y_21^post44+y_21^0 == 0 /\ tmp_31^post44-temp_32^0 == 0 /\ -x_SLAM_f_20^post44+x_SLAM_f_20^0 == 0 /\ t_23^0-t_23^post44 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_192^0-rcd_192^post44 == 0 /\ -a_193^post44+a_193^0 == 0 /\ 1-i_27^post44+i_108^post44 <= 0 /\ -rcd_41^post44+rcd_110^post44 <= 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ -rcd_110^post44+rcd_41^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44 == 0 /\ -i_27^0 <= 0 /\ a_137^0-a_137^post44 == 0 /\ temp_33^0-temp_33^post44 == 0 /\ i_127^0-i_127^post44 == 0 /\ rcd_41^post44-rcd_110^post44 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post44+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_110^post44-rcd_41^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post44 == 0 /\ rcd_168^0-rcd_168^post44 == 0), cost: 1
  26: l20 -> l21 : a_137^0'=a_137^post26, rcd_110^0'=rcd_110^post26, tail_15^0'=tail_15^post26, head_SLAM_f_26^0'=head_SLAM_f_26^post26, rcd_192^0'=rcd_192^post26, tmp_31^0'=tmp_31^post26, x_SLAM_f_20^0'=x_SLAM_f_20^post26, nondet_12^0'=nondet_12^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26, a_193^0'=a_193^post26, temp0_28^0'=temp0_28^post26, i_127^0'=i_127^post26, rcd_67^0'=rcd_67^post26, rcd_102^0'=rcd_102^post26, t_23^0'=t_23^post26, head_29^0'=head_29^post26, rcd_172^0'=rcd_172^post26, temp_33^0'=temp_33^post26, length_25^0'=length_25^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post26, a_163^0'=a_163^post26, rcd_168^0'=rcd_168^post26, temp0_19^0'=temp0_19^post26, i_108^0'=i_108^post26, rcd_41^0'=rcd_41^post26, x_22^0'=x_22^post26, y_21^0'=y_21^post26, r_37^0'=r_37^post26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post26, head_16^0'=head_16^post26, temp_32^0'=temp_32^post26, i_27^0'=i_27^post26, result_11^0'=result_11^post26, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26 == 0 /\ -result_11^post26+result_11^0 == 0 /\ -rcd_172^post26+rcd_172^0 == 0 /\ -head_16^post26+head_16^0 == 0 /\ rcd_192^0-rcd_192^post26 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ rcd_110^0-rcd_110^post26 == 0 /\ rcd_67^0-rcd_67^post26 == 0 /\ tmp_31^0-tmp_31^post26 == 0 /\ y_21^0-y_21^post26 == 0 /\ -temp_33^post26+temp_33^0 == 0 /\ -i_27^post26+i_27^0 == 0 /\ length_25^0-length_25^post26 == 0 /\ -rcd_168^post26+rcd_168^0 == 0 /\ head_29^0-head_29^post26 == 0 /\ -rcd_41^post26+rcd_41^0 == 0 /\ -head_SLAM_f_26^post26+head_SLAM_f_26^0 == 0 /\ a_137^0-a_137^post26 == 0 /\ tail_15^0-tail_15^post26 == 0 /\ i_127^0-i_127^post26 == 0 /\ temp0_19^0-temp0_19^post26 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post26 == 0 /\ t_23^0-t_23^post26 == 0 /\ nondet_12^0-nondet_12^post26 == 0 /\ -i_108^post26+i_108^0 == 0 /\ a_193^0-a_193^post26 == 0 /\ -temp_32^post26+temp_32^0 == 0 /\ a_163^0-a_163^post26 == 0 /\ -x_22^post26+x_22^0 == 0 /\ -temp0_28^post26+temp0_28^0 == 0 /\ -rcd_102^post26+rcd_102^0 == 0 /\ -r_37^post26+r_37^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post26+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0), cost: 1
  27: l20 -> l21 : a_137^0'=a_137^post27, rcd_110^0'=rcd_110^post27, tail_15^0'=tail_15^post27, head_SLAM_f_26^0'=head_SLAM_f_26^post27, rcd_192^0'=rcd_192^post27, tmp_31^0'=tmp_31^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, nondet_12^0'=nondet_12^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27, a_193^0'=a_193^post27, temp0_28^0'=temp0_28^post27, i_127^0'=i_127^post27, rcd_67^0'=rcd_67^post27, rcd_102^0'=rcd_102^post27, t_23^0'=t_23^post27, head_29^0'=head_29^post27, rcd_172^0'=rcd_172^post27, temp_33^0'=temp_33^post27, length_25^0'=length_25^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, a_163^0'=a_163^post27, rcd_168^0'=rcd_168^post27, temp0_19^0'=temp0_19^post27, i_108^0'=i_108^post27, rcd_41^0'=rcd_41^post27, x_22^0'=x_22^post27, y_21^0'=y_21^post27, r_37^0'=r_37^post27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, head_16^0'=head_16^post27, temp_32^0'=temp_32^post27, i_27^0'=i_27^post27, result_11^0'=result_11^post27, (-temp_32^post27+temp_32^0 == 0 /\ -head_16^post27+head_16^0 == 0 /\ rcd_192^0-rcd_192^post27 == 0 /\ -rcd_67^post27+rcd_67^0 == 0 /\ -length_25^post27+length_25^0 == 0 /\ -i_108^post27+i_108^0 == 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ y_21^0-y_21^post27 == 0 /\ temp_33^0-temp_33^post27 == 0 /\ -x_22^post27+x_22^0 == 0 /\ i_127^0-i_127^post27 == 0 /\ rcd_102^0-rcd_102^post27 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post27 == 0 /\ rcd_110^0-rcd_110^post27 == 0 /\ -tmp_31^post27+tmp_31^0 == 0 /\ temp0_19^0-temp0_19^post27 == 0 /\ temp0_28^0-temp0_28^post27 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post27 == 0 /\ tail_15^0-tail_15^post27 == 0 /\ -r_37^post27+r_37^0 == 0 /\ -rcd_168^post27+rcd_168^0 == 0 /\ -rcd_172^post27+rcd_172^0 == 0 /\ -result_11^post27+result_11^0 == 0 /\ a_193^0-a_193^post27 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -head_29^post27+head_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post27+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_163^post27+a_163^0 == 0 /\ t_23^0-t_23^post27 == 0 /\ a_137^0-a_137^post27 == 0 /\ -i_27^post27+i_27^0 == 0 /\ -rcd_41^post27+rcd_41^0 == 0), cost: 1
  28: l21 -> l22 : a_137^0'=a_137^post28, rcd_110^0'=rcd_110^post28, tail_15^0'=tail_15^post28, head_SLAM_f_26^0'=head_SLAM_f_26^post28, rcd_192^0'=rcd_192^post28, tmp_31^0'=tmp_31^post28, x_SLAM_f_20^0'=x_SLAM_f_20^post28, nondet_12^0'=nondet_12^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28, a_193^0'=a_193^post28, temp0_28^0'=temp0_28^post28, i_127^0'=i_127^post28, rcd_67^0'=rcd_67^post28, rcd_102^0'=rcd_102^post28, t_23^0'=t_23^post28, head_29^0'=head_29^post28, rcd_172^0'=rcd_172^post28, temp_33^0'=temp_33^post28, length_25^0'=length_25^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28, a_163^0'=a_163^post28, rcd_168^0'=rcd_168^post28, temp0_19^0'=temp0_19^post28, i_108^0'=i_108^post28, rcd_41^0'=rcd_41^post28, x_22^0'=x_22^post28, y_21^0'=y_21^post28, r_37^0'=r_37^post28, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, head_16^0'=head_16^post28, temp_32^0'=temp_32^post28, i_27^0'=i_27^post28, result_11^0'=result_11^post28, (0 == 0 /\ nondet_12^0-nondet_12^post28 == 0 /\ -x_22^0+t_23^post28 == 0 /\ -length_25^post28+length_25^0 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -temp_32^post28+temp_32^0 == 0 /\ -y_21^post28+y_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ temp_33^0-temp_33^post28 == 0 /\ rcd_102^0-rcd_102^post28 == 0 /\ tail_15^0-y_21^0 <= 0 /\ -r_37^post28+r_37^0 == 0 /\ rcd_110^0-rcd_110^post28 == 0 /\ -i_108^post28+i_108^0 == 0 /\ i_127^0-i_127^post28 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post28 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 == 0 /\ -x_22^post28+x_22^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ -1-a_193^post28+a_163^0 <= 0 /\ -result_11^post28+result_11^0 == 0 /\ rcd_41^0-rcd_192^post28 <= 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post28 == 0 /\ -rcd_172^post28+rcd_172^0 == 0 /\ -temp0_19^post28+temp0_19^0 == 0 /\ tail_15^0-tail_15^post28 == 0 /\ -tmp_31^post28+tmp_31^0 == 0 /\ -a_163^post28+a_163^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_20^0+head_16^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28 == 0 /\ -rcd_41^0+rcd_192^post28 <= 0 /\ -i_27^post28+i_27^0 == 0 /\ -head_16^post28+head_16^0 == 0 /\ -rcd_168^post28+rcd_168^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 == 0 /\ a_137^0-a_137^post28 == 0 /\ rcd_41^0-rcd_41^post28 == 0 /\ -rcd_67^post28+rcd_67^0 == 0 /\ temp0_28^0-temp0_28^post28 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_29^post28+head_29^0 == 0 /\ 1+a_193^post28-a_163^0 <= 0 /\ x_SLAM_f_20^0-head_16^0 <= 0), cost: 1
  29: l22 -> l23 : a_137^0'=a_137^post29, rcd_110^0'=rcd_110^post29, tail_15^0'=tail_15^post29, head_SLAM_f_26^0'=head_SLAM_f_26^post29, rcd_192^0'=rcd_192^post29, tmp_31^0'=tmp_31^post29, x_SLAM_f_20^0'=x_SLAM_f_20^post29, nondet_12^0'=nondet_12^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29, a_193^0'=a_193^post29, temp0_28^0'=temp0_28^post29, i_127^0'=i_127^post29, rcd_67^0'=rcd_67^post29, rcd_102^0'=rcd_102^post29, t_23^0'=t_23^post29, head_29^0'=head_29^post29, rcd_172^0'=rcd_172^post29, temp_33^0'=temp_33^post29, length_25^0'=length_25^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29, a_163^0'=a_163^post29, rcd_168^0'=rcd_168^post29, temp0_19^0'=temp0_19^post29, i_108^0'=i_108^post29, rcd_41^0'=rcd_41^post29, x_22^0'=x_22^post29, y_21^0'=y_21^post29, r_37^0'=r_37^post29, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post29, head_16^0'=head_16^post29, temp_32^0'=temp_32^post29, i_27^0'=i_27^post29, result_11^0'=result_11^post29, (-i_27^post29+i_27^0 == 0 /\ a_137^0-a_137^post29 == 0 /\ length_25^0-length_25^post29 == 0 /\ -r_37^post29+r_37^0 == 0 /\ 1-y_21^0+head_16^0 <= 0 /\ i_127^0-i_127^post29 == 0 /\ -temp0_28^post29+temp0_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post29 == 0 /\ -x_22^post29+x_22^0 == 0 /\ head_29^0-head_29^post29 == 0 /\ rcd_168^0-rcd_168^post29 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post29 == 0 /\ -i_108^post29+i_108^0 == 0 /\ rcd_110^0-rcd_110^post29 == 0 /\ -t_23^post29+t_23^0 == 0 /\ a_193^0-a_193^post29 == 0 /\ -temp_32^post29+temp_32^0 == 0 /\ -temp_33^post29+temp_33^0 == 0 /\ -head_16^post29+head_16^0 == 0 /\ tmp_31^0-tmp_31^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ -a_163^post29+a_163^0 == 0 /\ rcd_102^0-rcd_102^post29 == 0 /\ -temp0_19^post29+temp0_19^0 == 0 /\ rcd_192^0-rcd_192^post29 == 0 /\ rcd_67^0-rcd_67^post29 == 0 /\ tail_15^0-tail_15^post29 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post29 == 0 /\ rcd_172^0-rcd_172^post29 == 0 /\ -result_11^post29+result_11^0 == 0 /\ -y_21^post29+y_21^0 == 0 /\ rcd_41^0-rcd_41^post29 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1
  30: l22 -> l23 : a_137^0'=a_137^post30, rcd_110^0'=rcd_110^post30, tail_15^0'=tail_15^post30, head_SLAM_f_26^0'=head_SLAM_f_26^post30, rcd_192^0'=rcd_192^post30, tmp_31^0'=tmp_31^post30, x_SLAM_f_20^0'=x_SLAM_f_20^post30, nondet_12^0'=nondet_12^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30, a_193^0'=a_193^post30, temp0_28^0'=temp0_28^post30, i_127^0'=i_127^post30, rcd_67^0'=rcd_67^post30, rcd_102^0'=rcd_102^post30, t_23^0'=t_23^post30, head_29^0'=head_29^post30, rcd_172^0'=rcd_172^post30, temp_33^0'=temp_33^post30, length_25^0'=length_25^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30, a_163^0'=a_163^post30, rcd_168^0'=rcd_168^post30, temp0_19^0'=temp0_19^post30, i_108^0'=i_108^post30, rcd_41^0'=rcd_41^post30, x_22^0'=x_22^post30, y_21^0'=y_21^post30, r_37^0'=r_37^post30, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post30, head_16^0'=head_16^post30, temp_32^0'=temp_32^post30, i_27^0'=i_27^post30, result_11^0'=result_11^post30, (-temp_33^post30+temp_33^0 == 0 /\ rcd_168^0-rcd_168^post30 == 0 /\ head_29^0-head_29^post30 == 0 /\ temp0_19^0-temp0_19^post30 == 0 /\ -a_163^post30+a_163^0 == 0 /\ r_37^0-r_37^post30 == 0 /\ -result_11^post30+result_11^0 == 0 /\ -temp0_28^post30+temp0_28^0 == 0 /\ a_137^0-a_137^post30 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post30 == 0 /\ length_25^0-length_25^post30 == 0 /\ -i_127^post30+i_127^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post30+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ 1+y_21^0-head_16^0 <= 0 /\ -head_16^post30+head_16^0 == 0 /\ -i_27^post30+i_27^0 == 0 /\ a_193^0-a_193^post30 == 0 /\ -y_21^post30+y_21^0 == 0 /\ tmp_31^0-tmp_31^post30 == 0 /\ rcd_102^0-rcd_102^post30 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ -rcd_41^post30+rcd_41^0 == 0 /\ rcd_172^0-rcd_172^post30 == 0 /\ temp_32^0-temp_32^post30 == 0 /\ -t_23^post30+t_23^0 == 0 /\ rcd_110^0-rcd_110^post30 == 0 /\ tail_15^0-tail_15^post30 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post30 == 0 /\ rcd_67^0-rcd_67^post30 == 0 /\ -x_22^post30+x_22^0 == 0 /\ rcd_192^0-rcd_192^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30 == 0 /\ -i_108^post30+i_108^0 == 0), cost: 1
  31: l23 -> l24 : a_137^0'=a_137^post31, rcd_110^0'=rcd_110^post31, tail_15^0'=tail_15^post31, head_SLAM_f_26^0'=head_SLAM_f_26^post31, rcd_192^0'=rcd_192^post31, tmp_31^0'=tmp_31^post31, x_SLAM_f_20^0'=x_SLAM_f_20^post31, nondet_12^0'=nondet_12^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, a_193^0'=a_193^post31, temp0_28^0'=temp0_28^post31, i_127^0'=i_127^post31, rcd_67^0'=rcd_67^post31, rcd_102^0'=rcd_102^post31, t_23^0'=t_23^post31, head_29^0'=head_29^post31, rcd_172^0'=rcd_172^post31, temp_33^0'=temp_33^post31, length_25^0'=length_25^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31, a_163^0'=a_163^post31, rcd_168^0'=rcd_168^post31, temp0_19^0'=temp0_19^post31, i_108^0'=i_108^post31, rcd_41^0'=rcd_41^post31, x_22^0'=x_22^post31, y_21^0'=y_21^post31, r_37^0'=r_37^post31, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post31, head_16^0'=head_16^post31, temp_32^0'=temp_32^post31, i_27^0'=i_27^post31, result_11^0'=result_11^post31, (head_SLAM_f_26^0-head_SLAM_f_26^post31 == 0 /\ -rcd_102^post31+rcd_102^0 == 0 /\ temp0_28^0-temp0_28^post31 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post31 == 0 /\ -rcd_67^post31+rcd_67^0 == 0 /\ x_22^0-x_22^post31 == 0 /\ -a_163^post31+a_163^0 == 0 /\ -head_16^post31+head_16^0 == 0 /\ temp0_19^0-temp0_19^post31 == 0 /\ tail_15^0-tail_15^post31 == 0 /\ -result_11^post31+result_11^0 == 0 /\ a_137^0-a_137^post31 == 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ -length_25^post31+length_25^0 == 0 /\ -rcd_172^post31+rcd_172^0 == 0 /\ t_23^0-t_23^post31 == 0 /\ -r_37^post31+r_37^0 == 0 /\ rcd_110^0-rcd_110^post31 == 0 /\ -rcd_41^post31+rcd_41^0 == 0 /\ -rcd_168^post31+rcd_168^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31 == 0 /\ -i_27^post31+i_27^0 == 0 /\ -a_193^post31+a_193^0 == 0 /\ tmp_31^0-tmp_31^post31 == 0 /\ -y_21^post31+y_21^0 == 0 /\ rcd_192^0-rcd_192^post31 == 0 /\ i_127^0-i_127^post31 == 0 /\ -i_108^post31+i_108^0 == 0 /\ -temp_32^post31+temp_32^0 == 0 /\ temp_33^0-temp_33^post31 == 0 /\ 1-t_23^0+y_21^0 <= 0 /\ head_29^0-head_29^post31 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post31+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0), cost: 1
  32: l23 -> l24 : a_137^0'=a_137^post32, rcd_110^0'=rcd_110^post32, tail_15^0'=tail_15^post32, head_SLAM_f_26^0'=head_SLAM_f_26^post32, rcd_192^0'=rcd_192^post32, tmp_31^0'=tmp_31^post32, x_SLAM_f_20^0'=x_SLAM_f_20^post32, nondet_12^0'=nondet_12^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32, a_193^0'=a_193^post32, temp0_28^0'=temp0_28^post32, i_127^0'=i_127^post32, rcd_67^0'=rcd_67^post32, rcd_102^0'=rcd_102^post32, t_23^0'=t_23^post32, head_29^0'=head_29^post32, rcd_172^0'=rcd_172^post32, temp_33^0'=temp_33^post32, length_25^0'=length_25^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32, a_163^0'=a_163^post32, rcd_168^0'=rcd_168^post32, temp0_19^0'=temp0_19^post32, i_108^0'=i_108^post32, rcd_41^0'=rcd_41^post32, x_22^0'=x_22^post32, y_21^0'=y_21^post32, r_37^0'=r_37^post32, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post32, head_16^0'=head_16^post32, temp_32^0'=temp_32^post32, i_27^0'=i_27^post32, result_11^0'=result_11^post32, (-i_108^post32+i_108^0 == 0 /\ -head_16^post32+head_16^0 == 0 /\ -rcd_67^post32+rcd_67^0 == 0 /\ temp0_28^0-temp0_28^post32 == 0 /\ tail_15^0-tail_15^post32 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post32 == 0 /\ -rcd_102^post32+rcd_102^0 == 0 /\ -length_25^post32+length_25^0 == 0 /\ a_163^0-a_163^post32 == 0 /\ x_22^0-x_22^post32 == 0 /\ a_137^0-a_137^post32 == 0 /\ -rcd_172^post32+rcd_172^0 == 0 /\ -result_11^post32+result_11^0 == 0 /\ y_21^0-y_21^post32 == 0 /\ t_23^0-t_23^post32 == 0 /\ -temp0_19^post32+temp0_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_192^0-rcd_192^post32 == 0 /\ rcd_41^0-rcd_41^post32 == 0 /\ -i_27^post32+i_27^0 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ -r_37^post32+r_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32 == 0 /\ -rcd_168^post32+rcd_168^0 == 0 /\ 1+t_23^0-y_21^0 <= 0 /\ -a_193^post32+a_193^0 == 0 /\ tmp_31^0-tmp_31^post32 == 0 /\ i_127^0-i_127^post32 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post32+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ temp_33^0-temp_33^post32 == 0 /\ head_29^0-head_29^post32 == 0 /\ -temp_32^post32+temp_32^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post32 == 0 /\ rcd_110^0-rcd_110^post32 == 0), cost: 1
  33: l24 -> l19 : a_137^0'=a_137^post33, rcd_110^0'=rcd_110^post33, tail_15^0'=tail_15^post33, head_SLAM_f_26^0'=head_SLAM_f_26^post33, rcd_192^0'=rcd_192^post33, tmp_31^0'=tmp_31^post33, x_SLAM_f_20^0'=x_SLAM_f_20^post33, nondet_12^0'=nondet_12^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33, a_193^0'=a_193^post33, temp0_28^0'=temp0_28^post33, i_127^0'=i_127^post33, rcd_67^0'=rcd_67^post33, rcd_102^0'=rcd_102^post33, t_23^0'=t_23^post33, head_29^0'=head_29^post33, rcd_172^0'=rcd_172^post33, temp_33^0'=temp_33^post33, length_25^0'=length_25^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33, a_163^0'=a_163^post33, rcd_168^0'=rcd_168^post33, temp0_19^0'=temp0_19^post33, i_108^0'=i_108^post33, rcd_41^0'=rcd_41^post33, x_22^0'=x_22^post33, y_21^0'=y_21^post33, r_37^0'=r_37^post33, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post33, head_16^0'=head_16^post33, temp_32^0'=temp_32^post33, i_27^0'=i_27^post33, result_11^0'=result_11^post33, (0 == 0 /\ -rcd_168^post33+rcd_168^0 == 0 /\ -x_22^post33+x_22^0 == 0 /\ a_193^0-a_193^post33 == 0 /\ -head_29^post33+head_29^0 == 0 /\ -y_21^post33+y_21^0 == 0 /\ -rcd_192^0+rcd_41^post33 <= 0 /\ temp_33^0-temp_33^post33 == 0 /\ -i_27^post33+i_27^0 == 0 /\ -temp_32^post33+temp_32^0 == 0 /\ rcd_172^0-rcd_172^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33 == 0 /\ rcd_67^0-rcd_67^post33 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post33 == 0 /\ tail_15^0-tail_15^post33 == 0 /\ temp0_28^0-temp0_28^post33 == 0 /\ rcd_192^0-rcd_192^post33 == 0 /\ -i_108^post33+i_108^0 == 0 /\ rcd_192^0-rcd_41^post33 <= 0 /\ -t_23^post33+t_23^0 == 0 /\ -r_37^post33+r_37^0 == 0 /\ a_193^0-a_163^post33 <= 0 /\ -temp0_19^post33+temp0_19^0 == 0 /\ -i_127^post33+i_127^0 == 0 /\ nondet_12^0-nondet_12^post33 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ a_137^0-a_137^post33 == 0 /\ length_25^0-length_25^post33 == 0 /\ -a_193^0+a_163^post33 <= 0 /\ rcd_102^0-rcd_102^post33 == 0 /\ -head_16^post33+head_16^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post33 == 0 /\ rcd_110^0-rcd_110^post33 == 0 /\ -result_11^post33+result_11^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ tmp_31^0-tmp_31^post33 == 0), cost: 1
  34: l19 -> l1 : a_137^0'=a_137^post34, rcd_110^0'=rcd_110^post34, tail_15^0'=tail_15^post34, head_SLAM_f_26^0'=head_SLAM_f_26^post34, rcd_192^0'=rcd_192^post34, tmp_31^0'=tmp_31^post34, x_SLAM_f_20^0'=x_SLAM_f_20^post34, nondet_12^0'=nondet_12^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, a_193^0'=a_193^post34, temp0_28^0'=temp0_28^post34, i_127^0'=i_127^post34, rcd_67^0'=rcd_67^post34, rcd_102^0'=rcd_102^post34, t_23^0'=t_23^post34, head_29^0'=head_29^post34, rcd_172^0'=rcd_172^post34, temp_33^0'=temp_33^post34, length_25^0'=length_25^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34, a_163^0'=a_163^post34, rcd_168^0'=rcd_168^post34, temp0_19^0'=temp0_19^post34, i_108^0'=i_108^post34, rcd_41^0'=rcd_41^post34, x_22^0'=x_22^post34, y_21^0'=y_21^post34, r_37^0'=r_37^post34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post34, head_16^0'=head_16^post34, temp_32^0'=temp_32^post34, i_27^0'=i_27^post34, result_11^0'=result_11^post34, (result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post34 == 0 /\ -i_27^post34+i_27^0 == 0 /\ -r_37^post34+r_37^0 == 0 /\ -rcd_168^post34+rcd_168^0 == 0 /\ temp_33^0-temp_33^post34 == 0 /\ rcd_102^0-rcd_102^post34 == 0 /\ -x_22^post34+x_22^0 == 0 /\ -head_29^post34+head_29^0 == 0 /\ rcd_67^0-rcd_67^post34 == 0 /\ temp0_28^0-temp0_28^post34 == 0 /\ rcd_172^0-rcd_172^post34 == 0 /\ -temp_32^post34+temp_32^0 == 0 /\ -i_127^post34+i_127^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post34 == 0 /\ -t_23^post34+t_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34 == 0 /\ -a_163^post34+a_163^0 == 0 /\ tail_15^0-tail_15^post34 == 0 /\ rcd_192^0-rcd_192^post34 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ a_137^0-a_137^post34 == 0 /\ length_25^0-length_25^post34 == 0 /\ -rcd_110^post34+rcd_110^0 == 0 /\ -i_108^post34+i_108^0 == 0 /\ -head_16^post34+head_16^0 == 0 /\ -result_11^post34+result_11^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post34 == 0 /\ -y_21^post34+y_21^0 == 0 /\ -temp0_19^post34+temp0_19^0 == 0 /\ rcd_41^0-rcd_41^post34 == 0 /\ a_193^0-a_193^post34 == 0 /\ nondet_12^0-nondet_12^post34 == 0 /\ tmp_31^0-tmp_31^post34 == 0), cost: 1
  36: l25 -> l26 : a_137^0'=a_137^post36, rcd_110^0'=rcd_110^post36, tail_15^0'=tail_15^post36, head_SLAM_f_26^0'=head_SLAM_f_26^post36, rcd_192^0'=rcd_192^post36, tmp_31^0'=tmp_31^post36, x_SLAM_f_20^0'=x_SLAM_f_20^post36, nondet_12^0'=nondet_12^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post36, a_193^0'=a_193^post36, temp0_28^0'=temp0_28^post36, i_127^0'=i_127^post36, rcd_67^0'=rcd_67^post36, rcd_102^0'=rcd_102^post36, t_23^0'=t_23^post36, head_29^0'=head_29^post36, rcd_172^0'=rcd_172^post36, temp_33^0'=temp_33^post36, length_25^0'=length_25^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post36, a_163^0'=a_163^post36, rcd_168^0'=rcd_168^post36, temp0_19^0'=temp0_19^post36, i_108^0'=i_108^post36, rcd_41^0'=rcd_41^post36, x_22^0'=x_22^post36, y_21^0'=y_21^post36, r_37^0'=r_37^post36, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post36, head_16^0'=head_16^post36, temp_32^0'=temp_32^post36, i_27^0'=i_27^post36, result_11^0'=result_11^post36, (-x_22^post36+x_22^0 == 0 /\ a_163^0-a_163^post36 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ a_193^0-a_193^post36 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ -head_29^post36+head_29^0 == 0 /\ -temp_32^post36+temp_32^0 == 0 /\ temp_33^0-temp_33^post36 == 0 /\ -rcd_41^post36+rcd_41^0 == 0 /\ rcd_102^0-rcd_102^post36 == 0 /\ -y_21^post36+y_21^0 == 0 /\ rcd_172^0-rcd_172^post36 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post36 == 0 /\ rcd_110^0-rcd_110^post36 == 0 /\ rcd_67^0-rcd_67^post36 == 0 /\ temp0_28^0-temp0_28^post36 == 0 /\ -i_108^post36+i_108^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post36 == 0 /\ -r_37^post36+r_37^0 == 0 /\ head_16^0-head_16^post36 == 0 /\ -t_23^post36+t_23^0 == 0 /\ -i_127^post36+i_127^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post36+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -result_11^post36+result_11^0 == 0 /\ length_25^0-length_25^post36 == 0 /\ -temp0_19^post36+temp0_19^0 == 0 /\ -i_27^post36+i_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post36 == 0 /\ -tmp_31^post36+tmp_31^0 == 0 /\ rcd_192^0-rcd_192^post36 == 0 /\ a_137^0-a_137^post36 == 0 /\ tail_15^0-tail_15^post36 == 0 /\ -rcd_168^post36+rcd_168^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post36 == 0), cost: 1
  37: l25 -> l26 : a_137^0'=a_137^post37, rcd_110^0'=rcd_110^post37, tail_15^0'=tail_15^post37, head_SLAM_f_26^0'=head_SLAM_f_26^post37, rcd_192^0'=rcd_192^post37, tmp_31^0'=tmp_31^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, nondet_12^0'=nondet_12^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37, a_193^0'=a_193^post37, temp0_28^0'=temp0_28^post37, i_127^0'=i_127^post37, rcd_67^0'=rcd_67^post37, rcd_102^0'=rcd_102^post37, t_23^0'=t_23^post37, head_29^0'=head_29^post37, rcd_172^0'=rcd_172^post37, temp_33^0'=temp_33^post37, length_25^0'=length_25^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, a_163^0'=a_163^post37, rcd_168^0'=rcd_168^post37, temp0_19^0'=temp0_19^post37, i_108^0'=i_108^post37, rcd_41^0'=rcd_41^post37, x_22^0'=x_22^post37, y_21^0'=y_21^post37, r_37^0'=r_37^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, head_16^0'=head_16^post37, temp_32^0'=temp_32^post37, i_27^0'=i_27^post37, result_11^0'=result_11^post37, (-head_29^post37+head_29^0 == 0 /\ temp_33^0-temp_33^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -x_22^post37+x_22^0 == 0 /\ rcd_102^0-rcd_102^post37 == 0 /\ rcd_168^0-rcd_168^post37 == 0 /\ a_137^0-a_137^post37 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post37 == 0 /\ -r_37^post37+r_37^0 == 0 /\ -rcd_41^post37+rcd_41^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post37+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_163^post37+a_163^0 == 0 /\ temp0_28^0-temp0_28^post37 == 0 /\ -t_23^post37+t_23^0 == 0 /\ rcd_67^0-rcd_67^post37 == 0 /\ rcd_172^0-rcd_172^post37 == 0 /\ -i_127^post37+i_127^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -i_27^post37+i_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ tmp_31^0-tmp_31^post37 == 0 /\ length_25^0-length_25^post37 == 0 /\ -head_16^post37+head_16^0 == 0 /\ i_108^0-i_108^post37 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ temp_32^0-temp_32^post37 == 0 /\ rcd_110^0-rcd_110^post37 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post37 == 0 /\ tail_15^0-tail_15^post37 == 0 /\ rcd_192^0-rcd_192^post37 == 0 /\ a_193^0-a_193^post37 == 0 /\ -temp0_19^post37+temp0_19^0 == 0 /\ -y_21^post37+y_21^0 == 0), cost: 1
  38: l26 -> l27 : a_137^0'=a_137^post38, rcd_110^0'=rcd_110^post38, tail_15^0'=tail_15^post38, head_SLAM_f_26^0'=head_SLAM_f_26^post38, rcd_192^0'=rcd_192^post38, tmp_31^0'=tmp_31^post38, x_SLAM_f_20^0'=x_SLAM_f_20^post38, nondet_12^0'=nondet_12^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post38, a_193^0'=a_193^post38, temp0_28^0'=temp0_28^post38, i_127^0'=i_127^post38, rcd_67^0'=rcd_67^post38, rcd_102^0'=rcd_102^post38, t_23^0'=t_23^post38, head_29^0'=head_29^post38, rcd_172^0'=rcd_172^post38, temp_33^0'=temp_33^post38, length_25^0'=length_25^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post38, a_163^0'=a_163^post38, rcd_168^0'=rcd_168^post38, temp0_19^0'=temp0_19^post38, i_108^0'=i_108^post38, rcd_41^0'=rcd_41^post38, x_22^0'=x_22^post38, y_21^0'=y_21^post38, r_37^0'=r_37^post38, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post38, head_16^0'=head_16^post38, temp_32^0'=temp_32^post38, i_27^0'=i_27^post38, result_11^0'=result_11^post38, (0 == 0 /\ -result_11^post38+result_11^0 == 0 /\ -temp0_19^post38+temp0_19^0 == 0 /\ -rcd_172^post38+rcd_172^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post38 == 0 /\ -a_163^0+a_137^post38 <= 0 /\ rcd_168^0-rcd_168^post38 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post38+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post38 == 0 /\ rcd_67^0-rcd_67^post38 == 0 /\ rcd_168^0-rcd_41^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ -a_163^post38+a_163^0 == 0 /\ -i_27^post38+i_27^0 == 0 /\ length_25^0-length_25^post38 == 0 /\ a_163^0-a_137^post38 <= 0 /\ tail_15^0-y_21^0 <= 0 /\ -head_16^post38+head_16^0 == 0 /\ -rcd_168^0+rcd_41^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ head_29^0-head_29^post38 == 0 /\ t_23^post38-head_16^0 <= 0 /\ -y_21^post38+y_21^0 == 0 /\ tmp_31^0-tmp_31^post38 == 0 /\ -x_22^post38+x_22^0 == 0 /\ -rcd_41^post38+rcd_41^0 == 0 /\ rcd_110^0-rcd_110^post38 == 0 /\ i_108^0-i_108^post38 == 0 /\ t_23^post38-x_22^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_127^0-i_127^post38 == 0 /\ temp_32^0-temp_32^post38 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_20^0+head_16^0 <= 0 /\ -temp_33^post38+temp_33^0 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -r_37^post38+r_37^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post38 == 0 /\ -t_23^post38+head_16^0 <= 0 /\ a_193^0-a_193^post38 == 0 /\ tail_15^0-tail_15^post38 == 0 /\ rcd_192^0-rcd_192^post38 == 0 /\ -temp0_28^post38+temp0_28^0 == 0 /\ -rcd_102^post38+rcd_102^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_SLAM_f_20^0-head_16^0 <= 0), cost: 1
  39: l27 -> l28 : a_137^0'=a_137^post39, rcd_110^0'=rcd_110^post39, tail_15^0'=tail_15^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, rcd_192^0'=rcd_192^post39, tmp_31^0'=tmp_31^post39, x_SLAM_f_20^0'=x_SLAM_f_20^post39, nondet_12^0'=nondet_12^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39, a_193^0'=a_193^post39, temp0_28^0'=temp0_28^post39, i_127^0'=i_127^post39, rcd_67^0'=rcd_67^post39, rcd_102^0'=rcd_102^post39, t_23^0'=t_23^post39, head_29^0'=head_29^post39, rcd_172^0'=rcd_172^post39, temp_33^0'=temp_33^post39, length_25^0'=length_25^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post39, a_163^0'=a_163^post39, rcd_168^0'=rcd_168^post39, temp0_19^0'=temp0_19^post39, i_108^0'=i_108^post39, rcd_41^0'=rcd_41^post39, x_22^0'=x_22^post39, y_21^0'=y_21^post39, r_37^0'=r_37^post39, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post39, head_16^0'=head_16^post39, temp_32^0'=temp_32^post39, i_27^0'=i_27^post39, result_11^0'=result_11^post39, (-head_16^post39+head_16^0 == 0 /\ -rcd_102^post39+rcd_102^0 == 0 /\ tail_15^0-tail_15^post39 == 0 /\ 1-y_21^0+head_16^0 <= 0 /\ rcd_67^0-rcd_67^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39 == 0 /\ -i_108^post39+i_108^0 == 0 /\ i_127^0-i_127^post39 == 0 /\ y_21^0-y_21^post39 == 0 /\ length_25^0-length_25^post39 == 0 /\ a_137^0-a_137^post39 == 0 /\ -result_11^post39+result_11^0 == 0 /\ -rcd_172^post39+rcd_172^0 == 0 /\ head_29^0-head_29^post39 == 0 /\ -x_22^post39+x_22^0 == 0 /\ rcd_192^0-rcd_192^post39 == 0 /\ -temp0_28^post39+temp0_28^0 == 0 /\ -i_27^post39+i_27^0 == 0 /\ rcd_110^0-rcd_110^post39 == 0 /\ temp0_19^0-temp0_19^post39 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_37^post39+r_37^0 == 0 /\ -rcd_168^post39+rcd_168^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post39 == 0 /\ tmp_31^0-tmp_31^post39 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post39+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ -temp_33^post39+temp_33^0 == 0 /\ a_193^0-a_193^post39 == 0 /\ -a_163^post39+a_163^0 == 0 /\ -temp_32^post39+temp_32^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post39 == 0 /\ -t_23^post39+t_23^0 == 0 /\ -rcd_41^post39+rcd_41^0 == 0), cost: 1
  40: l27 -> l28 : a_137^0'=a_137^post40, rcd_110^0'=rcd_110^post40, tail_15^0'=tail_15^post40, head_SLAM_f_26^0'=head_SLAM_f_26^post40, rcd_192^0'=rcd_192^post40, tmp_31^0'=tmp_31^post40, x_SLAM_f_20^0'=x_SLAM_f_20^post40, nondet_12^0'=nondet_12^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40, a_193^0'=a_193^post40, temp0_28^0'=temp0_28^post40, i_127^0'=i_127^post40, rcd_67^0'=rcd_67^post40, rcd_102^0'=rcd_102^post40, t_23^0'=t_23^post40, head_29^0'=head_29^post40, rcd_172^0'=rcd_172^post40, temp_33^0'=temp_33^post40, length_25^0'=length_25^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post40, a_163^0'=a_163^post40, rcd_168^0'=rcd_168^post40, temp0_19^0'=temp0_19^post40, i_108^0'=i_108^post40, rcd_41^0'=rcd_41^post40, x_22^0'=x_22^post40, y_21^0'=y_21^post40, r_37^0'=r_37^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, head_16^0'=head_16^post40, temp_32^0'=temp_32^post40, i_27^0'=i_27^post40, result_11^0'=result_11^post40, (tail_15^0-tail_15^post40 == 0 /\ -length_25^post40+length_25^0 == 0 /\ nondet_12^0-nondet_12^post40 == 0 /\ -temp_32^post40+temp_32^0 == 0 /\ -i_108^post40+i_108^0 == 0 /\ temp_33^0-temp_33^post40 == 0 /\ rcd_102^0-rcd_102^post40 == 0 /\ 1+y_21^0-head_16^0 <= 0 /\ y_21^0-y_21^post40 == 0 /\ i_127^0-i_127^post40 == 0 /\ -x_22^post40+x_22^0 == 0 /\ a_137^0-a_137^post40 == 0 /\ a_193^0-a_193^post40 == 0 /\ t_23^0-t_23^post40 == 0 /\ -rcd_172^post40+rcd_172^0 == 0 /\ temp0_19^0-temp0_19^post40 == 0 /\ rcd_192^0-rcd_192^post40 == 0 /\ -r_37^post40+r_37^0 == 0 /\ -rcd_168^post40+rcd_168^0 == 0 /\ -a_163^post40+a_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40 == 0 /\ -head_29^post40+head_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post40+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post40 == 0 /\ -rcd_41^post40+rcd_41^0 == 0 /\ -tmp_31^post40+tmp_31^0 == 0 /\ -head_16^post40+head_16^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ temp0_28^0-temp0_28^post40 == 0 /\ -i_27^post40+i_27^0 == 0 /\ rcd_110^0-rcd_110^post40 == 0 /\ -rcd_67^post40+rcd_67^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post40 == 0), cost: 1
  41: l28 -> l29 : a_137^0'=a_137^post41, rcd_110^0'=rcd_110^post41, tail_15^0'=tail_15^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, rcd_192^0'=rcd_192^post41, tmp_31^0'=tmp_31^post41, x_SLAM_f_20^0'=x_SLAM_f_20^post41, nondet_12^0'=nondet_12^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41, a_193^0'=a_193^post41, temp0_28^0'=temp0_28^post41, i_127^0'=i_127^post41, rcd_67^0'=rcd_67^post41, rcd_102^0'=rcd_102^post41, t_23^0'=t_23^post41, head_29^0'=head_29^post41, rcd_172^0'=rcd_172^post41, temp_33^0'=temp_33^post41, length_25^0'=length_25^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post41, a_163^0'=a_163^post41, rcd_168^0'=rcd_168^post41, temp0_19^0'=temp0_19^post41, i_108^0'=i_108^post41, rcd_41^0'=rcd_41^post41, x_22^0'=x_22^post41, y_21^0'=y_21^post41, r_37^0'=r_37^post41, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post41, head_16^0'=head_16^post41, temp_32^0'=temp_32^post41, i_27^0'=i_27^post41, result_11^0'=result_11^post41, (-r_37^post41+r_37^0 == 0 /\ -x_22^post41+x_22^0 == 0 /\ -rcd_168^post41+rcd_168^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post41 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ -i_27^post41+i_27^0 == 0 /\ rcd_102^0-rcd_102^post41 == 0 /\ -temp_32^post41+temp_32^0 == 0 /\ tail_15^0-tail_15^post41 == 0 /\ i_127^0-i_127^post41 == 0 /\ a_137^0-a_137^post41 == 0 /\ t_23^0-t_23^post41 == 0 /\ a_193^0-a_193^post41 == 0 /\ -a_163^post41+a_163^0 == 0 /\ -rcd_110^post41+rcd_110^0 == 0 /\ temp_33^0-temp_33^post41 == 0 /\ -head_16^post41+head_16^0 == 0 /\ -temp0_19^post41+temp0_19^0 == 0 /\ -i_108^post41+i_108^0 == 0 /\ -result_11^post41+result_11^0 == 0 /\ -tmp_31^post41+tmp_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post41 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41 == 0 /\ -rcd_67^post41+rcd_67^0 == 0 /\ -y_21^post41+y_21^0 == 0 /\ -head_29^post41+head_29^0 == 0 /\ rcd_41^0-rcd_41^post41 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post41 == 0 /\ temp0_28^0-temp0_28^post41 == 0 /\ -rcd_172^post41+rcd_172^0 == 0 /\ rcd_192^0-rcd_192^post41 == 0 /\ 1-t_23^0+y_21^0 <= 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post41 == 0 /\ -length_25^post41+length_25^0 == 0), cost: 1
  42: l28 -> l29 : a_137^0'=a_137^post42, rcd_110^0'=rcd_110^post42, tail_15^0'=tail_15^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, rcd_192^0'=rcd_192^post42, tmp_31^0'=tmp_31^post42, x_SLAM_f_20^0'=x_SLAM_f_20^post42, nondet_12^0'=nondet_12^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42, a_193^0'=a_193^post42, temp0_28^0'=temp0_28^post42, i_127^0'=i_127^post42, rcd_67^0'=rcd_67^post42, rcd_102^0'=rcd_102^post42, t_23^0'=t_23^post42, head_29^0'=head_29^post42, rcd_172^0'=rcd_172^post42, temp_33^0'=temp_33^post42, length_25^0'=length_25^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post42, a_163^0'=a_163^post42, rcd_168^0'=rcd_168^post42, temp0_19^0'=temp0_19^post42, i_108^0'=i_108^post42, rcd_41^0'=rcd_41^post42, x_22^0'=x_22^post42, y_21^0'=y_21^post42, r_37^0'=r_37^post42, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post42, head_16^0'=head_16^post42, temp_32^0'=temp_32^post42, i_27^0'=i_27^post42, result_11^0'=result_11^post42, (-i_27^post42+i_27^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post42 == 0 /\ -temp_33^post42+temp_33^0 == 0 /\ head_29^0-head_29^post42 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post42 == 0 /\ -r_37^post42+r_37^0 == 0 /\ -rcd_168^post42+rcd_168^0 == 0 /\ rcd_110^0-rcd_110^post42 == 0 /\ -i_127^post42+i_127^0 == 0 /\ -temp0_28^post42+temp0_28^0 == 0 /\ length_25^0-length_25^post42 == 0 /\ tail_15^0-tail_15^post42 == 0 /\ a_163^0-a_163^post42 == 0 /\ -temp_32^post42+temp_32^0 == 0 /\ a_193^0-a_193^post42 == 0 /\ a_137^0-a_137^post42 == 0 /\ -head_16^post42+head_16^0 == 0 /\ rcd_102^0-rcd_102^post42 == 0 /\ tmp_31^0-tmp_31^post42 == 0 /\ rcd_172^0-rcd_172^post42 == 0 /\ -i_108^post42+i_108^0 == 0 /\ 1+t_23^0-y_21^0 <= 0 /\ rcd_67^0-rcd_67^post42 == 0 /\ -nondet_12^post42+nondet_12^0 == 0 /\ -t_23^post42+t_23^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post42 == 0 /\ -x_22^post42+x_22^0 == 0 /\ rcd_41^0-rcd_41^post42 == 0 /\ rcd_192^0-rcd_192^post42 == 0 /\ -result_11^post42+result_11^0 == 0 /\ -temp0_19^post42+temp0_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42 == 0 /\ -y_21^post42+y_21^0 == 0), cost: 1
  43: l29 -> l1 : a_137^0'=a_137^post43, rcd_110^0'=rcd_110^post43, tail_15^0'=tail_15^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, rcd_192^0'=rcd_192^post43, tmp_31^0'=tmp_31^post43, x_SLAM_f_20^0'=x_SLAM_f_20^post43, nondet_12^0'=nondet_12^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43, a_193^0'=a_193^post43, temp0_28^0'=temp0_28^post43, i_127^0'=i_127^post43, rcd_67^0'=rcd_67^post43, rcd_102^0'=rcd_102^post43, t_23^0'=t_23^post43, head_29^0'=head_29^post43, rcd_172^0'=rcd_172^post43, temp_33^0'=temp_33^post43, length_25^0'=length_25^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post43, a_163^0'=a_163^post43, rcd_168^0'=rcd_168^post43, temp0_19^0'=temp0_19^post43, i_108^0'=i_108^post43, rcd_41^0'=rcd_41^post43, x_22^0'=x_22^post43, y_21^0'=y_21^post43, r_37^0'=r_37^post43, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post43, head_16^0'=head_16^post43, temp_32^0'=temp_32^post43, i_27^0'=i_27^post43, result_11^0'=result_11^post43, (0 == 0 /\ head_29^0-head_29^post43 == 0 /\ -a_163^post43+a_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post43+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_110^0-rcd_110^post43 == 0 /\ length_25^0-length_25^post43 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ -temp_33^post43+temp_33^0 == 0 /\ temp0_28^0-temp0_28^post43 == 0 /\ temp0_19^0-temp0_19^post43 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post43 == 0 /\ r_37^0-r_37^post43 == 0 /\ a_193^0-a_193^post43 == 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -head_16^post43+head_16^0 == 0 /\ -result_11^post43+result_11^0 == 0 /\ 1+a_137^0-i_127^post43 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43 == 0 /\ rcd_102^0-rcd_102^post43 == 0 /\ -t_23^post43+t_23^0 == 0 /\ -rcd_41^post43+rcd_41^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_192^0-rcd_192^post43 == 0 /\ tmp_31^0-tmp_31^post43 == 0 /\ -y_21^post43+y_21^0 == 0 /\ rcd_67^0-rcd_67^post43 == 0 /\ rcd_172^0-rcd_172^post43 == 0 /\ -i_27^post43+i_27^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ -temp_32^post43+temp_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_108^post43+i_108^0 == 0 /\ tail_15^0-tail_15^post43 == 0 /\ a_137^0-a_137^post43 == 0 /\ -x_22^post43+x_22^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1-a_137^0+i_127^post43 <= 0 /\ rcd_168^0-rcd_168^post43 == 0), cost: 1
  45: l30 -> l18 : a_137^0'=a_137^post45, rcd_110^0'=rcd_110^post45, tail_15^0'=tail_15^post45, head_SLAM_f_26^0'=head_SLAM_f_26^post45, rcd_192^0'=rcd_192^post45, tmp_31^0'=tmp_31^post45, x_SLAM_f_20^0'=x_SLAM_f_20^post45, nondet_12^0'=nondet_12^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post45, a_193^0'=a_193^post45, temp0_28^0'=temp0_28^post45, i_127^0'=i_127^post45, rcd_67^0'=rcd_67^post45, rcd_102^0'=rcd_102^post45, t_23^0'=t_23^post45, head_29^0'=head_29^post45, rcd_172^0'=rcd_172^post45, temp_33^0'=temp_33^post45, length_25^0'=length_25^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, a_163^0'=a_163^post45, rcd_168^0'=rcd_168^post45, temp0_19^0'=temp0_19^post45, i_108^0'=i_108^post45, rcd_41^0'=rcd_41^post45, x_22^0'=x_22^post45, y_21^0'=y_21^post45, r_37^0'=r_37^post45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, head_16^0'=head_16^post45, temp_32^0'=temp_32^post45, i_27^0'=i_27^post45, result_11^0'=result_11^post45, (-y_21^post45+y_21^0 == 0 /\ a_163^0-a_163^post45 == 0 /\ -length_25^post45+length_25^0 == 0 /\ t_23^0-t_23^post45 == 0 /\ tail_15^0-tail_15^post45 == 0 /\ -temp_32^post45+temp_32^0 == 0 /\ -rcd_41^post45+rcd_41^0 == 0 /\ -rcd_102^post45+rcd_102^0 == 0 /\ x_22^0-x_22^post45 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_37^post45+r_37^0 == 0 /\ head_16^0-head_16^post45 == 0 /\ -i_108^post45+i_108^0 == 0 /\ -x_SLAM_f_20^post45+x_SLAM_f_20^0 == 0 /\ a_137^0-a_137^post45 == 0 /\ rcd_67^0-rcd_67^post45 == 0 /\ temp0_28^0-temp0_28^post45 == 0 /\ rcd_192^0-rcd_192^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post45+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ -temp0_19^post45+temp0_19^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ -rcd_172^post45+rcd_172^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post45 == 0 /\ -i_27^post45+i_27^0 == 0 /\ tmp_31^0-tmp_31^post45 == 0 /\ head_29^0-head_29^post45 == 0 /\ temp_33^0-temp_33^post45 == 0 /\ i_127^0-i_127^post45 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post45 == 0 /\ rcd_110^0-rcd_110^post45 == 0 /\ -a_193^post45+a_193^0 == 0 /\ -rcd_168^post45+rcd_168^0 == 0), cost: 1
  48: l31 -> l10 : a_137^0'=a_137^post48, rcd_110^0'=rcd_110^post48, tail_15^0'=tail_15^post48, head_SLAM_f_26^0'=head_SLAM_f_26^post48, rcd_192^0'=rcd_192^post48, tmp_31^0'=tmp_31^post48, x_SLAM_f_20^0'=x_SLAM_f_20^post48, nondet_12^0'=nondet_12^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post48, a_193^0'=a_193^post48, temp0_28^0'=temp0_28^post48, i_127^0'=i_127^post48, rcd_67^0'=rcd_67^post48, rcd_102^0'=rcd_102^post48, t_23^0'=t_23^post48, head_29^0'=head_29^post48, rcd_172^0'=rcd_172^post48, temp_33^0'=temp_33^post48, length_25^0'=length_25^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48, a_163^0'=a_163^post48, rcd_168^0'=rcd_168^post48, temp0_19^0'=temp0_19^post48, i_108^0'=i_108^post48, rcd_41^0'=rcd_41^post48, x_22^0'=x_22^post48, y_21^0'=y_21^post48, r_37^0'=r_37^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post48, head_16^0'=head_16^post48, temp_32^0'=temp_32^post48, i_27^0'=i_27^post48, result_11^0'=result_11^post48, (-temp_32^post48+temp_32^0 == 0 /\ rcd_192^0-rcd_192^post48 == 0 /\ r_37^0-r_37^post48 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48 == 0 /\ tmp_31^0-tmp_31^post48 == 0 /\ i_127^0-i_127^post48 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post48 == 0 /\ -temp0_19^post48+temp0_19^0 == 0 /\ -y_21^post48+y_21^0 == 0 /\ rcd_110^0-rcd_110^post48 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post48 == 0 /\ tail_15^0-tail_15^post48 == 0 /\ -head_29^post48+head_29^0 == 0 /\ rcd_172^0-rcd_172^post48 == 0 /\ -x_22^post48+x_22^0 == 0 /\ -result_11^post48+result_11^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post48+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -temp0_28^post48+temp0_28^0 == 0 /\ a_193^0-a_193^post48 == 0 /\ -a_163^post48+a_163^0 == 0 /\ length_25^0-length_25^post48 == 0 /\ i_108^0-i_108^post48 == 0 /\ -rcd_41^post48+rcd_41^0 == 0 /\ rcd_168^0-rcd_168^post48 == 0 /\ -t_23^post48+t_23^0 == 0 /\ -head_16^post48+head_16^0 == 0 /\ rcd_102^0-rcd_102^post48 == 0 /\ -temp_33^post48+temp_33^0 == 0 /\ rcd_67^0-rcd_67^post48 == 0 /\ -i_27^post48+i_27^0 == 0 /\ a_137^0-a_137^post48 == 0), cost: 1


Applied preprocessing
Original rule:
l10 -> l11 : a_137^0'=a_137^post13, rcd_110^0'=rcd_110^post13, tail_15^0'=tail_15^post13, head_SLAM_f_26^0'=head_SLAM_f_26^post13, rcd_192^0'=rcd_192^post13, tmp_31^0'=tmp_31^post13, x_SLAM_f_20^0'=x_SLAM_f_20^post13, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13, a_193^0'=a_193^post13, temp0_28^0'=temp0_28^post13, i_127^0'=i_127^post13, rcd_67^0'=rcd_67^post13, rcd_102^0'=rcd_102^post13, t_23^0'=t_23^post13, head_29^0'=head_29^post13, rcd_172^0'=rcd_172^post13, temp_33^0'=temp_33^post13, length_25^0'=length_25^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13, a_163^0'=a_163^post13, rcd_168^0'=rcd_168^post13, temp0_19^0'=temp0_19^post13, i_108^0'=i_108^post13, rcd_41^0'=rcd_41^post13, x_22^0'=x_22^post13, y_21^0'=y_21^post13, r_37^0'=r_37^post13, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post13, head_16^0'=head_16^post13, temp_32^0'=temp_32^post13, i_27^0'=i_27^post13, result_11^0'=result_11^post13, (0 == 0 /\ tmp_31^0-tmp_31^post13 == 0 /\ -t_23^post13+t_23^0 == 0 /\ i_27^post13 <= 0 /\ i_27^post13 == 0 /\ rcd_168^0-rcd_168^post13 == 0 /\ -x_22^post13+x_22^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13-head_29^post13 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13+head_SLAM_f_26^post13 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post13+length_25^post13 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post13+length_25^post13 == 0 /\ rcd_110^0-rcd_110^post13 == 0 /\ rcd_192^0-rcd_192^post13 == 0 /\ -a_163^post13+a_163^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13+head_29^post13 <= 0 /\ -rcd_41^post13+rcd_41^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13-head_SLAM_f_26^post13 <= 0 /\ -temp0_28^post13+temp0_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post13-length_25^post13 <= 0 /\ -head_16^post13+head_16^0 == 0 /\ i_127^0-i_127^post13 == 0 /\ -rcd_102^post13+rcd_102^0 == 0 /\ -i_27^post13 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13+tail_15^post13 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post13-nondet_12^10 == 0 /\ a_137^0-a_137^post13 == 0 /\ i_108^0-i_108^post13 == 0 /\ a_193^0-a_193^post13 == 0 /\ -head_SLAM_f_26^post13+head_29^post13 <= 0 /\ -head_SLAM_f_26^post13+head_29^post13 == 0 /\ -tail_15^post13+head_SLAM_f_26^post13 <= 0 /\ -tail_15^post13+head_SLAM_f_26^post13 == 0 /\ temp_32^0-temp_32^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13-tail_15^post13 <= 0 /\ tail_15^post13-temp_33^0 == 0 /\ -r_37^post13+r_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post13 == 0 /\ -result_11^post13+result_11^0 == 0 /\ head_SLAM_f_26^post13-head_29^post13 <= 0 /\ -y_21^post13+y_21^0 == 0 /\ rcd_67^0-rcd_67^post13 == 0 /\ tail_15^post13-head_SLAM_f_26^post13 <= 0 /\ rcd_172^0-rcd_172^post13 == 0 /\ -temp0_19^post13+temp0_19^0 == 0), cost: 1
New rule:
l10 -> l11 : tail_15^0'=temp_33^0, head_SLAM_f_26^0'=temp_33^0, nondet_12^0'=nondet_12^post13, head_29^0'=temp_33^0, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, i_27^0'=0, 0 == 0, cost: 1

Applied preprocessing
Original rule:
l12 -> l18 : a_137^0'=a_137^post23, rcd_110^0'=rcd_110^post23, tail_15^0'=tail_15^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post23, rcd_192^0'=rcd_192^post23, tmp_31^0'=tmp_31^post23, x_SLAM_f_20^0'=x_SLAM_f_20^post23, nondet_12^0'=nondet_12^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23, a_193^0'=a_193^post23, temp0_28^0'=temp0_28^post23, i_127^0'=i_127^post23, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post23, t_23^0'=t_23^post23, head_29^0'=head_29^post23, rcd_172^0'=rcd_172^post23, temp_33^0'=temp_33^post23, length_25^0'=length_25^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, a_163^0'=a_163^post23, rcd_168^0'=rcd_168^post23, temp0_19^0'=temp0_19^post23, i_108^0'=i_108^post23, rcd_41^0'=rcd_41^post23, x_22^0'=x_22^post23, y_21^0'=y_21^post23, r_37^0'=r_37^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post23, head_16^0'=head_16^post23, temp_32^0'=temp_32^post23, i_27^0'=i_27^post23, result_11^0'=result_11^post23, (0 == 0 /\ tmp_31^post23-temp_32^0 == 0 /\ -i_108^post23+i_108^0 == 0 /\ a_193^0-a_193^post23 == 0 /\ tmp_31^post23-head_29^post23 <= 0 /\ 1-length_25^0+i_27^0 <= 0 /\ -t_23^post23+t_23^0 == 0 /\ 2-length_25^0 <= 0 /\ tail_15^post23-head_SLAM_f_26^post23 <= 0 /\ a_163^0-a_163^post23 == 0 /\ -r_37^post23+r_37^0 == 0 /\ -tmp_31^post23+head_29^post23 <= 0 /\ -tmp_31^post23+head_29^post23 == 0 /\ -y_21^post23+y_21^0 == 0 /\ rcd_192^0-rcd_192^post23 == 0 /\ 1-length_25^0 <= 0 /\ -2+i_27^post23 <= 0 /\ -x_22^post23+x_22^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post23 == 0 /\ -tail_15^post23+head_SLAM_f_26^post23 <= 0 /\ temp0_28^0-temp0_28^post23 == 0 /\ rcd_172^0-rcd_172^post23 == 0 /\ -1+i_27^post23-i_27^0 == 0 /\ head_16^0-head_16^post23 == 0 /\ -temp0_19^post23+temp0_19^0 == 0 /\ rcd_41^0-rcd_41^post23 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23+head_29^post23 <= 0 /\ tail_15^post23-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23-tmp_31^post23 <= 0 /\ -i_127^post23+i_127^0 == 0 /\ head_SLAM_f_26^post23-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 /\ -temp_33^post23+temp_33^0 == 0 /\ -length_25^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post23 <= 0 /\ -result_11^post23+result_11^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23-head_29^post23 <= 0 /\ rcd_102^0-rcd_102^post23 == 0 /\ -rcd_168^post23+rcd_168^0 == 0 /\ -tail_15^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post23+tmp_31^post23 <= 0 /\ length_25^0-length_25^post23 == 0 /\ rcd_110^0-rcd_110^post23 == 0 /\ 2-i_27^post23 <= 0 /\ -head_SLAM_f_26^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 /\ length_25^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post23 <= 0 /\ a_137^0-a_137^post23 == 0), cost: 1
New rule:
l12 -> l18 : tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, tmp_31^0'=temp_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, rcd_67^0'=rcd_67^post23, head_29^0'=temp_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_25^0, temp_32^0'=temp_32^post23, i_27^0'=2, (-2+length_25^0 >= 0 /\ -1+i_27^0 == 0), cost: 1

Applied preprocessing
Original rule:
l1 -> l20 : a_137^0'=a_137^post25, rcd_110^0'=rcd_110^post25, tail_15^0'=tail_15^post25, head_SLAM_f_26^0'=head_SLAM_f_26^post25, rcd_192^0'=rcd_192^post25, tmp_31^0'=tmp_31^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, nondet_12^0'=nondet_12^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25, a_193^0'=a_193^post25, temp0_28^0'=temp0_28^post25, i_127^0'=i_127^post25, rcd_67^0'=rcd_67^post25, rcd_102^0'=rcd_102^post25, t_23^0'=t_23^post25, head_29^0'=head_29^post25, rcd_172^0'=rcd_172^post25, temp_33^0'=temp_33^post25, length_25^0'=length_25^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, a_163^0'=a_163^post25, rcd_168^0'=rcd_168^post25, temp0_19^0'=temp0_19^post25, i_108^0'=i_108^post25, rcd_41^0'=rcd_41^post25, x_22^0'=x_22^post25, y_21^0'=y_21^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, temp_32^0'=temp_32^post25, i_27^0'=i_27^post25, result_11^0'=result_11^post25, (0 == 0 /\ -i_27^post25+i_27^0 == 0 /\ tmp_31^0-tmp_31^post25 == 0 /\ -temp_33^post25+temp_33^0 == 0 /\ rcd_110^0-rcd_110^post25 == 0 /\ rcd_168^0-rcd_168^post25 == 0 /\ -rcd_172^post25+rcd_172^0 == 0 /\ rcd_67^0-rcd_67^post25 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -rcd_41^post25+rcd_41^0 == 0 /\ rcd_192^0-rcd_192^post25 == 0 /\ -a_163^0 <= 0 /\ -a_163^post25+a_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post25 == 0 /\ -temp_32^post25+temp_32^0 == 0 /\ -length_25^post25+length_25^0 == 0 /\ i_108^0-i_108^post25 == 0 /\ head_29^0-head_29^post25 == 0 /\ a_137^0-a_137^post25 == 0 /\ i_127^0-i_127^post25 == 0 /\ -temp0_28^post25+temp0_28^0 == 0 /\ a_193^0-a_193^post25 == 0 /\ -head_SLAM_f_26^post25+head_SLAM_f_26^0 == 0 /\ -temp0_19^post25+temp0_19^0 == 0 /\ -rcd_102^post25+rcd_102^0 == 0 /\ t_23^0-t_23^post25 == 0 /\ nondet_12^0-nondet_12^post25 == 0 /\ -y_21^post25+y_21^0 == 0 /\ -x_22^post25+x_22^0 == 0), cost: 1
New rule:
l1 -> l20 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, a_163^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l20 -> l21 : a_137^0'=a_137^post26, rcd_110^0'=rcd_110^post26, tail_15^0'=tail_15^post26, head_SLAM_f_26^0'=head_SLAM_f_26^post26, rcd_192^0'=rcd_192^post26, tmp_31^0'=tmp_31^post26, x_SLAM_f_20^0'=x_SLAM_f_20^post26, nondet_12^0'=nondet_12^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26, a_193^0'=a_193^post26, temp0_28^0'=temp0_28^post26, i_127^0'=i_127^post26, rcd_67^0'=rcd_67^post26, rcd_102^0'=rcd_102^post26, t_23^0'=t_23^post26, head_29^0'=head_29^post26, rcd_172^0'=rcd_172^post26, temp_33^0'=temp_33^post26, length_25^0'=length_25^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post26, a_163^0'=a_163^post26, rcd_168^0'=rcd_168^post26, temp0_19^0'=temp0_19^post26, i_108^0'=i_108^post26, rcd_41^0'=rcd_41^post26, x_22^0'=x_22^post26, y_21^0'=y_21^post26, r_37^0'=r_37^post26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post26, head_16^0'=head_16^post26, temp_32^0'=temp_32^post26, i_27^0'=i_27^post26, result_11^0'=result_11^post26, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post26 == 0 /\ -result_11^post26+result_11^0 == 0 /\ -rcd_172^post26+rcd_172^0 == 0 /\ -head_16^post26+head_16^0 == 0 /\ rcd_192^0-rcd_192^post26 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ rcd_110^0-rcd_110^post26 == 0 /\ rcd_67^0-rcd_67^post26 == 0 /\ tmp_31^0-tmp_31^post26 == 0 /\ y_21^0-y_21^post26 == 0 /\ -temp_33^post26+temp_33^0 == 0 /\ -i_27^post26+i_27^0 == 0 /\ length_25^0-length_25^post26 == 0 /\ -rcd_168^post26+rcd_168^0 == 0 /\ head_29^0-head_29^post26 == 0 /\ -rcd_41^post26+rcd_41^0 == 0 /\ -head_SLAM_f_26^post26+head_SLAM_f_26^0 == 0 /\ a_137^0-a_137^post26 == 0 /\ tail_15^0-tail_15^post26 == 0 /\ i_127^0-i_127^post26 == 0 /\ temp0_19^0-temp0_19^post26 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post26 == 0 /\ t_23^0-t_23^post26 == 0 /\ nondet_12^0-nondet_12^post26 == 0 /\ -i_108^post26+i_108^0 == 0 /\ a_193^0-a_193^post26 == 0 /\ -temp_32^post26+temp_32^0 == 0 /\ a_163^0-a_163^post26 == 0 /\ -x_22^post26+x_22^0 == 0 /\ -temp0_28^post26+temp0_28^0 == 0 /\ -rcd_102^post26+rcd_102^0 == 0 /\ -r_37^post26+r_37^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post26+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0), cost: 1
New rule:
l20 -> l21 : 1-x_22^0+y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l20 -> l21 : a_137^0'=a_137^post27, rcd_110^0'=rcd_110^post27, tail_15^0'=tail_15^post27, head_SLAM_f_26^0'=head_SLAM_f_26^post27, rcd_192^0'=rcd_192^post27, tmp_31^0'=tmp_31^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, nondet_12^0'=nondet_12^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27, a_193^0'=a_193^post27, temp0_28^0'=temp0_28^post27, i_127^0'=i_127^post27, rcd_67^0'=rcd_67^post27, rcd_102^0'=rcd_102^post27, t_23^0'=t_23^post27, head_29^0'=head_29^post27, rcd_172^0'=rcd_172^post27, temp_33^0'=temp_33^post27, length_25^0'=length_25^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, a_163^0'=a_163^post27, rcd_168^0'=rcd_168^post27, temp0_19^0'=temp0_19^post27, i_108^0'=i_108^post27, rcd_41^0'=rcd_41^post27, x_22^0'=x_22^post27, y_21^0'=y_21^post27, r_37^0'=r_37^post27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, head_16^0'=head_16^post27, temp_32^0'=temp_32^post27, i_27^0'=i_27^post27, result_11^0'=result_11^post27, (-temp_32^post27+temp_32^0 == 0 /\ -head_16^post27+head_16^0 == 0 /\ rcd_192^0-rcd_192^post27 == 0 /\ -rcd_67^post27+rcd_67^0 == 0 /\ -length_25^post27+length_25^0 == 0 /\ -i_108^post27+i_108^0 == 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ y_21^0-y_21^post27 == 0 /\ temp_33^0-temp_33^post27 == 0 /\ -x_22^post27+x_22^0 == 0 /\ i_127^0-i_127^post27 == 0 /\ rcd_102^0-rcd_102^post27 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post27 == 0 /\ rcd_110^0-rcd_110^post27 == 0 /\ -tmp_31^post27+tmp_31^0 == 0 /\ temp0_19^0-temp0_19^post27 == 0 /\ temp0_28^0-temp0_28^post27 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post27 == 0 /\ tail_15^0-tail_15^post27 == 0 /\ -r_37^post27+r_37^0 == 0 /\ -rcd_168^post27+rcd_168^0 == 0 /\ -rcd_172^post27+rcd_172^0 == 0 /\ -result_11^post27+result_11^0 == 0 /\ a_193^0-a_193^post27 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ -head_29^post27+head_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post27+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_163^post27+a_163^0 == 0 /\ t_23^0-t_23^post27 == 0 /\ a_137^0-a_137^post27 == 0 /\ -i_27^post27+i_27^0 == 0 /\ -rcd_41^post27+rcd_41^0 == 0), cost: 1
New rule:
l20 -> l21 : 1+x_22^0-y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l21 -> l22 : a_137^0'=a_137^post28, rcd_110^0'=rcd_110^post28, tail_15^0'=tail_15^post28, head_SLAM_f_26^0'=head_SLAM_f_26^post28, rcd_192^0'=rcd_192^post28, tmp_31^0'=tmp_31^post28, x_SLAM_f_20^0'=x_SLAM_f_20^post28, nondet_12^0'=nondet_12^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28, a_193^0'=a_193^post28, temp0_28^0'=temp0_28^post28, i_127^0'=i_127^post28, rcd_67^0'=rcd_67^post28, rcd_102^0'=rcd_102^post28, t_23^0'=t_23^post28, head_29^0'=head_29^post28, rcd_172^0'=rcd_172^post28, temp_33^0'=temp_33^post28, length_25^0'=length_25^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28, a_163^0'=a_163^post28, rcd_168^0'=rcd_168^post28, temp0_19^0'=temp0_19^post28, i_108^0'=i_108^post28, rcd_41^0'=rcd_41^post28, x_22^0'=x_22^post28, y_21^0'=y_21^post28, r_37^0'=r_37^post28, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, head_16^0'=head_16^post28, temp_32^0'=temp_32^post28, i_27^0'=i_27^post28, result_11^0'=result_11^post28, (0 == 0 /\ nondet_12^0-nondet_12^post28 == 0 /\ -x_22^0+t_23^post28 == 0 /\ -length_25^post28+length_25^0 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -temp_32^post28+temp_32^0 == 0 /\ -y_21^post28+y_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ temp_33^0-temp_33^post28 == 0 /\ rcd_102^0-rcd_102^post28 == 0 /\ tail_15^0-y_21^0 <= 0 /\ -r_37^post28+r_37^0 == 0 /\ rcd_110^0-rcd_110^post28 == 0 /\ -i_108^post28+i_108^0 == 0 /\ i_127^0-i_127^post28 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post28 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 == 0 /\ -x_22^post28+x_22^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ -1-a_193^post28+a_163^0 <= 0 /\ -result_11^post28+result_11^0 == 0 /\ rcd_41^0-rcd_192^post28 <= 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post28 == 0 /\ -rcd_172^post28+rcd_172^0 == 0 /\ -temp0_19^post28+temp0_19^0 == 0 /\ tail_15^0-tail_15^post28 == 0 /\ -tmp_31^post28+tmp_31^0 == 0 /\ -a_163^post28+a_163^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_20^0+head_16^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post28 == 0 /\ -rcd_41^0+rcd_192^post28 <= 0 /\ -i_27^post28+i_27^0 == 0 /\ -head_16^post28+head_16^0 == 0 /\ -rcd_168^post28+rcd_168^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28 == 0 /\ a_137^0-a_137^post28 == 0 /\ rcd_41^0-rcd_41^post28 == 0 /\ -rcd_67^post28+rcd_67^0 == 0 /\ temp0_28^0-temp0_28^post28 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_29^post28+head_29^0 == 0 /\ 1+a_193^post28-a_163^0 <= 0 /\ x_SLAM_f_20^0-head_16^0 <= 0), cost: 1
New rule:
l21 -> l22 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 1

Applied preprocessing
Original rule:
l22 -> l23 : a_137^0'=a_137^post29, rcd_110^0'=rcd_110^post29, tail_15^0'=tail_15^post29, head_SLAM_f_26^0'=head_SLAM_f_26^post29, rcd_192^0'=rcd_192^post29, tmp_31^0'=tmp_31^post29, x_SLAM_f_20^0'=x_SLAM_f_20^post29, nondet_12^0'=nondet_12^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29, a_193^0'=a_193^post29, temp0_28^0'=temp0_28^post29, i_127^0'=i_127^post29, rcd_67^0'=rcd_67^post29, rcd_102^0'=rcd_102^post29, t_23^0'=t_23^post29, head_29^0'=head_29^post29, rcd_172^0'=rcd_172^post29, temp_33^0'=temp_33^post29, length_25^0'=length_25^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29, a_163^0'=a_163^post29, rcd_168^0'=rcd_168^post29, temp0_19^0'=temp0_19^post29, i_108^0'=i_108^post29, rcd_41^0'=rcd_41^post29, x_22^0'=x_22^post29, y_21^0'=y_21^post29, r_37^0'=r_37^post29, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post29, head_16^0'=head_16^post29, temp_32^0'=temp_32^post29, i_27^0'=i_27^post29, result_11^0'=result_11^post29, (-i_27^post29+i_27^0 == 0 /\ a_137^0-a_137^post29 == 0 /\ length_25^0-length_25^post29 == 0 /\ -r_37^post29+r_37^0 == 0 /\ 1-y_21^0+head_16^0 <= 0 /\ i_127^0-i_127^post29 == 0 /\ -temp0_28^post29+temp0_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post29 == 0 /\ -x_22^post29+x_22^0 == 0 /\ head_29^0-head_29^post29 == 0 /\ rcd_168^0-rcd_168^post29 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post29 == 0 /\ -i_108^post29+i_108^0 == 0 /\ rcd_110^0-rcd_110^post29 == 0 /\ -t_23^post29+t_23^0 == 0 /\ a_193^0-a_193^post29 == 0 /\ -temp_32^post29+temp_32^0 == 0 /\ -temp_33^post29+temp_33^0 == 0 /\ -head_16^post29+head_16^0 == 0 /\ tmp_31^0-tmp_31^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ -a_163^post29+a_163^0 == 0 /\ rcd_102^0-rcd_102^post29 == 0 /\ -temp0_19^post29+temp0_19^0 == 0 /\ rcd_192^0-rcd_192^post29 == 0 /\ rcd_67^0-rcd_67^post29 == 0 /\ tail_15^0-tail_15^post29 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post29 == 0 /\ rcd_172^0-rcd_172^post29 == 0 /\ -result_11^post29+result_11^0 == 0 /\ -y_21^post29+y_21^0 == 0 /\ rcd_41^0-rcd_41^post29 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1
New rule:
l22 -> l23 : 1-y_21^0+head_16^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l22 -> l23 : a_137^0'=a_137^post30, rcd_110^0'=rcd_110^post30, tail_15^0'=tail_15^post30, head_SLAM_f_26^0'=head_SLAM_f_26^post30, rcd_192^0'=rcd_192^post30, tmp_31^0'=tmp_31^post30, x_SLAM_f_20^0'=x_SLAM_f_20^post30, nondet_12^0'=nondet_12^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30, a_193^0'=a_193^post30, temp0_28^0'=temp0_28^post30, i_127^0'=i_127^post30, rcd_67^0'=rcd_67^post30, rcd_102^0'=rcd_102^post30, t_23^0'=t_23^post30, head_29^0'=head_29^post30, rcd_172^0'=rcd_172^post30, temp_33^0'=temp_33^post30, length_25^0'=length_25^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30, a_163^0'=a_163^post30, rcd_168^0'=rcd_168^post30, temp0_19^0'=temp0_19^post30, i_108^0'=i_108^post30, rcd_41^0'=rcd_41^post30, x_22^0'=x_22^post30, y_21^0'=y_21^post30, r_37^0'=r_37^post30, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post30, head_16^0'=head_16^post30, temp_32^0'=temp_32^post30, i_27^0'=i_27^post30, result_11^0'=result_11^post30, (-temp_33^post30+temp_33^0 == 0 /\ rcd_168^0-rcd_168^post30 == 0 /\ head_29^0-head_29^post30 == 0 /\ temp0_19^0-temp0_19^post30 == 0 /\ -a_163^post30+a_163^0 == 0 /\ r_37^0-r_37^post30 == 0 /\ -result_11^post30+result_11^0 == 0 /\ -temp0_28^post30+temp0_28^0 == 0 /\ a_137^0-a_137^post30 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post30 == 0 /\ length_25^0-length_25^post30 == 0 /\ -i_127^post30+i_127^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post30+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ 1+y_21^0-head_16^0 <= 0 /\ -head_16^post30+head_16^0 == 0 /\ -i_27^post30+i_27^0 == 0 /\ a_193^0-a_193^post30 == 0 /\ -y_21^post30+y_21^0 == 0 /\ tmp_31^0-tmp_31^post30 == 0 /\ rcd_102^0-rcd_102^post30 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ -rcd_41^post30+rcd_41^0 == 0 /\ rcd_172^0-rcd_172^post30 == 0 /\ temp_32^0-temp_32^post30 == 0 /\ -t_23^post30+t_23^0 == 0 /\ rcd_110^0-rcd_110^post30 == 0 /\ tail_15^0-tail_15^post30 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post30 == 0 /\ rcd_67^0-rcd_67^post30 == 0 /\ -x_22^post30+x_22^0 == 0 /\ rcd_192^0-rcd_192^post30 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post30 == 0 /\ -i_108^post30+i_108^0 == 0), cost: 1
New rule:
l22 -> l23 : 1+y_21^0-head_16^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l23 -> l24 : a_137^0'=a_137^post31, rcd_110^0'=rcd_110^post31, tail_15^0'=tail_15^post31, head_SLAM_f_26^0'=head_SLAM_f_26^post31, rcd_192^0'=rcd_192^post31, tmp_31^0'=tmp_31^post31, x_SLAM_f_20^0'=x_SLAM_f_20^post31, nondet_12^0'=nondet_12^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31, a_193^0'=a_193^post31, temp0_28^0'=temp0_28^post31, i_127^0'=i_127^post31, rcd_67^0'=rcd_67^post31, rcd_102^0'=rcd_102^post31, t_23^0'=t_23^post31, head_29^0'=head_29^post31, rcd_172^0'=rcd_172^post31, temp_33^0'=temp_33^post31, length_25^0'=length_25^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31, a_163^0'=a_163^post31, rcd_168^0'=rcd_168^post31, temp0_19^0'=temp0_19^post31, i_108^0'=i_108^post31, rcd_41^0'=rcd_41^post31, x_22^0'=x_22^post31, y_21^0'=y_21^post31, r_37^0'=r_37^post31, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post31, head_16^0'=head_16^post31, temp_32^0'=temp_32^post31, i_27^0'=i_27^post31, result_11^0'=result_11^post31, (head_SLAM_f_26^0-head_SLAM_f_26^post31 == 0 /\ -rcd_102^post31+rcd_102^0 == 0 /\ temp0_28^0-temp0_28^post31 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post31 == 0 /\ -rcd_67^post31+rcd_67^0 == 0 /\ x_22^0-x_22^post31 == 0 /\ -a_163^post31+a_163^0 == 0 /\ -head_16^post31+head_16^0 == 0 /\ temp0_19^0-temp0_19^post31 == 0 /\ tail_15^0-tail_15^post31 == 0 /\ -result_11^post31+result_11^0 == 0 /\ a_137^0-a_137^post31 == 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ -length_25^post31+length_25^0 == 0 /\ -rcd_172^post31+rcd_172^0 == 0 /\ t_23^0-t_23^post31 == 0 /\ -r_37^post31+r_37^0 == 0 /\ rcd_110^0-rcd_110^post31 == 0 /\ -rcd_41^post31+rcd_41^0 == 0 /\ -rcd_168^post31+rcd_168^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post31 == 0 /\ -i_27^post31+i_27^0 == 0 /\ -a_193^post31+a_193^0 == 0 /\ tmp_31^0-tmp_31^post31 == 0 /\ -y_21^post31+y_21^0 == 0 /\ rcd_192^0-rcd_192^post31 == 0 /\ i_127^0-i_127^post31 == 0 /\ -i_108^post31+i_108^0 == 0 /\ -temp_32^post31+temp_32^0 == 0 /\ temp_33^0-temp_33^post31 == 0 /\ 1-t_23^0+y_21^0 <= 0 /\ head_29^0-head_29^post31 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post31+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0), cost: 1
New rule:
l23 -> l24 : 1-t_23^0+y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l23 -> l24 : a_137^0'=a_137^post32, rcd_110^0'=rcd_110^post32, tail_15^0'=tail_15^post32, head_SLAM_f_26^0'=head_SLAM_f_26^post32, rcd_192^0'=rcd_192^post32, tmp_31^0'=tmp_31^post32, x_SLAM_f_20^0'=x_SLAM_f_20^post32, nondet_12^0'=nondet_12^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32, a_193^0'=a_193^post32, temp0_28^0'=temp0_28^post32, i_127^0'=i_127^post32, rcd_67^0'=rcd_67^post32, rcd_102^0'=rcd_102^post32, t_23^0'=t_23^post32, head_29^0'=head_29^post32, rcd_172^0'=rcd_172^post32, temp_33^0'=temp_33^post32, length_25^0'=length_25^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32, a_163^0'=a_163^post32, rcd_168^0'=rcd_168^post32, temp0_19^0'=temp0_19^post32, i_108^0'=i_108^post32, rcd_41^0'=rcd_41^post32, x_22^0'=x_22^post32, y_21^0'=y_21^post32, r_37^0'=r_37^post32, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post32, head_16^0'=head_16^post32, temp_32^0'=temp_32^post32, i_27^0'=i_27^post32, result_11^0'=result_11^post32, (-i_108^post32+i_108^0 == 0 /\ -head_16^post32+head_16^0 == 0 /\ -rcd_67^post32+rcd_67^0 == 0 /\ temp0_28^0-temp0_28^post32 == 0 /\ tail_15^0-tail_15^post32 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post32 == 0 /\ -rcd_102^post32+rcd_102^0 == 0 /\ -length_25^post32+length_25^0 == 0 /\ a_163^0-a_163^post32 == 0 /\ x_22^0-x_22^post32 == 0 /\ a_137^0-a_137^post32 == 0 /\ -rcd_172^post32+rcd_172^0 == 0 /\ -result_11^post32+result_11^0 == 0 /\ y_21^0-y_21^post32 == 0 /\ t_23^0-t_23^post32 == 0 /\ -temp0_19^post32+temp0_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_192^0-rcd_192^post32 == 0 /\ rcd_41^0-rcd_41^post32 == 0 /\ -i_27^post32+i_27^0 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ -r_37^post32+r_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post32 == 0 /\ -rcd_168^post32+rcd_168^0 == 0 /\ 1+t_23^0-y_21^0 <= 0 /\ -a_193^post32+a_193^0 == 0 /\ tmp_31^0-tmp_31^post32 == 0 /\ i_127^0-i_127^post32 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post32+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ temp_33^0-temp_33^post32 == 0 /\ head_29^0-head_29^post32 == 0 /\ -temp_32^post32+temp_32^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post32 == 0 /\ rcd_110^0-rcd_110^post32 == 0), cost: 1
New rule:
l23 -> l24 : 1+t_23^0-y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l24 -> l19 : a_137^0'=a_137^post33, rcd_110^0'=rcd_110^post33, tail_15^0'=tail_15^post33, head_SLAM_f_26^0'=head_SLAM_f_26^post33, rcd_192^0'=rcd_192^post33, tmp_31^0'=tmp_31^post33, x_SLAM_f_20^0'=x_SLAM_f_20^post33, nondet_12^0'=nondet_12^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33, a_193^0'=a_193^post33, temp0_28^0'=temp0_28^post33, i_127^0'=i_127^post33, rcd_67^0'=rcd_67^post33, rcd_102^0'=rcd_102^post33, t_23^0'=t_23^post33, head_29^0'=head_29^post33, rcd_172^0'=rcd_172^post33, temp_33^0'=temp_33^post33, length_25^0'=length_25^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33, a_163^0'=a_163^post33, rcd_168^0'=rcd_168^post33, temp0_19^0'=temp0_19^post33, i_108^0'=i_108^post33, rcd_41^0'=rcd_41^post33, x_22^0'=x_22^post33, y_21^0'=y_21^post33, r_37^0'=r_37^post33, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post33, head_16^0'=head_16^post33, temp_32^0'=temp_32^post33, i_27^0'=i_27^post33, result_11^0'=result_11^post33, (0 == 0 /\ -rcd_168^post33+rcd_168^0 == 0 /\ -x_22^post33+x_22^0 == 0 /\ a_193^0-a_193^post33 == 0 /\ -head_29^post33+head_29^0 == 0 /\ -y_21^post33+y_21^0 == 0 /\ -rcd_192^0+rcd_41^post33 <= 0 /\ temp_33^0-temp_33^post33 == 0 /\ -i_27^post33+i_27^0 == 0 /\ -temp_32^post33+temp_32^0 == 0 /\ rcd_172^0-rcd_172^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33 == 0 /\ rcd_67^0-rcd_67^post33 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post33 == 0 /\ tail_15^0-tail_15^post33 == 0 /\ temp0_28^0-temp0_28^post33 == 0 /\ rcd_192^0-rcd_192^post33 == 0 /\ -i_108^post33+i_108^0 == 0 /\ rcd_192^0-rcd_41^post33 <= 0 /\ -t_23^post33+t_23^0 == 0 /\ -r_37^post33+r_37^0 == 0 /\ a_193^0-a_163^post33 <= 0 /\ -temp0_19^post33+temp0_19^0 == 0 /\ -i_127^post33+i_127^0 == 0 /\ nondet_12^0-nondet_12^post33 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ a_137^0-a_137^post33 == 0 /\ length_25^0-length_25^post33 == 0 /\ -a_193^0+a_163^post33 <= 0 /\ rcd_102^0-rcd_102^post33 == 0 /\ -head_16^post33+head_16^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post33 == 0 /\ rcd_110^0-rcd_110^post33 == 0 /\ -result_11^post33+result_11^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ tmp_31^0-tmp_31^post33 == 0), cost: 1
New rule:
l24 -> l19 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l19 -> l1 : a_137^0'=a_137^post34, rcd_110^0'=rcd_110^post34, tail_15^0'=tail_15^post34, head_SLAM_f_26^0'=head_SLAM_f_26^post34, rcd_192^0'=rcd_192^post34, tmp_31^0'=tmp_31^post34, x_SLAM_f_20^0'=x_SLAM_f_20^post34, nondet_12^0'=nondet_12^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34, a_193^0'=a_193^post34, temp0_28^0'=temp0_28^post34, i_127^0'=i_127^post34, rcd_67^0'=rcd_67^post34, rcd_102^0'=rcd_102^post34, t_23^0'=t_23^post34, head_29^0'=head_29^post34, rcd_172^0'=rcd_172^post34, temp_33^0'=temp_33^post34, length_25^0'=length_25^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34, a_163^0'=a_163^post34, rcd_168^0'=rcd_168^post34, temp0_19^0'=temp0_19^post34, i_108^0'=i_108^post34, rcd_41^0'=rcd_41^post34, x_22^0'=x_22^post34, y_21^0'=y_21^post34, r_37^0'=r_37^post34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post34, head_16^0'=head_16^post34, temp_32^0'=temp_32^post34, i_27^0'=i_27^post34, result_11^0'=result_11^post34, (result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post34 == 0 /\ -i_27^post34+i_27^0 == 0 /\ -r_37^post34+r_37^0 == 0 /\ -rcd_168^post34+rcd_168^0 == 0 /\ temp_33^0-temp_33^post34 == 0 /\ rcd_102^0-rcd_102^post34 == 0 /\ -x_22^post34+x_22^0 == 0 /\ -head_29^post34+head_29^0 == 0 /\ rcd_67^0-rcd_67^post34 == 0 /\ temp0_28^0-temp0_28^post34 == 0 /\ rcd_172^0-rcd_172^post34 == 0 /\ -temp_32^post34+temp_32^0 == 0 /\ -i_127^post34+i_127^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post34 == 0 /\ -t_23^post34+t_23^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34 == 0 /\ -a_163^post34+a_163^0 == 0 /\ tail_15^0-tail_15^post34 == 0 /\ rcd_192^0-rcd_192^post34 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ a_137^0-a_137^post34 == 0 /\ length_25^0-length_25^post34 == 0 /\ -rcd_110^post34+rcd_110^0 == 0 /\ -i_108^post34+i_108^0 == 0 /\ -head_16^post34+head_16^0 == 0 /\ -result_11^post34+result_11^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post34 == 0 /\ -y_21^post34+y_21^0 == 0 /\ -temp0_19^post34+temp0_19^0 == 0 /\ rcd_41^0-rcd_41^post34 == 0 /\ a_193^0-a_193^post34 == 0 /\ nondet_12^0-nondet_12^post34 == 0 /\ tmp_31^0-tmp_31^post34 == 0), cost: 1
New rule:
l19 -> l1 : TRUE, cost: 1

Applied preprocessing
Original rule:
l18 -> l25 : a_137^0'=a_137^post35, rcd_110^0'=rcd_110^post35, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, rcd_192^0'=rcd_192^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, a_193^0'=a_193^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post35, rcd_102^0'=rcd_102^post35, t_23^0'=t_23^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post35, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, a_163^0'=a_163^post35, rcd_168^0'=rcd_168^post35, temp0_19^0'=temp0_19^post35, i_108^0'=i_108^post35, rcd_41^0'=rcd_41^post35, x_22^0'=x_22^post35, y_21^0'=y_21^post35, r_37^0'=r_37^post35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (0 == 0 /\ -i_27^post35 <= 0 /\ -rcd_41^post35+rcd_41^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ rcd_110^0-rcd_110^post35 == 0 /\ -head_16^11+x_22^post35 <= 0 /\ -rcd_102^post35+rcd_102^0 == 0 /\ rcd_192^0-rcd_192^post35 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110+y_21^post35 <= 0 /\ length_25^0-i_27^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ head_16^11-x_22^post35 <= 0 /\ t_23^0-t_23^post35 == 0 /\ a_163^0-a_163^post35 == 0 /\ r_37^0-r_37^post35 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110-y_21^post35 <= 0 /\ head_16^11-x_SLAM_f_20^110 <= 0 /\ -tail_15^0+y_21^post35 <= 0 /\ -tail_15^0+y_21^post35 == 0 /\ x_SLAM_f_20^110-x_22^post35 <= 0 /\ result_11^110-temp0_28^110 == 0 /\ -temp0_19^post35+temp0_19^0 == 0 /\ head_16^11-result_11^110 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^110-i_27^post35 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ -i_27^0 <= 0 /\ -head_29^0+temp0_28^110 == 0 /\ -head_16^11+x_SLAM_f_20^110 <= 0 /\ -head_16^11+x_SLAM_f_20^110 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ temp_33^0-temp_33^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ tail_15^0-y_21^post35 <= 0 /\ -x_SLAM_f_20^110+x_22^post35 <= 0 /\ -x_SLAM_f_20^110+x_22^post35 == 0 /\ a_193^0-a_193^post35 == 0 /\ a_137^0-a_137^post35 == 0 /\ rcd_67^0-rcd_67^post35 == 0 /\ i_108^0-i_108^post35 == 0), cost: 1
New rule:
l18 -> l25 : tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=head_29^0, y_21^0'=tail_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (length_25^0-i_27^0 <= 0 /\ -i_27^0 <= 0 /\ -2+i_27^post35 >= 0), cost: 1

Applied preprocessing
Original rule:
l25 -> l26 : a_137^0'=a_137^post36, rcd_110^0'=rcd_110^post36, tail_15^0'=tail_15^post36, head_SLAM_f_26^0'=head_SLAM_f_26^post36, rcd_192^0'=rcd_192^post36, tmp_31^0'=tmp_31^post36, x_SLAM_f_20^0'=x_SLAM_f_20^post36, nondet_12^0'=nondet_12^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post36, a_193^0'=a_193^post36, temp0_28^0'=temp0_28^post36, i_127^0'=i_127^post36, rcd_67^0'=rcd_67^post36, rcd_102^0'=rcd_102^post36, t_23^0'=t_23^post36, head_29^0'=head_29^post36, rcd_172^0'=rcd_172^post36, temp_33^0'=temp_33^post36, length_25^0'=length_25^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post36, a_163^0'=a_163^post36, rcd_168^0'=rcd_168^post36, temp0_19^0'=temp0_19^post36, i_108^0'=i_108^post36, rcd_41^0'=rcd_41^post36, x_22^0'=x_22^post36, y_21^0'=y_21^post36, r_37^0'=r_37^post36, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post36, head_16^0'=head_16^post36, temp_32^0'=temp_32^post36, i_27^0'=i_27^post36, result_11^0'=result_11^post36, (-x_22^post36+x_22^0 == 0 /\ a_163^0-a_163^post36 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ a_193^0-a_193^post36 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ -head_29^post36+head_29^0 == 0 /\ -temp_32^post36+temp_32^0 == 0 /\ temp_33^0-temp_33^post36 == 0 /\ -rcd_41^post36+rcd_41^0 == 0 /\ rcd_102^0-rcd_102^post36 == 0 /\ -y_21^post36+y_21^0 == 0 /\ rcd_172^0-rcd_172^post36 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post36 == 0 /\ rcd_110^0-rcd_110^post36 == 0 /\ rcd_67^0-rcd_67^post36 == 0 /\ temp0_28^0-temp0_28^post36 == 0 /\ -i_108^post36+i_108^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post36 == 0 /\ -r_37^post36+r_37^0 == 0 /\ head_16^0-head_16^post36 == 0 /\ -t_23^post36+t_23^0 == 0 /\ -i_127^post36+i_127^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post36+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -result_11^post36+result_11^0 == 0 /\ length_25^0-length_25^post36 == 0 /\ -temp0_19^post36+temp0_19^0 == 0 /\ -i_27^post36+i_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post36 == 0 /\ -tmp_31^post36+tmp_31^0 == 0 /\ rcd_192^0-rcd_192^post36 == 0 /\ a_137^0-a_137^post36 == 0 /\ tail_15^0-tail_15^post36 == 0 /\ -rcd_168^post36+rcd_168^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post36 == 0), cost: 1
New rule:
l25 -> l26 : 1-x_22^0+y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l25 -> l26 : a_137^0'=a_137^post37, rcd_110^0'=rcd_110^post37, tail_15^0'=tail_15^post37, head_SLAM_f_26^0'=head_SLAM_f_26^post37, rcd_192^0'=rcd_192^post37, tmp_31^0'=tmp_31^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, nondet_12^0'=nondet_12^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37, a_193^0'=a_193^post37, temp0_28^0'=temp0_28^post37, i_127^0'=i_127^post37, rcd_67^0'=rcd_67^post37, rcd_102^0'=rcd_102^post37, t_23^0'=t_23^post37, head_29^0'=head_29^post37, rcd_172^0'=rcd_172^post37, temp_33^0'=temp_33^post37, length_25^0'=length_25^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, a_163^0'=a_163^post37, rcd_168^0'=rcd_168^post37, temp0_19^0'=temp0_19^post37, i_108^0'=i_108^post37, rcd_41^0'=rcd_41^post37, x_22^0'=x_22^post37, y_21^0'=y_21^post37, r_37^0'=r_37^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, head_16^0'=head_16^post37, temp_32^0'=temp_32^post37, i_27^0'=i_27^post37, result_11^0'=result_11^post37, (-head_29^post37+head_29^0 == 0 /\ temp_33^0-temp_33^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -x_22^post37+x_22^0 == 0 /\ rcd_102^0-rcd_102^post37 == 0 /\ rcd_168^0-rcd_168^post37 == 0 /\ a_137^0-a_137^post37 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post37 == 0 /\ -r_37^post37+r_37^0 == 0 /\ -rcd_41^post37+rcd_41^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post37+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_163^post37+a_163^0 == 0 /\ temp0_28^0-temp0_28^post37 == 0 /\ -t_23^post37+t_23^0 == 0 /\ rcd_67^0-rcd_67^post37 == 0 /\ rcd_172^0-rcd_172^post37 == 0 /\ -i_127^post37+i_127^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -i_27^post37+i_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0 == 0 /\ tmp_31^0-tmp_31^post37 == 0 /\ length_25^0-length_25^post37 == 0 /\ -head_16^post37+head_16^0 == 0 /\ i_108^0-i_108^post37 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ temp_32^0-temp_32^post37 == 0 /\ rcd_110^0-rcd_110^post37 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post37 == 0 /\ tail_15^0-tail_15^post37 == 0 /\ rcd_192^0-rcd_192^post37 == 0 /\ a_193^0-a_193^post37 == 0 /\ -temp0_19^post37+temp0_19^0 == 0 /\ -y_21^post37+y_21^0 == 0), cost: 1
New rule:
l25 -> l26 : 1+x_22^0-y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l26 -> l27 : a_137^0'=a_137^post38, rcd_110^0'=rcd_110^post38, tail_15^0'=tail_15^post38, head_SLAM_f_26^0'=head_SLAM_f_26^post38, rcd_192^0'=rcd_192^post38, tmp_31^0'=tmp_31^post38, x_SLAM_f_20^0'=x_SLAM_f_20^post38, nondet_12^0'=nondet_12^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post38, a_193^0'=a_193^post38, temp0_28^0'=temp0_28^post38, i_127^0'=i_127^post38, rcd_67^0'=rcd_67^post38, rcd_102^0'=rcd_102^post38, t_23^0'=t_23^post38, head_29^0'=head_29^post38, rcd_172^0'=rcd_172^post38, temp_33^0'=temp_33^post38, length_25^0'=length_25^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post38, a_163^0'=a_163^post38, rcd_168^0'=rcd_168^post38, temp0_19^0'=temp0_19^post38, i_108^0'=i_108^post38, rcd_41^0'=rcd_41^post38, x_22^0'=x_22^post38, y_21^0'=y_21^post38, r_37^0'=r_37^post38, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post38, head_16^0'=head_16^post38, temp_32^0'=temp_32^post38, i_27^0'=i_27^post38, result_11^0'=result_11^post38, (0 == 0 /\ -result_11^post38+result_11^0 == 0 /\ -temp0_19^post38+temp0_19^0 == 0 /\ -rcd_172^post38+rcd_172^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post38 == 0 /\ -a_163^0+a_137^post38 <= 0 /\ rcd_168^0-rcd_168^post38 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post38+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post38 == 0 /\ rcd_67^0-rcd_67^post38 == 0 /\ rcd_168^0-rcd_41^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ -a_163^post38+a_163^0 == 0 /\ -i_27^post38+i_27^0 == 0 /\ length_25^0-length_25^post38 == 0 /\ a_163^0-a_137^post38 <= 0 /\ tail_15^0-y_21^0 <= 0 /\ -head_16^post38+head_16^0 == 0 /\ -rcd_168^0+rcd_41^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ head_29^0-head_29^post38 == 0 /\ t_23^post38-head_16^0 <= 0 /\ -y_21^post38+y_21^0 == 0 /\ tmp_31^0-tmp_31^post38 == 0 /\ -x_22^post38+x_22^0 == 0 /\ -rcd_41^post38+rcd_41^0 == 0 /\ rcd_110^0-rcd_110^post38 == 0 /\ i_108^0-i_108^post38 == 0 /\ t_23^post38-x_22^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_127^0-i_127^post38 == 0 /\ temp_32^0-temp_32^post38 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_20^0+head_16^0 <= 0 /\ -temp_33^post38+temp_33^0 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -r_37^post38+r_37^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post38 == 0 /\ -t_23^post38+head_16^0 <= 0 /\ a_193^0-a_193^post38 == 0 /\ tail_15^0-tail_15^post38 == 0 /\ rcd_192^0-rcd_192^post38 == 0 /\ -temp0_28^post38+temp0_28^0 == 0 /\ -rcd_102^post38+rcd_102^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_SLAM_f_20^0-head_16^0 <= 0), cost: 1
New rule:
l26 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 1

Applied preprocessing
Original rule:
l27 -> l28 : a_137^0'=a_137^post39, rcd_110^0'=rcd_110^post39, tail_15^0'=tail_15^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, rcd_192^0'=rcd_192^post39, tmp_31^0'=tmp_31^post39, x_SLAM_f_20^0'=x_SLAM_f_20^post39, nondet_12^0'=nondet_12^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39, a_193^0'=a_193^post39, temp0_28^0'=temp0_28^post39, i_127^0'=i_127^post39, rcd_67^0'=rcd_67^post39, rcd_102^0'=rcd_102^post39, t_23^0'=t_23^post39, head_29^0'=head_29^post39, rcd_172^0'=rcd_172^post39, temp_33^0'=temp_33^post39, length_25^0'=length_25^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post39, a_163^0'=a_163^post39, rcd_168^0'=rcd_168^post39, temp0_19^0'=temp0_19^post39, i_108^0'=i_108^post39, rcd_41^0'=rcd_41^post39, x_22^0'=x_22^post39, y_21^0'=y_21^post39, r_37^0'=r_37^post39, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post39, head_16^0'=head_16^post39, temp_32^0'=temp_32^post39, i_27^0'=i_27^post39, result_11^0'=result_11^post39, (-head_16^post39+head_16^0 == 0 /\ -rcd_102^post39+rcd_102^0 == 0 /\ tail_15^0-tail_15^post39 == 0 /\ 1-y_21^0+head_16^0 <= 0 /\ rcd_67^0-rcd_67^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post39 == 0 /\ -i_108^post39+i_108^0 == 0 /\ i_127^0-i_127^post39 == 0 /\ y_21^0-y_21^post39 == 0 /\ length_25^0-length_25^post39 == 0 /\ a_137^0-a_137^post39 == 0 /\ -result_11^post39+result_11^0 == 0 /\ -rcd_172^post39+rcd_172^0 == 0 /\ head_29^0-head_29^post39 == 0 /\ -x_22^post39+x_22^0 == 0 /\ rcd_192^0-rcd_192^post39 == 0 /\ -temp0_28^post39+temp0_28^0 == 0 /\ -i_27^post39+i_27^0 == 0 /\ rcd_110^0-rcd_110^post39 == 0 /\ temp0_19^0-temp0_19^post39 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_37^post39+r_37^0 == 0 /\ -rcd_168^post39+rcd_168^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post39 == 0 /\ tmp_31^0-tmp_31^post39 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post39+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ -temp_33^post39+temp_33^0 == 0 /\ a_193^0-a_193^post39 == 0 /\ -a_163^post39+a_163^0 == 0 /\ -temp_32^post39+temp_32^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post39 == 0 /\ -t_23^post39+t_23^0 == 0 /\ -rcd_41^post39+rcd_41^0 == 0), cost: 1
New rule:
l27 -> l28 : 1-y_21^0+head_16^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l27 -> l28 : a_137^0'=a_137^post40, rcd_110^0'=rcd_110^post40, tail_15^0'=tail_15^post40, head_SLAM_f_26^0'=head_SLAM_f_26^post40, rcd_192^0'=rcd_192^post40, tmp_31^0'=tmp_31^post40, x_SLAM_f_20^0'=x_SLAM_f_20^post40, nondet_12^0'=nondet_12^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40, a_193^0'=a_193^post40, temp0_28^0'=temp0_28^post40, i_127^0'=i_127^post40, rcd_67^0'=rcd_67^post40, rcd_102^0'=rcd_102^post40, t_23^0'=t_23^post40, head_29^0'=head_29^post40, rcd_172^0'=rcd_172^post40, temp_33^0'=temp_33^post40, length_25^0'=length_25^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post40, a_163^0'=a_163^post40, rcd_168^0'=rcd_168^post40, temp0_19^0'=temp0_19^post40, i_108^0'=i_108^post40, rcd_41^0'=rcd_41^post40, x_22^0'=x_22^post40, y_21^0'=y_21^post40, r_37^0'=r_37^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, head_16^0'=head_16^post40, temp_32^0'=temp_32^post40, i_27^0'=i_27^post40, result_11^0'=result_11^post40, (tail_15^0-tail_15^post40 == 0 /\ -length_25^post40+length_25^0 == 0 /\ nondet_12^0-nondet_12^post40 == 0 /\ -temp_32^post40+temp_32^0 == 0 /\ -i_108^post40+i_108^0 == 0 /\ temp_33^0-temp_33^post40 == 0 /\ rcd_102^0-rcd_102^post40 == 0 /\ 1+y_21^0-head_16^0 <= 0 /\ y_21^0-y_21^post40 == 0 /\ i_127^0-i_127^post40 == 0 /\ -x_22^post40+x_22^0 == 0 /\ a_137^0-a_137^post40 == 0 /\ a_193^0-a_193^post40 == 0 /\ t_23^0-t_23^post40 == 0 /\ -rcd_172^post40+rcd_172^0 == 0 /\ temp0_19^0-temp0_19^post40 == 0 /\ rcd_192^0-rcd_192^post40 == 0 /\ -r_37^post40+r_37^0 == 0 /\ -rcd_168^post40+rcd_168^0 == 0 /\ -a_163^post40+a_163^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post40 == 0 /\ -head_29^post40+head_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post40+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post40 == 0 /\ -rcd_41^post40+rcd_41^0 == 0 /\ -tmp_31^post40+tmp_31^0 == 0 /\ -head_16^post40+head_16^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ temp0_28^0-temp0_28^post40 == 0 /\ -i_27^post40+i_27^0 == 0 /\ rcd_110^0-rcd_110^post40 == 0 /\ -rcd_67^post40+rcd_67^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post40 == 0), cost: 1
New rule:
l27 -> l28 : 1+y_21^0-head_16^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l28 -> l29 : a_137^0'=a_137^post41, rcd_110^0'=rcd_110^post41, tail_15^0'=tail_15^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, rcd_192^0'=rcd_192^post41, tmp_31^0'=tmp_31^post41, x_SLAM_f_20^0'=x_SLAM_f_20^post41, nondet_12^0'=nondet_12^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41, a_193^0'=a_193^post41, temp0_28^0'=temp0_28^post41, i_127^0'=i_127^post41, rcd_67^0'=rcd_67^post41, rcd_102^0'=rcd_102^post41, t_23^0'=t_23^post41, head_29^0'=head_29^post41, rcd_172^0'=rcd_172^post41, temp_33^0'=temp_33^post41, length_25^0'=length_25^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post41, a_163^0'=a_163^post41, rcd_168^0'=rcd_168^post41, temp0_19^0'=temp0_19^post41, i_108^0'=i_108^post41, rcd_41^0'=rcd_41^post41, x_22^0'=x_22^post41, y_21^0'=y_21^post41, r_37^0'=r_37^post41, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post41, head_16^0'=head_16^post41, temp_32^0'=temp_32^post41, i_27^0'=i_27^post41, result_11^0'=result_11^post41, (-r_37^post41+r_37^0 == 0 /\ -x_22^post41+x_22^0 == 0 /\ -rcd_168^post41+rcd_168^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post41 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ -i_27^post41+i_27^0 == 0 /\ rcd_102^0-rcd_102^post41 == 0 /\ -temp_32^post41+temp_32^0 == 0 /\ tail_15^0-tail_15^post41 == 0 /\ i_127^0-i_127^post41 == 0 /\ a_137^0-a_137^post41 == 0 /\ t_23^0-t_23^post41 == 0 /\ a_193^0-a_193^post41 == 0 /\ -a_163^post41+a_163^0 == 0 /\ -rcd_110^post41+rcd_110^0 == 0 /\ temp_33^0-temp_33^post41 == 0 /\ -head_16^post41+head_16^0 == 0 /\ -temp0_19^post41+temp0_19^0 == 0 /\ -i_108^post41+i_108^0 == 0 /\ -result_11^post41+result_11^0 == 0 /\ -tmp_31^post41+tmp_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post41 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post41 == 0 /\ -rcd_67^post41+rcd_67^0 == 0 /\ -y_21^post41+y_21^0 == 0 /\ -head_29^post41+head_29^0 == 0 /\ rcd_41^0-rcd_41^post41 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post41 == 0 /\ temp0_28^0-temp0_28^post41 == 0 /\ -rcd_172^post41+rcd_172^0 == 0 /\ rcd_192^0-rcd_192^post41 == 0 /\ 1-t_23^0+y_21^0 <= 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post41 == 0 /\ -length_25^post41+length_25^0 == 0), cost: 1
New rule:
l28 -> l29 : 1-t_23^0+y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l28 -> l29 : a_137^0'=a_137^post42, rcd_110^0'=rcd_110^post42, tail_15^0'=tail_15^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, rcd_192^0'=rcd_192^post42, tmp_31^0'=tmp_31^post42, x_SLAM_f_20^0'=x_SLAM_f_20^post42, nondet_12^0'=nondet_12^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42, a_193^0'=a_193^post42, temp0_28^0'=temp0_28^post42, i_127^0'=i_127^post42, rcd_67^0'=rcd_67^post42, rcd_102^0'=rcd_102^post42, t_23^0'=t_23^post42, head_29^0'=head_29^post42, rcd_172^0'=rcd_172^post42, temp_33^0'=temp_33^post42, length_25^0'=length_25^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post42, a_163^0'=a_163^post42, rcd_168^0'=rcd_168^post42, temp0_19^0'=temp0_19^post42, i_108^0'=i_108^post42, rcd_41^0'=rcd_41^post42, x_22^0'=x_22^post42, y_21^0'=y_21^post42, r_37^0'=r_37^post42, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post42, head_16^0'=head_16^post42, temp_32^0'=temp_32^post42, i_27^0'=i_27^post42, result_11^0'=result_11^post42, (-i_27^post42+i_27^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post42 == 0 /\ -temp_33^post42+temp_33^0 == 0 /\ head_29^0-head_29^post42 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post42 == 0 /\ -r_37^post42+r_37^0 == 0 /\ -rcd_168^post42+rcd_168^0 == 0 /\ rcd_110^0-rcd_110^post42 == 0 /\ -i_127^post42+i_127^0 == 0 /\ -temp0_28^post42+temp0_28^0 == 0 /\ length_25^0-length_25^post42 == 0 /\ tail_15^0-tail_15^post42 == 0 /\ a_163^0-a_163^post42 == 0 /\ -temp_32^post42+temp_32^0 == 0 /\ a_193^0-a_193^post42 == 0 /\ a_137^0-a_137^post42 == 0 /\ -head_16^post42+head_16^0 == 0 /\ rcd_102^0-rcd_102^post42 == 0 /\ tmp_31^0-tmp_31^post42 == 0 /\ rcd_172^0-rcd_172^post42 == 0 /\ -i_108^post42+i_108^0 == 0 /\ 1+t_23^0-y_21^0 <= 0 /\ rcd_67^0-rcd_67^post42 == 0 /\ -nondet_12^post42+nondet_12^0 == 0 /\ -t_23^post42+t_23^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post42 == 0 /\ -x_22^post42+x_22^0 == 0 /\ rcd_41^0-rcd_41^post42 == 0 /\ rcd_192^0-rcd_192^post42 == 0 /\ -result_11^post42+result_11^0 == 0 /\ -temp0_19^post42+temp0_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post42 == 0 /\ -y_21^post42+y_21^0 == 0), cost: 1
New rule:
l28 -> l29 : 1+t_23^0-y_21^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l29 -> l1 : a_137^0'=a_137^post43, rcd_110^0'=rcd_110^post43, tail_15^0'=tail_15^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, rcd_192^0'=rcd_192^post43, tmp_31^0'=tmp_31^post43, x_SLAM_f_20^0'=x_SLAM_f_20^post43, nondet_12^0'=nondet_12^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43, a_193^0'=a_193^post43, temp0_28^0'=temp0_28^post43, i_127^0'=i_127^post43, rcd_67^0'=rcd_67^post43, rcd_102^0'=rcd_102^post43, t_23^0'=t_23^post43, head_29^0'=head_29^post43, rcd_172^0'=rcd_172^post43, temp_33^0'=temp_33^post43, length_25^0'=length_25^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post43, a_163^0'=a_163^post43, rcd_168^0'=rcd_168^post43, temp0_19^0'=temp0_19^post43, i_108^0'=i_108^post43, rcd_41^0'=rcd_41^post43, x_22^0'=x_22^post43, y_21^0'=y_21^post43, r_37^0'=r_37^post43, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post43, head_16^0'=head_16^post43, temp_32^0'=temp_32^post43, i_27^0'=i_27^post43, result_11^0'=result_11^post43, (0 == 0 /\ head_29^0-head_29^post43 == 0 /\ -a_163^post43+a_163^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post43+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_110^0-rcd_110^post43 == 0 /\ length_25^0-length_25^post43 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ -temp_33^post43+temp_33^0 == 0 /\ temp0_28^0-temp0_28^post43 == 0 /\ temp0_19^0-temp0_19^post43 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post43 == 0 /\ r_37^0-r_37^post43 == 0 /\ a_193^0-a_193^post43 == 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -head_16^post43+head_16^0 == 0 /\ -result_11^post43+result_11^0 == 0 /\ 1+a_137^0-i_127^post43 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post43 == 0 /\ rcd_102^0-rcd_102^post43 == 0 /\ -t_23^post43+t_23^0 == 0 /\ -rcd_41^post43+rcd_41^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_192^0-rcd_192^post43 == 0 /\ tmp_31^0-tmp_31^post43 == 0 /\ -y_21^post43+y_21^0 == 0 /\ rcd_67^0-rcd_67^post43 == 0 /\ rcd_172^0-rcd_172^post43 == 0 /\ -i_27^post43+i_27^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ -temp_32^post43+temp_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_108^post43+i_108^0 == 0 /\ tail_15^0-tail_15^post43 == 0 /\ a_137^0-a_137^post43 == 0 /\ -x_22^post43+x_22^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1-a_137^0+i_127^post43 <= 0 /\ rcd_168^0-rcd_168^post43 == 0), cost: 1
New rule:
l29 -> l1 : i_127^0'=1+a_137^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l18 -> l30 : a_137^0'=a_137^post44, rcd_110^0'=rcd_110^post44, tail_15^0'=tail_15^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, rcd_192^0'=rcd_192^post44, tmp_31^0'=tmp_31^post44, x_SLAM_f_20^0'=x_SLAM_f_20^post44, nondet_12^0'=nondet_12^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44, a_193^0'=a_193^post44, temp0_28^0'=temp0_28^post44, i_127^0'=i_127^post44, rcd_67^0'=rcd_67^post44, rcd_102^0'=rcd_102^post44, t_23^0'=t_23^post44, head_29^0'=head_29^post44, rcd_172^0'=rcd_172^post44, temp_33^0'=temp_33^post44, length_25^0'=length_25^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post44, a_163^0'=a_163^post44, rcd_168^0'=rcd_168^post44, temp0_19^0'=temp0_19^post44, i_108^0'=i_108^post44, rcd_41^0'=rcd_41^post44, x_22^0'=x_22^post44, y_21^0'=y_21^post44, r_37^0'=r_37^post44, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post44, head_16^0'=head_16^post44, temp_32^0'=temp_32^post44, i_27^0'=i_27^post44, result_11^0'=result_11^post44, (0 == 0 /\ -1+i_27^post44-i_27^0 == 0 /\ 1-length_25^0+i_108^post44 <= 0 /\ temp0_19^0-temp0_19^post44 == 0 /\ temp0_28^0-temp0_28^post44 == 0 /\ tail_15^0-tail_15^post44 == 0 /\ r_37^0-r_37^post44 == 0 /\ -a_163^post44+a_163^0 == 0 /\ -rcd_67^post44+rcd_67^0 == 0 /\ 1-length_25^0+i_27^0 <= 0 /\ -1+i_27^post44-i_108^post44 <= 0 /\ -tmp_31^post44+head_29^post44 == 0 /\ -length_25^post44+length_25^0 == 0 /\ -head_16^post44+head_16^0 == 0 /\ x_22^0-x_22^post44 == 0 /\ -result_11^post44+result_11^0 == 0 /\ -rcd_172^post44+rcd_172^0 == 0 /\ -y_21^post44+y_21^0 == 0 /\ tmp_31^post44-temp_32^0 == 0 /\ -x_SLAM_f_20^post44+x_SLAM_f_20^0 == 0 /\ t_23^0-t_23^post44 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_192^0-rcd_192^post44 == 0 /\ -a_193^post44+a_193^0 == 0 /\ 1-i_27^post44+i_108^post44 <= 0 /\ -rcd_41^post44+rcd_110^post44 <= 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ -rcd_110^post44+rcd_41^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post44 == 0 /\ -i_27^0 <= 0 /\ a_137^0-a_137^post44 == 0 /\ temp_33^0-temp_33^post44 == 0 /\ i_127^0-i_127^post44 == 0 /\ rcd_41^post44-rcd_110^post44 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post44+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_110^post44-rcd_41^0 <= 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post44 == 0 /\ rcd_168^0-rcd_168^post44 == 0), cost: 1
New rule:
l18 -> l30 : rcd_110^0'=rcd_41^0, tmp_31^0'=temp_32^0, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^0, i_108^0'=i_27^0, temp_32^0'=temp_32^post44, i_27^0'=1+i_27^0, (1-length_25^0+i_27^0 <= 0 /\ i_27^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l30 -> l18 : a_137^0'=a_137^post45, rcd_110^0'=rcd_110^post45, tail_15^0'=tail_15^post45, head_SLAM_f_26^0'=head_SLAM_f_26^post45, rcd_192^0'=rcd_192^post45, tmp_31^0'=tmp_31^post45, x_SLAM_f_20^0'=x_SLAM_f_20^post45, nondet_12^0'=nondet_12^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post45, a_193^0'=a_193^post45, temp0_28^0'=temp0_28^post45, i_127^0'=i_127^post45, rcd_67^0'=rcd_67^post45, rcd_102^0'=rcd_102^post45, t_23^0'=t_23^post45, head_29^0'=head_29^post45, rcd_172^0'=rcd_172^post45, temp_33^0'=temp_33^post45, length_25^0'=length_25^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, a_163^0'=a_163^post45, rcd_168^0'=rcd_168^post45, temp0_19^0'=temp0_19^post45, i_108^0'=i_108^post45, rcd_41^0'=rcd_41^post45, x_22^0'=x_22^post45, y_21^0'=y_21^post45, r_37^0'=r_37^post45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, head_16^0'=head_16^post45, temp_32^0'=temp_32^post45, i_27^0'=i_27^post45, result_11^0'=result_11^post45, (-y_21^post45+y_21^0 == 0 /\ a_163^0-a_163^post45 == 0 /\ -length_25^post45+length_25^0 == 0 /\ t_23^0-t_23^post45 == 0 /\ tail_15^0-tail_15^post45 == 0 /\ -temp_32^post45+temp_32^0 == 0 /\ -rcd_41^post45+rcd_41^0 == 0 /\ -rcd_102^post45+rcd_102^0 == 0 /\ x_22^0-x_22^post45 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_37^post45+r_37^0 == 0 /\ head_16^0-head_16^post45 == 0 /\ -i_108^post45+i_108^0 == 0 /\ -x_SLAM_f_20^post45+x_SLAM_f_20^0 == 0 /\ a_137^0-a_137^post45 == 0 /\ rcd_67^0-rcd_67^post45 == 0 /\ temp0_28^0-temp0_28^post45 == 0 /\ rcd_192^0-rcd_192^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post45+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ -temp0_19^post45+temp0_19^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ -rcd_172^post45+rcd_172^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post45 == 0 /\ -i_27^post45+i_27^0 == 0 /\ tmp_31^0-tmp_31^post45 == 0 /\ head_29^0-head_29^post45 == 0 /\ temp_33^0-temp_33^post45 == 0 /\ i_127^0-i_127^post45 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post45 == 0 /\ rcd_110^0-rcd_110^post45 == 0 /\ -a_193^post45+a_193^0 == 0 /\ -rcd_168^post45+rcd_168^0 == 0), cost: 1
New rule:
l30 -> l18 : TRUE, cost: 1

Applied preprocessing
Original rule:
l11 -> l12 : a_137^0'=a_137^post47, rcd_110^0'=rcd_110^post47, tail_15^0'=tail_15^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, rcd_192^0'=rcd_192^post47, tmp_31^0'=tmp_31^post47, x_SLAM_f_20^0'=x_SLAM_f_20^post47, nondet_12^0'=nondet_12^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47, a_193^0'=a_193^post47, temp0_28^0'=temp0_28^post47, i_127^0'=i_127^post47, rcd_67^0'=rcd_67^post47, rcd_102^0'=rcd_102^post47, t_23^0'=t_23^post47, head_29^0'=head_29^post47, rcd_172^0'=rcd_172^post47, temp_33^0'=temp_33^post47, length_25^0'=length_25^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47, a_163^0'=a_163^post47, rcd_168^0'=rcd_168^post47, temp0_19^0'=temp0_19^post47, i_108^0'=i_108^post47, rcd_41^0'=rcd_41^post47, x_22^0'=x_22^post47, y_21^0'=y_21^post47, r_37^0'=r_37^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post47, head_16^0'=head_16^post47, temp_32^0'=temp_32^post47, i_27^0'=i_27^post47, result_11^0'=result_11^post47, (0 == 0 /\ tail_15^post47-head_SLAM_f_26^post47 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47+head_29^post47 <= 0 /\ rcd_102^0-rcd_102^post47 == 0 /\ -i_127^post47+i_127^0 == 0 /\ rcd_110^0-rcd_110^post47 == 0 /\ -temp0_19^post47+temp0_19^0 == 0 /\ 1-length_25^0+i_27^0 <= 0 /\ length_25^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post47 <= 0 /\ rcd_192^0-rcd_192^post47 == 0 /\ a_163^0-a_163^post47 == 0 /\ -tail_15^post47+head_SLAM_f_26^post47 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47-head_29^post47 <= 0 /\ -rcd_67^post47+rcd_67^0 == 0 /\ 1-i_27^post47 <= 0 /\ -1+i_27^post47 <= 0 /\ -head_16^post47+head_16^0 == 0 /\ -result_11^post47+result_11^0 == 0 /\ -length_25^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post47 <= 0 /\ 1-length_25^0 <= 0 /\ -rcd_168^post47+rcd_168^0 == 0 /\ rcd_172^0-rcd_172^post47 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47-tail_15^post47 <= 0 /\ tmp_31^post47-temp_32^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47+tmp_31^post47 <= 0 /\ temp0_28^0-temp0_28^post47 == 0 /\ rcd_41^0-rcd_41^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47+head_SLAM_f_26^post47 <= 0 /\ tmp_31^post47-head_29^post47 <= 0 /\ -y_21^post47+y_21^0 == 0 /\ -x_22^post47+x_22^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post47 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ length_25^0-length_25^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47+tail_15^post47 <= 0 /\ a_137^0-a_137^post47 == 0 /\ a_193^0-a_193^post47 == 0 /\ -i_108^post47+i_108^0 == 0 /\ -temp_33^post47+temp_33^0 == 0 /\ -1+i_27^post47-i_27^0 == 0 /\ -t_23^post47+t_23^0 == 0 /\ -r_37^post47+r_37^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post47-tmp_31^post47 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47-head_SLAM_f_26^post47 <= 0 /\ -tmp_31^post47+head_29^post47 <= 0 /\ -tmp_31^post47+head_29^post47 == 0), cost: 1
New rule:
l11 -> l12 : tail_15^0'=head_SLAM_f_26^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, tmp_31^0'=temp_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_25^0, temp_32^0'=temp_32^post47, i_27^0'=1, (-1+length_25^0 >= 0 /\ i_27^0 == 0), cost: 1

Applied preprocessing
Original rule:
l31 -> l10 : a_137^0'=a_137^post48, rcd_110^0'=rcd_110^post48, tail_15^0'=tail_15^post48, head_SLAM_f_26^0'=head_SLAM_f_26^post48, rcd_192^0'=rcd_192^post48, tmp_31^0'=tmp_31^post48, x_SLAM_f_20^0'=x_SLAM_f_20^post48, nondet_12^0'=nondet_12^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post48, a_193^0'=a_193^post48, temp0_28^0'=temp0_28^post48, i_127^0'=i_127^post48, rcd_67^0'=rcd_67^post48, rcd_102^0'=rcd_102^post48, t_23^0'=t_23^post48, head_29^0'=head_29^post48, rcd_172^0'=rcd_172^post48, temp_33^0'=temp_33^post48, length_25^0'=length_25^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48, a_163^0'=a_163^post48, rcd_168^0'=rcd_168^post48, temp0_19^0'=temp0_19^post48, i_108^0'=i_108^post48, rcd_41^0'=rcd_41^post48, x_22^0'=x_22^post48, y_21^0'=y_21^post48, r_37^0'=r_37^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post48, head_16^0'=head_16^post48, temp_32^0'=temp_32^post48, i_27^0'=i_27^post48, result_11^0'=result_11^post48, (-temp_32^post48+temp_32^0 == 0 /\ rcd_192^0-rcd_192^post48 == 0 /\ r_37^0-r_37^post48 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48 == 0 /\ tmp_31^0-tmp_31^post48 == 0 /\ i_127^0-i_127^post48 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post48 == 0 /\ -temp0_19^post48+temp0_19^0 == 0 /\ -y_21^post48+y_21^0 == 0 /\ rcd_110^0-rcd_110^post48 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post48 == 0 /\ tail_15^0-tail_15^post48 == 0 /\ -head_29^post48+head_29^0 == 0 /\ rcd_172^0-rcd_172^post48 == 0 /\ -x_22^post48+x_22^0 == 0 /\ -result_11^post48+result_11^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post48+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -temp0_28^post48+temp0_28^0 == 0 /\ a_193^0-a_193^post48 == 0 /\ -a_163^post48+a_163^0 == 0 /\ length_25^0-length_25^post48 == 0 /\ i_108^0-i_108^post48 == 0 /\ -rcd_41^post48+rcd_41^0 == 0 /\ rcd_168^0-rcd_168^post48 == 0 /\ -t_23^post48+t_23^0 == 0 /\ -head_16^post48+head_16^0 == 0 /\ rcd_102^0-rcd_102^post48 == 0 /\ -temp_33^post48+temp_33^0 == 0 /\ rcd_67^0-rcd_67^post48 == 0 /\ -i_27^post48+i_27^0 == 0 /\ a_137^0-a_137^post48 == 0), cost: 1
New rule:
l31 -> l10 : TRUE, cost: 1

Simplified rules
Start location: l31
  51: l1 -> l20 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, a_163^0 >= 0, cost: 1
  49: l10 -> l11 : tail_15^0'=temp_33^0, head_SLAM_f_26^0'=temp_33^0, nondet_12^0'=nondet_12^post13, head_29^0'=temp_33^0, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, i_27^0'=0, 0 == 0, cost: 1
  72: l11 -> l12 : tail_15^0'=head_SLAM_f_26^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, tmp_31^0'=temp_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_25^0, temp_32^0'=temp_32^post47, i_27^0'=1, (-1+length_25^0 >= 0 /\ i_27^0 == 0), cost: 1
  50: l12 -> l18 : tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, tmp_31^0'=temp_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, rcd_67^0'=rcd_67^post23, head_29^0'=temp_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_25^0, temp_32^0'=temp_32^post23, i_27^0'=2, (-2+length_25^0 >= 0 /\ -1+i_27^0 == 0), cost: 1
  61: l18 -> l25 : tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=head_29^0, y_21^0'=tail_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (length_25^0-i_27^0 <= 0 /\ -i_27^0 <= 0 /\ -2+i_27^post35 >= 0), cost: 1
  70: l18 -> l30 : rcd_110^0'=rcd_41^0, tmp_31^0'=temp_32^0, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^0, i_108^0'=i_27^0, temp_32^0'=temp_32^post44, i_27^0'=1+i_27^0, (1-length_25^0+i_27^0 <= 0 /\ i_27^0 >= 0), cost: 1
  52: l20 -> l21 : 1-x_22^0+y_21^0 <= 0, cost: 1
  53: l20 -> l21 : 1+x_22^0-y_21^0 <= 0, cost: 1
  54: l21 -> l22 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 1
  55: l22 -> l23 : 1-y_21^0+head_16^0 <= 0, cost: 1
  56: l22 -> l23 : 1+y_21^0-head_16^0 <= 0, cost: 1
  57: l23 -> l24 : 1-t_23^0+y_21^0 <= 0, cost: 1
  58: l23 -> l24 : 1+t_23^0-y_21^0 <= 0, cost: 1
  59: l24 -> l19 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
  60: l19 -> l1 : TRUE, cost: 1
  62: l25 -> l26 : 1-x_22^0+y_21^0 <= 0, cost: 1
  63: l25 -> l26 : 1+x_22^0-y_21^0 <= 0, cost: 1
  64: l26 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 1
  65: l27 -> l28 : 1-y_21^0+head_16^0 <= 0, cost: 1
  66: l27 -> l28 : 1+y_21^0-head_16^0 <= 0, cost: 1
  67: l28 -> l29 : 1-t_23^0+y_21^0 <= 0, cost: 1
  68: l28 -> l29 : 1+t_23^0-y_21^0 <= 0, cost: 1
  69: l29 -> l1 : i_127^0'=1+a_137^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
  71: l30 -> l18 : TRUE, cost: 1
  73: l31 -> l10 : TRUE, cost: 1


Eliminating location l10 by chaining:

Applied chaining
First rule:
l31 -> l10 : TRUE, cost: 1
Second rule:
l10 -> l11 : tail_15^0'=temp_33^0, head_SLAM_f_26^0'=temp_33^0, nondet_12^0'=nondet_12^post13, head_29^0'=temp_33^0, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, i_27^0'=0, 0 == 0, cost: 1
New rule:
l31 -> l11 : tail_15^0'=temp_33^0, head_SLAM_f_26^0'=temp_33^0, nondet_12^0'=nondet_12^post13, head_29^0'=temp_33^0, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, i_27^0'=0, 0 == 0, cost: 2

Applied deletion
Removed the following rules: 49 73

Eliminating location l11 by chaining:

Applied chaining
First rule:
l31 -> l11 : tail_15^0'=temp_33^0, head_SLAM_f_26^0'=temp_33^0, nondet_12^0'=nondet_12^post13, head_29^0'=temp_33^0, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, i_27^0'=0, 0 == 0, cost: 2
Second rule:
l11 -> l12 : tail_15^0'=head_SLAM_f_26^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, tmp_31^0'=temp_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_25^0, temp_32^0'=temp_32^post47, i_27^0'=1, (-1+length_25^0 >= 0 /\ i_27^0 == 0), cost: 1
New rule:
l31 -> l12 : tail_15^0'=head_SLAM_f_26^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, tmp_31^0'=temp_32^0, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post47, i_27^0'=1, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3

Applied simplification
Original rule:
l31 -> l12 : tail_15^0'=head_SLAM_f_26^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, tmp_31^0'=temp_32^0, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post47, i_27^0'=1, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3
New rule:
l31 -> l12 : tail_15^0'=head_SLAM_f_26^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, tmp_31^0'=temp_32^0, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post47, i_27^0'=1, -1+nondet_12^10 >= 0, cost: 3

Applied deletion
Removed the following rules: 72 74

Eliminating location l12 by chaining:

Applied chaining
First rule:
l31 -> l12 : tail_15^0'=head_SLAM_f_26^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, tmp_31^0'=temp_32^0, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, head_29^0'=temp_32^0, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post47, i_27^0'=1, -1+nondet_12^10 >= 0, cost: 3
Second rule:
l12 -> l18 : tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, tmp_31^0'=temp_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, rcd_67^0'=rcd_67^post23, head_29^0'=temp_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_25^0, temp_32^0'=temp_32^post23, i_27^0'=2, (-2+length_25^0 >= 0 /\ -1+i_27^0 == 0), cost: 1
New rule:
l31 -> l18 : tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, tmp_31^0'=temp_32^post47, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post47, rcd_67^0'=rcd_67^post23, head_29^0'=temp_32^post47, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post23, i_27^0'=2, (0 == 0 /\ -1+nondet_12^10 >= 0 /\ -2+nondet_12^10 >= 0), cost: 4

Applied simplification
Original rule:
l31 -> l18 : tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, tmp_31^0'=temp_32^post47, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post47, rcd_67^0'=rcd_67^post23, head_29^0'=temp_32^post47, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post23, i_27^0'=2, (0 == 0 /\ -1+nondet_12^10 >= 0 /\ -2+nondet_12^10 >= 0), cost: 4
New rule:
l31 -> l18 : tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, tmp_31^0'=temp_32^post47, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post47, rcd_67^0'=rcd_67^post23, head_29^0'=temp_32^post47, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post23, i_27^0'=2, -2+nondet_12^10 >= 0, cost: 4

Applied deletion
Removed the following rules: 50 75

Eliminating location l30 by chaining:

Applied chaining
First rule:
l18 -> l30 : rcd_110^0'=rcd_41^0, tmp_31^0'=temp_32^0, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^0, i_108^0'=i_27^0, temp_32^0'=temp_32^post44, i_27^0'=1+i_27^0, (1-length_25^0+i_27^0 <= 0 /\ i_27^0 >= 0), cost: 1
Second rule:
l30 -> l18 : TRUE, cost: 1
New rule:
l18 -> l18 : rcd_110^0'=rcd_41^0, tmp_31^0'=temp_32^0, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^0, i_108^0'=i_27^0, temp_32^0'=temp_32^post44, i_27^0'=1+i_27^0, (1-length_25^0+i_27^0 <= 0 /\ i_27^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 70 71

Eliminating location l19 by chaining:

Applied chaining
First rule:
l24 -> l19 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
Second rule:
l19 -> l1 : TRUE, cost: 1
New rule:
l24 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 59 60

Eliminated locations on linear paths
Start location: l31
  51: l1 -> l20 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, a_163^0 >= 0, cost: 1
  61: l18 -> l25 : tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=head_29^0, y_21^0'=tail_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (length_25^0-i_27^0 <= 0 /\ -i_27^0 <= 0 /\ -2+i_27^post35 >= 0), cost: 1
  77: l18 -> l18 : rcd_110^0'=rcd_41^0, tmp_31^0'=temp_32^0, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^0, i_108^0'=i_27^0, temp_32^0'=temp_32^post44, i_27^0'=1+i_27^0, (1-length_25^0+i_27^0 <= 0 /\ i_27^0 >= 0), cost: 2
  52: l20 -> l21 : 1-x_22^0+y_21^0 <= 0, cost: 1
  53: l20 -> l21 : 1+x_22^0-y_21^0 <= 0, cost: 1
  54: l21 -> l22 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 1
  55: l22 -> l23 : 1-y_21^0+head_16^0 <= 0, cost: 1
  56: l22 -> l23 : 1+y_21^0-head_16^0 <= 0, cost: 1
  57: l23 -> l24 : 1-t_23^0+y_21^0 <= 0, cost: 1
  58: l23 -> l24 : 1+t_23^0-y_21^0 <= 0, cost: 1
  78: l24 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
  62: l25 -> l26 : 1-x_22^0+y_21^0 <= 0, cost: 1
  63: l25 -> l26 : 1+x_22^0-y_21^0 <= 0, cost: 1
  64: l26 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 1
  65: l27 -> l28 : 1-y_21^0+head_16^0 <= 0, cost: 1
  66: l27 -> l28 : 1+y_21^0-head_16^0 <= 0, cost: 1
  67: l28 -> l29 : 1-t_23^0+y_21^0 <= 0, cost: 1
  68: l28 -> l29 : 1+t_23^0-y_21^0 <= 0, cost: 1
  69: l29 -> l1 : i_127^0'=1+a_137^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
  76: l31 -> l18 : tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, tmp_31^0'=temp_32^post47, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post47, rcd_67^0'=rcd_67^post23, head_29^0'=temp_32^post47, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post23, i_27^0'=2, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l18 -> l18 : rcd_110^0'=rcd_41^0, tmp_31^0'=temp_32^0, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^0, i_108^0'=i_27^0, temp_32^0'=temp_32^post44, i_27^0'=1+i_27^0, (1-length_25^0+i_27^0 <= 0 /\ i_27^0 >= 0), cost: 2
New rule:
l18 -> l18 : rcd_110^0'=rcd_41^0, tmp_31^0'=temp_32^post44, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^post44, i_108^0'=-1+n0+i_27^0, temp_32^0'=temp_32^post44, i_27^0'=n0+i_27^0, (-2+n0 >= 0 /\ length_25^0-n0-i_27^0 >= 0 /\ i_27^0 >= 0), cost: 2*n0

Applied instantiation
Original rule:
l18 -> l18 : rcd_110^0'=rcd_41^0, tmp_31^0'=temp_32^post44, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^post44, i_108^0'=-1+n0+i_27^0, temp_32^0'=temp_32^post44, i_27^0'=n0+i_27^0, (-2+n0 >= 0 /\ length_25^0-n0-i_27^0 >= 0 /\ i_27^0 >= 0), cost: 2*n0
New rule:
l18 -> l18 : rcd_110^0'=rcd_41^0, tmp_31^0'=temp_32^post44, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^post44, i_108^0'=-1+length_25^0, temp_32^0'=temp_32^post44, i_27^0'=length_25^0, (0 >= 0 /\ -2+length_25^0-i_27^0 >= 0 /\ i_27^0 >= 0), cost: 2*length_25^0-2*i_27^0

Applied simplification
Original rule:
l18 -> l18 : rcd_110^0'=rcd_41^0, tmp_31^0'=temp_32^post44, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^post44, i_108^0'=-1+length_25^0, temp_32^0'=temp_32^post44, i_27^0'=length_25^0, (0 >= 0 /\ -2+length_25^0-i_27^0 >= 0 /\ i_27^0 >= 0), cost: 2*length_25^0-2*i_27^0
New rule:
l18 -> l18 : rcd_110^0'=rcd_41^0, tmp_31^0'=temp_32^post44, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^post44, i_108^0'=-1+length_25^0, temp_32^0'=temp_32^post44, i_27^0'=length_25^0, (-2+length_25^0-i_27^0 >= 0 /\ i_27^0 >= 0), cost: 2*length_25^0-2*i_27^0

Applied deletion
Removed the following rules: 77

Accelerated simple loops
Start location: l31
  51: l1 -> l20 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, a_163^0 >= 0, cost: 1
  61: l18 -> l25 : tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=head_29^0, y_21^0'=tail_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (length_25^0-i_27^0 <= 0 /\ -i_27^0 <= 0 /\ -2+i_27^post35 >= 0), cost: 1
  80: l18 -> l18 : rcd_110^0'=rcd_41^0, tmp_31^0'=temp_32^post44, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^post44, i_108^0'=-1+length_25^0, temp_32^0'=temp_32^post44, i_27^0'=length_25^0, (-2+length_25^0-i_27^0 >= 0 /\ i_27^0 >= 0), cost: 2*length_25^0-2*i_27^0
  52: l20 -> l21 : 1-x_22^0+y_21^0 <= 0, cost: 1
  53: l20 -> l21 : 1+x_22^0-y_21^0 <= 0, cost: 1
  54: l21 -> l22 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 1
  55: l22 -> l23 : 1-y_21^0+head_16^0 <= 0, cost: 1
  56: l22 -> l23 : 1+y_21^0-head_16^0 <= 0, cost: 1
  57: l23 -> l24 : 1-t_23^0+y_21^0 <= 0, cost: 1
  58: l23 -> l24 : 1+t_23^0-y_21^0 <= 0, cost: 1
  78: l24 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
  62: l25 -> l26 : 1-x_22^0+y_21^0 <= 0, cost: 1
  63: l25 -> l26 : 1+x_22^0-y_21^0 <= 0, cost: 1
  64: l26 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 1
  65: l27 -> l28 : 1-y_21^0+head_16^0 <= 0, cost: 1
  66: l27 -> l28 : 1+y_21^0-head_16^0 <= 0, cost: 1
  67: l28 -> l29 : 1-t_23^0+y_21^0 <= 0, cost: 1
  68: l28 -> l29 : 1+t_23^0-y_21^0 <= 0, cost: 1
  69: l29 -> l1 : i_127^0'=1+a_137^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
  76: l31 -> l18 : tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, tmp_31^0'=temp_32^post47, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post47, rcd_67^0'=rcd_67^post23, head_29^0'=temp_32^post47, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post23, i_27^0'=2, -2+nondet_12^10 >= 0, cost: 4


Applied chaining
First rule:
l31 -> l18 : tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, tmp_31^0'=temp_32^post47, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post47, rcd_67^0'=rcd_67^post23, head_29^0'=temp_32^post47, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post23, i_27^0'=2, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l18 -> l18 : rcd_110^0'=rcd_41^0, tmp_31^0'=temp_32^post44, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^post44, i_108^0'=-1+length_25^0, temp_32^0'=temp_32^post44, i_27^0'=length_25^0, (-2+length_25^0-i_27^0 >= 0 /\ i_27^0 >= 0), cost: 2*length_25^0-2*i_27^0
New rule:
l31 -> l18 : rcd_110^0'=rcd_41^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, tmp_31^0'=temp_32^post44, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post47, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^post44, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, i_108^0'=-1+nondet_12^10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post44, i_27^0'=nondet_12^10, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10

Applied deletion
Removed the following rules: 80

Chained accelerated rules with incoming rules
Start location: l31
  51: l1 -> l20 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, a_163^0 >= 0, cost: 1
  61: l18 -> l25 : tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=head_29^0, y_21^0'=tail_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (length_25^0-i_27^0 <= 0 /\ -i_27^0 <= 0 /\ -2+i_27^post35 >= 0), cost: 1
  52: l20 -> l21 : 1-x_22^0+y_21^0 <= 0, cost: 1
  53: l20 -> l21 : 1+x_22^0-y_21^0 <= 0, cost: 1
  54: l21 -> l22 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 1
  55: l22 -> l23 : 1-y_21^0+head_16^0 <= 0, cost: 1
  56: l22 -> l23 : 1+y_21^0-head_16^0 <= 0, cost: 1
  57: l23 -> l24 : 1-t_23^0+y_21^0 <= 0, cost: 1
  58: l23 -> l24 : 1+t_23^0-y_21^0 <= 0, cost: 1
  78: l24 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
  62: l25 -> l26 : 1-x_22^0+y_21^0 <= 0, cost: 1
  63: l25 -> l26 : 1+x_22^0-y_21^0 <= 0, cost: 1
  64: l26 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 1
  65: l27 -> l28 : 1-y_21^0+head_16^0 <= 0, cost: 1
  66: l27 -> l28 : 1+y_21^0-head_16^0 <= 0, cost: 1
  67: l28 -> l29 : 1-t_23^0+y_21^0 <= 0, cost: 1
  68: l28 -> l29 : 1+t_23^0-y_21^0 <= 0, cost: 1
  69: l29 -> l1 : i_127^0'=1+a_137^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
  76: l31 -> l18 : tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, tmp_31^0'=temp_32^post47, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post47, rcd_67^0'=rcd_67^post23, head_29^0'=temp_32^post47, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post23, i_27^0'=2, -2+nondet_12^10 >= 0, cost: 4
  81: l31 -> l18 : rcd_110^0'=rcd_41^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, tmp_31^0'=temp_32^post44, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post47, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^post44, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, i_108^0'=-1+nondet_12^10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post44, i_27^0'=nondet_12^10, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10


Eliminating location l18 by chaining:

Applied chaining
First rule:
l31 -> l18 : tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, tmp_31^0'=temp_32^post47, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post47, rcd_67^0'=rcd_67^post23, head_29^0'=temp_32^post47, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post23, i_27^0'=2, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l18 -> l25 : tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=head_29^0, y_21^0'=tail_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (length_25^0-i_27^0 <= 0 /\ -i_27^0 <= 0 /\ -2+i_27^post35 >= 0), cost: 1
New rule:
l31 -> l25 : tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post23, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-2 <= 0 /\ -2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5

Applied simplification
Original rule:
l31 -> l25 : tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post23, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-2 <= 0 /\ -2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
New rule:
l31 -> l25 : tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post23, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5

Applied chaining
First rule:
l31 -> l18 : rcd_110^0'=rcd_41^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, tmp_31^0'=temp_32^post44, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post47, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, head_29^0'=temp_32^post44, temp_33^0'=temp_33^post13, length_25^0'=nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, i_108^0'=-1+nondet_12^10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_32^0'=temp_32^post44, i_27^0'=nondet_12^10, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10
Second rule:
l18 -> l25 : tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=head_29^0, y_21^0'=tail_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (length_25^0-i_27^0 <= 0 /\ -i_27^0 <= 0 /\ -2+i_27^post35 >= 0), cost: 1
New rule:
l31 -> l25 : rcd_110^0'=rcd_41^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (0 <= 0 /\ -nondet_12^10 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0), cost: 1+2*nondet_12^10

Applied simplification
Original rule:
l31 -> l25 : rcd_110^0'=rcd_41^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (0 <= 0 /\ -nondet_12^10 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0), cost: 1+2*nondet_12^10
New rule:
l31 -> l25 : rcd_110^0'=rcd_41^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0), cost: 1+2*nondet_12^10

Applied deletion
Removed the following rules: 61 76 81

Eliminating location l26 by chaining:

Applied chaining
First rule:
l25 -> l26 : 1-x_22^0+y_21^0 <= 0, cost: 1
Second rule:
l26 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 1
New rule:
l25 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 2

Applied chaining
First rule:
l25 -> l26 : 1+x_22^0-y_21^0 <= 0, cost: 1
Second rule:
l26 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 1
New rule:
l25 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 2

Applied deletion
Removed the following rules: 62 63 64

Eliminating location l28 by chaining:

Applied chaining
First rule:
l27 -> l28 : 1-y_21^0+head_16^0 <= 0, cost: 1
Second rule:
l28 -> l29 : 1-t_23^0+y_21^0 <= 0, cost: 1
New rule:
l27 -> l29 : (1-y_21^0+head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0), cost: 2

Applied chaining
First rule:
l27 -> l28 : 1-y_21^0+head_16^0 <= 0, cost: 1
Second rule:
l28 -> l29 : 1+t_23^0-y_21^0 <= 0, cost: 1
New rule:
l27 -> l29 : (1-y_21^0+head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0), cost: 2

Applied chaining
First rule:
l27 -> l28 : 1+y_21^0-head_16^0 <= 0, cost: 1
Second rule:
l28 -> l29 : 1-t_23^0+y_21^0 <= 0, cost: 1
New rule:
l27 -> l29 : (1+y_21^0-head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0), cost: 2

Applied chaining
First rule:
l27 -> l28 : 1+y_21^0-head_16^0 <= 0, cost: 1
Second rule:
l28 -> l29 : 1+t_23^0-y_21^0 <= 0, cost: 1
New rule:
l27 -> l29 : (1+y_21^0-head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 65 66 67 68

Eliminating location l20 by chaining:

Applied chaining
First rule:
l1 -> l20 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, a_163^0 >= 0, cost: 1
Second rule:
l20 -> l21 : 1-x_22^0+y_21^0 <= 0, cost: 1
New rule:
l1 -> l21 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0), cost: 2

Applied chaining
First rule:
l1 -> l20 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, a_163^0 >= 0, cost: 1
Second rule:
l20 -> l21 : 1+x_22^0-y_21^0 <= 0, cost: 1
New rule:
l1 -> l21 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 51 52 53

Eliminating location l22 by chaining:

Applied chaining
First rule:
l21 -> l22 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 1
Second rule:
l22 -> l23 : 1-y_21^0+head_16^0 <= 0, cost: 1
New rule:
l21 -> l23 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, (1-y_21^0+head_16^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 2

Applied chaining
First rule:
l21 -> l22 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 1
Second rule:
l22 -> l23 : 1+y_21^0-head_16^0 <= 0, cost: 1
New rule:
l21 -> l23 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ 1+y_21^0-head_16^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 2

Applied deletion
Removed the following rules: 54 55 56

Eliminating location l24 by chaining:

Applied chaining
First rule:
l23 -> l24 : 1-t_23^0+y_21^0 <= 0, cost: 1
Second rule:
l24 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
New rule:
l23 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1-t_23^0+y_21^0 <= 0), cost: 3

Applied chaining
First rule:
l23 -> l24 : 1+t_23^0-y_21^0 <= 0, cost: 1
Second rule:
l24 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 2
New rule:
l23 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+t_23^0-y_21^0 <= 0), cost: 3

Applied deletion
Removed the following rules: 57 58 78

Eliminated locations on tree-shaped paths
Start location: l31
  90: l1 -> l21 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0), cost: 2
  91: l1 -> l21 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0), cost: 2
  92: l21 -> l23 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, (1-y_21^0+head_16^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 2
  93: l21 -> l23 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ 1+y_21^0-head_16^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 2
  94: l23 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1-t_23^0+y_21^0 <= 0), cost: 3
  95: l23 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+t_23^0-y_21^0 <= 0), cost: 3
  84: l25 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 2
  85: l25 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 2
  86: l27 -> l29 : (1-y_21^0+head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0), cost: 2
  87: l27 -> l29 : (1-y_21^0+head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0), cost: 2
  88: l27 -> l29 : (1+y_21^0-head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0), cost: 2
  89: l27 -> l29 : (1+y_21^0-head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0), cost: 2
  69: l29 -> l1 : i_127^0'=1+a_137^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
  82: l31 -> l25 : tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post23, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
  83: l31 -> l25 : rcd_110^0'=rcd_41^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0), cost: 1+2*nondet_12^10


Applied merging
first rule:
l1 -> l21 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0), cost: 2
second rule:
l1 -> l21 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0), cost: 2
new rule:
l1 -> l21 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, ((1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0) \/ (1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0)), cost: 2

Applied merging
first rule:
l21 -> l23 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, (1-y_21^0+head_16^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 2
second rule:
l21 -> l23 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ 1+y_21^0-head_16^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 2
new rule:
l21 -> l23 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, ((1-y_21^0+head_16^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ 1+y_21^0-head_16^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0)), cost: 2

Applied merging
first rule:
l25 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 2
second rule:
l25 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0), cost: 2
new rule:
l25 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, ((-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0) \/ (-x_22^0+head_16^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0)), cost: 2

Applied merging
first rule:
l27 -> l29 : (1-y_21^0+head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0), cost: 2
second rule:
l27 -> l29 : (1-y_21^0+head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0), cost: 2
new rule:
l27 -> l29 : ((1-y_21^0+head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0) \/ (1-y_21^0+head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0)), cost: 2

Applied merging
first rule:
l27 -> l29 : (1+y_21^0-head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0), cost: 2
second rule:
l27 -> l29 : (1+y_21^0-head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0), cost: 2
new rule:
l27 -> l29 : ((1+y_21^0-head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0) \/ (1+y_21^0-head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0)), cost: 2

Applied merging
first rule:
l27 -> l29 : ((1-y_21^0+head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0) \/ (1-y_21^0+head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0)), cost: 2
second rule:
l27 -> l29 : ((1+y_21^0-head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0) \/ (1+y_21^0-head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0)), cost: 2
new rule:
l27 -> l29 : ((1-y_21^0+head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0) \/ (1+y_21^0-head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0) \/ (1-y_21^0+head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0) \/ (1+y_21^0-head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0)), cost: 2

Merged rules
Start location: l31
  96: l1 -> l21 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, ((1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0) \/ (1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0)), cost: 2
  97: l21 -> l23 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, ((1-y_21^0+head_16^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ 1+y_21^0-head_16^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0)), cost: 2
  94: l23 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1-t_23^0+y_21^0 <= 0), cost: 3
  95: l23 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+t_23^0-y_21^0 <= 0), cost: 3
  98: l25 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, ((-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0) \/ (-x_22^0+head_16^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0)), cost: 2
 101: l27 -> l29 : ((1-y_21^0+head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0) \/ (1+y_21^0-head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0) \/ (1-y_21^0+head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0) \/ (1+y_21^0-head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0)), cost: 2
  69: l29 -> l1 : i_127^0'=1+a_137^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
  82: l31 -> l25 : tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post23, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
  83: l31 -> l25 : rcd_110^0'=rcd_41^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0), cost: 1+2*nondet_12^10


Eliminating location l27 by chaining:

Applied chaining
First rule:
l25 -> l27 : a_137^0'=a_163^0, t_23^0'=head_16^0, ((-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0) \/ (-x_22^0+head_16^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0)), cost: 2
Second rule:
l27 -> l29 : ((1-y_21^0+head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0) \/ (1+y_21^0-head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0) \/ (1-y_21^0+head_16^0 <= 0 /\ 1+t_23^0-y_21^0 <= 0) \/ (1+y_21^0-head_16^0 <= 0 /\ 1-t_23^0+y_21^0 <= 0)), cost: 2
New rule:
l25 -> l29 : a_137^0'=a_163^0, t_23^0'=head_16^0, (((-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0) \/ (-x_22^0+head_16^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0)) /\ (1-y_21^0+head_16^0 <= 0 \/ 1+y_21^0-head_16^0 <= 0 \/ (1-y_21^0+head_16^0 <= 0 /\ 1+y_21^0-head_16^0 <= 0) \/ (1-y_21^0+head_16^0 <= 0 /\ 1+y_21^0-head_16^0 <= 0))), cost: 4

Applied simplification
Original rule:
l25 -> l29 : a_137^0'=a_163^0, t_23^0'=head_16^0, (((-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ 1+x_22^0-y_21^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0) \/ (-x_22^0+head_16^0 == 0 /\ 1-x_22^0+y_21^0 <= 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0)) /\ (1-y_21^0+head_16^0 <= 0 \/ 1+y_21^0-head_16^0 <= 0 \/ (1-y_21^0+head_16^0 <= 0 /\ 1+y_21^0-head_16^0 <= 0) \/ (1-y_21^0+head_16^0 <= 0 /\ 1+y_21^0-head_16^0 <= 0))), cost: 4
New rule:
l25 -> l29 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0 /\ ((1-y_21^0+head_16^0 <= 0 /\ 1+y_21^0-head_16^0 <= 0) \/ 1-y_21^0+head_16^0 <= 0 \/ 1+y_21^0-head_16^0 <= 0)), cost: 4

Applied deletion
Removed the following rules: 98 101

Eliminating location l29 by chaining:

Applied chaining
First rule:
l25 -> l29 : a_137^0'=a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0 /\ ((1-y_21^0+head_16^0 <= 0 /\ 1+y_21^0-head_16^0 <= 0) \/ 1-y_21^0+head_16^0 <= 0 \/ 1+y_21^0-head_16^0 <= 0)), cost: 4
Second rule:
l29 -> l1 : i_127^0'=1+a_137^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
New rule:
l25 -> l1 : a_137^0'=a_163^0, i_127^0'=1+a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0 /\ ((1-y_21^0+head_16^0 <= 0 /\ 1+y_21^0-head_16^0 <= 0) \/ 1-y_21^0+head_16^0 <= 0 \/ 1+y_21^0-head_16^0 <= 0)), cost: 5

Applied simplification
Original rule:
l25 -> l1 : a_137^0'=a_163^0, i_127^0'=1+a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0 /\ ((1-y_21^0+head_16^0 <= 0 /\ 1+y_21^0-head_16^0 <= 0) \/ 1-y_21^0+head_16^0 <= 0 \/ 1+y_21^0-head_16^0 <= 0)), cost: 5
New rule:
l25 -> l1 : a_137^0'=a_163^0, i_127^0'=1+a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0 /\ (1-y_21^0+head_16^0 <= 0 \/ 1+y_21^0-head_16^0 <= 0)), cost: 5

Applied deletion
Removed the following rules: 69 102

Eliminating location l21 by chaining:

Applied chaining
First rule:
l1 -> l21 : tail_15^0'=tail_15^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, ((1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0) \/ (1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0)), cost: 2
Second rule:
l21 -> l23 : rcd_192^0'=rcd_41^0, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, ((1-y_21^0+head_16^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ 1+y_21^0-head_16^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0)), cost: 2
New rule:
l1 -> l23 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (((1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0) \/ (1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0)) /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0))), cost: 4

Applied simplification
Original rule:
l1 -> l23 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (((1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0) \/ (1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0)) /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0))), cost: 4
New rule:
l1 -> l23 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (((1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0) \/ (1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0)) /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0))), cost: 4

Applied deletion
Removed the following rules: 96 97

Eliminated locations on linear paths
Start location: l31
 104: l1 -> l23 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (((1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0) \/ (1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0)) /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0))), cost: 4
  94: l23 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1-t_23^0+y_21^0 <= 0), cost: 3
  95: l23 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+t_23^0-y_21^0 <= 0), cost: 3
 103: l25 -> l1 : a_137^0'=a_163^0, i_127^0'=1+a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0 /\ (1-y_21^0+head_16^0 <= 0 \/ 1+y_21^0-head_16^0 <= 0)), cost: 5
  82: l31 -> l25 : tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post23, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
  83: l31 -> l25 : rcd_110^0'=rcd_41^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0), cost: 1+2*nondet_12^10


Eliminating location l25 by chaining:

Applied chaining
First rule:
l31 -> l25 : tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post23, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
Second rule:
l25 -> l1 : a_137^0'=a_163^0, i_127^0'=1+a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0 /\ (1-y_21^0+head_16^0 <= 0 \/ 1+y_21^0-head_16^0 <= 0)), cost: 5
New rule:
l31 -> l1 : a_137^0'=a_163^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, t_23^0'=head_16^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -temp_32^post47+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (1-head_16^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 \/ 1+head_16^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0)), cost: 10

Applied chaining
First rule:
l31 -> l25 : rcd_110^0'=rcd_41^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=i_127^post35, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0), cost: 1+2*nondet_12^10
Second rule:
l25 -> l1 : a_137^0'=a_163^0, i_127^0'=1+a_163^0, t_23^0'=head_16^0, (-x_22^0+head_16^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ rcd_168^0-rcd_41^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 == 0 /\ -i_127^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_20^0+head_16^0 == 0 /\ (1-y_21^0+head_16^0 <= 0 \/ 1+y_21^0-head_16^0 <= 0)), cost: 5
New rule:
l31 -> l1 : a_137^0'=a_163^0, rcd_110^0'=rcd_41^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, t_23^0'=head_16^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -temp_32^post44+head_16^post35 == 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (1-head_16^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 \/ 1+head_16^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0)), cost: 6+2*nondet_12^10

Applied deletion
Removed the following rules: 82 83 103

Eliminating location l23 by chaining:

Applied chaining
First rule:
l1 -> l23 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (((1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0) \/ (1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0)) /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0))), cost: 4
Second rule:
l23 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1-t_23^0+y_21^0 <= 0), cost: 3
New rule:
l1 -> l1 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, a_163^0'=-1+a_163^0, rcd_41^0'=rcd_41^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1-x_22^0+y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ ((1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0) \/ (1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0)) /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0))), cost: 7

Applied simplification
Original rule:
l1 -> l1 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, a_163^0'=-1+a_163^0, rcd_41^0'=rcd_41^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1-x_22^0+y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ ((1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0) \/ (1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0)) /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0))), cost: 7
New rule:
l1 -> l1 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, a_163^0'=-1+a_163^0, rcd_41^0'=rcd_41^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1-x_22^0+y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0))), cost: 7

Applied chaining
First rule:
l1 -> l23 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (((1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0) \/ (1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0)) /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0))), cost: 4
Second rule:
l23 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ 1+t_23^0-y_21^0 <= 0), cost: 3
New rule:
l1 -> l1 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, a_163^0'=-1+a_163^0, rcd_41^0'=rcd_41^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1+x_22^0-y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ ((1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0) \/ (1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0)) /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0))), cost: 7

Applied simplification
Original rule:
l1 -> l1 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, a_163^0'=-1+a_163^0, rcd_41^0'=rcd_41^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1+x_22^0-y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ ((1-x_22^0+y_21^0 <= 0 /\ a_163^0 >= 0) \/ (1+x_22^0-y_21^0 <= 0 /\ a_163^0 >= 0)) /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0))), cost: 7
New rule:
l1 -> l1 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, a_163^0'=-1+a_163^0, rcd_41^0'=rcd_41^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1+x_22^0-y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0))), cost: 7

Applied deletion
Removed the following rules: 94 95 104

Eliminated locations on tree-shaped paths
Start location: l31
 107: l1 -> l1 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, a_163^0'=-1+a_163^0, rcd_41^0'=rcd_41^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1-x_22^0+y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0))), cost: 7
 108: l1 -> l1 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, a_163^0'=-1+a_163^0, rcd_41^0'=rcd_41^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1+x_22^0-y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0))), cost: 7
 105: l31 -> l1 : a_137^0'=a_163^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, t_23^0'=head_16^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -temp_32^post47+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (1-head_16^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 \/ 1+head_16^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0)), cost: 10
 106: l31 -> l1 : a_137^0'=a_163^0, rcd_110^0'=rcd_41^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, t_23^0'=head_16^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -temp_32^post44+head_16^post35 == 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (1-head_16^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 \/ 1+head_16^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0)), cost: 6+2*nondet_12^10


Applied simplification
Original rule:
l1 -> l1 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, a_163^0'=-1+a_163^0, rcd_41^0'=rcd_41^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1-x_22^0+y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0))), cost: 7
New rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1+a_163^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (1-x_22^0+y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ ((0 == 0 /\ 1+x_SLAM_f_20^post25-y_21^0 <= 0) \/ 1-x_SLAM_f_20^post25+y_21^0 <= 0)), cost: 7

Applied simplification
Original rule:
l1 -> l1 : tail_15^0'=tail_15^post25, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, a_163^0'=-1+a_163^0, rcd_41^0'=rcd_41^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=head_16^post25, (1+x_22^0-y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ ((result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1-head_16^post25+y_21^0 <= 0) \/ (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-tail_15^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25-y_21^0 == 0 /\ -x_SLAM_f_20^post25+head_16^post25 == 0 /\ 1+head_16^post25-y_21^0 <= 0))), cost: 7
New rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1+a_163^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (1+x_22^0-y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ ((0 == 0 /\ 1+x_SLAM_f_20^post25-y_21^0 <= 0) \/ 1-x_SLAM_f_20^post25+y_21^0 <= 0)), cost: 7

Simplified simple loops
Start location: l31
 109: l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1+a_163^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (1-x_22^0+y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ ((0 == 0 /\ 1+x_SLAM_f_20^post25-y_21^0 <= 0) \/ 1-x_SLAM_f_20^post25+y_21^0 <= 0)), cost: 7
 110: l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1+a_163^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (1+x_22^0-y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ ((0 == 0 /\ 1+x_SLAM_f_20^post25-y_21^0 <= 0) \/ 1-x_SLAM_f_20^post25+y_21^0 <= 0)), cost: 7
 105: l31 -> l1 : a_137^0'=a_163^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, t_23^0'=head_16^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -temp_32^post47+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (1-head_16^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 \/ 1+head_16^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0)), cost: 10
 106: l31 -> l1 : a_137^0'=a_163^0, rcd_110^0'=rcd_41^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, t_23^0'=head_16^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -temp_32^post44+head_16^post35 == 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (1-head_16^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 \/ 1+head_16^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0)), cost: 6+2*nondet_12^10


Applied acceleration
Original rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1+a_163^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (1-x_22^0+y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ ((0 == 0 /\ 1+x_SLAM_f_20^post25-y_21^0 <= 0) \/ 1-x_SLAM_f_20^post25+y_21^0 <= 0)), cost: 7
New rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-n4+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-n4+a_163^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (-1+n4 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ -1+x_22^0-y_21^0 >= 0 /\ 1-n4+a_163^0 >= 0 /\ ((0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0) \/ -1+x_SLAM_f_20^post25-y_21^0 >= 0)), cost: 7*n4

Applied instantiation
Original rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-n4+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-n4+a_163^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (-1+n4 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ -1+x_22^0-y_21^0 >= 0 /\ 1-n4+a_163^0 >= 0 /\ ((0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0) \/ -1+x_SLAM_f_20^post25-y_21^0 >= 0)), cost: 7*n4
New rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ -1+x_22^0-y_21^0 >= 0 /\ (-1+x_SLAM_f_20^post25-y_21^0 >= 0 \/ (0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0))), cost: 7+7*a_163^0

Applied acceleration
Original rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1+a_163^0, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1+a_163^0, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (1+x_22^0-y_21^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ ((0 == 0 /\ 1+x_SLAM_f_20^post25-y_21^0 <= 0) \/ 1-x_SLAM_f_20^post25+y_21^0 <= 0)), cost: 7
New rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=a_163^0-n6, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=a_163^0-n6, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (1+a_163^0-n6 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ -1+n6 >= 0 /\ -1-x_22^0+y_21^0 >= 0 /\ ((0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0) \/ -1+x_SLAM_f_20^post25-y_21^0 >= 0)), cost: 7*n6

Applied instantiation
Original rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=a_163^0-n6, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=a_163^0-n6, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (1+a_163^0-n6 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ -1+n6 >= 0 /\ -1-x_22^0+y_21^0 >= 0 /\ ((0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0) \/ -1+x_SLAM_f_20^post25-y_21^0 >= 0)), cost: 7*n6
New rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ -1-x_22^0+y_21^0 >= 0 /\ (-1+x_SLAM_f_20^post25-y_21^0 >= 0 \/ (0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0))), cost: 7+7*a_163^0

Applied simplification
Original rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ -1+x_22^0-y_21^0 >= 0 /\ (-1+x_SLAM_f_20^post25-y_21^0 >= 0 \/ (0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0))), cost: 7+7*a_163^0
New rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ -1+x_22^0-y_21^0 >= 0 /\ ((0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0) \/ -1+x_SLAM_f_20^post25-y_21^0 >= 0)), cost: 7+7*a_163^0

Applied simplification
Original rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ -1-x_22^0+y_21^0 >= 0 /\ (-1+x_SLAM_f_20^post25-y_21^0 >= 0 \/ (0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0))), cost: 7+7*a_163^0
New rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ -1-x_22^0+y_21^0 >= 0 /\ ((0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0) \/ -1+x_SLAM_f_20^post25-y_21^0 >= 0)), cost: 7+7*a_163^0

Applied deletion
Removed the following rules: 109 110

Accelerated simple loops
Start location: l31
 113: l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ -1+x_22^0-y_21^0 >= 0 /\ ((0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0) \/ -1+x_SLAM_f_20^post25-y_21^0 >= 0)), cost: 7+7*a_163^0
 114: l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ -1-x_22^0+y_21^0 >= 0 /\ ((0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0) \/ -1+x_SLAM_f_20^post25-y_21^0 >= 0)), cost: 7+7*a_163^0
 105: l31 -> l1 : a_137^0'=a_163^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, t_23^0'=head_16^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -temp_32^post47+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (1-head_16^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 \/ 1+head_16^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0)), cost: 10
 106: l31 -> l1 : a_137^0'=a_163^0, rcd_110^0'=rcd_41^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, t_23^0'=head_16^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -temp_32^post44+head_16^post35 == 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (1-head_16^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 \/ 1+head_16^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0)), cost: 6+2*nondet_12^10


Applied chaining
First rule:
l31 -> l1 : a_137^0'=a_163^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, t_23^0'=head_16^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -temp_32^post47+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (1-head_16^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 \/ 1+head_16^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0)), cost: 10
Second rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ -1+x_22^0-y_21^0 >= 0 /\ ((0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0) \/ -1+x_SLAM_f_20^post25-y_21^0 >= 0)), cost: 7+7*a_163^0
New rule:
l31 -> l1 : a_137^0'=a_163^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post35, rcd_192^0'=rcd_41^0, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post25, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, a_193^0'=-1, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, t_23^0'=temp_32^post47, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, a_163^0'=-1, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -temp_32^post47+head_16^post35 == 0 /\ -1+temp_32^post47-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (-1-x_SLAM_f_20^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 \/ -1+x_SLAM_f_20^post25-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0)), cost: 17+7*a_163^0

Applied chaining
First rule:
l31 -> l1 : a_137^0'=a_163^0, rcd_110^0'=rcd_41^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, t_23^0'=head_16^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -temp_32^post44+head_16^post35 == 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (1-head_16^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 \/ 1+head_16^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0)), cost: 6+2*nondet_12^10
Second rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ -1+x_22^0-y_21^0 >= 0 /\ ((0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0) \/ -1+x_SLAM_f_20^post25-y_21^0 >= 0)), cost: 7+7*a_163^0
New rule:
l31 -> l1 : a_137^0'=a_163^0, rcd_110^0'=rcd_41^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post35, rcd_192^0'=rcd_41^0, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post25, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, a_193^0'=-1, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, t_23^0'=temp_32^post44, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, a_163^0'=-1, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -temp_32^post44+head_16^post35 == 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ -1+temp_32^post44-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (-1-x_SLAM_f_20^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 \/ -1+x_SLAM_f_20^post25-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0)), cost: 13+2*nondet_12^10+7*a_163^0

Applied chaining
First rule:
l31 -> l1 : a_137^0'=a_163^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, t_23^0'=head_16^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -temp_32^post47+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (1-head_16^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 \/ 1+head_16^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0)), cost: 10
Second rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ -1-x_22^0+y_21^0 >= 0 /\ ((0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0) \/ -1+x_SLAM_f_20^post25-y_21^0 >= 0)), cost: 7+7*a_163^0
New rule:
l31 -> l1 : a_137^0'=a_163^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post35, rcd_192^0'=rcd_41^0, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post25, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, a_193^0'=-1, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, t_23^0'=temp_32^post47, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, a_163^0'=-1, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -temp_32^post47+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -1-temp_32^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (-1-x_SLAM_f_20^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 \/ -1+x_SLAM_f_20^post25-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0)), cost: 17+7*a_163^0

Applied chaining
First rule:
l31 -> l1 : a_137^0'=a_163^0, rcd_110^0'=rcd_41^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, t_23^0'=head_16^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -temp_32^post44+head_16^post35 == 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (1-head_16^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 \/ 1+head_16^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0)), cost: 6+2*nondet_12^10
Second rule:
l1 -> l1 : tail_15^0'=y_21^0, rcd_192^0'=rcd_41^0, x_SLAM_f_20^0'=x_SLAM_f_20^post25, a_193^0'=-1, t_23^0'=x_22^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, a_163^0'=-1, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ -1-x_22^0+y_21^0 >= 0 /\ ((0 >= 0 /\ -1-x_SLAM_f_20^post25+y_21^0 >= 0) \/ -1+x_SLAM_f_20^post25-y_21^0 >= 0)), cost: 7+7*a_163^0
New rule:
l31 -> l1 : a_137^0'=a_163^0, rcd_110^0'=rcd_41^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post35, rcd_192^0'=rcd_41^0, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post25, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, a_193^0'=-1, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, t_23^0'=temp_32^post44, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, a_163^0'=-1, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -1-temp_32^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -temp_32^post44+head_16^post35 == 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (-1-x_SLAM_f_20^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 \/ -1+x_SLAM_f_20^post25-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0)), cost: 13+2*nondet_12^10+7*a_163^0

Applied deletion
Removed the following rules: 113 114

Chained accelerated rules with incoming rules
Start location: l31
 105: l31 -> l1 : a_137^0'=a_163^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, t_23^0'=head_16^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -temp_32^post47+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (1-head_16^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 \/ 1+head_16^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0)), cost: 10
 106: l31 -> l1 : a_137^0'=a_163^0, rcd_110^0'=rcd_41^0, tail_15^0'=tail_15^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, t_23^0'=head_16^post35, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, head_16^0'=head_16^post35, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -temp_32^post44+head_16^post35 == 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (1-head_16^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0 \/ 1+head_16^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 <= 0)), cost: 6+2*nondet_12^10
 115: l31 -> l1 : a_137^0'=a_163^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post35, rcd_192^0'=rcd_41^0, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post25, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, a_193^0'=-1, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, t_23^0'=temp_32^post47, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, a_163^0'=-1, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -temp_32^post47+head_16^post35 == 0 /\ -1+temp_32^post47-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (-1-x_SLAM_f_20^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 \/ -1+x_SLAM_f_20^post25-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0)), cost: 17+7*a_163^0
 116: l31 -> l1 : a_137^0'=a_163^0, rcd_110^0'=rcd_41^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post35, rcd_192^0'=rcd_41^0, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post25, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, a_193^0'=-1, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, t_23^0'=temp_32^post44, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, a_163^0'=-1, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -temp_32^post44+head_16^post35 == 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ -1+temp_32^post44-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (-1-x_SLAM_f_20^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 \/ -1+x_SLAM_f_20^post25-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0)), cost: 13+2*nondet_12^10+7*a_163^0
 117: l31 -> l1 : a_137^0'=a_163^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post35, rcd_192^0'=rcd_41^0, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post25, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, a_193^0'=-1, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, t_23^0'=temp_32^post47, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, a_163^0'=-1, rcd_168^0'=rcd_168^post35, x_22^0'=temp_32^post47, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -temp_32^post47+head_16^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -1-temp_32^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -2+i_27^post35 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (-1-x_SLAM_f_20^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 \/ -1+x_SLAM_f_20^post25-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0)), cost: 17+7*a_163^0
 118: l31 -> l1 : a_137^0'=a_163^0, rcd_110^0'=rcd_41^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post35, rcd_192^0'=rcd_41^0, tmp_31^0'=tmp_31^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post25, nondet_12^0'=nondet_12^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post35, a_193^0'=-1, temp0_28^0'=temp0_28^post35, i_127^0'=1+a_163^0, rcd_67^0'=rcd_67^post23, rcd_102^0'=rcd_102^post44, t_23^0'=temp_32^post44, head_29^0'=head_29^post35, rcd_172^0'=rcd_172^post35, temp_33^0'=temp_33^post13, length_25^0'=length_25^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, a_163^0'=-1, rcd_168^0'=rcd_168^post35, i_108^0'=-1+nondet_12^10, x_22^0'=temp_32^post44, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, r_37^0'=r_37^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, head_16^0'=x_SLAM_f_20^post25, temp_32^0'=temp_32^post35, i_27^0'=i_27^post35, result_11^0'=result_11^post35, (-x_SLAM_f_20^post35+head_16^post35 == 0 /\ -1-temp_32^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 >= 0 /\ -temp_32^post44+head_16^post35 == 0 /\ -i_127^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^post35 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post25 >= 0 /\ a_163^0 >= 0 /\ rcd_168^post35-rcd_41^0 == 0 /\ -tail_15^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+i_27^post35 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 == 0 /\ (-1-x_SLAM_f_20^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0 \/ -1+x_SLAM_f_20^post25-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23 >= 0)), cost: 13+2*nondet_12^10+7*a_163^0


Removed unreachable locations and irrelevant leafs
Start location: l31
  <empty>


Computing asymptotic complexity

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

Solved cost: 0
Rule cost:   0