WORST_CASE(Omega(0),?)

Initial ITS
Start location: l65
   0: l0 -> l1 : a_118^0'=a_118^post0, x_176^0'=x_176^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, a_289^0'=a_289^post0, y_18^0'=y_18^post0, len_187^0'=len_187^post0, temp0_16^0'=temp0_16^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post0, a_188^0'=a_188^post0, x_26^0'=x_26^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, a_343^0'=a_343^post0, nondet_12^0'=nondet_12^post0, x_131^0'=x_131^post0, i_110^0'=i_110^post0, rcd_89^0'=rcd_89^post0, a_281^0'=a_281^post0, x_SLAM_f_24^0'=x_SLAM_f_24^post0, len_134^0'=len_134^post0, tail_14^0'=tail_14^post0, head_15^0'=head_15^post0, r_165^0'=r_165^post0, a_149^0'=a_149^post0, x_19^0'=x_19^post0, i_95^0'=i_95^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, a_342^0'=a_342^post0, y_25^0'=y_25^post0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post0, a_225^0'=a_225^post0, x_SLAM_f_17^0'=x_SLAM_f_17^post0, t_22^0'=t_22^post0, f_171^0'=f_171^post0, r_126^0'=r_126^post0, (0 == 0 /\ -f_171^post0+f_171^0 == 0 /\ x_176^0-x_176^post0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -temp0_31^10+result_11^10 == 0 /\ head_15^post0-x_26^post0 <= 0 /\ -x_SLAM_f_17^post0+x_SLAM_f_17^0 == 0 /\ -a_343^post0+a_343^0 == 0 /\ -a_281^post0+a_281^0 == 0 /\ -x_SLAM_f_24^post0+x_26^post0 <= 0 /\ -x_SLAM_f_24^post0+x_26^post0 == 0 /\ -a_342^post0+a_342^0 == 0 /\ -r_126^post0+r_126^0 == 0 /\ nondet_12^0-nondet_12^post0 == 0 /\ a_289^0-a_289^post0 == 0 /\ -i_30^0 <= 0 /\ r_39^0-r_39^post0 == 0 /\ rcd_59^0-rcd_59^post0 == 0 /\ -rcd_89^post0+rcd_89^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -head_15^post0+x_26^post0 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ x_SLAM_f_24^post0-x_26^post0 <= 0 /\ a_225^0-a_225^post0 == 0 /\ head_15^post0-x_SLAM_f_24^post0 <= 0 /\ i_110^0-i_110^post0 == 0 /\ -i_95^post0+i_95^0 == 0 /\ -a_149^post0+a_149^0 == 0 /\ -tail_14^0+y_25^post0 <= 0 /\ -tail_14^0+y_25^post0 == 0 /\ -x_131^post0+x_131^0 == 0 /\ y_18^0-y_18^post0 == 0 /\ -head_32^0+temp0_31^10 == 0 /\ temp0_16^0-temp0_16^post0 == 0 /\ -x_19^post0+x_19^0 == 0 /\ a_188^0-a_188^post0 == 0 /\ -tail_14^post0+tail_14^0 == 0 /\ a_118^0-a_118^post0 == 0 /\ head_15^post0-result_11^10 == 0 /\ -head_15^post0+x_SLAM_f_24^post0 <= 0 /\ -head_15^post0+x_SLAM_f_24^post0 == 0 /\ tail_14^0-y_25^post0 <= 0 /\ -len_134^post0+len_134^0 == 0 /\ r_165^0-r_165^post0 == 0 /\ -t_22^post0+t_22^0 == 0 /\ len_187^0-len_187^post0 == 0 /\ -i_30^0+length_28^0 <= 0), cost: 1
   1: l0 -> l2 : a_118^0'=a_118^post1, x_176^0'=x_176^post1, i_30^0'=i_30^post1, result_11^0'=result_11^post1, a_289^0'=a_289^post1, y_18^0'=y_18^post1, len_187^0'=len_187^post1, temp0_16^0'=temp0_16^post1, temp_35^0'=temp_35^post1, head_32^0'=head_32^post1, r_39^0'=r_39^post1, a_188^0'=a_188^post1, x_26^0'=x_26^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_343^0'=a_343^post1, nondet_12^0'=nondet_12^post1, x_131^0'=x_131^post1, i_110^0'=i_110^post1, rcd_89^0'=rcd_89^post1, a_281^0'=a_281^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post1, len_134^0'=len_134^post1, tail_14^0'=tail_14^post1, head_15^0'=head_15^post1, r_165^0'=r_165^post1, a_149^0'=a_149^post1, x_19^0'=x_19^post1, i_95^0'=i_95^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, a_342^0'=a_342^post1, y_25^0'=y_25^post1, length_28^0'=length_28^post1, temp0_31^0'=temp0_31^post1, tmp_34^0'=tmp_34^post1, head_SLAM_f_29^0'=head_SLAM_f_29^post1, rcd_59^0'=rcd_59^post1, a_225^0'=a_225^post1, x_SLAM_f_17^0'=x_SLAM_f_17^post1, t_22^0'=t_22^post1, f_171^0'=f_171^post1, r_126^0'=r_126^post1, (0 == 0 /\ -x_19^post1+x_19^0 == 0 /\ a_188^0-a_188^post1 == 0 /\ y_18^0-y_18^post1 == 0 /\ a_118^0-a_118^post1 == 0 /\ -1-i_30^0+i_30^post1 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post1 == 0 /\ -a_281^post1+a_281^0 == 0 /\ rcd_59^0-rcd_59^post1 == 0 /\ -a_149^post1+a_149^0 == 0 /\ temp0_31^0-temp0_31^post1 == 0 /\ -a_225^post1+a_225^0 == 0 /\ tmp_34^post1-temp_35^0 == 0 /\ 1+i_95^post1-length_28^0 <= 0 /\ -f_171^post1+f_171^0 == 0 /\ -tmp_34^post1+head_32^post1 == 0 /\ -head_15^post1+head_15^0 == 0 /\ -i_30^0 <= 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ result_11^0-result_11^post1 == 0 /\ len_134^0-len_134^post1 == 0 /\ x_26^0-x_26^post1 == 0 /\ len_187^0-len_187^post1 == 0 /\ -tail_14^post1+tail_14^0 == 0 /\ -x_SLAM_f_17^post1+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post1+head_SLAM_f_29^0 == 0 /\ 1-i_30^post1+i_95^post1 <= 0 /\ x_176^0-x_176^post1 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 == 0 /\ temp0_16^0-temp0_16^post1 == 0 /\ y_25^0-y_25^post1 == 0 /\ length_28^0-length_28^post1 == 0 /\ 1+i_30^0-length_28^0 <= 0 /\ -t_22^post1+t_22^0 == 0 /\ -r_165^post1+r_165^0 == 0 /\ a_289^0-a_289^post1 == 0 /\ -r_126^post1+r_126^0 == 0 /\ i_110^0-i_110^post1 == 0 /\ -a_342^post1+a_342^0 == 0 /\ r_39^0-r_39^post1 == 0 /\ -x_131^post1+x_131^0 == 0 /\ -1+i_30^post1-i_95^post1 <= 0 /\ -a_343^post1+a_343^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0), cost: 1
  93: l1 -> l4 : a_118^0'=a_118^post93, x_176^0'=x_176^post93, i_30^0'=i_30^post93, result_11^0'=result_11^post93, a_289^0'=a_289^post93, y_18^0'=y_18^post93, len_187^0'=len_187^post93, temp0_16^0'=temp0_16^post93, temp_35^0'=temp_35^post93, head_32^0'=head_32^post93, r_39^0'=r_39^post93, a_188^0'=a_188^post93, x_26^0'=x_26^post93, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post93, a_343^0'=a_343^post93, nondet_12^0'=nondet_12^post93, x_131^0'=x_131^post93, i_110^0'=i_110^post93, rcd_89^0'=rcd_89^post93, a_281^0'=a_281^post93, x_SLAM_f_24^0'=x_SLAM_f_24^post93, len_134^0'=len_134^post93, tail_14^0'=tail_14^post93, head_15^0'=head_15^post93, r_165^0'=r_165^post93, a_149^0'=a_149^post93, x_19^0'=x_19^post93, i_95^0'=i_95^post93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post93, a_342^0'=a_342^post93, y_25^0'=y_25^post93, length_28^0'=length_28^post93, temp0_31^0'=temp0_31^post93, tmp_34^0'=tmp_34^post93, head_SLAM_f_29^0'=head_SLAM_f_29^post93, rcd_59^0'=rcd_59^post93, a_225^0'=a_225^post93, x_SLAM_f_17^0'=x_SLAM_f_17^post93, t_22^0'=t_22^post93, f_171^0'=f_171^post93, r_126^0'=r_126^post93, (0 == 0 /\ -temp0_16^0+result_11^post93 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post93 <= 0 /\ i_30^0-i_30^post93 == 0 /\ -a_343^post93+a_343^0 == 0 /\ -y_18^120+x_19^120 <= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^11 <= 0 /\ -f_171^post93+f_171^0 == 0 /\ x_176^0-x_176^post93 == 0 /\ -head_SLAM_f_29^post93+head_SLAM_f_29^0 == 0 /\ -r_126^post93+r_126^0 == 0 /\ -i_30^0 <= 0 /\ a_289^0-a_289^post93 == 0 /\ temp_35^0-temp_35^post93 == 0 /\ a_225^0-a_225^post93 == 0 /\ -a_342^post93+a_342^0 == 0 /\ y_18^120-x_19^120 <= 0 /\ i_110^0-i_110^post93 == 0 /\ -r_39^post93+r_39^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post93 <= 0 /\ a_149^0-a_149^post93 == 0 /\ a_188^0-a_188^post93 == 0 /\ -head_15^0+x_SLAM_f_17^120 <= 0 /\ -head_15^0+x_SLAM_f_17^120 == 0 /\ x_131^0-x_131^post93 == 0 /\ -x_19^120+tail_14^0 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^11 <= 0 /\ -rcd_59^post93+rcd_59^0 == 0 /\ x_26^0-y_25^0 <= 0 /\ tail_14^0-tail_14^post93 == 0 /\ -y_18^120+tail_14^0 <= 0 /\ tail_14^0-x_SLAM_f_17^120 <= 0 /\ -tail_14^0+head_15^0 <= 0 /\ x_19^120-x_SLAM_f_17^120 <= 0 /\ x_19^120-x_SLAM_f_17^120 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post93+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_15^post93+head_15^0 == 0 /\ a_118^0-a_118^post93 == 0 /\ temp0_16^0-temp0_16^post93 == 0 /\ -temp0_31^post93+temp0_31^0 == 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post93 <= 0 /\ a_281^0-a_281^post93 == 0 /\ head_15^0-x_SLAM_f_17^120 <= 0 /\ nondet_12^0-nondet_12^post93 == 0 /\ length_28^0-length_28^post93 == 0 /\ head_32^0-head_32^post93 == 0 /\ -r_165^post93+r_165^0 == 0 /\ x_19^120-tail_14^0 <= 0 /\ -i_95^post93+i_95^0 == 0 /\ rcd_89^0-rcd_89^post93 == 0 /\ -x_26^0+y_25^0 <= 0 /\ len_187^0-len_187^post93 == 0 /\ y_18^120-tail_14^0 <= 0 /\ y_18^120-tail_14^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^11 <= 0 /\ -tail_14^0+x_SLAM_f_17^120 <= 0 /\ tail_14^0-head_15^0 <= 0 /\ -x_19^120+x_SLAM_f_17^120 <= 0 /\ -len_134^post93+len_134^0 == 0 /\ -tmp_34^post93+tmp_34^0 == 0), cost: 1
  94: l1 -> l61 : a_118^0'=a_118^post94, x_176^0'=x_176^post94, i_30^0'=i_30^post94, result_11^0'=result_11^post94, a_289^0'=a_289^post94, y_18^0'=y_18^post94, len_187^0'=len_187^post94, temp0_16^0'=temp0_16^post94, temp_35^0'=temp_35^post94, head_32^0'=head_32^post94, r_39^0'=r_39^post94, a_188^0'=a_188^post94, x_26^0'=x_26^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, a_343^0'=a_343^post94, nondet_12^0'=nondet_12^post94, x_131^0'=x_131^post94, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post94, a_281^0'=a_281^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, len_134^0'=len_134^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, a_149^0'=a_149^post94, x_19^0'=x_19^post94, i_95^0'=i_95^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94, a_342^0'=a_342^post94, y_25^0'=y_25^post94, length_28^0'=length_28^post94, temp0_31^0'=temp0_31^post94, tmp_34^0'=tmp_34^post94, head_SLAM_f_29^0'=head_SLAM_f_29^post94, rcd_59^0'=rcd_59^post94, a_225^0'=a_225^post94, x_SLAM_f_17^0'=x_SLAM_f_17^post94, t_22^0'=t_22^post94, f_171^0'=f_171^post94, r_126^0'=r_126^post94, (0 == 0 /\ -r_126^post94+r_126^0 == 0 /\ rcd_59^0-rcd_59^post94 == 0 /\ head_32^0-head_32^post94 == 0 /\ result_11^0-result_11^post94 == 0 /\ -f_171^post94+f_171^0 == 0 /\ -x_131^post94+x_131^0 == 0 /\ -a_149^post94+a_149^0 == 0 /\ -x_19^post94+x_19^0 == 0 /\ temp0_16^0-temp0_16^post94 == 0 /\ -head_SLAM_f_29^post94+head_SLAM_f_29^0 == 0 /\ a_118^0-a_118^post94 == 0 /\ temp0_31^0-temp0_31^post94 == 0 /\ -nondet_12^post94+nondet_12^0 == 0 /\ len_134^0-len_134^post94 == 0 /\ -x_SLAM_f_17^post94+x_SLAM_f_17^0 == 0 /\ -i_30^0 <= 0 /\ tmp_34^0-tmp_34^post94 == 0 /\ x_26^0-x_26^post94 == 0 /\ rcd_89^0-rcd_89^post94 == 0 /\ len_187^0-len_187^post94 == 0 /\ -a_281^post94+a_281^0 == 0 /\ -i_95^post94+i_95^0 == 0 /\ x_176^0-x_176^post94 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94 == 0 /\ a_342^0-a_342^post94 == 0 /\ a_289^0-a_289^post94 == 0 /\ temp_35^0-temp_35^post94 == 0 /\ -a_343^post94+a_343^0 == 0 /\ -length_28^post94+length_28^0 == 0 /\ a_188^0-a_188^post94 == 0 /\ -a_225^post94+a_225^0 == 0 /\ -t_22^post94+t_22^0 == 0 /\ i_30^0-i_30^post94 == 0 /\ y_18^0-y_18^post94 == 0 /\ -y_25^post94+y_25^0 == 0), cost: 1
   2: l2 -> l0 : a_118^0'=a_118^post2, x_176^0'=x_176^post2, i_30^0'=i_30^post2, result_11^0'=result_11^post2, a_289^0'=a_289^post2, y_18^0'=y_18^post2, len_187^0'=len_187^post2, temp0_16^0'=temp0_16^post2, temp_35^0'=temp_35^post2, head_32^0'=head_32^post2, r_39^0'=r_39^post2, a_188^0'=a_188^post2, x_26^0'=x_26^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, a_343^0'=a_343^post2, nondet_12^0'=nondet_12^post2, x_131^0'=x_131^post2, i_110^0'=i_110^post2, rcd_89^0'=rcd_89^post2, a_281^0'=a_281^post2, x_SLAM_f_24^0'=x_SLAM_f_24^post2, len_134^0'=len_134^post2, tail_14^0'=tail_14^post2, head_15^0'=head_15^post2, r_165^0'=r_165^post2, a_149^0'=a_149^post2, x_19^0'=x_19^post2, i_95^0'=i_95^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, a_342^0'=a_342^post2, y_25^0'=y_25^post2, length_28^0'=length_28^post2, temp0_31^0'=temp0_31^post2, tmp_34^0'=tmp_34^post2, head_SLAM_f_29^0'=head_SLAM_f_29^post2, rcd_59^0'=rcd_59^post2, a_225^0'=a_225^post2, x_SLAM_f_17^0'=x_SLAM_f_17^post2, t_22^0'=t_22^post2, f_171^0'=f_171^post2, r_126^0'=r_126^post2, (result_11^0-result_11^post2 == 0 /\ -r_126^post2+r_126^0 == 0 /\ -t_22^post2+t_22^0 == 0 /\ tail_14^0-tail_14^post2 == 0 /\ a_118^0-a_118^post2 == 0 /\ -length_28^post2+length_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_16^0-temp0_16^post2 == 0 /\ -rcd_59^post2+rcd_59^0 == 0 /\ temp_35^0-temp_35^post2 == 0 /\ -x_SLAM_f_17^post2+x_SLAM_f_17^0 == 0 /\ a_149^0-a_149^post2 == 0 /\ -head_SLAM_f_29^post2+head_SLAM_f_29^0 == 0 /\ -temp0_31^post2+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 == 0 /\ -r_165^post2+r_165^0 == 0 /\ -head_32^post2+head_32^0 == 0 /\ a_343^0-a_343^post2 == 0 /\ tmp_34^0-tmp_34^post2 == 0 /\ -f_171^post2+f_171^0 == 0 /\ -x_19^post2+x_19^0 == 0 /\ rcd_89^0-rcd_89^post2 == 0 /\ x_26^0-x_26^post2 == 0 /\ len_187^0-len_187^post2 == 0 /\ -len_134^post2+len_134^0 == 0 /\ r_39^0-r_39^post2 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ a_281^0-a_281^post2 == 0 /\ x_176^0-x_176^post2 == 0 /\ -i_95^post2+i_95^0 == 0 /\ i_110^0-i_110^post2 == 0 /\ -y_25^post2+y_25^0 == 0 /\ a_289^0-a_289^post2 == 0 /\ a_342^0-a_342^post2 == 0 /\ x_131^0-x_131^post2 == 0 /\ -x_SLAM_f_24^post2+x_SLAM_f_24^0 == 0 /\ a_188^0-a_188^post2 == 0 /\ y_18^0-y_18^post2 == 0 /\ -a_225^post2+a_225^0 == 0 /\ i_30^0-i_30^post2 == 0 /\ -head_15^post2+head_15^0 == 0), cost: 1
   3: l3 -> l4 : a_118^0'=a_118^post3, x_176^0'=x_176^post3, i_30^0'=i_30^post3, result_11^0'=result_11^post3, a_289^0'=a_289^post3, y_18^0'=y_18^post3, len_187^0'=len_187^post3, temp0_16^0'=temp0_16^post3, temp_35^0'=temp_35^post3, head_32^0'=head_32^post3, r_39^0'=r_39^post3, a_188^0'=a_188^post3, x_26^0'=x_26^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, a_343^0'=a_343^post3, nondet_12^0'=nondet_12^post3, x_131^0'=x_131^post3, i_110^0'=i_110^post3, rcd_89^0'=rcd_89^post3, a_281^0'=a_281^post3, x_SLAM_f_24^0'=x_SLAM_f_24^post3, len_134^0'=len_134^post3, tail_14^0'=tail_14^post3, head_15^0'=head_15^post3, r_165^0'=r_165^post3, a_149^0'=a_149^post3, x_19^0'=x_19^post3, i_95^0'=i_95^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3, a_342^0'=a_342^post3, y_25^0'=y_25^post3, length_28^0'=length_28^post3, temp0_31^0'=temp0_31^post3, tmp_34^0'=tmp_34^post3, head_SLAM_f_29^0'=head_SLAM_f_29^post3, rcd_59^0'=rcd_59^post3, a_225^0'=a_225^post3, x_SLAM_f_17^0'=x_SLAM_f_17^post3, t_22^0'=t_22^post3, f_171^0'=f_171^post3, r_126^0'=r_126^post3, (0 == 0 /\ a_149^0-a_149^post3 == 0 /\ r_165^0-r_165^post3 == 0 /\ -x_26^10+y_25^10 <= 0 /\ tail_14^0-tail_14^post3 == 0 /\ -x_19^10+tail_14^0 <= 0 /\ result_11^11-temp0_31^110 == 0 /\ head_15^post3-result_11^11 == 0 /\ -x_SLAM_f_24^10+head_15^post3 <= 0 /\ -x_131^post3+x_131^0 == 0 /\ tail_14^0-y_25^10 <= 0 /\ -head_32^0+temp0_31^110 == 0 /\ -x_19^10+x_SLAM_f_17^10 <= 0 /\ a_281^0-a_281^post3 == 0 /\ -x_19^10+y_18^10 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ x_26^10-y_25^10 <= 0 /\ a_118^0-a_118^post3 == 0 /\ x_19^10-tail_14^0 <= 0 /\ -temp0_16^post3+temp0_16^0 == 0 /\ x_SLAM_f_24^10-head_15^post3 <= 0 /\ x_SLAM_f_24^10-head_15^post3 == 0 /\ -tail_14^0+y_25^10 <= 0 /\ -tail_14^0+y_25^10 == 0 /\ -r_126^post3+r_126^0 == 0 /\ x_19^10-x_SLAM_f_17^10 <= 0 /\ x_19^10-x_SLAM_f_17^10 == 0 /\ x_19^10-y_18^10 <= 0 /\ a_188^0-a_188^post3 == 0 /\ -a_342^post3+a_342^0 == 0 /\ -x_SLAM_f_24^10+x_26^10 <= 0 /\ -x_SLAM_f_24^10+x_26^10 == 0 /\ -head_15^post3+x_SLAM_f_17^10 <= 0 /\ -head_15^post3+x_SLAM_f_17^10 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ len_187^0-len_187^post3 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^20 <= 0 /\ -tail_14^0+x_SLAM_f_17^10 <= 0 /\ x_176^0-x_176^post3 == 0 /\ -head_15^post3+tail_14^0 <= 0 /\ a_343^0-a_343^post3 == 0 /\ x_26^10-tail_14^0 <= 0 /\ r_39^0-r_39^post3 == 0 /\ -tail_14^0+y_18^10 <= 0 /\ -tail_14^0+y_18^10 == 0 /\ -x_SLAM_f_24^10+tail_14^0 <= 0 /\ len_134^0-len_134^post3 == 0 /\ x_SLAM_f_24^10-x_26^10 <= 0 /\ -rcd_89^post3+rcd_89^0 == 0 /\ head_15^post3-x_SLAM_f_17^10 <= 0 /\ -a_225^post3+a_225^0 == 0 /\ -f_171^post3+f_171^0 == 0 /\ -i_110^post3+i_110^0 == 0 /\ a_289^0-a_289^post3 == 0 /\ tail_14^0-x_SLAM_f_17^10 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post3 <= 0 /\ head_15^post3-tail_14^0 <= 0 /\ i_95^0-i_95^post3 == 0 /\ -rcd_59^post3+rcd_59^0 == 0 /\ -temp0_16^0+result_11^post3 == 0 /\ -x_26^10+tail_14^0 <= 0 /\ tail_14^0-y_18^10 <= 0 /\ x_SLAM_f_24^10-tail_14^0 <= 0 /\ -i_30^0+length_28^0 <= 0), cost: 1
   4: l3 -> l5 : a_118^0'=a_118^post4, x_176^0'=x_176^post4, i_30^0'=i_30^post4, result_11^0'=result_11^post4, a_289^0'=a_289^post4, y_18^0'=y_18^post4, len_187^0'=len_187^post4, temp0_16^0'=temp0_16^post4, temp_35^0'=temp_35^post4, head_32^0'=head_32^post4, r_39^0'=r_39^post4, a_188^0'=a_188^post4, x_26^0'=x_26^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, a_343^0'=a_343^post4, nondet_12^0'=nondet_12^post4, x_131^0'=x_131^post4, i_110^0'=i_110^post4, rcd_89^0'=rcd_89^post4, a_281^0'=a_281^post4, x_SLAM_f_24^0'=x_SLAM_f_24^post4, len_134^0'=len_134^post4, tail_14^0'=tail_14^post4, head_15^0'=head_15^post4, r_165^0'=r_165^post4, a_149^0'=a_149^post4, x_19^0'=x_19^post4, i_95^0'=i_95^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, a_342^0'=a_342^post4, y_25^0'=y_25^post4, length_28^0'=length_28^post4, temp0_31^0'=temp0_31^post4, tmp_34^0'=tmp_34^post4, head_SLAM_f_29^0'=head_SLAM_f_29^post4, rcd_59^0'=rcd_59^post4, a_225^0'=a_225^post4, x_SLAM_f_17^0'=x_SLAM_f_17^post4, t_22^0'=t_22^post4, f_171^0'=f_171^post4, r_126^0'=r_126^post4, (0 == 0 /\ temp0_31^0-temp0_31^post4 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post4-length_28^0 <= 0 /\ x_26^0-x_26^post4 == 0 /\ -a_281^post4+a_281^0 == 0 /\ 1-i_30^post4 <= 0 /\ -1+i_30^post4 <= 0 /\ y_18^0-y_18^post4 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post4 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4-head_32^post4 <= 0 /\ -1-i_30^0+i_30^post4 == 0 /\ -a_343^post4+a_343^0 == 0 /\ a_188^0-a_188^post4 == 0 /\ 1-length_28^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+length_28^0 <= 0 /\ -i_95^post4+i_95^0 == 0 /\ -x_SLAM_f_24^post4+x_SLAM_f_24^0 == 0 /\ head_15^0-head_15^post4 == 0 /\ len_134^0-len_134^post4 == 0 /\ -temp_35^0+tmp_34^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -a_225^post4+a_225^0 == 0 /\ -rcd_89^post4+rcd_89^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4+head_32^post4 <= 0 /\ rcd_59^0-rcd_59^post4 == 0 /\ -a_149^post4+a_149^0 == 0 /\ head_SLAM_f_29^post4-tail_14^post4 <= 0 /\ temp0_16^0-temp0_16^post4 == 0 /\ r_165^0-r_165^post4 == 0 /\ x_131^0-x_131^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ -length_28^post4+length_28^0 == 0 /\ a_118^0-a_118^post4 == 0 /\ -len_187^post4+len_187^0 == 0 /\ -tmp_34^post4+head_32^post4 <= 0 /\ -tmp_34^post4+head_32^post4 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4+tmp_34^post4 <= 0 /\ 1+i_30^0-length_28^0 <= 0 /\ -t_22^post4+t_22^0 == 0 /\ a_342^0-a_342^post4 == 0 /\ -y_25^post4+y_25^0 == 0 /\ -head_SLAM_f_29^post4+tail_14^post4 <= 0 /\ -x_19^post4+x_19^0 == 0 /\ r_39^0-r_39^post4 == 0 /\ -f_171^post4+f_171^0 == 0 /\ tmp_34^post4-head_32^post4 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4-tmp_34^post4 <= 0 /\ x_176^0-x_176^post4 == 0 /\ i_110^0-i_110^post4 == 0 /\ -r_126^post4+r_126^0 == 0 /\ a_289^0-a_289^post4 == 0), cost: 1
 101: l5 -> l40 : a_118^0'=a_118^post101, x_176^0'=x_176^post101, i_30^0'=i_30^post101, result_11^0'=result_11^post101, a_289^0'=a_289^post101, y_18^0'=y_18^post101, len_187^0'=len_187^post101, temp0_16^0'=temp0_16^post101, temp_35^0'=temp_35^post101, head_32^0'=head_32^post101, r_39^0'=r_39^post101, a_188^0'=a_188^post101, x_26^0'=x_26^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post101, a_343^0'=a_343^post101, nondet_12^0'=nondet_12^post101, x_131^0'=x_131^post101, i_110^0'=i_110^post101, rcd_89^0'=rcd_89^post101, a_281^0'=a_281^post101, x_SLAM_f_24^0'=x_SLAM_f_24^post101, len_134^0'=len_134^post101, tail_14^0'=tail_14^post101, head_15^0'=head_15^post101, r_165^0'=r_165^post101, a_149^0'=a_149^post101, x_19^0'=x_19^post101, i_95^0'=i_95^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post101, a_342^0'=a_342^post101, y_25^0'=y_25^post101, length_28^0'=length_28^post101, temp0_31^0'=temp0_31^post101, tmp_34^0'=tmp_34^post101, head_SLAM_f_29^0'=head_SLAM_f_29^post101, rcd_59^0'=rcd_59^post101, a_225^0'=a_225^post101, x_SLAM_f_17^0'=x_SLAM_f_17^post101, t_22^0'=t_22^post101, f_171^0'=f_171^post101, r_126^0'=r_126^post101, (0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 <= 0 /\ x_26^post101-x_SLAM_f_24^post101 <= 0 /\ x_26^post101-x_SLAM_f_24^post101 == 0 /\ len_187^0-len_187^post101 == 0 /\ -a_281^post101+a_281^0 == 0 /\ -a_225^post101+a_225^0 == 0 /\ -a_343^post101+a_343^0 == 0 /\ nondet_12^0-nondet_12^post101 == 0 /\ -i_95^post101+i_95^0 == 0 /\ -x_26^post101+x_SLAM_f_24^post101 <= 0 /\ -rcd_89^post101+rcd_89^0 == 0 /\ a_149^0-a_149^post101 == 0 /\ -x_SLAM_f_17^post101+x_SLAM_f_17^0 == 0 /\ a_289^0-a_289^post101 == 0 /\ i_110^0-i_110^post101 == 0 /\ temp0_16^0-temp0_16^post101 == 0 /\ a_118^0-a_118^post101 == 0 /\ result_11^12-temp0_31^120 == 0 /\ y_25^post101-tail_14^0 <= 0 /\ y_25^post101-tail_14^0 == 0 /\ a_342^0-a_342^post101 == 0 /\ -rcd_59^post101+rcd_59^0 == 0 /\ -x_131^post101+x_131^0 == 0 /\ y_18^0-y_18^post101 == 0 /\ x_26^post101-head_15^post101 <= 0 /\ -tail_14^post101+tail_14^0 == 0 /\ -head_32^0+temp0_31^120 == 0 /\ -result_11^12+head_15^post101 == 0 /\ a_188^0-a_188^post101 == 0 /\ -x_SLAM_f_24^post101+head_15^post101 <= 0 /\ r_39^0-r_39^post101 == 0 /\ -x_19^post101+x_19^0 == 0 /\ -f_171^post101+f_171^0 == 0 /\ -y_25^post101+tail_14^0 <= 0 /\ -len_134^post101+len_134^0 == 0 /\ -x_26^post101+head_15^post101 <= 0 /\ -t_22^post101+t_22^0 == 0 /\ -r_165^post101+r_165^0 == 0 /\ x_176^0-x_176^post101 == 0 /\ x_SLAM_f_24^post101-head_15^post101 <= 0 /\ x_SLAM_f_24^post101-head_15^post101 == 0 /\ -r_126^post101+r_126^0 == 0 /\ -i_30^0+length_28^0 <= 0), cost: 1
 102: l5 -> l0 : a_118^0'=a_118^post102, x_176^0'=x_176^post102, i_30^0'=i_30^post102, result_11^0'=result_11^post102, a_289^0'=a_289^post102, y_18^0'=y_18^post102, len_187^0'=len_187^post102, temp0_16^0'=temp0_16^post102, temp_35^0'=temp_35^post102, head_32^0'=head_32^post102, r_39^0'=r_39^post102, a_188^0'=a_188^post102, x_26^0'=x_26^post102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post102, a_343^0'=a_343^post102, nondet_12^0'=nondet_12^post102, x_131^0'=x_131^post102, i_110^0'=i_110^post102, rcd_89^0'=rcd_89^post102, a_281^0'=a_281^post102, x_SLAM_f_24^0'=x_SLAM_f_24^post102, len_134^0'=len_134^post102, tail_14^0'=tail_14^post102, head_15^0'=head_15^post102, r_165^0'=r_165^post102, a_149^0'=a_149^post102, x_19^0'=x_19^post102, i_95^0'=i_95^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102, a_342^0'=a_342^post102, y_25^0'=y_25^post102, length_28^0'=length_28^post102, temp0_31^0'=temp0_31^post102, tmp_34^0'=tmp_34^post102, head_SLAM_f_29^0'=head_SLAM_f_29^post102, rcd_59^0'=rcd_59^post102, a_225^0'=a_225^post102, x_SLAM_f_17^0'=x_SLAM_f_17^post102, t_22^0'=t_22^post102, f_171^0'=f_171^post102, r_126^0'=r_126^post102, (0 == 0 /\ -head_15^post102+head_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102-head_32^post102 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+tmp_34^post102 <= 0 /\ x_19^0-x_19^post102 == 0 /\ -tmp_34^post102+head_32^post102 <= 0 /\ -tmp_34^post102+head_32^post102 == 0 /\ -a_225^post102+a_225^0 == 0 /\ -f_171^post102+f_171^0 == 0 /\ a_281^0-a_281^post102 == 0 /\ temp0_16^0-temp0_16^post102 == 0 /\ r_165^0-r_165^post102 == 0 /\ -r_126^post102+r_126^0 == 0 /\ x_131^0-x_131^post102 == 0 /\ result_11^0-result_11^post102 == 0 /\ 1-length_28^0 <= 0 /\ -a_149^post102+a_149^0 == 0 /\ a_343^0-a_343^post102 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+head_32^post102 <= 0 /\ -nondet_12^post102+nondet_12^0 == 0 /\ 2-length_28^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102-tmp_34^post102 <= 0 /\ -x_26^post102+x_26^0 == 0 /\ -i_110^post102+i_110^0 == 0 /\ a_289^0-a_289^post102 == 0 /\ -x_SLAM_f_17^post102+x_SLAM_f_17^0 == 0 /\ tmp_34^post102-head_32^post102 <= 0 /\ -r_39^post102+r_39^0 == 0 /\ -2+i_30^post102 <= 0 /\ -i_95^post102+i_95^0 == 0 /\ -x_SLAM_f_24^post102+x_SLAM_f_24^0 == 0 /\ -head_SLAM_f_29^post102+tail_14^post102 <= 0 /\ a_188^0-a_188^post102 == 0 /\ -y_18^post102+y_18^0 == 0 /\ a_118^0-a_118^post102 == 0 /\ -1-i_30^0+i_30^post102 == 0 /\ -temp0_31^post102+temp0_31^0 == 0 /\ -temp_35^0+tmp_34^post102 == 0 /\ -x_176^post102+x_176^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post102+length_28^0 <= 0 /\ 1+i_30^0-length_28^0 <= 0 /\ head_SLAM_f_29^post102-tail_14^post102 <= 0 /\ -length_28^post102+length_28^0 == 0 /\ a_342^0-a_342^post102 == 0 /\ len_134^0-len_134^post102 == 0 /\ rcd_89^0-rcd_89^post102 == 0 /\ len_187^0-len_187^post102 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post102-length_28^0 <= 0 /\ -t_22^post102+t_22^0 == 0 /\ -y_25^post102+y_25^0 == 0 /\ 2-i_30^post102 <= 0), cost: 1
   5: l6 -> l4 : a_118^0'=a_118^post5, x_176^0'=x_176^post5, i_30^0'=i_30^post5, result_11^0'=result_11^post5, a_289^0'=a_289^post5, y_18^0'=y_18^post5, len_187^0'=len_187^post5, temp0_16^0'=temp0_16^post5, temp_35^0'=temp_35^post5, head_32^0'=head_32^post5, r_39^0'=r_39^post5, a_188^0'=a_188^post5, x_26^0'=x_26^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, a_343^0'=a_343^post5, nondet_12^0'=nondet_12^post5, x_131^0'=x_131^post5, i_110^0'=i_110^post5, rcd_89^0'=rcd_89^post5, a_281^0'=a_281^post5, x_SLAM_f_24^0'=x_SLAM_f_24^post5, len_134^0'=len_134^post5, tail_14^0'=tail_14^post5, head_15^0'=head_15^post5, r_165^0'=r_165^post5, a_149^0'=a_149^post5, x_19^0'=x_19^post5, i_95^0'=i_95^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5, a_342^0'=a_342^post5, y_25^0'=y_25^post5, length_28^0'=length_28^post5, temp0_31^0'=temp0_31^post5, tmp_34^0'=tmp_34^post5, head_SLAM_f_29^0'=head_SLAM_f_29^post5, rcd_59^0'=rcd_59^post5, a_225^0'=a_225^post5, x_SLAM_f_17^0'=x_SLAM_f_17^post5, t_22^0'=t_22^post5, f_171^0'=f_171^post5, r_126^0'=r_126^post5, (0 == 0 /\ -r_126^post5+r_126^0 == 0 /\ -a_225^post5+a_225^0 == 0 /\ -tail_14^post5+tail_14^0 == 0 /\ -head_15^post5+head_15^0 == 0 /\ head_32^0-head_32^post5 == 0 /\ a_118^0-a_118^post5 == 0 /\ -a_342^post5+a_342^0 == 0 /\ temp0_16^0-temp0_16^post5 == 0 /\ len_134^0-len_134^post5 == 0 /\ temp0_31^0-temp0_31^post5 == 0 /\ -head_SLAM_f_29^post5+head_SLAM_f_29^0 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ -x_131^post5+x_131^0 == 0 /\ i_110^0-i_110^post5 == 0 /\ -rcd_59^post5+rcd_59^0 == 0 /\ -a_281^post5+a_281^0 == 0 /\ -temp0_16^0+result_11^post5 == 0 /\ -a_149^0 <= 0 /\ -tmp_34^post5+tmp_34^0 == 0 /\ -f_171^post5+f_171^0 == 0 /\ len_187^0-len_187^post5 == 0 /\ x_26^0-x_26^post5 == 0 /\ -r_165^post5+r_165^0 == 0 /\ r_39^0-r_39^post5 == 0 /\ -y_18^0+x_19^0 <= 0 /\ y_25^0-y_25^post5 == 0 /\ -x_SLAM_f_24^post5+x_SLAM_f_24^0 == 0 /\ length_28^0-length_28^post5 == 0 /\ x_176^0-x_176^post5 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 <= 0 /\ -a_281^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5 == 0 /\ -a_343^post5+a_343^0 == 0 /\ y_18^0-x_19^0 <= 0 /\ temp_35^0-temp_35^post5 == 0 /\ a_289^0-a_289^post5 == 0 /\ a_188^0-a_188^post5 == 0 /\ -a_149^post5+a_149^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 <= 0 /\ -rcd_89^post5+rcd_89^0 == 0 /\ i_95^0-i_95^post5 == 0 /\ i_30^0-i_30^post5 == 0), cost: 1
   6: l6 -> l8 : a_118^0'=a_118^post6, x_176^0'=x_176^post6, i_30^0'=i_30^post6, result_11^0'=result_11^post6, a_289^0'=a_289^post6, y_18^0'=y_18^post6, len_187^0'=len_187^post6, temp0_16^0'=temp0_16^post6, temp_35^0'=temp_35^post6, head_32^0'=head_32^post6, r_39^0'=r_39^post6, a_188^0'=a_188^post6, x_26^0'=x_26^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=a_343^post6, nondet_12^0'=nondet_12^post6, x_131^0'=x_131^post6, i_110^0'=i_110^post6, rcd_89^0'=rcd_89^post6, a_281^0'=a_281^post6, x_SLAM_f_24^0'=x_SLAM_f_24^post6, len_134^0'=len_134^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, r_165^0'=r_165^post6, a_149^0'=a_149^post6, x_19^0'=x_19^post6, i_95^0'=i_95^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, a_342^0'=a_342^post6, y_25^0'=y_25^post6, length_28^0'=length_28^post6, temp0_31^0'=temp0_31^post6, tmp_34^0'=tmp_34^post6, head_SLAM_f_29^0'=head_SLAM_f_29^post6, rcd_59^0'=rcd_59^post6, a_225^0'=a_225^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=t_22^post6, f_171^0'=f_171^post6, r_126^0'=r_126^post6, (0 == 0 /\ a_149^0-a_149^post6 == 0 /\ a_343^0-a_343^post6 == 0 /\ rcd_89^0-rcd_89^post6 == 0 /\ -length_28^post6+length_28^0 == 0 /\ -temp0_31^post6+temp0_31^0 == 0 /\ -tmp_34^post6+tmp_34^0 == 0 /\ temp_35^0-temp_35^post6 == 0 /\ -t_22^post6+t_22^0 == 0 /\ -r_165^post6+r_165^0 == 0 /\ -y_25^post6+y_25^0 == 0 /\ temp0_16^0-temp0_16^post6 == 0 /\ a_118^0-a_118^post6 == 0 /\ -f_171^post6+f_171^0 == 0 /\ len_187^0-len_187^post6 == 0 /\ -a_149^0 <= 0 /\ result_11^0-result_11^post6 == 0 /\ nondet_12^0-nondet_12^post6 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_126^post6+r_126^0 == 0 /\ -x_19^post6+x_19^0 == 0 /\ -head_32^post6+head_32^0 == 0 /\ -a_225^post6+a_225^0 == 0 /\ -len_134^post6+len_134^0 == 0 /\ -a_281^0 <= 0 /\ x_176^0-x_176^post6 == 0 /\ a_188^0-a_188^post6 == 0 /\ -a_289^post6+a_289^0 == 0 /\ -i_95^post6+i_95^0 == 0 /\ i_30^0-i_30^post6 == 0 /\ y_18^0-y_18^post6 == 0 /\ a_281^0-a_281^post6 == 0 /\ -x_26^post6+x_26^0 == 0 /\ -i_110^post6+i_110^0 == 0 /\ -x_SLAM_f_24^post6+x_SLAM_f_24^0 == 0 /\ a_342^0-a_342^post6 == 0 /\ -head_SLAM_f_29^post6+head_SLAM_f_29^0 == 0 /\ x_131^0-x_131^post6 == 0 /\ -rcd_59^post6+rcd_59^0 == 0), cost: 1
   7: l8 -> l9 : a_118^0'=a_118^post7, x_176^0'=x_176^post7, i_30^0'=i_30^post7, result_11^0'=result_11^post7, a_289^0'=a_289^post7, y_18^0'=y_18^post7, len_187^0'=len_187^post7, temp0_16^0'=temp0_16^post7, temp_35^0'=temp_35^post7, head_32^0'=head_32^post7, r_39^0'=r_39^post7, a_188^0'=a_188^post7, x_26^0'=x_26^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, a_343^0'=a_343^post7, nondet_12^0'=nondet_12^post7, x_131^0'=x_131^post7, i_110^0'=i_110^post7, rcd_89^0'=rcd_89^post7, a_281^0'=a_281^post7, x_SLAM_f_24^0'=x_SLAM_f_24^post7, len_134^0'=len_134^post7, tail_14^0'=tail_14^post7, head_15^0'=head_15^post7, r_165^0'=r_165^post7, a_149^0'=a_149^post7, x_19^0'=x_19^post7, i_95^0'=i_95^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, a_342^0'=a_342^post7, y_25^0'=y_25^post7, length_28^0'=length_28^post7, temp0_31^0'=temp0_31^post7, tmp_34^0'=tmp_34^post7, head_SLAM_f_29^0'=head_SLAM_f_29^post7, rcd_59^0'=rcd_59^post7, a_225^0'=a_225^post7, x_SLAM_f_17^0'=x_SLAM_f_17^post7, t_22^0'=t_22^post7, f_171^0'=f_171^post7, r_126^0'=r_126^post7, (len_187^0-len_187^post7 == 0 /\ -temp0_31^post7+temp0_31^0 == 0 /\ y_18^0-y_18^post7 == 0 /\ a_188^0-a_188^post7 == 0 /\ -a_343^post7+a_343^0 == 0 /\ -i_95^post7+i_95^0 == 0 /\ x_26^0-x_26^post7 == 0 /\ head_15^0-head_15^post7 == 0 /\ -x_SLAM_f_24^post7+x_SLAM_f_24^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post7 == 0 /\ -a_225^post7+a_225^0 == 0 /\ result_11^0-result_11^post7 == 0 /\ r_39^0-r_39^post7 == 0 /\ -head_SLAM_f_29^post7+head_SLAM_f_29^0 == 0 /\ -rcd_89^post7+rcd_89^0 == 0 /\ -a_149^post7+a_149^0 == 0 /\ temp_35^0-temp_35^post7 == 0 /\ len_134^0-len_134^post7 == 0 /\ a_289^0-a_289^post7 == 0 /\ rcd_59^0-rcd_59^post7 == 0 /\ -length_28^post7+length_28^0 == 0 /\ temp0_16^0-temp0_16^post7 == 0 /\ r_165^0-r_165^post7 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post7 == 0 /\ a_118^0-a_118^post7 == 0 /\ x_131^0-x_131^post7 == 0 /\ -tail_14^post7+tail_14^0 == 0 /\ -t_22^post7+t_22^0 == 0 /\ -y_25^post7+y_25^0 == 0 /\ a_342^0-a_342^post7 == 0 /\ -tmp_34^post7+tmp_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_30^0-i_30^post7 == 0 /\ -f_171^post7+f_171^0 == 0 /\ 1+y_18^0-x_19^0 <= 0 /\ -a_281^post7+a_281^0 == 0 /\ -x_19^post7+x_19^0 == 0 /\ head_32^0-head_32^post7 == 0 /\ x_176^0-x_176^post7 == 0 /\ -r_126^post7+r_126^0 == 0 /\ i_110^0-i_110^post7 == 0), cost: 1
   8: l8 -> l9 : a_118^0'=a_118^post8, x_176^0'=x_176^post8, i_30^0'=i_30^post8, result_11^0'=result_11^post8, a_289^0'=a_289^post8, y_18^0'=y_18^post8, len_187^0'=len_187^post8, temp0_16^0'=temp0_16^post8, temp_35^0'=temp_35^post8, head_32^0'=head_32^post8, r_39^0'=r_39^post8, a_188^0'=a_188^post8, x_26^0'=x_26^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, a_343^0'=a_343^post8, nondet_12^0'=nondet_12^post8, x_131^0'=x_131^post8, i_110^0'=i_110^post8, rcd_89^0'=rcd_89^post8, a_281^0'=a_281^post8, x_SLAM_f_24^0'=x_SLAM_f_24^post8, len_134^0'=len_134^post8, tail_14^0'=tail_14^post8, head_15^0'=head_15^post8, r_165^0'=r_165^post8, a_149^0'=a_149^post8, x_19^0'=x_19^post8, i_95^0'=i_95^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, a_342^0'=a_342^post8, y_25^0'=y_25^post8, length_28^0'=length_28^post8, temp0_31^0'=temp0_31^post8, tmp_34^0'=tmp_34^post8, head_SLAM_f_29^0'=head_SLAM_f_29^post8, rcd_59^0'=rcd_59^post8, a_225^0'=a_225^post8, x_SLAM_f_17^0'=x_SLAM_f_17^post8, t_22^0'=t_22^post8, f_171^0'=f_171^post8, r_126^0'=r_126^post8, (head_32^0-head_32^post8 == 0 /\ -x_131^post8+x_131^0 == 0 /\ -a_225^post8+a_225^0 == 0 /\ -tail_14^post8+tail_14^0 == 0 /\ -f_171^post8+f_171^0 == 0 /\ -a_149^post8+a_149^0 == 0 /\ -head_15^post8+head_15^0 == 0 /\ -r_126^post8+r_126^0 == 0 /\ -head_SLAM_f_29^post8+head_SLAM_f_29^0 == 0 /\ a_118^0-a_118^post8 == 0 /\ -x_19^post8+x_19^0 == 0 /\ -nondet_12^post8+nondet_12^0 == 0 /\ temp0_31^0-temp0_31^post8 == 0 /\ len_134^0-len_134^post8 == 0 /\ i_110^0-i_110^post8 == 0 /\ -x_SLAM_f_17^post8+x_SLAM_f_17^0 == 0 /\ -rcd_59^post8+rcd_59^0 == 0 /\ -a_281^post8+a_281^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ -i_95^post8+i_95^0 == 0 /\ x_26^0-x_26^post8 == 0 /\ -tmp_34^post8+tmp_34^0 == 0 /\ len_187^0-len_187^post8 == 0 /\ -r_165^post8+r_165^0 == 0 /\ length_28^0-length_28^post8 == 0 /\ temp0_16^0-temp0_16^post8 == 0 /\ 1-y_18^0+x_19^0 <= 0 /\ x_176^0-x_176^post8 == 0 /\ -y_25^post8+y_25^0 == 0 /\ -x_SLAM_f_24^post8+x_SLAM_f_24^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ -a_342^post8+a_342^0 == 0 /\ a_289^0-a_289^post8 == 0 /\ temp_35^0-temp_35^post8 == 0 /\ -t_22^post8+t_22^0 == 0 /\ -a_343^post8+a_343^0 == 0 /\ a_188^0-a_188^post8 == 0 /\ i_30^0-i_30^post8 == 0 /\ -rcd_89^post8+rcd_89^0 == 0 /\ y_18^0-y_18^post8 == 0 /\ r_39^0-r_39^post8 == 0), cost: 1
   9: l9 -> l10 : a_118^0'=a_118^post9, x_176^0'=x_176^post9, i_30^0'=i_30^post9, result_11^0'=result_11^post9, a_289^0'=a_289^post9, y_18^0'=y_18^post9, len_187^0'=len_187^post9, temp0_16^0'=temp0_16^post9, temp_35^0'=temp_35^post9, head_32^0'=head_32^post9, r_39^0'=r_39^post9, a_188^0'=a_188^post9, x_26^0'=x_26^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, a_343^0'=a_343^post9, nondet_12^0'=nondet_12^post9, x_131^0'=x_131^post9, i_110^0'=i_110^post9, rcd_89^0'=rcd_89^post9, a_281^0'=a_281^post9, x_SLAM_f_24^0'=x_SLAM_f_24^post9, len_134^0'=len_134^post9, tail_14^0'=tail_14^post9, head_15^0'=head_15^post9, r_165^0'=r_165^post9, a_149^0'=a_149^post9, x_19^0'=x_19^post9, i_95^0'=i_95^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, a_342^0'=a_342^post9, y_25^0'=y_25^post9, length_28^0'=length_28^post9, temp0_31^0'=temp0_31^post9, tmp_34^0'=tmp_34^post9, head_SLAM_f_29^0'=head_SLAM_f_29^post9, rcd_59^0'=rcd_59^post9, a_225^0'=a_225^post9, x_SLAM_f_17^0'=x_SLAM_f_17^post9, t_22^0'=t_22^post9, f_171^0'=f_171^post9, r_126^0'=r_126^post9, (0 == 0 /\ tmp_34^0-tmp_34^post9 == 0 /\ a_149^0-a_149^post9 == 0 /\ result_11^0-result_11^post9 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ temp_35^0-temp_35^post9 == 0 /\ 1-a_281^0-a_149^0+a_343^post9 <= 0 /\ -x_SLAM_f_24^post9+x_SLAM_f_24^0 == 0 /\ -x_26^post9+x_26^0 == 0 /\ -y_25^post9+y_25^0 == 0 /\ -r_165^post9+r_165^0 == 0 /\ -f_171^post9+f_171^0 == 0 /\ temp0_16^0-temp0_16^post9 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 == 0 /\ len_187^0-len_187^post9 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_118^0-a_118^post9 == 0 /\ -length_28^post9+length_28^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post9 == 0 /\ rcd_89^0-rcd_89^post9 == 0 /\ -len_134^post9+len_134^0 == 0 /\ tail_14^0-tail_14^post9 == 0 /\ -r_126^post9+r_126^0 == 0 /\ a_281^0-a_281^post9 == 0 /\ -temp0_31^post9+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post9 == 0 /\ -a_342^post9 <= 0 /\ -x_19^post9+x_19^0 == 0 /\ y_18^0-tail_14^0 <= 0 /\ t_22^post9-x_19^0 == 0 /\ r_39^0-r_39^post9 == 0 /\ -head_32^post9+head_32^0 == 0 /\ -1+a_281^0+a_149^0-a_343^post9 <= 0 /\ x_176^0-x_176^post9 == 0 /\ -head_15^post9+head_15^0 == 0 /\ -a_289^post9+a_289^0 == 0 /\ -i_95^post9+i_95^0 == 0 /\ -y_18^0+tail_14^0 <= 0 /\ -head_SLAM_f_29^post9+head_SLAM_f_29^0 == 0 /\ -i_110^post9+i_110^0 == 0 /\ i_30^0-i_30^post9 == 0 /\ -a_225^post9+a_225^0 == 0 /\ y_18^0-y_18^post9 == 0 /\ x_131^0-x_131^post9 == 0 /\ a_342^post9 <= 0 /\ a_188^0-a_188^post9 == 0 /\ -rcd_59^post9+rcd_59^0 == 0), cost: 1
  10: l10 -> l11 : a_118^0'=a_118^post10, x_176^0'=x_176^post10, i_30^0'=i_30^post10, result_11^0'=result_11^post10, a_289^0'=a_289^post10, y_18^0'=y_18^post10, len_187^0'=len_187^post10, temp0_16^0'=temp0_16^post10, temp_35^0'=temp_35^post10, head_32^0'=head_32^post10, r_39^0'=r_39^post10, a_188^0'=a_188^post10, x_26^0'=x_26^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, a_343^0'=a_343^post10, nondet_12^0'=nondet_12^post10, x_131^0'=x_131^post10, i_110^0'=i_110^post10, rcd_89^0'=rcd_89^post10, a_281^0'=a_281^post10, x_SLAM_f_24^0'=x_SLAM_f_24^post10, len_134^0'=len_134^post10, tail_14^0'=tail_14^post10, head_15^0'=head_15^post10, r_165^0'=r_165^post10, a_149^0'=a_149^post10, x_19^0'=x_19^post10, i_95^0'=i_95^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, a_342^0'=a_342^post10, y_25^0'=y_25^post10, length_28^0'=length_28^post10, temp0_31^0'=temp0_31^post10, tmp_34^0'=tmp_34^post10, head_SLAM_f_29^0'=head_SLAM_f_29^post10, rcd_59^0'=rcd_59^post10, a_225^0'=a_225^post10, x_SLAM_f_17^0'=x_SLAM_f_17^post10, t_22^0'=t_22^post10, f_171^0'=f_171^post10, r_126^0'=r_126^post10, (len_187^0-len_187^post10 == 0 /\ rcd_89^0-rcd_89^post10 == 0 /\ -temp0_31^post10+temp0_31^0 == 0 /\ i_30^0-i_30^post10 == 0 /\ y_18^0-y_18^post10 == 0 /\ -i_95^post10+i_95^0 == 0 /\ -a_343^post10+a_343^0 == 0 /\ rcd_59^0-rcd_59^post10 == 0 /\ -head_SLAM_f_29^post10+head_SLAM_f_29^0 == 0 /\ head_15^0-head_15^post10 == 0 /\ tail_14^0-tail_14^post10 == 0 /\ -a_225^post10+a_225^0 == 0 /\ r_39^0-r_39^post10 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post10 == 0 /\ result_11^0-result_11^post10 == 0 /\ -y_25^post10+y_25^0 == 0 /\ -a_149^post10+a_149^0 == 0 /\ -x_SLAM_f_24^post10+x_SLAM_f_24^0 == 0 /\ temp0_16^0-temp0_16^post10 == 0 /\ len_134^0-len_134^post10 == 0 /\ a_289^0-a_289^post10 == 0 /\ temp_35^0-temp_35^post10 == 0 /\ a_342^0-a_342^post10 == 0 /\ -t_22^post10+t_22^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 == 0 /\ a_118^0-a_118^post10 == 0 /\ x_131^0-x_131^post10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_188^0-a_188^post10 == 0 /\ -length_28^post10+length_28^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ -x_26^post10+x_26^0 == 0 /\ -tmp_34^post10+tmp_34^0 == 0 /\ -a_281^post10+a_281^0 == 0 /\ -x_19^post10+x_19^0 == 0 /\ head_32^0-head_32^post10 == 0 /\ -r_126^post10+r_126^0 == 0 /\ x_176^0-x_176^post10 == 0 /\ -f_171^post10+f_171^0 == 0 /\ r_165^0-r_165^post10 == 0 /\ 1+tail_14^0-head_15^0 <= 0 /\ i_110^0-i_110^post10 == 0), cost: 1
  11: l10 -> l11 : a_118^0'=a_118^post11, x_176^0'=x_176^post11, i_30^0'=i_30^post11, result_11^0'=result_11^post11, a_289^0'=a_289^post11, y_18^0'=y_18^post11, len_187^0'=len_187^post11, temp0_16^0'=temp0_16^post11, temp_35^0'=temp_35^post11, head_32^0'=head_32^post11, r_39^0'=r_39^post11, a_188^0'=a_188^post11, x_26^0'=x_26^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, a_343^0'=a_343^post11, nondet_12^0'=nondet_12^post11, x_131^0'=x_131^post11, i_110^0'=i_110^post11, rcd_89^0'=rcd_89^post11, a_281^0'=a_281^post11, x_SLAM_f_24^0'=x_SLAM_f_24^post11, len_134^0'=len_134^post11, tail_14^0'=tail_14^post11, head_15^0'=head_15^post11, r_165^0'=r_165^post11, a_149^0'=a_149^post11, x_19^0'=x_19^post11, i_95^0'=i_95^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, a_342^0'=a_342^post11, y_25^0'=y_25^post11, length_28^0'=length_28^post11, temp0_31^0'=temp0_31^post11, tmp_34^0'=tmp_34^post11, head_SLAM_f_29^0'=head_SLAM_f_29^post11, rcd_59^0'=rcd_59^post11, a_225^0'=a_225^post11, x_SLAM_f_17^0'=x_SLAM_f_17^post11, t_22^0'=t_22^post11, f_171^0'=f_171^post11, r_126^0'=r_126^post11, (-a_225^post11+a_225^0 == 0 /\ -f_171^post11+f_171^0 == 0 /\ -tail_14^post11+tail_14^0 == 0 /\ head_32^0-head_32^post11 == 0 /\ -x_131^post11+x_131^0 == 0 /\ rcd_59^0-rcd_59^post11 == 0 /\ a_188^0-a_188^post11 == 0 /\ -a_149^post11+a_149^0 == 0 /\ -x_19^post11+x_19^0 == 0 /\ len_134^0-len_134^post11 == 0 /\ -nondet_12^post11+nondet_12^0 == 0 /\ -head_15^post11+head_15^0 == 0 /\ temp0_31^0-temp0_31^post11 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post11+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post11 == 0 /\ -tmp_34^post11+tmp_34^0 == 0 /\ -x_SLAM_f_17^post11+x_SLAM_f_17^0 == 0 /\ x_26^0-x_26^post11 == 0 /\ a_289^0-a_289^post11 == 0 /\ -i_95^post11+i_95^0 == 0 /\ len_187^0-len_187^post11 == 0 /\ -a_281^post11+a_281^0 == 0 /\ -rcd_89^post11+rcd_89^0 == 0 /\ a_118^0-a_118^post11 == 0 /\ length_28^0-length_28^post11 == 0 /\ -r_165^post11+r_165^0 == 0 /\ -y_25^post11+y_25^0 == 0 /\ temp0_16^0-temp0_16^post11 == 0 /\ result_11^0-result_11^post11 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ -x_SLAM_f_24^post11+x_SLAM_f_24^0 == 0 /\ temp_35^0-temp_35^post11 == 0 /\ i_110^0-i_110^post11 == 0 /\ -a_342^post11+a_342^0 == 0 /\ -t_22^post11+t_22^0 == 0 /\ -r_126^post11+r_126^0 == 0 /\ -a_343^post11+a_343^0 == 0 /\ i_30^0-i_30^post11 == 0 /\ r_39^0-r_39^post11 == 0 /\ y_18^0-y_18^post11 == 0 /\ x_176^0-x_176^post11 == 0), cost: 1
  12: l11 -> l12 : a_118^0'=a_118^post12, x_176^0'=x_176^post12, i_30^0'=i_30^post12, result_11^0'=result_11^post12, a_289^0'=a_289^post12, y_18^0'=y_18^post12, len_187^0'=len_187^post12, temp0_16^0'=temp0_16^post12, temp_35^0'=temp_35^post12, head_32^0'=head_32^post12, r_39^0'=r_39^post12, a_188^0'=a_188^post12, x_26^0'=x_26^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, a_343^0'=a_343^post12, nondet_12^0'=nondet_12^post12, x_131^0'=x_131^post12, i_110^0'=i_110^post12, rcd_89^0'=rcd_89^post12, a_281^0'=a_281^post12, x_SLAM_f_24^0'=x_SLAM_f_24^post12, len_134^0'=len_134^post12, tail_14^0'=tail_14^post12, head_15^0'=head_15^post12, r_165^0'=r_165^post12, a_149^0'=a_149^post12, x_19^0'=x_19^post12, i_95^0'=i_95^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, a_342^0'=a_342^post12, y_25^0'=y_25^post12, length_28^0'=length_28^post12, temp0_31^0'=temp0_31^post12, tmp_34^0'=tmp_34^post12, head_SLAM_f_29^0'=head_SLAM_f_29^post12, rcd_59^0'=rcd_59^post12, a_225^0'=a_225^post12, x_SLAM_f_17^0'=x_SLAM_f_17^post12, t_22^0'=t_22^post12, f_171^0'=f_171^post12, r_126^0'=r_126^post12, (tmp_34^0-tmp_34^post12 == 0 /\ tail_14^0-tail_14^post12 == 0 /\ -rcd_59^post12+rcd_59^0 == 0 /\ -y_25^post12+y_25^0 == 0 /\ temp_35^0-temp_35^post12 == 0 /\ temp0_16^0-temp0_16^post12 == 0 /\ -t_22^post12+t_22^0 == 0 /\ -temp0_31^post12+temp0_31^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -f_171^post12+f_171^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post12 == 0 /\ a_118^0-a_118^post12 == 0 /\ a_225^0-a_225^post12 == 0 /\ len_187^0-len_187^post12 == 0 /\ r_165^0-r_165^post12 == 0 /\ rcd_89^0-rcd_89^post12 == 0 /\ -length_28^post12+length_28^0 == 0 /\ x_26^0-x_26^post12 == 0 /\ -r_126^post12+r_126^0 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ -len_134^post12+len_134^0 == 0 /\ a_281^0-a_281^post12 == 0 /\ -head_32^post12+head_32^0 == 0 /\ r_39^0-r_39^post12 == 0 /\ x_176^0-x_176^post12 == 0 /\ -i_110^post12+i_110^0 == 0 /\ x_19^0-x_19^post12 == 0 /\ -head_15^post12+head_15^0 == 0 /\ a_289^0-a_289^post12 == 0 /\ -a_149^post12+a_149^0 == 0 /\ -x_SLAM_f_24^post12+x_SLAM_f_24^0 == 0 /\ -i_95^post12+i_95^0 == 0 /\ y_18^0-y_18^post12 == 0 /\ -head_SLAM_f_29^post12+head_SLAM_f_29^0 == 0 /\ a_342^0-a_342^post12 == 0 /\ x_131^0-x_131^post12 == 0 /\ i_30^0-i_30^post12 == 0 /\ result_11^0-result_11^post12 == 0 /\ a_343^0-a_343^post12 == 0 /\ 1-y_18^0+head_15^0 <= 0 /\ -x_SLAM_f_17^post12+x_SLAM_f_17^0 == 0 /\ a_188^0-a_188^post12 == 0), cost: 1
  13: l11 -> l12 : a_118^0'=a_118^post13, x_176^0'=x_176^post13, i_30^0'=i_30^post13, result_11^0'=result_11^post13, a_289^0'=a_289^post13, y_18^0'=y_18^post13, len_187^0'=len_187^post13, temp0_16^0'=temp0_16^post13, temp_35^0'=temp_35^post13, head_32^0'=head_32^post13, r_39^0'=r_39^post13, a_188^0'=a_188^post13, x_26^0'=x_26^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, a_343^0'=a_343^post13, nondet_12^0'=nondet_12^post13, x_131^0'=x_131^post13, i_110^0'=i_110^post13, rcd_89^0'=rcd_89^post13, a_281^0'=a_281^post13, x_SLAM_f_24^0'=x_SLAM_f_24^post13, len_134^0'=len_134^post13, tail_14^0'=tail_14^post13, head_15^0'=head_15^post13, r_165^0'=r_165^post13, a_149^0'=a_149^post13, x_19^0'=x_19^post13, i_95^0'=i_95^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13, a_342^0'=a_342^post13, y_25^0'=y_25^post13, length_28^0'=length_28^post13, temp0_31^0'=temp0_31^post13, tmp_34^0'=tmp_34^post13, head_SLAM_f_29^0'=head_SLAM_f_29^post13, rcd_59^0'=rcd_59^post13, a_225^0'=a_225^post13, x_SLAM_f_17^0'=x_SLAM_f_17^post13, t_22^0'=t_22^post13, f_171^0'=f_171^post13, r_126^0'=r_126^post13, (len_187^0-len_187^post13 == 0 /\ x_131^0-x_131^post13 == 0 /\ i_30^0-i_30^post13 == 0 /\ -i_95^post13+i_95^0 == 0 /\ -temp0_31^post13+temp0_31^0 == 0 /\ rcd_89^0-rcd_89^post13 == 0 /\ nondet_12^0-nondet_12^post13 == 0 /\ rcd_59^0-rcd_59^post13 == 0 /\ result_11^0-result_11^post13 == 0 /\ -a_225^post13+a_225^0 == 0 /\ tail_14^0-tail_14^post13 == 0 /\ -head_SLAM_f_29^post13+head_SLAM_f_29^0 == 0 /\ r_39^0-r_39^post13 == 0 /\ -y_25^post13+y_25^0 == 0 /\ -a_343^post13+a_343^0 == 0 /\ head_15^0-head_15^post13 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post13 == 0 /\ a_118^0-a_118^post13 == 0 /\ a_289^0-a_289^post13 == 0 /\ -x_SLAM_f_24^post13+x_SLAM_f_24^0 == 0 /\ len_134^0-len_134^post13 == 0 /\ temp0_16^0-temp0_16^post13 == 0 /\ temp_35^0-temp_35^post13 == 0 /\ -tmp_34^post13+tmp_34^0 == 0 /\ -t_22^post13+t_22^0 == 0 /\ a_342^0-a_342^post13 == 0 /\ -a_149^post13+a_149^0 == 0 /\ -r_126^post13+r_126^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post13 == 0 /\ -x_19^post13+x_19^0 == 0 /\ a_188^0-a_188^post13 == 0 /\ -x_26^post13+x_26^0 == 0 /\ -length_28^post13+length_28^0 == 0 /\ 1+y_18^0-head_15^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_281^post13+a_281^0 == 0 /\ -y_18^post13+y_18^0 == 0 /\ x_176^0-x_176^post13 == 0 /\ -f_171^post13+f_171^0 == 0 /\ r_165^0-r_165^post13 == 0 /\ -head_32^post13+head_32^0 == 0 /\ i_110^0-i_110^post13 == 0), cost: 1
  14: l12 -> l13 : a_118^0'=a_118^post14, x_176^0'=x_176^post14, i_30^0'=i_30^post14, result_11^0'=result_11^post14, a_289^0'=a_289^post14, y_18^0'=y_18^post14, len_187^0'=len_187^post14, temp0_16^0'=temp0_16^post14, temp_35^0'=temp_35^post14, head_32^0'=head_32^post14, r_39^0'=r_39^post14, a_188^0'=a_188^post14, x_26^0'=x_26^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_343^0'=a_343^post14, nondet_12^0'=nondet_12^post14, x_131^0'=x_131^post14, i_110^0'=i_110^post14, rcd_89^0'=rcd_89^post14, a_281^0'=a_281^post14, x_SLAM_f_24^0'=x_SLAM_f_24^post14, len_134^0'=len_134^post14, tail_14^0'=tail_14^post14, head_15^0'=head_15^post14, r_165^0'=r_165^post14, a_149^0'=a_149^post14, x_19^0'=x_19^post14, i_95^0'=i_95^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14, a_342^0'=a_342^post14, y_25^0'=y_25^post14, length_28^0'=length_28^post14, temp0_31^0'=temp0_31^post14, tmp_34^0'=tmp_34^post14, head_SLAM_f_29^0'=head_SLAM_f_29^post14, rcd_59^0'=rcd_59^post14, a_225^0'=a_225^post14, x_SLAM_f_17^0'=x_SLAM_f_17^post14, t_22^0'=t_22^post14, f_171^0'=f_171^post14, r_126^0'=r_126^post14, (head_32^0-head_32^post14 == 0 /\ -a_149^post14+a_149^0 == 0 /\ rcd_59^0-rcd_59^post14 == 0 /\ -x_131^post14+x_131^0 == 0 /\ a_188^0-a_188^post14 == 0 /\ -head_15^post14+head_15^0 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ len_134^0-len_134^post14 == 0 /\ temp0_31^0-temp0_31^post14 == 0 /\ -x_19^post14+x_19^0 == 0 /\ -f_171^post14+f_171^0 == 0 /\ -a_225^post14+a_225^0 == 0 /\ 1+y_18^0-t_22^0 <= 0 /\ x_26^0-x_26^post14 == 0 /\ a_289^0-a_289^post14 == 0 /\ -tmp_34^post14+tmp_34^0 == 0 /\ -i_95^post14+i_95^0 == 0 /\ r_39^0-r_39^post14 == 0 /\ -a_281^post14+a_281^0 == 0 /\ -x_SLAM_f_17^post14+x_SLAM_f_17^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post14 == 0 /\ -tail_14^post14+tail_14^0 == 0 /\ -y_25^post14+y_25^0 == 0 /\ i_30^0-i_30^post14 == 0 /\ a_118^0-a_118^post14 == 0 /\ length_28^0-length_28^post14 == 0 /\ temp0_16^0-temp0_16^post14 == 0 /\ -r_165^post14+r_165^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14 == 0 /\ result_11^0-result_11^post14 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post14+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_22^post14+t_22^0 == 0 /\ i_110^0-i_110^post14 == 0 /\ -temp_35^post14+temp_35^0 == 0 /\ -r_126^post14+r_126^0 == 0 /\ -a_342^post14+a_342^0 == 0 /\ rcd_89^0-rcd_89^post14 == 0 /\ len_187^0-len_187^post14 == 0 /\ -a_343^post14+a_343^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post14 == 0 /\ x_176^0-x_176^post14 == 0 /\ y_18^0-y_18^post14 == 0), cost: 1
  15: l12 -> l13 : a_118^0'=a_118^post15, x_176^0'=x_176^post15, i_30^0'=i_30^post15, result_11^0'=result_11^post15, a_289^0'=a_289^post15, y_18^0'=y_18^post15, len_187^0'=len_187^post15, temp0_16^0'=temp0_16^post15, temp_35^0'=temp_35^post15, head_32^0'=head_32^post15, r_39^0'=r_39^post15, a_188^0'=a_188^post15, x_26^0'=x_26^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, a_343^0'=a_343^post15, nondet_12^0'=nondet_12^post15, x_131^0'=x_131^post15, i_110^0'=i_110^post15, rcd_89^0'=rcd_89^post15, a_281^0'=a_281^post15, x_SLAM_f_24^0'=x_SLAM_f_24^post15, len_134^0'=len_134^post15, tail_14^0'=tail_14^post15, head_15^0'=head_15^post15, r_165^0'=r_165^post15, a_149^0'=a_149^post15, x_19^0'=x_19^post15, i_95^0'=i_95^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15, a_342^0'=a_342^post15, y_25^0'=y_25^post15, length_28^0'=length_28^post15, temp0_31^0'=temp0_31^post15, tmp_34^0'=tmp_34^post15, head_SLAM_f_29^0'=head_SLAM_f_29^post15, rcd_59^0'=rcd_59^post15, a_225^0'=a_225^post15, x_SLAM_f_17^0'=x_SLAM_f_17^post15, t_22^0'=t_22^post15, f_171^0'=f_171^post15, r_126^0'=r_126^post15, (1-y_18^0+t_22^0 <= 0 /\ tail_14^0-tail_14^post15 == 0 /\ -length_28^post15+length_28^0 == 0 /\ -tmp_34^post15+tmp_34^0 == 0 /\ -rcd_59^post15+rcd_59^0 == 0 /\ -t_22^post15+t_22^0 == 0 /\ temp_35^0-temp_35^post15 == 0 /\ -y_25^post15+y_25^0 == 0 /\ r_165^0-r_165^post15 == 0 /\ len_187^0-len_187^post15 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -temp0_31^post15+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post15 == 0 /\ a_225^0-a_225^post15 == 0 /\ -len_134^post15+len_134^0 == 0 /\ x_26^0-x_26^post15 == 0 /\ rcd_89^0-rcd_89^post15 == 0 /\ -f_171^post15+f_171^0 == 0 /\ -a_342^post15+a_342^0 == 0 /\ a_281^0-a_281^post15 == 0 /\ -r_126^post15+r_126^0 == 0 /\ nondet_12^0-nondet_12^post15 == 0 /\ -head_32^post15+head_32^0 == 0 /\ r_39^0-r_39^post15 == 0 /\ -i_110^post15+i_110^0 == 0 /\ x_176^0-x_176^post15 == 0 /\ x_19^0-x_19^post15 == 0 /\ -head_15^post15+head_15^0 == 0 /\ a_289^0-a_289^post15 == 0 /\ temp0_16^0-temp0_16^post15 == 0 /\ a_118^0-a_118^post15 == 0 /\ -head_SLAM_f_29^post15+head_SLAM_f_29^0 == 0 /\ -i_95^post15+i_95^0 == 0 /\ x_131^0-x_131^post15 == 0 /\ -x_SLAM_f_24^post15+x_SLAM_f_24^0 == 0 /\ i_30^0-i_30^post15 == 0 /\ -x_SLAM_f_17^post15+x_SLAM_f_17^0 == 0 /\ y_18^0-y_18^post15 == 0 /\ a_343^0-a_343^post15 == 0 /\ result_11^0-result_11^post15 == 0 /\ -a_149^post15+a_149^0 == 0 /\ a_188^0-a_188^post15 == 0), cost: 1
  16: l13 -> l7 : a_118^0'=a_118^post16, x_176^0'=x_176^post16, i_30^0'=i_30^post16, result_11^0'=result_11^post16, a_289^0'=a_289^post16, y_18^0'=y_18^post16, len_187^0'=len_187^post16, temp0_16^0'=temp0_16^post16, temp_35^0'=temp_35^post16, head_32^0'=head_32^post16, r_39^0'=r_39^post16, a_188^0'=a_188^post16, x_26^0'=x_26^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, a_343^0'=a_343^post16, nondet_12^0'=nondet_12^post16, x_131^0'=x_131^post16, i_110^0'=i_110^post16, rcd_89^0'=rcd_89^post16, a_281^0'=a_281^post16, x_SLAM_f_24^0'=x_SLAM_f_24^post16, len_134^0'=len_134^post16, tail_14^0'=tail_14^post16, head_15^0'=head_15^post16, r_165^0'=r_165^post16, a_149^0'=a_149^post16, x_19^0'=x_19^post16, i_95^0'=i_95^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16, a_342^0'=a_342^post16, y_25^0'=y_25^post16, length_28^0'=length_28^post16, temp0_31^0'=temp0_31^post16, tmp_34^0'=tmp_34^post16, head_SLAM_f_29^0'=head_SLAM_f_29^post16, rcd_59^0'=rcd_59^post16, a_225^0'=a_225^post16, x_SLAM_f_17^0'=x_SLAM_f_17^post16, t_22^0'=t_22^post16, f_171^0'=f_171^post16, r_126^0'=r_126^post16, (0 == 0 /\ len_187^0-len_187^post16 == 0 /\ r_165^0-r_165^post16 == 0 /\ x_131^0-x_131^post16 == 0 /\ -i_95^post16+i_95^0 == 0 /\ -temp0_31^post16+temp0_31^0 == 0 /\ head_15^0-head_15^post16 == 0 /\ i_30^0-i_30^post16 == 0 /\ rcd_89^0-rcd_89^post16 == 0 /\ tail_14^0-tail_14^post16 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post16 == 0 /\ r_39^0-r_39^post16 == 0 /\ result_11^0-result_11^post16 == 0 /\ -length_28^post16+length_28^0 == 0 /\ -y_25^post16+y_25^0 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ rcd_59^0-rcd_59^post16 == 0 /\ -t_22^post16+t_22^0 == 0 /\ a_118^0-a_118^post16 == 0 /\ a_289^0-a_289^post16 == 0 /\ temp_35^0-temp_35^post16 == 0 /\ temp0_16^0-temp0_16^post16 == 0 /\ -a_225^post16+a_225^0 == 0 /\ i_110^0-i_110^post16 == 0 /\ -x_26^post16+x_26^0 == 0 /\ a_149^post16-a_342^0 <= 0 /\ -r_126^post16+r_126^0 == 0 /\ a_342^0-a_342^post16 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post16 == 0 /\ a_343^0-a_343^post16 == 0 /\ -x_19^post16+x_19^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_188^0-a_188^post16 == 0 /\ -head_SLAM_f_29^post16+head_SLAM_f_29^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post16 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_343^0+a_281^post16 <= 0 /\ -y_18^post16+y_18^0 == 0 /\ -a_149^post16+a_342^0 <= 0 /\ x_176^0-x_176^post16 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_32^post16+head_32^0 == 0 /\ -tmp_34^post16+tmp_34^0 == 0 /\ len_134^0-len_134^post16 == 0 /\ a_343^0-a_281^post16 <= 0 /\ -f_171^post16+f_171^0 == 0), cost: 1
  17: l7 -> l6 : a_118^0'=a_118^post17, x_176^0'=x_176^post17, i_30^0'=i_30^post17, result_11^0'=result_11^post17, a_289^0'=a_289^post17, y_18^0'=y_18^post17, len_187^0'=len_187^post17, temp0_16^0'=temp0_16^post17, temp_35^0'=temp_35^post17, head_32^0'=head_32^post17, r_39^0'=r_39^post17, a_188^0'=a_188^post17, x_26^0'=x_26^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, a_343^0'=a_343^post17, nondet_12^0'=nondet_12^post17, x_131^0'=x_131^post17, i_110^0'=i_110^post17, rcd_89^0'=rcd_89^post17, a_281^0'=a_281^post17, x_SLAM_f_24^0'=x_SLAM_f_24^post17, len_134^0'=len_134^post17, tail_14^0'=tail_14^post17, head_15^0'=head_15^post17, r_165^0'=r_165^post17, a_149^0'=a_149^post17, x_19^0'=x_19^post17, i_95^0'=i_95^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17, a_342^0'=a_342^post17, y_25^0'=y_25^post17, length_28^0'=length_28^post17, temp0_31^0'=temp0_31^post17, tmp_34^0'=tmp_34^post17, head_SLAM_f_29^0'=head_SLAM_f_29^post17, rcd_59^0'=rcd_59^post17, a_225^0'=a_225^post17, x_SLAM_f_17^0'=x_SLAM_f_17^post17, t_22^0'=t_22^post17, f_171^0'=f_171^post17, r_126^0'=r_126^post17, (head_32^0-head_32^post17 == 0 /\ rcd_59^0-rcd_59^post17 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post17 == 0 /\ len_187^0-len_187^post17 == 0 /\ i_95^0-i_95^post17 == 0 /\ i_30^0-i_30^post17 == 0 /\ temp0_31^0-temp0_31^post17 == 0 /\ len_134^0-len_134^post17 == 0 /\ -a_149^post17+a_149^0 == 0 /\ -x_19^post17+x_19^0 == 0 /\ -a_225^post17+a_225^0 == 0 /\ -f_171^post17+f_171^0 == 0 /\ -head_15^post17+head_15^0 == 0 /\ -tail_14^post17+tail_14^0 == 0 /\ -tmp_34^post17+tmp_34^0 == 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ r_39^0-r_39^post17 == 0 /\ a_289^0-a_289^post17 == 0 /\ -a_281^post17+a_281^0 == 0 /\ -x_SLAM_f_17^post17+x_SLAM_f_17^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post17 == 0 /\ a_118^0-a_118^post17 == 0 /\ -y_25^post17+y_25^0 == 0 /\ a_188^0-a_188^post17 == 0 /\ temp0_16^0-temp0_16^post17 == 0 /\ y_18^0-y_18^post17 == 0 /\ length_28^0-length_28^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17 == 0 /\ result_11^0-result_11^post17 == 0 /\ -r_165^post17+r_165^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post17+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_22^post17+t_22^0 == 0 /\ -temp_35^post17+temp_35^0 == 0 /\ -r_126^post17+r_126^0 == 0 /\ i_110^0-i_110^post17 == 0 /\ rcd_89^0-rcd_89^post17 == 0 /\ x_26^0-x_26^post17 == 0 /\ -x_131^post17+x_131^0 == 0 /\ -a_342^post17+a_342^0 == 0 /\ -a_343^post17+a_343^0 == 0 /\ x_176^0-x_176^post17 == 0), cost: 1
  18: l14 -> l15 : a_118^0'=a_118^post18, x_176^0'=x_176^post18, i_30^0'=i_30^post18, result_11^0'=result_11^post18, a_289^0'=a_289^post18, y_18^0'=y_18^post18, len_187^0'=len_187^post18, temp0_16^0'=temp0_16^post18, temp_35^0'=temp_35^post18, head_32^0'=head_32^post18, r_39^0'=r_39^post18, a_188^0'=a_188^post18, x_26^0'=x_26^post18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post18, a_343^0'=a_343^post18, nondet_12^0'=nondet_12^post18, x_131^0'=x_131^post18, i_110^0'=i_110^post18, rcd_89^0'=rcd_89^post18, a_281^0'=a_281^post18, x_SLAM_f_24^0'=x_SLAM_f_24^post18, len_134^0'=len_134^post18, tail_14^0'=tail_14^post18, head_15^0'=head_15^post18, r_165^0'=r_165^post18, a_149^0'=a_149^post18, x_19^0'=x_19^post18, i_95^0'=i_95^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18, a_342^0'=a_342^post18, y_25^0'=y_25^post18, length_28^0'=length_28^post18, temp0_31^0'=temp0_31^post18, tmp_34^0'=tmp_34^post18, head_SLAM_f_29^0'=head_SLAM_f_29^post18, rcd_59^0'=rcd_59^post18, a_225^0'=a_225^post18, x_SLAM_f_17^0'=x_SLAM_f_17^post18, t_22^0'=t_22^post18, f_171^0'=f_171^post18, r_126^0'=r_126^post18, (0 == 0 /\ -length_28^post18+length_28^0 == 0 /\ a_289^0-a_289^post18 == 0 /\ -rcd_59^post18+rcd_59^0 == 0 /\ -tmp_34^post18+tmp_34^0 == 0 /\ x_176^0-x_176^post18 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -y_25^post18+y_25^0 == 0 /\ temp_35^0-temp_35^post18 == 0 /\ r_165^0-r_165^post18 == 0 /\ -temp0_31^post18+temp0_31^0 == 0 /\ -f_171^post18+f_171^0 == 0 /\ a_225^0-a_225^post18 == 0 /\ x_26^0-x_26^post18 == 0 /\ -a_149^0 <= 0 /\ -len_134^post18+len_134^0 == 0 /\ -a_342^post18+a_342^0 == 0 /\ -r_126^post18+r_126^0 == 0 /\ -temp0_16^0+result_11^post18 == 0 /\ -head_32^post18+head_32^0 == 0 /\ rcd_89^0-rcd_89^post18 == 0 /\ nondet_12^0-nondet_12^post18 == 0 /\ -y_18^0+x_19^0 <= 0 /\ a_281^0-a_281^post18 == 0 /\ r_39^0-r_39^post18 == 0 /\ -i_110^post18+i_110^0 == 0 /\ y_18^0-x_19^0 <= 0 /\ -i_95^post18+i_95^0 == 0 /\ -x_SLAM_f_24^post18+x_SLAM_f_24^0 == 0 /\ temp0_16^0-temp0_16^post18 == 0 /\ len_187^0-len_187^post18 == 0 /\ x_131^0-x_131^post18 == 0 /\ -head_SLAM_f_29^post18+head_SLAM_f_29^0 == 0 /\ a_118^0-a_118^post18 == 0 /\ i_30^0-i_30^post18 == 0 /\ a_343^0-a_343^post18 == 0 /\ -a_225^0 <= 0 /\ a_188^0-a_188^post18 == 0 /\ -a_149^post18+a_149^0 == 0), cost: 1
  22: l14 -> l17 : a_118^0'=a_118^post22, x_176^0'=x_176^post22, i_30^0'=i_30^post22, result_11^0'=result_11^post22, a_289^0'=a_289^post22, y_18^0'=y_18^post22, len_187^0'=len_187^post22, temp0_16^0'=temp0_16^post22, temp_35^0'=temp_35^post22, head_32^0'=head_32^post22, r_39^0'=r_39^post22, a_188^0'=a_188^post22, x_26^0'=x_26^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, a_343^0'=a_343^post22, nondet_12^0'=nondet_12^post22, x_131^0'=x_131^post22, i_110^0'=i_110^post22, rcd_89^0'=rcd_89^post22, a_281^0'=a_281^post22, x_SLAM_f_24^0'=x_SLAM_f_24^post22, len_134^0'=len_134^post22, tail_14^0'=tail_14^post22, head_15^0'=head_15^post22, r_165^0'=r_165^post22, a_149^0'=a_149^post22, x_19^0'=x_19^post22, i_95^0'=i_95^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22, a_342^0'=a_342^post22, y_25^0'=y_25^post22, length_28^0'=length_28^post22, temp0_31^0'=temp0_31^post22, tmp_34^0'=tmp_34^post22, head_SLAM_f_29^0'=head_SLAM_f_29^post22, rcd_59^0'=rcd_59^post22, a_225^0'=a_225^post22, x_SLAM_f_17^0'=x_SLAM_f_17^post22, t_22^0'=t_22^post22, f_171^0'=f_171^post22, r_126^0'=r_126^post22, (0 == 0 /\ x_131^0-x_131^post22 == 0 /\ -i_110^post22+i_110^0 == 0 /\ temp_35^0-temp_35^post22 == 0 /\ -temp0_31^post22+temp0_31^0 == 0 /\ i_30^0-i_30^post22 == 0 /\ rcd_89^0-rcd_89^post22 == 0 /\ len_187^0-len_187^post22 == 0 /\ -a_342^post22+a_342^0 == 0 /\ x_176^0-x_176^post22 == 0 /\ a_281^0-a_281^post22 == 0 /\ nondet_12^0-nondet_12^post22 == 0 /\ -t_22^post22+t_22^0 == 0 /\ -a_149^0 <= 0 /\ r_165^0-r_165^post22 == 0 /\ -length_28^post22+length_28^0 == 0 /\ -a_225^post22+a_225^0 == 0 /\ -f_171^post22+f_171^0 == 0 /\ -a_289^post22+a_289^0 == 0 /\ a_343^0-a_343^post22 == 0 /\ -x_26^post22+x_26^0 == 0 /\ -a_149^post22+a_149^0 == 0 /\ -r_126^post22+r_126^0 == 0 /\ a_188^0-a_188^post22 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post22 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_SLAM_f_29^post22+head_SLAM_f_29^0 == 0 /\ r_39^0-r_39^post22 == 0 /\ -rcd_59^post22+rcd_59^0 == 0 /\ x_19^0-x_19^post22 == 0 /\ temp0_16^0-temp0_16^post22 == 0 /\ -head_32^post22+head_32^0 == 0 /\ y_25^0-y_25^post22 == 0 /\ -a_225^0 <= 0 /\ -i_95^post22+i_95^0 == 0 /\ -y_18^post22+y_18^0 == 0 /\ a_118^0-a_118^post22 == 0 /\ result_11^0-result_11^post22 == 0 /\ len_134^0-len_134^post22 == 0 /\ -tmp_34^post22+tmp_34^0 == 0), cost: 1
  19: l15 -> l16 : a_118^0'=a_118^post19, x_176^0'=x_176^post19, i_30^0'=i_30^post19, result_11^0'=result_11^post19, a_289^0'=a_289^post19, y_18^0'=y_18^post19, len_187^0'=len_187^post19, temp0_16^0'=temp0_16^post19, temp_35^0'=temp_35^post19, head_32^0'=head_32^post19, r_39^0'=r_39^post19, a_188^0'=a_188^post19, x_26^0'=x_26^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, a_343^0'=a_343^post19, nondet_12^0'=nondet_12^post19, x_131^0'=x_131^post19, i_110^0'=i_110^post19, rcd_89^0'=rcd_89^post19, a_281^0'=a_281^post19, x_SLAM_f_24^0'=x_SLAM_f_24^post19, len_134^0'=len_134^post19, tail_14^0'=tail_14^post19, head_15^0'=head_15^post19, r_165^0'=r_165^post19, a_149^0'=a_149^post19, x_19^0'=x_19^post19, i_95^0'=i_95^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19, a_342^0'=a_342^post19, y_25^0'=y_25^post19, length_28^0'=length_28^post19, temp0_31^0'=temp0_31^post19, tmp_34^0'=tmp_34^post19, head_SLAM_f_29^0'=head_SLAM_f_29^post19, rcd_59^0'=rcd_59^post19, a_225^0'=a_225^post19, x_SLAM_f_17^0'=x_SLAM_f_17^post19, t_22^0'=t_22^post19, f_171^0'=f_171^post19, r_126^0'=r_126^post19, (temp_35^0-temp_35^post19 == 0 /\ -i_110^post19+i_110^0 == 0 /\ x_131^0-x_131^post19 == 0 /\ head_15^0-head_15^post19 == 0 /\ -temp0_31^post19+temp0_31^0 == 0 /\ rcd_89^0-rcd_89^post19 == 0 /\ len_187^0-len_187^post19 == 0 /\ i_30^0-i_30^post19 == 0 /\ -length_28^post19+length_28^0 == 0 /\ a_281^0-a_281^post19 == 0 /\ -y_25^post19+y_25^0 == 0 /\ r_39^0-r_39^post19 == 0 /\ nondet_12^0-nondet_12^post19 == 0 /\ tail_14^0-tail_14^post19 == 0 /\ -t_22^post19+t_22^0 == 0 /\ a_118^0-a_118^post19 == 0 /\ -a_149^post19+a_149^0 == 0 /\ r_165^0-r_165^post19 == 0 /\ -x_26^post19+x_26^0 == 0 /\ -r_126^post19+r_126^0 == 0 /\ a_342^0-a_342^post19 == 0 /\ -a_225^post19+a_225^0 == 0 /\ -a_289^post19+a_289^0 == 0 /\ a_343^0-a_343^post19 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_188^0-a_188^post19 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post19 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post19 == 0 /\ -head_SLAM_f_29^post19+head_SLAM_f_29^0 == 0 /\ -rcd_59^post19+rcd_59^0 == 0 /\ -x_SLAM_f_17^post19+x_SLAM_f_17^0 == 0 /\ temp0_16^0-temp0_16^post19 == 0 /\ x_176^0-x_176^post19 == 0 /\ -head_32^post19+head_32^0 == 0 /\ len_134^0-len_134^post19 == 0 /\ result_11^0-result_11^post19 == 0 /\ -tmp_34^post19+tmp_34^0 == 0 /\ -f_171^post19+f_171^0 == 0 /\ x_19^0-x_19^post19 == 0 /\ 1+tail_14^0-head_15^0 <= 0 /\ -i_95^post19+i_95^0 == 0 /\ -y_18^post19+y_18^0 == 0), cost: 1
  20: l15 -> l16 : a_118^0'=a_118^post20, x_176^0'=x_176^post20, i_30^0'=i_30^post20, result_11^0'=result_11^post20, a_289^0'=a_289^post20, y_18^0'=y_18^post20, len_187^0'=len_187^post20, temp0_16^0'=temp0_16^post20, temp_35^0'=temp_35^post20, head_32^0'=head_32^post20, r_39^0'=r_39^post20, a_188^0'=a_188^post20, x_26^0'=x_26^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, a_343^0'=a_343^post20, nondet_12^0'=nondet_12^post20, x_131^0'=x_131^post20, i_110^0'=i_110^post20, rcd_89^0'=rcd_89^post20, a_281^0'=a_281^post20, x_SLAM_f_24^0'=x_SLAM_f_24^post20, len_134^0'=len_134^post20, tail_14^0'=tail_14^post20, head_15^0'=head_15^post20, r_165^0'=r_165^post20, a_149^0'=a_149^post20, x_19^0'=x_19^post20, i_95^0'=i_95^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20, a_342^0'=a_342^post20, y_25^0'=y_25^post20, length_28^0'=length_28^post20, temp0_31^0'=temp0_31^post20, tmp_34^0'=tmp_34^post20, head_SLAM_f_29^0'=head_SLAM_f_29^post20, rcd_59^0'=rcd_59^post20, a_225^0'=a_225^post20, x_SLAM_f_17^0'=x_SLAM_f_17^post20, t_22^0'=t_22^post20, f_171^0'=f_171^post20, r_126^0'=r_126^post20, (-a_281^post20+a_281^0 == 0 /\ -x_19^post20+x_19^0 == 0 /\ i_30^0-i_30^post20 == 0 /\ rcd_59^0-rcd_59^post20 == 0 /\ i_95^0-i_95^post20 == 0 /\ len_187^0-len_187^post20 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post20 == 0 /\ -a_225^post20+a_225^0 == 0 /\ temp0_31^0-temp0_31^post20 == 0 /\ len_134^0-len_134^post20 == 0 /\ nondet_12^0-nondet_12^post20 == 0 /\ -a_149^post20+a_149^0 == 0 /\ -head_15^post20+head_15^0 == 0 /\ -tail_14^post20+tail_14^0 == 0 /\ r_39^0-r_39^post20 == 0 /\ -x_SLAM_f_17^post20+x_SLAM_f_17^0 == 0 /\ a_289^0-a_289^post20 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post20 == 0 /\ temp0_16^0-temp0_16^post20 == 0 /\ a_118^0-a_118^post20 == 0 /\ a_188^0-a_188^post20 == 0 /\ y_18^0-y_18^post20 == 0 /\ head_32^0-head_32^post20 == 0 /\ length_28^0-length_28^post20 == 0 /\ -tmp_34^post20+tmp_34^0 == 0 /\ result_11^0-result_11^post20 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post20+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_165^post20+r_165^0 == 0 /\ -temp_35^post20+temp_35^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ -y_25^post20+y_25^0 == 0 /\ -x_131^post20+x_131^0 == 0 /\ -f_171^post20+f_171^0 == 0 /\ -t_22^post20+t_22^0 == 0 /\ x_26^0-x_26^post20 == 0 /\ i_110^0-i_110^post20 == 0 /\ rcd_89^0-rcd_89^post20 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20 == 0 /\ -a_342^post20+a_342^0 == 0 /\ x_176^0-x_176^post20 == 0 /\ -a_343^post20+a_343^0 == 0 /\ -r_126^post20+r_126^0 == 0), cost: 1
  21: l16 -> l4 : a_118^0'=a_118^post21, x_176^0'=x_176^post21, i_30^0'=i_30^post21, result_11^0'=result_11^post21, a_289^0'=a_289^post21, y_18^0'=y_18^post21, len_187^0'=len_187^post21, temp0_16^0'=temp0_16^post21, temp_35^0'=temp_35^post21, head_32^0'=head_32^post21, r_39^0'=r_39^post21, a_188^0'=a_188^post21, x_26^0'=x_26^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, a_343^0'=a_343^post21, nondet_12^0'=nondet_12^post21, x_131^0'=x_131^post21, i_110^0'=i_110^post21, rcd_89^0'=rcd_89^post21, a_281^0'=a_281^post21, x_SLAM_f_24^0'=x_SLAM_f_24^post21, len_134^0'=len_134^post21, tail_14^0'=tail_14^post21, head_15^0'=head_15^post21, r_165^0'=r_165^post21, a_149^0'=a_149^post21, x_19^0'=x_19^post21, i_95^0'=i_95^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21, a_342^0'=a_342^post21, y_25^0'=y_25^post21, length_28^0'=length_28^post21, temp0_31^0'=temp0_31^post21, tmp_34^0'=tmp_34^post21, head_SLAM_f_29^0'=head_SLAM_f_29^post21, rcd_59^0'=rcd_59^post21, a_225^0'=a_225^post21, x_SLAM_f_17^0'=x_SLAM_f_17^post21, t_22^0'=t_22^post21, f_171^0'=f_171^post21, r_126^0'=r_126^post21, (tail_14^0-tail_14^post21 == 0 /\ -length_28^post21+length_28^0 == 0 /\ -x_SLAM_f_17^post21+x_SLAM_f_17^0 == 0 /\ -len_134^post21+len_134^0 == 0 /\ r_39^0-r_39^post21 == 0 /\ -a_188^post21+a_188^0 == 0 /\ -t_22^post21+t_22^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post21+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -y_25^post21+y_25^0 == 0 /\ x_176^0-x_176^post21 == 0 /\ -rcd_59^post21+rcd_59^0 == 0 /\ -tmp_34^post21+tmp_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_289^0-a_289^post21 == 0 /\ r_165^0-r_165^post21 == 0 /\ -f_171^post21+f_171^0 == 0 /\ -head_32^post21+head_32^0 == 0 /\ a_225^0-a_225^post21 == 0 /\ -r_126^post21+r_126^0 == 0 /\ -a_342^post21+a_342^0 == 0 /\ x_26^0-x_26^post21 == 0 /\ nondet_12^0-nondet_12^post21 == 0 /\ a_281^0-a_281^post21 == 0 /\ -i_110^post21+i_110^0 == 0 /\ result_11^0-result_11^post21 == 0 /\ -temp0_31^post21+temp0_31^0 == 0 /\ temp_35^0-temp_35^post21 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp0_16^0-temp0_16^post21 == 0 /\ -i_95^post21+i_95^0 == 0 /\ x_19^0-x_19^post21 == 0 /\ -x_SLAM_f_24^post21+x_SLAM_f_24^0 == 0 /\ len_187^0-len_187^post21 == 0 /\ a_118^0-a_118^post21 == 0 /\ x_131^0-x_131^post21 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_SLAM_f_29^post21+head_SLAM_f_29^0 == 0 /\ -head_15^post21+head_15^0 == 0 /\ a_343^0-a_343^post21 == 0 /\ rcd_89^0-rcd_89^post21 == 0 /\ -a_149^post21+a_149^0 == 0 /\ y_18^0-y_18^post21 == 0 /\ i_30^0-i_30^post21 == 0), cost: 1
  23: l17 -> l18 : a_118^0'=a_118^post23, x_176^0'=x_176^post23, i_30^0'=i_30^post23, result_11^0'=result_11^post23, a_289^0'=a_289^post23, y_18^0'=y_18^post23, len_187^0'=len_187^post23, temp0_16^0'=temp0_16^post23, temp_35^0'=temp_35^post23, head_32^0'=head_32^post23, r_39^0'=r_39^post23, a_188^0'=a_188^post23, x_26^0'=x_26^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, a_343^0'=a_343^post23, nondet_12^0'=nondet_12^post23, x_131^0'=x_131^post23, i_110^0'=i_110^post23, rcd_89^0'=rcd_89^post23, a_281^0'=a_281^post23, x_SLAM_f_24^0'=x_SLAM_f_24^post23, len_134^0'=len_134^post23, tail_14^0'=tail_14^post23, head_15^0'=head_15^post23, r_165^0'=r_165^post23, a_149^0'=a_149^post23, x_19^0'=x_19^post23, i_95^0'=i_95^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23, a_342^0'=a_342^post23, y_25^0'=y_25^post23, length_28^0'=length_28^post23, temp0_31^0'=temp0_31^post23, tmp_34^0'=tmp_34^post23, head_SLAM_f_29^0'=head_SLAM_f_29^post23, rcd_59^0'=rcd_59^post23, a_225^0'=a_225^post23, x_SLAM_f_17^0'=x_SLAM_f_17^post23, t_22^0'=t_22^post23, f_171^0'=f_171^post23, r_126^0'=r_126^post23, (i_95^0-i_95^post23 == 0 /\ len_187^0-len_187^post23 == 0 /\ i_30^0-i_30^post23 == 0 /\ -x_19^post23+x_19^0 == 0 /\ -a_343^post23+a_343^0 == 0 /\ -a_149^post23+a_149^0 == 0 /\ result_11^0-result_11^post23 == 0 /\ -a_281^post23+a_281^0 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ -rcd_89^post23+rcd_89^0 == 0 /\ -tail_14^post23+tail_14^0 == 0 /\ -tmp_34^post23+tmp_34^0 == 0 /\ -a_225^post23+a_225^0 == 0 /\ r_39^0-r_39^post23 == 0 /\ a_289^0-a_289^post23 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post23 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post23 == 0 /\ -x_SLAM_f_17^post23+x_SLAM_f_17^0 == 0 /\ temp0_16^0-temp0_16^post23 == 0 /\ -rcd_59^post23+rcd_59^0 == 0 /\ y_18^0-y_18^post23 == 0 /\ a_118^0-a_118^post23 == 0 /\ head_32^0-head_32^post23 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post23+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_26^0-x_26^post23 == 0 /\ -y_25^post23+y_25^0 == 0 /\ -temp_35^post23+temp_35^0 == 0 /\ a_188^0-a_188^post23 == 0 /\ -t_22^post23+t_22^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23 == 0 /\ 1+y_18^0-x_19^0 <= 0 /\ -x_131^post23+x_131^0 == 0 /\ -r_165^post23+r_165^0 == 0 /\ i_110^0-i_110^post23 == 0 /\ -f_171^post23+f_171^0 == 0 /\ -length_28^post23+length_28^0 == 0 /\ x_176^0-x_176^post23 == 0 /\ -a_342^post23+a_342^0 == 0 /\ -len_134^post23+len_134^0 == 0 /\ -r_126^post23+r_126^0 == 0 /\ -temp0_31^post23+temp0_31^0 == 0 /\ head_15^0-head_15^post23 == 0), cost: 1
  24: l17 -> l18 : a_118^0'=a_118^post24, x_176^0'=x_176^post24, i_30^0'=i_30^post24, result_11^0'=result_11^post24, a_289^0'=a_289^post24, y_18^0'=y_18^post24, len_187^0'=len_187^post24, temp0_16^0'=temp0_16^post24, temp_35^0'=temp_35^post24, head_32^0'=head_32^post24, r_39^0'=r_39^post24, a_188^0'=a_188^post24, x_26^0'=x_26^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, a_343^0'=a_343^post24, nondet_12^0'=nondet_12^post24, x_131^0'=x_131^post24, i_110^0'=i_110^post24, rcd_89^0'=rcd_89^post24, a_281^0'=a_281^post24, x_SLAM_f_24^0'=x_SLAM_f_24^post24, len_134^0'=len_134^post24, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, r_165^0'=r_165^post24, a_149^0'=a_149^post24, x_19^0'=x_19^post24, i_95^0'=i_95^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, a_342^0'=a_342^post24, y_25^0'=y_25^post24, length_28^0'=length_28^post24, temp0_31^0'=temp0_31^post24, tmp_34^0'=tmp_34^post24, head_SLAM_f_29^0'=head_SLAM_f_29^post24, rcd_59^0'=rcd_59^post24, a_225^0'=a_225^post24, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=t_22^post24, f_171^0'=f_171^post24, r_126^0'=r_126^post24, (-x_SLAM_f_17^post24+x_SLAM_f_17^0 == 0 /\ -a_188^post24+a_188^0 == 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ -a_342^post24+a_342^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post24+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_39^0-r_39^post24 == 0 /\ -t_22^post24+t_22^0 == 0 /\ -len_134^post24+len_134^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_176^0-x_176^post24 == 0 /\ -tail_14^post24+tail_14^0 == 0 /\ a_289^0-a_289^post24 == 0 /\ -length_28^post24+length_28^0 == 0 /\ -tmp_34^post24+tmp_34^0 == 0 /\ -rcd_59^post24+rcd_59^0 == 0 /\ i_30^0-i_30^post24 == 0 /\ -r_126^post24+r_126^0 == 0 /\ y_18^0-y_18^post24 == 0 /\ -f_171^post24+f_171^0 == 0 /\ a_225^0-a_225^post24 == 0 /\ -head_32^post24+head_32^0 == 0 /\ a_281^0-a_281^post24 == 0 /\ -r_165^post24+r_165^0 == 0 /\ -i_110^post24+i_110^0 == 0 /\ 1-y_18^0+x_19^0 <= 0 /\ result_11^0-result_11^post24 == 0 /\ -temp0_31^post24+temp0_31^0 == 0 /\ a_149^0-a_149^post24 == 0 /\ -i_95^post24+i_95^0 == 0 /\ temp0_16^0-temp0_16^post24 == 0 /\ x_19^0-x_19^post24 == 0 /\ temp_35^0-temp_35^post24 == 0 /\ -head_SLAM_f_29^post24+head_SLAM_f_29^0 == 0 /\ len_187^0-len_187^post24 == 0 /\ a_118^0-a_118^post24 == 0 /\ -head_15^post24+head_15^0 == 0 /\ a_343^0-a_343^post24 == 0 /\ x_131^0-x_131^post24 == 0 /\ -y_25^post24+y_25^0 == 0 /\ rcd_89^0-rcd_89^post24 == 0 /\ x_26^0-x_26^post24 == 0 /\ -x_SLAM_f_24^post24+x_SLAM_f_24^0 == 0), cost: 1
  25: l18 -> l19 : a_118^0'=a_118^post25, x_176^0'=x_176^post25, i_30^0'=i_30^post25, result_11^0'=result_11^post25, a_289^0'=a_289^post25, y_18^0'=y_18^post25, len_187^0'=len_187^post25, temp0_16^0'=temp0_16^post25, temp_35^0'=temp_35^post25, head_32^0'=head_32^post25, r_39^0'=r_39^post25, a_188^0'=a_188^post25, x_26^0'=x_26^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, a_343^0'=a_343^post25, nondet_12^0'=nondet_12^post25, x_131^0'=x_131^post25, i_110^0'=i_110^post25, rcd_89^0'=rcd_89^post25, a_281^0'=a_281^post25, x_SLAM_f_24^0'=x_SLAM_f_24^post25, len_134^0'=len_134^post25, tail_14^0'=tail_14^post25, head_15^0'=head_15^post25, r_165^0'=r_165^post25, a_149^0'=a_149^post25, x_19^0'=x_19^post25, i_95^0'=i_95^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, a_342^0'=a_342^post25, y_25^0'=y_25^post25, length_28^0'=length_28^post25, temp0_31^0'=temp0_31^post25, tmp_34^0'=tmp_34^post25, head_SLAM_f_29^0'=head_SLAM_f_29^post25, rcd_59^0'=rcd_59^post25, a_225^0'=a_225^post25, x_SLAM_f_17^0'=x_SLAM_f_17^post25, t_22^0'=t_22^post25, f_171^0'=f_171^post25, r_126^0'=r_126^post25, (x_131^0-x_131^post25 == 0 /\ rcd_89^0-rcd_89^post25 == 0 /\ a_289^0-a_289^post25 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ i_30^0-i_30^post25 == 0 /\ -temp0_31^post25+temp0_31^0 == 0 /\ head_15^0-head_15^post25 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post25 == 0 /\ x_176^0-x_176^post25 == 0 /\ -a_342^post25+a_342^0 == 0 /\ tail_14^0-tail_14^post25 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ -r_126^post25+r_126^0 == 0 /\ a_281^0-a_281^post25 == 0 /\ nondet_12^0-nondet_12^post25 == 0 /\ -length_28^post25+length_28^0 == 0 /\ r_165^0-r_165^post25 == 0 /\ -a_225^post25+a_225^0 == 0 /\ -head_SLAM_f_29^post25+head_SLAM_f_29^0 == 0 /\ a_343^0-a_343^post25 == 0 /\ y_18^0-tail_14^0 <= 0 /\ t_22^post25-x_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_149^post25+a_149^0 == 0 /\ temp_35^0-temp_35^post25 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post25 == 0 /\ y_18^0-y_18^post25 == 0 /\ r_39^0-r_39^post25 == 0 /\ x_19^0-x_19^post25 == 0 /\ -tmp_34^post25+tmp_34^0 == 0 /\ a_118^0-a_118^post25 == 0 /\ -x_SLAM_f_17^post25+x_SLAM_f_17^0 == 0 /\ f_171^0-f_171^post25 == 0 /\ -y_18^0+tail_14^0 <= 0 /\ a_188^0-a_188^post25 == 0 /\ -rcd_59^post25+rcd_59^0 == 0 /\ -head_32^post25+head_32^0 == 0 /\ temp0_16^0-temp0_16^post25 == 0 /\ len_134^0-len_134^post25 == 0 /\ result_11^0-result_11^post25 == 0 /\ -len_187^post25+len_187^0 == 0 /\ -i_95^post25+i_95^0 == 0 /\ y_25^0-y_25^post25 == 0 /\ -x_26^post25+x_26^0 == 0 /\ -i_110^post25+i_110^0 == 0), cost: 1
  26: l19 -> l20 : a_118^0'=a_118^post26, x_176^0'=x_176^post26, i_30^0'=i_30^post26, result_11^0'=result_11^post26, a_289^0'=a_289^post26, y_18^0'=y_18^post26, len_187^0'=len_187^post26, temp0_16^0'=temp0_16^post26, temp_35^0'=temp_35^post26, head_32^0'=head_32^post26, r_39^0'=r_39^post26, a_188^0'=a_188^post26, x_26^0'=x_26^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, a_343^0'=a_343^post26, nondet_12^0'=nondet_12^post26, x_131^0'=x_131^post26, i_110^0'=i_110^post26, rcd_89^0'=rcd_89^post26, a_281^0'=a_281^post26, x_SLAM_f_24^0'=x_SLAM_f_24^post26, len_134^0'=len_134^post26, tail_14^0'=tail_14^post26, head_15^0'=head_15^post26, r_165^0'=r_165^post26, a_149^0'=a_149^post26, x_19^0'=x_19^post26, i_95^0'=i_95^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26, a_342^0'=a_342^post26, y_25^0'=y_25^post26, length_28^0'=length_28^post26, temp0_31^0'=temp0_31^post26, tmp_34^0'=tmp_34^post26, head_SLAM_f_29^0'=head_SLAM_f_29^post26, rcd_59^0'=rcd_59^post26, a_225^0'=a_225^post26, x_SLAM_f_17^0'=x_SLAM_f_17^post26, t_22^0'=t_22^post26, f_171^0'=f_171^post26, r_126^0'=r_126^post26, (temp0_16^0-temp0_16^post26 == 0 /\ len_187^0-len_187^post26 == 0 /\ -a_343^post26+a_343^0 == 0 /\ i_30^0-i_30^post26 == 0 /\ result_11^0-result_11^post26 == 0 /\ -a_281^post26+a_281^0 == 0 /\ -a_225^post26+a_225^0 == 0 /\ nondet_12^0-nondet_12^post26 == 0 /\ r_39^0-r_39^post26 == 0 /\ -tmp_34^post26+tmp_34^0 == 0 /\ -rcd_89^post26+rcd_89^0 == 0 /\ i_110^0-i_110^post26 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post26 == 0 /\ a_289^0-a_289^post26 == 0 /\ -x_SLAM_f_17^post26+x_SLAM_f_17^0 == 0 /\ a_149^0-a_149^post26 == 0 /\ a_118^0-a_118^post26 == 0 /\ -rcd_59^post26+rcd_59^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post26 == 0 /\ i_95^0-i_95^post26 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post26+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp_35^post26+temp_35^0 == 0 /\ y_18^0-y_18^post26 == 0 /\ -y_25^post26+y_25^0 == 0 /\ x_26^0-x_26^post26 == 0 /\ head_32^0-head_32^post26 == 0 /\ -t_22^post26+t_22^0 == 0 /\ -tail_14^post26+tail_14^0 == 0 /\ a_188^0-a_188^post26 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26 == 0 /\ -temp0_31^post26+temp0_31^0 == 0 /\ -f_171^post26+f_171^0 == 0 /\ -x_131^post26+x_131^0 == 0 /\ -a_342^post26+a_342^0 == 0 /\ -r_165^post26+r_165^0 == 0 /\ -length_28^post26+length_28^0 == 0 /\ x_176^0-x_176^post26 == 0 /\ -r_126^post26+r_126^0 == 0 /\ head_15^0-head_15^post26 == 0 /\ -len_134^post26+len_134^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0 /\ -x_19^post26+x_19^0 == 0), cost: 1
  27: l19 -> l20 : a_118^0'=a_118^post27, x_176^0'=x_176^post27, i_30^0'=i_30^post27, result_11^0'=result_11^post27, a_289^0'=a_289^post27, y_18^0'=y_18^post27, len_187^0'=len_187^post27, temp0_16^0'=temp0_16^post27, temp_35^0'=temp_35^post27, head_32^0'=head_32^post27, r_39^0'=r_39^post27, a_188^0'=a_188^post27, x_26^0'=x_26^post27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post27, a_343^0'=a_343^post27, nondet_12^0'=nondet_12^post27, x_131^0'=x_131^post27, i_110^0'=i_110^post27, rcd_89^0'=rcd_89^post27, a_281^0'=a_281^post27, x_SLAM_f_24^0'=x_SLAM_f_24^post27, len_134^0'=len_134^post27, tail_14^0'=tail_14^post27, head_15^0'=head_15^post27, r_165^0'=r_165^post27, a_149^0'=a_149^post27, x_19^0'=x_19^post27, i_95^0'=i_95^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27, a_342^0'=a_342^post27, y_25^0'=y_25^post27, length_28^0'=length_28^post27, temp0_31^0'=temp0_31^post27, tmp_34^0'=tmp_34^post27, head_SLAM_f_29^0'=head_SLAM_f_29^post27, rcd_59^0'=rcd_59^post27, a_225^0'=a_225^post27, x_SLAM_f_17^0'=x_SLAM_f_17^post27, t_22^0'=t_22^post27, f_171^0'=f_171^post27, r_126^0'=r_126^post27, (nondet_12^0-nondet_12^post27 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post27+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_SLAM_f_17^post27+x_SLAM_f_17^0 == 0 /\ -tmp_34^post27+tmp_34^0 == 0 /\ r_39^0-r_39^post27 == 0 /\ -a_342^post27+a_342^0 == 0 /\ -r_126^post27+r_126^0 == 0 /\ x_176^0-x_176^post27 == 0 /\ -x_131^post27+x_131^0 == 0 /\ -tail_14^post27+tail_14^0 == 0 /\ -length_28^post27+length_28^0 == 0 /\ a_289^0-a_289^post27 == 0 /\ -a_188^post27+a_188^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27 == 0 /\ -rcd_59^post27+rcd_59^0 == 0 /\ -a_281^post27+a_281^0 == 0 /\ -f_171^post27+f_171^0 == 0 /\ i_30^0-i_30^post27 == 0 /\ y_18^0-y_18^post27 == 0 /\ -len_134^post27+len_134^0 == 0 /\ a_225^0-a_225^post27 == 0 /\ result_11^0-result_11^post27 == 0 /\ x_19^0-x_19^post27 == 0 /\ -i_110^post27+i_110^0 == 0 /\ -r_165^post27+r_165^0 == 0 /\ head_32^0-head_32^post27 == 0 /\ -x_SLAM_f_24^post27+x_SLAM_f_24^0 == 0 /\ -i_95^post27+i_95^0 == 0 /\ a_118^0-a_118^post27 == 0 /\ -temp0_31^post27+temp0_31^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ temp_35^0-temp_35^post27 == 0 /\ temp0_16^0-temp0_16^post27 == 0 /\ len_187^0-len_187^post27 == 0 /\ -head_SLAM_f_29^post27+head_SLAM_f_29^0 == 0 /\ a_149^0-a_149^post27 == 0 /\ a_343^0-a_343^post27 == 0 /\ -y_25^post27+y_25^0 == 0 /\ x_26^0-x_26^post27 == 0 /\ -head_15^post27+head_15^0 == 0 /\ -t_22^post27+t_22^0 == 0 /\ rcd_89^0-rcd_89^post27 == 0), cost: 1
  28: l20 -> l21 : a_118^0'=a_118^post28, x_176^0'=x_176^post28, i_30^0'=i_30^post28, result_11^0'=result_11^post28, a_289^0'=a_289^post28, y_18^0'=y_18^post28, len_187^0'=len_187^post28, temp0_16^0'=temp0_16^post28, temp_35^0'=temp_35^post28, head_32^0'=head_32^post28, r_39^0'=r_39^post28, a_188^0'=a_188^post28, x_26^0'=x_26^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, a_343^0'=a_343^post28, nondet_12^0'=nondet_12^post28, x_131^0'=x_131^post28, i_110^0'=i_110^post28, rcd_89^0'=rcd_89^post28, a_281^0'=a_281^post28, x_SLAM_f_24^0'=x_SLAM_f_24^post28, len_134^0'=len_134^post28, tail_14^0'=tail_14^post28, head_15^0'=head_15^post28, r_165^0'=r_165^post28, a_149^0'=a_149^post28, x_19^0'=x_19^post28, i_95^0'=i_95^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, a_342^0'=a_342^post28, y_25^0'=y_25^post28, length_28^0'=length_28^post28, temp0_31^0'=temp0_31^post28, tmp_34^0'=tmp_34^post28, head_SLAM_f_29^0'=head_SLAM_f_29^post28, rcd_59^0'=rcd_59^post28, a_225^0'=a_225^post28, x_SLAM_f_17^0'=x_SLAM_f_17^post28, t_22^0'=t_22^post28, f_171^0'=f_171^post28, r_126^0'=r_126^post28, (-temp0_31^post28+temp0_31^0 == 0 /\ x_131^0-x_131^post28 == 0 /\ a_289^0-a_289^post28 == 0 /\ x_26^0-x_26^post28 == 0 /\ -rcd_89^post28+rcd_89^0 == 0 /\ x_176^0-x_176^post28 == 0 /\ head_15^0-head_15^post28 == 0 /\ -t_22^post28+t_22^0 == 0 /\ -r_126^post28+r_126^0 == 0 /\ a_188^0-a_188^post28 == 0 /\ nondet_12^0-nondet_12^post28 == 0 /\ -a_342^post28+a_342^0 == 0 /\ a_281^0-a_281^post28 == 0 /\ r_165^0-r_165^post28 == 0 /\ -length_28^post28+length_28^0 == 0 /\ tail_14^0-tail_14^post28 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_149^post28+a_149^0 == 0 /\ a_343^0-a_343^post28 == 0 /\ temp_35^0-temp_35^post28 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post28 == 0 /\ len_187^0-len_187^post28 == 0 /\ -f_171^post28+f_171^0 == 0 /\ -a_225^post28+a_225^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 == 0 /\ y_18^0-y_18^post28 == 0 /\ -head_32^post28+head_32^0 == 0 /\ i_30^0-i_30^post28 == 0 /\ a_118^0-a_118^post28 == 0 /\ x_19^0-x_19^post28 == 0 /\ -tmp_34^post28+tmp_34^0 == 0 /\ -rcd_59^post28+rcd_59^0 == 0 /\ temp0_16^0-temp0_16^post28 == 0 /\ -i_95^post28+i_95^0 == 0 /\ y_25^0-y_25^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ len_134^0-len_134^post28 == 0 /\ -i_110^post28+i_110^0 == 0 /\ -x_SLAM_f_17^post28+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post28+head_SLAM_f_29^0 == 0 /\ 1-y_18^0+head_15^0 <= 0 /\ -r_39^post28+r_39^0 == 0), cost: 1
  29: l20 -> l21 : a_118^0'=a_118^post29, x_176^0'=x_176^post29, i_30^0'=i_30^post29, result_11^0'=result_11^post29, a_289^0'=a_289^post29, y_18^0'=y_18^post29, len_187^0'=len_187^post29, temp0_16^0'=temp0_16^post29, temp_35^0'=temp_35^post29, head_32^0'=head_32^post29, r_39^0'=r_39^post29, a_188^0'=a_188^post29, x_26^0'=x_26^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, a_343^0'=a_343^post29, nondet_12^0'=nondet_12^post29, x_131^0'=x_131^post29, i_110^0'=i_110^post29, rcd_89^0'=rcd_89^post29, a_281^0'=a_281^post29, x_SLAM_f_24^0'=x_SLAM_f_24^post29, len_134^0'=len_134^post29, tail_14^0'=tail_14^post29, head_15^0'=head_15^post29, r_165^0'=r_165^post29, a_149^0'=a_149^post29, x_19^0'=x_19^post29, i_95^0'=i_95^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, a_342^0'=a_342^post29, y_25^0'=y_25^post29, length_28^0'=length_28^post29, temp0_31^0'=temp0_31^post29, tmp_34^0'=tmp_34^post29, head_SLAM_f_29^0'=head_SLAM_f_29^post29, rcd_59^0'=rcd_59^post29, a_225^0'=a_225^post29, x_SLAM_f_17^0'=x_SLAM_f_17^post29, t_22^0'=t_22^post29, f_171^0'=f_171^post29, r_126^0'=r_126^post29, (temp0_16^0-temp0_16^post29 == 0 /\ len_187^0-len_187^post29 == 0 /\ a_118^0-a_118^post29 == 0 /\ i_30^0-i_30^post29 == 0 /\ -a_225^post29+a_225^0 == 0 /\ -a_281^post29+a_281^0 == 0 /\ -a_343^post29+a_343^0 == 0 /\ result_11^0-result_11^post29 == 0 /\ nondet_12^0-nondet_12^post29 == 0 /\ r_39^0-r_39^post29 == 0 /\ -rcd_89^post29+rcd_89^0 == 0 /\ a_149^0-a_149^post29 == 0 /\ -x_SLAM_f_17^post29+x_SLAM_f_17^0 == 0 /\ i_110^0-i_110^post29 == 0 /\ -head_SLAM_f_29^post29+head_SLAM_f_29^0 == 0 /\ x_176^0-x_176^post29 == 0 /\ a_289^0-a_289^post29 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post29+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_95^0-i_95^post29 == 0 /\ -temp_35^post29+temp_35^0 == 0 /\ -length_28^post29+length_28^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post29 == 0 /\ -x_131^post29+x_131^0 == 0 /\ -tmp_34^post29+tmp_34^0 == 0 /\ y_18^0-y_18^post29 == 0 /\ x_26^0-x_26^post29 == 0 /\ -rcd_59^post29+rcd_59^0 == 0 /\ head_32^0-head_32^post29 == 0 /\ -t_22^post29+t_22^0 == 0 /\ -tail_14^post29+tail_14^0 == 0 /\ 1+y_18^0-head_15^0 <= 0 /\ a_188^0-a_188^post29 == 0 /\ y_25^0-y_25^post29 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ head_15^0-head_15^post29 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ -len_134^post29+len_134^0 == 0 /\ -f_171^post29+f_171^0 == 0 /\ -a_342^post29+a_342^0 == 0 /\ -r_165^post29+r_165^0 == 0 /\ -x_19^post29+x_19^0 == 0 /\ -r_126^post29+r_126^0 == 0), cost: 1
  30: l21 -> l22 : a_118^0'=a_118^post30, x_176^0'=x_176^post30, i_30^0'=i_30^post30, result_11^0'=result_11^post30, a_289^0'=a_289^post30, y_18^0'=y_18^post30, len_187^0'=len_187^post30, temp0_16^0'=temp0_16^post30, temp_35^0'=temp_35^post30, head_32^0'=head_32^post30, r_39^0'=r_39^post30, a_188^0'=a_188^post30, x_26^0'=x_26^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, a_343^0'=a_343^post30, nondet_12^0'=nondet_12^post30, x_131^0'=x_131^post30, i_110^0'=i_110^post30, rcd_89^0'=rcd_89^post30, a_281^0'=a_281^post30, x_SLAM_f_24^0'=x_SLAM_f_24^post30, len_134^0'=len_134^post30, tail_14^0'=tail_14^post30, head_15^0'=head_15^post30, r_165^0'=r_165^post30, a_149^0'=a_149^post30, x_19^0'=x_19^post30, i_95^0'=i_95^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, a_342^0'=a_342^post30, y_25^0'=y_25^post30, length_28^0'=length_28^post30, temp0_31^0'=temp0_31^post30, tmp_34^0'=tmp_34^post30, head_SLAM_f_29^0'=head_SLAM_f_29^post30, rcd_59^0'=rcd_59^post30, a_225^0'=a_225^post30, x_SLAM_f_17^0'=x_SLAM_f_17^post30, t_22^0'=t_22^post30, f_171^0'=f_171^post30, r_126^0'=r_126^post30, (-head_15^post30+head_15^0 == 0 /\ r_39^0-r_39^post30 == 0 /\ nondet_12^0-nondet_12^post30 == 0 /\ -r_126^post30+r_126^0 == 0 /\ -len_134^post30+len_134^0 == 0 /\ -a_225^post30+a_225^0 == 0 /\ x_176^0-x_176^post30 == 0 /\ -a_342^post30+a_342^0 == 0 /\ -tail_14^post30+tail_14^0 == 0 /\ a_149^0-a_149^post30 == 0 /\ a_289^0-a_289^post30 == 0 /\ result_11^0-result_11^post30 == 0 /\ -rcd_59^post30+rcd_59^0 == 0 /\ -x_SLAM_f_17^post30+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post30+head_SLAM_f_29^0 == 0 /\ -x_131^post30+x_131^0 == 0 /\ -a_188^post30+a_188^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30 == 0 /\ 1+y_18^0-t_22^0 <= 0 /\ -a_281^post30+a_281^0 == 0 /\ tmp_34^0-tmp_34^post30 == 0 /\ a_343^0-a_343^post30 == 0 /\ y_18^0-y_18^post30 == 0 /\ -i_110^post30+i_110^0 == 0 /\ -r_165^post30+r_165^0 == 0 /\ i_30^0-i_30^post30 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post30+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -f_171^post30+f_171^0 == 0 /\ -x_SLAM_f_24^post30+x_SLAM_f_24^0 == 0 /\ x_19^0-x_19^post30 == 0 /\ head_32^0-head_32^post30 == 0 /\ -i_95^post30+i_95^0 == 0 /\ -temp0_31^post30+temp0_31^0 == 0 /\ a_118^0-a_118^post30 == 0 /\ temp_35^0-temp_35^post30 == 0 /\ temp0_16^0-temp0_16^post30 == 0 /\ len_187^0-len_187^post30 == 0 /\ -y_25^post30+y_25^0 == 0 /\ -length_28^post30+length_28^0 == 0 /\ -t_22^post30+t_22^0 == 0 /\ rcd_89^0-rcd_89^post30 == 0 /\ x_26^0-x_26^post30 == 0), cost: 1
  31: l21 -> l22 : a_118^0'=a_118^post31, x_176^0'=x_176^post31, i_30^0'=i_30^post31, result_11^0'=result_11^post31, a_289^0'=a_289^post31, y_18^0'=y_18^post31, len_187^0'=len_187^post31, temp0_16^0'=temp0_16^post31, temp_35^0'=temp_35^post31, head_32^0'=head_32^post31, r_39^0'=r_39^post31, a_188^0'=a_188^post31, x_26^0'=x_26^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, a_343^0'=a_343^post31, nondet_12^0'=nondet_12^post31, x_131^0'=x_131^post31, i_110^0'=i_110^post31, rcd_89^0'=rcd_89^post31, a_281^0'=a_281^post31, x_SLAM_f_24^0'=x_SLAM_f_24^post31, len_134^0'=len_134^post31, tail_14^0'=tail_14^post31, head_15^0'=head_15^post31, r_165^0'=r_165^post31, a_149^0'=a_149^post31, x_19^0'=x_19^post31, i_95^0'=i_95^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, a_342^0'=a_342^post31, y_25^0'=y_25^post31, length_28^0'=length_28^post31, temp0_31^0'=temp0_31^post31, tmp_34^0'=tmp_34^post31, head_SLAM_f_29^0'=head_SLAM_f_29^post31, rcd_59^0'=rcd_59^post31, a_225^0'=a_225^post31, x_SLAM_f_17^0'=x_SLAM_f_17^post31, t_22^0'=t_22^post31, f_171^0'=f_171^post31, r_126^0'=r_126^post31, (1-y_18^0+t_22^0 <= 0 /\ x_26^0-x_26^post31 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ a_289^0-a_289^post31 == 0 /\ head_15^0-head_15^post31 == 0 /\ x_176^0-x_176^post31 == 0 /\ -t_22^post31+t_22^0 == 0 /\ -rcd_89^post31+rcd_89^0 == 0 /\ a_188^0-a_188^post31 == 0 /\ -r_126^post31+r_126^0 == 0 /\ y_18^0-y_18^post31 == 0 /\ a_281^0-a_281^post31 == 0 /\ i_30^0-i_30^post31 == 0 /\ -a_342^post31+a_342^0 == 0 /\ r_165^0-r_165^post31 == 0 /\ -length_28^post31+length_28^0 == 0 /\ x_131^0-x_131^post31 == 0 /\ a_343^0-a_343^post31 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp_35^0-temp_35^post31 == 0 /\ -a_225^post31+a_225^0 == 0 /\ -a_149^post31+a_149^0 == 0 /\ -f_171^post31+f_171^0 == 0 /\ a_118^0-a_118^post31 == 0 /\ temp0_16^0-temp0_16^post31 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post31 == 0 /\ x_19^0-x_19^post31 == 0 /\ -head_32^post31+head_32^0 == 0 /\ -i_95^post31+i_95^0 == 0 /\ len_187^0-len_187^post31 == 0 /\ -tmp_34^post31+tmp_34^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post31 == 0 /\ -i_110^post31+i_110^0 == 0 /\ -head_SLAM_f_29^post31+head_SLAM_f_29^0 == 0 /\ y_25^0-y_25^post31 == 0 /\ len_134^0-len_134^post31 == 0 /\ result_11^0-result_11^post31 == 0 /\ -rcd_59^post31+rcd_59^0 == 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ tail_14^0-tail_14^post31 == 0 /\ -r_39^post31+r_39^0 == 0 /\ -x_SLAM_f_17^post31+x_SLAM_f_17^0 == 0), cost: 1
  32: l22 -> l6 : a_118^0'=a_118^post32, x_176^0'=x_176^post32, i_30^0'=i_30^post32, result_11^0'=result_11^post32, a_289^0'=a_289^post32, y_18^0'=y_18^post32, len_187^0'=len_187^post32, temp0_16^0'=temp0_16^post32, temp_35^0'=temp_35^post32, head_32^0'=head_32^post32, r_39^0'=r_39^post32, a_188^0'=a_188^post32, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, a_343^0'=a_343^post32, nondet_12^0'=nondet_12^post32, x_131^0'=x_131^post32, i_110^0'=i_110^post32, rcd_89^0'=rcd_89^post32, a_281^0'=a_281^post32, x_SLAM_f_24^0'=x_SLAM_f_24^post32, len_134^0'=len_134^post32, tail_14^0'=tail_14^post32, head_15^0'=head_15^post32, r_165^0'=r_165^post32, a_149^0'=a_149^post32, x_19^0'=x_19^post32, i_95^0'=i_95^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, a_342^0'=a_342^post32, y_25^0'=y_25^post32, length_28^0'=length_28^post32, temp0_31^0'=temp0_31^post32, tmp_34^0'=tmp_34^post32, head_SLAM_f_29^0'=head_SLAM_f_29^post32, rcd_59^0'=rcd_59^post32, a_225^0'=a_225^post32, x_SLAM_f_17^0'=x_SLAM_f_17^post32, t_22^0'=t_22^post32, f_171^0'=f_171^post32, r_126^0'=r_126^post32, (temp0_16^0-temp0_16^post32 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 == 0 /\ a_118^0-a_118^post32 == 0 /\ i_30^0-i_30^post32 == 0 /\ -a_343^post32+a_343^0 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ r_39^0-r_39^post32 == 0 /\ -head_SLAM_f_29^post32+head_SLAM_f_29^0 == 0 /\ head_32^0-head_32^post32 == 0 /\ -a_225^post32+a_225^0 == 0 /\ a_149^0-a_149^post32 == 0 /\ -rcd_89^post32+rcd_89^0 == 0 /\ x_176^0-x_176^post32 == 0 /\ -x_SLAM_f_17^post32+x_SLAM_f_17^0 == 0 /\ i_110^0-i_110^post32 == 0 /\ -len_187^post32+len_187^0 == 0 /\ -length_28^post32+length_28^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post32 == 0 /\ i_95^0-i_95^post32 == 0 /\ x_26^0-x_26^post32 == 0 /\ -rcd_59^post32+rcd_59^0 == 0 /\ y_18^0-y_18^post32 == 0 /\ -tail_14^post32+tail_14^0 == 0 /\ a_188^0-a_188^post32 == 0 /\ -t_22^post32+t_22^0 == 0 /\ -tmp_34^post32+tmp_34^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_131^post32+x_131^0 == 0 /\ y_25^0-y_25^post32 == 0 /\ -result_11^post32+result_11^0 == 0 /\ -x_19^post32+x_19^0 == 0 /\ head_15^0-head_15^post32 == 0 /\ -f_171^post32+f_171^0 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ -a_281^post32+a_281^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_289^0-a_289^post32 == 0 /\ temp_35^0-temp_35^post32 == 0 /\ -len_134^post32+len_134^0 == 0 /\ -r_165^post32+r_165^0 == 0 /\ -r_126^post32+r_126^0 == 0 /\ -a_342^post32+a_342^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0), cost: 1
  33: l23 -> l24 : a_118^0'=a_118^post33, x_176^0'=x_176^post33, i_30^0'=i_30^post33, result_11^0'=result_11^post33, a_289^0'=a_289^post33, y_18^0'=y_18^post33, len_187^0'=len_187^post33, temp0_16^0'=temp0_16^post33, temp_35^0'=temp_35^post33, head_32^0'=head_32^post33, r_39^0'=r_39^post33, a_188^0'=a_188^post33, x_26^0'=x_26^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_343^0'=a_343^post33, nondet_12^0'=nondet_12^post33, x_131^0'=x_131^post33, i_110^0'=i_110^post33, rcd_89^0'=rcd_89^post33, a_281^0'=a_281^post33, x_SLAM_f_24^0'=x_SLAM_f_24^post33, len_134^0'=len_134^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, r_165^0'=r_165^post33, a_149^0'=a_149^post33, x_19^0'=x_19^post33, i_95^0'=i_95^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, a_342^0'=a_342^post33, y_25^0'=y_25^post33, length_28^0'=length_28^post33, temp0_31^0'=temp0_31^post33, tmp_34^0'=tmp_34^post33, head_SLAM_f_29^0'=head_SLAM_f_29^post33, rcd_59^0'=rcd_59^post33, a_225^0'=a_225^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, t_22^0'=t_22^post33, f_171^0'=f_171^post33, r_126^0'=r_126^post33, (0 == 0 /\ r_39^0-r_39^post33 == 0 /\ -r_126^post33+r_126^0 == 0 /\ -a_225^post33+a_225^0 == 0 /\ temp0_16^0-temp0_16^post33 == 0 /\ nondet_12^0-nondet_12^post33 == 0 /\ x_176^0-x_176^post33 == 0 /\ -len_134^post33+len_134^0 == 0 /\ -head_SLAM_f_29^post33+head_SLAM_f_29^0 == 0 /\ -a_188^post33+a_188^0 == 0 /\ a_149^0-a_149^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33 == 0 /\ result_11^0-result_11^post33 == 0 /\ -x_131^post33+x_131^0 == 0 /\ -rcd_59^post33+rcd_59^0 == 0 /\ -a_281^post33+a_281^0 == 0 /\ -x_19^post33+x_19^0 == 0 /\ a_343^0-a_343^post33 == 0 /\ tmp_34^0-tmp_34^post33 == 0 /\ -a_149^0 <= 0 /\ y_18^0-y_18^post33 == 0 /\ -f_171^post33+f_171^0 == 0 /\ -i_95^post33+i_95^0 == 0 /\ i_30^0-i_30^post33 == 0 /\ -r_165^post33+r_165^0 == 0 /\ -x_SLAM_f_24^post33+x_SLAM_f_24^0 == 0 /\ head_32^0-head_32^post33 == 0 /\ a_118^0-a_118^post33 == 0 /\ -len_134^0 <= 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ i_110^0-i_110^post33 == 0 /\ -length_28^post33+length_28^0 == 0 /\ a_342^0-a_342^post33 == 0 /\ -t_22^post33+t_22^0 == 0 /\ -y_25^post33+y_25^0 == 0 /\ rcd_89^0-rcd_89^post33 == 0 /\ x_26^0-x_26^post33 == 0 /\ len_187^0-len_187^post33 == 0 /\ -temp_35^post33+temp_35^0 == 0), cost: 1
  34: l24 -> l25 : a_118^0'=a_118^post34, x_176^0'=x_176^post34, i_30^0'=i_30^post34, result_11^0'=result_11^post34, a_289^0'=a_289^post34, y_18^0'=y_18^post34, len_187^0'=len_187^post34, temp0_16^0'=temp0_16^post34, temp_35^0'=temp_35^post34, head_32^0'=head_32^post34, r_39^0'=r_39^post34, a_188^0'=a_188^post34, x_26^0'=x_26^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, a_343^0'=a_343^post34, nondet_12^0'=nondet_12^post34, x_131^0'=x_131^post34, i_110^0'=i_110^post34, rcd_89^0'=rcd_89^post34, a_281^0'=a_281^post34, x_SLAM_f_24^0'=x_SLAM_f_24^post34, len_134^0'=len_134^post34, tail_14^0'=tail_14^post34, head_15^0'=head_15^post34, r_165^0'=r_165^post34, a_149^0'=a_149^post34, x_19^0'=x_19^post34, i_95^0'=i_95^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, a_342^0'=a_342^post34, y_25^0'=y_25^post34, length_28^0'=length_28^post34, temp0_31^0'=temp0_31^post34, tmp_34^0'=tmp_34^post34, head_SLAM_f_29^0'=head_SLAM_f_29^post34, rcd_59^0'=rcd_59^post34, a_225^0'=a_225^post34, x_SLAM_f_17^0'=x_SLAM_f_17^post34, t_22^0'=t_22^post34, f_171^0'=f_171^post34, r_126^0'=r_126^post34, (head_15^0-head_15^post34 == 0 /\ x_26^0-x_26^post34 == 0 /\ -tmp_34^post34+tmp_34^0 == 0 /\ a_289^0-a_289^post34 == 0 /\ x_176^0-x_176^post34 == 0 /\ -x_SLAM_f_24^post34+x_SLAM_f_24^0 == 0 /\ a_188^0-a_188^post34 == 0 /\ -f_171^post34+f_171^0 == 0 /\ -t_22^post34+t_22^0 == 0 /\ i_30^0-i_30^post34 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ y_18^0-y_18^post34 == 0 /\ x_131^0-x_131^post34 == 0 /\ -a_342^post34+a_342^0 == 0 /\ r_165^0-r_165^post34 == 0 /\ -temp0_31^post34+temp0_31^0 == 0 /\ -length_28^post34+length_28^0 == 0 /\ -r_126^post34+r_126^0 == 0 /\ -a_281^post34+a_281^0 == 0 /\ -r_39^post34+r_39^0 == 0 /\ a_343^0-a_343^post34 == 0 /\ len_134^0-len_134^post34 == 0 /\ -a_225^post34+a_225^0 == 0 /\ temp_35^0-temp_35^post34 == 0 /\ -a_149^post34+a_149^0 == 0 /\ temp0_16^0-temp0_16^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post34 == 0 /\ -i_95^post34+i_95^0 == 0 /\ -rcd_89^post34+rcd_89^0 == 0 /\ x_19^0-x_19^post34 == 0 /\ 1+y_18^0-x_19^0 <= 0 /\ a_118^0-a_118^post34 == 0 /\ -i_110^post34+i_110^0 == 0 /\ len_187^0-len_187^post34 == 0 /\ head_32^0-head_32^post34 == 0 /\ -rcd_59^post34+rcd_59^0 == 0 /\ -x_SLAM_f_17^post34+x_SLAM_f_17^0 == 0 /\ result_11^0-result_11^post34 == 0 /\ -head_SLAM_f_29^post34+head_SLAM_f_29^0 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ tail_14^0-tail_14^post34 == 0 /\ y_25^0-y_25^post34 == 0), cost: 1
  35: l24 -> l25 : a_118^0'=a_118^post35, x_176^0'=x_176^post35, i_30^0'=i_30^post35, result_11^0'=result_11^post35, a_289^0'=a_289^post35, y_18^0'=y_18^post35, len_187^0'=len_187^post35, temp0_16^0'=temp0_16^post35, temp_35^0'=temp_35^post35, head_32^0'=head_32^post35, r_39^0'=r_39^post35, a_188^0'=a_188^post35, x_26^0'=x_26^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, a_343^0'=a_343^post35, nondet_12^0'=nondet_12^post35, x_131^0'=x_131^post35, i_110^0'=i_110^post35, rcd_89^0'=rcd_89^post35, a_281^0'=a_281^post35, x_SLAM_f_24^0'=x_SLAM_f_24^post35, len_134^0'=len_134^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, r_165^0'=r_165^post35, a_149^0'=a_149^post35, x_19^0'=x_19^post35, i_95^0'=i_95^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, a_342^0'=a_342^post35, y_25^0'=y_25^post35, length_28^0'=length_28^post35, temp0_31^0'=temp0_31^post35, tmp_34^0'=tmp_34^post35, head_SLAM_f_29^0'=head_SLAM_f_29^post35, rcd_59^0'=rcd_59^post35, a_225^0'=a_225^post35, x_SLAM_f_17^0'=x_SLAM_f_17^post35, t_22^0'=t_22^post35, f_171^0'=f_171^post35, r_126^0'=r_126^post35, (a_118^0-a_118^post35 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -temp0_31^post35+temp0_31^0 == 0 /\ x_26^0-x_26^post35 == 0 /\ -a_343^post35+a_343^0 == 0 /\ a_188^0-a_188^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ -a_225^post35+a_225^0 == 0 /\ head_32^0-head_32^post35 == 0 /\ -head_SLAM_f_29^post35+head_SLAM_f_29^0 == 0 /\ -rcd_89^post35+rcd_89^0 == 0 /\ a_149^0-a_149^post35 == 0 /\ x_176^0-x_176^post35 == 0 /\ i_110^0-i_110^post35 == 0 /\ -length_28^post35+length_28^0 == 0 /\ 1-y_18^0+x_19^0 <= 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post35 == 0 /\ -len_134^post35+len_134^0 == 0 /\ -x_SLAM_f_17^post35+x_SLAM_f_17^0 == 0 /\ -t_22^post35+t_22^0 == 0 /\ -tail_14^post35+tail_14^0 == 0 /\ i_30^0-i_30^post35 == 0 /\ i_95^0-i_95^post35 == 0 /\ y_18^0-y_18^post35 == 0 /\ -rcd_59^post35+rcd_59^0 == 0 /\ -len_187^post35+len_187^0 == 0 /\ y_25^0-y_25^post35 == 0 /\ -tmp_34^post35+tmp_34^0 == 0 /\ -x_131^post35+x_131^0 == 0 /\ -result_11^post35+result_11^0 == 0 /\ head_15^0-head_15^post35 == 0 /\ -f_171^post35+f_171^0 == 0 /\ r_39^0-r_39^post35 == 0 /\ -a_281^post35+a_281^0 == 0 /\ -x_19^post35+x_19^0 == 0 /\ temp_35^0-temp_35^post35 == 0 /\ -r_126^post35+r_126^0 == 0 /\ temp0_16^0-temp0_16^post35 == 0 /\ a_289^0-a_289^post35 == 0 /\ -a_342^post35+a_342^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ -r_165^post35+r_165^0 == 0), cost: 1
  36: l25 -> l26 : a_118^0'=a_118^post36, x_176^0'=x_176^post36, i_30^0'=i_30^post36, result_11^0'=result_11^post36, a_289^0'=a_289^post36, y_18^0'=y_18^post36, len_187^0'=len_187^post36, temp0_16^0'=temp0_16^post36, temp_35^0'=temp_35^post36, head_32^0'=head_32^post36, r_39^0'=r_39^post36, a_188^0'=a_188^post36, x_26^0'=x_26^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, a_343^0'=a_343^post36, nondet_12^0'=nondet_12^post36, x_131^0'=x_131^post36, i_110^0'=i_110^post36, rcd_89^0'=rcd_89^post36, a_281^0'=a_281^post36, x_SLAM_f_24^0'=x_SLAM_f_24^post36, len_134^0'=len_134^post36, tail_14^0'=tail_14^post36, head_15^0'=head_15^post36, r_165^0'=r_165^post36, a_149^0'=a_149^post36, x_19^0'=x_19^post36, i_95^0'=i_95^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, a_342^0'=a_342^post36, y_25^0'=y_25^post36, length_28^0'=length_28^post36, temp0_31^0'=temp0_31^post36, tmp_34^0'=tmp_34^post36, head_SLAM_f_29^0'=head_SLAM_f_29^post36, rcd_59^0'=rcd_59^post36, a_225^0'=a_225^post36, x_SLAM_f_17^0'=x_SLAM_f_17^post36, t_22^0'=t_22^post36, f_171^0'=f_171^post36, r_126^0'=r_126^post36, (0 == 0 /\ -head_SLAM_f_29^post36+head_SLAM_f_29^0 == 0 /\ -x_131^post36+x_131^0 == 0 /\ -len_134^post36+len_134^0 == 0 /\ -f_171^post36+f_171^0 == 0 /\ -tail_14^post36+tail_14^0 == 0 /\ -head_15^post36+head_15^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ temp0_16^0-temp0_16^post36 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ a_289^0 <= 0 /\ -r_126^post36+r_126^0 == 0 /\ -x_19^post36+x_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36 == 0 /\ a_281^0-a_149^0-a_225^post36 <= 0 /\ a_118^0-a_118^post36 == 0 /\ result_11^0-result_11^post36 == 0 /\ -head_15^0+t_22^post36 <= 0 /\ -x_SLAM_f_17^post36+x_SLAM_f_17^0 == 0 /\ -rcd_59^post36+rcd_59^0 == 0 /\ -a_281^post36+a_281^0 == 0 /\ i_110^0-i_110^post36 == 0 /\ a_289^0-a_289^post36 == 0 /\ a_149^0-a_149^post36 == 0 /\ a_343^0-a_343^post36 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ tmp_34^0-tmp_34^post36 == 0 /\ a_188^0-a_188^post36 == 0 /\ -a_289^0 <= 0 /\ -i_95^post36+i_95^0 == 0 /\ -a_281^0+a_149^0+a_225^post36 <= 0 /\ i_30^0-i_30^post36 == 0 /\ y_18^0-y_18^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 == 0 /\ r_39^0-r_39^post36 == 0 /\ head_15^0-t_22^post36 <= 0 /\ x_176^0-x_176^post36 == 0 /\ head_32^0-head_32^post36 == 0 /\ -r_165^post36+r_165^0 == 0 /\ y_18^0-tail_14^0 <= 0 /\ -y_25^post36+y_25^0 == 0 /\ -x_SLAM_f_24^post36+x_SLAM_f_24^0 == 0 /\ -temp0_31^post36+temp0_31^0 == 0 /\ -a_342^post36+a_342^0 == 0 /\ rcd_89^0-rcd_89^post36 == 0 /\ -y_18^0+tail_14^0 <= 0 /\ -x_19^0+t_22^post36 == 0 /\ x_26^0-x_26^post36 == 0 /\ -temp_35^post36+temp_35^0 == 0 /\ -length_28^post36+length_28^0 == 0 /\ len_187^0-len_187^post36 == 0), cost: 1
  37: l26 -> l27 : a_118^0'=a_118^post37, x_176^0'=x_176^post37, i_30^0'=i_30^post37, result_11^0'=result_11^post37, a_289^0'=a_289^post37, y_18^0'=y_18^post37, len_187^0'=len_187^post37, temp0_16^0'=temp0_16^post37, temp_35^0'=temp_35^post37, head_32^0'=head_32^post37, r_39^0'=r_39^post37, a_188^0'=a_188^post37, x_26^0'=x_26^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, a_343^0'=a_343^post37, nondet_12^0'=nondet_12^post37, x_131^0'=x_131^post37, i_110^0'=i_110^post37, rcd_89^0'=rcd_89^post37, a_281^0'=a_281^post37, x_SLAM_f_24^0'=x_SLAM_f_24^post37, len_134^0'=len_134^post37, tail_14^0'=tail_14^post37, head_15^0'=head_15^post37, r_165^0'=r_165^post37, a_149^0'=a_149^post37, x_19^0'=x_19^post37, i_95^0'=i_95^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, a_342^0'=a_342^post37, y_25^0'=y_25^post37, length_28^0'=length_28^post37, temp0_31^0'=temp0_31^post37, tmp_34^0'=tmp_34^post37, head_SLAM_f_29^0'=head_SLAM_f_29^post37, rcd_59^0'=rcd_59^post37, a_225^0'=a_225^post37, x_SLAM_f_17^0'=x_SLAM_f_17^post37, t_22^0'=t_22^post37, f_171^0'=f_171^post37, r_126^0'=r_126^post37, (-rcd_59^post37+rcd_59^0 == 0 /\ a_289^0-a_289^post37 == 0 /\ x_19^0-x_19^post37 == 0 /\ -x_SLAM_f_24^post37+x_SLAM_f_24^0 == 0 /\ -x_26^post37+x_26^0 == 0 /\ x_176^0-x_176^post37 == 0 /\ -t_22^post37+t_22^0 == 0 /\ i_30^0-i_30^post37 == 0 /\ -f_171^post37+f_171^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ y_18^0-y_18^post37 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post37 == 0 /\ result_11^0-result_11^post37 == 0 /\ -length_28^post37+length_28^0 == 0 /\ x_131^0-x_131^post37 == 0 /\ a_343^0-a_343^post37 == 0 /\ -r_126^post37+r_126^0 == 0 /\ -a_342^post37+a_342^0 == 0 /\ a_188^0-a_188^post37 == 0 /\ -temp0_31^post37+temp0_31^0 == 0 /\ len_134^0-len_134^post37 == 0 /\ -r_39^post37+r_39^0 == 0 /\ temp_35^0-temp_35^post37 == 0 /\ -head_15^post37+head_15^0 == 0 /\ -a_281^post37+a_281^0 == 0 /\ -a_225^post37+a_225^0 == 0 /\ -a_149^post37+a_149^0 == 0 /\ -rcd_89^post37+rcd_89^0 == 0 /\ -i_95^post37+i_95^0 == 0 /\ temp0_16^0-temp0_16^post37 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post37 == 0 /\ -tmp_34^post37+tmp_34^0 == 0 /\ -i_110^post37+i_110^0 == 0 /\ len_187^0-len_187^post37 == 0 /\ -head_SLAM_f_29^post37+head_SLAM_f_29^0 == 0 /\ r_165^0-r_165^post37 == 0 /\ a_118^0-a_118^post37 == 0 /\ head_32^0-head_32^post37 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ y_25^0-y_25^post37 == 0 /\ tail_14^0-tail_14^post37 == 0 /\ 1+tail_14^0-head_15^0 <= 0), cost: 1
  38: l26 -> l27 : a_118^0'=a_118^post38, x_176^0'=x_176^post38, i_30^0'=i_30^post38, result_11^0'=result_11^post38, a_289^0'=a_289^post38, y_18^0'=y_18^post38, len_187^0'=len_187^post38, temp0_16^0'=temp0_16^post38, temp_35^0'=temp_35^post38, head_32^0'=head_32^post38, r_39^0'=r_39^post38, a_188^0'=a_188^post38, x_26^0'=x_26^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, a_343^0'=a_343^post38, nondet_12^0'=nondet_12^post38, x_131^0'=x_131^post38, i_110^0'=i_110^post38, rcd_89^0'=rcd_89^post38, a_281^0'=a_281^post38, x_SLAM_f_24^0'=x_SLAM_f_24^post38, len_134^0'=len_134^post38, tail_14^0'=tail_14^post38, head_15^0'=head_15^post38, r_165^0'=r_165^post38, a_149^0'=a_149^post38, x_19^0'=x_19^post38, i_95^0'=i_95^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, a_342^0'=a_342^post38, y_25^0'=y_25^post38, length_28^0'=length_28^post38, temp0_31^0'=temp0_31^post38, tmp_34^0'=tmp_34^post38, head_SLAM_f_29^0'=head_SLAM_f_29^post38, rcd_59^0'=rcd_59^post38, a_225^0'=a_225^post38, x_SLAM_f_17^0'=x_SLAM_f_17^post38, t_22^0'=t_22^post38, f_171^0'=f_171^post38, r_126^0'=r_126^post38, (-r_165^post38+r_165^0 == 0 /\ a_118^0-a_118^post38 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post38 == 0 /\ y_18^0-y_18^post38 == 0 /\ x_26^0-x_26^post38 == 0 /\ -temp0_31^post38+temp0_31^0 == 0 /\ head_32^0-head_32^post38 == 0 /\ a_188^0-a_188^post38 == 0 /\ -head_SLAM_f_29^post38+head_SLAM_f_29^0 == 0 /\ -a_225^post38+a_225^0 == 0 /\ -a_343^post38+a_343^0 == 0 /\ -rcd_89^post38+rcd_89^0 == 0 /\ x_176^0-x_176^post38 == 0 /\ a_149^0-a_149^post38 == 0 /\ i_110^0-i_110^post38 == 0 /\ -x_SLAM_f_17^post38+x_SLAM_f_17^0 == 0 /\ -len_134^post38+len_134^0 == 0 /\ -a_342^post38+a_342^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post38 == 0 /\ -t_22^post38+t_22^0 == 0 /\ x_131^0-x_131^post38 == 0 /\ -nondet_12^post38+nondet_12^0 == 0 /\ i_30^0-i_30^post38 == 0 /\ i_95^0-i_95^post38 == 0 /\ -result_11^post38+result_11^0 == 0 /\ -tail_14^post38+tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ -length_28^post38+length_28^0 == 0 /\ -len_187^post38+len_187^0 == 0 /\ -tmp_34^post38+tmp_34^0 == 0 /\ head_15^0-head_15^post38 == 0 /\ -rcd_59^post38+rcd_59^0 == 0 /\ y_25^0-y_25^post38 == 0 /\ -a_281^post38+a_281^0 == 0 /\ -x_19^post38+x_19^0 == 0 /\ r_39^0-r_39^post38 == 0 /\ -r_126^post38+r_126^0 == 0 /\ -f_171^post38+f_171^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38 == 0 /\ temp0_16^0-temp0_16^post38 == 0 /\ a_289^0-a_289^post38 == 0 /\ temp_35^0-temp_35^post38 == 0), cost: 1
  39: l27 -> l28 : a_118^0'=a_118^post39, x_176^0'=x_176^post39, i_30^0'=i_30^post39, result_11^0'=result_11^post39, a_289^0'=a_289^post39, y_18^0'=y_18^post39, len_187^0'=len_187^post39, temp0_16^0'=temp0_16^post39, temp_35^0'=temp_35^post39, head_32^0'=head_32^post39, r_39^0'=r_39^post39, a_188^0'=a_188^post39, x_26^0'=x_26^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, a_343^0'=a_343^post39, nondet_12^0'=nondet_12^post39, x_131^0'=x_131^post39, i_110^0'=i_110^post39, rcd_89^0'=rcd_89^post39, a_281^0'=a_281^post39, x_SLAM_f_24^0'=x_SLAM_f_24^post39, len_134^0'=len_134^post39, tail_14^0'=tail_14^post39, head_15^0'=head_15^post39, r_165^0'=r_165^post39, a_149^0'=a_149^post39, x_19^0'=x_19^post39, i_95^0'=i_95^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, a_342^0'=a_342^post39, y_25^0'=y_25^post39, length_28^0'=length_28^post39, temp0_31^0'=temp0_31^post39, tmp_34^0'=tmp_34^post39, head_SLAM_f_29^0'=head_SLAM_f_29^post39, rcd_59^0'=rcd_59^post39, a_225^0'=a_225^post39, x_SLAM_f_17^0'=x_SLAM_f_17^post39, t_22^0'=t_22^post39, f_171^0'=f_171^post39, r_126^0'=r_126^post39, (-tail_14^post39+tail_14^0 == 0 /\ -a_225^post39+a_225^0 == 0 /\ a_118^0-a_118^post39 == 0 /\ -head_SLAM_f_29^post39+head_SLAM_f_29^0 == 0 /\ -x_131^post39+x_131^0 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ temp0_16^0-temp0_16^post39 == 0 /\ result_11^0-result_11^post39 == 0 /\ -f_171^post39+f_171^0 == 0 /\ -x_19^post39+x_19^0 == 0 /\ -head_15^post39+head_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 == 0 /\ -len_134^post39+len_134^0 == 0 /\ tmp_34^0-tmp_34^post39 == 0 /\ i_110^0-i_110^post39 == 0 /\ -x_SLAM_f_17^post39+x_SLAM_f_17^0 == 0 /\ a_343^0-a_343^post39 == 0 /\ a_149^0-a_149^post39 == 0 /\ -rcd_59^post39+rcd_59^0 == 0 /\ len_187^0-len_187^post39 == 0 /\ -i_95^post39+i_95^0 == 0 /\ i_30^0-i_30^post39 == 0 /\ -a_281^post39+a_281^0 == 0 /\ y_18^0-y_18^post39 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 == 0 /\ x_176^0-x_176^post39 == 0 /\ head_32^0-head_32^post39 == 0 /\ -y_25^post39+y_25^0 == 0 /\ t_22^0-t_22^post39 == 0 /\ -r_165^post39+r_165^0 == 0 /\ a_188^0-a_188^post39 == 0 /\ -x_SLAM_f_24^post39+x_SLAM_f_24^0 == 0 /\ -temp0_31^post39+temp0_31^0 == 0 /\ x_26^0-x_26^post39 == 0 /\ rcd_89^0-rcd_89^post39 == 0 /\ temp_35^0-temp_35^post39 == 0 /\ -a_342^post39+a_342^0 == 0 /\ a_289^0-a_289^post39 == 0 /\ -r_126^post39+r_126^0 == 0 /\ r_39^0-r_39^post39 == 0 /\ -length_28^post39+length_28^0 == 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 1
  40: l27 -> l28 : a_118^0'=a_118^post40, x_176^0'=x_176^post40, i_30^0'=i_30^post40, result_11^0'=result_11^post40, a_289^0'=a_289^post40, y_18^0'=y_18^post40, len_187^0'=len_187^post40, temp0_16^0'=temp0_16^post40, temp_35^0'=temp_35^post40, head_32^0'=head_32^post40, r_39^0'=r_39^post40, a_188^0'=a_188^post40, x_26^0'=x_26^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, a_343^0'=a_343^post40, nondet_12^0'=nondet_12^post40, x_131^0'=x_131^post40, i_110^0'=i_110^post40, rcd_89^0'=rcd_89^post40, a_281^0'=a_281^post40, x_SLAM_f_24^0'=x_SLAM_f_24^post40, len_134^0'=len_134^post40, tail_14^0'=tail_14^post40, head_15^0'=head_15^post40, r_165^0'=r_165^post40, a_149^0'=a_149^post40, x_19^0'=x_19^post40, i_95^0'=i_95^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, a_342^0'=a_342^post40, y_25^0'=y_25^post40, length_28^0'=length_28^post40, temp0_31^0'=temp0_31^post40, tmp_34^0'=tmp_34^post40, head_SLAM_f_29^0'=head_SLAM_f_29^post40, rcd_59^0'=rcd_59^post40, a_225^0'=a_225^post40, x_SLAM_f_17^0'=x_SLAM_f_17^post40, t_22^0'=t_22^post40, f_171^0'=f_171^post40, r_126^0'=r_126^post40, (-y_25^post40+y_25^0 == 0 /\ -rcd_59^post40+rcd_59^0 == 0 /\ -x_26^post40+x_26^0 == 0 /\ x_176^0-x_176^post40 == 0 /\ x_19^0-x_19^post40 == 0 /\ -t_22^post40+t_22^0 == 0 /\ a_289^0-a_289^post40 == 0 /\ temp0_16^0-temp0_16^post40 == 0 /\ -r_126^post40+r_126^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -temp0_31^post40+temp0_31^0 == 0 /\ -f_171^post40+f_171^0 == 0 /\ y_18^0-y_18^post40 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post40 == 0 /\ -length_28^post40+length_28^0 == 0 /\ result_11^0-result_11^post40 == 0 /\ x_131^0-x_131^post40 == 0 /\ i_30^0-i_30^post40 == 0 /\ a_343^0-a_343^post40 == 0 /\ a_188^0-a_188^post40 == 0 /\ len_134^0-len_134^post40 == 0 /\ tail_14^0-tail_14^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ temp_35^0-temp_35^post40 == 0 /\ -a_225^post40+a_225^0 == 0 /\ i_110^0-i_110^post40 == 0 /\ 1+y_18^0-head_15^0 <= 0 /\ -head_15^post40+head_15^0 == 0 /\ r_165^0-r_165^post40 == 0 /\ len_187^0-len_187^post40 == 0 /\ -a_149^post40+a_149^0 == 0 /\ a_118^0-a_118^post40 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post40 == 0 /\ -i_95^post40+i_95^0 == 0 /\ -x_SLAM_f_24^post40+x_SLAM_f_24^0 == 0 /\ -head_SLAM_f_29^post40+head_SLAM_f_29^0 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ -rcd_89^post40+rcd_89^0 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ a_342^0-a_342^post40 == 0 /\ head_32^0-head_32^post40 == 0 /\ a_281^0-a_281^post40 == 0), cost: 1
  41: l28 -> l29 : a_118^0'=a_118^post41, x_176^0'=x_176^post41, i_30^0'=i_30^post41, result_11^0'=result_11^post41, a_289^0'=a_289^post41, y_18^0'=y_18^post41, len_187^0'=len_187^post41, temp0_16^0'=temp0_16^post41, temp_35^0'=temp_35^post41, head_32^0'=head_32^post41, r_39^0'=r_39^post41, a_188^0'=a_188^post41, x_26^0'=x_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, a_343^0'=a_343^post41, nondet_12^0'=nondet_12^post41, x_131^0'=x_131^post41, i_110^0'=i_110^post41, rcd_89^0'=rcd_89^post41, a_281^0'=a_281^post41, x_SLAM_f_24^0'=x_SLAM_f_24^post41, len_134^0'=len_134^post41, tail_14^0'=tail_14^post41, head_15^0'=head_15^post41, r_165^0'=r_165^post41, a_149^0'=a_149^post41, x_19^0'=x_19^post41, i_95^0'=i_95^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, a_342^0'=a_342^post41, y_25^0'=y_25^post41, length_28^0'=length_28^post41, temp0_31^0'=temp0_31^post41, tmp_34^0'=tmp_34^post41, head_SLAM_f_29^0'=head_SLAM_f_29^post41, rcd_59^0'=rcd_59^post41, a_225^0'=a_225^post41, x_SLAM_f_17^0'=x_SLAM_f_17^post41, t_22^0'=t_22^post41, f_171^0'=f_171^post41, r_126^0'=r_126^post41, (temp0_31^0-temp0_31^post41 == 0 /\ i_110^0-i_110^post41 == 0 /\ -r_165^post41+r_165^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 == 0 /\ x_26^0-x_26^post41 == 0 /\ y_18^0-y_18^post41 == 0 /\ a_188^0-a_188^post41 == 0 /\ -a_343^post41+a_343^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post41 == 0 /\ 1+y_18^0-t_22^0 <= 0 /\ -a_225^post41+a_225^0 == 0 /\ -head_SLAM_f_29^post41+head_SLAM_f_29^0 == 0 /\ len_134^0-len_134^post41 == 0 /\ x_176^0-x_176^post41 == 0 /\ -rcd_89^post41+rcd_89^0 == 0 /\ -t_22^post41+t_22^0 == 0 /\ -x_SLAM_f_17^post41+x_SLAM_f_17^0 == 0 /\ -result_11^post41+result_11^0 == 0 /\ x_131^0-x_131^post41 == 0 /\ -a_342^post41+a_342^0 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ -a_149^post41+a_149^0 == 0 /\ -r_126^post41+r_126^0 == 0 /\ i_95^0-i_95^post41 == 0 /\ i_30^0-i_30^post41 == 0 /\ -len_187^post41+len_187^0 == 0 /\ -tail_14^post41+tail_14^0 == 0 /\ -x_19^post41+x_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_59^post41+rcd_59^0 == 0 /\ length_28^0-length_28^post41 == 0 /\ r_39^0-r_39^post41 == 0 /\ y_25^0-y_25^post41 == 0 /\ head_32^0-head_32^post41 == 0 /\ head_15^0-head_15^post41 == 0 /\ -a_281^post41+a_281^0 == 0 /\ -tmp_34^post41+tmp_34^0 == 0 /\ -f_171^post41+f_171^0 == 0 /\ a_118^0-a_118^post41 == 0 /\ a_289^0-a_289^post41 == 0 /\ temp_35^0-temp_35^post41 == 0 /\ temp0_16^0-temp0_16^post41 == 0), cost: 1
  42: l28 -> l29 : a_118^0'=a_118^post42, x_176^0'=x_176^post42, i_30^0'=i_30^post42, result_11^0'=result_11^post42, a_289^0'=a_289^post42, y_18^0'=y_18^post42, len_187^0'=len_187^post42, temp0_16^0'=temp0_16^post42, temp_35^0'=temp_35^post42, head_32^0'=head_32^post42, r_39^0'=r_39^post42, a_188^0'=a_188^post42, x_26^0'=x_26^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, a_343^0'=a_343^post42, nondet_12^0'=nondet_12^post42, x_131^0'=x_131^post42, i_110^0'=i_110^post42, rcd_89^0'=rcd_89^post42, a_281^0'=a_281^post42, x_SLAM_f_24^0'=x_SLAM_f_24^post42, len_134^0'=len_134^post42, tail_14^0'=tail_14^post42, head_15^0'=head_15^post42, r_165^0'=r_165^post42, a_149^0'=a_149^post42, x_19^0'=x_19^post42, i_95^0'=i_95^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, a_342^0'=a_342^post42, y_25^0'=y_25^post42, length_28^0'=length_28^post42, temp0_31^0'=temp0_31^post42, tmp_34^0'=tmp_34^post42, head_SLAM_f_29^0'=head_SLAM_f_29^post42, rcd_59^0'=rcd_59^post42, a_225^0'=a_225^post42, x_SLAM_f_17^0'=x_SLAM_f_17^post42, t_22^0'=t_22^post42, f_171^0'=f_171^post42, r_126^0'=r_126^post42, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ 1-y_18^0+t_22^0 <= 0 /\ a_118^0-a_118^post42 == 0 /\ temp0_16^0-temp0_16^post42 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ -x_131^post42+x_131^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ -head_15^post42+head_15^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ -len_134^post42+len_134^0 == 0 /\ -x_19^post42+x_19^0 == 0 /\ tail_14^0-tail_14^post42 == 0 /\ -a_225^post42+a_225^0 == 0 /\ -f_171^post42+f_171^0 == 0 /\ i_110^0-i_110^post42 == 0 /\ tmp_34^0-tmp_34^post42 == 0 /\ a_343^0-a_343^post42 == 0 /\ -rcd_59^post42+rcd_59^0 == 0 /\ rcd_89^0-rcd_89^post42 == 0 /\ a_149^0-a_149^post42 == 0 /\ -i_95^post42+i_95^0 == 0 /\ x_26^0-x_26^post42 == 0 /\ len_187^0-len_187^post42 == 0 /\ -head_SLAM_f_29^post42+head_SLAM_f_29^0 == 0 /\ -a_281^post42+a_281^0 == 0 /\ -x_SLAM_f_17^post42+x_SLAM_f_17^0 == 0 /\ x_176^0-x_176^post42 == 0 /\ y_18^0-y_18^post42 == 0 /\ head_32^0-head_32^post42 == 0 /\ -y_25^post42+y_25^0 == 0 /\ -temp0_31^post42+temp0_31^0 == 0 /\ t_22^0-t_22^post42 == 0 /\ i_30^0-i_30^post42 == 0 /\ -r_165^post42+r_165^0 == 0 /\ -x_SLAM_f_24^post42+x_SLAM_f_24^0 == 0 /\ -r_126^post42+r_126^0 == 0 /\ temp_35^0-temp_35^post42 == 0 /\ -a_342^post42+a_342^0 == 0 /\ r_39^0-r_39^post42 == 0 /\ -length_28^post42+length_28^0 == 0 /\ a_289^0-a_289^post42 == 0 /\ -a_188^post42+a_188^0 == 0), cost: 1
  43: l29 -> l6 : a_118^0'=a_118^post43, x_176^0'=x_176^post43, i_30^0'=i_30^post43, result_11^0'=result_11^post43, a_289^0'=a_289^post43, y_18^0'=y_18^post43, len_187^0'=len_187^post43, temp0_16^0'=temp0_16^post43, temp_35^0'=temp_35^post43, head_32^0'=head_32^post43, r_39^0'=r_39^post43, a_188^0'=a_188^post43, x_26^0'=x_26^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, a_343^0'=a_343^post43, nondet_12^0'=nondet_12^post43, x_131^0'=x_131^post43, i_110^0'=i_110^post43, rcd_89^0'=rcd_89^post43, a_281^0'=a_281^post43, x_SLAM_f_24^0'=x_SLAM_f_24^post43, len_134^0'=len_134^post43, tail_14^0'=tail_14^post43, head_15^0'=head_15^post43, r_165^0'=r_165^post43, a_149^0'=a_149^post43, x_19^0'=x_19^post43, i_95^0'=i_95^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, a_342^0'=a_342^post43, y_25^0'=y_25^post43, length_28^0'=length_28^post43, temp0_31^0'=temp0_31^post43, tmp_34^0'=tmp_34^post43, head_SLAM_f_29^0'=head_SLAM_f_29^post43, rcd_59^0'=rcd_59^post43, a_225^0'=a_225^post43, x_SLAM_f_17^0'=x_SLAM_f_17^post43, t_22^0'=t_22^post43, f_171^0'=f_171^post43, r_126^0'=r_126^post43, (0 == 0 /\ -length_28^post43+length_28^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ -tmp_34^post43+tmp_34^0 == 0 /\ x_19^0-x_19^post43 == 0 /\ -rcd_59^post43+rcd_59^0 == 0 /\ -t_22^post43+t_22^0 == 0 /\ -y_25^post43+y_25^0 == 0 /\ -x_26^post43+x_26^0 == 0 /\ 1-len_134^post43+a_225^0 <= 0 /\ temp0_16^0-temp0_16^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ x_131^0-x_131^post43 == 0 /\ -temp0_31^post43+temp0_31^0 == 0 /\ a_118^0-a_118^post43 == 0 /\ i_30^0-i_30^post43 == 0 /\ y_18^0-y_18^post43 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post43 == 0 /\ -f_171^post43+f_171^0 == 0 /\ a_343^0-a_343^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ a_188^0-a_188^post43 == 0 /\ -r_126^post43+r_126^0 == 0 /\ tail_14^0-tail_14^post43 == 0 /\ -a_225^post43+a_225^0 == 0 /\ -r_39^post43+r_39^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_110^0-i_110^post43 == 0 /\ x_176^0-x_176^post43 == 0 /\ temp_35^0-temp_35^post43 == 0 /\ -1+len_134^post43-a_225^0 <= 0 /\ r_165^0-r_165^post43 == 0 /\ len_187^0-len_187^post43 == 0 /\ -i_95^post43+i_95^0 == 0 /\ -a_289^post43+a_289^0 == 0 /\ -head_15^post43+head_15^0 == 0 /\ -rcd_89^post43+rcd_89^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_24^post43+x_SLAM_f_24^0 == 0 /\ a_342^0-a_342^post43 == 0 /\ head_32^0-head_32^post43 == 0 /\ -head_SLAM_f_29^post43+head_SLAM_f_29^0 == 0 /\ -a_149^post43+a_149^0 == 0 /\ a_281^0-a_281^post43 == 0), cost: 1
  44: l30 -> l3 : a_118^0'=a_118^post44, x_176^0'=x_176^post44, i_30^0'=i_30^post44, result_11^0'=result_11^post44, a_289^0'=a_289^post44, y_18^0'=y_18^post44, len_187^0'=len_187^post44, temp0_16^0'=temp0_16^post44, temp_35^0'=temp_35^post44, head_32^0'=head_32^post44, r_39^0'=r_39^post44, a_188^0'=a_188^post44, x_26^0'=x_26^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_343^0'=a_343^post44, nondet_12^0'=nondet_12^post44, x_131^0'=x_131^post44, i_110^0'=i_110^post44, rcd_89^0'=rcd_89^post44, a_281^0'=a_281^post44, x_SLAM_f_24^0'=x_SLAM_f_24^post44, len_134^0'=len_134^post44, tail_14^0'=tail_14^post44, head_15^0'=head_15^post44, r_165^0'=r_165^post44, a_149^0'=a_149^post44, x_19^0'=x_19^post44, i_95^0'=i_95^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, a_342^0'=a_342^post44, y_25^0'=y_25^post44, length_28^0'=length_28^post44, temp0_31^0'=temp0_31^post44, tmp_34^0'=tmp_34^post44, head_SLAM_f_29^0'=head_SLAM_f_29^post44, rcd_59^0'=rcd_59^post44, a_225^0'=a_225^post44, x_SLAM_f_17^0'=x_SLAM_f_17^post44, t_22^0'=t_22^post44, f_171^0'=f_171^post44, r_126^0'=r_126^post44, (0 == 0 /\ y_18^0-y_18^post44 == 0 /\ a_188^0-a_188^post44 == 0 /\ a_118^0-a_118^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ -x_SLAM_f_17^post44+x_SLAM_f_17^0 == 0 /\ -head_15^post44+head_15^0 == 0 /\ -i_30^post44 <= 0 /\ rcd_59^0-rcd_59^post44 == 0 /\ -a_281^post44+a_281^0 == 0 /\ -f_171^post44+f_171^0 == 0 /\ temp0_31^0-temp0_31^post44 == 0 /\ i_30^post44 <= 0 /\ i_30^post44 == 0 /\ len_134^0-len_134^post44 == 0 /\ x_26^0-x_26^post44 == 0 /\ -a_149^post44+a_149^0 == 0 /\ tmp_34^0-tmp_34^post44 == 0 /\ len_187^0-len_187^post44 == 0 /\ -tail_14^post44+tail_14^0 == 0 /\ x_176^0-x_176^post44 == 0 /\ -head_SLAM_f_29^post44+tail_14^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post44-length_28^post44 <= 0 /\ -x_SLAM_f_24^post44+x_SLAM_f_24^0 == 0 /\ -i_95^post44+i_95^0 == 0 /\ tail_14^0-head_32^post44 <= 0 /\ y_25^0-y_25^post44 == 0 /\ -rcd_89^post44+rcd_89^0 == 0 /\ head_SLAM_f_29^post44-head_32^post44 <= 0 /\ -r_165^post44+r_165^0 == 0 /\ temp0_16^0-temp0_16^post44 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 == 0 /\ head_SLAM_f_29^post44-tail_14^0 <= 0 /\ head_SLAM_f_29^post44-tail_14^0 == 0 /\ -a_342^post44+a_342^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+length_28^post44 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+length_28^post44 == 0 /\ a_289^0-a_289^post44 == 0 /\ -r_126^post44+r_126^0 == 0 /\ temp_35^0-temp_35^post44 == 0 /\ -a_225^post44+a_225^0 == 0 /\ i_110^0-i_110^post44 == 0 /\ -x_131^post44+x_131^0 == 0 /\ -tail_14^0+head_32^post44 <= 0 /\ -t_22^post44+t_22^0 == 0 /\ r_39^0-r_39^post44 == 0 /\ -head_SLAM_f_29^post44+head_32^post44 <= 0 /\ -head_SLAM_f_29^post44+head_32^post44 == 0 /\ -a_343^post44+a_343^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_19^post44+x_19^0 == 0), cost: 1
  45: l31 -> l32 : a_118^0'=a_118^post45, x_176^0'=x_176^post45, i_30^0'=i_30^post45, result_11^0'=result_11^post45, a_289^0'=a_289^post45, y_18^0'=y_18^post45, len_187^0'=len_187^post45, temp0_16^0'=temp0_16^post45, temp_35^0'=temp_35^post45, head_32^0'=head_32^post45, r_39^0'=r_39^post45, a_188^0'=a_188^post45, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, a_343^0'=a_343^post45, nondet_12^0'=nondet_12^post45, x_131^0'=x_131^post45, i_110^0'=i_110^post45, rcd_89^0'=rcd_89^post45, a_281^0'=a_281^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, len_134^0'=len_134^post45, tail_14^0'=tail_14^post45, head_15^0'=head_15^post45, r_165^0'=r_165^post45, a_149^0'=a_149^post45, x_19^0'=x_19^post45, i_95^0'=i_95^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, a_342^0'=a_342^post45, y_25^0'=y_25^post45, length_28^0'=length_28^post45, temp0_31^0'=temp0_31^post45, tmp_34^0'=tmp_34^post45, head_SLAM_f_29^0'=head_SLAM_f_29^post45, rcd_59^0'=rcd_59^post45, a_225^0'=a_225^post45, x_SLAM_f_17^0'=x_SLAM_f_17^post45, t_22^0'=t_22^post45, f_171^0'=f_171^post45, r_126^0'=r_126^post45, (0 == 0 /\ x_SLAM_f_17^post45-x_19^post45 <= 0 /\ -f_171^post45+f_171^0 == 0 /\ len_134^0-len_134^post45 == 0 /\ -tail_14^post45+tail_14^0 == 0 /\ head_32^0-head_32^post45 == 0 /\ x_176^0-x_176^post45 == 0 /\ y_18^post45-tail_14^0 <= 0 /\ y_18^post45-tail_14^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ -head_SLAM_f_29^post45+head_SLAM_f_29^0 == 0 /\ -rcd_59^post45+rcd_59^0 == 0 /\ -x_19^post45+head_15^0 <= 0 /\ -x_131^post45+x_131^0 == 0 /\ -a_342^post45+a_342^0 == 0 /\ i_110^0-i_110^post45 == 0 /\ -r_126^post45+r_126^0 == 0 /\ temp0_31^0-temp0_31^post45 == 0 /\ a_289^0-a_289^post45 == 0 /\ -x_SLAM_f_17^post45+x_19^post45 <= 0 /\ -x_SLAM_f_17^post45+x_19^post45 == 0 /\ -y_18^post45+tail_14^0 <= 0 /\ -tmp_34^post45+tmp_34^0 == 0 /\ -a_149^0 <= 0 /\ a_188^0-a_188^post45 == 0 /\ x_19^post45-head_15^0 <= 0 /\ i_30^0-i_30^post45 == 0 /\ -r_165^post45+r_165^0 == 0 /\ a_225^0-a_225^post45 == 0 /\ r_39^0-r_39^post45 == 0 /\ length_28^0-length_28^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ -i_95^post45+i_95^0 == 0 /\ x_26^0-y_25^0 <= 0 /\ temp0_16^0-temp0_16^post45 == 0 /\ -a_281^post45+a_281^0 == 0 /\ -len_134^0 <= 0 /\ a_118^0-a_118^post45 == 0 /\ -a_343^post45+a_343^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45 == 0 /\ -x_SLAM_f_17^post45+head_15^0 <= 0 /\ -x_26^0+y_25^0 <= 0 /\ -t_22^post45+t_22^0 == 0 /\ -head_15^post45+head_15^0 == 0 /\ -temp_35^post45+temp_35^0 == 0 /\ rcd_89^0-rcd_89^post45 == 0 /\ -a_149^post45+a_149^0 == 0 /\ x_SLAM_f_17^post45-head_15^0 <= 0 /\ x_SLAM_f_17^post45-head_15^0 == 0 /\ len_187^0-len_187^post45 == 0), cost: 1
  49: l31 -> l35 : a_118^0'=a_118^post49, x_176^0'=x_176^post49, i_30^0'=i_30^post49, result_11^0'=result_11^post49, a_289^0'=a_289^post49, y_18^0'=y_18^post49, len_187^0'=len_187^post49, temp0_16^0'=temp0_16^post49, temp_35^0'=temp_35^post49, head_32^0'=head_32^post49, r_39^0'=r_39^post49, a_188^0'=a_188^post49, x_26^0'=x_26^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, a_343^0'=a_343^post49, nondet_12^0'=nondet_12^post49, x_131^0'=x_131^post49, i_110^0'=i_110^post49, rcd_89^0'=rcd_89^post49, a_281^0'=a_281^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, len_134^0'=len_134^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, r_165^0'=r_165^post49, a_149^0'=a_149^post49, x_19^0'=x_19^post49, i_95^0'=i_95^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, a_342^0'=a_342^post49, y_25^0'=y_25^post49, length_28^0'=length_28^post49, temp0_31^0'=temp0_31^post49, tmp_34^0'=tmp_34^post49, head_SLAM_f_29^0'=head_SLAM_f_29^post49, rcd_59^0'=rcd_59^post49, a_225^0'=a_225^post49, x_SLAM_f_17^0'=x_SLAM_f_17^post49, t_22^0'=t_22^post49, f_171^0'=f_171^post49, r_126^0'=r_126^post49, (0 == 0 /\ x_26^0-x_26^post49 == 0 /\ a_289^0-a_289^post49 == 0 /\ -y_25^post49+y_25^0 == 0 /\ tmp_34^0-tmp_34^post49 == 0 /\ -a_188^post49+a_188^0 == 0 /\ -a_342^post49+a_342^0 == 0 /\ a_225^0-a_225^post49 == 0 /\ r_165^0-r_165^post49 == 0 /\ -t_22^post49+t_22^0 == 0 /\ -len_134^post49+len_134^0 == 0 /\ a_281^0-a_281^post49 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_149^0 <= 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -temp0_31^post49+temp0_31^0 == 0 /\ -length_28^post49+length_28^0 == 0 /\ -head_SLAM_f_29^post49+head_SLAM_f_29^0 == 0 /\ rcd_89^0-rcd_89^post49 == 0 /\ temp_35^0-temp_35^post49 == 0 /\ -r_126^post49+r_126^0 == 0 /\ -len_134^0 <= 0 /\ -head_32^post49+head_32^0 == 0 /\ len_187^0-len_187^post49 == 0 /\ -a_149^post49+a_149^0 == 0 /\ -i_110^post49+i_110^0 == 0 /\ y_18^0-y_18^post49 == 0 /\ temp0_16^0-temp0_16^post49 == 0 /\ x_19^0-x_19^post49 == 0 /\ i_30^0-i_30^post49 == 0 /\ -x_SLAM_f_17^post49+x_SLAM_f_17^0 == 0 /\ -i_95^post49+i_95^0 == 0 /\ -rcd_59^post49+rcd_59^0 == 0 /\ a_118^0-a_118^post49 == 0 /\ x_131^0-x_131^post49 == 0 /\ result_11^0-result_11^post49 == 0 /\ a_343^0-a_343^post49 == 0), cost: 1
  46: l32 -> l33 : a_118^0'=a_118^post46, x_176^0'=x_176^post46, i_30^0'=i_30^post46, result_11^0'=result_11^post46, a_289^0'=a_289^post46, y_18^0'=y_18^post46, len_187^0'=len_187^post46, temp0_16^0'=temp0_16^post46, temp_35^0'=temp_35^post46, head_32^0'=head_32^post46, r_39^0'=r_39^post46, a_188^0'=a_188^post46, x_26^0'=x_26^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, a_343^0'=a_343^post46, nondet_12^0'=nondet_12^post46, x_131^0'=x_131^post46, i_110^0'=i_110^post46, rcd_89^0'=rcd_89^post46, a_281^0'=a_281^post46, x_SLAM_f_24^0'=x_SLAM_f_24^post46, len_134^0'=len_134^post46, tail_14^0'=tail_14^post46, head_15^0'=head_15^post46, r_165^0'=r_165^post46, a_149^0'=a_149^post46, x_19^0'=x_19^post46, i_95^0'=i_95^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, a_342^0'=a_342^post46, y_25^0'=y_25^post46, length_28^0'=length_28^post46, temp0_31^0'=temp0_31^post46, tmp_34^0'=tmp_34^post46, head_SLAM_f_29^0'=head_SLAM_f_29^post46, rcd_59^0'=rcd_59^post46, a_225^0'=a_225^post46, x_SLAM_f_17^0'=x_SLAM_f_17^post46, t_22^0'=t_22^post46, f_171^0'=f_171^post46, r_126^0'=r_126^post46, (-x_SLAM_f_24^post46+x_SLAM_f_24^0 == 0 /\ tmp_34^0-tmp_34^post46 == 0 /\ rcd_89^0-rcd_89^post46 == 0 /\ a_289^0-a_289^post46 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 == 0 /\ a_225^0-a_225^post46 == 0 /\ x_176^0-x_176^post46 == 0 /\ -length_28^post46+length_28^0 == 0 /\ -len_134^post46+len_134^0 == 0 /\ tail_14^0-tail_14^post46 == 0 /\ -t_22^post46+t_22^0 == 0 /\ -temp0_31^post46+temp0_31^0 == 0 /\ r_165^0-r_165^post46 == 0 /\ -y_25^post46+y_25^0 == 0 /\ a_281^0-a_281^post46 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_343^0-a_343^post46 == 0 /\ temp_35^0-temp_35^post46 == 0 /\ -head_SLAM_f_29^post46+head_SLAM_f_29^0 == 0 /\ -head_15^post46+head_15^0 == 0 /\ -a_149^post46+a_149^0 == 0 /\ r_39^0-r_39^post46 == 0 /\ -r_126^post46+r_126^0 == 0 /\ len_187^0-len_187^post46 == 0 /\ -a_342^post46+a_342^0 == 0 /\ -head_32^post46+head_32^0 == 0 /\ -x_26^post46+x_26^0 == 0 /\ y_18^0-y_18^post46 == 0 /\ a_188^0-a_188^post46 == 0 /\ x_19^0-x_19^post46 == 0 /\ -i_110^post46+i_110^0 == 0 /\ -x_SLAM_f_17^post46+x_SLAM_f_17^0 == 0 /\ i_30^0-i_30^post46 == 0 /\ f_171^0-f_171^post46 == 0 /\ temp0_16^0-temp0_16^post46 == 0 /\ a_118^0-a_118^post46 == 0 /\ result_11^0-result_11^post46 == 0 /\ 1+tail_14^0-head_15^0 <= 0 /\ -rcd_59^post46+rcd_59^0 == 0 /\ -i_95^post46+i_95^0 == 0 /\ x_131^0-x_131^post46 == 0), cost: 1
  47: l32 -> l33 : a_118^0'=a_118^post47, x_176^0'=x_176^post47, i_30^0'=i_30^post47, result_11^0'=result_11^post47, a_289^0'=a_289^post47, y_18^0'=y_18^post47, len_187^0'=len_187^post47, temp0_16^0'=temp0_16^post47, temp_35^0'=temp_35^post47, head_32^0'=head_32^post47, r_39^0'=r_39^post47, a_188^0'=a_188^post47, x_26^0'=x_26^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, a_343^0'=a_343^post47, nondet_12^0'=nondet_12^post47, x_131^0'=x_131^post47, i_110^0'=i_110^post47, rcd_89^0'=rcd_89^post47, a_281^0'=a_281^post47, x_SLAM_f_24^0'=x_SLAM_f_24^post47, len_134^0'=len_134^post47, tail_14^0'=tail_14^post47, head_15^0'=head_15^post47, r_165^0'=r_165^post47, a_149^0'=a_149^post47, x_19^0'=x_19^post47, i_95^0'=i_95^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, a_342^0'=a_342^post47, y_25^0'=y_25^post47, length_28^0'=length_28^post47, temp0_31^0'=temp0_31^post47, tmp_34^0'=tmp_34^post47, head_SLAM_f_29^0'=head_SLAM_f_29^post47, rcd_59^0'=rcd_59^post47, a_225^0'=a_225^post47, x_SLAM_f_17^0'=x_SLAM_f_17^post47, t_22^0'=t_22^post47, f_171^0'=f_171^post47, r_126^0'=r_126^post47, (-r_39^post47+r_39^0 == 0 /\ i_30^0-i_30^post47 == 0 /\ r_165^0-r_165^post47 == 0 /\ len_187^0-len_187^post47 == 0 /\ a_281^0-a_281^post47 == 0 /\ x_131^0-x_131^post47 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ -i_110^post47+i_110^0 == 0 /\ -a_225^post47+a_225^0 == 0 /\ -a_149^post47+a_149^0 == 0 /\ -x_26^post47+x_26^0 == 0 /\ -head_SLAM_f_29^post47+head_SLAM_f_29^0 == 0 /\ a_289^0-a_289^post47 == 0 /\ temp_35^0-temp_35^post47 == 0 /\ -rcd_59^post47+rcd_59^0 == 0 /\ a_118^0-a_118^post47 == 0 /\ a_188^0-a_188^post47 == 0 /\ -a_342^post47+a_342^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post47 == 0 /\ -t_22^post47+t_22^0 == 0 /\ -x_SLAM_f_17^post47+x_SLAM_f_17^0 == 0 /\ head_32^0-head_32^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ i_95^0-i_95^post47 == 0 /\ -y_18^post47+y_18^0 == 0 /\ tail_14^0-tail_14^post47 == 0 /\ -length_28^post47+length_28^0 == 0 /\ -y_25^post47+y_25^0 == 0 /\ a_343^0-a_343^post47 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ -tmp_34^post47+tmp_34^0 == 0 /\ head_15^0-head_15^post47 == 0 /\ -f_171^post47+f_171^0 == 0 /\ rcd_89^0-rcd_89^post47 == 0 /\ len_134^0-len_134^post47 == 0 /\ x_19^0-x_19^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_16^0-temp0_16^post47 == 0 /\ x_176^0-x_176^post47 == 0 /\ -temp0_31^post47+temp0_31^0 == 0 /\ -r_126^post47+r_126^0 == 0), cost: 1
  48: l33 -> l23 : a_118^0'=a_118^post48, x_176^0'=x_176^post48, i_30^0'=i_30^post48, result_11^0'=result_11^post48, a_289^0'=a_289^post48, y_18^0'=y_18^post48, len_187^0'=len_187^post48, temp0_16^0'=temp0_16^post48, temp_35^0'=temp_35^post48, head_32^0'=head_32^post48, r_39^0'=r_39^post48, a_188^0'=a_188^post48, x_26^0'=x_26^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, a_343^0'=a_343^post48, nondet_12^0'=nondet_12^post48, x_131^0'=x_131^post48, i_110^0'=i_110^post48, rcd_89^0'=rcd_89^post48, a_281^0'=a_281^post48, x_SLAM_f_24^0'=x_SLAM_f_24^post48, len_134^0'=len_134^post48, tail_14^0'=tail_14^post48, head_15^0'=head_15^post48, r_165^0'=r_165^post48, a_149^0'=a_149^post48, x_19^0'=x_19^post48, i_95^0'=i_95^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, a_342^0'=a_342^post48, y_25^0'=y_25^post48, length_28^0'=length_28^post48, temp0_31^0'=temp0_31^post48, tmp_34^0'=tmp_34^post48, head_SLAM_f_29^0'=head_SLAM_f_29^post48, rcd_59^0'=rcd_59^post48, a_225^0'=a_225^post48, x_SLAM_f_17^0'=x_SLAM_f_17^post48, t_22^0'=t_22^post48, f_171^0'=f_171^post48, r_126^0'=r_126^post48, (-f_171^post48+f_171^0 == 0 /\ -t_22^post48+t_22^0 == 0 /\ -tail_14^post48+tail_14^0 == 0 /\ -head_15^post48+head_15^0 == 0 /\ -x_131^post48+x_131^0 == 0 /\ x_176^0-x_176^post48 == 0 /\ -head_SLAM_f_29^post48+head_SLAM_f_29^0 == 0 /\ -a_225^post48+a_225^0 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48 == 0 /\ -x_SLAM_f_17^post48+x_SLAM_f_17^0 == 0 /\ -a_342^post48+a_342^0 == 0 /\ -len_134^post48+len_134^0 == 0 /\ i_110^0-i_110^post48 == 0 /\ -r_126^post48+r_126^0 == 0 /\ -rcd_59^post48+rcd_59^0 == 0 /\ temp0_31^0-temp0_31^post48 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post48 == 0 /\ a_289^0-a_289^post48 == 0 /\ -x_19^post48+x_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post48+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_34^post48+tmp_34^0 == 0 /\ i_30^0-i_30^post48 == 0 /\ r_39^0-r_39^post48 == 0 /\ -r_165^post48+r_165^0 == 0 /\ y_18^0-y_18^post48 == 0 /\ -a_281^post48+a_281^0 == 0 /\ head_32^0-head_32^post48 == 0 /\ -i_95^post48+i_95^0 == 0 /\ length_28^0-length_28^post48 == 0 /\ a_188^0-a_188^post48 == 0 /\ temp0_16^0-temp0_16^post48 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_11^0-result_11^post48 == 0 /\ a_118^0-a_118^post48 == 0 /\ -a_343^post48+a_343^0 == 0 /\ rcd_89^0-rcd_89^post48 == 0 /\ x_26^0-x_26^post48 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_149^post48+a_149^0 == 0 /\ -temp_35^post48+temp_35^0 == 0 /\ -y_25^post48+y_25^0 == 0 /\ len_187^0-len_187^post48 == 0), cost: 1
  50: l35 -> l36 : a_118^0'=a_118^post50, x_176^0'=x_176^post50, i_30^0'=i_30^post50, result_11^0'=result_11^post50, a_289^0'=a_289^post50, y_18^0'=y_18^post50, len_187^0'=len_187^post50, temp0_16^0'=temp0_16^post50, temp_35^0'=temp_35^post50, head_32^0'=head_32^post50, r_39^0'=r_39^post50, a_188^0'=a_188^post50, x_26^0'=x_26^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, a_343^0'=a_343^post50, nondet_12^0'=nondet_12^post50, x_131^0'=x_131^post50, i_110^0'=i_110^post50, rcd_89^0'=rcd_89^post50, a_281^0'=a_281^post50, x_SLAM_f_24^0'=x_SLAM_f_24^post50, len_134^0'=len_134^post50, tail_14^0'=tail_14^post50, head_15^0'=head_15^post50, r_165^0'=r_165^post50, a_149^0'=a_149^post50, x_19^0'=x_19^post50, i_95^0'=i_95^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, a_342^0'=a_342^post50, y_25^0'=y_25^post50, length_28^0'=length_28^post50, temp0_31^0'=temp0_31^post50, tmp_34^0'=tmp_34^post50, head_SLAM_f_29^0'=head_SLAM_f_29^post50, rcd_59^0'=rcd_59^post50, a_225^0'=a_225^post50, x_SLAM_f_17^0'=x_SLAM_f_17^post50, t_22^0'=t_22^post50, f_171^0'=f_171^post50, r_126^0'=r_126^post50, (-r_39^post50+r_39^0 == 0 /\ len_187^0-len_187^post50 == 0 /\ i_30^0-i_30^post50 == 0 /\ r_165^0-r_165^post50 == 0 /\ x_131^0-x_131^post50 == 0 /\ rcd_89^0-rcd_89^post50 == 0 /\ a_281^0-a_281^post50 == 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ -i_110^post50+i_110^0 == 0 /\ -a_225^post50+a_225^0 == 0 /\ -head_SLAM_f_29^post50+head_SLAM_f_29^0 == 0 /\ -a_149^post50+a_149^0 == 0 /\ temp_35^0-temp_35^post50 == 0 /\ x_176^0-x_176^post50 == 0 /\ a_289^0-a_289^post50 == 0 /\ -tmp_34^post50+tmp_34^0 == 0 /\ -x_SLAM_f_17^post50+x_SLAM_f_17^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post50 == 0 /\ -t_22^post50+t_22^0 == 0 /\ -a_342^post50+a_342^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post50 == 0 /\ -r_126^post50+r_126^0 == 0 /\ -rcd_59^post50+rcd_59^0 == 0 /\ i_95^0-i_95^post50 == 0 /\ head_32^0-head_32^post50 == 0 /\ -y_18^post50+y_18^0 == 0 /\ -x_26^post50+x_26^0 == 0 /\ -result_11^post50+result_11^0 == 0 /\ a_343^0-a_343^post50 == 0 /\ -length_28^post50+length_28^0 == 0 /\ tail_14^0-tail_14^post50 == 0 /\ a_188^0-a_188^post50 == 0 /\ len_134^0-len_134^post50 == 0 /\ -f_171^post50+f_171^0 == 0 /\ 1-x_26^0+y_25^0 <= 0 /\ y_25^0-y_25^post50 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_15^0-head_15^post50 == 0 /\ x_19^0-x_19^post50 == 0 /\ a_118^0-a_118^post50 == 0 /\ -temp0_31^post50+temp0_31^0 == 0 /\ temp0_16^0-temp0_16^post50 == 0), cost: 1
  51: l35 -> l36 : a_118^0'=a_118^post51, x_176^0'=x_176^post51, i_30^0'=i_30^post51, result_11^0'=result_11^post51, a_289^0'=a_289^post51, y_18^0'=y_18^post51, len_187^0'=len_187^post51, temp0_16^0'=temp0_16^post51, temp_35^0'=temp_35^post51, head_32^0'=head_32^post51, r_39^0'=r_39^post51, a_188^0'=a_188^post51, x_26^0'=x_26^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, a_343^0'=a_343^post51, nondet_12^0'=nondet_12^post51, x_131^0'=x_131^post51, i_110^0'=i_110^post51, rcd_89^0'=rcd_89^post51, a_281^0'=a_281^post51, x_SLAM_f_24^0'=x_SLAM_f_24^post51, len_134^0'=len_134^post51, tail_14^0'=tail_14^post51, head_15^0'=head_15^post51, r_165^0'=r_165^post51, a_149^0'=a_149^post51, x_19^0'=x_19^post51, i_95^0'=i_95^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51, a_342^0'=a_342^post51, y_25^0'=y_25^post51, length_28^0'=length_28^post51, temp0_31^0'=temp0_31^post51, tmp_34^0'=tmp_34^post51, head_SLAM_f_29^0'=head_SLAM_f_29^post51, rcd_59^0'=rcd_59^post51, a_225^0'=a_225^post51, x_SLAM_f_17^0'=x_SLAM_f_17^post51, t_22^0'=t_22^post51, f_171^0'=f_171^post51, r_126^0'=r_126^post51, (x_176^0-x_176^post51 == 0 /\ result_11^0-result_11^post51 == 0 /\ i_30^0-i_30^post51 == 0 /\ -x_131^post51+x_131^0 == 0 /\ -tmp_34^post51+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post51 == 0 /\ -head_SLAM_f_29^post51+head_SLAM_f_29^0 == 0 /\ -f_171^post51+f_171^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51 == 0 /\ -r_126^post51+r_126^0 == 0 /\ -len_134^post51+len_134^0 == 0 /\ -a_342^post51+a_342^0 == 0 /\ i_110^0-i_110^post51 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post51 == 0 /\ a_343^0-a_343^post51 == 0 /\ -rcd_59^post51+rcd_59^0 == 0 /\ -x_19^post51+x_19^0 == 0 /\ -x_SLAM_f_17^post51+x_SLAM_f_17^0 == 0 /\ a_149^0-a_149^post51 == 0 /\ a_289^0-a_289^post51 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post51+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_281^post51+a_281^0 == 0 /\ r_39^0-r_39^post51 == 0 /\ -i_95^post51+i_95^0 == 0 /\ -tail_14^post51+tail_14^0 == 0 /\ y_18^0-y_18^post51 == 0 /\ -temp0_31^post51+temp0_31^0 == 0 /\ head_32^0-head_32^post51 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ head_15^0-head_15^post51 == 0 /\ a_188^0-a_188^post51 == 0 /\ -r_165^post51+r_165^0 == 0 /\ temp0_16^0-temp0_16^post51 == 0 /\ a_118^0-a_118^post51 == 0 /\ rcd_89^0-rcd_89^post51 == 0 /\ x_26^0-x_26^post51 == 0 /\ -temp_35^post51+temp_35^0 == 0 /\ -y_25^post51+y_25^0 == 0 /\ len_187^0-len_187^post51 == 0 /\ -a_225^post51+a_225^0 == 0 /\ length_28^0-length_28^post51 == 0 /\ -t_22^post51+t_22^0 == 0), cost: 1
  52: l36 -> l37 : a_118^0'=a_118^post52, x_176^0'=x_176^post52, i_30^0'=i_30^post52, result_11^0'=result_11^post52, a_289^0'=a_289^post52, y_18^0'=y_18^post52, len_187^0'=len_187^post52, temp0_16^0'=temp0_16^post52, temp_35^0'=temp_35^post52, head_32^0'=head_32^post52, r_39^0'=r_39^post52, a_188^0'=a_188^post52, x_26^0'=x_26^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, a_343^0'=a_343^post52, nondet_12^0'=nondet_12^post52, x_131^0'=x_131^post52, i_110^0'=i_110^post52, rcd_89^0'=rcd_89^post52, a_281^0'=a_281^post52, x_SLAM_f_24^0'=x_SLAM_f_24^post52, len_134^0'=len_134^post52, tail_14^0'=tail_14^post52, head_15^0'=head_15^post52, r_165^0'=r_165^post52, a_149^0'=a_149^post52, x_19^0'=x_19^post52, i_95^0'=i_95^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52, a_342^0'=a_342^post52, y_25^0'=y_25^post52, length_28^0'=length_28^post52, temp0_31^0'=temp0_31^post52, tmp_34^0'=tmp_34^post52, head_SLAM_f_29^0'=head_SLAM_f_29^post52, rcd_59^0'=rcd_59^post52, a_225^0'=a_225^post52, x_SLAM_f_17^0'=x_SLAM_f_17^post52, t_22^0'=t_22^post52, f_171^0'=f_171^post52, r_126^0'=r_126^post52, (0 == 0 /\ x_26^0-x_26^post52 == 0 /\ tmp_34^0-tmp_34^post52 == 0 /\ -rcd_59^post52+rcd_59^0 == 0 /\ x_26^0-f_171^0 <= 0 /\ a_289^0-a_289^post52 == 0 /\ -y_25^post52+y_25^0 == 0 /\ r_39^0-r_39^post52 == 0 /\ -x_SLAM_f_24^post52+x_SLAM_f_24^0 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ 1+len_134^0-len_187^post52 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ x_176^0-x_176^post52 == 0 /\ i_30^0-i_30^post52 == 0 /\ -len_134^post52+len_134^0 == 0 /\ -x_26^0+f_171^0 <= 0 /\ y_18^0-y_18^post52 == 0 /\ a_225^0-a_225^post52 == 0 /\ -t_22^post52+t_22^0 == 0 /\ -a_342^post52+a_342^0 == 0 /\ r_165^0-r_165^post52 == 0 /\ 1+a_188^post52-a_149^0 <= 0 /\ -r_126^post52+r_126^0 == 0 /\ a_281^0-a_281^post52 == 0 /\ -x_131^post52+x_131^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -length_28^post52+length_28^0 == 0 /\ -temp0_31^post52+temp0_31^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ -head_SLAM_f_29^post52+head_SLAM_f_29^0 == 0 /\ -head_32^post52+head_32^0 == 0 /\ rcd_89^0-rcd_89^post52 == 0 /\ temp_35^0-temp_35^post52 == 0 /\ -f_171^post52+f_171^0 == 0 /\ x_19^0-x_19^post52 == 0 /\ -head_15^post52+head_15^0 == 0 /\ tail_14^0-y_25^0 <= 0 /\ -1-len_134^0+len_187^post52 <= 0 /\ -i_110^post52+i_110^0 == 0 /\ -x_SLAM_f_17^post52+x_SLAM_f_17^0 == 0 /\ a_118^0-a_118^post52 == 0 /\ -a_149^post52+a_149^0 == 0 /\ -1-a_188^post52+a_149^0 <= 0 /\ temp0_16^0-temp0_16^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ -i_95^post52+i_95^0 == 0 /\ -tail_14^post52+tail_14^0 == 0 /\ a_343^0-a_343^post52 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ result_11^0-result_11^post52 == 0), cost: 1
  53: l37 -> l38 : a_118^0'=a_118^post53, x_176^0'=x_176^post53, i_30^0'=i_30^post53, result_11^0'=result_11^post53, a_289^0'=a_289^post53, y_18^0'=y_18^post53, len_187^0'=len_187^post53, temp0_16^0'=temp0_16^post53, temp_35^0'=temp_35^post53, head_32^0'=head_32^post53, r_39^0'=r_39^post53, a_188^0'=a_188^post53, x_26^0'=x_26^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, a_343^0'=a_343^post53, nondet_12^0'=nondet_12^post53, x_131^0'=x_131^post53, i_110^0'=i_110^post53, rcd_89^0'=rcd_89^post53, a_281^0'=a_281^post53, x_SLAM_f_24^0'=x_SLAM_f_24^post53, len_134^0'=len_134^post53, tail_14^0'=tail_14^post53, head_15^0'=head_15^post53, r_165^0'=r_165^post53, a_149^0'=a_149^post53, x_19^0'=x_19^post53, i_95^0'=i_95^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53, a_342^0'=a_342^post53, y_25^0'=y_25^post53, length_28^0'=length_28^post53, temp0_31^0'=temp0_31^post53, tmp_34^0'=tmp_34^post53, head_SLAM_f_29^0'=head_SLAM_f_29^post53, rcd_59^0'=rcd_59^post53, a_225^0'=a_225^post53, x_SLAM_f_17^0'=x_SLAM_f_17^post53, t_22^0'=t_22^post53, f_171^0'=f_171^post53, r_126^0'=r_126^post53, (r_165^0-r_165^post53 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 == 0 /\ rcd_89^0-rcd_89^post53 == 0 /\ -i_110^post53+i_110^0 == 0 /\ i_30^0-i_30^post53 == 0 /\ x_131^0-x_131^post53 == 0 /\ nondet_12^0-nondet_12^post53 == 0 /\ a_281^0-a_281^post53 == 0 /\ -a_149^post53+a_149^0 == 0 /\ tail_14^0-tail_14^post53 == 0 /\ r_39^0-r_39^post53 == 0 /\ x_176^0-x_176^post53 == 0 /\ -a_225^post53+a_225^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post53 == 0 /\ -t_22^post53+t_22^0 == 0 /\ -r_126^post53+r_126^0 == 0 /\ -tmp_34^post53+tmp_34^0 == 0 /\ -rcd_59^post53+rcd_59^0 == 0 /\ -a_342^post53+a_342^0 == 0 /\ -result_11^post53+result_11^0 == 0 /\ i_95^0-i_95^post53 == 0 /\ -y_18^post53+y_18^0 == 0 /\ -x_26^post53+x_26^0 == 0 /\ head_32^0-head_32^post53 == 0 /\ -length_28^post53+length_28^0 == 0 /\ a_343^0-a_343^post53 == 0 /\ -len_187^post53+len_187^0 == 0 /\ -head_SLAM_f_29^post53+head_SLAM_f_29^0 == 0 /\ -x_SLAM_f_17^post53+x_SLAM_f_17^0 == 0 /\ a_188^0-a_188^post53 == 0 /\ y_25^0-y_25^post53 == 0 /\ -temp0_31^post53+temp0_31^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_134^0-len_134^post53 == 0 /\ 1+head_15^0-y_25^0 <= 0 /\ head_15^0-head_15^post53 == 0 /\ x_19^0-x_19^post53 == 0 /\ a_118^0-a_118^post53 == 0 /\ a_289^0-a_289^post53 == 0 /\ temp_35^0-temp_35^post53 == 0 /\ -f_171^post53+f_171^0 == 0 /\ temp0_16^0-temp0_16^post53 == 0), cost: 1
  54: l37 -> l38 : a_118^0'=a_118^post54, x_176^0'=x_176^post54, i_30^0'=i_30^post54, result_11^0'=result_11^post54, a_289^0'=a_289^post54, y_18^0'=y_18^post54, len_187^0'=len_187^post54, temp0_16^0'=temp0_16^post54, temp_35^0'=temp_35^post54, head_32^0'=head_32^post54, r_39^0'=r_39^post54, a_188^0'=a_188^post54, x_26^0'=x_26^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_343^0'=a_343^post54, nondet_12^0'=nondet_12^post54, x_131^0'=x_131^post54, i_110^0'=i_110^post54, rcd_89^0'=rcd_89^post54, a_281^0'=a_281^post54, x_SLAM_f_24^0'=x_SLAM_f_24^post54, len_134^0'=len_134^post54, tail_14^0'=tail_14^post54, head_15^0'=head_15^post54, r_165^0'=r_165^post54, a_149^0'=a_149^post54, x_19^0'=x_19^post54, i_95^0'=i_95^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54, a_342^0'=a_342^post54, y_25^0'=y_25^post54, length_28^0'=length_28^post54, temp0_31^0'=temp0_31^post54, tmp_34^0'=tmp_34^post54, head_SLAM_f_29^0'=head_SLAM_f_29^post54, rcd_59^0'=rcd_59^post54, a_225^0'=a_225^post54, x_SLAM_f_17^0'=x_SLAM_f_17^post54, t_22^0'=t_22^post54, f_171^0'=f_171^post54, r_126^0'=r_126^post54, (x_176^0-x_176^post54 == 0 /\ -head_SLAM_f_29^post54+head_SLAM_f_29^0 == 0 /\ i_30^0-i_30^post54 == 0 /\ result_11^0-result_11^post54 == 0 /\ temp0_16^0-temp0_16^post54 == 0 /\ -r_126^post54+r_126^0 == 0 /\ -x_SLAM_f_17^post54+x_SLAM_f_17^0 == 0 /\ -len_134^post54+len_134^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54 == 0 /\ nondet_12^0-nondet_12^post54 == 0 /\ -a_342^post54+a_342^0 == 0 /\ -f_171^post54+f_171^0 == 0 /\ -x_19^post54+x_19^0 == 0 /\ a_149^0-a_149^post54 == 0 /\ a_343^0-a_343^post54 == 0 /\ i_110^0-i_110^post54 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post54+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_289^0-a_289^post54 == 0 /\ -tmp_34^post54+tmp_34^0 == 0 /\ -a_281^post54+a_281^0 == 0 /\ -rcd_59^post54+rcd_59^0 == 0 /\ r_39^0-r_39^post54 == 0 /\ -tail_14^post54+tail_14^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post54 == 0 /\ y_18^0-y_18^post54 == 0 /\ -temp0_31^post54+temp0_31^0 == 0 /\ head_32^0-head_32^post54 == 0 /\ 1-head_15^0+y_25^0 <= 0 /\ a_188^0-a_188^post54 == 0 /\ head_15^0-head_15^post54 == 0 /\ y_25^0-y_25^post54 == 0 /\ -r_165^post54+r_165^0 == 0 /\ a_118^0-a_118^post54 == 0 /\ x_26^0-x_26^post54 == 0 /\ rcd_89^0-rcd_89^post54 == 0 /\ -temp_35^post54+temp_35^0 == 0 /\ -length_28^post54+length_28^0 == 0 /\ -x_131^post54+x_131^0 == 0 /\ len_187^0-len_187^post54 == 0 /\ -a_225^post54+a_225^0 == 0 /\ -t_22^post54+t_22^0 == 0 /\ i_95^0-i_95^post54 == 0), cost: 1
  55: l38 -> l39 : a_118^0'=a_118^post55, x_176^0'=x_176^post55, i_30^0'=i_30^post55, result_11^0'=result_11^post55, a_289^0'=a_289^post55, y_18^0'=y_18^post55, len_187^0'=len_187^post55, temp0_16^0'=temp0_16^post55, temp_35^0'=temp_35^post55, head_32^0'=head_32^post55, r_39^0'=r_39^post55, a_188^0'=a_188^post55, x_26^0'=x_26^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, a_343^0'=a_343^post55, nondet_12^0'=nondet_12^post55, x_131^0'=x_131^post55, i_110^0'=i_110^post55, rcd_89^0'=rcd_89^post55, a_281^0'=a_281^post55, x_SLAM_f_24^0'=x_SLAM_f_24^post55, len_134^0'=len_134^post55, tail_14^0'=tail_14^post55, head_15^0'=head_15^post55, r_165^0'=r_165^post55, a_149^0'=a_149^post55, x_19^0'=x_19^post55, i_95^0'=i_95^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55, a_342^0'=a_342^post55, y_25^0'=y_25^post55, length_28^0'=length_28^post55, temp0_31^0'=temp0_31^post55, tmp_34^0'=tmp_34^post55, head_SLAM_f_29^0'=head_SLAM_f_29^post55, rcd_59^0'=rcd_59^post55, a_225^0'=a_225^post55, x_SLAM_f_17^0'=x_SLAM_f_17^post55, t_22^0'=t_22^post55, f_171^0'=f_171^post55, r_126^0'=r_126^post55, (tmp_34^0-tmp_34^post55 == 0 /\ -y_25^post55+y_25^0 == 0 /\ a_289^0-a_289^post55 == 0 /\ -length_28^post55+length_28^0 == 0 /\ -rcd_59^post55+rcd_59^0 == 0 /\ x_26^0-x_26^post55 == 0 /\ -t_22^post55+t_22^0 == 0 /\ r_39^0-r_39^post55 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post55+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_176^0-x_176^post55 == 0 /\ y_18^0-y_18^post55 == 0 /\ -r_126^post55+r_126^0 == 0 /\ a_225^0-a_225^post55 == 0 /\ -a_342^post55+a_342^0 == 0 /\ -len_134^post55+len_134^0 == 0 /\ i_30^0-i_30^post55 == 0 /\ r_165^0-r_165^post55 == 0 /\ -temp0_31^post55+temp0_31^0 == 0 /\ -x_131^post55+x_131^0 == 0 /\ -a_188^post55+a_188^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp_35^0-temp_35^post55 == 0 /\ rcd_89^0-rcd_89^post55 == 0 /\ x_19^0-x_19^post55 == 0 /\ -head_15^post55+head_15^0 == 0 /\ len_187^0-len_187^post55 == 0 /\ -f_171^post55+f_171^0 == 0 /\ -i_110^post55+i_110^0 == 0 /\ -x_SLAM_f_24^post55+x_SLAM_f_24^0 == 0 /\ a_118^0-a_118^post55 == 0 /\ temp0_16^0-temp0_16^post55 == 0 /\ 1-x_176^0+y_25^0 <= 0 /\ -a_149^post55+a_149^0 == 0 /\ -i_95^post55+i_95^0 == 0 /\ -tail_14^post55+tail_14^0 == 0 /\ result_11^0-result_11^post55 == 0 /\ a_281^0-a_281^post55 == 0 /\ nondet_12^0-nondet_12^post55 == 0 /\ -x_SLAM_f_17^post55+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post55+head_SLAM_f_29^0 == 0 /\ a_343^0-a_343^post55 == 0 /\ head_32^0-head_32^post55 == 0), cost: 1
  56: l38 -> l39 : a_118^0'=a_118^post56, x_176^0'=x_176^post56, i_30^0'=i_30^post56, result_11^0'=result_11^post56, a_289^0'=a_289^post56, y_18^0'=y_18^post56, len_187^0'=len_187^post56, temp0_16^0'=temp0_16^post56, temp_35^0'=temp_35^post56, head_32^0'=head_32^post56, r_39^0'=r_39^post56, a_188^0'=a_188^post56, x_26^0'=x_26^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, a_343^0'=a_343^post56, nondet_12^0'=nondet_12^post56, x_131^0'=x_131^post56, i_110^0'=i_110^post56, rcd_89^0'=rcd_89^post56, a_281^0'=a_281^post56, x_SLAM_f_24^0'=x_SLAM_f_24^post56, len_134^0'=len_134^post56, tail_14^0'=tail_14^post56, head_15^0'=head_15^post56, r_165^0'=r_165^post56, a_149^0'=a_149^post56, x_19^0'=x_19^post56, i_95^0'=i_95^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56, a_342^0'=a_342^post56, y_25^0'=y_25^post56, length_28^0'=length_28^post56, temp0_31^0'=temp0_31^post56, tmp_34^0'=tmp_34^post56, head_SLAM_f_29^0'=head_SLAM_f_29^post56, rcd_59^0'=rcd_59^post56, a_225^0'=a_225^post56, x_SLAM_f_17^0'=x_SLAM_f_17^post56, t_22^0'=t_22^post56, f_171^0'=f_171^post56, r_126^0'=r_126^post56, (r_165^0-r_165^post56 == 0 /\ a_289^0-a_289^post56 == 0 /\ x_131^0-x_131^post56 == 0 /\ -i_110^post56+i_110^0 == 0 /\ a_188^0-a_188^post56 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post56 == 0 /\ a_281^0-a_281^post56 == 0 /\ x_26^0-x_26^post56 == 0 /\ nondet_12^0-nondet_12^post56 == 0 /\ tail_14^0-tail_14^post56 == 0 /\ x_176^0-x_176^post56 == 0 /\ -a_149^post56+a_149^0 == 0 /\ -a_225^post56+a_225^0 == 0 /\ -rcd_89^post56+rcd_89^0 == 0 /\ -t_22^post56+t_22^0 == 0 /\ -result_11^post56+result_11^0 == 0 /\ -r_126^post56+r_126^0 == 0 /\ temp_35^0-temp_35^post56 == 0 /\ -tmp_34^post56+tmp_34^0 == 0 /\ 1+x_176^0-y_25^0 <= 0 /\ -a_342^post56+a_342^0 == 0 /\ -length_28^post56+length_28^0 == 0 /\ a_343^0-a_343^post56 == 0 /\ head_32^0-head_32^post56 == 0 /\ -rcd_59^post56+rcd_59^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post56 == 0 /\ -x_SLAM_f_17^post56+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post56+head_SLAM_f_29^0 == 0 /\ i_95^0-i_95^post56 == 0 /\ i_30^0-i_30^post56 == 0 /\ r_39^0-r_39^post56 == 0 /\ y_25^0-y_25^post56 == 0 /\ -temp0_31^post56+temp0_31^0 == 0 /\ len_134^0-len_134^post56 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -y_18^post56+y_18^0 == 0 /\ head_15^0-head_15^post56 == 0 /\ -len_187^post56+len_187^0 == 0 /\ a_118^0-a_118^post56 == 0 /\ temp0_16^0-temp0_16^post56 == 0 /\ x_19^0-x_19^post56 == 0 /\ -f_171^post56+f_171^0 == 0), cost: 1
  57: l39 -> l34 : a_118^0'=a_118^post57, x_176^0'=x_176^post57, i_30^0'=i_30^post57, result_11^0'=result_11^post57, a_289^0'=a_289^post57, y_18^0'=y_18^post57, len_187^0'=len_187^post57, temp0_16^0'=temp0_16^post57, temp_35^0'=temp_35^post57, head_32^0'=head_32^post57, r_39^0'=r_39^post57, a_188^0'=a_188^post57, x_26^0'=x_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_343^0'=a_343^post57, nondet_12^0'=nondet_12^post57, x_131^0'=x_131^post57, i_110^0'=i_110^post57, rcd_89^0'=rcd_89^post57, a_281^0'=a_281^post57, x_SLAM_f_24^0'=x_SLAM_f_24^post57, len_134^0'=len_134^post57, tail_14^0'=tail_14^post57, head_15^0'=head_15^post57, r_165^0'=r_165^post57, a_149^0'=a_149^post57, x_19^0'=x_19^post57, i_95^0'=i_95^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57, a_342^0'=a_342^post57, y_25^0'=y_25^post57, length_28^0'=length_28^post57, temp0_31^0'=temp0_31^post57, tmp_34^0'=tmp_34^post57, head_SLAM_f_29^0'=head_SLAM_f_29^post57, rcd_59^0'=rcd_59^post57, a_225^0'=a_225^post57, x_SLAM_f_17^0'=x_SLAM_f_17^post57, t_22^0'=t_22^post57, f_171^0'=f_171^post57, r_126^0'=r_126^post57, (0 == 0 /\ i_30^0-i_30^post57 == 0 /\ -x_19^post57+x_19^0 == 0 /\ -head_SLAM_f_29^post57+head_SLAM_f_29^0 == 0 /\ -a_225^post57+a_225^0 == 0 /\ -f_171^post57+f_171^0 == 0 /\ nondet_12^0-nondet_12^post57 == 0 /\ len_187^0-len_134^post57 <= 0 /\ -x_SLAM_f_17^post57+x_SLAM_f_17^0 == 0 /\ temp0_16^0-temp0_16^post57 == 0 /\ result_11^0-result_11^post57 == 0 /\ -a_342^post57+a_342^0 == 0 /\ -r_126^post57+r_126^0 == 0 /\ a_118^0-a_118^post57 == 0 /\ a_343^0-a_343^post57 == 0 /\ i_110^0-i_110^post57 == 0 /\ a_289^0-a_289^post57 == 0 /\ -a_281^post57+a_281^0 == 0 /\ -rcd_59^post57+rcd_59^0 == 0 /\ -len_187^0+len_134^post57 <= 0 /\ -tail_14^post57+tail_14^0 == 0 /\ -tmp_34^post57+tmp_34^0 == 0 /\ r_39^0-r_39^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post57 == 0 /\ y_18^0-y_18^post57 == 0 /\ x_176^0-x_176^post57 == 0 /\ -a_188^0+a_149^post57 <= 0 /\ a_188^0-a_188^post57 == 0 /\ y_25^0-y_25^post57 == 0 /\ -temp0_31^post57+temp0_31^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_32^0-head_32^post57 == 0 /\ -r_165^post57+r_165^0 == 0 /\ x_26^0-x_26^post57 == 0 /\ a_188^0-a_149^post57 <= 0 /\ -temp_35^post57+temp_35^0 == 0 /\ -length_28^post57+length_28^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57 == 0 /\ rcd_89^0-rcd_89^post57 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_187^0-len_187^post57 == 0 /\ head_15^0-head_15^post57 == 0 /\ -x_131^post57+x_131^0 == 0 /\ -t_22^post57+t_22^0 == 0 /\ i_95^0-i_95^post57 == 0), cost: 1
  58: l34 -> l31 : a_118^0'=a_118^post58, x_176^0'=x_176^post58, i_30^0'=i_30^post58, result_11^0'=result_11^post58, a_289^0'=a_289^post58, y_18^0'=y_18^post58, len_187^0'=len_187^post58, temp0_16^0'=temp0_16^post58, temp_35^0'=temp_35^post58, head_32^0'=head_32^post58, r_39^0'=r_39^post58, a_188^0'=a_188^post58, x_26^0'=x_26^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, a_343^0'=a_343^post58, nondet_12^0'=nondet_12^post58, x_131^0'=x_131^post58, i_110^0'=i_110^post58, rcd_89^0'=rcd_89^post58, a_281^0'=a_281^post58, x_SLAM_f_24^0'=x_SLAM_f_24^post58, len_134^0'=len_134^post58, tail_14^0'=tail_14^post58, head_15^0'=head_15^post58, r_165^0'=r_165^post58, a_149^0'=a_149^post58, x_19^0'=x_19^post58, i_95^0'=i_95^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58, a_342^0'=a_342^post58, y_25^0'=y_25^post58, length_28^0'=length_28^post58, temp0_31^0'=temp0_31^post58, tmp_34^0'=tmp_34^post58, head_SLAM_f_29^0'=head_SLAM_f_29^post58, rcd_59^0'=rcd_59^post58, a_225^0'=a_225^post58, x_SLAM_f_17^0'=x_SLAM_f_17^post58, t_22^0'=t_22^post58, f_171^0'=f_171^post58, r_126^0'=r_126^post58, (-y_25^post58+y_25^0 == 0 /\ -length_28^post58+length_28^0 == 0 /\ a_149^0-a_149^post58 == 0 /\ result_11^0-result_11^post58 == 0 /\ -x_SLAM_f_17^post58+x_SLAM_f_17^0 == 0 /\ x_26^0-x_26^post58 == 0 /\ r_39^0-r_39^post58 == 0 /\ -t_22^post58+t_22^0 == 0 /\ a_289^0-a_289^post58 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post58+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_34^post58+tmp_34^0 == 0 /\ x_176^0-x_176^post58 == 0 /\ -r_165^post58+r_165^0 == 0 /\ -r_126^post58+r_126^0 == 0 /\ y_18^0-y_18^post58 == 0 /\ i_30^0-i_30^post58 == 0 /\ -len_134^post58+len_134^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_342^post58+a_342^0 == 0 /\ -a_188^post58+a_188^0 == 0 /\ -temp0_31^post58+temp0_31^0 == 0 /\ a_343^0-a_343^post58 == 0 /\ -x_131^post58+x_131^0 == 0 /\ rcd_89^0-rcd_89^post58 == 0 /\ -x_19^post58+x_19^0 == 0 /\ -i_110^post58+i_110^0 == 0 /\ temp_35^0-temp_35^post58 == 0 /\ -f_171^post58+f_171^0 == 0 /\ a_118^0-a_118^post58 == 0 /\ temp0_16^0-temp0_16^post58 == 0 /\ -x_SLAM_f_24^post58+x_SLAM_f_24^0 == 0 /\ -a_225^post58+a_225^0 == 0 /\ len_187^0-len_187^post58 == 0 /\ -i_95^post58+i_95^0 == 0 /\ -tail_14^post58+tail_14^0 == 0 /\ -head_15^post58+head_15^0 == 0 /\ a_281^0-a_281^post58 == 0 /\ nondet_12^0-nondet_12^post58 == 0 /\ -rcd_59^post58+rcd_59^0 == 0 /\ -head_SLAM_f_29^post58+head_SLAM_f_29^0 == 0 /\ head_32^0-head_32^post58 == 0), cost: 1
  59: l40 -> l4 : a_118^0'=a_118^post59, x_176^0'=x_176^post59, i_30^0'=i_30^post59, result_11^0'=result_11^post59, a_289^0'=a_289^post59, y_18^0'=y_18^post59, len_187^0'=len_187^post59, temp0_16^0'=temp0_16^post59, temp_35^0'=temp_35^post59, head_32^0'=head_32^post59, r_39^0'=r_39^post59, a_188^0'=a_188^post59, x_26^0'=x_26^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, a_343^0'=a_343^post59, nondet_12^0'=nondet_12^post59, x_131^0'=x_131^post59, i_110^0'=i_110^post59, rcd_89^0'=rcd_89^post59, a_281^0'=a_281^post59, x_SLAM_f_24^0'=x_SLAM_f_24^post59, len_134^0'=len_134^post59, tail_14^0'=tail_14^post59, head_15^0'=head_15^post59, r_165^0'=r_165^post59, a_149^0'=a_149^post59, x_19^0'=x_19^post59, i_95^0'=i_95^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59, a_342^0'=a_342^post59, y_25^0'=y_25^post59, length_28^0'=length_28^post59, temp0_31^0'=temp0_31^post59, tmp_34^0'=tmp_34^post59, head_SLAM_f_29^0'=head_SLAM_f_29^post59, rcd_59^0'=rcd_59^post59, a_225^0'=a_225^post59, x_SLAM_f_17^0'=x_SLAM_f_17^post59, t_22^0'=t_22^post59, f_171^0'=f_171^post59, r_126^0'=r_126^post59, (0 == 0 /\ a_188^0-a_188^post59 == 0 /\ -r_126^post59+r_126^0 == 0 /\ i_110^0-i_110^post59 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_19^11+x_SLAM_f_17^110 <= 0 /\ a_281^0-a_281^post59 == 0 /\ x_176^0-x_176^post59 == 0 /\ -tmp_34^post59+tmp_34^0 == 0 /\ -x_19^11+tail_14^0 <= 0 /\ -a_342^post59+a_342^0 == 0 /\ -head_SLAM_f_29^post59+head_SLAM_f_29^0 == 0 /\ a_343^0-a_343^post59 == 0 /\ -tail_14^0+y_18^110 <= 0 /\ -tail_14^0+y_18^110 == 0 /\ x_131^0-x_131^post59 == 0 /\ a_289^0-a_289^post59 == 0 /\ x_19^11-x_SLAM_f_17^110 <= 0 /\ x_19^11-x_SLAM_f_17^110 == 0 /\ -nondet_12^post59+nondet_12^0 == 0 /\ -tail_14^post59+tail_14^0 == 0 /\ x_19^11-tail_14^0 <= 0 /\ -temp0_16^0+result_11^post59 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post59 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post59 <= 0 /\ -f_171^post59+f_171^0 == 0 /\ tail_14^0-y_18^110 <= 0 /\ a_225^0-a_225^post59 == 0 /\ length_28^0-length_28^post59 == 0 /\ -x_19^11+y_18^110 <= 0 /\ -a_149^post59+a_149^0 == 0 /\ head_32^0-head_32^post59 == 0 /\ -i_95^post59+i_95^0 == 0 /\ head_15^0-x_SLAM_f_17^110 <= 0 /\ i_30^0-i_30^post59 == 0 /\ x_26^0-y_25^0 <= 0 /\ a_118^0-a_118^post59 == 0 /\ temp0_16^0-temp0_16^post59 == 0 /\ -tail_14^0+head_15^0 <= 0 /\ -tail_14^0+x_SLAM_f_17^110 <= 0 /\ -rcd_89^post59+rcd_89^0 == 0 /\ x_19^11-y_18^110 <= 0 /\ -temp0_31^post59+temp0_31^0 == 0 /\ -rcd_59^post59+rcd_59^0 == 0 /\ -head_15^0+x_SLAM_f_17^110 <= 0 /\ -head_15^0+x_SLAM_f_17^110 == 0 /\ -x_26^0+y_25^0 <= 0 /\ -r_165^post59+r_165^0 == 0 /\ r_39^0-r_39^post59 == 0 /\ tail_14^0-head_15^0 <= 0 /\ tail_14^0-x_SLAM_f_17^110 <= 0 /\ -head_15^post59+head_15^0 == 0 /\ len_187^0-len_187^post59 == 0 /\ -len_134^post59+len_134^0 == 0 /\ -temp_35^post59+temp_35^0 == 0), cost: 1
  60: l40 -> l41 : a_118^0'=a_118^post60, x_176^0'=x_176^post60, i_30^0'=i_30^post60, result_11^0'=result_11^post60, a_289^0'=a_289^post60, y_18^0'=y_18^post60, len_187^0'=len_187^post60, temp0_16^0'=temp0_16^post60, temp_35^0'=temp_35^post60, head_32^0'=head_32^post60, r_39^0'=r_39^post60, a_188^0'=a_188^post60, x_26^0'=x_26^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, a_343^0'=a_343^post60, nondet_12^0'=nondet_12^post60, x_131^0'=x_131^post60, i_110^0'=i_110^post60, rcd_89^0'=rcd_89^post60, a_281^0'=a_281^post60, x_SLAM_f_24^0'=x_SLAM_f_24^post60, len_134^0'=len_134^post60, tail_14^0'=tail_14^post60, head_15^0'=head_15^post60, r_165^0'=r_165^post60, a_149^0'=a_149^post60, x_19^0'=x_19^post60, i_95^0'=i_95^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60, a_342^0'=a_342^post60, y_25^0'=y_25^post60, length_28^0'=length_28^post60, temp0_31^0'=temp0_31^post60, tmp_34^0'=tmp_34^post60, head_SLAM_f_29^0'=head_SLAM_f_29^post60, rcd_59^0'=rcd_59^post60, a_225^0'=a_225^post60, x_SLAM_f_17^0'=x_SLAM_f_17^post60, t_22^0'=t_22^post60, f_171^0'=f_171^post60, r_126^0'=r_126^post60, (0 == 0 /\ temp0_16^0-temp0_16^post60 == 0 /\ r_165^0-r_165^post60 == 0 /\ a_118^0-a_118^post60 == 0 /\ len_187^0-len_187^post60 == 0 /\ x_131^0-x_131^post60 == 0 /\ -a_225^post60+a_225^0 == 0 /\ i_30^0-i_30^post60 == 0 /\ -i_110^post60+i_110^0 == 0 /\ rcd_89^0-rcd_89^post60 == 0 /\ result_11^0-result_11^post60 == 0 /\ tmp_34^0-tmp_34^post60 == 0 /\ a_281^0-a_281^post60 == 0 /\ nondet_12^0-nondet_12^post60 == 0 /\ -i_95^post60+i_95^0 == 0 /\ r_39^0-r_39^post60 == 0 /\ -x_SLAM_f_17^post60+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post60+head_SLAM_f_29^0 == 0 /\ -a_149^post60+a_149^0 == 0 /\ x_176^0-x_176^post60 == 0 /\ a_289^0-a_289^post60 == 0 /\ temp_35^0-temp_35^post60 == 0 /\ -length_28^post60+length_28^0 == 0 /\ a_343^0-a_343^post60 == 0 /\ head_32^0-head_32^post60 == 0 /\ t_22^0-t_22^post60 == 0 /\ -rcd_59^post60+rcd_59^0 == 0 /\ a_188^0-a_188^post60 == 0 /\ -y_25^post60+y_25^0 == 0 /\ -x_26^post60+x_26^0 == 0 /\ len_134^0-len_134^post60 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -y_18^post60+y_18^0 == 0 /\ -temp0_31^post60+temp0_31^0 == 0 /\ x_19^0-x_19^post60 == 0 /\ -a_342^post60+a_342^0 == 0 /\ -f_171^post60+f_171^0 == 0 /\ -r_126^post60+r_126^0 == 0), cost: 1
  61: l41 -> l42 : a_118^0'=a_118^post61, x_176^0'=x_176^post61, i_30^0'=i_30^post61, result_11^0'=result_11^post61, a_289^0'=a_289^post61, y_18^0'=y_18^post61, len_187^0'=len_187^post61, temp0_16^0'=temp0_16^post61, temp_35^0'=temp_35^post61, head_32^0'=head_32^post61, r_39^0'=r_39^post61, a_188^0'=a_188^post61, x_26^0'=x_26^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, a_343^0'=a_343^post61, nondet_12^0'=nondet_12^post61, x_131^0'=x_131^post61, i_110^0'=i_110^post61, rcd_89^0'=rcd_89^post61, a_281^0'=a_281^post61, x_SLAM_f_24^0'=x_SLAM_f_24^post61, len_134^0'=len_134^post61, tail_14^0'=tail_14^post61, head_15^0'=head_15^post61, r_165^0'=r_165^post61, a_149^0'=a_149^post61, x_19^0'=x_19^post61, i_95^0'=i_95^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61, a_342^0'=a_342^post61, y_25^0'=y_25^post61, length_28^0'=length_28^post61, temp0_31^0'=temp0_31^post61, tmp_34^0'=tmp_34^post61, head_SLAM_f_29^0'=head_SLAM_f_29^post61, rcd_59^0'=rcd_59^post61, a_225^0'=a_225^post61, x_SLAM_f_17^0'=x_SLAM_f_17^post61, t_22^0'=t_22^post61, f_171^0'=f_171^post61, r_126^0'=r_126^post61, (-x_26^post61+x_26^0 == 0 /\ a_281^0-a_281^post61 == 0 /\ -nondet_12^post61+nondet_12^0 == 0 /\ -r_126^post61+r_126^0 == 0 /\ -a_342^post61+a_342^0 == 0 /\ -a_225^post61+a_225^0 == 0 /\ x_176^0-x_176^post61 == 0 /\ -x_SLAM_f_17^post61+x_SLAM_f_17^0 == 0 /\ result_11^0-result_11^post61 == 0 /\ a_289^0-a_289^post61 == 0 /\ -head_SLAM_f_29^post61+head_SLAM_f_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_59^post61+rcd_59^0 == 0 /\ x_19^0-x_19^post61 == 0 /\ x_131^0-x_131^post61 == 0 /\ a_343^0-a_343^post61 == 0 /\ y_18^0-y_18^post61 == 0 /\ -tmp_34^post61+tmp_34^0 == 0 /\ a_188^0-a_188^post61 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post61 == 0 /\ i_30^0-i_30^post61 == 0 /\ -f_171^post61+f_171^0 == 0 /\ tail_14^0-tail_14^post61 == 0 /\ head_32^0-head_32^post61 == 0 /\ -i_95^post61+i_95^0 == 0 /\ -temp0_31^post61+temp0_31^0 == 0 /\ a_118^0-a_118^post61 == 0 /\ len_134^0-len_134^post61 == 0 /\ temp_35^0-temp_35^post61 == 0 /\ -r_39^post61+r_39^0 == 0 /\ temp0_16^0-temp0_16^post61 == 0 /\ len_187^0-len_187^post61 == 0 /\ i_110^0-i_110^post61 == 0 /\ -y_25^post61+y_25^0 == 0 /\ 1-x_26^0+y_25^0 <= 0 /\ r_165^0-r_165^post61 == 0 /\ -length_28^post61+length_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post61 == 0 /\ -rcd_89^post61+rcd_89^0 == 0 /\ -a_149^post61+a_149^0 == 0 /\ -t_22^post61+t_22^0 == 0 /\ head_15^0-head_15^post61 == 0), cost: 1
  62: l41 -> l42 : a_118^0'=a_118^post62, x_176^0'=x_176^post62, i_30^0'=i_30^post62, result_11^0'=result_11^post62, a_289^0'=a_289^post62, y_18^0'=y_18^post62, len_187^0'=len_187^post62, temp0_16^0'=temp0_16^post62, temp_35^0'=temp_35^post62, head_32^0'=head_32^post62, r_39^0'=r_39^post62, a_188^0'=a_188^post62, x_26^0'=x_26^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, a_343^0'=a_343^post62, nondet_12^0'=nondet_12^post62, x_131^0'=x_131^post62, i_110^0'=i_110^post62, rcd_89^0'=rcd_89^post62, a_281^0'=a_281^post62, x_SLAM_f_24^0'=x_SLAM_f_24^post62, len_134^0'=len_134^post62, tail_14^0'=tail_14^post62, head_15^0'=head_15^post62, r_165^0'=r_165^post62, a_149^0'=a_149^post62, x_19^0'=x_19^post62, i_95^0'=i_95^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62, a_342^0'=a_342^post62, y_25^0'=y_25^post62, length_28^0'=length_28^post62, temp0_31^0'=temp0_31^post62, tmp_34^0'=tmp_34^post62, head_SLAM_f_29^0'=head_SLAM_f_29^post62, rcd_59^0'=rcd_59^post62, a_225^0'=a_225^post62, x_SLAM_f_17^0'=x_SLAM_f_17^post62, t_22^0'=t_22^post62, f_171^0'=f_171^post62, r_126^0'=r_126^post62, (-y_25^post62+y_25^0 == 0 /\ i_110^0-i_110^post62 == 0 /\ tmp_34^0-tmp_34^post62 == 0 /\ x_26^0-x_26^post62 == 0 /\ r_39^0-r_39^post62 == 0 /\ a_289^0-a_289^post62 == 0 /\ -r_165^post62+r_165^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post62+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_176^0-x_176^post62 == 0 /\ -t_22^post62+t_22^0 == 0 /\ -r_126^post62+r_126^0 == 0 /\ y_18^0-y_18^post62 == 0 /\ a_225^0-a_225^post62 == 0 /\ i_30^0-i_30^post62 == 0 /\ -a_342^post62+a_342^0 == 0 /\ -length_28^post62+length_28^0 == 0 /\ -a_188^post62+a_188^0 == 0 /\ temp0_31^0-temp0_31^post62 == 0 /\ -a_343^post62+a_343^0 == 0 /\ -x_131^post62+x_131^0 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ rcd_89^0-rcd_89^post62 == 0 /\ -len_134^post62+len_134^0 == 0 /\ temp_35^0-temp_35^post62 == 0 /\ -a_149^post62+a_149^0 == 0 /\ -x_19^post62+x_19^0 == 0 /\ -f_171^post62+f_171^0 == 0 /\ -head_15^post62+head_15^0 == 0 /\ a_118^0-a_118^post62 == 0 /\ temp0_16^0-temp0_16^post62 == 0 /\ -x_SLAM_f_24^post62+x_SLAM_f_24^0 == 0 /\ -tail_14^post62+tail_14^0 == 0 /\ -i_95^post62+i_95^0 == 0 /\ len_187^0-len_187^post62 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62 == 0 /\ -a_281^post62+a_281^0 == 0 /\ result_11^0-result_11^post62 == 0 /\ -rcd_59^post62+rcd_59^0 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ -head_SLAM_f_29^post62+head_SLAM_f_29^0 == 0 /\ -x_SLAM_f_17^post62+x_SLAM_f_17^0 == 0 /\ head_32^0-head_32^post62 == 0), cost: 1
  63: l42 -> l43 : a_118^0'=a_118^post63, x_176^0'=x_176^post63, i_30^0'=i_30^post63, result_11^0'=result_11^post63, a_289^0'=a_289^post63, y_18^0'=y_18^post63, len_187^0'=len_187^post63, temp0_16^0'=temp0_16^post63, temp_35^0'=temp_35^post63, head_32^0'=head_32^post63, r_39^0'=r_39^post63, a_188^0'=a_188^post63, x_26^0'=x_26^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, a_343^0'=a_343^post63, nondet_12^0'=nondet_12^post63, x_131^0'=x_131^post63, i_110^0'=i_110^post63, rcd_89^0'=rcd_89^post63, a_281^0'=a_281^post63, x_SLAM_f_24^0'=x_SLAM_f_24^post63, len_134^0'=len_134^post63, tail_14^0'=tail_14^post63, head_15^0'=head_15^post63, r_165^0'=r_165^post63, a_149^0'=a_149^post63, x_19^0'=x_19^post63, i_95^0'=i_95^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63, a_342^0'=a_342^post63, y_25^0'=y_25^post63, length_28^0'=length_28^post63, temp0_31^0'=temp0_31^post63, tmp_34^0'=tmp_34^post63, head_SLAM_f_29^0'=head_SLAM_f_29^post63, rcd_59^0'=rcd_59^post63, a_225^0'=a_225^post63, x_SLAM_f_17^0'=x_SLAM_f_17^post63, t_22^0'=t_22^post63, f_171^0'=f_171^post63, r_126^0'=r_126^post63, (temp0_16^0-temp0_16^post63 == 0 /\ r_165^0-r_165^post63 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post63 == 0 /\ x_131^0-x_131^post63 == 0 /\ -i_110^post63+i_110^0 == 0 /\ a_118^0-a_118^post63 == 0 /\ i_30^0-i_30^post63 == 0 /\ tmp_34^0-tmp_34^post63 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ rcd_89^0-rcd_89^post63 == 0 /\ nondet_12^0-nondet_12^post63 == 0 /\ -head_15^post63+head_15^0 == 0 /\ tail_14^0-tail_14^post63 == 0 /\ -i_95^post63+i_95^0 == 0 /\ -x_SLAM_f_24^post63+x_SLAM_f_24^0 == 0 /\ a_281^0-a_281^post63 == 0 /\ -head_SLAM_f_29^post63+head_SLAM_f_29^0 == 0 /\ -a_225^post63+a_225^0 == 0 /\ x_176^0-x_176^post63 == 0 /\ -x_SLAM_f_17^post63+x_SLAM_f_17^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ -a_149^post63+a_149^0 == 0 /\ len_187^0-len_187^post63 == 0 /\ -length_28^post63+length_28^0 == 0 /\ t_22^0-t_22^post63 == 0 /\ -rcd_59^post63+rcd_59^0 == 0 /\ a_343^0-a_343^post63 == 0 /\ a_188^0-a_188^post63 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_26^post63+x_26^0 == 0 /\ -y_25^post63+y_25^0 == 0 /\ tail_14^0-y_25^0 <= 0 /\ -x_26^0+tail_14^0 <= 0 /\ -f_171^post63+f_171^0 == 0 /\ -y_18^post63+y_18^0 == 0 /\ len_134^0-len_134^post63 == 0 /\ result_11^0-result_11^post63 == 0 /\ r_39^0-r_39^post63 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp0_31^post63+temp0_31^0 == 0 /\ temp_35^0-temp_35^post63 == 0 /\ a_289^0-a_289^post63 == 0 /\ -a_342^post63+a_342^0 == 0 /\ -r_126^post63+r_126^0 == 0 /\ -head_32^post63+head_32^0 == 0 /\ x_19^0-x_19^post63 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ x_26^0-tail_14^0 <= 0), cost: 1
  64: l43 -> l44 : a_118^0'=a_118^post64, x_176^0'=x_176^post64, i_30^0'=i_30^post64, result_11^0'=result_11^post64, a_289^0'=a_289^post64, y_18^0'=y_18^post64, len_187^0'=len_187^post64, temp0_16^0'=temp0_16^post64, temp_35^0'=temp_35^post64, head_32^0'=head_32^post64, r_39^0'=r_39^post64, a_188^0'=a_188^post64, x_26^0'=x_26^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, a_343^0'=a_343^post64, nondet_12^0'=nondet_12^post64, x_131^0'=x_131^post64, i_110^0'=i_110^post64, rcd_89^0'=rcd_89^post64, a_281^0'=a_281^post64, x_SLAM_f_24^0'=x_SLAM_f_24^post64, len_134^0'=len_134^post64, tail_14^0'=tail_14^post64, head_15^0'=head_15^post64, r_165^0'=r_165^post64, a_149^0'=a_149^post64, x_19^0'=x_19^post64, i_95^0'=i_95^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64, a_342^0'=a_342^post64, y_25^0'=y_25^post64, length_28^0'=length_28^post64, temp0_31^0'=temp0_31^post64, tmp_34^0'=tmp_34^post64, head_SLAM_f_29^0'=head_SLAM_f_29^post64, rcd_59^0'=rcd_59^post64, a_225^0'=a_225^post64, x_SLAM_f_17^0'=x_SLAM_f_17^post64, t_22^0'=t_22^post64, f_171^0'=f_171^post64, r_126^0'=r_126^post64, (-x_26^post64+x_26^0 == 0 /\ a_281^0-a_281^post64 == 0 /\ -a_225^post64+a_225^0 == 0 /\ temp0_16^0-temp0_16^post64 == 0 /\ x_176^0-x_176^post64 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_126^post64+r_126^0 == 0 /\ r_165^0-r_165^post64 == 0 /\ result_11^0-result_11^post64 == 0 /\ x_19^0-x_19^post64 == 0 /\ -head_SLAM_f_29^post64+head_SLAM_f_29^0 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ -a_342^post64+a_342^0 == 0 /\ temp_35^0-temp_35^post64 == 0 /\ -rcd_59^post64+rcd_59^0 == 0 /\ a_289^0-a_289^post64 == 0 /\ -x_SLAM_f_17^post64+x_SLAM_f_17^0 == 0 /\ x_131^0-x_131^post64 == 0 /\ a_343^0-a_343^post64 == 0 /\ a_188^0-a_188^post64 == 0 /\ y_18^0-y_18^post64 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post64 == 0 /\ -tmp_34^post64+tmp_34^0 == 0 /\ -f_171^post64+f_171^0 == 0 /\ i_30^0-i_30^post64 == 0 /\ i_95^0-i_95^post64 == 0 /\ y_25^0-y_25^post64 == 0 /\ tail_14^0-tail_14^post64 == 0 /\ head_32^0-head_32^post64 == 0 /\ a_118^0-a_118^post64 == 0 /\ -temp0_31^post64+temp0_31^0 == 0 /\ len_134^0-len_134^post64 == 0 /\ i_110^0-i_110^post64 == 0 /\ -r_39^post64+r_39^0 == 0 /\ -length_28^post64+length_28^0 == 0 /\ 1+head_15^0-y_25^0 <= 0 /\ -t_22^post64+t_22^0 == 0 /\ head_15^0-head_15^post64 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 == 0 /\ -a_149^post64+a_149^0 == 0 /\ -rcd_89^post64+rcd_89^0 == 0 /\ len_187^0-len_187^post64 == 0), cost: 1
  65: l43 -> l44 : a_118^0'=a_118^post65, x_176^0'=x_176^post65, i_30^0'=i_30^post65, result_11^0'=result_11^post65, a_289^0'=a_289^post65, y_18^0'=y_18^post65, len_187^0'=len_187^post65, temp0_16^0'=temp0_16^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, r_39^0'=r_39^post65, a_188^0'=a_188^post65, x_26^0'=x_26^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, a_343^0'=a_343^post65, nondet_12^0'=nondet_12^post65, x_131^0'=x_131^post65, i_110^0'=i_110^post65, rcd_89^0'=rcd_89^post65, a_281^0'=a_281^post65, x_SLAM_f_24^0'=x_SLAM_f_24^post65, len_134^0'=len_134^post65, tail_14^0'=tail_14^post65, head_15^0'=head_15^post65, r_165^0'=r_165^post65, a_149^0'=a_149^post65, x_19^0'=x_19^post65, i_95^0'=i_95^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, a_342^0'=a_342^post65, y_25^0'=y_25^post65, length_28^0'=length_28^post65, temp0_31^0'=temp0_31^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_29^0'=head_SLAM_f_29^post65, rcd_59^0'=rcd_59^post65, a_225^0'=a_225^post65, x_SLAM_f_17^0'=x_SLAM_f_17^post65, t_22^0'=t_22^post65, f_171^0'=f_171^post65, r_126^0'=r_126^post65, (x_26^0-x_26^post65 == 0 /\ i_110^0-i_110^post65 == 0 /\ r_39^0-r_39^post65 == 0 /\ a_289^0-a_289^post65 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post65 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post65+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_176^0-x_176^post65 == 0 /\ -r_165^post65+r_165^0 == 0 /\ -y_25^post65+y_25^0 == 0 /\ -x_131^post65+x_131^0 == 0 /\ -len_134^post65+len_134^0 == 0 /\ -f_171^post65+f_171^0 == 0 /\ -t_22^post65+t_22^0 == 0 /\ i_30^0-i_30^post65 == 0 /\ y_18^0-y_18^post65 == 0 /\ a_225^0-a_225^post65 == 0 /\ -a_342^post65+a_342^0 == 0 /\ -a_188^post65+a_188^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -temp0_31^post65+temp0_31^0 == 0 /\ a_343^0-a_343^post65 == 0 /\ -r_126^post65+r_126^0 == 0 /\ -x_19^post65+x_19^0 == 0 /\ 1-head_15^0+y_25^0 <= 0 /\ rcd_89^0-rcd_89^post65 == 0 /\ temp_35^0-temp_35^post65 == 0 /\ -head_15^post65+head_15^0 == 0 /\ -a_149^post65+a_149^0 == 0 /\ temp0_16^0-temp0_16^post65 == 0 /\ a_118^0-a_118^post65 == 0 /\ -tmp_34^post65+tmp_34^0 == 0 /\ -i_95^post65+i_95^0 == 0 /\ -tail_14^post65+tail_14^0 == 0 /\ length_28^0-length_28^post65 == 0 /\ len_187^0-len_187^post65 == 0 /\ head_32^0-head_32^post65 == 0 /\ -rcd_59^post65+rcd_59^0 == 0 /\ -x_SLAM_f_17^post65+x_SLAM_f_17^0 == 0 /\ a_281^0-a_281^post65 == 0 /\ result_11^0-result_11^post65 == 0 /\ -head_SLAM_f_29^post65+head_SLAM_f_29^0 == 0 /\ nondet_12^0-nondet_12^post65 == 0), cost: 1
  66: l44 -> l45 : a_118^0'=a_118^post66, x_176^0'=x_176^post66, i_30^0'=i_30^post66, result_11^0'=result_11^post66, a_289^0'=a_289^post66, y_18^0'=y_18^post66, len_187^0'=len_187^post66, temp0_16^0'=temp0_16^post66, temp_35^0'=temp_35^post66, head_32^0'=head_32^post66, r_39^0'=r_39^post66, a_188^0'=a_188^post66, x_26^0'=x_26^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, a_343^0'=a_343^post66, nondet_12^0'=nondet_12^post66, x_131^0'=x_131^post66, i_110^0'=i_110^post66, rcd_89^0'=rcd_89^post66, a_281^0'=a_281^post66, x_SLAM_f_24^0'=x_SLAM_f_24^post66, len_134^0'=len_134^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, a_149^0'=a_149^post66, x_19^0'=x_19^post66, i_95^0'=i_95^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, a_342^0'=a_342^post66, y_25^0'=y_25^post66, length_28^0'=length_28^post66, temp0_31^0'=temp0_31^post66, tmp_34^0'=tmp_34^post66, head_SLAM_f_29^0'=head_SLAM_f_29^post66, rcd_59^0'=rcd_59^post66, a_225^0'=a_225^post66, x_SLAM_f_17^0'=x_SLAM_f_17^post66, t_22^0'=t_22^post66, f_171^0'=f_171^post66, r_126^0'=r_126^post66, (0 == 0 /\ -x_SLAM_f_17^post66+head_15^0 <= 0 /\ r_165^0-r_165^post66 == 0 /\ a_118^0-a_118^post66 == 0 /\ -i_110^post66+i_110^0 == 0 /\ x_131^0-x_131^post66 == 0 /\ -temp0_31^post66+temp0_31^0 == 0 /\ head_15^0-x_19^post66 <= 0 /\ tmp_34^0-tmp_34^post66 == 0 /\ -i_95^post66+i_95^0 == 0 /\ x_SLAM_f_17^post66-head_15^0 <= 0 /\ x_SLAM_f_17^post66-head_15^0 == 0 /\ nondet_12^0-nondet_12^post66 == 0 /\ a_281^0-a_281^post66 == 0 /\ -a_225^post66+a_225^0 == 0 /\ -head_15^post66+head_15^0 == 0 /\ -head_SLAM_f_29^post66+head_SLAM_f_29^0 == 0 /\ -a_149^post66+a_149^0 == 0 /\ x_176^0-x_176^post66 == 0 /\ -head_15^0+x_19^post66 <= 0 /\ -length_28^post66+length_28^0 == 0 /\ len_187^0-len_187^post66 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 <= 0 /\ -a_188^post66+a_188^0 == 0 /\ x_26^0-y_25^0 <= 0 /\ a_343^0-a_343^post66 == 0 /\ rcd_89^0-rcd_89^post66 == 0 /\ y_18^post66-tail_14^0 <= 0 /\ y_18^post66-tail_14^0 == 0 /\ i_30^0-i_30^post66 == 0 /\ -x_SLAM_f_17^post66+x_19^post66 <= 0 /\ -x_SLAM_f_17^post66+x_19^post66 == 0 /\ t_22^0-t_22^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -tail_14^post66+tail_14^0 == 0 /\ -rcd_59^post66+rcd_59^0 == 0 /\ -f_171^post66+f_171^0 == 0 /\ result_11^0-result_11^post66 == 0 /\ r_39^0-r_39^post66 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_26^0+y_25^0 <= 0 /\ -head_32^post66+head_32^0 == 0 /\ -y_18^post66+tail_14^0 <= 0 /\ temp_35^0-temp_35^post66 == 0 /\ -r_126^post66+r_126^0 == 0 /\ x_SLAM_f_17^post66-x_19^post66 <= 0 /\ len_134^0-len_134^post66 == 0 /\ temp0_16^0-temp0_16^post66 == 0 /\ a_289^0-a_289^post66 == 0 /\ -a_342^post66+a_342^0 == 0), cost: 1
  67: l45 -> l46 : a_118^0'=a_118^post67, x_176^0'=x_176^post67, i_30^0'=i_30^post67, result_11^0'=result_11^post67, a_289^0'=a_289^post67, y_18^0'=y_18^post67, len_187^0'=len_187^post67, temp0_16^0'=temp0_16^post67, temp_35^0'=temp_35^post67, head_32^0'=head_32^post67, r_39^0'=r_39^post67, a_188^0'=a_188^post67, x_26^0'=x_26^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, a_343^0'=a_343^post67, nondet_12^0'=nondet_12^post67, x_131^0'=x_131^post67, i_110^0'=i_110^post67, rcd_89^0'=rcd_89^post67, a_281^0'=a_281^post67, x_SLAM_f_24^0'=x_SLAM_f_24^post67, len_134^0'=len_134^post67, tail_14^0'=tail_14^post67, head_15^0'=head_15^post67, r_165^0'=r_165^post67, a_149^0'=a_149^post67, x_19^0'=x_19^post67, i_95^0'=i_95^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, a_342^0'=a_342^post67, y_25^0'=y_25^post67, length_28^0'=length_28^post67, temp0_31^0'=temp0_31^post67, tmp_34^0'=tmp_34^post67, head_SLAM_f_29^0'=head_SLAM_f_29^post67, rcd_59^0'=rcd_59^post67, a_225^0'=a_225^post67, x_SLAM_f_17^0'=x_SLAM_f_17^post67, t_22^0'=t_22^post67, f_171^0'=f_171^post67, r_126^0'=r_126^post67, (-head_SLAM_f_29^post67+head_SLAM_f_29^0 == 0 /\ x_19^0-x_19^post67 == 0 /\ a_281^0-a_281^post67 == 0 /\ -f_171^post67+f_171^0 == 0 /\ -a_225^post67+a_225^0 == 0 /\ temp0_16^0-temp0_16^post67 == 0 /\ -x_26^post67+x_26^0 == 0 /\ -a_149^post67+a_149^0 == 0 /\ -r_126^post67+r_126^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_165^0-r_165^post67 == 0 /\ -nondet_12^post67+nondet_12^0 == 0 /\ a_118^0-a_118^post67 == 0 /\ result_11^0-result_11^post67 == 0 /\ -x_SLAM_f_17^post67+x_SLAM_f_17^0 == 0 /\ -rcd_59^post67+rcd_59^0 == 0 /\ x_131^0-x_131^post67 == 0 /\ -r_39^post67+r_39^0 == 0 /\ temp_35^0-temp_35^post67 == 0 /\ a_343^0-a_343^post67 == 0 /\ a_188^0-a_188^post67 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post67 == 0 /\ i_30^0-i_30^post67 == 0 /\ y_18^0-y_18^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ -tmp_34^post67+tmp_34^0 == 0 /\ head_32^0-head_32^post67 == 0 /\ x_176^0-x_176^post67 == 0 /\ i_95^0-i_95^post67 == 0 /\ tail_14^0-tail_14^post67 == 0 /\ y_25^0-y_25^post67 == 0 /\ -temp0_31^post67+temp0_31^0 == 0 /\ i_110^0-i_110^post67 == 0 /\ len_134^0-len_134^post67 == 0 /\ -a_342^post67+a_342^0 == 0 /\ -t_22^post67+t_22^0 == 0 /\ a_289^0-a_289^post67 == 0 /\ head_15^0-head_15^post67 == 0 /\ -rcd_89^post67+rcd_89^0 == 0 /\ -length_28^post67+length_28^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0 /\ len_187^0-len_187^post67 == 0), cost: 1
  68: l45 -> l46 : a_118^0'=a_118^post68, x_176^0'=x_176^post68, i_30^0'=i_30^post68, result_11^0'=result_11^post68, a_289^0'=a_289^post68, y_18^0'=y_18^post68, len_187^0'=len_187^post68, temp0_16^0'=temp0_16^post68, temp_35^0'=temp_35^post68, head_32^0'=head_32^post68, r_39^0'=r_39^post68, a_188^0'=a_188^post68, x_26^0'=x_26^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, a_343^0'=a_343^post68, nondet_12^0'=nondet_12^post68, x_131^0'=x_131^post68, i_110^0'=i_110^post68, rcd_89^0'=rcd_89^post68, a_281^0'=a_281^post68, x_SLAM_f_24^0'=x_SLAM_f_24^post68, len_134^0'=len_134^post68, tail_14^0'=tail_14^post68, head_15^0'=head_15^post68, r_165^0'=r_165^post68, a_149^0'=a_149^post68, x_19^0'=x_19^post68, i_95^0'=i_95^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, a_342^0'=a_342^post68, y_25^0'=y_25^post68, length_28^0'=length_28^post68, temp0_31^0'=temp0_31^post68, tmp_34^0'=tmp_34^post68, head_SLAM_f_29^0'=head_SLAM_f_29^post68, rcd_59^0'=rcd_59^post68, a_225^0'=a_225^post68, x_SLAM_f_17^0'=x_SLAM_f_17^post68, t_22^0'=t_22^post68, f_171^0'=f_171^post68, r_126^0'=r_126^post68, (-a_188^post68+a_188^0 == 0 /\ -rcd_59^post68+rcd_59^0 == 0 /\ r_39^0-r_39^post68 == 0 /\ a_289^0-a_289^post68 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post68+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post68 == 0 /\ -y_25^post68+y_25^0 == 0 /\ x_176^0-x_176^post68 == 0 /\ a_149^0-a_149^post68 == 0 /\ -t_22^post68+t_22^0 == 0 /\ -x_131^post68+x_131^0 == 0 /\ -r_165^post68+r_165^0 == 0 /\ i_30^0-i_30^post68 == 0 /\ y_18^0-y_18^post68 == 0 /\ -f_171^post68+f_171^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_11^0-result_11^post68 == 0 /\ -x_19^post68+x_19^0 == 0 /\ a_343^0-a_343^post68 == 0 /\ -a_342^post68+a_342^0 == 0 /\ -len_134^post68+len_134^0 == 0 /\ -r_126^post68+r_126^0 == 0 /\ -temp0_31^post68+temp0_31^0 == 0 /\ -head_15^post68+head_15^0 == 0 /\ temp_35^0-temp_35^post68 == 0 /\ i_110^0-i_110^post68 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ -a_225^post68+a_225^0 == 0 /\ i_95^0-i_95^post68 == 0 /\ -tail_14^post68+tail_14^0 == 0 /\ temp0_16^0-temp0_16^post68 == 0 /\ -tmp_34^post68+tmp_34^0 == 0 /\ len_187^0-len_187^post68 == 0 /\ -head_SLAM_f_29^post68+head_SLAM_f_29^0 == 0 /\ length_28^0-length_28^post68 == 0 /\ a_118^0-a_118^post68 == 0 /\ head_32^0-head_32^post68 == 0 /\ x_26^0-x_26^post68 == 0 /\ rcd_89^0-rcd_89^post68 == 0 /\ -x_SLAM_f_17^post68+x_SLAM_f_17^0 == 0 /\ a_281^0-a_281^post68 == 0 /\ nondet_12^0-nondet_12^post68 == 0), cost: 1
  69: l46 -> l47 : a_118^0'=a_118^post69, x_176^0'=x_176^post69, i_30^0'=i_30^post69, result_11^0'=result_11^post69, a_289^0'=a_289^post69, y_18^0'=y_18^post69, len_187^0'=len_187^post69, temp0_16^0'=temp0_16^post69, temp_35^0'=temp_35^post69, head_32^0'=head_32^post69, r_39^0'=r_39^post69, a_188^0'=a_188^post69, x_26^0'=x_26^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, a_343^0'=a_343^post69, nondet_12^0'=nondet_12^post69, x_131^0'=x_131^post69, i_110^0'=i_110^post69, rcd_89^0'=rcd_89^post69, a_281^0'=a_281^post69, x_SLAM_f_24^0'=x_SLAM_f_24^post69, len_134^0'=len_134^post69, tail_14^0'=tail_14^post69, head_15^0'=head_15^post69, r_165^0'=r_165^post69, a_149^0'=a_149^post69, x_19^0'=x_19^post69, i_95^0'=i_95^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, a_342^0'=a_342^post69, y_25^0'=y_25^post69, length_28^0'=length_28^post69, temp0_31^0'=temp0_31^post69, tmp_34^0'=tmp_34^post69, head_SLAM_f_29^0'=head_SLAM_f_29^post69, rcd_59^0'=rcd_59^post69, a_225^0'=a_225^post69, x_SLAM_f_17^0'=x_SLAM_f_17^post69, t_22^0'=t_22^post69, f_171^0'=f_171^post69, r_126^0'=r_126^post69, (0 == 0 /\ -i_110^post69+i_110^0 == 0 /\ a_118^0-a_118^post69 == 0 /\ y_18^0-y_18^post69 == 0 /\ x_26^0-x_26^post69 == 0 /\ head_32^0-head_32^post69 == 0 /\ -temp0_31^post69+temp0_31^0 == 0 /\ -i_95^post69+i_95^0 == 0 /\ tmp_34^0-tmp_34^post69 == 0 /\ a_281^0-a_281^post69 == 0 /\ -head_SLAM_f_29^post69+head_SLAM_f_29^0 == 0 /\ -a_225^post69+a_225^0 == 0 /\ -y_25^post69+y_25^0 == 0 /\ x_176^0-x_176^post69 == 0 /\ -a_149^post69+a_149^0 == 0 /\ -x_SLAM_f_24^post69+x_SLAM_f_24^0 == 0 /\ r_165^0-r_165^post69 == 0 /\ -a_188^post69+a_188^0 == 0 /\ -a_342^post69+a_342^0 == 0 /\ len_187^0-len_187^post69 == 0 /\ x_131^0-x_131^post69 == 0 /\ a_343^0-a_343^post69 == 0 /\ i_30^0-i_30^post69 == 0 /\ rcd_89^0-rcd_89^post69 == 0 /\ -length_28^post69+length_28^0 == 0 /\ t_22^0-t_22^post69 == 0 /\ nondet_12^0-nondet_12^post69 == 0 /\ -rcd_59^post69+rcd_59^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_39^0-r_39^post69 == 0 /\ result_11^0-result_11^post69 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_126^post69+r_126^0 == 0 /\ -f_171^post69+f_171^0 == 0 /\ temp0_16^0-temp0_16^post69 == 0 /\ len_134^0-len_134^post69 == 0 /\ x_19^0-x_19^post69 == 0 /\ a_289^0-a_289^post69 == 0 /\ temp_35^0-temp_35^post69 == 0), cost: 1
  70: l47 -> l48 : a_118^0'=a_118^post70, x_176^0'=x_176^post70, i_30^0'=i_30^post70, result_11^0'=result_11^post70, a_289^0'=a_289^post70, y_18^0'=y_18^post70, len_187^0'=len_187^post70, temp0_16^0'=temp0_16^post70, temp_35^0'=temp_35^post70, head_32^0'=head_32^post70, r_39^0'=r_39^post70, a_188^0'=a_188^post70, x_26^0'=x_26^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, a_343^0'=a_343^post70, nondet_12^0'=nondet_12^post70, x_131^0'=x_131^post70, i_110^0'=i_110^post70, rcd_89^0'=rcd_89^post70, a_281^0'=a_281^post70, x_SLAM_f_24^0'=x_SLAM_f_24^post70, len_134^0'=len_134^post70, tail_14^0'=tail_14^post70, head_15^0'=head_15^post70, r_165^0'=r_165^post70, a_149^0'=a_149^post70, x_19^0'=x_19^post70, i_95^0'=i_95^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70, a_342^0'=a_342^post70, y_25^0'=y_25^post70, length_28^0'=length_28^post70, temp0_31^0'=temp0_31^post70, tmp_34^0'=tmp_34^post70, head_SLAM_f_29^0'=head_SLAM_f_29^post70, rcd_59^0'=rcd_59^post70, a_225^0'=a_225^post70, x_SLAM_f_17^0'=x_SLAM_f_17^post70, t_22^0'=t_22^post70, f_171^0'=f_171^post70, r_126^0'=r_126^post70, (x_19^0-x_19^post70 == 0 /\ -a_225^post70+a_225^0 == 0 /\ -head_SLAM_f_29^post70+head_SLAM_f_29^0 == 0 /\ a_118^0-a_118^post70 == 0 /\ a_281^0-a_281^post70 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_149^post70+a_149^0 == 0 /\ temp0_16^0-temp0_16^post70 == 0 /\ -f_171^post70+f_171^0 == 0 /\ result_11^0-result_11^post70 == 0 /\ -nondet_12^post70+nondet_12^0 == 0 /\ r_165^0-r_165^post70 == 0 /\ x_131^0-x_131^post70 == 0 /\ -tmp_34^post70+tmp_34^0 == 0 /\ -x_SLAM_f_17^post70+x_SLAM_f_17^0 == 0 /\ a_343^0-a_343^post70 == 0 /\ -rcd_59^post70+rcd_59^0 == 0 /\ len_187^0-len_187^post70 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post70 == 0 /\ -x_26^post70+x_26^0 == 0 /\ -i_110^post70+i_110^0 == 0 /\ i_30^0-i_30^post70 == 0 /\ y_18^0-y_18^post70 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post70 == 0 /\ x_176^0-x_176^post70 == 0 /\ i_95^0-i_95^post70 == 0 /\ head_32^0-head_32^post70 == 0 /\ tail_14^0-tail_14^post70 == 0 /\ a_188^0-a_188^post70 == 0 /\ len_134^0-len_134^post70 == 0 /\ -rcd_89^post70+rcd_89^0 == 0 /\ y_25^0-y_25^post70 == 0 /\ -temp0_31^post70+temp0_31^0 == 0 /\ -a_342^post70+a_342^0 == 0 /\ -t_22^post70+t_22^0 == 0 /\ 1+y_18^0-x_19^0 <= 0 /\ a_289^0-a_289^post70 == 0 /\ -r_126^post70+r_126^0 == 0 /\ temp_35^0-temp_35^post70 == 0 /\ r_39^0-r_39^post70 == 0 /\ -length_28^post70+length_28^0 == 0 /\ head_15^0-head_15^post70 == 0), cost: 1
  71: l47 -> l48 : a_118^0'=a_118^post71, x_176^0'=x_176^post71, i_30^0'=i_30^post71, result_11^0'=result_11^post71, a_289^0'=a_289^post71, y_18^0'=y_18^post71, len_187^0'=len_187^post71, temp0_16^0'=temp0_16^post71, temp_35^0'=temp_35^post71, head_32^0'=head_32^post71, r_39^0'=r_39^post71, a_188^0'=a_188^post71, x_26^0'=x_26^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, a_343^0'=a_343^post71, nondet_12^0'=nondet_12^post71, x_131^0'=x_131^post71, i_110^0'=i_110^post71, rcd_89^0'=rcd_89^post71, a_281^0'=a_281^post71, x_SLAM_f_24^0'=x_SLAM_f_24^post71, len_134^0'=len_134^post71, tail_14^0'=tail_14^post71, head_15^0'=head_15^post71, r_165^0'=r_165^post71, a_149^0'=a_149^post71, x_19^0'=x_19^post71, i_95^0'=i_95^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71, a_342^0'=a_342^post71, y_25^0'=y_25^post71, length_28^0'=length_28^post71, temp0_31^0'=temp0_31^post71, tmp_34^0'=tmp_34^post71, head_SLAM_f_29^0'=head_SLAM_f_29^post71, rcd_59^0'=rcd_59^post71, a_225^0'=a_225^post71, x_SLAM_f_17^0'=x_SLAM_f_17^post71, t_22^0'=t_22^post71, f_171^0'=f_171^post71, r_126^0'=r_126^post71, (-y_25^post71+y_25^0 == 0 /\ -rcd_59^post71+rcd_59^0 == 0 /\ r_39^0-r_39^post71 == 0 /\ -a_188^post71+a_188^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post71+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_176^0-x_176^post71 == 0 /\ -t_22^post71+t_22^0 == 0 /\ -tail_14^post71+tail_14^0 == 0 /\ a_289^0-a_289^post71 == 0 /\ a_149^0-a_149^post71 == 0 /\ a_118^0-a_118^post71 == 0 /\ -temp0_31^post71+temp0_31^0 == 0 /\ -r_126^post71+r_126^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -f_171^post71+f_171^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post71 == 0 /\ -x_131^post71+x_131^0 == 0 /\ y_18^0-y_18^post71 == 0 /\ -a_342^post71+a_342^0 == 0 /\ -r_165^post71+r_165^0 == 0 /\ i_30^0-i_30^post71 == 0 /\ result_11^0-result_11^post71 == 0 /\ a_343^0-a_343^post71 == 0 /\ -len_134^post71+len_134^0 == 0 /\ -x_19^post71+x_19^0 == 0 /\ -temp0_16^post71+temp0_16^0 == 0 /\ 1-y_18^0+x_19^0 <= 0 /\ temp_35^0-temp_35^post71 == 0 /\ i_110^0-i_110^post71 == 0 /\ -a_225^post71+a_225^0 == 0 /\ -head_15^post71+head_15^0 == 0 /\ len_187^0-len_187^post71 == 0 /\ -tmp_34^post71+tmp_34^0 == 0 /\ i_95^0-i_95^post71 == 0 /\ -head_SLAM_f_29^post71+head_SLAM_f_29^0 == 0 /\ length_28^0-length_28^post71 == 0 /\ rcd_89^0-rcd_89^post71 == 0 /\ x_26^0-x_26^post71 == 0 /\ head_32^0-head_32^post71 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ -x_SLAM_f_17^post71+x_SLAM_f_17^0 == 0 /\ a_281^0-a_281^post71 == 0), cost: 1
  72: l48 -> l49 : a_118^0'=a_118^post72, x_176^0'=x_176^post72, i_30^0'=i_30^post72, result_11^0'=result_11^post72, a_289^0'=a_289^post72, y_18^0'=y_18^post72, len_187^0'=len_187^post72, temp0_16^0'=temp0_16^post72, temp_35^0'=temp_35^post72, head_32^0'=head_32^post72, r_39^0'=r_39^post72, a_188^0'=a_188^post72, x_26^0'=x_26^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, a_343^0'=a_343^post72, nondet_12^0'=nondet_12^post72, x_131^0'=x_131^post72, i_110^0'=i_110^post72, rcd_89^0'=rcd_89^post72, a_281^0'=a_281^post72, x_SLAM_f_24^0'=x_SLAM_f_24^post72, len_134^0'=len_134^post72, tail_14^0'=tail_14^post72, head_15^0'=head_15^post72, r_165^0'=r_165^post72, a_149^0'=a_149^post72, x_19^0'=x_19^post72, i_95^0'=i_95^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, a_342^0'=a_342^post72, y_25^0'=y_25^post72, length_28^0'=length_28^post72, temp0_31^0'=temp0_31^post72, tmp_34^0'=tmp_34^post72, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, a_225^0'=a_225^post72, x_SLAM_f_17^0'=x_SLAM_f_17^post72, t_22^0'=t_22^post72, f_171^0'=f_171^post72, r_126^0'=r_126^post72, (-i_110^post72+i_110^0 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 == 0 /\ -x_SLAM_f_24^post72+x_SLAM_f_24^0 == 0 /\ x_26^0-x_26^post72 == 0 /\ a_343^0-a_343^post72 == 0 /\ y_18^0-y_18^post72 == 0 /\ -i_95^post72+i_95^0 == 0 /\ head_15^0-t_22^post72 <= 0 /\ -a_225^post72+a_225^0 == 0 /\ -head_SLAM_f_29^post72+head_SLAM_f_29^0 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ -y_25^post72+y_25^0 == 0 /\ x_176^0-x_176^post72 == 0 /\ -length_28^post72+length_28^0 == 0 /\ -head_15^0+t_22^post72 <= 0 /\ len_187^0-len_187^post72 == 0 /\ -x_SLAM_f_17^post72+x_SLAM_f_17^0 == 0 /\ tail_14^0-x_19^0 <= 0 /\ -a_342^post72+a_342^0 == 0 /\ -head_15^post72+head_15^0 == 0 /\ y_18^0-tail_14^0 <= 0 /\ x_131^0-x_131^post72 == 0 /\ -a_149^post72+a_149^0 == 0 /\ -r_126^post72+r_126^0 == 0 /\ -x_19^0+t_22^post72 == 0 /\ i_30^0-i_30^post72 == 0 /\ -tail_14^post72+tail_14^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_188^post72+a_188^0 == 0 /\ rcd_89^0-rcd_89^post72 == 0 /\ -rcd_59^post72+rcd_59^0 == 0 /\ nondet_12^0-nondet_12^post72 == 0 /\ result_11^0-result_11^post72 == 0 /\ x_19^0-x_19^post72 == 0 /\ a_281^0-a_281^post72 == 0 /\ -tail_14^0+x_19^0 <= 0 /\ r_39^0-r_39^post72 == 0 /\ head_32^0-head_32^post72 == 0 /\ -y_18^0+tail_14^0 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp0_31^post72+temp0_31^0 == 0 /\ -f_171^post72+f_171^0 == 0 /\ -tmp_34^post72+tmp_34^0 == 0 /\ a_118^0-a_118^post72 == 0 /\ -len_134^post72+len_134^0 == 0 /\ -r_165^post72+r_165^0 == 0 /\ a_289^0-a_289^post72 == 0 /\ temp_35^0-temp_35^post72 == 0 /\ temp0_16^0-temp0_16^post72 == 0), cost: 1
  73: l49 -> l50 : a_118^0'=a_118^post73, x_176^0'=x_176^post73, i_30^0'=i_30^post73, result_11^0'=result_11^post73, a_289^0'=a_289^post73, y_18^0'=y_18^post73, len_187^0'=len_187^post73, temp0_16^0'=temp0_16^post73, temp_35^0'=temp_35^post73, head_32^0'=head_32^post73, r_39^0'=r_39^post73, a_188^0'=a_188^post73, x_26^0'=x_26^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, a_343^0'=a_343^post73, nondet_12^0'=nondet_12^post73, x_131^0'=x_131^post73, i_110^0'=i_110^post73, rcd_89^0'=rcd_89^post73, a_281^0'=a_281^post73, x_SLAM_f_24^0'=x_SLAM_f_24^post73, len_134^0'=len_134^post73, tail_14^0'=tail_14^post73, head_15^0'=head_15^post73, r_165^0'=r_165^post73, a_149^0'=a_149^post73, x_19^0'=x_19^post73, i_95^0'=i_95^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73, a_342^0'=a_342^post73, y_25^0'=y_25^post73, length_28^0'=length_28^post73, temp0_31^0'=temp0_31^post73, tmp_34^0'=tmp_34^post73, head_SLAM_f_29^0'=head_SLAM_f_29^post73, rcd_59^0'=rcd_59^post73, a_225^0'=a_225^post73, x_SLAM_f_17^0'=x_SLAM_f_17^post73, t_22^0'=t_22^post73, f_171^0'=f_171^post73, r_126^0'=r_126^post73, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post73 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_149^post73+a_149^0 == 0 /\ a_118^0-a_118^post73 == 0 /\ a_188^0-a_188^post73 == 0 /\ y_18^0-y_18^post73 == 0 /\ x_19^0-x_19^post73 == 0 /\ temp0_16^0-temp0_16^post73 == 0 /\ a_281^0-a_281^post73 == 0 /\ r_165^0-r_165^post73 == 0 /\ -nondet_12^post73+nondet_12^0 == 0 /\ result_11^0-result_11^post73 == 0 /\ -a_225^post73+a_225^0 == 0 /\ -f_171^post73+f_171^0 == 0 /\ x_131^0-x_131^post73 == 0 /\ a_343^0-a_343^post73 == 0 /\ -tmp_34^post73+tmp_34^0 == 0 /\ -rcd_59^post73+rcd_59^0 == 0 /\ x_26^0-x_26^post73 == 0 /\ -tail_14^post73+tail_14^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post73 == 0 /\ len_187^0-len_187^post73 == 0 /\ -i_110^post73+i_110^0 == 0 /\ -x_SLAM_f_17^post73+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post73+head_SLAM_f_29^0 == 0 /\ x_176^0-x_176^post73 == 0 /\ i_95^0-i_95^post73 == 0 /\ -temp0_31^post73+temp0_31^0 == 0 /\ head_32^0-head_32^post73 == 0 /\ i_30^0-i_30^post73 == 0 /\ -rcd_89^post73+rcd_89^0 == 0 /\ y_25^0-y_25^post73 == 0 /\ len_134^0-len_134^post73 == 0 /\ -t_22^post73+t_22^0 == 0 /\ -r_126^post73+r_126^0 == 0 /\ a_289^0-a_289^post73 == 0 /\ temp_35^0-temp_35^post73 == 0 /\ -a_342^post73+a_342^0 == 0 /\ r_39^0-r_39^post73 == 0 /\ -length_28^post73+length_28^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0 /\ head_15^0-head_15^post73 == 0), cost: 1
  74: l49 -> l50 : a_118^0'=a_118^post74, x_176^0'=x_176^post74, i_30^0'=i_30^post74, result_11^0'=result_11^post74, a_289^0'=a_289^post74, y_18^0'=y_18^post74, len_187^0'=len_187^post74, temp0_16^0'=temp0_16^post74, temp_35^0'=temp_35^post74, head_32^0'=head_32^post74, r_39^0'=r_39^post74, a_188^0'=a_188^post74, x_26^0'=x_26^post74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post74, a_343^0'=a_343^post74, nondet_12^0'=nondet_12^post74, x_131^0'=x_131^post74, i_110^0'=i_110^post74, rcd_89^0'=rcd_89^post74, a_281^0'=a_281^post74, x_SLAM_f_24^0'=x_SLAM_f_24^post74, len_134^0'=len_134^post74, tail_14^0'=tail_14^post74, head_15^0'=head_15^post74, r_165^0'=r_165^post74, a_149^0'=a_149^post74, x_19^0'=x_19^post74, i_95^0'=i_95^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74, a_342^0'=a_342^post74, y_25^0'=y_25^post74, length_28^0'=length_28^post74, temp0_31^0'=temp0_31^post74, tmp_34^0'=tmp_34^post74, head_SLAM_f_29^0'=head_SLAM_f_29^post74, rcd_59^0'=rcd_59^post74, a_225^0'=a_225^post74, x_SLAM_f_17^0'=x_SLAM_f_17^post74, t_22^0'=t_22^post74, f_171^0'=f_171^post74, r_126^0'=r_126^post74, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post74 == 0 /\ nondet_12^0-nondet_12^post74 == 0 /\ -a_188^post74+a_188^0 == 0 /\ r_39^0-r_39^post74 == 0 /\ -x_131^post74+x_131^0 == 0 /\ -tmp_34^post74+tmp_34^0 == 0 /\ a_149^0-a_149^post74 == 0 /\ -rcd_59^post74+rcd_59^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post74+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_22^post74+t_22^0 == 0 /\ -tail_14^post74+tail_14^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post74 == 0 /\ a_118^0-a_118^post74 == 0 /\ -temp0_31^post74+temp0_31^0 == 0 /\ len_187^0-len_187^post74 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post74 == 0 /\ i_30^0-i_30^post74 == 0 /\ -len_134^post74+len_134^0 == 0 /\ y_18^0-y_18^post74 == 0 /\ -f_171^post74+f_171^0 == 0 /\ -a_342^post74+a_342^0 == 0 /\ -r_165^post74+r_165^0 == 0 /\ a_343^0-a_343^post74 == 0 /\ result_11^0-result_11^post74 == 0 /\ -x_19^post74+x_19^0 == 0 /\ y_25^0-y_25^post74 == 0 /\ -r_126^post74+r_126^0 == 0 /\ -temp0_16^post74+temp0_16^0 == 0 /\ -a_225^post74+a_225^0 == 0 /\ a_289^0-a_289^post74 == 0 /\ i_110^0-i_110^post74 == 0 /\ x_176^0-x_176^post74 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ temp_35^0-temp_35^post74 == 0 /\ -head_15^post74+head_15^0 == 0 /\ i_95^0-i_95^post74 == 0 /\ length_28^0-length_28^post74 == 0 /\ -x_SLAM_f_17^post74+x_SLAM_f_17^0 == 0 /\ rcd_89^0-rcd_89^post74 == 0 /\ x_26^0-x_26^post74 == 0 /\ head_32^0-head_32^post74 == 0 /\ a_281^0-a_281^post74 == 0), cost: 1
  75: l50 -> l51 : a_118^0'=a_118^post75, x_176^0'=x_176^post75, i_30^0'=i_30^post75, result_11^0'=result_11^post75, a_289^0'=a_289^post75, y_18^0'=y_18^post75, len_187^0'=len_187^post75, temp0_16^0'=temp0_16^post75, temp_35^0'=temp_35^post75, head_32^0'=head_32^post75, r_39^0'=r_39^post75, a_188^0'=a_188^post75, x_26^0'=x_26^post75, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post75, a_343^0'=a_343^post75, nondet_12^0'=nondet_12^post75, x_131^0'=x_131^post75, i_110^0'=i_110^post75, rcd_89^0'=rcd_89^post75, a_281^0'=a_281^post75, x_SLAM_f_24^0'=x_SLAM_f_24^post75, len_134^0'=len_134^post75, tail_14^0'=tail_14^post75, head_15^0'=head_15^post75, r_165^0'=r_165^post75, a_149^0'=a_149^post75, x_19^0'=x_19^post75, i_95^0'=i_95^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post75, a_342^0'=a_342^post75, y_25^0'=y_25^post75, length_28^0'=length_28^post75, temp0_31^0'=temp0_31^post75, tmp_34^0'=tmp_34^post75, head_SLAM_f_29^0'=head_SLAM_f_29^post75, rcd_59^0'=rcd_59^post75, a_225^0'=a_225^post75, x_SLAM_f_17^0'=x_SLAM_f_17^post75, t_22^0'=t_22^post75, f_171^0'=f_171^post75, r_126^0'=r_126^post75, (-x_SLAM_f_24^post75+x_SLAM_f_24^0 == 0 /\ -i_95^post75+i_95^0 == 0 /\ -i_110^post75+i_110^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post75 == 0 /\ a_343^0-a_343^post75 == 0 /\ -temp0_31^post75+temp0_31^0 == 0 /\ y_18^0-y_18^post75 == 0 /\ x_26^0-x_26^post75 == 0 /\ -y_25^post75+y_25^0 == 0 /\ -length_28^post75+length_28^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post75 == 0 /\ x_176^0-x_176^post75 == 0 /\ -t_22^post75+t_22^0 == 0 /\ temp0_16^0-temp0_16^post75 == 0 /\ result_11^0-result_11^post75 == 0 /\ -head_15^post75+head_15^0 == 0 /\ len_187^0-len_187^post75 == 0 /\ -r_126^post75+r_126^0 == 0 /\ -len_134^post75+len_134^0 == 0 /\ -a_225^post75+a_225^0 == 0 /\ -a_342^post75+a_342^0 == 0 /\ x_131^0-x_131^post75 == 0 /\ -tail_14^post75+tail_14^0 == 0 /\ -rcd_59^post75+rcd_59^0 == 0 /\ -head_SLAM_f_29^post75+head_SLAM_f_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post75+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_30^0-i_30^post75 == 0 /\ rcd_89^0-rcd_89^post75 == 0 /\ -a_188^post75+a_188^0 == 0 /\ r_39^0-r_39^post75 == 0 /\ nondet_12^0-nondet_12^post75 == 0 /\ a_281^0-a_281^post75 == 0 /\ head_32^0-head_32^post75 == 0 /\ -x_19^post75+x_19^0 == 0 /\ a_149^0-a_149^post75 == 0 /\ -tmp_34^post75+tmp_34^0 == 0 /\ a_118^0-a_118^post75 == 0 /\ a_289^0-a_289^post75 == 0 /\ temp_35^0-temp_35^post75 == 0 /\ 1-y_18^0+head_15^0 <= 0 /\ -r_165^post75+r_165^0 == 0 /\ -f_171^post75+f_171^0 == 0), cost: 1
  76: l50 -> l51 : a_118^0'=a_118^post76, x_176^0'=x_176^post76, i_30^0'=i_30^post76, result_11^0'=result_11^post76, a_289^0'=a_289^post76, y_18^0'=y_18^post76, len_187^0'=len_187^post76, temp0_16^0'=temp0_16^post76, temp_35^0'=temp_35^post76, head_32^0'=head_32^post76, r_39^0'=r_39^post76, a_188^0'=a_188^post76, x_26^0'=x_26^post76, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post76, a_343^0'=a_343^post76, nondet_12^0'=nondet_12^post76, x_131^0'=x_131^post76, i_110^0'=i_110^post76, rcd_89^0'=rcd_89^post76, a_281^0'=a_281^post76, x_SLAM_f_24^0'=x_SLAM_f_24^post76, len_134^0'=len_134^post76, tail_14^0'=tail_14^post76, head_15^0'=head_15^post76, r_165^0'=r_165^post76, a_149^0'=a_149^post76, x_19^0'=x_19^post76, i_95^0'=i_95^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post76, a_342^0'=a_342^post76, y_25^0'=y_25^post76, length_28^0'=length_28^post76, temp0_31^0'=temp0_31^post76, tmp_34^0'=tmp_34^post76, head_SLAM_f_29^0'=head_SLAM_f_29^post76, rcd_59^0'=rcd_59^post76, a_225^0'=a_225^post76, x_SLAM_f_17^0'=x_SLAM_f_17^post76, t_22^0'=t_22^post76, f_171^0'=f_171^post76, r_126^0'=r_126^post76, (a_118^0-a_118^post76 == 0 /\ a_188^0-a_188^post76 == 0 /\ temp0_16^0-temp0_16^post76 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post76 == 0 /\ x_19^0-x_19^post76 == 0 /\ -a_281^post76+a_281^0 == 0 /\ y_18^0-y_18^post76 == 0 /\ r_165^0-r_165^post76 == 0 /\ -a_225^post76+a_225^0 == 0 /\ result_11^0-result_11^post76 == 0 /\ -a_149^post76+a_149^0 == 0 /\ -f_171^post76+f_171^0 == 0 /\ head_32^0-head_32^post76 == 0 /\ a_343^0-a_343^post76 == 0 /\ x_26^0-x_26^post76 == 0 /\ -tail_14^post76+tail_14^0 == 0 /\ -tmp_34^post76+tmp_34^0 == 0 /\ -i_110^post76+i_110^0 == 0 /\ -head_SLAM_f_29^post76+head_SLAM_f_29^0 == 0 /\ -rcd_59^post76+rcd_59^0 == 0 /\ x_176^0-x_176^post76 == 0 /\ -nondet_12^post76+nondet_12^0 == 0 /\ -x_SLAM_f_17^post76+x_SLAM_f_17^0 == 0 /\ -len_187^post76+len_187^0 == 0 /\ -temp0_31^post76+temp0_31^0 == 0 /\ i_95^0-i_95^post76 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post76 == 0 /\ i_30^0-i_30^post76 == 0 /\ y_25^0-y_25^post76 == 0 /\ len_134^0-len_134^post76 == 0 /\ 1+y_18^0-head_15^0 <= 0 /\ x_131^0-x_131^post76 == 0 /\ -rcd_89^post76+rcd_89^0 == 0 /\ -r_126^post76+r_126^0 == 0 /\ -t_22^post76+t_22^0 == 0 /\ r_39^0-r_39^post76 == 0 /\ -a_342^post76+a_342^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post76+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -length_28^post76+length_28^0 == 0 /\ temp_35^0-temp_35^post76 == 0 /\ a_289^0-a_289^post76 == 0 /\ head_15^0-head_15^post76 == 0), cost: 1
  77: l51 -> l52 : a_118^0'=a_118^post77, x_176^0'=x_176^post77, i_30^0'=i_30^post77, result_11^0'=result_11^post77, a_289^0'=a_289^post77, y_18^0'=y_18^post77, len_187^0'=len_187^post77, temp0_16^0'=temp0_16^post77, temp_35^0'=temp_35^post77, head_32^0'=head_32^post77, r_39^0'=r_39^post77, a_188^0'=a_188^post77, x_26^0'=x_26^post77, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post77, a_343^0'=a_343^post77, nondet_12^0'=nondet_12^post77, x_131^0'=x_131^post77, i_110^0'=i_110^post77, rcd_89^0'=rcd_89^post77, a_281^0'=a_281^post77, x_SLAM_f_24^0'=x_SLAM_f_24^post77, len_134^0'=len_134^post77, tail_14^0'=tail_14^post77, head_15^0'=head_15^post77, r_165^0'=r_165^post77, a_149^0'=a_149^post77, x_19^0'=x_19^post77, i_95^0'=i_95^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post77, a_342^0'=a_342^post77, y_25^0'=y_25^post77, length_28^0'=length_28^post77, temp0_31^0'=temp0_31^post77, tmp_34^0'=tmp_34^post77, head_SLAM_f_29^0'=head_SLAM_f_29^post77, rcd_59^0'=rcd_59^post77, a_225^0'=a_225^post77, x_SLAM_f_17^0'=x_SLAM_f_17^post77, t_22^0'=t_22^post77, f_171^0'=f_171^post77, r_126^0'=r_126^post77, (0 == 0 /\ nondet_12^0-nondet_12^post77 == 0 /\ temp_35^0-temp_35^post77 == 0 /\ -rcd_59^post77+rcd_59^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post77+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_149^0-a_149^post77 == 0 /\ -x_131^post77+x_131^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post77 == 0 /\ -tmp_34^post77+tmp_34^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post77 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post77 == 0 /\ len_187^0-len_187^post77 == 0 /\ -f_171^post77+f_171^0 == 0 /\ -temp0_31^post77+temp0_31^0 == 0 /\ -a_281^post77+a_281^0 == 0 /\ a_118^0-a_118^post77 == 0 /\ i_30^0-i_30^post77 == 0 /\ a_343^0-a_343^post77 == 0 /\ -len_134^post77+len_134^0 == 0 /\ -a_342^post77+a_342^0 == 0 /\ y_25^0-y_25^post77 == 0 /\ -r_165^post77+r_165^0 == 0 /\ -r_126^post77+r_126^0 == 0 /\ -y_18^0+x_19^0 <= 0 /\ -temp0_16^post77+temp0_16^0 == 0 /\ head_32^0-head_32^post77 == 0 /\ r_39^0-r_39^post77 == 0 /\ a_289^0-a_289^post77 == 0 /\ x_176^0-x_176^post77 == 0 /\ i_110^0-i_110^post77 == 0 /\ -rcd_89^post77+rcd_89^0 == 0 /\ y_18^0-x_19^0 <= 0 /\ i_95^0-i_95^post77 == 0 /\ -a_225^post77+a_225^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_26^0-x_26^post77 == 0 /\ length_28^0-length_28^post77 == 0 /\ -temp0_16^0+result_11^post77 == 0 /\ a_188^0-a_188^post77 == 0), cost: 1
  78: l52 -> l4 : a_118^0'=a_118^post78, x_176^0'=x_176^post78, i_30^0'=i_30^post78, result_11^0'=result_11^post78, a_289^0'=a_289^post78, y_18^0'=y_18^post78, len_187^0'=len_187^post78, temp0_16^0'=temp0_16^post78, temp_35^0'=temp_35^post78, head_32^0'=head_32^post78, r_39^0'=r_39^post78, a_188^0'=a_188^post78, x_26^0'=x_26^post78, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post78, a_343^0'=a_343^post78, nondet_12^0'=nondet_12^post78, x_131^0'=x_131^post78, i_110^0'=i_110^post78, rcd_89^0'=rcd_89^post78, a_281^0'=a_281^post78, x_SLAM_f_24^0'=x_SLAM_f_24^post78, len_134^0'=len_134^post78, tail_14^0'=tail_14^post78, head_15^0'=head_15^post78, r_165^0'=r_165^post78, a_149^0'=a_149^post78, x_19^0'=x_19^post78, i_95^0'=i_95^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post78, a_342^0'=a_342^post78, y_25^0'=y_25^post78, length_28^0'=length_28^post78, temp0_31^0'=temp0_31^post78, tmp_34^0'=tmp_34^post78, head_SLAM_f_29^0'=head_SLAM_f_29^post78, rcd_59^0'=rcd_59^post78, a_225^0'=a_225^post78, x_SLAM_f_17^0'=x_SLAM_f_17^post78, t_22^0'=t_22^post78, f_171^0'=f_171^post78, r_126^0'=r_126^post78, (-r_165^post78+r_165^0 == 0 /\ -x_SLAM_f_24^post78+x_SLAM_f_24^0 == 0 /\ a_289^0-a_289^post78 == 0 /\ -i_110^post78+i_110^0 == 0 /\ a_343^0-a_343^post78 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post78 == 0 /\ -temp0_31^post78+temp0_31^0 == 0 /\ y_18^0-y_18^post78 == 0 /\ x_26^0-x_26^post78 == 0 /\ -length_28^post78+length_28^0 == 0 /\ temp0_16^0-temp0_16^post78 == 0 /\ -t_22^post78+t_22^0 == 0 /\ -y_25^post78+y_25^0 == 0 /\ a_118^0-a_118^post78 == 0 /\ result_11^0-result_11^post78 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post78 == 0 /\ a_342^0-a_342^post78 == 0 /\ temp_35^0-temp_35^post78 == 0 /\ -a_225^post78+a_225^0 == 0 /\ -tail_14^post78+tail_14^0 == 0 /\ x_131^0-x_131^post78 == 0 /\ -len_134^post78+len_134^0 == 0 /\ -head_15^post78+head_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post78+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_188^post78+a_188^0 == 0 /\ -r_126^post78+r_126^0 == 0 /\ rcd_89^0-rcd_89^post78 == 0 /\ -head_SLAM_f_29^post78+head_SLAM_f_29^0 == 0 /\ len_187^0-len_187^post78 == 0 /\ i_30^0-i_30^post78 == 0 /\ r_39^0-r_39^post78 == 0 /\ a_281^0-a_281^post78 == 0 /\ x_176^0-x_176^post78 == 0 /\ -rcd_59^post78+rcd_59^0 == 0 /\ -x_19^post78+x_19^0 == 0 /\ nondet_12^0-nondet_12^post78 == 0 /\ head_32^0-head_32^post78 == 0 /\ a_149^0-a_149^post78 == 0 /\ -f_171^post78+f_171^0 == 0 /\ -tmp_34^post78+tmp_34^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0 /\ -i_95^post78+i_95^0 == 0), cost: 1
  79: l52 -> l4 : a_118^0'=a_118^post79, x_176^0'=x_176^post79, i_30^0'=i_30^post79, result_11^0'=result_11^post79, a_289^0'=a_289^post79, y_18^0'=y_18^post79, len_187^0'=len_187^post79, temp0_16^0'=temp0_16^post79, temp_35^0'=temp_35^post79, head_32^0'=head_32^post79, r_39^0'=r_39^post79, a_188^0'=a_188^post79, x_26^0'=x_26^post79, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post79, a_343^0'=a_343^post79, nondet_12^0'=nondet_12^post79, x_131^0'=x_131^post79, i_110^0'=i_110^post79, rcd_89^0'=rcd_89^post79, a_281^0'=a_281^post79, x_SLAM_f_24^0'=x_SLAM_f_24^post79, len_134^0'=len_134^post79, tail_14^0'=tail_14^post79, head_15^0'=head_15^post79, r_165^0'=r_165^post79, a_149^0'=a_149^post79, x_19^0'=x_19^post79, i_95^0'=i_95^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post79, a_342^0'=a_342^post79, y_25^0'=y_25^post79, length_28^0'=length_28^post79, temp0_31^0'=temp0_31^post79, tmp_34^0'=tmp_34^post79, head_SLAM_f_29^0'=head_SLAM_f_29^post79, rcd_59^0'=rcd_59^post79, a_225^0'=a_225^post79, x_SLAM_f_17^0'=x_SLAM_f_17^post79, t_22^0'=t_22^post79, f_171^0'=f_171^post79, r_126^0'=r_126^post79, (-a_281^post79+a_281^0 == 0 /\ temp0_16^0-temp0_16^post79 == 0 /\ a_188^0-a_188^post79 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post79 == 0 /\ x_19^0-x_19^post79 == 0 /\ -a_343^post79+a_343^0 == 0 /\ y_18^0-y_18^post79 == 0 /\ temp0_31^0-temp0_31^post79 == 0 /\ a_118^0-a_118^post79 == 0 /\ -a_225^post79+a_225^0 == 0 /\ head_32^0-head_32^post79 == 0 /\ -a_149^post79+a_149^0 == 0 /\ -tmp_34^post79+tmp_34^0 == 0 /\ -rcd_89^post79+rcd_89^0 == 0 /\ -tail_14^post79+tail_14^0 == 0 /\ x_26^0-x_26^post79 == 0 /\ -i_110^post79+i_110^0 == 0 /\ len_134^0-len_134^post79 == 0 /\ rcd_59^0-rcd_59^post79 == 0 /\ -x_SLAM_f_17^post79+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post79+head_SLAM_f_29^0 == 0 /\ x_176^0-x_176^post79 == 0 /\ -nondet_12^post79+nondet_12^0 == 0 /\ head_15^0-head_15^post79 == 0 /\ i_30^0-i_30^post79 == 0 /\ i_95^0-i_95^post79 == 0 /\ -len_187^post79+len_187^0 == 0 /\ result_11^0-result_11^post79 == 0 /\ x_131^0-x_131^post79 == 0 /\ y_25^0-y_25^post79 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ -f_171^post79+f_171^0 == 0 /\ -r_165^post79+r_165^0 == 0 /\ -t_22^post79+t_22^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post79+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_39^0-r_39^post79 == 0 /\ a_289^0-a_289^post79 == 0 /\ -a_342^post79+a_342^0 == 0 /\ temp_35^0-temp_35^post79 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post79 == 0 /\ -length_28^post79+length_28^0 == 0 /\ -r_126^post79+r_126^0 == 0), cost: 1
  80: l53 -> l54 : a_118^0'=a_118^post80, x_176^0'=x_176^post80, i_30^0'=i_30^post80, result_11^0'=result_11^post80, a_289^0'=a_289^post80, y_18^0'=y_18^post80, len_187^0'=len_187^post80, temp0_16^0'=temp0_16^post80, temp_35^0'=temp_35^post80, head_32^0'=head_32^post80, r_39^0'=r_39^post80, a_188^0'=a_188^post80, x_26^0'=x_26^post80, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post80, a_343^0'=a_343^post80, nondet_12^0'=nondet_12^post80, x_131^0'=x_131^post80, i_110^0'=i_110^post80, rcd_89^0'=rcd_89^post80, a_281^0'=a_281^post80, x_SLAM_f_24^0'=x_SLAM_f_24^post80, len_134^0'=len_134^post80, tail_14^0'=tail_14^post80, head_15^0'=head_15^post80, r_165^0'=r_165^post80, a_149^0'=a_149^post80, x_19^0'=x_19^post80, i_95^0'=i_95^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post80, a_342^0'=a_342^post80, y_25^0'=y_25^post80, length_28^0'=length_28^post80, temp0_31^0'=temp0_31^post80, tmp_34^0'=tmp_34^post80, head_SLAM_f_29^0'=head_SLAM_f_29^post80, rcd_59^0'=rcd_59^post80, a_225^0'=a_225^post80, x_SLAM_f_17^0'=x_SLAM_f_17^post80, t_22^0'=t_22^post80, f_171^0'=f_171^post80, r_126^0'=r_126^post80, (0 == 0 /\ 1+a_118^0-len_134^0 <= 0 /\ result_11^0-result_11^post80 == 0 /\ -len_134^post80+len_134^0 == 0 /\ -t_22^post80+t_22^0 == 0 /\ -x_19^post80+x_SLAM_f_17^post80 <= 0 /\ temp_35^0-temp_35^post80 == 0 /\ a_149^0-a_149^post80 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post80 == 0 /\ -rcd_59^post80+rcd_59^0 == 0 /\ -tmp_34^post80+tmp_34^0 == 0 /\ -x_131^post80+x_131^0 == 0 /\ -tail_14^post80+tail_14^0 == 0 /\ -x_19^post80+head_15^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post80 == 0 /\ len_187^0-len_187^post80 == 0 /\ a_118^0-a_118^post80 == 0 /\ -f_171^post80+f_171^0 == 0 /\ -a_281^post80+a_281^0 == 0 /\ x_19^post80-x_SLAM_f_17^post80 <= 0 /\ x_19^post80-x_SLAM_f_17^post80 == 0 /\ -a_118^0 <= 0 /\ a_343^0-a_343^post80 == 0 /\ -temp0_16^post80+temp0_16^0 == 0 /\ -a_149^0 <= 0 /\ -r_126^post80+r_126^0 == 0 /\ nondet_12^0-nondet_12^post80 == 0 /\ x_19^post80-head_15^0 <= 0 /\ -a_342^post80+a_342^0 == 0 /\ -r_165^post80+r_165^0 == 0 /\ head_15^0-head_15^post80 == 0 /\ -1-a_118^0+len_134^0 <= 0 /\ -x_SLAM_f_17^post80+head_15^0 <= 0 /\ r_39^0-r_39^post80 == 0 /\ head_32^0-head_32^post80 == 0 /\ a_149^0 <= 0 /\ x_26^0-y_25^0 <= 0 /\ -temp0_31^post80+temp0_31^0 == 0 /\ x_176^0-x_176^post80 == 0 /\ tail_14^0-y_18^post80 <= 0 /\ i_110^0-i_110^post80 == 0 /\ a_289^0-a_289^post80 == 0 /\ x_SLAM_f_17^post80-head_15^0 <= 0 /\ x_SLAM_f_17^post80-head_15^0 == 0 /\ -a_225^post80+a_225^0 == 0 /\ -x_26^0+y_25^0 <= 0 /\ -rcd_89^post80+rcd_89^0 == 0 /\ i_30^0-i_30^post80 == 0 /\ length_28^0-length_28^post80 == 0 /\ i_95^0-i_95^post80 == 0 /\ -tail_14^0+y_18^post80 <= 0 /\ -tail_14^0+y_18^post80 == 0 /\ a_188^0-a_188^post80 == 0), cost: 1
  84: l53 -> l56 : a_118^0'=a_118^post84, x_176^0'=x_176^post84, i_30^0'=i_30^post84, result_11^0'=result_11^post84, a_289^0'=a_289^post84, y_18^0'=y_18^post84, len_187^0'=len_187^post84, temp0_16^0'=temp0_16^post84, temp_35^0'=temp_35^post84, head_32^0'=head_32^post84, r_39^0'=r_39^post84, a_188^0'=a_188^post84, x_26^0'=x_26^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, a_343^0'=a_343^post84, nondet_12^0'=nondet_12^post84, x_131^0'=x_131^post84, i_110^0'=i_110^post84, rcd_89^0'=rcd_89^post84, a_281^0'=a_281^post84, x_SLAM_f_24^0'=x_SLAM_f_24^post84, len_134^0'=len_134^post84, tail_14^0'=tail_14^post84, head_15^0'=head_15^post84, r_165^0'=r_165^post84, a_149^0'=a_149^post84, x_19^0'=x_19^post84, i_95^0'=i_95^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84, a_342^0'=a_342^post84, y_25^0'=y_25^post84, length_28^0'=length_28^post84, temp0_31^0'=temp0_31^post84, tmp_34^0'=tmp_34^post84, head_SLAM_f_29^0'=head_SLAM_f_29^post84, rcd_59^0'=rcd_59^post84, a_225^0'=a_225^post84, x_SLAM_f_17^0'=x_SLAM_f_17^post84, t_22^0'=t_22^post84, f_171^0'=f_171^post84, r_126^0'=r_126^post84, (0 == 0 /\ a_343^0-a_343^post84 == 0 /\ -y_25^post84+y_25^0 == 0 /\ temp_35^0-temp_35^post84 == 0 /\ -r_165^post84+r_165^0 == 0 /\ rcd_89^0-rcd_89^post84 == 0 /\ a_149^0-a_149^post84 == 0 /\ len_187^0-len_187^post84 == 0 /\ -temp0_31^post84+temp0_31^0 == 0 /\ y_18^0-y_18^post84 == 0 /\ a_118^0-a_118^post84 == 0 /\ -t_22^post84+t_22^0 == 0 /\ -a_118^0 <= 0 /\ temp0_16^0-temp0_16^post84 == 0 /\ result_11^0-result_11^post84 == 0 /\ -length_28^post84+length_28^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post84 == 0 /\ -a_225^post84+a_225^0 == 0 /\ -head_SLAM_f_29^post84+head_SLAM_f_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post84+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_19^post84+x_19^0 == 0 /\ -a_289^post84+a_289^0 == 0 /\ r_39^0-r_39^post84 == 0 /\ -len_134^post84+len_134^0 == 0 /\ i_30^0-i_30^post84 == 0 /\ x_176^0-x_176^post84 == 0 /\ head_32^0-head_32^post84 == 0 /\ -tmp_34^post84+tmp_34^0 == 0 /\ a_188^0-a_188^post84 == 0 /\ f_171^0-f_171^post84 == 0 /\ a_281^0-a_281^post84 == 0 /\ nondet_12^0-nondet_12^post84 == 0 /\ -rcd_59^post84+rcd_59^0 == 0 /\ -i_95^post84+i_95^0 == 0 /\ -x_26^post84+x_26^0 == 0 /\ -i_110^post84+i_110^0 == 0 /\ a_342^0-a_342^post84 == 0), cost: 1
  81: l54 -> l55 : a_118^0'=a_118^post81, x_176^0'=x_176^post81, i_30^0'=i_30^post81, result_11^0'=result_11^post81, a_289^0'=a_289^post81, y_18^0'=y_18^post81, len_187^0'=len_187^post81, temp0_16^0'=temp0_16^post81, temp_35^0'=temp_35^post81, head_32^0'=head_32^post81, r_39^0'=r_39^post81, a_188^0'=a_188^post81, x_26^0'=x_26^post81, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post81, a_343^0'=a_343^post81, nondet_12^0'=nondet_12^post81, x_131^0'=x_131^post81, i_110^0'=i_110^post81, rcd_89^0'=rcd_89^post81, a_281^0'=a_281^post81, x_SLAM_f_24^0'=x_SLAM_f_24^post81, len_134^0'=len_134^post81, tail_14^0'=tail_14^post81, head_15^0'=head_15^post81, r_165^0'=r_165^post81, a_149^0'=a_149^post81, x_19^0'=x_19^post81, i_95^0'=i_95^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post81, a_342^0'=a_342^post81, y_25^0'=y_25^post81, length_28^0'=length_28^post81, temp0_31^0'=temp0_31^post81, tmp_34^0'=tmp_34^post81, head_SLAM_f_29^0'=head_SLAM_f_29^post81, rcd_59^0'=rcd_59^post81, a_225^0'=a_225^post81, x_SLAM_f_17^0'=x_SLAM_f_17^post81, t_22^0'=t_22^post81, f_171^0'=f_171^post81, r_126^0'=r_126^post81, (-r_165^post81+r_165^0 == 0 /\ a_149^0-a_149^post81 == 0 /\ a_343^0-a_343^post81 == 0 /\ temp_35^0-temp_35^post81 == 0 /\ -y_25^post81+y_25^0 == 0 /\ len_187^0-len_187^post81 == 0 /\ x_26^0-x_26^post81 == 0 /\ -temp0_31^post81+temp0_31^0 == 0 /\ -x_SLAM_f_24^post81+x_SLAM_f_24^0 == 0 /\ y_18^0-y_18^post81 == 0 /\ r_39^0-r_39^post81 == 0 /\ temp0_16^0-temp0_16^post81 == 0 /\ -t_22^post81+t_22^0 == 0 /\ a_118^0-a_118^post81 == 0 /\ -length_28^post81+length_28^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post81 == 0 /\ result_11^0-result_11^post81 == 0 /\ -head_SLAM_f_29^post81+head_SLAM_f_29^0 == 0 /\ x_131^0-x_131^post81 == 0 /\ -len_134^post81+len_134^0 == 0 /\ rcd_89^0-rcd_89^post81 == 0 /\ -f_171^post81+f_171^0 == 0 /\ -a_225^post81+a_225^0 == 0 /\ -tail_14^post81+tail_14^0 == 0 /\ -head_15^post81+head_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post81+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_126^post81+r_126^0 == 0 /\ -x_19^post81+x_19^0 == 0 /\ -a_188^post81+a_188^0 == 0 /\ -a_289^post81+a_289^0 == 0 /\ i_30^0-i_30^post81 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post81 == 0 /\ -rcd_59^post81+rcd_59^0 == 0 /\ x_176^0-x_176^post81 == 0 /\ head_32^0-head_32^post81 == 0 /\ a_281^0-a_281^post81 == 0 /\ nondet_12^0-nondet_12^post81 == 0 /\ -i_95^post81+i_95^0 == 0 /\ a_342^0-a_342^post81 == 0 /\ -i_110^post81+i_110^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0 /\ -tmp_34^post81+tmp_34^0 == 0), cost: 1
  82: l54 -> l55 : a_118^0'=a_118^post82, x_176^0'=x_176^post82, i_30^0'=i_30^post82, result_11^0'=result_11^post82, a_289^0'=a_289^post82, y_18^0'=y_18^post82, len_187^0'=len_187^post82, temp0_16^0'=temp0_16^post82, temp_35^0'=temp_35^post82, head_32^0'=head_32^post82, r_39^0'=r_39^post82, a_188^0'=a_188^post82, x_26^0'=x_26^post82, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post82, a_343^0'=a_343^post82, nondet_12^0'=nondet_12^post82, x_131^0'=x_131^post82, i_110^0'=i_110^post82, rcd_89^0'=rcd_89^post82, a_281^0'=a_281^post82, x_SLAM_f_24^0'=x_SLAM_f_24^post82, len_134^0'=len_134^post82, tail_14^0'=tail_14^post82, head_15^0'=head_15^post82, r_165^0'=r_165^post82, a_149^0'=a_149^post82, x_19^0'=x_19^post82, i_95^0'=i_95^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post82, a_342^0'=a_342^post82, y_25^0'=y_25^post82, length_28^0'=length_28^post82, temp0_31^0'=temp0_31^post82, tmp_34^0'=tmp_34^post82, head_SLAM_f_29^0'=head_SLAM_f_29^post82, rcd_59^0'=rcd_59^post82, a_225^0'=a_225^post82, x_SLAM_f_17^0'=x_SLAM_f_17^post82, t_22^0'=t_22^post82, f_171^0'=f_171^post82, r_126^0'=r_126^post82, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post82 == 0 /\ temp0_31^0-temp0_31^post82 == 0 /\ y_18^0-y_18^post82 == 0 /\ -a_343^post82+a_343^0 == 0 /\ a_118^0-a_118^post82 == 0 /\ head_32^0-head_32^post82 == 0 /\ x_26^0-x_26^post82 == 0 /\ a_188^0-a_188^post82 == 0 /\ -a_281^post82+a_281^0 == 0 /\ -a_225^post82+a_225^0 == 0 /\ -a_149^post82+a_149^0 == 0 /\ len_134^0-len_134^post82 == 0 /\ -rcd_89^post82+rcd_89^0 == 0 /\ -tail_14^post82+tail_14^0 == 0 /\ -tmp_34^post82+tmp_34^0 == 0 /\ -head_SLAM_f_29^post82+head_SLAM_f_29^0 == 0 /\ -i_95^post82+i_95^0 == 0 /\ x_176^0-x_176^post82 == 0 /\ rcd_59^0-rcd_59^post82 == 0 /\ -nondet_12^post82+nondet_12^0 == 0 /\ -x_SLAM_f_17^post82+x_SLAM_f_17^0 == 0 /\ head_15^0-head_15^post82 == 0 /\ -len_187^post82+len_187^0 == 0 /\ i_30^0-i_30^post82 == 0 /\ temp0_16^0-temp0_16^post82 == 0 /\ result_11^0-result_11^post82 == 0 /\ x_131^0-x_131^post82 == 0 /\ y_25^0-y_25^post82 == 0 /\ a_342^0-a_342^post82 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ -t_22^post82+t_22^0 == 0 /\ -r_165^post82+r_165^0 == 0 /\ -f_171^post82+f_171^0 == 0 /\ r_39^0-r_39^post82 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post82+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp_35^0-temp_35^post82 == 0 /\ a_289^0-a_289^post82 == 0 /\ i_110^0-i_110^post82 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post82 == 0 /\ -x_19^post82+x_19^0 == 0 /\ -length_28^post82+length_28^0 == 0 /\ -r_126^post82+r_126^0 == 0), cost: 1
  83: l55 -> l23 : a_118^0'=a_118^post83, x_176^0'=x_176^post83, i_30^0'=i_30^post83, result_11^0'=result_11^post83, a_289^0'=a_289^post83, y_18^0'=y_18^post83, len_187^0'=len_187^post83, temp0_16^0'=temp0_16^post83, temp_35^0'=temp_35^post83, head_32^0'=head_32^post83, r_39^0'=r_39^post83, a_188^0'=a_188^post83, x_26^0'=x_26^post83, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post83, a_343^0'=a_343^post83, nondet_12^0'=nondet_12^post83, x_131^0'=x_131^post83, i_110^0'=i_110^post83, rcd_89^0'=rcd_89^post83, a_281^0'=a_281^post83, x_SLAM_f_24^0'=x_SLAM_f_24^post83, len_134^0'=len_134^post83, tail_14^0'=tail_14^post83, head_15^0'=head_15^post83, r_165^0'=r_165^post83, a_149^0'=a_149^post83, x_19^0'=x_19^post83, i_95^0'=i_95^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83, a_342^0'=a_342^post83, y_25^0'=y_25^post83, length_28^0'=length_28^post83, temp0_31^0'=temp0_31^post83, tmp_34^0'=tmp_34^post83, head_SLAM_f_29^0'=head_SLAM_f_29^post83, rcd_59^0'=rcd_59^post83, a_225^0'=a_225^post83, x_SLAM_f_17^0'=x_SLAM_f_17^post83, t_22^0'=t_22^post83, f_171^0'=f_171^post83, r_126^0'=r_126^post83, (-x_SLAM_f_17^post83+x_SLAM_f_17^0 == 0 /\ -a_342^post83+a_342^0 == 0 /\ len_134^0-len_134^post83 == 0 /\ -nondet_12^post83+nondet_12^0 == 0 /\ result_11^0-result_11^post83 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post83 == 0 /\ -x_131^post83+x_131^0 == 0 /\ a_149^0-a_149^post83 == 0 /\ -tail_14^post83+tail_14^0 == 0 /\ temp_35^0-temp_35^post83 == 0 /\ -tmp_34^post83+tmp_34^0 == 0 /\ -rcd_59^post83+rcd_59^0 == 0 /\ len_187^0-len_187^post83 == 0 /\ -x_19^post83+x_19^0 == 0 /\ a_118^0-a_118^post83 == 0 /\ a_343^0-a_343^post83 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post83 == 0 /\ -r_126^post83+r_126^0 == 0 /\ x_26^0-x_26^post83 == 0 /\ -f_171^post83+f_171^0 == 0 /\ -temp0_16^post83+temp0_16^0 == 0 /\ head_32^0-head_32^post83 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post83 == 0 /\ head_15^0-head_15^post83 == 0 /\ -r_165^post83+r_165^0 == 0 /\ y_25^0-y_25^post83 == 0 /\ r_39^0-r_39^post83 == 0 /\ -x_SLAM_f_24^post83+x_SLAM_f_24^0 == 0 /\ x_176^0-x_176^post83 == 0 /\ -a_281^post83+a_281^0 == 0 /\ -temp0_31^post83+temp0_31^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_289^0-a_289^post83 == 0 /\ i_110^0-i_110^post83 == 0 /\ -a_225^post83+a_225^0 == 0 /\ -rcd_89^post83+rcd_89^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_30^0-i_30^post83 == 0 /\ y_18^0-y_18^post83 == 0 /\ i_95^0-i_95^post83 == 0 /\ length_28^0-length_28^post83 == 0 /\ a_188^0-a_188^post83 == 0 /\ -t_22^post83+t_22^0 == 0), cost: 1
  85: l56 -> l57 : a_118^0'=a_118^post85, x_176^0'=x_176^post85, i_30^0'=i_30^post85, result_11^0'=result_11^post85, a_289^0'=a_289^post85, y_18^0'=y_18^post85, len_187^0'=len_187^post85, temp0_16^0'=temp0_16^post85, temp_35^0'=temp_35^post85, head_32^0'=head_32^post85, r_39^0'=r_39^post85, a_188^0'=a_188^post85, x_26^0'=x_26^post85, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post85, a_343^0'=a_343^post85, nondet_12^0'=nondet_12^post85, x_131^0'=x_131^post85, i_110^0'=i_110^post85, rcd_89^0'=rcd_89^post85, a_281^0'=a_281^post85, x_SLAM_f_24^0'=x_SLAM_f_24^post85, len_134^0'=len_134^post85, tail_14^0'=tail_14^post85, head_15^0'=head_15^post85, r_165^0'=r_165^post85, a_149^0'=a_149^post85, x_19^0'=x_19^post85, i_95^0'=i_95^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post85, a_342^0'=a_342^post85, y_25^0'=y_25^post85, length_28^0'=length_28^post85, temp0_31^0'=temp0_31^post85, tmp_34^0'=tmp_34^post85, head_SLAM_f_29^0'=head_SLAM_f_29^post85, rcd_59^0'=rcd_59^post85, a_225^0'=a_225^post85, x_SLAM_f_17^0'=x_SLAM_f_17^post85, t_22^0'=t_22^post85, f_171^0'=f_171^post85, r_126^0'=r_126^post85, (temp0_31^0-temp0_31^post85 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post85 == 0 /\ y_18^0-y_18^post85 == 0 /\ -a_343^post85+a_343^0 == 0 /\ head_32^0-head_32^post85 == 0 /\ -a_225^post85+a_225^0 == 0 /\ x_26^0-x_26^post85 == 0 /\ -a_281^post85+a_281^0 == 0 /\ a_188^0-a_188^post85 == 0 /\ len_134^0-len_134^post85 == 0 /\ -a_149^post85+a_149^0 == 0 /\ -i_95^post85+i_95^0 == 0 /\ -x_SLAM_f_24^post85+x_SLAM_f_24^0 == 0 /\ -tmp_34^post85+tmp_34^0 == 0 /\ -rcd_89^post85+rcd_89^0 == 0 /\ -head_SLAM_f_29^post85+head_SLAM_f_29^0 == 0 /\ -nondet_12^post85+nondet_12^0 == 0 /\ rcd_59^0-rcd_59^post85 == 0 /\ head_15^0-head_15^post85 == 0 /\ -x_SLAM_f_17^post85+x_SLAM_f_17^0 == 0 /\ a_118^0-a_118^post85 == 0 /\ -y_25^post85+y_25^0 == 0 /\ temp0_16^0-temp0_16^post85 == 0 /\ r_165^0-r_165^post85 == 0 /\ a_342^0-a_342^post85 == 0 /\ x_131^0-x_131^post85 == 0 /\ result_11^0-result_11^post85 == 0 /\ i_30^0-i_30^post85 == 0 /\ -len_187^post85+len_187^0 == 0 /\ -t_22^post85+t_22^0 == 0 /\ -tail_14^post85+tail_14^0 == 0 /\ -r_126^post85+r_126^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post85+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ 1-x_26^0+y_25^0 <= 0 /\ -f_171^post85+f_171^0 == 0 /\ r_39^0-r_39^post85 == 0 /\ temp_35^0-temp_35^post85 == 0 /\ -length_28^post85+length_28^0 == 0 /\ i_110^0-i_110^post85 == 0 /\ x_176^0-x_176^post85 == 0 /\ -x_19^post85+x_19^0 == 0 /\ a_289^0-a_289^post85 == 0), cost: 1
  86: l56 -> l57 : a_118^0'=a_118^post86, x_176^0'=x_176^post86, i_30^0'=i_30^post86, result_11^0'=result_11^post86, a_289^0'=a_289^post86, y_18^0'=y_18^post86, len_187^0'=len_187^post86, temp0_16^0'=temp0_16^post86, temp_35^0'=temp_35^post86, head_32^0'=head_32^post86, r_39^0'=r_39^post86, a_188^0'=a_188^post86, x_26^0'=x_26^post86, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post86, a_343^0'=a_343^post86, nondet_12^0'=nondet_12^post86, x_131^0'=x_131^post86, i_110^0'=i_110^post86, rcd_89^0'=rcd_89^post86, a_281^0'=a_281^post86, x_SLAM_f_24^0'=x_SLAM_f_24^post86, len_134^0'=len_134^post86, tail_14^0'=tail_14^post86, head_15^0'=head_15^post86, r_165^0'=r_165^post86, a_149^0'=a_149^post86, x_19^0'=x_19^post86, i_95^0'=i_95^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post86, a_342^0'=a_342^post86, y_25^0'=y_25^post86, length_28^0'=length_28^post86, temp0_31^0'=temp0_31^post86, tmp_34^0'=tmp_34^post86, head_SLAM_f_29^0'=head_SLAM_f_29^post86, rcd_59^0'=rcd_59^post86, a_225^0'=a_225^post86, x_SLAM_f_17^0'=x_SLAM_f_17^post86, t_22^0'=t_22^post86, f_171^0'=f_171^post86, r_126^0'=r_126^post86, (-x_SLAM_f_17^post86+x_SLAM_f_17^0 == 0 /\ len_134^0-len_134^post86 == 0 /\ -head_15^post86+head_15^0 == 0 /\ -a_342^post86+a_342^0 == 0 /\ -nondet_12^post86+nondet_12^0 == 0 /\ head_32^0-head_32^post86 == 0 /\ -r_126^post86+r_126^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post86 == 0 /\ -rcd_59^post86+rcd_59^0 == 0 /\ -tail_14^post86+tail_14^0 == 0 /\ a_118^0-a_118^post86 == 0 /\ -x_19^post86+x_19^0 == 0 /\ -x_131^post86+x_131^0 == 0 /\ temp_35^0-temp_35^post86 == 0 /\ len_187^0-len_187^post86 == 0 /\ temp0_31^0-temp0_31^post86 == 0 /\ i_110^0-i_110^post86 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post86 == 0 /\ -a_281^post86+a_281^0 == 0 /\ x_26^0-x_26^post86 == 0 /\ -tmp_34^post86+tmp_34^0 == 0 /\ -f_171^post86+f_171^0 == 0 /\ -temp0_16^post86+temp0_16^0 == 0 /\ -r_165^post86+r_165^0 == 0 /\ a_225^0-a_225^post86 == 0 /\ length_28^0-length_28^post86 == 0 /\ r_39^0-r_39^post86 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ result_11^0-result_11^post86 == 0 /\ y_25^0-y_25^post86 == 0 /\ -x_SLAM_f_24^post86+x_SLAM_f_24^0 == 0 /\ x_176^0-x_176^post86 == 0 /\ -a_343^post86+a_343^0 == 0 /\ a_289^0-a_289^post86 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post86 == 0 /\ i_95^0-i_95^post86 == 0 /\ i_30^0-i_30^post86 == 0 /\ y_18^0-y_18^post86 == 0 /\ -rcd_89^post86+rcd_89^0 == 0 /\ a_188^0-a_188^post86 == 0 /\ -t_22^post86+t_22^0 == 0 /\ -a_149^post86+a_149^0 == 0), cost: 1
  87: l57 -> l58 : a_118^0'=a_118^post87, x_176^0'=x_176^post87, i_30^0'=i_30^post87, result_11^0'=result_11^post87, a_289^0'=a_289^post87, y_18^0'=y_18^post87, len_187^0'=len_187^post87, temp0_16^0'=temp0_16^post87, temp_35^0'=temp_35^post87, head_32^0'=head_32^post87, r_39^0'=r_39^post87, a_188^0'=a_188^post87, x_26^0'=x_26^post87, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post87, a_343^0'=a_343^post87, nondet_12^0'=nondet_12^post87, x_131^0'=x_131^post87, i_110^0'=i_110^post87, rcd_89^0'=rcd_89^post87, a_281^0'=a_281^post87, x_SLAM_f_24^0'=x_SLAM_f_24^post87, len_134^0'=len_134^post87, tail_14^0'=tail_14^post87, head_15^0'=head_15^post87, r_165^0'=r_165^post87, a_149^0'=a_149^post87, x_19^0'=x_19^post87, i_95^0'=i_95^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post87, a_342^0'=a_342^post87, y_25^0'=y_25^post87, length_28^0'=length_28^post87, temp0_31^0'=temp0_31^post87, tmp_34^0'=tmp_34^post87, head_SLAM_f_29^0'=head_SLAM_f_29^post87, rcd_59^0'=rcd_59^post87, a_225^0'=a_225^post87, x_SLAM_f_17^0'=x_SLAM_f_17^post87, t_22^0'=t_22^post87, f_171^0'=f_171^post87, r_126^0'=r_126^post87, (-y_25^post87+y_25^0 == 0 /\ -temp0_31^post87+temp0_31^0 == 0 /\ a_343^0-a_343^post87 == 0 /\ temp_35^0-temp_35^post87 == 0 /\ rcd_89^0-rcd_89^post87 == 0 /\ a_149^0-a_149^post87 == 0 /\ -r_165^post87+r_165^0 == 0 /\ len_187^0-len_187^post87 == 0 /\ -x_SLAM_f_24^post87+x_SLAM_f_24^0 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ -t_22^post87+t_22^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post87 == 0 /\ a_118^0-a_118^post87 == 0 /\ -r_126^post87+r_126^0 == 0 /\ temp0_16^0-temp0_16^post87 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post87 == 0 /\ result_11^0-result_11^post87 == 0 /\ nondet_12^0-nondet_12^post87 == 0 /\ -length_28^post87+length_28^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ tail_14^0-tail_14^post87 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post87+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_15^post87+head_15^0 == 0 /\ r_39^0-r_39^post87 == 0 /\ -len_134^post87+len_134^0 == 0 /\ x_176^0-x_176^post87 == 0 /\ tail_14^0-y_25^0 <= 0 /\ -x_19^post87+x_19^0 == 0 /\ -a_225^post87+a_225^0 == 0 /\ head_32^0-head_32^post87 == 0 /\ -x_26^post87+x_26^0 == 0 /\ a_188^0-a_188^post87 == 0 /\ y_18^0-y_18^post87 == 0 /\ -tmp_34^post87+tmp_34^0 == 0 /\ -rcd_59^post87+rcd_59^0 == 0 /\ i_30^0-i_30^post87 == 0 /\ f_171^0-f_171^post87 == 0 /\ -i_95^post87+i_95^0 == 0 /\ a_281^0-a_281^post87 == 0 /\ -a_289^post87+a_289^0 == 0 /\ -i_110^post87+i_110^0 == 0 /\ -head_SLAM_f_29^post87+head_SLAM_f_29^0 == 0 /\ a_342^0-a_342^post87 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ x_131^0-x_131^post87 == 0), cost: 1
  88: l58 -> l59 : a_118^0'=a_118^post88, x_176^0'=x_176^post88, i_30^0'=i_30^post88, result_11^0'=result_11^post88, a_289^0'=a_289^post88, y_18^0'=y_18^post88, len_187^0'=len_187^post88, temp0_16^0'=temp0_16^post88, temp_35^0'=temp_35^post88, head_32^0'=head_32^post88, r_39^0'=r_39^post88, a_188^0'=a_188^post88, x_26^0'=x_26^post88, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post88, a_343^0'=a_343^post88, nondet_12^0'=nondet_12^post88, x_131^0'=x_131^post88, i_110^0'=i_110^post88, rcd_89^0'=rcd_89^post88, a_281^0'=a_281^post88, x_SLAM_f_24^0'=x_SLAM_f_24^post88, len_134^0'=len_134^post88, tail_14^0'=tail_14^post88, head_15^0'=head_15^post88, r_165^0'=r_165^post88, a_149^0'=a_149^post88, x_19^0'=x_19^post88, i_95^0'=i_95^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post88, a_342^0'=a_342^post88, y_25^0'=y_25^post88, length_28^0'=length_28^post88, temp0_31^0'=temp0_31^post88, tmp_34^0'=tmp_34^post88, head_SLAM_f_29^0'=head_SLAM_f_29^post88, rcd_59^0'=rcd_59^post88, a_225^0'=a_225^post88, x_SLAM_f_17^0'=x_SLAM_f_17^post88, t_22^0'=t_22^post88, f_171^0'=f_171^post88, r_126^0'=r_126^post88, (temp0_31^0-temp0_31^post88 == 0 /\ len_187^0-len_187^post88 == 0 /\ -a_225^post88+a_225^0 == 0 /\ y_18^0-y_18^post88 == 0 /\ -a_281^post88+a_281^0 == 0 /\ x_26^0-x_26^post88 == 0 /\ -a_343^post88+a_343^0 == 0 /\ head_32^0-head_32^post88 == 0 /\ a_188^0-a_188^post88 == 0 /\ len_134^0-len_134^post88 == 0 /\ head_15^0-head_15^post88 == 0 /\ -i_95^post88+i_95^0 == 0 /\ -rcd_89^post88+rcd_89^0 == 0 /\ -x_SLAM_f_24^post88+x_SLAM_f_24^0 == 0 /\ a_289^0-a_289^post88 == 0 /\ -x_SLAM_f_17^post88+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post88+head_SLAM_f_29^0 == 0 /\ temp_35^0-temp_35^post88 == 0 /\ -a_149^post88+a_149^0 == 0 /\ rcd_59^0-rcd_59^post88 == 0 /\ temp0_16^0-temp0_16^post88 == 0 /\ r_165^0-r_165^post88 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post88 == 0 /\ x_131^0-x_131^post88 == 0 /\ a_118^0-a_118^post88 == 0 /\ -nondet_12^post88+nondet_12^0 == 0 /\ -length_28^post88+length_28^0 == 0 /\ i_30^0-i_30^post88 == 0 /\ a_342^0-a_342^post88 == 0 /\ -tmp_34^post88+tmp_34^0 == 0 /\ result_11^0-result_11^post88 == 0 /\ -tail_14^post88+tail_14^0 == 0 /\ -t_22^post88+t_22^0 == 0 /\ -y_25^post88+y_25^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post88+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -f_171^post88+f_171^0 == 0 /\ 1+head_15^0-y_25^0 <= 0 /\ r_39^0-r_39^post88 == 0 /\ i_110^0-i_110^post88 == 0 /\ x_176^0-x_176^post88 == 0 /\ -x_19^post88+x_19^0 == 0 /\ -r_126^post88+r_126^0 == 0), cost: 1
  89: l58 -> l59 : a_118^0'=a_118^post89, x_176^0'=x_176^post89, i_30^0'=i_30^post89, result_11^0'=result_11^post89, a_289^0'=a_289^post89, y_18^0'=y_18^post89, len_187^0'=len_187^post89, temp0_16^0'=temp0_16^post89, temp_35^0'=temp_35^post89, head_32^0'=head_32^post89, r_39^0'=r_39^post89, a_188^0'=a_188^post89, x_26^0'=x_26^post89, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post89, a_343^0'=a_343^post89, nondet_12^0'=nondet_12^post89, x_131^0'=x_131^post89, i_110^0'=i_110^post89, rcd_89^0'=rcd_89^post89, a_281^0'=a_281^post89, x_SLAM_f_24^0'=x_SLAM_f_24^post89, len_134^0'=len_134^post89, tail_14^0'=tail_14^post89, head_15^0'=head_15^post89, r_165^0'=r_165^post89, a_149^0'=a_149^post89, x_19^0'=x_19^post89, i_95^0'=i_95^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post89, a_342^0'=a_342^post89, y_25^0'=y_25^post89, length_28^0'=length_28^post89, temp0_31^0'=temp0_31^post89, tmp_34^0'=tmp_34^post89, head_SLAM_f_29^0'=head_SLAM_f_29^post89, rcd_59^0'=rcd_59^post89, a_225^0'=a_225^post89, x_SLAM_f_17^0'=x_SLAM_f_17^post89, t_22^0'=t_22^post89, f_171^0'=f_171^post89, r_126^0'=r_126^post89, (-nondet_12^post89+nondet_12^0 == 0 /\ -head_15^post89+head_15^0 == 0 /\ -r_126^post89+r_126^0 == 0 /\ head_32^0-head_32^post89 == 0 /\ -a_225^post89+a_225^0 == 0 /\ -tail_14^post89+tail_14^0 == 0 /\ a_118^0-a_118^post89 == 0 /\ -x_SLAM_f_17^post89+x_SLAM_f_17^0 == 0 /\ len_134^0-len_134^post89 == 0 /\ -head_SLAM_f_29^post89+head_SLAM_f_29^0 == 0 /\ -rcd_59^post89+rcd_59^0 == 0 /\ temp_35^0-temp_35^post89 == 0 /\ i_110^0-i_110^post89 == 0 /\ -x_131^post89+x_131^0 == 0 /\ -a_342^post89+a_342^0 == 0 /\ temp0_31^0-temp0_31^post89 == 0 /\ len_187^0-len_187^post89 == 0 /\ -a_281^post89+a_281^0 == 0 /\ -x_19^post89+x_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post89 == 0 /\ -tmp_34^post89+tmp_34^0 == 0 /\ -r_165^post89+r_165^0 == 0 /\ x_26^0-x_26^post89 == 0 /\ -f_171^post89+f_171^0 == 0 /\ -x_SLAM_f_24^post89+x_SLAM_f_24^0 == 0 /\ -i_95^post89+i_95^0 == 0 /\ r_39^0-r_39^post89 == 0 /\ length_28^0-length_28^post89 == 0 /\ 1-head_15^0+y_25^0 <= 0 /\ x_176^0-x_176^post89 == 0 /\ temp0_16^0-temp0_16^post89 == 0 /\ result_11^0-result_11^post89 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post89 == 0 /\ -a_343^post89+a_343^0 == 0 /\ a_289^0-a_289^post89 == 0 /\ -rcd_89^post89+rcd_89^0 == 0 /\ -a_149^post89+a_149^0 == 0 /\ -t_22^post89+t_22^0 == 0 /\ -y_25^post89+y_25^0 == 0 /\ a_188^0-a_188^post89 == 0 /\ y_18^0-y_18^post89 == 0 /\ i_30^0-i_30^post89 == 0), cost: 1
  90: l59 -> l60 : a_118^0'=a_118^post90, x_176^0'=x_176^post90, i_30^0'=i_30^post90, result_11^0'=result_11^post90, a_289^0'=a_289^post90, y_18^0'=y_18^post90, len_187^0'=len_187^post90, temp0_16^0'=temp0_16^post90, temp_35^0'=temp_35^post90, head_32^0'=head_32^post90, r_39^0'=r_39^post90, a_188^0'=a_188^post90, x_26^0'=x_26^post90, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post90, a_343^0'=a_343^post90, nondet_12^0'=nondet_12^post90, x_131^0'=x_131^post90, i_110^0'=i_110^post90, rcd_89^0'=rcd_89^post90, a_281^0'=a_281^post90, x_SLAM_f_24^0'=x_SLAM_f_24^post90, len_134^0'=len_134^post90, tail_14^0'=tail_14^post90, head_15^0'=head_15^post90, r_165^0'=r_165^post90, a_149^0'=a_149^post90, x_19^0'=x_19^post90, i_95^0'=i_95^post90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90, a_342^0'=a_342^post90, y_25^0'=y_25^post90, length_28^0'=length_28^post90, temp0_31^0'=temp0_31^post90, tmp_34^0'=tmp_34^post90, head_SLAM_f_29^0'=head_SLAM_f_29^post90, rcd_59^0'=rcd_59^post90, a_225^0'=a_225^post90, x_SLAM_f_17^0'=x_SLAM_f_17^post90, t_22^0'=t_22^post90, f_171^0'=f_171^post90, r_126^0'=r_126^post90, (a_149^0-a_149^post90 == 0 /\ -y_25^post90+y_25^0 == 0 /\ a_343^0-a_343^post90 == 0 /\ rcd_89^0-rcd_89^post90 == 0 /\ -r_165^post90+r_165^0 == 0 /\ temp_35^0-temp_35^post90 == 0 /\ -x_SLAM_f_24^post90+x_SLAM_f_24^0 == 0 /\ -len_134^post90+len_134^0 == 0 /\ -r_126^post90+r_126^0 == 0 /\ temp0_16^0-temp0_16^post90 == 0 /\ a_118^0-a_118^post90 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post90 == 0 /\ 1-x_131^0+y_25^0 <= 0 /\ -t_22^post90+t_22^0 == 0 /\ len_187^0-len_187^post90 == 0 /\ a_281^0-a_281^post90 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post90+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post90 == 0 /\ result_11^0-result_11^post90 == 0 /\ -temp0_31^post90+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post90 == 0 /\ -length_28^post90+length_28^0 == 0 /\ tail_14^0-tail_14^post90 == 0 /\ r_39^0-r_39^post90 == 0 /\ -a_225^post90+a_225^0 == 0 /\ -head_32^post90+head_32^0 == 0 /\ x_176^0-x_176^post90 == 0 /\ -x_19^post90+x_19^0 == 0 /\ -head_15^post90+head_15^0 == 0 /\ a_188^0-a_188^post90 == 0 /\ y_18^0-y_18^post90 == 0 /\ -a_289^post90+a_289^0 == 0 /\ -i_95^post90+i_95^0 == 0 /\ f_171^0-f_171^post90 == 0 /\ -tmp_34^post90+tmp_34^0 == 0 /\ i_30^0-i_30^post90 == 0 /\ -x_26^post90+x_26^0 == 0 /\ -i_110^post90+i_110^0 == 0 /\ -head_SLAM_f_29^post90+head_SLAM_f_29^0 == 0 /\ a_342^0-a_342^post90 == 0 /\ -rcd_59^post90+rcd_59^0 == 0 /\ x_131^0-x_131^post90 == 0), cost: 1
  91: l59 -> l60 : a_118^0'=a_118^post91, x_176^0'=x_176^post91, i_30^0'=i_30^post91, result_11^0'=result_11^post91, a_289^0'=a_289^post91, y_18^0'=y_18^post91, len_187^0'=len_187^post91, temp0_16^0'=temp0_16^post91, temp_35^0'=temp_35^post91, head_32^0'=head_32^post91, r_39^0'=r_39^post91, a_188^0'=a_188^post91, x_26^0'=x_26^post91, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, a_343^0'=a_343^post91, nondet_12^0'=nondet_12^post91, x_131^0'=x_131^post91, i_110^0'=i_110^post91, rcd_89^0'=rcd_89^post91, a_281^0'=a_281^post91, x_SLAM_f_24^0'=x_SLAM_f_24^post91, len_134^0'=len_134^post91, tail_14^0'=tail_14^post91, head_15^0'=head_15^post91, r_165^0'=r_165^post91, a_149^0'=a_149^post91, x_19^0'=x_19^post91, i_95^0'=i_95^post91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post91, a_342^0'=a_342^post91, y_25^0'=y_25^post91, length_28^0'=length_28^post91, temp0_31^0'=temp0_31^post91, tmp_34^0'=tmp_34^post91, head_SLAM_f_29^0'=head_SLAM_f_29^post91, rcd_59^0'=rcd_59^post91, a_225^0'=a_225^post91, x_SLAM_f_17^0'=x_SLAM_f_17^post91, t_22^0'=t_22^post91, f_171^0'=f_171^post91, r_126^0'=r_126^post91, (temp0_31^0-temp0_31^post91 == 0 /\ -r_39^post91+r_39^0 == 0 /\ 1+x_131^0-y_25^0 <= 0 /\ len_187^0-len_187^post91 == 0 /\ i_30^0-i_30^post91 == 0 /\ y_18^0-y_18^post91 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post91 == 0 /\ rcd_89^0-rcd_89^post91 == 0 /\ -a_343^post91+a_343^0 == 0 /\ -x_SLAM_f_24^post91+x_SLAM_f_24^0 == 0 /\ -i_95^post91+i_95^0 == 0 /\ len_134^0-len_134^post91 == 0 /\ head_15^0-head_15^post91 == 0 /\ result_11^0-result_11^post91 == 0 /\ -head_SLAM_f_29^post91+head_SLAM_f_29^0 == 0 /\ -a_225^post91+a_225^0 == 0 /\ temp_35^0-temp_35^post91 == 0 /\ a_289^0-a_289^post91 == 0 /\ rcd_59^0-rcd_59^post91 == 0 /\ -a_149^post91+a_149^0 == 0 /\ -length_28^post91+length_28^0 == 0 /\ temp0_16^0-temp0_16^post91 == 0 /\ -nondet_12^post91+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 == 0 /\ r_165^0-r_165^post91 == 0 /\ x_131^0-x_131^post91 == 0 /\ a_118^0-a_118^post91 == 0 /\ -t_22^post91+t_22^0 == 0 /\ -tail_14^post91+tail_14^0 == 0 /\ a_342^0-a_342^post91 == 0 /\ -x_26^post91+x_26^0 == 0 /\ -tmp_34^post91+tmp_34^0 == 0 /\ -y_25^post91+y_25^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post91+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_188^0-a_188^post91 == 0 /\ -x_19^post91+x_19^0 == 0 /\ head_32^0-head_32^post91 == 0 /\ -f_171^post91+f_171^0 == 0 /\ -a_281^post91+a_281^0 == 0 /\ x_176^0-x_176^post91 == 0 /\ -r_126^post91+r_126^0 == 0 /\ i_110^0-i_110^post91 == 0), cost: 1
  92: l60 -> l31 : a_118^0'=a_118^post92, x_176^0'=x_176^post92, i_30^0'=i_30^post92, result_11^0'=result_11^post92, a_289^0'=a_289^post92, y_18^0'=y_18^post92, len_187^0'=len_187^post92, temp0_16^0'=temp0_16^post92, temp_35^0'=temp_35^post92, head_32^0'=head_32^post92, r_39^0'=r_39^post92, a_188^0'=a_188^post92, x_26^0'=x_26^post92, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post92, a_343^0'=a_343^post92, nondet_12^0'=nondet_12^post92, x_131^0'=x_131^post92, i_110^0'=i_110^post92, rcd_89^0'=rcd_89^post92, a_281^0'=a_281^post92, x_SLAM_f_24^0'=x_SLAM_f_24^post92, len_134^0'=len_134^post92, tail_14^0'=tail_14^post92, head_15^0'=head_15^post92, r_165^0'=r_165^post92, a_149^0'=a_149^post92, x_19^0'=x_19^post92, i_95^0'=i_95^post92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post92, a_342^0'=a_342^post92, y_25^0'=y_25^post92, length_28^0'=length_28^post92, temp0_31^0'=temp0_31^post92, tmp_34^0'=tmp_34^post92, head_SLAM_f_29^0'=head_SLAM_f_29^post92, rcd_59^0'=rcd_59^post92, a_225^0'=a_225^post92, x_SLAM_f_17^0'=x_SLAM_f_17^post92, t_22^0'=t_22^post92, f_171^0'=f_171^post92, r_126^0'=r_126^post92, (x_176^0-x_176^post92 == 0 /\ -a_225^post92+a_225^0 == 0 /\ -tail_14^post92+tail_14^0 == 0 /\ -head_SLAM_f_29^post92+head_SLAM_f_29^0 == 0 /\ -head_15^post92+head_15^0 == 0 /\ head_32^0-head_32^post92 == 0 /\ -r_126^post92+r_126^0 == 0 /\ -nondet_12^post92+nondet_12^0 == 0 /\ i_110^0-i_110^post92 == 0 /\ len_134^0-len_134^post92 == 0 /\ temp0_31^0-temp0_31^post92 == 0 /\ -x_131^post92+x_131^0 == 0 /\ -a_342^post92+a_342^0 == 0 /\ -a_281^post92+a_281^0 == 0 /\ -rcd_59^post92+rcd_59^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post92+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_19^post92+x_19^0 == 0 /\ -x_SLAM_f_17^post92+x_SLAM_f_17^0 == 0 /\ x_26^0-x_26^post92 == 0 /\ -f_171^post92+f_171^0 == 0 /\ -tmp_34^post92+tmp_34^0 == 0 /\ -i_95^post92+i_95^0 == 0 /\ len_187^0-len_187^post92 == 0 /\ r_39^0-r_39^post92 == 0 /\ -r_165^post92+r_165^0 == 0 /\ -x_SLAM_f_24^post92+x_SLAM_f_24^0 == 0 /\ length_28^0-length_28^post92 == 0 /\ temp0_16^0-temp0_16^post92 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_118^0-a_118^post92 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post92 == 0 /\ result_11^0-result_11^post92 == 0 /\ temp_35^0-temp_35^post92 == 0 /\ a_289^0-a_289^post92 == 0 /\ -a_343^post92+a_343^0 == 0 /\ -t_22^post92+t_22^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_188^0-a_188^post92 == 0 /\ -y_25^post92+y_25^0 == 0 /\ -a_149^post92+a_149^0 == 0 /\ y_18^0-y_18^post92 == 0 /\ -rcd_89^post92+rcd_89^0 == 0 /\ i_30^0-i_30^post92 == 0), cost: 1
  95: l61 -> l62 : a_118^0'=a_118^post95, x_176^0'=x_176^post95, i_30^0'=i_30^post95, result_11^0'=result_11^post95, a_289^0'=a_289^post95, y_18^0'=y_18^post95, len_187^0'=len_187^post95, temp0_16^0'=temp0_16^post95, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, r_39^0'=r_39^post95, a_188^0'=a_188^post95, x_26^0'=x_26^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, a_343^0'=a_343^post95, nondet_12^0'=nondet_12^post95, x_131^0'=x_131^post95, i_110^0'=i_110^post95, rcd_89^0'=rcd_89^post95, a_281^0'=a_281^post95, x_SLAM_f_24^0'=x_SLAM_f_24^post95, len_134^0'=len_134^post95, tail_14^0'=tail_14^post95, head_15^0'=head_15^post95, r_165^0'=r_165^post95, a_149^0'=a_149^post95, x_19^0'=x_19^post95, i_95^0'=i_95^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, a_342^0'=a_342^post95, y_25^0'=y_25^post95, length_28^0'=length_28^post95, temp0_31^0'=temp0_31^post95, tmp_34^0'=tmp_34^post95, head_SLAM_f_29^0'=head_SLAM_f_29^post95, rcd_59^0'=rcd_59^post95, a_225^0'=a_225^post95, x_SLAM_f_17^0'=x_SLAM_f_17^post95, t_22^0'=t_22^post95, f_171^0'=f_171^post95, r_126^0'=r_126^post95, (head_SLAM_f_29^0-head_SLAM_f_29^post95 == 0 /\ -y_25^post95+y_25^0 == 0 /\ i_110^0-i_110^post95 == 0 /\ tmp_34^0-tmp_34^post95 == 0 /\ -rcd_89^post95+rcd_89^0 == 0 /\ -r_165^post95+r_165^0 == 0 /\ -x_SLAM_f_24^post95+x_SLAM_f_24^0 == 0 /\ len_187^0-len_187^post95 == 0 /\ x_176^0-x_176^post95 == 0 /\ -t_22^post95+t_22^0 == 0 /\ -r_126^post95+r_126^0 == 0 /\ head_32^0-head_32^post95 == 0 /\ a_225^0-a_225^post95 == 0 /\ -temp_35^post95+temp_35^0 == 0 /\ -a_342^post95+a_342^0 == 0 /\ -length_28^post95+length_28^0 == 0 /\ nondet_12^0-nondet_12^post95 == 0 /\ temp0_31^0-temp0_31^post95 == 0 /\ -a_343^post95+a_343^0 == 0 /\ x_26^0-x_26^post95 == 0 /\ -a_149^post95+a_149^0 == 0 /\ -f_171^post95+f_171^0 == 0 /\ a_289^0-a_289^post95 == 0 /\ -x_131^post95+x_131^0 == 0 /\ -len_134^post95+len_134^0 == 0 /\ r_39^0-r_39^post95 == 0 /\ -x_19^post95+x_19^0 == 0 /\ -i_30^post95+i_30^0 == 0 /\ -head_15^post95+head_15^0 == 0 /\ a_118^0-a_118^post95 == 0 /\ y_18^0-y_18^post95 == 0 /\ temp0_16^0-temp0_16^post95 == 0 /\ 1-x_26^0+y_25^0 <= 0 /\ a_188^0-a_188^post95 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_95^post95+i_95^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95 == 0 /\ result_11^0-result_11^post95 == 0 /\ -rcd_59^post95+rcd_59^0 == 0 /\ -a_281^post95+a_281^0 == 0 /\ -tail_14^post95+tail_14^0 == 0 /\ -x_SLAM_f_17^post95+x_SLAM_f_17^0 == 0), cost: 1
  96: l61 -> l62 : a_118^0'=a_118^post96, x_176^0'=x_176^post96, i_30^0'=i_30^post96, result_11^0'=result_11^post96, a_289^0'=a_289^post96, y_18^0'=y_18^post96, len_187^0'=len_187^post96, temp0_16^0'=temp0_16^post96, temp_35^0'=temp_35^post96, head_32^0'=head_32^post96, r_39^0'=r_39^post96, a_188^0'=a_188^post96, x_26^0'=x_26^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, a_343^0'=a_343^post96, nondet_12^0'=nondet_12^post96, x_131^0'=x_131^post96, i_110^0'=i_110^post96, rcd_89^0'=rcd_89^post96, a_281^0'=a_281^post96, x_SLAM_f_24^0'=x_SLAM_f_24^post96, len_134^0'=len_134^post96, tail_14^0'=tail_14^post96, head_15^0'=head_15^post96, r_165^0'=r_165^post96, a_149^0'=a_149^post96, x_19^0'=x_19^post96, i_95^0'=i_95^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96, a_342^0'=a_342^post96, y_25^0'=y_25^post96, length_28^0'=length_28^post96, temp0_31^0'=temp0_31^post96, tmp_34^0'=tmp_34^post96, head_SLAM_f_29^0'=head_SLAM_f_29^post96, rcd_59^0'=rcd_59^post96, a_225^0'=a_225^post96, x_SLAM_f_17^0'=x_SLAM_f_17^post96, t_22^0'=t_22^post96, f_171^0'=f_171^post96, r_126^0'=r_126^post96, (r_165^0-r_165^post96 == 0 /\ len_187^0-len_187^post96 == 0 /\ x_131^0-x_131^post96 == 0 /\ i_30^0-i_30^post96 == 0 /\ -i_95^post96+i_95^0 == 0 /\ tmp_34^0-tmp_34^post96 == 0 /\ a_281^0-a_281^post96 == 0 /\ rcd_89^0-rcd_89^post96 == 0 /\ -i_110^post96+i_110^0 == 0 /\ -a_225^post96+a_225^0 == 0 /\ nondet_12^0-nondet_12^post96 == 0 /\ tail_14^0-tail_14^post96 == 0 /\ -head_15^post96+head_15^0 == 0 /\ -head_SLAM_f_29^post96+head_SLAM_f_29^0 == 0 /\ r_39^0-r_39^post96 == 0 /\ -y_25^post96+y_25^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post96 == 0 /\ -x_SLAM_f_24^post96+x_SLAM_f_24^0 == 0 /\ a_118^0-a_118^post96 == 0 /\ temp0_16^0-temp0_16^post96 == 0 /\ a_289^0-a_289^post96 == 0 /\ temp_35^0-temp_35^post96 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_342^0-a_342^post96 == 0 /\ -length_28^post96+length_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post96 == 0 /\ -r_126^post96+r_126^0 == 0 /\ -rcd_59^post96+rcd_59^0 == 0 /\ t_22^0-t_22^post96 == 0 /\ a_343^0-a_343^post96 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_188^0-a_188^post96 == 0 /\ -x_26^post96+x_26^0 == 0 /\ len_134^0-len_134^post96 == 0 /\ result_11^0-result_11^post96 == 0 /\ -temp0_31^post96+temp0_31^0 == 0 /\ -y_18^post96+y_18^0 == 0 /\ x_176^0-x_176^post96 == 0 /\ -x_19^post96+x_19^0 == 0 /\ -f_171^post96+f_171^0 == 0 /\ -head_32^post96+head_32^0 == 0 /\ a_149^0-a_149^post96 == 0), cost: 1
  97: l62 -> l63 : a_118^0'=a_118^post97, x_176^0'=x_176^post97, i_30^0'=i_30^post97, result_11^0'=result_11^post97, a_289^0'=a_289^post97, y_18^0'=y_18^post97, len_187^0'=len_187^post97, temp0_16^0'=temp0_16^post97, temp_35^0'=temp_35^post97, head_32^0'=head_32^post97, r_39^0'=r_39^post97, a_188^0'=a_188^post97, x_26^0'=x_26^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, a_343^0'=a_343^post97, nondet_12^0'=nondet_12^post97, x_131^0'=x_131^post97, i_110^0'=i_110^post97, rcd_89^0'=rcd_89^post97, a_281^0'=a_281^post97, x_SLAM_f_24^0'=x_SLAM_f_24^post97, len_134^0'=len_134^post97, tail_14^0'=tail_14^post97, head_15^0'=head_15^post97, r_165^0'=r_165^post97, a_149^0'=a_149^post97, x_19^0'=x_19^post97, i_95^0'=i_95^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97, a_342^0'=a_342^post97, y_25^0'=y_25^post97, length_28^0'=length_28^post97, temp0_31^0'=temp0_31^post97, tmp_34^0'=tmp_34^post97, head_SLAM_f_29^0'=head_SLAM_f_29^post97, rcd_59^0'=rcd_59^post97, a_225^0'=a_225^post97, x_SLAM_f_17^0'=x_SLAM_f_17^post97, t_22^0'=t_22^post97, f_171^0'=f_171^post97, r_126^0'=r_126^post97, (0 == 0 /\ -a_149^post97+a_149^0 == 0 /\ -x_26^post97+x_26^0 == 0 /\ -nondet_12^post97+nondet_12^0 == 0 /\ rcd_59^0-rcd_59^post97 == 0 /\ -r_126^post97+r_126^0 == 0 /\ head_32^0-head_32^post97 == 0 /\ head_15^0-head_15^post97 == 0 /\ -x_131^post97+x_131^0 == 0 /\ -tmp_34^post97+tmp_34^0 == 0 /\ x_176^0-x_176^post97 == 0 /\ len_134^0-len_134^post97 == 0 /\ -length_28^post97+length_28^0 == 0 /\ temp0_31^0-temp0_31^post97 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ -x_SLAM_f_17^post97+x_SLAM_f_17^0 == 0 /\ -x_19^post97+x_19^0 == 0 /\ -head_SLAM_f_29^post97+head_SLAM_f_29^0 == 0 /\ a_289^0-a_289^post97 == 0 /\ a_342^0-a_342^post97 == 0 /\ a_188^0-a_188^post97 == 0 /\ y_18^0-y_18^post97 == 0 /\ -f_171^post97+f_171^0 == 0 /\ -a_281^post97+a_281^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ i_30^0-i_30^post97 == 0 /\ result_11^0-result_11^post97 == 0 /\ -i_95^post97+i_95^0 == 0 /\ -a_149^0+a_118^post97 <= 0 /\ tail_14^0-tail_14^post97 == 0 /\ -r_165^post97+r_165^0 == 0 /\ temp0_16^0-temp0_16^post97 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97 == 0 /\ -r_39^post97+r_39^0 == 0 /\ 1-len_134^0 <= 0 /\ -1+len_134^0 <= 0 /\ temp_35^0-temp_35^post97 == 0 /\ tail_14^0-y_25^0 <= 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post97 == 0 /\ i_110^0-i_110^post97 == 0 /\ -y_25^post97+y_25^0 == 0 /\ a_149^0-a_118^post97 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ -a_343^post97+a_343^0 == 0 /\ -a_225^post97+a_225^0 == 0 /\ len_187^0-len_187^post97 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ -t_22^post97+t_22^0 == 0 /\ -rcd_89^post97+rcd_89^0 == 0), cost: 1
  98: l63 -> l64 : a_118^0'=a_118^post98, x_176^0'=x_176^post98, i_30^0'=i_30^post98, result_11^0'=result_11^post98, a_289^0'=a_289^post98, y_18^0'=y_18^post98, len_187^0'=len_187^post98, temp0_16^0'=temp0_16^post98, temp_35^0'=temp_35^post98, head_32^0'=head_32^post98, r_39^0'=r_39^post98, a_188^0'=a_188^post98, x_26^0'=x_26^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, a_343^0'=a_343^post98, nondet_12^0'=nondet_12^post98, x_131^0'=x_131^post98, i_110^0'=i_110^post98, rcd_89^0'=rcd_89^post98, a_281^0'=a_281^post98, x_SLAM_f_24^0'=x_SLAM_f_24^post98, len_134^0'=len_134^post98, tail_14^0'=tail_14^post98, head_15^0'=head_15^post98, r_165^0'=r_165^post98, a_149^0'=a_149^post98, x_19^0'=x_19^post98, i_95^0'=i_95^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98, a_342^0'=a_342^post98, y_25^0'=y_25^post98, length_28^0'=length_28^post98, temp0_31^0'=temp0_31^post98, tmp_34^0'=tmp_34^post98, head_SLAM_f_29^0'=head_SLAM_f_29^post98, rcd_59^0'=rcd_59^post98, a_225^0'=a_225^post98, x_SLAM_f_17^0'=x_SLAM_f_17^post98, t_22^0'=t_22^post98, f_171^0'=f_171^post98, r_126^0'=r_126^post98, (i_110^0-i_110^post98 == 0 /\ -length_28^post98+length_28^0 == 0 /\ -tmp_34^post98+tmp_34^0 == 0 /\ a_289^0-a_289^post98 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post98+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_89^post98+rcd_89^0 == 0 /\ -r_165^post98+r_165^0 == 0 /\ x_176^0-x_176^post98 == 0 /\ -t_22^post98+t_22^0 == 0 /\ -y_25^post98+y_25^0 == 0 /\ -r_126^post98+r_126^0 == 0 /\ a_225^0-a_225^post98 == 0 /\ nondet_12^0-nondet_12^post98 == 0 /\ -a_342^post98+a_342^0 == 0 /\ -x_131^post98+x_131^0 == 0 /\ temp0_31^0-temp0_31^post98 == 0 /\ head_32^0-head_32^post98 == 0 /\ -a_343^post98+a_343^0 == 0 /\ x_26^0-x_26^post98 == 0 /\ -x_19^post98+x_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98 == 0 /\ -len_134^post98+len_134^0 == 0 /\ -i_30^post98+i_30^0 == 0 /\ temp_35^0-temp_35^post98 == 0 /\ -f_171^post98+f_171^0 == 0 /\ r_39^0-r_39^post98 == 0 /\ -head_15^post98+head_15^0 == 0 /\ -a_149^post98+a_149^0 == 0 /\ temp0_16^0-temp0_16^post98 == 0 /\ a_118^0-a_118^post98 == 0 /\ y_18^0-y_18^post98 == 0 /\ 1+head_15^0-y_25^0 <= 0 /\ -i_95^post98+i_95^0 == 0 /\ -x_SLAM_f_24^post98+x_SLAM_f_24^0 == 0 /\ a_188^0-a_188^post98 == 0 /\ len_187^0-len_187^post98 == 0 /\ -head_SLAM_f_29^post98+head_SLAM_f_29^0 == 0 /\ -x_SLAM_f_17^post98+x_SLAM_f_17^0 == 0 /\ -a_281^post98+a_281^0 == 0 /\ -rcd_59^post98+rcd_59^0 == 0 /\ -tail_14^post98+tail_14^0 == 0 /\ result_11^0-result_11^post98 == 0), cost: 1
  99: l63 -> l64 : a_118^0'=a_118^post99, x_176^0'=x_176^post99, i_30^0'=i_30^post99, result_11^0'=result_11^post99, a_289^0'=a_289^post99, y_18^0'=y_18^post99, len_187^0'=len_187^post99, temp0_16^0'=temp0_16^post99, temp_35^0'=temp_35^post99, head_32^0'=head_32^post99, r_39^0'=r_39^post99, a_188^0'=a_188^post99, x_26^0'=x_26^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, a_343^0'=a_343^post99, nondet_12^0'=nondet_12^post99, x_131^0'=x_131^post99, i_110^0'=i_110^post99, rcd_89^0'=rcd_89^post99, a_281^0'=a_281^post99, x_SLAM_f_24^0'=x_SLAM_f_24^post99, len_134^0'=len_134^post99, tail_14^0'=tail_14^post99, head_15^0'=head_15^post99, r_165^0'=r_165^post99, a_149^0'=a_149^post99, x_19^0'=x_19^post99, i_95^0'=i_95^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99, a_342^0'=a_342^post99, y_25^0'=y_25^post99, length_28^0'=length_28^post99, temp0_31^0'=temp0_31^post99, tmp_34^0'=tmp_34^post99, head_SLAM_f_29^0'=head_SLAM_f_29^post99, rcd_59^0'=rcd_59^post99, a_225^0'=a_225^post99, x_SLAM_f_17^0'=x_SLAM_f_17^post99, t_22^0'=t_22^post99, f_171^0'=f_171^post99, r_126^0'=r_126^post99, (len_187^0-len_187^post99 == 0 /\ temp0_16^0-temp0_16^post99 == 0 /\ r_165^0-r_165^post99 == 0 /\ -i_110^post99+i_110^0 == 0 /\ x_131^0-x_131^post99 == 0 /\ i_30^0-i_30^post99 == 0 /\ tmp_34^0-tmp_34^post99 == 0 /\ rcd_89^0-rcd_89^post99 == 0 /\ -i_95^post99+i_95^0 == 0 /\ tail_14^0-tail_14^post99 == 0 /\ -head_15^post99+head_15^0 == 0 /\ a_281^0-a_281^post99 == 0 /\ r_39^0-r_39^post99 == 0 /\ -x_SLAM_f_24^post99+x_SLAM_f_24^0 == 0 /\ -y_25^post99+y_25^0 == 0 /\ nondet_12^0-nondet_12^post99 == 0 /\ -a_225^post99+a_225^0 == 0 /\ -a_149^post99+a_149^0 == 0 /\ a_118^0-a_118^post99 == 0 /\ a_289^0-a_289^post99 == 0 /\ temp_35^0-temp_35^post99 == 0 /\ -x_26^post99+x_26^0 == 0 /\ -length_28^post99+length_28^0 == 0 /\ 1-head_15^0+y_25^0 <= 0 /\ -r_126^post99+r_126^0 == 0 /\ -x_SLAM_f_17^post99+x_SLAM_f_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post99 == 0 /\ a_343^0-a_343^post99 == 0 /\ t_22^0-t_22^post99 == 0 /\ a_188^0-a_188^post99 == 0 /\ -head_SLAM_f_29^post99+head_SLAM_f_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_59^post99+rcd_59^0 == 0 /\ -y_18^post99+y_18^0 == 0 /\ result_11^0-result_11^post99 == 0 /\ -temp0_31^post99+temp0_31^0 == 0 /\ x_176^0-x_176^post99 == 0 /\ len_134^0-len_134^post99 == 0 /\ x_19^0-x_19^post99 == 0 /\ -a_342^post99+a_342^0 == 0 /\ -f_171^post99+f_171^0 == 0 /\ -head_32^post99+head_32^0 == 0), cost: 1
 100: l64 -> l31 : a_118^0'=a_118^post100, x_176^0'=x_176^post100, i_30^0'=i_30^post100, result_11^0'=result_11^post100, a_289^0'=a_289^post100, y_18^0'=y_18^post100, len_187^0'=len_187^post100, temp0_16^0'=temp0_16^post100, temp_35^0'=temp_35^post100, head_32^0'=head_32^post100, r_39^0'=r_39^post100, a_188^0'=a_188^post100, x_26^0'=x_26^post100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post100, a_343^0'=a_343^post100, nondet_12^0'=nondet_12^post100, x_131^0'=x_131^post100, i_110^0'=i_110^post100, rcd_89^0'=rcd_89^post100, a_281^0'=a_281^post100, x_SLAM_f_24^0'=x_SLAM_f_24^post100, len_134^0'=len_134^post100, tail_14^0'=tail_14^post100, head_15^0'=head_15^post100, r_165^0'=r_165^post100, a_149^0'=a_149^post100, x_19^0'=x_19^post100, i_95^0'=i_95^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100, a_342^0'=a_342^post100, y_25^0'=y_25^post100, length_28^0'=length_28^post100, temp0_31^0'=temp0_31^post100, tmp_34^0'=tmp_34^post100, head_SLAM_f_29^0'=head_SLAM_f_29^post100, rcd_59^0'=rcd_59^post100, a_225^0'=a_225^post100, x_SLAM_f_17^0'=x_SLAM_f_17^post100, t_22^0'=t_22^post100, f_171^0'=f_171^post100, r_126^0'=r_126^post100, (0 == 0 /\ -r_126^post100+r_126^0 == 0 /\ a_281^0-a_281^post100 == 0 /\ -f_171^post100+f_171^0 == 0 /\ -a_149^post100+a_149^0 == 0 /\ x_176^0-x_176^post100 == 0 /\ rcd_59^0-rcd_59^post100 == 0 /\ head_15^0-head_15^post100 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -x_26^post100+x_26^0 == 0 /\ -tmp_34^post100+tmp_34^0 == 0 /\ -x_SLAM_f_17^post100+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post100+head_SLAM_f_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_31^0-temp0_31^post100 == 0 /\ -x_19^post100+x_19^0 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ a_342^0-a_342^post100 == 0 /\ x_131^0-x_131^post100 == 0 /\ a_289^0-a_289^post100 == 0 /\ temp_35^0-temp_35^post100 == 0 /\ a_188^0-a_188^post100 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post100 == 0 /\ i_30^0-i_30^post100 == 0 /\ y_18^0-y_18^post100 == 0 /\ 1+a_118^0-i_110^post100 <= 0 /\ result_11^0-result_11^post100 == 0 /\ -i_95^post100+i_95^0 == 0 /\ tail_14^0-tail_14^post100 == 0 /\ head_32^0-head_32^post100 == 0 /\ temp0_16^0-temp0_16^post100 == 0 /\ a_118^0-a_118^post100 == 0 /\ -r_165^post100+r_165^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_134^0-len_134^post100 == 0 /\ -r_39^post100+r_39^0 == 0 /\ -t_22^post100+t_22^0 == 0 /\ -length_28^post100+length_28^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post100 == 0 /\ -a_225^post100+a_225^0 == 0 /\ -a_343^post100+a_343^0 == 0 /\ -rcd_89^post100+rcd_89^0 == 0 /\ -1-a_118^0+i_110^post100 <= 0 /\ len_187^0-len_187^post100 == 0 /\ -y_25^post100+y_25^0 == 0), cost: 1
 103: l65 -> l30 : a_118^0'=a_118^post103, x_176^0'=x_176^post103, i_30^0'=i_30^post103, result_11^0'=result_11^post103, a_289^0'=a_289^post103, y_18^0'=y_18^post103, len_187^0'=len_187^post103, temp0_16^0'=temp0_16^post103, temp_35^0'=temp_35^post103, head_32^0'=head_32^post103, r_39^0'=r_39^post103, a_188^0'=a_188^post103, x_26^0'=x_26^post103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post103, a_343^0'=a_343^post103, nondet_12^0'=nondet_12^post103, x_131^0'=x_131^post103, i_110^0'=i_110^post103, rcd_89^0'=rcd_89^post103, a_281^0'=a_281^post103, x_SLAM_f_24^0'=x_SLAM_f_24^post103, len_134^0'=len_134^post103, tail_14^0'=tail_14^post103, head_15^0'=head_15^post103, r_165^0'=r_165^post103, a_149^0'=a_149^post103, x_19^0'=x_19^post103, i_95^0'=i_95^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103, a_342^0'=a_342^post103, y_25^0'=y_25^post103, length_28^0'=length_28^post103, temp0_31^0'=temp0_31^post103, tmp_34^0'=tmp_34^post103, head_SLAM_f_29^0'=head_SLAM_f_29^post103, rcd_59^0'=rcd_59^post103, a_225^0'=a_225^post103, x_SLAM_f_17^0'=x_SLAM_f_17^post103, t_22^0'=t_22^post103, f_171^0'=f_171^post103, r_126^0'=r_126^post103, (x_26^0-x_26^post103 == 0 /\ -t_22^post103+t_22^0 == 0 /\ a_289^0-a_289^post103 == 0 /\ i_110^0-i_110^post103 == 0 /\ -rcd_59^post103+rcd_59^0 == 0 /\ x_176^0-x_176^post103 == 0 /\ head_15^0-head_15^post103 == 0 /\ -rcd_89^post103+rcd_89^0 == 0 /\ -tmp_34^post103+tmp_34^0 == 0 /\ -r_126^post103+r_126^0 == 0 /\ a_188^0-a_188^post103 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post103 == 0 /\ -f_171^post103+f_171^0 == 0 /\ i_30^0-i_30^post103 == 0 /\ y_18^0-y_18^post103 == 0 /\ -a_342^post103+a_342^0 == 0 /\ x_131^0-x_131^post103 == 0 /\ -r_165^post103+r_165^0 == 0 /\ -temp0_31^post103+temp0_31^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_19^post103+x_19^0 == 0 /\ a_343^0-a_343^post103 == 0 /\ -a_281^post103+a_281^0 == 0 /\ len_134^0-len_134^post103 == 0 /\ temp_35^0-temp_35^post103 == 0 /\ -a_225^post103+a_225^0 == 0 /\ temp0_16^0-temp0_16^post103 == 0 /\ a_118^0-a_118^post103 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post103 == 0 /\ -a_149^post103+a_149^0 == 0 /\ -i_95^post103+i_95^0 == 0 /\ len_187^0-len_187^post103 == 0 /\ -x_SLAM_f_17^post103+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post103+head_SLAM_f_29^0 == 0 /\ result_11^0-result_11^post103 == 0 /\ length_28^0-length_28^post103 == 0 /\ -r_39^post103+r_39^0 == 0 /\ tail_14^0-tail_14^post103 == 0 /\ y_25^0-y_25^post103 == 0 /\ head_32^0-head_32^post103 == 0 /\ -nondet_12^post103+nondet_12^0 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l65
   0: l0 -> l1 : a_118^0'=a_118^post0, x_176^0'=x_176^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, a_289^0'=a_289^post0, y_18^0'=y_18^post0, len_187^0'=len_187^post0, temp0_16^0'=temp0_16^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post0, a_188^0'=a_188^post0, x_26^0'=x_26^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, a_343^0'=a_343^post0, nondet_12^0'=nondet_12^post0, x_131^0'=x_131^post0, i_110^0'=i_110^post0, rcd_89^0'=rcd_89^post0, a_281^0'=a_281^post0, x_SLAM_f_24^0'=x_SLAM_f_24^post0, len_134^0'=len_134^post0, tail_14^0'=tail_14^post0, head_15^0'=head_15^post0, r_165^0'=r_165^post0, a_149^0'=a_149^post0, x_19^0'=x_19^post0, i_95^0'=i_95^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, a_342^0'=a_342^post0, y_25^0'=y_25^post0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post0, a_225^0'=a_225^post0, x_SLAM_f_17^0'=x_SLAM_f_17^post0, t_22^0'=t_22^post0, f_171^0'=f_171^post0, r_126^0'=r_126^post0, (0 == 0 /\ -f_171^post0+f_171^0 == 0 /\ x_176^0-x_176^post0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -temp0_31^10+result_11^10 == 0 /\ head_15^post0-x_26^post0 <= 0 /\ -x_SLAM_f_17^post0+x_SLAM_f_17^0 == 0 /\ -a_343^post0+a_343^0 == 0 /\ -a_281^post0+a_281^0 == 0 /\ -x_SLAM_f_24^post0+x_26^post0 <= 0 /\ -x_SLAM_f_24^post0+x_26^post0 == 0 /\ -a_342^post0+a_342^0 == 0 /\ -r_126^post0+r_126^0 == 0 /\ nondet_12^0-nondet_12^post0 == 0 /\ a_289^0-a_289^post0 == 0 /\ -i_30^0 <= 0 /\ r_39^0-r_39^post0 == 0 /\ rcd_59^0-rcd_59^post0 == 0 /\ -rcd_89^post0+rcd_89^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -head_15^post0+x_26^post0 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ x_SLAM_f_24^post0-x_26^post0 <= 0 /\ a_225^0-a_225^post0 == 0 /\ head_15^post0-x_SLAM_f_24^post0 <= 0 /\ i_110^0-i_110^post0 == 0 /\ -i_95^post0+i_95^0 == 0 /\ -a_149^post0+a_149^0 == 0 /\ -tail_14^0+y_25^post0 <= 0 /\ -tail_14^0+y_25^post0 == 0 /\ -x_131^post0+x_131^0 == 0 /\ y_18^0-y_18^post0 == 0 /\ -head_32^0+temp0_31^10 == 0 /\ temp0_16^0-temp0_16^post0 == 0 /\ -x_19^post0+x_19^0 == 0 /\ a_188^0-a_188^post0 == 0 /\ -tail_14^post0+tail_14^0 == 0 /\ a_118^0-a_118^post0 == 0 /\ head_15^post0-result_11^10 == 0 /\ -head_15^post0+x_SLAM_f_24^post0 <= 0 /\ -head_15^post0+x_SLAM_f_24^post0 == 0 /\ tail_14^0-y_25^post0 <= 0 /\ -len_134^post0+len_134^0 == 0 /\ r_165^0-r_165^post0 == 0 /\ -t_22^post0+t_22^0 == 0 /\ len_187^0-len_187^post0 == 0 /\ -i_30^0+length_28^0 <= 0), cost: 1
   1: l0 -> l2 : a_118^0'=a_118^post1, x_176^0'=x_176^post1, i_30^0'=i_30^post1, result_11^0'=result_11^post1, a_289^0'=a_289^post1, y_18^0'=y_18^post1, len_187^0'=len_187^post1, temp0_16^0'=temp0_16^post1, temp_35^0'=temp_35^post1, head_32^0'=head_32^post1, r_39^0'=r_39^post1, a_188^0'=a_188^post1, x_26^0'=x_26^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_343^0'=a_343^post1, nondet_12^0'=nondet_12^post1, x_131^0'=x_131^post1, i_110^0'=i_110^post1, rcd_89^0'=rcd_89^post1, a_281^0'=a_281^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post1, len_134^0'=len_134^post1, tail_14^0'=tail_14^post1, head_15^0'=head_15^post1, r_165^0'=r_165^post1, a_149^0'=a_149^post1, x_19^0'=x_19^post1, i_95^0'=i_95^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, a_342^0'=a_342^post1, y_25^0'=y_25^post1, length_28^0'=length_28^post1, temp0_31^0'=temp0_31^post1, tmp_34^0'=tmp_34^post1, head_SLAM_f_29^0'=head_SLAM_f_29^post1, rcd_59^0'=rcd_59^post1, a_225^0'=a_225^post1, x_SLAM_f_17^0'=x_SLAM_f_17^post1, t_22^0'=t_22^post1, f_171^0'=f_171^post1, r_126^0'=r_126^post1, (0 == 0 /\ -x_19^post1+x_19^0 == 0 /\ a_188^0-a_188^post1 == 0 /\ y_18^0-y_18^post1 == 0 /\ a_118^0-a_118^post1 == 0 /\ -1-i_30^0+i_30^post1 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post1 == 0 /\ -a_281^post1+a_281^0 == 0 /\ rcd_59^0-rcd_59^post1 == 0 /\ -a_149^post1+a_149^0 == 0 /\ temp0_31^0-temp0_31^post1 == 0 /\ -a_225^post1+a_225^0 == 0 /\ tmp_34^post1-temp_35^0 == 0 /\ 1+i_95^post1-length_28^0 <= 0 /\ -f_171^post1+f_171^0 == 0 /\ -tmp_34^post1+head_32^post1 == 0 /\ -head_15^post1+head_15^0 == 0 /\ -i_30^0 <= 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ result_11^0-result_11^post1 == 0 /\ len_134^0-len_134^post1 == 0 /\ x_26^0-x_26^post1 == 0 /\ len_187^0-len_187^post1 == 0 /\ -tail_14^post1+tail_14^0 == 0 /\ -x_SLAM_f_17^post1+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post1+head_SLAM_f_29^0 == 0 /\ 1-i_30^post1+i_95^post1 <= 0 /\ x_176^0-x_176^post1 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 == 0 /\ temp0_16^0-temp0_16^post1 == 0 /\ y_25^0-y_25^post1 == 0 /\ length_28^0-length_28^post1 == 0 /\ 1+i_30^0-length_28^0 <= 0 /\ -t_22^post1+t_22^0 == 0 /\ -r_165^post1+r_165^0 == 0 /\ a_289^0-a_289^post1 == 0 /\ -r_126^post1+r_126^0 == 0 /\ i_110^0-i_110^post1 == 0 /\ -a_342^post1+a_342^0 == 0 /\ r_39^0-r_39^post1 == 0 /\ -x_131^post1+x_131^0 == 0 /\ -1+i_30^post1-i_95^post1 <= 0 /\ -a_343^post1+a_343^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0), cost: 1
  94: l1 -> l61 : a_118^0'=a_118^post94, x_176^0'=x_176^post94, i_30^0'=i_30^post94, result_11^0'=result_11^post94, a_289^0'=a_289^post94, y_18^0'=y_18^post94, len_187^0'=len_187^post94, temp0_16^0'=temp0_16^post94, temp_35^0'=temp_35^post94, head_32^0'=head_32^post94, r_39^0'=r_39^post94, a_188^0'=a_188^post94, x_26^0'=x_26^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, a_343^0'=a_343^post94, nondet_12^0'=nondet_12^post94, x_131^0'=x_131^post94, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post94, a_281^0'=a_281^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, len_134^0'=len_134^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, a_149^0'=a_149^post94, x_19^0'=x_19^post94, i_95^0'=i_95^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94, a_342^0'=a_342^post94, y_25^0'=y_25^post94, length_28^0'=length_28^post94, temp0_31^0'=temp0_31^post94, tmp_34^0'=tmp_34^post94, head_SLAM_f_29^0'=head_SLAM_f_29^post94, rcd_59^0'=rcd_59^post94, a_225^0'=a_225^post94, x_SLAM_f_17^0'=x_SLAM_f_17^post94, t_22^0'=t_22^post94, f_171^0'=f_171^post94, r_126^0'=r_126^post94, (0 == 0 /\ -r_126^post94+r_126^0 == 0 /\ rcd_59^0-rcd_59^post94 == 0 /\ head_32^0-head_32^post94 == 0 /\ result_11^0-result_11^post94 == 0 /\ -f_171^post94+f_171^0 == 0 /\ -x_131^post94+x_131^0 == 0 /\ -a_149^post94+a_149^0 == 0 /\ -x_19^post94+x_19^0 == 0 /\ temp0_16^0-temp0_16^post94 == 0 /\ -head_SLAM_f_29^post94+head_SLAM_f_29^0 == 0 /\ a_118^0-a_118^post94 == 0 /\ temp0_31^0-temp0_31^post94 == 0 /\ -nondet_12^post94+nondet_12^0 == 0 /\ len_134^0-len_134^post94 == 0 /\ -x_SLAM_f_17^post94+x_SLAM_f_17^0 == 0 /\ -i_30^0 <= 0 /\ tmp_34^0-tmp_34^post94 == 0 /\ x_26^0-x_26^post94 == 0 /\ rcd_89^0-rcd_89^post94 == 0 /\ len_187^0-len_187^post94 == 0 /\ -a_281^post94+a_281^0 == 0 /\ -i_95^post94+i_95^0 == 0 /\ x_176^0-x_176^post94 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94 == 0 /\ a_342^0-a_342^post94 == 0 /\ a_289^0-a_289^post94 == 0 /\ temp_35^0-temp_35^post94 == 0 /\ -a_343^post94+a_343^0 == 0 /\ -length_28^post94+length_28^0 == 0 /\ a_188^0-a_188^post94 == 0 /\ -a_225^post94+a_225^0 == 0 /\ -t_22^post94+t_22^0 == 0 /\ i_30^0-i_30^post94 == 0 /\ y_18^0-y_18^post94 == 0 /\ -y_25^post94+y_25^0 == 0), cost: 1
   2: l2 -> l0 : a_118^0'=a_118^post2, x_176^0'=x_176^post2, i_30^0'=i_30^post2, result_11^0'=result_11^post2, a_289^0'=a_289^post2, y_18^0'=y_18^post2, len_187^0'=len_187^post2, temp0_16^0'=temp0_16^post2, temp_35^0'=temp_35^post2, head_32^0'=head_32^post2, r_39^0'=r_39^post2, a_188^0'=a_188^post2, x_26^0'=x_26^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, a_343^0'=a_343^post2, nondet_12^0'=nondet_12^post2, x_131^0'=x_131^post2, i_110^0'=i_110^post2, rcd_89^0'=rcd_89^post2, a_281^0'=a_281^post2, x_SLAM_f_24^0'=x_SLAM_f_24^post2, len_134^0'=len_134^post2, tail_14^0'=tail_14^post2, head_15^0'=head_15^post2, r_165^0'=r_165^post2, a_149^0'=a_149^post2, x_19^0'=x_19^post2, i_95^0'=i_95^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, a_342^0'=a_342^post2, y_25^0'=y_25^post2, length_28^0'=length_28^post2, temp0_31^0'=temp0_31^post2, tmp_34^0'=tmp_34^post2, head_SLAM_f_29^0'=head_SLAM_f_29^post2, rcd_59^0'=rcd_59^post2, a_225^0'=a_225^post2, x_SLAM_f_17^0'=x_SLAM_f_17^post2, t_22^0'=t_22^post2, f_171^0'=f_171^post2, r_126^0'=r_126^post2, (result_11^0-result_11^post2 == 0 /\ -r_126^post2+r_126^0 == 0 /\ -t_22^post2+t_22^0 == 0 /\ tail_14^0-tail_14^post2 == 0 /\ a_118^0-a_118^post2 == 0 /\ -length_28^post2+length_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_16^0-temp0_16^post2 == 0 /\ -rcd_59^post2+rcd_59^0 == 0 /\ temp_35^0-temp_35^post2 == 0 /\ -x_SLAM_f_17^post2+x_SLAM_f_17^0 == 0 /\ a_149^0-a_149^post2 == 0 /\ -head_SLAM_f_29^post2+head_SLAM_f_29^0 == 0 /\ -temp0_31^post2+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 == 0 /\ -r_165^post2+r_165^0 == 0 /\ -head_32^post2+head_32^0 == 0 /\ a_343^0-a_343^post2 == 0 /\ tmp_34^0-tmp_34^post2 == 0 /\ -f_171^post2+f_171^0 == 0 /\ -x_19^post2+x_19^0 == 0 /\ rcd_89^0-rcd_89^post2 == 0 /\ x_26^0-x_26^post2 == 0 /\ len_187^0-len_187^post2 == 0 /\ -len_134^post2+len_134^0 == 0 /\ r_39^0-r_39^post2 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ a_281^0-a_281^post2 == 0 /\ x_176^0-x_176^post2 == 0 /\ -i_95^post2+i_95^0 == 0 /\ i_110^0-i_110^post2 == 0 /\ -y_25^post2+y_25^0 == 0 /\ a_289^0-a_289^post2 == 0 /\ a_342^0-a_342^post2 == 0 /\ x_131^0-x_131^post2 == 0 /\ -x_SLAM_f_24^post2+x_SLAM_f_24^0 == 0 /\ a_188^0-a_188^post2 == 0 /\ y_18^0-y_18^post2 == 0 /\ -a_225^post2+a_225^0 == 0 /\ i_30^0-i_30^post2 == 0 /\ -head_15^post2+head_15^0 == 0), cost: 1
   4: l3 -> l5 : a_118^0'=a_118^post4, x_176^0'=x_176^post4, i_30^0'=i_30^post4, result_11^0'=result_11^post4, a_289^0'=a_289^post4, y_18^0'=y_18^post4, len_187^0'=len_187^post4, temp0_16^0'=temp0_16^post4, temp_35^0'=temp_35^post4, head_32^0'=head_32^post4, r_39^0'=r_39^post4, a_188^0'=a_188^post4, x_26^0'=x_26^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, a_343^0'=a_343^post4, nondet_12^0'=nondet_12^post4, x_131^0'=x_131^post4, i_110^0'=i_110^post4, rcd_89^0'=rcd_89^post4, a_281^0'=a_281^post4, x_SLAM_f_24^0'=x_SLAM_f_24^post4, len_134^0'=len_134^post4, tail_14^0'=tail_14^post4, head_15^0'=head_15^post4, r_165^0'=r_165^post4, a_149^0'=a_149^post4, x_19^0'=x_19^post4, i_95^0'=i_95^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, a_342^0'=a_342^post4, y_25^0'=y_25^post4, length_28^0'=length_28^post4, temp0_31^0'=temp0_31^post4, tmp_34^0'=tmp_34^post4, head_SLAM_f_29^0'=head_SLAM_f_29^post4, rcd_59^0'=rcd_59^post4, a_225^0'=a_225^post4, x_SLAM_f_17^0'=x_SLAM_f_17^post4, t_22^0'=t_22^post4, f_171^0'=f_171^post4, r_126^0'=r_126^post4, (0 == 0 /\ temp0_31^0-temp0_31^post4 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post4-length_28^0 <= 0 /\ x_26^0-x_26^post4 == 0 /\ -a_281^post4+a_281^0 == 0 /\ 1-i_30^post4 <= 0 /\ -1+i_30^post4 <= 0 /\ y_18^0-y_18^post4 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post4 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4-head_32^post4 <= 0 /\ -1-i_30^0+i_30^post4 == 0 /\ -a_343^post4+a_343^0 == 0 /\ a_188^0-a_188^post4 == 0 /\ 1-length_28^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+length_28^0 <= 0 /\ -i_95^post4+i_95^0 == 0 /\ -x_SLAM_f_24^post4+x_SLAM_f_24^0 == 0 /\ head_15^0-head_15^post4 == 0 /\ len_134^0-len_134^post4 == 0 /\ -temp_35^0+tmp_34^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -a_225^post4+a_225^0 == 0 /\ -rcd_89^post4+rcd_89^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4+head_32^post4 <= 0 /\ rcd_59^0-rcd_59^post4 == 0 /\ -a_149^post4+a_149^0 == 0 /\ head_SLAM_f_29^post4-tail_14^post4 <= 0 /\ temp0_16^0-temp0_16^post4 == 0 /\ r_165^0-r_165^post4 == 0 /\ x_131^0-x_131^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ -length_28^post4+length_28^0 == 0 /\ a_118^0-a_118^post4 == 0 /\ -len_187^post4+len_187^0 == 0 /\ -tmp_34^post4+head_32^post4 <= 0 /\ -tmp_34^post4+head_32^post4 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4+tmp_34^post4 <= 0 /\ 1+i_30^0-length_28^0 <= 0 /\ -t_22^post4+t_22^0 == 0 /\ a_342^0-a_342^post4 == 0 /\ -y_25^post4+y_25^0 == 0 /\ -head_SLAM_f_29^post4+tail_14^post4 <= 0 /\ -x_19^post4+x_19^0 == 0 /\ r_39^0-r_39^post4 == 0 /\ -f_171^post4+f_171^0 == 0 /\ tmp_34^post4-head_32^post4 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4-tmp_34^post4 <= 0 /\ x_176^0-x_176^post4 == 0 /\ i_110^0-i_110^post4 == 0 /\ -r_126^post4+r_126^0 == 0 /\ a_289^0-a_289^post4 == 0), cost: 1
 102: l5 -> l0 : a_118^0'=a_118^post102, x_176^0'=x_176^post102, i_30^0'=i_30^post102, result_11^0'=result_11^post102, a_289^0'=a_289^post102, y_18^0'=y_18^post102, len_187^0'=len_187^post102, temp0_16^0'=temp0_16^post102, temp_35^0'=temp_35^post102, head_32^0'=head_32^post102, r_39^0'=r_39^post102, a_188^0'=a_188^post102, x_26^0'=x_26^post102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post102, a_343^0'=a_343^post102, nondet_12^0'=nondet_12^post102, x_131^0'=x_131^post102, i_110^0'=i_110^post102, rcd_89^0'=rcd_89^post102, a_281^0'=a_281^post102, x_SLAM_f_24^0'=x_SLAM_f_24^post102, len_134^0'=len_134^post102, tail_14^0'=tail_14^post102, head_15^0'=head_15^post102, r_165^0'=r_165^post102, a_149^0'=a_149^post102, x_19^0'=x_19^post102, i_95^0'=i_95^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102, a_342^0'=a_342^post102, y_25^0'=y_25^post102, length_28^0'=length_28^post102, temp0_31^0'=temp0_31^post102, tmp_34^0'=tmp_34^post102, head_SLAM_f_29^0'=head_SLAM_f_29^post102, rcd_59^0'=rcd_59^post102, a_225^0'=a_225^post102, x_SLAM_f_17^0'=x_SLAM_f_17^post102, t_22^0'=t_22^post102, f_171^0'=f_171^post102, r_126^0'=r_126^post102, (0 == 0 /\ -head_15^post102+head_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102-head_32^post102 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+tmp_34^post102 <= 0 /\ x_19^0-x_19^post102 == 0 /\ -tmp_34^post102+head_32^post102 <= 0 /\ -tmp_34^post102+head_32^post102 == 0 /\ -a_225^post102+a_225^0 == 0 /\ -f_171^post102+f_171^0 == 0 /\ a_281^0-a_281^post102 == 0 /\ temp0_16^0-temp0_16^post102 == 0 /\ r_165^0-r_165^post102 == 0 /\ -r_126^post102+r_126^0 == 0 /\ x_131^0-x_131^post102 == 0 /\ result_11^0-result_11^post102 == 0 /\ 1-length_28^0 <= 0 /\ -a_149^post102+a_149^0 == 0 /\ a_343^0-a_343^post102 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+head_32^post102 <= 0 /\ -nondet_12^post102+nondet_12^0 == 0 /\ 2-length_28^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102-tmp_34^post102 <= 0 /\ -x_26^post102+x_26^0 == 0 /\ -i_110^post102+i_110^0 == 0 /\ a_289^0-a_289^post102 == 0 /\ -x_SLAM_f_17^post102+x_SLAM_f_17^0 == 0 /\ tmp_34^post102-head_32^post102 <= 0 /\ -r_39^post102+r_39^0 == 0 /\ -2+i_30^post102 <= 0 /\ -i_95^post102+i_95^0 == 0 /\ -x_SLAM_f_24^post102+x_SLAM_f_24^0 == 0 /\ -head_SLAM_f_29^post102+tail_14^post102 <= 0 /\ a_188^0-a_188^post102 == 0 /\ -y_18^post102+y_18^0 == 0 /\ a_118^0-a_118^post102 == 0 /\ -1-i_30^0+i_30^post102 == 0 /\ -temp0_31^post102+temp0_31^0 == 0 /\ -temp_35^0+tmp_34^post102 == 0 /\ -x_176^post102+x_176^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post102+length_28^0 <= 0 /\ 1+i_30^0-length_28^0 <= 0 /\ head_SLAM_f_29^post102-tail_14^post102 <= 0 /\ -length_28^post102+length_28^0 == 0 /\ a_342^0-a_342^post102 == 0 /\ len_134^0-len_134^post102 == 0 /\ rcd_89^0-rcd_89^post102 == 0 /\ len_187^0-len_187^post102 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post102-length_28^0 <= 0 /\ -t_22^post102+t_22^0 == 0 /\ -y_25^post102+y_25^0 == 0 /\ 2-i_30^post102 <= 0), cost: 1
   6: l6 -> l8 : a_118^0'=a_118^post6, x_176^0'=x_176^post6, i_30^0'=i_30^post6, result_11^0'=result_11^post6, a_289^0'=a_289^post6, y_18^0'=y_18^post6, len_187^0'=len_187^post6, temp0_16^0'=temp0_16^post6, temp_35^0'=temp_35^post6, head_32^0'=head_32^post6, r_39^0'=r_39^post6, a_188^0'=a_188^post6, x_26^0'=x_26^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=a_343^post6, nondet_12^0'=nondet_12^post6, x_131^0'=x_131^post6, i_110^0'=i_110^post6, rcd_89^0'=rcd_89^post6, a_281^0'=a_281^post6, x_SLAM_f_24^0'=x_SLAM_f_24^post6, len_134^0'=len_134^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, r_165^0'=r_165^post6, a_149^0'=a_149^post6, x_19^0'=x_19^post6, i_95^0'=i_95^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, a_342^0'=a_342^post6, y_25^0'=y_25^post6, length_28^0'=length_28^post6, temp0_31^0'=temp0_31^post6, tmp_34^0'=tmp_34^post6, head_SLAM_f_29^0'=head_SLAM_f_29^post6, rcd_59^0'=rcd_59^post6, a_225^0'=a_225^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=t_22^post6, f_171^0'=f_171^post6, r_126^0'=r_126^post6, (0 == 0 /\ a_149^0-a_149^post6 == 0 /\ a_343^0-a_343^post6 == 0 /\ rcd_89^0-rcd_89^post6 == 0 /\ -length_28^post6+length_28^0 == 0 /\ -temp0_31^post6+temp0_31^0 == 0 /\ -tmp_34^post6+tmp_34^0 == 0 /\ temp_35^0-temp_35^post6 == 0 /\ -t_22^post6+t_22^0 == 0 /\ -r_165^post6+r_165^0 == 0 /\ -y_25^post6+y_25^0 == 0 /\ temp0_16^0-temp0_16^post6 == 0 /\ a_118^0-a_118^post6 == 0 /\ -f_171^post6+f_171^0 == 0 /\ len_187^0-len_187^post6 == 0 /\ -a_149^0 <= 0 /\ result_11^0-result_11^post6 == 0 /\ nondet_12^0-nondet_12^post6 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_126^post6+r_126^0 == 0 /\ -x_19^post6+x_19^0 == 0 /\ -head_32^post6+head_32^0 == 0 /\ -a_225^post6+a_225^0 == 0 /\ -len_134^post6+len_134^0 == 0 /\ -a_281^0 <= 0 /\ x_176^0-x_176^post6 == 0 /\ a_188^0-a_188^post6 == 0 /\ -a_289^post6+a_289^0 == 0 /\ -i_95^post6+i_95^0 == 0 /\ i_30^0-i_30^post6 == 0 /\ y_18^0-y_18^post6 == 0 /\ a_281^0-a_281^post6 == 0 /\ -x_26^post6+x_26^0 == 0 /\ -i_110^post6+i_110^0 == 0 /\ -x_SLAM_f_24^post6+x_SLAM_f_24^0 == 0 /\ a_342^0-a_342^post6 == 0 /\ -head_SLAM_f_29^post6+head_SLAM_f_29^0 == 0 /\ x_131^0-x_131^post6 == 0 /\ -rcd_59^post6+rcd_59^0 == 0), cost: 1
   7: l8 -> l9 : a_118^0'=a_118^post7, x_176^0'=x_176^post7, i_30^0'=i_30^post7, result_11^0'=result_11^post7, a_289^0'=a_289^post7, y_18^0'=y_18^post7, len_187^0'=len_187^post7, temp0_16^0'=temp0_16^post7, temp_35^0'=temp_35^post7, head_32^0'=head_32^post7, r_39^0'=r_39^post7, a_188^0'=a_188^post7, x_26^0'=x_26^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, a_343^0'=a_343^post7, nondet_12^0'=nondet_12^post7, x_131^0'=x_131^post7, i_110^0'=i_110^post7, rcd_89^0'=rcd_89^post7, a_281^0'=a_281^post7, x_SLAM_f_24^0'=x_SLAM_f_24^post7, len_134^0'=len_134^post7, tail_14^0'=tail_14^post7, head_15^0'=head_15^post7, r_165^0'=r_165^post7, a_149^0'=a_149^post7, x_19^0'=x_19^post7, i_95^0'=i_95^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, a_342^0'=a_342^post7, y_25^0'=y_25^post7, length_28^0'=length_28^post7, temp0_31^0'=temp0_31^post7, tmp_34^0'=tmp_34^post7, head_SLAM_f_29^0'=head_SLAM_f_29^post7, rcd_59^0'=rcd_59^post7, a_225^0'=a_225^post7, x_SLAM_f_17^0'=x_SLAM_f_17^post7, t_22^0'=t_22^post7, f_171^0'=f_171^post7, r_126^0'=r_126^post7, (len_187^0-len_187^post7 == 0 /\ -temp0_31^post7+temp0_31^0 == 0 /\ y_18^0-y_18^post7 == 0 /\ a_188^0-a_188^post7 == 0 /\ -a_343^post7+a_343^0 == 0 /\ -i_95^post7+i_95^0 == 0 /\ x_26^0-x_26^post7 == 0 /\ head_15^0-head_15^post7 == 0 /\ -x_SLAM_f_24^post7+x_SLAM_f_24^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post7 == 0 /\ -a_225^post7+a_225^0 == 0 /\ result_11^0-result_11^post7 == 0 /\ r_39^0-r_39^post7 == 0 /\ -head_SLAM_f_29^post7+head_SLAM_f_29^0 == 0 /\ -rcd_89^post7+rcd_89^0 == 0 /\ -a_149^post7+a_149^0 == 0 /\ temp_35^0-temp_35^post7 == 0 /\ len_134^0-len_134^post7 == 0 /\ a_289^0-a_289^post7 == 0 /\ rcd_59^0-rcd_59^post7 == 0 /\ -length_28^post7+length_28^0 == 0 /\ temp0_16^0-temp0_16^post7 == 0 /\ r_165^0-r_165^post7 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post7 == 0 /\ a_118^0-a_118^post7 == 0 /\ x_131^0-x_131^post7 == 0 /\ -tail_14^post7+tail_14^0 == 0 /\ -t_22^post7+t_22^0 == 0 /\ -y_25^post7+y_25^0 == 0 /\ a_342^0-a_342^post7 == 0 /\ -tmp_34^post7+tmp_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_30^0-i_30^post7 == 0 /\ -f_171^post7+f_171^0 == 0 /\ 1+y_18^0-x_19^0 <= 0 /\ -a_281^post7+a_281^0 == 0 /\ -x_19^post7+x_19^0 == 0 /\ head_32^0-head_32^post7 == 0 /\ x_176^0-x_176^post7 == 0 /\ -r_126^post7+r_126^0 == 0 /\ i_110^0-i_110^post7 == 0), cost: 1
   8: l8 -> l9 : a_118^0'=a_118^post8, x_176^0'=x_176^post8, i_30^0'=i_30^post8, result_11^0'=result_11^post8, a_289^0'=a_289^post8, y_18^0'=y_18^post8, len_187^0'=len_187^post8, temp0_16^0'=temp0_16^post8, temp_35^0'=temp_35^post8, head_32^0'=head_32^post8, r_39^0'=r_39^post8, a_188^0'=a_188^post8, x_26^0'=x_26^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, a_343^0'=a_343^post8, nondet_12^0'=nondet_12^post8, x_131^0'=x_131^post8, i_110^0'=i_110^post8, rcd_89^0'=rcd_89^post8, a_281^0'=a_281^post8, x_SLAM_f_24^0'=x_SLAM_f_24^post8, len_134^0'=len_134^post8, tail_14^0'=tail_14^post8, head_15^0'=head_15^post8, r_165^0'=r_165^post8, a_149^0'=a_149^post8, x_19^0'=x_19^post8, i_95^0'=i_95^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, a_342^0'=a_342^post8, y_25^0'=y_25^post8, length_28^0'=length_28^post8, temp0_31^0'=temp0_31^post8, tmp_34^0'=tmp_34^post8, head_SLAM_f_29^0'=head_SLAM_f_29^post8, rcd_59^0'=rcd_59^post8, a_225^0'=a_225^post8, x_SLAM_f_17^0'=x_SLAM_f_17^post8, t_22^0'=t_22^post8, f_171^0'=f_171^post8, r_126^0'=r_126^post8, (head_32^0-head_32^post8 == 0 /\ -x_131^post8+x_131^0 == 0 /\ -a_225^post8+a_225^0 == 0 /\ -tail_14^post8+tail_14^0 == 0 /\ -f_171^post8+f_171^0 == 0 /\ -a_149^post8+a_149^0 == 0 /\ -head_15^post8+head_15^0 == 0 /\ -r_126^post8+r_126^0 == 0 /\ -head_SLAM_f_29^post8+head_SLAM_f_29^0 == 0 /\ a_118^0-a_118^post8 == 0 /\ -x_19^post8+x_19^0 == 0 /\ -nondet_12^post8+nondet_12^0 == 0 /\ temp0_31^0-temp0_31^post8 == 0 /\ len_134^0-len_134^post8 == 0 /\ i_110^0-i_110^post8 == 0 /\ -x_SLAM_f_17^post8+x_SLAM_f_17^0 == 0 /\ -rcd_59^post8+rcd_59^0 == 0 /\ -a_281^post8+a_281^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ -i_95^post8+i_95^0 == 0 /\ x_26^0-x_26^post8 == 0 /\ -tmp_34^post8+tmp_34^0 == 0 /\ len_187^0-len_187^post8 == 0 /\ -r_165^post8+r_165^0 == 0 /\ length_28^0-length_28^post8 == 0 /\ temp0_16^0-temp0_16^post8 == 0 /\ 1-y_18^0+x_19^0 <= 0 /\ x_176^0-x_176^post8 == 0 /\ -y_25^post8+y_25^0 == 0 /\ -x_SLAM_f_24^post8+x_SLAM_f_24^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ -a_342^post8+a_342^0 == 0 /\ a_289^0-a_289^post8 == 0 /\ temp_35^0-temp_35^post8 == 0 /\ -t_22^post8+t_22^0 == 0 /\ -a_343^post8+a_343^0 == 0 /\ a_188^0-a_188^post8 == 0 /\ i_30^0-i_30^post8 == 0 /\ -rcd_89^post8+rcd_89^0 == 0 /\ y_18^0-y_18^post8 == 0 /\ r_39^0-r_39^post8 == 0), cost: 1
   9: l9 -> l10 : a_118^0'=a_118^post9, x_176^0'=x_176^post9, i_30^0'=i_30^post9, result_11^0'=result_11^post9, a_289^0'=a_289^post9, y_18^0'=y_18^post9, len_187^0'=len_187^post9, temp0_16^0'=temp0_16^post9, temp_35^0'=temp_35^post9, head_32^0'=head_32^post9, r_39^0'=r_39^post9, a_188^0'=a_188^post9, x_26^0'=x_26^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, a_343^0'=a_343^post9, nondet_12^0'=nondet_12^post9, x_131^0'=x_131^post9, i_110^0'=i_110^post9, rcd_89^0'=rcd_89^post9, a_281^0'=a_281^post9, x_SLAM_f_24^0'=x_SLAM_f_24^post9, len_134^0'=len_134^post9, tail_14^0'=tail_14^post9, head_15^0'=head_15^post9, r_165^0'=r_165^post9, a_149^0'=a_149^post9, x_19^0'=x_19^post9, i_95^0'=i_95^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, a_342^0'=a_342^post9, y_25^0'=y_25^post9, length_28^0'=length_28^post9, temp0_31^0'=temp0_31^post9, tmp_34^0'=tmp_34^post9, head_SLAM_f_29^0'=head_SLAM_f_29^post9, rcd_59^0'=rcd_59^post9, a_225^0'=a_225^post9, x_SLAM_f_17^0'=x_SLAM_f_17^post9, t_22^0'=t_22^post9, f_171^0'=f_171^post9, r_126^0'=r_126^post9, (0 == 0 /\ tmp_34^0-tmp_34^post9 == 0 /\ a_149^0-a_149^post9 == 0 /\ result_11^0-result_11^post9 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ temp_35^0-temp_35^post9 == 0 /\ 1-a_281^0-a_149^0+a_343^post9 <= 0 /\ -x_SLAM_f_24^post9+x_SLAM_f_24^0 == 0 /\ -x_26^post9+x_26^0 == 0 /\ -y_25^post9+y_25^0 == 0 /\ -r_165^post9+r_165^0 == 0 /\ -f_171^post9+f_171^0 == 0 /\ temp0_16^0-temp0_16^post9 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 == 0 /\ len_187^0-len_187^post9 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_118^0-a_118^post9 == 0 /\ -length_28^post9+length_28^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post9 == 0 /\ rcd_89^0-rcd_89^post9 == 0 /\ -len_134^post9+len_134^0 == 0 /\ tail_14^0-tail_14^post9 == 0 /\ -r_126^post9+r_126^0 == 0 /\ a_281^0-a_281^post9 == 0 /\ -temp0_31^post9+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post9 == 0 /\ -a_342^post9 <= 0 /\ -x_19^post9+x_19^0 == 0 /\ y_18^0-tail_14^0 <= 0 /\ t_22^post9-x_19^0 == 0 /\ r_39^0-r_39^post9 == 0 /\ -head_32^post9+head_32^0 == 0 /\ -1+a_281^0+a_149^0-a_343^post9 <= 0 /\ x_176^0-x_176^post9 == 0 /\ -head_15^post9+head_15^0 == 0 /\ -a_289^post9+a_289^0 == 0 /\ -i_95^post9+i_95^0 == 0 /\ -y_18^0+tail_14^0 <= 0 /\ -head_SLAM_f_29^post9+head_SLAM_f_29^0 == 0 /\ -i_110^post9+i_110^0 == 0 /\ i_30^0-i_30^post9 == 0 /\ -a_225^post9+a_225^0 == 0 /\ y_18^0-y_18^post9 == 0 /\ x_131^0-x_131^post9 == 0 /\ a_342^post9 <= 0 /\ a_188^0-a_188^post9 == 0 /\ -rcd_59^post9+rcd_59^0 == 0), cost: 1
  10: l10 -> l11 : a_118^0'=a_118^post10, x_176^0'=x_176^post10, i_30^0'=i_30^post10, result_11^0'=result_11^post10, a_289^0'=a_289^post10, y_18^0'=y_18^post10, len_187^0'=len_187^post10, temp0_16^0'=temp0_16^post10, temp_35^0'=temp_35^post10, head_32^0'=head_32^post10, r_39^0'=r_39^post10, a_188^0'=a_188^post10, x_26^0'=x_26^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, a_343^0'=a_343^post10, nondet_12^0'=nondet_12^post10, x_131^0'=x_131^post10, i_110^0'=i_110^post10, rcd_89^0'=rcd_89^post10, a_281^0'=a_281^post10, x_SLAM_f_24^0'=x_SLAM_f_24^post10, len_134^0'=len_134^post10, tail_14^0'=tail_14^post10, head_15^0'=head_15^post10, r_165^0'=r_165^post10, a_149^0'=a_149^post10, x_19^0'=x_19^post10, i_95^0'=i_95^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, a_342^0'=a_342^post10, y_25^0'=y_25^post10, length_28^0'=length_28^post10, temp0_31^0'=temp0_31^post10, tmp_34^0'=tmp_34^post10, head_SLAM_f_29^0'=head_SLAM_f_29^post10, rcd_59^0'=rcd_59^post10, a_225^0'=a_225^post10, x_SLAM_f_17^0'=x_SLAM_f_17^post10, t_22^0'=t_22^post10, f_171^0'=f_171^post10, r_126^0'=r_126^post10, (len_187^0-len_187^post10 == 0 /\ rcd_89^0-rcd_89^post10 == 0 /\ -temp0_31^post10+temp0_31^0 == 0 /\ i_30^0-i_30^post10 == 0 /\ y_18^0-y_18^post10 == 0 /\ -i_95^post10+i_95^0 == 0 /\ -a_343^post10+a_343^0 == 0 /\ rcd_59^0-rcd_59^post10 == 0 /\ -head_SLAM_f_29^post10+head_SLAM_f_29^0 == 0 /\ head_15^0-head_15^post10 == 0 /\ tail_14^0-tail_14^post10 == 0 /\ -a_225^post10+a_225^0 == 0 /\ r_39^0-r_39^post10 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post10 == 0 /\ result_11^0-result_11^post10 == 0 /\ -y_25^post10+y_25^0 == 0 /\ -a_149^post10+a_149^0 == 0 /\ -x_SLAM_f_24^post10+x_SLAM_f_24^0 == 0 /\ temp0_16^0-temp0_16^post10 == 0 /\ len_134^0-len_134^post10 == 0 /\ a_289^0-a_289^post10 == 0 /\ temp_35^0-temp_35^post10 == 0 /\ a_342^0-a_342^post10 == 0 /\ -t_22^post10+t_22^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 == 0 /\ a_118^0-a_118^post10 == 0 /\ x_131^0-x_131^post10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_188^0-a_188^post10 == 0 /\ -length_28^post10+length_28^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ -x_26^post10+x_26^0 == 0 /\ -tmp_34^post10+tmp_34^0 == 0 /\ -a_281^post10+a_281^0 == 0 /\ -x_19^post10+x_19^0 == 0 /\ head_32^0-head_32^post10 == 0 /\ -r_126^post10+r_126^0 == 0 /\ x_176^0-x_176^post10 == 0 /\ -f_171^post10+f_171^0 == 0 /\ r_165^0-r_165^post10 == 0 /\ 1+tail_14^0-head_15^0 <= 0 /\ i_110^0-i_110^post10 == 0), cost: 1
  11: l10 -> l11 : a_118^0'=a_118^post11, x_176^0'=x_176^post11, i_30^0'=i_30^post11, result_11^0'=result_11^post11, a_289^0'=a_289^post11, y_18^0'=y_18^post11, len_187^0'=len_187^post11, temp0_16^0'=temp0_16^post11, temp_35^0'=temp_35^post11, head_32^0'=head_32^post11, r_39^0'=r_39^post11, a_188^0'=a_188^post11, x_26^0'=x_26^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, a_343^0'=a_343^post11, nondet_12^0'=nondet_12^post11, x_131^0'=x_131^post11, i_110^0'=i_110^post11, rcd_89^0'=rcd_89^post11, a_281^0'=a_281^post11, x_SLAM_f_24^0'=x_SLAM_f_24^post11, len_134^0'=len_134^post11, tail_14^0'=tail_14^post11, head_15^0'=head_15^post11, r_165^0'=r_165^post11, a_149^0'=a_149^post11, x_19^0'=x_19^post11, i_95^0'=i_95^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, a_342^0'=a_342^post11, y_25^0'=y_25^post11, length_28^0'=length_28^post11, temp0_31^0'=temp0_31^post11, tmp_34^0'=tmp_34^post11, head_SLAM_f_29^0'=head_SLAM_f_29^post11, rcd_59^0'=rcd_59^post11, a_225^0'=a_225^post11, x_SLAM_f_17^0'=x_SLAM_f_17^post11, t_22^0'=t_22^post11, f_171^0'=f_171^post11, r_126^0'=r_126^post11, (-a_225^post11+a_225^0 == 0 /\ -f_171^post11+f_171^0 == 0 /\ -tail_14^post11+tail_14^0 == 0 /\ head_32^0-head_32^post11 == 0 /\ -x_131^post11+x_131^0 == 0 /\ rcd_59^0-rcd_59^post11 == 0 /\ a_188^0-a_188^post11 == 0 /\ -a_149^post11+a_149^0 == 0 /\ -x_19^post11+x_19^0 == 0 /\ len_134^0-len_134^post11 == 0 /\ -nondet_12^post11+nondet_12^0 == 0 /\ -head_15^post11+head_15^0 == 0 /\ temp0_31^0-temp0_31^post11 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post11+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post11 == 0 /\ -tmp_34^post11+tmp_34^0 == 0 /\ -x_SLAM_f_17^post11+x_SLAM_f_17^0 == 0 /\ x_26^0-x_26^post11 == 0 /\ a_289^0-a_289^post11 == 0 /\ -i_95^post11+i_95^0 == 0 /\ len_187^0-len_187^post11 == 0 /\ -a_281^post11+a_281^0 == 0 /\ -rcd_89^post11+rcd_89^0 == 0 /\ a_118^0-a_118^post11 == 0 /\ length_28^0-length_28^post11 == 0 /\ -r_165^post11+r_165^0 == 0 /\ -y_25^post11+y_25^0 == 0 /\ temp0_16^0-temp0_16^post11 == 0 /\ result_11^0-result_11^post11 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ -x_SLAM_f_24^post11+x_SLAM_f_24^0 == 0 /\ temp_35^0-temp_35^post11 == 0 /\ i_110^0-i_110^post11 == 0 /\ -a_342^post11+a_342^0 == 0 /\ -t_22^post11+t_22^0 == 0 /\ -r_126^post11+r_126^0 == 0 /\ -a_343^post11+a_343^0 == 0 /\ i_30^0-i_30^post11 == 0 /\ r_39^0-r_39^post11 == 0 /\ y_18^0-y_18^post11 == 0 /\ x_176^0-x_176^post11 == 0), cost: 1
  12: l11 -> l12 : a_118^0'=a_118^post12, x_176^0'=x_176^post12, i_30^0'=i_30^post12, result_11^0'=result_11^post12, a_289^0'=a_289^post12, y_18^0'=y_18^post12, len_187^0'=len_187^post12, temp0_16^0'=temp0_16^post12, temp_35^0'=temp_35^post12, head_32^0'=head_32^post12, r_39^0'=r_39^post12, a_188^0'=a_188^post12, x_26^0'=x_26^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, a_343^0'=a_343^post12, nondet_12^0'=nondet_12^post12, x_131^0'=x_131^post12, i_110^0'=i_110^post12, rcd_89^0'=rcd_89^post12, a_281^0'=a_281^post12, x_SLAM_f_24^0'=x_SLAM_f_24^post12, len_134^0'=len_134^post12, tail_14^0'=tail_14^post12, head_15^0'=head_15^post12, r_165^0'=r_165^post12, a_149^0'=a_149^post12, x_19^0'=x_19^post12, i_95^0'=i_95^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, a_342^0'=a_342^post12, y_25^0'=y_25^post12, length_28^0'=length_28^post12, temp0_31^0'=temp0_31^post12, tmp_34^0'=tmp_34^post12, head_SLAM_f_29^0'=head_SLAM_f_29^post12, rcd_59^0'=rcd_59^post12, a_225^0'=a_225^post12, x_SLAM_f_17^0'=x_SLAM_f_17^post12, t_22^0'=t_22^post12, f_171^0'=f_171^post12, r_126^0'=r_126^post12, (tmp_34^0-tmp_34^post12 == 0 /\ tail_14^0-tail_14^post12 == 0 /\ -rcd_59^post12+rcd_59^0 == 0 /\ -y_25^post12+y_25^0 == 0 /\ temp_35^0-temp_35^post12 == 0 /\ temp0_16^0-temp0_16^post12 == 0 /\ -t_22^post12+t_22^0 == 0 /\ -temp0_31^post12+temp0_31^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -f_171^post12+f_171^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post12 == 0 /\ a_118^0-a_118^post12 == 0 /\ a_225^0-a_225^post12 == 0 /\ len_187^0-len_187^post12 == 0 /\ r_165^0-r_165^post12 == 0 /\ rcd_89^0-rcd_89^post12 == 0 /\ -length_28^post12+length_28^0 == 0 /\ x_26^0-x_26^post12 == 0 /\ -r_126^post12+r_126^0 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ -len_134^post12+len_134^0 == 0 /\ a_281^0-a_281^post12 == 0 /\ -head_32^post12+head_32^0 == 0 /\ r_39^0-r_39^post12 == 0 /\ x_176^0-x_176^post12 == 0 /\ -i_110^post12+i_110^0 == 0 /\ x_19^0-x_19^post12 == 0 /\ -head_15^post12+head_15^0 == 0 /\ a_289^0-a_289^post12 == 0 /\ -a_149^post12+a_149^0 == 0 /\ -x_SLAM_f_24^post12+x_SLAM_f_24^0 == 0 /\ -i_95^post12+i_95^0 == 0 /\ y_18^0-y_18^post12 == 0 /\ -head_SLAM_f_29^post12+head_SLAM_f_29^0 == 0 /\ a_342^0-a_342^post12 == 0 /\ x_131^0-x_131^post12 == 0 /\ i_30^0-i_30^post12 == 0 /\ result_11^0-result_11^post12 == 0 /\ a_343^0-a_343^post12 == 0 /\ 1-y_18^0+head_15^0 <= 0 /\ -x_SLAM_f_17^post12+x_SLAM_f_17^0 == 0 /\ a_188^0-a_188^post12 == 0), cost: 1
  13: l11 -> l12 : a_118^0'=a_118^post13, x_176^0'=x_176^post13, i_30^0'=i_30^post13, result_11^0'=result_11^post13, a_289^0'=a_289^post13, y_18^0'=y_18^post13, len_187^0'=len_187^post13, temp0_16^0'=temp0_16^post13, temp_35^0'=temp_35^post13, head_32^0'=head_32^post13, r_39^0'=r_39^post13, a_188^0'=a_188^post13, x_26^0'=x_26^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, a_343^0'=a_343^post13, nondet_12^0'=nondet_12^post13, x_131^0'=x_131^post13, i_110^0'=i_110^post13, rcd_89^0'=rcd_89^post13, a_281^0'=a_281^post13, x_SLAM_f_24^0'=x_SLAM_f_24^post13, len_134^0'=len_134^post13, tail_14^0'=tail_14^post13, head_15^0'=head_15^post13, r_165^0'=r_165^post13, a_149^0'=a_149^post13, x_19^0'=x_19^post13, i_95^0'=i_95^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13, a_342^0'=a_342^post13, y_25^0'=y_25^post13, length_28^0'=length_28^post13, temp0_31^0'=temp0_31^post13, tmp_34^0'=tmp_34^post13, head_SLAM_f_29^0'=head_SLAM_f_29^post13, rcd_59^0'=rcd_59^post13, a_225^0'=a_225^post13, x_SLAM_f_17^0'=x_SLAM_f_17^post13, t_22^0'=t_22^post13, f_171^0'=f_171^post13, r_126^0'=r_126^post13, (len_187^0-len_187^post13 == 0 /\ x_131^0-x_131^post13 == 0 /\ i_30^0-i_30^post13 == 0 /\ -i_95^post13+i_95^0 == 0 /\ -temp0_31^post13+temp0_31^0 == 0 /\ rcd_89^0-rcd_89^post13 == 0 /\ nondet_12^0-nondet_12^post13 == 0 /\ rcd_59^0-rcd_59^post13 == 0 /\ result_11^0-result_11^post13 == 0 /\ -a_225^post13+a_225^0 == 0 /\ tail_14^0-tail_14^post13 == 0 /\ -head_SLAM_f_29^post13+head_SLAM_f_29^0 == 0 /\ r_39^0-r_39^post13 == 0 /\ -y_25^post13+y_25^0 == 0 /\ -a_343^post13+a_343^0 == 0 /\ head_15^0-head_15^post13 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post13 == 0 /\ a_118^0-a_118^post13 == 0 /\ a_289^0-a_289^post13 == 0 /\ -x_SLAM_f_24^post13+x_SLAM_f_24^0 == 0 /\ len_134^0-len_134^post13 == 0 /\ temp0_16^0-temp0_16^post13 == 0 /\ temp_35^0-temp_35^post13 == 0 /\ -tmp_34^post13+tmp_34^0 == 0 /\ -t_22^post13+t_22^0 == 0 /\ a_342^0-a_342^post13 == 0 /\ -a_149^post13+a_149^0 == 0 /\ -r_126^post13+r_126^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post13 == 0 /\ -x_19^post13+x_19^0 == 0 /\ a_188^0-a_188^post13 == 0 /\ -x_26^post13+x_26^0 == 0 /\ -length_28^post13+length_28^0 == 0 /\ 1+y_18^0-head_15^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_281^post13+a_281^0 == 0 /\ -y_18^post13+y_18^0 == 0 /\ x_176^0-x_176^post13 == 0 /\ -f_171^post13+f_171^0 == 0 /\ r_165^0-r_165^post13 == 0 /\ -head_32^post13+head_32^0 == 0 /\ i_110^0-i_110^post13 == 0), cost: 1
  14: l12 -> l13 : a_118^0'=a_118^post14, x_176^0'=x_176^post14, i_30^0'=i_30^post14, result_11^0'=result_11^post14, a_289^0'=a_289^post14, y_18^0'=y_18^post14, len_187^0'=len_187^post14, temp0_16^0'=temp0_16^post14, temp_35^0'=temp_35^post14, head_32^0'=head_32^post14, r_39^0'=r_39^post14, a_188^0'=a_188^post14, x_26^0'=x_26^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_343^0'=a_343^post14, nondet_12^0'=nondet_12^post14, x_131^0'=x_131^post14, i_110^0'=i_110^post14, rcd_89^0'=rcd_89^post14, a_281^0'=a_281^post14, x_SLAM_f_24^0'=x_SLAM_f_24^post14, len_134^0'=len_134^post14, tail_14^0'=tail_14^post14, head_15^0'=head_15^post14, r_165^0'=r_165^post14, a_149^0'=a_149^post14, x_19^0'=x_19^post14, i_95^0'=i_95^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14, a_342^0'=a_342^post14, y_25^0'=y_25^post14, length_28^0'=length_28^post14, temp0_31^0'=temp0_31^post14, tmp_34^0'=tmp_34^post14, head_SLAM_f_29^0'=head_SLAM_f_29^post14, rcd_59^0'=rcd_59^post14, a_225^0'=a_225^post14, x_SLAM_f_17^0'=x_SLAM_f_17^post14, t_22^0'=t_22^post14, f_171^0'=f_171^post14, r_126^0'=r_126^post14, (head_32^0-head_32^post14 == 0 /\ -a_149^post14+a_149^0 == 0 /\ rcd_59^0-rcd_59^post14 == 0 /\ -x_131^post14+x_131^0 == 0 /\ a_188^0-a_188^post14 == 0 /\ -head_15^post14+head_15^0 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ len_134^0-len_134^post14 == 0 /\ temp0_31^0-temp0_31^post14 == 0 /\ -x_19^post14+x_19^0 == 0 /\ -f_171^post14+f_171^0 == 0 /\ -a_225^post14+a_225^0 == 0 /\ 1+y_18^0-t_22^0 <= 0 /\ x_26^0-x_26^post14 == 0 /\ a_289^0-a_289^post14 == 0 /\ -tmp_34^post14+tmp_34^0 == 0 /\ -i_95^post14+i_95^0 == 0 /\ r_39^0-r_39^post14 == 0 /\ -a_281^post14+a_281^0 == 0 /\ -x_SLAM_f_17^post14+x_SLAM_f_17^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post14 == 0 /\ -tail_14^post14+tail_14^0 == 0 /\ -y_25^post14+y_25^0 == 0 /\ i_30^0-i_30^post14 == 0 /\ a_118^0-a_118^post14 == 0 /\ length_28^0-length_28^post14 == 0 /\ temp0_16^0-temp0_16^post14 == 0 /\ -r_165^post14+r_165^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14 == 0 /\ result_11^0-result_11^post14 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post14+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_22^post14+t_22^0 == 0 /\ i_110^0-i_110^post14 == 0 /\ -temp_35^post14+temp_35^0 == 0 /\ -r_126^post14+r_126^0 == 0 /\ -a_342^post14+a_342^0 == 0 /\ rcd_89^0-rcd_89^post14 == 0 /\ len_187^0-len_187^post14 == 0 /\ -a_343^post14+a_343^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post14 == 0 /\ x_176^0-x_176^post14 == 0 /\ y_18^0-y_18^post14 == 0), cost: 1
  15: l12 -> l13 : a_118^0'=a_118^post15, x_176^0'=x_176^post15, i_30^0'=i_30^post15, result_11^0'=result_11^post15, a_289^0'=a_289^post15, y_18^0'=y_18^post15, len_187^0'=len_187^post15, temp0_16^0'=temp0_16^post15, temp_35^0'=temp_35^post15, head_32^0'=head_32^post15, r_39^0'=r_39^post15, a_188^0'=a_188^post15, x_26^0'=x_26^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, a_343^0'=a_343^post15, nondet_12^0'=nondet_12^post15, x_131^0'=x_131^post15, i_110^0'=i_110^post15, rcd_89^0'=rcd_89^post15, a_281^0'=a_281^post15, x_SLAM_f_24^0'=x_SLAM_f_24^post15, len_134^0'=len_134^post15, tail_14^0'=tail_14^post15, head_15^0'=head_15^post15, r_165^0'=r_165^post15, a_149^0'=a_149^post15, x_19^0'=x_19^post15, i_95^0'=i_95^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15, a_342^0'=a_342^post15, y_25^0'=y_25^post15, length_28^0'=length_28^post15, temp0_31^0'=temp0_31^post15, tmp_34^0'=tmp_34^post15, head_SLAM_f_29^0'=head_SLAM_f_29^post15, rcd_59^0'=rcd_59^post15, a_225^0'=a_225^post15, x_SLAM_f_17^0'=x_SLAM_f_17^post15, t_22^0'=t_22^post15, f_171^0'=f_171^post15, r_126^0'=r_126^post15, (1-y_18^0+t_22^0 <= 0 /\ tail_14^0-tail_14^post15 == 0 /\ -length_28^post15+length_28^0 == 0 /\ -tmp_34^post15+tmp_34^0 == 0 /\ -rcd_59^post15+rcd_59^0 == 0 /\ -t_22^post15+t_22^0 == 0 /\ temp_35^0-temp_35^post15 == 0 /\ -y_25^post15+y_25^0 == 0 /\ r_165^0-r_165^post15 == 0 /\ len_187^0-len_187^post15 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -temp0_31^post15+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post15 == 0 /\ a_225^0-a_225^post15 == 0 /\ -len_134^post15+len_134^0 == 0 /\ x_26^0-x_26^post15 == 0 /\ rcd_89^0-rcd_89^post15 == 0 /\ -f_171^post15+f_171^0 == 0 /\ -a_342^post15+a_342^0 == 0 /\ a_281^0-a_281^post15 == 0 /\ -r_126^post15+r_126^0 == 0 /\ nondet_12^0-nondet_12^post15 == 0 /\ -head_32^post15+head_32^0 == 0 /\ r_39^0-r_39^post15 == 0 /\ -i_110^post15+i_110^0 == 0 /\ x_176^0-x_176^post15 == 0 /\ x_19^0-x_19^post15 == 0 /\ -head_15^post15+head_15^0 == 0 /\ a_289^0-a_289^post15 == 0 /\ temp0_16^0-temp0_16^post15 == 0 /\ a_118^0-a_118^post15 == 0 /\ -head_SLAM_f_29^post15+head_SLAM_f_29^0 == 0 /\ -i_95^post15+i_95^0 == 0 /\ x_131^0-x_131^post15 == 0 /\ -x_SLAM_f_24^post15+x_SLAM_f_24^0 == 0 /\ i_30^0-i_30^post15 == 0 /\ -x_SLAM_f_17^post15+x_SLAM_f_17^0 == 0 /\ y_18^0-y_18^post15 == 0 /\ a_343^0-a_343^post15 == 0 /\ result_11^0-result_11^post15 == 0 /\ -a_149^post15+a_149^0 == 0 /\ a_188^0-a_188^post15 == 0), cost: 1
  16: l13 -> l7 : a_118^0'=a_118^post16, x_176^0'=x_176^post16, i_30^0'=i_30^post16, result_11^0'=result_11^post16, a_289^0'=a_289^post16, y_18^0'=y_18^post16, len_187^0'=len_187^post16, temp0_16^0'=temp0_16^post16, temp_35^0'=temp_35^post16, head_32^0'=head_32^post16, r_39^0'=r_39^post16, a_188^0'=a_188^post16, x_26^0'=x_26^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, a_343^0'=a_343^post16, nondet_12^0'=nondet_12^post16, x_131^0'=x_131^post16, i_110^0'=i_110^post16, rcd_89^0'=rcd_89^post16, a_281^0'=a_281^post16, x_SLAM_f_24^0'=x_SLAM_f_24^post16, len_134^0'=len_134^post16, tail_14^0'=tail_14^post16, head_15^0'=head_15^post16, r_165^0'=r_165^post16, a_149^0'=a_149^post16, x_19^0'=x_19^post16, i_95^0'=i_95^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16, a_342^0'=a_342^post16, y_25^0'=y_25^post16, length_28^0'=length_28^post16, temp0_31^0'=temp0_31^post16, tmp_34^0'=tmp_34^post16, head_SLAM_f_29^0'=head_SLAM_f_29^post16, rcd_59^0'=rcd_59^post16, a_225^0'=a_225^post16, x_SLAM_f_17^0'=x_SLAM_f_17^post16, t_22^0'=t_22^post16, f_171^0'=f_171^post16, r_126^0'=r_126^post16, (0 == 0 /\ len_187^0-len_187^post16 == 0 /\ r_165^0-r_165^post16 == 0 /\ x_131^0-x_131^post16 == 0 /\ -i_95^post16+i_95^0 == 0 /\ -temp0_31^post16+temp0_31^0 == 0 /\ head_15^0-head_15^post16 == 0 /\ i_30^0-i_30^post16 == 0 /\ rcd_89^0-rcd_89^post16 == 0 /\ tail_14^0-tail_14^post16 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post16 == 0 /\ r_39^0-r_39^post16 == 0 /\ result_11^0-result_11^post16 == 0 /\ -length_28^post16+length_28^0 == 0 /\ -y_25^post16+y_25^0 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ rcd_59^0-rcd_59^post16 == 0 /\ -t_22^post16+t_22^0 == 0 /\ a_118^0-a_118^post16 == 0 /\ a_289^0-a_289^post16 == 0 /\ temp_35^0-temp_35^post16 == 0 /\ temp0_16^0-temp0_16^post16 == 0 /\ -a_225^post16+a_225^0 == 0 /\ i_110^0-i_110^post16 == 0 /\ -x_26^post16+x_26^0 == 0 /\ a_149^post16-a_342^0 <= 0 /\ -r_126^post16+r_126^0 == 0 /\ a_342^0-a_342^post16 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post16 == 0 /\ a_343^0-a_343^post16 == 0 /\ -x_19^post16+x_19^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_188^0-a_188^post16 == 0 /\ -head_SLAM_f_29^post16+head_SLAM_f_29^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post16 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_343^0+a_281^post16 <= 0 /\ -y_18^post16+y_18^0 == 0 /\ -a_149^post16+a_342^0 <= 0 /\ x_176^0-x_176^post16 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_32^post16+head_32^0 == 0 /\ -tmp_34^post16+tmp_34^0 == 0 /\ len_134^0-len_134^post16 == 0 /\ a_343^0-a_281^post16 <= 0 /\ -f_171^post16+f_171^0 == 0), cost: 1
  17: l7 -> l6 : a_118^0'=a_118^post17, x_176^0'=x_176^post17, i_30^0'=i_30^post17, result_11^0'=result_11^post17, a_289^0'=a_289^post17, y_18^0'=y_18^post17, len_187^0'=len_187^post17, temp0_16^0'=temp0_16^post17, temp_35^0'=temp_35^post17, head_32^0'=head_32^post17, r_39^0'=r_39^post17, a_188^0'=a_188^post17, x_26^0'=x_26^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, a_343^0'=a_343^post17, nondet_12^0'=nondet_12^post17, x_131^0'=x_131^post17, i_110^0'=i_110^post17, rcd_89^0'=rcd_89^post17, a_281^0'=a_281^post17, x_SLAM_f_24^0'=x_SLAM_f_24^post17, len_134^0'=len_134^post17, tail_14^0'=tail_14^post17, head_15^0'=head_15^post17, r_165^0'=r_165^post17, a_149^0'=a_149^post17, x_19^0'=x_19^post17, i_95^0'=i_95^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17, a_342^0'=a_342^post17, y_25^0'=y_25^post17, length_28^0'=length_28^post17, temp0_31^0'=temp0_31^post17, tmp_34^0'=tmp_34^post17, head_SLAM_f_29^0'=head_SLAM_f_29^post17, rcd_59^0'=rcd_59^post17, a_225^0'=a_225^post17, x_SLAM_f_17^0'=x_SLAM_f_17^post17, t_22^0'=t_22^post17, f_171^0'=f_171^post17, r_126^0'=r_126^post17, (head_32^0-head_32^post17 == 0 /\ rcd_59^0-rcd_59^post17 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post17 == 0 /\ len_187^0-len_187^post17 == 0 /\ i_95^0-i_95^post17 == 0 /\ i_30^0-i_30^post17 == 0 /\ temp0_31^0-temp0_31^post17 == 0 /\ len_134^0-len_134^post17 == 0 /\ -a_149^post17+a_149^0 == 0 /\ -x_19^post17+x_19^0 == 0 /\ -a_225^post17+a_225^0 == 0 /\ -f_171^post17+f_171^0 == 0 /\ -head_15^post17+head_15^0 == 0 /\ -tail_14^post17+tail_14^0 == 0 /\ -tmp_34^post17+tmp_34^0 == 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ r_39^0-r_39^post17 == 0 /\ a_289^0-a_289^post17 == 0 /\ -a_281^post17+a_281^0 == 0 /\ -x_SLAM_f_17^post17+x_SLAM_f_17^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post17 == 0 /\ a_118^0-a_118^post17 == 0 /\ -y_25^post17+y_25^0 == 0 /\ a_188^0-a_188^post17 == 0 /\ temp0_16^0-temp0_16^post17 == 0 /\ y_18^0-y_18^post17 == 0 /\ length_28^0-length_28^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17 == 0 /\ result_11^0-result_11^post17 == 0 /\ -r_165^post17+r_165^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post17+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_22^post17+t_22^0 == 0 /\ -temp_35^post17+temp_35^0 == 0 /\ -r_126^post17+r_126^0 == 0 /\ i_110^0-i_110^post17 == 0 /\ rcd_89^0-rcd_89^post17 == 0 /\ x_26^0-x_26^post17 == 0 /\ -x_131^post17+x_131^0 == 0 /\ -a_342^post17+a_342^0 == 0 /\ -a_343^post17+a_343^0 == 0 /\ x_176^0-x_176^post17 == 0), cost: 1
  33: l23 -> l24 : a_118^0'=a_118^post33, x_176^0'=x_176^post33, i_30^0'=i_30^post33, result_11^0'=result_11^post33, a_289^0'=a_289^post33, y_18^0'=y_18^post33, len_187^0'=len_187^post33, temp0_16^0'=temp0_16^post33, temp_35^0'=temp_35^post33, head_32^0'=head_32^post33, r_39^0'=r_39^post33, a_188^0'=a_188^post33, x_26^0'=x_26^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_343^0'=a_343^post33, nondet_12^0'=nondet_12^post33, x_131^0'=x_131^post33, i_110^0'=i_110^post33, rcd_89^0'=rcd_89^post33, a_281^0'=a_281^post33, x_SLAM_f_24^0'=x_SLAM_f_24^post33, len_134^0'=len_134^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, r_165^0'=r_165^post33, a_149^0'=a_149^post33, x_19^0'=x_19^post33, i_95^0'=i_95^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, a_342^0'=a_342^post33, y_25^0'=y_25^post33, length_28^0'=length_28^post33, temp0_31^0'=temp0_31^post33, tmp_34^0'=tmp_34^post33, head_SLAM_f_29^0'=head_SLAM_f_29^post33, rcd_59^0'=rcd_59^post33, a_225^0'=a_225^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, t_22^0'=t_22^post33, f_171^0'=f_171^post33, r_126^0'=r_126^post33, (0 == 0 /\ r_39^0-r_39^post33 == 0 /\ -r_126^post33+r_126^0 == 0 /\ -a_225^post33+a_225^0 == 0 /\ temp0_16^0-temp0_16^post33 == 0 /\ nondet_12^0-nondet_12^post33 == 0 /\ x_176^0-x_176^post33 == 0 /\ -len_134^post33+len_134^0 == 0 /\ -head_SLAM_f_29^post33+head_SLAM_f_29^0 == 0 /\ -a_188^post33+a_188^0 == 0 /\ a_149^0-a_149^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33 == 0 /\ result_11^0-result_11^post33 == 0 /\ -x_131^post33+x_131^0 == 0 /\ -rcd_59^post33+rcd_59^0 == 0 /\ -a_281^post33+a_281^0 == 0 /\ -x_19^post33+x_19^0 == 0 /\ a_343^0-a_343^post33 == 0 /\ tmp_34^0-tmp_34^post33 == 0 /\ -a_149^0 <= 0 /\ y_18^0-y_18^post33 == 0 /\ -f_171^post33+f_171^0 == 0 /\ -i_95^post33+i_95^0 == 0 /\ i_30^0-i_30^post33 == 0 /\ -r_165^post33+r_165^0 == 0 /\ -x_SLAM_f_24^post33+x_SLAM_f_24^0 == 0 /\ head_32^0-head_32^post33 == 0 /\ a_118^0-a_118^post33 == 0 /\ -len_134^0 <= 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ i_110^0-i_110^post33 == 0 /\ -length_28^post33+length_28^0 == 0 /\ a_342^0-a_342^post33 == 0 /\ -t_22^post33+t_22^0 == 0 /\ -y_25^post33+y_25^0 == 0 /\ rcd_89^0-rcd_89^post33 == 0 /\ x_26^0-x_26^post33 == 0 /\ len_187^0-len_187^post33 == 0 /\ -temp_35^post33+temp_35^0 == 0), cost: 1
  34: l24 -> l25 : a_118^0'=a_118^post34, x_176^0'=x_176^post34, i_30^0'=i_30^post34, result_11^0'=result_11^post34, a_289^0'=a_289^post34, y_18^0'=y_18^post34, len_187^0'=len_187^post34, temp0_16^0'=temp0_16^post34, temp_35^0'=temp_35^post34, head_32^0'=head_32^post34, r_39^0'=r_39^post34, a_188^0'=a_188^post34, x_26^0'=x_26^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, a_343^0'=a_343^post34, nondet_12^0'=nondet_12^post34, x_131^0'=x_131^post34, i_110^0'=i_110^post34, rcd_89^0'=rcd_89^post34, a_281^0'=a_281^post34, x_SLAM_f_24^0'=x_SLAM_f_24^post34, len_134^0'=len_134^post34, tail_14^0'=tail_14^post34, head_15^0'=head_15^post34, r_165^0'=r_165^post34, a_149^0'=a_149^post34, x_19^0'=x_19^post34, i_95^0'=i_95^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, a_342^0'=a_342^post34, y_25^0'=y_25^post34, length_28^0'=length_28^post34, temp0_31^0'=temp0_31^post34, tmp_34^0'=tmp_34^post34, head_SLAM_f_29^0'=head_SLAM_f_29^post34, rcd_59^0'=rcd_59^post34, a_225^0'=a_225^post34, x_SLAM_f_17^0'=x_SLAM_f_17^post34, t_22^0'=t_22^post34, f_171^0'=f_171^post34, r_126^0'=r_126^post34, (head_15^0-head_15^post34 == 0 /\ x_26^0-x_26^post34 == 0 /\ -tmp_34^post34+tmp_34^0 == 0 /\ a_289^0-a_289^post34 == 0 /\ x_176^0-x_176^post34 == 0 /\ -x_SLAM_f_24^post34+x_SLAM_f_24^0 == 0 /\ a_188^0-a_188^post34 == 0 /\ -f_171^post34+f_171^0 == 0 /\ -t_22^post34+t_22^0 == 0 /\ i_30^0-i_30^post34 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ y_18^0-y_18^post34 == 0 /\ x_131^0-x_131^post34 == 0 /\ -a_342^post34+a_342^0 == 0 /\ r_165^0-r_165^post34 == 0 /\ -temp0_31^post34+temp0_31^0 == 0 /\ -length_28^post34+length_28^0 == 0 /\ -r_126^post34+r_126^0 == 0 /\ -a_281^post34+a_281^0 == 0 /\ -r_39^post34+r_39^0 == 0 /\ a_343^0-a_343^post34 == 0 /\ len_134^0-len_134^post34 == 0 /\ -a_225^post34+a_225^0 == 0 /\ temp_35^0-temp_35^post34 == 0 /\ -a_149^post34+a_149^0 == 0 /\ temp0_16^0-temp0_16^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post34 == 0 /\ -i_95^post34+i_95^0 == 0 /\ -rcd_89^post34+rcd_89^0 == 0 /\ x_19^0-x_19^post34 == 0 /\ 1+y_18^0-x_19^0 <= 0 /\ a_118^0-a_118^post34 == 0 /\ -i_110^post34+i_110^0 == 0 /\ len_187^0-len_187^post34 == 0 /\ head_32^0-head_32^post34 == 0 /\ -rcd_59^post34+rcd_59^0 == 0 /\ -x_SLAM_f_17^post34+x_SLAM_f_17^0 == 0 /\ result_11^0-result_11^post34 == 0 /\ -head_SLAM_f_29^post34+head_SLAM_f_29^0 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ tail_14^0-tail_14^post34 == 0 /\ y_25^0-y_25^post34 == 0), cost: 1
  35: l24 -> l25 : a_118^0'=a_118^post35, x_176^0'=x_176^post35, i_30^0'=i_30^post35, result_11^0'=result_11^post35, a_289^0'=a_289^post35, y_18^0'=y_18^post35, len_187^0'=len_187^post35, temp0_16^0'=temp0_16^post35, temp_35^0'=temp_35^post35, head_32^0'=head_32^post35, r_39^0'=r_39^post35, a_188^0'=a_188^post35, x_26^0'=x_26^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, a_343^0'=a_343^post35, nondet_12^0'=nondet_12^post35, x_131^0'=x_131^post35, i_110^0'=i_110^post35, rcd_89^0'=rcd_89^post35, a_281^0'=a_281^post35, x_SLAM_f_24^0'=x_SLAM_f_24^post35, len_134^0'=len_134^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, r_165^0'=r_165^post35, a_149^0'=a_149^post35, x_19^0'=x_19^post35, i_95^0'=i_95^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, a_342^0'=a_342^post35, y_25^0'=y_25^post35, length_28^0'=length_28^post35, temp0_31^0'=temp0_31^post35, tmp_34^0'=tmp_34^post35, head_SLAM_f_29^0'=head_SLAM_f_29^post35, rcd_59^0'=rcd_59^post35, a_225^0'=a_225^post35, x_SLAM_f_17^0'=x_SLAM_f_17^post35, t_22^0'=t_22^post35, f_171^0'=f_171^post35, r_126^0'=r_126^post35, (a_118^0-a_118^post35 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -temp0_31^post35+temp0_31^0 == 0 /\ x_26^0-x_26^post35 == 0 /\ -a_343^post35+a_343^0 == 0 /\ a_188^0-a_188^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ -a_225^post35+a_225^0 == 0 /\ head_32^0-head_32^post35 == 0 /\ -head_SLAM_f_29^post35+head_SLAM_f_29^0 == 0 /\ -rcd_89^post35+rcd_89^0 == 0 /\ a_149^0-a_149^post35 == 0 /\ x_176^0-x_176^post35 == 0 /\ i_110^0-i_110^post35 == 0 /\ -length_28^post35+length_28^0 == 0 /\ 1-y_18^0+x_19^0 <= 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post35 == 0 /\ -len_134^post35+len_134^0 == 0 /\ -x_SLAM_f_17^post35+x_SLAM_f_17^0 == 0 /\ -t_22^post35+t_22^0 == 0 /\ -tail_14^post35+tail_14^0 == 0 /\ i_30^0-i_30^post35 == 0 /\ i_95^0-i_95^post35 == 0 /\ y_18^0-y_18^post35 == 0 /\ -rcd_59^post35+rcd_59^0 == 0 /\ -len_187^post35+len_187^0 == 0 /\ y_25^0-y_25^post35 == 0 /\ -tmp_34^post35+tmp_34^0 == 0 /\ -x_131^post35+x_131^0 == 0 /\ -result_11^post35+result_11^0 == 0 /\ head_15^0-head_15^post35 == 0 /\ -f_171^post35+f_171^0 == 0 /\ r_39^0-r_39^post35 == 0 /\ -a_281^post35+a_281^0 == 0 /\ -x_19^post35+x_19^0 == 0 /\ temp_35^0-temp_35^post35 == 0 /\ -r_126^post35+r_126^0 == 0 /\ temp0_16^0-temp0_16^post35 == 0 /\ a_289^0-a_289^post35 == 0 /\ -a_342^post35+a_342^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ -r_165^post35+r_165^0 == 0), cost: 1
  36: l25 -> l26 : a_118^0'=a_118^post36, x_176^0'=x_176^post36, i_30^0'=i_30^post36, result_11^0'=result_11^post36, a_289^0'=a_289^post36, y_18^0'=y_18^post36, len_187^0'=len_187^post36, temp0_16^0'=temp0_16^post36, temp_35^0'=temp_35^post36, head_32^0'=head_32^post36, r_39^0'=r_39^post36, a_188^0'=a_188^post36, x_26^0'=x_26^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, a_343^0'=a_343^post36, nondet_12^0'=nondet_12^post36, x_131^0'=x_131^post36, i_110^0'=i_110^post36, rcd_89^0'=rcd_89^post36, a_281^0'=a_281^post36, x_SLAM_f_24^0'=x_SLAM_f_24^post36, len_134^0'=len_134^post36, tail_14^0'=tail_14^post36, head_15^0'=head_15^post36, r_165^0'=r_165^post36, a_149^0'=a_149^post36, x_19^0'=x_19^post36, i_95^0'=i_95^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, a_342^0'=a_342^post36, y_25^0'=y_25^post36, length_28^0'=length_28^post36, temp0_31^0'=temp0_31^post36, tmp_34^0'=tmp_34^post36, head_SLAM_f_29^0'=head_SLAM_f_29^post36, rcd_59^0'=rcd_59^post36, a_225^0'=a_225^post36, x_SLAM_f_17^0'=x_SLAM_f_17^post36, t_22^0'=t_22^post36, f_171^0'=f_171^post36, r_126^0'=r_126^post36, (0 == 0 /\ -head_SLAM_f_29^post36+head_SLAM_f_29^0 == 0 /\ -x_131^post36+x_131^0 == 0 /\ -len_134^post36+len_134^0 == 0 /\ -f_171^post36+f_171^0 == 0 /\ -tail_14^post36+tail_14^0 == 0 /\ -head_15^post36+head_15^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ temp0_16^0-temp0_16^post36 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ a_289^0 <= 0 /\ -r_126^post36+r_126^0 == 0 /\ -x_19^post36+x_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36 == 0 /\ a_281^0-a_149^0-a_225^post36 <= 0 /\ a_118^0-a_118^post36 == 0 /\ result_11^0-result_11^post36 == 0 /\ -head_15^0+t_22^post36 <= 0 /\ -x_SLAM_f_17^post36+x_SLAM_f_17^0 == 0 /\ -rcd_59^post36+rcd_59^0 == 0 /\ -a_281^post36+a_281^0 == 0 /\ i_110^0-i_110^post36 == 0 /\ a_289^0-a_289^post36 == 0 /\ a_149^0-a_149^post36 == 0 /\ a_343^0-a_343^post36 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ tmp_34^0-tmp_34^post36 == 0 /\ a_188^0-a_188^post36 == 0 /\ -a_289^0 <= 0 /\ -i_95^post36+i_95^0 == 0 /\ -a_281^0+a_149^0+a_225^post36 <= 0 /\ i_30^0-i_30^post36 == 0 /\ y_18^0-y_18^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 == 0 /\ r_39^0-r_39^post36 == 0 /\ head_15^0-t_22^post36 <= 0 /\ x_176^0-x_176^post36 == 0 /\ head_32^0-head_32^post36 == 0 /\ -r_165^post36+r_165^0 == 0 /\ y_18^0-tail_14^0 <= 0 /\ -y_25^post36+y_25^0 == 0 /\ -x_SLAM_f_24^post36+x_SLAM_f_24^0 == 0 /\ -temp0_31^post36+temp0_31^0 == 0 /\ -a_342^post36+a_342^0 == 0 /\ rcd_89^0-rcd_89^post36 == 0 /\ -y_18^0+tail_14^0 <= 0 /\ -x_19^0+t_22^post36 == 0 /\ x_26^0-x_26^post36 == 0 /\ -temp_35^post36+temp_35^0 == 0 /\ -length_28^post36+length_28^0 == 0 /\ len_187^0-len_187^post36 == 0), cost: 1
  37: l26 -> l27 : a_118^0'=a_118^post37, x_176^0'=x_176^post37, i_30^0'=i_30^post37, result_11^0'=result_11^post37, a_289^0'=a_289^post37, y_18^0'=y_18^post37, len_187^0'=len_187^post37, temp0_16^0'=temp0_16^post37, temp_35^0'=temp_35^post37, head_32^0'=head_32^post37, r_39^0'=r_39^post37, a_188^0'=a_188^post37, x_26^0'=x_26^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, a_343^0'=a_343^post37, nondet_12^0'=nondet_12^post37, x_131^0'=x_131^post37, i_110^0'=i_110^post37, rcd_89^0'=rcd_89^post37, a_281^0'=a_281^post37, x_SLAM_f_24^0'=x_SLAM_f_24^post37, len_134^0'=len_134^post37, tail_14^0'=tail_14^post37, head_15^0'=head_15^post37, r_165^0'=r_165^post37, a_149^0'=a_149^post37, x_19^0'=x_19^post37, i_95^0'=i_95^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, a_342^0'=a_342^post37, y_25^0'=y_25^post37, length_28^0'=length_28^post37, temp0_31^0'=temp0_31^post37, tmp_34^0'=tmp_34^post37, head_SLAM_f_29^0'=head_SLAM_f_29^post37, rcd_59^0'=rcd_59^post37, a_225^0'=a_225^post37, x_SLAM_f_17^0'=x_SLAM_f_17^post37, t_22^0'=t_22^post37, f_171^0'=f_171^post37, r_126^0'=r_126^post37, (-rcd_59^post37+rcd_59^0 == 0 /\ a_289^0-a_289^post37 == 0 /\ x_19^0-x_19^post37 == 0 /\ -x_SLAM_f_24^post37+x_SLAM_f_24^0 == 0 /\ -x_26^post37+x_26^0 == 0 /\ x_176^0-x_176^post37 == 0 /\ -t_22^post37+t_22^0 == 0 /\ i_30^0-i_30^post37 == 0 /\ -f_171^post37+f_171^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ y_18^0-y_18^post37 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post37 == 0 /\ result_11^0-result_11^post37 == 0 /\ -length_28^post37+length_28^0 == 0 /\ x_131^0-x_131^post37 == 0 /\ a_343^0-a_343^post37 == 0 /\ -r_126^post37+r_126^0 == 0 /\ -a_342^post37+a_342^0 == 0 /\ a_188^0-a_188^post37 == 0 /\ -temp0_31^post37+temp0_31^0 == 0 /\ len_134^0-len_134^post37 == 0 /\ -r_39^post37+r_39^0 == 0 /\ temp_35^0-temp_35^post37 == 0 /\ -head_15^post37+head_15^0 == 0 /\ -a_281^post37+a_281^0 == 0 /\ -a_225^post37+a_225^0 == 0 /\ -a_149^post37+a_149^0 == 0 /\ -rcd_89^post37+rcd_89^0 == 0 /\ -i_95^post37+i_95^0 == 0 /\ temp0_16^0-temp0_16^post37 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post37 == 0 /\ -tmp_34^post37+tmp_34^0 == 0 /\ -i_110^post37+i_110^0 == 0 /\ len_187^0-len_187^post37 == 0 /\ -head_SLAM_f_29^post37+head_SLAM_f_29^0 == 0 /\ r_165^0-r_165^post37 == 0 /\ a_118^0-a_118^post37 == 0 /\ head_32^0-head_32^post37 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ y_25^0-y_25^post37 == 0 /\ tail_14^0-tail_14^post37 == 0 /\ 1+tail_14^0-head_15^0 <= 0), cost: 1
  38: l26 -> l27 : a_118^0'=a_118^post38, x_176^0'=x_176^post38, i_30^0'=i_30^post38, result_11^0'=result_11^post38, a_289^0'=a_289^post38, y_18^0'=y_18^post38, len_187^0'=len_187^post38, temp0_16^0'=temp0_16^post38, temp_35^0'=temp_35^post38, head_32^0'=head_32^post38, r_39^0'=r_39^post38, a_188^0'=a_188^post38, x_26^0'=x_26^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, a_343^0'=a_343^post38, nondet_12^0'=nondet_12^post38, x_131^0'=x_131^post38, i_110^0'=i_110^post38, rcd_89^0'=rcd_89^post38, a_281^0'=a_281^post38, x_SLAM_f_24^0'=x_SLAM_f_24^post38, len_134^0'=len_134^post38, tail_14^0'=tail_14^post38, head_15^0'=head_15^post38, r_165^0'=r_165^post38, a_149^0'=a_149^post38, x_19^0'=x_19^post38, i_95^0'=i_95^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, a_342^0'=a_342^post38, y_25^0'=y_25^post38, length_28^0'=length_28^post38, temp0_31^0'=temp0_31^post38, tmp_34^0'=tmp_34^post38, head_SLAM_f_29^0'=head_SLAM_f_29^post38, rcd_59^0'=rcd_59^post38, a_225^0'=a_225^post38, x_SLAM_f_17^0'=x_SLAM_f_17^post38, t_22^0'=t_22^post38, f_171^0'=f_171^post38, r_126^0'=r_126^post38, (-r_165^post38+r_165^0 == 0 /\ a_118^0-a_118^post38 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post38 == 0 /\ y_18^0-y_18^post38 == 0 /\ x_26^0-x_26^post38 == 0 /\ -temp0_31^post38+temp0_31^0 == 0 /\ head_32^0-head_32^post38 == 0 /\ a_188^0-a_188^post38 == 0 /\ -head_SLAM_f_29^post38+head_SLAM_f_29^0 == 0 /\ -a_225^post38+a_225^0 == 0 /\ -a_343^post38+a_343^0 == 0 /\ -rcd_89^post38+rcd_89^0 == 0 /\ x_176^0-x_176^post38 == 0 /\ a_149^0-a_149^post38 == 0 /\ i_110^0-i_110^post38 == 0 /\ -x_SLAM_f_17^post38+x_SLAM_f_17^0 == 0 /\ -len_134^post38+len_134^0 == 0 /\ -a_342^post38+a_342^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post38 == 0 /\ -t_22^post38+t_22^0 == 0 /\ x_131^0-x_131^post38 == 0 /\ -nondet_12^post38+nondet_12^0 == 0 /\ i_30^0-i_30^post38 == 0 /\ i_95^0-i_95^post38 == 0 /\ -result_11^post38+result_11^0 == 0 /\ -tail_14^post38+tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ -length_28^post38+length_28^0 == 0 /\ -len_187^post38+len_187^0 == 0 /\ -tmp_34^post38+tmp_34^0 == 0 /\ head_15^0-head_15^post38 == 0 /\ -rcd_59^post38+rcd_59^0 == 0 /\ y_25^0-y_25^post38 == 0 /\ -a_281^post38+a_281^0 == 0 /\ -x_19^post38+x_19^0 == 0 /\ r_39^0-r_39^post38 == 0 /\ -r_126^post38+r_126^0 == 0 /\ -f_171^post38+f_171^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38 == 0 /\ temp0_16^0-temp0_16^post38 == 0 /\ a_289^0-a_289^post38 == 0 /\ temp_35^0-temp_35^post38 == 0), cost: 1
  39: l27 -> l28 : a_118^0'=a_118^post39, x_176^0'=x_176^post39, i_30^0'=i_30^post39, result_11^0'=result_11^post39, a_289^0'=a_289^post39, y_18^0'=y_18^post39, len_187^0'=len_187^post39, temp0_16^0'=temp0_16^post39, temp_35^0'=temp_35^post39, head_32^0'=head_32^post39, r_39^0'=r_39^post39, a_188^0'=a_188^post39, x_26^0'=x_26^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, a_343^0'=a_343^post39, nondet_12^0'=nondet_12^post39, x_131^0'=x_131^post39, i_110^0'=i_110^post39, rcd_89^0'=rcd_89^post39, a_281^0'=a_281^post39, x_SLAM_f_24^0'=x_SLAM_f_24^post39, len_134^0'=len_134^post39, tail_14^0'=tail_14^post39, head_15^0'=head_15^post39, r_165^0'=r_165^post39, a_149^0'=a_149^post39, x_19^0'=x_19^post39, i_95^0'=i_95^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, a_342^0'=a_342^post39, y_25^0'=y_25^post39, length_28^0'=length_28^post39, temp0_31^0'=temp0_31^post39, tmp_34^0'=tmp_34^post39, head_SLAM_f_29^0'=head_SLAM_f_29^post39, rcd_59^0'=rcd_59^post39, a_225^0'=a_225^post39, x_SLAM_f_17^0'=x_SLAM_f_17^post39, t_22^0'=t_22^post39, f_171^0'=f_171^post39, r_126^0'=r_126^post39, (-tail_14^post39+tail_14^0 == 0 /\ -a_225^post39+a_225^0 == 0 /\ a_118^0-a_118^post39 == 0 /\ -head_SLAM_f_29^post39+head_SLAM_f_29^0 == 0 /\ -x_131^post39+x_131^0 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ temp0_16^0-temp0_16^post39 == 0 /\ result_11^0-result_11^post39 == 0 /\ -f_171^post39+f_171^0 == 0 /\ -x_19^post39+x_19^0 == 0 /\ -head_15^post39+head_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 == 0 /\ -len_134^post39+len_134^0 == 0 /\ tmp_34^0-tmp_34^post39 == 0 /\ i_110^0-i_110^post39 == 0 /\ -x_SLAM_f_17^post39+x_SLAM_f_17^0 == 0 /\ a_343^0-a_343^post39 == 0 /\ a_149^0-a_149^post39 == 0 /\ -rcd_59^post39+rcd_59^0 == 0 /\ len_187^0-len_187^post39 == 0 /\ -i_95^post39+i_95^0 == 0 /\ i_30^0-i_30^post39 == 0 /\ -a_281^post39+a_281^0 == 0 /\ y_18^0-y_18^post39 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 == 0 /\ x_176^0-x_176^post39 == 0 /\ head_32^0-head_32^post39 == 0 /\ -y_25^post39+y_25^0 == 0 /\ t_22^0-t_22^post39 == 0 /\ -r_165^post39+r_165^0 == 0 /\ a_188^0-a_188^post39 == 0 /\ -x_SLAM_f_24^post39+x_SLAM_f_24^0 == 0 /\ -temp0_31^post39+temp0_31^0 == 0 /\ x_26^0-x_26^post39 == 0 /\ rcd_89^0-rcd_89^post39 == 0 /\ temp_35^0-temp_35^post39 == 0 /\ -a_342^post39+a_342^0 == 0 /\ a_289^0-a_289^post39 == 0 /\ -r_126^post39+r_126^0 == 0 /\ r_39^0-r_39^post39 == 0 /\ -length_28^post39+length_28^0 == 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 1
  40: l27 -> l28 : a_118^0'=a_118^post40, x_176^0'=x_176^post40, i_30^0'=i_30^post40, result_11^0'=result_11^post40, a_289^0'=a_289^post40, y_18^0'=y_18^post40, len_187^0'=len_187^post40, temp0_16^0'=temp0_16^post40, temp_35^0'=temp_35^post40, head_32^0'=head_32^post40, r_39^0'=r_39^post40, a_188^0'=a_188^post40, x_26^0'=x_26^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, a_343^0'=a_343^post40, nondet_12^0'=nondet_12^post40, x_131^0'=x_131^post40, i_110^0'=i_110^post40, rcd_89^0'=rcd_89^post40, a_281^0'=a_281^post40, x_SLAM_f_24^0'=x_SLAM_f_24^post40, len_134^0'=len_134^post40, tail_14^0'=tail_14^post40, head_15^0'=head_15^post40, r_165^0'=r_165^post40, a_149^0'=a_149^post40, x_19^0'=x_19^post40, i_95^0'=i_95^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, a_342^0'=a_342^post40, y_25^0'=y_25^post40, length_28^0'=length_28^post40, temp0_31^0'=temp0_31^post40, tmp_34^0'=tmp_34^post40, head_SLAM_f_29^0'=head_SLAM_f_29^post40, rcd_59^0'=rcd_59^post40, a_225^0'=a_225^post40, x_SLAM_f_17^0'=x_SLAM_f_17^post40, t_22^0'=t_22^post40, f_171^0'=f_171^post40, r_126^0'=r_126^post40, (-y_25^post40+y_25^0 == 0 /\ -rcd_59^post40+rcd_59^0 == 0 /\ -x_26^post40+x_26^0 == 0 /\ x_176^0-x_176^post40 == 0 /\ x_19^0-x_19^post40 == 0 /\ -t_22^post40+t_22^0 == 0 /\ a_289^0-a_289^post40 == 0 /\ temp0_16^0-temp0_16^post40 == 0 /\ -r_126^post40+r_126^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -temp0_31^post40+temp0_31^0 == 0 /\ -f_171^post40+f_171^0 == 0 /\ y_18^0-y_18^post40 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post40 == 0 /\ -length_28^post40+length_28^0 == 0 /\ result_11^0-result_11^post40 == 0 /\ x_131^0-x_131^post40 == 0 /\ i_30^0-i_30^post40 == 0 /\ a_343^0-a_343^post40 == 0 /\ a_188^0-a_188^post40 == 0 /\ len_134^0-len_134^post40 == 0 /\ tail_14^0-tail_14^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ temp_35^0-temp_35^post40 == 0 /\ -a_225^post40+a_225^0 == 0 /\ i_110^0-i_110^post40 == 0 /\ 1+y_18^0-head_15^0 <= 0 /\ -head_15^post40+head_15^0 == 0 /\ r_165^0-r_165^post40 == 0 /\ len_187^0-len_187^post40 == 0 /\ -a_149^post40+a_149^0 == 0 /\ a_118^0-a_118^post40 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post40 == 0 /\ -i_95^post40+i_95^0 == 0 /\ -x_SLAM_f_24^post40+x_SLAM_f_24^0 == 0 /\ -head_SLAM_f_29^post40+head_SLAM_f_29^0 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ -rcd_89^post40+rcd_89^0 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ a_342^0-a_342^post40 == 0 /\ head_32^0-head_32^post40 == 0 /\ a_281^0-a_281^post40 == 0), cost: 1
  41: l28 -> l29 : a_118^0'=a_118^post41, x_176^0'=x_176^post41, i_30^0'=i_30^post41, result_11^0'=result_11^post41, a_289^0'=a_289^post41, y_18^0'=y_18^post41, len_187^0'=len_187^post41, temp0_16^0'=temp0_16^post41, temp_35^0'=temp_35^post41, head_32^0'=head_32^post41, r_39^0'=r_39^post41, a_188^0'=a_188^post41, x_26^0'=x_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, a_343^0'=a_343^post41, nondet_12^0'=nondet_12^post41, x_131^0'=x_131^post41, i_110^0'=i_110^post41, rcd_89^0'=rcd_89^post41, a_281^0'=a_281^post41, x_SLAM_f_24^0'=x_SLAM_f_24^post41, len_134^0'=len_134^post41, tail_14^0'=tail_14^post41, head_15^0'=head_15^post41, r_165^0'=r_165^post41, a_149^0'=a_149^post41, x_19^0'=x_19^post41, i_95^0'=i_95^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, a_342^0'=a_342^post41, y_25^0'=y_25^post41, length_28^0'=length_28^post41, temp0_31^0'=temp0_31^post41, tmp_34^0'=tmp_34^post41, head_SLAM_f_29^0'=head_SLAM_f_29^post41, rcd_59^0'=rcd_59^post41, a_225^0'=a_225^post41, x_SLAM_f_17^0'=x_SLAM_f_17^post41, t_22^0'=t_22^post41, f_171^0'=f_171^post41, r_126^0'=r_126^post41, (temp0_31^0-temp0_31^post41 == 0 /\ i_110^0-i_110^post41 == 0 /\ -r_165^post41+r_165^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 == 0 /\ x_26^0-x_26^post41 == 0 /\ y_18^0-y_18^post41 == 0 /\ a_188^0-a_188^post41 == 0 /\ -a_343^post41+a_343^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post41 == 0 /\ 1+y_18^0-t_22^0 <= 0 /\ -a_225^post41+a_225^0 == 0 /\ -head_SLAM_f_29^post41+head_SLAM_f_29^0 == 0 /\ len_134^0-len_134^post41 == 0 /\ x_176^0-x_176^post41 == 0 /\ -rcd_89^post41+rcd_89^0 == 0 /\ -t_22^post41+t_22^0 == 0 /\ -x_SLAM_f_17^post41+x_SLAM_f_17^0 == 0 /\ -result_11^post41+result_11^0 == 0 /\ x_131^0-x_131^post41 == 0 /\ -a_342^post41+a_342^0 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ -a_149^post41+a_149^0 == 0 /\ -r_126^post41+r_126^0 == 0 /\ i_95^0-i_95^post41 == 0 /\ i_30^0-i_30^post41 == 0 /\ -len_187^post41+len_187^0 == 0 /\ -tail_14^post41+tail_14^0 == 0 /\ -x_19^post41+x_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_59^post41+rcd_59^0 == 0 /\ length_28^0-length_28^post41 == 0 /\ r_39^0-r_39^post41 == 0 /\ y_25^0-y_25^post41 == 0 /\ head_32^0-head_32^post41 == 0 /\ head_15^0-head_15^post41 == 0 /\ -a_281^post41+a_281^0 == 0 /\ -tmp_34^post41+tmp_34^0 == 0 /\ -f_171^post41+f_171^0 == 0 /\ a_118^0-a_118^post41 == 0 /\ a_289^0-a_289^post41 == 0 /\ temp_35^0-temp_35^post41 == 0 /\ temp0_16^0-temp0_16^post41 == 0), cost: 1
  42: l28 -> l29 : a_118^0'=a_118^post42, x_176^0'=x_176^post42, i_30^0'=i_30^post42, result_11^0'=result_11^post42, a_289^0'=a_289^post42, y_18^0'=y_18^post42, len_187^0'=len_187^post42, temp0_16^0'=temp0_16^post42, temp_35^0'=temp_35^post42, head_32^0'=head_32^post42, r_39^0'=r_39^post42, a_188^0'=a_188^post42, x_26^0'=x_26^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, a_343^0'=a_343^post42, nondet_12^0'=nondet_12^post42, x_131^0'=x_131^post42, i_110^0'=i_110^post42, rcd_89^0'=rcd_89^post42, a_281^0'=a_281^post42, x_SLAM_f_24^0'=x_SLAM_f_24^post42, len_134^0'=len_134^post42, tail_14^0'=tail_14^post42, head_15^0'=head_15^post42, r_165^0'=r_165^post42, a_149^0'=a_149^post42, x_19^0'=x_19^post42, i_95^0'=i_95^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, a_342^0'=a_342^post42, y_25^0'=y_25^post42, length_28^0'=length_28^post42, temp0_31^0'=temp0_31^post42, tmp_34^0'=tmp_34^post42, head_SLAM_f_29^0'=head_SLAM_f_29^post42, rcd_59^0'=rcd_59^post42, a_225^0'=a_225^post42, x_SLAM_f_17^0'=x_SLAM_f_17^post42, t_22^0'=t_22^post42, f_171^0'=f_171^post42, r_126^0'=r_126^post42, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ 1-y_18^0+t_22^0 <= 0 /\ a_118^0-a_118^post42 == 0 /\ temp0_16^0-temp0_16^post42 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ -x_131^post42+x_131^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ -head_15^post42+head_15^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ -len_134^post42+len_134^0 == 0 /\ -x_19^post42+x_19^0 == 0 /\ tail_14^0-tail_14^post42 == 0 /\ -a_225^post42+a_225^0 == 0 /\ -f_171^post42+f_171^0 == 0 /\ i_110^0-i_110^post42 == 0 /\ tmp_34^0-tmp_34^post42 == 0 /\ a_343^0-a_343^post42 == 0 /\ -rcd_59^post42+rcd_59^0 == 0 /\ rcd_89^0-rcd_89^post42 == 0 /\ a_149^0-a_149^post42 == 0 /\ -i_95^post42+i_95^0 == 0 /\ x_26^0-x_26^post42 == 0 /\ len_187^0-len_187^post42 == 0 /\ -head_SLAM_f_29^post42+head_SLAM_f_29^0 == 0 /\ -a_281^post42+a_281^0 == 0 /\ -x_SLAM_f_17^post42+x_SLAM_f_17^0 == 0 /\ x_176^0-x_176^post42 == 0 /\ y_18^0-y_18^post42 == 0 /\ head_32^0-head_32^post42 == 0 /\ -y_25^post42+y_25^0 == 0 /\ -temp0_31^post42+temp0_31^0 == 0 /\ t_22^0-t_22^post42 == 0 /\ i_30^0-i_30^post42 == 0 /\ -r_165^post42+r_165^0 == 0 /\ -x_SLAM_f_24^post42+x_SLAM_f_24^0 == 0 /\ -r_126^post42+r_126^0 == 0 /\ temp_35^0-temp_35^post42 == 0 /\ -a_342^post42+a_342^0 == 0 /\ r_39^0-r_39^post42 == 0 /\ -length_28^post42+length_28^0 == 0 /\ a_289^0-a_289^post42 == 0 /\ -a_188^post42+a_188^0 == 0), cost: 1
  43: l29 -> l6 : a_118^0'=a_118^post43, x_176^0'=x_176^post43, i_30^0'=i_30^post43, result_11^0'=result_11^post43, a_289^0'=a_289^post43, y_18^0'=y_18^post43, len_187^0'=len_187^post43, temp0_16^0'=temp0_16^post43, temp_35^0'=temp_35^post43, head_32^0'=head_32^post43, r_39^0'=r_39^post43, a_188^0'=a_188^post43, x_26^0'=x_26^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, a_343^0'=a_343^post43, nondet_12^0'=nondet_12^post43, x_131^0'=x_131^post43, i_110^0'=i_110^post43, rcd_89^0'=rcd_89^post43, a_281^0'=a_281^post43, x_SLAM_f_24^0'=x_SLAM_f_24^post43, len_134^0'=len_134^post43, tail_14^0'=tail_14^post43, head_15^0'=head_15^post43, r_165^0'=r_165^post43, a_149^0'=a_149^post43, x_19^0'=x_19^post43, i_95^0'=i_95^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, a_342^0'=a_342^post43, y_25^0'=y_25^post43, length_28^0'=length_28^post43, temp0_31^0'=temp0_31^post43, tmp_34^0'=tmp_34^post43, head_SLAM_f_29^0'=head_SLAM_f_29^post43, rcd_59^0'=rcd_59^post43, a_225^0'=a_225^post43, x_SLAM_f_17^0'=x_SLAM_f_17^post43, t_22^0'=t_22^post43, f_171^0'=f_171^post43, r_126^0'=r_126^post43, (0 == 0 /\ -length_28^post43+length_28^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ -tmp_34^post43+tmp_34^0 == 0 /\ x_19^0-x_19^post43 == 0 /\ -rcd_59^post43+rcd_59^0 == 0 /\ -t_22^post43+t_22^0 == 0 /\ -y_25^post43+y_25^0 == 0 /\ -x_26^post43+x_26^0 == 0 /\ 1-len_134^post43+a_225^0 <= 0 /\ temp0_16^0-temp0_16^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ x_131^0-x_131^post43 == 0 /\ -temp0_31^post43+temp0_31^0 == 0 /\ a_118^0-a_118^post43 == 0 /\ i_30^0-i_30^post43 == 0 /\ y_18^0-y_18^post43 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post43 == 0 /\ -f_171^post43+f_171^0 == 0 /\ a_343^0-a_343^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ a_188^0-a_188^post43 == 0 /\ -r_126^post43+r_126^0 == 0 /\ tail_14^0-tail_14^post43 == 0 /\ -a_225^post43+a_225^0 == 0 /\ -r_39^post43+r_39^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_110^0-i_110^post43 == 0 /\ x_176^0-x_176^post43 == 0 /\ temp_35^0-temp_35^post43 == 0 /\ -1+len_134^post43-a_225^0 <= 0 /\ r_165^0-r_165^post43 == 0 /\ len_187^0-len_187^post43 == 0 /\ -i_95^post43+i_95^0 == 0 /\ -a_289^post43+a_289^0 == 0 /\ -head_15^post43+head_15^0 == 0 /\ -rcd_89^post43+rcd_89^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_24^post43+x_SLAM_f_24^0 == 0 /\ a_342^0-a_342^post43 == 0 /\ head_32^0-head_32^post43 == 0 /\ -head_SLAM_f_29^post43+head_SLAM_f_29^0 == 0 /\ -a_149^post43+a_149^0 == 0 /\ a_281^0-a_281^post43 == 0), cost: 1
  44: l30 -> l3 : a_118^0'=a_118^post44, x_176^0'=x_176^post44, i_30^0'=i_30^post44, result_11^0'=result_11^post44, a_289^0'=a_289^post44, y_18^0'=y_18^post44, len_187^0'=len_187^post44, temp0_16^0'=temp0_16^post44, temp_35^0'=temp_35^post44, head_32^0'=head_32^post44, r_39^0'=r_39^post44, a_188^0'=a_188^post44, x_26^0'=x_26^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_343^0'=a_343^post44, nondet_12^0'=nondet_12^post44, x_131^0'=x_131^post44, i_110^0'=i_110^post44, rcd_89^0'=rcd_89^post44, a_281^0'=a_281^post44, x_SLAM_f_24^0'=x_SLAM_f_24^post44, len_134^0'=len_134^post44, tail_14^0'=tail_14^post44, head_15^0'=head_15^post44, r_165^0'=r_165^post44, a_149^0'=a_149^post44, x_19^0'=x_19^post44, i_95^0'=i_95^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, a_342^0'=a_342^post44, y_25^0'=y_25^post44, length_28^0'=length_28^post44, temp0_31^0'=temp0_31^post44, tmp_34^0'=tmp_34^post44, head_SLAM_f_29^0'=head_SLAM_f_29^post44, rcd_59^0'=rcd_59^post44, a_225^0'=a_225^post44, x_SLAM_f_17^0'=x_SLAM_f_17^post44, t_22^0'=t_22^post44, f_171^0'=f_171^post44, r_126^0'=r_126^post44, (0 == 0 /\ y_18^0-y_18^post44 == 0 /\ a_188^0-a_188^post44 == 0 /\ a_118^0-a_118^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ -x_SLAM_f_17^post44+x_SLAM_f_17^0 == 0 /\ -head_15^post44+head_15^0 == 0 /\ -i_30^post44 <= 0 /\ rcd_59^0-rcd_59^post44 == 0 /\ -a_281^post44+a_281^0 == 0 /\ -f_171^post44+f_171^0 == 0 /\ temp0_31^0-temp0_31^post44 == 0 /\ i_30^post44 <= 0 /\ i_30^post44 == 0 /\ len_134^0-len_134^post44 == 0 /\ x_26^0-x_26^post44 == 0 /\ -a_149^post44+a_149^0 == 0 /\ tmp_34^0-tmp_34^post44 == 0 /\ len_187^0-len_187^post44 == 0 /\ -tail_14^post44+tail_14^0 == 0 /\ x_176^0-x_176^post44 == 0 /\ -head_SLAM_f_29^post44+tail_14^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post44-length_28^post44 <= 0 /\ -x_SLAM_f_24^post44+x_SLAM_f_24^0 == 0 /\ -i_95^post44+i_95^0 == 0 /\ tail_14^0-head_32^post44 <= 0 /\ y_25^0-y_25^post44 == 0 /\ -rcd_89^post44+rcd_89^0 == 0 /\ head_SLAM_f_29^post44-head_32^post44 <= 0 /\ -r_165^post44+r_165^0 == 0 /\ temp0_16^0-temp0_16^post44 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 == 0 /\ head_SLAM_f_29^post44-tail_14^0 <= 0 /\ head_SLAM_f_29^post44-tail_14^0 == 0 /\ -a_342^post44+a_342^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+length_28^post44 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+length_28^post44 == 0 /\ a_289^0-a_289^post44 == 0 /\ -r_126^post44+r_126^0 == 0 /\ temp_35^0-temp_35^post44 == 0 /\ -a_225^post44+a_225^0 == 0 /\ i_110^0-i_110^post44 == 0 /\ -x_131^post44+x_131^0 == 0 /\ -tail_14^0+head_32^post44 <= 0 /\ -t_22^post44+t_22^0 == 0 /\ r_39^0-r_39^post44 == 0 /\ -head_SLAM_f_29^post44+head_32^post44 <= 0 /\ -head_SLAM_f_29^post44+head_32^post44 == 0 /\ -a_343^post44+a_343^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_19^post44+x_19^0 == 0), cost: 1
  45: l31 -> l32 : a_118^0'=a_118^post45, x_176^0'=x_176^post45, i_30^0'=i_30^post45, result_11^0'=result_11^post45, a_289^0'=a_289^post45, y_18^0'=y_18^post45, len_187^0'=len_187^post45, temp0_16^0'=temp0_16^post45, temp_35^0'=temp_35^post45, head_32^0'=head_32^post45, r_39^0'=r_39^post45, a_188^0'=a_188^post45, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, a_343^0'=a_343^post45, nondet_12^0'=nondet_12^post45, x_131^0'=x_131^post45, i_110^0'=i_110^post45, rcd_89^0'=rcd_89^post45, a_281^0'=a_281^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, len_134^0'=len_134^post45, tail_14^0'=tail_14^post45, head_15^0'=head_15^post45, r_165^0'=r_165^post45, a_149^0'=a_149^post45, x_19^0'=x_19^post45, i_95^0'=i_95^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, a_342^0'=a_342^post45, y_25^0'=y_25^post45, length_28^0'=length_28^post45, temp0_31^0'=temp0_31^post45, tmp_34^0'=tmp_34^post45, head_SLAM_f_29^0'=head_SLAM_f_29^post45, rcd_59^0'=rcd_59^post45, a_225^0'=a_225^post45, x_SLAM_f_17^0'=x_SLAM_f_17^post45, t_22^0'=t_22^post45, f_171^0'=f_171^post45, r_126^0'=r_126^post45, (0 == 0 /\ x_SLAM_f_17^post45-x_19^post45 <= 0 /\ -f_171^post45+f_171^0 == 0 /\ len_134^0-len_134^post45 == 0 /\ -tail_14^post45+tail_14^0 == 0 /\ head_32^0-head_32^post45 == 0 /\ x_176^0-x_176^post45 == 0 /\ y_18^post45-tail_14^0 <= 0 /\ y_18^post45-tail_14^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ -head_SLAM_f_29^post45+head_SLAM_f_29^0 == 0 /\ -rcd_59^post45+rcd_59^0 == 0 /\ -x_19^post45+head_15^0 <= 0 /\ -x_131^post45+x_131^0 == 0 /\ -a_342^post45+a_342^0 == 0 /\ i_110^0-i_110^post45 == 0 /\ -r_126^post45+r_126^0 == 0 /\ temp0_31^0-temp0_31^post45 == 0 /\ a_289^0-a_289^post45 == 0 /\ -x_SLAM_f_17^post45+x_19^post45 <= 0 /\ -x_SLAM_f_17^post45+x_19^post45 == 0 /\ -y_18^post45+tail_14^0 <= 0 /\ -tmp_34^post45+tmp_34^0 == 0 /\ -a_149^0 <= 0 /\ a_188^0-a_188^post45 == 0 /\ x_19^post45-head_15^0 <= 0 /\ i_30^0-i_30^post45 == 0 /\ -r_165^post45+r_165^0 == 0 /\ a_225^0-a_225^post45 == 0 /\ r_39^0-r_39^post45 == 0 /\ length_28^0-length_28^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ -i_95^post45+i_95^0 == 0 /\ x_26^0-y_25^0 <= 0 /\ temp0_16^0-temp0_16^post45 == 0 /\ -a_281^post45+a_281^0 == 0 /\ -len_134^0 <= 0 /\ a_118^0-a_118^post45 == 0 /\ -a_343^post45+a_343^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45 == 0 /\ -x_SLAM_f_17^post45+head_15^0 <= 0 /\ -x_26^0+y_25^0 <= 0 /\ -t_22^post45+t_22^0 == 0 /\ -head_15^post45+head_15^0 == 0 /\ -temp_35^post45+temp_35^0 == 0 /\ rcd_89^0-rcd_89^post45 == 0 /\ -a_149^post45+a_149^0 == 0 /\ x_SLAM_f_17^post45-head_15^0 <= 0 /\ x_SLAM_f_17^post45-head_15^0 == 0 /\ len_187^0-len_187^post45 == 0), cost: 1
  49: l31 -> l35 : a_118^0'=a_118^post49, x_176^0'=x_176^post49, i_30^0'=i_30^post49, result_11^0'=result_11^post49, a_289^0'=a_289^post49, y_18^0'=y_18^post49, len_187^0'=len_187^post49, temp0_16^0'=temp0_16^post49, temp_35^0'=temp_35^post49, head_32^0'=head_32^post49, r_39^0'=r_39^post49, a_188^0'=a_188^post49, x_26^0'=x_26^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, a_343^0'=a_343^post49, nondet_12^0'=nondet_12^post49, x_131^0'=x_131^post49, i_110^0'=i_110^post49, rcd_89^0'=rcd_89^post49, a_281^0'=a_281^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, len_134^0'=len_134^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, r_165^0'=r_165^post49, a_149^0'=a_149^post49, x_19^0'=x_19^post49, i_95^0'=i_95^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, a_342^0'=a_342^post49, y_25^0'=y_25^post49, length_28^0'=length_28^post49, temp0_31^0'=temp0_31^post49, tmp_34^0'=tmp_34^post49, head_SLAM_f_29^0'=head_SLAM_f_29^post49, rcd_59^0'=rcd_59^post49, a_225^0'=a_225^post49, x_SLAM_f_17^0'=x_SLAM_f_17^post49, t_22^0'=t_22^post49, f_171^0'=f_171^post49, r_126^0'=r_126^post49, (0 == 0 /\ x_26^0-x_26^post49 == 0 /\ a_289^0-a_289^post49 == 0 /\ -y_25^post49+y_25^0 == 0 /\ tmp_34^0-tmp_34^post49 == 0 /\ -a_188^post49+a_188^0 == 0 /\ -a_342^post49+a_342^0 == 0 /\ a_225^0-a_225^post49 == 0 /\ r_165^0-r_165^post49 == 0 /\ -t_22^post49+t_22^0 == 0 /\ -len_134^post49+len_134^0 == 0 /\ a_281^0-a_281^post49 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_149^0 <= 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -temp0_31^post49+temp0_31^0 == 0 /\ -length_28^post49+length_28^0 == 0 /\ -head_SLAM_f_29^post49+head_SLAM_f_29^0 == 0 /\ rcd_89^0-rcd_89^post49 == 0 /\ temp_35^0-temp_35^post49 == 0 /\ -r_126^post49+r_126^0 == 0 /\ -len_134^0 <= 0 /\ -head_32^post49+head_32^0 == 0 /\ len_187^0-len_187^post49 == 0 /\ -a_149^post49+a_149^0 == 0 /\ -i_110^post49+i_110^0 == 0 /\ y_18^0-y_18^post49 == 0 /\ temp0_16^0-temp0_16^post49 == 0 /\ x_19^0-x_19^post49 == 0 /\ i_30^0-i_30^post49 == 0 /\ -x_SLAM_f_17^post49+x_SLAM_f_17^0 == 0 /\ -i_95^post49+i_95^0 == 0 /\ -rcd_59^post49+rcd_59^0 == 0 /\ a_118^0-a_118^post49 == 0 /\ x_131^0-x_131^post49 == 0 /\ result_11^0-result_11^post49 == 0 /\ a_343^0-a_343^post49 == 0), cost: 1
  46: l32 -> l33 : a_118^0'=a_118^post46, x_176^0'=x_176^post46, i_30^0'=i_30^post46, result_11^0'=result_11^post46, a_289^0'=a_289^post46, y_18^0'=y_18^post46, len_187^0'=len_187^post46, temp0_16^0'=temp0_16^post46, temp_35^0'=temp_35^post46, head_32^0'=head_32^post46, r_39^0'=r_39^post46, a_188^0'=a_188^post46, x_26^0'=x_26^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, a_343^0'=a_343^post46, nondet_12^0'=nondet_12^post46, x_131^0'=x_131^post46, i_110^0'=i_110^post46, rcd_89^0'=rcd_89^post46, a_281^0'=a_281^post46, x_SLAM_f_24^0'=x_SLAM_f_24^post46, len_134^0'=len_134^post46, tail_14^0'=tail_14^post46, head_15^0'=head_15^post46, r_165^0'=r_165^post46, a_149^0'=a_149^post46, x_19^0'=x_19^post46, i_95^0'=i_95^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, a_342^0'=a_342^post46, y_25^0'=y_25^post46, length_28^0'=length_28^post46, temp0_31^0'=temp0_31^post46, tmp_34^0'=tmp_34^post46, head_SLAM_f_29^0'=head_SLAM_f_29^post46, rcd_59^0'=rcd_59^post46, a_225^0'=a_225^post46, x_SLAM_f_17^0'=x_SLAM_f_17^post46, t_22^0'=t_22^post46, f_171^0'=f_171^post46, r_126^0'=r_126^post46, (-x_SLAM_f_24^post46+x_SLAM_f_24^0 == 0 /\ tmp_34^0-tmp_34^post46 == 0 /\ rcd_89^0-rcd_89^post46 == 0 /\ a_289^0-a_289^post46 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 == 0 /\ a_225^0-a_225^post46 == 0 /\ x_176^0-x_176^post46 == 0 /\ -length_28^post46+length_28^0 == 0 /\ -len_134^post46+len_134^0 == 0 /\ tail_14^0-tail_14^post46 == 0 /\ -t_22^post46+t_22^0 == 0 /\ -temp0_31^post46+temp0_31^0 == 0 /\ r_165^0-r_165^post46 == 0 /\ -y_25^post46+y_25^0 == 0 /\ a_281^0-a_281^post46 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_343^0-a_343^post46 == 0 /\ temp_35^0-temp_35^post46 == 0 /\ -head_SLAM_f_29^post46+head_SLAM_f_29^0 == 0 /\ -head_15^post46+head_15^0 == 0 /\ -a_149^post46+a_149^0 == 0 /\ r_39^0-r_39^post46 == 0 /\ -r_126^post46+r_126^0 == 0 /\ len_187^0-len_187^post46 == 0 /\ -a_342^post46+a_342^0 == 0 /\ -head_32^post46+head_32^0 == 0 /\ -x_26^post46+x_26^0 == 0 /\ y_18^0-y_18^post46 == 0 /\ a_188^0-a_188^post46 == 0 /\ x_19^0-x_19^post46 == 0 /\ -i_110^post46+i_110^0 == 0 /\ -x_SLAM_f_17^post46+x_SLAM_f_17^0 == 0 /\ i_30^0-i_30^post46 == 0 /\ f_171^0-f_171^post46 == 0 /\ temp0_16^0-temp0_16^post46 == 0 /\ a_118^0-a_118^post46 == 0 /\ result_11^0-result_11^post46 == 0 /\ 1+tail_14^0-head_15^0 <= 0 /\ -rcd_59^post46+rcd_59^0 == 0 /\ -i_95^post46+i_95^0 == 0 /\ x_131^0-x_131^post46 == 0), cost: 1
  47: l32 -> l33 : a_118^0'=a_118^post47, x_176^0'=x_176^post47, i_30^0'=i_30^post47, result_11^0'=result_11^post47, a_289^0'=a_289^post47, y_18^0'=y_18^post47, len_187^0'=len_187^post47, temp0_16^0'=temp0_16^post47, temp_35^0'=temp_35^post47, head_32^0'=head_32^post47, r_39^0'=r_39^post47, a_188^0'=a_188^post47, x_26^0'=x_26^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, a_343^0'=a_343^post47, nondet_12^0'=nondet_12^post47, x_131^0'=x_131^post47, i_110^0'=i_110^post47, rcd_89^0'=rcd_89^post47, a_281^0'=a_281^post47, x_SLAM_f_24^0'=x_SLAM_f_24^post47, len_134^0'=len_134^post47, tail_14^0'=tail_14^post47, head_15^0'=head_15^post47, r_165^0'=r_165^post47, a_149^0'=a_149^post47, x_19^0'=x_19^post47, i_95^0'=i_95^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, a_342^0'=a_342^post47, y_25^0'=y_25^post47, length_28^0'=length_28^post47, temp0_31^0'=temp0_31^post47, tmp_34^0'=tmp_34^post47, head_SLAM_f_29^0'=head_SLAM_f_29^post47, rcd_59^0'=rcd_59^post47, a_225^0'=a_225^post47, x_SLAM_f_17^0'=x_SLAM_f_17^post47, t_22^0'=t_22^post47, f_171^0'=f_171^post47, r_126^0'=r_126^post47, (-r_39^post47+r_39^0 == 0 /\ i_30^0-i_30^post47 == 0 /\ r_165^0-r_165^post47 == 0 /\ len_187^0-len_187^post47 == 0 /\ a_281^0-a_281^post47 == 0 /\ x_131^0-x_131^post47 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ -i_110^post47+i_110^0 == 0 /\ -a_225^post47+a_225^0 == 0 /\ -a_149^post47+a_149^0 == 0 /\ -x_26^post47+x_26^0 == 0 /\ -head_SLAM_f_29^post47+head_SLAM_f_29^0 == 0 /\ a_289^0-a_289^post47 == 0 /\ temp_35^0-temp_35^post47 == 0 /\ -rcd_59^post47+rcd_59^0 == 0 /\ a_118^0-a_118^post47 == 0 /\ a_188^0-a_188^post47 == 0 /\ -a_342^post47+a_342^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post47 == 0 /\ -t_22^post47+t_22^0 == 0 /\ -x_SLAM_f_17^post47+x_SLAM_f_17^0 == 0 /\ head_32^0-head_32^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ i_95^0-i_95^post47 == 0 /\ -y_18^post47+y_18^0 == 0 /\ tail_14^0-tail_14^post47 == 0 /\ -length_28^post47+length_28^0 == 0 /\ -y_25^post47+y_25^0 == 0 /\ a_343^0-a_343^post47 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ -tmp_34^post47+tmp_34^0 == 0 /\ head_15^0-head_15^post47 == 0 /\ -f_171^post47+f_171^0 == 0 /\ rcd_89^0-rcd_89^post47 == 0 /\ len_134^0-len_134^post47 == 0 /\ x_19^0-x_19^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_16^0-temp0_16^post47 == 0 /\ x_176^0-x_176^post47 == 0 /\ -temp0_31^post47+temp0_31^0 == 0 /\ -r_126^post47+r_126^0 == 0), cost: 1
  48: l33 -> l23 : a_118^0'=a_118^post48, x_176^0'=x_176^post48, i_30^0'=i_30^post48, result_11^0'=result_11^post48, a_289^0'=a_289^post48, y_18^0'=y_18^post48, len_187^0'=len_187^post48, temp0_16^0'=temp0_16^post48, temp_35^0'=temp_35^post48, head_32^0'=head_32^post48, r_39^0'=r_39^post48, a_188^0'=a_188^post48, x_26^0'=x_26^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, a_343^0'=a_343^post48, nondet_12^0'=nondet_12^post48, x_131^0'=x_131^post48, i_110^0'=i_110^post48, rcd_89^0'=rcd_89^post48, a_281^0'=a_281^post48, x_SLAM_f_24^0'=x_SLAM_f_24^post48, len_134^0'=len_134^post48, tail_14^0'=tail_14^post48, head_15^0'=head_15^post48, r_165^0'=r_165^post48, a_149^0'=a_149^post48, x_19^0'=x_19^post48, i_95^0'=i_95^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, a_342^0'=a_342^post48, y_25^0'=y_25^post48, length_28^0'=length_28^post48, temp0_31^0'=temp0_31^post48, tmp_34^0'=tmp_34^post48, head_SLAM_f_29^0'=head_SLAM_f_29^post48, rcd_59^0'=rcd_59^post48, a_225^0'=a_225^post48, x_SLAM_f_17^0'=x_SLAM_f_17^post48, t_22^0'=t_22^post48, f_171^0'=f_171^post48, r_126^0'=r_126^post48, (-f_171^post48+f_171^0 == 0 /\ -t_22^post48+t_22^0 == 0 /\ -tail_14^post48+tail_14^0 == 0 /\ -head_15^post48+head_15^0 == 0 /\ -x_131^post48+x_131^0 == 0 /\ x_176^0-x_176^post48 == 0 /\ -head_SLAM_f_29^post48+head_SLAM_f_29^0 == 0 /\ -a_225^post48+a_225^0 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48 == 0 /\ -x_SLAM_f_17^post48+x_SLAM_f_17^0 == 0 /\ -a_342^post48+a_342^0 == 0 /\ -len_134^post48+len_134^0 == 0 /\ i_110^0-i_110^post48 == 0 /\ -r_126^post48+r_126^0 == 0 /\ -rcd_59^post48+rcd_59^0 == 0 /\ temp0_31^0-temp0_31^post48 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post48 == 0 /\ a_289^0-a_289^post48 == 0 /\ -x_19^post48+x_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post48+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_34^post48+tmp_34^0 == 0 /\ i_30^0-i_30^post48 == 0 /\ r_39^0-r_39^post48 == 0 /\ -r_165^post48+r_165^0 == 0 /\ y_18^0-y_18^post48 == 0 /\ -a_281^post48+a_281^0 == 0 /\ head_32^0-head_32^post48 == 0 /\ -i_95^post48+i_95^0 == 0 /\ length_28^0-length_28^post48 == 0 /\ a_188^0-a_188^post48 == 0 /\ temp0_16^0-temp0_16^post48 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_11^0-result_11^post48 == 0 /\ a_118^0-a_118^post48 == 0 /\ -a_343^post48+a_343^0 == 0 /\ rcd_89^0-rcd_89^post48 == 0 /\ x_26^0-x_26^post48 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_149^post48+a_149^0 == 0 /\ -temp_35^post48+temp_35^0 == 0 /\ -y_25^post48+y_25^0 == 0 /\ len_187^0-len_187^post48 == 0), cost: 1
  50: l35 -> l36 : a_118^0'=a_118^post50, x_176^0'=x_176^post50, i_30^0'=i_30^post50, result_11^0'=result_11^post50, a_289^0'=a_289^post50, y_18^0'=y_18^post50, len_187^0'=len_187^post50, temp0_16^0'=temp0_16^post50, temp_35^0'=temp_35^post50, head_32^0'=head_32^post50, r_39^0'=r_39^post50, a_188^0'=a_188^post50, x_26^0'=x_26^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, a_343^0'=a_343^post50, nondet_12^0'=nondet_12^post50, x_131^0'=x_131^post50, i_110^0'=i_110^post50, rcd_89^0'=rcd_89^post50, a_281^0'=a_281^post50, x_SLAM_f_24^0'=x_SLAM_f_24^post50, len_134^0'=len_134^post50, tail_14^0'=tail_14^post50, head_15^0'=head_15^post50, r_165^0'=r_165^post50, a_149^0'=a_149^post50, x_19^0'=x_19^post50, i_95^0'=i_95^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, a_342^0'=a_342^post50, y_25^0'=y_25^post50, length_28^0'=length_28^post50, temp0_31^0'=temp0_31^post50, tmp_34^0'=tmp_34^post50, head_SLAM_f_29^0'=head_SLAM_f_29^post50, rcd_59^0'=rcd_59^post50, a_225^0'=a_225^post50, x_SLAM_f_17^0'=x_SLAM_f_17^post50, t_22^0'=t_22^post50, f_171^0'=f_171^post50, r_126^0'=r_126^post50, (-r_39^post50+r_39^0 == 0 /\ len_187^0-len_187^post50 == 0 /\ i_30^0-i_30^post50 == 0 /\ r_165^0-r_165^post50 == 0 /\ x_131^0-x_131^post50 == 0 /\ rcd_89^0-rcd_89^post50 == 0 /\ a_281^0-a_281^post50 == 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ -i_110^post50+i_110^0 == 0 /\ -a_225^post50+a_225^0 == 0 /\ -head_SLAM_f_29^post50+head_SLAM_f_29^0 == 0 /\ -a_149^post50+a_149^0 == 0 /\ temp_35^0-temp_35^post50 == 0 /\ x_176^0-x_176^post50 == 0 /\ a_289^0-a_289^post50 == 0 /\ -tmp_34^post50+tmp_34^0 == 0 /\ -x_SLAM_f_17^post50+x_SLAM_f_17^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post50 == 0 /\ -t_22^post50+t_22^0 == 0 /\ -a_342^post50+a_342^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post50 == 0 /\ -r_126^post50+r_126^0 == 0 /\ -rcd_59^post50+rcd_59^0 == 0 /\ i_95^0-i_95^post50 == 0 /\ head_32^0-head_32^post50 == 0 /\ -y_18^post50+y_18^0 == 0 /\ -x_26^post50+x_26^0 == 0 /\ -result_11^post50+result_11^0 == 0 /\ a_343^0-a_343^post50 == 0 /\ -length_28^post50+length_28^0 == 0 /\ tail_14^0-tail_14^post50 == 0 /\ a_188^0-a_188^post50 == 0 /\ len_134^0-len_134^post50 == 0 /\ -f_171^post50+f_171^0 == 0 /\ 1-x_26^0+y_25^0 <= 0 /\ y_25^0-y_25^post50 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_15^0-head_15^post50 == 0 /\ x_19^0-x_19^post50 == 0 /\ a_118^0-a_118^post50 == 0 /\ -temp0_31^post50+temp0_31^0 == 0 /\ temp0_16^0-temp0_16^post50 == 0), cost: 1
  51: l35 -> l36 : a_118^0'=a_118^post51, x_176^0'=x_176^post51, i_30^0'=i_30^post51, result_11^0'=result_11^post51, a_289^0'=a_289^post51, y_18^0'=y_18^post51, len_187^0'=len_187^post51, temp0_16^0'=temp0_16^post51, temp_35^0'=temp_35^post51, head_32^0'=head_32^post51, r_39^0'=r_39^post51, a_188^0'=a_188^post51, x_26^0'=x_26^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, a_343^0'=a_343^post51, nondet_12^0'=nondet_12^post51, x_131^0'=x_131^post51, i_110^0'=i_110^post51, rcd_89^0'=rcd_89^post51, a_281^0'=a_281^post51, x_SLAM_f_24^0'=x_SLAM_f_24^post51, len_134^0'=len_134^post51, tail_14^0'=tail_14^post51, head_15^0'=head_15^post51, r_165^0'=r_165^post51, a_149^0'=a_149^post51, x_19^0'=x_19^post51, i_95^0'=i_95^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51, a_342^0'=a_342^post51, y_25^0'=y_25^post51, length_28^0'=length_28^post51, temp0_31^0'=temp0_31^post51, tmp_34^0'=tmp_34^post51, head_SLAM_f_29^0'=head_SLAM_f_29^post51, rcd_59^0'=rcd_59^post51, a_225^0'=a_225^post51, x_SLAM_f_17^0'=x_SLAM_f_17^post51, t_22^0'=t_22^post51, f_171^0'=f_171^post51, r_126^0'=r_126^post51, (x_176^0-x_176^post51 == 0 /\ result_11^0-result_11^post51 == 0 /\ i_30^0-i_30^post51 == 0 /\ -x_131^post51+x_131^0 == 0 /\ -tmp_34^post51+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post51 == 0 /\ -head_SLAM_f_29^post51+head_SLAM_f_29^0 == 0 /\ -f_171^post51+f_171^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51 == 0 /\ -r_126^post51+r_126^0 == 0 /\ -len_134^post51+len_134^0 == 0 /\ -a_342^post51+a_342^0 == 0 /\ i_110^0-i_110^post51 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post51 == 0 /\ a_343^0-a_343^post51 == 0 /\ -rcd_59^post51+rcd_59^0 == 0 /\ -x_19^post51+x_19^0 == 0 /\ -x_SLAM_f_17^post51+x_SLAM_f_17^0 == 0 /\ a_149^0-a_149^post51 == 0 /\ a_289^0-a_289^post51 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post51+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_281^post51+a_281^0 == 0 /\ r_39^0-r_39^post51 == 0 /\ -i_95^post51+i_95^0 == 0 /\ -tail_14^post51+tail_14^0 == 0 /\ y_18^0-y_18^post51 == 0 /\ -temp0_31^post51+temp0_31^0 == 0 /\ head_32^0-head_32^post51 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ head_15^0-head_15^post51 == 0 /\ a_188^0-a_188^post51 == 0 /\ -r_165^post51+r_165^0 == 0 /\ temp0_16^0-temp0_16^post51 == 0 /\ a_118^0-a_118^post51 == 0 /\ rcd_89^0-rcd_89^post51 == 0 /\ x_26^0-x_26^post51 == 0 /\ -temp_35^post51+temp_35^0 == 0 /\ -y_25^post51+y_25^0 == 0 /\ len_187^0-len_187^post51 == 0 /\ -a_225^post51+a_225^0 == 0 /\ length_28^0-length_28^post51 == 0 /\ -t_22^post51+t_22^0 == 0), cost: 1
  52: l36 -> l37 : a_118^0'=a_118^post52, x_176^0'=x_176^post52, i_30^0'=i_30^post52, result_11^0'=result_11^post52, a_289^0'=a_289^post52, y_18^0'=y_18^post52, len_187^0'=len_187^post52, temp0_16^0'=temp0_16^post52, temp_35^0'=temp_35^post52, head_32^0'=head_32^post52, r_39^0'=r_39^post52, a_188^0'=a_188^post52, x_26^0'=x_26^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, a_343^0'=a_343^post52, nondet_12^0'=nondet_12^post52, x_131^0'=x_131^post52, i_110^0'=i_110^post52, rcd_89^0'=rcd_89^post52, a_281^0'=a_281^post52, x_SLAM_f_24^0'=x_SLAM_f_24^post52, len_134^0'=len_134^post52, tail_14^0'=tail_14^post52, head_15^0'=head_15^post52, r_165^0'=r_165^post52, a_149^0'=a_149^post52, x_19^0'=x_19^post52, i_95^0'=i_95^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52, a_342^0'=a_342^post52, y_25^0'=y_25^post52, length_28^0'=length_28^post52, temp0_31^0'=temp0_31^post52, tmp_34^0'=tmp_34^post52, head_SLAM_f_29^0'=head_SLAM_f_29^post52, rcd_59^0'=rcd_59^post52, a_225^0'=a_225^post52, x_SLAM_f_17^0'=x_SLAM_f_17^post52, t_22^0'=t_22^post52, f_171^0'=f_171^post52, r_126^0'=r_126^post52, (0 == 0 /\ x_26^0-x_26^post52 == 0 /\ tmp_34^0-tmp_34^post52 == 0 /\ -rcd_59^post52+rcd_59^0 == 0 /\ x_26^0-f_171^0 <= 0 /\ a_289^0-a_289^post52 == 0 /\ -y_25^post52+y_25^0 == 0 /\ r_39^0-r_39^post52 == 0 /\ -x_SLAM_f_24^post52+x_SLAM_f_24^0 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ 1+len_134^0-len_187^post52 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ x_176^0-x_176^post52 == 0 /\ i_30^0-i_30^post52 == 0 /\ -len_134^post52+len_134^0 == 0 /\ -x_26^0+f_171^0 <= 0 /\ y_18^0-y_18^post52 == 0 /\ a_225^0-a_225^post52 == 0 /\ -t_22^post52+t_22^0 == 0 /\ -a_342^post52+a_342^0 == 0 /\ r_165^0-r_165^post52 == 0 /\ 1+a_188^post52-a_149^0 <= 0 /\ -r_126^post52+r_126^0 == 0 /\ a_281^0-a_281^post52 == 0 /\ -x_131^post52+x_131^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -length_28^post52+length_28^0 == 0 /\ -temp0_31^post52+temp0_31^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ -head_SLAM_f_29^post52+head_SLAM_f_29^0 == 0 /\ -head_32^post52+head_32^0 == 0 /\ rcd_89^0-rcd_89^post52 == 0 /\ temp_35^0-temp_35^post52 == 0 /\ -f_171^post52+f_171^0 == 0 /\ x_19^0-x_19^post52 == 0 /\ -head_15^post52+head_15^0 == 0 /\ tail_14^0-y_25^0 <= 0 /\ -1-len_134^0+len_187^post52 <= 0 /\ -i_110^post52+i_110^0 == 0 /\ -x_SLAM_f_17^post52+x_SLAM_f_17^0 == 0 /\ a_118^0-a_118^post52 == 0 /\ -a_149^post52+a_149^0 == 0 /\ -1-a_188^post52+a_149^0 <= 0 /\ temp0_16^0-temp0_16^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ -i_95^post52+i_95^0 == 0 /\ -tail_14^post52+tail_14^0 == 0 /\ a_343^0-a_343^post52 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ result_11^0-result_11^post52 == 0), cost: 1
  53: l37 -> l38 : a_118^0'=a_118^post53, x_176^0'=x_176^post53, i_30^0'=i_30^post53, result_11^0'=result_11^post53, a_289^0'=a_289^post53, y_18^0'=y_18^post53, len_187^0'=len_187^post53, temp0_16^0'=temp0_16^post53, temp_35^0'=temp_35^post53, head_32^0'=head_32^post53, r_39^0'=r_39^post53, a_188^0'=a_188^post53, x_26^0'=x_26^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, a_343^0'=a_343^post53, nondet_12^0'=nondet_12^post53, x_131^0'=x_131^post53, i_110^0'=i_110^post53, rcd_89^0'=rcd_89^post53, a_281^0'=a_281^post53, x_SLAM_f_24^0'=x_SLAM_f_24^post53, len_134^0'=len_134^post53, tail_14^0'=tail_14^post53, head_15^0'=head_15^post53, r_165^0'=r_165^post53, a_149^0'=a_149^post53, x_19^0'=x_19^post53, i_95^0'=i_95^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53, a_342^0'=a_342^post53, y_25^0'=y_25^post53, length_28^0'=length_28^post53, temp0_31^0'=temp0_31^post53, tmp_34^0'=tmp_34^post53, head_SLAM_f_29^0'=head_SLAM_f_29^post53, rcd_59^0'=rcd_59^post53, a_225^0'=a_225^post53, x_SLAM_f_17^0'=x_SLAM_f_17^post53, t_22^0'=t_22^post53, f_171^0'=f_171^post53, r_126^0'=r_126^post53, (r_165^0-r_165^post53 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 == 0 /\ rcd_89^0-rcd_89^post53 == 0 /\ -i_110^post53+i_110^0 == 0 /\ i_30^0-i_30^post53 == 0 /\ x_131^0-x_131^post53 == 0 /\ nondet_12^0-nondet_12^post53 == 0 /\ a_281^0-a_281^post53 == 0 /\ -a_149^post53+a_149^0 == 0 /\ tail_14^0-tail_14^post53 == 0 /\ r_39^0-r_39^post53 == 0 /\ x_176^0-x_176^post53 == 0 /\ -a_225^post53+a_225^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post53 == 0 /\ -t_22^post53+t_22^0 == 0 /\ -r_126^post53+r_126^0 == 0 /\ -tmp_34^post53+tmp_34^0 == 0 /\ -rcd_59^post53+rcd_59^0 == 0 /\ -a_342^post53+a_342^0 == 0 /\ -result_11^post53+result_11^0 == 0 /\ i_95^0-i_95^post53 == 0 /\ -y_18^post53+y_18^0 == 0 /\ -x_26^post53+x_26^0 == 0 /\ head_32^0-head_32^post53 == 0 /\ -length_28^post53+length_28^0 == 0 /\ a_343^0-a_343^post53 == 0 /\ -len_187^post53+len_187^0 == 0 /\ -head_SLAM_f_29^post53+head_SLAM_f_29^0 == 0 /\ -x_SLAM_f_17^post53+x_SLAM_f_17^0 == 0 /\ a_188^0-a_188^post53 == 0 /\ y_25^0-y_25^post53 == 0 /\ -temp0_31^post53+temp0_31^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_134^0-len_134^post53 == 0 /\ 1+head_15^0-y_25^0 <= 0 /\ head_15^0-head_15^post53 == 0 /\ x_19^0-x_19^post53 == 0 /\ a_118^0-a_118^post53 == 0 /\ a_289^0-a_289^post53 == 0 /\ temp_35^0-temp_35^post53 == 0 /\ -f_171^post53+f_171^0 == 0 /\ temp0_16^0-temp0_16^post53 == 0), cost: 1
  54: l37 -> l38 : a_118^0'=a_118^post54, x_176^0'=x_176^post54, i_30^0'=i_30^post54, result_11^0'=result_11^post54, a_289^0'=a_289^post54, y_18^0'=y_18^post54, len_187^0'=len_187^post54, temp0_16^0'=temp0_16^post54, temp_35^0'=temp_35^post54, head_32^0'=head_32^post54, r_39^0'=r_39^post54, a_188^0'=a_188^post54, x_26^0'=x_26^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_343^0'=a_343^post54, nondet_12^0'=nondet_12^post54, x_131^0'=x_131^post54, i_110^0'=i_110^post54, rcd_89^0'=rcd_89^post54, a_281^0'=a_281^post54, x_SLAM_f_24^0'=x_SLAM_f_24^post54, len_134^0'=len_134^post54, tail_14^0'=tail_14^post54, head_15^0'=head_15^post54, r_165^0'=r_165^post54, a_149^0'=a_149^post54, x_19^0'=x_19^post54, i_95^0'=i_95^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54, a_342^0'=a_342^post54, y_25^0'=y_25^post54, length_28^0'=length_28^post54, temp0_31^0'=temp0_31^post54, tmp_34^0'=tmp_34^post54, head_SLAM_f_29^0'=head_SLAM_f_29^post54, rcd_59^0'=rcd_59^post54, a_225^0'=a_225^post54, x_SLAM_f_17^0'=x_SLAM_f_17^post54, t_22^0'=t_22^post54, f_171^0'=f_171^post54, r_126^0'=r_126^post54, (x_176^0-x_176^post54 == 0 /\ -head_SLAM_f_29^post54+head_SLAM_f_29^0 == 0 /\ i_30^0-i_30^post54 == 0 /\ result_11^0-result_11^post54 == 0 /\ temp0_16^0-temp0_16^post54 == 0 /\ -r_126^post54+r_126^0 == 0 /\ -x_SLAM_f_17^post54+x_SLAM_f_17^0 == 0 /\ -len_134^post54+len_134^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54 == 0 /\ nondet_12^0-nondet_12^post54 == 0 /\ -a_342^post54+a_342^0 == 0 /\ -f_171^post54+f_171^0 == 0 /\ -x_19^post54+x_19^0 == 0 /\ a_149^0-a_149^post54 == 0 /\ a_343^0-a_343^post54 == 0 /\ i_110^0-i_110^post54 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post54+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_289^0-a_289^post54 == 0 /\ -tmp_34^post54+tmp_34^0 == 0 /\ -a_281^post54+a_281^0 == 0 /\ -rcd_59^post54+rcd_59^0 == 0 /\ r_39^0-r_39^post54 == 0 /\ -tail_14^post54+tail_14^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post54 == 0 /\ y_18^0-y_18^post54 == 0 /\ -temp0_31^post54+temp0_31^0 == 0 /\ head_32^0-head_32^post54 == 0 /\ 1-head_15^0+y_25^0 <= 0 /\ a_188^0-a_188^post54 == 0 /\ head_15^0-head_15^post54 == 0 /\ y_25^0-y_25^post54 == 0 /\ -r_165^post54+r_165^0 == 0 /\ a_118^0-a_118^post54 == 0 /\ x_26^0-x_26^post54 == 0 /\ rcd_89^0-rcd_89^post54 == 0 /\ -temp_35^post54+temp_35^0 == 0 /\ -length_28^post54+length_28^0 == 0 /\ -x_131^post54+x_131^0 == 0 /\ len_187^0-len_187^post54 == 0 /\ -a_225^post54+a_225^0 == 0 /\ -t_22^post54+t_22^0 == 0 /\ i_95^0-i_95^post54 == 0), cost: 1
  55: l38 -> l39 : a_118^0'=a_118^post55, x_176^0'=x_176^post55, i_30^0'=i_30^post55, result_11^0'=result_11^post55, a_289^0'=a_289^post55, y_18^0'=y_18^post55, len_187^0'=len_187^post55, temp0_16^0'=temp0_16^post55, temp_35^0'=temp_35^post55, head_32^0'=head_32^post55, r_39^0'=r_39^post55, a_188^0'=a_188^post55, x_26^0'=x_26^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, a_343^0'=a_343^post55, nondet_12^0'=nondet_12^post55, x_131^0'=x_131^post55, i_110^0'=i_110^post55, rcd_89^0'=rcd_89^post55, a_281^0'=a_281^post55, x_SLAM_f_24^0'=x_SLAM_f_24^post55, len_134^0'=len_134^post55, tail_14^0'=tail_14^post55, head_15^0'=head_15^post55, r_165^0'=r_165^post55, a_149^0'=a_149^post55, x_19^0'=x_19^post55, i_95^0'=i_95^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55, a_342^0'=a_342^post55, y_25^0'=y_25^post55, length_28^0'=length_28^post55, temp0_31^0'=temp0_31^post55, tmp_34^0'=tmp_34^post55, head_SLAM_f_29^0'=head_SLAM_f_29^post55, rcd_59^0'=rcd_59^post55, a_225^0'=a_225^post55, x_SLAM_f_17^0'=x_SLAM_f_17^post55, t_22^0'=t_22^post55, f_171^0'=f_171^post55, r_126^0'=r_126^post55, (tmp_34^0-tmp_34^post55 == 0 /\ -y_25^post55+y_25^0 == 0 /\ a_289^0-a_289^post55 == 0 /\ -length_28^post55+length_28^0 == 0 /\ -rcd_59^post55+rcd_59^0 == 0 /\ x_26^0-x_26^post55 == 0 /\ -t_22^post55+t_22^0 == 0 /\ r_39^0-r_39^post55 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post55+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_176^0-x_176^post55 == 0 /\ y_18^0-y_18^post55 == 0 /\ -r_126^post55+r_126^0 == 0 /\ a_225^0-a_225^post55 == 0 /\ -a_342^post55+a_342^0 == 0 /\ -len_134^post55+len_134^0 == 0 /\ i_30^0-i_30^post55 == 0 /\ r_165^0-r_165^post55 == 0 /\ -temp0_31^post55+temp0_31^0 == 0 /\ -x_131^post55+x_131^0 == 0 /\ -a_188^post55+a_188^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp_35^0-temp_35^post55 == 0 /\ rcd_89^0-rcd_89^post55 == 0 /\ x_19^0-x_19^post55 == 0 /\ -head_15^post55+head_15^0 == 0 /\ len_187^0-len_187^post55 == 0 /\ -f_171^post55+f_171^0 == 0 /\ -i_110^post55+i_110^0 == 0 /\ -x_SLAM_f_24^post55+x_SLAM_f_24^0 == 0 /\ a_118^0-a_118^post55 == 0 /\ temp0_16^0-temp0_16^post55 == 0 /\ 1-x_176^0+y_25^0 <= 0 /\ -a_149^post55+a_149^0 == 0 /\ -i_95^post55+i_95^0 == 0 /\ -tail_14^post55+tail_14^0 == 0 /\ result_11^0-result_11^post55 == 0 /\ a_281^0-a_281^post55 == 0 /\ nondet_12^0-nondet_12^post55 == 0 /\ -x_SLAM_f_17^post55+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post55+head_SLAM_f_29^0 == 0 /\ a_343^0-a_343^post55 == 0 /\ head_32^0-head_32^post55 == 0), cost: 1
  56: l38 -> l39 : a_118^0'=a_118^post56, x_176^0'=x_176^post56, i_30^0'=i_30^post56, result_11^0'=result_11^post56, a_289^0'=a_289^post56, y_18^0'=y_18^post56, len_187^0'=len_187^post56, temp0_16^0'=temp0_16^post56, temp_35^0'=temp_35^post56, head_32^0'=head_32^post56, r_39^0'=r_39^post56, a_188^0'=a_188^post56, x_26^0'=x_26^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, a_343^0'=a_343^post56, nondet_12^0'=nondet_12^post56, x_131^0'=x_131^post56, i_110^0'=i_110^post56, rcd_89^0'=rcd_89^post56, a_281^0'=a_281^post56, x_SLAM_f_24^0'=x_SLAM_f_24^post56, len_134^0'=len_134^post56, tail_14^0'=tail_14^post56, head_15^0'=head_15^post56, r_165^0'=r_165^post56, a_149^0'=a_149^post56, x_19^0'=x_19^post56, i_95^0'=i_95^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56, a_342^0'=a_342^post56, y_25^0'=y_25^post56, length_28^0'=length_28^post56, temp0_31^0'=temp0_31^post56, tmp_34^0'=tmp_34^post56, head_SLAM_f_29^0'=head_SLAM_f_29^post56, rcd_59^0'=rcd_59^post56, a_225^0'=a_225^post56, x_SLAM_f_17^0'=x_SLAM_f_17^post56, t_22^0'=t_22^post56, f_171^0'=f_171^post56, r_126^0'=r_126^post56, (r_165^0-r_165^post56 == 0 /\ a_289^0-a_289^post56 == 0 /\ x_131^0-x_131^post56 == 0 /\ -i_110^post56+i_110^0 == 0 /\ a_188^0-a_188^post56 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post56 == 0 /\ a_281^0-a_281^post56 == 0 /\ x_26^0-x_26^post56 == 0 /\ nondet_12^0-nondet_12^post56 == 0 /\ tail_14^0-tail_14^post56 == 0 /\ x_176^0-x_176^post56 == 0 /\ -a_149^post56+a_149^0 == 0 /\ -a_225^post56+a_225^0 == 0 /\ -rcd_89^post56+rcd_89^0 == 0 /\ -t_22^post56+t_22^0 == 0 /\ -result_11^post56+result_11^0 == 0 /\ -r_126^post56+r_126^0 == 0 /\ temp_35^0-temp_35^post56 == 0 /\ -tmp_34^post56+tmp_34^0 == 0 /\ 1+x_176^0-y_25^0 <= 0 /\ -a_342^post56+a_342^0 == 0 /\ -length_28^post56+length_28^0 == 0 /\ a_343^0-a_343^post56 == 0 /\ head_32^0-head_32^post56 == 0 /\ -rcd_59^post56+rcd_59^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post56 == 0 /\ -x_SLAM_f_17^post56+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post56+head_SLAM_f_29^0 == 0 /\ i_95^0-i_95^post56 == 0 /\ i_30^0-i_30^post56 == 0 /\ r_39^0-r_39^post56 == 0 /\ y_25^0-y_25^post56 == 0 /\ -temp0_31^post56+temp0_31^0 == 0 /\ len_134^0-len_134^post56 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -y_18^post56+y_18^0 == 0 /\ head_15^0-head_15^post56 == 0 /\ -len_187^post56+len_187^0 == 0 /\ a_118^0-a_118^post56 == 0 /\ temp0_16^0-temp0_16^post56 == 0 /\ x_19^0-x_19^post56 == 0 /\ -f_171^post56+f_171^0 == 0), cost: 1
  57: l39 -> l34 : a_118^0'=a_118^post57, x_176^0'=x_176^post57, i_30^0'=i_30^post57, result_11^0'=result_11^post57, a_289^0'=a_289^post57, y_18^0'=y_18^post57, len_187^0'=len_187^post57, temp0_16^0'=temp0_16^post57, temp_35^0'=temp_35^post57, head_32^0'=head_32^post57, r_39^0'=r_39^post57, a_188^0'=a_188^post57, x_26^0'=x_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_343^0'=a_343^post57, nondet_12^0'=nondet_12^post57, x_131^0'=x_131^post57, i_110^0'=i_110^post57, rcd_89^0'=rcd_89^post57, a_281^0'=a_281^post57, x_SLAM_f_24^0'=x_SLAM_f_24^post57, len_134^0'=len_134^post57, tail_14^0'=tail_14^post57, head_15^0'=head_15^post57, r_165^0'=r_165^post57, a_149^0'=a_149^post57, x_19^0'=x_19^post57, i_95^0'=i_95^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57, a_342^0'=a_342^post57, y_25^0'=y_25^post57, length_28^0'=length_28^post57, temp0_31^0'=temp0_31^post57, tmp_34^0'=tmp_34^post57, head_SLAM_f_29^0'=head_SLAM_f_29^post57, rcd_59^0'=rcd_59^post57, a_225^0'=a_225^post57, x_SLAM_f_17^0'=x_SLAM_f_17^post57, t_22^0'=t_22^post57, f_171^0'=f_171^post57, r_126^0'=r_126^post57, (0 == 0 /\ i_30^0-i_30^post57 == 0 /\ -x_19^post57+x_19^0 == 0 /\ -head_SLAM_f_29^post57+head_SLAM_f_29^0 == 0 /\ -a_225^post57+a_225^0 == 0 /\ -f_171^post57+f_171^0 == 0 /\ nondet_12^0-nondet_12^post57 == 0 /\ len_187^0-len_134^post57 <= 0 /\ -x_SLAM_f_17^post57+x_SLAM_f_17^0 == 0 /\ temp0_16^0-temp0_16^post57 == 0 /\ result_11^0-result_11^post57 == 0 /\ -a_342^post57+a_342^0 == 0 /\ -r_126^post57+r_126^0 == 0 /\ a_118^0-a_118^post57 == 0 /\ a_343^0-a_343^post57 == 0 /\ i_110^0-i_110^post57 == 0 /\ a_289^0-a_289^post57 == 0 /\ -a_281^post57+a_281^0 == 0 /\ -rcd_59^post57+rcd_59^0 == 0 /\ -len_187^0+len_134^post57 <= 0 /\ -tail_14^post57+tail_14^0 == 0 /\ -tmp_34^post57+tmp_34^0 == 0 /\ r_39^0-r_39^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post57 == 0 /\ y_18^0-y_18^post57 == 0 /\ x_176^0-x_176^post57 == 0 /\ -a_188^0+a_149^post57 <= 0 /\ a_188^0-a_188^post57 == 0 /\ y_25^0-y_25^post57 == 0 /\ -temp0_31^post57+temp0_31^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_32^0-head_32^post57 == 0 /\ -r_165^post57+r_165^0 == 0 /\ x_26^0-x_26^post57 == 0 /\ a_188^0-a_149^post57 <= 0 /\ -temp_35^post57+temp_35^0 == 0 /\ -length_28^post57+length_28^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57 == 0 /\ rcd_89^0-rcd_89^post57 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_187^0-len_187^post57 == 0 /\ head_15^0-head_15^post57 == 0 /\ -x_131^post57+x_131^0 == 0 /\ -t_22^post57+t_22^0 == 0 /\ i_95^0-i_95^post57 == 0), cost: 1
  58: l34 -> l31 : a_118^0'=a_118^post58, x_176^0'=x_176^post58, i_30^0'=i_30^post58, result_11^0'=result_11^post58, a_289^0'=a_289^post58, y_18^0'=y_18^post58, len_187^0'=len_187^post58, temp0_16^0'=temp0_16^post58, temp_35^0'=temp_35^post58, head_32^0'=head_32^post58, r_39^0'=r_39^post58, a_188^0'=a_188^post58, x_26^0'=x_26^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, a_343^0'=a_343^post58, nondet_12^0'=nondet_12^post58, x_131^0'=x_131^post58, i_110^0'=i_110^post58, rcd_89^0'=rcd_89^post58, a_281^0'=a_281^post58, x_SLAM_f_24^0'=x_SLAM_f_24^post58, len_134^0'=len_134^post58, tail_14^0'=tail_14^post58, head_15^0'=head_15^post58, r_165^0'=r_165^post58, a_149^0'=a_149^post58, x_19^0'=x_19^post58, i_95^0'=i_95^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58, a_342^0'=a_342^post58, y_25^0'=y_25^post58, length_28^0'=length_28^post58, temp0_31^0'=temp0_31^post58, tmp_34^0'=tmp_34^post58, head_SLAM_f_29^0'=head_SLAM_f_29^post58, rcd_59^0'=rcd_59^post58, a_225^0'=a_225^post58, x_SLAM_f_17^0'=x_SLAM_f_17^post58, t_22^0'=t_22^post58, f_171^0'=f_171^post58, r_126^0'=r_126^post58, (-y_25^post58+y_25^0 == 0 /\ -length_28^post58+length_28^0 == 0 /\ a_149^0-a_149^post58 == 0 /\ result_11^0-result_11^post58 == 0 /\ -x_SLAM_f_17^post58+x_SLAM_f_17^0 == 0 /\ x_26^0-x_26^post58 == 0 /\ r_39^0-r_39^post58 == 0 /\ -t_22^post58+t_22^0 == 0 /\ a_289^0-a_289^post58 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post58+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_34^post58+tmp_34^0 == 0 /\ x_176^0-x_176^post58 == 0 /\ -r_165^post58+r_165^0 == 0 /\ -r_126^post58+r_126^0 == 0 /\ y_18^0-y_18^post58 == 0 /\ i_30^0-i_30^post58 == 0 /\ -len_134^post58+len_134^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_342^post58+a_342^0 == 0 /\ -a_188^post58+a_188^0 == 0 /\ -temp0_31^post58+temp0_31^0 == 0 /\ a_343^0-a_343^post58 == 0 /\ -x_131^post58+x_131^0 == 0 /\ rcd_89^0-rcd_89^post58 == 0 /\ -x_19^post58+x_19^0 == 0 /\ -i_110^post58+i_110^0 == 0 /\ temp_35^0-temp_35^post58 == 0 /\ -f_171^post58+f_171^0 == 0 /\ a_118^0-a_118^post58 == 0 /\ temp0_16^0-temp0_16^post58 == 0 /\ -x_SLAM_f_24^post58+x_SLAM_f_24^0 == 0 /\ -a_225^post58+a_225^0 == 0 /\ len_187^0-len_187^post58 == 0 /\ -i_95^post58+i_95^0 == 0 /\ -tail_14^post58+tail_14^0 == 0 /\ -head_15^post58+head_15^0 == 0 /\ a_281^0-a_281^post58 == 0 /\ nondet_12^0-nondet_12^post58 == 0 /\ -rcd_59^post58+rcd_59^0 == 0 /\ -head_SLAM_f_29^post58+head_SLAM_f_29^0 == 0 /\ head_32^0-head_32^post58 == 0), cost: 1
  95: l61 -> l62 : a_118^0'=a_118^post95, x_176^0'=x_176^post95, i_30^0'=i_30^post95, result_11^0'=result_11^post95, a_289^0'=a_289^post95, y_18^0'=y_18^post95, len_187^0'=len_187^post95, temp0_16^0'=temp0_16^post95, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, r_39^0'=r_39^post95, a_188^0'=a_188^post95, x_26^0'=x_26^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, a_343^0'=a_343^post95, nondet_12^0'=nondet_12^post95, x_131^0'=x_131^post95, i_110^0'=i_110^post95, rcd_89^0'=rcd_89^post95, a_281^0'=a_281^post95, x_SLAM_f_24^0'=x_SLAM_f_24^post95, len_134^0'=len_134^post95, tail_14^0'=tail_14^post95, head_15^0'=head_15^post95, r_165^0'=r_165^post95, a_149^0'=a_149^post95, x_19^0'=x_19^post95, i_95^0'=i_95^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, a_342^0'=a_342^post95, y_25^0'=y_25^post95, length_28^0'=length_28^post95, temp0_31^0'=temp0_31^post95, tmp_34^0'=tmp_34^post95, head_SLAM_f_29^0'=head_SLAM_f_29^post95, rcd_59^0'=rcd_59^post95, a_225^0'=a_225^post95, x_SLAM_f_17^0'=x_SLAM_f_17^post95, t_22^0'=t_22^post95, f_171^0'=f_171^post95, r_126^0'=r_126^post95, (head_SLAM_f_29^0-head_SLAM_f_29^post95 == 0 /\ -y_25^post95+y_25^0 == 0 /\ i_110^0-i_110^post95 == 0 /\ tmp_34^0-tmp_34^post95 == 0 /\ -rcd_89^post95+rcd_89^0 == 0 /\ -r_165^post95+r_165^0 == 0 /\ -x_SLAM_f_24^post95+x_SLAM_f_24^0 == 0 /\ len_187^0-len_187^post95 == 0 /\ x_176^0-x_176^post95 == 0 /\ -t_22^post95+t_22^0 == 0 /\ -r_126^post95+r_126^0 == 0 /\ head_32^0-head_32^post95 == 0 /\ a_225^0-a_225^post95 == 0 /\ -temp_35^post95+temp_35^0 == 0 /\ -a_342^post95+a_342^0 == 0 /\ -length_28^post95+length_28^0 == 0 /\ nondet_12^0-nondet_12^post95 == 0 /\ temp0_31^0-temp0_31^post95 == 0 /\ -a_343^post95+a_343^0 == 0 /\ x_26^0-x_26^post95 == 0 /\ -a_149^post95+a_149^0 == 0 /\ -f_171^post95+f_171^0 == 0 /\ a_289^0-a_289^post95 == 0 /\ -x_131^post95+x_131^0 == 0 /\ -len_134^post95+len_134^0 == 0 /\ r_39^0-r_39^post95 == 0 /\ -x_19^post95+x_19^0 == 0 /\ -i_30^post95+i_30^0 == 0 /\ -head_15^post95+head_15^0 == 0 /\ a_118^0-a_118^post95 == 0 /\ y_18^0-y_18^post95 == 0 /\ temp0_16^0-temp0_16^post95 == 0 /\ 1-x_26^0+y_25^0 <= 0 /\ a_188^0-a_188^post95 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_95^post95+i_95^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95 == 0 /\ result_11^0-result_11^post95 == 0 /\ -rcd_59^post95+rcd_59^0 == 0 /\ -a_281^post95+a_281^0 == 0 /\ -tail_14^post95+tail_14^0 == 0 /\ -x_SLAM_f_17^post95+x_SLAM_f_17^0 == 0), cost: 1
  96: l61 -> l62 : a_118^0'=a_118^post96, x_176^0'=x_176^post96, i_30^0'=i_30^post96, result_11^0'=result_11^post96, a_289^0'=a_289^post96, y_18^0'=y_18^post96, len_187^0'=len_187^post96, temp0_16^0'=temp0_16^post96, temp_35^0'=temp_35^post96, head_32^0'=head_32^post96, r_39^0'=r_39^post96, a_188^0'=a_188^post96, x_26^0'=x_26^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, a_343^0'=a_343^post96, nondet_12^0'=nondet_12^post96, x_131^0'=x_131^post96, i_110^0'=i_110^post96, rcd_89^0'=rcd_89^post96, a_281^0'=a_281^post96, x_SLAM_f_24^0'=x_SLAM_f_24^post96, len_134^0'=len_134^post96, tail_14^0'=tail_14^post96, head_15^0'=head_15^post96, r_165^0'=r_165^post96, a_149^0'=a_149^post96, x_19^0'=x_19^post96, i_95^0'=i_95^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96, a_342^0'=a_342^post96, y_25^0'=y_25^post96, length_28^0'=length_28^post96, temp0_31^0'=temp0_31^post96, tmp_34^0'=tmp_34^post96, head_SLAM_f_29^0'=head_SLAM_f_29^post96, rcd_59^0'=rcd_59^post96, a_225^0'=a_225^post96, x_SLAM_f_17^0'=x_SLAM_f_17^post96, t_22^0'=t_22^post96, f_171^0'=f_171^post96, r_126^0'=r_126^post96, (r_165^0-r_165^post96 == 0 /\ len_187^0-len_187^post96 == 0 /\ x_131^0-x_131^post96 == 0 /\ i_30^0-i_30^post96 == 0 /\ -i_95^post96+i_95^0 == 0 /\ tmp_34^0-tmp_34^post96 == 0 /\ a_281^0-a_281^post96 == 0 /\ rcd_89^0-rcd_89^post96 == 0 /\ -i_110^post96+i_110^0 == 0 /\ -a_225^post96+a_225^0 == 0 /\ nondet_12^0-nondet_12^post96 == 0 /\ tail_14^0-tail_14^post96 == 0 /\ -head_15^post96+head_15^0 == 0 /\ -head_SLAM_f_29^post96+head_SLAM_f_29^0 == 0 /\ r_39^0-r_39^post96 == 0 /\ -y_25^post96+y_25^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post96 == 0 /\ -x_SLAM_f_24^post96+x_SLAM_f_24^0 == 0 /\ a_118^0-a_118^post96 == 0 /\ temp0_16^0-temp0_16^post96 == 0 /\ a_289^0-a_289^post96 == 0 /\ temp_35^0-temp_35^post96 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_342^0-a_342^post96 == 0 /\ -length_28^post96+length_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post96 == 0 /\ -r_126^post96+r_126^0 == 0 /\ -rcd_59^post96+rcd_59^0 == 0 /\ t_22^0-t_22^post96 == 0 /\ a_343^0-a_343^post96 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_188^0-a_188^post96 == 0 /\ -x_26^post96+x_26^0 == 0 /\ len_134^0-len_134^post96 == 0 /\ result_11^0-result_11^post96 == 0 /\ -temp0_31^post96+temp0_31^0 == 0 /\ -y_18^post96+y_18^0 == 0 /\ x_176^0-x_176^post96 == 0 /\ -x_19^post96+x_19^0 == 0 /\ -f_171^post96+f_171^0 == 0 /\ -head_32^post96+head_32^0 == 0 /\ a_149^0-a_149^post96 == 0), cost: 1
  97: l62 -> l63 : a_118^0'=a_118^post97, x_176^0'=x_176^post97, i_30^0'=i_30^post97, result_11^0'=result_11^post97, a_289^0'=a_289^post97, y_18^0'=y_18^post97, len_187^0'=len_187^post97, temp0_16^0'=temp0_16^post97, temp_35^0'=temp_35^post97, head_32^0'=head_32^post97, r_39^0'=r_39^post97, a_188^0'=a_188^post97, x_26^0'=x_26^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, a_343^0'=a_343^post97, nondet_12^0'=nondet_12^post97, x_131^0'=x_131^post97, i_110^0'=i_110^post97, rcd_89^0'=rcd_89^post97, a_281^0'=a_281^post97, x_SLAM_f_24^0'=x_SLAM_f_24^post97, len_134^0'=len_134^post97, tail_14^0'=tail_14^post97, head_15^0'=head_15^post97, r_165^0'=r_165^post97, a_149^0'=a_149^post97, x_19^0'=x_19^post97, i_95^0'=i_95^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97, a_342^0'=a_342^post97, y_25^0'=y_25^post97, length_28^0'=length_28^post97, temp0_31^0'=temp0_31^post97, tmp_34^0'=tmp_34^post97, head_SLAM_f_29^0'=head_SLAM_f_29^post97, rcd_59^0'=rcd_59^post97, a_225^0'=a_225^post97, x_SLAM_f_17^0'=x_SLAM_f_17^post97, t_22^0'=t_22^post97, f_171^0'=f_171^post97, r_126^0'=r_126^post97, (0 == 0 /\ -a_149^post97+a_149^0 == 0 /\ -x_26^post97+x_26^0 == 0 /\ -nondet_12^post97+nondet_12^0 == 0 /\ rcd_59^0-rcd_59^post97 == 0 /\ -r_126^post97+r_126^0 == 0 /\ head_32^0-head_32^post97 == 0 /\ head_15^0-head_15^post97 == 0 /\ -x_131^post97+x_131^0 == 0 /\ -tmp_34^post97+tmp_34^0 == 0 /\ x_176^0-x_176^post97 == 0 /\ len_134^0-len_134^post97 == 0 /\ -length_28^post97+length_28^0 == 0 /\ temp0_31^0-temp0_31^post97 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ -x_SLAM_f_17^post97+x_SLAM_f_17^0 == 0 /\ -x_19^post97+x_19^0 == 0 /\ -head_SLAM_f_29^post97+head_SLAM_f_29^0 == 0 /\ a_289^0-a_289^post97 == 0 /\ a_342^0-a_342^post97 == 0 /\ a_188^0-a_188^post97 == 0 /\ y_18^0-y_18^post97 == 0 /\ -f_171^post97+f_171^0 == 0 /\ -a_281^post97+a_281^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ i_30^0-i_30^post97 == 0 /\ result_11^0-result_11^post97 == 0 /\ -i_95^post97+i_95^0 == 0 /\ -a_149^0+a_118^post97 <= 0 /\ tail_14^0-tail_14^post97 == 0 /\ -r_165^post97+r_165^0 == 0 /\ temp0_16^0-temp0_16^post97 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97 == 0 /\ -r_39^post97+r_39^0 == 0 /\ 1-len_134^0 <= 0 /\ -1+len_134^0 <= 0 /\ temp_35^0-temp_35^post97 == 0 /\ tail_14^0-y_25^0 <= 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post97 == 0 /\ i_110^0-i_110^post97 == 0 /\ -y_25^post97+y_25^0 == 0 /\ a_149^0-a_118^post97 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ -a_343^post97+a_343^0 == 0 /\ -a_225^post97+a_225^0 == 0 /\ len_187^0-len_187^post97 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ -t_22^post97+t_22^0 == 0 /\ -rcd_89^post97+rcd_89^0 == 0), cost: 1
  98: l63 -> l64 : a_118^0'=a_118^post98, x_176^0'=x_176^post98, i_30^0'=i_30^post98, result_11^0'=result_11^post98, a_289^0'=a_289^post98, y_18^0'=y_18^post98, len_187^0'=len_187^post98, temp0_16^0'=temp0_16^post98, temp_35^0'=temp_35^post98, head_32^0'=head_32^post98, r_39^0'=r_39^post98, a_188^0'=a_188^post98, x_26^0'=x_26^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, a_343^0'=a_343^post98, nondet_12^0'=nondet_12^post98, x_131^0'=x_131^post98, i_110^0'=i_110^post98, rcd_89^0'=rcd_89^post98, a_281^0'=a_281^post98, x_SLAM_f_24^0'=x_SLAM_f_24^post98, len_134^0'=len_134^post98, tail_14^0'=tail_14^post98, head_15^0'=head_15^post98, r_165^0'=r_165^post98, a_149^0'=a_149^post98, x_19^0'=x_19^post98, i_95^0'=i_95^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98, a_342^0'=a_342^post98, y_25^0'=y_25^post98, length_28^0'=length_28^post98, temp0_31^0'=temp0_31^post98, tmp_34^0'=tmp_34^post98, head_SLAM_f_29^0'=head_SLAM_f_29^post98, rcd_59^0'=rcd_59^post98, a_225^0'=a_225^post98, x_SLAM_f_17^0'=x_SLAM_f_17^post98, t_22^0'=t_22^post98, f_171^0'=f_171^post98, r_126^0'=r_126^post98, (i_110^0-i_110^post98 == 0 /\ -length_28^post98+length_28^0 == 0 /\ -tmp_34^post98+tmp_34^0 == 0 /\ a_289^0-a_289^post98 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post98+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_89^post98+rcd_89^0 == 0 /\ -r_165^post98+r_165^0 == 0 /\ x_176^0-x_176^post98 == 0 /\ -t_22^post98+t_22^0 == 0 /\ -y_25^post98+y_25^0 == 0 /\ -r_126^post98+r_126^0 == 0 /\ a_225^0-a_225^post98 == 0 /\ nondet_12^0-nondet_12^post98 == 0 /\ -a_342^post98+a_342^0 == 0 /\ -x_131^post98+x_131^0 == 0 /\ temp0_31^0-temp0_31^post98 == 0 /\ head_32^0-head_32^post98 == 0 /\ -a_343^post98+a_343^0 == 0 /\ x_26^0-x_26^post98 == 0 /\ -x_19^post98+x_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98 == 0 /\ -len_134^post98+len_134^0 == 0 /\ -i_30^post98+i_30^0 == 0 /\ temp_35^0-temp_35^post98 == 0 /\ -f_171^post98+f_171^0 == 0 /\ r_39^0-r_39^post98 == 0 /\ -head_15^post98+head_15^0 == 0 /\ -a_149^post98+a_149^0 == 0 /\ temp0_16^0-temp0_16^post98 == 0 /\ a_118^0-a_118^post98 == 0 /\ y_18^0-y_18^post98 == 0 /\ 1+head_15^0-y_25^0 <= 0 /\ -i_95^post98+i_95^0 == 0 /\ -x_SLAM_f_24^post98+x_SLAM_f_24^0 == 0 /\ a_188^0-a_188^post98 == 0 /\ len_187^0-len_187^post98 == 0 /\ -head_SLAM_f_29^post98+head_SLAM_f_29^0 == 0 /\ -x_SLAM_f_17^post98+x_SLAM_f_17^0 == 0 /\ -a_281^post98+a_281^0 == 0 /\ -rcd_59^post98+rcd_59^0 == 0 /\ -tail_14^post98+tail_14^0 == 0 /\ result_11^0-result_11^post98 == 0), cost: 1
  99: l63 -> l64 : a_118^0'=a_118^post99, x_176^0'=x_176^post99, i_30^0'=i_30^post99, result_11^0'=result_11^post99, a_289^0'=a_289^post99, y_18^0'=y_18^post99, len_187^0'=len_187^post99, temp0_16^0'=temp0_16^post99, temp_35^0'=temp_35^post99, head_32^0'=head_32^post99, r_39^0'=r_39^post99, a_188^0'=a_188^post99, x_26^0'=x_26^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, a_343^0'=a_343^post99, nondet_12^0'=nondet_12^post99, x_131^0'=x_131^post99, i_110^0'=i_110^post99, rcd_89^0'=rcd_89^post99, a_281^0'=a_281^post99, x_SLAM_f_24^0'=x_SLAM_f_24^post99, len_134^0'=len_134^post99, tail_14^0'=tail_14^post99, head_15^0'=head_15^post99, r_165^0'=r_165^post99, a_149^0'=a_149^post99, x_19^0'=x_19^post99, i_95^0'=i_95^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99, a_342^0'=a_342^post99, y_25^0'=y_25^post99, length_28^0'=length_28^post99, temp0_31^0'=temp0_31^post99, tmp_34^0'=tmp_34^post99, head_SLAM_f_29^0'=head_SLAM_f_29^post99, rcd_59^0'=rcd_59^post99, a_225^0'=a_225^post99, x_SLAM_f_17^0'=x_SLAM_f_17^post99, t_22^0'=t_22^post99, f_171^0'=f_171^post99, r_126^0'=r_126^post99, (len_187^0-len_187^post99 == 0 /\ temp0_16^0-temp0_16^post99 == 0 /\ r_165^0-r_165^post99 == 0 /\ -i_110^post99+i_110^0 == 0 /\ x_131^0-x_131^post99 == 0 /\ i_30^0-i_30^post99 == 0 /\ tmp_34^0-tmp_34^post99 == 0 /\ rcd_89^0-rcd_89^post99 == 0 /\ -i_95^post99+i_95^0 == 0 /\ tail_14^0-tail_14^post99 == 0 /\ -head_15^post99+head_15^0 == 0 /\ a_281^0-a_281^post99 == 0 /\ r_39^0-r_39^post99 == 0 /\ -x_SLAM_f_24^post99+x_SLAM_f_24^0 == 0 /\ -y_25^post99+y_25^0 == 0 /\ nondet_12^0-nondet_12^post99 == 0 /\ -a_225^post99+a_225^0 == 0 /\ -a_149^post99+a_149^0 == 0 /\ a_118^0-a_118^post99 == 0 /\ a_289^0-a_289^post99 == 0 /\ temp_35^0-temp_35^post99 == 0 /\ -x_26^post99+x_26^0 == 0 /\ -length_28^post99+length_28^0 == 0 /\ 1-head_15^0+y_25^0 <= 0 /\ -r_126^post99+r_126^0 == 0 /\ -x_SLAM_f_17^post99+x_SLAM_f_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post99 == 0 /\ a_343^0-a_343^post99 == 0 /\ t_22^0-t_22^post99 == 0 /\ a_188^0-a_188^post99 == 0 /\ -head_SLAM_f_29^post99+head_SLAM_f_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_59^post99+rcd_59^0 == 0 /\ -y_18^post99+y_18^0 == 0 /\ result_11^0-result_11^post99 == 0 /\ -temp0_31^post99+temp0_31^0 == 0 /\ x_176^0-x_176^post99 == 0 /\ len_134^0-len_134^post99 == 0 /\ x_19^0-x_19^post99 == 0 /\ -a_342^post99+a_342^0 == 0 /\ -f_171^post99+f_171^0 == 0 /\ -head_32^post99+head_32^0 == 0), cost: 1
 100: l64 -> l31 : a_118^0'=a_118^post100, x_176^0'=x_176^post100, i_30^0'=i_30^post100, result_11^0'=result_11^post100, a_289^0'=a_289^post100, y_18^0'=y_18^post100, len_187^0'=len_187^post100, temp0_16^0'=temp0_16^post100, temp_35^0'=temp_35^post100, head_32^0'=head_32^post100, r_39^0'=r_39^post100, a_188^0'=a_188^post100, x_26^0'=x_26^post100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post100, a_343^0'=a_343^post100, nondet_12^0'=nondet_12^post100, x_131^0'=x_131^post100, i_110^0'=i_110^post100, rcd_89^0'=rcd_89^post100, a_281^0'=a_281^post100, x_SLAM_f_24^0'=x_SLAM_f_24^post100, len_134^0'=len_134^post100, tail_14^0'=tail_14^post100, head_15^0'=head_15^post100, r_165^0'=r_165^post100, a_149^0'=a_149^post100, x_19^0'=x_19^post100, i_95^0'=i_95^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100, a_342^0'=a_342^post100, y_25^0'=y_25^post100, length_28^0'=length_28^post100, temp0_31^0'=temp0_31^post100, tmp_34^0'=tmp_34^post100, head_SLAM_f_29^0'=head_SLAM_f_29^post100, rcd_59^0'=rcd_59^post100, a_225^0'=a_225^post100, x_SLAM_f_17^0'=x_SLAM_f_17^post100, t_22^0'=t_22^post100, f_171^0'=f_171^post100, r_126^0'=r_126^post100, (0 == 0 /\ -r_126^post100+r_126^0 == 0 /\ a_281^0-a_281^post100 == 0 /\ -f_171^post100+f_171^0 == 0 /\ -a_149^post100+a_149^0 == 0 /\ x_176^0-x_176^post100 == 0 /\ rcd_59^0-rcd_59^post100 == 0 /\ head_15^0-head_15^post100 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -x_26^post100+x_26^0 == 0 /\ -tmp_34^post100+tmp_34^0 == 0 /\ -x_SLAM_f_17^post100+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post100+head_SLAM_f_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_31^0-temp0_31^post100 == 0 /\ -x_19^post100+x_19^0 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ a_342^0-a_342^post100 == 0 /\ x_131^0-x_131^post100 == 0 /\ a_289^0-a_289^post100 == 0 /\ temp_35^0-temp_35^post100 == 0 /\ a_188^0-a_188^post100 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post100 == 0 /\ i_30^0-i_30^post100 == 0 /\ y_18^0-y_18^post100 == 0 /\ 1+a_118^0-i_110^post100 <= 0 /\ result_11^0-result_11^post100 == 0 /\ -i_95^post100+i_95^0 == 0 /\ tail_14^0-tail_14^post100 == 0 /\ head_32^0-head_32^post100 == 0 /\ temp0_16^0-temp0_16^post100 == 0 /\ a_118^0-a_118^post100 == 0 /\ -r_165^post100+r_165^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_134^0-len_134^post100 == 0 /\ -r_39^post100+r_39^0 == 0 /\ -t_22^post100+t_22^0 == 0 /\ -length_28^post100+length_28^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post100 == 0 /\ -a_225^post100+a_225^0 == 0 /\ -a_343^post100+a_343^0 == 0 /\ -rcd_89^post100+rcd_89^0 == 0 /\ -1-a_118^0+i_110^post100 <= 0 /\ len_187^0-len_187^post100 == 0 /\ -y_25^post100+y_25^0 == 0), cost: 1
 103: l65 -> l30 : a_118^0'=a_118^post103, x_176^0'=x_176^post103, i_30^0'=i_30^post103, result_11^0'=result_11^post103, a_289^0'=a_289^post103, y_18^0'=y_18^post103, len_187^0'=len_187^post103, temp0_16^0'=temp0_16^post103, temp_35^0'=temp_35^post103, head_32^0'=head_32^post103, r_39^0'=r_39^post103, a_188^0'=a_188^post103, x_26^0'=x_26^post103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post103, a_343^0'=a_343^post103, nondet_12^0'=nondet_12^post103, x_131^0'=x_131^post103, i_110^0'=i_110^post103, rcd_89^0'=rcd_89^post103, a_281^0'=a_281^post103, x_SLAM_f_24^0'=x_SLAM_f_24^post103, len_134^0'=len_134^post103, tail_14^0'=tail_14^post103, head_15^0'=head_15^post103, r_165^0'=r_165^post103, a_149^0'=a_149^post103, x_19^0'=x_19^post103, i_95^0'=i_95^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103, a_342^0'=a_342^post103, y_25^0'=y_25^post103, length_28^0'=length_28^post103, temp0_31^0'=temp0_31^post103, tmp_34^0'=tmp_34^post103, head_SLAM_f_29^0'=head_SLAM_f_29^post103, rcd_59^0'=rcd_59^post103, a_225^0'=a_225^post103, x_SLAM_f_17^0'=x_SLAM_f_17^post103, t_22^0'=t_22^post103, f_171^0'=f_171^post103, r_126^0'=r_126^post103, (x_26^0-x_26^post103 == 0 /\ -t_22^post103+t_22^0 == 0 /\ a_289^0-a_289^post103 == 0 /\ i_110^0-i_110^post103 == 0 /\ -rcd_59^post103+rcd_59^0 == 0 /\ x_176^0-x_176^post103 == 0 /\ head_15^0-head_15^post103 == 0 /\ -rcd_89^post103+rcd_89^0 == 0 /\ -tmp_34^post103+tmp_34^0 == 0 /\ -r_126^post103+r_126^0 == 0 /\ a_188^0-a_188^post103 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post103 == 0 /\ -f_171^post103+f_171^0 == 0 /\ i_30^0-i_30^post103 == 0 /\ y_18^0-y_18^post103 == 0 /\ -a_342^post103+a_342^0 == 0 /\ x_131^0-x_131^post103 == 0 /\ -r_165^post103+r_165^0 == 0 /\ -temp0_31^post103+temp0_31^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_19^post103+x_19^0 == 0 /\ a_343^0-a_343^post103 == 0 /\ -a_281^post103+a_281^0 == 0 /\ len_134^0-len_134^post103 == 0 /\ temp_35^0-temp_35^post103 == 0 /\ -a_225^post103+a_225^0 == 0 /\ temp0_16^0-temp0_16^post103 == 0 /\ a_118^0-a_118^post103 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post103 == 0 /\ -a_149^post103+a_149^0 == 0 /\ -i_95^post103+i_95^0 == 0 /\ len_187^0-len_187^post103 == 0 /\ -x_SLAM_f_17^post103+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post103+head_SLAM_f_29^0 == 0 /\ result_11^0-result_11^post103 == 0 /\ length_28^0-length_28^post103 == 0 /\ -r_39^post103+r_39^0 == 0 /\ tail_14^0-tail_14^post103 == 0 /\ y_25^0-y_25^post103 == 0 /\ head_32^0-head_32^post103 == 0 /\ -nondet_12^post103+nondet_12^0 == 0), cost: 1


Applied preprocessing
Original rule:
l0 -> l1 : a_118^0'=a_118^post0, x_176^0'=x_176^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, a_289^0'=a_289^post0, y_18^0'=y_18^post0, len_187^0'=len_187^post0, temp0_16^0'=temp0_16^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post0, a_188^0'=a_188^post0, x_26^0'=x_26^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, a_343^0'=a_343^post0, nondet_12^0'=nondet_12^post0, x_131^0'=x_131^post0, i_110^0'=i_110^post0, rcd_89^0'=rcd_89^post0, a_281^0'=a_281^post0, x_SLAM_f_24^0'=x_SLAM_f_24^post0, len_134^0'=len_134^post0, tail_14^0'=tail_14^post0, head_15^0'=head_15^post0, r_165^0'=r_165^post0, a_149^0'=a_149^post0, x_19^0'=x_19^post0, i_95^0'=i_95^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, a_342^0'=a_342^post0, y_25^0'=y_25^post0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post0, a_225^0'=a_225^post0, x_SLAM_f_17^0'=x_SLAM_f_17^post0, t_22^0'=t_22^post0, f_171^0'=f_171^post0, r_126^0'=r_126^post0, (0 == 0 /\ -f_171^post0+f_171^0 == 0 /\ x_176^0-x_176^post0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -temp0_31^10+result_11^10 == 0 /\ head_15^post0-x_26^post0 <= 0 /\ -x_SLAM_f_17^post0+x_SLAM_f_17^0 == 0 /\ -a_343^post0+a_343^0 == 0 /\ -a_281^post0+a_281^0 == 0 /\ -x_SLAM_f_24^post0+x_26^post0 <= 0 /\ -x_SLAM_f_24^post0+x_26^post0 == 0 /\ -a_342^post0+a_342^0 == 0 /\ -r_126^post0+r_126^0 == 0 /\ nondet_12^0-nondet_12^post0 == 0 /\ a_289^0-a_289^post0 == 0 /\ -i_30^0 <= 0 /\ r_39^0-r_39^post0 == 0 /\ rcd_59^0-rcd_59^post0 == 0 /\ -rcd_89^post0+rcd_89^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -head_15^post0+x_26^post0 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ x_SLAM_f_24^post0-x_26^post0 <= 0 /\ a_225^0-a_225^post0 == 0 /\ head_15^post0-x_SLAM_f_24^post0 <= 0 /\ i_110^0-i_110^post0 == 0 /\ -i_95^post0+i_95^0 == 0 /\ -a_149^post0+a_149^0 == 0 /\ -tail_14^0+y_25^post0 <= 0 /\ -tail_14^0+y_25^post0 == 0 /\ -x_131^post0+x_131^0 == 0 /\ y_18^0-y_18^post0 == 0 /\ -head_32^0+temp0_31^10 == 0 /\ temp0_16^0-temp0_16^post0 == 0 /\ -x_19^post0+x_19^0 == 0 /\ a_188^0-a_188^post0 == 0 /\ -tail_14^post0+tail_14^0 == 0 /\ a_118^0-a_118^post0 == 0 /\ head_15^post0-result_11^10 == 0 /\ -head_15^post0+x_SLAM_f_24^post0 <= 0 /\ -head_15^post0+x_SLAM_f_24^post0 == 0 /\ tail_14^0-y_25^post0 <= 0 /\ -len_134^post0+len_134^0 == 0 /\ r_165^0-r_165^post0 == 0 /\ -t_22^post0+t_22^0 == 0 /\ len_187^0-len_187^post0 == 0 /\ -i_30^0+length_28^0 <= 0), cost: 1
New rule:
l0 -> l1 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_SLAM_f_24^0'=head_32^0, head_15^0'=head_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, (i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -i_30^0+length_28^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l0 -> l2 : a_118^0'=a_118^post1, x_176^0'=x_176^post1, i_30^0'=i_30^post1, result_11^0'=result_11^post1, a_289^0'=a_289^post1, y_18^0'=y_18^post1, len_187^0'=len_187^post1, temp0_16^0'=temp0_16^post1, temp_35^0'=temp_35^post1, head_32^0'=head_32^post1, r_39^0'=r_39^post1, a_188^0'=a_188^post1, x_26^0'=x_26^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_343^0'=a_343^post1, nondet_12^0'=nondet_12^post1, x_131^0'=x_131^post1, i_110^0'=i_110^post1, rcd_89^0'=rcd_89^post1, a_281^0'=a_281^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post1, len_134^0'=len_134^post1, tail_14^0'=tail_14^post1, head_15^0'=head_15^post1, r_165^0'=r_165^post1, a_149^0'=a_149^post1, x_19^0'=x_19^post1, i_95^0'=i_95^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, a_342^0'=a_342^post1, y_25^0'=y_25^post1, length_28^0'=length_28^post1, temp0_31^0'=temp0_31^post1, tmp_34^0'=tmp_34^post1, head_SLAM_f_29^0'=head_SLAM_f_29^post1, rcd_59^0'=rcd_59^post1, a_225^0'=a_225^post1, x_SLAM_f_17^0'=x_SLAM_f_17^post1, t_22^0'=t_22^post1, f_171^0'=f_171^post1, r_126^0'=r_126^post1, (0 == 0 /\ -x_19^post1+x_19^0 == 0 /\ a_188^0-a_188^post1 == 0 /\ y_18^0-y_18^post1 == 0 /\ a_118^0-a_118^post1 == 0 /\ -1-i_30^0+i_30^post1 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post1 == 0 /\ -a_281^post1+a_281^0 == 0 /\ rcd_59^0-rcd_59^post1 == 0 /\ -a_149^post1+a_149^0 == 0 /\ temp0_31^0-temp0_31^post1 == 0 /\ -a_225^post1+a_225^0 == 0 /\ tmp_34^post1-temp_35^0 == 0 /\ 1+i_95^post1-length_28^0 <= 0 /\ -f_171^post1+f_171^0 == 0 /\ -tmp_34^post1+head_32^post1 == 0 /\ -head_15^post1+head_15^0 == 0 /\ -i_30^0 <= 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ result_11^0-result_11^post1 == 0 /\ len_134^0-len_134^post1 == 0 /\ x_26^0-x_26^post1 == 0 /\ len_187^0-len_187^post1 == 0 /\ -tail_14^post1+tail_14^0 == 0 /\ -x_SLAM_f_17^post1+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post1+head_SLAM_f_29^0 == 0 /\ 1-i_30^post1+i_95^post1 <= 0 /\ x_176^0-x_176^post1 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 == 0 /\ temp0_16^0-temp0_16^post1 == 0 /\ y_25^0-y_25^post1 == 0 /\ length_28^0-length_28^post1 == 0 /\ 1+i_30^0-length_28^0 <= 0 /\ -t_22^post1+t_22^0 == 0 /\ -r_165^post1+r_165^0 == 0 /\ a_289^0-a_289^post1 == 0 /\ -r_126^post1+r_126^0 == 0 /\ i_110^0-i_110^post1 == 0 /\ -a_342^post1+a_342^0 == 0 /\ r_39^0-r_39^post1 == 0 /\ -x_131^post1+x_131^0 == 0 /\ -1+i_30^post1-i_95^post1 <= 0 /\ -a_343^post1+a_343^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0), cost: 1
New rule:
l0 -> l2 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post1, head_32^0'=temp_35^0, rcd_89^0'=rcd_89^post1, i_95^0'=i_30^0, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1+i_30^0-length_28^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l2 -> l0 : a_118^0'=a_118^post2, x_176^0'=x_176^post2, i_30^0'=i_30^post2, result_11^0'=result_11^post2, a_289^0'=a_289^post2, y_18^0'=y_18^post2, len_187^0'=len_187^post2, temp0_16^0'=temp0_16^post2, temp_35^0'=temp_35^post2, head_32^0'=head_32^post2, r_39^0'=r_39^post2, a_188^0'=a_188^post2, x_26^0'=x_26^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, a_343^0'=a_343^post2, nondet_12^0'=nondet_12^post2, x_131^0'=x_131^post2, i_110^0'=i_110^post2, rcd_89^0'=rcd_89^post2, a_281^0'=a_281^post2, x_SLAM_f_24^0'=x_SLAM_f_24^post2, len_134^0'=len_134^post2, tail_14^0'=tail_14^post2, head_15^0'=head_15^post2, r_165^0'=r_165^post2, a_149^0'=a_149^post2, x_19^0'=x_19^post2, i_95^0'=i_95^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, a_342^0'=a_342^post2, y_25^0'=y_25^post2, length_28^0'=length_28^post2, temp0_31^0'=temp0_31^post2, tmp_34^0'=tmp_34^post2, head_SLAM_f_29^0'=head_SLAM_f_29^post2, rcd_59^0'=rcd_59^post2, a_225^0'=a_225^post2, x_SLAM_f_17^0'=x_SLAM_f_17^post2, t_22^0'=t_22^post2, f_171^0'=f_171^post2, r_126^0'=r_126^post2, (result_11^0-result_11^post2 == 0 /\ -r_126^post2+r_126^0 == 0 /\ -t_22^post2+t_22^0 == 0 /\ tail_14^0-tail_14^post2 == 0 /\ a_118^0-a_118^post2 == 0 /\ -length_28^post2+length_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_16^0-temp0_16^post2 == 0 /\ -rcd_59^post2+rcd_59^0 == 0 /\ temp_35^0-temp_35^post2 == 0 /\ -x_SLAM_f_17^post2+x_SLAM_f_17^0 == 0 /\ a_149^0-a_149^post2 == 0 /\ -head_SLAM_f_29^post2+head_SLAM_f_29^0 == 0 /\ -temp0_31^post2+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 == 0 /\ -r_165^post2+r_165^0 == 0 /\ -head_32^post2+head_32^0 == 0 /\ a_343^0-a_343^post2 == 0 /\ tmp_34^0-tmp_34^post2 == 0 /\ -f_171^post2+f_171^0 == 0 /\ -x_19^post2+x_19^0 == 0 /\ rcd_89^0-rcd_89^post2 == 0 /\ x_26^0-x_26^post2 == 0 /\ len_187^0-len_187^post2 == 0 /\ -len_134^post2+len_134^0 == 0 /\ r_39^0-r_39^post2 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ a_281^0-a_281^post2 == 0 /\ x_176^0-x_176^post2 == 0 /\ -i_95^post2+i_95^0 == 0 /\ i_110^0-i_110^post2 == 0 /\ -y_25^post2+y_25^0 == 0 /\ a_289^0-a_289^post2 == 0 /\ a_342^0-a_342^post2 == 0 /\ x_131^0-x_131^post2 == 0 /\ -x_SLAM_f_24^post2+x_SLAM_f_24^0 == 0 /\ a_188^0-a_188^post2 == 0 /\ y_18^0-y_18^post2 == 0 /\ -a_225^post2+a_225^0 == 0 /\ i_30^0-i_30^post2 == 0 /\ -head_15^post2+head_15^0 == 0), cost: 1
New rule:
l2 -> l0 : TRUE, cost: 1

Applied preprocessing
Original rule:
l3 -> l5 : a_118^0'=a_118^post4, x_176^0'=x_176^post4, i_30^0'=i_30^post4, result_11^0'=result_11^post4, a_289^0'=a_289^post4, y_18^0'=y_18^post4, len_187^0'=len_187^post4, temp0_16^0'=temp0_16^post4, temp_35^0'=temp_35^post4, head_32^0'=head_32^post4, r_39^0'=r_39^post4, a_188^0'=a_188^post4, x_26^0'=x_26^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, a_343^0'=a_343^post4, nondet_12^0'=nondet_12^post4, x_131^0'=x_131^post4, i_110^0'=i_110^post4, rcd_89^0'=rcd_89^post4, a_281^0'=a_281^post4, x_SLAM_f_24^0'=x_SLAM_f_24^post4, len_134^0'=len_134^post4, tail_14^0'=tail_14^post4, head_15^0'=head_15^post4, r_165^0'=r_165^post4, a_149^0'=a_149^post4, x_19^0'=x_19^post4, i_95^0'=i_95^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, a_342^0'=a_342^post4, y_25^0'=y_25^post4, length_28^0'=length_28^post4, temp0_31^0'=temp0_31^post4, tmp_34^0'=tmp_34^post4, head_SLAM_f_29^0'=head_SLAM_f_29^post4, rcd_59^0'=rcd_59^post4, a_225^0'=a_225^post4, x_SLAM_f_17^0'=x_SLAM_f_17^post4, t_22^0'=t_22^post4, f_171^0'=f_171^post4, r_126^0'=r_126^post4, (0 == 0 /\ temp0_31^0-temp0_31^post4 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post4-length_28^0 <= 0 /\ x_26^0-x_26^post4 == 0 /\ -a_281^post4+a_281^0 == 0 /\ 1-i_30^post4 <= 0 /\ -1+i_30^post4 <= 0 /\ y_18^0-y_18^post4 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post4 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4-head_32^post4 <= 0 /\ -1-i_30^0+i_30^post4 == 0 /\ -a_343^post4+a_343^0 == 0 /\ a_188^0-a_188^post4 == 0 /\ 1-length_28^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+length_28^0 <= 0 /\ -i_95^post4+i_95^0 == 0 /\ -x_SLAM_f_24^post4+x_SLAM_f_24^0 == 0 /\ head_15^0-head_15^post4 == 0 /\ len_134^0-len_134^post4 == 0 /\ -temp_35^0+tmp_34^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -a_225^post4+a_225^0 == 0 /\ -rcd_89^post4+rcd_89^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4+head_32^post4 <= 0 /\ rcd_59^0-rcd_59^post4 == 0 /\ -a_149^post4+a_149^0 == 0 /\ head_SLAM_f_29^post4-tail_14^post4 <= 0 /\ temp0_16^0-temp0_16^post4 == 0 /\ r_165^0-r_165^post4 == 0 /\ x_131^0-x_131^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ -length_28^post4+length_28^0 == 0 /\ a_118^0-a_118^post4 == 0 /\ -len_187^post4+len_187^0 == 0 /\ -tmp_34^post4+head_32^post4 <= 0 /\ -tmp_34^post4+head_32^post4 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4+tmp_34^post4 <= 0 /\ 1+i_30^0-length_28^0 <= 0 /\ -t_22^post4+t_22^0 == 0 /\ a_342^0-a_342^post4 == 0 /\ -y_25^post4+y_25^0 == 0 /\ -head_SLAM_f_29^post4+tail_14^post4 <= 0 /\ -x_19^post4+x_19^0 == 0 /\ r_39^0-r_39^post4 == 0 /\ -f_171^post4+f_171^0 == 0 /\ tmp_34^post4-head_32^post4 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4-tmp_34^post4 <= 0 /\ x_176^0-x_176^post4 == 0 /\ i_110^0-i_110^post4 == 0 /\ -r_126^post4+r_126^0 == 0 /\ a_289^0-a_289^post4 == 0), cost: 1
New rule:
l3 -> l5 : i_30^0'=1, temp_35^0'=temp_35^post4, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_28^0, tail_14^0'=tail_14^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, head_SLAM_f_29^0'=tail_14^post4, (i_30^0 == 0 /\ 1+i_30^0-length_28^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l6 -> l8 : a_118^0'=a_118^post6, x_176^0'=x_176^post6, i_30^0'=i_30^post6, result_11^0'=result_11^post6, a_289^0'=a_289^post6, y_18^0'=y_18^post6, len_187^0'=len_187^post6, temp0_16^0'=temp0_16^post6, temp_35^0'=temp_35^post6, head_32^0'=head_32^post6, r_39^0'=r_39^post6, a_188^0'=a_188^post6, x_26^0'=x_26^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=a_343^post6, nondet_12^0'=nondet_12^post6, x_131^0'=x_131^post6, i_110^0'=i_110^post6, rcd_89^0'=rcd_89^post6, a_281^0'=a_281^post6, x_SLAM_f_24^0'=x_SLAM_f_24^post6, len_134^0'=len_134^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, r_165^0'=r_165^post6, a_149^0'=a_149^post6, x_19^0'=x_19^post6, i_95^0'=i_95^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, a_342^0'=a_342^post6, y_25^0'=y_25^post6, length_28^0'=length_28^post6, temp0_31^0'=temp0_31^post6, tmp_34^0'=tmp_34^post6, head_SLAM_f_29^0'=head_SLAM_f_29^post6, rcd_59^0'=rcd_59^post6, a_225^0'=a_225^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=t_22^post6, f_171^0'=f_171^post6, r_126^0'=r_126^post6, (0 == 0 /\ a_149^0-a_149^post6 == 0 /\ a_343^0-a_343^post6 == 0 /\ rcd_89^0-rcd_89^post6 == 0 /\ -length_28^post6+length_28^0 == 0 /\ -temp0_31^post6+temp0_31^0 == 0 /\ -tmp_34^post6+tmp_34^0 == 0 /\ temp_35^0-temp_35^post6 == 0 /\ -t_22^post6+t_22^0 == 0 /\ -r_165^post6+r_165^0 == 0 /\ -y_25^post6+y_25^0 == 0 /\ temp0_16^0-temp0_16^post6 == 0 /\ a_118^0-a_118^post6 == 0 /\ -f_171^post6+f_171^0 == 0 /\ len_187^0-len_187^post6 == 0 /\ -a_149^0 <= 0 /\ result_11^0-result_11^post6 == 0 /\ nondet_12^0-nondet_12^post6 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -r_126^post6+r_126^0 == 0 /\ -x_19^post6+x_19^0 == 0 /\ -head_32^post6+head_32^0 == 0 /\ -a_225^post6+a_225^0 == 0 /\ -len_134^post6+len_134^0 == 0 /\ -a_281^0 <= 0 /\ x_176^0-x_176^post6 == 0 /\ a_188^0-a_188^post6 == 0 /\ -a_289^post6+a_289^0 == 0 /\ -i_95^post6+i_95^0 == 0 /\ i_30^0-i_30^post6 == 0 /\ y_18^0-y_18^post6 == 0 /\ a_281^0-a_281^post6 == 0 /\ -x_26^post6+x_26^0 == 0 /\ -i_110^post6+i_110^0 == 0 /\ -x_SLAM_f_24^post6+x_SLAM_f_24^0 == 0 /\ a_342^0-a_342^post6 == 0 /\ -head_SLAM_f_29^post6+head_SLAM_f_29^0 == 0 /\ x_131^0-x_131^post6 == 0 /\ -rcd_59^post6+rcd_59^0 == 0), cost: 1
New rule:
l6 -> l8 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, (a_281^0 >= 0 /\ a_149^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l8 -> l9 : a_118^0'=a_118^post7, x_176^0'=x_176^post7, i_30^0'=i_30^post7, result_11^0'=result_11^post7, a_289^0'=a_289^post7, y_18^0'=y_18^post7, len_187^0'=len_187^post7, temp0_16^0'=temp0_16^post7, temp_35^0'=temp_35^post7, head_32^0'=head_32^post7, r_39^0'=r_39^post7, a_188^0'=a_188^post7, x_26^0'=x_26^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, a_343^0'=a_343^post7, nondet_12^0'=nondet_12^post7, x_131^0'=x_131^post7, i_110^0'=i_110^post7, rcd_89^0'=rcd_89^post7, a_281^0'=a_281^post7, x_SLAM_f_24^0'=x_SLAM_f_24^post7, len_134^0'=len_134^post7, tail_14^0'=tail_14^post7, head_15^0'=head_15^post7, r_165^0'=r_165^post7, a_149^0'=a_149^post7, x_19^0'=x_19^post7, i_95^0'=i_95^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, a_342^0'=a_342^post7, y_25^0'=y_25^post7, length_28^0'=length_28^post7, temp0_31^0'=temp0_31^post7, tmp_34^0'=tmp_34^post7, head_SLAM_f_29^0'=head_SLAM_f_29^post7, rcd_59^0'=rcd_59^post7, a_225^0'=a_225^post7, x_SLAM_f_17^0'=x_SLAM_f_17^post7, t_22^0'=t_22^post7, f_171^0'=f_171^post7, r_126^0'=r_126^post7, (len_187^0-len_187^post7 == 0 /\ -temp0_31^post7+temp0_31^0 == 0 /\ y_18^0-y_18^post7 == 0 /\ a_188^0-a_188^post7 == 0 /\ -a_343^post7+a_343^0 == 0 /\ -i_95^post7+i_95^0 == 0 /\ x_26^0-x_26^post7 == 0 /\ head_15^0-head_15^post7 == 0 /\ -x_SLAM_f_24^post7+x_SLAM_f_24^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post7 == 0 /\ -a_225^post7+a_225^0 == 0 /\ result_11^0-result_11^post7 == 0 /\ r_39^0-r_39^post7 == 0 /\ -head_SLAM_f_29^post7+head_SLAM_f_29^0 == 0 /\ -rcd_89^post7+rcd_89^0 == 0 /\ -a_149^post7+a_149^0 == 0 /\ temp_35^0-temp_35^post7 == 0 /\ len_134^0-len_134^post7 == 0 /\ a_289^0-a_289^post7 == 0 /\ rcd_59^0-rcd_59^post7 == 0 /\ -length_28^post7+length_28^0 == 0 /\ temp0_16^0-temp0_16^post7 == 0 /\ r_165^0-r_165^post7 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post7 == 0 /\ a_118^0-a_118^post7 == 0 /\ x_131^0-x_131^post7 == 0 /\ -tail_14^post7+tail_14^0 == 0 /\ -t_22^post7+t_22^0 == 0 /\ -y_25^post7+y_25^0 == 0 /\ a_342^0-a_342^post7 == 0 /\ -tmp_34^post7+tmp_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_30^0-i_30^post7 == 0 /\ -f_171^post7+f_171^0 == 0 /\ 1+y_18^0-x_19^0 <= 0 /\ -a_281^post7+a_281^0 == 0 /\ -x_19^post7+x_19^0 == 0 /\ head_32^0-head_32^post7 == 0 /\ x_176^0-x_176^post7 == 0 /\ -r_126^post7+r_126^0 == 0 /\ i_110^0-i_110^post7 == 0), cost: 1
New rule:
l8 -> l9 : 1+y_18^0-x_19^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l8 -> l9 : a_118^0'=a_118^post8, x_176^0'=x_176^post8, i_30^0'=i_30^post8, result_11^0'=result_11^post8, a_289^0'=a_289^post8, y_18^0'=y_18^post8, len_187^0'=len_187^post8, temp0_16^0'=temp0_16^post8, temp_35^0'=temp_35^post8, head_32^0'=head_32^post8, r_39^0'=r_39^post8, a_188^0'=a_188^post8, x_26^0'=x_26^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, a_343^0'=a_343^post8, nondet_12^0'=nondet_12^post8, x_131^0'=x_131^post8, i_110^0'=i_110^post8, rcd_89^0'=rcd_89^post8, a_281^0'=a_281^post8, x_SLAM_f_24^0'=x_SLAM_f_24^post8, len_134^0'=len_134^post8, tail_14^0'=tail_14^post8, head_15^0'=head_15^post8, r_165^0'=r_165^post8, a_149^0'=a_149^post8, x_19^0'=x_19^post8, i_95^0'=i_95^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, a_342^0'=a_342^post8, y_25^0'=y_25^post8, length_28^0'=length_28^post8, temp0_31^0'=temp0_31^post8, tmp_34^0'=tmp_34^post8, head_SLAM_f_29^0'=head_SLAM_f_29^post8, rcd_59^0'=rcd_59^post8, a_225^0'=a_225^post8, x_SLAM_f_17^0'=x_SLAM_f_17^post8, t_22^0'=t_22^post8, f_171^0'=f_171^post8, r_126^0'=r_126^post8, (head_32^0-head_32^post8 == 0 /\ -x_131^post8+x_131^0 == 0 /\ -a_225^post8+a_225^0 == 0 /\ -tail_14^post8+tail_14^0 == 0 /\ -f_171^post8+f_171^0 == 0 /\ -a_149^post8+a_149^0 == 0 /\ -head_15^post8+head_15^0 == 0 /\ -r_126^post8+r_126^0 == 0 /\ -head_SLAM_f_29^post8+head_SLAM_f_29^0 == 0 /\ a_118^0-a_118^post8 == 0 /\ -x_19^post8+x_19^0 == 0 /\ -nondet_12^post8+nondet_12^0 == 0 /\ temp0_31^0-temp0_31^post8 == 0 /\ len_134^0-len_134^post8 == 0 /\ i_110^0-i_110^post8 == 0 /\ -x_SLAM_f_17^post8+x_SLAM_f_17^0 == 0 /\ -rcd_59^post8+rcd_59^0 == 0 /\ -a_281^post8+a_281^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ -i_95^post8+i_95^0 == 0 /\ x_26^0-x_26^post8 == 0 /\ -tmp_34^post8+tmp_34^0 == 0 /\ len_187^0-len_187^post8 == 0 /\ -r_165^post8+r_165^0 == 0 /\ length_28^0-length_28^post8 == 0 /\ temp0_16^0-temp0_16^post8 == 0 /\ 1-y_18^0+x_19^0 <= 0 /\ x_176^0-x_176^post8 == 0 /\ -y_25^post8+y_25^0 == 0 /\ -x_SLAM_f_24^post8+x_SLAM_f_24^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ -a_342^post8+a_342^0 == 0 /\ a_289^0-a_289^post8 == 0 /\ temp_35^0-temp_35^post8 == 0 /\ -t_22^post8+t_22^0 == 0 /\ -a_343^post8+a_343^0 == 0 /\ a_188^0-a_188^post8 == 0 /\ i_30^0-i_30^post8 == 0 /\ -rcd_89^post8+rcd_89^0 == 0 /\ y_18^0-y_18^post8 == 0 /\ r_39^0-r_39^post8 == 0), cost: 1
New rule:
l8 -> l9 : 1-y_18^0+x_19^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l9 -> l10 : a_118^0'=a_118^post9, x_176^0'=x_176^post9, i_30^0'=i_30^post9, result_11^0'=result_11^post9, a_289^0'=a_289^post9, y_18^0'=y_18^post9, len_187^0'=len_187^post9, temp0_16^0'=temp0_16^post9, temp_35^0'=temp_35^post9, head_32^0'=head_32^post9, r_39^0'=r_39^post9, a_188^0'=a_188^post9, x_26^0'=x_26^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, a_343^0'=a_343^post9, nondet_12^0'=nondet_12^post9, x_131^0'=x_131^post9, i_110^0'=i_110^post9, rcd_89^0'=rcd_89^post9, a_281^0'=a_281^post9, x_SLAM_f_24^0'=x_SLAM_f_24^post9, len_134^0'=len_134^post9, tail_14^0'=tail_14^post9, head_15^0'=head_15^post9, r_165^0'=r_165^post9, a_149^0'=a_149^post9, x_19^0'=x_19^post9, i_95^0'=i_95^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, a_342^0'=a_342^post9, y_25^0'=y_25^post9, length_28^0'=length_28^post9, temp0_31^0'=temp0_31^post9, tmp_34^0'=tmp_34^post9, head_SLAM_f_29^0'=head_SLAM_f_29^post9, rcd_59^0'=rcd_59^post9, a_225^0'=a_225^post9, x_SLAM_f_17^0'=x_SLAM_f_17^post9, t_22^0'=t_22^post9, f_171^0'=f_171^post9, r_126^0'=r_126^post9, (0 == 0 /\ tmp_34^0-tmp_34^post9 == 0 /\ a_149^0-a_149^post9 == 0 /\ result_11^0-result_11^post9 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ temp_35^0-temp_35^post9 == 0 /\ 1-a_281^0-a_149^0+a_343^post9 <= 0 /\ -x_SLAM_f_24^post9+x_SLAM_f_24^0 == 0 /\ -x_26^post9+x_26^0 == 0 /\ -y_25^post9+y_25^0 == 0 /\ -r_165^post9+r_165^0 == 0 /\ -f_171^post9+f_171^0 == 0 /\ temp0_16^0-temp0_16^post9 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post9 == 0 /\ len_187^0-len_187^post9 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_118^0-a_118^post9 == 0 /\ -length_28^post9+length_28^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post9 == 0 /\ rcd_89^0-rcd_89^post9 == 0 /\ -len_134^post9+len_134^0 == 0 /\ tail_14^0-tail_14^post9 == 0 /\ -r_126^post9+r_126^0 == 0 /\ a_281^0-a_281^post9 == 0 /\ -temp0_31^post9+temp0_31^0 == 0 /\ nondet_12^0-nondet_12^post9 == 0 /\ -a_342^post9 <= 0 /\ -x_19^post9+x_19^0 == 0 /\ y_18^0-tail_14^0 <= 0 /\ t_22^post9-x_19^0 == 0 /\ r_39^0-r_39^post9 == 0 /\ -head_32^post9+head_32^0 == 0 /\ -1+a_281^0+a_149^0-a_343^post9 <= 0 /\ x_176^0-x_176^post9 == 0 /\ -head_15^post9+head_15^0 == 0 /\ -a_289^post9+a_289^0 == 0 /\ -i_95^post9+i_95^0 == 0 /\ -y_18^0+tail_14^0 <= 0 /\ -head_SLAM_f_29^post9+head_SLAM_f_29^0 == 0 /\ -i_110^post9+i_110^0 == 0 /\ i_30^0-i_30^post9 == 0 /\ -a_225^post9+a_225^0 == 0 /\ y_18^0-y_18^post9 == 0 /\ x_131^0-x_131^post9 == 0 /\ a_342^post9 <= 0 /\ a_188^0-a_188^post9 == 0 /\ -rcd_59^post9+rcd_59^0 == 0), cost: 1
New rule:
l9 -> l10 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0), cost: 1

Applied preprocessing
Original rule:
l10 -> l11 : a_118^0'=a_118^post10, x_176^0'=x_176^post10, i_30^0'=i_30^post10, result_11^0'=result_11^post10, a_289^0'=a_289^post10, y_18^0'=y_18^post10, len_187^0'=len_187^post10, temp0_16^0'=temp0_16^post10, temp_35^0'=temp_35^post10, head_32^0'=head_32^post10, r_39^0'=r_39^post10, a_188^0'=a_188^post10, x_26^0'=x_26^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, a_343^0'=a_343^post10, nondet_12^0'=nondet_12^post10, x_131^0'=x_131^post10, i_110^0'=i_110^post10, rcd_89^0'=rcd_89^post10, a_281^0'=a_281^post10, x_SLAM_f_24^0'=x_SLAM_f_24^post10, len_134^0'=len_134^post10, tail_14^0'=tail_14^post10, head_15^0'=head_15^post10, r_165^0'=r_165^post10, a_149^0'=a_149^post10, x_19^0'=x_19^post10, i_95^0'=i_95^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, a_342^0'=a_342^post10, y_25^0'=y_25^post10, length_28^0'=length_28^post10, temp0_31^0'=temp0_31^post10, tmp_34^0'=tmp_34^post10, head_SLAM_f_29^0'=head_SLAM_f_29^post10, rcd_59^0'=rcd_59^post10, a_225^0'=a_225^post10, x_SLAM_f_17^0'=x_SLAM_f_17^post10, t_22^0'=t_22^post10, f_171^0'=f_171^post10, r_126^0'=r_126^post10, (len_187^0-len_187^post10 == 0 /\ rcd_89^0-rcd_89^post10 == 0 /\ -temp0_31^post10+temp0_31^0 == 0 /\ i_30^0-i_30^post10 == 0 /\ y_18^0-y_18^post10 == 0 /\ -i_95^post10+i_95^0 == 0 /\ -a_343^post10+a_343^0 == 0 /\ rcd_59^0-rcd_59^post10 == 0 /\ -head_SLAM_f_29^post10+head_SLAM_f_29^0 == 0 /\ head_15^0-head_15^post10 == 0 /\ tail_14^0-tail_14^post10 == 0 /\ -a_225^post10+a_225^0 == 0 /\ r_39^0-r_39^post10 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post10 == 0 /\ result_11^0-result_11^post10 == 0 /\ -y_25^post10+y_25^0 == 0 /\ -a_149^post10+a_149^0 == 0 /\ -x_SLAM_f_24^post10+x_SLAM_f_24^0 == 0 /\ temp0_16^0-temp0_16^post10 == 0 /\ len_134^0-len_134^post10 == 0 /\ a_289^0-a_289^post10 == 0 /\ temp_35^0-temp_35^post10 == 0 /\ a_342^0-a_342^post10 == 0 /\ -t_22^post10+t_22^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 == 0 /\ a_118^0-a_118^post10 == 0 /\ x_131^0-x_131^post10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_188^0-a_188^post10 == 0 /\ -length_28^post10+length_28^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ -x_26^post10+x_26^0 == 0 /\ -tmp_34^post10+tmp_34^0 == 0 /\ -a_281^post10+a_281^0 == 0 /\ -x_19^post10+x_19^0 == 0 /\ head_32^0-head_32^post10 == 0 /\ -r_126^post10+r_126^0 == 0 /\ x_176^0-x_176^post10 == 0 /\ -f_171^post10+f_171^0 == 0 /\ r_165^0-r_165^post10 == 0 /\ 1+tail_14^0-head_15^0 <= 0 /\ i_110^0-i_110^post10 == 0), cost: 1
New rule:
l10 -> l11 : 1+tail_14^0-head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l10 -> l11 : a_118^0'=a_118^post11, x_176^0'=x_176^post11, i_30^0'=i_30^post11, result_11^0'=result_11^post11, a_289^0'=a_289^post11, y_18^0'=y_18^post11, len_187^0'=len_187^post11, temp0_16^0'=temp0_16^post11, temp_35^0'=temp_35^post11, head_32^0'=head_32^post11, r_39^0'=r_39^post11, a_188^0'=a_188^post11, x_26^0'=x_26^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, a_343^0'=a_343^post11, nondet_12^0'=nondet_12^post11, x_131^0'=x_131^post11, i_110^0'=i_110^post11, rcd_89^0'=rcd_89^post11, a_281^0'=a_281^post11, x_SLAM_f_24^0'=x_SLAM_f_24^post11, len_134^0'=len_134^post11, tail_14^0'=tail_14^post11, head_15^0'=head_15^post11, r_165^0'=r_165^post11, a_149^0'=a_149^post11, x_19^0'=x_19^post11, i_95^0'=i_95^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, a_342^0'=a_342^post11, y_25^0'=y_25^post11, length_28^0'=length_28^post11, temp0_31^0'=temp0_31^post11, tmp_34^0'=tmp_34^post11, head_SLAM_f_29^0'=head_SLAM_f_29^post11, rcd_59^0'=rcd_59^post11, a_225^0'=a_225^post11, x_SLAM_f_17^0'=x_SLAM_f_17^post11, t_22^0'=t_22^post11, f_171^0'=f_171^post11, r_126^0'=r_126^post11, (-a_225^post11+a_225^0 == 0 /\ -f_171^post11+f_171^0 == 0 /\ -tail_14^post11+tail_14^0 == 0 /\ head_32^0-head_32^post11 == 0 /\ -x_131^post11+x_131^0 == 0 /\ rcd_59^0-rcd_59^post11 == 0 /\ a_188^0-a_188^post11 == 0 /\ -a_149^post11+a_149^0 == 0 /\ -x_19^post11+x_19^0 == 0 /\ len_134^0-len_134^post11 == 0 /\ -nondet_12^post11+nondet_12^0 == 0 /\ -head_15^post11+head_15^0 == 0 /\ temp0_31^0-temp0_31^post11 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post11+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post11 == 0 /\ -tmp_34^post11+tmp_34^0 == 0 /\ -x_SLAM_f_17^post11+x_SLAM_f_17^0 == 0 /\ x_26^0-x_26^post11 == 0 /\ a_289^0-a_289^post11 == 0 /\ -i_95^post11+i_95^0 == 0 /\ len_187^0-len_187^post11 == 0 /\ -a_281^post11+a_281^0 == 0 /\ -rcd_89^post11+rcd_89^0 == 0 /\ a_118^0-a_118^post11 == 0 /\ length_28^0-length_28^post11 == 0 /\ -r_165^post11+r_165^0 == 0 /\ -y_25^post11+y_25^0 == 0 /\ temp0_16^0-temp0_16^post11 == 0 /\ result_11^0-result_11^post11 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ -x_SLAM_f_24^post11+x_SLAM_f_24^0 == 0 /\ temp_35^0-temp_35^post11 == 0 /\ i_110^0-i_110^post11 == 0 /\ -a_342^post11+a_342^0 == 0 /\ -t_22^post11+t_22^0 == 0 /\ -r_126^post11+r_126^0 == 0 /\ -a_343^post11+a_343^0 == 0 /\ i_30^0-i_30^post11 == 0 /\ r_39^0-r_39^post11 == 0 /\ y_18^0-y_18^post11 == 0 /\ x_176^0-x_176^post11 == 0), cost: 1
New rule:
l10 -> l11 : 1-tail_14^0+head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l11 -> l12 : a_118^0'=a_118^post12, x_176^0'=x_176^post12, i_30^0'=i_30^post12, result_11^0'=result_11^post12, a_289^0'=a_289^post12, y_18^0'=y_18^post12, len_187^0'=len_187^post12, temp0_16^0'=temp0_16^post12, temp_35^0'=temp_35^post12, head_32^0'=head_32^post12, r_39^0'=r_39^post12, a_188^0'=a_188^post12, x_26^0'=x_26^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, a_343^0'=a_343^post12, nondet_12^0'=nondet_12^post12, x_131^0'=x_131^post12, i_110^0'=i_110^post12, rcd_89^0'=rcd_89^post12, a_281^0'=a_281^post12, x_SLAM_f_24^0'=x_SLAM_f_24^post12, len_134^0'=len_134^post12, tail_14^0'=tail_14^post12, head_15^0'=head_15^post12, r_165^0'=r_165^post12, a_149^0'=a_149^post12, x_19^0'=x_19^post12, i_95^0'=i_95^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, a_342^0'=a_342^post12, y_25^0'=y_25^post12, length_28^0'=length_28^post12, temp0_31^0'=temp0_31^post12, tmp_34^0'=tmp_34^post12, head_SLAM_f_29^0'=head_SLAM_f_29^post12, rcd_59^0'=rcd_59^post12, a_225^0'=a_225^post12, x_SLAM_f_17^0'=x_SLAM_f_17^post12, t_22^0'=t_22^post12, f_171^0'=f_171^post12, r_126^0'=r_126^post12, (tmp_34^0-tmp_34^post12 == 0 /\ tail_14^0-tail_14^post12 == 0 /\ -rcd_59^post12+rcd_59^0 == 0 /\ -y_25^post12+y_25^0 == 0 /\ temp_35^0-temp_35^post12 == 0 /\ temp0_16^0-temp0_16^post12 == 0 /\ -t_22^post12+t_22^0 == 0 /\ -temp0_31^post12+temp0_31^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -f_171^post12+f_171^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post12 == 0 /\ a_118^0-a_118^post12 == 0 /\ a_225^0-a_225^post12 == 0 /\ len_187^0-len_187^post12 == 0 /\ r_165^0-r_165^post12 == 0 /\ rcd_89^0-rcd_89^post12 == 0 /\ -length_28^post12+length_28^0 == 0 /\ x_26^0-x_26^post12 == 0 /\ -r_126^post12+r_126^0 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ -len_134^post12+len_134^0 == 0 /\ a_281^0-a_281^post12 == 0 /\ -head_32^post12+head_32^0 == 0 /\ r_39^0-r_39^post12 == 0 /\ x_176^0-x_176^post12 == 0 /\ -i_110^post12+i_110^0 == 0 /\ x_19^0-x_19^post12 == 0 /\ -head_15^post12+head_15^0 == 0 /\ a_289^0-a_289^post12 == 0 /\ -a_149^post12+a_149^0 == 0 /\ -x_SLAM_f_24^post12+x_SLAM_f_24^0 == 0 /\ -i_95^post12+i_95^0 == 0 /\ y_18^0-y_18^post12 == 0 /\ -head_SLAM_f_29^post12+head_SLAM_f_29^0 == 0 /\ a_342^0-a_342^post12 == 0 /\ x_131^0-x_131^post12 == 0 /\ i_30^0-i_30^post12 == 0 /\ result_11^0-result_11^post12 == 0 /\ a_343^0-a_343^post12 == 0 /\ 1-y_18^0+head_15^0 <= 0 /\ -x_SLAM_f_17^post12+x_SLAM_f_17^0 == 0 /\ a_188^0-a_188^post12 == 0), cost: 1
New rule:
l11 -> l12 : 1-y_18^0+head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l11 -> l12 : a_118^0'=a_118^post13, x_176^0'=x_176^post13, i_30^0'=i_30^post13, result_11^0'=result_11^post13, a_289^0'=a_289^post13, y_18^0'=y_18^post13, len_187^0'=len_187^post13, temp0_16^0'=temp0_16^post13, temp_35^0'=temp_35^post13, head_32^0'=head_32^post13, r_39^0'=r_39^post13, a_188^0'=a_188^post13, x_26^0'=x_26^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, a_343^0'=a_343^post13, nondet_12^0'=nondet_12^post13, x_131^0'=x_131^post13, i_110^0'=i_110^post13, rcd_89^0'=rcd_89^post13, a_281^0'=a_281^post13, x_SLAM_f_24^0'=x_SLAM_f_24^post13, len_134^0'=len_134^post13, tail_14^0'=tail_14^post13, head_15^0'=head_15^post13, r_165^0'=r_165^post13, a_149^0'=a_149^post13, x_19^0'=x_19^post13, i_95^0'=i_95^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13, a_342^0'=a_342^post13, y_25^0'=y_25^post13, length_28^0'=length_28^post13, temp0_31^0'=temp0_31^post13, tmp_34^0'=tmp_34^post13, head_SLAM_f_29^0'=head_SLAM_f_29^post13, rcd_59^0'=rcd_59^post13, a_225^0'=a_225^post13, x_SLAM_f_17^0'=x_SLAM_f_17^post13, t_22^0'=t_22^post13, f_171^0'=f_171^post13, r_126^0'=r_126^post13, (len_187^0-len_187^post13 == 0 /\ x_131^0-x_131^post13 == 0 /\ i_30^0-i_30^post13 == 0 /\ -i_95^post13+i_95^0 == 0 /\ -temp0_31^post13+temp0_31^0 == 0 /\ rcd_89^0-rcd_89^post13 == 0 /\ nondet_12^0-nondet_12^post13 == 0 /\ rcd_59^0-rcd_59^post13 == 0 /\ result_11^0-result_11^post13 == 0 /\ -a_225^post13+a_225^0 == 0 /\ tail_14^0-tail_14^post13 == 0 /\ -head_SLAM_f_29^post13+head_SLAM_f_29^0 == 0 /\ r_39^0-r_39^post13 == 0 /\ -y_25^post13+y_25^0 == 0 /\ -a_343^post13+a_343^0 == 0 /\ head_15^0-head_15^post13 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post13 == 0 /\ a_118^0-a_118^post13 == 0 /\ a_289^0-a_289^post13 == 0 /\ -x_SLAM_f_24^post13+x_SLAM_f_24^0 == 0 /\ len_134^0-len_134^post13 == 0 /\ temp0_16^0-temp0_16^post13 == 0 /\ temp_35^0-temp_35^post13 == 0 /\ -tmp_34^post13+tmp_34^0 == 0 /\ -t_22^post13+t_22^0 == 0 /\ a_342^0-a_342^post13 == 0 /\ -a_149^post13+a_149^0 == 0 /\ -r_126^post13+r_126^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post13 == 0 /\ -x_19^post13+x_19^0 == 0 /\ a_188^0-a_188^post13 == 0 /\ -x_26^post13+x_26^0 == 0 /\ -length_28^post13+length_28^0 == 0 /\ 1+y_18^0-head_15^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_281^post13+a_281^0 == 0 /\ -y_18^post13+y_18^0 == 0 /\ x_176^0-x_176^post13 == 0 /\ -f_171^post13+f_171^0 == 0 /\ r_165^0-r_165^post13 == 0 /\ -head_32^post13+head_32^0 == 0 /\ i_110^0-i_110^post13 == 0), cost: 1
New rule:
l11 -> l12 : 1+y_18^0-head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l12 -> l13 : a_118^0'=a_118^post14, x_176^0'=x_176^post14, i_30^0'=i_30^post14, result_11^0'=result_11^post14, a_289^0'=a_289^post14, y_18^0'=y_18^post14, len_187^0'=len_187^post14, temp0_16^0'=temp0_16^post14, temp_35^0'=temp_35^post14, head_32^0'=head_32^post14, r_39^0'=r_39^post14, a_188^0'=a_188^post14, x_26^0'=x_26^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, a_343^0'=a_343^post14, nondet_12^0'=nondet_12^post14, x_131^0'=x_131^post14, i_110^0'=i_110^post14, rcd_89^0'=rcd_89^post14, a_281^0'=a_281^post14, x_SLAM_f_24^0'=x_SLAM_f_24^post14, len_134^0'=len_134^post14, tail_14^0'=tail_14^post14, head_15^0'=head_15^post14, r_165^0'=r_165^post14, a_149^0'=a_149^post14, x_19^0'=x_19^post14, i_95^0'=i_95^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14, a_342^0'=a_342^post14, y_25^0'=y_25^post14, length_28^0'=length_28^post14, temp0_31^0'=temp0_31^post14, tmp_34^0'=tmp_34^post14, head_SLAM_f_29^0'=head_SLAM_f_29^post14, rcd_59^0'=rcd_59^post14, a_225^0'=a_225^post14, x_SLAM_f_17^0'=x_SLAM_f_17^post14, t_22^0'=t_22^post14, f_171^0'=f_171^post14, r_126^0'=r_126^post14, (head_32^0-head_32^post14 == 0 /\ -a_149^post14+a_149^0 == 0 /\ rcd_59^0-rcd_59^post14 == 0 /\ -x_131^post14+x_131^0 == 0 /\ a_188^0-a_188^post14 == 0 /\ -head_15^post14+head_15^0 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ len_134^0-len_134^post14 == 0 /\ temp0_31^0-temp0_31^post14 == 0 /\ -x_19^post14+x_19^0 == 0 /\ -f_171^post14+f_171^0 == 0 /\ -a_225^post14+a_225^0 == 0 /\ 1+y_18^0-t_22^0 <= 0 /\ x_26^0-x_26^post14 == 0 /\ a_289^0-a_289^post14 == 0 /\ -tmp_34^post14+tmp_34^0 == 0 /\ -i_95^post14+i_95^0 == 0 /\ r_39^0-r_39^post14 == 0 /\ -a_281^post14+a_281^0 == 0 /\ -x_SLAM_f_17^post14+x_SLAM_f_17^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post14 == 0 /\ -tail_14^post14+tail_14^0 == 0 /\ -y_25^post14+y_25^0 == 0 /\ i_30^0-i_30^post14 == 0 /\ a_118^0-a_118^post14 == 0 /\ length_28^0-length_28^post14 == 0 /\ temp0_16^0-temp0_16^post14 == 0 /\ -r_165^post14+r_165^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14 == 0 /\ result_11^0-result_11^post14 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post14+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_22^post14+t_22^0 == 0 /\ i_110^0-i_110^post14 == 0 /\ -temp_35^post14+temp_35^0 == 0 /\ -r_126^post14+r_126^0 == 0 /\ -a_342^post14+a_342^0 == 0 /\ rcd_89^0-rcd_89^post14 == 0 /\ len_187^0-len_187^post14 == 0 /\ -a_343^post14+a_343^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post14 == 0 /\ x_176^0-x_176^post14 == 0 /\ y_18^0-y_18^post14 == 0), cost: 1
New rule:
l12 -> l13 : 1+y_18^0-t_22^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l12 -> l13 : a_118^0'=a_118^post15, x_176^0'=x_176^post15, i_30^0'=i_30^post15, result_11^0'=result_11^post15, a_289^0'=a_289^post15, y_18^0'=y_18^post15, len_187^0'=len_187^post15, temp0_16^0'=temp0_16^post15, temp_35^0'=temp_35^post15, head_32^0'=head_32^post15, r_39^0'=r_39^post15, a_188^0'=a_188^post15, x_26^0'=x_26^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, a_343^0'=a_343^post15, nondet_12^0'=nondet_12^post15, x_131^0'=x_131^post15, i_110^0'=i_110^post15, rcd_89^0'=rcd_89^post15, a_281^0'=a_281^post15, x_SLAM_f_24^0'=x_SLAM_f_24^post15, len_134^0'=len_134^post15, tail_14^0'=tail_14^post15, head_15^0'=head_15^post15, r_165^0'=r_165^post15, a_149^0'=a_149^post15, x_19^0'=x_19^post15, i_95^0'=i_95^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15, a_342^0'=a_342^post15, y_25^0'=y_25^post15, length_28^0'=length_28^post15, temp0_31^0'=temp0_31^post15, tmp_34^0'=tmp_34^post15, head_SLAM_f_29^0'=head_SLAM_f_29^post15, rcd_59^0'=rcd_59^post15, a_225^0'=a_225^post15, x_SLAM_f_17^0'=x_SLAM_f_17^post15, t_22^0'=t_22^post15, f_171^0'=f_171^post15, r_126^0'=r_126^post15, (1-y_18^0+t_22^0 <= 0 /\ tail_14^0-tail_14^post15 == 0 /\ -length_28^post15+length_28^0 == 0 /\ -tmp_34^post15+tmp_34^0 == 0 /\ -rcd_59^post15+rcd_59^0 == 0 /\ -t_22^post15+t_22^0 == 0 /\ temp_35^0-temp_35^post15 == 0 /\ -y_25^post15+y_25^0 == 0 /\ r_165^0-r_165^post15 == 0 /\ len_187^0-len_187^post15 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -temp0_31^post15+temp0_31^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post15 == 0 /\ a_225^0-a_225^post15 == 0 /\ -len_134^post15+len_134^0 == 0 /\ x_26^0-x_26^post15 == 0 /\ rcd_89^0-rcd_89^post15 == 0 /\ -f_171^post15+f_171^0 == 0 /\ -a_342^post15+a_342^0 == 0 /\ a_281^0-a_281^post15 == 0 /\ -r_126^post15+r_126^0 == 0 /\ nondet_12^0-nondet_12^post15 == 0 /\ -head_32^post15+head_32^0 == 0 /\ r_39^0-r_39^post15 == 0 /\ -i_110^post15+i_110^0 == 0 /\ x_176^0-x_176^post15 == 0 /\ x_19^0-x_19^post15 == 0 /\ -head_15^post15+head_15^0 == 0 /\ a_289^0-a_289^post15 == 0 /\ temp0_16^0-temp0_16^post15 == 0 /\ a_118^0-a_118^post15 == 0 /\ -head_SLAM_f_29^post15+head_SLAM_f_29^0 == 0 /\ -i_95^post15+i_95^0 == 0 /\ x_131^0-x_131^post15 == 0 /\ -x_SLAM_f_24^post15+x_SLAM_f_24^0 == 0 /\ i_30^0-i_30^post15 == 0 /\ -x_SLAM_f_17^post15+x_SLAM_f_17^0 == 0 /\ y_18^0-y_18^post15 == 0 /\ a_343^0-a_343^post15 == 0 /\ result_11^0-result_11^post15 == 0 /\ -a_149^post15+a_149^0 == 0 /\ a_188^0-a_188^post15 == 0), cost: 1
New rule:
l12 -> l13 : 1-y_18^0+t_22^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l13 -> l7 : a_118^0'=a_118^post16, x_176^0'=x_176^post16, i_30^0'=i_30^post16, result_11^0'=result_11^post16, a_289^0'=a_289^post16, y_18^0'=y_18^post16, len_187^0'=len_187^post16, temp0_16^0'=temp0_16^post16, temp_35^0'=temp_35^post16, head_32^0'=head_32^post16, r_39^0'=r_39^post16, a_188^0'=a_188^post16, x_26^0'=x_26^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, a_343^0'=a_343^post16, nondet_12^0'=nondet_12^post16, x_131^0'=x_131^post16, i_110^0'=i_110^post16, rcd_89^0'=rcd_89^post16, a_281^0'=a_281^post16, x_SLAM_f_24^0'=x_SLAM_f_24^post16, len_134^0'=len_134^post16, tail_14^0'=tail_14^post16, head_15^0'=head_15^post16, r_165^0'=r_165^post16, a_149^0'=a_149^post16, x_19^0'=x_19^post16, i_95^0'=i_95^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16, a_342^0'=a_342^post16, y_25^0'=y_25^post16, length_28^0'=length_28^post16, temp0_31^0'=temp0_31^post16, tmp_34^0'=tmp_34^post16, head_SLAM_f_29^0'=head_SLAM_f_29^post16, rcd_59^0'=rcd_59^post16, a_225^0'=a_225^post16, x_SLAM_f_17^0'=x_SLAM_f_17^post16, t_22^0'=t_22^post16, f_171^0'=f_171^post16, r_126^0'=r_126^post16, (0 == 0 /\ len_187^0-len_187^post16 == 0 /\ r_165^0-r_165^post16 == 0 /\ x_131^0-x_131^post16 == 0 /\ -i_95^post16+i_95^0 == 0 /\ -temp0_31^post16+temp0_31^0 == 0 /\ head_15^0-head_15^post16 == 0 /\ i_30^0-i_30^post16 == 0 /\ rcd_89^0-rcd_89^post16 == 0 /\ tail_14^0-tail_14^post16 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post16 == 0 /\ r_39^0-r_39^post16 == 0 /\ result_11^0-result_11^post16 == 0 /\ -length_28^post16+length_28^0 == 0 /\ -y_25^post16+y_25^0 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ rcd_59^0-rcd_59^post16 == 0 /\ -t_22^post16+t_22^0 == 0 /\ a_118^0-a_118^post16 == 0 /\ a_289^0-a_289^post16 == 0 /\ temp_35^0-temp_35^post16 == 0 /\ temp0_16^0-temp0_16^post16 == 0 /\ -a_225^post16+a_225^0 == 0 /\ i_110^0-i_110^post16 == 0 /\ -x_26^post16+x_26^0 == 0 /\ a_149^post16-a_342^0 <= 0 /\ -r_126^post16+r_126^0 == 0 /\ a_342^0-a_342^post16 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post16 == 0 /\ a_343^0-a_343^post16 == 0 /\ -x_19^post16+x_19^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_188^0-a_188^post16 == 0 /\ -head_SLAM_f_29^post16+head_SLAM_f_29^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post16 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_343^0+a_281^post16 <= 0 /\ -y_18^post16+y_18^0 == 0 /\ -a_149^post16+a_342^0 <= 0 /\ x_176^0-x_176^post16 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -head_32^post16+head_32^0 == 0 /\ -tmp_34^post16+tmp_34^0 == 0 /\ len_134^0-len_134^post16 == 0 /\ a_343^0-a_281^post16 <= 0 /\ -f_171^post16+f_171^0 == 0), cost: 1
New rule:
l13 -> l7 : a_281^0'=a_343^0, a_149^0'=a_342^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l7 -> l6 : a_118^0'=a_118^post17, x_176^0'=x_176^post17, i_30^0'=i_30^post17, result_11^0'=result_11^post17, a_289^0'=a_289^post17, y_18^0'=y_18^post17, len_187^0'=len_187^post17, temp0_16^0'=temp0_16^post17, temp_35^0'=temp_35^post17, head_32^0'=head_32^post17, r_39^0'=r_39^post17, a_188^0'=a_188^post17, x_26^0'=x_26^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, a_343^0'=a_343^post17, nondet_12^0'=nondet_12^post17, x_131^0'=x_131^post17, i_110^0'=i_110^post17, rcd_89^0'=rcd_89^post17, a_281^0'=a_281^post17, x_SLAM_f_24^0'=x_SLAM_f_24^post17, len_134^0'=len_134^post17, tail_14^0'=tail_14^post17, head_15^0'=head_15^post17, r_165^0'=r_165^post17, a_149^0'=a_149^post17, x_19^0'=x_19^post17, i_95^0'=i_95^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17, a_342^0'=a_342^post17, y_25^0'=y_25^post17, length_28^0'=length_28^post17, temp0_31^0'=temp0_31^post17, tmp_34^0'=tmp_34^post17, head_SLAM_f_29^0'=head_SLAM_f_29^post17, rcd_59^0'=rcd_59^post17, a_225^0'=a_225^post17, x_SLAM_f_17^0'=x_SLAM_f_17^post17, t_22^0'=t_22^post17, f_171^0'=f_171^post17, r_126^0'=r_126^post17, (head_32^0-head_32^post17 == 0 /\ rcd_59^0-rcd_59^post17 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post17 == 0 /\ len_187^0-len_187^post17 == 0 /\ i_95^0-i_95^post17 == 0 /\ i_30^0-i_30^post17 == 0 /\ temp0_31^0-temp0_31^post17 == 0 /\ len_134^0-len_134^post17 == 0 /\ -a_149^post17+a_149^0 == 0 /\ -x_19^post17+x_19^0 == 0 /\ -a_225^post17+a_225^0 == 0 /\ -f_171^post17+f_171^0 == 0 /\ -head_15^post17+head_15^0 == 0 /\ -tail_14^post17+tail_14^0 == 0 /\ -tmp_34^post17+tmp_34^0 == 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ r_39^0-r_39^post17 == 0 /\ a_289^0-a_289^post17 == 0 /\ -a_281^post17+a_281^0 == 0 /\ -x_SLAM_f_17^post17+x_SLAM_f_17^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post17 == 0 /\ a_118^0-a_118^post17 == 0 /\ -y_25^post17+y_25^0 == 0 /\ a_188^0-a_188^post17 == 0 /\ temp0_16^0-temp0_16^post17 == 0 /\ y_18^0-y_18^post17 == 0 /\ length_28^0-length_28^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17 == 0 /\ result_11^0-result_11^post17 == 0 /\ -r_165^post17+r_165^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post17+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_22^post17+t_22^0 == 0 /\ -temp_35^post17+temp_35^0 == 0 /\ -r_126^post17+r_126^0 == 0 /\ i_110^0-i_110^post17 == 0 /\ rcd_89^0-rcd_89^post17 == 0 /\ x_26^0-x_26^post17 == 0 /\ -x_131^post17+x_131^0 == 0 /\ -a_342^post17+a_342^0 == 0 /\ -a_343^post17+a_343^0 == 0 /\ x_176^0-x_176^post17 == 0), cost: 1
New rule:
l7 -> l6 : TRUE, cost: 1

Applied preprocessing
Original rule:
l23 -> l24 : a_118^0'=a_118^post33, x_176^0'=x_176^post33, i_30^0'=i_30^post33, result_11^0'=result_11^post33, a_289^0'=a_289^post33, y_18^0'=y_18^post33, len_187^0'=len_187^post33, temp0_16^0'=temp0_16^post33, temp_35^0'=temp_35^post33, head_32^0'=head_32^post33, r_39^0'=r_39^post33, a_188^0'=a_188^post33, x_26^0'=x_26^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, a_343^0'=a_343^post33, nondet_12^0'=nondet_12^post33, x_131^0'=x_131^post33, i_110^0'=i_110^post33, rcd_89^0'=rcd_89^post33, a_281^0'=a_281^post33, x_SLAM_f_24^0'=x_SLAM_f_24^post33, len_134^0'=len_134^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, r_165^0'=r_165^post33, a_149^0'=a_149^post33, x_19^0'=x_19^post33, i_95^0'=i_95^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, a_342^0'=a_342^post33, y_25^0'=y_25^post33, length_28^0'=length_28^post33, temp0_31^0'=temp0_31^post33, tmp_34^0'=tmp_34^post33, head_SLAM_f_29^0'=head_SLAM_f_29^post33, rcd_59^0'=rcd_59^post33, a_225^0'=a_225^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, t_22^0'=t_22^post33, f_171^0'=f_171^post33, r_126^0'=r_126^post33, (0 == 0 /\ r_39^0-r_39^post33 == 0 /\ -r_126^post33+r_126^0 == 0 /\ -a_225^post33+a_225^0 == 0 /\ temp0_16^0-temp0_16^post33 == 0 /\ nondet_12^0-nondet_12^post33 == 0 /\ x_176^0-x_176^post33 == 0 /\ -len_134^post33+len_134^0 == 0 /\ -head_SLAM_f_29^post33+head_SLAM_f_29^0 == 0 /\ -a_188^post33+a_188^0 == 0 /\ a_149^0-a_149^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33 == 0 /\ result_11^0-result_11^post33 == 0 /\ -x_131^post33+x_131^0 == 0 /\ -rcd_59^post33+rcd_59^0 == 0 /\ -a_281^post33+a_281^0 == 0 /\ -x_19^post33+x_19^0 == 0 /\ a_343^0-a_343^post33 == 0 /\ tmp_34^0-tmp_34^post33 == 0 /\ -a_149^0 <= 0 /\ y_18^0-y_18^post33 == 0 /\ -f_171^post33+f_171^0 == 0 /\ -i_95^post33+i_95^0 == 0 /\ i_30^0-i_30^post33 == 0 /\ -r_165^post33+r_165^0 == 0 /\ -x_SLAM_f_24^post33+x_SLAM_f_24^0 == 0 /\ head_32^0-head_32^post33 == 0 /\ a_118^0-a_118^post33 == 0 /\ -len_134^0 <= 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ i_110^0-i_110^post33 == 0 /\ -length_28^post33+length_28^0 == 0 /\ a_342^0-a_342^post33 == 0 /\ -t_22^post33+t_22^0 == 0 /\ -y_25^post33+y_25^0 == 0 /\ rcd_89^0-rcd_89^post33 == 0 /\ x_26^0-x_26^post33 == 0 /\ len_187^0-len_187^post33 == 0 /\ -temp_35^post33+temp_35^0 == 0), cost: 1
New rule:
l23 -> l24 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (len_134^0 >= 0 /\ a_149^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l24 -> l25 : a_118^0'=a_118^post34, x_176^0'=x_176^post34, i_30^0'=i_30^post34, result_11^0'=result_11^post34, a_289^0'=a_289^post34, y_18^0'=y_18^post34, len_187^0'=len_187^post34, temp0_16^0'=temp0_16^post34, temp_35^0'=temp_35^post34, head_32^0'=head_32^post34, r_39^0'=r_39^post34, a_188^0'=a_188^post34, x_26^0'=x_26^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, a_343^0'=a_343^post34, nondet_12^0'=nondet_12^post34, x_131^0'=x_131^post34, i_110^0'=i_110^post34, rcd_89^0'=rcd_89^post34, a_281^0'=a_281^post34, x_SLAM_f_24^0'=x_SLAM_f_24^post34, len_134^0'=len_134^post34, tail_14^0'=tail_14^post34, head_15^0'=head_15^post34, r_165^0'=r_165^post34, a_149^0'=a_149^post34, x_19^0'=x_19^post34, i_95^0'=i_95^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, a_342^0'=a_342^post34, y_25^0'=y_25^post34, length_28^0'=length_28^post34, temp0_31^0'=temp0_31^post34, tmp_34^0'=tmp_34^post34, head_SLAM_f_29^0'=head_SLAM_f_29^post34, rcd_59^0'=rcd_59^post34, a_225^0'=a_225^post34, x_SLAM_f_17^0'=x_SLAM_f_17^post34, t_22^0'=t_22^post34, f_171^0'=f_171^post34, r_126^0'=r_126^post34, (head_15^0-head_15^post34 == 0 /\ x_26^0-x_26^post34 == 0 /\ -tmp_34^post34+tmp_34^0 == 0 /\ a_289^0-a_289^post34 == 0 /\ x_176^0-x_176^post34 == 0 /\ -x_SLAM_f_24^post34+x_SLAM_f_24^0 == 0 /\ a_188^0-a_188^post34 == 0 /\ -f_171^post34+f_171^0 == 0 /\ -t_22^post34+t_22^0 == 0 /\ i_30^0-i_30^post34 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ y_18^0-y_18^post34 == 0 /\ x_131^0-x_131^post34 == 0 /\ -a_342^post34+a_342^0 == 0 /\ r_165^0-r_165^post34 == 0 /\ -temp0_31^post34+temp0_31^0 == 0 /\ -length_28^post34+length_28^0 == 0 /\ -r_126^post34+r_126^0 == 0 /\ -a_281^post34+a_281^0 == 0 /\ -r_39^post34+r_39^0 == 0 /\ a_343^0-a_343^post34 == 0 /\ len_134^0-len_134^post34 == 0 /\ -a_225^post34+a_225^0 == 0 /\ temp_35^0-temp_35^post34 == 0 /\ -a_149^post34+a_149^0 == 0 /\ temp0_16^0-temp0_16^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post34 == 0 /\ -i_95^post34+i_95^0 == 0 /\ -rcd_89^post34+rcd_89^0 == 0 /\ x_19^0-x_19^post34 == 0 /\ 1+y_18^0-x_19^0 <= 0 /\ a_118^0-a_118^post34 == 0 /\ -i_110^post34+i_110^0 == 0 /\ len_187^0-len_187^post34 == 0 /\ head_32^0-head_32^post34 == 0 /\ -rcd_59^post34+rcd_59^0 == 0 /\ -x_SLAM_f_17^post34+x_SLAM_f_17^0 == 0 /\ result_11^0-result_11^post34 == 0 /\ -head_SLAM_f_29^post34+head_SLAM_f_29^0 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ tail_14^0-tail_14^post34 == 0 /\ y_25^0-y_25^post34 == 0), cost: 1
New rule:
l24 -> l25 : 1+y_18^0-x_19^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l24 -> l25 : a_118^0'=a_118^post35, x_176^0'=x_176^post35, i_30^0'=i_30^post35, result_11^0'=result_11^post35, a_289^0'=a_289^post35, y_18^0'=y_18^post35, len_187^0'=len_187^post35, temp0_16^0'=temp0_16^post35, temp_35^0'=temp_35^post35, head_32^0'=head_32^post35, r_39^0'=r_39^post35, a_188^0'=a_188^post35, x_26^0'=x_26^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, a_343^0'=a_343^post35, nondet_12^0'=nondet_12^post35, x_131^0'=x_131^post35, i_110^0'=i_110^post35, rcd_89^0'=rcd_89^post35, a_281^0'=a_281^post35, x_SLAM_f_24^0'=x_SLAM_f_24^post35, len_134^0'=len_134^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, r_165^0'=r_165^post35, a_149^0'=a_149^post35, x_19^0'=x_19^post35, i_95^0'=i_95^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, a_342^0'=a_342^post35, y_25^0'=y_25^post35, length_28^0'=length_28^post35, temp0_31^0'=temp0_31^post35, tmp_34^0'=tmp_34^post35, head_SLAM_f_29^0'=head_SLAM_f_29^post35, rcd_59^0'=rcd_59^post35, a_225^0'=a_225^post35, x_SLAM_f_17^0'=x_SLAM_f_17^post35, t_22^0'=t_22^post35, f_171^0'=f_171^post35, r_126^0'=r_126^post35, (a_118^0-a_118^post35 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -temp0_31^post35+temp0_31^0 == 0 /\ x_26^0-x_26^post35 == 0 /\ -a_343^post35+a_343^0 == 0 /\ a_188^0-a_188^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ -a_225^post35+a_225^0 == 0 /\ head_32^0-head_32^post35 == 0 /\ -head_SLAM_f_29^post35+head_SLAM_f_29^0 == 0 /\ -rcd_89^post35+rcd_89^0 == 0 /\ a_149^0-a_149^post35 == 0 /\ x_176^0-x_176^post35 == 0 /\ i_110^0-i_110^post35 == 0 /\ -length_28^post35+length_28^0 == 0 /\ 1-y_18^0+x_19^0 <= 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post35 == 0 /\ -len_134^post35+len_134^0 == 0 /\ -x_SLAM_f_17^post35+x_SLAM_f_17^0 == 0 /\ -t_22^post35+t_22^0 == 0 /\ -tail_14^post35+tail_14^0 == 0 /\ i_30^0-i_30^post35 == 0 /\ i_95^0-i_95^post35 == 0 /\ y_18^0-y_18^post35 == 0 /\ -rcd_59^post35+rcd_59^0 == 0 /\ -len_187^post35+len_187^0 == 0 /\ y_25^0-y_25^post35 == 0 /\ -tmp_34^post35+tmp_34^0 == 0 /\ -x_131^post35+x_131^0 == 0 /\ -result_11^post35+result_11^0 == 0 /\ head_15^0-head_15^post35 == 0 /\ -f_171^post35+f_171^0 == 0 /\ r_39^0-r_39^post35 == 0 /\ -a_281^post35+a_281^0 == 0 /\ -x_19^post35+x_19^0 == 0 /\ temp_35^0-temp_35^post35 == 0 /\ -r_126^post35+r_126^0 == 0 /\ temp0_16^0-temp0_16^post35 == 0 /\ a_289^0-a_289^post35 == 0 /\ -a_342^post35+a_342^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ -r_165^post35+r_165^0 == 0), cost: 1
New rule:
l24 -> l25 : 1-y_18^0+x_19^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l25 -> l26 : a_118^0'=a_118^post36, x_176^0'=x_176^post36, i_30^0'=i_30^post36, result_11^0'=result_11^post36, a_289^0'=a_289^post36, y_18^0'=y_18^post36, len_187^0'=len_187^post36, temp0_16^0'=temp0_16^post36, temp_35^0'=temp_35^post36, head_32^0'=head_32^post36, r_39^0'=r_39^post36, a_188^0'=a_188^post36, x_26^0'=x_26^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, a_343^0'=a_343^post36, nondet_12^0'=nondet_12^post36, x_131^0'=x_131^post36, i_110^0'=i_110^post36, rcd_89^0'=rcd_89^post36, a_281^0'=a_281^post36, x_SLAM_f_24^0'=x_SLAM_f_24^post36, len_134^0'=len_134^post36, tail_14^0'=tail_14^post36, head_15^0'=head_15^post36, r_165^0'=r_165^post36, a_149^0'=a_149^post36, x_19^0'=x_19^post36, i_95^0'=i_95^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, a_342^0'=a_342^post36, y_25^0'=y_25^post36, length_28^0'=length_28^post36, temp0_31^0'=temp0_31^post36, tmp_34^0'=tmp_34^post36, head_SLAM_f_29^0'=head_SLAM_f_29^post36, rcd_59^0'=rcd_59^post36, a_225^0'=a_225^post36, x_SLAM_f_17^0'=x_SLAM_f_17^post36, t_22^0'=t_22^post36, f_171^0'=f_171^post36, r_126^0'=r_126^post36, (0 == 0 /\ -head_SLAM_f_29^post36+head_SLAM_f_29^0 == 0 /\ -x_131^post36+x_131^0 == 0 /\ -len_134^post36+len_134^0 == 0 /\ -f_171^post36+f_171^0 == 0 /\ -tail_14^post36+tail_14^0 == 0 /\ -head_15^post36+head_15^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ temp0_16^0-temp0_16^post36 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ a_289^0 <= 0 /\ -r_126^post36+r_126^0 == 0 /\ -x_19^post36+x_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36 == 0 /\ a_281^0-a_149^0-a_225^post36 <= 0 /\ a_118^0-a_118^post36 == 0 /\ result_11^0-result_11^post36 == 0 /\ -head_15^0+t_22^post36 <= 0 /\ -x_SLAM_f_17^post36+x_SLAM_f_17^0 == 0 /\ -rcd_59^post36+rcd_59^0 == 0 /\ -a_281^post36+a_281^0 == 0 /\ i_110^0-i_110^post36 == 0 /\ a_289^0-a_289^post36 == 0 /\ a_149^0-a_149^post36 == 0 /\ a_343^0-a_343^post36 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ tmp_34^0-tmp_34^post36 == 0 /\ a_188^0-a_188^post36 == 0 /\ -a_289^0 <= 0 /\ -i_95^post36+i_95^0 == 0 /\ -a_281^0+a_149^0+a_225^post36 <= 0 /\ i_30^0-i_30^post36 == 0 /\ y_18^0-y_18^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post36 == 0 /\ r_39^0-r_39^post36 == 0 /\ head_15^0-t_22^post36 <= 0 /\ x_176^0-x_176^post36 == 0 /\ head_32^0-head_32^post36 == 0 /\ -r_165^post36+r_165^0 == 0 /\ y_18^0-tail_14^0 <= 0 /\ -y_25^post36+y_25^0 == 0 /\ -x_SLAM_f_24^post36+x_SLAM_f_24^0 == 0 /\ -temp0_31^post36+temp0_31^0 == 0 /\ -a_342^post36+a_342^0 == 0 /\ rcd_89^0-rcd_89^post36 == 0 /\ -y_18^0+tail_14^0 <= 0 /\ -x_19^0+t_22^post36 == 0 /\ x_26^0-x_26^post36 == 0 /\ -temp_35^post36+temp_35^0 == 0 /\ -length_28^post36+length_28^0 == 0 /\ len_187^0-len_187^post36 == 0), cost: 1
New rule:
l25 -> l26 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0), cost: 1

Applied preprocessing
Original rule:
l26 -> l27 : a_118^0'=a_118^post37, x_176^0'=x_176^post37, i_30^0'=i_30^post37, result_11^0'=result_11^post37, a_289^0'=a_289^post37, y_18^0'=y_18^post37, len_187^0'=len_187^post37, temp0_16^0'=temp0_16^post37, temp_35^0'=temp_35^post37, head_32^0'=head_32^post37, r_39^0'=r_39^post37, a_188^0'=a_188^post37, x_26^0'=x_26^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, a_343^0'=a_343^post37, nondet_12^0'=nondet_12^post37, x_131^0'=x_131^post37, i_110^0'=i_110^post37, rcd_89^0'=rcd_89^post37, a_281^0'=a_281^post37, x_SLAM_f_24^0'=x_SLAM_f_24^post37, len_134^0'=len_134^post37, tail_14^0'=tail_14^post37, head_15^0'=head_15^post37, r_165^0'=r_165^post37, a_149^0'=a_149^post37, x_19^0'=x_19^post37, i_95^0'=i_95^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, a_342^0'=a_342^post37, y_25^0'=y_25^post37, length_28^0'=length_28^post37, temp0_31^0'=temp0_31^post37, tmp_34^0'=tmp_34^post37, head_SLAM_f_29^0'=head_SLAM_f_29^post37, rcd_59^0'=rcd_59^post37, a_225^0'=a_225^post37, x_SLAM_f_17^0'=x_SLAM_f_17^post37, t_22^0'=t_22^post37, f_171^0'=f_171^post37, r_126^0'=r_126^post37, (-rcd_59^post37+rcd_59^0 == 0 /\ a_289^0-a_289^post37 == 0 /\ x_19^0-x_19^post37 == 0 /\ -x_SLAM_f_24^post37+x_SLAM_f_24^0 == 0 /\ -x_26^post37+x_26^0 == 0 /\ x_176^0-x_176^post37 == 0 /\ -t_22^post37+t_22^0 == 0 /\ i_30^0-i_30^post37 == 0 /\ -f_171^post37+f_171^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ y_18^0-y_18^post37 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post37 == 0 /\ result_11^0-result_11^post37 == 0 /\ -length_28^post37+length_28^0 == 0 /\ x_131^0-x_131^post37 == 0 /\ a_343^0-a_343^post37 == 0 /\ -r_126^post37+r_126^0 == 0 /\ -a_342^post37+a_342^0 == 0 /\ a_188^0-a_188^post37 == 0 /\ -temp0_31^post37+temp0_31^0 == 0 /\ len_134^0-len_134^post37 == 0 /\ -r_39^post37+r_39^0 == 0 /\ temp_35^0-temp_35^post37 == 0 /\ -head_15^post37+head_15^0 == 0 /\ -a_281^post37+a_281^0 == 0 /\ -a_225^post37+a_225^0 == 0 /\ -a_149^post37+a_149^0 == 0 /\ -rcd_89^post37+rcd_89^0 == 0 /\ -i_95^post37+i_95^0 == 0 /\ temp0_16^0-temp0_16^post37 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post37 == 0 /\ -tmp_34^post37+tmp_34^0 == 0 /\ -i_110^post37+i_110^0 == 0 /\ len_187^0-len_187^post37 == 0 /\ -head_SLAM_f_29^post37+head_SLAM_f_29^0 == 0 /\ r_165^0-r_165^post37 == 0 /\ a_118^0-a_118^post37 == 0 /\ head_32^0-head_32^post37 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ y_25^0-y_25^post37 == 0 /\ tail_14^0-tail_14^post37 == 0 /\ 1+tail_14^0-head_15^0 <= 0), cost: 1
New rule:
l26 -> l27 : 1+tail_14^0-head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l26 -> l27 : a_118^0'=a_118^post38, x_176^0'=x_176^post38, i_30^0'=i_30^post38, result_11^0'=result_11^post38, a_289^0'=a_289^post38, y_18^0'=y_18^post38, len_187^0'=len_187^post38, temp0_16^0'=temp0_16^post38, temp_35^0'=temp_35^post38, head_32^0'=head_32^post38, r_39^0'=r_39^post38, a_188^0'=a_188^post38, x_26^0'=x_26^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, a_343^0'=a_343^post38, nondet_12^0'=nondet_12^post38, x_131^0'=x_131^post38, i_110^0'=i_110^post38, rcd_89^0'=rcd_89^post38, a_281^0'=a_281^post38, x_SLAM_f_24^0'=x_SLAM_f_24^post38, len_134^0'=len_134^post38, tail_14^0'=tail_14^post38, head_15^0'=head_15^post38, r_165^0'=r_165^post38, a_149^0'=a_149^post38, x_19^0'=x_19^post38, i_95^0'=i_95^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, a_342^0'=a_342^post38, y_25^0'=y_25^post38, length_28^0'=length_28^post38, temp0_31^0'=temp0_31^post38, tmp_34^0'=tmp_34^post38, head_SLAM_f_29^0'=head_SLAM_f_29^post38, rcd_59^0'=rcd_59^post38, a_225^0'=a_225^post38, x_SLAM_f_17^0'=x_SLAM_f_17^post38, t_22^0'=t_22^post38, f_171^0'=f_171^post38, r_126^0'=r_126^post38, (-r_165^post38+r_165^0 == 0 /\ a_118^0-a_118^post38 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post38 == 0 /\ y_18^0-y_18^post38 == 0 /\ x_26^0-x_26^post38 == 0 /\ -temp0_31^post38+temp0_31^0 == 0 /\ head_32^0-head_32^post38 == 0 /\ a_188^0-a_188^post38 == 0 /\ -head_SLAM_f_29^post38+head_SLAM_f_29^0 == 0 /\ -a_225^post38+a_225^0 == 0 /\ -a_343^post38+a_343^0 == 0 /\ -rcd_89^post38+rcd_89^0 == 0 /\ x_176^0-x_176^post38 == 0 /\ a_149^0-a_149^post38 == 0 /\ i_110^0-i_110^post38 == 0 /\ -x_SLAM_f_17^post38+x_SLAM_f_17^0 == 0 /\ -len_134^post38+len_134^0 == 0 /\ -a_342^post38+a_342^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post38 == 0 /\ -t_22^post38+t_22^0 == 0 /\ x_131^0-x_131^post38 == 0 /\ -nondet_12^post38+nondet_12^0 == 0 /\ i_30^0-i_30^post38 == 0 /\ i_95^0-i_95^post38 == 0 /\ -result_11^post38+result_11^0 == 0 /\ -tail_14^post38+tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ -length_28^post38+length_28^0 == 0 /\ -len_187^post38+len_187^0 == 0 /\ -tmp_34^post38+tmp_34^0 == 0 /\ head_15^0-head_15^post38 == 0 /\ -rcd_59^post38+rcd_59^0 == 0 /\ y_25^0-y_25^post38 == 0 /\ -a_281^post38+a_281^0 == 0 /\ -x_19^post38+x_19^0 == 0 /\ r_39^0-r_39^post38 == 0 /\ -r_126^post38+r_126^0 == 0 /\ -f_171^post38+f_171^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38 == 0 /\ temp0_16^0-temp0_16^post38 == 0 /\ a_289^0-a_289^post38 == 0 /\ temp_35^0-temp_35^post38 == 0), cost: 1
New rule:
l26 -> l27 : 1-tail_14^0+head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l27 -> l28 : a_118^0'=a_118^post39, x_176^0'=x_176^post39, i_30^0'=i_30^post39, result_11^0'=result_11^post39, a_289^0'=a_289^post39, y_18^0'=y_18^post39, len_187^0'=len_187^post39, temp0_16^0'=temp0_16^post39, temp_35^0'=temp_35^post39, head_32^0'=head_32^post39, r_39^0'=r_39^post39, a_188^0'=a_188^post39, x_26^0'=x_26^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, a_343^0'=a_343^post39, nondet_12^0'=nondet_12^post39, x_131^0'=x_131^post39, i_110^0'=i_110^post39, rcd_89^0'=rcd_89^post39, a_281^0'=a_281^post39, x_SLAM_f_24^0'=x_SLAM_f_24^post39, len_134^0'=len_134^post39, tail_14^0'=tail_14^post39, head_15^0'=head_15^post39, r_165^0'=r_165^post39, a_149^0'=a_149^post39, x_19^0'=x_19^post39, i_95^0'=i_95^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, a_342^0'=a_342^post39, y_25^0'=y_25^post39, length_28^0'=length_28^post39, temp0_31^0'=temp0_31^post39, tmp_34^0'=tmp_34^post39, head_SLAM_f_29^0'=head_SLAM_f_29^post39, rcd_59^0'=rcd_59^post39, a_225^0'=a_225^post39, x_SLAM_f_17^0'=x_SLAM_f_17^post39, t_22^0'=t_22^post39, f_171^0'=f_171^post39, r_126^0'=r_126^post39, (-tail_14^post39+tail_14^0 == 0 /\ -a_225^post39+a_225^0 == 0 /\ a_118^0-a_118^post39 == 0 /\ -head_SLAM_f_29^post39+head_SLAM_f_29^0 == 0 /\ -x_131^post39+x_131^0 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ temp0_16^0-temp0_16^post39 == 0 /\ result_11^0-result_11^post39 == 0 /\ -f_171^post39+f_171^0 == 0 /\ -x_19^post39+x_19^0 == 0 /\ -head_15^post39+head_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 == 0 /\ -len_134^post39+len_134^0 == 0 /\ tmp_34^0-tmp_34^post39 == 0 /\ i_110^0-i_110^post39 == 0 /\ -x_SLAM_f_17^post39+x_SLAM_f_17^0 == 0 /\ a_343^0-a_343^post39 == 0 /\ a_149^0-a_149^post39 == 0 /\ -rcd_59^post39+rcd_59^0 == 0 /\ len_187^0-len_187^post39 == 0 /\ -i_95^post39+i_95^0 == 0 /\ i_30^0-i_30^post39 == 0 /\ -a_281^post39+a_281^0 == 0 /\ y_18^0-y_18^post39 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post39 == 0 /\ x_176^0-x_176^post39 == 0 /\ head_32^0-head_32^post39 == 0 /\ -y_25^post39+y_25^0 == 0 /\ t_22^0-t_22^post39 == 0 /\ -r_165^post39+r_165^0 == 0 /\ a_188^0-a_188^post39 == 0 /\ -x_SLAM_f_24^post39+x_SLAM_f_24^0 == 0 /\ -temp0_31^post39+temp0_31^0 == 0 /\ x_26^0-x_26^post39 == 0 /\ rcd_89^0-rcd_89^post39 == 0 /\ temp_35^0-temp_35^post39 == 0 /\ -a_342^post39+a_342^0 == 0 /\ a_289^0-a_289^post39 == 0 /\ -r_126^post39+r_126^0 == 0 /\ r_39^0-r_39^post39 == 0 /\ -length_28^post39+length_28^0 == 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 1
New rule:
l27 -> l28 : 1-y_18^0+head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l27 -> l28 : a_118^0'=a_118^post40, x_176^0'=x_176^post40, i_30^0'=i_30^post40, result_11^0'=result_11^post40, a_289^0'=a_289^post40, y_18^0'=y_18^post40, len_187^0'=len_187^post40, temp0_16^0'=temp0_16^post40, temp_35^0'=temp_35^post40, head_32^0'=head_32^post40, r_39^0'=r_39^post40, a_188^0'=a_188^post40, x_26^0'=x_26^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, a_343^0'=a_343^post40, nondet_12^0'=nondet_12^post40, x_131^0'=x_131^post40, i_110^0'=i_110^post40, rcd_89^0'=rcd_89^post40, a_281^0'=a_281^post40, x_SLAM_f_24^0'=x_SLAM_f_24^post40, len_134^0'=len_134^post40, tail_14^0'=tail_14^post40, head_15^0'=head_15^post40, r_165^0'=r_165^post40, a_149^0'=a_149^post40, x_19^0'=x_19^post40, i_95^0'=i_95^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, a_342^0'=a_342^post40, y_25^0'=y_25^post40, length_28^0'=length_28^post40, temp0_31^0'=temp0_31^post40, tmp_34^0'=tmp_34^post40, head_SLAM_f_29^0'=head_SLAM_f_29^post40, rcd_59^0'=rcd_59^post40, a_225^0'=a_225^post40, x_SLAM_f_17^0'=x_SLAM_f_17^post40, t_22^0'=t_22^post40, f_171^0'=f_171^post40, r_126^0'=r_126^post40, (-y_25^post40+y_25^0 == 0 /\ -rcd_59^post40+rcd_59^0 == 0 /\ -x_26^post40+x_26^0 == 0 /\ x_176^0-x_176^post40 == 0 /\ x_19^0-x_19^post40 == 0 /\ -t_22^post40+t_22^0 == 0 /\ a_289^0-a_289^post40 == 0 /\ temp0_16^0-temp0_16^post40 == 0 /\ -r_126^post40+r_126^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -temp0_31^post40+temp0_31^0 == 0 /\ -f_171^post40+f_171^0 == 0 /\ y_18^0-y_18^post40 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post40 == 0 /\ -length_28^post40+length_28^0 == 0 /\ result_11^0-result_11^post40 == 0 /\ x_131^0-x_131^post40 == 0 /\ i_30^0-i_30^post40 == 0 /\ a_343^0-a_343^post40 == 0 /\ a_188^0-a_188^post40 == 0 /\ len_134^0-len_134^post40 == 0 /\ tail_14^0-tail_14^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ temp_35^0-temp_35^post40 == 0 /\ -a_225^post40+a_225^0 == 0 /\ i_110^0-i_110^post40 == 0 /\ 1+y_18^0-head_15^0 <= 0 /\ -head_15^post40+head_15^0 == 0 /\ r_165^0-r_165^post40 == 0 /\ len_187^0-len_187^post40 == 0 /\ -a_149^post40+a_149^0 == 0 /\ a_118^0-a_118^post40 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post40 == 0 /\ -i_95^post40+i_95^0 == 0 /\ -x_SLAM_f_24^post40+x_SLAM_f_24^0 == 0 /\ -head_SLAM_f_29^post40+head_SLAM_f_29^0 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ -rcd_89^post40+rcd_89^0 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ a_342^0-a_342^post40 == 0 /\ head_32^0-head_32^post40 == 0 /\ a_281^0-a_281^post40 == 0), cost: 1
New rule:
l27 -> l28 : 1+y_18^0-head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l28 -> l29 : a_118^0'=a_118^post41, x_176^0'=x_176^post41, i_30^0'=i_30^post41, result_11^0'=result_11^post41, a_289^0'=a_289^post41, y_18^0'=y_18^post41, len_187^0'=len_187^post41, temp0_16^0'=temp0_16^post41, temp_35^0'=temp_35^post41, head_32^0'=head_32^post41, r_39^0'=r_39^post41, a_188^0'=a_188^post41, x_26^0'=x_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, a_343^0'=a_343^post41, nondet_12^0'=nondet_12^post41, x_131^0'=x_131^post41, i_110^0'=i_110^post41, rcd_89^0'=rcd_89^post41, a_281^0'=a_281^post41, x_SLAM_f_24^0'=x_SLAM_f_24^post41, len_134^0'=len_134^post41, tail_14^0'=tail_14^post41, head_15^0'=head_15^post41, r_165^0'=r_165^post41, a_149^0'=a_149^post41, x_19^0'=x_19^post41, i_95^0'=i_95^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, a_342^0'=a_342^post41, y_25^0'=y_25^post41, length_28^0'=length_28^post41, temp0_31^0'=temp0_31^post41, tmp_34^0'=tmp_34^post41, head_SLAM_f_29^0'=head_SLAM_f_29^post41, rcd_59^0'=rcd_59^post41, a_225^0'=a_225^post41, x_SLAM_f_17^0'=x_SLAM_f_17^post41, t_22^0'=t_22^post41, f_171^0'=f_171^post41, r_126^0'=r_126^post41, (temp0_31^0-temp0_31^post41 == 0 /\ i_110^0-i_110^post41 == 0 /\ -r_165^post41+r_165^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 == 0 /\ x_26^0-x_26^post41 == 0 /\ y_18^0-y_18^post41 == 0 /\ a_188^0-a_188^post41 == 0 /\ -a_343^post41+a_343^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post41 == 0 /\ 1+y_18^0-t_22^0 <= 0 /\ -a_225^post41+a_225^0 == 0 /\ -head_SLAM_f_29^post41+head_SLAM_f_29^0 == 0 /\ len_134^0-len_134^post41 == 0 /\ x_176^0-x_176^post41 == 0 /\ -rcd_89^post41+rcd_89^0 == 0 /\ -t_22^post41+t_22^0 == 0 /\ -x_SLAM_f_17^post41+x_SLAM_f_17^0 == 0 /\ -result_11^post41+result_11^0 == 0 /\ x_131^0-x_131^post41 == 0 /\ -a_342^post41+a_342^0 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ -a_149^post41+a_149^0 == 0 /\ -r_126^post41+r_126^0 == 0 /\ i_95^0-i_95^post41 == 0 /\ i_30^0-i_30^post41 == 0 /\ -len_187^post41+len_187^0 == 0 /\ -tail_14^post41+tail_14^0 == 0 /\ -x_19^post41+x_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_59^post41+rcd_59^0 == 0 /\ length_28^0-length_28^post41 == 0 /\ r_39^0-r_39^post41 == 0 /\ y_25^0-y_25^post41 == 0 /\ head_32^0-head_32^post41 == 0 /\ head_15^0-head_15^post41 == 0 /\ -a_281^post41+a_281^0 == 0 /\ -tmp_34^post41+tmp_34^0 == 0 /\ -f_171^post41+f_171^0 == 0 /\ a_118^0-a_118^post41 == 0 /\ a_289^0-a_289^post41 == 0 /\ temp_35^0-temp_35^post41 == 0 /\ temp0_16^0-temp0_16^post41 == 0), cost: 1
New rule:
l28 -> l29 : 1+y_18^0-t_22^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l28 -> l29 : a_118^0'=a_118^post42, x_176^0'=x_176^post42, i_30^0'=i_30^post42, result_11^0'=result_11^post42, a_289^0'=a_289^post42, y_18^0'=y_18^post42, len_187^0'=len_187^post42, temp0_16^0'=temp0_16^post42, temp_35^0'=temp_35^post42, head_32^0'=head_32^post42, r_39^0'=r_39^post42, a_188^0'=a_188^post42, x_26^0'=x_26^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, a_343^0'=a_343^post42, nondet_12^0'=nondet_12^post42, x_131^0'=x_131^post42, i_110^0'=i_110^post42, rcd_89^0'=rcd_89^post42, a_281^0'=a_281^post42, x_SLAM_f_24^0'=x_SLAM_f_24^post42, len_134^0'=len_134^post42, tail_14^0'=tail_14^post42, head_15^0'=head_15^post42, r_165^0'=r_165^post42, a_149^0'=a_149^post42, x_19^0'=x_19^post42, i_95^0'=i_95^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, a_342^0'=a_342^post42, y_25^0'=y_25^post42, length_28^0'=length_28^post42, temp0_31^0'=temp0_31^post42, tmp_34^0'=tmp_34^post42, head_SLAM_f_29^0'=head_SLAM_f_29^post42, rcd_59^0'=rcd_59^post42, a_225^0'=a_225^post42, x_SLAM_f_17^0'=x_SLAM_f_17^post42, t_22^0'=t_22^post42, f_171^0'=f_171^post42, r_126^0'=r_126^post42, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ 1-y_18^0+t_22^0 <= 0 /\ a_118^0-a_118^post42 == 0 /\ temp0_16^0-temp0_16^post42 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ -x_131^post42+x_131^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ -head_15^post42+head_15^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ -len_134^post42+len_134^0 == 0 /\ -x_19^post42+x_19^0 == 0 /\ tail_14^0-tail_14^post42 == 0 /\ -a_225^post42+a_225^0 == 0 /\ -f_171^post42+f_171^0 == 0 /\ i_110^0-i_110^post42 == 0 /\ tmp_34^0-tmp_34^post42 == 0 /\ a_343^0-a_343^post42 == 0 /\ -rcd_59^post42+rcd_59^0 == 0 /\ rcd_89^0-rcd_89^post42 == 0 /\ a_149^0-a_149^post42 == 0 /\ -i_95^post42+i_95^0 == 0 /\ x_26^0-x_26^post42 == 0 /\ len_187^0-len_187^post42 == 0 /\ -head_SLAM_f_29^post42+head_SLAM_f_29^0 == 0 /\ -a_281^post42+a_281^0 == 0 /\ -x_SLAM_f_17^post42+x_SLAM_f_17^0 == 0 /\ x_176^0-x_176^post42 == 0 /\ y_18^0-y_18^post42 == 0 /\ head_32^0-head_32^post42 == 0 /\ -y_25^post42+y_25^0 == 0 /\ -temp0_31^post42+temp0_31^0 == 0 /\ t_22^0-t_22^post42 == 0 /\ i_30^0-i_30^post42 == 0 /\ -r_165^post42+r_165^0 == 0 /\ -x_SLAM_f_24^post42+x_SLAM_f_24^0 == 0 /\ -r_126^post42+r_126^0 == 0 /\ temp_35^0-temp_35^post42 == 0 /\ -a_342^post42+a_342^0 == 0 /\ r_39^0-r_39^post42 == 0 /\ -length_28^post42+length_28^0 == 0 /\ a_289^0-a_289^post42 == 0 /\ -a_188^post42+a_188^0 == 0), cost: 1
New rule:
l28 -> l29 : 1-y_18^0+t_22^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l29 -> l6 : a_118^0'=a_118^post43, x_176^0'=x_176^post43, i_30^0'=i_30^post43, result_11^0'=result_11^post43, a_289^0'=a_289^post43, y_18^0'=y_18^post43, len_187^0'=len_187^post43, temp0_16^0'=temp0_16^post43, temp_35^0'=temp_35^post43, head_32^0'=head_32^post43, r_39^0'=r_39^post43, a_188^0'=a_188^post43, x_26^0'=x_26^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, a_343^0'=a_343^post43, nondet_12^0'=nondet_12^post43, x_131^0'=x_131^post43, i_110^0'=i_110^post43, rcd_89^0'=rcd_89^post43, a_281^0'=a_281^post43, x_SLAM_f_24^0'=x_SLAM_f_24^post43, len_134^0'=len_134^post43, tail_14^0'=tail_14^post43, head_15^0'=head_15^post43, r_165^0'=r_165^post43, a_149^0'=a_149^post43, x_19^0'=x_19^post43, i_95^0'=i_95^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, a_342^0'=a_342^post43, y_25^0'=y_25^post43, length_28^0'=length_28^post43, temp0_31^0'=temp0_31^post43, tmp_34^0'=tmp_34^post43, head_SLAM_f_29^0'=head_SLAM_f_29^post43, rcd_59^0'=rcd_59^post43, a_225^0'=a_225^post43, x_SLAM_f_17^0'=x_SLAM_f_17^post43, t_22^0'=t_22^post43, f_171^0'=f_171^post43, r_126^0'=r_126^post43, (0 == 0 /\ -length_28^post43+length_28^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ -tmp_34^post43+tmp_34^0 == 0 /\ x_19^0-x_19^post43 == 0 /\ -rcd_59^post43+rcd_59^0 == 0 /\ -t_22^post43+t_22^0 == 0 /\ -y_25^post43+y_25^0 == 0 /\ -x_26^post43+x_26^0 == 0 /\ 1-len_134^post43+a_225^0 <= 0 /\ temp0_16^0-temp0_16^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ x_131^0-x_131^post43 == 0 /\ -temp0_31^post43+temp0_31^0 == 0 /\ a_118^0-a_118^post43 == 0 /\ i_30^0-i_30^post43 == 0 /\ y_18^0-y_18^post43 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post43 == 0 /\ -f_171^post43+f_171^0 == 0 /\ a_343^0-a_343^post43 == 0 /\ result_11^0-result_11^post43 == 0 /\ a_188^0-a_188^post43 == 0 /\ -r_126^post43+r_126^0 == 0 /\ tail_14^0-tail_14^post43 == 0 /\ -a_225^post43+a_225^0 == 0 /\ -r_39^post43+r_39^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_110^0-i_110^post43 == 0 /\ x_176^0-x_176^post43 == 0 /\ temp_35^0-temp_35^post43 == 0 /\ -1+len_134^post43-a_225^0 <= 0 /\ r_165^0-r_165^post43 == 0 /\ len_187^0-len_187^post43 == 0 /\ -i_95^post43+i_95^0 == 0 /\ -a_289^post43+a_289^0 == 0 /\ -head_15^post43+head_15^0 == 0 /\ -rcd_89^post43+rcd_89^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_24^post43+x_SLAM_f_24^0 == 0 /\ a_342^0-a_342^post43 == 0 /\ head_32^0-head_32^post43 == 0 /\ -head_SLAM_f_29^post43+head_SLAM_f_29^0 == 0 /\ -a_149^post43+a_149^0 == 0 /\ a_281^0-a_281^post43 == 0), cost: 1
New rule:
l29 -> l6 : len_134^0'=1+a_225^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l30 -> l3 : a_118^0'=a_118^post44, x_176^0'=x_176^post44, i_30^0'=i_30^post44, result_11^0'=result_11^post44, a_289^0'=a_289^post44, y_18^0'=y_18^post44, len_187^0'=len_187^post44, temp0_16^0'=temp0_16^post44, temp_35^0'=temp_35^post44, head_32^0'=head_32^post44, r_39^0'=r_39^post44, a_188^0'=a_188^post44, x_26^0'=x_26^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, a_343^0'=a_343^post44, nondet_12^0'=nondet_12^post44, x_131^0'=x_131^post44, i_110^0'=i_110^post44, rcd_89^0'=rcd_89^post44, a_281^0'=a_281^post44, x_SLAM_f_24^0'=x_SLAM_f_24^post44, len_134^0'=len_134^post44, tail_14^0'=tail_14^post44, head_15^0'=head_15^post44, r_165^0'=r_165^post44, a_149^0'=a_149^post44, x_19^0'=x_19^post44, i_95^0'=i_95^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, a_342^0'=a_342^post44, y_25^0'=y_25^post44, length_28^0'=length_28^post44, temp0_31^0'=temp0_31^post44, tmp_34^0'=tmp_34^post44, head_SLAM_f_29^0'=head_SLAM_f_29^post44, rcd_59^0'=rcd_59^post44, a_225^0'=a_225^post44, x_SLAM_f_17^0'=x_SLAM_f_17^post44, t_22^0'=t_22^post44, f_171^0'=f_171^post44, r_126^0'=r_126^post44, (0 == 0 /\ y_18^0-y_18^post44 == 0 /\ a_188^0-a_188^post44 == 0 /\ a_118^0-a_118^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ -x_SLAM_f_17^post44+x_SLAM_f_17^0 == 0 /\ -head_15^post44+head_15^0 == 0 /\ -i_30^post44 <= 0 /\ rcd_59^0-rcd_59^post44 == 0 /\ -a_281^post44+a_281^0 == 0 /\ -f_171^post44+f_171^0 == 0 /\ temp0_31^0-temp0_31^post44 == 0 /\ i_30^post44 <= 0 /\ i_30^post44 == 0 /\ len_134^0-len_134^post44 == 0 /\ x_26^0-x_26^post44 == 0 /\ -a_149^post44+a_149^0 == 0 /\ tmp_34^0-tmp_34^post44 == 0 /\ len_187^0-len_187^post44 == 0 /\ -tail_14^post44+tail_14^0 == 0 /\ x_176^0-x_176^post44 == 0 /\ -head_SLAM_f_29^post44+tail_14^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post44-length_28^post44 <= 0 /\ -x_SLAM_f_24^post44+x_SLAM_f_24^0 == 0 /\ -i_95^post44+i_95^0 == 0 /\ tail_14^0-head_32^post44 <= 0 /\ y_25^0-y_25^post44 == 0 /\ -rcd_89^post44+rcd_89^0 == 0 /\ head_SLAM_f_29^post44-head_32^post44 <= 0 /\ -r_165^post44+r_165^0 == 0 /\ temp0_16^0-temp0_16^post44 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 == 0 /\ head_SLAM_f_29^post44-tail_14^0 <= 0 /\ head_SLAM_f_29^post44-tail_14^0 == 0 /\ -a_342^post44+a_342^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+length_28^post44 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+length_28^post44 == 0 /\ a_289^0-a_289^post44 == 0 /\ -r_126^post44+r_126^0 == 0 /\ temp_35^0-temp_35^post44 == 0 /\ -a_225^post44+a_225^0 == 0 /\ i_110^0-i_110^post44 == 0 /\ -x_131^post44+x_131^0 == 0 /\ -tail_14^0+head_32^post44 <= 0 /\ -t_22^post44+t_22^0 == 0 /\ r_39^0-r_39^post44 == 0 /\ -head_SLAM_f_29^post44+head_32^post44 <= 0 /\ -head_SLAM_f_29^post44+head_32^post44 == 0 /\ -a_343^post44+a_343^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_19^post44+x_19^0 == 0), cost: 1
New rule:
l30 -> l3 : i_30^0'=0, head_32^0'=tail_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=tail_14^0, 0 == 0, cost: 1

Applied preprocessing
Original rule:
l31 -> l32 : a_118^0'=a_118^post45, x_176^0'=x_176^post45, i_30^0'=i_30^post45, result_11^0'=result_11^post45, a_289^0'=a_289^post45, y_18^0'=y_18^post45, len_187^0'=len_187^post45, temp0_16^0'=temp0_16^post45, temp_35^0'=temp_35^post45, head_32^0'=head_32^post45, r_39^0'=r_39^post45, a_188^0'=a_188^post45, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, a_343^0'=a_343^post45, nondet_12^0'=nondet_12^post45, x_131^0'=x_131^post45, i_110^0'=i_110^post45, rcd_89^0'=rcd_89^post45, a_281^0'=a_281^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, len_134^0'=len_134^post45, tail_14^0'=tail_14^post45, head_15^0'=head_15^post45, r_165^0'=r_165^post45, a_149^0'=a_149^post45, x_19^0'=x_19^post45, i_95^0'=i_95^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, a_342^0'=a_342^post45, y_25^0'=y_25^post45, length_28^0'=length_28^post45, temp0_31^0'=temp0_31^post45, tmp_34^0'=tmp_34^post45, head_SLAM_f_29^0'=head_SLAM_f_29^post45, rcd_59^0'=rcd_59^post45, a_225^0'=a_225^post45, x_SLAM_f_17^0'=x_SLAM_f_17^post45, t_22^0'=t_22^post45, f_171^0'=f_171^post45, r_126^0'=r_126^post45, (0 == 0 /\ x_SLAM_f_17^post45-x_19^post45 <= 0 /\ -f_171^post45+f_171^0 == 0 /\ len_134^0-len_134^post45 == 0 /\ -tail_14^post45+tail_14^0 == 0 /\ head_32^0-head_32^post45 == 0 /\ x_176^0-x_176^post45 == 0 /\ y_18^post45-tail_14^0 <= 0 /\ y_18^post45-tail_14^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ -head_SLAM_f_29^post45+head_SLAM_f_29^0 == 0 /\ -rcd_59^post45+rcd_59^0 == 0 /\ -x_19^post45+head_15^0 <= 0 /\ -x_131^post45+x_131^0 == 0 /\ -a_342^post45+a_342^0 == 0 /\ i_110^0-i_110^post45 == 0 /\ -r_126^post45+r_126^0 == 0 /\ temp0_31^0-temp0_31^post45 == 0 /\ a_289^0-a_289^post45 == 0 /\ -x_SLAM_f_17^post45+x_19^post45 <= 0 /\ -x_SLAM_f_17^post45+x_19^post45 == 0 /\ -y_18^post45+tail_14^0 <= 0 /\ -tmp_34^post45+tmp_34^0 == 0 /\ -a_149^0 <= 0 /\ a_188^0-a_188^post45 == 0 /\ x_19^post45-head_15^0 <= 0 /\ i_30^0-i_30^post45 == 0 /\ -r_165^post45+r_165^0 == 0 /\ a_225^0-a_225^post45 == 0 /\ r_39^0-r_39^post45 == 0 /\ length_28^0-length_28^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ -i_95^post45+i_95^0 == 0 /\ x_26^0-y_25^0 <= 0 /\ temp0_16^0-temp0_16^post45 == 0 /\ -a_281^post45+a_281^0 == 0 /\ -len_134^0 <= 0 /\ a_118^0-a_118^post45 == 0 /\ -a_343^post45+a_343^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45 == 0 /\ -x_SLAM_f_17^post45+head_15^0 <= 0 /\ -x_26^0+y_25^0 <= 0 /\ -t_22^post45+t_22^0 == 0 /\ -head_15^post45+head_15^0 == 0 /\ -temp_35^post45+temp_35^0 == 0 /\ rcd_89^0-rcd_89^post45 == 0 /\ -a_149^post45+a_149^0 == 0 /\ x_SLAM_f_17^post45-head_15^0 <= 0 /\ x_SLAM_f_17^post45-head_15^0 == 0 /\ len_187^0-len_187^post45 == 0), cost: 1
New rule:
l31 -> l32 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0), cost: 1

Applied preprocessing
Original rule:
l32 -> l33 : a_118^0'=a_118^post46, x_176^0'=x_176^post46, i_30^0'=i_30^post46, result_11^0'=result_11^post46, a_289^0'=a_289^post46, y_18^0'=y_18^post46, len_187^0'=len_187^post46, temp0_16^0'=temp0_16^post46, temp_35^0'=temp_35^post46, head_32^0'=head_32^post46, r_39^0'=r_39^post46, a_188^0'=a_188^post46, x_26^0'=x_26^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, a_343^0'=a_343^post46, nondet_12^0'=nondet_12^post46, x_131^0'=x_131^post46, i_110^0'=i_110^post46, rcd_89^0'=rcd_89^post46, a_281^0'=a_281^post46, x_SLAM_f_24^0'=x_SLAM_f_24^post46, len_134^0'=len_134^post46, tail_14^0'=tail_14^post46, head_15^0'=head_15^post46, r_165^0'=r_165^post46, a_149^0'=a_149^post46, x_19^0'=x_19^post46, i_95^0'=i_95^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, a_342^0'=a_342^post46, y_25^0'=y_25^post46, length_28^0'=length_28^post46, temp0_31^0'=temp0_31^post46, tmp_34^0'=tmp_34^post46, head_SLAM_f_29^0'=head_SLAM_f_29^post46, rcd_59^0'=rcd_59^post46, a_225^0'=a_225^post46, x_SLAM_f_17^0'=x_SLAM_f_17^post46, t_22^0'=t_22^post46, f_171^0'=f_171^post46, r_126^0'=r_126^post46, (-x_SLAM_f_24^post46+x_SLAM_f_24^0 == 0 /\ tmp_34^0-tmp_34^post46 == 0 /\ rcd_89^0-rcd_89^post46 == 0 /\ a_289^0-a_289^post46 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 == 0 /\ a_225^0-a_225^post46 == 0 /\ x_176^0-x_176^post46 == 0 /\ -length_28^post46+length_28^0 == 0 /\ -len_134^post46+len_134^0 == 0 /\ tail_14^0-tail_14^post46 == 0 /\ -t_22^post46+t_22^0 == 0 /\ -temp0_31^post46+temp0_31^0 == 0 /\ r_165^0-r_165^post46 == 0 /\ -y_25^post46+y_25^0 == 0 /\ a_281^0-a_281^post46 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_343^0-a_343^post46 == 0 /\ temp_35^0-temp_35^post46 == 0 /\ -head_SLAM_f_29^post46+head_SLAM_f_29^0 == 0 /\ -head_15^post46+head_15^0 == 0 /\ -a_149^post46+a_149^0 == 0 /\ r_39^0-r_39^post46 == 0 /\ -r_126^post46+r_126^0 == 0 /\ len_187^0-len_187^post46 == 0 /\ -a_342^post46+a_342^0 == 0 /\ -head_32^post46+head_32^0 == 0 /\ -x_26^post46+x_26^0 == 0 /\ y_18^0-y_18^post46 == 0 /\ a_188^0-a_188^post46 == 0 /\ x_19^0-x_19^post46 == 0 /\ -i_110^post46+i_110^0 == 0 /\ -x_SLAM_f_17^post46+x_SLAM_f_17^0 == 0 /\ i_30^0-i_30^post46 == 0 /\ f_171^0-f_171^post46 == 0 /\ temp0_16^0-temp0_16^post46 == 0 /\ a_118^0-a_118^post46 == 0 /\ result_11^0-result_11^post46 == 0 /\ 1+tail_14^0-head_15^0 <= 0 /\ -rcd_59^post46+rcd_59^0 == 0 /\ -i_95^post46+i_95^0 == 0 /\ x_131^0-x_131^post46 == 0), cost: 1
New rule:
l32 -> l33 : 1+tail_14^0-head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l32 -> l33 : a_118^0'=a_118^post47, x_176^0'=x_176^post47, i_30^0'=i_30^post47, result_11^0'=result_11^post47, a_289^0'=a_289^post47, y_18^0'=y_18^post47, len_187^0'=len_187^post47, temp0_16^0'=temp0_16^post47, temp_35^0'=temp_35^post47, head_32^0'=head_32^post47, r_39^0'=r_39^post47, a_188^0'=a_188^post47, x_26^0'=x_26^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, a_343^0'=a_343^post47, nondet_12^0'=nondet_12^post47, x_131^0'=x_131^post47, i_110^0'=i_110^post47, rcd_89^0'=rcd_89^post47, a_281^0'=a_281^post47, x_SLAM_f_24^0'=x_SLAM_f_24^post47, len_134^0'=len_134^post47, tail_14^0'=tail_14^post47, head_15^0'=head_15^post47, r_165^0'=r_165^post47, a_149^0'=a_149^post47, x_19^0'=x_19^post47, i_95^0'=i_95^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, a_342^0'=a_342^post47, y_25^0'=y_25^post47, length_28^0'=length_28^post47, temp0_31^0'=temp0_31^post47, tmp_34^0'=tmp_34^post47, head_SLAM_f_29^0'=head_SLAM_f_29^post47, rcd_59^0'=rcd_59^post47, a_225^0'=a_225^post47, x_SLAM_f_17^0'=x_SLAM_f_17^post47, t_22^0'=t_22^post47, f_171^0'=f_171^post47, r_126^0'=r_126^post47, (-r_39^post47+r_39^0 == 0 /\ i_30^0-i_30^post47 == 0 /\ r_165^0-r_165^post47 == 0 /\ len_187^0-len_187^post47 == 0 /\ a_281^0-a_281^post47 == 0 /\ x_131^0-x_131^post47 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ -i_110^post47+i_110^0 == 0 /\ -a_225^post47+a_225^0 == 0 /\ -a_149^post47+a_149^0 == 0 /\ -x_26^post47+x_26^0 == 0 /\ -head_SLAM_f_29^post47+head_SLAM_f_29^0 == 0 /\ a_289^0-a_289^post47 == 0 /\ temp_35^0-temp_35^post47 == 0 /\ -rcd_59^post47+rcd_59^0 == 0 /\ a_118^0-a_118^post47 == 0 /\ a_188^0-a_188^post47 == 0 /\ -a_342^post47+a_342^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post47 == 0 /\ -t_22^post47+t_22^0 == 0 /\ -x_SLAM_f_17^post47+x_SLAM_f_17^0 == 0 /\ head_32^0-head_32^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ i_95^0-i_95^post47 == 0 /\ -y_18^post47+y_18^0 == 0 /\ tail_14^0-tail_14^post47 == 0 /\ -length_28^post47+length_28^0 == 0 /\ -y_25^post47+y_25^0 == 0 /\ a_343^0-a_343^post47 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ -tmp_34^post47+tmp_34^0 == 0 /\ head_15^0-head_15^post47 == 0 /\ -f_171^post47+f_171^0 == 0 /\ rcd_89^0-rcd_89^post47 == 0 /\ len_134^0-len_134^post47 == 0 /\ x_19^0-x_19^post47 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_16^0-temp0_16^post47 == 0 /\ x_176^0-x_176^post47 == 0 /\ -temp0_31^post47+temp0_31^0 == 0 /\ -r_126^post47+r_126^0 == 0), cost: 1
New rule:
l32 -> l33 : 1-tail_14^0+head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l33 -> l23 : a_118^0'=a_118^post48, x_176^0'=x_176^post48, i_30^0'=i_30^post48, result_11^0'=result_11^post48, a_289^0'=a_289^post48, y_18^0'=y_18^post48, len_187^0'=len_187^post48, temp0_16^0'=temp0_16^post48, temp_35^0'=temp_35^post48, head_32^0'=head_32^post48, r_39^0'=r_39^post48, a_188^0'=a_188^post48, x_26^0'=x_26^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, a_343^0'=a_343^post48, nondet_12^0'=nondet_12^post48, x_131^0'=x_131^post48, i_110^0'=i_110^post48, rcd_89^0'=rcd_89^post48, a_281^0'=a_281^post48, x_SLAM_f_24^0'=x_SLAM_f_24^post48, len_134^0'=len_134^post48, tail_14^0'=tail_14^post48, head_15^0'=head_15^post48, r_165^0'=r_165^post48, a_149^0'=a_149^post48, x_19^0'=x_19^post48, i_95^0'=i_95^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, a_342^0'=a_342^post48, y_25^0'=y_25^post48, length_28^0'=length_28^post48, temp0_31^0'=temp0_31^post48, tmp_34^0'=tmp_34^post48, head_SLAM_f_29^0'=head_SLAM_f_29^post48, rcd_59^0'=rcd_59^post48, a_225^0'=a_225^post48, x_SLAM_f_17^0'=x_SLAM_f_17^post48, t_22^0'=t_22^post48, f_171^0'=f_171^post48, r_126^0'=r_126^post48, (-f_171^post48+f_171^0 == 0 /\ -t_22^post48+t_22^0 == 0 /\ -tail_14^post48+tail_14^0 == 0 /\ -head_15^post48+head_15^0 == 0 /\ -x_131^post48+x_131^0 == 0 /\ x_176^0-x_176^post48 == 0 /\ -head_SLAM_f_29^post48+head_SLAM_f_29^0 == 0 /\ -a_225^post48+a_225^0 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48 == 0 /\ -x_SLAM_f_17^post48+x_SLAM_f_17^0 == 0 /\ -a_342^post48+a_342^0 == 0 /\ -len_134^post48+len_134^0 == 0 /\ i_110^0-i_110^post48 == 0 /\ -r_126^post48+r_126^0 == 0 /\ -rcd_59^post48+rcd_59^0 == 0 /\ temp0_31^0-temp0_31^post48 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post48 == 0 /\ a_289^0-a_289^post48 == 0 /\ -x_19^post48+x_19^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post48+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_34^post48+tmp_34^0 == 0 /\ i_30^0-i_30^post48 == 0 /\ r_39^0-r_39^post48 == 0 /\ -r_165^post48+r_165^0 == 0 /\ y_18^0-y_18^post48 == 0 /\ -a_281^post48+a_281^0 == 0 /\ head_32^0-head_32^post48 == 0 /\ -i_95^post48+i_95^0 == 0 /\ length_28^0-length_28^post48 == 0 /\ a_188^0-a_188^post48 == 0 /\ temp0_16^0-temp0_16^post48 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_11^0-result_11^post48 == 0 /\ a_118^0-a_118^post48 == 0 /\ -a_343^post48+a_343^0 == 0 /\ rcd_89^0-rcd_89^post48 == 0 /\ x_26^0-x_26^post48 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_149^post48+a_149^0 == 0 /\ -temp_35^post48+temp_35^0 == 0 /\ -y_25^post48+y_25^0 == 0 /\ len_187^0-len_187^post48 == 0), cost: 1
New rule:
l33 -> l23 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l31 -> l35 : a_118^0'=a_118^post49, x_176^0'=x_176^post49, i_30^0'=i_30^post49, result_11^0'=result_11^post49, a_289^0'=a_289^post49, y_18^0'=y_18^post49, len_187^0'=len_187^post49, temp0_16^0'=temp0_16^post49, temp_35^0'=temp_35^post49, head_32^0'=head_32^post49, r_39^0'=r_39^post49, a_188^0'=a_188^post49, x_26^0'=x_26^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, a_343^0'=a_343^post49, nondet_12^0'=nondet_12^post49, x_131^0'=x_131^post49, i_110^0'=i_110^post49, rcd_89^0'=rcd_89^post49, a_281^0'=a_281^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, len_134^0'=len_134^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, r_165^0'=r_165^post49, a_149^0'=a_149^post49, x_19^0'=x_19^post49, i_95^0'=i_95^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, a_342^0'=a_342^post49, y_25^0'=y_25^post49, length_28^0'=length_28^post49, temp0_31^0'=temp0_31^post49, tmp_34^0'=tmp_34^post49, head_SLAM_f_29^0'=head_SLAM_f_29^post49, rcd_59^0'=rcd_59^post49, a_225^0'=a_225^post49, x_SLAM_f_17^0'=x_SLAM_f_17^post49, t_22^0'=t_22^post49, f_171^0'=f_171^post49, r_126^0'=r_126^post49, (0 == 0 /\ x_26^0-x_26^post49 == 0 /\ a_289^0-a_289^post49 == 0 /\ -y_25^post49+y_25^0 == 0 /\ tmp_34^0-tmp_34^post49 == 0 /\ -a_188^post49+a_188^0 == 0 /\ -a_342^post49+a_342^0 == 0 /\ a_225^0-a_225^post49 == 0 /\ r_165^0-r_165^post49 == 0 /\ -t_22^post49+t_22^0 == 0 /\ -len_134^post49+len_134^0 == 0 /\ a_281^0-a_281^post49 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_149^0 <= 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -temp0_31^post49+temp0_31^0 == 0 /\ -length_28^post49+length_28^0 == 0 /\ -head_SLAM_f_29^post49+head_SLAM_f_29^0 == 0 /\ rcd_89^0-rcd_89^post49 == 0 /\ temp_35^0-temp_35^post49 == 0 /\ -r_126^post49+r_126^0 == 0 /\ -len_134^0 <= 0 /\ -head_32^post49+head_32^0 == 0 /\ len_187^0-len_187^post49 == 0 /\ -a_149^post49+a_149^0 == 0 /\ -i_110^post49+i_110^0 == 0 /\ y_18^0-y_18^post49 == 0 /\ temp0_16^0-temp0_16^post49 == 0 /\ x_19^0-x_19^post49 == 0 /\ i_30^0-i_30^post49 == 0 /\ -x_SLAM_f_17^post49+x_SLAM_f_17^0 == 0 /\ -i_95^post49+i_95^0 == 0 /\ -rcd_59^post49+rcd_59^0 == 0 /\ a_118^0-a_118^post49 == 0 /\ x_131^0-x_131^post49 == 0 /\ result_11^0-result_11^post49 == 0 /\ a_343^0-a_343^post49 == 0), cost: 1
New rule:
l31 -> l35 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (len_134^0 >= 0 /\ a_149^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l35 -> l36 : a_118^0'=a_118^post50, x_176^0'=x_176^post50, i_30^0'=i_30^post50, result_11^0'=result_11^post50, a_289^0'=a_289^post50, y_18^0'=y_18^post50, len_187^0'=len_187^post50, temp0_16^0'=temp0_16^post50, temp_35^0'=temp_35^post50, head_32^0'=head_32^post50, r_39^0'=r_39^post50, a_188^0'=a_188^post50, x_26^0'=x_26^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, a_343^0'=a_343^post50, nondet_12^0'=nondet_12^post50, x_131^0'=x_131^post50, i_110^0'=i_110^post50, rcd_89^0'=rcd_89^post50, a_281^0'=a_281^post50, x_SLAM_f_24^0'=x_SLAM_f_24^post50, len_134^0'=len_134^post50, tail_14^0'=tail_14^post50, head_15^0'=head_15^post50, r_165^0'=r_165^post50, a_149^0'=a_149^post50, x_19^0'=x_19^post50, i_95^0'=i_95^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, a_342^0'=a_342^post50, y_25^0'=y_25^post50, length_28^0'=length_28^post50, temp0_31^0'=temp0_31^post50, tmp_34^0'=tmp_34^post50, head_SLAM_f_29^0'=head_SLAM_f_29^post50, rcd_59^0'=rcd_59^post50, a_225^0'=a_225^post50, x_SLAM_f_17^0'=x_SLAM_f_17^post50, t_22^0'=t_22^post50, f_171^0'=f_171^post50, r_126^0'=r_126^post50, (-r_39^post50+r_39^0 == 0 /\ len_187^0-len_187^post50 == 0 /\ i_30^0-i_30^post50 == 0 /\ r_165^0-r_165^post50 == 0 /\ x_131^0-x_131^post50 == 0 /\ rcd_89^0-rcd_89^post50 == 0 /\ a_281^0-a_281^post50 == 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ -i_110^post50+i_110^0 == 0 /\ -a_225^post50+a_225^0 == 0 /\ -head_SLAM_f_29^post50+head_SLAM_f_29^0 == 0 /\ -a_149^post50+a_149^0 == 0 /\ temp_35^0-temp_35^post50 == 0 /\ x_176^0-x_176^post50 == 0 /\ a_289^0-a_289^post50 == 0 /\ -tmp_34^post50+tmp_34^0 == 0 /\ -x_SLAM_f_17^post50+x_SLAM_f_17^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post50 == 0 /\ -t_22^post50+t_22^0 == 0 /\ -a_342^post50+a_342^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post50 == 0 /\ -r_126^post50+r_126^0 == 0 /\ -rcd_59^post50+rcd_59^0 == 0 /\ i_95^0-i_95^post50 == 0 /\ head_32^0-head_32^post50 == 0 /\ -y_18^post50+y_18^0 == 0 /\ -x_26^post50+x_26^0 == 0 /\ -result_11^post50+result_11^0 == 0 /\ a_343^0-a_343^post50 == 0 /\ -length_28^post50+length_28^0 == 0 /\ tail_14^0-tail_14^post50 == 0 /\ a_188^0-a_188^post50 == 0 /\ len_134^0-len_134^post50 == 0 /\ -f_171^post50+f_171^0 == 0 /\ 1-x_26^0+y_25^0 <= 0 /\ y_25^0-y_25^post50 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_15^0-head_15^post50 == 0 /\ x_19^0-x_19^post50 == 0 /\ a_118^0-a_118^post50 == 0 /\ -temp0_31^post50+temp0_31^0 == 0 /\ temp0_16^0-temp0_16^post50 == 0), cost: 1
New rule:
l35 -> l36 : 1-x_26^0+y_25^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l35 -> l36 : a_118^0'=a_118^post51, x_176^0'=x_176^post51, i_30^0'=i_30^post51, result_11^0'=result_11^post51, a_289^0'=a_289^post51, y_18^0'=y_18^post51, len_187^0'=len_187^post51, temp0_16^0'=temp0_16^post51, temp_35^0'=temp_35^post51, head_32^0'=head_32^post51, r_39^0'=r_39^post51, a_188^0'=a_188^post51, x_26^0'=x_26^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, a_343^0'=a_343^post51, nondet_12^0'=nondet_12^post51, x_131^0'=x_131^post51, i_110^0'=i_110^post51, rcd_89^0'=rcd_89^post51, a_281^0'=a_281^post51, x_SLAM_f_24^0'=x_SLAM_f_24^post51, len_134^0'=len_134^post51, tail_14^0'=tail_14^post51, head_15^0'=head_15^post51, r_165^0'=r_165^post51, a_149^0'=a_149^post51, x_19^0'=x_19^post51, i_95^0'=i_95^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51, a_342^0'=a_342^post51, y_25^0'=y_25^post51, length_28^0'=length_28^post51, temp0_31^0'=temp0_31^post51, tmp_34^0'=tmp_34^post51, head_SLAM_f_29^0'=head_SLAM_f_29^post51, rcd_59^0'=rcd_59^post51, a_225^0'=a_225^post51, x_SLAM_f_17^0'=x_SLAM_f_17^post51, t_22^0'=t_22^post51, f_171^0'=f_171^post51, r_126^0'=r_126^post51, (x_176^0-x_176^post51 == 0 /\ result_11^0-result_11^post51 == 0 /\ i_30^0-i_30^post51 == 0 /\ -x_131^post51+x_131^0 == 0 /\ -tmp_34^post51+tmp_34^0 == 0 /\ nondet_12^0-nondet_12^post51 == 0 /\ -head_SLAM_f_29^post51+head_SLAM_f_29^0 == 0 /\ -f_171^post51+f_171^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51 == 0 /\ -r_126^post51+r_126^0 == 0 /\ -len_134^post51+len_134^0 == 0 /\ -a_342^post51+a_342^0 == 0 /\ i_110^0-i_110^post51 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post51 == 0 /\ a_343^0-a_343^post51 == 0 /\ -rcd_59^post51+rcd_59^0 == 0 /\ -x_19^post51+x_19^0 == 0 /\ -x_SLAM_f_17^post51+x_SLAM_f_17^0 == 0 /\ a_149^0-a_149^post51 == 0 /\ a_289^0-a_289^post51 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post51+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_281^post51+a_281^0 == 0 /\ r_39^0-r_39^post51 == 0 /\ -i_95^post51+i_95^0 == 0 /\ -tail_14^post51+tail_14^0 == 0 /\ y_18^0-y_18^post51 == 0 /\ -temp0_31^post51+temp0_31^0 == 0 /\ head_32^0-head_32^post51 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ head_15^0-head_15^post51 == 0 /\ a_188^0-a_188^post51 == 0 /\ -r_165^post51+r_165^0 == 0 /\ temp0_16^0-temp0_16^post51 == 0 /\ a_118^0-a_118^post51 == 0 /\ rcd_89^0-rcd_89^post51 == 0 /\ x_26^0-x_26^post51 == 0 /\ -temp_35^post51+temp_35^0 == 0 /\ -y_25^post51+y_25^0 == 0 /\ len_187^0-len_187^post51 == 0 /\ -a_225^post51+a_225^0 == 0 /\ length_28^0-length_28^post51 == 0 /\ -t_22^post51+t_22^0 == 0), cost: 1
New rule:
l35 -> l36 : 1+x_26^0-y_25^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l36 -> l37 : a_118^0'=a_118^post52, x_176^0'=x_176^post52, i_30^0'=i_30^post52, result_11^0'=result_11^post52, a_289^0'=a_289^post52, y_18^0'=y_18^post52, len_187^0'=len_187^post52, temp0_16^0'=temp0_16^post52, temp_35^0'=temp_35^post52, head_32^0'=head_32^post52, r_39^0'=r_39^post52, a_188^0'=a_188^post52, x_26^0'=x_26^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, a_343^0'=a_343^post52, nondet_12^0'=nondet_12^post52, x_131^0'=x_131^post52, i_110^0'=i_110^post52, rcd_89^0'=rcd_89^post52, a_281^0'=a_281^post52, x_SLAM_f_24^0'=x_SLAM_f_24^post52, len_134^0'=len_134^post52, tail_14^0'=tail_14^post52, head_15^0'=head_15^post52, r_165^0'=r_165^post52, a_149^0'=a_149^post52, x_19^0'=x_19^post52, i_95^0'=i_95^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52, a_342^0'=a_342^post52, y_25^0'=y_25^post52, length_28^0'=length_28^post52, temp0_31^0'=temp0_31^post52, tmp_34^0'=tmp_34^post52, head_SLAM_f_29^0'=head_SLAM_f_29^post52, rcd_59^0'=rcd_59^post52, a_225^0'=a_225^post52, x_SLAM_f_17^0'=x_SLAM_f_17^post52, t_22^0'=t_22^post52, f_171^0'=f_171^post52, r_126^0'=r_126^post52, (0 == 0 /\ x_26^0-x_26^post52 == 0 /\ tmp_34^0-tmp_34^post52 == 0 /\ -rcd_59^post52+rcd_59^0 == 0 /\ x_26^0-f_171^0 <= 0 /\ a_289^0-a_289^post52 == 0 /\ -y_25^post52+y_25^0 == 0 /\ r_39^0-r_39^post52 == 0 /\ -x_SLAM_f_24^post52+x_SLAM_f_24^0 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ 1+len_134^0-len_187^post52 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ x_176^0-x_176^post52 == 0 /\ i_30^0-i_30^post52 == 0 /\ -len_134^post52+len_134^0 == 0 /\ -x_26^0+f_171^0 <= 0 /\ y_18^0-y_18^post52 == 0 /\ a_225^0-a_225^post52 == 0 /\ -t_22^post52+t_22^0 == 0 /\ -a_342^post52+a_342^0 == 0 /\ r_165^0-r_165^post52 == 0 /\ 1+a_188^post52-a_149^0 <= 0 /\ -r_126^post52+r_126^0 == 0 /\ a_281^0-a_281^post52 == 0 /\ -x_131^post52+x_131^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -length_28^post52+length_28^0 == 0 /\ -temp0_31^post52+temp0_31^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ -head_SLAM_f_29^post52+head_SLAM_f_29^0 == 0 /\ -head_32^post52+head_32^0 == 0 /\ rcd_89^0-rcd_89^post52 == 0 /\ temp_35^0-temp_35^post52 == 0 /\ -f_171^post52+f_171^0 == 0 /\ x_19^0-x_19^post52 == 0 /\ -head_15^post52+head_15^0 == 0 /\ tail_14^0-y_25^0 <= 0 /\ -1-len_134^0+len_187^post52 <= 0 /\ -i_110^post52+i_110^0 == 0 /\ -x_SLAM_f_17^post52+x_SLAM_f_17^0 == 0 /\ a_118^0-a_118^post52 == 0 /\ -a_149^post52+a_149^0 == 0 /\ -1-a_188^post52+a_149^0 <= 0 /\ temp0_16^0-temp0_16^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ -i_95^post52+i_95^0 == 0 /\ -tail_14^post52+tail_14^0 == 0 /\ a_343^0-a_343^post52 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ result_11^0-result_11^post52 == 0), cost: 1
New rule:
l36 -> l37 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 1

Applied preprocessing
Original rule:
l37 -> l38 : a_118^0'=a_118^post53, x_176^0'=x_176^post53, i_30^0'=i_30^post53, result_11^0'=result_11^post53, a_289^0'=a_289^post53, y_18^0'=y_18^post53, len_187^0'=len_187^post53, temp0_16^0'=temp0_16^post53, temp_35^0'=temp_35^post53, head_32^0'=head_32^post53, r_39^0'=r_39^post53, a_188^0'=a_188^post53, x_26^0'=x_26^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, a_343^0'=a_343^post53, nondet_12^0'=nondet_12^post53, x_131^0'=x_131^post53, i_110^0'=i_110^post53, rcd_89^0'=rcd_89^post53, a_281^0'=a_281^post53, x_SLAM_f_24^0'=x_SLAM_f_24^post53, len_134^0'=len_134^post53, tail_14^0'=tail_14^post53, head_15^0'=head_15^post53, r_165^0'=r_165^post53, a_149^0'=a_149^post53, x_19^0'=x_19^post53, i_95^0'=i_95^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53, a_342^0'=a_342^post53, y_25^0'=y_25^post53, length_28^0'=length_28^post53, temp0_31^0'=temp0_31^post53, tmp_34^0'=tmp_34^post53, head_SLAM_f_29^0'=head_SLAM_f_29^post53, rcd_59^0'=rcd_59^post53, a_225^0'=a_225^post53, x_SLAM_f_17^0'=x_SLAM_f_17^post53, t_22^0'=t_22^post53, f_171^0'=f_171^post53, r_126^0'=r_126^post53, (r_165^0-r_165^post53 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 == 0 /\ rcd_89^0-rcd_89^post53 == 0 /\ -i_110^post53+i_110^0 == 0 /\ i_30^0-i_30^post53 == 0 /\ x_131^0-x_131^post53 == 0 /\ nondet_12^0-nondet_12^post53 == 0 /\ a_281^0-a_281^post53 == 0 /\ -a_149^post53+a_149^0 == 0 /\ tail_14^0-tail_14^post53 == 0 /\ r_39^0-r_39^post53 == 0 /\ x_176^0-x_176^post53 == 0 /\ -a_225^post53+a_225^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post53 == 0 /\ -t_22^post53+t_22^0 == 0 /\ -r_126^post53+r_126^0 == 0 /\ -tmp_34^post53+tmp_34^0 == 0 /\ -rcd_59^post53+rcd_59^0 == 0 /\ -a_342^post53+a_342^0 == 0 /\ -result_11^post53+result_11^0 == 0 /\ i_95^0-i_95^post53 == 0 /\ -y_18^post53+y_18^0 == 0 /\ -x_26^post53+x_26^0 == 0 /\ head_32^0-head_32^post53 == 0 /\ -length_28^post53+length_28^0 == 0 /\ a_343^0-a_343^post53 == 0 /\ -len_187^post53+len_187^0 == 0 /\ -head_SLAM_f_29^post53+head_SLAM_f_29^0 == 0 /\ -x_SLAM_f_17^post53+x_SLAM_f_17^0 == 0 /\ a_188^0-a_188^post53 == 0 /\ y_25^0-y_25^post53 == 0 /\ -temp0_31^post53+temp0_31^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_134^0-len_134^post53 == 0 /\ 1+head_15^0-y_25^0 <= 0 /\ head_15^0-head_15^post53 == 0 /\ x_19^0-x_19^post53 == 0 /\ a_118^0-a_118^post53 == 0 /\ a_289^0-a_289^post53 == 0 /\ temp_35^0-temp_35^post53 == 0 /\ -f_171^post53+f_171^0 == 0 /\ temp0_16^0-temp0_16^post53 == 0), cost: 1
New rule:
l37 -> l38 : 1+head_15^0-y_25^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l37 -> l38 : a_118^0'=a_118^post54, x_176^0'=x_176^post54, i_30^0'=i_30^post54, result_11^0'=result_11^post54, a_289^0'=a_289^post54, y_18^0'=y_18^post54, len_187^0'=len_187^post54, temp0_16^0'=temp0_16^post54, temp_35^0'=temp_35^post54, head_32^0'=head_32^post54, r_39^0'=r_39^post54, a_188^0'=a_188^post54, x_26^0'=x_26^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, a_343^0'=a_343^post54, nondet_12^0'=nondet_12^post54, x_131^0'=x_131^post54, i_110^0'=i_110^post54, rcd_89^0'=rcd_89^post54, a_281^0'=a_281^post54, x_SLAM_f_24^0'=x_SLAM_f_24^post54, len_134^0'=len_134^post54, tail_14^0'=tail_14^post54, head_15^0'=head_15^post54, r_165^0'=r_165^post54, a_149^0'=a_149^post54, x_19^0'=x_19^post54, i_95^0'=i_95^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54, a_342^0'=a_342^post54, y_25^0'=y_25^post54, length_28^0'=length_28^post54, temp0_31^0'=temp0_31^post54, tmp_34^0'=tmp_34^post54, head_SLAM_f_29^0'=head_SLAM_f_29^post54, rcd_59^0'=rcd_59^post54, a_225^0'=a_225^post54, x_SLAM_f_17^0'=x_SLAM_f_17^post54, t_22^0'=t_22^post54, f_171^0'=f_171^post54, r_126^0'=r_126^post54, (x_176^0-x_176^post54 == 0 /\ -head_SLAM_f_29^post54+head_SLAM_f_29^0 == 0 /\ i_30^0-i_30^post54 == 0 /\ result_11^0-result_11^post54 == 0 /\ temp0_16^0-temp0_16^post54 == 0 /\ -r_126^post54+r_126^0 == 0 /\ -x_SLAM_f_17^post54+x_SLAM_f_17^0 == 0 /\ -len_134^post54+len_134^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54 == 0 /\ nondet_12^0-nondet_12^post54 == 0 /\ -a_342^post54+a_342^0 == 0 /\ -f_171^post54+f_171^0 == 0 /\ -x_19^post54+x_19^0 == 0 /\ a_149^0-a_149^post54 == 0 /\ a_343^0-a_343^post54 == 0 /\ i_110^0-i_110^post54 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post54+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_289^0-a_289^post54 == 0 /\ -tmp_34^post54+tmp_34^0 == 0 /\ -a_281^post54+a_281^0 == 0 /\ -rcd_59^post54+rcd_59^0 == 0 /\ r_39^0-r_39^post54 == 0 /\ -tail_14^post54+tail_14^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post54 == 0 /\ y_18^0-y_18^post54 == 0 /\ -temp0_31^post54+temp0_31^0 == 0 /\ head_32^0-head_32^post54 == 0 /\ 1-head_15^0+y_25^0 <= 0 /\ a_188^0-a_188^post54 == 0 /\ head_15^0-head_15^post54 == 0 /\ y_25^0-y_25^post54 == 0 /\ -r_165^post54+r_165^0 == 0 /\ a_118^0-a_118^post54 == 0 /\ x_26^0-x_26^post54 == 0 /\ rcd_89^0-rcd_89^post54 == 0 /\ -temp_35^post54+temp_35^0 == 0 /\ -length_28^post54+length_28^0 == 0 /\ -x_131^post54+x_131^0 == 0 /\ len_187^0-len_187^post54 == 0 /\ -a_225^post54+a_225^0 == 0 /\ -t_22^post54+t_22^0 == 0 /\ i_95^0-i_95^post54 == 0), cost: 1
New rule:
l37 -> l38 : 1-head_15^0+y_25^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l38 -> l39 : a_118^0'=a_118^post55, x_176^0'=x_176^post55, i_30^0'=i_30^post55, result_11^0'=result_11^post55, a_289^0'=a_289^post55, y_18^0'=y_18^post55, len_187^0'=len_187^post55, temp0_16^0'=temp0_16^post55, temp_35^0'=temp_35^post55, head_32^0'=head_32^post55, r_39^0'=r_39^post55, a_188^0'=a_188^post55, x_26^0'=x_26^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, a_343^0'=a_343^post55, nondet_12^0'=nondet_12^post55, x_131^0'=x_131^post55, i_110^0'=i_110^post55, rcd_89^0'=rcd_89^post55, a_281^0'=a_281^post55, x_SLAM_f_24^0'=x_SLAM_f_24^post55, len_134^0'=len_134^post55, tail_14^0'=tail_14^post55, head_15^0'=head_15^post55, r_165^0'=r_165^post55, a_149^0'=a_149^post55, x_19^0'=x_19^post55, i_95^0'=i_95^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55, a_342^0'=a_342^post55, y_25^0'=y_25^post55, length_28^0'=length_28^post55, temp0_31^0'=temp0_31^post55, tmp_34^0'=tmp_34^post55, head_SLAM_f_29^0'=head_SLAM_f_29^post55, rcd_59^0'=rcd_59^post55, a_225^0'=a_225^post55, x_SLAM_f_17^0'=x_SLAM_f_17^post55, t_22^0'=t_22^post55, f_171^0'=f_171^post55, r_126^0'=r_126^post55, (tmp_34^0-tmp_34^post55 == 0 /\ -y_25^post55+y_25^0 == 0 /\ a_289^0-a_289^post55 == 0 /\ -length_28^post55+length_28^0 == 0 /\ -rcd_59^post55+rcd_59^0 == 0 /\ x_26^0-x_26^post55 == 0 /\ -t_22^post55+t_22^0 == 0 /\ r_39^0-r_39^post55 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post55+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_176^0-x_176^post55 == 0 /\ y_18^0-y_18^post55 == 0 /\ -r_126^post55+r_126^0 == 0 /\ a_225^0-a_225^post55 == 0 /\ -a_342^post55+a_342^0 == 0 /\ -len_134^post55+len_134^0 == 0 /\ i_30^0-i_30^post55 == 0 /\ r_165^0-r_165^post55 == 0 /\ -temp0_31^post55+temp0_31^0 == 0 /\ -x_131^post55+x_131^0 == 0 /\ -a_188^post55+a_188^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp_35^0-temp_35^post55 == 0 /\ rcd_89^0-rcd_89^post55 == 0 /\ x_19^0-x_19^post55 == 0 /\ -head_15^post55+head_15^0 == 0 /\ len_187^0-len_187^post55 == 0 /\ -f_171^post55+f_171^0 == 0 /\ -i_110^post55+i_110^0 == 0 /\ -x_SLAM_f_24^post55+x_SLAM_f_24^0 == 0 /\ a_118^0-a_118^post55 == 0 /\ temp0_16^0-temp0_16^post55 == 0 /\ 1-x_176^0+y_25^0 <= 0 /\ -a_149^post55+a_149^0 == 0 /\ -i_95^post55+i_95^0 == 0 /\ -tail_14^post55+tail_14^0 == 0 /\ result_11^0-result_11^post55 == 0 /\ a_281^0-a_281^post55 == 0 /\ nondet_12^0-nondet_12^post55 == 0 /\ -x_SLAM_f_17^post55+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post55+head_SLAM_f_29^0 == 0 /\ a_343^0-a_343^post55 == 0 /\ head_32^0-head_32^post55 == 0), cost: 1
New rule:
l38 -> l39 : 1-x_176^0+y_25^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l38 -> l39 : a_118^0'=a_118^post56, x_176^0'=x_176^post56, i_30^0'=i_30^post56, result_11^0'=result_11^post56, a_289^0'=a_289^post56, y_18^0'=y_18^post56, len_187^0'=len_187^post56, temp0_16^0'=temp0_16^post56, temp_35^0'=temp_35^post56, head_32^0'=head_32^post56, r_39^0'=r_39^post56, a_188^0'=a_188^post56, x_26^0'=x_26^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, a_343^0'=a_343^post56, nondet_12^0'=nondet_12^post56, x_131^0'=x_131^post56, i_110^0'=i_110^post56, rcd_89^0'=rcd_89^post56, a_281^0'=a_281^post56, x_SLAM_f_24^0'=x_SLAM_f_24^post56, len_134^0'=len_134^post56, tail_14^0'=tail_14^post56, head_15^0'=head_15^post56, r_165^0'=r_165^post56, a_149^0'=a_149^post56, x_19^0'=x_19^post56, i_95^0'=i_95^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56, a_342^0'=a_342^post56, y_25^0'=y_25^post56, length_28^0'=length_28^post56, temp0_31^0'=temp0_31^post56, tmp_34^0'=tmp_34^post56, head_SLAM_f_29^0'=head_SLAM_f_29^post56, rcd_59^0'=rcd_59^post56, a_225^0'=a_225^post56, x_SLAM_f_17^0'=x_SLAM_f_17^post56, t_22^0'=t_22^post56, f_171^0'=f_171^post56, r_126^0'=r_126^post56, (r_165^0-r_165^post56 == 0 /\ a_289^0-a_289^post56 == 0 /\ x_131^0-x_131^post56 == 0 /\ -i_110^post56+i_110^0 == 0 /\ a_188^0-a_188^post56 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post56 == 0 /\ a_281^0-a_281^post56 == 0 /\ x_26^0-x_26^post56 == 0 /\ nondet_12^0-nondet_12^post56 == 0 /\ tail_14^0-tail_14^post56 == 0 /\ x_176^0-x_176^post56 == 0 /\ -a_149^post56+a_149^0 == 0 /\ -a_225^post56+a_225^0 == 0 /\ -rcd_89^post56+rcd_89^0 == 0 /\ -t_22^post56+t_22^0 == 0 /\ -result_11^post56+result_11^0 == 0 /\ -r_126^post56+r_126^0 == 0 /\ temp_35^0-temp_35^post56 == 0 /\ -tmp_34^post56+tmp_34^0 == 0 /\ 1+x_176^0-y_25^0 <= 0 /\ -a_342^post56+a_342^0 == 0 /\ -length_28^post56+length_28^0 == 0 /\ a_343^0-a_343^post56 == 0 /\ head_32^0-head_32^post56 == 0 /\ -rcd_59^post56+rcd_59^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post56 == 0 /\ -x_SLAM_f_17^post56+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post56+head_SLAM_f_29^0 == 0 /\ i_95^0-i_95^post56 == 0 /\ i_30^0-i_30^post56 == 0 /\ r_39^0-r_39^post56 == 0 /\ y_25^0-y_25^post56 == 0 /\ -temp0_31^post56+temp0_31^0 == 0 /\ len_134^0-len_134^post56 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -y_18^post56+y_18^0 == 0 /\ head_15^0-head_15^post56 == 0 /\ -len_187^post56+len_187^0 == 0 /\ a_118^0-a_118^post56 == 0 /\ temp0_16^0-temp0_16^post56 == 0 /\ x_19^0-x_19^post56 == 0 /\ -f_171^post56+f_171^0 == 0), cost: 1
New rule:
l38 -> l39 : 1+x_176^0-y_25^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l39 -> l34 : a_118^0'=a_118^post57, x_176^0'=x_176^post57, i_30^0'=i_30^post57, result_11^0'=result_11^post57, a_289^0'=a_289^post57, y_18^0'=y_18^post57, len_187^0'=len_187^post57, temp0_16^0'=temp0_16^post57, temp_35^0'=temp_35^post57, head_32^0'=head_32^post57, r_39^0'=r_39^post57, a_188^0'=a_188^post57, x_26^0'=x_26^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, a_343^0'=a_343^post57, nondet_12^0'=nondet_12^post57, x_131^0'=x_131^post57, i_110^0'=i_110^post57, rcd_89^0'=rcd_89^post57, a_281^0'=a_281^post57, x_SLAM_f_24^0'=x_SLAM_f_24^post57, len_134^0'=len_134^post57, tail_14^0'=tail_14^post57, head_15^0'=head_15^post57, r_165^0'=r_165^post57, a_149^0'=a_149^post57, x_19^0'=x_19^post57, i_95^0'=i_95^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57, a_342^0'=a_342^post57, y_25^0'=y_25^post57, length_28^0'=length_28^post57, temp0_31^0'=temp0_31^post57, tmp_34^0'=tmp_34^post57, head_SLAM_f_29^0'=head_SLAM_f_29^post57, rcd_59^0'=rcd_59^post57, a_225^0'=a_225^post57, x_SLAM_f_17^0'=x_SLAM_f_17^post57, t_22^0'=t_22^post57, f_171^0'=f_171^post57, r_126^0'=r_126^post57, (0 == 0 /\ i_30^0-i_30^post57 == 0 /\ -x_19^post57+x_19^0 == 0 /\ -head_SLAM_f_29^post57+head_SLAM_f_29^0 == 0 /\ -a_225^post57+a_225^0 == 0 /\ -f_171^post57+f_171^0 == 0 /\ nondet_12^0-nondet_12^post57 == 0 /\ len_187^0-len_134^post57 <= 0 /\ -x_SLAM_f_17^post57+x_SLAM_f_17^0 == 0 /\ temp0_16^0-temp0_16^post57 == 0 /\ result_11^0-result_11^post57 == 0 /\ -a_342^post57+a_342^0 == 0 /\ -r_126^post57+r_126^0 == 0 /\ a_118^0-a_118^post57 == 0 /\ a_343^0-a_343^post57 == 0 /\ i_110^0-i_110^post57 == 0 /\ a_289^0-a_289^post57 == 0 /\ -a_281^post57+a_281^0 == 0 /\ -rcd_59^post57+rcd_59^0 == 0 /\ -len_187^0+len_134^post57 <= 0 /\ -tail_14^post57+tail_14^0 == 0 /\ -tmp_34^post57+tmp_34^0 == 0 /\ r_39^0-r_39^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post57 == 0 /\ y_18^0-y_18^post57 == 0 /\ x_176^0-x_176^post57 == 0 /\ -a_188^0+a_149^post57 <= 0 /\ a_188^0-a_188^post57 == 0 /\ y_25^0-y_25^post57 == 0 /\ -temp0_31^post57+temp0_31^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ head_32^0-head_32^post57 == 0 /\ -r_165^post57+r_165^0 == 0 /\ x_26^0-x_26^post57 == 0 /\ a_188^0-a_149^post57 <= 0 /\ -temp_35^post57+temp_35^0 == 0 /\ -length_28^post57+length_28^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57 == 0 /\ rcd_89^0-rcd_89^post57 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_187^0-len_187^post57 == 0 /\ head_15^0-head_15^post57 == 0 /\ -x_131^post57+x_131^0 == 0 /\ -t_22^post57+t_22^0 == 0 /\ i_95^0-i_95^post57 == 0), cost: 1
New rule:
l39 -> l34 : len_134^0'=len_187^0, a_149^0'=a_188^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l34 -> l31 : a_118^0'=a_118^post58, x_176^0'=x_176^post58, i_30^0'=i_30^post58, result_11^0'=result_11^post58, a_289^0'=a_289^post58, y_18^0'=y_18^post58, len_187^0'=len_187^post58, temp0_16^0'=temp0_16^post58, temp_35^0'=temp_35^post58, head_32^0'=head_32^post58, r_39^0'=r_39^post58, a_188^0'=a_188^post58, x_26^0'=x_26^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, a_343^0'=a_343^post58, nondet_12^0'=nondet_12^post58, x_131^0'=x_131^post58, i_110^0'=i_110^post58, rcd_89^0'=rcd_89^post58, a_281^0'=a_281^post58, x_SLAM_f_24^0'=x_SLAM_f_24^post58, len_134^0'=len_134^post58, tail_14^0'=tail_14^post58, head_15^0'=head_15^post58, r_165^0'=r_165^post58, a_149^0'=a_149^post58, x_19^0'=x_19^post58, i_95^0'=i_95^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58, a_342^0'=a_342^post58, y_25^0'=y_25^post58, length_28^0'=length_28^post58, temp0_31^0'=temp0_31^post58, tmp_34^0'=tmp_34^post58, head_SLAM_f_29^0'=head_SLAM_f_29^post58, rcd_59^0'=rcd_59^post58, a_225^0'=a_225^post58, x_SLAM_f_17^0'=x_SLAM_f_17^post58, t_22^0'=t_22^post58, f_171^0'=f_171^post58, r_126^0'=r_126^post58, (-y_25^post58+y_25^0 == 0 /\ -length_28^post58+length_28^0 == 0 /\ a_149^0-a_149^post58 == 0 /\ result_11^0-result_11^post58 == 0 /\ -x_SLAM_f_17^post58+x_SLAM_f_17^0 == 0 /\ x_26^0-x_26^post58 == 0 /\ r_39^0-r_39^post58 == 0 /\ -t_22^post58+t_22^0 == 0 /\ a_289^0-a_289^post58 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post58+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_34^post58+tmp_34^0 == 0 /\ x_176^0-x_176^post58 == 0 /\ -r_165^post58+r_165^0 == 0 /\ -r_126^post58+r_126^0 == 0 /\ y_18^0-y_18^post58 == 0 /\ i_30^0-i_30^post58 == 0 /\ -len_134^post58+len_134^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_342^post58+a_342^0 == 0 /\ -a_188^post58+a_188^0 == 0 /\ -temp0_31^post58+temp0_31^0 == 0 /\ a_343^0-a_343^post58 == 0 /\ -x_131^post58+x_131^0 == 0 /\ rcd_89^0-rcd_89^post58 == 0 /\ -x_19^post58+x_19^0 == 0 /\ -i_110^post58+i_110^0 == 0 /\ temp_35^0-temp_35^post58 == 0 /\ -f_171^post58+f_171^0 == 0 /\ a_118^0-a_118^post58 == 0 /\ temp0_16^0-temp0_16^post58 == 0 /\ -x_SLAM_f_24^post58+x_SLAM_f_24^0 == 0 /\ -a_225^post58+a_225^0 == 0 /\ len_187^0-len_187^post58 == 0 /\ -i_95^post58+i_95^0 == 0 /\ -tail_14^post58+tail_14^0 == 0 /\ -head_15^post58+head_15^0 == 0 /\ a_281^0-a_281^post58 == 0 /\ nondet_12^0-nondet_12^post58 == 0 /\ -rcd_59^post58+rcd_59^0 == 0 /\ -head_SLAM_f_29^post58+head_SLAM_f_29^0 == 0 /\ head_32^0-head_32^post58 == 0), cost: 1
New rule:
l34 -> l31 : TRUE, cost: 1

Applied preprocessing
Original rule:
l1 -> l61 : a_118^0'=a_118^post94, x_176^0'=x_176^post94, i_30^0'=i_30^post94, result_11^0'=result_11^post94, a_289^0'=a_289^post94, y_18^0'=y_18^post94, len_187^0'=len_187^post94, temp0_16^0'=temp0_16^post94, temp_35^0'=temp_35^post94, head_32^0'=head_32^post94, r_39^0'=r_39^post94, a_188^0'=a_188^post94, x_26^0'=x_26^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, a_343^0'=a_343^post94, nondet_12^0'=nondet_12^post94, x_131^0'=x_131^post94, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post94, a_281^0'=a_281^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, len_134^0'=len_134^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, a_149^0'=a_149^post94, x_19^0'=x_19^post94, i_95^0'=i_95^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94, a_342^0'=a_342^post94, y_25^0'=y_25^post94, length_28^0'=length_28^post94, temp0_31^0'=temp0_31^post94, tmp_34^0'=tmp_34^post94, head_SLAM_f_29^0'=head_SLAM_f_29^post94, rcd_59^0'=rcd_59^post94, a_225^0'=a_225^post94, x_SLAM_f_17^0'=x_SLAM_f_17^post94, t_22^0'=t_22^post94, f_171^0'=f_171^post94, r_126^0'=r_126^post94, (0 == 0 /\ -r_126^post94+r_126^0 == 0 /\ rcd_59^0-rcd_59^post94 == 0 /\ head_32^0-head_32^post94 == 0 /\ result_11^0-result_11^post94 == 0 /\ -f_171^post94+f_171^0 == 0 /\ -x_131^post94+x_131^0 == 0 /\ -a_149^post94+a_149^0 == 0 /\ -x_19^post94+x_19^0 == 0 /\ temp0_16^0-temp0_16^post94 == 0 /\ -head_SLAM_f_29^post94+head_SLAM_f_29^0 == 0 /\ a_118^0-a_118^post94 == 0 /\ temp0_31^0-temp0_31^post94 == 0 /\ -nondet_12^post94+nondet_12^0 == 0 /\ len_134^0-len_134^post94 == 0 /\ -x_SLAM_f_17^post94+x_SLAM_f_17^0 == 0 /\ -i_30^0 <= 0 /\ tmp_34^0-tmp_34^post94 == 0 /\ x_26^0-x_26^post94 == 0 /\ rcd_89^0-rcd_89^post94 == 0 /\ len_187^0-len_187^post94 == 0 /\ -a_281^post94+a_281^0 == 0 /\ -i_95^post94+i_95^0 == 0 /\ x_176^0-x_176^post94 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post94 == 0 /\ a_342^0-a_342^post94 == 0 /\ a_289^0-a_289^post94 == 0 /\ temp_35^0-temp_35^post94 == 0 /\ -a_343^post94+a_343^0 == 0 /\ -length_28^post94+length_28^0 == 0 /\ a_188^0-a_188^post94 == 0 /\ -a_225^post94+a_225^0 == 0 /\ -t_22^post94+t_22^0 == 0 /\ i_30^0-i_30^post94 == 0 /\ y_18^0-y_18^post94 == 0 /\ -y_25^post94+y_25^0 == 0), cost: 1
New rule:
l1 -> l61 : r_39^0'=r_39^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_30^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l61 -> l62 : a_118^0'=a_118^post95, x_176^0'=x_176^post95, i_30^0'=i_30^post95, result_11^0'=result_11^post95, a_289^0'=a_289^post95, y_18^0'=y_18^post95, len_187^0'=len_187^post95, temp0_16^0'=temp0_16^post95, temp_35^0'=temp_35^post95, head_32^0'=head_32^post95, r_39^0'=r_39^post95, a_188^0'=a_188^post95, x_26^0'=x_26^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, a_343^0'=a_343^post95, nondet_12^0'=nondet_12^post95, x_131^0'=x_131^post95, i_110^0'=i_110^post95, rcd_89^0'=rcd_89^post95, a_281^0'=a_281^post95, x_SLAM_f_24^0'=x_SLAM_f_24^post95, len_134^0'=len_134^post95, tail_14^0'=tail_14^post95, head_15^0'=head_15^post95, r_165^0'=r_165^post95, a_149^0'=a_149^post95, x_19^0'=x_19^post95, i_95^0'=i_95^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95, a_342^0'=a_342^post95, y_25^0'=y_25^post95, length_28^0'=length_28^post95, temp0_31^0'=temp0_31^post95, tmp_34^0'=tmp_34^post95, head_SLAM_f_29^0'=head_SLAM_f_29^post95, rcd_59^0'=rcd_59^post95, a_225^0'=a_225^post95, x_SLAM_f_17^0'=x_SLAM_f_17^post95, t_22^0'=t_22^post95, f_171^0'=f_171^post95, r_126^0'=r_126^post95, (head_SLAM_f_29^0-head_SLAM_f_29^post95 == 0 /\ -y_25^post95+y_25^0 == 0 /\ i_110^0-i_110^post95 == 0 /\ tmp_34^0-tmp_34^post95 == 0 /\ -rcd_89^post95+rcd_89^0 == 0 /\ -r_165^post95+r_165^0 == 0 /\ -x_SLAM_f_24^post95+x_SLAM_f_24^0 == 0 /\ len_187^0-len_187^post95 == 0 /\ x_176^0-x_176^post95 == 0 /\ -t_22^post95+t_22^0 == 0 /\ -r_126^post95+r_126^0 == 0 /\ head_32^0-head_32^post95 == 0 /\ a_225^0-a_225^post95 == 0 /\ -temp_35^post95+temp_35^0 == 0 /\ -a_342^post95+a_342^0 == 0 /\ -length_28^post95+length_28^0 == 0 /\ nondet_12^0-nondet_12^post95 == 0 /\ temp0_31^0-temp0_31^post95 == 0 /\ -a_343^post95+a_343^0 == 0 /\ x_26^0-x_26^post95 == 0 /\ -a_149^post95+a_149^0 == 0 /\ -f_171^post95+f_171^0 == 0 /\ a_289^0-a_289^post95 == 0 /\ -x_131^post95+x_131^0 == 0 /\ -len_134^post95+len_134^0 == 0 /\ r_39^0-r_39^post95 == 0 /\ -x_19^post95+x_19^0 == 0 /\ -i_30^post95+i_30^0 == 0 /\ -head_15^post95+head_15^0 == 0 /\ a_118^0-a_118^post95 == 0 /\ y_18^0-y_18^post95 == 0 /\ temp0_16^0-temp0_16^post95 == 0 /\ 1-x_26^0+y_25^0 <= 0 /\ a_188^0-a_188^post95 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_95^post95+i_95^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post95 == 0 /\ result_11^0-result_11^post95 == 0 /\ -rcd_59^post95+rcd_59^0 == 0 /\ -a_281^post95+a_281^0 == 0 /\ -tail_14^post95+tail_14^0 == 0 /\ -x_SLAM_f_17^post95+x_SLAM_f_17^0 == 0), cost: 1
New rule:
l61 -> l62 : 1-x_26^0+y_25^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l61 -> l62 : a_118^0'=a_118^post96, x_176^0'=x_176^post96, i_30^0'=i_30^post96, result_11^0'=result_11^post96, a_289^0'=a_289^post96, y_18^0'=y_18^post96, len_187^0'=len_187^post96, temp0_16^0'=temp0_16^post96, temp_35^0'=temp_35^post96, head_32^0'=head_32^post96, r_39^0'=r_39^post96, a_188^0'=a_188^post96, x_26^0'=x_26^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, a_343^0'=a_343^post96, nondet_12^0'=nondet_12^post96, x_131^0'=x_131^post96, i_110^0'=i_110^post96, rcd_89^0'=rcd_89^post96, a_281^0'=a_281^post96, x_SLAM_f_24^0'=x_SLAM_f_24^post96, len_134^0'=len_134^post96, tail_14^0'=tail_14^post96, head_15^0'=head_15^post96, r_165^0'=r_165^post96, a_149^0'=a_149^post96, x_19^0'=x_19^post96, i_95^0'=i_95^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96, a_342^0'=a_342^post96, y_25^0'=y_25^post96, length_28^0'=length_28^post96, temp0_31^0'=temp0_31^post96, tmp_34^0'=tmp_34^post96, head_SLAM_f_29^0'=head_SLAM_f_29^post96, rcd_59^0'=rcd_59^post96, a_225^0'=a_225^post96, x_SLAM_f_17^0'=x_SLAM_f_17^post96, t_22^0'=t_22^post96, f_171^0'=f_171^post96, r_126^0'=r_126^post96, (r_165^0-r_165^post96 == 0 /\ len_187^0-len_187^post96 == 0 /\ x_131^0-x_131^post96 == 0 /\ i_30^0-i_30^post96 == 0 /\ -i_95^post96+i_95^0 == 0 /\ tmp_34^0-tmp_34^post96 == 0 /\ a_281^0-a_281^post96 == 0 /\ rcd_89^0-rcd_89^post96 == 0 /\ -i_110^post96+i_110^0 == 0 /\ -a_225^post96+a_225^0 == 0 /\ nondet_12^0-nondet_12^post96 == 0 /\ tail_14^0-tail_14^post96 == 0 /\ -head_15^post96+head_15^0 == 0 /\ -head_SLAM_f_29^post96+head_SLAM_f_29^0 == 0 /\ r_39^0-r_39^post96 == 0 /\ -y_25^post96+y_25^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post96 == 0 /\ -x_SLAM_f_24^post96+x_SLAM_f_24^0 == 0 /\ a_118^0-a_118^post96 == 0 /\ temp0_16^0-temp0_16^post96 == 0 /\ a_289^0-a_289^post96 == 0 /\ temp_35^0-temp_35^post96 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_342^0-a_342^post96 == 0 /\ -length_28^post96+length_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post96 == 0 /\ -r_126^post96+r_126^0 == 0 /\ -rcd_59^post96+rcd_59^0 == 0 /\ t_22^0-t_22^post96 == 0 /\ a_343^0-a_343^post96 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post96+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_188^0-a_188^post96 == 0 /\ -x_26^post96+x_26^0 == 0 /\ len_134^0-len_134^post96 == 0 /\ result_11^0-result_11^post96 == 0 /\ -temp0_31^post96+temp0_31^0 == 0 /\ -y_18^post96+y_18^0 == 0 /\ x_176^0-x_176^post96 == 0 /\ -x_19^post96+x_19^0 == 0 /\ -f_171^post96+f_171^0 == 0 /\ -head_32^post96+head_32^0 == 0 /\ a_149^0-a_149^post96 == 0), cost: 1
New rule:
l61 -> l62 : 1+x_26^0-y_25^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l62 -> l63 : a_118^0'=a_118^post97, x_176^0'=x_176^post97, i_30^0'=i_30^post97, result_11^0'=result_11^post97, a_289^0'=a_289^post97, y_18^0'=y_18^post97, len_187^0'=len_187^post97, temp0_16^0'=temp0_16^post97, temp_35^0'=temp_35^post97, head_32^0'=head_32^post97, r_39^0'=r_39^post97, a_188^0'=a_188^post97, x_26^0'=x_26^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, a_343^0'=a_343^post97, nondet_12^0'=nondet_12^post97, x_131^0'=x_131^post97, i_110^0'=i_110^post97, rcd_89^0'=rcd_89^post97, a_281^0'=a_281^post97, x_SLAM_f_24^0'=x_SLAM_f_24^post97, len_134^0'=len_134^post97, tail_14^0'=tail_14^post97, head_15^0'=head_15^post97, r_165^0'=r_165^post97, a_149^0'=a_149^post97, x_19^0'=x_19^post97, i_95^0'=i_95^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97, a_342^0'=a_342^post97, y_25^0'=y_25^post97, length_28^0'=length_28^post97, temp0_31^0'=temp0_31^post97, tmp_34^0'=tmp_34^post97, head_SLAM_f_29^0'=head_SLAM_f_29^post97, rcd_59^0'=rcd_59^post97, a_225^0'=a_225^post97, x_SLAM_f_17^0'=x_SLAM_f_17^post97, t_22^0'=t_22^post97, f_171^0'=f_171^post97, r_126^0'=r_126^post97, (0 == 0 /\ -a_149^post97+a_149^0 == 0 /\ -x_26^post97+x_26^0 == 0 /\ -nondet_12^post97+nondet_12^0 == 0 /\ rcd_59^0-rcd_59^post97 == 0 /\ -r_126^post97+r_126^0 == 0 /\ head_32^0-head_32^post97 == 0 /\ head_15^0-head_15^post97 == 0 /\ -x_131^post97+x_131^0 == 0 /\ -tmp_34^post97+tmp_34^0 == 0 /\ x_176^0-x_176^post97 == 0 /\ len_134^0-len_134^post97 == 0 /\ -length_28^post97+length_28^0 == 0 /\ temp0_31^0-temp0_31^post97 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ -x_SLAM_f_17^post97+x_SLAM_f_17^0 == 0 /\ -x_19^post97+x_19^0 == 0 /\ -head_SLAM_f_29^post97+head_SLAM_f_29^0 == 0 /\ a_289^0-a_289^post97 == 0 /\ a_342^0-a_342^post97 == 0 /\ a_188^0-a_188^post97 == 0 /\ y_18^0-y_18^post97 == 0 /\ -f_171^post97+f_171^0 == 0 /\ -a_281^post97+a_281^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ i_30^0-i_30^post97 == 0 /\ result_11^0-result_11^post97 == 0 /\ -i_95^post97+i_95^0 == 0 /\ -a_149^0+a_118^post97 <= 0 /\ tail_14^0-tail_14^post97 == 0 /\ -r_165^post97+r_165^0 == 0 /\ temp0_16^0-temp0_16^post97 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post97 == 0 /\ -r_39^post97+r_39^0 == 0 /\ 1-len_134^0 <= 0 /\ -1+len_134^0 <= 0 /\ temp_35^0-temp_35^post97 == 0 /\ tail_14^0-y_25^0 <= 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post97 == 0 /\ i_110^0-i_110^post97 == 0 /\ -y_25^post97+y_25^0 == 0 /\ a_149^0-a_118^post97 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ -a_343^post97+a_343^0 == 0 /\ -a_225^post97+a_225^0 == 0 /\ len_187^0-len_187^post97 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ -t_22^post97+t_22^0 == 0 /\ -rcd_89^post97+rcd_89^0 == 0), cost: 1
New rule:
l62 -> l63 : a_118^0'=a_149^0, (x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 1

Applied preprocessing
Original rule:
l63 -> l64 : a_118^0'=a_118^post98, x_176^0'=x_176^post98, i_30^0'=i_30^post98, result_11^0'=result_11^post98, a_289^0'=a_289^post98, y_18^0'=y_18^post98, len_187^0'=len_187^post98, temp0_16^0'=temp0_16^post98, temp_35^0'=temp_35^post98, head_32^0'=head_32^post98, r_39^0'=r_39^post98, a_188^0'=a_188^post98, x_26^0'=x_26^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, a_343^0'=a_343^post98, nondet_12^0'=nondet_12^post98, x_131^0'=x_131^post98, i_110^0'=i_110^post98, rcd_89^0'=rcd_89^post98, a_281^0'=a_281^post98, x_SLAM_f_24^0'=x_SLAM_f_24^post98, len_134^0'=len_134^post98, tail_14^0'=tail_14^post98, head_15^0'=head_15^post98, r_165^0'=r_165^post98, a_149^0'=a_149^post98, x_19^0'=x_19^post98, i_95^0'=i_95^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98, a_342^0'=a_342^post98, y_25^0'=y_25^post98, length_28^0'=length_28^post98, temp0_31^0'=temp0_31^post98, tmp_34^0'=tmp_34^post98, head_SLAM_f_29^0'=head_SLAM_f_29^post98, rcd_59^0'=rcd_59^post98, a_225^0'=a_225^post98, x_SLAM_f_17^0'=x_SLAM_f_17^post98, t_22^0'=t_22^post98, f_171^0'=f_171^post98, r_126^0'=r_126^post98, (i_110^0-i_110^post98 == 0 /\ -length_28^post98+length_28^0 == 0 /\ -tmp_34^post98+tmp_34^0 == 0 /\ a_289^0-a_289^post98 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post98+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_89^post98+rcd_89^0 == 0 /\ -r_165^post98+r_165^0 == 0 /\ x_176^0-x_176^post98 == 0 /\ -t_22^post98+t_22^0 == 0 /\ -y_25^post98+y_25^0 == 0 /\ -r_126^post98+r_126^0 == 0 /\ a_225^0-a_225^post98 == 0 /\ nondet_12^0-nondet_12^post98 == 0 /\ -a_342^post98+a_342^0 == 0 /\ -x_131^post98+x_131^0 == 0 /\ temp0_31^0-temp0_31^post98 == 0 /\ head_32^0-head_32^post98 == 0 /\ -a_343^post98+a_343^0 == 0 /\ x_26^0-x_26^post98 == 0 /\ -x_19^post98+x_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post98 == 0 /\ -len_134^post98+len_134^0 == 0 /\ -i_30^post98+i_30^0 == 0 /\ temp_35^0-temp_35^post98 == 0 /\ -f_171^post98+f_171^0 == 0 /\ r_39^0-r_39^post98 == 0 /\ -head_15^post98+head_15^0 == 0 /\ -a_149^post98+a_149^0 == 0 /\ temp0_16^0-temp0_16^post98 == 0 /\ a_118^0-a_118^post98 == 0 /\ y_18^0-y_18^post98 == 0 /\ 1+head_15^0-y_25^0 <= 0 /\ -i_95^post98+i_95^0 == 0 /\ -x_SLAM_f_24^post98+x_SLAM_f_24^0 == 0 /\ a_188^0-a_188^post98 == 0 /\ len_187^0-len_187^post98 == 0 /\ -head_SLAM_f_29^post98+head_SLAM_f_29^0 == 0 /\ -x_SLAM_f_17^post98+x_SLAM_f_17^0 == 0 /\ -a_281^post98+a_281^0 == 0 /\ -rcd_59^post98+rcd_59^0 == 0 /\ -tail_14^post98+tail_14^0 == 0 /\ result_11^0-result_11^post98 == 0), cost: 1
New rule:
l63 -> l64 : 1+head_15^0-y_25^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l63 -> l64 : a_118^0'=a_118^post99, x_176^0'=x_176^post99, i_30^0'=i_30^post99, result_11^0'=result_11^post99, a_289^0'=a_289^post99, y_18^0'=y_18^post99, len_187^0'=len_187^post99, temp0_16^0'=temp0_16^post99, temp_35^0'=temp_35^post99, head_32^0'=head_32^post99, r_39^0'=r_39^post99, a_188^0'=a_188^post99, x_26^0'=x_26^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, a_343^0'=a_343^post99, nondet_12^0'=nondet_12^post99, x_131^0'=x_131^post99, i_110^0'=i_110^post99, rcd_89^0'=rcd_89^post99, a_281^0'=a_281^post99, x_SLAM_f_24^0'=x_SLAM_f_24^post99, len_134^0'=len_134^post99, tail_14^0'=tail_14^post99, head_15^0'=head_15^post99, r_165^0'=r_165^post99, a_149^0'=a_149^post99, x_19^0'=x_19^post99, i_95^0'=i_95^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99, a_342^0'=a_342^post99, y_25^0'=y_25^post99, length_28^0'=length_28^post99, temp0_31^0'=temp0_31^post99, tmp_34^0'=tmp_34^post99, head_SLAM_f_29^0'=head_SLAM_f_29^post99, rcd_59^0'=rcd_59^post99, a_225^0'=a_225^post99, x_SLAM_f_17^0'=x_SLAM_f_17^post99, t_22^0'=t_22^post99, f_171^0'=f_171^post99, r_126^0'=r_126^post99, (len_187^0-len_187^post99 == 0 /\ temp0_16^0-temp0_16^post99 == 0 /\ r_165^0-r_165^post99 == 0 /\ -i_110^post99+i_110^0 == 0 /\ x_131^0-x_131^post99 == 0 /\ i_30^0-i_30^post99 == 0 /\ tmp_34^0-tmp_34^post99 == 0 /\ rcd_89^0-rcd_89^post99 == 0 /\ -i_95^post99+i_95^0 == 0 /\ tail_14^0-tail_14^post99 == 0 /\ -head_15^post99+head_15^0 == 0 /\ a_281^0-a_281^post99 == 0 /\ r_39^0-r_39^post99 == 0 /\ -x_SLAM_f_24^post99+x_SLAM_f_24^0 == 0 /\ -y_25^post99+y_25^0 == 0 /\ nondet_12^0-nondet_12^post99 == 0 /\ -a_225^post99+a_225^0 == 0 /\ -a_149^post99+a_149^0 == 0 /\ a_118^0-a_118^post99 == 0 /\ a_289^0-a_289^post99 == 0 /\ temp_35^0-temp_35^post99 == 0 /\ -x_26^post99+x_26^0 == 0 /\ -length_28^post99+length_28^0 == 0 /\ 1-head_15^0+y_25^0 <= 0 /\ -r_126^post99+r_126^0 == 0 /\ -x_SLAM_f_17^post99+x_SLAM_f_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post99 == 0 /\ a_343^0-a_343^post99 == 0 /\ t_22^0-t_22^post99 == 0 /\ a_188^0-a_188^post99 == 0 /\ -head_SLAM_f_29^post99+head_SLAM_f_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post99+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_59^post99+rcd_59^0 == 0 /\ -y_18^post99+y_18^0 == 0 /\ result_11^0-result_11^post99 == 0 /\ -temp0_31^post99+temp0_31^0 == 0 /\ x_176^0-x_176^post99 == 0 /\ len_134^0-len_134^post99 == 0 /\ x_19^0-x_19^post99 == 0 /\ -a_342^post99+a_342^0 == 0 /\ -f_171^post99+f_171^0 == 0 /\ -head_32^post99+head_32^0 == 0), cost: 1
New rule:
l63 -> l64 : 1-head_15^0+y_25^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l64 -> l31 : a_118^0'=a_118^post100, x_176^0'=x_176^post100, i_30^0'=i_30^post100, result_11^0'=result_11^post100, a_289^0'=a_289^post100, y_18^0'=y_18^post100, len_187^0'=len_187^post100, temp0_16^0'=temp0_16^post100, temp_35^0'=temp_35^post100, head_32^0'=head_32^post100, r_39^0'=r_39^post100, a_188^0'=a_188^post100, x_26^0'=x_26^post100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post100, a_343^0'=a_343^post100, nondet_12^0'=nondet_12^post100, x_131^0'=x_131^post100, i_110^0'=i_110^post100, rcd_89^0'=rcd_89^post100, a_281^0'=a_281^post100, x_SLAM_f_24^0'=x_SLAM_f_24^post100, len_134^0'=len_134^post100, tail_14^0'=tail_14^post100, head_15^0'=head_15^post100, r_165^0'=r_165^post100, a_149^0'=a_149^post100, x_19^0'=x_19^post100, i_95^0'=i_95^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100, a_342^0'=a_342^post100, y_25^0'=y_25^post100, length_28^0'=length_28^post100, temp0_31^0'=temp0_31^post100, tmp_34^0'=tmp_34^post100, head_SLAM_f_29^0'=head_SLAM_f_29^post100, rcd_59^0'=rcd_59^post100, a_225^0'=a_225^post100, x_SLAM_f_17^0'=x_SLAM_f_17^post100, t_22^0'=t_22^post100, f_171^0'=f_171^post100, r_126^0'=r_126^post100, (0 == 0 /\ -r_126^post100+r_126^0 == 0 /\ a_281^0-a_281^post100 == 0 /\ -f_171^post100+f_171^0 == 0 /\ -a_149^post100+a_149^0 == 0 /\ x_176^0-x_176^post100 == 0 /\ rcd_59^0-rcd_59^post100 == 0 /\ head_15^0-head_15^post100 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -x_26^post100+x_26^0 == 0 /\ -tmp_34^post100+tmp_34^0 == 0 /\ -x_SLAM_f_17^post100+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post100+head_SLAM_f_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post100+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_31^0-temp0_31^post100 == 0 /\ -x_19^post100+x_19^0 == 0 /\ -nondet_12^post100+nondet_12^0 == 0 /\ a_342^0-a_342^post100 == 0 /\ x_131^0-x_131^post100 == 0 /\ a_289^0-a_289^post100 == 0 /\ temp_35^0-temp_35^post100 == 0 /\ a_188^0-a_188^post100 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post100 == 0 /\ i_30^0-i_30^post100 == 0 /\ y_18^0-y_18^post100 == 0 /\ 1+a_118^0-i_110^post100 <= 0 /\ result_11^0-result_11^post100 == 0 /\ -i_95^post100+i_95^0 == 0 /\ tail_14^0-tail_14^post100 == 0 /\ head_32^0-head_32^post100 == 0 /\ temp0_16^0-temp0_16^post100 == 0 /\ a_118^0-a_118^post100 == 0 /\ -r_165^post100+r_165^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_134^0-len_134^post100 == 0 /\ -r_39^post100+r_39^0 == 0 /\ -t_22^post100+t_22^0 == 0 /\ -length_28^post100+length_28^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post100 == 0 /\ -a_225^post100+a_225^0 == 0 /\ -a_343^post100+a_343^0 == 0 /\ -rcd_89^post100+rcd_89^0 == 0 /\ -1-a_118^0+i_110^post100 <= 0 /\ len_187^0-len_187^post100 == 0 /\ -y_25^post100+y_25^0 == 0), cost: 1
New rule:
l64 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l5 -> l0 : a_118^0'=a_118^post102, x_176^0'=x_176^post102, i_30^0'=i_30^post102, result_11^0'=result_11^post102, a_289^0'=a_289^post102, y_18^0'=y_18^post102, len_187^0'=len_187^post102, temp0_16^0'=temp0_16^post102, temp_35^0'=temp_35^post102, head_32^0'=head_32^post102, r_39^0'=r_39^post102, a_188^0'=a_188^post102, x_26^0'=x_26^post102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post102, a_343^0'=a_343^post102, nondet_12^0'=nondet_12^post102, x_131^0'=x_131^post102, i_110^0'=i_110^post102, rcd_89^0'=rcd_89^post102, a_281^0'=a_281^post102, x_SLAM_f_24^0'=x_SLAM_f_24^post102, len_134^0'=len_134^post102, tail_14^0'=tail_14^post102, head_15^0'=head_15^post102, r_165^0'=r_165^post102, a_149^0'=a_149^post102, x_19^0'=x_19^post102, i_95^0'=i_95^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102, a_342^0'=a_342^post102, y_25^0'=y_25^post102, length_28^0'=length_28^post102, temp0_31^0'=temp0_31^post102, tmp_34^0'=tmp_34^post102, head_SLAM_f_29^0'=head_SLAM_f_29^post102, rcd_59^0'=rcd_59^post102, a_225^0'=a_225^post102, x_SLAM_f_17^0'=x_SLAM_f_17^post102, t_22^0'=t_22^post102, f_171^0'=f_171^post102, r_126^0'=r_126^post102, (0 == 0 /\ -head_15^post102+head_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102-head_32^post102 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+tmp_34^post102 <= 0 /\ x_19^0-x_19^post102 == 0 /\ -tmp_34^post102+head_32^post102 <= 0 /\ -tmp_34^post102+head_32^post102 == 0 /\ -a_225^post102+a_225^0 == 0 /\ -f_171^post102+f_171^0 == 0 /\ a_281^0-a_281^post102 == 0 /\ temp0_16^0-temp0_16^post102 == 0 /\ r_165^0-r_165^post102 == 0 /\ -r_126^post102+r_126^0 == 0 /\ x_131^0-x_131^post102 == 0 /\ result_11^0-result_11^post102 == 0 /\ 1-length_28^0 <= 0 /\ -a_149^post102+a_149^0 == 0 /\ a_343^0-a_343^post102 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102+head_32^post102 <= 0 /\ -nondet_12^post102+nondet_12^0 == 0 /\ 2-length_28^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post102-tmp_34^post102 <= 0 /\ -x_26^post102+x_26^0 == 0 /\ -i_110^post102+i_110^0 == 0 /\ a_289^0-a_289^post102 == 0 /\ -x_SLAM_f_17^post102+x_SLAM_f_17^0 == 0 /\ tmp_34^post102-head_32^post102 <= 0 /\ -r_39^post102+r_39^0 == 0 /\ -2+i_30^post102 <= 0 /\ -i_95^post102+i_95^0 == 0 /\ -x_SLAM_f_24^post102+x_SLAM_f_24^0 == 0 /\ -head_SLAM_f_29^post102+tail_14^post102 <= 0 /\ a_188^0-a_188^post102 == 0 /\ -y_18^post102+y_18^0 == 0 /\ a_118^0-a_118^post102 == 0 /\ -1-i_30^0+i_30^post102 == 0 /\ -temp0_31^post102+temp0_31^0 == 0 /\ -temp_35^0+tmp_34^post102 == 0 /\ -x_176^post102+x_176^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post102+length_28^0 <= 0 /\ 1+i_30^0-length_28^0 <= 0 /\ head_SLAM_f_29^post102-tail_14^post102 <= 0 /\ -length_28^post102+length_28^0 == 0 /\ a_342^0-a_342^post102 == 0 /\ len_134^0-len_134^post102 == 0 /\ rcd_89^0-rcd_89^post102 == 0 /\ len_187^0-len_187^post102 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post102-length_28^0 <= 0 /\ -t_22^post102+t_22^0 == 0 /\ -y_25^post102+y_25^0 == 0 /\ 2-i_30^post102 <= 0), cost: 1
New rule:
l5 -> l0 : i_30^0'=2, temp_35^0'=temp_35^post102, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_28^0, tail_14^0'=tail_14^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, head_SLAM_f_29^0'=tail_14^post102, rcd_59^0'=rcd_59^post102, (-1+i_30^0 == 0 /\ 1+i_30^0-length_28^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l65 -> l30 : a_118^0'=a_118^post103, x_176^0'=x_176^post103, i_30^0'=i_30^post103, result_11^0'=result_11^post103, a_289^0'=a_289^post103, y_18^0'=y_18^post103, len_187^0'=len_187^post103, temp0_16^0'=temp0_16^post103, temp_35^0'=temp_35^post103, head_32^0'=head_32^post103, r_39^0'=r_39^post103, a_188^0'=a_188^post103, x_26^0'=x_26^post103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post103, a_343^0'=a_343^post103, nondet_12^0'=nondet_12^post103, x_131^0'=x_131^post103, i_110^0'=i_110^post103, rcd_89^0'=rcd_89^post103, a_281^0'=a_281^post103, x_SLAM_f_24^0'=x_SLAM_f_24^post103, len_134^0'=len_134^post103, tail_14^0'=tail_14^post103, head_15^0'=head_15^post103, r_165^0'=r_165^post103, a_149^0'=a_149^post103, x_19^0'=x_19^post103, i_95^0'=i_95^post103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103, a_342^0'=a_342^post103, y_25^0'=y_25^post103, length_28^0'=length_28^post103, temp0_31^0'=temp0_31^post103, tmp_34^0'=tmp_34^post103, head_SLAM_f_29^0'=head_SLAM_f_29^post103, rcd_59^0'=rcd_59^post103, a_225^0'=a_225^post103, x_SLAM_f_17^0'=x_SLAM_f_17^post103, t_22^0'=t_22^post103, f_171^0'=f_171^post103, r_126^0'=r_126^post103, (x_26^0-x_26^post103 == 0 /\ -t_22^post103+t_22^0 == 0 /\ a_289^0-a_289^post103 == 0 /\ i_110^0-i_110^post103 == 0 /\ -rcd_59^post103+rcd_59^0 == 0 /\ x_176^0-x_176^post103 == 0 /\ head_15^0-head_15^post103 == 0 /\ -rcd_89^post103+rcd_89^0 == 0 /\ -tmp_34^post103+tmp_34^0 == 0 /\ -r_126^post103+r_126^0 == 0 /\ a_188^0-a_188^post103 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post103 == 0 /\ -f_171^post103+f_171^0 == 0 /\ i_30^0-i_30^post103 == 0 /\ y_18^0-y_18^post103 == 0 /\ -a_342^post103+a_342^0 == 0 /\ x_131^0-x_131^post103 == 0 /\ -r_165^post103+r_165^0 == 0 /\ -temp0_31^post103+temp0_31^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post103+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_19^post103+x_19^0 == 0 /\ a_343^0-a_343^post103 == 0 /\ -a_281^post103+a_281^0 == 0 /\ len_134^0-len_134^post103 == 0 /\ temp_35^0-temp_35^post103 == 0 /\ -a_225^post103+a_225^0 == 0 /\ temp0_16^0-temp0_16^post103 == 0 /\ a_118^0-a_118^post103 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post103 == 0 /\ -a_149^post103+a_149^0 == 0 /\ -i_95^post103+i_95^0 == 0 /\ len_187^0-len_187^post103 == 0 /\ -x_SLAM_f_17^post103+x_SLAM_f_17^0 == 0 /\ -head_SLAM_f_29^post103+head_SLAM_f_29^0 == 0 /\ result_11^0-result_11^post103 == 0 /\ length_28^0-length_28^post103 == 0 /\ -r_39^post103+r_39^0 == 0 /\ tail_14^0-tail_14^post103 == 0 /\ y_25^0-y_25^post103 == 0 /\ head_32^0-head_32^post103 == 0 /\ -nondet_12^post103+nondet_12^0 == 0), cost: 1
New rule:
l65 -> l30 : TRUE, cost: 1

Simplified rules
Start location: l65
 104: l0 -> l1 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_SLAM_f_24^0'=head_32^0, head_15^0'=head_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, (i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -i_30^0+length_28^0 <= 0), cost: 1
 105: l0 -> l2 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post1, head_32^0'=temp_35^0, rcd_89^0'=rcd_89^post1, i_95^0'=i_30^0, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1+i_30^0-length_28^0 <= 0), cost: 1
 146: l1 -> l61 : r_39^0'=r_39^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_30^0 >= 0, cost: 1
 106: l2 -> l0 : TRUE, cost: 1
 107: l3 -> l5 : i_30^0'=1, temp_35^0'=temp_35^post4, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_28^0, tail_14^0'=tail_14^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, head_SLAM_f_29^0'=tail_14^post4, (i_30^0 == 0 /\ 1+i_30^0-length_28^0 <= 0), cost: 1
 153: l5 -> l0 : i_30^0'=2, temp_35^0'=temp_35^post102, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_28^0, tail_14^0'=tail_14^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, head_SLAM_f_29^0'=tail_14^post102, rcd_59^0'=rcd_59^post102, (-1+i_30^0 == 0 /\ 1+i_30^0-length_28^0 <= 0), cost: 1
 108: l6 -> l8 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, (a_281^0 >= 0 /\ a_149^0 >= 0), cost: 1
 109: l8 -> l9 : 1+y_18^0-x_19^0 <= 0, cost: 1
 110: l8 -> l9 : 1-y_18^0+x_19^0 <= 0, cost: 1
 111: l9 -> l10 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0), cost: 1
 112: l10 -> l11 : 1+tail_14^0-head_15^0 <= 0, cost: 1
 113: l10 -> l11 : 1-tail_14^0+head_15^0 <= 0, cost: 1
 114: l11 -> l12 : 1-y_18^0+head_15^0 <= 0, cost: 1
 115: l11 -> l12 : 1+y_18^0-head_15^0 <= 0, cost: 1
 116: l12 -> l13 : 1+y_18^0-t_22^0 <= 0, cost: 1
 117: l12 -> l13 : 1-y_18^0+t_22^0 <= 0, cost: 1
 118: l13 -> l7 : a_281^0'=a_343^0, a_149^0'=a_342^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 119: l7 -> l6 : TRUE, cost: 1
 120: l23 -> l24 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (len_134^0 >= 0 /\ a_149^0 >= 0), cost: 1
 121: l24 -> l25 : 1+y_18^0-x_19^0 <= 0, cost: 1
 122: l24 -> l25 : 1-y_18^0+x_19^0 <= 0, cost: 1
 123: l25 -> l26 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0), cost: 1
 124: l26 -> l27 : 1+tail_14^0-head_15^0 <= 0, cost: 1
 125: l26 -> l27 : 1-tail_14^0+head_15^0 <= 0, cost: 1
 126: l27 -> l28 : 1-y_18^0+head_15^0 <= 0, cost: 1
 127: l27 -> l28 : 1+y_18^0-head_15^0 <= 0, cost: 1
 128: l28 -> l29 : 1+y_18^0-t_22^0 <= 0, cost: 1
 129: l28 -> l29 : 1-y_18^0+t_22^0 <= 0, cost: 1
 130: l29 -> l6 : len_134^0'=1+a_225^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 131: l30 -> l3 : i_30^0'=0, head_32^0'=tail_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=tail_14^0, 0 == 0, cost: 1
 132: l31 -> l32 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0), cost: 1
 136: l31 -> l35 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (len_134^0 >= 0 /\ a_149^0 >= 0), cost: 1
 133: l32 -> l33 : 1+tail_14^0-head_15^0 <= 0, cost: 1
 134: l32 -> l33 : 1-tail_14^0+head_15^0 <= 0, cost: 1
 135: l33 -> l23 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 137: l35 -> l36 : 1-x_26^0+y_25^0 <= 0, cost: 1
 138: l35 -> l36 : 1+x_26^0-y_25^0 <= 0, cost: 1
 139: l36 -> l37 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 1
 140: l37 -> l38 : 1+head_15^0-y_25^0 <= 0, cost: 1
 141: l37 -> l38 : 1-head_15^0+y_25^0 <= 0, cost: 1
 142: l38 -> l39 : 1-x_176^0+y_25^0 <= 0, cost: 1
 143: l38 -> l39 : 1+x_176^0-y_25^0 <= 0, cost: 1
 144: l39 -> l34 : len_134^0'=len_187^0, a_149^0'=a_188^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 145: l34 -> l31 : TRUE, cost: 1
 147: l61 -> l62 : 1-x_26^0+y_25^0 <= 0, cost: 1
 148: l61 -> l62 : 1+x_26^0-y_25^0 <= 0, cost: 1
 149: l62 -> l63 : a_118^0'=a_149^0, (x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 1
 150: l63 -> l64 : 1+head_15^0-y_25^0 <= 0, cost: 1
 151: l63 -> l64 : 1-head_15^0+y_25^0 <= 0, cost: 1
 152: l64 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1
 154: l65 -> l30 : TRUE, cost: 1


Eliminating location l30 by chaining:

Applied chaining
First rule:
l65 -> l30 : TRUE, cost: 1
Second rule:
l30 -> l3 : i_30^0'=0, head_32^0'=tail_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=tail_14^0, 0 == 0, cost: 1
New rule:
l65 -> l3 : i_30^0'=0, head_32^0'=tail_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=tail_14^0, 0 == 0, cost: 2

Applied deletion
Removed the following rules: 131 154

Eliminating location l3 by chaining:

Applied chaining
First rule:
l65 -> l3 : i_30^0'=0, head_32^0'=tail_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=tail_14^0, 0 == 0, cost: 2
Second rule:
l3 -> l5 : i_30^0'=1, temp_35^0'=temp_35^post4, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_28^0, tail_14^0'=tail_14^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, head_SLAM_f_29^0'=tail_14^post4, (i_30^0 == 0 /\ 1+i_30^0-length_28^0 <= 0), cost: 1
New rule:
l65 -> l5 : i_30^0'=1, temp_35^0'=temp_35^post4, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, tail_14^0'=tail_14^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^0, head_SLAM_f_29^0'=tail_14^post4, (0 == 0 /\ 1-nondet_12^10 <= 0), cost: 3

Applied simplification
Original rule:
l65 -> l5 : i_30^0'=1, temp_35^0'=temp_35^post4, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, tail_14^0'=tail_14^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^0, head_SLAM_f_29^0'=tail_14^post4, (0 == 0 /\ 1-nondet_12^10 <= 0), cost: 3
New rule:
l65 -> l5 : i_30^0'=1, temp_35^0'=temp_35^post4, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, tail_14^0'=tail_14^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^0, head_SLAM_f_29^0'=tail_14^post4, -1+nondet_12^10 >= 0, cost: 3

Applied deletion
Removed the following rules: 107 155

Eliminating location l5 by chaining:

Applied chaining
First rule:
l65 -> l5 : i_30^0'=1, temp_35^0'=temp_35^post4, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, tail_14^0'=tail_14^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^0, head_SLAM_f_29^0'=tail_14^post4, -1+nondet_12^10 >= 0, cost: 3
Second rule:
l5 -> l0 : i_30^0'=2, temp_35^0'=temp_35^post102, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_28^0, tail_14^0'=tail_14^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, tmp_34^0'=temp_35^0, head_SLAM_f_29^0'=tail_14^post102, rcd_59^0'=rcd_59^post102, (-1+i_30^0 == 0 /\ 1+i_30^0-length_28^0 <= 0), cost: 1
New rule:
l65 -> l0 : i_30^0'=2, temp_35^0'=temp_35^post102, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, tail_14^0'=tail_14^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^post4, head_SLAM_f_29^0'=tail_14^post102, rcd_59^0'=rcd_59^post102, (0 == 0 /\ -1+nondet_12^10 >= 0 /\ 2-nondet_12^10 <= 0), cost: 4

Applied simplification
Original rule:
l65 -> l0 : i_30^0'=2, temp_35^0'=temp_35^post102, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, tail_14^0'=tail_14^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^post4, head_SLAM_f_29^0'=tail_14^post102, rcd_59^0'=rcd_59^post102, (0 == 0 /\ -1+nondet_12^10 >= 0 /\ 2-nondet_12^10 <= 0), cost: 4
New rule:
l65 -> l0 : i_30^0'=2, temp_35^0'=temp_35^post102, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, tail_14^0'=tail_14^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^post4, head_SLAM_f_29^0'=tail_14^post102, rcd_59^0'=rcd_59^post102, -2+nondet_12^10 >= 0, cost: 4

Applied deletion
Removed the following rules: 153 156

Eliminating location l1 by chaining:

Applied chaining
First rule:
l0 -> l1 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, x_SLAM_f_24^0'=head_32^0, head_15^0'=head_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, (i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -i_30^0+length_28^0 <= 0), cost: 1
Second rule:
l1 -> l61 : r_39^0'=r_39^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_30^0 >= 0, cost: 1
New rule:
l0 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, (i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ i_30^post0 >= 0 /\ -i_30^0+length_28^0 <= 0), cost: 2

Applied simplification
Original rule:
l0 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, (i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ i_30^post0 >= 0 /\ -i_30^0+length_28^0 <= 0), cost: 2
New rule:
l0 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, (i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -i_30^0+length_28^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 104 146

Eliminating location l2 by chaining:

Applied chaining
First rule:
l0 -> l2 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post1, head_32^0'=temp_35^0, rcd_89^0'=rcd_89^post1, i_95^0'=i_30^0, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1+i_30^0-length_28^0 <= 0), cost: 1
Second rule:
l2 -> l0 : TRUE, cost: 1
New rule:
l0 -> l0 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post1, head_32^0'=temp_35^0, rcd_89^0'=rcd_89^post1, i_95^0'=i_30^0, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1+i_30^0-length_28^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 105 106

Eliminating location l23 by chaining:

Applied chaining
First rule:
l33 -> l23 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
Second rule:
l23 -> l24 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (len_134^0 >= 0 /\ a_149^0 >= 0), cost: 1
New rule:
l33 -> l24 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ a_149^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 120 135

Eliminating location l7 by chaining:

Applied chaining
First rule:
l13 -> l7 : a_281^0'=a_343^0, a_149^0'=a_342^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
Second rule:
l7 -> l6 : TRUE, cost: 1
New rule:
l13 -> l6 : a_281^0'=a_343^0, a_149^0'=a_342^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 118 119

Eliminating location l34 by chaining:

Applied chaining
First rule:
l39 -> l34 : len_134^0'=len_187^0, a_149^0'=a_188^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
Second rule:
l34 -> l31 : TRUE, cost: 1
New rule:
l39 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 144 145

Eliminated locations on linear paths
Start location: l65
 158: l0 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, (i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -i_30^0+length_28^0 <= 0), cost: 2
 159: l0 -> l0 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post1, head_32^0'=temp_35^0, rcd_89^0'=rcd_89^post1, i_95^0'=i_30^0, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1+i_30^0-length_28^0 <= 0), cost: 2
 108: l6 -> l8 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, (a_281^0 >= 0 /\ a_149^0 >= 0), cost: 1
 109: l8 -> l9 : 1+y_18^0-x_19^0 <= 0, cost: 1
 110: l8 -> l9 : 1-y_18^0+x_19^0 <= 0, cost: 1
 111: l9 -> l10 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0), cost: 1
 112: l10 -> l11 : 1+tail_14^0-head_15^0 <= 0, cost: 1
 113: l10 -> l11 : 1-tail_14^0+head_15^0 <= 0, cost: 1
 114: l11 -> l12 : 1-y_18^0+head_15^0 <= 0, cost: 1
 115: l11 -> l12 : 1+y_18^0-head_15^0 <= 0, cost: 1
 116: l12 -> l13 : 1+y_18^0-t_22^0 <= 0, cost: 1
 117: l12 -> l13 : 1-y_18^0+t_22^0 <= 0, cost: 1
 161: l13 -> l6 : a_281^0'=a_343^0, a_149^0'=a_342^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 121: l24 -> l25 : 1+y_18^0-x_19^0 <= 0, cost: 1
 122: l24 -> l25 : 1-y_18^0+x_19^0 <= 0, cost: 1
 123: l25 -> l26 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0), cost: 1
 124: l26 -> l27 : 1+tail_14^0-head_15^0 <= 0, cost: 1
 125: l26 -> l27 : 1-tail_14^0+head_15^0 <= 0, cost: 1
 126: l27 -> l28 : 1-y_18^0+head_15^0 <= 0, cost: 1
 127: l27 -> l28 : 1+y_18^0-head_15^0 <= 0, cost: 1
 128: l28 -> l29 : 1+y_18^0-t_22^0 <= 0, cost: 1
 129: l28 -> l29 : 1-y_18^0+t_22^0 <= 0, cost: 1
 130: l29 -> l6 : len_134^0'=1+a_225^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 132: l31 -> l32 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0), cost: 1
 136: l31 -> l35 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (len_134^0 >= 0 /\ a_149^0 >= 0), cost: 1
 133: l32 -> l33 : 1+tail_14^0-head_15^0 <= 0, cost: 1
 134: l32 -> l33 : 1-tail_14^0+head_15^0 <= 0, cost: 1
 160: l33 -> l24 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ a_149^0 >= 0), cost: 2
 137: l35 -> l36 : 1-x_26^0+y_25^0 <= 0, cost: 1
 138: l35 -> l36 : 1+x_26^0-y_25^0 <= 0, cost: 1
 139: l36 -> l37 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 1
 140: l37 -> l38 : 1+head_15^0-y_25^0 <= 0, cost: 1
 141: l37 -> l38 : 1-head_15^0+y_25^0 <= 0, cost: 1
 142: l38 -> l39 : 1-x_176^0+y_25^0 <= 0, cost: 1
 143: l38 -> l39 : 1+x_176^0-y_25^0 <= 0, cost: 1
 162: l39 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 147: l61 -> l62 : 1-x_26^0+y_25^0 <= 0, cost: 1
 148: l61 -> l62 : 1+x_26^0-y_25^0 <= 0, cost: 1
 149: l62 -> l63 : a_118^0'=a_149^0, (x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 1
 150: l63 -> l64 : 1+head_15^0-y_25^0 <= 0, cost: 1
 151: l63 -> l64 : 1-head_15^0+y_25^0 <= 0, cost: 1
 152: l64 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1
 157: l65 -> l0 : i_30^0'=2, temp_35^0'=temp_35^post102, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, tail_14^0'=tail_14^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^post4, head_SLAM_f_29^0'=tail_14^post102, rcd_59^0'=rcd_59^post102, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l0 -> l0 : i_30^0'=1+i_30^0, temp_35^0'=temp_35^post1, head_32^0'=temp_35^0, rcd_89^0'=rcd_89^post1, i_95^0'=i_30^0, tmp_34^0'=temp_35^0, (i_30^0 >= 0 /\ 1+i_30^0-length_28^0 <= 0), cost: 2
New rule:
l0 -> l0 : i_30^0'=i_30^0+n0, temp_35^0'=temp_35^post1, head_32^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, i_95^0'=-1+i_30^0+n0, tmp_34^0'=temp_35^post1, (i_30^0 >= 0 /\ -2+n0 >= 0 /\ -i_30^0-n0+length_28^0 >= 0), cost: 2*n0

Applied instantiation
Original rule:
l0 -> l0 : i_30^0'=i_30^0+n0, temp_35^0'=temp_35^post1, head_32^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, i_95^0'=-1+i_30^0+n0, tmp_34^0'=temp_35^post1, (i_30^0 >= 0 /\ -2+n0 >= 0 /\ -i_30^0-n0+length_28^0 >= 0), cost: 2*n0
New rule:
l0 -> l0 : i_30^0'=length_28^0, temp_35^0'=temp_35^post1, head_32^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, i_95^0'=-1+length_28^0, tmp_34^0'=temp_35^post1, (0 >= 0 /\ i_30^0 >= 0 /\ -2-i_30^0+length_28^0 >= 0), cost: -2*i_30^0+2*length_28^0

Applied simplification
Original rule:
l0 -> l0 : i_30^0'=length_28^0, temp_35^0'=temp_35^post1, head_32^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, i_95^0'=-1+length_28^0, tmp_34^0'=temp_35^post1, (0 >= 0 /\ i_30^0 >= 0 /\ -2-i_30^0+length_28^0 >= 0), cost: -2*i_30^0+2*length_28^0
New rule:
l0 -> l0 : i_30^0'=length_28^0, temp_35^0'=temp_35^post1, head_32^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, i_95^0'=-1+length_28^0, tmp_34^0'=temp_35^post1, (i_30^0 >= 0 /\ -2-i_30^0+length_28^0 >= 0), cost: -2*i_30^0+2*length_28^0

Applied deletion
Removed the following rules: 159

Accelerated simple loops
Start location: l65
 158: l0 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, (i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -i_30^0+length_28^0 <= 0), cost: 2
 164: l0 -> l0 : i_30^0'=length_28^0, temp_35^0'=temp_35^post1, head_32^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, i_95^0'=-1+length_28^0, tmp_34^0'=temp_35^post1, (i_30^0 >= 0 /\ -2-i_30^0+length_28^0 >= 0), cost: -2*i_30^0+2*length_28^0
 108: l6 -> l8 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, (a_281^0 >= 0 /\ a_149^0 >= 0), cost: 1
 109: l8 -> l9 : 1+y_18^0-x_19^0 <= 0, cost: 1
 110: l8 -> l9 : 1-y_18^0+x_19^0 <= 0, cost: 1
 111: l9 -> l10 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0), cost: 1
 112: l10 -> l11 : 1+tail_14^0-head_15^0 <= 0, cost: 1
 113: l10 -> l11 : 1-tail_14^0+head_15^0 <= 0, cost: 1
 114: l11 -> l12 : 1-y_18^0+head_15^0 <= 0, cost: 1
 115: l11 -> l12 : 1+y_18^0-head_15^0 <= 0, cost: 1
 116: l12 -> l13 : 1+y_18^0-t_22^0 <= 0, cost: 1
 117: l12 -> l13 : 1-y_18^0+t_22^0 <= 0, cost: 1
 161: l13 -> l6 : a_281^0'=a_343^0, a_149^0'=a_342^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 121: l24 -> l25 : 1+y_18^0-x_19^0 <= 0, cost: 1
 122: l24 -> l25 : 1-y_18^0+x_19^0 <= 0, cost: 1
 123: l25 -> l26 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0), cost: 1
 124: l26 -> l27 : 1+tail_14^0-head_15^0 <= 0, cost: 1
 125: l26 -> l27 : 1-tail_14^0+head_15^0 <= 0, cost: 1
 126: l27 -> l28 : 1-y_18^0+head_15^0 <= 0, cost: 1
 127: l27 -> l28 : 1+y_18^0-head_15^0 <= 0, cost: 1
 128: l28 -> l29 : 1+y_18^0-t_22^0 <= 0, cost: 1
 129: l28 -> l29 : 1-y_18^0+t_22^0 <= 0, cost: 1
 130: l29 -> l6 : len_134^0'=1+a_225^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 132: l31 -> l32 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0), cost: 1
 136: l31 -> l35 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (len_134^0 >= 0 /\ a_149^0 >= 0), cost: 1
 133: l32 -> l33 : 1+tail_14^0-head_15^0 <= 0, cost: 1
 134: l32 -> l33 : 1-tail_14^0+head_15^0 <= 0, cost: 1
 160: l33 -> l24 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ a_149^0 >= 0), cost: 2
 137: l35 -> l36 : 1-x_26^0+y_25^0 <= 0, cost: 1
 138: l35 -> l36 : 1+x_26^0-y_25^0 <= 0, cost: 1
 139: l36 -> l37 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 1
 140: l37 -> l38 : 1+head_15^0-y_25^0 <= 0, cost: 1
 141: l37 -> l38 : 1-head_15^0+y_25^0 <= 0, cost: 1
 142: l38 -> l39 : 1-x_176^0+y_25^0 <= 0, cost: 1
 143: l38 -> l39 : 1+x_176^0-y_25^0 <= 0, cost: 1
 162: l39 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 147: l61 -> l62 : 1-x_26^0+y_25^0 <= 0, cost: 1
 148: l61 -> l62 : 1+x_26^0-y_25^0 <= 0, cost: 1
 149: l62 -> l63 : a_118^0'=a_149^0, (x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 1
 150: l63 -> l64 : 1+head_15^0-y_25^0 <= 0, cost: 1
 151: l63 -> l64 : 1-head_15^0+y_25^0 <= 0, cost: 1
 152: l64 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1
 157: l65 -> l0 : i_30^0'=2, temp_35^0'=temp_35^post102, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, tail_14^0'=tail_14^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^post4, head_SLAM_f_29^0'=tail_14^post102, rcd_59^0'=rcd_59^post102, -2+nondet_12^10 >= 0, cost: 4


Applied chaining
First rule:
l65 -> l0 : i_30^0'=2, temp_35^0'=temp_35^post102, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, tail_14^0'=tail_14^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^post4, head_SLAM_f_29^0'=tail_14^post102, rcd_59^0'=rcd_59^post102, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l0 -> l0 : i_30^0'=length_28^0, temp_35^0'=temp_35^post1, head_32^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, i_95^0'=-1+length_28^0, tmp_34^0'=temp_35^post1, (i_30^0 >= 0 /\ -2-i_30^0+length_28^0 >= 0), cost: -2*i_30^0+2*length_28^0
New rule:
l65 -> l0 : i_30^0'=nondet_12^10, temp_35^0'=temp_35^post1, head_32^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, rcd_89^0'=rcd_89^post1, tail_14^0'=tail_14^post102, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^post1, head_SLAM_f_29^0'=tail_14^post102, rcd_59^0'=rcd_59^post102, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10

Applied deletion
Removed the following rules: 164

Chained accelerated rules with incoming rules
Start location: l65
 158: l0 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, (i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -i_30^0+length_28^0 <= 0), cost: 2
 108: l6 -> l8 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, (a_281^0 >= 0 /\ a_149^0 >= 0), cost: 1
 109: l8 -> l9 : 1+y_18^0-x_19^0 <= 0, cost: 1
 110: l8 -> l9 : 1-y_18^0+x_19^0 <= 0, cost: 1
 111: l9 -> l10 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0), cost: 1
 112: l10 -> l11 : 1+tail_14^0-head_15^0 <= 0, cost: 1
 113: l10 -> l11 : 1-tail_14^0+head_15^0 <= 0, cost: 1
 114: l11 -> l12 : 1-y_18^0+head_15^0 <= 0, cost: 1
 115: l11 -> l12 : 1+y_18^0-head_15^0 <= 0, cost: 1
 116: l12 -> l13 : 1+y_18^0-t_22^0 <= 0, cost: 1
 117: l12 -> l13 : 1-y_18^0+t_22^0 <= 0, cost: 1
 161: l13 -> l6 : a_281^0'=a_343^0, a_149^0'=a_342^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 121: l24 -> l25 : 1+y_18^0-x_19^0 <= 0, cost: 1
 122: l24 -> l25 : 1-y_18^0+x_19^0 <= 0, cost: 1
 123: l25 -> l26 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0), cost: 1
 124: l26 -> l27 : 1+tail_14^0-head_15^0 <= 0, cost: 1
 125: l26 -> l27 : 1-tail_14^0+head_15^0 <= 0, cost: 1
 126: l27 -> l28 : 1-y_18^0+head_15^0 <= 0, cost: 1
 127: l27 -> l28 : 1+y_18^0-head_15^0 <= 0, cost: 1
 128: l28 -> l29 : 1+y_18^0-t_22^0 <= 0, cost: 1
 129: l28 -> l29 : 1-y_18^0+t_22^0 <= 0, cost: 1
 130: l29 -> l6 : len_134^0'=1+a_225^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 132: l31 -> l32 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0), cost: 1
 136: l31 -> l35 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (len_134^0 >= 0 /\ a_149^0 >= 0), cost: 1
 133: l32 -> l33 : 1+tail_14^0-head_15^0 <= 0, cost: 1
 134: l32 -> l33 : 1-tail_14^0+head_15^0 <= 0, cost: 1
 160: l33 -> l24 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ a_149^0 >= 0), cost: 2
 137: l35 -> l36 : 1-x_26^0+y_25^0 <= 0, cost: 1
 138: l35 -> l36 : 1+x_26^0-y_25^0 <= 0, cost: 1
 139: l36 -> l37 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 1
 140: l37 -> l38 : 1+head_15^0-y_25^0 <= 0, cost: 1
 141: l37 -> l38 : 1-head_15^0+y_25^0 <= 0, cost: 1
 142: l38 -> l39 : 1-x_176^0+y_25^0 <= 0, cost: 1
 143: l38 -> l39 : 1+x_176^0-y_25^0 <= 0, cost: 1
 162: l39 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 147: l61 -> l62 : 1-x_26^0+y_25^0 <= 0, cost: 1
 148: l61 -> l62 : 1+x_26^0-y_25^0 <= 0, cost: 1
 149: l62 -> l63 : a_118^0'=a_149^0, (x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 1
 150: l63 -> l64 : 1+head_15^0-y_25^0 <= 0, cost: 1
 151: l63 -> l64 : 1-head_15^0+y_25^0 <= 0, cost: 1
 152: l64 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1
 157: l65 -> l0 : i_30^0'=2, temp_35^0'=temp_35^post102, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, tail_14^0'=tail_14^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^post4, head_SLAM_f_29^0'=tail_14^post102, rcd_59^0'=rcd_59^post102, -2+nondet_12^10 >= 0, cost: 4
 165: l65 -> l0 : i_30^0'=nondet_12^10, temp_35^0'=temp_35^post1, head_32^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, rcd_89^0'=rcd_89^post1, tail_14^0'=tail_14^post102, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^post1, head_SLAM_f_29^0'=tail_14^post102, rcd_59^0'=rcd_59^post102, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10


Eliminating location l0 by chaining:

Applied chaining
First rule:
l65 -> l0 : i_30^0'=2, temp_35^0'=temp_35^post102, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, tail_14^0'=tail_14^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^post4, head_SLAM_f_29^0'=tail_14^post102, rcd_59^0'=rcd_59^post102, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l0 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, (i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -i_30^0+length_28^0 <= 0), cost: 2
New rule:
l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ 2 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 6

Applied simplification
Original rule:
l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ 2 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 6
New rule:
l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 6

Applied chaining
First rule:
l65 -> l0 : i_30^0'=nondet_12^10, temp_35^0'=temp_35^post1, head_32^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post44, rcd_89^0'=rcd_89^post1, tail_14^0'=tail_14^post102, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, tmp_34^0'=temp_35^post1, head_SLAM_f_29^0'=tail_14^post102, rcd_59^0'=rcd_59^post102, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10
Second rule:
l0 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, (i_30^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -i_30^0+length_28^0 <= 0), cost: 2
New rule:
l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (0 <= 0 /\ nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0), cost: 2+2*nondet_12^10

Applied simplification
Original rule:
l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (0 <= 0 /\ nondet_12^10 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0), cost: 2+2*nondet_12^10
New rule:
l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0), cost: 2+2*nondet_12^10

Applied deletion
Removed the following rules: 157 158 165

Eliminating location l62 by chaining:

Applied chaining
First rule:
l61 -> l62 : 1-x_26^0+y_25^0 <= 0, cost: 1
Second rule:
l62 -> l63 : a_118^0'=a_149^0, (x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 1
New rule:
l61 -> l63 : a_118^0'=a_149^0, (x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1-x_26^0+y_25^0 <= 0), cost: 2

Applied chaining
First rule:
l61 -> l62 : 1+x_26^0-y_25^0 <= 0, cost: 1
Second rule:
l62 -> l63 : a_118^0'=a_149^0, (x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 1
New rule:
l61 -> l63 : a_118^0'=a_149^0, (x_SLAM_f_24^0-head_15^0 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 2

Applied deletion
Removed the following rules: 147 148 149

Eliminating location l64 by chaining:

Applied chaining
First rule:
l63 -> l64 : 1+head_15^0-y_25^0 <= 0, cost: 1
Second rule:
l64 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1
New rule:
l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2

Applied chaining
First rule:
l63 -> l64 : 1-head_15^0+y_25^0 <= 0, cost: 1
Second rule:
l64 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1
New rule:
l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 150 151 152

Eliminating location l32 by chaining:

Applied chaining
First rule:
l31 -> l32 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0), cost: 1
Second rule:
l32 -> l33 : 1+tail_14^0-head_15^0 <= 0, cost: 1
New rule:
l31 -> l33 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0), cost: 2

Applied chaining
First rule:
l31 -> l32 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0), cost: 1
Second rule:
l32 -> l33 : 1-tail_14^0+head_15^0 <= 0, cost: 1
New rule:
l31 -> l33 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 132 133 134

Eliminating location l35 by chaining:

Applied chaining
First rule:
l31 -> l35 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (len_134^0 >= 0 /\ a_149^0 >= 0), cost: 1
Second rule:
l35 -> l36 : 1-x_26^0+y_25^0 <= 0, cost: 1
New rule:
l31 -> l36 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0), cost: 2

Applied chaining
First rule:
l31 -> l35 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (len_134^0 >= 0 /\ a_149^0 >= 0), cost: 1
Second rule:
l35 -> l36 : 1+x_26^0-y_25^0 <= 0, cost: 1
New rule:
l31 -> l36 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 136 137 138

Eliminating location l24 by chaining:

Applied chaining
First rule:
l33 -> l24 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ a_149^0 >= 0), cost: 2
Second rule:
l24 -> l25 : 1+y_18^0-x_19^0 <= 0, cost: 1
New rule:
l33 -> l25 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0), cost: 3

Applied chaining
First rule:
l33 -> l24 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ a_149^0 >= 0), cost: 2
Second rule:
l24 -> l25 : 1-y_18^0+x_19^0 <= 0, cost: 1
New rule:
l33 -> l25 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0), cost: 3

Applied deletion
Removed the following rules: 121 122 160

Eliminating location l26 by chaining:

Applied chaining
First rule:
l25 -> l26 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0), cost: 1
Second rule:
l26 -> l27 : 1+tail_14^0-head_15^0 <= 0, cost: 1
New rule:
l25 -> l27 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0), cost: 2

Applied chaining
First rule:
l25 -> l26 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0), cost: 1
Second rule:
l26 -> l27 : 1-tail_14^0+head_15^0 <= 0, cost: 1
New rule:
l25 -> l27 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0), cost: 2

Applied deletion
Removed the following rules: 123 124 125

Eliminating location l28 by chaining:

Applied chaining
First rule:
l27 -> l28 : 1-y_18^0+head_15^0 <= 0, cost: 1
Second rule:
l28 -> l29 : 1+y_18^0-t_22^0 <= 0, cost: 1
New rule:
l27 -> l29 : (1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 2

Applied chaining
First rule:
l27 -> l28 : 1-y_18^0+head_15^0 <= 0, cost: 1
Second rule:
l28 -> l29 : 1-y_18^0+t_22^0 <= 0, cost: 1
New rule:
l27 -> l29 : (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 2

Applied chaining
First rule:
l27 -> l28 : 1+y_18^0-head_15^0 <= 0, cost: 1
Second rule:
l28 -> l29 : 1+y_18^0-t_22^0 <= 0, cost: 1
New rule:
l27 -> l29 : (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0), cost: 2

Applied chaining
First rule:
l27 -> l28 : 1+y_18^0-head_15^0 <= 0, cost: 1
Second rule:
l28 -> l29 : 1-y_18^0+t_22^0 <= 0, cost: 1
New rule:
l27 -> l29 : (1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 126 127 128 129

Eliminating location l8 by chaining:

Applied chaining
First rule:
l6 -> l8 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, (a_281^0 >= 0 /\ a_149^0 >= 0), cost: 1
Second rule:
l8 -> l9 : 1+y_18^0-x_19^0 <= 0, cost: 1
New rule:
l6 -> l9 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0), cost: 2

Applied chaining
First rule:
l6 -> l8 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, (a_281^0 >= 0 /\ a_149^0 >= 0), cost: 1
Second rule:
l8 -> l9 : 1-y_18^0+x_19^0 <= 0, cost: 1
New rule:
l6 -> l9 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, (a_281^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 108 109 110

Eliminating location l10 by chaining:

Applied chaining
First rule:
l9 -> l10 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0), cost: 1
Second rule:
l10 -> l11 : 1+tail_14^0-head_15^0 <= 0, cost: 1
New rule:
l9 -> l11 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0), cost: 2

Applied chaining
First rule:
l9 -> l10 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0), cost: 1
Second rule:
l10 -> l11 : 1-tail_14^0+head_15^0 <= 0, cost: 1
New rule:
l9 -> l11 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 111 112 113

Eliminating location l12 by chaining:

Applied chaining
First rule:
l11 -> l12 : 1-y_18^0+head_15^0 <= 0, cost: 1
Second rule:
l12 -> l13 : 1+y_18^0-t_22^0 <= 0, cost: 1
New rule:
l11 -> l13 : (1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 2

Applied chaining
First rule:
l11 -> l12 : 1-y_18^0+head_15^0 <= 0, cost: 1
Second rule:
l12 -> l13 : 1-y_18^0+t_22^0 <= 0, cost: 1
New rule:
l11 -> l13 : (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 2

Applied chaining
First rule:
l11 -> l12 : 1+y_18^0-head_15^0 <= 0, cost: 1
Second rule:
l12 -> l13 : 1+y_18^0-t_22^0 <= 0, cost: 1
New rule:
l11 -> l13 : (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0), cost: 2

Applied chaining
First rule:
l11 -> l12 : 1+y_18^0-head_15^0 <= 0, cost: 1
Second rule:
l12 -> l13 : 1-y_18^0+t_22^0 <= 0, cost: 1
New rule:
l11 -> l13 : (1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 114 115 116 117

Eliminating location l37 by chaining:

Applied chaining
First rule:
l36 -> l37 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 1
Second rule:
l37 -> l38 : 1+head_15^0-y_25^0 <= 0, cost: 1
New rule:
l36 -> l38 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2

Applied chaining
First rule:
l36 -> l37 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 1
Second rule:
l37 -> l38 : 1-head_15^0+y_25^0 <= 0, cost: 1
New rule:
l36 -> l38 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ 1-head_15^0+y_25^0 <= 0 /\ tail_14^0-y_25^0 == 0), cost: 2

Applied deletion
Removed the following rules: 139 140 141

Eliminating location l39 by chaining:

Applied chaining
First rule:
l38 -> l39 : 1-x_176^0+y_25^0 <= 0, cost: 1
Second rule:
l39 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
New rule:
l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-x_176^0+y_25^0 <= 0), cost: 3

Applied chaining
First rule:
l38 -> l39 : 1+x_176^0-y_25^0 <= 0, cost: 1
Second rule:
l39 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
New rule:
l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+x_176^0-y_25^0 <= 0), cost: 3

Applied deletion
Removed the following rules: 142 143 162

Eliminated locations on tree-shaped paths
Start location: l65
 184: l6 -> l9 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0), cost: 2
 185: l6 -> l9 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, (a_281^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0), cost: 2
 186: l9 -> l11 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0), cost: 2
 187: l9 -> l11 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0), cost: 2
 188: l11 -> l13 : (1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 2
 189: l11 -> l13 : (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 2
 190: l11 -> l13 : (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0), cost: 2
 191: l11 -> l13 : (1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0), cost: 2
 161: l13 -> l6 : a_281^0'=a_343^0, a_149^0'=a_342^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 178: l25 -> l27 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0), cost: 2
 179: l25 -> l27 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0), cost: 2
 180: l27 -> l29 : (1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 2
 181: l27 -> l29 : (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 2
 182: l27 -> l29 : (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0), cost: 2
 183: l27 -> l29 : (1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0), cost: 2
 130: l29 -> l6 : len_134^0'=1+a_225^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 172: l31 -> l33 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0), cost: 2
 173: l31 -> l33 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0), cost: 2
 174: l31 -> l36 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0), cost: 2
 175: l31 -> l36 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0), cost: 2
 176: l33 -> l25 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0), cost: 3
 177: l33 -> l25 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0), cost: 3
 192: l36 -> l38 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
 193: l36 -> l38 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ 1-head_15^0+y_25^0 <= 0 /\ tail_14^0-y_25^0 == 0), cost: 2
 194: l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-x_176^0+y_25^0 <= 0), cost: 3
 195: l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+x_176^0-y_25^0 <= 0), cost: 3
 168: l61 -> l63 : a_118^0'=a_149^0, (x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1-x_26^0+y_25^0 <= 0), cost: 2
 169: l61 -> l63 : a_118^0'=a_149^0, (x_SLAM_f_24^0-head_15^0 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 2
 170: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
 171: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0), cost: 2
 166: l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 6
 167: l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0), cost: 2+2*nondet_12^10


Applied merging
first rule:
l6 -> l9 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0), cost: 2
second rule:
l6 -> l9 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, (a_281^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0), cost: 2
new rule:
l6 -> l9 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, ((a_281^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0) \/ (a_281^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0)), cost: 2

Applied merging
first rule:
l9 -> l11 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0), cost: 2
second rule:
l9 -> l11 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0), cost: 2
new rule:
l9 -> l11 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, ((head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0)), cost: 2

Applied merging
first rule:
l11 -> l13 : (1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 2
second rule:
l11 -> l13 : (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 2
new rule:
l11 -> l13 : ((1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0) \/ (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0)), cost: 2

Applied merging
first rule:
l11 -> l13 : (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0), cost: 2
second rule:
l11 -> l13 : (1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0), cost: 2
new rule:
l11 -> l13 : ((1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0)), cost: 2

Applied merging
first rule:
l11 -> l13 : ((1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0) \/ (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0)), cost: 2
second rule:
l11 -> l13 : ((1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0)), cost: 2
new rule:
l11 -> l13 : ((1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0) \/ (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0)), cost: 2

Applied merging
first rule:
l25 -> l27 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0), cost: 2
second rule:
l25 -> l27 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0), cost: 2
new rule:
l25 -> l27 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, ((head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0)), cost: 2

Applied merging
first rule:
l27 -> l29 : (1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 2
second rule:
l27 -> l29 : (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0), cost: 2
new rule:
l27 -> l29 : ((1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0) \/ (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0)), cost: 2

Applied merging
first rule:
l27 -> l29 : (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0), cost: 2
second rule:
l27 -> l29 : (1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0), cost: 2
new rule:
l27 -> l29 : ((1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0)), cost: 2

Applied merging
first rule:
l27 -> l29 : ((1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0) \/ (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0)), cost: 2
second rule:
l27 -> l29 : ((1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0)), cost: 2
new rule:
l27 -> l29 : ((1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0) \/ (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0)), cost: 2

Applied merging
first rule:
l31 -> l33 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0), cost: 2
second rule:
l31 -> l33 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0), cost: 2
new rule:
l31 -> l33 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0)), cost: 2

Applied merging
first rule:
l31 -> l36 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0), cost: 2
second rule:
l31 -> l36 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0), cost: 2
new rule:
l31 -> l36 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, ((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)), cost: 2

Applied merging
first rule:
l36 -> l38 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
second rule:
l36 -> l38 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ 1-head_15^0+y_25^0 <= 0 /\ tail_14^0-y_25^0 == 0), cost: 2
new rule:
l36 -> l38 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, ((x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ 1-head_15^0+y_25^0 <= 0 /\ tail_14^0-y_25^0 == 0) \/ (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1+head_15^0-y_25^0 <= 0)), cost: 2

Applied merging
first rule:
l61 -> l63 : a_118^0'=a_149^0, (x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1-x_26^0+y_25^0 <= 0), cost: 2
second rule:
l61 -> l63 : a_118^0'=a_149^0, (x_SLAM_f_24^0-head_15^0 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0), cost: 2
new rule:
l61 -> l63 : a_118^0'=a_149^0, ((x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (x_SLAM_f_24^0-head_15^0 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0)), cost: 2

Merged rules
Start location: l65
 196: l6 -> l9 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, ((a_281^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0) \/ (a_281^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0)), cost: 2
 197: l9 -> l11 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, ((head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0)), cost: 2
 200: l11 -> l13 : ((1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0) \/ (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0)), cost: 2
 161: l13 -> l6 : a_281^0'=a_343^0, a_149^0'=a_342^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 201: l25 -> l27 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, ((head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0)), cost: 2
 204: l27 -> l29 : ((1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0) \/ (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0)), cost: 2
 130: l29 -> l6 : len_134^0'=1+a_225^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 205: l31 -> l33 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0)), cost: 2
 206: l31 -> l36 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, ((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)), cost: 2
 176: l33 -> l25 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0), cost: 3
 177: l33 -> l25 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0), cost: 3
 207: l36 -> l38 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, ((x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ 1-head_15^0+y_25^0 <= 0 /\ tail_14^0-y_25^0 == 0) \/ (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1+head_15^0-y_25^0 <= 0)), cost: 2
 194: l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-x_176^0+y_25^0 <= 0), cost: 3
 195: l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+x_176^0-y_25^0 <= 0), cost: 3
 208: l61 -> l63 : a_118^0'=a_149^0, ((x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (x_SLAM_f_24^0-head_15^0 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0)), cost: 2
 170: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
 171: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0), cost: 2
 166: l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 6
 167: l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0), cost: 2+2*nondet_12^10


Eliminating location l36 by chaining:

Applied chaining
First rule:
l31 -> l36 : x_176^0'=x_176^post49, r_39^0'=r_39^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, ((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)), cost: 2
Second rule:
l36 -> l38 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, ((x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ 1-head_15^0+y_25^0 <= 0 /\ tail_14^0-y_25^0 == 0) \/ (x_26^0-f_171^0 == 0 /\ x_SLAM_f_24^0-head_15^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1+head_15^0-y_25^0 <= 0)), cost: 2
New rule:
l31 -> l38 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0)) /\ ((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0))), cost: 4

Applied simplification
Original rule:
l31 -> l38 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0)) /\ ((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0))), cost: 4
New rule:
l31 -> l38 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 4

Applied deletion
Removed the following rules: 206 207

Eliminating location l27 by chaining:

Applied chaining
First rule:
l25 -> l27 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, ((head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0)), cost: 2
Second rule:
l27 -> l29 : ((1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0) \/ (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0)), cost: 2
New rule:
l25 -> l29 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, ((1+y_18^0-head_15^0 <= 0 \/ 1-y_18^0+head_15^0 <= 0 \/ (1+y_18^0-head_15^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0) \/ (1+y_18^0-head_15^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0)) /\ ((head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0))), cost: 4

Applied simplification
Original rule:
l25 -> l29 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, ((1+y_18^0-head_15^0 <= 0 \/ 1-y_18^0+head_15^0 <= 0 \/ (1+y_18^0-head_15^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0) \/ (1+y_18^0-head_15^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0)) /\ ((head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0))), cost: 4
New rule:
l25 -> l29 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, ((head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0)), cost: 4

Applied deletion
Removed the following rules: 201 204

Eliminating location l29 by chaining:

Applied chaining
First rule:
l25 -> l29 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, ((head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0)), cost: 4
Second rule:
l29 -> l6 : len_134^0'=1+a_225^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l25 -> l6 : len_134^0'=1+a_281^0-a_149^0, a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0))), cost: 5

Applied deletion
Removed the following rules: 130 210

Eliminating location l9 by chaining:

Applied chaining
First rule:
l6 -> l9 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, ((a_281^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0) \/ (a_281^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0)), cost: 2
Second rule:
l9 -> l11 : a_343^0'=-1+a_281^0+a_149^0, a_342^0'=0, t_22^0'=x_19^0, ((head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0)), cost: 2
New rule:
l6 -> l11 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, (((head_15^post6-x_SLAM_f_17^post6 == 0 /\ y_18^0-tail_14^post6 == 0 /\ 1+head_15^post6-tail_14^post6 <= 0) \/ (head_15^post6-x_SLAM_f_17^post6 == 0 /\ y_18^0-tail_14^post6 == 0 /\ 1-head_15^post6+tail_14^post6 <= 0)) /\ ((a_281^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0) \/ (a_281^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0))), cost: 4

Applied simplification
Original rule:
l6 -> l11 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, (((head_15^post6-x_SLAM_f_17^post6 == 0 /\ y_18^0-tail_14^post6 == 0 /\ 1+head_15^post6-tail_14^post6 <= 0) \/ (head_15^post6-x_SLAM_f_17^post6 == 0 /\ y_18^0-tail_14^post6 == 0 /\ 1-head_15^post6+tail_14^post6 <= 0)) /\ ((a_281^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0) \/ (a_281^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0))), cost: 4
New rule:
l6 -> l11 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, (((head_15^post6-x_SLAM_f_17^post6 == 0 /\ y_18^0-tail_14^post6 == 0 /\ 1-head_15^post6+tail_14^post6 <= 0) \/ (head_15^post6-x_SLAM_f_17^post6 == 0 /\ y_18^0-tail_14^post6 == 0 /\ 1+head_15^post6-tail_14^post6 <= 0)) /\ ((a_281^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0) \/ (a_281^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0))), cost: 4

Applied deletion
Removed the following rules: 196 197

Eliminating location l11 by chaining:

Applied chaining
First rule:
l6 -> l11 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, (((head_15^post6-x_SLAM_f_17^post6 == 0 /\ y_18^0-tail_14^post6 == 0 /\ 1-head_15^post6+tail_14^post6 <= 0) \/ (head_15^post6-x_SLAM_f_17^post6 == 0 /\ y_18^0-tail_14^post6 == 0 /\ 1+head_15^post6-tail_14^post6 <= 0)) /\ ((a_281^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0) \/ (a_281^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0))), cost: 4
Second rule:
l11 -> l13 : ((1+y_18^0-t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0) \/ (1+y_18^0-t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1-y_18^0+t_22^0 <= 0 /\ 1+y_18^0-head_15^0 <= 0) \/ (1-y_18^0+t_22^0 <= 0 /\ 1-y_18^0+head_15^0 <= 0)), cost: 2
New rule:
l6 -> l13 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, (((head_15^post6-x_SLAM_f_17^post6 == 0 /\ y_18^0-tail_14^post6 == 0 /\ 1-head_15^post6+tail_14^post6 <= 0) \/ (head_15^post6-x_SLAM_f_17^post6 == 0 /\ y_18^0-tail_14^post6 == 0 /\ 1+head_15^post6-tail_14^post6 <= 0)) /\ ((a_281^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0) \/ (a_281^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0)) /\ ((1-y_18^0+x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-y_18^0+x_19^0 <= 0 /\ 1-head_15^post6+y_18^0 <= 0) \/ (1+y_18^0-x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-head_15^post6+y_18^0 <= 0 /\ 1+y_18^0-x_19^0 <= 0))), cost: 6

Applied simplification
Original rule:
l6 -> l13 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, (((head_15^post6-x_SLAM_f_17^post6 == 0 /\ y_18^0-tail_14^post6 == 0 /\ 1-head_15^post6+tail_14^post6 <= 0) \/ (head_15^post6-x_SLAM_f_17^post6 == 0 /\ y_18^0-tail_14^post6 == 0 /\ 1+head_15^post6-tail_14^post6 <= 0)) /\ ((a_281^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0) \/ (a_281^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0)) /\ ((1-y_18^0+x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-y_18^0+x_19^0 <= 0 /\ 1-head_15^post6+y_18^0 <= 0) \/ (1+y_18^0-x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-head_15^post6+y_18^0 <= 0 /\ 1+y_18^0-x_19^0 <= 0))), cost: 6
New rule:
l6 -> l13 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, (head_15^post6-x_SLAM_f_17^post6 == 0 /\ y_18^0-tail_14^post6 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ ((1-y_18^0+x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-y_18^0+x_19^0 <= 0 /\ 1-head_15^post6+y_18^0 <= 0) \/ (1+y_18^0-x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-head_15^post6+y_18^0 <= 0 /\ 1+y_18^0-x_19^0 <= 0))), cost: 6

Applied deletion
Removed the following rules: 200 212

Eliminating location l13 by chaining:

Applied chaining
First rule:
l6 -> l13 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, (head_15^post6-x_SLAM_f_17^post6 == 0 /\ y_18^0-tail_14^post6 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ ((1-y_18^0+x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-y_18^0+x_19^0 <= 0 /\ 1-head_15^post6+y_18^0 <= 0) \/ (1+y_18^0-x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-head_15^post6+y_18^0 <= 0 /\ 1+y_18^0-x_19^0 <= 0))), cost: 6
Second rule:
l13 -> l6 : a_281^0'=a_343^0, a_149^0'=a_342^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
New rule:
l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, (head_15^post6-x_SLAM_f_17^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ y_18^0-tail_14^post6 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ ((1-y_18^0+x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-y_18^0+x_19^0 <= 0 /\ 1-head_15^post6+y_18^0 <= 0) \/ (1+y_18^0-x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-head_15^post6+y_18^0 <= 0 /\ 1+y_18^0-x_19^0 <= 0))), cost: 8

Applied simplification
Original rule:
l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, (head_15^post6-x_SLAM_f_17^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ y_18^0-tail_14^post6 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ ((1-y_18^0+x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-y_18^0+x_19^0 <= 0 /\ 1-head_15^post6+y_18^0 <= 0) \/ (1+y_18^0-x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-head_15^post6+y_18^0 <= 0 /\ 1+y_18^0-x_19^0 <= 0))), cost: 8
New rule:
l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, (head_15^post6-x_SLAM_f_17^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ y_18^0-tail_14^post6 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ ((1-y_18^0+x_19^0 <= 0 /\ 1-head_15^post6+y_18^0 <= 0) \/ (1+y_18^0-x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-head_15^post6+y_18^0 <= 0 /\ 1+y_18^0-x_19^0 <= 0) \/ (1-y_18^0+x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0))), cost: 8

Applied deletion
Removed the following rules: 161 213

Eliminated locations on linear paths
Start location: l65
 214: l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, (head_15^post6-x_SLAM_f_17^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ y_18^0-tail_14^post6 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ ((1-y_18^0+x_19^0 <= 0 /\ 1-head_15^post6+y_18^0 <= 0) \/ (1+y_18^0-x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-head_15^post6+y_18^0 <= 0 /\ 1+y_18^0-x_19^0 <= 0) \/ (1-y_18^0+x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0))), cost: 8
 211: l25 -> l6 : len_134^0'=1+a_281^0-a_149^0, a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0))), cost: 5
 205: l31 -> l33 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0)), cost: 2
 209: l31 -> l38 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 4
 176: l33 -> l25 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0), cost: 3
 177: l33 -> l25 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0), cost: 3
 194: l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-x_176^0+y_25^0 <= 0), cost: 3
 195: l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+x_176^0-y_25^0 <= 0), cost: 3
 208: l61 -> l63 : a_118^0'=a_149^0, ((x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (x_SLAM_f_24^0-head_15^0 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0)), cost: 2
 170: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
 171: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0), cost: 2
 166: l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 6
 167: l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0), cost: 2+2*nondet_12^10


Applied simplification
Original rule:
l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, (head_15^post6-x_SLAM_f_17^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ y_18^0-tail_14^post6 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ ((1-y_18^0+x_19^0 <= 0 /\ 1-head_15^post6+y_18^0 <= 0) \/ (1+y_18^0-x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-head_15^post6+y_18^0 <= 0 /\ 1+y_18^0-x_19^0 <= 0) \/ (1-y_18^0+x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0))), cost: 8
New rule:
l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=y_18^0, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=head_15^post6, t_22^0'=x_19^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ ((1-y_18^0+x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-y_18^0+x_19^0 <= 0 /\ 1-head_15^post6+y_18^0 <= 0) \/ (1+y_18^0-x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-head_15^post6+y_18^0 <= 0 /\ 1+y_18^0-x_19^0 <= 0))), cost: 8

Simplified simple loops
Start location: l65
 215: l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=y_18^0, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=head_15^post6, t_22^0'=x_19^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ ((1-y_18^0+x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-y_18^0+x_19^0 <= 0 /\ 1-head_15^post6+y_18^0 <= 0) \/ (1+y_18^0-x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-head_15^post6+y_18^0 <= 0 /\ 1+y_18^0-x_19^0 <= 0))), cost: 8
 211: l25 -> l6 : len_134^0'=1+a_281^0-a_149^0, a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0))), cost: 5
 205: l31 -> l33 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0)), cost: 2
 209: l31 -> l38 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 4
 176: l33 -> l25 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0), cost: 3
 177: l33 -> l25 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0), cost: 3
 194: l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-x_176^0+y_25^0 <= 0), cost: 3
 195: l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+x_176^0-y_25^0 <= 0), cost: 3
 208: l61 -> l63 : a_118^0'=a_149^0, ((x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (x_SLAM_f_24^0-head_15^0 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0)), cost: 2
 170: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
 171: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0), cost: 2
 166: l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 6
 167: l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0), cost: 2+2*nondet_12^10


Applied acceleration
Original rule:
l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=y_18^0, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=head_15^post6, t_22^0'=x_19^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ ((1-y_18^0+x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-y_18^0+x_19^0 <= 0 /\ 1-head_15^post6+y_18^0 <= 0) \/ (1+y_18^0-x_19^0 <= 0 /\ 1+head_15^post6-y_18^0 <= 0) \/ (1-head_15^post6+y_18^0 <= 0 /\ 1+y_18^0-x_19^0 <= 0))), cost: 8
New rule:
l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=a_281^0-n3, a_281^0'=a_281^0-n3, tail_14^0'=y_18^0, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=head_15^post6, t_22^0'=x_19^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ -2+n3 >= 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ 1+a_281^0-n3 >= 0 /\ ((-1-y_18^0+x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0) \/ (-1+y_18^0-x_19^0 >= 0 /\ -1+head_15^post6-y_18^0 >= 0) \/ (-1+y_18^0-x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0) \/ (-1+head_15^post6-y_18^0 >= 0 /\ -1-y_18^0+x_19^0 >= 0))), cost: 8*n3

Applied instantiation
Original rule:
l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=a_281^0-n3, a_281^0'=a_281^0-n3, tail_14^0'=y_18^0, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=head_15^post6, t_22^0'=x_19^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ -2+n3 >= 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ 1+a_281^0-n3 >= 0 /\ ((-1-y_18^0+x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0) \/ (-1+y_18^0-x_19^0 >= 0 /\ -1+head_15^post6-y_18^0 >= 0) \/ (-1+y_18^0-x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0) \/ (-1+head_15^post6-y_18^0 >= 0 /\ -1-y_18^0+x_19^0 >= 0))), cost: 8*n3
New rule:
l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, a_281^0'=-1, tail_14^0'=y_18^0, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=head_15^post6, t_22^0'=x_19^0, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ -1+a_281^0 >= 0 /\ ((-1+y_18^0-x_19^0 >= 0 /\ -1+head_15^post6-y_18^0 >= 0) \/ (-1+head_15^post6-y_18^0 >= 0 /\ -1-y_18^0+x_19^0 >= 0) \/ (-1-y_18^0+x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0) \/ (-1+y_18^0-x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0))), cost: 8+8*a_281^0

Applied simplification
Original rule:
l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, a_281^0'=-1, tail_14^0'=y_18^0, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=head_15^post6, t_22^0'=x_19^0, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ -1+a_281^0 >= 0 /\ ((-1+y_18^0-x_19^0 >= 0 /\ -1+head_15^post6-y_18^0 >= 0) \/ (-1+head_15^post6-y_18^0 >= 0 /\ -1-y_18^0+x_19^0 >= 0) \/ (-1-y_18^0+x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0) \/ (-1+y_18^0-x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0))), cost: 8+8*a_281^0
New rule:
l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, a_281^0'=-1, tail_14^0'=y_18^0, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=head_15^post6, t_22^0'=x_19^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ a_149^0 >= 0 /\ -1+a_281^0 >= 0 /\ ((-1+y_18^0-x_19^0 >= 0 /\ -1+head_15^post6-y_18^0 >= 0) \/ (-1+head_15^post6-y_18^0 >= 0 /\ -1-y_18^0+x_19^0 >= 0) \/ (-1+y_18^0-x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0) \/ (-1-y_18^0+x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0))), cost: 8+8*a_281^0

Applied deletion
Removed the following rules: 215

Accelerated simple loops
Start location: l65
 217: l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, a_281^0'=-1, tail_14^0'=y_18^0, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=head_15^post6, t_22^0'=x_19^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ a_149^0 >= 0 /\ -1+a_281^0 >= 0 /\ ((-1+y_18^0-x_19^0 >= 0 /\ -1+head_15^post6-y_18^0 >= 0) \/ (-1+head_15^post6-y_18^0 >= 0 /\ -1-y_18^0+x_19^0 >= 0) \/ (-1+y_18^0-x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0) \/ (-1-y_18^0+x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0))), cost: 8+8*a_281^0
 211: l25 -> l6 : len_134^0'=1+a_281^0-a_149^0, a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0))), cost: 5
 205: l31 -> l33 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0)), cost: 2
 209: l31 -> l38 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 4
 176: l33 -> l25 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0), cost: 3
 177: l33 -> l25 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0), cost: 3
 194: l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-x_176^0+y_25^0 <= 0), cost: 3
 195: l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+x_176^0-y_25^0 <= 0), cost: 3
 208: l61 -> l63 : a_118^0'=a_149^0, ((x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (x_SLAM_f_24^0-head_15^0 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0)), cost: 2
 170: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
 171: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0), cost: 2
 166: l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 6
 167: l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0), cost: 2+2*nondet_12^10


Applied chaining
First rule:
l25 -> l6 : len_134^0'=1+a_281^0-a_149^0, a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0))), cost: 5
Second rule:
l6 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, a_281^0'=-1, tail_14^0'=y_18^0, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=head_15^post6, t_22^0'=x_19^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ a_149^0 >= 0 /\ -1+a_281^0 >= 0 /\ ((-1+y_18^0-x_19^0 >= 0 /\ -1+head_15^post6-y_18^0 >= 0) \/ (-1+head_15^post6-y_18^0 >= 0 /\ -1-y_18^0+x_19^0 >= 0) \/ (-1+y_18^0-x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0) \/ (-1-y_18^0+x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0))), cost: 8+8*a_281^0
New rule:
l25 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, a_281^0'=-1, len_134^0'=1+a_281^0-a_149^0, tail_14^0'=y_18^0, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=head_15^post6, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ y_18^0-tail_14^0 == 0 /\ a_149^0 >= 0 /\ -1+a_281^0 >= 0 /\ head_15^0-x_19^0 == 0 /\ ((-1+y_18^0-x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0) \/ (-1-y_18^0+x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0) \/ (-1+y_18^0-x_19^0 >= 0 /\ -1+head_15^post6-y_18^0 >= 0) \/ (-1+head_15^post6-y_18^0 >= 0 /\ -1-y_18^0+x_19^0 >= 0))), cost: 13+8*a_281^0

Applied deletion
Removed the following rules: 217

Chained accelerated rules with incoming rules
Start location: l65
 211: l25 -> l6 : len_134^0'=1+a_281^0-a_149^0, a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0 /\ head_15^0-x_19^0 == 0) \/ (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ y_18^0-tail_14^0 == 0 /\ head_15^0-x_19^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0))), cost: 5
 218: l25 -> l6 : r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, a_281^0'=-1, len_134^0'=1+a_281^0-a_149^0, tail_14^0'=y_18^0, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=head_15^post6, t_22^0'=x_19^0, (head_15^0-x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ y_18^0-tail_14^0 == 0 /\ a_149^0 >= 0 /\ -1+a_281^0 >= 0 /\ head_15^0-x_19^0 == 0 /\ ((-1+y_18^0-x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0) \/ (-1-y_18^0+x_19^0 >= 0 /\ -1-head_15^post6+y_18^0 >= 0) \/ (-1+y_18^0-x_19^0 >= 0 /\ -1+head_15^post6-y_18^0 >= 0) \/ (-1+head_15^post6-y_18^0 >= 0 /\ -1-y_18^0+x_19^0 >= 0))), cost: 13+8*a_281^0
 205: l31 -> l33 : y_18^0'=tail_14^0, x_26^0'=x_26^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, x_19^0'=head_15^0, y_25^0'=y_25^post45, x_SLAM_f_17^0'=head_15^0, ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1-tail_14^0+head_15^0 <= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ x_26^0-y_25^0 == 0 /\ 1+tail_14^0-head_15^0 <= 0)), cost: 2
 209: l31 -> l38 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 4
 176: l33 -> l25 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1+y_18^0-x_19^0 <= 0), cost: 3
 177: l33 -> l25 : a_289^0'=a_289^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, tail_14^0'=tail_14^post33, head_15^0'=head_15^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ len_134^0 >= 0 /\ 1-y_18^0+x_19^0 <= 0 /\ a_149^0 >= 0), cost: 3
 194: l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-x_176^0+y_25^0 <= 0), cost: 3
 195: l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+x_176^0-y_25^0 <= 0), cost: 3
 208: l61 -> l63 : a_118^0'=a_149^0, ((x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (x_SLAM_f_24^0-head_15^0 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0)), cost: 2
 170: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
 171: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0), cost: 2
 166: l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 6
 167: l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0), cost: 2+2*nondet_12^10


Removed unreachable locations and irrelevant leafs
Start location: l65
 209: l31 -> l38 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 4
 194: l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-x_176^0+y_25^0 <= 0), cost: 3
 195: l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+x_176^0-y_25^0 <= 0), cost: 3
 208: l61 -> l63 : a_118^0'=a_149^0, ((x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (x_SLAM_f_24^0-head_15^0 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0)), cost: 2
 170: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
 171: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0), cost: 2
 166: l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 6
 167: l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0), cost: 2+2*nondet_12^10


Eliminating location l61 by chaining:

Applied chaining
First rule:
l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 6
Second rule:
l61 -> l63 : a_118^0'=a_149^0, ((x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (x_SLAM_f_24^0-head_15^0 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0)), cost: 2
New rule:
l65 -> l63 : a_118^0'=a_149^0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ ((tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1+temp_35^post4-tail_14^post102 <= 0) \/ (tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1-temp_35^post4+tail_14^post102 <= 0))), cost: 8

Applied chaining
First rule:
l65 -> l61 : i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0), cost: 2+2*nondet_12^10
Second rule:
l61 -> l63 : a_118^0'=a_149^0, ((x_SLAM_f_24^0-head_15^0 == 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (x_SLAM_f_24^0-head_15^0 == 0 /\ 1+x_26^0-y_25^0 <= 0 /\ -1+len_134^0 == 0 /\ tail_14^0-y_25^0 == 0)), cost: 2
New rule:
l65 -> l63 : a_118^0'=a_149^0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ ((tail_14^post94-tail_14^post102 == 0 /\ 1+temp_35^post1-tail_14^post102 <= 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0) \/ (tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1-temp_35^post1+tail_14^post102 <= 0))), cost: 4+2*nondet_12^10

Applied deletion
Removed the following rules: 166 167 208

Eliminating location l38 by chaining:

Applied chaining
First rule:
l31 -> l38 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 4
Second rule:
l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-x_176^0+y_25^0 <= 0), cost: 3
New rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, len_134^0'=1+len_134^0, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, a_149^0'=-1+a_149^0, f_171^0'=f_171^post49, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1-x_176^post49+y_25^0 <= 0 /\ ((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 7

Applied simplification
Original rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, len_134^0'=1+len_134^0, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, a_149^0'=-1+a_149^0, f_171^0'=f_171^post49, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1-x_176^post49+y_25^0 <= 0 /\ ((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 7
New rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, len_134^0'=1+len_134^0, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, a_149^0'=-1+a_149^0, f_171^0'=f_171^post49, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1-x_176^post49+y_25^0 <= 0 /\ ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 7

Applied chaining
First rule:
l31 -> l38 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, f_171^0'=f_171^post49, (((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 4
Second rule:
l38 -> l31 : len_134^0'=len_187^0, a_149^0'=a_188^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+x_176^0-y_25^0 <= 0), cost: 3
New rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, len_134^0'=1+len_134^0, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, a_149^0'=-1+a_149^0, f_171^0'=f_171^post49, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1+x_176^post49-y_25^0 <= 0 /\ ((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 7

Applied simplification
Original rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, len_134^0'=1+len_134^0, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, a_149^0'=-1+a_149^0, f_171^0'=f_171^post49, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1+x_176^post49-y_25^0 <= 0 /\ ((len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0) \/ (len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 7
New rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, len_134^0'=1+len_134^0, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, a_149^0'=-1+a_149^0, f_171^0'=f_171^post49, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1+x_176^post49-y_25^0 <= 0 /\ ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 7

Applied deletion
Removed the following rules: 194 195 209

Eliminated locations on tree-shaped paths
Start location: l65
 221: l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, len_134^0'=1+len_134^0, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, a_149^0'=-1+a_149^0, f_171^0'=f_171^post49, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1-x_176^post49+y_25^0 <= 0 /\ ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 7
 222: l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, len_134^0'=1+len_134^0, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, a_149^0'=-1+a_149^0, f_171^0'=f_171^post49, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1+x_176^post49-y_25^0 <= 0 /\ ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 7
 170: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
 171: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0), cost: 2
 219: l65 -> l63 : a_118^0'=a_149^0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ ((tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1+temp_35^post4-tail_14^post102 <= 0) \/ (tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1-temp_35^post4+tail_14^post102 <= 0))), cost: 8
 220: l65 -> l63 : a_118^0'=a_149^0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ ((tail_14^post94-tail_14^post102 == 0 /\ 1+temp_35^post1-tail_14^post102 <= 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0) \/ (tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1-temp_35^post1+tail_14^post102 <= 0))), cost: 4+2*nondet_12^10


Applied simplification
Original rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, len_134^0'=1+len_134^0, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, a_149^0'=-1+a_149^0, f_171^0'=f_171^post49, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1-x_176^post49+y_25^0 <= 0 /\ ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 7
New rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-1+a_149^0, f_171^0'=x_26^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1-x_176^post49+y_25^0 <= 0 /\ ((0 == 0 /\ 1+head_15^post49-y_25^0 <= 0) \/ 1-head_15^post49+y_25^0 <= 0) /\ ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0))), cost: 7

Applied simplification
Original rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, len_134^0'=1+len_134^0, tail_14^0'=tail_14^post49, head_15^0'=head_15^post49, a_149^0'=-1+a_149^0, f_171^0'=f_171^post49, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1+x_176^post49-y_25^0 <= 0 /\ ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0)) /\ ((-head_15^post49+x_SLAM_f_24^post49 == 0 /\ -f_171^post49+x_26^0 == 0 /\ 1-head_15^post49+y_25^0 <= 0 /\ -y_25^0+tail_14^post49 == 0) \/ (-head_15^post49+x_SLAM_f_24^post49 == 0 /\ 1+head_15^post49-y_25^0 <= 0 /\ -f_171^post49+x_26^0 == 0 /\ -y_25^0+tail_14^post49 == 0))), cost: 7
New rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-1+a_149^0, f_171^0'=x_26^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1+x_176^post49-y_25^0 <= 0 /\ ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0)) /\ ((0 == 0 /\ 1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 <= 0 /\ -6*head_15^post49+6*x_SLAM_f_24^post49 == 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 == 0) \/ (1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 <= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 == 0))), cost: 7

Simplified simple loops
Start location: l65
 223: l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-1+a_149^0, f_171^0'=x_26^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1-x_176^post49+y_25^0 <= 0 /\ ((0 == 0 /\ 1+head_15^post49-y_25^0 <= 0) \/ 1-head_15^post49+y_25^0 <= 0) /\ ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0))), cost: 7
 224: l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-1+a_149^0, f_171^0'=x_26^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1+x_176^post49-y_25^0 <= 0 /\ ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0)) /\ ((0 == 0 /\ 1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 <= 0 /\ -6*head_15^post49+6*x_SLAM_f_24^post49 == 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 == 0) \/ (1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 <= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 == 0))), cost: 7
 170: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
 171: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0), cost: 2
 219: l65 -> l63 : a_118^0'=a_149^0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ ((tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1+temp_35^post4-tail_14^post102 <= 0) \/ (tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1-temp_35^post4+tail_14^post102 <= 0))), cost: 8
 220: l65 -> l63 : a_118^0'=a_149^0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ ((tail_14^post94-tail_14^post102 == 0 /\ 1+temp_35^post1-tail_14^post102 <= 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0) \/ (tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1-temp_35^post1+tail_14^post102 <= 0))), cost: 4+2*nondet_12^10


Applied acceleration
Original rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-1+a_149^0, f_171^0'=x_26^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1-x_176^post49+y_25^0 <= 0 /\ ((0 == 0 /\ 1+head_15^post49-y_25^0 <= 0) \/ 1-head_15^post49+y_25^0 <= 0) /\ ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0))), cost: 7
New rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=len_134^0+n7, r_39^0'=r_39^post49, a_188^0'=-n7+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=len_134^0+n7, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-n7+a_149^0, f_171^0'=x_26^0, (-1+x_176^post49-y_25^0 >= 0 /\ -1+n7 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ ((-1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0 /\ 1-n7+a_149^0 >= 0) \/ (-1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0 /\ 1-n7+a_149^0 >= 0)) /\ ((0 >= 0 /\ -1-head_15^post49+y_25^0 >= 0) \/ -1+head_15^post49-y_25^0 >= 0)), cost: 7*n7

Applied instantiation
Original rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=len_134^0+n7, r_39^0'=r_39^post49, a_188^0'=-n7+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=len_134^0+n7, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-n7+a_149^0, f_171^0'=x_26^0, (-1+x_176^post49-y_25^0 >= 0 /\ -1+n7 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ ((-1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0 /\ 1-n7+a_149^0 >= 0) \/ (-1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0 /\ 1-n7+a_149^0 >= 0)) /\ ((0 >= 0 /\ -1-head_15^post49+y_25^0 >= 0) \/ -1+head_15^post49-y_25^0 >= 0)), cost: 7*n7
New rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-1, f_171^0'=x_26^0, (-1+x_176^post49-y_25^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ a_149^0 >= 0 /\ (-1+head_15^post49-y_25^0 >= 0 \/ (0 >= 0 /\ -1-head_15^post49+y_25^0 >= 0)) /\ ((0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (0 >= 0 /\ -1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0))), cost: 7+7*a_149^0

Applied acceleration
Original rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0, r_39^0'=r_39^post49, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-1+a_149^0, f_171^0'=x_26^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1+x_176^post49-y_25^0 <= 0 /\ ((len_134^0 >= 0 /\ a_149^0 >= 0 /\ 1-x_26^0+y_25^0 <= 0) \/ (len_134^0 >= 0 /\ 1+x_26^0-y_25^0 <= 0 /\ a_149^0 >= 0)) /\ ((0 == 0 /\ 1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 <= 0 /\ -6*head_15^post49+6*x_SLAM_f_24^post49 == 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 == 0) \/ (1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 <= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 == 0))), cost: 7
New rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=n9+len_134^0, r_39^0'=r_39^post49, a_188^0'=-n9+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=n9+len_134^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-n9+a_149^0, f_171^0'=x_26^0, (-1+n9 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ -1-x_176^post49+y_25^0 >= 0 /\ ((1-n9+a_149^0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (-1-x_26^0+y_25^0 >= 0 /\ 1-n9+a_149^0 >= 0 /\ len_134^0 >= 0)) /\ ((0 >= 0 /\ 2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 >= 0 /\ -6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ (6*head_15^post49-6*x_SLAM_f_24^post49 >= 0 \/ (2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ 6*head_15^post49-6*x_SLAM_f_24^post49 >= 0)) /\ (-2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 \/ (-6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0))) \/ (2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 >= 0 /\ (-2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 \/ (-6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0))))), cost: 7*n9

Applied instantiation
Original rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=n9+len_134^0, r_39^0'=r_39^post49, a_188^0'=-n9+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=n9+len_134^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-n9+a_149^0, f_171^0'=x_26^0, (-1+n9 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ -1-x_176^post49+y_25^0 >= 0 /\ ((1-n9+a_149^0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (-1-x_26^0+y_25^0 >= 0 /\ 1-n9+a_149^0 >= 0 /\ len_134^0 >= 0)) /\ ((0 >= 0 /\ 2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 >= 0 /\ -6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ (6*head_15^post49-6*x_SLAM_f_24^post49 >= 0 \/ (2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ 6*head_15^post49-6*x_SLAM_f_24^post49 >= 0)) /\ (-2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 \/ (-6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0))) \/ (2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 >= 0 /\ (-2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 \/ (-6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0))))), cost: 7*n9
New rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-1, f_171^0'=x_26^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ -1-x_176^post49+y_25^0 >= 0 /\ a_149^0 >= 0 /\ ((0 >= 0 /\ 2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 >= 0 /\ -6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ ((-6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0) \/ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0) /\ ((2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ 6*head_15^post49-6*x_SLAM_f_24^post49 >= 0) \/ 6*head_15^post49-6*x_SLAM_f_24^post49 >= 0)) \/ (2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 >= 0 /\ ((-6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0) \/ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0))) /\ ((0 >= 0 /\ -1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0) \/ (0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0))), cost: 7+7*a_149^0

Applied simplification
Original rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-1, f_171^0'=x_26^0, (-1+x_176^post49-y_25^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ a_149^0 >= 0 /\ (-1+head_15^post49-y_25^0 >= 0 \/ (0 >= 0 /\ -1-head_15^post49+y_25^0 >= 0)) /\ ((0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (0 >= 0 /\ -1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0))), cost: 7+7*a_149^0
New rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-1, f_171^0'=x_26^0, (-1+x_176^post49-y_25^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ a_149^0 >= 0 /\ (-1-head_15^post49+y_25^0 >= 0 \/ -1+head_15^post49-y_25^0 >= 0) /\ ((0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (0 >= 0 /\ -1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0))), cost: 7+7*a_149^0

Applied simplification
Original rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-1, f_171^0'=x_26^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ -1-x_176^post49+y_25^0 >= 0 /\ a_149^0 >= 0 /\ ((0 >= 0 /\ 2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 >= 0 /\ -6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ ((-6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0) \/ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0) /\ ((2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ 6*head_15^post49-6*x_SLAM_f_24^post49 >= 0) \/ 6*head_15^post49-6*x_SLAM_f_24^post49 >= 0)) \/ (2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 >= 0 /\ ((-6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0) \/ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0))) /\ ((0 >= 0 /\ -1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0) \/ (0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0))), cost: 7+7*a_149^0
New rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-1, f_171^0'=x_26^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ -1-x_176^post49+y_25^0 >= 0 /\ a_149^0 >= 0 /\ ((-1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 /\ 6*head_15^post49-6*x_SLAM_f_24^post49 >= 0) \/ (2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 >= 0 /\ (-2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 \/ (-6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0)))) /\ ((0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (-1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0))), cost: 7+7*a_149^0

Applied deletion
Removed the following rules: 223 224

Accelerated simple loops
Start location: l65
 227: l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-1, f_171^0'=x_26^0, (-1+x_176^post49-y_25^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ a_149^0 >= 0 /\ (-1-head_15^post49+y_25^0 >= 0 \/ -1+head_15^post49-y_25^0 >= 0) /\ ((0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (0 >= 0 /\ -1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0))), cost: 7+7*a_149^0
 228: l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-1, f_171^0'=x_26^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ -1-x_176^post49+y_25^0 >= 0 /\ a_149^0 >= 0 /\ ((-1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 /\ 6*head_15^post49-6*x_SLAM_f_24^post49 >= 0) \/ (2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 >= 0 /\ (-2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 \/ (-6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0)))) /\ ((0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (-1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0))), cost: 7+7*a_149^0
 170: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
 171: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0), cost: 2
 219: l65 -> l63 : a_118^0'=a_149^0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ ((tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1+temp_35^post4-tail_14^post102 <= 0) \/ (tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1-temp_35^post4+tail_14^post102 <= 0))), cost: 8
 220: l65 -> l63 : a_118^0'=a_149^0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ ((tail_14^post94-tail_14^post102 == 0 /\ 1+temp_35^post1-tail_14^post102 <= 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0) \/ (tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1-temp_35^post1+tail_14^post102 <= 0))), cost: 4+2*nondet_12^10


Applied chaining
First rule:
l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
Second rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-1, f_171^0'=x_26^0, (-1+x_176^post49-y_25^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ a_149^0 >= 0 /\ (-1-head_15^post49+y_25^0 >= 0 \/ -1+head_15^post49-y_25^0 >= 0) /\ ((0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (0 >= 0 /\ -1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0))), cost: 7+7*a_149^0
New rule:
l63 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, i_110^0'=1+a_118^0, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-1, f_171^0'=x_26^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+x_176^post49-y_25^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ a_149^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0 /\ ((0 >= 0 /\ -1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0) \/ (-1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0)) /\ (-1-head_15^post49+y_25^0 >= 0 \/ -1+head_15^post49-y_25^0 >= 0)), cost: 9+7*a_149^0

Applied chaining
First rule:
l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0), cost: 2
Second rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-1, f_171^0'=x_26^0, (-1+x_176^post49-y_25^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ a_149^0 >= 0 /\ (-1-head_15^post49+y_25^0 >= 0 \/ -1+head_15^post49-y_25^0 >= 0) /\ ((0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (0 >= 0 /\ -1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0))), cost: 7+7*a_149^0
New rule:
l63 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, i_110^0'=1+a_118^0, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-1, f_171^0'=x_26^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+x_176^post49-y_25^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1-head_15^0+y_25^0 <= 0 /\ a_149^0 >= 0 /\ ((0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (-1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0)) /\ (-1-head_15^post49+y_25^0 >= 0 \/ -1+head_15^post49-y_25^0 >= 0)), cost: 9+7*a_149^0

Applied chaining
First rule:
l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
Second rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-1, f_171^0'=x_26^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ -1-x_176^post49+y_25^0 >= 0 /\ a_149^0 >= 0 /\ ((-1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 /\ 6*head_15^post49-6*x_SLAM_f_24^post49 >= 0) \/ (2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 >= 0 /\ (-2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 \/ (-6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0)))) /\ ((0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (-1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0))), cost: 7+7*a_149^0
New rule:
l63 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, i_110^0'=1+a_118^0, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-1, f_171^0'=x_26^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ -1-x_176^post49+y_25^0 >= 0 /\ a_149^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0 /\ ((-1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0) \/ (-1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0)) /\ ((-1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 /\ 6*head_15^post49-6*x_SLAM_f_24^post49 >= 0) \/ (2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 /\ -1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 >= 0))), cost: 9+7*a_149^0

Applied chaining
First rule:
l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0), cost: 2
Second rule:
l31 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-1, f_171^0'=x_26^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ -1-x_176^post49+y_25^0 >= 0 /\ a_149^0 >= 0 /\ ((-1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 /\ 6*head_15^post49-6*x_SLAM_f_24^post49 >= 0) \/ (2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 >= 0 /\ (-2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 \/ (-6*head_15^post49+6*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0)))) /\ ((0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (-1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0))), cost: 7+7*a_149^0
New rule:
l63 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, i_110^0'=1+a_118^0, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-1, f_171^0'=x_26^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ -1-x_176^post49+y_25^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0 /\ a_149^0 >= 0 /\ ((-1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 /\ 6*head_15^post49-6*x_SLAM_f_24^post49 >= 0) \/ (2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 /\ -1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 >= 0)) /\ ((-1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (-1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0))), cost: 9+7*a_149^0

Applied deletion
Removed the following rules: 227 228

Chained accelerated rules with incoming rules
Start location: l65
 170: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0), cost: 2
 171: l63 -> l31 : i_110^0'=1+a_118^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0), cost: 2
 229: l63 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, i_110^0'=1+a_118^0, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-1, f_171^0'=x_26^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+x_176^post49-y_25^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ a_149^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0 /\ ((0 >= 0 /\ -1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0) \/ (-1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0)) /\ (-1-head_15^post49+y_25^0 >= 0 \/ -1+head_15^post49-y_25^0 >= 0)), cost: 9+7*a_149^0
 230: l63 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, i_110^0'=1+a_118^0, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=y_25^0, head_15^0'=head_15^post49, a_149^0'=-1, f_171^0'=x_26^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -1+x_176^post49-y_25^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ 1-head_15^0+y_25^0 <= 0 /\ a_149^0 >= 0 /\ ((0 >= 0 /\ -1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (-1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0)) /\ (-1-head_15^post49+y_25^0 >= 0 \/ -1+head_15^post49-y_25^0 >= 0)), cost: 9+7*a_149^0
 231: l63 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, i_110^0'=1+a_118^0, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-1, f_171^0'=x_26^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ -1-x_176^post49+y_25^0 >= 0 /\ a_149^0 >= 0 /\ 1+head_15^0-y_25^0 <= 0 /\ ((-1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0) \/ (-1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0)) /\ ((-1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 /\ 6*head_15^post49-6*x_SLAM_f_24^post49 >= 0) \/ (2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 /\ -1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 >= 0))), cost: 9+7*a_149^0
 232: l63 -> l31 : x_176^0'=x_176^post49, len_187^0'=1+len_134^0+a_149^0, r_39^0'=r_39^post49, a_188^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, i_110^0'=1+a_118^0, x_SLAM_f_24^0'=head_15^post49, len_134^0'=1+len_134^0+a_149^0, tail_14^0'=-2*head_15^post49+2*x_SLAM_f_24^post49+y_25^0, head_15^0'=7*head_15^post49-6*x_SLAM_f_24^post49, a_149^0'=-1, f_171^0'=x_26^0, (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 >= 0 /\ -1-x_176^post49+y_25^0 >= 0 /\ 1-head_15^0+y_25^0 <= 0 /\ a_149^0 >= 0 /\ ((-1+7*head_15^post49-6*x_SLAM_f_24^post49-y_25^0 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 /\ 6*head_15^post49-6*x_SLAM_f_24^post49 >= 0) \/ (2*head_15^post49-2*x_SLAM_f_24^post49 >= 0 /\ -2*head_15^post49+2*x_SLAM_f_24^post49 >= 0 /\ -1-7*head_15^post49+6*x_SLAM_f_24^post49+y_25^0 >= 0)) /\ ((-1+x_26^0-y_25^0 >= 0 /\ len_134^0 >= 0) \/ (-1-x_26^0+y_25^0 >= 0 /\ len_134^0 >= 0))), cost: 9+7*a_149^0
 219: l65 -> l63 : a_118^0'=a_149^0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ ((tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1+temp_35^post4-tail_14^post102 <= 0) \/ (tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1-temp_35^post4+tail_14^post102 <= 0))), cost: 8
 220: l65 -> l63 : a_118^0'=a_149^0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, temp_35^0'=temp_35^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post94, x_26^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post44, i_110^0'=i_110^post94, rcd_89^0'=rcd_89^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post94, tail_14^0'=tail_14^post94, head_15^0'=head_15^post94, r_165^0'=r_165^post94, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^post102, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, tmp_34^0'=tmp_34^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, rcd_59^0'=rcd_59^post102, (result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-i_30^post0 <= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ ((tail_14^post94-tail_14^post102 == 0 /\ 1+temp_35^post1-tail_14^post102 <= 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0) \/ (tail_14^post94-tail_14^post102 == 0 /\ -1+len_134^0 == 0 /\ -head_15^post94+x_SLAM_f_24^post94 == 0 /\ 1-temp_35^post1+tail_14^post102 <= 0))), cost: 4+2*nondet_12^10


Removed unreachable locations and irrelevant leafs
Start location: l65
  <empty>


Computing asymptotic complexity

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

Solved cost: 0
Rule cost:   0