WORST_CASE(Omega(0),?)

Initial ITS
Start location: l66
   0: l0 -> l1 : __disjvr_0^0'=__disjvr_0^post0, a_321^0'=a_321^post0, rcd_70^0'=rcd_70^post0, __disjvr_21^0'=__disjvr_21^post0, x_23^0'=x_23^post0, __disjvr_4^0'=__disjvr_4^post0, rcd_222^0'=rcd_222^post0, __disjvr_14^0'=__disjvr_14^post0, head_35^0'=head_35^post0, __disjvr_24^0'=__disjvr_24^post0, temp0_18^0'=temp0_18^post0, lt_386^0'=lt_386^post0, z_229^0'=z_229^post0, __disjvr_9^0'=__disjvr_9^post0, a_210^0'=a_210^post0, rcd_376^0'=rcd_376^post0, __disjvr_19^0'=__disjvr_19^post0, len_195^0'=len_195^post0, __disjvr_29^0'=__disjvr_29^post0, x_19^0'=x_19^post0, r_42^0'=r_42^post0, z_28^0'=z_28^post0, __disjvr_11^0'=__disjvr_11^post0, a_377^0'=a_377^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post0, length_32^0'=length_32^post0, y_22^0'=y_22^post0, __disjvr_6^0'=__disjvr_6^post0, rcd_228^0'=rcd_228^post0, __disjvr_16^0'=__disjvr_16^post0, i_120^0'=i_120^post0, __disjvr_26^0'=__disjvr_26^post0, temp1_30^0'=temp1_30^post0, nondet_12^0'=nondet_12^post0, z_252^0'=z_252^post0, a_27^0'=a_27^post0, rcd_46^0'=rcd_46^post0, __disjvr_20^0'=__disjvr_20^post0, len_286^0'=len_286^post0, __disjvr_3^0'=__disjvr_3^post0, rcd_113^0'=rcd_113^post0, __disjvr_13^0'=__disjvr_13^post0, head_13^0'=head_13^post0, __disjvr_23^0'=__disjvr_23^post0, t_24^0'=t_24^post0, lt_29^0'=lt_29^post0, z_188^0'=z_188^post0, __disjvr_8^0'=__disjvr_8^post0, rcd_264^0'=rcd_264^post0, rcd_356^0'=rcd_356^post0, __disjvr_18^0'=__disjvr_18^post0, i_33^0'=i_33^post0, __disjvr_28^0'=__disjvr_28^post0, tmp_37^0'=tmp_37^post0, r_236^0'=r_236^post0, z_279^0'=z_279^post0, __disjvr_10^0'=__disjvr_10^post0, a_347^0'=a_347^post0, result_11^0'=result_11^post0, __disjvr_22^0'=__disjvr_22^post0, x_SLAM_f_21^0'=x_SLAM_f_21^post0, __disjvr_5^0'=__disjvr_5^post0, rcd_226^0'=rcd_226^post0, __disjvr_15^0'=__disjvr_15^post0, i_111^0'=i_111^post0, __disjvr_25^0'=__disjvr_25^post0, temp0_34^0'=temp0_34^post0, lt_483^0'=lt_483^post0, z_238^0'=z_238^post0, a_166^0'=a_166^post0, a_267^0'=a_267^post0, rcd_396^0'=rcd_396^post0, __disjvr_1^0'=__disjvr_1^post0, len_266^0'=len_266^post0, __disjvr_2^0'=__disjvr_2^post0, rcd_105^0'=rcd_105^post0, z_389^0'=z_389^post0, __disjvr_12^0'=__disjvr_12^post0, ct_20^0'=ct_20^post0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, lt_17^0'=lt_17^post0, z_160^0'=z_160^post0, __disjvr_7^0'=__disjvr_7^post0, rcd_237^0'=rcd_237^post0, rcd_352^0'=rcd_352^post0, __disjvr_17^0'=__disjvr_17^post0, i_227^0'=i_227^post0, __disjvr_27^0'=__disjvr_27^post0, temp_38^0'=temp_38^post0, r_178^0'=r_178^post0, z_265^0'=z_265^post0, (0 == 0 /\ __disjvr_14^0-__disjvr_14^post0 == 0 /\ a_210^0-a_210^post0 == 0 /\ -x_23^0+y_22^0 <= 0 /\ head_13^0-head_13^post0 == 0 /\ rcd_222^0-rcd_222^post0 == 0 /\ -z_188^post0+z_188^0 == 0 /\ -lt_483^post0+lt_483^0 == 0 /\ -a_347^0 <= 0 /\ -rcd_356^post0+rcd_356^0 == 0 /\ -r_178^post0+r_178^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post0 == 0 /\ length_32^0-length_32^post0 == 0 /\ -rcd_352^post0+rcd_352^0 == 0 /\ -len_266^post0+len_266^0 == 0 /\ rcd_228^0-rcd_228^post0 == 0 /\ -z_265^post0+z_265^0 == 0 /\ a_347^0-a_347^post0 == 0 /\ -z_160^post0+z_160^0 == 0 /\ -z_252^post0+z_252^0 == 0 /\ -nondet_12^post0+nondet_12^0 == 0 /\ rcd_396^0-rcd_396^post0 == 0 /\ rcd_113^0-rcd_113^post0 == 0 /\ -rcd_226^post0+rcd_226^0 == 0 /\ x_23^0-y_22^0 <= 0 /\ -a_166^post0+a_166^0 == 0 /\ __disjvr_28^0-__disjvr_28^post0 == 0 /\ __disjvr_8^0-__disjvr_8^post0 == 0 /\ z_279^0-z_279^post0 == 0 /\ -__disjvr_23^post0+__disjvr_23^0 == 0 /\ -__disjvr_25^post0+__disjvr_25^0 == 0 /\ -__disjvr_19^post0+__disjvr_19^0 == 0 /\ rcd_46^0-rcd_46^post0 == 0 /\ -temp_38^post0+temp_38^0 == 0 /\ a_321^0-a_321^post0 == 0 /\ temp0_18^0-temp0_18^post0 == 0 /\ -rcd_237^post0+rcd_237^0 == 0 /\ i_120^0-i_120^post0 == 0 /\ -__disjvr_22^post0+__disjvr_22^0 == 0 /\ -__disjvr_20^post0+__disjvr_20^0 == 0 /\ rcd_70^0-rcd_70^post0 == 0 /\ -__disjvr_2^post0+__disjvr_2^0 == 0 /\ -__disjvr_16^post0+__disjvr_16^0 == 0 /\ -z_389^post0+z_389^0 == 0 /\ len_286^0-len_286^post0 == 0 /\ -temp0_18^0+result_11^post0 == 0 /\ z_238^0-z_238^post0 == 0 /\ __disjvr_6^0-__disjvr_6^post0 == 0 /\ __disjvr_0^0-__disjvr_0^post0 == 0 /\ -a_27^post0+a_27^0 == 0 /\ -__disjvr_12^post0+__disjvr_12^0 == 0 /\ -rcd_264^post0+rcd_264^0 == 0 /\ -i_227^post0+i_227^0 == 0 /\ -a_267^post0+a_267^0 == 0 /\ -i_111^post0+i_111^0 == 0 /\ -__disjvr_10^post0+__disjvr_10^0 == 0 /\ lt_386^0-lt_386^post0 == 0 /\ -__disjvr_7^post0+__disjvr_7^0 == 0 /\ __disjvr_4^0-__disjvr_4^post0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 <= 0 /\ -temp0_34^post0+temp0_34^0 == 0 /\ a_377^0-a_377^post0 == 0 /\ -tmp_37^post0+tmp_37^0 == 0 /\ rcd_376^0-rcd_376^post0 == 0 /\ __disjvr_29^0-__disjvr_29^post0 == 0 /\ __disjvr_24^0-__disjvr_24^post0 == 0 /\ __disjvr_11^0-__disjvr_11^post0 == 0 /\ r_236^0-r_236^post0 == 0 /\ -__disjvr_17^post0+__disjvr_17^0 == 0 /\ -__disjvr_15^post0+__disjvr_15^0 == 0 /\ r_42^0-r_42^post0 == 0 /\ -head_35^post0+head_35^0 == 0 /\ -__disjvr_1^post0+__disjvr_1^0 == 0 /\ __disjvr_5^0-__disjvr_5^post0 == 0 /\ __disjvr_9^0-__disjvr_9^post0 == 0 /\ len_195^0-len_195^post0 == 0 /\ -z_28^post0+z_28^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^post0 <= 0 /\ __disjvr_26^0-__disjvr_26^post0 == 0 /\ i_33^0-i_33^post0 == 0 /\ -__disjvr_27^post0+__disjvr_27^0 == 0 /\ -__disjvr_13^post0+__disjvr_13^0 == 0 /\ -z_229^post0+z_229^0 == 0 /\ __disjvr_3^0-__disjvr_3^post0 == 0 /\ __disjvr_21^0-__disjvr_21^post0 == 0 /\ temp1_30^0-temp1_30^post0 == 0 /\ -__disjvr_18^post0+__disjvr_18^0 == 0 /\ -rcd_105^post0+rcd_105^0 == 0 /\ lt_29^0-lt_29^post0 == 0), cost: 1
   1: l0 -> l3 : __disjvr_0^0'=__disjvr_0^post1, a_321^0'=a_321^post1, rcd_70^0'=rcd_70^post1, __disjvr_21^0'=__disjvr_21^post1, x_23^0'=x_23^post1, __disjvr_4^0'=__disjvr_4^post1, rcd_222^0'=rcd_222^post1, __disjvr_14^0'=__disjvr_14^post1, head_35^0'=head_35^post1, __disjvr_24^0'=__disjvr_24^post1, temp0_18^0'=temp0_18^post1, lt_386^0'=lt_386^post1, z_229^0'=z_229^post1, __disjvr_9^0'=__disjvr_9^post1, a_210^0'=a_210^post1, rcd_376^0'=rcd_376^post1, __disjvr_19^0'=__disjvr_19^post1, len_195^0'=len_195^post1, __disjvr_29^0'=__disjvr_29^post1, x_19^0'=x_19^post1, r_42^0'=r_42^post1, z_28^0'=z_28^post1, __disjvr_11^0'=__disjvr_11^post1, a_377^0'=a_377^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post1, length_32^0'=length_32^post1, y_22^0'=y_22^post1, __disjvr_6^0'=__disjvr_6^post1, rcd_228^0'=rcd_228^post1, __disjvr_16^0'=__disjvr_16^post1, i_120^0'=i_120^post1, __disjvr_26^0'=__disjvr_26^post1, temp1_30^0'=temp1_30^post1, nondet_12^0'=nondet_12^post1, z_252^0'=z_252^post1, a_27^0'=a_27^post1, rcd_46^0'=rcd_46^post1, __disjvr_20^0'=__disjvr_20^post1, len_286^0'=len_286^post1, __disjvr_3^0'=__disjvr_3^post1, rcd_113^0'=rcd_113^post1, __disjvr_13^0'=__disjvr_13^post1, head_13^0'=head_13^post1, __disjvr_23^0'=__disjvr_23^post1, t_24^0'=t_24^post1, lt_29^0'=lt_29^post1, z_188^0'=z_188^post1, __disjvr_8^0'=__disjvr_8^post1, rcd_264^0'=rcd_264^post1, rcd_356^0'=rcd_356^post1, __disjvr_18^0'=__disjvr_18^post1, i_33^0'=i_33^post1, __disjvr_28^0'=__disjvr_28^post1, tmp_37^0'=tmp_37^post1, r_236^0'=r_236^post1, z_279^0'=z_279^post1, __disjvr_10^0'=__disjvr_10^post1, a_347^0'=a_347^post1, result_11^0'=result_11^post1, __disjvr_22^0'=__disjvr_22^post1, x_SLAM_f_21^0'=x_SLAM_f_21^post1, __disjvr_5^0'=__disjvr_5^post1, rcd_226^0'=rcd_226^post1, __disjvr_15^0'=__disjvr_15^post1, i_111^0'=i_111^post1, __disjvr_25^0'=__disjvr_25^post1, temp0_34^0'=temp0_34^post1, lt_483^0'=lt_483^post1, z_238^0'=z_238^post1, a_166^0'=a_166^post1, a_267^0'=a_267^post1, rcd_396^0'=rcd_396^post1, __disjvr_1^0'=__disjvr_1^post1, len_266^0'=len_266^post1, __disjvr_2^0'=__disjvr_2^post1, rcd_105^0'=rcd_105^post1, z_389^0'=z_389^post1, __disjvr_12^0'=__disjvr_12^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, z_160^0'=z_160^post1, __disjvr_7^0'=__disjvr_7^post1, rcd_237^0'=rcd_237^post1, rcd_352^0'=rcd_352^post1, __disjvr_17^0'=__disjvr_17^post1, i_227^0'=i_227^post1, __disjvr_27^0'=__disjvr_27^post1, temp_38^0'=temp_38^post1, r_178^0'=r_178^post1, z_265^0'=z_265^post1, (0 == 0 /\ -temp_38^post1+temp_38^0 == 0 /\ a_377^0-a_377^post1 == 0 /\ length_32^0-length_32^post1 == 0 /\ __disjvr_29^0-__disjvr_29^post1 == 0 /\ -a_166^post1+a_166^0 == 0 /\ -a_347^0 <= 0 /\ -result_11^post1+result_11^0 == 0 /\ -__disjvr_7^post1+__disjvr_7^0 == 0 /\ a_210^0-a_210^post1 == 0 /\ -__disjvr_23^post1+__disjvr_23^0 == 0 /\ -__disjvr_8^post1+__disjvr_8^0 == 0 /\ -lt_29^post1+lt_29^0 == 0 /\ -__disjvr_2^post1+__disjvr_2^0 == 0 /\ -a_267^post1+a_267^0 == 0 /\ -len_286^post1+len_286^0 == 0 /\ rcd_70^0-rcd_70^post1 == 0 /\ head_35^0-head_35^post1 == 0 /\ __disjvr_19^0-__disjvr_19^post1 == 0 /\ -__disjvr_5^post1+__disjvr_5^0 == 0 /\ -y_22^post1+y_22^0 == 0 /\ -__disjvr_27^post1+__disjvr_27^0 == 0 /\ rcd_228^0-rcd_228^post1 == 0 /\ __disjvr_10^0-__disjvr_10^post1 == 0 /\ __disjvr_13^0-__disjvr_13^post1 == 0 /\ __disjvr_4^0-__disjvr_4^post1 == 0 /\ -rcd_113^post1+rcd_113^0 == 0 /\ tmp_37^0-tmp_37^post1 == 0 /\ -i_227^post1+i_227^0 == 0 /\ __disjvr_9^0-__disjvr_9^post1 == 0 /\ i_120^0-i_120^post1 == 0 /\ rcd_356^0-rcd_356^post1 == 0 /\ __disjvr_24^0-__disjvr_24^post1 == 0 /\ -rcd_396^post1+rcd_396^0 == 0 /\ __disjvr_26^0-__disjvr_26^post1 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post1 == 0 /\ -i_111^post1+i_111^0 == 0 /\ rcd_222^0-rcd_222^post1 == 0 /\ -rcd_105^post1+rcd_105^0 == 0 /\ __disjvr_16^0-__disjvr_16^post1 == 0 /\ nondet_12^0-nondet_12^post1 == 0 /\ -z_265^post1+z_265^0 == 0 /\ -z_160^post1+z_160^0 == 0 /\ -__disjvr_17^post1+__disjvr_17^0 == 0 /\ -r_236^post1+r_236^0 == 0 /\ -__disjvr_1^post1+__disjvr_1^0 == 0 /\ -__disjvr_25^post1+__disjvr_25^0 == 0 /\ -__disjvr_18^post1+__disjvr_18^0 == 0 /\ -z_188^post1+z_188^0 == 0 /\ __disjvr_6^0-__disjvr_6^post1 == 0 /\ -__disjvr_15^post1+__disjvr_15^0 == 0 /\ __disjvr_21^0-__disjvr_21^post1 == 0 /\ rcd_376^0-rcd_376^post1 == 0 /\ -t_24^post1+t_24^0 == 0 /\ rcd_264^0-rcd_264^post1 == 0 /\ lt_483^0-lt_483^post1 == 0 /\ z_28^0-z_28^post1 == 0 /\ -__disjvr_14^post1+__disjvr_14^0 == 0 /\ __disjvr_11^0-__disjvr_11^post1 == 0 /\ len_195^0-len_195^post1 == 0 /\ a_321^0-a_321^post1 == 0 /\ a_27^0-a_27^post1 == 0 /\ -rcd_46^post1+rcd_46^0 == 0 /\ temp0_18^0-temp0_18^post1 == 0 /\ -r_178^post1+r_178^0 == 0 /\ -z_279^post1+z_279^0 == 0 /\ __disjvr_20^0-__disjvr_20^post1 == 0 /\ -a_347^post1+a_347^0 == 0 /\ -i_33^post1+i_33^0 == 0 /\ __disjvr_22^0-__disjvr_22^post1 == 0 /\ -rcd_237^post1+rcd_237^0 == 0 /\ -rcd_352^post1+rcd_352^0 == 0 /\ -__disjvr_3^post1+__disjvr_3^0 == 0 /\ z_252^0-z_252^post1 == 0 /\ -z_238^post1+z_238^0 == 0 /\ -z_389^post1+z_389^0 == 0 /\ __disjvr_0^0-__disjvr_0^post1 == 0 /\ -rcd_226^post1+rcd_226^0 == 0 /\ -len_266^post1+len_266^0 == 0 /\ -__disjvr_12^post1+__disjvr_12^0 == 0 /\ x_23^0-x_23^post1 == 0 /\ -temp1_30^post1+temp1_30^0 == 0 /\ z_229^0-z_229^post1 == 0 /\ temp0_34^0-temp0_34^post1 == 0 /\ lt_386^0-lt_386^post1 == 0 /\ __disjvr_28^0-__disjvr_28^post1 == 0 /\ head_13^0-head_13^post1 == 0), cost: 1
   2: l3 -> l4 : __disjvr_0^0'=__disjvr_0^post2, a_321^0'=a_321^post2, rcd_70^0'=rcd_70^post2, __disjvr_21^0'=__disjvr_21^post2, x_23^0'=x_23^post2, __disjvr_4^0'=__disjvr_4^post2, rcd_222^0'=rcd_222^post2, __disjvr_14^0'=__disjvr_14^post2, head_35^0'=head_35^post2, __disjvr_24^0'=__disjvr_24^post2, temp0_18^0'=temp0_18^post2, lt_386^0'=lt_386^post2, z_229^0'=z_229^post2, __disjvr_9^0'=__disjvr_9^post2, a_210^0'=a_210^post2, rcd_376^0'=rcd_376^post2, __disjvr_19^0'=__disjvr_19^post2, len_195^0'=len_195^post2, __disjvr_29^0'=__disjvr_29^post2, x_19^0'=x_19^post2, r_42^0'=r_42^post2, z_28^0'=z_28^post2, __disjvr_11^0'=__disjvr_11^post2, a_377^0'=a_377^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post2, length_32^0'=length_32^post2, y_22^0'=y_22^post2, __disjvr_6^0'=__disjvr_6^post2, rcd_228^0'=rcd_228^post2, __disjvr_16^0'=__disjvr_16^post2, i_120^0'=i_120^post2, __disjvr_26^0'=__disjvr_26^post2, temp1_30^0'=temp1_30^post2, nondet_12^0'=nondet_12^post2, z_252^0'=z_252^post2, a_27^0'=a_27^post2, rcd_46^0'=rcd_46^post2, __disjvr_20^0'=__disjvr_20^post2, len_286^0'=len_286^post2, __disjvr_3^0'=__disjvr_3^post2, rcd_113^0'=rcd_113^post2, __disjvr_13^0'=__disjvr_13^post2, head_13^0'=head_13^post2, __disjvr_23^0'=__disjvr_23^post2, t_24^0'=t_24^post2, lt_29^0'=lt_29^post2, z_188^0'=z_188^post2, __disjvr_8^0'=__disjvr_8^post2, rcd_264^0'=rcd_264^post2, rcd_356^0'=rcd_356^post2, __disjvr_18^0'=__disjvr_18^post2, i_33^0'=i_33^post2, __disjvr_28^0'=__disjvr_28^post2, tmp_37^0'=tmp_37^post2, r_236^0'=r_236^post2, z_279^0'=z_279^post2, __disjvr_10^0'=__disjvr_10^post2, a_347^0'=a_347^post2, result_11^0'=result_11^post2, __disjvr_22^0'=__disjvr_22^post2, x_SLAM_f_21^0'=x_SLAM_f_21^post2, __disjvr_5^0'=__disjvr_5^post2, rcd_226^0'=rcd_226^post2, __disjvr_15^0'=__disjvr_15^post2, i_111^0'=i_111^post2, __disjvr_25^0'=__disjvr_25^post2, temp0_34^0'=temp0_34^post2, lt_483^0'=lt_483^post2, z_238^0'=z_238^post2, a_166^0'=a_166^post2, a_267^0'=a_267^post2, rcd_396^0'=rcd_396^post2, __disjvr_1^0'=__disjvr_1^post2, len_266^0'=len_266^post2, __disjvr_2^0'=__disjvr_2^post2, rcd_105^0'=rcd_105^post2, z_389^0'=z_389^post2, __disjvr_12^0'=__disjvr_12^post2, ct_20^0'=ct_20^post2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post2, lt_17^0'=lt_17^post2, z_160^0'=z_160^post2, __disjvr_7^0'=__disjvr_7^post2, rcd_237^0'=rcd_237^post2, rcd_352^0'=rcd_352^post2, __disjvr_17^0'=__disjvr_17^post2, i_227^0'=i_227^post2, __disjvr_27^0'=__disjvr_27^post2, temp_38^0'=temp_38^post2, r_178^0'=r_178^post2, z_265^0'=z_265^post2, (rcd_222^0-rcd_222^post2 == 0 /\ head_35^0-head_35^post2 == 0 /\ tmp_37^0-tmp_37^post2 == 0 /\ a_321^0-a_321^post2 == 0 /\ len_266^0-len_266^post2 == 0 /\ -lt_483^post2+lt_483^0 == 0 /\ lt_386^0-lt_386^post2 == 0 /\ -i_120^post2+i_120^0 == 0 /\ -__disjvr_6^post2+__disjvr_6^0 == 0 /\ -__disjvr_18^post2+__disjvr_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ z_229^0-z_229^post2 == 0 /\ __disjvr_22^0-__disjvr_22^post2 == 0 /\ -rcd_46^post2+rcd_46^0 == 0 /\ __disjvr_28^0-__disjvr_28^post2 == 0 /\ -y_22^post2+y_22^0 == 0 /\ -rcd_113^post2+rcd_113^0 == 0 /\ a_166^0-a_166^post2 == 0 /\ -__disjvr_1^post2+__disjvr_1^0 == 0 /\ -z_265^post2+z_265^0 == 0 /\ x_23^0-x_23^post2 == 0 /\ __disjvr_26^0-__disjvr_26^post2 == 0 /\ -r_236^post2+r_236^0 == 0 /\ -__disjvr_17^post2+__disjvr_17^0 == 0 /\ a_347^0-a_347^post2 == 0 /\ length_32^0-length_32^post2 == 0 /\ -__disjvr_15^post2+__disjvr_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -i_33^post2+i_33^0 == 0 /\ -z_279^post2+z_279^0 == 0 /\ a_210^0-a_210^post2 == 0 /\ __disjvr_11^0-__disjvr_11^post2 == 0 /\ __disjvr_29^0-__disjvr_29^post2 == 0 /\ -rcd_237^post2+rcd_237^0 == 0 /\ __disjvr_16^0-__disjvr_16^post2 == 0 /\ __disjvr_3^0-__disjvr_3^post2 == 0 /\ __disjvr_24^0-__disjvr_24^post2 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ -rcd_352^post2+rcd_352^0 == 0 /\ -rcd_356^post2+rcd_356^0 == 0 /\ -z_28^post2+z_28^0 == 0 /\ rcd_264^0-rcd_264^post2 == 0 /\ -z_389^post2+z_389^0 == 0 /\ ct_20^0-ct_20^post2 == 0 /\ __disjvr_14^0-__disjvr_14^post2 == 0 /\ -lt_17^post2+lt_17^0 == 0 /\ -result_11^post2+result_11^0 == 0 /\ -r_178^post2+r_178^0 == 0 /\ a_377^0-a_377^post2 == 0 /\ -z_238^post2+z_238^0 == 0 /\ -head_13^post2+head_13^0 == 0 /\ rcd_70^0-rcd_70^post2 == 0 /\ -a_267^post2+a_267^0 == 0 /\ temp0_18^0-temp0_18^post2 == 0 /\ len_286^0-len_286^post2 == 0 /\ __disjvr_9^0-__disjvr_9^post2 == 0 /\ -__disjvr_2^post2+__disjvr_2^0 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ lt_29^0-lt_29^post2 == 0 /\ -__disjvr_19^post2+__disjvr_19^0 == 0 /\ rcd_228^0-rcd_228^post2 == 0 /\ temp0_34^0-temp0_34^post2 == 0 /\ r_42^0-r_42^post2 == 0 /\ -z_252^post2+z_252^0 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -__disjvr_10^post2+__disjvr_10^0 == 0 /\ temp1_30^0-temp1_30^post2 == 0 /\ -temp_38^post2+temp_38^0 == 0 /\ -__disjvr_5^post2+__disjvr_5^0 == 0 /\ __disjvr_7^0-__disjvr_7^post2 == 0 /\ __disjvr_4^0-__disjvr_4^post2 == 0 /\ -z_188^post2+z_188^0 == 0 /\ rcd_226^0-rcd_226^post2 == 0 /\ -x_SLAM_f_21^post2+x_SLAM_f_21^0 == 0 /\ __disjvr_25^0-__disjvr_25^post2 == 0 /\ -rcd_396^post2+rcd_396^0 == 0 /\ t_24^0-t_24^post2 == 0 /\ -z_160^post2+z_160^0 == 0 /\ -x_19^post2+x_19^0 == 0 /\ -i_111^post2+i_111^0 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ -__disjvr_0^0+__disjvr_0^post2 == 0 /\ -__disjvr_27^post2+__disjvr_27^0 == 0 /\ -i_227^post2+i_227^0 == 0 /\ len_195^0-len_195^post2 == 0 /\ -__disjvr_20^post2+__disjvr_20^0 == 0 /\ rcd_376^0-rcd_376^post2 == 0 /\ a_27^0-a_27^post2 == 0 /\ -__disjvr_23^post2+__disjvr_23^0 == 0 /\ -rcd_105^post2+rcd_105^0 == 0 /\ __disjvr_13^0-__disjvr_13^post2 == 0), cost: 1
   3: l4 -> l5 : __disjvr_0^0'=__disjvr_0^post3, a_321^0'=a_321^post3, rcd_70^0'=rcd_70^post3, __disjvr_21^0'=__disjvr_21^post3, x_23^0'=x_23^post3, __disjvr_4^0'=__disjvr_4^post3, rcd_222^0'=rcd_222^post3, __disjvr_14^0'=__disjvr_14^post3, head_35^0'=head_35^post3, __disjvr_24^0'=__disjvr_24^post3, temp0_18^0'=temp0_18^post3, lt_386^0'=lt_386^post3, z_229^0'=z_229^post3, __disjvr_9^0'=__disjvr_9^post3, a_210^0'=a_210^post3, rcd_376^0'=rcd_376^post3, __disjvr_19^0'=__disjvr_19^post3, len_195^0'=len_195^post3, __disjvr_29^0'=__disjvr_29^post3, x_19^0'=x_19^post3, r_42^0'=r_42^post3, z_28^0'=z_28^post3, __disjvr_11^0'=__disjvr_11^post3, a_377^0'=a_377^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post3, length_32^0'=length_32^post3, y_22^0'=y_22^post3, __disjvr_6^0'=__disjvr_6^post3, rcd_228^0'=rcd_228^post3, __disjvr_16^0'=__disjvr_16^post3, i_120^0'=i_120^post3, __disjvr_26^0'=__disjvr_26^post3, temp1_30^0'=temp1_30^post3, nondet_12^0'=nondet_12^post3, z_252^0'=z_252^post3, a_27^0'=a_27^post3, rcd_46^0'=rcd_46^post3, __disjvr_20^0'=__disjvr_20^post3, len_286^0'=len_286^post3, __disjvr_3^0'=__disjvr_3^post3, rcd_113^0'=rcd_113^post3, __disjvr_13^0'=__disjvr_13^post3, head_13^0'=head_13^post3, __disjvr_23^0'=__disjvr_23^post3, t_24^0'=t_24^post3, lt_29^0'=lt_29^post3, z_188^0'=z_188^post3, __disjvr_8^0'=__disjvr_8^post3, rcd_264^0'=rcd_264^post3, rcd_356^0'=rcd_356^post3, __disjvr_18^0'=__disjvr_18^post3, i_33^0'=i_33^post3, __disjvr_28^0'=__disjvr_28^post3, tmp_37^0'=tmp_37^post3, r_236^0'=r_236^post3, z_279^0'=z_279^post3, __disjvr_10^0'=__disjvr_10^post3, a_347^0'=a_347^post3, result_11^0'=result_11^post3, __disjvr_22^0'=__disjvr_22^post3, x_SLAM_f_21^0'=x_SLAM_f_21^post3, __disjvr_5^0'=__disjvr_5^post3, rcd_226^0'=rcd_226^post3, __disjvr_15^0'=__disjvr_15^post3, i_111^0'=i_111^post3, __disjvr_25^0'=__disjvr_25^post3, temp0_34^0'=temp0_34^post3, lt_483^0'=lt_483^post3, z_238^0'=z_238^post3, a_166^0'=a_166^post3, a_267^0'=a_267^post3, rcd_396^0'=rcd_396^post3, __disjvr_1^0'=__disjvr_1^post3, len_266^0'=len_266^post3, __disjvr_2^0'=__disjvr_2^post3, rcd_105^0'=rcd_105^post3, z_389^0'=z_389^post3, __disjvr_12^0'=__disjvr_12^post3, ct_20^0'=ct_20^post3, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post3, lt_17^0'=lt_17^post3, z_160^0'=z_160^post3, __disjvr_7^0'=__disjvr_7^post3, rcd_237^0'=rcd_237^post3, rcd_352^0'=rcd_352^post3, __disjvr_17^0'=__disjvr_17^post3, i_227^0'=i_227^post3, __disjvr_27^0'=__disjvr_27^post3, temp_38^0'=temp_38^post3, r_178^0'=r_178^post3, z_265^0'=z_265^post3, (0 == 0 /\ -temp0_34^post3+temp0_34^0 == 0 /\ __disjvr_23^0-__disjvr_23^post3 == 0 /\ __disjvr_16^0-__disjvr_16^post3 == 0 /\ -__disjvr_7^post3+__disjvr_7^0 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ -z_252^post3+z_252^0 == 0 /\ -lt_17^post3+lt_17^0 == 0 /\ -__disjvr_8^post3+__disjvr_8^0 == 0 /\ result_11^0-result_11^post3 == 0 /\ -z_389^post3+z_389^0 == 0 /\ -temp_38^post3+temp_38^0 == 0 /\ __disjvr_21^0-__disjvr_21^post3 == 0 /\ -__disjvr_2^post3+__disjvr_2^0 == 0 /\ __disjvr_0^0-__disjvr_0^post3 == 0 /\ __disjvr_14^0-__disjvr_14^post3 == 0 /\ __disjvr_6^0-__disjvr_6^post3 == 0 /\ -len_286^post3+len_286^0 == 0 /\ -a_267^post3+a_267^0 == 0 /\ rcd_46^0-rcd_376^post3 <= 0 /\ -x_19^0+x_SLAM_f_21^0 <= 0 /\ -y_22^0+ct_20^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post3 == 0 /\ y_22^0 <= 0 /\ -__disjvr_27^post3+__disjvr_27^0 == 0 /\ -rcd_113^post3+rcd_113^0 == 0 /\ ct_20^0-ct_20^post3 == 0 /\ -i_227^post3+i_227^0 == 0 /\ r_42^0-r_42^post3 == 0 /\ -__disjvr_5^post3+__disjvr_5^0 == 0 /\ temp0_18^0-temp0_18^post3 == 0 /\ -z_188^post3+z_188^0 == 0 /\ tmp_37^0-tmp_37^post3 == 0 /\ -__disjvr_20^post3+__disjvr_20^0 == 0 /\ rcd_396^0-rcd_396^post3 == 0 /\ __disjvr_3^0-__disjvr_3^post3 == 0 /\ -1+a_347^0-a_377^post3 <= 0 /\ -x_23^0+t_24^post3 == 0 /\ -rcd_46^0+rcd_376^post3 <= 0 /\ a_166^0-a_166^post3 == 0 /\ x_19^0-x_SLAM_f_21^0 <= 0 /\ __disjvr_12^0-__disjvr_12^post3 == 0 /\ z_229^0-z_229^post3 == 0 /\ y_22^0-ct_20^0 <= 0 /\ x_23^0-x_23^post3 == 0 /\ temp1_30^0-temp1_30^post3 == 0 /\ __disjvr_10^0-__disjvr_10^post3 == 0 /\ y_22^0-y_22^post3 == 0 /\ -r_236^post3+r_236^0 == 0 /\ z_160^0-z_160^post3 == 0 /\ -__disjvr_29^post3+__disjvr_29^0 == 0 /\ -__disjvr_4^post3+__disjvr_4^0 == 0 /\ a_210^0-a_210^post3 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ length_32^0-length_32^post3 == 0 /\ -__disjvr_1^post3+__disjvr_1^0 == 0 /\ -rcd_105^post3+rcd_105^0 == 0 /\ z_28^0-z_28^post3 == 0 /\ __disjvr_24^0-__disjvr_24^post3 == 0 /\ -z_265^post3+z_265^0 == 0 /\ __disjvr_25^0-__disjvr_25^post3 == 0 /\ -__disjvr_15^post3+__disjvr_15^0 == 0 /\ -a_347^post3+a_347^0 == 0 /\ -lt_483^post3+lt_483^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post3 == 0 /\ lt_29^0-lt_29^post3 == 0 /\ len_195^0-len_195^post3 == 0 /\ -__disjvr_18^post3+__disjvr_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post3+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_46^post3+rcd_46^0 == 0 /\ -i_120^post3+i_120^0 == 0 /\ -x_19^0+lt_17^0 <= 0 /\ head_35^0-head_35^post3 == 0 /\ __disjvr_19^0-__disjvr_19^post3 == 0 /\ rcd_264^0-rcd_264^post3 == 0 /\ a_27^0-a_27^post3 == 0 /\ -rcd_237^post3+rcd_237^0 == 0 /\ -rcd_352^post3+rcd_352^0 == 0 /\ -__disjvr_26^post3+__disjvr_26^0 == 0 /\ -z_238^post3+z_238^0 == 0 /\ i_111^0-i_111^post3 == 0 /\ a_321^0-a_321^post3 == 0 /\ rcd_228^0-rcd_228^post3 == 0 /\ __disjvr_13^0-__disjvr_13^post3 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post3+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -z_279^post3+z_279^0 == 0 /\ rcd_70^0-rcd_70^post3 == 0 /\ -y_22^0 <= 0 /\ __disjvr_17^0-__disjvr_17^post3 == 0 /\ -__disjvr_22^post3+__disjvr_22^0 == 0 /\ -r_178^post3+r_178^0 == 0 /\ -rcd_356^post3+rcd_356^0 == 0 /\ ct_20^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post3 == 0 /\ -i_33^post3+i_33^0 == 0 /\ -ct_20^0 <= 0 /\ 1-a_347^0+a_377^post3 <= 0 /\ __disjvr_28^0-__disjvr_28^post3 == 0 /\ -head_13^post3+head_13^0 == 0 /\ -rcd_226^post3+rcd_226^0 == 0 /\ -len_266^post3+len_266^0 == 0 /\ rcd_222^0-rcd_222^post3 == 0 /\ x_19^0-lt_17^0 <= 0 /\ lt_386^0-lt_386^post3 == 0 /\ x_19^0-x_19^post3 == 0), cost: 1
   4: l5 -> l6 : __disjvr_0^0'=__disjvr_0^post4, a_321^0'=a_321^post4, rcd_70^0'=rcd_70^post4, __disjvr_21^0'=__disjvr_21^post4, x_23^0'=x_23^post4, __disjvr_4^0'=__disjvr_4^post4, rcd_222^0'=rcd_222^post4, __disjvr_14^0'=__disjvr_14^post4, head_35^0'=head_35^post4, __disjvr_24^0'=__disjvr_24^post4, temp0_18^0'=temp0_18^post4, lt_386^0'=lt_386^post4, z_229^0'=z_229^post4, __disjvr_9^0'=__disjvr_9^post4, a_210^0'=a_210^post4, rcd_376^0'=rcd_376^post4, __disjvr_19^0'=__disjvr_19^post4, len_195^0'=len_195^post4, __disjvr_29^0'=__disjvr_29^post4, x_19^0'=x_19^post4, r_42^0'=r_42^post4, z_28^0'=z_28^post4, __disjvr_11^0'=__disjvr_11^post4, a_377^0'=a_377^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post4, length_32^0'=length_32^post4, y_22^0'=y_22^post4, __disjvr_6^0'=__disjvr_6^post4, rcd_228^0'=rcd_228^post4, __disjvr_16^0'=__disjvr_16^post4, i_120^0'=i_120^post4, __disjvr_26^0'=__disjvr_26^post4, temp1_30^0'=temp1_30^post4, nondet_12^0'=nondet_12^post4, z_252^0'=z_252^post4, a_27^0'=a_27^post4, rcd_46^0'=rcd_46^post4, __disjvr_20^0'=__disjvr_20^post4, len_286^0'=len_286^post4, __disjvr_3^0'=__disjvr_3^post4, rcd_113^0'=rcd_113^post4, __disjvr_13^0'=__disjvr_13^post4, head_13^0'=head_13^post4, __disjvr_23^0'=__disjvr_23^post4, t_24^0'=t_24^post4, lt_29^0'=lt_29^post4, z_188^0'=z_188^post4, __disjvr_8^0'=__disjvr_8^post4, rcd_264^0'=rcd_264^post4, rcd_356^0'=rcd_356^post4, __disjvr_18^0'=__disjvr_18^post4, i_33^0'=i_33^post4, __disjvr_28^0'=__disjvr_28^post4, tmp_37^0'=tmp_37^post4, r_236^0'=r_236^post4, z_279^0'=z_279^post4, __disjvr_10^0'=__disjvr_10^post4, a_347^0'=a_347^post4, result_11^0'=result_11^post4, __disjvr_22^0'=__disjvr_22^post4, x_SLAM_f_21^0'=x_SLAM_f_21^post4, __disjvr_5^0'=__disjvr_5^post4, rcd_226^0'=rcd_226^post4, __disjvr_15^0'=__disjvr_15^post4, i_111^0'=i_111^post4, __disjvr_25^0'=__disjvr_25^post4, temp0_34^0'=temp0_34^post4, lt_483^0'=lt_483^post4, z_238^0'=z_238^post4, a_166^0'=a_166^post4, a_267^0'=a_267^post4, rcd_396^0'=rcd_396^post4, __disjvr_1^0'=__disjvr_1^post4, len_266^0'=len_266^post4, __disjvr_2^0'=__disjvr_2^post4, rcd_105^0'=rcd_105^post4, z_389^0'=z_389^post4, __disjvr_12^0'=__disjvr_12^post4, ct_20^0'=ct_20^post4, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post4, lt_17^0'=lt_17^post4, z_160^0'=z_160^post4, __disjvr_7^0'=__disjvr_7^post4, rcd_237^0'=rcd_237^post4, rcd_352^0'=rcd_352^post4, __disjvr_17^0'=__disjvr_17^post4, i_227^0'=i_227^post4, __disjvr_27^0'=__disjvr_27^post4, temp_38^0'=temp_38^post4, r_178^0'=r_178^post4, z_265^0'=z_265^post4, (-__disjvr_20^post4+__disjvr_20^0 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -lt_483^post4+lt_483^0 == 0 /\ -__disjvr_18^post4+__disjvr_18^0 == 0 /\ len_286^0-len_286^post4 == 0 /\ rcd_113^0-rcd_113^post4 == 0 /\ temp0_18^0-temp0_18^post4 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ -z_265^post4+z_265^0 == 0 /\ -z_28^post4+z_28^0 == 0 /\ head_13^0-head_13^post4 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ lt_386^0-lt_386^post4 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ r_42^0-r_42^post4 == 0 /\ temp1_30^0-temp1_30^post4 == 0 /\ __disjvr_24^0-__disjvr_24^post4 == 0 /\ -__disjvr_15^post4+__disjvr_15^0 == 0 /\ __disjvr_4^0-__disjvr_4^post4 == 0 /\ -__disjvr_1^post4+__disjvr_1^0 == 0 /\ a_210^0-a_210^post4 == 0 /\ -y_22^post4+y_22^0 == 0 /\ __disjvr_12^0-__disjvr_12^post4 == 0 /\ -z_160^post4+z_160^0 == 0 /\ -__disjvr_25^post4+__disjvr_25^0 == 0 /\ t_24^0-t_24^post4 == 0 /\ z_238^0-z_238^post4 == 0 /\ z_279^0-z_279^post4 == 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post4+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_16^0-__disjvr_16^post4 == 0 /\ rcd_105^0-rcd_105^post4 == 0 /\ -len_266^post4+len_266^0 == 0 /\ a_377^0-a_377^post4 == 0 /\ rcd_46^0-rcd_46^post4 == 0 /\ -__disjvr_22^post4+__disjvr_22^0 == 0 /\ -r_178^post4+r_178^0 == 0 /\ -rcd_237^post4+rcd_237^0 == 0 /\ __disjvr_21^0-__disjvr_21^post4 == 0 /\ -rcd_352^post4+rcd_352^0 == 0 /\ len_195^0-len_195^post4 == 0 /\ -__disjvr_26^post4+__disjvr_26^0 == 0 /\ -z_389^post4+z_389^0 == 0 /\ -rcd_356^post4+rcd_356^0 == 0 /\ __disjvr_1^post4-__disjvr_1^0 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ -rcd_226^post4+rcd_226^0 == 0 /\ head_35^0-head_35^post4 == 0 /\ -lt_17^post4+lt_17^0 == 0 /\ -__disjvr_28^post4+__disjvr_28^0 == 0 /\ rcd_222^0-rcd_222^post4 == 0 /\ x_23^0-x_23^post4 == 0 /\ rcd_228^0-rcd_228^post4 == 0 /\ z_252^0-z_252^post4 == 0 /\ i_111^0-i_111^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ -temp_38^post4+temp_38^0 == 0 /\ -a_27^post4+a_27^0 == 0 /\ lt_29^0-lt_29^post4 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ z_229^0-z_229^post4 == 0 /\ -a_166^post4+a_166^0 == 0 /\ length_32^0-length_32^post4 == 0 /\ a_347^0-a_347^post4 == 0 /\ x_19^0-x_19^post4 == 0 /\ -rcd_70^post4+rcd_70^0 == 0 /\ r_236^0-r_236^post4 == 0 /\ i_120^0-i_120^post4 == 0 /\ -temp0_34^post4+temp0_34^0 == 0 /\ -a_267^post4+a_267^0 == 0 /\ -__disjvr_13^post4+__disjvr_13^0 == 0 /\ -tmp_37^post4+tmp_37^0 == 0 /\ result_11^0-result_11^post4 == 0 /\ __disjvr_5^0-__disjvr_5^post4 == 0 /\ __disjvr_11^0-__disjvr_11^post4 == 0 /\ -rcd_376^post4+rcd_376^0 == 0 /\ -i_227^post4+i_227^0 == 0 /\ __disjvr_29^0-__disjvr_29^post4 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ __disjvr_3^0-__disjvr_3^post4 == 0 /\ -x_SLAM_f_21^post4+x_SLAM_f_21^0 == 0 /\ -z_188^post4+z_188^0 == 0 /\ i_33^0-i_33^post4 == 0 /\ -rcd_396^post4+rcd_396^0 == 0 /\ __disjvr_19^0-__disjvr_19^post4 == 0 /\ -__disjvr_23^post4+__disjvr_23^0 == 0 /\ -rcd_264^post4+rcd_264^0 == 0 /\ -ct_20^post4+ct_20^0 == 0 /\ -__disjvr_27^post4+__disjvr_27^0 == 0 /\ a_321^0-a_321^post4 == 0), cost: 1
   5: l6 -> l7 : __disjvr_0^0'=__disjvr_0^post5, a_321^0'=a_321^post5, rcd_70^0'=rcd_70^post5, __disjvr_21^0'=__disjvr_21^post5, x_23^0'=x_23^post5, __disjvr_4^0'=__disjvr_4^post5, rcd_222^0'=rcd_222^post5, __disjvr_14^0'=__disjvr_14^post5, head_35^0'=head_35^post5, __disjvr_24^0'=__disjvr_24^post5, temp0_18^0'=temp0_18^post5, lt_386^0'=lt_386^post5, z_229^0'=z_229^post5, __disjvr_9^0'=__disjvr_9^post5, a_210^0'=a_210^post5, rcd_376^0'=rcd_376^post5, __disjvr_19^0'=__disjvr_19^post5, len_195^0'=len_195^post5, __disjvr_29^0'=__disjvr_29^post5, x_19^0'=x_19^post5, r_42^0'=r_42^post5, z_28^0'=z_28^post5, __disjvr_11^0'=__disjvr_11^post5, a_377^0'=a_377^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post5, length_32^0'=length_32^post5, y_22^0'=y_22^post5, __disjvr_6^0'=__disjvr_6^post5, rcd_228^0'=rcd_228^post5, __disjvr_16^0'=__disjvr_16^post5, i_120^0'=i_120^post5, __disjvr_26^0'=__disjvr_26^post5, temp1_30^0'=temp1_30^post5, nondet_12^0'=nondet_12^post5, z_252^0'=z_252^post5, a_27^0'=a_27^post5, rcd_46^0'=rcd_46^post5, __disjvr_20^0'=__disjvr_20^post5, len_286^0'=len_286^post5, __disjvr_3^0'=__disjvr_3^post5, rcd_113^0'=rcd_113^post5, __disjvr_13^0'=__disjvr_13^post5, head_13^0'=head_13^post5, __disjvr_23^0'=__disjvr_23^post5, t_24^0'=t_24^post5, lt_29^0'=lt_29^post5, z_188^0'=z_188^post5, __disjvr_8^0'=__disjvr_8^post5, rcd_264^0'=rcd_264^post5, rcd_356^0'=rcd_356^post5, __disjvr_18^0'=__disjvr_18^post5, i_33^0'=i_33^post5, __disjvr_28^0'=__disjvr_28^post5, tmp_37^0'=tmp_37^post5, r_236^0'=r_236^post5, z_279^0'=z_279^post5, __disjvr_10^0'=__disjvr_10^post5, a_347^0'=a_347^post5, result_11^0'=result_11^post5, __disjvr_22^0'=__disjvr_22^post5, x_SLAM_f_21^0'=x_SLAM_f_21^post5, __disjvr_5^0'=__disjvr_5^post5, rcd_226^0'=rcd_226^post5, __disjvr_15^0'=__disjvr_15^post5, i_111^0'=i_111^post5, __disjvr_25^0'=__disjvr_25^post5, temp0_34^0'=temp0_34^post5, lt_483^0'=lt_483^post5, z_238^0'=z_238^post5, a_166^0'=a_166^post5, a_267^0'=a_267^post5, rcd_396^0'=rcd_396^post5, __disjvr_1^0'=__disjvr_1^post5, len_266^0'=len_266^post5, __disjvr_2^0'=__disjvr_2^post5, rcd_105^0'=rcd_105^post5, z_389^0'=z_389^post5, __disjvr_12^0'=__disjvr_12^post5, ct_20^0'=ct_20^post5, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post5, lt_17^0'=lt_17^post5, z_160^0'=z_160^post5, __disjvr_7^0'=__disjvr_7^post5, rcd_237^0'=rcd_237^post5, rcd_352^0'=rcd_352^post5, __disjvr_17^0'=__disjvr_17^post5, i_227^0'=i_227^post5, __disjvr_27^0'=__disjvr_27^post5, temp_38^0'=temp_38^post5, r_178^0'=r_178^post5, z_265^0'=z_265^post5, (x_19^0-x_19^post5 == 0 /\ -a_166^post5+a_166^0 == 0 /\ __disjvr_5^0-__disjvr_5^post5 == 0 /\ __disjvr_6^0-__disjvr_6^post5 == 0 /\ -__disjvr_7^post5+__disjvr_7^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post5 == 0 /\ z_28^0-z_28^post5 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ -z_389^post5+z_389^0 == 0 /\ -__disjvr_2^post5+__disjvr_2^0 == 0 /\ -lt_17^post5+lt_17^0 == 0 /\ -rcd_228^post5+rcd_228^0 == 0 /\ -__disjvr_13^post5+__disjvr_13^0 == 0 /\ head_35^0-head_35^post5 == 0 /\ __disjvr_21^0-__disjvr_21^post5 == 0 /\ __disjvr_19^0-__disjvr_19^post5 == 0 /\ rcd_264^0-rcd_264^post5 == 0 /\ -a_267^post5+a_267^0 == 0 /\ z_279^0-z_279^post5 == 0 /\ -temp_38^post5+temp_38^0 == 0 /\ -x_SLAM_f_21^post5+x_SLAM_f_21^0 == 0 /\ -temp0_34^post5+temp0_34^0 == 0 /\ rcd_113^0-rcd_113^post5 == 0 /\ __disjvr_4^0-__disjvr_4^post5 == 0 /\ len_266^0-len_266^post5 == 0 /\ -__disjvr_16^post5+__disjvr_16^0 == 0 /\ a_321^0-a_321^post5 == 0 /\ -tmp_37^post5+tmp_37^0 == 0 /\ -__disjvr_10^post5+__disjvr_10^0 == 0 /\ __disjvr_2^post5-__disjvr_2^0 == 0 /\ temp1_30^0-temp1_30^post5 == 0 /\ -i_227^post5+i_227^0 == 0 /\ rcd_396^0-rcd_396^post5 == 0 /\ -ct_20^post5+ct_20^0 == 0 /\ __disjvr_26^0-__disjvr_26^post5 == 0 /\ rcd_105^0-rcd_105^post5 == 0 /\ length_32^0-length_32^post5 == 0 /\ z_252^0-z_252^post5 == 0 /\ rcd_222^0-rcd_222^post5 == 0 /\ len_286^0-len_286^post5 == 0 /\ -__disjvr_20^post5+__disjvr_20^0 == 0 /\ __disjvr_28^0-__disjvr_28^post5 == 0 /\ -__disjvr_27^post5+__disjvr_27^0 == 0 /\ __disjvr_14^0-__disjvr_14^post5 == 0 /\ __disjvr_11^0-__disjvr_11^post5 == 0 /\ -z_265^post5+z_265^0 == 0 /\ z_160^0-z_160^post5 == 0 /\ -a_377^post5+a_377^0 == 0 /\ -r_236^post5+r_236^0 == 0 /\ i_33^0-i_33^post5 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ t_24^0-t_24^post5 == 0 /\ __disjvr_8^0-__disjvr_8^post5 == 0 /\ __disjvr_23^0-__disjvr_23^post5 == 0 /\ z_188^0-z_188^post5 == 0 /\ __disjvr_29^0-__disjvr_29^post5 == 0 /\ -__disjvr_9^post5+__disjvr_9^0 == 0 /\ -__disjvr_15^post5+__disjvr_15^0 == 0 /\ -__disjvr_18^post5+__disjvr_18^0 == 0 /\ rcd_46^0-rcd_46^post5 == 0 /\ -__disjvr_1^post5+__disjvr_1^0 == 0 /\ rcd_376^0-rcd_376^post5 == 0 /\ rcd_70^0-rcd_70^post5 == 0 /\ -lt_483^post5+lt_483^0 == 0 /\ -__disjvr_22^post5+__disjvr_22^0 == 0 /\ a_347^0-a_347^post5 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ -r_178^post5+r_178^0 == 0 /\ -rcd_352^post5+rcd_352^0 == 0 /\ -z_238^post5+z_238^0 == 0 /\ __disjvr_17^0-__disjvr_17^post5 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post5+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_42^0-r_42^post5 == 0 /\ -rcd_237^post5+rcd_237^0 == 0 /\ len_195^0-len_195^post5 == 0 /\ i_111^0-i_111^post5 == 0 /\ -lt_386^post5+lt_386^0 == 0 /\ temp0_18^0-temp0_18^post5 == 0 /\ __disjvr_24^0-__disjvr_24^post5 == 0 /\ -head_13^post5+head_13^0 == 0 /\ -a_27^post5+a_27^0 == 0 /\ -rcd_356^post5+rcd_356^0 == 0 /\ __disjvr_3^0-__disjvr_3^post5 == 0 /\ -lt_29^post5+lt_29^0 == 0 /\ x_23^0-x_23^post5 == 0 /\ i_120^0-i_120^post5 == 0 /\ a_210^0-a_210^post5 == 0 /\ result_11^0-result_11^post5 == 0 /\ -__disjvr_25^post5+__disjvr_25^0 == 0 /\ z_229^0-z_229^post5 == 0 /\ y_22^0-y_22^post5 == 0 /\ -rcd_226^post5+rcd_226^0 == 0), cost: 1
   6: l7 -> l8 : __disjvr_0^0'=__disjvr_0^post6, a_321^0'=a_321^post6, rcd_70^0'=rcd_70^post6, __disjvr_21^0'=__disjvr_21^post6, x_23^0'=x_23^post6, __disjvr_4^0'=__disjvr_4^post6, rcd_222^0'=rcd_222^post6, __disjvr_14^0'=__disjvr_14^post6, head_35^0'=head_35^post6, __disjvr_24^0'=__disjvr_24^post6, temp0_18^0'=temp0_18^post6, lt_386^0'=lt_386^post6, z_229^0'=z_229^post6, __disjvr_9^0'=__disjvr_9^post6, a_210^0'=a_210^post6, rcd_376^0'=rcd_376^post6, __disjvr_19^0'=__disjvr_19^post6, len_195^0'=len_195^post6, __disjvr_29^0'=__disjvr_29^post6, x_19^0'=x_19^post6, r_42^0'=r_42^post6, z_28^0'=z_28^post6, __disjvr_11^0'=__disjvr_11^post6, a_377^0'=a_377^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post6, length_32^0'=length_32^post6, y_22^0'=y_22^post6, __disjvr_6^0'=__disjvr_6^post6, rcd_228^0'=rcd_228^post6, __disjvr_16^0'=__disjvr_16^post6, i_120^0'=i_120^post6, __disjvr_26^0'=__disjvr_26^post6, temp1_30^0'=temp1_30^post6, nondet_12^0'=nondet_12^post6, z_252^0'=z_252^post6, a_27^0'=a_27^post6, rcd_46^0'=rcd_46^post6, __disjvr_20^0'=__disjvr_20^post6, len_286^0'=len_286^post6, __disjvr_3^0'=__disjvr_3^post6, rcd_113^0'=rcd_113^post6, __disjvr_13^0'=__disjvr_13^post6, head_13^0'=head_13^post6, __disjvr_23^0'=__disjvr_23^post6, t_24^0'=t_24^post6, lt_29^0'=lt_29^post6, z_188^0'=z_188^post6, __disjvr_8^0'=__disjvr_8^post6, rcd_264^0'=rcd_264^post6, rcd_356^0'=rcd_356^post6, __disjvr_18^0'=__disjvr_18^post6, i_33^0'=i_33^post6, __disjvr_28^0'=__disjvr_28^post6, tmp_37^0'=tmp_37^post6, r_236^0'=r_236^post6, z_279^0'=z_279^post6, __disjvr_10^0'=__disjvr_10^post6, a_347^0'=a_347^post6, result_11^0'=result_11^post6, __disjvr_22^0'=__disjvr_22^post6, x_SLAM_f_21^0'=x_SLAM_f_21^post6, __disjvr_5^0'=__disjvr_5^post6, rcd_226^0'=rcd_226^post6, __disjvr_15^0'=__disjvr_15^post6, i_111^0'=i_111^post6, __disjvr_25^0'=__disjvr_25^post6, temp0_34^0'=temp0_34^post6, lt_483^0'=lt_483^post6, z_238^0'=z_238^post6, a_166^0'=a_166^post6, a_267^0'=a_267^post6, rcd_396^0'=rcd_396^post6, __disjvr_1^0'=__disjvr_1^post6, len_266^0'=len_266^post6, __disjvr_2^0'=__disjvr_2^post6, rcd_105^0'=rcd_105^post6, z_389^0'=z_389^post6, __disjvr_12^0'=__disjvr_12^post6, ct_20^0'=ct_20^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, lt_17^0'=lt_17^post6, z_160^0'=z_160^post6, __disjvr_7^0'=__disjvr_7^post6, rcd_237^0'=rcd_237^post6, rcd_352^0'=rcd_352^post6, __disjvr_17^0'=__disjvr_17^post6, i_227^0'=i_227^post6, __disjvr_27^0'=__disjvr_27^post6, temp_38^0'=temp_38^post6, r_178^0'=r_178^post6, z_265^0'=z_265^post6, (rcd_228^0-rcd_228^post6 == 0 /\ __disjvr_4^0-__disjvr_4^post6 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ rcd_70^0-rcd_70^post6 == 0 /\ x_23^0-x_23^post6 == 0 /\ __disjvr_3^post6-__disjvr_3^0 == 0 /\ -a_377^post6+a_377^0 == 0 /\ -__disjvr_29^post6+__disjvr_29^0 == 0 /\ -__disjvr_6^post6+__disjvr_6^0 == 0 /\ -lt_483^post6+lt_483^0 == 0 /\ lt_29^0-lt_29^post6 == 0 /\ __disjvr_1^0-__disjvr_1^post6 == 0 /\ temp1_30^0-temp1_30^post6 == 0 /\ z_229^0-z_229^post6 == 0 /\ len_286^0-len_286^post6 == 0 /\ r_236^0-r_236^post6 == 0 /\ -z_160^post6+z_160^0 == 0 /\ -len_266^post6+len_266^0 == 0 /\ -z_279^post6+z_279^0 == 0 /\ x_19^0-x_19^post6 == 0 /\ -__disjvr_12^post6+__disjvr_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post6 == 0 /\ __disjvr_23^0-__disjvr_23^post6 == 0 /\ -__disjvr_11^post6+__disjvr_11^0 == 0 /\ a_267^0-a_267^post6 == 0 /\ -a_347^post6+a_347^0 == 0 /\ -length_32^post6+length_32^0 == 0 /\ -__disjvr_3^post6+__disjvr_3^0 == 0 /\ -rcd_352^post6+rcd_352^0 == 0 /\ -__disjvr_25^post6+__disjvr_25^0 == 0 /\ -rcd_226^post6+rcd_226^0 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0 /\ -__disjvr_22^post6+__disjvr_22^0 == 0 /\ i_33^0-i_33^post6 == 0 /\ -z_265^post6+z_265^0 == 0 /\ -z_238^post6+z_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post6+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_237^post6+rcd_237^0 == 0 /\ -__disjvr_2^post6+__disjvr_2^0 == 0 /\ -z_389^post6+z_389^0 == 0 /\ -__disjvr_28^post6+__disjvr_28^0 == 0 /\ -__disjvr_26^post6+__disjvr_26^0 == 0 /\ a_321^0-a_321^post6 == 0 /\ __disjvr_19^0-__disjvr_19^post6 == 0 /\ a_27^0-a_27^post6 == 0 /\ -__disjvr_13^post6+__disjvr_13^0 == 0 /\ __disjvr_9^0-__disjvr_9^post6 == 0 /\ z_252^0-z_252^post6 == 0 /\ -result_11^post6+result_11^0 == 0 /\ -rcd_396^post6+rcd_396^0 == 0 /\ rcd_356^0-rcd_356^post6 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ rcd_113^0-rcd_113^post6 == 0 /\ head_13^0-head_13^post6 == 0 /\ -temp0_34^post6+temp0_34^0 == 0 /\ -rcd_222^post6+rcd_222^0 == 0 /\ -temp_38^post6+temp_38^0 == 0 /\ i_120^0-i_120^post6 == 0 /\ lt_386^0-lt_386^post6 == 0 /\ -r_178^post6+r_178^0 == 0 /\ -a_166^post6+a_166^0 == 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ r_42^0-r_42^post6 == 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ -tmp_37^post6+tmp_37^0 == 0 /\ -__disjvr_8^post6+__disjvr_8^0 == 0 /\ -x_SLAM_f_21^post6+x_SLAM_f_21^0 == 0 /\ -temp0_18^post6+temp0_18^0 == 0 /\ y_22^0-y_22^post6 == 0 /\ -__disjvr_10^post6+__disjvr_10^0 == 0 /\ -rcd_376^post6+rcd_376^0 == 0 /\ -lt_17^post6+lt_17^0 == 0 /\ a_210^0-a_210^post6 == 0 /\ -__disjvr_24^post6+__disjvr_24^0 == 0 /\ z_188^0-z_188^post6 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ -i_227^post6+i_227^0 == 0 /\ -ct_20^post6+ct_20^0 == 0 /\ __disjvr_15^0-__disjvr_15^post6 == 0 /\ -i_111^post6+i_111^0 == 0 /\ -__disjvr_27^post6+__disjvr_27^0 == 0 /\ rcd_46^0-rcd_46^post6 == 0 /\ z_28^0-z_28^post6 == 0 /\ -__disjvr_16^post6+__disjvr_16^0 == 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ len_195^0-len_195^post6 == 0 /\ -rcd_105^post6+rcd_105^0 == 0 /\ -__disjvr_20^post6+__disjvr_20^0 == 0 /\ head_35^0-head_35^post6 == 0 /\ -t_24^post6+t_24^0 == 0 /\ -rcd_264^post6+rcd_264^0 == 0), cost: 1
   7: l8 -> l2 : __disjvr_0^0'=__disjvr_0^post7, a_321^0'=a_321^post7, rcd_70^0'=rcd_70^post7, __disjvr_21^0'=__disjvr_21^post7, x_23^0'=x_23^post7, __disjvr_4^0'=__disjvr_4^post7, rcd_222^0'=rcd_222^post7, __disjvr_14^0'=__disjvr_14^post7, head_35^0'=head_35^post7, __disjvr_24^0'=__disjvr_24^post7, temp0_18^0'=temp0_18^post7, lt_386^0'=lt_386^post7, z_229^0'=z_229^post7, __disjvr_9^0'=__disjvr_9^post7, a_210^0'=a_210^post7, rcd_376^0'=rcd_376^post7, __disjvr_19^0'=__disjvr_19^post7, len_195^0'=len_195^post7, __disjvr_29^0'=__disjvr_29^post7, x_19^0'=x_19^post7, r_42^0'=r_42^post7, z_28^0'=z_28^post7, __disjvr_11^0'=__disjvr_11^post7, a_377^0'=a_377^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post7, length_32^0'=length_32^post7, y_22^0'=y_22^post7, __disjvr_6^0'=__disjvr_6^post7, rcd_228^0'=rcd_228^post7, __disjvr_16^0'=__disjvr_16^post7, i_120^0'=i_120^post7, __disjvr_26^0'=__disjvr_26^post7, temp1_30^0'=temp1_30^post7, nondet_12^0'=nondet_12^post7, z_252^0'=z_252^post7, a_27^0'=a_27^post7, rcd_46^0'=rcd_46^post7, __disjvr_20^0'=__disjvr_20^post7, len_286^0'=len_286^post7, __disjvr_3^0'=__disjvr_3^post7, rcd_113^0'=rcd_113^post7, __disjvr_13^0'=__disjvr_13^post7, head_13^0'=head_13^post7, __disjvr_23^0'=__disjvr_23^post7, t_24^0'=t_24^post7, lt_29^0'=lt_29^post7, z_188^0'=z_188^post7, __disjvr_8^0'=__disjvr_8^post7, rcd_264^0'=rcd_264^post7, rcd_356^0'=rcd_356^post7, __disjvr_18^0'=__disjvr_18^post7, i_33^0'=i_33^post7, __disjvr_28^0'=__disjvr_28^post7, tmp_37^0'=tmp_37^post7, r_236^0'=r_236^post7, z_279^0'=z_279^post7, __disjvr_10^0'=__disjvr_10^post7, a_347^0'=a_347^post7, result_11^0'=result_11^post7, __disjvr_22^0'=__disjvr_22^post7, x_SLAM_f_21^0'=x_SLAM_f_21^post7, __disjvr_5^0'=__disjvr_5^post7, rcd_226^0'=rcd_226^post7, __disjvr_15^0'=__disjvr_15^post7, i_111^0'=i_111^post7, __disjvr_25^0'=__disjvr_25^post7, temp0_34^0'=temp0_34^post7, lt_483^0'=lt_483^post7, z_238^0'=z_238^post7, a_166^0'=a_166^post7, a_267^0'=a_267^post7, rcd_396^0'=rcd_396^post7, __disjvr_1^0'=__disjvr_1^post7, len_266^0'=len_266^post7, __disjvr_2^0'=__disjvr_2^post7, rcd_105^0'=rcd_105^post7, z_389^0'=z_389^post7, __disjvr_12^0'=__disjvr_12^post7, ct_20^0'=ct_20^post7, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post7, lt_17^0'=lt_17^post7, z_160^0'=z_160^post7, __disjvr_7^0'=__disjvr_7^post7, rcd_237^0'=rcd_237^post7, rcd_352^0'=rcd_352^post7, __disjvr_17^0'=__disjvr_17^post7, i_227^0'=i_227^post7, __disjvr_27^0'=__disjvr_27^post7, temp_38^0'=temp_38^post7, r_178^0'=r_178^post7, z_265^0'=z_265^post7, (0 == 0 /\ __disjvr_8^0-__disjvr_8^post7 == 0 /\ -__disjvr_2^post7+__disjvr_2^0 == 0 /\ -temp_38^post7+temp_38^0 == 0 /\ rcd_376^0-rcd_46^post7 <= 0 /\ length_32^0-length_32^post7 == 0 /\ -temp0_34^post7+temp0_34^0 == 0 /\ r_236^0-r_236^post7 == 0 /\ -lt_17^post7+lt_17^0 == 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ z_188^0-z_188^post7 == 0 /\ i_33^0-i_33^post7 == 0 /\ -a_347^post7+a_377^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ __disjvr_13^0-__disjvr_13^post7 == 0 /\ a_377^0-a_377^post7 == 0 /\ __disjvr_29^0-__disjvr_29^post7 == 0 /\ -__disjvr_3^post7+__disjvr_3^0 == 0 /\ -a_267^post7+a_267^0 == 0 /\ -rcd_352^post7+rcd_352^0 == 0 /\ rcd_70^0-rcd_70^post7 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ head_35^0-head_35^post7 == 0 /\ -rcd_228^post7+rcd_228^0 == 0 /\ -__disjvr_1^post7+__disjvr_1^0 == 0 /\ -__disjvr_27^post7+__disjvr_27^0 == 0 /\ -rcd_376^0+rcd_46^post7 <= 0 /\ -__disjvr_23^post7+__disjvr_23^0 == 0 /\ rcd_356^0-rcd_356^post7 == 0 /\ __disjvr_4^0-__disjvr_4^post7 == 0 /\ -tmp_37^post7+tmp_37^0 == 0 /\ -__disjvr_10^post7+__disjvr_10^0 == 0 /\ -len_286^post7+len_286^0 == 0 /\ a_347^post7-a_377^0 <= 0 /\ -x_SLAM_f_21^post7+x_SLAM_f_21^0 == 0 /\ len_195^0-len_195^post7 == 0 /\ -i_227^post7+i_227^0 == 0 /\ -t_24^post7+t_24^0 == 0 /\ -rcd_264^post7+rcd_264^0 == 0 /\ -ct_20^post7+ct_20^0 == 0 /\ nondet_12^0-nondet_12^post7 == 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ i_120^0-i_120^post7 == 0 /\ -rcd_396^post7+rcd_396^0 == 0 /\ -r_42^post7+r_42^0 == 0 /\ __disjvr_26^0-__disjvr_26^post7 == 0 /\ x_23^0-x_23^post7 == 0 /\ -i_111^post7+i_111^0 == 0 /\ rcd_222^0-rcd_222^post7 == 0 /\ -rcd_105^post7+rcd_105^0 == 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ -z_265^post7+z_265^0 == 0 /\ __disjvr_15^0-__disjvr_15^post7 == 0 /\ __disjvr_6^0-__disjvr_6^post7 == 0 /\ result_11^0-result_11^post7 == 0 /\ rcd_376^0-rcd_376^post7 == 0 /\ -z_160^post7+z_160^0 == 0 /\ -a_210^post7+a_210^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ x_19^0-x_19^post7 == 0 /\ __disjvr_19^0-__disjvr_19^post7 == 0 /\ z_28^0-z_28^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post7 == 0 /\ -__disjvr_18^post7+__disjvr_18^0 == 0 /\ -__disjvr_17^post7+__disjvr_17^0 == 0 /\ __disjvr_11^0-__disjvr_11^post7 == 0 /\ __disjvr_14^0-__disjvr_14^post7 == 0 /\ __disjvr_16^0-__disjvr_16^post7 == 0 /\ -temp1_30^post7+temp1_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0 /\ -lt_483^post7+lt_483^0 == 0 /\ -len_266^post7+len_266^0 == 0 /\ -__disjvr_9^post7+__disjvr_9^0 == 0 /\ temp0_18^0-temp0_18^post7 == 0 /\ -__disjvr_22^post7+__disjvr_22^0 == 0 /\ -r_178^post7+r_178^0 == 0 /\ a_321^0-a_321^post7 == 0 /\ rcd_113^0-rcd_113^post7 == 0 /\ head_13^0-head_13^post7 == 0 /\ -z_279^post7+z_279^0 == 0 /\ -rcd_237^post7+rcd_237^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post7+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_166^post7+a_166^0 == 0 /\ -z_389^post7+z_389^0 == 0 /\ -a_27^post7+a_27^0 == 0 /\ -rcd_226^post7+rcd_226^0 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ -z_238^post7+z_238^0 == 0 /\ z_229^0-z_229^post7 == 0 /\ y_22^0-y_22^post7 == 0 /\ z_252^0-z_252^post7 == 0 /\ -lt_29^post7+lt_29^0 == 0 /\ lt_386^0-lt_386^post7 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_25^post7+__disjvr_25^0 == 0), cost: 1
   8: l2 -> l0 : __disjvr_0^0'=__disjvr_0^post8, a_321^0'=a_321^post8, rcd_70^0'=rcd_70^post8, __disjvr_21^0'=__disjvr_21^post8, x_23^0'=x_23^post8, __disjvr_4^0'=__disjvr_4^post8, rcd_222^0'=rcd_222^post8, __disjvr_14^0'=__disjvr_14^post8, head_35^0'=head_35^post8, __disjvr_24^0'=__disjvr_24^post8, temp0_18^0'=temp0_18^post8, lt_386^0'=lt_386^post8, z_229^0'=z_229^post8, __disjvr_9^0'=__disjvr_9^post8, a_210^0'=a_210^post8, rcd_376^0'=rcd_376^post8, __disjvr_19^0'=__disjvr_19^post8, len_195^0'=len_195^post8, __disjvr_29^0'=__disjvr_29^post8, x_19^0'=x_19^post8, r_42^0'=r_42^post8, z_28^0'=z_28^post8, __disjvr_11^0'=__disjvr_11^post8, a_377^0'=a_377^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post8, length_32^0'=length_32^post8, y_22^0'=y_22^post8, __disjvr_6^0'=__disjvr_6^post8, rcd_228^0'=rcd_228^post8, __disjvr_16^0'=__disjvr_16^post8, i_120^0'=i_120^post8, __disjvr_26^0'=__disjvr_26^post8, temp1_30^0'=temp1_30^post8, nondet_12^0'=nondet_12^post8, z_252^0'=z_252^post8, a_27^0'=a_27^post8, rcd_46^0'=rcd_46^post8, __disjvr_20^0'=__disjvr_20^post8, len_286^0'=len_286^post8, __disjvr_3^0'=__disjvr_3^post8, rcd_113^0'=rcd_113^post8, __disjvr_13^0'=__disjvr_13^post8, head_13^0'=head_13^post8, __disjvr_23^0'=__disjvr_23^post8, t_24^0'=t_24^post8, lt_29^0'=lt_29^post8, z_188^0'=z_188^post8, __disjvr_8^0'=__disjvr_8^post8, rcd_264^0'=rcd_264^post8, rcd_356^0'=rcd_356^post8, __disjvr_18^0'=__disjvr_18^post8, i_33^0'=i_33^post8, __disjvr_28^0'=__disjvr_28^post8, tmp_37^0'=tmp_37^post8, r_236^0'=r_236^post8, z_279^0'=z_279^post8, __disjvr_10^0'=__disjvr_10^post8, a_347^0'=a_347^post8, result_11^0'=result_11^post8, __disjvr_22^0'=__disjvr_22^post8, x_SLAM_f_21^0'=x_SLAM_f_21^post8, __disjvr_5^0'=__disjvr_5^post8, rcd_226^0'=rcd_226^post8, __disjvr_15^0'=__disjvr_15^post8, i_111^0'=i_111^post8, __disjvr_25^0'=__disjvr_25^post8, temp0_34^0'=temp0_34^post8, lt_483^0'=lt_483^post8, z_238^0'=z_238^post8, a_166^0'=a_166^post8, a_267^0'=a_267^post8, rcd_396^0'=rcd_396^post8, __disjvr_1^0'=__disjvr_1^post8, len_266^0'=len_266^post8, __disjvr_2^0'=__disjvr_2^post8, rcd_105^0'=rcd_105^post8, z_389^0'=z_389^post8, __disjvr_12^0'=__disjvr_12^post8, ct_20^0'=ct_20^post8, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post8, lt_17^0'=lt_17^post8, z_160^0'=z_160^post8, __disjvr_7^0'=__disjvr_7^post8, rcd_237^0'=rcd_237^post8, rcd_352^0'=rcd_352^post8, __disjvr_17^0'=__disjvr_17^post8, i_227^0'=i_227^post8, __disjvr_27^0'=__disjvr_27^post8, temp_38^0'=temp_38^post8, r_178^0'=r_178^post8, z_265^0'=z_265^post8, (__disjvr_20^0-__disjvr_20^post8 == 0 /\ a_321^0-a_321^post8 == 0 /\ a_27^0-a_27^post8 == 0 /\ -__disjvr_15^post8+__disjvr_15^0 == 0 /\ z_252^0-z_252^post8 == 0 /\ -lt_483^post8+lt_483^0 == 0 /\ -__disjvr_27^post8+__disjvr_27^0 == 0 /\ y_22^0-y_22^post8 == 0 /\ __disjvr_26^0-__disjvr_26^post8 == 0 /\ tmp_37^0-tmp_37^post8 == 0 /\ lt_386^0-lt_386^post8 == 0 /\ -z_160^post8+z_160^0 == 0 /\ rcd_222^0-rcd_222^post8 == 0 /\ z_389^0-z_389^post8 == 0 /\ -i_33^post8+i_33^0 == 0 /\ -z_279^post8+z_279^0 == 0 /\ -__disjvr_1^post8+__disjvr_1^0 == 0 /\ x_23^0-x_23^post8 == 0 /\ i_120^0-i_120^post8 == 0 /\ __disjvr_24^0-__disjvr_24^post8 == 0 /\ -i_227^post8+i_227^0 == 0 /\ -lt_29^post8+lt_29^0 == 0 /\ z_188^0-z_188^post8 == 0 /\ -len_266^post8+len_266^0 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ -temp1_30^post8+temp1_30^0 == 0 /\ -a_267^post8+a_267^0 == 0 /\ __disjvr_16^0-__disjvr_16^post8 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ length_32^0-length_32^post8 == 0 /\ z_28^0-z_28^post8 == 0 /\ -rcd_46^post8+rcd_46^0 == 0 /\ -z_265^post8+z_265^0 == 0 /\ -__disjvr_11^post8+__disjvr_11^0 == 0 /\ -__disjvr_22^post8+__disjvr_22^0 == 0 /\ __disjvr_29^0-__disjvr_29^post8 == 0 /\ -a_347^post8+a_347^0 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ a_377^0-a_377^post8 == 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ -rcd_237^post8+rcd_237^0 == 0 /\ -__disjvr_25^post8+__disjvr_25^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post8+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -z_238^post8+z_238^0 == 0 /\ rcd_70^0-rcd_70^post8 == 0 /\ temp0_34^0-temp0_34^post8 == 0 /\ rcd_113^0-rcd_113^post8 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ len_286^0-len_286^post8 == 0 /\ head_13^0-head_13^post8 == 0 /\ -rcd_396^post8+rcd_396^0 == 0 /\ lt_17^0-lt_17^post8 == 0 /\ temp0_18^0-temp0_18^post8 == 0 /\ -z_229^post8+z_229^0 == 0 /\ len_195^0-len_195^post8 == 0 /\ -r_42^post8+r_42^0 == 0 /\ __disjvr_4^0-__disjvr_4^post8 == 0 /\ -__disjvr_21^post8+__disjvr_21^0 == 0 /\ -__disjvr_8^post8+__disjvr_8^0 == 0 /\ -__disjvr_10^post8+__disjvr_10^0 == 0 /\ __disjvr_7^0-__disjvr_7^post8 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ -r_178^post8+r_178^0 == 0 /\ -rcd_228^post8+rcd_228^0 == 0 /\ -a_166^post8+a_166^0 == 0 /\ -rcd_352^post8+rcd_352^0 == 0 /\ -__disjvr_3^post8+__disjvr_3^0 == 0 /\ -result_11^post8+result_11^0 == 0 /\ rcd_356^0-rcd_356^post8 == 0 /\ __disjvr_23^0-__disjvr_23^post8 == 0 /\ -ct_20^post8+ct_20^0 == 0 /\ -__disjvr_19^post8+__disjvr_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post8 == 0 /\ -t_24^post8+t_24^0 == 0 /\ x_19^0-x_19^post8 == 0 /\ -x_SLAM_f_21^post8+x_SLAM_f_21^0 == 0 /\ __disjvr_6^0-__disjvr_6^post8 == 0 /\ -i_111^post8+i_111^0 == 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ head_35^0-head_35^post8 == 0 /\ -temp_38^post8+temp_38^0 == 0 /\ rcd_226^0-rcd_226^post8 == 0 /\ -rcd_264^post8+rcd_264^0 == 0 /\ -a_210^post8+a_210^0 == 0 /\ -r_236^post8+r_236^0 == 0 /\ rcd_376^0-rcd_376^post8 == 0 /\ -rcd_105^post8+rcd_105^0 == 0 /\ __disjvr_13^0-__disjvr_13^post8 == 0), cost: 1
   9: l9 -> l10 : __disjvr_0^0'=__disjvr_0^post9, a_321^0'=a_321^post9, rcd_70^0'=rcd_70^post9, __disjvr_21^0'=__disjvr_21^post9, x_23^0'=x_23^post9, __disjvr_4^0'=__disjvr_4^post9, rcd_222^0'=rcd_222^post9, __disjvr_14^0'=__disjvr_14^post9, head_35^0'=head_35^post9, __disjvr_24^0'=__disjvr_24^post9, temp0_18^0'=temp0_18^post9, lt_386^0'=lt_386^post9, z_229^0'=z_229^post9, __disjvr_9^0'=__disjvr_9^post9, a_210^0'=a_210^post9, rcd_376^0'=rcd_376^post9, __disjvr_19^0'=__disjvr_19^post9, len_195^0'=len_195^post9, __disjvr_29^0'=__disjvr_29^post9, x_19^0'=x_19^post9, r_42^0'=r_42^post9, z_28^0'=z_28^post9, __disjvr_11^0'=__disjvr_11^post9, a_377^0'=a_377^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post9, length_32^0'=length_32^post9, y_22^0'=y_22^post9, __disjvr_6^0'=__disjvr_6^post9, rcd_228^0'=rcd_228^post9, __disjvr_16^0'=__disjvr_16^post9, i_120^0'=i_120^post9, __disjvr_26^0'=__disjvr_26^post9, temp1_30^0'=temp1_30^post9, nondet_12^0'=nondet_12^post9, z_252^0'=z_252^post9, a_27^0'=a_27^post9, rcd_46^0'=rcd_46^post9, __disjvr_20^0'=__disjvr_20^post9, len_286^0'=len_286^post9, __disjvr_3^0'=__disjvr_3^post9, rcd_113^0'=rcd_113^post9, __disjvr_13^0'=__disjvr_13^post9, head_13^0'=head_13^post9, __disjvr_23^0'=__disjvr_23^post9, t_24^0'=t_24^post9, lt_29^0'=lt_29^post9, z_188^0'=z_188^post9, __disjvr_8^0'=__disjvr_8^post9, rcd_264^0'=rcd_264^post9, rcd_356^0'=rcd_356^post9, __disjvr_18^0'=__disjvr_18^post9, i_33^0'=i_33^post9, __disjvr_28^0'=__disjvr_28^post9, tmp_37^0'=tmp_37^post9, r_236^0'=r_236^post9, z_279^0'=z_279^post9, __disjvr_10^0'=__disjvr_10^post9, a_347^0'=a_347^post9, result_11^0'=result_11^post9, __disjvr_22^0'=__disjvr_22^post9, x_SLAM_f_21^0'=x_SLAM_f_21^post9, __disjvr_5^0'=__disjvr_5^post9, rcd_226^0'=rcd_226^post9, __disjvr_15^0'=__disjvr_15^post9, i_111^0'=i_111^post9, __disjvr_25^0'=__disjvr_25^post9, temp0_34^0'=temp0_34^post9, lt_483^0'=lt_483^post9, z_238^0'=z_238^post9, a_166^0'=a_166^post9, a_267^0'=a_267^post9, rcd_396^0'=rcd_396^post9, __disjvr_1^0'=__disjvr_1^post9, len_266^0'=len_266^post9, __disjvr_2^0'=__disjvr_2^post9, rcd_105^0'=rcd_105^post9, z_389^0'=z_389^post9, __disjvr_12^0'=__disjvr_12^post9, ct_20^0'=ct_20^post9, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post9, lt_17^0'=lt_17^post9, z_160^0'=z_160^post9, __disjvr_7^0'=__disjvr_7^post9, rcd_237^0'=rcd_237^post9, rcd_352^0'=rcd_352^post9, __disjvr_17^0'=__disjvr_17^post9, i_227^0'=i_227^post9, __disjvr_27^0'=__disjvr_27^post9, temp_38^0'=temp_38^post9, r_178^0'=r_178^post9, z_265^0'=z_265^post9, (0 == 0 /\ rcd_70^0-rcd_70^post9 == 0 /\ -x_23^0+y_22^0 <= 0 /\ i_33^0-i_33^post9 == 0 /\ -__disjvr_17^post9+__disjvr_17^0 == 0 /\ a_166^0-a_166^post9 == 0 /\ __disjvr_24^0-__disjvr_24^post9 == 0 /\ __disjvr_8^0-__disjvr_8^post9 == 0 /\ r_236^0-r_236^post9 == 0 /\ -__disjvr_16^post9+__disjvr_16^0 == 0 /\ -z_389^post9+z_389^0 == 0 /\ __disjvr_4^0-__disjvr_4^post9 == 0 /\ -__disjvr_2^post9+__disjvr_2^0 == 0 /\ z_229^0-z_229^post9 == 0 /\ -temp0_34^post9+temp0_34^0 == 0 /\ rcd_46^0-rcd_46^post9 == 0 /\ rcd_228^0-rcd_228^post9 == 0 /\ -__disjvr_28^post9+__disjvr_28^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post9 == 0 /\ head_13^0-head_13^post9 == 0 /\ -i_227^post9+i_227^0 == 0 /\ -length_32^post9+length_32^0 == 0 /\ __disjvr_26^0-__disjvr_26^post9 == 0 /\ a_267^0-a_267^post9 == 0 /\ x_23^0-y_22^0 <= 0 /\ temp1_30^0-temp1_30^post9 == 0 /\ -rcd_264^post9+rcd_264^0 == 0 /\ -__disjvr_12^post9+__disjvr_12^0 == 0 /\ -a_321^0 <= 0 /\ -__disjvr_10^post9+__disjvr_10^0 == 0 /\ -a_377^post9+a_377^0 == 0 /\ __disjvr_21^0-__disjvr_21^post9 == 0 /\ -z_265^post9+z_265^0 == 0 /\ a_321^0-a_321^post9 == 0 /\ head_35^0-head_35^post9 == 0 /\ -z_160^post9+z_160^0 == 0 /\ -tmp_37^post9+tmp_37^0 == 0 /\ __disjvr_23^0-__disjvr_23^post9 == 0 /\ rcd_113^0-rcd_113^post9 == 0 /\ -i_111^post9+i_111^0 == 0 /\ z_252^0-z_252^post9 == 0 /\ -__disjvr_1^post9+__disjvr_1^0 == 0 /\ -__disjvr_27^post9+__disjvr_27^0 == 0 /\ -__disjvr_3^post9+__disjvr_3^0 == 0 /\ -__disjvr_13^post9+__disjvr_13^0 == 0 /\ __disjvr_6^0-__disjvr_6^post9 == 0 /\ -rcd_352^post9+rcd_352^0 == 0 /\ -rcd_376^post9+rcd_376^0 == 0 /\ -__disjvr_19^post9+__disjvr_19^0 == 0 /\ -z_238^post9+z_238^0 == 0 /\ -lt_29^post9+lt_29^0 == 0 /\ __disjvr_15^0-__disjvr_15^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ __disjvr_0^0-__disjvr_0^post9 == 0 /\ -rcd_226^post9+rcd_226^0 == 0 /\ -rcd_105^post9+rcd_105^0 == 0 /\ -rcd_356^post9+rcd_356^0 == 0 /\ -rcd_396^post9+rcd_396^0 == 0 /\ -rcd_222^post9+rcd_222^0 == 0 /\ i_120^0-i_120^post9 == 0 /\ -__disjvr_18^post9+__disjvr_18^0 == 0 /\ __disjvr_20^0-__disjvr_20^post9 == 0 /\ z_188^0-z_188^post9 == 0 /\ -lt_483^post9+lt_483^0 == 0 /\ -r_178^post9+r_178^0 == 0 /\ -__disjvr_22^post9+__disjvr_22^0 == 0 /\ temp0_18^0-temp0_18^post9 == 0 /\ __disjvr_5^0-__disjvr_5^post9 == 0 /\ __disjvr_29^0-__disjvr_29^post9 == 0 /\ a_27^0-a_27^post9 == 0 /\ -rcd_237^post9+rcd_237^0 == 0 /\ result_11^post9-temp0_18^0 == 0 /\ -nondet_12^post9+nondet_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post9 == 0 /\ -z_279^post9+z_279^0 == 0 /\ a_347^0-a_347^post9 == 0 /\ r_42^0-r_42^post9 == 0 /\ len_195^0-len_195^post9 == 0 /\ len_286^0-len_286^post9 == 0 /\ -len_266^post9+len_266^0 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ -temp_38^post9+temp_38^0 == 0 /\ a_210^0-a_210^post9 == 0 /\ -__disjvr_7^post9+__disjvr_7^0 == 0 /\ -__disjvr_25^post9+__disjvr_25^0 == 0 /\ z_28^0-z_28^post9 == 0), cost: 1
  12: l9 -> l12 : __disjvr_0^0'=__disjvr_0^post12, a_321^0'=a_321^post12, rcd_70^0'=rcd_70^post12, __disjvr_21^0'=__disjvr_21^post12, x_23^0'=x_23^post12, __disjvr_4^0'=__disjvr_4^post12, rcd_222^0'=rcd_222^post12, __disjvr_14^0'=__disjvr_14^post12, head_35^0'=head_35^post12, __disjvr_24^0'=__disjvr_24^post12, temp0_18^0'=temp0_18^post12, lt_386^0'=lt_386^post12, z_229^0'=z_229^post12, __disjvr_9^0'=__disjvr_9^post12, a_210^0'=a_210^post12, rcd_376^0'=rcd_376^post12, __disjvr_19^0'=__disjvr_19^post12, len_195^0'=len_195^post12, __disjvr_29^0'=__disjvr_29^post12, x_19^0'=x_19^post12, r_42^0'=r_42^post12, z_28^0'=z_28^post12, __disjvr_11^0'=__disjvr_11^post12, a_377^0'=a_377^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post12, length_32^0'=length_32^post12, y_22^0'=y_22^post12, __disjvr_6^0'=__disjvr_6^post12, rcd_228^0'=rcd_228^post12, __disjvr_16^0'=__disjvr_16^post12, i_120^0'=i_120^post12, __disjvr_26^0'=__disjvr_26^post12, temp1_30^0'=temp1_30^post12, nondet_12^0'=nondet_12^post12, z_252^0'=z_252^post12, a_27^0'=a_27^post12, rcd_46^0'=rcd_46^post12, __disjvr_20^0'=__disjvr_20^post12, len_286^0'=len_286^post12, __disjvr_3^0'=__disjvr_3^post12, rcd_113^0'=rcd_113^post12, __disjvr_13^0'=__disjvr_13^post12, head_13^0'=head_13^post12, __disjvr_23^0'=__disjvr_23^post12, t_24^0'=t_24^post12, lt_29^0'=lt_29^post12, z_188^0'=z_188^post12, __disjvr_8^0'=__disjvr_8^post12, rcd_264^0'=rcd_264^post12, rcd_356^0'=rcd_356^post12, __disjvr_18^0'=__disjvr_18^post12, i_33^0'=i_33^post12, __disjvr_28^0'=__disjvr_28^post12, tmp_37^0'=tmp_37^post12, r_236^0'=r_236^post12, z_279^0'=z_279^post12, __disjvr_10^0'=__disjvr_10^post12, a_347^0'=a_347^post12, result_11^0'=result_11^post12, __disjvr_22^0'=__disjvr_22^post12, x_SLAM_f_21^0'=x_SLAM_f_21^post12, __disjvr_5^0'=__disjvr_5^post12, rcd_226^0'=rcd_226^post12, __disjvr_15^0'=__disjvr_15^post12, i_111^0'=i_111^post12, __disjvr_25^0'=__disjvr_25^post12, temp0_34^0'=temp0_34^post12, lt_483^0'=lt_483^post12, z_238^0'=z_238^post12, a_166^0'=a_166^post12, a_267^0'=a_267^post12, rcd_396^0'=rcd_396^post12, __disjvr_1^0'=__disjvr_1^post12, len_266^0'=len_266^post12, __disjvr_2^0'=__disjvr_2^post12, rcd_105^0'=rcd_105^post12, z_389^0'=z_389^post12, __disjvr_12^0'=__disjvr_12^post12, ct_20^0'=ct_20^post12, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post12, lt_17^0'=lt_17^post12, z_160^0'=z_160^post12, __disjvr_7^0'=__disjvr_7^post12, rcd_237^0'=rcd_237^post12, rcd_352^0'=rcd_352^post12, __disjvr_17^0'=__disjvr_17^post12, i_227^0'=i_227^post12, __disjvr_27^0'=__disjvr_27^post12, temp_38^0'=temp_38^post12, r_178^0'=r_178^post12, z_265^0'=z_265^post12, (0 == 0 /\ __disjvr_4^0-__disjvr_4^post12 == 0 /\ a_321^0-a_321^post12 == 0 /\ rcd_70^0-rcd_70^post12 == 0 /\ -r_236^post12+r_236^0 == 0 /\ -rcd_105^post12+rcd_105^0 == 0 /\ -__disjvr_15^post12+__disjvr_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post12 == 0 /\ r_42^0-r_42^post12 == 0 /\ tmp_37^0-tmp_37^post12 == 0 /\ len_195^0-len_195^post12 == 0 /\ temp0_18^0-temp0_18^post12 == 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ -i_120^post12+i_120^0 == 0 /\ -a_347^post12+a_347^0 == 0 /\ __disjvr_22^0-__disjvr_22^post12 == 0 /\ -__disjvr_6^post12+__disjvr_6^0 == 0 /\ -__disjvr_1^post12+__disjvr_1^0 == 0 /\ __disjvr_3^0-__disjvr_3^post12 == 0 /\ -rcd_46^post12+rcd_46^0 == 0 /\ lt_386^0-lt_386^post12 == 0 /\ __disjvr_10^0-__disjvr_10^post12 == 0 /\ -z_160^post12+z_160^0 == 0 /\ rcd_356^0-rcd_356^post12 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -__disjvr_12^post12+__disjvr_12^0 == 0 /\ -r_178^post12+r_178^0 == 0 /\ -rcd_352^post12+rcd_352^0 == 0 /\ -__disjvr_26^post12+__disjvr_26^0 == 0 /\ -z_238^post12+z_238^0 == 0 /\ __disjvr_21^0-__disjvr_21^post12 == 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ -a_321^0 <= 0 /\ -len_266^post12+len_266^0 == 0 /\ -rcd_226^post12+rcd_226^0 == 0 /\ -rcd_237^post12+rcd_237^0 == 0 /\ -i_33^post12+i_33^0 == 0 /\ -z_279^post12+z_279^0 == 0 /\ -a_267^post12+a_267^0 == 0 /\ -head_13^post12+head_13^0 == 0 /\ -result_11^post12+result_11^0 == 0 /\ head_35^0-head_35^post12 == 0 /\ -z_265^post12+z_265^0 == 0 /\ __disjvr_2^0-__disjvr_2^post12 == 0 /\ rcd_376^0-rcd_376^post12 == 0 /\ __disjvr_13^0-__disjvr_13^post12 == 0 /\ -z_28^post12+z_28^0 == 0 /\ -__disjvr_25^post12+__disjvr_25^0 == 0 /\ -temp1_30^post12+temp1_30^0 == 0 /\ __disjvr_18^0-__disjvr_18^post12 == 0 /\ a_377^0-a_377^post12 == 0 /\ i_111^0-i_111^post12 == 0 /\ z_252^0-z_252^post12 == 0 /\ -a_166^post12+a_166^0 == 0 /\ __disjvr_20^0-__disjvr_20^post12 == 0 /\ lt_29^0-lt_29^post12 == 0 /\ -rcd_396^post12+rcd_396^0 == 0 /\ -__disjvr_8^post12+__disjvr_8^0 == 0 /\ -z_389^post12+z_389^0 == 0 /\ -__disjvr_28^post12+__disjvr_28^0 == 0 /\ -temp0_34^post12+temp0_34^0 == 0 /\ rcd_228^0-rcd_228^post12 == 0 /\ __disjvr_7^0-__disjvr_7^post12 == 0 /\ x_23^0-x_23^post12 == 0 /\ rcd_222^0-rcd_222^post12 == 0 /\ z_229^0-z_229^post12 == 0 /\ -temp_38^post12+temp_38^0 == 0 /\ -len_286^post12+len_286^0 == 0 /\ length_32^0-length_32^post12 == 0 /\ __disjvr_14^0-__disjvr_14^post12 == 0 /\ a_210^0-a_210^post12 == 0 /\ __disjvr_11^0-__disjvr_11^post12 == 0 /\ -rcd_113^post12+rcd_113^0 == 0 /\ __disjvr_16^0-__disjvr_16^post12 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ -__disjvr_23^post12+__disjvr_23^0 == 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ -__disjvr_27^post12+__disjvr_27^0 == 0 /\ -y_22^post12+y_22^0 == 0 /\ -t_24^post12+t_24^0 == 0 /\ __disjvr_29^0-__disjvr_29^post12 == 0 /\ -i_227^post12+i_227^0 == 0 /\ lt_483^0-lt_483^post12 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ a_27^0-a_27^post12 == 0 /\ rcd_264^0-rcd_264^post12 == 0 /\ -z_188^post12+z_188^0 == 0), cost: 1
  10: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post10, a_321^0'=a_321^post10, rcd_70^0'=rcd_70^post10, __disjvr_21^0'=__disjvr_21^post10, x_23^0'=x_23^post10, __disjvr_4^0'=__disjvr_4^post10, rcd_222^0'=rcd_222^post10, __disjvr_14^0'=__disjvr_14^post10, head_35^0'=head_35^post10, __disjvr_24^0'=__disjvr_24^post10, temp0_18^0'=temp0_18^post10, lt_386^0'=lt_386^post10, z_229^0'=z_229^post10, __disjvr_9^0'=__disjvr_9^post10, a_210^0'=a_210^post10, rcd_376^0'=rcd_376^post10, __disjvr_19^0'=__disjvr_19^post10, len_195^0'=len_195^post10, __disjvr_29^0'=__disjvr_29^post10, x_19^0'=x_19^post10, r_42^0'=r_42^post10, z_28^0'=z_28^post10, __disjvr_11^0'=__disjvr_11^post10, a_377^0'=a_377^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post10, length_32^0'=length_32^post10, y_22^0'=y_22^post10, __disjvr_6^0'=__disjvr_6^post10, rcd_228^0'=rcd_228^post10, __disjvr_16^0'=__disjvr_16^post10, i_120^0'=i_120^post10, __disjvr_26^0'=__disjvr_26^post10, temp1_30^0'=temp1_30^post10, nondet_12^0'=nondet_12^post10, z_252^0'=z_252^post10, a_27^0'=a_27^post10, rcd_46^0'=rcd_46^post10, __disjvr_20^0'=__disjvr_20^post10, len_286^0'=len_286^post10, __disjvr_3^0'=__disjvr_3^post10, rcd_113^0'=rcd_113^post10, __disjvr_13^0'=__disjvr_13^post10, head_13^0'=head_13^post10, __disjvr_23^0'=__disjvr_23^post10, t_24^0'=t_24^post10, lt_29^0'=lt_29^post10, z_188^0'=z_188^post10, __disjvr_8^0'=__disjvr_8^post10, rcd_264^0'=rcd_264^post10, rcd_356^0'=rcd_356^post10, __disjvr_18^0'=__disjvr_18^post10, i_33^0'=i_33^post10, __disjvr_28^0'=__disjvr_28^post10, tmp_37^0'=tmp_37^post10, r_236^0'=r_236^post10, z_279^0'=z_279^post10, __disjvr_10^0'=__disjvr_10^post10, a_347^0'=a_347^post10, result_11^0'=result_11^post10, __disjvr_22^0'=__disjvr_22^post10, x_SLAM_f_21^0'=x_SLAM_f_21^post10, __disjvr_5^0'=__disjvr_5^post10, rcd_226^0'=rcd_226^post10, __disjvr_15^0'=__disjvr_15^post10, i_111^0'=i_111^post10, __disjvr_25^0'=__disjvr_25^post10, temp0_34^0'=temp0_34^post10, lt_483^0'=lt_483^post10, z_238^0'=z_238^post10, a_166^0'=a_166^post10, a_267^0'=a_267^post10, rcd_396^0'=rcd_396^post10, __disjvr_1^0'=__disjvr_1^post10, len_266^0'=len_266^post10, __disjvr_2^0'=__disjvr_2^post10, rcd_105^0'=rcd_105^post10, z_389^0'=z_389^post10, __disjvr_12^0'=__disjvr_12^post10, ct_20^0'=ct_20^post10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post10, lt_17^0'=lt_17^post10, z_160^0'=z_160^post10, __disjvr_7^0'=__disjvr_7^post10, rcd_237^0'=rcd_237^post10, rcd_352^0'=rcd_352^post10, __disjvr_17^0'=__disjvr_17^post10, i_227^0'=i_227^post10, __disjvr_27^0'=__disjvr_27^post10, temp_38^0'=temp_38^post10, r_178^0'=r_178^post10, z_265^0'=z_265^post10, (-z_160^post10+z_160^0 == 0 /\ __disjvr_13^0-__disjvr_13^post10 == 0 /\ a_27^0-a_27^post10 == 0 /\ __disjvr_20^0-__disjvr_20^post10 == 0 /\ tmp_37^0-tmp_37^post10 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ -__disjvr_11^post10+__disjvr_11^0 == 0 /\ -rcd_105^post10+rcd_105^0 == 0 /\ __disjvr_22^0-__disjvr_22^post10 == 0 /\ -z_265^post10+z_265^0 == 0 /\ -r_236^post10+r_236^0 == 0 /\ -__disjvr_17^post10+__disjvr_17^0 == 0 /\ z_252^0-z_252^post10 == 0 /\ -__disjvr_15^post10+__disjvr_15^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ -a_347^post10+a_347^0 == 0 /\ -lt_483^post10+lt_483^0 == 0 /\ i_120^0-i_120^post10 == 0 /\ -z_279^post10+z_279^0 == 0 /\ __disjvr_26^0-__disjvr_26^post10 == 0 /\ __disjvr_24^0-__disjvr_24^post10 == 0 /\ rcd_222^0-rcd_222^post10 == 0 /\ z_229^0-z_229^post10 == 0 /\ x_23^0-x_23^post10 == 0 /\ lt_386^0-lt_386^post10 == 0 /\ y_22^0-y_22^post10 == 0 /\ -rcd_352^post10+rcd_352^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post10+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -z_238^post10+z_238^0 == 0 /\ __disjvr_16^0-__disjvr_16^post10 == 0 /\ -rcd_46^post10+rcd_46^0 == 0 /\ nondet_12^0-nondet_12^post10 == 0 /\ a_377^0-a_377^post10 == 0 /\ z_188^0-z_188^post10 == 0 /\ i_33^0-i_33^post10 == 0 /\ length_32^0-length_32^post10 == 0 /\ z_389^0-z_389^post10 == 0 /\ -r_178^post10+r_178^0 == 0 /\ -lt_29^post10+lt_29^0 == 0 /\ -__disjvr_3^post10+__disjvr_3^0 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ __disjvr_29^0-__disjvr_29^post10 == 0 /\ -__disjvr_25^post10+__disjvr_25^0 == 0 /\ z_28^0-z_28^post10 == 0 /\ -rcd_237^post10+rcd_237^0 == 0 /\ -len_266^post10+len_266^0 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ -temp1_30^post10+temp1_30^0 == 0 /\ -rcd_228^post10+rcd_228^0 == 0 /\ -__disjvr_28^post10+__disjvr_28^0 == 0 /\ head_13^0-head_13^post10 == 0 /\ lt_17^0-lt_17^post10 == 0 /\ __disjvr_4^0-__disjvr_4^post10 == 0 /\ -a_166^post10+a_166^0 == 0 /\ rcd_70^0-rcd_70^post10 == 0 /\ -__disjvr_8^post10+__disjvr_8^0 == 0 /\ r_42^0-r_42^post10 == 0 /\ -result_11^post10+result_11^0 == 0 /\ -temp_38^post10+temp_38^0 == 0 /\ -__disjvr_2^post10+__disjvr_2^0 == 0 /\ temp0_18^0-temp0_18^post10 == 0 /\ __disjvr_9^0-__disjvr_9^post10 == 0 /\ -a_267^post10+a_267^0 == 0 /\ __disjvr_7^0-__disjvr_7^post10 == 0 /\ rcd_356^0-rcd_356^post10 == 0 /\ -a_321^post10+a_321^0 == 0 /\ temp0_34^0-temp0_34^post10 == 0 /\ -x_SLAM_f_21^post10+x_SLAM_f_21^0 == 0 /\ len_286^0-len_286^post10 == 0 /\ -__disjvr_19^post10+__disjvr_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post10 == 0 /\ -__disjvr_10^post10+__disjvr_10^0 == 0 /\ -x_19^post10+x_19^0 == 0 /\ -i_111^post10+i_111^0 == 0 /\ -__disjvr_4^0+__disjvr_4^post10 == 0 /\ -__disjvr_27^post10+__disjvr_27^0 == 0 /\ -i_227^post10+i_227^0 == 0 /\ -t_24^post10+t_24^0 == 0 /\ -__disjvr_5^post10+__disjvr_5^0 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0 /\ -rcd_264^post10+rcd_264^0 == 0 /\ __disjvr_6^0-__disjvr_6^post10 == 0 /\ -a_210^post10+a_210^0 == 0 /\ len_195^0-len_195^post10 == 0 /\ head_35^0-head_35^post10 == 0 /\ __disjvr_23^0-__disjvr_23^post10 == 0 /\ rcd_376^0-rcd_376^post10 == 0 /\ -rcd_396^post10+rcd_396^0 == 0 /\ -ct_20^post10+ct_20^0 == 0 /\ rcd_113^0-rcd_113^post10 == 0 /\ rcd_226^0-rcd_226^post10 == 0 /\ __disjvr_18^0-__disjvr_18^post10 == 0), cost: 1
  11: l11 -> l1 : __disjvr_0^0'=__disjvr_0^post11, a_321^0'=a_321^post11, rcd_70^0'=rcd_70^post11, __disjvr_21^0'=__disjvr_21^post11, x_23^0'=x_23^post11, __disjvr_4^0'=__disjvr_4^post11, rcd_222^0'=rcd_222^post11, __disjvr_14^0'=__disjvr_14^post11, head_35^0'=head_35^post11, __disjvr_24^0'=__disjvr_24^post11, temp0_18^0'=temp0_18^post11, lt_386^0'=lt_386^post11, z_229^0'=z_229^post11, __disjvr_9^0'=__disjvr_9^post11, a_210^0'=a_210^post11, rcd_376^0'=rcd_376^post11, __disjvr_19^0'=__disjvr_19^post11, len_195^0'=len_195^post11, __disjvr_29^0'=__disjvr_29^post11, x_19^0'=x_19^post11, r_42^0'=r_42^post11, z_28^0'=z_28^post11, __disjvr_11^0'=__disjvr_11^post11, a_377^0'=a_377^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post11, length_32^0'=length_32^post11, y_22^0'=y_22^post11, __disjvr_6^0'=__disjvr_6^post11, rcd_228^0'=rcd_228^post11, __disjvr_16^0'=__disjvr_16^post11, i_120^0'=i_120^post11, __disjvr_26^0'=__disjvr_26^post11, temp1_30^0'=temp1_30^post11, nondet_12^0'=nondet_12^post11, z_252^0'=z_252^post11, a_27^0'=a_27^post11, rcd_46^0'=rcd_46^post11, __disjvr_20^0'=__disjvr_20^post11, len_286^0'=len_286^post11, __disjvr_3^0'=__disjvr_3^post11, rcd_113^0'=rcd_113^post11, __disjvr_13^0'=__disjvr_13^post11, head_13^0'=head_13^post11, __disjvr_23^0'=__disjvr_23^post11, t_24^0'=t_24^post11, lt_29^0'=lt_29^post11, z_188^0'=z_188^post11, __disjvr_8^0'=__disjvr_8^post11, rcd_264^0'=rcd_264^post11, rcd_356^0'=rcd_356^post11, __disjvr_18^0'=__disjvr_18^post11, i_33^0'=i_33^post11, __disjvr_28^0'=__disjvr_28^post11, tmp_37^0'=tmp_37^post11, r_236^0'=r_236^post11, z_279^0'=z_279^post11, __disjvr_10^0'=__disjvr_10^post11, a_347^0'=a_347^post11, result_11^0'=result_11^post11, __disjvr_22^0'=__disjvr_22^post11, x_SLAM_f_21^0'=x_SLAM_f_21^post11, __disjvr_5^0'=__disjvr_5^post11, rcd_226^0'=rcd_226^post11, __disjvr_15^0'=__disjvr_15^post11, i_111^0'=i_111^post11, __disjvr_25^0'=__disjvr_25^post11, temp0_34^0'=temp0_34^post11, lt_483^0'=lt_483^post11, z_238^0'=z_238^post11, a_166^0'=a_166^post11, a_267^0'=a_267^post11, rcd_396^0'=rcd_396^post11, __disjvr_1^0'=__disjvr_1^post11, len_266^0'=len_266^post11, __disjvr_2^0'=__disjvr_2^post11, rcd_105^0'=rcd_105^post11, z_389^0'=z_389^post11, __disjvr_12^0'=__disjvr_12^post11, ct_20^0'=ct_20^post11, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post11, lt_17^0'=lt_17^post11, z_160^0'=z_160^post11, __disjvr_7^0'=__disjvr_7^post11, rcd_237^0'=rcd_237^post11, rcd_352^0'=rcd_352^post11, __disjvr_17^0'=__disjvr_17^post11, i_227^0'=i_227^post11, __disjvr_27^0'=__disjvr_27^post11, temp_38^0'=temp_38^post11, r_178^0'=r_178^post11, z_265^0'=z_265^post11, (rcd_376^0-rcd_376^post11 == 0 /\ __disjvr_11^0-__disjvr_11^post11 == 0 /\ y_22^0-y_22^post11 == 0 /\ -r_42^post11+r_42^0 == 0 /\ __disjvr_6^0-__disjvr_6^post11 == 0 /\ a_377^0-a_377^post11 == 0 /\ __disjvr_29^0-__disjvr_29^post11 == 0 /\ __disjvr_14^0-__disjvr_14^post11 == 0 /\ __disjvr_3^0-__disjvr_3^post11 == 0 /\ __disjvr_16^0-__disjvr_16^post11 == 0 /\ nondet_12^0-nondet_12^post11 == 0 /\ __disjvr_21^0-__disjvr_21^post11 == 0 /\ -__disjvr_7^post11+__disjvr_7^0 == 0 /\ -a_166^post11+a_166^0 == 0 /\ -z_252^post11+z_252^0 == 0 /\ -length_32^post11+length_32^0 == 0 /\ -__disjvr_8^post11+__disjvr_8^0 == 0 /\ -temp0_34^post11+temp0_34^0 == 0 /\ -temp_38^post11+temp_38^0 == 0 /\ -a_267^post11+a_267^0 == 0 /\ -len_286^post11+len_286^0 == 0 /\ x_23^0-x_23^post11 == 0 /\ -__disjvr_5^post11+__disjvr_5^0 == 0 /\ __disjvr_10^0-__disjvr_10^post11 == 0 /\ temp0_18^0-temp0_18^post11 == 0 /\ __disjvr_2^0-__disjvr_2^post11 == 0 /\ -rcd_396^post11+rcd_396^0 == 0 /\ temp1_30^0-temp1_30^post11 == 0 /\ -r_236^post11+r_236^0 == 0 /\ __disjvr_24^0-__disjvr_24^post11 == 0 /\ -i_227^post11+i_227^0 == 0 /\ -i_111^post11+i_111^0 == 0 /\ tmp_37^0-tmp_37^post11 == 0 /\ -__disjvr_23^post11+__disjvr_23^0 == 0 /\ -t_24^post11+t_24^0 == 0 /\ -rcd_105^post11+rcd_105^0 == 0 /\ -ct_20^post11+ct_20^0 == 0 /\ -__disjvr_27^post11+__disjvr_27^0 == 0 /\ -z_188^post11+z_188^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post11 == 0 /\ -lt_483^post11+lt_483^0 == 0 /\ -__disjvr_18^post11+__disjvr_18^0 == 0 /\ __disjvr_25^0-__disjvr_25^post11 == 0 /\ -z_265^post11+z_265^0 == 0 /\ -i_120^post11+i_120^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post11 == 0 /\ -z_160^post11+z_160^0 == 0 /\ __disjvr_19^0-__disjvr_19^post11 == 0 /\ z_28^0-z_28^post11 == 0 /\ rcd_264^0-rcd_264^post11 == 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ len_195^0-len_195^post11 == 0 /\ -rcd_113^post11+rcd_113^0 == 0 /\ -z_279^post11+z_279^0 == 0 /\ rcd_46^0-rcd_46^post11 == 0 /\ -__disjvr_15^post11+__disjvr_15^0 == 0 /\ -__disjvr_1^post11+__disjvr_1^0 == 0 /\ rcd_226^0-rcd_226^post11 == 0 /\ __disjvr_13^0-__disjvr_13^post11 == 0 /\ -__disjvr_22^post11+__disjvr_22^0 == 0 /\ a_321^0-a_321^post11 == 0 /\ rcd_70^0-rcd_70^post11 == 0 /\ __disjvr_20^0-__disjvr_20^post11 == 0 /\ head_35^0-head_35^post11 == 0 /\ -a_347^post11+a_347^0 == 0 /\ -i_33^post11+i_33^0 == 0 /\ __disjvr_9^0-__disjvr_9^post11 == 0 /\ -rcd_237^post11+rcd_237^0 == 0 /\ rcd_222^0-rcd_222^post11 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post11+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -z_229^post11+z_229^0 == 0 /\ -head_13^post11+head_13^0 == 0 /\ lt_29^0-lt_29^post11 == 0 /\ a_27^0-a_27^post11 == 0 /\ -len_266^post11+len_266^0 == 0 /\ rcd_228^0-rcd_228^post11 == 0 /\ lt_386^0-lt_386^post11 == 0 /\ __disjvr_0^0-__disjvr_0^post11 == 0 /\ -lt_17^post11+lt_17^0 == 0 /\ -z_238^post11+z_238^0 == 0 /\ -__disjvr_12^post11+__disjvr_12^0 == 0 /\ -rcd_352^post11+rcd_352^0 == 0 /\ -result_11^post11+result_11^0 == 0 /\ -z_389^post11+z_389^0 == 0 /\ x_19^0-x_19^post11 == 0 /\ -rcd_356^post11+rcd_356^0 == 0 /\ __disjvr_4^0-__disjvr_4^post11 == 0 /\ __disjvr_28^0-__disjvr_28^post11 == 0 /\ a_210^0-a_210^post11 == 0 /\ -r_178^post11+r_178^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ __disjvr_26^0-__disjvr_26^post11 == 0), cost: 1
  13: l12 -> l13 : __disjvr_0^0'=__disjvr_0^post13, a_321^0'=a_321^post13, rcd_70^0'=rcd_70^post13, __disjvr_21^0'=__disjvr_21^post13, x_23^0'=x_23^post13, __disjvr_4^0'=__disjvr_4^post13, rcd_222^0'=rcd_222^post13, __disjvr_14^0'=__disjvr_14^post13, head_35^0'=head_35^post13, __disjvr_24^0'=__disjvr_24^post13, temp0_18^0'=temp0_18^post13, lt_386^0'=lt_386^post13, z_229^0'=z_229^post13, __disjvr_9^0'=__disjvr_9^post13, a_210^0'=a_210^post13, rcd_376^0'=rcd_376^post13, __disjvr_19^0'=__disjvr_19^post13, len_195^0'=len_195^post13, __disjvr_29^0'=__disjvr_29^post13, x_19^0'=x_19^post13, r_42^0'=r_42^post13, z_28^0'=z_28^post13, __disjvr_11^0'=__disjvr_11^post13, a_377^0'=a_377^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post13, length_32^0'=length_32^post13, y_22^0'=y_22^post13, __disjvr_6^0'=__disjvr_6^post13, rcd_228^0'=rcd_228^post13, __disjvr_16^0'=__disjvr_16^post13, i_120^0'=i_120^post13, __disjvr_26^0'=__disjvr_26^post13, temp1_30^0'=temp1_30^post13, nondet_12^0'=nondet_12^post13, z_252^0'=z_252^post13, a_27^0'=a_27^post13, rcd_46^0'=rcd_46^post13, __disjvr_20^0'=__disjvr_20^post13, len_286^0'=len_286^post13, __disjvr_3^0'=__disjvr_3^post13, rcd_113^0'=rcd_113^post13, __disjvr_13^0'=__disjvr_13^post13, head_13^0'=head_13^post13, __disjvr_23^0'=__disjvr_23^post13, t_24^0'=t_24^post13, lt_29^0'=lt_29^post13, z_188^0'=z_188^post13, __disjvr_8^0'=__disjvr_8^post13, rcd_264^0'=rcd_264^post13, rcd_356^0'=rcd_356^post13, __disjvr_18^0'=__disjvr_18^post13, i_33^0'=i_33^post13, __disjvr_28^0'=__disjvr_28^post13, tmp_37^0'=tmp_37^post13, r_236^0'=r_236^post13, z_279^0'=z_279^post13, __disjvr_10^0'=__disjvr_10^post13, a_347^0'=a_347^post13, result_11^0'=result_11^post13, __disjvr_22^0'=__disjvr_22^post13, x_SLAM_f_21^0'=x_SLAM_f_21^post13, __disjvr_5^0'=__disjvr_5^post13, rcd_226^0'=rcd_226^post13, __disjvr_15^0'=__disjvr_15^post13, i_111^0'=i_111^post13, __disjvr_25^0'=__disjvr_25^post13, temp0_34^0'=temp0_34^post13, lt_483^0'=lt_483^post13, z_238^0'=z_238^post13, a_166^0'=a_166^post13, a_267^0'=a_267^post13, rcd_396^0'=rcd_396^post13, __disjvr_1^0'=__disjvr_1^post13, len_266^0'=len_266^post13, __disjvr_2^0'=__disjvr_2^post13, rcd_105^0'=rcd_105^post13, z_389^0'=z_389^post13, __disjvr_12^0'=__disjvr_12^post13, ct_20^0'=ct_20^post13, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post13, lt_17^0'=lt_17^post13, z_160^0'=z_160^post13, __disjvr_7^0'=__disjvr_7^post13, rcd_237^0'=rcd_237^post13, rcd_352^0'=rcd_352^post13, __disjvr_17^0'=__disjvr_17^post13, i_227^0'=i_227^post13, __disjvr_27^0'=__disjvr_27^post13, temp_38^0'=temp_38^post13, r_178^0'=r_178^post13, z_265^0'=z_265^post13, (rcd_105^0-rcd_105^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post13 == 0 /\ result_11^0-result_11^post13 == 0 /\ -__disjvr_13^post13+__disjvr_13^0 == 0 /\ -a_27^post13+a_27^0 == 0 /\ __disjvr_28^0-__disjvr_28^post13 == 0 /\ z_279^0-z_279^post13 == 0 /\ __disjvr_16^0-__disjvr_16^post13 == 0 /\ -temp0_34^post13+temp0_34^0 == 0 /\ __disjvr_6^0-__disjvr_6^post13 == 0 /\ nondet_12^0-nondet_12^post13 == 0 /\ -temp_38^post13+temp_38^0 == 0 /\ __disjvr_21^0-__disjvr_21^post13 == 0 /\ rcd_264^0-rcd_264^post13 == 0 /\ -r_178^post13+r_178^0 == 0 /\ -a_166^post13+a_166^0 == 0 /\ __disjvr_5^post13-__disjvr_5^0 == 0 /\ len_195^0-len_195^post13 == 0 /\ -__disjvr_7^post13+__disjvr_7^0 == 0 /\ -tmp_37^post13+tmp_37^0 == 0 /\ head_35^0-head_35^post13 == 0 /\ -__disjvr_10^post13+__disjvr_10^0 == 0 /\ -lt_17^post13+lt_17^0 == 0 /\ -z_252^post13+z_252^0 == 0 /\ a_321^0-a_321^post13 == 0 /\ __disjvr_19^0-__disjvr_19^post13 == 0 /\ -y_22^post13+y_22^0 == 0 /\ __disjvr_9^0-__disjvr_9^post13 == 0 /\ len_286^0-len_286^post13 == 0 /\ -i_227^post13+i_227^0 == 0 /\ -z_188^post13+z_188^0 == 0 /\ -x_19^post13+x_19^0 == 0 /\ -ct_20^post13+ct_20^0 == 0 /\ -__disjvr_1^post13+__disjvr_1^0 == 0 /\ rcd_396^0-rcd_396^post13 == 0 /\ -x_SLAM_f_21^post13+x_SLAM_f_21^0 == 0 /\ -__disjvr_23^post13+__disjvr_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ temp1_30^0-temp1_30^post13 == 0 /\ -__disjvr_5^post13+__disjvr_5^0 == 0 /\ -r_236^post13+r_236^0 == 0 /\ __disjvr_4^0-__disjvr_4^post13 == 0 /\ a_210^0-a_210^post13 == 0 /\ __disjvr_26^0-__disjvr_26^post13 == 0 /\ len_266^0-len_266^post13 == 0 /\ rcd_222^0-rcd_222^post13 == 0 /\ -__disjvr_27^post13+__disjvr_27^0 == 0 /\ rcd_376^0-rcd_376^post13 == 0 /\ -__disjvr_17^post13+__disjvr_17^0 == 0 /\ t_24^0-t_24^post13 == 0 /\ __disjvr_8^0-__disjvr_8^post13 == 0 /\ -__disjvr_15^post13+__disjvr_15^0 == 0 /\ -rcd_356^post13+rcd_356^0 == 0 /\ -__disjvr_18^post13+__disjvr_18^0 == 0 /\ __disjvr_29^0-__disjvr_29^post13 == 0 /\ __disjvr_11^0-__disjvr_11^post13 == 0 /\ -__disjvr_20^post13+__disjvr_20^0 == 0 /\ -lt_483^post13+lt_483^0 == 0 /\ z_160^0-z_160^post13 == 0 /\ -z_28^post13+z_28^0 == 0 /\ rcd_46^0-rcd_46^post13 == 0 /\ __disjvr_3^0-__disjvr_3^post13 == 0 /\ -i_120^post13+i_120^0 == 0 /\ -__disjvr_14^post13+__disjvr_14^0 == 0 /\ a_377^0-a_377^post13 == 0 /\ -i_33^post13+i_33^0 == 0 /\ rcd_228^0-rcd_228^post13 == 0 /\ temp0_18^0-temp0_18^post13 == 0 /\ -head_13^post13+head_13^0 == 0 /\ rcd_70^0-rcd_70^post13 == 0 /\ x_23^0-x_23^post13 == 0 /\ i_111^0-i_111^post13 == 0 /\ rcd_113^0-rcd_113^post13 == 0 /\ -rcd_352^post13+rcd_352^0 == 0 /\ -a_267^post13+a_267^0 == 0 /\ -__disjvr_25^post13+__disjvr_25^0 == 0 /\ lt_29^0-lt_29^post13 == 0 /\ -rcd_226^post13+rcd_226^0 == 0 /\ -__disjvr_22^post13+__disjvr_22^0 == 0 /\ -z_265^post13+z_265^0 == 0 /\ r_42^0-r_42^post13 == 0 /\ z_229^0-z_229^post13 == 0 /\ -__disjvr_12^post13+__disjvr_12^0 == 0 /\ -z_238^post13+z_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post13+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_24^0-__disjvr_24^post13 == 0 /\ length_32^0-length_32^post13 == 0 /\ a_347^0-a_347^post13 == 0 /\ -rcd_237^post13+rcd_237^0 == 0 /\ -z_389^post13+z_389^0 == 0 /\ -__disjvr_2^post13+__disjvr_2^0 == 0 /\ -lt_386^post13+lt_386^0 == 0), cost: 1
  14: l13 -> l14 : __disjvr_0^0'=__disjvr_0^post14, a_321^0'=a_321^post14, rcd_70^0'=rcd_70^post14, __disjvr_21^0'=__disjvr_21^post14, x_23^0'=x_23^post14, __disjvr_4^0'=__disjvr_4^post14, rcd_222^0'=rcd_222^post14, __disjvr_14^0'=__disjvr_14^post14, head_35^0'=head_35^post14, __disjvr_24^0'=__disjvr_24^post14, temp0_18^0'=temp0_18^post14, lt_386^0'=lt_386^post14, z_229^0'=z_229^post14, __disjvr_9^0'=__disjvr_9^post14, a_210^0'=a_210^post14, rcd_376^0'=rcd_376^post14, __disjvr_19^0'=__disjvr_19^post14, len_195^0'=len_195^post14, __disjvr_29^0'=__disjvr_29^post14, x_19^0'=x_19^post14, r_42^0'=r_42^post14, z_28^0'=z_28^post14, __disjvr_11^0'=__disjvr_11^post14, a_377^0'=a_377^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post14, length_32^0'=length_32^post14, y_22^0'=y_22^post14, __disjvr_6^0'=__disjvr_6^post14, rcd_228^0'=rcd_228^post14, __disjvr_16^0'=__disjvr_16^post14, i_120^0'=i_120^post14, __disjvr_26^0'=__disjvr_26^post14, temp1_30^0'=temp1_30^post14, nondet_12^0'=nondet_12^post14, z_252^0'=z_252^post14, a_27^0'=a_27^post14, rcd_46^0'=rcd_46^post14, __disjvr_20^0'=__disjvr_20^post14, len_286^0'=len_286^post14, __disjvr_3^0'=__disjvr_3^post14, rcd_113^0'=rcd_113^post14, __disjvr_13^0'=__disjvr_13^post14, head_13^0'=head_13^post14, __disjvr_23^0'=__disjvr_23^post14, t_24^0'=t_24^post14, lt_29^0'=lt_29^post14, z_188^0'=z_188^post14, __disjvr_8^0'=__disjvr_8^post14, rcd_264^0'=rcd_264^post14, rcd_356^0'=rcd_356^post14, __disjvr_18^0'=__disjvr_18^post14, i_33^0'=i_33^post14, __disjvr_28^0'=__disjvr_28^post14, tmp_37^0'=tmp_37^post14, r_236^0'=r_236^post14, z_279^0'=z_279^post14, __disjvr_10^0'=__disjvr_10^post14, a_347^0'=a_347^post14, result_11^0'=result_11^post14, __disjvr_22^0'=__disjvr_22^post14, x_SLAM_f_21^0'=x_SLAM_f_21^post14, __disjvr_5^0'=__disjvr_5^post14, rcd_226^0'=rcd_226^post14, __disjvr_15^0'=__disjvr_15^post14, i_111^0'=i_111^post14, __disjvr_25^0'=__disjvr_25^post14, temp0_34^0'=temp0_34^post14, lt_483^0'=lt_483^post14, z_238^0'=z_238^post14, a_166^0'=a_166^post14, a_267^0'=a_267^post14, rcd_396^0'=rcd_396^post14, __disjvr_1^0'=__disjvr_1^post14, len_266^0'=len_266^post14, __disjvr_2^0'=__disjvr_2^post14, rcd_105^0'=rcd_105^post14, z_389^0'=z_389^post14, __disjvr_12^0'=__disjvr_12^post14, ct_20^0'=ct_20^post14, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post14, lt_17^0'=lt_17^post14, z_160^0'=z_160^post14, __disjvr_7^0'=__disjvr_7^post14, rcd_237^0'=rcd_237^post14, rcd_352^0'=rcd_352^post14, __disjvr_17^0'=__disjvr_17^post14, i_227^0'=i_227^post14, __disjvr_27^0'=__disjvr_27^post14, temp_38^0'=temp_38^post14, r_178^0'=r_178^post14, z_265^0'=z_265^post14, (len_286^0-len_286^post14 == 0 /\ -rcd_105^post14+rcd_105^0 == 0 /\ -z_265^post14+z_265^0 == 0 /\ len_266^0-len_266^post14 == 0 /\ lt_29^0-lt_29^post14 == 0 /\ __disjvr_4^0-__disjvr_4^post14 == 0 /\ -z_160^post14+z_160^0 == 0 /\ rcd_228^0-rcd_228^post14 == 0 /\ -__disjvr_20^post14+__disjvr_20^0 == 0 /\ -__disjvr_18^post14+__disjvr_18^0 == 0 /\ -r_236^post14+r_236^0 == 0 /\ -__disjvr_17^post14+__disjvr_17^0 == 0 /\ temp1_30^0-temp1_30^post14 == 0 /\ -__disjvr_1^post14+__disjvr_1^0 == 0 /\ -__disjvr_15^post14+__disjvr_15^0 == 0 /\ -x_19^0+x_SLAM_f_21^0 <= 0 /\ a_210^0-a_210^post14 == 0 /\ a_166^0-a_166^post14 == 0 /\ -a_377^post14+a_377^0 == 0 /\ -lt_483^post14+lt_483^0 == 0 /\ -__disjvr_6^post14+__disjvr_6^0 == 0 /\ -y_22^0+ct_20^0 <= 0 /\ x_23^0-x_23^post14 == 0 /\ a_347^0-a_347^post14 == 0 /\ __disjvr_12^0-__disjvr_12^post14 == 0 /\ __disjvr_28^0-__disjvr_28^post14 == 0 /\ z_229^0-z_229^post14 == 0 /\ -rcd_113^post14+rcd_113^0 == 0 /\ __disjvr_11^0-__disjvr_11^post14 == 0 /\ -rcd_46^post14+rcd_46^0 == 0 /\ __disjvr_14^0-__disjvr_14^post14 == 0 /\ y_22^0 <= 0 /\ -r_178^post14+r_178^0 == 0 /\ __disjvr_19^0-__disjvr_19^post14 == 0 /\ -i_33^post14+i_33^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post14 == 0 /\ -rcd_237^post14+rcd_237^0 == 0 /\ __disjvr_23^0-__disjvr_23^post14 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post14+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -__disjvr_26^post14+__disjvr_26^0 == 0 /\ -z_389^post14+z_389^0 == 0 /\ -a_27^post14+a_27^0 == 0 /\ -rcd_356^post14+rcd_356^0 == 0 /\ -rcd_226^post14+rcd_226^0 == 0 /\ __disjvr_21^0-__disjvr_21^post14 == 0 /\ ct_20^0-ct_20^post14 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ rcd_264^0-rcd_264^post14 == 0 /\ x_19^0-x_SLAM_f_21^0 <= 0 /\ -__disjvr_29^post14+__disjvr_29^0 == 0 /\ -z_238^post14+z_238^0 == 0 /\ y_22^0-ct_20^0 <= 0 /\ -head_13^post14+head_13^0 == 0 /\ -__disjvr_2^post14+__disjvr_2^0 == 0 /\ -temp_38^post14+temp_38^0 == 0 /\ -temp0_34^post14+temp0_34^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ a_321^0-a_321^post14 == 0 /\ -lt_17^post14+lt_17^0 == 0 /\ __disjvr_22^0-__disjvr_22^post14 == 0 /\ __disjvr_9^0-__disjvr_9^post14 == 0 /\ -result_11^post14+result_11^0 == 0 /\ i_111^0-i_111^post14 == 0 /\ -temp0_18^post14+temp0_18^0 == 0 /\ r_42^0-r_42^post14 == 0 /\ -__disjvr_7^post14+__disjvr_7^0 == 0 /\ len_195^0-len_195^post14 == 0 /\ -__disjvr_8^post14+__disjvr_8^0 == 0 /\ -rcd_70^post14+rcd_70^0 == 0 /\ -a_267^post14+a_267^0 == 0 /\ __disjvr_24^0-__disjvr_24^post14 == 0 /\ -__disjvr_10^post14+__disjvr_10^0 == 0 /\ -x_23^0+t_24^post14 == 0 /\ i_120^0-i_120^post14 == 0 /\ -x_19^0+lt_17^0 <= 0 /\ -rcd_352^post14+rcd_352^0 == 0 /\ z_252^0-z_252^post14 == 0 /\ lt_386^0-lt_386^post14 == 0 /\ rcd_222^0-rcd_222^post14 == 0 /\ -x_SLAM_f_21^post14+x_SLAM_f_21^0 == 0 /\ -__disjvr_5^post14+__disjvr_5^0 == 0 /\ -__disjvr_27^post14+__disjvr_27^0 == 0 /\ -y_22^post14+y_22^0 == 0 /\ -__disjvr_16^post14+__disjvr_16^0 == 0 /\ length_32^0-length_32^post14 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ -tmp_37^post14+tmp_37^0 == 0 /\ -y_22^0 <= 0 /\ x_19^0-x_19^post14 == 0 /\ z_188^0-z_188^post14 == 0 /\ __disjvr_25^0-__disjvr_25^post14 == 0 /\ z_28^0-z_28^post14 == 0 /\ __disjvr_0^0-__disjvr_0^post14 == 0 /\ __disjvr_3^0-__disjvr_3^post14 == 0 /\ -rcd_376^post14+rcd_376^0 == 0 /\ ct_20^0 <= 0 /\ -i_227^post14+i_227^0 == 0 /\ -ct_20^0 <= 0 /\ head_35^0-head_35^post14 == 0 /\ __disjvr_13^0-__disjvr_13^post14 == 0 /\ x_19^0-lt_17^0 <= 0 /\ -rcd_396^post14+rcd_396^0 == 0 /\ z_279^0-z_279^post14 == 0), cost: 1
  15: l14 -> l15 : __disjvr_0^0'=__disjvr_0^post15, a_321^0'=a_321^post15, rcd_70^0'=rcd_70^post15, __disjvr_21^0'=__disjvr_21^post15, x_23^0'=x_23^post15, __disjvr_4^0'=__disjvr_4^post15, rcd_222^0'=rcd_222^post15, __disjvr_14^0'=__disjvr_14^post15, head_35^0'=head_35^post15, __disjvr_24^0'=__disjvr_24^post15, temp0_18^0'=temp0_18^post15, lt_386^0'=lt_386^post15, z_229^0'=z_229^post15, __disjvr_9^0'=__disjvr_9^post15, a_210^0'=a_210^post15, rcd_376^0'=rcd_376^post15, __disjvr_19^0'=__disjvr_19^post15, len_195^0'=len_195^post15, __disjvr_29^0'=__disjvr_29^post15, x_19^0'=x_19^post15, r_42^0'=r_42^post15, z_28^0'=z_28^post15, __disjvr_11^0'=__disjvr_11^post15, a_377^0'=a_377^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post15, length_32^0'=length_32^post15, y_22^0'=y_22^post15, __disjvr_6^0'=__disjvr_6^post15, rcd_228^0'=rcd_228^post15, __disjvr_16^0'=__disjvr_16^post15, i_120^0'=i_120^post15, __disjvr_26^0'=__disjvr_26^post15, temp1_30^0'=temp1_30^post15, nondet_12^0'=nondet_12^post15, z_252^0'=z_252^post15, a_27^0'=a_27^post15, rcd_46^0'=rcd_46^post15, __disjvr_20^0'=__disjvr_20^post15, len_286^0'=len_286^post15, __disjvr_3^0'=__disjvr_3^post15, rcd_113^0'=rcd_113^post15, __disjvr_13^0'=__disjvr_13^post15, head_13^0'=head_13^post15, __disjvr_23^0'=__disjvr_23^post15, t_24^0'=t_24^post15, lt_29^0'=lt_29^post15, z_188^0'=z_188^post15, __disjvr_8^0'=__disjvr_8^post15, rcd_264^0'=rcd_264^post15, rcd_356^0'=rcd_356^post15, __disjvr_18^0'=__disjvr_18^post15, i_33^0'=i_33^post15, __disjvr_28^0'=__disjvr_28^post15, tmp_37^0'=tmp_37^post15, r_236^0'=r_236^post15, z_279^0'=z_279^post15, __disjvr_10^0'=__disjvr_10^post15, a_347^0'=a_347^post15, result_11^0'=result_11^post15, __disjvr_22^0'=__disjvr_22^post15, x_SLAM_f_21^0'=x_SLAM_f_21^post15, __disjvr_5^0'=__disjvr_5^post15, rcd_226^0'=rcd_226^post15, __disjvr_15^0'=__disjvr_15^post15, i_111^0'=i_111^post15, __disjvr_25^0'=__disjvr_25^post15, temp0_34^0'=temp0_34^post15, lt_483^0'=lt_483^post15, z_238^0'=z_238^post15, a_166^0'=a_166^post15, a_267^0'=a_267^post15, rcd_396^0'=rcd_396^post15, __disjvr_1^0'=__disjvr_1^post15, len_266^0'=len_266^post15, __disjvr_2^0'=__disjvr_2^post15, rcd_105^0'=rcd_105^post15, z_389^0'=z_389^post15, __disjvr_12^0'=__disjvr_12^post15, ct_20^0'=ct_20^post15, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post15, lt_17^0'=lt_17^post15, z_160^0'=z_160^post15, __disjvr_7^0'=__disjvr_7^post15, rcd_237^0'=rcd_237^post15, rcd_352^0'=rcd_352^post15, __disjvr_17^0'=__disjvr_17^post15, i_227^0'=i_227^post15, __disjvr_27^0'=__disjvr_27^post15, temp_38^0'=temp_38^post15, r_178^0'=r_178^post15, z_265^0'=z_265^post15, (z_229^0-z_229^post15 == 0 /\ -a_27^post15+a_27^0 == 0 /\ -rcd_264^post15+rcd_264^0 == 0 /\ __disjvr_23^0-__disjvr_23^post15 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ rcd_46^0-rcd_46^post15 == 0 /\ t_24^0-t_24^post15 == 0 /\ a_210^0-a_210^post15 == 0 /\ -__disjvr_10^post15+__disjvr_10^0 == 0 /\ -rcd_396^post15+rcd_396^0 == 0 /\ __disjvr_0^0-__disjvr_0^post15 == 0 /\ length_32^0-length_32^post15 == 0 /\ -z_252^post15+z_252^0 == 0 /\ head_35^0-head_35^post15 == 0 /\ i_33^0-i_33^post15 == 0 /\ -r_178^post15+r_178^0 == 0 /\ -tmp_37^post15+tmp_37^0 == 0 /\ -__disjvr_13^post15+__disjvr_13^0 == 0 /\ -lt_17^post15+lt_17^0 == 0 /\ -a_166^post15+a_166^0 == 0 /\ a_377^0-a_377^post15 == 0 /\ -__disjvr_7^post15+__disjvr_7^0 == 0 /\ -z_188^post15+z_188^0 == 0 /\ rcd_70^0-rcd_70^post15 == 0 /\ -ct_20^post15+ct_20^0 == 0 /\ x_23^0-x_23^post15 == 0 /\ len_286^0-len_286^post15 == 0 /\ -x_SLAM_f_21^post15+x_SLAM_f_21^0 == 0 /\ lt_29^0-lt_29^post15 == 0 /\ -__disjvr_16^post15+__disjvr_16^0 == 0 /\ rcd_228^0-rcd_228^post15 == 0 /\ -i_111^post15+i_111^0 == 0 /\ __disjvr_4^0-__disjvr_4^post15 == 0 /\ -rcd_105^post15+rcd_105^0 == 0 /\ -temp_38^post15+temp_38^0 == 0 /\ __disjvr_26^0-__disjvr_26^post15 == 0 /\ -temp0_34^post15+temp0_34^0 == 0 /\ r_42^0-r_42^post15 == 0 /\ rcd_222^0-rcd_222^post15 == 0 /\ __disjvr_8^0-__disjvr_8^post15 == 0 /\ -__disjvr_20^post15+__disjvr_20^0 == 0 /\ -__disjvr_18^post15+__disjvr_18^0 == 0 /\ i_120^0-i_120^post15 == 0 /\ __disjvr_24^0-__disjvr_24^post15 == 0 /\ __disjvr_11^0-__disjvr_11^post15 == 0 /\ __disjvr_14^0-__disjvr_14^post15 == 0 /\ -__disjvr_29^post15+__disjvr_29^0 == 0 /\ __disjvr_5^0-__disjvr_5^post15 == 0 /\ -lt_483^post15+lt_483^0 == 0 /\ __disjvr_15^0-__disjvr_15^post15 == 0 /\ __disjvr_3^0-__disjvr_3^post15 == 0 /\ __disjvr_21^0-__disjvr_21^post15 == 0 /\ result_11^0-result_11^post15 == 0 /\ -__disjvr_6^post15+__disjvr_6^0 == 0 /\ z_28^0-z_28^post15 == 0 /\ len_195^0-len_195^post15 == 0 /\ -len_266^post15+len_266^0 == 0 /\ -__disjvr_27^post15+__disjvr_27^0 == 0 /\ -z_160^post15+z_160^0 == 0 /\ -z_279^post15+z_279^0 == 0 /\ -__disjvr_1^post15+__disjvr_1^0 == 0 /\ rcd_376^0-rcd_376^post15 == 0 /\ __disjvr_19^0-__disjvr_19^post15 == 0 /\ -i_227^post15+i_227^0 == 0 /\ -z_389^post15+z_389^0 == 0 /\ a_321^0-a_321^post15 == 0 /\ -rcd_226^post15+rcd_226^0 == 0 /\ rcd_113^0-rcd_113^post15 == 0 /\ -__disjvr_12^post15+__disjvr_12^0 == 0 /\ -a_267^post15+a_267^0 == 0 /\ temp0_18^0-temp0_18^post15 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post15+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_352^post15+rcd_352^0 == 0 /\ __disjvr_6^post15-__disjvr_6^0 == 0 /\ __disjvr_9^0-__disjvr_9^post15 == 0 /\ -__disjvr_25^post15+__disjvr_25^0 == 0 /\ -__disjvr_2^post15+__disjvr_2^0 == 0 /\ -rcd_356^post15+rcd_356^0 == 0 /\ -z_265^post15+z_265^0 == 0 /\ y_22^0-y_22^post15 == 0 /\ -__disjvr_22^post15+__disjvr_22^0 == 0 /\ lt_386^0-lt_386^post15 == 0 /\ temp1_30^0-temp1_30^post15 == 0 /\ -a_347^post15+a_347^0 == 0 /\ -__disjvr_28^post15+__disjvr_28^0 == 0 /\ -__disjvr_17^post15+__disjvr_17^0 == 0 /\ -rcd_237^post15+rcd_237^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post15+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ x_19^0-x_19^post15 == 0 /\ r_236^0-r_236^post15 == 0 /\ -z_238^post15+z_238^0 == 0 /\ -head_13^post15+head_13^0 == 0), cost: 1
  16: l15 -> l16 : __disjvr_0^0'=__disjvr_0^post16, a_321^0'=a_321^post16, rcd_70^0'=rcd_70^post16, __disjvr_21^0'=__disjvr_21^post16, x_23^0'=x_23^post16, __disjvr_4^0'=__disjvr_4^post16, rcd_222^0'=rcd_222^post16, __disjvr_14^0'=__disjvr_14^post16, head_35^0'=head_35^post16, __disjvr_24^0'=__disjvr_24^post16, temp0_18^0'=temp0_18^post16, lt_386^0'=lt_386^post16, z_229^0'=z_229^post16, __disjvr_9^0'=__disjvr_9^post16, a_210^0'=a_210^post16, rcd_376^0'=rcd_376^post16, __disjvr_19^0'=__disjvr_19^post16, len_195^0'=len_195^post16, __disjvr_29^0'=__disjvr_29^post16, x_19^0'=x_19^post16, r_42^0'=r_42^post16, z_28^0'=z_28^post16, __disjvr_11^0'=__disjvr_11^post16, a_377^0'=a_377^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post16, length_32^0'=length_32^post16, y_22^0'=y_22^post16, __disjvr_6^0'=__disjvr_6^post16, rcd_228^0'=rcd_228^post16, __disjvr_16^0'=__disjvr_16^post16, i_120^0'=i_120^post16, __disjvr_26^0'=__disjvr_26^post16, temp1_30^0'=temp1_30^post16, nondet_12^0'=nondet_12^post16, z_252^0'=z_252^post16, a_27^0'=a_27^post16, rcd_46^0'=rcd_46^post16, __disjvr_20^0'=__disjvr_20^post16, len_286^0'=len_286^post16, __disjvr_3^0'=__disjvr_3^post16, rcd_113^0'=rcd_113^post16, __disjvr_13^0'=__disjvr_13^post16, head_13^0'=head_13^post16, __disjvr_23^0'=__disjvr_23^post16, t_24^0'=t_24^post16, lt_29^0'=lt_29^post16, z_188^0'=z_188^post16, __disjvr_8^0'=__disjvr_8^post16, rcd_264^0'=rcd_264^post16, rcd_356^0'=rcd_356^post16, __disjvr_18^0'=__disjvr_18^post16, i_33^0'=i_33^post16, __disjvr_28^0'=__disjvr_28^post16, tmp_37^0'=tmp_37^post16, r_236^0'=r_236^post16, z_279^0'=z_279^post16, __disjvr_10^0'=__disjvr_10^post16, a_347^0'=a_347^post16, result_11^0'=result_11^post16, __disjvr_22^0'=__disjvr_22^post16, x_SLAM_f_21^0'=x_SLAM_f_21^post16, __disjvr_5^0'=__disjvr_5^post16, rcd_226^0'=rcd_226^post16, __disjvr_15^0'=__disjvr_15^post16, i_111^0'=i_111^post16, __disjvr_25^0'=__disjvr_25^post16, temp0_34^0'=temp0_34^post16, lt_483^0'=lt_483^post16, z_238^0'=z_238^post16, a_166^0'=a_166^post16, a_267^0'=a_267^post16, rcd_396^0'=rcd_396^post16, __disjvr_1^0'=__disjvr_1^post16, len_266^0'=len_266^post16, __disjvr_2^0'=__disjvr_2^post16, rcd_105^0'=rcd_105^post16, z_389^0'=z_389^post16, __disjvr_12^0'=__disjvr_12^post16, ct_20^0'=ct_20^post16, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post16, lt_17^0'=lt_17^post16, z_160^0'=z_160^post16, __disjvr_7^0'=__disjvr_7^post16, rcd_237^0'=rcd_237^post16, rcd_352^0'=rcd_352^post16, __disjvr_17^0'=__disjvr_17^post16, i_227^0'=i_227^post16, __disjvr_27^0'=__disjvr_27^post16, temp_38^0'=temp_38^post16, r_178^0'=r_178^post16, z_265^0'=z_265^post16, (-__disjvr_29^post16+__disjvr_29^0 == 0 /\ -__disjvr_18^post16+__disjvr_18^0 == 0 /\ -z_160^post16+z_160^0 == 0 /\ x_23^0-x_23^post16 == 0 /\ a_321^0-a_321^post16 == 0 /\ -z_265^post16+z_265^0 == 0 /\ -__disjvr_17^post16+__disjvr_17^0 == 0 /\ -z_238^post16+z_238^0 == 0 /\ rcd_396^0-rcd_396^post16 == 0 /\ -len_266^post16+len_266^0 == 0 /\ -temp1_30^post16+temp1_30^0 == 0 /\ __disjvr_24^0-__disjvr_24^post16 == 0 /\ __disjvr_1^0-__disjvr_1^post16 == 0 /\ rcd_222^0-rcd_222^post16 == 0 /\ __disjvr_8^0-__disjvr_8^post16 == 0 /\ z_229^0-z_229^post16 == 0 /\ z_252^0-z_252^post16 == 0 /\ lt_386^0-lt_386^post16 == 0 /\ y_22^0-y_22^post16 == 0 /\ -rcd_352^post16+rcd_352^0 == 0 /\ -__disjvr_26^post16+__disjvr_26^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post16+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_0^0-__disjvr_0^post16 == 0 /\ z_279^0-z_279^post16 == 0 /\ x_19^0-x_19^post16 == 0 /\ length_32^0-length_32^post16 == 0 /\ z_28^0-z_28^post16 == 0 /\ -rcd_228^post16+rcd_228^0 == 0 /\ -__disjvr_22^post16+__disjvr_22^0 == 0 /\ -a_166^post16+a_166^0 == 0 /\ rcd_46^0-rcd_46^post16 == 0 /\ -r_178^post16+r_178^0 == 0 /\ z_188^0-z_188^post16 == 0 /\ __disjvr_15^0-__disjvr_15^post16 == 0 /\ -__disjvr_25^post16+__disjvr_25^0 == 0 /\ -__disjvr_11^post16+__disjvr_11^0 == 0 /\ __disjvr_14^0-__disjvr_14^post16 == 0 /\ __disjvr_16^0-__disjvr_16^post16 == 0 /\ -lt_29^post16+lt_29^0 == 0 /\ a_377^0-a_377^post16 == 0 /\ -lt_483^post16+lt_483^0 == 0 /\ -rcd_226^post16+rcd_226^0 == 0 /\ -rcd_237^post16+rcd_237^0 == 0 /\ -__disjvr_2^post16+__disjvr_2^0 == 0 /\ -z_389^post16+z_389^0 == 0 /\ -__disjvr_12^post16+__disjvr_12^0 == 0 /\ __disjvr_20^0-__disjvr_20^post16 == 0 /\ __disjvr_19^0-__disjvr_19^post16 == 0 /\ -nondet_12^post16+nondet_12^0 == 0 /\ -temp0_34^post16+temp0_34^0 == 0 /\ -__disjvr_28^post16+__disjvr_28^0 == 0 /\ -__disjvr_10^post16+__disjvr_10^0 == 0 /\ __disjvr_4^0-__disjvr_4^post16 == 0 /\ rcd_356^0-rcd_356^post16 == 0 /\ -lt_17^post16+lt_17^0 == 0 /\ rcd_70^0-rcd_70^post16 == 0 /\ -rcd_264^post16+rcd_264^0 == 0 /\ -temp0_18^post16+temp0_18^0 == 0 /\ -__disjvr_13^post16+__disjvr_13^0 == 0 /\ -temp_38^post16+temp_38^0 == 0 /\ -__disjvr_3^post16+__disjvr_3^0 == 0 /\ rcd_113^0-rcd_113^post16 == 0 /\ -a_27^post16+a_27^0 == 0 /\ len_286^0-len_286^post16 == 0 /\ head_13^0-head_13^post16 == 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ -__disjvr_7^post16+__disjvr_7^0 == 0 /\ -a_267^post16+a_267^0 == 0 /\ a_347^0-a_347^post16 == 0 /\ a_210^0-a_210^post16 == 0 /\ __disjvr_6^0-__disjvr_6^post16 == 0 /\ -tmp_37^post16+tmp_37^0 == 0 /\ -i_111^post16+i_111^0 == 0 /\ r_236^0-r_236^post16 == 0 /\ rcd_376^0-rcd_376^post16 == 0 /\ __disjvr_5^0-__disjvr_5^post16 == 0 /\ i_120^0-i_120^post16 == 0 /\ -__disjvr_27^post16+__disjvr_27^0 == 0 /\ result_11^0-result_11^post16 == 0 /\ -i_227^post16+i_227^0 == 0 /\ __disjvr_23^0-__disjvr_23^post16 == 0 /\ __disjvr_21^0-__disjvr_21^post16 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post16 == 0 /\ i_33^0-i_33^post16 == 0 /\ -rcd_105^post16+rcd_105^0 == 0 /\ __disjvr_7^post16-__disjvr_7^0 == 0 /\ len_195^0-len_195^post16 == 0 /\ -t_24^post16+t_24^0 == 0 /\ -x_SLAM_f_21^post16+x_SLAM_f_21^0 == 0 /\ head_35^0-head_35^post16 == 0 /\ -ct_20^post16+ct_20^0 == 0 /\ -r_42^post16+r_42^0 == 0), cost: 1
  17: l16 -> l17 : __disjvr_0^0'=__disjvr_0^post17, a_321^0'=a_321^post17, rcd_70^0'=rcd_70^post17, __disjvr_21^0'=__disjvr_21^post17, x_23^0'=x_23^post17, __disjvr_4^0'=__disjvr_4^post17, rcd_222^0'=rcd_222^post17, __disjvr_14^0'=__disjvr_14^post17, head_35^0'=head_35^post17, __disjvr_24^0'=__disjvr_24^post17, temp0_18^0'=temp0_18^post17, lt_386^0'=lt_386^post17, z_229^0'=z_229^post17, __disjvr_9^0'=__disjvr_9^post17, a_210^0'=a_210^post17, rcd_376^0'=rcd_376^post17, __disjvr_19^0'=__disjvr_19^post17, len_195^0'=len_195^post17, __disjvr_29^0'=__disjvr_29^post17, x_19^0'=x_19^post17, r_42^0'=r_42^post17, z_28^0'=z_28^post17, __disjvr_11^0'=__disjvr_11^post17, a_377^0'=a_377^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post17, length_32^0'=length_32^post17, y_22^0'=y_22^post17, __disjvr_6^0'=__disjvr_6^post17, rcd_228^0'=rcd_228^post17, __disjvr_16^0'=__disjvr_16^post17, i_120^0'=i_120^post17, __disjvr_26^0'=__disjvr_26^post17, temp1_30^0'=temp1_30^post17, nondet_12^0'=nondet_12^post17, z_252^0'=z_252^post17, a_27^0'=a_27^post17, rcd_46^0'=rcd_46^post17, __disjvr_20^0'=__disjvr_20^post17, len_286^0'=len_286^post17, __disjvr_3^0'=__disjvr_3^post17, rcd_113^0'=rcd_113^post17, __disjvr_13^0'=__disjvr_13^post17, head_13^0'=head_13^post17, __disjvr_23^0'=__disjvr_23^post17, t_24^0'=t_24^post17, lt_29^0'=lt_29^post17, z_188^0'=z_188^post17, __disjvr_8^0'=__disjvr_8^post17, rcd_264^0'=rcd_264^post17, rcd_356^0'=rcd_356^post17, __disjvr_18^0'=__disjvr_18^post17, i_33^0'=i_33^post17, __disjvr_28^0'=__disjvr_28^post17, tmp_37^0'=tmp_37^post17, r_236^0'=r_236^post17, z_279^0'=z_279^post17, __disjvr_10^0'=__disjvr_10^post17, a_347^0'=a_347^post17, result_11^0'=result_11^post17, __disjvr_22^0'=__disjvr_22^post17, x_SLAM_f_21^0'=x_SLAM_f_21^post17, __disjvr_5^0'=__disjvr_5^post17, rcd_226^0'=rcd_226^post17, __disjvr_15^0'=__disjvr_15^post17, i_111^0'=i_111^post17, __disjvr_25^0'=__disjvr_25^post17, temp0_34^0'=temp0_34^post17, lt_483^0'=lt_483^post17, z_238^0'=z_238^post17, a_166^0'=a_166^post17, a_267^0'=a_267^post17, rcd_396^0'=rcd_396^post17, __disjvr_1^0'=__disjvr_1^post17, len_266^0'=len_266^post17, __disjvr_2^0'=__disjvr_2^post17, rcd_105^0'=rcd_105^post17, z_389^0'=z_389^post17, __disjvr_12^0'=__disjvr_12^post17, ct_20^0'=ct_20^post17, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post17, lt_17^0'=lt_17^post17, z_160^0'=z_160^post17, __disjvr_7^0'=__disjvr_7^post17, rcd_237^0'=rcd_237^post17, rcd_352^0'=rcd_352^post17, __disjvr_17^0'=__disjvr_17^post17, i_227^0'=i_227^post17, __disjvr_27^0'=__disjvr_27^post17, temp_38^0'=temp_38^post17, r_178^0'=r_178^post17, z_265^0'=z_265^post17, (-__disjvr_28^post17+__disjvr_28^0 == 0 /\ a_267^0-a_267^post17 == 0 /\ z_238^0-z_238^post17 == 0 /\ t_24^0-t_24^post17 == 0 /\ __disjvr_21^0-__disjvr_21^post17 == 0 /\ rcd_376^0-rcd_376^post17 == 0 /\ __disjvr_0^0-__disjvr_0^post17 == 0 /\ __disjvr_8^0-__disjvr_8^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post17 == 0 /\ __disjvr_14^0-__disjvr_14^post17 == 0 /\ __disjvr_6^0-__disjvr_6^post17 == 0 /\ -rcd_237^post17+rcd_237^0 == 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ __disjvr_1^0-__disjvr_1^post17 == 0 /\ -rcd_396^post17+rcd_396^0 == 0 /\ i_33^0-i_33^post17 == 0 /\ -rcd_352^post17+rcd_352^0 == 0 /\ -__disjvr_10^post17+__disjvr_10^0 == 0 /\ -rcd_228^post17+rcd_228^0 == 0 /\ temp0_18^0-temp0_18^post17 == 0 /\ -lt_17^post17+lt_17^0 == 0 /\ -a_166^post17+a_166^0 == 0 /\ __disjvr_29^0-__disjvr_29^post17 == 0 /\ -result_11^post17+result_11^0 == 0 /\ -r_178^post17+r_178^0 == 0 /\ -__disjvr_3^post17+__disjvr_3^0 == 0 /\ -__disjvr_13^post17+__disjvr_13^0 == 0 /\ -tmp_37^post17+tmp_37^0 == 0 /\ -__disjvr_7^post17+__disjvr_7^0 == 0 /\ -r_42^post17+r_42^0 == 0 /\ x_23^0-x_23^post17 == 0 /\ -__disjvr_8^0+__disjvr_8^post17 == 0 /\ rcd_113^0-rcd_113^post17 == 0 /\ z_252^0-z_252^post17 == 0 /\ head_13^0-head_13^post17 == 0 /\ len_195^0-len_195^post17 == 0 /\ -x_SLAM_f_21^post17+x_SLAM_f_21^0 == 0 /\ -__disjvr_16^post17+__disjvr_16^0 == 0 /\ a_27^0-a_27^post17 == 0 /\ -temp0_34^post17+temp0_34^0 == 0 /\ temp1_30^0-temp1_30^post17 == 0 /\ __disjvr_24^0-__disjvr_24^post17 == 0 /\ lt_386^0-lt_386^post17 == 0 /\ y_22^0-y_22^post17 == 0 /\ -__disjvr_5^post17+__disjvr_5^0 == 0 /\ -temp_38^post17+temp_38^0 == 0 /\ -ct_20^post17+ct_20^0 == 0 /\ -rcd_264^post17+rcd_264^0 == 0 /\ -rcd_105^post17+rcd_105^0 == 0 /\ __disjvr_23^0-__disjvr_23^post17 == 0 /\ rcd_46^0-rcd_46^post17 == 0 /\ -lt_483^post17+lt_483^0 == 0 /\ -a_377^post17+a_377^0 == 0 /\ z_229^0-z_229^post17 == 0 /\ __disjvr_19^0-__disjvr_19^post17 == 0 /\ -__disjvr_18^post17+__disjvr_18^0 == 0 /\ x_19^0-x_19^post17 == 0 /\ z_28^0-z_28^post17 == 0 /\ -z_279^post17+z_279^0 == 0 /\ z_188^0-z_188^post17 == 0 /\ -z_160^post17+z_160^0 == 0 /\ -i_111^post17+i_111^0 == 0 /\ rcd_226^0-rcd_226^post17 == 0 /\ -i_227^post17+i_227^0 == 0 /\ __disjvr_20^0-__disjvr_20^post17 == 0 /\ -__disjvr_25^post17+__disjvr_25^0 == 0 /\ -a_347^post17+a_347^0 == 0 /\ len_286^0-len_286^post17 == 0 /\ -lt_29^post17+lt_29^0 == 0 /\ -len_266^post17+len_266^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post17+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -__disjvr_12^post17+__disjvr_12^0 == 0 /\ a_321^0-a_321^post17 == 0 /\ -head_35^post17+head_35^0 == 0 /\ __disjvr_26^0-__disjvr_26^post17 == 0 /\ __disjvr_4^0-__disjvr_4^post17 == 0 /\ rcd_70^0-rcd_70^post17 == 0 /\ rcd_222^0-rcd_222^post17 == 0 /\ __disjvr_9^0-__disjvr_9^post17 == 0 /\ -__disjvr_22^post17+__disjvr_22^0 == 0 /\ -z_389^post17+z_389^0 == 0 /\ -__disjvr_11^post17+__disjvr_11^0 == 0 /\ -length_32^post17+length_32^0 == 0 /\ __disjvr_27^0-__disjvr_27^post17 == 0 /\ -__disjvr_2^post17+__disjvr_2^0 == 0 /\ r_236^0-r_236^post17 == 0 /\ i_120^0-i_120^post17 == 0 /\ a_210^0-a_210^post17 == 0 /\ rcd_356^0-rcd_356^post17 == 0 /\ -z_265^post17+z_265^0 == 0 /\ -__disjvr_17^post17+__disjvr_17^0 == 0 /\ -__disjvr_15^post17+__disjvr_15^0 == 0), cost: 1
  18: l17 -> l0 : __disjvr_0^0'=__disjvr_0^post18, a_321^0'=a_321^post18, rcd_70^0'=rcd_70^post18, __disjvr_21^0'=__disjvr_21^post18, x_23^0'=x_23^post18, __disjvr_4^0'=__disjvr_4^post18, rcd_222^0'=rcd_222^post18, __disjvr_14^0'=__disjvr_14^post18, head_35^0'=head_35^post18, __disjvr_24^0'=__disjvr_24^post18, temp0_18^0'=temp0_18^post18, lt_386^0'=lt_386^post18, z_229^0'=z_229^post18, __disjvr_9^0'=__disjvr_9^post18, a_210^0'=a_210^post18, rcd_376^0'=rcd_376^post18, __disjvr_19^0'=__disjvr_19^post18, len_195^0'=len_195^post18, __disjvr_29^0'=__disjvr_29^post18, x_19^0'=x_19^post18, r_42^0'=r_42^post18, z_28^0'=z_28^post18, __disjvr_11^0'=__disjvr_11^post18, a_377^0'=a_377^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post18, length_32^0'=length_32^post18, y_22^0'=y_22^post18, __disjvr_6^0'=__disjvr_6^post18, rcd_228^0'=rcd_228^post18, __disjvr_16^0'=__disjvr_16^post18, i_120^0'=i_120^post18, __disjvr_26^0'=__disjvr_26^post18, temp1_30^0'=temp1_30^post18, nondet_12^0'=nondet_12^post18, z_252^0'=z_252^post18, a_27^0'=a_27^post18, rcd_46^0'=rcd_46^post18, __disjvr_20^0'=__disjvr_20^post18, len_286^0'=len_286^post18, __disjvr_3^0'=__disjvr_3^post18, rcd_113^0'=rcd_113^post18, __disjvr_13^0'=__disjvr_13^post18, head_13^0'=head_13^post18, __disjvr_23^0'=__disjvr_23^post18, t_24^0'=t_24^post18, lt_29^0'=lt_29^post18, z_188^0'=z_188^post18, __disjvr_8^0'=__disjvr_8^post18, rcd_264^0'=rcd_264^post18, rcd_356^0'=rcd_356^post18, __disjvr_18^0'=__disjvr_18^post18, i_33^0'=i_33^post18, __disjvr_28^0'=__disjvr_28^post18, tmp_37^0'=tmp_37^post18, r_236^0'=r_236^post18, z_279^0'=z_279^post18, __disjvr_10^0'=__disjvr_10^post18, a_347^0'=a_347^post18, result_11^0'=result_11^post18, __disjvr_22^0'=__disjvr_22^post18, x_SLAM_f_21^0'=x_SLAM_f_21^post18, __disjvr_5^0'=__disjvr_5^post18, rcd_226^0'=rcd_226^post18, __disjvr_15^0'=__disjvr_15^post18, i_111^0'=i_111^post18, __disjvr_25^0'=__disjvr_25^post18, temp0_34^0'=temp0_34^post18, lt_483^0'=lt_483^post18, z_238^0'=z_238^post18, a_166^0'=a_166^post18, a_267^0'=a_267^post18, rcd_396^0'=rcd_396^post18, __disjvr_1^0'=__disjvr_1^post18, len_266^0'=len_266^post18, __disjvr_2^0'=__disjvr_2^post18, rcd_105^0'=rcd_105^post18, z_389^0'=z_389^post18, __disjvr_12^0'=__disjvr_12^post18, ct_20^0'=ct_20^post18, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post18, lt_17^0'=lt_17^post18, z_160^0'=z_160^post18, __disjvr_7^0'=__disjvr_7^post18, rcd_237^0'=rcd_237^post18, rcd_352^0'=rcd_352^post18, __disjvr_17^0'=__disjvr_17^post18, i_227^0'=i_227^post18, __disjvr_27^0'=__disjvr_27^post18, temp_38^0'=temp_38^post18, r_178^0'=r_178^post18, z_265^0'=z_265^post18, (-z_265^post18+z_265^0 == 0 /\ -z_238^post18+z_238^0 == 0 /\ rcd_356^0-rcd_356^post18 == 0 /\ __disjvr_2^0-__disjvr_2^post18 == 0 /\ -z_160^post18+z_160^0 == 0 /\ -__disjvr_20^post18+__disjvr_20^0 == 0 /\ -lt_483^post18+lt_483^0 == 0 /\ __disjvr_10^0-__disjvr_10^post18 == 0 /\ -rcd_113^post18+rcd_113^0 == 0 /\ nondet_12^0-nondet_12^post18 == 0 /\ -__disjvr_15^post18+__disjvr_15^0 == 0 /\ -i_227^post18+i_227^0 == 0 /\ -len_266^post18+len_266^0 == 0 /\ -i_33^post18+i_33^0 == 0 /\ z_229^0-z_229^post18 == 0 /\ y_22^0-y_22^post18 == 0 /\ __disjvr_26^0-__disjvr_26^post18 == 0 /\ __disjvr_24^0-__disjvr_24^post18 == 0 /\ rcd_222^0-rcd_222^post18 == 0 /\ -head_13^post18+head_13^0 == 0 /\ -lt_29^post18+lt_29^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post18 == 0 /\ length_32^0-length_32^post18 == 0 /\ -r_178^post18+r_178^0 == 0 /\ -a_166^post18+a_166^0 == 0 /\ __disjvr_11^0-__disjvr_11^post18 == 0 /\ lt_386^0-lt_386^post18 == 0 /\ -z_389^post18+z_389^0 == 0 /\ __disjvr_6^0-__disjvr_6^post18 == 0 /\ __disjvr_14^0-__disjvr_14^post18 == 0 /\ -rcd_352^post18+rcd_352^0 == 0 /\ __disjvr_3^0-__disjvr_3^post18 == 0 /\ __disjvr_29^0-__disjvr_29^post18 == 0 /\ __disjvr_16^0-__disjvr_16^post18 == 0 /\ -rcd_46^post18+rcd_46^0 == 0 /\ rcd_264^0-rcd_264^post18 == 0 /\ -a_347^post18+a_347^0 == 0 /\ -__disjvr_12^post18+__disjvr_12^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post18+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_70^0-rcd_70^post18 == 0 /\ -__disjvr_17^post18+__disjvr_17^0 == 0 /\ -rcd_237^post18+rcd_237^0 == 0 /\ __disjvr_22^0-__disjvr_22^post18 == 0 /\ a_321^0-a_321^post18 == 0 /\ lt_17^0-lt_17^post18 == 0 /\ a_27^0-a_27^post18 == 0 /\ temp0_18^0-temp0_18^post18 == 0 /\ -temp_38^post18+temp_38^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post18 == 0 /\ rcd_228^0-rcd_228^post18 == 0 /\ __disjvr_7^0-__disjvr_7^post18 == 0 /\ x_23^0-x_23^post18 == 0 /\ __disjvr_9^0-__disjvr_9^post18 == 0 /\ temp1_30^0-temp1_30^post18 == 0 /\ -__disjvr_19^post18+__disjvr_19^0 == 0 /\ __disjvr_0^0-__disjvr_0^post18 == 0 /\ -a_267^post18+a_267^0 == 0 /\ r_42^0-r_42^post18 == 0 /\ -tmp_37^post18+tmp_37^0 == 0 /\ a_210^0-a_210^post18 == 0 /\ temp0_34^0-temp0_34^post18 == 0 /\ -__disjvr_8^post18+__disjvr_8^0 == 0 /\ -result_11^post18+result_11^0 == 0 /\ __disjvr_25^0-__disjvr_25^post18 == 0 /\ -__disjvr_27^post18+__disjvr_27^0 == 0 /\ t_24^0-t_24^post18 == 0 /\ -x_19^post18+x_19^0 == 0 /\ rcd_376^0-rcd_376^post18 == 0 /\ z_279^0-z_279^post18 == 0 /\ __disjvr_28^0-__disjvr_28^post18 == 0 /\ -len_286^post18+len_286^0 == 0 /\ -rcd_105^post18+rcd_105^0 == 0 /\ -__disjvr_1^post18+__disjvr_1^0 == 0 /\ -ct_20^post18+ct_20^0 == 0 /\ -z_252^post18+z_252^0 == 0 /\ -__disjvr_5^post18+__disjvr_5^0 == 0 /\ z_28^0-z_28^post18 == 0 /\ __disjvr_13^0-__disjvr_13^post18 == 0 /\ len_195^0-len_195^post18 == 0 /\ -x_SLAM_f_21^post18+x_SLAM_f_21^0 == 0 /\ __disjvr_21^0-__disjvr_21^post18 == 0 /\ -z_188^post18+z_188^0 == 0 /\ -rcd_396^post18+rcd_396^0 == 0 /\ -r_236^post18+r_236^0 == 0 /\ head_35^0-head_35^post18 == 0 /\ -__disjvr_18^post18+__disjvr_18^0 == 0 /\ a_377^0-a_377^post18 == 0 /\ rcd_226^0-rcd_226^post18 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -i_111^post18+i_111^0 == 0 /\ -i_120^post18+i_120^0 == 0 /\ -__disjvr_23^post18+__disjvr_23^0 == 0), cost: 1
  19: l18 -> l19 : __disjvr_0^0'=__disjvr_0^post19, a_321^0'=a_321^post19, rcd_70^0'=rcd_70^post19, __disjvr_21^0'=__disjvr_21^post19, x_23^0'=x_23^post19, __disjvr_4^0'=__disjvr_4^post19, rcd_222^0'=rcd_222^post19, __disjvr_14^0'=__disjvr_14^post19, head_35^0'=head_35^post19, __disjvr_24^0'=__disjvr_24^post19, temp0_18^0'=temp0_18^post19, lt_386^0'=lt_386^post19, z_229^0'=z_229^post19, __disjvr_9^0'=__disjvr_9^post19, a_210^0'=a_210^post19, rcd_376^0'=rcd_376^post19, __disjvr_19^0'=__disjvr_19^post19, len_195^0'=len_195^post19, __disjvr_29^0'=__disjvr_29^post19, x_19^0'=x_19^post19, r_42^0'=r_42^post19, z_28^0'=z_28^post19, __disjvr_11^0'=__disjvr_11^post19, a_377^0'=a_377^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post19, length_32^0'=length_32^post19, y_22^0'=y_22^post19, __disjvr_6^0'=__disjvr_6^post19, rcd_228^0'=rcd_228^post19, __disjvr_16^0'=__disjvr_16^post19, i_120^0'=i_120^post19, __disjvr_26^0'=__disjvr_26^post19, temp1_30^0'=temp1_30^post19, nondet_12^0'=nondet_12^post19, z_252^0'=z_252^post19, a_27^0'=a_27^post19, rcd_46^0'=rcd_46^post19, __disjvr_20^0'=__disjvr_20^post19, len_286^0'=len_286^post19, __disjvr_3^0'=__disjvr_3^post19, rcd_113^0'=rcd_113^post19, __disjvr_13^0'=__disjvr_13^post19, head_13^0'=head_13^post19, __disjvr_23^0'=__disjvr_23^post19, t_24^0'=t_24^post19, lt_29^0'=lt_29^post19, z_188^0'=z_188^post19, __disjvr_8^0'=__disjvr_8^post19, rcd_264^0'=rcd_264^post19, rcd_356^0'=rcd_356^post19, __disjvr_18^0'=__disjvr_18^post19, i_33^0'=i_33^post19, __disjvr_28^0'=__disjvr_28^post19, tmp_37^0'=tmp_37^post19, r_236^0'=r_236^post19, z_279^0'=z_279^post19, __disjvr_10^0'=__disjvr_10^post19, a_347^0'=a_347^post19, result_11^0'=result_11^post19, __disjvr_22^0'=__disjvr_22^post19, x_SLAM_f_21^0'=x_SLAM_f_21^post19, __disjvr_5^0'=__disjvr_5^post19, rcd_226^0'=rcd_226^post19, __disjvr_15^0'=__disjvr_15^post19, i_111^0'=i_111^post19, __disjvr_25^0'=__disjvr_25^post19, temp0_34^0'=temp0_34^post19, lt_483^0'=lt_483^post19, z_238^0'=z_238^post19, a_166^0'=a_166^post19, a_267^0'=a_267^post19, rcd_396^0'=rcd_396^post19, __disjvr_1^0'=__disjvr_1^post19, len_266^0'=len_266^post19, __disjvr_2^0'=__disjvr_2^post19, rcd_105^0'=rcd_105^post19, z_389^0'=z_389^post19, __disjvr_12^0'=__disjvr_12^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, z_160^0'=z_160^post19, __disjvr_7^0'=__disjvr_7^post19, rcd_237^0'=rcd_237^post19, rcd_352^0'=rcd_352^post19, __disjvr_17^0'=__disjvr_17^post19, i_227^0'=i_227^post19, __disjvr_27^0'=__disjvr_27^post19, temp_38^0'=temp_38^post19, r_178^0'=r_178^post19, z_265^0'=z_265^post19, (0 == 0 /\ __disjvr_14^0-__disjvr_14^post19 == 0 /\ __disjvr_11^0-__disjvr_11^post19 == 0 /\ i_120^0-i_120^post19 == 0 /\ -temp_38^post19+temp_38^0 == 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ __disjvr_23^0-__disjvr_23^post19 == 0 /\ -result_11^post19+result_11^0 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ __disjvr_21^0-__disjvr_21^post19 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ -__disjvr_7^post19+__disjvr_7^0 == 0 /\ nondet_12^0-nondet_12^post19 == 0 /\ -z_252^post19+z_252^0 == 0 /\ -__disjvr_8^post19+__disjvr_8^0 == 0 /\ a_377^0-a_377^post19 == 0 /\ -a_267^post19+a_267^0 == 0 /\ rcd_376^0-rcd_376^post19 == 0 /\ -__disjvr_16^post19+__disjvr_16^0 == 0 /\ lt_29^0-lt_29^post19 == 0 /\ -t_24^post19+t_24^0 == 0 /\ -len_286^post19+len_286^0 == 0 /\ __disjvr_10^0-__disjvr_10^post19 == 0 /\ len_195^0-len_195^post19 == 0 /\ tmp_37^0-tmp_37^post19 == 0 /\ rcd_228^0-rcd_228^post19 == 0 /\ -i_227^post19+i_227^0 == 0 /\ temp0_18^0-temp0_18^post19 == 0 /\ r_42^0-r_42^post19 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ y_22^0-y_22^post19 == 0 /\ __disjvr_12^0-__disjvr_12^post19 == 0 /\ -z_188^post19+z_188^0 == 0 /\ -temp0_34^post19+temp0_34^0 == 0 /\ __disjvr_24^0-__disjvr_24^post19 == 0 /\ a_166^0-a_166^post19 == 0 /\ -__disjvr_20^post19+__disjvr_20^0 == 0 /\ x_23^0-x_23^post19 == 0 /\ -rcd_396^post19+rcd_396^0 == 0 /\ -rcd_105^post19+rcd_105^0 == 0 /\ z_229^0-z_229^post19 == 0 /\ -len_286^0 <= 0 /\ -z_160^post19+z_160^0 == 0 /\ __disjvr_19^0-__disjvr_19^post19 == 0 /\ a_210^0-a_210^post19 == 0 /\ z_28^0-z_28^post19 == 0 /\ -lt_483^post19+lt_483^0 == 0 /\ __disjvr_25^0-__disjvr_25^post19 == 0 /\ -__disjvr_17^post19+__disjvr_17^0 == 0 /\ length_32^0-length_32^post19 == 0 /\ -z_265^post19+z_265^0 == 0 /\ -__disjvr_18^post19+__disjvr_18^0 == 0 /\ -r_236^post19+r_236^0 == 0 /\ -__disjvr_15^post19+__disjvr_15^0 == 0 /\ head_35^0-head_35^post19 == 0 /\ -__disjvr_27^post19+__disjvr_27^0 == 0 /\ -__disjvr_4^post19+__disjvr_4^0 == 0 /\ rcd_264^0-rcd_264^post19 == 0 /\ -__disjvr_6^post19+__disjvr_6^0 == 0 /\ -rcd_113^post19+rcd_113^0 == 0 /\ __disjvr_13^0-__disjvr_13^post19 == 0 /\ -__disjvr_1^post19+__disjvr_1^0 == 0 /\ rcd_70^0-rcd_70^post19 == 0 /\ -rcd_46^post19+rcd_46^0 == 0 /\ -len_266^post19+len_266^0 == 0 /\ a_27^0-a_27^post19 == 0 /\ i_111^0-i_111^post19 == 0 /\ -i_33^post19+i_33^0 == 0 /\ a_321^0-a_321^post19 == 0 /\ -z_279^post19+z_279^0 == 0 /\ __disjvr_22^0-__disjvr_22^post19 == 0 /\ -r_178^post19+r_178^0 == 0 /\ -a_347^post19+a_347^0 == 0 /\ temp1_30^0-temp1_30^post19 == 0 /\ -__disjvr_26^post19+__disjvr_26^0 == 0 /\ -rcd_237^post19+rcd_237^0 == 0 /\ -z_389^post19+z_389^0 == 0 /\ -__disjvr_29^post19+__disjvr_29^0 == 0 /\ __disjvr_9^0-__disjvr_9^post19 == 0 /\ rcd_222^0-rcd_222^post19 == 0 /\ -rcd_226^post19+rcd_226^0 == 0 /\ -head_13^post19+head_13^0 == 0 /\ __disjvr_28^0-__disjvr_28^post19 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -z_238^post19+z_238^0 == 0 /\ lt_386^0-lt_386^post19 == 0), cost: 1
  20: l19 -> l20 : __disjvr_0^0'=__disjvr_0^post20, a_321^0'=a_321^post20, rcd_70^0'=rcd_70^post20, __disjvr_21^0'=__disjvr_21^post20, x_23^0'=x_23^post20, __disjvr_4^0'=__disjvr_4^post20, rcd_222^0'=rcd_222^post20, __disjvr_14^0'=__disjvr_14^post20, head_35^0'=head_35^post20, __disjvr_24^0'=__disjvr_24^post20, temp0_18^0'=temp0_18^post20, lt_386^0'=lt_386^post20, z_229^0'=z_229^post20, __disjvr_9^0'=__disjvr_9^post20, a_210^0'=a_210^post20, rcd_376^0'=rcd_376^post20, __disjvr_19^0'=__disjvr_19^post20, len_195^0'=len_195^post20, __disjvr_29^0'=__disjvr_29^post20, x_19^0'=x_19^post20, r_42^0'=r_42^post20, z_28^0'=z_28^post20, __disjvr_11^0'=__disjvr_11^post20, a_377^0'=a_377^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post20, length_32^0'=length_32^post20, y_22^0'=y_22^post20, __disjvr_6^0'=__disjvr_6^post20, rcd_228^0'=rcd_228^post20, __disjvr_16^0'=__disjvr_16^post20, i_120^0'=i_120^post20, __disjvr_26^0'=__disjvr_26^post20, temp1_30^0'=temp1_30^post20, nondet_12^0'=nondet_12^post20, z_252^0'=z_252^post20, a_27^0'=a_27^post20, rcd_46^0'=rcd_46^post20, __disjvr_20^0'=__disjvr_20^post20, len_286^0'=len_286^post20, __disjvr_3^0'=__disjvr_3^post20, rcd_113^0'=rcd_113^post20, __disjvr_13^0'=__disjvr_13^post20, head_13^0'=head_13^post20, __disjvr_23^0'=__disjvr_23^post20, t_24^0'=t_24^post20, lt_29^0'=lt_29^post20, z_188^0'=z_188^post20, __disjvr_8^0'=__disjvr_8^post20, rcd_264^0'=rcd_264^post20, rcd_356^0'=rcd_356^post20, __disjvr_18^0'=__disjvr_18^post20, i_33^0'=i_33^post20, __disjvr_28^0'=__disjvr_28^post20, tmp_37^0'=tmp_37^post20, r_236^0'=r_236^post20, z_279^0'=z_279^post20, __disjvr_10^0'=__disjvr_10^post20, a_347^0'=a_347^post20, result_11^0'=result_11^post20, __disjvr_22^0'=__disjvr_22^post20, x_SLAM_f_21^0'=x_SLAM_f_21^post20, __disjvr_5^0'=__disjvr_5^post20, rcd_226^0'=rcd_226^post20, __disjvr_15^0'=__disjvr_15^post20, i_111^0'=i_111^post20, __disjvr_25^0'=__disjvr_25^post20, temp0_34^0'=temp0_34^post20, lt_483^0'=lt_483^post20, z_238^0'=z_238^post20, a_166^0'=a_166^post20, a_267^0'=a_267^post20, rcd_396^0'=rcd_396^post20, __disjvr_1^0'=__disjvr_1^post20, len_266^0'=len_266^post20, __disjvr_2^0'=__disjvr_2^post20, rcd_105^0'=rcd_105^post20, z_389^0'=z_389^post20, __disjvr_12^0'=__disjvr_12^post20, ct_20^0'=ct_20^post20, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post20, lt_17^0'=lt_17^post20, z_160^0'=z_160^post20, __disjvr_7^0'=__disjvr_7^post20, rcd_237^0'=rcd_237^post20, rcd_352^0'=rcd_352^post20, __disjvr_17^0'=__disjvr_17^post20, i_227^0'=i_227^post20, __disjvr_27^0'=__disjvr_27^post20, temp_38^0'=temp_38^post20, r_178^0'=r_178^post20, z_265^0'=z_265^post20, (-__disjvr_20^post20+__disjvr_20^0 == 0 /\ a_321^0-a_321^post20 == 0 /\ rcd_396^0-rcd_396^post20 == 0 /\ -i_120^post20+i_120^0 == 0 /\ r_42^0-r_42^post20 == 0 /\ rcd_113^0-rcd_113^post20 == 0 /\ head_13^0-head_13^post20 == 0 /\ temp0_18^0-temp0_18^post20 == 0 /\ -rcd_356^post20+rcd_356^0 == 0 /\ len_286^0-len_286^post20 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ y_22^0-y_22^post20 == 0 /\ -z_160^post20+z_160^0 == 0 /\ -__disjvr_6^post20+__disjvr_6^0 == 0 /\ -len_266^post20+len_266^0 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ lt_386^0-lt_386^post20 == 0 /\ -i_227^post20+i_227^0 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ -rcd_352^post20+rcd_352^0 == 0 /\ __disjvr_28^0-__disjvr_28^post20 == 0 /\ -__disjvr_26^post20+__disjvr_26^0 == 0 /\ rcd_46^0-rcd_46^post20 == 0 /\ x_19^0-x_19^post20 == 0 /\ -a_267^post20+a_267^0 == 0 /\ a_210^0-a_210^post20 == 0 /\ -z_389^post20+z_389^0 == 0 /\ z_279^0-z_279^post20 == 0 /\ t_24^0-t_24^post20 == 0 /\ -rcd_226^post20+rcd_226^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -a_166^post20+a_166^0 == 0 /\ __disjvr_16^0-__disjvr_16^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ rcd_105^0-rcd_105^post20 == 0 /\ -__disjvr_25^post20+__disjvr_25^0 == 0 /\ length_32^0-length_32^post20 == 0 /\ -__disjvr_9^0+__disjvr_9^post20 == 0 /\ nondet_12^0-nondet_12^post20 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post20+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_195^0-len_195^post20 == 0 /\ -z_28^post20+z_28^0 == 0 /\ -lt_483^post20+lt_483^0 == 0 /\ -__disjvr_2^post20+__disjvr_2^0 == 0 /\ -__disjvr_22^post20+__disjvr_22^0 == 0 /\ head_35^0-head_35^post20 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ -z_265^post20+z_265^0 == 0 /\ a_377^0-a_377^post20 == 0 /\ -__disjvr_15^post20+__disjvr_15^0 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ z_238^0-z_238^post20 == 0 /\ rcd_70^0-rcd_70^post20 == 0 /\ -rcd_237^post20+rcd_237^0 == 0 /\ -__disjvr_10^post20+__disjvr_10^0 == 0 /\ x_23^0-x_23^post20 == 0 /\ -rcd_264^post20+rcd_264^0 == 0 /\ lt_29^0-lt_29^post20 == 0 /\ -__disjvr_13^post20+__disjvr_13^0 == 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ rcd_228^0-rcd_228^post20 == 0 /\ temp1_30^0-temp1_30^post20 == 0 /\ -tmp_37^post20+tmp_37^0 == 0 /\ -z_252^post20+z_252^0 == 0 /\ -lt_17^post20+lt_17^0 == 0 /\ a_347^0-a_347^post20 == 0 /\ rcd_222^0-rcd_222^post20 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ z_229^0-z_229^post20 == 0 /\ -__disjvr_7^post20+__disjvr_7^0 == 0 /\ -a_27^post20+a_27^0 == 0 /\ rcd_376^0-rcd_376^post20 == 0 /\ __disjvr_21^0-__disjvr_21^post20 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ __disjvr_5^0-__disjvr_5^post20 == 0 /\ result_11^0-result_11^post20 == 0 /\ __disjvr_11^0-__disjvr_11^post20 == 0 /\ -__disjvr_1^post20+__disjvr_1^0 == 0 /\ __disjvr_14^0-__disjvr_14^post20 == 0 /\ -ct_20^post20+ct_20^0 == 0 /\ i_33^0-i_33^post20 == 0 /\ -x_SLAM_f_21^post20+x_SLAM_f_21^0 == 0 /\ -temp0_34^post20+temp0_34^0 == 0 /\ -temp_38^post20+temp_38^0 == 0 /\ __disjvr_19^0-__disjvr_19^post20 == 0 /\ r_178^0-r_178^post20 == 0 /\ i_111^0-i_111^post20 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ -__disjvr_18^post20+__disjvr_18^0 == 0 /\ -z_188^post20+z_188^0 == 0 /\ -r_236^post20+r_236^0 == 0), cost: 1
  21: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post21, a_321^0'=a_321^post21, rcd_70^0'=rcd_70^post21, __disjvr_21^0'=__disjvr_21^post21, x_23^0'=x_23^post21, __disjvr_4^0'=__disjvr_4^post21, rcd_222^0'=rcd_222^post21, __disjvr_14^0'=__disjvr_14^post21, head_35^0'=head_35^post21, __disjvr_24^0'=__disjvr_24^post21, temp0_18^0'=temp0_18^post21, lt_386^0'=lt_386^post21, z_229^0'=z_229^post21, __disjvr_9^0'=__disjvr_9^post21, a_210^0'=a_210^post21, rcd_376^0'=rcd_376^post21, __disjvr_19^0'=__disjvr_19^post21, len_195^0'=len_195^post21, __disjvr_29^0'=__disjvr_29^post21, x_19^0'=x_19^post21, r_42^0'=r_42^post21, z_28^0'=z_28^post21, __disjvr_11^0'=__disjvr_11^post21, a_377^0'=a_377^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post21, length_32^0'=length_32^post21, y_22^0'=y_22^post21, __disjvr_6^0'=__disjvr_6^post21, rcd_228^0'=rcd_228^post21, __disjvr_16^0'=__disjvr_16^post21, i_120^0'=i_120^post21, __disjvr_26^0'=__disjvr_26^post21, temp1_30^0'=temp1_30^post21, nondet_12^0'=nondet_12^post21, z_252^0'=z_252^post21, a_27^0'=a_27^post21, rcd_46^0'=rcd_46^post21, __disjvr_20^0'=__disjvr_20^post21, len_286^0'=len_286^post21, __disjvr_3^0'=__disjvr_3^post21, rcd_113^0'=rcd_113^post21, __disjvr_13^0'=__disjvr_13^post21, head_13^0'=head_13^post21, __disjvr_23^0'=__disjvr_23^post21, t_24^0'=t_24^post21, lt_29^0'=lt_29^post21, z_188^0'=z_188^post21, __disjvr_8^0'=__disjvr_8^post21, rcd_264^0'=rcd_264^post21, rcd_356^0'=rcd_356^post21, __disjvr_18^0'=__disjvr_18^post21, i_33^0'=i_33^post21, __disjvr_28^0'=__disjvr_28^post21, tmp_37^0'=tmp_37^post21, r_236^0'=r_236^post21, z_279^0'=z_279^post21, __disjvr_10^0'=__disjvr_10^post21, a_347^0'=a_347^post21, result_11^0'=result_11^post21, __disjvr_22^0'=__disjvr_22^post21, x_SLAM_f_21^0'=x_SLAM_f_21^post21, __disjvr_5^0'=__disjvr_5^post21, rcd_226^0'=rcd_226^post21, __disjvr_15^0'=__disjvr_15^post21, i_111^0'=i_111^post21, __disjvr_25^0'=__disjvr_25^post21, temp0_34^0'=temp0_34^post21, lt_483^0'=lt_483^post21, z_238^0'=z_238^post21, a_166^0'=a_166^post21, a_267^0'=a_267^post21, rcd_396^0'=rcd_396^post21, __disjvr_1^0'=__disjvr_1^post21, len_266^0'=len_266^post21, __disjvr_2^0'=__disjvr_2^post21, rcd_105^0'=rcd_105^post21, z_389^0'=z_389^post21, __disjvr_12^0'=__disjvr_12^post21, ct_20^0'=ct_20^post21, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post21, lt_17^0'=lt_17^post21, z_160^0'=z_160^post21, __disjvr_7^0'=__disjvr_7^post21, rcd_237^0'=rcd_237^post21, rcd_352^0'=rcd_352^post21, __disjvr_17^0'=__disjvr_17^post21, i_227^0'=i_227^post21, __disjvr_27^0'=__disjvr_27^post21, temp_38^0'=temp_38^post21, r_178^0'=r_178^post21, z_265^0'=z_265^post21, (0 == 0 /\ __disjvr_14^0-__disjvr_14^post21 == 0 /\ z_279^0-z_279^post21 == 0 /\ result_11^0-result_11^post21 == 0 /\ -lt_17^post21+lt_17^0 == 0 /\ z_229^0-z_229^post21 == 0 /\ __disjvr_19^0-__disjvr_19^post21 == 0 /\ z_28^0-z_28^post21 == 0 /\ rcd_105^0-rcd_105^post21 == 0 /\ -a_27^post21+a_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0 /\ -temp_38^post21+temp_38^0 == 0 /\ x_19^0-x_19^post21 == 0 /\ -__disjvr_3^post21+__disjvr_3^0 == 0 /\ -temp0_34^post21+temp0_34^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post21 == 0 /\ -__disjvr_10^post21+__disjvr_10^0 == 0 /\ -rcd_352^post21+rcd_352^0 == 0 /\ rcd_264^0-rcd_264^post21 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ -x_19^0+x_SLAM_f_21^0 <= 0 /\ rcd_228^0-rcd_228^post21 == 0 /\ -__disjvr_16^post21+__disjvr_16^0 == 0 /\ -y_22^0+ct_20^0 <= 0 /\ z_238^0-z_238^post21 == 0 /\ -__disjvr_13^post21+__disjvr_13^0 == 0 /\ -tmp_37^post21+tmp_37^0 == 0 /\ y_22^0 <= 0 /\ -i_227^post21+i_227^0 == 0 /\ -__disjvr_27^post21+__disjvr_27^0 == 0 /\ temp1_30^0-temp1_30^post21 == 0 /\ -__disjvr_5^post21+__disjvr_5^0 == 0 /\ rcd_113^0-rcd_113^post21 == 0 /\ __disjvr_26^0-__disjvr_26^post21 == 0 /\ temp0_18^0-temp0_18^post21 == 0 /\ rcd_396^0-rcd_396^post21 == 0 /\ -r_236^post21+r_236^0 == 0 /\ -x_SLAM_f_21^post21+x_SLAM_f_21^0 == 0 /\ -rcd_376^post21+rcd_376^0 == 0 /\ x_19^0-x_SLAM_f_21^0 <= 0 /\ __disjvr_12^0-__disjvr_12^post21 == 0 /\ len_266^0-len_266^post21 == 0 /\ __disjvr_28^0-__disjvr_28^post21 == 0 /\ y_22^0-ct_20^0 <= 0 /\ -ct_20^post21+ct_20^0 == 0 /\ y_22^0-y_22^post21 == 0 /\ __disjvr_6^0-__disjvr_6^post21 == 0 /\ z_252^0-z_252^post21 == 0 /\ -lt_483^post21+lt_483^0 == 0 /\ -__disjvr_18^post21+__disjvr_18^0 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ i_120^0-i_120^post21 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ -a_347^0+a_321^post21 <= 0 /\ length_32^0-length_32^post21 == 0 /\ -z_265^post21+z_265^0 == 0 /\ __disjvr_23^0-__disjvr_23^post21 == 0 /\ rcd_46^0-rcd_46^post21 == 0 /\ -__disjvr_15^post21+__disjvr_15^0 == 0 /\ -__disjvr_4^post21+__disjvr_4^0 == 0 /\ z_160^0-z_160^post21 == 0 /\ -a_377^post21+a_377^0 == 0 /\ rcd_46^0-rcd_352^0 <= 0 /\ z_188^0-z_188^post21 == 0 /\ head_35^0-head_35^post21 == 0 /\ __disjvr_29^0-__disjvr_29^post21 == 0 /\ __disjvr_20^0-__disjvr_20^post21 == 0 /\ -x_19^0+lt_17^0 <= 0 /\ -__disjvr_1^post21+__disjvr_1^0 == 0 /\ -t_24^post21+lt_17^0 <= 0 /\ i_111^0-i_111^post21 == 0 /\ x_23^0-x_23^post21 == 0 /\ r_42^0-r_42^post21 == 0 /\ -i_33^post21+i_33^0 == 0 /\ -a_166^post21+a_166^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post21+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ rcd_70^0-rcd_70^post21 == 0 /\ -head_13^post21+head_13^0 == 0 /\ __disjvr_17^0-__disjvr_17^post21 == 0 /\ a_347^0-a_321^post21 <= 0 /\ -y_22^0 <= 0 /\ -__disjvr_25^post21+__disjvr_25^0 == 0 /\ -__disjvr_9^post21+__disjvr_9^0 == 0 /\ -rcd_226^post21+rcd_226^0 == 0 /\ len_195^0-len_195^post21 == 0 /\ -__disjvr_22^post21+__disjvr_22^0 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ -a_267^post21+a_267^0 == 0 /\ -r_178^post21+r_178^0 == 0 /\ ct_20^0 <= 0 /\ len_286^0-len_286^post21 == 0 /\ -rcd_237^post21+rcd_237^0 == 0 /\ -ct_20^0 <= 0 /\ -lt_29^post21+lt_29^0 == 0 /\ -rcd_46^0+rcd_352^0 <= 0 /\ x_19^0-lt_17^0 <= 0 /\ a_347^0-a_347^post21 == 0 /\ -__disjvr_2^post21+__disjvr_2^0 == 0 /\ -z_389^post21+z_389^0 == 0 /\ -rcd_356^post21+rcd_356^0 == 0 /\ -lt_386^post21+lt_386^0 == 0 /\ -x_23^0+t_24^post21 == 0 /\ __disjvr_24^0-__disjvr_24^post21 == 0 /\ rcd_222^0-rcd_222^post21 == 0 /\ a_210^0-a_210^post21 == 0 /\ t_24^post21-lt_17^0 <= 0 /\ -nondet_12^post21+nondet_12^0 == 0), cost: 1
  22: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post22, a_321^0'=a_321^post22, rcd_70^0'=rcd_70^post22, __disjvr_21^0'=__disjvr_21^post22, x_23^0'=x_23^post22, __disjvr_4^0'=__disjvr_4^post22, rcd_222^0'=rcd_222^post22, __disjvr_14^0'=__disjvr_14^post22, head_35^0'=head_35^post22, __disjvr_24^0'=__disjvr_24^post22, temp0_18^0'=temp0_18^post22, lt_386^0'=lt_386^post22, z_229^0'=z_229^post22, __disjvr_9^0'=__disjvr_9^post22, a_210^0'=a_210^post22, rcd_376^0'=rcd_376^post22, __disjvr_19^0'=__disjvr_19^post22, len_195^0'=len_195^post22, __disjvr_29^0'=__disjvr_29^post22, x_19^0'=x_19^post22, r_42^0'=r_42^post22, z_28^0'=z_28^post22, __disjvr_11^0'=__disjvr_11^post22, a_377^0'=a_377^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post22, length_32^0'=length_32^post22, y_22^0'=y_22^post22, __disjvr_6^0'=__disjvr_6^post22, rcd_228^0'=rcd_228^post22, __disjvr_16^0'=__disjvr_16^post22, i_120^0'=i_120^post22, __disjvr_26^0'=__disjvr_26^post22, temp1_30^0'=temp1_30^post22, nondet_12^0'=nondet_12^post22, z_252^0'=z_252^post22, a_27^0'=a_27^post22, rcd_46^0'=rcd_46^post22, __disjvr_20^0'=__disjvr_20^post22, len_286^0'=len_286^post22, __disjvr_3^0'=__disjvr_3^post22, rcd_113^0'=rcd_113^post22, __disjvr_13^0'=__disjvr_13^post22, head_13^0'=head_13^post22, __disjvr_23^0'=__disjvr_23^post22, t_24^0'=t_24^post22, lt_29^0'=lt_29^post22, z_188^0'=z_188^post22, __disjvr_8^0'=__disjvr_8^post22, rcd_264^0'=rcd_264^post22, rcd_356^0'=rcd_356^post22, __disjvr_18^0'=__disjvr_18^post22, i_33^0'=i_33^post22, __disjvr_28^0'=__disjvr_28^post22, tmp_37^0'=tmp_37^post22, r_236^0'=r_236^post22, z_279^0'=z_279^post22, __disjvr_10^0'=__disjvr_10^post22, a_347^0'=a_347^post22, result_11^0'=result_11^post22, __disjvr_22^0'=__disjvr_22^post22, x_SLAM_f_21^0'=x_SLAM_f_21^post22, __disjvr_5^0'=__disjvr_5^post22, rcd_226^0'=rcd_226^post22, __disjvr_15^0'=__disjvr_15^post22, i_111^0'=i_111^post22, __disjvr_25^0'=__disjvr_25^post22, temp0_34^0'=temp0_34^post22, lt_483^0'=lt_483^post22, z_238^0'=z_238^post22, a_166^0'=a_166^post22, a_267^0'=a_267^post22, rcd_396^0'=rcd_396^post22, __disjvr_1^0'=__disjvr_1^post22, len_266^0'=len_266^post22, __disjvr_2^0'=__disjvr_2^post22, rcd_105^0'=rcd_105^post22, z_389^0'=z_389^post22, __disjvr_12^0'=__disjvr_12^post22, ct_20^0'=ct_20^post22, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post22, lt_17^0'=lt_17^post22, z_160^0'=z_160^post22, __disjvr_7^0'=__disjvr_7^post22, rcd_237^0'=rcd_237^post22, rcd_352^0'=rcd_352^post22, __disjvr_17^0'=__disjvr_17^post22, i_227^0'=i_227^post22, __disjvr_27^0'=__disjvr_27^post22, temp_38^0'=temp_38^post22, r_178^0'=r_178^post22, z_265^0'=z_265^post22, (-z_279^post22+z_279^0 == 0 /\ len_286^0-len_286^post22 == 0 /\ lt_29^0-lt_29^post22 == 0 /\ -__disjvr_20^post22+__disjvr_20^0 == 0 /\ -a_377^post22+a_377^0 == 0 /\ rcd_113^0-rcd_113^post22 == 0 /\ rcd_228^0-rcd_228^post22 == 0 /\ __disjvr_4^0-__disjvr_4^post22 == 0 /\ head_13^0-head_13^post22 == 0 /\ rcd_70^0-rcd_70^post22 == 0 /\ -lt_483^post22+lt_483^0 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ temp1_30^0-temp1_30^post22 == 0 /\ r_236^0-r_236^post22 == 0 /\ -__disjvr_6^post22+__disjvr_6^0 == 0 /\ -i_227^post22+i_227^0 == 0 /\ -i_111^post22+i_111^0 == 0 /\ -__disjvr_27^post22+__disjvr_27^0 == 0 /\ a_210^0-a_210^post22 == 0 /\ -len_266^post22+len_266^0 == 0 /\ __disjvr_8^0-__disjvr_8^post22 == 0 /\ __disjvr_21^0-__disjvr_21^post22 == 0 /\ z_238^0-z_238^post22 == 0 /\ t_24^0-t_24^post22 == 0 /\ -__disjvr_25^post22+__disjvr_25^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post22 == 0 /\ -z_389^post22+z_389^0 == 0 /\ -__disjvr_12^post22+__disjvr_12^0 == 0 /\ __disjvr_23^0-__disjvr_23^post22 == 0 /\ head_35^0-head_35^post22 == 0 /\ -z_160^post22+z_160^0 == 0 /\ a_267^0-a_267^post22 == 0 /\ -__disjvr_28^post22+__disjvr_28^0 == 0 /\ -a_347^post22+a_347^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post22+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ i_33^0-i_33^post22 == 0 /\ -z_265^post22+z_265^0 == 0 /\ -length_32^post22+length_32^0 == 0 /\ -rcd_356^post22+rcd_356^0 == 0 /\ -__disjvr_22^post22+__disjvr_22^0 == 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ -__disjvr_2^post22+__disjvr_2^0 == 0 /\ -__disjvr_29^post22+__disjvr_29^0 == 0 /\ -__disjvr_13^post22+__disjvr_13^0 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ x_23^0-x_23^post22 == 0 /\ a_321^0-a_321^post22 == 0 /\ -rcd_222^post22+rcd_222^0 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ -rcd_264^post22+rcd_264^0 == 0 /\ r_42^0-r_42^post22 == 0 /\ len_195^0-len_195^post22 == 0 /\ __disjvr_26^0-__disjvr_26^post22 == 0 /\ -tmp_37^post22+tmp_37^0 == 0 /\ a_27^0-a_27^post22 == 0 /\ __disjvr_18^0-__disjvr_18^post22 == 0 /\ rcd_237^0-rcd_237^post22 == 0 /\ -rcd_396^post22+rcd_396^0 == 0 /\ -lt_17^post22+lt_17^0 == 0 /\ -a_166^post22+a_166^0 == 0 /\ -rcd_352^post22+rcd_352^0 == 0 /\ -__disjvr_24^post22+__disjvr_24^0 == 0 /\ y_22^0-y_22^post22 == 0 /\ -result_11^post22+result_11^0 == 0 /\ __disjvr_14^0-__disjvr_14^post22 == 0 /\ z_252^0-z_252^post22 == 0 /\ -rcd_226^post22+rcd_226^0 == 0 /\ i_120^0-i_120^post22 == 0 /\ -r_178^post22+r_178^0 == 0 /\ __disjvr_19^0-__disjvr_19^post22 == 0 /\ __disjvr_10^post22-__disjvr_10^0 == 0 /\ x_19^0-x_19^post22 == 0 /\ -rcd_376^post22+rcd_376^0 == 0 /\ z_229^0-z_229^post22 == 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0 /\ -__disjvr_7^post22+__disjvr_7^0 == 0 /\ -__disjvr_16^post22+__disjvr_16^0 == 0 /\ rcd_46^0-rcd_46^post22 == 0 /\ -x_SLAM_f_21^post22+x_SLAM_f_21^0 == 0 /\ lt_386^0-lt_386^post22 == 0 /\ -ct_20^post22+ct_20^0 == 0 /\ -rcd_105^post22+rcd_105^0 == 0 /\ z_28^0-z_28^post22 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ z_188^0-z_188^post22 == 0 /\ __disjvr_15^0-__disjvr_15^post22 == 0 /\ temp0_18^0-temp0_18^post22 == 0 /\ -temp_38^post22+temp_38^0 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ -temp0_34^post22+temp0_34^0 == 0), cost: 1
  23: l22 -> l23 : __disjvr_0^0'=__disjvr_0^post23, a_321^0'=a_321^post23, rcd_70^0'=rcd_70^post23, __disjvr_21^0'=__disjvr_21^post23, x_23^0'=x_23^post23, __disjvr_4^0'=__disjvr_4^post23, rcd_222^0'=rcd_222^post23, __disjvr_14^0'=__disjvr_14^post23, head_35^0'=head_35^post23, __disjvr_24^0'=__disjvr_24^post23, temp0_18^0'=temp0_18^post23, lt_386^0'=lt_386^post23, z_229^0'=z_229^post23, __disjvr_9^0'=__disjvr_9^post23, a_210^0'=a_210^post23, rcd_376^0'=rcd_376^post23, __disjvr_19^0'=__disjvr_19^post23, len_195^0'=len_195^post23, __disjvr_29^0'=__disjvr_29^post23, x_19^0'=x_19^post23, r_42^0'=r_42^post23, z_28^0'=z_28^post23, __disjvr_11^0'=__disjvr_11^post23, a_377^0'=a_377^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post23, length_32^0'=length_32^post23, y_22^0'=y_22^post23, __disjvr_6^0'=__disjvr_6^post23, rcd_228^0'=rcd_228^post23, __disjvr_16^0'=__disjvr_16^post23, i_120^0'=i_120^post23, __disjvr_26^0'=__disjvr_26^post23, temp1_30^0'=temp1_30^post23, nondet_12^0'=nondet_12^post23, z_252^0'=z_252^post23, a_27^0'=a_27^post23, rcd_46^0'=rcd_46^post23, __disjvr_20^0'=__disjvr_20^post23, len_286^0'=len_286^post23, __disjvr_3^0'=__disjvr_3^post23, rcd_113^0'=rcd_113^post23, __disjvr_13^0'=__disjvr_13^post23, head_13^0'=head_13^post23, __disjvr_23^0'=__disjvr_23^post23, t_24^0'=t_24^post23, lt_29^0'=lt_29^post23, z_188^0'=z_188^post23, __disjvr_8^0'=__disjvr_8^post23, rcd_264^0'=rcd_264^post23, rcd_356^0'=rcd_356^post23, __disjvr_18^0'=__disjvr_18^post23, i_33^0'=i_33^post23, __disjvr_28^0'=__disjvr_28^post23, tmp_37^0'=tmp_37^post23, r_236^0'=r_236^post23, z_279^0'=z_279^post23, __disjvr_10^0'=__disjvr_10^post23, a_347^0'=a_347^post23, result_11^0'=result_11^post23, __disjvr_22^0'=__disjvr_22^post23, x_SLAM_f_21^0'=x_SLAM_f_21^post23, __disjvr_5^0'=__disjvr_5^post23, rcd_226^0'=rcd_226^post23, __disjvr_15^0'=__disjvr_15^post23, i_111^0'=i_111^post23, __disjvr_25^0'=__disjvr_25^post23, temp0_34^0'=temp0_34^post23, lt_483^0'=lt_483^post23, z_238^0'=z_238^post23, a_166^0'=a_166^post23, a_267^0'=a_267^post23, rcd_396^0'=rcd_396^post23, __disjvr_1^0'=__disjvr_1^post23, len_266^0'=len_266^post23, __disjvr_2^0'=__disjvr_2^post23, rcd_105^0'=rcd_105^post23, z_389^0'=z_389^post23, __disjvr_12^0'=__disjvr_12^post23, ct_20^0'=ct_20^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post23, lt_17^0'=lt_17^post23, z_160^0'=z_160^post23, __disjvr_7^0'=__disjvr_7^post23, rcd_237^0'=rcd_237^post23, rcd_352^0'=rcd_352^post23, __disjvr_17^0'=__disjvr_17^post23, i_227^0'=i_227^post23, __disjvr_27^0'=__disjvr_27^post23, temp_38^0'=temp_38^post23, r_178^0'=r_178^post23, z_265^0'=z_265^post23, (x_19^0-x_19^post23 == 0 /\ i_120^0-i_120^post23 == 0 /\ length_32^0-length_32^post23 == 0 /\ -__disjvr_3^post23+__disjvr_3^0 == 0 /\ -a_27^post23+a_27^0 == 0 /\ -rcd_396^post23+rcd_396^0 == 0 /\ __disjvr_19^0-__disjvr_19^post23 == 0 /\ -temp0_34^post23+temp0_34^0 == 0 /\ __disjvr_13^0-__disjvr_13^post23 == 0 /\ rcd_46^0-rcd_46^post23 == 0 /\ -t_24^post23+t_24^0 == 0 /\ -temp_38^post23+temp_38^0 == 0 /\ -rcd_264^post23+rcd_264^0 == 0 /\ -r_178^post23+r_178^0 == 0 /\ __disjvr_20^0-__disjvr_20^post23 == 0 /\ head_35^0-head_35^post23 == 0 /\ -__disjvr_25^post23+__disjvr_25^0 == 0 /\ z_188^0-z_188^post23 == 0 /\ a_377^0-a_377^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -tmp_37^post23+tmp_37^0 == 0 /\ -lt_17^post23+lt_17^0 == 0 /\ __disjvr_4^0-__disjvr_4^post23 == 0 /\ rcd_356^0-rcd_356^post23 == 0 /\ -i_227^post23+i_227^0 == 0 /\ rcd_70^0-rcd_70^post23 == 0 /\ -rcd_105^post23+rcd_105^0 == 0 /\ -ct_20^post23+ct_20^0 == 0 /\ -i_111^post23+i_111^0 == 0 /\ -__disjvr_27^post23+__disjvr_27^0 == 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0 /\ -__disjvr_1^post23+__disjvr_1^0 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ rcd_222^0-rcd_222^post23 == 0 /\ z_389^0-z_389^post23 == 0 /\ __disjvr_24^0-__disjvr_24^post23 == 0 /\ -x_SLAM_f_21^post23+x_SLAM_f_21^0 == 0 /\ -len_286^post23+len_286^0 == 0 /\ -z_238^post23+z_238^0 == 0 /\ lt_483^0-lt_483^post23 == 0 /\ __disjvr_14^0-__disjvr_14^post23 == 0 /\ result_11^0-result_11^post23 == 0 /\ z_28^0-z_28^post23 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ __disjvr_15^0-__disjvr_15^post23 == 0 /\ rcd_376^0-rcd_376^post23 == 0 /\ -lt_29^post23+lt_29^0 == 0 /\ -len_266^post23+len_266^0 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ __disjvr_11^0-__disjvr_11^post23 == 0 /\ __disjvr_21^0-__disjvr_21^post23 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post23 == 0 /\ -__disjvr_9^post23+__disjvr_9^0 == 0 /\ -a_210^post23+a_210^0 == 0 /\ head_13^0-head_13^post23 == 0 /\ -x_23^post23+x_23^0 == 0 /\ -i_33^post23+i_33^0 == 0 /\ __disjvr_29^0-__disjvr_29^post23 == 0 /\ __disjvr_16^0-__disjvr_16^post23 == 0 /\ -z_160^post23+z_160^0 == 0 /\ -z_279^post23+z_279^0 == 0 /\ -temp1_30^post23+temp1_30^0 == 0 /\ -__disjvr_12^post23+__disjvr_12^0 == 0 /\ -a_166^post23+a_166^0 == 0 /\ -rcd_352^post23+rcd_352^0 == 0 /\ temp0_18^0-temp0_18^post23 == 0 /\ -__disjvr_8^post23+__disjvr_8^0 == 0 /\ -a_267^post23+a_267^0 == 0 /\ __disjvr_10^0-__disjvr_10^post23 == 0 /\ r_42^0-r_42^post23 == 0 /\ len_195^0-len_195^post23 == 0 /\ __disjvr_18^0-__disjvr_18^post23 == 0 /\ -__disjvr_11^0+__disjvr_11^post23 == 0 /\ a_321^0-a_321^post23 == 0 /\ rcd_113^0-rcd_113^post23 == 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ -__disjvr_28^post23+__disjvr_28^0 == 0 /\ -rcd_228^post23+rcd_228^0 == 0 /\ -rcd_226^post23+rcd_226^0 == 0 /\ -__disjvr_22^post23+__disjvr_22^0 == 0 /\ z_252^0-z_252^post23 == 0 /\ lt_386^0-lt_386^post23 == 0 /\ -z_265^post23+z_265^0 == 0 /\ __disjvr_23^0-__disjvr_23^post23 == 0 /\ -a_347^post23+a_347^0 == 0 /\ r_236^0-r_236^post23 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post23+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ y_22^0-y_22^post23 == 0 /\ __disjvr_6^0-__disjvr_6^post23 == 0 /\ z_229^0-z_229^post23 == 0 /\ -rcd_237^post23+rcd_237^0 == 0), cost: 1
  24: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post24, a_321^0'=a_321^post24, rcd_70^0'=rcd_70^post24, __disjvr_21^0'=__disjvr_21^post24, x_23^0'=x_23^post24, __disjvr_4^0'=__disjvr_4^post24, rcd_222^0'=rcd_222^post24, __disjvr_14^0'=__disjvr_14^post24, head_35^0'=head_35^post24, __disjvr_24^0'=__disjvr_24^post24, temp0_18^0'=temp0_18^post24, lt_386^0'=lt_386^post24, z_229^0'=z_229^post24, __disjvr_9^0'=__disjvr_9^post24, a_210^0'=a_210^post24, rcd_376^0'=rcd_376^post24, __disjvr_19^0'=__disjvr_19^post24, len_195^0'=len_195^post24, __disjvr_29^0'=__disjvr_29^post24, x_19^0'=x_19^post24, r_42^0'=r_42^post24, z_28^0'=z_28^post24, __disjvr_11^0'=__disjvr_11^post24, a_377^0'=a_377^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post24, length_32^0'=length_32^post24, y_22^0'=y_22^post24, __disjvr_6^0'=__disjvr_6^post24, rcd_228^0'=rcd_228^post24, __disjvr_16^0'=__disjvr_16^post24, i_120^0'=i_120^post24, __disjvr_26^0'=__disjvr_26^post24, temp1_30^0'=temp1_30^post24, nondet_12^0'=nondet_12^post24, z_252^0'=z_252^post24, a_27^0'=a_27^post24, rcd_46^0'=rcd_46^post24, __disjvr_20^0'=__disjvr_20^post24, len_286^0'=len_286^post24, __disjvr_3^0'=__disjvr_3^post24, rcd_113^0'=rcd_113^post24, __disjvr_13^0'=__disjvr_13^post24, head_13^0'=head_13^post24, __disjvr_23^0'=__disjvr_23^post24, t_24^0'=t_24^post24, lt_29^0'=lt_29^post24, z_188^0'=z_188^post24, __disjvr_8^0'=__disjvr_8^post24, rcd_264^0'=rcd_264^post24, rcd_356^0'=rcd_356^post24, __disjvr_18^0'=__disjvr_18^post24, i_33^0'=i_33^post24, __disjvr_28^0'=__disjvr_28^post24, tmp_37^0'=tmp_37^post24, r_236^0'=r_236^post24, z_279^0'=z_279^post24, __disjvr_10^0'=__disjvr_10^post24, a_347^0'=a_347^post24, result_11^0'=result_11^post24, __disjvr_22^0'=__disjvr_22^post24, x_SLAM_f_21^0'=x_SLAM_f_21^post24, __disjvr_5^0'=__disjvr_5^post24, rcd_226^0'=rcd_226^post24, __disjvr_15^0'=__disjvr_15^post24, i_111^0'=i_111^post24, __disjvr_25^0'=__disjvr_25^post24, temp0_34^0'=temp0_34^post24, lt_483^0'=lt_483^post24, z_238^0'=z_238^post24, a_166^0'=a_166^post24, a_267^0'=a_267^post24, rcd_396^0'=rcd_396^post24, __disjvr_1^0'=__disjvr_1^post24, len_266^0'=len_266^post24, __disjvr_2^0'=__disjvr_2^post24, rcd_105^0'=rcd_105^post24, z_389^0'=z_389^post24, __disjvr_12^0'=__disjvr_12^post24, ct_20^0'=ct_20^post24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post24, lt_17^0'=lt_17^post24, z_160^0'=z_160^post24, __disjvr_7^0'=__disjvr_7^post24, rcd_237^0'=rcd_237^post24, rcd_352^0'=rcd_352^post24, __disjvr_17^0'=__disjvr_17^post24, i_227^0'=i_227^post24, __disjvr_27^0'=__disjvr_27^post24, temp_38^0'=temp_38^post24, r_178^0'=r_178^post24, z_265^0'=z_265^post24, (-__disjvr_5^post24+__disjvr_5^0 == 0 /\ x_23^0-x_23^post24 == 0 /\ __disjvr_26^0-__disjvr_26^post24 == 0 /\ a_377^0-a_377^post24 == 0 /\ -z_238^post24+z_238^0 == 0 /\ -lt_483^post24+lt_483^0 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ -i_227^post24+i_227^0 == 0 /\ __disjvr_1^0-__disjvr_1^post24 == 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ -temp1_30^post24+temp1_30^0 == 0 /\ y_22^0-y_22^post24 == 0 /\ -__disjvr_23^post24+__disjvr_23^0 == 0 /\ __disjvr_14^0-__disjvr_14^post24 == 0 /\ z_252^0-z_252^post24 == 0 /\ -i_111^post24+i_111^0 == 0 /\ -z_279^post24+z_279^0 == 0 /\ -__disjvr_27^post24+__disjvr_27^0 == 0 /\ r_236^0-r_236^post24 == 0 /\ -len_266^post24+len_266^0 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ -z_389^post24+z_389^0 == 0 /\ -z_265^post24+z_265^0 == 0 /\ -__disjvr_25^post24+__disjvr_25^0 == 0 /\ z_188^0-z_188^post24 == 0 /\ -z_160^post24+z_160^0 == 0 /\ length_32^0-length_32^post24 == 0 /\ -a_166^post24+a_166^0 == 0 /\ __disjvr_16^0-__disjvr_16^post24 == 0 /\ __disjvr_12^post24-__disjvr_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post24 == 0 /\ temp0_18^0-temp0_18^post24 == 0 /\ i_33^0-i_33^post24 == 0 /\ -__disjvr_2^post24+__disjvr_2^0 == 0 /\ -__disjvr_17^post24+__disjvr_17^0 == 0 /\ -__disjvr_15^post24+__disjvr_15^0 == 0 /\ -rcd_237^post24+rcd_237^0 == 0 /\ -a_267^post24+a_267^0 == 0 /\ __disjvr_20^0-__disjvr_20^post24 == 0 /\ -a_347^post24+a_347^0 == 0 /\ -__disjvr_28^post24+__disjvr_28^0 == 0 /\ __disjvr_29^0-__disjvr_29^post24 == 0 /\ -lt_29^post24+lt_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post24+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -z_229^post24+z_229^0 == 0 /\ len_286^0-len_286^post24 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ -r_178^post24+r_178^0 == 0 /\ a_27^0-a_27^post24 == 0 /\ -rcd_264^post24+rcd_264^0 == 0 /\ -__disjvr_13^post24+__disjvr_13^0 == 0 /\ rcd_356^0-rcd_356^post24 == 0 /\ temp0_34^0-temp0_34^post24 == 0 /\ r_42^0-r_42^post24 == 0 /\ len_195^0-len_195^post24 == 0 /\ -rcd_352^post24+rcd_352^0 == 0 /\ head_13^0-head_13^post24 == 0 /\ __disjvr_4^0-__disjvr_4^post24 == 0 /\ rcd_113^0-rcd_113^post24 == 0 /\ rcd_226^0-rcd_226^post24 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ rcd_70^0-rcd_70^post24 == 0 /\ a_321^0-a_321^post24 == 0 /\ lt_17^0-lt_17^post24 == 0 /\ -result_11^post24+result_11^0 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ -rcd_396^post24+rcd_396^0 == 0 /\ lt_386^0-lt_386^post24 == 0 /\ -__disjvr_3^post24+__disjvr_3^0 == 0 /\ -tmp_37^post24+tmp_37^0 == 0 /\ a_210^0-a_210^post24 == 0 /\ -__disjvr_10^post24+__disjvr_10^0 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ -__disjvr_21^post24+__disjvr_21^0 == 0 /\ -rcd_228^post24+rcd_228^0 == 0 /\ -__disjvr_8^post24+__disjvr_8^0 == 0 /\ z_28^0-z_28^post24 == 0 /\ -__disjvr_24^post24+__disjvr_24^0 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ -ct_20^post24+ct_20^0 == 0 /\ rcd_376^0-rcd_376^post24 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ i_120^0-i_120^post24 == 0 /\ x_19^0-x_19^post24 == 0 /\ rcd_46^0-rcd_46^post24 == 0 /\ head_35^0-head_35^post24 == 0 /\ rcd_222^0-rcd_222^post24 == 0 /\ -t_24^post24+t_24^0 == 0 /\ -rcd_105^post24+rcd_105^0 == 0 /\ -x_SLAM_f_21^post24+x_SLAM_f_21^0 == 0 /\ -__disjvr_19^post24+__disjvr_19^0 == 0 /\ -temp_38^post24+temp_38^0 == 0), cost: 1
  25: l24 -> l0 : __disjvr_0^0'=__disjvr_0^post25, a_321^0'=a_321^post25, rcd_70^0'=rcd_70^post25, __disjvr_21^0'=__disjvr_21^post25, x_23^0'=x_23^post25, __disjvr_4^0'=__disjvr_4^post25, rcd_222^0'=rcd_222^post25, __disjvr_14^0'=__disjvr_14^post25, head_35^0'=head_35^post25, __disjvr_24^0'=__disjvr_24^post25, temp0_18^0'=temp0_18^post25, lt_386^0'=lt_386^post25, z_229^0'=z_229^post25, __disjvr_9^0'=__disjvr_9^post25, a_210^0'=a_210^post25, rcd_376^0'=rcd_376^post25, __disjvr_19^0'=__disjvr_19^post25, len_195^0'=len_195^post25, __disjvr_29^0'=__disjvr_29^post25, x_19^0'=x_19^post25, r_42^0'=r_42^post25, z_28^0'=z_28^post25, __disjvr_11^0'=__disjvr_11^post25, a_377^0'=a_377^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post25, length_32^0'=length_32^post25, y_22^0'=y_22^post25, __disjvr_6^0'=__disjvr_6^post25, rcd_228^0'=rcd_228^post25, __disjvr_16^0'=__disjvr_16^post25, i_120^0'=i_120^post25, __disjvr_26^0'=__disjvr_26^post25, temp1_30^0'=temp1_30^post25, nondet_12^0'=nondet_12^post25, z_252^0'=z_252^post25, a_27^0'=a_27^post25, rcd_46^0'=rcd_46^post25, __disjvr_20^0'=__disjvr_20^post25, len_286^0'=len_286^post25, __disjvr_3^0'=__disjvr_3^post25, rcd_113^0'=rcd_113^post25, __disjvr_13^0'=__disjvr_13^post25, head_13^0'=head_13^post25, __disjvr_23^0'=__disjvr_23^post25, t_24^0'=t_24^post25, lt_29^0'=lt_29^post25, z_188^0'=z_188^post25, __disjvr_8^0'=__disjvr_8^post25, rcd_264^0'=rcd_264^post25, rcd_356^0'=rcd_356^post25, __disjvr_18^0'=__disjvr_18^post25, i_33^0'=i_33^post25, __disjvr_28^0'=__disjvr_28^post25, tmp_37^0'=tmp_37^post25, r_236^0'=r_236^post25, z_279^0'=z_279^post25, __disjvr_10^0'=__disjvr_10^post25, a_347^0'=a_347^post25, result_11^0'=result_11^post25, __disjvr_22^0'=__disjvr_22^post25, x_SLAM_f_21^0'=x_SLAM_f_21^post25, __disjvr_5^0'=__disjvr_5^post25, rcd_226^0'=rcd_226^post25, __disjvr_15^0'=__disjvr_15^post25, i_111^0'=i_111^post25, __disjvr_25^0'=__disjvr_25^post25, temp0_34^0'=temp0_34^post25, lt_483^0'=lt_483^post25, z_238^0'=z_238^post25, a_166^0'=a_166^post25, a_267^0'=a_267^post25, rcd_396^0'=rcd_396^post25, __disjvr_1^0'=__disjvr_1^post25, len_266^0'=len_266^post25, __disjvr_2^0'=__disjvr_2^post25, rcd_105^0'=rcd_105^post25, z_389^0'=z_389^post25, __disjvr_12^0'=__disjvr_12^post25, ct_20^0'=ct_20^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, lt_17^0'=lt_17^post25, z_160^0'=z_160^post25, __disjvr_7^0'=__disjvr_7^post25, rcd_237^0'=rcd_237^post25, rcd_352^0'=rcd_352^post25, __disjvr_17^0'=__disjvr_17^post25, i_227^0'=i_227^post25, __disjvr_27^0'=__disjvr_27^post25, temp_38^0'=temp_38^post25, r_178^0'=r_178^post25, z_265^0'=z_265^post25, (0 == 0 /\ -r_178^post25+r_178^0 == 0 /\ -t_24^post25+t_24^0 == 0 /\ a_267^0-a_267^post25 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ -rcd_396^post25+rcd_396^0 == 0 /\ -a_347^post25+a_347^0 == 0 /\ -rcd_237^post25+rcd_237^0 == 0 /\ z_188^0-z_188^post25 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ lt_386^0-lt_386^post25 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ rcd_376^0-rcd_376^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post25+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -head_13^post25+head_13^0 == 0 /\ a_377^0-a_377^post25 == 0 /\ -ct_20^post25+ct_20^0 == 0 /\ __disjvr_29^0-__disjvr_29^post25 == 0 /\ -rcd_228^post25+rcd_228^0 == 0 /\ -__disjvr_25^post25+__disjvr_25^0 == 0 /\ __disjvr_22^0-__disjvr_22^post25 == 0 /\ -rcd_352^post25+rcd_352^0 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ __disjvr_2^0-__disjvr_2^post25 == 0 /\ -rcd_105^post25+rcd_105^0 == 0 /\ __disjvr_18^0-__disjvr_18^post25 == 0 /\ -temp_38^post25+temp_38^0 == 0 /\ temp1_30^0-temp1_30^post25 == 0 /\ -r_236^post25+r_236^0 == 0 /\ -lt_17^post25+lt_17^0 == 0 /\ __disjvr_10^0-__disjvr_10^post25 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ temp0_18^0-temp0_18^post25 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -i_111^post25+i_111^0 == 0 /\ len_195^0-len_195^post25 == 0 /\ -i_120^post25+i_120^0 == 0 /\ -__disjvr_23^post25+__disjvr_23^0 == 0 /\ x_23^0-x_23^post25 == 0 /\ -__disjvr_1^post25+__disjvr_1^0 == 0 /\ y_22^0-y_22^post25 == 0 /\ -temp0_34^post25+temp0_34^0 == 0 /\ 1+a_321^0-len_286^post25 <= 0 /\ tmp_37^0-tmp_37^post25 == 0 /\ -z_252^post25+z_252^0 == 0 /\ -r_42^post25+r_42^0 == 0 /\ z_229^0-z_229^post25 == 0 /\ __disjvr_6^0-__disjvr_6^post25 == 0 /\ -__disjvr_5^post25+__disjvr_5^0 == 0 /\ -__disjvr_15^post25+__disjvr_15^0 == 0 /\ __disjvr_19^0-__disjvr_19^post25 == 0 /\ x_19^0-x_19^post25 == 0 /\ z_28^0-z_28^post25 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_264^0-rcd_264^post25 == 0 /\ -i_33^post25+i_33^0 == 0 /\ __disjvr_13^0-__disjvr_13^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post25 == 0 /\ -z_279^post25+z_279^0 == 0 /\ -len_266^post25+len_266^0 == 0 /\ __disjvr_16^0-__disjvr_16^post25 == 0 /\ -z_389^post25+z_389^0 == 0 /\ __disjvr_20^0-__disjvr_20^post25 == 0 /\ rcd_226^0-rcd_226^post25 == 0 /\ -rcd_356^post25+rcd_356^0 == 0 /\ -z_238^post25+z_238^0 == 0 /\ rcd_70^0-rcd_70^post25 == 0 /\ -z_265^post25+z_265^0 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ -z_160^post25+z_160^0 == 0 /\ -__disjvr_28^post25+__disjvr_28^0 == 0 /\ -head_35^post25+head_35^0 == 0 /\ a_321^0-a_321^post25 == 0 /\ a_27^0-a_27^post25 == 0 /\ i_227^0-i_227^post25 == 0 /\ -__disjvr_8^post25+__disjvr_8^0 == 0 /\ __disjvr_4^0-__disjvr_4^post25 == 0 /\ a_210^0-a_210^post25 == 0 /\ __disjvr_11^0-__disjvr_11^post25 == 0 /\ -lt_29^post25+lt_29^0 == 0 /\ __disjvr_26^0-__disjvr_26^post25 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ -1-a_321^0+len_286^post25 <= 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ rcd_222^0-rcd_222^post25 == 0 /\ nondet_12^0-nondet_12^post25 == 0 /\ __disjvr_27^0-__disjvr_27^post25 == 0 /\ -lt_483^post25+lt_483^0 == 0 /\ -rcd_113^post25+rcd_113^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post25 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -length_32^post25+length_32^0 == 0 /\ -a_166^post25+a_166^0 == 0 /\ -rcd_46^post25+rcd_46^0 == 0), cost: 1
  26: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post26, a_321^0'=a_321^post26, rcd_70^0'=rcd_70^post26, __disjvr_21^0'=__disjvr_21^post26, x_23^0'=x_23^post26, __disjvr_4^0'=__disjvr_4^post26, rcd_222^0'=rcd_222^post26, __disjvr_14^0'=__disjvr_14^post26, head_35^0'=head_35^post26, __disjvr_24^0'=__disjvr_24^post26, temp0_18^0'=temp0_18^post26, lt_386^0'=lt_386^post26, z_229^0'=z_229^post26, __disjvr_9^0'=__disjvr_9^post26, a_210^0'=a_210^post26, rcd_376^0'=rcd_376^post26, __disjvr_19^0'=__disjvr_19^post26, len_195^0'=len_195^post26, __disjvr_29^0'=__disjvr_29^post26, x_19^0'=x_19^post26, r_42^0'=r_42^post26, z_28^0'=z_28^post26, __disjvr_11^0'=__disjvr_11^post26, a_377^0'=a_377^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post26, length_32^0'=length_32^post26, y_22^0'=y_22^post26, __disjvr_6^0'=__disjvr_6^post26, rcd_228^0'=rcd_228^post26, __disjvr_16^0'=__disjvr_16^post26, i_120^0'=i_120^post26, __disjvr_26^0'=__disjvr_26^post26, temp1_30^0'=temp1_30^post26, nondet_12^0'=nondet_12^post26, z_252^0'=z_252^post26, a_27^0'=a_27^post26, rcd_46^0'=rcd_46^post26, __disjvr_20^0'=__disjvr_20^post26, len_286^0'=len_286^post26, __disjvr_3^0'=__disjvr_3^post26, rcd_113^0'=rcd_113^post26, __disjvr_13^0'=__disjvr_13^post26, head_13^0'=head_13^post26, __disjvr_23^0'=__disjvr_23^post26, t_24^0'=t_24^post26, lt_29^0'=lt_29^post26, z_188^0'=z_188^post26, __disjvr_8^0'=__disjvr_8^post26, rcd_264^0'=rcd_264^post26, rcd_356^0'=rcd_356^post26, __disjvr_18^0'=__disjvr_18^post26, i_33^0'=i_33^post26, __disjvr_28^0'=__disjvr_28^post26, tmp_37^0'=tmp_37^post26, r_236^0'=r_236^post26, z_279^0'=z_279^post26, __disjvr_10^0'=__disjvr_10^post26, a_347^0'=a_347^post26, result_11^0'=result_11^post26, __disjvr_22^0'=__disjvr_22^post26, x_SLAM_f_21^0'=x_SLAM_f_21^post26, __disjvr_5^0'=__disjvr_5^post26, rcd_226^0'=rcd_226^post26, __disjvr_15^0'=__disjvr_15^post26, i_111^0'=i_111^post26, __disjvr_25^0'=__disjvr_25^post26, temp0_34^0'=temp0_34^post26, lt_483^0'=lt_483^post26, z_238^0'=z_238^post26, a_166^0'=a_166^post26, a_267^0'=a_267^post26, rcd_396^0'=rcd_396^post26, __disjvr_1^0'=__disjvr_1^post26, len_266^0'=len_266^post26, __disjvr_2^0'=__disjvr_2^post26, rcd_105^0'=rcd_105^post26, z_389^0'=z_389^post26, __disjvr_12^0'=__disjvr_12^post26, ct_20^0'=ct_20^post26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post26, lt_17^0'=lt_17^post26, z_160^0'=z_160^post26, __disjvr_7^0'=__disjvr_7^post26, rcd_237^0'=rcd_237^post26, rcd_352^0'=rcd_352^post26, __disjvr_17^0'=__disjvr_17^post26, i_227^0'=i_227^post26, __disjvr_27^0'=__disjvr_27^post26, temp_38^0'=temp_38^post26, r_178^0'=r_178^post26, z_265^0'=z_265^post26, (0 == 0 /\ rcd_46^0-rcd_46^post26 == 0 /\ -len_266^post26+len_266^0 == 0 /\ -z_28^post26+a_27^10 <= 0 /\ z_279^0-z_279^post26 == 0 /\ a_210^0-a_210^post26 == 0 /\ __disjvr_24^0-__disjvr_24^post26 == 0 /\ __disjvr_9^0-__disjvr_9^post26 == 0 /\ -nondet_12^post26+nondet_12^0 == 0 /\ -__disjvr_17^post26+__disjvr_17^0 == 0 /\ -rcd_356^post26+rcd_356^0 == 0 /\ __disjvr_0^0-__disjvr_0^post26 == 0 /\ -z_389^post26+z_389^0 == 0 /\ rcd_264^0-rcd_264^post26 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^10 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^10 <= 0 /\ -z_252^post26+z_252^0 == 0 /\ -head_13^0+a_27^10 <= 0 /\ -head_13^0+a_27^10 == 0 /\ -lt_17^post26+lt_17^0 == 0 /\ -y_22^post26+y_22^0 == 0 /\ temp0_18^0-temp0_18^post26 == 0 /\ -i_227^post26+i_227^0 == 0 /\ r_42^0-r_42^post26 == 0 /\ -__disjvr_13^post26+__disjvr_13^0 == 0 /\ -__disjvr_2^post26+__disjvr_2^0 == 0 /\ a_377^0-a_377^post26 == 0 /\ z_28^post26-a_27^10 <= 0 /\ z_28^post26-a_27^10 == 0 /\ __disjvr_12^0-__disjvr_12^post26 == 0 /\ len_286^0-len_286^post26 == 0 /\ -a_267^post26+a_267^0 == 0 /\ -__disjvr_16^post26+__disjvr_16^0 == 0 /\ rcd_105^0-rcd_105^post26 == 0 /\ -x_SLAM_f_21^post26+x_SLAM_f_21^0 == 0 /\ rcd_228^0-rcd_228^post26 == 0 /\ -r_236^post26+r_236^0 == 0 /\ -z_160^post26+z_160^0 == 0 /\ -__disjvr_26^post26+__disjvr_26^0 == 0 /\ -rcd_237^post26+rcd_237^0 == 0 /\ z_238^0-z_238^post26 == 0 /\ head_13^0-a_27^10 <= 0 /\ -i_111^post26+i_111^0 == 0 /\ -__disjvr_10^post26+__disjvr_10^0 == 0 /\ -a_166^post26+a_166^0 == 0 /\ -__disjvr_27^post26+__disjvr_27^0 == 0 /\ __disjvr_6^0-__disjvr_6^post26 == 0 /\ len_195^0-len_195^post26 == 0 /\ i_120^0-i_120^post26 == 0 /\ __disjvr_28^0-__disjvr_28^post26 == 0 /\ -z_188^post26+z_188^0 == 0 /\ -z_265^post26+z_265^0 == 0 /\ -rcd_352^post26+rcd_352^0 == 0 /\ -__disjvr_20^post26+__disjvr_20^0 == 0 /\ rcd_70^0-rcd_70^post26 == 0 /\ rcd_222^0-rcd_222^post26 == 0 /\ t_24^0-t_24^post26 == 0 /\ -lt_483^post26+lt_483^0 == 0 /\ rcd_376^0-rcd_376^post26 == 0 /\ __disjvr_8^0-__disjvr_8^post26 == 0 /\ -lt_386^post26+lt_386^0 == 0 /\ -__disjvr_18^post26+__disjvr_18^0 == 0 /\ __disjvr_11^0-__disjvr_11^post26 == 0 /\ -head_35^0+temp0_34^10 == 0 /\ -z_28^post26+head_13^0 <= 0 /\ -rcd_396^post26+rcd_396^0 == 0 /\ __disjvr_3^0-__disjvr_3^post26 == 0 /\ x_23^0-x_23^post26 == 0 /\ -__disjvr_23^post26+__disjvr_23^0 == 0 /\ -__disjvr_21^post26+__disjvr_21^0 == 0 /\ __disjvr_5^0-__disjvr_5^post26 == 0 /\ __disjvr_4^0-__disjvr_4^post26 == 0 /\ -ct_20^post26+ct_20^0 == 0 /\ z_229^0-z_229^post26 == 0 /\ x_19^0-x_19^post26 == 0 /\ -r_178^post26+r_178^0 == 0 /\ rcd_226^0-rcd_226^post26 == 0 /\ -__disjvr_15^post26+__disjvr_15^0 == 0 /\ -__disjvr_25^post26+__disjvr_25^0 == 0 /\ __disjvr_29^0-__disjvr_29^post26 == 0 /\ rcd_113^0-rcd_113^post26 == 0 /\ z_28^post26-head_13^0 <= 0 /\ -__disjvr_7^post26+__disjvr_7^0 == 0 /\ -temp0_34^10+result_11^10 == 0 /\ length_32^0-i_33^0 <= 0 /\ a_347^0-a_347^post26 == 0 /\ __disjvr_19^0-__disjvr_19^post26 == 0 /\ temp1_30^0-temp1_30^post26 == 0 /\ __disjvr_14^0-__disjvr_14^post26 == 0 /\ -__disjvr_22^post26+__disjvr_22^0 == 0 /\ a_321^0-a_321^post26 == 0 /\ lt_29^0-lt_29^post26 == 0 /\ -__disjvr_1^post26+__disjvr_1^0 == 0), cost: 1
  39: l25 -> l38 : __disjvr_0^0'=__disjvr_0^post39, a_321^0'=a_321^post39, rcd_70^0'=rcd_70^post39, __disjvr_21^0'=__disjvr_21^post39, x_23^0'=x_23^post39, __disjvr_4^0'=__disjvr_4^post39, rcd_222^0'=rcd_222^post39, __disjvr_14^0'=__disjvr_14^post39, head_35^0'=head_35^post39, __disjvr_24^0'=__disjvr_24^post39, temp0_18^0'=temp0_18^post39, lt_386^0'=lt_386^post39, z_229^0'=z_229^post39, __disjvr_9^0'=__disjvr_9^post39, a_210^0'=a_210^post39, rcd_376^0'=rcd_376^post39, __disjvr_19^0'=__disjvr_19^post39, len_195^0'=len_195^post39, __disjvr_29^0'=__disjvr_29^post39, x_19^0'=x_19^post39, r_42^0'=r_42^post39, z_28^0'=z_28^post39, __disjvr_11^0'=__disjvr_11^post39, a_377^0'=a_377^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39, length_32^0'=length_32^post39, y_22^0'=y_22^post39, __disjvr_6^0'=__disjvr_6^post39, rcd_228^0'=rcd_228^post39, __disjvr_16^0'=__disjvr_16^post39, i_120^0'=i_120^post39, __disjvr_26^0'=__disjvr_26^post39, temp1_30^0'=temp1_30^post39, nondet_12^0'=nondet_12^post39, z_252^0'=z_252^post39, a_27^0'=a_27^post39, rcd_46^0'=rcd_46^post39, __disjvr_20^0'=__disjvr_20^post39, len_286^0'=len_286^post39, __disjvr_3^0'=__disjvr_3^post39, rcd_113^0'=rcd_113^post39, __disjvr_13^0'=__disjvr_13^post39, head_13^0'=head_13^post39, __disjvr_23^0'=__disjvr_23^post39, t_24^0'=t_24^post39, lt_29^0'=lt_29^post39, z_188^0'=z_188^post39, __disjvr_8^0'=__disjvr_8^post39, rcd_264^0'=rcd_264^post39, rcd_356^0'=rcd_356^post39, __disjvr_18^0'=__disjvr_18^post39, i_33^0'=i_33^post39, __disjvr_28^0'=__disjvr_28^post39, tmp_37^0'=tmp_37^post39, r_236^0'=r_236^post39, z_279^0'=z_279^post39, __disjvr_10^0'=__disjvr_10^post39, a_347^0'=a_347^post39, result_11^0'=result_11^post39, __disjvr_22^0'=__disjvr_22^post39, x_SLAM_f_21^0'=x_SLAM_f_21^post39, __disjvr_5^0'=__disjvr_5^post39, rcd_226^0'=rcd_226^post39, __disjvr_15^0'=__disjvr_15^post39, i_111^0'=i_111^post39, __disjvr_25^0'=__disjvr_25^post39, temp0_34^0'=temp0_34^post39, lt_483^0'=lt_483^post39, z_238^0'=z_238^post39, a_166^0'=a_166^post39, a_267^0'=a_267^post39, rcd_396^0'=rcd_396^post39, __disjvr_1^0'=__disjvr_1^post39, len_266^0'=len_266^post39, __disjvr_2^0'=__disjvr_2^post39, rcd_105^0'=rcd_105^post39, z_389^0'=z_389^post39, __disjvr_12^0'=__disjvr_12^post39, ct_20^0'=ct_20^post39, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post39, lt_17^0'=lt_17^post39, z_160^0'=z_160^post39, __disjvr_7^0'=__disjvr_7^post39, rcd_237^0'=rcd_237^post39, rcd_352^0'=rcd_352^post39, __disjvr_17^0'=__disjvr_17^post39, i_227^0'=i_227^post39, __disjvr_27^0'=__disjvr_27^post39, temp_38^0'=temp_38^post39, r_178^0'=r_178^post39, z_265^0'=z_265^post39, (0 == 0 /\ -len_286^post39+len_286^0 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39+tmp_37^post39 <= 0 /\ tmp_37^post39-temp_38^0 == 0 /\ length_32^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post39 <= 0 /\ __disjvr_2^0-__disjvr_2^post39 == 0 /\ -__disjvr_5^post39+__disjvr_5^0 == 0 /\ -__disjvr_23^post39+__disjvr_23^0 == 0 /\ -z_252^post39+z_252^0 == 0 /\ __disjvr_26^0-__disjvr_26^post39 == 0 /\ a_27^0-a_27^post39 == 0 /\ __disjvr_10^0-__disjvr_10^post39 == 0 /\ -len_266^post39+len_266^0 == 0 /\ -z_279^post39+z_279^0 == 0 /\ __disjvr_18^0-__disjvr_18^post39 == 0 /\ rcd_376^0-rcd_376^post39 == 0 /\ -__disjvr_12^post39+__disjvr_12^0 == 0 /\ -z_238^post39+z_238^0 == 0 /\ -i_227^post39+i_227^0 == 0 /\ y_22^0-y_22^post39 == 0 /\ a_321^0-a_321^post39 == 0 /\ __disjvr_6^0-__disjvr_6^post39 == 0 /\ __disjvr_11^0-__disjvr_11^post39 == 0 /\ -rcd_356^post39+rcd_356^0 == 0 /\ __disjvr_9^0-__disjvr_9^post39 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0 /\ -i_111^post39+i_111^0 == 0 /\ len_195^0-len_195^post39 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ -__disjvr_27^post39+__disjvr_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39-tmp_37^post39 <= 0 /\ -z_265^post39+z_265^0 == 0 /\ -__disjvr_20^post39+__disjvr_20^0 == 0 /\ -length_32^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post39 <= 0 /\ length_32^0-length_32^post39 == 0 /\ lt_386^0-lt_386^post39 == 0 /\ -z_160^post39+z_160^0 == 0 /\ -__disjvr_8^post39+__disjvr_8^0 == 0 /\ -z_389^post39+z_389^0 == 0 /\ -__disjvr_28^post39+__disjvr_28^0 == 0 /\ a_166^0-a_166^post39 == 0 /\ -rcd_113^post39+rcd_113^0 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ temp0_18^0-temp0_18^post39 == 0 /\ -a_347^post39+a_347^0 == 0 /\ -__disjvr_15^post39+__disjvr_15^0 == 0 /\ -x_19^post39+x_19^0 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ -rcd_46^post39+rcd_46^0 == 0 /\ 2-i_33^post39 <= 0 /\ -a_267^post39+a_267^0 == 0 /\ __disjvr_16^0-__disjvr_16^post39 == 0 /\ __disjvr_3^0-__disjvr_3^post39 == 0 /\ -__disjvr_22^post39+__disjvr_22^0 == 0 /\ temp1_30^0-temp1_30^post39 == 0 /\ __disjvr_29^0-__disjvr_29^post39 == 0 /\ -r_178^post39+r_178^0 == 0 /\ 1-length_32^0+i_33^0 <= 0 /\ -__disjvr_1^post39+__disjvr_1^0 == 0 /\ -1+i_33^post39-i_33^0 == 0 /\ -z_229^post39+z_229^0 == 0 /\ temp0_34^0-temp0_34^post39 == 0 /\ -head_13^post39+head_13^0 == 0 /\ __disjvr_7^0-__disjvr_7^post39 == 0 /\ __disjvr_4^0-__disjvr_4^post39 == 0 /\ x_23^0-x_23^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39-head_35^post39 <= 0 /\ a_210^0-a_210^post39 == 0 /\ rcd_226^0-rcd_226^post39 == 0 /\ -head_35^post39+tmp_37^post39 <= 0 /\ -rcd_237^post39+rcd_237^0 == 0 /\ -rcd_264^post39+rcd_264^0 == 0 /\ -t_24^post39+t_24^0 == 0 /\ a_377^0-a_377^post39 == 0 /\ lt_17^0-lt_17^post39 == 0 /\ -result_11^post39+result_11^0 == 0 /\ lt_29^0-lt_29^post39 == 0 /\ -rcd_396^post39+rcd_396^0 == 0 /\ -ct_20^post39+ct_20^0 == 0 /\ -__disjvr_21^post39+__disjvr_21^0 == 0 /\ -z_28^post39+z_28^0 == 0 /\ 2-length_32^0 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post39 == 0 /\ -__disjvr_25^post39+__disjvr_25^0 == 0 /\ -z_188^post39+z_188^0 == 0 /\ lt_483^0-lt_483^post39 == 0 /\ 1-length_32^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post39 == 0 /\ -i_120^post39+i_120^0 == 0 /\ -r_236^post39+r_236^0 == 0 /\ -rcd_105^post39+rcd_105^0 == 0 /\ rcd_352^0-rcd_352^post39 == 0 /\ __disjvr_19^0-__disjvr_19^post39 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39+head_35^post39 <= 0 /\ head_35^post39-tmp_37^post39 <= 0 /\ head_35^post39-tmp_37^post39 == 0 /\ rcd_222^0-rcd_222^post39 == 0 /\ r_42^0-r_42^post39 == 0 /\ -2+i_33^post39 <= 0 /\ rcd_228^0-rcd_228^post39 == 0), cost: 1
  27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post27, a_321^0'=a_321^post27, rcd_70^0'=rcd_70^post27, __disjvr_21^0'=__disjvr_21^post27, x_23^0'=x_23^post27, __disjvr_4^0'=__disjvr_4^post27, rcd_222^0'=rcd_222^post27, __disjvr_14^0'=__disjvr_14^post27, head_35^0'=head_35^post27, __disjvr_24^0'=__disjvr_24^post27, temp0_18^0'=temp0_18^post27, lt_386^0'=lt_386^post27, z_229^0'=z_229^post27, __disjvr_9^0'=__disjvr_9^post27, a_210^0'=a_210^post27, rcd_376^0'=rcd_376^post27, __disjvr_19^0'=__disjvr_19^post27, len_195^0'=len_195^post27, __disjvr_29^0'=__disjvr_29^post27, x_19^0'=x_19^post27, r_42^0'=r_42^post27, z_28^0'=z_28^post27, __disjvr_11^0'=__disjvr_11^post27, a_377^0'=a_377^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post27, length_32^0'=length_32^post27, y_22^0'=y_22^post27, __disjvr_6^0'=__disjvr_6^post27, rcd_228^0'=rcd_228^post27, __disjvr_16^0'=__disjvr_16^post27, i_120^0'=i_120^post27, __disjvr_26^0'=__disjvr_26^post27, temp1_30^0'=temp1_30^post27, nondet_12^0'=nondet_12^post27, z_252^0'=z_252^post27, a_27^0'=a_27^post27, rcd_46^0'=rcd_46^post27, __disjvr_20^0'=__disjvr_20^post27, len_286^0'=len_286^post27, __disjvr_3^0'=__disjvr_3^post27, rcd_113^0'=rcd_113^post27, __disjvr_13^0'=__disjvr_13^post27, head_13^0'=head_13^post27, __disjvr_23^0'=__disjvr_23^post27, t_24^0'=t_24^post27, lt_29^0'=lt_29^post27, z_188^0'=z_188^post27, __disjvr_8^0'=__disjvr_8^post27, rcd_264^0'=rcd_264^post27, rcd_356^0'=rcd_356^post27, __disjvr_18^0'=__disjvr_18^post27, i_33^0'=i_33^post27, __disjvr_28^0'=__disjvr_28^post27, tmp_37^0'=tmp_37^post27, r_236^0'=r_236^post27, z_279^0'=z_279^post27, __disjvr_10^0'=__disjvr_10^post27, a_347^0'=a_347^post27, result_11^0'=result_11^post27, __disjvr_22^0'=__disjvr_22^post27, x_SLAM_f_21^0'=x_SLAM_f_21^post27, __disjvr_5^0'=__disjvr_5^post27, rcd_226^0'=rcd_226^post27, __disjvr_15^0'=__disjvr_15^post27, i_111^0'=i_111^post27, __disjvr_25^0'=__disjvr_25^post27, temp0_34^0'=temp0_34^post27, lt_483^0'=lt_483^post27, z_238^0'=z_238^post27, a_166^0'=a_166^post27, a_267^0'=a_267^post27, rcd_396^0'=rcd_396^post27, __disjvr_1^0'=__disjvr_1^post27, len_266^0'=len_266^post27, __disjvr_2^0'=__disjvr_2^post27, rcd_105^0'=rcd_105^post27, z_389^0'=z_389^post27, __disjvr_12^0'=__disjvr_12^post27, ct_20^0'=ct_20^post27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, lt_17^0'=lt_17^post27, z_160^0'=z_160^post27, __disjvr_7^0'=__disjvr_7^post27, rcd_237^0'=rcd_237^post27, rcd_352^0'=rcd_352^post27, __disjvr_17^0'=__disjvr_17^post27, i_227^0'=i_227^post27, __disjvr_27^0'=__disjvr_27^post27, temp_38^0'=temp_38^post27, r_178^0'=r_178^post27, z_265^0'=z_265^post27, (-r_236^post27+r_236^0 == 0 /\ rcd_228^0-rcd_228^post27 == 0 /\ -rcd_352^post27+rcd_352^0 == 0 /\ -rcd_105^post27+rcd_105^0 == 0 /\ -__disjvr_1^post27+__disjvr_1^0 == 0 /\ -ct_20^post27+ct_20^0 == 0 /\ tmp_37^0-tmp_37^post27 == 0 /\ __disjvr_4^0-__disjvr_4^post27 == 0 /\ -__disjvr_17^post27+__disjvr_17^0 == 0 /\ rcd_356^0-rcd_356^post27 == 0 /\ __disjvr_24^0-__disjvr_24^post27 == 0 /\ -i_120^post27+i_120^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post27+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_267^0-a_267^post27 == 0 /\ __disjvr_22^0-__disjvr_22^post27 == 0 /\ __disjvr_3^0-__disjvr_3^post27 == 0 /\ -a_347^post27+a_347^0 == 0 /\ -z_265^post27+z_265^0 == 0 /\ lt_386^0-lt_386^post27 == 0 /\ -rcd_46^post27+rcd_46^0 == 0 /\ __disjvr_10^0-__disjvr_10^post27 == 0 /\ temp0_18^0-temp0_18^post27 == 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ z_188^0-z_188^post27 == 0 /\ -z_279^post27+z_279^0 == 0 /\ -z_238^post27+z_238^0 == 0 /\ rcd_226^0-rcd_226^post27 == 0 /\ -rcd_237^post27+rcd_237^0 == 0 /\ -len_266^post27+len_266^0 == 0 /\ y_22^0-y_22^post27 == 0 /\ -temp0_34^post27+temp0_34^0 == 0 /\ a_377^0-a_377^post27 == 0 /\ -i_33^post27+i_33^0 == 0 /\ -lt_17^post27+lt_17^0 == 0 /\ -r_178^post27+r_178^0 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ -result_11^post27+result_11^0 == 0 /\ -head_13^post27+head_13^0 == 0 /\ -__disjvr_25^post27+__disjvr_25^0 == 0 /\ -len_195^post27+len_195^0 == 0 /\ z_28^0-z_28^post27 == 0 /\ rcd_376^0-rcd_376^post27 == 0 /\ __disjvr_18^0-__disjvr_18^post27 == 0 /\ -temp1_30^post27+temp1_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post27 == 0 /\ -a_166^post27+a_166^0 == 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ __disjvr_13^0-__disjvr_13^post27 == 0 /\ -length_32^post27+length_32^0 == 0 /\ rcd_222^0-rcd_222^post27 == 0 /\ __disjvr_20^0-__disjvr_20^post27 == 0 /\ -head_35^post27+head_35^0 == 0 /\ -i_111^post27+i_111^0 == 0 /\ -__disjvr_8^post27+__disjvr_8^0 == 0 /\ -z_389^post27+z_389^0 == 0 /\ -__disjvr_27^post27+__disjvr_27^0 == 0 /\ z_229^0-z_229^post27 == 0 /\ -__disjvr_28^post27+__disjvr_28^0 == 0 /\ z_252^0-z_252^post27 == 0 /\ -len_286^post27+len_286^0 == 0 /\ x_19^0-x_19^post27 == 0 /\ -r_42^post27+r_42^0 == 0 /\ -__disjvr_5^post27+__disjvr_5^0 == 0 /\ x_23^0-x_23^post27 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post27 == 0 /\ -lt_29^post27+lt_29^0 == 0 /\ __disjvr_7^0-__disjvr_7^post27 == 0 /\ -temp_38^post27+temp_38^0 == 0 /\ -rcd_113^post27+rcd_113^0 == 0 /\ __disjvr_26^0-__disjvr_26^post27 == 0 /\ __disjvr_29^0-__disjvr_29^post27 == 0 /\ a_210^0-a_210^post27 == 0 /\ -__disjvr_13^0+__disjvr_13^post27 == 0 /\ __disjvr_16^0-__disjvr_16^post27 == 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ -rcd_396^post27+rcd_396^0 == 0 /\ -__disjvr_15^post27+__disjvr_15^0 == 0 /\ -t_24^post27+t_24^0 == 0 /\ __disjvr_14^0-__disjvr_14^post27 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post27 == 0 /\ rcd_70^0-rcd_70^post27 == 0 /\ -i_227^post27+i_227^0 == 0 /\ __disjvr_6^0-__disjvr_6^post27 == 0 /\ lt_483^0-lt_483^post27 == 0 /\ __disjvr_19^0-__disjvr_19^post27 == 0 /\ a_321^0-a_321^post27 == 0 /\ rcd_264^0-rcd_264^post27 == 0 /\ __disjvr_9^0-__disjvr_9^post27 == 0 /\ -z_160^post27+z_160^0 == 0 /\ __disjvr_11^0-__disjvr_11^post27 == 0 /\ __disjvr_23^0-__disjvr_23^post27 == 0 /\ a_27^0-a_27^post27 == 0), cost: 1
  28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post28, a_321^0'=a_321^post28, rcd_70^0'=rcd_70^post28, __disjvr_21^0'=__disjvr_21^post28, x_23^0'=x_23^post28, __disjvr_4^0'=__disjvr_4^post28, rcd_222^0'=rcd_222^post28, __disjvr_14^0'=__disjvr_14^post28, head_35^0'=head_35^post28, __disjvr_24^0'=__disjvr_24^post28, temp0_18^0'=temp0_18^post28, lt_386^0'=lt_386^post28, z_229^0'=z_229^post28, __disjvr_9^0'=__disjvr_9^post28, a_210^0'=a_210^post28, rcd_376^0'=rcd_376^post28, __disjvr_19^0'=__disjvr_19^post28, len_195^0'=len_195^post28, __disjvr_29^0'=__disjvr_29^post28, x_19^0'=x_19^post28, r_42^0'=r_42^post28, z_28^0'=z_28^post28, __disjvr_11^0'=__disjvr_11^post28, a_377^0'=a_377^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post28, length_32^0'=length_32^post28, y_22^0'=y_22^post28, __disjvr_6^0'=__disjvr_6^post28, rcd_228^0'=rcd_228^post28, __disjvr_16^0'=__disjvr_16^post28, i_120^0'=i_120^post28, __disjvr_26^0'=__disjvr_26^post28, temp1_30^0'=temp1_30^post28, nondet_12^0'=nondet_12^post28, z_252^0'=z_252^post28, a_27^0'=a_27^post28, rcd_46^0'=rcd_46^post28, __disjvr_20^0'=__disjvr_20^post28, len_286^0'=len_286^post28, __disjvr_3^0'=__disjvr_3^post28, rcd_113^0'=rcd_113^post28, __disjvr_13^0'=__disjvr_13^post28, head_13^0'=head_13^post28, __disjvr_23^0'=__disjvr_23^post28, t_24^0'=t_24^post28, lt_29^0'=lt_29^post28, z_188^0'=z_188^post28, __disjvr_8^0'=__disjvr_8^post28, rcd_264^0'=rcd_264^post28, rcd_356^0'=rcd_356^post28, __disjvr_18^0'=__disjvr_18^post28, i_33^0'=i_33^post28, __disjvr_28^0'=__disjvr_28^post28, tmp_37^0'=tmp_37^post28, r_236^0'=r_236^post28, z_279^0'=z_279^post28, __disjvr_10^0'=__disjvr_10^post28, a_347^0'=a_347^post28, result_11^0'=result_11^post28, __disjvr_22^0'=__disjvr_22^post28, x_SLAM_f_21^0'=x_SLAM_f_21^post28, __disjvr_5^0'=__disjvr_5^post28, rcd_226^0'=rcd_226^post28, __disjvr_15^0'=__disjvr_15^post28, i_111^0'=i_111^post28, __disjvr_25^0'=__disjvr_25^post28, temp0_34^0'=temp0_34^post28, lt_483^0'=lt_483^post28, z_238^0'=z_238^post28, a_166^0'=a_166^post28, a_267^0'=a_267^post28, rcd_396^0'=rcd_396^post28, __disjvr_1^0'=__disjvr_1^post28, len_266^0'=len_266^post28, __disjvr_2^0'=__disjvr_2^post28, rcd_105^0'=rcd_105^post28, z_389^0'=z_389^post28, __disjvr_12^0'=__disjvr_12^post28, ct_20^0'=ct_20^post28, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, lt_17^0'=lt_17^post28, z_160^0'=z_160^post28, __disjvr_7^0'=__disjvr_7^post28, rcd_237^0'=rcd_237^post28, rcd_352^0'=rcd_352^post28, __disjvr_17^0'=__disjvr_17^post28, i_227^0'=i_227^post28, __disjvr_27^0'=__disjvr_27^post28, temp_38^0'=temp_38^post28, r_178^0'=r_178^post28, z_265^0'=z_265^post28, (0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post28 == 0 /\ -i_227^post28+i_227^0 == 0 /\ __disjvr_16^0-__disjvr_16^post28 == 0 /\ a_210^0-a_210^post28 == 0 /\ __disjvr_24^0-__disjvr_24^post28 == 0 /\ -i_111^post28+i_111^0 == 0 /\ -a_267^post28+a_267^0 == 0 /\ nondet_12^0-nondet_12^post28 == 0 /\ -len_286^post28+len_286^0 == 0 /\ -a_166^post28+a_166^0 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ -temp_38^post28+temp_38^0 == 0 /\ a_27^0-a_27^post28 == 0 /\ -__disjvr_5^post28+__disjvr_5^0 == 0 /\ len_195^0-len_195^post28 == 0 /\ -z_238^post28+z_238^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post28 == 0 /\ -__disjvr_28^post28+__disjvr_28^0 == 0 /\ __disjvr_18^0-__disjvr_18^post28 == 0 /\ -__disjvr_2^post28+__disjvr_2^0 == 0 /\ head_35^0-head_35^post28 == 0 /\ __disjvr_19^0-__disjvr_19^post28 == 0 /\ a_321^0-a_321^post28 == 0 /\ -z_389^post28+z_389^0 == 0 /\ __disjvr_13^0-__disjvr_13^post28 == 0 /\ lt_386^0-lt_386^post28 == 0 /\ __disjvr_9^0-__disjvr_9^post28 == 0 /\ -rcd_396^post28+rcd_396^0 == 0 /\ -__disjvr_17^post28+__disjvr_17^0 == 0 /\ -__disjvr_15^post28+__disjvr_15^0 == 0 /\ -x_19^post28+x_19^0 == 0 /\ -z_188^post28+z_188^0 == 0 /\ -rcd_113^post28+rcd_113^0 == 0 /\ rcd_356^0-rcd_356^post28 == 0 /\ -__disjvr_23^post28+__disjvr_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ __disjvr_26^0-__disjvr_26^post28 == 0 /\ __disjvr_4^0-__disjvr_4^post28 == 0 /\ -z_160^post28+z_160^0 == 0 /\ temp1_30^0-temp1_30^post28 == 0 /\ -__disjvr_27^post28+__disjvr_27^0 == 0 /\ rcd_222^0-rcd_222^post28 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ -__disjvr_1^post28+__disjvr_1^0 == 0 /\ -ct_20^post28+ct_20^0 == 0 /\ rcd_226^0-rcd_226^post28 == 0 /\ a_377^0-a_377^post28 == 0 /\ a_27^0-head_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post28 == 0 /\ -__disjvr_25^post28+__disjvr_25^0 == 0 /\ -__disjvr_22^post28+__disjvr_22^0 == 0 /\ rcd_376^0-rcd_376^post28 == 0 /\ -z_265^post28+z_265^0 == 0 /\ -i_120^post28+i_120^0 == 0 /\ rcd_70^0-rcd_70^post28 == 0 /\ -__disjvr_14^post28+__disjvr_14^0 == 0 /\ -rcd_105^post28+rcd_105^0 == 0 /\ -r_236^post28+r_236^0 == 0 /\ __disjvr_21^0-__disjvr_21^post28 == 0 /\ lt_17^0-lt_17^post28 == 0 /\ -a_347^post28+a_347^0 == 0 /\ __disjvr_11^0-__disjvr_11^post28 == 0 /\ -rcd_264^post28+rcd_264^0 == 0 /\ rcd_46^0-rcd_46^post28 == 0 /\ -rcd_237^post28+rcd_237^0 == 0 /\ -t_24^post28+t_24^0 == 0 /\ -y_22^post28+y_22^0 == 0 /\ -result_11^post28+result_11^0 == 0 /\ rcd_228^0-rcd_228^post28 == 0 /\ tmp_37^0-tmp_37^post28 == 0 /\ temp0_18^0-temp0_18^post28 == 0 /\ -a_27^0+head_13^0 <= 0 /\ z_252^0-z_252^post28 == 0 /\ lt_483^0-lt_483^post28 == 0 /\ __disjvr_20^0-__disjvr_20^post28 == 0 /\ __disjvr_10^0-__disjvr_10^post28 == 0 /\ -__disjvr_12^post28+__disjvr_12^0 == 0 /\ -r_178^post28+r_178^0 == 0 /\ r_42^0-r_42^post28 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ z_229^0-z_229^post28 == 0 /\ -rcd_352^post28+rcd_352^0 == 0 /\ x_23^0-x_23^post28 == 0 /\ temp0_34^0-temp0_34^post28 == 0 /\ -__disjvr_7^post28+__disjvr_7^0 == 0 /\ head_13^0-head_13^post28 == 0 /\ length_32^0-length_32^post28 == 0 /\ -z_279^post28+z_279^0 == 0 /\ -len_266^post28+len_266^0 == 0 /\ -i_33^post28+i_33^0 == 0), cost: 1
  29: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post29, a_321^0'=a_321^post29, rcd_70^0'=rcd_70^post29, __disjvr_21^0'=__disjvr_21^post29, x_23^0'=x_23^post29, __disjvr_4^0'=__disjvr_4^post29, rcd_222^0'=rcd_222^post29, __disjvr_14^0'=__disjvr_14^post29, head_35^0'=head_35^post29, __disjvr_24^0'=__disjvr_24^post29, temp0_18^0'=temp0_18^post29, lt_386^0'=lt_386^post29, z_229^0'=z_229^post29, __disjvr_9^0'=__disjvr_9^post29, a_210^0'=a_210^post29, rcd_376^0'=rcd_376^post29, __disjvr_19^0'=__disjvr_19^post29, len_195^0'=len_195^post29, __disjvr_29^0'=__disjvr_29^post29, x_19^0'=x_19^post29, r_42^0'=r_42^post29, z_28^0'=z_28^post29, __disjvr_11^0'=__disjvr_11^post29, a_377^0'=a_377^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post29, length_32^0'=length_32^post29, y_22^0'=y_22^post29, __disjvr_6^0'=__disjvr_6^post29, rcd_228^0'=rcd_228^post29, __disjvr_16^0'=__disjvr_16^post29, i_120^0'=i_120^post29, __disjvr_26^0'=__disjvr_26^post29, temp1_30^0'=temp1_30^post29, nondet_12^0'=nondet_12^post29, z_252^0'=z_252^post29, a_27^0'=a_27^post29, rcd_46^0'=rcd_46^post29, __disjvr_20^0'=__disjvr_20^post29, len_286^0'=len_286^post29, __disjvr_3^0'=__disjvr_3^post29, rcd_113^0'=rcd_113^post29, __disjvr_13^0'=__disjvr_13^post29, head_13^0'=head_13^post29, __disjvr_23^0'=__disjvr_23^post29, t_24^0'=t_24^post29, lt_29^0'=lt_29^post29, z_188^0'=z_188^post29, __disjvr_8^0'=__disjvr_8^post29, rcd_264^0'=rcd_264^post29, rcd_356^0'=rcd_356^post29, __disjvr_18^0'=__disjvr_18^post29, i_33^0'=i_33^post29, __disjvr_28^0'=__disjvr_28^post29, tmp_37^0'=tmp_37^post29, r_236^0'=r_236^post29, z_279^0'=z_279^post29, __disjvr_10^0'=__disjvr_10^post29, a_347^0'=a_347^post29, result_11^0'=result_11^post29, __disjvr_22^0'=__disjvr_22^post29, x_SLAM_f_21^0'=x_SLAM_f_21^post29, __disjvr_5^0'=__disjvr_5^post29, rcd_226^0'=rcd_226^post29, __disjvr_15^0'=__disjvr_15^post29, i_111^0'=i_111^post29, __disjvr_25^0'=__disjvr_25^post29, temp0_34^0'=temp0_34^post29, lt_483^0'=lt_483^post29, z_238^0'=z_238^post29, a_166^0'=a_166^post29, a_267^0'=a_267^post29, rcd_396^0'=rcd_396^post29, __disjvr_1^0'=__disjvr_1^post29, len_266^0'=len_266^post29, __disjvr_2^0'=__disjvr_2^post29, rcd_105^0'=rcd_105^post29, z_389^0'=z_389^post29, __disjvr_12^0'=__disjvr_12^post29, ct_20^0'=ct_20^post29, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post29, lt_17^0'=lt_17^post29, z_160^0'=z_160^post29, __disjvr_7^0'=__disjvr_7^post29, rcd_237^0'=rcd_237^post29, rcd_352^0'=rcd_352^post29, __disjvr_17^0'=__disjvr_17^post29, i_227^0'=i_227^post29, __disjvr_27^0'=__disjvr_27^post29, temp_38^0'=temp_38^post29, r_178^0'=r_178^post29, z_265^0'=z_265^post29, (head_35^0-head_35^post29 == 0 /\ -z_265^post29+z_265^0 == 0 /\ len_266^0-len_266^post29 == 0 /\ -rcd_105^post29+rcd_105^0 == 0 /\ -__disjvr_18^post29+__disjvr_18^0 == 0 /\ -z_160^post29+z_160^0 == 0 /\ -r_236^post29+r_236^0 == 0 /\ z_229^0-z_229^post29 == 0 /\ -__disjvr_1^post29+__disjvr_1^0 == 0 /\ -__disjvr_14^0+__disjvr_14^post29 == 0 /\ -z_188^post29+z_188^0 == 0 /\ -__disjvr_15^post29+__disjvr_15^0 == 0 /\ -__disjvr_17^post29+__disjvr_17^0 == 0 /\ rcd_228^0-rcd_228^post29 == 0 /\ a_166^0-a_166^post29 == 0 /\ __disjvr_4^0-__disjvr_4^post29 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post29 == 0 /\ -rcd_113^post29+rcd_113^0 == 0 /\ -lt_483^post29+lt_483^0 == 0 /\ -rcd_46^post29+rcd_46^0 == 0 /\ a_347^0-a_347^post29 == 0 /\ x_23^0-x_23^post29 == 0 /\ __disjvr_28^0-__disjvr_28^post29 == 0 /\ -i_120^post29+i_120^0 == 0 /\ __disjvr_16^0-__disjvr_16^post29 == 0 /\ temp1_30^0-temp1_30^post29 == 0 /\ -r_178^post29+r_178^0 == 0 /\ __disjvr_26^0-__disjvr_26^post29 == 0 /\ __disjvr_11^0-__disjvr_11^post29 == 0 /\ -z_238^post29+z_238^0 == 0 /\ __disjvr_29^0-__disjvr_29^post29 == 0 /\ -rcd_237^post29+rcd_237^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post29+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -i_33^post29+i_33^0 == 0 /\ -rcd_226^post29+rcd_226^0 == 0 /\ -result_11^post29+result_11^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ -head_13^post29+head_13^0 == 0 /\ __disjvr_14^0-__disjvr_14^post29 == 0 /\ -rcd_356^post29+rcd_356^0 == 0 /\ -a_27^post29+a_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post29 == 0 /\ ct_20^0-ct_20^post29 == 0 /\ rcd_376^0-rcd_376^post29 == 0 /\ a_321^0-a_321^post29 == 0 /\ rcd_264^0-rcd_264^post29 == 0 /\ -rcd_352^post29+rcd_352^0 == 0 /\ -temp_38^post29+temp_38^0 == 0 /\ -__disjvr_23^post29+__disjvr_23^0 == 0 /\ -__disjvr_19^post29+__disjvr_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0 /\ -__disjvr_7^post29+__disjvr_7^0 == 0 /\ __disjvr_22^0-__disjvr_22^post29 == 0 /\ __disjvr_20^0-__disjvr_20^post29 == 0 /\ -len_286^post29+len_286^0 == 0 /\ z_252^0-z_252^post29 == 0 /\ -__disjvr_2^post29+__disjvr_2^0 == 0 /\ -lt_17^post29+lt_17^0 == 0 /\ i_111^0-i_111^post29 == 0 /\ -z_389^post29+z_389^0 == 0 /\ __disjvr_24^0-__disjvr_24^post29 == 0 /\ __disjvr_3^0-__disjvr_3^post29 == 0 /\ -rcd_70^post29+rcd_70^0 == 0 /\ temp0_18^0-temp0_18^post29 == 0 /\ -temp0_34^post29+temp0_34^0 == 0 /\ -a_267^post29+a_267^0 == 0 /\ lt_386^0-lt_386^post29 == 0 /\ length_32^0-length_32^post29 == 0 /\ rcd_222^0-rcd_222^post29 == 0 /\ -x_SLAM_f_21^post29+x_SLAM_f_21^0 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ r_42^0-r_42^post29 == 0 /\ nondet_12^0-nondet_12^post29 == 0 /\ a_377^0-a_377^post29 == 0 /\ -__disjvr_5^post29+__disjvr_5^0 == 0 /\ -y_22^post29+y_22^0 == 0 /\ -tmp_37^post29+tmp_37^0 == 0 /\ -__disjvr_10^post29+__disjvr_10^0 == 0 /\ __disjvr_25^0-__disjvr_25^post29 == 0 /\ t_24^0-t_24^post29 == 0 /\ __disjvr_8^0-__disjvr_8^post29 == 0 /\ a_210^0-a_210^post29 == 0 /\ -i_227^post29+i_227^0 == 0 /\ lt_29^0-lt_29^post29 == 0 /\ -rcd_396^post29+rcd_396^0 == 0 /\ -x_19^post29+x_19^0 == 0 /\ z_28^0-z_28^post29 == 0 /\ __disjvr_13^0-__disjvr_13^post29 == 0 /\ len_195^0-len_195^post29 == 0 /\ z_279^0-z_279^post29 == 0 /\ -__disjvr_27^post29+__disjvr_27^0 == 0), cost: 1
  30: l29 -> l30 : __disjvr_0^0'=__disjvr_0^post30, a_321^0'=a_321^post30, rcd_70^0'=rcd_70^post30, __disjvr_21^0'=__disjvr_21^post30, x_23^0'=x_23^post30, __disjvr_4^0'=__disjvr_4^post30, rcd_222^0'=rcd_222^post30, __disjvr_14^0'=__disjvr_14^post30, head_35^0'=head_35^post30, __disjvr_24^0'=__disjvr_24^post30, temp0_18^0'=temp0_18^post30, lt_386^0'=lt_386^post30, z_229^0'=z_229^post30, __disjvr_9^0'=__disjvr_9^post30, a_210^0'=a_210^post30, rcd_376^0'=rcd_376^post30, __disjvr_19^0'=__disjvr_19^post30, len_195^0'=len_195^post30, __disjvr_29^0'=__disjvr_29^post30, x_19^0'=x_19^post30, r_42^0'=r_42^post30, z_28^0'=z_28^post30, __disjvr_11^0'=__disjvr_11^post30, a_377^0'=a_377^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post30, length_32^0'=length_32^post30, y_22^0'=y_22^post30, __disjvr_6^0'=__disjvr_6^post30, rcd_228^0'=rcd_228^post30, __disjvr_16^0'=__disjvr_16^post30, i_120^0'=i_120^post30, __disjvr_26^0'=__disjvr_26^post30, temp1_30^0'=temp1_30^post30, nondet_12^0'=nondet_12^post30, z_252^0'=z_252^post30, a_27^0'=a_27^post30, rcd_46^0'=rcd_46^post30, __disjvr_20^0'=__disjvr_20^post30, len_286^0'=len_286^post30, __disjvr_3^0'=__disjvr_3^post30, rcd_113^0'=rcd_113^post30, __disjvr_13^0'=__disjvr_13^post30, head_13^0'=head_13^post30, __disjvr_23^0'=__disjvr_23^post30, t_24^0'=t_24^post30, lt_29^0'=lt_29^post30, z_188^0'=z_188^post30, __disjvr_8^0'=__disjvr_8^post30, rcd_264^0'=rcd_264^post30, rcd_356^0'=rcd_356^post30, __disjvr_18^0'=__disjvr_18^post30, i_33^0'=i_33^post30, __disjvr_28^0'=__disjvr_28^post30, tmp_37^0'=tmp_37^post30, r_236^0'=r_236^post30, z_279^0'=z_279^post30, __disjvr_10^0'=__disjvr_10^post30, a_347^0'=a_347^post30, result_11^0'=result_11^post30, __disjvr_22^0'=__disjvr_22^post30, x_SLAM_f_21^0'=x_SLAM_f_21^post30, __disjvr_5^0'=__disjvr_5^post30, rcd_226^0'=rcd_226^post30, __disjvr_15^0'=__disjvr_15^post30, i_111^0'=i_111^post30, __disjvr_25^0'=__disjvr_25^post30, temp0_34^0'=temp0_34^post30, lt_483^0'=lt_483^post30, z_238^0'=z_238^post30, a_166^0'=a_166^post30, a_267^0'=a_267^post30, rcd_396^0'=rcd_396^post30, __disjvr_1^0'=__disjvr_1^post30, len_266^0'=len_266^post30, __disjvr_2^0'=__disjvr_2^post30, rcd_105^0'=rcd_105^post30, z_389^0'=z_389^post30, __disjvr_12^0'=__disjvr_12^post30, ct_20^0'=ct_20^post30, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post30, lt_17^0'=lt_17^post30, z_160^0'=z_160^post30, __disjvr_7^0'=__disjvr_7^post30, rcd_237^0'=rcd_237^post30, rcd_352^0'=rcd_352^post30, __disjvr_17^0'=__disjvr_17^post30, i_227^0'=i_227^post30, __disjvr_27^0'=__disjvr_27^post30, temp_38^0'=temp_38^post30, r_178^0'=r_178^post30, z_265^0'=z_265^post30, (0 == 0 /\ -t_24^post30+t_24^0 == 0 /\ -__disjvr_1^post30+__disjvr_1^0 == 0 /\ x_SLAM_f_21^post30-lt_17^0 <= 0 /\ -i_120^post30+i_120^0 == 0 /\ -rcd_105^post30+rcd_105^0 == 0 /\ rcd_228^0-rcd_228^post30 == 0 /\ -__disjvr_11^post30+__disjvr_11^0 == 0 /\ -lt_17^post30+lt_17^0 == 0 /\ a_267^0-a_267^post30 == 0 /\ x_19^post30-lt_17^0 <= 0 /\ x_19^post30-lt_17^0 == 0 /\ -ct_20^post30+y_22^post30 <= 0 /\ -ct_20^post30+y_22^post30 == 0 /\ -a_347^post30+a_347^0 == 0 /\ __disjvr_26^0-__disjvr_26^post30 == 0 /\ -head_13^post30+head_13^0 == 0 /\ -result_11^post30+result_11^0 == 0 /\ -x_19^post30+x_SLAM_f_21^post30 <= 0 /\ -x_19^post30+x_SLAM_f_21^post30 == 0 /\ z_229^0-z_229^post30 == 0 /\ x_SLAM_f_21^post30-x_23^post30 <= 0 /\ -rcd_113^post30+rcd_113^0 == 0 /\ -z_265^post30+z_265^0 == 0 /\ __disjvr_4^0-__disjvr_4^post30 == 0 /\ -__disjvr_17^post30+__disjvr_17^0 == 0 /\ -r_236^post30+r_236^0 == 0 /\ z_389^0-z_389^post30 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post30 == 0 /\ -rcd_237^post30+rcd_237^0 == 0 /\ __disjvr_6^0-__disjvr_6^post30 == 0 /\ -x_SLAM_f_21^post30+lt_17^0 <= 0 /\ -lt_29^0 <= 0 /\ -ct_20^post30 <= 0 /\ -rcd_352^post30+rcd_352^0 == 0 /\ __disjvr_18^0-__disjvr_18^post30 == 0 /\ __disjvr_29^0-__disjvr_29^post30 == 0 /\ -x_19^post30+lt_17^0 <= 0 /\ ct_20^post30-y_22^post30 <= 0 /\ __disjvr_21^0-__disjvr_21^post30 == 0 /\ -len_266^post30+len_266^0 == 0 /\ x_19^post30-x_SLAM_f_21^post30 <= 0 /\ -r_178^post30+r_178^0 == 0 /\ -x_SLAM_f_21^post30+x_23^post30 <= 0 /\ -x_SLAM_f_21^post30+x_23^post30 == 0 /\ -__disjvr_5^post30+__disjvr_5^0 == 0 /\ rcd_376^0-rcd_376^post30 == 0 /\ -z_238^post30+z_238^0 == 0 /\ __disjvr_25^0-__disjvr_25^post30 == 0 /\ tmp_37^0-tmp_37^post30 == 0 /\ rcd_222^0-rcd_222^post30 == 0 /\ -__disjvr_7^post30+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post30 == 0 /\ lt_29^0 <= 0 /\ ct_20^post30 <= 0 /\ ct_20^post30 == 0 /\ temp0_18^0-temp0_18^post30 == 0 /\ a_321^0-a_321^post30 == 0 /\ __disjvr_28^0-__disjvr_28^post30 == 0 /\ -a_166^post30+a_166^0 == 0 /\ z_252^0-z_252^post30 == 0 /\ lt_386^0-lt_386^post30 == 0 /\ -z_279^post30+z_279^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ lt_17^0-x_23^post30 <= 0 /\ rcd_264^0-rcd_264^post30 == 0 /\ -head_35^post30+head_35^0 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ rcd_356^0-rcd_356^post30 == 0 /\ -i_33^post30+i_33^0 == 0 /\ -i_111^post30+i_111^0 == 0 /\ __disjvr_13^0-__disjvr_13^post30 == 0 /\ -__disjvr_2^post30+__disjvr_2^0 == 0 /\ r_42^0-r_42^post30 == 0 /\ -__disjvr_27^post30+__disjvr_27^0 == 0 /\ -length_32^post30+length_32^0 == 0 /\ -__disjvr_19^post30+__disjvr_19^0 == 0 /\ -z_188^post30+z_188^0 == 0 /\ temp0_34^0-temp0_34^post30 == 0 /\ y_22^post30 <= 0 /\ -__disjvr_10^post30+__disjvr_10^0 == 0 /\ __disjvr_22^0-__disjvr_22^post30 == 0 /\ a_210^0-a_210^post30 == 0 /\ -len_286^post30+len_286^0 == 0 /\ -__disjvr_8^post30+__disjvr_8^0 == 0 /\ __disjvr_16^0-__disjvr_16^post30 == 0 /\ rcd_226^0-rcd_226^post30 == 0 /\ -lt_17^0+x_23^post30 <= 0 /\ __disjvr_0^0-__disjvr_0^post30 == 0 /\ __disjvr_3^0-__disjvr_3^post30 == 0 /\ -rcd_396^post30+rcd_396^0 == 0 /\ -y_22^post30 <= 0 /\ __disjvr_24^0-__disjvr_24^post30 == 0 /\ nondet_12^0-nondet_12^post30 == 0 /\ -z_160^post30+z_160^0 == 0 /\ len_195^0-len_195^post30 == 0 /\ -lt_483^post30+lt_483^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^post30 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^post30 <= 0 /\ -rcd_46^post30+rcd_46^0 == 0 /\ __disjvr_14^0-__disjvr_14^post30 == 0 /\ -i_227^post30+i_227^0 == 0 /\ a_377^0-a_377^post30 == 0 /\ -__disjvr_23^post30+__disjvr_23^0 == 0 /\ -__disjvr_15^post30+__disjvr_15^0 == 0 /\ temp_38^0-temp_38^post30 == 0 /\ rcd_70^0-rcd_70^post30 == 0), cost: 1
  31: l30 -> l31 : __disjvr_0^0'=__disjvr_0^post31, a_321^0'=a_321^post31, rcd_70^0'=rcd_70^post31, __disjvr_21^0'=__disjvr_21^post31, x_23^0'=x_23^post31, __disjvr_4^0'=__disjvr_4^post31, rcd_222^0'=rcd_222^post31, __disjvr_14^0'=__disjvr_14^post31, head_35^0'=head_35^post31, __disjvr_24^0'=__disjvr_24^post31, temp0_18^0'=temp0_18^post31, lt_386^0'=lt_386^post31, z_229^0'=z_229^post31, __disjvr_9^0'=__disjvr_9^post31, a_210^0'=a_210^post31, rcd_376^0'=rcd_376^post31, __disjvr_19^0'=__disjvr_19^post31, len_195^0'=len_195^post31, __disjvr_29^0'=__disjvr_29^post31, x_19^0'=x_19^post31, r_42^0'=r_42^post31, z_28^0'=z_28^post31, __disjvr_11^0'=__disjvr_11^post31, a_377^0'=a_377^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post31, length_32^0'=length_32^post31, y_22^0'=y_22^post31, __disjvr_6^0'=__disjvr_6^post31, rcd_228^0'=rcd_228^post31, __disjvr_16^0'=__disjvr_16^post31, i_120^0'=i_120^post31, __disjvr_26^0'=__disjvr_26^post31, temp1_30^0'=temp1_30^post31, nondet_12^0'=nondet_12^post31, z_252^0'=z_252^post31, a_27^0'=a_27^post31, rcd_46^0'=rcd_46^post31, __disjvr_20^0'=__disjvr_20^post31, len_286^0'=len_286^post31, __disjvr_3^0'=__disjvr_3^post31, rcd_113^0'=rcd_113^post31, __disjvr_13^0'=__disjvr_13^post31, head_13^0'=head_13^post31, __disjvr_23^0'=__disjvr_23^post31, t_24^0'=t_24^post31, lt_29^0'=lt_29^post31, z_188^0'=z_188^post31, __disjvr_8^0'=__disjvr_8^post31, rcd_264^0'=rcd_264^post31, rcd_356^0'=rcd_356^post31, __disjvr_18^0'=__disjvr_18^post31, i_33^0'=i_33^post31, __disjvr_28^0'=__disjvr_28^post31, tmp_37^0'=tmp_37^post31, r_236^0'=r_236^post31, z_279^0'=z_279^post31, __disjvr_10^0'=__disjvr_10^post31, a_347^0'=a_347^post31, result_11^0'=result_11^post31, __disjvr_22^0'=__disjvr_22^post31, x_SLAM_f_21^0'=x_SLAM_f_21^post31, __disjvr_5^0'=__disjvr_5^post31, rcd_226^0'=rcd_226^post31, __disjvr_15^0'=__disjvr_15^post31, i_111^0'=i_111^post31, __disjvr_25^0'=__disjvr_25^post31, temp0_34^0'=temp0_34^post31, lt_483^0'=lt_483^post31, z_238^0'=z_238^post31, a_166^0'=a_166^post31, a_267^0'=a_267^post31, rcd_396^0'=rcd_396^post31, __disjvr_1^0'=__disjvr_1^post31, len_266^0'=len_266^post31, __disjvr_2^0'=__disjvr_2^post31, rcd_105^0'=rcd_105^post31, z_389^0'=z_389^post31, __disjvr_12^0'=__disjvr_12^post31, ct_20^0'=ct_20^post31, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post31, lt_17^0'=lt_17^post31, z_160^0'=z_160^post31, __disjvr_7^0'=__disjvr_7^post31, rcd_237^0'=rcd_237^post31, rcd_352^0'=rcd_352^post31, __disjvr_17^0'=__disjvr_17^post31, i_227^0'=i_227^post31, __disjvr_27^0'=__disjvr_27^post31, temp_38^0'=temp_38^post31, r_178^0'=r_178^post31, z_265^0'=z_265^post31, (-z_238^post31+z_238^0 == 0 /\ -rcd_113^post31+rcd_113^0 == 0 /\ r_42^0-r_42^post31 == 0 /\ __disjvr_24^0-__disjvr_24^post31 == 0 /\ len_195^0-len_195^post31 == 0 /\ -i_227^post31+i_227^0 == 0 /\ -__disjvr_26^post31+__disjvr_26^0 == 0 /\ -rcd_356^post31+rcd_356^0 == 0 /\ -len_266^post31+len_266^0 == 0 /\ -__disjvr_27^post31+__disjvr_27^0 == 0 /\ a_321^0-a_321^post31 == 0 /\ __disjvr_15^post31-__disjvr_15^0 == 0 /\ y_22^0-y_22^post31 == 0 /\ __disjvr_14^0-__disjvr_14^post31 == 0 /\ z_279^0-z_279^post31 == 0 /\ __disjvr_5^0-__disjvr_5^post31 == 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ -__disjvr_20^post31+__disjvr_20^0 == 0 /\ -__disjvr_23^post31+__disjvr_23^0 == 0 /\ __disjvr_21^0-__disjvr_21^post31 == 0 /\ -z_389^post31+z_389^0 == 0 /\ -__disjvr_2^post31+__disjvr_2^0 == 0 /\ __disjvr_6^0-__disjvr_6^post31 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ -lt_483^post31+lt_483^0 == 0 /\ __disjvr_3^0-__disjvr_3^post31 == 0 /\ a_166^0-a_166^post31 == 0 /\ -z_265^post31+z_265^0 == 0 /\ -z_28^post31+z_28^0 == 0 /\ x_19^0-x_19^post31 == 0 /\ z_229^0-z_229^post31 == 0 /\ __disjvr_28^0-__disjvr_28^post31 == 0 /\ -__disjvr_15^post31+__disjvr_15^0 == 0 /\ __disjvr_11^0-__disjvr_11^post31 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ -a_267^post31+a_267^0 == 0 /\ -__disjvr_10^post31+__disjvr_10^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ __disjvr_16^0-__disjvr_16^post31 == 0 /\ rcd_105^0-rcd_105^post31 == 0 /\ length_32^0-length_32^post31 == 0 /\ a_377^0-a_377^post31 == 0 /\ temp0_18^0-temp0_18^post31 == 0 /\ rcd_396^0-rcd_396^post31 == 0 /\ -z_160^post31+z_160^0 == 0 /\ -tmp_37^post31+tmp_37^0 == 0 /\ -__disjvr_25^post31+__disjvr_25^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post31+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ temp1_30^0-temp1_30^post31 == 0 /\ -rcd_226^post31+rcd_226^0 == 0 /\ -__disjvr_22^post31+__disjvr_22^0 == 0 /\ -z_188^post31+z_188^0 == 0 /\ -r_178^post31+r_178^0 == 0 /\ -rcd_237^post31+rcd_237^0 == 0 /\ a_210^0-a_210^post31 == 0 /\ __disjvr_8^0-__disjvr_8^post31 == 0 /\ -r_236^post31+r_236^0 == 0 /\ rcd_70^0-rcd_70^post31 == 0 /\ -head_13^post31+head_13^0 == 0 /\ __disjvr_9^0-__disjvr_9^post31 == 0 /\ rcd_46^0-rcd_46^post31 == 0 /\ -lt_386^post31+lt_386^0 == 0 /\ -rcd_264^post31+rcd_264^0 == 0 /\ -ct_20^post31+ct_20^0 == 0 /\ lt_29^0-lt_29^post31 == 0 /\ -lt_17^post31+lt_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post31 == 0 /\ -temp0_34^post31+temp0_34^0 == 0 /\ -__disjvr_18^post31+__disjvr_18^0 == 0 /\ head_35^0-head_35^post31 == 0 /\ a_347^0-a_347^post31 == 0 /\ rcd_376^0-rcd_376^post31 == 0 /\ -temp_38^post31+temp_38^0 == 0 /\ rcd_222^0-rcd_222^post31 == 0 /\ -a_27^post31+a_27^0 == 0 /\ __disjvr_13^0-__disjvr_13^post31 == 0 /\ rcd_352^0-rcd_352^post31 == 0 /\ -len_286^post31+len_286^0 == 0 /\ result_11^0-result_11^post31 == 0 /\ i_111^0-i_111^post31 == 0 /\ -__disjvr_7^post31+__disjvr_7^0 == 0 /\ __disjvr_4^0-__disjvr_4^post31 == 0 /\ x_23^0-x_23^post31 == 0 /\ -i_120^post31+i_120^0 == 0 /\ -__disjvr_1^post31+__disjvr_1^0 == 0 /\ rcd_228^0-rcd_228^post31 == 0 /\ -z_252^post31+z_252^0 == 0 /\ -x_SLAM_f_21^post31+x_SLAM_f_21^0 == 0 /\ __disjvr_29^0-__disjvr_29^post31 == 0 /\ t_24^0-t_24^post31 == 0 /\ i_33^0-i_33^post31 == 0), cost: 1
  32: l31 -> l32 : __disjvr_0^0'=__disjvr_0^post32, a_321^0'=a_321^post32, rcd_70^0'=rcd_70^post32, __disjvr_21^0'=__disjvr_21^post32, x_23^0'=x_23^post32, __disjvr_4^0'=__disjvr_4^post32, rcd_222^0'=rcd_222^post32, __disjvr_14^0'=__disjvr_14^post32, head_35^0'=head_35^post32, __disjvr_24^0'=__disjvr_24^post32, temp0_18^0'=temp0_18^post32, lt_386^0'=lt_386^post32, z_229^0'=z_229^post32, __disjvr_9^0'=__disjvr_9^post32, a_210^0'=a_210^post32, rcd_376^0'=rcd_376^post32, __disjvr_19^0'=__disjvr_19^post32, len_195^0'=len_195^post32, __disjvr_29^0'=__disjvr_29^post32, x_19^0'=x_19^post32, r_42^0'=r_42^post32, z_28^0'=z_28^post32, __disjvr_11^0'=__disjvr_11^post32, a_377^0'=a_377^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post32, length_32^0'=length_32^post32, y_22^0'=y_22^post32, __disjvr_6^0'=__disjvr_6^post32, rcd_228^0'=rcd_228^post32, __disjvr_16^0'=__disjvr_16^post32, i_120^0'=i_120^post32, __disjvr_26^0'=__disjvr_26^post32, temp1_30^0'=temp1_30^post32, nondet_12^0'=nondet_12^post32, z_252^0'=z_252^post32, a_27^0'=a_27^post32, rcd_46^0'=rcd_46^post32, __disjvr_20^0'=__disjvr_20^post32, len_286^0'=len_286^post32, __disjvr_3^0'=__disjvr_3^post32, rcd_113^0'=rcd_113^post32, __disjvr_13^0'=__disjvr_13^post32, head_13^0'=head_13^post32, __disjvr_23^0'=__disjvr_23^post32, t_24^0'=t_24^post32, lt_29^0'=lt_29^post32, z_188^0'=z_188^post32, __disjvr_8^0'=__disjvr_8^post32, rcd_264^0'=rcd_264^post32, rcd_356^0'=rcd_356^post32, __disjvr_18^0'=__disjvr_18^post32, i_33^0'=i_33^post32, __disjvr_28^0'=__disjvr_28^post32, tmp_37^0'=tmp_37^post32, r_236^0'=r_236^post32, z_279^0'=z_279^post32, __disjvr_10^0'=__disjvr_10^post32, a_347^0'=a_347^post32, result_11^0'=result_11^post32, __disjvr_22^0'=__disjvr_22^post32, x_SLAM_f_21^0'=x_SLAM_f_21^post32, __disjvr_5^0'=__disjvr_5^post32, rcd_226^0'=rcd_226^post32, __disjvr_15^0'=__disjvr_15^post32, i_111^0'=i_111^post32, __disjvr_25^0'=__disjvr_25^post32, temp0_34^0'=temp0_34^post32, lt_483^0'=lt_483^post32, z_238^0'=z_238^post32, a_166^0'=a_166^post32, a_267^0'=a_267^post32, rcd_396^0'=rcd_396^post32, __disjvr_1^0'=__disjvr_1^post32, len_266^0'=len_266^post32, __disjvr_2^0'=__disjvr_2^post32, rcd_105^0'=rcd_105^post32, z_389^0'=z_389^post32, __disjvr_12^0'=__disjvr_12^post32, ct_20^0'=ct_20^post32, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post32, lt_17^0'=lt_17^post32, z_160^0'=z_160^post32, __disjvr_7^0'=__disjvr_7^post32, rcd_237^0'=rcd_237^post32, rcd_352^0'=rcd_352^post32, __disjvr_17^0'=__disjvr_17^post32, i_227^0'=i_227^post32, __disjvr_27^0'=__disjvr_27^post32, temp_38^0'=temp_38^post32, r_178^0'=r_178^post32, z_265^0'=z_265^post32, (0 == 0 /\ -r_178^post32+r_178^0 == 0 /\ -__disjvr_16^post32+__disjvr_16^0 == 0 /\ -__disjvr_25^post32+__disjvr_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post32 == 0 /\ result_11^0-result_11^post32 == 0 /\ -tmp_37^post32+tmp_37^0 == 0 /\ -rcd_237^post32+rcd_237^0 == 0 /\ __disjvr_28^0-__disjvr_28^post32 == 0 /\ z_279^0-z_279^post32 == 0 /\ z_238^0-z_238^post32 == 0 /\ t_24^0-t_24^post32 == 0 /\ -a_27^post32+a_27^0 == 0 /\ -rcd_396^post32+rcd_396^0 == 0 /\ len_286^0-len_286^post32 == 0 /\ temp0_18^0-temp0_18^post32 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post32 == 0 /\ -rcd_352^post32+rcd_352^0 == 0 /\ -rcd_264^post32+rcd_264^0 == 0 /\ -rcd_105^post32+rcd_105^0 == 0 /\ head_13^0-head_13^post32 == 0 /\ rcd_228^0-rcd_228^post32 == 0 /\ -rcd_226^post32+rcd_226^0 == 0 /\ temp1_30^0-temp1_30^post32 == 0 /\ -__disjvr_13^post32+__disjvr_13^0 == 0 /\ __disjvr_1^0-__disjvr_1^post32 == 0 /\ -__disjvr_18^post32+__disjvr_18^0 == 0 /\ len_195^0-len_195^post32 == 0 /\ -a_377^post32+a_377^0 == 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ -r_236^post32+r_236^0 == 0 /\ __disjvr_12^0-__disjvr_12^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ __disjvr_8^0-__disjvr_8^post32 == 0 /\ y_22^0-y_22^post32 == 0 /\ a_321^0-a_321^post32 == 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ rcd_113^0-rcd_113^post32 == 0 /\ -len_266^post32+len_266^0 == 0 /\ -temp_38^post32+temp_38^0 == 0 /\ __disjvr_23^0-__disjvr_23^post32 == 0 /\ -temp0_34^post32+temp0_34^0 == 0 /\ -rcd_376^post32+rcd_376^0 == 0 /\ z_229^0-z_229^post32 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ length_32^0-length_32^post32 == 0 /\ z_252^0-z_252^post32 == 0 /\ i_120^0-i_120^post32 == 0 /\ lt_386^0-lt_386^post32 == 0 /\ head_35^0-head_35^post32 == 0 /\ __disjvr_20^0-__disjvr_20^post32 == 0 /\ rcd_222^0-rcd_222^post32 == 0 /\ -i_33^post32+i_33^0 == 0 /\ __disjvr_19^0-__disjvr_19^post32 == 0 /\ x_23^0-x_23^post32 == 0 /\ -i_227^post32+i_227^0 == 0 /\ z_160^0-z_160^post32 == 0 /\ -rcd_356^post32+rcd_356^0 == 0 /\ -lt_29^post32+lt_29^0 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ -__disjvr_4^post32+__disjvr_4^0 == 0 /\ -z_389^post32+z_389^0 == 0 /\ r_42^0-r_42^post32 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ -__disjvr_27^post32+__disjvr_27^0 == 0 /\ i_111^0-i_111^post32 == 0 /\ z_188^0-z_188^post32 == 0 /\ -lt_483^post32+lt_483^0 == 0 /\ __disjvr_24^0-__disjvr_24^post32 == 0 /\ -z_265^post32+z_265^0 == 0 /\ -__disjvr_29^post32+__disjvr_29^0 == 0 /\ a_210^0-a_210^post32 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ rcd_70^0-rcd_70^post32 == 0 /\ -a_166^post32+a_166^0 == 0 /\ -__disjvr_17^post32+__disjvr_17^0 == 0 /\ a_347^0-a_347^post32 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ -__disjvr_15^post32+__disjvr_15^0 == 0 /\ __disjvr_14^0-__disjvr_14^post32 == 0 /\ z_28^0-z_28^post32 == 0 /\ -rcd_46^post32+rcd_46^0 == 0 /\ -a_267^post32+a_267^0 == 0 /\ -__disjvr_10^post32+__disjvr_10^0 == 0 /\ -__disjvr_22^post32+__disjvr_22^0 == 0), cost: 1
  33: l32 -> l33 : __disjvr_0^0'=__disjvr_0^post33, a_321^0'=a_321^post33, rcd_70^0'=rcd_70^post33, __disjvr_21^0'=__disjvr_21^post33, x_23^0'=x_23^post33, __disjvr_4^0'=__disjvr_4^post33, rcd_222^0'=rcd_222^post33, __disjvr_14^0'=__disjvr_14^post33, head_35^0'=head_35^post33, __disjvr_24^0'=__disjvr_24^post33, temp0_18^0'=temp0_18^post33, lt_386^0'=lt_386^post33, z_229^0'=z_229^post33, __disjvr_9^0'=__disjvr_9^post33, a_210^0'=a_210^post33, rcd_376^0'=rcd_376^post33, __disjvr_19^0'=__disjvr_19^post33, len_195^0'=len_195^post33, __disjvr_29^0'=__disjvr_29^post33, x_19^0'=x_19^post33, r_42^0'=r_42^post33, z_28^0'=z_28^post33, __disjvr_11^0'=__disjvr_11^post33, a_377^0'=a_377^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post33, length_32^0'=length_32^post33, y_22^0'=y_22^post33, __disjvr_6^0'=__disjvr_6^post33, rcd_228^0'=rcd_228^post33, __disjvr_16^0'=__disjvr_16^post33, i_120^0'=i_120^post33, __disjvr_26^0'=__disjvr_26^post33, temp1_30^0'=temp1_30^post33, nondet_12^0'=nondet_12^post33, z_252^0'=z_252^post33, a_27^0'=a_27^post33, rcd_46^0'=rcd_46^post33, __disjvr_20^0'=__disjvr_20^post33, len_286^0'=len_286^post33, __disjvr_3^0'=__disjvr_3^post33, rcd_113^0'=rcd_113^post33, __disjvr_13^0'=__disjvr_13^post33, head_13^0'=head_13^post33, __disjvr_23^0'=__disjvr_23^post33, t_24^0'=t_24^post33, lt_29^0'=lt_29^post33, z_188^0'=z_188^post33, __disjvr_8^0'=__disjvr_8^post33, rcd_264^0'=rcd_264^post33, rcd_356^0'=rcd_356^post33, __disjvr_18^0'=__disjvr_18^post33, i_33^0'=i_33^post33, __disjvr_28^0'=__disjvr_28^post33, tmp_37^0'=tmp_37^post33, r_236^0'=r_236^post33, z_279^0'=z_279^post33, __disjvr_10^0'=__disjvr_10^post33, a_347^0'=a_347^post33, result_11^0'=result_11^post33, __disjvr_22^0'=__disjvr_22^post33, x_SLAM_f_21^0'=x_SLAM_f_21^post33, __disjvr_5^0'=__disjvr_5^post33, rcd_226^0'=rcd_226^post33, __disjvr_15^0'=__disjvr_15^post33, i_111^0'=i_111^post33, __disjvr_25^0'=__disjvr_25^post33, temp0_34^0'=temp0_34^post33, lt_483^0'=lt_483^post33, z_238^0'=z_238^post33, a_166^0'=a_166^post33, a_267^0'=a_267^post33, rcd_396^0'=rcd_396^post33, __disjvr_1^0'=__disjvr_1^post33, len_266^0'=len_266^post33, __disjvr_2^0'=__disjvr_2^post33, rcd_105^0'=rcd_105^post33, z_389^0'=z_389^post33, __disjvr_12^0'=__disjvr_12^post33, ct_20^0'=ct_20^post33, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post33, lt_17^0'=lt_17^post33, z_160^0'=z_160^post33, __disjvr_7^0'=__disjvr_7^post33, rcd_237^0'=rcd_237^post33, rcd_352^0'=rcd_352^post33, __disjvr_17^0'=__disjvr_17^post33, i_227^0'=i_227^post33, __disjvr_27^0'=__disjvr_27^post33, temp_38^0'=temp_38^post33, r_178^0'=r_178^post33, z_265^0'=z_265^post33, (__disjvr_24^0-__disjvr_24^post33 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ -i_227^post33+i_227^0 == 0 /\ -length_32^post33+length_32^0 == 0 /\ temp1_30^0-temp1_30^post33 == 0 /\ len_286^0-len_286^post33 == 0 /\ -i_111^post33+i_111^0 == 0 /\ -__disjvr_27^post33+__disjvr_27^0 == 0 /\ -len_266^post33+len_266^0 == 0 /\ rcd_113^0-rcd_113^post33 == 0 /\ a_210^0-a_210^post33 == 0 /\ rcd_70^0-rcd_70^post33 == 0 /\ __disjvr_23^0-__disjvr_23^post33 == 0 /\ -rcd_356^post33+rcd_356^0 == 0 /\ a_321^0-a_321^post33 == 0 /\ __disjvr_19^0-__disjvr_19^post33 == 0 /\ -__disjvr_20^post33+__disjvr_20^0 == 0 /\ z_28^0-z_28^post33 == 0 /\ lt_29^0-lt_29^post33 == 0 /\ rcd_46^0-rcd_46^post33 == 0 /\ i_120^0-i_120^post33 == 0 /\ -__disjvr_17^post33+__disjvr_17^0 == 0 /\ -__disjvr_2^post33+__disjvr_2^0 == 0 /\ head_35^0-head_35^post33 == 0 /\ -rcd_396^post33+rcd_396^0 == 0 /\ rcd_222^0-rcd_222^post33 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ rcd_105^0-rcd_105^post33 == 0 /\ __disjvr_28^0-__disjvr_28^post33 == 0 /\ -z_389^post33+z_389^0 == 0 /\ z_279^0-z_279^post33 == 0 /\ rcd_228^0-rcd_228^post33 == 0 /\ __disjvr_4^0-__disjvr_4^post33 == 0 /\ x_19^0-x_19^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post33 == 0 /\ -__disjvr_9^post33+__disjvr_9^0 == 0 /\ a_267^0-a_267^post33 == 0 /\ z_238^0-z_238^post33 == 0 /\ -z_160^post33+z_160^0 == 0 /\ -lt_483^post33+lt_483^0 == 0 /\ t_24^0-t_24^post33 == 0 /\ -a_166^post33+a_166^0 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0 /\ -lt_386^post33+lt_386^0 == 0 /\ __disjvr_26^0-__disjvr_26^post33 == 0 /\ __disjvr_29^0-__disjvr_29^post33 == 0 /\ -rcd_352^post33+rcd_352^0 == 0 /\ -tmp_37^post33+tmp_37^0 == 0 /\ -__disjvr_10^post33+__disjvr_10^0 == 0 /\ -rcd_264^post33+rcd_264^0 == 0 /\ y_22^0-y_22^post33 == 0 /\ -rcd_226^post33+rcd_226^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post33+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ x_23^0-x_23^post33 == 0 /\ -__disjvr_22^post33+__disjvr_22^0 == 0 /\ a_27^0-a_27^post33 == 0 /\ -__disjvr_16^post33+__disjvr_16^0 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ z_252^0-z_252^post33 == 0 /\ __disjvr_11^0-__disjvr_11^post33 == 0 /\ -head_13^post33+head_13^0 == 0 /\ -ct_20^post33+ct_20^0 == 0 /\ -z_265^post33+z_265^0 == 0 /\ -__disjvr_25^post33+__disjvr_25^0 == 0 /\ __disjvr_5^0-__disjvr_5^post33 == 0 /\ rcd_237^0-rcd_237^post33 == 0 /\ __disjvr_8^0-__disjvr_8^post33 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ -result_11^post33+result_11^0 == 0 /\ __disjvr_3^0-__disjvr_3^post33 == 0 /\ -a_377^post33+a_377^0 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ -temp0_34^post33+temp0_34^0 == 0 /\ -r_236^post33+r_236^0 == 0 /\ -__disjvr_6^post33+__disjvr_6^0 == 0 /\ z_229^0-z_229^post33 == 0 /\ a_347^0-a_347^post33 == 0 /\ -temp_38^post33+temp_38^0 == 0 /\ z_188^0-z_188^post33 == 0 /\ __disjvr_16^post33-__disjvr_16^0 == 0 /\ -__disjvr_1^post33+__disjvr_1^0 == 0 /\ -r_178^post33+r_178^0 == 0 /\ -__disjvr_13^post33+__disjvr_13^0 == 0 /\ -len_195^post33+len_195^0 == 0 /\ __disjvr_15^0-__disjvr_15^post33 == 0 /\ i_33^0-i_33^post33 == 0 /\ temp0_18^0-temp0_18^post33 == 0 /\ -__disjvr_7^post33+__disjvr_7^0 == 0 /\ r_42^0-r_42^post33 == 0 /\ -x_SLAM_f_21^post33+x_SLAM_f_21^0 == 0 /\ -rcd_376^post33+rcd_376^0 == 0 /\ -lt_17^post33+lt_17^0 == 0), cost: 1
  34: l33 -> l34 : __disjvr_0^0'=__disjvr_0^post34, a_321^0'=a_321^post34, rcd_70^0'=rcd_70^post34, __disjvr_21^0'=__disjvr_21^post34, x_23^0'=x_23^post34, __disjvr_4^0'=__disjvr_4^post34, rcd_222^0'=rcd_222^post34, __disjvr_14^0'=__disjvr_14^post34, head_35^0'=head_35^post34, __disjvr_24^0'=__disjvr_24^post34, temp0_18^0'=temp0_18^post34, lt_386^0'=lt_386^post34, z_229^0'=z_229^post34, __disjvr_9^0'=__disjvr_9^post34, a_210^0'=a_210^post34, rcd_376^0'=rcd_376^post34, __disjvr_19^0'=__disjvr_19^post34, len_195^0'=len_195^post34, __disjvr_29^0'=__disjvr_29^post34, x_19^0'=x_19^post34, r_42^0'=r_42^post34, z_28^0'=z_28^post34, __disjvr_11^0'=__disjvr_11^post34, a_377^0'=a_377^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post34, length_32^0'=length_32^post34, y_22^0'=y_22^post34, __disjvr_6^0'=__disjvr_6^post34, rcd_228^0'=rcd_228^post34, __disjvr_16^0'=__disjvr_16^post34, i_120^0'=i_120^post34, __disjvr_26^0'=__disjvr_26^post34, temp1_30^0'=temp1_30^post34, nondet_12^0'=nondet_12^post34, z_252^0'=z_252^post34, a_27^0'=a_27^post34, rcd_46^0'=rcd_46^post34, __disjvr_20^0'=__disjvr_20^post34, len_286^0'=len_286^post34, __disjvr_3^0'=__disjvr_3^post34, rcd_113^0'=rcd_113^post34, __disjvr_13^0'=__disjvr_13^post34, head_13^0'=head_13^post34, __disjvr_23^0'=__disjvr_23^post34, t_24^0'=t_24^post34, lt_29^0'=lt_29^post34, z_188^0'=z_188^post34, __disjvr_8^0'=__disjvr_8^post34, rcd_264^0'=rcd_264^post34, rcd_356^0'=rcd_356^post34, __disjvr_18^0'=__disjvr_18^post34, i_33^0'=i_33^post34, __disjvr_28^0'=__disjvr_28^post34, tmp_37^0'=tmp_37^post34, r_236^0'=r_236^post34, z_279^0'=z_279^post34, __disjvr_10^0'=__disjvr_10^post34, a_347^0'=a_347^post34, result_11^0'=result_11^post34, __disjvr_22^0'=__disjvr_22^post34, x_SLAM_f_21^0'=x_SLAM_f_21^post34, __disjvr_5^0'=__disjvr_5^post34, rcd_226^0'=rcd_226^post34, __disjvr_15^0'=__disjvr_15^post34, i_111^0'=i_111^post34, __disjvr_25^0'=__disjvr_25^post34, temp0_34^0'=temp0_34^post34, lt_483^0'=lt_483^post34, z_238^0'=z_238^post34, a_166^0'=a_166^post34, a_267^0'=a_267^post34, rcd_396^0'=rcd_396^post34, __disjvr_1^0'=__disjvr_1^post34, len_266^0'=len_266^post34, __disjvr_2^0'=__disjvr_2^post34, rcd_105^0'=rcd_105^post34, z_389^0'=z_389^post34, __disjvr_12^0'=__disjvr_12^post34, ct_20^0'=ct_20^post34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post34, lt_17^0'=lt_17^post34, z_160^0'=z_160^post34, __disjvr_7^0'=__disjvr_7^post34, rcd_237^0'=rcd_237^post34, rcd_352^0'=rcd_352^post34, __disjvr_17^0'=__disjvr_17^post34, i_227^0'=i_227^post34, __disjvr_27^0'=__disjvr_27^post34, temp_38^0'=temp_38^post34, r_178^0'=r_178^post34, z_265^0'=z_265^post34, (__disjvr_13^0-__disjvr_13^post34 == 0 /\ -__disjvr_1^post34+__disjvr_1^0 == 0 /\ -ct_20^post34+ct_20^0 == 0 /\ -__disjvr_11^post34+__disjvr_11^0 == 0 /\ x_23^0 <= 0 /\ -r_178^post34+r_178^0 == 0 /\ i_120^0-i_120^post34 == 0 /\ z_229^0-z_229^post34 == 0 /\ -__disjvr_25^post34+__disjvr_25^0 == 0 /\ __disjvr_20^0-__disjvr_20^post34 == 0 /\ head_35^0-head_35^post34 == 0 /\ z_252^0-z_252^post34 == 0 /\ -rcd_352^post34+rcd_352^0 == 0 /\ __disjvr_19^0-__disjvr_19^post34 == 0 /\ x_19^0-x_19^post34 == 0 /\ rcd_222^0-rcd_222^post34 == 0 /\ -__disjvr_22^post34+__disjvr_22^0 == 0 /\ -rcd_105^post34+rcd_105^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post34 == 0 /\ -rcd_226^post34+rcd_226^0 == 0 /\ length_32^0-length_32^post34 == 0 /\ -x_19^0+x_SLAM_f_21^0 <= 0 /\ x_23^0-x_23^post34 == 0 /\ -rcd_237^post34+rcd_237^0 == 0 /\ -rcd_396^post34+rcd_396^0 == 0 /\ -y_22^0+ct_20^0 <= 0 /\ -a_347^post34+a_347^0 == 0 /\ -rcd_264^post34+rcd_264^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post34+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ i_33^0-i_33^post34 == 0 /\ nondet_12^0-nondet_12^post34 == 0 /\ -x_23^0 <= 0 /\ y_22^0 <= 0 /\ -temp0_34^post34+temp0_34^0 == 0 /\ rcd_70^0-rcd_70^post34 == 0 /\ __disjvr_26^0-__disjvr_26^post34 == 0 /\ -a_377^post34+a_377^0 == 0 /\ z_389^0-z_389^post34 == 0 /\ r_236^0-r_236^post34 == 0 /\ a_321^0-a_321^post34 == 0 /\ a_27^0-a_27^post34 == 0 /\ -temp1_30^post34+temp1_30^0 == 0 /\ __disjvr_23^0-__disjvr_23^post34 == 0 /\ -__disjvr_3^post34+__disjvr_3^0 == 0 /\ x_19^0-x_SLAM_f_21^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ y_22^0-ct_20^0 <= 0 /\ -__disjvr_7^post34+__disjvr_7^0 == 0 /\ __disjvr_14^0-__disjvr_14^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ -len_266^post34+len_266^0 == 0 /\ -lt_17^post34+lt_17^0 == 0 /\ -z_279^post34+z_279^0 == 0 /\ -i_227^post34+i_227^0 == 0 /\ -__disjvr_27^post34+__disjvr_27^0 == 0 /\ -lt_29^post34+lt_29^0 == 0 /\ __disjvr_21^0-__disjvr_21^post34 == 0 /\ tmp_37^0-tmp_37^post34 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ lt_386^0-lt_386^post34 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ lt_483^0-lt_483^post34 == 0 /\ -x_SLAM_f_21^post34+x_SLAM_f_21^0 == 0 /\ -a_166^post34+a_166^0 == 0 /\ len_286^0-len_286^post34 == 0 /\ z_188^0-z_188^post34 == 0 /\ -__disjvr_2^post34+__disjvr_2^0 == 0 /\ __disjvr_15^0-__disjvr_15^post34 == 0 /\ t_24^post34-lt_17^0 <= 0 /\ rcd_356^0-rcd_356^post34 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ -z_238^post34+z_238^0 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ -x_19^0+lt_17^0 <= 0 /\ head_13^0-head_13^post34 == 0 /\ -__disjvr_28^post34+__disjvr_28^0 == 0 /\ __disjvr_29^0-__disjvr_29^post34 == 0 /\ __disjvr_16^0-__disjvr_16^post34 == 0 /\ -i_111^post34+i_111^0 == 0 /\ -z_265^post34+z_265^0 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ r_42^0-r_42^post34 == 0 /\ -z_160^post34+z_160^0 == 0 /\ len_195^0-len_195^post34 == 0 /\ -a_210^post34+a_210^0 == 0 /\ -y_22^0 <= 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ __disjvr_24^0-__disjvr_24^post34 == 0 /\ y_22^0-y_22^post34 == 0 /\ -x_23^0+t_24^post34 == 0 /\ ct_20^0 <= 0 /\ __disjvr_5^0-__disjvr_5^post34 == 0 /\ -ct_20^0 <= 0 /\ -t_24^post34+lt_17^0 <= 0 /\ rcd_376^0-rcd_376^post34 == 0 /\ -a_267^post34+a_267^0 == 0 /\ rcd_113^0-rcd_113^post34 == 0 /\ x_19^0-lt_17^0 <= 0 /\ -temp0_18^post34+temp0_18^0 == 0 /\ -__disjvr_10^post34+__disjvr_10^0 == 0 /\ __disjvr_18^0-__disjvr_18^post34 == 0 /\ -rcd_228^post34+rcd_228^0 == 0 /\ temp_38^0-temp_38^post34 == 0 /\ rcd_46^0-rcd_46^post34 == 0 /\ -__disjvr_8^post34+__disjvr_8^0 == 0 /\ z_28^0-z_28^post34 == 0 /\ -__disjvr_9^post34+__disjvr_9^0 == 0), cost: 1
  35: l34 -> l35 : __disjvr_0^0'=__disjvr_0^post35, a_321^0'=a_321^post35, rcd_70^0'=rcd_70^post35, __disjvr_21^0'=__disjvr_21^post35, x_23^0'=x_23^post35, __disjvr_4^0'=__disjvr_4^post35, rcd_222^0'=rcd_222^post35, __disjvr_14^0'=__disjvr_14^post35, head_35^0'=head_35^post35, __disjvr_24^0'=__disjvr_24^post35, temp0_18^0'=temp0_18^post35, lt_386^0'=lt_386^post35, z_229^0'=z_229^post35, __disjvr_9^0'=__disjvr_9^post35, a_210^0'=a_210^post35, rcd_376^0'=rcd_376^post35, __disjvr_19^0'=__disjvr_19^post35, len_195^0'=len_195^post35, __disjvr_29^0'=__disjvr_29^post35, x_19^0'=x_19^post35, r_42^0'=r_42^post35, z_28^0'=z_28^post35, __disjvr_11^0'=__disjvr_11^post35, a_377^0'=a_377^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post35, length_32^0'=length_32^post35, y_22^0'=y_22^post35, __disjvr_6^0'=__disjvr_6^post35, rcd_228^0'=rcd_228^post35, __disjvr_16^0'=__disjvr_16^post35, i_120^0'=i_120^post35, __disjvr_26^0'=__disjvr_26^post35, temp1_30^0'=temp1_30^post35, nondet_12^0'=nondet_12^post35, z_252^0'=z_252^post35, a_27^0'=a_27^post35, rcd_46^0'=rcd_46^post35, __disjvr_20^0'=__disjvr_20^post35, len_286^0'=len_286^post35, __disjvr_3^0'=__disjvr_3^post35, rcd_113^0'=rcd_113^post35, __disjvr_13^0'=__disjvr_13^post35, head_13^0'=head_13^post35, __disjvr_23^0'=__disjvr_23^post35, t_24^0'=t_24^post35, lt_29^0'=lt_29^post35, z_188^0'=z_188^post35, __disjvr_8^0'=__disjvr_8^post35, rcd_264^0'=rcd_264^post35, rcd_356^0'=rcd_356^post35, __disjvr_18^0'=__disjvr_18^post35, i_33^0'=i_33^post35, __disjvr_28^0'=__disjvr_28^post35, tmp_37^0'=tmp_37^post35, r_236^0'=r_236^post35, z_279^0'=z_279^post35, __disjvr_10^0'=__disjvr_10^post35, a_347^0'=a_347^post35, result_11^0'=result_11^post35, __disjvr_22^0'=__disjvr_22^post35, x_SLAM_f_21^0'=x_SLAM_f_21^post35, __disjvr_5^0'=__disjvr_5^post35, rcd_226^0'=rcd_226^post35, __disjvr_15^0'=__disjvr_15^post35, i_111^0'=i_111^post35, __disjvr_25^0'=__disjvr_25^post35, temp0_34^0'=temp0_34^post35, lt_483^0'=lt_483^post35, z_238^0'=z_238^post35, a_166^0'=a_166^post35, a_267^0'=a_267^post35, rcd_396^0'=rcd_396^post35, __disjvr_1^0'=__disjvr_1^post35, len_266^0'=len_266^post35, __disjvr_2^0'=__disjvr_2^post35, rcd_105^0'=rcd_105^post35, z_389^0'=z_389^post35, __disjvr_12^0'=__disjvr_12^post35, ct_20^0'=ct_20^post35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, lt_17^0'=lt_17^post35, z_160^0'=z_160^post35, __disjvr_7^0'=__disjvr_7^post35, rcd_237^0'=rcd_237^post35, rcd_352^0'=rcd_352^post35, __disjvr_17^0'=__disjvr_17^post35, i_227^0'=i_227^post35, __disjvr_27^0'=__disjvr_27^post35, temp_38^0'=temp_38^post35, r_178^0'=r_178^post35, z_265^0'=z_265^post35, (-__disjvr_23^post35+__disjvr_23^0 == 0 /\ a_377^0-a_377^post35 == 0 /\ -i_111^post35+i_111^0 == 0 /\ y_22^0-y_22^post35 == 0 /\ __disjvr_26^0-__disjvr_26^post35 == 0 /\ -len_266^post35+len_266^0 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post35 == 0 /\ -x_SLAM_f_21^post35+x_SLAM_f_21^0 == 0 /\ __disjvr_17^post35-__disjvr_17^0 == 0 /\ rcd_70^0-rcd_70^post35 == 0 /\ -i_227^post35+i_227^0 == 0 /\ -z_279^post35+z_279^0 == 0 /\ x_23^0-x_23^post35 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ -lt_29^post35+lt_29^0 == 0 /\ __disjvr_14^0-__disjvr_14^post35 == 0 /\ r_236^0-r_236^post35 == 0 /\ z_252^0-z_252^post35 == 0 /\ -z_389^post35+z_389^0 == 0 /\ -z_238^post35+z_238^0 == 0 /\ rcd_46^0-rcd_46^post35 == 0 /\ __disjvr_21^0-__disjvr_21^post35 == 0 /\ __disjvr_1^0-__disjvr_1^post35 == 0 /\ -z_160^post35+z_160^0 == 0 /\ -__disjvr_2^post35+__disjvr_2^0 == 0 /\ -lt_483^post35+lt_483^0 == 0 /\ -__disjvr_28^post35+__disjvr_28^0 == 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ a_267^0-a_267^post35 == 0 /\ -z_265^post35+z_265^0 == 0 /\ __disjvr_20^0-__disjvr_20^post35 == 0 /\ -__disjvr_27^post35+__disjvr_27^0 == 0 /\ temp0_34^0-temp0_34^post35 == 0 /\ -__disjvr_10^post35+__disjvr_10^0 == 0 /\ i_120^0-i_120^post35 == 0 /\ head_13^0-head_13^post35 == 0 /\ rcd_228^0-rcd_228^post35 == 0 /\ -a_166^post35+a_166^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post35 == 0 /\ i_33^0-i_33^post35 == 0 /\ temp0_18^0-temp0_18^post35 == 0 /\ length_32^0-length_32^post35 == 0 /\ r_42^0-r_42^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ __disjvr_18^0-__disjvr_18^post35 == 0 /\ __disjvr_16^0-__disjvr_16^post35 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post35+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -tmp_37^post35+tmp_37^0 == 0 /\ -r_178^post35+r_178^0 == 0 /\ -t_24^post35+t_24^0 == 0 /\ -__disjvr_22^post35+__disjvr_22^0 == 0 /\ rcd_356^0-rcd_356^post35 == 0 /\ -a_347^post35+a_347^0 == 0 /\ -ct_20^post35+ct_20^0 == 0 /\ -__disjvr_11^post35+__disjvr_11^0 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ -z_188^post35+z_188^0 == 0 /\ rcd_113^0-rcd_113^post35 == 0 /\ a_27^0-a_27^post35 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ -rcd_226^post35+rcd_226^0 == 0 /\ a_210^0-a_210^post35 == 0 /\ z_28^0-z_28^post35 == 0 /\ __disjvr_5^0-__disjvr_5^post35 == 0 /\ -rcd_264^post35+rcd_264^0 == 0 /\ a_321^0-a_321^post35 == 0 /\ rcd_237^0-rcd_237^post35 == 0 /\ -__disjvr_25^post35+__disjvr_25^0 == 0 /\ -rcd_105^post35+rcd_105^0 == 0 /\ -rcd_396^post35+rcd_396^0 == 0 /\ -__disjvr_24^post35+__disjvr_24^0 == 0 /\ len_195^0-len_195^post35 == 0 /\ head_35^0-head_35^post35 == 0 /\ -temp_38^post35+temp_38^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ rcd_222^0-rcd_222^post35 == 0 /\ -result_11^post35+result_11^0 == 0 /\ -lt_17^post35+lt_17^0 == 0 /\ -z_229^post35+z_229^0 == 0 /\ rcd_376^0-rcd_376^post35 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ lt_386^0-lt_386^post35 == 0 /\ -temp1_30^post35+temp1_30^0 == 0 /\ __disjvr_15^0-__disjvr_15^post35 == 0 /\ len_286^0-len_286^post35 == 0 /\ x_19^0-x_19^post35 == 0 /\ -__disjvr_13^post35+__disjvr_13^0 == 0 /\ -rcd_352^post35+rcd_352^0 == 0 /\ -__disjvr_3^post35+__disjvr_3^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ __disjvr_4^0-__disjvr_4^post35 == 0), cost: 1
  36: l35 -> l36 : __disjvr_0^0'=__disjvr_0^post36, a_321^0'=a_321^post36, rcd_70^0'=rcd_70^post36, __disjvr_21^0'=__disjvr_21^post36, x_23^0'=x_23^post36, __disjvr_4^0'=__disjvr_4^post36, rcd_222^0'=rcd_222^post36, __disjvr_14^0'=__disjvr_14^post36, head_35^0'=head_35^post36, __disjvr_24^0'=__disjvr_24^post36, temp0_18^0'=temp0_18^post36, lt_386^0'=lt_386^post36, z_229^0'=z_229^post36, __disjvr_9^0'=__disjvr_9^post36, a_210^0'=a_210^post36, rcd_376^0'=rcd_376^post36, __disjvr_19^0'=__disjvr_19^post36, len_195^0'=len_195^post36, __disjvr_29^0'=__disjvr_29^post36, x_19^0'=x_19^post36, r_42^0'=r_42^post36, z_28^0'=z_28^post36, __disjvr_11^0'=__disjvr_11^post36, a_377^0'=a_377^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post36, length_32^0'=length_32^post36, y_22^0'=y_22^post36, __disjvr_6^0'=__disjvr_6^post36, rcd_228^0'=rcd_228^post36, __disjvr_16^0'=__disjvr_16^post36, i_120^0'=i_120^post36, __disjvr_26^0'=__disjvr_26^post36, temp1_30^0'=temp1_30^post36, nondet_12^0'=nondet_12^post36, z_252^0'=z_252^post36, a_27^0'=a_27^post36, rcd_46^0'=rcd_46^post36, __disjvr_20^0'=__disjvr_20^post36, len_286^0'=len_286^post36, __disjvr_3^0'=__disjvr_3^post36, rcd_113^0'=rcd_113^post36, __disjvr_13^0'=__disjvr_13^post36, head_13^0'=head_13^post36, __disjvr_23^0'=__disjvr_23^post36, t_24^0'=t_24^post36, lt_29^0'=lt_29^post36, z_188^0'=z_188^post36, __disjvr_8^0'=__disjvr_8^post36, rcd_264^0'=rcd_264^post36, rcd_356^0'=rcd_356^post36, __disjvr_18^0'=__disjvr_18^post36, i_33^0'=i_33^post36, __disjvr_28^0'=__disjvr_28^post36, tmp_37^0'=tmp_37^post36, r_236^0'=r_236^post36, z_279^0'=z_279^post36, __disjvr_10^0'=__disjvr_10^post36, a_347^0'=a_347^post36, result_11^0'=result_11^post36, __disjvr_22^0'=__disjvr_22^post36, x_SLAM_f_21^0'=x_SLAM_f_21^post36, __disjvr_5^0'=__disjvr_5^post36, rcd_226^0'=rcd_226^post36, __disjvr_15^0'=__disjvr_15^post36, i_111^0'=i_111^post36, __disjvr_25^0'=__disjvr_25^post36, temp0_34^0'=temp0_34^post36, lt_483^0'=lt_483^post36, z_238^0'=z_238^post36, a_166^0'=a_166^post36, a_267^0'=a_267^post36, rcd_396^0'=rcd_396^post36, __disjvr_1^0'=__disjvr_1^post36, len_266^0'=len_266^post36, __disjvr_2^0'=__disjvr_2^post36, rcd_105^0'=rcd_105^post36, z_389^0'=z_389^post36, __disjvr_12^0'=__disjvr_12^post36, ct_20^0'=ct_20^post36, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post36, lt_17^0'=lt_17^post36, z_160^0'=z_160^post36, __disjvr_7^0'=__disjvr_7^post36, rcd_237^0'=rcd_237^post36, rcd_352^0'=rcd_352^post36, __disjvr_17^0'=__disjvr_17^post36, i_227^0'=i_227^post36, __disjvr_27^0'=__disjvr_27^post36, temp_38^0'=temp_38^post36, r_178^0'=r_178^post36, z_265^0'=z_265^post36, (-rcd_352^post36+rcd_352^0 == 0 /\ -ct_20^post36+ct_20^0 == 0 /\ -len_195^post36+len_195^0 == 0 /\ tmp_37^0-tmp_37^post36 == 0 /\ rcd_222^0-rcd_222^post36 == 0 /\ lt_386^0-lt_386^post36 == 0 /\ -__disjvr_1^post36+__disjvr_1^0 == 0 /\ i_120^0-i_120^post36 == 0 /\ -__disjvr_25^post36+__disjvr_25^0 == 0 /\ -head_13^post36+head_13^0 == 0 /\ -rcd_105^post36+rcd_105^0 == 0 /\ __disjvr_20^0-__disjvr_20^post36 == 0 /\ __disjvr_22^0-__disjvr_22^post36 == 0 /\ __disjvr_3^0-__disjvr_3^post36 == 0 /\ -rcd_46^post36+rcd_46^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post36+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -t_24^post36+t_24^0 == 0 /\ rcd_356^0-rcd_356^post36 == 0 /\ -y_22^post36+y_22^0 == 0 /\ -__disjvr_17^post36+__disjvr_17^0 == 0 /\ -__disjvr_18^0+__disjvr_18^post36 == 0 /\ __disjvr_0^0-__disjvr_0^post36 == 0 /\ -r_236^post36+r_236^0 == 0 /\ z_188^0-z_188^post36 == 0 /\ temp0_18^0-temp0_18^post36 == 0 /\ length_32^0-length_32^post36 == 0 /\ -z_265^post36+z_265^0 == 0 /\ -a_347^post36+a_347^0 == 0 /\ __disjvr_10^0-__disjvr_10^post36 == 0 /\ __disjvr_29^0-__disjvr_29^post36 == 0 /\ -rcd_237^post36+rcd_237^0 == 0 /\ a_377^0-a_377^post36 == 0 /\ -z_238^post36+z_238^0 == 0 /\ __disjvr_24^0-__disjvr_24^post36 == 0 /\ rcd_70^0-rcd_70^post36 == 0 /\ -len_266^post36+len_266^0 == 0 /\ -r_178^post36+r_178^0 == 0 /\ -i_33^post36+i_33^0 == 0 /\ -lt_17^post36+lt_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post36 == 0 /\ -z_279^post36+z_279^0 == 0 /\ -result_11^post36+result_11^0 == 0 /\ __disjvr_2^0-__disjvr_2^post36 == 0 /\ z_28^0-z_28^post36 == 0 /\ -__disjvr_7^post36+__disjvr_7^0 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ -__disjvr_8^post36+__disjvr_8^0 == 0 /\ -a_267^post36+a_267^0 == 0 /\ -z_389^post36+z_389^0 == 0 /\ __disjvr_13^0-__disjvr_13^post36 == 0 /\ -lt_29^post36+lt_29^0 == 0 /\ -a_166^post36+a_166^0 == 0 /\ z_229^0-z_229^post36 == 0 /\ -temp1_30^post36+temp1_30^0 == 0 /\ __disjvr_19^0-__disjvr_19^post36 == 0 /\ x_19^0-x_19^post36 == 0 /\ rcd_376^0-rcd_376^post36 == 0 /\ -r_42^post36+r_42^0 == 0 /\ temp0_34^0-temp0_34^post36 == 0 /\ x_23^0-x_23^post36 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post36 == 0 /\ -__disjvr_28^post36+__disjvr_28^0 == 0 /\ -temp_38^post36+temp_38^0 == 0 /\ len_286^0-len_286^post36 == 0 /\ -__disjvr_12^post36+__disjvr_12^0 == 0 /\ __disjvr_16^0-__disjvr_16^post36 == 0 /\ -a_210^post36+a_210^0 == 0 /\ -__disjvr_5^post36+__disjvr_5^0 == 0 /\ __disjvr_4^0-__disjvr_4^post36 == 0 /\ -head_35^post36+head_35^0 == 0 /\ -__disjvr_15^post36+__disjvr_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post36 == 0 /\ rcd_226^0-rcd_226^post36 == 0 /\ -rcd_113^post36+rcd_113^0 == 0 /\ -rcd_396^post36+rcd_396^0 == 0 /\ -i_111^post36+i_111^0 == 0 /\ __disjvr_23^0-__disjvr_23^post36 == 0 /\ a_321^0-a_321^post36 == 0 /\ __disjvr_21^0-__disjvr_21^post36 == 0 /\ z_252^0-z_252^post36 == 0 /\ -z_160^post36+z_160^0 == 0 /\ -__disjvr_27^post36+__disjvr_27^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post36 == 0 /\ -rcd_228^post36+rcd_228^0 == 0 /\ lt_483^0-lt_483^post36 == 0 /\ __disjvr_6^0-__disjvr_6^post36 == 0 /\ -i_227^post36+i_227^0 == 0 /\ a_27^0-a_27^post36 == 0 /\ rcd_264^0-rcd_264^post36 == 0 /\ __disjvr_14^0-__disjvr_14^post36 == 0 /\ __disjvr_11^0-__disjvr_11^post36 == 0 /\ __disjvr_9^0-__disjvr_9^post36 == 0), cost: 1
  37: l36 -> l37 : __disjvr_0^0'=__disjvr_0^post37, a_321^0'=a_321^post37, rcd_70^0'=rcd_70^post37, __disjvr_21^0'=__disjvr_21^post37, x_23^0'=x_23^post37, __disjvr_4^0'=__disjvr_4^post37, rcd_222^0'=rcd_222^post37, __disjvr_14^0'=__disjvr_14^post37, head_35^0'=head_35^post37, __disjvr_24^0'=__disjvr_24^post37, temp0_18^0'=temp0_18^post37, lt_386^0'=lt_386^post37, z_229^0'=z_229^post37, __disjvr_9^0'=__disjvr_9^post37, a_210^0'=a_210^post37, rcd_376^0'=rcd_376^post37, __disjvr_19^0'=__disjvr_19^post37, len_195^0'=len_195^post37, __disjvr_29^0'=__disjvr_29^post37, x_19^0'=x_19^post37, r_42^0'=r_42^post37, z_28^0'=z_28^post37, __disjvr_11^0'=__disjvr_11^post37, a_377^0'=a_377^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post37, length_32^0'=length_32^post37, y_22^0'=y_22^post37, __disjvr_6^0'=__disjvr_6^post37, rcd_228^0'=rcd_228^post37, __disjvr_16^0'=__disjvr_16^post37, i_120^0'=i_120^post37, __disjvr_26^0'=__disjvr_26^post37, temp1_30^0'=temp1_30^post37, nondet_12^0'=nondet_12^post37, z_252^0'=z_252^post37, a_27^0'=a_27^post37, rcd_46^0'=rcd_46^post37, __disjvr_20^0'=__disjvr_20^post37, len_286^0'=len_286^post37, __disjvr_3^0'=__disjvr_3^post37, rcd_113^0'=rcd_113^post37, __disjvr_13^0'=__disjvr_13^post37, head_13^0'=head_13^post37, __disjvr_23^0'=__disjvr_23^post37, t_24^0'=t_24^post37, lt_29^0'=lt_29^post37, z_188^0'=z_188^post37, __disjvr_8^0'=__disjvr_8^post37, rcd_264^0'=rcd_264^post37, rcd_356^0'=rcd_356^post37, __disjvr_18^0'=__disjvr_18^post37, i_33^0'=i_33^post37, __disjvr_28^0'=__disjvr_28^post37, tmp_37^0'=tmp_37^post37, r_236^0'=r_236^post37, z_279^0'=z_279^post37, __disjvr_10^0'=__disjvr_10^post37, a_347^0'=a_347^post37, result_11^0'=result_11^post37, __disjvr_22^0'=__disjvr_22^post37, x_SLAM_f_21^0'=x_SLAM_f_21^post37, __disjvr_5^0'=__disjvr_5^post37, rcd_226^0'=rcd_226^post37, __disjvr_15^0'=__disjvr_15^post37, i_111^0'=i_111^post37, __disjvr_25^0'=__disjvr_25^post37, temp0_34^0'=temp0_34^post37, lt_483^0'=lt_483^post37, z_238^0'=z_238^post37, a_166^0'=a_166^post37, a_267^0'=a_267^post37, rcd_396^0'=rcd_396^post37, __disjvr_1^0'=__disjvr_1^post37, len_266^0'=len_266^post37, __disjvr_2^0'=__disjvr_2^post37, rcd_105^0'=rcd_105^post37, z_389^0'=z_389^post37, __disjvr_12^0'=__disjvr_12^post37, ct_20^0'=ct_20^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, lt_17^0'=lt_17^post37, z_160^0'=z_160^post37, __disjvr_7^0'=__disjvr_7^post37, rcd_237^0'=rcd_237^post37, rcd_352^0'=rcd_352^post37, __disjvr_17^0'=__disjvr_17^post37, i_227^0'=i_227^post37, __disjvr_27^0'=__disjvr_27^post37, temp_38^0'=temp_38^post37, r_178^0'=r_178^post37, z_265^0'=z_265^post37, (0 == 0 /\ -x_23^0+y_22^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post37 == 0 /\ __disjvr_0^0-__disjvr_0^post37 == 0 /\ -z_279^post37+z_279^0 == 0 /\ -__disjvr_27^post37+__disjvr_27^0 == 0 /\ __disjvr_16^0-__disjvr_16^post37 == 0 /\ __disjvr_6^0-__disjvr_6^post37 == 0 /\ -rcd_352^post37+rcd_352^0 == 0 /\ length_32^0-length_32^post37 == 0 /\ -rcd_396^post37+rcd_396^0 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ -__disjvr_2^post37+__disjvr_2^0 == 0 /\ temp0_18^0-temp0_18^post37 == 0 /\ r_236^0-r_236^post37 == 0 /\ -i_111^post37+i_111^0 == 0 /\ lt_386^0-lt_386^post37 == 0 /\ -z_238^post37+z_238^0 == 0 /\ -rcd_228^post37+rcd_228^0 == 0 /\ -r_178^post37+r_178^0 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ rcd_113^0-rcd_113^post37 == 0 /\ rcd_264^0-rcd_264^post37 == 0 /\ -z_389^post37+z_389^0 == 0 /\ __disjvr_24^0-__disjvr_24^post37 == 0 /\ rcd_70^0-rcd_70^post37 == 0 /\ len_195^0-len_195^post37 == 0 /\ x_23^0-y_22^0 <= 0 /\ z_252^0-z_252^post37 == 0 /\ r_42^0-r_42^post37 == 0 /\ __disjvr_12^0-__disjvr_12^post37 == 0 /\ __disjvr_4^0-__disjvr_4^post37 == 0 /\ -z_160^post37+z_160^0 == 0 /\ -__disjvr_28^post37+__disjvr_28^0 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ a_166^0-a_166^post37 == 0 /\ -__disjvr_20^post37+__disjvr_20^0 == 0 /\ temp1_30^0-temp1_30^post37 == 0 /\ i_33^0-i_33^post37 == 0 /\ -temp_38^post37+temp_38^0 == 0 /\ -rcd_237^post37+rcd_237^0 == 0 /\ -__disjvr_22^post37+__disjvr_22^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post37+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ z_28^0-z_28^post37 == 0 /\ len_286^0-len_286^post37 == 0 /\ -__disjvr_1^post37+__disjvr_1^0 == 0 /\ __disjvr_21^0-__disjvr_21^post37 == 0 /\ __disjvr_23^0-__disjvr_23^post37 == 0 /\ z_188^0-z_188^post37 == 0 /\ a_210^0-a_210^post37 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ z_229^0-z_229^post37 == 0 /\ head_35^0-head_35^post37 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0 /\ -head_13^post37+head_13^0 == 0 /\ __disjvr_19^0-__disjvr_19^post37 == 0 /\ rcd_222^0-rcd_222^post37 == 0 /\ -a_377^post37+a_377^0 == 0 /\ a_27^0-a_27^post37 == 0 /\ __disjvr_18^0-__disjvr_18^post37 == 0 /\ -tmp_37^post37+tmp_37^0 == 0 /\ result_11^post37-temp0_18^0 == 0 /\ -rcd_105^post37+rcd_105^0 == 0 /\ -rcd_226^post37+rcd_226^0 == 0 /\ rcd_376^0-rcd_376^post37 == 0 /\ -a_347^post37+a_347^0 == 0 /\ -__disjvr_26^post37+__disjvr_26^0 == 0 /\ -__disjvr_7^post37+__disjvr_7^0 == 0 /\ __disjvr_11^0-__disjvr_11^post37 == 0 /\ rcd_46^0-rcd_46^post37 == 0 /\ -a_267^post37+a_267^0 == 0 /\ -rcd_356^post37+rcd_356^0 == 0 /\ -lt_29^post37+lt_29^0 == 0 /\ -__disjvr_29^post37+__disjvr_29^0 == 0 /\ i_227^0-i_227^post37 == 0 /\ -__disjvr_13^post37+__disjvr_13^0 == 0 /\ __disjvr_3^0-__disjvr_3^post37 == 0 /\ a_321^0-a_321^post37 == 0 /\ -__disjvr_25^post37+__disjvr_25^0 == 0 /\ -temp0_34^post37+temp0_34^0 == 0 /\ __disjvr_15^0-__disjvr_15^post37 == 0 /\ -__disjvr_5^post37+__disjvr_5^0 == 0 /\ -z_265^post37+z_265^0 == 0 /\ __disjvr_14^0-__disjvr_14^post37 == 0 /\ __disjvr_9^0-__disjvr_9^post37 == 0 /\ i_120^0-i_120^post37 == 0 /\ -len_266^post37+len_266^0 == 0), cost: 1
  38: l37 -> l1 : __disjvr_0^0'=__disjvr_0^post38, a_321^0'=a_321^post38, rcd_70^0'=rcd_70^post38, __disjvr_21^0'=__disjvr_21^post38, x_23^0'=x_23^post38, __disjvr_4^0'=__disjvr_4^post38, rcd_222^0'=rcd_222^post38, __disjvr_14^0'=__disjvr_14^post38, head_35^0'=head_35^post38, __disjvr_24^0'=__disjvr_24^post38, temp0_18^0'=temp0_18^post38, lt_386^0'=lt_386^post38, z_229^0'=z_229^post38, __disjvr_9^0'=__disjvr_9^post38, a_210^0'=a_210^post38, rcd_376^0'=rcd_376^post38, __disjvr_19^0'=__disjvr_19^post38, len_195^0'=len_195^post38, __disjvr_29^0'=__disjvr_29^post38, x_19^0'=x_19^post38, r_42^0'=r_42^post38, z_28^0'=z_28^post38, __disjvr_11^0'=__disjvr_11^post38, a_377^0'=a_377^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post38, length_32^0'=length_32^post38, y_22^0'=y_22^post38, __disjvr_6^0'=__disjvr_6^post38, rcd_228^0'=rcd_228^post38, __disjvr_16^0'=__disjvr_16^post38, i_120^0'=i_120^post38, __disjvr_26^0'=__disjvr_26^post38, temp1_30^0'=temp1_30^post38, nondet_12^0'=nondet_12^post38, z_252^0'=z_252^post38, a_27^0'=a_27^post38, rcd_46^0'=rcd_46^post38, __disjvr_20^0'=__disjvr_20^post38, len_286^0'=len_286^post38, __disjvr_3^0'=__disjvr_3^post38, rcd_113^0'=rcd_113^post38, __disjvr_13^0'=__disjvr_13^post38, head_13^0'=head_13^post38, __disjvr_23^0'=__disjvr_23^post38, t_24^0'=t_24^post38, lt_29^0'=lt_29^post38, z_188^0'=z_188^post38, __disjvr_8^0'=__disjvr_8^post38, rcd_264^0'=rcd_264^post38, rcd_356^0'=rcd_356^post38, __disjvr_18^0'=__disjvr_18^post38, i_33^0'=i_33^post38, __disjvr_28^0'=__disjvr_28^post38, tmp_37^0'=tmp_37^post38, r_236^0'=r_236^post38, z_279^0'=z_279^post38, __disjvr_10^0'=__disjvr_10^post38, a_347^0'=a_347^post38, result_11^0'=result_11^post38, __disjvr_22^0'=__disjvr_22^post38, x_SLAM_f_21^0'=x_SLAM_f_21^post38, __disjvr_5^0'=__disjvr_5^post38, rcd_226^0'=rcd_226^post38, __disjvr_15^0'=__disjvr_15^post38, i_111^0'=i_111^post38, __disjvr_25^0'=__disjvr_25^post38, temp0_34^0'=temp0_34^post38, lt_483^0'=lt_483^post38, z_238^0'=z_238^post38, a_166^0'=a_166^post38, a_267^0'=a_267^post38, rcd_396^0'=rcd_396^post38, __disjvr_1^0'=__disjvr_1^post38, len_266^0'=len_266^post38, __disjvr_2^0'=__disjvr_2^post38, rcd_105^0'=rcd_105^post38, z_389^0'=z_389^post38, __disjvr_12^0'=__disjvr_12^post38, ct_20^0'=ct_20^post38, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post38, lt_17^0'=lt_17^post38, z_160^0'=z_160^post38, __disjvr_7^0'=__disjvr_7^post38, rcd_237^0'=rcd_237^post38, rcd_352^0'=rcd_352^post38, __disjvr_17^0'=__disjvr_17^post38, i_227^0'=i_227^post38, __disjvr_27^0'=__disjvr_27^post38, temp_38^0'=temp_38^post38, r_178^0'=r_178^post38, z_265^0'=z_265^post38, (-a_347^post38+a_347^0 == 0 /\ -__disjvr_25^post38+__disjvr_25^0 == 0 /\ -__disjvr_3^post38+__disjvr_3^0 == 0 /\ lt_386^0-lt_386^post38 == 0 /\ __disjvr_0^0-__disjvr_0^post38 == 0 /\ i_120^0-i_120^post38 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post38+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -head_13^post38+head_13^0 == 0 /\ -rcd_46^post38+rcd_46^0 == 0 /\ tmp_37^0-tmp_37^post38 == 0 /\ -y_22^post38+y_22^0 == 0 /\ rcd_222^0-rcd_222^post38 == 0 /\ -r_178^post38+r_178^0 == 0 /\ -rcd_237^post38+rcd_237^0 == 0 /\ -r_236^post38+r_236^0 == 0 /\ -rcd_352^post38+rcd_352^0 == 0 /\ __disjvr_10^0-__disjvr_10^post38 == 0 /\ __disjvr_20^0-__disjvr_20^post38 == 0 /\ z_188^0-z_188^post38 == 0 /\ length_32^0-length_32^post38 == 0 /\ temp0_18^0-temp0_18^post38 == 0 /\ a_377^0-a_377^post38 == 0 /\ __disjvr_29^0-__disjvr_29^post38 == 0 /\ -t_24^post38+t_24^0 == 0 /\ -rcd_105^post38+rcd_105^0 == 0 /\ -ct_20^post38+ct_20^0 == 0 /\ __disjvr_22^0-__disjvr_22^post38 == 0 /\ -lt_17^post38+lt_17^0 == 0 /\ __disjvr_24^0-__disjvr_24^post38 == 0 /\ len_195^0-len_195^post38 == 0 /\ -r_42^post38+r_42^0 == 0 /\ -result_11^post38+result_11^0 == 0 /\ __disjvr_18^0-__disjvr_18^post38 == 0 /\ -temp_38^post38+temp_38^0 == 0 /\ -len_286^post38+len_286^0 == 0 /\ -__disjvr_7^post38+__disjvr_7^0 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ rcd_70^0-rcd_70^post38 == 0 /\ -z_279^post38+z_279^0 == 0 /\ -__disjvr_1^post38+__disjvr_1^0 == 0 /\ __disjvr_2^0-__disjvr_2^post38 == 0 /\ -i_33^post38+i_33^0 == 0 /\ __disjvr_19^0-__disjvr_19^post38 == 0 /\ z_28^0-z_28^post38 == 0 /\ rcd_264^0-rcd_264^post38 == 0 /\ -i_111^post38+i_111^0 == 0 /\ z_229^0-z_229^post38 == 0 /\ -i_227^post38+i_227^0 == 0 /\ -len_266^post38+len_266^0 == 0 /\ rcd_376^0-rcd_376^post38 == 0 /\ -lt_29^post38+lt_29^0 == 0 /\ -__disjvr_27^post38+__disjvr_27^0 == 0 /\ x_19^0-x_19^post38 == 0 /\ -__disjvr_5^post38+__disjvr_5^0 == 0 /\ __disjvr_13^0-__disjvr_13^post38 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post38 == 0 /\ -head_35^post38+head_35^0 == 0 /\ -z_238^post38+z_238^0 == 0 /\ __disjvr_4^0-__disjvr_4^post38 == 0 /\ -a_210^post38+a_210^0 == 0 /\ x_23^0-x_23^post38 == 0 /\ __disjvr_16^0-__disjvr_16^post38 == 0 /\ -z_389^post38+z_389^0 == 0 /\ -rcd_356^post38+rcd_356^0 == 0 /\ -__disjvr_12^post38+__disjvr_12^0 == 0 /\ -temp1_30^post38+temp1_30^0 == 0 /\ -__disjvr_28^post38+__disjvr_28^0 == 0 /\ -rcd_228^post38+rcd_228^0 == 0 /\ rcd_226^0-rcd_226^post38 == 0 /\ -__disjvr_19^0+__disjvr_19^post38 == 0 /\ -lt_483^post38+lt_483^0 == 0 /\ -rcd_396^post38+rcd_396^0 == 0 /\ -z_265^post38+z_265^0 == 0 /\ temp0_34^0-temp0_34^post38 == 0 /\ a_321^0-a_321^post38 == 0 /\ -__disjvr_15^post38+__disjvr_15^0 == 0 /\ -__disjvr_17^post38+__disjvr_17^0 == 0 /\ __disjvr_26^0-__disjvr_26^post38 == 0 /\ -a_267^post38+a_267^0 == 0 /\ __disjvr_9^0-__disjvr_9^post38 == 0 /\ z_252^0-z_252^post38 == 0 /\ __disjvr_11^0-__disjvr_11^post38 == 0 /\ -a_166^post38+a_166^0 == 0 /\ a_27^0-a_27^post38 == 0 /\ -rcd_113^post38+rcd_113^0 == 0 /\ __disjvr_23^0-__disjvr_23^post38 == 0 /\ -__disjvr_8^post38+__disjvr_8^0 == 0 /\ __disjvr_21^0-__disjvr_21^post38 == 0 /\ __disjvr_14^0-__disjvr_14^post38 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post38 == 0 /\ __disjvr_6^0-__disjvr_6^post38 == 0 /\ -z_160^post38+z_160^0 == 0), cost: 1
  40: l38 -> l40 : __disjvr_0^0'=__disjvr_0^post40, a_321^0'=a_321^post40, rcd_70^0'=rcd_70^post40, __disjvr_21^0'=__disjvr_21^post40, x_23^0'=x_23^post40, __disjvr_4^0'=__disjvr_4^post40, rcd_222^0'=rcd_222^post40, __disjvr_14^0'=__disjvr_14^post40, head_35^0'=head_35^post40, __disjvr_24^0'=__disjvr_24^post40, temp0_18^0'=temp0_18^post40, lt_386^0'=lt_386^post40, z_229^0'=z_229^post40, __disjvr_9^0'=__disjvr_9^post40, a_210^0'=a_210^post40, rcd_376^0'=rcd_376^post40, __disjvr_19^0'=__disjvr_19^post40, len_195^0'=len_195^post40, __disjvr_29^0'=__disjvr_29^post40, x_19^0'=x_19^post40, r_42^0'=r_42^post40, z_28^0'=z_28^post40, __disjvr_11^0'=__disjvr_11^post40, a_377^0'=a_377^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, y_22^0'=y_22^post40, __disjvr_6^0'=__disjvr_6^post40, rcd_228^0'=rcd_228^post40, __disjvr_16^0'=__disjvr_16^post40, i_120^0'=i_120^post40, __disjvr_26^0'=__disjvr_26^post40, temp1_30^0'=temp1_30^post40, nondet_12^0'=nondet_12^post40, z_252^0'=z_252^post40, a_27^0'=a_27^post40, rcd_46^0'=rcd_46^post40, __disjvr_20^0'=__disjvr_20^post40, len_286^0'=len_286^post40, __disjvr_3^0'=__disjvr_3^post40, rcd_113^0'=rcd_113^post40, __disjvr_13^0'=__disjvr_13^post40, head_13^0'=head_13^post40, __disjvr_23^0'=__disjvr_23^post40, t_24^0'=t_24^post40, lt_29^0'=lt_29^post40, z_188^0'=z_188^post40, __disjvr_8^0'=__disjvr_8^post40, rcd_264^0'=rcd_264^post40, rcd_356^0'=rcd_356^post40, __disjvr_18^0'=__disjvr_18^post40, i_33^0'=i_33^post40, __disjvr_28^0'=__disjvr_28^post40, tmp_37^0'=tmp_37^post40, r_236^0'=r_236^post40, z_279^0'=z_279^post40, __disjvr_10^0'=__disjvr_10^post40, a_347^0'=a_347^post40, result_11^0'=result_11^post40, __disjvr_22^0'=__disjvr_22^post40, x_SLAM_f_21^0'=x_SLAM_f_21^post40, __disjvr_5^0'=__disjvr_5^post40, rcd_226^0'=rcd_226^post40, __disjvr_15^0'=__disjvr_15^post40, i_111^0'=i_111^post40, __disjvr_25^0'=__disjvr_25^post40, temp0_34^0'=temp0_34^post40, lt_483^0'=lt_483^post40, z_238^0'=z_238^post40, a_166^0'=a_166^post40, a_267^0'=a_267^post40, rcd_396^0'=rcd_396^post40, __disjvr_1^0'=__disjvr_1^post40, len_266^0'=len_266^post40, __disjvr_2^0'=__disjvr_2^post40, rcd_105^0'=rcd_105^post40, z_389^0'=z_389^post40, __disjvr_12^0'=__disjvr_12^post40, ct_20^0'=ct_20^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, lt_17^0'=lt_17^post40, z_160^0'=z_160^post40, __disjvr_7^0'=__disjvr_7^post40, rcd_237^0'=rcd_237^post40, rcd_352^0'=rcd_352^post40, __disjvr_17^0'=__disjvr_17^post40, i_227^0'=i_227^post40, __disjvr_27^0'=__disjvr_27^post40, temp_38^0'=temp_38^post40, r_178^0'=r_178^post40, z_265^0'=z_265^post40, (0 == 0 /\ a_267^0-a_267^post40 == 0 /\ __disjvr_16^0-__disjvr_16^post40 == 0 /\ -__disjvr_5^post40+__disjvr_5^0 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ lt_386^0-lt_386^post40 == 0 /\ -rcd_237^post40+rcd_237^0 == 0 /\ -rcd_396^post40+rcd_396^0 == 0 /\ -rcd_105^post40+rcd_105^0 == 0 /\ -ct_20^post40+ct_20^0 == 0 /\ -x_SLAM_f_21^post40+x_SLAM_f_21^0 == 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ -lt_29^post40+lt_29^0 == 0 /\ temp0_18^0-temp0_18^post40 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ z_28^post40-a_27^11 <= 0 /\ z_28^post40-a_27^11 == 0 /\ rcd_376^0-rcd_376^post40 == 0 /\ a_321^0-a_321^post40 == 0 /\ rcd_356^0-rcd_356^post40 == 0 /\ -rcd_352^post40+rcd_352^0 == 0 /\ -r_178^post40+r_178^0 == 0 /\ head_13^0-z_28^post40 <= 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ -i_111^post40+i_111^0 == 0 /\ -head_35^0+temp0_34^110 == 0 /\ -z_160^post40+z_160^0 == 0 /\ rcd_264^0-rcd_264^post40 == 0 /\ __disjvr_20^0-__disjvr_20^post40 == 0 /\ z_252^0-z_252^post40 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ -__disjvr_8^post40+__disjvr_8^0 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ x_19^0-x_19^post40 == 0 /\ -z_28^post40+a_27^11 <= 0 /\ len_266^0-len_266^post40 == 0 /\ y_22^0-y_22^post40 == 0 /\ -lt_483^post40+lt_483^0 == 0 /\ -rcd_228^post40+rcd_228^0 == 0 /\ z_188^0-z_188^post40 == 0 /\ -head_13^0+z_28^post40 <= 0 /\ -i_33^0 <= 0 /\ temp1_30^0-temp1_30^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ -z_238^post40+z_238^0 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ -temp0_34^110+result_11^110 == 0 /\ -rcd_46^post40+rcd_46^0 == 0 /\ z_229^0-z_229^post40 == 0 /\ head_13^0-a_27^11 <= 0 /\ -__disjvr_11^post40+__disjvr_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -z_389^post40+z_389^0 == 0 /\ a_347^0-a_347^post40 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ a_210^0-a_210^post40 == 0 /\ x_23^0-x_23^post40 == 0 /\ -__disjvr_2^post40+__disjvr_2^0 == 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ -a_166^post40+a_166^0 == 0 /\ rcd_113^0-rcd_113^post40 == 0 /\ __disjvr_23^0-__disjvr_23^post40 == 0 /\ -head_13^0+a_27^11 <= 0 /\ -head_13^0+a_27^11 == 0 /\ -__disjvr_10^post40+__disjvr_10^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ -__disjvr_3^post40+__disjvr_3^0 == 0 /\ -lt_17^post40+lt_17^0 == 0 /\ -r_236^post40+r_236^0 == 0 /\ z_279^0-z_279^post40 == 0 /\ __disjvr_26^0-__disjvr_26^post40 == 0 /\ -__disjvr_18^post40+__disjvr_18^0 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ length_32^0-i_33^0 <= 0 /\ rcd_70^0-rcd_70^post40 == 0 /\ __disjvr_28^0-__disjvr_28^post40 == 0 /\ len_286^0-len_286^post40 == 0 /\ -len_195^post40+len_195^0 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ i_120^0-i_120^post40 == 0 /\ -i_120^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post40 == 0 /\ -a_377^post40+a_377^0 == 0 /\ t_24^0-t_24^post40 == 0 /\ -z_265^post40+z_265^0 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ r_42^0-r_42^post40 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0), cost: 1
  45: l38 -> l44 : __disjvr_0^0'=__disjvr_0^post45, a_321^0'=a_321^post45, rcd_70^0'=rcd_70^post45, __disjvr_21^0'=__disjvr_21^post45, x_23^0'=x_23^post45, __disjvr_4^0'=__disjvr_4^post45, rcd_222^0'=rcd_222^post45, __disjvr_14^0'=__disjvr_14^post45, head_35^0'=head_35^post45, __disjvr_24^0'=__disjvr_24^post45, temp0_18^0'=temp0_18^post45, lt_386^0'=lt_386^post45, z_229^0'=z_229^post45, __disjvr_9^0'=__disjvr_9^post45, a_210^0'=a_210^post45, rcd_376^0'=rcd_376^post45, __disjvr_19^0'=__disjvr_19^post45, len_195^0'=len_195^post45, __disjvr_29^0'=__disjvr_29^post45, x_19^0'=x_19^post45, r_42^0'=r_42^post45, z_28^0'=z_28^post45, __disjvr_11^0'=__disjvr_11^post45, a_377^0'=a_377^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post45, length_32^0'=length_32^post45, y_22^0'=y_22^post45, __disjvr_6^0'=__disjvr_6^post45, rcd_228^0'=rcd_228^post45, __disjvr_16^0'=__disjvr_16^post45, i_120^0'=i_120^post45, __disjvr_26^0'=__disjvr_26^post45, temp1_30^0'=temp1_30^post45, nondet_12^0'=nondet_12^post45, z_252^0'=z_252^post45, a_27^0'=a_27^post45, rcd_46^0'=rcd_46^post45, __disjvr_20^0'=__disjvr_20^post45, len_286^0'=len_286^post45, __disjvr_3^0'=__disjvr_3^post45, rcd_113^0'=rcd_113^post45, __disjvr_13^0'=__disjvr_13^post45, head_13^0'=head_13^post45, __disjvr_23^0'=__disjvr_23^post45, t_24^0'=t_24^post45, lt_29^0'=lt_29^post45, z_188^0'=z_188^post45, __disjvr_8^0'=__disjvr_8^post45, rcd_264^0'=rcd_264^post45, rcd_356^0'=rcd_356^post45, __disjvr_18^0'=__disjvr_18^post45, i_33^0'=i_33^post45, __disjvr_28^0'=__disjvr_28^post45, tmp_37^0'=tmp_37^post45, r_236^0'=r_236^post45, z_279^0'=z_279^post45, __disjvr_10^0'=__disjvr_10^post45, a_347^0'=a_347^post45, result_11^0'=result_11^post45, __disjvr_22^0'=__disjvr_22^post45, x_SLAM_f_21^0'=x_SLAM_f_21^post45, __disjvr_5^0'=__disjvr_5^post45, rcd_226^0'=rcd_226^post45, __disjvr_15^0'=__disjvr_15^post45, i_111^0'=i_111^post45, __disjvr_25^0'=__disjvr_25^post45, temp0_34^0'=temp0_34^post45, lt_483^0'=lt_483^post45, z_238^0'=z_238^post45, a_166^0'=a_166^post45, a_267^0'=a_267^post45, rcd_396^0'=rcd_396^post45, __disjvr_1^0'=__disjvr_1^post45, len_266^0'=len_266^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_105^0'=rcd_105^post45, z_389^0'=z_389^post45, __disjvr_12^0'=__disjvr_12^post45, ct_20^0'=ct_20^post45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, lt_17^0'=lt_17^post45, z_160^0'=z_160^post45, __disjvr_7^0'=__disjvr_7^post45, rcd_237^0'=rcd_237^post45, rcd_352^0'=rcd_352^post45, __disjvr_17^0'=__disjvr_17^post45, i_227^0'=i_227^post45, __disjvr_27^0'=__disjvr_27^post45, temp_38^0'=temp_38^post45, r_178^0'=r_178^post45, z_265^0'=z_265^post45, (0 == 0 /\ z_28^0-z_28^post45 == 0 /\ __disjvr_13^0-__disjvr_13^post45 == 0 /\ 1-length_32^0+i_111^post45 <= 0 /\ -__disjvr_11^post45+__disjvr_11^0 == 0 /\ -a_347^post45+a_347^0 == 0 /\ -ct_20^post45+ct_20^0 == 0 /\ z_229^0-z_229^post45 == 0 /\ -__disjvr_1^post45+__disjvr_1^0 == 0 /\ -rcd_352^post45+rcd_352^0 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ -__disjvr_25^post45+__disjvr_25^0 == 0 /\ -rcd_46^post45+rcd_113^post45 <= 0 /\ rcd_222^0-rcd_222^post45 == 0 /\ x_19^0-x_19^post45 == 0 /\ __disjvr_19^0-__disjvr_19^post45 == 0 /\ -__disjvr_22^post45+__disjvr_22^0 == 0 /\ rcd_228^0-rcd_228^post45 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post45 == 0 /\ -__disjvr_16^post45+__disjvr_16^0 == 0 /\ a_267^0-a_267^post45 == 0 /\ -z_265^post45+z_265^0 == 0 /\ x_23^0-x_23^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post45+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_264^post45+rcd_264^0 == 0 /\ -t_24^post45+t_24^0 == 0 /\ -rcd_237^post45+rcd_237^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ rcd_226^0-rcd_226^post45 == 0 /\ temp1_30^0-temp1_30^post45 == 0 /\ 1+i_111^post45-i_33^post45 <= 0 /\ -tmp_37^post45+head_35^post45 == 0 /\ r_236^0-r_236^post45 == 0 /\ -a_377^post45+a_377^0 == 0 /\ -temp0_34^post45+temp0_34^0 == 0 /\ __disjvr_4^0-__disjvr_4^post45 == 0 /\ __disjvr_26^0-__disjvr_26^post45 == 0 /\ rcd_46^post45-rcd_113^post45 <= 0 /\ z_389^0-z_389^post45 == 0 /\ a_321^0-a_321^post45 == 0 /\ a_27^0-a_27^post45 == 0 /\ -r_178^post45+r_178^0 == 0 /\ z_252^0-z_252^post45 == 0 /\ __disjvr_23^0-__disjvr_23^post45 == 0 /\ tmp_37^post45-temp_38^0 == 0 /\ -__disjvr_3^post45+__disjvr_3^0 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ -i_33^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ __disjvr_6^0-__disjvr_6^post45 == 0 /\ -len_266^post45+len_266^0 == 0 /\ -lt_17^post45+lt_17^0 == 0 /\ -z_279^post45+z_279^0 == 0 /\ __disjvr_21^0-__disjvr_21^post45 == 0 /\ lt_386^0-lt_386^post45 == 0 /\ -i_227^post45+i_227^0 == 0 /\ 1-length_32^0+i_33^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post45 == 0 /\ -length_32^post45+length_32^0 == 0 /\ lt_483^0-lt_483^post45 == 0 /\ rcd_46^0-rcd_113^post45 <= 0 /\ -lt_29^post45+lt_29^0 == 0 /\ -__disjvr_27^post45+__disjvr_27^0 == 0 /\ -x_SLAM_f_21^post45+x_SLAM_f_21^0 == 0 /\ i_120^0-i_120^post45 == 0 /\ z_188^0-z_188^post45 == 0 /\ len_286^0-len_286^post45 == 0 /\ rcd_356^0-rcd_356^post45 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ -z_238^post45+z_238^0 == 0 /\ head_13^0-head_13^post45 == 0 /\ __disjvr_29^0-__disjvr_29^post45 == 0 /\ -__disjvr_2^post45+__disjvr_2^0 == 0 /\ -__disjvr_28^post45+__disjvr_28^0 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ -__disjvr_9^post45+__disjvr_9^0 == 0 /\ r_42^0-r_42^post45 == 0 /\ __disjvr_18^0-__disjvr_18^post45 == 0 /\ -rcd_396^post45+rcd_396^0 == 0 /\ -1-i_111^post45+i_33^post45 <= 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0 /\ len_195^0-len_195^post45 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ -1-i_33^0+i_33^post45 == 0 /\ y_22^0-y_22^post45 == 0 /\ -rcd_46^0+rcd_113^post45 <= 0 /\ a_210^0-a_210^post45 == 0 /\ rcd_376^0-rcd_376^post45 == 0 /\ rcd_70^0-rcd_70^post45 == 0 /\ -a_166^post45+a_166^0 == 0 /\ -z_160^post45+z_160^0 == 0 /\ -__disjvr_8^post45+__disjvr_8^0 == 0 /\ -temp0_18^post45+temp0_18^0 == 0 /\ -__disjvr_10^post45+__disjvr_10^0 == 0), cost: 1
  41: l40 -> l41 : __disjvr_0^0'=__disjvr_0^post41, a_321^0'=a_321^post41, rcd_70^0'=rcd_70^post41, __disjvr_21^0'=__disjvr_21^post41, x_23^0'=x_23^post41, __disjvr_4^0'=__disjvr_4^post41, rcd_222^0'=rcd_222^post41, __disjvr_14^0'=__disjvr_14^post41, head_35^0'=head_35^post41, __disjvr_24^0'=__disjvr_24^post41, temp0_18^0'=temp0_18^post41, lt_386^0'=lt_386^post41, z_229^0'=z_229^post41, __disjvr_9^0'=__disjvr_9^post41, a_210^0'=a_210^post41, rcd_376^0'=rcd_376^post41, __disjvr_19^0'=__disjvr_19^post41, len_195^0'=len_195^post41, __disjvr_29^0'=__disjvr_29^post41, x_19^0'=x_19^post41, r_42^0'=r_42^post41, z_28^0'=z_28^post41, __disjvr_11^0'=__disjvr_11^post41, a_377^0'=a_377^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post41, length_32^0'=length_32^post41, y_22^0'=y_22^post41, __disjvr_6^0'=__disjvr_6^post41, rcd_228^0'=rcd_228^post41, __disjvr_16^0'=__disjvr_16^post41, i_120^0'=i_120^post41, __disjvr_26^0'=__disjvr_26^post41, temp1_30^0'=temp1_30^post41, nondet_12^0'=nondet_12^post41, z_252^0'=z_252^post41, a_27^0'=a_27^post41, rcd_46^0'=rcd_46^post41, __disjvr_20^0'=__disjvr_20^post41, len_286^0'=len_286^post41, __disjvr_3^0'=__disjvr_3^post41, rcd_113^0'=rcd_113^post41, __disjvr_13^0'=__disjvr_13^post41, head_13^0'=head_13^post41, __disjvr_23^0'=__disjvr_23^post41, t_24^0'=t_24^post41, lt_29^0'=lt_29^post41, z_188^0'=z_188^post41, __disjvr_8^0'=__disjvr_8^post41, rcd_264^0'=rcd_264^post41, rcd_356^0'=rcd_356^post41, __disjvr_18^0'=__disjvr_18^post41, i_33^0'=i_33^post41, __disjvr_28^0'=__disjvr_28^post41, tmp_37^0'=tmp_37^post41, r_236^0'=r_236^post41, z_279^0'=z_279^post41, __disjvr_10^0'=__disjvr_10^post41, a_347^0'=a_347^post41, result_11^0'=result_11^post41, __disjvr_22^0'=__disjvr_22^post41, x_SLAM_f_21^0'=x_SLAM_f_21^post41, __disjvr_5^0'=__disjvr_5^post41, rcd_226^0'=rcd_226^post41, __disjvr_15^0'=__disjvr_15^post41, i_111^0'=i_111^post41, __disjvr_25^0'=__disjvr_25^post41, temp0_34^0'=temp0_34^post41, lt_483^0'=lt_483^post41, z_238^0'=z_238^post41, a_166^0'=a_166^post41, a_267^0'=a_267^post41, rcd_396^0'=rcd_396^post41, __disjvr_1^0'=__disjvr_1^post41, len_266^0'=len_266^post41, __disjvr_2^0'=__disjvr_2^post41, rcd_105^0'=rcd_105^post41, z_389^0'=z_389^post41, __disjvr_12^0'=__disjvr_12^post41, ct_20^0'=ct_20^post41, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post41, lt_17^0'=lt_17^post41, z_160^0'=z_160^post41, __disjvr_7^0'=__disjvr_7^post41, rcd_237^0'=rcd_237^post41, rcd_352^0'=rcd_352^post41, __disjvr_17^0'=__disjvr_17^post41, i_227^0'=i_227^post41, __disjvr_27^0'=__disjvr_27^post41, temp_38^0'=temp_38^post41, r_178^0'=r_178^post41, z_265^0'=z_265^post41, (-z_188^post41+z_188^0 == 0 /\ z_229^0-z_229^post41 == 0 /\ -rcd_237^post41+rcd_237^0 == 0 /\ a_166^0-a_166^post41 == 0 /\ -rcd_396^post41+rcd_396^0 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ length_32^0-length_32^post41 == 0 /\ -rcd_352^post41+rcd_352^0 == 0 /\ head_35^0-head_35^post41 == 0 /\ -lt_17^post41+lt_17^0 == 0 /\ -result_11^post41+result_11^0 == 0 /\ -r_178^post41+r_178^0 == 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ -head_13^post41+head_13^0 == 0 /\ len_195^0-len_195^post41 == 0 /\ -__disjvr_7^post41+__disjvr_7^0 == 0 /\ r_42^0-r_42^post41 == 0 /\ a_377^0-a_377^post41 == 0 /\ -i_120^post41+i_120^0 == 0 /\ __disjvr_10^0-__disjvr_10^post41 == 0 /\ -ct_20^post41+ct_20^0 == 0 /\ -__disjvr_19^post41+__disjvr_19^0 == 0 /\ -rcd_105^post41+rcd_105^0 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ __disjvr_18^0-__disjvr_18^post41 == 0 /\ rcd_70^0-rcd_70^post41 == 0 /\ tmp_37^0-tmp_37^post41 == 0 /\ rcd_222^0-rcd_222^post41 == 0 /\ -z_252^post41+z_252^0 == 0 /\ len_266^0-len_266^post41 == 0 /\ a_210^0-a_210^post41 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ lt_29^0-lt_29^post41 == 0 /\ -y_22^post41+y_22^0 == 0 /\ -temp_38^post41+temp_38^0 == 0 /\ -__disjvr_5^post41+__disjvr_5^0 == 0 /\ -__disjvr_13^post41+__disjvr_13^0 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ __disjvr_24^0-__disjvr_24^post41 == 0 /\ -r_236^post41+r_236^0 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ z_28^0-z_28^post41 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ __disjvr_28^0-__disjvr_28^post41 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -z_279^post41+z_279^0 == 0 /\ -x_SLAM_f_21^post41+x_SLAM_f_21^0 == 0 /\ rcd_264^0-rcd_264^post41 == 0 /\ rcd_376^0-rcd_376^post41 == 0 /\ x_19^0-x_19^post41 == 0 /\ -__disjvr_14^post41+__disjvr_14^0 == 0 /\ -z_160^post41+z_160^0 == 0 /\ -i_111^post41+i_111^0 == 0 /\ temp0_18^0-temp0_18^post41 == 0 /\ len_286^0-len_286^post41 == 0 /\ -i_33^post41+i_33^0 == 0 /\ -__disjvr_27^post41+__disjvr_27^0 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ -__disjvr_20^post41+__disjvr_20^0 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ rcd_228^0-rcd_228^post41 == 0 /\ -z_238^post41+z_238^0 == 0 /\ -rcd_356^post41+rcd_356^0 == 0 /\ t_24^0-t_24^post41 == 0 /\ temp0_34^0-temp0_34^post41 == 0 /\ -a_267^post41+a_267^0 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ temp1_30^0-temp1_30^post41 == 0 /\ -lt_483^post41+lt_483^0 == 0 /\ -z_389^post41+z_389^0 == 0 /\ -rcd_226^post41+rcd_226^0 == 0 /\ i_227^0-i_227^post41 == 0 /\ -__disjvr_29^post41+__disjvr_29^0 == 0 /\ -__disjvr_2^post41+__disjvr_2^0 == 0 /\ x_23^0-x_23^post41 == 0 /\ a_27^0-a_27^post41 == 0 /\ -__disjvr_12^post41+__disjvr_12^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post41+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_321^0-a_321^post41 == 0 /\ -a_347^post41+a_347^0 == 0 /\ -rcd_46^post41+rcd_46^0 == 0 /\ lt_386^0-lt_386^post41 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ -z_265^post41+z_265^0 == 0 /\ -rcd_113^post41+rcd_113^0 == 0 /\ __disjvr_20^post41-__disjvr_20^0 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0), cost: 1
  42: l41 -> l42 : __disjvr_0^0'=__disjvr_0^post42, a_321^0'=a_321^post42, rcd_70^0'=rcd_70^post42, __disjvr_21^0'=__disjvr_21^post42, x_23^0'=x_23^post42, __disjvr_4^0'=__disjvr_4^post42, rcd_222^0'=rcd_222^post42, __disjvr_14^0'=__disjvr_14^post42, head_35^0'=head_35^post42, __disjvr_24^0'=__disjvr_24^post42, temp0_18^0'=temp0_18^post42, lt_386^0'=lt_386^post42, z_229^0'=z_229^post42, __disjvr_9^0'=__disjvr_9^post42, a_210^0'=a_210^post42, rcd_376^0'=rcd_376^post42, __disjvr_19^0'=__disjvr_19^post42, len_195^0'=len_195^post42, __disjvr_29^0'=__disjvr_29^post42, x_19^0'=x_19^post42, r_42^0'=r_42^post42, z_28^0'=z_28^post42, __disjvr_11^0'=__disjvr_11^post42, a_377^0'=a_377^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post42, length_32^0'=length_32^post42, y_22^0'=y_22^post42, __disjvr_6^0'=__disjvr_6^post42, rcd_228^0'=rcd_228^post42, __disjvr_16^0'=__disjvr_16^post42, i_120^0'=i_120^post42, __disjvr_26^0'=__disjvr_26^post42, temp1_30^0'=temp1_30^post42, nondet_12^0'=nondet_12^post42, z_252^0'=z_252^post42, a_27^0'=a_27^post42, rcd_46^0'=rcd_46^post42, __disjvr_20^0'=__disjvr_20^post42, len_286^0'=len_286^post42, __disjvr_3^0'=__disjvr_3^post42, rcd_113^0'=rcd_113^post42, __disjvr_13^0'=__disjvr_13^post42, head_13^0'=head_13^post42, __disjvr_23^0'=__disjvr_23^post42, t_24^0'=t_24^post42, lt_29^0'=lt_29^post42, z_188^0'=z_188^post42, __disjvr_8^0'=__disjvr_8^post42, rcd_264^0'=rcd_264^post42, rcd_356^0'=rcd_356^post42, __disjvr_18^0'=__disjvr_18^post42, i_33^0'=i_33^post42, __disjvr_28^0'=__disjvr_28^post42, tmp_37^0'=tmp_37^post42, r_236^0'=r_236^post42, z_279^0'=z_279^post42, __disjvr_10^0'=__disjvr_10^post42, a_347^0'=a_347^post42, result_11^0'=result_11^post42, __disjvr_22^0'=__disjvr_22^post42, x_SLAM_f_21^0'=x_SLAM_f_21^post42, __disjvr_5^0'=__disjvr_5^post42, rcd_226^0'=rcd_226^post42, __disjvr_15^0'=__disjvr_15^post42, i_111^0'=i_111^post42, __disjvr_25^0'=__disjvr_25^post42, temp0_34^0'=temp0_34^post42, lt_483^0'=lt_483^post42, z_238^0'=z_238^post42, a_166^0'=a_166^post42, a_267^0'=a_267^post42, rcd_396^0'=rcd_396^post42, __disjvr_1^0'=__disjvr_1^post42, len_266^0'=len_266^post42, __disjvr_2^0'=__disjvr_2^post42, rcd_105^0'=rcd_105^post42, z_389^0'=z_389^post42, __disjvr_12^0'=__disjvr_12^post42, ct_20^0'=ct_20^post42, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post42, lt_17^0'=lt_17^post42, z_160^0'=z_160^post42, __disjvr_7^0'=__disjvr_7^post42, rcd_237^0'=rcd_237^post42, rcd_352^0'=rcd_352^post42, __disjvr_17^0'=__disjvr_17^post42, i_227^0'=i_227^post42, __disjvr_27^0'=__disjvr_27^post42, temp_38^0'=temp_38^post42, r_178^0'=r_178^post42, z_265^0'=z_265^post42, (0 == 0 /\ rcd_396^0-rcd_396^post42 == 0 /\ -__disjvr_26^post42+__disjvr_26^0 == 0 /\ -z_238^post42+z_238^0 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -__disjvr_27^post42+__disjvr_27^0 == 0 /\ -rcd_113^post42+rcd_113^0 == 0 /\ -i_227^post42+i_227^0 == 0 /\ -len_266^post42+len_266^0 == 0 /\ -rcd_356^post42+rcd_356^0 == 0 /\ x_23^0-x_23^post42 == 0 /\ a_321^0-a_321^post42 == 0 /\ y_22^0-y_22^post42 == 0 /\ a_347^0-a_347^post42 == 0 /\ -__disjvr_20^post42+__disjvr_20^0 == 0 /\ -i_33^post42+i_33^0 == 0 /\ z_279^0-z_279^post42 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ __disjvr_5^0-__disjvr_5^post42 == 0 /\ len_195^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post42 == 0 /\ -rcd_222^0+rcd_46^0 <= 0 /\ -len_195^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post42 == 0 /\ __disjvr_14^0-__disjvr_14^post42 == 0 /\ -__disjvr_12^post42+__disjvr_12^0 == 0 /\ -z_160^post42+z_160^0 == 0 /\ __disjvr_3^0-__disjvr_3^post42 == 0 /\ -__disjvr_29^post42+__disjvr_29^0 == 0 /\ a_166^0-a_166^post42 == 0 /\ -__disjvr_8^post42+__disjvr_8^0 == 0 /\ -z_389^post42+z_389^0 == 0 /\ z_229^0-z_229^post42 == 0 /\ -z_265^post42+z_265^0 == 0 /\ -__disjvr_2^post42+__disjvr_2^0 == 0 /\ __disjvr_19^0-__disjvr_19^post42 == 0 /\ rcd_264^0-rcd_264^post42 == 0 /\ __disjvr_11^0-__disjvr_11^post42 == 0 /\ -__disjvr_15^post42+__disjvr_15^0 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -a_267^post42+a_267^0 == 0 /\ __disjvr_16^0-__disjvr_16^post42 == 0 /\ -lt_483^post42+lt_483^0 == 0 /\ a_377^0-a_377^post42 == 0 /\ length_32^0-length_32^post42 == 0 /\ ct_20^0-ct_20^post42 == 0 /\ r_42^0-r_42^post42 == 0 /\ rcd_222^0-rcd_46^0 <= 0 /\ temp0_18^0-temp0_18^post42 == 0 /\ -rcd_352^post42+rcd_352^0 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ -tmp_37^post42+tmp_37^0 == 0 /\ len_195^0-len_195^post42 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post42+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_27^0-head_13^0 <= 0 /\ -lt_386^post42+lt_386^0 == 0 /\ -rcd_226^post42+rcd_226^0 == 0 /\ -__disjvr_22^post42+__disjvr_22^0 == 0 /\ -r_178^post42+r_178^0 == 0 /\ temp1_30^0-temp1_30^post42 == 0 /\ -z_188^post42+z_188^0 == 0 /\ -r_236^post42+r_236^0 == 0 /\ a_210^0-a_210^post42 == 0 /\ -a_210^0+i_120^0 <= 0 /\ -head_13^post42+head_13^0 == 0 /\ -rcd_237^post42+rcd_237^0 == 0 /\ rcd_70^0-rcd_70^post42 == 0 /\ z_28^post42-z_160^0 <= 0 /\ rcd_46^0-rcd_46^post42 == 0 /\ __disjvr_25^0-__disjvr_25^post42 == 0 /\ __disjvr_9^0-__disjvr_9^post42 == 0 /\ -temp0_34^post42+temp0_34^0 == 0 /\ __disjvr_28^0-__disjvr_28^post42 == 0 /\ -lt_17^post42+lt_17^0 == 0 /\ -z_252^post42+z_252^0 == 0 /\ -a_27^0+head_13^0 <= 0 /\ rcd_222^0-rcd_222^post42 == 0 /\ head_35^0-head_35^post42 == 0 /\ -__disjvr_23^post42+__disjvr_23^0 == 0 /\ -temp_38^post42+temp_38^0 == 0 /\ -rcd_105^post42+rcd_105^0 == 0 /\ -__disjvr_1^post42+__disjvr_1^0 == 0 /\ rcd_376^0-rcd_376^post42 == 0 /\ x_19^0-x_19^post42 == 0 /\ -a_27^post42+a_27^0 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ -__disjvr_18^post42+__disjvr_18^0 == 0 /\ i_111^0-i_111^post42 == 0 /\ -len_286^post42+len_286^0 == 0 /\ a_210^0-i_120^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post42 == 0 /\ rcd_228^0-rcd_228^post42 == 0 /\ __disjvr_4^0-__disjvr_4^post42 == 0 /\ -i_120^post42+i_120^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ t_24^0-t_24^post42 == 0 /\ -z_28^post42+z_160^0 <= 0 /\ -x_SLAM_f_21^post42+x_SLAM_f_21^0 == 0 /\ __disjvr_0^0-__disjvr_0^post42 == 0), cost: 1
  43: l42 -> l43 : __disjvr_0^0'=__disjvr_0^post43, a_321^0'=a_321^post43, rcd_70^0'=rcd_70^post43, __disjvr_21^0'=__disjvr_21^post43, x_23^0'=x_23^post43, __disjvr_4^0'=__disjvr_4^post43, rcd_222^0'=rcd_222^post43, __disjvr_14^0'=__disjvr_14^post43, head_35^0'=head_35^post43, __disjvr_24^0'=__disjvr_24^post43, temp0_18^0'=temp0_18^post43, lt_386^0'=lt_386^post43, z_229^0'=z_229^post43, __disjvr_9^0'=__disjvr_9^post43, a_210^0'=a_210^post43, rcd_376^0'=rcd_376^post43, __disjvr_19^0'=__disjvr_19^post43, len_195^0'=len_195^post43, __disjvr_29^0'=__disjvr_29^post43, x_19^0'=x_19^post43, r_42^0'=r_42^post43, z_28^0'=z_28^post43, __disjvr_11^0'=__disjvr_11^post43, a_377^0'=a_377^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post43, length_32^0'=length_32^post43, y_22^0'=y_22^post43, __disjvr_6^0'=__disjvr_6^post43, rcd_228^0'=rcd_228^post43, __disjvr_16^0'=__disjvr_16^post43, i_120^0'=i_120^post43, __disjvr_26^0'=__disjvr_26^post43, temp1_30^0'=temp1_30^post43, nondet_12^0'=nondet_12^post43, z_252^0'=z_252^post43, a_27^0'=a_27^post43, rcd_46^0'=rcd_46^post43, __disjvr_20^0'=__disjvr_20^post43, len_286^0'=len_286^post43, __disjvr_3^0'=__disjvr_3^post43, rcd_113^0'=rcd_113^post43, __disjvr_13^0'=__disjvr_13^post43, head_13^0'=head_13^post43, __disjvr_23^0'=__disjvr_23^post43, t_24^0'=t_24^post43, lt_29^0'=lt_29^post43, z_188^0'=z_188^post43, __disjvr_8^0'=__disjvr_8^post43, rcd_264^0'=rcd_264^post43, rcd_356^0'=rcd_356^post43, __disjvr_18^0'=__disjvr_18^post43, i_33^0'=i_33^post43, __disjvr_28^0'=__disjvr_28^post43, tmp_37^0'=tmp_37^post43, r_236^0'=r_236^post43, z_279^0'=z_279^post43, __disjvr_10^0'=__disjvr_10^post43, a_347^0'=a_347^post43, result_11^0'=result_11^post43, __disjvr_22^0'=__disjvr_22^post43, x_SLAM_f_21^0'=x_SLAM_f_21^post43, __disjvr_5^0'=__disjvr_5^post43, rcd_226^0'=rcd_226^post43, __disjvr_15^0'=__disjvr_15^post43, i_111^0'=i_111^post43, __disjvr_25^0'=__disjvr_25^post43, temp0_34^0'=temp0_34^post43, lt_483^0'=lt_483^post43, z_238^0'=z_238^post43, a_166^0'=a_166^post43, a_267^0'=a_267^post43, rcd_396^0'=rcd_396^post43, __disjvr_1^0'=__disjvr_1^post43, len_266^0'=len_266^post43, __disjvr_2^0'=__disjvr_2^post43, rcd_105^0'=rcd_105^post43, z_389^0'=z_389^post43, __disjvr_12^0'=__disjvr_12^post43, ct_20^0'=ct_20^post43, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post43, lt_17^0'=lt_17^post43, z_160^0'=z_160^post43, __disjvr_7^0'=__disjvr_7^post43, rcd_237^0'=rcd_237^post43, rcd_352^0'=rcd_352^post43, __disjvr_17^0'=__disjvr_17^post43, i_227^0'=i_227^post43, __disjvr_27^0'=__disjvr_27^post43, temp_38^0'=temp_38^post43, r_178^0'=r_178^post43, z_265^0'=z_265^post43, (__disjvr_21^0-__disjvr_21^post43 == 0 /\ lt_386^0-lt_386^post43 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post43+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -__disjvr_25^post43+__disjvr_25^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ -__disjvr_16^post43+__disjvr_16^0 == 0 /\ t_24^0-t_24^post43 == 0 /\ -rcd_237^post43+rcd_237^0 == 0 /\ z_238^0-z_238^post43 == 0 /\ -lt_17^post43+lt_17^0 == 0 /\ len_286^0-len_286^post43 == 0 /\ -rcd_352^post43+rcd_352^0 == 0 /\ temp0_18^0-temp0_18^post43 == 0 /\ a_377^0-a_377^post43 == 0 /\ -rcd_396^post43+rcd_396^0 == 0 /\ -rcd_264^post43+rcd_264^0 == 0 /\ head_13^0-head_13^post43 == 0 /\ -ct_20^post43+ct_20^0 == 0 /\ -rcd_105^post43+rcd_105^0 == 0 /\ -rcd_226^post43+rcd_226^0 == 0 /\ rcd_228^0-rcd_228^post43 == 0 /\ -r_178^post43+r_178^0 == 0 /\ i_33^0-i_33^post43 == 0 /\ -__disjvr_21^0+__disjvr_21^post43 == 0 /\ -__disjvr_18^post43+__disjvr_18^0 == 0 /\ temp1_30^0-temp1_30^post43 == 0 /\ r_42^0-r_42^post43 == 0 /\ len_195^0-len_195^post43 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ -a_27^post43+a_27^0 == 0 /\ __disjvr_12^0-__disjvr_12^post43 == 0 /\ z_279^0-z_279^post43 == 0 /\ -__disjvr_7^post43+__disjvr_7^0 == 0 /\ __disjvr_8^0-__disjvr_8^post43 == 0 /\ rcd_113^0-rcd_113^post43 == 0 /\ y_22^0-y_22^post43 == 0 /\ __disjvr_6^0-__disjvr_6^post43 == 0 /\ z_252^0-z_252^post43 == 0 /\ rcd_46^0-rcd_46^post43 == 0 /\ -len_266^post43+len_266^0 == 0 /\ -temp_38^post43+temp_38^0 == 0 /\ -temp0_34^post43+temp0_34^0 == 0 /\ __disjvr_1^0-__disjvr_1^post43 == 0 /\ -__disjvr_3^post43+__disjvr_3^0 == 0 /\ -__disjvr_13^post43+__disjvr_13^0 == 0 /\ __disjvr_19^0-__disjvr_19^post43 == 0 /\ z_28^0-z_28^post43 == 0 /\ z_229^0-z_229^post43 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ -rcd_376^post43+rcd_376^0 == 0 /\ a_347^0-a_347^post43 == 0 /\ length_32^0-length_32^post43 == 0 /\ x_19^0-x_19^post43 == 0 /\ -x_SLAM_f_21^post43+x_SLAM_f_21^0 == 0 /\ i_120^0-i_120^post43 == 0 /\ head_35^0-head_35^post43 == 0 /\ __disjvr_20^0-__disjvr_20^post43 == 0 /\ x_23^0-x_23^post43 == 0 /\ -i_227^post43+i_227^0 == 0 /\ -__disjvr_26^post43+__disjvr_26^0 == 0 /\ z_160^0-z_160^post43 == 0 /\ -z_389^post43+z_389^0 == 0 /\ -rcd_356^post43+rcd_356^0 == 0 /\ -lt_29^post43+lt_29^0 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0 /\ -__disjvr_27^post43+__disjvr_27^0 == 0 /\ -__disjvr_4^post43+__disjvr_4^0 == 0 /\ z_188^0-z_188^post43 == 0 /\ i_111^0-i_111^post43 == 0 /\ -__disjvr_28^post43+__disjvr_28^0 == 0 /\ -lt_483^post43+lt_483^0 == 0 /\ -z_265^post43+z_265^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ r_236^0-r_236^post43 == 0 /\ a_210^0-a_210^post43 == 0 /\ a_321^0-a_321^post43 == 0 /\ rcd_70^0-rcd_70^post43 == 0 /\ -__disjvr_29^post43+__disjvr_29^0 == 0 /\ -__disjvr_10^post43+__disjvr_10^0 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ rcd_222^0-rcd_222^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ -a_166^post43+a_166^0 == 0 /\ __disjvr_23^0-__disjvr_23^post43 == 0 /\ -__disjvr_15^post43+__disjvr_15^0 == 0 /\ __disjvr_14^0-__disjvr_14^post43 == 0 /\ -__disjvr_22^post43+__disjvr_22^0 == 0 /\ -a_267^post43+a_267^0 == 0 /\ -tmp_37^post43+tmp_37^0 == 0), cost: 1
  44: l43 -> l39 : __disjvr_0^0'=__disjvr_0^post44, a_321^0'=a_321^post44, rcd_70^0'=rcd_70^post44, __disjvr_21^0'=__disjvr_21^post44, x_23^0'=x_23^post44, __disjvr_4^0'=__disjvr_4^post44, rcd_222^0'=rcd_222^post44, __disjvr_14^0'=__disjvr_14^post44, head_35^0'=head_35^post44, __disjvr_24^0'=__disjvr_24^post44, temp0_18^0'=temp0_18^post44, lt_386^0'=lt_386^post44, z_229^0'=z_229^post44, __disjvr_9^0'=__disjvr_9^post44, a_210^0'=a_210^post44, rcd_376^0'=rcd_376^post44, __disjvr_19^0'=__disjvr_19^post44, len_195^0'=len_195^post44, __disjvr_29^0'=__disjvr_29^post44, x_19^0'=x_19^post44, r_42^0'=r_42^post44, z_28^0'=z_28^post44, __disjvr_11^0'=__disjvr_11^post44, a_377^0'=a_377^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post44, length_32^0'=length_32^post44, y_22^0'=y_22^post44, __disjvr_6^0'=__disjvr_6^post44, rcd_228^0'=rcd_228^post44, __disjvr_16^0'=__disjvr_16^post44, i_120^0'=i_120^post44, __disjvr_26^0'=__disjvr_26^post44, temp1_30^0'=temp1_30^post44, nondet_12^0'=nondet_12^post44, z_252^0'=z_252^post44, a_27^0'=a_27^post44, rcd_46^0'=rcd_46^post44, __disjvr_20^0'=__disjvr_20^post44, len_286^0'=len_286^post44, __disjvr_3^0'=__disjvr_3^post44, rcd_113^0'=rcd_113^post44, __disjvr_13^0'=__disjvr_13^post44, head_13^0'=head_13^post44, __disjvr_23^0'=__disjvr_23^post44, t_24^0'=t_24^post44, lt_29^0'=lt_29^post44, z_188^0'=z_188^post44, __disjvr_8^0'=__disjvr_8^post44, rcd_264^0'=rcd_264^post44, rcd_356^0'=rcd_356^post44, __disjvr_18^0'=__disjvr_18^post44, i_33^0'=i_33^post44, __disjvr_28^0'=__disjvr_28^post44, tmp_37^0'=tmp_37^post44, r_236^0'=r_236^post44, z_279^0'=z_279^post44, __disjvr_10^0'=__disjvr_10^post44, a_347^0'=a_347^post44, result_11^0'=result_11^post44, __disjvr_22^0'=__disjvr_22^post44, x_SLAM_f_21^0'=x_SLAM_f_21^post44, __disjvr_5^0'=__disjvr_5^post44, rcd_226^0'=rcd_226^post44, __disjvr_15^0'=__disjvr_15^post44, i_111^0'=i_111^post44, __disjvr_25^0'=__disjvr_25^post44, temp0_34^0'=temp0_34^post44, lt_483^0'=lt_483^post44, z_238^0'=z_238^post44, a_166^0'=a_166^post44, a_267^0'=a_267^post44, rcd_396^0'=rcd_396^post44, __disjvr_1^0'=__disjvr_1^post44, len_266^0'=len_266^post44, __disjvr_2^0'=__disjvr_2^post44, rcd_105^0'=rcd_105^post44, z_389^0'=z_389^post44, __disjvr_12^0'=__disjvr_12^post44, ct_20^0'=ct_20^post44, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post44, lt_17^0'=lt_17^post44, z_160^0'=z_160^post44, __disjvr_7^0'=__disjvr_7^post44, rcd_237^0'=rcd_237^post44, rcd_352^0'=rcd_352^post44, __disjvr_17^0'=__disjvr_17^post44, i_227^0'=i_227^post44, __disjvr_27^0'=__disjvr_27^post44, temp_38^0'=temp_38^post44, r_178^0'=r_178^post44, z_265^0'=z_265^post44, (__disjvr_24^0-__disjvr_24^post44 == 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ -length_32^post44+length_32^0 == 0 /\ temp1_30^0-temp1_30^post44 == 0 /\ -i_111^post44+i_111^0 == 0 /\ len_286^0-len_286^post44 == 0 /\ -__disjvr_27^post44+__disjvr_27^0 == 0 /\ -len_266^post44+len_266^0 == 0 /\ rcd_113^0-rcd_113^post44 == 0 /\ a_210^0-a_210^post44 == 0 /\ __disjvr_5^0-__disjvr_5^post44 == 0 /\ -i_227^post44+i_227^0 == 0 /\ rcd_70^0-rcd_70^post44 == 0 /\ a_321^0-a_321^post44 == 0 /\ __disjvr_6^0-__disjvr_6^post44 == 0 /\ -rcd_356^post44+rcd_356^0 == 0 /\ -lt_29^post44+lt_29^0 == 0 /\ z_28^0-z_28^post44 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_20^post44+__disjvr_20^0 == 0 /\ i_120^0-i_120^post44 == 0 /\ -a_166^post44+a_166^0 == 0 /\ -nondet_12^post44+nondet_12^0 == 0 /\ -z_265^post44+z_265^0 == 0 /\ head_35^0-head_35^post44 == 0 /\ rcd_46^0-rcd_46^post44 == 0 /\ -rcd_396^post44+rcd_396^0 == 0 /\ rcd_105^0-rcd_105^post44 == 0 /\ -z_160^post44+z_160^0 == 0 /\ rcd_222^0-rcd_222^post44 == 0 /\ -__disjvr_2^post44+__disjvr_2^0 == 0 /\ -z_389^post44+z_389^0 == 0 /\ __disjvr_28^0-__disjvr_28^post44 == 0 /\ z_279^0-z_279^post44 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ x_19^0-x_19^post44 == 0 /\ __disjvr_4^0-__disjvr_4^post44 == 0 /\ -__disjvr_9^post44+__disjvr_9^0 == 0 /\ a_267^0-a_267^post44 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0 /\ t_24^0-t_24^post44 == 0 /\ z_238^0-z_238^post44 == 0 /\ -lt_483^post44+lt_483^0 == 0 /\ __disjvr_16^0-__disjvr_16^post44 == 0 /\ z_188^0-z_188^post44 == 0 /\ -rcd_228^post44+rcd_228^0 == 0 /\ -__disjvr_22^post44+__disjvr_22^0 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ -r_178^post44+r_178^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_227^0 <= 0 /\ -rcd_352^post44+rcd_352^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ __disjvr_26^0-__disjvr_26^post44 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post44+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -tmp_37^post44+tmp_37^0 == 0 /\ -rcd_226^post44+rcd_226^0 == 0 /\ -rcd_237^post44+rcd_237^0 == 0 /\ -__disjvr_10^post44+__disjvr_10^0 == 0 /\ y_22^0-y_22^post44 == 0 /\ x_23^0-x_23^post44 == 0 /\ -rcd_264^post44+rcd_264^0 == 0 /\ -lt_386^post44+lt_386^0 == 0 /\ z_252^0-z_252^post44 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ __disjvr_11^0-__disjvr_11^post44 == 0 /\ a_347^0-a_347^post44 == 0 /\ -a_27^post44+a_27^0 == 0 /\ -ct_20^post44+ct_20^0 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ -__disjvr_25^post44+__disjvr_25^0 == 0 /\ __disjvr_8^0-__disjvr_8^post44 == 0 /\ __disjvr_23^0-__disjvr_23^post44 == 0 /\ -a_377^post44+a_377^0 == 0 /\ -r_236^post44+r_236^0 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ -__disjvr_7^post44+__disjvr_7^0 == 0 /\ result_11^0-result_11^post44 == 0 /\ z_229^0-z_229^post44 == 0 /\ -lt_17^post44+lt_17^0 == 0 /\ -temp0_34^post44+temp0_34^0 == 0 /\ head_13^0-head_13^post44 == 0 /\ -__disjvr_13^post44+__disjvr_13^0 == 0 /\ -rcd_376^post44+rcd_376^0 == 0 /\ -__disjvr_18^post44+__disjvr_18^0 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post44 == 0 /\ i_33^0-i_33^post44 == 0 /\ -len_195^post44+len_195^0 == 0 /\ r_42^0-r_42^post44 == 0 /\ -x_SLAM_f_21^post44+x_SLAM_f_21^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ temp0_18^0-temp0_18^post44 == 0 /\ -temp_38^post44+temp_38^0 == 0 /\ __disjvr_15^0-__disjvr_15^post44 == 0), cost: 1
  49: l39 -> l46 : __disjvr_0^0'=__disjvr_0^post49, a_321^0'=a_321^post49, rcd_70^0'=rcd_70^post49, __disjvr_21^0'=__disjvr_21^post49, x_23^0'=x_23^post49, __disjvr_4^0'=__disjvr_4^post49, rcd_222^0'=rcd_222^post49, __disjvr_14^0'=__disjvr_14^post49, head_35^0'=head_35^post49, __disjvr_24^0'=__disjvr_24^post49, temp0_18^0'=temp0_18^post49, lt_386^0'=lt_386^post49, z_229^0'=z_229^post49, __disjvr_9^0'=__disjvr_9^post49, a_210^0'=a_210^post49, rcd_376^0'=rcd_376^post49, __disjvr_19^0'=__disjvr_19^post49, len_195^0'=len_195^post49, __disjvr_29^0'=__disjvr_29^post49, x_19^0'=x_19^post49, r_42^0'=r_42^post49, z_28^0'=z_28^post49, __disjvr_11^0'=__disjvr_11^post49, a_377^0'=a_377^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post49, length_32^0'=length_32^post49, y_22^0'=y_22^post49, __disjvr_6^0'=__disjvr_6^post49, rcd_228^0'=rcd_228^post49, __disjvr_16^0'=__disjvr_16^post49, i_120^0'=i_120^post49, __disjvr_26^0'=__disjvr_26^post49, temp1_30^0'=temp1_30^post49, nondet_12^0'=nondet_12^post49, z_252^0'=z_252^post49, a_27^0'=a_27^post49, rcd_46^0'=rcd_46^post49, __disjvr_20^0'=__disjvr_20^post49, len_286^0'=len_286^post49, __disjvr_3^0'=__disjvr_3^post49, rcd_113^0'=rcd_113^post49, __disjvr_13^0'=__disjvr_13^post49, head_13^0'=head_13^post49, __disjvr_23^0'=__disjvr_23^post49, t_24^0'=t_24^post49, lt_29^0'=lt_29^post49, z_188^0'=z_188^post49, __disjvr_8^0'=__disjvr_8^post49, rcd_264^0'=rcd_264^post49, rcd_356^0'=rcd_356^post49, __disjvr_18^0'=__disjvr_18^post49, i_33^0'=i_33^post49, __disjvr_28^0'=__disjvr_28^post49, tmp_37^0'=tmp_37^post49, r_236^0'=r_236^post49, z_279^0'=z_279^post49, __disjvr_10^0'=__disjvr_10^post49, a_347^0'=a_347^post49, result_11^0'=result_11^post49, __disjvr_22^0'=__disjvr_22^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post49, __disjvr_5^0'=__disjvr_5^post49, rcd_226^0'=rcd_226^post49, __disjvr_15^0'=__disjvr_15^post49, i_111^0'=i_111^post49, __disjvr_25^0'=__disjvr_25^post49, temp0_34^0'=temp0_34^post49, lt_483^0'=lt_483^post49, z_238^0'=z_238^post49, a_166^0'=a_166^post49, a_267^0'=a_267^post49, rcd_396^0'=rcd_396^post49, __disjvr_1^0'=__disjvr_1^post49, len_266^0'=len_266^post49, __disjvr_2^0'=__disjvr_2^post49, rcd_105^0'=rcd_105^post49, z_389^0'=z_389^post49, __disjvr_12^0'=__disjvr_12^post49, ct_20^0'=ct_20^post49, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, lt_17^0'=lt_17^post49, z_160^0'=z_160^post49, __disjvr_7^0'=__disjvr_7^post49, rcd_237^0'=rcd_237^post49, rcd_352^0'=rcd_352^post49, __disjvr_17^0'=__disjvr_17^post49, i_227^0'=i_227^post49, __disjvr_27^0'=__disjvr_27^post49, temp_38^0'=temp_38^post49, r_178^0'=r_178^post49, z_265^0'=z_265^post49, (0 == 0 /\ -__disjvr_7^post49+__disjvr_7^0 == 0 /\ r_236^0-r_236^post49 == 0 /\ i_33^0-i_33^post49 == 0 /\ -z_389^post49+z_389^0 == 0 /\ -a_210^0 <= 0 /\ t_24^0-t_24^post49 == 0 /\ __disjvr_8^0-__disjvr_8^post49 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ z_188^0-z_188^post49 == 0 /\ -y_22^post49 <= 0 /\ -__disjvr_12^post49+__disjvr_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post49 == 0 /\ ct_20^post49-y_22^post49 <= 0 /\ rcd_46^0-rcd_46^post49 == 0 /\ -temp0_34^post49+temp0_34^0 == 0 /\ -__disjvr_28^post49+__disjvr_28^0 == 0 /\ z_238^0-z_238^post49 == 0 /\ -rcd_228^post49+rcd_228^0 == 0 /\ -temp_38^post49+temp_38^0 == 0 /\ a_377^0-a_377^post49 == 0 /\ -__disjvr_3^post49+__disjvr_3^0 == 0 /\ -length_32^post49+length_32^0 == 0 /\ -len_195^0 <= 0 /\ x_23^post49-lt_17^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post49 == 0 /\ rcd_70^0-rcd_70^post49 == 0 /\ head_35^0-head_35^post49 == 0 /\ __disjvr_20^0-__disjvr_20^post49 == 0 /\ rcd_222^0-rcd_222^post49 == 0 /\ -__disjvr_10^post49+__disjvr_10^0 == 0 /\ -rcd_264^post49+rcd_264^0 == 0 /\ -len_286^post49+len_286^0 == 0 /\ -lt_29^0 <= 0 /\ a_267^0-a_267^post49 == 0 /\ -z_160^post49+z_160^0 == 0 /\ ct_20^post49 <= 0 /\ ct_20^post49 == 0 /\ -tmp_37^post49+tmp_37^0 == 0 /\ -ct_20^post49+y_22^post49 <= 0 /\ -ct_20^post49+y_22^post49 == 0 /\ -rcd_396^post49+rcd_396^0 == 0 /\ -i_111^post49+i_111^0 == 0 /\ -1-len_195^0+len_286^0 <= 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ -i_227^post49+i_227^0 == 0 /\ -x_23^post49+lt_17^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post49 == 0 /\ i_120^0-i_120^post49 == 0 /\ -a_210^post49+a_210^0 == 0 /\ -__disjvr_23^post49+__disjvr_23^0 == 0 /\ head_13^0-head_13^post49 == 0 /\ __disjvr_26^0-__disjvr_26^post49 == 0 /\ __disjvr_1^0-__disjvr_1^post49 == 0 /\ len_266^0-len_266^post49 == 0 /\ lt_29^0 <= 0 /\ rcd_237^0-rcd_237^post49 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post49 == 0 /\ __disjvr_15^0-__disjvr_15^post49 == 0 /\ __disjvr_11^0-__disjvr_11^post49 == 0 /\ __disjvr_6^0-__disjvr_6^post49 == 0 /\ __disjvr_16^0-__disjvr_16^post49 == 0 /\ x_SLAM_f_21^post49-lt_17^0 <= 0 /\ -__disjvr_24^post49+__disjvr_24^0 == 0 /\ -ct_20^post49 <= 0 /\ x_SLAM_f_21^post49-x_19^post49 <= 0 /\ x_SLAM_f_21^post49-x_19^post49 == 0 /\ -rcd_105^post49+rcd_105^0 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -rcd_356^post49+rcd_356^0 == 0 /\ len_195^0-len_195^post49 == 0 /\ -__disjvr_18^post49+__disjvr_18^0 == 0 /\ y_22^post49 <= 0 /\ __disjvr_21^0-__disjvr_21^post49 == 0 /\ x_19^post49-lt_17^0 <= 0 /\ x_19^post49-lt_17^0 == 0 /\ -lt_483^post49+lt_483^0 == 0 /\ -a_347^post49+a_347^0 == 0 /\ x_23^post49-x_SLAM_f_21^post49 <= 0 /\ x_23^post49-x_SLAM_f_21^post49 == 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ -__disjvr_22^post49+__disjvr_22^0 == 0 /\ __disjvr_19^0-__disjvr_19^post49 == 0 /\ -z_265^post49+z_265^0 == 0 /\ rcd_376^0-rcd_376^post49 == 0 /\ __disjvr_5^0-__disjvr_5^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ a_321^0-a_321^post49 == 0 /\ rcd_113^0-rcd_113^post49 == 0 /\ temp0_18^0-temp0_18^post49 == 0 /\ z_252^0-z_252^post49 == 0 /\ -x_SLAM_f_21^post49+lt_17^0 <= 0 /\ -x_SLAM_f_21^post49+x_19^post49 <= 0 /\ __disjvr_9^0-__disjvr_9^post49 == 0 /\ -rcd_352^post49+rcd_352^0 == 0 /\ -__disjvr_25^post49+__disjvr_25^0 == 0 /\ -x_19^post49+lt_17^0 <= 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ -x_23^post49+x_SLAM_f_21^post49 <= 0 /\ 1+len_195^0-len_286^0 <= 0 /\ -lt_17^post49+lt_17^0 == 0 /\ -rcd_226^post49+rcd_226^0 == 0 /\ -r_178^post49+r_178^0 == 0 /\ -a_166^post49+a_166^0 == 0 /\ -result_11^post49+result_11^0 == 0 /\ lt_386^0-lt_386^post49 == 0 /\ -z_229^post49+z_229^0 == 0), cost: 1
  52: l39 -> l49 : __disjvr_0^0'=__disjvr_0^post52, a_321^0'=a_321^post52, rcd_70^0'=rcd_70^post52, __disjvr_21^0'=__disjvr_21^post52, x_23^0'=x_23^post52, __disjvr_4^0'=__disjvr_4^post52, rcd_222^0'=rcd_222^post52, __disjvr_14^0'=__disjvr_14^post52, head_35^0'=head_35^post52, __disjvr_24^0'=__disjvr_24^post52, temp0_18^0'=temp0_18^post52, lt_386^0'=lt_386^post52, z_229^0'=z_229^post52, __disjvr_9^0'=__disjvr_9^post52, a_210^0'=a_210^post52, rcd_376^0'=rcd_376^post52, __disjvr_19^0'=__disjvr_19^post52, len_195^0'=len_195^post52, __disjvr_29^0'=__disjvr_29^post52, x_19^0'=x_19^post52, r_42^0'=r_42^post52, z_28^0'=z_28^post52, __disjvr_11^0'=__disjvr_11^post52, a_377^0'=a_377^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post52, length_32^0'=length_32^post52, y_22^0'=y_22^post52, __disjvr_6^0'=__disjvr_6^post52, rcd_228^0'=rcd_228^post52, __disjvr_16^0'=__disjvr_16^post52, i_120^0'=i_120^post52, __disjvr_26^0'=__disjvr_26^post52, temp1_30^0'=temp1_30^post52, nondet_12^0'=nondet_12^post52, z_252^0'=z_252^post52, a_27^0'=a_27^post52, rcd_46^0'=rcd_46^post52, __disjvr_20^0'=__disjvr_20^post52, len_286^0'=len_286^post52, __disjvr_3^0'=__disjvr_3^post52, rcd_113^0'=rcd_113^post52, __disjvr_13^0'=__disjvr_13^post52, head_13^0'=head_13^post52, __disjvr_23^0'=__disjvr_23^post52, t_24^0'=t_24^post52, lt_29^0'=lt_29^post52, z_188^0'=z_188^post52, __disjvr_8^0'=__disjvr_8^post52, rcd_264^0'=rcd_264^post52, rcd_356^0'=rcd_356^post52, __disjvr_18^0'=__disjvr_18^post52, i_33^0'=i_33^post52, __disjvr_28^0'=__disjvr_28^post52, tmp_37^0'=tmp_37^post52, r_236^0'=r_236^post52, z_279^0'=z_279^post52, __disjvr_10^0'=__disjvr_10^post52, a_347^0'=a_347^post52, result_11^0'=result_11^post52, __disjvr_22^0'=__disjvr_22^post52, x_SLAM_f_21^0'=x_SLAM_f_21^post52, __disjvr_5^0'=__disjvr_5^post52, rcd_226^0'=rcd_226^post52, __disjvr_15^0'=__disjvr_15^post52, i_111^0'=i_111^post52, __disjvr_25^0'=__disjvr_25^post52, temp0_34^0'=temp0_34^post52, lt_483^0'=lt_483^post52, z_238^0'=z_238^post52, a_166^0'=a_166^post52, a_267^0'=a_267^post52, rcd_396^0'=rcd_396^post52, __disjvr_1^0'=__disjvr_1^post52, len_266^0'=len_266^post52, __disjvr_2^0'=__disjvr_2^post52, rcd_105^0'=rcd_105^post52, z_389^0'=z_389^post52, __disjvr_12^0'=__disjvr_12^post52, ct_20^0'=ct_20^post52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, lt_17^0'=lt_17^post52, z_160^0'=z_160^post52, __disjvr_7^0'=__disjvr_7^post52, rcd_237^0'=rcd_237^post52, rcd_352^0'=rcd_352^post52, __disjvr_17^0'=__disjvr_17^post52, i_227^0'=i_227^post52, __disjvr_27^0'=__disjvr_27^post52, temp_38^0'=temp_38^post52, r_178^0'=r_178^post52, z_265^0'=z_265^post52, (0 == 0 /\ __disjvr_4^0-__disjvr_4^post52 == 0 /\ rcd_228^0-rcd_228^post52 == 0 /\ rcd_70^0-rcd_70^post52 == 0 /\ -rcd_105^post52+rcd_105^0 == 0 /\ -r_236^post52+r_236^0 == 0 /\ a_321^0-a_321^post52 == 0 /\ -a_210^0 <= 0 /\ -__disjvr_15^post52+__disjvr_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post52 == 0 /\ tmp_37^0-tmp_37^post52 == 0 /\ len_195^0-len_195^post52 == 0 /\ temp0_18^0-temp0_18^post52 == 0 /\ __disjvr_24^0-__disjvr_24^post52 == 0 /\ -i_120^post52+i_120^0 == 0 /\ __disjvr_3^0-__disjvr_3^post52 == 0 /\ -a_347^post52+a_347^0 == 0 /\ -__disjvr_1^post52+__disjvr_1^0 == 0 /\ -__disjvr_17^post52+__disjvr_17^0 == 0 /\ __disjvr_10^0-__disjvr_10^post52 == 0 /\ lt_386^0-lt_386^post52 == 0 /\ -rcd_113^post52+rcd_113^0 == 0 /\ -len_195^0 <= 0 /\ -z_160^post52+z_160^0 == 0 /\ rcd_356^0-rcd_356^post52 == 0 /\ -rcd_46^post52+rcd_46^0 == 0 /\ x_19^0-x_19^post52 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ -temp1_30^post52+temp1_30^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -z_238^post52+z_238^0 == 0 /\ -rcd_352^post52+rcd_352^0 == 0 /\ -__disjvr_26^post52+__disjvr_26^0 == 0 /\ -r_178^post52+r_178^0 == 0 /\ -z_279^post52+z_279^0 == 0 /\ __disjvr_6^0-__disjvr_6^post52 == 0 /\ -a_267^post52+a_267^0 == 0 /\ -rcd_226^post52+rcd_226^0 == 0 /\ -len_266^post52+len_266^0 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ -i_33^post52+i_33^0 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0 /\ -rcd_237^post52+rcd_237^0 == 0 /\ -result_11^post52+result_11^0 == 0 /\ __disjvr_18^0-__disjvr_18^post52 == 0 /\ head_35^0-head_35^post52 == 0 /\ __disjvr_2^0-__disjvr_2^post52 == 0 /\ -z_265^post52+z_265^0 == 0 /\ -z_28^post52+z_28^0 == 0 /\ rcd_376^0-rcd_376^post52 == 0 /\ __disjvr_13^0-__disjvr_13^post52 == 0 /\ -__disjvr_25^post52+__disjvr_25^0 == 0 /\ a_377^0-a_377^post52 == 0 /\ -a_166^post52+a_166^0 == 0 /\ __disjvr_20^0-__disjvr_20^post52 == 0 /\ lt_29^0-lt_29^post52 == 0 /\ -rcd_396^post52+rcd_396^0 == 0 /\ i_111^0-i_111^post52 == 0 /\ -temp_38^post52+temp_38^0 == 0 /\ -__disjvr_8^post52+__disjvr_8^0 == 0 /\ -__disjvr_28^post52+__disjvr_28^0 == 0 /\ __disjvr_22^0-__disjvr_22^post52 == 0 /\ -z_389^post52+z_389^0 == 0 /\ -temp0_34^post52+temp0_34^0 == 0 /\ rcd_222^0-rcd_222^post52 == 0 /\ -lt_17^post52+lt_17^0 == 0 /\ z_229^0-z_229^post52 == 0 /\ -len_286^post52+len_286^0 == 0 /\ x_23^0-x_23^post52 == 0 /\ __disjvr_7^0-__disjvr_7^post52 == 0 /\ a_210^0-a_210^post52 == 0 /\ length_32^0-length_32^post52 == 0 /\ __disjvr_14^0-__disjvr_14^post52 == 0 /\ -i_227^post52+i_227^0 == 0 /\ __disjvr_11^0-__disjvr_11^post52 == 0 /\ -__disjvr_23^post52+__disjvr_23^0 == 0 /\ -z_188^post52+z_188^0 == 0 /\ __disjvr_16^0-__disjvr_16^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ -y_22^post52+y_22^0 == 0 /\ -__disjvr_27^post52+__disjvr_27^0 == 0 /\ -t_24^post52+t_24^0 == 0 /\ __disjvr_29^0-__disjvr_29^post52 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post52 == 0 /\ lt_483^0-lt_483^post52 == 0 /\ -__disjvr_5^post52+__disjvr_5^0 == 0 /\ -ct_20^post52+ct_20^0 == 0 /\ rcd_264^0-rcd_264^post52 == 0 /\ __disjvr_19^0-__disjvr_19^post52 == 0), cost: 1
  46: l44 -> l38 : __disjvr_0^0'=__disjvr_0^post46, a_321^0'=a_321^post46, rcd_70^0'=rcd_70^post46, __disjvr_21^0'=__disjvr_21^post46, x_23^0'=x_23^post46, __disjvr_4^0'=__disjvr_4^post46, rcd_222^0'=rcd_222^post46, __disjvr_14^0'=__disjvr_14^post46, head_35^0'=head_35^post46, __disjvr_24^0'=__disjvr_24^post46, temp0_18^0'=temp0_18^post46, lt_386^0'=lt_386^post46, z_229^0'=z_229^post46, __disjvr_9^0'=__disjvr_9^post46, a_210^0'=a_210^post46, rcd_376^0'=rcd_376^post46, __disjvr_19^0'=__disjvr_19^post46, len_195^0'=len_195^post46, __disjvr_29^0'=__disjvr_29^post46, x_19^0'=x_19^post46, r_42^0'=r_42^post46, z_28^0'=z_28^post46, __disjvr_11^0'=__disjvr_11^post46, a_377^0'=a_377^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post46, length_32^0'=length_32^post46, y_22^0'=y_22^post46, __disjvr_6^0'=__disjvr_6^post46, rcd_228^0'=rcd_228^post46, __disjvr_16^0'=__disjvr_16^post46, i_120^0'=i_120^post46, __disjvr_26^0'=__disjvr_26^post46, temp1_30^0'=temp1_30^post46, nondet_12^0'=nondet_12^post46, z_252^0'=z_252^post46, a_27^0'=a_27^post46, rcd_46^0'=rcd_46^post46, __disjvr_20^0'=__disjvr_20^post46, len_286^0'=len_286^post46, __disjvr_3^0'=__disjvr_3^post46, rcd_113^0'=rcd_113^post46, __disjvr_13^0'=__disjvr_13^post46, head_13^0'=head_13^post46, __disjvr_23^0'=__disjvr_23^post46, t_24^0'=t_24^post46, lt_29^0'=lt_29^post46, z_188^0'=z_188^post46, __disjvr_8^0'=__disjvr_8^post46, rcd_264^0'=rcd_264^post46, rcd_356^0'=rcd_356^post46, __disjvr_18^0'=__disjvr_18^post46, i_33^0'=i_33^post46, __disjvr_28^0'=__disjvr_28^post46, tmp_37^0'=tmp_37^post46, r_236^0'=r_236^post46, z_279^0'=z_279^post46, __disjvr_10^0'=__disjvr_10^post46, a_347^0'=a_347^post46, result_11^0'=result_11^post46, __disjvr_22^0'=__disjvr_22^post46, x_SLAM_f_21^0'=x_SLAM_f_21^post46, __disjvr_5^0'=__disjvr_5^post46, rcd_226^0'=rcd_226^post46, __disjvr_15^0'=__disjvr_15^post46, i_111^0'=i_111^post46, __disjvr_25^0'=__disjvr_25^post46, temp0_34^0'=temp0_34^post46, lt_483^0'=lt_483^post46, z_238^0'=z_238^post46, a_166^0'=a_166^post46, a_267^0'=a_267^post46, rcd_396^0'=rcd_396^post46, __disjvr_1^0'=__disjvr_1^post46, len_266^0'=len_266^post46, __disjvr_2^0'=__disjvr_2^post46, rcd_105^0'=rcd_105^post46, z_389^0'=z_389^post46, __disjvr_12^0'=__disjvr_12^post46, ct_20^0'=ct_20^post46, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post46, lt_17^0'=lt_17^post46, z_160^0'=z_160^post46, __disjvr_7^0'=__disjvr_7^post46, rcd_237^0'=rcd_237^post46, rcd_352^0'=rcd_352^post46, __disjvr_17^0'=__disjvr_17^post46, i_227^0'=i_227^post46, __disjvr_27^0'=__disjvr_27^post46, temp_38^0'=temp_38^post46, r_178^0'=r_178^post46, z_265^0'=z_265^post46, (a_377^0-a_377^post46 == 0 /\ -len_266^post46+len_266^0 == 0 /\ __disjvr_26^0-__disjvr_26^post46 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ __disjvr_29^0-__disjvr_29^post46 == 0 /\ -z_279^post46+z_279^0 == 0 /\ a_210^0-a_210^post46 == 0 /\ rcd_70^0-rcd_70^post46 == 0 /\ -len_286^post46+len_286^0 == 0 /\ -i_227^post46+i_227^0 == 0 /\ x_23^0-x_23^post46 == 0 /\ -length_32^post46+length_32^0 == 0 /\ __disjvr_8^0-__disjvr_8^post46 == 0 /\ -z_389^post46+z_389^0 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ r_236^0-r_236^post46 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post46 == 0 /\ __disjvr_1^0-__disjvr_1^post46 == 0 /\ rcd_46^0-rcd_46^post46 == 0 /\ -z_238^post46+z_238^0 == 0 /\ -lt_29^post46+lt_29^0 == 0 /\ -i_111^post46+i_111^0 == 0 /\ -__disjvr_2^post46+__disjvr_2^0 == 0 /\ -z_265^post46+z_265^0 == 0 /\ __disjvr_21^0-__disjvr_21^post46 == 0 /\ -z_160^post46+z_160^0 == 0 /\ -__disjvr_28^post46+__disjvr_28^0 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ a_267^0-a_267^post46 == 0 /\ rcd_222^0-rcd_222^post46 == 0 /\ head_13^0-head_13^post46 == 0 /\ -__disjvr_10^post46+__disjvr_10^0 == 0 /\ __disjvr_4^0-__disjvr_4^post46 == 0 /\ i_120^0-i_120^post46 == 0 /\ rcd_228^0-rcd_228^post46 == 0 /\ temp0_18^0-temp0_18^post46 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post46 == 0 /\ -lt_483^post46+lt_483^0 == 0 /\ i_33^0-i_33^post46 == 0 /\ r_42^0-r_42^post46 == 0 /\ -a_166^post46+a_166^0 == 0 /\ __disjvr_18^0-__disjvr_18^post46 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ -t_24^post46+t_24^0 == 0 /\ -__disjvr_22^post46+__disjvr_22^0 == 0 /\ -r_178^post46+r_178^0 == 0 /\ -tmp_37^post46+tmp_37^0 == 0 /\ -a_347^post46+a_347^0 == 0 /\ y_22^0-y_22^post46 == 0 /\ a_27^0-a_27^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post46+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_356^0-rcd_356^post46 == 0 /\ -__disjvr_11^post46+__disjvr_11^0 == 0 /\ __disjvr_5^0-__disjvr_5^post46 == 0 /\ -rcd_264^post46+rcd_264^0 == 0 /\ -z_229^post46+z_229^0 == 0 /\ -ct_20^post46+ct_20^0 == 0 /\ rcd_113^0-rcd_113^post46 == 0 /\ -rcd_226^post46+rcd_226^0 == 0 /\ __disjvr_6^0-__disjvr_6^post46 == 0 /\ -z_188^post46+z_188^0 == 0 /\ rcd_237^0-rcd_237^post46 == 0 /\ rcd_376^0-rcd_376^post46 == 0 /\ __disjvr_19^0-__disjvr_19^post46 == 0 /\ -rcd_396^post46+rcd_396^0 == 0 /\ a_321^0-a_321^post46 == 0 /\ z_28^0-z_28^post46 == 0 /\ -__disjvr_24^post46+__disjvr_24^0 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ -__disjvr_25^post46+__disjvr_25^0 == 0 /\ len_195^0-len_195^post46 == 0 /\ -rcd_105^post46+rcd_105^0 == 0 /\ -temp_38^post46+temp_38^0 == 0 /\ head_35^0-head_35^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ -temp0_34^post46+temp0_34^0 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ -lt_17^post46+lt_17^0 == 0 /\ z_252^0-z_252^post46 == 0 /\ -result_11^post46+result_11^0 == 0 /\ lt_386^0-lt_386^post46 == 0 /\ -__disjvr_7^post46+__disjvr_7^0 == 0 /\ __disjvr_15^0-__disjvr_15^post46 == 0 /\ -temp1_30^post46+temp1_30^0 == 0 /\ -__disjvr_13^post46+__disjvr_13^0 == 0 /\ -__disjvr_3^post46+__disjvr_3^0 == 0 /\ x_19^0-x_19^post46 == 0 /\ -rcd_352^post46+rcd_352^0 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ __disjvr_16^0-__disjvr_16^post46 == 0), cost: 1
  47: l45 -> l1 : __disjvr_0^0'=__disjvr_0^post47, a_321^0'=a_321^post47, rcd_70^0'=rcd_70^post47, __disjvr_21^0'=__disjvr_21^post47, x_23^0'=x_23^post47, __disjvr_4^0'=__disjvr_4^post47, rcd_222^0'=rcd_222^post47, __disjvr_14^0'=__disjvr_14^post47, head_35^0'=head_35^post47, __disjvr_24^0'=__disjvr_24^post47, temp0_18^0'=temp0_18^post47, lt_386^0'=lt_386^post47, z_229^0'=z_229^post47, __disjvr_9^0'=__disjvr_9^post47, a_210^0'=a_210^post47, rcd_376^0'=rcd_376^post47, __disjvr_19^0'=__disjvr_19^post47, len_195^0'=len_195^post47, __disjvr_29^0'=__disjvr_29^post47, x_19^0'=x_19^post47, r_42^0'=r_42^post47, z_28^0'=z_28^post47, __disjvr_11^0'=__disjvr_11^post47, a_377^0'=a_377^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post47, length_32^0'=length_32^post47, y_22^0'=y_22^post47, __disjvr_6^0'=__disjvr_6^post47, rcd_228^0'=rcd_228^post47, __disjvr_16^0'=__disjvr_16^post47, i_120^0'=i_120^post47, __disjvr_26^0'=__disjvr_26^post47, temp1_30^0'=temp1_30^post47, nondet_12^0'=nondet_12^post47, z_252^0'=z_252^post47, a_27^0'=a_27^post47, rcd_46^0'=rcd_46^post47, __disjvr_20^0'=__disjvr_20^post47, len_286^0'=len_286^post47, __disjvr_3^0'=__disjvr_3^post47, rcd_113^0'=rcd_113^post47, __disjvr_13^0'=__disjvr_13^post47, head_13^0'=head_13^post47, __disjvr_23^0'=__disjvr_23^post47, t_24^0'=t_24^post47, lt_29^0'=lt_29^post47, z_188^0'=z_188^post47, __disjvr_8^0'=__disjvr_8^post47, rcd_264^0'=rcd_264^post47, rcd_356^0'=rcd_356^post47, __disjvr_18^0'=__disjvr_18^post47, i_33^0'=i_33^post47, __disjvr_28^0'=__disjvr_28^post47, tmp_37^0'=tmp_37^post47, r_236^0'=r_236^post47, z_279^0'=z_279^post47, __disjvr_10^0'=__disjvr_10^post47, a_347^0'=a_347^post47, result_11^0'=result_11^post47, __disjvr_22^0'=__disjvr_22^post47, x_SLAM_f_21^0'=x_SLAM_f_21^post47, __disjvr_5^0'=__disjvr_5^post47, rcd_226^0'=rcd_226^post47, __disjvr_15^0'=__disjvr_15^post47, i_111^0'=i_111^post47, __disjvr_25^0'=__disjvr_25^post47, temp0_34^0'=temp0_34^post47, lt_483^0'=lt_483^post47, z_238^0'=z_238^post47, a_166^0'=a_166^post47, a_267^0'=a_267^post47, rcd_396^0'=rcd_396^post47, __disjvr_1^0'=__disjvr_1^post47, len_266^0'=len_266^post47, __disjvr_2^0'=__disjvr_2^post47, rcd_105^0'=rcd_105^post47, z_389^0'=z_389^post47, __disjvr_12^0'=__disjvr_12^post47, ct_20^0'=ct_20^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post47, lt_17^0'=lt_17^post47, z_160^0'=z_160^post47, __disjvr_7^0'=__disjvr_7^post47, rcd_237^0'=rcd_237^post47, rcd_352^0'=rcd_352^post47, __disjvr_17^0'=__disjvr_17^post47, i_227^0'=i_227^post47, __disjvr_27^0'=__disjvr_27^post47, temp_38^0'=temp_38^post47, r_178^0'=r_178^post47, z_265^0'=z_265^post47, (0 == 0 /\ -__disjvr_25^post47+__disjvr_25^0 == 0 /\ -x_19^10 <= 0 /\ __disjvr_16^0-__disjvr_16^post47 == 0 /\ -__disjvr_28^post47+__disjvr_28^0 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ -rcd_237^post47+rcd_237^0 == 0 /\ -x_23^130 <= 0 /\ z_229^0-z_229^post47 == 0 /\ z_188^0-z_188^post47 == 0 /\ x_SLAM_f_21^130-x_23^130 <= 0 /\ -__disjvr_20^post47+__disjvr_20^0 == 0 /\ len_286^0-len_286^post47 == 0 /\ -z_252^post47+z_252^0 == 0 /\ -rcd_396^post47+rcd_396^0 == 0 /\ a_27^12-head_13^0 <= 0 /\ a_27^12-head_13^0 == 0 /\ -rcd_113^post47+rcd_113^0 == 0 /\ __disjvr_18^0-__disjvr_18^post47 == 0 /\ head_13^0-head_13^post47 == 0 /\ a_27^12-z_28^10 <= 0 /\ x_19^10 <= 0 /\ -__disjvr_8^post47+__disjvr_8^0 == 0 /\ -ct_20^130+y_22^130 <= 0 /\ -ct_20^130+y_22^130 == 0 /\ __disjvr_19^0-__disjvr_19^post47 == 0 /\ -rcd_228^post47+rcd_228^0 == 0 /\ __disjvr_24^0-__disjvr_24^post47 == 0 /\ a_210^0-a_210^post47 == 0 /\ -r_178^post47+r_178^0 == 0 /\ __disjvr_2^0-__disjvr_2^post47 == 0 /\ -z_238^post47+z_238^0 == 0 /\ rcd_226^0-rcd_226^post47 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^20 <= 0 /\ -z_389^post47+z_389^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^120 <= 0 /\ __disjvr_4^0-__disjvr_4^post47 == 0 /\ -x_SLAM_f_21^130+x_23^130 <= 0 /\ -x_SLAM_f_21^130+x_23^130 == 0 /\ -lt_29^0 <= 0 /\ -i_111^post47+i_111^0 == 0 /\ rcd_46^0-rcd_46^post47 == 0 /\ rcd_70^0-rcd_70^post47 == 0 /\ __disjvr_0^0-__disjvr_0^post47 == 0 /\ __disjvr_26^0-__disjvr_26^post47 == 0 /\ -__disjvr_22^post47+__disjvr_22^0 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ -a_27^12+head_13^0 <= 0 /\ -temp0_18^0+result_11^post47 == 0 /\ rcd_222^0-rcd_222^post47 == 0 /\ -head_35^0+temp0_34^120 == 0 /\ -__disjvr_10^post47+__disjvr_10^0 == 0 /\ result_11^120-temp0_34^120 == 0 /\ x_SLAM_f_21^130 <= 0 /\ -a_27^12+z_28^10 <= 0 /\ -a_27^12+z_28^10 == 0 /\ a_321^0-a_321^post47 == 0 /\ ct_20^130 <= 0 /\ ct_20^130 == 0 /\ -lt_386^post47+lt_386^0 == 0 /\ -a_377^post47+a_377^0 == 0 /\ ct_20^130-y_22^130 <= 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ -rcd_264^post47+rcd_264^0 == 0 /\ r_236^0-r_236^post47 == 0 /\ r_42^0-r_42^post47 == 0 /\ rcd_105^0-rcd_105^post47 == 0 /\ -__disjvr_13^post47+__disjvr_13^0 == 0 /\ __disjvr_23^0-__disjvr_23^post47 == 0 /\ -y_22^130 <= 0 /\ __disjvr_21^0-__disjvr_21^post47 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post47 <= 0 /\ -ct_20^130 <= 0 /\ lt_29^0 <= 0 /\ -__disjvr_15^post47+__disjvr_15^0 == 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ __disjvr_6^0-__disjvr_6^post47 == 0 /\ x_19^10-x_SLAM_f_21^130 <= 0 /\ -x_SLAM_f_21^130 <= 0 /\ y_22^130 <= 0 /\ -lt_17^0 <= 0 /\ x_19^10-lt_17^0 <= 0 /\ x_19^10-lt_17^0 == 0 /\ -len_266^post47+len_266^0 == 0 /\ __disjvr_29^0-__disjvr_29^post47 == 0 /\ -__disjvr_5^post47+__disjvr_5^0 == 0 /\ a_347^0-a_347^post47 == 0 /\ -rcd_356^post47+rcd_356^0 == 0 /\ x_23^130 <= 0 /\ temp0_18^0-temp0_18^post47 == 0 /\ -z_28^10+head_13^0 <= 0 /\ -i_120^post47+i_120^0 == 0 /\ -y_22^130+x_23^130 <= 0 /\ -__disjvr_27^post47+__disjvr_27^0 == 0 /\ i_227^0-i_227^post47 == 0 /\ __disjvr_9^0-__disjvr_9^post47 == 0 /\ __disjvr_3^0-__disjvr_3^post47 == 0 /\ -x_19^10+x_SLAM_f_21^130 <= 0 /\ -x_19^10+x_SLAM_f_21^130 == 0 /\ -lt_483^post47+lt_483^0 == 0 /\ -len_195^post47+len_195^0 == 0 /\ -rcd_376^post47+rcd_376^0 == 0 /\ -x_19^10+lt_17^0 <= 0 /\ -__disjvr_12^post47+__disjvr_12^0 == 0 /\ length_32^0-i_33^0 <= 0 /\ lt_17^0 <= 0 /\ -__disjvr_17^post47+__disjvr_17^0 == 0 /\ -z_279^post47+z_279^0 == 0 /\ -rcd_352^post47+rcd_352^0 == 0 /\ __disjvr_11^0-__disjvr_11^post47 == 0 /\ z_28^10-head_13^0 <= 0 /\ -z_160^post47+z_160^0 == 0 /\ -z_265^post47+z_265^0 == 0 /\ y_22^130-x_23^130 <= 0 /\ -a_267^post47+a_267^0 == 0 /\ -a_166^post47+a_166^0 == 0), cost: 1
  48: l45 -> l25 : __disjvr_0^0'=__disjvr_0^post48, a_321^0'=a_321^post48, rcd_70^0'=rcd_70^post48, __disjvr_21^0'=__disjvr_21^post48, x_23^0'=x_23^post48, __disjvr_4^0'=__disjvr_4^post48, rcd_222^0'=rcd_222^post48, __disjvr_14^0'=__disjvr_14^post48, head_35^0'=head_35^post48, __disjvr_24^0'=__disjvr_24^post48, temp0_18^0'=temp0_18^post48, lt_386^0'=lt_386^post48, z_229^0'=z_229^post48, __disjvr_9^0'=__disjvr_9^post48, a_210^0'=a_210^post48, rcd_376^0'=rcd_376^post48, __disjvr_19^0'=__disjvr_19^post48, len_195^0'=len_195^post48, __disjvr_29^0'=__disjvr_29^post48, x_19^0'=x_19^post48, r_42^0'=r_42^post48, z_28^0'=z_28^post48, __disjvr_11^0'=__disjvr_11^post48, a_377^0'=a_377^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48, length_32^0'=length_32^post48, y_22^0'=y_22^post48, __disjvr_6^0'=__disjvr_6^post48, rcd_228^0'=rcd_228^post48, __disjvr_16^0'=__disjvr_16^post48, i_120^0'=i_120^post48, __disjvr_26^0'=__disjvr_26^post48, temp1_30^0'=temp1_30^post48, nondet_12^0'=nondet_12^post48, z_252^0'=z_252^post48, a_27^0'=a_27^post48, rcd_46^0'=rcd_46^post48, __disjvr_20^0'=__disjvr_20^post48, len_286^0'=len_286^post48, __disjvr_3^0'=__disjvr_3^post48, rcd_113^0'=rcd_113^post48, __disjvr_13^0'=__disjvr_13^post48, head_13^0'=head_13^post48, __disjvr_23^0'=__disjvr_23^post48, t_24^0'=t_24^post48, lt_29^0'=lt_29^post48, z_188^0'=z_188^post48, __disjvr_8^0'=__disjvr_8^post48, rcd_264^0'=rcd_264^post48, rcd_356^0'=rcd_356^post48, __disjvr_18^0'=__disjvr_18^post48, i_33^0'=i_33^post48, __disjvr_28^0'=__disjvr_28^post48, tmp_37^0'=tmp_37^post48, r_236^0'=r_236^post48, z_279^0'=z_279^post48, __disjvr_10^0'=__disjvr_10^post48, a_347^0'=a_347^post48, result_11^0'=result_11^post48, __disjvr_22^0'=__disjvr_22^post48, x_SLAM_f_21^0'=x_SLAM_f_21^post48, __disjvr_5^0'=__disjvr_5^post48, rcd_226^0'=rcd_226^post48, __disjvr_15^0'=__disjvr_15^post48, i_111^0'=i_111^post48, __disjvr_25^0'=__disjvr_25^post48, temp0_34^0'=temp0_34^post48, lt_483^0'=lt_483^post48, z_238^0'=z_238^post48, a_166^0'=a_166^post48, a_267^0'=a_267^post48, rcd_396^0'=rcd_396^post48, __disjvr_1^0'=__disjvr_1^post48, len_266^0'=len_266^post48, __disjvr_2^0'=__disjvr_2^post48, rcd_105^0'=rcd_105^post48, z_389^0'=z_389^post48, __disjvr_12^0'=__disjvr_12^post48, ct_20^0'=ct_20^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post48, lt_17^0'=lt_17^post48, z_160^0'=z_160^post48, __disjvr_7^0'=__disjvr_7^post48, rcd_237^0'=rcd_237^post48, rcd_352^0'=rcd_352^post48, __disjvr_17^0'=__disjvr_17^post48, i_227^0'=i_227^post48, __disjvr_27^0'=__disjvr_27^post48, temp_38^0'=temp_38^post48, r_178^0'=r_178^post48, z_265^0'=z_265^post48, (0 == 0 /\ 1-i_33^post48 <= 0 /\ -1+i_33^post48 <= 0 /\ -len_266^post48+len_266^0 == 0 /\ tmp_37^post48-head_35^post48 <= 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ -x_SLAM_f_21^post48+x_SLAM_f_21^0 == 0 /\ rcd_396^0-rcd_396^post48 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0 /\ length_32^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post48 <= 0 /\ tmp_37^post48-temp_38^0 == 0 /\ a_321^0-a_321^post48 == 0 /\ len_195^0-len_195^post48 == 0 /\ temp0_18^0-temp0_18^post48 == 0 /\ y_22^0-y_22^post48 == 0 /\ -__disjvr_20^post48+__disjvr_20^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48+head_35^post48 <= 0 /\ -i_227^post48+i_227^0 == 0 /\ r_42^0-r_42^post48 == 0 /\ __disjvr_5^0-__disjvr_5^post48 == 0 /\ -z_389^post48+z_389^0 == 0 /\ rcd_113^0-rcd_113^post48 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ -rcd_356^post48+rcd_356^0 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ __disjvr_9^0-__disjvr_9^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48-tmp_37^post48 <= 0 /\ -__disjvr_6^post48+__disjvr_6^0 == 0 /\ -z_265^post48+z_265^0 == 0 /\ -__disjvr_2^post48+__disjvr_2^0 == 0 /\ -tmp_37^post48+head_35^post48 <= 0 /\ -tmp_37^post48+head_35^post48 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ -z_28^post48+z_28^0 == 0 /\ rcd_46^0-rcd_46^post48 == 0 /\ x_19^0-x_19^post48 == 0 /\ -z_160^post48+z_160^0 == 0 /\ -length_32^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post48 <= 0 /\ rcd_105^0-rcd_105^post48 == 0 /\ length_32^0-length_32^post48 == 0 /\ z_279^0-z_279^post48 == 0 /\ __disjvr_0^0-__disjvr_0^post48 == 0 /\ -__disjvr_26^post48+__disjvr_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48-head_35^post48 <= 0 /\ __disjvr_28^0-__disjvr_28^post48 == 0 /\ -1-i_33^0+i_33^post48 == 0 /\ __disjvr_16^0-__disjvr_16^post48 == 0 /\ -__disjvr_15^post48+__disjvr_15^0 == 0 /\ a_377^0-a_377^post48 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ z_238^0-z_238^post48 == 0 /\ -a_267^post48+a_267^0 == 0 /\ -lt_483^post48+lt_483^0 == 0 /\ t_24^0-t_24^post48 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48+tmp_37^post48 <= 0 /\ -a_166^post48+a_166^0 == 0 /\ lt_29^0-lt_29^post48 == 0 /\ -lt_386^post48+lt_386^0 == 0 /\ -__disjvr_22^post48+__disjvr_22^0 == 0 /\ 1-length_32^0+i_33^0 <= 0 /\ -r_178^post48+r_178^0 == 0 /\ -__disjvr_10^post48+__disjvr_10^0 == 0 /\ -rcd_237^post48+rcd_237^0 == 0 /\ rcd_228^0-rcd_228^post48 == 0 /\ rcd_70^0-rcd_70^post48 == 0 /\ temp1_30^0-temp1_30^post48 == 0 /\ x_23^0-x_23^post48 == 0 /\ __disjvr_11^0-__disjvr_11^post48 == 0 /\ -rcd_264^post48+rcd_264^0 == 0 /\ -rcd_226^post48+rcd_226^0 == 0 /\ -ct_20^post48+ct_20^0 == 0 /\ -a_27^post48+a_27^0 == 0 /\ -head_13^post48+head_13^0 == 0 /\ a_210^0-a_210^post48 == 0 /\ __disjvr_8^0-__disjvr_8^post48 == 0 /\ -__disjvr_25^post48+__disjvr_25^0 == 0 /\ -z_252^post48+z_252^0 == 0 /\ z_229^0-z_229^post48 == 0 /\ 1-length_32^0 <= 0 /\ rcd_376^0-rcd_376^post48 == 0 /\ __disjvr_19^0-__disjvr_19^post48 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ -lt_17^post48+lt_17^0 == 0 /\ -__disjvr_7^post48+__disjvr_7^0 == 0 /\ -__disjvr_18^post48+__disjvr_18^0 == 0 /\ -r_236^post48+r_236^0 == 0 /\ rcd_352^0-rcd_352^post48 == 0 /\ a_347^0-a_347^post48 == 0 /\ rcd_222^0-rcd_222^post48 == 0 /\ -__disjvr_23^post48+__disjvr_23^0 == 0 /\ -z_188^post48+z_188^0 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ __disjvr_29^0-__disjvr_29^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ __disjvr_4^0-__disjvr_4^post48 == 0 /\ -__disjvr_13^post48+__disjvr_13^0 == 0 /\ -len_286^post48+len_286^0 == 0 /\ -temp0_34^post48+temp0_34^0 == 0 /\ -i_120^post48+i_120^0 == 0 /\ i_111^0-i_111^post48 == 0), cost: 1
  50: l46 -> l47 : __disjvr_0^0'=__disjvr_0^post50, a_321^0'=a_321^post50, rcd_70^0'=rcd_70^post50, __disjvr_21^0'=__disjvr_21^post50, x_23^0'=x_23^post50, __disjvr_4^0'=__disjvr_4^post50, rcd_222^0'=rcd_222^post50, __disjvr_14^0'=__disjvr_14^post50, head_35^0'=head_35^post50, __disjvr_24^0'=__disjvr_24^post50, temp0_18^0'=temp0_18^post50, lt_386^0'=lt_386^post50, z_229^0'=z_229^post50, __disjvr_9^0'=__disjvr_9^post50, a_210^0'=a_210^post50, rcd_376^0'=rcd_376^post50, __disjvr_19^0'=__disjvr_19^post50, len_195^0'=len_195^post50, __disjvr_29^0'=__disjvr_29^post50, x_19^0'=x_19^post50, r_42^0'=r_42^post50, z_28^0'=z_28^post50, __disjvr_11^0'=__disjvr_11^post50, a_377^0'=a_377^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post50, length_32^0'=length_32^post50, y_22^0'=y_22^post50, __disjvr_6^0'=__disjvr_6^post50, rcd_228^0'=rcd_228^post50, __disjvr_16^0'=__disjvr_16^post50, i_120^0'=i_120^post50, __disjvr_26^0'=__disjvr_26^post50, temp1_30^0'=temp1_30^post50, nondet_12^0'=nondet_12^post50, z_252^0'=z_252^post50, a_27^0'=a_27^post50, rcd_46^0'=rcd_46^post50, __disjvr_20^0'=__disjvr_20^post50, len_286^0'=len_286^post50, __disjvr_3^0'=__disjvr_3^post50, rcd_113^0'=rcd_113^post50, __disjvr_13^0'=__disjvr_13^post50, head_13^0'=head_13^post50, __disjvr_23^0'=__disjvr_23^post50, t_24^0'=t_24^post50, lt_29^0'=lt_29^post50, z_188^0'=z_188^post50, __disjvr_8^0'=__disjvr_8^post50, rcd_264^0'=rcd_264^post50, rcd_356^0'=rcd_356^post50, __disjvr_18^0'=__disjvr_18^post50, i_33^0'=i_33^post50, __disjvr_28^0'=__disjvr_28^post50, tmp_37^0'=tmp_37^post50, r_236^0'=r_236^post50, z_279^0'=z_279^post50, __disjvr_10^0'=__disjvr_10^post50, a_347^0'=a_347^post50, result_11^0'=result_11^post50, __disjvr_22^0'=__disjvr_22^post50, x_SLAM_f_21^0'=x_SLAM_f_21^post50, __disjvr_5^0'=__disjvr_5^post50, rcd_226^0'=rcd_226^post50, __disjvr_15^0'=__disjvr_15^post50, i_111^0'=i_111^post50, __disjvr_25^0'=__disjvr_25^post50, temp0_34^0'=temp0_34^post50, lt_483^0'=lt_483^post50, z_238^0'=z_238^post50, a_166^0'=a_166^post50, a_267^0'=a_267^post50, rcd_396^0'=rcd_396^post50, __disjvr_1^0'=__disjvr_1^post50, len_266^0'=len_266^post50, __disjvr_2^0'=__disjvr_2^post50, rcd_105^0'=rcd_105^post50, z_389^0'=z_389^post50, __disjvr_12^0'=__disjvr_12^post50, ct_20^0'=ct_20^post50, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post50, lt_17^0'=lt_17^post50, z_160^0'=z_160^post50, __disjvr_7^0'=__disjvr_7^post50, rcd_237^0'=rcd_237^post50, rcd_352^0'=rcd_352^post50, __disjvr_17^0'=__disjvr_17^post50, i_227^0'=i_227^post50, __disjvr_27^0'=__disjvr_27^post50, temp_38^0'=temp_38^post50, r_178^0'=r_178^post50, z_265^0'=z_265^post50, (-z_160^post50+z_160^0 == 0 /\ __disjvr_13^0-__disjvr_13^post50 == 0 /\ __disjvr_10^0-__disjvr_10^post50 == 0 /\ __disjvr_20^0-__disjvr_20^post50 == 0 /\ a_27^0-a_27^post50 == 0 /\ -__disjvr_11^post50+__disjvr_11^0 == 0 /\ tmp_37^0-tmp_37^post50 == 0 /\ -rcd_105^post50+rcd_105^0 == 0 /\ -z_265^post50+z_265^0 == 0 /\ -__disjvr_1^post50+__disjvr_1^0 == 0 /\ __disjvr_22^0-__disjvr_22^post50 == 0 /\ -__disjvr_15^post50+__disjvr_15^0 == 0 /\ z_252^0-z_252^post50 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ -lt_483^post50+lt_483^0 == 0 /\ lt_386^0-lt_386^post50 == 0 /\ i_120^0-i_120^post50 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ __disjvr_26^0-__disjvr_26^post50 == 0 /\ -z_279^post50+z_279^0 == 0 /\ x_23^0-x_23^post50 == 0 /\ rcd_222^0-rcd_222^post50 == 0 /\ z_229^0-z_229^post50 == 0 /\ y_22^0-y_22^post50 == 0 /\ -__disjvr_3^post50+__disjvr_3^0 == 0 /\ -rcd_352^post50+rcd_352^0 == 0 /\ -z_238^post50+z_238^0 == 0 /\ -a_347^post50+a_347^0 == 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ a_377^0-a_377^post50 == 0 /\ __disjvr_16^0-__disjvr_16^post50 == 0 /\ z_188^0-z_188^post50 == 0 /\ length_32^0-length_32^post50 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post50+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -i_33^post50+i_33^0 == 0 /\ -rcd_46^post50+rcd_46^0 == 0 /\ -len_266^post50+len_266^0 == 0 /\ -r_178^post50+r_178^0 == 0 /\ -lt_29^post50+lt_29^0 == 0 /\ -__disjvr_22^0+__disjvr_22^post50 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ z_28^0-z_28^post50 == 0 /\ -rcd_237^post50+rcd_237^0 == 0 /\ -z_389^post50+z_389^0 == 0 /\ __disjvr_18^0-__disjvr_18^post50 == 0 /\ -__disjvr_25^post50+__disjvr_25^0 == 0 /\ -temp1_30^post50+temp1_30^0 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ -rcd_228^post50+rcd_228^0 == 0 /\ head_13^0-head_13^post50 == 0 /\ -rcd_396^post50+rcd_396^0 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ -r_42^post50+r_42^0 == 0 /\ lt_17^0-lt_17^post50 == 0 /\ __disjvr_4^0-__disjvr_4^post50 == 0 /\ rcd_70^0-rcd_70^post50 == 0 /\ -a_166^post50+a_166^0 == 0 /\ -__disjvr_8^post50+__disjvr_8^0 == 0 /\ -__disjvr_2^post50+__disjvr_2^0 == 0 /\ -temp_38^post50+temp_38^0 == 0 /\ -result_11^post50+result_11^0 == 0 /\ temp0_18^0-temp0_18^post50 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ -a_267^post50+a_267^0 == 0 /\ __disjvr_7^0-__disjvr_7^post50 == 0 /\ rcd_356^0-rcd_356^post50 == 0 /\ -a_321^post50+a_321^0 == 0 /\ temp0_34^0-temp0_34^post50 == 0 /\ x_19^0-x_19^post50 == 0 /\ -x_SLAM_f_21^post50+x_SLAM_f_21^0 == 0 /\ -__disjvr_19^post50+__disjvr_19^0 == 0 /\ len_286^0-len_286^post50 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post50 == 0 /\ -i_111^post50+i_111^0 == 0 /\ -__disjvr_27^post50+__disjvr_27^0 == 0 /\ -__disjvr_5^post50+__disjvr_5^0 == 0 /\ __disjvr_29^0-__disjvr_29^post50 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0 /\ -i_227^post50+i_227^0 == 0 /\ -t_24^post50+t_24^0 == 0 /\ __disjvr_6^0-__disjvr_6^post50 == 0 /\ -a_210^post50+a_210^0 == 0 /\ -r_236^post50+r_236^0 == 0 /\ rcd_226^0-rcd_226^post50 == 0 /\ len_195^0-len_195^post50 == 0 /\ rcd_264^0-rcd_264^post50 == 0 /\ head_35^0-head_35^post50 == 0 /\ __disjvr_23^0-__disjvr_23^post50 == 0 /\ rcd_376^0-rcd_376^post50 == 0 /\ -ct_20^post50+ct_20^0 == 0 /\ rcd_113^0-rcd_113^post50 == 0), cost: 1
  51: l47 -> l18 : __disjvr_0^0'=__disjvr_0^post51, a_321^0'=a_321^post51, rcd_70^0'=rcd_70^post51, __disjvr_21^0'=__disjvr_21^post51, x_23^0'=x_23^post51, __disjvr_4^0'=__disjvr_4^post51, rcd_222^0'=rcd_222^post51, __disjvr_14^0'=__disjvr_14^post51, head_35^0'=head_35^post51, __disjvr_24^0'=__disjvr_24^post51, temp0_18^0'=temp0_18^post51, lt_386^0'=lt_386^post51, z_229^0'=z_229^post51, __disjvr_9^0'=__disjvr_9^post51, a_210^0'=a_210^post51, rcd_376^0'=rcd_376^post51, __disjvr_19^0'=__disjvr_19^post51, len_195^0'=len_195^post51, __disjvr_29^0'=__disjvr_29^post51, x_19^0'=x_19^post51, r_42^0'=r_42^post51, z_28^0'=z_28^post51, __disjvr_11^0'=__disjvr_11^post51, a_377^0'=a_377^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post51, length_32^0'=length_32^post51, y_22^0'=y_22^post51, __disjvr_6^0'=__disjvr_6^post51, rcd_228^0'=rcd_228^post51, __disjvr_16^0'=__disjvr_16^post51, i_120^0'=i_120^post51, __disjvr_26^0'=__disjvr_26^post51, temp1_30^0'=temp1_30^post51, nondet_12^0'=nondet_12^post51, z_252^0'=z_252^post51, a_27^0'=a_27^post51, rcd_46^0'=rcd_46^post51, __disjvr_20^0'=__disjvr_20^post51, len_286^0'=len_286^post51, __disjvr_3^0'=__disjvr_3^post51, rcd_113^0'=rcd_113^post51, __disjvr_13^0'=__disjvr_13^post51, head_13^0'=head_13^post51, __disjvr_23^0'=__disjvr_23^post51, t_24^0'=t_24^post51, lt_29^0'=lt_29^post51, z_188^0'=z_188^post51, __disjvr_8^0'=__disjvr_8^post51, rcd_264^0'=rcd_264^post51, rcd_356^0'=rcd_356^post51, __disjvr_18^0'=__disjvr_18^post51, i_33^0'=i_33^post51, __disjvr_28^0'=__disjvr_28^post51, tmp_37^0'=tmp_37^post51, r_236^0'=r_236^post51, z_279^0'=z_279^post51, __disjvr_10^0'=__disjvr_10^post51, a_347^0'=a_347^post51, result_11^0'=result_11^post51, __disjvr_22^0'=__disjvr_22^post51, x_SLAM_f_21^0'=x_SLAM_f_21^post51, __disjvr_5^0'=__disjvr_5^post51, rcd_226^0'=rcd_226^post51, __disjvr_15^0'=__disjvr_15^post51, i_111^0'=i_111^post51, __disjvr_25^0'=__disjvr_25^post51, temp0_34^0'=temp0_34^post51, lt_483^0'=lt_483^post51, z_238^0'=z_238^post51, a_166^0'=a_166^post51, a_267^0'=a_267^post51, rcd_396^0'=rcd_396^post51, __disjvr_1^0'=__disjvr_1^post51, len_266^0'=len_266^post51, __disjvr_2^0'=__disjvr_2^post51, rcd_105^0'=rcd_105^post51, z_389^0'=z_389^post51, __disjvr_12^0'=__disjvr_12^post51, ct_20^0'=ct_20^post51, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post51, lt_17^0'=lt_17^post51, z_160^0'=z_160^post51, __disjvr_7^0'=__disjvr_7^post51, rcd_237^0'=rcd_237^post51, rcd_352^0'=rcd_352^post51, __disjvr_17^0'=__disjvr_17^post51, i_227^0'=i_227^post51, __disjvr_27^0'=__disjvr_27^post51, temp_38^0'=temp_38^post51, r_178^0'=r_178^post51, z_265^0'=z_265^post51, (rcd_376^0-rcd_376^post51 == 0 /\ __disjvr_11^0-__disjvr_11^post51 == 0 /\ y_22^0-y_22^post51 == 0 /\ __disjvr_6^0-__disjvr_6^post51 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post51 == 0 /\ -r_42^post51+r_42^0 == 0 /\ -__disjvr_7^post51+__disjvr_7^0 == 0 /\ __disjvr_29^0-__disjvr_29^post51 == 0 /\ __disjvr_14^0-__disjvr_14^post51 == 0 /\ nondet_12^0-nondet_12^post51 == 0 /\ __disjvr_16^0-__disjvr_16^post51 == 0 /\ __disjvr_3^0-__disjvr_3^post51 == 0 /\ -length_32^post51+length_32^0 == 0 /\ -a_166^post51+a_166^0 == 0 /\ -z_252^post51+z_252^0 == 0 /\ __disjvr_21^0-__disjvr_21^post51 == 0 /\ a_27^0-a_27^post51 == 0 /\ -__disjvr_8^post51+__disjvr_8^0 == 0 /\ -temp_38^post51+temp_38^0 == 0 /\ -a_267^post51+a_267^0 == 0 /\ -temp0_34^post51+temp0_34^0 == 0 /\ x_23^0-x_23^post51 == 0 /\ -len_286^post51+len_286^0 == 0 /\ a_321^0-a_321^post51 == 0 /\ -__disjvr_5^post51+__disjvr_5^0 == 0 /\ __disjvr_10^0-__disjvr_10^post51 == 0 /\ temp0_18^0-temp0_18^post51 == 0 /\ __disjvr_2^0-__disjvr_2^post51 == 0 /\ temp1_30^0-temp1_30^post51 == 0 /\ -i_227^post51+i_227^0 == 0 /\ -rcd_396^post51+rcd_396^0 == 0 /\ tmp_37^0-tmp_37^post51 == 0 /\ -__disjvr_23^post51+__disjvr_23^0 == 0 /\ -rcd_105^post51+rcd_105^0 == 0 /\ -i_111^post51+i_111^0 == 0 /\ -t_24^post51+t_24^0 == 0 /\ -ct_20^post51+ct_20^0 == 0 /\ -z_188^post51+z_188^0 == 0 /\ lt_386^0-lt_386^post51 == 0 /\ -__disjvr_27^post51+__disjvr_27^0 == 0 /\ -lt_483^post51+lt_483^0 == 0 /\ -__disjvr_18^post51+__disjvr_18^0 == 0 /\ -r_236^post51+r_236^0 == 0 /\ __disjvr_25^0-__disjvr_25^post51 == 0 /\ -i_120^post51+i_120^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -z_265^post51+z_265^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post51 == 0 /\ -z_160^post51+z_160^0 == 0 /\ -__disjvr_17^post51+__disjvr_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post51 == 0 /\ rcd_264^0-rcd_264^post51 == 0 /\ z_28^0-z_28^post51 == 0 /\ len_195^0-len_195^post51 == 0 /\ rcd_46^0-rcd_46^post51 == 0 /\ -rcd_113^post51+rcd_113^0 == 0 /\ -len_266^post51+len_266^0 == 0 /\ -__disjvr_15^post51+__disjvr_15^0 == 0 /\ -__disjvr_1^post51+__disjvr_1^0 == 0 /\ rcd_226^0-rcd_226^post51 == 0 /\ __disjvr_13^0-__disjvr_13^post51 == 0 /\ a_377^0-a_377^post51 == 0 /\ rcd_70^0-rcd_70^post51 == 0 /\ __disjvr_20^0-__disjvr_20^post51 == 0 /\ head_35^0-head_35^post51 == 0 /\ -__disjvr_22^post51+__disjvr_22^0 == 0 /\ -a_347^post51+a_347^0 == 0 /\ -i_33^post51+i_33^0 == 0 /\ rcd_222^0-rcd_222^post51 == 0 /\ __disjvr_9^0-__disjvr_9^post51 == 0 /\ -z_279^post51+z_279^0 == 0 /\ -head_13^post51+head_13^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post51+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ lt_29^0-lt_29^post51 == 0 /\ -z_229^post51+z_229^0 == 0 /\ -rcd_237^post51+rcd_237^0 == 0 /\ rcd_228^0-rcd_228^post51 == 0 /\ -result_11^post51+result_11^0 == 0 /\ __disjvr_24^0-__disjvr_24^post51 == 0 /\ -__disjvr_12^post51+__disjvr_12^0 == 0 /\ -z_238^post51+z_238^0 == 0 /\ -lt_17^post51+lt_17^0 == 0 /\ -rcd_352^post51+rcd_352^0 == 0 /\ __disjvr_0^0-__disjvr_0^post51 == 0 /\ __disjvr_26^0-__disjvr_26^post51 == 0 /\ -z_389^post51+z_389^0 == 0 /\ __disjvr_4^0-__disjvr_4^post51 == 0 /\ x_19^0-x_19^post51 == 0 /\ a_210^0-a_210^post51 == 0 /\ __disjvr_28^0-__disjvr_28^post51 == 0 /\ -rcd_356^post51+rcd_356^0 == 0 /\ -r_178^post51+r_178^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
  53: l49 -> l50 : __disjvr_0^0'=__disjvr_0^post53, a_321^0'=a_321^post53, rcd_70^0'=rcd_70^post53, __disjvr_21^0'=__disjvr_21^post53, x_23^0'=x_23^post53, __disjvr_4^0'=__disjvr_4^post53, rcd_222^0'=rcd_222^post53, __disjvr_14^0'=__disjvr_14^post53, head_35^0'=head_35^post53, __disjvr_24^0'=__disjvr_24^post53, temp0_18^0'=temp0_18^post53, lt_386^0'=lt_386^post53, z_229^0'=z_229^post53, __disjvr_9^0'=__disjvr_9^post53, a_210^0'=a_210^post53, rcd_376^0'=rcd_376^post53, __disjvr_19^0'=__disjvr_19^post53, len_195^0'=len_195^post53, __disjvr_29^0'=__disjvr_29^post53, x_19^0'=x_19^post53, r_42^0'=r_42^post53, z_28^0'=z_28^post53, __disjvr_11^0'=__disjvr_11^post53, a_377^0'=a_377^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post53, length_32^0'=length_32^post53, y_22^0'=y_22^post53, __disjvr_6^0'=__disjvr_6^post53, rcd_228^0'=rcd_228^post53, __disjvr_16^0'=__disjvr_16^post53, i_120^0'=i_120^post53, __disjvr_26^0'=__disjvr_26^post53, temp1_30^0'=temp1_30^post53, nondet_12^0'=nondet_12^post53, z_252^0'=z_252^post53, a_27^0'=a_27^post53, rcd_46^0'=rcd_46^post53, __disjvr_20^0'=__disjvr_20^post53, len_286^0'=len_286^post53, __disjvr_3^0'=__disjvr_3^post53, rcd_113^0'=rcd_113^post53, __disjvr_13^0'=__disjvr_13^post53, head_13^0'=head_13^post53, __disjvr_23^0'=__disjvr_23^post53, t_24^0'=t_24^post53, lt_29^0'=lt_29^post53, z_188^0'=z_188^post53, __disjvr_8^0'=__disjvr_8^post53, rcd_264^0'=rcd_264^post53, rcd_356^0'=rcd_356^post53, __disjvr_18^0'=__disjvr_18^post53, i_33^0'=i_33^post53, __disjvr_28^0'=__disjvr_28^post53, tmp_37^0'=tmp_37^post53, r_236^0'=r_236^post53, z_279^0'=z_279^post53, __disjvr_10^0'=__disjvr_10^post53, a_347^0'=a_347^post53, result_11^0'=result_11^post53, __disjvr_22^0'=__disjvr_22^post53, x_SLAM_f_21^0'=x_SLAM_f_21^post53, __disjvr_5^0'=__disjvr_5^post53, rcd_226^0'=rcd_226^post53, __disjvr_15^0'=__disjvr_15^post53, i_111^0'=i_111^post53, __disjvr_25^0'=__disjvr_25^post53, temp0_34^0'=temp0_34^post53, lt_483^0'=lt_483^post53, z_238^0'=z_238^post53, a_166^0'=a_166^post53, a_267^0'=a_267^post53, rcd_396^0'=rcd_396^post53, __disjvr_1^0'=__disjvr_1^post53, len_266^0'=len_266^post53, __disjvr_2^0'=__disjvr_2^post53, rcd_105^0'=rcd_105^post53, z_389^0'=z_389^post53, __disjvr_12^0'=__disjvr_12^post53, ct_20^0'=ct_20^post53, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, lt_17^0'=lt_17^post53, z_160^0'=z_160^post53, __disjvr_7^0'=__disjvr_7^post53, rcd_237^0'=rcd_237^post53, rcd_352^0'=rcd_352^post53, __disjvr_17^0'=__disjvr_17^post53, i_227^0'=i_227^post53, __disjvr_27^0'=__disjvr_27^post53, temp_38^0'=temp_38^post53, r_178^0'=r_178^post53, z_265^0'=z_265^post53, (a_166^0-a_166^post53 == 0 /\ rcd_105^0-rcd_105^post53 == 0 /\ -__disjvr_13^post53+__disjvr_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post53 == 0 /\ result_11^0-result_11^post53 == 0 /\ -a_27^post53+a_27^0 == 0 /\ __disjvr_16^0-__disjvr_16^post53 == 0 /\ __disjvr_28^0-__disjvr_28^post53 == 0 /\ z_279^0-z_279^post53 == 0 /\ __disjvr_6^0-__disjvr_6^post53 == 0 /\ rcd_264^0-rcd_264^post53 == 0 /\ __disjvr_23^post53-__disjvr_23^0 == 0 /\ -r_178^post53+r_178^0 == 0 /\ len_195^0-len_195^post53 == 0 /\ -__disjvr_7^post53+__disjvr_7^0 == 0 /\ rcd_70^0-rcd_70^post53 == 0 /\ -tmp_37^post53+tmp_37^0 == 0 /\ head_35^0-head_35^post53 == 0 /\ -__disjvr_10^post53+__disjvr_10^0 == 0 /\ __disjvr_19^0-__disjvr_19^post53 == 0 /\ -lt_17^post53+lt_17^0 == 0 /\ -i_227^post53+i_227^0 == 0 /\ a_321^0-a_321^post53 == 0 /\ -__disjvr_27^post53+__disjvr_27^0 == 0 /\ len_286^0-len_286^post53 == 0 /\ -y_22^post53+y_22^0 == 0 /\ -x_19^post53+x_19^0 == 0 /\ -z_188^post53+z_188^0 == 0 /\ -ct_20^post53+ct_20^0 == 0 /\ __disjvr_4^0-__disjvr_4^post53 == 0 /\ -__disjvr_1^post53+__disjvr_1^0 == 0 /\ -z_252^post53+z_252^0 == 0 /\ __disjvr_9^0-__disjvr_9^post53 == 0 /\ -x_SLAM_f_21^post53+x_SLAM_f_21^0 == 0 /\ -__disjvr_23^post53+__disjvr_23^0 == 0 /\ -temp_38^post53+temp_38^0 == 0 /\ -__disjvr_5^post53+__disjvr_5^0 == 0 /\ nondet_12^0-nondet_12^post53 == 0 /\ __disjvr_0^0-__disjvr_0^post53 == 0 /\ -r_236^post53+r_236^0 == 0 /\ -__disjvr_18^post53+__disjvr_18^0 == 0 /\ a_210^0-a_210^post53 == 0 /\ -rcd_396^post53+rcd_396^0 == 0 /\ __disjvr_26^0-__disjvr_26^post53 == 0 /\ len_266^0-len_266^post53 == 0 /\ -i_111^post53+i_111^0 == 0 /\ rcd_222^0-rcd_222^post53 == 0 /\ rcd_376^0-rcd_376^post53 == 0 /\ t_24^0-t_24^post53 == 0 /\ __disjvr_8^0-__disjvr_8^post53 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ -rcd_356^post53+rcd_356^0 == 0 /\ __disjvr_29^0-__disjvr_29^post53 == 0 /\ -__disjvr_20^post53+__disjvr_20^0 == 0 /\ __disjvr_11^0-__disjvr_11^post53 == 0 /\ -lt_483^post53+lt_483^0 == 0 /\ __disjvr_3^0-__disjvr_3^post53 == 0 /\ z_160^0-z_160^post53 == 0 /\ -z_28^post53+z_28^0 == 0 /\ -i_120^post53+i_120^0 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ -__disjvr_15^post53+__disjvr_15^0 == 0 /\ -__disjvr_14^post53+__disjvr_14^0 == 0 /\ a_377^0-a_377^post53 == 0 /\ -i_33^post53+i_33^0 == 0 /\ temp0_18^0-temp0_18^post53 == 0 /\ rcd_228^0-rcd_228^post53 == 0 /\ -head_13^post53+head_13^0 == 0 /\ x_23^0-x_23^post53 == 0 /\ rcd_113^0-rcd_113^post53 == 0 /\ -a_267^post53+a_267^0 == 0 /\ -__disjvr_25^post53+__disjvr_25^0 == 0 /\ -rcd_352^post53+rcd_352^0 == 0 /\ -rcd_46^post53+rcd_46^0 == 0 /\ temp1_30^0-temp1_30^post53 == 0 /\ lt_29^0-lt_29^post53 == 0 /\ -rcd_226^post53+rcd_226^0 == 0 /\ -__disjvr_22^post53+__disjvr_22^0 == 0 /\ -z_238^post53+z_238^0 == 0 /\ a_347^0-a_347^post53 == 0 /\ -z_265^post53+z_265^0 == 0 /\ temp0_34^0-temp0_34^post53 == 0 /\ r_42^0-r_42^post53 == 0 /\ -__disjvr_12^post53+__disjvr_12^0 == 0 /\ z_229^0-z_229^post53 == 0 /\ __disjvr_24^0-__disjvr_24^post53 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post53+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ length_32^0-length_32^post53 == 0 /\ -__disjvr_2^post53+__disjvr_2^0 == 0 /\ -lt_386^post53+lt_386^0 == 0 /\ -rcd_237^post53+rcd_237^0 == 0 /\ -z_389^post53+z_389^0 == 0), cost: 1
  54: l50 -> l51 : __disjvr_0^0'=__disjvr_0^post54, a_321^0'=a_321^post54, rcd_70^0'=rcd_70^post54, __disjvr_21^0'=__disjvr_21^post54, x_23^0'=x_23^post54, __disjvr_4^0'=__disjvr_4^post54, rcd_222^0'=rcd_222^post54, __disjvr_14^0'=__disjvr_14^post54, head_35^0'=head_35^post54, __disjvr_24^0'=__disjvr_24^post54, temp0_18^0'=temp0_18^post54, lt_386^0'=lt_386^post54, z_229^0'=z_229^post54, __disjvr_9^0'=__disjvr_9^post54, a_210^0'=a_210^post54, rcd_376^0'=rcd_376^post54, __disjvr_19^0'=__disjvr_19^post54, len_195^0'=len_195^post54, __disjvr_29^0'=__disjvr_29^post54, x_19^0'=x_19^post54, r_42^0'=r_42^post54, z_28^0'=z_28^post54, __disjvr_11^0'=__disjvr_11^post54, a_377^0'=a_377^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post54, length_32^0'=length_32^post54, y_22^0'=y_22^post54, __disjvr_6^0'=__disjvr_6^post54, rcd_228^0'=rcd_228^post54, __disjvr_16^0'=__disjvr_16^post54, i_120^0'=i_120^post54, __disjvr_26^0'=__disjvr_26^post54, temp1_30^0'=temp1_30^post54, nondet_12^0'=nondet_12^post54, z_252^0'=z_252^post54, a_27^0'=a_27^post54, rcd_46^0'=rcd_46^post54, __disjvr_20^0'=__disjvr_20^post54, len_286^0'=len_286^post54, __disjvr_3^0'=__disjvr_3^post54, rcd_113^0'=rcd_113^post54, __disjvr_13^0'=__disjvr_13^post54, head_13^0'=head_13^post54, __disjvr_23^0'=__disjvr_23^post54, t_24^0'=t_24^post54, lt_29^0'=lt_29^post54, z_188^0'=z_188^post54, __disjvr_8^0'=__disjvr_8^post54, rcd_264^0'=rcd_264^post54, rcd_356^0'=rcd_356^post54, __disjvr_18^0'=__disjvr_18^post54, i_33^0'=i_33^post54, __disjvr_28^0'=__disjvr_28^post54, tmp_37^0'=tmp_37^post54, r_236^0'=r_236^post54, z_279^0'=z_279^post54, __disjvr_10^0'=__disjvr_10^post54, a_347^0'=a_347^post54, result_11^0'=result_11^post54, __disjvr_22^0'=__disjvr_22^post54, x_SLAM_f_21^0'=x_SLAM_f_21^post54, __disjvr_5^0'=__disjvr_5^post54, rcd_226^0'=rcd_226^post54, __disjvr_15^0'=__disjvr_15^post54, i_111^0'=i_111^post54, __disjvr_25^0'=__disjvr_25^post54, temp0_34^0'=temp0_34^post54, lt_483^0'=lt_483^post54, z_238^0'=z_238^post54, a_166^0'=a_166^post54, a_267^0'=a_267^post54, rcd_396^0'=rcd_396^post54, __disjvr_1^0'=__disjvr_1^post54, len_266^0'=len_266^post54, __disjvr_2^0'=__disjvr_2^post54, rcd_105^0'=rcd_105^post54, z_389^0'=z_389^post54, __disjvr_12^0'=__disjvr_12^post54, ct_20^0'=ct_20^post54, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post54, lt_17^0'=lt_17^post54, z_160^0'=z_160^post54, __disjvr_7^0'=__disjvr_7^post54, rcd_237^0'=rcd_237^post54, rcd_352^0'=rcd_352^post54, __disjvr_17^0'=__disjvr_17^post54, i_227^0'=i_227^post54, __disjvr_27^0'=__disjvr_27^post54, temp_38^0'=temp_38^post54, r_178^0'=r_178^post54, z_265^0'=z_265^post54, (0 == 0 /\ -rcd_105^post54+rcd_105^0 == 0 /\ -z_160^post54+z_160^0 == 0 /\ __disjvr_4^0-__disjvr_4^post54 == 0 /\ rcd_228^0-rcd_228^post54 == 0 /\ -1-len_195^0+len_266^post54 <= 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ -__disjvr_18^post54+__disjvr_18^0 == 0 /\ -r_236^post54+r_236^0 == 0 /\ temp1_30^0-temp1_30^post54 == 0 /\ y_22^0-y_22^post54 == 0 /\ -__disjvr_15^post54+__disjvr_15^0 == 0 /\ rcd_222^0-rcd_222^post54 == 0 /\ -z_265^post54+z_160^0 <= 0 /\ a_210^0-a_210^post54 == 0 /\ -rcd_113^post54+rcd_113^0 == 0 /\ -lt_483^post54+lt_483^0 == 0 /\ __disjvr_28^0-__disjvr_28^post54 == 0 /\ -__disjvr_6^post54+__disjvr_6^0 == 0 /\ -a_377^post54+a_377^0 == 0 /\ a_166^0-a_166^post54 == 0 /\ x_23^0-x_23^post54 == 0 /\ -__disjvr_1^post54+__disjvr_1^0 == 0 /\ a_347^0-a_347^post54 == 0 /\ z_229^0-z_229^post54 == 0 /\ -rcd_46^post54+rcd_46^0 == 0 /\ __disjvr_11^0-__disjvr_11^post54 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post54+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_14^0-__disjvr_14^post54 == 0 /\ __disjvr_19^0-__disjvr_19^post54 == 0 /\ -__disjvr_12^post54+__disjvr_12^0 == 0 /\ -r_178^post54+r_178^0 == 0 /\ i_120^0-i_120^post54 == 0 /\ -rcd_237^post54+rcd_237^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post54 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ -i_33^post54+i_33^0 == 0 /\ -1+a_210^0-a_267^post54 <= 0 /\ __disjvr_23^0-__disjvr_23^post54 == 0 /\ -__disjvr_26^post54+__disjvr_26^0 == 0 /\ -rcd_356^post54+rcd_356^0 == 0 /\ -nondet_12^post54+nondet_12^0 == 0 /\ -a_27^post54+a_27^0 == 0 /\ -z_389^post54+z_389^0 == 0 /\ __disjvr_21^0-__disjvr_21^post54 == 0 /\ -rcd_226^post54+rcd_226^0 == 0 /\ ct_20^0-ct_20^post54 == 0 /\ z_265^post54-z_160^0 <= 0 /\ -z_238^post54+z_238^0 == 0 /\ -__disjvr_29^post54+__disjvr_29^0 == 0 /\ -head_13^post54+head_13^0 == 0 /\ -__disjvr_2^post54+__disjvr_2^0 == 0 /\ -temp0_34^post54+temp0_34^0 == 0 /\ -temp_38^post54+temp_38^0 == 0 /\ a_27^0-head_13^0 <= 0 /\ a_321^0-a_321^post54 == 0 /\ -lt_17^post54+lt_17^0 == 0 /\ __disjvr_22^0-__disjvr_22^post54 == 0 /\ 1+len_195^0-len_266^post54 <= 0 /\ i_111^0-i_111^post54 == 0 /\ -__disjvr_7^post54+__disjvr_7^0 == 0 /\ -result_11^post54+result_11^0 == 0 /\ -temp0_18^post54+temp0_18^0 == 0 /\ r_42^0-r_42^post54 == 0 /\ len_195^0-len_195^post54 == 0 /\ -__disjvr_8^post54+__disjvr_8^0 == 0 /\ -rcd_70^post54+rcd_70^0 == 0 /\ -rcd_46^0+rcd_264^post54 <= 0 /\ __disjvr_9^0-__disjvr_9^post54 == 0 /\ -__disjvr_10^post54+__disjvr_10^0 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ len_286^0-len_286^post54 == 0 /\ -rcd_352^post54+rcd_352^0 == 0 /\ z_252^0-z_252^post54 == 0 /\ lt_386^0-lt_386^post54 == 0 /\ -x_SLAM_f_21^post54+x_SLAM_f_21^0 == 0 /\ -__disjvr_27^post54+__disjvr_27^0 == 0 /\ -__disjvr_16^post54+__disjvr_16^0 == 0 /\ length_32^0-length_32^post54 == 0 /\ -tmp_37^post54+tmp_37^0 == 0 /\ -a_27^0+head_13^0 <= 0 /\ x_19^0-x_19^post54 == 0 /\ __disjvr_25^0-__disjvr_25^post54 == 0 /\ z_188^0-z_188^post54 == 0 /\ 1-a_210^0+a_267^post54 <= 0 /\ t_24^0-t_24^post54 == 0 /\ __disjvr_0^0-__disjvr_0^post54 == 0 /\ -i_227^post54+i_227^0 == 0 /\ -rcd_376^post54+rcd_376^0 == 0 /\ -__disjvr_5^post54+__disjvr_5^0 == 0 /\ rcd_46^0-rcd_264^post54 <= 0 /\ head_35^0-head_35^post54 == 0 /\ -rcd_396^post54+rcd_396^0 == 0 /\ z_279^0-z_279^post54 == 0 /\ -__disjvr_20^post54+__disjvr_20^0 == 0 /\ __disjvr_13^0-__disjvr_13^post54 == 0), cost: 1
  55: l51 -> l52 : __disjvr_0^0'=__disjvr_0^post55, a_321^0'=a_321^post55, rcd_70^0'=rcd_70^post55, __disjvr_21^0'=__disjvr_21^post55, x_23^0'=x_23^post55, __disjvr_4^0'=__disjvr_4^post55, rcd_222^0'=rcd_222^post55, __disjvr_14^0'=__disjvr_14^post55, head_35^0'=head_35^post55, __disjvr_24^0'=__disjvr_24^post55, temp0_18^0'=temp0_18^post55, lt_386^0'=lt_386^post55, z_229^0'=z_229^post55, __disjvr_9^0'=__disjvr_9^post55, a_210^0'=a_210^post55, rcd_376^0'=rcd_376^post55, __disjvr_19^0'=__disjvr_19^post55, len_195^0'=len_195^post55, __disjvr_29^0'=__disjvr_29^post55, x_19^0'=x_19^post55, r_42^0'=r_42^post55, z_28^0'=z_28^post55, __disjvr_11^0'=__disjvr_11^post55, a_377^0'=a_377^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post55, length_32^0'=length_32^post55, y_22^0'=y_22^post55, __disjvr_6^0'=__disjvr_6^post55, rcd_228^0'=rcd_228^post55, __disjvr_16^0'=__disjvr_16^post55, i_120^0'=i_120^post55, __disjvr_26^0'=__disjvr_26^post55, temp1_30^0'=temp1_30^post55, nondet_12^0'=nondet_12^post55, z_252^0'=z_252^post55, a_27^0'=a_27^post55, rcd_46^0'=rcd_46^post55, __disjvr_20^0'=__disjvr_20^post55, len_286^0'=len_286^post55, __disjvr_3^0'=__disjvr_3^post55, rcd_113^0'=rcd_113^post55, __disjvr_13^0'=__disjvr_13^post55, head_13^0'=head_13^post55, __disjvr_23^0'=__disjvr_23^post55, t_24^0'=t_24^post55, lt_29^0'=lt_29^post55, z_188^0'=z_188^post55, __disjvr_8^0'=__disjvr_8^post55, rcd_264^0'=rcd_264^post55, rcd_356^0'=rcd_356^post55, __disjvr_18^0'=__disjvr_18^post55, i_33^0'=i_33^post55, __disjvr_28^0'=__disjvr_28^post55, tmp_37^0'=tmp_37^post55, r_236^0'=r_236^post55, z_279^0'=z_279^post55, __disjvr_10^0'=__disjvr_10^post55, a_347^0'=a_347^post55, result_11^0'=result_11^post55, __disjvr_22^0'=__disjvr_22^post55, x_SLAM_f_21^0'=x_SLAM_f_21^post55, __disjvr_5^0'=__disjvr_5^post55, rcd_226^0'=rcd_226^post55, __disjvr_15^0'=__disjvr_15^post55, i_111^0'=i_111^post55, __disjvr_25^0'=__disjvr_25^post55, temp0_34^0'=temp0_34^post55, lt_483^0'=lt_483^post55, z_238^0'=z_238^post55, a_166^0'=a_166^post55, a_267^0'=a_267^post55, rcd_396^0'=rcd_396^post55, __disjvr_1^0'=__disjvr_1^post55, len_266^0'=len_266^post55, __disjvr_2^0'=__disjvr_2^post55, rcd_105^0'=rcd_105^post55, z_389^0'=z_389^post55, __disjvr_12^0'=__disjvr_12^post55, ct_20^0'=ct_20^post55, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post55, lt_17^0'=lt_17^post55, z_160^0'=z_160^post55, __disjvr_7^0'=__disjvr_7^post55, rcd_237^0'=rcd_237^post55, rcd_352^0'=rcd_352^post55, __disjvr_17^0'=__disjvr_17^post55, i_227^0'=i_227^post55, __disjvr_27^0'=__disjvr_27^post55, temp_38^0'=temp_38^post55, r_178^0'=r_178^post55, z_265^0'=z_265^post55, (-rcd_264^post55+rcd_264^0 == 0 /\ -a_27^post55+a_27^0 == 0 /\ __disjvr_23^0-__disjvr_23^post55 == 0 /\ rcd_46^0-rcd_46^post55 == 0 /\ a_210^0-a_210^post55 == 0 /\ -__disjvr_10^post55+__disjvr_10^0 == 0 /\ t_24^0-t_24^post55 == 0 /\ -rcd_396^post55+rcd_396^0 == 0 /\ -__disjvr_13^post55+__disjvr_13^0 == 0 /\ __disjvr_0^0-__disjvr_0^post55 == 0 /\ length_32^0-length_32^post55 == 0 /\ -nondet_12^post55+nondet_12^0 == 0 /\ -z_252^post55+z_252^0 == 0 /\ head_35^0-head_35^post55 == 0 /\ i_33^0-i_33^post55 == 0 /\ -r_178^post55+r_178^0 == 0 /\ -tmp_37^post55+tmp_37^0 == 0 /\ a_377^0-a_377^post55 == 0 /\ -lt_17^post55+lt_17^0 == 0 /\ -__disjvr_7^post55+__disjvr_7^0 == 0 /\ -__disjvr_24^0+__disjvr_24^post55 == 0 /\ -ct_20^post55+ct_20^0 == 0 /\ rcd_70^0-rcd_70^post55 == 0 /\ -z_188^post55+z_188^0 == 0 /\ temp0_18^0-temp0_18^post55 == 0 /\ x_23^0-x_23^post55 == 0 /\ -x_SLAM_f_21^post55+x_SLAM_f_21^0 == 0 /\ len_286^0-len_286^post55 == 0 /\ lt_29^0-lt_29^post55 == 0 /\ -i_111^post55+i_111^0 == 0 /\ rcd_228^0-rcd_228^post55 == 0 /\ head_13^0-head_13^post55 == 0 /\ -__disjvr_16^post55+__disjvr_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post55 == 0 /\ -rcd_105^post55+rcd_105^0 == 0 /\ -temp0_34^post55+temp0_34^0 == 0 /\ -temp_38^post55+temp_38^0 == 0 /\ rcd_222^0-rcd_222^post55 == 0 /\ __disjvr_1^0-__disjvr_1^post55 == 0 /\ r_42^0-r_42^post55 == 0 /\ __disjvr_8^0-__disjvr_8^post55 == 0 /\ z_229^0-z_229^post55 == 0 /\ -__disjvr_18^post55+__disjvr_18^0 == 0 /\ -__disjvr_20^post55+__disjvr_20^0 == 0 /\ i_120^0-i_120^post55 == 0 /\ __disjvr_24^0-__disjvr_24^post55 == 0 /\ -rcd_356^post55+rcd_356^0 == 0 /\ -__disjvr_29^post55+__disjvr_29^0 == 0 /\ __disjvr_14^0-__disjvr_14^post55 == 0 /\ -lt_483^post55+lt_483^0 == 0 /\ __disjvr_15^0-__disjvr_15^post55 == 0 /\ __disjvr_3^0-__disjvr_3^post55 == 0 /\ __disjvr_21^0-__disjvr_21^post55 == 0 /\ result_11^0-result_11^post55 == 0 /\ -__disjvr_6^post55+__disjvr_6^0 == 0 /\ z_28^0-z_28^post55 == 0 /\ __disjvr_5^0-__disjvr_5^post55 == 0 /\ len_195^0-len_195^post55 == 0 /\ -len_266^post55+len_266^0 == 0 /\ -__disjvr_27^post55+__disjvr_27^0 == 0 /\ -z_160^post55+z_160^0 == 0 /\ -z_279^post55+z_279^0 == 0 /\ __disjvr_19^0-__disjvr_19^post55 == 0 /\ -i_227^post55+i_227^0 == 0 /\ rcd_376^0-rcd_376^post55 == 0 /\ a_321^0-a_321^post55 == 0 /\ -z_389^post55+z_389^0 == 0 /\ rcd_113^0-rcd_113^post55 == 0 /\ -__disjvr_11^post55+__disjvr_11^0 == 0 /\ -__disjvr_26^post55+__disjvr_26^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_226^post55+rcd_226^0 == 0 /\ -a_267^post55+a_267^0 == 0 /\ -a_166^post55+a_166^0 == 0 /\ -__disjvr_12^post55+__disjvr_12^0 == 0 /\ -__disjvr_25^post55+__disjvr_25^0 == 0 /\ __disjvr_9^0-__disjvr_9^post55 == 0 /\ -rcd_352^post55+rcd_352^0 == 0 /\ y_22^0-y_22^post55 == 0 /\ -__disjvr_2^post55+__disjvr_2^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post55+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ lt_386^0-lt_386^post55 == 0 /\ temp1_30^0-temp1_30^post55 == 0 /\ -__disjvr_22^post55+__disjvr_22^0 == 0 /\ -__disjvr_28^post55+__disjvr_28^0 == 0 /\ -rcd_237^post55+rcd_237^0 == 0 /\ -__disjvr_17^post55+__disjvr_17^0 == 0 /\ x_19^0-x_19^post55 == 0 /\ r_236^0-r_236^post55 == 0 /\ -a_347^post55+a_347^0 == 0 /\ -z_238^post55+z_238^0 == 0 /\ -z_265^post55+z_265^0 == 0), cost: 1
  56: l52 -> l48 : __disjvr_0^0'=__disjvr_0^post56, a_321^0'=a_321^post56, rcd_70^0'=rcd_70^post56, __disjvr_21^0'=__disjvr_21^post56, x_23^0'=x_23^post56, __disjvr_4^0'=__disjvr_4^post56, rcd_222^0'=rcd_222^post56, __disjvr_14^0'=__disjvr_14^post56, head_35^0'=head_35^post56, __disjvr_24^0'=__disjvr_24^post56, temp0_18^0'=temp0_18^post56, lt_386^0'=lt_386^post56, z_229^0'=z_229^post56, __disjvr_9^0'=__disjvr_9^post56, a_210^0'=a_210^post56, rcd_376^0'=rcd_376^post56, __disjvr_19^0'=__disjvr_19^post56, len_195^0'=len_195^post56, __disjvr_29^0'=__disjvr_29^post56, x_19^0'=x_19^post56, r_42^0'=r_42^post56, z_28^0'=z_28^post56, __disjvr_11^0'=__disjvr_11^post56, a_377^0'=a_377^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post56, length_32^0'=length_32^post56, y_22^0'=y_22^post56, __disjvr_6^0'=__disjvr_6^post56, rcd_228^0'=rcd_228^post56, __disjvr_16^0'=__disjvr_16^post56, i_120^0'=i_120^post56, __disjvr_26^0'=__disjvr_26^post56, temp1_30^0'=temp1_30^post56, nondet_12^0'=nondet_12^post56, z_252^0'=z_252^post56, a_27^0'=a_27^post56, rcd_46^0'=rcd_46^post56, __disjvr_20^0'=__disjvr_20^post56, len_286^0'=len_286^post56, __disjvr_3^0'=__disjvr_3^post56, rcd_113^0'=rcd_113^post56, __disjvr_13^0'=__disjvr_13^post56, head_13^0'=head_13^post56, __disjvr_23^0'=__disjvr_23^post56, t_24^0'=t_24^post56, lt_29^0'=lt_29^post56, z_188^0'=z_188^post56, __disjvr_8^0'=__disjvr_8^post56, rcd_264^0'=rcd_264^post56, rcd_356^0'=rcd_356^post56, __disjvr_18^0'=__disjvr_18^post56, i_33^0'=i_33^post56, __disjvr_28^0'=__disjvr_28^post56, tmp_37^0'=tmp_37^post56, r_236^0'=r_236^post56, z_279^0'=z_279^post56, __disjvr_10^0'=__disjvr_10^post56, a_347^0'=a_347^post56, result_11^0'=result_11^post56, __disjvr_22^0'=__disjvr_22^post56, x_SLAM_f_21^0'=x_SLAM_f_21^post56, __disjvr_5^0'=__disjvr_5^post56, rcd_226^0'=rcd_226^post56, __disjvr_15^0'=__disjvr_15^post56, i_111^0'=i_111^post56, __disjvr_25^0'=__disjvr_25^post56, temp0_34^0'=temp0_34^post56, lt_483^0'=lt_483^post56, z_238^0'=z_238^post56, a_166^0'=a_166^post56, a_267^0'=a_267^post56, rcd_396^0'=rcd_396^post56, __disjvr_1^0'=__disjvr_1^post56, len_266^0'=len_266^post56, __disjvr_2^0'=__disjvr_2^post56, rcd_105^0'=rcd_105^post56, z_389^0'=z_389^post56, __disjvr_12^0'=__disjvr_12^post56, ct_20^0'=ct_20^post56, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, lt_17^0'=lt_17^post56, z_160^0'=z_160^post56, __disjvr_7^0'=__disjvr_7^post56, rcd_237^0'=rcd_237^post56, rcd_352^0'=rcd_352^post56, __disjvr_17^0'=__disjvr_17^post56, i_227^0'=i_227^post56, __disjvr_27^0'=__disjvr_27^post56, temp_38^0'=temp_38^post56, r_178^0'=r_178^post56, z_265^0'=z_265^post56, (0 == 0 /\ -__disjvr_18^post56+__disjvr_18^0 == 0 /\ a_267^0-a_210^post56 <= 0 /\ -lt_483^post56+lt_483^0 == 0 /\ a_321^0-a_321^post56 == 0 /\ -z_265^post56+z_265^0 == 0 /\ rcd_396^0-rcd_396^post56 == 0 /\ -__disjvr_17^post56+__disjvr_17^0 == 0 /\ -z_238^post56+z_238^0 == 0 /\ lt_386^0-lt_386^post56 == 0 /\ len_195^post56-len_266^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post56 == 0 /\ -temp1_30^post56+temp1_30^0 == 0 /\ -len_266^post56+len_266^0 == 0 /\ __disjvr_1^0-__disjvr_1^post56 == 0 /\ rcd_222^0-rcd_222^post56 == 0 /\ -z_160^post56+z_265^0 <= 0 /\ z_229^0-z_229^post56 == 0 /\ z_252^0-z_252^post56 == 0 /\ y_22^0-y_22^post56 == 0 /\ -a_267^0+a_210^post56 <= 0 /\ -rcd_352^post56+rcd_352^0 == 0 /\ -__disjvr_26^post56+__disjvr_26^0 == 0 /\ __disjvr_8^0-__disjvr_8^post56 == 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ z_279^0-z_279^post56 == 0 /\ x_19^0-x_19^post56 == 0 /\ rcd_105^0-rcd_105^post56 == 0 /\ length_32^0-length_32^post56 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post56+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_228^post56+rcd_228^0 == 0 /\ z_28^0-z_28^post56 == 0 /\ -rcd_226^post56+rcd_226^0 == 0 /\ -r_178^post56+r_178^0 == 0 /\ -__disjvr_22^post56+__disjvr_22^0 == 0 /\ -a_166^post56+a_166^0 == 0 /\ -__disjvr_11^post56+__disjvr_11^0 == 0 /\ __disjvr_15^0-__disjvr_15^post56 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ __disjvr_16^0-__disjvr_16^post56 == 0 /\ a_377^0-a_377^post56 == 0 /\ -len_195^post56+len_266^0 <= 0 /\ z_188^0-z_188^post56 == 0 /\ -__disjvr_2^post56+__disjvr_2^0 == 0 /\ -lt_29^post56+lt_29^0 == 0 /\ -rcd_237^post56+rcd_237^0 == 0 /\ -z_389^post56+z_389^0 == 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ z_160^post56-z_265^0 <= 0 /\ -nondet_12^post56+nondet_12^0 == 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ -temp0_34^post56+temp0_34^0 == 0 /\ rcd_356^0-rcd_356^post56 == 0 /\ x_23^0-x_23^post56 == 0 /\ -__disjvr_28^post56+__disjvr_28^0 == 0 /\ -temp0_18^post56+temp0_18^0 == 0 /\ __disjvr_4^0-__disjvr_4^post56 == 0 /\ rcd_70^0-rcd_70^post56 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -lt_17^post56+lt_17^0 == 0 /\ -temp_38^post56+temp_38^0 == 0 /\ -a_27^post56+a_27^0 == 0 /\ -__disjvr_3^post56+__disjvr_3^0 == 0 /\ -__disjvr_13^post56+__disjvr_13^0 == 0 /\ rcd_113^0-rcd_113^post56 == 0 /\ head_13^0-head_13^post56 == 0 /\ -rcd_264^0+rcd_46^post56 <= 0 /\ len_286^0-len_286^post56 == 0 /\ __disjvr_9^0-__disjvr_9^post56 == 0 /\ -a_267^post56+a_267^0 == 0 /\ -__disjvr_10^post56+__disjvr_10^0 == 0 /\ -__disjvr_7^post56+__disjvr_7^0 == 0 /\ -__disjvr_25^post56+__disjvr_25^0 == 0 /\ a_347^0-a_347^post56 == 0 /\ r_236^0-r_236^post56 == 0 /\ -r_42^post56+r_42^0 == 0 /\ __disjvr_6^0-__disjvr_6^post56 == 0 /\ -tmp_37^post56+tmp_37^0 == 0 /\ __disjvr_19^0-__disjvr_19^post56 == 0 /\ i_120^0-i_120^post56 == 0 /\ rcd_376^0-rcd_376^post56 == 0 /\ __disjvr_5^0-__disjvr_5^post56 == 0 /\ -i_111^post56+i_111^0 == 0 /\ -__disjvr_27^post56+__disjvr_27^0 == 0 /\ result_11^0-result_11^post56 == 0 /\ -i_227^post56+i_227^0 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0 /\ __disjvr_23^0-__disjvr_23^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post56 == 0 /\ i_33^0-i_33^post56 == 0 /\ rcd_264^0-rcd_46^post56 <= 0 /\ -rcd_264^post56+rcd_264^0 == 0 /\ -x_SLAM_f_21^post56+x_SLAM_f_21^0 == 0 /\ -t_24^post56+t_24^0 == 0 /\ head_35^0-head_35^post56 == 0 /\ __disjvr_29^0-__disjvr_29^post56 == 0 /\ -ct_20^post56+ct_20^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
  57: l48 -> l39 : __disjvr_0^0'=__disjvr_0^post57, a_321^0'=a_321^post57, rcd_70^0'=rcd_70^post57, __disjvr_21^0'=__disjvr_21^post57, x_23^0'=x_23^post57, __disjvr_4^0'=__disjvr_4^post57, rcd_222^0'=rcd_222^post57, __disjvr_14^0'=__disjvr_14^post57, head_35^0'=head_35^post57, __disjvr_24^0'=__disjvr_24^post57, temp0_18^0'=temp0_18^post57, lt_386^0'=lt_386^post57, z_229^0'=z_229^post57, __disjvr_9^0'=__disjvr_9^post57, a_210^0'=a_210^post57, rcd_376^0'=rcd_376^post57, __disjvr_19^0'=__disjvr_19^post57, len_195^0'=len_195^post57, __disjvr_29^0'=__disjvr_29^post57, x_19^0'=x_19^post57, r_42^0'=r_42^post57, z_28^0'=z_28^post57, __disjvr_11^0'=__disjvr_11^post57, a_377^0'=a_377^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post57, length_32^0'=length_32^post57, y_22^0'=y_22^post57, __disjvr_6^0'=__disjvr_6^post57, rcd_228^0'=rcd_228^post57, __disjvr_16^0'=__disjvr_16^post57, i_120^0'=i_120^post57, __disjvr_26^0'=__disjvr_26^post57, temp1_30^0'=temp1_30^post57, nondet_12^0'=nondet_12^post57, z_252^0'=z_252^post57, a_27^0'=a_27^post57, rcd_46^0'=rcd_46^post57, __disjvr_20^0'=__disjvr_20^post57, len_286^0'=len_286^post57, __disjvr_3^0'=__disjvr_3^post57, rcd_113^0'=rcd_113^post57, __disjvr_13^0'=__disjvr_13^post57, head_13^0'=head_13^post57, __disjvr_23^0'=__disjvr_23^post57, t_24^0'=t_24^post57, lt_29^0'=lt_29^post57, z_188^0'=z_188^post57, __disjvr_8^0'=__disjvr_8^post57, rcd_264^0'=rcd_264^post57, rcd_356^0'=rcd_356^post57, __disjvr_18^0'=__disjvr_18^post57, i_33^0'=i_33^post57, __disjvr_28^0'=__disjvr_28^post57, tmp_37^0'=tmp_37^post57, r_236^0'=r_236^post57, z_279^0'=z_279^post57, __disjvr_10^0'=__disjvr_10^post57, a_347^0'=a_347^post57, result_11^0'=result_11^post57, __disjvr_22^0'=__disjvr_22^post57, x_SLAM_f_21^0'=x_SLAM_f_21^post57, __disjvr_5^0'=__disjvr_5^post57, rcd_226^0'=rcd_226^post57, __disjvr_15^0'=__disjvr_15^post57, i_111^0'=i_111^post57, __disjvr_25^0'=__disjvr_25^post57, temp0_34^0'=temp0_34^post57, lt_483^0'=lt_483^post57, z_238^0'=z_238^post57, a_166^0'=a_166^post57, a_267^0'=a_267^post57, rcd_396^0'=rcd_396^post57, __disjvr_1^0'=__disjvr_1^post57, len_266^0'=len_266^post57, __disjvr_2^0'=__disjvr_2^post57, rcd_105^0'=rcd_105^post57, z_389^0'=z_389^post57, __disjvr_12^0'=__disjvr_12^post57, ct_20^0'=ct_20^post57, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post57, lt_17^0'=lt_17^post57, z_160^0'=z_160^post57, __disjvr_7^0'=__disjvr_7^post57, rcd_237^0'=rcd_237^post57, rcd_352^0'=rcd_352^post57, __disjvr_17^0'=__disjvr_17^post57, i_227^0'=i_227^post57, __disjvr_27^0'=__disjvr_27^post57, temp_38^0'=temp_38^post57, r_178^0'=r_178^post57, z_265^0'=z_265^post57, (t_24^0-t_24^post57 == 0 /\ a_267^0-a_267^post57 == 0 /\ z_238^0-z_238^post57 == 0 /\ __disjvr_21^0-__disjvr_21^post57 == 0 /\ rcd_376^0-rcd_376^post57 == 0 /\ __disjvr_8^0-__disjvr_8^post57 == 0 /\ __disjvr_6^0-__disjvr_6^post57 == 0 /\ -rcd_237^post57+rcd_237^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post57 == 0 /\ __disjvr_14^0-__disjvr_14^post57 == 0 /\ -nondet_12^post57+nondet_12^0 == 0 /\ z_28^0-z_28^post57 == 0 /\ __disjvr_1^0-__disjvr_1^post57 == 0 /\ i_33^0-i_33^post57 == 0 /\ -__disjvr_10^post57+__disjvr_10^0 == 0 /\ -__disjvr_3^post57+__disjvr_3^0 == 0 /\ -rcd_228^post57+rcd_228^0 == 0 /\ -rcd_352^post57+rcd_352^0 == 0 /\ -rcd_396^post57+rcd_396^0 == 0 /\ temp0_18^0-temp0_18^post57 == 0 /\ __disjvr_29^0-__disjvr_29^post57 == 0 /\ -lt_17^post57+lt_17^0 == 0 /\ -a_166^post57+a_166^0 == 0 /\ -r_178^post57+r_178^0 == 0 /\ -result_11^post57+result_11^0 == 0 /\ -__disjvr_13^post57+__disjvr_13^0 == 0 /\ x_23^0-x_23^post57 == 0 /\ -r_42^post57+r_42^0 == 0 /\ -__disjvr_7^post57+__disjvr_7^0 == 0 /\ a_321^0-a_321^post57 == 0 /\ -__disjvr_16^post57+__disjvr_16^0 == 0 /\ rcd_113^0-rcd_113^post57 == 0 /\ z_252^0-z_252^post57 == 0 /\ rcd_226^0-rcd_226^post57 == 0 /\ head_13^0-head_13^post57 == 0 /\ -x_SLAM_f_21^post57+x_SLAM_f_21^0 == 0 /\ len_195^0-len_195^post57 == 0 /\ -ct_20^post57+ct_20^0 == 0 /\ a_27^0-a_27^post57 == 0 /\ -temp0_34^post57+temp0_34^0 == 0 /\ temp1_30^0-temp1_30^post57 == 0 /\ r_236^0-r_236^post57 == 0 /\ y_22^0-y_22^post57 == 0 /\ -rcd_105^post57+rcd_105^0 == 0 /\ -__disjvr_5^post57+__disjvr_5^0 == 0 /\ -temp_38^post57+temp_38^0 == 0 /\ -rcd_264^post57+rcd_264^0 == 0 /\ rcd_46^0-rcd_46^post57 == 0 /\ __disjvr_23^0-__disjvr_23^post57 == 0 /\ -lt_483^post57+lt_483^0 == 0 /\ z_229^0-z_229^post57 == 0 /\ -__disjvr_18^post57+__disjvr_18^0 == 0 /\ -a_377^post57+a_377^0 == 0 /\ __disjvr_19^0-__disjvr_19^post57 == 0 /\ -z_279^post57+z_279^0 == 0 /\ __disjvr_0^0-__disjvr_0^post57 == 0 /\ lt_386^0-lt_386^post57 == 0 /\ x_19^0-x_19^post57 == 0 /\ z_188^0-z_188^post57 == 0 /\ -z_160^post57+z_160^0 == 0 /\ -head_35^post57+head_35^0 == 0 /\ -i_111^post57+i_111^0 == 0 /\ -len_266^post57+len_266^0 == 0 /\ -i_227^post57+i_227^0 == 0 /\ __disjvr_20^0-__disjvr_20^post57 == 0 /\ -a_347^post57+a_347^0 == 0 /\ len_286^0-len_286^post57 == 0 /\ -__disjvr_25^post57+__disjvr_25^0 == 0 /\ __disjvr_4^0-__disjvr_4^post57 == 0 /\ __disjvr_26^0-__disjvr_26^post57 == 0 /\ rcd_70^0-rcd_70^post57 == 0 /\ -__disjvr_12^post57+__disjvr_12^0 == 0 /\ tmp_37^0-tmp_37^post57 == 0 /\ rcd_222^0-rcd_222^post57 == 0 /\ -__disjvr_28^post57+__disjvr_28^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post57+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_9^0-__disjvr_9^post57 == 0 /\ -z_389^post57+z_389^0 == 0 /\ -__disjvr_11^post57+__disjvr_11^0 == 0 /\ -__disjvr_2^post57+__disjvr_2^0 == 0 /\ -__disjvr_22^post57+__disjvr_22^0 == 0 /\ -z_265^post57+z_265^0 == 0 /\ -lt_29^post57+lt_29^0 == 0 /\ i_120^0-i_120^post57 == 0 /\ rcd_356^0-rcd_356^post57 == 0 /\ __disjvr_27^0-__disjvr_27^post57 == 0 /\ -length_32^post57+length_32^0 == 0 /\ a_210^0-a_210^post57 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ -__disjvr_15^post57+__disjvr_15^0 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0), cost: 1
  58: l53 -> l54 : __disjvr_0^0'=__disjvr_0^post58, a_321^0'=a_321^post58, rcd_70^0'=rcd_70^post58, __disjvr_21^0'=__disjvr_21^post58, x_23^0'=x_23^post58, __disjvr_4^0'=__disjvr_4^post58, rcd_222^0'=rcd_222^post58, __disjvr_14^0'=__disjvr_14^post58, head_35^0'=head_35^post58, __disjvr_24^0'=__disjvr_24^post58, temp0_18^0'=temp0_18^post58, lt_386^0'=lt_386^post58, z_229^0'=z_229^post58, __disjvr_9^0'=__disjvr_9^post58, a_210^0'=a_210^post58, rcd_376^0'=rcd_376^post58, __disjvr_19^0'=__disjvr_19^post58, len_195^0'=len_195^post58, __disjvr_29^0'=__disjvr_29^post58, x_19^0'=x_19^post58, r_42^0'=r_42^post58, z_28^0'=z_28^post58, __disjvr_11^0'=__disjvr_11^post58, a_377^0'=a_377^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post58, length_32^0'=length_32^post58, y_22^0'=y_22^post58, __disjvr_6^0'=__disjvr_6^post58, rcd_228^0'=rcd_228^post58, __disjvr_16^0'=__disjvr_16^post58, i_120^0'=i_120^post58, __disjvr_26^0'=__disjvr_26^post58, temp1_30^0'=temp1_30^post58, nondet_12^0'=nondet_12^post58, z_252^0'=z_252^post58, a_27^0'=a_27^post58, rcd_46^0'=rcd_46^post58, __disjvr_20^0'=__disjvr_20^post58, len_286^0'=len_286^post58, __disjvr_3^0'=__disjvr_3^post58, rcd_113^0'=rcd_113^post58, __disjvr_13^0'=__disjvr_13^post58, head_13^0'=head_13^post58, __disjvr_23^0'=__disjvr_23^post58, t_24^0'=t_24^post58, lt_29^0'=lt_29^post58, z_188^0'=z_188^post58, __disjvr_8^0'=__disjvr_8^post58, rcd_264^0'=rcd_264^post58, rcd_356^0'=rcd_356^post58, __disjvr_18^0'=__disjvr_18^post58, i_33^0'=i_33^post58, __disjvr_28^0'=__disjvr_28^post58, tmp_37^0'=tmp_37^post58, r_236^0'=r_236^post58, z_279^0'=z_279^post58, __disjvr_10^0'=__disjvr_10^post58, a_347^0'=a_347^post58, result_11^0'=result_11^post58, __disjvr_22^0'=__disjvr_22^post58, x_SLAM_f_21^0'=x_SLAM_f_21^post58, __disjvr_5^0'=__disjvr_5^post58, rcd_226^0'=rcd_226^post58, __disjvr_15^0'=__disjvr_15^post58, i_111^0'=i_111^post58, __disjvr_25^0'=__disjvr_25^post58, temp0_34^0'=temp0_34^post58, lt_483^0'=lt_483^post58, z_238^0'=z_238^post58, a_166^0'=a_166^post58, a_267^0'=a_267^post58, rcd_396^0'=rcd_396^post58, __disjvr_1^0'=__disjvr_1^post58, len_266^0'=len_266^post58, __disjvr_2^0'=__disjvr_2^post58, rcd_105^0'=rcd_105^post58, z_389^0'=z_389^post58, __disjvr_12^0'=__disjvr_12^post58, ct_20^0'=ct_20^post58, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post58, lt_17^0'=lt_17^post58, z_160^0'=z_160^post58, __disjvr_7^0'=__disjvr_7^post58, rcd_237^0'=rcd_237^post58, rcd_352^0'=rcd_352^post58, __disjvr_17^0'=__disjvr_17^post58, i_227^0'=i_227^post58, __disjvr_27^0'=__disjvr_27^post58, temp_38^0'=temp_38^post58, r_178^0'=r_178^post58, z_265^0'=z_265^post58, (0 == 0 /\ -__disjvr_17^post58+__disjvr_17^0 == 0 /\ -z_279^post58+z_279^0 == 0 /\ rcd_356^0-rcd_356^post58 == 0 /\ __disjvr_4^0-__disjvr_4^post58 == 0 /\ __disjvr_24^0-__disjvr_24^post58 == 0 /\ __disjvr_2^0-__disjvr_2^post58 == 0 /\ rcd_70^0-rcd_70^post58 == 0 /\ a_321^0-a_321^post58 == 0 /\ -rcd_113^post58+rcd_113^0 == 0 /\ -len_266^post58+len_266^0 == 0 /\ __disjvr_9^0-__disjvr_9^post58 == 0 /\ -lt_29^post58+lt_29^0 == 0 /\ __disjvr_10^0-__disjvr_10^post58 == 0 /\ temp0_18^0-temp0_18^post58 == 0 /\ __disjvr_18^0-__disjvr_18^post58 == 0 /\ -i_33^post58+i_33^0 == 0 /\ a_210^0-a_210^post58 == 0 /\ -temp1_30^post58+temp1_30^0 == 0 /\ -z_160^post58+z_160^0 == 0 /\ tmp_37^0-tmp_37^post58 == 0 /\ x_19^0-x_19^post58 == 0 /\ -__disjvr_12^post58+__disjvr_12^0 == 0 /\ i_120^0-i_120^post58 == 0 /\ -length_32^post58+length_32^0 == 0 /\ -rcd_352^post58+rcd_352^0 == 0 /\ a_267^0-a_267^post58 == 0 /\ -a_166^post58+a_166^0 == 0 /\ -z_389^post58+z_389^0 == 0 /\ -__disjvr_8^post58+__disjvr_8^0 == 0 /\ lt_386^0-lt_386^post58 == 0 /\ rcd_376^0-rcd_376^post58 == 0 /\ z_28^0-z_28^post58 == 0 /\ -r_178^post58+r_178^0 == 0 /\ -rcd_226^post58+rcd_226^0 == 0 /\ -__disjvr_22^post58+__disjvr_22^0 == 0 /\ __disjvr_0^0-__disjvr_0^post58 == 0 /\ __disjvr_21^0-__disjvr_21^post58 == 0 /\ -a_347^post58+a_347^0 == 0 /\ -__disjvr_28^post58+__disjvr_28^0 == 0 /\ __disjvr_13^0-__disjvr_13^post58 == 0 /\ head_35^0-head_35^post58 == 0 /\ -z_265^post58+z_265^0 == 0 /\ a_377^0-a_377^post58 == 0 /\ -result_11^post58+result_11^0 == 0 /\ -lt_17^post58+lt_17^0 == 0 /\ -rcd_396^post58+rcd_396^0 == 0 /\ x_23^0-x_23^post58 == 0 /\ -rcd_264^post58+rcd_264^0 == 0 /\ __disjvr_7^0-__disjvr_7^post58 == 0 /\ -t_24^post58+t_24^0 == 0 /\ -z_188^post58+z_188^0 == 0 /\ -temp_38^post58+temp_38^0 == 0 /\ -temp0_34^post58+temp0_34^0 == 0 /\ __disjvr_26^0-__disjvr_26^post58 == 0 /\ nondet_12^0-nondet_12^post58 == 0 /\ -rcd_222^post58+rcd_222^0 == 0 /\ -__disjvr_25^post58+__disjvr_25^0 == 0 /\ -len_195^post58+len_195^0 == 0 /\ y_22^0-y_22^post58 == 0 /\ z_252^0-z_252^post58 == 0 /\ __disjvr_6^0-__disjvr_6^post58 == 0 /\ __disjvr_14^0-__disjvr_14^post58 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post58 == 0 /\ lt_483^0-lt_483^post58 == 0 /\ -i_227^post58+i_227^0 == 0 /\ __disjvr_3^0-__disjvr_3^post58 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post58 == 0 /\ -__disjvr_23^post58+__disjvr_23^0 == 0 /\ -rcd_105^post58+rcd_105^0 == 0 /\ -i_111^post58+i_111^0 == 0 /\ -__disjvr_1^post58+__disjvr_1^0 == 0 /\ -ct_20^post58+ct_20^0 == 0 /\ __disjvr_11^0-__disjvr_11^post58 == 0 /\ -__disjvr_27^post58+__disjvr_27^0 == 0 /\ rcd_46^0-rcd_46^post58 == 0 /\ __disjvr_15^0-__disjvr_15^post58 == 0 /\ __disjvr_29^0-__disjvr_29^post58 == 0 /\ -len_286^post58+len_286^0 == 0 /\ -__disjvr_5^post58+__disjvr_5^0 == 0 /\ __disjvr_16^0-__disjvr_16^post58 == 0 /\ __disjvr_20^0-__disjvr_20^post58 == 0 /\ -i_120^0 <= 0 /\ __disjvr_19^0-__disjvr_19^post58 == 0), cost: 1
  59: l54 -> l55 : __disjvr_0^0'=__disjvr_0^post59, a_321^0'=a_321^post59, rcd_70^0'=rcd_70^post59, __disjvr_21^0'=__disjvr_21^post59, x_23^0'=x_23^post59, __disjvr_4^0'=__disjvr_4^post59, rcd_222^0'=rcd_222^post59, __disjvr_14^0'=__disjvr_14^post59, head_35^0'=head_35^post59, __disjvr_24^0'=__disjvr_24^post59, temp0_18^0'=temp0_18^post59, lt_386^0'=lt_386^post59, z_229^0'=z_229^post59, __disjvr_9^0'=__disjvr_9^post59, a_210^0'=a_210^post59, rcd_376^0'=rcd_376^post59, __disjvr_19^0'=__disjvr_19^post59, len_195^0'=len_195^post59, __disjvr_29^0'=__disjvr_29^post59, x_19^0'=x_19^post59, r_42^0'=r_42^post59, z_28^0'=z_28^post59, __disjvr_11^0'=__disjvr_11^post59, a_377^0'=a_377^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post59, length_32^0'=length_32^post59, y_22^0'=y_22^post59, __disjvr_6^0'=__disjvr_6^post59, rcd_228^0'=rcd_228^post59, __disjvr_16^0'=__disjvr_16^post59, i_120^0'=i_120^post59, __disjvr_26^0'=__disjvr_26^post59, temp1_30^0'=temp1_30^post59, nondet_12^0'=nondet_12^post59, z_252^0'=z_252^post59, a_27^0'=a_27^post59, rcd_46^0'=rcd_46^post59, __disjvr_20^0'=__disjvr_20^post59, len_286^0'=len_286^post59, __disjvr_3^0'=__disjvr_3^post59, rcd_113^0'=rcd_113^post59, __disjvr_13^0'=__disjvr_13^post59, head_13^0'=head_13^post59, __disjvr_23^0'=__disjvr_23^post59, t_24^0'=t_24^post59, lt_29^0'=lt_29^post59, z_188^0'=z_188^post59, __disjvr_8^0'=__disjvr_8^post59, rcd_264^0'=rcd_264^post59, rcd_356^0'=rcd_356^post59, __disjvr_18^0'=__disjvr_18^post59, i_33^0'=i_33^post59, __disjvr_28^0'=__disjvr_28^post59, tmp_37^0'=tmp_37^post59, r_236^0'=r_236^post59, z_279^0'=z_279^post59, __disjvr_10^0'=__disjvr_10^post59, a_347^0'=a_347^post59, result_11^0'=result_11^post59, __disjvr_22^0'=__disjvr_22^post59, x_SLAM_f_21^0'=x_SLAM_f_21^post59, __disjvr_5^0'=__disjvr_5^post59, rcd_226^0'=rcd_226^post59, __disjvr_15^0'=__disjvr_15^post59, i_111^0'=i_111^post59, __disjvr_25^0'=__disjvr_25^post59, temp0_34^0'=temp0_34^post59, lt_483^0'=lt_483^post59, z_238^0'=z_238^post59, a_166^0'=a_166^post59, a_267^0'=a_267^post59, rcd_396^0'=rcd_396^post59, __disjvr_1^0'=__disjvr_1^post59, len_266^0'=len_266^post59, __disjvr_2^0'=__disjvr_2^post59, rcd_105^0'=rcd_105^post59, z_389^0'=z_389^post59, __disjvr_12^0'=__disjvr_12^post59, ct_20^0'=ct_20^post59, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post59, lt_17^0'=lt_17^post59, z_160^0'=z_160^post59, __disjvr_7^0'=__disjvr_7^post59, rcd_237^0'=rcd_237^post59, rcd_352^0'=rcd_352^post59, __disjvr_17^0'=__disjvr_17^post59, i_227^0'=i_227^post59, __disjvr_27^0'=__disjvr_27^post59, temp_38^0'=temp_38^post59, r_178^0'=r_178^post59, z_265^0'=z_265^post59, (-result_11^post59+result_11^0 == 0 /\ z_229^0-z_229^post59 == 0 /\ -z_188^post59+z_188^0 == 0 /\ length_32^0-length_32^post59 == 0 /\ head_35^0-head_35^post59 == 0 /\ -temp_38^post59+temp_38^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post59 == 0 /\ __disjvr_13^0-__disjvr_13^post59 == 0 /\ rcd_228^0-rcd_228^post59 == 0 /\ -r_178^post59+r_178^0 == 0 /\ -a_166^post59+a_166^0 == 0 /\ -rcd_352^post59+rcd_352^0 == 0 /\ -__disjvr_3^post59+__disjvr_3^0 == 0 /\ -rcd_396^post59+rcd_396^0 == 0 /\ -__disjvr_7^post59+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post59 == 0 /\ -__disjvr_8^post59+__disjvr_8^0 == 0 /\ -lt_17^post59+lt_17^0 == 0 /\ -i_227^post59+i_227^0 == 0 /\ a_27^0-a_27^post59 == 0 /\ rcd_356^0-rcd_356^post59 == 0 /\ -__disjvr_1^post59+__disjvr_1^0 == 0 /\ -ct_20^post59+ct_20^0 == 0 /\ __disjvr_26^0-__disjvr_26^post59 == 0 /\ __disjvr_4^0-__disjvr_4^post59 == 0 /\ -__disjvr_19^post59+__disjvr_19^0 == 0 /\ rcd_70^0-rcd_70^post59 == 0 /\ -x_SLAM_f_21^post59+x_SLAM_f_21^0 == 0 /\ -len_286^post59+len_286^0 == 0 /\ a_321^0-a_321^post59 == 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ lt_386^0-lt_386^post59 == 0 /\ rcd_222^0-rcd_222^post59 == 0 /\ __disjvr_9^0-__disjvr_9^post59 == 0 /\ -rcd_105^post59+rcd_105^0 == 0 /\ -__disjvr_5^post59+__disjvr_5^0 == 0 /\ r_236^0-r_236^post59 == 0 /\ i_120^0-i_120^post59 == 0 /\ __disjvr_14^0-__disjvr_14^post59 == 0 /\ z_389^0-z_389^post59 == 0 /\ -y_22^post59+y_22^0 == 0 /\ -rcd_264^post59+rcd_264^0 == 0 /\ __disjvr_6^0-__disjvr_6^post59 == 0 /\ -t_24^post59+t_24^0 == 0 /\ rcd_376^0-rcd_376^post59 == 0 /\ -a_210^post59+a_210^0 == 0 /\ __disjvr_0^0-__disjvr_0^post59 == 0 /\ -__disjvr_17^post59+__disjvr_17^0 == 0 /\ __disjvr_21^0-__disjvr_21^post59 == 0 /\ -x_19^post59+x_19^0 == 0 /\ __disjvr_25^post59-__disjvr_25^0 == 0 /\ __disjvr_11^0-__disjvr_11^post59 == 0 /\ rcd_46^0-rcd_46^post59 == 0 /\ -x_23^post59+x_23^0 == 0 /\ __disjvr_16^0-__disjvr_16^post59 == 0 /\ -__disjvr_12^post59+__disjvr_12^0 == 0 /\ -temp1_30^post59+temp1_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post59 == 0 /\ a_377^0-a_377^post59 == 0 /\ temp0_18^0-temp0_18^post59 == 0 /\ -__disjvr_23^post59+__disjvr_23^0 == 0 /\ __disjvr_29^0-__disjvr_29^post59 == 0 /\ -i_111^post59+i_111^0 == 0 /\ lt_483^0-lt_483^post59 == 0 /\ -z_279^post59+z_279^0 == 0 /\ -__disjvr_27^post59+__disjvr_27^0 == 0 /\ -len_266^post59+len_266^0 == 0 /\ -i_33^post59+i_33^0 == 0 /\ __disjvr_10^0-__disjvr_10^post59 == 0 /\ r_42^0-r_42^post59 == 0 /\ -a_347^post59+a_347^0 == 0 /\ len_195^0-len_195^post59 == 0 /\ temp0_34^0-temp0_34^post59 == 0 /\ -z_265^post59+z_265^0 == 0 /\ head_13^0-head_13^post59 == 0 /\ rcd_113^0-rcd_113^post59 == 0 /\ -z_28^post59+z_28^0 == 0 /\ __disjvr_18^0-__disjvr_18^post59 == 0 /\ -__disjvr_25^post59+__disjvr_25^0 == 0 /\ rcd_226^0-rcd_226^post59 == 0 /\ -z_160^post59+z_160^0 == 0 /\ -__disjvr_22^post59+__disjvr_22^0 == 0 /\ -z_238^post59+z_238^0 == 0 /\ tmp_37^0-tmp_37^post59 == 0 /\ z_252^0-z_252^post59 == 0 /\ -__disjvr_15^post59+__disjvr_15^0 == 0 /\ __disjvr_24^0-__disjvr_24^post59 == 0 /\ lt_29^0-lt_29^post59 == 0 /\ -a_267^post59+a_267^0 == 0 /\ -__disjvr_28^post59+__disjvr_28^0 == 0 /\ -__disjvr_2^post59+__disjvr_2^0 == 0 /\ -rcd_237^post59+rcd_237^0 == 0), cost: 1
  60: l55 -> l56 : __disjvr_0^0'=__disjvr_0^post60, a_321^0'=a_321^post60, rcd_70^0'=rcd_70^post60, __disjvr_21^0'=__disjvr_21^post60, x_23^0'=x_23^post60, __disjvr_4^0'=__disjvr_4^post60, rcd_222^0'=rcd_222^post60, __disjvr_14^0'=__disjvr_14^post60, head_35^0'=head_35^post60, __disjvr_24^0'=__disjvr_24^post60, temp0_18^0'=temp0_18^post60, lt_386^0'=lt_386^post60, z_229^0'=z_229^post60, __disjvr_9^0'=__disjvr_9^post60, a_210^0'=a_210^post60, rcd_376^0'=rcd_376^post60, __disjvr_19^0'=__disjvr_19^post60, len_195^0'=len_195^post60, __disjvr_29^0'=__disjvr_29^post60, x_19^0'=x_19^post60, r_42^0'=r_42^post60, z_28^0'=z_28^post60, __disjvr_11^0'=__disjvr_11^post60, a_377^0'=a_377^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post60, length_32^0'=length_32^post60, y_22^0'=y_22^post60, __disjvr_6^0'=__disjvr_6^post60, rcd_228^0'=rcd_228^post60, __disjvr_16^0'=__disjvr_16^post60, i_120^0'=i_120^post60, __disjvr_26^0'=__disjvr_26^post60, temp1_30^0'=temp1_30^post60, nondet_12^0'=nondet_12^post60, z_252^0'=z_252^post60, a_27^0'=a_27^post60, rcd_46^0'=rcd_46^post60, __disjvr_20^0'=__disjvr_20^post60, len_286^0'=len_286^post60, __disjvr_3^0'=__disjvr_3^post60, rcd_113^0'=rcd_113^post60, __disjvr_13^0'=__disjvr_13^post60, head_13^0'=head_13^post60, __disjvr_23^0'=__disjvr_23^post60, t_24^0'=t_24^post60, lt_29^0'=lt_29^post60, z_188^0'=z_188^post60, __disjvr_8^0'=__disjvr_8^post60, rcd_264^0'=rcd_264^post60, rcd_356^0'=rcd_356^post60, __disjvr_18^0'=__disjvr_18^post60, i_33^0'=i_33^post60, __disjvr_28^0'=__disjvr_28^post60, tmp_37^0'=tmp_37^post60, r_236^0'=r_236^post60, z_279^0'=z_279^post60, __disjvr_10^0'=__disjvr_10^post60, a_347^0'=a_347^post60, result_11^0'=result_11^post60, __disjvr_22^0'=__disjvr_22^post60, x_SLAM_f_21^0'=x_SLAM_f_21^post60, __disjvr_5^0'=__disjvr_5^post60, rcd_226^0'=rcd_226^post60, __disjvr_15^0'=__disjvr_15^post60, i_111^0'=i_111^post60, __disjvr_25^0'=__disjvr_25^post60, temp0_34^0'=temp0_34^post60, lt_483^0'=lt_483^post60, z_238^0'=z_238^post60, a_166^0'=a_166^post60, a_267^0'=a_267^post60, rcd_396^0'=rcd_396^post60, __disjvr_1^0'=__disjvr_1^post60, len_266^0'=len_266^post60, __disjvr_2^0'=__disjvr_2^post60, rcd_105^0'=rcd_105^post60, z_389^0'=z_389^post60, __disjvr_12^0'=__disjvr_12^post60, ct_20^0'=ct_20^post60, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post60, lt_17^0'=lt_17^post60, z_160^0'=z_160^post60, __disjvr_7^0'=__disjvr_7^post60, rcd_237^0'=rcd_237^post60, rcd_352^0'=rcd_352^post60, __disjvr_17^0'=__disjvr_17^post60, i_227^0'=i_227^post60, __disjvr_27^0'=__disjvr_27^post60, temp_38^0'=temp_38^post60, r_178^0'=r_178^post60, z_265^0'=z_265^post60, (0 == 0 /\ rcd_228^0-rcd_46^0 <= 0 /\ -__disjvr_5^post60+__disjvr_5^0 == 0 /\ -z_238^post60+z_238^0 == 0 /\ rcd_228^0-rcd_228^post60 == 0 /\ rcd_70^0-rcd_70^post60 == 0 /\ -len_266^post60+len_266^0 == 0 /\ x_23^0-x_23^post60 == 0 /\ -i_33^post60+i_33^0 == 0 /\ -i_227^post60+i_227^0 == 0 /\ -__disjvr_27^post60+__disjvr_27^0 == 0 /\ -temp1_30^post60+temp1_30^0 == 0 /\ y_22^0-y_22^post60 == 0 /\ __disjvr_26^0-__disjvr_26^post60 == 0 /\ __disjvr_11^0-__disjvr_11^post60 == 0 /\ -rcd_356^post60+rcd_356^0 == 0 /\ rcd_222^0-rcd_222^post60 == 0 /\ 1-len_195^0 <= 0 /\ -1+len_195^0 <= 0 /\ -__disjvr_20^post60+__disjvr_20^0 == 0 /\ -rcd_228^0+rcd_46^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post60 == 0 /\ __disjvr_14^0-__disjvr_14^post60 == 0 /\ length_32^0-length_32^post60 == 0 /\ __disjvr_3^0-__disjvr_3^post60 == 0 /\ -z_265^post60+z_265^0 == 0 /\ -__disjvr_12^post60+__disjvr_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post60 == 0 /\ ct_20^0-ct_20^post60 == 0 /\ i_120^0-i_120^post60 == 0 /\ rcd_264^0-rcd_264^post60 == 0 /\ -z_160^post60+z_160^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post60 == 0 /\ -__disjvr_8^post60+__disjvr_8^0 == 0 /\ -__disjvr_2^post60+__disjvr_2^0 == 0 /\ -z_389^post60+z_389^0 == 0 /\ -z_229^post60+z_229^0 == 0 /\ __disjvr_29^0-__disjvr_29^post60 == 0 /\ -__disjvr_17^post60+__disjvr_17^0 == 0 /\ -__disjvr_15^post60+__disjvr_15^0 == 0 /\ -a_267^post60+a_267^0 == 0 /\ -lt_483^post60+lt_483^0 == 0 /\ -rcd_113^post60+rcd_113^0 == 0 /\ -rcd_46^post60+rcd_46^0 == 0 /\ i_111^0-i_111^post60 == 0 /\ __disjvr_24^0-__disjvr_24^post60 == 0 /\ -r_178^post60+r_178^0 == 0 /\ a_27^0-head_13^0 <= 0 /\ temp0_18^0-temp0_18^post60 == 0 /\ a_321^0-a_321^post60 == 0 /\ a_27^0-a_27^post60 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post60+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -tmp_37^post60+tmp_37^0 == 0 /\ -a_347^post60+a_347^0 == 0 /\ -__disjvr_10^post60+__disjvr_10^0 == 0 /\ r_42^0-r_42^post60 == 0 /\ __disjvr_4^0-__disjvr_4^post60 == 0 /\ -rcd_237^post60+rcd_237^0 == 0 /\ len_195^0-len_195^post60 == 0 /\ -result_11^post60+result_11^0 == 0 /\ -head_13^post60+head_13^0 == 0 /\ nondet_12^0-nondet_12^post60 == 0 /\ a_210^0-a_210^post60 == 0 /\ -a_210^0+a_166^post60 <= 0 /\ -rcd_396^post60+rcd_396^0 == 0 /\ __disjvr_9^0-__disjvr_9^post60 == 0 /\ z_229^0-z_160^0 <= 0 /\ z_252^0-z_252^post60 == 0 /\ -rcd_352^post60+rcd_352^0 == 0 /\ __disjvr_25^0-__disjvr_25^post60 == 0 /\ -rcd_226^post60+rcd_226^0 == 0 /\ -temp_38^post60+temp_38^0 == 0 /\ -__disjvr_23^post60+__disjvr_23^0 == 0 /\ -__disjvr_19^post60+__disjvr_19^0 == 0 /\ -rcd_105^post60+rcd_105^0 == 0 /\ -r_236^post60+r_236^0 == 0 /\ -a_27^0+head_13^0 <= 0 /\ x_19^0-x_19^post60 == 0 /\ -__disjvr_7^post60+__disjvr_7^0 == 0 /\ -__disjvr_18^post60+__disjvr_18^0 == 0 /\ rcd_376^0-rcd_376^post60 == 0 /\ __disjvr_13^0-__disjvr_13^post60 == 0 /\ lt_386^0-lt_386^post60 == 0 /\ __disjvr_0^0-__disjvr_0^post60 == 0 /\ __disjvr_28^0-__disjvr_28^post60 == 0 /\ __disjvr_16^0-__disjvr_16^post60 == 0 /\ z_279^0-z_279^post60 == 0 /\ -lt_17^post60+lt_17^0 == 0 /\ a_377^0-a_377^post60 == 0 /\ head_35^0-head_35^post60 == 0 /\ a_210^0-a_166^post60 <= 0 /\ -z_188^post60+z_188^0 == 0 /\ -__disjvr_1^post60+__disjvr_1^0 == 0 /\ __disjvr_22^0-__disjvr_22^post60 == 0 /\ -z_229^0+z_160^0 <= 0 /\ -temp0_34^post60+temp0_34^0 == 0 /\ t_24^0-t_24^post60 == 0 /\ -len_286^post60+len_286^0 == 0 /\ -x_SLAM_f_21^post60+x_SLAM_f_21^0 == 0), cost: 1
  61: l56 -> l57 : __disjvr_0^0'=__disjvr_0^post61, a_321^0'=a_321^post61, rcd_70^0'=rcd_70^post61, __disjvr_21^0'=__disjvr_21^post61, x_23^0'=x_23^post61, __disjvr_4^0'=__disjvr_4^post61, rcd_222^0'=rcd_222^post61, __disjvr_14^0'=__disjvr_14^post61, head_35^0'=head_35^post61, __disjvr_24^0'=__disjvr_24^post61, temp0_18^0'=temp0_18^post61, lt_386^0'=lt_386^post61, z_229^0'=z_229^post61, __disjvr_9^0'=__disjvr_9^post61, a_210^0'=a_210^post61, rcd_376^0'=rcd_376^post61, __disjvr_19^0'=__disjvr_19^post61, len_195^0'=len_195^post61, __disjvr_29^0'=__disjvr_29^post61, x_19^0'=x_19^post61, r_42^0'=r_42^post61, z_28^0'=z_28^post61, __disjvr_11^0'=__disjvr_11^post61, a_377^0'=a_377^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post61, length_32^0'=length_32^post61, y_22^0'=y_22^post61, __disjvr_6^0'=__disjvr_6^post61, rcd_228^0'=rcd_228^post61, __disjvr_16^0'=__disjvr_16^post61, i_120^0'=i_120^post61, __disjvr_26^0'=__disjvr_26^post61, temp1_30^0'=temp1_30^post61, nondet_12^0'=nondet_12^post61, z_252^0'=z_252^post61, a_27^0'=a_27^post61, rcd_46^0'=rcd_46^post61, __disjvr_20^0'=__disjvr_20^post61, len_286^0'=len_286^post61, __disjvr_3^0'=__disjvr_3^post61, rcd_113^0'=rcd_113^post61, __disjvr_13^0'=__disjvr_13^post61, head_13^0'=head_13^post61, __disjvr_23^0'=__disjvr_23^post61, t_24^0'=t_24^post61, lt_29^0'=lt_29^post61, z_188^0'=z_188^post61, __disjvr_8^0'=__disjvr_8^post61, rcd_264^0'=rcd_264^post61, rcd_356^0'=rcd_356^post61, __disjvr_18^0'=__disjvr_18^post61, i_33^0'=i_33^post61, __disjvr_28^0'=__disjvr_28^post61, tmp_37^0'=tmp_37^post61, r_236^0'=r_236^post61, z_279^0'=z_279^post61, __disjvr_10^0'=__disjvr_10^post61, a_347^0'=a_347^post61, result_11^0'=result_11^post61, __disjvr_22^0'=__disjvr_22^post61, x_SLAM_f_21^0'=x_SLAM_f_21^post61, __disjvr_5^0'=__disjvr_5^post61, rcd_226^0'=rcd_226^post61, __disjvr_15^0'=__disjvr_15^post61, i_111^0'=i_111^post61, __disjvr_25^0'=__disjvr_25^post61, temp0_34^0'=temp0_34^post61, lt_483^0'=lt_483^post61, z_238^0'=z_238^post61, a_166^0'=a_166^post61, a_267^0'=a_267^post61, rcd_396^0'=rcd_396^post61, __disjvr_1^0'=__disjvr_1^post61, len_266^0'=len_266^post61, __disjvr_2^0'=__disjvr_2^post61, rcd_105^0'=rcd_105^post61, z_389^0'=z_389^post61, __disjvr_12^0'=__disjvr_12^post61, ct_20^0'=ct_20^post61, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post61, lt_17^0'=lt_17^post61, z_160^0'=z_160^post61, __disjvr_7^0'=__disjvr_7^post61, rcd_237^0'=rcd_237^post61, rcd_352^0'=rcd_352^post61, __disjvr_17^0'=__disjvr_17^post61, i_227^0'=i_227^post61, __disjvr_27^0'=__disjvr_27^post61, temp_38^0'=temp_38^post61, r_178^0'=r_178^post61, z_265^0'=z_265^post61, (__disjvr_0^0-__disjvr_0^post61 == 0 /\ -z_188^post61+z_188^0 == 0 /\ -rcd_396^post61+rcd_396^0 == 0 /\ __disjvr_11^0-__disjvr_11^post61 == 0 /\ -rcd_352^post61+rcd_352^0 == 0 /\ length_32^0-length_32^post61 == 0 /\ temp0_18^0-temp0_18^post61 == 0 /\ -__disjvr_16^post61+__disjvr_16^0 == 0 /\ -r_178^post61+r_178^0 == 0 /\ -lt_17^post61+lt_17^0 == 0 /\ -__disjvr_7^post61+__disjvr_7^0 == 0 /\ -result_11^post61+result_11^0 == 0 /\ rcd_70^0-rcd_70^post61 == 0 /\ -ct_20^post61+ct_20^0 == 0 /\ x_23^0-x_23^post61 == 0 /\ r_42^0-r_42^post61 == 0 /\ len_195^0-len_195^post61 == 0 /\ __disjvr_2^0-__disjvr_2^post61 == 0 /\ __disjvr_18^0-__disjvr_18^post61 == 0 /\ len_286^0-len_286^post61 == 0 /\ a_377^0-a_377^post61 == 0 /\ -__disjvr_6^post61+__disjvr_6^0 == 0 /\ -__disjvr_1^post61+__disjvr_1^0 == 0 /\ -i_111^post61+i_111^0 == 0 /\ __disjvr_10^0-__disjvr_10^post61 == 0 /\ -i_120^post61+i_120^0 == 0 /\ __disjvr_4^0-__disjvr_4^post61 == 0 /\ a_210^0-a_210^post61 == 0 /\ -rcd_105^post61+rcd_105^0 == 0 /\ tmp_37^0-tmp_37^post61 == 0 /\ -t_24^post61+t_24^0 == 0 /\ -y_22^post61+y_22^0 == 0 /\ -temp_38^post61+temp_38^0 == 0 /\ rcd_222^0-rcd_222^post61 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ -r_236^post61+r_236^0 == 0 /\ -__disjvr_5^post61+__disjvr_5^0 == 0 /\ lt_29^0-lt_29^post61 == 0 /\ -z_252^post61+z_252^0 == 0 /\ __disjvr_24^0-__disjvr_24^post61 == 0 /\ -rcd_356^post61+rcd_356^0 == 0 /\ __disjvr_28^0-__disjvr_28^post61 == 0 /\ __disjvr_25^0-__disjvr_25^post61 == 0 /\ z_28^0-z_28^post61 == 0 /\ -__disjvr_15^post61+__disjvr_15^0 == 0 /\ __disjvr_3^0-__disjvr_3^post61 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post61 == 0 /\ z_229^0-z_229^post61 == 0 /\ -z_238^post61+z_238^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post61+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -lt_483^post61+lt_483^0 == 0 /\ -rcd_113^post61+rcd_113^0 == 0 /\ head_35^0-head_35^post61 == 0 /\ __disjvr_21^0-__disjvr_21^post61 == 0 /\ __disjvr_19^0-__disjvr_19^post61 == 0 /\ rcd_376^0-rcd_376^post61 == 0 /\ rcd_264^0-rcd_264^post61 == 0 /\ x_19^0-x_19^post61 == 0 /\ rcd_228^0-rcd_228^post61 == 0 /\ -len_266^post61+len_266^0 == 0 /\ -__disjvr_23^post61+__disjvr_23^0 == 0 /\ -__disjvr_27^post61+__disjvr_27^0 == 0 /\ -z_160^post61+z_160^0 == 0 /\ __disjvr_13^0-__disjvr_13^post61 == 0 /\ -__disjvr_20^post61+__disjvr_20^0 == 0 /\ -z_279^post61+z_279^0 == 0 /\ -i_33^post61+i_33^0 == 0 /\ -__disjvr_26^post61+__disjvr_26^0 == 0 /\ -__disjvr_8^post61+__disjvr_8^0 == 0 /\ __disjvr_22^0-__disjvr_22^post61 == 0 /\ temp0_34^0-temp0_34^post61 == 0 /\ -z_389^post61+z_389^0 == 0 /\ a_27^0-a_27^post61 == 0 /\ -rcd_226^post61+rcd_226^0 == 0 /\ i_227^0-i_227^post61 == 0 /\ -a_267^post61+a_267^0 == 0 /\ temp1_30^0-temp1_30^post61 == 0 /\ -a_166^post61+a_166^0 == 0 /\ -__disjvr_29^post61+__disjvr_29^0 == 0 /\ -__disjvr_12^post61+__disjvr_12^0 == 0 /\ -head_13^post61+head_13^0 == 0 /\ a_321^0-a_321^post61 == 0 /\ -rcd_46^post61+rcd_46^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post61+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ lt_386^0-lt_386^post61 == 0 /\ -__disjvr_17^post61+__disjvr_17^0 == 0 /\ -rcd_237^post61+rcd_237^0 == 0 /\ __disjvr_14^0-__disjvr_14^post61 == 0 /\ __disjvr_9^0-__disjvr_9^post61 == 0 /\ -z_265^post61+z_265^0 == 0 /\ -a_347^post61+a_347^0 == 0 /\ __disjvr_26^post61-__disjvr_26^0 == 0), cost: 1
  62: l57 -> l39 : __disjvr_0^0'=__disjvr_0^post62, a_321^0'=a_321^post62, rcd_70^0'=rcd_70^post62, __disjvr_21^0'=__disjvr_21^post62, x_23^0'=x_23^post62, __disjvr_4^0'=__disjvr_4^post62, rcd_222^0'=rcd_222^post62, __disjvr_14^0'=__disjvr_14^post62, head_35^0'=head_35^post62, __disjvr_24^0'=__disjvr_24^post62, temp0_18^0'=temp0_18^post62, lt_386^0'=lt_386^post62, z_229^0'=z_229^post62, __disjvr_9^0'=__disjvr_9^post62, a_210^0'=a_210^post62, rcd_376^0'=rcd_376^post62, __disjvr_19^0'=__disjvr_19^post62, len_195^0'=len_195^post62, __disjvr_29^0'=__disjvr_29^post62, x_19^0'=x_19^post62, r_42^0'=r_42^post62, z_28^0'=z_28^post62, __disjvr_11^0'=__disjvr_11^post62, a_377^0'=a_377^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post62, length_32^0'=length_32^post62, y_22^0'=y_22^post62, __disjvr_6^0'=__disjvr_6^post62, rcd_228^0'=rcd_228^post62, __disjvr_16^0'=__disjvr_16^post62, i_120^0'=i_120^post62, __disjvr_26^0'=__disjvr_26^post62, temp1_30^0'=temp1_30^post62, nondet_12^0'=nondet_12^post62, z_252^0'=z_252^post62, a_27^0'=a_27^post62, rcd_46^0'=rcd_46^post62, __disjvr_20^0'=__disjvr_20^post62, len_286^0'=len_286^post62, __disjvr_3^0'=__disjvr_3^post62, rcd_113^0'=rcd_113^post62, __disjvr_13^0'=__disjvr_13^post62, head_13^0'=head_13^post62, __disjvr_23^0'=__disjvr_23^post62, t_24^0'=t_24^post62, lt_29^0'=lt_29^post62, z_188^0'=z_188^post62, __disjvr_8^0'=__disjvr_8^post62, rcd_264^0'=rcd_264^post62, rcd_356^0'=rcd_356^post62, __disjvr_18^0'=__disjvr_18^post62, i_33^0'=i_33^post62, __disjvr_28^0'=__disjvr_28^post62, tmp_37^0'=tmp_37^post62, r_236^0'=r_236^post62, z_279^0'=z_279^post62, __disjvr_10^0'=__disjvr_10^post62, a_347^0'=a_347^post62, result_11^0'=result_11^post62, __disjvr_22^0'=__disjvr_22^post62, x_SLAM_f_21^0'=x_SLAM_f_21^post62, __disjvr_5^0'=__disjvr_5^post62, rcd_226^0'=rcd_226^post62, __disjvr_15^0'=__disjvr_15^post62, i_111^0'=i_111^post62, __disjvr_25^0'=__disjvr_25^post62, temp0_34^0'=temp0_34^post62, lt_483^0'=lt_483^post62, z_238^0'=z_238^post62, a_166^0'=a_166^post62, a_267^0'=a_267^post62, rcd_396^0'=rcd_396^post62, __disjvr_1^0'=__disjvr_1^post62, len_266^0'=len_266^post62, __disjvr_2^0'=__disjvr_2^post62, rcd_105^0'=rcd_105^post62, z_389^0'=z_389^post62, __disjvr_12^0'=__disjvr_12^post62, ct_20^0'=ct_20^post62, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post62, lt_17^0'=lt_17^post62, z_160^0'=z_160^post62, __disjvr_7^0'=__disjvr_7^post62, rcd_237^0'=rcd_237^post62, rcd_352^0'=rcd_352^post62, __disjvr_17^0'=__disjvr_17^post62, i_227^0'=i_227^post62, __disjvr_27^0'=__disjvr_27^post62, temp_38^0'=temp_38^post62, r_178^0'=r_178^post62, z_265^0'=z_265^post62, (0 == 0 /\ -z_279^post62+z_279^0 == 0 /\ -len_266^post62+len_266^0 == 0 /\ len_286^0-len_286^post62 == 0 /\ rcd_396^0-rcd_396^post62 == 0 /\ -__disjvr_20^post62+__disjvr_20^0 == 0 /\ lt_29^0-lt_29^post62 == 0 /\ -a_377^post62+a_377^0 == 0 /\ rcd_113^0-rcd_113^post62 == 0 /\ __disjvr_24^0-__disjvr_24^post62 == 0 /\ head_13^0-head_13^post62 == 0 /\ y_22^0-y_22^post62 == 0 /\ rcd_228^0-rcd_228^post62 == 0 /\ -i_227^post62+i_227^0 == 0 /\ -z_238^post62+z_238^0 == 0 /\ -rcd_356^post62+rcd_356^0 == 0 /\ temp1_30^0-temp1_30^post62 == 0 /\ r_236^0-r_236^post62 == 0 /\ -z_389^post62+z_389^0 == 0 /\ -__disjvr_6^post62+__disjvr_6^0 == 0 /\ -i_111^post62+i_111^0 == 0 /\ a_210^0-a_210^post62 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_27^post62+__disjvr_27^0 == 0 /\ 1-i_120^post62+a_166^0 <= 0 /\ -__disjvr_12^post62+__disjvr_12^0 == 0 /\ __disjvr_8^0-__disjvr_8^post62 == 0 /\ -__disjvr_26^post62+__disjvr_26^0 == 0 /\ __disjvr_14^0-__disjvr_14^post62 == 0 /\ -__disjvr_2^post62+__disjvr_2^0 == 0 /\ a_166^0-a_166^post62 == 0 /\ -rcd_352^post62+rcd_352^0 == 0 /\ __disjvr_19^0-__disjvr_19^post62 == 0 /\ z_229^0-z_229^post62 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post62 == 0 /\ rcd_105^0-rcd_105^post62 == 0 /\ -__disjvr_17^post62+__disjvr_17^0 == 0 /\ -z_160^post62+z_160^0 == 0 /\ -__disjvr_28^post62+__disjvr_28^0 == 0 /\ -z_265^post62+z_265^0 == 0 /\ __disjvr_23^0-__disjvr_23^post62 == 0 /\ -lt_483^post62+lt_483^0 == 0 /\ temp0_18^0-temp0_18^post62 == 0 /\ length_32^0-length_32^post62 == 0 /\ -nondet_12^post62+nondet_12^0 == 0 /\ -a_267^post62+a_267^0 == 0 /\ -__disjvr_10^post62+__disjvr_10^0 == 0 /\ i_33^0-i_33^post62 == 0 /\ -__disjvr_22^post62+__disjvr_22^0 == 0 /\ -__disjvr_29^post62+__disjvr_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post62+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -lt_386^post62+lt_386^0 == 0 /\ -__disjvr_13^post62+__disjvr_13^0 == 0 /\ -r_178^post62+r_178^0 == 0 /\ a_321^0-a_321^post62 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_70^0-rcd_70^post62 == 0 /\ -rcd_264^post62+rcd_264^0 == 0 /\ -rcd_237^post62+rcd_237^0 == 0 /\ __disjvr_9^0-__disjvr_9^post62 == 0 /\ -t_24^post62+t_24^0 == 0 /\ r_42^0-r_42^post62 == 0 /\ len_195^0-len_195^post62 == 0 /\ __disjvr_18^0-__disjvr_18^post62 == 0 /\ x_23^0-x_23^post62 == 0 /\ -tmp_37^post62+tmp_37^0 == 0 /\ a_27^0-a_27^post62 == 0 /\ -ct_20^post62+ct_20^0 == 0 /\ -lt_17^post62+lt_17^0 == 0 /\ __disjvr_5^0-__disjvr_5^post62 == 0 /\ -result_11^post62+result_11^0 == 0 /\ -__disjvr_25^post62+__disjvr_25^0 == 0 /\ z_252^0-z_252^post62 == 0 /\ -rcd_226^post62+rcd_226^0 == 0 /\ -1+i_120^post62-a_166^0 <= 0 /\ -rcd_376^post62+rcd_376^0 == 0 /\ x_19^0-x_19^post62 == 0 /\ __disjvr_21^0-__disjvr_21^post62 == 0 /\ -temp_38^post62+temp_38^0 == 0 /\ rcd_46^0-rcd_46^post62 == 0 /\ -__disjvr_16^post62+__disjvr_16^0 == 0 /\ head_35^0-head_35^post62 == 0 /\ __disjvr_11^0-__disjvr_11^post62 == 0 /\ z_28^0-z_28^post62 == 0 /\ -__disjvr_7^post62+__disjvr_7^0 == 0 /\ rcd_222^0-rcd_222^post62 == 0 /\ __disjvr_0^0-__disjvr_0^post62 == 0 /\ -__disjvr_1^post62+__disjvr_1^0 == 0 /\ a_347^0-a_347^post62 == 0 /\ __disjvr_3^0-__disjvr_3^post62 == 0 /\ -x_SLAM_f_21^post62+x_SLAM_f_21^0 == 0 /\ z_188^0-z_188^post62 == 0 /\ __disjvr_15^0-__disjvr_15^post62 == 0 /\ __disjvr_4^0-__disjvr_4^post62 == 0 /\ -temp0_34^post62+temp0_34^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
  63: l58 -> l59 : __disjvr_0^0'=__disjvr_0^post63, a_321^0'=a_321^post63, rcd_70^0'=rcd_70^post63, __disjvr_21^0'=__disjvr_21^post63, x_23^0'=x_23^post63, __disjvr_4^0'=__disjvr_4^post63, rcd_222^0'=rcd_222^post63, __disjvr_14^0'=__disjvr_14^post63, head_35^0'=head_35^post63, __disjvr_24^0'=__disjvr_24^post63, temp0_18^0'=temp0_18^post63, lt_386^0'=lt_386^post63, z_229^0'=z_229^post63, __disjvr_9^0'=__disjvr_9^post63, a_210^0'=a_210^post63, rcd_376^0'=rcd_376^post63, __disjvr_19^0'=__disjvr_19^post63, len_195^0'=len_195^post63, __disjvr_29^0'=__disjvr_29^post63, x_19^0'=x_19^post63, r_42^0'=r_42^post63, z_28^0'=z_28^post63, __disjvr_11^0'=__disjvr_11^post63, a_377^0'=a_377^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post63, length_32^0'=length_32^post63, y_22^0'=y_22^post63, __disjvr_6^0'=__disjvr_6^post63, rcd_228^0'=rcd_228^post63, __disjvr_16^0'=__disjvr_16^post63, i_120^0'=i_120^post63, __disjvr_26^0'=__disjvr_26^post63, temp1_30^0'=temp1_30^post63, nondet_12^0'=nondet_12^post63, z_252^0'=z_252^post63, a_27^0'=a_27^post63, rcd_46^0'=rcd_46^post63, __disjvr_20^0'=__disjvr_20^post63, len_286^0'=len_286^post63, __disjvr_3^0'=__disjvr_3^post63, rcd_113^0'=rcd_113^post63, __disjvr_13^0'=__disjvr_13^post63, head_13^0'=head_13^post63, __disjvr_23^0'=__disjvr_23^post63, t_24^0'=t_24^post63, lt_29^0'=lt_29^post63, z_188^0'=z_188^post63, __disjvr_8^0'=__disjvr_8^post63, rcd_264^0'=rcd_264^post63, rcd_356^0'=rcd_356^post63, __disjvr_18^0'=__disjvr_18^post63, i_33^0'=i_33^post63, __disjvr_28^0'=__disjvr_28^post63, tmp_37^0'=tmp_37^post63, r_236^0'=r_236^post63, z_279^0'=z_279^post63, __disjvr_10^0'=__disjvr_10^post63, a_347^0'=a_347^post63, result_11^0'=result_11^post63, __disjvr_22^0'=__disjvr_22^post63, x_SLAM_f_21^0'=x_SLAM_f_21^post63, __disjvr_5^0'=__disjvr_5^post63, rcd_226^0'=rcd_226^post63, __disjvr_15^0'=__disjvr_15^post63, i_111^0'=i_111^post63, __disjvr_25^0'=__disjvr_25^post63, temp0_34^0'=temp0_34^post63, lt_483^0'=lt_483^post63, z_238^0'=z_238^post63, a_166^0'=a_166^post63, a_267^0'=a_267^post63, rcd_396^0'=rcd_396^post63, __disjvr_1^0'=__disjvr_1^post63, len_266^0'=len_266^post63, __disjvr_2^0'=__disjvr_2^post63, rcd_105^0'=rcd_105^post63, z_389^0'=z_389^post63, __disjvr_12^0'=__disjvr_12^post63, ct_20^0'=ct_20^post63, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post63, lt_17^0'=lt_17^post63, z_160^0'=z_160^post63, __disjvr_7^0'=__disjvr_7^post63, rcd_237^0'=rcd_237^post63, rcd_352^0'=rcd_352^post63, __disjvr_17^0'=__disjvr_17^post63, i_227^0'=i_227^post63, __disjvr_27^0'=__disjvr_27^post63, temp_38^0'=temp_38^post63, r_178^0'=r_178^post63, z_265^0'=z_265^post63, (0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post63 == 0 /\ __disjvr_26^0-__disjvr_26^post63 == 0 /\ __disjvr_11^0-__disjvr_11^post63 == 0 /\ -__disjvr_12^post63+__disjvr_12^0 == 0 /\ __disjvr_16^0-__disjvr_16^post63 == 0 /\ -rcd_396^post63+rcd_46^0 <= 0 /\ -a_267^post63+a_267^0 == 0 /\ __disjvr_24^0-__disjvr_24^post63 == 0 /\ -ct_20^post63 <= 0 /\ nondet_12^0-nondet_12^post63 == 0 /\ -i_111^post63+i_111^0 == 0 /\ __disjvr_6^0-__disjvr_6^post63 == 0 /\ -__disjvr_8^post63+__disjvr_8^0 == 0 /\ x_23^post63-x_SLAM_f_21^post63 <= 0 /\ x_23^post63-x_SLAM_f_21^post63 == 0 /\ __disjvr_14^0-__disjvr_14^post63 == 0 /\ -temp_38^post63+temp_38^0 == 0 /\ -__disjvr_5^post63+__disjvr_5^0 == 0 /\ -__disjvr_28^post63+__disjvr_28^0 == 0 /\ rcd_376^0-rcd_376^post63 == 0 /\ __disjvr_18^0-__disjvr_18^post63 == 0 /\ x_23^post63-lt_17^0 <= 0 /\ -len_286^post63+len_286^0 == 0 /\ -z_252^post63+z_252^0 == 0 /\ __disjvr_21^0-__disjvr_21^post63 == 0 /\ a_321^0-a_321^post63 == 0 /\ -rcd_264^post63+rcd_264^0 == 0 /\ -__disjvr_17^post63+__disjvr_17^0 == 0 /\ lt_386^0-lt_386^post63 == 0 /\ -__disjvr_15^post63+__disjvr_15^0 == 0 /\ -z_188^post63+z_188^0 == 0 /\ rcd_396^post63-rcd_46^0 <= 0 /\ -lt_29^0 <= 0 /\ rcd_356^0-rcd_356^post63 == 0 /\ -t_24^post63+t_24^0 == 0 /\ -x_23^post63+x_SLAM_f_21^post63 <= 0 /\ -__disjvr_27^post63+__disjvr_27^0 == 0 /\ -__disjvr_23^post63+__disjvr_23^0 == 0 /\ length_32^0-length_32^post63 == 0 /\ -2+len_286^0 <= 0 /\ __disjvr_3^0-__disjvr_3^post63 == 0 /\ -__disjvr_1^post63+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post63 == 0 /\ -z_160^post63+z_160^0 == 0 /\ temp0_18^0-temp0_18^post63 == 0 /\ -__disjvr_20^post63+__disjvr_20^0 == 0 /\ -x_23^post63+lt_17^0 <= 0 /\ -i_227^post63+i_227^0 == 0 /\ a_210^0-a_210^post63 == 0 /\ lt_29^0 <= 0 /\ -rcd_105^post63+rcd_105^0 == 0 /\ rcd_226^0-rcd_226^post63 == 0 /\ -z_238^post63+z_238^0 == 0 /\ -y_22^post63 <= 0 /\ -len_266^post63+len_266^0 == 0 /\ __disjvr_25^0-__disjvr_25^post63 == 0 /\ __disjvr_29^0-__disjvr_29^post63 == 0 /\ temp0_34^0-temp0_34^post63 == 0 /\ lt_17^0-x_SLAM_f_21^post63 <= 0 /\ x_19^post63-x_SLAM_f_21^post63 <= 0 /\ -z_265^post63+z_265^0 == 0 /\ -i_120^post63+i_120^0 == 0 /\ rcd_70^0-rcd_70^post63 == 0 /\ -__disjvr_22^post63+__disjvr_22^0 == 0 /\ ct_20^post63 <= 0 /\ ct_20^post63 == 0 /\ -z_229^post63+z_229^0 == 0 /\ __disjvr_19^0-__disjvr_19^post63 == 0 /\ -r_236^post63+r_236^0 == 0 /\ -rcd_237^post63+rcd_237^0 == 0 /\ -a_347^post63+a_347^0 == 0 /\ a_377^0-a_377^post63 == 0 /\ __disjvr_13^0-__disjvr_13^post63 == 0 /\ ct_20^post63-y_22^post63 <= 0 /\ x_19^post63-lt_17^0 <= 0 /\ x_19^post63-lt_17^0 == 0 /\ lt_17^0-lt_17^post63 == 0 /\ -lt_483^post63+lt_483^0 == 0 /\ rcd_46^0-rcd_46^post63 == 0 /\ -rcd_113^post63+rcd_113^0 == 0 /\ len_195^0-len_195^post63 == 0 /\ -a_166^post63+a_166^0 == 0 /\ tmp_37^0-tmp_37^post63 == 0 /\ rcd_228^0-rcd_228^post63 == 0 /\ head_35^0-head_35^post63 == 0 /\ __disjvr_9^0-__disjvr_9^post63 == 0 /\ rcd_222^0-rcd_222^post63 == 0 /\ -a_166^0 <= 0 /\ -lt_17^0+x_SLAM_f_21^post63 <= 0 /\ -x_19^post63+x_SLAM_f_21^post63 <= 0 /\ -x_19^post63+x_SLAM_f_21^post63 == 0 /\ -__disjvr_2^post63+__disjvr_2^0 == 0 /\ -head_13^post63+head_13^0 == 0 /\ __disjvr_10^0-__disjvr_10^post63 == 0 /\ y_22^post63 <= 0 /\ 2-len_286^0 <= 0 /\ r_42^0-r_42^post63 == 0 /\ -i_33^post63+i_33^0 == 0 /\ -rcd_352^post63+rcd_352^0 == 0 /\ -__disjvr_7^post63+__disjvr_7^0 == 0 /\ -ct_20^post63+y_22^post63 <= 0 /\ -ct_20^post63+y_22^post63 == 0 /\ -x_19^post63+lt_17^0 <= 0 /\ -z_279^post63+z_279^0 == 0 /\ __disjvr_4^0-__disjvr_4^post63 == 0 /\ -result_11^post63+result_11^0 == 0), cost: 1
  66: l58 -> l61 : __disjvr_0^0'=__disjvr_0^post66, a_321^0'=a_321^post66, rcd_70^0'=rcd_70^post66, __disjvr_21^0'=__disjvr_21^post66, x_23^0'=x_23^post66, __disjvr_4^0'=__disjvr_4^post66, rcd_222^0'=rcd_222^post66, __disjvr_14^0'=__disjvr_14^post66, head_35^0'=head_35^post66, __disjvr_24^0'=__disjvr_24^post66, temp0_18^0'=temp0_18^post66, lt_386^0'=lt_386^post66, z_229^0'=z_229^post66, __disjvr_9^0'=__disjvr_9^post66, a_210^0'=a_210^post66, rcd_376^0'=rcd_376^post66, __disjvr_19^0'=__disjvr_19^post66, len_195^0'=len_195^post66, __disjvr_29^0'=__disjvr_29^post66, x_19^0'=x_19^post66, r_42^0'=r_42^post66, z_28^0'=z_28^post66, __disjvr_11^0'=__disjvr_11^post66, a_377^0'=a_377^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post66, length_32^0'=length_32^post66, y_22^0'=y_22^post66, __disjvr_6^0'=__disjvr_6^post66, rcd_228^0'=rcd_228^post66, __disjvr_16^0'=__disjvr_16^post66, i_120^0'=i_120^post66, __disjvr_26^0'=__disjvr_26^post66, temp1_30^0'=temp1_30^post66, nondet_12^0'=nondet_12^post66, z_252^0'=z_252^post66, a_27^0'=a_27^post66, rcd_46^0'=rcd_46^post66, __disjvr_20^0'=__disjvr_20^post66, len_286^0'=len_286^post66, __disjvr_3^0'=__disjvr_3^post66, rcd_113^0'=rcd_113^post66, __disjvr_13^0'=__disjvr_13^post66, head_13^0'=head_13^post66, __disjvr_23^0'=__disjvr_23^post66, t_24^0'=t_24^post66, lt_29^0'=lt_29^post66, z_188^0'=z_188^post66, __disjvr_8^0'=__disjvr_8^post66, rcd_264^0'=rcd_264^post66, rcd_356^0'=rcd_356^post66, __disjvr_18^0'=__disjvr_18^post66, i_33^0'=i_33^post66, __disjvr_28^0'=__disjvr_28^post66, tmp_37^0'=tmp_37^post66, r_236^0'=r_236^post66, z_279^0'=z_279^post66, __disjvr_10^0'=__disjvr_10^post66, a_347^0'=a_347^post66, result_11^0'=result_11^post66, __disjvr_22^0'=__disjvr_22^post66, x_SLAM_f_21^0'=x_SLAM_f_21^post66, __disjvr_5^0'=__disjvr_5^post66, rcd_226^0'=rcd_226^post66, __disjvr_15^0'=__disjvr_15^post66, i_111^0'=i_111^post66, __disjvr_25^0'=__disjvr_25^post66, temp0_34^0'=temp0_34^post66, lt_483^0'=lt_483^post66, z_238^0'=z_238^post66, a_166^0'=a_166^post66, a_267^0'=a_267^post66, rcd_396^0'=rcd_396^post66, __disjvr_1^0'=__disjvr_1^post66, len_266^0'=len_266^post66, __disjvr_2^0'=__disjvr_2^post66, rcd_105^0'=rcd_105^post66, z_389^0'=z_389^post66, __disjvr_12^0'=__disjvr_12^post66, ct_20^0'=ct_20^post66, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post66, lt_17^0'=lt_17^post66, z_160^0'=z_160^post66, __disjvr_7^0'=__disjvr_7^post66, rcd_237^0'=rcd_237^post66, rcd_352^0'=rcd_352^post66, __disjvr_17^0'=__disjvr_17^post66, i_227^0'=i_227^post66, __disjvr_27^0'=__disjvr_27^post66, temp_38^0'=temp_38^post66, r_178^0'=r_178^post66, z_265^0'=z_265^post66, (0 == 0 /\ -__disjvr_29^post66+__disjvr_29^0 == 0 /\ -r_236^post66+r_236^0 == 0 /\ a_347^0-a_347^post66 == 0 /\ -__disjvr_1^post66+__disjvr_1^0 == 0 /\ lt_29^0-lt_29^post66 == 0 /\ -ct_20^post66+ct_20^0 == 0 /\ -rcd_105^post66+rcd_105^0 == 0 /\ -__disjvr_6^post66+__disjvr_6^0 == 0 /\ len_266^0-len_266^post66 == 0 /\ rcd_228^0-rcd_228^post66 == 0 /\ -a_377^post66+a_377^0 == 0 /\ -__disjvr_18^post66+__disjvr_18^0 == 0 /\ rcd_396^0-rcd_396^post66 == 0 /\ __disjvr_28^0-__disjvr_28^post66 == 0 /\ -lt_483^post66+lt_483^0 == 0 /\ a_166^0-a_166^post66 == 0 /\ -rcd_46^post66+rcd_46^0 == 0 /\ y_22^0-y_22^post66 == 0 /\ z_229^0-z_229^post66 == 0 /\ rcd_222^0-rcd_222^post66 == 0 /\ -z_265^post66+z_265^0 == 0 /\ x_23^0-x_23^post66 == 0 /\ x_19^0-x_19^post66 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0 /\ -__disjvr_26^post66+__disjvr_26^0 == 0 /\ __disjvr_23^0-__disjvr_23^post66 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post66 == 0 /\ length_32^0-length_32^post66 == 0 /\ -rcd_237^post66+rcd_237^0 == 0 /\ nondet_12^0-nondet_12^post66 == 0 /\ __disjvr_15^0-__disjvr_15^post66 == 0 /\ a_210^0-a_210^post66 == 0 /\ -__disjvr_13^post66+__disjvr_13^0 == 0 /\ -z_238^post66+z_238^0 == 0 /\ -rcd_356^post66+rcd_356^0 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ -rcd_352^post66+rcd_352^0 == 0 /\ -i_33^post66+i_33^0 == 0 /\ -lt_17^post66+lt_17^0 == 0 /\ -rcd_226^post66+rcd_226^0 == 0 /\ -__disjvr_12^post66+__disjvr_12^0 == 0 /\ -result_11^post66+result_11^0 == 0 /\ __disjvr_19^0-__disjvr_19^post66 == 0 /\ rcd_264^0-rcd_264^post66 == 0 /\ __disjvr_11^0-__disjvr_11^post66 == 0 /\ -temp0_34^post66+temp0_34^0 == 0 /\ -a_267^post66+a_267^0 == 0 /\ a_321^0-a_321^post66 == 0 /\ -__disjvr_7^post66+__disjvr_7^0 == 0 /\ __disjvr_4^0-__disjvr_4^post66 == 0 /\ -z_252^post66+z_252^0 == 0 /\ -z_389^post66+z_389^0 == 0 /\ -temp0_18^post66+temp0_18^0 == 0 /\ rcd_70^0-rcd_70^post66 == 0 /\ r_42^0-r_42^post66 == 0 /\ -__disjvr_2^post66+__disjvr_2^0 == 0 /\ __disjvr_9^0-__disjvr_9^post66 == 0 /\ __disjvr_3^0-__disjvr_3^post66 == 0 /\ -x_SLAM_f_21^post66+x_SLAM_f_21^0 == 0 /\ __disjvr_22^0-__disjvr_22^post66 == 0 /\ -__disjvr_5^post66+__disjvr_5^0 == 0 /\ -temp_38^post66+temp_38^0 == 0 /\ lt_386^0-lt_386^post66 == 0 /\ temp1_30^0-temp1_30^post66 == 0 /\ len_286^0-len_286^post66 == 0 /\ i_120^0-i_120^post66 == 0 /\ -__disjvr_10^post66+__disjvr_10^0 == 0 /\ -i_111^post66+i_111^0 == 0 /\ -rcd_113^post66+rcd_113^0 == 0 /\ -__disjvr_27^post66+__disjvr_27^0 == 0 /\ t_24^0-t_24^post66 == 0 /\ -a_166^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post66 == 0 /\ __disjvr_8^0-__disjvr_8^post66 == 0 /\ __disjvr_21^0-__disjvr_21^post66 == 0 /\ __disjvr_24^0-__disjvr_24^post66 == 0 /\ __disjvr_25^0-__disjvr_25^post66 == 0 /\ z_28^0-z_28^post66 == 0 /\ -__disjvr_16^post66+__disjvr_16^0 == 0 /\ len_195^0-len_195^post66 == 0 /\ -z_160^post66+z_160^0 == 0 /\ -tmp_37^post66+tmp_37^0 == 0 /\ -__disjvr_20^post66+__disjvr_20^0 == 0 /\ head_35^0-head_35^post66 == 0 /\ -i_227^post66+i_227^0 == 0 /\ rcd_376^0-rcd_376^post66 == 0 /\ z_279^0-z_279^post66 == 0), cost: 1
  64: l59 -> l60 : __disjvr_0^0'=__disjvr_0^post64, a_321^0'=a_321^post64, rcd_70^0'=rcd_70^post64, __disjvr_21^0'=__disjvr_21^post64, x_23^0'=x_23^post64, __disjvr_4^0'=__disjvr_4^post64, rcd_222^0'=rcd_222^post64, __disjvr_14^0'=__disjvr_14^post64, head_35^0'=head_35^post64, __disjvr_24^0'=__disjvr_24^post64, temp0_18^0'=temp0_18^post64, lt_386^0'=lt_386^post64, z_229^0'=z_229^post64, __disjvr_9^0'=__disjvr_9^post64, a_210^0'=a_210^post64, rcd_376^0'=rcd_376^post64, __disjvr_19^0'=__disjvr_19^post64, len_195^0'=len_195^post64, __disjvr_29^0'=__disjvr_29^post64, x_19^0'=x_19^post64, r_42^0'=r_42^post64, z_28^0'=z_28^post64, __disjvr_11^0'=__disjvr_11^post64, a_377^0'=a_377^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post64, length_32^0'=length_32^post64, y_22^0'=y_22^post64, __disjvr_6^0'=__disjvr_6^post64, rcd_228^0'=rcd_228^post64, __disjvr_16^0'=__disjvr_16^post64, i_120^0'=i_120^post64, __disjvr_26^0'=__disjvr_26^post64, temp1_30^0'=temp1_30^post64, nondet_12^0'=nondet_12^post64, z_252^0'=z_252^post64, a_27^0'=a_27^post64, rcd_46^0'=rcd_46^post64, __disjvr_20^0'=__disjvr_20^post64, len_286^0'=len_286^post64, __disjvr_3^0'=__disjvr_3^post64, rcd_113^0'=rcd_113^post64, __disjvr_13^0'=__disjvr_13^post64, head_13^0'=head_13^post64, __disjvr_23^0'=__disjvr_23^post64, t_24^0'=t_24^post64, lt_29^0'=lt_29^post64, z_188^0'=z_188^post64, __disjvr_8^0'=__disjvr_8^post64, rcd_264^0'=rcd_264^post64, rcd_356^0'=rcd_356^post64, __disjvr_18^0'=__disjvr_18^post64, i_33^0'=i_33^post64, __disjvr_28^0'=__disjvr_28^post64, tmp_37^0'=tmp_37^post64, r_236^0'=r_236^post64, z_279^0'=z_279^post64, __disjvr_10^0'=__disjvr_10^post64, a_347^0'=a_347^post64, result_11^0'=result_11^post64, __disjvr_22^0'=__disjvr_22^post64, x_SLAM_f_21^0'=x_SLAM_f_21^post64, __disjvr_5^0'=__disjvr_5^post64, rcd_226^0'=rcd_226^post64, __disjvr_15^0'=__disjvr_15^post64, i_111^0'=i_111^post64, __disjvr_25^0'=__disjvr_25^post64, temp0_34^0'=temp0_34^post64, lt_483^0'=lt_483^post64, z_238^0'=z_238^post64, a_166^0'=a_166^post64, a_267^0'=a_267^post64, rcd_396^0'=rcd_396^post64, __disjvr_1^0'=__disjvr_1^post64, len_266^0'=len_266^post64, __disjvr_2^0'=__disjvr_2^post64, rcd_105^0'=rcd_105^post64, z_389^0'=z_389^post64, __disjvr_12^0'=__disjvr_12^post64, ct_20^0'=ct_20^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, lt_17^0'=lt_17^post64, z_160^0'=z_160^post64, __disjvr_7^0'=__disjvr_7^post64, rcd_237^0'=rcd_237^post64, rcd_352^0'=rcd_352^post64, __disjvr_17^0'=__disjvr_17^post64, i_227^0'=i_227^post64, __disjvr_27^0'=__disjvr_27^post64, temp_38^0'=temp_38^post64, r_178^0'=r_178^post64, z_265^0'=z_265^post64, (temp0_18^0-temp0_18^post64 == 0 /\ -z_265^post64+z_265^0 == 0 /\ -ct_20^post64+ct_20^0 == 0 /\ tmp_37^0-tmp_37^post64 == 0 /\ __disjvr_4^0-__disjvr_4^post64 == 0 /\ -z_160^post64+z_160^0 == 0 /\ -r_236^post64+r_236^0 == 0 /\ -z_28^post64+z_28^0 == 0 /\ __disjvr_9^0-__disjvr_9^post64 == 0 /\ -__disjvr_1^post64+__disjvr_1^0 == 0 /\ -__disjvr_25^post64+__disjvr_25^0 == 0 /\ -head_13^post64+head_13^0 == 0 /\ -rcd_105^post64+rcd_105^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post64+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_3^0-__disjvr_3^post64 == 0 /\ -z_188^post64+z_188^0 == 0 /\ __disjvr_0^0-__disjvr_0^post64 == 0 /\ -t_24^post64+t_24^0 == 0 /\ -__disjvr_15^post64+__disjvr_15^0 == 0 /\ -__disjvr_17^post64+__disjvr_17^0 == 0 /\ r_42^0-r_42^post64 == 0 /\ rcd_356^0-rcd_356^post64 == 0 /\ rcd_228^0-rcd_228^post64 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post64 == 0 /\ __disjvr_12^0-__disjvr_12^post64 == 0 /\ temp1_30^0-temp1_30^post64 == 0 /\ -i_120^post64+i_120^0 == 0 /\ -a_347^post64+a_347^0 == 0 /\ __disjvr_10^0-__disjvr_10^post64 == 0 /\ -rcd_46^post64+rcd_46^0 == 0 /\ -r_178^post64+r_178^0 == 0 /\ -rcd_237^post64+rcd_237^0 == 0 /\ -z_238^post64+z_238^0 == 0 /\ -rcd_352^post64+rcd_352^0 == 0 /\ __disjvr_6^0-__disjvr_6^post64 == 0 /\ -rcd_226^post64+rcd_226^0 == 0 /\ -len_266^post64+len_266^0 == 0 /\ -a_27^post64+a_27^0 == 0 /\ rcd_376^0-rcd_376^post64 == 0 /\ __disjvr_21^0-__disjvr_21^post64 == 0 /\ len_195^0-len_195^post64 == 0 /\ __disjvr_2^0-__disjvr_2^post64 == 0 /\ __disjvr_18^0-__disjvr_18^post64 == 0 /\ a_321^0-a_321^post64 == 0 /\ -i_33^post64+i_33^0 == 0 /\ head_35^0-head_35^post64 == 0 /\ -__disjvr_26^post64+__disjvr_26^0 == 0 /\ __disjvr_27^post64-__disjvr_27^0 == 0 /\ -__disjvr_8^post64+__disjvr_8^0 == 0 /\ -temp_38^post64+temp_38^0 == 0 /\ -z_389^post64+z_389^0 == 0 /\ __disjvr_13^0-__disjvr_13^post64 == 0 /\ -a_166^post64+a_166^0 == 0 /\ -lt_17^post64+lt_17^0 == 0 /\ -len_286^post64+len_286^0 == 0 /\ __disjvr_22^0-__disjvr_22^post64 == 0 /\ __disjvr_20^0-__disjvr_20^post64 == 0 /\ -__disjvr_7^post64+__disjvr_7^0 == 0 /\ i_111^0-i_111^post64 == 0 /\ z_252^0-z_252^post64 == 0 /\ -result_11^post64+result_11^0 == 0 /\ -__disjvr_23^post64+__disjvr_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post64 == 0 /\ -rcd_70^post64+rcd_70^0 == 0 /\ x_23^0-x_23^post64 == 0 /\ -__disjvr_28^post64+__disjvr_28^0 == 0 /\ z_229^0-z_229^post64 == 0 /\ -a_267^post64+a_267^0 == 0 /\ -temp0_34^post64+temp0_34^0 == 0 /\ length_32^0-length_32^post64 == 0 /\ lt_386^0-lt_386^post64 == 0 /\ x_19^0-x_19^post64 == 0 /\ rcd_222^0-rcd_222^post64 == 0 /\ -__disjvr_27^post64+__disjvr_27^0 == 0 /\ nondet_12^0-nondet_12^post64 == 0 /\ __disjvr_16^0-__disjvr_16^post64 == 0 /\ -y_22^post64+y_22^0 == 0 /\ -__disjvr_5^post64+__disjvr_5^0 == 0 /\ a_377^0-a_377^post64 == 0 /\ -lt_483^post64+lt_483^0 == 0 /\ -rcd_113^post64+rcd_113^0 == 0 /\ __disjvr_14^0-__disjvr_14^post64 == 0 /\ __disjvr_29^0-__disjvr_29^post64 == 0 /\ a_210^0-a_210^post64 == 0 /\ -i_227^post64+i_227^0 == 0 /\ lt_29^0-lt_29^post64 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post64 == 0 /\ __disjvr_11^0-__disjvr_11^post64 == 0 /\ -rcd_396^post64+rcd_396^0 == 0 /\ __disjvr_19^0-__disjvr_19^post64 == 0 /\ rcd_264^0-rcd_264^post64 == 0 /\ z_279^0-z_279^post64 == 0), cost: 1
  65: l60 -> l18 : __disjvr_0^0'=__disjvr_0^post65, a_321^0'=a_321^post65, rcd_70^0'=rcd_70^post65, __disjvr_21^0'=__disjvr_21^post65, x_23^0'=x_23^post65, __disjvr_4^0'=__disjvr_4^post65, rcd_222^0'=rcd_222^post65, __disjvr_14^0'=__disjvr_14^post65, head_35^0'=head_35^post65, __disjvr_24^0'=__disjvr_24^post65, temp0_18^0'=temp0_18^post65, lt_386^0'=lt_386^post65, z_229^0'=z_229^post65, __disjvr_9^0'=__disjvr_9^post65, a_210^0'=a_210^post65, rcd_376^0'=rcd_376^post65, __disjvr_19^0'=__disjvr_19^post65, len_195^0'=len_195^post65, __disjvr_29^0'=__disjvr_29^post65, x_19^0'=x_19^post65, r_42^0'=r_42^post65, z_28^0'=z_28^post65, __disjvr_11^0'=__disjvr_11^post65, a_377^0'=a_377^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post65, length_32^0'=length_32^post65, y_22^0'=y_22^post65, __disjvr_6^0'=__disjvr_6^post65, rcd_228^0'=rcd_228^post65, __disjvr_16^0'=__disjvr_16^post65, i_120^0'=i_120^post65, __disjvr_26^0'=__disjvr_26^post65, temp1_30^0'=temp1_30^post65, nondet_12^0'=nondet_12^post65, z_252^0'=z_252^post65, a_27^0'=a_27^post65, rcd_46^0'=rcd_46^post65, __disjvr_20^0'=__disjvr_20^post65, len_286^0'=len_286^post65, __disjvr_3^0'=__disjvr_3^post65, rcd_113^0'=rcd_113^post65, __disjvr_13^0'=__disjvr_13^post65, head_13^0'=head_13^post65, __disjvr_23^0'=__disjvr_23^post65, t_24^0'=t_24^post65, lt_29^0'=lt_29^post65, z_188^0'=z_188^post65, __disjvr_8^0'=__disjvr_8^post65, rcd_264^0'=rcd_264^post65, rcd_356^0'=rcd_356^post65, __disjvr_18^0'=__disjvr_18^post65, i_33^0'=i_33^post65, __disjvr_28^0'=__disjvr_28^post65, tmp_37^0'=tmp_37^post65, r_236^0'=r_236^post65, z_279^0'=z_279^post65, __disjvr_10^0'=__disjvr_10^post65, a_347^0'=a_347^post65, result_11^0'=result_11^post65, __disjvr_22^0'=__disjvr_22^post65, x_SLAM_f_21^0'=x_SLAM_f_21^post65, __disjvr_5^0'=__disjvr_5^post65, rcd_226^0'=rcd_226^post65, __disjvr_15^0'=__disjvr_15^post65, i_111^0'=i_111^post65, __disjvr_25^0'=__disjvr_25^post65, temp0_34^0'=temp0_34^post65, lt_483^0'=lt_483^post65, z_238^0'=z_238^post65, a_166^0'=a_166^post65, a_267^0'=a_267^post65, rcd_396^0'=rcd_396^post65, __disjvr_1^0'=__disjvr_1^post65, len_266^0'=len_266^post65, __disjvr_2^0'=__disjvr_2^post65, rcd_105^0'=rcd_105^post65, z_389^0'=z_389^post65, __disjvr_12^0'=__disjvr_12^post65, ct_20^0'=ct_20^post65, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post65, lt_17^0'=lt_17^post65, z_160^0'=z_160^post65, __disjvr_7^0'=__disjvr_7^post65, rcd_237^0'=rcd_237^post65, rcd_352^0'=rcd_352^post65, __disjvr_17^0'=__disjvr_17^post65, i_227^0'=i_227^post65, __disjvr_27^0'=__disjvr_27^post65, temp_38^0'=temp_38^post65, r_178^0'=r_178^post65, z_265^0'=z_265^post65, (0 == 0 /\ -__disjvr_2^post65+__disjvr_2^0 == 0 /\ -a_267^post65+a_267^0 == 0 /\ -nondet_12^post65+nondet_12^0 == 0 /\ result_11^0-result_11^post65 == 0 /\ a_210^0-a_210^post65 == 0 /\ -__disjvr_12^post65+__disjvr_12^0 == 0 /\ -__disjvr_7^post65+__disjvr_7^0 == 0 /\ -__disjvr_23^post65+__disjvr_23^0 == 0 /\ -z_252^post65+z_252^0 == 0 /\ rcd_70^0-rcd_70^post65 == 0 /\ __disjvr_19^0-__disjvr_19^post65 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post65+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -__disjvr_10^post65+__disjvr_10^0 == 0 /\ rcd_264^0-rcd_264^post65 == 0 /\ -temp_38^post65+temp_38^0 == 0 /\ len_195^0-len_195^post65 == 0 /\ -a_166^post65+a_166^0 == 0 /\ -__disjvr_13^post65+__disjvr_13^0 == 0 /\ a_321^0-a_321^post65 == 0 /\ z_279^0-z_279^post65 == 0 /\ -__disjvr_5^post65+__disjvr_5^0 == 0 /\ -x_SLAM_f_21^post65+x_SLAM_f_21^0 == 0 /\ head_35^0-head_35^post65 == 0 /\ rcd_222^0-rcd_222^post65 == 0 /\ rcd_228^0-rcd_228^post65 == 0 /\ -z_188^post65+z_188^0 == 0 /\ len_266^0-len_266^post65 == 0 /\ -tmp_37^post65+tmp_37^0 == 0 /\ __disjvr_9^0-__disjvr_9^post65 == 0 /\ -__disjvr_16^post65+__disjvr_16^0 == 0 /\ -rcd_396^post65+rcd_396^0 == 0 /\ -ct_20^post65+ct_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post65 == 0 /\ -z_160^post65+z_160^0 == 0 /\ -x_19^post65+x_19^0 == 0 /\ -i_111^post65+i_111^0 == 0 /\ -__disjvr_27^post65+__disjvr_27^0 == 0 /\ __disjvr_28^0-__disjvr_28^post65 == 0 /\ len_286^0-len_286^post65 == 0 /\ -i_227^post65+i_227^0 == 0 /\ rcd_105^0-rcd_105^post65 == 0 /\ __disjvr_4^0-__disjvr_4^post65 == 0 /\ __disjvr_26^0-__disjvr_26^post65 == 0 /\ -__disjvr_20^post65+__disjvr_20^0 == 0 /\ i_120^0-i_120^post65 == 0 /\ __disjvr_8^0-__disjvr_8^post65 == 0 /\ -z_28^post65+z_28^0 == 0 /\ __disjvr_11^0-__disjvr_11^post65 == 0 /\ a_377^0-a_377^post65 == 0 /\ -rcd_46^post65+rcd_396^0 <= 0 /\ -rcd_226^post65+rcd_226^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post65 == 0 /\ __disjvr_3^0-__disjvr_3^post65 == 0 /\ i_33^0-i_33^post65 == 0 /\ -__disjvr_18^post65+__disjvr_18^0 == 0 /\ -r_236^post65+r_236^0 == 0 /\ t_24^0-t_24^post65 == 0 /\ -__disjvr_6^post65+__disjvr_6^0 == 0 /\ lt_29^0-lt_29^post65 == 0 /\ __disjvr_21^0-__disjvr_21^post65 == 0 /\ -y_22^post65+y_22^0 == 0 /\ -lt_483^post65+lt_483^0 == 0 /\ rcd_376^0-rcd_376^post65 == 0 /\ -z_265^post65+z_265^0 == 0 /\ -__disjvr_1^post65+__disjvr_1^0 == 0 /\ -__disjvr_15^post65+__disjvr_15^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post65+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_113^0-rcd_113^post65 == 0 /\ rcd_46^post65-rcd_396^0 <= 0 /\ -lt_386^post65+lt_386^0 == 0 /\ __disjvr_17^0-__disjvr_17^post65 == 0 /\ temp0_18^0-temp0_18^post65 == 0 /\ -rcd_237^post65+rcd_237^0 == 0 /\ -__disjvr_14^post65+__disjvr_14^0 == 0 /\ r_42^0-r_42^post65 == 0 /\ -rcd_356^post65+rcd_356^0 == 0 /\ z_229^0-z_229^post65 == 0 /\ -a_27^post65+a_27^0 == 0 /\ -z_389^post65+z_389^0 == 0 /\ __disjvr_22^0-__disjvr_22^post65 == 0 /\ temp0_34^0-temp0_34^post65 == 0 /\ temp1_30^0-temp1_30^post65 == 0 /\ -lt_17^post65+lt_17^0 == 0 /\ __disjvr_24^0-__disjvr_24^post65 == 0 /\ -z_238^post65+z_238^0 == 0 /\ -r_178^post65+r_178^0 == 0 /\ x_23^0-x_23^post65 == 0 /\ length_32^0-length_32^post65 == 0 /\ -__disjvr_25^post65+__disjvr_25^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ a_347^0-a_347^post65 == 0 /\ -rcd_352^post65+rcd_352^0 == 0 /\ -head_13^post65+head_13^0 == 0), cost: 1
  67: l61 -> l62 : __disjvr_0^0'=__disjvr_0^post67, a_321^0'=a_321^post67, rcd_70^0'=rcd_70^post67, __disjvr_21^0'=__disjvr_21^post67, x_23^0'=x_23^post67, __disjvr_4^0'=__disjvr_4^post67, rcd_222^0'=rcd_222^post67, __disjvr_14^0'=__disjvr_14^post67, head_35^0'=head_35^post67, __disjvr_24^0'=__disjvr_24^post67, temp0_18^0'=temp0_18^post67, lt_386^0'=lt_386^post67, z_229^0'=z_229^post67, __disjvr_9^0'=__disjvr_9^post67, a_210^0'=a_210^post67, rcd_376^0'=rcd_376^post67, __disjvr_19^0'=__disjvr_19^post67, len_195^0'=len_195^post67, __disjvr_29^0'=__disjvr_29^post67, x_19^0'=x_19^post67, r_42^0'=r_42^post67, z_28^0'=z_28^post67, __disjvr_11^0'=__disjvr_11^post67, a_377^0'=a_377^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post67, length_32^0'=length_32^post67, y_22^0'=y_22^post67, __disjvr_6^0'=__disjvr_6^post67, rcd_228^0'=rcd_228^post67, __disjvr_16^0'=__disjvr_16^post67, i_120^0'=i_120^post67, __disjvr_26^0'=__disjvr_26^post67, temp1_30^0'=temp1_30^post67, nondet_12^0'=nondet_12^post67, z_252^0'=z_252^post67, a_27^0'=a_27^post67, rcd_46^0'=rcd_46^post67, __disjvr_20^0'=__disjvr_20^post67, len_286^0'=len_286^post67, __disjvr_3^0'=__disjvr_3^post67, rcd_113^0'=rcd_113^post67, __disjvr_13^0'=__disjvr_13^post67, head_13^0'=head_13^post67, __disjvr_23^0'=__disjvr_23^post67, t_24^0'=t_24^post67, lt_29^0'=lt_29^post67, z_188^0'=z_188^post67, __disjvr_8^0'=__disjvr_8^post67, rcd_264^0'=rcd_264^post67, rcd_356^0'=rcd_356^post67, __disjvr_18^0'=__disjvr_18^post67, i_33^0'=i_33^post67, __disjvr_28^0'=__disjvr_28^post67, tmp_37^0'=tmp_37^post67, r_236^0'=r_236^post67, z_279^0'=z_279^post67, __disjvr_10^0'=__disjvr_10^post67, a_347^0'=a_347^post67, result_11^0'=result_11^post67, __disjvr_22^0'=__disjvr_22^post67, x_SLAM_f_21^0'=x_SLAM_f_21^post67, __disjvr_5^0'=__disjvr_5^post67, rcd_226^0'=rcd_226^post67, __disjvr_15^0'=__disjvr_15^post67, i_111^0'=i_111^post67, __disjvr_25^0'=__disjvr_25^post67, temp0_34^0'=temp0_34^post67, lt_483^0'=lt_483^post67, z_238^0'=z_238^post67, a_166^0'=a_166^post67, a_267^0'=a_267^post67, rcd_396^0'=rcd_396^post67, __disjvr_1^0'=__disjvr_1^post67, len_266^0'=len_266^post67, __disjvr_2^0'=__disjvr_2^post67, rcd_105^0'=rcd_105^post67, z_389^0'=z_389^post67, __disjvr_12^0'=__disjvr_12^post67, ct_20^0'=ct_20^post67, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post67, lt_17^0'=lt_17^post67, z_160^0'=z_160^post67, __disjvr_7^0'=__disjvr_7^post67, rcd_237^0'=rcd_237^post67, rcd_352^0'=rcd_352^post67, __disjvr_17^0'=__disjvr_17^post67, i_227^0'=i_227^post67, __disjvr_27^0'=__disjvr_27^post67, temp_38^0'=temp_38^post67, r_178^0'=r_178^post67, z_265^0'=z_265^post67, (t_24^0-t_24^post67 == 0 /\ -__disjvr_28^post67+__disjvr_28^0 == 0 /\ a_210^0-a_210^post67 == 0 /\ __disjvr_8^0-__disjvr_8^post67 == 0 /\ -temp0_34^post67+temp0_34^0 == 0 /\ -rcd_396^post67+rcd_396^0 == 0 /\ a_377^0-a_377^post67 == 0 /\ length_32^0-length_32^post67 == 0 /\ y_22^0-y_22^post67 == 0 /\ z_238^0-z_238^post67 == 0 /\ -lt_17^post67+lt_17^0 == 0 /\ -z_252^post67+z_252^0 == 0 /\ rcd_46^0-rcd_46^post67 == 0 /\ -temp_38^post67+temp_38^0 == 0 /\ __disjvr_14^0-__disjvr_14^post67 == 0 /\ -a_27^post67+a_27^0 == 0 /\ __disjvr_1^0-__disjvr_1^post67 == 0 /\ -__disjvr_12^post67+__disjvr_12^0 == 0 /\ i_33^0-i_33^post67 == 0 /\ -a_267^post67+a_267^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -__disjvr_10^post67+__disjvr_10^0 == 0 /\ -__disjvr_7^post67+__disjvr_7^0 == 0 /\ -a_166^post67+a_166^0 == 0 /\ -nondet_12^post67+nondet_12^0 == 0 /\ __disjvr_23^0-__disjvr_23^post67 == 0 /\ -__disjvr_13^post67+__disjvr_13^0 == 0 /\ -__disjvr_3^post67+__disjvr_3^0 == 0 /\ -tmp_37^post67+tmp_37^0 == 0 /\ __disjvr_28^post67-__disjvr_28^0 == 0 /\ x_23^0-x_23^post67 == 0 /\ rcd_113^0-rcd_113^post67 == 0 /\ -x_SLAM_f_21^post67+x_SLAM_f_21^0 == 0 /\ -i_111^post67+i_111^0 == 0 /\ head_13^0-head_13^post67 == 0 /\ rcd_228^0-rcd_228^post67 == 0 /\ __disjvr_4^0-__disjvr_4^post67 == 0 /\ rcd_70^0-rcd_70^post67 == 0 /\ temp0_18^0-temp0_18^post67 == 0 /\ -__disjvr_27^post67+__disjvr_27^0 == 0 /\ -i_227^post67+i_227^0 == 0 /\ -z_188^post67+z_188^0 == 0 /\ lt_29^0-lt_29^post67 == 0 /\ r_42^0-r_42^post67 == 0 /\ i_120^0-i_120^post67 == 0 /\ -rcd_264^post67+rcd_264^0 == 0 /\ __disjvr_24^0-__disjvr_24^post67 == 0 /\ z_229^0-z_229^post67 == 0 /\ -__disjvr_16^post67+__disjvr_16^0 == 0 /\ -rcd_105^post67+rcd_105^0 == 0 /\ -ct_20^post67+ct_20^0 == 0 /\ result_11^0-result_11^post67 == 0 /\ -__disjvr_18^post67+__disjvr_18^0 == 0 /\ -z_160^post67+z_160^0 == 0 /\ -__disjvr_6^post67+__disjvr_6^0 == 0 /\ -lt_483^post67+lt_483^0 == 0 /\ __disjvr_5^0-__disjvr_5^post67 == 0 /\ __disjvr_21^0-__disjvr_21^post67 == 0 /\ -z_265^post67+z_265^0 == 0 /\ -__disjvr_29^post67+__disjvr_29^0 == 0 /\ __disjvr_15^0-__disjvr_15^post67 == 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post67 == 0 /\ z_28^0-z_28^post67 == 0 /\ -z_279^post67+z_279^0 == 0 /\ len_195^0-len_195^post67 == 0 /\ rcd_376^0-rcd_376^post67 == 0 /\ a_321^0-a_321^post67 == 0 /\ __disjvr_20^0-__disjvr_20^post67 == 0 /\ head_35^0-head_35^post67 == 0 /\ __disjvr_9^0-__disjvr_9^post67 == 0 /\ -__disjvr_25^post67+__disjvr_25^0 == 0 /\ rcd_222^0-rcd_222^post67 == 0 /\ -a_347^post67+a_347^0 == 0 /\ len_286^0-len_286^post67 == 0 /\ -len_266^post67+len_266^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post67+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_226^post67+rcd_226^0 == 0 /\ -r_178^post67+r_178^0 == 0 /\ -__disjvr_22^post67+__disjvr_22^0 == 0 /\ __disjvr_0^0-__disjvr_0^post67 == 0 /\ -rcd_237^post67+rcd_237^0 == 0 /\ lt_386^0-lt_386^post67 == 0 /\ -rcd_352^post67+rcd_352^0 == 0 /\ -__disjvr_26^post67+__disjvr_26^0 == 0 /\ -z_389^post67+z_389^0 == 0 /\ rcd_356^0-rcd_356^post67 == 0 /\ -__disjvr_2^post67+__disjvr_2^0 == 0 /\ x_19^0-x_19^post67 == 0 /\ temp1_30^0-temp1_30^post67 == 0 /\ r_236^0-r_236^post67 == 0 /\ -__disjvr_11^post67+__disjvr_11^0 == 0), cost: 1
  68: l62 -> l63 : __disjvr_0^0'=__disjvr_0^post68, a_321^0'=a_321^post68, rcd_70^0'=rcd_70^post68, __disjvr_21^0'=__disjvr_21^post68, x_23^0'=x_23^post68, __disjvr_4^0'=__disjvr_4^post68, rcd_222^0'=rcd_222^post68, __disjvr_14^0'=__disjvr_14^post68, head_35^0'=head_35^post68, __disjvr_24^0'=__disjvr_24^post68, temp0_18^0'=temp0_18^post68, lt_386^0'=lt_386^post68, z_229^0'=z_229^post68, __disjvr_9^0'=__disjvr_9^post68, a_210^0'=a_210^post68, rcd_376^0'=rcd_376^post68, __disjvr_19^0'=__disjvr_19^post68, len_195^0'=len_195^post68, __disjvr_29^0'=__disjvr_29^post68, x_19^0'=x_19^post68, r_42^0'=r_42^post68, z_28^0'=z_28^post68, __disjvr_11^0'=__disjvr_11^post68, a_377^0'=a_377^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post68, length_32^0'=length_32^post68, y_22^0'=y_22^post68, __disjvr_6^0'=__disjvr_6^post68, rcd_228^0'=rcd_228^post68, __disjvr_16^0'=__disjvr_16^post68, i_120^0'=i_120^post68, __disjvr_26^0'=__disjvr_26^post68, temp1_30^0'=temp1_30^post68, nondet_12^0'=nondet_12^post68, z_252^0'=z_252^post68, a_27^0'=a_27^post68, rcd_46^0'=rcd_46^post68, __disjvr_20^0'=__disjvr_20^post68, len_286^0'=len_286^post68, __disjvr_3^0'=__disjvr_3^post68, rcd_113^0'=rcd_113^post68, __disjvr_13^0'=__disjvr_13^post68, head_13^0'=head_13^post68, __disjvr_23^0'=__disjvr_23^post68, t_24^0'=t_24^post68, lt_29^0'=lt_29^post68, z_188^0'=z_188^post68, __disjvr_8^0'=__disjvr_8^post68, rcd_264^0'=rcd_264^post68, rcd_356^0'=rcd_356^post68, __disjvr_18^0'=__disjvr_18^post68, i_33^0'=i_33^post68, __disjvr_28^0'=__disjvr_28^post68, tmp_37^0'=tmp_37^post68, r_236^0'=r_236^post68, z_279^0'=z_279^post68, __disjvr_10^0'=__disjvr_10^post68, a_347^0'=a_347^post68, result_11^0'=result_11^post68, __disjvr_22^0'=__disjvr_22^post68, x_SLAM_f_21^0'=x_SLAM_f_21^post68, __disjvr_5^0'=__disjvr_5^post68, rcd_226^0'=rcd_226^post68, __disjvr_15^0'=__disjvr_15^post68, i_111^0'=i_111^post68, __disjvr_25^0'=__disjvr_25^post68, temp0_34^0'=temp0_34^post68, lt_483^0'=lt_483^post68, z_238^0'=z_238^post68, a_166^0'=a_166^post68, a_267^0'=a_267^post68, rcd_396^0'=rcd_396^post68, __disjvr_1^0'=__disjvr_1^post68, len_266^0'=len_266^post68, __disjvr_2^0'=__disjvr_2^post68, rcd_105^0'=rcd_105^post68, z_389^0'=z_389^post68, __disjvr_12^0'=__disjvr_12^post68, ct_20^0'=ct_20^post68, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post68, lt_17^0'=lt_17^post68, z_160^0'=z_160^post68, __disjvr_7^0'=__disjvr_7^post68, rcd_237^0'=rcd_237^post68, rcd_352^0'=rcd_352^post68, __disjvr_17^0'=__disjvr_17^post68, i_227^0'=i_227^post68, __disjvr_27^0'=__disjvr_27^post68, temp_38^0'=temp_38^post68, r_178^0'=r_178^post68, z_265^0'=z_265^post68, (0 == 0 /\ rcd_222^0-rcd_222^post68 == 0 /\ head_13^0-head_13^post68 == 0 /\ a_321^0-a_321^post68 == 0 /\ -rcd_105^post68+rcd_105^0 == 0 /\ z_252^0-z_252^post68 == 0 /\ -z_265^post68+z_265^0 == 0 /\ -ct_20^post68+ct_20^0 == 0 /\ __disjvr_9^0-__disjvr_9^post68 == 0 /\ -z_160^post68+z_160^0 == 0 /\ temp0_18^0-temp0_18^post68 == 0 /\ -__disjvr_17^post68+__disjvr_17^0 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ -__disjvr_1^post68+__disjvr_1^0 == 0 /\ rcd_396^0-rcd_396^post68 == 0 /\ -__disjvr_18^post68+__disjvr_18^0 == 0 /\ length_32^0-length_32^post68 == 0 /\ i_120^0-i_120^post68 == 0 /\ lt_386^0-lt_386^post68 == 0 /\ -__disjvr_22^post68+__disjvr_22^0 == 0 /\ -lt_483^post68+lt_483^0 == 0 /\ x_19^0-x_19^post68 == 0 /\ -rcd_352^post68+rcd_352^0 == 0 /\ -len_195^post68+len_195^0 == 0 /\ __disjvr_15^0-__disjvr_15^post68 == 0 /\ -temp1_30^post68+temp1_30^0 == 0 /\ -rcd_356^post68+rcd_356^0 == 0 /\ __disjvr_0^0-__disjvr_0^post68 == 0 /\ __disjvr_14^0-__disjvr_14^post68 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post68+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -len_266^post68+len_266^0 == 0 /\ t_24^0-t_24^post68 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ __disjvr_16^0-__disjvr_16^post68 == 0 /\ __disjvr_8^0-__disjvr_8^post68 == 0 /\ -rcd_237^post68+rcd_237^0 == 0 /\ z_188^0-z_188^post68 == 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ -z_238^post68+z_238^0 == 0 /\ -__disjvr_25^post68+__disjvr_25^0 == 0 /\ rcd_46^0-rcd_46^post68 == 0 /\ -a_27^post68+a_27^0 == 0 /\ z_279^0-z_279^post68 == 0 /\ -r_178^post68+r_178^0 == 0 /\ a_377^0-a_377^post68 == 0 /\ rcd_70^0-rcd_70^post68 == 0 /\ __disjvr_20^0-__disjvr_20^post68 == 0 /\ -rcd_226^post68+rcd_226^0 == 0 /\ -a_166^post68+a_166^0 == 0 /\ a_347^0-a_347^post68 == 0 /\ len_286^0-len_286^post68 == 0 /\ rcd_113^0-rcd_113^post68 == 0 /\ a_27^0-head_13^0 <= 0 /\ -__disjvr_7^post68+__disjvr_7^0 == 0 /\ -lt_17^post68+lt_17^0 == 0 /\ -z_389^post68+z_389^0 == 0 /\ -__disjvr_2^post68+__disjvr_2^0 == 0 /\ -__disjvr_28^post68+__disjvr_28^0 == 0 /\ -__disjvr_13^post68+__disjvr_13^0 == 0 /\ -__disjvr_3^post68+__disjvr_3^0 == 0 /\ -rcd_228^post68+rcd_228^0 == 0 /\ __disjvr_26^0-__disjvr_26^post68 == 0 /\ __disjvr_4^0-__disjvr_4^post68 == 0 /\ x_23^0-x_23^post68 == 0 /\ result_11^0-result_11^post68 == 0 /\ a_210^0-a_210^post68 == 0 /\ -temp_38^post68+temp_38^0 == 0 /\ z_229^0-z_229^post68 == 0 /\ -a_267^post68+a_267^0 == 0 /\ -temp0_34^post68+temp0_34^0 == 0 /\ __disjvr_23^0-__disjvr_23^post68 == 0 /\ r_236^0-r_236^post68 == 0 /\ __disjvr_5^0-__disjvr_5^post68 == 0 /\ rcd_376^0-rcd_376^post68 == 0 /\ y_22^0-y_22^post68 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post68 == 0 /\ __disjvr_6^0-__disjvr_6^post68 == 0 /\ -a_27^0+head_13^0 <= 0 /\ i_33^0-i_33^post68 == 0 /\ -x_SLAM_f_21^post68+x_SLAM_f_21^0 == 0 /\ -tmp_37^post68+tmp_37^0 == 0 /\ -__disjvr_10^post68+__disjvr_10^0 == 0 /\ -rcd_264^post68+rcd_264^0 == 0 /\ __disjvr_29^0-__disjvr_29^post68 == 0 /\ -i_227^post68+i_227^0 == 0 /\ -r_42^post68+r_42^0 == 0 /\ __disjvr_21^0-__disjvr_21^post68 == 0 /\ __disjvr_19^0-__disjvr_19^post68 == 0 /\ -i_111^post68+i_111^0 == 0 /\ -__disjvr_27^post68+__disjvr_27^0 == 0 /\ __disjvr_11^0-__disjvr_11^post68 == 0 /\ head_35^0-head_35^post68 == 0), cost: 1
  69: l63 -> l64 : __disjvr_0^0'=__disjvr_0^post69, a_321^0'=a_321^post69, rcd_70^0'=rcd_70^post69, __disjvr_21^0'=__disjvr_21^post69, x_23^0'=x_23^post69, __disjvr_4^0'=__disjvr_4^post69, rcd_222^0'=rcd_222^post69, __disjvr_14^0'=__disjvr_14^post69, head_35^0'=head_35^post69, __disjvr_24^0'=__disjvr_24^post69, temp0_18^0'=temp0_18^post69, lt_386^0'=lt_386^post69, z_229^0'=z_229^post69, __disjvr_9^0'=__disjvr_9^post69, a_210^0'=a_210^post69, rcd_376^0'=rcd_376^post69, __disjvr_19^0'=__disjvr_19^post69, len_195^0'=len_195^post69, __disjvr_29^0'=__disjvr_29^post69, x_19^0'=x_19^post69, r_42^0'=r_42^post69, z_28^0'=z_28^post69, __disjvr_11^0'=__disjvr_11^post69, a_377^0'=a_377^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post69, length_32^0'=length_32^post69, y_22^0'=y_22^post69, __disjvr_6^0'=__disjvr_6^post69, rcd_228^0'=rcd_228^post69, __disjvr_16^0'=__disjvr_16^post69, i_120^0'=i_120^post69, __disjvr_26^0'=__disjvr_26^post69, temp1_30^0'=temp1_30^post69, nondet_12^0'=nondet_12^post69, z_252^0'=z_252^post69, a_27^0'=a_27^post69, rcd_46^0'=rcd_46^post69, __disjvr_20^0'=__disjvr_20^post69, len_286^0'=len_286^post69, __disjvr_3^0'=__disjvr_3^post69, rcd_113^0'=rcd_113^post69, __disjvr_13^0'=__disjvr_13^post69, head_13^0'=head_13^post69, __disjvr_23^0'=__disjvr_23^post69, t_24^0'=t_24^post69, lt_29^0'=lt_29^post69, z_188^0'=z_188^post69, __disjvr_8^0'=__disjvr_8^post69, rcd_264^0'=rcd_264^post69, rcd_356^0'=rcd_356^post69, __disjvr_18^0'=__disjvr_18^post69, i_33^0'=i_33^post69, __disjvr_28^0'=__disjvr_28^post69, tmp_37^0'=tmp_37^post69, r_236^0'=r_236^post69, z_279^0'=z_279^post69, __disjvr_10^0'=__disjvr_10^post69, a_347^0'=a_347^post69, result_11^0'=result_11^post69, __disjvr_22^0'=__disjvr_22^post69, x_SLAM_f_21^0'=x_SLAM_f_21^post69, __disjvr_5^0'=__disjvr_5^post69, rcd_226^0'=rcd_226^post69, __disjvr_15^0'=__disjvr_15^post69, i_111^0'=i_111^post69, __disjvr_25^0'=__disjvr_25^post69, temp0_34^0'=temp0_34^post69, lt_483^0'=lt_483^post69, z_238^0'=z_238^post69, a_166^0'=a_166^post69, a_267^0'=a_267^post69, rcd_396^0'=rcd_396^post69, __disjvr_1^0'=__disjvr_1^post69, len_266^0'=len_266^post69, __disjvr_2^0'=__disjvr_2^post69, rcd_105^0'=rcd_105^post69, z_389^0'=z_389^post69, __disjvr_12^0'=__disjvr_12^post69, ct_20^0'=ct_20^post69, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post69, lt_17^0'=lt_17^post69, z_160^0'=z_160^post69, __disjvr_7^0'=__disjvr_7^post69, rcd_237^0'=rcd_237^post69, rcd_352^0'=rcd_352^post69, __disjvr_17^0'=__disjvr_17^post69, i_227^0'=i_227^post69, __disjvr_27^0'=__disjvr_27^post69, temp_38^0'=temp_38^post69, r_178^0'=r_178^post69, z_265^0'=z_265^post69, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post69 == 0 /\ __disjvr_14^0-__disjvr_14^post69 == 0 /\ -result_11^post69+result_11^0 == 0 /\ -rcd_396^post69+rcd_396^0 == 0 /\ a_267^0-a_267^post69 == 0 /\ __disjvr_16^0-__disjvr_16^post69 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ z_238^0-z_238^post69 == 0 /\ t_24^0-t_24^post69 == 0 /\ __disjvr_1^0-__disjvr_1^post69 == 0 /\ -rcd_228^post69+rcd_228^0 == 0 /\ __disjvr_6^0-__disjvr_6^post69 == 0 /\ -__disjvr_2^post69+__disjvr_2^0 == 0 /\ -temp_38^post69+temp_38^0 == 0 /\ -temp0_34^post69+temp0_34^0 == 0 /\ __disjvr_21^0-__disjvr_21^post69 == 0 /\ z_28^0-z_28^post69 == 0 /\ -__disjvr_13^post69+__disjvr_13^0 == 0 /\ __disjvr_18^0-__disjvr_18^post69 == 0 /\ -__disjvr_7^post69+__disjvr_7^0 == 0 /\ rcd_376^0-rcd_376^post69 == 0 /\ -__disjvr_8^post69+__disjvr_8^0 == 0 /\ -lt_17^post69+lt_17^0 == 0 /\ -a_166^post69+a_166^0 == 0 /\ -x_SLAM_f_21^post69+x_SLAM_f_21^0 == 0 /\ __disjvr_19^0-__disjvr_19^post69 == 0 /\ a_321^0-a_321^post69 == 0 /\ head_13^0-head_13^post69 == 0 /\ z_252^0-z_252^post69 == 0 /\ a_27^0-a_27^post69 == 0 /\ rcd_113^0-rcd_113^post69 == 0 /\ -i_227^post69+i_227^0 == 0 /\ __disjvr_20^0-__disjvr_20^post69 == 0 /\ -i_111^post69+i_111^0 == 0 /\ -__disjvr_27^post69+__disjvr_27^0 == 0 /\ temp0_18^0-temp0_18^post69 == 0 /\ lt_386^0-lt_386^post69 == 0 /\ -__disjvr_5^post69+__disjvr_5^0 == 0 /\ temp1_30^0-temp1_30^post69 == 0 /\ -rcd_105^post69+rcd_105^0 == 0 /\ __disjvr_0^0-__disjvr_0^post69 == 0 /\ x_19^0-x_19^post69 == 0 /\ -ct_20^post69+ct_20^0 == 0 /\ r_236^0-r_236^post69 == 0 /\ y_22^0-y_22^post69 == 0 /\ z_389^0-z_389^post69 == 0 /\ -rcd_264^post69+rcd_264^0 == 0 /\ -__disjvr_17^post69+__disjvr_17^0 == 0 /\ z_188^0-z_188^post69 == 0 /\ a_210^0-a_210^post69 == 0 /\ -x_23^post69+x_23^0 == 0 /\ __disjvr_23^0-__disjvr_23^post69 == 0 /\ -a_377^post69+a_377^0 == 0 /\ -__disjvr_15^post69+__disjvr_15^0 == 0 /\ __disjvr_29^0-__disjvr_29^post69 == 0 /\ rcd_46^0-rcd_46^post69 == 0 /\ -z_279^post69+z_279^0 == 0 /\ rcd_226^0-rcd_226^post69 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post69 == 0 /\ lt_483^0-lt_483^post69 == 0 /\ -i_33^post69+i_33^0 == 0 /\ -z_160^post69+z_160^0 == 0 /\ __disjvr_4^0-__disjvr_4^post69 == 0 /\ -__disjvr_12^post69+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post69 == 0 /\ rcd_70^0-rcd_70^post69 == 0 /\ -length_32^post69+length_32^0 == 0 /\ -__disjvr_3^post69+__disjvr_3^0 == 0 /\ -head_35^post69+head_35^0 == 0 /\ -rcd_352^post69+rcd_352^0 == 0 /\ -a_347^post69+a_347^0 == 0 /\ -len_195^post69+len_195^0 == 0 /\ __disjvr_9^0-__disjvr_9^post69 == 0 /\ -__disjvr_29^0+__disjvr_29^post69 == 0 /\ -r_178^post69+r_178^0 == 0 /\ -len_266^post69+len_266^0 == 0 /\ -__disjvr_22^post69+__disjvr_22^0 == 0 /\ -lt_29^post69+lt_29^0 == 0 /\ __disjvr_26^0-__disjvr_26^post69 == 0 /\ i_120^0-i_120^post69 == 0 /\ r_42^0-r_42^post69 == 0 /\ tmp_37^0-tmp_37^post69 == 0 /\ -z_229^post69+z_229^0 == 0 /\ -z_265^post69+z_265^0 == 0 /\ -__disjvr_11^post69+__disjvr_11^0 == 0 /\ rcd_222^0-rcd_222^post69 == 0 /\ -__disjvr_25^post69+__disjvr_25^0 == 0 /\ __disjvr_24^0-__disjvr_24^post69 == 0 /\ len_286^0-len_286^post69 == 0 /\ rcd_356^0-rcd_356^post69 == 0 /\ -rcd_237^post69+rcd_237^0 == 0 /\ -__disjvr_28^post69+__disjvr_28^0 == 0), cost: 1
  70: l64 -> l39 : __disjvr_0^0'=__disjvr_0^post70, a_321^0'=a_321^post70, rcd_70^0'=rcd_70^post70, __disjvr_21^0'=__disjvr_21^post70, x_23^0'=x_23^post70, __disjvr_4^0'=__disjvr_4^post70, rcd_222^0'=rcd_222^post70, __disjvr_14^0'=__disjvr_14^post70, head_35^0'=head_35^post70, __disjvr_24^0'=__disjvr_24^post70, temp0_18^0'=temp0_18^post70, lt_386^0'=lt_386^post70, z_229^0'=z_229^post70, __disjvr_9^0'=__disjvr_9^post70, a_210^0'=a_210^post70, rcd_376^0'=rcd_376^post70, __disjvr_19^0'=__disjvr_19^post70, len_195^0'=len_195^post70, __disjvr_29^0'=__disjvr_29^post70, x_19^0'=x_19^post70, r_42^0'=r_42^post70, z_28^0'=z_28^post70, __disjvr_11^0'=__disjvr_11^post70, a_377^0'=a_377^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post70, length_32^0'=length_32^post70, y_22^0'=y_22^post70, __disjvr_6^0'=__disjvr_6^post70, rcd_228^0'=rcd_228^post70, __disjvr_16^0'=__disjvr_16^post70, i_120^0'=i_120^post70, __disjvr_26^0'=__disjvr_26^post70, temp1_30^0'=temp1_30^post70, nondet_12^0'=nondet_12^post70, z_252^0'=z_252^post70, a_27^0'=a_27^post70, rcd_46^0'=rcd_46^post70, __disjvr_20^0'=__disjvr_20^post70, len_286^0'=len_286^post70, __disjvr_3^0'=__disjvr_3^post70, rcd_113^0'=rcd_113^post70, __disjvr_13^0'=__disjvr_13^post70, head_13^0'=head_13^post70, __disjvr_23^0'=__disjvr_23^post70, t_24^0'=t_24^post70, lt_29^0'=lt_29^post70, z_188^0'=z_188^post70, __disjvr_8^0'=__disjvr_8^post70, rcd_264^0'=rcd_264^post70, rcd_356^0'=rcd_356^post70, __disjvr_18^0'=__disjvr_18^post70, i_33^0'=i_33^post70, __disjvr_28^0'=__disjvr_28^post70, tmp_37^0'=tmp_37^post70, r_236^0'=r_236^post70, z_279^0'=z_279^post70, __disjvr_10^0'=__disjvr_10^post70, a_347^0'=a_347^post70, result_11^0'=result_11^post70, __disjvr_22^0'=__disjvr_22^post70, x_SLAM_f_21^0'=x_SLAM_f_21^post70, __disjvr_5^0'=__disjvr_5^post70, rcd_226^0'=rcd_226^post70, __disjvr_15^0'=__disjvr_15^post70, i_111^0'=i_111^post70, __disjvr_25^0'=__disjvr_25^post70, temp0_34^0'=temp0_34^post70, lt_483^0'=lt_483^post70, z_238^0'=z_238^post70, a_166^0'=a_166^post70, a_267^0'=a_267^post70, rcd_396^0'=rcd_396^post70, __disjvr_1^0'=__disjvr_1^post70, len_266^0'=len_266^post70, __disjvr_2^0'=__disjvr_2^post70, rcd_105^0'=rcd_105^post70, z_389^0'=z_389^post70, __disjvr_12^0'=__disjvr_12^post70, ct_20^0'=ct_20^post70, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post70, lt_17^0'=lt_17^post70, z_160^0'=z_160^post70, __disjvr_7^0'=__disjvr_7^post70, rcd_237^0'=rcd_237^post70, rcd_352^0'=rcd_352^post70, __disjvr_17^0'=__disjvr_17^post70, i_227^0'=i_227^post70, __disjvr_27^0'=__disjvr_27^post70, temp_38^0'=temp_38^post70, r_178^0'=r_178^post70, z_265^0'=z_265^post70, (temp0_18^0-temp0_18^post70 == 0 /\ -z_265^post70+z_265^0 == 0 /\ __disjvr_10^0-__disjvr_10^post70 == 0 /\ -i_120^post70+i_120^0 == 0 /\ rcd_356^0-rcd_356^post70 == 0 /\ __disjvr_4^0-__disjvr_4^post70 == 0 /\ -z_160^post70+z_160^0 == 0 /\ __disjvr_18^0-__disjvr_18^post70 == 0 /\ rcd_228^0-rcd_228^post70 == 0 /\ __disjvr_9^0-__disjvr_9^post70 == 0 /\ -rcd_113^post70+rcd_113^0 == 0 /\ __disjvr_2^0-__disjvr_2^post70 == 0 /\ -temp1_30^post70+temp1_30^0 == 0 /\ -__disjvr_17^post70+__disjvr_17^0 == 0 /\ a_210^0-a_210^post70 == 0 /\ a_267^0-a_267^post70 == 0 /\ -len_266^post70+len_266^0 == 0 /\ -i_33^post70+i_33^0 == 0 /\ -head_13^post70+head_13^0 == 0 /\ rcd_376^0-rcd_376^post70 == 0 /\ -__disjvr_22^post70+__disjvr_22^0 == 0 /\ __disjvr_6^0-__disjvr_6^post70 == 0 /\ r_236^0-r_236^post70 == 0 /\ -r_178^post70+r_178^0 == 0 /\ -rcd_237^post70+rcd_237^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post70 == 0 /\ -rcd_352^post70+rcd_352^0 == 0 /\ -__disjvr_25^post70+__disjvr_25^0 == 0 /\ -a_166^post70+a_166^0 == 0 /\ -len_195^post70+len_195^0 == 0 /\ -z_279^post70+z_279^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post70+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_226^post70+rcd_226^0 == 0 /\ __disjvr_13^0-__disjvr_13^post70 == 0 /\ -z_238^post70+z_238^0 == 0 /\ __disjvr_21^0-__disjvr_21^post70 == 0 /\ -__disjvr_12^post70+__disjvr_12^0 == 0 /\ -a_347^post70+a_347^0 == 0 /\ a_27^0-a_27^post70 == 0 /\ head_35^0-head_35^post70 == 0 /\ -lt_29^post70+lt_29^0 == 0 /\ -z_389^post70+z_389^0 == 0 /\ -temp_38^post70+temp_38^0 == 0 /\ x_23^0-x_23^post70 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ a_321^0-a_321^post70 == 0 /\ -__disjvr_28^post70+__disjvr_28^0 == 0 /\ -lt_17^post70+lt_17^0 == 0 /\ -__disjvr_7^post70+__disjvr_7^0 == 0 /\ -r_42^post70+r_42^0 == 0 /\ -result_11^post70+result_11^0 == 0 /\ -length_32^post70+length_32^0 == 0 /\ nondet_12^0-nondet_12^post70 == 0 /\ z_229^0-z_229^post70 == 0 /\ y_22^0-y_22^post70 == 0 /\ -temp0_34^post70+temp0_34^0 == 0 /\ __disjvr_26^0-__disjvr_26^post70 == 0 /\ z_252^0-z_252^post70 == 0 /\ lt_386^0-lt_386^post70 == 0 /\ -__disjvr_8^post70+__disjvr_8^0 == 0 /\ -rcd_222^post70+rcd_222^0 == 0 /\ x_19^0-x_19^post70 == 0 /\ -__disjvr_27^post70+__disjvr_27^0 == 0 /\ __disjvr_15^0-__disjvr_15^post70 == 0 /\ -__disjvr_23^post70+__disjvr_23^0 == 0 /\ -__disjvr_5^post70+__disjvr_5^0 == 0 /\ -__disjvr_1^post70+__disjvr_1^0 == 0 /\ -tmp_37^post70+tmp_37^0 == 0 /\ z_28^0-z_28^post70 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post70 == 0 /\ __disjvr_29^0-__disjvr_29^post70 == 0 /\ __disjvr_14^0-__disjvr_14^post70 == 0 /\ __disjvr_11^0-__disjvr_11^post70 == 0 /\ -len_286^post70+len_286^0 == 0 /\ __disjvr_3^0-__disjvr_3^post70 == 0 /\ -i_227^post70+i_227^0 == 0 /\ __disjvr_16^0-__disjvr_16^post70 == 0 /\ __disjvr_0^0-__disjvr_0^post70 == 0 /\ rcd_264^0-rcd_264^post70 == 0 /\ a_377^0-a_377^post70 == 0 /\ -__disjvr_24^post70+__disjvr_24^0 == 0 /\ -ct_20^post70+ct_20^0 == 0 /\ rcd_46^0-rcd_46^post70 == 0 /\ -rcd_105^post70+rcd_105^0 == 0 /\ -z_188^post70+z_188^0 == 0 /\ rcd_70^0-rcd_70^post70 == 0 /\ -rcd_396^post70+rcd_396^0 == 0 /\ lt_483^0-lt_483^post70 == 0 /\ __disjvr_20^0-__disjvr_20^post70 == 0 /\ -i_111^post70+i_111^0 == 0 /\ __disjvr_19^0-__disjvr_19^post70 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -t_24^post70+t_24^0 == 0), cost: 1
  71: l65 -> l45 : __disjvr_0^0'=__disjvr_0^post71, a_321^0'=a_321^post71, rcd_70^0'=rcd_70^post71, __disjvr_21^0'=__disjvr_21^post71, x_23^0'=x_23^post71, __disjvr_4^0'=__disjvr_4^post71, rcd_222^0'=rcd_222^post71, __disjvr_14^0'=__disjvr_14^post71, head_35^0'=head_35^post71, __disjvr_24^0'=__disjvr_24^post71, temp0_18^0'=temp0_18^post71, lt_386^0'=lt_386^post71, z_229^0'=z_229^post71, __disjvr_9^0'=__disjvr_9^post71, a_210^0'=a_210^post71, rcd_376^0'=rcd_376^post71, __disjvr_19^0'=__disjvr_19^post71, len_195^0'=len_195^post71, __disjvr_29^0'=__disjvr_29^post71, x_19^0'=x_19^post71, r_42^0'=r_42^post71, z_28^0'=z_28^post71, __disjvr_11^0'=__disjvr_11^post71, a_377^0'=a_377^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post71, length_32^0'=length_32^post71, y_22^0'=y_22^post71, __disjvr_6^0'=__disjvr_6^post71, rcd_228^0'=rcd_228^post71, __disjvr_16^0'=__disjvr_16^post71, i_120^0'=i_120^post71, __disjvr_26^0'=__disjvr_26^post71, temp1_30^0'=temp1_30^post71, nondet_12^0'=nondet_12^post71, z_252^0'=z_252^post71, a_27^0'=a_27^post71, rcd_46^0'=rcd_46^post71, __disjvr_20^0'=__disjvr_20^post71, len_286^0'=len_286^post71, __disjvr_3^0'=__disjvr_3^post71, rcd_113^0'=rcd_113^post71, __disjvr_13^0'=__disjvr_13^post71, head_13^0'=head_13^post71, __disjvr_23^0'=__disjvr_23^post71, t_24^0'=t_24^post71, lt_29^0'=lt_29^post71, z_188^0'=z_188^post71, __disjvr_8^0'=__disjvr_8^post71, rcd_264^0'=rcd_264^post71, rcd_356^0'=rcd_356^post71, __disjvr_18^0'=__disjvr_18^post71, i_33^0'=i_33^post71, __disjvr_28^0'=__disjvr_28^post71, tmp_37^0'=tmp_37^post71, r_236^0'=r_236^post71, z_279^0'=z_279^post71, __disjvr_10^0'=__disjvr_10^post71, a_347^0'=a_347^post71, result_11^0'=result_11^post71, __disjvr_22^0'=__disjvr_22^post71, x_SLAM_f_21^0'=x_SLAM_f_21^post71, __disjvr_5^0'=__disjvr_5^post71, rcd_226^0'=rcd_226^post71, __disjvr_15^0'=__disjvr_15^post71, i_111^0'=i_111^post71, __disjvr_25^0'=__disjvr_25^post71, temp0_34^0'=temp0_34^post71, lt_483^0'=lt_483^post71, z_238^0'=z_238^post71, a_166^0'=a_166^post71, a_267^0'=a_267^post71, rcd_396^0'=rcd_396^post71, __disjvr_1^0'=__disjvr_1^post71, len_266^0'=len_266^post71, __disjvr_2^0'=__disjvr_2^post71, rcd_105^0'=rcd_105^post71, z_389^0'=z_389^post71, __disjvr_12^0'=__disjvr_12^post71, ct_20^0'=ct_20^post71, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post71, lt_17^0'=lt_17^post71, z_160^0'=z_160^post71, __disjvr_7^0'=__disjvr_7^post71, rcd_237^0'=rcd_237^post71, rcd_352^0'=rcd_352^post71, __disjvr_17^0'=__disjvr_17^post71, i_227^0'=i_227^post71, __disjvr_27^0'=__disjvr_27^post71, temp_38^0'=temp_38^post71, r_178^0'=r_178^post71, z_265^0'=z_265^post71, (0 == 0 /\ -__disjvr_25^post71+__disjvr_25^0 == 0 /\ i_33^post71 <= 0 /\ i_33^post71 == 0 /\ rcd_222^0-rcd_222^post71 == 0 /\ i_120^0-i_120^post71 == 0 /\ __disjvr_13^0-__disjvr_13^post71 == 0 /\ __disjvr_20^0-__disjvr_20^post71 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post71-nondet_12^10 == 0 /\ z_229^0-z_229^post71 == 0 /\ __disjvr_22^0-__disjvr_22^post71 == 0 /\ -rcd_46^post71+rcd_46^0 == 0 /\ __disjvr_24^0-__disjvr_24^post71 == 0 /\ -length_32^post71+result_dot_nondet_sdv_special_RETURN_VALUE_14^post71 <= 0 /\ -__disjvr_11^post71+__disjvr_11^0 == 0 /\ -y_22^post71+y_22^0 == 0 /\ -t_24^post71+t_24^0 == 0 /\ -i_227^post71+i_227^0 == 0 /\ -rcd_264^post71+rcd_264^0 == 0 /\ -z_265^post71+z_265^0 == 0 /\ __disjvr_26^0-__disjvr_26^post71 == 0 /\ z_188^0-z_188^post71 == 0 /\ -r_236^post71+r_236^0 == 0 /\ -__disjvr_1^post71+__disjvr_1^0 == 0 /\ -__disjvr_15^post71+__disjvr_15^0 == 0 /\ head_35^post71 <= 0 /\ head_35^post71 == 0 /\ -z_279^post71+z_279^0 == 0 /\ -len_266^post71+len_266^0 == 0 /\ rcd_105^0-rcd_105^post71 == 0 /\ z_238^0-z_238^post71 == 0 /\ __disjvr_29^0-__disjvr_29^post71 == 0 /\ a_377^0-a_377^post71 == 0 /\ -i_33^post71 <= 0 /\ -rcd_352^post71+rcd_352^0 == 0 /\ length_32^post71-result_dot_nondet_sdv_special_RETURN_VALUE_14^post71 <= 0 /\ length_32^post71-result_dot_nondet_sdv_special_RETURN_VALUE_14^post71 == 0 /\ -lt_17^post71+lt_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post71 == 0 /\ -z_389^post71+z_389^0 == 0 /\ -__disjvr_17^post71+__disjvr_17^0 == 0 /\ -result_11^post71+result_11^0 == 0 /\ -r_178^post71+r_178^0 == 0 /\ -rcd_356^post71+rcd_356^0 == 0 /\ rcd_70^0-rcd_70^post71 == 0 /\ -__disjvr_3^post71+__disjvr_3^0 == 0 /\ -a_267^post71+a_267^0 == 0 /\ x_23^0-x_23^post71 == 0 /\ -lt_29^post71+lt_29^0 == 0 /\ -__disjvr_2^post71+__disjvr_2^0 == 0 /\ temp0_18^0-temp0_18^post71 == 0 /\ __disjvr_9^0-__disjvr_9^post71 == 0 /\ -__disjvr_12^post71+__disjvr_12^0 == 0 /\ -temp1_30^post71+temp1_30^0 == 0 /\ -x_SLAM_f_21^post71+x_SLAM_f_21^0 == 0 /\ lt_483^0-lt_483^post71 == 0 /\ -__disjvr_19^post71+__disjvr_19^0 == 0 /\ r_42^0-r_42^post71 == 0 /\ temp0_34^0-temp0_34^post71 == 0 /\ rcd_237^0-rcd_237^post71 == 0 /\ __disjvr_0^0-__disjvr_0^post71 == 0 /\ -__disjvr_10^post71+__disjvr_10^0 == 0 /\ len_286^0-len_286^post71 == 0 /\ -a_166^post71+a_166^0 == 0 /\ head_13^0-head_13^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post71 == 0 /\ -temp_38^post71+temp_38^0 == 0 /\ lt_386^0-lt_386^post71 == 0 /\ a_347^0-a_347^post71 == 0 /\ __disjvr_16^0-__disjvr_16^post71 == 0 /\ __disjvr_4^0-__disjvr_4^post71 == 0 /\ -a_210^post71+a_210^0 == 0 /\ -__disjvr_5^post71+__disjvr_5^0 == 0 /\ -__disjvr_7^post71+__disjvr_7^0 == 0 /\ -__disjvr_28^post71+__disjvr_28^0 == 0 /\ rcd_226^0-rcd_226^post71 == 0 /\ __disjvr_18^0-__disjvr_18^post71 == 0 /\ -rcd_396^post71+rcd_396^0 == 0 /\ -head_35^post71 <= 0 /\ __disjvr_23^0-__disjvr_23^post71 == 0 /\ -z_160^post71+z_160^0 == 0 /\ -i_111^post71+i_111^0 == 0 /\ rcd_376^0-rcd_376^post71 == 0 /\ __disjvr_21^0-__disjvr_21^post71 == 0 /\ -x_19^post71+x_19^0 == 0 /\ -rcd_228^post71+rcd_228^0 == 0 /\ z_28^0-z_28^post71 == 0 /\ a_321^0-a_321^post71 == 0 /\ rcd_113^0-rcd_113^post71 == 0 /\ -__disjvr_27^post71+__disjvr_27^0 == 0 /\ -__disjvr_8^post71+__disjvr_8^0 == 0 /\ z_252^0-z_252^post71 == 0 /\ __disjvr_6^0-__disjvr_6^post71 == 0 /\ tmp_37^0-tmp_37^post71 == 0 /\ len_195^0-len_195^post71 == 0 /\ -ct_20^post71+ct_20^0 == 0 /\ a_27^0-a_27^post71 == 0), cost: 1
  72: l66 -> l65 : __disjvr_0^0'=__disjvr_0^post72, a_321^0'=a_321^post72, rcd_70^0'=rcd_70^post72, __disjvr_21^0'=__disjvr_21^post72, x_23^0'=x_23^post72, __disjvr_4^0'=__disjvr_4^post72, rcd_222^0'=rcd_222^post72, __disjvr_14^0'=__disjvr_14^post72, head_35^0'=head_35^post72, __disjvr_24^0'=__disjvr_24^post72, temp0_18^0'=temp0_18^post72, lt_386^0'=lt_386^post72, z_229^0'=z_229^post72, __disjvr_9^0'=__disjvr_9^post72, a_210^0'=a_210^post72, rcd_376^0'=rcd_376^post72, __disjvr_19^0'=__disjvr_19^post72, len_195^0'=len_195^post72, __disjvr_29^0'=__disjvr_29^post72, x_19^0'=x_19^post72, r_42^0'=r_42^post72, z_28^0'=z_28^post72, __disjvr_11^0'=__disjvr_11^post72, a_377^0'=a_377^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post72, length_32^0'=length_32^post72, y_22^0'=y_22^post72, __disjvr_6^0'=__disjvr_6^post72, rcd_228^0'=rcd_228^post72, __disjvr_16^0'=__disjvr_16^post72, i_120^0'=i_120^post72, __disjvr_26^0'=__disjvr_26^post72, temp1_30^0'=temp1_30^post72, nondet_12^0'=nondet_12^post72, z_252^0'=z_252^post72, a_27^0'=a_27^post72, rcd_46^0'=rcd_46^post72, __disjvr_20^0'=__disjvr_20^post72, len_286^0'=len_286^post72, __disjvr_3^0'=__disjvr_3^post72, rcd_113^0'=rcd_113^post72, __disjvr_13^0'=__disjvr_13^post72, head_13^0'=head_13^post72, __disjvr_23^0'=__disjvr_23^post72, t_24^0'=t_24^post72, lt_29^0'=lt_29^post72, z_188^0'=z_188^post72, __disjvr_8^0'=__disjvr_8^post72, rcd_264^0'=rcd_264^post72, rcd_356^0'=rcd_356^post72, __disjvr_18^0'=__disjvr_18^post72, i_33^0'=i_33^post72, __disjvr_28^0'=__disjvr_28^post72, tmp_37^0'=tmp_37^post72, r_236^0'=r_236^post72, z_279^0'=z_279^post72, __disjvr_10^0'=__disjvr_10^post72, a_347^0'=a_347^post72, result_11^0'=result_11^post72, __disjvr_22^0'=__disjvr_22^post72, x_SLAM_f_21^0'=x_SLAM_f_21^post72, __disjvr_5^0'=__disjvr_5^post72, rcd_226^0'=rcd_226^post72, __disjvr_15^0'=__disjvr_15^post72, i_111^0'=i_111^post72, __disjvr_25^0'=__disjvr_25^post72, temp0_34^0'=temp0_34^post72, lt_483^0'=lt_483^post72, z_238^0'=z_238^post72, a_166^0'=a_166^post72, a_267^0'=a_267^post72, rcd_396^0'=rcd_396^post72, __disjvr_1^0'=__disjvr_1^post72, len_266^0'=len_266^post72, __disjvr_2^0'=__disjvr_2^post72, rcd_105^0'=rcd_105^post72, z_389^0'=z_389^post72, __disjvr_12^0'=__disjvr_12^post72, ct_20^0'=ct_20^post72, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post72, lt_17^0'=lt_17^post72, z_160^0'=z_160^post72, __disjvr_7^0'=__disjvr_7^post72, rcd_237^0'=rcd_237^post72, rcd_352^0'=rcd_352^post72, __disjvr_17^0'=__disjvr_17^post72, i_227^0'=i_227^post72, __disjvr_27^0'=__disjvr_27^post72, temp_38^0'=temp_38^post72, r_178^0'=r_178^post72, z_265^0'=z_265^post72, (__disjvr_29^0-__disjvr_29^post72 == 0 /\ __disjvr_16^0-__disjvr_16^post72 == 0 /\ -__disjvr_7^post72+__disjvr_7^0 == 0 /\ -i_227^post72+i_227^0 == 0 /\ nondet_12^0-nondet_12^post72 == 0 /\ -__disjvr_8^post72+__disjvr_8^0 == 0 /\ -i_111^post72+i_111^0 == 0 /\ -z_252^post72+z_252^0 == 0 /\ -__disjvr_23^post72+__disjvr_23^0 == 0 /\ __disjvr_26^0-__disjvr_26^post72 == 0 /\ -z_389^post72+z_389^0 == 0 /\ -__disjvr_27^post72+__disjvr_27^0 == 0 /\ -__disjvr_2^post72+__disjvr_2^0 == 0 /\ y_22^0-y_22^post72 == 0 /\ -a_267^post72+a_267^0 == 0 /\ __disjvr_6^0-__disjvr_6^post72 == 0 /\ a_377^0-a_377^post72 == 0 /\ __disjvr_14^0-__disjvr_14^post72 == 0 /\ -len_286^post72+len_286^0 == 0 /\ -__disjvr_5^post72+__disjvr_5^0 == 0 /\ __disjvr_21^0-__disjvr_21^post72 == 0 /\ rcd_376^0-rcd_376^post72 == 0 /\ -lt_29^post72+lt_29^0 == 0 /\ -__disjvr_12^post72+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post72 == 0 /\ -rcd_396^post72+rcd_396^0 == 0 /\ tmp_37^0-tmp_37^post72 == 0 /\ -rcd_113^post72+rcd_113^0 == 0 /\ -t_24^post72+t_24^0 == 0 /\ -z_265^post72+z_265^0 == 0 /\ -__disjvr_15^post72+__disjvr_15^0 == 0 /\ ct_20^0-ct_20^post72 == 0 /\ -z_188^post72+z_188^0 == 0 /\ length_32^0-length_32^post72 == 0 /\ -__disjvr_20^post72+__disjvr_20^0 == 0 /\ __disjvr_3^0-__disjvr_3^post72 == 0 /\ a_166^0-a_166^post72 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post72 == 0 /\ r_42^0-r_42^post72 == 0 /\ temp1_30^0-temp1_30^post72 == 0 /\ x_23^0-x_23^post72 == 0 /\ -z_160^post72+z_160^0 == 0 /\ __disjvr_10^0-__disjvr_10^post72 == 0 /\ temp0_18^0-temp0_18^post72 == 0 /\ rcd_226^0-rcd_226^post72 == 0 /\ -r_236^post72+r_236^0 == 0 /\ -rcd_352^post72+rcd_352^0 == 0 /\ -__disjvr_1^post72+__disjvr_1^0 == 0 /\ -rcd_105^post72+rcd_105^0 == 0 /\ -head_13^post72+head_13^0 == 0 /\ a_210^0-a_210^post72 == 0 /\ -__disjvr_22^post72+__disjvr_22^0 == 0 /\ __disjvr_24^0-__disjvr_24^post72 == 0 /\ -r_178^post72+r_178^0 == 0 /\ __disjvr_25^0-__disjvr_25^post72 == 0 /\ temp0_34^0-temp0_34^post72 == 0 /\ -a_347^post72+a_347^0 == 0 /\ -lt_483^post72+lt_483^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post72 == 0 /\ -__disjvr_18^post72+__disjvr_18^0 == 0 /\ -z_229^post72+z_229^0 == 0 /\ rcd_70^0-rcd_70^post72 == 0 /\ a_321^0-a_321^post72 == 0 /\ lt_17^0-lt_17^post72 == 0 /\ -rcd_46^post72+rcd_46^0 == 0 /\ -i_120^post72+i_120^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post72+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_9^0-__disjvr_9^post72 == 0 /\ z_28^0-z_28^post72 == 0 /\ rcd_264^0-rcd_264^post72 == 0 /\ -__disjvr_17^post72+__disjvr_17^0 == 0 /\ len_195^0-len_195^post72 == 0 /\ a_27^0-a_27^post72 == 0 /\ -rcd_237^post72+rcd_237^0 == 0 /\ -z_238^post72+z_238^0 == 0 /\ rcd_228^0-rcd_228^post72 == 0 /\ __disjvr_13^0-__disjvr_13^post72 == 0 /\ -z_279^post72+z_279^0 == 0 /\ head_35^0-head_35^post72 == 0 /\ rcd_222^0-rcd_222^post72 == 0 /\ -rcd_356^post72+rcd_356^0 == 0 /\ -temp_38^post72+temp_38^0 == 0 /\ -i_33^post72+i_33^0 == 0 /\ x_19^0-x_19^post72 == 0 /\ __disjvr_4^0-__disjvr_4^post72 == 0 /\ __disjvr_28^0-__disjvr_28^post72 == 0 /\ -result_11^post72+result_11^0 == 0 /\ -len_266^post72+len_266^0 == 0 /\ -__disjvr_19^post72+__disjvr_19^0 == 0 /\ lt_386^0-lt_386^post72 == 0 /\ __disjvr_0^0-__disjvr_0^post72 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l66
   1: l0 -> l3 : __disjvr_0^0'=__disjvr_0^post1, a_321^0'=a_321^post1, rcd_70^0'=rcd_70^post1, __disjvr_21^0'=__disjvr_21^post1, x_23^0'=x_23^post1, __disjvr_4^0'=__disjvr_4^post1, rcd_222^0'=rcd_222^post1, __disjvr_14^0'=__disjvr_14^post1, head_35^0'=head_35^post1, __disjvr_24^0'=__disjvr_24^post1, temp0_18^0'=temp0_18^post1, lt_386^0'=lt_386^post1, z_229^0'=z_229^post1, __disjvr_9^0'=__disjvr_9^post1, a_210^0'=a_210^post1, rcd_376^0'=rcd_376^post1, __disjvr_19^0'=__disjvr_19^post1, len_195^0'=len_195^post1, __disjvr_29^0'=__disjvr_29^post1, x_19^0'=x_19^post1, r_42^0'=r_42^post1, z_28^0'=z_28^post1, __disjvr_11^0'=__disjvr_11^post1, a_377^0'=a_377^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post1, length_32^0'=length_32^post1, y_22^0'=y_22^post1, __disjvr_6^0'=__disjvr_6^post1, rcd_228^0'=rcd_228^post1, __disjvr_16^0'=__disjvr_16^post1, i_120^0'=i_120^post1, __disjvr_26^0'=__disjvr_26^post1, temp1_30^0'=temp1_30^post1, nondet_12^0'=nondet_12^post1, z_252^0'=z_252^post1, a_27^0'=a_27^post1, rcd_46^0'=rcd_46^post1, __disjvr_20^0'=__disjvr_20^post1, len_286^0'=len_286^post1, __disjvr_3^0'=__disjvr_3^post1, rcd_113^0'=rcd_113^post1, __disjvr_13^0'=__disjvr_13^post1, head_13^0'=head_13^post1, __disjvr_23^0'=__disjvr_23^post1, t_24^0'=t_24^post1, lt_29^0'=lt_29^post1, z_188^0'=z_188^post1, __disjvr_8^0'=__disjvr_8^post1, rcd_264^0'=rcd_264^post1, rcd_356^0'=rcd_356^post1, __disjvr_18^0'=__disjvr_18^post1, i_33^0'=i_33^post1, __disjvr_28^0'=__disjvr_28^post1, tmp_37^0'=tmp_37^post1, r_236^0'=r_236^post1, z_279^0'=z_279^post1, __disjvr_10^0'=__disjvr_10^post1, a_347^0'=a_347^post1, result_11^0'=result_11^post1, __disjvr_22^0'=__disjvr_22^post1, x_SLAM_f_21^0'=x_SLAM_f_21^post1, __disjvr_5^0'=__disjvr_5^post1, rcd_226^0'=rcd_226^post1, __disjvr_15^0'=__disjvr_15^post1, i_111^0'=i_111^post1, __disjvr_25^0'=__disjvr_25^post1, temp0_34^0'=temp0_34^post1, lt_483^0'=lt_483^post1, z_238^0'=z_238^post1, a_166^0'=a_166^post1, a_267^0'=a_267^post1, rcd_396^0'=rcd_396^post1, __disjvr_1^0'=__disjvr_1^post1, len_266^0'=len_266^post1, __disjvr_2^0'=__disjvr_2^post1, rcd_105^0'=rcd_105^post1, z_389^0'=z_389^post1, __disjvr_12^0'=__disjvr_12^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, z_160^0'=z_160^post1, __disjvr_7^0'=__disjvr_7^post1, rcd_237^0'=rcd_237^post1, rcd_352^0'=rcd_352^post1, __disjvr_17^0'=__disjvr_17^post1, i_227^0'=i_227^post1, __disjvr_27^0'=__disjvr_27^post1, temp_38^0'=temp_38^post1, r_178^0'=r_178^post1, z_265^0'=z_265^post1, (0 == 0 /\ -temp_38^post1+temp_38^0 == 0 /\ a_377^0-a_377^post1 == 0 /\ length_32^0-length_32^post1 == 0 /\ __disjvr_29^0-__disjvr_29^post1 == 0 /\ -a_166^post1+a_166^0 == 0 /\ -a_347^0 <= 0 /\ -result_11^post1+result_11^0 == 0 /\ -__disjvr_7^post1+__disjvr_7^0 == 0 /\ a_210^0-a_210^post1 == 0 /\ -__disjvr_23^post1+__disjvr_23^0 == 0 /\ -__disjvr_8^post1+__disjvr_8^0 == 0 /\ -lt_29^post1+lt_29^0 == 0 /\ -__disjvr_2^post1+__disjvr_2^0 == 0 /\ -a_267^post1+a_267^0 == 0 /\ -len_286^post1+len_286^0 == 0 /\ rcd_70^0-rcd_70^post1 == 0 /\ head_35^0-head_35^post1 == 0 /\ __disjvr_19^0-__disjvr_19^post1 == 0 /\ -__disjvr_5^post1+__disjvr_5^0 == 0 /\ -y_22^post1+y_22^0 == 0 /\ -__disjvr_27^post1+__disjvr_27^0 == 0 /\ rcd_228^0-rcd_228^post1 == 0 /\ __disjvr_10^0-__disjvr_10^post1 == 0 /\ __disjvr_13^0-__disjvr_13^post1 == 0 /\ __disjvr_4^0-__disjvr_4^post1 == 0 /\ -rcd_113^post1+rcd_113^0 == 0 /\ tmp_37^0-tmp_37^post1 == 0 /\ -i_227^post1+i_227^0 == 0 /\ __disjvr_9^0-__disjvr_9^post1 == 0 /\ i_120^0-i_120^post1 == 0 /\ rcd_356^0-rcd_356^post1 == 0 /\ __disjvr_24^0-__disjvr_24^post1 == 0 /\ -rcd_396^post1+rcd_396^0 == 0 /\ __disjvr_26^0-__disjvr_26^post1 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post1 == 0 /\ -i_111^post1+i_111^0 == 0 /\ rcd_222^0-rcd_222^post1 == 0 /\ -rcd_105^post1+rcd_105^0 == 0 /\ __disjvr_16^0-__disjvr_16^post1 == 0 /\ nondet_12^0-nondet_12^post1 == 0 /\ -z_265^post1+z_265^0 == 0 /\ -z_160^post1+z_160^0 == 0 /\ -__disjvr_17^post1+__disjvr_17^0 == 0 /\ -r_236^post1+r_236^0 == 0 /\ -__disjvr_1^post1+__disjvr_1^0 == 0 /\ -__disjvr_25^post1+__disjvr_25^0 == 0 /\ -__disjvr_18^post1+__disjvr_18^0 == 0 /\ -z_188^post1+z_188^0 == 0 /\ __disjvr_6^0-__disjvr_6^post1 == 0 /\ -__disjvr_15^post1+__disjvr_15^0 == 0 /\ __disjvr_21^0-__disjvr_21^post1 == 0 /\ rcd_376^0-rcd_376^post1 == 0 /\ -t_24^post1+t_24^0 == 0 /\ rcd_264^0-rcd_264^post1 == 0 /\ lt_483^0-lt_483^post1 == 0 /\ z_28^0-z_28^post1 == 0 /\ -__disjvr_14^post1+__disjvr_14^0 == 0 /\ __disjvr_11^0-__disjvr_11^post1 == 0 /\ len_195^0-len_195^post1 == 0 /\ a_321^0-a_321^post1 == 0 /\ a_27^0-a_27^post1 == 0 /\ -rcd_46^post1+rcd_46^0 == 0 /\ temp0_18^0-temp0_18^post1 == 0 /\ -r_178^post1+r_178^0 == 0 /\ -z_279^post1+z_279^0 == 0 /\ __disjvr_20^0-__disjvr_20^post1 == 0 /\ -a_347^post1+a_347^0 == 0 /\ -i_33^post1+i_33^0 == 0 /\ __disjvr_22^0-__disjvr_22^post1 == 0 /\ -rcd_237^post1+rcd_237^0 == 0 /\ -rcd_352^post1+rcd_352^0 == 0 /\ -__disjvr_3^post1+__disjvr_3^0 == 0 /\ z_252^0-z_252^post1 == 0 /\ -z_238^post1+z_238^0 == 0 /\ -z_389^post1+z_389^0 == 0 /\ __disjvr_0^0-__disjvr_0^post1 == 0 /\ -rcd_226^post1+rcd_226^0 == 0 /\ -len_266^post1+len_266^0 == 0 /\ -__disjvr_12^post1+__disjvr_12^0 == 0 /\ x_23^0-x_23^post1 == 0 /\ -temp1_30^post1+temp1_30^0 == 0 /\ z_229^0-z_229^post1 == 0 /\ temp0_34^0-temp0_34^post1 == 0 /\ lt_386^0-lt_386^post1 == 0 /\ __disjvr_28^0-__disjvr_28^post1 == 0 /\ head_13^0-head_13^post1 == 0), cost: 1
   2: l3 -> l4 : __disjvr_0^0'=__disjvr_0^post2, a_321^0'=a_321^post2, rcd_70^0'=rcd_70^post2, __disjvr_21^0'=__disjvr_21^post2, x_23^0'=x_23^post2, __disjvr_4^0'=__disjvr_4^post2, rcd_222^0'=rcd_222^post2, __disjvr_14^0'=__disjvr_14^post2, head_35^0'=head_35^post2, __disjvr_24^0'=__disjvr_24^post2, temp0_18^0'=temp0_18^post2, lt_386^0'=lt_386^post2, z_229^0'=z_229^post2, __disjvr_9^0'=__disjvr_9^post2, a_210^0'=a_210^post2, rcd_376^0'=rcd_376^post2, __disjvr_19^0'=__disjvr_19^post2, len_195^0'=len_195^post2, __disjvr_29^0'=__disjvr_29^post2, x_19^0'=x_19^post2, r_42^0'=r_42^post2, z_28^0'=z_28^post2, __disjvr_11^0'=__disjvr_11^post2, a_377^0'=a_377^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post2, length_32^0'=length_32^post2, y_22^0'=y_22^post2, __disjvr_6^0'=__disjvr_6^post2, rcd_228^0'=rcd_228^post2, __disjvr_16^0'=__disjvr_16^post2, i_120^0'=i_120^post2, __disjvr_26^0'=__disjvr_26^post2, temp1_30^0'=temp1_30^post2, nondet_12^0'=nondet_12^post2, z_252^0'=z_252^post2, a_27^0'=a_27^post2, rcd_46^0'=rcd_46^post2, __disjvr_20^0'=__disjvr_20^post2, len_286^0'=len_286^post2, __disjvr_3^0'=__disjvr_3^post2, rcd_113^0'=rcd_113^post2, __disjvr_13^0'=__disjvr_13^post2, head_13^0'=head_13^post2, __disjvr_23^0'=__disjvr_23^post2, t_24^0'=t_24^post2, lt_29^0'=lt_29^post2, z_188^0'=z_188^post2, __disjvr_8^0'=__disjvr_8^post2, rcd_264^0'=rcd_264^post2, rcd_356^0'=rcd_356^post2, __disjvr_18^0'=__disjvr_18^post2, i_33^0'=i_33^post2, __disjvr_28^0'=__disjvr_28^post2, tmp_37^0'=tmp_37^post2, r_236^0'=r_236^post2, z_279^0'=z_279^post2, __disjvr_10^0'=__disjvr_10^post2, a_347^0'=a_347^post2, result_11^0'=result_11^post2, __disjvr_22^0'=__disjvr_22^post2, x_SLAM_f_21^0'=x_SLAM_f_21^post2, __disjvr_5^0'=__disjvr_5^post2, rcd_226^0'=rcd_226^post2, __disjvr_15^0'=__disjvr_15^post2, i_111^0'=i_111^post2, __disjvr_25^0'=__disjvr_25^post2, temp0_34^0'=temp0_34^post2, lt_483^0'=lt_483^post2, z_238^0'=z_238^post2, a_166^0'=a_166^post2, a_267^0'=a_267^post2, rcd_396^0'=rcd_396^post2, __disjvr_1^0'=__disjvr_1^post2, len_266^0'=len_266^post2, __disjvr_2^0'=__disjvr_2^post2, rcd_105^0'=rcd_105^post2, z_389^0'=z_389^post2, __disjvr_12^0'=__disjvr_12^post2, ct_20^0'=ct_20^post2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post2, lt_17^0'=lt_17^post2, z_160^0'=z_160^post2, __disjvr_7^0'=__disjvr_7^post2, rcd_237^0'=rcd_237^post2, rcd_352^0'=rcd_352^post2, __disjvr_17^0'=__disjvr_17^post2, i_227^0'=i_227^post2, __disjvr_27^0'=__disjvr_27^post2, temp_38^0'=temp_38^post2, r_178^0'=r_178^post2, z_265^0'=z_265^post2, (rcd_222^0-rcd_222^post2 == 0 /\ head_35^0-head_35^post2 == 0 /\ tmp_37^0-tmp_37^post2 == 0 /\ a_321^0-a_321^post2 == 0 /\ len_266^0-len_266^post2 == 0 /\ -lt_483^post2+lt_483^0 == 0 /\ lt_386^0-lt_386^post2 == 0 /\ -i_120^post2+i_120^0 == 0 /\ -__disjvr_6^post2+__disjvr_6^0 == 0 /\ -__disjvr_18^post2+__disjvr_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ z_229^0-z_229^post2 == 0 /\ __disjvr_22^0-__disjvr_22^post2 == 0 /\ -rcd_46^post2+rcd_46^0 == 0 /\ __disjvr_28^0-__disjvr_28^post2 == 0 /\ -y_22^post2+y_22^0 == 0 /\ -rcd_113^post2+rcd_113^0 == 0 /\ a_166^0-a_166^post2 == 0 /\ -__disjvr_1^post2+__disjvr_1^0 == 0 /\ -z_265^post2+z_265^0 == 0 /\ x_23^0-x_23^post2 == 0 /\ __disjvr_26^0-__disjvr_26^post2 == 0 /\ -r_236^post2+r_236^0 == 0 /\ -__disjvr_17^post2+__disjvr_17^0 == 0 /\ a_347^0-a_347^post2 == 0 /\ length_32^0-length_32^post2 == 0 /\ -__disjvr_15^post2+__disjvr_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -i_33^post2+i_33^0 == 0 /\ -z_279^post2+z_279^0 == 0 /\ a_210^0-a_210^post2 == 0 /\ __disjvr_11^0-__disjvr_11^post2 == 0 /\ __disjvr_29^0-__disjvr_29^post2 == 0 /\ -rcd_237^post2+rcd_237^0 == 0 /\ __disjvr_16^0-__disjvr_16^post2 == 0 /\ __disjvr_3^0-__disjvr_3^post2 == 0 /\ __disjvr_24^0-__disjvr_24^post2 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ -rcd_352^post2+rcd_352^0 == 0 /\ -rcd_356^post2+rcd_356^0 == 0 /\ -z_28^post2+z_28^0 == 0 /\ rcd_264^0-rcd_264^post2 == 0 /\ -z_389^post2+z_389^0 == 0 /\ ct_20^0-ct_20^post2 == 0 /\ __disjvr_14^0-__disjvr_14^post2 == 0 /\ -lt_17^post2+lt_17^0 == 0 /\ -result_11^post2+result_11^0 == 0 /\ -r_178^post2+r_178^0 == 0 /\ a_377^0-a_377^post2 == 0 /\ -z_238^post2+z_238^0 == 0 /\ -head_13^post2+head_13^0 == 0 /\ rcd_70^0-rcd_70^post2 == 0 /\ -a_267^post2+a_267^0 == 0 /\ temp0_18^0-temp0_18^post2 == 0 /\ len_286^0-len_286^post2 == 0 /\ __disjvr_9^0-__disjvr_9^post2 == 0 /\ -__disjvr_2^post2+__disjvr_2^0 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ lt_29^0-lt_29^post2 == 0 /\ -__disjvr_19^post2+__disjvr_19^0 == 0 /\ rcd_228^0-rcd_228^post2 == 0 /\ temp0_34^0-temp0_34^post2 == 0 /\ r_42^0-r_42^post2 == 0 /\ -z_252^post2+z_252^0 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -__disjvr_10^post2+__disjvr_10^0 == 0 /\ temp1_30^0-temp1_30^post2 == 0 /\ -temp_38^post2+temp_38^0 == 0 /\ -__disjvr_5^post2+__disjvr_5^0 == 0 /\ __disjvr_7^0-__disjvr_7^post2 == 0 /\ __disjvr_4^0-__disjvr_4^post2 == 0 /\ -z_188^post2+z_188^0 == 0 /\ rcd_226^0-rcd_226^post2 == 0 /\ -x_SLAM_f_21^post2+x_SLAM_f_21^0 == 0 /\ __disjvr_25^0-__disjvr_25^post2 == 0 /\ -rcd_396^post2+rcd_396^0 == 0 /\ t_24^0-t_24^post2 == 0 /\ -z_160^post2+z_160^0 == 0 /\ -x_19^post2+x_19^0 == 0 /\ -i_111^post2+i_111^0 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ -__disjvr_0^0+__disjvr_0^post2 == 0 /\ -__disjvr_27^post2+__disjvr_27^0 == 0 /\ -i_227^post2+i_227^0 == 0 /\ len_195^0-len_195^post2 == 0 /\ -__disjvr_20^post2+__disjvr_20^0 == 0 /\ rcd_376^0-rcd_376^post2 == 0 /\ a_27^0-a_27^post2 == 0 /\ -__disjvr_23^post2+__disjvr_23^0 == 0 /\ -rcd_105^post2+rcd_105^0 == 0 /\ __disjvr_13^0-__disjvr_13^post2 == 0), cost: 1
   3: l4 -> l5 : __disjvr_0^0'=__disjvr_0^post3, a_321^0'=a_321^post3, rcd_70^0'=rcd_70^post3, __disjvr_21^0'=__disjvr_21^post3, x_23^0'=x_23^post3, __disjvr_4^0'=__disjvr_4^post3, rcd_222^0'=rcd_222^post3, __disjvr_14^0'=__disjvr_14^post3, head_35^0'=head_35^post3, __disjvr_24^0'=__disjvr_24^post3, temp0_18^0'=temp0_18^post3, lt_386^0'=lt_386^post3, z_229^0'=z_229^post3, __disjvr_9^0'=__disjvr_9^post3, a_210^0'=a_210^post3, rcd_376^0'=rcd_376^post3, __disjvr_19^0'=__disjvr_19^post3, len_195^0'=len_195^post3, __disjvr_29^0'=__disjvr_29^post3, x_19^0'=x_19^post3, r_42^0'=r_42^post3, z_28^0'=z_28^post3, __disjvr_11^0'=__disjvr_11^post3, a_377^0'=a_377^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post3, length_32^0'=length_32^post3, y_22^0'=y_22^post3, __disjvr_6^0'=__disjvr_6^post3, rcd_228^0'=rcd_228^post3, __disjvr_16^0'=__disjvr_16^post3, i_120^0'=i_120^post3, __disjvr_26^0'=__disjvr_26^post3, temp1_30^0'=temp1_30^post3, nondet_12^0'=nondet_12^post3, z_252^0'=z_252^post3, a_27^0'=a_27^post3, rcd_46^0'=rcd_46^post3, __disjvr_20^0'=__disjvr_20^post3, len_286^0'=len_286^post3, __disjvr_3^0'=__disjvr_3^post3, rcd_113^0'=rcd_113^post3, __disjvr_13^0'=__disjvr_13^post3, head_13^0'=head_13^post3, __disjvr_23^0'=__disjvr_23^post3, t_24^0'=t_24^post3, lt_29^0'=lt_29^post3, z_188^0'=z_188^post3, __disjvr_8^0'=__disjvr_8^post3, rcd_264^0'=rcd_264^post3, rcd_356^0'=rcd_356^post3, __disjvr_18^0'=__disjvr_18^post3, i_33^0'=i_33^post3, __disjvr_28^0'=__disjvr_28^post3, tmp_37^0'=tmp_37^post3, r_236^0'=r_236^post3, z_279^0'=z_279^post3, __disjvr_10^0'=__disjvr_10^post3, a_347^0'=a_347^post3, result_11^0'=result_11^post3, __disjvr_22^0'=__disjvr_22^post3, x_SLAM_f_21^0'=x_SLAM_f_21^post3, __disjvr_5^0'=__disjvr_5^post3, rcd_226^0'=rcd_226^post3, __disjvr_15^0'=__disjvr_15^post3, i_111^0'=i_111^post3, __disjvr_25^0'=__disjvr_25^post3, temp0_34^0'=temp0_34^post3, lt_483^0'=lt_483^post3, z_238^0'=z_238^post3, a_166^0'=a_166^post3, a_267^0'=a_267^post3, rcd_396^0'=rcd_396^post3, __disjvr_1^0'=__disjvr_1^post3, len_266^0'=len_266^post3, __disjvr_2^0'=__disjvr_2^post3, rcd_105^0'=rcd_105^post3, z_389^0'=z_389^post3, __disjvr_12^0'=__disjvr_12^post3, ct_20^0'=ct_20^post3, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post3, lt_17^0'=lt_17^post3, z_160^0'=z_160^post3, __disjvr_7^0'=__disjvr_7^post3, rcd_237^0'=rcd_237^post3, rcd_352^0'=rcd_352^post3, __disjvr_17^0'=__disjvr_17^post3, i_227^0'=i_227^post3, __disjvr_27^0'=__disjvr_27^post3, temp_38^0'=temp_38^post3, r_178^0'=r_178^post3, z_265^0'=z_265^post3, (0 == 0 /\ -temp0_34^post3+temp0_34^0 == 0 /\ __disjvr_23^0-__disjvr_23^post3 == 0 /\ __disjvr_16^0-__disjvr_16^post3 == 0 /\ -__disjvr_7^post3+__disjvr_7^0 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ -z_252^post3+z_252^0 == 0 /\ -lt_17^post3+lt_17^0 == 0 /\ -__disjvr_8^post3+__disjvr_8^0 == 0 /\ result_11^0-result_11^post3 == 0 /\ -z_389^post3+z_389^0 == 0 /\ -temp_38^post3+temp_38^0 == 0 /\ __disjvr_21^0-__disjvr_21^post3 == 0 /\ -__disjvr_2^post3+__disjvr_2^0 == 0 /\ __disjvr_0^0-__disjvr_0^post3 == 0 /\ __disjvr_14^0-__disjvr_14^post3 == 0 /\ __disjvr_6^0-__disjvr_6^post3 == 0 /\ -len_286^post3+len_286^0 == 0 /\ -a_267^post3+a_267^0 == 0 /\ rcd_46^0-rcd_376^post3 <= 0 /\ -x_19^0+x_SLAM_f_21^0 <= 0 /\ -y_22^0+ct_20^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post3 == 0 /\ y_22^0 <= 0 /\ -__disjvr_27^post3+__disjvr_27^0 == 0 /\ -rcd_113^post3+rcd_113^0 == 0 /\ ct_20^0-ct_20^post3 == 0 /\ -i_227^post3+i_227^0 == 0 /\ r_42^0-r_42^post3 == 0 /\ -__disjvr_5^post3+__disjvr_5^0 == 0 /\ temp0_18^0-temp0_18^post3 == 0 /\ -z_188^post3+z_188^0 == 0 /\ tmp_37^0-tmp_37^post3 == 0 /\ -__disjvr_20^post3+__disjvr_20^0 == 0 /\ rcd_396^0-rcd_396^post3 == 0 /\ __disjvr_3^0-__disjvr_3^post3 == 0 /\ -1+a_347^0-a_377^post3 <= 0 /\ -x_23^0+t_24^post3 == 0 /\ -rcd_46^0+rcd_376^post3 <= 0 /\ a_166^0-a_166^post3 == 0 /\ x_19^0-x_SLAM_f_21^0 <= 0 /\ __disjvr_12^0-__disjvr_12^post3 == 0 /\ z_229^0-z_229^post3 == 0 /\ y_22^0-ct_20^0 <= 0 /\ x_23^0-x_23^post3 == 0 /\ temp1_30^0-temp1_30^post3 == 0 /\ __disjvr_10^0-__disjvr_10^post3 == 0 /\ y_22^0-y_22^post3 == 0 /\ -r_236^post3+r_236^0 == 0 /\ z_160^0-z_160^post3 == 0 /\ -__disjvr_29^post3+__disjvr_29^0 == 0 /\ -__disjvr_4^post3+__disjvr_4^0 == 0 /\ a_210^0-a_210^post3 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ length_32^0-length_32^post3 == 0 /\ -__disjvr_1^post3+__disjvr_1^0 == 0 /\ -rcd_105^post3+rcd_105^0 == 0 /\ z_28^0-z_28^post3 == 0 /\ __disjvr_24^0-__disjvr_24^post3 == 0 /\ -z_265^post3+z_265^0 == 0 /\ __disjvr_25^0-__disjvr_25^post3 == 0 /\ -__disjvr_15^post3+__disjvr_15^0 == 0 /\ -a_347^post3+a_347^0 == 0 /\ -lt_483^post3+lt_483^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post3 == 0 /\ lt_29^0-lt_29^post3 == 0 /\ len_195^0-len_195^post3 == 0 /\ -__disjvr_18^post3+__disjvr_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post3+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_46^post3+rcd_46^0 == 0 /\ -i_120^post3+i_120^0 == 0 /\ -x_19^0+lt_17^0 <= 0 /\ head_35^0-head_35^post3 == 0 /\ __disjvr_19^0-__disjvr_19^post3 == 0 /\ rcd_264^0-rcd_264^post3 == 0 /\ a_27^0-a_27^post3 == 0 /\ -rcd_237^post3+rcd_237^0 == 0 /\ -rcd_352^post3+rcd_352^0 == 0 /\ -__disjvr_26^post3+__disjvr_26^0 == 0 /\ -z_238^post3+z_238^0 == 0 /\ i_111^0-i_111^post3 == 0 /\ a_321^0-a_321^post3 == 0 /\ rcd_228^0-rcd_228^post3 == 0 /\ __disjvr_13^0-__disjvr_13^post3 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post3+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -z_279^post3+z_279^0 == 0 /\ rcd_70^0-rcd_70^post3 == 0 /\ -y_22^0 <= 0 /\ __disjvr_17^0-__disjvr_17^post3 == 0 /\ -__disjvr_22^post3+__disjvr_22^0 == 0 /\ -r_178^post3+r_178^0 == 0 /\ -rcd_356^post3+rcd_356^0 == 0 /\ ct_20^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post3 == 0 /\ -i_33^post3+i_33^0 == 0 /\ -ct_20^0 <= 0 /\ 1-a_347^0+a_377^post3 <= 0 /\ __disjvr_28^0-__disjvr_28^post3 == 0 /\ -head_13^post3+head_13^0 == 0 /\ -rcd_226^post3+rcd_226^0 == 0 /\ -len_266^post3+len_266^0 == 0 /\ rcd_222^0-rcd_222^post3 == 0 /\ x_19^0-lt_17^0 <= 0 /\ lt_386^0-lt_386^post3 == 0 /\ x_19^0-x_19^post3 == 0), cost: 1
   4: l5 -> l6 : __disjvr_0^0'=__disjvr_0^post4, a_321^0'=a_321^post4, rcd_70^0'=rcd_70^post4, __disjvr_21^0'=__disjvr_21^post4, x_23^0'=x_23^post4, __disjvr_4^0'=__disjvr_4^post4, rcd_222^0'=rcd_222^post4, __disjvr_14^0'=__disjvr_14^post4, head_35^0'=head_35^post4, __disjvr_24^0'=__disjvr_24^post4, temp0_18^0'=temp0_18^post4, lt_386^0'=lt_386^post4, z_229^0'=z_229^post4, __disjvr_9^0'=__disjvr_9^post4, a_210^0'=a_210^post4, rcd_376^0'=rcd_376^post4, __disjvr_19^0'=__disjvr_19^post4, len_195^0'=len_195^post4, __disjvr_29^0'=__disjvr_29^post4, x_19^0'=x_19^post4, r_42^0'=r_42^post4, z_28^0'=z_28^post4, __disjvr_11^0'=__disjvr_11^post4, a_377^0'=a_377^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post4, length_32^0'=length_32^post4, y_22^0'=y_22^post4, __disjvr_6^0'=__disjvr_6^post4, rcd_228^0'=rcd_228^post4, __disjvr_16^0'=__disjvr_16^post4, i_120^0'=i_120^post4, __disjvr_26^0'=__disjvr_26^post4, temp1_30^0'=temp1_30^post4, nondet_12^0'=nondet_12^post4, z_252^0'=z_252^post4, a_27^0'=a_27^post4, rcd_46^0'=rcd_46^post4, __disjvr_20^0'=__disjvr_20^post4, len_286^0'=len_286^post4, __disjvr_3^0'=__disjvr_3^post4, rcd_113^0'=rcd_113^post4, __disjvr_13^0'=__disjvr_13^post4, head_13^0'=head_13^post4, __disjvr_23^0'=__disjvr_23^post4, t_24^0'=t_24^post4, lt_29^0'=lt_29^post4, z_188^0'=z_188^post4, __disjvr_8^0'=__disjvr_8^post4, rcd_264^0'=rcd_264^post4, rcd_356^0'=rcd_356^post4, __disjvr_18^0'=__disjvr_18^post4, i_33^0'=i_33^post4, __disjvr_28^0'=__disjvr_28^post4, tmp_37^0'=tmp_37^post4, r_236^0'=r_236^post4, z_279^0'=z_279^post4, __disjvr_10^0'=__disjvr_10^post4, a_347^0'=a_347^post4, result_11^0'=result_11^post4, __disjvr_22^0'=__disjvr_22^post4, x_SLAM_f_21^0'=x_SLAM_f_21^post4, __disjvr_5^0'=__disjvr_5^post4, rcd_226^0'=rcd_226^post4, __disjvr_15^0'=__disjvr_15^post4, i_111^0'=i_111^post4, __disjvr_25^0'=__disjvr_25^post4, temp0_34^0'=temp0_34^post4, lt_483^0'=lt_483^post4, z_238^0'=z_238^post4, a_166^0'=a_166^post4, a_267^0'=a_267^post4, rcd_396^0'=rcd_396^post4, __disjvr_1^0'=__disjvr_1^post4, len_266^0'=len_266^post4, __disjvr_2^0'=__disjvr_2^post4, rcd_105^0'=rcd_105^post4, z_389^0'=z_389^post4, __disjvr_12^0'=__disjvr_12^post4, ct_20^0'=ct_20^post4, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post4, lt_17^0'=lt_17^post4, z_160^0'=z_160^post4, __disjvr_7^0'=__disjvr_7^post4, rcd_237^0'=rcd_237^post4, rcd_352^0'=rcd_352^post4, __disjvr_17^0'=__disjvr_17^post4, i_227^0'=i_227^post4, __disjvr_27^0'=__disjvr_27^post4, temp_38^0'=temp_38^post4, r_178^0'=r_178^post4, z_265^0'=z_265^post4, (-__disjvr_20^post4+__disjvr_20^0 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -lt_483^post4+lt_483^0 == 0 /\ -__disjvr_18^post4+__disjvr_18^0 == 0 /\ len_286^0-len_286^post4 == 0 /\ rcd_113^0-rcd_113^post4 == 0 /\ temp0_18^0-temp0_18^post4 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ -z_265^post4+z_265^0 == 0 /\ -z_28^post4+z_28^0 == 0 /\ head_13^0-head_13^post4 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ lt_386^0-lt_386^post4 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ r_42^0-r_42^post4 == 0 /\ temp1_30^0-temp1_30^post4 == 0 /\ __disjvr_24^0-__disjvr_24^post4 == 0 /\ -__disjvr_15^post4+__disjvr_15^0 == 0 /\ __disjvr_4^0-__disjvr_4^post4 == 0 /\ -__disjvr_1^post4+__disjvr_1^0 == 0 /\ a_210^0-a_210^post4 == 0 /\ -y_22^post4+y_22^0 == 0 /\ __disjvr_12^0-__disjvr_12^post4 == 0 /\ -z_160^post4+z_160^0 == 0 /\ -__disjvr_25^post4+__disjvr_25^0 == 0 /\ t_24^0-t_24^post4 == 0 /\ z_238^0-z_238^post4 == 0 /\ z_279^0-z_279^post4 == 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post4+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_16^0-__disjvr_16^post4 == 0 /\ rcd_105^0-rcd_105^post4 == 0 /\ -len_266^post4+len_266^0 == 0 /\ a_377^0-a_377^post4 == 0 /\ rcd_46^0-rcd_46^post4 == 0 /\ -__disjvr_22^post4+__disjvr_22^0 == 0 /\ -r_178^post4+r_178^0 == 0 /\ -rcd_237^post4+rcd_237^0 == 0 /\ __disjvr_21^0-__disjvr_21^post4 == 0 /\ -rcd_352^post4+rcd_352^0 == 0 /\ len_195^0-len_195^post4 == 0 /\ -__disjvr_26^post4+__disjvr_26^0 == 0 /\ -z_389^post4+z_389^0 == 0 /\ -rcd_356^post4+rcd_356^0 == 0 /\ __disjvr_1^post4-__disjvr_1^0 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ -rcd_226^post4+rcd_226^0 == 0 /\ head_35^0-head_35^post4 == 0 /\ -lt_17^post4+lt_17^0 == 0 /\ -__disjvr_28^post4+__disjvr_28^0 == 0 /\ rcd_222^0-rcd_222^post4 == 0 /\ x_23^0-x_23^post4 == 0 /\ rcd_228^0-rcd_228^post4 == 0 /\ z_252^0-z_252^post4 == 0 /\ i_111^0-i_111^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ -temp_38^post4+temp_38^0 == 0 /\ -a_27^post4+a_27^0 == 0 /\ lt_29^0-lt_29^post4 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ z_229^0-z_229^post4 == 0 /\ -a_166^post4+a_166^0 == 0 /\ length_32^0-length_32^post4 == 0 /\ a_347^0-a_347^post4 == 0 /\ x_19^0-x_19^post4 == 0 /\ -rcd_70^post4+rcd_70^0 == 0 /\ r_236^0-r_236^post4 == 0 /\ i_120^0-i_120^post4 == 0 /\ -temp0_34^post4+temp0_34^0 == 0 /\ -a_267^post4+a_267^0 == 0 /\ -__disjvr_13^post4+__disjvr_13^0 == 0 /\ -tmp_37^post4+tmp_37^0 == 0 /\ result_11^0-result_11^post4 == 0 /\ __disjvr_5^0-__disjvr_5^post4 == 0 /\ __disjvr_11^0-__disjvr_11^post4 == 0 /\ -rcd_376^post4+rcd_376^0 == 0 /\ -i_227^post4+i_227^0 == 0 /\ __disjvr_29^0-__disjvr_29^post4 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ __disjvr_3^0-__disjvr_3^post4 == 0 /\ -x_SLAM_f_21^post4+x_SLAM_f_21^0 == 0 /\ -z_188^post4+z_188^0 == 0 /\ i_33^0-i_33^post4 == 0 /\ -rcd_396^post4+rcd_396^0 == 0 /\ __disjvr_19^0-__disjvr_19^post4 == 0 /\ -__disjvr_23^post4+__disjvr_23^0 == 0 /\ -rcd_264^post4+rcd_264^0 == 0 /\ -ct_20^post4+ct_20^0 == 0 /\ -__disjvr_27^post4+__disjvr_27^0 == 0 /\ a_321^0-a_321^post4 == 0), cost: 1
   5: l6 -> l7 : __disjvr_0^0'=__disjvr_0^post5, a_321^0'=a_321^post5, rcd_70^0'=rcd_70^post5, __disjvr_21^0'=__disjvr_21^post5, x_23^0'=x_23^post5, __disjvr_4^0'=__disjvr_4^post5, rcd_222^0'=rcd_222^post5, __disjvr_14^0'=__disjvr_14^post5, head_35^0'=head_35^post5, __disjvr_24^0'=__disjvr_24^post5, temp0_18^0'=temp0_18^post5, lt_386^0'=lt_386^post5, z_229^0'=z_229^post5, __disjvr_9^0'=__disjvr_9^post5, a_210^0'=a_210^post5, rcd_376^0'=rcd_376^post5, __disjvr_19^0'=__disjvr_19^post5, len_195^0'=len_195^post5, __disjvr_29^0'=__disjvr_29^post5, x_19^0'=x_19^post5, r_42^0'=r_42^post5, z_28^0'=z_28^post5, __disjvr_11^0'=__disjvr_11^post5, a_377^0'=a_377^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post5, length_32^0'=length_32^post5, y_22^0'=y_22^post5, __disjvr_6^0'=__disjvr_6^post5, rcd_228^0'=rcd_228^post5, __disjvr_16^0'=__disjvr_16^post5, i_120^0'=i_120^post5, __disjvr_26^0'=__disjvr_26^post5, temp1_30^0'=temp1_30^post5, nondet_12^0'=nondet_12^post5, z_252^0'=z_252^post5, a_27^0'=a_27^post5, rcd_46^0'=rcd_46^post5, __disjvr_20^0'=__disjvr_20^post5, len_286^0'=len_286^post5, __disjvr_3^0'=__disjvr_3^post5, rcd_113^0'=rcd_113^post5, __disjvr_13^0'=__disjvr_13^post5, head_13^0'=head_13^post5, __disjvr_23^0'=__disjvr_23^post5, t_24^0'=t_24^post5, lt_29^0'=lt_29^post5, z_188^0'=z_188^post5, __disjvr_8^0'=__disjvr_8^post5, rcd_264^0'=rcd_264^post5, rcd_356^0'=rcd_356^post5, __disjvr_18^0'=__disjvr_18^post5, i_33^0'=i_33^post5, __disjvr_28^0'=__disjvr_28^post5, tmp_37^0'=tmp_37^post5, r_236^0'=r_236^post5, z_279^0'=z_279^post5, __disjvr_10^0'=__disjvr_10^post5, a_347^0'=a_347^post5, result_11^0'=result_11^post5, __disjvr_22^0'=__disjvr_22^post5, x_SLAM_f_21^0'=x_SLAM_f_21^post5, __disjvr_5^0'=__disjvr_5^post5, rcd_226^0'=rcd_226^post5, __disjvr_15^0'=__disjvr_15^post5, i_111^0'=i_111^post5, __disjvr_25^0'=__disjvr_25^post5, temp0_34^0'=temp0_34^post5, lt_483^0'=lt_483^post5, z_238^0'=z_238^post5, a_166^0'=a_166^post5, a_267^0'=a_267^post5, rcd_396^0'=rcd_396^post5, __disjvr_1^0'=__disjvr_1^post5, len_266^0'=len_266^post5, __disjvr_2^0'=__disjvr_2^post5, rcd_105^0'=rcd_105^post5, z_389^0'=z_389^post5, __disjvr_12^0'=__disjvr_12^post5, ct_20^0'=ct_20^post5, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post5, lt_17^0'=lt_17^post5, z_160^0'=z_160^post5, __disjvr_7^0'=__disjvr_7^post5, rcd_237^0'=rcd_237^post5, rcd_352^0'=rcd_352^post5, __disjvr_17^0'=__disjvr_17^post5, i_227^0'=i_227^post5, __disjvr_27^0'=__disjvr_27^post5, temp_38^0'=temp_38^post5, r_178^0'=r_178^post5, z_265^0'=z_265^post5, (x_19^0-x_19^post5 == 0 /\ -a_166^post5+a_166^0 == 0 /\ __disjvr_5^0-__disjvr_5^post5 == 0 /\ __disjvr_6^0-__disjvr_6^post5 == 0 /\ -__disjvr_7^post5+__disjvr_7^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post5 == 0 /\ z_28^0-z_28^post5 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ -z_389^post5+z_389^0 == 0 /\ -__disjvr_2^post5+__disjvr_2^0 == 0 /\ -lt_17^post5+lt_17^0 == 0 /\ -rcd_228^post5+rcd_228^0 == 0 /\ -__disjvr_13^post5+__disjvr_13^0 == 0 /\ head_35^0-head_35^post5 == 0 /\ __disjvr_21^0-__disjvr_21^post5 == 0 /\ __disjvr_19^0-__disjvr_19^post5 == 0 /\ rcd_264^0-rcd_264^post5 == 0 /\ -a_267^post5+a_267^0 == 0 /\ z_279^0-z_279^post5 == 0 /\ -temp_38^post5+temp_38^0 == 0 /\ -x_SLAM_f_21^post5+x_SLAM_f_21^0 == 0 /\ -temp0_34^post5+temp0_34^0 == 0 /\ rcd_113^0-rcd_113^post5 == 0 /\ __disjvr_4^0-__disjvr_4^post5 == 0 /\ len_266^0-len_266^post5 == 0 /\ -__disjvr_16^post5+__disjvr_16^0 == 0 /\ a_321^0-a_321^post5 == 0 /\ -tmp_37^post5+tmp_37^0 == 0 /\ -__disjvr_10^post5+__disjvr_10^0 == 0 /\ __disjvr_2^post5-__disjvr_2^0 == 0 /\ temp1_30^0-temp1_30^post5 == 0 /\ -i_227^post5+i_227^0 == 0 /\ rcd_396^0-rcd_396^post5 == 0 /\ -ct_20^post5+ct_20^0 == 0 /\ __disjvr_26^0-__disjvr_26^post5 == 0 /\ rcd_105^0-rcd_105^post5 == 0 /\ length_32^0-length_32^post5 == 0 /\ z_252^0-z_252^post5 == 0 /\ rcd_222^0-rcd_222^post5 == 0 /\ len_286^0-len_286^post5 == 0 /\ -__disjvr_20^post5+__disjvr_20^0 == 0 /\ __disjvr_28^0-__disjvr_28^post5 == 0 /\ -__disjvr_27^post5+__disjvr_27^0 == 0 /\ __disjvr_14^0-__disjvr_14^post5 == 0 /\ __disjvr_11^0-__disjvr_11^post5 == 0 /\ -z_265^post5+z_265^0 == 0 /\ z_160^0-z_160^post5 == 0 /\ -a_377^post5+a_377^0 == 0 /\ -r_236^post5+r_236^0 == 0 /\ i_33^0-i_33^post5 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ t_24^0-t_24^post5 == 0 /\ __disjvr_8^0-__disjvr_8^post5 == 0 /\ __disjvr_23^0-__disjvr_23^post5 == 0 /\ z_188^0-z_188^post5 == 0 /\ __disjvr_29^0-__disjvr_29^post5 == 0 /\ -__disjvr_9^post5+__disjvr_9^0 == 0 /\ -__disjvr_15^post5+__disjvr_15^0 == 0 /\ -__disjvr_18^post5+__disjvr_18^0 == 0 /\ rcd_46^0-rcd_46^post5 == 0 /\ -__disjvr_1^post5+__disjvr_1^0 == 0 /\ rcd_376^0-rcd_376^post5 == 0 /\ rcd_70^0-rcd_70^post5 == 0 /\ -lt_483^post5+lt_483^0 == 0 /\ -__disjvr_22^post5+__disjvr_22^0 == 0 /\ a_347^0-a_347^post5 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ -r_178^post5+r_178^0 == 0 /\ -rcd_352^post5+rcd_352^0 == 0 /\ -z_238^post5+z_238^0 == 0 /\ __disjvr_17^0-__disjvr_17^post5 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post5+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_42^0-r_42^post5 == 0 /\ -rcd_237^post5+rcd_237^0 == 0 /\ len_195^0-len_195^post5 == 0 /\ i_111^0-i_111^post5 == 0 /\ -lt_386^post5+lt_386^0 == 0 /\ temp0_18^0-temp0_18^post5 == 0 /\ __disjvr_24^0-__disjvr_24^post5 == 0 /\ -head_13^post5+head_13^0 == 0 /\ -a_27^post5+a_27^0 == 0 /\ -rcd_356^post5+rcd_356^0 == 0 /\ __disjvr_3^0-__disjvr_3^post5 == 0 /\ -lt_29^post5+lt_29^0 == 0 /\ x_23^0-x_23^post5 == 0 /\ i_120^0-i_120^post5 == 0 /\ a_210^0-a_210^post5 == 0 /\ result_11^0-result_11^post5 == 0 /\ -__disjvr_25^post5+__disjvr_25^0 == 0 /\ z_229^0-z_229^post5 == 0 /\ y_22^0-y_22^post5 == 0 /\ -rcd_226^post5+rcd_226^0 == 0), cost: 1
   6: l7 -> l8 : __disjvr_0^0'=__disjvr_0^post6, a_321^0'=a_321^post6, rcd_70^0'=rcd_70^post6, __disjvr_21^0'=__disjvr_21^post6, x_23^0'=x_23^post6, __disjvr_4^0'=__disjvr_4^post6, rcd_222^0'=rcd_222^post6, __disjvr_14^0'=__disjvr_14^post6, head_35^0'=head_35^post6, __disjvr_24^0'=__disjvr_24^post6, temp0_18^0'=temp0_18^post6, lt_386^0'=lt_386^post6, z_229^0'=z_229^post6, __disjvr_9^0'=__disjvr_9^post6, a_210^0'=a_210^post6, rcd_376^0'=rcd_376^post6, __disjvr_19^0'=__disjvr_19^post6, len_195^0'=len_195^post6, __disjvr_29^0'=__disjvr_29^post6, x_19^0'=x_19^post6, r_42^0'=r_42^post6, z_28^0'=z_28^post6, __disjvr_11^0'=__disjvr_11^post6, a_377^0'=a_377^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post6, length_32^0'=length_32^post6, y_22^0'=y_22^post6, __disjvr_6^0'=__disjvr_6^post6, rcd_228^0'=rcd_228^post6, __disjvr_16^0'=__disjvr_16^post6, i_120^0'=i_120^post6, __disjvr_26^0'=__disjvr_26^post6, temp1_30^0'=temp1_30^post6, nondet_12^0'=nondet_12^post6, z_252^0'=z_252^post6, a_27^0'=a_27^post6, rcd_46^0'=rcd_46^post6, __disjvr_20^0'=__disjvr_20^post6, len_286^0'=len_286^post6, __disjvr_3^0'=__disjvr_3^post6, rcd_113^0'=rcd_113^post6, __disjvr_13^0'=__disjvr_13^post6, head_13^0'=head_13^post6, __disjvr_23^0'=__disjvr_23^post6, t_24^0'=t_24^post6, lt_29^0'=lt_29^post6, z_188^0'=z_188^post6, __disjvr_8^0'=__disjvr_8^post6, rcd_264^0'=rcd_264^post6, rcd_356^0'=rcd_356^post6, __disjvr_18^0'=__disjvr_18^post6, i_33^0'=i_33^post6, __disjvr_28^0'=__disjvr_28^post6, tmp_37^0'=tmp_37^post6, r_236^0'=r_236^post6, z_279^0'=z_279^post6, __disjvr_10^0'=__disjvr_10^post6, a_347^0'=a_347^post6, result_11^0'=result_11^post6, __disjvr_22^0'=__disjvr_22^post6, x_SLAM_f_21^0'=x_SLAM_f_21^post6, __disjvr_5^0'=__disjvr_5^post6, rcd_226^0'=rcd_226^post6, __disjvr_15^0'=__disjvr_15^post6, i_111^0'=i_111^post6, __disjvr_25^0'=__disjvr_25^post6, temp0_34^0'=temp0_34^post6, lt_483^0'=lt_483^post6, z_238^0'=z_238^post6, a_166^0'=a_166^post6, a_267^0'=a_267^post6, rcd_396^0'=rcd_396^post6, __disjvr_1^0'=__disjvr_1^post6, len_266^0'=len_266^post6, __disjvr_2^0'=__disjvr_2^post6, rcd_105^0'=rcd_105^post6, z_389^0'=z_389^post6, __disjvr_12^0'=__disjvr_12^post6, ct_20^0'=ct_20^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, lt_17^0'=lt_17^post6, z_160^0'=z_160^post6, __disjvr_7^0'=__disjvr_7^post6, rcd_237^0'=rcd_237^post6, rcd_352^0'=rcd_352^post6, __disjvr_17^0'=__disjvr_17^post6, i_227^0'=i_227^post6, __disjvr_27^0'=__disjvr_27^post6, temp_38^0'=temp_38^post6, r_178^0'=r_178^post6, z_265^0'=z_265^post6, (rcd_228^0-rcd_228^post6 == 0 /\ __disjvr_4^0-__disjvr_4^post6 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ rcd_70^0-rcd_70^post6 == 0 /\ x_23^0-x_23^post6 == 0 /\ __disjvr_3^post6-__disjvr_3^0 == 0 /\ -a_377^post6+a_377^0 == 0 /\ -__disjvr_29^post6+__disjvr_29^0 == 0 /\ -__disjvr_6^post6+__disjvr_6^0 == 0 /\ -lt_483^post6+lt_483^0 == 0 /\ lt_29^0-lt_29^post6 == 0 /\ __disjvr_1^0-__disjvr_1^post6 == 0 /\ temp1_30^0-temp1_30^post6 == 0 /\ z_229^0-z_229^post6 == 0 /\ len_286^0-len_286^post6 == 0 /\ r_236^0-r_236^post6 == 0 /\ -z_160^post6+z_160^0 == 0 /\ -len_266^post6+len_266^0 == 0 /\ -z_279^post6+z_279^0 == 0 /\ x_19^0-x_19^post6 == 0 /\ -__disjvr_12^post6+__disjvr_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post6 == 0 /\ __disjvr_23^0-__disjvr_23^post6 == 0 /\ -__disjvr_11^post6+__disjvr_11^0 == 0 /\ a_267^0-a_267^post6 == 0 /\ -a_347^post6+a_347^0 == 0 /\ -length_32^post6+length_32^0 == 0 /\ -__disjvr_3^post6+__disjvr_3^0 == 0 /\ -rcd_352^post6+rcd_352^0 == 0 /\ -__disjvr_25^post6+__disjvr_25^0 == 0 /\ -rcd_226^post6+rcd_226^0 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0 /\ -__disjvr_22^post6+__disjvr_22^0 == 0 /\ i_33^0-i_33^post6 == 0 /\ -z_265^post6+z_265^0 == 0 /\ -z_238^post6+z_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post6+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_237^post6+rcd_237^0 == 0 /\ -__disjvr_2^post6+__disjvr_2^0 == 0 /\ -z_389^post6+z_389^0 == 0 /\ -__disjvr_28^post6+__disjvr_28^0 == 0 /\ -__disjvr_26^post6+__disjvr_26^0 == 0 /\ a_321^0-a_321^post6 == 0 /\ __disjvr_19^0-__disjvr_19^post6 == 0 /\ a_27^0-a_27^post6 == 0 /\ -__disjvr_13^post6+__disjvr_13^0 == 0 /\ __disjvr_9^0-__disjvr_9^post6 == 0 /\ z_252^0-z_252^post6 == 0 /\ -result_11^post6+result_11^0 == 0 /\ -rcd_396^post6+rcd_396^0 == 0 /\ rcd_356^0-rcd_356^post6 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ rcd_113^0-rcd_113^post6 == 0 /\ head_13^0-head_13^post6 == 0 /\ -temp0_34^post6+temp0_34^0 == 0 /\ -rcd_222^post6+rcd_222^0 == 0 /\ -temp_38^post6+temp_38^0 == 0 /\ i_120^0-i_120^post6 == 0 /\ lt_386^0-lt_386^post6 == 0 /\ -r_178^post6+r_178^0 == 0 /\ -a_166^post6+a_166^0 == 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ r_42^0-r_42^post6 == 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ -tmp_37^post6+tmp_37^0 == 0 /\ -__disjvr_8^post6+__disjvr_8^0 == 0 /\ -x_SLAM_f_21^post6+x_SLAM_f_21^0 == 0 /\ -temp0_18^post6+temp0_18^0 == 0 /\ y_22^0-y_22^post6 == 0 /\ -__disjvr_10^post6+__disjvr_10^0 == 0 /\ -rcd_376^post6+rcd_376^0 == 0 /\ -lt_17^post6+lt_17^0 == 0 /\ a_210^0-a_210^post6 == 0 /\ -__disjvr_24^post6+__disjvr_24^0 == 0 /\ z_188^0-z_188^post6 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ -i_227^post6+i_227^0 == 0 /\ -ct_20^post6+ct_20^0 == 0 /\ __disjvr_15^0-__disjvr_15^post6 == 0 /\ -i_111^post6+i_111^0 == 0 /\ -__disjvr_27^post6+__disjvr_27^0 == 0 /\ rcd_46^0-rcd_46^post6 == 0 /\ z_28^0-z_28^post6 == 0 /\ -__disjvr_16^post6+__disjvr_16^0 == 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ len_195^0-len_195^post6 == 0 /\ -rcd_105^post6+rcd_105^0 == 0 /\ -__disjvr_20^post6+__disjvr_20^0 == 0 /\ head_35^0-head_35^post6 == 0 /\ -t_24^post6+t_24^0 == 0 /\ -rcd_264^post6+rcd_264^0 == 0), cost: 1
   7: l8 -> l2 : __disjvr_0^0'=__disjvr_0^post7, a_321^0'=a_321^post7, rcd_70^0'=rcd_70^post7, __disjvr_21^0'=__disjvr_21^post7, x_23^0'=x_23^post7, __disjvr_4^0'=__disjvr_4^post7, rcd_222^0'=rcd_222^post7, __disjvr_14^0'=__disjvr_14^post7, head_35^0'=head_35^post7, __disjvr_24^0'=__disjvr_24^post7, temp0_18^0'=temp0_18^post7, lt_386^0'=lt_386^post7, z_229^0'=z_229^post7, __disjvr_9^0'=__disjvr_9^post7, a_210^0'=a_210^post7, rcd_376^0'=rcd_376^post7, __disjvr_19^0'=__disjvr_19^post7, len_195^0'=len_195^post7, __disjvr_29^0'=__disjvr_29^post7, x_19^0'=x_19^post7, r_42^0'=r_42^post7, z_28^0'=z_28^post7, __disjvr_11^0'=__disjvr_11^post7, a_377^0'=a_377^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post7, length_32^0'=length_32^post7, y_22^0'=y_22^post7, __disjvr_6^0'=__disjvr_6^post7, rcd_228^0'=rcd_228^post7, __disjvr_16^0'=__disjvr_16^post7, i_120^0'=i_120^post7, __disjvr_26^0'=__disjvr_26^post7, temp1_30^0'=temp1_30^post7, nondet_12^0'=nondet_12^post7, z_252^0'=z_252^post7, a_27^0'=a_27^post7, rcd_46^0'=rcd_46^post7, __disjvr_20^0'=__disjvr_20^post7, len_286^0'=len_286^post7, __disjvr_3^0'=__disjvr_3^post7, rcd_113^0'=rcd_113^post7, __disjvr_13^0'=__disjvr_13^post7, head_13^0'=head_13^post7, __disjvr_23^0'=__disjvr_23^post7, t_24^0'=t_24^post7, lt_29^0'=lt_29^post7, z_188^0'=z_188^post7, __disjvr_8^0'=__disjvr_8^post7, rcd_264^0'=rcd_264^post7, rcd_356^0'=rcd_356^post7, __disjvr_18^0'=__disjvr_18^post7, i_33^0'=i_33^post7, __disjvr_28^0'=__disjvr_28^post7, tmp_37^0'=tmp_37^post7, r_236^0'=r_236^post7, z_279^0'=z_279^post7, __disjvr_10^0'=__disjvr_10^post7, a_347^0'=a_347^post7, result_11^0'=result_11^post7, __disjvr_22^0'=__disjvr_22^post7, x_SLAM_f_21^0'=x_SLAM_f_21^post7, __disjvr_5^0'=__disjvr_5^post7, rcd_226^0'=rcd_226^post7, __disjvr_15^0'=__disjvr_15^post7, i_111^0'=i_111^post7, __disjvr_25^0'=__disjvr_25^post7, temp0_34^0'=temp0_34^post7, lt_483^0'=lt_483^post7, z_238^0'=z_238^post7, a_166^0'=a_166^post7, a_267^0'=a_267^post7, rcd_396^0'=rcd_396^post7, __disjvr_1^0'=__disjvr_1^post7, len_266^0'=len_266^post7, __disjvr_2^0'=__disjvr_2^post7, rcd_105^0'=rcd_105^post7, z_389^0'=z_389^post7, __disjvr_12^0'=__disjvr_12^post7, ct_20^0'=ct_20^post7, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post7, lt_17^0'=lt_17^post7, z_160^0'=z_160^post7, __disjvr_7^0'=__disjvr_7^post7, rcd_237^0'=rcd_237^post7, rcd_352^0'=rcd_352^post7, __disjvr_17^0'=__disjvr_17^post7, i_227^0'=i_227^post7, __disjvr_27^0'=__disjvr_27^post7, temp_38^0'=temp_38^post7, r_178^0'=r_178^post7, z_265^0'=z_265^post7, (0 == 0 /\ __disjvr_8^0-__disjvr_8^post7 == 0 /\ -__disjvr_2^post7+__disjvr_2^0 == 0 /\ -temp_38^post7+temp_38^0 == 0 /\ rcd_376^0-rcd_46^post7 <= 0 /\ length_32^0-length_32^post7 == 0 /\ -temp0_34^post7+temp0_34^0 == 0 /\ r_236^0-r_236^post7 == 0 /\ -lt_17^post7+lt_17^0 == 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ z_188^0-z_188^post7 == 0 /\ i_33^0-i_33^post7 == 0 /\ -a_347^post7+a_377^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ __disjvr_13^0-__disjvr_13^post7 == 0 /\ a_377^0-a_377^post7 == 0 /\ __disjvr_29^0-__disjvr_29^post7 == 0 /\ -__disjvr_3^post7+__disjvr_3^0 == 0 /\ -a_267^post7+a_267^0 == 0 /\ -rcd_352^post7+rcd_352^0 == 0 /\ rcd_70^0-rcd_70^post7 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ head_35^0-head_35^post7 == 0 /\ -rcd_228^post7+rcd_228^0 == 0 /\ -__disjvr_1^post7+__disjvr_1^0 == 0 /\ -__disjvr_27^post7+__disjvr_27^0 == 0 /\ -rcd_376^0+rcd_46^post7 <= 0 /\ -__disjvr_23^post7+__disjvr_23^0 == 0 /\ rcd_356^0-rcd_356^post7 == 0 /\ __disjvr_4^0-__disjvr_4^post7 == 0 /\ -tmp_37^post7+tmp_37^0 == 0 /\ -__disjvr_10^post7+__disjvr_10^0 == 0 /\ -len_286^post7+len_286^0 == 0 /\ a_347^post7-a_377^0 <= 0 /\ -x_SLAM_f_21^post7+x_SLAM_f_21^0 == 0 /\ len_195^0-len_195^post7 == 0 /\ -i_227^post7+i_227^0 == 0 /\ -t_24^post7+t_24^0 == 0 /\ -rcd_264^post7+rcd_264^0 == 0 /\ -ct_20^post7+ct_20^0 == 0 /\ nondet_12^0-nondet_12^post7 == 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ i_120^0-i_120^post7 == 0 /\ -rcd_396^post7+rcd_396^0 == 0 /\ -r_42^post7+r_42^0 == 0 /\ __disjvr_26^0-__disjvr_26^post7 == 0 /\ x_23^0-x_23^post7 == 0 /\ -i_111^post7+i_111^0 == 0 /\ rcd_222^0-rcd_222^post7 == 0 /\ -rcd_105^post7+rcd_105^0 == 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ -z_265^post7+z_265^0 == 0 /\ __disjvr_15^0-__disjvr_15^post7 == 0 /\ __disjvr_6^0-__disjvr_6^post7 == 0 /\ result_11^0-result_11^post7 == 0 /\ rcd_376^0-rcd_376^post7 == 0 /\ -z_160^post7+z_160^0 == 0 /\ -a_210^post7+a_210^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ x_19^0-x_19^post7 == 0 /\ __disjvr_19^0-__disjvr_19^post7 == 0 /\ z_28^0-z_28^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post7 == 0 /\ -__disjvr_18^post7+__disjvr_18^0 == 0 /\ -__disjvr_17^post7+__disjvr_17^0 == 0 /\ __disjvr_11^0-__disjvr_11^post7 == 0 /\ __disjvr_14^0-__disjvr_14^post7 == 0 /\ __disjvr_16^0-__disjvr_16^post7 == 0 /\ -temp1_30^post7+temp1_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0 /\ -lt_483^post7+lt_483^0 == 0 /\ -len_266^post7+len_266^0 == 0 /\ -__disjvr_9^post7+__disjvr_9^0 == 0 /\ temp0_18^0-temp0_18^post7 == 0 /\ -__disjvr_22^post7+__disjvr_22^0 == 0 /\ -r_178^post7+r_178^0 == 0 /\ a_321^0-a_321^post7 == 0 /\ rcd_113^0-rcd_113^post7 == 0 /\ head_13^0-head_13^post7 == 0 /\ -z_279^post7+z_279^0 == 0 /\ -rcd_237^post7+rcd_237^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post7+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_166^post7+a_166^0 == 0 /\ -z_389^post7+z_389^0 == 0 /\ -a_27^post7+a_27^0 == 0 /\ -rcd_226^post7+rcd_226^0 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ -z_238^post7+z_238^0 == 0 /\ z_229^0-z_229^post7 == 0 /\ y_22^0-y_22^post7 == 0 /\ z_252^0-z_252^post7 == 0 /\ -lt_29^post7+lt_29^0 == 0 /\ lt_386^0-lt_386^post7 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_25^post7+__disjvr_25^0 == 0), cost: 1
   8: l2 -> l0 : __disjvr_0^0'=__disjvr_0^post8, a_321^0'=a_321^post8, rcd_70^0'=rcd_70^post8, __disjvr_21^0'=__disjvr_21^post8, x_23^0'=x_23^post8, __disjvr_4^0'=__disjvr_4^post8, rcd_222^0'=rcd_222^post8, __disjvr_14^0'=__disjvr_14^post8, head_35^0'=head_35^post8, __disjvr_24^0'=__disjvr_24^post8, temp0_18^0'=temp0_18^post8, lt_386^0'=lt_386^post8, z_229^0'=z_229^post8, __disjvr_9^0'=__disjvr_9^post8, a_210^0'=a_210^post8, rcd_376^0'=rcd_376^post8, __disjvr_19^0'=__disjvr_19^post8, len_195^0'=len_195^post8, __disjvr_29^0'=__disjvr_29^post8, x_19^0'=x_19^post8, r_42^0'=r_42^post8, z_28^0'=z_28^post8, __disjvr_11^0'=__disjvr_11^post8, a_377^0'=a_377^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post8, length_32^0'=length_32^post8, y_22^0'=y_22^post8, __disjvr_6^0'=__disjvr_6^post8, rcd_228^0'=rcd_228^post8, __disjvr_16^0'=__disjvr_16^post8, i_120^0'=i_120^post8, __disjvr_26^0'=__disjvr_26^post8, temp1_30^0'=temp1_30^post8, nondet_12^0'=nondet_12^post8, z_252^0'=z_252^post8, a_27^0'=a_27^post8, rcd_46^0'=rcd_46^post8, __disjvr_20^0'=__disjvr_20^post8, len_286^0'=len_286^post8, __disjvr_3^0'=__disjvr_3^post8, rcd_113^0'=rcd_113^post8, __disjvr_13^0'=__disjvr_13^post8, head_13^0'=head_13^post8, __disjvr_23^0'=__disjvr_23^post8, t_24^0'=t_24^post8, lt_29^0'=lt_29^post8, z_188^0'=z_188^post8, __disjvr_8^0'=__disjvr_8^post8, rcd_264^0'=rcd_264^post8, rcd_356^0'=rcd_356^post8, __disjvr_18^0'=__disjvr_18^post8, i_33^0'=i_33^post8, __disjvr_28^0'=__disjvr_28^post8, tmp_37^0'=tmp_37^post8, r_236^0'=r_236^post8, z_279^0'=z_279^post8, __disjvr_10^0'=__disjvr_10^post8, a_347^0'=a_347^post8, result_11^0'=result_11^post8, __disjvr_22^0'=__disjvr_22^post8, x_SLAM_f_21^0'=x_SLAM_f_21^post8, __disjvr_5^0'=__disjvr_5^post8, rcd_226^0'=rcd_226^post8, __disjvr_15^0'=__disjvr_15^post8, i_111^0'=i_111^post8, __disjvr_25^0'=__disjvr_25^post8, temp0_34^0'=temp0_34^post8, lt_483^0'=lt_483^post8, z_238^0'=z_238^post8, a_166^0'=a_166^post8, a_267^0'=a_267^post8, rcd_396^0'=rcd_396^post8, __disjvr_1^0'=__disjvr_1^post8, len_266^0'=len_266^post8, __disjvr_2^0'=__disjvr_2^post8, rcd_105^0'=rcd_105^post8, z_389^0'=z_389^post8, __disjvr_12^0'=__disjvr_12^post8, ct_20^0'=ct_20^post8, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post8, lt_17^0'=lt_17^post8, z_160^0'=z_160^post8, __disjvr_7^0'=__disjvr_7^post8, rcd_237^0'=rcd_237^post8, rcd_352^0'=rcd_352^post8, __disjvr_17^0'=__disjvr_17^post8, i_227^0'=i_227^post8, __disjvr_27^0'=__disjvr_27^post8, temp_38^0'=temp_38^post8, r_178^0'=r_178^post8, z_265^0'=z_265^post8, (__disjvr_20^0-__disjvr_20^post8 == 0 /\ a_321^0-a_321^post8 == 0 /\ a_27^0-a_27^post8 == 0 /\ -__disjvr_15^post8+__disjvr_15^0 == 0 /\ z_252^0-z_252^post8 == 0 /\ -lt_483^post8+lt_483^0 == 0 /\ -__disjvr_27^post8+__disjvr_27^0 == 0 /\ y_22^0-y_22^post8 == 0 /\ __disjvr_26^0-__disjvr_26^post8 == 0 /\ tmp_37^0-tmp_37^post8 == 0 /\ lt_386^0-lt_386^post8 == 0 /\ -z_160^post8+z_160^0 == 0 /\ rcd_222^0-rcd_222^post8 == 0 /\ z_389^0-z_389^post8 == 0 /\ -i_33^post8+i_33^0 == 0 /\ -z_279^post8+z_279^0 == 0 /\ -__disjvr_1^post8+__disjvr_1^0 == 0 /\ x_23^0-x_23^post8 == 0 /\ i_120^0-i_120^post8 == 0 /\ __disjvr_24^0-__disjvr_24^post8 == 0 /\ -i_227^post8+i_227^0 == 0 /\ -lt_29^post8+lt_29^0 == 0 /\ z_188^0-z_188^post8 == 0 /\ -len_266^post8+len_266^0 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ -temp1_30^post8+temp1_30^0 == 0 /\ -a_267^post8+a_267^0 == 0 /\ __disjvr_16^0-__disjvr_16^post8 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ length_32^0-length_32^post8 == 0 /\ z_28^0-z_28^post8 == 0 /\ -rcd_46^post8+rcd_46^0 == 0 /\ -z_265^post8+z_265^0 == 0 /\ -__disjvr_11^post8+__disjvr_11^0 == 0 /\ -__disjvr_22^post8+__disjvr_22^0 == 0 /\ __disjvr_29^0-__disjvr_29^post8 == 0 /\ -a_347^post8+a_347^0 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ a_377^0-a_377^post8 == 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ -rcd_237^post8+rcd_237^0 == 0 /\ -__disjvr_25^post8+__disjvr_25^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post8+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -z_238^post8+z_238^0 == 0 /\ rcd_70^0-rcd_70^post8 == 0 /\ temp0_34^0-temp0_34^post8 == 0 /\ rcd_113^0-rcd_113^post8 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ len_286^0-len_286^post8 == 0 /\ head_13^0-head_13^post8 == 0 /\ -rcd_396^post8+rcd_396^0 == 0 /\ lt_17^0-lt_17^post8 == 0 /\ temp0_18^0-temp0_18^post8 == 0 /\ -z_229^post8+z_229^0 == 0 /\ len_195^0-len_195^post8 == 0 /\ -r_42^post8+r_42^0 == 0 /\ __disjvr_4^0-__disjvr_4^post8 == 0 /\ -__disjvr_21^post8+__disjvr_21^0 == 0 /\ -__disjvr_8^post8+__disjvr_8^0 == 0 /\ -__disjvr_10^post8+__disjvr_10^0 == 0 /\ __disjvr_7^0-__disjvr_7^post8 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ -r_178^post8+r_178^0 == 0 /\ -rcd_228^post8+rcd_228^0 == 0 /\ -a_166^post8+a_166^0 == 0 /\ -rcd_352^post8+rcd_352^0 == 0 /\ -__disjvr_3^post8+__disjvr_3^0 == 0 /\ -result_11^post8+result_11^0 == 0 /\ rcd_356^0-rcd_356^post8 == 0 /\ __disjvr_23^0-__disjvr_23^post8 == 0 /\ -ct_20^post8+ct_20^0 == 0 /\ -__disjvr_19^post8+__disjvr_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post8 == 0 /\ -t_24^post8+t_24^0 == 0 /\ x_19^0-x_19^post8 == 0 /\ -x_SLAM_f_21^post8+x_SLAM_f_21^0 == 0 /\ __disjvr_6^0-__disjvr_6^post8 == 0 /\ -i_111^post8+i_111^0 == 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ head_35^0-head_35^post8 == 0 /\ -temp_38^post8+temp_38^0 == 0 /\ rcd_226^0-rcd_226^post8 == 0 /\ -rcd_264^post8+rcd_264^0 == 0 /\ -a_210^post8+a_210^0 == 0 /\ -r_236^post8+r_236^0 == 0 /\ rcd_376^0-rcd_376^post8 == 0 /\ -rcd_105^post8+rcd_105^0 == 0 /\ __disjvr_13^0-__disjvr_13^post8 == 0), cost: 1
  19: l18 -> l19 : __disjvr_0^0'=__disjvr_0^post19, a_321^0'=a_321^post19, rcd_70^0'=rcd_70^post19, __disjvr_21^0'=__disjvr_21^post19, x_23^0'=x_23^post19, __disjvr_4^0'=__disjvr_4^post19, rcd_222^0'=rcd_222^post19, __disjvr_14^0'=__disjvr_14^post19, head_35^0'=head_35^post19, __disjvr_24^0'=__disjvr_24^post19, temp0_18^0'=temp0_18^post19, lt_386^0'=lt_386^post19, z_229^0'=z_229^post19, __disjvr_9^0'=__disjvr_9^post19, a_210^0'=a_210^post19, rcd_376^0'=rcd_376^post19, __disjvr_19^0'=__disjvr_19^post19, len_195^0'=len_195^post19, __disjvr_29^0'=__disjvr_29^post19, x_19^0'=x_19^post19, r_42^0'=r_42^post19, z_28^0'=z_28^post19, __disjvr_11^0'=__disjvr_11^post19, a_377^0'=a_377^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post19, length_32^0'=length_32^post19, y_22^0'=y_22^post19, __disjvr_6^0'=__disjvr_6^post19, rcd_228^0'=rcd_228^post19, __disjvr_16^0'=__disjvr_16^post19, i_120^0'=i_120^post19, __disjvr_26^0'=__disjvr_26^post19, temp1_30^0'=temp1_30^post19, nondet_12^0'=nondet_12^post19, z_252^0'=z_252^post19, a_27^0'=a_27^post19, rcd_46^0'=rcd_46^post19, __disjvr_20^0'=__disjvr_20^post19, len_286^0'=len_286^post19, __disjvr_3^0'=__disjvr_3^post19, rcd_113^0'=rcd_113^post19, __disjvr_13^0'=__disjvr_13^post19, head_13^0'=head_13^post19, __disjvr_23^0'=__disjvr_23^post19, t_24^0'=t_24^post19, lt_29^0'=lt_29^post19, z_188^0'=z_188^post19, __disjvr_8^0'=__disjvr_8^post19, rcd_264^0'=rcd_264^post19, rcd_356^0'=rcd_356^post19, __disjvr_18^0'=__disjvr_18^post19, i_33^0'=i_33^post19, __disjvr_28^0'=__disjvr_28^post19, tmp_37^0'=tmp_37^post19, r_236^0'=r_236^post19, z_279^0'=z_279^post19, __disjvr_10^0'=__disjvr_10^post19, a_347^0'=a_347^post19, result_11^0'=result_11^post19, __disjvr_22^0'=__disjvr_22^post19, x_SLAM_f_21^0'=x_SLAM_f_21^post19, __disjvr_5^0'=__disjvr_5^post19, rcd_226^0'=rcd_226^post19, __disjvr_15^0'=__disjvr_15^post19, i_111^0'=i_111^post19, __disjvr_25^0'=__disjvr_25^post19, temp0_34^0'=temp0_34^post19, lt_483^0'=lt_483^post19, z_238^0'=z_238^post19, a_166^0'=a_166^post19, a_267^0'=a_267^post19, rcd_396^0'=rcd_396^post19, __disjvr_1^0'=__disjvr_1^post19, len_266^0'=len_266^post19, __disjvr_2^0'=__disjvr_2^post19, rcd_105^0'=rcd_105^post19, z_389^0'=z_389^post19, __disjvr_12^0'=__disjvr_12^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, z_160^0'=z_160^post19, __disjvr_7^0'=__disjvr_7^post19, rcd_237^0'=rcd_237^post19, rcd_352^0'=rcd_352^post19, __disjvr_17^0'=__disjvr_17^post19, i_227^0'=i_227^post19, __disjvr_27^0'=__disjvr_27^post19, temp_38^0'=temp_38^post19, r_178^0'=r_178^post19, z_265^0'=z_265^post19, (0 == 0 /\ __disjvr_14^0-__disjvr_14^post19 == 0 /\ __disjvr_11^0-__disjvr_11^post19 == 0 /\ i_120^0-i_120^post19 == 0 /\ -temp_38^post19+temp_38^0 == 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ __disjvr_23^0-__disjvr_23^post19 == 0 /\ -result_11^post19+result_11^0 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ __disjvr_21^0-__disjvr_21^post19 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ -__disjvr_7^post19+__disjvr_7^0 == 0 /\ nondet_12^0-nondet_12^post19 == 0 /\ -z_252^post19+z_252^0 == 0 /\ -__disjvr_8^post19+__disjvr_8^0 == 0 /\ a_377^0-a_377^post19 == 0 /\ -a_267^post19+a_267^0 == 0 /\ rcd_376^0-rcd_376^post19 == 0 /\ -__disjvr_16^post19+__disjvr_16^0 == 0 /\ lt_29^0-lt_29^post19 == 0 /\ -t_24^post19+t_24^0 == 0 /\ -len_286^post19+len_286^0 == 0 /\ __disjvr_10^0-__disjvr_10^post19 == 0 /\ len_195^0-len_195^post19 == 0 /\ tmp_37^0-tmp_37^post19 == 0 /\ rcd_228^0-rcd_228^post19 == 0 /\ -i_227^post19+i_227^0 == 0 /\ temp0_18^0-temp0_18^post19 == 0 /\ r_42^0-r_42^post19 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ y_22^0-y_22^post19 == 0 /\ __disjvr_12^0-__disjvr_12^post19 == 0 /\ -z_188^post19+z_188^0 == 0 /\ -temp0_34^post19+temp0_34^0 == 0 /\ __disjvr_24^0-__disjvr_24^post19 == 0 /\ a_166^0-a_166^post19 == 0 /\ -__disjvr_20^post19+__disjvr_20^0 == 0 /\ x_23^0-x_23^post19 == 0 /\ -rcd_396^post19+rcd_396^0 == 0 /\ -rcd_105^post19+rcd_105^0 == 0 /\ z_229^0-z_229^post19 == 0 /\ -len_286^0 <= 0 /\ -z_160^post19+z_160^0 == 0 /\ __disjvr_19^0-__disjvr_19^post19 == 0 /\ a_210^0-a_210^post19 == 0 /\ z_28^0-z_28^post19 == 0 /\ -lt_483^post19+lt_483^0 == 0 /\ __disjvr_25^0-__disjvr_25^post19 == 0 /\ -__disjvr_17^post19+__disjvr_17^0 == 0 /\ length_32^0-length_32^post19 == 0 /\ -z_265^post19+z_265^0 == 0 /\ -__disjvr_18^post19+__disjvr_18^0 == 0 /\ -r_236^post19+r_236^0 == 0 /\ -__disjvr_15^post19+__disjvr_15^0 == 0 /\ head_35^0-head_35^post19 == 0 /\ -__disjvr_27^post19+__disjvr_27^0 == 0 /\ -__disjvr_4^post19+__disjvr_4^0 == 0 /\ rcd_264^0-rcd_264^post19 == 0 /\ -__disjvr_6^post19+__disjvr_6^0 == 0 /\ -rcd_113^post19+rcd_113^0 == 0 /\ __disjvr_13^0-__disjvr_13^post19 == 0 /\ -__disjvr_1^post19+__disjvr_1^0 == 0 /\ rcd_70^0-rcd_70^post19 == 0 /\ -rcd_46^post19+rcd_46^0 == 0 /\ -len_266^post19+len_266^0 == 0 /\ a_27^0-a_27^post19 == 0 /\ i_111^0-i_111^post19 == 0 /\ -i_33^post19+i_33^0 == 0 /\ a_321^0-a_321^post19 == 0 /\ -z_279^post19+z_279^0 == 0 /\ __disjvr_22^0-__disjvr_22^post19 == 0 /\ -r_178^post19+r_178^0 == 0 /\ -a_347^post19+a_347^0 == 0 /\ temp1_30^0-temp1_30^post19 == 0 /\ -__disjvr_26^post19+__disjvr_26^0 == 0 /\ -rcd_237^post19+rcd_237^0 == 0 /\ -z_389^post19+z_389^0 == 0 /\ -__disjvr_29^post19+__disjvr_29^0 == 0 /\ __disjvr_9^0-__disjvr_9^post19 == 0 /\ rcd_222^0-rcd_222^post19 == 0 /\ -rcd_226^post19+rcd_226^0 == 0 /\ -head_13^post19+head_13^0 == 0 /\ __disjvr_28^0-__disjvr_28^post19 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -z_238^post19+z_238^0 == 0 /\ lt_386^0-lt_386^post19 == 0), cost: 1
  20: l19 -> l20 : __disjvr_0^0'=__disjvr_0^post20, a_321^0'=a_321^post20, rcd_70^0'=rcd_70^post20, __disjvr_21^0'=__disjvr_21^post20, x_23^0'=x_23^post20, __disjvr_4^0'=__disjvr_4^post20, rcd_222^0'=rcd_222^post20, __disjvr_14^0'=__disjvr_14^post20, head_35^0'=head_35^post20, __disjvr_24^0'=__disjvr_24^post20, temp0_18^0'=temp0_18^post20, lt_386^0'=lt_386^post20, z_229^0'=z_229^post20, __disjvr_9^0'=__disjvr_9^post20, a_210^0'=a_210^post20, rcd_376^0'=rcd_376^post20, __disjvr_19^0'=__disjvr_19^post20, len_195^0'=len_195^post20, __disjvr_29^0'=__disjvr_29^post20, x_19^0'=x_19^post20, r_42^0'=r_42^post20, z_28^0'=z_28^post20, __disjvr_11^0'=__disjvr_11^post20, a_377^0'=a_377^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post20, length_32^0'=length_32^post20, y_22^0'=y_22^post20, __disjvr_6^0'=__disjvr_6^post20, rcd_228^0'=rcd_228^post20, __disjvr_16^0'=__disjvr_16^post20, i_120^0'=i_120^post20, __disjvr_26^0'=__disjvr_26^post20, temp1_30^0'=temp1_30^post20, nondet_12^0'=nondet_12^post20, z_252^0'=z_252^post20, a_27^0'=a_27^post20, rcd_46^0'=rcd_46^post20, __disjvr_20^0'=__disjvr_20^post20, len_286^0'=len_286^post20, __disjvr_3^0'=__disjvr_3^post20, rcd_113^0'=rcd_113^post20, __disjvr_13^0'=__disjvr_13^post20, head_13^0'=head_13^post20, __disjvr_23^0'=__disjvr_23^post20, t_24^0'=t_24^post20, lt_29^0'=lt_29^post20, z_188^0'=z_188^post20, __disjvr_8^0'=__disjvr_8^post20, rcd_264^0'=rcd_264^post20, rcd_356^0'=rcd_356^post20, __disjvr_18^0'=__disjvr_18^post20, i_33^0'=i_33^post20, __disjvr_28^0'=__disjvr_28^post20, tmp_37^0'=tmp_37^post20, r_236^0'=r_236^post20, z_279^0'=z_279^post20, __disjvr_10^0'=__disjvr_10^post20, a_347^0'=a_347^post20, result_11^0'=result_11^post20, __disjvr_22^0'=__disjvr_22^post20, x_SLAM_f_21^0'=x_SLAM_f_21^post20, __disjvr_5^0'=__disjvr_5^post20, rcd_226^0'=rcd_226^post20, __disjvr_15^0'=__disjvr_15^post20, i_111^0'=i_111^post20, __disjvr_25^0'=__disjvr_25^post20, temp0_34^0'=temp0_34^post20, lt_483^0'=lt_483^post20, z_238^0'=z_238^post20, a_166^0'=a_166^post20, a_267^0'=a_267^post20, rcd_396^0'=rcd_396^post20, __disjvr_1^0'=__disjvr_1^post20, len_266^0'=len_266^post20, __disjvr_2^0'=__disjvr_2^post20, rcd_105^0'=rcd_105^post20, z_389^0'=z_389^post20, __disjvr_12^0'=__disjvr_12^post20, ct_20^0'=ct_20^post20, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post20, lt_17^0'=lt_17^post20, z_160^0'=z_160^post20, __disjvr_7^0'=__disjvr_7^post20, rcd_237^0'=rcd_237^post20, rcd_352^0'=rcd_352^post20, __disjvr_17^0'=__disjvr_17^post20, i_227^0'=i_227^post20, __disjvr_27^0'=__disjvr_27^post20, temp_38^0'=temp_38^post20, r_178^0'=r_178^post20, z_265^0'=z_265^post20, (-__disjvr_20^post20+__disjvr_20^0 == 0 /\ a_321^0-a_321^post20 == 0 /\ rcd_396^0-rcd_396^post20 == 0 /\ -i_120^post20+i_120^0 == 0 /\ r_42^0-r_42^post20 == 0 /\ rcd_113^0-rcd_113^post20 == 0 /\ head_13^0-head_13^post20 == 0 /\ temp0_18^0-temp0_18^post20 == 0 /\ -rcd_356^post20+rcd_356^0 == 0 /\ len_286^0-len_286^post20 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ y_22^0-y_22^post20 == 0 /\ -z_160^post20+z_160^0 == 0 /\ -__disjvr_6^post20+__disjvr_6^0 == 0 /\ -len_266^post20+len_266^0 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ lt_386^0-lt_386^post20 == 0 /\ -i_227^post20+i_227^0 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ -rcd_352^post20+rcd_352^0 == 0 /\ __disjvr_28^0-__disjvr_28^post20 == 0 /\ -__disjvr_26^post20+__disjvr_26^0 == 0 /\ rcd_46^0-rcd_46^post20 == 0 /\ x_19^0-x_19^post20 == 0 /\ -a_267^post20+a_267^0 == 0 /\ a_210^0-a_210^post20 == 0 /\ -z_389^post20+z_389^0 == 0 /\ z_279^0-z_279^post20 == 0 /\ t_24^0-t_24^post20 == 0 /\ -rcd_226^post20+rcd_226^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -a_166^post20+a_166^0 == 0 /\ __disjvr_16^0-__disjvr_16^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ rcd_105^0-rcd_105^post20 == 0 /\ -__disjvr_25^post20+__disjvr_25^0 == 0 /\ length_32^0-length_32^post20 == 0 /\ -__disjvr_9^0+__disjvr_9^post20 == 0 /\ nondet_12^0-nondet_12^post20 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post20+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_195^0-len_195^post20 == 0 /\ -z_28^post20+z_28^0 == 0 /\ -lt_483^post20+lt_483^0 == 0 /\ -__disjvr_2^post20+__disjvr_2^0 == 0 /\ -__disjvr_22^post20+__disjvr_22^0 == 0 /\ head_35^0-head_35^post20 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ -z_265^post20+z_265^0 == 0 /\ a_377^0-a_377^post20 == 0 /\ -__disjvr_15^post20+__disjvr_15^0 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ z_238^0-z_238^post20 == 0 /\ rcd_70^0-rcd_70^post20 == 0 /\ -rcd_237^post20+rcd_237^0 == 0 /\ -__disjvr_10^post20+__disjvr_10^0 == 0 /\ x_23^0-x_23^post20 == 0 /\ -rcd_264^post20+rcd_264^0 == 0 /\ lt_29^0-lt_29^post20 == 0 /\ -__disjvr_13^post20+__disjvr_13^0 == 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ rcd_228^0-rcd_228^post20 == 0 /\ temp1_30^0-temp1_30^post20 == 0 /\ -tmp_37^post20+tmp_37^0 == 0 /\ -z_252^post20+z_252^0 == 0 /\ -lt_17^post20+lt_17^0 == 0 /\ a_347^0-a_347^post20 == 0 /\ rcd_222^0-rcd_222^post20 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ z_229^0-z_229^post20 == 0 /\ -__disjvr_7^post20+__disjvr_7^0 == 0 /\ -a_27^post20+a_27^0 == 0 /\ rcd_376^0-rcd_376^post20 == 0 /\ __disjvr_21^0-__disjvr_21^post20 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ __disjvr_5^0-__disjvr_5^post20 == 0 /\ result_11^0-result_11^post20 == 0 /\ __disjvr_11^0-__disjvr_11^post20 == 0 /\ -__disjvr_1^post20+__disjvr_1^0 == 0 /\ __disjvr_14^0-__disjvr_14^post20 == 0 /\ -ct_20^post20+ct_20^0 == 0 /\ i_33^0-i_33^post20 == 0 /\ -x_SLAM_f_21^post20+x_SLAM_f_21^0 == 0 /\ -temp0_34^post20+temp0_34^0 == 0 /\ -temp_38^post20+temp_38^0 == 0 /\ __disjvr_19^0-__disjvr_19^post20 == 0 /\ r_178^0-r_178^post20 == 0 /\ i_111^0-i_111^post20 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ -__disjvr_18^post20+__disjvr_18^0 == 0 /\ -z_188^post20+z_188^0 == 0 /\ -r_236^post20+r_236^0 == 0), cost: 1
  21: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post21, a_321^0'=a_321^post21, rcd_70^0'=rcd_70^post21, __disjvr_21^0'=__disjvr_21^post21, x_23^0'=x_23^post21, __disjvr_4^0'=__disjvr_4^post21, rcd_222^0'=rcd_222^post21, __disjvr_14^0'=__disjvr_14^post21, head_35^0'=head_35^post21, __disjvr_24^0'=__disjvr_24^post21, temp0_18^0'=temp0_18^post21, lt_386^0'=lt_386^post21, z_229^0'=z_229^post21, __disjvr_9^0'=__disjvr_9^post21, a_210^0'=a_210^post21, rcd_376^0'=rcd_376^post21, __disjvr_19^0'=__disjvr_19^post21, len_195^0'=len_195^post21, __disjvr_29^0'=__disjvr_29^post21, x_19^0'=x_19^post21, r_42^0'=r_42^post21, z_28^0'=z_28^post21, __disjvr_11^0'=__disjvr_11^post21, a_377^0'=a_377^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post21, length_32^0'=length_32^post21, y_22^0'=y_22^post21, __disjvr_6^0'=__disjvr_6^post21, rcd_228^0'=rcd_228^post21, __disjvr_16^0'=__disjvr_16^post21, i_120^0'=i_120^post21, __disjvr_26^0'=__disjvr_26^post21, temp1_30^0'=temp1_30^post21, nondet_12^0'=nondet_12^post21, z_252^0'=z_252^post21, a_27^0'=a_27^post21, rcd_46^0'=rcd_46^post21, __disjvr_20^0'=__disjvr_20^post21, len_286^0'=len_286^post21, __disjvr_3^0'=__disjvr_3^post21, rcd_113^0'=rcd_113^post21, __disjvr_13^0'=__disjvr_13^post21, head_13^0'=head_13^post21, __disjvr_23^0'=__disjvr_23^post21, t_24^0'=t_24^post21, lt_29^0'=lt_29^post21, z_188^0'=z_188^post21, __disjvr_8^0'=__disjvr_8^post21, rcd_264^0'=rcd_264^post21, rcd_356^0'=rcd_356^post21, __disjvr_18^0'=__disjvr_18^post21, i_33^0'=i_33^post21, __disjvr_28^0'=__disjvr_28^post21, tmp_37^0'=tmp_37^post21, r_236^0'=r_236^post21, z_279^0'=z_279^post21, __disjvr_10^0'=__disjvr_10^post21, a_347^0'=a_347^post21, result_11^0'=result_11^post21, __disjvr_22^0'=__disjvr_22^post21, x_SLAM_f_21^0'=x_SLAM_f_21^post21, __disjvr_5^0'=__disjvr_5^post21, rcd_226^0'=rcd_226^post21, __disjvr_15^0'=__disjvr_15^post21, i_111^0'=i_111^post21, __disjvr_25^0'=__disjvr_25^post21, temp0_34^0'=temp0_34^post21, lt_483^0'=lt_483^post21, z_238^0'=z_238^post21, a_166^0'=a_166^post21, a_267^0'=a_267^post21, rcd_396^0'=rcd_396^post21, __disjvr_1^0'=__disjvr_1^post21, len_266^0'=len_266^post21, __disjvr_2^0'=__disjvr_2^post21, rcd_105^0'=rcd_105^post21, z_389^0'=z_389^post21, __disjvr_12^0'=__disjvr_12^post21, ct_20^0'=ct_20^post21, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post21, lt_17^0'=lt_17^post21, z_160^0'=z_160^post21, __disjvr_7^0'=__disjvr_7^post21, rcd_237^0'=rcd_237^post21, rcd_352^0'=rcd_352^post21, __disjvr_17^0'=__disjvr_17^post21, i_227^0'=i_227^post21, __disjvr_27^0'=__disjvr_27^post21, temp_38^0'=temp_38^post21, r_178^0'=r_178^post21, z_265^0'=z_265^post21, (0 == 0 /\ __disjvr_14^0-__disjvr_14^post21 == 0 /\ z_279^0-z_279^post21 == 0 /\ result_11^0-result_11^post21 == 0 /\ -lt_17^post21+lt_17^0 == 0 /\ z_229^0-z_229^post21 == 0 /\ __disjvr_19^0-__disjvr_19^post21 == 0 /\ z_28^0-z_28^post21 == 0 /\ rcd_105^0-rcd_105^post21 == 0 /\ -a_27^post21+a_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0 /\ -temp_38^post21+temp_38^0 == 0 /\ x_19^0-x_19^post21 == 0 /\ -__disjvr_3^post21+__disjvr_3^0 == 0 /\ -temp0_34^post21+temp0_34^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post21 == 0 /\ -__disjvr_10^post21+__disjvr_10^0 == 0 /\ -rcd_352^post21+rcd_352^0 == 0 /\ rcd_264^0-rcd_264^post21 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ -x_19^0+x_SLAM_f_21^0 <= 0 /\ rcd_228^0-rcd_228^post21 == 0 /\ -__disjvr_16^post21+__disjvr_16^0 == 0 /\ -y_22^0+ct_20^0 <= 0 /\ z_238^0-z_238^post21 == 0 /\ -__disjvr_13^post21+__disjvr_13^0 == 0 /\ -tmp_37^post21+tmp_37^0 == 0 /\ y_22^0 <= 0 /\ -i_227^post21+i_227^0 == 0 /\ -__disjvr_27^post21+__disjvr_27^0 == 0 /\ temp1_30^0-temp1_30^post21 == 0 /\ -__disjvr_5^post21+__disjvr_5^0 == 0 /\ rcd_113^0-rcd_113^post21 == 0 /\ __disjvr_26^0-__disjvr_26^post21 == 0 /\ temp0_18^0-temp0_18^post21 == 0 /\ rcd_396^0-rcd_396^post21 == 0 /\ -r_236^post21+r_236^0 == 0 /\ -x_SLAM_f_21^post21+x_SLAM_f_21^0 == 0 /\ -rcd_376^post21+rcd_376^0 == 0 /\ x_19^0-x_SLAM_f_21^0 <= 0 /\ __disjvr_12^0-__disjvr_12^post21 == 0 /\ len_266^0-len_266^post21 == 0 /\ __disjvr_28^0-__disjvr_28^post21 == 0 /\ y_22^0-ct_20^0 <= 0 /\ -ct_20^post21+ct_20^0 == 0 /\ y_22^0-y_22^post21 == 0 /\ __disjvr_6^0-__disjvr_6^post21 == 0 /\ z_252^0-z_252^post21 == 0 /\ -lt_483^post21+lt_483^0 == 0 /\ -__disjvr_18^post21+__disjvr_18^0 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ i_120^0-i_120^post21 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ -a_347^0+a_321^post21 <= 0 /\ length_32^0-length_32^post21 == 0 /\ -z_265^post21+z_265^0 == 0 /\ __disjvr_23^0-__disjvr_23^post21 == 0 /\ rcd_46^0-rcd_46^post21 == 0 /\ -__disjvr_15^post21+__disjvr_15^0 == 0 /\ -__disjvr_4^post21+__disjvr_4^0 == 0 /\ z_160^0-z_160^post21 == 0 /\ -a_377^post21+a_377^0 == 0 /\ rcd_46^0-rcd_352^0 <= 0 /\ z_188^0-z_188^post21 == 0 /\ head_35^0-head_35^post21 == 0 /\ __disjvr_29^0-__disjvr_29^post21 == 0 /\ __disjvr_20^0-__disjvr_20^post21 == 0 /\ -x_19^0+lt_17^0 <= 0 /\ -__disjvr_1^post21+__disjvr_1^0 == 0 /\ -t_24^post21+lt_17^0 <= 0 /\ i_111^0-i_111^post21 == 0 /\ x_23^0-x_23^post21 == 0 /\ r_42^0-r_42^post21 == 0 /\ -i_33^post21+i_33^0 == 0 /\ -a_166^post21+a_166^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post21+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ rcd_70^0-rcd_70^post21 == 0 /\ -head_13^post21+head_13^0 == 0 /\ __disjvr_17^0-__disjvr_17^post21 == 0 /\ a_347^0-a_321^post21 <= 0 /\ -y_22^0 <= 0 /\ -__disjvr_25^post21+__disjvr_25^0 == 0 /\ -__disjvr_9^post21+__disjvr_9^0 == 0 /\ -rcd_226^post21+rcd_226^0 == 0 /\ len_195^0-len_195^post21 == 0 /\ -__disjvr_22^post21+__disjvr_22^0 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ -a_267^post21+a_267^0 == 0 /\ -r_178^post21+r_178^0 == 0 /\ ct_20^0 <= 0 /\ len_286^0-len_286^post21 == 0 /\ -rcd_237^post21+rcd_237^0 == 0 /\ -ct_20^0 <= 0 /\ -lt_29^post21+lt_29^0 == 0 /\ -rcd_46^0+rcd_352^0 <= 0 /\ x_19^0-lt_17^0 <= 0 /\ a_347^0-a_347^post21 == 0 /\ -__disjvr_2^post21+__disjvr_2^0 == 0 /\ -z_389^post21+z_389^0 == 0 /\ -rcd_356^post21+rcd_356^0 == 0 /\ -lt_386^post21+lt_386^0 == 0 /\ -x_23^0+t_24^post21 == 0 /\ __disjvr_24^0-__disjvr_24^post21 == 0 /\ rcd_222^0-rcd_222^post21 == 0 /\ a_210^0-a_210^post21 == 0 /\ t_24^post21-lt_17^0 <= 0 /\ -nondet_12^post21+nondet_12^0 == 0), cost: 1
  22: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post22, a_321^0'=a_321^post22, rcd_70^0'=rcd_70^post22, __disjvr_21^0'=__disjvr_21^post22, x_23^0'=x_23^post22, __disjvr_4^0'=__disjvr_4^post22, rcd_222^0'=rcd_222^post22, __disjvr_14^0'=__disjvr_14^post22, head_35^0'=head_35^post22, __disjvr_24^0'=__disjvr_24^post22, temp0_18^0'=temp0_18^post22, lt_386^0'=lt_386^post22, z_229^0'=z_229^post22, __disjvr_9^0'=__disjvr_9^post22, a_210^0'=a_210^post22, rcd_376^0'=rcd_376^post22, __disjvr_19^0'=__disjvr_19^post22, len_195^0'=len_195^post22, __disjvr_29^0'=__disjvr_29^post22, x_19^0'=x_19^post22, r_42^0'=r_42^post22, z_28^0'=z_28^post22, __disjvr_11^0'=__disjvr_11^post22, a_377^0'=a_377^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post22, length_32^0'=length_32^post22, y_22^0'=y_22^post22, __disjvr_6^0'=__disjvr_6^post22, rcd_228^0'=rcd_228^post22, __disjvr_16^0'=__disjvr_16^post22, i_120^0'=i_120^post22, __disjvr_26^0'=__disjvr_26^post22, temp1_30^0'=temp1_30^post22, nondet_12^0'=nondet_12^post22, z_252^0'=z_252^post22, a_27^0'=a_27^post22, rcd_46^0'=rcd_46^post22, __disjvr_20^0'=__disjvr_20^post22, len_286^0'=len_286^post22, __disjvr_3^0'=__disjvr_3^post22, rcd_113^0'=rcd_113^post22, __disjvr_13^0'=__disjvr_13^post22, head_13^0'=head_13^post22, __disjvr_23^0'=__disjvr_23^post22, t_24^0'=t_24^post22, lt_29^0'=lt_29^post22, z_188^0'=z_188^post22, __disjvr_8^0'=__disjvr_8^post22, rcd_264^0'=rcd_264^post22, rcd_356^0'=rcd_356^post22, __disjvr_18^0'=__disjvr_18^post22, i_33^0'=i_33^post22, __disjvr_28^0'=__disjvr_28^post22, tmp_37^0'=tmp_37^post22, r_236^0'=r_236^post22, z_279^0'=z_279^post22, __disjvr_10^0'=__disjvr_10^post22, a_347^0'=a_347^post22, result_11^0'=result_11^post22, __disjvr_22^0'=__disjvr_22^post22, x_SLAM_f_21^0'=x_SLAM_f_21^post22, __disjvr_5^0'=__disjvr_5^post22, rcd_226^0'=rcd_226^post22, __disjvr_15^0'=__disjvr_15^post22, i_111^0'=i_111^post22, __disjvr_25^0'=__disjvr_25^post22, temp0_34^0'=temp0_34^post22, lt_483^0'=lt_483^post22, z_238^0'=z_238^post22, a_166^0'=a_166^post22, a_267^0'=a_267^post22, rcd_396^0'=rcd_396^post22, __disjvr_1^0'=__disjvr_1^post22, len_266^0'=len_266^post22, __disjvr_2^0'=__disjvr_2^post22, rcd_105^0'=rcd_105^post22, z_389^0'=z_389^post22, __disjvr_12^0'=__disjvr_12^post22, ct_20^0'=ct_20^post22, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post22, lt_17^0'=lt_17^post22, z_160^0'=z_160^post22, __disjvr_7^0'=__disjvr_7^post22, rcd_237^0'=rcd_237^post22, rcd_352^0'=rcd_352^post22, __disjvr_17^0'=__disjvr_17^post22, i_227^0'=i_227^post22, __disjvr_27^0'=__disjvr_27^post22, temp_38^0'=temp_38^post22, r_178^0'=r_178^post22, z_265^0'=z_265^post22, (-z_279^post22+z_279^0 == 0 /\ len_286^0-len_286^post22 == 0 /\ lt_29^0-lt_29^post22 == 0 /\ -__disjvr_20^post22+__disjvr_20^0 == 0 /\ -a_377^post22+a_377^0 == 0 /\ rcd_113^0-rcd_113^post22 == 0 /\ rcd_228^0-rcd_228^post22 == 0 /\ __disjvr_4^0-__disjvr_4^post22 == 0 /\ head_13^0-head_13^post22 == 0 /\ rcd_70^0-rcd_70^post22 == 0 /\ -lt_483^post22+lt_483^0 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ temp1_30^0-temp1_30^post22 == 0 /\ r_236^0-r_236^post22 == 0 /\ -__disjvr_6^post22+__disjvr_6^0 == 0 /\ -i_227^post22+i_227^0 == 0 /\ -i_111^post22+i_111^0 == 0 /\ -__disjvr_27^post22+__disjvr_27^0 == 0 /\ a_210^0-a_210^post22 == 0 /\ -len_266^post22+len_266^0 == 0 /\ __disjvr_8^0-__disjvr_8^post22 == 0 /\ __disjvr_21^0-__disjvr_21^post22 == 0 /\ z_238^0-z_238^post22 == 0 /\ t_24^0-t_24^post22 == 0 /\ -__disjvr_25^post22+__disjvr_25^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post22 == 0 /\ -z_389^post22+z_389^0 == 0 /\ -__disjvr_12^post22+__disjvr_12^0 == 0 /\ __disjvr_23^0-__disjvr_23^post22 == 0 /\ head_35^0-head_35^post22 == 0 /\ -z_160^post22+z_160^0 == 0 /\ a_267^0-a_267^post22 == 0 /\ -__disjvr_28^post22+__disjvr_28^0 == 0 /\ -a_347^post22+a_347^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post22+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ i_33^0-i_33^post22 == 0 /\ -z_265^post22+z_265^0 == 0 /\ -length_32^post22+length_32^0 == 0 /\ -rcd_356^post22+rcd_356^0 == 0 /\ -__disjvr_22^post22+__disjvr_22^0 == 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ -__disjvr_2^post22+__disjvr_2^0 == 0 /\ -__disjvr_29^post22+__disjvr_29^0 == 0 /\ -__disjvr_13^post22+__disjvr_13^0 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ x_23^0-x_23^post22 == 0 /\ a_321^0-a_321^post22 == 0 /\ -rcd_222^post22+rcd_222^0 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ -rcd_264^post22+rcd_264^0 == 0 /\ r_42^0-r_42^post22 == 0 /\ len_195^0-len_195^post22 == 0 /\ __disjvr_26^0-__disjvr_26^post22 == 0 /\ -tmp_37^post22+tmp_37^0 == 0 /\ a_27^0-a_27^post22 == 0 /\ __disjvr_18^0-__disjvr_18^post22 == 0 /\ rcd_237^0-rcd_237^post22 == 0 /\ -rcd_396^post22+rcd_396^0 == 0 /\ -lt_17^post22+lt_17^0 == 0 /\ -a_166^post22+a_166^0 == 0 /\ -rcd_352^post22+rcd_352^0 == 0 /\ -__disjvr_24^post22+__disjvr_24^0 == 0 /\ y_22^0-y_22^post22 == 0 /\ -result_11^post22+result_11^0 == 0 /\ __disjvr_14^0-__disjvr_14^post22 == 0 /\ z_252^0-z_252^post22 == 0 /\ -rcd_226^post22+rcd_226^0 == 0 /\ i_120^0-i_120^post22 == 0 /\ -r_178^post22+r_178^0 == 0 /\ __disjvr_19^0-__disjvr_19^post22 == 0 /\ __disjvr_10^post22-__disjvr_10^0 == 0 /\ x_19^0-x_19^post22 == 0 /\ -rcd_376^post22+rcd_376^0 == 0 /\ z_229^0-z_229^post22 == 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0 /\ -__disjvr_7^post22+__disjvr_7^0 == 0 /\ -__disjvr_16^post22+__disjvr_16^0 == 0 /\ rcd_46^0-rcd_46^post22 == 0 /\ -x_SLAM_f_21^post22+x_SLAM_f_21^0 == 0 /\ lt_386^0-lt_386^post22 == 0 /\ -ct_20^post22+ct_20^0 == 0 /\ -rcd_105^post22+rcd_105^0 == 0 /\ z_28^0-z_28^post22 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ z_188^0-z_188^post22 == 0 /\ __disjvr_15^0-__disjvr_15^post22 == 0 /\ temp0_18^0-temp0_18^post22 == 0 /\ -temp_38^post22+temp_38^0 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ -temp0_34^post22+temp0_34^0 == 0), cost: 1
  23: l22 -> l23 : __disjvr_0^0'=__disjvr_0^post23, a_321^0'=a_321^post23, rcd_70^0'=rcd_70^post23, __disjvr_21^0'=__disjvr_21^post23, x_23^0'=x_23^post23, __disjvr_4^0'=__disjvr_4^post23, rcd_222^0'=rcd_222^post23, __disjvr_14^0'=__disjvr_14^post23, head_35^0'=head_35^post23, __disjvr_24^0'=__disjvr_24^post23, temp0_18^0'=temp0_18^post23, lt_386^0'=lt_386^post23, z_229^0'=z_229^post23, __disjvr_9^0'=__disjvr_9^post23, a_210^0'=a_210^post23, rcd_376^0'=rcd_376^post23, __disjvr_19^0'=__disjvr_19^post23, len_195^0'=len_195^post23, __disjvr_29^0'=__disjvr_29^post23, x_19^0'=x_19^post23, r_42^0'=r_42^post23, z_28^0'=z_28^post23, __disjvr_11^0'=__disjvr_11^post23, a_377^0'=a_377^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post23, length_32^0'=length_32^post23, y_22^0'=y_22^post23, __disjvr_6^0'=__disjvr_6^post23, rcd_228^0'=rcd_228^post23, __disjvr_16^0'=__disjvr_16^post23, i_120^0'=i_120^post23, __disjvr_26^0'=__disjvr_26^post23, temp1_30^0'=temp1_30^post23, nondet_12^0'=nondet_12^post23, z_252^0'=z_252^post23, a_27^0'=a_27^post23, rcd_46^0'=rcd_46^post23, __disjvr_20^0'=__disjvr_20^post23, len_286^0'=len_286^post23, __disjvr_3^0'=__disjvr_3^post23, rcd_113^0'=rcd_113^post23, __disjvr_13^0'=__disjvr_13^post23, head_13^0'=head_13^post23, __disjvr_23^0'=__disjvr_23^post23, t_24^0'=t_24^post23, lt_29^0'=lt_29^post23, z_188^0'=z_188^post23, __disjvr_8^0'=__disjvr_8^post23, rcd_264^0'=rcd_264^post23, rcd_356^0'=rcd_356^post23, __disjvr_18^0'=__disjvr_18^post23, i_33^0'=i_33^post23, __disjvr_28^0'=__disjvr_28^post23, tmp_37^0'=tmp_37^post23, r_236^0'=r_236^post23, z_279^0'=z_279^post23, __disjvr_10^0'=__disjvr_10^post23, a_347^0'=a_347^post23, result_11^0'=result_11^post23, __disjvr_22^0'=__disjvr_22^post23, x_SLAM_f_21^0'=x_SLAM_f_21^post23, __disjvr_5^0'=__disjvr_5^post23, rcd_226^0'=rcd_226^post23, __disjvr_15^0'=__disjvr_15^post23, i_111^0'=i_111^post23, __disjvr_25^0'=__disjvr_25^post23, temp0_34^0'=temp0_34^post23, lt_483^0'=lt_483^post23, z_238^0'=z_238^post23, a_166^0'=a_166^post23, a_267^0'=a_267^post23, rcd_396^0'=rcd_396^post23, __disjvr_1^0'=__disjvr_1^post23, len_266^0'=len_266^post23, __disjvr_2^0'=__disjvr_2^post23, rcd_105^0'=rcd_105^post23, z_389^0'=z_389^post23, __disjvr_12^0'=__disjvr_12^post23, ct_20^0'=ct_20^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post23, lt_17^0'=lt_17^post23, z_160^0'=z_160^post23, __disjvr_7^0'=__disjvr_7^post23, rcd_237^0'=rcd_237^post23, rcd_352^0'=rcd_352^post23, __disjvr_17^0'=__disjvr_17^post23, i_227^0'=i_227^post23, __disjvr_27^0'=__disjvr_27^post23, temp_38^0'=temp_38^post23, r_178^0'=r_178^post23, z_265^0'=z_265^post23, (x_19^0-x_19^post23 == 0 /\ i_120^0-i_120^post23 == 0 /\ length_32^0-length_32^post23 == 0 /\ -__disjvr_3^post23+__disjvr_3^0 == 0 /\ -a_27^post23+a_27^0 == 0 /\ -rcd_396^post23+rcd_396^0 == 0 /\ __disjvr_19^0-__disjvr_19^post23 == 0 /\ -temp0_34^post23+temp0_34^0 == 0 /\ __disjvr_13^0-__disjvr_13^post23 == 0 /\ rcd_46^0-rcd_46^post23 == 0 /\ -t_24^post23+t_24^0 == 0 /\ -temp_38^post23+temp_38^0 == 0 /\ -rcd_264^post23+rcd_264^0 == 0 /\ -r_178^post23+r_178^0 == 0 /\ __disjvr_20^0-__disjvr_20^post23 == 0 /\ head_35^0-head_35^post23 == 0 /\ -__disjvr_25^post23+__disjvr_25^0 == 0 /\ z_188^0-z_188^post23 == 0 /\ a_377^0-a_377^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -tmp_37^post23+tmp_37^0 == 0 /\ -lt_17^post23+lt_17^0 == 0 /\ __disjvr_4^0-__disjvr_4^post23 == 0 /\ rcd_356^0-rcd_356^post23 == 0 /\ -i_227^post23+i_227^0 == 0 /\ rcd_70^0-rcd_70^post23 == 0 /\ -rcd_105^post23+rcd_105^0 == 0 /\ -ct_20^post23+ct_20^0 == 0 /\ -i_111^post23+i_111^0 == 0 /\ -__disjvr_27^post23+__disjvr_27^0 == 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0 /\ -__disjvr_1^post23+__disjvr_1^0 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ rcd_222^0-rcd_222^post23 == 0 /\ z_389^0-z_389^post23 == 0 /\ __disjvr_24^0-__disjvr_24^post23 == 0 /\ -x_SLAM_f_21^post23+x_SLAM_f_21^0 == 0 /\ -len_286^post23+len_286^0 == 0 /\ -z_238^post23+z_238^0 == 0 /\ lt_483^0-lt_483^post23 == 0 /\ __disjvr_14^0-__disjvr_14^post23 == 0 /\ result_11^0-result_11^post23 == 0 /\ z_28^0-z_28^post23 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ __disjvr_15^0-__disjvr_15^post23 == 0 /\ rcd_376^0-rcd_376^post23 == 0 /\ -lt_29^post23+lt_29^0 == 0 /\ -len_266^post23+len_266^0 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ __disjvr_11^0-__disjvr_11^post23 == 0 /\ __disjvr_21^0-__disjvr_21^post23 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post23 == 0 /\ -__disjvr_9^post23+__disjvr_9^0 == 0 /\ -a_210^post23+a_210^0 == 0 /\ head_13^0-head_13^post23 == 0 /\ -x_23^post23+x_23^0 == 0 /\ -i_33^post23+i_33^0 == 0 /\ __disjvr_29^0-__disjvr_29^post23 == 0 /\ __disjvr_16^0-__disjvr_16^post23 == 0 /\ -z_160^post23+z_160^0 == 0 /\ -z_279^post23+z_279^0 == 0 /\ -temp1_30^post23+temp1_30^0 == 0 /\ -__disjvr_12^post23+__disjvr_12^0 == 0 /\ -a_166^post23+a_166^0 == 0 /\ -rcd_352^post23+rcd_352^0 == 0 /\ temp0_18^0-temp0_18^post23 == 0 /\ -__disjvr_8^post23+__disjvr_8^0 == 0 /\ -a_267^post23+a_267^0 == 0 /\ __disjvr_10^0-__disjvr_10^post23 == 0 /\ r_42^0-r_42^post23 == 0 /\ len_195^0-len_195^post23 == 0 /\ __disjvr_18^0-__disjvr_18^post23 == 0 /\ -__disjvr_11^0+__disjvr_11^post23 == 0 /\ a_321^0-a_321^post23 == 0 /\ rcd_113^0-rcd_113^post23 == 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ -__disjvr_28^post23+__disjvr_28^0 == 0 /\ -rcd_228^post23+rcd_228^0 == 0 /\ -rcd_226^post23+rcd_226^0 == 0 /\ -__disjvr_22^post23+__disjvr_22^0 == 0 /\ z_252^0-z_252^post23 == 0 /\ lt_386^0-lt_386^post23 == 0 /\ -z_265^post23+z_265^0 == 0 /\ __disjvr_23^0-__disjvr_23^post23 == 0 /\ -a_347^post23+a_347^0 == 0 /\ r_236^0-r_236^post23 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post23+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ y_22^0-y_22^post23 == 0 /\ __disjvr_6^0-__disjvr_6^post23 == 0 /\ z_229^0-z_229^post23 == 0 /\ -rcd_237^post23+rcd_237^0 == 0), cost: 1
  24: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post24, a_321^0'=a_321^post24, rcd_70^0'=rcd_70^post24, __disjvr_21^0'=__disjvr_21^post24, x_23^0'=x_23^post24, __disjvr_4^0'=__disjvr_4^post24, rcd_222^0'=rcd_222^post24, __disjvr_14^0'=__disjvr_14^post24, head_35^0'=head_35^post24, __disjvr_24^0'=__disjvr_24^post24, temp0_18^0'=temp0_18^post24, lt_386^0'=lt_386^post24, z_229^0'=z_229^post24, __disjvr_9^0'=__disjvr_9^post24, a_210^0'=a_210^post24, rcd_376^0'=rcd_376^post24, __disjvr_19^0'=__disjvr_19^post24, len_195^0'=len_195^post24, __disjvr_29^0'=__disjvr_29^post24, x_19^0'=x_19^post24, r_42^0'=r_42^post24, z_28^0'=z_28^post24, __disjvr_11^0'=__disjvr_11^post24, a_377^0'=a_377^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post24, length_32^0'=length_32^post24, y_22^0'=y_22^post24, __disjvr_6^0'=__disjvr_6^post24, rcd_228^0'=rcd_228^post24, __disjvr_16^0'=__disjvr_16^post24, i_120^0'=i_120^post24, __disjvr_26^0'=__disjvr_26^post24, temp1_30^0'=temp1_30^post24, nondet_12^0'=nondet_12^post24, z_252^0'=z_252^post24, a_27^0'=a_27^post24, rcd_46^0'=rcd_46^post24, __disjvr_20^0'=__disjvr_20^post24, len_286^0'=len_286^post24, __disjvr_3^0'=__disjvr_3^post24, rcd_113^0'=rcd_113^post24, __disjvr_13^0'=__disjvr_13^post24, head_13^0'=head_13^post24, __disjvr_23^0'=__disjvr_23^post24, t_24^0'=t_24^post24, lt_29^0'=lt_29^post24, z_188^0'=z_188^post24, __disjvr_8^0'=__disjvr_8^post24, rcd_264^0'=rcd_264^post24, rcd_356^0'=rcd_356^post24, __disjvr_18^0'=__disjvr_18^post24, i_33^0'=i_33^post24, __disjvr_28^0'=__disjvr_28^post24, tmp_37^0'=tmp_37^post24, r_236^0'=r_236^post24, z_279^0'=z_279^post24, __disjvr_10^0'=__disjvr_10^post24, a_347^0'=a_347^post24, result_11^0'=result_11^post24, __disjvr_22^0'=__disjvr_22^post24, x_SLAM_f_21^0'=x_SLAM_f_21^post24, __disjvr_5^0'=__disjvr_5^post24, rcd_226^0'=rcd_226^post24, __disjvr_15^0'=__disjvr_15^post24, i_111^0'=i_111^post24, __disjvr_25^0'=__disjvr_25^post24, temp0_34^0'=temp0_34^post24, lt_483^0'=lt_483^post24, z_238^0'=z_238^post24, a_166^0'=a_166^post24, a_267^0'=a_267^post24, rcd_396^0'=rcd_396^post24, __disjvr_1^0'=__disjvr_1^post24, len_266^0'=len_266^post24, __disjvr_2^0'=__disjvr_2^post24, rcd_105^0'=rcd_105^post24, z_389^0'=z_389^post24, __disjvr_12^0'=__disjvr_12^post24, ct_20^0'=ct_20^post24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post24, lt_17^0'=lt_17^post24, z_160^0'=z_160^post24, __disjvr_7^0'=__disjvr_7^post24, rcd_237^0'=rcd_237^post24, rcd_352^0'=rcd_352^post24, __disjvr_17^0'=__disjvr_17^post24, i_227^0'=i_227^post24, __disjvr_27^0'=__disjvr_27^post24, temp_38^0'=temp_38^post24, r_178^0'=r_178^post24, z_265^0'=z_265^post24, (-__disjvr_5^post24+__disjvr_5^0 == 0 /\ x_23^0-x_23^post24 == 0 /\ __disjvr_26^0-__disjvr_26^post24 == 0 /\ a_377^0-a_377^post24 == 0 /\ -z_238^post24+z_238^0 == 0 /\ -lt_483^post24+lt_483^0 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ -i_227^post24+i_227^0 == 0 /\ __disjvr_1^0-__disjvr_1^post24 == 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ -temp1_30^post24+temp1_30^0 == 0 /\ y_22^0-y_22^post24 == 0 /\ -__disjvr_23^post24+__disjvr_23^0 == 0 /\ __disjvr_14^0-__disjvr_14^post24 == 0 /\ z_252^0-z_252^post24 == 0 /\ -i_111^post24+i_111^0 == 0 /\ -z_279^post24+z_279^0 == 0 /\ -__disjvr_27^post24+__disjvr_27^0 == 0 /\ r_236^0-r_236^post24 == 0 /\ -len_266^post24+len_266^0 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ -z_389^post24+z_389^0 == 0 /\ -z_265^post24+z_265^0 == 0 /\ -__disjvr_25^post24+__disjvr_25^0 == 0 /\ z_188^0-z_188^post24 == 0 /\ -z_160^post24+z_160^0 == 0 /\ length_32^0-length_32^post24 == 0 /\ -a_166^post24+a_166^0 == 0 /\ __disjvr_16^0-__disjvr_16^post24 == 0 /\ __disjvr_12^post24-__disjvr_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post24 == 0 /\ temp0_18^0-temp0_18^post24 == 0 /\ i_33^0-i_33^post24 == 0 /\ -__disjvr_2^post24+__disjvr_2^0 == 0 /\ -__disjvr_17^post24+__disjvr_17^0 == 0 /\ -__disjvr_15^post24+__disjvr_15^0 == 0 /\ -rcd_237^post24+rcd_237^0 == 0 /\ -a_267^post24+a_267^0 == 0 /\ __disjvr_20^0-__disjvr_20^post24 == 0 /\ -a_347^post24+a_347^0 == 0 /\ -__disjvr_28^post24+__disjvr_28^0 == 0 /\ __disjvr_29^0-__disjvr_29^post24 == 0 /\ -lt_29^post24+lt_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post24+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -z_229^post24+z_229^0 == 0 /\ len_286^0-len_286^post24 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ -r_178^post24+r_178^0 == 0 /\ a_27^0-a_27^post24 == 0 /\ -rcd_264^post24+rcd_264^0 == 0 /\ -__disjvr_13^post24+__disjvr_13^0 == 0 /\ rcd_356^0-rcd_356^post24 == 0 /\ temp0_34^0-temp0_34^post24 == 0 /\ r_42^0-r_42^post24 == 0 /\ len_195^0-len_195^post24 == 0 /\ -rcd_352^post24+rcd_352^0 == 0 /\ head_13^0-head_13^post24 == 0 /\ __disjvr_4^0-__disjvr_4^post24 == 0 /\ rcd_113^0-rcd_113^post24 == 0 /\ rcd_226^0-rcd_226^post24 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ rcd_70^0-rcd_70^post24 == 0 /\ a_321^0-a_321^post24 == 0 /\ lt_17^0-lt_17^post24 == 0 /\ -result_11^post24+result_11^0 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ -rcd_396^post24+rcd_396^0 == 0 /\ lt_386^0-lt_386^post24 == 0 /\ -__disjvr_3^post24+__disjvr_3^0 == 0 /\ -tmp_37^post24+tmp_37^0 == 0 /\ a_210^0-a_210^post24 == 0 /\ -__disjvr_10^post24+__disjvr_10^0 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ -__disjvr_21^post24+__disjvr_21^0 == 0 /\ -rcd_228^post24+rcd_228^0 == 0 /\ -__disjvr_8^post24+__disjvr_8^0 == 0 /\ z_28^0-z_28^post24 == 0 /\ -__disjvr_24^post24+__disjvr_24^0 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ -ct_20^post24+ct_20^0 == 0 /\ rcd_376^0-rcd_376^post24 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ i_120^0-i_120^post24 == 0 /\ x_19^0-x_19^post24 == 0 /\ rcd_46^0-rcd_46^post24 == 0 /\ head_35^0-head_35^post24 == 0 /\ rcd_222^0-rcd_222^post24 == 0 /\ -t_24^post24+t_24^0 == 0 /\ -rcd_105^post24+rcd_105^0 == 0 /\ -x_SLAM_f_21^post24+x_SLAM_f_21^0 == 0 /\ -__disjvr_19^post24+__disjvr_19^0 == 0 /\ -temp_38^post24+temp_38^0 == 0), cost: 1
  25: l24 -> l0 : __disjvr_0^0'=__disjvr_0^post25, a_321^0'=a_321^post25, rcd_70^0'=rcd_70^post25, __disjvr_21^0'=__disjvr_21^post25, x_23^0'=x_23^post25, __disjvr_4^0'=__disjvr_4^post25, rcd_222^0'=rcd_222^post25, __disjvr_14^0'=__disjvr_14^post25, head_35^0'=head_35^post25, __disjvr_24^0'=__disjvr_24^post25, temp0_18^0'=temp0_18^post25, lt_386^0'=lt_386^post25, z_229^0'=z_229^post25, __disjvr_9^0'=__disjvr_9^post25, a_210^0'=a_210^post25, rcd_376^0'=rcd_376^post25, __disjvr_19^0'=__disjvr_19^post25, len_195^0'=len_195^post25, __disjvr_29^0'=__disjvr_29^post25, x_19^0'=x_19^post25, r_42^0'=r_42^post25, z_28^0'=z_28^post25, __disjvr_11^0'=__disjvr_11^post25, a_377^0'=a_377^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post25, length_32^0'=length_32^post25, y_22^0'=y_22^post25, __disjvr_6^0'=__disjvr_6^post25, rcd_228^0'=rcd_228^post25, __disjvr_16^0'=__disjvr_16^post25, i_120^0'=i_120^post25, __disjvr_26^0'=__disjvr_26^post25, temp1_30^0'=temp1_30^post25, nondet_12^0'=nondet_12^post25, z_252^0'=z_252^post25, a_27^0'=a_27^post25, rcd_46^0'=rcd_46^post25, __disjvr_20^0'=__disjvr_20^post25, len_286^0'=len_286^post25, __disjvr_3^0'=__disjvr_3^post25, rcd_113^0'=rcd_113^post25, __disjvr_13^0'=__disjvr_13^post25, head_13^0'=head_13^post25, __disjvr_23^0'=__disjvr_23^post25, t_24^0'=t_24^post25, lt_29^0'=lt_29^post25, z_188^0'=z_188^post25, __disjvr_8^0'=__disjvr_8^post25, rcd_264^0'=rcd_264^post25, rcd_356^0'=rcd_356^post25, __disjvr_18^0'=__disjvr_18^post25, i_33^0'=i_33^post25, __disjvr_28^0'=__disjvr_28^post25, tmp_37^0'=tmp_37^post25, r_236^0'=r_236^post25, z_279^0'=z_279^post25, __disjvr_10^0'=__disjvr_10^post25, a_347^0'=a_347^post25, result_11^0'=result_11^post25, __disjvr_22^0'=__disjvr_22^post25, x_SLAM_f_21^0'=x_SLAM_f_21^post25, __disjvr_5^0'=__disjvr_5^post25, rcd_226^0'=rcd_226^post25, __disjvr_15^0'=__disjvr_15^post25, i_111^0'=i_111^post25, __disjvr_25^0'=__disjvr_25^post25, temp0_34^0'=temp0_34^post25, lt_483^0'=lt_483^post25, z_238^0'=z_238^post25, a_166^0'=a_166^post25, a_267^0'=a_267^post25, rcd_396^0'=rcd_396^post25, __disjvr_1^0'=__disjvr_1^post25, len_266^0'=len_266^post25, __disjvr_2^0'=__disjvr_2^post25, rcd_105^0'=rcd_105^post25, z_389^0'=z_389^post25, __disjvr_12^0'=__disjvr_12^post25, ct_20^0'=ct_20^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, lt_17^0'=lt_17^post25, z_160^0'=z_160^post25, __disjvr_7^0'=__disjvr_7^post25, rcd_237^0'=rcd_237^post25, rcd_352^0'=rcd_352^post25, __disjvr_17^0'=__disjvr_17^post25, i_227^0'=i_227^post25, __disjvr_27^0'=__disjvr_27^post25, temp_38^0'=temp_38^post25, r_178^0'=r_178^post25, z_265^0'=z_265^post25, (0 == 0 /\ -r_178^post25+r_178^0 == 0 /\ -t_24^post25+t_24^0 == 0 /\ a_267^0-a_267^post25 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ -rcd_396^post25+rcd_396^0 == 0 /\ -a_347^post25+a_347^0 == 0 /\ -rcd_237^post25+rcd_237^0 == 0 /\ z_188^0-z_188^post25 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ lt_386^0-lt_386^post25 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ rcd_376^0-rcd_376^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post25+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -head_13^post25+head_13^0 == 0 /\ a_377^0-a_377^post25 == 0 /\ -ct_20^post25+ct_20^0 == 0 /\ __disjvr_29^0-__disjvr_29^post25 == 0 /\ -rcd_228^post25+rcd_228^0 == 0 /\ -__disjvr_25^post25+__disjvr_25^0 == 0 /\ __disjvr_22^0-__disjvr_22^post25 == 0 /\ -rcd_352^post25+rcd_352^0 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ __disjvr_2^0-__disjvr_2^post25 == 0 /\ -rcd_105^post25+rcd_105^0 == 0 /\ __disjvr_18^0-__disjvr_18^post25 == 0 /\ -temp_38^post25+temp_38^0 == 0 /\ temp1_30^0-temp1_30^post25 == 0 /\ -r_236^post25+r_236^0 == 0 /\ -lt_17^post25+lt_17^0 == 0 /\ __disjvr_10^0-__disjvr_10^post25 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ temp0_18^0-temp0_18^post25 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -i_111^post25+i_111^0 == 0 /\ len_195^0-len_195^post25 == 0 /\ -i_120^post25+i_120^0 == 0 /\ -__disjvr_23^post25+__disjvr_23^0 == 0 /\ x_23^0-x_23^post25 == 0 /\ -__disjvr_1^post25+__disjvr_1^0 == 0 /\ y_22^0-y_22^post25 == 0 /\ -temp0_34^post25+temp0_34^0 == 0 /\ 1+a_321^0-len_286^post25 <= 0 /\ tmp_37^0-tmp_37^post25 == 0 /\ -z_252^post25+z_252^0 == 0 /\ -r_42^post25+r_42^0 == 0 /\ z_229^0-z_229^post25 == 0 /\ __disjvr_6^0-__disjvr_6^post25 == 0 /\ -__disjvr_5^post25+__disjvr_5^0 == 0 /\ -__disjvr_15^post25+__disjvr_15^0 == 0 /\ __disjvr_19^0-__disjvr_19^post25 == 0 /\ x_19^0-x_19^post25 == 0 /\ z_28^0-z_28^post25 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_264^0-rcd_264^post25 == 0 /\ -i_33^post25+i_33^0 == 0 /\ __disjvr_13^0-__disjvr_13^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post25 == 0 /\ -z_279^post25+z_279^0 == 0 /\ -len_266^post25+len_266^0 == 0 /\ __disjvr_16^0-__disjvr_16^post25 == 0 /\ -z_389^post25+z_389^0 == 0 /\ __disjvr_20^0-__disjvr_20^post25 == 0 /\ rcd_226^0-rcd_226^post25 == 0 /\ -rcd_356^post25+rcd_356^0 == 0 /\ -z_238^post25+z_238^0 == 0 /\ rcd_70^0-rcd_70^post25 == 0 /\ -z_265^post25+z_265^0 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ -z_160^post25+z_160^0 == 0 /\ -__disjvr_28^post25+__disjvr_28^0 == 0 /\ -head_35^post25+head_35^0 == 0 /\ a_321^0-a_321^post25 == 0 /\ a_27^0-a_27^post25 == 0 /\ i_227^0-i_227^post25 == 0 /\ -__disjvr_8^post25+__disjvr_8^0 == 0 /\ __disjvr_4^0-__disjvr_4^post25 == 0 /\ a_210^0-a_210^post25 == 0 /\ __disjvr_11^0-__disjvr_11^post25 == 0 /\ -lt_29^post25+lt_29^0 == 0 /\ __disjvr_26^0-__disjvr_26^post25 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ -1-a_321^0+len_286^post25 <= 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ rcd_222^0-rcd_222^post25 == 0 /\ nondet_12^0-nondet_12^post25 == 0 /\ __disjvr_27^0-__disjvr_27^post25 == 0 /\ -lt_483^post25+lt_483^0 == 0 /\ -rcd_113^post25+rcd_113^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post25 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -length_32^post25+length_32^0 == 0 /\ -a_166^post25+a_166^0 == 0 /\ -rcd_46^post25+rcd_46^0 == 0), cost: 1
  39: l25 -> l38 : __disjvr_0^0'=__disjvr_0^post39, a_321^0'=a_321^post39, rcd_70^0'=rcd_70^post39, __disjvr_21^0'=__disjvr_21^post39, x_23^0'=x_23^post39, __disjvr_4^0'=__disjvr_4^post39, rcd_222^0'=rcd_222^post39, __disjvr_14^0'=__disjvr_14^post39, head_35^0'=head_35^post39, __disjvr_24^0'=__disjvr_24^post39, temp0_18^0'=temp0_18^post39, lt_386^0'=lt_386^post39, z_229^0'=z_229^post39, __disjvr_9^0'=__disjvr_9^post39, a_210^0'=a_210^post39, rcd_376^0'=rcd_376^post39, __disjvr_19^0'=__disjvr_19^post39, len_195^0'=len_195^post39, __disjvr_29^0'=__disjvr_29^post39, x_19^0'=x_19^post39, r_42^0'=r_42^post39, z_28^0'=z_28^post39, __disjvr_11^0'=__disjvr_11^post39, a_377^0'=a_377^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39, length_32^0'=length_32^post39, y_22^0'=y_22^post39, __disjvr_6^0'=__disjvr_6^post39, rcd_228^0'=rcd_228^post39, __disjvr_16^0'=__disjvr_16^post39, i_120^0'=i_120^post39, __disjvr_26^0'=__disjvr_26^post39, temp1_30^0'=temp1_30^post39, nondet_12^0'=nondet_12^post39, z_252^0'=z_252^post39, a_27^0'=a_27^post39, rcd_46^0'=rcd_46^post39, __disjvr_20^0'=__disjvr_20^post39, len_286^0'=len_286^post39, __disjvr_3^0'=__disjvr_3^post39, rcd_113^0'=rcd_113^post39, __disjvr_13^0'=__disjvr_13^post39, head_13^0'=head_13^post39, __disjvr_23^0'=__disjvr_23^post39, t_24^0'=t_24^post39, lt_29^0'=lt_29^post39, z_188^0'=z_188^post39, __disjvr_8^0'=__disjvr_8^post39, rcd_264^0'=rcd_264^post39, rcd_356^0'=rcd_356^post39, __disjvr_18^0'=__disjvr_18^post39, i_33^0'=i_33^post39, __disjvr_28^0'=__disjvr_28^post39, tmp_37^0'=tmp_37^post39, r_236^0'=r_236^post39, z_279^0'=z_279^post39, __disjvr_10^0'=__disjvr_10^post39, a_347^0'=a_347^post39, result_11^0'=result_11^post39, __disjvr_22^0'=__disjvr_22^post39, x_SLAM_f_21^0'=x_SLAM_f_21^post39, __disjvr_5^0'=__disjvr_5^post39, rcd_226^0'=rcd_226^post39, __disjvr_15^0'=__disjvr_15^post39, i_111^0'=i_111^post39, __disjvr_25^0'=__disjvr_25^post39, temp0_34^0'=temp0_34^post39, lt_483^0'=lt_483^post39, z_238^0'=z_238^post39, a_166^0'=a_166^post39, a_267^0'=a_267^post39, rcd_396^0'=rcd_396^post39, __disjvr_1^0'=__disjvr_1^post39, len_266^0'=len_266^post39, __disjvr_2^0'=__disjvr_2^post39, rcd_105^0'=rcd_105^post39, z_389^0'=z_389^post39, __disjvr_12^0'=__disjvr_12^post39, ct_20^0'=ct_20^post39, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post39, lt_17^0'=lt_17^post39, z_160^0'=z_160^post39, __disjvr_7^0'=__disjvr_7^post39, rcd_237^0'=rcd_237^post39, rcd_352^0'=rcd_352^post39, __disjvr_17^0'=__disjvr_17^post39, i_227^0'=i_227^post39, __disjvr_27^0'=__disjvr_27^post39, temp_38^0'=temp_38^post39, r_178^0'=r_178^post39, z_265^0'=z_265^post39, (0 == 0 /\ -len_286^post39+len_286^0 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39+tmp_37^post39 <= 0 /\ tmp_37^post39-temp_38^0 == 0 /\ length_32^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post39 <= 0 /\ __disjvr_2^0-__disjvr_2^post39 == 0 /\ -__disjvr_5^post39+__disjvr_5^0 == 0 /\ -__disjvr_23^post39+__disjvr_23^0 == 0 /\ -z_252^post39+z_252^0 == 0 /\ __disjvr_26^0-__disjvr_26^post39 == 0 /\ a_27^0-a_27^post39 == 0 /\ __disjvr_10^0-__disjvr_10^post39 == 0 /\ -len_266^post39+len_266^0 == 0 /\ -z_279^post39+z_279^0 == 0 /\ __disjvr_18^0-__disjvr_18^post39 == 0 /\ rcd_376^0-rcd_376^post39 == 0 /\ -__disjvr_12^post39+__disjvr_12^0 == 0 /\ -z_238^post39+z_238^0 == 0 /\ -i_227^post39+i_227^0 == 0 /\ y_22^0-y_22^post39 == 0 /\ a_321^0-a_321^post39 == 0 /\ __disjvr_6^0-__disjvr_6^post39 == 0 /\ __disjvr_11^0-__disjvr_11^post39 == 0 /\ -rcd_356^post39+rcd_356^0 == 0 /\ __disjvr_9^0-__disjvr_9^post39 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0 /\ -i_111^post39+i_111^0 == 0 /\ len_195^0-len_195^post39 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ -__disjvr_27^post39+__disjvr_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39-tmp_37^post39 <= 0 /\ -z_265^post39+z_265^0 == 0 /\ -__disjvr_20^post39+__disjvr_20^0 == 0 /\ -length_32^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post39 <= 0 /\ length_32^0-length_32^post39 == 0 /\ lt_386^0-lt_386^post39 == 0 /\ -z_160^post39+z_160^0 == 0 /\ -__disjvr_8^post39+__disjvr_8^0 == 0 /\ -z_389^post39+z_389^0 == 0 /\ -__disjvr_28^post39+__disjvr_28^0 == 0 /\ a_166^0-a_166^post39 == 0 /\ -rcd_113^post39+rcd_113^0 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ temp0_18^0-temp0_18^post39 == 0 /\ -a_347^post39+a_347^0 == 0 /\ -__disjvr_15^post39+__disjvr_15^0 == 0 /\ -x_19^post39+x_19^0 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ -rcd_46^post39+rcd_46^0 == 0 /\ 2-i_33^post39 <= 0 /\ -a_267^post39+a_267^0 == 0 /\ __disjvr_16^0-__disjvr_16^post39 == 0 /\ __disjvr_3^0-__disjvr_3^post39 == 0 /\ -__disjvr_22^post39+__disjvr_22^0 == 0 /\ temp1_30^0-temp1_30^post39 == 0 /\ __disjvr_29^0-__disjvr_29^post39 == 0 /\ -r_178^post39+r_178^0 == 0 /\ 1-length_32^0+i_33^0 <= 0 /\ -__disjvr_1^post39+__disjvr_1^0 == 0 /\ -1+i_33^post39-i_33^0 == 0 /\ -z_229^post39+z_229^0 == 0 /\ temp0_34^0-temp0_34^post39 == 0 /\ -head_13^post39+head_13^0 == 0 /\ __disjvr_7^0-__disjvr_7^post39 == 0 /\ __disjvr_4^0-__disjvr_4^post39 == 0 /\ x_23^0-x_23^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39-head_35^post39 <= 0 /\ a_210^0-a_210^post39 == 0 /\ rcd_226^0-rcd_226^post39 == 0 /\ -head_35^post39+tmp_37^post39 <= 0 /\ -rcd_237^post39+rcd_237^0 == 0 /\ -rcd_264^post39+rcd_264^0 == 0 /\ -t_24^post39+t_24^0 == 0 /\ a_377^0-a_377^post39 == 0 /\ lt_17^0-lt_17^post39 == 0 /\ -result_11^post39+result_11^0 == 0 /\ lt_29^0-lt_29^post39 == 0 /\ -rcd_396^post39+rcd_396^0 == 0 /\ -ct_20^post39+ct_20^0 == 0 /\ -__disjvr_21^post39+__disjvr_21^0 == 0 /\ -z_28^post39+z_28^0 == 0 /\ 2-length_32^0 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post39 == 0 /\ -__disjvr_25^post39+__disjvr_25^0 == 0 /\ -z_188^post39+z_188^0 == 0 /\ lt_483^0-lt_483^post39 == 0 /\ 1-length_32^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post39 == 0 /\ -i_120^post39+i_120^0 == 0 /\ -r_236^post39+r_236^0 == 0 /\ -rcd_105^post39+rcd_105^0 == 0 /\ rcd_352^0-rcd_352^post39 == 0 /\ __disjvr_19^0-__disjvr_19^post39 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39+head_35^post39 <= 0 /\ head_35^post39-tmp_37^post39 <= 0 /\ head_35^post39-tmp_37^post39 == 0 /\ rcd_222^0-rcd_222^post39 == 0 /\ r_42^0-r_42^post39 == 0 /\ -2+i_33^post39 <= 0 /\ rcd_228^0-rcd_228^post39 == 0), cost: 1
  40: l38 -> l40 : __disjvr_0^0'=__disjvr_0^post40, a_321^0'=a_321^post40, rcd_70^0'=rcd_70^post40, __disjvr_21^0'=__disjvr_21^post40, x_23^0'=x_23^post40, __disjvr_4^0'=__disjvr_4^post40, rcd_222^0'=rcd_222^post40, __disjvr_14^0'=__disjvr_14^post40, head_35^0'=head_35^post40, __disjvr_24^0'=__disjvr_24^post40, temp0_18^0'=temp0_18^post40, lt_386^0'=lt_386^post40, z_229^0'=z_229^post40, __disjvr_9^0'=__disjvr_9^post40, a_210^0'=a_210^post40, rcd_376^0'=rcd_376^post40, __disjvr_19^0'=__disjvr_19^post40, len_195^0'=len_195^post40, __disjvr_29^0'=__disjvr_29^post40, x_19^0'=x_19^post40, r_42^0'=r_42^post40, z_28^0'=z_28^post40, __disjvr_11^0'=__disjvr_11^post40, a_377^0'=a_377^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, y_22^0'=y_22^post40, __disjvr_6^0'=__disjvr_6^post40, rcd_228^0'=rcd_228^post40, __disjvr_16^0'=__disjvr_16^post40, i_120^0'=i_120^post40, __disjvr_26^0'=__disjvr_26^post40, temp1_30^0'=temp1_30^post40, nondet_12^0'=nondet_12^post40, z_252^0'=z_252^post40, a_27^0'=a_27^post40, rcd_46^0'=rcd_46^post40, __disjvr_20^0'=__disjvr_20^post40, len_286^0'=len_286^post40, __disjvr_3^0'=__disjvr_3^post40, rcd_113^0'=rcd_113^post40, __disjvr_13^0'=__disjvr_13^post40, head_13^0'=head_13^post40, __disjvr_23^0'=__disjvr_23^post40, t_24^0'=t_24^post40, lt_29^0'=lt_29^post40, z_188^0'=z_188^post40, __disjvr_8^0'=__disjvr_8^post40, rcd_264^0'=rcd_264^post40, rcd_356^0'=rcd_356^post40, __disjvr_18^0'=__disjvr_18^post40, i_33^0'=i_33^post40, __disjvr_28^0'=__disjvr_28^post40, tmp_37^0'=tmp_37^post40, r_236^0'=r_236^post40, z_279^0'=z_279^post40, __disjvr_10^0'=__disjvr_10^post40, a_347^0'=a_347^post40, result_11^0'=result_11^post40, __disjvr_22^0'=__disjvr_22^post40, x_SLAM_f_21^0'=x_SLAM_f_21^post40, __disjvr_5^0'=__disjvr_5^post40, rcd_226^0'=rcd_226^post40, __disjvr_15^0'=__disjvr_15^post40, i_111^0'=i_111^post40, __disjvr_25^0'=__disjvr_25^post40, temp0_34^0'=temp0_34^post40, lt_483^0'=lt_483^post40, z_238^0'=z_238^post40, a_166^0'=a_166^post40, a_267^0'=a_267^post40, rcd_396^0'=rcd_396^post40, __disjvr_1^0'=__disjvr_1^post40, len_266^0'=len_266^post40, __disjvr_2^0'=__disjvr_2^post40, rcd_105^0'=rcd_105^post40, z_389^0'=z_389^post40, __disjvr_12^0'=__disjvr_12^post40, ct_20^0'=ct_20^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, lt_17^0'=lt_17^post40, z_160^0'=z_160^post40, __disjvr_7^0'=__disjvr_7^post40, rcd_237^0'=rcd_237^post40, rcd_352^0'=rcd_352^post40, __disjvr_17^0'=__disjvr_17^post40, i_227^0'=i_227^post40, __disjvr_27^0'=__disjvr_27^post40, temp_38^0'=temp_38^post40, r_178^0'=r_178^post40, z_265^0'=z_265^post40, (0 == 0 /\ a_267^0-a_267^post40 == 0 /\ __disjvr_16^0-__disjvr_16^post40 == 0 /\ -__disjvr_5^post40+__disjvr_5^0 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ lt_386^0-lt_386^post40 == 0 /\ -rcd_237^post40+rcd_237^0 == 0 /\ -rcd_396^post40+rcd_396^0 == 0 /\ -rcd_105^post40+rcd_105^0 == 0 /\ -ct_20^post40+ct_20^0 == 0 /\ -x_SLAM_f_21^post40+x_SLAM_f_21^0 == 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ -lt_29^post40+lt_29^0 == 0 /\ temp0_18^0-temp0_18^post40 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ z_28^post40-a_27^11 <= 0 /\ z_28^post40-a_27^11 == 0 /\ rcd_376^0-rcd_376^post40 == 0 /\ a_321^0-a_321^post40 == 0 /\ rcd_356^0-rcd_356^post40 == 0 /\ -rcd_352^post40+rcd_352^0 == 0 /\ -r_178^post40+r_178^0 == 0 /\ head_13^0-z_28^post40 <= 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ -i_111^post40+i_111^0 == 0 /\ -head_35^0+temp0_34^110 == 0 /\ -z_160^post40+z_160^0 == 0 /\ rcd_264^0-rcd_264^post40 == 0 /\ __disjvr_20^0-__disjvr_20^post40 == 0 /\ z_252^0-z_252^post40 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ -__disjvr_8^post40+__disjvr_8^0 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ x_19^0-x_19^post40 == 0 /\ -z_28^post40+a_27^11 <= 0 /\ len_266^0-len_266^post40 == 0 /\ y_22^0-y_22^post40 == 0 /\ -lt_483^post40+lt_483^0 == 0 /\ -rcd_228^post40+rcd_228^0 == 0 /\ z_188^0-z_188^post40 == 0 /\ -head_13^0+z_28^post40 <= 0 /\ -i_33^0 <= 0 /\ temp1_30^0-temp1_30^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ -z_238^post40+z_238^0 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ -temp0_34^110+result_11^110 == 0 /\ -rcd_46^post40+rcd_46^0 == 0 /\ z_229^0-z_229^post40 == 0 /\ head_13^0-a_27^11 <= 0 /\ -__disjvr_11^post40+__disjvr_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -z_389^post40+z_389^0 == 0 /\ a_347^0-a_347^post40 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ a_210^0-a_210^post40 == 0 /\ x_23^0-x_23^post40 == 0 /\ -__disjvr_2^post40+__disjvr_2^0 == 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ -a_166^post40+a_166^0 == 0 /\ rcd_113^0-rcd_113^post40 == 0 /\ __disjvr_23^0-__disjvr_23^post40 == 0 /\ -head_13^0+a_27^11 <= 0 /\ -head_13^0+a_27^11 == 0 /\ -__disjvr_10^post40+__disjvr_10^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ -__disjvr_3^post40+__disjvr_3^0 == 0 /\ -lt_17^post40+lt_17^0 == 0 /\ -r_236^post40+r_236^0 == 0 /\ z_279^0-z_279^post40 == 0 /\ __disjvr_26^0-__disjvr_26^post40 == 0 /\ -__disjvr_18^post40+__disjvr_18^0 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ length_32^0-i_33^0 <= 0 /\ rcd_70^0-rcd_70^post40 == 0 /\ __disjvr_28^0-__disjvr_28^post40 == 0 /\ len_286^0-len_286^post40 == 0 /\ -len_195^post40+len_195^0 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ i_120^0-i_120^post40 == 0 /\ -i_120^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post40 == 0 /\ -a_377^post40+a_377^0 == 0 /\ t_24^0-t_24^post40 == 0 /\ -z_265^post40+z_265^0 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ r_42^0-r_42^post40 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0), cost: 1
  45: l38 -> l44 : __disjvr_0^0'=__disjvr_0^post45, a_321^0'=a_321^post45, rcd_70^0'=rcd_70^post45, __disjvr_21^0'=__disjvr_21^post45, x_23^0'=x_23^post45, __disjvr_4^0'=__disjvr_4^post45, rcd_222^0'=rcd_222^post45, __disjvr_14^0'=__disjvr_14^post45, head_35^0'=head_35^post45, __disjvr_24^0'=__disjvr_24^post45, temp0_18^0'=temp0_18^post45, lt_386^0'=lt_386^post45, z_229^0'=z_229^post45, __disjvr_9^0'=__disjvr_9^post45, a_210^0'=a_210^post45, rcd_376^0'=rcd_376^post45, __disjvr_19^0'=__disjvr_19^post45, len_195^0'=len_195^post45, __disjvr_29^0'=__disjvr_29^post45, x_19^0'=x_19^post45, r_42^0'=r_42^post45, z_28^0'=z_28^post45, __disjvr_11^0'=__disjvr_11^post45, a_377^0'=a_377^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post45, length_32^0'=length_32^post45, y_22^0'=y_22^post45, __disjvr_6^0'=__disjvr_6^post45, rcd_228^0'=rcd_228^post45, __disjvr_16^0'=__disjvr_16^post45, i_120^0'=i_120^post45, __disjvr_26^0'=__disjvr_26^post45, temp1_30^0'=temp1_30^post45, nondet_12^0'=nondet_12^post45, z_252^0'=z_252^post45, a_27^0'=a_27^post45, rcd_46^0'=rcd_46^post45, __disjvr_20^0'=__disjvr_20^post45, len_286^0'=len_286^post45, __disjvr_3^0'=__disjvr_3^post45, rcd_113^0'=rcd_113^post45, __disjvr_13^0'=__disjvr_13^post45, head_13^0'=head_13^post45, __disjvr_23^0'=__disjvr_23^post45, t_24^0'=t_24^post45, lt_29^0'=lt_29^post45, z_188^0'=z_188^post45, __disjvr_8^0'=__disjvr_8^post45, rcd_264^0'=rcd_264^post45, rcd_356^0'=rcd_356^post45, __disjvr_18^0'=__disjvr_18^post45, i_33^0'=i_33^post45, __disjvr_28^0'=__disjvr_28^post45, tmp_37^0'=tmp_37^post45, r_236^0'=r_236^post45, z_279^0'=z_279^post45, __disjvr_10^0'=__disjvr_10^post45, a_347^0'=a_347^post45, result_11^0'=result_11^post45, __disjvr_22^0'=__disjvr_22^post45, x_SLAM_f_21^0'=x_SLAM_f_21^post45, __disjvr_5^0'=__disjvr_5^post45, rcd_226^0'=rcd_226^post45, __disjvr_15^0'=__disjvr_15^post45, i_111^0'=i_111^post45, __disjvr_25^0'=__disjvr_25^post45, temp0_34^0'=temp0_34^post45, lt_483^0'=lt_483^post45, z_238^0'=z_238^post45, a_166^0'=a_166^post45, a_267^0'=a_267^post45, rcd_396^0'=rcd_396^post45, __disjvr_1^0'=__disjvr_1^post45, len_266^0'=len_266^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_105^0'=rcd_105^post45, z_389^0'=z_389^post45, __disjvr_12^0'=__disjvr_12^post45, ct_20^0'=ct_20^post45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, lt_17^0'=lt_17^post45, z_160^0'=z_160^post45, __disjvr_7^0'=__disjvr_7^post45, rcd_237^0'=rcd_237^post45, rcd_352^0'=rcd_352^post45, __disjvr_17^0'=__disjvr_17^post45, i_227^0'=i_227^post45, __disjvr_27^0'=__disjvr_27^post45, temp_38^0'=temp_38^post45, r_178^0'=r_178^post45, z_265^0'=z_265^post45, (0 == 0 /\ z_28^0-z_28^post45 == 0 /\ __disjvr_13^0-__disjvr_13^post45 == 0 /\ 1-length_32^0+i_111^post45 <= 0 /\ -__disjvr_11^post45+__disjvr_11^0 == 0 /\ -a_347^post45+a_347^0 == 0 /\ -ct_20^post45+ct_20^0 == 0 /\ z_229^0-z_229^post45 == 0 /\ -__disjvr_1^post45+__disjvr_1^0 == 0 /\ -rcd_352^post45+rcd_352^0 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ -__disjvr_25^post45+__disjvr_25^0 == 0 /\ -rcd_46^post45+rcd_113^post45 <= 0 /\ rcd_222^0-rcd_222^post45 == 0 /\ x_19^0-x_19^post45 == 0 /\ __disjvr_19^0-__disjvr_19^post45 == 0 /\ -__disjvr_22^post45+__disjvr_22^0 == 0 /\ rcd_228^0-rcd_228^post45 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post45 == 0 /\ -__disjvr_16^post45+__disjvr_16^0 == 0 /\ a_267^0-a_267^post45 == 0 /\ -z_265^post45+z_265^0 == 0 /\ x_23^0-x_23^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post45+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_264^post45+rcd_264^0 == 0 /\ -t_24^post45+t_24^0 == 0 /\ -rcd_237^post45+rcd_237^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ rcd_226^0-rcd_226^post45 == 0 /\ temp1_30^0-temp1_30^post45 == 0 /\ 1+i_111^post45-i_33^post45 <= 0 /\ -tmp_37^post45+head_35^post45 == 0 /\ r_236^0-r_236^post45 == 0 /\ -a_377^post45+a_377^0 == 0 /\ -temp0_34^post45+temp0_34^0 == 0 /\ __disjvr_4^0-__disjvr_4^post45 == 0 /\ __disjvr_26^0-__disjvr_26^post45 == 0 /\ rcd_46^post45-rcd_113^post45 <= 0 /\ z_389^0-z_389^post45 == 0 /\ a_321^0-a_321^post45 == 0 /\ a_27^0-a_27^post45 == 0 /\ -r_178^post45+r_178^0 == 0 /\ z_252^0-z_252^post45 == 0 /\ __disjvr_23^0-__disjvr_23^post45 == 0 /\ tmp_37^post45-temp_38^0 == 0 /\ -__disjvr_3^post45+__disjvr_3^0 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ -i_33^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ __disjvr_6^0-__disjvr_6^post45 == 0 /\ -len_266^post45+len_266^0 == 0 /\ -lt_17^post45+lt_17^0 == 0 /\ -z_279^post45+z_279^0 == 0 /\ __disjvr_21^0-__disjvr_21^post45 == 0 /\ lt_386^0-lt_386^post45 == 0 /\ -i_227^post45+i_227^0 == 0 /\ 1-length_32^0+i_33^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post45 == 0 /\ -length_32^post45+length_32^0 == 0 /\ lt_483^0-lt_483^post45 == 0 /\ rcd_46^0-rcd_113^post45 <= 0 /\ -lt_29^post45+lt_29^0 == 0 /\ -__disjvr_27^post45+__disjvr_27^0 == 0 /\ -x_SLAM_f_21^post45+x_SLAM_f_21^0 == 0 /\ i_120^0-i_120^post45 == 0 /\ z_188^0-z_188^post45 == 0 /\ len_286^0-len_286^post45 == 0 /\ rcd_356^0-rcd_356^post45 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ -z_238^post45+z_238^0 == 0 /\ head_13^0-head_13^post45 == 0 /\ __disjvr_29^0-__disjvr_29^post45 == 0 /\ -__disjvr_2^post45+__disjvr_2^0 == 0 /\ -__disjvr_28^post45+__disjvr_28^0 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ -__disjvr_9^post45+__disjvr_9^0 == 0 /\ r_42^0-r_42^post45 == 0 /\ __disjvr_18^0-__disjvr_18^post45 == 0 /\ -rcd_396^post45+rcd_396^0 == 0 /\ -1-i_111^post45+i_33^post45 <= 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0 /\ len_195^0-len_195^post45 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ -1-i_33^0+i_33^post45 == 0 /\ y_22^0-y_22^post45 == 0 /\ -rcd_46^0+rcd_113^post45 <= 0 /\ a_210^0-a_210^post45 == 0 /\ rcd_376^0-rcd_376^post45 == 0 /\ rcd_70^0-rcd_70^post45 == 0 /\ -a_166^post45+a_166^0 == 0 /\ -z_160^post45+z_160^0 == 0 /\ -__disjvr_8^post45+__disjvr_8^0 == 0 /\ -temp0_18^post45+temp0_18^0 == 0 /\ -__disjvr_10^post45+__disjvr_10^0 == 0), cost: 1
  41: l40 -> l41 : __disjvr_0^0'=__disjvr_0^post41, a_321^0'=a_321^post41, rcd_70^0'=rcd_70^post41, __disjvr_21^0'=__disjvr_21^post41, x_23^0'=x_23^post41, __disjvr_4^0'=__disjvr_4^post41, rcd_222^0'=rcd_222^post41, __disjvr_14^0'=__disjvr_14^post41, head_35^0'=head_35^post41, __disjvr_24^0'=__disjvr_24^post41, temp0_18^0'=temp0_18^post41, lt_386^0'=lt_386^post41, z_229^0'=z_229^post41, __disjvr_9^0'=__disjvr_9^post41, a_210^0'=a_210^post41, rcd_376^0'=rcd_376^post41, __disjvr_19^0'=__disjvr_19^post41, len_195^0'=len_195^post41, __disjvr_29^0'=__disjvr_29^post41, x_19^0'=x_19^post41, r_42^0'=r_42^post41, z_28^0'=z_28^post41, __disjvr_11^0'=__disjvr_11^post41, a_377^0'=a_377^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post41, length_32^0'=length_32^post41, y_22^0'=y_22^post41, __disjvr_6^0'=__disjvr_6^post41, rcd_228^0'=rcd_228^post41, __disjvr_16^0'=__disjvr_16^post41, i_120^0'=i_120^post41, __disjvr_26^0'=__disjvr_26^post41, temp1_30^0'=temp1_30^post41, nondet_12^0'=nondet_12^post41, z_252^0'=z_252^post41, a_27^0'=a_27^post41, rcd_46^0'=rcd_46^post41, __disjvr_20^0'=__disjvr_20^post41, len_286^0'=len_286^post41, __disjvr_3^0'=__disjvr_3^post41, rcd_113^0'=rcd_113^post41, __disjvr_13^0'=__disjvr_13^post41, head_13^0'=head_13^post41, __disjvr_23^0'=__disjvr_23^post41, t_24^0'=t_24^post41, lt_29^0'=lt_29^post41, z_188^0'=z_188^post41, __disjvr_8^0'=__disjvr_8^post41, rcd_264^0'=rcd_264^post41, rcd_356^0'=rcd_356^post41, __disjvr_18^0'=__disjvr_18^post41, i_33^0'=i_33^post41, __disjvr_28^0'=__disjvr_28^post41, tmp_37^0'=tmp_37^post41, r_236^0'=r_236^post41, z_279^0'=z_279^post41, __disjvr_10^0'=__disjvr_10^post41, a_347^0'=a_347^post41, result_11^0'=result_11^post41, __disjvr_22^0'=__disjvr_22^post41, x_SLAM_f_21^0'=x_SLAM_f_21^post41, __disjvr_5^0'=__disjvr_5^post41, rcd_226^0'=rcd_226^post41, __disjvr_15^0'=__disjvr_15^post41, i_111^0'=i_111^post41, __disjvr_25^0'=__disjvr_25^post41, temp0_34^0'=temp0_34^post41, lt_483^0'=lt_483^post41, z_238^0'=z_238^post41, a_166^0'=a_166^post41, a_267^0'=a_267^post41, rcd_396^0'=rcd_396^post41, __disjvr_1^0'=__disjvr_1^post41, len_266^0'=len_266^post41, __disjvr_2^0'=__disjvr_2^post41, rcd_105^0'=rcd_105^post41, z_389^0'=z_389^post41, __disjvr_12^0'=__disjvr_12^post41, ct_20^0'=ct_20^post41, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post41, lt_17^0'=lt_17^post41, z_160^0'=z_160^post41, __disjvr_7^0'=__disjvr_7^post41, rcd_237^0'=rcd_237^post41, rcd_352^0'=rcd_352^post41, __disjvr_17^0'=__disjvr_17^post41, i_227^0'=i_227^post41, __disjvr_27^0'=__disjvr_27^post41, temp_38^0'=temp_38^post41, r_178^0'=r_178^post41, z_265^0'=z_265^post41, (-z_188^post41+z_188^0 == 0 /\ z_229^0-z_229^post41 == 0 /\ -rcd_237^post41+rcd_237^0 == 0 /\ a_166^0-a_166^post41 == 0 /\ -rcd_396^post41+rcd_396^0 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ length_32^0-length_32^post41 == 0 /\ -rcd_352^post41+rcd_352^0 == 0 /\ head_35^0-head_35^post41 == 0 /\ -lt_17^post41+lt_17^0 == 0 /\ -result_11^post41+result_11^0 == 0 /\ -r_178^post41+r_178^0 == 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ -head_13^post41+head_13^0 == 0 /\ len_195^0-len_195^post41 == 0 /\ -__disjvr_7^post41+__disjvr_7^0 == 0 /\ r_42^0-r_42^post41 == 0 /\ a_377^0-a_377^post41 == 0 /\ -i_120^post41+i_120^0 == 0 /\ __disjvr_10^0-__disjvr_10^post41 == 0 /\ -ct_20^post41+ct_20^0 == 0 /\ -__disjvr_19^post41+__disjvr_19^0 == 0 /\ -rcd_105^post41+rcd_105^0 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ __disjvr_18^0-__disjvr_18^post41 == 0 /\ rcd_70^0-rcd_70^post41 == 0 /\ tmp_37^0-tmp_37^post41 == 0 /\ rcd_222^0-rcd_222^post41 == 0 /\ -z_252^post41+z_252^0 == 0 /\ len_266^0-len_266^post41 == 0 /\ a_210^0-a_210^post41 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ lt_29^0-lt_29^post41 == 0 /\ -y_22^post41+y_22^0 == 0 /\ -temp_38^post41+temp_38^0 == 0 /\ -__disjvr_5^post41+__disjvr_5^0 == 0 /\ -__disjvr_13^post41+__disjvr_13^0 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ __disjvr_24^0-__disjvr_24^post41 == 0 /\ -r_236^post41+r_236^0 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ z_28^0-z_28^post41 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ __disjvr_28^0-__disjvr_28^post41 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -z_279^post41+z_279^0 == 0 /\ -x_SLAM_f_21^post41+x_SLAM_f_21^0 == 0 /\ rcd_264^0-rcd_264^post41 == 0 /\ rcd_376^0-rcd_376^post41 == 0 /\ x_19^0-x_19^post41 == 0 /\ -__disjvr_14^post41+__disjvr_14^0 == 0 /\ -z_160^post41+z_160^0 == 0 /\ -i_111^post41+i_111^0 == 0 /\ temp0_18^0-temp0_18^post41 == 0 /\ len_286^0-len_286^post41 == 0 /\ -i_33^post41+i_33^0 == 0 /\ -__disjvr_27^post41+__disjvr_27^0 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ -__disjvr_20^post41+__disjvr_20^0 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ rcd_228^0-rcd_228^post41 == 0 /\ -z_238^post41+z_238^0 == 0 /\ -rcd_356^post41+rcd_356^0 == 0 /\ t_24^0-t_24^post41 == 0 /\ temp0_34^0-temp0_34^post41 == 0 /\ -a_267^post41+a_267^0 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ temp1_30^0-temp1_30^post41 == 0 /\ -lt_483^post41+lt_483^0 == 0 /\ -z_389^post41+z_389^0 == 0 /\ -rcd_226^post41+rcd_226^0 == 0 /\ i_227^0-i_227^post41 == 0 /\ -__disjvr_29^post41+__disjvr_29^0 == 0 /\ -__disjvr_2^post41+__disjvr_2^0 == 0 /\ x_23^0-x_23^post41 == 0 /\ a_27^0-a_27^post41 == 0 /\ -__disjvr_12^post41+__disjvr_12^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post41+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_321^0-a_321^post41 == 0 /\ -a_347^post41+a_347^0 == 0 /\ -rcd_46^post41+rcd_46^0 == 0 /\ lt_386^0-lt_386^post41 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ -z_265^post41+z_265^0 == 0 /\ -rcd_113^post41+rcd_113^0 == 0 /\ __disjvr_20^post41-__disjvr_20^0 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0), cost: 1
  42: l41 -> l42 : __disjvr_0^0'=__disjvr_0^post42, a_321^0'=a_321^post42, rcd_70^0'=rcd_70^post42, __disjvr_21^0'=__disjvr_21^post42, x_23^0'=x_23^post42, __disjvr_4^0'=__disjvr_4^post42, rcd_222^0'=rcd_222^post42, __disjvr_14^0'=__disjvr_14^post42, head_35^0'=head_35^post42, __disjvr_24^0'=__disjvr_24^post42, temp0_18^0'=temp0_18^post42, lt_386^0'=lt_386^post42, z_229^0'=z_229^post42, __disjvr_9^0'=__disjvr_9^post42, a_210^0'=a_210^post42, rcd_376^0'=rcd_376^post42, __disjvr_19^0'=__disjvr_19^post42, len_195^0'=len_195^post42, __disjvr_29^0'=__disjvr_29^post42, x_19^0'=x_19^post42, r_42^0'=r_42^post42, z_28^0'=z_28^post42, __disjvr_11^0'=__disjvr_11^post42, a_377^0'=a_377^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post42, length_32^0'=length_32^post42, y_22^0'=y_22^post42, __disjvr_6^0'=__disjvr_6^post42, rcd_228^0'=rcd_228^post42, __disjvr_16^0'=__disjvr_16^post42, i_120^0'=i_120^post42, __disjvr_26^0'=__disjvr_26^post42, temp1_30^0'=temp1_30^post42, nondet_12^0'=nondet_12^post42, z_252^0'=z_252^post42, a_27^0'=a_27^post42, rcd_46^0'=rcd_46^post42, __disjvr_20^0'=__disjvr_20^post42, len_286^0'=len_286^post42, __disjvr_3^0'=__disjvr_3^post42, rcd_113^0'=rcd_113^post42, __disjvr_13^0'=__disjvr_13^post42, head_13^0'=head_13^post42, __disjvr_23^0'=__disjvr_23^post42, t_24^0'=t_24^post42, lt_29^0'=lt_29^post42, z_188^0'=z_188^post42, __disjvr_8^0'=__disjvr_8^post42, rcd_264^0'=rcd_264^post42, rcd_356^0'=rcd_356^post42, __disjvr_18^0'=__disjvr_18^post42, i_33^0'=i_33^post42, __disjvr_28^0'=__disjvr_28^post42, tmp_37^0'=tmp_37^post42, r_236^0'=r_236^post42, z_279^0'=z_279^post42, __disjvr_10^0'=__disjvr_10^post42, a_347^0'=a_347^post42, result_11^0'=result_11^post42, __disjvr_22^0'=__disjvr_22^post42, x_SLAM_f_21^0'=x_SLAM_f_21^post42, __disjvr_5^0'=__disjvr_5^post42, rcd_226^0'=rcd_226^post42, __disjvr_15^0'=__disjvr_15^post42, i_111^0'=i_111^post42, __disjvr_25^0'=__disjvr_25^post42, temp0_34^0'=temp0_34^post42, lt_483^0'=lt_483^post42, z_238^0'=z_238^post42, a_166^0'=a_166^post42, a_267^0'=a_267^post42, rcd_396^0'=rcd_396^post42, __disjvr_1^0'=__disjvr_1^post42, len_266^0'=len_266^post42, __disjvr_2^0'=__disjvr_2^post42, rcd_105^0'=rcd_105^post42, z_389^0'=z_389^post42, __disjvr_12^0'=__disjvr_12^post42, ct_20^0'=ct_20^post42, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post42, lt_17^0'=lt_17^post42, z_160^0'=z_160^post42, __disjvr_7^0'=__disjvr_7^post42, rcd_237^0'=rcd_237^post42, rcd_352^0'=rcd_352^post42, __disjvr_17^0'=__disjvr_17^post42, i_227^0'=i_227^post42, __disjvr_27^0'=__disjvr_27^post42, temp_38^0'=temp_38^post42, r_178^0'=r_178^post42, z_265^0'=z_265^post42, (0 == 0 /\ rcd_396^0-rcd_396^post42 == 0 /\ -__disjvr_26^post42+__disjvr_26^0 == 0 /\ -z_238^post42+z_238^0 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -__disjvr_27^post42+__disjvr_27^0 == 0 /\ -rcd_113^post42+rcd_113^0 == 0 /\ -i_227^post42+i_227^0 == 0 /\ -len_266^post42+len_266^0 == 0 /\ -rcd_356^post42+rcd_356^0 == 0 /\ x_23^0-x_23^post42 == 0 /\ a_321^0-a_321^post42 == 0 /\ y_22^0-y_22^post42 == 0 /\ a_347^0-a_347^post42 == 0 /\ -__disjvr_20^post42+__disjvr_20^0 == 0 /\ -i_33^post42+i_33^0 == 0 /\ z_279^0-z_279^post42 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ __disjvr_5^0-__disjvr_5^post42 == 0 /\ len_195^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post42 == 0 /\ -rcd_222^0+rcd_46^0 <= 0 /\ -len_195^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post42 == 0 /\ __disjvr_14^0-__disjvr_14^post42 == 0 /\ -__disjvr_12^post42+__disjvr_12^0 == 0 /\ -z_160^post42+z_160^0 == 0 /\ __disjvr_3^0-__disjvr_3^post42 == 0 /\ -__disjvr_29^post42+__disjvr_29^0 == 0 /\ a_166^0-a_166^post42 == 0 /\ -__disjvr_8^post42+__disjvr_8^0 == 0 /\ -z_389^post42+z_389^0 == 0 /\ z_229^0-z_229^post42 == 0 /\ -z_265^post42+z_265^0 == 0 /\ -__disjvr_2^post42+__disjvr_2^0 == 0 /\ __disjvr_19^0-__disjvr_19^post42 == 0 /\ rcd_264^0-rcd_264^post42 == 0 /\ __disjvr_11^0-__disjvr_11^post42 == 0 /\ -__disjvr_15^post42+__disjvr_15^0 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -a_267^post42+a_267^0 == 0 /\ __disjvr_16^0-__disjvr_16^post42 == 0 /\ -lt_483^post42+lt_483^0 == 0 /\ a_377^0-a_377^post42 == 0 /\ length_32^0-length_32^post42 == 0 /\ ct_20^0-ct_20^post42 == 0 /\ r_42^0-r_42^post42 == 0 /\ rcd_222^0-rcd_46^0 <= 0 /\ temp0_18^0-temp0_18^post42 == 0 /\ -rcd_352^post42+rcd_352^0 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ -tmp_37^post42+tmp_37^0 == 0 /\ len_195^0-len_195^post42 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post42+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_27^0-head_13^0 <= 0 /\ -lt_386^post42+lt_386^0 == 0 /\ -rcd_226^post42+rcd_226^0 == 0 /\ -__disjvr_22^post42+__disjvr_22^0 == 0 /\ -r_178^post42+r_178^0 == 0 /\ temp1_30^0-temp1_30^post42 == 0 /\ -z_188^post42+z_188^0 == 0 /\ -r_236^post42+r_236^0 == 0 /\ a_210^0-a_210^post42 == 0 /\ -a_210^0+i_120^0 <= 0 /\ -head_13^post42+head_13^0 == 0 /\ -rcd_237^post42+rcd_237^0 == 0 /\ rcd_70^0-rcd_70^post42 == 0 /\ z_28^post42-z_160^0 <= 0 /\ rcd_46^0-rcd_46^post42 == 0 /\ __disjvr_25^0-__disjvr_25^post42 == 0 /\ __disjvr_9^0-__disjvr_9^post42 == 0 /\ -temp0_34^post42+temp0_34^0 == 0 /\ __disjvr_28^0-__disjvr_28^post42 == 0 /\ -lt_17^post42+lt_17^0 == 0 /\ -z_252^post42+z_252^0 == 0 /\ -a_27^0+head_13^0 <= 0 /\ rcd_222^0-rcd_222^post42 == 0 /\ head_35^0-head_35^post42 == 0 /\ -__disjvr_23^post42+__disjvr_23^0 == 0 /\ -temp_38^post42+temp_38^0 == 0 /\ -rcd_105^post42+rcd_105^0 == 0 /\ -__disjvr_1^post42+__disjvr_1^0 == 0 /\ rcd_376^0-rcd_376^post42 == 0 /\ x_19^0-x_19^post42 == 0 /\ -a_27^post42+a_27^0 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ -__disjvr_18^post42+__disjvr_18^0 == 0 /\ i_111^0-i_111^post42 == 0 /\ -len_286^post42+len_286^0 == 0 /\ a_210^0-i_120^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post42 == 0 /\ rcd_228^0-rcd_228^post42 == 0 /\ __disjvr_4^0-__disjvr_4^post42 == 0 /\ -i_120^post42+i_120^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ t_24^0-t_24^post42 == 0 /\ -z_28^post42+z_160^0 <= 0 /\ -x_SLAM_f_21^post42+x_SLAM_f_21^0 == 0 /\ __disjvr_0^0-__disjvr_0^post42 == 0), cost: 1
  43: l42 -> l43 : __disjvr_0^0'=__disjvr_0^post43, a_321^0'=a_321^post43, rcd_70^0'=rcd_70^post43, __disjvr_21^0'=__disjvr_21^post43, x_23^0'=x_23^post43, __disjvr_4^0'=__disjvr_4^post43, rcd_222^0'=rcd_222^post43, __disjvr_14^0'=__disjvr_14^post43, head_35^0'=head_35^post43, __disjvr_24^0'=__disjvr_24^post43, temp0_18^0'=temp0_18^post43, lt_386^0'=lt_386^post43, z_229^0'=z_229^post43, __disjvr_9^0'=__disjvr_9^post43, a_210^0'=a_210^post43, rcd_376^0'=rcd_376^post43, __disjvr_19^0'=__disjvr_19^post43, len_195^0'=len_195^post43, __disjvr_29^0'=__disjvr_29^post43, x_19^0'=x_19^post43, r_42^0'=r_42^post43, z_28^0'=z_28^post43, __disjvr_11^0'=__disjvr_11^post43, a_377^0'=a_377^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post43, length_32^0'=length_32^post43, y_22^0'=y_22^post43, __disjvr_6^0'=__disjvr_6^post43, rcd_228^0'=rcd_228^post43, __disjvr_16^0'=__disjvr_16^post43, i_120^0'=i_120^post43, __disjvr_26^0'=__disjvr_26^post43, temp1_30^0'=temp1_30^post43, nondet_12^0'=nondet_12^post43, z_252^0'=z_252^post43, a_27^0'=a_27^post43, rcd_46^0'=rcd_46^post43, __disjvr_20^0'=__disjvr_20^post43, len_286^0'=len_286^post43, __disjvr_3^0'=__disjvr_3^post43, rcd_113^0'=rcd_113^post43, __disjvr_13^0'=__disjvr_13^post43, head_13^0'=head_13^post43, __disjvr_23^0'=__disjvr_23^post43, t_24^0'=t_24^post43, lt_29^0'=lt_29^post43, z_188^0'=z_188^post43, __disjvr_8^0'=__disjvr_8^post43, rcd_264^0'=rcd_264^post43, rcd_356^0'=rcd_356^post43, __disjvr_18^0'=__disjvr_18^post43, i_33^0'=i_33^post43, __disjvr_28^0'=__disjvr_28^post43, tmp_37^0'=tmp_37^post43, r_236^0'=r_236^post43, z_279^0'=z_279^post43, __disjvr_10^0'=__disjvr_10^post43, a_347^0'=a_347^post43, result_11^0'=result_11^post43, __disjvr_22^0'=__disjvr_22^post43, x_SLAM_f_21^0'=x_SLAM_f_21^post43, __disjvr_5^0'=__disjvr_5^post43, rcd_226^0'=rcd_226^post43, __disjvr_15^0'=__disjvr_15^post43, i_111^0'=i_111^post43, __disjvr_25^0'=__disjvr_25^post43, temp0_34^0'=temp0_34^post43, lt_483^0'=lt_483^post43, z_238^0'=z_238^post43, a_166^0'=a_166^post43, a_267^0'=a_267^post43, rcd_396^0'=rcd_396^post43, __disjvr_1^0'=__disjvr_1^post43, len_266^0'=len_266^post43, __disjvr_2^0'=__disjvr_2^post43, rcd_105^0'=rcd_105^post43, z_389^0'=z_389^post43, __disjvr_12^0'=__disjvr_12^post43, ct_20^0'=ct_20^post43, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post43, lt_17^0'=lt_17^post43, z_160^0'=z_160^post43, __disjvr_7^0'=__disjvr_7^post43, rcd_237^0'=rcd_237^post43, rcd_352^0'=rcd_352^post43, __disjvr_17^0'=__disjvr_17^post43, i_227^0'=i_227^post43, __disjvr_27^0'=__disjvr_27^post43, temp_38^0'=temp_38^post43, r_178^0'=r_178^post43, z_265^0'=z_265^post43, (__disjvr_21^0-__disjvr_21^post43 == 0 /\ lt_386^0-lt_386^post43 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post43+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -__disjvr_25^post43+__disjvr_25^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ -__disjvr_16^post43+__disjvr_16^0 == 0 /\ t_24^0-t_24^post43 == 0 /\ -rcd_237^post43+rcd_237^0 == 0 /\ z_238^0-z_238^post43 == 0 /\ -lt_17^post43+lt_17^0 == 0 /\ len_286^0-len_286^post43 == 0 /\ -rcd_352^post43+rcd_352^0 == 0 /\ temp0_18^0-temp0_18^post43 == 0 /\ a_377^0-a_377^post43 == 0 /\ -rcd_396^post43+rcd_396^0 == 0 /\ -rcd_264^post43+rcd_264^0 == 0 /\ head_13^0-head_13^post43 == 0 /\ -ct_20^post43+ct_20^0 == 0 /\ -rcd_105^post43+rcd_105^0 == 0 /\ -rcd_226^post43+rcd_226^0 == 0 /\ rcd_228^0-rcd_228^post43 == 0 /\ -r_178^post43+r_178^0 == 0 /\ i_33^0-i_33^post43 == 0 /\ -__disjvr_21^0+__disjvr_21^post43 == 0 /\ -__disjvr_18^post43+__disjvr_18^0 == 0 /\ temp1_30^0-temp1_30^post43 == 0 /\ r_42^0-r_42^post43 == 0 /\ len_195^0-len_195^post43 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ -a_27^post43+a_27^0 == 0 /\ __disjvr_12^0-__disjvr_12^post43 == 0 /\ z_279^0-z_279^post43 == 0 /\ -__disjvr_7^post43+__disjvr_7^0 == 0 /\ __disjvr_8^0-__disjvr_8^post43 == 0 /\ rcd_113^0-rcd_113^post43 == 0 /\ y_22^0-y_22^post43 == 0 /\ __disjvr_6^0-__disjvr_6^post43 == 0 /\ z_252^0-z_252^post43 == 0 /\ rcd_46^0-rcd_46^post43 == 0 /\ -len_266^post43+len_266^0 == 0 /\ -temp_38^post43+temp_38^0 == 0 /\ -temp0_34^post43+temp0_34^0 == 0 /\ __disjvr_1^0-__disjvr_1^post43 == 0 /\ -__disjvr_3^post43+__disjvr_3^0 == 0 /\ -__disjvr_13^post43+__disjvr_13^0 == 0 /\ __disjvr_19^0-__disjvr_19^post43 == 0 /\ z_28^0-z_28^post43 == 0 /\ z_229^0-z_229^post43 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ -rcd_376^post43+rcd_376^0 == 0 /\ a_347^0-a_347^post43 == 0 /\ length_32^0-length_32^post43 == 0 /\ x_19^0-x_19^post43 == 0 /\ -x_SLAM_f_21^post43+x_SLAM_f_21^0 == 0 /\ i_120^0-i_120^post43 == 0 /\ head_35^0-head_35^post43 == 0 /\ __disjvr_20^0-__disjvr_20^post43 == 0 /\ x_23^0-x_23^post43 == 0 /\ -i_227^post43+i_227^0 == 0 /\ -__disjvr_26^post43+__disjvr_26^0 == 0 /\ z_160^0-z_160^post43 == 0 /\ -z_389^post43+z_389^0 == 0 /\ -rcd_356^post43+rcd_356^0 == 0 /\ -lt_29^post43+lt_29^0 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0 /\ -__disjvr_27^post43+__disjvr_27^0 == 0 /\ -__disjvr_4^post43+__disjvr_4^0 == 0 /\ z_188^0-z_188^post43 == 0 /\ i_111^0-i_111^post43 == 0 /\ -__disjvr_28^post43+__disjvr_28^0 == 0 /\ -lt_483^post43+lt_483^0 == 0 /\ -z_265^post43+z_265^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ r_236^0-r_236^post43 == 0 /\ a_210^0-a_210^post43 == 0 /\ a_321^0-a_321^post43 == 0 /\ rcd_70^0-rcd_70^post43 == 0 /\ -__disjvr_29^post43+__disjvr_29^0 == 0 /\ -__disjvr_10^post43+__disjvr_10^0 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ rcd_222^0-rcd_222^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ -a_166^post43+a_166^0 == 0 /\ __disjvr_23^0-__disjvr_23^post43 == 0 /\ -__disjvr_15^post43+__disjvr_15^0 == 0 /\ __disjvr_14^0-__disjvr_14^post43 == 0 /\ -__disjvr_22^post43+__disjvr_22^0 == 0 /\ -a_267^post43+a_267^0 == 0 /\ -tmp_37^post43+tmp_37^0 == 0), cost: 1
  44: l43 -> l39 : __disjvr_0^0'=__disjvr_0^post44, a_321^0'=a_321^post44, rcd_70^0'=rcd_70^post44, __disjvr_21^0'=__disjvr_21^post44, x_23^0'=x_23^post44, __disjvr_4^0'=__disjvr_4^post44, rcd_222^0'=rcd_222^post44, __disjvr_14^0'=__disjvr_14^post44, head_35^0'=head_35^post44, __disjvr_24^0'=__disjvr_24^post44, temp0_18^0'=temp0_18^post44, lt_386^0'=lt_386^post44, z_229^0'=z_229^post44, __disjvr_9^0'=__disjvr_9^post44, a_210^0'=a_210^post44, rcd_376^0'=rcd_376^post44, __disjvr_19^0'=__disjvr_19^post44, len_195^0'=len_195^post44, __disjvr_29^0'=__disjvr_29^post44, x_19^0'=x_19^post44, r_42^0'=r_42^post44, z_28^0'=z_28^post44, __disjvr_11^0'=__disjvr_11^post44, a_377^0'=a_377^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post44, length_32^0'=length_32^post44, y_22^0'=y_22^post44, __disjvr_6^0'=__disjvr_6^post44, rcd_228^0'=rcd_228^post44, __disjvr_16^0'=__disjvr_16^post44, i_120^0'=i_120^post44, __disjvr_26^0'=__disjvr_26^post44, temp1_30^0'=temp1_30^post44, nondet_12^0'=nondet_12^post44, z_252^0'=z_252^post44, a_27^0'=a_27^post44, rcd_46^0'=rcd_46^post44, __disjvr_20^0'=__disjvr_20^post44, len_286^0'=len_286^post44, __disjvr_3^0'=__disjvr_3^post44, rcd_113^0'=rcd_113^post44, __disjvr_13^0'=__disjvr_13^post44, head_13^0'=head_13^post44, __disjvr_23^0'=__disjvr_23^post44, t_24^0'=t_24^post44, lt_29^0'=lt_29^post44, z_188^0'=z_188^post44, __disjvr_8^0'=__disjvr_8^post44, rcd_264^0'=rcd_264^post44, rcd_356^0'=rcd_356^post44, __disjvr_18^0'=__disjvr_18^post44, i_33^0'=i_33^post44, __disjvr_28^0'=__disjvr_28^post44, tmp_37^0'=tmp_37^post44, r_236^0'=r_236^post44, z_279^0'=z_279^post44, __disjvr_10^0'=__disjvr_10^post44, a_347^0'=a_347^post44, result_11^0'=result_11^post44, __disjvr_22^0'=__disjvr_22^post44, x_SLAM_f_21^0'=x_SLAM_f_21^post44, __disjvr_5^0'=__disjvr_5^post44, rcd_226^0'=rcd_226^post44, __disjvr_15^0'=__disjvr_15^post44, i_111^0'=i_111^post44, __disjvr_25^0'=__disjvr_25^post44, temp0_34^0'=temp0_34^post44, lt_483^0'=lt_483^post44, z_238^0'=z_238^post44, a_166^0'=a_166^post44, a_267^0'=a_267^post44, rcd_396^0'=rcd_396^post44, __disjvr_1^0'=__disjvr_1^post44, len_266^0'=len_266^post44, __disjvr_2^0'=__disjvr_2^post44, rcd_105^0'=rcd_105^post44, z_389^0'=z_389^post44, __disjvr_12^0'=__disjvr_12^post44, ct_20^0'=ct_20^post44, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post44, lt_17^0'=lt_17^post44, z_160^0'=z_160^post44, __disjvr_7^0'=__disjvr_7^post44, rcd_237^0'=rcd_237^post44, rcd_352^0'=rcd_352^post44, __disjvr_17^0'=__disjvr_17^post44, i_227^0'=i_227^post44, __disjvr_27^0'=__disjvr_27^post44, temp_38^0'=temp_38^post44, r_178^0'=r_178^post44, z_265^0'=z_265^post44, (__disjvr_24^0-__disjvr_24^post44 == 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ -length_32^post44+length_32^0 == 0 /\ temp1_30^0-temp1_30^post44 == 0 /\ -i_111^post44+i_111^0 == 0 /\ len_286^0-len_286^post44 == 0 /\ -__disjvr_27^post44+__disjvr_27^0 == 0 /\ -len_266^post44+len_266^0 == 0 /\ rcd_113^0-rcd_113^post44 == 0 /\ a_210^0-a_210^post44 == 0 /\ __disjvr_5^0-__disjvr_5^post44 == 0 /\ -i_227^post44+i_227^0 == 0 /\ rcd_70^0-rcd_70^post44 == 0 /\ a_321^0-a_321^post44 == 0 /\ __disjvr_6^0-__disjvr_6^post44 == 0 /\ -rcd_356^post44+rcd_356^0 == 0 /\ -lt_29^post44+lt_29^0 == 0 /\ z_28^0-z_28^post44 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_20^post44+__disjvr_20^0 == 0 /\ i_120^0-i_120^post44 == 0 /\ -a_166^post44+a_166^0 == 0 /\ -nondet_12^post44+nondet_12^0 == 0 /\ -z_265^post44+z_265^0 == 0 /\ head_35^0-head_35^post44 == 0 /\ rcd_46^0-rcd_46^post44 == 0 /\ -rcd_396^post44+rcd_396^0 == 0 /\ rcd_105^0-rcd_105^post44 == 0 /\ -z_160^post44+z_160^0 == 0 /\ rcd_222^0-rcd_222^post44 == 0 /\ -__disjvr_2^post44+__disjvr_2^0 == 0 /\ -z_389^post44+z_389^0 == 0 /\ __disjvr_28^0-__disjvr_28^post44 == 0 /\ z_279^0-z_279^post44 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ x_19^0-x_19^post44 == 0 /\ __disjvr_4^0-__disjvr_4^post44 == 0 /\ -__disjvr_9^post44+__disjvr_9^0 == 0 /\ a_267^0-a_267^post44 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0 /\ t_24^0-t_24^post44 == 0 /\ z_238^0-z_238^post44 == 0 /\ -lt_483^post44+lt_483^0 == 0 /\ __disjvr_16^0-__disjvr_16^post44 == 0 /\ z_188^0-z_188^post44 == 0 /\ -rcd_228^post44+rcd_228^0 == 0 /\ -__disjvr_22^post44+__disjvr_22^0 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ -r_178^post44+r_178^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_227^0 <= 0 /\ -rcd_352^post44+rcd_352^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ __disjvr_26^0-__disjvr_26^post44 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post44+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -tmp_37^post44+tmp_37^0 == 0 /\ -rcd_226^post44+rcd_226^0 == 0 /\ -rcd_237^post44+rcd_237^0 == 0 /\ -__disjvr_10^post44+__disjvr_10^0 == 0 /\ y_22^0-y_22^post44 == 0 /\ x_23^0-x_23^post44 == 0 /\ -rcd_264^post44+rcd_264^0 == 0 /\ -lt_386^post44+lt_386^0 == 0 /\ z_252^0-z_252^post44 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ __disjvr_11^0-__disjvr_11^post44 == 0 /\ a_347^0-a_347^post44 == 0 /\ -a_27^post44+a_27^0 == 0 /\ -ct_20^post44+ct_20^0 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ -__disjvr_25^post44+__disjvr_25^0 == 0 /\ __disjvr_8^0-__disjvr_8^post44 == 0 /\ __disjvr_23^0-__disjvr_23^post44 == 0 /\ -a_377^post44+a_377^0 == 0 /\ -r_236^post44+r_236^0 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ -__disjvr_7^post44+__disjvr_7^0 == 0 /\ result_11^0-result_11^post44 == 0 /\ z_229^0-z_229^post44 == 0 /\ -lt_17^post44+lt_17^0 == 0 /\ -temp0_34^post44+temp0_34^0 == 0 /\ head_13^0-head_13^post44 == 0 /\ -__disjvr_13^post44+__disjvr_13^0 == 0 /\ -rcd_376^post44+rcd_376^0 == 0 /\ -__disjvr_18^post44+__disjvr_18^0 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post44 == 0 /\ i_33^0-i_33^post44 == 0 /\ -len_195^post44+len_195^0 == 0 /\ r_42^0-r_42^post44 == 0 /\ -x_SLAM_f_21^post44+x_SLAM_f_21^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ temp0_18^0-temp0_18^post44 == 0 /\ -temp_38^post44+temp_38^0 == 0 /\ __disjvr_15^0-__disjvr_15^post44 == 0), cost: 1
  49: l39 -> l46 : __disjvr_0^0'=__disjvr_0^post49, a_321^0'=a_321^post49, rcd_70^0'=rcd_70^post49, __disjvr_21^0'=__disjvr_21^post49, x_23^0'=x_23^post49, __disjvr_4^0'=__disjvr_4^post49, rcd_222^0'=rcd_222^post49, __disjvr_14^0'=__disjvr_14^post49, head_35^0'=head_35^post49, __disjvr_24^0'=__disjvr_24^post49, temp0_18^0'=temp0_18^post49, lt_386^0'=lt_386^post49, z_229^0'=z_229^post49, __disjvr_9^0'=__disjvr_9^post49, a_210^0'=a_210^post49, rcd_376^0'=rcd_376^post49, __disjvr_19^0'=__disjvr_19^post49, len_195^0'=len_195^post49, __disjvr_29^0'=__disjvr_29^post49, x_19^0'=x_19^post49, r_42^0'=r_42^post49, z_28^0'=z_28^post49, __disjvr_11^0'=__disjvr_11^post49, a_377^0'=a_377^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post49, length_32^0'=length_32^post49, y_22^0'=y_22^post49, __disjvr_6^0'=__disjvr_6^post49, rcd_228^0'=rcd_228^post49, __disjvr_16^0'=__disjvr_16^post49, i_120^0'=i_120^post49, __disjvr_26^0'=__disjvr_26^post49, temp1_30^0'=temp1_30^post49, nondet_12^0'=nondet_12^post49, z_252^0'=z_252^post49, a_27^0'=a_27^post49, rcd_46^0'=rcd_46^post49, __disjvr_20^0'=__disjvr_20^post49, len_286^0'=len_286^post49, __disjvr_3^0'=__disjvr_3^post49, rcd_113^0'=rcd_113^post49, __disjvr_13^0'=__disjvr_13^post49, head_13^0'=head_13^post49, __disjvr_23^0'=__disjvr_23^post49, t_24^0'=t_24^post49, lt_29^0'=lt_29^post49, z_188^0'=z_188^post49, __disjvr_8^0'=__disjvr_8^post49, rcd_264^0'=rcd_264^post49, rcd_356^0'=rcd_356^post49, __disjvr_18^0'=__disjvr_18^post49, i_33^0'=i_33^post49, __disjvr_28^0'=__disjvr_28^post49, tmp_37^0'=tmp_37^post49, r_236^0'=r_236^post49, z_279^0'=z_279^post49, __disjvr_10^0'=__disjvr_10^post49, a_347^0'=a_347^post49, result_11^0'=result_11^post49, __disjvr_22^0'=__disjvr_22^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post49, __disjvr_5^0'=__disjvr_5^post49, rcd_226^0'=rcd_226^post49, __disjvr_15^0'=__disjvr_15^post49, i_111^0'=i_111^post49, __disjvr_25^0'=__disjvr_25^post49, temp0_34^0'=temp0_34^post49, lt_483^0'=lt_483^post49, z_238^0'=z_238^post49, a_166^0'=a_166^post49, a_267^0'=a_267^post49, rcd_396^0'=rcd_396^post49, __disjvr_1^0'=__disjvr_1^post49, len_266^0'=len_266^post49, __disjvr_2^0'=__disjvr_2^post49, rcd_105^0'=rcd_105^post49, z_389^0'=z_389^post49, __disjvr_12^0'=__disjvr_12^post49, ct_20^0'=ct_20^post49, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, lt_17^0'=lt_17^post49, z_160^0'=z_160^post49, __disjvr_7^0'=__disjvr_7^post49, rcd_237^0'=rcd_237^post49, rcd_352^0'=rcd_352^post49, __disjvr_17^0'=__disjvr_17^post49, i_227^0'=i_227^post49, __disjvr_27^0'=__disjvr_27^post49, temp_38^0'=temp_38^post49, r_178^0'=r_178^post49, z_265^0'=z_265^post49, (0 == 0 /\ -__disjvr_7^post49+__disjvr_7^0 == 0 /\ r_236^0-r_236^post49 == 0 /\ i_33^0-i_33^post49 == 0 /\ -z_389^post49+z_389^0 == 0 /\ -a_210^0 <= 0 /\ t_24^0-t_24^post49 == 0 /\ __disjvr_8^0-__disjvr_8^post49 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ z_188^0-z_188^post49 == 0 /\ -y_22^post49 <= 0 /\ -__disjvr_12^post49+__disjvr_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post49 == 0 /\ ct_20^post49-y_22^post49 <= 0 /\ rcd_46^0-rcd_46^post49 == 0 /\ -temp0_34^post49+temp0_34^0 == 0 /\ -__disjvr_28^post49+__disjvr_28^0 == 0 /\ z_238^0-z_238^post49 == 0 /\ -rcd_228^post49+rcd_228^0 == 0 /\ -temp_38^post49+temp_38^0 == 0 /\ a_377^0-a_377^post49 == 0 /\ -__disjvr_3^post49+__disjvr_3^0 == 0 /\ -length_32^post49+length_32^0 == 0 /\ -len_195^0 <= 0 /\ x_23^post49-lt_17^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post49 == 0 /\ rcd_70^0-rcd_70^post49 == 0 /\ head_35^0-head_35^post49 == 0 /\ __disjvr_20^0-__disjvr_20^post49 == 0 /\ rcd_222^0-rcd_222^post49 == 0 /\ -__disjvr_10^post49+__disjvr_10^0 == 0 /\ -rcd_264^post49+rcd_264^0 == 0 /\ -len_286^post49+len_286^0 == 0 /\ -lt_29^0 <= 0 /\ a_267^0-a_267^post49 == 0 /\ -z_160^post49+z_160^0 == 0 /\ ct_20^post49 <= 0 /\ ct_20^post49 == 0 /\ -tmp_37^post49+tmp_37^0 == 0 /\ -ct_20^post49+y_22^post49 <= 0 /\ -ct_20^post49+y_22^post49 == 0 /\ -rcd_396^post49+rcd_396^0 == 0 /\ -i_111^post49+i_111^0 == 0 /\ -1-len_195^0+len_286^0 <= 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ -i_227^post49+i_227^0 == 0 /\ -x_23^post49+lt_17^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post49 == 0 /\ i_120^0-i_120^post49 == 0 /\ -a_210^post49+a_210^0 == 0 /\ -__disjvr_23^post49+__disjvr_23^0 == 0 /\ head_13^0-head_13^post49 == 0 /\ __disjvr_26^0-__disjvr_26^post49 == 0 /\ __disjvr_1^0-__disjvr_1^post49 == 0 /\ len_266^0-len_266^post49 == 0 /\ lt_29^0 <= 0 /\ rcd_237^0-rcd_237^post49 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post49 == 0 /\ __disjvr_15^0-__disjvr_15^post49 == 0 /\ __disjvr_11^0-__disjvr_11^post49 == 0 /\ __disjvr_6^0-__disjvr_6^post49 == 0 /\ __disjvr_16^0-__disjvr_16^post49 == 0 /\ x_SLAM_f_21^post49-lt_17^0 <= 0 /\ -__disjvr_24^post49+__disjvr_24^0 == 0 /\ -ct_20^post49 <= 0 /\ x_SLAM_f_21^post49-x_19^post49 <= 0 /\ x_SLAM_f_21^post49-x_19^post49 == 0 /\ -rcd_105^post49+rcd_105^0 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -rcd_356^post49+rcd_356^0 == 0 /\ len_195^0-len_195^post49 == 0 /\ -__disjvr_18^post49+__disjvr_18^0 == 0 /\ y_22^post49 <= 0 /\ __disjvr_21^0-__disjvr_21^post49 == 0 /\ x_19^post49-lt_17^0 <= 0 /\ x_19^post49-lt_17^0 == 0 /\ -lt_483^post49+lt_483^0 == 0 /\ -a_347^post49+a_347^0 == 0 /\ x_23^post49-x_SLAM_f_21^post49 <= 0 /\ x_23^post49-x_SLAM_f_21^post49 == 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ -__disjvr_22^post49+__disjvr_22^0 == 0 /\ __disjvr_19^0-__disjvr_19^post49 == 0 /\ -z_265^post49+z_265^0 == 0 /\ rcd_376^0-rcd_376^post49 == 0 /\ __disjvr_5^0-__disjvr_5^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ a_321^0-a_321^post49 == 0 /\ rcd_113^0-rcd_113^post49 == 0 /\ temp0_18^0-temp0_18^post49 == 0 /\ z_252^0-z_252^post49 == 0 /\ -x_SLAM_f_21^post49+lt_17^0 <= 0 /\ -x_SLAM_f_21^post49+x_19^post49 <= 0 /\ __disjvr_9^0-__disjvr_9^post49 == 0 /\ -rcd_352^post49+rcd_352^0 == 0 /\ -__disjvr_25^post49+__disjvr_25^0 == 0 /\ -x_19^post49+lt_17^0 <= 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ -x_23^post49+x_SLAM_f_21^post49 <= 0 /\ 1+len_195^0-len_286^0 <= 0 /\ -lt_17^post49+lt_17^0 == 0 /\ -rcd_226^post49+rcd_226^0 == 0 /\ -r_178^post49+r_178^0 == 0 /\ -a_166^post49+a_166^0 == 0 /\ -result_11^post49+result_11^0 == 0 /\ lt_386^0-lt_386^post49 == 0 /\ -z_229^post49+z_229^0 == 0), cost: 1
  52: l39 -> l49 : __disjvr_0^0'=__disjvr_0^post52, a_321^0'=a_321^post52, rcd_70^0'=rcd_70^post52, __disjvr_21^0'=__disjvr_21^post52, x_23^0'=x_23^post52, __disjvr_4^0'=__disjvr_4^post52, rcd_222^0'=rcd_222^post52, __disjvr_14^0'=__disjvr_14^post52, head_35^0'=head_35^post52, __disjvr_24^0'=__disjvr_24^post52, temp0_18^0'=temp0_18^post52, lt_386^0'=lt_386^post52, z_229^0'=z_229^post52, __disjvr_9^0'=__disjvr_9^post52, a_210^0'=a_210^post52, rcd_376^0'=rcd_376^post52, __disjvr_19^0'=__disjvr_19^post52, len_195^0'=len_195^post52, __disjvr_29^0'=__disjvr_29^post52, x_19^0'=x_19^post52, r_42^0'=r_42^post52, z_28^0'=z_28^post52, __disjvr_11^0'=__disjvr_11^post52, a_377^0'=a_377^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post52, length_32^0'=length_32^post52, y_22^0'=y_22^post52, __disjvr_6^0'=__disjvr_6^post52, rcd_228^0'=rcd_228^post52, __disjvr_16^0'=__disjvr_16^post52, i_120^0'=i_120^post52, __disjvr_26^0'=__disjvr_26^post52, temp1_30^0'=temp1_30^post52, nondet_12^0'=nondet_12^post52, z_252^0'=z_252^post52, a_27^0'=a_27^post52, rcd_46^0'=rcd_46^post52, __disjvr_20^0'=__disjvr_20^post52, len_286^0'=len_286^post52, __disjvr_3^0'=__disjvr_3^post52, rcd_113^0'=rcd_113^post52, __disjvr_13^0'=__disjvr_13^post52, head_13^0'=head_13^post52, __disjvr_23^0'=__disjvr_23^post52, t_24^0'=t_24^post52, lt_29^0'=lt_29^post52, z_188^0'=z_188^post52, __disjvr_8^0'=__disjvr_8^post52, rcd_264^0'=rcd_264^post52, rcd_356^0'=rcd_356^post52, __disjvr_18^0'=__disjvr_18^post52, i_33^0'=i_33^post52, __disjvr_28^0'=__disjvr_28^post52, tmp_37^0'=tmp_37^post52, r_236^0'=r_236^post52, z_279^0'=z_279^post52, __disjvr_10^0'=__disjvr_10^post52, a_347^0'=a_347^post52, result_11^0'=result_11^post52, __disjvr_22^0'=__disjvr_22^post52, x_SLAM_f_21^0'=x_SLAM_f_21^post52, __disjvr_5^0'=__disjvr_5^post52, rcd_226^0'=rcd_226^post52, __disjvr_15^0'=__disjvr_15^post52, i_111^0'=i_111^post52, __disjvr_25^0'=__disjvr_25^post52, temp0_34^0'=temp0_34^post52, lt_483^0'=lt_483^post52, z_238^0'=z_238^post52, a_166^0'=a_166^post52, a_267^0'=a_267^post52, rcd_396^0'=rcd_396^post52, __disjvr_1^0'=__disjvr_1^post52, len_266^0'=len_266^post52, __disjvr_2^0'=__disjvr_2^post52, rcd_105^0'=rcd_105^post52, z_389^0'=z_389^post52, __disjvr_12^0'=__disjvr_12^post52, ct_20^0'=ct_20^post52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, lt_17^0'=lt_17^post52, z_160^0'=z_160^post52, __disjvr_7^0'=__disjvr_7^post52, rcd_237^0'=rcd_237^post52, rcd_352^0'=rcd_352^post52, __disjvr_17^0'=__disjvr_17^post52, i_227^0'=i_227^post52, __disjvr_27^0'=__disjvr_27^post52, temp_38^0'=temp_38^post52, r_178^0'=r_178^post52, z_265^0'=z_265^post52, (0 == 0 /\ __disjvr_4^0-__disjvr_4^post52 == 0 /\ rcd_228^0-rcd_228^post52 == 0 /\ rcd_70^0-rcd_70^post52 == 0 /\ -rcd_105^post52+rcd_105^0 == 0 /\ -r_236^post52+r_236^0 == 0 /\ a_321^0-a_321^post52 == 0 /\ -a_210^0 <= 0 /\ -__disjvr_15^post52+__disjvr_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post52 == 0 /\ tmp_37^0-tmp_37^post52 == 0 /\ len_195^0-len_195^post52 == 0 /\ temp0_18^0-temp0_18^post52 == 0 /\ __disjvr_24^0-__disjvr_24^post52 == 0 /\ -i_120^post52+i_120^0 == 0 /\ __disjvr_3^0-__disjvr_3^post52 == 0 /\ -a_347^post52+a_347^0 == 0 /\ -__disjvr_1^post52+__disjvr_1^0 == 0 /\ -__disjvr_17^post52+__disjvr_17^0 == 0 /\ __disjvr_10^0-__disjvr_10^post52 == 0 /\ lt_386^0-lt_386^post52 == 0 /\ -rcd_113^post52+rcd_113^0 == 0 /\ -len_195^0 <= 0 /\ -z_160^post52+z_160^0 == 0 /\ rcd_356^0-rcd_356^post52 == 0 /\ -rcd_46^post52+rcd_46^0 == 0 /\ x_19^0-x_19^post52 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ -temp1_30^post52+temp1_30^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -z_238^post52+z_238^0 == 0 /\ -rcd_352^post52+rcd_352^0 == 0 /\ -__disjvr_26^post52+__disjvr_26^0 == 0 /\ -r_178^post52+r_178^0 == 0 /\ -z_279^post52+z_279^0 == 0 /\ __disjvr_6^0-__disjvr_6^post52 == 0 /\ -a_267^post52+a_267^0 == 0 /\ -rcd_226^post52+rcd_226^0 == 0 /\ -len_266^post52+len_266^0 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ -i_33^post52+i_33^0 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0 /\ -rcd_237^post52+rcd_237^0 == 0 /\ -result_11^post52+result_11^0 == 0 /\ __disjvr_18^0-__disjvr_18^post52 == 0 /\ head_35^0-head_35^post52 == 0 /\ __disjvr_2^0-__disjvr_2^post52 == 0 /\ -z_265^post52+z_265^0 == 0 /\ -z_28^post52+z_28^0 == 0 /\ rcd_376^0-rcd_376^post52 == 0 /\ __disjvr_13^0-__disjvr_13^post52 == 0 /\ -__disjvr_25^post52+__disjvr_25^0 == 0 /\ a_377^0-a_377^post52 == 0 /\ -a_166^post52+a_166^0 == 0 /\ __disjvr_20^0-__disjvr_20^post52 == 0 /\ lt_29^0-lt_29^post52 == 0 /\ -rcd_396^post52+rcd_396^0 == 0 /\ i_111^0-i_111^post52 == 0 /\ -temp_38^post52+temp_38^0 == 0 /\ -__disjvr_8^post52+__disjvr_8^0 == 0 /\ -__disjvr_28^post52+__disjvr_28^0 == 0 /\ __disjvr_22^0-__disjvr_22^post52 == 0 /\ -z_389^post52+z_389^0 == 0 /\ -temp0_34^post52+temp0_34^0 == 0 /\ rcd_222^0-rcd_222^post52 == 0 /\ -lt_17^post52+lt_17^0 == 0 /\ z_229^0-z_229^post52 == 0 /\ -len_286^post52+len_286^0 == 0 /\ x_23^0-x_23^post52 == 0 /\ __disjvr_7^0-__disjvr_7^post52 == 0 /\ a_210^0-a_210^post52 == 0 /\ length_32^0-length_32^post52 == 0 /\ __disjvr_14^0-__disjvr_14^post52 == 0 /\ -i_227^post52+i_227^0 == 0 /\ __disjvr_11^0-__disjvr_11^post52 == 0 /\ -__disjvr_23^post52+__disjvr_23^0 == 0 /\ -z_188^post52+z_188^0 == 0 /\ __disjvr_16^0-__disjvr_16^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ -y_22^post52+y_22^0 == 0 /\ -__disjvr_27^post52+__disjvr_27^0 == 0 /\ -t_24^post52+t_24^0 == 0 /\ __disjvr_29^0-__disjvr_29^post52 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post52 == 0 /\ lt_483^0-lt_483^post52 == 0 /\ -__disjvr_5^post52+__disjvr_5^0 == 0 /\ -ct_20^post52+ct_20^0 == 0 /\ rcd_264^0-rcd_264^post52 == 0 /\ __disjvr_19^0-__disjvr_19^post52 == 0), cost: 1
  46: l44 -> l38 : __disjvr_0^0'=__disjvr_0^post46, a_321^0'=a_321^post46, rcd_70^0'=rcd_70^post46, __disjvr_21^0'=__disjvr_21^post46, x_23^0'=x_23^post46, __disjvr_4^0'=__disjvr_4^post46, rcd_222^0'=rcd_222^post46, __disjvr_14^0'=__disjvr_14^post46, head_35^0'=head_35^post46, __disjvr_24^0'=__disjvr_24^post46, temp0_18^0'=temp0_18^post46, lt_386^0'=lt_386^post46, z_229^0'=z_229^post46, __disjvr_9^0'=__disjvr_9^post46, a_210^0'=a_210^post46, rcd_376^0'=rcd_376^post46, __disjvr_19^0'=__disjvr_19^post46, len_195^0'=len_195^post46, __disjvr_29^0'=__disjvr_29^post46, x_19^0'=x_19^post46, r_42^0'=r_42^post46, z_28^0'=z_28^post46, __disjvr_11^0'=__disjvr_11^post46, a_377^0'=a_377^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post46, length_32^0'=length_32^post46, y_22^0'=y_22^post46, __disjvr_6^0'=__disjvr_6^post46, rcd_228^0'=rcd_228^post46, __disjvr_16^0'=__disjvr_16^post46, i_120^0'=i_120^post46, __disjvr_26^0'=__disjvr_26^post46, temp1_30^0'=temp1_30^post46, nondet_12^0'=nondet_12^post46, z_252^0'=z_252^post46, a_27^0'=a_27^post46, rcd_46^0'=rcd_46^post46, __disjvr_20^0'=__disjvr_20^post46, len_286^0'=len_286^post46, __disjvr_3^0'=__disjvr_3^post46, rcd_113^0'=rcd_113^post46, __disjvr_13^0'=__disjvr_13^post46, head_13^0'=head_13^post46, __disjvr_23^0'=__disjvr_23^post46, t_24^0'=t_24^post46, lt_29^0'=lt_29^post46, z_188^0'=z_188^post46, __disjvr_8^0'=__disjvr_8^post46, rcd_264^0'=rcd_264^post46, rcd_356^0'=rcd_356^post46, __disjvr_18^0'=__disjvr_18^post46, i_33^0'=i_33^post46, __disjvr_28^0'=__disjvr_28^post46, tmp_37^0'=tmp_37^post46, r_236^0'=r_236^post46, z_279^0'=z_279^post46, __disjvr_10^0'=__disjvr_10^post46, a_347^0'=a_347^post46, result_11^0'=result_11^post46, __disjvr_22^0'=__disjvr_22^post46, x_SLAM_f_21^0'=x_SLAM_f_21^post46, __disjvr_5^0'=__disjvr_5^post46, rcd_226^0'=rcd_226^post46, __disjvr_15^0'=__disjvr_15^post46, i_111^0'=i_111^post46, __disjvr_25^0'=__disjvr_25^post46, temp0_34^0'=temp0_34^post46, lt_483^0'=lt_483^post46, z_238^0'=z_238^post46, a_166^0'=a_166^post46, a_267^0'=a_267^post46, rcd_396^0'=rcd_396^post46, __disjvr_1^0'=__disjvr_1^post46, len_266^0'=len_266^post46, __disjvr_2^0'=__disjvr_2^post46, rcd_105^0'=rcd_105^post46, z_389^0'=z_389^post46, __disjvr_12^0'=__disjvr_12^post46, ct_20^0'=ct_20^post46, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post46, lt_17^0'=lt_17^post46, z_160^0'=z_160^post46, __disjvr_7^0'=__disjvr_7^post46, rcd_237^0'=rcd_237^post46, rcd_352^0'=rcd_352^post46, __disjvr_17^0'=__disjvr_17^post46, i_227^0'=i_227^post46, __disjvr_27^0'=__disjvr_27^post46, temp_38^0'=temp_38^post46, r_178^0'=r_178^post46, z_265^0'=z_265^post46, (a_377^0-a_377^post46 == 0 /\ -len_266^post46+len_266^0 == 0 /\ __disjvr_26^0-__disjvr_26^post46 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ __disjvr_29^0-__disjvr_29^post46 == 0 /\ -z_279^post46+z_279^0 == 0 /\ a_210^0-a_210^post46 == 0 /\ rcd_70^0-rcd_70^post46 == 0 /\ -len_286^post46+len_286^0 == 0 /\ -i_227^post46+i_227^0 == 0 /\ x_23^0-x_23^post46 == 0 /\ -length_32^post46+length_32^0 == 0 /\ __disjvr_8^0-__disjvr_8^post46 == 0 /\ -z_389^post46+z_389^0 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ r_236^0-r_236^post46 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post46 == 0 /\ __disjvr_1^0-__disjvr_1^post46 == 0 /\ rcd_46^0-rcd_46^post46 == 0 /\ -z_238^post46+z_238^0 == 0 /\ -lt_29^post46+lt_29^0 == 0 /\ -i_111^post46+i_111^0 == 0 /\ -__disjvr_2^post46+__disjvr_2^0 == 0 /\ -z_265^post46+z_265^0 == 0 /\ __disjvr_21^0-__disjvr_21^post46 == 0 /\ -z_160^post46+z_160^0 == 0 /\ -__disjvr_28^post46+__disjvr_28^0 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ a_267^0-a_267^post46 == 0 /\ rcd_222^0-rcd_222^post46 == 0 /\ head_13^0-head_13^post46 == 0 /\ -__disjvr_10^post46+__disjvr_10^0 == 0 /\ __disjvr_4^0-__disjvr_4^post46 == 0 /\ i_120^0-i_120^post46 == 0 /\ rcd_228^0-rcd_228^post46 == 0 /\ temp0_18^0-temp0_18^post46 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post46 == 0 /\ -lt_483^post46+lt_483^0 == 0 /\ i_33^0-i_33^post46 == 0 /\ r_42^0-r_42^post46 == 0 /\ -a_166^post46+a_166^0 == 0 /\ __disjvr_18^0-__disjvr_18^post46 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ -t_24^post46+t_24^0 == 0 /\ -__disjvr_22^post46+__disjvr_22^0 == 0 /\ -r_178^post46+r_178^0 == 0 /\ -tmp_37^post46+tmp_37^0 == 0 /\ -a_347^post46+a_347^0 == 0 /\ y_22^0-y_22^post46 == 0 /\ a_27^0-a_27^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post46+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_356^0-rcd_356^post46 == 0 /\ -__disjvr_11^post46+__disjvr_11^0 == 0 /\ __disjvr_5^0-__disjvr_5^post46 == 0 /\ -rcd_264^post46+rcd_264^0 == 0 /\ -z_229^post46+z_229^0 == 0 /\ -ct_20^post46+ct_20^0 == 0 /\ rcd_113^0-rcd_113^post46 == 0 /\ -rcd_226^post46+rcd_226^0 == 0 /\ __disjvr_6^0-__disjvr_6^post46 == 0 /\ -z_188^post46+z_188^0 == 0 /\ rcd_237^0-rcd_237^post46 == 0 /\ rcd_376^0-rcd_376^post46 == 0 /\ __disjvr_19^0-__disjvr_19^post46 == 0 /\ -rcd_396^post46+rcd_396^0 == 0 /\ a_321^0-a_321^post46 == 0 /\ z_28^0-z_28^post46 == 0 /\ -__disjvr_24^post46+__disjvr_24^0 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ -__disjvr_25^post46+__disjvr_25^0 == 0 /\ len_195^0-len_195^post46 == 0 /\ -rcd_105^post46+rcd_105^0 == 0 /\ -temp_38^post46+temp_38^0 == 0 /\ head_35^0-head_35^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ -temp0_34^post46+temp0_34^0 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ -lt_17^post46+lt_17^0 == 0 /\ z_252^0-z_252^post46 == 0 /\ -result_11^post46+result_11^0 == 0 /\ lt_386^0-lt_386^post46 == 0 /\ -__disjvr_7^post46+__disjvr_7^0 == 0 /\ __disjvr_15^0-__disjvr_15^post46 == 0 /\ -temp1_30^post46+temp1_30^0 == 0 /\ -__disjvr_13^post46+__disjvr_13^0 == 0 /\ -__disjvr_3^post46+__disjvr_3^0 == 0 /\ x_19^0-x_19^post46 == 0 /\ -rcd_352^post46+rcd_352^0 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ __disjvr_16^0-__disjvr_16^post46 == 0), cost: 1
  48: l45 -> l25 : __disjvr_0^0'=__disjvr_0^post48, a_321^0'=a_321^post48, rcd_70^0'=rcd_70^post48, __disjvr_21^0'=__disjvr_21^post48, x_23^0'=x_23^post48, __disjvr_4^0'=__disjvr_4^post48, rcd_222^0'=rcd_222^post48, __disjvr_14^0'=__disjvr_14^post48, head_35^0'=head_35^post48, __disjvr_24^0'=__disjvr_24^post48, temp0_18^0'=temp0_18^post48, lt_386^0'=lt_386^post48, z_229^0'=z_229^post48, __disjvr_9^0'=__disjvr_9^post48, a_210^0'=a_210^post48, rcd_376^0'=rcd_376^post48, __disjvr_19^0'=__disjvr_19^post48, len_195^0'=len_195^post48, __disjvr_29^0'=__disjvr_29^post48, x_19^0'=x_19^post48, r_42^0'=r_42^post48, z_28^0'=z_28^post48, __disjvr_11^0'=__disjvr_11^post48, a_377^0'=a_377^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48, length_32^0'=length_32^post48, y_22^0'=y_22^post48, __disjvr_6^0'=__disjvr_6^post48, rcd_228^0'=rcd_228^post48, __disjvr_16^0'=__disjvr_16^post48, i_120^0'=i_120^post48, __disjvr_26^0'=__disjvr_26^post48, temp1_30^0'=temp1_30^post48, nondet_12^0'=nondet_12^post48, z_252^0'=z_252^post48, a_27^0'=a_27^post48, rcd_46^0'=rcd_46^post48, __disjvr_20^0'=__disjvr_20^post48, len_286^0'=len_286^post48, __disjvr_3^0'=__disjvr_3^post48, rcd_113^0'=rcd_113^post48, __disjvr_13^0'=__disjvr_13^post48, head_13^0'=head_13^post48, __disjvr_23^0'=__disjvr_23^post48, t_24^0'=t_24^post48, lt_29^0'=lt_29^post48, z_188^0'=z_188^post48, __disjvr_8^0'=__disjvr_8^post48, rcd_264^0'=rcd_264^post48, rcd_356^0'=rcd_356^post48, __disjvr_18^0'=__disjvr_18^post48, i_33^0'=i_33^post48, __disjvr_28^0'=__disjvr_28^post48, tmp_37^0'=tmp_37^post48, r_236^0'=r_236^post48, z_279^0'=z_279^post48, __disjvr_10^0'=__disjvr_10^post48, a_347^0'=a_347^post48, result_11^0'=result_11^post48, __disjvr_22^0'=__disjvr_22^post48, x_SLAM_f_21^0'=x_SLAM_f_21^post48, __disjvr_5^0'=__disjvr_5^post48, rcd_226^0'=rcd_226^post48, __disjvr_15^0'=__disjvr_15^post48, i_111^0'=i_111^post48, __disjvr_25^0'=__disjvr_25^post48, temp0_34^0'=temp0_34^post48, lt_483^0'=lt_483^post48, z_238^0'=z_238^post48, a_166^0'=a_166^post48, a_267^0'=a_267^post48, rcd_396^0'=rcd_396^post48, __disjvr_1^0'=__disjvr_1^post48, len_266^0'=len_266^post48, __disjvr_2^0'=__disjvr_2^post48, rcd_105^0'=rcd_105^post48, z_389^0'=z_389^post48, __disjvr_12^0'=__disjvr_12^post48, ct_20^0'=ct_20^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post48, lt_17^0'=lt_17^post48, z_160^0'=z_160^post48, __disjvr_7^0'=__disjvr_7^post48, rcd_237^0'=rcd_237^post48, rcd_352^0'=rcd_352^post48, __disjvr_17^0'=__disjvr_17^post48, i_227^0'=i_227^post48, __disjvr_27^0'=__disjvr_27^post48, temp_38^0'=temp_38^post48, r_178^0'=r_178^post48, z_265^0'=z_265^post48, (0 == 0 /\ 1-i_33^post48 <= 0 /\ -1+i_33^post48 <= 0 /\ -len_266^post48+len_266^0 == 0 /\ tmp_37^post48-head_35^post48 <= 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ -x_SLAM_f_21^post48+x_SLAM_f_21^0 == 0 /\ rcd_396^0-rcd_396^post48 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0 /\ length_32^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post48 <= 0 /\ tmp_37^post48-temp_38^0 == 0 /\ a_321^0-a_321^post48 == 0 /\ len_195^0-len_195^post48 == 0 /\ temp0_18^0-temp0_18^post48 == 0 /\ y_22^0-y_22^post48 == 0 /\ -__disjvr_20^post48+__disjvr_20^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48+head_35^post48 <= 0 /\ -i_227^post48+i_227^0 == 0 /\ r_42^0-r_42^post48 == 0 /\ __disjvr_5^0-__disjvr_5^post48 == 0 /\ -z_389^post48+z_389^0 == 0 /\ rcd_113^0-rcd_113^post48 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ -rcd_356^post48+rcd_356^0 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ __disjvr_9^0-__disjvr_9^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48-tmp_37^post48 <= 0 /\ -__disjvr_6^post48+__disjvr_6^0 == 0 /\ -z_265^post48+z_265^0 == 0 /\ -__disjvr_2^post48+__disjvr_2^0 == 0 /\ -tmp_37^post48+head_35^post48 <= 0 /\ -tmp_37^post48+head_35^post48 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ -z_28^post48+z_28^0 == 0 /\ rcd_46^0-rcd_46^post48 == 0 /\ x_19^0-x_19^post48 == 0 /\ -z_160^post48+z_160^0 == 0 /\ -length_32^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post48 <= 0 /\ rcd_105^0-rcd_105^post48 == 0 /\ length_32^0-length_32^post48 == 0 /\ z_279^0-z_279^post48 == 0 /\ __disjvr_0^0-__disjvr_0^post48 == 0 /\ -__disjvr_26^post48+__disjvr_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48-head_35^post48 <= 0 /\ __disjvr_28^0-__disjvr_28^post48 == 0 /\ -1-i_33^0+i_33^post48 == 0 /\ __disjvr_16^0-__disjvr_16^post48 == 0 /\ -__disjvr_15^post48+__disjvr_15^0 == 0 /\ a_377^0-a_377^post48 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ z_238^0-z_238^post48 == 0 /\ -a_267^post48+a_267^0 == 0 /\ -lt_483^post48+lt_483^0 == 0 /\ t_24^0-t_24^post48 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48+tmp_37^post48 <= 0 /\ -a_166^post48+a_166^0 == 0 /\ lt_29^0-lt_29^post48 == 0 /\ -lt_386^post48+lt_386^0 == 0 /\ -__disjvr_22^post48+__disjvr_22^0 == 0 /\ 1-length_32^0+i_33^0 <= 0 /\ -r_178^post48+r_178^0 == 0 /\ -__disjvr_10^post48+__disjvr_10^0 == 0 /\ -rcd_237^post48+rcd_237^0 == 0 /\ rcd_228^0-rcd_228^post48 == 0 /\ rcd_70^0-rcd_70^post48 == 0 /\ temp1_30^0-temp1_30^post48 == 0 /\ x_23^0-x_23^post48 == 0 /\ __disjvr_11^0-__disjvr_11^post48 == 0 /\ -rcd_264^post48+rcd_264^0 == 0 /\ -rcd_226^post48+rcd_226^0 == 0 /\ -ct_20^post48+ct_20^0 == 0 /\ -a_27^post48+a_27^0 == 0 /\ -head_13^post48+head_13^0 == 0 /\ a_210^0-a_210^post48 == 0 /\ __disjvr_8^0-__disjvr_8^post48 == 0 /\ -__disjvr_25^post48+__disjvr_25^0 == 0 /\ -z_252^post48+z_252^0 == 0 /\ z_229^0-z_229^post48 == 0 /\ 1-length_32^0 <= 0 /\ rcd_376^0-rcd_376^post48 == 0 /\ __disjvr_19^0-__disjvr_19^post48 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ -lt_17^post48+lt_17^0 == 0 /\ -__disjvr_7^post48+__disjvr_7^0 == 0 /\ -__disjvr_18^post48+__disjvr_18^0 == 0 /\ -r_236^post48+r_236^0 == 0 /\ rcd_352^0-rcd_352^post48 == 0 /\ a_347^0-a_347^post48 == 0 /\ rcd_222^0-rcd_222^post48 == 0 /\ -__disjvr_23^post48+__disjvr_23^0 == 0 /\ -z_188^post48+z_188^0 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ __disjvr_29^0-__disjvr_29^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ __disjvr_4^0-__disjvr_4^post48 == 0 /\ -__disjvr_13^post48+__disjvr_13^0 == 0 /\ -len_286^post48+len_286^0 == 0 /\ -temp0_34^post48+temp0_34^0 == 0 /\ -i_120^post48+i_120^0 == 0 /\ i_111^0-i_111^post48 == 0), cost: 1
  50: l46 -> l47 : __disjvr_0^0'=__disjvr_0^post50, a_321^0'=a_321^post50, rcd_70^0'=rcd_70^post50, __disjvr_21^0'=__disjvr_21^post50, x_23^0'=x_23^post50, __disjvr_4^0'=__disjvr_4^post50, rcd_222^0'=rcd_222^post50, __disjvr_14^0'=__disjvr_14^post50, head_35^0'=head_35^post50, __disjvr_24^0'=__disjvr_24^post50, temp0_18^0'=temp0_18^post50, lt_386^0'=lt_386^post50, z_229^0'=z_229^post50, __disjvr_9^0'=__disjvr_9^post50, a_210^0'=a_210^post50, rcd_376^0'=rcd_376^post50, __disjvr_19^0'=__disjvr_19^post50, len_195^0'=len_195^post50, __disjvr_29^0'=__disjvr_29^post50, x_19^0'=x_19^post50, r_42^0'=r_42^post50, z_28^0'=z_28^post50, __disjvr_11^0'=__disjvr_11^post50, a_377^0'=a_377^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post50, length_32^0'=length_32^post50, y_22^0'=y_22^post50, __disjvr_6^0'=__disjvr_6^post50, rcd_228^0'=rcd_228^post50, __disjvr_16^0'=__disjvr_16^post50, i_120^0'=i_120^post50, __disjvr_26^0'=__disjvr_26^post50, temp1_30^0'=temp1_30^post50, nondet_12^0'=nondet_12^post50, z_252^0'=z_252^post50, a_27^0'=a_27^post50, rcd_46^0'=rcd_46^post50, __disjvr_20^0'=__disjvr_20^post50, len_286^0'=len_286^post50, __disjvr_3^0'=__disjvr_3^post50, rcd_113^0'=rcd_113^post50, __disjvr_13^0'=__disjvr_13^post50, head_13^0'=head_13^post50, __disjvr_23^0'=__disjvr_23^post50, t_24^0'=t_24^post50, lt_29^0'=lt_29^post50, z_188^0'=z_188^post50, __disjvr_8^0'=__disjvr_8^post50, rcd_264^0'=rcd_264^post50, rcd_356^0'=rcd_356^post50, __disjvr_18^0'=__disjvr_18^post50, i_33^0'=i_33^post50, __disjvr_28^0'=__disjvr_28^post50, tmp_37^0'=tmp_37^post50, r_236^0'=r_236^post50, z_279^0'=z_279^post50, __disjvr_10^0'=__disjvr_10^post50, a_347^0'=a_347^post50, result_11^0'=result_11^post50, __disjvr_22^0'=__disjvr_22^post50, x_SLAM_f_21^0'=x_SLAM_f_21^post50, __disjvr_5^0'=__disjvr_5^post50, rcd_226^0'=rcd_226^post50, __disjvr_15^0'=__disjvr_15^post50, i_111^0'=i_111^post50, __disjvr_25^0'=__disjvr_25^post50, temp0_34^0'=temp0_34^post50, lt_483^0'=lt_483^post50, z_238^0'=z_238^post50, a_166^0'=a_166^post50, a_267^0'=a_267^post50, rcd_396^0'=rcd_396^post50, __disjvr_1^0'=__disjvr_1^post50, len_266^0'=len_266^post50, __disjvr_2^0'=__disjvr_2^post50, rcd_105^0'=rcd_105^post50, z_389^0'=z_389^post50, __disjvr_12^0'=__disjvr_12^post50, ct_20^0'=ct_20^post50, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post50, lt_17^0'=lt_17^post50, z_160^0'=z_160^post50, __disjvr_7^0'=__disjvr_7^post50, rcd_237^0'=rcd_237^post50, rcd_352^0'=rcd_352^post50, __disjvr_17^0'=__disjvr_17^post50, i_227^0'=i_227^post50, __disjvr_27^0'=__disjvr_27^post50, temp_38^0'=temp_38^post50, r_178^0'=r_178^post50, z_265^0'=z_265^post50, (-z_160^post50+z_160^0 == 0 /\ __disjvr_13^0-__disjvr_13^post50 == 0 /\ __disjvr_10^0-__disjvr_10^post50 == 0 /\ __disjvr_20^0-__disjvr_20^post50 == 0 /\ a_27^0-a_27^post50 == 0 /\ -__disjvr_11^post50+__disjvr_11^0 == 0 /\ tmp_37^0-tmp_37^post50 == 0 /\ -rcd_105^post50+rcd_105^0 == 0 /\ -z_265^post50+z_265^0 == 0 /\ -__disjvr_1^post50+__disjvr_1^0 == 0 /\ __disjvr_22^0-__disjvr_22^post50 == 0 /\ -__disjvr_15^post50+__disjvr_15^0 == 0 /\ z_252^0-z_252^post50 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ -lt_483^post50+lt_483^0 == 0 /\ lt_386^0-lt_386^post50 == 0 /\ i_120^0-i_120^post50 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ __disjvr_26^0-__disjvr_26^post50 == 0 /\ -z_279^post50+z_279^0 == 0 /\ x_23^0-x_23^post50 == 0 /\ rcd_222^0-rcd_222^post50 == 0 /\ z_229^0-z_229^post50 == 0 /\ y_22^0-y_22^post50 == 0 /\ -__disjvr_3^post50+__disjvr_3^0 == 0 /\ -rcd_352^post50+rcd_352^0 == 0 /\ -z_238^post50+z_238^0 == 0 /\ -a_347^post50+a_347^0 == 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ a_377^0-a_377^post50 == 0 /\ __disjvr_16^0-__disjvr_16^post50 == 0 /\ z_188^0-z_188^post50 == 0 /\ length_32^0-length_32^post50 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post50+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -i_33^post50+i_33^0 == 0 /\ -rcd_46^post50+rcd_46^0 == 0 /\ -len_266^post50+len_266^0 == 0 /\ -r_178^post50+r_178^0 == 0 /\ -lt_29^post50+lt_29^0 == 0 /\ -__disjvr_22^0+__disjvr_22^post50 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ z_28^0-z_28^post50 == 0 /\ -rcd_237^post50+rcd_237^0 == 0 /\ -z_389^post50+z_389^0 == 0 /\ __disjvr_18^0-__disjvr_18^post50 == 0 /\ -__disjvr_25^post50+__disjvr_25^0 == 0 /\ -temp1_30^post50+temp1_30^0 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ -rcd_228^post50+rcd_228^0 == 0 /\ head_13^0-head_13^post50 == 0 /\ -rcd_396^post50+rcd_396^0 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ -r_42^post50+r_42^0 == 0 /\ lt_17^0-lt_17^post50 == 0 /\ __disjvr_4^0-__disjvr_4^post50 == 0 /\ rcd_70^0-rcd_70^post50 == 0 /\ -a_166^post50+a_166^0 == 0 /\ -__disjvr_8^post50+__disjvr_8^0 == 0 /\ -__disjvr_2^post50+__disjvr_2^0 == 0 /\ -temp_38^post50+temp_38^0 == 0 /\ -result_11^post50+result_11^0 == 0 /\ temp0_18^0-temp0_18^post50 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ -a_267^post50+a_267^0 == 0 /\ __disjvr_7^0-__disjvr_7^post50 == 0 /\ rcd_356^0-rcd_356^post50 == 0 /\ -a_321^post50+a_321^0 == 0 /\ temp0_34^0-temp0_34^post50 == 0 /\ x_19^0-x_19^post50 == 0 /\ -x_SLAM_f_21^post50+x_SLAM_f_21^0 == 0 /\ -__disjvr_19^post50+__disjvr_19^0 == 0 /\ len_286^0-len_286^post50 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post50 == 0 /\ -i_111^post50+i_111^0 == 0 /\ -__disjvr_27^post50+__disjvr_27^0 == 0 /\ -__disjvr_5^post50+__disjvr_5^0 == 0 /\ __disjvr_29^0-__disjvr_29^post50 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0 /\ -i_227^post50+i_227^0 == 0 /\ -t_24^post50+t_24^0 == 0 /\ __disjvr_6^0-__disjvr_6^post50 == 0 /\ -a_210^post50+a_210^0 == 0 /\ -r_236^post50+r_236^0 == 0 /\ rcd_226^0-rcd_226^post50 == 0 /\ len_195^0-len_195^post50 == 0 /\ rcd_264^0-rcd_264^post50 == 0 /\ head_35^0-head_35^post50 == 0 /\ __disjvr_23^0-__disjvr_23^post50 == 0 /\ rcd_376^0-rcd_376^post50 == 0 /\ -ct_20^post50+ct_20^0 == 0 /\ rcd_113^0-rcd_113^post50 == 0), cost: 1
  51: l47 -> l18 : __disjvr_0^0'=__disjvr_0^post51, a_321^0'=a_321^post51, rcd_70^0'=rcd_70^post51, __disjvr_21^0'=__disjvr_21^post51, x_23^0'=x_23^post51, __disjvr_4^0'=__disjvr_4^post51, rcd_222^0'=rcd_222^post51, __disjvr_14^0'=__disjvr_14^post51, head_35^0'=head_35^post51, __disjvr_24^0'=__disjvr_24^post51, temp0_18^0'=temp0_18^post51, lt_386^0'=lt_386^post51, z_229^0'=z_229^post51, __disjvr_9^0'=__disjvr_9^post51, a_210^0'=a_210^post51, rcd_376^0'=rcd_376^post51, __disjvr_19^0'=__disjvr_19^post51, len_195^0'=len_195^post51, __disjvr_29^0'=__disjvr_29^post51, x_19^0'=x_19^post51, r_42^0'=r_42^post51, z_28^0'=z_28^post51, __disjvr_11^0'=__disjvr_11^post51, a_377^0'=a_377^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post51, length_32^0'=length_32^post51, y_22^0'=y_22^post51, __disjvr_6^0'=__disjvr_6^post51, rcd_228^0'=rcd_228^post51, __disjvr_16^0'=__disjvr_16^post51, i_120^0'=i_120^post51, __disjvr_26^0'=__disjvr_26^post51, temp1_30^0'=temp1_30^post51, nondet_12^0'=nondet_12^post51, z_252^0'=z_252^post51, a_27^0'=a_27^post51, rcd_46^0'=rcd_46^post51, __disjvr_20^0'=__disjvr_20^post51, len_286^0'=len_286^post51, __disjvr_3^0'=__disjvr_3^post51, rcd_113^0'=rcd_113^post51, __disjvr_13^0'=__disjvr_13^post51, head_13^0'=head_13^post51, __disjvr_23^0'=__disjvr_23^post51, t_24^0'=t_24^post51, lt_29^0'=lt_29^post51, z_188^0'=z_188^post51, __disjvr_8^0'=__disjvr_8^post51, rcd_264^0'=rcd_264^post51, rcd_356^0'=rcd_356^post51, __disjvr_18^0'=__disjvr_18^post51, i_33^0'=i_33^post51, __disjvr_28^0'=__disjvr_28^post51, tmp_37^0'=tmp_37^post51, r_236^0'=r_236^post51, z_279^0'=z_279^post51, __disjvr_10^0'=__disjvr_10^post51, a_347^0'=a_347^post51, result_11^0'=result_11^post51, __disjvr_22^0'=__disjvr_22^post51, x_SLAM_f_21^0'=x_SLAM_f_21^post51, __disjvr_5^0'=__disjvr_5^post51, rcd_226^0'=rcd_226^post51, __disjvr_15^0'=__disjvr_15^post51, i_111^0'=i_111^post51, __disjvr_25^0'=__disjvr_25^post51, temp0_34^0'=temp0_34^post51, lt_483^0'=lt_483^post51, z_238^0'=z_238^post51, a_166^0'=a_166^post51, a_267^0'=a_267^post51, rcd_396^0'=rcd_396^post51, __disjvr_1^0'=__disjvr_1^post51, len_266^0'=len_266^post51, __disjvr_2^0'=__disjvr_2^post51, rcd_105^0'=rcd_105^post51, z_389^0'=z_389^post51, __disjvr_12^0'=__disjvr_12^post51, ct_20^0'=ct_20^post51, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post51, lt_17^0'=lt_17^post51, z_160^0'=z_160^post51, __disjvr_7^0'=__disjvr_7^post51, rcd_237^0'=rcd_237^post51, rcd_352^0'=rcd_352^post51, __disjvr_17^0'=__disjvr_17^post51, i_227^0'=i_227^post51, __disjvr_27^0'=__disjvr_27^post51, temp_38^0'=temp_38^post51, r_178^0'=r_178^post51, z_265^0'=z_265^post51, (rcd_376^0-rcd_376^post51 == 0 /\ __disjvr_11^0-__disjvr_11^post51 == 0 /\ y_22^0-y_22^post51 == 0 /\ __disjvr_6^0-__disjvr_6^post51 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post51 == 0 /\ -r_42^post51+r_42^0 == 0 /\ -__disjvr_7^post51+__disjvr_7^0 == 0 /\ __disjvr_29^0-__disjvr_29^post51 == 0 /\ __disjvr_14^0-__disjvr_14^post51 == 0 /\ nondet_12^0-nondet_12^post51 == 0 /\ __disjvr_16^0-__disjvr_16^post51 == 0 /\ __disjvr_3^0-__disjvr_3^post51 == 0 /\ -length_32^post51+length_32^0 == 0 /\ -a_166^post51+a_166^0 == 0 /\ -z_252^post51+z_252^0 == 0 /\ __disjvr_21^0-__disjvr_21^post51 == 0 /\ a_27^0-a_27^post51 == 0 /\ -__disjvr_8^post51+__disjvr_8^0 == 0 /\ -temp_38^post51+temp_38^0 == 0 /\ -a_267^post51+a_267^0 == 0 /\ -temp0_34^post51+temp0_34^0 == 0 /\ x_23^0-x_23^post51 == 0 /\ -len_286^post51+len_286^0 == 0 /\ a_321^0-a_321^post51 == 0 /\ -__disjvr_5^post51+__disjvr_5^0 == 0 /\ __disjvr_10^0-__disjvr_10^post51 == 0 /\ temp0_18^0-temp0_18^post51 == 0 /\ __disjvr_2^0-__disjvr_2^post51 == 0 /\ temp1_30^0-temp1_30^post51 == 0 /\ -i_227^post51+i_227^0 == 0 /\ -rcd_396^post51+rcd_396^0 == 0 /\ tmp_37^0-tmp_37^post51 == 0 /\ -__disjvr_23^post51+__disjvr_23^0 == 0 /\ -rcd_105^post51+rcd_105^0 == 0 /\ -i_111^post51+i_111^0 == 0 /\ -t_24^post51+t_24^0 == 0 /\ -ct_20^post51+ct_20^0 == 0 /\ -z_188^post51+z_188^0 == 0 /\ lt_386^0-lt_386^post51 == 0 /\ -__disjvr_27^post51+__disjvr_27^0 == 0 /\ -lt_483^post51+lt_483^0 == 0 /\ -__disjvr_18^post51+__disjvr_18^0 == 0 /\ -r_236^post51+r_236^0 == 0 /\ __disjvr_25^0-__disjvr_25^post51 == 0 /\ -i_120^post51+i_120^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -z_265^post51+z_265^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post51 == 0 /\ -z_160^post51+z_160^0 == 0 /\ -__disjvr_17^post51+__disjvr_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post51 == 0 /\ rcd_264^0-rcd_264^post51 == 0 /\ z_28^0-z_28^post51 == 0 /\ len_195^0-len_195^post51 == 0 /\ rcd_46^0-rcd_46^post51 == 0 /\ -rcd_113^post51+rcd_113^0 == 0 /\ -len_266^post51+len_266^0 == 0 /\ -__disjvr_15^post51+__disjvr_15^0 == 0 /\ -__disjvr_1^post51+__disjvr_1^0 == 0 /\ rcd_226^0-rcd_226^post51 == 0 /\ __disjvr_13^0-__disjvr_13^post51 == 0 /\ a_377^0-a_377^post51 == 0 /\ rcd_70^0-rcd_70^post51 == 0 /\ __disjvr_20^0-__disjvr_20^post51 == 0 /\ head_35^0-head_35^post51 == 0 /\ -__disjvr_22^post51+__disjvr_22^0 == 0 /\ -a_347^post51+a_347^0 == 0 /\ -i_33^post51+i_33^0 == 0 /\ rcd_222^0-rcd_222^post51 == 0 /\ __disjvr_9^0-__disjvr_9^post51 == 0 /\ -z_279^post51+z_279^0 == 0 /\ -head_13^post51+head_13^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post51+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ lt_29^0-lt_29^post51 == 0 /\ -z_229^post51+z_229^0 == 0 /\ -rcd_237^post51+rcd_237^0 == 0 /\ rcd_228^0-rcd_228^post51 == 0 /\ -result_11^post51+result_11^0 == 0 /\ __disjvr_24^0-__disjvr_24^post51 == 0 /\ -__disjvr_12^post51+__disjvr_12^0 == 0 /\ -z_238^post51+z_238^0 == 0 /\ -lt_17^post51+lt_17^0 == 0 /\ -rcd_352^post51+rcd_352^0 == 0 /\ __disjvr_0^0-__disjvr_0^post51 == 0 /\ __disjvr_26^0-__disjvr_26^post51 == 0 /\ -z_389^post51+z_389^0 == 0 /\ __disjvr_4^0-__disjvr_4^post51 == 0 /\ x_19^0-x_19^post51 == 0 /\ a_210^0-a_210^post51 == 0 /\ __disjvr_28^0-__disjvr_28^post51 == 0 /\ -rcd_356^post51+rcd_356^0 == 0 /\ -r_178^post51+r_178^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
  53: l49 -> l50 : __disjvr_0^0'=__disjvr_0^post53, a_321^0'=a_321^post53, rcd_70^0'=rcd_70^post53, __disjvr_21^0'=__disjvr_21^post53, x_23^0'=x_23^post53, __disjvr_4^0'=__disjvr_4^post53, rcd_222^0'=rcd_222^post53, __disjvr_14^0'=__disjvr_14^post53, head_35^0'=head_35^post53, __disjvr_24^0'=__disjvr_24^post53, temp0_18^0'=temp0_18^post53, lt_386^0'=lt_386^post53, z_229^0'=z_229^post53, __disjvr_9^0'=__disjvr_9^post53, a_210^0'=a_210^post53, rcd_376^0'=rcd_376^post53, __disjvr_19^0'=__disjvr_19^post53, len_195^0'=len_195^post53, __disjvr_29^0'=__disjvr_29^post53, x_19^0'=x_19^post53, r_42^0'=r_42^post53, z_28^0'=z_28^post53, __disjvr_11^0'=__disjvr_11^post53, a_377^0'=a_377^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post53, length_32^0'=length_32^post53, y_22^0'=y_22^post53, __disjvr_6^0'=__disjvr_6^post53, rcd_228^0'=rcd_228^post53, __disjvr_16^0'=__disjvr_16^post53, i_120^0'=i_120^post53, __disjvr_26^0'=__disjvr_26^post53, temp1_30^0'=temp1_30^post53, nondet_12^0'=nondet_12^post53, z_252^0'=z_252^post53, a_27^0'=a_27^post53, rcd_46^0'=rcd_46^post53, __disjvr_20^0'=__disjvr_20^post53, len_286^0'=len_286^post53, __disjvr_3^0'=__disjvr_3^post53, rcd_113^0'=rcd_113^post53, __disjvr_13^0'=__disjvr_13^post53, head_13^0'=head_13^post53, __disjvr_23^0'=__disjvr_23^post53, t_24^0'=t_24^post53, lt_29^0'=lt_29^post53, z_188^0'=z_188^post53, __disjvr_8^0'=__disjvr_8^post53, rcd_264^0'=rcd_264^post53, rcd_356^0'=rcd_356^post53, __disjvr_18^0'=__disjvr_18^post53, i_33^0'=i_33^post53, __disjvr_28^0'=__disjvr_28^post53, tmp_37^0'=tmp_37^post53, r_236^0'=r_236^post53, z_279^0'=z_279^post53, __disjvr_10^0'=__disjvr_10^post53, a_347^0'=a_347^post53, result_11^0'=result_11^post53, __disjvr_22^0'=__disjvr_22^post53, x_SLAM_f_21^0'=x_SLAM_f_21^post53, __disjvr_5^0'=__disjvr_5^post53, rcd_226^0'=rcd_226^post53, __disjvr_15^0'=__disjvr_15^post53, i_111^0'=i_111^post53, __disjvr_25^0'=__disjvr_25^post53, temp0_34^0'=temp0_34^post53, lt_483^0'=lt_483^post53, z_238^0'=z_238^post53, a_166^0'=a_166^post53, a_267^0'=a_267^post53, rcd_396^0'=rcd_396^post53, __disjvr_1^0'=__disjvr_1^post53, len_266^0'=len_266^post53, __disjvr_2^0'=__disjvr_2^post53, rcd_105^0'=rcd_105^post53, z_389^0'=z_389^post53, __disjvr_12^0'=__disjvr_12^post53, ct_20^0'=ct_20^post53, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, lt_17^0'=lt_17^post53, z_160^0'=z_160^post53, __disjvr_7^0'=__disjvr_7^post53, rcd_237^0'=rcd_237^post53, rcd_352^0'=rcd_352^post53, __disjvr_17^0'=__disjvr_17^post53, i_227^0'=i_227^post53, __disjvr_27^0'=__disjvr_27^post53, temp_38^0'=temp_38^post53, r_178^0'=r_178^post53, z_265^0'=z_265^post53, (a_166^0-a_166^post53 == 0 /\ rcd_105^0-rcd_105^post53 == 0 /\ -__disjvr_13^post53+__disjvr_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post53 == 0 /\ result_11^0-result_11^post53 == 0 /\ -a_27^post53+a_27^0 == 0 /\ __disjvr_16^0-__disjvr_16^post53 == 0 /\ __disjvr_28^0-__disjvr_28^post53 == 0 /\ z_279^0-z_279^post53 == 0 /\ __disjvr_6^0-__disjvr_6^post53 == 0 /\ rcd_264^0-rcd_264^post53 == 0 /\ __disjvr_23^post53-__disjvr_23^0 == 0 /\ -r_178^post53+r_178^0 == 0 /\ len_195^0-len_195^post53 == 0 /\ -__disjvr_7^post53+__disjvr_7^0 == 0 /\ rcd_70^0-rcd_70^post53 == 0 /\ -tmp_37^post53+tmp_37^0 == 0 /\ head_35^0-head_35^post53 == 0 /\ -__disjvr_10^post53+__disjvr_10^0 == 0 /\ __disjvr_19^0-__disjvr_19^post53 == 0 /\ -lt_17^post53+lt_17^0 == 0 /\ -i_227^post53+i_227^0 == 0 /\ a_321^0-a_321^post53 == 0 /\ -__disjvr_27^post53+__disjvr_27^0 == 0 /\ len_286^0-len_286^post53 == 0 /\ -y_22^post53+y_22^0 == 0 /\ -x_19^post53+x_19^0 == 0 /\ -z_188^post53+z_188^0 == 0 /\ -ct_20^post53+ct_20^0 == 0 /\ __disjvr_4^0-__disjvr_4^post53 == 0 /\ -__disjvr_1^post53+__disjvr_1^0 == 0 /\ -z_252^post53+z_252^0 == 0 /\ __disjvr_9^0-__disjvr_9^post53 == 0 /\ -x_SLAM_f_21^post53+x_SLAM_f_21^0 == 0 /\ -__disjvr_23^post53+__disjvr_23^0 == 0 /\ -temp_38^post53+temp_38^0 == 0 /\ -__disjvr_5^post53+__disjvr_5^0 == 0 /\ nondet_12^0-nondet_12^post53 == 0 /\ __disjvr_0^0-__disjvr_0^post53 == 0 /\ -r_236^post53+r_236^0 == 0 /\ -__disjvr_18^post53+__disjvr_18^0 == 0 /\ a_210^0-a_210^post53 == 0 /\ -rcd_396^post53+rcd_396^0 == 0 /\ __disjvr_26^0-__disjvr_26^post53 == 0 /\ len_266^0-len_266^post53 == 0 /\ -i_111^post53+i_111^0 == 0 /\ rcd_222^0-rcd_222^post53 == 0 /\ rcd_376^0-rcd_376^post53 == 0 /\ t_24^0-t_24^post53 == 0 /\ __disjvr_8^0-__disjvr_8^post53 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ -rcd_356^post53+rcd_356^0 == 0 /\ __disjvr_29^0-__disjvr_29^post53 == 0 /\ -__disjvr_20^post53+__disjvr_20^0 == 0 /\ __disjvr_11^0-__disjvr_11^post53 == 0 /\ -lt_483^post53+lt_483^0 == 0 /\ __disjvr_3^0-__disjvr_3^post53 == 0 /\ z_160^0-z_160^post53 == 0 /\ -z_28^post53+z_28^0 == 0 /\ -i_120^post53+i_120^0 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ -__disjvr_15^post53+__disjvr_15^0 == 0 /\ -__disjvr_14^post53+__disjvr_14^0 == 0 /\ a_377^0-a_377^post53 == 0 /\ -i_33^post53+i_33^0 == 0 /\ temp0_18^0-temp0_18^post53 == 0 /\ rcd_228^0-rcd_228^post53 == 0 /\ -head_13^post53+head_13^0 == 0 /\ x_23^0-x_23^post53 == 0 /\ rcd_113^0-rcd_113^post53 == 0 /\ -a_267^post53+a_267^0 == 0 /\ -__disjvr_25^post53+__disjvr_25^0 == 0 /\ -rcd_352^post53+rcd_352^0 == 0 /\ -rcd_46^post53+rcd_46^0 == 0 /\ temp1_30^0-temp1_30^post53 == 0 /\ lt_29^0-lt_29^post53 == 0 /\ -rcd_226^post53+rcd_226^0 == 0 /\ -__disjvr_22^post53+__disjvr_22^0 == 0 /\ -z_238^post53+z_238^0 == 0 /\ a_347^0-a_347^post53 == 0 /\ -z_265^post53+z_265^0 == 0 /\ temp0_34^0-temp0_34^post53 == 0 /\ r_42^0-r_42^post53 == 0 /\ -__disjvr_12^post53+__disjvr_12^0 == 0 /\ z_229^0-z_229^post53 == 0 /\ __disjvr_24^0-__disjvr_24^post53 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post53+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ length_32^0-length_32^post53 == 0 /\ -__disjvr_2^post53+__disjvr_2^0 == 0 /\ -lt_386^post53+lt_386^0 == 0 /\ -rcd_237^post53+rcd_237^0 == 0 /\ -z_389^post53+z_389^0 == 0), cost: 1
  54: l50 -> l51 : __disjvr_0^0'=__disjvr_0^post54, a_321^0'=a_321^post54, rcd_70^0'=rcd_70^post54, __disjvr_21^0'=__disjvr_21^post54, x_23^0'=x_23^post54, __disjvr_4^0'=__disjvr_4^post54, rcd_222^0'=rcd_222^post54, __disjvr_14^0'=__disjvr_14^post54, head_35^0'=head_35^post54, __disjvr_24^0'=__disjvr_24^post54, temp0_18^0'=temp0_18^post54, lt_386^0'=lt_386^post54, z_229^0'=z_229^post54, __disjvr_9^0'=__disjvr_9^post54, a_210^0'=a_210^post54, rcd_376^0'=rcd_376^post54, __disjvr_19^0'=__disjvr_19^post54, len_195^0'=len_195^post54, __disjvr_29^0'=__disjvr_29^post54, x_19^0'=x_19^post54, r_42^0'=r_42^post54, z_28^0'=z_28^post54, __disjvr_11^0'=__disjvr_11^post54, a_377^0'=a_377^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post54, length_32^0'=length_32^post54, y_22^0'=y_22^post54, __disjvr_6^0'=__disjvr_6^post54, rcd_228^0'=rcd_228^post54, __disjvr_16^0'=__disjvr_16^post54, i_120^0'=i_120^post54, __disjvr_26^0'=__disjvr_26^post54, temp1_30^0'=temp1_30^post54, nondet_12^0'=nondet_12^post54, z_252^0'=z_252^post54, a_27^0'=a_27^post54, rcd_46^0'=rcd_46^post54, __disjvr_20^0'=__disjvr_20^post54, len_286^0'=len_286^post54, __disjvr_3^0'=__disjvr_3^post54, rcd_113^0'=rcd_113^post54, __disjvr_13^0'=__disjvr_13^post54, head_13^0'=head_13^post54, __disjvr_23^0'=__disjvr_23^post54, t_24^0'=t_24^post54, lt_29^0'=lt_29^post54, z_188^0'=z_188^post54, __disjvr_8^0'=__disjvr_8^post54, rcd_264^0'=rcd_264^post54, rcd_356^0'=rcd_356^post54, __disjvr_18^0'=__disjvr_18^post54, i_33^0'=i_33^post54, __disjvr_28^0'=__disjvr_28^post54, tmp_37^0'=tmp_37^post54, r_236^0'=r_236^post54, z_279^0'=z_279^post54, __disjvr_10^0'=__disjvr_10^post54, a_347^0'=a_347^post54, result_11^0'=result_11^post54, __disjvr_22^0'=__disjvr_22^post54, x_SLAM_f_21^0'=x_SLAM_f_21^post54, __disjvr_5^0'=__disjvr_5^post54, rcd_226^0'=rcd_226^post54, __disjvr_15^0'=__disjvr_15^post54, i_111^0'=i_111^post54, __disjvr_25^0'=__disjvr_25^post54, temp0_34^0'=temp0_34^post54, lt_483^0'=lt_483^post54, z_238^0'=z_238^post54, a_166^0'=a_166^post54, a_267^0'=a_267^post54, rcd_396^0'=rcd_396^post54, __disjvr_1^0'=__disjvr_1^post54, len_266^0'=len_266^post54, __disjvr_2^0'=__disjvr_2^post54, rcd_105^0'=rcd_105^post54, z_389^0'=z_389^post54, __disjvr_12^0'=__disjvr_12^post54, ct_20^0'=ct_20^post54, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post54, lt_17^0'=lt_17^post54, z_160^0'=z_160^post54, __disjvr_7^0'=__disjvr_7^post54, rcd_237^0'=rcd_237^post54, rcd_352^0'=rcd_352^post54, __disjvr_17^0'=__disjvr_17^post54, i_227^0'=i_227^post54, __disjvr_27^0'=__disjvr_27^post54, temp_38^0'=temp_38^post54, r_178^0'=r_178^post54, z_265^0'=z_265^post54, (0 == 0 /\ -rcd_105^post54+rcd_105^0 == 0 /\ -z_160^post54+z_160^0 == 0 /\ __disjvr_4^0-__disjvr_4^post54 == 0 /\ rcd_228^0-rcd_228^post54 == 0 /\ -1-len_195^0+len_266^post54 <= 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ -__disjvr_18^post54+__disjvr_18^0 == 0 /\ -r_236^post54+r_236^0 == 0 /\ temp1_30^0-temp1_30^post54 == 0 /\ y_22^0-y_22^post54 == 0 /\ -__disjvr_15^post54+__disjvr_15^0 == 0 /\ rcd_222^0-rcd_222^post54 == 0 /\ -z_265^post54+z_160^0 <= 0 /\ a_210^0-a_210^post54 == 0 /\ -rcd_113^post54+rcd_113^0 == 0 /\ -lt_483^post54+lt_483^0 == 0 /\ __disjvr_28^0-__disjvr_28^post54 == 0 /\ -__disjvr_6^post54+__disjvr_6^0 == 0 /\ -a_377^post54+a_377^0 == 0 /\ a_166^0-a_166^post54 == 0 /\ x_23^0-x_23^post54 == 0 /\ -__disjvr_1^post54+__disjvr_1^0 == 0 /\ a_347^0-a_347^post54 == 0 /\ z_229^0-z_229^post54 == 0 /\ -rcd_46^post54+rcd_46^0 == 0 /\ __disjvr_11^0-__disjvr_11^post54 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post54+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_14^0-__disjvr_14^post54 == 0 /\ __disjvr_19^0-__disjvr_19^post54 == 0 /\ -__disjvr_12^post54+__disjvr_12^0 == 0 /\ -r_178^post54+r_178^0 == 0 /\ i_120^0-i_120^post54 == 0 /\ -rcd_237^post54+rcd_237^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post54 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ -i_33^post54+i_33^0 == 0 /\ -1+a_210^0-a_267^post54 <= 0 /\ __disjvr_23^0-__disjvr_23^post54 == 0 /\ -__disjvr_26^post54+__disjvr_26^0 == 0 /\ -rcd_356^post54+rcd_356^0 == 0 /\ -nondet_12^post54+nondet_12^0 == 0 /\ -a_27^post54+a_27^0 == 0 /\ -z_389^post54+z_389^0 == 0 /\ __disjvr_21^0-__disjvr_21^post54 == 0 /\ -rcd_226^post54+rcd_226^0 == 0 /\ ct_20^0-ct_20^post54 == 0 /\ z_265^post54-z_160^0 <= 0 /\ -z_238^post54+z_238^0 == 0 /\ -__disjvr_29^post54+__disjvr_29^0 == 0 /\ -head_13^post54+head_13^0 == 0 /\ -__disjvr_2^post54+__disjvr_2^0 == 0 /\ -temp0_34^post54+temp0_34^0 == 0 /\ -temp_38^post54+temp_38^0 == 0 /\ a_27^0-head_13^0 <= 0 /\ a_321^0-a_321^post54 == 0 /\ -lt_17^post54+lt_17^0 == 0 /\ __disjvr_22^0-__disjvr_22^post54 == 0 /\ 1+len_195^0-len_266^post54 <= 0 /\ i_111^0-i_111^post54 == 0 /\ -__disjvr_7^post54+__disjvr_7^0 == 0 /\ -result_11^post54+result_11^0 == 0 /\ -temp0_18^post54+temp0_18^0 == 0 /\ r_42^0-r_42^post54 == 0 /\ len_195^0-len_195^post54 == 0 /\ -__disjvr_8^post54+__disjvr_8^0 == 0 /\ -rcd_70^post54+rcd_70^0 == 0 /\ -rcd_46^0+rcd_264^post54 <= 0 /\ __disjvr_9^0-__disjvr_9^post54 == 0 /\ -__disjvr_10^post54+__disjvr_10^0 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ len_286^0-len_286^post54 == 0 /\ -rcd_352^post54+rcd_352^0 == 0 /\ z_252^0-z_252^post54 == 0 /\ lt_386^0-lt_386^post54 == 0 /\ -x_SLAM_f_21^post54+x_SLAM_f_21^0 == 0 /\ -__disjvr_27^post54+__disjvr_27^0 == 0 /\ -__disjvr_16^post54+__disjvr_16^0 == 0 /\ length_32^0-length_32^post54 == 0 /\ -tmp_37^post54+tmp_37^0 == 0 /\ -a_27^0+head_13^0 <= 0 /\ x_19^0-x_19^post54 == 0 /\ __disjvr_25^0-__disjvr_25^post54 == 0 /\ z_188^0-z_188^post54 == 0 /\ 1-a_210^0+a_267^post54 <= 0 /\ t_24^0-t_24^post54 == 0 /\ __disjvr_0^0-__disjvr_0^post54 == 0 /\ -i_227^post54+i_227^0 == 0 /\ -rcd_376^post54+rcd_376^0 == 0 /\ -__disjvr_5^post54+__disjvr_5^0 == 0 /\ rcd_46^0-rcd_264^post54 <= 0 /\ head_35^0-head_35^post54 == 0 /\ -rcd_396^post54+rcd_396^0 == 0 /\ z_279^0-z_279^post54 == 0 /\ -__disjvr_20^post54+__disjvr_20^0 == 0 /\ __disjvr_13^0-__disjvr_13^post54 == 0), cost: 1
  55: l51 -> l52 : __disjvr_0^0'=__disjvr_0^post55, a_321^0'=a_321^post55, rcd_70^0'=rcd_70^post55, __disjvr_21^0'=__disjvr_21^post55, x_23^0'=x_23^post55, __disjvr_4^0'=__disjvr_4^post55, rcd_222^0'=rcd_222^post55, __disjvr_14^0'=__disjvr_14^post55, head_35^0'=head_35^post55, __disjvr_24^0'=__disjvr_24^post55, temp0_18^0'=temp0_18^post55, lt_386^0'=lt_386^post55, z_229^0'=z_229^post55, __disjvr_9^0'=__disjvr_9^post55, a_210^0'=a_210^post55, rcd_376^0'=rcd_376^post55, __disjvr_19^0'=__disjvr_19^post55, len_195^0'=len_195^post55, __disjvr_29^0'=__disjvr_29^post55, x_19^0'=x_19^post55, r_42^0'=r_42^post55, z_28^0'=z_28^post55, __disjvr_11^0'=__disjvr_11^post55, a_377^0'=a_377^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post55, length_32^0'=length_32^post55, y_22^0'=y_22^post55, __disjvr_6^0'=__disjvr_6^post55, rcd_228^0'=rcd_228^post55, __disjvr_16^0'=__disjvr_16^post55, i_120^0'=i_120^post55, __disjvr_26^0'=__disjvr_26^post55, temp1_30^0'=temp1_30^post55, nondet_12^0'=nondet_12^post55, z_252^0'=z_252^post55, a_27^0'=a_27^post55, rcd_46^0'=rcd_46^post55, __disjvr_20^0'=__disjvr_20^post55, len_286^0'=len_286^post55, __disjvr_3^0'=__disjvr_3^post55, rcd_113^0'=rcd_113^post55, __disjvr_13^0'=__disjvr_13^post55, head_13^0'=head_13^post55, __disjvr_23^0'=__disjvr_23^post55, t_24^0'=t_24^post55, lt_29^0'=lt_29^post55, z_188^0'=z_188^post55, __disjvr_8^0'=__disjvr_8^post55, rcd_264^0'=rcd_264^post55, rcd_356^0'=rcd_356^post55, __disjvr_18^0'=__disjvr_18^post55, i_33^0'=i_33^post55, __disjvr_28^0'=__disjvr_28^post55, tmp_37^0'=tmp_37^post55, r_236^0'=r_236^post55, z_279^0'=z_279^post55, __disjvr_10^0'=__disjvr_10^post55, a_347^0'=a_347^post55, result_11^0'=result_11^post55, __disjvr_22^0'=__disjvr_22^post55, x_SLAM_f_21^0'=x_SLAM_f_21^post55, __disjvr_5^0'=__disjvr_5^post55, rcd_226^0'=rcd_226^post55, __disjvr_15^0'=__disjvr_15^post55, i_111^0'=i_111^post55, __disjvr_25^0'=__disjvr_25^post55, temp0_34^0'=temp0_34^post55, lt_483^0'=lt_483^post55, z_238^0'=z_238^post55, a_166^0'=a_166^post55, a_267^0'=a_267^post55, rcd_396^0'=rcd_396^post55, __disjvr_1^0'=__disjvr_1^post55, len_266^0'=len_266^post55, __disjvr_2^0'=__disjvr_2^post55, rcd_105^0'=rcd_105^post55, z_389^0'=z_389^post55, __disjvr_12^0'=__disjvr_12^post55, ct_20^0'=ct_20^post55, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post55, lt_17^0'=lt_17^post55, z_160^0'=z_160^post55, __disjvr_7^0'=__disjvr_7^post55, rcd_237^0'=rcd_237^post55, rcd_352^0'=rcd_352^post55, __disjvr_17^0'=__disjvr_17^post55, i_227^0'=i_227^post55, __disjvr_27^0'=__disjvr_27^post55, temp_38^0'=temp_38^post55, r_178^0'=r_178^post55, z_265^0'=z_265^post55, (-rcd_264^post55+rcd_264^0 == 0 /\ -a_27^post55+a_27^0 == 0 /\ __disjvr_23^0-__disjvr_23^post55 == 0 /\ rcd_46^0-rcd_46^post55 == 0 /\ a_210^0-a_210^post55 == 0 /\ -__disjvr_10^post55+__disjvr_10^0 == 0 /\ t_24^0-t_24^post55 == 0 /\ -rcd_396^post55+rcd_396^0 == 0 /\ -__disjvr_13^post55+__disjvr_13^0 == 0 /\ __disjvr_0^0-__disjvr_0^post55 == 0 /\ length_32^0-length_32^post55 == 0 /\ -nondet_12^post55+nondet_12^0 == 0 /\ -z_252^post55+z_252^0 == 0 /\ head_35^0-head_35^post55 == 0 /\ i_33^0-i_33^post55 == 0 /\ -r_178^post55+r_178^0 == 0 /\ -tmp_37^post55+tmp_37^0 == 0 /\ a_377^0-a_377^post55 == 0 /\ -lt_17^post55+lt_17^0 == 0 /\ -__disjvr_7^post55+__disjvr_7^0 == 0 /\ -__disjvr_24^0+__disjvr_24^post55 == 0 /\ -ct_20^post55+ct_20^0 == 0 /\ rcd_70^0-rcd_70^post55 == 0 /\ -z_188^post55+z_188^0 == 0 /\ temp0_18^0-temp0_18^post55 == 0 /\ x_23^0-x_23^post55 == 0 /\ -x_SLAM_f_21^post55+x_SLAM_f_21^0 == 0 /\ len_286^0-len_286^post55 == 0 /\ lt_29^0-lt_29^post55 == 0 /\ -i_111^post55+i_111^0 == 0 /\ rcd_228^0-rcd_228^post55 == 0 /\ head_13^0-head_13^post55 == 0 /\ -__disjvr_16^post55+__disjvr_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post55 == 0 /\ -rcd_105^post55+rcd_105^0 == 0 /\ -temp0_34^post55+temp0_34^0 == 0 /\ -temp_38^post55+temp_38^0 == 0 /\ rcd_222^0-rcd_222^post55 == 0 /\ __disjvr_1^0-__disjvr_1^post55 == 0 /\ r_42^0-r_42^post55 == 0 /\ __disjvr_8^0-__disjvr_8^post55 == 0 /\ z_229^0-z_229^post55 == 0 /\ -__disjvr_18^post55+__disjvr_18^0 == 0 /\ -__disjvr_20^post55+__disjvr_20^0 == 0 /\ i_120^0-i_120^post55 == 0 /\ __disjvr_24^0-__disjvr_24^post55 == 0 /\ -rcd_356^post55+rcd_356^0 == 0 /\ -__disjvr_29^post55+__disjvr_29^0 == 0 /\ __disjvr_14^0-__disjvr_14^post55 == 0 /\ -lt_483^post55+lt_483^0 == 0 /\ __disjvr_15^0-__disjvr_15^post55 == 0 /\ __disjvr_3^0-__disjvr_3^post55 == 0 /\ __disjvr_21^0-__disjvr_21^post55 == 0 /\ result_11^0-result_11^post55 == 0 /\ -__disjvr_6^post55+__disjvr_6^0 == 0 /\ z_28^0-z_28^post55 == 0 /\ __disjvr_5^0-__disjvr_5^post55 == 0 /\ len_195^0-len_195^post55 == 0 /\ -len_266^post55+len_266^0 == 0 /\ -__disjvr_27^post55+__disjvr_27^0 == 0 /\ -z_160^post55+z_160^0 == 0 /\ -z_279^post55+z_279^0 == 0 /\ __disjvr_19^0-__disjvr_19^post55 == 0 /\ -i_227^post55+i_227^0 == 0 /\ rcd_376^0-rcd_376^post55 == 0 /\ a_321^0-a_321^post55 == 0 /\ -z_389^post55+z_389^0 == 0 /\ rcd_113^0-rcd_113^post55 == 0 /\ -__disjvr_11^post55+__disjvr_11^0 == 0 /\ -__disjvr_26^post55+__disjvr_26^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_226^post55+rcd_226^0 == 0 /\ -a_267^post55+a_267^0 == 0 /\ -a_166^post55+a_166^0 == 0 /\ -__disjvr_12^post55+__disjvr_12^0 == 0 /\ -__disjvr_25^post55+__disjvr_25^0 == 0 /\ __disjvr_9^0-__disjvr_9^post55 == 0 /\ -rcd_352^post55+rcd_352^0 == 0 /\ y_22^0-y_22^post55 == 0 /\ -__disjvr_2^post55+__disjvr_2^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post55+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ lt_386^0-lt_386^post55 == 0 /\ temp1_30^0-temp1_30^post55 == 0 /\ -__disjvr_22^post55+__disjvr_22^0 == 0 /\ -__disjvr_28^post55+__disjvr_28^0 == 0 /\ -rcd_237^post55+rcd_237^0 == 0 /\ -__disjvr_17^post55+__disjvr_17^0 == 0 /\ x_19^0-x_19^post55 == 0 /\ r_236^0-r_236^post55 == 0 /\ -a_347^post55+a_347^0 == 0 /\ -z_238^post55+z_238^0 == 0 /\ -z_265^post55+z_265^0 == 0), cost: 1
  56: l52 -> l48 : __disjvr_0^0'=__disjvr_0^post56, a_321^0'=a_321^post56, rcd_70^0'=rcd_70^post56, __disjvr_21^0'=__disjvr_21^post56, x_23^0'=x_23^post56, __disjvr_4^0'=__disjvr_4^post56, rcd_222^0'=rcd_222^post56, __disjvr_14^0'=__disjvr_14^post56, head_35^0'=head_35^post56, __disjvr_24^0'=__disjvr_24^post56, temp0_18^0'=temp0_18^post56, lt_386^0'=lt_386^post56, z_229^0'=z_229^post56, __disjvr_9^0'=__disjvr_9^post56, a_210^0'=a_210^post56, rcd_376^0'=rcd_376^post56, __disjvr_19^0'=__disjvr_19^post56, len_195^0'=len_195^post56, __disjvr_29^0'=__disjvr_29^post56, x_19^0'=x_19^post56, r_42^0'=r_42^post56, z_28^0'=z_28^post56, __disjvr_11^0'=__disjvr_11^post56, a_377^0'=a_377^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post56, length_32^0'=length_32^post56, y_22^0'=y_22^post56, __disjvr_6^0'=__disjvr_6^post56, rcd_228^0'=rcd_228^post56, __disjvr_16^0'=__disjvr_16^post56, i_120^0'=i_120^post56, __disjvr_26^0'=__disjvr_26^post56, temp1_30^0'=temp1_30^post56, nondet_12^0'=nondet_12^post56, z_252^0'=z_252^post56, a_27^0'=a_27^post56, rcd_46^0'=rcd_46^post56, __disjvr_20^0'=__disjvr_20^post56, len_286^0'=len_286^post56, __disjvr_3^0'=__disjvr_3^post56, rcd_113^0'=rcd_113^post56, __disjvr_13^0'=__disjvr_13^post56, head_13^0'=head_13^post56, __disjvr_23^0'=__disjvr_23^post56, t_24^0'=t_24^post56, lt_29^0'=lt_29^post56, z_188^0'=z_188^post56, __disjvr_8^0'=__disjvr_8^post56, rcd_264^0'=rcd_264^post56, rcd_356^0'=rcd_356^post56, __disjvr_18^0'=__disjvr_18^post56, i_33^0'=i_33^post56, __disjvr_28^0'=__disjvr_28^post56, tmp_37^0'=tmp_37^post56, r_236^0'=r_236^post56, z_279^0'=z_279^post56, __disjvr_10^0'=__disjvr_10^post56, a_347^0'=a_347^post56, result_11^0'=result_11^post56, __disjvr_22^0'=__disjvr_22^post56, x_SLAM_f_21^0'=x_SLAM_f_21^post56, __disjvr_5^0'=__disjvr_5^post56, rcd_226^0'=rcd_226^post56, __disjvr_15^0'=__disjvr_15^post56, i_111^0'=i_111^post56, __disjvr_25^0'=__disjvr_25^post56, temp0_34^0'=temp0_34^post56, lt_483^0'=lt_483^post56, z_238^0'=z_238^post56, a_166^0'=a_166^post56, a_267^0'=a_267^post56, rcd_396^0'=rcd_396^post56, __disjvr_1^0'=__disjvr_1^post56, len_266^0'=len_266^post56, __disjvr_2^0'=__disjvr_2^post56, rcd_105^0'=rcd_105^post56, z_389^0'=z_389^post56, __disjvr_12^0'=__disjvr_12^post56, ct_20^0'=ct_20^post56, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, lt_17^0'=lt_17^post56, z_160^0'=z_160^post56, __disjvr_7^0'=__disjvr_7^post56, rcd_237^0'=rcd_237^post56, rcd_352^0'=rcd_352^post56, __disjvr_17^0'=__disjvr_17^post56, i_227^0'=i_227^post56, __disjvr_27^0'=__disjvr_27^post56, temp_38^0'=temp_38^post56, r_178^0'=r_178^post56, z_265^0'=z_265^post56, (0 == 0 /\ -__disjvr_18^post56+__disjvr_18^0 == 0 /\ a_267^0-a_210^post56 <= 0 /\ -lt_483^post56+lt_483^0 == 0 /\ a_321^0-a_321^post56 == 0 /\ -z_265^post56+z_265^0 == 0 /\ rcd_396^0-rcd_396^post56 == 0 /\ -__disjvr_17^post56+__disjvr_17^0 == 0 /\ -z_238^post56+z_238^0 == 0 /\ lt_386^0-lt_386^post56 == 0 /\ len_195^post56-len_266^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post56 == 0 /\ -temp1_30^post56+temp1_30^0 == 0 /\ -len_266^post56+len_266^0 == 0 /\ __disjvr_1^0-__disjvr_1^post56 == 0 /\ rcd_222^0-rcd_222^post56 == 0 /\ -z_160^post56+z_265^0 <= 0 /\ z_229^0-z_229^post56 == 0 /\ z_252^0-z_252^post56 == 0 /\ y_22^0-y_22^post56 == 0 /\ -a_267^0+a_210^post56 <= 0 /\ -rcd_352^post56+rcd_352^0 == 0 /\ -__disjvr_26^post56+__disjvr_26^0 == 0 /\ __disjvr_8^0-__disjvr_8^post56 == 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ z_279^0-z_279^post56 == 0 /\ x_19^0-x_19^post56 == 0 /\ rcd_105^0-rcd_105^post56 == 0 /\ length_32^0-length_32^post56 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post56+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_228^post56+rcd_228^0 == 0 /\ z_28^0-z_28^post56 == 0 /\ -rcd_226^post56+rcd_226^0 == 0 /\ -r_178^post56+r_178^0 == 0 /\ -__disjvr_22^post56+__disjvr_22^0 == 0 /\ -a_166^post56+a_166^0 == 0 /\ -__disjvr_11^post56+__disjvr_11^0 == 0 /\ __disjvr_15^0-__disjvr_15^post56 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ __disjvr_16^0-__disjvr_16^post56 == 0 /\ a_377^0-a_377^post56 == 0 /\ -len_195^post56+len_266^0 <= 0 /\ z_188^0-z_188^post56 == 0 /\ -__disjvr_2^post56+__disjvr_2^0 == 0 /\ -lt_29^post56+lt_29^0 == 0 /\ -rcd_237^post56+rcd_237^0 == 0 /\ -z_389^post56+z_389^0 == 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ z_160^post56-z_265^0 <= 0 /\ -nondet_12^post56+nondet_12^0 == 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ -temp0_34^post56+temp0_34^0 == 0 /\ rcd_356^0-rcd_356^post56 == 0 /\ x_23^0-x_23^post56 == 0 /\ -__disjvr_28^post56+__disjvr_28^0 == 0 /\ -temp0_18^post56+temp0_18^0 == 0 /\ __disjvr_4^0-__disjvr_4^post56 == 0 /\ rcd_70^0-rcd_70^post56 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -lt_17^post56+lt_17^0 == 0 /\ -temp_38^post56+temp_38^0 == 0 /\ -a_27^post56+a_27^0 == 0 /\ -__disjvr_3^post56+__disjvr_3^0 == 0 /\ -__disjvr_13^post56+__disjvr_13^0 == 0 /\ rcd_113^0-rcd_113^post56 == 0 /\ head_13^0-head_13^post56 == 0 /\ -rcd_264^0+rcd_46^post56 <= 0 /\ len_286^0-len_286^post56 == 0 /\ __disjvr_9^0-__disjvr_9^post56 == 0 /\ -a_267^post56+a_267^0 == 0 /\ -__disjvr_10^post56+__disjvr_10^0 == 0 /\ -__disjvr_7^post56+__disjvr_7^0 == 0 /\ -__disjvr_25^post56+__disjvr_25^0 == 0 /\ a_347^0-a_347^post56 == 0 /\ r_236^0-r_236^post56 == 0 /\ -r_42^post56+r_42^0 == 0 /\ __disjvr_6^0-__disjvr_6^post56 == 0 /\ -tmp_37^post56+tmp_37^0 == 0 /\ __disjvr_19^0-__disjvr_19^post56 == 0 /\ i_120^0-i_120^post56 == 0 /\ rcd_376^0-rcd_376^post56 == 0 /\ __disjvr_5^0-__disjvr_5^post56 == 0 /\ -i_111^post56+i_111^0 == 0 /\ -__disjvr_27^post56+__disjvr_27^0 == 0 /\ result_11^0-result_11^post56 == 0 /\ -i_227^post56+i_227^0 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0 /\ __disjvr_23^0-__disjvr_23^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post56 == 0 /\ i_33^0-i_33^post56 == 0 /\ rcd_264^0-rcd_46^post56 <= 0 /\ -rcd_264^post56+rcd_264^0 == 0 /\ -x_SLAM_f_21^post56+x_SLAM_f_21^0 == 0 /\ -t_24^post56+t_24^0 == 0 /\ head_35^0-head_35^post56 == 0 /\ __disjvr_29^0-__disjvr_29^post56 == 0 /\ -ct_20^post56+ct_20^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
  57: l48 -> l39 : __disjvr_0^0'=__disjvr_0^post57, a_321^0'=a_321^post57, rcd_70^0'=rcd_70^post57, __disjvr_21^0'=__disjvr_21^post57, x_23^0'=x_23^post57, __disjvr_4^0'=__disjvr_4^post57, rcd_222^0'=rcd_222^post57, __disjvr_14^0'=__disjvr_14^post57, head_35^0'=head_35^post57, __disjvr_24^0'=__disjvr_24^post57, temp0_18^0'=temp0_18^post57, lt_386^0'=lt_386^post57, z_229^0'=z_229^post57, __disjvr_9^0'=__disjvr_9^post57, a_210^0'=a_210^post57, rcd_376^0'=rcd_376^post57, __disjvr_19^0'=__disjvr_19^post57, len_195^0'=len_195^post57, __disjvr_29^0'=__disjvr_29^post57, x_19^0'=x_19^post57, r_42^0'=r_42^post57, z_28^0'=z_28^post57, __disjvr_11^0'=__disjvr_11^post57, a_377^0'=a_377^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post57, length_32^0'=length_32^post57, y_22^0'=y_22^post57, __disjvr_6^0'=__disjvr_6^post57, rcd_228^0'=rcd_228^post57, __disjvr_16^0'=__disjvr_16^post57, i_120^0'=i_120^post57, __disjvr_26^0'=__disjvr_26^post57, temp1_30^0'=temp1_30^post57, nondet_12^0'=nondet_12^post57, z_252^0'=z_252^post57, a_27^0'=a_27^post57, rcd_46^0'=rcd_46^post57, __disjvr_20^0'=__disjvr_20^post57, len_286^0'=len_286^post57, __disjvr_3^0'=__disjvr_3^post57, rcd_113^0'=rcd_113^post57, __disjvr_13^0'=__disjvr_13^post57, head_13^0'=head_13^post57, __disjvr_23^0'=__disjvr_23^post57, t_24^0'=t_24^post57, lt_29^0'=lt_29^post57, z_188^0'=z_188^post57, __disjvr_8^0'=__disjvr_8^post57, rcd_264^0'=rcd_264^post57, rcd_356^0'=rcd_356^post57, __disjvr_18^0'=__disjvr_18^post57, i_33^0'=i_33^post57, __disjvr_28^0'=__disjvr_28^post57, tmp_37^0'=tmp_37^post57, r_236^0'=r_236^post57, z_279^0'=z_279^post57, __disjvr_10^0'=__disjvr_10^post57, a_347^0'=a_347^post57, result_11^0'=result_11^post57, __disjvr_22^0'=__disjvr_22^post57, x_SLAM_f_21^0'=x_SLAM_f_21^post57, __disjvr_5^0'=__disjvr_5^post57, rcd_226^0'=rcd_226^post57, __disjvr_15^0'=__disjvr_15^post57, i_111^0'=i_111^post57, __disjvr_25^0'=__disjvr_25^post57, temp0_34^0'=temp0_34^post57, lt_483^0'=lt_483^post57, z_238^0'=z_238^post57, a_166^0'=a_166^post57, a_267^0'=a_267^post57, rcd_396^0'=rcd_396^post57, __disjvr_1^0'=__disjvr_1^post57, len_266^0'=len_266^post57, __disjvr_2^0'=__disjvr_2^post57, rcd_105^0'=rcd_105^post57, z_389^0'=z_389^post57, __disjvr_12^0'=__disjvr_12^post57, ct_20^0'=ct_20^post57, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post57, lt_17^0'=lt_17^post57, z_160^0'=z_160^post57, __disjvr_7^0'=__disjvr_7^post57, rcd_237^0'=rcd_237^post57, rcd_352^0'=rcd_352^post57, __disjvr_17^0'=__disjvr_17^post57, i_227^0'=i_227^post57, __disjvr_27^0'=__disjvr_27^post57, temp_38^0'=temp_38^post57, r_178^0'=r_178^post57, z_265^0'=z_265^post57, (t_24^0-t_24^post57 == 0 /\ a_267^0-a_267^post57 == 0 /\ z_238^0-z_238^post57 == 0 /\ __disjvr_21^0-__disjvr_21^post57 == 0 /\ rcd_376^0-rcd_376^post57 == 0 /\ __disjvr_8^0-__disjvr_8^post57 == 0 /\ __disjvr_6^0-__disjvr_6^post57 == 0 /\ -rcd_237^post57+rcd_237^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post57 == 0 /\ __disjvr_14^0-__disjvr_14^post57 == 0 /\ -nondet_12^post57+nondet_12^0 == 0 /\ z_28^0-z_28^post57 == 0 /\ __disjvr_1^0-__disjvr_1^post57 == 0 /\ i_33^0-i_33^post57 == 0 /\ -__disjvr_10^post57+__disjvr_10^0 == 0 /\ -__disjvr_3^post57+__disjvr_3^0 == 0 /\ -rcd_228^post57+rcd_228^0 == 0 /\ -rcd_352^post57+rcd_352^0 == 0 /\ -rcd_396^post57+rcd_396^0 == 0 /\ temp0_18^0-temp0_18^post57 == 0 /\ __disjvr_29^0-__disjvr_29^post57 == 0 /\ -lt_17^post57+lt_17^0 == 0 /\ -a_166^post57+a_166^0 == 0 /\ -r_178^post57+r_178^0 == 0 /\ -result_11^post57+result_11^0 == 0 /\ -__disjvr_13^post57+__disjvr_13^0 == 0 /\ x_23^0-x_23^post57 == 0 /\ -r_42^post57+r_42^0 == 0 /\ -__disjvr_7^post57+__disjvr_7^0 == 0 /\ a_321^0-a_321^post57 == 0 /\ -__disjvr_16^post57+__disjvr_16^0 == 0 /\ rcd_113^0-rcd_113^post57 == 0 /\ z_252^0-z_252^post57 == 0 /\ rcd_226^0-rcd_226^post57 == 0 /\ head_13^0-head_13^post57 == 0 /\ -x_SLAM_f_21^post57+x_SLAM_f_21^0 == 0 /\ len_195^0-len_195^post57 == 0 /\ -ct_20^post57+ct_20^0 == 0 /\ a_27^0-a_27^post57 == 0 /\ -temp0_34^post57+temp0_34^0 == 0 /\ temp1_30^0-temp1_30^post57 == 0 /\ r_236^0-r_236^post57 == 0 /\ y_22^0-y_22^post57 == 0 /\ -rcd_105^post57+rcd_105^0 == 0 /\ -__disjvr_5^post57+__disjvr_5^0 == 0 /\ -temp_38^post57+temp_38^0 == 0 /\ -rcd_264^post57+rcd_264^0 == 0 /\ rcd_46^0-rcd_46^post57 == 0 /\ __disjvr_23^0-__disjvr_23^post57 == 0 /\ -lt_483^post57+lt_483^0 == 0 /\ z_229^0-z_229^post57 == 0 /\ -__disjvr_18^post57+__disjvr_18^0 == 0 /\ -a_377^post57+a_377^0 == 0 /\ __disjvr_19^0-__disjvr_19^post57 == 0 /\ -z_279^post57+z_279^0 == 0 /\ __disjvr_0^0-__disjvr_0^post57 == 0 /\ lt_386^0-lt_386^post57 == 0 /\ x_19^0-x_19^post57 == 0 /\ z_188^0-z_188^post57 == 0 /\ -z_160^post57+z_160^0 == 0 /\ -head_35^post57+head_35^0 == 0 /\ -i_111^post57+i_111^0 == 0 /\ -len_266^post57+len_266^0 == 0 /\ -i_227^post57+i_227^0 == 0 /\ __disjvr_20^0-__disjvr_20^post57 == 0 /\ -a_347^post57+a_347^0 == 0 /\ len_286^0-len_286^post57 == 0 /\ -__disjvr_25^post57+__disjvr_25^0 == 0 /\ __disjvr_4^0-__disjvr_4^post57 == 0 /\ __disjvr_26^0-__disjvr_26^post57 == 0 /\ rcd_70^0-rcd_70^post57 == 0 /\ -__disjvr_12^post57+__disjvr_12^0 == 0 /\ tmp_37^0-tmp_37^post57 == 0 /\ rcd_222^0-rcd_222^post57 == 0 /\ -__disjvr_28^post57+__disjvr_28^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post57+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_9^0-__disjvr_9^post57 == 0 /\ -z_389^post57+z_389^0 == 0 /\ -__disjvr_11^post57+__disjvr_11^0 == 0 /\ -__disjvr_2^post57+__disjvr_2^0 == 0 /\ -__disjvr_22^post57+__disjvr_22^0 == 0 /\ -z_265^post57+z_265^0 == 0 /\ -lt_29^post57+lt_29^0 == 0 /\ i_120^0-i_120^post57 == 0 /\ rcd_356^0-rcd_356^post57 == 0 /\ __disjvr_27^0-__disjvr_27^post57 == 0 /\ -length_32^post57+length_32^0 == 0 /\ a_210^0-a_210^post57 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ -__disjvr_15^post57+__disjvr_15^0 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0), cost: 1
  71: l65 -> l45 : __disjvr_0^0'=__disjvr_0^post71, a_321^0'=a_321^post71, rcd_70^0'=rcd_70^post71, __disjvr_21^0'=__disjvr_21^post71, x_23^0'=x_23^post71, __disjvr_4^0'=__disjvr_4^post71, rcd_222^0'=rcd_222^post71, __disjvr_14^0'=__disjvr_14^post71, head_35^0'=head_35^post71, __disjvr_24^0'=__disjvr_24^post71, temp0_18^0'=temp0_18^post71, lt_386^0'=lt_386^post71, z_229^0'=z_229^post71, __disjvr_9^0'=__disjvr_9^post71, a_210^0'=a_210^post71, rcd_376^0'=rcd_376^post71, __disjvr_19^0'=__disjvr_19^post71, len_195^0'=len_195^post71, __disjvr_29^0'=__disjvr_29^post71, x_19^0'=x_19^post71, r_42^0'=r_42^post71, z_28^0'=z_28^post71, __disjvr_11^0'=__disjvr_11^post71, a_377^0'=a_377^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post71, length_32^0'=length_32^post71, y_22^0'=y_22^post71, __disjvr_6^0'=__disjvr_6^post71, rcd_228^0'=rcd_228^post71, __disjvr_16^0'=__disjvr_16^post71, i_120^0'=i_120^post71, __disjvr_26^0'=__disjvr_26^post71, temp1_30^0'=temp1_30^post71, nondet_12^0'=nondet_12^post71, z_252^0'=z_252^post71, a_27^0'=a_27^post71, rcd_46^0'=rcd_46^post71, __disjvr_20^0'=__disjvr_20^post71, len_286^0'=len_286^post71, __disjvr_3^0'=__disjvr_3^post71, rcd_113^0'=rcd_113^post71, __disjvr_13^0'=__disjvr_13^post71, head_13^0'=head_13^post71, __disjvr_23^0'=__disjvr_23^post71, t_24^0'=t_24^post71, lt_29^0'=lt_29^post71, z_188^0'=z_188^post71, __disjvr_8^0'=__disjvr_8^post71, rcd_264^0'=rcd_264^post71, rcd_356^0'=rcd_356^post71, __disjvr_18^0'=__disjvr_18^post71, i_33^0'=i_33^post71, __disjvr_28^0'=__disjvr_28^post71, tmp_37^0'=tmp_37^post71, r_236^0'=r_236^post71, z_279^0'=z_279^post71, __disjvr_10^0'=__disjvr_10^post71, a_347^0'=a_347^post71, result_11^0'=result_11^post71, __disjvr_22^0'=__disjvr_22^post71, x_SLAM_f_21^0'=x_SLAM_f_21^post71, __disjvr_5^0'=__disjvr_5^post71, rcd_226^0'=rcd_226^post71, __disjvr_15^0'=__disjvr_15^post71, i_111^0'=i_111^post71, __disjvr_25^0'=__disjvr_25^post71, temp0_34^0'=temp0_34^post71, lt_483^0'=lt_483^post71, z_238^0'=z_238^post71, a_166^0'=a_166^post71, a_267^0'=a_267^post71, rcd_396^0'=rcd_396^post71, __disjvr_1^0'=__disjvr_1^post71, len_266^0'=len_266^post71, __disjvr_2^0'=__disjvr_2^post71, rcd_105^0'=rcd_105^post71, z_389^0'=z_389^post71, __disjvr_12^0'=__disjvr_12^post71, ct_20^0'=ct_20^post71, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post71, lt_17^0'=lt_17^post71, z_160^0'=z_160^post71, __disjvr_7^0'=__disjvr_7^post71, rcd_237^0'=rcd_237^post71, rcd_352^0'=rcd_352^post71, __disjvr_17^0'=__disjvr_17^post71, i_227^0'=i_227^post71, __disjvr_27^0'=__disjvr_27^post71, temp_38^0'=temp_38^post71, r_178^0'=r_178^post71, z_265^0'=z_265^post71, (0 == 0 /\ -__disjvr_25^post71+__disjvr_25^0 == 0 /\ i_33^post71 <= 0 /\ i_33^post71 == 0 /\ rcd_222^0-rcd_222^post71 == 0 /\ i_120^0-i_120^post71 == 0 /\ __disjvr_13^0-__disjvr_13^post71 == 0 /\ __disjvr_20^0-__disjvr_20^post71 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post71-nondet_12^10 == 0 /\ z_229^0-z_229^post71 == 0 /\ __disjvr_22^0-__disjvr_22^post71 == 0 /\ -rcd_46^post71+rcd_46^0 == 0 /\ __disjvr_24^0-__disjvr_24^post71 == 0 /\ -length_32^post71+result_dot_nondet_sdv_special_RETURN_VALUE_14^post71 <= 0 /\ -__disjvr_11^post71+__disjvr_11^0 == 0 /\ -y_22^post71+y_22^0 == 0 /\ -t_24^post71+t_24^0 == 0 /\ -i_227^post71+i_227^0 == 0 /\ -rcd_264^post71+rcd_264^0 == 0 /\ -z_265^post71+z_265^0 == 0 /\ __disjvr_26^0-__disjvr_26^post71 == 0 /\ z_188^0-z_188^post71 == 0 /\ -r_236^post71+r_236^0 == 0 /\ -__disjvr_1^post71+__disjvr_1^0 == 0 /\ -__disjvr_15^post71+__disjvr_15^0 == 0 /\ head_35^post71 <= 0 /\ head_35^post71 == 0 /\ -z_279^post71+z_279^0 == 0 /\ -len_266^post71+len_266^0 == 0 /\ rcd_105^0-rcd_105^post71 == 0 /\ z_238^0-z_238^post71 == 0 /\ __disjvr_29^0-__disjvr_29^post71 == 0 /\ a_377^0-a_377^post71 == 0 /\ -i_33^post71 <= 0 /\ -rcd_352^post71+rcd_352^0 == 0 /\ length_32^post71-result_dot_nondet_sdv_special_RETURN_VALUE_14^post71 <= 0 /\ length_32^post71-result_dot_nondet_sdv_special_RETURN_VALUE_14^post71 == 0 /\ -lt_17^post71+lt_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post71 == 0 /\ -z_389^post71+z_389^0 == 0 /\ -__disjvr_17^post71+__disjvr_17^0 == 0 /\ -result_11^post71+result_11^0 == 0 /\ -r_178^post71+r_178^0 == 0 /\ -rcd_356^post71+rcd_356^0 == 0 /\ rcd_70^0-rcd_70^post71 == 0 /\ -__disjvr_3^post71+__disjvr_3^0 == 0 /\ -a_267^post71+a_267^0 == 0 /\ x_23^0-x_23^post71 == 0 /\ -lt_29^post71+lt_29^0 == 0 /\ -__disjvr_2^post71+__disjvr_2^0 == 0 /\ temp0_18^0-temp0_18^post71 == 0 /\ __disjvr_9^0-__disjvr_9^post71 == 0 /\ -__disjvr_12^post71+__disjvr_12^0 == 0 /\ -temp1_30^post71+temp1_30^0 == 0 /\ -x_SLAM_f_21^post71+x_SLAM_f_21^0 == 0 /\ lt_483^0-lt_483^post71 == 0 /\ -__disjvr_19^post71+__disjvr_19^0 == 0 /\ r_42^0-r_42^post71 == 0 /\ temp0_34^0-temp0_34^post71 == 0 /\ rcd_237^0-rcd_237^post71 == 0 /\ __disjvr_0^0-__disjvr_0^post71 == 0 /\ -__disjvr_10^post71+__disjvr_10^0 == 0 /\ len_286^0-len_286^post71 == 0 /\ -a_166^post71+a_166^0 == 0 /\ head_13^0-head_13^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post71 == 0 /\ -temp_38^post71+temp_38^0 == 0 /\ lt_386^0-lt_386^post71 == 0 /\ a_347^0-a_347^post71 == 0 /\ __disjvr_16^0-__disjvr_16^post71 == 0 /\ __disjvr_4^0-__disjvr_4^post71 == 0 /\ -a_210^post71+a_210^0 == 0 /\ -__disjvr_5^post71+__disjvr_5^0 == 0 /\ -__disjvr_7^post71+__disjvr_7^0 == 0 /\ -__disjvr_28^post71+__disjvr_28^0 == 0 /\ rcd_226^0-rcd_226^post71 == 0 /\ __disjvr_18^0-__disjvr_18^post71 == 0 /\ -rcd_396^post71+rcd_396^0 == 0 /\ -head_35^post71 <= 0 /\ __disjvr_23^0-__disjvr_23^post71 == 0 /\ -z_160^post71+z_160^0 == 0 /\ -i_111^post71+i_111^0 == 0 /\ rcd_376^0-rcd_376^post71 == 0 /\ __disjvr_21^0-__disjvr_21^post71 == 0 /\ -x_19^post71+x_19^0 == 0 /\ -rcd_228^post71+rcd_228^0 == 0 /\ z_28^0-z_28^post71 == 0 /\ a_321^0-a_321^post71 == 0 /\ rcd_113^0-rcd_113^post71 == 0 /\ -__disjvr_27^post71+__disjvr_27^0 == 0 /\ -__disjvr_8^post71+__disjvr_8^0 == 0 /\ z_252^0-z_252^post71 == 0 /\ __disjvr_6^0-__disjvr_6^post71 == 0 /\ tmp_37^0-tmp_37^post71 == 0 /\ len_195^0-len_195^post71 == 0 /\ -ct_20^post71+ct_20^0 == 0 /\ a_27^0-a_27^post71 == 0), cost: 1
  72: l66 -> l65 : __disjvr_0^0'=__disjvr_0^post72, a_321^0'=a_321^post72, rcd_70^0'=rcd_70^post72, __disjvr_21^0'=__disjvr_21^post72, x_23^0'=x_23^post72, __disjvr_4^0'=__disjvr_4^post72, rcd_222^0'=rcd_222^post72, __disjvr_14^0'=__disjvr_14^post72, head_35^0'=head_35^post72, __disjvr_24^0'=__disjvr_24^post72, temp0_18^0'=temp0_18^post72, lt_386^0'=lt_386^post72, z_229^0'=z_229^post72, __disjvr_9^0'=__disjvr_9^post72, a_210^0'=a_210^post72, rcd_376^0'=rcd_376^post72, __disjvr_19^0'=__disjvr_19^post72, len_195^0'=len_195^post72, __disjvr_29^0'=__disjvr_29^post72, x_19^0'=x_19^post72, r_42^0'=r_42^post72, z_28^0'=z_28^post72, __disjvr_11^0'=__disjvr_11^post72, a_377^0'=a_377^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post72, length_32^0'=length_32^post72, y_22^0'=y_22^post72, __disjvr_6^0'=__disjvr_6^post72, rcd_228^0'=rcd_228^post72, __disjvr_16^0'=__disjvr_16^post72, i_120^0'=i_120^post72, __disjvr_26^0'=__disjvr_26^post72, temp1_30^0'=temp1_30^post72, nondet_12^0'=nondet_12^post72, z_252^0'=z_252^post72, a_27^0'=a_27^post72, rcd_46^0'=rcd_46^post72, __disjvr_20^0'=__disjvr_20^post72, len_286^0'=len_286^post72, __disjvr_3^0'=__disjvr_3^post72, rcd_113^0'=rcd_113^post72, __disjvr_13^0'=__disjvr_13^post72, head_13^0'=head_13^post72, __disjvr_23^0'=__disjvr_23^post72, t_24^0'=t_24^post72, lt_29^0'=lt_29^post72, z_188^0'=z_188^post72, __disjvr_8^0'=__disjvr_8^post72, rcd_264^0'=rcd_264^post72, rcd_356^0'=rcd_356^post72, __disjvr_18^0'=__disjvr_18^post72, i_33^0'=i_33^post72, __disjvr_28^0'=__disjvr_28^post72, tmp_37^0'=tmp_37^post72, r_236^0'=r_236^post72, z_279^0'=z_279^post72, __disjvr_10^0'=__disjvr_10^post72, a_347^0'=a_347^post72, result_11^0'=result_11^post72, __disjvr_22^0'=__disjvr_22^post72, x_SLAM_f_21^0'=x_SLAM_f_21^post72, __disjvr_5^0'=__disjvr_5^post72, rcd_226^0'=rcd_226^post72, __disjvr_15^0'=__disjvr_15^post72, i_111^0'=i_111^post72, __disjvr_25^0'=__disjvr_25^post72, temp0_34^0'=temp0_34^post72, lt_483^0'=lt_483^post72, z_238^0'=z_238^post72, a_166^0'=a_166^post72, a_267^0'=a_267^post72, rcd_396^0'=rcd_396^post72, __disjvr_1^0'=__disjvr_1^post72, len_266^0'=len_266^post72, __disjvr_2^0'=__disjvr_2^post72, rcd_105^0'=rcd_105^post72, z_389^0'=z_389^post72, __disjvr_12^0'=__disjvr_12^post72, ct_20^0'=ct_20^post72, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post72, lt_17^0'=lt_17^post72, z_160^0'=z_160^post72, __disjvr_7^0'=__disjvr_7^post72, rcd_237^0'=rcd_237^post72, rcd_352^0'=rcd_352^post72, __disjvr_17^0'=__disjvr_17^post72, i_227^0'=i_227^post72, __disjvr_27^0'=__disjvr_27^post72, temp_38^0'=temp_38^post72, r_178^0'=r_178^post72, z_265^0'=z_265^post72, (__disjvr_29^0-__disjvr_29^post72 == 0 /\ __disjvr_16^0-__disjvr_16^post72 == 0 /\ -__disjvr_7^post72+__disjvr_7^0 == 0 /\ -i_227^post72+i_227^0 == 0 /\ nondet_12^0-nondet_12^post72 == 0 /\ -__disjvr_8^post72+__disjvr_8^0 == 0 /\ -i_111^post72+i_111^0 == 0 /\ -z_252^post72+z_252^0 == 0 /\ -__disjvr_23^post72+__disjvr_23^0 == 0 /\ __disjvr_26^0-__disjvr_26^post72 == 0 /\ -z_389^post72+z_389^0 == 0 /\ -__disjvr_27^post72+__disjvr_27^0 == 0 /\ -__disjvr_2^post72+__disjvr_2^0 == 0 /\ y_22^0-y_22^post72 == 0 /\ -a_267^post72+a_267^0 == 0 /\ __disjvr_6^0-__disjvr_6^post72 == 0 /\ a_377^0-a_377^post72 == 0 /\ __disjvr_14^0-__disjvr_14^post72 == 0 /\ -len_286^post72+len_286^0 == 0 /\ -__disjvr_5^post72+__disjvr_5^0 == 0 /\ __disjvr_21^0-__disjvr_21^post72 == 0 /\ rcd_376^0-rcd_376^post72 == 0 /\ -lt_29^post72+lt_29^0 == 0 /\ -__disjvr_12^post72+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post72 == 0 /\ -rcd_396^post72+rcd_396^0 == 0 /\ tmp_37^0-tmp_37^post72 == 0 /\ -rcd_113^post72+rcd_113^0 == 0 /\ -t_24^post72+t_24^0 == 0 /\ -z_265^post72+z_265^0 == 0 /\ -__disjvr_15^post72+__disjvr_15^0 == 0 /\ ct_20^0-ct_20^post72 == 0 /\ -z_188^post72+z_188^0 == 0 /\ length_32^0-length_32^post72 == 0 /\ -__disjvr_20^post72+__disjvr_20^0 == 0 /\ __disjvr_3^0-__disjvr_3^post72 == 0 /\ a_166^0-a_166^post72 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post72 == 0 /\ r_42^0-r_42^post72 == 0 /\ temp1_30^0-temp1_30^post72 == 0 /\ x_23^0-x_23^post72 == 0 /\ -z_160^post72+z_160^0 == 0 /\ __disjvr_10^0-__disjvr_10^post72 == 0 /\ temp0_18^0-temp0_18^post72 == 0 /\ rcd_226^0-rcd_226^post72 == 0 /\ -r_236^post72+r_236^0 == 0 /\ -rcd_352^post72+rcd_352^0 == 0 /\ -__disjvr_1^post72+__disjvr_1^0 == 0 /\ -rcd_105^post72+rcd_105^0 == 0 /\ -head_13^post72+head_13^0 == 0 /\ a_210^0-a_210^post72 == 0 /\ -__disjvr_22^post72+__disjvr_22^0 == 0 /\ __disjvr_24^0-__disjvr_24^post72 == 0 /\ -r_178^post72+r_178^0 == 0 /\ __disjvr_25^0-__disjvr_25^post72 == 0 /\ temp0_34^0-temp0_34^post72 == 0 /\ -a_347^post72+a_347^0 == 0 /\ -lt_483^post72+lt_483^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post72 == 0 /\ -__disjvr_18^post72+__disjvr_18^0 == 0 /\ -z_229^post72+z_229^0 == 0 /\ rcd_70^0-rcd_70^post72 == 0 /\ a_321^0-a_321^post72 == 0 /\ lt_17^0-lt_17^post72 == 0 /\ -rcd_46^post72+rcd_46^0 == 0 /\ -i_120^post72+i_120^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post72+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_9^0-__disjvr_9^post72 == 0 /\ z_28^0-z_28^post72 == 0 /\ rcd_264^0-rcd_264^post72 == 0 /\ -__disjvr_17^post72+__disjvr_17^0 == 0 /\ len_195^0-len_195^post72 == 0 /\ a_27^0-a_27^post72 == 0 /\ -rcd_237^post72+rcd_237^0 == 0 /\ -z_238^post72+z_238^0 == 0 /\ rcd_228^0-rcd_228^post72 == 0 /\ __disjvr_13^0-__disjvr_13^post72 == 0 /\ -z_279^post72+z_279^0 == 0 /\ head_35^0-head_35^post72 == 0 /\ rcd_222^0-rcd_222^post72 == 0 /\ -rcd_356^post72+rcd_356^0 == 0 /\ -temp_38^post72+temp_38^0 == 0 /\ -i_33^post72+i_33^0 == 0 /\ x_19^0-x_19^post72 == 0 /\ __disjvr_4^0-__disjvr_4^post72 == 0 /\ __disjvr_28^0-__disjvr_28^post72 == 0 /\ -result_11^post72+result_11^0 == 0 /\ -len_266^post72+len_266^0 == 0 /\ -__disjvr_19^post72+__disjvr_19^0 == 0 /\ lt_386^0-lt_386^post72 == 0 /\ __disjvr_0^0-__disjvr_0^post72 == 0), cost: 1


Applied preprocessing
Original rule:
l0 -> l3 : __disjvr_0^0'=__disjvr_0^post1, a_321^0'=a_321^post1, rcd_70^0'=rcd_70^post1, __disjvr_21^0'=__disjvr_21^post1, x_23^0'=x_23^post1, __disjvr_4^0'=__disjvr_4^post1, rcd_222^0'=rcd_222^post1, __disjvr_14^0'=__disjvr_14^post1, head_35^0'=head_35^post1, __disjvr_24^0'=__disjvr_24^post1, temp0_18^0'=temp0_18^post1, lt_386^0'=lt_386^post1, z_229^0'=z_229^post1, __disjvr_9^0'=__disjvr_9^post1, a_210^0'=a_210^post1, rcd_376^0'=rcd_376^post1, __disjvr_19^0'=__disjvr_19^post1, len_195^0'=len_195^post1, __disjvr_29^0'=__disjvr_29^post1, x_19^0'=x_19^post1, r_42^0'=r_42^post1, z_28^0'=z_28^post1, __disjvr_11^0'=__disjvr_11^post1, a_377^0'=a_377^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post1, length_32^0'=length_32^post1, y_22^0'=y_22^post1, __disjvr_6^0'=__disjvr_6^post1, rcd_228^0'=rcd_228^post1, __disjvr_16^0'=__disjvr_16^post1, i_120^0'=i_120^post1, __disjvr_26^0'=__disjvr_26^post1, temp1_30^0'=temp1_30^post1, nondet_12^0'=nondet_12^post1, z_252^0'=z_252^post1, a_27^0'=a_27^post1, rcd_46^0'=rcd_46^post1, __disjvr_20^0'=__disjvr_20^post1, len_286^0'=len_286^post1, __disjvr_3^0'=__disjvr_3^post1, rcd_113^0'=rcd_113^post1, __disjvr_13^0'=__disjvr_13^post1, head_13^0'=head_13^post1, __disjvr_23^0'=__disjvr_23^post1, t_24^0'=t_24^post1, lt_29^0'=lt_29^post1, z_188^0'=z_188^post1, __disjvr_8^0'=__disjvr_8^post1, rcd_264^0'=rcd_264^post1, rcd_356^0'=rcd_356^post1, __disjvr_18^0'=__disjvr_18^post1, i_33^0'=i_33^post1, __disjvr_28^0'=__disjvr_28^post1, tmp_37^0'=tmp_37^post1, r_236^0'=r_236^post1, z_279^0'=z_279^post1, __disjvr_10^0'=__disjvr_10^post1, a_347^0'=a_347^post1, result_11^0'=result_11^post1, __disjvr_22^0'=__disjvr_22^post1, x_SLAM_f_21^0'=x_SLAM_f_21^post1, __disjvr_5^0'=__disjvr_5^post1, rcd_226^0'=rcd_226^post1, __disjvr_15^0'=__disjvr_15^post1, i_111^0'=i_111^post1, __disjvr_25^0'=__disjvr_25^post1, temp0_34^0'=temp0_34^post1, lt_483^0'=lt_483^post1, z_238^0'=z_238^post1, a_166^0'=a_166^post1, a_267^0'=a_267^post1, rcd_396^0'=rcd_396^post1, __disjvr_1^0'=__disjvr_1^post1, len_266^0'=len_266^post1, __disjvr_2^0'=__disjvr_2^post1, rcd_105^0'=rcd_105^post1, z_389^0'=z_389^post1, __disjvr_12^0'=__disjvr_12^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, z_160^0'=z_160^post1, __disjvr_7^0'=__disjvr_7^post1, rcd_237^0'=rcd_237^post1, rcd_352^0'=rcd_352^post1, __disjvr_17^0'=__disjvr_17^post1, i_227^0'=i_227^post1, __disjvr_27^0'=__disjvr_27^post1, temp_38^0'=temp_38^post1, r_178^0'=r_178^post1, z_265^0'=z_265^post1, (0 == 0 /\ -temp_38^post1+temp_38^0 == 0 /\ a_377^0-a_377^post1 == 0 /\ length_32^0-length_32^post1 == 0 /\ __disjvr_29^0-__disjvr_29^post1 == 0 /\ -a_166^post1+a_166^0 == 0 /\ -a_347^0 <= 0 /\ -result_11^post1+result_11^0 == 0 /\ -__disjvr_7^post1+__disjvr_7^0 == 0 /\ a_210^0-a_210^post1 == 0 /\ -__disjvr_23^post1+__disjvr_23^0 == 0 /\ -__disjvr_8^post1+__disjvr_8^0 == 0 /\ -lt_29^post1+lt_29^0 == 0 /\ -__disjvr_2^post1+__disjvr_2^0 == 0 /\ -a_267^post1+a_267^0 == 0 /\ -len_286^post1+len_286^0 == 0 /\ rcd_70^0-rcd_70^post1 == 0 /\ head_35^0-head_35^post1 == 0 /\ __disjvr_19^0-__disjvr_19^post1 == 0 /\ -__disjvr_5^post1+__disjvr_5^0 == 0 /\ -y_22^post1+y_22^0 == 0 /\ -__disjvr_27^post1+__disjvr_27^0 == 0 /\ rcd_228^0-rcd_228^post1 == 0 /\ __disjvr_10^0-__disjvr_10^post1 == 0 /\ __disjvr_13^0-__disjvr_13^post1 == 0 /\ __disjvr_4^0-__disjvr_4^post1 == 0 /\ -rcd_113^post1+rcd_113^0 == 0 /\ tmp_37^0-tmp_37^post1 == 0 /\ -i_227^post1+i_227^0 == 0 /\ __disjvr_9^0-__disjvr_9^post1 == 0 /\ i_120^0-i_120^post1 == 0 /\ rcd_356^0-rcd_356^post1 == 0 /\ __disjvr_24^0-__disjvr_24^post1 == 0 /\ -rcd_396^post1+rcd_396^0 == 0 /\ __disjvr_26^0-__disjvr_26^post1 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post1 == 0 /\ -i_111^post1+i_111^0 == 0 /\ rcd_222^0-rcd_222^post1 == 0 /\ -rcd_105^post1+rcd_105^0 == 0 /\ __disjvr_16^0-__disjvr_16^post1 == 0 /\ nondet_12^0-nondet_12^post1 == 0 /\ -z_265^post1+z_265^0 == 0 /\ -z_160^post1+z_160^0 == 0 /\ -__disjvr_17^post1+__disjvr_17^0 == 0 /\ -r_236^post1+r_236^0 == 0 /\ -__disjvr_1^post1+__disjvr_1^0 == 0 /\ -__disjvr_25^post1+__disjvr_25^0 == 0 /\ -__disjvr_18^post1+__disjvr_18^0 == 0 /\ -z_188^post1+z_188^0 == 0 /\ __disjvr_6^0-__disjvr_6^post1 == 0 /\ -__disjvr_15^post1+__disjvr_15^0 == 0 /\ __disjvr_21^0-__disjvr_21^post1 == 0 /\ rcd_376^0-rcd_376^post1 == 0 /\ -t_24^post1+t_24^0 == 0 /\ rcd_264^0-rcd_264^post1 == 0 /\ lt_483^0-lt_483^post1 == 0 /\ z_28^0-z_28^post1 == 0 /\ -__disjvr_14^post1+__disjvr_14^0 == 0 /\ __disjvr_11^0-__disjvr_11^post1 == 0 /\ len_195^0-len_195^post1 == 0 /\ a_321^0-a_321^post1 == 0 /\ a_27^0-a_27^post1 == 0 /\ -rcd_46^post1+rcd_46^0 == 0 /\ temp0_18^0-temp0_18^post1 == 0 /\ -r_178^post1+r_178^0 == 0 /\ -z_279^post1+z_279^0 == 0 /\ __disjvr_20^0-__disjvr_20^post1 == 0 /\ -a_347^post1+a_347^0 == 0 /\ -i_33^post1+i_33^0 == 0 /\ __disjvr_22^0-__disjvr_22^post1 == 0 /\ -rcd_237^post1+rcd_237^0 == 0 /\ -rcd_352^post1+rcd_352^0 == 0 /\ -__disjvr_3^post1+__disjvr_3^0 == 0 /\ z_252^0-z_252^post1 == 0 /\ -z_238^post1+z_238^0 == 0 /\ -z_389^post1+z_389^0 == 0 /\ __disjvr_0^0-__disjvr_0^post1 == 0 /\ -rcd_226^post1+rcd_226^0 == 0 /\ -len_266^post1+len_266^0 == 0 /\ -__disjvr_12^post1+__disjvr_12^0 == 0 /\ x_23^0-x_23^post1 == 0 /\ -temp1_30^post1+temp1_30^0 == 0 /\ z_229^0-z_229^post1 == 0 /\ temp0_34^0-temp0_34^post1 == 0 /\ lt_386^0-lt_386^post1 == 0 /\ __disjvr_28^0-__disjvr_28^post1 == 0 /\ head_13^0-head_13^post1 == 0), cost: 1
New rule:
l0 -> l3 : x_19^0'=x_19^post1, r_42^0'=r_42^post1, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, a_347^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l3 -> l4 : __disjvr_0^0'=__disjvr_0^post2, a_321^0'=a_321^post2, rcd_70^0'=rcd_70^post2, __disjvr_21^0'=__disjvr_21^post2, x_23^0'=x_23^post2, __disjvr_4^0'=__disjvr_4^post2, rcd_222^0'=rcd_222^post2, __disjvr_14^0'=__disjvr_14^post2, head_35^0'=head_35^post2, __disjvr_24^0'=__disjvr_24^post2, temp0_18^0'=temp0_18^post2, lt_386^0'=lt_386^post2, z_229^0'=z_229^post2, __disjvr_9^0'=__disjvr_9^post2, a_210^0'=a_210^post2, rcd_376^0'=rcd_376^post2, __disjvr_19^0'=__disjvr_19^post2, len_195^0'=len_195^post2, __disjvr_29^0'=__disjvr_29^post2, x_19^0'=x_19^post2, r_42^0'=r_42^post2, z_28^0'=z_28^post2, __disjvr_11^0'=__disjvr_11^post2, a_377^0'=a_377^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post2, length_32^0'=length_32^post2, y_22^0'=y_22^post2, __disjvr_6^0'=__disjvr_6^post2, rcd_228^0'=rcd_228^post2, __disjvr_16^0'=__disjvr_16^post2, i_120^0'=i_120^post2, __disjvr_26^0'=__disjvr_26^post2, temp1_30^0'=temp1_30^post2, nondet_12^0'=nondet_12^post2, z_252^0'=z_252^post2, a_27^0'=a_27^post2, rcd_46^0'=rcd_46^post2, __disjvr_20^0'=__disjvr_20^post2, len_286^0'=len_286^post2, __disjvr_3^0'=__disjvr_3^post2, rcd_113^0'=rcd_113^post2, __disjvr_13^0'=__disjvr_13^post2, head_13^0'=head_13^post2, __disjvr_23^0'=__disjvr_23^post2, t_24^0'=t_24^post2, lt_29^0'=lt_29^post2, z_188^0'=z_188^post2, __disjvr_8^0'=__disjvr_8^post2, rcd_264^0'=rcd_264^post2, rcd_356^0'=rcd_356^post2, __disjvr_18^0'=__disjvr_18^post2, i_33^0'=i_33^post2, __disjvr_28^0'=__disjvr_28^post2, tmp_37^0'=tmp_37^post2, r_236^0'=r_236^post2, z_279^0'=z_279^post2, __disjvr_10^0'=__disjvr_10^post2, a_347^0'=a_347^post2, result_11^0'=result_11^post2, __disjvr_22^0'=__disjvr_22^post2, x_SLAM_f_21^0'=x_SLAM_f_21^post2, __disjvr_5^0'=__disjvr_5^post2, rcd_226^0'=rcd_226^post2, __disjvr_15^0'=__disjvr_15^post2, i_111^0'=i_111^post2, __disjvr_25^0'=__disjvr_25^post2, temp0_34^0'=temp0_34^post2, lt_483^0'=lt_483^post2, z_238^0'=z_238^post2, a_166^0'=a_166^post2, a_267^0'=a_267^post2, rcd_396^0'=rcd_396^post2, __disjvr_1^0'=__disjvr_1^post2, len_266^0'=len_266^post2, __disjvr_2^0'=__disjvr_2^post2, rcd_105^0'=rcd_105^post2, z_389^0'=z_389^post2, __disjvr_12^0'=__disjvr_12^post2, ct_20^0'=ct_20^post2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post2, lt_17^0'=lt_17^post2, z_160^0'=z_160^post2, __disjvr_7^0'=__disjvr_7^post2, rcd_237^0'=rcd_237^post2, rcd_352^0'=rcd_352^post2, __disjvr_17^0'=__disjvr_17^post2, i_227^0'=i_227^post2, __disjvr_27^0'=__disjvr_27^post2, temp_38^0'=temp_38^post2, r_178^0'=r_178^post2, z_265^0'=z_265^post2, (rcd_222^0-rcd_222^post2 == 0 /\ head_35^0-head_35^post2 == 0 /\ tmp_37^0-tmp_37^post2 == 0 /\ a_321^0-a_321^post2 == 0 /\ len_266^0-len_266^post2 == 0 /\ -lt_483^post2+lt_483^0 == 0 /\ lt_386^0-lt_386^post2 == 0 /\ -i_120^post2+i_120^0 == 0 /\ -__disjvr_6^post2+__disjvr_6^0 == 0 /\ -__disjvr_18^post2+__disjvr_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ z_229^0-z_229^post2 == 0 /\ __disjvr_22^0-__disjvr_22^post2 == 0 /\ -rcd_46^post2+rcd_46^0 == 0 /\ __disjvr_28^0-__disjvr_28^post2 == 0 /\ -y_22^post2+y_22^0 == 0 /\ -rcd_113^post2+rcd_113^0 == 0 /\ a_166^0-a_166^post2 == 0 /\ -__disjvr_1^post2+__disjvr_1^0 == 0 /\ -z_265^post2+z_265^0 == 0 /\ x_23^0-x_23^post2 == 0 /\ __disjvr_26^0-__disjvr_26^post2 == 0 /\ -r_236^post2+r_236^0 == 0 /\ -__disjvr_17^post2+__disjvr_17^0 == 0 /\ a_347^0-a_347^post2 == 0 /\ length_32^0-length_32^post2 == 0 /\ -__disjvr_15^post2+__disjvr_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -i_33^post2+i_33^0 == 0 /\ -z_279^post2+z_279^0 == 0 /\ a_210^0-a_210^post2 == 0 /\ __disjvr_11^0-__disjvr_11^post2 == 0 /\ __disjvr_29^0-__disjvr_29^post2 == 0 /\ -rcd_237^post2+rcd_237^0 == 0 /\ __disjvr_16^0-__disjvr_16^post2 == 0 /\ __disjvr_3^0-__disjvr_3^post2 == 0 /\ __disjvr_24^0-__disjvr_24^post2 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ -rcd_352^post2+rcd_352^0 == 0 /\ -rcd_356^post2+rcd_356^0 == 0 /\ -z_28^post2+z_28^0 == 0 /\ rcd_264^0-rcd_264^post2 == 0 /\ -z_389^post2+z_389^0 == 0 /\ ct_20^0-ct_20^post2 == 0 /\ __disjvr_14^0-__disjvr_14^post2 == 0 /\ -lt_17^post2+lt_17^0 == 0 /\ -result_11^post2+result_11^0 == 0 /\ -r_178^post2+r_178^0 == 0 /\ a_377^0-a_377^post2 == 0 /\ -z_238^post2+z_238^0 == 0 /\ -head_13^post2+head_13^0 == 0 /\ rcd_70^0-rcd_70^post2 == 0 /\ -a_267^post2+a_267^0 == 0 /\ temp0_18^0-temp0_18^post2 == 0 /\ len_286^0-len_286^post2 == 0 /\ __disjvr_9^0-__disjvr_9^post2 == 0 /\ -__disjvr_2^post2+__disjvr_2^0 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ lt_29^0-lt_29^post2 == 0 /\ -__disjvr_19^post2+__disjvr_19^0 == 0 /\ rcd_228^0-rcd_228^post2 == 0 /\ temp0_34^0-temp0_34^post2 == 0 /\ r_42^0-r_42^post2 == 0 /\ -z_252^post2+z_252^0 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -__disjvr_10^post2+__disjvr_10^0 == 0 /\ temp1_30^0-temp1_30^post2 == 0 /\ -temp_38^post2+temp_38^0 == 0 /\ -__disjvr_5^post2+__disjvr_5^0 == 0 /\ __disjvr_7^0-__disjvr_7^post2 == 0 /\ __disjvr_4^0-__disjvr_4^post2 == 0 /\ -z_188^post2+z_188^0 == 0 /\ rcd_226^0-rcd_226^post2 == 0 /\ -x_SLAM_f_21^post2+x_SLAM_f_21^0 == 0 /\ __disjvr_25^0-__disjvr_25^post2 == 0 /\ -rcd_396^post2+rcd_396^0 == 0 /\ t_24^0-t_24^post2 == 0 /\ -z_160^post2+z_160^0 == 0 /\ -x_19^post2+x_19^0 == 0 /\ -i_111^post2+i_111^0 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ -__disjvr_0^0+__disjvr_0^post2 == 0 /\ -__disjvr_27^post2+__disjvr_27^0 == 0 /\ -i_227^post2+i_227^0 == 0 /\ len_195^0-len_195^post2 == 0 /\ -__disjvr_20^post2+__disjvr_20^0 == 0 /\ rcd_376^0-rcd_376^post2 == 0 /\ a_27^0-a_27^post2 == 0 /\ -__disjvr_23^post2+__disjvr_23^0 == 0 /\ -rcd_105^post2+rcd_105^0 == 0 /\ __disjvr_13^0-__disjvr_13^post2 == 0), cost: 1
New rule:
l3 -> l4 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l4 -> l5 : __disjvr_0^0'=__disjvr_0^post3, a_321^0'=a_321^post3, rcd_70^0'=rcd_70^post3, __disjvr_21^0'=__disjvr_21^post3, x_23^0'=x_23^post3, __disjvr_4^0'=__disjvr_4^post3, rcd_222^0'=rcd_222^post3, __disjvr_14^0'=__disjvr_14^post3, head_35^0'=head_35^post3, __disjvr_24^0'=__disjvr_24^post3, temp0_18^0'=temp0_18^post3, lt_386^0'=lt_386^post3, z_229^0'=z_229^post3, __disjvr_9^0'=__disjvr_9^post3, a_210^0'=a_210^post3, rcd_376^0'=rcd_376^post3, __disjvr_19^0'=__disjvr_19^post3, len_195^0'=len_195^post3, __disjvr_29^0'=__disjvr_29^post3, x_19^0'=x_19^post3, r_42^0'=r_42^post3, z_28^0'=z_28^post3, __disjvr_11^0'=__disjvr_11^post3, a_377^0'=a_377^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post3, length_32^0'=length_32^post3, y_22^0'=y_22^post3, __disjvr_6^0'=__disjvr_6^post3, rcd_228^0'=rcd_228^post3, __disjvr_16^0'=__disjvr_16^post3, i_120^0'=i_120^post3, __disjvr_26^0'=__disjvr_26^post3, temp1_30^0'=temp1_30^post3, nondet_12^0'=nondet_12^post3, z_252^0'=z_252^post3, a_27^0'=a_27^post3, rcd_46^0'=rcd_46^post3, __disjvr_20^0'=__disjvr_20^post3, len_286^0'=len_286^post3, __disjvr_3^0'=__disjvr_3^post3, rcd_113^0'=rcd_113^post3, __disjvr_13^0'=__disjvr_13^post3, head_13^0'=head_13^post3, __disjvr_23^0'=__disjvr_23^post3, t_24^0'=t_24^post3, lt_29^0'=lt_29^post3, z_188^0'=z_188^post3, __disjvr_8^0'=__disjvr_8^post3, rcd_264^0'=rcd_264^post3, rcd_356^0'=rcd_356^post3, __disjvr_18^0'=__disjvr_18^post3, i_33^0'=i_33^post3, __disjvr_28^0'=__disjvr_28^post3, tmp_37^0'=tmp_37^post3, r_236^0'=r_236^post3, z_279^0'=z_279^post3, __disjvr_10^0'=__disjvr_10^post3, a_347^0'=a_347^post3, result_11^0'=result_11^post3, __disjvr_22^0'=__disjvr_22^post3, x_SLAM_f_21^0'=x_SLAM_f_21^post3, __disjvr_5^0'=__disjvr_5^post3, rcd_226^0'=rcd_226^post3, __disjvr_15^0'=__disjvr_15^post3, i_111^0'=i_111^post3, __disjvr_25^0'=__disjvr_25^post3, temp0_34^0'=temp0_34^post3, lt_483^0'=lt_483^post3, z_238^0'=z_238^post3, a_166^0'=a_166^post3, a_267^0'=a_267^post3, rcd_396^0'=rcd_396^post3, __disjvr_1^0'=__disjvr_1^post3, len_266^0'=len_266^post3, __disjvr_2^0'=__disjvr_2^post3, rcd_105^0'=rcd_105^post3, z_389^0'=z_389^post3, __disjvr_12^0'=__disjvr_12^post3, ct_20^0'=ct_20^post3, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post3, lt_17^0'=lt_17^post3, z_160^0'=z_160^post3, __disjvr_7^0'=__disjvr_7^post3, rcd_237^0'=rcd_237^post3, rcd_352^0'=rcd_352^post3, __disjvr_17^0'=__disjvr_17^post3, i_227^0'=i_227^post3, __disjvr_27^0'=__disjvr_27^post3, temp_38^0'=temp_38^post3, r_178^0'=r_178^post3, z_265^0'=z_265^post3, (0 == 0 /\ -temp0_34^post3+temp0_34^0 == 0 /\ __disjvr_23^0-__disjvr_23^post3 == 0 /\ __disjvr_16^0-__disjvr_16^post3 == 0 /\ -__disjvr_7^post3+__disjvr_7^0 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ -z_252^post3+z_252^0 == 0 /\ -lt_17^post3+lt_17^0 == 0 /\ -__disjvr_8^post3+__disjvr_8^0 == 0 /\ result_11^0-result_11^post3 == 0 /\ -z_389^post3+z_389^0 == 0 /\ -temp_38^post3+temp_38^0 == 0 /\ __disjvr_21^0-__disjvr_21^post3 == 0 /\ -__disjvr_2^post3+__disjvr_2^0 == 0 /\ __disjvr_0^0-__disjvr_0^post3 == 0 /\ __disjvr_14^0-__disjvr_14^post3 == 0 /\ __disjvr_6^0-__disjvr_6^post3 == 0 /\ -len_286^post3+len_286^0 == 0 /\ -a_267^post3+a_267^0 == 0 /\ rcd_46^0-rcd_376^post3 <= 0 /\ -x_19^0+x_SLAM_f_21^0 <= 0 /\ -y_22^0+ct_20^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post3 == 0 /\ y_22^0 <= 0 /\ -__disjvr_27^post3+__disjvr_27^0 == 0 /\ -rcd_113^post3+rcd_113^0 == 0 /\ ct_20^0-ct_20^post3 == 0 /\ -i_227^post3+i_227^0 == 0 /\ r_42^0-r_42^post3 == 0 /\ -__disjvr_5^post3+__disjvr_5^0 == 0 /\ temp0_18^0-temp0_18^post3 == 0 /\ -z_188^post3+z_188^0 == 0 /\ tmp_37^0-tmp_37^post3 == 0 /\ -__disjvr_20^post3+__disjvr_20^0 == 0 /\ rcd_396^0-rcd_396^post3 == 0 /\ __disjvr_3^0-__disjvr_3^post3 == 0 /\ -1+a_347^0-a_377^post3 <= 0 /\ -x_23^0+t_24^post3 == 0 /\ -rcd_46^0+rcd_376^post3 <= 0 /\ a_166^0-a_166^post3 == 0 /\ x_19^0-x_SLAM_f_21^0 <= 0 /\ __disjvr_12^0-__disjvr_12^post3 == 0 /\ z_229^0-z_229^post3 == 0 /\ y_22^0-ct_20^0 <= 0 /\ x_23^0-x_23^post3 == 0 /\ temp1_30^0-temp1_30^post3 == 0 /\ __disjvr_10^0-__disjvr_10^post3 == 0 /\ y_22^0-y_22^post3 == 0 /\ -r_236^post3+r_236^0 == 0 /\ z_160^0-z_160^post3 == 0 /\ -__disjvr_29^post3+__disjvr_29^0 == 0 /\ -__disjvr_4^post3+__disjvr_4^0 == 0 /\ a_210^0-a_210^post3 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ length_32^0-length_32^post3 == 0 /\ -__disjvr_1^post3+__disjvr_1^0 == 0 /\ -rcd_105^post3+rcd_105^0 == 0 /\ z_28^0-z_28^post3 == 0 /\ __disjvr_24^0-__disjvr_24^post3 == 0 /\ -z_265^post3+z_265^0 == 0 /\ __disjvr_25^0-__disjvr_25^post3 == 0 /\ -__disjvr_15^post3+__disjvr_15^0 == 0 /\ -a_347^post3+a_347^0 == 0 /\ -lt_483^post3+lt_483^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post3 == 0 /\ lt_29^0-lt_29^post3 == 0 /\ len_195^0-len_195^post3 == 0 /\ -__disjvr_18^post3+__disjvr_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post3+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_46^post3+rcd_46^0 == 0 /\ -i_120^post3+i_120^0 == 0 /\ -x_19^0+lt_17^0 <= 0 /\ head_35^0-head_35^post3 == 0 /\ __disjvr_19^0-__disjvr_19^post3 == 0 /\ rcd_264^0-rcd_264^post3 == 0 /\ a_27^0-a_27^post3 == 0 /\ -rcd_237^post3+rcd_237^0 == 0 /\ -rcd_352^post3+rcd_352^0 == 0 /\ -__disjvr_26^post3+__disjvr_26^0 == 0 /\ -z_238^post3+z_238^0 == 0 /\ i_111^0-i_111^post3 == 0 /\ a_321^0-a_321^post3 == 0 /\ rcd_228^0-rcd_228^post3 == 0 /\ __disjvr_13^0-__disjvr_13^post3 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post3+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -z_279^post3+z_279^0 == 0 /\ rcd_70^0-rcd_70^post3 == 0 /\ -y_22^0 <= 0 /\ __disjvr_17^0-__disjvr_17^post3 == 0 /\ -__disjvr_22^post3+__disjvr_22^0 == 0 /\ -r_178^post3+r_178^0 == 0 /\ -rcd_356^post3+rcd_356^0 == 0 /\ ct_20^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post3 == 0 /\ -i_33^post3+i_33^0 == 0 /\ -ct_20^0 <= 0 /\ 1-a_347^0+a_377^post3 <= 0 /\ __disjvr_28^0-__disjvr_28^post3 == 0 /\ -head_13^post3+head_13^0 == 0 /\ -rcd_226^post3+rcd_226^0 == 0 /\ -len_266^post3+len_266^0 == 0 /\ rcd_222^0-rcd_222^post3 == 0 /\ x_19^0-lt_17^0 <= 0 /\ lt_386^0-lt_386^post3 == 0 /\ x_19^0-x_19^post3 == 0), cost: 1
New rule:
l4 -> l5 : rcd_376^0'=rcd_46^0, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, (y_22^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ -x_19^0+lt_17^0 == 0 /\ ct_20^0 == 0), cost: 1

Applied preprocessing
Original rule:
l5 -> l6 : __disjvr_0^0'=__disjvr_0^post4, a_321^0'=a_321^post4, rcd_70^0'=rcd_70^post4, __disjvr_21^0'=__disjvr_21^post4, x_23^0'=x_23^post4, __disjvr_4^0'=__disjvr_4^post4, rcd_222^0'=rcd_222^post4, __disjvr_14^0'=__disjvr_14^post4, head_35^0'=head_35^post4, __disjvr_24^0'=__disjvr_24^post4, temp0_18^0'=temp0_18^post4, lt_386^0'=lt_386^post4, z_229^0'=z_229^post4, __disjvr_9^0'=__disjvr_9^post4, a_210^0'=a_210^post4, rcd_376^0'=rcd_376^post4, __disjvr_19^0'=__disjvr_19^post4, len_195^0'=len_195^post4, __disjvr_29^0'=__disjvr_29^post4, x_19^0'=x_19^post4, r_42^0'=r_42^post4, z_28^0'=z_28^post4, __disjvr_11^0'=__disjvr_11^post4, a_377^0'=a_377^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post4, length_32^0'=length_32^post4, y_22^0'=y_22^post4, __disjvr_6^0'=__disjvr_6^post4, rcd_228^0'=rcd_228^post4, __disjvr_16^0'=__disjvr_16^post4, i_120^0'=i_120^post4, __disjvr_26^0'=__disjvr_26^post4, temp1_30^0'=temp1_30^post4, nondet_12^0'=nondet_12^post4, z_252^0'=z_252^post4, a_27^0'=a_27^post4, rcd_46^0'=rcd_46^post4, __disjvr_20^0'=__disjvr_20^post4, len_286^0'=len_286^post4, __disjvr_3^0'=__disjvr_3^post4, rcd_113^0'=rcd_113^post4, __disjvr_13^0'=__disjvr_13^post4, head_13^0'=head_13^post4, __disjvr_23^0'=__disjvr_23^post4, t_24^0'=t_24^post4, lt_29^0'=lt_29^post4, z_188^0'=z_188^post4, __disjvr_8^0'=__disjvr_8^post4, rcd_264^0'=rcd_264^post4, rcd_356^0'=rcd_356^post4, __disjvr_18^0'=__disjvr_18^post4, i_33^0'=i_33^post4, __disjvr_28^0'=__disjvr_28^post4, tmp_37^0'=tmp_37^post4, r_236^0'=r_236^post4, z_279^0'=z_279^post4, __disjvr_10^0'=__disjvr_10^post4, a_347^0'=a_347^post4, result_11^0'=result_11^post4, __disjvr_22^0'=__disjvr_22^post4, x_SLAM_f_21^0'=x_SLAM_f_21^post4, __disjvr_5^0'=__disjvr_5^post4, rcd_226^0'=rcd_226^post4, __disjvr_15^0'=__disjvr_15^post4, i_111^0'=i_111^post4, __disjvr_25^0'=__disjvr_25^post4, temp0_34^0'=temp0_34^post4, lt_483^0'=lt_483^post4, z_238^0'=z_238^post4, a_166^0'=a_166^post4, a_267^0'=a_267^post4, rcd_396^0'=rcd_396^post4, __disjvr_1^0'=__disjvr_1^post4, len_266^0'=len_266^post4, __disjvr_2^0'=__disjvr_2^post4, rcd_105^0'=rcd_105^post4, z_389^0'=z_389^post4, __disjvr_12^0'=__disjvr_12^post4, ct_20^0'=ct_20^post4, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post4, lt_17^0'=lt_17^post4, z_160^0'=z_160^post4, __disjvr_7^0'=__disjvr_7^post4, rcd_237^0'=rcd_237^post4, rcd_352^0'=rcd_352^post4, __disjvr_17^0'=__disjvr_17^post4, i_227^0'=i_227^post4, __disjvr_27^0'=__disjvr_27^post4, temp_38^0'=temp_38^post4, r_178^0'=r_178^post4, z_265^0'=z_265^post4, (-__disjvr_20^post4+__disjvr_20^0 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -lt_483^post4+lt_483^0 == 0 /\ -__disjvr_18^post4+__disjvr_18^0 == 0 /\ len_286^0-len_286^post4 == 0 /\ rcd_113^0-rcd_113^post4 == 0 /\ temp0_18^0-temp0_18^post4 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ -z_265^post4+z_265^0 == 0 /\ -z_28^post4+z_28^0 == 0 /\ head_13^0-head_13^post4 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ lt_386^0-lt_386^post4 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ r_42^0-r_42^post4 == 0 /\ temp1_30^0-temp1_30^post4 == 0 /\ __disjvr_24^0-__disjvr_24^post4 == 0 /\ -__disjvr_15^post4+__disjvr_15^0 == 0 /\ __disjvr_4^0-__disjvr_4^post4 == 0 /\ -__disjvr_1^post4+__disjvr_1^0 == 0 /\ a_210^0-a_210^post4 == 0 /\ -y_22^post4+y_22^0 == 0 /\ __disjvr_12^0-__disjvr_12^post4 == 0 /\ -z_160^post4+z_160^0 == 0 /\ -__disjvr_25^post4+__disjvr_25^0 == 0 /\ t_24^0-t_24^post4 == 0 /\ z_238^0-z_238^post4 == 0 /\ z_279^0-z_279^post4 == 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post4+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_16^0-__disjvr_16^post4 == 0 /\ rcd_105^0-rcd_105^post4 == 0 /\ -len_266^post4+len_266^0 == 0 /\ a_377^0-a_377^post4 == 0 /\ rcd_46^0-rcd_46^post4 == 0 /\ -__disjvr_22^post4+__disjvr_22^0 == 0 /\ -r_178^post4+r_178^0 == 0 /\ -rcd_237^post4+rcd_237^0 == 0 /\ __disjvr_21^0-__disjvr_21^post4 == 0 /\ -rcd_352^post4+rcd_352^0 == 0 /\ len_195^0-len_195^post4 == 0 /\ -__disjvr_26^post4+__disjvr_26^0 == 0 /\ -z_389^post4+z_389^0 == 0 /\ -rcd_356^post4+rcd_356^0 == 0 /\ __disjvr_1^post4-__disjvr_1^0 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ -rcd_226^post4+rcd_226^0 == 0 /\ head_35^0-head_35^post4 == 0 /\ -lt_17^post4+lt_17^0 == 0 /\ -__disjvr_28^post4+__disjvr_28^0 == 0 /\ rcd_222^0-rcd_222^post4 == 0 /\ x_23^0-x_23^post4 == 0 /\ rcd_228^0-rcd_228^post4 == 0 /\ z_252^0-z_252^post4 == 0 /\ i_111^0-i_111^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ -temp_38^post4+temp_38^0 == 0 /\ -a_27^post4+a_27^0 == 0 /\ lt_29^0-lt_29^post4 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ z_229^0-z_229^post4 == 0 /\ -a_166^post4+a_166^0 == 0 /\ length_32^0-length_32^post4 == 0 /\ a_347^0-a_347^post4 == 0 /\ x_19^0-x_19^post4 == 0 /\ -rcd_70^post4+rcd_70^0 == 0 /\ r_236^0-r_236^post4 == 0 /\ i_120^0-i_120^post4 == 0 /\ -temp0_34^post4+temp0_34^0 == 0 /\ -a_267^post4+a_267^0 == 0 /\ -__disjvr_13^post4+__disjvr_13^0 == 0 /\ -tmp_37^post4+tmp_37^0 == 0 /\ result_11^0-result_11^post4 == 0 /\ __disjvr_5^0-__disjvr_5^post4 == 0 /\ __disjvr_11^0-__disjvr_11^post4 == 0 /\ -rcd_376^post4+rcd_376^0 == 0 /\ -i_227^post4+i_227^0 == 0 /\ __disjvr_29^0-__disjvr_29^post4 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ __disjvr_3^0-__disjvr_3^post4 == 0 /\ -x_SLAM_f_21^post4+x_SLAM_f_21^0 == 0 /\ -z_188^post4+z_188^0 == 0 /\ i_33^0-i_33^post4 == 0 /\ -rcd_396^post4+rcd_396^0 == 0 /\ __disjvr_19^0-__disjvr_19^post4 == 0 /\ -__disjvr_23^post4+__disjvr_23^0 == 0 /\ -rcd_264^post4+rcd_264^0 == 0 /\ -ct_20^post4+ct_20^0 == 0 /\ -__disjvr_27^post4+__disjvr_27^0 == 0 /\ a_321^0-a_321^post4 == 0), cost: 1
New rule:
l5 -> l6 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l6 -> l7 : __disjvr_0^0'=__disjvr_0^post5, a_321^0'=a_321^post5, rcd_70^0'=rcd_70^post5, __disjvr_21^0'=__disjvr_21^post5, x_23^0'=x_23^post5, __disjvr_4^0'=__disjvr_4^post5, rcd_222^0'=rcd_222^post5, __disjvr_14^0'=__disjvr_14^post5, head_35^0'=head_35^post5, __disjvr_24^0'=__disjvr_24^post5, temp0_18^0'=temp0_18^post5, lt_386^0'=lt_386^post5, z_229^0'=z_229^post5, __disjvr_9^0'=__disjvr_9^post5, a_210^0'=a_210^post5, rcd_376^0'=rcd_376^post5, __disjvr_19^0'=__disjvr_19^post5, len_195^0'=len_195^post5, __disjvr_29^0'=__disjvr_29^post5, x_19^0'=x_19^post5, r_42^0'=r_42^post5, z_28^0'=z_28^post5, __disjvr_11^0'=__disjvr_11^post5, a_377^0'=a_377^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post5, length_32^0'=length_32^post5, y_22^0'=y_22^post5, __disjvr_6^0'=__disjvr_6^post5, rcd_228^0'=rcd_228^post5, __disjvr_16^0'=__disjvr_16^post5, i_120^0'=i_120^post5, __disjvr_26^0'=__disjvr_26^post5, temp1_30^0'=temp1_30^post5, nondet_12^0'=nondet_12^post5, z_252^0'=z_252^post5, a_27^0'=a_27^post5, rcd_46^0'=rcd_46^post5, __disjvr_20^0'=__disjvr_20^post5, len_286^0'=len_286^post5, __disjvr_3^0'=__disjvr_3^post5, rcd_113^0'=rcd_113^post5, __disjvr_13^0'=__disjvr_13^post5, head_13^0'=head_13^post5, __disjvr_23^0'=__disjvr_23^post5, t_24^0'=t_24^post5, lt_29^0'=lt_29^post5, z_188^0'=z_188^post5, __disjvr_8^0'=__disjvr_8^post5, rcd_264^0'=rcd_264^post5, rcd_356^0'=rcd_356^post5, __disjvr_18^0'=__disjvr_18^post5, i_33^0'=i_33^post5, __disjvr_28^0'=__disjvr_28^post5, tmp_37^0'=tmp_37^post5, r_236^0'=r_236^post5, z_279^0'=z_279^post5, __disjvr_10^0'=__disjvr_10^post5, a_347^0'=a_347^post5, result_11^0'=result_11^post5, __disjvr_22^0'=__disjvr_22^post5, x_SLAM_f_21^0'=x_SLAM_f_21^post5, __disjvr_5^0'=__disjvr_5^post5, rcd_226^0'=rcd_226^post5, __disjvr_15^0'=__disjvr_15^post5, i_111^0'=i_111^post5, __disjvr_25^0'=__disjvr_25^post5, temp0_34^0'=temp0_34^post5, lt_483^0'=lt_483^post5, z_238^0'=z_238^post5, a_166^0'=a_166^post5, a_267^0'=a_267^post5, rcd_396^0'=rcd_396^post5, __disjvr_1^0'=__disjvr_1^post5, len_266^0'=len_266^post5, __disjvr_2^0'=__disjvr_2^post5, rcd_105^0'=rcd_105^post5, z_389^0'=z_389^post5, __disjvr_12^0'=__disjvr_12^post5, ct_20^0'=ct_20^post5, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post5, lt_17^0'=lt_17^post5, z_160^0'=z_160^post5, __disjvr_7^0'=__disjvr_7^post5, rcd_237^0'=rcd_237^post5, rcd_352^0'=rcd_352^post5, __disjvr_17^0'=__disjvr_17^post5, i_227^0'=i_227^post5, __disjvr_27^0'=__disjvr_27^post5, temp_38^0'=temp_38^post5, r_178^0'=r_178^post5, z_265^0'=z_265^post5, (x_19^0-x_19^post5 == 0 /\ -a_166^post5+a_166^0 == 0 /\ __disjvr_5^0-__disjvr_5^post5 == 0 /\ __disjvr_6^0-__disjvr_6^post5 == 0 /\ -__disjvr_7^post5+__disjvr_7^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post5 == 0 /\ z_28^0-z_28^post5 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ -z_389^post5+z_389^0 == 0 /\ -__disjvr_2^post5+__disjvr_2^0 == 0 /\ -lt_17^post5+lt_17^0 == 0 /\ -rcd_228^post5+rcd_228^0 == 0 /\ -__disjvr_13^post5+__disjvr_13^0 == 0 /\ head_35^0-head_35^post5 == 0 /\ __disjvr_21^0-__disjvr_21^post5 == 0 /\ __disjvr_19^0-__disjvr_19^post5 == 0 /\ rcd_264^0-rcd_264^post5 == 0 /\ -a_267^post5+a_267^0 == 0 /\ z_279^0-z_279^post5 == 0 /\ -temp_38^post5+temp_38^0 == 0 /\ -x_SLAM_f_21^post5+x_SLAM_f_21^0 == 0 /\ -temp0_34^post5+temp0_34^0 == 0 /\ rcd_113^0-rcd_113^post5 == 0 /\ __disjvr_4^0-__disjvr_4^post5 == 0 /\ len_266^0-len_266^post5 == 0 /\ -__disjvr_16^post5+__disjvr_16^0 == 0 /\ a_321^0-a_321^post5 == 0 /\ -tmp_37^post5+tmp_37^0 == 0 /\ -__disjvr_10^post5+__disjvr_10^0 == 0 /\ __disjvr_2^post5-__disjvr_2^0 == 0 /\ temp1_30^0-temp1_30^post5 == 0 /\ -i_227^post5+i_227^0 == 0 /\ rcd_396^0-rcd_396^post5 == 0 /\ -ct_20^post5+ct_20^0 == 0 /\ __disjvr_26^0-__disjvr_26^post5 == 0 /\ rcd_105^0-rcd_105^post5 == 0 /\ length_32^0-length_32^post5 == 0 /\ z_252^0-z_252^post5 == 0 /\ rcd_222^0-rcd_222^post5 == 0 /\ len_286^0-len_286^post5 == 0 /\ -__disjvr_20^post5+__disjvr_20^0 == 0 /\ __disjvr_28^0-__disjvr_28^post5 == 0 /\ -__disjvr_27^post5+__disjvr_27^0 == 0 /\ __disjvr_14^0-__disjvr_14^post5 == 0 /\ __disjvr_11^0-__disjvr_11^post5 == 0 /\ -z_265^post5+z_265^0 == 0 /\ z_160^0-z_160^post5 == 0 /\ -a_377^post5+a_377^0 == 0 /\ -r_236^post5+r_236^0 == 0 /\ i_33^0-i_33^post5 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ t_24^0-t_24^post5 == 0 /\ __disjvr_8^0-__disjvr_8^post5 == 0 /\ __disjvr_23^0-__disjvr_23^post5 == 0 /\ z_188^0-z_188^post5 == 0 /\ __disjvr_29^0-__disjvr_29^post5 == 0 /\ -__disjvr_9^post5+__disjvr_9^0 == 0 /\ -__disjvr_15^post5+__disjvr_15^0 == 0 /\ -__disjvr_18^post5+__disjvr_18^0 == 0 /\ rcd_46^0-rcd_46^post5 == 0 /\ -__disjvr_1^post5+__disjvr_1^0 == 0 /\ rcd_376^0-rcd_376^post5 == 0 /\ rcd_70^0-rcd_70^post5 == 0 /\ -lt_483^post5+lt_483^0 == 0 /\ -__disjvr_22^post5+__disjvr_22^0 == 0 /\ a_347^0-a_347^post5 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ -r_178^post5+r_178^0 == 0 /\ -rcd_352^post5+rcd_352^0 == 0 /\ -z_238^post5+z_238^0 == 0 /\ __disjvr_17^0-__disjvr_17^post5 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post5+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ r_42^0-r_42^post5 == 0 /\ -rcd_237^post5+rcd_237^0 == 0 /\ len_195^0-len_195^post5 == 0 /\ i_111^0-i_111^post5 == 0 /\ -lt_386^post5+lt_386^0 == 0 /\ temp0_18^0-temp0_18^post5 == 0 /\ __disjvr_24^0-__disjvr_24^post5 == 0 /\ -head_13^post5+head_13^0 == 0 /\ -a_27^post5+a_27^0 == 0 /\ -rcd_356^post5+rcd_356^0 == 0 /\ __disjvr_3^0-__disjvr_3^post5 == 0 /\ -lt_29^post5+lt_29^0 == 0 /\ x_23^0-x_23^post5 == 0 /\ i_120^0-i_120^post5 == 0 /\ a_210^0-a_210^post5 == 0 /\ result_11^0-result_11^post5 == 0 /\ -__disjvr_25^post5+__disjvr_25^0 == 0 /\ z_229^0-z_229^post5 == 0 /\ y_22^0-y_22^post5 == 0 /\ -rcd_226^post5+rcd_226^0 == 0), cost: 1
New rule:
l6 -> l7 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l7 -> l8 : __disjvr_0^0'=__disjvr_0^post6, a_321^0'=a_321^post6, rcd_70^0'=rcd_70^post6, __disjvr_21^0'=__disjvr_21^post6, x_23^0'=x_23^post6, __disjvr_4^0'=__disjvr_4^post6, rcd_222^0'=rcd_222^post6, __disjvr_14^0'=__disjvr_14^post6, head_35^0'=head_35^post6, __disjvr_24^0'=__disjvr_24^post6, temp0_18^0'=temp0_18^post6, lt_386^0'=lt_386^post6, z_229^0'=z_229^post6, __disjvr_9^0'=__disjvr_9^post6, a_210^0'=a_210^post6, rcd_376^0'=rcd_376^post6, __disjvr_19^0'=__disjvr_19^post6, len_195^0'=len_195^post6, __disjvr_29^0'=__disjvr_29^post6, x_19^0'=x_19^post6, r_42^0'=r_42^post6, z_28^0'=z_28^post6, __disjvr_11^0'=__disjvr_11^post6, a_377^0'=a_377^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post6, length_32^0'=length_32^post6, y_22^0'=y_22^post6, __disjvr_6^0'=__disjvr_6^post6, rcd_228^0'=rcd_228^post6, __disjvr_16^0'=__disjvr_16^post6, i_120^0'=i_120^post6, __disjvr_26^0'=__disjvr_26^post6, temp1_30^0'=temp1_30^post6, nondet_12^0'=nondet_12^post6, z_252^0'=z_252^post6, a_27^0'=a_27^post6, rcd_46^0'=rcd_46^post6, __disjvr_20^0'=__disjvr_20^post6, len_286^0'=len_286^post6, __disjvr_3^0'=__disjvr_3^post6, rcd_113^0'=rcd_113^post6, __disjvr_13^0'=__disjvr_13^post6, head_13^0'=head_13^post6, __disjvr_23^0'=__disjvr_23^post6, t_24^0'=t_24^post6, lt_29^0'=lt_29^post6, z_188^0'=z_188^post6, __disjvr_8^0'=__disjvr_8^post6, rcd_264^0'=rcd_264^post6, rcd_356^0'=rcd_356^post6, __disjvr_18^0'=__disjvr_18^post6, i_33^0'=i_33^post6, __disjvr_28^0'=__disjvr_28^post6, tmp_37^0'=tmp_37^post6, r_236^0'=r_236^post6, z_279^0'=z_279^post6, __disjvr_10^0'=__disjvr_10^post6, a_347^0'=a_347^post6, result_11^0'=result_11^post6, __disjvr_22^0'=__disjvr_22^post6, x_SLAM_f_21^0'=x_SLAM_f_21^post6, __disjvr_5^0'=__disjvr_5^post6, rcd_226^0'=rcd_226^post6, __disjvr_15^0'=__disjvr_15^post6, i_111^0'=i_111^post6, __disjvr_25^0'=__disjvr_25^post6, temp0_34^0'=temp0_34^post6, lt_483^0'=lt_483^post6, z_238^0'=z_238^post6, a_166^0'=a_166^post6, a_267^0'=a_267^post6, rcd_396^0'=rcd_396^post6, __disjvr_1^0'=__disjvr_1^post6, len_266^0'=len_266^post6, __disjvr_2^0'=__disjvr_2^post6, rcd_105^0'=rcd_105^post6, z_389^0'=z_389^post6, __disjvr_12^0'=__disjvr_12^post6, ct_20^0'=ct_20^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, lt_17^0'=lt_17^post6, z_160^0'=z_160^post6, __disjvr_7^0'=__disjvr_7^post6, rcd_237^0'=rcd_237^post6, rcd_352^0'=rcd_352^post6, __disjvr_17^0'=__disjvr_17^post6, i_227^0'=i_227^post6, __disjvr_27^0'=__disjvr_27^post6, temp_38^0'=temp_38^post6, r_178^0'=r_178^post6, z_265^0'=z_265^post6, (rcd_228^0-rcd_228^post6 == 0 /\ __disjvr_4^0-__disjvr_4^post6 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ rcd_70^0-rcd_70^post6 == 0 /\ x_23^0-x_23^post6 == 0 /\ __disjvr_3^post6-__disjvr_3^0 == 0 /\ -a_377^post6+a_377^0 == 0 /\ -__disjvr_29^post6+__disjvr_29^0 == 0 /\ -__disjvr_6^post6+__disjvr_6^0 == 0 /\ -lt_483^post6+lt_483^0 == 0 /\ lt_29^0-lt_29^post6 == 0 /\ __disjvr_1^0-__disjvr_1^post6 == 0 /\ temp1_30^0-temp1_30^post6 == 0 /\ z_229^0-z_229^post6 == 0 /\ len_286^0-len_286^post6 == 0 /\ r_236^0-r_236^post6 == 0 /\ -z_160^post6+z_160^0 == 0 /\ -len_266^post6+len_266^0 == 0 /\ -z_279^post6+z_279^0 == 0 /\ x_19^0-x_19^post6 == 0 /\ -__disjvr_12^post6+__disjvr_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post6 == 0 /\ __disjvr_23^0-__disjvr_23^post6 == 0 /\ -__disjvr_11^post6+__disjvr_11^0 == 0 /\ a_267^0-a_267^post6 == 0 /\ -a_347^post6+a_347^0 == 0 /\ -length_32^post6+length_32^0 == 0 /\ -__disjvr_3^post6+__disjvr_3^0 == 0 /\ -rcd_352^post6+rcd_352^0 == 0 /\ -__disjvr_25^post6+__disjvr_25^0 == 0 /\ -rcd_226^post6+rcd_226^0 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0 /\ -__disjvr_22^post6+__disjvr_22^0 == 0 /\ i_33^0-i_33^post6 == 0 /\ -z_265^post6+z_265^0 == 0 /\ -z_238^post6+z_238^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post6+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_237^post6+rcd_237^0 == 0 /\ -__disjvr_2^post6+__disjvr_2^0 == 0 /\ -z_389^post6+z_389^0 == 0 /\ -__disjvr_28^post6+__disjvr_28^0 == 0 /\ -__disjvr_26^post6+__disjvr_26^0 == 0 /\ a_321^0-a_321^post6 == 0 /\ __disjvr_19^0-__disjvr_19^post6 == 0 /\ a_27^0-a_27^post6 == 0 /\ -__disjvr_13^post6+__disjvr_13^0 == 0 /\ __disjvr_9^0-__disjvr_9^post6 == 0 /\ z_252^0-z_252^post6 == 0 /\ -result_11^post6+result_11^0 == 0 /\ -rcd_396^post6+rcd_396^0 == 0 /\ rcd_356^0-rcd_356^post6 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ rcd_113^0-rcd_113^post6 == 0 /\ head_13^0-head_13^post6 == 0 /\ -temp0_34^post6+temp0_34^0 == 0 /\ -rcd_222^post6+rcd_222^0 == 0 /\ -temp_38^post6+temp_38^0 == 0 /\ i_120^0-i_120^post6 == 0 /\ lt_386^0-lt_386^post6 == 0 /\ -r_178^post6+r_178^0 == 0 /\ -a_166^post6+a_166^0 == 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ r_42^0-r_42^post6 == 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ -tmp_37^post6+tmp_37^0 == 0 /\ -__disjvr_8^post6+__disjvr_8^0 == 0 /\ -x_SLAM_f_21^post6+x_SLAM_f_21^0 == 0 /\ -temp0_18^post6+temp0_18^0 == 0 /\ y_22^0-y_22^post6 == 0 /\ -__disjvr_10^post6+__disjvr_10^0 == 0 /\ -rcd_376^post6+rcd_376^0 == 0 /\ -lt_17^post6+lt_17^0 == 0 /\ a_210^0-a_210^post6 == 0 /\ -__disjvr_24^post6+__disjvr_24^0 == 0 /\ z_188^0-z_188^post6 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ -i_227^post6+i_227^0 == 0 /\ -ct_20^post6+ct_20^0 == 0 /\ __disjvr_15^0-__disjvr_15^post6 == 0 /\ -i_111^post6+i_111^0 == 0 /\ -__disjvr_27^post6+__disjvr_27^0 == 0 /\ rcd_46^0-rcd_46^post6 == 0 /\ z_28^0-z_28^post6 == 0 /\ -__disjvr_16^post6+__disjvr_16^0 == 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ len_195^0-len_195^post6 == 0 /\ -rcd_105^post6+rcd_105^0 == 0 /\ -__disjvr_20^post6+__disjvr_20^0 == 0 /\ head_35^0-head_35^post6 == 0 /\ -t_24^post6+t_24^0 == 0 /\ -rcd_264^post6+rcd_264^0 == 0), cost: 1
New rule:
l7 -> l8 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l8 -> l2 : __disjvr_0^0'=__disjvr_0^post7, a_321^0'=a_321^post7, rcd_70^0'=rcd_70^post7, __disjvr_21^0'=__disjvr_21^post7, x_23^0'=x_23^post7, __disjvr_4^0'=__disjvr_4^post7, rcd_222^0'=rcd_222^post7, __disjvr_14^0'=__disjvr_14^post7, head_35^0'=head_35^post7, __disjvr_24^0'=__disjvr_24^post7, temp0_18^0'=temp0_18^post7, lt_386^0'=lt_386^post7, z_229^0'=z_229^post7, __disjvr_9^0'=__disjvr_9^post7, a_210^0'=a_210^post7, rcd_376^0'=rcd_376^post7, __disjvr_19^0'=__disjvr_19^post7, len_195^0'=len_195^post7, __disjvr_29^0'=__disjvr_29^post7, x_19^0'=x_19^post7, r_42^0'=r_42^post7, z_28^0'=z_28^post7, __disjvr_11^0'=__disjvr_11^post7, a_377^0'=a_377^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post7, length_32^0'=length_32^post7, y_22^0'=y_22^post7, __disjvr_6^0'=__disjvr_6^post7, rcd_228^0'=rcd_228^post7, __disjvr_16^0'=__disjvr_16^post7, i_120^0'=i_120^post7, __disjvr_26^0'=__disjvr_26^post7, temp1_30^0'=temp1_30^post7, nondet_12^0'=nondet_12^post7, z_252^0'=z_252^post7, a_27^0'=a_27^post7, rcd_46^0'=rcd_46^post7, __disjvr_20^0'=__disjvr_20^post7, len_286^0'=len_286^post7, __disjvr_3^0'=__disjvr_3^post7, rcd_113^0'=rcd_113^post7, __disjvr_13^0'=__disjvr_13^post7, head_13^0'=head_13^post7, __disjvr_23^0'=__disjvr_23^post7, t_24^0'=t_24^post7, lt_29^0'=lt_29^post7, z_188^0'=z_188^post7, __disjvr_8^0'=__disjvr_8^post7, rcd_264^0'=rcd_264^post7, rcd_356^0'=rcd_356^post7, __disjvr_18^0'=__disjvr_18^post7, i_33^0'=i_33^post7, __disjvr_28^0'=__disjvr_28^post7, tmp_37^0'=tmp_37^post7, r_236^0'=r_236^post7, z_279^0'=z_279^post7, __disjvr_10^0'=__disjvr_10^post7, a_347^0'=a_347^post7, result_11^0'=result_11^post7, __disjvr_22^0'=__disjvr_22^post7, x_SLAM_f_21^0'=x_SLAM_f_21^post7, __disjvr_5^0'=__disjvr_5^post7, rcd_226^0'=rcd_226^post7, __disjvr_15^0'=__disjvr_15^post7, i_111^0'=i_111^post7, __disjvr_25^0'=__disjvr_25^post7, temp0_34^0'=temp0_34^post7, lt_483^0'=lt_483^post7, z_238^0'=z_238^post7, a_166^0'=a_166^post7, a_267^0'=a_267^post7, rcd_396^0'=rcd_396^post7, __disjvr_1^0'=__disjvr_1^post7, len_266^0'=len_266^post7, __disjvr_2^0'=__disjvr_2^post7, rcd_105^0'=rcd_105^post7, z_389^0'=z_389^post7, __disjvr_12^0'=__disjvr_12^post7, ct_20^0'=ct_20^post7, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post7, lt_17^0'=lt_17^post7, z_160^0'=z_160^post7, __disjvr_7^0'=__disjvr_7^post7, rcd_237^0'=rcd_237^post7, rcd_352^0'=rcd_352^post7, __disjvr_17^0'=__disjvr_17^post7, i_227^0'=i_227^post7, __disjvr_27^0'=__disjvr_27^post7, temp_38^0'=temp_38^post7, r_178^0'=r_178^post7, z_265^0'=z_265^post7, (0 == 0 /\ __disjvr_8^0-__disjvr_8^post7 == 0 /\ -__disjvr_2^post7+__disjvr_2^0 == 0 /\ -temp_38^post7+temp_38^0 == 0 /\ rcd_376^0-rcd_46^post7 <= 0 /\ length_32^0-length_32^post7 == 0 /\ -temp0_34^post7+temp0_34^0 == 0 /\ r_236^0-r_236^post7 == 0 /\ -lt_17^post7+lt_17^0 == 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ z_188^0-z_188^post7 == 0 /\ i_33^0-i_33^post7 == 0 /\ -a_347^post7+a_377^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ __disjvr_13^0-__disjvr_13^post7 == 0 /\ a_377^0-a_377^post7 == 0 /\ __disjvr_29^0-__disjvr_29^post7 == 0 /\ -__disjvr_3^post7+__disjvr_3^0 == 0 /\ -a_267^post7+a_267^0 == 0 /\ -rcd_352^post7+rcd_352^0 == 0 /\ rcd_70^0-rcd_70^post7 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ head_35^0-head_35^post7 == 0 /\ -rcd_228^post7+rcd_228^0 == 0 /\ -__disjvr_1^post7+__disjvr_1^0 == 0 /\ -__disjvr_27^post7+__disjvr_27^0 == 0 /\ -rcd_376^0+rcd_46^post7 <= 0 /\ -__disjvr_23^post7+__disjvr_23^0 == 0 /\ rcd_356^0-rcd_356^post7 == 0 /\ __disjvr_4^0-__disjvr_4^post7 == 0 /\ -tmp_37^post7+tmp_37^0 == 0 /\ -__disjvr_10^post7+__disjvr_10^0 == 0 /\ -len_286^post7+len_286^0 == 0 /\ a_347^post7-a_377^0 <= 0 /\ -x_SLAM_f_21^post7+x_SLAM_f_21^0 == 0 /\ len_195^0-len_195^post7 == 0 /\ -i_227^post7+i_227^0 == 0 /\ -t_24^post7+t_24^0 == 0 /\ -rcd_264^post7+rcd_264^0 == 0 /\ -ct_20^post7+ct_20^0 == 0 /\ nondet_12^0-nondet_12^post7 == 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ i_120^0-i_120^post7 == 0 /\ -rcd_396^post7+rcd_396^0 == 0 /\ -r_42^post7+r_42^0 == 0 /\ __disjvr_26^0-__disjvr_26^post7 == 0 /\ x_23^0-x_23^post7 == 0 /\ -i_111^post7+i_111^0 == 0 /\ rcd_222^0-rcd_222^post7 == 0 /\ -rcd_105^post7+rcd_105^0 == 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ -z_265^post7+z_265^0 == 0 /\ __disjvr_15^0-__disjvr_15^post7 == 0 /\ __disjvr_6^0-__disjvr_6^post7 == 0 /\ result_11^0-result_11^post7 == 0 /\ rcd_376^0-rcd_376^post7 == 0 /\ -z_160^post7+z_160^0 == 0 /\ -a_210^post7+a_210^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ x_19^0-x_19^post7 == 0 /\ __disjvr_19^0-__disjvr_19^post7 == 0 /\ z_28^0-z_28^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post7 == 0 /\ -__disjvr_18^post7+__disjvr_18^0 == 0 /\ -__disjvr_17^post7+__disjvr_17^0 == 0 /\ __disjvr_11^0-__disjvr_11^post7 == 0 /\ __disjvr_14^0-__disjvr_14^post7 == 0 /\ __disjvr_16^0-__disjvr_16^post7 == 0 /\ -temp1_30^post7+temp1_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0 /\ -lt_483^post7+lt_483^0 == 0 /\ -len_266^post7+len_266^0 == 0 /\ -__disjvr_9^post7+__disjvr_9^0 == 0 /\ temp0_18^0-temp0_18^post7 == 0 /\ -__disjvr_22^post7+__disjvr_22^0 == 0 /\ -r_178^post7+r_178^0 == 0 /\ a_321^0-a_321^post7 == 0 /\ rcd_113^0-rcd_113^post7 == 0 /\ head_13^0-head_13^post7 == 0 /\ -z_279^post7+z_279^0 == 0 /\ -rcd_237^post7+rcd_237^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post7+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -a_166^post7+a_166^0 == 0 /\ -z_389^post7+z_389^0 == 0 /\ -a_27^post7+a_27^0 == 0 /\ -rcd_226^post7+rcd_226^0 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ -z_238^post7+z_238^0 == 0 /\ z_229^0-z_229^post7 == 0 /\ y_22^0-y_22^post7 == 0 /\ z_252^0-z_252^post7 == 0 /\ -lt_29^post7+lt_29^0 == 0 /\ lt_386^0-lt_386^post7 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_25^post7+__disjvr_25^0 == 0), cost: 1
New rule:
l8 -> l2 : rcd_46^0'=rcd_376^0, a_347^0'=a_377^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l2 -> l0 : __disjvr_0^0'=__disjvr_0^post8, a_321^0'=a_321^post8, rcd_70^0'=rcd_70^post8, __disjvr_21^0'=__disjvr_21^post8, x_23^0'=x_23^post8, __disjvr_4^0'=__disjvr_4^post8, rcd_222^0'=rcd_222^post8, __disjvr_14^0'=__disjvr_14^post8, head_35^0'=head_35^post8, __disjvr_24^0'=__disjvr_24^post8, temp0_18^0'=temp0_18^post8, lt_386^0'=lt_386^post8, z_229^0'=z_229^post8, __disjvr_9^0'=__disjvr_9^post8, a_210^0'=a_210^post8, rcd_376^0'=rcd_376^post8, __disjvr_19^0'=__disjvr_19^post8, len_195^0'=len_195^post8, __disjvr_29^0'=__disjvr_29^post8, x_19^0'=x_19^post8, r_42^0'=r_42^post8, z_28^0'=z_28^post8, __disjvr_11^0'=__disjvr_11^post8, a_377^0'=a_377^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post8, length_32^0'=length_32^post8, y_22^0'=y_22^post8, __disjvr_6^0'=__disjvr_6^post8, rcd_228^0'=rcd_228^post8, __disjvr_16^0'=__disjvr_16^post8, i_120^0'=i_120^post8, __disjvr_26^0'=__disjvr_26^post8, temp1_30^0'=temp1_30^post8, nondet_12^0'=nondet_12^post8, z_252^0'=z_252^post8, a_27^0'=a_27^post8, rcd_46^0'=rcd_46^post8, __disjvr_20^0'=__disjvr_20^post8, len_286^0'=len_286^post8, __disjvr_3^0'=__disjvr_3^post8, rcd_113^0'=rcd_113^post8, __disjvr_13^0'=__disjvr_13^post8, head_13^0'=head_13^post8, __disjvr_23^0'=__disjvr_23^post8, t_24^0'=t_24^post8, lt_29^0'=lt_29^post8, z_188^0'=z_188^post8, __disjvr_8^0'=__disjvr_8^post8, rcd_264^0'=rcd_264^post8, rcd_356^0'=rcd_356^post8, __disjvr_18^0'=__disjvr_18^post8, i_33^0'=i_33^post8, __disjvr_28^0'=__disjvr_28^post8, tmp_37^0'=tmp_37^post8, r_236^0'=r_236^post8, z_279^0'=z_279^post8, __disjvr_10^0'=__disjvr_10^post8, a_347^0'=a_347^post8, result_11^0'=result_11^post8, __disjvr_22^0'=__disjvr_22^post8, x_SLAM_f_21^0'=x_SLAM_f_21^post8, __disjvr_5^0'=__disjvr_5^post8, rcd_226^0'=rcd_226^post8, __disjvr_15^0'=__disjvr_15^post8, i_111^0'=i_111^post8, __disjvr_25^0'=__disjvr_25^post8, temp0_34^0'=temp0_34^post8, lt_483^0'=lt_483^post8, z_238^0'=z_238^post8, a_166^0'=a_166^post8, a_267^0'=a_267^post8, rcd_396^0'=rcd_396^post8, __disjvr_1^0'=__disjvr_1^post8, len_266^0'=len_266^post8, __disjvr_2^0'=__disjvr_2^post8, rcd_105^0'=rcd_105^post8, z_389^0'=z_389^post8, __disjvr_12^0'=__disjvr_12^post8, ct_20^0'=ct_20^post8, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post8, lt_17^0'=lt_17^post8, z_160^0'=z_160^post8, __disjvr_7^0'=__disjvr_7^post8, rcd_237^0'=rcd_237^post8, rcd_352^0'=rcd_352^post8, __disjvr_17^0'=__disjvr_17^post8, i_227^0'=i_227^post8, __disjvr_27^0'=__disjvr_27^post8, temp_38^0'=temp_38^post8, r_178^0'=r_178^post8, z_265^0'=z_265^post8, (__disjvr_20^0-__disjvr_20^post8 == 0 /\ a_321^0-a_321^post8 == 0 /\ a_27^0-a_27^post8 == 0 /\ -__disjvr_15^post8+__disjvr_15^0 == 0 /\ z_252^0-z_252^post8 == 0 /\ -lt_483^post8+lt_483^0 == 0 /\ -__disjvr_27^post8+__disjvr_27^0 == 0 /\ y_22^0-y_22^post8 == 0 /\ __disjvr_26^0-__disjvr_26^post8 == 0 /\ tmp_37^0-tmp_37^post8 == 0 /\ lt_386^0-lt_386^post8 == 0 /\ -z_160^post8+z_160^0 == 0 /\ rcd_222^0-rcd_222^post8 == 0 /\ z_389^0-z_389^post8 == 0 /\ -i_33^post8+i_33^0 == 0 /\ -z_279^post8+z_279^0 == 0 /\ -__disjvr_1^post8+__disjvr_1^0 == 0 /\ x_23^0-x_23^post8 == 0 /\ i_120^0-i_120^post8 == 0 /\ __disjvr_24^0-__disjvr_24^post8 == 0 /\ -i_227^post8+i_227^0 == 0 /\ -lt_29^post8+lt_29^0 == 0 /\ z_188^0-z_188^post8 == 0 /\ -len_266^post8+len_266^0 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ -temp1_30^post8+temp1_30^0 == 0 /\ -a_267^post8+a_267^0 == 0 /\ __disjvr_16^0-__disjvr_16^post8 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ length_32^0-length_32^post8 == 0 /\ z_28^0-z_28^post8 == 0 /\ -rcd_46^post8+rcd_46^0 == 0 /\ -z_265^post8+z_265^0 == 0 /\ -__disjvr_11^post8+__disjvr_11^0 == 0 /\ -__disjvr_22^post8+__disjvr_22^0 == 0 /\ __disjvr_29^0-__disjvr_29^post8 == 0 /\ -a_347^post8+a_347^0 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ a_377^0-a_377^post8 == 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ -rcd_237^post8+rcd_237^0 == 0 /\ -__disjvr_25^post8+__disjvr_25^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post8+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -z_238^post8+z_238^0 == 0 /\ rcd_70^0-rcd_70^post8 == 0 /\ temp0_34^0-temp0_34^post8 == 0 /\ rcd_113^0-rcd_113^post8 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ len_286^0-len_286^post8 == 0 /\ head_13^0-head_13^post8 == 0 /\ -rcd_396^post8+rcd_396^0 == 0 /\ lt_17^0-lt_17^post8 == 0 /\ temp0_18^0-temp0_18^post8 == 0 /\ -z_229^post8+z_229^0 == 0 /\ len_195^0-len_195^post8 == 0 /\ -r_42^post8+r_42^0 == 0 /\ __disjvr_4^0-__disjvr_4^post8 == 0 /\ -__disjvr_21^post8+__disjvr_21^0 == 0 /\ -__disjvr_8^post8+__disjvr_8^0 == 0 /\ -__disjvr_10^post8+__disjvr_10^0 == 0 /\ __disjvr_7^0-__disjvr_7^post8 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ -r_178^post8+r_178^0 == 0 /\ -rcd_228^post8+rcd_228^0 == 0 /\ -a_166^post8+a_166^0 == 0 /\ -rcd_352^post8+rcd_352^0 == 0 /\ -__disjvr_3^post8+__disjvr_3^0 == 0 /\ -result_11^post8+result_11^0 == 0 /\ rcd_356^0-rcd_356^post8 == 0 /\ __disjvr_23^0-__disjvr_23^post8 == 0 /\ -ct_20^post8+ct_20^0 == 0 /\ -__disjvr_19^post8+__disjvr_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post8 == 0 /\ -t_24^post8+t_24^0 == 0 /\ x_19^0-x_19^post8 == 0 /\ -x_SLAM_f_21^post8+x_SLAM_f_21^0 == 0 /\ __disjvr_6^0-__disjvr_6^post8 == 0 /\ -i_111^post8+i_111^0 == 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ head_35^0-head_35^post8 == 0 /\ -temp_38^post8+temp_38^0 == 0 /\ rcd_226^0-rcd_226^post8 == 0 /\ -rcd_264^post8+rcd_264^0 == 0 /\ -a_210^post8+a_210^0 == 0 /\ -r_236^post8+r_236^0 == 0 /\ rcd_376^0-rcd_376^post8 == 0 /\ -rcd_105^post8+rcd_105^0 == 0 /\ __disjvr_13^0-__disjvr_13^post8 == 0), cost: 1
New rule:
l2 -> l0 : TRUE, cost: 1

Applied preprocessing
Original rule:
l18 -> l19 : __disjvr_0^0'=__disjvr_0^post19, a_321^0'=a_321^post19, rcd_70^0'=rcd_70^post19, __disjvr_21^0'=__disjvr_21^post19, x_23^0'=x_23^post19, __disjvr_4^0'=__disjvr_4^post19, rcd_222^0'=rcd_222^post19, __disjvr_14^0'=__disjvr_14^post19, head_35^0'=head_35^post19, __disjvr_24^0'=__disjvr_24^post19, temp0_18^0'=temp0_18^post19, lt_386^0'=lt_386^post19, z_229^0'=z_229^post19, __disjvr_9^0'=__disjvr_9^post19, a_210^0'=a_210^post19, rcd_376^0'=rcd_376^post19, __disjvr_19^0'=__disjvr_19^post19, len_195^0'=len_195^post19, __disjvr_29^0'=__disjvr_29^post19, x_19^0'=x_19^post19, r_42^0'=r_42^post19, z_28^0'=z_28^post19, __disjvr_11^0'=__disjvr_11^post19, a_377^0'=a_377^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post19, length_32^0'=length_32^post19, y_22^0'=y_22^post19, __disjvr_6^0'=__disjvr_6^post19, rcd_228^0'=rcd_228^post19, __disjvr_16^0'=__disjvr_16^post19, i_120^0'=i_120^post19, __disjvr_26^0'=__disjvr_26^post19, temp1_30^0'=temp1_30^post19, nondet_12^0'=nondet_12^post19, z_252^0'=z_252^post19, a_27^0'=a_27^post19, rcd_46^0'=rcd_46^post19, __disjvr_20^0'=__disjvr_20^post19, len_286^0'=len_286^post19, __disjvr_3^0'=__disjvr_3^post19, rcd_113^0'=rcd_113^post19, __disjvr_13^0'=__disjvr_13^post19, head_13^0'=head_13^post19, __disjvr_23^0'=__disjvr_23^post19, t_24^0'=t_24^post19, lt_29^0'=lt_29^post19, z_188^0'=z_188^post19, __disjvr_8^0'=__disjvr_8^post19, rcd_264^0'=rcd_264^post19, rcd_356^0'=rcd_356^post19, __disjvr_18^0'=__disjvr_18^post19, i_33^0'=i_33^post19, __disjvr_28^0'=__disjvr_28^post19, tmp_37^0'=tmp_37^post19, r_236^0'=r_236^post19, z_279^0'=z_279^post19, __disjvr_10^0'=__disjvr_10^post19, a_347^0'=a_347^post19, result_11^0'=result_11^post19, __disjvr_22^0'=__disjvr_22^post19, x_SLAM_f_21^0'=x_SLAM_f_21^post19, __disjvr_5^0'=__disjvr_5^post19, rcd_226^0'=rcd_226^post19, __disjvr_15^0'=__disjvr_15^post19, i_111^0'=i_111^post19, __disjvr_25^0'=__disjvr_25^post19, temp0_34^0'=temp0_34^post19, lt_483^0'=lt_483^post19, z_238^0'=z_238^post19, a_166^0'=a_166^post19, a_267^0'=a_267^post19, rcd_396^0'=rcd_396^post19, __disjvr_1^0'=__disjvr_1^post19, len_266^0'=len_266^post19, __disjvr_2^0'=__disjvr_2^post19, rcd_105^0'=rcd_105^post19, z_389^0'=z_389^post19, __disjvr_12^0'=__disjvr_12^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, z_160^0'=z_160^post19, __disjvr_7^0'=__disjvr_7^post19, rcd_237^0'=rcd_237^post19, rcd_352^0'=rcd_352^post19, __disjvr_17^0'=__disjvr_17^post19, i_227^0'=i_227^post19, __disjvr_27^0'=__disjvr_27^post19, temp_38^0'=temp_38^post19, r_178^0'=r_178^post19, z_265^0'=z_265^post19, (0 == 0 /\ __disjvr_14^0-__disjvr_14^post19 == 0 /\ __disjvr_11^0-__disjvr_11^post19 == 0 /\ i_120^0-i_120^post19 == 0 /\ -temp_38^post19+temp_38^0 == 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ __disjvr_23^0-__disjvr_23^post19 == 0 /\ -result_11^post19+result_11^0 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ __disjvr_21^0-__disjvr_21^post19 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ -__disjvr_7^post19+__disjvr_7^0 == 0 /\ nondet_12^0-nondet_12^post19 == 0 /\ -z_252^post19+z_252^0 == 0 /\ -__disjvr_8^post19+__disjvr_8^0 == 0 /\ a_377^0-a_377^post19 == 0 /\ -a_267^post19+a_267^0 == 0 /\ rcd_376^0-rcd_376^post19 == 0 /\ -__disjvr_16^post19+__disjvr_16^0 == 0 /\ lt_29^0-lt_29^post19 == 0 /\ -t_24^post19+t_24^0 == 0 /\ -len_286^post19+len_286^0 == 0 /\ __disjvr_10^0-__disjvr_10^post19 == 0 /\ len_195^0-len_195^post19 == 0 /\ tmp_37^0-tmp_37^post19 == 0 /\ rcd_228^0-rcd_228^post19 == 0 /\ -i_227^post19+i_227^0 == 0 /\ temp0_18^0-temp0_18^post19 == 0 /\ r_42^0-r_42^post19 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ y_22^0-y_22^post19 == 0 /\ __disjvr_12^0-__disjvr_12^post19 == 0 /\ -z_188^post19+z_188^0 == 0 /\ -temp0_34^post19+temp0_34^0 == 0 /\ __disjvr_24^0-__disjvr_24^post19 == 0 /\ a_166^0-a_166^post19 == 0 /\ -__disjvr_20^post19+__disjvr_20^0 == 0 /\ x_23^0-x_23^post19 == 0 /\ -rcd_396^post19+rcd_396^0 == 0 /\ -rcd_105^post19+rcd_105^0 == 0 /\ z_229^0-z_229^post19 == 0 /\ -len_286^0 <= 0 /\ -z_160^post19+z_160^0 == 0 /\ __disjvr_19^0-__disjvr_19^post19 == 0 /\ a_210^0-a_210^post19 == 0 /\ z_28^0-z_28^post19 == 0 /\ -lt_483^post19+lt_483^0 == 0 /\ __disjvr_25^0-__disjvr_25^post19 == 0 /\ -__disjvr_17^post19+__disjvr_17^0 == 0 /\ length_32^0-length_32^post19 == 0 /\ -z_265^post19+z_265^0 == 0 /\ -__disjvr_18^post19+__disjvr_18^0 == 0 /\ -r_236^post19+r_236^0 == 0 /\ -__disjvr_15^post19+__disjvr_15^0 == 0 /\ head_35^0-head_35^post19 == 0 /\ -__disjvr_27^post19+__disjvr_27^0 == 0 /\ -__disjvr_4^post19+__disjvr_4^0 == 0 /\ rcd_264^0-rcd_264^post19 == 0 /\ -__disjvr_6^post19+__disjvr_6^0 == 0 /\ -rcd_113^post19+rcd_113^0 == 0 /\ __disjvr_13^0-__disjvr_13^post19 == 0 /\ -__disjvr_1^post19+__disjvr_1^0 == 0 /\ rcd_70^0-rcd_70^post19 == 0 /\ -rcd_46^post19+rcd_46^0 == 0 /\ -len_266^post19+len_266^0 == 0 /\ a_27^0-a_27^post19 == 0 /\ i_111^0-i_111^post19 == 0 /\ -i_33^post19+i_33^0 == 0 /\ a_321^0-a_321^post19 == 0 /\ -z_279^post19+z_279^0 == 0 /\ __disjvr_22^0-__disjvr_22^post19 == 0 /\ -r_178^post19+r_178^0 == 0 /\ -a_347^post19+a_347^0 == 0 /\ temp1_30^0-temp1_30^post19 == 0 /\ -__disjvr_26^post19+__disjvr_26^0 == 0 /\ -rcd_237^post19+rcd_237^0 == 0 /\ -z_389^post19+z_389^0 == 0 /\ -__disjvr_29^post19+__disjvr_29^0 == 0 /\ __disjvr_9^0-__disjvr_9^post19 == 0 /\ rcd_222^0-rcd_222^post19 == 0 /\ -rcd_226^post19+rcd_226^0 == 0 /\ -head_13^post19+head_13^0 == 0 /\ __disjvr_28^0-__disjvr_28^post19 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -z_238^post19+z_238^0 == 0 /\ lt_386^0-lt_386^post19 == 0), cost: 1
New rule:
l18 -> l19 : x_19^0'=x_19^post19, rcd_356^0'=rcd_356^post19, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, len_286^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l19 -> l20 : __disjvr_0^0'=__disjvr_0^post20, a_321^0'=a_321^post20, rcd_70^0'=rcd_70^post20, __disjvr_21^0'=__disjvr_21^post20, x_23^0'=x_23^post20, __disjvr_4^0'=__disjvr_4^post20, rcd_222^0'=rcd_222^post20, __disjvr_14^0'=__disjvr_14^post20, head_35^0'=head_35^post20, __disjvr_24^0'=__disjvr_24^post20, temp0_18^0'=temp0_18^post20, lt_386^0'=lt_386^post20, z_229^0'=z_229^post20, __disjvr_9^0'=__disjvr_9^post20, a_210^0'=a_210^post20, rcd_376^0'=rcd_376^post20, __disjvr_19^0'=__disjvr_19^post20, len_195^0'=len_195^post20, __disjvr_29^0'=__disjvr_29^post20, x_19^0'=x_19^post20, r_42^0'=r_42^post20, z_28^0'=z_28^post20, __disjvr_11^0'=__disjvr_11^post20, a_377^0'=a_377^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post20, length_32^0'=length_32^post20, y_22^0'=y_22^post20, __disjvr_6^0'=__disjvr_6^post20, rcd_228^0'=rcd_228^post20, __disjvr_16^0'=__disjvr_16^post20, i_120^0'=i_120^post20, __disjvr_26^0'=__disjvr_26^post20, temp1_30^0'=temp1_30^post20, nondet_12^0'=nondet_12^post20, z_252^0'=z_252^post20, a_27^0'=a_27^post20, rcd_46^0'=rcd_46^post20, __disjvr_20^0'=__disjvr_20^post20, len_286^0'=len_286^post20, __disjvr_3^0'=__disjvr_3^post20, rcd_113^0'=rcd_113^post20, __disjvr_13^0'=__disjvr_13^post20, head_13^0'=head_13^post20, __disjvr_23^0'=__disjvr_23^post20, t_24^0'=t_24^post20, lt_29^0'=lt_29^post20, z_188^0'=z_188^post20, __disjvr_8^0'=__disjvr_8^post20, rcd_264^0'=rcd_264^post20, rcd_356^0'=rcd_356^post20, __disjvr_18^0'=__disjvr_18^post20, i_33^0'=i_33^post20, __disjvr_28^0'=__disjvr_28^post20, tmp_37^0'=tmp_37^post20, r_236^0'=r_236^post20, z_279^0'=z_279^post20, __disjvr_10^0'=__disjvr_10^post20, a_347^0'=a_347^post20, result_11^0'=result_11^post20, __disjvr_22^0'=__disjvr_22^post20, x_SLAM_f_21^0'=x_SLAM_f_21^post20, __disjvr_5^0'=__disjvr_5^post20, rcd_226^0'=rcd_226^post20, __disjvr_15^0'=__disjvr_15^post20, i_111^0'=i_111^post20, __disjvr_25^0'=__disjvr_25^post20, temp0_34^0'=temp0_34^post20, lt_483^0'=lt_483^post20, z_238^0'=z_238^post20, a_166^0'=a_166^post20, a_267^0'=a_267^post20, rcd_396^0'=rcd_396^post20, __disjvr_1^0'=__disjvr_1^post20, len_266^0'=len_266^post20, __disjvr_2^0'=__disjvr_2^post20, rcd_105^0'=rcd_105^post20, z_389^0'=z_389^post20, __disjvr_12^0'=__disjvr_12^post20, ct_20^0'=ct_20^post20, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post20, lt_17^0'=lt_17^post20, z_160^0'=z_160^post20, __disjvr_7^0'=__disjvr_7^post20, rcd_237^0'=rcd_237^post20, rcd_352^0'=rcd_352^post20, __disjvr_17^0'=__disjvr_17^post20, i_227^0'=i_227^post20, __disjvr_27^0'=__disjvr_27^post20, temp_38^0'=temp_38^post20, r_178^0'=r_178^post20, z_265^0'=z_265^post20, (-__disjvr_20^post20+__disjvr_20^0 == 0 /\ a_321^0-a_321^post20 == 0 /\ rcd_396^0-rcd_396^post20 == 0 /\ -i_120^post20+i_120^0 == 0 /\ r_42^0-r_42^post20 == 0 /\ rcd_113^0-rcd_113^post20 == 0 /\ head_13^0-head_13^post20 == 0 /\ temp0_18^0-temp0_18^post20 == 0 /\ -rcd_356^post20+rcd_356^0 == 0 /\ len_286^0-len_286^post20 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ y_22^0-y_22^post20 == 0 /\ -z_160^post20+z_160^0 == 0 /\ -__disjvr_6^post20+__disjvr_6^0 == 0 /\ -len_266^post20+len_266^0 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ lt_386^0-lt_386^post20 == 0 /\ -i_227^post20+i_227^0 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ -rcd_352^post20+rcd_352^0 == 0 /\ __disjvr_28^0-__disjvr_28^post20 == 0 /\ -__disjvr_26^post20+__disjvr_26^0 == 0 /\ rcd_46^0-rcd_46^post20 == 0 /\ x_19^0-x_19^post20 == 0 /\ -a_267^post20+a_267^0 == 0 /\ a_210^0-a_210^post20 == 0 /\ -z_389^post20+z_389^0 == 0 /\ z_279^0-z_279^post20 == 0 /\ t_24^0-t_24^post20 == 0 /\ -rcd_226^post20+rcd_226^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -a_166^post20+a_166^0 == 0 /\ __disjvr_16^0-__disjvr_16^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ rcd_105^0-rcd_105^post20 == 0 /\ -__disjvr_25^post20+__disjvr_25^0 == 0 /\ length_32^0-length_32^post20 == 0 /\ -__disjvr_9^0+__disjvr_9^post20 == 0 /\ nondet_12^0-nondet_12^post20 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post20+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ len_195^0-len_195^post20 == 0 /\ -z_28^post20+z_28^0 == 0 /\ -lt_483^post20+lt_483^0 == 0 /\ -__disjvr_2^post20+__disjvr_2^0 == 0 /\ -__disjvr_22^post20+__disjvr_22^0 == 0 /\ head_35^0-head_35^post20 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ -z_265^post20+z_265^0 == 0 /\ a_377^0-a_377^post20 == 0 /\ -__disjvr_15^post20+__disjvr_15^0 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ z_238^0-z_238^post20 == 0 /\ rcd_70^0-rcd_70^post20 == 0 /\ -rcd_237^post20+rcd_237^0 == 0 /\ -__disjvr_10^post20+__disjvr_10^0 == 0 /\ x_23^0-x_23^post20 == 0 /\ -rcd_264^post20+rcd_264^0 == 0 /\ lt_29^0-lt_29^post20 == 0 /\ -__disjvr_13^post20+__disjvr_13^0 == 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ rcd_228^0-rcd_228^post20 == 0 /\ temp1_30^0-temp1_30^post20 == 0 /\ -tmp_37^post20+tmp_37^0 == 0 /\ -z_252^post20+z_252^0 == 0 /\ -lt_17^post20+lt_17^0 == 0 /\ a_347^0-a_347^post20 == 0 /\ rcd_222^0-rcd_222^post20 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ z_229^0-z_229^post20 == 0 /\ -__disjvr_7^post20+__disjvr_7^0 == 0 /\ -a_27^post20+a_27^0 == 0 /\ rcd_376^0-rcd_376^post20 == 0 /\ __disjvr_21^0-__disjvr_21^post20 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ __disjvr_5^0-__disjvr_5^post20 == 0 /\ result_11^0-result_11^post20 == 0 /\ __disjvr_11^0-__disjvr_11^post20 == 0 /\ -__disjvr_1^post20+__disjvr_1^0 == 0 /\ __disjvr_14^0-__disjvr_14^post20 == 0 /\ -ct_20^post20+ct_20^0 == 0 /\ i_33^0-i_33^post20 == 0 /\ -x_SLAM_f_21^post20+x_SLAM_f_21^0 == 0 /\ -temp0_34^post20+temp0_34^0 == 0 /\ -temp_38^post20+temp_38^0 == 0 /\ __disjvr_19^0-__disjvr_19^post20 == 0 /\ r_178^0-r_178^post20 == 0 /\ i_111^0-i_111^post20 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ -__disjvr_18^post20+__disjvr_18^0 == 0 /\ -z_188^post20+z_188^0 == 0 /\ -r_236^post20+r_236^0 == 0), cost: 1
New rule:
l19 -> l20 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l20 -> l21 : __disjvr_0^0'=__disjvr_0^post21, a_321^0'=a_321^post21, rcd_70^0'=rcd_70^post21, __disjvr_21^0'=__disjvr_21^post21, x_23^0'=x_23^post21, __disjvr_4^0'=__disjvr_4^post21, rcd_222^0'=rcd_222^post21, __disjvr_14^0'=__disjvr_14^post21, head_35^0'=head_35^post21, __disjvr_24^0'=__disjvr_24^post21, temp0_18^0'=temp0_18^post21, lt_386^0'=lt_386^post21, z_229^0'=z_229^post21, __disjvr_9^0'=__disjvr_9^post21, a_210^0'=a_210^post21, rcd_376^0'=rcd_376^post21, __disjvr_19^0'=__disjvr_19^post21, len_195^0'=len_195^post21, __disjvr_29^0'=__disjvr_29^post21, x_19^0'=x_19^post21, r_42^0'=r_42^post21, z_28^0'=z_28^post21, __disjvr_11^0'=__disjvr_11^post21, a_377^0'=a_377^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post21, length_32^0'=length_32^post21, y_22^0'=y_22^post21, __disjvr_6^0'=__disjvr_6^post21, rcd_228^0'=rcd_228^post21, __disjvr_16^0'=__disjvr_16^post21, i_120^0'=i_120^post21, __disjvr_26^0'=__disjvr_26^post21, temp1_30^0'=temp1_30^post21, nondet_12^0'=nondet_12^post21, z_252^0'=z_252^post21, a_27^0'=a_27^post21, rcd_46^0'=rcd_46^post21, __disjvr_20^0'=__disjvr_20^post21, len_286^0'=len_286^post21, __disjvr_3^0'=__disjvr_3^post21, rcd_113^0'=rcd_113^post21, __disjvr_13^0'=__disjvr_13^post21, head_13^0'=head_13^post21, __disjvr_23^0'=__disjvr_23^post21, t_24^0'=t_24^post21, lt_29^0'=lt_29^post21, z_188^0'=z_188^post21, __disjvr_8^0'=__disjvr_8^post21, rcd_264^0'=rcd_264^post21, rcd_356^0'=rcd_356^post21, __disjvr_18^0'=__disjvr_18^post21, i_33^0'=i_33^post21, __disjvr_28^0'=__disjvr_28^post21, tmp_37^0'=tmp_37^post21, r_236^0'=r_236^post21, z_279^0'=z_279^post21, __disjvr_10^0'=__disjvr_10^post21, a_347^0'=a_347^post21, result_11^0'=result_11^post21, __disjvr_22^0'=__disjvr_22^post21, x_SLAM_f_21^0'=x_SLAM_f_21^post21, __disjvr_5^0'=__disjvr_5^post21, rcd_226^0'=rcd_226^post21, __disjvr_15^0'=__disjvr_15^post21, i_111^0'=i_111^post21, __disjvr_25^0'=__disjvr_25^post21, temp0_34^0'=temp0_34^post21, lt_483^0'=lt_483^post21, z_238^0'=z_238^post21, a_166^0'=a_166^post21, a_267^0'=a_267^post21, rcd_396^0'=rcd_396^post21, __disjvr_1^0'=__disjvr_1^post21, len_266^0'=len_266^post21, __disjvr_2^0'=__disjvr_2^post21, rcd_105^0'=rcd_105^post21, z_389^0'=z_389^post21, __disjvr_12^0'=__disjvr_12^post21, ct_20^0'=ct_20^post21, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post21, lt_17^0'=lt_17^post21, z_160^0'=z_160^post21, __disjvr_7^0'=__disjvr_7^post21, rcd_237^0'=rcd_237^post21, rcd_352^0'=rcd_352^post21, __disjvr_17^0'=__disjvr_17^post21, i_227^0'=i_227^post21, __disjvr_27^0'=__disjvr_27^post21, temp_38^0'=temp_38^post21, r_178^0'=r_178^post21, z_265^0'=z_265^post21, (0 == 0 /\ __disjvr_14^0-__disjvr_14^post21 == 0 /\ z_279^0-z_279^post21 == 0 /\ result_11^0-result_11^post21 == 0 /\ -lt_17^post21+lt_17^0 == 0 /\ z_229^0-z_229^post21 == 0 /\ __disjvr_19^0-__disjvr_19^post21 == 0 /\ z_28^0-z_28^post21 == 0 /\ rcd_105^0-rcd_105^post21 == 0 /\ -a_27^post21+a_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0 /\ -temp_38^post21+temp_38^0 == 0 /\ x_19^0-x_19^post21 == 0 /\ -__disjvr_3^post21+__disjvr_3^0 == 0 /\ -temp0_34^post21+temp0_34^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post21 == 0 /\ -__disjvr_10^post21+__disjvr_10^0 == 0 /\ -rcd_352^post21+rcd_352^0 == 0 /\ rcd_264^0-rcd_264^post21 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ -x_19^0+x_SLAM_f_21^0 <= 0 /\ rcd_228^0-rcd_228^post21 == 0 /\ -__disjvr_16^post21+__disjvr_16^0 == 0 /\ -y_22^0+ct_20^0 <= 0 /\ z_238^0-z_238^post21 == 0 /\ -__disjvr_13^post21+__disjvr_13^0 == 0 /\ -tmp_37^post21+tmp_37^0 == 0 /\ y_22^0 <= 0 /\ -i_227^post21+i_227^0 == 0 /\ -__disjvr_27^post21+__disjvr_27^0 == 0 /\ temp1_30^0-temp1_30^post21 == 0 /\ -__disjvr_5^post21+__disjvr_5^0 == 0 /\ rcd_113^0-rcd_113^post21 == 0 /\ __disjvr_26^0-__disjvr_26^post21 == 0 /\ temp0_18^0-temp0_18^post21 == 0 /\ rcd_396^0-rcd_396^post21 == 0 /\ -r_236^post21+r_236^0 == 0 /\ -x_SLAM_f_21^post21+x_SLAM_f_21^0 == 0 /\ -rcd_376^post21+rcd_376^0 == 0 /\ x_19^0-x_SLAM_f_21^0 <= 0 /\ __disjvr_12^0-__disjvr_12^post21 == 0 /\ len_266^0-len_266^post21 == 0 /\ __disjvr_28^0-__disjvr_28^post21 == 0 /\ y_22^0-ct_20^0 <= 0 /\ -ct_20^post21+ct_20^0 == 0 /\ y_22^0-y_22^post21 == 0 /\ __disjvr_6^0-__disjvr_6^post21 == 0 /\ z_252^0-z_252^post21 == 0 /\ -lt_483^post21+lt_483^0 == 0 /\ -__disjvr_18^post21+__disjvr_18^0 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ i_120^0-i_120^post21 == 0 /\ x_SLAM_f_21^0-lt_17^0 <= 0 /\ -a_347^0+a_321^post21 <= 0 /\ length_32^0-length_32^post21 == 0 /\ -z_265^post21+z_265^0 == 0 /\ __disjvr_23^0-__disjvr_23^post21 == 0 /\ rcd_46^0-rcd_46^post21 == 0 /\ -__disjvr_15^post21+__disjvr_15^0 == 0 /\ -__disjvr_4^post21+__disjvr_4^0 == 0 /\ z_160^0-z_160^post21 == 0 /\ -a_377^post21+a_377^0 == 0 /\ rcd_46^0-rcd_352^0 <= 0 /\ z_188^0-z_188^post21 == 0 /\ head_35^0-head_35^post21 == 0 /\ __disjvr_29^0-__disjvr_29^post21 == 0 /\ __disjvr_20^0-__disjvr_20^post21 == 0 /\ -x_19^0+lt_17^0 <= 0 /\ -__disjvr_1^post21+__disjvr_1^0 == 0 /\ -t_24^post21+lt_17^0 <= 0 /\ i_111^0-i_111^post21 == 0 /\ x_23^0-x_23^post21 == 0 /\ r_42^0-r_42^post21 == 0 /\ -i_33^post21+i_33^0 == 0 /\ -a_166^post21+a_166^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post21+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -x_SLAM_f_21^0+lt_17^0 <= 0 /\ rcd_70^0-rcd_70^post21 == 0 /\ -head_13^post21+head_13^0 == 0 /\ __disjvr_17^0-__disjvr_17^post21 == 0 /\ a_347^0-a_321^post21 <= 0 /\ -y_22^0 <= 0 /\ -__disjvr_25^post21+__disjvr_25^0 == 0 /\ -__disjvr_9^post21+__disjvr_9^0 == 0 /\ -rcd_226^post21+rcd_226^0 == 0 /\ len_195^0-len_195^post21 == 0 /\ -__disjvr_22^post21+__disjvr_22^0 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ -a_267^post21+a_267^0 == 0 /\ -r_178^post21+r_178^0 == 0 /\ ct_20^0 <= 0 /\ len_286^0-len_286^post21 == 0 /\ -rcd_237^post21+rcd_237^0 == 0 /\ -ct_20^0 <= 0 /\ -lt_29^post21+lt_29^0 == 0 /\ -rcd_46^0+rcd_352^0 <= 0 /\ x_19^0-lt_17^0 <= 0 /\ a_347^0-a_347^post21 == 0 /\ -__disjvr_2^post21+__disjvr_2^0 == 0 /\ -z_389^post21+z_389^0 == 0 /\ -rcd_356^post21+rcd_356^0 == 0 /\ -lt_386^post21+lt_386^0 == 0 /\ -x_23^0+t_24^post21 == 0 /\ __disjvr_24^0-__disjvr_24^post21 == 0 /\ rcd_222^0-rcd_222^post21 == 0 /\ a_210^0-a_210^post21 == 0 /\ t_24^post21-lt_17^0 <= 0 /\ -nondet_12^post21+nondet_12^0 == 0), cost: 1
New rule:
l20 -> l21 : a_321^0'=a_347^0, t_24^0'=lt_17^0, (y_22^0 == 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ rcd_46^0-rcd_352^0 == 0 /\ -x_19^0+lt_17^0 == 0 /\ ct_20^0 == 0), cost: 1

Applied preprocessing
Original rule:
l21 -> l22 : __disjvr_0^0'=__disjvr_0^post22, a_321^0'=a_321^post22, rcd_70^0'=rcd_70^post22, __disjvr_21^0'=__disjvr_21^post22, x_23^0'=x_23^post22, __disjvr_4^0'=__disjvr_4^post22, rcd_222^0'=rcd_222^post22, __disjvr_14^0'=__disjvr_14^post22, head_35^0'=head_35^post22, __disjvr_24^0'=__disjvr_24^post22, temp0_18^0'=temp0_18^post22, lt_386^0'=lt_386^post22, z_229^0'=z_229^post22, __disjvr_9^0'=__disjvr_9^post22, a_210^0'=a_210^post22, rcd_376^0'=rcd_376^post22, __disjvr_19^0'=__disjvr_19^post22, len_195^0'=len_195^post22, __disjvr_29^0'=__disjvr_29^post22, x_19^0'=x_19^post22, r_42^0'=r_42^post22, z_28^0'=z_28^post22, __disjvr_11^0'=__disjvr_11^post22, a_377^0'=a_377^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post22, length_32^0'=length_32^post22, y_22^0'=y_22^post22, __disjvr_6^0'=__disjvr_6^post22, rcd_228^0'=rcd_228^post22, __disjvr_16^0'=__disjvr_16^post22, i_120^0'=i_120^post22, __disjvr_26^0'=__disjvr_26^post22, temp1_30^0'=temp1_30^post22, nondet_12^0'=nondet_12^post22, z_252^0'=z_252^post22, a_27^0'=a_27^post22, rcd_46^0'=rcd_46^post22, __disjvr_20^0'=__disjvr_20^post22, len_286^0'=len_286^post22, __disjvr_3^0'=__disjvr_3^post22, rcd_113^0'=rcd_113^post22, __disjvr_13^0'=__disjvr_13^post22, head_13^0'=head_13^post22, __disjvr_23^0'=__disjvr_23^post22, t_24^0'=t_24^post22, lt_29^0'=lt_29^post22, z_188^0'=z_188^post22, __disjvr_8^0'=__disjvr_8^post22, rcd_264^0'=rcd_264^post22, rcd_356^0'=rcd_356^post22, __disjvr_18^0'=__disjvr_18^post22, i_33^0'=i_33^post22, __disjvr_28^0'=__disjvr_28^post22, tmp_37^0'=tmp_37^post22, r_236^0'=r_236^post22, z_279^0'=z_279^post22, __disjvr_10^0'=__disjvr_10^post22, a_347^0'=a_347^post22, result_11^0'=result_11^post22, __disjvr_22^0'=__disjvr_22^post22, x_SLAM_f_21^0'=x_SLAM_f_21^post22, __disjvr_5^0'=__disjvr_5^post22, rcd_226^0'=rcd_226^post22, __disjvr_15^0'=__disjvr_15^post22, i_111^0'=i_111^post22, __disjvr_25^0'=__disjvr_25^post22, temp0_34^0'=temp0_34^post22, lt_483^0'=lt_483^post22, z_238^0'=z_238^post22, a_166^0'=a_166^post22, a_267^0'=a_267^post22, rcd_396^0'=rcd_396^post22, __disjvr_1^0'=__disjvr_1^post22, len_266^0'=len_266^post22, __disjvr_2^0'=__disjvr_2^post22, rcd_105^0'=rcd_105^post22, z_389^0'=z_389^post22, __disjvr_12^0'=__disjvr_12^post22, ct_20^0'=ct_20^post22, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post22, lt_17^0'=lt_17^post22, z_160^0'=z_160^post22, __disjvr_7^0'=__disjvr_7^post22, rcd_237^0'=rcd_237^post22, rcd_352^0'=rcd_352^post22, __disjvr_17^0'=__disjvr_17^post22, i_227^0'=i_227^post22, __disjvr_27^0'=__disjvr_27^post22, temp_38^0'=temp_38^post22, r_178^0'=r_178^post22, z_265^0'=z_265^post22, (-z_279^post22+z_279^0 == 0 /\ len_286^0-len_286^post22 == 0 /\ lt_29^0-lt_29^post22 == 0 /\ -__disjvr_20^post22+__disjvr_20^0 == 0 /\ -a_377^post22+a_377^0 == 0 /\ rcd_113^0-rcd_113^post22 == 0 /\ rcd_228^0-rcd_228^post22 == 0 /\ __disjvr_4^0-__disjvr_4^post22 == 0 /\ head_13^0-head_13^post22 == 0 /\ rcd_70^0-rcd_70^post22 == 0 /\ -lt_483^post22+lt_483^0 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ temp1_30^0-temp1_30^post22 == 0 /\ r_236^0-r_236^post22 == 0 /\ -__disjvr_6^post22+__disjvr_6^0 == 0 /\ -i_227^post22+i_227^0 == 0 /\ -i_111^post22+i_111^0 == 0 /\ -__disjvr_27^post22+__disjvr_27^0 == 0 /\ a_210^0-a_210^post22 == 0 /\ -len_266^post22+len_266^0 == 0 /\ __disjvr_8^0-__disjvr_8^post22 == 0 /\ __disjvr_21^0-__disjvr_21^post22 == 0 /\ z_238^0-z_238^post22 == 0 /\ t_24^0-t_24^post22 == 0 /\ -__disjvr_25^post22+__disjvr_25^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post22 == 0 /\ -z_389^post22+z_389^0 == 0 /\ -__disjvr_12^post22+__disjvr_12^0 == 0 /\ __disjvr_23^0-__disjvr_23^post22 == 0 /\ head_35^0-head_35^post22 == 0 /\ -z_160^post22+z_160^0 == 0 /\ a_267^0-a_267^post22 == 0 /\ -__disjvr_28^post22+__disjvr_28^0 == 0 /\ -a_347^post22+a_347^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post22+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ i_33^0-i_33^post22 == 0 /\ -z_265^post22+z_265^0 == 0 /\ -length_32^post22+length_32^0 == 0 /\ -rcd_356^post22+rcd_356^0 == 0 /\ -__disjvr_22^post22+__disjvr_22^0 == 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ -__disjvr_2^post22+__disjvr_2^0 == 0 /\ -__disjvr_29^post22+__disjvr_29^0 == 0 /\ -__disjvr_13^post22+__disjvr_13^0 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ x_23^0-x_23^post22 == 0 /\ a_321^0-a_321^post22 == 0 /\ -rcd_222^post22+rcd_222^0 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ -rcd_264^post22+rcd_264^0 == 0 /\ r_42^0-r_42^post22 == 0 /\ len_195^0-len_195^post22 == 0 /\ __disjvr_26^0-__disjvr_26^post22 == 0 /\ -tmp_37^post22+tmp_37^0 == 0 /\ a_27^0-a_27^post22 == 0 /\ __disjvr_18^0-__disjvr_18^post22 == 0 /\ rcd_237^0-rcd_237^post22 == 0 /\ -rcd_396^post22+rcd_396^0 == 0 /\ -lt_17^post22+lt_17^0 == 0 /\ -a_166^post22+a_166^0 == 0 /\ -rcd_352^post22+rcd_352^0 == 0 /\ -__disjvr_24^post22+__disjvr_24^0 == 0 /\ y_22^0-y_22^post22 == 0 /\ -result_11^post22+result_11^0 == 0 /\ __disjvr_14^0-__disjvr_14^post22 == 0 /\ z_252^0-z_252^post22 == 0 /\ -rcd_226^post22+rcd_226^0 == 0 /\ i_120^0-i_120^post22 == 0 /\ -r_178^post22+r_178^0 == 0 /\ __disjvr_19^0-__disjvr_19^post22 == 0 /\ __disjvr_10^post22-__disjvr_10^0 == 0 /\ x_19^0-x_19^post22 == 0 /\ -rcd_376^post22+rcd_376^0 == 0 /\ z_229^0-z_229^post22 == 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0 /\ -__disjvr_7^post22+__disjvr_7^0 == 0 /\ -__disjvr_16^post22+__disjvr_16^0 == 0 /\ rcd_46^0-rcd_46^post22 == 0 /\ -x_SLAM_f_21^post22+x_SLAM_f_21^0 == 0 /\ lt_386^0-lt_386^post22 == 0 /\ -ct_20^post22+ct_20^0 == 0 /\ -rcd_105^post22+rcd_105^0 == 0 /\ z_28^0-z_28^post22 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ z_188^0-z_188^post22 == 0 /\ __disjvr_15^0-__disjvr_15^post22 == 0 /\ temp0_18^0-temp0_18^post22 == 0 /\ -temp_38^post22+temp_38^0 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ -temp0_34^post22+temp0_34^0 == 0), cost: 1
New rule:
l21 -> l22 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l22 -> l23 : __disjvr_0^0'=__disjvr_0^post23, a_321^0'=a_321^post23, rcd_70^0'=rcd_70^post23, __disjvr_21^0'=__disjvr_21^post23, x_23^0'=x_23^post23, __disjvr_4^0'=__disjvr_4^post23, rcd_222^0'=rcd_222^post23, __disjvr_14^0'=__disjvr_14^post23, head_35^0'=head_35^post23, __disjvr_24^0'=__disjvr_24^post23, temp0_18^0'=temp0_18^post23, lt_386^0'=lt_386^post23, z_229^0'=z_229^post23, __disjvr_9^0'=__disjvr_9^post23, a_210^0'=a_210^post23, rcd_376^0'=rcd_376^post23, __disjvr_19^0'=__disjvr_19^post23, len_195^0'=len_195^post23, __disjvr_29^0'=__disjvr_29^post23, x_19^0'=x_19^post23, r_42^0'=r_42^post23, z_28^0'=z_28^post23, __disjvr_11^0'=__disjvr_11^post23, a_377^0'=a_377^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post23, length_32^0'=length_32^post23, y_22^0'=y_22^post23, __disjvr_6^0'=__disjvr_6^post23, rcd_228^0'=rcd_228^post23, __disjvr_16^0'=__disjvr_16^post23, i_120^0'=i_120^post23, __disjvr_26^0'=__disjvr_26^post23, temp1_30^0'=temp1_30^post23, nondet_12^0'=nondet_12^post23, z_252^0'=z_252^post23, a_27^0'=a_27^post23, rcd_46^0'=rcd_46^post23, __disjvr_20^0'=__disjvr_20^post23, len_286^0'=len_286^post23, __disjvr_3^0'=__disjvr_3^post23, rcd_113^0'=rcd_113^post23, __disjvr_13^0'=__disjvr_13^post23, head_13^0'=head_13^post23, __disjvr_23^0'=__disjvr_23^post23, t_24^0'=t_24^post23, lt_29^0'=lt_29^post23, z_188^0'=z_188^post23, __disjvr_8^0'=__disjvr_8^post23, rcd_264^0'=rcd_264^post23, rcd_356^0'=rcd_356^post23, __disjvr_18^0'=__disjvr_18^post23, i_33^0'=i_33^post23, __disjvr_28^0'=__disjvr_28^post23, tmp_37^0'=tmp_37^post23, r_236^0'=r_236^post23, z_279^0'=z_279^post23, __disjvr_10^0'=__disjvr_10^post23, a_347^0'=a_347^post23, result_11^0'=result_11^post23, __disjvr_22^0'=__disjvr_22^post23, x_SLAM_f_21^0'=x_SLAM_f_21^post23, __disjvr_5^0'=__disjvr_5^post23, rcd_226^0'=rcd_226^post23, __disjvr_15^0'=__disjvr_15^post23, i_111^0'=i_111^post23, __disjvr_25^0'=__disjvr_25^post23, temp0_34^0'=temp0_34^post23, lt_483^0'=lt_483^post23, z_238^0'=z_238^post23, a_166^0'=a_166^post23, a_267^0'=a_267^post23, rcd_396^0'=rcd_396^post23, __disjvr_1^0'=__disjvr_1^post23, len_266^0'=len_266^post23, __disjvr_2^0'=__disjvr_2^post23, rcd_105^0'=rcd_105^post23, z_389^0'=z_389^post23, __disjvr_12^0'=__disjvr_12^post23, ct_20^0'=ct_20^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post23, lt_17^0'=lt_17^post23, z_160^0'=z_160^post23, __disjvr_7^0'=__disjvr_7^post23, rcd_237^0'=rcd_237^post23, rcd_352^0'=rcd_352^post23, __disjvr_17^0'=__disjvr_17^post23, i_227^0'=i_227^post23, __disjvr_27^0'=__disjvr_27^post23, temp_38^0'=temp_38^post23, r_178^0'=r_178^post23, z_265^0'=z_265^post23, (x_19^0-x_19^post23 == 0 /\ i_120^0-i_120^post23 == 0 /\ length_32^0-length_32^post23 == 0 /\ -__disjvr_3^post23+__disjvr_3^0 == 0 /\ -a_27^post23+a_27^0 == 0 /\ -rcd_396^post23+rcd_396^0 == 0 /\ __disjvr_19^0-__disjvr_19^post23 == 0 /\ -temp0_34^post23+temp0_34^0 == 0 /\ __disjvr_13^0-__disjvr_13^post23 == 0 /\ rcd_46^0-rcd_46^post23 == 0 /\ -t_24^post23+t_24^0 == 0 /\ -temp_38^post23+temp_38^0 == 0 /\ -rcd_264^post23+rcd_264^0 == 0 /\ -r_178^post23+r_178^0 == 0 /\ __disjvr_20^0-__disjvr_20^post23 == 0 /\ head_35^0-head_35^post23 == 0 /\ -__disjvr_25^post23+__disjvr_25^0 == 0 /\ z_188^0-z_188^post23 == 0 /\ a_377^0-a_377^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -tmp_37^post23+tmp_37^0 == 0 /\ -lt_17^post23+lt_17^0 == 0 /\ __disjvr_4^0-__disjvr_4^post23 == 0 /\ rcd_356^0-rcd_356^post23 == 0 /\ -i_227^post23+i_227^0 == 0 /\ rcd_70^0-rcd_70^post23 == 0 /\ -rcd_105^post23+rcd_105^0 == 0 /\ -ct_20^post23+ct_20^0 == 0 /\ -i_111^post23+i_111^0 == 0 /\ -__disjvr_27^post23+__disjvr_27^0 == 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0 /\ -__disjvr_1^post23+__disjvr_1^0 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ rcd_222^0-rcd_222^post23 == 0 /\ z_389^0-z_389^post23 == 0 /\ __disjvr_24^0-__disjvr_24^post23 == 0 /\ -x_SLAM_f_21^post23+x_SLAM_f_21^0 == 0 /\ -len_286^post23+len_286^0 == 0 /\ -z_238^post23+z_238^0 == 0 /\ lt_483^0-lt_483^post23 == 0 /\ __disjvr_14^0-__disjvr_14^post23 == 0 /\ result_11^0-result_11^post23 == 0 /\ z_28^0-z_28^post23 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ __disjvr_15^0-__disjvr_15^post23 == 0 /\ rcd_376^0-rcd_376^post23 == 0 /\ -lt_29^post23+lt_29^0 == 0 /\ -len_266^post23+len_266^0 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ __disjvr_11^0-__disjvr_11^post23 == 0 /\ __disjvr_21^0-__disjvr_21^post23 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post23 == 0 /\ -__disjvr_9^post23+__disjvr_9^0 == 0 /\ -a_210^post23+a_210^0 == 0 /\ head_13^0-head_13^post23 == 0 /\ -x_23^post23+x_23^0 == 0 /\ -i_33^post23+i_33^0 == 0 /\ __disjvr_29^0-__disjvr_29^post23 == 0 /\ __disjvr_16^0-__disjvr_16^post23 == 0 /\ -z_160^post23+z_160^0 == 0 /\ -z_279^post23+z_279^0 == 0 /\ -temp1_30^post23+temp1_30^0 == 0 /\ -__disjvr_12^post23+__disjvr_12^0 == 0 /\ -a_166^post23+a_166^0 == 0 /\ -rcd_352^post23+rcd_352^0 == 0 /\ temp0_18^0-temp0_18^post23 == 0 /\ -__disjvr_8^post23+__disjvr_8^0 == 0 /\ -a_267^post23+a_267^0 == 0 /\ __disjvr_10^0-__disjvr_10^post23 == 0 /\ r_42^0-r_42^post23 == 0 /\ len_195^0-len_195^post23 == 0 /\ __disjvr_18^0-__disjvr_18^post23 == 0 /\ -__disjvr_11^0+__disjvr_11^post23 == 0 /\ a_321^0-a_321^post23 == 0 /\ rcd_113^0-rcd_113^post23 == 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ -__disjvr_28^post23+__disjvr_28^0 == 0 /\ -rcd_228^post23+rcd_228^0 == 0 /\ -rcd_226^post23+rcd_226^0 == 0 /\ -__disjvr_22^post23+__disjvr_22^0 == 0 /\ z_252^0-z_252^post23 == 0 /\ lt_386^0-lt_386^post23 == 0 /\ -z_265^post23+z_265^0 == 0 /\ __disjvr_23^0-__disjvr_23^post23 == 0 /\ -a_347^post23+a_347^0 == 0 /\ r_236^0-r_236^post23 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post23+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ y_22^0-y_22^post23 == 0 /\ __disjvr_6^0-__disjvr_6^post23 == 0 /\ z_229^0-z_229^post23 == 0 /\ -rcd_237^post23+rcd_237^0 == 0), cost: 1
New rule:
l22 -> l23 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l23 -> l24 : __disjvr_0^0'=__disjvr_0^post24, a_321^0'=a_321^post24, rcd_70^0'=rcd_70^post24, __disjvr_21^0'=__disjvr_21^post24, x_23^0'=x_23^post24, __disjvr_4^0'=__disjvr_4^post24, rcd_222^0'=rcd_222^post24, __disjvr_14^0'=__disjvr_14^post24, head_35^0'=head_35^post24, __disjvr_24^0'=__disjvr_24^post24, temp0_18^0'=temp0_18^post24, lt_386^0'=lt_386^post24, z_229^0'=z_229^post24, __disjvr_9^0'=__disjvr_9^post24, a_210^0'=a_210^post24, rcd_376^0'=rcd_376^post24, __disjvr_19^0'=__disjvr_19^post24, len_195^0'=len_195^post24, __disjvr_29^0'=__disjvr_29^post24, x_19^0'=x_19^post24, r_42^0'=r_42^post24, z_28^0'=z_28^post24, __disjvr_11^0'=__disjvr_11^post24, a_377^0'=a_377^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post24, length_32^0'=length_32^post24, y_22^0'=y_22^post24, __disjvr_6^0'=__disjvr_6^post24, rcd_228^0'=rcd_228^post24, __disjvr_16^0'=__disjvr_16^post24, i_120^0'=i_120^post24, __disjvr_26^0'=__disjvr_26^post24, temp1_30^0'=temp1_30^post24, nondet_12^0'=nondet_12^post24, z_252^0'=z_252^post24, a_27^0'=a_27^post24, rcd_46^0'=rcd_46^post24, __disjvr_20^0'=__disjvr_20^post24, len_286^0'=len_286^post24, __disjvr_3^0'=__disjvr_3^post24, rcd_113^0'=rcd_113^post24, __disjvr_13^0'=__disjvr_13^post24, head_13^0'=head_13^post24, __disjvr_23^0'=__disjvr_23^post24, t_24^0'=t_24^post24, lt_29^0'=lt_29^post24, z_188^0'=z_188^post24, __disjvr_8^0'=__disjvr_8^post24, rcd_264^0'=rcd_264^post24, rcd_356^0'=rcd_356^post24, __disjvr_18^0'=__disjvr_18^post24, i_33^0'=i_33^post24, __disjvr_28^0'=__disjvr_28^post24, tmp_37^0'=tmp_37^post24, r_236^0'=r_236^post24, z_279^0'=z_279^post24, __disjvr_10^0'=__disjvr_10^post24, a_347^0'=a_347^post24, result_11^0'=result_11^post24, __disjvr_22^0'=__disjvr_22^post24, x_SLAM_f_21^0'=x_SLAM_f_21^post24, __disjvr_5^0'=__disjvr_5^post24, rcd_226^0'=rcd_226^post24, __disjvr_15^0'=__disjvr_15^post24, i_111^0'=i_111^post24, __disjvr_25^0'=__disjvr_25^post24, temp0_34^0'=temp0_34^post24, lt_483^0'=lt_483^post24, z_238^0'=z_238^post24, a_166^0'=a_166^post24, a_267^0'=a_267^post24, rcd_396^0'=rcd_396^post24, __disjvr_1^0'=__disjvr_1^post24, len_266^0'=len_266^post24, __disjvr_2^0'=__disjvr_2^post24, rcd_105^0'=rcd_105^post24, z_389^0'=z_389^post24, __disjvr_12^0'=__disjvr_12^post24, ct_20^0'=ct_20^post24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post24, lt_17^0'=lt_17^post24, z_160^0'=z_160^post24, __disjvr_7^0'=__disjvr_7^post24, rcd_237^0'=rcd_237^post24, rcd_352^0'=rcd_352^post24, __disjvr_17^0'=__disjvr_17^post24, i_227^0'=i_227^post24, __disjvr_27^0'=__disjvr_27^post24, temp_38^0'=temp_38^post24, r_178^0'=r_178^post24, z_265^0'=z_265^post24, (-__disjvr_5^post24+__disjvr_5^0 == 0 /\ x_23^0-x_23^post24 == 0 /\ __disjvr_26^0-__disjvr_26^post24 == 0 /\ a_377^0-a_377^post24 == 0 /\ -z_238^post24+z_238^0 == 0 /\ -lt_483^post24+lt_483^0 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ -i_227^post24+i_227^0 == 0 /\ __disjvr_1^0-__disjvr_1^post24 == 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ -temp1_30^post24+temp1_30^0 == 0 /\ y_22^0-y_22^post24 == 0 /\ -__disjvr_23^post24+__disjvr_23^0 == 0 /\ __disjvr_14^0-__disjvr_14^post24 == 0 /\ z_252^0-z_252^post24 == 0 /\ -i_111^post24+i_111^0 == 0 /\ -z_279^post24+z_279^0 == 0 /\ -__disjvr_27^post24+__disjvr_27^0 == 0 /\ r_236^0-r_236^post24 == 0 /\ -len_266^post24+len_266^0 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ -z_389^post24+z_389^0 == 0 /\ -z_265^post24+z_265^0 == 0 /\ -__disjvr_25^post24+__disjvr_25^0 == 0 /\ z_188^0-z_188^post24 == 0 /\ -z_160^post24+z_160^0 == 0 /\ length_32^0-length_32^post24 == 0 /\ -a_166^post24+a_166^0 == 0 /\ __disjvr_16^0-__disjvr_16^post24 == 0 /\ __disjvr_12^post24-__disjvr_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post24 == 0 /\ temp0_18^0-temp0_18^post24 == 0 /\ i_33^0-i_33^post24 == 0 /\ -__disjvr_2^post24+__disjvr_2^0 == 0 /\ -__disjvr_17^post24+__disjvr_17^0 == 0 /\ -__disjvr_15^post24+__disjvr_15^0 == 0 /\ -rcd_237^post24+rcd_237^0 == 0 /\ -a_267^post24+a_267^0 == 0 /\ __disjvr_20^0-__disjvr_20^post24 == 0 /\ -a_347^post24+a_347^0 == 0 /\ -__disjvr_28^post24+__disjvr_28^0 == 0 /\ __disjvr_29^0-__disjvr_29^post24 == 0 /\ -lt_29^post24+lt_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post24+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -z_229^post24+z_229^0 == 0 /\ len_286^0-len_286^post24 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ -r_178^post24+r_178^0 == 0 /\ a_27^0-a_27^post24 == 0 /\ -rcd_264^post24+rcd_264^0 == 0 /\ -__disjvr_13^post24+__disjvr_13^0 == 0 /\ rcd_356^0-rcd_356^post24 == 0 /\ temp0_34^0-temp0_34^post24 == 0 /\ r_42^0-r_42^post24 == 0 /\ len_195^0-len_195^post24 == 0 /\ -rcd_352^post24+rcd_352^0 == 0 /\ head_13^0-head_13^post24 == 0 /\ __disjvr_4^0-__disjvr_4^post24 == 0 /\ rcd_113^0-rcd_113^post24 == 0 /\ rcd_226^0-rcd_226^post24 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ rcd_70^0-rcd_70^post24 == 0 /\ a_321^0-a_321^post24 == 0 /\ lt_17^0-lt_17^post24 == 0 /\ -result_11^post24+result_11^0 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ -rcd_396^post24+rcd_396^0 == 0 /\ lt_386^0-lt_386^post24 == 0 /\ -__disjvr_3^post24+__disjvr_3^0 == 0 /\ -tmp_37^post24+tmp_37^0 == 0 /\ a_210^0-a_210^post24 == 0 /\ -__disjvr_10^post24+__disjvr_10^0 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ -__disjvr_21^post24+__disjvr_21^0 == 0 /\ -rcd_228^post24+rcd_228^0 == 0 /\ -__disjvr_8^post24+__disjvr_8^0 == 0 /\ z_28^0-z_28^post24 == 0 /\ -__disjvr_24^post24+__disjvr_24^0 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ -ct_20^post24+ct_20^0 == 0 /\ rcd_376^0-rcd_376^post24 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ i_120^0-i_120^post24 == 0 /\ x_19^0-x_19^post24 == 0 /\ rcd_46^0-rcd_46^post24 == 0 /\ head_35^0-head_35^post24 == 0 /\ rcd_222^0-rcd_222^post24 == 0 /\ -t_24^post24+t_24^0 == 0 /\ -rcd_105^post24+rcd_105^0 == 0 /\ -x_SLAM_f_21^post24+x_SLAM_f_21^0 == 0 /\ -__disjvr_19^post24+__disjvr_19^0 == 0 /\ -temp_38^post24+temp_38^0 == 0), cost: 1
New rule:
l23 -> l24 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l24 -> l0 : __disjvr_0^0'=__disjvr_0^post25, a_321^0'=a_321^post25, rcd_70^0'=rcd_70^post25, __disjvr_21^0'=__disjvr_21^post25, x_23^0'=x_23^post25, __disjvr_4^0'=__disjvr_4^post25, rcd_222^0'=rcd_222^post25, __disjvr_14^0'=__disjvr_14^post25, head_35^0'=head_35^post25, __disjvr_24^0'=__disjvr_24^post25, temp0_18^0'=temp0_18^post25, lt_386^0'=lt_386^post25, z_229^0'=z_229^post25, __disjvr_9^0'=__disjvr_9^post25, a_210^0'=a_210^post25, rcd_376^0'=rcd_376^post25, __disjvr_19^0'=__disjvr_19^post25, len_195^0'=len_195^post25, __disjvr_29^0'=__disjvr_29^post25, x_19^0'=x_19^post25, r_42^0'=r_42^post25, z_28^0'=z_28^post25, __disjvr_11^0'=__disjvr_11^post25, a_377^0'=a_377^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post25, length_32^0'=length_32^post25, y_22^0'=y_22^post25, __disjvr_6^0'=__disjvr_6^post25, rcd_228^0'=rcd_228^post25, __disjvr_16^0'=__disjvr_16^post25, i_120^0'=i_120^post25, __disjvr_26^0'=__disjvr_26^post25, temp1_30^0'=temp1_30^post25, nondet_12^0'=nondet_12^post25, z_252^0'=z_252^post25, a_27^0'=a_27^post25, rcd_46^0'=rcd_46^post25, __disjvr_20^0'=__disjvr_20^post25, len_286^0'=len_286^post25, __disjvr_3^0'=__disjvr_3^post25, rcd_113^0'=rcd_113^post25, __disjvr_13^0'=__disjvr_13^post25, head_13^0'=head_13^post25, __disjvr_23^0'=__disjvr_23^post25, t_24^0'=t_24^post25, lt_29^0'=lt_29^post25, z_188^0'=z_188^post25, __disjvr_8^0'=__disjvr_8^post25, rcd_264^0'=rcd_264^post25, rcd_356^0'=rcd_356^post25, __disjvr_18^0'=__disjvr_18^post25, i_33^0'=i_33^post25, __disjvr_28^0'=__disjvr_28^post25, tmp_37^0'=tmp_37^post25, r_236^0'=r_236^post25, z_279^0'=z_279^post25, __disjvr_10^0'=__disjvr_10^post25, a_347^0'=a_347^post25, result_11^0'=result_11^post25, __disjvr_22^0'=__disjvr_22^post25, x_SLAM_f_21^0'=x_SLAM_f_21^post25, __disjvr_5^0'=__disjvr_5^post25, rcd_226^0'=rcd_226^post25, __disjvr_15^0'=__disjvr_15^post25, i_111^0'=i_111^post25, __disjvr_25^0'=__disjvr_25^post25, temp0_34^0'=temp0_34^post25, lt_483^0'=lt_483^post25, z_238^0'=z_238^post25, a_166^0'=a_166^post25, a_267^0'=a_267^post25, rcd_396^0'=rcd_396^post25, __disjvr_1^0'=__disjvr_1^post25, len_266^0'=len_266^post25, __disjvr_2^0'=__disjvr_2^post25, rcd_105^0'=rcd_105^post25, z_389^0'=z_389^post25, __disjvr_12^0'=__disjvr_12^post25, ct_20^0'=ct_20^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, lt_17^0'=lt_17^post25, z_160^0'=z_160^post25, __disjvr_7^0'=__disjvr_7^post25, rcd_237^0'=rcd_237^post25, rcd_352^0'=rcd_352^post25, __disjvr_17^0'=__disjvr_17^post25, i_227^0'=i_227^post25, __disjvr_27^0'=__disjvr_27^post25, temp_38^0'=temp_38^post25, r_178^0'=r_178^post25, z_265^0'=z_265^post25, (0 == 0 /\ -r_178^post25+r_178^0 == 0 /\ -t_24^post25+t_24^0 == 0 /\ a_267^0-a_267^post25 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ -rcd_396^post25+rcd_396^0 == 0 /\ -a_347^post25+a_347^0 == 0 /\ -rcd_237^post25+rcd_237^0 == 0 /\ z_188^0-z_188^post25 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ lt_386^0-lt_386^post25 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ rcd_376^0-rcd_376^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post25+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -head_13^post25+head_13^0 == 0 /\ a_377^0-a_377^post25 == 0 /\ -ct_20^post25+ct_20^0 == 0 /\ __disjvr_29^0-__disjvr_29^post25 == 0 /\ -rcd_228^post25+rcd_228^0 == 0 /\ -__disjvr_25^post25+__disjvr_25^0 == 0 /\ __disjvr_22^0-__disjvr_22^post25 == 0 /\ -rcd_352^post25+rcd_352^0 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ __disjvr_2^0-__disjvr_2^post25 == 0 /\ -rcd_105^post25+rcd_105^0 == 0 /\ __disjvr_18^0-__disjvr_18^post25 == 0 /\ -temp_38^post25+temp_38^0 == 0 /\ temp1_30^0-temp1_30^post25 == 0 /\ -r_236^post25+r_236^0 == 0 /\ -lt_17^post25+lt_17^0 == 0 /\ __disjvr_10^0-__disjvr_10^post25 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ temp0_18^0-temp0_18^post25 == 0 /\ -result_11^post25+result_11^0 == 0 /\ -i_111^post25+i_111^0 == 0 /\ len_195^0-len_195^post25 == 0 /\ -i_120^post25+i_120^0 == 0 /\ -__disjvr_23^post25+__disjvr_23^0 == 0 /\ x_23^0-x_23^post25 == 0 /\ -__disjvr_1^post25+__disjvr_1^0 == 0 /\ y_22^0-y_22^post25 == 0 /\ -temp0_34^post25+temp0_34^0 == 0 /\ 1+a_321^0-len_286^post25 <= 0 /\ tmp_37^0-tmp_37^post25 == 0 /\ -z_252^post25+z_252^0 == 0 /\ -r_42^post25+r_42^0 == 0 /\ z_229^0-z_229^post25 == 0 /\ __disjvr_6^0-__disjvr_6^post25 == 0 /\ -__disjvr_5^post25+__disjvr_5^0 == 0 /\ -__disjvr_15^post25+__disjvr_15^0 == 0 /\ __disjvr_19^0-__disjvr_19^post25 == 0 /\ x_19^0-x_19^post25 == 0 /\ z_28^0-z_28^post25 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ rcd_264^0-rcd_264^post25 == 0 /\ -i_33^post25+i_33^0 == 0 /\ __disjvr_13^0-__disjvr_13^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post25 == 0 /\ -z_279^post25+z_279^0 == 0 /\ -len_266^post25+len_266^0 == 0 /\ __disjvr_16^0-__disjvr_16^post25 == 0 /\ -z_389^post25+z_389^0 == 0 /\ __disjvr_20^0-__disjvr_20^post25 == 0 /\ rcd_226^0-rcd_226^post25 == 0 /\ -rcd_356^post25+rcd_356^0 == 0 /\ -z_238^post25+z_238^0 == 0 /\ rcd_70^0-rcd_70^post25 == 0 /\ -z_265^post25+z_265^0 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ -z_160^post25+z_160^0 == 0 /\ -__disjvr_28^post25+__disjvr_28^0 == 0 /\ -head_35^post25+head_35^0 == 0 /\ a_321^0-a_321^post25 == 0 /\ a_27^0-a_27^post25 == 0 /\ i_227^0-i_227^post25 == 0 /\ -__disjvr_8^post25+__disjvr_8^0 == 0 /\ __disjvr_4^0-__disjvr_4^post25 == 0 /\ a_210^0-a_210^post25 == 0 /\ __disjvr_11^0-__disjvr_11^post25 == 0 /\ -lt_29^post25+lt_29^0 == 0 /\ __disjvr_26^0-__disjvr_26^post25 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ -1-a_321^0+len_286^post25 <= 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ rcd_222^0-rcd_222^post25 == 0 /\ nondet_12^0-nondet_12^post25 == 0 /\ __disjvr_27^0-__disjvr_27^post25 == 0 /\ -lt_483^post25+lt_483^0 == 0 /\ -rcd_113^post25+rcd_113^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post25 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -length_32^post25+length_32^0 == 0 /\ -a_166^post25+a_166^0 == 0 /\ -rcd_46^post25+rcd_46^0 == 0), cost: 1
New rule:
l24 -> l0 : len_286^0'=1+a_321^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l25 -> l38 : __disjvr_0^0'=__disjvr_0^post39, a_321^0'=a_321^post39, rcd_70^0'=rcd_70^post39, __disjvr_21^0'=__disjvr_21^post39, x_23^0'=x_23^post39, __disjvr_4^0'=__disjvr_4^post39, rcd_222^0'=rcd_222^post39, __disjvr_14^0'=__disjvr_14^post39, head_35^0'=head_35^post39, __disjvr_24^0'=__disjvr_24^post39, temp0_18^0'=temp0_18^post39, lt_386^0'=lt_386^post39, z_229^0'=z_229^post39, __disjvr_9^0'=__disjvr_9^post39, a_210^0'=a_210^post39, rcd_376^0'=rcd_376^post39, __disjvr_19^0'=__disjvr_19^post39, len_195^0'=len_195^post39, __disjvr_29^0'=__disjvr_29^post39, x_19^0'=x_19^post39, r_42^0'=r_42^post39, z_28^0'=z_28^post39, __disjvr_11^0'=__disjvr_11^post39, a_377^0'=a_377^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39, length_32^0'=length_32^post39, y_22^0'=y_22^post39, __disjvr_6^0'=__disjvr_6^post39, rcd_228^0'=rcd_228^post39, __disjvr_16^0'=__disjvr_16^post39, i_120^0'=i_120^post39, __disjvr_26^0'=__disjvr_26^post39, temp1_30^0'=temp1_30^post39, nondet_12^0'=nondet_12^post39, z_252^0'=z_252^post39, a_27^0'=a_27^post39, rcd_46^0'=rcd_46^post39, __disjvr_20^0'=__disjvr_20^post39, len_286^0'=len_286^post39, __disjvr_3^0'=__disjvr_3^post39, rcd_113^0'=rcd_113^post39, __disjvr_13^0'=__disjvr_13^post39, head_13^0'=head_13^post39, __disjvr_23^0'=__disjvr_23^post39, t_24^0'=t_24^post39, lt_29^0'=lt_29^post39, z_188^0'=z_188^post39, __disjvr_8^0'=__disjvr_8^post39, rcd_264^0'=rcd_264^post39, rcd_356^0'=rcd_356^post39, __disjvr_18^0'=__disjvr_18^post39, i_33^0'=i_33^post39, __disjvr_28^0'=__disjvr_28^post39, tmp_37^0'=tmp_37^post39, r_236^0'=r_236^post39, z_279^0'=z_279^post39, __disjvr_10^0'=__disjvr_10^post39, a_347^0'=a_347^post39, result_11^0'=result_11^post39, __disjvr_22^0'=__disjvr_22^post39, x_SLAM_f_21^0'=x_SLAM_f_21^post39, __disjvr_5^0'=__disjvr_5^post39, rcd_226^0'=rcd_226^post39, __disjvr_15^0'=__disjvr_15^post39, i_111^0'=i_111^post39, __disjvr_25^0'=__disjvr_25^post39, temp0_34^0'=temp0_34^post39, lt_483^0'=lt_483^post39, z_238^0'=z_238^post39, a_166^0'=a_166^post39, a_267^0'=a_267^post39, rcd_396^0'=rcd_396^post39, __disjvr_1^0'=__disjvr_1^post39, len_266^0'=len_266^post39, __disjvr_2^0'=__disjvr_2^post39, rcd_105^0'=rcd_105^post39, z_389^0'=z_389^post39, __disjvr_12^0'=__disjvr_12^post39, ct_20^0'=ct_20^post39, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post39, lt_17^0'=lt_17^post39, z_160^0'=z_160^post39, __disjvr_7^0'=__disjvr_7^post39, rcd_237^0'=rcd_237^post39, rcd_352^0'=rcd_352^post39, __disjvr_17^0'=__disjvr_17^post39, i_227^0'=i_227^post39, __disjvr_27^0'=__disjvr_27^post39, temp_38^0'=temp_38^post39, r_178^0'=r_178^post39, z_265^0'=z_265^post39, (0 == 0 /\ -len_286^post39+len_286^0 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39+tmp_37^post39 <= 0 /\ tmp_37^post39-temp_38^0 == 0 /\ length_32^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post39 <= 0 /\ __disjvr_2^0-__disjvr_2^post39 == 0 /\ -__disjvr_5^post39+__disjvr_5^0 == 0 /\ -__disjvr_23^post39+__disjvr_23^0 == 0 /\ -z_252^post39+z_252^0 == 0 /\ __disjvr_26^0-__disjvr_26^post39 == 0 /\ a_27^0-a_27^post39 == 0 /\ __disjvr_10^0-__disjvr_10^post39 == 0 /\ -len_266^post39+len_266^0 == 0 /\ -z_279^post39+z_279^0 == 0 /\ __disjvr_18^0-__disjvr_18^post39 == 0 /\ rcd_376^0-rcd_376^post39 == 0 /\ -__disjvr_12^post39+__disjvr_12^0 == 0 /\ -z_238^post39+z_238^0 == 0 /\ -i_227^post39+i_227^0 == 0 /\ y_22^0-y_22^post39 == 0 /\ a_321^0-a_321^post39 == 0 /\ __disjvr_6^0-__disjvr_6^post39 == 0 /\ __disjvr_11^0-__disjvr_11^post39 == 0 /\ -rcd_356^post39+rcd_356^0 == 0 /\ __disjvr_9^0-__disjvr_9^post39 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0 /\ -i_111^post39+i_111^0 == 0 /\ len_195^0-len_195^post39 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ -__disjvr_27^post39+__disjvr_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39-tmp_37^post39 <= 0 /\ -z_265^post39+z_265^0 == 0 /\ -__disjvr_20^post39+__disjvr_20^0 == 0 /\ -length_32^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post39 <= 0 /\ length_32^0-length_32^post39 == 0 /\ lt_386^0-lt_386^post39 == 0 /\ -z_160^post39+z_160^0 == 0 /\ -__disjvr_8^post39+__disjvr_8^0 == 0 /\ -z_389^post39+z_389^0 == 0 /\ -__disjvr_28^post39+__disjvr_28^0 == 0 /\ a_166^0-a_166^post39 == 0 /\ -rcd_113^post39+rcd_113^0 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ temp0_18^0-temp0_18^post39 == 0 /\ -a_347^post39+a_347^0 == 0 /\ -__disjvr_15^post39+__disjvr_15^0 == 0 /\ -x_19^post39+x_19^0 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ -rcd_46^post39+rcd_46^0 == 0 /\ 2-i_33^post39 <= 0 /\ -a_267^post39+a_267^0 == 0 /\ __disjvr_16^0-__disjvr_16^post39 == 0 /\ __disjvr_3^0-__disjvr_3^post39 == 0 /\ -__disjvr_22^post39+__disjvr_22^0 == 0 /\ temp1_30^0-temp1_30^post39 == 0 /\ __disjvr_29^0-__disjvr_29^post39 == 0 /\ -r_178^post39+r_178^0 == 0 /\ 1-length_32^0+i_33^0 <= 0 /\ -__disjvr_1^post39+__disjvr_1^0 == 0 /\ -1+i_33^post39-i_33^0 == 0 /\ -z_229^post39+z_229^0 == 0 /\ temp0_34^0-temp0_34^post39 == 0 /\ -head_13^post39+head_13^0 == 0 /\ __disjvr_7^0-__disjvr_7^post39 == 0 /\ __disjvr_4^0-__disjvr_4^post39 == 0 /\ x_23^0-x_23^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39-head_35^post39 <= 0 /\ a_210^0-a_210^post39 == 0 /\ rcd_226^0-rcd_226^post39 == 0 /\ -head_35^post39+tmp_37^post39 <= 0 /\ -rcd_237^post39+rcd_237^0 == 0 /\ -rcd_264^post39+rcd_264^0 == 0 /\ -t_24^post39+t_24^0 == 0 /\ a_377^0-a_377^post39 == 0 /\ lt_17^0-lt_17^post39 == 0 /\ -result_11^post39+result_11^0 == 0 /\ lt_29^0-lt_29^post39 == 0 /\ -rcd_396^post39+rcd_396^0 == 0 /\ -ct_20^post39+ct_20^0 == 0 /\ -__disjvr_21^post39+__disjvr_21^0 == 0 /\ -z_28^post39+z_28^0 == 0 /\ 2-length_32^0 <= 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post39 == 0 /\ -__disjvr_25^post39+__disjvr_25^0 == 0 /\ -z_188^post39+z_188^0 == 0 /\ lt_483^0-lt_483^post39 == 0 /\ 1-length_32^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post39 == 0 /\ -i_120^post39+i_120^0 == 0 /\ -r_236^post39+r_236^0 == 0 /\ -rcd_105^post39+rcd_105^0 == 0 /\ rcd_352^0-rcd_352^post39 == 0 /\ __disjvr_19^0-__disjvr_19^post39 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post39+head_35^post39 <= 0 /\ head_35^post39-tmp_37^post39 <= 0 /\ head_35^post39-tmp_37^post39 == 0 /\ rcd_222^0-rcd_222^post39 == 0 /\ r_42^0-r_42^post39 == 0 /\ -2+i_33^post39 <= 0 /\ rcd_228^0-rcd_228^post39 == 0), cost: 1
New rule:
l25 -> l38 : rcd_70^0'=rcd_70^post39, head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, i_33^0'=2, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_32^0, temp_38^0'=temp_38^post39, (-2+length_32^0 >= 0 /\ -1+i_33^0 == 0), cost: 1

Applied preprocessing
Original rule:
l38 -> l40 : __disjvr_0^0'=__disjvr_0^post40, a_321^0'=a_321^post40, rcd_70^0'=rcd_70^post40, __disjvr_21^0'=__disjvr_21^post40, x_23^0'=x_23^post40, __disjvr_4^0'=__disjvr_4^post40, rcd_222^0'=rcd_222^post40, __disjvr_14^0'=__disjvr_14^post40, head_35^0'=head_35^post40, __disjvr_24^0'=__disjvr_24^post40, temp0_18^0'=temp0_18^post40, lt_386^0'=lt_386^post40, z_229^0'=z_229^post40, __disjvr_9^0'=__disjvr_9^post40, a_210^0'=a_210^post40, rcd_376^0'=rcd_376^post40, __disjvr_19^0'=__disjvr_19^post40, len_195^0'=len_195^post40, __disjvr_29^0'=__disjvr_29^post40, x_19^0'=x_19^post40, r_42^0'=r_42^post40, z_28^0'=z_28^post40, __disjvr_11^0'=__disjvr_11^post40, a_377^0'=a_377^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, y_22^0'=y_22^post40, __disjvr_6^0'=__disjvr_6^post40, rcd_228^0'=rcd_228^post40, __disjvr_16^0'=__disjvr_16^post40, i_120^0'=i_120^post40, __disjvr_26^0'=__disjvr_26^post40, temp1_30^0'=temp1_30^post40, nondet_12^0'=nondet_12^post40, z_252^0'=z_252^post40, a_27^0'=a_27^post40, rcd_46^0'=rcd_46^post40, __disjvr_20^0'=__disjvr_20^post40, len_286^0'=len_286^post40, __disjvr_3^0'=__disjvr_3^post40, rcd_113^0'=rcd_113^post40, __disjvr_13^0'=__disjvr_13^post40, head_13^0'=head_13^post40, __disjvr_23^0'=__disjvr_23^post40, t_24^0'=t_24^post40, lt_29^0'=lt_29^post40, z_188^0'=z_188^post40, __disjvr_8^0'=__disjvr_8^post40, rcd_264^0'=rcd_264^post40, rcd_356^0'=rcd_356^post40, __disjvr_18^0'=__disjvr_18^post40, i_33^0'=i_33^post40, __disjvr_28^0'=__disjvr_28^post40, tmp_37^0'=tmp_37^post40, r_236^0'=r_236^post40, z_279^0'=z_279^post40, __disjvr_10^0'=__disjvr_10^post40, a_347^0'=a_347^post40, result_11^0'=result_11^post40, __disjvr_22^0'=__disjvr_22^post40, x_SLAM_f_21^0'=x_SLAM_f_21^post40, __disjvr_5^0'=__disjvr_5^post40, rcd_226^0'=rcd_226^post40, __disjvr_15^0'=__disjvr_15^post40, i_111^0'=i_111^post40, __disjvr_25^0'=__disjvr_25^post40, temp0_34^0'=temp0_34^post40, lt_483^0'=lt_483^post40, z_238^0'=z_238^post40, a_166^0'=a_166^post40, a_267^0'=a_267^post40, rcd_396^0'=rcd_396^post40, __disjvr_1^0'=__disjvr_1^post40, len_266^0'=len_266^post40, __disjvr_2^0'=__disjvr_2^post40, rcd_105^0'=rcd_105^post40, z_389^0'=z_389^post40, __disjvr_12^0'=__disjvr_12^post40, ct_20^0'=ct_20^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, lt_17^0'=lt_17^post40, z_160^0'=z_160^post40, __disjvr_7^0'=__disjvr_7^post40, rcd_237^0'=rcd_237^post40, rcd_352^0'=rcd_352^post40, __disjvr_17^0'=__disjvr_17^post40, i_227^0'=i_227^post40, __disjvr_27^0'=__disjvr_27^post40, temp_38^0'=temp_38^post40, r_178^0'=r_178^post40, z_265^0'=z_265^post40, (0 == 0 /\ a_267^0-a_267^post40 == 0 /\ __disjvr_16^0-__disjvr_16^post40 == 0 /\ -__disjvr_5^post40+__disjvr_5^0 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ lt_386^0-lt_386^post40 == 0 /\ -rcd_237^post40+rcd_237^0 == 0 /\ -rcd_396^post40+rcd_396^0 == 0 /\ -rcd_105^post40+rcd_105^0 == 0 /\ -ct_20^post40+ct_20^0 == 0 /\ -x_SLAM_f_21^post40+x_SLAM_f_21^0 == 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ -lt_29^post40+lt_29^0 == 0 /\ temp0_18^0-temp0_18^post40 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ z_28^post40-a_27^11 <= 0 /\ z_28^post40-a_27^11 == 0 /\ rcd_376^0-rcd_376^post40 == 0 /\ a_321^0-a_321^post40 == 0 /\ rcd_356^0-rcd_356^post40 == 0 /\ -rcd_352^post40+rcd_352^0 == 0 /\ -r_178^post40+r_178^0 == 0 /\ head_13^0-z_28^post40 <= 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ -i_111^post40+i_111^0 == 0 /\ -head_35^0+temp0_34^110 == 0 /\ -z_160^post40+z_160^0 == 0 /\ rcd_264^0-rcd_264^post40 == 0 /\ __disjvr_20^0-__disjvr_20^post40 == 0 /\ z_252^0-z_252^post40 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ -__disjvr_8^post40+__disjvr_8^0 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ x_19^0-x_19^post40 == 0 /\ -z_28^post40+a_27^11 <= 0 /\ len_266^0-len_266^post40 == 0 /\ y_22^0-y_22^post40 == 0 /\ -lt_483^post40+lt_483^0 == 0 /\ -rcd_228^post40+rcd_228^0 == 0 /\ z_188^0-z_188^post40 == 0 /\ -head_13^0+z_28^post40 <= 0 /\ -i_33^0 <= 0 /\ temp1_30^0-temp1_30^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ -z_238^post40+z_238^0 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ -temp0_34^110+result_11^110 == 0 /\ -rcd_46^post40+rcd_46^0 == 0 /\ z_229^0-z_229^post40 == 0 /\ head_13^0-a_27^11 <= 0 /\ -__disjvr_11^post40+__disjvr_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -z_389^post40+z_389^0 == 0 /\ a_347^0-a_347^post40 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ a_210^0-a_210^post40 == 0 /\ x_23^0-x_23^post40 == 0 /\ -__disjvr_2^post40+__disjvr_2^0 == 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ -a_166^post40+a_166^0 == 0 /\ rcd_113^0-rcd_113^post40 == 0 /\ __disjvr_23^0-__disjvr_23^post40 == 0 /\ -head_13^0+a_27^11 <= 0 /\ -head_13^0+a_27^11 == 0 /\ -__disjvr_10^post40+__disjvr_10^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ -__disjvr_3^post40+__disjvr_3^0 == 0 /\ -lt_17^post40+lt_17^0 == 0 /\ -r_236^post40+r_236^0 == 0 /\ z_279^0-z_279^post40 == 0 /\ __disjvr_26^0-__disjvr_26^post40 == 0 /\ -__disjvr_18^post40+__disjvr_18^0 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ length_32^0-i_33^0 <= 0 /\ rcd_70^0-rcd_70^post40 == 0 /\ __disjvr_28^0-__disjvr_28^post40 == 0 /\ len_286^0-len_286^post40 == 0 /\ -len_195^post40+len_195^0 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ i_120^0-i_120^post40 == 0 /\ -i_120^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post40 == 0 /\ -a_377^post40+a_377^0 == 0 /\ t_24^0-t_24^post40 == 0 /\ -z_265^post40+z_265^0 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ r_42^0-r_42^post40 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0), cost: 1
New rule:
l38 -> l40 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=head_13^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (-2+i_120^0 >= 0 /\ i_33^0 >= 0 /\ length_32^0-i_33^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l40 -> l41 : __disjvr_0^0'=__disjvr_0^post41, a_321^0'=a_321^post41, rcd_70^0'=rcd_70^post41, __disjvr_21^0'=__disjvr_21^post41, x_23^0'=x_23^post41, __disjvr_4^0'=__disjvr_4^post41, rcd_222^0'=rcd_222^post41, __disjvr_14^0'=__disjvr_14^post41, head_35^0'=head_35^post41, __disjvr_24^0'=__disjvr_24^post41, temp0_18^0'=temp0_18^post41, lt_386^0'=lt_386^post41, z_229^0'=z_229^post41, __disjvr_9^0'=__disjvr_9^post41, a_210^0'=a_210^post41, rcd_376^0'=rcd_376^post41, __disjvr_19^0'=__disjvr_19^post41, len_195^0'=len_195^post41, __disjvr_29^0'=__disjvr_29^post41, x_19^0'=x_19^post41, r_42^0'=r_42^post41, z_28^0'=z_28^post41, __disjvr_11^0'=__disjvr_11^post41, a_377^0'=a_377^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post41, length_32^0'=length_32^post41, y_22^0'=y_22^post41, __disjvr_6^0'=__disjvr_6^post41, rcd_228^0'=rcd_228^post41, __disjvr_16^0'=__disjvr_16^post41, i_120^0'=i_120^post41, __disjvr_26^0'=__disjvr_26^post41, temp1_30^0'=temp1_30^post41, nondet_12^0'=nondet_12^post41, z_252^0'=z_252^post41, a_27^0'=a_27^post41, rcd_46^0'=rcd_46^post41, __disjvr_20^0'=__disjvr_20^post41, len_286^0'=len_286^post41, __disjvr_3^0'=__disjvr_3^post41, rcd_113^0'=rcd_113^post41, __disjvr_13^0'=__disjvr_13^post41, head_13^0'=head_13^post41, __disjvr_23^0'=__disjvr_23^post41, t_24^0'=t_24^post41, lt_29^0'=lt_29^post41, z_188^0'=z_188^post41, __disjvr_8^0'=__disjvr_8^post41, rcd_264^0'=rcd_264^post41, rcd_356^0'=rcd_356^post41, __disjvr_18^0'=__disjvr_18^post41, i_33^0'=i_33^post41, __disjvr_28^0'=__disjvr_28^post41, tmp_37^0'=tmp_37^post41, r_236^0'=r_236^post41, z_279^0'=z_279^post41, __disjvr_10^0'=__disjvr_10^post41, a_347^0'=a_347^post41, result_11^0'=result_11^post41, __disjvr_22^0'=__disjvr_22^post41, x_SLAM_f_21^0'=x_SLAM_f_21^post41, __disjvr_5^0'=__disjvr_5^post41, rcd_226^0'=rcd_226^post41, __disjvr_15^0'=__disjvr_15^post41, i_111^0'=i_111^post41, __disjvr_25^0'=__disjvr_25^post41, temp0_34^0'=temp0_34^post41, lt_483^0'=lt_483^post41, z_238^0'=z_238^post41, a_166^0'=a_166^post41, a_267^0'=a_267^post41, rcd_396^0'=rcd_396^post41, __disjvr_1^0'=__disjvr_1^post41, len_266^0'=len_266^post41, __disjvr_2^0'=__disjvr_2^post41, rcd_105^0'=rcd_105^post41, z_389^0'=z_389^post41, __disjvr_12^0'=__disjvr_12^post41, ct_20^0'=ct_20^post41, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post41, lt_17^0'=lt_17^post41, z_160^0'=z_160^post41, __disjvr_7^0'=__disjvr_7^post41, rcd_237^0'=rcd_237^post41, rcd_352^0'=rcd_352^post41, __disjvr_17^0'=__disjvr_17^post41, i_227^0'=i_227^post41, __disjvr_27^0'=__disjvr_27^post41, temp_38^0'=temp_38^post41, r_178^0'=r_178^post41, z_265^0'=z_265^post41, (-z_188^post41+z_188^0 == 0 /\ z_229^0-z_229^post41 == 0 /\ -rcd_237^post41+rcd_237^0 == 0 /\ a_166^0-a_166^post41 == 0 /\ -rcd_396^post41+rcd_396^0 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ length_32^0-length_32^post41 == 0 /\ -rcd_352^post41+rcd_352^0 == 0 /\ head_35^0-head_35^post41 == 0 /\ -lt_17^post41+lt_17^0 == 0 /\ -result_11^post41+result_11^0 == 0 /\ -r_178^post41+r_178^0 == 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ -head_13^post41+head_13^0 == 0 /\ len_195^0-len_195^post41 == 0 /\ -__disjvr_7^post41+__disjvr_7^0 == 0 /\ r_42^0-r_42^post41 == 0 /\ a_377^0-a_377^post41 == 0 /\ -i_120^post41+i_120^0 == 0 /\ __disjvr_10^0-__disjvr_10^post41 == 0 /\ -ct_20^post41+ct_20^0 == 0 /\ -__disjvr_19^post41+__disjvr_19^0 == 0 /\ -rcd_105^post41+rcd_105^0 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ __disjvr_18^0-__disjvr_18^post41 == 0 /\ rcd_70^0-rcd_70^post41 == 0 /\ tmp_37^0-tmp_37^post41 == 0 /\ rcd_222^0-rcd_222^post41 == 0 /\ -z_252^post41+z_252^0 == 0 /\ len_266^0-len_266^post41 == 0 /\ a_210^0-a_210^post41 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ lt_29^0-lt_29^post41 == 0 /\ -y_22^post41+y_22^0 == 0 /\ -temp_38^post41+temp_38^0 == 0 /\ -__disjvr_5^post41+__disjvr_5^0 == 0 /\ -__disjvr_13^post41+__disjvr_13^0 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ __disjvr_24^0-__disjvr_24^post41 == 0 /\ -r_236^post41+r_236^0 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ z_28^0-z_28^post41 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ __disjvr_28^0-__disjvr_28^post41 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -z_279^post41+z_279^0 == 0 /\ -x_SLAM_f_21^post41+x_SLAM_f_21^0 == 0 /\ rcd_264^0-rcd_264^post41 == 0 /\ rcd_376^0-rcd_376^post41 == 0 /\ x_19^0-x_19^post41 == 0 /\ -__disjvr_14^post41+__disjvr_14^0 == 0 /\ -z_160^post41+z_160^0 == 0 /\ -i_111^post41+i_111^0 == 0 /\ temp0_18^0-temp0_18^post41 == 0 /\ len_286^0-len_286^post41 == 0 /\ -i_33^post41+i_33^0 == 0 /\ -__disjvr_27^post41+__disjvr_27^0 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ -__disjvr_20^post41+__disjvr_20^0 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ rcd_228^0-rcd_228^post41 == 0 /\ -z_238^post41+z_238^0 == 0 /\ -rcd_356^post41+rcd_356^0 == 0 /\ t_24^0-t_24^post41 == 0 /\ temp0_34^0-temp0_34^post41 == 0 /\ -a_267^post41+a_267^0 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ temp1_30^0-temp1_30^post41 == 0 /\ -lt_483^post41+lt_483^0 == 0 /\ -z_389^post41+z_389^0 == 0 /\ -rcd_226^post41+rcd_226^0 == 0 /\ i_227^0-i_227^post41 == 0 /\ -__disjvr_29^post41+__disjvr_29^0 == 0 /\ -__disjvr_2^post41+__disjvr_2^0 == 0 /\ x_23^0-x_23^post41 == 0 /\ a_27^0-a_27^post41 == 0 /\ -__disjvr_12^post41+__disjvr_12^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post41+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_321^0-a_321^post41 == 0 /\ -a_347^post41+a_347^0 == 0 /\ -rcd_46^post41+rcd_46^0 == 0 /\ lt_386^0-lt_386^post41 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ -z_265^post41+z_265^0 == 0 /\ -rcd_113^post41+rcd_113^0 == 0 /\ __disjvr_20^post41-__disjvr_20^0 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0), cost: 1
New rule:
l40 -> l41 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l41 -> l42 : __disjvr_0^0'=__disjvr_0^post42, a_321^0'=a_321^post42, rcd_70^0'=rcd_70^post42, __disjvr_21^0'=__disjvr_21^post42, x_23^0'=x_23^post42, __disjvr_4^0'=__disjvr_4^post42, rcd_222^0'=rcd_222^post42, __disjvr_14^0'=__disjvr_14^post42, head_35^0'=head_35^post42, __disjvr_24^0'=__disjvr_24^post42, temp0_18^0'=temp0_18^post42, lt_386^0'=lt_386^post42, z_229^0'=z_229^post42, __disjvr_9^0'=__disjvr_9^post42, a_210^0'=a_210^post42, rcd_376^0'=rcd_376^post42, __disjvr_19^0'=__disjvr_19^post42, len_195^0'=len_195^post42, __disjvr_29^0'=__disjvr_29^post42, x_19^0'=x_19^post42, r_42^0'=r_42^post42, z_28^0'=z_28^post42, __disjvr_11^0'=__disjvr_11^post42, a_377^0'=a_377^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post42, length_32^0'=length_32^post42, y_22^0'=y_22^post42, __disjvr_6^0'=__disjvr_6^post42, rcd_228^0'=rcd_228^post42, __disjvr_16^0'=__disjvr_16^post42, i_120^0'=i_120^post42, __disjvr_26^0'=__disjvr_26^post42, temp1_30^0'=temp1_30^post42, nondet_12^0'=nondet_12^post42, z_252^0'=z_252^post42, a_27^0'=a_27^post42, rcd_46^0'=rcd_46^post42, __disjvr_20^0'=__disjvr_20^post42, len_286^0'=len_286^post42, __disjvr_3^0'=__disjvr_3^post42, rcd_113^0'=rcd_113^post42, __disjvr_13^0'=__disjvr_13^post42, head_13^0'=head_13^post42, __disjvr_23^0'=__disjvr_23^post42, t_24^0'=t_24^post42, lt_29^0'=lt_29^post42, z_188^0'=z_188^post42, __disjvr_8^0'=__disjvr_8^post42, rcd_264^0'=rcd_264^post42, rcd_356^0'=rcd_356^post42, __disjvr_18^0'=__disjvr_18^post42, i_33^0'=i_33^post42, __disjvr_28^0'=__disjvr_28^post42, tmp_37^0'=tmp_37^post42, r_236^0'=r_236^post42, z_279^0'=z_279^post42, __disjvr_10^0'=__disjvr_10^post42, a_347^0'=a_347^post42, result_11^0'=result_11^post42, __disjvr_22^0'=__disjvr_22^post42, x_SLAM_f_21^0'=x_SLAM_f_21^post42, __disjvr_5^0'=__disjvr_5^post42, rcd_226^0'=rcd_226^post42, __disjvr_15^0'=__disjvr_15^post42, i_111^0'=i_111^post42, __disjvr_25^0'=__disjvr_25^post42, temp0_34^0'=temp0_34^post42, lt_483^0'=lt_483^post42, z_238^0'=z_238^post42, a_166^0'=a_166^post42, a_267^0'=a_267^post42, rcd_396^0'=rcd_396^post42, __disjvr_1^0'=__disjvr_1^post42, len_266^0'=len_266^post42, __disjvr_2^0'=__disjvr_2^post42, rcd_105^0'=rcd_105^post42, z_389^0'=z_389^post42, __disjvr_12^0'=__disjvr_12^post42, ct_20^0'=ct_20^post42, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post42, lt_17^0'=lt_17^post42, z_160^0'=z_160^post42, __disjvr_7^0'=__disjvr_7^post42, rcd_237^0'=rcd_237^post42, rcd_352^0'=rcd_352^post42, __disjvr_17^0'=__disjvr_17^post42, i_227^0'=i_227^post42, __disjvr_27^0'=__disjvr_27^post42, temp_38^0'=temp_38^post42, r_178^0'=r_178^post42, z_265^0'=z_265^post42, (0 == 0 /\ rcd_396^0-rcd_396^post42 == 0 /\ -__disjvr_26^post42+__disjvr_26^0 == 0 /\ -z_238^post42+z_238^0 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -__disjvr_27^post42+__disjvr_27^0 == 0 /\ -rcd_113^post42+rcd_113^0 == 0 /\ -i_227^post42+i_227^0 == 0 /\ -len_266^post42+len_266^0 == 0 /\ -rcd_356^post42+rcd_356^0 == 0 /\ x_23^0-x_23^post42 == 0 /\ a_321^0-a_321^post42 == 0 /\ y_22^0-y_22^post42 == 0 /\ a_347^0-a_347^post42 == 0 /\ -__disjvr_20^post42+__disjvr_20^0 == 0 /\ -i_33^post42+i_33^0 == 0 /\ z_279^0-z_279^post42 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ __disjvr_5^0-__disjvr_5^post42 == 0 /\ len_195^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post42 == 0 /\ -rcd_222^0+rcd_46^0 <= 0 /\ -len_195^0 <= 0 /\ __disjvr_6^0-__disjvr_6^post42 == 0 /\ __disjvr_14^0-__disjvr_14^post42 == 0 /\ -__disjvr_12^post42+__disjvr_12^0 == 0 /\ -z_160^post42+z_160^0 == 0 /\ __disjvr_3^0-__disjvr_3^post42 == 0 /\ -__disjvr_29^post42+__disjvr_29^0 == 0 /\ a_166^0-a_166^post42 == 0 /\ -__disjvr_8^post42+__disjvr_8^0 == 0 /\ -z_389^post42+z_389^0 == 0 /\ z_229^0-z_229^post42 == 0 /\ -z_265^post42+z_265^0 == 0 /\ -__disjvr_2^post42+__disjvr_2^0 == 0 /\ __disjvr_19^0-__disjvr_19^post42 == 0 /\ rcd_264^0-rcd_264^post42 == 0 /\ __disjvr_11^0-__disjvr_11^post42 == 0 /\ -__disjvr_15^post42+__disjvr_15^0 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post42+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -a_267^post42+a_267^0 == 0 /\ __disjvr_16^0-__disjvr_16^post42 == 0 /\ -lt_483^post42+lt_483^0 == 0 /\ a_377^0-a_377^post42 == 0 /\ length_32^0-length_32^post42 == 0 /\ ct_20^0-ct_20^post42 == 0 /\ r_42^0-r_42^post42 == 0 /\ rcd_222^0-rcd_46^0 <= 0 /\ temp0_18^0-temp0_18^post42 == 0 /\ -rcd_352^post42+rcd_352^0 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ -tmp_37^post42+tmp_37^0 == 0 /\ len_195^0-len_195^post42 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post42+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ a_27^0-head_13^0 <= 0 /\ -lt_386^post42+lt_386^0 == 0 /\ -rcd_226^post42+rcd_226^0 == 0 /\ -__disjvr_22^post42+__disjvr_22^0 == 0 /\ -r_178^post42+r_178^0 == 0 /\ temp1_30^0-temp1_30^post42 == 0 /\ -z_188^post42+z_188^0 == 0 /\ -r_236^post42+r_236^0 == 0 /\ a_210^0-a_210^post42 == 0 /\ -a_210^0+i_120^0 <= 0 /\ -head_13^post42+head_13^0 == 0 /\ -rcd_237^post42+rcd_237^0 == 0 /\ rcd_70^0-rcd_70^post42 == 0 /\ z_28^post42-z_160^0 <= 0 /\ rcd_46^0-rcd_46^post42 == 0 /\ __disjvr_25^0-__disjvr_25^post42 == 0 /\ __disjvr_9^0-__disjvr_9^post42 == 0 /\ -temp0_34^post42+temp0_34^0 == 0 /\ __disjvr_28^0-__disjvr_28^post42 == 0 /\ -lt_17^post42+lt_17^0 == 0 /\ -z_252^post42+z_252^0 == 0 /\ -a_27^0+head_13^0 <= 0 /\ rcd_222^0-rcd_222^post42 == 0 /\ head_35^0-head_35^post42 == 0 /\ -__disjvr_23^post42+__disjvr_23^0 == 0 /\ -temp_38^post42+temp_38^0 == 0 /\ -rcd_105^post42+rcd_105^0 == 0 /\ -__disjvr_1^post42+__disjvr_1^0 == 0 /\ rcd_376^0-rcd_376^post42 == 0 /\ x_19^0-x_19^post42 == 0 /\ -a_27^post42+a_27^0 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ -__disjvr_18^post42+__disjvr_18^0 == 0 /\ i_111^0-i_111^post42 == 0 /\ -len_286^post42+len_286^0 == 0 /\ a_210^0-i_120^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post42 == 0 /\ rcd_228^0-rcd_228^post42 == 0 /\ __disjvr_4^0-__disjvr_4^post42 == 0 /\ -i_120^post42+i_120^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ t_24^0-t_24^post42 == 0 /\ -z_28^post42+z_160^0 <= 0 /\ -x_SLAM_f_21^post42+x_SLAM_f_21^0 == 0 /\ __disjvr_0^0-__disjvr_0^post42 == 0), cost: 1
New rule:
l41 -> l42 : z_28^0'=z_160^0, lt_29^0'=lt_29^post42, (len_195^0 == 0 /\ -rcd_222^0+rcd_46^0 == 0 /\ a_27^0-head_13^0 == 0 /\ -a_210^0+i_120^0 == 0), cost: 1

Applied preprocessing
Original rule:
l42 -> l43 : __disjvr_0^0'=__disjvr_0^post43, a_321^0'=a_321^post43, rcd_70^0'=rcd_70^post43, __disjvr_21^0'=__disjvr_21^post43, x_23^0'=x_23^post43, __disjvr_4^0'=__disjvr_4^post43, rcd_222^0'=rcd_222^post43, __disjvr_14^0'=__disjvr_14^post43, head_35^0'=head_35^post43, __disjvr_24^0'=__disjvr_24^post43, temp0_18^0'=temp0_18^post43, lt_386^0'=lt_386^post43, z_229^0'=z_229^post43, __disjvr_9^0'=__disjvr_9^post43, a_210^0'=a_210^post43, rcd_376^0'=rcd_376^post43, __disjvr_19^0'=__disjvr_19^post43, len_195^0'=len_195^post43, __disjvr_29^0'=__disjvr_29^post43, x_19^0'=x_19^post43, r_42^0'=r_42^post43, z_28^0'=z_28^post43, __disjvr_11^0'=__disjvr_11^post43, a_377^0'=a_377^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post43, length_32^0'=length_32^post43, y_22^0'=y_22^post43, __disjvr_6^0'=__disjvr_6^post43, rcd_228^0'=rcd_228^post43, __disjvr_16^0'=__disjvr_16^post43, i_120^0'=i_120^post43, __disjvr_26^0'=__disjvr_26^post43, temp1_30^0'=temp1_30^post43, nondet_12^0'=nondet_12^post43, z_252^0'=z_252^post43, a_27^0'=a_27^post43, rcd_46^0'=rcd_46^post43, __disjvr_20^0'=__disjvr_20^post43, len_286^0'=len_286^post43, __disjvr_3^0'=__disjvr_3^post43, rcd_113^0'=rcd_113^post43, __disjvr_13^0'=__disjvr_13^post43, head_13^0'=head_13^post43, __disjvr_23^0'=__disjvr_23^post43, t_24^0'=t_24^post43, lt_29^0'=lt_29^post43, z_188^0'=z_188^post43, __disjvr_8^0'=__disjvr_8^post43, rcd_264^0'=rcd_264^post43, rcd_356^0'=rcd_356^post43, __disjvr_18^0'=__disjvr_18^post43, i_33^0'=i_33^post43, __disjvr_28^0'=__disjvr_28^post43, tmp_37^0'=tmp_37^post43, r_236^0'=r_236^post43, z_279^0'=z_279^post43, __disjvr_10^0'=__disjvr_10^post43, a_347^0'=a_347^post43, result_11^0'=result_11^post43, __disjvr_22^0'=__disjvr_22^post43, x_SLAM_f_21^0'=x_SLAM_f_21^post43, __disjvr_5^0'=__disjvr_5^post43, rcd_226^0'=rcd_226^post43, __disjvr_15^0'=__disjvr_15^post43, i_111^0'=i_111^post43, __disjvr_25^0'=__disjvr_25^post43, temp0_34^0'=temp0_34^post43, lt_483^0'=lt_483^post43, z_238^0'=z_238^post43, a_166^0'=a_166^post43, a_267^0'=a_267^post43, rcd_396^0'=rcd_396^post43, __disjvr_1^0'=__disjvr_1^post43, len_266^0'=len_266^post43, __disjvr_2^0'=__disjvr_2^post43, rcd_105^0'=rcd_105^post43, z_389^0'=z_389^post43, __disjvr_12^0'=__disjvr_12^post43, ct_20^0'=ct_20^post43, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post43, lt_17^0'=lt_17^post43, z_160^0'=z_160^post43, __disjvr_7^0'=__disjvr_7^post43, rcd_237^0'=rcd_237^post43, rcd_352^0'=rcd_352^post43, __disjvr_17^0'=__disjvr_17^post43, i_227^0'=i_227^post43, __disjvr_27^0'=__disjvr_27^post43, temp_38^0'=temp_38^post43, r_178^0'=r_178^post43, z_265^0'=z_265^post43, (__disjvr_21^0-__disjvr_21^post43 == 0 /\ lt_386^0-lt_386^post43 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post43+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -__disjvr_25^post43+__disjvr_25^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ -__disjvr_16^post43+__disjvr_16^0 == 0 /\ t_24^0-t_24^post43 == 0 /\ -rcd_237^post43+rcd_237^0 == 0 /\ z_238^0-z_238^post43 == 0 /\ -lt_17^post43+lt_17^0 == 0 /\ len_286^0-len_286^post43 == 0 /\ -rcd_352^post43+rcd_352^0 == 0 /\ temp0_18^0-temp0_18^post43 == 0 /\ a_377^0-a_377^post43 == 0 /\ -rcd_396^post43+rcd_396^0 == 0 /\ -rcd_264^post43+rcd_264^0 == 0 /\ head_13^0-head_13^post43 == 0 /\ -ct_20^post43+ct_20^0 == 0 /\ -rcd_105^post43+rcd_105^0 == 0 /\ -rcd_226^post43+rcd_226^0 == 0 /\ rcd_228^0-rcd_228^post43 == 0 /\ -r_178^post43+r_178^0 == 0 /\ i_33^0-i_33^post43 == 0 /\ -__disjvr_21^0+__disjvr_21^post43 == 0 /\ -__disjvr_18^post43+__disjvr_18^0 == 0 /\ temp1_30^0-temp1_30^post43 == 0 /\ r_42^0-r_42^post43 == 0 /\ len_195^0-len_195^post43 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ -a_27^post43+a_27^0 == 0 /\ __disjvr_12^0-__disjvr_12^post43 == 0 /\ z_279^0-z_279^post43 == 0 /\ -__disjvr_7^post43+__disjvr_7^0 == 0 /\ __disjvr_8^0-__disjvr_8^post43 == 0 /\ rcd_113^0-rcd_113^post43 == 0 /\ y_22^0-y_22^post43 == 0 /\ __disjvr_6^0-__disjvr_6^post43 == 0 /\ z_252^0-z_252^post43 == 0 /\ rcd_46^0-rcd_46^post43 == 0 /\ -len_266^post43+len_266^0 == 0 /\ -temp_38^post43+temp_38^0 == 0 /\ -temp0_34^post43+temp0_34^0 == 0 /\ __disjvr_1^0-__disjvr_1^post43 == 0 /\ -__disjvr_3^post43+__disjvr_3^0 == 0 /\ -__disjvr_13^post43+__disjvr_13^0 == 0 /\ __disjvr_19^0-__disjvr_19^post43 == 0 /\ z_28^0-z_28^post43 == 0 /\ z_229^0-z_229^post43 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ -rcd_376^post43+rcd_376^0 == 0 /\ a_347^0-a_347^post43 == 0 /\ length_32^0-length_32^post43 == 0 /\ x_19^0-x_19^post43 == 0 /\ -x_SLAM_f_21^post43+x_SLAM_f_21^0 == 0 /\ i_120^0-i_120^post43 == 0 /\ head_35^0-head_35^post43 == 0 /\ __disjvr_20^0-__disjvr_20^post43 == 0 /\ x_23^0-x_23^post43 == 0 /\ -i_227^post43+i_227^0 == 0 /\ -__disjvr_26^post43+__disjvr_26^0 == 0 /\ z_160^0-z_160^post43 == 0 /\ -z_389^post43+z_389^0 == 0 /\ -rcd_356^post43+rcd_356^0 == 0 /\ -lt_29^post43+lt_29^0 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0 /\ -__disjvr_27^post43+__disjvr_27^0 == 0 /\ -__disjvr_4^post43+__disjvr_4^0 == 0 /\ z_188^0-z_188^post43 == 0 /\ i_111^0-i_111^post43 == 0 /\ -__disjvr_28^post43+__disjvr_28^0 == 0 /\ -lt_483^post43+lt_483^0 == 0 /\ -z_265^post43+z_265^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ r_236^0-r_236^post43 == 0 /\ a_210^0-a_210^post43 == 0 /\ a_321^0-a_321^post43 == 0 /\ rcd_70^0-rcd_70^post43 == 0 /\ -__disjvr_29^post43+__disjvr_29^0 == 0 /\ -__disjvr_10^post43+__disjvr_10^0 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ rcd_222^0-rcd_222^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ -a_166^post43+a_166^0 == 0 /\ __disjvr_23^0-__disjvr_23^post43 == 0 /\ -__disjvr_15^post43+__disjvr_15^0 == 0 /\ __disjvr_14^0-__disjvr_14^post43 == 0 /\ -__disjvr_22^post43+__disjvr_22^0 == 0 /\ -a_267^post43+a_267^0 == 0 /\ -tmp_37^post43+tmp_37^0 == 0), cost: 1
New rule:
l42 -> l43 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l43 -> l39 : __disjvr_0^0'=__disjvr_0^post44, a_321^0'=a_321^post44, rcd_70^0'=rcd_70^post44, __disjvr_21^0'=__disjvr_21^post44, x_23^0'=x_23^post44, __disjvr_4^0'=__disjvr_4^post44, rcd_222^0'=rcd_222^post44, __disjvr_14^0'=__disjvr_14^post44, head_35^0'=head_35^post44, __disjvr_24^0'=__disjvr_24^post44, temp0_18^0'=temp0_18^post44, lt_386^0'=lt_386^post44, z_229^0'=z_229^post44, __disjvr_9^0'=__disjvr_9^post44, a_210^0'=a_210^post44, rcd_376^0'=rcd_376^post44, __disjvr_19^0'=__disjvr_19^post44, len_195^0'=len_195^post44, __disjvr_29^0'=__disjvr_29^post44, x_19^0'=x_19^post44, r_42^0'=r_42^post44, z_28^0'=z_28^post44, __disjvr_11^0'=__disjvr_11^post44, a_377^0'=a_377^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post44, length_32^0'=length_32^post44, y_22^0'=y_22^post44, __disjvr_6^0'=__disjvr_6^post44, rcd_228^0'=rcd_228^post44, __disjvr_16^0'=__disjvr_16^post44, i_120^0'=i_120^post44, __disjvr_26^0'=__disjvr_26^post44, temp1_30^0'=temp1_30^post44, nondet_12^0'=nondet_12^post44, z_252^0'=z_252^post44, a_27^0'=a_27^post44, rcd_46^0'=rcd_46^post44, __disjvr_20^0'=__disjvr_20^post44, len_286^0'=len_286^post44, __disjvr_3^0'=__disjvr_3^post44, rcd_113^0'=rcd_113^post44, __disjvr_13^0'=__disjvr_13^post44, head_13^0'=head_13^post44, __disjvr_23^0'=__disjvr_23^post44, t_24^0'=t_24^post44, lt_29^0'=lt_29^post44, z_188^0'=z_188^post44, __disjvr_8^0'=__disjvr_8^post44, rcd_264^0'=rcd_264^post44, rcd_356^0'=rcd_356^post44, __disjvr_18^0'=__disjvr_18^post44, i_33^0'=i_33^post44, __disjvr_28^0'=__disjvr_28^post44, tmp_37^0'=tmp_37^post44, r_236^0'=r_236^post44, z_279^0'=z_279^post44, __disjvr_10^0'=__disjvr_10^post44, a_347^0'=a_347^post44, result_11^0'=result_11^post44, __disjvr_22^0'=__disjvr_22^post44, x_SLAM_f_21^0'=x_SLAM_f_21^post44, __disjvr_5^0'=__disjvr_5^post44, rcd_226^0'=rcd_226^post44, __disjvr_15^0'=__disjvr_15^post44, i_111^0'=i_111^post44, __disjvr_25^0'=__disjvr_25^post44, temp0_34^0'=temp0_34^post44, lt_483^0'=lt_483^post44, z_238^0'=z_238^post44, a_166^0'=a_166^post44, a_267^0'=a_267^post44, rcd_396^0'=rcd_396^post44, __disjvr_1^0'=__disjvr_1^post44, len_266^0'=len_266^post44, __disjvr_2^0'=__disjvr_2^post44, rcd_105^0'=rcd_105^post44, z_389^0'=z_389^post44, __disjvr_12^0'=__disjvr_12^post44, ct_20^0'=ct_20^post44, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post44, lt_17^0'=lt_17^post44, z_160^0'=z_160^post44, __disjvr_7^0'=__disjvr_7^post44, rcd_237^0'=rcd_237^post44, rcd_352^0'=rcd_352^post44, __disjvr_17^0'=__disjvr_17^post44, i_227^0'=i_227^post44, __disjvr_27^0'=__disjvr_27^post44, temp_38^0'=temp_38^post44, r_178^0'=r_178^post44, z_265^0'=z_265^post44, (__disjvr_24^0-__disjvr_24^post44 == 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ -length_32^post44+length_32^0 == 0 /\ temp1_30^0-temp1_30^post44 == 0 /\ -i_111^post44+i_111^0 == 0 /\ len_286^0-len_286^post44 == 0 /\ -__disjvr_27^post44+__disjvr_27^0 == 0 /\ -len_266^post44+len_266^0 == 0 /\ rcd_113^0-rcd_113^post44 == 0 /\ a_210^0-a_210^post44 == 0 /\ __disjvr_5^0-__disjvr_5^post44 == 0 /\ -i_227^post44+i_227^0 == 0 /\ rcd_70^0-rcd_70^post44 == 0 /\ a_321^0-a_321^post44 == 0 /\ __disjvr_6^0-__disjvr_6^post44 == 0 /\ -rcd_356^post44+rcd_356^0 == 0 /\ -lt_29^post44+lt_29^0 == 0 /\ z_28^0-z_28^post44 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_20^post44+__disjvr_20^0 == 0 /\ i_120^0-i_120^post44 == 0 /\ -a_166^post44+a_166^0 == 0 /\ -nondet_12^post44+nondet_12^0 == 0 /\ -z_265^post44+z_265^0 == 0 /\ head_35^0-head_35^post44 == 0 /\ rcd_46^0-rcd_46^post44 == 0 /\ -rcd_396^post44+rcd_396^0 == 0 /\ rcd_105^0-rcd_105^post44 == 0 /\ -z_160^post44+z_160^0 == 0 /\ rcd_222^0-rcd_222^post44 == 0 /\ -__disjvr_2^post44+__disjvr_2^0 == 0 /\ -z_389^post44+z_389^0 == 0 /\ __disjvr_28^0-__disjvr_28^post44 == 0 /\ z_279^0-z_279^post44 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ x_19^0-x_19^post44 == 0 /\ __disjvr_4^0-__disjvr_4^post44 == 0 /\ -__disjvr_9^post44+__disjvr_9^0 == 0 /\ a_267^0-a_267^post44 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0 /\ t_24^0-t_24^post44 == 0 /\ z_238^0-z_238^post44 == 0 /\ -lt_483^post44+lt_483^0 == 0 /\ __disjvr_16^0-__disjvr_16^post44 == 0 /\ z_188^0-z_188^post44 == 0 /\ -rcd_228^post44+rcd_228^0 == 0 /\ -__disjvr_22^post44+__disjvr_22^0 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ -r_178^post44+r_178^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_227^0 <= 0 /\ -rcd_352^post44+rcd_352^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ __disjvr_26^0-__disjvr_26^post44 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post44+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -tmp_37^post44+tmp_37^0 == 0 /\ -rcd_226^post44+rcd_226^0 == 0 /\ -rcd_237^post44+rcd_237^0 == 0 /\ -__disjvr_10^post44+__disjvr_10^0 == 0 /\ y_22^0-y_22^post44 == 0 /\ x_23^0-x_23^post44 == 0 /\ -rcd_264^post44+rcd_264^0 == 0 /\ -lt_386^post44+lt_386^0 == 0 /\ z_252^0-z_252^post44 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ __disjvr_11^0-__disjvr_11^post44 == 0 /\ a_347^0-a_347^post44 == 0 /\ -a_27^post44+a_27^0 == 0 /\ -ct_20^post44+ct_20^0 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ -__disjvr_25^post44+__disjvr_25^0 == 0 /\ __disjvr_8^0-__disjvr_8^post44 == 0 /\ __disjvr_23^0-__disjvr_23^post44 == 0 /\ -a_377^post44+a_377^0 == 0 /\ -r_236^post44+r_236^0 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ -__disjvr_7^post44+__disjvr_7^0 == 0 /\ result_11^0-result_11^post44 == 0 /\ z_229^0-z_229^post44 == 0 /\ -lt_17^post44+lt_17^0 == 0 /\ -temp0_34^post44+temp0_34^0 == 0 /\ head_13^0-head_13^post44 == 0 /\ -__disjvr_13^post44+__disjvr_13^0 == 0 /\ -rcd_376^post44+rcd_376^0 == 0 /\ -__disjvr_18^post44+__disjvr_18^0 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post44 == 0 /\ i_33^0-i_33^post44 == 0 /\ -len_195^post44+len_195^0 == 0 /\ r_42^0-r_42^post44 == 0 /\ -x_SLAM_f_21^post44+x_SLAM_f_21^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ temp0_18^0-temp0_18^post44 == 0 /\ -temp_38^post44+temp_38^0 == 0 /\ __disjvr_15^0-__disjvr_15^post44 == 0), cost: 1
New rule:
l43 -> l39 : (-i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_227^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l38 -> l44 : __disjvr_0^0'=__disjvr_0^post45, a_321^0'=a_321^post45, rcd_70^0'=rcd_70^post45, __disjvr_21^0'=__disjvr_21^post45, x_23^0'=x_23^post45, __disjvr_4^0'=__disjvr_4^post45, rcd_222^0'=rcd_222^post45, __disjvr_14^0'=__disjvr_14^post45, head_35^0'=head_35^post45, __disjvr_24^0'=__disjvr_24^post45, temp0_18^0'=temp0_18^post45, lt_386^0'=lt_386^post45, z_229^0'=z_229^post45, __disjvr_9^0'=__disjvr_9^post45, a_210^0'=a_210^post45, rcd_376^0'=rcd_376^post45, __disjvr_19^0'=__disjvr_19^post45, len_195^0'=len_195^post45, __disjvr_29^0'=__disjvr_29^post45, x_19^0'=x_19^post45, r_42^0'=r_42^post45, z_28^0'=z_28^post45, __disjvr_11^0'=__disjvr_11^post45, a_377^0'=a_377^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post45, length_32^0'=length_32^post45, y_22^0'=y_22^post45, __disjvr_6^0'=__disjvr_6^post45, rcd_228^0'=rcd_228^post45, __disjvr_16^0'=__disjvr_16^post45, i_120^0'=i_120^post45, __disjvr_26^0'=__disjvr_26^post45, temp1_30^0'=temp1_30^post45, nondet_12^0'=nondet_12^post45, z_252^0'=z_252^post45, a_27^0'=a_27^post45, rcd_46^0'=rcd_46^post45, __disjvr_20^0'=__disjvr_20^post45, len_286^0'=len_286^post45, __disjvr_3^0'=__disjvr_3^post45, rcd_113^0'=rcd_113^post45, __disjvr_13^0'=__disjvr_13^post45, head_13^0'=head_13^post45, __disjvr_23^0'=__disjvr_23^post45, t_24^0'=t_24^post45, lt_29^0'=lt_29^post45, z_188^0'=z_188^post45, __disjvr_8^0'=__disjvr_8^post45, rcd_264^0'=rcd_264^post45, rcd_356^0'=rcd_356^post45, __disjvr_18^0'=__disjvr_18^post45, i_33^0'=i_33^post45, __disjvr_28^0'=__disjvr_28^post45, tmp_37^0'=tmp_37^post45, r_236^0'=r_236^post45, z_279^0'=z_279^post45, __disjvr_10^0'=__disjvr_10^post45, a_347^0'=a_347^post45, result_11^0'=result_11^post45, __disjvr_22^0'=__disjvr_22^post45, x_SLAM_f_21^0'=x_SLAM_f_21^post45, __disjvr_5^0'=__disjvr_5^post45, rcd_226^0'=rcd_226^post45, __disjvr_15^0'=__disjvr_15^post45, i_111^0'=i_111^post45, __disjvr_25^0'=__disjvr_25^post45, temp0_34^0'=temp0_34^post45, lt_483^0'=lt_483^post45, z_238^0'=z_238^post45, a_166^0'=a_166^post45, a_267^0'=a_267^post45, rcd_396^0'=rcd_396^post45, __disjvr_1^0'=__disjvr_1^post45, len_266^0'=len_266^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_105^0'=rcd_105^post45, z_389^0'=z_389^post45, __disjvr_12^0'=__disjvr_12^post45, ct_20^0'=ct_20^post45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, lt_17^0'=lt_17^post45, z_160^0'=z_160^post45, __disjvr_7^0'=__disjvr_7^post45, rcd_237^0'=rcd_237^post45, rcd_352^0'=rcd_352^post45, __disjvr_17^0'=__disjvr_17^post45, i_227^0'=i_227^post45, __disjvr_27^0'=__disjvr_27^post45, temp_38^0'=temp_38^post45, r_178^0'=r_178^post45, z_265^0'=z_265^post45, (0 == 0 /\ z_28^0-z_28^post45 == 0 /\ __disjvr_13^0-__disjvr_13^post45 == 0 /\ 1-length_32^0+i_111^post45 <= 0 /\ -__disjvr_11^post45+__disjvr_11^0 == 0 /\ -a_347^post45+a_347^0 == 0 /\ -ct_20^post45+ct_20^0 == 0 /\ z_229^0-z_229^post45 == 0 /\ -__disjvr_1^post45+__disjvr_1^0 == 0 /\ -rcd_352^post45+rcd_352^0 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ -__disjvr_25^post45+__disjvr_25^0 == 0 /\ -rcd_46^post45+rcd_113^post45 <= 0 /\ rcd_222^0-rcd_222^post45 == 0 /\ x_19^0-x_19^post45 == 0 /\ __disjvr_19^0-__disjvr_19^post45 == 0 /\ -__disjvr_22^post45+__disjvr_22^0 == 0 /\ rcd_228^0-rcd_228^post45 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post45 == 0 /\ -__disjvr_16^post45+__disjvr_16^0 == 0 /\ a_267^0-a_267^post45 == 0 /\ -z_265^post45+z_265^0 == 0 /\ x_23^0-x_23^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post45+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_264^post45+rcd_264^0 == 0 /\ -t_24^post45+t_24^0 == 0 /\ -rcd_237^post45+rcd_237^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ rcd_226^0-rcd_226^post45 == 0 /\ temp1_30^0-temp1_30^post45 == 0 /\ 1+i_111^post45-i_33^post45 <= 0 /\ -tmp_37^post45+head_35^post45 == 0 /\ r_236^0-r_236^post45 == 0 /\ -a_377^post45+a_377^0 == 0 /\ -temp0_34^post45+temp0_34^0 == 0 /\ __disjvr_4^0-__disjvr_4^post45 == 0 /\ __disjvr_26^0-__disjvr_26^post45 == 0 /\ rcd_46^post45-rcd_113^post45 <= 0 /\ z_389^0-z_389^post45 == 0 /\ a_321^0-a_321^post45 == 0 /\ a_27^0-a_27^post45 == 0 /\ -r_178^post45+r_178^0 == 0 /\ z_252^0-z_252^post45 == 0 /\ __disjvr_23^0-__disjvr_23^post45 == 0 /\ tmp_37^post45-temp_38^0 == 0 /\ -__disjvr_3^post45+__disjvr_3^0 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ -i_33^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ __disjvr_6^0-__disjvr_6^post45 == 0 /\ -len_266^post45+len_266^0 == 0 /\ -lt_17^post45+lt_17^0 == 0 /\ -z_279^post45+z_279^0 == 0 /\ __disjvr_21^0-__disjvr_21^post45 == 0 /\ lt_386^0-lt_386^post45 == 0 /\ -i_227^post45+i_227^0 == 0 /\ 1-length_32^0+i_33^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post45 == 0 /\ -length_32^post45+length_32^0 == 0 /\ lt_483^0-lt_483^post45 == 0 /\ rcd_46^0-rcd_113^post45 <= 0 /\ -lt_29^post45+lt_29^0 == 0 /\ -__disjvr_27^post45+__disjvr_27^0 == 0 /\ -x_SLAM_f_21^post45+x_SLAM_f_21^0 == 0 /\ i_120^0-i_120^post45 == 0 /\ z_188^0-z_188^post45 == 0 /\ len_286^0-len_286^post45 == 0 /\ rcd_356^0-rcd_356^post45 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ -z_238^post45+z_238^0 == 0 /\ head_13^0-head_13^post45 == 0 /\ __disjvr_29^0-__disjvr_29^post45 == 0 /\ -__disjvr_2^post45+__disjvr_2^0 == 0 /\ -__disjvr_28^post45+__disjvr_28^0 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ -__disjvr_9^post45+__disjvr_9^0 == 0 /\ r_42^0-r_42^post45 == 0 /\ __disjvr_18^0-__disjvr_18^post45 == 0 /\ -rcd_396^post45+rcd_396^0 == 0 /\ -1-i_111^post45+i_33^post45 <= 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0 /\ len_195^0-len_195^post45 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ -1-i_33^0+i_33^post45 == 0 /\ y_22^0-y_22^post45 == 0 /\ -rcd_46^0+rcd_113^post45 <= 0 /\ a_210^0-a_210^post45 == 0 /\ rcd_376^0-rcd_376^post45 == 0 /\ rcd_70^0-rcd_70^post45 == 0 /\ -a_166^post45+a_166^0 == 0 /\ -z_160^post45+z_160^0 == 0 /\ -__disjvr_8^post45+__disjvr_8^0 == 0 /\ -temp0_18^post45+temp0_18^0 == 0 /\ -__disjvr_10^post45+__disjvr_10^0 == 0), cost: 1
New rule:
l38 -> l44 : head_35^0'=temp_38^0, rcd_113^0'=rcd_46^0, i_33^0'=1+i_33^0, tmp_37^0'=temp_38^0, i_111^0'=i_33^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (1-length_32^0+i_33^0 <= 0 /\ i_33^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l44 -> l38 : __disjvr_0^0'=__disjvr_0^post46, a_321^0'=a_321^post46, rcd_70^0'=rcd_70^post46, __disjvr_21^0'=__disjvr_21^post46, x_23^0'=x_23^post46, __disjvr_4^0'=__disjvr_4^post46, rcd_222^0'=rcd_222^post46, __disjvr_14^0'=__disjvr_14^post46, head_35^0'=head_35^post46, __disjvr_24^0'=__disjvr_24^post46, temp0_18^0'=temp0_18^post46, lt_386^0'=lt_386^post46, z_229^0'=z_229^post46, __disjvr_9^0'=__disjvr_9^post46, a_210^0'=a_210^post46, rcd_376^0'=rcd_376^post46, __disjvr_19^0'=__disjvr_19^post46, len_195^0'=len_195^post46, __disjvr_29^0'=__disjvr_29^post46, x_19^0'=x_19^post46, r_42^0'=r_42^post46, z_28^0'=z_28^post46, __disjvr_11^0'=__disjvr_11^post46, a_377^0'=a_377^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post46, length_32^0'=length_32^post46, y_22^0'=y_22^post46, __disjvr_6^0'=__disjvr_6^post46, rcd_228^0'=rcd_228^post46, __disjvr_16^0'=__disjvr_16^post46, i_120^0'=i_120^post46, __disjvr_26^0'=__disjvr_26^post46, temp1_30^0'=temp1_30^post46, nondet_12^0'=nondet_12^post46, z_252^0'=z_252^post46, a_27^0'=a_27^post46, rcd_46^0'=rcd_46^post46, __disjvr_20^0'=__disjvr_20^post46, len_286^0'=len_286^post46, __disjvr_3^0'=__disjvr_3^post46, rcd_113^0'=rcd_113^post46, __disjvr_13^0'=__disjvr_13^post46, head_13^0'=head_13^post46, __disjvr_23^0'=__disjvr_23^post46, t_24^0'=t_24^post46, lt_29^0'=lt_29^post46, z_188^0'=z_188^post46, __disjvr_8^0'=__disjvr_8^post46, rcd_264^0'=rcd_264^post46, rcd_356^0'=rcd_356^post46, __disjvr_18^0'=__disjvr_18^post46, i_33^0'=i_33^post46, __disjvr_28^0'=__disjvr_28^post46, tmp_37^0'=tmp_37^post46, r_236^0'=r_236^post46, z_279^0'=z_279^post46, __disjvr_10^0'=__disjvr_10^post46, a_347^0'=a_347^post46, result_11^0'=result_11^post46, __disjvr_22^0'=__disjvr_22^post46, x_SLAM_f_21^0'=x_SLAM_f_21^post46, __disjvr_5^0'=__disjvr_5^post46, rcd_226^0'=rcd_226^post46, __disjvr_15^0'=__disjvr_15^post46, i_111^0'=i_111^post46, __disjvr_25^0'=__disjvr_25^post46, temp0_34^0'=temp0_34^post46, lt_483^0'=lt_483^post46, z_238^0'=z_238^post46, a_166^0'=a_166^post46, a_267^0'=a_267^post46, rcd_396^0'=rcd_396^post46, __disjvr_1^0'=__disjvr_1^post46, len_266^0'=len_266^post46, __disjvr_2^0'=__disjvr_2^post46, rcd_105^0'=rcd_105^post46, z_389^0'=z_389^post46, __disjvr_12^0'=__disjvr_12^post46, ct_20^0'=ct_20^post46, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post46, lt_17^0'=lt_17^post46, z_160^0'=z_160^post46, __disjvr_7^0'=__disjvr_7^post46, rcd_237^0'=rcd_237^post46, rcd_352^0'=rcd_352^post46, __disjvr_17^0'=__disjvr_17^post46, i_227^0'=i_227^post46, __disjvr_27^0'=__disjvr_27^post46, temp_38^0'=temp_38^post46, r_178^0'=r_178^post46, z_265^0'=z_265^post46, (a_377^0-a_377^post46 == 0 /\ -len_266^post46+len_266^0 == 0 /\ __disjvr_26^0-__disjvr_26^post46 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ __disjvr_29^0-__disjvr_29^post46 == 0 /\ -z_279^post46+z_279^0 == 0 /\ a_210^0-a_210^post46 == 0 /\ rcd_70^0-rcd_70^post46 == 0 /\ -len_286^post46+len_286^0 == 0 /\ -i_227^post46+i_227^0 == 0 /\ x_23^0-x_23^post46 == 0 /\ -length_32^post46+length_32^0 == 0 /\ __disjvr_8^0-__disjvr_8^post46 == 0 /\ -z_389^post46+z_389^0 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ r_236^0-r_236^post46 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post46 == 0 /\ __disjvr_1^0-__disjvr_1^post46 == 0 /\ rcd_46^0-rcd_46^post46 == 0 /\ -z_238^post46+z_238^0 == 0 /\ -lt_29^post46+lt_29^0 == 0 /\ -i_111^post46+i_111^0 == 0 /\ -__disjvr_2^post46+__disjvr_2^0 == 0 /\ -z_265^post46+z_265^0 == 0 /\ __disjvr_21^0-__disjvr_21^post46 == 0 /\ -z_160^post46+z_160^0 == 0 /\ -__disjvr_28^post46+__disjvr_28^0 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ a_267^0-a_267^post46 == 0 /\ rcd_222^0-rcd_222^post46 == 0 /\ head_13^0-head_13^post46 == 0 /\ -__disjvr_10^post46+__disjvr_10^0 == 0 /\ __disjvr_4^0-__disjvr_4^post46 == 0 /\ i_120^0-i_120^post46 == 0 /\ rcd_228^0-rcd_228^post46 == 0 /\ temp0_18^0-temp0_18^post46 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post46 == 0 /\ -lt_483^post46+lt_483^0 == 0 /\ i_33^0-i_33^post46 == 0 /\ r_42^0-r_42^post46 == 0 /\ -a_166^post46+a_166^0 == 0 /\ __disjvr_18^0-__disjvr_18^post46 == 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ -t_24^post46+t_24^0 == 0 /\ -__disjvr_22^post46+__disjvr_22^0 == 0 /\ -r_178^post46+r_178^0 == 0 /\ -tmp_37^post46+tmp_37^0 == 0 /\ -a_347^post46+a_347^0 == 0 /\ y_22^0-y_22^post46 == 0 /\ a_27^0-a_27^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post46+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ rcd_356^0-rcd_356^post46 == 0 /\ -__disjvr_11^post46+__disjvr_11^0 == 0 /\ __disjvr_5^0-__disjvr_5^post46 == 0 /\ -rcd_264^post46+rcd_264^0 == 0 /\ -z_229^post46+z_229^0 == 0 /\ -ct_20^post46+ct_20^0 == 0 /\ rcd_113^0-rcd_113^post46 == 0 /\ -rcd_226^post46+rcd_226^0 == 0 /\ __disjvr_6^0-__disjvr_6^post46 == 0 /\ -z_188^post46+z_188^0 == 0 /\ rcd_237^0-rcd_237^post46 == 0 /\ rcd_376^0-rcd_376^post46 == 0 /\ __disjvr_19^0-__disjvr_19^post46 == 0 /\ -rcd_396^post46+rcd_396^0 == 0 /\ a_321^0-a_321^post46 == 0 /\ z_28^0-z_28^post46 == 0 /\ -__disjvr_24^post46+__disjvr_24^0 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ -__disjvr_25^post46+__disjvr_25^0 == 0 /\ len_195^0-len_195^post46 == 0 /\ -rcd_105^post46+rcd_105^0 == 0 /\ -temp_38^post46+temp_38^0 == 0 /\ head_35^0-head_35^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ -temp0_34^post46+temp0_34^0 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ -lt_17^post46+lt_17^0 == 0 /\ z_252^0-z_252^post46 == 0 /\ -result_11^post46+result_11^0 == 0 /\ lt_386^0-lt_386^post46 == 0 /\ -__disjvr_7^post46+__disjvr_7^0 == 0 /\ __disjvr_15^0-__disjvr_15^post46 == 0 /\ -temp1_30^post46+temp1_30^0 == 0 /\ -__disjvr_13^post46+__disjvr_13^0 == 0 /\ -__disjvr_3^post46+__disjvr_3^0 == 0 /\ x_19^0-x_19^post46 == 0 /\ -rcd_352^post46+rcd_352^0 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ __disjvr_16^0-__disjvr_16^post46 == 0), cost: 1
New rule:
l44 -> l38 : TRUE, cost: 1

Applied preprocessing
Original rule:
l45 -> l25 : __disjvr_0^0'=__disjvr_0^post48, a_321^0'=a_321^post48, rcd_70^0'=rcd_70^post48, __disjvr_21^0'=__disjvr_21^post48, x_23^0'=x_23^post48, __disjvr_4^0'=__disjvr_4^post48, rcd_222^0'=rcd_222^post48, __disjvr_14^0'=__disjvr_14^post48, head_35^0'=head_35^post48, __disjvr_24^0'=__disjvr_24^post48, temp0_18^0'=temp0_18^post48, lt_386^0'=lt_386^post48, z_229^0'=z_229^post48, __disjvr_9^0'=__disjvr_9^post48, a_210^0'=a_210^post48, rcd_376^0'=rcd_376^post48, __disjvr_19^0'=__disjvr_19^post48, len_195^0'=len_195^post48, __disjvr_29^0'=__disjvr_29^post48, x_19^0'=x_19^post48, r_42^0'=r_42^post48, z_28^0'=z_28^post48, __disjvr_11^0'=__disjvr_11^post48, a_377^0'=a_377^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48, length_32^0'=length_32^post48, y_22^0'=y_22^post48, __disjvr_6^0'=__disjvr_6^post48, rcd_228^0'=rcd_228^post48, __disjvr_16^0'=__disjvr_16^post48, i_120^0'=i_120^post48, __disjvr_26^0'=__disjvr_26^post48, temp1_30^0'=temp1_30^post48, nondet_12^0'=nondet_12^post48, z_252^0'=z_252^post48, a_27^0'=a_27^post48, rcd_46^0'=rcd_46^post48, __disjvr_20^0'=__disjvr_20^post48, len_286^0'=len_286^post48, __disjvr_3^0'=__disjvr_3^post48, rcd_113^0'=rcd_113^post48, __disjvr_13^0'=__disjvr_13^post48, head_13^0'=head_13^post48, __disjvr_23^0'=__disjvr_23^post48, t_24^0'=t_24^post48, lt_29^0'=lt_29^post48, z_188^0'=z_188^post48, __disjvr_8^0'=__disjvr_8^post48, rcd_264^0'=rcd_264^post48, rcd_356^0'=rcd_356^post48, __disjvr_18^0'=__disjvr_18^post48, i_33^0'=i_33^post48, __disjvr_28^0'=__disjvr_28^post48, tmp_37^0'=tmp_37^post48, r_236^0'=r_236^post48, z_279^0'=z_279^post48, __disjvr_10^0'=__disjvr_10^post48, a_347^0'=a_347^post48, result_11^0'=result_11^post48, __disjvr_22^0'=__disjvr_22^post48, x_SLAM_f_21^0'=x_SLAM_f_21^post48, __disjvr_5^0'=__disjvr_5^post48, rcd_226^0'=rcd_226^post48, __disjvr_15^0'=__disjvr_15^post48, i_111^0'=i_111^post48, __disjvr_25^0'=__disjvr_25^post48, temp0_34^0'=temp0_34^post48, lt_483^0'=lt_483^post48, z_238^0'=z_238^post48, a_166^0'=a_166^post48, a_267^0'=a_267^post48, rcd_396^0'=rcd_396^post48, __disjvr_1^0'=__disjvr_1^post48, len_266^0'=len_266^post48, __disjvr_2^0'=__disjvr_2^post48, rcd_105^0'=rcd_105^post48, z_389^0'=z_389^post48, __disjvr_12^0'=__disjvr_12^post48, ct_20^0'=ct_20^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post48, lt_17^0'=lt_17^post48, z_160^0'=z_160^post48, __disjvr_7^0'=__disjvr_7^post48, rcd_237^0'=rcd_237^post48, rcd_352^0'=rcd_352^post48, __disjvr_17^0'=__disjvr_17^post48, i_227^0'=i_227^post48, __disjvr_27^0'=__disjvr_27^post48, temp_38^0'=temp_38^post48, r_178^0'=r_178^post48, z_265^0'=z_265^post48, (0 == 0 /\ 1-i_33^post48 <= 0 /\ -1+i_33^post48 <= 0 /\ -len_266^post48+len_266^0 == 0 /\ tmp_37^post48-head_35^post48 <= 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ -x_SLAM_f_21^post48+x_SLAM_f_21^0 == 0 /\ rcd_396^0-rcd_396^post48 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0 /\ length_32^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post48 <= 0 /\ tmp_37^post48-temp_38^0 == 0 /\ a_321^0-a_321^post48 == 0 /\ len_195^0-len_195^post48 == 0 /\ temp0_18^0-temp0_18^post48 == 0 /\ y_22^0-y_22^post48 == 0 /\ -__disjvr_20^post48+__disjvr_20^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48+head_35^post48 <= 0 /\ -i_227^post48+i_227^0 == 0 /\ r_42^0-r_42^post48 == 0 /\ __disjvr_5^0-__disjvr_5^post48 == 0 /\ -z_389^post48+z_389^0 == 0 /\ rcd_113^0-rcd_113^post48 == 0 /\ nondet_12^0-nondet_12^post48 == 0 /\ -rcd_356^post48+rcd_356^0 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ __disjvr_9^0-__disjvr_9^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48-tmp_37^post48 <= 0 /\ -__disjvr_6^post48+__disjvr_6^0 == 0 /\ -z_265^post48+z_265^0 == 0 /\ -__disjvr_2^post48+__disjvr_2^0 == 0 /\ -tmp_37^post48+head_35^post48 <= 0 /\ -tmp_37^post48+head_35^post48 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ -z_28^post48+z_28^0 == 0 /\ rcd_46^0-rcd_46^post48 == 0 /\ x_19^0-x_19^post48 == 0 /\ -z_160^post48+z_160^0 == 0 /\ -length_32^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post48 <= 0 /\ rcd_105^0-rcd_105^post48 == 0 /\ length_32^0-length_32^post48 == 0 /\ z_279^0-z_279^post48 == 0 /\ __disjvr_0^0-__disjvr_0^post48 == 0 /\ -__disjvr_26^post48+__disjvr_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48-head_35^post48 <= 0 /\ __disjvr_28^0-__disjvr_28^post48 == 0 /\ -1-i_33^0+i_33^post48 == 0 /\ __disjvr_16^0-__disjvr_16^post48 == 0 /\ -__disjvr_15^post48+__disjvr_15^0 == 0 /\ a_377^0-a_377^post48 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ z_238^0-z_238^post48 == 0 /\ -a_267^post48+a_267^0 == 0 /\ -lt_483^post48+lt_483^0 == 0 /\ t_24^0-t_24^post48 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post48+tmp_37^post48 <= 0 /\ -a_166^post48+a_166^0 == 0 /\ lt_29^0-lt_29^post48 == 0 /\ -lt_386^post48+lt_386^0 == 0 /\ -__disjvr_22^post48+__disjvr_22^0 == 0 /\ 1-length_32^0+i_33^0 <= 0 /\ -r_178^post48+r_178^0 == 0 /\ -__disjvr_10^post48+__disjvr_10^0 == 0 /\ -rcd_237^post48+rcd_237^0 == 0 /\ rcd_228^0-rcd_228^post48 == 0 /\ rcd_70^0-rcd_70^post48 == 0 /\ temp1_30^0-temp1_30^post48 == 0 /\ x_23^0-x_23^post48 == 0 /\ __disjvr_11^0-__disjvr_11^post48 == 0 /\ -rcd_264^post48+rcd_264^0 == 0 /\ -rcd_226^post48+rcd_226^0 == 0 /\ -ct_20^post48+ct_20^0 == 0 /\ -a_27^post48+a_27^0 == 0 /\ -head_13^post48+head_13^0 == 0 /\ a_210^0-a_210^post48 == 0 /\ __disjvr_8^0-__disjvr_8^post48 == 0 /\ -__disjvr_25^post48+__disjvr_25^0 == 0 /\ -z_252^post48+z_252^0 == 0 /\ z_229^0-z_229^post48 == 0 /\ 1-length_32^0 <= 0 /\ rcd_376^0-rcd_376^post48 == 0 /\ __disjvr_19^0-__disjvr_19^post48 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ -lt_17^post48+lt_17^0 == 0 /\ -__disjvr_7^post48+__disjvr_7^0 == 0 /\ -__disjvr_18^post48+__disjvr_18^0 == 0 /\ -r_236^post48+r_236^0 == 0 /\ rcd_352^0-rcd_352^post48 == 0 /\ a_347^0-a_347^post48 == 0 /\ rcd_222^0-rcd_222^post48 == 0 /\ -__disjvr_23^post48+__disjvr_23^0 == 0 /\ -z_188^post48+z_188^0 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ __disjvr_29^0-__disjvr_29^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ __disjvr_4^0-__disjvr_4^post48 == 0 /\ -__disjvr_13^post48+__disjvr_13^0 == 0 /\ -len_286^post48+len_286^0 == 0 /\ -temp0_34^post48+temp0_34^0 == 0 /\ -i_120^post48+i_120^0 == 0 /\ i_111^0-i_111^post48 == 0), cost: 1
New rule:
l45 -> l25 : head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, i_33^0'=1, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_32^0, temp_38^0'=temp_38^post48, (i_33^0 == 0 /\ -1+length_32^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l39 -> l46 : __disjvr_0^0'=__disjvr_0^post49, a_321^0'=a_321^post49, rcd_70^0'=rcd_70^post49, __disjvr_21^0'=__disjvr_21^post49, x_23^0'=x_23^post49, __disjvr_4^0'=__disjvr_4^post49, rcd_222^0'=rcd_222^post49, __disjvr_14^0'=__disjvr_14^post49, head_35^0'=head_35^post49, __disjvr_24^0'=__disjvr_24^post49, temp0_18^0'=temp0_18^post49, lt_386^0'=lt_386^post49, z_229^0'=z_229^post49, __disjvr_9^0'=__disjvr_9^post49, a_210^0'=a_210^post49, rcd_376^0'=rcd_376^post49, __disjvr_19^0'=__disjvr_19^post49, len_195^0'=len_195^post49, __disjvr_29^0'=__disjvr_29^post49, x_19^0'=x_19^post49, r_42^0'=r_42^post49, z_28^0'=z_28^post49, __disjvr_11^0'=__disjvr_11^post49, a_377^0'=a_377^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post49, length_32^0'=length_32^post49, y_22^0'=y_22^post49, __disjvr_6^0'=__disjvr_6^post49, rcd_228^0'=rcd_228^post49, __disjvr_16^0'=__disjvr_16^post49, i_120^0'=i_120^post49, __disjvr_26^0'=__disjvr_26^post49, temp1_30^0'=temp1_30^post49, nondet_12^0'=nondet_12^post49, z_252^0'=z_252^post49, a_27^0'=a_27^post49, rcd_46^0'=rcd_46^post49, __disjvr_20^0'=__disjvr_20^post49, len_286^0'=len_286^post49, __disjvr_3^0'=__disjvr_3^post49, rcd_113^0'=rcd_113^post49, __disjvr_13^0'=__disjvr_13^post49, head_13^0'=head_13^post49, __disjvr_23^0'=__disjvr_23^post49, t_24^0'=t_24^post49, lt_29^0'=lt_29^post49, z_188^0'=z_188^post49, __disjvr_8^0'=__disjvr_8^post49, rcd_264^0'=rcd_264^post49, rcd_356^0'=rcd_356^post49, __disjvr_18^0'=__disjvr_18^post49, i_33^0'=i_33^post49, __disjvr_28^0'=__disjvr_28^post49, tmp_37^0'=tmp_37^post49, r_236^0'=r_236^post49, z_279^0'=z_279^post49, __disjvr_10^0'=__disjvr_10^post49, a_347^0'=a_347^post49, result_11^0'=result_11^post49, __disjvr_22^0'=__disjvr_22^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post49, __disjvr_5^0'=__disjvr_5^post49, rcd_226^0'=rcd_226^post49, __disjvr_15^0'=__disjvr_15^post49, i_111^0'=i_111^post49, __disjvr_25^0'=__disjvr_25^post49, temp0_34^0'=temp0_34^post49, lt_483^0'=lt_483^post49, z_238^0'=z_238^post49, a_166^0'=a_166^post49, a_267^0'=a_267^post49, rcd_396^0'=rcd_396^post49, __disjvr_1^0'=__disjvr_1^post49, len_266^0'=len_266^post49, __disjvr_2^0'=__disjvr_2^post49, rcd_105^0'=rcd_105^post49, z_389^0'=z_389^post49, __disjvr_12^0'=__disjvr_12^post49, ct_20^0'=ct_20^post49, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, lt_17^0'=lt_17^post49, z_160^0'=z_160^post49, __disjvr_7^0'=__disjvr_7^post49, rcd_237^0'=rcd_237^post49, rcd_352^0'=rcd_352^post49, __disjvr_17^0'=__disjvr_17^post49, i_227^0'=i_227^post49, __disjvr_27^0'=__disjvr_27^post49, temp_38^0'=temp_38^post49, r_178^0'=r_178^post49, z_265^0'=z_265^post49, (0 == 0 /\ -__disjvr_7^post49+__disjvr_7^0 == 0 /\ r_236^0-r_236^post49 == 0 /\ i_33^0-i_33^post49 == 0 /\ -z_389^post49+z_389^0 == 0 /\ -a_210^0 <= 0 /\ t_24^0-t_24^post49 == 0 /\ __disjvr_8^0-__disjvr_8^post49 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ z_188^0-z_188^post49 == 0 /\ -y_22^post49 <= 0 /\ -__disjvr_12^post49+__disjvr_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post49 == 0 /\ ct_20^post49-y_22^post49 <= 0 /\ rcd_46^0-rcd_46^post49 == 0 /\ -temp0_34^post49+temp0_34^0 == 0 /\ -__disjvr_28^post49+__disjvr_28^0 == 0 /\ z_238^0-z_238^post49 == 0 /\ -rcd_228^post49+rcd_228^0 == 0 /\ -temp_38^post49+temp_38^0 == 0 /\ a_377^0-a_377^post49 == 0 /\ -__disjvr_3^post49+__disjvr_3^0 == 0 /\ -length_32^post49+length_32^0 == 0 /\ -len_195^0 <= 0 /\ x_23^post49-lt_17^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post49 == 0 /\ rcd_70^0-rcd_70^post49 == 0 /\ head_35^0-head_35^post49 == 0 /\ __disjvr_20^0-__disjvr_20^post49 == 0 /\ rcd_222^0-rcd_222^post49 == 0 /\ -__disjvr_10^post49+__disjvr_10^0 == 0 /\ -rcd_264^post49+rcd_264^0 == 0 /\ -len_286^post49+len_286^0 == 0 /\ -lt_29^0 <= 0 /\ a_267^0-a_267^post49 == 0 /\ -z_160^post49+z_160^0 == 0 /\ ct_20^post49 <= 0 /\ ct_20^post49 == 0 /\ -tmp_37^post49+tmp_37^0 == 0 /\ -ct_20^post49+y_22^post49 <= 0 /\ -ct_20^post49+y_22^post49 == 0 /\ -rcd_396^post49+rcd_396^0 == 0 /\ -i_111^post49+i_111^0 == 0 /\ -1-len_195^0+len_286^0 <= 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ -i_227^post49+i_227^0 == 0 /\ -x_23^post49+lt_17^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post49 == 0 /\ i_120^0-i_120^post49 == 0 /\ -a_210^post49+a_210^0 == 0 /\ -__disjvr_23^post49+__disjvr_23^0 == 0 /\ head_13^0-head_13^post49 == 0 /\ __disjvr_26^0-__disjvr_26^post49 == 0 /\ __disjvr_1^0-__disjvr_1^post49 == 0 /\ len_266^0-len_266^post49 == 0 /\ lt_29^0 <= 0 /\ rcd_237^0-rcd_237^post49 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post49 == 0 /\ __disjvr_15^0-__disjvr_15^post49 == 0 /\ __disjvr_11^0-__disjvr_11^post49 == 0 /\ __disjvr_6^0-__disjvr_6^post49 == 0 /\ __disjvr_16^0-__disjvr_16^post49 == 0 /\ x_SLAM_f_21^post49-lt_17^0 <= 0 /\ -__disjvr_24^post49+__disjvr_24^0 == 0 /\ -ct_20^post49 <= 0 /\ x_SLAM_f_21^post49-x_19^post49 <= 0 /\ x_SLAM_f_21^post49-x_19^post49 == 0 /\ -rcd_105^post49+rcd_105^0 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -rcd_356^post49+rcd_356^0 == 0 /\ len_195^0-len_195^post49 == 0 /\ -__disjvr_18^post49+__disjvr_18^0 == 0 /\ y_22^post49 <= 0 /\ __disjvr_21^0-__disjvr_21^post49 == 0 /\ x_19^post49-lt_17^0 <= 0 /\ x_19^post49-lt_17^0 == 0 /\ -lt_483^post49+lt_483^0 == 0 /\ -a_347^post49+a_347^0 == 0 /\ x_23^post49-x_SLAM_f_21^post49 <= 0 /\ x_23^post49-x_SLAM_f_21^post49 == 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ -__disjvr_22^post49+__disjvr_22^0 == 0 /\ __disjvr_19^0-__disjvr_19^post49 == 0 /\ -z_265^post49+z_265^0 == 0 /\ rcd_376^0-rcd_376^post49 == 0 /\ __disjvr_5^0-__disjvr_5^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ a_321^0-a_321^post49 == 0 /\ rcd_113^0-rcd_113^post49 == 0 /\ temp0_18^0-temp0_18^post49 == 0 /\ z_252^0-z_252^post49 == 0 /\ -x_SLAM_f_21^post49+lt_17^0 <= 0 /\ -x_SLAM_f_21^post49+x_19^post49 <= 0 /\ __disjvr_9^0-__disjvr_9^post49 == 0 /\ -rcd_352^post49+rcd_352^0 == 0 /\ -__disjvr_25^post49+__disjvr_25^0 == 0 /\ -x_19^post49+lt_17^0 <= 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ -x_23^post49+x_SLAM_f_21^post49 <= 0 /\ 1+len_195^0-len_286^0 <= 0 /\ -lt_17^post49+lt_17^0 == 0 /\ -rcd_226^post49+rcd_226^0 == 0 /\ -r_178^post49+r_178^0 == 0 /\ -a_166^post49+a_166^0 == 0 /\ -result_11^post49+result_11^0 == 0 /\ lt_386^0-lt_386^post49 == 0 /\ -z_229^post49+z_229^0 == 0), cost: 1
New rule:
l39 -> l46 : x_23^0'=lt_17^0, x_19^0'=lt_17^0, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, z_279^0'=z_279^post49, x_SLAM_f_21^0'=lt_17^0, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0), cost: 1

Applied preprocessing
Original rule:
l46 -> l47 : __disjvr_0^0'=__disjvr_0^post50, a_321^0'=a_321^post50, rcd_70^0'=rcd_70^post50, __disjvr_21^0'=__disjvr_21^post50, x_23^0'=x_23^post50, __disjvr_4^0'=__disjvr_4^post50, rcd_222^0'=rcd_222^post50, __disjvr_14^0'=__disjvr_14^post50, head_35^0'=head_35^post50, __disjvr_24^0'=__disjvr_24^post50, temp0_18^0'=temp0_18^post50, lt_386^0'=lt_386^post50, z_229^0'=z_229^post50, __disjvr_9^0'=__disjvr_9^post50, a_210^0'=a_210^post50, rcd_376^0'=rcd_376^post50, __disjvr_19^0'=__disjvr_19^post50, len_195^0'=len_195^post50, __disjvr_29^0'=__disjvr_29^post50, x_19^0'=x_19^post50, r_42^0'=r_42^post50, z_28^0'=z_28^post50, __disjvr_11^0'=__disjvr_11^post50, a_377^0'=a_377^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post50, length_32^0'=length_32^post50, y_22^0'=y_22^post50, __disjvr_6^0'=__disjvr_6^post50, rcd_228^0'=rcd_228^post50, __disjvr_16^0'=__disjvr_16^post50, i_120^0'=i_120^post50, __disjvr_26^0'=__disjvr_26^post50, temp1_30^0'=temp1_30^post50, nondet_12^0'=nondet_12^post50, z_252^0'=z_252^post50, a_27^0'=a_27^post50, rcd_46^0'=rcd_46^post50, __disjvr_20^0'=__disjvr_20^post50, len_286^0'=len_286^post50, __disjvr_3^0'=__disjvr_3^post50, rcd_113^0'=rcd_113^post50, __disjvr_13^0'=__disjvr_13^post50, head_13^0'=head_13^post50, __disjvr_23^0'=__disjvr_23^post50, t_24^0'=t_24^post50, lt_29^0'=lt_29^post50, z_188^0'=z_188^post50, __disjvr_8^0'=__disjvr_8^post50, rcd_264^0'=rcd_264^post50, rcd_356^0'=rcd_356^post50, __disjvr_18^0'=__disjvr_18^post50, i_33^0'=i_33^post50, __disjvr_28^0'=__disjvr_28^post50, tmp_37^0'=tmp_37^post50, r_236^0'=r_236^post50, z_279^0'=z_279^post50, __disjvr_10^0'=__disjvr_10^post50, a_347^0'=a_347^post50, result_11^0'=result_11^post50, __disjvr_22^0'=__disjvr_22^post50, x_SLAM_f_21^0'=x_SLAM_f_21^post50, __disjvr_5^0'=__disjvr_5^post50, rcd_226^0'=rcd_226^post50, __disjvr_15^0'=__disjvr_15^post50, i_111^0'=i_111^post50, __disjvr_25^0'=__disjvr_25^post50, temp0_34^0'=temp0_34^post50, lt_483^0'=lt_483^post50, z_238^0'=z_238^post50, a_166^0'=a_166^post50, a_267^0'=a_267^post50, rcd_396^0'=rcd_396^post50, __disjvr_1^0'=__disjvr_1^post50, len_266^0'=len_266^post50, __disjvr_2^0'=__disjvr_2^post50, rcd_105^0'=rcd_105^post50, z_389^0'=z_389^post50, __disjvr_12^0'=__disjvr_12^post50, ct_20^0'=ct_20^post50, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post50, lt_17^0'=lt_17^post50, z_160^0'=z_160^post50, __disjvr_7^0'=__disjvr_7^post50, rcd_237^0'=rcd_237^post50, rcd_352^0'=rcd_352^post50, __disjvr_17^0'=__disjvr_17^post50, i_227^0'=i_227^post50, __disjvr_27^0'=__disjvr_27^post50, temp_38^0'=temp_38^post50, r_178^0'=r_178^post50, z_265^0'=z_265^post50, (-z_160^post50+z_160^0 == 0 /\ __disjvr_13^0-__disjvr_13^post50 == 0 /\ __disjvr_10^0-__disjvr_10^post50 == 0 /\ __disjvr_20^0-__disjvr_20^post50 == 0 /\ a_27^0-a_27^post50 == 0 /\ -__disjvr_11^post50+__disjvr_11^0 == 0 /\ tmp_37^0-tmp_37^post50 == 0 /\ -rcd_105^post50+rcd_105^0 == 0 /\ -z_265^post50+z_265^0 == 0 /\ -__disjvr_1^post50+__disjvr_1^0 == 0 /\ __disjvr_22^0-__disjvr_22^post50 == 0 /\ -__disjvr_15^post50+__disjvr_15^0 == 0 /\ z_252^0-z_252^post50 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ -lt_483^post50+lt_483^0 == 0 /\ lt_386^0-lt_386^post50 == 0 /\ i_120^0-i_120^post50 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ __disjvr_26^0-__disjvr_26^post50 == 0 /\ -z_279^post50+z_279^0 == 0 /\ x_23^0-x_23^post50 == 0 /\ rcd_222^0-rcd_222^post50 == 0 /\ z_229^0-z_229^post50 == 0 /\ y_22^0-y_22^post50 == 0 /\ -__disjvr_3^post50+__disjvr_3^0 == 0 /\ -rcd_352^post50+rcd_352^0 == 0 /\ -z_238^post50+z_238^0 == 0 /\ -a_347^post50+a_347^0 == 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ a_377^0-a_377^post50 == 0 /\ __disjvr_16^0-__disjvr_16^post50 == 0 /\ z_188^0-z_188^post50 == 0 /\ length_32^0-length_32^post50 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post50+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -i_33^post50+i_33^0 == 0 /\ -rcd_46^post50+rcd_46^0 == 0 /\ -len_266^post50+len_266^0 == 0 /\ -r_178^post50+r_178^0 == 0 /\ -lt_29^post50+lt_29^0 == 0 /\ -__disjvr_22^0+__disjvr_22^post50 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ z_28^0-z_28^post50 == 0 /\ -rcd_237^post50+rcd_237^0 == 0 /\ -z_389^post50+z_389^0 == 0 /\ __disjvr_18^0-__disjvr_18^post50 == 0 /\ -__disjvr_25^post50+__disjvr_25^0 == 0 /\ -temp1_30^post50+temp1_30^0 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ -rcd_228^post50+rcd_228^0 == 0 /\ head_13^0-head_13^post50 == 0 /\ -rcd_396^post50+rcd_396^0 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ -r_42^post50+r_42^0 == 0 /\ lt_17^0-lt_17^post50 == 0 /\ __disjvr_4^0-__disjvr_4^post50 == 0 /\ rcd_70^0-rcd_70^post50 == 0 /\ -a_166^post50+a_166^0 == 0 /\ -__disjvr_8^post50+__disjvr_8^0 == 0 /\ -__disjvr_2^post50+__disjvr_2^0 == 0 /\ -temp_38^post50+temp_38^0 == 0 /\ -result_11^post50+result_11^0 == 0 /\ temp0_18^0-temp0_18^post50 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ -a_267^post50+a_267^0 == 0 /\ __disjvr_7^0-__disjvr_7^post50 == 0 /\ rcd_356^0-rcd_356^post50 == 0 /\ -a_321^post50+a_321^0 == 0 /\ temp0_34^0-temp0_34^post50 == 0 /\ x_19^0-x_19^post50 == 0 /\ -x_SLAM_f_21^post50+x_SLAM_f_21^0 == 0 /\ -__disjvr_19^post50+__disjvr_19^0 == 0 /\ len_286^0-len_286^post50 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post50 == 0 /\ -i_111^post50+i_111^0 == 0 /\ -__disjvr_27^post50+__disjvr_27^0 == 0 /\ -__disjvr_5^post50+__disjvr_5^0 == 0 /\ __disjvr_29^0-__disjvr_29^post50 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0 /\ -i_227^post50+i_227^0 == 0 /\ -t_24^post50+t_24^0 == 0 /\ __disjvr_6^0-__disjvr_6^post50 == 0 /\ -a_210^post50+a_210^0 == 0 /\ -r_236^post50+r_236^0 == 0 /\ rcd_226^0-rcd_226^post50 == 0 /\ len_195^0-len_195^post50 == 0 /\ rcd_264^0-rcd_264^post50 == 0 /\ head_35^0-head_35^post50 == 0 /\ __disjvr_23^0-__disjvr_23^post50 == 0 /\ rcd_376^0-rcd_376^post50 == 0 /\ -ct_20^post50+ct_20^0 == 0 /\ rcd_113^0-rcd_113^post50 == 0), cost: 1
New rule:
l46 -> l47 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l47 -> l18 : __disjvr_0^0'=__disjvr_0^post51, a_321^0'=a_321^post51, rcd_70^0'=rcd_70^post51, __disjvr_21^0'=__disjvr_21^post51, x_23^0'=x_23^post51, __disjvr_4^0'=__disjvr_4^post51, rcd_222^0'=rcd_222^post51, __disjvr_14^0'=__disjvr_14^post51, head_35^0'=head_35^post51, __disjvr_24^0'=__disjvr_24^post51, temp0_18^0'=temp0_18^post51, lt_386^0'=lt_386^post51, z_229^0'=z_229^post51, __disjvr_9^0'=__disjvr_9^post51, a_210^0'=a_210^post51, rcd_376^0'=rcd_376^post51, __disjvr_19^0'=__disjvr_19^post51, len_195^0'=len_195^post51, __disjvr_29^0'=__disjvr_29^post51, x_19^0'=x_19^post51, r_42^0'=r_42^post51, z_28^0'=z_28^post51, __disjvr_11^0'=__disjvr_11^post51, a_377^0'=a_377^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post51, length_32^0'=length_32^post51, y_22^0'=y_22^post51, __disjvr_6^0'=__disjvr_6^post51, rcd_228^0'=rcd_228^post51, __disjvr_16^0'=__disjvr_16^post51, i_120^0'=i_120^post51, __disjvr_26^0'=__disjvr_26^post51, temp1_30^0'=temp1_30^post51, nondet_12^0'=nondet_12^post51, z_252^0'=z_252^post51, a_27^0'=a_27^post51, rcd_46^0'=rcd_46^post51, __disjvr_20^0'=__disjvr_20^post51, len_286^0'=len_286^post51, __disjvr_3^0'=__disjvr_3^post51, rcd_113^0'=rcd_113^post51, __disjvr_13^0'=__disjvr_13^post51, head_13^0'=head_13^post51, __disjvr_23^0'=__disjvr_23^post51, t_24^0'=t_24^post51, lt_29^0'=lt_29^post51, z_188^0'=z_188^post51, __disjvr_8^0'=__disjvr_8^post51, rcd_264^0'=rcd_264^post51, rcd_356^0'=rcd_356^post51, __disjvr_18^0'=__disjvr_18^post51, i_33^0'=i_33^post51, __disjvr_28^0'=__disjvr_28^post51, tmp_37^0'=tmp_37^post51, r_236^0'=r_236^post51, z_279^0'=z_279^post51, __disjvr_10^0'=__disjvr_10^post51, a_347^0'=a_347^post51, result_11^0'=result_11^post51, __disjvr_22^0'=__disjvr_22^post51, x_SLAM_f_21^0'=x_SLAM_f_21^post51, __disjvr_5^0'=__disjvr_5^post51, rcd_226^0'=rcd_226^post51, __disjvr_15^0'=__disjvr_15^post51, i_111^0'=i_111^post51, __disjvr_25^0'=__disjvr_25^post51, temp0_34^0'=temp0_34^post51, lt_483^0'=lt_483^post51, z_238^0'=z_238^post51, a_166^0'=a_166^post51, a_267^0'=a_267^post51, rcd_396^0'=rcd_396^post51, __disjvr_1^0'=__disjvr_1^post51, len_266^0'=len_266^post51, __disjvr_2^0'=__disjvr_2^post51, rcd_105^0'=rcd_105^post51, z_389^0'=z_389^post51, __disjvr_12^0'=__disjvr_12^post51, ct_20^0'=ct_20^post51, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post51, lt_17^0'=lt_17^post51, z_160^0'=z_160^post51, __disjvr_7^0'=__disjvr_7^post51, rcd_237^0'=rcd_237^post51, rcd_352^0'=rcd_352^post51, __disjvr_17^0'=__disjvr_17^post51, i_227^0'=i_227^post51, __disjvr_27^0'=__disjvr_27^post51, temp_38^0'=temp_38^post51, r_178^0'=r_178^post51, z_265^0'=z_265^post51, (rcd_376^0-rcd_376^post51 == 0 /\ __disjvr_11^0-__disjvr_11^post51 == 0 /\ y_22^0-y_22^post51 == 0 /\ __disjvr_6^0-__disjvr_6^post51 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post51 == 0 /\ -r_42^post51+r_42^0 == 0 /\ -__disjvr_7^post51+__disjvr_7^0 == 0 /\ __disjvr_29^0-__disjvr_29^post51 == 0 /\ __disjvr_14^0-__disjvr_14^post51 == 0 /\ nondet_12^0-nondet_12^post51 == 0 /\ __disjvr_16^0-__disjvr_16^post51 == 0 /\ __disjvr_3^0-__disjvr_3^post51 == 0 /\ -length_32^post51+length_32^0 == 0 /\ -a_166^post51+a_166^0 == 0 /\ -z_252^post51+z_252^0 == 0 /\ __disjvr_21^0-__disjvr_21^post51 == 0 /\ a_27^0-a_27^post51 == 0 /\ -__disjvr_8^post51+__disjvr_8^0 == 0 /\ -temp_38^post51+temp_38^0 == 0 /\ -a_267^post51+a_267^0 == 0 /\ -temp0_34^post51+temp0_34^0 == 0 /\ x_23^0-x_23^post51 == 0 /\ -len_286^post51+len_286^0 == 0 /\ a_321^0-a_321^post51 == 0 /\ -__disjvr_5^post51+__disjvr_5^0 == 0 /\ __disjvr_10^0-__disjvr_10^post51 == 0 /\ temp0_18^0-temp0_18^post51 == 0 /\ __disjvr_2^0-__disjvr_2^post51 == 0 /\ temp1_30^0-temp1_30^post51 == 0 /\ -i_227^post51+i_227^0 == 0 /\ -rcd_396^post51+rcd_396^0 == 0 /\ tmp_37^0-tmp_37^post51 == 0 /\ -__disjvr_23^post51+__disjvr_23^0 == 0 /\ -rcd_105^post51+rcd_105^0 == 0 /\ -i_111^post51+i_111^0 == 0 /\ -t_24^post51+t_24^0 == 0 /\ -ct_20^post51+ct_20^0 == 0 /\ -z_188^post51+z_188^0 == 0 /\ lt_386^0-lt_386^post51 == 0 /\ -__disjvr_27^post51+__disjvr_27^0 == 0 /\ -lt_483^post51+lt_483^0 == 0 /\ -__disjvr_18^post51+__disjvr_18^0 == 0 /\ -r_236^post51+r_236^0 == 0 /\ __disjvr_25^0-__disjvr_25^post51 == 0 /\ -i_120^post51+i_120^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -z_265^post51+z_265^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post51 == 0 /\ -z_160^post51+z_160^0 == 0 /\ -__disjvr_17^post51+__disjvr_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post51 == 0 /\ rcd_264^0-rcd_264^post51 == 0 /\ z_28^0-z_28^post51 == 0 /\ len_195^0-len_195^post51 == 0 /\ rcd_46^0-rcd_46^post51 == 0 /\ -rcd_113^post51+rcd_113^0 == 0 /\ -len_266^post51+len_266^0 == 0 /\ -__disjvr_15^post51+__disjvr_15^0 == 0 /\ -__disjvr_1^post51+__disjvr_1^0 == 0 /\ rcd_226^0-rcd_226^post51 == 0 /\ __disjvr_13^0-__disjvr_13^post51 == 0 /\ a_377^0-a_377^post51 == 0 /\ rcd_70^0-rcd_70^post51 == 0 /\ __disjvr_20^0-__disjvr_20^post51 == 0 /\ head_35^0-head_35^post51 == 0 /\ -__disjvr_22^post51+__disjvr_22^0 == 0 /\ -a_347^post51+a_347^0 == 0 /\ -i_33^post51+i_33^0 == 0 /\ rcd_222^0-rcd_222^post51 == 0 /\ __disjvr_9^0-__disjvr_9^post51 == 0 /\ -z_279^post51+z_279^0 == 0 /\ -head_13^post51+head_13^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post51+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ lt_29^0-lt_29^post51 == 0 /\ -z_229^post51+z_229^0 == 0 /\ -rcd_237^post51+rcd_237^0 == 0 /\ rcd_228^0-rcd_228^post51 == 0 /\ -result_11^post51+result_11^0 == 0 /\ __disjvr_24^0-__disjvr_24^post51 == 0 /\ -__disjvr_12^post51+__disjvr_12^0 == 0 /\ -z_238^post51+z_238^0 == 0 /\ -lt_17^post51+lt_17^0 == 0 /\ -rcd_352^post51+rcd_352^0 == 0 /\ __disjvr_0^0-__disjvr_0^post51 == 0 /\ __disjvr_26^0-__disjvr_26^post51 == 0 /\ -z_389^post51+z_389^0 == 0 /\ __disjvr_4^0-__disjvr_4^post51 == 0 /\ x_19^0-x_19^post51 == 0 /\ a_210^0-a_210^post51 == 0 /\ __disjvr_28^0-__disjvr_28^post51 == 0 /\ -rcd_356^post51+rcd_356^0 == 0 /\ -r_178^post51+r_178^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
New rule:
l47 -> l18 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l39 -> l49 : __disjvr_0^0'=__disjvr_0^post52, a_321^0'=a_321^post52, rcd_70^0'=rcd_70^post52, __disjvr_21^0'=__disjvr_21^post52, x_23^0'=x_23^post52, __disjvr_4^0'=__disjvr_4^post52, rcd_222^0'=rcd_222^post52, __disjvr_14^0'=__disjvr_14^post52, head_35^0'=head_35^post52, __disjvr_24^0'=__disjvr_24^post52, temp0_18^0'=temp0_18^post52, lt_386^0'=lt_386^post52, z_229^0'=z_229^post52, __disjvr_9^0'=__disjvr_9^post52, a_210^0'=a_210^post52, rcd_376^0'=rcd_376^post52, __disjvr_19^0'=__disjvr_19^post52, len_195^0'=len_195^post52, __disjvr_29^0'=__disjvr_29^post52, x_19^0'=x_19^post52, r_42^0'=r_42^post52, z_28^0'=z_28^post52, __disjvr_11^0'=__disjvr_11^post52, a_377^0'=a_377^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post52, length_32^0'=length_32^post52, y_22^0'=y_22^post52, __disjvr_6^0'=__disjvr_6^post52, rcd_228^0'=rcd_228^post52, __disjvr_16^0'=__disjvr_16^post52, i_120^0'=i_120^post52, __disjvr_26^0'=__disjvr_26^post52, temp1_30^0'=temp1_30^post52, nondet_12^0'=nondet_12^post52, z_252^0'=z_252^post52, a_27^0'=a_27^post52, rcd_46^0'=rcd_46^post52, __disjvr_20^0'=__disjvr_20^post52, len_286^0'=len_286^post52, __disjvr_3^0'=__disjvr_3^post52, rcd_113^0'=rcd_113^post52, __disjvr_13^0'=__disjvr_13^post52, head_13^0'=head_13^post52, __disjvr_23^0'=__disjvr_23^post52, t_24^0'=t_24^post52, lt_29^0'=lt_29^post52, z_188^0'=z_188^post52, __disjvr_8^0'=__disjvr_8^post52, rcd_264^0'=rcd_264^post52, rcd_356^0'=rcd_356^post52, __disjvr_18^0'=__disjvr_18^post52, i_33^0'=i_33^post52, __disjvr_28^0'=__disjvr_28^post52, tmp_37^0'=tmp_37^post52, r_236^0'=r_236^post52, z_279^0'=z_279^post52, __disjvr_10^0'=__disjvr_10^post52, a_347^0'=a_347^post52, result_11^0'=result_11^post52, __disjvr_22^0'=__disjvr_22^post52, x_SLAM_f_21^0'=x_SLAM_f_21^post52, __disjvr_5^0'=__disjvr_5^post52, rcd_226^0'=rcd_226^post52, __disjvr_15^0'=__disjvr_15^post52, i_111^0'=i_111^post52, __disjvr_25^0'=__disjvr_25^post52, temp0_34^0'=temp0_34^post52, lt_483^0'=lt_483^post52, z_238^0'=z_238^post52, a_166^0'=a_166^post52, a_267^0'=a_267^post52, rcd_396^0'=rcd_396^post52, __disjvr_1^0'=__disjvr_1^post52, len_266^0'=len_266^post52, __disjvr_2^0'=__disjvr_2^post52, rcd_105^0'=rcd_105^post52, z_389^0'=z_389^post52, __disjvr_12^0'=__disjvr_12^post52, ct_20^0'=ct_20^post52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, lt_17^0'=lt_17^post52, z_160^0'=z_160^post52, __disjvr_7^0'=__disjvr_7^post52, rcd_237^0'=rcd_237^post52, rcd_352^0'=rcd_352^post52, __disjvr_17^0'=__disjvr_17^post52, i_227^0'=i_227^post52, __disjvr_27^0'=__disjvr_27^post52, temp_38^0'=temp_38^post52, r_178^0'=r_178^post52, z_265^0'=z_265^post52, (0 == 0 /\ __disjvr_4^0-__disjvr_4^post52 == 0 /\ rcd_228^0-rcd_228^post52 == 0 /\ rcd_70^0-rcd_70^post52 == 0 /\ -rcd_105^post52+rcd_105^0 == 0 /\ -r_236^post52+r_236^0 == 0 /\ a_321^0-a_321^post52 == 0 /\ -a_210^0 <= 0 /\ -__disjvr_15^post52+__disjvr_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post52 == 0 /\ tmp_37^0-tmp_37^post52 == 0 /\ len_195^0-len_195^post52 == 0 /\ temp0_18^0-temp0_18^post52 == 0 /\ __disjvr_24^0-__disjvr_24^post52 == 0 /\ -i_120^post52+i_120^0 == 0 /\ __disjvr_3^0-__disjvr_3^post52 == 0 /\ -a_347^post52+a_347^0 == 0 /\ -__disjvr_1^post52+__disjvr_1^0 == 0 /\ -__disjvr_17^post52+__disjvr_17^0 == 0 /\ __disjvr_10^0-__disjvr_10^post52 == 0 /\ lt_386^0-lt_386^post52 == 0 /\ -rcd_113^post52+rcd_113^0 == 0 /\ -len_195^0 <= 0 /\ -z_160^post52+z_160^0 == 0 /\ rcd_356^0-rcd_356^post52 == 0 /\ -rcd_46^post52+rcd_46^0 == 0 /\ x_19^0-x_19^post52 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ -temp1_30^post52+temp1_30^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -z_238^post52+z_238^0 == 0 /\ -rcd_352^post52+rcd_352^0 == 0 /\ -__disjvr_26^post52+__disjvr_26^0 == 0 /\ -r_178^post52+r_178^0 == 0 /\ -z_279^post52+z_279^0 == 0 /\ __disjvr_6^0-__disjvr_6^post52 == 0 /\ -a_267^post52+a_267^0 == 0 /\ -rcd_226^post52+rcd_226^0 == 0 /\ -len_266^post52+len_266^0 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ -i_33^post52+i_33^0 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0 /\ -rcd_237^post52+rcd_237^0 == 0 /\ -result_11^post52+result_11^0 == 0 /\ __disjvr_18^0-__disjvr_18^post52 == 0 /\ head_35^0-head_35^post52 == 0 /\ __disjvr_2^0-__disjvr_2^post52 == 0 /\ -z_265^post52+z_265^0 == 0 /\ -z_28^post52+z_28^0 == 0 /\ rcd_376^0-rcd_376^post52 == 0 /\ __disjvr_13^0-__disjvr_13^post52 == 0 /\ -__disjvr_25^post52+__disjvr_25^0 == 0 /\ a_377^0-a_377^post52 == 0 /\ -a_166^post52+a_166^0 == 0 /\ __disjvr_20^0-__disjvr_20^post52 == 0 /\ lt_29^0-lt_29^post52 == 0 /\ -rcd_396^post52+rcd_396^0 == 0 /\ i_111^0-i_111^post52 == 0 /\ -temp_38^post52+temp_38^0 == 0 /\ -__disjvr_8^post52+__disjvr_8^0 == 0 /\ -__disjvr_28^post52+__disjvr_28^0 == 0 /\ __disjvr_22^0-__disjvr_22^post52 == 0 /\ -z_389^post52+z_389^0 == 0 /\ -temp0_34^post52+temp0_34^0 == 0 /\ rcd_222^0-rcd_222^post52 == 0 /\ -lt_17^post52+lt_17^0 == 0 /\ z_229^0-z_229^post52 == 0 /\ -len_286^post52+len_286^0 == 0 /\ x_23^0-x_23^post52 == 0 /\ __disjvr_7^0-__disjvr_7^post52 == 0 /\ a_210^0-a_210^post52 == 0 /\ length_32^0-length_32^post52 == 0 /\ __disjvr_14^0-__disjvr_14^post52 == 0 /\ -i_227^post52+i_227^0 == 0 /\ __disjvr_11^0-__disjvr_11^post52 == 0 /\ -__disjvr_23^post52+__disjvr_23^0 == 0 /\ -z_188^post52+z_188^0 == 0 /\ __disjvr_16^0-__disjvr_16^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ -y_22^post52+y_22^0 == 0 /\ -__disjvr_27^post52+__disjvr_27^0 == 0 /\ -t_24^post52+t_24^0 == 0 /\ __disjvr_29^0-__disjvr_29^post52 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post52 == 0 /\ lt_483^0-lt_483^post52 == 0 /\ -__disjvr_5^post52+__disjvr_5^0 == 0 /\ -ct_20^post52+ct_20^0 == 0 /\ rcd_264^0-rcd_264^post52 == 0 /\ __disjvr_19^0-__disjvr_19^post52 == 0), cost: 1
New rule:
l39 -> l49 : r_42^0'=r_42^post52, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=head_13^post52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, (a_210^0 >= 0 /\ len_195^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l49 -> l50 : __disjvr_0^0'=__disjvr_0^post53, a_321^0'=a_321^post53, rcd_70^0'=rcd_70^post53, __disjvr_21^0'=__disjvr_21^post53, x_23^0'=x_23^post53, __disjvr_4^0'=__disjvr_4^post53, rcd_222^0'=rcd_222^post53, __disjvr_14^0'=__disjvr_14^post53, head_35^0'=head_35^post53, __disjvr_24^0'=__disjvr_24^post53, temp0_18^0'=temp0_18^post53, lt_386^0'=lt_386^post53, z_229^0'=z_229^post53, __disjvr_9^0'=__disjvr_9^post53, a_210^0'=a_210^post53, rcd_376^0'=rcd_376^post53, __disjvr_19^0'=__disjvr_19^post53, len_195^0'=len_195^post53, __disjvr_29^0'=__disjvr_29^post53, x_19^0'=x_19^post53, r_42^0'=r_42^post53, z_28^0'=z_28^post53, __disjvr_11^0'=__disjvr_11^post53, a_377^0'=a_377^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post53, length_32^0'=length_32^post53, y_22^0'=y_22^post53, __disjvr_6^0'=__disjvr_6^post53, rcd_228^0'=rcd_228^post53, __disjvr_16^0'=__disjvr_16^post53, i_120^0'=i_120^post53, __disjvr_26^0'=__disjvr_26^post53, temp1_30^0'=temp1_30^post53, nondet_12^0'=nondet_12^post53, z_252^0'=z_252^post53, a_27^0'=a_27^post53, rcd_46^0'=rcd_46^post53, __disjvr_20^0'=__disjvr_20^post53, len_286^0'=len_286^post53, __disjvr_3^0'=__disjvr_3^post53, rcd_113^0'=rcd_113^post53, __disjvr_13^0'=__disjvr_13^post53, head_13^0'=head_13^post53, __disjvr_23^0'=__disjvr_23^post53, t_24^0'=t_24^post53, lt_29^0'=lt_29^post53, z_188^0'=z_188^post53, __disjvr_8^0'=__disjvr_8^post53, rcd_264^0'=rcd_264^post53, rcd_356^0'=rcd_356^post53, __disjvr_18^0'=__disjvr_18^post53, i_33^0'=i_33^post53, __disjvr_28^0'=__disjvr_28^post53, tmp_37^0'=tmp_37^post53, r_236^0'=r_236^post53, z_279^0'=z_279^post53, __disjvr_10^0'=__disjvr_10^post53, a_347^0'=a_347^post53, result_11^0'=result_11^post53, __disjvr_22^0'=__disjvr_22^post53, x_SLAM_f_21^0'=x_SLAM_f_21^post53, __disjvr_5^0'=__disjvr_5^post53, rcd_226^0'=rcd_226^post53, __disjvr_15^0'=__disjvr_15^post53, i_111^0'=i_111^post53, __disjvr_25^0'=__disjvr_25^post53, temp0_34^0'=temp0_34^post53, lt_483^0'=lt_483^post53, z_238^0'=z_238^post53, a_166^0'=a_166^post53, a_267^0'=a_267^post53, rcd_396^0'=rcd_396^post53, __disjvr_1^0'=__disjvr_1^post53, len_266^0'=len_266^post53, __disjvr_2^0'=__disjvr_2^post53, rcd_105^0'=rcd_105^post53, z_389^0'=z_389^post53, __disjvr_12^0'=__disjvr_12^post53, ct_20^0'=ct_20^post53, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, lt_17^0'=lt_17^post53, z_160^0'=z_160^post53, __disjvr_7^0'=__disjvr_7^post53, rcd_237^0'=rcd_237^post53, rcd_352^0'=rcd_352^post53, __disjvr_17^0'=__disjvr_17^post53, i_227^0'=i_227^post53, __disjvr_27^0'=__disjvr_27^post53, temp_38^0'=temp_38^post53, r_178^0'=r_178^post53, z_265^0'=z_265^post53, (a_166^0-a_166^post53 == 0 /\ rcd_105^0-rcd_105^post53 == 0 /\ -__disjvr_13^post53+__disjvr_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post53 == 0 /\ result_11^0-result_11^post53 == 0 /\ -a_27^post53+a_27^0 == 0 /\ __disjvr_16^0-__disjvr_16^post53 == 0 /\ __disjvr_28^0-__disjvr_28^post53 == 0 /\ z_279^0-z_279^post53 == 0 /\ __disjvr_6^0-__disjvr_6^post53 == 0 /\ rcd_264^0-rcd_264^post53 == 0 /\ __disjvr_23^post53-__disjvr_23^0 == 0 /\ -r_178^post53+r_178^0 == 0 /\ len_195^0-len_195^post53 == 0 /\ -__disjvr_7^post53+__disjvr_7^0 == 0 /\ rcd_70^0-rcd_70^post53 == 0 /\ -tmp_37^post53+tmp_37^0 == 0 /\ head_35^0-head_35^post53 == 0 /\ -__disjvr_10^post53+__disjvr_10^0 == 0 /\ __disjvr_19^0-__disjvr_19^post53 == 0 /\ -lt_17^post53+lt_17^0 == 0 /\ -i_227^post53+i_227^0 == 0 /\ a_321^0-a_321^post53 == 0 /\ -__disjvr_27^post53+__disjvr_27^0 == 0 /\ len_286^0-len_286^post53 == 0 /\ -y_22^post53+y_22^0 == 0 /\ -x_19^post53+x_19^0 == 0 /\ -z_188^post53+z_188^0 == 0 /\ -ct_20^post53+ct_20^0 == 0 /\ __disjvr_4^0-__disjvr_4^post53 == 0 /\ -__disjvr_1^post53+__disjvr_1^0 == 0 /\ -z_252^post53+z_252^0 == 0 /\ __disjvr_9^0-__disjvr_9^post53 == 0 /\ -x_SLAM_f_21^post53+x_SLAM_f_21^0 == 0 /\ -__disjvr_23^post53+__disjvr_23^0 == 0 /\ -temp_38^post53+temp_38^0 == 0 /\ -__disjvr_5^post53+__disjvr_5^0 == 0 /\ nondet_12^0-nondet_12^post53 == 0 /\ __disjvr_0^0-__disjvr_0^post53 == 0 /\ -r_236^post53+r_236^0 == 0 /\ -__disjvr_18^post53+__disjvr_18^0 == 0 /\ a_210^0-a_210^post53 == 0 /\ -rcd_396^post53+rcd_396^0 == 0 /\ __disjvr_26^0-__disjvr_26^post53 == 0 /\ len_266^0-len_266^post53 == 0 /\ -i_111^post53+i_111^0 == 0 /\ rcd_222^0-rcd_222^post53 == 0 /\ rcd_376^0-rcd_376^post53 == 0 /\ t_24^0-t_24^post53 == 0 /\ __disjvr_8^0-__disjvr_8^post53 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ -rcd_356^post53+rcd_356^0 == 0 /\ __disjvr_29^0-__disjvr_29^post53 == 0 /\ -__disjvr_20^post53+__disjvr_20^0 == 0 /\ __disjvr_11^0-__disjvr_11^post53 == 0 /\ -lt_483^post53+lt_483^0 == 0 /\ __disjvr_3^0-__disjvr_3^post53 == 0 /\ z_160^0-z_160^post53 == 0 /\ -z_28^post53+z_28^0 == 0 /\ -i_120^post53+i_120^0 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ -__disjvr_15^post53+__disjvr_15^0 == 0 /\ -__disjvr_14^post53+__disjvr_14^0 == 0 /\ a_377^0-a_377^post53 == 0 /\ -i_33^post53+i_33^0 == 0 /\ temp0_18^0-temp0_18^post53 == 0 /\ rcd_228^0-rcd_228^post53 == 0 /\ -head_13^post53+head_13^0 == 0 /\ x_23^0-x_23^post53 == 0 /\ rcd_113^0-rcd_113^post53 == 0 /\ -a_267^post53+a_267^0 == 0 /\ -__disjvr_25^post53+__disjvr_25^0 == 0 /\ -rcd_352^post53+rcd_352^0 == 0 /\ -rcd_46^post53+rcd_46^0 == 0 /\ temp1_30^0-temp1_30^post53 == 0 /\ lt_29^0-lt_29^post53 == 0 /\ -rcd_226^post53+rcd_226^0 == 0 /\ -__disjvr_22^post53+__disjvr_22^0 == 0 /\ -z_238^post53+z_238^0 == 0 /\ a_347^0-a_347^post53 == 0 /\ -z_265^post53+z_265^0 == 0 /\ temp0_34^0-temp0_34^post53 == 0 /\ r_42^0-r_42^post53 == 0 /\ -__disjvr_12^post53+__disjvr_12^0 == 0 /\ z_229^0-z_229^post53 == 0 /\ __disjvr_24^0-__disjvr_24^post53 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post53+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ length_32^0-length_32^post53 == 0 /\ -__disjvr_2^post53+__disjvr_2^0 == 0 /\ -lt_386^post53+lt_386^0 == 0 /\ -rcd_237^post53+rcd_237^0 == 0 /\ -z_389^post53+z_389^0 == 0), cost: 1
New rule:
l49 -> l50 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l50 -> l51 : __disjvr_0^0'=__disjvr_0^post54, a_321^0'=a_321^post54, rcd_70^0'=rcd_70^post54, __disjvr_21^0'=__disjvr_21^post54, x_23^0'=x_23^post54, __disjvr_4^0'=__disjvr_4^post54, rcd_222^0'=rcd_222^post54, __disjvr_14^0'=__disjvr_14^post54, head_35^0'=head_35^post54, __disjvr_24^0'=__disjvr_24^post54, temp0_18^0'=temp0_18^post54, lt_386^0'=lt_386^post54, z_229^0'=z_229^post54, __disjvr_9^0'=__disjvr_9^post54, a_210^0'=a_210^post54, rcd_376^0'=rcd_376^post54, __disjvr_19^0'=__disjvr_19^post54, len_195^0'=len_195^post54, __disjvr_29^0'=__disjvr_29^post54, x_19^0'=x_19^post54, r_42^0'=r_42^post54, z_28^0'=z_28^post54, __disjvr_11^0'=__disjvr_11^post54, a_377^0'=a_377^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post54, length_32^0'=length_32^post54, y_22^0'=y_22^post54, __disjvr_6^0'=__disjvr_6^post54, rcd_228^0'=rcd_228^post54, __disjvr_16^0'=__disjvr_16^post54, i_120^0'=i_120^post54, __disjvr_26^0'=__disjvr_26^post54, temp1_30^0'=temp1_30^post54, nondet_12^0'=nondet_12^post54, z_252^0'=z_252^post54, a_27^0'=a_27^post54, rcd_46^0'=rcd_46^post54, __disjvr_20^0'=__disjvr_20^post54, len_286^0'=len_286^post54, __disjvr_3^0'=__disjvr_3^post54, rcd_113^0'=rcd_113^post54, __disjvr_13^0'=__disjvr_13^post54, head_13^0'=head_13^post54, __disjvr_23^0'=__disjvr_23^post54, t_24^0'=t_24^post54, lt_29^0'=lt_29^post54, z_188^0'=z_188^post54, __disjvr_8^0'=__disjvr_8^post54, rcd_264^0'=rcd_264^post54, rcd_356^0'=rcd_356^post54, __disjvr_18^0'=__disjvr_18^post54, i_33^0'=i_33^post54, __disjvr_28^0'=__disjvr_28^post54, tmp_37^0'=tmp_37^post54, r_236^0'=r_236^post54, z_279^0'=z_279^post54, __disjvr_10^0'=__disjvr_10^post54, a_347^0'=a_347^post54, result_11^0'=result_11^post54, __disjvr_22^0'=__disjvr_22^post54, x_SLAM_f_21^0'=x_SLAM_f_21^post54, __disjvr_5^0'=__disjvr_5^post54, rcd_226^0'=rcd_226^post54, __disjvr_15^0'=__disjvr_15^post54, i_111^0'=i_111^post54, __disjvr_25^0'=__disjvr_25^post54, temp0_34^0'=temp0_34^post54, lt_483^0'=lt_483^post54, z_238^0'=z_238^post54, a_166^0'=a_166^post54, a_267^0'=a_267^post54, rcd_396^0'=rcd_396^post54, __disjvr_1^0'=__disjvr_1^post54, len_266^0'=len_266^post54, __disjvr_2^0'=__disjvr_2^post54, rcd_105^0'=rcd_105^post54, z_389^0'=z_389^post54, __disjvr_12^0'=__disjvr_12^post54, ct_20^0'=ct_20^post54, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post54, lt_17^0'=lt_17^post54, z_160^0'=z_160^post54, __disjvr_7^0'=__disjvr_7^post54, rcd_237^0'=rcd_237^post54, rcd_352^0'=rcd_352^post54, __disjvr_17^0'=__disjvr_17^post54, i_227^0'=i_227^post54, __disjvr_27^0'=__disjvr_27^post54, temp_38^0'=temp_38^post54, r_178^0'=r_178^post54, z_265^0'=z_265^post54, (0 == 0 /\ -rcd_105^post54+rcd_105^0 == 0 /\ -z_160^post54+z_160^0 == 0 /\ __disjvr_4^0-__disjvr_4^post54 == 0 /\ rcd_228^0-rcd_228^post54 == 0 /\ -1-len_195^0+len_266^post54 <= 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ -__disjvr_18^post54+__disjvr_18^0 == 0 /\ -r_236^post54+r_236^0 == 0 /\ temp1_30^0-temp1_30^post54 == 0 /\ y_22^0-y_22^post54 == 0 /\ -__disjvr_15^post54+__disjvr_15^0 == 0 /\ rcd_222^0-rcd_222^post54 == 0 /\ -z_265^post54+z_160^0 <= 0 /\ a_210^0-a_210^post54 == 0 /\ -rcd_113^post54+rcd_113^0 == 0 /\ -lt_483^post54+lt_483^0 == 0 /\ __disjvr_28^0-__disjvr_28^post54 == 0 /\ -__disjvr_6^post54+__disjvr_6^0 == 0 /\ -a_377^post54+a_377^0 == 0 /\ a_166^0-a_166^post54 == 0 /\ x_23^0-x_23^post54 == 0 /\ -__disjvr_1^post54+__disjvr_1^0 == 0 /\ a_347^0-a_347^post54 == 0 /\ z_229^0-z_229^post54 == 0 /\ -rcd_46^post54+rcd_46^0 == 0 /\ __disjvr_11^0-__disjvr_11^post54 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post54+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_14^0-__disjvr_14^post54 == 0 /\ __disjvr_19^0-__disjvr_19^post54 == 0 /\ -__disjvr_12^post54+__disjvr_12^0 == 0 /\ -r_178^post54+r_178^0 == 0 /\ i_120^0-i_120^post54 == 0 /\ -rcd_237^post54+rcd_237^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post54 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ -i_33^post54+i_33^0 == 0 /\ -1+a_210^0-a_267^post54 <= 0 /\ __disjvr_23^0-__disjvr_23^post54 == 0 /\ -__disjvr_26^post54+__disjvr_26^0 == 0 /\ -rcd_356^post54+rcd_356^0 == 0 /\ -nondet_12^post54+nondet_12^0 == 0 /\ -a_27^post54+a_27^0 == 0 /\ -z_389^post54+z_389^0 == 0 /\ __disjvr_21^0-__disjvr_21^post54 == 0 /\ -rcd_226^post54+rcd_226^0 == 0 /\ ct_20^0-ct_20^post54 == 0 /\ z_265^post54-z_160^0 <= 0 /\ -z_238^post54+z_238^0 == 0 /\ -__disjvr_29^post54+__disjvr_29^0 == 0 /\ -head_13^post54+head_13^0 == 0 /\ -__disjvr_2^post54+__disjvr_2^0 == 0 /\ -temp0_34^post54+temp0_34^0 == 0 /\ -temp_38^post54+temp_38^0 == 0 /\ a_27^0-head_13^0 <= 0 /\ a_321^0-a_321^post54 == 0 /\ -lt_17^post54+lt_17^0 == 0 /\ __disjvr_22^0-__disjvr_22^post54 == 0 /\ 1+len_195^0-len_266^post54 <= 0 /\ i_111^0-i_111^post54 == 0 /\ -__disjvr_7^post54+__disjvr_7^0 == 0 /\ -result_11^post54+result_11^0 == 0 /\ -temp0_18^post54+temp0_18^0 == 0 /\ r_42^0-r_42^post54 == 0 /\ len_195^0-len_195^post54 == 0 /\ -__disjvr_8^post54+__disjvr_8^0 == 0 /\ -rcd_70^post54+rcd_70^0 == 0 /\ -rcd_46^0+rcd_264^post54 <= 0 /\ __disjvr_9^0-__disjvr_9^post54 == 0 /\ -__disjvr_10^post54+__disjvr_10^0 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ len_286^0-len_286^post54 == 0 /\ -rcd_352^post54+rcd_352^0 == 0 /\ z_252^0-z_252^post54 == 0 /\ lt_386^0-lt_386^post54 == 0 /\ -x_SLAM_f_21^post54+x_SLAM_f_21^0 == 0 /\ -__disjvr_27^post54+__disjvr_27^0 == 0 /\ -__disjvr_16^post54+__disjvr_16^0 == 0 /\ length_32^0-length_32^post54 == 0 /\ -tmp_37^post54+tmp_37^0 == 0 /\ -a_27^0+head_13^0 <= 0 /\ x_19^0-x_19^post54 == 0 /\ __disjvr_25^0-__disjvr_25^post54 == 0 /\ z_188^0-z_188^post54 == 0 /\ 1-a_210^0+a_267^post54 <= 0 /\ t_24^0-t_24^post54 == 0 /\ __disjvr_0^0-__disjvr_0^post54 == 0 /\ -i_227^post54+i_227^0 == 0 /\ -rcd_376^post54+rcd_376^0 == 0 /\ -__disjvr_5^post54+__disjvr_5^0 == 0 /\ rcd_46^0-rcd_264^post54 <= 0 /\ head_35^0-head_35^post54 == 0 /\ -rcd_396^post54+rcd_396^0 == 0 /\ z_279^0-z_279^post54 == 0 /\ -__disjvr_20^post54+__disjvr_20^0 == 0 /\ __disjvr_13^0-__disjvr_13^post54 == 0), cost: 1
New rule:
l50 -> l51 : z_28^0'=z_28^post54, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, z_265^0'=z_160^0, a_27^0-head_13^0 == 0, cost: 1

Applied preprocessing
Original rule:
l51 -> l52 : __disjvr_0^0'=__disjvr_0^post55, a_321^0'=a_321^post55, rcd_70^0'=rcd_70^post55, __disjvr_21^0'=__disjvr_21^post55, x_23^0'=x_23^post55, __disjvr_4^0'=__disjvr_4^post55, rcd_222^0'=rcd_222^post55, __disjvr_14^0'=__disjvr_14^post55, head_35^0'=head_35^post55, __disjvr_24^0'=__disjvr_24^post55, temp0_18^0'=temp0_18^post55, lt_386^0'=lt_386^post55, z_229^0'=z_229^post55, __disjvr_9^0'=__disjvr_9^post55, a_210^0'=a_210^post55, rcd_376^0'=rcd_376^post55, __disjvr_19^0'=__disjvr_19^post55, len_195^0'=len_195^post55, __disjvr_29^0'=__disjvr_29^post55, x_19^0'=x_19^post55, r_42^0'=r_42^post55, z_28^0'=z_28^post55, __disjvr_11^0'=__disjvr_11^post55, a_377^0'=a_377^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post55, length_32^0'=length_32^post55, y_22^0'=y_22^post55, __disjvr_6^0'=__disjvr_6^post55, rcd_228^0'=rcd_228^post55, __disjvr_16^0'=__disjvr_16^post55, i_120^0'=i_120^post55, __disjvr_26^0'=__disjvr_26^post55, temp1_30^0'=temp1_30^post55, nondet_12^0'=nondet_12^post55, z_252^0'=z_252^post55, a_27^0'=a_27^post55, rcd_46^0'=rcd_46^post55, __disjvr_20^0'=__disjvr_20^post55, len_286^0'=len_286^post55, __disjvr_3^0'=__disjvr_3^post55, rcd_113^0'=rcd_113^post55, __disjvr_13^0'=__disjvr_13^post55, head_13^0'=head_13^post55, __disjvr_23^0'=__disjvr_23^post55, t_24^0'=t_24^post55, lt_29^0'=lt_29^post55, z_188^0'=z_188^post55, __disjvr_8^0'=__disjvr_8^post55, rcd_264^0'=rcd_264^post55, rcd_356^0'=rcd_356^post55, __disjvr_18^0'=__disjvr_18^post55, i_33^0'=i_33^post55, __disjvr_28^0'=__disjvr_28^post55, tmp_37^0'=tmp_37^post55, r_236^0'=r_236^post55, z_279^0'=z_279^post55, __disjvr_10^0'=__disjvr_10^post55, a_347^0'=a_347^post55, result_11^0'=result_11^post55, __disjvr_22^0'=__disjvr_22^post55, x_SLAM_f_21^0'=x_SLAM_f_21^post55, __disjvr_5^0'=__disjvr_5^post55, rcd_226^0'=rcd_226^post55, __disjvr_15^0'=__disjvr_15^post55, i_111^0'=i_111^post55, __disjvr_25^0'=__disjvr_25^post55, temp0_34^0'=temp0_34^post55, lt_483^0'=lt_483^post55, z_238^0'=z_238^post55, a_166^0'=a_166^post55, a_267^0'=a_267^post55, rcd_396^0'=rcd_396^post55, __disjvr_1^0'=__disjvr_1^post55, len_266^0'=len_266^post55, __disjvr_2^0'=__disjvr_2^post55, rcd_105^0'=rcd_105^post55, z_389^0'=z_389^post55, __disjvr_12^0'=__disjvr_12^post55, ct_20^0'=ct_20^post55, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post55, lt_17^0'=lt_17^post55, z_160^0'=z_160^post55, __disjvr_7^0'=__disjvr_7^post55, rcd_237^0'=rcd_237^post55, rcd_352^0'=rcd_352^post55, __disjvr_17^0'=__disjvr_17^post55, i_227^0'=i_227^post55, __disjvr_27^0'=__disjvr_27^post55, temp_38^0'=temp_38^post55, r_178^0'=r_178^post55, z_265^0'=z_265^post55, (-rcd_264^post55+rcd_264^0 == 0 /\ -a_27^post55+a_27^0 == 0 /\ __disjvr_23^0-__disjvr_23^post55 == 0 /\ rcd_46^0-rcd_46^post55 == 0 /\ a_210^0-a_210^post55 == 0 /\ -__disjvr_10^post55+__disjvr_10^0 == 0 /\ t_24^0-t_24^post55 == 0 /\ -rcd_396^post55+rcd_396^0 == 0 /\ -__disjvr_13^post55+__disjvr_13^0 == 0 /\ __disjvr_0^0-__disjvr_0^post55 == 0 /\ length_32^0-length_32^post55 == 0 /\ -nondet_12^post55+nondet_12^0 == 0 /\ -z_252^post55+z_252^0 == 0 /\ head_35^0-head_35^post55 == 0 /\ i_33^0-i_33^post55 == 0 /\ -r_178^post55+r_178^0 == 0 /\ -tmp_37^post55+tmp_37^0 == 0 /\ a_377^0-a_377^post55 == 0 /\ -lt_17^post55+lt_17^0 == 0 /\ -__disjvr_7^post55+__disjvr_7^0 == 0 /\ -__disjvr_24^0+__disjvr_24^post55 == 0 /\ -ct_20^post55+ct_20^0 == 0 /\ rcd_70^0-rcd_70^post55 == 0 /\ -z_188^post55+z_188^0 == 0 /\ temp0_18^0-temp0_18^post55 == 0 /\ x_23^0-x_23^post55 == 0 /\ -x_SLAM_f_21^post55+x_SLAM_f_21^0 == 0 /\ len_286^0-len_286^post55 == 0 /\ lt_29^0-lt_29^post55 == 0 /\ -i_111^post55+i_111^0 == 0 /\ rcd_228^0-rcd_228^post55 == 0 /\ head_13^0-head_13^post55 == 0 /\ -__disjvr_16^post55+__disjvr_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post55 == 0 /\ -rcd_105^post55+rcd_105^0 == 0 /\ -temp0_34^post55+temp0_34^0 == 0 /\ -temp_38^post55+temp_38^0 == 0 /\ rcd_222^0-rcd_222^post55 == 0 /\ __disjvr_1^0-__disjvr_1^post55 == 0 /\ r_42^0-r_42^post55 == 0 /\ __disjvr_8^0-__disjvr_8^post55 == 0 /\ z_229^0-z_229^post55 == 0 /\ -__disjvr_18^post55+__disjvr_18^0 == 0 /\ -__disjvr_20^post55+__disjvr_20^0 == 0 /\ i_120^0-i_120^post55 == 0 /\ __disjvr_24^0-__disjvr_24^post55 == 0 /\ -rcd_356^post55+rcd_356^0 == 0 /\ -__disjvr_29^post55+__disjvr_29^0 == 0 /\ __disjvr_14^0-__disjvr_14^post55 == 0 /\ -lt_483^post55+lt_483^0 == 0 /\ __disjvr_15^0-__disjvr_15^post55 == 0 /\ __disjvr_3^0-__disjvr_3^post55 == 0 /\ __disjvr_21^0-__disjvr_21^post55 == 0 /\ result_11^0-result_11^post55 == 0 /\ -__disjvr_6^post55+__disjvr_6^0 == 0 /\ z_28^0-z_28^post55 == 0 /\ __disjvr_5^0-__disjvr_5^post55 == 0 /\ len_195^0-len_195^post55 == 0 /\ -len_266^post55+len_266^0 == 0 /\ -__disjvr_27^post55+__disjvr_27^0 == 0 /\ -z_160^post55+z_160^0 == 0 /\ -z_279^post55+z_279^0 == 0 /\ __disjvr_19^0-__disjvr_19^post55 == 0 /\ -i_227^post55+i_227^0 == 0 /\ rcd_376^0-rcd_376^post55 == 0 /\ a_321^0-a_321^post55 == 0 /\ -z_389^post55+z_389^0 == 0 /\ rcd_113^0-rcd_113^post55 == 0 /\ -__disjvr_11^post55+__disjvr_11^0 == 0 /\ -__disjvr_26^post55+__disjvr_26^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0 == 0 /\ -rcd_226^post55+rcd_226^0 == 0 /\ -a_267^post55+a_267^0 == 0 /\ -a_166^post55+a_166^0 == 0 /\ -__disjvr_12^post55+__disjvr_12^0 == 0 /\ -__disjvr_25^post55+__disjvr_25^0 == 0 /\ __disjvr_9^0-__disjvr_9^post55 == 0 /\ -rcd_352^post55+rcd_352^0 == 0 /\ y_22^0-y_22^post55 == 0 /\ -__disjvr_2^post55+__disjvr_2^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post55+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ lt_386^0-lt_386^post55 == 0 /\ temp1_30^0-temp1_30^post55 == 0 /\ -__disjvr_22^post55+__disjvr_22^0 == 0 /\ -__disjvr_28^post55+__disjvr_28^0 == 0 /\ -rcd_237^post55+rcd_237^0 == 0 /\ -__disjvr_17^post55+__disjvr_17^0 == 0 /\ x_19^0-x_19^post55 == 0 /\ r_236^0-r_236^post55 == 0 /\ -a_347^post55+a_347^0 == 0 /\ -z_238^post55+z_238^0 == 0 /\ -z_265^post55+z_265^0 == 0), cost: 1
New rule:
l51 -> l52 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l52 -> l48 : __disjvr_0^0'=__disjvr_0^post56, a_321^0'=a_321^post56, rcd_70^0'=rcd_70^post56, __disjvr_21^0'=__disjvr_21^post56, x_23^0'=x_23^post56, __disjvr_4^0'=__disjvr_4^post56, rcd_222^0'=rcd_222^post56, __disjvr_14^0'=__disjvr_14^post56, head_35^0'=head_35^post56, __disjvr_24^0'=__disjvr_24^post56, temp0_18^0'=temp0_18^post56, lt_386^0'=lt_386^post56, z_229^0'=z_229^post56, __disjvr_9^0'=__disjvr_9^post56, a_210^0'=a_210^post56, rcd_376^0'=rcd_376^post56, __disjvr_19^0'=__disjvr_19^post56, len_195^0'=len_195^post56, __disjvr_29^0'=__disjvr_29^post56, x_19^0'=x_19^post56, r_42^0'=r_42^post56, z_28^0'=z_28^post56, __disjvr_11^0'=__disjvr_11^post56, a_377^0'=a_377^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post56, length_32^0'=length_32^post56, y_22^0'=y_22^post56, __disjvr_6^0'=__disjvr_6^post56, rcd_228^0'=rcd_228^post56, __disjvr_16^0'=__disjvr_16^post56, i_120^0'=i_120^post56, __disjvr_26^0'=__disjvr_26^post56, temp1_30^0'=temp1_30^post56, nondet_12^0'=nondet_12^post56, z_252^0'=z_252^post56, a_27^0'=a_27^post56, rcd_46^0'=rcd_46^post56, __disjvr_20^0'=__disjvr_20^post56, len_286^0'=len_286^post56, __disjvr_3^0'=__disjvr_3^post56, rcd_113^0'=rcd_113^post56, __disjvr_13^0'=__disjvr_13^post56, head_13^0'=head_13^post56, __disjvr_23^0'=__disjvr_23^post56, t_24^0'=t_24^post56, lt_29^0'=lt_29^post56, z_188^0'=z_188^post56, __disjvr_8^0'=__disjvr_8^post56, rcd_264^0'=rcd_264^post56, rcd_356^0'=rcd_356^post56, __disjvr_18^0'=__disjvr_18^post56, i_33^0'=i_33^post56, __disjvr_28^0'=__disjvr_28^post56, tmp_37^0'=tmp_37^post56, r_236^0'=r_236^post56, z_279^0'=z_279^post56, __disjvr_10^0'=__disjvr_10^post56, a_347^0'=a_347^post56, result_11^0'=result_11^post56, __disjvr_22^0'=__disjvr_22^post56, x_SLAM_f_21^0'=x_SLAM_f_21^post56, __disjvr_5^0'=__disjvr_5^post56, rcd_226^0'=rcd_226^post56, __disjvr_15^0'=__disjvr_15^post56, i_111^0'=i_111^post56, __disjvr_25^0'=__disjvr_25^post56, temp0_34^0'=temp0_34^post56, lt_483^0'=lt_483^post56, z_238^0'=z_238^post56, a_166^0'=a_166^post56, a_267^0'=a_267^post56, rcd_396^0'=rcd_396^post56, __disjvr_1^0'=__disjvr_1^post56, len_266^0'=len_266^post56, __disjvr_2^0'=__disjvr_2^post56, rcd_105^0'=rcd_105^post56, z_389^0'=z_389^post56, __disjvr_12^0'=__disjvr_12^post56, ct_20^0'=ct_20^post56, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, lt_17^0'=lt_17^post56, z_160^0'=z_160^post56, __disjvr_7^0'=__disjvr_7^post56, rcd_237^0'=rcd_237^post56, rcd_352^0'=rcd_352^post56, __disjvr_17^0'=__disjvr_17^post56, i_227^0'=i_227^post56, __disjvr_27^0'=__disjvr_27^post56, temp_38^0'=temp_38^post56, r_178^0'=r_178^post56, z_265^0'=z_265^post56, (0 == 0 /\ -__disjvr_18^post56+__disjvr_18^0 == 0 /\ a_267^0-a_210^post56 <= 0 /\ -lt_483^post56+lt_483^0 == 0 /\ a_321^0-a_321^post56 == 0 /\ -z_265^post56+z_265^0 == 0 /\ rcd_396^0-rcd_396^post56 == 0 /\ -__disjvr_17^post56+__disjvr_17^0 == 0 /\ -z_238^post56+z_238^0 == 0 /\ lt_386^0-lt_386^post56 == 0 /\ len_195^post56-len_266^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post56 == 0 /\ -temp1_30^post56+temp1_30^0 == 0 /\ -len_266^post56+len_266^0 == 0 /\ __disjvr_1^0-__disjvr_1^post56 == 0 /\ rcd_222^0-rcd_222^post56 == 0 /\ -z_160^post56+z_265^0 <= 0 /\ z_229^0-z_229^post56 == 0 /\ z_252^0-z_252^post56 == 0 /\ y_22^0-y_22^post56 == 0 /\ -a_267^0+a_210^post56 <= 0 /\ -rcd_352^post56+rcd_352^0 == 0 /\ -__disjvr_26^post56+__disjvr_26^0 == 0 /\ __disjvr_8^0-__disjvr_8^post56 == 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ z_279^0-z_279^post56 == 0 /\ x_19^0-x_19^post56 == 0 /\ rcd_105^0-rcd_105^post56 == 0 /\ length_32^0-length_32^post56 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post56+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_228^post56+rcd_228^0 == 0 /\ z_28^0-z_28^post56 == 0 /\ -rcd_226^post56+rcd_226^0 == 0 /\ -r_178^post56+r_178^0 == 0 /\ -__disjvr_22^post56+__disjvr_22^0 == 0 /\ -a_166^post56+a_166^0 == 0 /\ -__disjvr_11^post56+__disjvr_11^0 == 0 /\ __disjvr_15^0-__disjvr_15^post56 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ __disjvr_16^0-__disjvr_16^post56 == 0 /\ a_377^0-a_377^post56 == 0 /\ -len_195^post56+len_266^0 <= 0 /\ z_188^0-z_188^post56 == 0 /\ -__disjvr_2^post56+__disjvr_2^0 == 0 /\ -lt_29^post56+lt_29^0 == 0 /\ -rcd_237^post56+rcd_237^0 == 0 /\ -z_389^post56+z_389^0 == 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ z_160^post56-z_265^0 <= 0 /\ -nondet_12^post56+nondet_12^0 == 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ -temp0_34^post56+temp0_34^0 == 0 /\ rcd_356^0-rcd_356^post56 == 0 /\ x_23^0-x_23^post56 == 0 /\ -__disjvr_28^post56+__disjvr_28^0 == 0 /\ -temp0_18^post56+temp0_18^0 == 0 /\ __disjvr_4^0-__disjvr_4^post56 == 0 /\ rcd_70^0-rcd_70^post56 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -lt_17^post56+lt_17^0 == 0 /\ -temp_38^post56+temp_38^0 == 0 /\ -a_27^post56+a_27^0 == 0 /\ -__disjvr_3^post56+__disjvr_3^0 == 0 /\ -__disjvr_13^post56+__disjvr_13^0 == 0 /\ rcd_113^0-rcd_113^post56 == 0 /\ head_13^0-head_13^post56 == 0 /\ -rcd_264^0+rcd_46^post56 <= 0 /\ len_286^0-len_286^post56 == 0 /\ __disjvr_9^0-__disjvr_9^post56 == 0 /\ -a_267^post56+a_267^0 == 0 /\ -__disjvr_10^post56+__disjvr_10^0 == 0 /\ -__disjvr_7^post56+__disjvr_7^0 == 0 /\ -__disjvr_25^post56+__disjvr_25^0 == 0 /\ a_347^0-a_347^post56 == 0 /\ r_236^0-r_236^post56 == 0 /\ -r_42^post56+r_42^0 == 0 /\ __disjvr_6^0-__disjvr_6^post56 == 0 /\ -tmp_37^post56+tmp_37^0 == 0 /\ __disjvr_19^0-__disjvr_19^post56 == 0 /\ i_120^0-i_120^post56 == 0 /\ rcd_376^0-rcd_376^post56 == 0 /\ __disjvr_5^0-__disjvr_5^post56 == 0 /\ -i_111^post56+i_111^0 == 0 /\ -__disjvr_27^post56+__disjvr_27^0 == 0 /\ result_11^0-result_11^post56 == 0 /\ -i_227^post56+i_227^0 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0 /\ __disjvr_23^0-__disjvr_23^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post56 == 0 /\ i_33^0-i_33^post56 == 0 /\ rcd_264^0-rcd_46^post56 <= 0 /\ -rcd_264^post56+rcd_264^0 == 0 /\ -x_SLAM_f_21^post56+x_SLAM_f_21^0 == 0 /\ -t_24^post56+t_24^0 == 0 /\ head_35^0-head_35^post56 == 0 /\ __disjvr_29^0-__disjvr_29^post56 == 0 /\ -ct_20^post56+ct_20^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0), cost: 1
New rule:
l52 -> l48 : a_210^0'=a_267^0, len_195^0'=len_266^0, rcd_46^0'=rcd_264^0, z_160^0'=z_265^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l48 -> l39 : __disjvr_0^0'=__disjvr_0^post57, a_321^0'=a_321^post57, rcd_70^0'=rcd_70^post57, __disjvr_21^0'=__disjvr_21^post57, x_23^0'=x_23^post57, __disjvr_4^0'=__disjvr_4^post57, rcd_222^0'=rcd_222^post57, __disjvr_14^0'=__disjvr_14^post57, head_35^0'=head_35^post57, __disjvr_24^0'=__disjvr_24^post57, temp0_18^0'=temp0_18^post57, lt_386^0'=lt_386^post57, z_229^0'=z_229^post57, __disjvr_9^0'=__disjvr_9^post57, a_210^0'=a_210^post57, rcd_376^0'=rcd_376^post57, __disjvr_19^0'=__disjvr_19^post57, len_195^0'=len_195^post57, __disjvr_29^0'=__disjvr_29^post57, x_19^0'=x_19^post57, r_42^0'=r_42^post57, z_28^0'=z_28^post57, __disjvr_11^0'=__disjvr_11^post57, a_377^0'=a_377^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post57, length_32^0'=length_32^post57, y_22^0'=y_22^post57, __disjvr_6^0'=__disjvr_6^post57, rcd_228^0'=rcd_228^post57, __disjvr_16^0'=__disjvr_16^post57, i_120^0'=i_120^post57, __disjvr_26^0'=__disjvr_26^post57, temp1_30^0'=temp1_30^post57, nondet_12^0'=nondet_12^post57, z_252^0'=z_252^post57, a_27^0'=a_27^post57, rcd_46^0'=rcd_46^post57, __disjvr_20^0'=__disjvr_20^post57, len_286^0'=len_286^post57, __disjvr_3^0'=__disjvr_3^post57, rcd_113^0'=rcd_113^post57, __disjvr_13^0'=__disjvr_13^post57, head_13^0'=head_13^post57, __disjvr_23^0'=__disjvr_23^post57, t_24^0'=t_24^post57, lt_29^0'=lt_29^post57, z_188^0'=z_188^post57, __disjvr_8^0'=__disjvr_8^post57, rcd_264^0'=rcd_264^post57, rcd_356^0'=rcd_356^post57, __disjvr_18^0'=__disjvr_18^post57, i_33^0'=i_33^post57, __disjvr_28^0'=__disjvr_28^post57, tmp_37^0'=tmp_37^post57, r_236^0'=r_236^post57, z_279^0'=z_279^post57, __disjvr_10^0'=__disjvr_10^post57, a_347^0'=a_347^post57, result_11^0'=result_11^post57, __disjvr_22^0'=__disjvr_22^post57, x_SLAM_f_21^0'=x_SLAM_f_21^post57, __disjvr_5^0'=__disjvr_5^post57, rcd_226^0'=rcd_226^post57, __disjvr_15^0'=__disjvr_15^post57, i_111^0'=i_111^post57, __disjvr_25^0'=__disjvr_25^post57, temp0_34^0'=temp0_34^post57, lt_483^0'=lt_483^post57, z_238^0'=z_238^post57, a_166^0'=a_166^post57, a_267^0'=a_267^post57, rcd_396^0'=rcd_396^post57, __disjvr_1^0'=__disjvr_1^post57, len_266^0'=len_266^post57, __disjvr_2^0'=__disjvr_2^post57, rcd_105^0'=rcd_105^post57, z_389^0'=z_389^post57, __disjvr_12^0'=__disjvr_12^post57, ct_20^0'=ct_20^post57, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post57, lt_17^0'=lt_17^post57, z_160^0'=z_160^post57, __disjvr_7^0'=__disjvr_7^post57, rcd_237^0'=rcd_237^post57, rcd_352^0'=rcd_352^post57, __disjvr_17^0'=__disjvr_17^post57, i_227^0'=i_227^post57, __disjvr_27^0'=__disjvr_27^post57, temp_38^0'=temp_38^post57, r_178^0'=r_178^post57, z_265^0'=z_265^post57, (t_24^0-t_24^post57 == 0 /\ a_267^0-a_267^post57 == 0 /\ z_238^0-z_238^post57 == 0 /\ __disjvr_21^0-__disjvr_21^post57 == 0 /\ rcd_376^0-rcd_376^post57 == 0 /\ __disjvr_8^0-__disjvr_8^post57 == 0 /\ __disjvr_6^0-__disjvr_6^post57 == 0 /\ -rcd_237^post57+rcd_237^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post57 == 0 /\ __disjvr_14^0-__disjvr_14^post57 == 0 /\ -nondet_12^post57+nondet_12^0 == 0 /\ z_28^0-z_28^post57 == 0 /\ __disjvr_1^0-__disjvr_1^post57 == 0 /\ i_33^0-i_33^post57 == 0 /\ -__disjvr_10^post57+__disjvr_10^0 == 0 /\ -__disjvr_3^post57+__disjvr_3^0 == 0 /\ -rcd_228^post57+rcd_228^0 == 0 /\ -rcd_352^post57+rcd_352^0 == 0 /\ -rcd_396^post57+rcd_396^0 == 0 /\ temp0_18^0-temp0_18^post57 == 0 /\ __disjvr_29^0-__disjvr_29^post57 == 0 /\ -lt_17^post57+lt_17^0 == 0 /\ -a_166^post57+a_166^0 == 0 /\ -r_178^post57+r_178^0 == 0 /\ -result_11^post57+result_11^0 == 0 /\ -__disjvr_13^post57+__disjvr_13^0 == 0 /\ x_23^0-x_23^post57 == 0 /\ -r_42^post57+r_42^0 == 0 /\ -__disjvr_7^post57+__disjvr_7^0 == 0 /\ a_321^0-a_321^post57 == 0 /\ -__disjvr_16^post57+__disjvr_16^0 == 0 /\ rcd_113^0-rcd_113^post57 == 0 /\ z_252^0-z_252^post57 == 0 /\ rcd_226^0-rcd_226^post57 == 0 /\ head_13^0-head_13^post57 == 0 /\ -x_SLAM_f_21^post57+x_SLAM_f_21^0 == 0 /\ len_195^0-len_195^post57 == 0 /\ -ct_20^post57+ct_20^0 == 0 /\ a_27^0-a_27^post57 == 0 /\ -temp0_34^post57+temp0_34^0 == 0 /\ temp1_30^0-temp1_30^post57 == 0 /\ r_236^0-r_236^post57 == 0 /\ y_22^0-y_22^post57 == 0 /\ -rcd_105^post57+rcd_105^0 == 0 /\ -__disjvr_5^post57+__disjvr_5^0 == 0 /\ -temp_38^post57+temp_38^0 == 0 /\ -rcd_264^post57+rcd_264^0 == 0 /\ rcd_46^0-rcd_46^post57 == 0 /\ __disjvr_23^0-__disjvr_23^post57 == 0 /\ -lt_483^post57+lt_483^0 == 0 /\ z_229^0-z_229^post57 == 0 /\ -__disjvr_18^post57+__disjvr_18^0 == 0 /\ -a_377^post57+a_377^0 == 0 /\ __disjvr_19^0-__disjvr_19^post57 == 0 /\ -z_279^post57+z_279^0 == 0 /\ __disjvr_0^0-__disjvr_0^post57 == 0 /\ lt_386^0-lt_386^post57 == 0 /\ x_19^0-x_19^post57 == 0 /\ z_188^0-z_188^post57 == 0 /\ -z_160^post57+z_160^0 == 0 /\ -head_35^post57+head_35^0 == 0 /\ -i_111^post57+i_111^0 == 0 /\ -len_266^post57+len_266^0 == 0 /\ -i_227^post57+i_227^0 == 0 /\ __disjvr_20^0-__disjvr_20^post57 == 0 /\ -a_347^post57+a_347^0 == 0 /\ len_286^0-len_286^post57 == 0 /\ -__disjvr_25^post57+__disjvr_25^0 == 0 /\ __disjvr_4^0-__disjvr_4^post57 == 0 /\ __disjvr_26^0-__disjvr_26^post57 == 0 /\ rcd_70^0-rcd_70^post57 == 0 /\ -__disjvr_12^post57+__disjvr_12^0 == 0 /\ tmp_37^0-tmp_37^post57 == 0 /\ rcd_222^0-rcd_222^post57 == 0 /\ -__disjvr_28^post57+__disjvr_28^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post57+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_9^0-__disjvr_9^post57 == 0 /\ -z_389^post57+z_389^0 == 0 /\ -__disjvr_11^post57+__disjvr_11^0 == 0 /\ -__disjvr_2^post57+__disjvr_2^0 == 0 /\ -__disjvr_22^post57+__disjvr_22^0 == 0 /\ -z_265^post57+z_265^0 == 0 /\ -lt_29^post57+lt_29^0 == 0 /\ i_120^0-i_120^post57 == 0 /\ rcd_356^0-rcd_356^post57 == 0 /\ __disjvr_27^0-__disjvr_27^post57 == 0 /\ -length_32^post57+length_32^0 == 0 /\ a_210^0-a_210^post57 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ -__disjvr_15^post57+__disjvr_15^0 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0), cost: 1
New rule:
l48 -> l39 : TRUE, cost: 1

Applied preprocessing
Original rule:
l65 -> l45 : __disjvr_0^0'=__disjvr_0^post71, a_321^0'=a_321^post71, rcd_70^0'=rcd_70^post71, __disjvr_21^0'=__disjvr_21^post71, x_23^0'=x_23^post71, __disjvr_4^0'=__disjvr_4^post71, rcd_222^0'=rcd_222^post71, __disjvr_14^0'=__disjvr_14^post71, head_35^0'=head_35^post71, __disjvr_24^0'=__disjvr_24^post71, temp0_18^0'=temp0_18^post71, lt_386^0'=lt_386^post71, z_229^0'=z_229^post71, __disjvr_9^0'=__disjvr_9^post71, a_210^0'=a_210^post71, rcd_376^0'=rcd_376^post71, __disjvr_19^0'=__disjvr_19^post71, len_195^0'=len_195^post71, __disjvr_29^0'=__disjvr_29^post71, x_19^0'=x_19^post71, r_42^0'=r_42^post71, z_28^0'=z_28^post71, __disjvr_11^0'=__disjvr_11^post71, a_377^0'=a_377^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post71, length_32^0'=length_32^post71, y_22^0'=y_22^post71, __disjvr_6^0'=__disjvr_6^post71, rcd_228^0'=rcd_228^post71, __disjvr_16^0'=__disjvr_16^post71, i_120^0'=i_120^post71, __disjvr_26^0'=__disjvr_26^post71, temp1_30^0'=temp1_30^post71, nondet_12^0'=nondet_12^post71, z_252^0'=z_252^post71, a_27^0'=a_27^post71, rcd_46^0'=rcd_46^post71, __disjvr_20^0'=__disjvr_20^post71, len_286^0'=len_286^post71, __disjvr_3^0'=__disjvr_3^post71, rcd_113^0'=rcd_113^post71, __disjvr_13^0'=__disjvr_13^post71, head_13^0'=head_13^post71, __disjvr_23^0'=__disjvr_23^post71, t_24^0'=t_24^post71, lt_29^0'=lt_29^post71, z_188^0'=z_188^post71, __disjvr_8^0'=__disjvr_8^post71, rcd_264^0'=rcd_264^post71, rcd_356^0'=rcd_356^post71, __disjvr_18^0'=__disjvr_18^post71, i_33^0'=i_33^post71, __disjvr_28^0'=__disjvr_28^post71, tmp_37^0'=tmp_37^post71, r_236^0'=r_236^post71, z_279^0'=z_279^post71, __disjvr_10^0'=__disjvr_10^post71, a_347^0'=a_347^post71, result_11^0'=result_11^post71, __disjvr_22^0'=__disjvr_22^post71, x_SLAM_f_21^0'=x_SLAM_f_21^post71, __disjvr_5^0'=__disjvr_5^post71, rcd_226^0'=rcd_226^post71, __disjvr_15^0'=__disjvr_15^post71, i_111^0'=i_111^post71, __disjvr_25^0'=__disjvr_25^post71, temp0_34^0'=temp0_34^post71, lt_483^0'=lt_483^post71, z_238^0'=z_238^post71, a_166^0'=a_166^post71, a_267^0'=a_267^post71, rcd_396^0'=rcd_396^post71, __disjvr_1^0'=__disjvr_1^post71, len_266^0'=len_266^post71, __disjvr_2^0'=__disjvr_2^post71, rcd_105^0'=rcd_105^post71, z_389^0'=z_389^post71, __disjvr_12^0'=__disjvr_12^post71, ct_20^0'=ct_20^post71, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post71, lt_17^0'=lt_17^post71, z_160^0'=z_160^post71, __disjvr_7^0'=__disjvr_7^post71, rcd_237^0'=rcd_237^post71, rcd_352^0'=rcd_352^post71, __disjvr_17^0'=__disjvr_17^post71, i_227^0'=i_227^post71, __disjvr_27^0'=__disjvr_27^post71, temp_38^0'=temp_38^post71, r_178^0'=r_178^post71, z_265^0'=z_265^post71, (0 == 0 /\ -__disjvr_25^post71+__disjvr_25^0 == 0 /\ i_33^post71 <= 0 /\ i_33^post71 == 0 /\ rcd_222^0-rcd_222^post71 == 0 /\ i_120^0-i_120^post71 == 0 /\ __disjvr_13^0-__disjvr_13^post71 == 0 /\ __disjvr_20^0-__disjvr_20^post71 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post71-nondet_12^10 == 0 /\ z_229^0-z_229^post71 == 0 /\ __disjvr_22^0-__disjvr_22^post71 == 0 /\ -rcd_46^post71+rcd_46^0 == 0 /\ __disjvr_24^0-__disjvr_24^post71 == 0 /\ -length_32^post71+result_dot_nondet_sdv_special_RETURN_VALUE_14^post71 <= 0 /\ -__disjvr_11^post71+__disjvr_11^0 == 0 /\ -y_22^post71+y_22^0 == 0 /\ -t_24^post71+t_24^0 == 0 /\ -i_227^post71+i_227^0 == 0 /\ -rcd_264^post71+rcd_264^0 == 0 /\ -z_265^post71+z_265^0 == 0 /\ __disjvr_26^0-__disjvr_26^post71 == 0 /\ z_188^0-z_188^post71 == 0 /\ -r_236^post71+r_236^0 == 0 /\ -__disjvr_1^post71+__disjvr_1^0 == 0 /\ -__disjvr_15^post71+__disjvr_15^0 == 0 /\ head_35^post71 <= 0 /\ head_35^post71 == 0 /\ -z_279^post71+z_279^0 == 0 /\ -len_266^post71+len_266^0 == 0 /\ rcd_105^0-rcd_105^post71 == 0 /\ z_238^0-z_238^post71 == 0 /\ __disjvr_29^0-__disjvr_29^post71 == 0 /\ a_377^0-a_377^post71 == 0 /\ -i_33^post71 <= 0 /\ -rcd_352^post71+rcd_352^0 == 0 /\ length_32^post71-result_dot_nondet_sdv_special_RETURN_VALUE_14^post71 <= 0 /\ length_32^post71-result_dot_nondet_sdv_special_RETURN_VALUE_14^post71 == 0 /\ -lt_17^post71+lt_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post71 == 0 /\ -z_389^post71+z_389^0 == 0 /\ -__disjvr_17^post71+__disjvr_17^0 == 0 /\ -result_11^post71+result_11^0 == 0 /\ -r_178^post71+r_178^0 == 0 /\ -rcd_356^post71+rcd_356^0 == 0 /\ rcd_70^0-rcd_70^post71 == 0 /\ -__disjvr_3^post71+__disjvr_3^0 == 0 /\ -a_267^post71+a_267^0 == 0 /\ x_23^0-x_23^post71 == 0 /\ -lt_29^post71+lt_29^0 == 0 /\ -__disjvr_2^post71+__disjvr_2^0 == 0 /\ temp0_18^0-temp0_18^post71 == 0 /\ __disjvr_9^0-__disjvr_9^post71 == 0 /\ -__disjvr_12^post71+__disjvr_12^0 == 0 /\ -temp1_30^post71+temp1_30^0 == 0 /\ -x_SLAM_f_21^post71+x_SLAM_f_21^0 == 0 /\ lt_483^0-lt_483^post71 == 0 /\ -__disjvr_19^post71+__disjvr_19^0 == 0 /\ r_42^0-r_42^post71 == 0 /\ temp0_34^0-temp0_34^post71 == 0 /\ rcd_237^0-rcd_237^post71 == 0 /\ __disjvr_0^0-__disjvr_0^post71 == 0 /\ -__disjvr_10^post71+__disjvr_10^0 == 0 /\ len_286^0-len_286^post71 == 0 /\ -a_166^post71+a_166^0 == 0 /\ head_13^0-head_13^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post71 == 0 /\ -temp_38^post71+temp_38^0 == 0 /\ lt_386^0-lt_386^post71 == 0 /\ a_347^0-a_347^post71 == 0 /\ __disjvr_16^0-__disjvr_16^post71 == 0 /\ __disjvr_4^0-__disjvr_4^post71 == 0 /\ -a_210^post71+a_210^0 == 0 /\ -__disjvr_5^post71+__disjvr_5^0 == 0 /\ -__disjvr_7^post71+__disjvr_7^0 == 0 /\ -__disjvr_28^post71+__disjvr_28^0 == 0 /\ rcd_226^0-rcd_226^post71 == 0 /\ __disjvr_18^0-__disjvr_18^post71 == 0 /\ -rcd_396^post71+rcd_396^0 == 0 /\ -head_35^post71 <= 0 /\ __disjvr_23^0-__disjvr_23^post71 == 0 /\ -z_160^post71+z_160^0 == 0 /\ -i_111^post71+i_111^0 == 0 /\ rcd_376^0-rcd_376^post71 == 0 /\ __disjvr_21^0-__disjvr_21^post71 == 0 /\ -x_19^post71+x_19^0 == 0 /\ -rcd_228^post71+rcd_228^0 == 0 /\ z_28^0-z_28^post71 == 0 /\ a_321^0-a_321^post71 == 0 /\ rcd_113^0-rcd_113^post71 == 0 /\ -__disjvr_27^post71+__disjvr_27^0 == 0 /\ -__disjvr_8^post71+__disjvr_8^0 == 0 /\ z_252^0-z_252^post71 == 0 /\ __disjvr_6^0-__disjvr_6^post71 == 0 /\ tmp_37^0-tmp_37^post71 == 0 /\ len_195^0-len_195^post71 == 0 /\ -ct_20^post71+ct_20^0 == 0 /\ a_27^0-a_27^post71 == 0), cost: 1
New rule:
l65 -> l45 : head_35^0'=0, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, 0 == 0, cost: 1

Applied preprocessing
Original rule:
l66 -> l65 : __disjvr_0^0'=__disjvr_0^post72, a_321^0'=a_321^post72, rcd_70^0'=rcd_70^post72, __disjvr_21^0'=__disjvr_21^post72, x_23^0'=x_23^post72, __disjvr_4^0'=__disjvr_4^post72, rcd_222^0'=rcd_222^post72, __disjvr_14^0'=__disjvr_14^post72, head_35^0'=head_35^post72, __disjvr_24^0'=__disjvr_24^post72, temp0_18^0'=temp0_18^post72, lt_386^0'=lt_386^post72, z_229^0'=z_229^post72, __disjvr_9^0'=__disjvr_9^post72, a_210^0'=a_210^post72, rcd_376^0'=rcd_376^post72, __disjvr_19^0'=__disjvr_19^post72, len_195^0'=len_195^post72, __disjvr_29^0'=__disjvr_29^post72, x_19^0'=x_19^post72, r_42^0'=r_42^post72, z_28^0'=z_28^post72, __disjvr_11^0'=__disjvr_11^post72, a_377^0'=a_377^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post72, length_32^0'=length_32^post72, y_22^0'=y_22^post72, __disjvr_6^0'=__disjvr_6^post72, rcd_228^0'=rcd_228^post72, __disjvr_16^0'=__disjvr_16^post72, i_120^0'=i_120^post72, __disjvr_26^0'=__disjvr_26^post72, temp1_30^0'=temp1_30^post72, nondet_12^0'=nondet_12^post72, z_252^0'=z_252^post72, a_27^0'=a_27^post72, rcd_46^0'=rcd_46^post72, __disjvr_20^0'=__disjvr_20^post72, len_286^0'=len_286^post72, __disjvr_3^0'=__disjvr_3^post72, rcd_113^0'=rcd_113^post72, __disjvr_13^0'=__disjvr_13^post72, head_13^0'=head_13^post72, __disjvr_23^0'=__disjvr_23^post72, t_24^0'=t_24^post72, lt_29^0'=lt_29^post72, z_188^0'=z_188^post72, __disjvr_8^0'=__disjvr_8^post72, rcd_264^0'=rcd_264^post72, rcd_356^0'=rcd_356^post72, __disjvr_18^0'=__disjvr_18^post72, i_33^0'=i_33^post72, __disjvr_28^0'=__disjvr_28^post72, tmp_37^0'=tmp_37^post72, r_236^0'=r_236^post72, z_279^0'=z_279^post72, __disjvr_10^0'=__disjvr_10^post72, a_347^0'=a_347^post72, result_11^0'=result_11^post72, __disjvr_22^0'=__disjvr_22^post72, x_SLAM_f_21^0'=x_SLAM_f_21^post72, __disjvr_5^0'=__disjvr_5^post72, rcd_226^0'=rcd_226^post72, __disjvr_15^0'=__disjvr_15^post72, i_111^0'=i_111^post72, __disjvr_25^0'=__disjvr_25^post72, temp0_34^0'=temp0_34^post72, lt_483^0'=lt_483^post72, z_238^0'=z_238^post72, a_166^0'=a_166^post72, a_267^0'=a_267^post72, rcd_396^0'=rcd_396^post72, __disjvr_1^0'=__disjvr_1^post72, len_266^0'=len_266^post72, __disjvr_2^0'=__disjvr_2^post72, rcd_105^0'=rcd_105^post72, z_389^0'=z_389^post72, __disjvr_12^0'=__disjvr_12^post72, ct_20^0'=ct_20^post72, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post72, lt_17^0'=lt_17^post72, z_160^0'=z_160^post72, __disjvr_7^0'=__disjvr_7^post72, rcd_237^0'=rcd_237^post72, rcd_352^0'=rcd_352^post72, __disjvr_17^0'=__disjvr_17^post72, i_227^0'=i_227^post72, __disjvr_27^0'=__disjvr_27^post72, temp_38^0'=temp_38^post72, r_178^0'=r_178^post72, z_265^0'=z_265^post72, (__disjvr_29^0-__disjvr_29^post72 == 0 /\ __disjvr_16^0-__disjvr_16^post72 == 0 /\ -__disjvr_7^post72+__disjvr_7^0 == 0 /\ -i_227^post72+i_227^0 == 0 /\ nondet_12^0-nondet_12^post72 == 0 /\ -__disjvr_8^post72+__disjvr_8^0 == 0 /\ -i_111^post72+i_111^0 == 0 /\ -z_252^post72+z_252^0 == 0 /\ -__disjvr_23^post72+__disjvr_23^0 == 0 /\ __disjvr_26^0-__disjvr_26^post72 == 0 /\ -z_389^post72+z_389^0 == 0 /\ -__disjvr_27^post72+__disjvr_27^0 == 0 /\ -__disjvr_2^post72+__disjvr_2^0 == 0 /\ y_22^0-y_22^post72 == 0 /\ -a_267^post72+a_267^0 == 0 /\ __disjvr_6^0-__disjvr_6^post72 == 0 /\ a_377^0-a_377^post72 == 0 /\ __disjvr_14^0-__disjvr_14^post72 == 0 /\ -len_286^post72+len_286^0 == 0 /\ -__disjvr_5^post72+__disjvr_5^0 == 0 /\ __disjvr_21^0-__disjvr_21^post72 == 0 /\ rcd_376^0-rcd_376^post72 == 0 /\ -lt_29^post72+lt_29^0 == 0 /\ -__disjvr_12^post72+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post72 == 0 /\ -rcd_396^post72+rcd_396^0 == 0 /\ tmp_37^0-tmp_37^post72 == 0 /\ -rcd_113^post72+rcd_113^0 == 0 /\ -t_24^post72+t_24^0 == 0 /\ -z_265^post72+z_265^0 == 0 /\ -__disjvr_15^post72+__disjvr_15^0 == 0 /\ ct_20^0-ct_20^post72 == 0 /\ -z_188^post72+z_188^0 == 0 /\ length_32^0-length_32^post72 == 0 /\ -__disjvr_20^post72+__disjvr_20^0 == 0 /\ __disjvr_3^0-__disjvr_3^post72 == 0 /\ a_166^0-a_166^post72 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post72 == 0 /\ r_42^0-r_42^post72 == 0 /\ temp1_30^0-temp1_30^post72 == 0 /\ x_23^0-x_23^post72 == 0 /\ -z_160^post72+z_160^0 == 0 /\ __disjvr_10^0-__disjvr_10^post72 == 0 /\ temp0_18^0-temp0_18^post72 == 0 /\ rcd_226^0-rcd_226^post72 == 0 /\ -r_236^post72+r_236^0 == 0 /\ -rcd_352^post72+rcd_352^0 == 0 /\ -__disjvr_1^post72+__disjvr_1^0 == 0 /\ -rcd_105^post72+rcd_105^0 == 0 /\ -head_13^post72+head_13^0 == 0 /\ a_210^0-a_210^post72 == 0 /\ -__disjvr_22^post72+__disjvr_22^0 == 0 /\ __disjvr_24^0-__disjvr_24^post72 == 0 /\ -r_178^post72+r_178^0 == 0 /\ __disjvr_25^0-__disjvr_25^post72 == 0 /\ temp0_34^0-temp0_34^post72 == 0 /\ -a_347^post72+a_347^0 == 0 /\ -lt_483^post72+lt_483^0 == 0 /\ x_SLAM_f_21^0-x_SLAM_f_21^post72 == 0 /\ -__disjvr_18^post72+__disjvr_18^0 == 0 /\ -z_229^post72+z_229^0 == 0 /\ rcd_70^0-rcd_70^post72 == 0 /\ a_321^0-a_321^post72 == 0 /\ lt_17^0-lt_17^post72 == 0 /\ -rcd_46^post72+rcd_46^0 == 0 /\ -i_120^post72+i_120^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post72+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_9^0-__disjvr_9^post72 == 0 /\ z_28^0-z_28^post72 == 0 /\ rcd_264^0-rcd_264^post72 == 0 /\ -__disjvr_17^post72+__disjvr_17^0 == 0 /\ len_195^0-len_195^post72 == 0 /\ a_27^0-a_27^post72 == 0 /\ -rcd_237^post72+rcd_237^0 == 0 /\ -z_238^post72+z_238^0 == 0 /\ rcd_228^0-rcd_228^post72 == 0 /\ __disjvr_13^0-__disjvr_13^post72 == 0 /\ -z_279^post72+z_279^0 == 0 /\ head_35^0-head_35^post72 == 0 /\ rcd_222^0-rcd_222^post72 == 0 /\ -rcd_356^post72+rcd_356^0 == 0 /\ -temp_38^post72+temp_38^0 == 0 /\ -i_33^post72+i_33^0 == 0 /\ x_19^0-x_19^post72 == 0 /\ __disjvr_4^0-__disjvr_4^post72 == 0 /\ __disjvr_28^0-__disjvr_28^post72 == 0 /\ -result_11^post72+result_11^0 == 0 /\ -len_266^post72+len_266^0 == 0 /\ -__disjvr_19^post72+__disjvr_19^0 == 0 /\ lt_386^0-lt_386^post72 == 0 /\ __disjvr_0^0-__disjvr_0^post72 == 0), cost: 1
New rule:
l66 -> l65 : TRUE, cost: 1

Simplified rules
Start location: l66
  73: l0 -> l3 : x_19^0'=x_19^post1, r_42^0'=r_42^post1, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, a_347^0 >= 0, cost: 1
  74: l3 -> l4 : 0 == 0, cost: 1
  75: l4 -> l5 : rcd_376^0'=rcd_46^0, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, (y_22^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ -x_19^0+lt_17^0 == 0 /\ ct_20^0 == 0), cost: 1
  76: l5 -> l6 : 0 == 0, cost: 1
  77: l6 -> l7 : 0 == 0, cost: 1
  78: l7 -> l8 : 0 == 0, cost: 1
  79: l8 -> l2 : rcd_46^0'=rcd_376^0, a_347^0'=a_377^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
  80: l2 -> l0 : TRUE, cost: 1
  81: l18 -> l19 : x_19^0'=x_19^post19, rcd_356^0'=rcd_356^post19, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, len_286^0 >= 0, cost: 1
  82: l19 -> l20 : 0 == 0, cost: 1
  83: l20 -> l21 : a_321^0'=a_347^0, t_24^0'=lt_17^0, (y_22^0 == 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ rcd_46^0-rcd_352^0 == 0 /\ -x_19^0+lt_17^0 == 0 /\ ct_20^0 == 0), cost: 1
  84: l21 -> l22 : 0 == 0, cost: 1
  85: l22 -> l23 : 0 == 0, cost: 1
  86: l23 -> l24 : 0 == 0, cost: 1
  87: l24 -> l0 : len_286^0'=1+a_321^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
  88: l25 -> l38 : rcd_70^0'=rcd_70^post39, head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, i_33^0'=2, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_32^0, temp_38^0'=temp_38^post39, (-2+length_32^0 >= 0 /\ -1+i_33^0 == 0), cost: 1
  89: l38 -> l40 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=head_13^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (-2+i_120^0 >= 0 /\ i_33^0 >= 0 /\ length_32^0-i_33^0 <= 0), cost: 1
  94: l38 -> l44 : head_35^0'=temp_38^0, rcd_113^0'=rcd_46^0, i_33^0'=1+i_33^0, tmp_37^0'=temp_38^0, i_111^0'=i_33^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (1-length_32^0+i_33^0 <= 0 /\ i_33^0 >= 0), cost: 1
  90: l40 -> l41 : 0 == 0, cost: 1
  91: l41 -> l42 : z_28^0'=z_160^0, lt_29^0'=lt_29^post42, (len_195^0 == 0 /\ -rcd_222^0+rcd_46^0 == 0 /\ a_27^0-head_13^0 == 0 /\ -a_210^0+i_120^0 == 0), cost: 1
  92: l42 -> l43 : 0 == 0, cost: 1
  93: l43 -> l39 : (-i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_227^0 <= 0), cost: 1
  97: l39 -> l46 : x_23^0'=lt_17^0, x_19^0'=lt_17^0, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, z_279^0'=z_279^post49, x_SLAM_f_21^0'=lt_17^0, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0), cost: 1
 100: l39 -> l49 : r_42^0'=r_42^post52, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=head_13^post52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, (a_210^0 >= 0 /\ len_195^0 >= 0), cost: 1
  95: l44 -> l38 : TRUE, cost: 1
  96: l45 -> l25 : head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, i_33^0'=1, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_32^0, temp_38^0'=temp_38^post48, (i_33^0 == 0 /\ -1+length_32^0 >= 0), cost: 1
  98: l46 -> l47 : 0 == 0, cost: 1
  99: l47 -> l18 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 101: l49 -> l50 : 0 == 0, cost: 1
 102: l50 -> l51 : z_28^0'=z_28^post54, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, z_265^0'=z_160^0, a_27^0-head_13^0 == 0, cost: 1
 103: l51 -> l52 : 0 == 0, cost: 1
 104: l52 -> l48 : a_210^0'=a_267^0, len_195^0'=len_266^0, rcd_46^0'=rcd_264^0, z_160^0'=z_265^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
 105: l48 -> l39 : TRUE, cost: 1
 106: l65 -> l45 : head_35^0'=0, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, 0 == 0, cost: 1
 107: l66 -> l65 : TRUE, cost: 1


Eliminating location l65 by chaining:

Applied chaining
First rule:
l66 -> l65 : TRUE, cost: 1
Second rule:
l65 -> l45 : head_35^0'=0, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, 0 == 0, cost: 1
New rule:
l66 -> l45 : head_35^0'=0, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, 0 == 0, cost: 2

Applied deletion
Removed the following rules: 106 107

Eliminating location l45 by chaining:

Applied chaining
First rule:
l66 -> l45 : head_35^0'=0, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, 0 == 0, cost: 2
Second rule:
l45 -> l25 : head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, i_33^0'=1, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_32^0, temp_38^0'=temp_38^post48, (i_33^0 == 0 /\ -1+length_32^0 >= 0), cost: 1
New rule:
l66 -> l25 : head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=1, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post48, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3

Applied simplification
Original rule:
l66 -> l25 : head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=1, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post48, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3
New rule:
l66 -> l25 : head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=1, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post48, -1+nondet_12^10 >= 0, cost: 3

Applied deletion
Removed the following rules: 96 108

Eliminating location l25 by chaining:

Applied chaining
First rule:
l66 -> l25 : head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=1, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post48, -1+nondet_12^10 >= 0, cost: 3
Second rule:
l25 -> l38 : rcd_70^0'=rcd_70^post39, head_35^0'=temp_38^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^0, i_33^0'=2, tmp_37^0'=temp_38^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_32^0, temp_38^0'=temp_38^post39, (-2+length_32^0 >= 0 /\ -1+i_33^0 == 0), cost: 1
New rule:
l66 -> l38 : rcd_70^0'=rcd_70^post39, head_35^0'=temp_38^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post48, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=2, tmp_37^0'=temp_38^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post39, (0 == 0 /\ -2+nondet_12^10 >= 0 /\ -1+nondet_12^10 >= 0), cost: 4

Applied simplification
Original rule:
l66 -> l38 : rcd_70^0'=rcd_70^post39, head_35^0'=temp_38^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post48, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=2, tmp_37^0'=temp_38^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post39, (0 == 0 /\ -2+nondet_12^10 >= 0 /\ -1+nondet_12^10 >= 0), cost: 4
New rule:
l66 -> l38 : rcd_70^0'=rcd_70^post39, head_35^0'=temp_38^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post48, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=2, tmp_37^0'=temp_38^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post39, -2+nondet_12^10 >= 0, cost: 4

Applied deletion
Removed the following rules: 88 109

Eliminating location l40 by chaining:

Applied chaining
First rule:
l38 -> l40 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=head_13^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (-2+i_120^0 >= 0 /\ i_33^0 >= 0 /\ length_32^0-i_33^0 <= 0), cost: 1
Second rule:
l40 -> l41 : 0 == 0, cost: 1
New rule:
l38 -> l41 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=head_13^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (0 == 0 /\ -2+i_120^0 >= 0 /\ i_33^0 >= 0 /\ length_32^0-i_33^0 <= 0), cost: 2

Applied simplification
Original rule:
l38 -> l41 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=head_13^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (0 == 0 /\ -2+i_120^0 >= 0 /\ i_33^0 >= 0 /\ length_32^0-i_33^0 <= 0), cost: 2
New rule:
l38 -> l41 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=head_13^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (-2+i_120^0 >= 0 /\ i_33^0 >= 0 /\ length_32^0-i_33^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 89 90

Eliminating location l44 by chaining:

Applied chaining
First rule:
l38 -> l44 : head_35^0'=temp_38^0, rcd_113^0'=rcd_46^0, i_33^0'=1+i_33^0, tmp_37^0'=temp_38^0, i_111^0'=i_33^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (1-length_32^0+i_33^0 <= 0 /\ i_33^0 >= 0), cost: 1
Second rule:
l44 -> l38 : TRUE, cost: 1
New rule:
l38 -> l38 : head_35^0'=temp_38^0, rcd_113^0'=rcd_46^0, i_33^0'=1+i_33^0, tmp_37^0'=temp_38^0, i_111^0'=i_33^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (1-length_32^0+i_33^0 <= 0 /\ i_33^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 94 95

Eliminating location l41 by chaining:

Applied chaining
First rule:
l38 -> l41 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=head_13^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (-2+i_120^0 >= 0 /\ i_33^0 >= 0 /\ length_32^0-i_33^0 <= 0), cost: 2
Second rule:
l41 -> l42 : z_28^0'=z_160^0, lt_29^0'=lt_29^post42, (len_195^0 == 0 /\ -rcd_222^0+rcd_46^0 == 0 /\ a_27^0-head_13^0 == 0 /\ -a_210^0+i_120^0 == 0), cost: 1
New rule:
l38 -> l42 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (-2+i_120^0 >= 0 /\ len_195^0 == 0 /\ i_33^0 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 3

Applied deletion
Removed the following rules: 91 111

Eliminating location l42 by chaining:

Applied chaining
First rule:
l38 -> l42 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (-2+i_120^0 >= 0 /\ len_195^0 == 0 /\ i_33^0 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 3
Second rule:
l42 -> l43 : 0 == 0, cost: 1
New rule:
l38 -> l43 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (0 == 0 /\ -2+i_120^0 >= 0 /\ len_195^0 == 0 /\ i_33^0 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 4

Applied simplification
Original rule:
l38 -> l43 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (0 == 0 /\ -2+i_120^0 >= 0 /\ len_195^0 == 0 /\ i_33^0 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 4
New rule:
l38 -> l43 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (-2+i_120^0 >= 0 /\ len_195^0 == 0 /\ i_33^0 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 4

Applied deletion
Removed the following rules: 92 113

Eliminating location l43 by chaining:

Applied chaining
First rule:
l38 -> l43 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (-2+i_120^0 >= 0 /\ len_195^0 == 0 /\ i_33^0 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 4
Second rule:
l43 -> l39 : (-i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_227^0 <= 0), cost: 1
New rule:
l38 -> l39 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (-2+i_120^0 >= 0 /\ len_195^0 == 0 /\ i_33^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post40-i_227^post40 <= 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 5

Applied simplification
Original rule:
l38 -> l39 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (-2+i_120^0 >= 0 /\ len_195^0 == 0 /\ i_33^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post40-i_227^post40 <= 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 5
New rule:
l38 -> l39 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (len_195^0 == 0 /\ i_33^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post40-i_227^post40 <= 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 5

Applied deletion
Removed the following rules: 93 114

Eliminating location l46 by chaining:

Applied chaining
First rule:
l39 -> l46 : x_23^0'=lt_17^0, x_19^0'=lt_17^0, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, z_279^0'=z_279^post49, x_SLAM_f_21^0'=lt_17^0, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0), cost: 1
Second rule:
l46 -> l47 : 0 == 0, cost: 1
New rule:
l39 -> l47 : x_23^0'=lt_17^0, x_19^0'=lt_17^0, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, z_279^0'=z_279^post49, x_SLAM_f_21^0'=lt_17^0, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, (0 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0), cost: 2

Applied simplification
Original rule:
l39 -> l47 : x_23^0'=lt_17^0, x_19^0'=lt_17^0, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, z_279^0'=z_279^post49, x_SLAM_f_21^0'=lt_17^0, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, (0 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0), cost: 2
New rule:
l39 -> l47 : x_23^0'=lt_17^0, x_19^0'=lt_17^0, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, z_279^0'=z_279^post49, x_SLAM_f_21^0'=lt_17^0, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0), cost: 2

Applied deletion
Removed the following rules: 97 98

Eliminating location l49 by chaining:

Applied chaining
First rule:
l39 -> l49 : r_42^0'=r_42^post52, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=head_13^post52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, (a_210^0 >= 0 /\ len_195^0 >= 0), cost: 1
Second rule:
l49 -> l50 : 0 == 0, cost: 1
New rule:
l39 -> l50 : r_42^0'=r_42^post52, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=head_13^post52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, (0 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0), cost: 2

Applied simplification
Original rule:
l39 -> l50 : r_42^0'=r_42^post52, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=head_13^post52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, (0 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0), cost: 2
New rule:
l39 -> l50 : r_42^0'=r_42^post52, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=head_13^post52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, (a_210^0 >= 0 /\ len_195^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 100 101

Eliminating location l47 by chaining:

Applied chaining
First rule:
l39 -> l47 : x_23^0'=lt_17^0, x_19^0'=lt_17^0, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, z_279^0'=z_279^post49, x_SLAM_f_21^0'=lt_17^0, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0), cost: 2
Second rule:
l47 -> l18 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
New rule:
l39 -> l18 : x_23^0'=lt_17^0, x_19^0'=lt_17^0, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, z_279^0'=z_279^post49, x_SLAM_f_21^0'=lt_17^0, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0), cost: 3

Applied deletion
Removed the following rules: 99 116

Eliminating location l50 by chaining:

Applied chaining
First rule:
l39 -> l50 : r_42^0'=r_42^post52, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=head_13^post52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, (a_210^0 >= 0 /\ len_195^0 >= 0), cost: 2
Second rule:
l50 -> l51 : z_28^0'=z_28^post54, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, z_265^0'=z_160^0, a_27^0-head_13^0 == 0, cost: 1
New rule:
l39 -> l51 : r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=head_13^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (-head_13^post52+a_27^post52 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0), cost: 3

Applied deletion
Removed the following rules: 102 117

Eliminating location l18 by chaining:

Applied chaining
First rule:
l39 -> l18 : x_23^0'=lt_17^0, x_19^0'=lt_17^0, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, z_279^0'=z_279^post49, x_SLAM_f_21^0'=lt_17^0, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0), cost: 3
Second rule:
l18 -> l19 : x_19^0'=x_19^post19, rcd_356^0'=rcd_356^post19, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, len_286^0 >= 0, cost: 1
New rule:
l39 -> l19 : x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ len_286^0 >= 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0), cost: 4

Applied simplification
Original rule:
l39 -> l19 : x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ len_286^0 >= 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0), cost: 4
New rule:
l39 -> l19 : x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0), cost: 4

Applied deletion
Removed the following rules: 81 118

Eliminating location l51 by chaining:

Applied chaining
First rule:
l39 -> l51 : r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=head_13^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (-head_13^post52+a_27^post52 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0), cost: 3
Second rule:
l51 -> l52 : 0 == 0, cost: 1
New rule:
l39 -> l52 : r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=head_13^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (0 == 0 /\ -head_13^post52+a_27^post52 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0), cost: 4

Applied simplification
Original rule:
l39 -> l52 : r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=head_13^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (0 == 0 /\ -head_13^post52+a_27^post52 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0), cost: 4
New rule:
l39 -> l52 : r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=head_13^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (-head_13^post52+a_27^post52 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0), cost: 4

Applied deletion
Removed the following rules: 103 119

Eliminating location l19 by chaining:

Applied chaining
First rule:
l39 -> l19 : x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0), cost: 4
Second rule:
l19 -> l20 : 0 == 0, cost: 1
New rule:
l39 -> l20 : x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (0 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0), cost: 5

Applied simplification
Original rule:
l39 -> l20 : x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (0 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0), cost: 5
New rule:
l39 -> l20 : x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0), cost: 5

Applied deletion
Removed the following rules: 82 120

Eliminating location l52 by chaining:

Applied chaining
First rule:
l39 -> l52 : r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=head_13^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (-head_13^post52+a_27^post52 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0), cost: 4
Second rule:
l52 -> l48 : a_210^0'=a_267^0, len_195^0'=len_266^0, rcd_46^0'=rcd_264^0, z_160^0'=z_265^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
New rule:
l39 -> l48 : a_210^0'=-1+a_210^0, len_195^0'=1+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, rcd_46^0'=rcd_46^0, head_13^0'=head_13^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_160^0'=z_160^0, z_265^0'=z_160^0, (-head_13^post52+a_27^post52 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0), cost: 5

Applied deletion
Removed the following rules: 104 121

Eliminating location l20 by chaining:

Applied chaining
First rule:
l39 -> l20 : x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0), cost: 5
Second rule:
l20 -> l21 : a_321^0'=a_347^0, t_24^0'=lt_17^0, (y_22^0 == 0 /\ -x_23^0+lt_17^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ rcd_46^0-rcd_352^0 == 0 /\ -x_19^0+lt_17^0 == 0 /\ ct_20^0 == 0), cost: 1
New rule:
l39 -> l21 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (0 == 0 /\ -rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 6

Applied simplification
Original rule:
l39 -> l21 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (0 == 0 /\ -rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 6
New rule:
l39 -> l21 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 6

Applied deletion
Removed the following rules: 83 122

Eliminating location l48 by chaining:

Applied chaining
First rule:
l39 -> l48 : a_210^0'=-1+a_210^0, len_195^0'=1+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, rcd_46^0'=rcd_46^0, head_13^0'=head_13^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_160^0'=z_160^0, z_265^0'=z_160^0, (-head_13^post52+a_27^post52 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0), cost: 5
Second rule:
l48 -> l39 : TRUE, cost: 1
New rule:
l39 -> l39 : a_210^0'=-1+a_210^0, len_195^0'=1+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, rcd_46^0'=rcd_46^0, head_13^0'=head_13^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_160^0'=z_160^0, z_265^0'=z_160^0, (-head_13^post52+a_27^post52 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0), cost: 6

Applied deletion
Removed the following rules: 105 123

Eliminating location l21 by chaining:

Applied chaining
First rule:
l39 -> l21 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 6
Second rule:
l21 -> l22 : 0 == 0, cost: 1
New rule:
l39 -> l22 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (0 == 0 /\ -rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 7

Applied simplification
Original rule:
l39 -> l22 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (0 == 0 /\ -rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 7
New rule:
l39 -> l22 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 7

Applied deletion
Removed the following rules: 84 124

Eliminating location l22 by chaining:

Applied chaining
First rule:
l39 -> l22 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 7
Second rule:
l22 -> l23 : 0 == 0, cost: 1
New rule:
l39 -> l23 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (0 == 0 /\ -rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 8

Applied simplification
Original rule:
l39 -> l23 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (0 == 0 /\ -rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 8
New rule:
l39 -> l23 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 8

Applied deletion
Removed the following rules: 85 126

Eliminating location l23 by chaining:

Applied chaining
First rule:
l39 -> l23 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 8
Second rule:
l23 -> l24 : 0 == 0, cost: 1
New rule:
l39 -> l24 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (0 == 0 /\ -rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 9

Applied simplification
Original rule:
l39 -> l24 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (0 == 0 /\ -rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 9
New rule:
l39 -> l24 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 9

Applied deletion
Removed the following rules: 86 127

Eliminating location l24 by chaining:

Applied chaining
First rule:
l39 -> l24 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0), cost: 9
Second rule:
l24 -> l0 : len_286^0'=1+a_321^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
New rule:
l39 -> l0 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, len_286^0'=1+a_347^0, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 >= 0), cost: 10

Applied deletion
Removed the following rules: 87 128

Eliminating location l3 by chaining:

Applied chaining
First rule:
l0 -> l3 : x_19^0'=x_19^post1, r_42^0'=r_42^post1, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, a_347^0 >= 0, cost: 1
Second rule:
l3 -> l4 : 0 == 0, cost: 1
New rule:
l0 -> l4 : x_19^0'=x_19^post1, r_42^0'=r_42^post1, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (0 == 0 /\ a_347^0 >= 0), cost: 2

Applied simplification
Original rule:
l0 -> l4 : x_19^0'=x_19^post1, r_42^0'=r_42^post1, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (0 == 0 /\ a_347^0 >= 0), cost: 2
New rule:
l0 -> l4 : x_19^0'=x_19^post1, r_42^0'=r_42^post1, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, a_347^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 73 74

Eliminating location l4 by chaining:

Applied chaining
First rule:
l0 -> l4 : x_19^0'=x_19^post1, r_42^0'=r_42^post1, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, a_347^0 >= 0, cost: 2
Second rule:
l4 -> l5 : rcd_376^0'=rcd_46^0, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, (y_22^0 == 0 /\ x_SLAM_f_21^0-lt_17^0 == 0 /\ -x_19^0+lt_17^0 == 0 /\ ct_20^0 == 0), cost: 1
New rule:
l0 -> l5 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0), cost: 3

Applied deletion
Removed the following rules: 75 130

Eliminating location l5 by chaining:

Applied chaining
First rule:
l0 -> l5 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0), cost: 3
Second rule:
l5 -> l6 : 0 == 0, cost: 1
New rule:
l0 -> l6 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (0 == 0 /\ lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0), cost: 4

Applied simplification
Original rule:
l0 -> l6 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (0 == 0 /\ lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0), cost: 4
New rule:
l0 -> l6 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0), cost: 4

Applied deletion
Removed the following rules: 76 131

Eliminating location l6 by chaining:

Applied chaining
First rule:
l0 -> l6 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0), cost: 4
Second rule:
l6 -> l7 : 0 == 0, cost: 1
New rule:
l0 -> l7 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (0 == 0 /\ lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0), cost: 5

Applied simplification
Original rule:
l0 -> l7 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (0 == 0 /\ lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0), cost: 5
New rule:
l0 -> l7 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0), cost: 5

Applied deletion
Removed the following rules: 77 132

Eliminating location l7 by chaining:

Applied chaining
First rule:
l0 -> l7 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0), cost: 5
Second rule:
l7 -> l8 : 0 == 0, cost: 1
New rule:
l0 -> l8 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (0 == 0 /\ lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0), cost: 6

Applied simplification
Original rule:
l0 -> l8 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (0 == 0 /\ lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0), cost: 6
New rule:
l0 -> l8 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0), cost: 6

Applied deletion
Removed the following rules: 78 133

Eliminating location l8 by chaining:

Applied chaining
First rule:
l0 -> l8 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0), cost: 6
Second rule:
l8 -> l2 : rcd_46^0'=rcd_376^0, a_347^0'=a_377^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1
New rule:
l0 -> l2 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, rcd_46^0'=rcd_46^0, t_24^0'=x_23^0, a_347^0'=-1+a_347^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 7

Applied deletion
Removed the following rules: 79 134

Eliminating location l2 by chaining:

Applied chaining
First rule:
l0 -> l2 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, rcd_46^0'=rcd_46^0, t_24^0'=x_23^0, a_347^0'=-1+a_347^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 7
Second rule:
l2 -> l0 : TRUE, cost: 1
New rule:
l0 -> l0 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, rcd_46^0'=rcd_46^0, t_24^0'=x_23^0, a_347^0'=-1+a_347^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 8

Applied deletion
Removed the following rules: 80 135

Eliminated locations on linear paths
Start location: l66
 136: l0 -> l0 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, rcd_46^0'=rcd_46^0, t_24^0'=x_23^0, a_347^0'=-1+a_347^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 8
 112: l38 -> l38 : head_35^0'=temp_38^0, rcd_113^0'=rcd_46^0, i_33^0'=1+i_33^0, tmp_37^0'=temp_38^0, i_111^0'=i_33^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (1-length_32^0+i_33^0 <= 0 /\ i_33^0 >= 0), cost: 2
 115: l38 -> l39 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (len_195^0 == 0 /\ i_33^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post40-i_227^post40 <= 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 5
 125: l39 -> l39 : a_210^0'=-1+a_210^0, len_195^0'=1+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, rcd_46^0'=rcd_46^0, head_13^0'=head_13^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_160^0'=z_160^0, z_265^0'=z_160^0, (-head_13^post52+a_27^post52 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0), cost: 6
 129: l39 -> l0 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, len_286^0'=1+a_347^0, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 >= 0), cost: 10
 110: l66 -> l38 : rcd_70^0'=rcd_70^post39, head_35^0'=temp_38^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post48, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=2, tmp_37^0'=temp_38^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post39, -2+nondet_12^10 >= 0, cost: 4


Applied simplification
Original rule:
l0 -> l0 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, rcd_46^0'=rcd_46^0, t_24^0'=x_23^0, a_347^0'=-1+a_347^0, x_SLAM_f_21^0'=x_SLAM_f_21^post1, ct_20^0'=ct_20^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=lt_17^post1, (lt_17^post1-x_19^post1 == 0 /\ y_22^0 == 0 /\ a_347^0 >= 0 /\ -lt_17^post1+x_SLAM_f_21^post1 == 0 /\ ct_20^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 8
New rule:
l0 -> l0 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, a_347^0'=-1+a_347^0, x_SLAM_f_21^0'=x_19^post1, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=x_19^post1, (y_22^0 == 0 /\ a_347^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 8

Simplified simple loops
Start location: l66
 137: l0 -> l0 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, a_347^0'=-1+a_347^0, x_SLAM_f_21^0'=x_19^post1, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=x_19^post1, (y_22^0 == 0 /\ a_347^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 8
 112: l38 -> l38 : head_35^0'=temp_38^0, rcd_113^0'=rcd_46^0, i_33^0'=1+i_33^0, tmp_37^0'=temp_38^0, i_111^0'=i_33^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (1-length_32^0+i_33^0 <= 0 /\ i_33^0 >= 0), cost: 2
 115: l38 -> l39 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (len_195^0 == 0 /\ i_33^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post40-i_227^post40 <= 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 5
 125: l39 -> l39 : a_210^0'=-1+a_210^0, len_195^0'=1+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, rcd_46^0'=rcd_46^0, head_13^0'=head_13^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_160^0'=z_160^0, z_265^0'=z_160^0, (-head_13^post52+a_27^post52 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0), cost: 6
 129: l39 -> l0 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, len_286^0'=1+a_347^0, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 >= 0), cost: 10
 110: l66 -> l38 : rcd_70^0'=rcd_70^post39, head_35^0'=temp_38^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post48, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=2, tmp_37^0'=temp_38^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post39, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l0 -> l0 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1+a_347^0, t_24^0'=x_23^0, a_347^0'=-1+a_347^0, x_SLAM_f_21^0'=x_19^post1, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=x_19^post1, (y_22^0 == 0 /\ a_347^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 8
New rule:
l0 -> l0 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-n0+a_347^0, t_24^0'=x_23^0, a_347^0'=-n0+a_347^0, x_SLAM_f_21^0'=x_19^post1, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=x_19^post1, (y_22^0 >= 0 /\ -1+n0 >= 0 /\ -y_22^0 >= 0 /\ 1-n0+a_347^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 8*n0

Applied instantiation
Original rule:
l0 -> l0 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-n0+a_347^0, t_24^0'=x_23^0, a_347^0'=-n0+a_347^0, x_SLAM_f_21^0'=x_19^post1, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=x_19^post1, (y_22^0 >= 0 /\ -1+n0 >= 0 /\ -y_22^0 >= 0 /\ 1-n0+a_347^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 8*n0
New rule:
l0 -> l0 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1, t_24^0'=x_23^0, a_347^0'=-1, x_SLAM_f_21^0'=x_19^post1, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=x_19^post1, (0 >= 0 /\ y_22^0 >= 0 /\ a_347^0 >= 0 /\ -y_22^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 8+8*a_347^0

Applied simplification
Original rule:
l0 -> l0 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1, t_24^0'=x_23^0, a_347^0'=-1, x_SLAM_f_21^0'=x_19^post1, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=x_19^post1, (0 >= 0 /\ y_22^0 >= 0 /\ a_347^0 >= 0 /\ -y_22^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 8+8*a_347^0
New rule:
l0 -> l0 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1, t_24^0'=x_23^0, a_347^0'=-1, x_SLAM_f_21^0'=x_19^post1, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=x_19^post1, (y_22^0 <= 0 /\ y_22^0 >= 0 /\ a_347^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 8+8*a_347^0

Applied deletion
Removed the following rules: 137

Applied acceleration
Original rule:
l38 -> l38 : head_35^0'=temp_38^0, rcd_113^0'=rcd_46^0, i_33^0'=1+i_33^0, tmp_37^0'=temp_38^0, i_111^0'=i_33^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (1-length_32^0+i_33^0 <= 0 /\ i_33^0 >= 0), cost: 2
New rule:
l38 -> l38 : head_35^0'=temp_38^post45, rcd_113^0'=rcd_46^0, i_33^0'=n3+i_33^0, tmp_37^0'=temp_38^post45, i_111^0'=-1+n3+i_33^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (-2+n3 >= 0 /\ length_32^0-n3-i_33^0 >= 0 /\ i_33^0 >= 0), cost: 2*n3

Applied instantiation
Original rule:
l38 -> l38 : head_35^0'=temp_38^post45, rcd_113^0'=rcd_46^0, i_33^0'=n3+i_33^0, tmp_37^0'=temp_38^post45, i_111^0'=-1+n3+i_33^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (-2+n3 >= 0 /\ length_32^0-n3-i_33^0 >= 0 /\ i_33^0 >= 0), cost: 2*n3
New rule:
l38 -> l38 : head_35^0'=temp_38^post45, rcd_113^0'=rcd_46^0, i_33^0'=length_32^0, tmp_37^0'=temp_38^post45, i_111^0'=-1+length_32^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (0 >= 0 /\ i_33^0 >= 0 /\ -2+length_32^0-i_33^0 >= 0), cost: 2*length_32^0-2*i_33^0

Applied simplification
Original rule:
l38 -> l38 : head_35^0'=temp_38^post45, rcd_113^0'=rcd_46^0, i_33^0'=length_32^0, tmp_37^0'=temp_38^post45, i_111^0'=-1+length_32^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (0 >= 0 /\ i_33^0 >= 0 /\ -2+length_32^0-i_33^0 >= 0), cost: 2*length_32^0-2*i_33^0
New rule:
l38 -> l38 : head_35^0'=temp_38^post45, rcd_113^0'=rcd_46^0, i_33^0'=length_32^0, tmp_37^0'=temp_38^post45, i_111^0'=-1+length_32^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (i_33^0 >= 0 /\ -2+length_32^0-i_33^0 >= 0), cost: 2*length_32^0-2*i_33^0

Applied deletion
Removed the following rules: 112

Applied simplification
Original rule:
l39 -> l39 : a_210^0'=-1+a_210^0, len_195^0'=1+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, rcd_46^0'=rcd_46^0, head_13^0'=head_13^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_160^0'=z_160^0, z_265^0'=z_160^0, (-head_13^post52+a_27^post52 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0), cost: 6
New rule:
l39 -> l39 : a_210^0'=-1+a_210^0, len_195^0'=1+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=a_27^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0), cost: 6

Simplified simple loops
Start location: l66
 139: l0 -> l0 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1, t_24^0'=x_23^0, a_347^0'=-1, x_SLAM_f_21^0'=x_19^post1, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=x_19^post1, (y_22^0 <= 0 /\ y_22^0 >= 0 /\ a_347^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 8+8*a_347^0
 115: l38 -> l39 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (len_195^0 == 0 /\ i_33^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post40-i_227^post40 <= 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 5
 141: l38 -> l38 : head_35^0'=temp_38^post45, rcd_113^0'=rcd_46^0, i_33^0'=length_32^0, tmp_37^0'=temp_38^post45, i_111^0'=-1+length_32^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (i_33^0 >= 0 /\ -2+length_32^0-i_33^0 >= 0), cost: 2*length_32^0-2*i_33^0
 129: l39 -> l0 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, len_286^0'=1+a_347^0, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 >= 0), cost: 10
 142: l39 -> l39 : a_210^0'=-1+a_210^0, len_195^0'=1+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=a_27^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0), cost: 6
 110: l66 -> l38 : rcd_70^0'=rcd_70^post39, head_35^0'=temp_38^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post48, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=2, tmp_37^0'=temp_38^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post39, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l39 -> l39 : a_210^0'=-1+a_210^0, len_195^0'=1+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=a_27^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1+a_210^0, len_266^0'=1+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0), cost: 6
New rule:
l39 -> l39 : a_210^0'=-n6+a_210^0, len_195^0'=n6+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=a_27^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-n6+a_210^0, len_266^0'=n6+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (len_195^0 >= 0 /\ -1+n6 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0 /\ 1-n6+a_210^0 >= 0), cost: 6*n6

Applied instantiation
Original rule:
l39 -> l39 : a_210^0'=-n6+a_210^0, len_195^0'=n6+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=a_27^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-n6+a_210^0, len_266^0'=n6+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (len_195^0 >= 0 /\ -1+n6 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0 /\ 1-n6+a_210^0 >= 0), cost: 6*n6
New rule:
l39 -> l39 : a_210^0'=-1, len_195^0'=1+a_210^0+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=a_27^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1, len_266^0'=1+a_210^0+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (0 >= 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0), cost: 6+6*a_210^0

Applied simplification
Original rule:
l39 -> l39 : a_210^0'=-1, len_195^0'=1+a_210^0+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=a_27^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1, len_266^0'=1+a_210^0+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (0 >= 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0), cost: 6+6*a_210^0
New rule:
l39 -> l39 : a_210^0'=-1, len_195^0'=1+a_210^0+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=a_27^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1, len_266^0'=1+a_210^0+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0), cost: 6+6*a_210^0

Applied deletion
Removed the following rules: 142

Accelerated simple loops
Start location: l66
 139: l0 -> l0 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1, t_24^0'=x_23^0, a_347^0'=-1, x_SLAM_f_21^0'=x_19^post1, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=x_19^post1, (y_22^0 <= 0 /\ y_22^0 >= 0 /\ a_347^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 8+8*a_347^0
 115: l38 -> l39 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (len_195^0 == 0 /\ i_33^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post40-i_227^post40 <= 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 5
 141: l38 -> l38 : head_35^0'=temp_38^post45, rcd_113^0'=rcd_46^0, i_33^0'=length_32^0, tmp_37^0'=temp_38^post45, i_111^0'=-1+length_32^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (i_33^0 >= 0 /\ -2+length_32^0-i_33^0 >= 0), cost: 2*length_32^0-2*i_33^0
 129: l39 -> l0 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, len_286^0'=1+a_347^0, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 >= 0), cost: 10
 144: l39 -> l39 : a_210^0'=-1, len_195^0'=1+a_210^0+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=a_27^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1, len_266^0'=1+a_210^0+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0), cost: 6+6*a_210^0
 110: l66 -> l38 : rcd_70^0'=rcd_70^post39, head_35^0'=temp_38^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post48, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=2, tmp_37^0'=temp_38^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post39, -2+nondet_12^10 >= 0, cost: 4


Applied chaining
First rule:
l39 -> l0 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, len_286^0'=1+a_347^0, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 >= 0), cost: 10
Second rule:
l0 -> l0 : rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, a_377^0'=-1, t_24^0'=x_23^0, a_347^0'=-1, x_SLAM_f_21^0'=x_19^post1, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=x_19^post1, (y_22^0 <= 0 /\ y_22^0 >= 0 /\ a_347^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 8+8*a_347^0
New rule:
l39 -> l0 : a_321^0'=a_347^0, x_23^0'=lt_17^0, rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, z_28^0'=z_28^post49, a_377^0'=-1, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, len_286^0'=1+a_347^0, t_24^0'=lt_17^0, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, a_347^0'=-1, x_SLAM_f_21^0'=x_19^post1, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=x_19^post1, rcd_352^0'=rcd_46^0, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ a_347^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 18+8*a_347^0

Applied deletion
Removed the following rules: 139

Applied chaining
First rule:
l66 -> l38 : rcd_70^0'=rcd_70^post39, head_35^0'=temp_38^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post48, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=2, tmp_37^0'=temp_38^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post39, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l38 -> l38 : head_35^0'=temp_38^post45, rcd_113^0'=rcd_46^0, i_33^0'=length_32^0, tmp_37^0'=temp_38^post45, i_111^0'=-1+length_32^0, rcd_105^0'=rcd_105^post45, temp_38^0'=temp_38^post45, (i_33^0 >= 0 /\ -2+length_32^0-i_33^0 >= 0), cost: 2*length_32^0-2*i_33^0
New rule:
l66 -> l38 : rcd_70^0'=rcd_70^post39, head_35^0'=temp_38^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post48, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, rcd_113^0'=rcd_46^0, i_33^0'=nondet_12^10, tmp_37^0'=temp_38^post45, i_111^0'=-1+nondet_12^10, rcd_105^0'=rcd_105^post45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post45, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10

Applied deletion
Removed the following rules: 141

Applied chaining
First rule:
l38 -> l39 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (len_195^0 == 0 /\ i_33^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post40-i_227^post40 <= 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 5
Second rule:
l39 -> l39 : a_210^0'=-1, len_195^0'=1+a_210^0+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=a_27^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, a_267^0'=-1, len_266^0'=1+a_210^0+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, z_265^0'=z_160^0, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0), cost: 6+6*a_210^0
New rule:
l38 -> l39 : rcd_222^0'=rcd_46^0, head_35^0'=head_35^post40, a_210^0'=-1, len_195^0'=1+a_210^0+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=a_27^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, a_267^0'=-1, len_266^0'=1+a_210^0+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, z_265^0'=z_160^0, (-2+i_120^0 >= 0 /\ len_195^0 == 0 /\ i_33^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0 /\ -a_210^0+i_120^0 == 0 /\ -2+i_227^post40 >= 0 /\ length_32^0-i_33^0 <= 0), cost: 11+6*a_210^0

Applied deletion
Removed the following rules: 144

Chained accelerated rules with incoming rules
Start location: l66
 115: l38 -> l39 : rcd_222^0'=rcd_222^post40, head_35^0'=head_35^post40, z_28^0'=z_160^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, a_27^0'=a_27^post40, head_13^0'=head_13^post40, lt_29^0'=lt_29^post42, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, (len_195^0 == 0 /\ i_33^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 >= 0 /\ -head_13^post40+a_27^post40 == 0 /\ -a_210^0+i_120^0 == 0 /\ -i_120^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post40-i_227^post40 <= 0 /\ length_32^0-i_33^0 <= 0 /\ -rcd_222^post40+rcd_46^0 == 0), cost: 5
 147: l38 -> l39 : rcd_222^0'=rcd_46^0, head_35^0'=head_35^post40, a_210^0'=-1, len_195^0'=1+a_210^0+len_195^0, r_42^0'=r_42^post52, z_28^0'=z_28^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^post40, length_32^0'=length_32^post40, z_252^0'=z_252^post52, a_27^0'=a_27^post52, head_13^0'=a_27^post52, lt_29^0'=lt_29^post54, rcd_264^0'=rcd_46^0, i_33^0'=i_33^post40, tmp_37^0'=tmp_37^post40, result_11^0'=result_11^post40, rcd_226^0'=rcd_226^post40, temp0_34^0'=temp0_34^post40, a_267^0'=-1, len_266^0'=1+a_210^0+len_195^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, i_227^0'=i_227^post40, temp_38^0'=temp_38^post40, z_265^0'=z_160^0, (-2+i_120^0 >= 0 /\ len_195^0 == 0 /\ i_33^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 >= 0 /\ -a_210^0+i_120^0 == 0 /\ -2+i_227^post40 >= 0 /\ length_32^0-i_33^0 <= 0), cost: 11+6*a_210^0
 129: l39 -> l0 : a_321^0'=a_347^0, x_23^0'=lt_17^0, x_19^0'=x_19^post19, r_42^0'=r_42^post49, z_28^0'=z_28^post49, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, len_286^0'=1+a_347^0, t_24^0'=lt_17^post19, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, x_SLAM_f_21^0'=x_SLAM_f_21^post19, ct_20^0'=ct_20^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, lt_17^0'=lt_17^post19, rcd_352^0'=rcd_352^post19, (-rcd_352^post19+rcd_46^0 == 0 /\ -lt_17^post19+x_SLAM_f_21^post19 == 0 /\ a_210^0 >= 0 /\ len_195^0 >= 0 /\ lt_17^post19-x_19^post19 == 0 /\ lt_17^post19-lt_17^0 == 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 >= 0 /\ ct_20^post19 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 >= 0), cost: 10
 145: l39 -> l0 : a_321^0'=a_347^0, x_23^0'=lt_17^0, rcd_376^0'=rcd_46^0, x_19^0'=x_19^post1, r_42^0'=r_42^post1, z_28^0'=z_28^post49, a_377^0'=-1, y_22^0'=0, temp1_30^0'=temp1_30^post49, a_27^0'=a_27^post49, len_286^0'=1+a_347^0, t_24^0'=lt_17^0, lt_29^0'=lt_29^post49, rcd_356^0'=rcd_356^post19, z_279^0'=z_279^post49, a_347^0'=-1, x_SLAM_f_21^0'=x_19^post1, ct_20^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, lt_17^0'=x_19^post1, rcd_352^0'=rcd_46^0, (a_210^0 >= 0 /\ len_195^0 >= 0 /\ -1-len_195^0+len_286^0 == 0 /\ lt_29^0 == 0 /\ a_347^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 >= 0), cost: 18+8*a_347^0
 110: l66 -> l38 : rcd_70^0'=rcd_70^post39, head_35^0'=temp_38^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post48, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, i_33^0'=2, tmp_37^0'=temp_38^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post39, -2+nondet_12^10 >= 0, cost: 4
 146: l66 -> l38 : rcd_70^0'=rcd_70^post39, head_35^0'=temp_38^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_36^0'=temp_38^post48, length_32^0'=nondet_12^10, nondet_12^0'=nondet_12^post71, rcd_113^0'=rcd_46^0, i_33^0'=nondet_12^10, tmp_37^0'=temp_38^post45, i_111^0'=-1+nondet_12^10, rcd_105^0'=rcd_105^post45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, temp_38^0'=temp_38^post45, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10


Removed unreachable locations and irrelevant leafs
Start location: l66
  <empty>


Computing asymptotic complexity

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

Solved cost: 0
Rule cost:   0