WORST_CASE(Omega(0),?)

Initial ITS
Start location: l65
   0: l0 -> l1 : a_113^0'=a_113^post0, x_17^0'=x_17^post0, i_92^0'=i_92^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post0, a_257^0'=a_257^post0, length_27^0'=length_27^post0, temp_33^0'=temp_33^post0, x_126^0'=x_126^post0, i_105^0'=i_105^post0, rcd_56^0'=rcd_56^post0, a_181^0'=a_181^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, t_24^0'=t_24^post0, f_167^0'=f_167^post0, r_121^0'=r_121^post0, x_172^0'=x_172^post0, i_28^0'=i_28^post0, result_11^0'=result_11^post0, a_234^0'=a_234^post0, len_180^0'=len_180^post0, temp0_29^0'=temp0_29^post0, head_30^0'=head_30^post0, r_37^0'=r_37^post0, a_144^0'=a_144^post0, x_21^0'=x_21^post0, len_129^0'=len_129^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, ct_18^0'=ct_18^post0, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post0, x_14^0'=x_14^post0, i_164^0'=i_164^post0, rcd_86^0'=rcd_86^post0, a_212^0'=a_212^post0, y_20^0'=y_20^post0, temp0_16^0'=temp0_16^post0, head_15^0'=head_15^post0, r_160^0'=r_160^post0, (0 == 0 /\ -result_11^post0+result_11^0 == 0 /\ -len_180^post0+len_180^0 == 0 /\ -x_14^post0+x_14^0 == 0 /\ -y_20^post0+y_20^0 == 0 /\ -temp0_16^post0+temp0_16^0 == 0 /\ i_28^post0 <= 0 /\ i_28^post0 == 0 /\ x_21^0-x_21^post0 == 0 /\ x_172^0-x_172^post0 == 0 /\ i_92^0-i_92^post0 == 0 /\ rcd_56^0-rcd_56^post0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post0 == 0 /\ x_126^0-x_126^post0 == 0 /\ x_17^0-x_17^post0 == 0 /\ temp0_29^0-temp0_29^post0 == 0 /\ -a_144^post0+a_144^0 == 0 /\ -i_28^post0 <= 0 /\ r_121^0-r_121^post0 == 0 /\ -r_160^post0+r_160^0 == 0 /\ t_24^0-t_24^post0 == 0 /\ -f_167^post0+f_167^0 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 == 0 /\ a_234^0-a_234^post0 == 0 /\ rcd_86^0-rcd_86^post0 == 0 /\ -head_30^post0 <= 0 /\ -ct_18^post0+ct_18^0 == 0 /\ -temp_33^post0+temp_33^0 == 0 /\ -tmp_32^post0+tmp_32^0 == 0 /\ r_37^0-r_37^post0 == 0 /\ -head_15^post0+head_15^0 == 0 /\ -i_164^post0+i_164^0 == 0 /\ -x_SLAM_f_19^post0+x_SLAM_f_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-length_27^post0 <= 0 /\ head_30^post0 <= 0 /\ head_30^post0 == 0 /\ a_181^0-a_181^post0 == 0 /\ a_257^0-a_257^post0 == 0 /\ -a_212^post0+a_212^0 == 0 /\ a_113^0-a_113^post0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post0+length_27^post0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post0+length_27^post0 == 0 /\ len_129^0-len_129^post0 == 0 /\ -i_105^post0+i_105^0 == 0), cost: 1
 100: l1 -> l3 : a_113^0'=a_113^post100, x_17^0'=x_17^post100, i_92^0'=i_92^post100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post100, a_257^0'=a_257^post100, length_27^0'=length_27^post100, temp_33^0'=temp_33^post100, x_126^0'=x_126^post100, i_105^0'=i_105^post100, rcd_56^0'=rcd_56^post100, a_181^0'=a_181^post100, x_SLAM_f_19^0'=x_SLAM_f_19^post100, t_24^0'=t_24^post100, f_167^0'=f_167^post100, r_121^0'=r_121^post100, x_172^0'=x_172^post100, i_28^0'=i_28^post100, result_11^0'=result_11^post100, a_234^0'=a_234^post100, len_180^0'=len_180^post100, temp0_29^0'=temp0_29^post100, head_30^0'=head_30^post100, r_37^0'=r_37^post100, a_144^0'=a_144^post100, x_21^0'=x_21^post100, len_129^0'=len_129^post100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post100, ct_18^0'=ct_18^post100, nondet_12^0'=nondet_12^post100, tmp_32^0'=tmp_32^post100, x_14^0'=x_14^post100, i_164^0'=i_164^post100, rcd_86^0'=rcd_86^post100, a_212^0'=a_212^post100, y_20^0'=y_20^post100, temp0_16^0'=temp0_16^post100, head_15^0'=head_15^post100, r_160^0'=r_160^post100, (0 == 0 /\ -rcd_86^post100+rcd_86^0 == 0 /\ result_11^post100-temp0_16^0 == 0 /\ -x_21^130+y_20^130 <= 0 /\ x_21^130-x_SLAM_f_19^130 <= 0 /\ x_21^130-x_SLAM_f_19^130 == 0 /\ -x_21^130 <= 0 /\ x_14^post100 <= 0 /\ -temp0_16^post100+temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post100 <= 0 /\ i_92^0-i_92^post100 == 0 /\ x_SLAM_f_19^130-x_17^10 <= 0 /\ x_SLAM_f_19^130-x_17^10 == 0 /\ x_21^130 <= 0 /\ x_14^post100-head_15^post100 <= 0 /\ x_14^post100-head_15^post100 == 0 /\ -x_SLAM_f_19^130 <= 0 /\ x_17^10-head_15^post100 <= 0 /\ x_17^10-head_15^post100 == 0 /\ x_126^0-x_126^post100 == 0 /\ x_SLAM_f_19^130 <= 0 /\ -r_160^post100+r_160^0 == 0 /\ temp0_29^120-head_30^0 == 0 /\ x_21^130-y_20^130 <= 0 /\ r_121^0-r_121^post100 == 0 /\ -x_21^130+x_SLAM_f_19^130 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^110 <= 0 /\ a_257^0-a_257^post100 == 0 /\ length_27^0-i_28^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^20 <= 0 /\ i_105^0-i_105^post100 == 0 /\ -x_SLAM_f_19^130+x_17^10 <= 0 /\ -x_14^post100+head_15^post100 <= 0 /\ -ct_18^13 <= 0 /\ -y_20^130 <= 0 /\ a_234^0-a_234^post100 == 0 /\ -x_17^10+head_15^post100 <= 0 /\ -x_14^post100 <= 0 /\ r_37^0-r_37^post100 == 0 /\ -x_17^10 <= 0 /\ -len_180^post100+len_180^0 == 0 /\ a_113^0-a_113^post100 == 0 /\ nondet_12^0-nondet_12^post100 == 0 /\ x_17^10 <= 0 /\ y_20^130 <= 0 /\ -a_212^post100+a_212^0 == 0 /\ ct_18^13 <= 0 /\ ct_18^13 == 0 /\ f_167^0-f_167^post100 == 0 /\ -a_144^post100+a_144^0 == 0 /\ -x_172^post100+x_172^0 == 0 /\ -i_164^post100+i_164^0 == 0 /\ a_181^0-a_181^post100 == 0 /\ y_20^130-ct_18^13 <= 0 /\ y_20^130-ct_18^13 == 0 /\ -len_129^post100+len_129^0 == 0 /\ -head_15^post100 <= 0 /\ head_15^post100 <= 0 /\ -rcd_56^post100+rcd_56^0 == 0 /\ -result_11^120+head_15^post100 == 0 /\ result_11^120-temp0_29^120 == 0 /\ -y_20^130+ct_18^13 <= 0), cost: 1
 101: l1 -> l27 : a_113^0'=a_113^post101, x_17^0'=x_17^post101, i_92^0'=i_92^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101, a_257^0'=a_257^post101, length_27^0'=length_27^post101, temp_33^0'=temp_33^post101, x_126^0'=x_126^post101, i_105^0'=i_105^post101, rcd_56^0'=rcd_56^post101, a_181^0'=a_181^post101, x_SLAM_f_19^0'=x_SLAM_f_19^post101, t_24^0'=t_24^post101, f_167^0'=f_167^post101, r_121^0'=r_121^post101, x_172^0'=x_172^post101, i_28^0'=i_28^post101, result_11^0'=result_11^post101, a_234^0'=a_234^post101, len_180^0'=len_180^post101, temp0_29^0'=temp0_29^post101, head_30^0'=head_30^post101, r_37^0'=r_37^post101, a_144^0'=a_144^post101, x_21^0'=x_21^post101, len_129^0'=len_129^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post101, ct_18^0'=ct_18^post101, nondet_12^0'=nondet_12^post101, tmp_32^0'=tmp_32^post101, x_14^0'=x_14^post101, i_164^0'=i_164^post101, rcd_86^0'=rcd_86^post101, a_212^0'=a_212^post101, y_20^0'=y_20^post101, temp0_16^0'=temp0_16^post101, head_15^0'=head_15^post101, r_160^0'=r_160^post101, (0 == 0 /\ rcd_56^0-rcd_56^post101 == 0 /\ -ct_18^post101+ct_18^0 == 0 /\ 1-length_27^0+i_28^0 <= 0 /\ -a_212^post101+a_212^0 == 0 /\ x_17^0-x_17^post101 == 0 /\ -result_11^post101+result_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101+tmp_32^post101 <= 0 /\ -y_20^post101+y_20^0 == 0 /\ x_14^0-x_14^post101 == 0 /\ a_144^0-a_144^post101 == 0 /\ -r_160^post101+r_160^0 == 0 /\ -len_180^post101+len_180^0 == 0 /\ r_121^0-r_121^post101 == 0 /\ 1-i_28^post101 <= 0 /\ -1+i_28^post101 <= 0 /\ temp0_29^0-temp0_29^post101 == 0 /\ length_27^0-length_27^post101 == 0 /\ 1-length_27^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101-tmp_32^post101 <= 0 /\ t_24^0-t_24^post101 == 0 /\ -temp_33^0+tmp_32^post101 == 0 /\ -len_129^post101+len_129^0 == 0 /\ -length_27^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101-head_30^post101 <= 0 /\ -f_167^post101+f_167^0 == 0 /\ -head_30^post101+tmp_32^post101 <= 0 /\ -i_105^post101+i_105^0 == 0 /\ i_92^0-i_92^post101 == 0 /\ -rcd_86^post101+rcd_86^0 == 0 /\ length_27^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 <= 0 /\ -i_164^post101+i_164^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101+head_30^post101 <= 0 /\ -nondet_12^post101+nondet_12^0 == 0 /\ -x_21^post101+x_21^0 == 0 /\ head_30^post101-tmp_32^post101 <= 0 /\ head_30^post101-tmp_32^post101 == 0 /\ a_113^0-a_113^post101 == 0 /\ a_181^0-a_181^post101 == 0 /\ x_126^0-x_126^post101 == 0 /\ a_257^0-a_257^post101 == 0 /\ head_15^0-head_15^post101 == 0 /\ r_37^0-r_37^post101 == 0 /\ -temp0_16^post101+temp0_16^0 == 0 /\ a_234^0-a_234^post101 == 0 /\ x_172^0-x_172^post101 == 0 /\ -x_SLAM_f_19^post101+x_SLAM_f_19^0 == 0 /\ -1-i_28^0+i_28^post101 == 0), cost: 1
   1: l2 -> l3 : a_113^0'=a_113^post1, x_17^0'=x_17^post1, i_92^0'=i_92^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post1, a_257^0'=a_257^post1, length_27^0'=length_27^post1, temp_33^0'=temp_33^post1, x_126^0'=x_126^post1, i_105^0'=i_105^post1, rcd_56^0'=rcd_56^post1, a_181^0'=a_181^post1, x_SLAM_f_19^0'=x_SLAM_f_19^post1, t_24^0'=t_24^post1, f_167^0'=f_167^post1, r_121^0'=r_121^post1, x_172^0'=x_172^post1, i_28^0'=i_28^post1, result_11^0'=result_11^post1, a_234^0'=a_234^post1, len_180^0'=len_180^post1, temp0_29^0'=temp0_29^post1, head_30^0'=head_30^post1, r_37^0'=r_37^post1, a_144^0'=a_144^post1, x_21^0'=x_21^post1, len_129^0'=len_129^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, ct_18^0'=ct_18^post1, nondet_12^0'=nondet_12^post1, tmp_32^0'=tmp_32^post1, x_14^0'=x_14^post1, i_164^0'=i_164^post1, rcd_86^0'=rcd_86^post1, a_212^0'=a_212^post1, y_20^0'=y_20^post1, temp0_16^0'=temp0_16^post1, head_15^0'=head_15^post1, r_160^0'=r_160^post1, (0 == 0 /\ -head_30^post1+head_30^0 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ r_121^0-r_121^post1 == 0 /\ -a_212^post1+a_212^0 == 0 /\ -temp0_29^post1+temp0_29^0 == 0 /\ -temp0_16^post1+temp0_16^0 == 0 /\ temp_33^0-temp_33^post1 == 0 /\ -i_164^post1+i_164^0 == 0 /\ result_11^post1-temp0_16^0 == 0 /\ i_105^0-i_105^post1 == 0 /\ -a_181^post1+a_181^0 == 0 /\ a_113^0-a_113^post1 == 0 /\ a_234^0-a_234^post1 == 0 /\ -r_160^post1+r_160^0 == 0 /\ f_167^0-f_167^post1 == 0 /\ x_14^0-x_14^post1 == 0 /\ length_27^0-length_27^post1 == 0 /\ -i_28^post1+i_28^0 == 0 /\ x_126^0-x_126^post1 == 0 /\ i_92^0-i_92^post1 == 0 /\ -len_129^post1+len_129^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 <= 0 /\ -x_21^0+y_20^0 <= 0 /\ -a_234^0 <= 0 /\ -r_37^post1+r_37^0 == 0 /\ len_180^0-len_180^post1 == 0 /\ -rcd_86^post1+rcd_86^0 == 0 /\ a_257^0-a_257^post1 == 0 /\ -tmp_32^post1+tmp_32^0 == 0 /\ x_21^0-y_20^0 <= 0 /\ head_15^0-head_15^post1 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 <= 0 /\ rcd_56^0-rcd_56^post1 == 0 /\ -x_172^post1+x_172^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post1 == 0 /\ -a_144^post1+a_144^0 == 0), cost: 1
   2: l2 -> l5 : a_113^0'=a_113^post2, x_17^0'=x_17^post2, i_92^0'=i_92^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post2, a_257^0'=a_257^post2, length_27^0'=length_27^post2, temp_33^0'=temp_33^post2, x_126^0'=x_126^post2, i_105^0'=i_105^post2, rcd_56^0'=rcd_56^post2, a_181^0'=a_181^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=t_24^post2, f_167^0'=f_167^post2, r_121^0'=r_121^post2, x_172^0'=x_172^post2, i_28^0'=i_28^post2, result_11^0'=result_11^post2, a_234^0'=a_234^post2, len_180^0'=len_180^post2, temp0_29^0'=temp0_29^post2, head_30^0'=head_30^post2, r_37^0'=r_37^post2, a_144^0'=a_144^post2, x_21^0'=x_21^post2, len_129^0'=len_129^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, nondet_12^0'=nondet_12^post2, tmp_32^0'=tmp_32^post2, x_14^0'=x_14^post2, i_164^0'=i_164^post2, rcd_86^0'=rcd_86^post2, a_212^0'=a_212^post2, y_20^0'=y_20^post2, temp0_16^0'=temp0_16^post2, head_15^0'=head_15^post2, r_160^0'=r_160^post2, (0 == 0 /\ i_164^0-i_164^post2 == 0 /\ i_105^0-i_105^post2 == 0 /\ result_11^0-result_11^post2 == 0 /\ a_257^0-a_257^post2 == 0 /\ a_144^0-a_144^post2 == 0 /\ -f_167^post2+f_167^0 == 0 /\ head_30^0-head_30^post2 == 0 /\ temp0_29^0-temp0_29^post2 == 0 /\ rcd_56^0-rcd_56^post2 == 0 /\ -temp0_16^post2+temp0_16^0 == 0 /\ -x_21^post2+x_21^0 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ a_113^0-a_113^post2 == 0 /\ -rcd_86^post2+rcd_86^0 == 0 /\ -r_160^post2+r_160^0 == 0 /\ -len_180^post2+len_180^0 == 0 /\ i_92^0-i_92^post2 == 0 /\ x_172^0-x_172^post2 == 0 /\ x_126^0-x_126^post2 == 0 /\ -a_234^0 <= 0 /\ r_121^0-r_121^post2 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post2 == 0 /\ i_28^0-i_28^post2 == 0 /\ -a_212^post2+a_212^0 == 0 /\ temp_33^0-temp_33^post2 == 0 /\ t_24^0-t_24^post2 == 0 /\ -a_234^post2+a_234^0 == 0 /\ -len_129^post2+len_129^0 == 0 /\ length_27^0-length_27^post2 == 0 /\ -tmp_32^post2+tmp_32^0 == 0 /\ -a_181^post2+a_181^0 == 0 /\ -y_20^post2+y_20^0 == 0), cost: 1
   3: l5 -> l6 : a_113^0'=a_113^post3, x_17^0'=x_17^post3, i_92^0'=i_92^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post3, a_257^0'=a_257^post3, length_27^0'=length_27^post3, temp_33^0'=temp_33^post3, x_126^0'=x_126^post3, i_105^0'=i_105^post3, rcd_56^0'=rcd_56^post3, a_181^0'=a_181^post3, x_SLAM_f_19^0'=x_SLAM_f_19^post3, t_24^0'=t_24^post3, f_167^0'=f_167^post3, r_121^0'=r_121^post3, x_172^0'=x_172^post3, i_28^0'=i_28^post3, result_11^0'=result_11^post3, a_234^0'=a_234^post3, len_180^0'=len_180^post3, temp0_29^0'=temp0_29^post3, head_30^0'=head_30^post3, r_37^0'=r_37^post3, a_144^0'=a_144^post3, x_21^0'=x_21^post3, len_129^0'=len_129^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, ct_18^0'=ct_18^post3, nondet_12^0'=nondet_12^post3, tmp_32^0'=tmp_32^post3, x_14^0'=x_14^post3, i_164^0'=i_164^post3, rcd_86^0'=rcd_86^post3, a_212^0'=a_212^post3, y_20^0'=y_20^post3, temp0_16^0'=temp0_16^post3, head_15^0'=head_15^post3, r_160^0'=r_160^post3, (-f_167^post3+f_167^0 == 0 /\ a_257^0-a_257^post3 == 0 /\ head_30^0-head_30^post3 == 0 /\ temp0_29^0-temp0_29^post3 == 0 /\ -tmp_32^post3+tmp_32^0 == 0 /\ -head_15^post3+head_15^0 == 0 /\ t_24^0-t_24^post3 == 0 /\ -nondet_12^post3+nondet_12^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post3 == 0 /\ -rcd_86^post3+rcd_86^0 == 0 /\ rcd_56^0-rcd_56^post3 == 0 /\ -result_11^post3+result_11^0 == 0 /\ -temp0_16^post3+temp0_16^0 == 0 /\ i_164^0-i_164^post3 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post3 == 0 /\ x_126^0-x_126^post3 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ i_92^0-i_92^post3 == 0 /\ a_113^0-a_113^post3 == 0 /\ -a_212^post3+a_212^0 == 0 /\ ct_18^0-ct_18^post3 == 0 /\ -len_180^post3+len_180^0 == 0 /\ -i_28^post3+i_28^0 == 0 /\ r_121^0-r_121^post3 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post3+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_37^post3+r_37^0 == 0 /\ x_21^0-x_21^post3 == 0 /\ x_172^0-x_172^post3 == 0 /\ i_105^0-i_105^post3 == 0 /\ -a_181^post3+a_181^0 == 0 /\ a_234^0-a_234^post3 == 0 /\ temp_33^0-temp_33^post3 == 0 /\ -y_20^post3+y_20^0 == 0 /\ -r_160^post3+r_160^0 == 0 /\ x_17^0-x_17^post3 == 0 /\ -length_27^post3+length_27^0 == 0 /\ -x_14^post3+x_14^0 == 0 /\ -len_129^post3+len_129^0 == 0 /\ -a_144^post3+a_144^0 == 0), cost: 1
   4: l5 -> l6 : a_113^0'=a_113^post4, x_17^0'=x_17^post4, i_92^0'=i_92^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post4, a_257^0'=a_257^post4, length_27^0'=length_27^post4, temp_33^0'=temp_33^post4, x_126^0'=x_126^post4, i_105^0'=i_105^post4, rcd_56^0'=rcd_56^post4, a_181^0'=a_181^post4, x_SLAM_f_19^0'=x_SLAM_f_19^post4, t_24^0'=t_24^post4, f_167^0'=f_167^post4, r_121^0'=r_121^post4, x_172^0'=x_172^post4, i_28^0'=i_28^post4, result_11^0'=result_11^post4, a_234^0'=a_234^post4, len_180^0'=len_180^post4, temp0_29^0'=temp0_29^post4, head_30^0'=head_30^post4, r_37^0'=r_37^post4, a_144^0'=a_144^post4, x_21^0'=x_21^post4, len_129^0'=len_129^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, ct_18^0'=ct_18^post4, nondet_12^0'=nondet_12^post4, tmp_32^0'=tmp_32^post4, x_14^0'=x_14^post4, i_164^0'=i_164^post4, rcd_86^0'=rcd_86^post4, a_212^0'=a_212^post4, y_20^0'=y_20^post4, temp0_16^0'=temp0_16^post4, head_15^0'=head_15^post4, r_160^0'=r_160^post4, (x_14^0-x_14^post4 == 0 /\ -f_167^post4+f_167^0 == 0 /\ i_92^0-i_92^post4 == 0 /\ a_181^0-a_181^post4 == 0 /\ -a_144^post4+a_144^0 == 0 /\ a_257^0-a_257^post4 == 0 /\ r_37^0-r_37^post4 == 0 /\ -tmp_32^post4+tmp_32^0 == 0 /\ -r_121^post4+r_121^0 == 0 /\ i_28^0-i_28^post4 == 0 /\ t_24^0-t_24^post4 == 0 /\ -temp0_16^post4+temp0_16^0 == 0 /\ rcd_56^0-rcd_56^post4 == 0 /\ x_172^0-x_172^post4 == 0 /\ a_212^0-a_212^post4 == 0 /\ -x_21^post4+x_21^0 == 0 /\ -x_SLAM_f_19^post4+x_SLAM_f_19^0 == 0 /\ a_113^0-a_113^post4 == 0 /\ -rcd_86^post4+rcd_86^0 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ i_105^0-i_105^post4 == 0 /\ -r_160^post4+r_160^0 == 0 /\ x_126^0-x_126^post4 == 0 /\ length_27^0-length_27^post4 == 0 /\ -head_30^post4+head_30^0 == 0 /\ temp0_29^0-temp0_29^post4 == 0 /\ -ct_18^post4+ct_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post4 == 0 /\ -i_164^post4+i_164^0 == 0 /\ a_234^0-a_234^post4 == 0 /\ -result_11^post4+result_11^0 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -y_20^post4+y_20^0 == 0 /\ -head_15^post4+head_15^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_33^0-temp_33^post4 == 0 /\ x_17^0-x_17^post4 == 0 /\ -len_129^post4+len_129^0 == 0 /\ -len_180^post4+len_180^0 == 0), cost: 1
   5: l6 -> l7 : a_113^0'=a_113^post5, x_17^0'=x_17^post5, i_92^0'=i_92^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post5, a_257^0'=a_257^post5, length_27^0'=length_27^post5, temp_33^0'=temp_33^post5, x_126^0'=x_126^post5, i_105^0'=i_105^post5, rcd_56^0'=rcd_56^post5, a_181^0'=a_181^post5, x_SLAM_f_19^0'=x_SLAM_f_19^post5, t_24^0'=t_24^post5, f_167^0'=f_167^post5, r_121^0'=r_121^post5, x_172^0'=x_172^post5, i_28^0'=i_28^post5, result_11^0'=result_11^post5, a_234^0'=a_234^post5, len_180^0'=len_180^post5, temp0_29^0'=temp0_29^post5, head_30^0'=head_30^post5, r_37^0'=r_37^post5, a_144^0'=a_144^post5, x_21^0'=x_21^post5, len_129^0'=len_129^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, ct_18^0'=ct_18^post5, nondet_12^0'=nondet_12^post5, tmp_32^0'=tmp_32^post5, x_14^0'=x_14^post5, i_164^0'=i_164^post5, rcd_86^0'=rcd_86^post5, a_212^0'=a_212^post5, y_20^0'=y_20^post5, temp0_16^0'=temp0_16^post5, head_15^0'=head_15^post5, r_160^0'=r_160^post5, (0 == 0 /\ i_92^0-i_92^post5 == 0 /\ x_SLAM_f_19^0-head_15^0 <= 0 /\ -len_129^post5+len_129^0 == 0 /\ x_14^0-x_14^post5 == 0 /\ x_17^0-head_15^0 <= 0 /\ x_126^0-x_126^post5 == 0 /\ -a_234^post5+a_234^0 == 0 /\ -head_15^post5+head_15^0 == 0 /\ r_37^0-r_37^post5 == 0 /\ i_28^0-i_28^post5 == 0 /\ length_27^0-length_27^post5 == 0 /\ r_121^0-r_121^post5 == 0 /\ -ct_18^0 <= 0 /\ 1+a_257^post5-a_234^0 <= 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ a_212^0-a_212^post5 == 0 /\ -x_SLAM_f_19^0+head_15^0 <= 0 /\ -rcd_86^post5+rcd_86^0 == 0 /\ len_180^0-len_180^post5 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ -i_164^post5+i_164^0 == 0 /\ -x_17^0+head_15^0 <= 0 /\ -x_21^0+t_24^post5 == 0 /\ -temp0_29^post5+temp0_29^0 == 0 /\ -temp0_16^post5+temp0_16^0 == 0 /\ -x_21^post5+x_21^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ -head_30^post5+head_30^0 == 0 /\ a_181^0-a_181^post5 == 0 /\ -ct_18^post5+ct_18^0 == 0 /\ a_113^0-a_113^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post5 == 0 /\ -y_20^post5+y_20^0 == 0 /\ result_11^0-result_11^post5 == 0 /\ i_105^0-i_105^post5 == 0 /\ ct_18^0 <= 0 /\ f_167^0-f_167^post5 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post5+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1-a_257^post5+a_234^0 <= 0 /\ -tmp_32^post5+tmp_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post5 == 0 /\ x_14^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ -a_144^post5+a_144^0 == 0 /\ rcd_56^0-rcd_56^post5 == 0 /\ -x_14^0 <= 0 /\ y_20^0 <= 0 /\ -y_20^0 <= 0 /\ x_17^0-x_17^post5 == 0 /\ -x_172^post5+x_172^0 == 0 /\ temp_33^0-temp_33^post5 == 0 /\ -r_160^post5+r_160^0 == 0), cost: 1
   6: l7 -> l8 : a_113^0'=a_113^post6, x_17^0'=x_17^post6, i_92^0'=i_92^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post6, a_257^0'=a_257^post6, length_27^0'=length_27^post6, temp_33^0'=temp_33^post6, x_126^0'=x_126^post6, i_105^0'=i_105^post6, rcd_56^0'=rcd_56^post6, a_181^0'=a_181^post6, x_SLAM_f_19^0'=x_SLAM_f_19^post6, t_24^0'=t_24^post6, f_167^0'=f_167^post6, r_121^0'=r_121^post6, x_172^0'=x_172^post6, i_28^0'=i_28^post6, result_11^0'=result_11^post6, a_234^0'=a_234^post6, len_180^0'=len_180^post6, temp0_29^0'=temp0_29^post6, head_30^0'=head_30^post6, r_37^0'=r_37^post6, a_144^0'=a_144^post6, x_21^0'=x_21^post6, len_129^0'=len_129^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, ct_18^0'=ct_18^post6, nondet_12^0'=nondet_12^post6, tmp_32^0'=tmp_32^post6, x_14^0'=x_14^post6, i_164^0'=i_164^post6, rcd_86^0'=rcd_86^post6, a_212^0'=a_212^post6, y_20^0'=y_20^post6, temp0_16^0'=temp0_16^post6, head_15^0'=head_15^post6, r_160^0'=r_160^post6, (-a_234^post6+a_234^0 == 0 /\ tmp_32^0-tmp_32^post6 == 0 /\ -x_172^post6+x_172^0 == 0 /\ -temp0_29^post6+temp0_29^0 == 0 /\ x_126^0-x_126^post6 == 0 /\ r_121^0-r_121^post6 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post6 == 0 /\ a_113^0-a_113^post6 == 0 /\ head_30^0-head_30^post6 == 0 /\ -head_15^post6+head_15^0 == 0 /\ length_27^0-length_27^post6 == 0 /\ f_167^0-f_167^post6 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ result_11^0-result_11^post6 == 0 /\ -temp0_16^post6+temp0_16^0 == 0 /\ len_180^0-len_180^post6 == 0 /\ -rcd_86^post6+rcd_86^0 == 0 /\ -i_164^post6+i_164^0 == 0 /\ x_17^0-x_17^post6 == 0 /\ i_92^0-i_92^post6 == 0 /\ i_105^0-i_105^post6 == 0 /\ ct_18^0-ct_18^post6 == 0 /\ -a_212^post6+a_212^0 == 0 /\ -a_257^post6+a_257^0 == 0 /\ -i_28^post6+i_28^0 == 0 /\ a_181^0-a_181^post6 == 0 /\ t_24^0-t_24^post6 == 0 /\ 1-head_15^0 <= 0 /\ x_21^0-x_21^post6 == 0 /\ -r_37^post6+r_37^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post6+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_33^0-temp_33^post6 == 0 /\ -y_20^post6+y_20^0 == 0 /\ rcd_56^0-rcd_56^post6 == 0 /\ -a_144^post6+a_144^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post6 == 0 /\ -len_129^post6+len_129^0 == 0 /\ -r_160^post6+r_160^0 == 0 /\ -x_14^post6+x_14^0 == 0), cost: 1
   7: l7 -> l8 : a_113^0'=a_113^post7, x_17^0'=x_17^post7, i_92^0'=i_92^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post7, a_257^0'=a_257^post7, length_27^0'=length_27^post7, temp_33^0'=temp_33^post7, x_126^0'=x_126^post7, i_105^0'=i_105^post7, rcd_56^0'=rcd_56^post7, a_181^0'=a_181^post7, x_SLAM_f_19^0'=x_SLAM_f_19^post7, t_24^0'=t_24^post7, f_167^0'=f_167^post7, r_121^0'=r_121^post7, x_172^0'=x_172^post7, i_28^0'=i_28^post7, result_11^0'=result_11^post7, a_234^0'=a_234^post7, len_180^0'=len_180^post7, temp0_29^0'=temp0_29^post7, head_30^0'=head_30^post7, r_37^0'=r_37^post7, a_144^0'=a_144^post7, x_21^0'=x_21^post7, len_129^0'=len_129^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, ct_18^0'=ct_18^post7, nondet_12^0'=nondet_12^post7, tmp_32^0'=tmp_32^post7, x_14^0'=x_14^post7, i_164^0'=i_164^post7, rcd_86^0'=rcd_86^post7, a_212^0'=a_212^post7, y_20^0'=y_20^post7, temp0_16^0'=temp0_16^post7, head_15^0'=head_15^post7, r_160^0'=r_160^post7, (-f_167^post7+f_167^0 == 0 /\ rcd_86^0-rcd_86^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post7 == 0 /\ i_92^0-i_92^post7 == 0 /\ a_113^0-a_113^post7 == 0 /\ tmp_32^0-tmp_32^post7 == 0 /\ -head_15^post7+head_15^0 == 0 /\ length_27^0-length_27^post7 == 0 /\ x_172^0-x_172^post7 == 0 /\ -i_164^post7+i_164^0 == 0 /\ -r_121^post7+r_121^0 == 0 /\ x_17^0-x_17^post7 == 0 /\ -x_126^post7+x_126^0 == 0 /\ 1+head_15^0 <= 0 /\ -x_SLAM_f_19^post7+x_SLAM_f_19^0 == 0 /\ -temp0_16^post7+temp0_16^0 == 0 /\ i_105^0-i_105^post7 == 0 /\ a_181^0-a_181^post7 == 0 /\ -a_212^post7+a_212^0 == 0 /\ -r_37^post7+r_37^0 == 0 /\ ct_18^0-ct_18^post7 == 0 /\ -x_14^post7+x_14^0 == 0 /\ -head_30^post7+head_30^0 == 0 /\ a_257^0-a_257^post7 == 0 /\ x_21^0-x_21^post7 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ temp0_29^0-temp0_29^post7 == 0 /\ a_234^0-a_234^post7 == 0 /\ -result_11^post7+result_11^0 == 0 /\ -i_28^post7+i_28^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post7+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_129^0-len_129^post7 == 0 /\ rcd_56^0-rcd_56^post7 == 0 /\ -y_20^post7+y_20^0 == 0 /\ -temp_33^post7+temp_33^0 == 0 /\ -t_24^post7+t_24^0 == 0 /\ -a_144^post7+a_144^0 == 0 /\ -r_160^post7+r_160^0 == 0 /\ -len_180^post7+len_180^0 == 0), cost: 1
   8: l8 -> l9 : a_113^0'=a_113^post8, x_17^0'=x_17^post8, i_92^0'=i_92^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post8, a_257^0'=a_257^post8, length_27^0'=length_27^post8, temp_33^0'=temp_33^post8, x_126^0'=x_126^post8, i_105^0'=i_105^post8, rcd_56^0'=rcd_56^post8, a_181^0'=a_181^post8, x_SLAM_f_19^0'=x_SLAM_f_19^post8, t_24^0'=t_24^post8, f_167^0'=f_167^post8, r_121^0'=r_121^post8, x_172^0'=x_172^post8, i_28^0'=i_28^post8, result_11^0'=result_11^post8, a_234^0'=a_234^post8, len_180^0'=len_180^post8, temp0_29^0'=temp0_29^post8, head_30^0'=head_30^post8, r_37^0'=r_37^post8, a_144^0'=a_144^post8, x_21^0'=x_21^post8, len_129^0'=len_129^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, ct_18^0'=ct_18^post8, nondet_12^0'=nondet_12^post8, tmp_32^0'=tmp_32^post8, x_14^0'=x_14^post8, i_164^0'=i_164^post8, rcd_86^0'=rcd_86^post8, a_212^0'=a_212^post8, y_20^0'=y_20^post8, temp0_16^0'=temp0_16^post8, head_15^0'=head_15^post8, r_160^0'=r_160^post8, (a_113^0-a_113^post8 == 0 /\ -x_SLAM_f_19^post8+x_SLAM_f_19^0 == 0 /\ length_27^0-length_27^post8 == 0 /\ -r_121^post8+r_121^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post8 == 0 /\ -head_15^post8+head_15^0 == 0 /\ len_129^0-len_129^post8 == 0 /\ 1-y_20^0+head_15^0 <= 0 /\ -rcd_86^post8+rcd_86^0 == 0 /\ r_37^0-r_37^post8 == 0 /\ a_234^0-a_234^post8 == 0 /\ f_167^0-f_167^post8 == 0 /\ x_172^0-x_172^post8 == 0 /\ -head_30^post8+head_30^0 == 0 /\ a_181^0-a_181^post8 == 0 /\ -x_21^post8+x_21^0 == 0 /\ a_257^0-a_257^post8 == 0 /\ x_17^0-x_17^post8 == 0 /\ i_92^0-i_92^post8 == 0 /\ -a_212^post8+a_212^0 == 0 /\ -i_164^post8+i_164^0 == 0 /\ -temp0_16^post8+temp0_16^0 == 0 /\ -x_126^post8+x_126^0 == 0 /\ -x_14^post8+x_14^0 == 0 /\ -result_11^post8+result_11^0 == 0 /\ temp0_29^0-temp0_29^post8 == 0 /\ i_28^0-i_28^post8 == 0 /\ i_105^0-i_105^post8 == 0 /\ -y_20^post8+y_20^0 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ len_180^0-len_180^post8 == 0 /\ -r_160^post8+r_160^0 == 0 /\ -tmp_32^post8+tmp_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post8+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_56^0-rcd_56^post8 == 0 /\ -a_144^post8+a_144^0 == 0 /\ -temp_33^post8+temp_33^0 == 0 /\ -t_24^post8+t_24^0 == 0 /\ -ct_18^post8+ct_18^0 == 0), cost: 1
   9: l8 -> l9 : a_113^0'=a_113^post9, x_17^0'=x_17^post9, i_92^0'=i_92^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post9, a_257^0'=a_257^post9, length_27^0'=length_27^post9, temp_33^0'=temp_33^post9, x_126^0'=x_126^post9, i_105^0'=i_105^post9, rcd_56^0'=rcd_56^post9, a_181^0'=a_181^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, t_24^0'=t_24^post9, f_167^0'=f_167^post9, r_121^0'=r_121^post9, x_172^0'=x_172^post9, i_28^0'=i_28^post9, result_11^0'=result_11^post9, a_234^0'=a_234^post9, len_180^0'=len_180^post9, temp0_29^0'=temp0_29^post9, head_30^0'=head_30^post9, r_37^0'=r_37^post9, a_144^0'=a_144^post9, x_21^0'=x_21^post9, len_129^0'=len_129^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, ct_18^0'=ct_18^post9, nondet_12^0'=nondet_12^post9, tmp_32^0'=tmp_32^post9, x_14^0'=x_14^post9, i_164^0'=i_164^post9, rcd_86^0'=rcd_86^post9, a_212^0'=a_212^post9, y_20^0'=y_20^post9, temp0_16^0'=temp0_16^post9, head_15^0'=head_15^post9, r_160^0'=r_160^post9, (-len_129^post9+len_129^0 == 0 /\ -r_121^post9+r_121^0 == 0 /\ x_126^0-x_126^post9 == 0 /\ a_113^0-a_113^post9 == 0 /\ i_105^0-i_105^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post9 == 0 /\ -temp0_29^post9+temp0_29^0 == 0 /\ -head_15^post9+head_15^0 == 0 /\ a_234^0-a_234^post9 == 0 /\ length_27^0-length_27^post9 == 0 /\ -rcd_86^post9+rcd_86^0 == 0 /\ -x_172^post9+x_172^0 == 0 /\ a_144^0-a_144^post9 == 0 /\ y_20^0-y_20^post9 == 0 /\ -nondet_12^post9+nondet_12^0 == 0 /\ 1+y_20^0-head_15^0 <= 0 /\ -a_212^post9+a_212^0 == 0 /\ -i_164^post9+i_164^0 == 0 /\ -temp0_16^post9+temp0_16^0 == 0 /\ temp_33^0-temp_33^post9 == 0 /\ x_17^0-x_17^post9 == 0 /\ i_92^0-i_92^post9 == 0 /\ -x_21^post9+x_21^0 == 0 /\ -a_257^post9+a_257^0 == 0 /\ -head_30^post9+head_30^0 == 0 /\ -ct_18^post9+ct_18^0 == 0 /\ a_181^0-a_181^post9 == 0 /\ -r_37^post9+r_37^0 == 0 /\ i_28^0-i_28^post9 == 0 /\ t_24^0-t_24^post9 == 0 /\ -tmp_32^post9+tmp_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post9 == 0 /\ result_11^0-result_11^post9 == 0 /\ f_167^0-f_167^post9 == 0 /\ len_180^0-len_180^post9 == 0 /\ rcd_56^0-rcd_56^post9 == 0 /\ -x_14^post9+x_14^0 == 0 /\ -r_160^post9+r_160^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post9+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1
  10: l9 -> l10 : a_113^0'=a_113^post10, x_17^0'=x_17^post10, i_92^0'=i_92^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post10, a_257^0'=a_257^post10, length_27^0'=length_27^post10, temp_33^0'=temp_33^post10, x_126^0'=x_126^post10, i_105^0'=i_105^post10, rcd_56^0'=rcd_56^post10, a_181^0'=a_181^post10, x_SLAM_f_19^0'=x_SLAM_f_19^post10, t_24^0'=t_24^post10, f_167^0'=f_167^post10, r_121^0'=r_121^post10, x_172^0'=x_172^post10, i_28^0'=i_28^post10, result_11^0'=result_11^post10, a_234^0'=a_234^post10, len_180^0'=len_180^post10, temp0_29^0'=temp0_29^post10, head_30^0'=head_30^post10, r_37^0'=r_37^post10, a_144^0'=a_144^post10, x_21^0'=x_21^post10, len_129^0'=len_129^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, ct_18^0'=ct_18^post10, nondet_12^0'=nondet_12^post10, tmp_32^0'=tmp_32^post10, x_14^0'=x_14^post10, i_164^0'=i_164^post10, rcd_86^0'=rcd_86^post10, a_212^0'=a_212^post10, y_20^0'=y_20^post10, temp0_16^0'=temp0_16^post10, head_15^0'=head_15^post10, r_160^0'=r_160^post10, (-head_15^post10+head_15^0 == 0 /\ -a_234^post10+a_234^0 == 0 /\ a_144^0-a_144^post10 == 0 /\ a_113^0-a_113^post10 == 0 /\ -i_164^post10+i_164^0 == 0 /\ -rcd_86^post10+rcd_86^0 == 0 /\ temp0_29^0-temp0_29^post10 == 0 /\ 1-t_24^0+y_20^0 <= 0 /\ -len_129^post10+len_129^0 == 0 /\ head_30^0-head_30^post10 == 0 /\ -a_212^post10+a_212^0 == 0 /\ -i_105^post10+i_105^0 == 0 /\ y_20^0-y_20^post10 == 0 /\ rcd_56^0-rcd_56^post10 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post10 == 0 /\ temp_33^0-temp_33^post10 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post10 == 0 /\ a_257^0-a_257^post10 == 0 /\ -r_37^post10+r_37^0 == 0 /\ x_17^0-x_17^post10 == 0 /\ -x_14^post10+x_14^0 == 0 /\ x_126^0-x_126^post10 == 0 /\ -temp0_16^post10+temp0_16^0 == 0 /\ r_121^0-r_121^post10 == 0 /\ -tmp_32^post10+tmp_32^0 == 0 /\ t_24^0-t_24^post10 == 0 /\ i_28^0-i_28^post10 == 0 /\ -x_21^post10+x_21^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ x_172^0-x_172^post10 == 0 /\ -len_180^post10+len_180^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 == 0 /\ -r_160^post10+r_160^0 == 0 /\ result_11^0-result_11^post10 == 0 /\ -length_27^post10+length_27^0 == 0 /\ a_181^0-a_181^post10 == 0 /\ -f_167^post10+f_167^0 == 0 /\ -ct_18^post10+ct_18^0 == 0 /\ i_92^0-i_92^post10 == 0), cost: 1
  11: l9 -> l10 : a_113^0'=a_113^post11, x_17^0'=x_17^post11, i_92^0'=i_92^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post11, a_257^0'=a_257^post11, length_27^0'=length_27^post11, temp_33^0'=temp_33^post11, x_126^0'=x_126^post11, i_105^0'=i_105^post11, rcd_56^0'=rcd_56^post11, a_181^0'=a_181^post11, x_SLAM_f_19^0'=x_SLAM_f_19^post11, t_24^0'=t_24^post11, f_167^0'=f_167^post11, r_121^0'=r_121^post11, x_172^0'=x_172^post11, i_28^0'=i_28^post11, result_11^0'=result_11^post11, a_234^0'=a_234^post11, len_180^0'=len_180^post11, temp0_29^0'=temp0_29^post11, head_30^0'=head_30^post11, r_37^0'=r_37^post11, a_144^0'=a_144^post11, x_21^0'=x_21^post11, len_129^0'=len_129^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, ct_18^0'=ct_18^post11, nondet_12^0'=nondet_12^post11, tmp_32^0'=tmp_32^post11, x_14^0'=x_14^post11, i_164^0'=i_164^post11, rcd_86^0'=rcd_86^post11, a_212^0'=a_212^post11, y_20^0'=y_20^post11, temp0_16^0'=temp0_16^post11, head_15^0'=head_15^post11, r_160^0'=r_160^post11, (x_17^0-x_17^post11 == 0 /\ -i_164^post11+i_164^0 == 0 /\ temp0_29^0-temp0_29^post11 == 0 /\ t_24^0-t_24^post11 == 0 /\ -head_15^post11+head_15^0 == 0 /\ -len_180^post11+len_180^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ -rcd_86^post11+rcd_86^0 == 0 /\ len_129^0-len_129^post11 == 0 /\ -x_21^post11+x_21^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post11 == 0 /\ 1+t_24^0-y_20^0 <= 0 /\ -a_234^post11+a_234^0 == 0 /\ -i_105^post11+i_105^0 == 0 /\ rcd_56^0-rcd_56^post11 == 0 /\ -a_212^post11+a_212^0 == 0 /\ -temp0_16^post11+temp0_16^0 == 0 /\ -head_30^post11+head_30^0 == 0 /\ r_121^0-r_121^post11 == 0 /\ -r_37^post11+r_37^0 == 0 /\ -x_14^post11+x_14^0 == 0 /\ i_28^0-i_28^post11 == 0 /\ -length_27^post11+length_27^0 == 0 /\ a_113^0-a_113^post11 == 0 /\ -y_20^post11+y_20^0 == 0 /\ nondet_12^0-nondet_12^post11 == 0 /\ -temp_33^post11+temp_33^0 == 0 /\ -r_160^post11+r_160^0 == 0 /\ -f_167^post11+f_167^0 == 0 /\ x_172^0-x_172^post11 == 0 /\ -a_144^post11+a_144^0 == 0 /\ i_92^0-i_92^post11 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post11 == 0 /\ -result_11^post11+result_11^0 == 0 /\ -tmp_32^post11+tmp_32^0 == 0 /\ a_181^0-a_181^post11 == 0 /\ x_126^0-x_126^post11 == 0 /\ a_257^0-a_257^post11 == 0 /\ -ct_18^post11+ct_18^0 == 0), cost: 1
  12: l10 -> l4 : a_113^0'=a_113^post12, x_17^0'=x_17^post12, i_92^0'=i_92^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post12, a_257^0'=a_257^post12, length_27^0'=length_27^post12, temp_33^0'=temp_33^post12, x_126^0'=x_126^post12, i_105^0'=i_105^post12, rcd_56^0'=rcd_56^post12, a_181^0'=a_181^post12, x_SLAM_f_19^0'=x_SLAM_f_19^post12, t_24^0'=t_24^post12, f_167^0'=f_167^post12, r_121^0'=r_121^post12, x_172^0'=x_172^post12, i_28^0'=i_28^post12, result_11^0'=result_11^post12, a_234^0'=a_234^post12, len_180^0'=len_180^post12, temp0_29^0'=temp0_29^post12, head_30^0'=head_30^post12, r_37^0'=r_37^post12, a_144^0'=a_144^post12, x_21^0'=x_21^post12, len_129^0'=len_129^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, ct_18^0'=ct_18^post12, nondet_12^0'=nondet_12^post12, tmp_32^0'=tmp_32^post12, x_14^0'=x_14^post12, i_164^0'=i_164^post12, rcd_86^0'=rcd_86^post12, a_212^0'=a_212^post12, y_20^0'=y_20^post12, temp0_16^0'=temp0_16^post12, head_15^0'=head_15^post12, r_160^0'=r_160^post12, (0 == 0 /\ -rcd_86^post12+rcd_86^0 == 0 /\ -r_121^post12+r_121^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_105^0-i_105^post12 == 0 /\ -temp0_29^post12+temp0_29^0 == 0 /\ -head_15^post12+head_15^0 == 0 /\ t_24^0-t_24^post12 == 0 /\ -len_129^post12+len_129^0 == 0 /\ -x_172^post12+x_172^0 == 0 /\ r_37^0-r_37^post12 == 0 /\ -head_30^post12+head_30^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_164^post12+i_164^0 == 0 /\ -rcd_56^post12+rcd_56^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post12 == 0 /\ -a_212^post12+a_212^0 == 0 /\ length_27^0-length_27^post12 == 0 /\ -tmp_32^post12+tmp_32^0 == 0 /\ a_113^0-a_113^post12 == 0 /\ -x_21^post12+x_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post12 == 0 /\ i_28^0-i_28^post12 == 0 /\ -temp0_16^post12+temp0_16^0 == 0 /\ a_257^0-a_234^post12 <= 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ -x_17^post12+x_17^0 == 0 /\ -y_20^post12+y_20^0 == 0 /\ -x_14^post12+x_14^0 == 0 /\ -a_144^post12+a_144^0 == 0 /\ result_11^0-result_11^post12 == 0 /\ -r_160^post12+r_160^0 == 0 /\ f_167^0-f_167^post12 == 0 /\ len_180^0-len_180^post12 == 0 /\ -ct_18^post12+ct_18^0 == 0 /\ -a_257^0+a_234^post12 <= 0 /\ a_181^0-a_181^post12 == 0 /\ a_257^0-a_257^post12 == 0 /\ x_126^0-x_126^post12 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post12+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_33^0-temp_33^post12 == 0 /\ i_92^0-i_92^post12 == 0), cost: 1
  13: l4 -> l2 : a_113^0'=a_113^post13, x_17^0'=x_17^post13, i_92^0'=i_92^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post13, a_257^0'=a_257^post13, length_27^0'=length_27^post13, temp_33^0'=temp_33^post13, x_126^0'=x_126^post13, i_105^0'=i_105^post13, rcd_56^0'=rcd_56^post13, a_181^0'=a_181^post13, x_SLAM_f_19^0'=x_SLAM_f_19^post13, t_24^0'=t_24^post13, f_167^0'=f_167^post13, r_121^0'=r_121^post13, x_172^0'=x_172^post13, i_28^0'=i_28^post13, result_11^0'=result_11^post13, a_234^0'=a_234^post13, len_180^0'=len_180^post13, temp0_29^0'=temp0_29^post13, head_30^0'=head_30^post13, r_37^0'=r_37^post13, a_144^0'=a_144^post13, x_21^0'=x_21^post13, len_129^0'=len_129^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, ct_18^0'=ct_18^post13, nondet_12^0'=nondet_12^post13, tmp_32^0'=tmp_32^post13, x_14^0'=x_14^post13, i_164^0'=i_164^post13, rcd_86^0'=rcd_86^post13, a_212^0'=a_212^post13, y_20^0'=y_20^post13, temp0_16^0'=temp0_16^post13, head_15^0'=head_15^post13, r_160^0'=r_160^post13, (x_17^0-x_17^post13 == 0 /\ a_144^0-a_144^post13 == 0 /\ temp_33^0-temp_33^post13 == 0 /\ -rcd_86^post13+rcd_86^0 == 0 /\ t_24^0-t_24^post13 == 0 /\ -i_164^post13+i_164^0 == 0 /\ a_234^0-a_234^post13 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post13+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_160^post13+r_160^0 == 0 /\ x_14^0-x_14^post13 == 0 /\ -temp0_29^post13+temp0_29^0 == 0 /\ -head_30^post13+head_30^0 == 0 /\ -len_129^post13+len_129^0 == 0 /\ -rcd_56^post13+rcd_56^0 == 0 /\ len_180^0-len_180^post13 == 0 /\ -x_172^post13+x_172^0 == 0 /\ -a_212^post13+a_212^0 == 0 /\ i_105^0-i_105^post13 == 0 /\ -y_20^post13+y_20^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post13 == 0 /\ -head_15^post13+head_15^0 == 0 /\ r_121^0-r_121^post13 == 0 /\ -r_37^post13+r_37^0 == 0 /\ length_27^0-length_27^post13 == 0 /\ -x_21^post13+x_21^0 == 0 /\ -nondet_12^post13+nondet_12^0 == 0 /\ i_28^0-i_28^post13 == 0 /\ temp0_16^0-temp0_16^post13 == 0 /\ a_113^0-a_113^post13 == 0 /\ -ct_18^post13+ct_18^0 == 0 /\ x_126^0-x_126^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post13 == 0 /\ f_167^0-f_167^post13 == 0 /\ a_257^0-a_257^post13 == 0 /\ -tmp_32^post13+tmp_32^0 == 0 /\ i_92^0-i_92^post13 == 0 /\ result_11^0-result_11^post13 == 0 /\ a_181^0-a_181^post13 == 0), cost: 1
  14: l11 -> l12 : a_113^0'=a_113^post14, x_17^0'=x_17^post14, i_92^0'=i_92^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post14, a_257^0'=a_257^post14, length_27^0'=length_27^post14, temp_33^0'=temp_33^post14, x_126^0'=x_126^post14, i_105^0'=i_105^post14, rcd_56^0'=rcd_56^post14, a_181^0'=a_181^post14, x_SLAM_f_19^0'=x_SLAM_f_19^post14, t_24^0'=t_24^post14, f_167^0'=f_167^post14, r_121^0'=r_121^post14, x_172^0'=x_172^post14, i_28^0'=i_28^post14, result_11^0'=result_11^post14, a_234^0'=a_234^post14, len_180^0'=len_180^post14, temp0_29^0'=temp0_29^post14, head_30^0'=head_30^post14, r_37^0'=r_37^post14, a_144^0'=a_144^post14, x_21^0'=x_21^post14, len_129^0'=len_129^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, ct_18^0'=ct_18^post14, nondet_12^0'=nondet_12^post14, tmp_32^0'=tmp_32^post14, x_14^0'=x_14^post14, i_164^0'=i_164^post14, rcd_86^0'=rcd_86^post14, a_212^0'=a_212^post14, y_20^0'=y_20^post14, temp0_16^0'=temp0_16^post14, head_15^0'=head_15^post14, r_160^0'=r_160^post14, (0 == 0 /\ temp0_29^0-temp0_29^post14 == 0 /\ -rcd_86^post14+rcd_86^0 == 0 /\ t_24^0-t_24^post14 == 0 /\ tmp_32^0-tmp_32^post14 == 0 /\ len_180^0-len_180^post14 == 0 /\ i_164^0-i_164^post14 == 0 /\ -x_172^post14+x_172^0 == 0 /\ -a_212^post14+a_212^0 == 0 /\ rcd_56^0-rcd_56^post14 == 0 /\ result_11^0-result_11^post14 == 0 /\ -r_37^post14+r_37^0 == 0 /\ -a_234^post14+a_234^0 == 0 /\ -y_20^post14+y_20^0 == 0 /\ -temp0_16^post14+temp0_16^0 == 0 /\ -a_144^post14+a_144^0 == 0 /\ len_129^0-len_129^post14 == 0 /\ a_113^0-a_113^post14 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ -length_27^post14+length_27^0 == 0 /\ head_30^0-head_30^post14 == 0 /\ -i_28^post14+i_28^0 == 0 /\ -f_167^post14+f_167^0 == 0 /\ -r_160^post14+r_160^0 == 0 /\ x_21^0-x_21^post14 == 0 /\ i_92^0-i_92^post14 == 0 /\ i_105^0-i_105^post14 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post14 == 0 /\ -a_212^0 <= 0 /\ temp_33^0-temp_33^post14 == 0 /\ a_181^0-a_181^post14 == 0 /\ a_257^0-a_257^post14 == 0 /\ x_126^0-x_126^post14 == 0 /\ r_121^0-r_121^post14 == 0), cost: 1
  25: l11 -> l18 : a_113^0'=a_113^post25, x_17^0'=x_17^post25, i_92^0'=i_92^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post25, a_257^0'=a_257^post25, length_27^0'=length_27^post25, temp_33^0'=temp_33^post25, x_126^0'=x_126^post25, i_105^0'=i_105^post25, rcd_56^0'=rcd_56^post25, a_181^0'=a_181^post25, x_SLAM_f_19^0'=x_SLAM_f_19^post25, t_24^0'=t_24^post25, f_167^0'=f_167^post25, r_121^0'=r_121^post25, x_172^0'=x_172^post25, i_28^0'=i_28^post25, result_11^0'=result_11^post25, a_234^0'=a_234^post25, len_180^0'=len_180^post25, temp0_29^0'=temp0_29^post25, head_30^0'=head_30^post25, r_37^0'=r_37^post25, a_144^0'=a_144^post25, x_21^0'=x_21^post25, len_129^0'=len_129^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, ct_18^0'=ct_18^post25, nondet_12^0'=nondet_12^post25, tmp_32^0'=tmp_32^post25, x_14^0'=x_14^post25, i_164^0'=i_164^post25, rcd_86^0'=rcd_86^post25, a_212^0'=a_212^post25, y_20^0'=y_20^post25, temp0_16^0'=temp0_16^post25, head_15^0'=head_15^post25, r_160^0'=r_160^post25, (0 == 0 /\ r_37^0-r_37^post25 == 0 /\ f_167^0-f_167^post25 == 0 /\ -len_180^post25+len_180^0 == 0 /\ -i_28^post25+i_28^0 == 0 /\ -tmp_32^post25+tmp_32^0 == 0 /\ -rcd_86^post25+rcd_86^0 == 0 /\ a_181^0-a_181^post25 == 0 /\ length_27^0-length_27^post25 == 0 /\ -a_144^post25+a_144^0 == 0 /\ -i_164^post25+i_164^0 == 0 /\ a_212^0-a_212^post25 == 0 /\ head_30^0-head_30^post25 == 0 /\ -a_234^post25+a_234^0 == 0 /\ result_11^post25-temp0_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post25 == 0 /\ -r_121^post25+r_121^0 == 0 /\ a_113^0-a_113^post25 == 0 /\ x_172^0-x_172^post25 == 0 /\ -x_21^0+y_20^0 <= 0 /\ rcd_56^0-rcd_56^post25 == 0 /\ x_126^0-x_126^post25 == 0 /\ -x_14^post25+x_14^0 == 0 /\ i_92^0-i_92^post25 == 0 /\ -temp0_16^post25+temp0_16^0 == 0 /\ temp_33^0-temp_33^post25 == 0 /\ i_105^0-i_105^post25 == 0 /\ x_21^0-y_20^0 <= 0 /\ temp0_29^0-temp0_29^post25 == 0 /\ -a_257^post25+a_257^0 == 0 /\ -r_160^post25+r_160^0 == 0 /\ -a_212^0 <= 0 /\ -len_129^post25+len_129^0 == 0 /\ -nondet_12^post25+nondet_12^0 == 0), cost: 1
  15: l12 -> l13 : a_113^0'=a_113^post15, x_17^0'=x_17^post15, i_92^0'=i_92^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post15, a_257^0'=a_257^post15, length_27^0'=length_27^post15, temp_33^0'=temp_33^post15, x_126^0'=x_126^post15, i_105^0'=i_105^post15, rcd_56^0'=rcd_56^post15, a_181^0'=a_181^post15, x_SLAM_f_19^0'=x_SLAM_f_19^post15, t_24^0'=t_24^post15, f_167^0'=f_167^post15, r_121^0'=r_121^post15, x_172^0'=x_172^post15, i_28^0'=i_28^post15, result_11^0'=result_11^post15, a_234^0'=a_234^post15, len_180^0'=len_180^post15, temp0_29^0'=temp0_29^post15, head_30^0'=head_30^post15, r_37^0'=r_37^post15, a_144^0'=a_144^post15, x_21^0'=x_21^post15, len_129^0'=len_129^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, ct_18^0'=ct_18^post15, nondet_12^0'=nondet_12^post15, tmp_32^0'=tmp_32^post15, x_14^0'=x_14^post15, i_164^0'=i_164^post15, rcd_86^0'=rcd_86^post15, a_212^0'=a_212^post15, y_20^0'=y_20^post15, temp0_16^0'=temp0_16^post15, head_15^0'=head_15^post15, r_160^0'=r_160^post15, (temp_33^0-temp_33^post15 == 0 /\ t_24^0-t_24^post15 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post15+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_17^0-x_17^post15 == 0 /\ -r_121^post15+r_121^0 == 0 /\ -i_164^post15+i_164^0 == 0 /\ -len_180^post15+len_180^0 == 0 /\ -a_212^post15+a_212^0 == 0 /\ tmp_32^0-tmp_32^post15 == 0 /\ -x_SLAM_f_19^post15+x_SLAM_f_19^0 == 0 /\ -r_160^post15+r_160^0 == 0 /\ x_172^0-x_172^post15 == 0 /\ -r_37^post15+r_37^0 == 0 /\ f_167^0-f_167^post15 == 0 /\ -x_14^post15+x_14^0 == 0 /\ rcd_86^0-rcd_86^post15 == 0 /\ i_92^0-i_92^post15 == 0 /\ -head_15^post15+head_15^0 == 0 /\ a_181^0-a_181^post15 == 0 /\ -y_20^post15+y_20^0 == 0 /\ -a_144^post15+a_144^0 == 0 /\ temp0_29^0-temp0_29^post15 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ a_234^0-a_234^post15 == 0 /\ -length_27^post15+length_27^0 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ len_129^0-len_129^post15 == 0 /\ a_113^0-a_113^post15 == 0 /\ ct_18^0-ct_18^post15 == 0 /\ -temp0_16^post15+temp0_16^0 == 0 /\ x_21^0-x_21^post15 == 0 /\ x_126^0-x_126^post15 == 0 /\ a_257^0-a_257^post15 == 0 /\ i_105^0-i_105^post15 == 0 /\ rcd_56^0-rcd_56^post15 == 0 /\ -i_28^post15+i_28^0 == 0 /\ -result_11^post15+result_11^0 == 0 /\ head_30^0-head_30^post15 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post15 == 0), cost: 1
  16: l12 -> l13 : a_113^0'=a_113^post16, x_17^0'=x_17^post16, i_92^0'=i_92^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post16, a_257^0'=a_257^post16, length_27^0'=length_27^post16, temp_33^0'=temp_33^post16, x_126^0'=x_126^post16, i_105^0'=i_105^post16, rcd_56^0'=rcd_56^post16, a_181^0'=a_181^post16, x_SLAM_f_19^0'=x_SLAM_f_19^post16, t_24^0'=t_24^post16, f_167^0'=f_167^post16, r_121^0'=r_121^post16, x_172^0'=x_172^post16, i_28^0'=i_28^post16, result_11^0'=result_11^post16, a_234^0'=a_234^post16, len_180^0'=len_180^post16, temp0_29^0'=temp0_29^post16, head_30^0'=head_30^post16, r_37^0'=r_37^post16, a_144^0'=a_144^post16, x_21^0'=x_21^post16, len_129^0'=len_129^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, ct_18^0'=ct_18^post16, nondet_12^0'=nondet_12^post16, tmp_32^0'=tmp_32^post16, x_14^0'=x_14^post16, i_164^0'=i_164^post16, rcd_86^0'=rcd_86^post16, a_212^0'=a_212^post16, y_20^0'=y_20^post16, temp0_16^0'=temp0_16^post16, head_15^0'=head_15^post16, r_160^0'=r_160^post16, (-rcd_86^post16+rcd_86^0 == 0 /\ x_17^0-x_17^post16 == 0 /\ temp_33^0-temp_33^post16 == 0 /\ i_28^0-i_28^post16 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post16 == 0 /\ -len_180^post16+len_180^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post16+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_160^post16+r_160^0 == 0 /\ x_14^0-x_14^post16 == 0 /\ -i_164^post16+i_164^0 == 0 /\ a_181^0-a_181^post16 == 0 /\ -len_129^post16+len_129^0 == 0 /\ -head_30^post16+head_30^0 == 0 /\ i_92^0-i_92^post16 == 0 /\ -a_212^post16+a_212^0 == 0 /\ a_257^0-a_257^post16 == 0 /\ f_167^0-f_167^post16 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post16 == 0 /\ x_172^0-x_172^post16 == 0 /\ -head_15^post16+head_15^0 == 0 /\ a_234^0-a_234^post16 == 0 /\ rcd_56^0-rcd_56^post16 == 0 /\ -x_21^post16+x_21^0 == 0 /\ -tmp_32^post16+tmp_32^0 == 0 /\ -nondet_12^post16+nondet_12^0 == 0 /\ -y_20^post16+y_20^0 == 0 /\ temp0_16^0-temp0_16^post16 == 0 /\ a_113^0-a_113^post16 == 0 /\ -a_144^post16+a_144^0 == 0 /\ -t_24^post16+t_24^0 == 0 /\ -x_126^post16+x_126^0 == 0 /\ r_37^0-r_37^post16 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -ct_18^post16+ct_18^0 == 0 /\ -result_11^post16+result_11^0 == 0 /\ length_27^0-length_27^post16 == 0 /\ -r_121^post16+r_121^0 == 0 /\ temp0_29^0-temp0_29^post16 == 0 /\ i_105^0-i_105^post16 == 0), cost: 1
  17: l13 -> l14 : a_113^0'=a_113^post17, x_17^0'=x_17^post17, i_92^0'=i_92^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post17, a_257^0'=a_257^post17, length_27^0'=length_27^post17, temp_33^0'=temp_33^post17, x_126^0'=x_126^post17, i_105^0'=i_105^post17, rcd_56^0'=rcd_56^post17, a_181^0'=a_181^post17, x_SLAM_f_19^0'=x_SLAM_f_19^post17, t_24^0'=t_24^post17, f_167^0'=f_167^post17, r_121^0'=r_121^post17, x_172^0'=x_172^post17, i_28^0'=i_28^post17, result_11^0'=result_11^post17, a_234^0'=a_234^post17, len_180^0'=len_180^post17, temp0_29^0'=temp0_29^post17, head_30^0'=head_30^post17, r_37^0'=r_37^post17, a_144^0'=a_144^post17, x_21^0'=x_21^post17, len_129^0'=len_129^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, ct_18^0'=ct_18^post17, nondet_12^0'=nondet_12^post17, tmp_32^0'=tmp_32^post17, x_14^0'=x_14^post17, i_164^0'=i_164^post17, rcd_86^0'=rcd_86^post17, a_212^0'=a_212^post17, y_20^0'=y_20^post17, temp0_16^0'=temp0_16^post17, head_15^0'=head_15^post17, r_160^0'=r_160^post17, (x_SLAM_f_19^0-head_15^0 <= 0 /\ length_27^0-length_27^post17 == 0 /\ -i_164^post17+i_164^0 == 0 /\ x_17^0-head_15^0 <= 0 /\ -a_181^post17+a_181^0 == 0 /\ len_180^0-len_180^post17 == 0 /\ -head_30^post17+head_30^0 == 0 /\ -ct_18^0 <= 0 /\ -r_160^post17+r_160^0 == 0 /\ -ct_18^post17+ct_18^0 == 0 /\ -a_212^post17+a_212^0 == 0 /\ a_113^0-a_113^post17 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ x_14^0-x_14^post17 == 0 /\ -len_129^post17+len_129^0 == 0 /\ -x_SLAM_f_19^0+head_15^0 <= 0 /\ -y_20^post17+y_20^0 == 0 /\ -x_172^post17+x_172^0 == 0 /\ -x_17^0+head_15^0 <= 0 /\ x_126^0-x_126^post17 == 0 /\ f_167^0-f_167^post17 == 0 /\ a_257^0-a_257^post17 == 0 /\ i_92^0-i_92^post17 == 0 /\ -x_21^0+t_24^post17 == 0 /\ -a_234^post17+a_234^0 == 0 /\ -head_15^post17+head_15^0 == 0 /\ i_28^0-i_28^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post17 == 0 /\ result_11^0-result_11^post17 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ x_17^0-x_17^post17 == 0 /\ temp_33^0-temp_33^post17 == 0 /\ -a_144^post17+a_144^0 == 0 /\ temp0_16^0-temp0_16^post17 == 0 /\ -tmp_32^post17+tmp_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 == 0 /\ ct_18^0 <= 0 /\ -temp0_29^post17+temp0_29^0 == 0 /\ x_14^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ -x_14^0 <= 0 /\ r_37^0-r_37^post17 == 0 /\ -x_21^post17+x_21^0 == 0 /\ y_20^0 <= 0 /\ -y_20^0 <= 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ i_105^0-i_105^post17 == 0 /\ -rcd_86^post17+rcd_86^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post17 == 0 /\ rcd_56^0-rcd_56^post17 == 0 /\ r_121^0-r_121^post17 == 0), cost: 1
  18: l14 -> l15 : a_113^0'=a_113^post18, x_17^0'=x_17^post18, i_92^0'=i_92^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post18, a_257^0'=a_257^post18, length_27^0'=length_27^post18, temp_33^0'=temp_33^post18, x_126^0'=x_126^post18, i_105^0'=i_105^post18, rcd_56^0'=rcd_56^post18, a_181^0'=a_181^post18, x_SLAM_f_19^0'=x_SLAM_f_19^post18, t_24^0'=t_24^post18, f_167^0'=f_167^post18, r_121^0'=r_121^post18, x_172^0'=x_172^post18, i_28^0'=i_28^post18, result_11^0'=result_11^post18, a_234^0'=a_234^post18, len_180^0'=len_180^post18, temp0_29^0'=temp0_29^post18, head_30^0'=head_30^post18, r_37^0'=r_37^post18, a_144^0'=a_144^post18, x_21^0'=x_21^post18, len_129^0'=len_129^post18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post18, ct_18^0'=ct_18^post18, nondet_12^0'=nondet_12^post18, tmp_32^0'=tmp_32^post18, x_14^0'=x_14^post18, i_164^0'=i_164^post18, rcd_86^0'=rcd_86^post18, a_212^0'=a_212^post18, y_20^0'=y_20^post18, temp0_16^0'=temp0_16^post18, head_15^0'=head_15^post18, r_160^0'=r_160^post18, (-a_212^post18+a_212^0 == 0 /\ len_180^0-len_180^post18 == 0 /\ -r_160^post18+r_160^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post18 == 0 /\ i_164^0-i_164^post18 == 0 /\ a_113^0-a_113^post18 == 0 /\ tmp_32^0-tmp_32^post18 == 0 /\ -x_14^post18+x_14^0 == 0 /\ -y_20^post18+y_20^0 == 0 /\ -head_15^post18+head_15^0 == 0 /\ i_92^0-i_92^post18 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post18 == 0 /\ a_257^0-a_257^post18 == 0 /\ -r_37^post18+r_37^0 == 0 /\ -a_234^post18+a_234^0 == 0 /\ x_126^0-x_126^post18 == 0 /\ -len_129^post18+len_129^0 == 0 /\ result_11^0-result_11^post18 == 0 /\ -a_181^post18+a_181^0 == 0 /\ -x_172^post18+x_172^0 == 0 /\ f_167^0-f_167^post18 == 0 /\ head_30^0-head_30^post18 == 0 /\ -a_144^post18+a_144^0 == 0 /\ rcd_56^0-rcd_56^post18 == 0 /\ temp_33^0-temp_33^post18 == 0 /\ x_17^0-x_17^post18 == 0 /\ 1-head_15^0 <= 0 /\ -temp0_16^post18+temp0_16^0 == 0 /\ ct_18^0-ct_18^post18 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post18 == 0 /\ x_21^0-x_21^post18 == 0 /\ -rcd_86^post18+rcd_86^0 == 0 /\ length_27^0-length_27^post18 == 0 /\ -temp0_29^post18+temp0_29^0 == 0 /\ -i_28^post18+i_28^0 == 0 /\ r_121^0-r_121^post18 == 0 /\ -nondet_12^post18+nondet_12^0 == 0 /\ i_105^0-i_105^post18 == 0 /\ t_24^0-t_24^post18 == 0), cost: 1
  19: l14 -> l15 : a_113^0'=a_113^post19, x_17^0'=x_17^post19, i_92^0'=i_92^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post19, a_257^0'=a_257^post19, length_27^0'=length_27^post19, temp_33^0'=temp_33^post19, x_126^0'=x_126^post19, i_105^0'=i_105^post19, rcd_56^0'=rcd_56^post19, a_181^0'=a_181^post19, x_SLAM_f_19^0'=x_SLAM_f_19^post19, t_24^0'=t_24^post19, f_167^0'=f_167^post19, r_121^0'=r_121^post19, x_172^0'=x_172^post19, i_28^0'=i_28^post19, result_11^0'=result_11^post19, a_234^0'=a_234^post19, len_180^0'=len_180^post19, temp0_29^0'=temp0_29^post19, head_30^0'=head_30^post19, r_37^0'=r_37^post19, a_144^0'=a_144^post19, x_21^0'=x_21^post19, len_129^0'=len_129^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, ct_18^0'=ct_18^post19, nondet_12^0'=nondet_12^post19, tmp_32^0'=tmp_32^post19, x_14^0'=x_14^post19, i_164^0'=i_164^post19, rcd_86^0'=rcd_86^post19, a_212^0'=a_212^post19, y_20^0'=y_20^post19, temp0_16^0'=temp0_16^post19, head_15^0'=head_15^post19, r_160^0'=r_160^post19, (-r_160^post19+r_160^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post19 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post19 == 0 /\ length_27^0-length_27^post19 == 0 /\ len_129^0-len_129^post19 == 0 /\ -i_164^post19+i_164^0 == 0 /\ a_113^0-a_113^post19 == 0 /\ -a_212^post19+a_212^0 == 0 /\ -head_30^post19+head_30^0 == 0 /\ tmp_32^0-tmp_32^post19 == 0 /\ a_181^0-a_181^post19 == 0 /\ i_92^0-i_92^post19 == 0 /\ -x_14^post19+x_14^0 == 0 /\ r_37^0-r_37^post19 == 0 /\ x_172^0-x_172^post19 == 0 /\ -len_180^post19+len_180^0 == 0 /\ f_167^0-f_167^post19 == 0 /\ a_257^0-a_257^post19 == 0 /\ -head_15^post19+head_15^0 == 0 /\ 1+head_15^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post19 == 0 /\ -y_20^post19+y_20^0 == 0 /\ rcd_56^0-rcd_56^post19 == 0 /\ temp_33^0-temp_33^post19 == 0 /\ i_28^0-i_28^post19 == 0 /\ x_17^0-x_17^post19 == 0 /\ nondet_12^0-nondet_12^post19 == 0 /\ -a_144^post19+a_144^0 == 0 /\ -x_21^post19+x_21^0 == 0 /\ -t_24^post19+t_24^0 == 0 /\ -i_105^post19+i_105^0 == 0 /\ -temp0_16^post19+temp0_16^0 == 0 /\ -x_126^post19+x_126^0 == 0 /\ -ct_18^post19+ct_18^0 == 0 /\ -result_11^post19+result_11^0 == 0 /\ -r_121^post19+r_121^0 == 0 /\ a_234^0-a_234^post19 == 0 /\ temp0_29^0-temp0_29^post19 == 0 /\ -rcd_86^post19+rcd_86^0 == 0), cost: 1
  20: l15 -> l16 : a_113^0'=a_113^post20, x_17^0'=x_17^post20, i_92^0'=i_92^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post20, a_257^0'=a_257^post20, length_27^0'=length_27^post20, temp_33^0'=temp_33^post20, x_126^0'=x_126^post20, i_105^0'=i_105^post20, rcd_56^0'=rcd_56^post20, a_181^0'=a_181^post20, x_SLAM_f_19^0'=x_SLAM_f_19^post20, t_24^0'=t_24^post20, f_167^0'=f_167^post20, r_121^0'=r_121^post20, x_172^0'=x_172^post20, i_28^0'=i_28^post20, result_11^0'=result_11^post20, a_234^0'=a_234^post20, len_180^0'=len_180^post20, temp0_29^0'=temp0_29^post20, head_30^0'=head_30^post20, r_37^0'=r_37^post20, a_144^0'=a_144^post20, x_21^0'=x_21^post20, len_129^0'=len_129^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, ct_18^0'=ct_18^post20, nondet_12^0'=nondet_12^post20, tmp_32^0'=tmp_32^post20, x_14^0'=x_14^post20, i_164^0'=i_164^post20, rcd_86^0'=rcd_86^post20, a_212^0'=a_212^post20, y_20^0'=y_20^post20, temp0_16^0'=temp0_16^post20, head_15^0'=head_15^post20, r_160^0'=r_160^post20, (a_234^0-a_234^post20 == 0 /\ -a_212^post20+a_212^0 == 0 /\ -ct_18^post20+ct_18^0 == 0 /\ -head_30^post20+head_30^0 == 0 /\ 1-y_20^0+head_15^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post20+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post20 == 0 /\ -t_24^post20+t_24^0 == 0 /\ a_113^0-a_113^post20 == 0 /\ a_181^0-a_181^post20 == 0 /\ -tmp_32^post20+tmp_32^0 == 0 /\ -y_20^post20+y_20^0 == 0 /\ a_257^0-a_257^post20 == 0 /\ r_37^0-r_37^post20 == 0 /\ -r_160^post20+r_160^0 == 0 /\ -x_14^post20+x_14^0 == 0 /\ r_121^0-r_121^post20 == 0 /\ -len_129^post20+len_129^0 == 0 /\ -a_144^post20+a_144^0 == 0 /\ -x_172^post20+x_172^0 == 0 /\ i_105^0-i_105^post20 == 0 /\ nondet_12^0-nondet_12^post20 == 0 /\ rcd_56^0-rcd_56^post20 == 0 /\ temp_33^0-temp_33^post20 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post20 == 0 /\ x_17^0-x_17^post20 == 0 /\ -head_15^post20+head_15^0 == 0 /\ len_180^0-len_180^post20 == 0 /\ -x_21^post20+x_21^0 == 0 /\ -rcd_86^post20+rcd_86^0 == 0 /\ -temp0_29^post20+temp0_29^0 == 0 /\ -i_164^post20+i_164^0 == 0 /\ i_92^0-i_92^post20 == 0 /\ -temp0_16^post20+temp0_16^0 == 0 /\ result_11^0-result_11^post20 == 0 /\ -x_126^post20+x_126^0 == 0 /\ length_27^0-length_27^post20 == 0 /\ f_167^0-f_167^post20 == 0 /\ i_28^0-i_28^post20 == 0), cost: 1
  21: l15 -> l16 : a_113^0'=a_113^post21, x_17^0'=x_17^post21, i_92^0'=i_92^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post21, a_257^0'=a_257^post21, length_27^0'=length_27^post21, temp_33^0'=temp_33^post21, x_126^0'=x_126^post21, i_105^0'=i_105^post21, rcd_56^0'=rcd_56^post21, a_181^0'=a_181^post21, x_SLAM_f_19^0'=x_SLAM_f_19^post21, t_24^0'=t_24^post21, f_167^0'=f_167^post21, r_121^0'=r_121^post21, x_172^0'=x_172^post21, i_28^0'=i_28^post21, result_11^0'=result_11^post21, a_234^0'=a_234^post21, len_180^0'=len_180^post21, temp0_29^0'=temp0_29^post21, head_30^0'=head_30^post21, r_37^0'=r_37^post21, a_144^0'=a_144^post21, x_21^0'=x_21^post21, len_129^0'=len_129^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, ct_18^0'=ct_18^post21, nondet_12^0'=nondet_12^post21, tmp_32^0'=tmp_32^post21, x_14^0'=x_14^post21, i_164^0'=i_164^post21, rcd_86^0'=rcd_86^post21, a_212^0'=a_212^post21, y_20^0'=y_20^post21, temp0_16^0'=temp0_16^post21, head_15^0'=head_15^post21, r_160^0'=r_160^post21, (-i_28^post21+i_28^0 == 0 /\ -r_160^post21+r_160^0 == 0 /\ a_144^0-a_144^post21 == 0 /\ a_113^0-a_113^post21 == 0 /\ -i_164^post21+i_164^0 == 0 /\ -a_212^post21+a_212^0 == 0 /\ -r_37^post21+r_37^0 == 0 /\ i_105^0-i_105^post21 == 0 /\ -x_14^post21+x_14^0 == 0 /\ -y_20^post21+y_20^0 == 0 /\ -head_15^post21+head_15^0 == 0 /\ r_121^0-r_121^post21 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post21+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+y_20^0-head_15^0 <= 0 /\ -len_129^post21+len_129^0 == 0 /\ t_24^0-t_24^post21 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post21 == 0 /\ length_27^0-length_27^post21 == 0 /\ head_30^0-head_30^post21 == 0 /\ len_180^0-len_180^post21 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post21 == 0 /\ result_11^0-result_11^post21 == 0 /\ -rcd_56^post21+rcd_56^0 == 0 /\ -x_172^post21+x_172^0 == 0 /\ temp_33^0-temp_33^post21 == 0 /\ x_17^0-x_17^post21 == 0 /\ -tmp_32^post21+tmp_32^0 == 0 /\ -i_92^post21+i_92^0 == 0 /\ a_257^0-a_257^post21 == 0 /\ x_126^0-x_126^post21 == 0 /\ -temp0_16^post21+temp0_16^0 == 0 /\ ct_18^0-ct_18^post21 == 0 /\ -x_21^post21+x_21^0 == 0 /\ a_181^0-a_181^post21 == 0 /\ -rcd_86^post21+rcd_86^0 == 0 /\ -nondet_12^post21+nondet_12^0 == 0 /\ -temp0_29^post21+temp0_29^0 == 0 /\ f_167^0-f_167^post21 == 0 /\ a_234^0-a_234^post21 == 0), cost: 1
  22: l16 -> l17 : a_113^0'=a_113^post22, x_17^0'=x_17^post22, i_92^0'=i_92^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post22, a_257^0'=a_257^post22, length_27^0'=length_27^post22, temp_33^0'=temp_33^post22, x_126^0'=x_126^post22, i_105^0'=i_105^post22, rcd_56^0'=rcd_56^post22, a_181^0'=a_181^post22, x_SLAM_f_19^0'=x_SLAM_f_19^post22, t_24^0'=t_24^post22, f_167^0'=f_167^post22, r_121^0'=r_121^post22, x_172^0'=x_172^post22, i_28^0'=i_28^post22, result_11^0'=result_11^post22, a_234^0'=a_234^post22, len_180^0'=len_180^post22, temp0_29^0'=temp0_29^post22, head_30^0'=head_30^post22, r_37^0'=r_37^post22, a_144^0'=a_144^post22, x_21^0'=x_21^post22, len_129^0'=len_129^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, ct_18^0'=ct_18^post22, nondet_12^0'=nondet_12^post22, tmp_32^0'=tmp_32^post22, x_14^0'=x_14^post22, i_164^0'=i_164^post22, rcd_86^0'=rcd_86^post22, a_212^0'=a_212^post22, y_20^0'=y_20^post22, temp0_16^0'=temp0_16^post22, head_15^0'=head_15^post22, r_160^0'=r_160^post22, (rcd_56^0-rcd_56^post22 == 0 /\ -r_160^post22+r_160^0 == 0 /\ x_17^0-x_17^post22 == 0 /\ -r_37^post22+r_37^0 == 0 /\ -y_20^post22+y_20^0 == 0 /\ 1-t_24^0+y_20^0 <= 0 /\ -i_28^post22+i_28^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post22 == 0 /\ -head_15^post22+head_15^0 == 0 /\ -tmp_32^post22+tmp_32^0 == 0 /\ temp0_29^0-temp0_29^post22 == 0 /\ -x_14^post22+x_14^0 == 0 /\ head_30^0-head_30^post22 == 0 /\ -len_180^post22+len_180^0 == 0 /\ length_27^0-length_27^post22 == 0 /\ r_121^0-r_121^post22 == 0 /\ t_24^0-t_24^post22 == 0 /\ -len_129^post22+len_129^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -f_167^post22+f_167^0 == 0 /\ a_113^0-a_113^post22 == 0 /\ temp_33^0-temp_33^post22 == 0 /\ -i_105^post22+i_105^0 == 0 /\ i_92^0-i_92^post22 == 0 /\ -i_164^post22+i_164^0 == 0 /\ -rcd_86^post22+rcd_86^0 == 0 /\ -result_11^post22+result_11^0 == 0 /\ a_181^0-a_181^post22 == 0 /\ ct_18^0-ct_18^post22 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ a_257^0-a_257^post22 == 0 /\ x_126^0-x_126^post22 == 0 /\ -a_212^post22+a_212^0 == 0 /\ -temp0_16^post22+temp0_16^0 == 0 /\ x_172^0-x_172^post22 == 0 /\ -x_SLAM_f_19^post22+x_SLAM_f_19^0 == 0 /\ -x_21^post22+x_21^0 == 0 /\ a_234^0-a_234^post22 == 0 /\ a_144^0-a_144^post22 == 0), cost: 1
  23: l16 -> l17 : a_113^0'=a_113^post23, x_17^0'=x_17^post23, i_92^0'=i_92^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post23, a_257^0'=a_257^post23, length_27^0'=length_27^post23, temp_33^0'=temp_33^post23, x_126^0'=x_126^post23, i_105^0'=i_105^post23, rcd_56^0'=rcd_56^post23, a_181^0'=a_181^post23, x_SLAM_f_19^0'=x_SLAM_f_19^post23, t_24^0'=t_24^post23, f_167^0'=f_167^post23, r_121^0'=r_121^post23, x_172^0'=x_172^post23, i_28^0'=i_28^post23, result_11^0'=result_11^post23, a_234^0'=a_234^post23, len_180^0'=len_180^post23, temp0_29^0'=temp0_29^post23, head_30^0'=head_30^post23, r_37^0'=r_37^post23, a_144^0'=a_144^post23, x_21^0'=x_21^post23, len_129^0'=len_129^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, ct_18^0'=ct_18^post23, nondet_12^0'=nondet_12^post23, tmp_32^0'=tmp_32^post23, x_14^0'=x_14^post23, i_164^0'=i_164^post23, rcd_86^0'=rcd_86^post23, a_212^0'=a_212^post23, y_20^0'=y_20^post23, temp0_16^0'=temp0_16^post23, head_15^0'=head_15^post23, r_160^0'=r_160^post23, (x_172^0-x_172^post23 == 0 /\ rcd_56^0-rcd_56^post23 == 0 /\ -ct_18^post23+ct_18^0 == 0 /\ temp_33^0-temp_33^post23 == 0 /\ -y_20^post23+y_20^0 == 0 /\ -result_11^post23+result_11^0 == 0 /\ x_17^0-x_17^post23 == 0 /\ i_92^0-i_92^post23 == 0 /\ -len_180^post23+len_180^0 == 0 /\ r_121^0-r_121^post23 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post23+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp0_29^0-temp0_29^post23 == 0 /\ -tmp_32^post23+tmp_32^0 == 0 /\ -a_144^post23+a_144^0 == 0 /\ t_24^0-t_24^post23 == 0 /\ 1+t_24^0-y_20^0 <= 0 /\ r_37^0-r_37^post23 == 0 /\ -f_167^post23+f_167^0 == 0 /\ rcd_86^0-rcd_86^post23 == 0 /\ -r_160^post23+r_160^0 == 0 /\ -x_14^post23+x_14^0 == 0 /\ length_27^0-length_27^post23 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ -x_SLAM_f_19^post23+x_SLAM_f_19^0 == 0 /\ head_30^0-head_30^post23 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -head_15^post23+head_15^0 == 0 /\ -x_21^post23+x_21^0 == 0 /\ a_257^0-a_257^post23 == 0 /\ x_126^0-x_126^post23 == 0 /\ -i_105^post23+i_105^0 == 0 /\ a_181^0-a_181^post23 == 0 /\ -temp0_16^post23+temp0_16^0 == 0 /\ a_113^0-a_113^post23 == 0 /\ a_234^0-a_234^post23 == 0 /\ -i_164^post23+i_164^0 == 0 /\ -a_212^post23+a_212^0 == 0 /\ i_28^0-i_28^post23 == 0 /\ len_129^0-len_129^post23 == 0), cost: 1
  24: l17 -> l2 : a_113^0'=a_113^post24, x_17^0'=x_17^post24, i_92^0'=i_92^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post24, a_257^0'=a_257^post24, length_27^0'=length_27^post24, temp_33^0'=temp_33^post24, x_126^0'=x_126^post24, i_105^0'=i_105^post24, rcd_56^0'=rcd_56^post24, a_181^0'=a_181^post24, x_SLAM_f_19^0'=x_SLAM_f_19^post24, t_24^0'=t_24^post24, f_167^0'=f_167^post24, r_121^0'=r_121^post24, x_172^0'=x_172^post24, i_28^0'=i_28^post24, result_11^0'=result_11^post24, a_234^0'=a_234^post24, len_180^0'=len_180^post24, temp0_29^0'=temp0_29^post24, head_30^0'=head_30^post24, r_37^0'=r_37^post24, a_144^0'=a_144^post24, x_21^0'=x_21^post24, len_129^0'=len_129^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, ct_18^0'=ct_18^post24, nondet_12^0'=nondet_12^post24, tmp_32^0'=tmp_32^post24, x_14^0'=x_14^post24, i_164^0'=i_164^post24, rcd_86^0'=rcd_86^post24, a_212^0'=a_212^post24, y_20^0'=y_20^post24, temp0_16^0'=temp0_16^post24, head_15^0'=head_15^post24, r_160^0'=r_160^post24, (-a_212^post24+a_212^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -ct_18^post24+ct_18^0 == 0 /\ -head_30^post24+head_30^0 == 0 /\ x_17^0-x_17^post24 == 0 /\ temp_33^0-temp_33^post24 == 0 /\ -len_180^post24+len_180^0 == 0 /\ i_105^0-i_105^post24 == 0 /\ -y_20^post24+y_20^0 == 0 /\ x_14^0-x_14^post24 == 0 /\ -a_144^post24+a_144^0 == 0 /\ a_234^0-a_234^post24 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_121^0-r_121^post24 == 0 /\ -r_160^post24+r_160^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post24+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_28^0-i_28^post24 == 0 /\ t_24^0-t_24^post24 == 0 /\ -tmp_32^post24+tmp_32^0 == 0 /\ length_27^0-length_27^post24 == 0 /\ -len_129^post24+len_129^0 == 0 /\ r_37^0-r_37^post24 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post24 == 0 /\ result_11^0-result_11^post24 == 0 /\ -rcd_56^post24+rcd_56^0 == 0 /\ -x_172^post24+x_172^0 == 0 /\ -i_92^post24+i_92^0 == 0 /\ -nondet_12^post24+nondet_12^0 == 0 /\ x_126^0-x_126^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post24 == 0 /\ -rcd_86^post24+rcd_86^0 == 0 /\ -x_21^post24+x_21^0 == 0 /\ a_181^0-a_181^post24 == 0 /\ a_113^0-a_113^post24 == 0 /\ -i_164^post24+i_164^0 == 0 /\ head_15^0-head_15^post24 == 0 /\ a_257^0-a_257^post24 == 0 /\ -temp0_16^post24+temp0_16^0 == 0 /\ -temp0_29^post24+temp0_29^0 == 0 /\ f_167^0-f_167^post24 == 0), cost: 1
  26: l18 -> l19 : a_113^0'=a_113^post26, x_17^0'=x_17^post26, i_92^0'=i_92^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post26, a_257^0'=a_257^post26, length_27^0'=length_27^post26, temp_33^0'=temp_33^post26, x_126^0'=x_126^post26, i_105^0'=i_105^post26, rcd_56^0'=rcd_56^post26, a_181^0'=a_181^post26, x_SLAM_f_19^0'=x_SLAM_f_19^post26, t_24^0'=t_24^post26, f_167^0'=f_167^post26, r_121^0'=r_121^post26, x_172^0'=x_172^post26, i_28^0'=i_28^post26, result_11^0'=result_11^post26, a_234^0'=a_234^post26, len_180^0'=len_180^post26, temp0_29^0'=temp0_29^post26, head_30^0'=head_30^post26, r_37^0'=r_37^post26, a_144^0'=a_144^post26, x_21^0'=x_21^post26, len_129^0'=len_129^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, ct_18^0'=ct_18^post26, nondet_12^0'=nondet_12^post26, tmp_32^0'=tmp_32^post26, x_14^0'=x_14^post26, i_164^0'=i_164^post26, rcd_86^0'=rcd_86^post26, a_212^0'=a_212^post26, y_20^0'=y_20^post26, temp0_16^0'=temp0_16^post26, head_15^0'=head_15^post26, r_160^0'=r_160^post26, (-a_212^post26+a_212^0 == 0 /\ x_172^0-x_172^post26 == 0 /\ rcd_56^0-rcd_56^post26 == 0 /\ -result_11^post26+result_11^0 == 0 /\ temp_33^0-temp_33^post26 == 0 /\ -head_30^post26+head_30^0 == 0 /\ x_17^0-x_17^post26 == 0 /\ -ct_18^post26+ct_18^0 == 0 /\ -x_14^post26+x_14^0 == 0 /\ -y_20^post26+y_20^0 == 0 /\ temp0_29^0-temp0_29^post26 == 0 /\ r_121^0-r_121^post26 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post26+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_37^0-r_37^post26 == 0 /\ -a_144^post26+a_144^0 == 0 /\ -len_129^post26+len_129^0 == 0 /\ t_24^0-t_24^post26 == 0 /\ -r_160^post26+r_160^0 == 0 /\ -len_180^post26+len_180^0 == 0 /\ length_27^0-length_27^post26 == 0 /\ -f_167^post26+f_167^0 == 0 /\ nondet_12^0-nondet_12^post26 == 0 /\ -tmp_32^post26+tmp_32^0 == 0 /\ 1-head_15^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -head_15^post26+head_15^0 == 0 /\ x_126^0-x_126^post26 == 0 /\ -i_105^post26+i_105^0 == 0 /\ a_257^0-a_257^post26 == 0 /\ i_92^0-i_92^post26 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ -rcd_86^post26+rcd_86^0 == 0 /\ -i_164^post26+i_164^0 == 0 /\ -x_21^post26+x_21^0 == 0 /\ a_181^0-a_181^post26 == 0 /\ a_113^0-a_113^post26 == 0 /\ -x_SLAM_f_19^post26+x_SLAM_f_19^0 == 0 /\ i_28^0-i_28^post26 == 0 /\ a_234^0-a_234^post26 == 0), cost: 1
  27: l18 -> l19 : a_113^0'=a_113^post27, x_17^0'=x_17^post27, i_92^0'=i_92^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post27, a_257^0'=a_257^post27, length_27^0'=length_27^post27, temp_33^0'=temp_33^post27, x_126^0'=x_126^post27, i_105^0'=i_105^post27, rcd_56^0'=rcd_56^post27, a_181^0'=a_181^post27, x_SLAM_f_19^0'=x_SLAM_f_19^post27, t_24^0'=t_24^post27, f_167^0'=f_167^post27, r_121^0'=r_121^post27, x_172^0'=x_172^post27, i_28^0'=i_28^post27, result_11^0'=result_11^post27, a_234^0'=a_234^post27, len_180^0'=len_180^post27, temp0_29^0'=temp0_29^post27, head_30^0'=head_30^post27, r_37^0'=r_37^post27, a_144^0'=a_144^post27, x_21^0'=x_21^post27, len_129^0'=len_129^post27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post27, ct_18^0'=ct_18^post27, nondet_12^0'=nondet_12^post27, tmp_32^0'=tmp_32^post27, x_14^0'=x_14^post27, i_164^0'=i_164^post27, rcd_86^0'=rcd_86^post27, a_212^0'=a_212^post27, y_20^0'=y_20^post27, temp0_16^0'=temp0_16^post27, head_15^0'=head_15^post27, r_160^0'=r_160^post27, (-ct_18^post27+ct_18^0 == 0 /\ -a_212^post27+a_212^0 == 0 /\ temp_33^0-temp_33^post27 == 0 /\ -head_30^post27+head_30^0 == 0 /\ -r_160^post27+r_160^0 == 0 /\ x_17^0-x_17^post27 == 0 /\ -a_144^post27+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post27+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_15^post27+head_15^0 == 0 /\ -y_20^post27+y_20^0 == 0 /\ x_14^0-x_14^post27 == 0 /\ r_121^0-r_121^post27 == 0 /\ -x_172^post27+x_172^0 == 0 /\ length_27^0-length_27^post27 == 0 /\ 1+head_15^0 <= 0 /\ i_105^0-i_105^post27 == 0 /\ -len_129^post27+len_129^0 == 0 /\ t_24^0-t_24^post27 == 0 /\ -tmp_32^post27+tmp_32^0 == 0 /\ r_37^0-r_37^post27 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post27 == 0 /\ nondet_12^0-nondet_12^post27 == 0 /\ len_180^0-len_180^post27 == 0 /\ -rcd_56^post27+rcd_56^0 == 0 /\ -i_92^post27+i_92^0 == 0 /\ -i_164^post27+i_164^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post27 == 0 /\ a_181^0-a_181^post27 == 0 /\ a_113^0-a_113^post27 == 0 /\ x_126^0-x_126^post27 == 0 /\ a_257^0-a_257^post27 == 0 /\ -rcd_86^post27+rcd_86^0 == 0 /\ i_28^0-i_28^post27 == 0 /\ result_11^0-result_11^post27 == 0 /\ -temp0_29^post27+temp0_29^0 == 0 /\ -temp0_16^post27+temp0_16^0 == 0 /\ a_234^0-a_234^post27 == 0 /\ f_167^0-f_167^post27 == 0 /\ -x_21^post27+x_21^0 == 0), cost: 1
  28: l19 -> l3 : a_113^0'=a_113^post28, x_17^0'=x_17^post28, i_92^0'=i_92^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post28, a_257^0'=a_257^post28, length_27^0'=length_27^post28, temp_33^0'=temp_33^post28, x_126^0'=x_126^post28, i_105^0'=i_105^post28, rcd_56^0'=rcd_56^post28, a_181^0'=a_181^post28, x_SLAM_f_19^0'=x_SLAM_f_19^post28, t_24^0'=t_24^post28, f_167^0'=f_167^post28, r_121^0'=r_121^post28, x_172^0'=x_172^post28, i_28^0'=i_28^post28, result_11^0'=result_11^post28, a_234^0'=a_234^post28, len_180^0'=len_180^post28, temp0_29^0'=temp0_29^post28, head_30^0'=head_30^post28, r_37^0'=r_37^post28, a_144^0'=a_144^post28, x_21^0'=x_21^post28, len_129^0'=len_129^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, ct_18^0'=ct_18^post28, nondet_12^0'=nondet_12^post28, tmp_32^0'=tmp_32^post28, x_14^0'=x_14^post28, i_164^0'=i_164^post28, rcd_86^0'=rcd_86^post28, a_212^0'=a_212^post28, y_20^0'=y_20^post28, temp0_16^0'=temp0_16^post28, head_15^0'=head_15^post28, r_160^0'=r_160^post28, (-ct_18^post28+ct_18^0 == 0 /\ len_180^0-len_180^post28 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_11^0-result_11^post28 == 0 /\ temp_33^0-temp_33^post28 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ -r_37^post28+r_37^0 == 0 /\ i_92^0-i_92^post28 == 0 /\ x_17^0-x_17^post28 == 0 /\ -y_20^post28+y_20^0 == 0 /\ -r_160^post28+r_160^0 == 0 /\ i_105^0-i_105^post28 == 0 /\ r_121^0-r_121^post28 == 0 /\ -tmp_32^post28+tmp_32^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_28^0-i_28^post28 == 0 /\ t_24^0-t_24^post28 == 0 /\ x_14^0-x_14^post28 == 0 /\ a_144^0-a_144^post28 == 0 /\ length_27^0-length_27^post28 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 == 0 /\ -x_172^post28+x_172^0 == 0 /\ f_167^0-f_167^post28 == 0 /\ -temp0_29^post28+temp0_29^0 == 0 /\ -len_129^post28+len_129^0 == 0 /\ a_181^0-a_181^post28 == 0 /\ -a_234^post28+a_234^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post28 == 0 /\ -rcd_86^post28+rcd_86^0 == 0 /\ a_113^0-a_113^post28 == 0 /\ x_126^0-x_126^post28 == 0 /\ a_257^0-a_257^post28 == 0 /\ head_15^0-head_15^post28 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post28 == 0 /\ -i_164^post28+i_164^0 == 0 /\ -x_21^post28+x_21^0 == 0 /\ -a_212^post28+a_212^0 == 0 /\ -rcd_56^post28+rcd_56^0 == 0 /\ -temp0_16^post28+temp0_16^0 == 0 /\ -head_30^post28+head_30^0 == 0), cost: 1
  29: l20 -> l21 : a_113^0'=a_113^post29, x_17^0'=x_17^post29, i_92^0'=i_92^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post29, a_257^0'=a_257^post29, length_27^0'=length_27^post29, temp_33^0'=temp_33^post29, x_126^0'=x_126^post29, i_105^0'=i_105^post29, rcd_56^0'=rcd_56^post29, a_181^0'=a_181^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, t_24^0'=t_24^post29, f_167^0'=f_167^post29, r_121^0'=r_121^post29, x_172^0'=x_172^post29, i_28^0'=i_28^post29, result_11^0'=result_11^post29, a_234^0'=a_234^post29, len_180^0'=len_180^post29, temp0_29^0'=temp0_29^post29, head_30^0'=head_30^post29, r_37^0'=r_37^post29, a_144^0'=a_144^post29, x_21^0'=x_21^post29, len_129^0'=len_129^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, nondet_12^0'=nondet_12^post29, tmp_32^0'=tmp_32^post29, x_14^0'=x_14^post29, i_164^0'=i_164^post29, rcd_86^0'=rcd_86^post29, a_212^0'=a_212^post29, y_20^0'=y_20^post29, temp0_16^0'=temp0_16^post29, head_15^0'=head_15^post29, r_160^0'=r_160^post29, (0 == 0 /\ result_11^0-result_11^post29 == 0 /\ -len_129^0 <= 0 /\ f_167^0-f_167^post29 == 0 /\ rcd_56^0-rcd_56^post29 == 0 /\ len_180^0-len_180^post29 == 0 /\ -a_212^post29+a_212^0 == 0 /\ -r_37^post29+r_37^0 == 0 /\ -i_28^post29+i_28^0 == 0 /\ temp_33^0-temp_33^post29 == 0 /\ rcd_86^0-rcd_86^post29 == 0 /\ tmp_32^0-tmp_32^post29 == 0 /\ -y_20^post29+y_20^0 == 0 /\ -r_160^post29+r_160^0 == 0 /\ t_24^0-t_24^post29 == 0 /\ -a_144^post29+a_144^0 == 0 /\ length_27^0-length_27^post29 == 0 /\ -a_234^post29+a_234^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -temp0_29^post29+temp0_29^0 == 0 /\ x_172^0-x_172^post29 == 0 /\ i_92^0-i_92^post29 == 0 /\ a_257^0-a_257^post29 == 0 /\ x_126^0-x_126^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ -i_164^post29+i_164^0 == 0 /\ r_121^0-r_121^post29 == 0 /\ a_113^0-a_113^post29 == 0 /\ a_181^0-a_181^post29 == 0 /\ i_105^0-i_105^post29 == 0 /\ -temp0_16^post29+temp0_16^0 == 0 /\ head_30^0-head_30^post29 == 0 /\ len_129^0-len_129^post29 == 0 /\ x_21^0-x_21^post29 == 0), cost: 1
  30: l21 -> l22 : a_113^0'=a_113^post30, x_17^0'=x_17^post30, i_92^0'=i_92^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post30, a_257^0'=a_257^post30, length_27^0'=length_27^post30, temp_33^0'=temp_33^post30, x_126^0'=x_126^post30, i_105^0'=i_105^post30, rcd_56^0'=rcd_56^post30, a_181^0'=a_181^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, t_24^0'=t_24^post30, f_167^0'=f_167^post30, r_121^0'=r_121^post30, x_172^0'=x_172^post30, i_28^0'=i_28^post30, result_11^0'=result_11^post30, a_234^0'=a_234^post30, len_180^0'=len_180^post30, temp0_29^0'=temp0_29^post30, head_30^0'=head_30^post30, r_37^0'=r_37^post30, a_144^0'=a_144^post30, x_21^0'=x_21^post30, len_129^0'=len_129^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, ct_18^0'=ct_18^post30, nondet_12^0'=nondet_12^post30, tmp_32^0'=tmp_32^post30, x_14^0'=x_14^post30, i_164^0'=i_164^post30, rcd_86^0'=rcd_86^post30, a_212^0'=a_212^post30, y_20^0'=y_20^post30, temp0_16^0'=temp0_16^post30, head_15^0'=head_15^post30, r_160^0'=r_160^post30, (f_167^0-f_167^post30 == 0 /\ -r_37^post30+r_37^0 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ -x_14^post30+x_14^0 == 0 /\ -y_20^post30+y_20^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post30 == 0 /\ x_21^0-x_21^post30 == 0 /\ -result_11^post30+result_11^0 == 0 /\ x_17^0-x_17^post30 == 0 /\ -i_28^post30+i_28^0 == 0 /\ a_257^0-a_257^post30 == 0 /\ -len_180^post30+len_180^0 == 0 /\ -r_160^post30+r_160^0 == 0 /\ -a_144^post30+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post30+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ tmp_32^0-tmp_32^post30 == 0 /\ a_181^0-a_181^post30 == 0 /\ t_24^0-t_24^post30 == 0 /\ -ct_18^post30+ct_18^0 == 0 /\ -temp_33^post30+temp_33^0 == 0 /\ rcd_86^0-rcd_86^post30 == 0 /\ a_234^0-a_234^post30 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ x_172^0-x_172^post30 == 0 /\ rcd_56^0-rcd_56^post30 == 0 /\ -head_15^post30+head_15^0 == 0 /\ head_30^0-head_30^post30 == 0 /\ -r_121^post30+r_121^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ i_92^0-i_92^post30 == 0 /\ i_105^0-i_105^post30 == 0 /\ a_113^0-a_113^post30 == 0 /\ temp0_29^0-temp0_29^post30 == 0 /\ len_129^0-len_129^post30 == 0 /\ -i_164^post30+i_164^0 == 0 /\ length_27^0-length_27^post30 == 0 /\ -x_126^post30+x_126^0 == 0 /\ nondet_12^0-nondet_12^post30 == 0 /\ -a_212^post30+a_212^0 == 0), cost: 1
  31: l21 -> l22 : a_113^0'=a_113^post31, x_17^0'=x_17^post31, i_92^0'=i_92^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post31, a_257^0'=a_257^post31, length_27^0'=length_27^post31, temp_33^0'=temp_33^post31, x_126^0'=x_126^post31, i_105^0'=i_105^post31, rcd_56^0'=rcd_56^post31, a_181^0'=a_181^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, t_24^0'=t_24^post31, f_167^0'=f_167^post31, r_121^0'=r_121^post31, x_172^0'=x_172^post31, i_28^0'=i_28^post31, result_11^0'=result_11^post31, a_234^0'=a_234^post31, len_180^0'=len_180^post31, temp0_29^0'=temp0_29^post31, head_30^0'=head_30^post31, r_37^0'=r_37^post31, a_144^0'=a_144^post31, x_21^0'=x_21^post31, len_129^0'=len_129^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, ct_18^0'=ct_18^post31, nondet_12^0'=nondet_12^post31, tmp_32^0'=tmp_32^post31, x_14^0'=x_14^post31, i_164^0'=i_164^post31, rcd_86^0'=rcd_86^post31, a_212^0'=a_212^post31, y_20^0'=y_20^post31, temp0_16^0'=temp0_16^post31, head_15^0'=head_15^post31, r_160^0'=r_160^post31, (-ct_18^post31+ct_18^0 == 0 /\ -result_11^post31+result_11^0 == 0 /\ -t_24^post31+t_24^0 == 0 /\ f_167^0-f_167^post31 == 0 /\ -y_20^post31+y_20^0 == 0 /\ temp_33^0-temp_33^post31 == 0 /\ a_181^0-a_181^post31 == 0 /\ a_257^0-a_257^post31 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post31 == 0 /\ a_113^0-a_113^post31 == 0 /\ -r_160^post31+r_160^0 == 0 /\ i_28^0-i_28^post31 == 0 /\ a_234^0-a_234^post31 == 0 /\ x_14^0-x_14^post31 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post31+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_144^0-a_144^post31 == 0 /\ -tmp_32^post31+tmp_32^0 == 0 /\ -r_121^post31+r_121^0 == 0 /\ -i_164^post31+i_164^0 == 0 /\ x_172^0-x_172^post31 == 0 /\ -len_129^post31+len_129^0 == 0 /\ i_92^0-i_92^post31 == 0 /\ -temp0_29^post31+temp0_29^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post31 == 0 /\ rcd_56^0-rcd_56^post31 == 0 /\ -rcd_86^post31+rcd_86^0 == 0 /\ x_126^0-x_126^post31 == 0 /\ x_17^0-x_17^post31 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ length_27^0-length_27^post31 == 0 /\ i_105^0-i_105^post31 == 0 /\ head_15^0-head_15^post31 == 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ len_180^0-len_180^post31 == 0 /\ -a_212^post31+a_212^0 == 0 /\ -head_30^post31+head_30^0 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ r_37^0-r_37^post31 == 0 /\ -x_21^post31+x_21^0 == 0), cost: 1
  32: l22 -> l23 : a_113^0'=a_113^post32, x_17^0'=x_17^post32, i_92^0'=i_92^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post32, a_257^0'=a_257^post32, length_27^0'=length_27^post32, temp_33^0'=temp_33^post32, x_126^0'=x_126^post32, i_105^0'=i_105^post32, rcd_56^0'=rcd_56^post32, a_181^0'=a_181^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, t_24^0'=t_24^post32, f_167^0'=f_167^post32, r_121^0'=r_121^post32, x_172^0'=x_172^post32, i_28^0'=i_28^post32, result_11^0'=result_11^post32, a_234^0'=a_234^post32, len_180^0'=len_180^post32, temp0_29^0'=temp0_29^post32, head_30^0'=head_30^post32, r_37^0'=r_37^post32, a_144^0'=a_144^post32, x_21^0'=x_21^post32, len_129^0'=len_129^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, ct_18^0'=ct_18^post32, nondet_12^0'=nondet_12^post32, tmp_32^0'=tmp_32^post32, x_14^0'=x_14^post32, i_164^0'=i_164^post32, rcd_86^0'=rcd_86^post32, a_212^0'=a_212^post32, y_20^0'=y_20^post32, temp0_16^0'=temp0_16^post32, head_15^0'=head_15^post32, r_160^0'=r_160^post32, (0 == 0 /\ -t_24^post32+head_15^0 <= 0 /\ -x_21^post32+x_21^0 == 0 /\ result_11^0-result_11^post32 == 0 /\ f_167^0-f_167^post32 == 0 /\ x_SLAM_f_19^0-head_15^0 <= 0 /\ len_180^0-len_180^post32 == 0 /\ -temp0_16^post32+temp0_16^0 == 0 /\ x_17^0-head_15^0 <= 0 /\ -tmp_32^post32+tmp_32^0 == 0 /\ -ct_18^0 <= 0 /\ i_164^0-i_164^post32 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post32 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ -y_20^post32+y_20^0 == 0 /\ -x_14^post32+x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ t_24^post32-head_15^0 <= 0 /\ -r_160^post32+r_160^0 == 0 /\ a_113^0-a_113^post32 == 0 /\ -x_SLAM_f_19^0+head_15^0 <= 0 /\ a_144^0-a_144^post32 == 0 /\ a_257^0-a_257^post32 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post32 == 0 /\ i_28^0-i_28^post32 == 0 /\ -x_17^0+head_15^0 <= 0 /\ -ct_18^post32+ct_18^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ x_172^0-x_172^post32 == 0 /\ -a_234^post32+a_234^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ r_37^0-r_37^post32 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 == 0 /\ -temp0_29^post32+temp0_29^0 == 0 /\ -head_15^post32+head_15^0 == 0 /\ -len_129^post32+len_129^0 == 0 /\ rcd_56^0-rcd_56^post32 == 0 /\ temp_33^0-temp_33^post32 == 0 /\ -a_181^post32+a_181^0 == 0 /\ i_92^0-i_92^post32 == 0 /\ x_17^0-x_17^post32 == 0 /\ ct_18^0 <= 0 /\ x_126^0-x_126^post32 == 0 /\ -rcd_86^post32+rcd_86^0 == 0 /\ -a_234^0+a_212^post32 <= 0 /\ x_14^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ -x_14^0 <= 0 /\ r_121^0-r_121^post32 == 0 /\ -head_30^post32+head_30^0 == 0 /\ i_105^0-i_105^post32 == 0 /\ y_20^0 <= 0 /\ t_24^post32-x_21^0 == 0 /\ -y_20^0 <= 0 /\ length_27^0-length_27^post32 == 0 /\ a_234^0-a_212^post32 <= 0), cost: 1
  33: l23 -> l24 : a_113^0'=a_113^post33, x_17^0'=x_17^post33, i_92^0'=i_92^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post33, a_257^0'=a_257^post33, length_27^0'=length_27^post33, temp_33^0'=temp_33^post33, x_126^0'=x_126^post33, i_105^0'=i_105^post33, rcd_56^0'=rcd_56^post33, a_181^0'=a_181^post33, x_SLAM_f_19^0'=x_SLAM_f_19^post33, t_24^0'=t_24^post33, f_167^0'=f_167^post33, r_121^0'=r_121^post33, x_172^0'=x_172^post33, i_28^0'=i_28^post33, result_11^0'=result_11^post33, a_234^0'=a_234^post33, len_180^0'=len_180^post33, temp0_29^0'=temp0_29^post33, head_30^0'=head_30^post33, r_37^0'=r_37^post33, a_144^0'=a_144^post33, x_21^0'=x_21^post33, len_129^0'=len_129^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, ct_18^0'=ct_18^post33, nondet_12^0'=nondet_12^post33, tmp_32^0'=tmp_32^post33, x_14^0'=x_14^post33, i_164^0'=i_164^post33, rcd_86^0'=rcd_86^post33, a_212^0'=a_212^post33, y_20^0'=y_20^post33, temp0_16^0'=temp0_16^post33, head_15^0'=head_15^post33, r_160^0'=r_160^post33, (-nondet_12^post33+nondet_12^0 == 0 /\ head_30^0-head_30^post33 == 0 /\ -r_37^post33+r_37^0 == 0 /\ i_164^0-i_164^post33 == 0 /\ -y_20^post33+y_20^0 == 0 /\ -temp0_16^post33+temp0_16^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post33 == 0 /\ i_105^0-i_105^post33 == 0 /\ -x_14^post33+x_14^0 == 0 /\ result_11^0-result_11^post33 == 0 /\ a_257^0-a_257^post33 == 0 /\ -f_167^post33+f_167^0 == 0 /\ -a_144^post33+a_144^0 == 0 /\ -len_180^post33+len_180^0 == 0 /\ tmp_32^0-tmp_32^post33 == 0 /\ -i_28^post33+i_28^0 == 0 /\ a_113^0-a_113^post33 == 0 /\ -a_181^post33+a_181^0 == 0 /\ -rcd_86^post33+rcd_86^0 == 0 /\ x_126^0-x_126^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post33 == 0 /\ x_172^0-x_172^post33 == 0 /\ i_92^0-i_92^post33 == 0 /\ 1-head_15^0 <= 0 /\ rcd_56^0-rcd_56^post33 == 0 /\ -temp0_29^post33+temp0_29^0 == 0 /\ -len_129^post33+len_129^0 == 0 /\ x_17^0-x_17^post33 == 0 /\ r_121^0-r_121^post33 == 0 /\ temp_33^0-temp_33^post33 == 0 /\ t_24^0-t_24^post33 == 0 /\ -a_212^post33+a_212^0 == 0 /\ length_27^0-length_27^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 == 0 /\ x_21^0-x_21^post33 == 0 /\ a_234^0-a_234^post33 == 0 /\ r_160^0-r_160^post33 == 0 /\ -head_15^post33+head_15^0 == 0 /\ ct_18^0-ct_18^post33 == 0), cost: 1
  34: l23 -> l24 : a_113^0'=a_113^post34, x_17^0'=x_17^post34, i_92^0'=i_92^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post34, a_257^0'=a_257^post34, length_27^0'=length_27^post34, temp_33^0'=temp_33^post34, x_126^0'=x_126^post34, i_105^0'=i_105^post34, rcd_56^0'=rcd_56^post34, a_181^0'=a_181^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, t_24^0'=t_24^post34, f_167^0'=f_167^post34, r_121^0'=r_121^post34, x_172^0'=x_172^post34, i_28^0'=i_28^post34, result_11^0'=result_11^post34, a_234^0'=a_234^post34, len_180^0'=len_180^post34, temp0_29^0'=temp0_29^post34, head_30^0'=head_30^post34, r_37^0'=r_37^post34, a_144^0'=a_144^post34, x_21^0'=x_21^post34, len_129^0'=len_129^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, ct_18^0'=ct_18^post34, nondet_12^0'=nondet_12^post34, tmp_32^0'=tmp_32^post34, x_14^0'=x_14^post34, i_164^0'=i_164^post34, rcd_86^0'=rcd_86^post34, a_212^0'=a_212^post34, y_20^0'=y_20^post34, temp0_16^0'=temp0_16^post34, head_15^0'=head_15^post34, r_160^0'=r_160^post34, (-t_24^post34+t_24^0 == 0 /\ -x_14^post34+x_14^0 == 0 /\ -y_20^post34+y_20^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -x_21^post34+x_21^0 == 0 /\ x_172^0-x_172^post34 == 0 /\ a_181^0-a_181^post34 == 0 /\ -a_144^post34+a_144^0 == 0 /\ a_257^0-a_257^post34 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ -f_167^post34+f_167^0 == 0 /\ r_121^0-r_121^post34 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post34 == 0 /\ a_113^0-a_113^post34 == 0 /\ -r_160^post34+r_160^0 == 0 /\ -tmp_32^post34+tmp_32^0 == 0 /\ a_212^0-a_212^post34 == 0 /\ 1+head_15^0 <= 0 /\ -ct_18^post34+ct_18^0 == 0 /\ r_37^0-r_37^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post34+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_15^post34+head_15^0 == 0 /\ -temp0_29^post34+temp0_29^0 == 0 /\ -rcd_86^post34+rcd_86^0 == 0 /\ -len_129^post34+len_129^0 == 0 /\ i_105^0-i_105^post34 == 0 /\ rcd_56^0-rcd_56^post34 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post34 == 0 /\ x_126^0-x_126^post34 == 0 /\ -len_180^post34+len_180^0 == 0 /\ i_92^0-i_92^post34 == 0 /\ x_17^0-x_17^post34 == 0 /\ temp_33^0-temp_33^post34 == 0 /\ length_27^0-length_27^post34 == 0 /\ i_28^0-i_28^post34 == 0 /\ a_234^0-a_234^post34 == 0 /\ -head_30^post34+head_30^0 == 0 /\ -i_164^post34+i_164^0 == 0), cost: 1
  35: l24 -> l25 : a_113^0'=a_113^post35, x_17^0'=x_17^post35, i_92^0'=i_92^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post35, a_257^0'=a_257^post35, length_27^0'=length_27^post35, temp_33^0'=temp_33^post35, x_126^0'=x_126^post35, i_105^0'=i_105^post35, rcd_56^0'=rcd_56^post35, a_181^0'=a_181^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, t_24^0'=t_24^post35, f_167^0'=f_167^post35, r_121^0'=r_121^post35, x_172^0'=x_172^post35, i_28^0'=i_28^post35, result_11^0'=result_11^post35, a_234^0'=a_234^post35, len_180^0'=len_180^post35, temp0_29^0'=temp0_29^post35, head_30^0'=head_30^post35, r_37^0'=r_37^post35, a_144^0'=a_144^post35, x_21^0'=x_21^post35, len_129^0'=len_129^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, ct_18^0'=ct_18^post35, nondet_12^0'=nondet_12^post35, tmp_32^0'=tmp_32^post35, x_14^0'=x_14^post35, i_164^0'=i_164^post35, rcd_86^0'=rcd_86^post35, a_212^0'=a_212^post35, y_20^0'=y_20^post35, temp0_16^0'=temp0_16^post35, head_15^0'=head_15^post35, r_160^0'=r_160^post35, (-tmp_32^post35+tmp_32^0 == 0 /\ -a_144^post35+a_144^0 == 0 /\ -nondet_12^post35+nondet_12^0 == 0 /\ r_37^0-r_37^post35 == 0 /\ 1-y_20^0+head_15^0 <= 0 /\ a_257^0-a_257^post35 == 0 /\ -x_14^post35+x_14^0 == 0 /\ i_92^0-i_92^post35 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ -t_24^post35+t_24^0 == 0 /\ x_126^0-x_126^post35 == 0 /\ -x_21^post35+x_21^0 == 0 /\ r_121^0-r_121^post35 == 0 /\ -ct_18^post35+ct_18^0 == 0 /\ i_105^0-i_105^post35 == 0 /\ a_212^0-a_212^post35 == 0 /\ len_180^0-len_180^post35 == 0 /\ -rcd_86^post35+rcd_86^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post35+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_113^0-a_113^post35 == 0 /\ result_11^0-result_11^post35 == 0 /\ f_167^0-f_167^post35 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post35 == 0 /\ -temp0_29^post35+temp0_29^0 == 0 /\ a_181^0-a_181^post35 == 0 /\ -i_164^post35+i_164^0 == 0 /\ -x_172^post35+x_172^0 == 0 /\ -r_160^post35+r_160^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post35 == 0 /\ i_28^0-i_28^post35 == 0 /\ -len_129^post35+len_129^0 == 0 /\ temp_33^0-temp_33^post35 == 0 /\ x_17^0-x_17^post35 == 0 /\ -head_30^post35+head_30^0 == 0 /\ length_27^0-length_27^post35 == 0 /\ -a_234^post35+a_234^0 == 0 /\ -rcd_56^post35+rcd_56^0 == 0 /\ -y_20^post35+y_20^0 == 0 /\ -head_15^post35+head_15^0 == 0), cost: 1
  36: l24 -> l25 : a_113^0'=a_113^post36, x_17^0'=x_17^post36, i_92^0'=i_92^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post36, a_257^0'=a_257^post36, length_27^0'=length_27^post36, temp_33^0'=temp_33^post36, x_126^0'=x_126^post36, i_105^0'=i_105^post36, rcd_56^0'=rcd_56^post36, a_181^0'=a_181^post36, x_SLAM_f_19^0'=x_SLAM_f_19^post36, t_24^0'=t_24^post36, f_167^0'=f_167^post36, r_121^0'=r_121^post36, x_172^0'=x_172^post36, i_28^0'=i_28^post36, result_11^0'=result_11^post36, a_234^0'=a_234^post36, len_180^0'=len_180^post36, temp0_29^0'=temp0_29^post36, head_30^0'=head_30^post36, r_37^0'=r_37^post36, a_144^0'=a_144^post36, x_21^0'=x_21^post36, len_129^0'=len_129^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, ct_18^0'=ct_18^post36, nondet_12^0'=nondet_12^post36, tmp_32^0'=tmp_32^post36, x_14^0'=x_14^post36, i_164^0'=i_164^post36, rcd_86^0'=rcd_86^post36, a_212^0'=a_212^post36, y_20^0'=y_20^post36, temp0_16^0'=temp0_16^post36, head_15^0'=head_15^post36, r_160^0'=r_160^post36, (head_30^0-head_30^post36 == 0 /\ -nondet_12^post36+nondet_12^0 == 0 /\ -tmp_32^post36+tmp_32^0 == 0 /\ i_92^0-i_92^post36 == 0 /\ -temp0_16^post36+temp0_16^0 == 0 /\ -y_20^post36+y_20^0 == 0 /\ x_126^0-x_126^post36 == 0 /\ r_121^0-r_121^post36 == 0 /\ -x_14^post36+x_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post36 == 0 /\ t_24^0-t_24^post36 == 0 /\ -temp0_29^post36+temp0_29^0 == 0 /\ -i_28^post36+i_28^0 == 0 /\ x_17^0-x_17^post36 == 0 /\ length_27^0-length_27^post36 == 0 /\ 1+y_20^0-head_15^0 <= 0 /\ a_113^0-a_113^post36 == 0 /\ len_180^0-len_180^post36 == 0 /\ a_181^0-a_181^post36 == 0 /\ -head_15^post36+head_15^0 == 0 /\ x_21^0-x_21^post36 == 0 /\ -rcd_86^post36+rcd_86^0 == 0 /\ i_105^0-i_105^post36 == 0 /\ -i_164^post36+i_164^0 == 0 /\ f_167^0-f_167^post36 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post36+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_33^0-temp_33^post36 == 0 /\ -len_129^post36+len_129^0 == 0 /\ result_11^0-result_11^post36 == 0 /\ a_144^0-a_144^post36 == 0 /\ -a_234^post36+a_234^0 == 0 /\ -rcd_56^post36+rcd_56^0 == 0 /\ -x_172^post36+x_172^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post36 == 0 /\ -a_257^post36+a_257^0 == 0 /\ -a_212^post36+a_212^0 == 0 /\ ct_18^0-ct_18^post36 == 0 /\ -r_37^post36+r_37^0 == 0 /\ r_160^0-r_160^post36 == 0), cost: 1
  37: l25 -> l26 : a_113^0'=a_113^post37, x_17^0'=x_17^post37, i_92^0'=i_92^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post37, a_257^0'=a_257^post37, length_27^0'=length_27^post37, temp_33^0'=temp_33^post37, x_126^0'=x_126^post37, i_105^0'=i_105^post37, rcd_56^0'=rcd_56^post37, a_181^0'=a_181^post37, x_SLAM_f_19^0'=x_SLAM_f_19^post37, t_24^0'=t_24^post37, f_167^0'=f_167^post37, r_121^0'=r_121^post37, x_172^0'=x_172^post37, i_28^0'=i_28^post37, result_11^0'=result_11^post37, a_234^0'=a_234^post37, len_180^0'=len_180^post37, temp0_29^0'=temp0_29^post37, head_30^0'=head_30^post37, r_37^0'=r_37^post37, a_144^0'=a_144^post37, x_21^0'=x_21^post37, len_129^0'=len_129^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, ct_18^0'=ct_18^post37, nondet_12^0'=nondet_12^post37, tmp_32^0'=tmp_32^post37, x_14^0'=x_14^post37, i_164^0'=i_164^post37, rcd_86^0'=rcd_86^post37, a_212^0'=a_212^post37, y_20^0'=y_20^post37, temp0_16^0'=temp0_16^post37, head_15^0'=head_15^post37, r_160^0'=r_160^post37, (-y_20^post37+y_20^0 == 0 /\ -t_24^post37+t_24^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post37 == 0 /\ x_126^0-x_126^post37 == 0 /\ 1-t_24^0+y_20^0 <= 0 /\ x_172^0-x_172^post37 == 0 /\ i_92^0-i_92^post37 == 0 /\ head_30^0-head_30^post37 == 0 /\ -tmp_32^post37+tmp_32^0 == 0 /\ rcd_56^0-rcd_56^post37 == 0 /\ -temp0_16^post37+temp0_16^0 == 0 /\ -f_167^post37+f_167^0 == 0 /\ r_121^0-r_121^post37 == 0 /\ x_17^0-x_17^post37 == 0 /\ temp0_29^0-temp0_29^post37 == 0 /\ length_27^0-length_27^post37 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ -rcd_86^post37+rcd_86^0 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -i_28^post37+i_28^0 == 0 /\ x_21^0-x_21^post37 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post37+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ ct_18^0-ct_18^post37 == 0 /\ -i_164^post37+i_164^0 == 0 /\ -temp_33^post37+temp_33^0 == 0 /\ -x_SLAM_f_19^post37+x_SLAM_f_19^0 == 0 /\ -r_160^post37+r_160^0 == 0 /\ i_105^0-i_105^post37 == 0 /\ a_181^0-a_181^post37 == 0 /\ -a_212^post37+a_212^0 == 0 /\ -len_180^post37+len_180^0 == 0 /\ a_257^0-a_257^post37 == 0 /\ -r_37^post37+r_37^0 == 0 /\ a_144^0-a_144^post37 == 0 /\ -x_14^post37+x_14^0 == 0 /\ a_234^0-a_234^post37 == 0 /\ len_129^0-len_129^post37 == 0 /\ a_113^0-a_113^post37 == 0 /\ -head_15^post37+head_15^0 == 0), cost: 1
  38: l25 -> l26 : a_113^0'=a_113^post38, x_17^0'=x_17^post38, i_92^0'=i_92^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post38, a_257^0'=a_257^post38, length_27^0'=length_27^post38, temp_33^0'=temp_33^post38, x_126^0'=x_126^post38, i_105^0'=i_105^post38, rcd_56^0'=rcd_56^post38, a_181^0'=a_181^post38, x_SLAM_f_19^0'=x_SLAM_f_19^post38, t_24^0'=t_24^post38, f_167^0'=f_167^post38, r_121^0'=r_121^post38, x_172^0'=x_172^post38, i_28^0'=i_28^post38, result_11^0'=result_11^post38, a_234^0'=a_234^post38, len_180^0'=len_180^post38, temp0_29^0'=temp0_29^post38, head_30^0'=head_30^post38, r_37^0'=r_37^post38, a_144^0'=a_144^post38, x_21^0'=x_21^post38, len_129^0'=len_129^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, ct_18^0'=ct_18^post38, nondet_12^0'=nondet_12^post38, tmp_32^0'=tmp_32^post38, x_14^0'=x_14^post38, i_164^0'=i_164^post38, rcd_86^0'=rcd_86^post38, a_212^0'=a_212^post38, y_20^0'=y_20^post38, temp0_16^0'=temp0_16^post38, head_15^0'=head_15^post38, r_160^0'=r_160^post38, (-tmp_32^post38+tmp_32^0 == 0 /\ r_37^0-r_37^post38 == 0 /\ rcd_86^0-rcd_86^post38 == 0 /\ x_126^0-x_126^post38 == 0 /\ i_92^0-i_92^post38 == 0 /\ length_27^0-length_27^post38 == 0 /\ -f_167^post38+f_167^0 == 0 /\ -temp0_16^post38+temp0_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post38 == 0 /\ -a_144^post38+a_144^0 == 0 /\ -x_21^post38+x_21^0 == 0 /\ -t_24^post38+t_24^0 == 0 /\ x_172^0-x_172^post38 == 0 /\ -x_SLAM_f_19^post38+x_SLAM_f_19^0 == 0 /\ -r_121^post38+r_121^0 == 0 /\ x_17^0-x_17^post38 == 0 /\ -result_11^post38+result_11^0 == 0 /\ 1+t_24^0-y_20^0 <= 0 /\ -r_160^post38+r_160^0 == 0 /\ a_181^0-a_181^post38 == 0 /\ a_257^0-a_257^post38 == 0 /\ -len_180^post38+len_180^0 == 0 /\ -head_30^post38+head_30^0 == 0 /\ -ct_18^post38+ct_18^0 == 0 /\ i_105^0-i_105^post38 == 0 /\ -temp_33^post38+temp_33^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post38+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_212^post38+a_212^0 == 0 /\ temp0_29^0-temp0_29^post38 == 0 /\ -i_164^post38+i_164^0 == 0 /\ len_129^0-len_129^post38 == 0 /\ rcd_56^0-rcd_56^post38 == 0 /\ a_234^0-a_234^post38 == 0 /\ i_28^0-i_28^post38 == 0 /\ -x_14^post38+x_14^0 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -head_15^post38+head_15^0 == 0 /\ a_113^0-a_113^post38 == 0 /\ -y_20^post38+y_20^0 == 0), cost: 1
  39: l26 -> l2 : a_113^0'=a_113^post39, x_17^0'=x_17^post39, i_92^0'=i_92^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post39, a_257^0'=a_257^post39, length_27^0'=length_27^post39, temp_33^0'=temp_33^post39, x_126^0'=x_126^post39, i_105^0'=i_105^post39, rcd_56^0'=rcd_56^post39, a_181^0'=a_181^post39, x_SLAM_f_19^0'=x_SLAM_f_19^post39, t_24^0'=t_24^post39, f_167^0'=f_167^post39, r_121^0'=r_121^post39, x_172^0'=x_172^post39, i_28^0'=i_28^post39, result_11^0'=result_11^post39, a_234^0'=a_234^post39, len_180^0'=len_180^post39, temp0_29^0'=temp0_29^post39, head_30^0'=head_30^post39, r_37^0'=r_37^post39, a_144^0'=a_144^post39, x_21^0'=x_21^post39, len_129^0'=len_129^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, ct_18^0'=ct_18^post39, nondet_12^0'=nondet_12^post39, tmp_32^0'=tmp_32^post39, x_14^0'=x_14^post39, i_164^0'=i_164^post39, rcd_86^0'=rcd_86^post39, a_212^0'=a_212^post39, y_20^0'=y_20^post39, temp0_16^0'=temp0_16^post39, head_15^0'=head_15^post39, r_160^0'=r_160^post39, (0 == 0 /\ -tmp_32^post39+tmp_32^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_92^0-i_92^post39 == 0 /\ -nondet_12^post39+nondet_12^0 == 0 /\ -x_14^post39+x_14^0 == 0 /\ x_126^0-x_126^post39 == 0 /\ -temp0_16^post39+temp0_16^0 == 0 /\ i_105^0-i_105^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post39 == 0 /\ 1-len_129^post39+a_212^0 <= 0 /\ r_121^0-r_121^post39 == 0 /\ -x_21^post39+x_21^0 == 0 /\ temp_33^0-temp_33^post39 == 0 /\ -result_11^post39+result_11^0 == 0 /\ -temp0_29^post39+temp0_29^0 == 0 /\ -ct_18^post39+ct_18^0 == 0 /\ a_234^0-a_234^post39 == 0 /\ i_28^0-i_28^post39 == 0 /\ t_24^0-t_24^post39 == 0 /\ x_17^0-x_17^post39 == 0 /\ length_27^0-length_27^post39 == 0 /\ a_144^0-a_144^post39 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ y_20^0-y_20^post39 == 0 /\ -rcd_86^post39+rcd_86^0 == 0 /\ r_37^0-r_37^post39 == 0 /\ -a_212^post39+a_212^0 == 0 /\ f_167^0-f_167^post39 == 0 /\ -i_164^post39+i_164^0 == 0 /\ -head_30^post39+head_30^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post39+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_160^post39+r_160^0 == 0 /\ a_181^0-a_181^post39 == 0 /\ -1+len_129^post39-a_212^0 <= 0 /\ -rcd_56^post39+rcd_56^0 == 0 /\ -a_257^post39+a_257^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post39 == 0 /\ -head_15^post39+head_15^0 == 0 /\ -x_172^post39+x_172^0 == 0 /\ len_180^0-len_180^post39 == 0 /\ a_113^0-a_113^post39 == 0), cost: 1
  40: l27 -> l28 : a_113^0'=a_113^post40, x_17^0'=x_17^post40, i_92^0'=i_92^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post40, a_257^0'=a_257^post40, length_27^0'=length_27^post40, temp_33^0'=temp_33^post40, x_126^0'=x_126^post40, i_105^0'=i_105^post40, rcd_56^0'=rcd_56^post40, a_181^0'=a_181^post40, x_SLAM_f_19^0'=x_SLAM_f_19^post40, t_24^0'=t_24^post40, f_167^0'=f_167^post40, r_121^0'=r_121^post40, x_172^0'=x_172^post40, i_28^0'=i_28^post40, result_11^0'=result_11^post40, a_234^0'=a_234^post40, len_180^0'=len_180^post40, temp0_29^0'=temp0_29^post40, head_30^0'=head_30^post40, r_37^0'=r_37^post40, a_144^0'=a_144^post40, x_21^0'=x_21^post40, len_129^0'=len_129^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, ct_18^0'=ct_18^post40, nondet_12^0'=nondet_12^post40, tmp_32^0'=tmp_32^post40, x_14^0'=x_14^post40, i_164^0'=i_164^post40, rcd_86^0'=rcd_86^post40, a_212^0'=a_212^post40, y_20^0'=y_20^post40, temp0_16^0'=temp0_16^post40, head_15^0'=head_15^post40, r_160^0'=r_160^post40, (0 == 0 /\ x_17^0-x_17^post40 == 0 /\ t_24^0-t_24^post40 == 0 /\ -i_164^post40+i_164^0 == 0 /\ -r_121^post40+r_121^0 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ head_15^10-x_14^post40 <= 0 /\ -temp0_16^post40+temp0_16^0 == 0 /\ -y_20^post40+y_20^0 == 0 /\ x_172^0-x_172^post40 == 0 /\ length_27^0-i_28^0 <= 0 /\ -rcd_56^post40+rcd_56^0 == 0 /\ -r_160^post40+r_160^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post40 == 0 /\ -head_15^10+x_14^post40 <= 0 /\ -head_15^10+x_14^post40 == 0 /\ x_21^0-x_21^post40 == 0 /\ i_105^0-i_105^post40 == 0 /\ -len_129^post40+len_129^0 == 0 /\ -r_37^post40+r_37^0 == 0 /\ a_113^0-a_113^post40 == 0 /\ temp0_29^10-head_30^0 == 0 /\ head_15^10-result_11^10 == 0 /\ a_234^0-a_234^post40 == 0 /\ -rcd_86^post40+rcd_86^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ -temp0_29^10+result_11^10 == 0 /\ a_144^0-a_144^post40 == 0 /\ f_167^0-f_167^post40 == 0 /\ x_126^0-x_126^post40 == 0 /\ -a_212^post40+a_212^0 == 0 /\ i_92^0-i_92^post40 == 0 /\ a_181^0-a_181^post40 == 0 /\ ct_18^0-ct_18^post40 == 0 /\ -len_180^post40+len_180^0 == 0 /\ a_257^0-a_257^post40 == 0), cost: 1
  60: l27 -> l40 : a_113^0'=a_113^post60, x_17^0'=x_17^post60, i_92^0'=i_92^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60, a_257^0'=a_257^post60, length_27^0'=length_27^post60, temp_33^0'=temp_33^post60, x_126^0'=x_126^post60, i_105^0'=i_105^post60, rcd_56^0'=rcd_56^post60, a_181^0'=a_181^post60, x_SLAM_f_19^0'=x_SLAM_f_19^post60, t_24^0'=t_24^post60, f_167^0'=f_167^post60, r_121^0'=r_121^post60, x_172^0'=x_172^post60, i_28^0'=i_28^post60, result_11^0'=result_11^post60, a_234^0'=a_234^post60, len_180^0'=len_180^post60, temp0_29^0'=temp0_29^post60, head_30^0'=head_30^post60, r_37^0'=r_37^post60, a_144^0'=a_144^post60, x_21^0'=x_21^post60, len_129^0'=len_129^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, ct_18^0'=ct_18^post60, nondet_12^0'=nondet_12^post60, tmp_32^0'=tmp_32^post60, x_14^0'=x_14^post60, i_164^0'=i_164^post60, rcd_86^0'=rcd_86^post60, a_212^0'=a_212^post60, y_20^0'=y_20^post60, temp0_16^0'=temp0_16^post60, head_15^0'=head_15^post60, r_160^0'=r_160^post60, (0 == 0 /\ 2-length_27^0 <= 0 /\ -r_160^post60+r_160^0 == 0 /\ -len_180^post60+len_180^0 == 0 /\ -ct_18^post60+ct_18^0 == 0 /\ 2-i_28^post60 <= 0 /\ 1-length_27^0+i_28^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60-tmp_32^post60 <= 0 /\ -a_212^post60+a_212^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post60 == 0 /\ -r_37^post60+r_37^0 == 0 /\ a_113^0-a_113^post60 == 0 /\ -i_164^post60+i_164^0 == 0 /\ -length_27^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 <= 0 /\ rcd_86^0-rcd_86^post60 == 0 /\ -t_24^post60+t_24^0 == 0 /\ a_181^0-a_181^post60 == 0 /\ -y_20^post60+y_20^0 == 0 /\ a_257^0-a_257^post60 == 0 /\ -head_15^post60+head_15^0 == 0 /\ i_92^0-i_92^post60 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60+tmp_32^post60 <= 0 /\ -len_129^post60+len_129^0 == 0 /\ -x_14^post60+x_14^0 == 0 /\ 1-length_27^0 <= 0 /\ f_167^0-f_167^post60 == 0 /\ -a_144^post60+a_144^0 == 0 /\ length_27^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 <= 0 /\ x_172^0-x_172^post60 == 0 /\ -temp_33^0+tmp_32^post60 == 0 /\ -head_30^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60 <= 0 /\ a_234^0-a_234^post60 == 0 /\ -head_30^post60+tmp_32^post60 <= 0 /\ -2+i_28^post60 <= 0 /\ x_17^0-x_17^post60 == 0 /\ -1+i_28^post60-i_28^0 == 0 /\ -r_121^post60+r_121^0 == 0 /\ -result_11^post60+result_11^0 == 0 /\ head_30^post60-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60 <= 0 /\ -nondet_12^post60+nondet_12^0 == 0 /\ -x_126^post60+x_126^0 == 0 /\ head_30^post60-tmp_32^post60 <= 0 /\ head_30^post60-tmp_32^post60 == 0 /\ length_27^0-length_27^post60 == 0 /\ -temp0_16^post60+temp0_16^0 == 0 /\ x_21^0-x_21^post60 == 0 /\ i_105^0-i_105^post60 == 0 /\ temp0_29^0-temp0_29^post60 == 0), cost: 1
  41: l28 -> l29 : a_113^0'=a_113^post41, x_17^0'=x_17^post41, i_92^0'=i_92^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post41, a_257^0'=a_257^post41, length_27^0'=length_27^post41, temp_33^0'=temp_33^post41, x_126^0'=x_126^post41, i_105^0'=i_105^post41, rcd_56^0'=rcd_56^post41, a_181^0'=a_181^post41, x_SLAM_f_19^0'=x_SLAM_f_19^post41, t_24^0'=t_24^post41, f_167^0'=f_167^post41, r_121^0'=r_121^post41, x_172^0'=x_172^post41, i_28^0'=i_28^post41, result_11^0'=result_11^post41, a_234^0'=a_234^post41, len_180^0'=len_180^post41, temp0_29^0'=temp0_29^post41, head_30^0'=head_30^post41, r_37^0'=r_37^post41, a_144^0'=a_144^post41, x_21^0'=x_21^post41, len_129^0'=len_129^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, ct_18^0'=ct_18^post41, nondet_12^0'=nondet_12^post41, tmp_32^0'=tmp_32^post41, x_14^0'=x_14^post41, i_164^0'=i_164^post41, rcd_86^0'=rcd_86^post41, a_212^0'=a_212^post41, y_20^0'=y_20^post41, temp0_16^0'=temp0_16^post41, head_15^0'=head_15^post41, r_160^0'=r_160^post41, (-r_121^post41+r_121^0 == 0 /\ -x_SLAM_f_19^post41+x_SLAM_f_19^0 == 0 /\ length_27^0-length_27^post41 == 0 /\ a_113^0-a_113^post41 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post41 == 0 /\ -head_15^post41+head_15^0 == 0 /\ len_129^0-len_129^post41 == 0 /\ r_37^0-r_37^post41 == 0 /\ i_28^0-i_28^post41 == 0 /\ -rcd_86^post41+rcd_86^0 == 0 /\ f_167^0-f_167^post41 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ x_172^0-x_172^post41 == 0 /\ -head_30^post41+head_30^0 == 0 /\ -temp0_16^post41+temp0_16^0 == 0 /\ a_181^0-a_181^post41 == 0 /\ a_257^0-a_257^post41 == 0 /\ -x_21^post41+x_21^0 == 0 /\ -i_164^post41+i_164^0 == 0 /\ x_17^0-x_17^post41 == 0 /\ i_92^0-i_92^post41 == 0 /\ -a_212^post41+a_212^0 == 0 /\ -t_24^post41+t_24^0 == 0 /\ -x_126^post41+x_126^0 == 0 /\ -x_14^post41+x_14^0 == 0 /\ -y_20^post41+y_20^0 == 0 /\ -ct_18^post41+ct_18^0 == 0 /\ i_105^0-i_105^post41 == 0 /\ -result_11^post41+result_11^0 == 0 /\ temp0_29^0-temp0_29^post41 == 0 /\ a_234^0-a_234^post41 == 0 /\ -tmp_32^post41+tmp_32^0 == 0 /\ 1-x_14^0 <= 0 /\ -a_144^post41+a_144^0 == 0 /\ -r_160^post41+r_160^0 == 0 /\ -len_180^post41+len_180^0 == 0 /\ rcd_56^0-rcd_56^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post41+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp_33^post41+temp_33^0 == 0), cost: 1
  42: l28 -> l29 : a_113^0'=a_113^post42, x_17^0'=x_17^post42, i_92^0'=i_92^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post42, a_257^0'=a_257^post42, length_27^0'=length_27^post42, temp_33^0'=temp_33^post42, x_126^0'=x_126^post42, i_105^0'=i_105^post42, rcd_56^0'=rcd_56^post42, a_181^0'=a_181^post42, x_SLAM_f_19^0'=x_SLAM_f_19^post42, t_24^0'=t_24^post42, f_167^0'=f_167^post42, r_121^0'=r_121^post42, x_172^0'=x_172^post42, i_28^0'=i_28^post42, result_11^0'=result_11^post42, a_234^0'=a_234^post42, len_180^0'=len_180^post42, temp0_29^0'=temp0_29^post42, head_30^0'=head_30^post42, r_37^0'=r_37^post42, a_144^0'=a_144^post42, x_21^0'=x_21^post42, len_129^0'=len_129^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, ct_18^0'=ct_18^post42, nondet_12^0'=nondet_12^post42, tmp_32^0'=tmp_32^post42, x_14^0'=x_14^post42, i_164^0'=i_164^post42, rcd_86^0'=rcd_86^post42, a_212^0'=a_212^post42, y_20^0'=y_20^post42, temp0_16^0'=temp0_16^post42, head_15^0'=head_15^post42, r_160^0'=r_160^post42, (1+x_14^0 <= 0 /\ -temp0_29^post42+temp0_29^0 == 0 /\ x_126^0-x_126^post42 == 0 /\ -x_172^post42+x_172^0 == 0 /\ -len_129^post42+len_129^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post42 == 0 /\ a_113^0-a_113^post42 == 0 /\ r_121^0-r_121^post42 == 0 /\ -head_15^post42+head_15^0 == 0 /\ a_234^0-a_234^post42 == 0 /\ -rcd_86^post42+rcd_86^0 == 0 /\ a_144^0-a_144^post42 == 0 /\ length_27^0-length_27^post42 == 0 /\ f_167^0-f_167^post42 == 0 /\ y_20^0-y_20^post42 == 0 /\ head_30^0-head_30^post42 == 0 /\ -nondet_12^post42+nondet_12^0 == 0 /\ temp_33^0-temp_33^post42 == 0 /\ -a_212^post42+a_212^0 == 0 /\ -i_164^post42+i_164^0 == 0 /\ -temp0_16^post42+temp0_16^0 == 0 /\ x_17^0-x_17^post42 == 0 /\ i_92^0-i_92^post42 == 0 /\ -x_21^post42+x_21^0 == 0 /\ i_105^0-i_105^post42 == 0 /\ -ct_18^post42+ct_18^0 == 0 /\ -a_257^post42+a_257^0 == 0 /\ a_181^0-a_181^post42 == 0 /\ t_24^0-t_24^post42 == 0 /\ i_28^0-i_28^post42 == 0 /\ len_180^0-len_180^post42 == 0 /\ r_37^0-r_37^post42 == 0 /\ result_11^0-result_11^post42 == 0 /\ rcd_56^0-rcd_56^post42 == 0 /\ -x_14^post42+x_14^0 == 0 /\ -tmp_32^post42+tmp_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post42+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post42 == 0 /\ -r_160^post42+r_160^0 == 0), cost: 1
  43: l29 -> l30 : a_113^0'=a_113^post43, x_17^0'=x_17^post43, i_92^0'=i_92^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post43, a_257^0'=a_257^post43, length_27^0'=length_27^post43, temp_33^0'=temp_33^post43, x_126^0'=x_126^post43, i_105^0'=i_105^post43, rcd_56^0'=rcd_56^post43, a_181^0'=a_181^post43, x_SLAM_f_19^0'=x_SLAM_f_19^post43, t_24^0'=t_24^post43, f_167^0'=f_167^post43, r_121^0'=r_121^post43, x_172^0'=x_172^post43, i_28^0'=i_28^post43, result_11^0'=result_11^post43, a_234^0'=a_234^post43, len_180^0'=len_180^post43, temp0_29^0'=temp0_29^post43, head_30^0'=head_30^post43, r_37^0'=r_37^post43, a_144^0'=a_144^post43, x_21^0'=x_21^post43, len_129^0'=len_129^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, ct_18^0'=ct_18^post43, nondet_12^0'=nondet_12^post43, tmp_32^0'=tmp_32^post43, x_14^0'=x_14^post43, i_164^0'=i_164^post43, rcd_86^0'=rcd_86^post43, a_212^0'=a_212^post43, y_20^0'=y_20^post43, temp0_16^0'=temp0_16^post43, head_15^0'=head_15^post43, r_160^0'=r_160^post43, (-i_164^post43+i_164^0 == 0 /\ a_144^0-a_144^post43 == 0 /\ -a_234^post43+a_234^0 == 0 /\ -a_181^post43+a_181^0 == 0 /\ length_27^0-length_27^post43 == 0 /\ -head_15^post43+head_15^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp0_29^0-temp0_29^post43 == 0 /\ -rcd_86^post43+rcd_86^0 == 0 /\ -len_129^post43+len_129^0 == 0 /\ a_113^0-a_113^post43 == 0 /\ head_30^0-head_30^post43 == 0 /\ -a_212^post43+a_212^0 == 0 /\ -i_105^post43+i_105^0 == 0 /\ y_20^0-y_20^post43 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post43 == 0 /\ temp_33^0-temp_33^post43 == 0 /\ -r_37^post43+r_37^0 == 0 /\ a_257^0-a_257^post43 == 0 /\ x_126^0-x_126^post43 == 0 /\ x_17^0-x_17^post43 == 0 /\ r_121^0-r_121^post43 == 0 /\ -temp0_16^post43+temp0_16^0 == 0 /\ t_24^0-t_24^post43 == 0 /\ -x_21^post43+x_21^0 == 0 /\ -tmp_32^post43+tmp_32^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ -x_14^post43+x_14^0 == 0 /\ -len_180^post43+len_180^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ x_172^0-x_172^post43 == 0 /\ x_14^0 <= 0 /\ -x_14^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ -i_28^post43+i_28^0 == 0 /\ -r_160^post43+r_160^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post43 == 0 /\ -ct_18^post43+ct_18^0 == 0 /\ -f_167^post43+f_167^0 == 0 /\ rcd_56^0-rcd_56^post43 == 0 /\ i_92^0-i_92^post43 == 0), cost: 1
  44: l30 -> l31 : a_113^0'=a_113^post44, x_17^0'=x_17^post44, i_92^0'=i_92^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post44, a_257^0'=a_257^post44, length_27^0'=length_27^post44, temp_33^0'=temp_33^post44, x_126^0'=x_126^post44, i_105^0'=i_105^post44, rcd_56^0'=rcd_56^post44, a_181^0'=a_181^post44, x_SLAM_f_19^0'=x_SLAM_f_19^post44, t_24^0'=t_24^post44, f_167^0'=f_167^post44, r_121^0'=r_121^post44, x_172^0'=x_172^post44, i_28^0'=i_28^post44, result_11^0'=result_11^post44, a_234^0'=a_234^post44, len_180^0'=len_180^post44, temp0_29^0'=temp0_29^post44, head_30^0'=head_30^post44, r_37^0'=r_37^post44, a_144^0'=a_144^post44, x_21^0'=x_21^post44, len_129^0'=len_129^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, ct_18^0'=ct_18^post44, nondet_12^0'=nondet_12^post44, tmp_32^0'=tmp_32^post44, x_14^0'=x_14^post44, i_164^0'=i_164^post44, rcd_86^0'=rcd_86^post44, a_212^0'=a_212^post44, y_20^0'=y_20^post44, temp0_16^0'=temp0_16^post44, head_15^0'=head_15^post44, r_160^0'=r_160^post44, (a_113^0-a_113^post44 == 0 /\ temp0_29^0-temp0_29^post44 == 0 /\ -head_15^post44+head_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post44 == 0 /\ -rcd_86^post44+rcd_86^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 == 0 /\ -len_180^post44+len_180^0 == 0 /\ len_129^0-len_129^post44 == 0 /\ -head_30^post44+head_30^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post44 == 0 /\ -x_21^post44+x_21^0 == 0 /\ -a_234^post44+a_234^0 == 0 /\ rcd_56^0-rcd_56^post44 == 0 /\ -a_212^post44+a_212^0 == 0 /\ x_17^0-x_17^post44 == 0 /\ -i_164^post44+i_164^0 == 0 /\ -temp0_16^post44+temp0_16^0 == 0 /\ r_121^0-r_121^post44 == 0 /\ -r_37^post44+r_37^0 == 0 /\ -i_105^post44+i_105^0 == 0 /\ -x_14^post44+x_14^0 == 0 /\ i_28^0-i_28^post44 == 0 /\ 1-head_15^0 <= 0 /\ -length_27^post44+length_27^0 == 0 /\ -y_20^post44+y_20^0 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ -r_160^post44+r_160^0 == 0 /\ -f_167^post44+f_167^0 == 0 /\ x_172^0-x_172^post44 == 0 /\ -a_144^post44+a_144^0 == 0 /\ i_92^0-i_92^post44 == 0 /\ x_126^0-x_126^post44 == 0 /\ -tmp_32^post44+tmp_32^0 == 0 /\ a_181^0-a_181^post44 == 0 /\ -result_11^post44+result_11^0 == 0 /\ -ct_18^post44+ct_18^0 == 0 /\ -t_24^post44+t_24^0 == 0 /\ a_257^0-a_257^post44 == 0 /\ -temp_33^post44+temp_33^0 == 0), cost: 1
  45: l30 -> l31 : a_113^0'=a_113^post45, x_17^0'=x_17^post45, i_92^0'=i_92^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post45, a_257^0'=a_257^post45, length_27^0'=length_27^post45, temp_33^0'=temp_33^post45, x_126^0'=x_126^post45, i_105^0'=i_105^post45, rcd_56^0'=rcd_56^post45, a_181^0'=a_181^post45, x_SLAM_f_19^0'=x_SLAM_f_19^post45, t_24^0'=t_24^post45, f_167^0'=f_167^post45, r_121^0'=r_121^post45, x_172^0'=x_172^post45, i_28^0'=i_28^post45, result_11^0'=result_11^post45, a_234^0'=a_234^post45, len_180^0'=len_180^post45, temp0_29^0'=temp0_29^post45, head_30^0'=head_30^post45, r_37^0'=r_37^post45, a_144^0'=a_144^post45, x_21^0'=x_21^post45, len_129^0'=len_129^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, ct_18^0'=ct_18^post45, nondet_12^0'=nondet_12^post45, tmp_32^0'=tmp_32^post45, x_14^0'=x_14^post45, i_164^0'=i_164^post45, rcd_86^0'=rcd_86^post45, a_212^0'=a_212^post45, y_20^0'=y_20^post45, temp0_16^0'=temp0_16^post45, head_15^0'=head_15^post45, r_160^0'=r_160^post45, (-r_121^post45+r_121^0 == 0 /\ -rcd_86^post45+rcd_86^0 == 0 /\ len_129^0-len_129^post45 == 0 /\ i_105^0-i_105^post45 == 0 /\ -temp0_29^post45+temp0_29^0 == 0 /\ t_24^0-t_24^post45 == 0 /\ a_234^0-a_234^post45 == 0 /\ -x_172^post45+x_172^0 == 0 /\ -head_30^post45+head_30^0 == 0 /\ r_37^0-r_37^post45 == 0 /\ -a_212^post45+a_212^0 == 0 /\ -rcd_56^post45+rcd_56^0 == 0 /\ 1+head_15^0 <= 0 /\ -i_164^post45+i_164^0 == 0 /\ -head_15^post45+head_15^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post45 == 0 /\ length_27^0-length_27^post45 == 0 /\ -tmp_32^post45+tmp_32^0 == 0 /\ temp_33^0-temp_33^post45 == 0 /\ -x_21^post45+x_21^0 == 0 /\ i_28^0-i_28^post45 == 0 /\ a_113^0-a_113^post45 == 0 /\ -y_20^post45+y_20^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post45 == 0 /\ -x_17^post45+x_17^0 == 0 /\ -temp0_16^post45+temp0_16^0 == 0 /\ nondet_12^0-nondet_12^post45 == 0 /\ -x_14^post45+x_14^0 == 0 /\ -a_144^post45+a_144^0 == 0 /\ result_11^0-result_11^post45 == 0 /\ -r_160^post45+r_160^0 == 0 /\ len_180^0-len_180^post45 == 0 /\ f_167^0-f_167^post45 == 0 /\ -ct_18^post45+ct_18^0 == 0 /\ a_181^0-a_181^post45 == 0 /\ x_126^0-x_126^post45 == 0 /\ a_257^0-a_257^post45 == 0 /\ i_92^0-i_92^post45 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post45+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1
  46: l31 -> l32 : a_113^0'=a_113^post46, x_17^0'=x_17^post46, i_92^0'=i_92^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post46, a_257^0'=a_257^post46, length_27^0'=length_27^post46, temp_33^0'=temp_33^post46, x_126^0'=x_126^post46, i_105^0'=i_105^post46, rcd_56^0'=rcd_56^post46, a_181^0'=a_181^post46, x_SLAM_f_19^0'=x_SLAM_f_19^post46, t_24^0'=t_24^post46, f_167^0'=f_167^post46, r_121^0'=r_121^post46, x_172^0'=x_172^post46, i_28^0'=i_28^post46, result_11^0'=result_11^post46, a_234^0'=a_234^post46, len_180^0'=len_180^post46, temp0_29^0'=temp0_29^post46, head_30^0'=head_30^post46, r_37^0'=r_37^post46, a_144^0'=a_144^post46, x_21^0'=x_21^post46, len_129^0'=len_129^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, ct_18^0'=ct_18^post46, nondet_12^0'=nondet_12^post46, tmp_32^0'=tmp_32^post46, x_14^0'=x_14^post46, i_164^0'=i_164^post46, rcd_86^0'=rcd_86^post46, a_212^0'=a_212^post46, y_20^0'=y_20^post46, temp0_16^0'=temp0_16^post46, head_15^0'=head_15^post46, r_160^0'=r_160^post46, (0 == 0 /\ ct_18^post46 <= 0 /\ ct_18^post46 == 0 /\ -rcd_86^post46+rcd_86^0 == 0 /\ t_24^0-t_24^post46 == 0 /\ a_144^0-a_144^post46 == 0 /\ x_SLAM_f_19^post46-head_15^0 <= 0 /\ temp_33^0-temp_33^post46 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_164^post46+i_164^0 == 0 /\ x_21^post46-x_SLAM_f_19^post46 <= 0 /\ x_21^post46-x_SLAM_f_19^post46 == 0 /\ x_SLAM_f_19^post46-x_17^post46 <= 0 /\ x_SLAM_f_19^post46-x_17^post46 == 0 /\ a_234^0-a_234^post46 == 0 /\ y_20^post46 <= 0 /\ -a_212^post46+a_212^0 == 0 /\ -r_160^post46+r_160^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post46 <= 0 /\ -x_21^post46+head_15^0 <= 0 /\ -ct_18^post46 <= 0 /\ -len_129^post46+len_129^0 == 0 /\ -rcd_56^post46+rcd_56^0 == 0 /\ -x_SLAM_f_19^post46+head_15^0 <= 0 /\ -x_172^post46+x_172^0 == 0 /\ -x_21^post46+x_SLAM_f_19^post46 <= 0 /\ -x_SLAM_f_19^post46+x_17^post46 <= 0 /\ head_30^0-head_30^post46 == 0 /\ -y_20^post46 <= 0 /\ i_105^0-i_105^post46 == 0 /\ -head_15^post46+head_15^0 == 0 /\ r_121^0-r_121^post46 == 0 /\ -r_37^post46+r_37^0 == 0 /\ x_21^post46-head_15^0 <= 0 /\ -x_14^post46+x_14^0 == 0 /\ length_27^0-length_27^post46 == 0 /\ -temp0_16^post46+temp0_16^0 == 0 /\ -head_15^0+x_17^post46 <= 0 /\ -head_15^0+x_17^post46 == 0 /\ i_28^0-i_28^post46 == 0 /\ len_180^0-len_180^post46 == 0 /\ -ct_18^post46+y_20^post46 <= 0 /\ -ct_18^post46+y_20^post46 == 0 /\ -nondet_12^post46+nondet_12^0 == 0 /\ a_113^0-a_113^post46 == 0 /\ -temp0_29^post46+temp0_29^0 == 0 /\ x_14^0 <= 0 /\ -x_14^0 <= 0 /\ head_15^0-x_17^post46 <= 0 /\ f_167^0-f_167^post46 == 0 /\ a_257^0-a_257^post46 == 0 /\ -tmp_32^post46+tmp_32^0 == 0 /\ i_92^0-i_92^post46 == 0 /\ x_126^0-x_126^post46 == 0 /\ ct_18^post46-y_20^post46 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post46 == 0 /\ result_11^0-result_11^post46 == 0 /\ a_181^0-a_181^post46 == 0), cost: 1
  47: l32 -> l33 : a_113^0'=a_113^post47, x_17^0'=x_17^post47, i_92^0'=i_92^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post47, a_257^0'=a_257^post47, length_27^0'=length_27^post47, temp_33^0'=temp_33^post47, x_126^0'=x_126^post47, i_105^0'=i_105^post47, rcd_56^0'=rcd_56^post47, a_181^0'=a_181^post47, x_SLAM_f_19^0'=x_SLAM_f_19^post47, t_24^0'=t_24^post47, f_167^0'=f_167^post47, r_121^0'=r_121^post47, x_172^0'=x_172^post47, i_28^0'=i_28^post47, result_11^0'=result_11^post47, a_234^0'=a_234^post47, len_180^0'=len_180^post47, temp0_29^0'=temp0_29^post47, head_30^0'=head_30^post47, r_37^0'=r_37^post47, a_144^0'=a_144^post47, x_21^0'=x_21^post47, len_129^0'=len_129^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, ct_18^0'=ct_18^post47, nondet_12^0'=nondet_12^post47, tmp_32^0'=tmp_32^post47, x_14^0'=x_14^post47, i_164^0'=i_164^post47, rcd_86^0'=rcd_86^post47, a_212^0'=a_212^post47, y_20^0'=y_20^post47, temp0_16^0'=temp0_16^post47, head_15^0'=head_15^post47, r_160^0'=r_160^post47, (-i_164^post47+i_164^0 == 0 /\ x_17^0-x_17^post47 == 0 /\ temp0_29^0-temp0_29^post47 == 0 /\ -head_15^post47+head_15^0 == 0 /\ t_24^0-t_24^post47 == 0 /\ a_144^0-a_144^post47 == 0 /\ -rcd_86^post47+rcd_86^0 == 0 /\ -r_160^post47+r_160^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ len_180^0-len_180^post47 == 0 /\ -a_234^post47+a_234^0 == 0 /\ -a_212^post47+a_212^0 == 0 /\ -r_37^post47+r_37^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post47 == 0 /\ -i_105^post47+i_105^0 == 0 /\ rcd_56^0-rcd_56^post47 == 0 /\ r_121^0-r_121^post47 == 0 /\ -temp0_16^post47+temp0_16^0 == 0 /\ -y_20^post47+y_20^0 == 0 /\ ct_18^0-ct_18^post47 == 0 /\ len_129^0-len_129^post47 == 0 /\ 1-head_15^0 <= 0 /\ -length_27^post47+length_27^0 == 0 /\ a_113^0-a_113^post47 == 0 /\ -nondet_12^post47+nondet_12^0 == 0 /\ -x_21^post47+x_21^0 == 0 /\ -tmp_32^post47+tmp_32^0 == 0 /\ -x_14^post47+x_14^0 == 0 /\ head_30^0-head_30^post47 == 0 /\ -f_167^post47+f_167^0 == 0 /\ -i_28^post47+i_28^0 == 0 /\ x_172^0-x_172^post47 == 0 /\ i_92^0-i_92^post47 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ a_181^0-a_181^post47 == 0 /\ temp_33^0-temp_33^post47 == 0 /\ x_126^0-x_126^post47 == 0 /\ a_257^0-a_257^post47 == 0), cost: 1
  48: l32 -> l33 : a_113^0'=a_113^post48, x_17^0'=x_17^post48, i_92^0'=i_92^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post48, a_257^0'=a_257^post48, length_27^0'=length_27^post48, temp_33^0'=temp_33^post48, x_126^0'=x_126^post48, i_105^0'=i_105^post48, rcd_56^0'=rcd_56^post48, a_181^0'=a_181^post48, x_SLAM_f_19^0'=x_SLAM_f_19^post48, t_24^0'=t_24^post48, f_167^0'=f_167^post48, r_121^0'=r_121^post48, x_172^0'=x_172^post48, i_28^0'=i_28^post48, result_11^0'=result_11^post48, a_234^0'=a_234^post48, len_180^0'=len_180^post48, temp0_29^0'=temp0_29^post48, head_30^0'=head_30^post48, r_37^0'=r_37^post48, a_144^0'=a_144^post48, x_21^0'=x_21^post48, len_129^0'=len_129^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, ct_18^0'=ct_18^post48, nondet_12^0'=nondet_12^post48, tmp_32^0'=tmp_32^post48, x_14^0'=x_14^post48, i_164^0'=i_164^post48, rcd_86^0'=rcd_86^post48, a_212^0'=a_212^post48, y_20^0'=y_20^post48, temp0_16^0'=temp0_16^post48, head_15^0'=head_15^post48, r_160^0'=r_160^post48, (-r_160^post48+r_160^0 == 0 /\ rcd_56^0-rcd_56^post48 == 0 /\ t_24^0-t_24^post48 == 0 /\ temp_33^0-temp_33^post48 == 0 /\ x_17^0-x_17^post48 == 0 /\ -a_234^post48+a_234^0 == 0 /\ -i_164^post48+i_164^0 == 0 /\ -len_180^post48+len_180^0 == 0 /\ -a_212^post48+a_212^0 == 0 /\ tmp_32^0-tmp_32^post48 == 0 /\ -r_37^post48+r_37^0 == 0 /\ -x_14^post48+x_14^0 == 0 /\ rcd_86^0-rcd_86^post48 == 0 /\ -head_15^post48+head_15^0 == 0 /\ 1+head_15^0 <= 0 /\ temp0_29^0-temp0_29^post48 == 0 /\ -y_20^post48+y_20^0 == 0 /\ -i_105^post48+i_105^0 == 0 /\ r_121^0-r_121^post48 == 0 /\ -length_27^post48+length_27^0 == 0 /\ len_129^0-len_129^post48 == 0 /\ -a_144^post48+a_144^0 == 0 /\ a_113^0-a_113^post48 == 0 /\ ct_18^0-ct_18^post48 == 0 /\ -temp0_16^post48+temp0_16^0 == 0 /\ x_21^0-x_21^post48 == 0 /\ a_181^0-a_181^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ i_92^0-i_92^post48 == 0 /\ -f_167^post48+f_167^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post48 == 0 /\ -x_SLAM_f_19^post48+x_SLAM_f_19^0 == 0 /\ x_172^0-x_172^post48 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ x_126^0-x_126^post48 == 0 /\ a_257^0-a_257^post48 == 0 /\ head_30^0-head_30^post48 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post48 == 0 /\ -i_28^post48+i_28^0 == 0), cost: 1
  49: l33 -> l34 : a_113^0'=a_113^post49, x_17^0'=x_17^post49, i_92^0'=i_92^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post49, a_257^0'=a_257^post49, length_27^0'=length_27^post49, temp_33^0'=temp_33^post49, x_126^0'=x_126^post49, i_105^0'=i_105^post49, rcd_56^0'=rcd_56^post49, a_181^0'=a_181^post49, x_SLAM_f_19^0'=x_SLAM_f_19^post49, t_24^0'=t_24^post49, f_167^0'=f_167^post49, r_121^0'=r_121^post49, x_172^0'=x_172^post49, i_28^0'=i_28^post49, result_11^0'=result_11^post49, a_234^0'=a_234^post49, len_180^0'=len_180^post49, temp0_29^0'=temp0_29^post49, head_30^0'=head_30^post49, r_37^0'=r_37^post49, a_144^0'=a_144^post49, x_21^0'=x_21^post49, len_129^0'=len_129^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, ct_18^0'=ct_18^post49, nondet_12^0'=nondet_12^post49, tmp_32^0'=tmp_32^post49, x_14^0'=x_14^post49, i_164^0'=i_164^post49, rcd_86^0'=rcd_86^post49, a_212^0'=a_212^post49, y_20^0'=y_20^post49, temp0_16^0'=temp0_16^post49, head_15^0'=head_15^post49, r_160^0'=r_160^post49, (0 == 0 /\ -i_164^post49+i_164^0 == 0 /\ -len_180^post49+len_180^0 == 0 /\ length_27^0-length_27^post49 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -rcd_86^post49+rcd_86^0 == 0 /\ len_129^0-len_129^post49 == 0 /\ a_113^0-a_113^post49 == 0 /\ -a_234^post49+a_234^0 == 0 /\ -a_212^post49+a_212^0 == 0 /\ r_37^0-r_37^post49 == 0 /\ -head_30^post49+head_30^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post49 == 0 /\ temp0_29^0-temp0_29^post49 == 0 /\ a_257^0-a_257^post49 == 0 /\ r_121^0-r_121^post49 == 0 /\ rcd_56^0-rcd_56^post49 == 0 /\ -temp0_16^post49+temp0_16^0 == 0 /\ -t_24^post49+t_24^0 == 0 /\ i_28^0-i_28^post49 == 0 /\ -i_105^post49+i_105^0 == 0 /\ -x_21^post49+x_21^0 == 0 /\ -tmp_32^post49+tmp_32^0 == 0 /\ -y_20^post49+y_20^0 == 0 /\ -a_144^post49+a_144^0 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -f_167^post49+f_167^0 == 0 /\ i_92^0-i_92^post49 == 0 /\ -r_160^post49+r_160^0 == 0 /\ x_172^0-x_172^post49 == 0 /\ -result_11^post49+result_11^0 == 0 /\ -temp_33^post49+temp_33^0 == 0 /\ x_126^0-x_126^post49 == 0 /\ a_181^0-a_181^post49 == 0), cost: 1
  50: l34 -> l35 : a_113^0'=a_113^post50, x_17^0'=x_17^post50, i_92^0'=i_92^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post50, a_257^0'=a_257^post50, length_27^0'=length_27^post50, temp_33^0'=temp_33^post50, x_126^0'=x_126^post50, i_105^0'=i_105^post50, rcd_56^0'=rcd_56^post50, a_181^0'=a_181^post50, x_SLAM_f_19^0'=x_SLAM_f_19^post50, t_24^0'=t_24^post50, f_167^0'=f_167^post50, r_121^0'=r_121^post50, x_172^0'=x_172^post50, i_28^0'=i_28^post50, result_11^0'=result_11^post50, a_234^0'=a_234^post50, len_180^0'=len_180^post50, temp0_29^0'=temp0_29^post50, head_30^0'=head_30^post50, r_37^0'=r_37^post50, a_144^0'=a_144^post50, x_21^0'=x_21^post50, len_129^0'=len_129^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, ct_18^0'=ct_18^post50, nondet_12^0'=nondet_12^post50, tmp_32^0'=tmp_32^post50, x_14^0'=x_14^post50, i_164^0'=i_164^post50, rcd_86^0'=rcd_86^post50, a_212^0'=a_212^post50, y_20^0'=y_20^post50, temp0_16^0'=temp0_16^post50, head_15^0'=head_15^post50, r_160^0'=r_160^post50, (-r_160^post50+r_160^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post50+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_17^0-x_17^post50 == 0 /\ a_234^0-a_234^post50 == 0 /\ t_24^0-t_24^post50 == 0 /\ -i_164^post50+i_164^0 == 0 /\ len_129^0-len_129^post50 == 0 /\ -r_121^post50+r_121^0 == 0 /\ -x_172^post50+x_172^0 == 0 /\ a_113^0-a_113^post50 == 0 /\ -a_212^post50+a_212^0 == 0 /\ -temp0_29^post50+temp0_29^0 == 0 /\ -head_30^post50+head_30^0 == 0 /\ -x_14^post50+x_14^0 == 0 /\ -rcd_56^post50+rcd_56^0 == 0 /\ r_37^0-r_37^post50 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post50 == 0 /\ -head_15^post50+head_15^0 == 0 /\ i_105^0-i_105^post50 == 0 /\ -y_20^post50+y_20^0 == 0 /\ -a_144^post50+a_144^0 == 0 /\ temp_33^0-temp_33^post50 == 0 /\ i_28^0-i_28^post50 == 0 /\ length_27^0-length_27^post50 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ len_180^0-len_180^post50 == 0 /\ -x_21^post50+x_21^0 == 0 /\ -tmp_32^post50+tmp_32^0 == 0 /\ -temp0_16^post50+temp0_16^0 == 0 /\ -ct_18^post50+ct_18^0 == 0 /\ f_167^0-f_167^post50 == 0 /\ x_126^0-x_126^post50 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post50 == 0 /\ i_92^0-i_92^post50 == 0 /\ a_181^0-a_181^post50 == 0 /\ result_11^0-result_11^post50 == 0 /\ -rcd_86^post50+rcd_86^0 == 0 /\ a_257^0-a_257^post50 == 0), cost: 1
  51: l34 -> l35 : a_113^0'=a_113^post51, x_17^0'=x_17^post51, i_92^0'=i_92^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post51, a_257^0'=a_257^post51, length_27^0'=length_27^post51, temp_33^0'=temp_33^post51, x_126^0'=x_126^post51, i_105^0'=i_105^post51, rcd_56^0'=rcd_56^post51, a_181^0'=a_181^post51, x_SLAM_f_19^0'=x_SLAM_f_19^post51, t_24^0'=t_24^post51, f_167^0'=f_167^post51, r_121^0'=r_121^post51, x_172^0'=x_172^post51, i_28^0'=i_28^post51, result_11^0'=result_11^post51, a_234^0'=a_234^post51, len_180^0'=len_180^post51, temp0_29^0'=temp0_29^post51, head_30^0'=head_30^post51, r_37^0'=r_37^post51, a_144^0'=a_144^post51, x_21^0'=x_21^post51, len_129^0'=len_129^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, ct_18^0'=ct_18^post51, nondet_12^0'=nondet_12^post51, tmp_32^0'=tmp_32^post51, x_14^0'=x_14^post51, i_164^0'=i_164^post51, rcd_86^0'=rcd_86^post51, a_212^0'=a_212^post51, y_20^0'=y_20^post51, temp0_16^0'=temp0_16^post51, head_15^0'=head_15^post51, r_160^0'=r_160^post51, (a_144^0-a_144^post51 == 0 /\ -rcd_86^post51+rcd_86^0 == 0 /\ t_24^0-t_24^post51 == 0 /\ -r_160^post51+r_160^0 == 0 /\ a_234^0-a_234^post51 == 0 /\ temp_33^0-temp_33^post51 == 0 /\ x_17^0-x_17^post51 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post51+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_164^post51+i_164^0 == 0 /\ head_30^0-head_30^post51 == 0 /\ -head_15^post51+head_15^0 == 0 /\ -a_212^post51+a_212^0 == 0 /\ -len_129^post51+len_129^0 == 0 /\ length_27^0-length_27^post51 == 0 /\ -r_37^post51+r_37^0 == 0 /\ -y_20^post51+y_20^0 == 0 /\ r_121^0-r_121^post51 == 0 /\ -x_172^post51+x_172^0 == 0 /\ i_105^0-i_105^post51 == 0 /\ -x_21^post51+x_21^0 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ -tmp_32^post51+tmp_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post51 == 0 /\ a_113^0-a_113^post51 == 0 /\ -temp0_16^post51+temp0_16^0 == 0 /\ -x_14^post51+x_14^0 == 0 /\ -rcd_56^post51+rcd_56^0 == 0 /\ len_180^0-len_180^post51 == 0 /\ a_181^0-a_181^post51 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -ct_18^post51+ct_18^0 == 0 /\ x_126^0-x_126^post51 == 0 /\ -temp0_29^post51+temp0_29^0 == 0 /\ i_92^0-i_92^post51 == 0 /\ result_11^0-result_11^post51 == 0 /\ -i_28^post51+i_28^0 == 0 /\ f_167^0-f_167^post51 == 0 /\ a_257^0-a_257^post51 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post51 == 0), cost: 1
  52: l35 -> l36 : a_113^0'=a_113^post52, x_17^0'=x_17^post52, i_92^0'=i_92^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post52, a_257^0'=a_257^post52, length_27^0'=length_27^post52, temp_33^0'=temp_33^post52, x_126^0'=x_126^post52, i_105^0'=i_105^post52, rcd_56^0'=rcd_56^post52, a_181^0'=a_181^post52, x_SLAM_f_19^0'=x_SLAM_f_19^post52, t_24^0'=t_24^post52, f_167^0'=f_167^post52, r_121^0'=r_121^post52, x_172^0'=x_172^post52, i_28^0'=i_28^post52, result_11^0'=result_11^post52, a_234^0'=a_234^post52, len_180^0'=len_180^post52, temp0_29^0'=temp0_29^post52, head_30^0'=head_30^post52, r_37^0'=r_37^post52, a_144^0'=a_144^post52, x_21^0'=x_21^post52, len_129^0'=len_129^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, ct_18^0'=ct_18^post52, nondet_12^0'=nondet_12^post52, tmp_32^0'=tmp_32^post52, x_14^0'=x_14^post52, i_164^0'=i_164^post52, rcd_86^0'=rcd_86^post52, a_212^0'=a_212^post52, y_20^0'=y_20^post52, temp0_16^0'=temp0_16^post52, head_15^0'=head_15^post52, r_160^0'=r_160^post52, (-i_28^post52+i_28^0 == 0 /\ x_SLAM_f_19^0-head_15^0 <= 0 /\ -rcd_86^post52+rcd_86^0 == 0 /\ temp_33^0-temp_33^post52 == 0 /\ x_17^0-x_17^post52 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_144^0-a_144^post52 == 0 /\ -i_164^post52+i_164^0 == 0 /\ -x_21^0 <= 0 /\ x_17^0-head_15^0 <= 0 /\ -a_212^post52+a_212^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ -len_180^post52+len_180^0 == 0 /\ -ct_18^0 <= 0 /\ t_24^post52-x_21^0 == 0 /\ -r_160^post52+r_160^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ -r_37^post52+r_37^0 == 0 /\ -x_SLAM_f_19^0+head_15^0 <= 0 /\ -x_17^0+head_15^0 <= 0 /\ -head_15^post52+head_15^0 == 0 /\ -y_20^post52+y_20^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post52 == 0 /\ temp0_29^0-temp0_29^post52 == 0 /\ rcd_56^0-rcd_56^post52 == 0 /\ r_121^0-r_121^post52 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ -a_234^post52+a_234^0 == 0 /\ -length_27^post52+length_27^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ -nondet_12^post52+nondet_12^0 == 0 /\ t_24^post52-head_15^0 <= 0 /\ len_129^0-len_129^post52 == 0 /\ -i_105^post52+i_105^0 == 0 /\ x_21^0 <= 0 /\ -x_14^post52+x_14^0 == 0 /\ -tmp_32^post52+tmp_32^0 == 0 /\ ct_18^0-ct_18^post52 == 0 /\ ct_18^0 <= 0 /\ a_113^0-a_113^post52 == 0 /\ -f_167^post52+f_167^0 == 0 /\ x_14^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ head_30^0-head_30^post52 == 0 /\ -temp0_16^post52+temp0_16^0 == 0 /\ -x_14^0 <= 0 /\ -t_24^post52+head_15^0 <= 0 /\ -x_21^post52+x_21^0 == 0 /\ y_20^0 <= 0 /\ -y_20^0 <= 0 /\ a_257^0-a_257^post52 == 0 /\ -result_11^post52+result_11^0 == 0 /\ i_92^0-i_92^post52 == 0 /\ x_172^0-x_172^post52 == 0 /\ x_126^0-x_126^post52 == 0 /\ a_181^0-a_181^post52 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post52 == 0), cost: 1
  53: l36 -> l37 : a_113^0'=a_113^post53, x_17^0'=x_17^post53, i_92^0'=i_92^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post53, a_257^0'=a_257^post53, length_27^0'=length_27^post53, temp_33^0'=temp_33^post53, x_126^0'=x_126^post53, i_105^0'=i_105^post53, rcd_56^0'=rcd_56^post53, a_181^0'=a_181^post53, x_SLAM_f_19^0'=x_SLAM_f_19^post53, t_24^0'=t_24^post53, f_167^0'=f_167^post53, r_121^0'=r_121^post53, x_172^0'=x_172^post53, i_28^0'=i_28^post53, result_11^0'=result_11^post53, a_234^0'=a_234^post53, len_180^0'=len_180^post53, temp0_29^0'=temp0_29^post53, head_30^0'=head_30^post53, r_37^0'=r_37^post53, a_144^0'=a_144^post53, x_21^0'=x_21^post53, len_129^0'=len_129^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, ct_18^0'=ct_18^post53, nondet_12^0'=nondet_12^post53, tmp_32^0'=tmp_32^post53, x_14^0'=x_14^post53, i_164^0'=i_164^post53, rcd_86^0'=rcd_86^post53, a_212^0'=a_212^post53, y_20^0'=y_20^post53, temp0_16^0'=temp0_16^post53, head_15^0'=head_15^post53, r_160^0'=r_160^post53, (-a_212^post53+a_212^0 == 0 /\ -len_180^post53+len_180^0 == 0 /\ -i_28^post53+i_28^0 == 0 /\ rcd_56^0-rcd_56^post53 == 0 /\ temp_33^0-temp_33^post53 == 0 /\ -r_160^post53+r_160^0 == 0 /\ x_17^0-x_17^post53 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post53+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ tmp_32^0-tmp_32^post53 == 0 /\ -r_37^post53+r_37^0 == 0 /\ -head_15^post53+head_15^0 == 0 /\ ct_18^0-ct_18^post53 == 0 /\ -x_14^post53+x_14^0 == 0 /\ -y_20^post53+y_20^0 == 0 /\ rcd_86^0-rcd_86^post53 == 0 /\ x_172^0-x_172^post53 == 0 /\ temp0_29^0-temp0_29^post53 == 0 /\ -a_144^post53+a_144^0 == 0 /\ r_121^0-r_121^post53 == 0 /\ length_27^0-length_27^post53 == 0 /\ t_24^0-t_24^post53 == 0 /\ a_234^0-a_234^post53 == 0 /\ len_129^0-len_129^post53 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -f_167^post53+f_167^0 == 0 /\ a_113^0-a_113^post53 == 0 /\ 1-head_15^0 <= 0 /\ i_92^0-i_92^post53 == 0 /\ a_181^0-a_181^post53 == 0 /\ -i_164^post53+i_164^0 == 0 /\ -x_SLAM_f_19^post53+x_SLAM_f_19^0 == 0 /\ -temp0_16^post53+temp0_16^0 == 0 /\ a_257^0-a_257^post53 == 0 /\ x_126^0-x_126^post53 == 0 /\ i_105^0-i_105^post53 == 0 /\ -result_11^post53+result_11^0 == 0 /\ head_30^0-head_30^post53 == 0 /\ x_21^0-x_21^post53 == 0 /\ -nondet_12^post53+nondet_12^0 == 0), cost: 1
  54: l36 -> l37 : a_113^0'=a_113^post54, x_17^0'=x_17^post54, i_92^0'=i_92^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post54, a_257^0'=a_257^post54, length_27^0'=length_27^post54, temp_33^0'=temp_33^post54, x_126^0'=x_126^post54, i_105^0'=i_105^post54, rcd_56^0'=rcd_56^post54, a_181^0'=a_181^post54, x_SLAM_f_19^0'=x_SLAM_f_19^post54, t_24^0'=t_24^post54, f_167^0'=f_167^post54, r_121^0'=r_121^post54, x_172^0'=x_172^post54, i_28^0'=i_28^post54, result_11^0'=result_11^post54, a_234^0'=a_234^post54, len_180^0'=len_180^post54, temp0_29^0'=temp0_29^post54, head_30^0'=head_30^post54, r_37^0'=r_37^post54, a_144^0'=a_144^post54, x_21^0'=x_21^post54, len_129^0'=len_129^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, ct_18^0'=ct_18^post54, nondet_12^0'=nondet_12^post54, tmp_32^0'=tmp_32^post54, x_14^0'=x_14^post54, i_164^0'=i_164^post54, rcd_86^0'=rcd_86^post54, a_212^0'=a_212^post54, y_20^0'=y_20^post54, temp0_16^0'=temp0_16^post54, head_15^0'=head_15^post54, r_160^0'=r_160^post54, (x_SLAM_f_19^0-x_SLAM_f_19^post54 == 0 /\ i_28^0-i_28^post54 == 0 /\ -r_160^post54+r_160^0 == 0 /\ t_24^0-t_24^post54 == 0 /\ temp_33^0-temp_33^post54 == 0 /\ x_17^0-x_17^post54 == 0 /\ -i_164^post54+i_164^0 == 0 /\ -a_212^post54+a_212^0 == 0 /\ -head_30^post54+head_30^0 == 0 /\ -ct_18^post54+ct_18^0 == 0 /\ i_92^0-i_92^post54 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post54+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_14^0-x_14^post54 == 0 /\ a_181^0-a_181^post54 == 0 /\ -head_15^post54+head_15^0 == 0 /\ -len_129^post54+len_129^0 == 0 /\ -len_180^post54+len_180^0 == 0 /\ 1+head_15^0 <= 0 /\ a_234^0-a_234^post54 == 0 /\ x_172^0-x_172^post54 == 0 /\ f_167^0-f_167^post54 == 0 /\ -y_20^post54+y_20^0 == 0 /\ length_27^0-length_27^post54 == 0 /\ -a_144^post54+a_144^0 == 0 /\ -x_21^post54+x_21^0 == 0 /\ a_113^0-a_113^post54 == 0 /\ temp0_16^0-temp0_16^post54 == 0 /\ -tmp_32^post54+tmp_32^0 == 0 /\ -rcd_56^post54+rcd_56^0 == 0 /\ -result_11^post54+result_11^0 == 0 /\ -r_121^post54+r_121^0 == 0 /\ x_126^0-x_126^post54 == 0 /\ r_37^0-r_37^post54 == 0 /\ -nondet_12^post54+nondet_12^0 == 0 /\ temp0_29^0-temp0_29^post54 == 0 /\ a_257^0-a_257^post54 == 0 /\ i_105^0-i_105^post54 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post54 == 0 /\ -rcd_86^post54+rcd_86^0 == 0), cost: 1
  55: l37 -> l38 : a_113^0'=a_113^post55, x_17^0'=x_17^post55, i_92^0'=i_92^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post55, a_257^0'=a_257^post55, length_27^0'=length_27^post55, temp_33^0'=temp_33^post55, x_126^0'=x_126^post55, i_105^0'=i_105^post55, rcd_56^0'=rcd_56^post55, a_181^0'=a_181^post55, x_SLAM_f_19^0'=x_SLAM_f_19^post55, t_24^0'=t_24^post55, f_167^0'=f_167^post55, r_121^0'=r_121^post55, x_172^0'=x_172^post55, i_28^0'=i_28^post55, result_11^0'=result_11^post55, a_234^0'=a_234^post55, len_180^0'=len_180^post55, temp0_29^0'=temp0_29^post55, head_30^0'=head_30^post55, r_37^0'=r_37^post55, a_144^0'=a_144^post55, x_21^0'=x_21^post55, len_129^0'=len_129^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, ct_18^0'=ct_18^post55, nondet_12^0'=nondet_12^post55, tmp_32^0'=tmp_32^post55, x_14^0'=x_14^post55, i_164^0'=i_164^post55, rcd_86^0'=rcd_86^post55, a_212^0'=a_212^post55, y_20^0'=y_20^post55, temp0_16^0'=temp0_16^post55, head_15^0'=head_15^post55, r_160^0'=r_160^post55, (-a_212^post55+a_212^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post55 == 0 /\ -head_30^post55+head_30^0 == 0 /\ -ct_18^post55+ct_18^0 == 0 /\ 1-y_20^0+head_15^0 <= 0 /\ x_17^0-x_17^post55 == 0 /\ temp_33^0-temp_33^post55 == 0 /\ len_180^0-len_180^post55 == 0 /\ a_257^0-a_257^post55 == 0 /\ -a_234^post55+a_234^0 == 0 /\ x_126^0-x_126^post55 == 0 /\ -y_20^post55+y_20^0 == 0 /\ -tmp_32^post55+tmp_32^0 == 0 /\ x_14^0-x_14^post55 == 0 /\ i_92^0-i_92^post55 == 0 /\ result_11^0-result_11^post55 == 0 /\ -a_181^post55+a_181^0 == 0 /\ -r_160^post55+r_160^0 == 0 /\ a_144^0-a_144^post55 == 0 /\ f_167^0-f_167^post55 == 0 /\ i_28^0-i_28^post55 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post55 == 0 /\ -x_172^post55+x_172^0 == 0 /\ -len_129^post55+len_129^0 == 0 /\ t_24^0-t_24^post55 == 0 /\ rcd_56^0-rcd_56^post55 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post55 == 0 /\ -nondet_12^post55+nondet_12^0 == 0 /\ -rcd_86^post55+rcd_86^0 == 0 /\ -x_21^post55+x_21^0 == 0 /\ a_113^0-a_113^post55 == 0 /\ -temp0_29^post55+temp0_29^0 == 0 /\ head_15^0-head_15^post55 == 0 /\ -i_164^post55+i_164^0 == 0 /\ -temp0_16^post55+temp0_16^0 == 0 /\ r_37^0-r_37^post55 == 0 /\ length_27^0-length_27^post55 == 0 /\ r_121^0-r_121^post55 == 0 /\ i_105^0-i_105^post55 == 0), cost: 1
  56: l37 -> l38 : a_113^0'=a_113^post56, x_17^0'=x_17^post56, i_92^0'=i_92^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post56, a_257^0'=a_257^post56, length_27^0'=length_27^post56, temp_33^0'=temp_33^post56, x_126^0'=x_126^post56, i_105^0'=i_105^post56, rcd_56^0'=rcd_56^post56, a_181^0'=a_181^post56, x_SLAM_f_19^0'=x_SLAM_f_19^post56, t_24^0'=t_24^post56, f_167^0'=f_167^post56, r_121^0'=r_121^post56, x_172^0'=x_172^post56, i_28^0'=i_28^post56, result_11^0'=result_11^post56, a_234^0'=a_234^post56, len_180^0'=len_180^post56, temp0_29^0'=temp0_29^post56, head_30^0'=head_30^post56, r_37^0'=r_37^post56, a_144^0'=a_144^post56, x_21^0'=x_21^post56, len_129^0'=len_129^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, ct_18^0'=ct_18^post56, nondet_12^0'=nondet_12^post56, tmp_32^0'=tmp_32^post56, x_14^0'=x_14^post56, i_164^0'=i_164^post56, rcd_86^0'=rcd_86^post56, a_212^0'=a_212^post56, y_20^0'=y_20^post56, temp0_16^0'=temp0_16^post56, head_15^0'=head_15^post56, r_160^0'=r_160^post56, (len_180^0-len_180^post56 == 0 /\ f_167^0-f_167^post56 == 0 /\ -a_212^post56+a_212^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post56 == 0 /\ -i_28^post56+i_28^0 == 0 /\ result_11^0-result_11^post56 == 0 /\ i_164^0-i_164^post56 == 0 /\ tmp_32^0-tmp_32^post56 == 0 /\ -r_37^post56+r_37^0 == 0 /\ x_126^0-x_126^post56 == 0 /\ a_257^0-a_257^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post56 == 0 /\ -x_14^post56+x_14^0 == 0 /\ -y_20^post56+y_20^0 == 0 /\ i_92^0-i_92^post56 == 0 /\ ct_18^0-ct_18^post56 == 0 /\ rcd_86^0-rcd_86^post56 == 0 /\ -a_181^post56+a_181^0 == 0 /\ a_113^0-a_113^post56 == 0 /\ 1+y_20^0-head_15^0 <= 0 /\ -r_160^post56+r_160^0 == 0 /\ -a_144^post56+a_144^0 == 0 /\ len_129^0-len_129^post56 == 0 /\ x_172^0-x_172^post56 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post56 == 0 /\ rcd_56^0-rcd_56^post56 == 0 /\ temp_33^0-temp_33^post56 == 0 /\ x_17^0-x_17^post56 == 0 /\ -a_234^post56+a_234^0 == 0 /\ -head_15^post56+head_15^0 == 0 /\ -temp0_16^post56+temp0_16^0 == 0 /\ i_105^0-i_105^post56 == 0 /\ r_121^0-r_121^post56 == 0 /\ t_24^0-t_24^post56 == 0 /\ -nondet_12^post56+nondet_12^0 == 0 /\ length_27^0-length_27^post56 == 0 /\ x_21^0-x_21^post56 == 0 /\ head_30^0-head_30^post56 == 0 /\ -temp0_29^post56+temp0_29^0 == 0), cost: 1
  57: l38 -> l39 : a_113^0'=a_113^post57, x_17^0'=x_17^post57, i_92^0'=i_92^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post57, a_257^0'=a_257^post57, length_27^0'=length_27^post57, temp_33^0'=temp_33^post57, x_126^0'=x_126^post57, i_105^0'=i_105^post57, rcd_56^0'=rcd_56^post57, a_181^0'=a_181^post57, x_SLAM_f_19^0'=x_SLAM_f_19^post57, t_24^0'=t_24^post57, f_167^0'=f_167^post57, r_121^0'=r_121^post57, x_172^0'=x_172^post57, i_28^0'=i_28^post57, result_11^0'=result_11^post57, a_234^0'=a_234^post57, len_180^0'=len_180^post57, temp0_29^0'=temp0_29^post57, head_30^0'=head_30^post57, r_37^0'=r_37^post57, a_144^0'=a_144^post57, x_21^0'=x_21^post57, len_129^0'=len_129^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, ct_18^0'=ct_18^post57, nondet_12^0'=nondet_12^post57, tmp_32^0'=tmp_32^post57, x_14^0'=x_14^post57, i_164^0'=i_164^post57, rcd_86^0'=rcd_86^post57, a_212^0'=a_212^post57, y_20^0'=y_20^post57, temp0_16^0'=temp0_16^post57, head_15^0'=head_15^post57, r_160^0'=r_160^post57, (0 == 0 /\ -len_129^post57+len_129^0 == 0 /\ f_167^0-f_167^post57 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_37^post57+r_37^0 == 0 /\ x_14^0-x_14^post57 == 0 /\ i_92^0-i_92^post57 == 0 /\ x_126^0-x_126^post57 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post57+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_56^0-rcd_56^post57 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post57 == 0 /\ a_212^0-a_212^post57 == 0 /\ -nondet_12^post57+nondet_12^0 == 0 /\ -rcd_86^post57+rcd_86^0 == 0 /\ length_27^0-length_27^post57 == 0 /\ -temp0_16^post57+temp0_16^0 == 0 /\ -len_180^post57+len_180^0 == 0 /\ -tmp_32^post57+tmp_32^0 == 0 /\ x_172^0-x_172^post57 == 0 /\ -head_30^post57+head_30^0 == 0 /\ -temp0_29^post57+temp0_29^0 == 0 /\ a_234^0-a_234^post57 == 0 /\ -i_164^post57+i_164^0 == 0 /\ -x_21^0+y_20^0 <= 0 /\ a_257^0-a_257^post57 == 0 /\ result_11^post57-temp0_16^0 == 0 /\ a_181^0-a_181^post57 == 0 /\ x_21^0-y_20^0 <= 0 /\ r_121^0-r_121^post57 == 0 /\ -i_28^post57+i_28^0 == 0 /\ temp_33^0-temp_33^post57 == 0 /\ -r_160^post57+r_160^0 == 0 /\ a_144^0-a_144^post57 == 0 /\ i_105^0-i_105^post57 == 0 /\ a_113^0-a_113^post57 == 0), cost: 1
  58: l39 -> l3 : a_113^0'=a_113^post58, x_17^0'=x_17^post58, i_92^0'=i_92^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post58, a_257^0'=a_257^post58, length_27^0'=length_27^post58, temp_33^0'=temp_33^post58, x_126^0'=x_126^post58, i_105^0'=i_105^post58, rcd_56^0'=rcd_56^post58, a_181^0'=a_181^post58, x_SLAM_f_19^0'=x_SLAM_f_19^post58, t_24^0'=t_24^post58, f_167^0'=f_167^post58, r_121^0'=r_121^post58, x_172^0'=x_172^post58, i_28^0'=i_28^post58, result_11^0'=result_11^post58, a_234^0'=a_234^post58, len_180^0'=len_180^post58, temp0_29^0'=temp0_29^post58, head_30^0'=head_30^post58, r_37^0'=r_37^post58, a_144^0'=a_144^post58, x_21^0'=x_21^post58, len_129^0'=len_129^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, ct_18^0'=ct_18^post58, nondet_12^0'=nondet_12^post58, tmp_32^0'=tmp_32^post58, x_14^0'=x_14^post58, i_164^0'=i_164^post58, rcd_86^0'=rcd_86^post58, a_212^0'=a_212^post58, y_20^0'=y_20^post58, temp0_16^0'=temp0_16^post58, head_15^0'=head_15^post58, r_160^0'=r_160^post58, (-a_212^post58+a_212^0 == 0 /\ temp_33^0-temp_33^post58 == 0 /\ -head_30^post58+head_30^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post58 == 0 /\ -r_160^post58+r_160^0 == 0 /\ x_17^0-x_17^post58 == 0 /\ -ct_18^post58+ct_18^0 == 0 /\ len_180^0-len_180^post58 == 0 /\ -y_20^post58+y_20^0 == 0 /\ -x_172^post58+x_172^0 == 0 /\ -a_234^post58+a_234^0 == 0 /\ -head_15^post58+head_15^0 == 0 /\ i_92^0-i_92^post58 == 0 /\ -tmp_32^post58+tmp_32^0 == 0 /\ x_14^0-x_14^post58 == 0 /\ result_11^0-result_11^post58 == 0 /\ f_167^0-f_167^post58 == 0 /\ a_144^0-a_144^post58 == 0 /\ length_27^0-length_27^post58 == 0 /\ -a_181^post58+a_181^0 == 0 /\ -len_129^post58+len_129^0 == 0 /\ i_28^0-i_28^post58 == 0 /\ t_24^0-t_24^post58 == 0 /\ rcd_56^0-rcd_56^post58 == 0 /\ temp0_16^0-temp0_16^post58 == 0 /\ 1-head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post58 == 0 /\ -i_164^post58+i_164^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post58 == 0 /\ -temp0_29^post58+temp0_29^0 == 0 /\ a_113^0-a_113^post58 == 0 /\ a_257^0-a_257^post58 == 0 /\ x_126^0-x_126^post58 == 0 /\ -x_21^post58+x_21^0 == 0 /\ -rcd_86^post58+rcd_86^0 == 0 /\ i_105^0-i_105^post58 == 0 /\ r_37^0-r_37^post58 == 0 /\ r_121^0-r_121^post58 == 0 /\ -nondet_12^post58+nondet_12^0 == 0), cost: 1
  59: l39 -> l3 : a_113^0'=a_113^post59, x_17^0'=x_17^post59, i_92^0'=i_92^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post59, a_257^0'=a_257^post59, length_27^0'=length_27^post59, temp_33^0'=temp_33^post59, x_126^0'=x_126^post59, i_105^0'=i_105^post59, rcd_56^0'=rcd_56^post59, a_181^0'=a_181^post59, x_SLAM_f_19^0'=x_SLAM_f_19^post59, t_24^0'=t_24^post59, f_167^0'=f_167^post59, r_121^0'=r_121^post59, x_172^0'=x_172^post59, i_28^0'=i_28^post59, result_11^0'=result_11^post59, a_234^0'=a_234^post59, len_180^0'=len_180^post59, temp0_29^0'=temp0_29^post59, head_30^0'=head_30^post59, r_37^0'=r_37^post59, a_144^0'=a_144^post59, x_21^0'=x_21^post59, len_129^0'=len_129^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, ct_18^0'=ct_18^post59, nondet_12^0'=nondet_12^post59, tmp_32^0'=tmp_32^post59, x_14^0'=x_14^post59, i_164^0'=i_164^post59, rcd_86^0'=rcd_86^post59, a_212^0'=a_212^post59, y_20^0'=y_20^post59, temp0_16^0'=temp0_16^post59, head_15^0'=head_15^post59, r_160^0'=r_160^post59, (len_180^0-len_180^post59 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post59 == 0 /\ -r_160^post59+r_160^0 == 0 /\ result_11^0-result_11^post59 == 0 /\ temp_33^0-temp_33^post59 == 0 /\ x_17^0-x_17^post59 == 0 /\ i_164^0-i_164^post59 == 0 /\ -a_212^post59+a_212^0 == 0 /\ tmp_32^0-tmp_32^post59 == 0 /\ -a_181^post59+a_181^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post59 == 0 /\ x_126^0-x_126^post59 == 0 /\ -r_37^post59+r_37^0 == 0 /\ ct_18^0-ct_18^post59 == 0 /\ i_92^0-i_92^post59 == 0 /\ rcd_86^0-rcd_86^post59 == 0 /\ -x_14^post59+x_14^0 == 0 /\ -head_15^post59+head_15^0 == 0 /\ a_257^0-a_257^post59 == 0 /\ -x_172^post59+x_172^0 == 0 /\ 1+head_15^0 <= 0 /\ -y_20^post59+y_20^0 == 0 /\ f_167^0-f_167^post59 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post59 == 0 /\ rcd_56^0-rcd_56^post59 == 0 /\ -a_144^post59+a_144^0 == 0 /\ len_129^0-len_129^post59 == 0 /\ a_113^0-a_113^post59 == 0 /\ -a_234^post59+a_234^0 == 0 /\ -temp0_16^post59+temp0_16^0 == 0 /\ x_21^0-x_21^post59 == 0 /\ i_105^0-i_105^post59 == 0 /\ r_121^0-r_121^post59 == 0 /\ length_27^0-length_27^post59 == 0 /\ -nondet_12^post59+nondet_12^0 == 0 /\ -temp0_29^post59+temp0_29^0 == 0 /\ t_24^0-t_24^post59 == 0 /\ -i_28^post59+i_28^0 == 0 /\ head_30^0-head_30^post59 == 0), cost: 1
  94: l40 -> l62 : a_113^0'=a_113^post94, x_17^0'=x_17^post94, i_92^0'=i_92^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, a_257^0'=a_257^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, x_126^0'=x_126^post94, i_105^0'=i_105^post94, rcd_56^0'=rcd_56^post94, a_181^0'=a_181^post94, x_SLAM_f_19^0'=x_SLAM_f_19^post94, t_24^0'=t_24^post94, f_167^0'=f_167^post94, r_121^0'=r_121^post94, x_172^0'=x_172^post94, i_28^0'=i_28^post94, result_11^0'=result_11^post94, a_234^0'=a_234^post94, len_180^0'=len_180^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post94, a_144^0'=a_144^post94, x_21^0'=x_21^post94, len_129^0'=len_129^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, ct_18^0'=ct_18^post94, nondet_12^0'=nondet_12^post94, tmp_32^0'=tmp_32^post94, x_14^0'=x_14^post94, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post94, a_212^0'=a_212^post94, y_20^0'=y_20^post94, temp0_16^0'=temp0_16^post94, head_15^0'=head_15^post94, r_160^0'=r_160^post94, (0 == 0 /\ -y_20^post94+y_20^0 == 0 /\ -len_129^0 <= 0 /\ i_92^0-i_92^post94 == 0 /\ i_105^0-i_105^post94 == 0 /\ rcd_56^0-rcd_56^post94 == 0 /\ x_14^post94-head_15^post94 <= 0 /\ x_14^post94-head_15^post94 == 0 /\ -f_167^post94+f_167^0 == 0 /\ x_126^0-x_126^post94 == 0 /\ x_17^0-x_17^post94 == 0 /\ length_27^0-i_28^0 <= 0 /\ -temp0_16^post94+temp0_16^0 == 0 /\ t_24^0-t_24^post94 == 0 /\ -r_160^post94+r_160^0 == 0 /\ -x_21^post94+x_21^0 == 0 /\ -temp0_29^110+result_11^11 == 0 /\ rcd_86^0-rcd_86^post94 == 0 /\ -x_14^post94+head_15^post94 <= 0 /\ -head_30^0+temp0_29^110 == 0 /\ -nondet_12^post94+nondet_12^0 == 0 /\ -r_37^post94+r_37^0 == 0 /\ -i_28^0 <= 0 /\ -len_180^post94+len_180^0 == 0 /\ x_172^0-x_172^post94 == 0 /\ len_129^0 <= 0 /\ -ct_18^post94+ct_18^0 == 0 /\ a_181^0-a_181^post94 == 0 /\ -a_144^0+i_28^post94 <= 0 /\ -x_SLAM_f_19^post94+x_SLAM_f_19^0 == 0 /\ a_257^0-a_257^post94 == 0 /\ r_121^0-r_121^post94 == 0 /\ a_113^0-a_113^post94 == 0 /\ -a_212^post94+a_212^0 == 0 /\ head_15^post94-result_11^11 == 0 /\ -a_144^post94+a_144^0 == 0 /\ len_129^0-len_129^post94 == 0 /\ a_144^0-i_28^post94 <= 0 /\ -a_234^post94+a_234^0 == 0), cost: 1
  98: l40 -> l64 : a_113^0'=a_113^post98, x_17^0'=x_17^post98, i_92^0'=i_92^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post98, a_257^0'=a_257^post98, length_27^0'=length_27^post98, temp_33^0'=temp_33^post98, x_126^0'=x_126^post98, i_105^0'=i_105^post98, rcd_56^0'=rcd_56^post98, a_181^0'=a_181^post98, x_SLAM_f_19^0'=x_SLAM_f_19^post98, t_24^0'=t_24^post98, f_167^0'=f_167^post98, r_121^0'=r_121^post98, x_172^0'=x_172^post98, i_28^0'=i_28^post98, result_11^0'=result_11^post98, a_234^0'=a_234^post98, len_180^0'=len_180^post98, temp0_29^0'=temp0_29^post98, head_30^0'=head_30^post98, r_37^0'=r_37^post98, a_144^0'=a_144^post98, x_21^0'=x_21^post98, len_129^0'=len_129^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, ct_18^0'=ct_18^post98, nondet_12^0'=nondet_12^post98, tmp_32^0'=tmp_32^post98, x_14^0'=x_14^post98, i_164^0'=i_164^post98, rcd_86^0'=rcd_86^post98, a_212^0'=a_212^post98, y_20^0'=y_20^post98, temp0_16^0'=temp0_16^post98, head_15^0'=head_15^post98, r_160^0'=r_160^post98, (0 == 0 /\ -a_144^post98+a_144^0 == 0 /\ x_21^0-x_21^post98 == 0 /\ a_257^0-a_257^post98 == 0 /\ 1-length_27^0+i_28^0 <= 0 /\ -f_167^post98+f_167^0 == 0 /\ -tmp_32^post98+head_30^post98 == 0 /\ temp0_29^0-temp0_29^post98 == 0 /\ result_11^0-result_11^post98 == 0 /\ -temp0_16^post98+temp0_16^0 == 0 /\ i_105^0-i_105^post98 == 0 /\ t_24^0-t_24^post98 == 0 /\ rcd_56^0-rcd_56^post98 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post98 == 0 /\ i_164^0-i_164^post98 == 0 /\ -1+i_28^post98-i_92^post98 <= 0 /\ a_113^0-a_113^post98 == 0 /\ -nondet_12^post98+nondet_12^0 == 0 /\ ct_18^0-ct_18^post98 == 0 /\ 1-length_27^0+i_92^post98 <= 0 /\ -a_212^post98+a_212^0 == 0 /\ -i_28^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post98 == 0 /\ -r_160^post98+r_160^0 == 0 /\ x_126^0-x_126^post98 == 0 /\ r_121^0-r_121^post98 == 0 /\ -temp_33^0+tmp_32^post98 == 0 /\ x_172^0-x_172^post98 == 0 /\ -x_14^post98+x_14^0 == 0 /\ -head_15^post98+head_15^0 == 0 /\ -y_20^post98+y_20^0 == 0 /\ -r_37^post98+r_37^0 == 0 /\ -a_234^post98+a_234^0 == 0 /\ x_17^0-x_17^post98 == 0 /\ -length_27^post98+length_27^0 == 0 /\ 1-i_28^post98+i_92^post98 <= 0 /\ -len_129^post98+len_129^0 == 0 /\ -len_180^post98+len_180^0 == 0 /\ -a_181^post98+a_181^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post98 == 0 /\ -1+i_28^post98-i_28^0 == 0), cost: 1
  61: l41 -> l42 : a_113^0'=a_113^post61, x_17^0'=x_17^post61, i_92^0'=i_92^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post61, a_257^0'=a_257^post61, length_27^0'=length_27^post61, temp_33^0'=temp_33^post61, x_126^0'=x_126^post61, i_105^0'=i_105^post61, rcd_56^0'=rcd_56^post61, a_181^0'=a_181^post61, x_SLAM_f_19^0'=x_SLAM_f_19^post61, t_24^0'=t_24^post61, f_167^0'=f_167^post61, r_121^0'=r_121^post61, x_172^0'=x_172^post61, i_28^0'=i_28^post61, result_11^0'=result_11^post61, a_234^0'=a_234^post61, len_180^0'=len_180^post61, temp0_29^0'=temp0_29^post61, head_30^0'=head_30^post61, r_37^0'=r_37^post61, a_144^0'=a_144^post61, x_21^0'=x_21^post61, len_129^0'=len_129^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=ct_18^post61, nondet_12^0'=nondet_12^post61, tmp_32^0'=tmp_32^post61, x_14^0'=x_14^post61, i_164^0'=i_164^post61, rcd_86^0'=rcd_86^post61, a_212^0'=a_212^post61, y_20^0'=y_20^post61, temp0_16^0'=temp0_16^post61, head_15^0'=head_15^post61, r_160^0'=r_160^post61, (0 == 0 /\ f_167^0-f_167^post61 == 0 /\ -head_30^post61+head_30^0 == 0 /\ -len_129^0 <= 0 /\ -result_11^post61+result_11^0 == 0 /\ -ct_18^post61 <= 0 /\ x_21^post61-x_SLAM_f_19^post61 <= 0 /\ x_21^post61-x_SLAM_f_19^post61 == 0 /\ ct_18^post61 <= 0 /\ ct_18^post61 == 0 /\ x_21^post61-head_15^0 <= 0 /\ a_257^0-a_257^post61 == 0 /\ i_92^0-i_92^post61 == 0 /\ y_20^post61 <= 0 /\ a_113^0-a_113^post61 == 0 /\ a_181^0-a_181^post61 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post61 == 0 /\ -t_24^post61+t_24^0 == 0 /\ -a_144^0 <= 0 /\ -x_14^post61+x_14^0 == 0 /\ a_144^0-a_144^post61 == 0 /\ -len_180^post61+len_180^0 == 0 /\ -r_160^post61+r_160^0 == 0 /\ i_28^0-i_28^post61 == 0 /\ -x_21^post61+x_SLAM_f_19^post61 <= 0 /\ a_234^0-a_234^post61 == 0 /\ -x_21^post61+head_15^0 <= 0 /\ a_212^0-a_212^post61 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ -len_129^post61+len_129^0 == 0 /\ -x_SLAM_f_19^post61+head_15^0 <= 0 /\ x_172^0-x_172^post61 == 0 /\ rcd_56^0-rcd_56^post61 == 0 /\ ct_18^post61-y_20^post61 <= 0 /\ temp0_16^0-temp0_16^post61 == 0 /\ -head_15^post61+head_15^0 == 0 /\ -tmp_32^post61+tmp_32^0 == 0 /\ x_17^post61-x_SLAM_f_19^post61 <= 0 /\ x_17^post61-head_15^0 <= 0 /\ x_17^post61-head_15^0 == 0 /\ -r_121^post61+r_121^0 == 0 /\ temp_33^0-temp_33^post61 == 0 /\ -y_20^post61 <= 0 /\ i_105^0-i_105^post61 == 0 /\ x_14^0 <= 0 /\ -rcd_86^post61+rcd_86^0 == 0 /\ x_SLAM_f_19^post61-head_15^0 <= 0 /\ temp0_29^0-temp0_29^post61 == 0 /\ -x_14^0 <= 0 /\ -i_164^post61+i_164^0 == 0 /\ -ct_18^post61+y_20^post61 <= 0 /\ -ct_18^post61+y_20^post61 == 0 /\ r_37^0-r_37^post61 == 0 /\ -x_17^post61+x_SLAM_f_19^post61 <= 0 /\ -x_17^post61+x_SLAM_f_19^post61 == 0 /\ -x_17^post61+head_15^0 <= 0 /\ length_27^0-length_27^post61 == 0 /\ -x_126^post61+x_126^0 == 0), cost: 1
  65: l41 -> l45 : a_113^0'=a_113^post65, x_17^0'=x_17^post65, i_92^0'=i_92^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post65, a_257^0'=a_257^post65, length_27^0'=length_27^post65, temp_33^0'=temp_33^post65, x_126^0'=x_126^post65, i_105^0'=i_105^post65, rcd_56^0'=rcd_56^post65, a_181^0'=a_181^post65, x_SLAM_f_19^0'=x_SLAM_f_19^post65, t_24^0'=t_24^post65, f_167^0'=f_167^post65, r_121^0'=r_121^post65, x_172^0'=x_172^post65, i_28^0'=i_28^post65, result_11^0'=result_11^post65, a_234^0'=a_234^post65, len_180^0'=len_180^post65, temp0_29^0'=temp0_29^post65, head_30^0'=head_30^post65, r_37^0'=r_37^post65, a_144^0'=a_144^post65, x_21^0'=x_21^post65, len_129^0'=len_129^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, ct_18^0'=ct_18^post65, nondet_12^0'=nondet_12^post65, tmp_32^0'=tmp_32^post65, x_14^0'=x_14^post65, i_164^0'=i_164^post65, rcd_86^0'=rcd_86^post65, a_212^0'=a_212^post65, y_20^0'=y_20^post65, temp0_16^0'=temp0_16^post65, head_15^0'=head_15^post65, r_160^0'=r_160^post65, (0 == 0 /\ -temp0_16^post65+temp0_16^0 == 0 /\ -x_14^post65+x_14^0 == 0 /\ -y_20^post65+y_20^0 == 0 /\ -len_129^0 <= 0 /\ -x_21^post65+x_21^0 == 0 /\ -a_144^post65+a_144^0 == 0 /\ x_17^0-x_17^post65 == 0 /\ -nondet_12^post65+nondet_12^0 == 0 /\ i_92^0-i_92^post65 == 0 /\ i_105^0-i_105^post65 == 0 /\ r_121^0-r_121^post65 == 0 /\ -tmp_32^post65+tmp_32^0 == 0 /\ -a_144^0 <= 0 /\ t_24^0-t_24^post65 == 0 /\ a_212^0-a_212^post65 == 0 /\ length_27^0-length_27^post65 == 0 /\ -ct_18^post65+ct_18^0 == 0 /\ -r_160^post65+r_160^0 == 0 /\ -temp0_29^post65+temp0_29^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post65 == 0 /\ -rcd_56^post65+rcd_56^0 == 0 /\ len_180^0-len_180^post65 == 0 /\ result_11^0-result_11^post65 == 0 /\ -len_129^post65+len_129^0 == 0 /\ -rcd_86^post65+rcd_86^0 == 0 /\ temp_33^0-temp_33^post65 == 0 /\ -a_234^post65+a_234^0 == 0 /\ a_257^0-a_257^post65 == 0 /\ x_126^0-x_126^post65 == 0 /\ a_181^0-a_181^post65 == 0 /\ a_113^0-a_113^post65 == 0 /\ i_28^0-i_28^post65 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post65 == 0 /\ -i_164^post65+i_164^0 == 0 /\ -head_30^post65+head_30^0 == 0), cost: 1
  62: l42 -> l43 : a_113^0'=a_113^post62, x_17^0'=x_17^post62, i_92^0'=i_92^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post62, a_257^0'=a_257^post62, length_27^0'=length_27^post62, temp_33^0'=temp_33^post62, x_126^0'=x_126^post62, i_105^0'=i_105^post62, rcd_56^0'=rcd_56^post62, a_181^0'=a_181^post62, x_SLAM_f_19^0'=x_SLAM_f_19^post62, t_24^0'=t_24^post62, f_167^0'=f_167^post62, r_121^0'=r_121^post62, x_172^0'=x_172^post62, i_28^0'=i_28^post62, result_11^0'=result_11^post62, a_234^0'=a_234^post62, len_180^0'=len_180^post62, temp0_29^0'=temp0_29^post62, head_30^0'=head_30^post62, r_37^0'=r_37^post62, a_144^0'=a_144^post62, x_21^0'=x_21^post62, len_129^0'=len_129^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, ct_18^0'=ct_18^post62, nondet_12^0'=nondet_12^post62, tmp_32^0'=tmp_32^post62, x_14^0'=x_14^post62, i_164^0'=i_164^post62, rcd_86^0'=rcd_86^post62, a_212^0'=a_212^post62, y_20^0'=y_20^post62, temp0_16^0'=temp0_16^post62, head_15^0'=head_15^post62, r_160^0'=r_160^post62, (x_SLAM_f_19^0-x_SLAM_f_19^post62 == 0 /\ -a_212^post62+a_212^0 == 0 /\ -i_28^post62+i_28^0 == 0 /\ i_164^0-i_164^post62 == 0 /\ -r_37^post62+r_37^0 == 0 /\ i_105^0-i_105^post62 == 0 /\ i_92^0-i_92^post62 == 0 /\ -head_15^post62+head_15^0 == 0 /\ -a_181^post62+a_181^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post62 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post62+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_113^0-a_113^post62 == 0 /\ x_126^0-x_126^post62 == 0 /\ a_257^0-a_257^post62 == 0 /\ -y_20^post62+y_20^0 == 0 /\ -r_160^post62+r_160^0 == 0 /\ -x_172^post62+x_172^0 == 0 /\ head_30^0-head_30^post62 == 0 /\ -len_129^post62+len_129^0 == 0 /\ f_167^0-f_167^post62 == 0 /\ -tmp_32^post62+tmp_32^0 == 0 /\ -x_14^post62+x_14^0 == 0 /\ -a_234^post62+a_234^0 == 0 /\ rcd_56^0-rcd_56^post62 == 0 /\ temp_33^0-temp_33^post62 == 0 /\ result_11^0-result_11^post62 == 0 /\ len_180^0-len_180^post62 == 0 /\ x_17^0-x_17^post62 == 0 /\ 1-head_15^0 <= 0 /\ -x_21^post62+x_21^0 == 0 /\ ct_18^0-ct_18^post62 == 0 /\ -nondet_12^post62+nondet_12^0 == 0 /\ -temp0_16^post62+temp0_16^0 == 0 /\ -rcd_86^post62+rcd_86^0 == 0 /\ r_121^0-r_121^post62 == 0 /\ a_144^0-a_144^post62 == 0 /\ length_27^0-length_27^post62 == 0 /\ -temp0_29^post62+temp0_29^0 == 0 /\ t_24^0-t_24^post62 == 0), cost: 1
  63: l42 -> l43 : a_113^0'=a_113^post63, x_17^0'=x_17^post63, i_92^0'=i_92^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post63, a_257^0'=a_257^post63, length_27^0'=length_27^post63, temp_33^0'=temp_33^post63, x_126^0'=x_126^post63, i_105^0'=i_105^post63, rcd_56^0'=rcd_56^post63, a_181^0'=a_181^post63, x_SLAM_f_19^0'=x_SLAM_f_19^post63, t_24^0'=t_24^post63, f_167^0'=f_167^post63, r_121^0'=r_121^post63, x_172^0'=x_172^post63, i_28^0'=i_28^post63, result_11^0'=result_11^post63, a_234^0'=a_234^post63, len_180^0'=len_180^post63, temp0_29^0'=temp0_29^post63, head_30^0'=head_30^post63, r_37^0'=r_37^post63, a_144^0'=a_144^post63, x_21^0'=x_21^post63, len_129^0'=len_129^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, ct_18^0'=ct_18^post63, nondet_12^0'=nondet_12^post63, tmp_32^0'=tmp_32^post63, x_14^0'=x_14^post63, i_164^0'=i_164^post63, rcd_86^0'=rcd_86^post63, a_212^0'=a_212^post63, y_20^0'=y_20^post63, temp0_16^0'=temp0_16^post63, head_15^0'=head_15^post63, r_160^0'=r_160^post63, (x_172^0-x_172^post63 == 0 /\ head_30^0-head_30^post63 == 0 /\ -r_37^post63+r_37^0 == 0 /\ -x_14^post63+x_14^0 == 0 /\ -nondet_12^post63+nondet_12^0 == 0 /\ i_164^0-i_164^post63 == 0 /\ -result_11^post63+result_11^0 == 0 /\ -y_20^post63+y_20^0 == 0 /\ -i_28^post63+i_28^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post63+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_160^post63+r_160^0 == 0 /\ a_113^0-a_113^post63 == 0 /\ a_257^0-a_257^post63 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post63 == 0 /\ r_121^0-r_121^post63 == 0 /\ temp0_29^0-temp0_29^post63 == 0 /\ 1+head_15^0 <= 0 /\ -tmp_32^post63+tmp_32^0 == 0 /\ -len_180^post63+len_180^0 == 0 /\ -f_167^post63+f_167^0 == 0 /\ -head_15^post63+head_15^0 == 0 /\ -len_129^post63+len_129^0 == 0 /\ rcd_56^0-rcd_56^post63 == 0 /\ temp_33^0-temp_33^post63 == 0 /\ -a_181^post63+a_181^0 == 0 /\ x_17^0-x_17^post63 == 0 /\ x_126^0-x_126^post63 == 0 /\ -rcd_86^post63+rcd_86^0 == 0 /\ -i_105^post63+i_105^0 == 0 /\ i_92^0-i_92^post63 == 0 /\ ct_18^0-ct_18^post63 == 0 /\ -x_21^post63+x_21^0 == 0 /\ t_24^0-t_24^post63 == 0 /\ a_234^0-a_234^post63 == 0 /\ a_144^0-a_144^post63 == 0 /\ -a_212^post63+a_212^0 == 0 /\ length_27^0-length_27^post63 == 0 /\ -x_SLAM_f_19^post63+x_SLAM_f_19^0 == 0 /\ -temp0_16^post63+temp0_16^0 == 0), cost: 1
  64: l43 -> l20 : a_113^0'=a_113^post64, x_17^0'=x_17^post64, i_92^0'=i_92^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, a_257^0'=a_257^post64, length_27^0'=length_27^post64, temp_33^0'=temp_33^post64, x_126^0'=x_126^post64, i_105^0'=i_105^post64, rcd_56^0'=rcd_56^post64, a_181^0'=a_181^post64, x_SLAM_f_19^0'=x_SLAM_f_19^post64, t_24^0'=t_24^post64, f_167^0'=f_167^post64, r_121^0'=r_121^post64, x_172^0'=x_172^post64, i_28^0'=i_28^post64, result_11^0'=result_11^post64, a_234^0'=a_234^post64, len_180^0'=len_180^post64, temp0_29^0'=temp0_29^post64, head_30^0'=head_30^post64, r_37^0'=r_37^post64, a_144^0'=a_144^post64, x_21^0'=x_21^post64, len_129^0'=len_129^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, ct_18^0'=ct_18^post64, nondet_12^0'=nondet_12^post64, tmp_32^0'=tmp_32^post64, x_14^0'=x_14^post64, i_164^0'=i_164^post64, rcd_86^0'=rcd_86^post64, a_212^0'=a_212^post64, y_20^0'=y_20^post64, temp0_16^0'=temp0_16^post64, head_15^0'=head_15^post64, r_160^0'=r_160^post64, (-head_30^post64+head_30^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -ct_18^post64+ct_18^0 == 0 /\ -result_11^post64+result_11^0 == 0 /\ -a_212^post64+a_212^0 == 0 /\ x_172^0-x_172^post64 == 0 /\ rcd_56^0-rcd_56^post64 == 0 /\ -y_20^post64+y_20^0 == 0 /\ x_126^0-x_126^post64 == 0 /\ i_92^0-i_92^post64 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64 == 0 /\ length_27^0-length_27^post64 == 0 /\ r_121^0-r_121^post64 == 0 /\ -tmp_32^post64+tmp_32^0 == 0 /\ -len_180^post64+len_180^0 == 0 /\ temp0_29^0-temp0_29^post64 == 0 /\ a_113^0-a_113^post64 == 0 /\ t_24^0-t_24^post64 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_167^post64+f_167^0 == 0 /\ r_37^0-r_37^post64 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post64+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_14^post64+x_14^0 == 0 /\ -r_160^post64+r_160^0 == 0 /\ -a_144^post64+a_144^0 == 0 /\ -x_SLAM_f_19^post64+x_SLAM_f_19^0 == 0 /\ -len_129^post64+len_129^0 == 0 /\ nondet_12^0-nondet_12^post64 == 0 /\ a_181^0-a_181^post64 == 0 /\ x_17^0-x_17^post64 == 0 /\ temp_33^0-temp_33^post64 == 0 /\ a_257^0-a_257^post64 == 0 /\ -head_15^post64+head_15^0 == 0 /\ -rcd_86^post64+rcd_86^0 == 0 /\ -i_164^post64+i_164^0 == 0 /\ -i_105^post64+i_105^0 == 0 /\ -temp0_16^post64+temp0_16^0 == 0 /\ i_28^0-i_28^post64 == 0 /\ a_234^0-a_234^post64 == 0 /\ -x_21^post64+x_21^0 == 0), cost: 1
  66: l45 -> l46 : a_113^0'=a_113^post66, x_17^0'=x_17^post66, i_92^0'=i_92^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post66, a_257^0'=a_257^post66, length_27^0'=length_27^post66, temp_33^0'=temp_33^post66, x_126^0'=x_126^post66, i_105^0'=i_105^post66, rcd_56^0'=rcd_56^post66, a_181^0'=a_181^post66, x_SLAM_f_19^0'=x_SLAM_f_19^post66, t_24^0'=t_24^post66, f_167^0'=f_167^post66, r_121^0'=r_121^post66, x_172^0'=x_172^post66, i_28^0'=i_28^post66, result_11^0'=result_11^post66, a_234^0'=a_234^post66, len_180^0'=len_180^post66, temp0_29^0'=temp0_29^post66, head_30^0'=head_30^post66, r_37^0'=r_37^post66, a_144^0'=a_144^post66, x_21^0'=x_21^post66, len_129^0'=len_129^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, ct_18^0'=ct_18^post66, nondet_12^0'=nondet_12^post66, tmp_32^0'=tmp_32^post66, x_14^0'=x_14^post66, i_164^0'=i_164^post66, rcd_86^0'=rcd_86^post66, a_212^0'=a_212^post66, y_20^0'=y_20^post66, temp0_16^0'=temp0_16^post66, head_15^0'=head_15^post66, r_160^0'=r_160^post66, (-y_20^post66+y_20^0 == 0 /\ -r_37^post66+r_37^0 == 0 /\ -x_14^post66+x_14^0 == 0 /\ i_92^0-i_92^post66 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post66 == 0 /\ temp_33^0-temp_33^post66 == 0 /\ -i_28^post66+i_28^0 == 0 /\ x_126^0-x_126^post66 == 0 /\ x_17^0-x_17^post66 == 0 /\ r_121^0-r_121^post66 == 0 /\ length_27^0-length_27^post66 == 0 /\ i_105^0-i_105^post66 == 0 /\ -r_160^post66+r_160^0 == 0 /\ t_24^0-t_24^post66 == 0 /\ len_180^0-len_180^post66 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_32^post66+tmp_32^0 == 0 /\ -head_15^post66+head_15^0 == 0 /\ result_11^0-result_11^post66 == 0 /\ -i_164^post66+i_164^0 == 0 /\ -rcd_86^post66+rcd_86^0 == 0 /\ f_167^0-f_167^post66 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post66 == 0 /\ -temp0_29^post66+temp0_29^0 == 0 /\ a_181^0-a_181^post66 == 0 /\ -x_172^post66+x_172^0 == 0 /\ -len_129^post66+len_129^0 == 0 /\ a_257^0-a_257^post66 == 0 /\ 1-x_14^0 <= 0 /\ a_113^0-a_113^post66 == 0 /\ -a_212^post66+a_212^0 == 0 /\ -head_30^post66+head_30^0 == 0 /\ ct_18^0-ct_18^post66 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -a_234^post66+a_234^0 == 0 /\ -rcd_56^post66+rcd_56^0 == 0 /\ -x_21^post66+x_21^0 == 0 /\ -temp0_16^post66+temp0_16^0 == 0 /\ a_144^0-a_144^post66 == 0), cost: 1
  67: l45 -> l46 : a_113^0'=a_113^post67, x_17^0'=x_17^post67, i_92^0'=i_92^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post67, a_257^0'=a_257^post67, length_27^0'=length_27^post67, temp_33^0'=temp_33^post67, x_126^0'=x_126^post67, i_105^0'=i_105^post67, rcd_56^0'=rcd_56^post67, a_181^0'=a_181^post67, x_SLAM_f_19^0'=x_SLAM_f_19^post67, t_24^0'=t_24^post67, f_167^0'=f_167^post67, r_121^0'=r_121^post67, x_172^0'=x_172^post67, i_28^0'=i_28^post67, result_11^0'=result_11^post67, a_234^0'=a_234^post67, len_180^0'=len_180^post67, temp0_29^0'=temp0_29^post67, head_30^0'=head_30^post67, r_37^0'=r_37^post67, a_144^0'=a_144^post67, x_21^0'=x_21^post67, len_129^0'=len_129^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, ct_18^0'=ct_18^post67, nondet_12^0'=nondet_12^post67, tmp_32^0'=tmp_32^post67, x_14^0'=x_14^post67, i_164^0'=i_164^post67, rcd_86^0'=rcd_86^post67, a_212^0'=a_212^post67, y_20^0'=y_20^post67, temp0_16^0'=temp0_16^post67, head_15^0'=head_15^post67, r_160^0'=r_160^post67, (1+x_14^0 <= 0 /\ x_172^0-x_172^post67 == 0 /\ -tmp_32^post67+tmp_32^0 == 0 /\ -result_11^post67+result_11^0 == 0 /\ -x_14^post67+x_14^0 == 0 /\ rcd_56^0-rcd_56^post67 == 0 /\ temp_33^0-temp_33^post67 == 0 /\ x_126^0-x_126^post67 == 0 /\ x_17^0-x_17^post67 == 0 /\ -y_20^post67+y_20^0 == 0 /\ -i_28^post67+i_28^0 == 0 /\ i_92^0-i_92^post67 == 0 /\ -r_160^post67+r_160^0 == 0 /\ r_121^0-r_121^post67 == 0 /\ temp0_29^0-temp0_29^post67 == 0 /\ t_24^0-t_24^post67 == 0 /\ -f_167^post67+f_167^0 == 0 /\ rcd_86^0-rcd_86^post67 == 0 /\ length_27^0-length_27^post67 == 0 /\ -ct_18^post67+ct_18^0 == 0 /\ head_30^0-head_30^post67 == 0 /\ -head_15^post67+head_15^0 == 0 /\ -x_SLAM_f_19^post67+x_SLAM_f_19^0 == 0 /\ a_181^0-a_181^post67 == 0 /\ -len_180^post67+len_180^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ a_113^0-a_113^post67 == 0 /\ a_144^0-a_144^post67 == 0 /\ a_257^0-a_257^post67 == 0 /\ x_21^0-x_21^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ -a_234^post67+a_234^0 == 0 /\ -i_105^post67+i_105^0 == 0 /\ -r_37^post67+r_37^0 == 0 /\ -a_212^post67+a_212^0 == 0 /\ -i_164^post67+i_164^0 == 0 /\ -temp0_16^post67+temp0_16^0 == 0 /\ len_129^0-len_129^post67 == 0 /\ nondet_12^0-nondet_12^post67 == 0), cost: 1
  68: l46 -> l47 : a_113^0'=a_113^post68, x_17^0'=x_17^post68, i_92^0'=i_92^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post68, a_257^0'=a_257^post68, length_27^0'=length_27^post68, temp_33^0'=temp_33^post68, x_126^0'=x_126^post68, i_105^0'=i_105^post68, rcd_56^0'=rcd_56^post68, a_181^0'=a_181^post68, x_SLAM_f_19^0'=x_SLAM_f_19^post68, t_24^0'=t_24^post68, f_167^0'=f_167^post68, r_121^0'=r_121^post68, x_172^0'=x_172^post68, i_28^0'=i_28^post68, result_11^0'=result_11^post68, a_234^0'=a_234^post68, len_180^0'=len_180^post68, temp0_29^0'=temp0_29^post68, head_30^0'=head_30^post68, r_37^0'=r_37^post68, a_144^0'=a_144^post68, x_21^0'=x_21^post68, len_129^0'=len_129^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, ct_18^0'=ct_18^post68, nondet_12^0'=nondet_12^post68, tmp_32^0'=tmp_32^post68, x_14^0'=x_14^post68, i_164^0'=i_164^post68, rcd_86^0'=rcd_86^post68, a_212^0'=a_212^post68, y_20^0'=y_20^post68, temp0_16^0'=temp0_16^post68, head_15^0'=head_15^post68, r_160^0'=r_160^post68, (0 == 0 /\ f_167^0-f_167^post68 == 0 /\ -y_20^post68+y_20^0 == 0 /\ x_21^0-x_21^post68 == 0 /\ -t_24^post68+t_24^0 == 0 /\ -result_11^post68+result_11^0 == 0 /\ -temp0_16^post68+temp0_16^0 == 0 /\ x_126^0-x_126^post68 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post68 == 0 /\ i_92^0-i_92^post68 == 0 /\ f_167^0-x_14^0 <= 0 /\ -x_14^post68+x_14^0 == 0 /\ rcd_56^0-rcd_56^post68 == 0 /\ -a_144^post68+a_144^0 == 0 /\ x_17^0-x_17^post68 == 0 /\ length_27^0-length_27^post68 == 0 /\ -i_28^post68+i_28^0 == 0 /\ -ct_18^post68+ct_18^0 == 0 /\ rcd_86^0-rcd_86^post68 == 0 /\ tmp_32^0-tmp_32^post68 == 0 /\ 1-a_144^0+a_181^post68 <= 0 /\ a_234^0-a_234^post68 == 0 /\ -1+len_180^post68-len_129^0 <= 0 /\ -f_167^0+x_14^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post68+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_121^post68+r_121^0 == 0 /\ head_30^0-head_30^post68 == 0 /\ -i_164^post68+i_164^0 == 0 /\ x_172^0-x_172^post68 == 0 /\ -temp_33^post68+temp_33^0 == 0 /\ -x_SLAM_f_19^post68+x_SLAM_f_19^0 == 0 /\ -r_160^post68+r_160^0 == 0 /\ a_257^0-a_257^post68 == 0 /\ -a_212^post68+a_212^0 == 0 /\ i_105^0-i_105^post68 == 0 /\ temp0_29^0-temp0_29^post68 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ -1+a_144^0-a_181^post68 <= 0 /\ 1-len_180^post68+len_129^0 <= 0 /\ -r_37^post68+r_37^0 == 0 /\ len_129^0-len_129^post68 == 0 /\ -head_15^post68+head_15^0 == 0 /\ a_113^0-a_113^post68 == 0), cost: 1
  69: l47 -> l48 : a_113^0'=a_113^post69, x_17^0'=x_17^post69, i_92^0'=i_92^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post69, a_257^0'=a_257^post69, length_27^0'=length_27^post69, temp_33^0'=temp_33^post69, x_126^0'=x_126^post69, i_105^0'=i_105^post69, rcd_56^0'=rcd_56^post69, a_181^0'=a_181^post69, x_SLAM_f_19^0'=x_SLAM_f_19^post69, t_24^0'=t_24^post69, f_167^0'=f_167^post69, r_121^0'=r_121^post69, x_172^0'=x_172^post69, i_28^0'=i_28^post69, result_11^0'=result_11^post69, a_234^0'=a_234^post69, len_180^0'=len_180^post69, temp0_29^0'=temp0_29^post69, head_30^0'=head_30^post69, r_37^0'=r_37^post69, a_144^0'=a_144^post69, x_21^0'=x_21^post69, len_129^0'=len_129^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, ct_18^0'=ct_18^post69, nondet_12^0'=nondet_12^post69, tmp_32^0'=tmp_32^post69, x_14^0'=x_14^post69, i_164^0'=i_164^post69, rcd_86^0'=rcd_86^post69, a_212^0'=a_212^post69, y_20^0'=y_20^post69, temp0_16^0'=temp0_16^post69, head_15^0'=head_15^post69, r_160^0'=r_160^post69, (-y_20^post69+y_20^0 == 0 /\ -temp0_16^post69+temp0_16^0 == 0 /\ -x_21^post69+x_21^0 == 0 /\ f_167^0-f_167^post69 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post69 == 0 /\ i_105^0-i_105^post69 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post69 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ temp_33^0-temp_33^post69 == 0 /\ a_181^0-a_181^post69 == 0 /\ x_17^0-x_17^post69 == 0 /\ a_144^0-a_144^post69 == 0 /\ -r_160^post69+r_160^0 == 0 /\ a_234^0-a_234^post69 == 0 /\ i_28^0-i_28^post69 == 0 /\ t_24^0-t_24^post69 == 0 /\ -r_121^post69+r_121^0 == 0 /\ -result_11^post69+result_11^0 == 0 /\ -tmp_32^post69+tmp_32^0 == 0 /\ x_14^0-x_14^post69 == 0 /\ -ct_18^post69+ct_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post69+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_126^0-x_126^post69 == 0 /\ -len_129^post69+len_129^0 == 0 /\ -rcd_86^post69+rcd_86^0 == 0 /\ i_92^0-i_92^post69 == 0 /\ x_172^0-x_172^post69 == 0 /\ 1-head_15^0 <= 0 /\ a_257^0-a_257^post69 == 0 /\ rcd_56^0-rcd_56^post69 == 0 /\ -temp0_29^post69+temp0_29^0 == 0 /\ head_15^0-head_15^post69 == 0 /\ -a_212^post69+a_212^0 == 0 /\ a_113^0-a_113^post69 == 0 /\ length_27^0-length_27^post69 == 0 /\ len_180^0-len_180^post69 == 0 /\ -head_30^post69+head_30^0 == 0 /\ -i_164^post69+i_164^0 == 0 /\ r_37^0-r_37^post69 == 0), cost: 1
  70: l47 -> l48 : a_113^0'=a_113^post70, x_17^0'=x_17^post70, i_92^0'=i_92^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70, a_257^0'=a_257^post70, length_27^0'=length_27^post70, temp_33^0'=temp_33^post70, x_126^0'=x_126^post70, i_105^0'=i_105^post70, rcd_56^0'=rcd_56^post70, a_181^0'=a_181^post70, x_SLAM_f_19^0'=x_SLAM_f_19^post70, t_24^0'=t_24^post70, f_167^0'=f_167^post70, r_121^0'=r_121^post70, x_172^0'=x_172^post70, i_28^0'=i_28^post70, result_11^0'=result_11^post70, a_234^0'=a_234^post70, len_180^0'=len_180^post70, temp0_29^0'=temp0_29^post70, head_30^0'=head_30^post70, r_37^0'=r_37^post70, a_144^0'=a_144^post70, x_21^0'=x_21^post70, len_129^0'=len_129^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, ct_18^0'=ct_18^post70, nondet_12^0'=nondet_12^post70, tmp_32^0'=tmp_32^post70, x_14^0'=x_14^post70, i_164^0'=i_164^post70, rcd_86^0'=rcd_86^post70, a_212^0'=a_212^post70, y_20^0'=y_20^post70, temp0_16^0'=temp0_16^post70, head_15^0'=head_15^post70, r_160^0'=r_160^post70, (-tmp_32^post70+tmp_32^0 == 0 /\ i_164^0-i_164^post70 == 0 /\ result_11^0-result_11^post70 == 0 /\ -nondet_12^post70+nondet_12^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post70 == 0 /\ -x_14^post70+x_14^0 == 0 /\ -temp0_16^post70+temp0_16^0 == 0 /\ a_257^0-a_257^post70 == 0 /\ -x_21^post70+x_21^0 == 0 /\ temp_33^0-temp_33^post70 == 0 /\ i_28^0-i_28^post70 == 0 /\ -ct_18^post70+ct_18^0 == 0 /\ -f_167^post70+f_167^0 == 0 /\ a_144^0-a_144^post70 == 0 /\ y_20^0-y_20^post70 == 0 /\ 1+head_15^0 <= 0 /\ a_113^0-a_113^post70 == 0 /\ -rcd_86^post70+rcd_86^0 == 0 /\ -a_181^post70+a_181^0 == 0 /\ x_172^0-x_172^post70 == 0 /\ r_37^0-r_37^post70 == 0 /\ -a_212^post70+a_212^0 == 0 /\ i_92^0-i_92^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70 == 0 /\ -len_180^post70+len_180^0 == 0 /\ -temp0_29^post70+temp0_29^0 == 0 /\ rcd_56^0-rcd_56^post70 == 0 /\ -r_160^post70+r_160^0 == 0 /\ x_126^0-x_126^post70 == 0 /\ x_17^0-x_17^post70 == 0 /\ r_121^0-r_121^post70 == 0 /\ length_27^0-length_27^post70 == 0 /\ -head_30^post70+head_30^0 == 0 /\ -len_129^post70+len_129^0 == 0 /\ i_105^0-i_105^post70 == 0 /\ t_24^0-t_24^post70 == 0 /\ -a_234^post70+a_234^0 == 0 /\ -head_15^post70+head_15^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post70 == 0), cost: 1
  71: l48 -> l49 : a_113^0'=a_113^post71, x_17^0'=x_17^post71, i_92^0'=i_92^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post71, a_257^0'=a_257^post71, length_27^0'=length_27^post71, temp_33^0'=temp_33^post71, x_126^0'=x_126^post71, i_105^0'=i_105^post71, rcd_56^0'=rcd_56^post71, a_181^0'=a_181^post71, x_SLAM_f_19^0'=x_SLAM_f_19^post71, t_24^0'=t_24^post71, f_167^0'=f_167^post71, r_121^0'=r_121^post71, x_172^0'=x_172^post71, i_28^0'=i_28^post71, result_11^0'=result_11^post71, a_234^0'=a_234^post71, len_180^0'=len_180^post71, temp0_29^0'=temp0_29^post71, head_30^0'=head_30^post71, r_37^0'=r_37^post71, a_144^0'=a_144^post71, x_21^0'=x_21^post71, len_129^0'=len_129^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, ct_18^0'=ct_18^post71, nondet_12^0'=nondet_12^post71, tmp_32^0'=tmp_32^post71, x_14^0'=x_14^post71, i_164^0'=i_164^post71, rcd_86^0'=rcd_86^post71, a_212^0'=a_212^post71, y_20^0'=y_20^post71, temp0_16^0'=temp0_16^post71, head_15^0'=head_15^post71, r_160^0'=r_160^post71, (x_21^0-x_21^post71 == 0 /\ i_164^0-i_164^post71 == 0 /\ -temp0_16^post71+temp0_16^0 == 0 /\ i_105^0-i_105^post71 == 0 /\ result_11^0-result_11^post71 == 0 /\ -f_167^post71+f_167^0 == 0 /\ a_257^0-a_257^post71 == 0 /\ temp0_29^0-temp0_29^post71 == 0 /\ -x_14^post71+x_14^0 == 0 /\ -a_144^post71+a_144^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post71 == 0 /\ -ct_18^post71+ct_18^0 == 0 /\ -i_28^post71+i_28^0 == 0 /\ a_113^0-a_113^post71 == 0 /\ tmp_32^0-tmp_32^post71 == 0 /\ rcd_86^0-rcd_86^post71 == 0 /\ head_30^0-head_30^post71 == 0 /\ -len_180^post71+len_180^0 == 0 /\ 1-x_172^0 <= 0 /\ i_92^0-i_92^post71 == 0 /\ x_172^0-x_172^post71 == 0 /\ x_126^0-x_126^post71 == 0 /\ -a_212^post71+a_212^0 == 0 /\ r_121^0-r_121^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post71 == 0 /\ rcd_56^0-rcd_56^post71 == 0 /\ -r_160^post71+r_160^0 == 0 /\ -a_234^post71+a_234^0 == 0 /\ temp_33^0-temp_33^post71 == 0 /\ t_24^0-t_24^post71 == 0 /\ x_17^0-x_17^post71 == 0 /\ -len_129^post71+len_129^0 == 0 /\ length_27^0-length_27^post71 == 0 /\ -head_15^post71+head_15^0 == 0 /\ -a_181^post71+a_181^0 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ -r_37^post71+r_37^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post71 == 0 /\ -y_20^post71+y_20^0 == 0), cost: 1
  72: l48 -> l49 : a_113^0'=a_113^post72, x_17^0'=x_17^post72, i_92^0'=i_92^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post72, a_257^0'=a_257^post72, length_27^0'=length_27^post72, temp_33^0'=temp_33^post72, x_126^0'=x_126^post72, i_105^0'=i_105^post72, rcd_56^0'=rcd_56^post72, a_181^0'=a_181^post72, x_SLAM_f_19^0'=x_SLAM_f_19^post72, t_24^0'=t_24^post72, f_167^0'=f_167^post72, r_121^0'=r_121^post72, x_172^0'=x_172^post72, i_28^0'=i_28^post72, result_11^0'=result_11^post72, a_234^0'=a_234^post72, len_180^0'=len_180^post72, temp0_29^0'=temp0_29^post72, head_30^0'=head_30^post72, r_37^0'=r_37^post72, a_144^0'=a_144^post72, x_21^0'=x_21^post72, len_129^0'=len_129^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, ct_18^0'=ct_18^post72, nondet_12^0'=nondet_12^post72, tmp_32^0'=tmp_32^post72, x_14^0'=x_14^post72, i_164^0'=i_164^post72, rcd_86^0'=rcd_86^post72, a_212^0'=a_212^post72, y_20^0'=y_20^post72, temp0_16^0'=temp0_16^post72, head_15^0'=head_15^post72, r_160^0'=r_160^post72, (x_21^0-x_21^post72 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ -y_20^post72+y_20^0 == 0 /\ -t_24^post72+t_24^0 == 0 /\ -a_144^post72+a_144^0 == 0 /\ f_167^0-f_167^post72 == 0 /\ a_257^0-a_257^post72 == 0 /\ -temp0_16^post72+temp0_16^0 == 0 /\ i_105^0-i_105^post72 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post72 == 0 /\ -x_14^post72+x_14^0 == 0 /\ a_181^0-a_181^post72 == 0 /\ -tmp_32^post72+tmp_32^0 == 0 /\ 1+x_172^0 <= 0 /\ -ct_18^post72+ct_18^0 == 0 /\ a_234^0-a_234^post72 == 0 /\ a_212^0-a_212^post72 == 0 /\ -r_121^post72+r_121^0 == 0 /\ a_113^0-a_113^post72 == 0 /\ -result_11^post72+result_11^0 == 0 /\ -i_28^post72+i_28^0 == 0 /\ -rcd_86^post72+rcd_86^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post72+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_180^post72+len_180^0 == 0 /\ -i_164^post72+i_164^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post72 == 0 /\ x_126^0-x_126^post72 == 0 /\ x_172^0-x_172^post72 == 0 /\ -r_160^post72+r_160^0 == 0 /\ i_92^0-i_92^post72 == 0 /\ rcd_56^0-rcd_56^post72 == 0 /\ -temp0_29^post72+temp0_29^0 == 0 /\ -len_129^post72+len_129^0 == 0 /\ -head_30^post72+head_30^0 == 0 /\ x_17^0-x_17^post72 == 0 /\ temp_33^0-temp_33^post72 == 0 /\ -r_37^post72+r_37^0 == 0 /\ length_27^0-length_27^post72 == 0 /\ -head_15^post72+head_15^0 == 0), cost: 1
  73: l49 -> l44 : a_113^0'=a_113^post73, x_17^0'=x_17^post73, i_92^0'=i_92^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post73, a_257^0'=a_257^post73, length_27^0'=length_27^post73, temp_33^0'=temp_33^post73, x_126^0'=x_126^post73, i_105^0'=i_105^post73, rcd_56^0'=rcd_56^post73, a_181^0'=a_181^post73, x_SLAM_f_19^0'=x_SLAM_f_19^post73, t_24^0'=t_24^post73, f_167^0'=f_167^post73, r_121^0'=r_121^post73, x_172^0'=x_172^post73, i_28^0'=i_28^post73, result_11^0'=result_11^post73, a_234^0'=a_234^post73, len_180^0'=len_180^post73, temp0_29^0'=temp0_29^post73, head_30^0'=head_30^post73, r_37^0'=r_37^post73, a_144^0'=a_144^post73, x_21^0'=x_21^post73, len_129^0'=len_129^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, ct_18^0'=ct_18^post73, nondet_12^0'=nondet_12^post73, tmp_32^0'=tmp_32^post73, x_14^0'=x_14^post73, i_164^0'=i_164^post73, rcd_86^0'=rcd_86^post73, a_212^0'=a_212^post73, y_20^0'=y_20^post73, temp0_16^0'=temp0_16^post73, head_15^0'=head_15^post73, r_160^0'=r_160^post73, (0 == 0 /\ x_14^0-x_14^post73 == 0 /\ a_181^0-a_181^post73 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_257^0-a_257^post73 == 0 /\ r_37^0-r_37^post73 == 0 /\ a_144^post73-a_181^0 <= 0 /\ len_180^0-len_129^post73 <= 0 /\ -tmp_32^post73+tmp_32^0 == 0 /\ f_167^0-f_167^post73 == 0 /\ r_121^0-r_121^post73 == 0 /\ i_28^0-i_28^post73 == 0 /\ t_24^0-t_24^post73 == 0 /\ -temp0_16^post73+temp0_16^0 == 0 /\ rcd_56^0-rcd_56^post73 == 0 /\ a_212^0-a_212^post73 == 0 /\ -x_21^post73+x_21^0 == 0 /\ -a_144^post73+a_181^0 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post73 == 0 /\ -temp0_29^post73+temp0_29^0 == 0 /\ -len_180^0+len_129^post73 <= 0 /\ len_180^0-len_180^post73 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -nondet_12^post73+nondet_12^0 == 0 /\ -rcd_86^post73+rcd_86^0 == 0 /\ a_113^0-a_113^post73 == 0 /\ -r_160^post73+r_160^0 == 0 /\ x_126^0-x_126^post73 == 0 /\ i_92^0-i_92^post73 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post73+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ length_27^0-length_27^post73 == 0 /\ -head_30^post73+head_30^0 == 0 /\ i_105^0-i_105^post73 == 0 /\ -i_164^post73+i_164^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post73 == 0 /\ -ct_18^post73+ct_18^0 == 0 /\ result_11^0-result_11^post73 == 0 /\ -y_20^post73+y_20^0 == 0 /\ -x_172^post73+x_172^0 == 0 /\ temp_33^0-temp_33^post73 == 0 /\ x_17^0-x_17^post73 == 0 /\ -head_15^post73+head_15^0 == 0 /\ -a_234^post73+a_234^0 == 0), cost: 1
  74: l44 -> l41 : a_113^0'=a_113^post74, x_17^0'=x_17^post74, i_92^0'=i_92^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post74, a_257^0'=a_257^post74, length_27^0'=length_27^post74, temp_33^0'=temp_33^post74, x_126^0'=x_126^post74, i_105^0'=i_105^post74, rcd_56^0'=rcd_56^post74, a_181^0'=a_181^post74, x_SLAM_f_19^0'=x_SLAM_f_19^post74, t_24^0'=t_24^post74, f_167^0'=f_167^post74, r_121^0'=r_121^post74, x_172^0'=x_172^post74, i_28^0'=i_28^post74, result_11^0'=result_11^post74, a_234^0'=a_234^post74, len_180^0'=len_180^post74, temp0_29^0'=temp0_29^post74, head_30^0'=head_30^post74, r_37^0'=r_37^post74, a_144^0'=a_144^post74, x_21^0'=x_21^post74, len_129^0'=len_129^post74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post74, ct_18^0'=ct_18^post74, nondet_12^0'=nondet_12^post74, tmp_32^0'=tmp_32^post74, x_14^0'=x_14^post74, i_164^0'=i_164^post74, rcd_86^0'=rcd_86^post74, a_212^0'=a_212^post74, y_20^0'=y_20^post74, temp0_16^0'=temp0_16^post74, head_15^0'=head_15^post74, r_160^0'=r_160^post74, (i_92^0-i_92^post74 == 0 /\ i_164^0-i_164^post74 == 0 /\ -nondet_12^post74+nondet_12^0 == 0 /\ -x_14^post74+x_14^0 == 0 /\ a_257^0-a_257^post74 == 0 /\ r_121^0-r_121^post74 == 0 /\ -temp0_16^post74+temp0_16^0 == 0 /\ head_30^0-head_30^post74 == 0 /\ -tmp_32^post74+tmp_32^0 == 0 /\ len_180^0-len_180^post74 == 0 /\ -temp0_29^post74+temp0_29^0 == 0 /\ -i_28^post74+i_28^0 == 0 /\ -rcd_86^post74+rcd_86^0 == 0 /\ a_113^0-a_113^post74 == 0 /\ a_181^0-a_181^post74 == 0 /\ x_21^0-x_21^post74 == 0 /\ x_126^0-x_126^post74 == 0 /\ result_11^0-result_11^post74 == 0 /\ -a_212^post74+a_212^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post74+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_105^0-i_105^post74 == 0 /\ f_167^0-f_167^post74 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post74 == 0 /\ temp_33^0-temp_33^post74 == 0 /\ t_24^0-t_24^post74 == 0 /\ rcd_56^0-rcd_56^post74 == 0 /\ -len_129^post74+len_129^0 == 0 /\ x_17^0-x_17^post74 == 0 /\ a_144^0-a_144^post74 == 0 /\ -r_37^post74+r_37^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post74 == 0 /\ -a_234^post74+a_234^0 == 0 /\ length_27^0-length_27^post74 == 0 /\ -y_20^post74+y_20^0 == 0 /\ -head_15^post74+head_15^0 == 0 /\ ct_18^0-ct_18^post74 == 0 /\ -x_172^post74+x_172^0 == 0 /\ r_160^0-r_160^post74 == 0), cost: 1
  75: l50 -> l51 : a_113^0'=a_113^post75, x_17^0'=x_17^post75, i_92^0'=i_92^post75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post75, a_257^0'=a_257^post75, length_27^0'=length_27^post75, temp_33^0'=temp_33^post75, x_126^0'=x_126^post75, i_105^0'=i_105^post75, rcd_56^0'=rcd_56^post75, a_181^0'=a_181^post75, x_SLAM_f_19^0'=x_SLAM_f_19^post75, t_24^0'=t_24^post75, f_167^0'=f_167^post75, r_121^0'=r_121^post75, x_172^0'=x_172^post75, i_28^0'=i_28^post75, result_11^0'=result_11^post75, a_234^0'=a_234^post75, len_180^0'=len_180^post75, temp0_29^0'=temp0_29^post75, head_30^0'=head_30^post75, r_37^0'=r_37^post75, a_144^0'=a_144^post75, x_21^0'=x_21^post75, len_129^0'=len_129^post75, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post75, ct_18^0'=ct_18^post75, nondet_12^0'=nondet_12^post75, tmp_32^0'=tmp_32^post75, x_14^0'=x_14^post75, i_164^0'=i_164^post75, rcd_86^0'=rcd_86^post75, a_212^0'=a_212^post75, y_20^0'=y_20^post75, temp0_16^0'=temp0_16^post75, head_15^0'=head_15^post75, r_160^0'=r_160^post75, (0 == 0 /\ tmp_32^0-tmp_32^post75 == 0 /\ a_113^0 <= 0 /\ -x_SLAM_f_19^post75+x_21^post75 <= 0 /\ -x_SLAM_f_19^post75+x_21^post75 == 0 /\ i_92^0-i_92^post75 == 0 /\ 1-len_129^0 <= 0 /\ -1+len_129^0 <= 0 /\ x_172^0-x_172^post75 == 0 /\ head_30^0-head_30^post75 == 0 /\ x_126^0-x_126^post75 == 0 /\ -f_167^post75+f_167^0 == 0 /\ x_17^post75-head_15^0 <= 0 /\ x_17^post75-head_15^0 == 0 /\ -t_24^post75+t_24^0 == 0 /\ r_121^0-r_121^post75 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post75 == 0 /\ -y_20^post75 <= 0 /\ -x_SLAM_f_19^post75+head_15^0 <= 0 /\ x_SLAM_f_19^post75-x_21^post75 <= 0 /\ -result_11^post75+result_11^0 == 0 /\ -temp0_16^post75+temp0_16^0 == 0 /\ length_27^0-length_27^post75 == 0 /\ -rcd_86^post75+rcd_86^0 == 0 /\ -a_113^0 <= 0 /\ -x_17^post75+head_15^0 <= 0 /\ -nondet_12^post75+nondet_12^0 == 0 /\ x_SLAM_f_19^post75-head_15^0 <= 0 /\ -len_180^post75+len_180^0 == 0 /\ x_SLAM_f_19^post75-x_17^post75 <= 0 /\ x_SLAM_f_19^post75-x_17^post75 == 0 /\ a_181^0-a_181^post75 == 0 /\ -a_212^post75+a_212^0 == 0 /\ y_20^post75-ct_18^post75 <= 0 /\ y_20^post75-ct_18^post75 == 0 /\ -i_28^post75+i_28^0 == 0 /\ a_113^0-a_113^post75 == 0 /\ -r_160^post75+r_160^0 == 0 /\ i_105^0-i_105^post75 == 0 /\ -i_164^post75+i_164^0 == 0 /\ a_257^0-a_257^post75 == 0 /\ y_20^post75 <= 0 /\ -r_37^post75+r_37^0 == 0 /\ temp0_29^0-temp0_29^post75 == 0 /\ x_21^post75-head_15^0 <= 0 /\ a_234^0-a_234^post75 == 0 /\ rcd_56^0-rcd_56^post75 == 0 /\ -x_SLAM_f_19^post75+x_17^post75 <= 0 /\ x_14^0 <= 0 /\ -y_20^post75+ct_18^post75 <= 0 /\ -head_15^post75+head_15^0 == 0 /\ -x_14^0 <= 0 /\ temp_33^0-temp_33^post75 == 0 /\ ct_18^post75 <= 0 /\ ct_18^post75 == 0 /\ -a_144^post75+a_144^0 == 0 /\ -ct_18^post75 <= 0 /\ -len_129^post75+len_129^0 == 0 /\ -x_21^post75+head_15^0 <= 0 /\ -x_14^post75+x_14^0 == 0), cost: 1
  79: l50 -> l53 : a_113^0'=a_113^post79, x_17^0'=x_17^post79, i_92^0'=i_92^post79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post79, a_257^0'=a_257^post79, length_27^0'=length_27^post79, temp_33^0'=temp_33^post79, x_126^0'=x_126^post79, i_105^0'=i_105^post79, rcd_56^0'=rcd_56^post79, a_181^0'=a_181^post79, x_SLAM_f_19^0'=x_SLAM_f_19^post79, t_24^0'=t_24^post79, f_167^0'=f_167^post79, r_121^0'=r_121^post79, x_172^0'=x_172^post79, i_28^0'=i_28^post79, result_11^0'=result_11^post79, a_234^0'=a_234^post79, len_180^0'=len_180^post79, temp0_29^0'=temp0_29^post79, head_30^0'=head_30^post79, r_37^0'=r_37^post79, a_144^0'=a_144^post79, x_21^0'=x_21^post79, len_129^0'=len_129^post79, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post79, ct_18^0'=ct_18^post79, nondet_12^0'=nondet_12^post79, tmp_32^0'=tmp_32^post79, x_14^0'=x_14^post79, i_164^0'=i_164^post79, rcd_86^0'=rcd_86^post79, a_212^0'=a_212^post79, y_20^0'=y_20^post79, temp0_16^0'=temp0_16^post79, head_15^0'=head_15^post79, r_160^0'=r_160^post79, (0 == 0 /\ -a_234^post79+a_234^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post79 == 0 /\ rcd_86^0-rcd_86^post79 == 0 /\ a_113^0-a_113^post79 == 0 /\ temp0_29^0-temp0_29^post79 == 0 /\ length_27^0-length_27^post79 == 0 /\ x_21^0-x_21^post79 == 0 /\ -i_164^post79+i_164^0 == 0 /\ -i_105^post79+i_105^0 == 0 /\ -temp0_16^post79+temp0_16^0 == 0 /\ -a_113^0 <= 0 /\ x_17^0-x_17^post79 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post79 == 0 /\ -a_212^post79+a_212^0 == 0 /\ a_181^0-a_181^post79 == 0 /\ -head_30^post79+head_30^0 == 0 /\ a_257^0-a_257^post79 == 0 /\ -ct_18^post79+ct_18^0 == 0 /\ -temp_33^post79+temp_33^0 == 0 /\ i_28^0-i_28^post79 == 0 /\ -r_37^post79+r_37^0 == 0 /\ x_172^0-x_172^post79 == 0 /\ -len_180^post79+len_180^0 == 0 /\ len_129^0-len_129^post79 == 0 /\ nondet_12^0-nondet_12^post79 == 0 /\ rcd_56^0-rcd_56^post79 == 0 /\ -t_24^post79+t_24^0 == 0 /\ result_11^0-result_11^post79 == 0 /\ -y_20^post79+y_20^0 == 0 /\ -tmp_32^post79+tmp_32^0 == 0 /\ -r_160^post79+r_160^0 == 0 /\ -a_144^post79+a_144^0 == 0 /\ i_92^0-i_92^post79 == 0 /\ -f_167^post79+f_167^0 == 0 /\ -x_14^post79+x_14^0 == 0), cost: 1
  76: l51 -> l52 : a_113^0'=a_113^post76, x_17^0'=x_17^post76, i_92^0'=i_92^post76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post76, a_257^0'=a_257^post76, length_27^0'=length_27^post76, temp_33^0'=temp_33^post76, x_126^0'=x_126^post76, i_105^0'=i_105^post76, rcd_56^0'=rcd_56^post76, a_181^0'=a_181^post76, x_SLAM_f_19^0'=x_SLAM_f_19^post76, t_24^0'=t_24^post76, f_167^0'=f_167^post76, r_121^0'=r_121^post76, x_172^0'=x_172^post76, i_28^0'=i_28^post76, result_11^0'=result_11^post76, a_234^0'=a_234^post76, len_180^0'=len_180^post76, temp0_29^0'=temp0_29^post76, head_30^0'=head_30^post76, r_37^0'=r_37^post76, a_144^0'=a_144^post76, x_21^0'=x_21^post76, len_129^0'=len_129^post76, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post76, ct_18^0'=ct_18^post76, nondet_12^0'=nondet_12^post76, tmp_32^0'=tmp_32^post76, x_14^0'=x_14^post76, i_164^0'=i_164^post76, rcd_86^0'=rcd_86^post76, a_212^0'=a_212^post76, y_20^0'=y_20^post76, temp0_16^0'=temp0_16^post76, head_15^0'=head_15^post76, r_160^0'=r_160^post76, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post76 == 0 /\ x_14^0-x_14^post76 == 0 /\ -f_167^post76+f_167^0 == 0 /\ i_92^0-i_92^post76 == 0 /\ a_113^0-a_113^post76 == 0 /\ r_37^0-r_37^post76 == 0 /\ -a_144^post76+a_144^0 == 0 /\ length_27^0-length_27^post76 == 0 /\ -tmp_32^post76+tmp_32^0 == 0 /\ -x_21^post76+x_21^0 == 0 /\ -head_15^post76+head_15^0 == 0 /\ x_172^0-x_172^post76 == 0 /\ -temp0_16^post76+temp0_16^0 == 0 /\ a_212^0-a_212^post76 == 0 /\ -i_164^post76+i_164^0 == 0 /\ -r_121^post76+r_121^0 == 0 /\ -x_126^post76+x_126^0 == 0 /\ -rcd_86^post76+rcd_86^0 == 0 /\ x_17^0-x_17^post76 == 0 /\ -nondet_12^post76+nondet_12^0 == 0 /\ -x_SLAM_f_19^post76+x_SLAM_f_19^0 == 0 /\ i_105^0-i_105^post76 == 0 /\ a_181^0-a_181^post76 == 0 /\ a_257^0-a_257^post76 == 0 /\ -head_30^post76+head_30^0 == 0 /\ -temp_33^post76+temp_33^0 == 0 /\ temp0_29^0-temp0_29^post76 == 0 /\ 1-head_15^0 <= 0 /\ a_234^0-a_234^post76 == 0 /\ -result_11^post76+result_11^0 == 0 /\ -ct_18^post76+ct_18^0 == 0 /\ i_28^0-i_28^post76 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post76+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_129^0-len_129^post76 == 0 /\ rcd_56^0-rcd_56^post76 == 0 /\ -t_24^post76+t_24^0 == 0 /\ -r_160^post76+r_160^0 == 0 /\ -y_20^post76+y_20^0 == 0 /\ -len_180^post76+len_180^0 == 0), cost: 1
  77: l51 -> l52 : a_113^0'=a_113^post77, x_17^0'=x_17^post77, i_92^0'=i_92^post77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post77, a_257^0'=a_257^post77, length_27^0'=length_27^post77, temp_33^0'=temp_33^post77, x_126^0'=x_126^post77, i_105^0'=i_105^post77, rcd_56^0'=rcd_56^post77, a_181^0'=a_181^post77, x_SLAM_f_19^0'=x_SLAM_f_19^post77, t_24^0'=t_24^post77, f_167^0'=f_167^post77, r_121^0'=r_121^post77, x_172^0'=x_172^post77, i_28^0'=i_28^post77, result_11^0'=result_11^post77, a_234^0'=a_234^post77, len_180^0'=len_180^post77, temp0_29^0'=temp0_29^post77, head_30^0'=head_30^post77, r_37^0'=r_37^post77, a_144^0'=a_144^post77, x_21^0'=x_21^post77, len_129^0'=len_129^post77, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post77, ct_18^0'=ct_18^post77, nondet_12^0'=nondet_12^post77, tmp_32^0'=tmp_32^post77, x_14^0'=x_14^post77, i_164^0'=i_164^post77, rcd_86^0'=rcd_86^post77, a_212^0'=a_212^post77, y_20^0'=y_20^post77, temp0_16^0'=temp0_16^post77, head_15^0'=head_15^post77, r_160^0'=r_160^post77, (x_126^0-x_126^post77 == 0 /\ i_92^0-i_92^post77 == 0 /\ r_37^0-r_37^post77 == 0 /\ length_27^0-length_27^post77 == 0 /\ r_121^0-r_121^post77 == 0 /\ i_28^0-i_28^post77 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post77 == 0 /\ -x_21^post77+x_21^0 == 0 /\ temp_33^0-temp_33^post77 == 0 /\ x_17^0-x_17^post77 == 0 /\ -temp0_29^post77+temp0_29^0 == 0 /\ -temp0_16^post77+temp0_16^0 == 0 /\ -rcd_86^post77+rcd_86^0 == 0 /\ 1+head_15^0 <= 0 /\ len_180^0-len_180^post77 == 0 /\ -nondet_12^post77+nondet_12^0 == 0 /\ y_20^0-y_20^post77 == 0 /\ a_181^0-a_181^post77 == 0 /\ -r_160^post77+r_160^0 == 0 /\ -ct_18^post77+ct_18^0 == 0 /\ -a_257^post77+a_257^0 == 0 /\ -head_30^post77+head_30^0 == 0 /\ result_11^0-result_11^post77 == 0 /\ -i_164^post77+i_164^0 == 0 /\ f_167^0-f_167^post77 == 0 /\ -a_212^post77+a_212^0 == 0 /\ i_105^0-i_105^post77 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post77+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ t_24^0-t_24^post77 == 0 /\ rcd_56^0-rcd_56^post77 == 0 /\ -tmp_32^post77+tmp_32^0 == 0 /\ -x_14^post77+x_14^0 == 0 /\ -head_15^post77+head_15^0 == 0 /\ -a_234^post77+a_234^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post77 == 0 /\ -len_129^post77+len_129^0 == 0 /\ a_113^0-a_113^post77 == 0 /\ -a_144^post77+a_144^0 == 0 /\ -x_172^post77+x_172^0 == 0), cost: 1
  78: l52 -> l20 : a_113^0'=a_113^post78, x_17^0'=x_17^post78, i_92^0'=i_92^post78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post78, a_257^0'=a_257^post78, length_27^0'=length_27^post78, temp_33^0'=temp_33^post78, x_126^0'=x_126^post78, i_105^0'=i_105^post78, rcd_56^0'=rcd_56^post78, a_181^0'=a_181^post78, x_SLAM_f_19^0'=x_SLAM_f_19^post78, t_24^0'=t_24^post78, f_167^0'=f_167^post78, r_121^0'=r_121^post78, x_172^0'=x_172^post78, i_28^0'=i_28^post78, result_11^0'=result_11^post78, a_234^0'=a_234^post78, len_180^0'=len_180^post78, temp0_29^0'=temp0_29^post78, head_30^0'=head_30^post78, r_37^0'=r_37^post78, a_144^0'=a_144^post78, x_21^0'=x_21^post78, len_129^0'=len_129^post78, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post78, ct_18^0'=ct_18^post78, nondet_12^0'=nondet_12^post78, tmp_32^0'=tmp_32^post78, x_14^0'=x_14^post78, i_164^0'=i_164^post78, rcd_86^0'=rcd_86^post78, a_212^0'=a_212^post78, y_20^0'=y_20^post78, temp0_16^0'=temp0_16^post78, head_15^0'=head_15^post78, r_160^0'=r_160^post78, (-temp0_29^post78+temp0_29^0 == 0 /\ i_92^0-i_92^post78 == 0 /\ -len_129^post78+len_129^0 == 0 /\ x_126^0-x_126^post78 == 0 /\ -x_172^post78+x_172^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_113^0-a_113^post78 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post78 == 0 /\ r_121^0-r_121^post78 == 0 /\ -a_234^post78+a_234^0 == 0 /\ -head_15^post78+head_15^0 == 0 /\ -tmp_32^post78+tmp_32^0 == 0 /\ result_11^0-result_11^post78 == 0 /\ length_27^0-length_27^post78 == 0 /\ i_105^0-i_105^post78 == 0 /\ a_144^0-a_144^post78 == 0 /\ f_167^0-f_167^post78 == 0 /\ -rcd_86^post78+rcd_86^0 == 0 /\ y_20^0-y_20^post78 == 0 /\ -nondet_12^post78+nondet_12^0 == 0 /\ -i_164^post78+i_164^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_212^post78+a_212^0 == 0 /\ x_17^0-x_17^post78 == 0 /\ -temp0_16^post78+temp0_16^0 == 0 /\ temp_33^0-temp_33^post78 == 0 /\ -x_21^post78+x_21^0 == 0 /\ -a_257^post78+a_257^0 == 0 /\ -head_30^post78+head_30^0 == 0 /\ -ct_18^post78+ct_18^0 == 0 /\ a_181^0-a_181^post78 == 0 /\ -r_37^post78+r_37^0 == 0 /\ i_28^0-i_28^post78 == 0 /\ t_24^0-t_24^post78 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post78 == 0 /\ rcd_56^0-rcd_56^post78 == 0 /\ -x_14^post78+x_14^0 == 0 /\ -len_180^post78+len_180^0 == 0 /\ -r_160^post78+r_160^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post78 == 0), cost: 1
  80: l53 -> l54 : a_113^0'=a_113^post80, x_17^0'=x_17^post80, i_92^0'=i_92^post80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post80, a_257^0'=a_257^post80, length_27^0'=length_27^post80, temp_33^0'=temp_33^post80, x_126^0'=x_126^post80, i_105^0'=i_105^post80, rcd_56^0'=rcd_56^post80, a_181^0'=a_181^post80, x_SLAM_f_19^0'=x_SLAM_f_19^post80, t_24^0'=t_24^post80, f_167^0'=f_167^post80, r_121^0'=r_121^post80, x_172^0'=x_172^post80, i_28^0'=i_28^post80, result_11^0'=result_11^post80, a_234^0'=a_234^post80, len_180^0'=len_180^post80, temp0_29^0'=temp0_29^post80, head_30^0'=head_30^post80, r_37^0'=r_37^post80, a_144^0'=a_144^post80, x_21^0'=x_21^post80, len_129^0'=len_129^post80, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post80, ct_18^0'=ct_18^post80, nondet_12^0'=nondet_12^post80, tmp_32^0'=tmp_32^post80, x_14^0'=x_14^post80, i_164^0'=i_164^post80, rcd_86^0'=rcd_86^post80, a_212^0'=a_212^post80, y_20^0'=y_20^post80, temp0_16^0'=temp0_16^post80, head_15^0'=head_15^post80, r_160^0'=r_160^post80, (a_113^0-a_113^post80 == 0 /\ i_105^0-i_105^post80 == 0 /\ a_181^0-a_181^post80 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post80 == 0 /\ -head_15^post80+head_15^0 == 0 /\ -x_172^post80+x_172^0 == 0 /\ a_257^0-a_257^post80 == 0 /\ x_21^0-x_21^post80 == 0 /\ a_234^0-a_234^post80 == 0 /\ t_24^0-t_24^post80 == 0 /\ -rcd_86^post80+rcd_86^0 == 0 /\ len_129^0-len_129^post80 == 0 /\ f_167^0-f_167^post80 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post80 == 0 /\ rcd_56^0-rcd_56^post80 == 0 /\ -r_121^post80+r_121^0 == 0 /\ -i_164^post80+i_164^0 == 0 /\ x_17^0-x_17^post80 == 0 /\ -temp0_29^post80+temp0_29^0 == 0 /\ -a_212^post80+a_212^0 == 0 /\ -head_30^post80+head_30^0 == 0 /\ -temp0_16^post80+temp0_16^0 == 0 /\ -ct_18^post80+ct_18^0 == 0 /\ x_126^0-x_126^post80 == 0 /\ i_92^0-i_92^post80 == 0 /\ -r_37^post80+r_37^0 == 0 /\ -x_14^post80+x_14^0 == 0 /\ i_28^0-i_28^post80 == 0 /\ length_27^0-length_27^post80 == 0 /\ -y_20^post80+y_20^0 == 0 /\ nondet_12^0-nondet_12^post80 == 0 /\ -temp_33^post80+temp_33^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post80+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_160^post80+r_160^0 == 0 /\ len_180^0-len_180^post80 == 0 /\ 1-x_14^0 <= 0 /\ result_11^0-result_11^post80 == 0 /\ -a_144^post80+a_144^0 == 0 /\ -tmp_32^post80+tmp_32^0 == 0), cost: 1
  81: l53 -> l54 : a_113^0'=a_113^post81, x_17^0'=x_17^post81, i_92^0'=i_92^post81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post81, a_257^0'=a_257^post81, length_27^0'=length_27^post81, temp_33^0'=temp_33^post81, x_126^0'=x_126^post81, i_105^0'=i_105^post81, rcd_56^0'=rcd_56^post81, a_181^0'=a_181^post81, x_SLAM_f_19^0'=x_SLAM_f_19^post81, t_24^0'=t_24^post81, f_167^0'=f_167^post81, r_121^0'=r_121^post81, x_172^0'=x_172^post81, i_28^0'=i_28^post81, result_11^0'=result_11^post81, a_234^0'=a_234^post81, len_180^0'=len_180^post81, temp0_29^0'=temp0_29^post81, head_30^0'=head_30^post81, r_37^0'=r_37^post81, a_144^0'=a_144^post81, x_21^0'=x_21^post81, len_129^0'=len_129^post81, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post81, ct_18^0'=ct_18^post81, nondet_12^0'=nondet_12^post81, tmp_32^0'=tmp_32^post81, x_14^0'=x_14^post81, i_164^0'=i_164^post81, rcd_86^0'=rcd_86^post81, a_212^0'=a_212^post81, y_20^0'=y_20^post81, temp0_16^0'=temp0_16^post81, head_15^0'=head_15^post81, r_160^0'=r_160^post81, (-r_121^post81+r_121^0 == 0 /\ -len_129^post81+len_129^0 == 0 /\ 1+x_14^0 <= 0 /\ -head_15^post81+head_15^0 == 0 /\ -temp0_29^post81+temp0_29^0 == 0 /\ i_105^0-i_105^post81 == 0 /\ t_24^0-t_24^post81 == 0 /\ a_144^0-a_144^post81 == 0 /\ a_234^0-a_234^post81 == 0 /\ -x_172^post81+x_172^0 == 0 /\ -nondet_12^post81+nondet_12^0 == 0 /\ -rcd_86^post81+rcd_86^0 == 0 /\ y_20^0-y_20^post81 == 0 /\ -temp0_16^post81+temp0_16^0 == 0 /\ temp_33^0-temp_33^post81 == 0 /\ -rcd_56^post81+rcd_56^0 == 0 /\ -x_21^post81+x_21^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post81 == 0 /\ -i_164^post81+i_164^0 == 0 /\ a_113^0-a_113^post81 == 0 /\ -head_30^post81+head_30^0 == 0 /\ length_27^0-length_27^post81 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post81 == 0 /\ -ct_18^post81+ct_18^0 == 0 /\ -a_212^post81+a_212^0 == 0 /\ -r_37^post81+r_37^0 == 0 /\ -x_17^post81+x_17^0 == 0 /\ i_28^0-i_28^post81 == 0 /\ result_11^0-result_11^post81 == 0 /\ -r_160^post81+r_160^0 == 0 /\ f_167^0-f_167^post81 == 0 /\ -tmp_32^post81+tmp_32^0 == 0 /\ len_180^0-len_180^post81 == 0 /\ a_181^0-a_181^post81 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post81+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_14^post81+x_14^0 == 0 /\ a_257^0-a_257^post81 == 0 /\ x_126^0-x_126^post81 == 0 /\ i_92^0-i_92^post81 == 0), cost: 1
  82: l54 -> l55 : a_113^0'=a_113^post82, x_17^0'=x_17^post82, i_92^0'=i_92^post82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post82, a_257^0'=a_257^post82, length_27^0'=length_27^post82, temp_33^0'=temp_33^post82, x_126^0'=x_126^post82, i_105^0'=i_105^post82, rcd_56^0'=rcd_56^post82, a_181^0'=a_181^post82, x_SLAM_f_19^0'=x_SLAM_f_19^post82, t_24^0'=t_24^post82, f_167^0'=f_167^post82, r_121^0'=r_121^post82, x_172^0'=x_172^post82, i_28^0'=i_28^post82, result_11^0'=result_11^post82, a_234^0'=a_234^post82, len_180^0'=len_180^post82, temp0_29^0'=temp0_29^post82, head_30^0'=head_30^post82, r_37^0'=r_37^post82, a_144^0'=a_144^post82, x_21^0'=x_21^post82, len_129^0'=len_129^post82, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post82, ct_18^0'=ct_18^post82, nondet_12^0'=nondet_12^post82, tmp_32^0'=tmp_32^post82, x_14^0'=x_14^post82, i_164^0'=i_164^post82, rcd_86^0'=rcd_86^post82, a_212^0'=a_212^post82, y_20^0'=y_20^post82, temp0_16^0'=temp0_16^post82, head_15^0'=head_15^post82, r_160^0'=r_160^post82, (a_257^0-a_257^post82 == 0 /\ a_144^0-a_144^post82 == 0 /\ temp0_29^0-temp0_29^post82 == 0 /\ -head_15^post82+head_15^0 == 0 /\ head_30^0-head_30^post82 == 0 /\ t_24^0-t_24^post82 == 0 /\ -rcd_86^post82+rcd_86^0 == 0 /\ -a_234^post82+a_234^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post82 == 0 /\ rcd_56^0-rcd_56^post82 == 0 /\ -i_105^post82+i_105^0 == 0 /\ -a_212^post82+a_212^0 == 0 /\ i_164^0-i_164^post82 == 0 /\ -r_37^post82+r_37^0 == 0 /\ -temp0_16^post82+temp0_16^0 == 0 /\ -x_14^post82+x_14^0 == 0 /\ x_126^0-x_126^post82 == 0 /\ -x_21^post82+x_21^0 == 0 /\ a_113^0-a_113^post82 == 0 /\ i_28^0-i_28^post82 == 0 /\ r_121^0-r_121^post82 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post82 == 0 /\ -y_20^post82+y_20^0 == 0 /\ 1-head_15^0 <= 0 /\ -nondet_12^post82+nondet_12^0 == 0 /\ len_129^0-len_129^post82 == 0 /\ -length_27^post82+length_27^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post82 == 0 /\ -len_180^post82+len_180^0 == 0 /\ x_172^0-x_172^post82 == 0 /\ -a_181^post82+a_181^0 == 0 /\ result_11^0-result_11^post82 == 0 /\ -tmp_32^post82+tmp_32^0 == 0 /\ temp_33^0-temp_33^post82 == 0 /\ x_17^0-x_17^post82 == 0 /\ -f_167^post82+f_167^0 == 0 /\ -ct_18^post82+ct_18^0 == 0 /\ -r_160^post82+r_160^0 == 0 /\ i_92^0-i_92^post82 == 0), cost: 1
  83: l54 -> l55 : a_113^0'=a_113^post83, x_17^0'=x_17^post83, i_92^0'=i_92^post83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post83, a_257^0'=a_257^post83, length_27^0'=length_27^post83, temp_33^0'=temp_33^post83, x_126^0'=x_126^post83, i_105^0'=i_105^post83, rcd_56^0'=rcd_56^post83, a_181^0'=a_181^post83, x_SLAM_f_19^0'=x_SLAM_f_19^post83, t_24^0'=t_24^post83, f_167^0'=f_167^post83, r_121^0'=r_121^post83, x_172^0'=x_172^post83, i_28^0'=i_28^post83, result_11^0'=result_11^post83, a_234^0'=a_234^post83, len_180^0'=len_180^post83, temp0_29^0'=temp0_29^post83, head_30^0'=head_30^post83, r_37^0'=r_37^post83, a_144^0'=a_144^post83, x_21^0'=x_21^post83, len_129^0'=len_129^post83, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post83, ct_18^0'=ct_18^post83, nondet_12^0'=nondet_12^post83, tmp_32^0'=tmp_32^post83, x_14^0'=x_14^post83, i_164^0'=i_164^post83, rcd_86^0'=rcd_86^post83, a_212^0'=a_212^post83, y_20^0'=y_20^post83, temp0_16^0'=temp0_16^post83, head_15^0'=head_15^post83, r_160^0'=r_160^post83, (x_17^0-x_17^post83 == 0 /\ -head_15^post83+head_15^0 == 0 /\ temp0_29^0-temp0_29^post83 == 0 /\ -rcd_86^post83+rcd_86^0 == 0 /\ t_24^0-t_24^post83 == 0 /\ i_164^0-i_164^post83 == 0 /\ -a_212^post83+a_212^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post83 == 0 /\ 1+head_15^0 <= 0 /\ rcd_56^0-rcd_56^post83 == 0 /\ -i_105^post83+i_105^0 == 0 /\ -x_14^post83+x_14^0 == 0 /\ -y_20^post83+y_20^0 == 0 /\ a_113^0-a_113^post83 == 0 /\ r_121^0-r_121^post83 == 0 /\ -temp0_16^post83+temp0_16^0 == 0 /\ -r_37^post83+r_37^0 == 0 /\ ct_18^0-ct_18^post83 == 0 /\ a_234^0-a_234^post83 == 0 /\ len_129^0-len_129^post83 == 0 /\ -length_27^post83+length_27^0 == 0 /\ -nondet_12^post83+nondet_12^0 == 0 /\ -a_144^post83+a_144^0 == 0 /\ head_30^0-head_30^post83 == 0 /\ -len_180^post83+len_180^0 == 0 /\ -i_28^post83+i_28^0 == 0 /\ result_11^0-result_11^post83 == 0 /\ x_172^0-x_172^post83 == 0 /\ -f_167^post83+f_167^0 == 0 /\ -r_160^post83+r_160^0 == 0 /\ x_21^0-x_21^post83 == 0 /\ i_92^0-i_92^post83 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post83 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post83+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_181^0-a_181^post83 == 0 /\ temp_33^0-temp_33^post83 == 0 /\ a_257^0-a_257^post83 == 0 /\ x_126^0-x_126^post83 == 0 /\ -tmp_32^post83+tmp_32^0 == 0), cost: 1
  84: l55 -> l56 : a_113^0'=a_113^post84, x_17^0'=x_17^post84, i_92^0'=i_92^post84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post84, a_257^0'=a_257^post84, length_27^0'=length_27^post84, temp_33^0'=temp_33^post84, x_126^0'=x_126^post84, i_105^0'=i_105^post84, rcd_56^0'=rcd_56^post84, a_181^0'=a_181^post84, x_SLAM_f_19^0'=x_SLAM_f_19^post84, t_24^0'=t_24^post84, f_167^0'=f_167^post84, r_121^0'=r_121^post84, x_172^0'=x_172^post84, i_28^0'=i_28^post84, result_11^0'=result_11^post84, a_234^0'=a_234^post84, len_180^0'=len_180^post84, temp0_29^0'=temp0_29^post84, head_30^0'=head_30^post84, r_37^0'=r_37^post84, a_144^0'=a_144^post84, x_21^0'=x_21^post84, len_129^0'=len_129^post84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post84, ct_18^0'=ct_18^post84, nondet_12^0'=nondet_12^post84, tmp_32^0'=tmp_32^post84, x_14^0'=x_14^post84, i_164^0'=i_164^post84, rcd_86^0'=rcd_86^post84, a_212^0'=a_212^post84, y_20^0'=y_20^post84, temp0_16^0'=temp0_16^post84, head_15^0'=head_15^post84, r_160^0'=r_160^post84, (a_257^0-a_257^post84 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post84+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_121^post84+r_121^0 == 0 /\ -head_15^post84+head_15^0 == 0 /\ 1-x_126^0 <= 0 /\ -len_129^post84+len_129^0 == 0 /\ -len_180^post84+len_180^0 == 0 /\ i_28^0-i_28^post84 == 0 /\ -rcd_86^post84+rcd_86^0 == 0 /\ t_24^0-t_24^post84 == 0 /\ x_14^0-x_14^post84 == 0 /\ r_37^0-r_37^post84 == 0 /\ x_172^0-x_172^post84 == 0 /\ f_167^0-f_167^post84 == 0 /\ -x_21^post84+x_21^0 == 0 /\ -a_212^post84+a_212^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post84 == 0 /\ -i_164^post84+i_164^0 == 0 /\ -temp0_16^post84+temp0_16^0 == 0 /\ -rcd_56^post84+rcd_56^0 == 0 /\ -head_30^post84+head_30^0 == 0 /\ a_113^0-a_113^post84 == 0 /\ temp0_29^0-temp0_29^post84 == 0 /\ a_234^0-a_234^post84 == 0 /\ i_105^0-i_105^post84 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post84 == 0 /\ -nondet_12^post84+nondet_12^0 == 0 /\ length_27^0-length_27^post84 == 0 /\ -y_20^post84+y_20^0 == 0 /\ -r_160^post84+r_160^0 == 0 /\ -a_144^post84+a_144^0 == 0 /\ a_181^0-a_181^post84 == 0 /\ temp_33^0-temp_33^post84 == 0 /\ -result_11^post84+result_11^0 == 0 /\ -tmp_32^post84+tmp_32^0 == 0 /\ x_126^0-x_126^post84 == 0 /\ x_17^0-x_17^post84 == 0 /\ -ct_18^post84+ct_18^0 == 0 /\ i_92^0-i_92^post84 == 0), cost: 1
  85: l55 -> l56 : a_113^0'=a_113^post85, x_17^0'=x_17^post85, i_92^0'=i_92^post85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post85, a_257^0'=a_257^post85, length_27^0'=length_27^post85, temp_33^0'=temp_33^post85, x_126^0'=x_126^post85, i_105^0'=i_105^post85, rcd_56^0'=rcd_56^post85, a_181^0'=a_181^post85, x_SLAM_f_19^0'=x_SLAM_f_19^post85, t_24^0'=t_24^post85, f_167^0'=f_167^post85, r_121^0'=r_121^post85, x_172^0'=x_172^post85, i_28^0'=i_28^post85, result_11^0'=result_11^post85, a_234^0'=a_234^post85, len_180^0'=len_180^post85, temp0_29^0'=temp0_29^post85, head_30^0'=head_30^post85, r_37^0'=r_37^post85, a_144^0'=a_144^post85, x_21^0'=x_21^post85, len_129^0'=len_129^post85, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post85, ct_18^0'=ct_18^post85, nondet_12^0'=nondet_12^post85, tmp_32^0'=tmp_32^post85, x_14^0'=x_14^post85, i_164^0'=i_164^post85, rcd_86^0'=rcd_86^post85, a_212^0'=a_212^post85, y_20^0'=y_20^post85, temp0_16^0'=temp0_16^post85, head_15^0'=head_15^post85, r_160^0'=r_160^post85, (length_27^0-length_27^post85 == 0 /\ -rcd_86^post85+rcd_86^0 == 0 /\ temp_33^0-temp_33^post85 == 0 /\ r_121^0-r_121^post85 == 0 /\ x_17^0-x_17^post85 == 0 /\ i_28^0-i_28^post85 == 0 /\ t_24^0-t_24^post85 == 0 /\ -a_234^post85+a_234^0 == 0 /\ -i_164^post85+i_164^0 == 0 /\ -temp0_29^post85+temp0_29^0 == 0 /\ -r_160^post85+r_160^0 == 0 /\ x_14^0-x_14^post85 == 0 /\ -x_172^post85+x_172^0 == 0 /\ -a_181^post85+a_181^0 == 0 /\ -len_129^post85+len_129^0 == 0 /\ -head_30^post85+head_30^0 == 0 /\ result_11^0-result_11^post85 == 0 /\ f_167^0-f_167^post85 == 0 /\ -a_212^post85+a_212^0 == 0 /\ len_180^0-len_180^post85 == 0 /\ -head_15^post85+head_15^0 == 0 /\ x_126^0-x_126^post85 == 0 /\ i_92^0-i_92^post85 == 0 /\ -tmp_32^post85+tmp_32^0 == 0 /\ -nondet_12^post85+nondet_12^0 == 0 /\ -x_21^post85+x_21^0 == 0 /\ -y_20^post85+y_20^0 == 0 /\ i_105^0-i_105^post85 == 0 /\ temp0_16^0-temp0_16^post85 == 0 /\ a_113^0-a_113^post85 == 0 /\ -a_144^post85+a_144^0 == 0 /\ r_37^0-r_37^post85 == 0 /\ -ct_18^post85+ct_18^0 == 0 /\ 1+x_126^0 <= 0 /\ rcd_56^0-rcd_56^post85 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post85 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post85 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post85+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_257^0-a_257^post85 == 0), cost: 1
  86: l56 -> l41 : a_113^0'=a_113^post86, x_17^0'=x_17^post86, i_92^0'=i_92^post86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post86, a_257^0'=a_257^post86, length_27^0'=length_27^post86, temp_33^0'=temp_33^post86, x_126^0'=x_126^post86, i_105^0'=i_105^post86, rcd_56^0'=rcd_56^post86, a_181^0'=a_181^post86, x_SLAM_f_19^0'=x_SLAM_f_19^post86, t_24^0'=t_24^post86, f_167^0'=f_167^post86, r_121^0'=r_121^post86, x_172^0'=x_172^post86, i_28^0'=i_28^post86, result_11^0'=result_11^post86, a_234^0'=a_234^post86, len_180^0'=len_180^post86, temp0_29^0'=temp0_29^post86, head_30^0'=head_30^post86, r_37^0'=r_37^post86, a_144^0'=a_144^post86, x_21^0'=x_21^post86, len_129^0'=len_129^post86, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post86, ct_18^0'=ct_18^post86, nondet_12^0'=nondet_12^post86, tmp_32^0'=tmp_32^post86, x_14^0'=x_14^post86, i_164^0'=i_164^post86, rcd_86^0'=rcd_86^post86, a_212^0'=a_212^post86, y_20^0'=y_20^post86, temp0_16^0'=temp0_16^post86, head_15^0'=head_15^post86, r_160^0'=r_160^post86, (-head_15^post86+head_15^0 == 0 /\ -i_164^post86+i_164^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ length_27^0-length_27^post86 == 0 /\ -a_181^post86+a_181^0 == 0 /\ tmp_32^0-tmp_32^post86 == 0 /\ len_180^0-len_180^post86 == 0 /\ -rcd_86^post86+rcd_86^0 == 0 /\ a_113^0-a_113^post86 == 0 /\ -temp0_29^post86+temp0_29^0 == 0 /\ -a_212^post86+a_212^0 == 0 /\ -x_172^post86+x_172^0 == 0 /\ x_126^0-x_126^post86 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post86 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ f_167^0-f_167^post86 == 0 /\ a_257^0-a_257^post86 == 0 /\ i_92^0-i_92^post86 == 0 /\ -a_234^post86+a_234^0 == 0 /\ result_11^0-result_11^post86 == 0 /\ -r_37^post86+r_37^0 == 0 /\ -x_14^post86+x_14^0 == 0 /\ -y_20^post86+y_20^0 == 0 /\ x_17^0-x_17^post86 == 0 /\ -temp0_16^post86+temp0_16^0 == 0 /\ t_24^0-t_24^post86 == 0 /\ ct_18^0-ct_18^post86 == 0 /\ len_129^0-len_129^post86 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post86 == 0 /\ -a_144^post86+a_144^0 == 0 /\ -nondet_12^post86+nondet_12^0 == 0 /\ -i_28^post86+i_28^0 == 0 /\ -r_160^post86+r_160^0 == 0 /\ x_21^0-x_21^post86 == 0 /\ head_30^0-head_30^post86 == 0 /\ i_105^0-i_105^post86 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post86 == 0 /\ rcd_56^0-rcd_56^post86 == 0 /\ r_121^0-r_121^post86 == 0 /\ temp_33^0-temp_33^post86 == 0), cost: 1
  87: l57 -> l58 : a_113^0'=a_113^post87, x_17^0'=x_17^post87, i_92^0'=i_92^post87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post87, a_257^0'=a_257^post87, length_27^0'=length_27^post87, temp_33^0'=temp_33^post87, x_126^0'=x_126^post87, i_105^0'=i_105^post87, rcd_56^0'=rcd_56^post87, a_181^0'=a_181^post87, x_SLAM_f_19^0'=x_SLAM_f_19^post87, t_24^0'=t_24^post87, f_167^0'=f_167^post87, r_121^0'=r_121^post87, x_172^0'=x_172^post87, i_28^0'=i_28^post87, result_11^0'=result_11^post87, a_234^0'=a_234^post87, len_180^0'=len_180^post87, temp0_29^0'=temp0_29^post87, head_30^0'=head_30^post87, r_37^0'=r_37^post87, a_144^0'=a_144^post87, x_21^0'=x_21^post87, len_129^0'=len_129^post87, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post87, ct_18^0'=ct_18^post87, nondet_12^0'=nondet_12^post87, tmp_32^0'=tmp_32^post87, x_14^0'=x_14^post87, i_164^0'=i_164^post87, rcd_86^0'=rcd_86^post87, a_212^0'=a_212^post87, y_20^0'=y_20^post87, temp0_16^0'=temp0_16^post87, head_15^0'=head_15^post87, r_160^0'=r_160^post87, (0 == 0 /\ length_27^0-length_27^post87 == 0 /\ -i_164^post87+i_164^0 == 0 /\ -r_121^post87+r_121^0 == 0 /\ len_129^0-len_129^post87 == 0 /\ -len_180^post87+len_180^0 == 0 /\ tmp_32^0-tmp_32^post87 == 0 /\ -x_SLAM_f_19^post87+x_SLAM_f_19^0 == 0 /\ a_113^0-a_113^post87 == 0 /\ -a_212^post87+a_212^0 == 0 /\ x_172^0-x_172^post87 == 0 /\ f_167^0-f_167^post87 == 0 /\ rcd_86^0-rcd_86^post87 == 0 /\ i_92^0-i_92^post87 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post87 == 0 /\ a_181^0-a_181^post87 == 0 /\ a_257^0-a_257^post87 == 0 /\ -y_20^post87+y_20^0 == 0 /\ x_17^0-x_17^post87 == 0 /\ temp0_29^0-temp0_29^post87 == 0 /\ -a_144^post87+a_144^0 == 0 /\ -t_24^post87+t_24^0 == 0 /\ -i_28^0 <= 0 /\ -result_11^post87+result_11^0 == 0 /\ a_234^0-a_234^post87 == 0 /\ -x_126^post87+x_126^0 == 0 /\ -nondet_12^post87+nondet_12^0 == 0 /\ -x_14^post87+x_14^0 == 0 /\ -temp0_16^post87+temp0_16^0 == 0 /\ ct_18^0-ct_18^post87 == 0 /\ head_30^0-head_30^post87 == 0 /\ x_21^0-x_21^post87 == 0 /\ -temp_33^post87+temp_33^0 == 0 /\ -i_28^post87+i_28^0 == 0 /\ rcd_56^0-rcd_56^post87 == 0), cost: 1
  88: l58 -> l59 : a_113^0'=a_113^post88, x_17^0'=x_17^post88, i_92^0'=i_92^post88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post88, a_257^0'=a_257^post88, length_27^0'=length_27^post88, temp_33^0'=temp_33^post88, x_126^0'=x_126^post88, i_105^0'=i_105^post88, rcd_56^0'=rcd_56^post88, a_181^0'=a_181^post88, x_SLAM_f_19^0'=x_SLAM_f_19^post88, t_24^0'=t_24^post88, f_167^0'=f_167^post88, r_121^0'=r_121^post88, x_172^0'=x_172^post88, i_28^0'=i_28^post88, result_11^0'=result_11^post88, a_234^0'=a_234^post88, len_180^0'=len_180^post88, temp0_29^0'=temp0_29^post88, head_30^0'=head_30^post88, r_37^0'=r_37^post88, a_144^0'=a_144^post88, x_21^0'=x_21^post88, len_129^0'=len_129^post88, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post88, ct_18^0'=ct_18^post88, nondet_12^0'=nondet_12^post88, tmp_32^0'=tmp_32^post88, x_14^0'=x_14^post88, i_164^0'=i_164^post88, rcd_86^0'=rcd_86^post88, a_212^0'=a_212^post88, y_20^0'=y_20^post88, temp0_16^0'=temp0_16^post88, head_15^0'=head_15^post88, r_160^0'=r_160^post88, (x_SLAM_f_19^0-x_SLAM_f_19^post88 == 0 /\ i_28^0-i_28^post88 == 0 /\ length_27^0-length_27^post88 == 0 /\ len_129^0-len_129^post88 == 0 /\ -i_164^post88+i_164^0 == 0 /\ a_113^0-a_113^post88 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post88+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_212^post88+a_212^0 == 0 /\ -head_30^post88+head_30^0 == 0 /\ -r_160^post88+r_160^0 == 0 /\ a_181^0-a_181^post88 == 0 /\ i_92^0-i_92^post88 == 0 /\ -x_14^post88+x_14^0 == 0 /\ x_172^0-x_172^post88 == 0 /\ -head_15^post88+head_15^0 == 0 /\ a_257^0-a_257^post88 == 0 /\ f_167^0-f_167^post88 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post88 == 0 /\ -y_20^post88+y_20^0 == 0 /\ -x_21^post88+x_21^0 == 0 /\ a_234^0-a_234^post88 == 0 /\ temp_33^0-temp_33^post88 == 0 /\ -tmp_32^post88+tmp_32^0 == 0 /\ x_17^0-x_17^post88 == 0 /\ nondet_12^0-nondet_12^post88 == 0 /\ len_180^0-len_180^post88 == 0 /\ -t_24^post88+t_24^0 == 0 /\ -temp0_16^post88+temp0_16^0 == 0 /\ -a_144^post88+a_144^0 == 0 /\ -x_126^post88+x_126^0 == 0 /\ -ct_18^post88+ct_18^0 == 0 /\ 1-x_14^0 <= 0 /\ r_37^0-r_37^post88 == 0 /\ -result_11^post88+result_11^0 == 0 /\ i_105^0-i_105^post88 == 0 /\ -r_121^post88+r_121^0 == 0 /\ temp0_29^0-temp0_29^post88 == 0 /\ rcd_56^0-rcd_56^post88 == 0 /\ -rcd_86^post88+rcd_86^0 == 0), cost: 1
  89: l58 -> l59 : a_113^0'=a_113^post89, x_17^0'=x_17^post89, i_92^0'=i_92^post89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post89, a_257^0'=a_257^post89, length_27^0'=length_27^post89, temp_33^0'=temp_33^post89, x_126^0'=x_126^post89, i_105^0'=i_105^post89, rcd_56^0'=rcd_56^post89, a_181^0'=a_181^post89, x_SLAM_f_19^0'=x_SLAM_f_19^post89, t_24^0'=t_24^post89, f_167^0'=f_167^post89, r_121^0'=r_121^post89, x_172^0'=x_172^post89, i_28^0'=i_28^post89, result_11^0'=result_11^post89, a_234^0'=a_234^post89, len_180^0'=len_180^post89, temp0_29^0'=temp0_29^post89, head_30^0'=head_30^post89, r_37^0'=r_37^post89, a_144^0'=a_144^post89, x_21^0'=x_21^post89, len_129^0'=len_129^post89, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post89, ct_18^0'=ct_18^post89, nondet_12^0'=nondet_12^post89, tmp_32^0'=tmp_32^post89, x_14^0'=x_14^post89, i_164^0'=i_164^post89, rcd_86^0'=rcd_86^post89, a_212^0'=a_212^post89, y_20^0'=y_20^post89, temp0_16^0'=temp0_16^post89, head_15^0'=head_15^post89, r_160^0'=r_160^post89, (a_234^0-a_234^post89 == 0 /\ a_144^0-a_144^post89 == 0 /\ -rcd_86^post89+rcd_86^0 == 0 /\ 1+x_14^0 <= 0 /\ -a_181^post89+a_181^0 == 0 /\ length_27^0-length_27^post89 == 0 /\ -i_164^post89+i_164^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post89+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_160^post89+r_160^0 == 0 /\ a_113^0-a_113^post89 == 0 /\ -temp0_29^post89+temp0_29^0 == 0 /\ -len_129^post89+len_129^0 == 0 /\ head_30^0-head_30^post89 == 0 /\ y_20^0-y_20^post89 == 0 /\ f_167^0-f_167^post89 == 0 /\ -a_212^post89+a_212^0 == 0 /\ a_257^0-a_257^post89 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post89 == 0 /\ x_126^0-x_126^post89 == 0 /\ -r_37^post89+r_37^0 == 0 /\ i_92^0-i_92^post89 == 0 /\ r_121^0-r_121^post89 == 0 /\ -x_172^post89+x_172^0 == 0 /\ -head_15^post89+head_15^0 == 0 /\ i_105^0-i_105^post89 == 0 /\ -x_21^post89+x_21^0 == 0 /\ x_17^0-x_17^post89 == 0 /\ temp_33^0-temp_33^post89 == 0 /\ -tmp_32^post89+tmp_32^0 == 0 /\ -nondet_12^post89+nondet_12^0 == 0 /\ t_24^0-t_24^post89 == 0 /\ -temp0_16^post89+temp0_16^0 == 0 /\ -x_14^post89+x_14^0 == 0 /\ len_180^0-len_180^post89 == 0 /\ -ct_18^post89+ct_18^0 == 0 /\ result_11^0-result_11^post89 == 0 /\ -i_28^post89+i_28^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post89 == 0 /\ rcd_56^0-rcd_56^post89 == 0), cost: 1
  90: l59 -> l60 : a_113^0'=a_113^post90, x_17^0'=x_17^post90, i_92^0'=i_92^post90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post90, a_257^0'=a_257^post90, length_27^0'=length_27^post90, temp_33^0'=temp_33^post90, x_126^0'=x_126^post90, i_105^0'=i_105^post90, rcd_56^0'=rcd_56^post90, a_181^0'=a_181^post90, x_SLAM_f_19^0'=x_SLAM_f_19^post90, t_24^0'=t_24^post90, f_167^0'=f_167^post90, r_121^0'=r_121^post90, x_172^0'=x_172^post90, i_28^0'=i_28^post90, result_11^0'=result_11^post90, a_234^0'=a_234^post90, len_180^0'=len_180^post90, temp0_29^0'=temp0_29^post90, head_30^0'=head_30^post90, r_37^0'=r_37^post90, a_144^0'=a_144^post90, x_21^0'=x_21^post90, len_129^0'=len_129^post90, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post90, ct_18^0'=ct_18^post90, nondet_12^0'=nondet_12^post90, tmp_32^0'=tmp_32^post90, x_14^0'=x_14^post90, i_164^0'=i_164^post90, rcd_86^0'=rcd_86^post90, a_212^0'=a_212^post90, y_20^0'=y_20^post90, temp0_16^0'=temp0_16^post90, head_15^0'=head_15^post90, r_160^0'=r_160^post90, (0 == 0 /\ -i_28^post90+i_28^0 == 0 /\ -r_160^post90+r_160^0 == 0 /\ a_144^0-a_144^post90 == 0 /\ 1-len_129^0 <= 0 /\ -1+len_129^0 <= 0 /\ -a_113^post90+a_144^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post90 == 0 /\ -len_180^post90+len_180^0 == 0 /\ -i_164^post90+i_164^0 == 0 /\ -a_212^post90+a_212^0 == 0 /\ -r_37^post90+r_37^0 == 0 /\ -x_14^post90+x_14^0 == 0 /\ -y_20^post90+y_20^0 == 0 /\ x_126^0-x_126^post90 == 0 /\ a_257^0-a_257^post90 == 0 /\ a_113^post90-a_144^0 <= 0 /\ -head_15^post90+head_15^0 == 0 /\ -len_129^post90+len_129^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post90 == 0 /\ temp0_29^0-temp0_29^post90 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post90 == 0 /\ -a_234^post90+a_234^0 == 0 /\ rcd_56^0-rcd_56^post90 == 0 /\ r_121^0-r_121^post90 == 0 /\ head_30^0-head_30^post90 == 0 /\ -i_105^post90+i_105^0 == 0 /\ temp_33^0-temp_33^post90 == 0 /\ x_17^0-x_17^post90 == 0 /\ -tmp_32^post90+tmp_32^0 == 0 /\ -f_167^post90+f_167^0 == 0 /\ -temp0_16^post90+temp0_16^0 == 0 /\ ct_18^0-ct_18^post90 == 0 /\ -x_21^post90+x_21^0 == 0 /\ -result_11^post90+result_11^0 == 0 /\ length_27^0-length_27^post90 == 0 /\ -nondet_12^post90+nondet_12^0 == 0 /\ i_92^0-i_92^post90 == 0 /\ -rcd_86^post90+rcd_86^0 == 0 /\ x_172^0-x_172^post90 == 0 /\ t_24^0-t_24^post90 == 0 /\ a_181^0-a_181^post90 == 0), cost: 1
  91: l60 -> l61 : a_113^0'=a_113^post91, x_17^0'=x_17^post91, i_92^0'=i_92^post91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post91, a_257^0'=a_257^post91, length_27^0'=length_27^post91, temp_33^0'=temp_33^post91, x_126^0'=x_126^post91, i_105^0'=i_105^post91, rcd_56^0'=rcd_56^post91, a_181^0'=a_181^post91, x_SLAM_f_19^0'=x_SLAM_f_19^post91, t_24^0'=t_24^post91, f_167^0'=f_167^post91, r_121^0'=r_121^post91, x_172^0'=x_172^post91, i_28^0'=i_28^post91, result_11^0'=result_11^post91, a_234^0'=a_234^post91, len_180^0'=len_180^post91, temp0_29^0'=temp0_29^post91, head_30^0'=head_30^post91, r_37^0'=r_37^post91, a_144^0'=a_144^post91, x_21^0'=x_21^post91, len_129^0'=len_129^post91, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post91, ct_18^0'=ct_18^post91, nondet_12^0'=nondet_12^post91, tmp_32^0'=tmp_32^post91, x_14^0'=x_14^post91, i_164^0'=i_164^post91, rcd_86^0'=rcd_86^post91, a_212^0'=a_212^post91, y_20^0'=y_20^post91, temp0_16^0'=temp0_16^post91, head_15^0'=head_15^post91, r_160^0'=r_160^post91, (rcd_56^0-rcd_56^post91 == 0 /\ len_129^0-len_129^post91 == 0 /\ -a_212^post91+a_212^0 == 0 /\ -head_30^post91+head_30^0 == 0 /\ -r_160^post91+r_160^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post91 == 0 /\ a_113^0-a_113^post91 == 0 /\ r_37^0-r_37^post91 == 0 /\ -a_234^post91+a_234^0 == 0 /\ length_27^0-length_27^post91 == 0 /\ -y_20^post91+y_20^0 == 0 /\ temp0_29^0-temp0_29^post91 == 0 /\ -head_15^post91+head_15^0 == 0 /\ r_121^0-r_121^post91 == 0 /\ -len_180^post91+len_180^0 == 0 /\ t_24^0-t_24^post91 == 0 /\ temp_33^0-temp_33^post91 == 0 /\ -a_144^post91+a_144^0 == 0 /\ i_28^0-i_28^post91 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post91+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -f_167^post91+f_167^0 == 0 /\ x_17^0-x_17^post91 == 0 /\ -x_14^post91+x_14^0 == 0 /\ nondet_12^0-nondet_12^post91 == 0 /\ 1-head_15^0 <= 0 /\ -temp0_16^post91+temp0_16^0 == 0 /\ -tmp_32^post91+tmp_32^0 == 0 /\ -x_21^post91+x_21^0 == 0 /\ -i_105^post91+i_105^0 == 0 /\ -result_11^post91+result_11^0 == 0 /\ i_92^0-i_92^post91 == 0 /\ a_181^0-a_181^post91 == 0 /\ -i_164^post91+i_164^0 == 0 /\ -ct_18^post91+ct_18^0 == 0 /\ -x_SLAM_f_19^post91+x_SLAM_f_19^0 == 0 /\ a_257^0-a_257^post91 == 0 /\ x_126^0-x_126^post91 == 0 /\ -rcd_86^post91+rcd_86^0 == 0 /\ x_172^0-x_172^post91 == 0), cost: 1
  92: l60 -> l61 : a_113^0'=a_113^post92, x_17^0'=x_17^post92, i_92^0'=i_92^post92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post92, a_257^0'=a_257^post92, length_27^0'=length_27^post92, temp_33^0'=temp_33^post92, x_126^0'=x_126^post92, i_105^0'=i_105^post92, rcd_56^0'=rcd_56^post92, a_181^0'=a_181^post92, x_SLAM_f_19^0'=x_SLAM_f_19^post92, t_24^0'=t_24^post92, f_167^0'=f_167^post92, r_121^0'=r_121^post92, x_172^0'=x_172^post92, i_28^0'=i_28^post92, result_11^0'=result_11^post92, a_234^0'=a_234^post92, len_180^0'=len_180^post92, temp0_29^0'=temp0_29^post92, head_30^0'=head_30^post92, r_37^0'=r_37^post92, a_144^0'=a_144^post92, x_21^0'=x_21^post92, len_129^0'=len_129^post92, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post92, ct_18^0'=ct_18^post92, nondet_12^0'=nondet_12^post92, tmp_32^0'=tmp_32^post92, x_14^0'=x_14^post92, i_164^0'=i_164^post92, rcd_86^0'=rcd_86^post92, a_212^0'=a_212^post92, y_20^0'=y_20^post92, temp0_16^0'=temp0_16^post92, head_15^0'=head_15^post92, r_160^0'=r_160^post92, (-r_160^post92+r_160^0 == 0 /\ a_234^0-a_234^post92 == 0 /\ temp_33^0-temp_33^post92 == 0 /\ t_24^0-t_24^post92 == 0 /\ -a_212^post92+a_212^0 == 0 /\ x_17^0-x_17^post92 == 0 /\ -head_30^post92+head_30^0 == 0 /\ -i_164^post92+i_164^0 == 0 /\ -ct_18^post92+ct_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post92+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -y_20^post92+y_20^0 == 0 /\ -x_172^post92+x_172^0 == 0 /\ -len_129^post92+len_129^0 == 0 /\ -tmp_32^post92+tmp_32^0 == 0 /\ -a_144^post92+a_144^0 == 0 /\ i_105^0-i_105^post92 == 0 /\ -head_15^post92+head_15^0 == 0 /\ r_37^0-r_37^post92 == 0 /\ 1+head_15^0 <= 0 /\ r_121^0-r_121^post92 == 0 /\ -x_14^post92+x_14^0 == 0 /\ nondet_12^0-nondet_12^post92 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post92 == 0 /\ length_27^0-length_27^post92 == 0 /\ a_113^0-a_113^post92 == 0 /\ -rcd_56^post92+rcd_56^0 == 0 /\ len_180^0-len_180^post92 == 0 /\ a_181^0-a_181^post92 == 0 /\ -temp0_29^post92+temp0_29^0 == 0 /\ i_92^0-i_92^post92 == 0 /\ -temp0_16^post92+temp0_16^0 == 0 /\ -x_21^post92+x_21^0 == 0 /\ -rcd_86^post92+rcd_86^0 == 0 /\ result_11^0-result_11^post92 == 0 /\ x_126^0-x_126^post92 == 0 /\ f_167^0-f_167^post92 == 0 /\ a_257^0-a_257^post92 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post92 == 0 /\ i_28^0-i_28^post92 == 0), cost: 1
  93: l61 -> l41 : a_113^0'=a_113^post93, x_17^0'=x_17^post93, i_92^0'=i_92^post93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post93, a_257^0'=a_257^post93, length_27^0'=length_27^post93, temp_33^0'=temp_33^post93, x_126^0'=x_126^post93, i_105^0'=i_105^post93, rcd_56^0'=rcd_56^post93, a_181^0'=a_181^post93, x_SLAM_f_19^0'=x_SLAM_f_19^post93, t_24^0'=t_24^post93, f_167^0'=f_167^post93, r_121^0'=r_121^post93, x_172^0'=x_172^post93, i_28^0'=i_28^post93, result_11^0'=result_11^post93, a_234^0'=a_234^post93, len_180^0'=len_180^post93, temp0_29^0'=temp0_29^post93, head_30^0'=head_30^post93, r_37^0'=r_37^post93, a_144^0'=a_144^post93, x_21^0'=x_21^post93, len_129^0'=len_129^post93, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post93, ct_18^0'=ct_18^post93, nondet_12^0'=nondet_12^post93, tmp_32^0'=tmp_32^post93, x_14^0'=x_14^post93, i_164^0'=i_164^post93, rcd_86^0'=rcd_86^post93, a_212^0'=a_212^post93, y_20^0'=y_20^post93, temp0_16^0'=temp0_16^post93, head_15^0'=head_15^post93, r_160^0'=r_160^post93, (0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -a_212^post93+a_212^0 == 0 /\ a_144^0-a_144^post93 == 0 /\ temp_33^0-temp_33^post93 == 0 /\ -head_30^post93+head_30^0 == 0 /\ x_17^0-x_17^post93 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post93+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_105^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_37^post93+r_37^0 == 0 /\ -y_20^post93+y_20^0 == 0 /\ x_14^0-x_14^post93 == 0 /\ -x_172^post93+x_172^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1-a_113^0+i_105^post93 <= 0 /\ r_121^0-r_121^post93 == 0 /\ -r_160^post93+r_160^0 == 0 /\ length_27^0-length_27^post93 == 0 /\ t_24^0-t_24^post93 == 0 /\ -len_129^post93+len_129^0 == 0 /\ len_180^0-len_180^post93 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post93 == 0 /\ result_11^0-result_11^post93 == 0 /\ -rcd_56^post93+rcd_56^0 == 0 /\ -tmp_32^post93+tmp_32^0 == 0 /\ -x_21^post93+x_21^0 == 0 /\ -i_92^post93+i_92^0 == 0 /\ -temp0_16^post93+temp0_16^0 == 0 /\ -nondet_12^post93+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post93 == 0 /\ -rcd_86^post93+rcd_86^0 == 0 /\ x_126^0-x_126^post93 == 0 /\ ct_18^0-ct_18^post93 == 0 /\ a_113^0-a_113^post93 == 0 /\ a_181^0-a_181^post93 == 0 /\ -i_164^post93+i_164^0 == 0 /\ head_15^0-head_15^post93 == 0 /\ a_257^0-a_257^post93 == 0 /\ 1+a_113^0-i_105^post93 <= 0 /\ a_234^0-a_234^post93 == 0 /\ -temp0_29^post93+temp0_29^0 == 0 /\ f_167^0-f_167^post93 == 0 /\ -i_28^post93+i_28^0 == 0), cost: 1
  95: l62 -> l63 : a_113^0'=a_113^post95, x_17^0'=x_17^post95, i_92^0'=i_92^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post95, a_257^0'=a_257^post95, length_27^0'=length_27^post95, temp_33^0'=temp_33^post95, x_126^0'=x_126^post95, i_105^0'=i_105^post95, rcd_56^0'=rcd_56^post95, a_181^0'=a_181^post95, x_SLAM_f_19^0'=x_SLAM_f_19^post95, t_24^0'=t_24^post95, f_167^0'=f_167^post95, r_121^0'=r_121^post95, x_172^0'=x_172^post95, i_28^0'=i_28^post95, result_11^0'=result_11^post95, a_234^0'=a_234^post95, len_180^0'=len_180^post95, temp0_29^0'=temp0_29^post95, head_30^0'=head_30^post95, r_37^0'=r_37^post95, a_144^0'=a_144^post95, x_21^0'=x_21^post95, len_129^0'=len_129^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, ct_18^0'=ct_18^post95, nondet_12^0'=nondet_12^post95, tmp_32^0'=tmp_32^post95, x_14^0'=x_14^post95, i_164^0'=i_164^post95, rcd_86^0'=rcd_86^post95, a_212^0'=a_212^post95, y_20^0'=y_20^post95, temp0_16^0'=temp0_16^post95, head_15^0'=head_15^post95, r_160^0'=r_160^post95, (x_21^0-x_21^post95 == 0 /\ -a_144^post95+a_144^0 == 0 /\ f_167^0-f_167^post95 == 0 /\ rcd_86^0-rcd_86^post95 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post95 == 0 /\ i_105^0-i_105^post95 == 0 /\ -t_24^post95+t_24^0 == 0 /\ a_181^0-a_181^post95 == 0 /\ -temp0_16^post95+temp0_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post95 == 0 /\ -ct_18^post95+ct_18^0 == 0 /\ a_234^0-a_234^post95 == 0 /\ x_17^0-x_17^post95 == 0 /\ length_27^0-length_27^post95 == 0 /\ tmp_32^0-tmp_32^post95 == 0 /\ -result_11^post95+result_11^0 == 0 /\ -i_28^post95+i_28^0 == 0 /\ -temp_33^post95+temp_33^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_172^0-x_172^post95 == 0 /\ -r_121^post95+r_121^0 == 0 /\ i_92^0-i_92^post95 == 0 /\ -i_164^post95+i_164^0 == 0 /\ x_126^0-x_126^post95 == 0 /\ -a_212^post95+a_212^0 == 0 /\ a_257^0-a_257^post95 == 0 /\ 1-head_15^0 <= 0 /\ -temp0_29^post95+temp0_29^0 == 0 /\ rcd_56^0-rcd_56^post95 == 0 /\ -head_30^post95+head_30^0 == 0 /\ -r_160^post95+r_160^0 == 0 /\ -r_37^post95+r_37^0 == 0 /\ len_129^0-len_129^post95 == 0 /\ -x_14^post95+x_14^0 == 0 /\ nondet_12^0-nondet_12^post95 == 0 /\ a_113^0-a_113^post95 == 0 /\ len_180^0-len_180^post95 == 0 /\ -head_15^post95+head_15^0 == 0 /\ -y_20^post95+y_20^0 == 0), cost: 1
  96: l62 -> l63 : a_113^0'=a_113^post96, x_17^0'=x_17^post96, i_92^0'=i_92^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post96, a_257^0'=a_257^post96, length_27^0'=length_27^post96, temp_33^0'=temp_33^post96, x_126^0'=x_126^post96, i_105^0'=i_105^post96, rcd_56^0'=rcd_56^post96, a_181^0'=a_181^post96, x_SLAM_f_19^0'=x_SLAM_f_19^post96, t_24^0'=t_24^post96, f_167^0'=f_167^post96, r_121^0'=r_121^post96, x_172^0'=x_172^post96, i_28^0'=i_28^post96, result_11^0'=result_11^post96, a_234^0'=a_234^post96, len_180^0'=len_180^post96, temp0_29^0'=temp0_29^post96, head_30^0'=head_30^post96, r_37^0'=r_37^post96, a_144^0'=a_144^post96, x_21^0'=x_21^post96, len_129^0'=len_129^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, ct_18^0'=ct_18^post96, nondet_12^0'=nondet_12^post96, tmp_32^0'=tmp_32^post96, x_14^0'=x_14^post96, i_164^0'=i_164^post96, rcd_86^0'=rcd_86^post96, a_212^0'=a_212^post96, y_20^0'=y_20^post96, temp0_16^0'=temp0_16^post96, head_15^0'=head_15^post96, r_160^0'=r_160^post96, (a_181^0-a_181^post96 == 0 /\ -tmp_32^post96+tmp_32^0 == 0 /\ -x_21^post96+x_21^0 == 0 /\ -nondet_12^post96+nondet_12^0 == 0 /\ -y_20^post96+y_20^0 == 0 /\ -temp0_16^post96+temp0_16^0 == 0 /\ f_167^0-f_167^post96 == 0 /\ a_257^0-a_257^post96 == 0 /\ -x_14^post96+x_14^0 == 0 /\ i_105^0-i_105^post96 == 0 /\ -t_24^post96+t_24^0 == 0 /\ a_234^0-a_234^post96 == 0 /\ rcd_56^0-rcd_56^post96 == 0 /\ a_144^0-a_144^post96 == 0 /\ temp_33^0-temp_33^post96 == 0 /\ i_28^0-i_28^post96 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post96 == 0 /\ -result_11^post96+result_11^0 == 0 /\ -temp0_29^post96+temp0_29^0 == 0 /\ -ct_18^post96+ct_18^0 == 0 /\ 1+head_15^0 <= 0 /\ -r_121^post96+r_121^0 == 0 /\ -rcd_86^post96+rcd_86^0 == 0 /\ r_37^0-r_37^post96 == 0 /\ x_126^0-x_126^post96 == 0 /\ i_92^0-i_92^post96 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post96+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_172^0-x_172^post96 == 0 /\ -r_160^post96+r_160^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post96 == 0 /\ -i_164^post96+i_164^0 == 0 /\ -len_129^post96+len_129^0 == 0 /\ -head_30^post96+head_30^0 == 0 /\ x_17^0-x_17^post96 == 0 /\ length_27^0-length_27^post96 == 0 /\ -a_212^post96+a_212^0 == 0 /\ -head_15^post96+head_15^0 == 0 /\ a_113^0-a_113^post96 == 0 /\ len_180^0-len_180^post96 == 0), cost: 1
  97: l63 -> l41 : a_113^0'=a_113^post97, x_17^0'=x_17^post97, i_92^0'=i_92^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post97, a_257^0'=a_257^post97, length_27^0'=length_27^post97, temp_33^0'=temp_33^post97, x_126^0'=x_126^post97, i_105^0'=i_105^post97, rcd_56^0'=rcd_56^post97, a_181^0'=a_181^post97, x_SLAM_f_19^0'=x_SLAM_f_19^post97, t_24^0'=t_24^post97, f_167^0'=f_167^post97, r_121^0'=r_121^post97, x_172^0'=x_172^post97, i_28^0'=i_28^post97, result_11^0'=result_11^post97, a_234^0'=a_234^post97, len_180^0'=len_180^post97, temp0_29^0'=temp0_29^post97, head_30^0'=head_30^post97, r_37^0'=r_37^post97, a_144^0'=a_144^post97, x_21^0'=x_21^post97, len_129^0'=len_129^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, ct_18^0'=ct_18^post97, nondet_12^0'=nondet_12^post97, tmp_32^0'=tmp_32^post97, x_14^0'=x_14^post97, i_164^0'=i_164^post97, rcd_86^0'=rcd_86^post97, a_212^0'=a_212^post97, y_20^0'=y_20^post97, temp0_16^0'=temp0_16^post97, head_15^0'=head_15^post97, r_160^0'=r_160^post97, (i_164^0-i_164^post97 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_257^0-a_257^post97 == 0 /\ -x_21^post97+x_21^0 == 0 /\ i_105^0-i_105^post97 == 0 /\ -tmp_32^post97+tmp_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post97 == 0 /\ temp0_29^0-temp0_29^post97 == 0 /\ result_11^0-result_11^post97 == 0 /\ -f_167^post97+f_167^0 == 0 /\ -temp0_16^post97+temp0_16^0 == 0 /\ a_144^0-a_144^post97 == 0 /\ -i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -nondet_12^post97+nondet_12^0 == 0 /\ -rcd_86^post97+rcd_86^0 == 0 /\ a_113^0-a_113^post97 == 0 /\ -a_181^post97+a_181^0 == 0 /\ x_126^0-x_126^post97 == 0 /\ -head_30^post97+head_30^0 == 0 /\ i_92^0-i_92^post97 == 0 /\ x_172^0-x_172^post97 == 0 /\ -len_180^post97+len_180^0 == 0 /\ -ct_18^post97+ct_18^0 == 0 /\ -a_212^post97+a_212^0 == 0 /\ rcd_56^0-rcd_56^post97 == 0 /\ r_121^0-r_121^post97 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post97 == 0 /\ i_28^0-i_28^post97 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -r_37^post97+r_37^0 == 0 /\ -len_129^post97+len_129^0 == 0 /\ temp_33^0-temp_33^post97 == 0 /\ t_24^0-t_24^post97 == 0 /\ x_17^0-x_17^post97 == 0 /\ -x_14^post97+x_14^0 == 0 /\ length_27^0-length_27^post97 == 0 /\ -y_20^post97+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ r_160^0-r_160^post97 == 0 /\ -a_234^post97+a_234^0 == 0 /\ -head_15^post97+head_15^0 == 0), cost: 1
  99: l64 -> l40 : a_113^0'=a_113^post99, x_17^0'=x_17^post99, i_92^0'=i_92^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post99, a_257^0'=a_257^post99, length_27^0'=length_27^post99, temp_33^0'=temp_33^post99, x_126^0'=x_126^post99, i_105^0'=i_105^post99, rcd_56^0'=rcd_56^post99, a_181^0'=a_181^post99, x_SLAM_f_19^0'=x_SLAM_f_19^post99, t_24^0'=t_24^post99, f_167^0'=f_167^post99, r_121^0'=r_121^post99, x_172^0'=x_172^post99, i_28^0'=i_28^post99, result_11^0'=result_11^post99, a_234^0'=a_234^post99, len_180^0'=len_180^post99, temp0_29^0'=temp0_29^post99, head_30^0'=head_30^post99, r_37^0'=r_37^post99, a_144^0'=a_144^post99, x_21^0'=x_21^post99, len_129^0'=len_129^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, ct_18^0'=ct_18^post99, nondet_12^0'=nondet_12^post99, tmp_32^0'=tmp_32^post99, x_14^0'=x_14^post99, i_164^0'=i_164^post99, rcd_86^0'=rcd_86^post99, a_212^0'=a_212^post99, y_20^0'=y_20^post99, temp0_16^0'=temp0_16^post99, head_15^0'=head_15^post99, r_160^0'=r_160^post99, (-a_144^post99+a_144^0 == 0 /\ a_181^0-a_181^post99 == 0 /\ x_14^0-x_14^post99 == 0 /\ r_37^0-r_37^post99 == 0 /\ -x_21^post99+x_21^0 == 0 /\ a_257^0-a_257^post99 == 0 /\ f_167^0-f_167^post99 == 0 /\ -tmp_32^post99+tmp_32^0 == 0 /\ x_172^0-x_172^post99 == 0 /\ -t_24^post99+t_24^0 == 0 /\ -temp0_16^post99+temp0_16^0 == 0 /\ -ct_18^post99+ct_18^0 == 0 /\ rcd_56^0-rcd_56^post99 == 0 /\ -result_11^post99+result_11^0 == 0 /\ -temp0_29^post99+temp0_29^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post99 == 0 /\ a_212^0-a_212^post99 == 0 /\ -nondet_12^post99+nondet_12^0 == 0 /\ a_113^0-a_113^post99 == 0 /\ -r_121^post99+r_121^0 == 0 /\ -rcd_86^post99+rcd_86^0 == 0 /\ -r_160^post99+r_160^0 == 0 /\ i_92^0-i_92^post99 == 0 /\ -i_164^post99+i_164^0 == 0 /\ x_126^0-x_126^post99 == 0 /\ i_105^0-i_105^post99 == 0 /\ a_234^0-a_234^post99 == 0 /\ -head_30^post99+head_30^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post99 == 0 /\ temp_33^0-temp_33^post99 == 0 /\ i_28^0-i_28^post99 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post99+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_17^0-x_17^post99 == 0 /\ -len_129^post99+len_129^0 == 0 /\ length_27^0-length_27^post99 == 0 /\ -len_180^post99+len_180^0 == 0 /\ -head_15^post99+head_15^0 == 0 /\ -y_20^post99+y_20^0 == 0), cost: 1
 102: l65 -> l0 : a_113^0'=a_113^post102, x_17^0'=x_17^post102, i_92^0'=i_92^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post102, a_257^0'=a_257^post102, length_27^0'=length_27^post102, temp_33^0'=temp_33^post102, x_126^0'=x_126^post102, i_105^0'=i_105^post102, rcd_56^0'=rcd_56^post102, a_181^0'=a_181^post102, x_SLAM_f_19^0'=x_SLAM_f_19^post102, t_24^0'=t_24^post102, f_167^0'=f_167^post102, r_121^0'=r_121^post102, x_172^0'=x_172^post102, i_28^0'=i_28^post102, result_11^0'=result_11^post102, a_234^0'=a_234^post102, len_180^0'=len_180^post102, temp0_29^0'=temp0_29^post102, head_30^0'=head_30^post102, r_37^0'=r_37^post102, a_144^0'=a_144^post102, x_21^0'=x_21^post102, len_129^0'=len_129^post102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post102, ct_18^0'=ct_18^post102, nondet_12^0'=nondet_12^post102, tmp_32^0'=tmp_32^post102, x_14^0'=x_14^post102, i_164^0'=i_164^post102, rcd_86^0'=rcd_86^post102, a_212^0'=a_212^post102, y_20^0'=y_20^post102, temp0_16^0'=temp0_16^post102, head_15^0'=head_15^post102, r_160^0'=r_160^post102, (-head_30^post102+head_30^0 == 0 /\ x_172^0-x_172^post102 == 0 /\ -result_11^post102+result_11^0 == 0 /\ -ct_18^post102+ct_18^0 == 0 /\ rcd_56^0-rcd_56^post102 == 0 /\ temp_33^0-temp_33^post102 == 0 /\ i_92^0-i_92^post102 == 0 /\ x_126^0-x_126^post102 == 0 /\ x_17^0-x_17^post102 == 0 /\ -y_20^post102+y_20^0 == 0 /\ -r_160^post102+r_160^0 == 0 /\ -tmp_32^post102+tmp_32^0 == 0 /\ r_121^0-r_121^post102 == 0 /\ temp0_29^0-temp0_29^post102 == 0 /\ -len_180^post102+len_180^0 == 0 /\ r_37^0-r_37^post102 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post102+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ t_24^0-t_24^post102 == 0 /\ -f_167^post102+f_167^0 == 0 /\ -x_14^post102+x_14^0 == 0 /\ length_27^0-length_27^post102 == 0 /\ -a_144^post102+a_144^0 == 0 /\ rcd_86^0-rcd_86^post102 == 0 /\ nondet_12^0-nondet_12^post102 == 0 /\ -head_15^post102+head_15^0 == 0 /\ -x_SLAM_f_19^post102+x_SLAM_f_19^0 == 0 /\ a_181^0-a_181^post102 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post102+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ a_113^0-a_113^post102 == 0 /\ a_257^0-a_257^post102 == 0 /\ -x_21^post102+x_21^0 == 0 /\ -temp0_16^post102+temp0_16^0 == 0 /\ a_234^0-a_234^post102 == 0 /\ -i_164^post102+i_164^0 == 0 /\ -i_105^post102+i_105^0 == 0 /\ i_28^0-i_28^post102 == 0 /\ -a_212^post102+a_212^0 == 0 /\ len_129^0-len_129^post102 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l65
   0: l0 -> l1 : a_113^0'=a_113^post0, x_17^0'=x_17^post0, i_92^0'=i_92^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post0, a_257^0'=a_257^post0, length_27^0'=length_27^post0, temp_33^0'=temp_33^post0, x_126^0'=x_126^post0, i_105^0'=i_105^post0, rcd_56^0'=rcd_56^post0, a_181^0'=a_181^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, t_24^0'=t_24^post0, f_167^0'=f_167^post0, r_121^0'=r_121^post0, x_172^0'=x_172^post0, i_28^0'=i_28^post0, result_11^0'=result_11^post0, a_234^0'=a_234^post0, len_180^0'=len_180^post0, temp0_29^0'=temp0_29^post0, head_30^0'=head_30^post0, r_37^0'=r_37^post0, a_144^0'=a_144^post0, x_21^0'=x_21^post0, len_129^0'=len_129^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, ct_18^0'=ct_18^post0, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post0, x_14^0'=x_14^post0, i_164^0'=i_164^post0, rcd_86^0'=rcd_86^post0, a_212^0'=a_212^post0, y_20^0'=y_20^post0, temp0_16^0'=temp0_16^post0, head_15^0'=head_15^post0, r_160^0'=r_160^post0, (0 == 0 /\ -result_11^post0+result_11^0 == 0 /\ -len_180^post0+len_180^0 == 0 /\ -x_14^post0+x_14^0 == 0 /\ -y_20^post0+y_20^0 == 0 /\ -temp0_16^post0+temp0_16^0 == 0 /\ i_28^post0 <= 0 /\ i_28^post0 == 0 /\ x_21^0-x_21^post0 == 0 /\ x_172^0-x_172^post0 == 0 /\ i_92^0-i_92^post0 == 0 /\ rcd_56^0-rcd_56^post0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post0 == 0 /\ x_126^0-x_126^post0 == 0 /\ x_17^0-x_17^post0 == 0 /\ temp0_29^0-temp0_29^post0 == 0 /\ -a_144^post0+a_144^0 == 0 /\ -i_28^post0 <= 0 /\ r_121^0-r_121^post0 == 0 /\ -r_160^post0+r_160^0 == 0 /\ t_24^0-t_24^post0 == 0 /\ -f_167^post0+f_167^0 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 == 0 /\ a_234^0-a_234^post0 == 0 /\ rcd_86^0-rcd_86^post0 == 0 /\ -head_30^post0 <= 0 /\ -ct_18^post0+ct_18^0 == 0 /\ -temp_33^post0+temp_33^0 == 0 /\ -tmp_32^post0+tmp_32^0 == 0 /\ r_37^0-r_37^post0 == 0 /\ -head_15^post0+head_15^0 == 0 /\ -i_164^post0+i_164^0 == 0 /\ -x_SLAM_f_19^post0+x_SLAM_f_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-length_27^post0 <= 0 /\ head_30^post0 <= 0 /\ head_30^post0 == 0 /\ a_181^0-a_181^post0 == 0 /\ a_257^0-a_257^post0 == 0 /\ -a_212^post0+a_212^0 == 0 /\ a_113^0-a_113^post0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post0+length_27^post0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post0+length_27^post0 == 0 /\ len_129^0-len_129^post0 == 0 /\ -i_105^post0+i_105^0 == 0), cost: 1
 101: l1 -> l27 : a_113^0'=a_113^post101, x_17^0'=x_17^post101, i_92^0'=i_92^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101, a_257^0'=a_257^post101, length_27^0'=length_27^post101, temp_33^0'=temp_33^post101, x_126^0'=x_126^post101, i_105^0'=i_105^post101, rcd_56^0'=rcd_56^post101, a_181^0'=a_181^post101, x_SLAM_f_19^0'=x_SLAM_f_19^post101, t_24^0'=t_24^post101, f_167^0'=f_167^post101, r_121^0'=r_121^post101, x_172^0'=x_172^post101, i_28^0'=i_28^post101, result_11^0'=result_11^post101, a_234^0'=a_234^post101, len_180^0'=len_180^post101, temp0_29^0'=temp0_29^post101, head_30^0'=head_30^post101, r_37^0'=r_37^post101, a_144^0'=a_144^post101, x_21^0'=x_21^post101, len_129^0'=len_129^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post101, ct_18^0'=ct_18^post101, nondet_12^0'=nondet_12^post101, tmp_32^0'=tmp_32^post101, x_14^0'=x_14^post101, i_164^0'=i_164^post101, rcd_86^0'=rcd_86^post101, a_212^0'=a_212^post101, y_20^0'=y_20^post101, temp0_16^0'=temp0_16^post101, head_15^0'=head_15^post101, r_160^0'=r_160^post101, (0 == 0 /\ rcd_56^0-rcd_56^post101 == 0 /\ -ct_18^post101+ct_18^0 == 0 /\ 1-length_27^0+i_28^0 <= 0 /\ -a_212^post101+a_212^0 == 0 /\ x_17^0-x_17^post101 == 0 /\ -result_11^post101+result_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101+tmp_32^post101 <= 0 /\ -y_20^post101+y_20^0 == 0 /\ x_14^0-x_14^post101 == 0 /\ a_144^0-a_144^post101 == 0 /\ -r_160^post101+r_160^0 == 0 /\ -len_180^post101+len_180^0 == 0 /\ r_121^0-r_121^post101 == 0 /\ 1-i_28^post101 <= 0 /\ -1+i_28^post101 <= 0 /\ temp0_29^0-temp0_29^post101 == 0 /\ length_27^0-length_27^post101 == 0 /\ 1-length_27^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101-tmp_32^post101 <= 0 /\ t_24^0-t_24^post101 == 0 /\ -temp_33^0+tmp_32^post101 == 0 /\ -len_129^post101+len_129^0 == 0 /\ -length_27^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101-head_30^post101 <= 0 /\ -f_167^post101+f_167^0 == 0 /\ -head_30^post101+tmp_32^post101 <= 0 /\ -i_105^post101+i_105^0 == 0 /\ i_92^0-i_92^post101 == 0 /\ -rcd_86^post101+rcd_86^0 == 0 /\ length_27^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 <= 0 /\ -i_164^post101+i_164^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101+head_30^post101 <= 0 /\ -nondet_12^post101+nondet_12^0 == 0 /\ -x_21^post101+x_21^0 == 0 /\ head_30^post101-tmp_32^post101 <= 0 /\ head_30^post101-tmp_32^post101 == 0 /\ a_113^0-a_113^post101 == 0 /\ a_181^0-a_181^post101 == 0 /\ x_126^0-x_126^post101 == 0 /\ a_257^0-a_257^post101 == 0 /\ head_15^0-head_15^post101 == 0 /\ r_37^0-r_37^post101 == 0 /\ -temp0_16^post101+temp0_16^0 == 0 /\ a_234^0-a_234^post101 == 0 /\ x_172^0-x_172^post101 == 0 /\ -x_SLAM_f_19^post101+x_SLAM_f_19^0 == 0 /\ -1-i_28^0+i_28^post101 == 0), cost: 1
   2: l2 -> l5 : a_113^0'=a_113^post2, x_17^0'=x_17^post2, i_92^0'=i_92^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post2, a_257^0'=a_257^post2, length_27^0'=length_27^post2, temp_33^0'=temp_33^post2, x_126^0'=x_126^post2, i_105^0'=i_105^post2, rcd_56^0'=rcd_56^post2, a_181^0'=a_181^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=t_24^post2, f_167^0'=f_167^post2, r_121^0'=r_121^post2, x_172^0'=x_172^post2, i_28^0'=i_28^post2, result_11^0'=result_11^post2, a_234^0'=a_234^post2, len_180^0'=len_180^post2, temp0_29^0'=temp0_29^post2, head_30^0'=head_30^post2, r_37^0'=r_37^post2, a_144^0'=a_144^post2, x_21^0'=x_21^post2, len_129^0'=len_129^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, nondet_12^0'=nondet_12^post2, tmp_32^0'=tmp_32^post2, x_14^0'=x_14^post2, i_164^0'=i_164^post2, rcd_86^0'=rcd_86^post2, a_212^0'=a_212^post2, y_20^0'=y_20^post2, temp0_16^0'=temp0_16^post2, head_15^0'=head_15^post2, r_160^0'=r_160^post2, (0 == 0 /\ i_164^0-i_164^post2 == 0 /\ i_105^0-i_105^post2 == 0 /\ result_11^0-result_11^post2 == 0 /\ a_257^0-a_257^post2 == 0 /\ a_144^0-a_144^post2 == 0 /\ -f_167^post2+f_167^0 == 0 /\ head_30^0-head_30^post2 == 0 /\ temp0_29^0-temp0_29^post2 == 0 /\ rcd_56^0-rcd_56^post2 == 0 /\ -temp0_16^post2+temp0_16^0 == 0 /\ -x_21^post2+x_21^0 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ a_113^0-a_113^post2 == 0 /\ -rcd_86^post2+rcd_86^0 == 0 /\ -r_160^post2+r_160^0 == 0 /\ -len_180^post2+len_180^0 == 0 /\ i_92^0-i_92^post2 == 0 /\ x_172^0-x_172^post2 == 0 /\ x_126^0-x_126^post2 == 0 /\ -a_234^0 <= 0 /\ r_121^0-r_121^post2 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post2 == 0 /\ i_28^0-i_28^post2 == 0 /\ -a_212^post2+a_212^0 == 0 /\ temp_33^0-temp_33^post2 == 0 /\ t_24^0-t_24^post2 == 0 /\ -a_234^post2+a_234^0 == 0 /\ -len_129^post2+len_129^0 == 0 /\ length_27^0-length_27^post2 == 0 /\ -tmp_32^post2+tmp_32^0 == 0 /\ -a_181^post2+a_181^0 == 0 /\ -y_20^post2+y_20^0 == 0), cost: 1
   3: l5 -> l6 : a_113^0'=a_113^post3, x_17^0'=x_17^post3, i_92^0'=i_92^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post3, a_257^0'=a_257^post3, length_27^0'=length_27^post3, temp_33^0'=temp_33^post3, x_126^0'=x_126^post3, i_105^0'=i_105^post3, rcd_56^0'=rcd_56^post3, a_181^0'=a_181^post3, x_SLAM_f_19^0'=x_SLAM_f_19^post3, t_24^0'=t_24^post3, f_167^0'=f_167^post3, r_121^0'=r_121^post3, x_172^0'=x_172^post3, i_28^0'=i_28^post3, result_11^0'=result_11^post3, a_234^0'=a_234^post3, len_180^0'=len_180^post3, temp0_29^0'=temp0_29^post3, head_30^0'=head_30^post3, r_37^0'=r_37^post3, a_144^0'=a_144^post3, x_21^0'=x_21^post3, len_129^0'=len_129^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, ct_18^0'=ct_18^post3, nondet_12^0'=nondet_12^post3, tmp_32^0'=tmp_32^post3, x_14^0'=x_14^post3, i_164^0'=i_164^post3, rcd_86^0'=rcd_86^post3, a_212^0'=a_212^post3, y_20^0'=y_20^post3, temp0_16^0'=temp0_16^post3, head_15^0'=head_15^post3, r_160^0'=r_160^post3, (-f_167^post3+f_167^0 == 0 /\ a_257^0-a_257^post3 == 0 /\ head_30^0-head_30^post3 == 0 /\ temp0_29^0-temp0_29^post3 == 0 /\ -tmp_32^post3+tmp_32^0 == 0 /\ -head_15^post3+head_15^0 == 0 /\ t_24^0-t_24^post3 == 0 /\ -nondet_12^post3+nondet_12^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post3 == 0 /\ -rcd_86^post3+rcd_86^0 == 0 /\ rcd_56^0-rcd_56^post3 == 0 /\ -result_11^post3+result_11^0 == 0 /\ -temp0_16^post3+temp0_16^0 == 0 /\ i_164^0-i_164^post3 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post3 == 0 /\ x_126^0-x_126^post3 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ i_92^0-i_92^post3 == 0 /\ a_113^0-a_113^post3 == 0 /\ -a_212^post3+a_212^0 == 0 /\ ct_18^0-ct_18^post3 == 0 /\ -len_180^post3+len_180^0 == 0 /\ -i_28^post3+i_28^0 == 0 /\ r_121^0-r_121^post3 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post3+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_37^post3+r_37^0 == 0 /\ x_21^0-x_21^post3 == 0 /\ x_172^0-x_172^post3 == 0 /\ i_105^0-i_105^post3 == 0 /\ -a_181^post3+a_181^0 == 0 /\ a_234^0-a_234^post3 == 0 /\ temp_33^0-temp_33^post3 == 0 /\ -y_20^post3+y_20^0 == 0 /\ -r_160^post3+r_160^0 == 0 /\ x_17^0-x_17^post3 == 0 /\ -length_27^post3+length_27^0 == 0 /\ -x_14^post3+x_14^0 == 0 /\ -len_129^post3+len_129^0 == 0 /\ -a_144^post3+a_144^0 == 0), cost: 1
   4: l5 -> l6 : a_113^0'=a_113^post4, x_17^0'=x_17^post4, i_92^0'=i_92^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post4, a_257^0'=a_257^post4, length_27^0'=length_27^post4, temp_33^0'=temp_33^post4, x_126^0'=x_126^post4, i_105^0'=i_105^post4, rcd_56^0'=rcd_56^post4, a_181^0'=a_181^post4, x_SLAM_f_19^0'=x_SLAM_f_19^post4, t_24^0'=t_24^post4, f_167^0'=f_167^post4, r_121^0'=r_121^post4, x_172^0'=x_172^post4, i_28^0'=i_28^post4, result_11^0'=result_11^post4, a_234^0'=a_234^post4, len_180^0'=len_180^post4, temp0_29^0'=temp0_29^post4, head_30^0'=head_30^post4, r_37^0'=r_37^post4, a_144^0'=a_144^post4, x_21^0'=x_21^post4, len_129^0'=len_129^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, ct_18^0'=ct_18^post4, nondet_12^0'=nondet_12^post4, tmp_32^0'=tmp_32^post4, x_14^0'=x_14^post4, i_164^0'=i_164^post4, rcd_86^0'=rcd_86^post4, a_212^0'=a_212^post4, y_20^0'=y_20^post4, temp0_16^0'=temp0_16^post4, head_15^0'=head_15^post4, r_160^0'=r_160^post4, (x_14^0-x_14^post4 == 0 /\ -f_167^post4+f_167^0 == 0 /\ i_92^0-i_92^post4 == 0 /\ a_181^0-a_181^post4 == 0 /\ -a_144^post4+a_144^0 == 0 /\ a_257^0-a_257^post4 == 0 /\ r_37^0-r_37^post4 == 0 /\ -tmp_32^post4+tmp_32^0 == 0 /\ -r_121^post4+r_121^0 == 0 /\ i_28^0-i_28^post4 == 0 /\ t_24^0-t_24^post4 == 0 /\ -temp0_16^post4+temp0_16^0 == 0 /\ rcd_56^0-rcd_56^post4 == 0 /\ x_172^0-x_172^post4 == 0 /\ a_212^0-a_212^post4 == 0 /\ -x_21^post4+x_21^0 == 0 /\ -x_SLAM_f_19^post4+x_SLAM_f_19^0 == 0 /\ a_113^0-a_113^post4 == 0 /\ -rcd_86^post4+rcd_86^0 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ i_105^0-i_105^post4 == 0 /\ -r_160^post4+r_160^0 == 0 /\ x_126^0-x_126^post4 == 0 /\ length_27^0-length_27^post4 == 0 /\ -head_30^post4+head_30^0 == 0 /\ temp0_29^0-temp0_29^post4 == 0 /\ -ct_18^post4+ct_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post4 == 0 /\ -i_164^post4+i_164^0 == 0 /\ a_234^0-a_234^post4 == 0 /\ -result_11^post4+result_11^0 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -y_20^post4+y_20^0 == 0 /\ -head_15^post4+head_15^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_33^0-temp_33^post4 == 0 /\ x_17^0-x_17^post4 == 0 /\ -len_129^post4+len_129^0 == 0 /\ -len_180^post4+len_180^0 == 0), cost: 1
   5: l6 -> l7 : a_113^0'=a_113^post5, x_17^0'=x_17^post5, i_92^0'=i_92^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post5, a_257^0'=a_257^post5, length_27^0'=length_27^post5, temp_33^0'=temp_33^post5, x_126^0'=x_126^post5, i_105^0'=i_105^post5, rcd_56^0'=rcd_56^post5, a_181^0'=a_181^post5, x_SLAM_f_19^0'=x_SLAM_f_19^post5, t_24^0'=t_24^post5, f_167^0'=f_167^post5, r_121^0'=r_121^post5, x_172^0'=x_172^post5, i_28^0'=i_28^post5, result_11^0'=result_11^post5, a_234^0'=a_234^post5, len_180^0'=len_180^post5, temp0_29^0'=temp0_29^post5, head_30^0'=head_30^post5, r_37^0'=r_37^post5, a_144^0'=a_144^post5, x_21^0'=x_21^post5, len_129^0'=len_129^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, ct_18^0'=ct_18^post5, nondet_12^0'=nondet_12^post5, tmp_32^0'=tmp_32^post5, x_14^0'=x_14^post5, i_164^0'=i_164^post5, rcd_86^0'=rcd_86^post5, a_212^0'=a_212^post5, y_20^0'=y_20^post5, temp0_16^0'=temp0_16^post5, head_15^0'=head_15^post5, r_160^0'=r_160^post5, (0 == 0 /\ i_92^0-i_92^post5 == 0 /\ x_SLAM_f_19^0-head_15^0 <= 0 /\ -len_129^post5+len_129^0 == 0 /\ x_14^0-x_14^post5 == 0 /\ x_17^0-head_15^0 <= 0 /\ x_126^0-x_126^post5 == 0 /\ -a_234^post5+a_234^0 == 0 /\ -head_15^post5+head_15^0 == 0 /\ r_37^0-r_37^post5 == 0 /\ i_28^0-i_28^post5 == 0 /\ length_27^0-length_27^post5 == 0 /\ r_121^0-r_121^post5 == 0 /\ -ct_18^0 <= 0 /\ 1+a_257^post5-a_234^0 <= 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ a_212^0-a_212^post5 == 0 /\ -x_SLAM_f_19^0+head_15^0 <= 0 /\ -rcd_86^post5+rcd_86^0 == 0 /\ len_180^0-len_180^post5 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ -i_164^post5+i_164^0 == 0 /\ -x_17^0+head_15^0 <= 0 /\ -x_21^0+t_24^post5 == 0 /\ -temp0_29^post5+temp0_29^0 == 0 /\ -temp0_16^post5+temp0_16^0 == 0 /\ -x_21^post5+x_21^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ -head_30^post5+head_30^0 == 0 /\ a_181^0-a_181^post5 == 0 /\ -ct_18^post5+ct_18^0 == 0 /\ a_113^0-a_113^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post5 == 0 /\ -y_20^post5+y_20^0 == 0 /\ result_11^0-result_11^post5 == 0 /\ i_105^0-i_105^post5 == 0 /\ ct_18^0 <= 0 /\ f_167^0-f_167^post5 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post5+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1-a_257^post5+a_234^0 <= 0 /\ -tmp_32^post5+tmp_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post5 == 0 /\ x_14^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ -a_144^post5+a_144^0 == 0 /\ rcd_56^0-rcd_56^post5 == 0 /\ -x_14^0 <= 0 /\ y_20^0 <= 0 /\ -y_20^0 <= 0 /\ x_17^0-x_17^post5 == 0 /\ -x_172^post5+x_172^0 == 0 /\ temp_33^0-temp_33^post5 == 0 /\ -r_160^post5+r_160^0 == 0), cost: 1
   6: l7 -> l8 : a_113^0'=a_113^post6, x_17^0'=x_17^post6, i_92^0'=i_92^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post6, a_257^0'=a_257^post6, length_27^0'=length_27^post6, temp_33^0'=temp_33^post6, x_126^0'=x_126^post6, i_105^0'=i_105^post6, rcd_56^0'=rcd_56^post6, a_181^0'=a_181^post6, x_SLAM_f_19^0'=x_SLAM_f_19^post6, t_24^0'=t_24^post6, f_167^0'=f_167^post6, r_121^0'=r_121^post6, x_172^0'=x_172^post6, i_28^0'=i_28^post6, result_11^0'=result_11^post6, a_234^0'=a_234^post6, len_180^0'=len_180^post6, temp0_29^0'=temp0_29^post6, head_30^0'=head_30^post6, r_37^0'=r_37^post6, a_144^0'=a_144^post6, x_21^0'=x_21^post6, len_129^0'=len_129^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, ct_18^0'=ct_18^post6, nondet_12^0'=nondet_12^post6, tmp_32^0'=tmp_32^post6, x_14^0'=x_14^post6, i_164^0'=i_164^post6, rcd_86^0'=rcd_86^post6, a_212^0'=a_212^post6, y_20^0'=y_20^post6, temp0_16^0'=temp0_16^post6, head_15^0'=head_15^post6, r_160^0'=r_160^post6, (-a_234^post6+a_234^0 == 0 /\ tmp_32^0-tmp_32^post6 == 0 /\ -x_172^post6+x_172^0 == 0 /\ -temp0_29^post6+temp0_29^0 == 0 /\ x_126^0-x_126^post6 == 0 /\ r_121^0-r_121^post6 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post6 == 0 /\ a_113^0-a_113^post6 == 0 /\ head_30^0-head_30^post6 == 0 /\ -head_15^post6+head_15^0 == 0 /\ length_27^0-length_27^post6 == 0 /\ f_167^0-f_167^post6 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ result_11^0-result_11^post6 == 0 /\ -temp0_16^post6+temp0_16^0 == 0 /\ len_180^0-len_180^post6 == 0 /\ -rcd_86^post6+rcd_86^0 == 0 /\ -i_164^post6+i_164^0 == 0 /\ x_17^0-x_17^post6 == 0 /\ i_92^0-i_92^post6 == 0 /\ i_105^0-i_105^post6 == 0 /\ ct_18^0-ct_18^post6 == 0 /\ -a_212^post6+a_212^0 == 0 /\ -a_257^post6+a_257^0 == 0 /\ -i_28^post6+i_28^0 == 0 /\ a_181^0-a_181^post6 == 0 /\ t_24^0-t_24^post6 == 0 /\ 1-head_15^0 <= 0 /\ x_21^0-x_21^post6 == 0 /\ -r_37^post6+r_37^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post6+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_33^0-temp_33^post6 == 0 /\ -y_20^post6+y_20^0 == 0 /\ rcd_56^0-rcd_56^post6 == 0 /\ -a_144^post6+a_144^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post6 == 0 /\ -len_129^post6+len_129^0 == 0 /\ -r_160^post6+r_160^0 == 0 /\ -x_14^post6+x_14^0 == 0), cost: 1
   7: l7 -> l8 : a_113^0'=a_113^post7, x_17^0'=x_17^post7, i_92^0'=i_92^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post7, a_257^0'=a_257^post7, length_27^0'=length_27^post7, temp_33^0'=temp_33^post7, x_126^0'=x_126^post7, i_105^0'=i_105^post7, rcd_56^0'=rcd_56^post7, a_181^0'=a_181^post7, x_SLAM_f_19^0'=x_SLAM_f_19^post7, t_24^0'=t_24^post7, f_167^0'=f_167^post7, r_121^0'=r_121^post7, x_172^0'=x_172^post7, i_28^0'=i_28^post7, result_11^0'=result_11^post7, a_234^0'=a_234^post7, len_180^0'=len_180^post7, temp0_29^0'=temp0_29^post7, head_30^0'=head_30^post7, r_37^0'=r_37^post7, a_144^0'=a_144^post7, x_21^0'=x_21^post7, len_129^0'=len_129^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, ct_18^0'=ct_18^post7, nondet_12^0'=nondet_12^post7, tmp_32^0'=tmp_32^post7, x_14^0'=x_14^post7, i_164^0'=i_164^post7, rcd_86^0'=rcd_86^post7, a_212^0'=a_212^post7, y_20^0'=y_20^post7, temp0_16^0'=temp0_16^post7, head_15^0'=head_15^post7, r_160^0'=r_160^post7, (-f_167^post7+f_167^0 == 0 /\ rcd_86^0-rcd_86^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post7 == 0 /\ i_92^0-i_92^post7 == 0 /\ a_113^0-a_113^post7 == 0 /\ tmp_32^0-tmp_32^post7 == 0 /\ -head_15^post7+head_15^0 == 0 /\ length_27^0-length_27^post7 == 0 /\ x_172^0-x_172^post7 == 0 /\ -i_164^post7+i_164^0 == 0 /\ -r_121^post7+r_121^0 == 0 /\ x_17^0-x_17^post7 == 0 /\ -x_126^post7+x_126^0 == 0 /\ 1+head_15^0 <= 0 /\ -x_SLAM_f_19^post7+x_SLAM_f_19^0 == 0 /\ -temp0_16^post7+temp0_16^0 == 0 /\ i_105^0-i_105^post7 == 0 /\ a_181^0-a_181^post7 == 0 /\ -a_212^post7+a_212^0 == 0 /\ -r_37^post7+r_37^0 == 0 /\ ct_18^0-ct_18^post7 == 0 /\ -x_14^post7+x_14^0 == 0 /\ -head_30^post7+head_30^0 == 0 /\ a_257^0-a_257^post7 == 0 /\ x_21^0-x_21^post7 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ temp0_29^0-temp0_29^post7 == 0 /\ a_234^0-a_234^post7 == 0 /\ -result_11^post7+result_11^0 == 0 /\ -i_28^post7+i_28^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post7+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_129^0-len_129^post7 == 0 /\ rcd_56^0-rcd_56^post7 == 0 /\ -y_20^post7+y_20^0 == 0 /\ -temp_33^post7+temp_33^0 == 0 /\ -t_24^post7+t_24^0 == 0 /\ -a_144^post7+a_144^0 == 0 /\ -r_160^post7+r_160^0 == 0 /\ -len_180^post7+len_180^0 == 0), cost: 1
   8: l8 -> l9 : a_113^0'=a_113^post8, x_17^0'=x_17^post8, i_92^0'=i_92^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post8, a_257^0'=a_257^post8, length_27^0'=length_27^post8, temp_33^0'=temp_33^post8, x_126^0'=x_126^post8, i_105^0'=i_105^post8, rcd_56^0'=rcd_56^post8, a_181^0'=a_181^post8, x_SLAM_f_19^0'=x_SLAM_f_19^post8, t_24^0'=t_24^post8, f_167^0'=f_167^post8, r_121^0'=r_121^post8, x_172^0'=x_172^post8, i_28^0'=i_28^post8, result_11^0'=result_11^post8, a_234^0'=a_234^post8, len_180^0'=len_180^post8, temp0_29^0'=temp0_29^post8, head_30^0'=head_30^post8, r_37^0'=r_37^post8, a_144^0'=a_144^post8, x_21^0'=x_21^post8, len_129^0'=len_129^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, ct_18^0'=ct_18^post8, nondet_12^0'=nondet_12^post8, tmp_32^0'=tmp_32^post8, x_14^0'=x_14^post8, i_164^0'=i_164^post8, rcd_86^0'=rcd_86^post8, a_212^0'=a_212^post8, y_20^0'=y_20^post8, temp0_16^0'=temp0_16^post8, head_15^0'=head_15^post8, r_160^0'=r_160^post8, (a_113^0-a_113^post8 == 0 /\ -x_SLAM_f_19^post8+x_SLAM_f_19^0 == 0 /\ length_27^0-length_27^post8 == 0 /\ -r_121^post8+r_121^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post8 == 0 /\ -head_15^post8+head_15^0 == 0 /\ len_129^0-len_129^post8 == 0 /\ 1-y_20^0+head_15^0 <= 0 /\ -rcd_86^post8+rcd_86^0 == 0 /\ r_37^0-r_37^post8 == 0 /\ a_234^0-a_234^post8 == 0 /\ f_167^0-f_167^post8 == 0 /\ x_172^0-x_172^post8 == 0 /\ -head_30^post8+head_30^0 == 0 /\ a_181^0-a_181^post8 == 0 /\ -x_21^post8+x_21^0 == 0 /\ a_257^0-a_257^post8 == 0 /\ x_17^0-x_17^post8 == 0 /\ i_92^0-i_92^post8 == 0 /\ -a_212^post8+a_212^0 == 0 /\ -i_164^post8+i_164^0 == 0 /\ -temp0_16^post8+temp0_16^0 == 0 /\ -x_126^post8+x_126^0 == 0 /\ -x_14^post8+x_14^0 == 0 /\ -result_11^post8+result_11^0 == 0 /\ temp0_29^0-temp0_29^post8 == 0 /\ i_28^0-i_28^post8 == 0 /\ i_105^0-i_105^post8 == 0 /\ -y_20^post8+y_20^0 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ len_180^0-len_180^post8 == 0 /\ -r_160^post8+r_160^0 == 0 /\ -tmp_32^post8+tmp_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post8+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_56^0-rcd_56^post8 == 0 /\ -a_144^post8+a_144^0 == 0 /\ -temp_33^post8+temp_33^0 == 0 /\ -t_24^post8+t_24^0 == 0 /\ -ct_18^post8+ct_18^0 == 0), cost: 1
   9: l8 -> l9 : a_113^0'=a_113^post9, x_17^0'=x_17^post9, i_92^0'=i_92^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post9, a_257^0'=a_257^post9, length_27^0'=length_27^post9, temp_33^0'=temp_33^post9, x_126^0'=x_126^post9, i_105^0'=i_105^post9, rcd_56^0'=rcd_56^post9, a_181^0'=a_181^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, t_24^0'=t_24^post9, f_167^0'=f_167^post9, r_121^0'=r_121^post9, x_172^0'=x_172^post9, i_28^0'=i_28^post9, result_11^0'=result_11^post9, a_234^0'=a_234^post9, len_180^0'=len_180^post9, temp0_29^0'=temp0_29^post9, head_30^0'=head_30^post9, r_37^0'=r_37^post9, a_144^0'=a_144^post9, x_21^0'=x_21^post9, len_129^0'=len_129^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, ct_18^0'=ct_18^post9, nondet_12^0'=nondet_12^post9, tmp_32^0'=tmp_32^post9, x_14^0'=x_14^post9, i_164^0'=i_164^post9, rcd_86^0'=rcd_86^post9, a_212^0'=a_212^post9, y_20^0'=y_20^post9, temp0_16^0'=temp0_16^post9, head_15^0'=head_15^post9, r_160^0'=r_160^post9, (-len_129^post9+len_129^0 == 0 /\ -r_121^post9+r_121^0 == 0 /\ x_126^0-x_126^post9 == 0 /\ a_113^0-a_113^post9 == 0 /\ i_105^0-i_105^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post9 == 0 /\ -temp0_29^post9+temp0_29^0 == 0 /\ -head_15^post9+head_15^0 == 0 /\ a_234^0-a_234^post9 == 0 /\ length_27^0-length_27^post9 == 0 /\ -rcd_86^post9+rcd_86^0 == 0 /\ -x_172^post9+x_172^0 == 0 /\ a_144^0-a_144^post9 == 0 /\ y_20^0-y_20^post9 == 0 /\ -nondet_12^post9+nondet_12^0 == 0 /\ 1+y_20^0-head_15^0 <= 0 /\ -a_212^post9+a_212^0 == 0 /\ -i_164^post9+i_164^0 == 0 /\ -temp0_16^post9+temp0_16^0 == 0 /\ temp_33^0-temp_33^post9 == 0 /\ x_17^0-x_17^post9 == 0 /\ i_92^0-i_92^post9 == 0 /\ -x_21^post9+x_21^0 == 0 /\ -a_257^post9+a_257^0 == 0 /\ -head_30^post9+head_30^0 == 0 /\ -ct_18^post9+ct_18^0 == 0 /\ a_181^0-a_181^post9 == 0 /\ -r_37^post9+r_37^0 == 0 /\ i_28^0-i_28^post9 == 0 /\ t_24^0-t_24^post9 == 0 /\ -tmp_32^post9+tmp_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post9 == 0 /\ result_11^0-result_11^post9 == 0 /\ f_167^0-f_167^post9 == 0 /\ len_180^0-len_180^post9 == 0 /\ rcd_56^0-rcd_56^post9 == 0 /\ -x_14^post9+x_14^0 == 0 /\ -r_160^post9+r_160^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post9+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1
  10: l9 -> l10 : a_113^0'=a_113^post10, x_17^0'=x_17^post10, i_92^0'=i_92^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post10, a_257^0'=a_257^post10, length_27^0'=length_27^post10, temp_33^0'=temp_33^post10, x_126^0'=x_126^post10, i_105^0'=i_105^post10, rcd_56^0'=rcd_56^post10, a_181^0'=a_181^post10, x_SLAM_f_19^0'=x_SLAM_f_19^post10, t_24^0'=t_24^post10, f_167^0'=f_167^post10, r_121^0'=r_121^post10, x_172^0'=x_172^post10, i_28^0'=i_28^post10, result_11^0'=result_11^post10, a_234^0'=a_234^post10, len_180^0'=len_180^post10, temp0_29^0'=temp0_29^post10, head_30^0'=head_30^post10, r_37^0'=r_37^post10, a_144^0'=a_144^post10, x_21^0'=x_21^post10, len_129^0'=len_129^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, ct_18^0'=ct_18^post10, nondet_12^0'=nondet_12^post10, tmp_32^0'=tmp_32^post10, x_14^0'=x_14^post10, i_164^0'=i_164^post10, rcd_86^0'=rcd_86^post10, a_212^0'=a_212^post10, y_20^0'=y_20^post10, temp0_16^0'=temp0_16^post10, head_15^0'=head_15^post10, r_160^0'=r_160^post10, (-head_15^post10+head_15^0 == 0 /\ -a_234^post10+a_234^0 == 0 /\ a_144^0-a_144^post10 == 0 /\ a_113^0-a_113^post10 == 0 /\ -i_164^post10+i_164^0 == 0 /\ -rcd_86^post10+rcd_86^0 == 0 /\ temp0_29^0-temp0_29^post10 == 0 /\ 1-t_24^0+y_20^0 <= 0 /\ -len_129^post10+len_129^0 == 0 /\ head_30^0-head_30^post10 == 0 /\ -a_212^post10+a_212^0 == 0 /\ -i_105^post10+i_105^0 == 0 /\ y_20^0-y_20^post10 == 0 /\ rcd_56^0-rcd_56^post10 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post10 == 0 /\ temp_33^0-temp_33^post10 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post10 == 0 /\ a_257^0-a_257^post10 == 0 /\ -r_37^post10+r_37^0 == 0 /\ x_17^0-x_17^post10 == 0 /\ -x_14^post10+x_14^0 == 0 /\ x_126^0-x_126^post10 == 0 /\ -temp0_16^post10+temp0_16^0 == 0 /\ r_121^0-r_121^post10 == 0 /\ -tmp_32^post10+tmp_32^0 == 0 /\ t_24^0-t_24^post10 == 0 /\ i_28^0-i_28^post10 == 0 /\ -x_21^post10+x_21^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ x_172^0-x_172^post10 == 0 /\ -len_180^post10+len_180^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 == 0 /\ -r_160^post10+r_160^0 == 0 /\ result_11^0-result_11^post10 == 0 /\ -length_27^post10+length_27^0 == 0 /\ a_181^0-a_181^post10 == 0 /\ -f_167^post10+f_167^0 == 0 /\ -ct_18^post10+ct_18^0 == 0 /\ i_92^0-i_92^post10 == 0), cost: 1
  11: l9 -> l10 : a_113^0'=a_113^post11, x_17^0'=x_17^post11, i_92^0'=i_92^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post11, a_257^0'=a_257^post11, length_27^0'=length_27^post11, temp_33^0'=temp_33^post11, x_126^0'=x_126^post11, i_105^0'=i_105^post11, rcd_56^0'=rcd_56^post11, a_181^0'=a_181^post11, x_SLAM_f_19^0'=x_SLAM_f_19^post11, t_24^0'=t_24^post11, f_167^0'=f_167^post11, r_121^0'=r_121^post11, x_172^0'=x_172^post11, i_28^0'=i_28^post11, result_11^0'=result_11^post11, a_234^0'=a_234^post11, len_180^0'=len_180^post11, temp0_29^0'=temp0_29^post11, head_30^0'=head_30^post11, r_37^0'=r_37^post11, a_144^0'=a_144^post11, x_21^0'=x_21^post11, len_129^0'=len_129^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, ct_18^0'=ct_18^post11, nondet_12^0'=nondet_12^post11, tmp_32^0'=tmp_32^post11, x_14^0'=x_14^post11, i_164^0'=i_164^post11, rcd_86^0'=rcd_86^post11, a_212^0'=a_212^post11, y_20^0'=y_20^post11, temp0_16^0'=temp0_16^post11, head_15^0'=head_15^post11, r_160^0'=r_160^post11, (x_17^0-x_17^post11 == 0 /\ -i_164^post11+i_164^0 == 0 /\ temp0_29^0-temp0_29^post11 == 0 /\ t_24^0-t_24^post11 == 0 /\ -head_15^post11+head_15^0 == 0 /\ -len_180^post11+len_180^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ -rcd_86^post11+rcd_86^0 == 0 /\ len_129^0-len_129^post11 == 0 /\ -x_21^post11+x_21^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post11 == 0 /\ 1+t_24^0-y_20^0 <= 0 /\ -a_234^post11+a_234^0 == 0 /\ -i_105^post11+i_105^0 == 0 /\ rcd_56^0-rcd_56^post11 == 0 /\ -a_212^post11+a_212^0 == 0 /\ -temp0_16^post11+temp0_16^0 == 0 /\ -head_30^post11+head_30^0 == 0 /\ r_121^0-r_121^post11 == 0 /\ -r_37^post11+r_37^0 == 0 /\ -x_14^post11+x_14^0 == 0 /\ i_28^0-i_28^post11 == 0 /\ -length_27^post11+length_27^0 == 0 /\ a_113^0-a_113^post11 == 0 /\ -y_20^post11+y_20^0 == 0 /\ nondet_12^0-nondet_12^post11 == 0 /\ -temp_33^post11+temp_33^0 == 0 /\ -r_160^post11+r_160^0 == 0 /\ -f_167^post11+f_167^0 == 0 /\ x_172^0-x_172^post11 == 0 /\ -a_144^post11+a_144^0 == 0 /\ i_92^0-i_92^post11 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post11 == 0 /\ -result_11^post11+result_11^0 == 0 /\ -tmp_32^post11+tmp_32^0 == 0 /\ a_181^0-a_181^post11 == 0 /\ x_126^0-x_126^post11 == 0 /\ a_257^0-a_257^post11 == 0 /\ -ct_18^post11+ct_18^0 == 0), cost: 1
  12: l10 -> l4 : a_113^0'=a_113^post12, x_17^0'=x_17^post12, i_92^0'=i_92^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post12, a_257^0'=a_257^post12, length_27^0'=length_27^post12, temp_33^0'=temp_33^post12, x_126^0'=x_126^post12, i_105^0'=i_105^post12, rcd_56^0'=rcd_56^post12, a_181^0'=a_181^post12, x_SLAM_f_19^0'=x_SLAM_f_19^post12, t_24^0'=t_24^post12, f_167^0'=f_167^post12, r_121^0'=r_121^post12, x_172^0'=x_172^post12, i_28^0'=i_28^post12, result_11^0'=result_11^post12, a_234^0'=a_234^post12, len_180^0'=len_180^post12, temp0_29^0'=temp0_29^post12, head_30^0'=head_30^post12, r_37^0'=r_37^post12, a_144^0'=a_144^post12, x_21^0'=x_21^post12, len_129^0'=len_129^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, ct_18^0'=ct_18^post12, nondet_12^0'=nondet_12^post12, tmp_32^0'=tmp_32^post12, x_14^0'=x_14^post12, i_164^0'=i_164^post12, rcd_86^0'=rcd_86^post12, a_212^0'=a_212^post12, y_20^0'=y_20^post12, temp0_16^0'=temp0_16^post12, head_15^0'=head_15^post12, r_160^0'=r_160^post12, (0 == 0 /\ -rcd_86^post12+rcd_86^0 == 0 /\ -r_121^post12+r_121^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_105^0-i_105^post12 == 0 /\ -temp0_29^post12+temp0_29^0 == 0 /\ -head_15^post12+head_15^0 == 0 /\ t_24^0-t_24^post12 == 0 /\ -len_129^post12+len_129^0 == 0 /\ -x_172^post12+x_172^0 == 0 /\ r_37^0-r_37^post12 == 0 /\ -head_30^post12+head_30^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_164^post12+i_164^0 == 0 /\ -rcd_56^post12+rcd_56^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post12 == 0 /\ -a_212^post12+a_212^0 == 0 /\ length_27^0-length_27^post12 == 0 /\ -tmp_32^post12+tmp_32^0 == 0 /\ a_113^0-a_113^post12 == 0 /\ -x_21^post12+x_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post12 == 0 /\ i_28^0-i_28^post12 == 0 /\ -temp0_16^post12+temp0_16^0 == 0 /\ a_257^0-a_234^post12 <= 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ -x_17^post12+x_17^0 == 0 /\ -y_20^post12+y_20^0 == 0 /\ -x_14^post12+x_14^0 == 0 /\ -a_144^post12+a_144^0 == 0 /\ result_11^0-result_11^post12 == 0 /\ -r_160^post12+r_160^0 == 0 /\ f_167^0-f_167^post12 == 0 /\ len_180^0-len_180^post12 == 0 /\ -ct_18^post12+ct_18^0 == 0 /\ -a_257^0+a_234^post12 <= 0 /\ a_181^0-a_181^post12 == 0 /\ a_257^0-a_257^post12 == 0 /\ x_126^0-x_126^post12 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post12+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_33^0-temp_33^post12 == 0 /\ i_92^0-i_92^post12 == 0), cost: 1
  13: l4 -> l2 : a_113^0'=a_113^post13, x_17^0'=x_17^post13, i_92^0'=i_92^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post13, a_257^0'=a_257^post13, length_27^0'=length_27^post13, temp_33^0'=temp_33^post13, x_126^0'=x_126^post13, i_105^0'=i_105^post13, rcd_56^0'=rcd_56^post13, a_181^0'=a_181^post13, x_SLAM_f_19^0'=x_SLAM_f_19^post13, t_24^0'=t_24^post13, f_167^0'=f_167^post13, r_121^0'=r_121^post13, x_172^0'=x_172^post13, i_28^0'=i_28^post13, result_11^0'=result_11^post13, a_234^0'=a_234^post13, len_180^0'=len_180^post13, temp0_29^0'=temp0_29^post13, head_30^0'=head_30^post13, r_37^0'=r_37^post13, a_144^0'=a_144^post13, x_21^0'=x_21^post13, len_129^0'=len_129^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, ct_18^0'=ct_18^post13, nondet_12^0'=nondet_12^post13, tmp_32^0'=tmp_32^post13, x_14^0'=x_14^post13, i_164^0'=i_164^post13, rcd_86^0'=rcd_86^post13, a_212^0'=a_212^post13, y_20^0'=y_20^post13, temp0_16^0'=temp0_16^post13, head_15^0'=head_15^post13, r_160^0'=r_160^post13, (x_17^0-x_17^post13 == 0 /\ a_144^0-a_144^post13 == 0 /\ temp_33^0-temp_33^post13 == 0 /\ -rcd_86^post13+rcd_86^0 == 0 /\ t_24^0-t_24^post13 == 0 /\ -i_164^post13+i_164^0 == 0 /\ a_234^0-a_234^post13 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post13+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_160^post13+r_160^0 == 0 /\ x_14^0-x_14^post13 == 0 /\ -temp0_29^post13+temp0_29^0 == 0 /\ -head_30^post13+head_30^0 == 0 /\ -len_129^post13+len_129^0 == 0 /\ -rcd_56^post13+rcd_56^0 == 0 /\ len_180^0-len_180^post13 == 0 /\ -x_172^post13+x_172^0 == 0 /\ -a_212^post13+a_212^0 == 0 /\ i_105^0-i_105^post13 == 0 /\ -y_20^post13+y_20^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post13 == 0 /\ -head_15^post13+head_15^0 == 0 /\ r_121^0-r_121^post13 == 0 /\ -r_37^post13+r_37^0 == 0 /\ length_27^0-length_27^post13 == 0 /\ -x_21^post13+x_21^0 == 0 /\ -nondet_12^post13+nondet_12^0 == 0 /\ i_28^0-i_28^post13 == 0 /\ temp0_16^0-temp0_16^post13 == 0 /\ a_113^0-a_113^post13 == 0 /\ -ct_18^post13+ct_18^0 == 0 /\ x_126^0-x_126^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post13 == 0 /\ f_167^0-f_167^post13 == 0 /\ a_257^0-a_257^post13 == 0 /\ -tmp_32^post13+tmp_32^0 == 0 /\ i_92^0-i_92^post13 == 0 /\ result_11^0-result_11^post13 == 0 /\ a_181^0-a_181^post13 == 0), cost: 1
  29: l20 -> l21 : a_113^0'=a_113^post29, x_17^0'=x_17^post29, i_92^0'=i_92^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post29, a_257^0'=a_257^post29, length_27^0'=length_27^post29, temp_33^0'=temp_33^post29, x_126^0'=x_126^post29, i_105^0'=i_105^post29, rcd_56^0'=rcd_56^post29, a_181^0'=a_181^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, t_24^0'=t_24^post29, f_167^0'=f_167^post29, r_121^0'=r_121^post29, x_172^0'=x_172^post29, i_28^0'=i_28^post29, result_11^0'=result_11^post29, a_234^0'=a_234^post29, len_180^0'=len_180^post29, temp0_29^0'=temp0_29^post29, head_30^0'=head_30^post29, r_37^0'=r_37^post29, a_144^0'=a_144^post29, x_21^0'=x_21^post29, len_129^0'=len_129^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, nondet_12^0'=nondet_12^post29, tmp_32^0'=tmp_32^post29, x_14^0'=x_14^post29, i_164^0'=i_164^post29, rcd_86^0'=rcd_86^post29, a_212^0'=a_212^post29, y_20^0'=y_20^post29, temp0_16^0'=temp0_16^post29, head_15^0'=head_15^post29, r_160^0'=r_160^post29, (0 == 0 /\ result_11^0-result_11^post29 == 0 /\ -len_129^0 <= 0 /\ f_167^0-f_167^post29 == 0 /\ rcd_56^0-rcd_56^post29 == 0 /\ len_180^0-len_180^post29 == 0 /\ -a_212^post29+a_212^0 == 0 /\ -r_37^post29+r_37^0 == 0 /\ -i_28^post29+i_28^0 == 0 /\ temp_33^0-temp_33^post29 == 0 /\ rcd_86^0-rcd_86^post29 == 0 /\ tmp_32^0-tmp_32^post29 == 0 /\ -y_20^post29+y_20^0 == 0 /\ -r_160^post29+r_160^0 == 0 /\ t_24^0-t_24^post29 == 0 /\ -a_144^post29+a_144^0 == 0 /\ length_27^0-length_27^post29 == 0 /\ -a_234^post29+a_234^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -temp0_29^post29+temp0_29^0 == 0 /\ x_172^0-x_172^post29 == 0 /\ i_92^0-i_92^post29 == 0 /\ a_257^0-a_257^post29 == 0 /\ x_126^0-x_126^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ -i_164^post29+i_164^0 == 0 /\ r_121^0-r_121^post29 == 0 /\ a_113^0-a_113^post29 == 0 /\ a_181^0-a_181^post29 == 0 /\ i_105^0-i_105^post29 == 0 /\ -temp0_16^post29+temp0_16^0 == 0 /\ head_30^0-head_30^post29 == 0 /\ len_129^0-len_129^post29 == 0 /\ x_21^0-x_21^post29 == 0), cost: 1
  30: l21 -> l22 : a_113^0'=a_113^post30, x_17^0'=x_17^post30, i_92^0'=i_92^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post30, a_257^0'=a_257^post30, length_27^0'=length_27^post30, temp_33^0'=temp_33^post30, x_126^0'=x_126^post30, i_105^0'=i_105^post30, rcd_56^0'=rcd_56^post30, a_181^0'=a_181^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, t_24^0'=t_24^post30, f_167^0'=f_167^post30, r_121^0'=r_121^post30, x_172^0'=x_172^post30, i_28^0'=i_28^post30, result_11^0'=result_11^post30, a_234^0'=a_234^post30, len_180^0'=len_180^post30, temp0_29^0'=temp0_29^post30, head_30^0'=head_30^post30, r_37^0'=r_37^post30, a_144^0'=a_144^post30, x_21^0'=x_21^post30, len_129^0'=len_129^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, ct_18^0'=ct_18^post30, nondet_12^0'=nondet_12^post30, tmp_32^0'=tmp_32^post30, x_14^0'=x_14^post30, i_164^0'=i_164^post30, rcd_86^0'=rcd_86^post30, a_212^0'=a_212^post30, y_20^0'=y_20^post30, temp0_16^0'=temp0_16^post30, head_15^0'=head_15^post30, r_160^0'=r_160^post30, (f_167^0-f_167^post30 == 0 /\ -r_37^post30+r_37^0 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ -x_14^post30+x_14^0 == 0 /\ -y_20^post30+y_20^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post30 == 0 /\ x_21^0-x_21^post30 == 0 /\ -result_11^post30+result_11^0 == 0 /\ x_17^0-x_17^post30 == 0 /\ -i_28^post30+i_28^0 == 0 /\ a_257^0-a_257^post30 == 0 /\ -len_180^post30+len_180^0 == 0 /\ -r_160^post30+r_160^0 == 0 /\ -a_144^post30+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post30+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ tmp_32^0-tmp_32^post30 == 0 /\ a_181^0-a_181^post30 == 0 /\ t_24^0-t_24^post30 == 0 /\ -ct_18^post30+ct_18^0 == 0 /\ -temp_33^post30+temp_33^0 == 0 /\ rcd_86^0-rcd_86^post30 == 0 /\ a_234^0-a_234^post30 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ x_172^0-x_172^post30 == 0 /\ rcd_56^0-rcd_56^post30 == 0 /\ -head_15^post30+head_15^0 == 0 /\ head_30^0-head_30^post30 == 0 /\ -r_121^post30+r_121^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ i_92^0-i_92^post30 == 0 /\ i_105^0-i_105^post30 == 0 /\ a_113^0-a_113^post30 == 0 /\ temp0_29^0-temp0_29^post30 == 0 /\ len_129^0-len_129^post30 == 0 /\ -i_164^post30+i_164^0 == 0 /\ length_27^0-length_27^post30 == 0 /\ -x_126^post30+x_126^0 == 0 /\ nondet_12^0-nondet_12^post30 == 0 /\ -a_212^post30+a_212^0 == 0), cost: 1
  31: l21 -> l22 : a_113^0'=a_113^post31, x_17^0'=x_17^post31, i_92^0'=i_92^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post31, a_257^0'=a_257^post31, length_27^0'=length_27^post31, temp_33^0'=temp_33^post31, x_126^0'=x_126^post31, i_105^0'=i_105^post31, rcd_56^0'=rcd_56^post31, a_181^0'=a_181^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, t_24^0'=t_24^post31, f_167^0'=f_167^post31, r_121^0'=r_121^post31, x_172^0'=x_172^post31, i_28^0'=i_28^post31, result_11^0'=result_11^post31, a_234^0'=a_234^post31, len_180^0'=len_180^post31, temp0_29^0'=temp0_29^post31, head_30^0'=head_30^post31, r_37^0'=r_37^post31, a_144^0'=a_144^post31, x_21^0'=x_21^post31, len_129^0'=len_129^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, ct_18^0'=ct_18^post31, nondet_12^0'=nondet_12^post31, tmp_32^0'=tmp_32^post31, x_14^0'=x_14^post31, i_164^0'=i_164^post31, rcd_86^0'=rcd_86^post31, a_212^0'=a_212^post31, y_20^0'=y_20^post31, temp0_16^0'=temp0_16^post31, head_15^0'=head_15^post31, r_160^0'=r_160^post31, (-ct_18^post31+ct_18^0 == 0 /\ -result_11^post31+result_11^0 == 0 /\ -t_24^post31+t_24^0 == 0 /\ f_167^0-f_167^post31 == 0 /\ -y_20^post31+y_20^0 == 0 /\ temp_33^0-temp_33^post31 == 0 /\ a_181^0-a_181^post31 == 0 /\ a_257^0-a_257^post31 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post31 == 0 /\ a_113^0-a_113^post31 == 0 /\ -r_160^post31+r_160^0 == 0 /\ i_28^0-i_28^post31 == 0 /\ a_234^0-a_234^post31 == 0 /\ x_14^0-x_14^post31 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post31+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_144^0-a_144^post31 == 0 /\ -tmp_32^post31+tmp_32^0 == 0 /\ -r_121^post31+r_121^0 == 0 /\ -i_164^post31+i_164^0 == 0 /\ x_172^0-x_172^post31 == 0 /\ -len_129^post31+len_129^0 == 0 /\ i_92^0-i_92^post31 == 0 /\ -temp0_29^post31+temp0_29^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post31 == 0 /\ rcd_56^0-rcd_56^post31 == 0 /\ -rcd_86^post31+rcd_86^0 == 0 /\ x_126^0-x_126^post31 == 0 /\ x_17^0-x_17^post31 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ length_27^0-length_27^post31 == 0 /\ i_105^0-i_105^post31 == 0 /\ head_15^0-head_15^post31 == 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ len_180^0-len_180^post31 == 0 /\ -a_212^post31+a_212^0 == 0 /\ -head_30^post31+head_30^0 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ r_37^0-r_37^post31 == 0 /\ -x_21^post31+x_21^0 == 0), cost: 1
  32: l22 -> l23 : a_113^0'=a_113^post32, x_17^0'=x_17^post32, i_92^0'=i_92^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post32, a_257^0'=a_257^post32, length_27^0'=length_27^post32, temp_33^0'=temp_33^post32, x_126^0'=x_126^post32, i_105^0'=i_105^post32, rcd_56^0'=rcd_56^post32, a_181^0'=a_181^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, t_24^0'=t_24^post32, f_167^0'=f_167^post32, r_121^0'=r_121^post32, x_172^0'=x_172^post32, i_28^0'=i_28^post32, result_11^0'=result_11^post32, a_234^0'=a_234^post32, len_180^0'=len_180^post32, temp0_29^0'=temp0_29^post32, head_30^0'=head_30^post32, r_37^0'=r_37^post32, a_144^0'=a_144^post32, x_21^0'=x_21^post32, len_129^0'=len_129^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, ct_18^0'=ct_18^post32, nondet_12^0'=nondet_12^post32, tmp_32^0'=tmp_32^post32, x_14^0'=x_14^post32, i_164^0'=i_164^post32, rcd_86^0'=rcd_86^post32, a_212^0'=a_212^post32, y_20^0'=y_20^post32, temp0_16^0'=temp0_16^post32, head_15^0'=head_15^post32, r_160^0'=r_160^post32, (0 == 0 /\ -t_24^post32+head_15^0 <= 0 /\ -x_21^post32+x_21^0 == 0 /\ result_11^0-result_11^post32 == 0 /\ f_167^0-f_167^post32 == 0 /\ x_SLAM_f_19^0-head_15^0 <= 0 /\ len_180^0-len_180^post32 == 0 /\ -temp0_16^post32+temp0_16^0 == 0 /\ x_17^0-head_15^0 <= 0 /\ -tmp_32^post32+tmp_32^0 == 0 /\ -ct_18^0 <= 0 /\ i_164^0-i_164^post32 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post32 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ -y_20^post32+y_20^0 == 0 /\ -x_14^post32+x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ t_24^post32-head_15^0 <= 0 /\ -r_160^post32+r_160^0 == 0 /\ a_113^0-a_113^post32 == 0 /\ -x_SLAM_f_19^0+head_15^0 <= 0 /\ a_144^0-a_144^post32 == 0 /\ a_257^0-a_257^post32 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post32 == 0 /\ i_28^0-i_28^post32 == 0 /\ -x_17^0+head_15^0 <= 0 /\ -ct_18^post32+ct_18^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ x_172^0-x_172^post32 == 0 /\ -a_234^post32+a_234^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ r_37^0-r_37^post32 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 == 0 /\ -temp0_29^post32+temp0_29^0 == 0 /\ -head_15^post32+head_15^0 == 0 /\ -len_129^post32+len_129^0 == 0 /\ rcd_56^0-rcd_56^post32 == 0 /\ temp_33^0-temp_33^post32 == 0 /\ -a_181^post32+a_181^0 == 0 /\ i_92^0-i_92^post32 == 0 /\ x_17^0-x_17^post32 == 0 /\ ct_18^0 <= 0 /\ x_126^0-x_126^post32 == 0 /\ -rcd_86^post32+rcd_86^0 == 0 /\ -a_234^0+a_212^post32 <= 0 /\ x_14^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ -x_14^0 <= 0 /\ r_121^0-r_121^post32 == 0 /\ -head_30^post32+head_30^0 == 0 /\ i_105^0-i_105^post32 == 0 /\ y_20^0 <= 0 /\ t_24^post32-x_21^0 == 0 /\ -y_20^0 <= 0 /\ length_27^0-length_27^post32 == 0 /\ a_234^0-a_212^post32 <= 0), cost: 1
  33: l23 -> l24 : a_113^0'=a_113^post33, x_17^0'=x_17^post33, i_92^0'=i_92^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post33, a_257^0'=a_257^post33, length_27^0'=length_27^post33, temp_33^0'=temp_33^post33, x_126^0'=x_126^post33, i_105^0'=i_105^post33, rcd_56^0'=rcd_56^post33, a_181^0'=a_181^post33, x_SLAM_f_19^0'=x_SLAM_f_19^post33, t_24^0'=t_24^post33, f_167^0'=f_167^post33, r_121^0'=r_121^post33, x_172^0'=x_172^post33, i_28^0'=i_28^post33, result_11^0'=result_11^post33, a_234^0'=a_234^post33, len_180^0'=len_180^post33, temp0_29^0'=temp0_29^post33, head_30^0'=head_30^post33, r_37^0'=r_37^post33, a_144^0'=a_144^post33, x_21^0'=x_21^post33, len_129^0'=len_129^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, ct_18^0'=ct_18^post33, nondet_12^0'=nondet_12^post33, tmp_32^0'=tmp_32^post33, x_14^0'=x_14^post33, i_164^0'=i_164^post33, rcd_86^0'=rcd_86^post33, a_212^0'=a_212^post33, y_20^0'=y_20^post33, temp0_16^0'=temp0_16^post33, head_15^0'=head_15^post33, r_160^0'=r_160^post33, (-nondet_12^post33+nondet_12^0 == 0 /\ head_30^0-head_30^post33 == 0 /\ -r_37^post33+r_37^0 == 0 /\ i_164^0-i_164^post33 == 0 /\ -y_20^post33+y_20^0 == 0 /\ -temp0_16^post33+temp0_16^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post33 == 0 /\ i_105^0-i_105^post33 == 0 /\ -x_14^post33+x_14^0 == 0 /\ result_11^0-result_11^post33 == 0 /\ a_257^0-a_257^post33 == 0 /\ -f_167^post33+f_167^0 == 0 /\ -a_144^post33+a_144^0 == 0 /\ -len_180^post33+len_180^0 == 0 /\ tmp_32^0-tmp_32^post33 == 0 /\ -i_28^post33+i_28^0 == 0 /\ a_113^0-a_113^post33 == 0 /\ -a_181^post33+a_181^0 == 0 /\ -rcd_86^post33+rcd_86^0 == 0 /\ x_126^0-x_126^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post33 == 0 /\ x_172^0-x_172^post33 == 0 /\ i_92^0-i_92^post33 == 0 /\ 1-head_15^0 <= 0 /\ rcd_56^0-rcd_56^post33 == 0 /\ -temp0_29^post33+temp0_29^0 == 0 /\ -len_129^post33+len_129^0 == 0 /\ x_17^0-x_17^post33 == 0 /\ r_121^0-r_121^post33 == 0 /\ temp_33^0-temp_33^post33 == 0 /\ t_24^0-t_24^post33 == 0 /\ -a_212^post33+a_212^0 == 0 /\ length_27^0-length_27^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 == 0 /\ x_21^0-x_21^post33 == 0 /\ a_234^0-a_234^post33 == 0 /\ r_160^0-r_160^post33 == 0 /\ -head_15^post33+head_15^0 == 0 /\ ct_18^0-ct_18^post33 == 0), cost: 1
  34: l23 -> l24 : a_113^0'=a_113^post34, x_17^0'=x_17^post34, i_92^0'=i_92^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post34, a_257^0'=a_257^post34, length_27^0'=length_27^post34, temp_33^0'=temp_33^post34, x_126^0'=x_126^post34, i_105^0'=i_105^post34, rcd_56^0'=rcd_56^post34, a_181^0'=a_181^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, t_24^0'=t_24^post34, f_167^0'=f_167^post34, r_121^0'=r_121^post34, x_172^0'=x_172^post34, i_28^0'=i_28^post34, result_11^0'=result_11^post34, a_234^0'=a_234^post34, len_180^0'=len_180^post34, temp0_29^0'=temp0_29^post34, head_30^0'=head_30^post34, r_37^0'=r_37^post34, a_144^0'=a_144^post34, x_21^0'=x_21^post34, len_129^0'=len_129^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, ct_18^0'=ct_18^post34, nondet_12^0'=nondet_12^post34, tmp_32^0'=tmp_32^post34, x_14^0'=x_14^post34, i_164^0'=i_164^post34, rcd_86^0'=rcd_86^post34, a_212^0'=a_212^post34, y_20^0'=y_20^post34, temp0_16^0'=temp0_16^post34, head_15^0'=head_15^post34, r_160^0'=r_160^post34, (-t_24^post34+t_24^0 == 0 /\ -x_14^post34+x_14^0 == 0 /\ -y_20^post34+y_20^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -x_21^post34+x_21^0 == 0 /\ x_172^0-x_172^post34 == 0 /\ a_181^0-a_181^post34 == 0 /\ -a_144^post34+a_144^0 == 0 /\ a_257^0-a_257^post34 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ -f_167^post34+f_167^0 == 0 /\ r_121^0-r_121^post34 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post34 == 0 /\ a_113^0-a_113^post34 == 0 /\ -r_160^post34+r_160^0 == 0 /\ -tmp_32^post34+tmp_32^0 == 0 /\ a_212^0-a_212^post34 == 0 /\ 1+head_15^0 <= 0 /\ -ct_18^post34+ct_18^0 == 0 /\ r_37^0-r_37^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post34+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_15^post34+head_15^0 == 0 /\ -temp0_29^post34+temp0_29^0 == 0 /\ -rcd_86^post34+rcd_86^0 == 0 /\ -len_129^post34+len_129^0 == 0 /\ i_105^0-i_105^post34 == 0 /\ rcd_56^0-rcd_56^post34 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post34 == 0 /\ x_126^0-x_126^post34 == 0 /\ -len_180^post34+len_180^0 == 0 /\ i_92^0-i_92^post34 == 0 /\ x_17^0-x_17^post34 == 0 /\ temp_33^0-temp_33^post34 == 0 /\ length_27^0-length_27^post34 == 0 /\ i_28^0-i_28^post34 == 0 /\ a_234^0-a_234^post34 == 0 /\ -head_30^post34+head_30^0 == 0 /\ -i_164^post34+i_164^0 == 0), cost: 1
  35: l24 -> l25 : a_113^0'=a_113^post35, x_17^0'=x_17^post35, i_92^0'=i_92^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post35, a_257^0'=a_257^post35, length_27^0'=length_27^post35, temp_33^0'=temp_33^post35, x_126^0'=x_126^post35, i_105^0'=i_105^post35, rcd_56^0'=rcd_56^post35, a_181^0'=a_181^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, t_24^0'=t_24^post35, f_167^0'=f_167^post35, r_121^0'=r_121^post35, x_172^0'=x_172^post35, i_28^0'=i_28^post35, result_11^0'=result_11^post35, a_234^0'=a_234^post35, len_180^0'=len_180^post35, temp0_29^0'=temp0_29^post35, head_30^0'=head_30^post35, r_37^0'=r_37^post35, a_144^0'=a_144^post35, x_21^0'=x_21^post35, len_129^0'=len_129^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, ct_18^0'=ct_18^post35, nondet_12^0'=nondet_12^post35, tmp_32^0'=tmp_32^post35, x_14^0'=x_14^post35, i_164^0'=i_164^post35, rcd_86^0'=rcd_86^post35, a_212^0'=a_212^post35, y_20^0'=y_20^post35, temp0_16^0'=temp0_16^post35, head_15^0'=head_15^post35, r_160^0'=r_160^post35, (-tmp_32^post35+tmp_32^0 == 0 /\ -a_144^post35+a_144^0 == 0 /\ -nondet_12^post35+nondet_12^0 == 0 /\ r_37^0-r_37^post35 == 0 /\ 1-y_20^0+head_15^0 <= 0 /\ a_257^0-a_257^post35 == 0 /\ -x_14^post35+x_14^0 == 0 /\ i_92^0-i_92^post35 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ -t_24^post35+t_24^0 == 0 /\ x_126^0-x_126^post35 == 0 /\ -x_21^post35+x_21^0 == 0 /\ r_121^0-r_121^post35 == 0 /\ -ct_18^post35+ct_18^0 == 0 /\ i_105^0-i_105^post35 == 0 /\ a_212^0-a_212^post35 == 0 /\ len_180^0-len_180^post35 == 0 /\ -rcd_86^post35+rcd_86^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post35+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_113^0-a_113^post35 == 0 /\ result_11^0-result_11^post35 == 0 /\ f_167^0-f_167^post35 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post35 == 0 /\ -temp0_29^post35+temp0_29^0 == 0 /\ a_181^0-a_181^post35 == 0 /\ -i_164^post35+i_164^0 == 0 /\ -x_172^post35+x_172^0 == 0 /\ -r_160^post35+r_160^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post35 == 0 /\ i_28^0-i_28^post35 == 0 /\ -len_129^post35+len_129^0 == 0 /\ temp_33^0-temp_33^post35 == 0 /\ x_17^0-x_17^post35 == 0 /\ -head_30^post35+head_30^0 == 0 /\ length_27^0-length_27^post35 == 0 /\ -a_234^post35+a_234^0 == 0 /\ -rcd_56^post35+rcd_56^0 == 0 /\ -y_20^post35+y_20^0 == 0 /\ -head_15^post35+head_15^0 == 0), cost: 1
  36: l24 -> l25 : a_113^0'=a_113^post36, x_17^0'=x_17^post36, i_92^0'=i_92^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post36, a_257^0'=a_257^post36, length_27^0'=length_27^post36, temp_33^0'=temp_33^post36, x_126^0'=x_126^post36, i_105^0'=i_105^post36, rcd_56^0'=rcd_56^post36, a_181^0'=a_181^post36, x_SLAM_f_19^0'=x_SLAM_f_19^post36, t_24^0'=t_24^post36, f_167^0'=f_167^post36, r_121^0'=r_121^post36, x_172^0'=x_172^post36, i_28^0'=i_28^post36, result_11^0'=result_11^post36, a_234^0'=a_234^post36, len_180^0'=len_180^post36, temp0_29^0'=temp0_29^post36, head_30^0'=head_30^post36, r_37^0'=r_37^post36, a_144^0'=a_144^post36, x_21^0'=x_21^post36, len_129^0'=len_129^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, ct_18^0'=ct_18^post36, nondet_12^0'=nondet_12^post36, tmp_32^0'=tmp_32^post36, x_14^0'=x_14^post36, i_164^0'=i_164^post36, rcd_86^0'=rcd_86^post36, a_212^0'=a_212^post36, y_20^0'=y_20^post36, temp0_16^0'=temp0_16^post36, head_15^0'=head_15^post36, r_160^0'=r_160^post36, (head_30^0-head_30^post36 == 0 /\ -nondet_12^post36+nondet_12^0 == 0 /\ -tmp_32^post36+tmp_32^0 == 0 /\ i_92^0-i_92^post36 == 0 /\ -temp0_16^post36+temp0_16^0 == 0 /\ -y_20^post36+y_20^0 == 0 /\ x_126^0-x_126^post36 == 0 /\ r_121^0-r_121^post36 == 0 /\ -x_14^post36+x_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post36 == 0 /\ t_24^0-t_24^post36 == 0 /\ -temp0_29^post36+temp0_29^0 == 0 /\ -i_28^post36+i_28^0 == 0 /\ x_17^0-x_17^post36 == 0 /\ length_27^0-length_27^post36 == 0 /\ 1+y_20^0-head_15^0 <= 0 /\ a_113^0-a_113^post36 == 0 /\ len_180^0-len_180^post36 == 0 /\ a_181^0-a_181^post36 == 0 /\ -head_15^post36+head_15^0 == 0 /\ x_21^0-x_21^post36 == 0 /\ -rcd_86^post36+rcd_86^0 == 0 /\ i_105^0-i_105^post36 == 0 /\ -i_164^post36+i_164^0 == 0 /\ f_167^0-f_167^post36 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post36+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_33^0-temp_33^post36 == 0 /\ -len_129^post36+len_129^0 == 0 /\ result_11^0-result_11^post36 == 0 /\ a_144^0-a_144^post36 == 0 /\ -a_234^post36+a_234^0 == 0 /\ -rcd_56^post36+rcd_56^0 == 0 /\ -x_172^post36+x_172^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post36 == 0 /\ -a_257^post36+a_257^0 == 0 /\ -a_212^post36+a_212^0 == 0 /\ ct_18^0-ct_18^post36 == 0 /\ -r_37^post36+r_37^0 == 0 /\ r_160^0-r_160^post36 == 0), cost: 1
  37: l25 -> l26 : a_113^0'=a_113^post37, x_17^0'=x_17^post37, i_92^0'=i_92^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post37, a_257^0'=a_257^post37, length_27^0'=length_27^post37, temp_33^0'=temp_33^post37, x_126^0'=x_126^post37, i_105^0'=i_105^post37, rcd_56^0'=rcd_56^post37, a_181^0'=a_181^post37, x_SLAM_f_19^0'=x_SLAM_f_19^post37, t_24^0'=t_24^post37, f_167^0'=f_167^post37, r_121^0'=r_121^post37, x_172^0'=x_172^post37, i_28^0'=i_28^post37, result_11^0'=result_11^post37, a_234^0'=a_234^post37, len_180^0'=len_180^post37, temp0_29^0'=temp0_29^post37, head_30^0'=head_30^post37, r_37^0'=r_37^post37, a_144^0'=a_144^post37, x_21^0'=x_21^post37, len_129^0'=len_129^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, ct_18^0'=ct_18^post37, nondet_12^0'=nondet_12^post37, tmp_32^0'=tmp_32^post37, x_14^0'=x_14^post37, i_164^0'=i_164^post37, rcd_86^0'=rcd_86^post37, a_212^0'=a_212^post37, y_20^0'=y_20^post37, temp0_16^0'=temp0_16^post37, head_15^0'=head_15^post37, r_160^0'=r_160^post37, (-y_20^post37+y_20^0 == 0 /\ -t_24^post37+t_24^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post37 == 0 /\ x_126^0-x_126^post37 == 0 /\ 1-t_24^0+y_20^0 <= 0 /\ x_172^0-x_172^post37 == 0 /\ i_92^0-i_92^post37 == 0 /\ head_30^0-head_30^post37 == 0 /\ -tmp_32^post37+tmp_32^0 == 0 /\ rcd_56^0-rcd_56^post37 == 0 /\ -temp0_16^post37+temp0_16^0 == 0 /\ -f_167^post37+f_167^0 == 0 /\ r_121^0-r_121^post37 == 0 /\ x_17^0-x_17^post37 == 0 /\ temp0_29^0-temp0_29^post37 == 0 /\ length_27^0-length_27^post37 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ -rcd_86^post37+rcd_86^0 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -i_28^post37+i_28^0 == 0 /\ x_21^0-x_21^post37 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post37+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ ct_18^0-ct_18^post37 == 0 /\ -i_164^post37+i_164^0 == 0 /\ -temp_33^post37+temp_33^0 == 0 /\ -x_SLAM_f_19^post37+x_SLAM_f_19^0 == 0 /\ -r_160^post37+r_160^0 == 0 /\ i_105^0-i_105^post37 == 0 /\ a_181^0-a_181^post37 == 0 /\ -a_212^post37+a_212^0 == 0 /\ -len_180^post37+len_180^0 == 0 /\ a_257^0-a_257^post37 == 0 /\ -r_37^post37+r_37^0 == 0 /\ a_144^0-a_144^post37 == 0 /\ -x_14^post37+x_14^0 == 0 /\ a_234^0-a_234^post37 == 0 /\ len_129^0-len_129^post37 == 0 /\ a_113^0-a_113^post37 == 0 /\ -head_15^post37+head_15^0 == 0), cost: 1
  38: l25 -> l26 : a_113^0'=a_113^post38, x_17^0'=x_17^post38, i_92^0'=i_92^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post38, a_257^0'=a_257^post38, length_27^0'=length_27^post38, temp_33^0'=temp_33^post38, x_126^0'=x_126^post38, i_105^0'=i_105^post38, rcd_56^0'=rcd_56^post38, a_181^0'=a_181^post38, x_SLAM_f_19^0'=x_SLAM_f_19^post38, t_24^0'=t_24^post38, f_167^0'=f_167^post38, r_121^0'=r_121^post38, x_172^0'=x_172^post38, i_28^0'=i_28^post38, result_11^0'=result_11^post38, a_234^0'=a_234^post38, len_180^0'=len_180^post38, temp0_29^0'=temp0_29^post38, head_30^0'=head_30^post38, r_37^0'=r_37^post38, a_144^0'=a_144^post38, x_21^0'=x_21^post38, len_129^0'=len_129^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, ct_18^0'=ct_18^post38, nondet_12^0'=nondet_12^post38, tmp_32^0'=tmp_32^post38, x_14^0'=x_14^post38, i_164^0'=i_164^post38, rcd_86^0'=rcd_86^post38, a_212^0'=a_212^post38, y_20^0'=y_20^post38, temp0_16^0'=temp0_16^post38, head_15^0'=head_15^post38, r_160^0'=r_160^post38, (-tmp_32^post38+tmp_32^0 == 0 /\ r_37^0-r_37^post38 == 0 /\ rcd_86^0-rcd_86^post38 == 0 /\ x_126^0-x_126^post38 == 0 /\ i_92^0-i_92^post38 == 0 /\ length_27^0-length_27^post38 == 0 /\ -f_167^post38+f_167^0 == 0 /\ -temp0_16^post38+temp0_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post38 == 0 /\ -a_144^post38+a_144^0 == 0 /\ -x_21^post38+x_21^0 == 0 /\ -t_24^post38+t_24^0 == 0 /\ x_172^0-x_172^post38 == 0 /\ -x_SLAM_f_19^post38+x_SLAM_f_19^0 == 0 /\ -r_121^post38+r_121^0 == 0 /\ x_17^0-x_17^post38 == 0 /\ -result_11^post38+result_11^0 == 0 /\ 1+t_24^0-y_20^0 <= 0 /\ -r_160^post38+r_160^0 == 0 /\ a_181^0-a_181^post38 == 0 /\ a_257^0-a_257^post38 == 0 /\ -len_180^post38+len_180^0 == 0 /\ -head_30^post38+head_30^0 == 0 /\ -ct_18^post38+ct_18^0 == 0 /\ i_105^0-i_105^post38 == 0 /\ -temp_33^post38+temp_33^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post38+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_212^post38+a_212^0 == 0 /\ temp0_29^0-temp0_29^post38 == 0 /\ -i_164^post38+i_164^0 == 0 /\ len_129^0-len_129^post38 == 0 /\ rcd_56^0-rcd_56^post38 == 0 /\ a_234^0-a_234^post38 == 0 /\ i_28^0-i_28^post38 == 0 /\ -x_14^post38+x_14^0 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -head_15^post38+head_15^0 == 0 /\ a_113^0-a_113^post38 == 0 /\ -y_20^post38+y_20^0 == 0), cost: 1
  39: l26 -> l2 : a_113^0'=a_113^post39, x_17^0'=x_17^post39, i_92^0'=i_92^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post39, a_257^0'=a_257^post39, length_27^0'=length_27^post39, temp_33^0'=temp_33^post39, x_126^0'=x_126^post39, i_105^0'=i_105^post39, rcd_56^0'=rcd_56^post39, a_181^0'=a_181^post39, x_SLAM_f_19^0'=x_SLAM_f_19^post39, t_24^0'=t_24^post39, f_167^0'=f_167^post39, r_121^0'=r_121^post39, x_172^0'=x_172^post39, i_28^0'=i_28^post39, result_11^0'=result_11^post39, a_234^0'=a_234^post39, len_180^0'=len_180^post39, temp0_29^0'=temp0_29^post39, head_30^0'=head_30^post39, r_37^0'=r_37^post39, a_144^0'=a_144^post39, x_21^0'=x_21^post39, len_129^0'=len_129^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, ct_18^0'=ct_18^post39, nondet_12^0'=nondet_12^post39, tmp_32^0'=tmp_32^post39, x_14^0'=x_14^post39, i_164^0'=i_164^post39, rcd_86^0'=rcd_86^post39, a_212^0'=a_212^post39, y_20^0'=y_20^post39, temp0_16^0'=temp0_16^post39, head_15^0'=head_15^post39, r_160^0'=r_160^post39, (0 == 0 /\ -tmp_32^post39+tmp_32^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_92^0-i_92^post39 == 0 /\ -nondet_12^post39+nondet_12^0 == 0 /\ -x_14^post39+x_14^0 == 0 /\ x_126^0-x_126^post39 == 0 /\ -temp0_16^post39+temp0_16^0 == 0 /\ i_105^0-i_105^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post39 == 0 /\ 1-len_129^post39+a_212^0 <= 0 /\ r_121^0-r_121^post39 == 0 /\ -x_21^post39+x_21^0 == 0 /\ temp_33^0-temp_33^post39 == 0 /\ -result_11^post39+result_11^0 == 0 /\ -temp0_29^post39+temp0_29^0 == 0 /\ -ct_18^post39+ct_18^0 == 0 /\ a_234^0-a_234^post39 == 0 /\ i_28^0-i_28^post39 == 0 /\ t_24^0-t_24^post39 == 0 /\ x_17^0-x_17^post39 == 0 /\ length_27^0-length_27^post39 == 0 /\ a_144^0-a_144^post39 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ y_20^0-y_20^post39 == 0 /\ -rcd_86^post39+rcd_86^0 == 0 /\ r_37^0-r_37^post39 == 0 /\ -a_212^post39+a_212^0 == 0 /\ f_167^0-f_167^post39 == 0 /\ -i_164^post39+i_164^0 == 0 /\ -head_30^post39+head_30^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post39+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_160^post39+r_160^0 == 0 /\ a_181^0-a_181^post39 == 0 /\ -1+len_129^post39-a_212^0 <= 0 /\ -rcd_56^post39+rcd_56^0 == 0 /\ -a_257^post39+a_257^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post39 == 0 /\ -head_15^post39+head_15^0 == 0 /\ -x_172^post39+x_172^0 == 0 /\ len_180^0-len_180^post39 == 0 /\ a_113^0-a_113^post39 == 0), cost: 1
  60: l27 -> l40 : a_113^0'=a_113^post60, x_17^0'=x_17^post60, i_92^0'=i_92^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60, a_257^0'=a_257^post60, length_27^0'=length_27^post60, temp_33^0'=temp_33^post60, x_126^0'=x_126^post60, i_105^0'=i_105^post60, rcd_56^0'=rcd_56^post60, a_181^0'=a_181^post60, x_SLAM_f_19^0'=x_SLAM_f_19^post60, t_24^0'=t_24^post60, f_167^0'=f_167^post60, r_121^0'=r_121^post60, x_172^0'=x_172^post60, i_28^0'=i_28^post60, result_11^0'=result_11^post60, a_234^0'=a_234^post60, len_180^0'=len_180^post60, temp0_29^0'=temp0_29^post60, head_30^0'=head_30^post60, r_37^0'=r_37^post60, a_144^0'=a_144^post60, x_21^0'=x_21^post60, len_129^0'=len_129^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, ct_18^0'=ct_18^post60, nondet_12^0'=nondet_12^post60, tmp_32^0'=tmp_32^post60, x_14^0'=x_14^post60, i_164^0'=i_164^post60, rcd_86^0'=rcd_86^post60, a_212^0'=a_212^post60, y_20^0'=y_20^post60, temp0_16^0'=temp0_16^post60, head_15^0'=head_15^post60, r_160^0'=r_160^post60, (0 == 0 /\ 2-length_27^0 <= 0 /\ -r_160^post60+r_160^0 == 0 /\ -len_180^post60+len_180^0 == 0 /\ -ct_18^post60+ct_18^0 == 0 /\ 2-i_28^post60 <= 0 /\ 1-length_27^0+i_28^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60-tmp_32^post60 <= 0 /\ -a_212^post60+a_212^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post60 == 0 /\ -r_37^post60+r_37^0 == 0 /\ a_113^0-a_113^post60 == 0 /\ -i_164^post60+i_164^0 == 0 /\ -length_27^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 <= 0 /\ rcd_86^0-rcd_86^post60 == 0 /\ -t_24^post60+t_24^0 == 0 /\ a_181^0-a_181^post60 == 0 /\ -y_20^post60+y_20^0 == 0 /\ a_257^0-a_257^post60 == 0 /\ -head_15^post60+head_15^0 == 0 /\ i_92^0-i_92^post60 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60+tmp_32^post60 <= 0 /\ -len_129^post60+len_129^0 == 0 /\ -x_14^post60+x_14^0 == 0 /\ 1-length_27^0 <= 0 /\ f_167^0-f_167^post60 == 0 /\ -a_144^post60+a_144^0 == 0 /\ length_27^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 <= 0 /\ x_172^0-x_172^post60 == 0 /\ -temp_33^0+tmp_32^post60 == 0 /\ -head_30^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60 <= 0 /\ a_234^0-a_234^post60 == 0 /\ -head_30^post60+tmp_32^post60 <= 0 /\ -2+i_28^post60 <= 0 /\ x_17^0-x_17^post60 == 0 /\ -1+i_28^post60-i_28^0 == 0 /\ -r_121^post60+r_121^0 == 0 /\ -result_11^post60+result_11^0 == 0 /\ head_30^post60-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60 <= 0 /\ -nondet_12^post60+nondet_12^0 == 0 /\ -x_126^post60+x_126^0 == 0 /\ head_30^post60-tmp_32^post60 <= 0 /\ head_30^post60-tmp_32^post60 == 0 /\ length_27^0-length_27^post60 == 0 /\ -temp0_16^post60+temp0_16^0 == 0 /\ x_21^0-x_21^post60 == 0 /\ i_105^0-i_105^post60 == 0 /\ temp0_29^0-temp0_29^post60 == 0), cost: 1
  94: l40 -> l62 : a_113^0'=a_113^post94, x_17^0'=x_17^post94, i_92^0'=i_92^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, a_257^0'=a_257^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, x_126^0'=x_126^post94, i_105^0'=i_105^post94, rcd_56^0'=rcd_56^post94, a_181^0'=a_181^post94, x_SLAM_f_19^0'=x_SLAM_f_19^post94, t_24^0'=t_24^post94, f_167^0'=f_167^post94, r_121^0'=r_121^post94, x_172^0'=x_172^post94, i_28^0'=i_28^post94, result_11^0'=result_11^post94, a_234^0'=a_234^post94, len_180^0'=len_180^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post94, a_144^0'=a_144^post94, x_21^0'=x_21^post94, len_129^0'=len_129^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, ct_18^0'=ct_18^post94, nondet_12^0'=nondet_12^post94, tmp_32^0'=tmp_32^post94, x_14^0'=x_14^post94, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post94, a_212^0'=a_212^post94, y_20^0'=y_20^post94, temp0_16^0'=temp0_16^post94, head_15^0'=head_15^post94, r_160^0'=r_160^post94, (0 == 0 /\ -y_20^post94+y_20^0 == 0 /\ -len_129^0 <= 0 /\ i_92^0-i_92^post94 == 0 /\ i_105^0-i_105^post94 == 0 /\ rcd_56^0-rcd_56^post94 == 0 /\ x_14^post94-head_15^post94 <= 0 /\ x_14^post94-head_15^post94 == 0 /\ -f_167^post94+f_167^0 == 0 /\ x_126^0-x_126^post94 == 0 /\ x_17^0-x_17^post94 == 0 /\ length_27^0-i_28^0 <= 0 /\ -temp0_16^post94+temp0_16^0 == 0 /\ t_24^0-t_24^post94 == 0 /\ -r_160^post94+r_160^0 == 0 /\ -x_21^post94+x_21^0 == 0 /\ -temp0_29^110+result_11^11 == 0 /\ rcd_86^0-rcd_86^post94 == 0 /\ -x_14^post94+head_15^post94 <= 0 /\ -head_30^0+temp0_29^110 == 0 /\ -nondet_12^post94+nondet_12^0 == 0 /\ -r_37^post94+r_37^0 == 0 /\ -i_28^0 <= 0 /\ -len_180^post94+len_180^0 == 0 /\ x_172^0-x_172^post94 == 0 /\ len_129^0 <= 0 /\ -ct_18^post94+ct_18^0 == 0 /\ a_181^0-a_181^post94 == 0 /\ -a_144^0+i_28^post94 <= 0 /\ -x_SLAM_f_19^post94+x_SLAM_f_19^0 == 0 /\ a_257^0-a_257^post94 == 0 /\ r_121^0-r_121^post94 == 0 /\ a_113^0-a_113^post94 == 0 /\ -a_212^post94+a_212^0 == 0 /\ head_15^post94-result_11^11 == 0 /\ -a_144^post94+a_144^0 == 0 /\ len_129^0-len_129^post94 == 0 /\ a_144^0-i_28^post94 <= 0 /\ -a_234^post94+a_234^0 == 0), cost: 1
  98: l40 -> l64 : a_113^0'=a_113^post98, x_17^0'=x_17^post98, i_92^0'=i_92^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post98, a_257^0'=a_257^post98, length_27^0'=length_27^post98, temp_33^0'=temp_33^post98, x_126^0'=x_126^post98, i_105^0'=i_105^post98, rcd_56^0'=rcd_56^post98, a_181^0'=a_181^post98, x_SLAM_f_19^0'=x_SLAM_f_19^post98, t_24^0'=t_24^post98, f_167^0'=f_167^post98, r_121^0'=r_121^post98, x_172^0'=x_172^post98, i_28^0'=i_28^post98, result_11^0'=result_11^post98, a_234^0'=a_234^post98, len_180^0'=len_180^post98, temp0_29^0'=temp0_29^post98, head_30^0'=head_30^post98, r_37^0'=r_37^post98, a_144^0'=a_144^post98, x_21^0'=x_21^post98, len_129^0'=len_129^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, ct_18^0'=ct_18^post98, nondet_12^0'=nondet_12^post98, tmp_32^0'=tmp_32^post98, x_14^0'=x_14^post98, i_164^0'=i_164^post98, rcd_86^0'=rcd_86^post98, a_212^0'=a_212^post98, y_20^0'=y_20^post98, temp0_16^0'=temp0_16^post98, head_15^0'=head_15^post98, r_160^0'=r_160^post98, (0 == 0 /\ -a_144^post98+a_144^0 == 0 /\ x_21^0-x_21^post98 == 0 /\ a_257^0-a_257^post98 == 0 /\ 1-length_27^0+i_28^0 <= 0 /\ -f_167^post98+f_167^0 == 0 /\ -tmp_32^post98+head_30^post98 == 0 /\ temp0_29^0-temp0_29^post98 == 0 /\ result_11^0-result_11^post98 == 0 /\ -temp0_16^post98+temp0_16^0 == 0 /\ i_105^0-i_105^post98 == 0 /\ t_24^0-t_24^post98 == 0 /\ rcd_56^0-rcd_56^post98 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post98 == 0 /\ i_164^0-i_164^post98 == 0 /\ -1+i_28^post98-i_92^post98 <= 0 /\ a_113^0-a_113^post98 == 0 /\ -nondet_12^post98+nondet_12^0 == 0 /\ ct_18^0-ct_18^post98 == 0 /\ 1-length_27^0+i_92^post98 <= 0 /\ -a_212^post98+a_212^0 == 0 /\ -i_28^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post98 == 0 /\ -r_160^post98+r_160^0 == 0 /\ x_126^0-x_126^post98 == 0 /\ r_121^0-r_121^post98 == 0 /\ -temp_33^0+tmp_32^post98 == 0 /\ x_172^0-x_172^post98 == 0 /\ -x_14^post98+x_14^0 == 0 /\ -head_15^post98+head_15^0 == 0 /\ -y_20^post98+y_20^0 == 0 /\ -r_37^post98+r_37^0 == 0 /\ -a_234^post98+a_234^0 == 0 /\ x_17^0-x_17^post98 == 0 /\ -length_27^post98+length_27^0 == 0 /\ 1-i_28^post98+i_92^post98 <= 0 /\ -len_129^post98+len_129^0 == 0 /\ -len_180^post98+len_180^0 == 0 /\ -a_181^post98+a_181^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post98 == 0 /\ -1+i_28^post98-i_28^0 == 0), cost: 1
  61: l41 -> l42 : a_113^0'=a_113^post61, x_17^0'=x_17^post61, i_92^0'=i_92^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post61, a_257^0'=a_257^post61, length_27^0'=length_27^post61, temp_33^0'=temp_33^post61, x_126^0'=x_126^post61, i_105^0'=i_105^post61, rcd_56^0'=rcd_56^post61, a_181^0'=a_181^post61, x_SLAM_f_19^0'=x_SLAM_f_19^post61, t_24^0'=t_24^post61, f_167^0'=f_167^post61, r_121^0'=r_121^post61, x_172^0'=x_172^post61, i_28^0'=i_28^post61, result_11^0'=result_11^post61, a_234^0'=a_234^post61, len_180^0'=len_180^post61, temp0_29^0'=temp0_29^post61, head_30^0'=head_30^post61, r_37^0'=r_37^post61, a_144^0'=a_144^post61, x_21^0'=x_21^post61, len_129^0'=len_129^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=ct_18^post61, nondet_12^0'=nondet_12^post61, tmp_32^0'=tmp_32^post61, x_14^0'=x_14^post61, i_164^0'=i_164^post61, rcd_86^0'=rcd_86^post61, a_212^0'=a_212^post61, y_20^0'=y_20^post61, temp0_16^0'=temp0_16^post61, head_15^0'=head_15^post61, r_160^0'=r_160^post61, (0 == 0 /\ f_167^0-f_167^post61 == 0 /\ -head_30^post61+head_30^0 == 0 /\ -len_129^0 <= 0 /\ -result_11^post61+result_11^0 == 0 /\ -ct_18^post61 <= 0 /\ x_21^post61-x_SLAM_f_19^post61 <= 0 /\ x_21^post61-x_SLAM_f_19^post61 == 0 /\ ct_18^post61 <= 0 /\ ct_18^post61 == 0 /\ x_21^post61-head_15^0 <= 0 /\ a_257^0-a_257^post61 == 0 /\ i_92^0-i_92^post61 == 0 /\ y_20^post61 <= 0 /\ a_113^0-a_113^post61 == 0 /\ a_181^0-a_181^post61 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post61 == 0 /\ -t_24^post61+t_24^0 == 0 /\ -a_144^0 <= 0 /\ -x_14^post61+x_14^0 == 0 /\ a_144^0-a_144^post61 == 0 /\ -len_180^post61+len_180^0 == 0 /\ -r_160^post61+r_160^0 == 0 /\ i_28^0-i_28^post61 == 0 /\ -x_21^post61+x_SLAM_f_19^post61 <= 0 /\ a_234^0-a_234^post61 == 0 /\ -x_21^post61+head_15^0 <= 0 /\ a_212^0-a_212^post61 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ -len_129^post61+len_129^0 == 0 /\ -x_SLAM_f_19^post61+head_15^0 <= 0 /\ x_172^0-x_172^post61 == 0 /\ rcd_56^0-rcd_56^post61 == 0 /\ ct_18^post61-y_20^post61 <= 0 /\ temp0_16^0-temp0_16^post61 == 0 /\ -head_15^post61+head_15^0 == 0 /\ -tmp_32^post61+tmp_32^0 == 0 /\ x_17^post61-x_SLAM_f_19^post61 <= 0 /\ x_17^post61-head_15^0 <= 0 /\ x_17^post61-head_15^0 == 0 /\ -r_121^post61+r_121^0 == 0 /\ temp_33^0-temp_33^post61 == 0 /\ -y_20^post61 <= 0 /\ i_105^0-i_105^post61 == 0 /\ x_14^0 <= 0 /\ -rcd_86^post61+rcd_86^0 == 0 /\ x_SLAM_f_19^post61-head_15^0 <= 0 /\ temp0_29^0-temp0_29^post61 == 0 /\ -x_14^0 <= 0 /\ -i_164^post61+i_164^0 == 0 /\ -ct_18^post61+y_20^post61 <= 0 /\ -ct_18^post61+y_20^post61 == 0 /\ r_37^0-r_37^post61 == 0 /\ -x_17^post61+x_SLAM_f_19^post61 <= 0 /\ -x_17^post61+x_SLAM_f_19^post61 == 0 /\ -x_17^post61+head_15^0 <= 0 /\ length_27^0-length_27^post61 == 0 /\ -x_126^post61+x_126^0 == 0), cost: 1
  65: l41 -> l45 : a_113^0'=a_113^post65, x_17^0'=x_17^post65, i_92^0'=i_92^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post65, a_257^0'=a_257^post65, length_27^0'=length_27^post65, temp_33^0'=temp_33^post65, x_126^0'=x_126^post65, i_105^0'=i_105^post65, rcd_56^0'=rcd_56^post65, a_181^0'=a_181^post65, x_SLAM_f_19^0'=x_SLAM_f_19^post65, t_24^0'=t_24^post65, f_167^0'=f_167^post65, r_121^0'=r_121^post65, x_172^0'=x_172^post65, i_28^0'=i_28^post65, result_11^0'=result_11^post65, a_234^0'=a_234^post65, len_180^0'=len_180^post65, temp0_29^0'=temp0_29^post65, head_30^0'=head_30^post65, r_37^0'=r_37^post65, a_144^0'=a_144^post65, x_21^0'=x_21^post65, len_129^0'=len_129^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, ct_18^0'=ct_18^post65, nondet_12^0'=nondet_12^post65, tmp_32^0'=tmp_32^post65, x_14^0'=x_14^post65, i_164^0'=i_164^post65, rcd_86^0'=rcd_86^post65, a_212^0'=a_212^post65, y_20^0'=y_20^post65, temp0_16^0'=temp0_16^post65, head_15^0'=head_15^post65, r_160^0'=r_160^post65, (0 == 0 /\ -temp0_16^post65+temp0_16^0 == 0 /\ -x_14^post65+x_14^0 == 0 /\ -y_20^post65+y_20^0 == 0 /\ -len_129^0 <= 0 /\ -x_21^post65+x_21^0 == 0 /\ -a_144^post65+a_144^0 == 0 /\ x_17^0-x_17^post65 == 0 /\ -nondet_12^post65+nondet_12^0 == 0 /\ i_92^0-i_92^post65 == 0 /\ i_105^0-i_105^post65 == 0 /\ r_121^0-r_121^post65 == 0 /\ -tmp_32^post65+tmp_32^0 == 0 /\ -a_144^0 <= 0 /\ t_24^0-t_24^post65 == 0 /\ a_212^0-a_212^post65 == 0 /\ length_27^0-length_27^post65 == 0 /\ -ct_18^post65+ct_18^0 == 0 /\ -r_160^post65+r_160^0 == 0 /\ -temp0_29^post65+temp0_29^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post65 == 0 /\ -rcd_56^post65+rcd_56^0 == 0 /\ len_180^0-len_180^post65 == 0 /\ result_11^0-result_11^post65 == 0 /\ -len_129^post65+len_129^0 == 0 /\ -rcd_86^post65+rcd_86^0 == 0 /\ temp_33^0-temp_33^post65 == 0 /\ -a_234^post65+a_234^0 == 0 /\ a_257^0-a_257^post65 == 0 /\ x_126^0-x_126^post65 == 0 /\ a_181^0-a_181^post65 == 0 /\ a_113^0-a_113^post65 == 0 /\ i_28^0-i_28^post65 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post65 == 0 /\ -i_164^post65+i_164^0 == 0 /\ -head_30^post65+head_30^0 == 0), cost: 1
  62: l42 -> l43 : a_113^0'=a_113^post62, x_17^0'=x_17^post62, i_92^0'=i_92^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post62, a_257^0'=a_257^post62, length_27^0'=length_27^post62, temp_33^0'=temp_33^post62, x_126^0'=x_126^post62, i_105^0'=i_105^post62, rcd_56^0'=rcd_56^post62, a_181^0'=a_181^post62, x_SLAM_f_19^0'=x_SLAM_f_19^post62, t_24^0'=t_24^post62, f_167^0'=f_167^post62, r_121^0'=r_121^post62, x_172^0'=x_172^post62, i_28^0'=i_28^post62, result_11^0'=result_11^post62, a_234^0'=a_234^post62, len_180^0'=len_180^post62, temp0_29^0'=temp0_29^post62, head_30^0'=head_30^post62, r_37^0'=r_37^post62, a_144^0'=a_144^post62, x_21^0'=x_21^post62, len_129^0'=len_129^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, ct_18^0'=ct_18^post62, nondet_12^0'=nondet_12^post62, tmp_32^0'=tmp_32^post62, x_14^0'=x_14^post62, i_164^0'=i_164^post62, rcd_86^0'=rcd_86^post62, a_212^0'=a_212^post62, y_20^0'=y_20^post62, temp0_16^0'=temp0_16^post62, head_15^0'=head_15^post62, r_160^0'=r_160^post62, (x_SLAM_f_19^0-x_SLAM_f_19^post62 == 0 /\ -a_212^post62+a_212^0 == 0 /\ -i_28^post62+i_28^0 == 0 /\ i_164^0-i_164^post62 == 0 /\ -r_37^post62+r_37^0 == 0 /\ i_105^0-i_105^post62 == 0 /\ i_92^0-i_92^post62 == 0 /\ -head_15^post62+head_15^0 == 0 /\ -a_181^post62+a_181^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post62 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post62+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_113^0-a_113^post62 == 0 /\ x_126^0-x_126^post62 == 0 /\ a_257^0-a_257^post62 == 0 /\ -y_20^post62+y_20^0 == 0 /\ -r_160^post62+r_160^0 == 0 /\ -x_172^post62+x_172^0 == 0 /\ head_30^0-head_30^post62 == 0 /\ -len_129^post62+len_129^0 == 0 /\ f_167^0-f_167^post62 == 0 /\ -tmp_32^post62+tmp_32^0 == 0 /\ -x_14^post62+x_14^0 == 0 /\ -a_234^post62+a_234^0 == 0 /\ rcd_56^0-rcd_56^post62 == 0 /\ temp_33^0-temp_33^post62 == 0 /\ result_11^0-result_11^post62 == 0 /\ len_180^0-len_180^post62 == 0 /\ x_17^0-x_17^post62 == 0 /\ 1-head_15^0 <= 0 /\ -x_21^post62+x_21^0 == 0 /\ ct_18^0-ct_18^post62 == 0 /\ -nondet_12^post62+nondet_12^0 == 0 /\ -temp0_16^post62+temp0_16^0 == 0 /\ -rcd_86^post62+rcd_86^0 == 0 /\ r_121^0-r_121^post62 == 0 /\ a_144^0-a_144^post62 == 0 /\ length_27^0-length_27^post62 == 0 /\ -temp0_29^post62+temp0_29^0 == 0 /\ t_24^0-t_24^post62 == 0), cost: 1
  63: l42 -> l43 : a_113^0'=a_113^post63, x_17^0'=x_17^post63, i_92^0'=i_92^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post63, a_257^0'=a_257^post63, length_27^0'=length_27^post63, temp_33^0'=temp_33^post63, x_126^0'=x_126^post63, i_105^0'=i_105^post63, rcd_56^0'=rcd_56^post63, a_181^0'=a_181^post63, x_SLAM_f_19^0'=x_SLAM_f_19^post63, t_24^0'=t_24^post63, f_167^0'=f_167^post63, r_121^0'=r_121^post63, x_172^0'=x_172^post63, i_28^0'=i_28^post63, result_11^0'=result_11^post63, a_234^0'=a_234^post63, len_180^0'=len_180^post63, temp0_29^0'=temp0_29^post63, head_30^0'=head_30^post63, r_37^0'=r_37^post63, a_144^0'=a_144^post63, x_21^0'=x_21^post63, len_129^0'=len_129^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, ct_18^0'=ct_18^post63, nondet_12^0'=nondet_12^post63, tmp_32^0'=tmp_32^post63, x_14^0'=x_14^post63, i_164^0'=i_164^post63, rcd_86^0'=rcd_86^post63, a_212^0'=a_212^post63, y_20^0'=y_20^post63, temp0_16^0'=temp0_16^post63, head_15^0'=head_15^post63, r_160^0'=r_160^post63, (x_172^0-x_172^post63 == 0 /\ head_30^0-head_30^post63 == 0 /\ -r_37^post63+r_37^0 == 0 /\ -x_14^post63+x_14^0 == 0 /\ -nondet_12^post63+nondet_12^0 == 0 /\ i_164^0-i_164^post63 == 0 /\ -result_11^post63+result_11^0 == 0 /\ -y_20^post63+y_20^0 == 0 /\ -i_28^post63+i_28^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post63+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_160^post63+r_160^0 == 0 /\ a_113^0-a_113^post63 == 0 /\ a_257^0-a_257^post63 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post63 == 0 /\ r_121^0-r_121^post63 == 0 /\ temp0_29^0-temp0_29^post63 == 0 /\ 1+head_15^0 <= 0 /\ -tmp_32^post63+tmp_32^0 == 0 /\ -len_180^post63+len_180^0 == 0 /\ -f_167^post63+f_167^0 == 0 /\ -head_15^post63+head_15^0 == 0 /\ -len_129^post63+len_129^0 == 0 /\ rcd_56^0-rcd_56^post63 == 0 /\ temp_33^0-temp_33^post63 == 0 /\ -a_181^post63+a_181^0 == 0 /\ x_17^0-x_17^post63 == 0 /\ x_126^0-x_126^post63 == 0 /\ -rcd_86^post63+rcd_86^0 == 0 /\ -i_105^post63+i_105^0 == 0 /\ i_92^0-i_92^post63 == 0 /\ ct_18^0-ct_18^post63 == 0 /\ -x_21^post63+x_21^0 == 0 /\ t_24^0-t_24^post63 == 0 /\ a_234^0-a_234^post63 == 0 /\ a_144^0-a_144^post63 == 0 /\ -a_212^post63+a_212^0 == 0 /\ length_27^0-length_27^post63 == 0 /\ -x_SLAM_f_19^post63+x_SLAM_f_19^0 == 0 /\ -temp0_16^post63+temp0_16^0 == 0), cost: 1
  64: l43 -> l20 : a_113^0'=a_113^post64, x_17^0'=x_17^post64, i_92^0'=i_92^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, a_257^0'=a_257^post64, length_27^0'=length_27^post64, temp_33^0'=temp_33^post64, x_126^0'=x_126^post64, i_105^0'=i_105^post64, rcd_56^0'=rcd_56^post64, a_181^0'=a_181^post64, x_SLAM_f_19^0'=x_SLAM_f_19^post64, t_24^0'=t_24^post64, f_167^0'=f_167^post64, r_121^0'=r_121^post64, x_172^0'=x_172^post64, i_28^0'=i_28^post64, result_11^0'=result_11^post64, a_234^0'=a_234^post64, len_180^0'=len_180^post64, temp0_29^0'=temp0_29^post64, head_30^0'=head_30^post64, r_37^0'=r_37^post64, a_144^0'=a_144^post64, x_21^0'=x_21^post64, len_129^0'=len_129^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, ct_18^0'=ct_18^post64, nondet_12^0'=nondet_12^post64, tmp_32^0'=tmp_32^post64, x_14^0'=x_14^post64, i_164^0'=i_164^post64, rcd_86^0'=rcd_86^post64, a_212^0'=a_212^post64, y_20^0'=y_20^post64, temp0_16^0'=temp0_16^post64, head_15^0'=head_15^post64, r_160^0'=r_160^post64, (-head_30^post64+head_30^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -ct_18^post64+ct_18^0 == 0 /\ -result_11^post64+result_11^0 == 0 /\ -a_212^post64+a_212^0 == 0 /\ x_172^0-x_172^post64 == 0 /\ rcd_56^0-rcd_56^post64 == 0 /\ -y_20^post64+y_20^0 == 0 /\ x_126^0-x_126^post64 == 0 /\ i_92^0-i_92^post64 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64 == 0 /\ length_27^0-length_27^post64 == 0 /\ r_121^0-r_121^post64 == 0 /\ -tmp_32^post64+tmp_32^0 == 0 /\ -len_180^post64+len_180^0 == 0 /\ temp0_29^0-temp0_29^post64 == 0 /\ a_113^0-a_113^post64 == 0 /\ t_24^0-t_24^post64 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_167^post64+f_167^0 == 0 /\ r_37^0-r_37^post64 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post64+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_14^post64+x_14^0 == 0 /\ -r_160^post64+r_160^0 == 0 /\ -a_144^post64+a_144^0 == 0 /\ -x_SLAM_f_19^post64+x_SLAM_f_19^0 == 0 /\ -len_129^post64+len_129^0 == 0 /\ nondet_12^0-nondet_12^post64 == 0 /\ a_181^0-a_181^post64 == 0 /\ x_17^0-x_17^post64 == 0 /\ temp_33^0-temp_33^post64 == 0 /\ a_257^0-a_257^post64 == 0 /\ -head_15^post64+head_15^0 == 0 /\ -rcd_86^post64+rcd_86^0 == 0 /\ -i_164^post64+i_164^0 == 0 /\ -i_105^post64+i_105^0 == 0 /\ -temp0_16^post64+temp0_16^0 == 0 /\ i_28^0-i_28^post64 == 0 /\ a_234^0-a_234^post64 == 0 /\ -x_21^post64+x_21^0 == 0), cost: 1
  66: l45 -> l46 : a_113^0'=a_113^post66, x_17^0'=x_17^post66, i_92^0'=i_92^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post66, a_257^0'=a_257^post66, length_27^0'=length_27^post66, temp_33^0'=temp_33^post66, x_126^0'=x_126^post66, i_105^0'=i_105^post66, rcd_56^0'=rcd_56^post66, a_181^0'=a_181^post66, x_SLAM_f_19^0'=x_SLAM_f_19^post66, t_24^0'=t_24^post66, f_167^0'=f_167^post66, r_121^0'=r_121^post66, x_172^0'=x_172^post66, i_28^0'=i_28^post66, result_11^0'=result_11^post66, a_234^0'=a_234^post66, len_180^0'=len_180^post66, temp0_29^0'=temp0_29^post66, head_30^0'=head_30^post66, r_37^0'=r_37^post66, a_144^0'=a_144^post66, x_21^0'=x_21^post66, len_129^0'=len_129^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, ct_18^0'=ct_18^post66, nondet_12^0'=nondet_12^post66, tmp_32^0'=tmp_32^post66, x_14^0'=x_14^post66, i_164^0'=i_164^post66, rcd_86^0'=rcd_86^post66, a_212^0'=a_212^post66, y_20^0'=y_20^post66, temp0_16^0'=temp0_16^post66, head_15^0'=head_15^post66, r_160^0'=r_160^post66, (-y_20^post66+y_20^0 == 0 /\ -r_37^post66+r_37^0 == 0 /\ -x_14^post66+x_14^0 == 0 /\ i_92^0-i_92^post66 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post66 == 0 /\ temp_33^0-temp_33^post66 == 0 /\ -i_28^post66+i_28^0 == 0 /\ x_126^0-x_126^post66 == 0 /\ x_17^0-x_17^post66 == 0 /\ r_121^0-r_121^post66 == 0 /\ length_27^0-length_27^post66 == 0 /\ i_105^0-i_105^post66 == 0 /\ -r_160^post66+r_160^0 == 0 /\ t_24^0-t_24^post66 == 0 /\ len_180^0-len_180^post66 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_32^post66+tmp_32^0 == 0 /\ -head_15^post66+head_15^0 == 0 /\ result_11^0-result_11^post66 == 0 /\ -i_164^post66+i_164^0 == 0 /\ -rcd_86^post66+rcd_86^0 == 0 /\ f_167^0-f_167^post66 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post66 == 0 /\ -temp0_29^post66+temp0_29^0 == 0 /\ a_181^0-a_181^post66 == 0 /\ -x_172^post66+x_172^0 == 0 /\ -len_129^post66+len_129^0 == 0 /\ a_257^0-a_257^post66 == 0 /\ 1-x_14^0 <= 0 /\ a_113^0-a_113^post66 == 0 /\ -a_212^post66+a_212^0 == 0 /\ -head_30^post66+head_30^0 == 0 /\ ct_18^0-ct_18^post66 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -a_234^post66+a_234^0 == 0 /\ -rcd_56^post66+rcd_56^0 == 0 /\ -x_21^post66+x_21^0 == 0 /\ -temp0_16^post66+temp0_16^0 == 0 /\ a_144^0-a_144^post66 == 0), cost: 1
  67: l45 -> l46 : a_113^0'=a_113^post67, x_17^0'=x_17^post67, i_92^0'=i_92^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post67, a_257^0'=a_257^post67, length_27^0'=length_27^post67, temp_33^0'=temp_33^post67, x_126^0'=x_126^post67, i_105^0'=i_105^post67, rcd_56^0'=rcd_56^post67, a_181^0'=a_181^post67, x_SLAM_f_19^0'=x_SLAM_f_19^post67, t_24^0'=t_24^post67, f_167^0'=f_167^post67, r_121^0'=r_121^post67, x_172^0'=x_172^post67, i_28^0'=i_28^post67, result_11^0'=result_11^post67, a_234^0'=a_234^post67, len_180^0'=len_180^post67, temp0_29^0'=temp0_29^post67, head_30^0'=head_30^post67, r_37^0'=r_37^post67, a_144^0'=a_144^post67, x_21^0'=x_21^post67, len_129^0'=len_129^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, ct_18^0'=ct_18^post67, nondet_12^0'=nondet_12^post67, tmp_32^0'=tmp_32^post67, x_14^0'=x_14^post67, i_164^0'=i_164^post67, rcd_86^0'=rcd_86^post67, a_212^0'=a_212^post67, y_20^0'=y_20^post67, temp0_16^0'=temp0_16^post67, head_15^0'=head_15^post67, r_160^0'=r_160^post67, (1+x_14^0 <= 0 /\ x_172^0-x_172^post67 == 0 /\ -tmp_32^post67+tmp_32^0 == 0 /\ -result_11^post67+result_11^0 == 0 /\ -x_14^post67+x_14^0 == 0 /\ rcd_56^0-rcd_56^post67 == 0 /\ temp_33^0-temp_33^post67 == 0 /\ x_126^0-x_126^post67 == 0 /\ x_17^0-x_17^post67 == 0 /\ -y_20^post67+y_20^0 == 0 /\ -i_28^post67+i_28^0 == 0 /\ i_92^0-i_92^post67 == 0 /\ -r_160^post67+r_160^0 == 0 /\ r_121^0-r_121^post67 == 0 /\ temp0_29^0-temp0_29^post67 == 0 /\ t_24^0-t_24^post67 == 0 /\ -f_167^post67+f_167^0 == 0 /\ rcd_86^0-rcd_86^post67 == 0 /\ length_27^0-length_27^post67 == 0 /\ -ct_18^post67+ct_18^0 == 0 /\ head_30^0-head_30^post67 == 0 /\ -head_15^post67+head_15^0 == 0 /\ -x_SLAM_f_19^post67+x_SLAM_f_19^0 == 0 /\ a_181^0-a_181^post67 == 0 /\ -len_180^post67+len_180^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ a_113^0-a_113^post67 == 0 /\ a_144^0-a_144^post67 == 0 /\ a_257^0-a_257^post67 == 0 /\ x_21^0-x_21^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ -a_234^post67+a_234^0 == 0 /\ -i_105^post67+i_105^0 == 0 /\ -r_37^post67+r_37^0 == 0 /\ -a_212^post67+a_212^0 == 0 /\ -i_164^post67+i_164^0 == 0 /\ -temp0_16^post67+temp0_16^0 == 0 /\ len_129^0-len_129^post67 == 0 /\ nondet_12^0-nondet_12^post67 == 0), cost: 1
  68: l46 -> l47 : a_113^0'=a_113^post68, x_17^0'=x_17^post68, i_92^0'=i_92^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post68, a_257^0'=a_257^post68, length_27^0'=length_27^post68, temp_33^0'=temp_33^post68, x_126^0'=x_126^post68, i_105^0'=i_105^post68, rcd_56^0'=rcd_56^post68, a_181^0'=a_181^post68, x_SLAM_f_19^0'=x_SLAM_f_19^post68, t_24^0'=t_24^post68, f_167^0'=f_167^post68, r_121^0'=r_121^post68, x_172^0'=x_172^post68, i_28^0'=i_28^post68, result_11^0'=result_11^post68, a_234^0'=a_234^post68, len_180^0'=len_180^post68, temp0_29^0'=temp0_29^post68, head_30^0'=head_30^post68, r_37^0'=r_37^post68, a_144^0'=a_144^post68, x_21^0'=x_21^post68, len_129^0'=len_129^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, ct_18^0'=ct_18^post68, nondet_12^0'=nondet_12^post68, tmp_32^0'=tmp_32^post68, x_14^0'=x_14^post68, i_164^0'=i_164^post68, rcd_86^0'=rcd_86^post68, a_212^0'=a_212^post68, y_20^0'=y_20^post68, temp0_16^0'=temp0_16^post68, head_15^0'=head_15^post68, r_160^0'=r_160^post68, (0 == 0 /\ f_167^0-f_167^post68 == 0 /\ -y_20^post68+y_20^0 == 0 /\ x_21^0-x_21^post68 == 0 /\ -t_24^post68+t_24^0 == 0 /\ -result_11^post68+result_11^0 == 0 /\ -temp0_16^post68+temp0_16^0 == 0 /\ x_126^0-x_126^post68 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post68 == 0 /\ i_92^0-i_92^post68 == 0 /\ f_167^0-x_14^0 <= 0 /\ -x_14^post68+x_14^0 == 0 /\ rcd_56^0-rcd_56^post68 == 0 /\ -a_144^post68+a_144^0 == 0 /\ x_17^0-x_17^post68 == 0 /\ length_27^0-length_27^post68 == 0 /\ -i_28^post68+i_28^0 == 0 /\ -ct_18^post68+ct_18^0 == 0 /\ rcd_86^0-rcd_86^post68 == 0 /\ tmp_32^0-tmp_32^post68 == 0 /\ 1-a_144^0+a_181^post68 <= 0 /\ a_234^0-a_234^post68 == 0 /\ -1+len_180^post68-len_129^0 <= 0 /\ -f_167^0+x_14^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post68+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_121^post68+r_121^0 == 0 /\ head_30^0-head_30^post68 == 0 /\ -i_164^post68+i_164^0 == 0 /\ x_172^0-x_172^post68 == 0 /\ -temp_33^post68+temp_33^0 == 0 /\ -x_SLAM_f_19^post68+x_SLAM_f_19^0 == 0 /\ -r_160^post68+r_160^0 == 0 /\ a_257^0-a_257^post68 == 0 /\ -a_212^post68+a_212^0 == 0 /\ i_105^0-i_105^post68 == 0 /\ temp0_29^0-temp0_29^post68 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ -1+a_144^0-a_181^post68 <= 0 /\ 1-len_180^post68+len_129^0 <= 0 /\ -r_37^post68+r_37^0 == 0 /\ len_129^0-len_129^post68 == 0 /\ -head_15^post68+head_15^0 == 0 /\ a_113^0-a_113^post68 == 0), cost: 1
  69: l47 -> l48 : a_113^0'=a_113^post69, x_17^0'=x_17^post69, i_92^0'=i_92^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post69, a_257^0'=a_257^post69, length_27^0'=length_27^post69, temp_33^0'=temp_33^post69, x_126^0'=x_126^post69, i_105^0'=i_105^post69, rcd_56^0'=rcd_56^post69, a_181^0'=a_181^post69, x_SLAM_f_19^0'=x_SLAM_f_19^post69, t_24^0'=t_24^post69, f_167^0'=f_167^post69, r_121^0'=r_121^post69, x_172^0'=x_172^post69, i_28^0'=i_28^post69, result_11^0'=result_11^post69, a_234^0'=a_234^post69, len_180^0'=len_180^post69, temp0_29^0'=temp0_29^post69, head_30^0'=head_30^post69, r_37^0'=r_37^post69, a_144^0'=a_144^post69, x_21^0'=x_21^post69, len_129^0'=len_129^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, ct_18^0'=ct_18^post69, nondet_12^0'=nondet_12^post69, tmp_32^0'=tmp_32^post69, x_14^0'=x_14^post69, i_164^0'=i_164^post69, rcd_86^0'=rcd_86^post69, a_212^0'=a_212^post69, y_20^0'=y_20^post69, temp0_16^0'=temp0_16^post69, head_15^0'=head_15^post69, r_160^0'=r_160^post69, (-y_20^post69+y_20^0 == 0 /\ -temp0_16^post69+temp0_16^0 == 0 /\ -x_21^post69+x_21^0 == 0 /\ f_167^0-f_167^post69 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post69 == 0 /\ i_105^0-i_105^post69 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post69 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ temp_33^0-temp_33^post69 == 0 /\ a_181^0-a_181^post69 == 0 /\ x_17^0-x_17^post69 == 0 /\ a_144^0-a_144^post69 == 0 /\ -r_160^post69+r_160^0 == 0 /\ a_234^0-a_234^post69 == 0 /\ i_28^0-i_28^post69 == 0 /\ t_24^0-t_24^post69 == 0 /\ -r_121^post69+r_121^0 == 0 /\ -result_11^post69+result_11^0 == 0 /\ -tmp_32^post69+tmp_32^0 == 0 /\ x_14^0-x_14^post69 == 0 /\ -ct_18^post69+ct_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post69+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_126^0-x_126^post69 == 0 /\ -len_129^post69+len_129^0 == 0 /\ -rcd_86^post69+rcd_86^0 == 0 /\ i_92^0-i_92^post69 == 0 /\ x_172^0-x_172^post69 == 0 /\ 1-head_15^0 <= 0 /\ a_257^0-a_257^post69 == 0 /\ rcd_56^0-rcd_56^post69 == 0 /\ -temp0_29^post69+temp0_29^0 == 0 /\ head_15^0-head_15^post69 == 0 /\ -a_212^post69+a_212^0 == 0 /\ a_113^0-a_113^post69 == 0 /\ length_27^0-length_27^post69 == 0 /\ len_180^0-len_180^post69 == 0 /\ -head_30^post69+head_30^0 == 0 /\ -i_164^post69+i_164^0 == 0 /\ r_37^0-r_37^post69 == 0), cost: 1
  70: l47 -> l48 : a_113^0'=a_113^post70, x_17^0'=x_17^post70, i_92^0'=i_92^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70, a_257^0'=a_257^post70, length_27^0'=length_27^post70, temp_33^0'=temp_33^post70, x_126^0'=x_126^post70, i_105^0'=i_105^post70, rcd_56^0'=rcd_56^post70, a_181^0'=a_181^post70, x_SLAM_f_19^0'=x_SLAM_f_19^post70, t_24^0'=t_24^post70, f_167^0'=f_167^post70, r_121^0'=r_121^post70, x_172^0'=x_172^post70, i_28^0'=i_28^post70, result_11^0'=result_11^post70, a_234^0'=a_234^post70, len_180^0'=len_180^post70, temp0_29^0'=temp0_29^post70, head_30^0'=head_30^post70, r_37^0'=r_37^post70, a_144^0'=a_144^post70, x_21^0'=x_21^post70, len_129^0'=len_129^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, ct_18^0'=ct_18^post70, nondet_12^0'=nondet_12^post70, tmp_32^0'=tmp_32^post70, x_14^0'=x_14^post70, i_164^0'=i_164^post70, rcd_86^0'=rcd_86^post70, a_212^0'=a_212^post70, y_20^0'=y_20^post70, temp0_16^0'=temp0_16^post70, head_15^0'=head_15^post70, r_160^0'=r_160^post70, (-tmp_32^post70+tmp_32^0 == 0 /\ i_164^0-i_164^post70 == 0 /\ result_11^0-result_11^post70 == 0 /\ -nondet_12^post70+nondet_12^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post70 == 0 /\ -x_14^post70+x_14^0 == 0 /\ -temp0_16^post70+temp0_16^0 == 0 /\ a_257^0-a_257^post70 == 0 /\ -x_21^post70+x_21^0 == 0 /\ temp_33^0-temp_33^post70 == 0 /\ i_28^0-i_28^post70 == 0 /\ -ct_18^post70+ct_18^0 == 0 /\ -f_167^post70+f_167^0 == 0 /\ a_144^0-a_144^post70 == 0 /\ y_20^0-y_20^post70 == 0 /\ 1+head_15^0 <= 0 /\ a_113^0-a_113^post70 == 0 /\ -rcd_86^post70+rcd_86^0 == 0 /\ -a_181^post70+a_181^0 == 0 /\ x_172^0-x_172^post70 == 0 /\ r_37^0-r_37^post70 == 0 /\ -a_212^post70+a_212^0 == 0 /\ i_92^0-i_92^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70 == 0 /\ -len_180^post70+len_180^0 == 0 /\ -temp0_29^post70+temp0_29^0 == 0 /\ rcd_56^0-rcd_56^post70 == 0 /\ -r_160^post70+r_160^0 == 0 /\ x_126^0-x_126^post70 == 0 /\ x_17^0-x_17^post70 == 0 /\ r_121^0-r_121^post70 == 0 /\ length_27^0-length_27^post70 == 0 /\ -head_30^post70+head_30^0 == 0 /\ -len_129^post70+len_129^0 == 0 /\ i_105^0-i_105^post70 == 0 /\ t_24^0-t_24^post70 == 0 /\ -a_234^post70+a_234^0 == 0 /\ -head_15^post70+head_15^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post70 == 0), cost: 1
  71: l48 -> l49 : a_113^0'=a_113^post71, x_17^0'=x_17^post71, i_92^0'=i_92^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post71, a_257^0'=a_257^post71, length_27^0'=length_27^post71, temp_33^0'=temp_33^post71, x_126^0'=x_126^post71, i_105^0'=i_105^post71, rcd_56^0'=rcd_56^post71, a_181^0'=a_181^post71, x_SLAM_f_19^0'=x_SLAM_f_19^post71, t_24^0'=t_24^post71, f_167^0'=f_167^post71, r_121^0'=r_121^post71, x_172^0'=x_172^post71, i_28^0'=i_28^post71, result_11^0'=result_11^post71, a_234^0'=a_234^post71, len_180^0'=len_180^post71, temp0_29^0'=temp0_29^post71, head_30^0'=head_30^post71, r_37^0'=r_37^post71, a_144^0'=a_144^post71, x_21^0'=x_21^post71, len_129^0'=len_129^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, ct_18^0'=ct_18^post71, nondet_12^0'=nondet_12^post71, tmp_32^0'=tmp_32^post71, x_14^0'=x_14^post71, i_164^0'=i_164^post71, rcd_86^0'=rcd_86^post71, a_212^0'=a_212^post71, y_20^0'=y_20^post71, temp0_16^0'=temp0_16^post71, head_15^0'=head_15^post71, r_160^0'=r_160^post71, (x_21^0-x_21^post71 == 0 /\ i_164^0-i_164^post71 == 0 /\ -temp0_16^post71+temp0_16^0 == 0 /\ i_105^0-i_105^post71 == 0 /\ result_11^0-result_11^post71 == 0 /\ -f_167^post71+f_167^0 == 0 /\ a_257^0-a_257^post71 == 0 /\ temp0_29^0-temp0_29^post71 == 0 /\ -x_14^post71+x_14^0 == 0 /\ -a_144^post71+a_144^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post71 == 0 /\ -ct_18^post71+ct_18^0 == 0 /\ -i_28^post71+i_28^0 == 0 /\ a_113^0-a_113^post71 == 0 /\ tmp_32^0-tmp_32^post71 == 0 /\ rcd_86^0-rcd_86^post71 == 0 /\ head_30^0-head_30^post71 == 0 /\ -len_180^post71+len_180^0 == 0 /\ 1-x_172^0 <= 0 /\ i_92^0-i_92^post71 == 0 /\ x_172^0-x_172^post71 == 0 /\ x_126^0-x_126^post71 == 0 /\ -a_212^post71+a_212^0 == 0 /\ r_121^0-r_121^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post71 == 0 /\ rcd_56^0-rcd_56^post71 == 0 /\ -r_160^post71+r_160^0 == 0 /\ -a_234^post71+a_234^0 == 0 /\ temp_33^0-temp_33^post71 == 0 /\ t_24^0-t_24^post71 == 0 /\ x_17^0-x_17^post71 == 0 /\ -len_129^post71+len_129^0 == 0 /\ length_27^0-length_27^post71 == 0 /\ -head_15^post71+head_15^0 == 0 /\ -a_181^post71+a_181^0 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ -r_37^post71+r_37^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post71 == 0 /\ -y_20^post71+y_20^0 == 0), cost: 1
  72: l48 -> l49 : a_113^0'=a_113^post72, x_17^0'=x_17^post72, i_92^0'=i_92^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post72, a_257^0'=a_257^post72, length_27^0'=length_27^post72, temp_33^0'=temp_33^post72, x_126^0'=x_126^post72, i_105^0'=i_105^post72, rcd_56^0'=rcd_56^post72, a_181^0'=a_181^post72, x_SLAM_f_19^0'=x_SLAM_f_19^post72, t_24^0'=t_24^post72, f_167^0'=f_167^post72, r_121^0'=r_121^post72, x_172^0'=x_172^post72, i_28^0'=i_28^post72, result_11^0'=result_11^post72, a_234^0'=a_234^post72, len_180^0'=len_180^post72, temp0_29^0'=temp0_29^post72, head_30^0'=head_30^post72, r_37^0'=r_37^post72, a_144^0'=a_144^post72, x_21^0'=x_21^post72, len_129^0'=len_129^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, ct_18^0'=ct_18^post72, nondet_12^0'=nondet_12^post72, tmp_32^0'=tmp_32^post72, x_14^0'=x_14^post72, i_164^0'=i_164^post72, rcd_86^0'=rcd_86^post72, a_212^0'=a_212^post72, y_20^0'=y_20^post72, temp0_16^0'=temp0_16^post72, head_15^0'=head_15^post72, r_160^0'=r_160^post72, (x_21^0-x_21^post72 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ -y_20^post72+y_20^0 == 0 /\ -t_24^post72+t_24^0 == 0 /\ -a_144^post72+a_144^0 == 0 /\ f_167^0-f_167^post72 == 0 /\ a_257^0-a_257^post72 == 0 /\ -temp0_16^post72+temp0_16^0 == 0 /\ i_105^0-i_105^post72 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post72 == 0 /\ -x_14^post72+x_14^0 == 0 /\ a_181^0-a_181^post72 == 0 /\ -tmp_32^post72+tmp_32^0 == 0 /\ 1+x_172^0 <= 0 /\ -ct_18^post72+ct_18^0 == 0 /\ a_234^0-a_234^post72 == 0 /\ a_212^0-a_212^post72 == 0 /\ -r_121^post72+r_121^0 == 0 /\ a_113^0-a_113^post72 == 0 /\ -result_11^post72+result_11^0 == 0 /\ -i_28^post72+i_28^0 == 0 /\ -rcd_86^post72+rcd_86^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post72+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_180^post72+len_180^0 == 0 /\ -i_164^post72+i_164^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post72 == 0 /\ x_126^0-x_126^post72 == 0 /\ x_172^0-x_172^post72 == 0 /\ -r_160^post72+r_160^0 == 0 /\ i_92^0-i_92^post72 == 0 /\ rcd_56^0-rcd_56^post72 == 0 /\ -temp0_29^post72+temp0_29^0 == 0 /\ -len_129^post72+len_129^0 == 0 /\ -head_30^post72+head_30^0 == 0 /\ x_17^0-x_17^post72 == 0 /\ temp_33^0-temp_33^post72 == 0 /\ -r_37^post72+r_37^0 == 0 /\ length_27^0-length_27^post72 == 0 /\ -head_15^post72+head_15^0 == 0), cost: 1
  73: l49 -> l44 : a_113^0'=a_113^post73, x_17^0'=x_17^post73, i_92^0'=i_92^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post73, a_257^0'=a_257^post73, length_27^0'=length_27^post73, temp_33^0'=temp_33^post73, x_126^0'=x_126^post73, i_105^0'=i_105^post73, rcd_56^0'=rcd_56^post73, a_181^0'=a_181^post73, x_SLAM_f_19^0'=x_SLAM_f_19^post73, t_24^0'=t_24^post73, f_167^0'=f_167^post73, r_121^0'=r_121^post73, x_172^0'=x_172^post73, i_28^0'=i_28^post73, result_11^0'=result_11^post73, a_234^0'=a_234^post73, len_180^0'=len_180^post73, temp0_29^0'=temp0_29^post73, head_30^0'=head_30^post73, r_37^0'=r_37^post73, a_144^0'=a_144^post73, x_21^0'=x_21^post73, len_129^0'=len_129^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, ct_18^0'=ct_18^post73, nondet_12^0'=nondet_12^post73, tmp_32^0'=tmp_32^post73, x_14^0'=x_14^post73, i_164^0'=i_164^post73, rcd_86^0'=rcd_86^post73, a_212^0'=a_212^post73, y_20^0'=y_20^post73, temp0_16^0'=temp0_16^post73, head_15^0'=head_15^post73, r_160^0'=r_160^post73, (0 == 0 /\ x_14^0-x_14^post73 == 0 /\ a_181^0-a_181^post73 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_257^0-a_257^post73 == 0 /\ r_37^0-r_37^post73 == 0 /\ a_144^post73-a_181^0 <= 0 /\ len_180^0-len_129^post73 <= 0 /\ -tmp_32^post73+tmp_32^0 == 0 /\ f_167^0-f_167^post73 == 0 /\ r_121^0-r_121^post73 == 0 /\ i_28^0-i_28^post73 == 0 /\ t_24^0-t_24^post73 == 0 /\ -temp0_16^post73+temp0_16^0 == 0 /\ rcd_56^0-rcd_56^post73 == 0 /\ a_212^0-a_212^post73 == 0 /\ -x_21^post73+x_21^0 == 0 /\ -a_144^post73+a_181^0 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post73 == 0 /\ -temp0_29^post73+temp0_29^0 == 0 /\ -len_180^0+len_129^post73 <= 0 /\ len_180^0-len_180^post73 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -nondet_12^post73+nondet_12^0 == 0 /\ -rcd_86^post73+rcd_86^0 == 0 /\ a_113^0-a_113^post73 == 0 /\ -r_160^post73+r_160^0 == 0 /\ x_126^0-x_126^post73 == 0 /\ i_92^0-i_92^post73 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post73+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ length_27^0-length_27^post73 == 0 /\ -head_30^post73+head_30^0 == 0 /\ i_105^0-i_105^post73 == 0 /\ -i_164^post73+i_164^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post73 == 0 /\ -ct_18^post73+ct_18^0 == 0 /\ result_11^0-result_11^post73 == 0 /\ -y_20^post73+y_20^0 == 0 /\ -x_172^post73+x_172^0 == 0 /\ temp_33^0-temp_33^post73 == 0 /\ x_17^0-x_17^post73 == 0 /\ -head_15^post73+head_15^0 == 0 /\ -a_234^post73+a_234^0 == 0), cost: 1
  74: l44 -> l41 : a_113^0'=a_113^post74, x_17^0'=x_17^post74, i_92^0'=i_92^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post74, a_257^0'=a_257^post74, length_27^0'=length_27^post74, temp_33^0'=temp_33^post74, x_126^0'=x_126^post74, i_105^0'=i_105^post74, rcd_56^0'=rcd_56^post74, a_181^0'=a_181^post74, x_SLAM_f_19^0'=x_SLAM_f_19^post74, t_24^0'=t_24^post74, f_167^0'=f_167^post74, r_121^0'=r_121^post74, x_172^0'=x_172^post74, i_28^0'=i_28^post74, result_11^0'=result_11^post74, a_234^0'=a_234^post74, len_180^0'=len_180^post74, temp0_29^0'=temp0_29^post74, head_30^0'=head_30^post74, r_37^0'=r_37^post74, a_144^0'=a_144^post74, x_21^0'=x_21^post74, len_129^0'=len_129^post74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post74, ct_18^0'=ct_18^post74, nondet_12^0'=nondet_12^post74, tmp_32^0'=tmp_32^post74, x_14^0'=x_14^post74, i_164^0'=i_164^post74, rcd_86^0'=rcd_86^post74, a_212^0'=a_212^post74, y_20^0'=y_20^post74, temp0_16^0'=temp0_16^post74, head_15^0'=head_15^post74, r_160^0'=r_160^post74, (i_92^0-i_92^post74 == 0 /\ i_164^0-i_164^post74 == 0 /\ -nondet_12^post74+nondet_12^0 == 0 /\ -x_14^post74+x_14^0 == 0 /\ a_257^0-a_257^post74 == 0 /\ r_121^0-r_121^post74 == 0 /\ -temp0_16^post74+temp0_16^0 == 0 /\ head_30^0-head_30^post74 == 0 /\ -tmp_32^post74+tmp_32^0 == 0 /\ len_180^0-len_180^post74 == 0 /\ -temp0_29^post74+temp0_29^0 == 0 /\ -i_28^post74+i_28^0 == 0 /\ -rcd_86^post74+rcd_86^0 == 0 /\ a_113^0-a_113^post74 == 0 /\ a_181^0-a_181^post74 == 0 /\ x_21^0-x_21^post74 == 0 /\ x_126^0-x_126^post74 == 0 /\ result_11^0-result_11^post74 == 0 /\ -a_212^post74+a_212^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post74+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_105^0-i_105^post74 == 0 /\ f_167^0-f_167^post74 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post74 == 0 /\ temp_33^0-temp_33^post74 == 0 /\ t_24^0-t_24^post74 == 0 /\ rcd_56^0-rcd_56^post74 == 0 /\ -len_129^post74+len_129^0 == 0 /\ x_17^0-x_17^post74 == 0 /\ a_144^0-a_144^post74 == 0 /\ -r_37^post74+r_37^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post74 == 0 /\ -a_234^post74+a_234^0 == 0 /\ length_27^0-length_27^post74 == 0 /\ -y_20^post74+y_20^0 == 0 /\ -head_15^post74+head_15^0 == 0 /\ ct_18^0-ct_18^post74 == 0 /\ -x_172^post74+x_172^0 == 0 /\ r_160^0-r_160^post74 == 0), cost: 1
  95: l62 -> l63 : a_113^0'=a_113^post95, x_17^0'=x_17^post95, i_92^0'=i_92^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post95, a_257^0'=a_257^post95, length_27^0'=length_27^post95, temp_33^0'=temp_33^post95, x_126^0'=x_126^post95, i_105^0'=i_105^post95, rcd_56^0'=rcd_56^post95, a_181^0'=a_181^post95, x_SLAM_f_19^0'=x_SLAM_f_19^post95, t_24^0'=t_24^post95, f_167^0'=f_167^post95, r_121^0'=r_121^post95, x_172^0'=x_172^post95, i_28^0'=i_28^post95, result_11^0'=result_11^post95, a_234^0'=a_234^post95, len_180^0'=len_180^post95, temp0_29^0'=temp0_29^post95, head_30^0'=head_30^post95, r_37^0'=r_37^post95, a_144^0'=a_144^post95, x_21^0'=x_21^post95, len_129^0'=len_129^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, ct_18^0'=ct_18^post95, nondet_12^0'=nondet_12^post95, tmp_32^0'=tmp_32^post95, x_14^0'=x_14^post95, i_164^0'=i_164^post95, rcd_86^0'=rcd_86^post95, a_212^0'=a_212^post95, y_20^0'=y_20^post95, temp0_16^0'=temp0_16^post95, head_15^0'=head_15^post95, r_160^0'=r_160^post95, (x_21^0-x_21^post95 == 0 /\ -a_144^post95+a_144^0 == 0 /\ f_167^0-f_167^post95 == 0 /\ rcd_86^0-rcd_86^post95 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post95 == 0 /\ i_105^0-i_105^post95 == 0 /\ -t_24^post95+t_24^0 == 0 /\ a_181^0-a_181^post95 == 0 /\ -temp0_16^post95+temp0_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post95 == 0 /\ -ct_18^post95+ct_18^0 == 0 /\ a_234^0-a_234^post95 == 0 /\ x_17^0-x_17^post95 == 0 /\ length_27^0-length_27^post95 == 0 /\ tmp_32^0-tmp_32^post95 == 0 /\ -result_11^post95+result_11^0 == 0 /\ -i_28^post95+i_28^0 == 0 /\ -temp_33^post95+temp_33^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_172^0-x_172^post95 == 0 /\ -r_121^post95+r_121^0 == 0 /\ i_92^0-i_92^post95 == 0 /\ -i_164^post95+i_164^0 == 0 /\ x_126^0-x_126^post95 == 0 /\ -a_212^post95+a_212^0 == 0 /\ a_257^0-a_257^post95 == 0 /\ 1-head_15^0 <= 0 /\ -temp0_29^post95+temp0_29^0 == 0 /\ rcd_56^0-rcd_56^post95 == 0 /\ -head_30^post95+head_30^0 == 0 /\ -r_160^post95+r_160^0 == 0 /\ -r_37^post95+r_37^0 == 0 /\ len_129^0-len_129^post95 == 0 /\ -x_14^post95+x_14^0 == 0 /\ nondet_12^0-nondet_12^post95 == 0 /\ a_113^0-a_113^post95 == 0 /\ len_180^0-len_180^post95 == 0 /\ -head_15^post95+head_15^0 == 0 /\ -y_20^post95+y_20^0 == 0), cost: 1
  96: l62 -> l63 : a_113^0'=a_113^post96, x_17^0'=x_17^post96, i_92^0'=i_92^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post96, a_257^0'=a_257^post96, length_27^0'=length_27^post96, temp_33^0'=temp_33^post96, x_126^0'=x_126^post96, i_105^0'=i_105^post96, rcd_56^0'=rcd_56^post96, a_181^0'=a_181^post96, x_SLAM_f_19^0'=x_SLAM_f_19^post96, t_24^0'=t_24^post96, f_167^0'=f_167^post96, r_121^0'=r_121^post96, x_172^0'=x_172^post96, i_28^0'=i_28^post96, result_11^0'=result_11^post96, a_234^0'=a_234^post96, len_180^0'=len_180^post96, temp0_29^0'=temp0_29^post96, head_30^0'=head_30^post96, r_37^0'=r_37^post96, a_144^0'=a_144^post96, x_21^0'=x_21^post96, len_129^0'=len_129^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, ct_18^0'=ct_18^post96, nondet_12^0'=nondet_12^post96, tmp_32^0'=tmp_32^post96, x_14^0'=x_14^post96, i_164^0'=i_164^post96, rcd_86^0'=rcd_86^post96, a_212^0'=a_212^post96, y_20^0'=y_20^post96, temp0_16^0'=temp0_16^post96, head_15^0'=head_15^post96, r_160^0'=r_160^post96, (a_181^0-a_181^post96 == 0 /\ -tmp_32^post96+tmp_32^0 == 0 /\ -x_21^post96+x_21^0 == 0 /\ -nondet_12^post96+nondet_12^0 == 0 /\ -y_20^post96+y_20^0 == 0 /\ -temp0_16^post96+temp0_16^0 == 0 /\ f_167^0-f_167^post96 == 0 /\ a_257^0-a_257^post96 == 0 /\ -x_14^post96+x_14^0 == 0 /\ i_105^0-i_105^post96 == 0 /\ -t_24^post96+t_24^0 == 0 /\ a_234^0-a_234^post96 == 0 /\ rcd_56^0-rcd_56^post96 == 0 /\ a_144^0-a_144^post96 == 0 /\ temp_33^0-temp_33^post96 == 0 /\ i_28^0-i_28^post96 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post96 == 0 /\ -result_11^post96+result_11^0 == 0 /\ -temp0_29^post96+temp0_29^0 == 0 /\ -ct_18^post96+ct_18^0 == 0 /\ 1+head_15^0 <= 0 /\ -r_121^post96+r_121^0 == 0 /\ -rcd_86^post96+rcd_86^0 == 0 /\ r_37^0-r_37^post96 == 0 /\ x_126^0-x_126^post96 == 0 /\ i_92^0-i_92^post96 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post96+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_172^0-x_172^post96 == 0 /\ -r_160^post96+r_160^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post96 == 0 /\ -i_164^post96+i_164^0 == 0 /\ -len_129^post96+len_129^0 == 0 /\ -head_30^post96+head_30^0 == 0 /\ x_17^0-x_17^post96 == 0 /\ length_27^0-length_27^post96 == 0 /\ -a_212^post96+a_212^0 == 0 /\ -head_15^post96+head_15^0 == 0 /\ a_113^0-a_113^post96 == 0 /\ len_180^0-len_180^post96 == 0), cost: 1
  97: l63 -> l41 : a_113^0'=a_113^post97, x_17^0'=x_17^post97, i_92^0'=i_92^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post97, a_257^0'=a_257^post97, length_27^0'=length_27^post97, temp_33^0'=temp_33^post97, x_126^0'=x_126^post97, i_105^0'=i_105^post97, rcd_56^0'=rcd_56^post97, a_181^0'=a_181^post97, x_SLAM_f_19^0'=x_SLAM_f_19^post97, t_24^0'=t_24^post97, f_167^0'=f_167^post97, r_121^0'=r_121^post97, x_172^0'=x_172^post97, i_28^0'=i_28^post97, result_11^0'=result_11^post97, a_234^0'=a_234^post97, len_180^0'=len_180^post97, temp0_29^0'=temp0_29^post97, head_30^0'=head_30^post97, r_37^0'=r_37^post97, a_144^0'=a_144^post97, x_21^0'=x_21^post97, len_129^0'=len_129^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, ct_18^0'=ct_18^post97, nondet_12^0'=nondet_12^post97, tmp_32^0'=tmp_32^post97, x_14^0'=x_14^post97, i_164^0'=i_164^post97, rcd_86^0'=rcd_86^post97, a_212^0'=a_212^post97, y_20^0'=y_20^post97, temp0_16^0'=temp0_16^post97, head_15^0'=head_15^post97, r_160^0'=r_160^post97, (i_164^0-i_164^post97 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_257^0-a_257^post97 == 0 /\ -x_21^post97+x_21^0 == 0 /\ i_105^0-i_105^post97 == 0 /\ -tmp_32^post97+tmp_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post97 == 0 /\ temp0_29^0-temp0_29^post97 == 0 /\ result_11^0-result_11^post97 == 0 /\ -f_167^post97+f_167^0 == 0 /\ -temp0_16^post97+temp0_16^0 == 0 /\ a_144^0-a_144^post97 == 0 /\ -i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -nondet_12^post97+nondet_12^0 == 0 /\ -rcd_86^post97+rcd_86^0 == 0 /\ a_113^0-a_113^post97 == 0 /\ -a_181^post97+a_181^0 == 0 /\ x_126^0-x_126^post97 == 0 /\ -head_30^post97+head_30^0 == 0 /\ i_92^0-i_92^post97 == 0 /\ x_172^0-x_172^post97 == 0 /\ -len_180^post97+len_180^0 == 0 /\ -ct_18^post97+ct_18^0 == 0 /\ -a_212^post97+a_212^0 == 0 /\ rcd_56^0-rcd_56^post97 == 0 /\ r_121^0-r_121^post97 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post97 == 0 /\ i_28^0-i_28^post97 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -r_37^post97+r_37^0 == 0 /\ -len_129^post97+len_129^0 == 0 /\ temp_33^0-temp_33^post97 == 0 /\ t_24^0-t_24^post97 == 0 /\ x_17^0-x_17^post97 == 0 /\ -x_14^post97+x_14^0 == 0 /\ length_27^0-length_27^post97 == 0 /\ -y_20^post97+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ r_160^0-r_160^post97 == 0 /\ -a_234^post97+a_234^0 == 0 /\ -head_15^post97+head_15^0 == 0), cost: 1
  99: l64 -> l40 : a_113^0'=a_113^post99, x_17^0'=x_17^post99, i_92^0'=i_92^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post99, a_257^0'=a_257^post99, length_27^0'=length_27^post99, temp_33^0'=temp_33^post99, x_126^0'=x_126^post99, i_105^0'=i_105^post99, rcd_56^0'=rcd_56^post99, a_181^0'=a_181^post99, x_SLAM_f_19^0'=x_SLAM_f_19^post99, t_24^0'=t_24^post99, f_167^0'=f_167^post99, r_121^0'=r_121^post99, x_172^0'=x_172^post99, i_28^0'=i_28^post99, result_11^0'=result_11^post99, a_234^0'=a_234^post99, len_180^0'=len_180^post99, temp0_29^0'=temp0_29^post99, head_30^0'=head_30^post99, r_37^0'=r_37^post99, a_144^0'=a_144^post99, x_21^0'=x_21^post99, len_129^0'=len_129^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, ct_18^0'=ct_18^post99, nondet_12^0'=nondet_12^post99, tmp_32^0'=tmp_32^post99, x_14^0'=x_14^post99, i_164^0'=i_164^post99, rcd_86^0'=rcd_86^post99, a_212^0'=a_212^post99, y_20^0'=y_20^post99, temp0_16^0'=temp0_16^post99, head_15^0'=head_15^post99, r_160^0'=r_160^post99, (-a_144^post99+a_144^0 == 0 /\ a_181^0-a_181^post99 == 0 /\ x_14^0-x_14^post99 == 0 /\ r_37^0-r_37^post99 == 0 /\ -x_21^post99+x_21^0 == 0 /\ a_257^0-a_257^post99 == 0 /\ f_167^0-f_167^post99 == 0 /\ -tmp_32^post99+tmp_32^0 == 0 /\ x_172^0-x_172^post99 == 0 /\ -t_24^post99+t_24^0 == 0 /\ -temp0_16^post99+temp0_16^0 == 0 /\ -ct_18^post99+ct_18^0 == 0 /\ rcd_56^0-rcd_56^post99 == 0 /\ -result_11^post99+result_11^0 == 0 /\ -temp0_29^post99+temp0_29^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post99 == 0 /\ a_212^0-a_212^post99 == 0 /\ -nondet_12^post99+nondet_12^0 == 0 /\ a_113^0-a_113^post99 == 0 /\ -r_121^post99+r_121^0 == 0 /\ -rcd_86^post99+rcd_86^0 == 0 /\ -r_160^post99+r_160^0 == 0 /\ i_92^0-i_92^post99 == 0 /\ -i_164^post99+i_164^0 == 0 /\ x_126^0-x_126^post99 == 0 /\ i_105^0-i_105^post99 == 0 /\ a_234^0-a_234^post99 == 0 /\ -head_30^post99+head_30^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post99 == 0 /\ temp_33^0-temp_33^post99 == 0 /\ i_28^0-i_28^post99 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post99+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_17^0-x_17^post99 == 0 /\ -len_129^post99+len_129^0 == 0 /\ length_27^0-length_27^post99 == 0 /\ -len_180^post99+len_180^0 == 0 /\ -head_15^post99+head_15^0 == 0 /\ -y_20^post99+y_20^0 == 0), cost: 1
 102: l65 -> l0 : a_113^0'=a_113^post102, x_17^0'=x_17^post102, i_92^0'=i_92^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post102, a_257^0'=a_257^post102, length_27^0'=length_27^post102, temp_33^0'=temp_33^post102, x_126^0'=x_126^post102, i_105^0'=i_105^post102, rcd_56^0'=rcd_56^post102, a_181^0'=a_181^post102, x_SLAM_f_19^0'=x_SLAM_f_19^post102, t_24^0'=t_24^post102, f_167^0'=f_167^post102, r_121^0'=r_121^post102, x_172^0'=x_172^post102, i_28^0'=i_28^post102, result_11^0'=result_11^post102, a_234^0'=a_234^post102, len_180^0'=len_180^post102, temp0_29^0'=temp0_29^post102, head_30^0'=head_30^post102, r_37^0'=r_37^post102, a_144^0'=a_144^post102, x_21^0'=x_21^post102, len_129^0'=len_129^post102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post102, ct_18^0'=ct_18^post102, nondet_12^0'=nondet_12^post102, tmp_32^0'=tmp_32^post102, x_14^0'=x_14^post102, i_164^0'=i_164^post102, rcd_86^0'=rcd_86^post102, a_212^0'=a_212^post102, y_20^0'=y_20^post102, temp0_16^0'=temp0_16^post102, head_15^0'=head_15^post102, r_160^0'=r_160^post102, (-head_30^post102+head_30^0 == 0 /\ x_172^0-x_172^post102 == 0 /\ -result_11^post102+result_11^0 == 0 /\ -ct_18^post102+ct_18^0 == 0 /\ rcd_56^0-rcd_56^post102 == 0 /\ temp_33^0-temp_33^post102 == 0 /\ i_92^0-i_92^post102 == 0 /\ x_126^0-x_126^post102 == 0 /\ x_17^0-x_17^post102 == 0 /\ -y_20^post102+y_20^0 == 0 /\ -r_160^post102+r_160^0 == 0 /\ -tmp_32^post102+tmp_32^0 == 0 /\ r_121^0-r_121^post102 == 0 /\ temp0_29^0-temp0_29^post102 == 0 /\ -len_180^post102+len_180^0 == 0 /\ r_37^0-r_37^post102 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post102+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ t_24^0-t_24^post102 == 0 /\ -f_167^post102+f_167^0 == 0 /\ -x_14^post102+x_14^0 == 0 /\ length_27^0-length_27^post102 == 0 /\ -a_144^post102+a_144^0 == 0 /\ rcd_86^0-rcd_86^post102 == 0 /\ nondet_12^0-nondet_12^post102 == 0 /\ -head_15^post102+head_15^0 == 0 /\ -x_SLAM_f_19^post102+x_SLAM_f_19^0 == 0 /\ a_181^0-a_181^post102 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post102+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ a_113^0-a_113^post102 == 0 /\ a_257^0-a_257^post102 == 0 /\ -x_21^post102+x_21^0 == 0 /\ -temp0_16^post102+temp0_16^0 == 0 /\ a_234^0-a_234^post102 == 0 /\ -i_164^post102+i_164^0 == 0 /\ -i_105^post102+i_105^0 == 0 /\ i_28^0-i_28^post102 == 0 /\ -a_212^post102+a_212^0 == 0 /\ len_129^0-len_129^post102 == 0), cost: 1


Applied preprocessing
Original rule:
l0 -> l1 : a_113^0'=a_113^post0, x_17^0'=x_17^post0, i_92^0'=i_92^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post0, a_257^0'=a_257^post0, length_27^0'=length_27^post0, temp_33^0'=temp_33^post0, x_126^0'=x_126^post0, i_105^0'=i_105^post0, rcd_56^0'=rcd_56^post0, a_181^0'=a_181^post0, x_SLAM_f_19^0'=x_SLAM_f_19^post0, t_24^0'=t_24^post0, f_167^0'=f_167^post0, r_121^0'=r_121^post0, x_172^0'=x_172^post0, i_28^0'=i_28^post0, result_11^0'=result_11^post0, a_234^0'=a_234^post0, len_180^0'=len_180^post0, temp0_29^0'=temp0_29^post0, head_30^0'=head_30^post0, r_37^0'=r_37^post0, a_144^0'=a_144^post0, x_21^0'=x_21^post0, len_129^0'=len_129^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, ct_18^0'=ct_18^post0, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post0, x_14^0'=x_14^post0, i_164^0'=i_164^post0, rcd_86^0'=rcd_86^post0, a_212^0'=a_212^post0, y_20^0'=y_20^post0, temp0_16^0'=temp0_16^post0, head_15^0'=head_15^post0, r_160^0'=r_160^post0, (0 == 0 /\ -result_11^post0+result_11^0 == 0 /\ -len_180^post0+len_180^0 == 0 /\ -x_14^post0+x_14^0 == 0 /\ -y_20^post0+y_20^0 == 0 /\ -temp0_16^post0+temp0_16^0 == 0 /\ i_28^post0 <= 0 /\ i_28^post0 == 0 /\ x_21^0-x_21^post0 == 0 /\ x_172^0-x_172^post0 == 0 /\ i_92^0-i_92^post0 == 0 /\ rcd_56^0-rcd_56^post0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post0 == 0 /\ x_126^0-x_126^post0 == 0 /\ x_17^0-x_17^post0 == 0 /\ temp0_29^0-temp0_29^post0 == 0 /\ -a_144^post0+a_144^0 == 0 /\ -i_28^post0 <= 0 /\ r_121^0-r_121^post0 == 0 /\ -r_160^post0+r_160^0 == 0 /\ t_24^0-t_24^post0 == 0 /\ -f_167^post0+f_167^0 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 == 0 /\ a_234^0-a_234^post0 == 0 /\ rcd_86^0-rcd_86^post0 == 0 /\ -head_30^post0 <= 0 /\ -ct_18^post0+ct_18^0 == 0 /\ -temp_33^post0+temp_33^0 == 0 /\ -tmp_32^post0+tmp_32^0 == 0 /\ r_37^0-r_37^post0 == 0 /\ -head_15^post0+head_15^0 == 0 /\ -i_164^post0+i_164^0 == 0 /\ -x_SLAM_f_19^post0+x_SLAM_f_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post0-length_27^post0 <= 0 /\ head_30^post0 <= 0 /\ head_30^post0 == 0 /\ a_181^0-a_181^post0 == 0 /\ a_257^0-a_257^post0 == 0 /\ -a_212^post0+a_212^0 == 0 /\ a_113^0-a_113^post0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post0+length_27^post0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post0+length_27^post0 == 0 /\ len_129^0-len_129^post0 == 0 /\ -i_105^post0+i_105^0 == 0), cost: 1
New rule:
l0 -> l1 : length_27^0'=nondet_12^10, i_28^0'=0, head_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, 0 == 0, cost: 1

Applied preprocessing
Original rule:
l2 -> l5 : a_113^0'=a_113^post2, x_17^0'=x_17^post2, i_92^0'=i_92^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post2, a_257^0'=a_257^post2, length_27^0'=length_27^post2, temp_33^0'=temp_33^post2, x_126^0'=x_126^post2, i_105^0'=i_105^post2, rcd_56^0'=rcd_56^post2, a_181^0'=a_181^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=t_24^post2, f_167^0'=f_167^post2, r_121^0'=r_121^post2, x_172^0'=x_172^post2, i_28^0'=i_28^post2, result_11^0'=result_11^post2, a_234^0'=a_234^post2, len_180^0'=len_180^post2, temp0_29^0'=temp0_29^post2, head_30^0'=head_30^post2, r_37^0'=r_37^post2, a_144^0'=a_144^post2, x_21^0'=x_21^post2, len_129^0'=len_129^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, nondet_12^0'=nondet_12^post2, tmp_32^0'=tmp_32^post2, x_14^0'=x_14^post2, i_164^0'=i_164^post2, rcd_86^0'=rcd_86^post2, a_212^0'=a_212^post2, y_20^0'=y_20^post2, temp0_16^0'=temp0_16^post2, head_15^0'=head_15^post2, r_160^0'=r_160^post2, (0 == 0 /\ i_164^0-i_164^post2 == 0 /\ i_105^0-i_105^post2 == 0 /\ result_11^0-result_11^post2 == 0 /\ a_257^0-a_257^post2 == 0 /\ a_144^0-a_144^post2 == 0 /\ -f_167^post2+f_167^0 == 0 /\ head_30^0-head_30^post2 == 0 /\ temp0_29^0-temp0_29^post2 == 0 /\ rcd_56^0-rcd_56^post2 == 0 /\ -temp0_16^post2+temp0_16^0 == 0 /\ -x_21^post2+x_21^0 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ a_113^0-a_113^post2 == 0 /\ -rcd_86^post2+rcd_86^0 == 0 /\ -r_160^post2+r_160^0 == 0 /\ -len_180^post2+len_180^0 == 0 /\ i_92^0-i_92^post2 == 0 /\ x_172^0-x_172^post2 == 0 /\ x_126^0-x_126^post2 == 0 /\ -a_234^0 <= 0 /\ r_121^0-r_121^post2 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post2 == 0 /\ i_28^0-i_28^post2 == 0 /\ -a_212^post2+a_212^0 == 0 /\ temp_33^0-temp_33^post2 == 0 /\ t_24^0-t_24^post2 == 0 /\ -a_234^post2+a_234^0 == 0 /\ -len_129^post2+len_129^0 == 0 /\ length_27^0-length_27^post2 == 0 /\ -tmp_32^post2+tmp_32^0 == 0 /\ -a_181^post2+a_181^0 == 0 /\ -y_20^post2+y_20^0 == 0), cost: 1
New rule:
l2 -> l5 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, a_234^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l5 -> l6 : a_113^0'=a_113^post3, x_17^0'=x_17^post3, i_92^0'=i_92^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post3, a_257^0'=a_257^post3, length_27^0'=length_27^post3, temp_33^0'=temp_33^post3, x_126^0'=x_126^post3, i_105^0'=i_105^post3, rcd_56^0'=rcd_56^post3, a_181^0'=a_181^post3, x_SLAM_f_19^0'=x_SLAM_f_19^post3, t_24^0'=t_24^post3, f_167^0'=f_167^post3, r_121^0'=r_121^post3, x_172^0'=x_172^post3, i_28^0'=i_28^post3, result_11^0'=result_11^post3, a_234^0'=a_234^post3, len_180^0'=len_180^post3, temp0_29^0'=temp0_29^post3, head_30^0'=head_30^post3, r_37^0'=r_37^post3, a_144^0'=a_144^post3, x_21^0'=x_21^post3, len_129^0'=len_129^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, ct_18^0'=ct_18^post3, nondet_12^0'=nondet_12^post3, tmp_32^0'=tmp_32^post3, x_14^0'=x_14^post3, i_164^0'=i_164^post3, rcd_86^0'=rcd_86^post3, a_212^0'=a_212^post3, y_20^0'=y_20^post3, temp0_16^0'=temp0_16^post3, head_15^0'=head_15^post3, r_160^0'=r_160^post3, (-f_167^post3+f_167^0 == 0 /\ a_257^0-a_257^post3 == 0 /\ head_30^0-head_30^post3 == 0 /\ temp0_29^0-temp0_29^post3 == 0 /\ -tmp_32^post3+tmp_32^0 == 0 /\ -head_15^post3+head_15^0 == 0 /\ t_24^0-t_24^post3 == 0 /\ -nondet_12^post3+nondet_12^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post3 == 0 /\ -rcd_86^post3+rcd_86^0 == 0 /\ rcd_56^0-rcd_56^post3 == 0 /\ -result_11^post3+result_11^0 == 0 /\ -temp0_16^post3+temp0_16^0 == 0 /\ i_164^0-i_164^post3 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post3 == 0 /\ x_126^0-x_126^post3 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ i_92^0-i_92^post3 == 0 /\ a_113^0-a_113^post3 == 0 /\ -a_212^post3+a_212^0 == 0 /\ ct_18^0-ct_18^post3 == 0 /\ -len_180^post3+len_180^0 == 0 /\ -i_28^post3+i_28^0 == 0 /\ r_121^0-r_121^post3 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post3+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_37^post3+r_37^0 == 0 /\ x_21^0-x_21^post3 == 0 /\ x_172^0-x_172^post3 == 0 /\ i_105^0-i_105^post3 == 0 /\ -a_181^post3+a_181^0 == 0 /\ a_234^0-a_234^post3 == 0 /\ temp_33^0-temp_33^post3 == 0 /\ -y_20^post3+y_20^0 == 0 /\ -r_160^post3+r_160^0 == 0 /\ x_17^0-x_17^post3 == 0 /\ -length_27^post3+length_27^0 == 0 /\ -x_14^post3+x_14^0 == 0 /\ -len_129^post3+len_129^0 == 0 /\ -a_144^post3+a_144^0 == 0), cost: 1
New rule:
l5 -> l6 : 1-x_21^0+y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l5 -> l6 : a_113^0'=a_113^post4, x_17^0'=x_17^post4, i_92^0'=i_92^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post4, a_257^0'=a_257^post4, length_27^0'=length_27^post4, temp_33^0'=temp_33^post4, x_126^0'=x_126^post4, i_105^0'=i_105^post4, rcd_56^0'=rcd_56^post4, a_181^0'=a_181^post4, x_SLAM_f_19^0'=x_SLAM_f_19^post4, t_24^0'=t_24^post4, f_167^0'=f_167^post4, r_121^0'=r_121^post4, x_172^0'=x_172^post4, i_28^0'=i_28^post4, result_11^0'=result_11^post4, a_234^0'=a_234^post4, len_180^0'=len_180^post4, temp0_29^0'=temp0_29^post4, head_30^0'=head_30^post4, r_37^0'=r_37^post4, a_144^0'=a_144^post4, x_21^0'=x_21^post4, len_129^0'=len_129^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, ct_18^0'=ct_18^post4, nondet_12^0'=nondet_12^post4, tmp_32^0'=tmp_32^post4, x_14^0'=x_14^post4, i_164^0'=i_164^post4, rcd_86^0'=rcd_86^post4, a_212^0'=a_212^post4, y_20^0'=y_20^post4, temp0_16^0'=temp0_16^post4, head_15^0'=head_15^post4, r_160^0'=r_160^post4, (x_14^0-x_14^post4 == 0 /\ -f_167^post4+f_167^0 == 0 /\ i_92^0-i_92^post4 == 0 /\ a_181^0-a_181^post4 == 0 /\ -a_144^post4+a_144^0 == 0 /\ a_257^0-a_257^post4 == 0 /\ r_37^0-r_37^post4 == 0 /\ -tmp_32^post4+tmp_32^0 == 0 /\ -r_121^post4+r_121^0 == 0 /\ i_28^0-i_28^post4 == 0 /\ t_24^0-t_24^post4 == 0 /\ -temp0_16^post4+temp0_16^0 == 0 /\ rcd_56^0-rcd_56^post4 == 0 /\ x_172^0-x_172^post4 == 0 /\ a_212^0-a_212^post4 == 0 /\ -x_21^post4+x_21^0 == 0 /\ -x_SLAM_f_19^post4+x_SLAM_f_19^0 == 0 /\ a_113^0-a_113^post4 == 0 /\ -rcd_86^post4+rcd_86^0 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ i_105^0-i_105^post4 == 0 /\ -r_160^post4+r_160^0 == 0 /\ x_126^0-x_126^post4 == 0 /\ length_27^0-length_27^post4 == 0 /\ -head_30^post4+head_30^0 == 0 /\ temp0_29^0-temp0_29^post4 == 0 /\ -ct_18^post4+ct_18^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post4 == 0 /\ -i_164^post4+i_164^0 == 0 /\ a_234^0-a_234^post4 == 0 /\ -result_11^post4+result_11^0 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -y_20^post4+y_20^0 == 0 /\ -head_15^post4+head_15^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_33^0-temp_33^post4 == 0 /\ x_17^0-x_17^post4 == 0 /\ -len_129^post4+len_129^0 == 0 /\ -len_180^post4+len_180^0 == 0), cost: 1
New rule:
l5 -> l6 : 1+x_21^0-y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l6 -> l7 : a_113^0'=a_113^post5, x_17^0'=x_17^post5, i_92^0'=i_92^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post5, a_257^0'=a_257^post5, length_27^0'=length_27^post5, temp_33^0'=temp_33^post5, x_126^0'=x_126^post5, i_105^0'=i_105^post5, rcd_56^0'=rcd_56^post5, a_181^0'=a_181^post5, x_SLAM_f_19^0'=x_SLAM_f_19^post5, t_24^0'=t_24^post5, f_167^0'=f_167^post5, r_121^0'=r_121^post5, x_172^0'=x_172^post5, i_28^0'=i_28^post5, result_11^0'=result_11^post5, a_234^0'=a_234^post5, len_180^0'=len_180^post5, temp0_29^0'=temp0_29^post5, head_30^0'=head_30^post5, r_37^0'=r_37^post5, a_144^0'=a_144^post5, x_21^0'=x_21^post5, len_129^0'=len_129^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, ct_18^0'=ct_18^post5, nondet_12^0'=nondet_12^post5, tmp_32^0'=tmp_32^post5, x_14^0'=x_14^post5, i_164^0'=i_164^post5, rcd_86^0'=rcd_86^post5, a_212^0'=a_212^post5, y_20^0'=y_20^post5, temp0_16^0'=temp0_16^post5, head_15^0'=head_15^post5, r_160^0'=r_160^post5, (0 == 0 /\ i_92^0-i_92^post5 == 0 /\ x_SLAM_f_19^0-head_15^0 <= 0 /\ -len_129^post5+len_129^0 == 0 /\ x_14^0-x_14^post5 == 0 /\ x_17^0-head_15^0 <= 0 /\ x_126^0-x_126^post5 == 0 /\ -a_234^post5+a_234^0 == 0 /\ -head_15^post5+head_15^0 == 0 /\ r_37^0-r_37^post5 == 0 /\ i_28^0-i_28^post5 == 0 /\ length_27^0-length_27^post5 == 0 /\ r_121^0-r_121^post5 == 0 /\ -ct_18^0 <= 0 /\ 1+a_257^post5-a_234^0 <= 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ a_212^0-a_212^post5 == 0 /\ -x_SLAM_f_19^0+head_15^0 <= 0 /\ -rcd_86^post5+rcd_86^0 == 0 /\ len_180^0-len_180^post5 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ -i_164^post5+i_164^0 == 0 /\ -x_17^0+head_15^0 <= 0 /\ -x_21^0+t_24^post5 == 0 /\ -temp0_29^post5+temp0_29^0 == 0 /\ -temp0_16^post5+temp0_16^0 == 0 /\ -x_21^post5+x_21^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ ct_18^0-y_20^0 <= 0 /\ -head_30^post5+head_30^0 == 0 /\ a_181^0-a_181^post5 == 0 /\ -ct_18^post5+ct_18^0 == 0 /\ a_113^0-a_113^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post5 == 0 /\ -y_20^post5+y_20^0 == 0 /\ result_11^0-result_11^post5 == 0 /\ i_105^0-i_105^post5 == 0 /\ ct_18^0 <= 0 /\ f_167^0-f_167^post5 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post5+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1-a_257^post5+a_234^0 <= 0 /\ -tmp_32^post5+tmp_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post5 == 0 /\ x_14^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ -a_144^post5+a_144^0 == 0 /\ rcd_56^0-rcd_56^post5 == 0 /\ -x_14^0 <= 0 /\ y_20^0 <= 0 /\ -y_20^0 <= 0 /\ x_17^0-x_17^post5 == 0 /\ -x_172^post5+x_172^0 == 0 /\ temp_33^0-temp_33^post5 == 0 /\ -r_160^post5+r_160^0 == 0), cost: 1
New rule:
l6 -> l7 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 1

Applied preprocessing
Original rule:
l7 -> l8 : a_113^0'=a_113^post6, x_17^0'=x_17^post6, i_92^0'=i_92^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post6, a_257^0'=a_257^post6, length_27^0'=length_27^post6, temp_33^0'=temp_33^post6, x_126^0'=x_126^post6, i_105^0'=i_105^post6, rcd_56^0'=rcd_56^post6, a_181^0'=a_181^post6, x_SLAM_f_19^0'=x_SLAM_f_19^post6, t_24^0'=t_24^post6, f_167^0'=f_167^post6, r_121^0'=r_121^post6, x_172^0'=x_172^post6, i_28^0'=i_28^post6, result_11^0'=result_11^post6, a_234^0'=a_234^post6, len_180^0'=len_180^post6, temp0_29^0'=temp0_29^post6, head_30^0'=head_30^post6, r_37^0'=r_37^post6, a_144^0'=a_144^post6, x_21^0'=x_21^post6, len_129^0'=len_129^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, ct_18^0'=ct_18^post6, nondet_12^0'=nondet_12^post6, tmp_32^0'=tmp_32^post6, x_14^0'=x_14^post6, i_164^0'=i_164^post6, rcd_86^0'=rcd_86^post6, a_212^0'=a_212^post6, y_20^0'=y_20^post6, temp0_16^0'=temp0_16^post6, head_15^0'=head_15^post6, r_160^0'=r_160^post6, (-a_234^post6+a_234^0 == 0 /\ tmp_32^0-tmp_32^post6 == 0 /\ -x_172^post6+x_172^0 == 0 /\ -temp0_29^post6+temp0_29^0 == 0 /\ x_126^0-x_126^post6 == 0 /\ r_121^0-r_121^post6 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post6 == 0 /\ a_113^0-a_113^post6 == 0 /\ head_30^0-head_30^post6 == 0 /\ -head_15^post6+head_15^0 == 0 /\ length_27^0-length_27^post6 == 0 /\ f_167^0-f_167^post6 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ result_11^0-result_11^post6 == 0 /\ -temp0_16^post6+temp0_16^0 == 0 /\ len_180^0-len_180^post6 == 0 /\ -rcd_86^post6+rcd_86^0 == 0 /\ -i_164^post6+i_164^0 == 0 /\ x_17^0-x_17^post6 == 0 /\ i_92^0-i_92^post6 == 0 /\ i_105^0-i_105^post6 == 0 /\ ct_18^0-ct_18^post6 == 0 /\ -a_212^post6+a_212^0 == 0 /\ -a_257^post6+a_257^0 == 0 /\ -i_28^post6+i_28^0 == 0 /\ a_181^0-a_181^post6 == 0 /\ t_24^0-t_24^post6 == 0 /\ 1-head_15^0 <= 0 /\ x_21^0-x_21^post6 == 0 /\ -r_37^post6+r_37^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post6+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_33^0-temp_33^post6 == 0 /\ -y_20^post6+y_20^0 == 0 /\ rcd_56^0-rcd_56^post6 == 0 /\ -a_144^post6+a_144^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post6 == 0 /\ -len_129^post6+len_129^0 == 0 /\ -r_160^post6+r_160^0 == 0 /\ -x_14^post6+x_14^0 == 0), cost: 1
New rule:
l7 -> l8 : -1+head_15^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l7 -> l8 : a_113^0'=a_113^post7, x_17^0'=x_17^post7, i_92^0'=i_92^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post7, a_257^0'=a_257^post7, length_27^0'=length_27^post7, temp_33^0'=temp_33^post7, x_126^0'=x_126^post7, i_105^0'=i_105^post7, rcd_56^0'=rcd_56^post7, a_181^0'=a_181^post7, x_SLAM_f_19^0'=x_SLAM_f_19^post7, t_24^0'=t_24^post7, f_167^0'=f_167^post7, r_121^0'=r_121^post7, x_172^0'=x_172^post7, i_28^0'=i_28^post7, result_11^0'=result_11^post7, a_234^0'=a_234^post7, len_180^0'=len_180^post7, temp0_29^0'=temp0_29^post7, head_30^0'=head_30^post7, r_37^0'=r_37^post7, a_144^0'=a_144^post7, x_21^0'=x_21^post7, len_129^0'=len_129^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, ct_18^0'=ct_18^post7, nondet_12^0'=nondet_12^post7, tmp_32^0'=tmp_32^post7, x_14^0'=x_14^post7, i_164^0'=i_164^post7, rcd_86^0'=rcd_86^post7, a_212^0'=a_212^post7, y_20^0'=y_20^post7, temp0_16^0'=temp0_16^post7, head_15^0'=head_15^post7, r_160^0'=r_160^post7, (-f_167^post7+f_167^0 == 0 /\ rcd_86^0-rcd_86^post7 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post7 == 0 /\ i_92^0-i_92^post7 == 0 /\ a_113^0-a_113^post7 == 0 /\ tmp_32^0-tmp_32^post7 == 0 /\ -head_15^post7+head_15^0 == 0 /\ length_27^0-length_27^post7 == 0 /\ x_172^0-x_172^post7 == 0 /\ -i_164^post7+i_164^0 == 0 /\ -r_121^post7+r_121^0 == 0 /\ x_17^0-x_17^post7 == 0 /\ -x_126^post7+x_126^0 == 0 /\ 1+head_15^0 <= 0 /\ -x_SLAM_f_19^post7+x_SLAM_f_19^0 == 0 /\ -temp0_16^post7+temp0_16^0 == 0 /\ i_105^0-i_105^post7 == 0 /\ a_181^0-a_181^post7 == 0 /\ -a_212^post7+a_212^0 == 0 /\ -r_37^post7+r_37^0 == 0 /\ ct_18^0-ct_18^post7 == 0 /\ -x_14^post7+x_14^0 == 0 /\ -head_30^post7+head_30^0 == 0 /\ a_257^0-a_257^post7 == 0 /\ x_21^0-x_21^post7 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ temp0_29^0-temp0_29^post7 == 0 /\ a_234^0-a_234^post7 == 0 /\ -result_11^post7+result_11^0 == 0 /\ -i_28^post7+i_28^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post7+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_129^0-len_129^post7 == 0 /\ rcd_56^0-rcd_56^post7 == 0 /\ -y_20^post7+y_20^0 == 0 /\ -temp_33^post7+temp_33^0 == 0 /\ -t_24^post7+t_24^0 == 0 /\ -a_144^post7+a_144^0 == 0 /\ -r_160^post7+r_160^0 == 0 /\ -len_180^post7+len_180^0 == 0), cost: 1
New rule:
l7 -> l8 : 1+head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l8 -> l9 : a_113^0'=a_113^post8, x_17^0'=x_17^post8, i_92^0'=i_92^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post8, a_257^0'=a_257^post8, length_27^0'=length_27^post8, temp_33^0'=temp_33^post8, x_126^0'=x_126^post8, i_105^0'=i_105^post8, rcd_56^0'=rcd_56^post8, a_181^0'=a_181^post8, x_SLAM_f_19^0'=x_SLAM_f_19^post8, t_24^0'=t_24^post8, f_167^0'=f_167^post8, r_121^0'=r_121^post8, x_172^0'=x_172^post8, i_28^0'=i_28^post8, result_11^0'=result_11^post8, a_234^0'=a_234^post8, len_180^0'=len_180^post8, temp0_29^0'=temp0_29^post8, head_30^0'=head_30^post8, r_37^0'=r_37^post8, a_144^0'=a_144^post8, x_21^0'=x_21^post8, len_129^0'=len_129^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, ct_18^0'=ct_18^post8, nondet_12^0'=nondet_12^post8, tmp_32^0'=tmp_32^post8, x_14^0'=x_14^post8, i_164^0'=i_164^post8, rcd_86^0'=rcd_86^post8, a_212^0'=a_212^post8, y_20^0'=y_20^post8, temp0_16^0'=temp0_16^post8, head_15^0'=head_15^post8, r_160^0'=r_160^post8, (a_113^0-a_113^post8 == 0 /\ -x_SLAM_f_19^post8+x_SLAM_f_19^0 == 0 /\ length_27^0-length_27^post8 == 0 /\ -r_121^post8+r_121^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post8 == 0 /\ -head_15^post8+head_15^0 == 0 /\ len_129^0-len_129^post8 == 0 /\ 1-y_20^0+head_15^0 <= 0 /\ -rcd_86^post8+rcd_86^0 == 0 /\ r_37^0-r_37^post8 == 0 /\ a_234^0-a_234^post8 == 0 /\ f_167^0-f_167^post8 == 0 /\ x_172^0-x_172^post8 == 0 /\ -head_30^post8+head_30^0 == 0 /\ a_181^0-a_181^post8 == 0 /\ -x_21^post8+x_21^0 == 0 /\ a_257^0-a_257^post8 == 0 /\ x_17^0-x_17^post8 == 0 /\ i_92^0-i_92^post8 == 0 /\ -a_212^post8+a_212^0 == 0 /\ -i_164^post8+i_164^0 == 0 /\ -temp0_16^post8+temp0_16^0 == 0 /\ -x_126^post8+x_126^0 == 0 /\ -x_14^post8+x_14^0 == 0 /\ -result_11^post8+result_11^0 == 0 /\ temp0_29^0-temp0_29^post8 == 0 /\ i_28^0-i_28^post8 == 0 /\ i_105^0-i_105^post8 == 0 /\ -y_20^post8+y_20^0 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ len_180^0-len_180^post8 == 0 /\ -r_160^post8+r_160^0 == 0 /\ -tmp_32^post8+tmp_32^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post8+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_56^0-rcd_56^post8 == 0 /\ -a_144^post8+a_144^0 == 0 /\ -temp_33^post8+temp_33^0 == 0 /\ -t_24^post8+t_24^0 == 0 /\ -ct_18^post8+ct_18^0 == 0), cost: 1
New rule:
l8 -> l9 : 1-y_20^0+head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l8 -> l9 : a_113^0'=a_113^post9, x_17^0'=x_17^post9, i_92^0'=i_92^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post9, a_257^0'=a_257^post9, length_27^0'=length_27^post9, temp_33^0'=temp_33^post9, x_126^0'=x_126^post9, i_105^0'=i_105^post9, rcd_56^0'=rcd_56^post9, a_181^0'=a_181^post9, x_SLAM_f_19^0'=x_SLAM_f_19^post9, t_24^0'=t_24^post9, f_167^0'=f_167^post9, r_121^0'=r_121^post9, x_172^0'=x_172^post9, i_28^0'=i_28^post9, result_11^0'=result_11^post9, a_234^0'=a_234^post9, len_180^0'=len_180^post9, temp0_29^0'=temp0_29^post9, head_30^0'=head_30^post9, r_37^0'=r_37^post9, a_144^0'=a_144^post9, x_21^0'=x_21^post9, len_129^0'=len_129^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, ct_18^0'=ct_18^post9, nondet_12^0'=nondet_12^post9, tmp_32^0'=tmp_32^post9, x_14^0'=x_14^post9, i_164^0'=i_164^post9, rcd_86^0'=rcd_86^post9, a_212^0'=a_212^post9, y_20^0'=y_20^post9, temp0_16^0'=temp0_16^post9, head_15^0'=head_15^post9, r_160^0'=r_160^post9, (-len_129^post9+len_129^0 == 0 /\ -r_121^post9+r_121^0 == 0 /\ x_126^0-x_126^post9 == 0 /\ a_113^0-a_113^post9 == 0 /\ i_105^0-i_105^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post9 == 0 /\ -temp0_29^post9+temp0_29^0 == 0 /\ -head_15^post9+head_15^0 == 0 /\ a_234^0-a_234^post9 == 0 /\ length_27^0-length_27^post9 == 0 /\ -rcd_86^post9+rcd_86^0 == 0 /\ -x_172^post9+x_172^0 == 0 /\ a_144^0-a_144^post9 == 0 /\ y_20^0-y_20^post9 == 0 /\ -nondet_12^post9+nondet_12^0 == 0 /\ 1+y_20^0-head_15^0 <= 0 /\ -a_212^post9+a_212^0 == 0 /\ -i_164^post9+i_164^0 == 0 /\ -temp0_16^post9+temp0_16^0 == 0 /\ temp_33^0-temp_33^post9 == 0 /\ x_17^0-x_17^post9 == 0 /\ i_92^0-i_92^post9 == 0 /\ -x_21^post9+x_21^0 == 0 /\ -a_257^post9+a_257^0 == 0 /\ -head_30^post9+head_30^0 == 0 /\ -ct_18^post9+ct_18^0 == 0 /\ a_181^0-a_181^post9 == 0 /\ -r_37^post9+r_37^0 == 0 /\ i_28^0-i_28^post9 == 0 /\ t_24^0-t_24^post9 == 0 /\ -tmp_32^post9+tmp_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post9 == 0 /\ result_11^0-result_11^post9 == 0 /\ f_167^0-f_167^post9 == 0 /\ len_180^0-len_180^post9 == 0 /\ rcd_56^0-rcd_56^post9 == 0 /\ -x_14^post9+x_14^0 == 0 /\ -r_160^post9+r_160^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post9+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1
New rule:
l8 -> l9 : 1+y_20^0-head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l9 -> l10 : a_113^0'=a_113^post10, x_17^0'=x_17^post10, i_92^0'=i_92^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post10, a_257^0'=a_257^post10, length_27^0'=length_27^post10, temp_33^0'=temp_33^post10, x_126^0'=x_126^post10, i_105^0'=i_105^post10, rcd_56^0'=rcd_56^post10, a_181^0'=a_181^post10, x_SLAM_f_19^0'=x_SLAM_f_19^post10, t_24^0'=t_24^post10, f_167^0'=f_167^post10, r_121^0'=r_121^post10, x_172^0'=x_172^post10, i_28^0'=i_28^post10, result_11^0'=result_11^post10, a_234^0'=a_234^post10, len_180^0'=len_180^post10, temp0_29^0'=temp0_29^post10, head_30^0'=head_30^post10, r_37^0'=r_37^post10, a_144^0'=a_144^post10, x_21^0'=x_21^post10, len_129^0'=len_129^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, ct_18^0'=ct_18^post10, nondet_12^0'=nondet_12^post10, tmp_32^0'=tmp_32^post10, x_14^0'=x_14^post10, i_164^0'=i_164^post10, rcd_86^0'=rcd_86^post10, a_212^0'=a_212^post10, y_20^0'=y_20^post10, temp0_16^0'=temp0_16^post10, head_15^0'=head_15^post10, r_160^0'=r_160^post10, (-head_15^post10+head_15^0 == 0 /\ -a_234^post10+a_234^0 == 0 /\ a_144^0-a_144^post10 == 0 /\ a_113^0-a_113^post10 == 0 /\ -i_164^post10+i_164^0 == 0 /\ -rcd_86^post10+rcd_86^0 == 0 /\ temp0_29^0-temp0_29^post10 == 0 /\ 1-t_24^0+y_20^0 <= 0 /\ -len_129^post10+len_129^0 == 0 /\ head_30^0-head_30^post10 == 0 /\ -a_212^post10+a_212^0 == 0 /\ -i_105^post10+i_105^0 == 0 /\ y_20^0-y_20^post10 == 0 /\ rcd_56^0-rcd_56^post10 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post10 == 0 /\ temp_33^0-temp_33^post10 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post10 == 0 /\ a_257^0-a_257^post10 == 0 /\ -r_37^post10+r_37^0 == 0 /\ x_17^0-x_17^post10 == 0 /\ -x_14^post10+x_14^0 == 0 /\ x_126^0-x_126^post10 == 0 /\ -temp0_16^post10+temp0_16^0 == 0 /\ r_121^0-r_121^post10 == 0 /\ -tmp_32^post10+tmp_32^0 == 0 /\ t_24^0-t_24^post10 == 0 /\ i_28^0-i_28^post10 == 0 /\ -x_21^post10+x_21^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ x_172^0-x_172^post10 == 0 /\ -len_180^post10+len_180^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 == 0 /\ -r_160^post10+r_160^0 == 0 /\ result_11^0-result_11^post10 == 0 /\ -length_27^post10+length_27^0 == 0 /\ a_181^0-a_181^post10 == 0 /\ -f_167^post10+f_167^0 == 0 /\ -ct_18^post10+ct_18^0 == 0 /\ i_92^0-i_92^post10 == 0), cost: 1
New rule:
l9 -> l10 : 1-t_24^0+y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l9 -> l10 : a_113^0'=a_113^post11, x_17^0'=x_17^post11, i_92^0'=i_92^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post11, a_257^0'=a_257^post11, length_27^0'=length_27^post11, temp_33^0'=temp_33^post11, x_126^0'=x_126^post11, i_105^0'=i_105^post11, rcd_56^0'=rcd_56^post11, a_181^0'=a_181^post11, x_SLAM_f_19^0'=x_SLAM_f_19^post11, t_24^0'=t_24^post11, f_167^0'=f_167^post11, r_121^0'=r_121^post11, x_172^0'=x_172^post11, i_28^0'=i_28^post11, result_11^0'=result_11^post11, a_234^0'=a_234^post11, len_180^0'=len_180^post11, temp0_29^0'=temp0_29^post11, head_30^0'=head_30^post11, r_37^0'=r_37^post11, a_144^0'=a_144^post11, x_21^0'=x_21^post11, len_129^0'=len_129^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, ct_18^0'=ct_18^post11, nondet_12^0'=nondet_12^post11, tmp_32^0'=tmp_32^post11, x_14^0'=x_14^post11, i_164^0'=i_164^post11, rcd_86^0'=rcd_86^post11, a_212^0'=a_212^post11, y_20^0'=y_20^post11, temp0_16^0'=temp0_16^post11, head_15^0'=head_15^post11, r_160^0'=r_160^post11, (x_17^0-x_17^post11 == 0 /\ -i_164^post11+i_164^0 == 0 /\ temp0_29^0-temp0_29^post11 == 0 /\ t_24^0-t_24^post11 == 0 /\ -head_15^post11+head_15^0 == 0 /\ -len_180^post11+len_180^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ -rcd_86^post11+rcd_86^0 == 0 /\ len_129^0-len_129^post11 == 0 /\ -x_21^post11+x_21^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post11 == 0 /\ 1+t_24^0-y_20^0 <= 0 /\ -a_234^post11+a_234^0 == 0 /\ -i_105^post11+i_105^0 == 0 /\ rcd_56^0-rcd_56^post11 == 0 /\ -a_212^post11+a_212^0 == 0 /\ -temp0_16^post11+temp0_16^0 == 0 /\ -head_30^post11+head_30^0 == 0 /\ r_121^0-r_121^post11 == 0 /\ -r_37^post11+r_37^0 == 0 /\ -x_14^post11+x_14^0 == 0 /\ i_28^0-i_28^post11 == 0 /\ -length_27^post11+length_27^0 == 0 /\ a_113^0-a_113^post11 == 0 /\ -y_20^post11+y_20^0 == 0 /\ nondet_12^0-nondet_12^post11 == 0 /\ -temp_33^post11+temp_33^0 == 0 /\ -r_160^post11+r_160^0 == 0 /\ -f_167^post11+f_167^0 == 0 /\ x_172^0-x_172^post11 == 0 /\ -a_144^post11+a_144^0 == 0 /\ i_92^0-i_92^post11 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post11 == 0 /\ -result_11^post11+result_11^0 == 0 /\ -tmp_32^post11+tmp_32^0 == 0 /\ a_181^0-a_181^post11 == 0 /\ x_126^0-x_126^post11 == 0 /\ a_257^0-a_257^post11 == 0 /\ -ct_18^post11+ct_18^0 == 0), cost: 1
New rule:
l9 -> l10 : 1+t_24^0-y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l10 -> l4 : a_113^0'=a_113^post12, x_17^0'=x_17^post12, i_92^0'=i_92^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post12, a_257^0'=a_257^post12, length_27^0'=length_27^post12, temp_33^0'=temp_33^post12, x_126^0'=x_126^post12, i_105^0'=i_105^post12, rcd_56^0'=rcd_56^post12, a_181^0'=a_181^post12, x_SLAM_f_19^0'=x_SLAM_f_19^post12, t_24^0'=t_24^post12, f_167^0'=f_167^post12, r_121^0'=r_121^post12, x_172^0'=x_172^post12, i_28^0'=i_28^post12, result_11^0'=result_11^post12, a_234^0'=a_234^post12, len_180^0'=len_180^post12, temp0_29^0'=temp0_29^post12, head_30^0'=head_30^post12, r_37^0'=r_37^post12, a_144^0'=a_144^post12, x_21^0'=x_21^post12, len_129^0'=len_129^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, ct_18^0'=ct_18^post12, nondet_12^0'=nondet_12^post12, tmp_32^0'=tmp_32^post12, x_14^0'=x_14^post12, i_164^0'=i_164^post12, rcd_86^0'=rcd_86^post12, a_212^0'=a_212^post12, y_20^0'=y_20^post12, temp0_16^0'=temp0_16^post12, head_15^0'=head_15^post12, r_160^0'=r_160^post12, (0 == 0 /\ -rcd_86^post12+rcd_86^0 == 0 /\ -r_121^post12+r_121^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_105^0-i_105^post12 == 0 /\ -temp0_29^post12+temp0_29^0 == 0 /\ -head_15^post12+head_15^0 == 0 /\ t_24^0-t_24^post12 == 0 /\ -len_129^post12+len_129^0 == 0 /\ -x_172^post12+x_172^0 == 0 /\ r_37^0-r_37^post12 == 0 /\ -head_30^post12+head_30^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -i_164^post12+i_164^0 == 0 /\ -rcd_56^post12+rcd_56^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post12 == 0 /\ -a_212^post12+a_212^0 == 0 /\ length_27^0-length_27^post12 == 0 /\ -tmp_32^post12+tmp_32^0 == 0 /\ a_113^0-a_113^post12 == 0 /\ -x_21^post12+x_21^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post12 == 0 /\ i_28^0-i_28^post12 == 0 /\ -temp0_16^post12+temp0_16^0 == 0 /\ a_257^0-a_234^post12 <= 0 /\ nondet_12^0-nondet_12^post12 == 0 /\ -x_17^post12+x_17^0 == 0 /\ -y_20^post12+y_20^0 == 0 /\ -x_14^post12+x_14^0 == 0 /\ -a_144^post12+a_144^0 == 0 /\ result_11^0-result_11^post12 == 0 /\ -r_160^post12+r_160^0 == 0 /\ f_167^0-f_167^post12 == 0 /\ len_180^0-len_180^post12 == 0 /\ -ct_18^post12+ct_18^0 == 0 /\ -a_257^0+a_234^post12 <= 0 /\ a_181^0-a_181^post12 == 0 /\ a_257^0-a_257^post12 == 0 /\ x_126^0-x_126^post12 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post12+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_33^0-temp_33^post12 == 0 /\ i_92^0-i_92^post12 == 0), cost: 1
New rule:
l10 -> l4 : a_234^0'=a_257^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l4 -> l2 : a_113^0'=a_113^post13, x_17^0'=x_17^post13, i_92^0'=i_92^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post13, a_257^0'=a_257^post13, length_27^0'=length_27^post13, temp_33^0'=temp_33^post13, x_126^0'=x_126^post13, i_105^0'=i_105^post13, rcd_56^0'=rcd_56^post13, a_181^0'=a_181^post13, x_SLAM_f_19^0'=x_SLAM_f_19^post13, t_24^0'=t_24^post13, f_167^0'=f_167^post13, r_121^0'=r_121^post13, x_172^0'=x_172^post13, i_28^0'=i_28^post13, result_11^0'=result_11^post13, a_234^0'=a_234^post13, len_180^0'=len_180^post13, temp0_29^0'=temp0_29^post13, head_30^0'=head_30^post13, r_37^0'=r_37^post13, a_144^0'=a_144^post13, x_21^0'=x_21^post13, len_129^0'=len_129^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, ct_18^0'=ct_18^post13, nondet_12^0'=nondet_12^post13, tmp_32^0'=tmp_32^post13, x_14^0'=x_14^post13, i_164^0'=i_164^post13, rcd_86^0'=rcd_86^post13, a_212^0'=a_212^post13, y_20^0'=y_20^post13, temp0_16^0'=temp0_16^post13, head_15^0'=head_15^post13, r_160^0'=r_160^post13, (x_17^0-x_17^post13 == 0 /\ a_144^0-a_144^post13 == 0 /\ temp_33^0-temp_33^post13 == 0 /\ -rcd_86^post13+rcd_86^0 == 0 /\ t_24^0-t_24^post13 == 0 /\ -i_164^post13+i_164^0 == 0 /\ a_234^0-a_234^post13 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post13+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_160^post13+r_160^0 == 0 /\ x_14^0-x_14^post13 == 0 /\ -temp0_29^post13+temp0_29^0 == 0 /\ -head_30^post13+head_30^0 == 0 /\ -len_129^post13+len_129^0 == 0 /\ -rcd_56^post13+rcd_56^0 == 0 /\ len_180^0-len_180^post13 == 0 /\ -x_172^post13+x_172^0 == 0 /\ -a_212^post13+a_212^0 == 0 /\ i_105^0-i_105^post13 == 0 /\ -y_20^post13+y_20^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post13 == 0 /\ -head_15^post13+head_15^0 == 0 /\ r_121^0-r_121^post13 == 0 /\ -r_37^post13+r_37^0 == 0 /\ length_27^0-length_27^post13 == 0 /\ -x_21^post13+x_21^0 == 0 /\ -nondet_12^post13+nondet_12^0 == 0 /\ i_28^0-i_28^post13 == 0 /\ temp0_16^0-temp0_16^post13 == 0 /\ a_113^0-a_113^post13 == 0 /\ -ct_18^post13+ct_18^0 == 0 /\ x_126^0-x_126^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post13 == 0 /\ f_167^0-f_167^post13 == 0 /\ a_257^0-a_257^post13 == 0 /\ -tmp_32^post13+tmp_32^0 == 0 /\ i_92^0-i_92^post13 == 0 /\ result_11^0-result_11^post13 == 0 /\ a_181^0-a_181^post13 == 0), cost: 1
New rule:
l4 -> l2 : TRUE, cost: 1

Applied preprocessing
Original rule:
l20 -> l21 : a_113^0'=a_113^post29, x_17^0'=x_17^post29, i_92^0'=i_92^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post29, a_257^0'=a_257^post29, length_27^0'=length_27^post29, temp_33^0'=temp_33^post29, x_126^0'=x_126^post29, i_105^0'=i_105^post29, rcd_56^0'=rcd_56^post29, a_181^0'=a_181^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, t_24^0'=t_24^post29, f_167^0'=f_167^post29, r_121^0'=r_121^post29, x_172^0'=x_172^post29, i_28^0'=i_28^post29, result_11^0'=result_11^post29, a_234^0'=a_234^post29, len_180^0'=len_180^post29, temp0_29^0'=temp0_29^post29, head_30^0'=head_30^post29, r_37^0'=r_37^post29, a_144^0'=a_144^post29, x_21^0'=x_21^post29, len_129^0'=len_129^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, nondet_12^0'=nondet_12^post29, tmp_32^0'=tmp_32^post29, x_14^0'=x_14^post29, i_164^0'=i_164^post29, rcd_86^0'=rcd_86^post29, a_212^0'=a_212^post29, y_20^0'=y_20^post29, temp0_16^0'=temp0_16^post29, head_15^0'=head_15^post29, r_160^0'=r_160^post29, (0 == 0 /\ result_11^0-result_11^post29 == 0 /\ -len_129^0 <= 0 /\ f_167^0-f_167^post29 == 0 /\ rcd_56^0-rcd_56^post29 == 0 /\ len_180^0-len_180^post29 == 0 /\ -a_212^post29+a_212^0 == 0 /\ -r_37^post29+r_37^0 == 0 /\ -i_28^post29+i_28^0 == 0 /\ temp_33^0-temp_33^post29 == 0 /\ rcd_86^0-rcd_86^post29 == 0 /\ tmp_32^0-tmp_32^post29 == 0 /\ -y_20^post29+y_20^0 == 0 /\ -r_160^post29+r_160^0 == 0 /\ t_24^0-t_24^post29 == 0 /\ -a_144^post29+a_144^0 == 0 /\ length_27^0-length_27^post29 == 0 /\ -a_234^post29+a_234^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ -temp0_29^post29+temp0_29^0 == 0 /\ x_172^0-x_172^post29 == 0 /\ i_92^0-i_92^post29 == 0 /\ a_257^0-a_257^post29 == 0 /\ x_126^0-x_126^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ -i_164^post29+i_164^0 == 0 /\ r_121^0-r_121^post29 == 0 /\ a_113^0-a_113^post29 == 0 /\ a_181^0-a_181^post29 == 0 /\ i_105^0-i_105^post29 == 0 /\ -temp0_16^post29+temp0_16^0 == 0 /\ head_30^0-head_30^post29 == 0 /\ len_129^0-len_129^post29 == 0 /\ x_21^0-x_21^post29 == 0), cost: 1
New rule:
l20 -> l21 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, len_129^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l21 -> l22 : a_113^0'=a_113^post30, x_17^0'=x_17^post30, i_92^0'=i_92^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post30, a_257^0'=a_257^post30, length_27^0'=length_27^post30, temp_33^0'=temp_33^post30, x_126^0'=x_126^post30, i_105^0'=i_105^post30, rcd_56^0'=rcd_56^post30, a_181^0'=a_181^post30, x_SLAM_f_19^0'=x_SLAM_f_19^post30, t_24^0'=t_24^post30, f_167^0'=f_167^post30, r_121^0'=r_121^post30, x_172^0'=x_172^post30, i_28^0'=i_28^post30, result_11^0'=result_11^post30, a_234^0'=a_234^post30, len_180^0'=len_180^post30, temp0_29^0'=temp0_29^post30, head_30^0'=head_30^post30, r_37^0'=r_37^post30, a_144^0'=a_144^post30, x_21^0'=x_21^post30, len_129^0'=len_129^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, ct_18^0'=ct_18^post30, nondet_12^0'=nondet_12^post30, tmp_32^0'=tmp_32^post30, x_14^0'=x_14^post30, i_164^0'=i_164^post30, rcd_86^0'=rcd_86^post30, a_212^0'=a_212^post30, y_20^0'=y_20^post30, temp0_16^0'=temp0_16^post30, head_15^0'=head_15^post30, r_160^0'=r_160^post30, (f_167^0-f_167^post30 == 0 /\ -r_37^post30+r_37^0 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ -x_14^post30+x_14^0 == 0 /\ -y_20^post30+y_20^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post30 == 0 /\ x_21^0-x_21^post30 == 0 /\ -result_11^post30+result_11^0 == 0 /\ x_17^0-x_17^post30 == 0 /\ -i_28^post30+i_28^0 == 0 /\ a_257^0-a_257^post30 == 0 /\ -len_180^post30+len_180^0 == 0 /\ -r_160^post30+r_160^0 == 0 /\ -a_144^post30+a_144^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post30+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ tmp_32^0-tmp_32^post30 == 0 /\ a_181^0-a_181^post30 == 0 /\ t_24^0-t_24^post30 == 0 /\ -ct_18^post30+ct_18^0 == 0 /\ -temp_33^post30+temp_33^0 == 0 /\ rcd_86^0-rcd_86^post30 == 0 /\ a_234^0-a_234^post30 == 0 /\ 1-x_21^0+y_20^0 <= 0 /\ x_172^0-x_172^post30 == 0 /\ rcd_56^0-rcd_56^post30 == 0 /\ -head_15^post30+head_15^0 == 0 /\ head_30^0-head_30^post30 == 0 /\ -r_121^post30+r_121^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ i_92^0-i_92^post30 == 0 /\ i_105^0-i_105^post30 == 0 /\ a_113^0-a_113^post30 == 0 /\ temp0_29^0-temp0_29^post30 == 0 /\ len_129^0-len_129^post30 == 0 /\ -i_164^post30+i_164^0 == 0 /\ length_27^0-length_27^post30 == 0 /\ -x_126^post30+x_126^0 == 0 /\ nondet_12^0-nondet_12^post30 == 0 /\ -a_212^post30+a_212^0 == 0), cost: 1
New rule:
l21 -> l22 : 1-x_21^0+y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l21 -> l22 : a_113^0'=a_113^post31, x_17^0'=x_17^post31, i_92^0'=i_92^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post31, a_257^0'=a_257^post31, length_27^0'=length_27^post31, temp_33^0'=temp_33^post31, x_126^0'=x_126^post31, i_105^0'=i_105^post31, rcd_56^0'=rcd_56^post31, a_181^0'=a_181^post31, x_SLAM_f_19^0'=x_SLAM_f_19^post31, t_24^0'=t_24^post31, f_167^0'=f_167^post31, r_121^0'=r_121^post31, x_172^0'=x_172^post31, i_28^0'=i_28^post31, result_11^0'=result_11^post31, a_234^0'=a_234^post31, len_180^0'=len_180^post31, temp0_29^0'=temp0_29^post31, head_30^0'=head_30^post31, r_37^0'=r_37^post31, a_144^0'=a_144^post31, x_21^0'=x_21^post31, len_129^0'=len_129^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, ct_18^0'=ct_18^post31, nondet_12^0'=nondet_12^post31, tmp_32^0'=tmp_32^post31, x_14^0'=x_14^post31, i_164^0'=i_164^post31, rcd_86^0'=rcd_86^post31, a_212^0'=a_212^post31, y_20^0'=y_20^post31, temp0_16^0'=temp0_16^post31, head_15^0'=head_15^post31, r_160^0'=r_160^post31, (-ct_18^post31+ct_18^0 == 0 /\ -result_11^post31+result_11^0 == 0 /\ -t_24^post31+t_24^0 == 0 /\ f_167^0-f_167^post31 == 0 /\ -y_20^post31+y_20^0 == 0 /\ temp_33^0-temp_33^post31 == 0 /\ a_181^0-a_181^post31 == 0 /\ a_257^0-a_257^post31 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post31 == 0 /\ a_113^0-a_113^post31 == 0 /\ -r_160^post31+r_160^0 == 0 /\ i_28^0-i_28^post31 == 0 /\ a_234^0-a_234^post31 == 0 /\ x_14^0-x_14^post31 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post31+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_144^0-a_144^post31 == 0 /\ -tmp_32^post31+tmp_32^0 == 0 /\ -r_121^post31+r_121^0 == 0 /\ -i_164^post31+i_164^0 == 0 /\ x_172^0-x_172^post31 == 0 /\ -len_129^post31+len_129^0 == 0 /\ i_92^0-i_92^post31 == 0 /\ -temp0_29^post31+temp0_29^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post31 == 0 /\ rcd_56^0-rcd_56^post31 == 0 /\ -rcd_86^post31+rcd_86^0 == 0 /\ x_126^0-x_126^post31 == 0 /\ x_17^0-x_17^post31 == 0 /\ 1+x_21^0-y_20^0 <= 0 /\ length_27^0-length_27^post31 == 0 /\ i_105^0-i_105^post31 == 0 /\ head_15^0-head_15^post31 == 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ len_180^0-len_180^post31 == 0 /\ -a_212^post31+a_212^0 == 0 /\ -head_30^post31+head_30^0 == 0 /\ -temp0_16^post31+temp0_16^0 == 0 /\ r_37^0-r_37^post31 == 0 /\ -x_21^post31+x_21^0 == 0), cost: 1
New rule:
l21 -> l22 : 1+x_21^0-y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l22 -> l23 : a_113^0'=a_113^post32, x_17^0'=x_17^post32, i_92^0'=i_92^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post32, a_257^0'=a_257^post32, length_27^0'=length_27^post32, temp_33^0'=temp_33^post32, x_126^0'=x_126^post32, i_105^0'=i_105^post32, rcd_56^0'=rcd_56^post32, a_181^0'=a_181^post32, x_SLAM_f_19^0'=x_SLAM_f_19^post32, t_24^0'=t_24^post32, f_167^0'=f_167^post32, r_121^0'=r_121^post32, x_172^0'=x_172^post32, i_28^0'=i_28^post32, result_11^0'=result_11^post32, a_234^0'=a_234^post32, len_180^0'=len_180^post32, temp0_29^0'=temp0_29^post32, head_30^0'=head_30^post32, r_37^0'=r_37^post32, a_144^0'=a_144^post32, x_21^0'=x_21^post32, len_129^0'=len_129^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, ct_18^0'=ct_18^post32, nondet_12^0'=nondet_12^post32, tmp_32^0'=tmp_32^post32, x_14^0'=x_14^post32, i_164^0'=i_164^post32, rcd_86^0'=rcd_86^post32, a_212^0'=a_212^post32, y_20^0'=y_20^post32, temp0_16^0'=temp0_16^post32, head_15^0'=head_15^post32, r_160^0'=r_160^post32, (0 == 0 /\ -t_24^post32+head_15^0 <= 0 /\ -x_21^post32+x_21^0 == 0 /\ result_11^0-result_11^post32 == 0 /\ f_167^0-f_167^post32 == 0 /\ x_SLAM_f_19^0-head_15^0 <= 0 /\ len_180^0-len_180^post32 == 0 /\ -temp0_16^post32+temp0_16^0 == 0 /\ x_17^0-head_15^0 <= 0 /\ -tmp_32^post32+tmp_32^0 == 0 /\ -ct_18^0 <= 0 /\ i_164^0-i_164^post32 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post32 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ -y_20^post32+y_20^0 == 0 /\ -x_14^post32+x_14^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 <= 0 /\ t_24^post32-head_15^0 <= 0 /\ -r_160^post32+r_160^0 == 0 /\ a_113^0-a_113^post32 == 0 /\ -x_SLAM_f_19^0+head_15^0 <= 0 /\ a_144^0-a_144^post32 == 0 /\ a_257^0-a_257^post32 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post32 == 0 /\ i_28^0-i_28^post32 == 0 /\ -x_17^0+head_15^0 <= 0 /\ -ct_18^post32+ct_18^0 == 0 /\ x_17^0-x_SLAM_f_19^0 <= 0 /\ x_172^0-x_172^post32 == 0 /\ -a_234^post32+a_234^0 == 0 /\ ct_18^0-y_20^0 <= 0 /\ r_37^0-r_37^post32 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 == 0 /\ -temp0_29^post32+temp0_29^0 == 0 /\ -head_15^post32+head_15^0 == 0 /\ -len_129^post32+len_129^0 == 0 /\ rcd_56^0-rcd_56^post32 == 0 /\ temp_33^0-temp_33^post32 == 0 /\ -a_181^post32+a_181^0 == 0 /\ i_92^0-i_92^post32 == 0 /\ x_17^0-x_17^post32 == 0 /\ ct_18^0 <= 0 /\ x_126^0-x_126^post32 == 0 /\ -rcd_86^post32+rcd_86^0 == 0 /\ -a_234^0+a_212^post32 <= 0 /\ x_14^0 <= 0 /\ -ct_18^0+y_20^0 <= 0 /\ -x_14^0 <= 0 /\ r_121^0-r_121^post32 == 0 /\ -head_30^post32+head_30^0 == 0 /\ i_105^0-i_105^post32 == 0 /\ y_20^0 <= 0 /\ t_24^post32-x_21^0 == 0 /\ -y_20^0 <= 0 /\ length_27^0-length_27^post32 == 0 /\ a_234^0-a_212^post32 <= 0), cost: 1
New rule:
l22 -> l23 : t_24^0'=head_15^0, a_212^0'=a_234^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 1

Applied preprocessing
Original rule:
l23 -> l24 : a_113^0'=a_113^post33, x_17^0'=x_17^post33, i_92^0'=i_92^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post33, a_257^0'=a_257^post33, length_27^0'=length_27^post33, temp_33^0'=temp_33^post33, x_126^0'=x_126^post33, i_105^0'=i_105^post33, rcd_56^0'=rcd_56^post33, a_181^0'=a_181^post33, x_SLAM_f_19^0'=x_SLAM_f_19^post33, t_24^0'=t_24^post33, f_167^0'=f_167^post33, r_121^0'=r_121^post33, x_172^0'=x_172^post33, i_28^0'=i_28^post33, result_11^0'=result_11^post33, a_234^0'=a_234^post33, len_180^0'=len_180^post33, temp0_29^0'=temp0_29^post33, head_30^0'=head_30^post33, r_37^0'=r_37^post33, a_144^0'=a_144^post33, x_21^0'=x_21^post33, len_129^0'=len_129^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, ct_18^0'=ct_18^post33, nondet_12^0'=nondet_12^post33, tmp_32^0'=tmp_32^post33, x_14^0'=x_14^post33, i_164^0'=i_164^post33, rcd_86^0'=rcd_86^post33, a_212^0'=a_212^post33, y_20^0'=y_20^post33, temp0_16^0'=temp0_16^post33, head_15^0'=head_15^post33, r_160^0'=r_160^post33, (-nondet_12^post33+nondet_12^0 == 0 /\ head_30^0-head_30^post33 == 0 /\ -r_37^post33+r_37^0 == 0 /\ i_164^0-i_164^post33 == 0 /\ -y_20^post33+y_20^0 == 0 /\ -temp0_16^post33+temp0_16^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post33 == 0 /\ i_105^0-i_105^post33 == 0 /\ -x_14^post33+x_14^0 == 0 /\ result_11^0-result_11^post33 == 0 /\ a_257^0-a_257^post33 == 0 /\ -f_167^post33+f_167^0 == 0 /\ -a_144^post33+a_144^0 == 0 /\ -len_180^post33+len_180^0 == 0 /\ tmp_32^0-tmp_32^post33 == 0 /\ -i_28^post33+i_28^0 == 0 /\ a_113^0-a_113^post33 == 0 /\ -a_181^post33+a_181^0 == 0 /\ -rcd_86^post33+rcd_86^0 == 0 /\ x_126^0-x_126^post33 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post33 == 0 /\ x_172^0-x_172^post33 == 0 /\ i_92^0-i_92^post33 == 0 /\ 1-head_15^0 <= 0 /\ rcd_56^0-rcd_56^post33 == 0 /\ -temp0_29^post33+temp0_29^0 == 0 /\ -len_129^post33+len_129^0 == 0 /\ x_17^0-x_17^post33 == 0 /\ r_121^0-r_121^post33 == 0 /\ temp_33^0-temp_33^post33 == 0 /\ t_24^0-t_24^post33 == 0 /\ -a_212^post33+a_212^0 == 0 /\ length_27^0-length_27^post33 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 == 0 /\ x_21^0-x_21^post33 == 0 /\ a_234^0-a_234^post33 == 0 /\ r_160^0-r_160^post33 == 0 /\ -head_15^post33+head_15^0 == 0 /\ ct_18^0-ct_18^post33 == 0), cost: 1
New rule:
l23 -> l24 : -1+head_15^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l23 -> l24 : a_113^0'=a_113^post34, x_17^0'=x_17^post34, i_92^0'=i_92^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post34, a_257^0'=a_257^post34, length_27^0'=length_27^post34, temp_33^0'=temp_33^post34, x_126^0'=x_126^post34, i_105^0'=i_105^post34, rcd_56^0'=rcd_56^post34, a_181^0'=a_181^post34, x_SLAM_f_19^0'=x_SLAM_f_19^post34, t_24^0'=t_24^post34, f_167^0'=f_167^post34, r_121^0'=r_121^post34, x_172^0'=x_172^post34, i_28^0'=i_28^post34, result_11^0'=result_11^post34, a_234^0'=a_234^post34, len_180^0'=len_180^post34, temp0_29^0'=temp0_29^post34, head_30^0'=head_30^post34, r_37^0'=r_37^post34, a_144^0'=a_144^post34, x_21^0'=x_21^post34, len_129^0'=len_129^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, ct_18^0'=ct_18^post34, nondet_12^0'=nondet_12^post34, tmp_32^0'=tmp_32^post34, x_14^0'=x_14^post34, i_164^0'=i_164^post34, rcd_86^0'=rcd_86^post34, a_212^0'=a_212^post34, y_20^0'=y_20^post34, temp0_16^0'=temp0_16^post34, head_15^0'=head_15^post34, r_160^0'=r_160^post34, (-t_24^post34+t_24^0 == 0 /\ -x_14^post34+x_14^0 == 0 /\ -y_20^post34+y_20^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -x_21^post34+x_21^0 == 0 /\ x_172^0-x_172^post34 == 0 /\ a_181^0-a_181^post34 == 0 /\ -a_144^post34+a_144^0 == 0 /\ a_257^0-a_257^post34 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ -f_167^post34+f_167^0 == 0 /\ r_121^0-r_121^post34 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post34 == 0 /\ a_113^0-a_113^post34 == 0 /\ -r_160^post34+r_160^0 == 0 /\ -tmp_32^post34+tmp_32^0 == 0 /\ a_212^0-a_212^post34 == 0 /\ 1+head_15^0 <= 0 /\ -ct_18^post34+ct_18^0 == 0 /\ r_37^0-r_37^post34 == 0 /\ -result_11^post34+result_11^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post34+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -head_15^post34+head_15^0 == 0 /\ -temp0_29^post34+temp0_29^0 == 0 /\ -rcd_86^post34+rcd_86^0 == 0 /\ -len_129^post34+len_129^0 == 0 /\ i_105^0-i_105^post34 == 0 /\ rcd_56^0-rcd_56^post34 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post34 == 0 /\ x_126^0-x_126^post34 == 0 /\ -len_180^post34+len_180^0 == 0 /\ i_92^0-i_92^post34 == 0 /\ x_17^0-x_17^post34 == 0 /\ temp_33^0-temp_33^post34 == 0 /\ length_27^0-length_27^post34 == 0 /\ i_28^0-i_28^post34 == 0 /\ a_234^0-a_234^post34 == 0 /\ -head_30^post34+head_30^0 == 0 /\ -i_164^post34+i_164^0 == 0), cost: 1
New rule:
l23 -> l24 : 1+head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l24 -> l25 : a_113^0'=a_113^post35, x_17^0'=x_17^post35, i_92^0'=i_92^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post35, a_257^0'=a_257^post35, length_27^0'=length_27^post35, temp_33^0'=temp_33^post35, x_126^0'=x_126^post35, i_105^0'=i_105^post35, rcd_56^0'=rcd_56^post35, a_181^0'=a_181^post35, x_SLAM_f_19^0'=x_SLAM_f_19^post35, t_24^0'=t_24^post35, f_167^0'=f_167^post35, r_121^0'=r_121^post35, x_172^0'=x_172^post35, i_28^0'=i_28^post35, result_11^0'=result_11^post35, a_234^0'=a_234^post35, len_180^0'=len_180^post35, temp0_29^0'=temp0_29^post35, head_30^0'=head_30^post35, r_37^0'=r_37^post35, a_144^0'=a_144^post35, x_21^0'=x_21^post35, len_129^0'=len_129^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, ct_18^0'=ct_18^post35, nondet_12^0'=nondet_12^post35, tmp_32^0'=tmp_32^post35, x_14^0'=x_14^post35, i_164^0'=i_164^post35, rcd_86^0'=rcd_86^post35, a_212^0'=a_212^post35, y_20^0'=y_20^post35, temp0_16^0'=temp0_16^post35, head_15^0'=head_15^post35, r_160^0'=r_160^post35, (-tmp_32^post35+tmp_32^0 == 0 /\ -a_144^post35+a_144^0 == 0 /\ -nondet_12^post35+nondet_12^0 == 0 /\ r_37^0-r_37^post35 == 0 /\ 1-y_20^0+head_15^0 <= 0 /\ a_257^0-a_257^post35 == 0 /\ -x_14^post35+x_14^0 == 0 /\ i_92^0-i_92^post35 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ -t_24^post35+t_24^0 == 0 /\ x_126^0-x_126^post35 == 0 /\ -x_21^post35+x_21^0 == 0 /\ r_121^0-r_121^post35 == 0 /\ -ct_18^post35+ct_18^0 == 0 /\ i_105^0-i_105^post35 == 0 /\ a_212^0-a_212^post35 == 0 /\ len_180^0-len_180^post35 == 0 /\ -rcd_86^post35+rcd_86^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post35+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_113^0-a_113^post35 == 0 /\ result_11^0-result_11^post35 == 0 /\ f_167^0-f_167^post35 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post35 == 0 /\ -temp0_29^post35+temp0_29^0 == 0 /\ a_181^0-a_181^post35 == 0 /\ -i_164^post35+i_164^0 == 0 /\ -x_172^post35+x_172^0 == 0 /\ -r_160^post35+r_160^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post35 == 0 /\ i_28^0-i_28^post35 == 0 /\ -len_129^post35+len_129^0 == 0 /\ temp_33^0-temp_33^post35 == 0 /\ x_17^0-x_17^post35 == 0 /\ -head_30^post35+head_30^0 == 0 /\ length_27^0-length_27^post35 == 0 /\ -a_234^post35+a_234^0 == 0 /\ -rcd_56^post35+rcd_56^0 == 0 /\ -y_20^post35+y_20^0 == 0 /\ -head_15^post35+head_15^0 == 0), cost: 1
New rule:
l24 -> l25 : 1-y_20^0+head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l24 -> l25 : a_113^0'=a_113^post36, x_17^0'=x_17^post36, i_92^0'=i_92^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post36, a_257^0'=a_257^post36, length_27^0'=length_27^post36, temp_33^0'=temp_33^post36, x_126^0'=x_126^post36, i_105^0'=i_105^post36, rcd_56^0'=rcd_56^post36, a_181^0'=a_181^post36, x_SLAM_f_19^0'=x_SLAM_f_19^post36, t_24^0'=t_24^post36, f_167^0'=f_167^post36, r_121^0'=r_121^post36, x_172^0'=x_172^post36, i_28^0'=i_28^post36, result_11^0'=result_11^post36, a_234^0'=a_234^post36, len_180^0'=len_180^post36, temp0_29^0'=temp0_29^post36, head_30^0'=head_30^post36, r_37^0'=r_37^post36, a_144^0'=a_144^post36, x_21^0'=x_21^post36, len_129^0'=len_129^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, ct_18^0'=ct_18^post36, nondet_12^0'=nondet_12^post36, tmp_32^0'=tmp_32^post36, x_14^0'=x_14^post36, i_164^0'=i_164^post36, rcd_86^0'=rcd_86^post36, a_212^0'=a_212^post36, y_20^0'=y_20^post36, temp0_16^0'=temp0_16^post36, head_15^0'=head_15^post36, r_160^0'=r_160^post36, (head_30^0-head_30^post36 == 0 /\ -nondet_12^post36+nondet_12^0 == 0 /\ -tmp_32^post36+tmp_32^0 == 0 /\ i_92^0-i_92^post36 == 0 /\ -temp0_16^post36+temp0_16^0 == 0 /\ -y_20^post36+y_20^0 == 0 /\ x_126^0-x_126^post36 == 0 /\ r_121^0-r_121^post36 == 0 /\ -x_14^post36+x_14^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post36 == 0 /\ t_24^0-t_24^post36 == 0 /\ -temp0_29^post36+temp0_29^0 == 0 /\ -i_28^post36+i_28^0 == 0 /\ x_17^0-x_17^post36 == 0 /\ length_27^0-length_27^post36 == 0 /\ 1+y_20^0-head_15^0 <= 0 /\ a_113^0-a_113^post36 == 0 /\ len_180^0-len_180^post36 == 0 /\ a_181^0-a_181^post36 == 0 /\ -head_15^post36+head_15^0 == 0 /\ x_21^0-x_21^post36 == 0 /\ -rcd_86^post36+rcd_86^0 == 0 /\ i_105^0-i_105^post36 == 0 /\ -i_164^post36+i_164^0 == 0 /\ f_167^0-f_167^post36 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post36+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp_33^0-temp_33^post36 == 0 /\ -len_129^post36+len_129^0 == 0 /\ result_11^0-result_11^post36 == 0 /\ a_144^0-a_144^post36 == 0 /\ -a_234^post36+a_234^0 == 0 /\ -rcd_56^post36+rcd_56^0 == 0 /\ -x_172^post36+x_172^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post36 == 0 /\ -a_257^post36+a_257^0 == 0 /\ -a_212^post36+a_212^0 == 0 /\ ct_18^0-ct_18^post36 == 0 /\ -r_37^post36+r_37^0 == 0 /\ r_160^0-r_160^post36 == 0), cost: 1
New rule:
l24 -> l25 : 1+y_20^0-head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l25 -> l26 : a_113^0'=a_113^post37, x_17^0'=x_17^post37, i_92^0'=i_92^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post37, a_257^0'=a_257^post37, length_27^0'=length_27^post37, temp_33^0'=temp_33^post37, x_126^0'=x_126^post37, i_105^0'=i_105^post37, rcd_56^0'=rcd_56^post37, a_181^0'=a_181^post37, x_SLAM_f_19^0'=x_SLAM_f_19^post37, t_24^0'=t_24^post37, f_167^0'=f_167^post37, r_121^0'=r_121^post37, x_172^0'=x_172^post37, i_28^0'=i_28^post37, result_11^0'=result_11^post37, a_234^0'=a_234^post37, len_180^0'=len_180^post37, temp0_29^0'=temp0_29^post37, head_30^0'=head_30^post37, r_37^0'=r_37^post37, a_144^0'=a_144^post37, x_21^0'=x_21^post37, len_129^0'=len_129^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, ct_18^0'=ct_18^post37, nondet_12^0'=nondet_12^post37, tmp_32^0'=tmp_32^post37, x_14^0'=x_14^post37, i_164^0'=i_164^post37, rcd_86^0'=rcd_86^post37, a_212^0'=a_212^post37, y_20^0'=y_20^post37, temp0_16^0'=temp0_16^post37, head_15^0'=head_15^post37, r_160^0'=r_160^post37, (-y_20^post37+y_20^0 == 0 /\ -t_24^post37+t_24^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post37 == 0 /\ x_126^0-x_126^post37 == 0 /\ 1-t_24^0+y_20^0 <= 0 /\ x_172^0-x_172^post37 == 0 /\ i_92^0-i_92^post37 == 0 /\ head_30^0-head_30^post37 == 0 /\ -tmp_32^post37+tmp_32^0 == 0 /\ rcd_56^0-rcd_56^post37 == 0 /\ -temp0_16^post37+temp0_16^0 == 0 /\ -f_167^post37+f_167^0 == 0 /\ r_121^0-r_121^post37 == 0 /\ x_17^0-x_17^post37 == 0 /\ temp0_29^0-temp0_29^post37 == 0 /\ length_27^0-length_27^post37 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ -rcd_86^post37+rcd_86^0 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -i_28^post37+i_28^0 == 0 /\ x_21^0-x_21^post37 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post37+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ ct_18^0-ct_18^post37 == 0 /\ -i_164^post37+i_164^0 == 0 /\ -temp_33^post37+temp_33^0 == 0 /\ -x_SLAM_f_19^post37+x_SLAM_f_19^0 == 0 /\ -r_160^post37+r_160^0 == 0 /\ i_105^0-i_105^post37 == 0 /\ a_181^0-a_181^post37 == 0 /\ -a_212^post37+a_212^0 == 0 /\ -len_180^post37+len_180^0 == 0 /\ a_257^0-a_257^post37 == 0 /\ -r_37^post37+r_37^0 == 0 /\ a_144^0-a_144^post37 == 0 /\ -x_14^post37+x_14^0 == 0 /\ a_234^0-a_234^post37 == 0 /\ len_129^0-len_129^post37 == 0 /\ a_113^0-a_113^post37 == 0 /\ -head_15^post37+head_15^0 == 0), cost: 1
New rule:
l25 -> l26 : 1-t_24^0+y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l25 -> l26 : a_113^0'=a_113^post38, x_17^0'=x_17^post38, i_92^0'=i_92^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post38, a_257^0'=a_257^post38, length_27^0'=length_27^post38, temp_33^0'=temp_33^post38, x_126^0'=x_126^post38, i_105^0'=i_105^post38, rcd_56^0'=rcd_56^post38, a_181^0'=a_181^post38, x_SLAM_f_19^0'=x_SLAM_f_19^post38, t_24^0'=t_24^post38, f_167^0'=f_167^post38, r_121^0'=r_121^post38, x_172^0'=x_172^post38, i_28^0'=i_28^post38, result_11^0'=result_11^post38, a_234^0'=a_234^post38, len_180^0'=len_180^post38, temp0_29^0'=temp0_29^post38, head_30^0'=head_30^post38, r_37^0'=r_37^post38, a_144^0'=a_144^post38, x_21^0'=x_21^post38, len_129^0'=len_129^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, ct_18^0'=ct_18^post38, nondet_12^0'=nondet_12^post38, tmp_32^0'=tmp_32^post38, x_14^0'=x_14^post38, i_164^0'=i_164^post38, rcd_86^0'=rcd_86^post38, a_212^0'=a_212^post38, y_20^0'=y_20^post38, temp0_16^0'=temp0_16^post38, head_15^0'=head_15^post38, r_160^0'=r_160^post38, (-tmp_32^post38+tmp_32^0 == 0 /\ r_37^0-r_37^post38 == 0 /\ rcd_86^0-rcd_86^post38 == 0 /\ x_126^0-x_126^post38 == 0 /\ i_92^0-i_92^post38 == 0 /\ length_27^0-length_27^post38 == 0 /\ -f_167^post38+f_167^0 == 0 /\ -temp0_16^post38+temp0_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post38 == 0 /\ -a_144^post38+a_144^0 == 0 /\ -x_21^post38+x_21^0 == 0 /\ -t_24^post38+t_24^0 == 0 /\ x_172^0-x_172^post38 == 0 /\ -x_SLAM_f_19^post38+x_SLAM_f_19^0 == 0 /\ -r_121^post38+r_121^0 == 0 /\ x_17^0-x_17^post38 == 0 /\ -result_11^post38+result_11^0 == 0 /\ 1+t_24^0-y_20^0 <= 0 /\ -r_160^post38+r_160^0 == 0 /\ a_181^0-a_181^post38 == 0 /\ a_257^0-a_257^post38 == 0 /\ -len_180^post38+len_180^0 == 0 /\ -head_30^post38+head_30^0 == 0 /\ -ct_18^post38+ct_18^0 == 0 /\ i_105^0-i_105^post38 == 0 /\ -temp_33^post38+temp_33^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post38+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_212^post38+a_212^0 == 0 /\ temp0_29^0-temp0_29^post38 == 0 /\ -i_164^post38+i_164^0 == 0 /\ len_129^0-len_129^post38 == 0 /\ rcd_56^0-rcd_56^post38 == 0 /\ a_234^0-a_234^post38 == 0 /\ i_28^0-i_28^post38 == 0 /\ -x_14^post38+x_14^0 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ -head_15^post38+head_15^0 == 0 /\ a_113^0-a_113^post38 == 0 /\ -y_20^post38+y_20^0 == 0), cost: 1
New rule:
l25 -> l26 : 1+t_24^0-y_20^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l26 -> l2 : a_113^0'=a_113^post39, x_17^0'=x_17^post39, i_92^0'=i_92^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post39, a_257^0'=a_257^post39, length_27^0'=length_27^post39, temp_33^0'=temp_33^post39, x_126^0'=x_126^post39, i_105^0'=i_105^post39, rcd_56^0'=rcd_56^post39, a_181^0'=a_181^post39, x_SLAM_f_19^0'=x_SLAM_f_19^post39, t_24^0'=t_24^post39, f_167^0'=f_167^post39, r_121^0'=r_121^post39, x_172^0'=x_172^post39, i_28^0'=i_28^post39, result_11^0'=result_11^post39, a_234^0'=a_234^post39, len_180^0'=len_180^post39, temp0_29^0'=temp0_29^post39, head_30^0'=head_30^post39, r_37^0'=r_37^post39, a_144^0'=a_144^post39, x_21^0'=x_21^post39, len_129^0'=len_129^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, ct_18^0'=ct_18^post39, nondet_12^0'=nondet_12^post39, tmp_32^0'=tmp_32^post39, x_14^0'=x_14^post39, i_164^0'=i_164^post39, rcd_86^0'=rcd_86^post39, a_212^0'=a_212^post39, y_20^0'=y_20^post39, temp0_16^0'=temp0_16^post39, head_15^0'=head_15^post39, r_160^0'=r_160^post39, (0 == 0 /\ -tmp_32^post39+tmp_32^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_92^0-i_92^post39 == 0 /\ -nondet_12^post39+nondet_12^0 == 0 /\ -x_14^post39+x_14^0 == 0 /\ x_126^0-x_126^post39 == 0 /\ -temp0_16^post39+temp0_16^0 == 0 /\ i_105^0-i_105^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post39 == 0 /\ 1-len_129^post39+a_212^0 <= 0 /\ r_121^0-r_121^post39 == 0 /\ -x_21^post39+x_21^0 == 0 /\ temp_33^0-temp_33^post39 == 0 /\ -result_11^post39+result_11^0 == 0 /\ -temp0_29^post39+temp0_29^0 == 0 /\ -ct_18^post39+ct_18^0 == 0 /\ a_234^0-a_234^post39 == 0 /\ i_28^0-i_28^post39 == 0 /\ t_24^0-t_24^post39 == 0 /\ x_17^0-x_17^post39 == 0 /\ length_27^0-length_27^post39 == 0 /\ a_144^0-a_144^post39 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ y_20^0-y_20^post39 == 0 /\ -rcd_86^post39+rcd_86^0 == 0 /\ r_37^0-r_37^post39 == 0 /\ -a_212^post39+a_212^0 == 0 /\ f_167^0-f_167^post39 == 0 /\ -i_164^post39+i_164^0 == 0 /\ -head_30^post39+head_30^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post39+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_160^post39+r_160^0 == 0 /\ a_181^0-a_181^post39 == 0 /\ -1+len_129^post39-a_212^0 <= 0 /\ -rcd_56^post39+rcd_56^0 == 0 /\ -a_257^post39+a_257^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post39 == 0 /\ -head_15^post39+head_15^0 == 0 /\ -x_172^post39+x_172^0 == 0 /\ len_180^0-len_180^post39 == 0 /\ a_113^0-a_113^post39 == 0), cost: 1
New rule:
l26 -> l2 : len_129^0'=1+a_212^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l27 -> l40 : a_113^0'=a_113^post60, x_17^0'=x_17^post60, i_92^0'=i_92^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60, a_257^0'=a_257^post60, length_27^0'=length_27^post60, temp_33^0'=temp_33^post60, x_126^0'=x_126^post60, i_105^0'=i_105^post60, rcd_56^0'=rcd_56^post60, a_181^0'=a_181^post60, x_SLAM_f_19^0'=x_SLAM_f_19^post60, t_24^0'=t_24^post60, f_167^0'=f_167^post60, r_121^0'=r_121^post60, x_172^0'=x_172^post60, i_28^0'=i_28^post60, result_11^0'=result_11^post60, a_234^0'=a_234^post60, len_180^0'=len_180^post60, temp0_29^0'=temp0_29^post60, head_30^0'=head_30^post60, r_37^0'=r_37^post60, a_144^0'=a_144^post60, x_21^0'=x_21^post60, len_129^0'=len_129^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, ct_18^0'=ct_18^post60, nondet_12^0'=nondet_12^post60, tmp_32^0'=tmp_32^post60, x_14^0'=x_14^post60, i_164^0'=i_164^post60, rcd_86^0'=rcd_86^post60, a_212^0'=a_212^post60, y_20^0'=y_20^post60, temp0_16^0'=temp0_16^post60, head_15^0'=head_15^post60, r_160^0'=r_160^post60, (0 == 0 /\ 2-length_27^0 <= 0 /\ -r_160^post60+r_160^0 == 0 /\ -len_180^post60+len_180^0 == 0 /\ -ct_18^post60+ct_18^0 == 0 /\ 2-i_28^post60 <= 0 /\ 1-length_27^0+i_28^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60-tmp_32^post60 <= 0 /\ -a_212^post60+a_212^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post60 == 0 /\ -r_37^post60+r_37^0 == 0 /\ a_113^0-a_113^post60 == 0 /\ -i_164^post60+i_164^0 == 0 /\ -length_27^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 <= 0 /\ rcd_86^0-rcd_86^post60 == 0 /\ -t_24^post60+t_24^0 == 0 /\ a_181^0-a_181^post60 == 0 /\ -y_20^post60+y_20^0 == 0 /\ a_257^0-a_257^post60 == 0 /\ -head_15^post60+head_15^0 == 0 /\ i_92^0-i_92^post60 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60+tmp_32^post60 <= 0 /\ -len_129^post60+len_129^0 == 0 /\ -x_14^post60+x_14^0 == 0 /\ 1-length_27^0 <= 0 /\ f_167^0-f_167^post60 == 0 /\ -a_144^post60+a_144^0 == 0 /\ length_27^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post60 <= 0 /\ x_172^0-x_172^post60 == 0 /\ -temp_33^0+tmp_32^post60 == 0 /\ -head_30^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60 <= 0 /\ a_234^0-a_234^post60 == 0 /\ -head_30^post60+tmp_32^post60 <= 0 /\ -2+i_28^post60 <= 0 /\ x_17^0-x_17^post60 == 0 /\ -1+i_28^post60-i_28^0 == 0 /\ -r_121^post60+r_121^0 == 0 /\ -result_11^post60+result_11^0 == 0 /\ head_30^post60-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post60 <= 0 /\ -nondet_12^post60+nondet_12^0 == 0 /\ -x_126^post60+x_126^0 == 0 /\ head_30^post60-tmp_32^post60 <= 0 /\ head_30^post60-tmp_32^post60 == 0 /\ length_27^0-length_27^post60 == 0 /\ -temp0_16^post60+temp0_16^0 == 0 /\ x_21^0-x_21^post60 == 0 /\ i_105^0-i_105^post60 == 0 /\ temp0_29^0-temp0_29^post60 == 0), cost: 1
New rule:
l27 -> l40 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, temp_33^0'=temp_33^post60, rcd_56^0'=rcd_56^post60, i_28^0'=2, head_30^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_27^0, tmp_32^0'=temp_33^0, (1-length_27^0+i_28^0 <= 0 /\ -1+i_28^0 == 0), cost: 1

Applied preprocessing
Original rule:
l41 -> l42 : a_113^0'=a_113^post61, x_17^0'=x_17^post61, i_92^0'=i_92^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post61, a_257^0'=a_257^post61, length_27^0'=length_27^post61, temp_33^0'=temp_33^post61, x_126^0'=x_126^post61, i_105^0'=i_105^post61, rcd_56^0'=rcd_56^post61, a_181^0'=a_181^post61, x_SLAM_f_19^0'=x_SLAM_f_19^post61, t_24^0'=t_24^post61, f_167^0'=f_167^post61, r_121^0'=r_121^post61, x_172^0'=x_172^post61, i_28^0'=i_28^post61, result_11^0'=result_11^post61, a_234^0'=a_234^post61, len_180^0'=len_180^post61, temp0_29^0'=temp0_29^post61, head_30^0'=head_30^post61, r_37^0'=r_37^post61, a_144^0'=a_144^post61, x_21^0'=x_21^post61, len_129^0'=len_129^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=ct_18^post61, nondet_12^0'=nondet_12^post61, tmp_32^0'=tmp_32^post61, x_14^0'=x_14^post61, i_164^0'=i_164^post61, rcd_86^0'=rcd_86^post61, a_212^0'=a_212^post61, y_20^0'=y_20^post61, temp0_16^0'=temp0_16^post61, head_15^0'=head_15^post61, r_160^0'=r_160^post61, (0 == 0 /\ f_167^0-f_167^post61 == 0 /\ -head_30^post61+head_30^0 == 0 /\ -len_129^0 <= 0 /\ -result_11^post61+result_11^0 == 0 /\ -ct_18^post61 <= 0 /\ x_21^post61-x_SLAM_f_19^post61 <= 0 /\ x_21^post61-x_SLAM_f_19^post61 == 0 /\ ct_18^post61 <= 0 /\ ct_18^post61 == 0 /\ x_21^post61-head_15^0 <= 0 /\ a_257^0-a_257^post61 == 0 /\ i_92^0-i_92^post61 == 0 /\ y_20^post61 <= 0 /\ a_113^0-a_113^post61 == 0 /\ a_181^0-a_181^post61 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post61 == 0 /\ -t_24^post61+t_24^0 == 0 /\ -a_144^0 <= 0 /\ -x_14^post61+x_14^0 == 0 /\ a_144^0-a_144^post61 == 0 /\ -len_180^post61+len_180^0 == 0 /\ -r_160^post61+r_160^0 == 0 /\ i_28^0-i_28^post61 == 0 /\ -x_21^post61+x_SLAM_f_19^post61 <= 0 /\ a_234^0-a_234^post61 == 0 /\ -x_21^post61+head_15^0 <= 0 /\ a_212^0-a_212^post61 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ -len_129^post61+len_129^0 == 0 /\ -x_SLAM_f_19^post61+head_15^0 <= 0 /\ x_172^0-x_172^post61 == 0 /\ rcd_56^0-rcd_56^post61 == 0 /\ ct_18^post61-y_20^post61 <= 0 /\ temp0_16^0-temp0_16^post61 == 0 /\ -head_15^post61+head_15^0 == 0 /\ -tmp_32^post61+tmp_32^0 == 0 /\ x_17^post61-x_SLAM_f_19^post61 <= 0 /\ x_17^post61-head_15^0 <= 0 /\ x_17^post61-head_15^0 == 0 /\ -r_121^post61+r_121^0 == 0 /\ temp_33^0-temp_33^post61 == 0 /\ -y_20^post61 <= 0 /\ i_105^0-i_105^post61 == 0 /\ x_14^0 <= 0 /\ -rcd_86^post61+rcd_86^0 == 0 /\ x_SLAM_f_19^post61-head_15^0 <= 0 /\ temp0_29^0-temp0_29^post61 == 0 /\ -x_14^0 <= 0 /\ -i_164^post61+i_164^0 == 0 /\ -ct_18^post61+y_20^post61 <= 0 /\ -ct_18^post61+y_20^post61 == 0 /\ r_37^0-r_37^post61 == 0 /\ -x_17^post61+x_SLAM_f_19^post61 <= 0 /\ -x_17^post61+x_SLAM_f_19^post61 == 0 /\ -x_17^post61+head_15^0 <= 0 /\ length_27^0-length_27^post61 == 0 /\ -x_126^post61+x_126^0 == 0), cost: 1
New rule:
l41 -> l42 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0), cost: 1

Applied preprocessing
Original rule:
l42 -> l43 : a_113^0'=a_113^post62, x_17^0'=x_17^post62, i_92^0'=i_92^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post62, a_257^0'=a_257^post62, length_27^0'=length_27^post62, temp_33^0'=temp_33^post62, x_126^0'=x_126^post62, i_105^0'=i_105^post62, rcd_56^0'=rcd_56^post62, a_181^0'=a_181^post62, x_SLAM_f_19^0'=x_SLAM_f_19^post62, t_24^0'=t_24^post62, f_167^0'=f_167^post62, r_121^0'=r_121^post62, x_172^0'=x_172^post62, i_28^0'=i_28^post62, result_11^0'=result_11^post62, a_234^0'=a_234^post62, len_180^0'=len_180^post62, temp0_29^0'=temp0_29^post62, head_30^0'=head_30^post62, r_37^0'=r_37^post62, a_144^0'=a_144^post62, x_21^0'=x_21^post62, len_129^0'=len_129^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, ct_18^0'=ct_18^post62, nondet_12^0'=nondet_12^post62, tmp_32^0'=tmp_32^post62, x_14^0'=x_14^post62, i_164^0'=i_164^post62, rcd_86^0'=rcd_86^post62, a_212^0'=a_212^post62, y_20^0'=y_20^post62, temp0_16^0'=temp0_16^post62, head_15^0'=head_15^post62, r_160^0'=r_160^post62, (x_SLAM_f_19^0-x_SLAM_f_19^post62 == 0 /\ -a_212^post62+a_212^0 == 0 /\ -i_28^post62+i_28^0 == 0 /\ i_164^0-i_164^post62 == 0 /\ -r_37^post62+r_37^0 == 0 /\ i_105^0-i_105^post62 == 0 /\ i_92^0-i_92^post62 == 0 /\ -head_15^post62+head_15^0 == 0 /\ -a_181^post62+a_181^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post62 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post62+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_113^0-a_113^post62 == 0 /\ x_126^0-x_126^post62 == 0 /\ a_257^0-a_257^post62 == 0 /\ -y_20^post62+y_20^0 == 0 /\ -r_160^post62+r_160^0 == 0 /\ -x_172^post62+x_172^0 == 0 /\ head_30^0-head_30^post62 == 0 /\ -len_129^post62+len_129^0 == 0 /\ f_167^0-f_167^post62 == 0 /\ -tmp_32^post62+tmp_32^0 == 0 /\ -x_14^post62+x_14^0 == 0 /\ -a_234^post62+a_234^0 == 0 /\ rcd_56^0-rcd_56^post62 == 0 /\ temp_33^0-temp_33^post62 == 0 /\ result_11^0-result_11^post62 == 0 /\ len_180^0-len_180^post62 == 0 /\ x_17^0-x_17^post62 == 0 /\ 1-head_15^0 <= 0 /\ -x_21^post62+x_21^0 == 0 /\ ct_18^0-ct_18^post62 == 0 /\ -nondet_12^post62+nondet_12^0 == 0 /\ -temp0_16^post62+temp0_16^0 == 0 /\ -rcd_86^post62+rcd_86^0 == 0 /\ r_121^0-r_121^post62 == 0 /\ a_144^0-a_144^post62 == 0 /\ length_27^0-length_27^post62 == 0 /\ -temp0_29^post62+temp0_29^0 == 0 /\ t_24^0-t_24^post62 == 0), cost: 1
New rule:
l42 -> l43 : -1+head_15^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l42 -> l43 : a_113^0'=a_113^post63, x_17^0'=x_17^post63, i_92^0'=i_92^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post63, a_257^0'=a_257^post63, length_27^0'=length_27^post63, temp_33^0'=temp_33^post63, x_126^0'=x_126^post63, i_105^0'=i_105^post63, rcd_56^0'=rcd_56^post63, a_181^0'=a_181^post63, x_SLAM_f_19^0'=x_SLAM_f_19^post63, t_24^0'=t_24^post63, f_167^0'=f_167^post63, r_121^0'=r_121^post63, x_172^0'=x_172^post63, i_28^0'=i_28^post63, result_11^0'=result_11^post63, a_234^0'=a_234^post63, len_180^0'=len_180^post63, temp0_29^0'=temp0_29^post63, head_30^0'=head_30^post63, r_37^0'=r_37^post63, a_144^0'=a_144^post63, x_21^0'=x_21^post63, len_129^0'=len_129^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, ct_18^0'=ct_18^post63, nondet_12^0'=nondet_12^post63, tmp_32^0'=tmp_32^post63, x_14^0'=x_14^post63, i_164^0'=i_164^post63, rcd_86^0'=rcd_86^post63, a_212^0'=a_212^post63, y_20^0'=y_20^post63, temp0_16^0'=temp0_16^post63, head_15^0'=head_15^post63, r_160^0'=r_160^post63, (x_172^0-x_172^post63 == 0 /\ head_30^0-head_30^post63 == 0 /\ -r_37^post63+r_37^0 == 0 /\ -x_14^post63+x_14^0 == 0 /\ -nondet_12^post63+nondet_12^0 == 0 /\ i_164^0-i_164^post63 == 0 /\ -result_11^post63+result_11^0 == 0 /\ -y_20^post63+y_20^0 == 0 /\ -i_28^post63+i_28^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post63+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_160^post63+r_160^0 == 0 /\ a_113^0-a_113^post63 == 0 /\ a_257^0-a_257^post63 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post63 == 0 /\ r_121^0-r_121^post63 == 0 /\ temp0_29^0-temp0_29^post63 == 0 /\ 1+head_15^0 <= 0 /\ -tmp_32^post63+tmp_32^0 == 0 /\ -len_180^post63+len_180^0 == 0 /\ -f_167^post63+f_167^0 == 0 /\ -head_15^post63+head_15^0 == 0 /\ -len_129^post63+len_129^0 == 0 /\ rcd_56^0-rcd_56^post63 == 0 /\ temp_33^0-temp_33^post63 == 0 /\ -a_181^post63+a_181^0 == 0 /\ x_17^0-x_17^post63 == 0 /\ x_126^0-x_126^post63 == 0 /\ -rcd_86^post63+rcd_86^0 == 0 /\ -i_105^post63+i_105^0 == 0 /\ i_92^0-i_92^post63 == 0 /\ ct_18^0-ct_18^post63 == 0 /\ -x_21^post63+x_21^0 == 0 /\ t_24^0-t_24^post63 == 0 /\ a_234^0-a_234^post63 == 0 /\ a_144^0-a_144^post63 == 0 /\ -a_212^post63+a_212^0 == 0 /\ length_27^0-length_27^post63 == 0 /\ -x_SLAM_f_19^post63+x_SLAM_f_19^0 == 0 /\ -temp0_16^post63+temp0_16^0 == 0), cost: 1
New rule:
l42 -> l43 : 1+head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l43 -> l20 : a_113^0'=a_113^post64, x_17^0'=x_17^post64, i_92^0'=i_92^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64, a_257^0'=a_257^post64, length_27^0'=length_27^post64, temp_33^0'=temp_33^post64, x_126^0'=x_126^post64, i_105^0'=i_105^post64, rcd_56^0'=rcd_56^post64, a_181^0'=a_181^post64, x_SLAM_f_19^0'=x_SLAM_f_19^post64, t_24^0'=t_24^post64, f_167^0'=f_167^post64, r_121^0'=r_121^post64, x_172^0'=x_172^post64, i_28^0'=i_28^post64, result_11^0'=result_11^post64, a_234^0'=a_234^post64, len_180^0'=len_180^post64, temp0_29^0'=temp0_29^post64, head_30^0'=head_30^post64, r_37^0'=r_37^post64, a_144^0'=a_144^post64, x_21^0'=x_21^post64, len_129^0'=len_129^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, ct_18^0'=ct_18^post64, nondet_12^0'=nondet_12^post64, tmp_32^0'=tmp_32^post64, x_14^0'=x_14^post64, i_164^0'=i_164^post64, rcd_86^0'=rcd_86^post64, a_212^0'=a_212^post64, y_20^0'=y_20^post64, temp0_16^0'=temp0_16^post64, head_15^0'=head_15^post64, r_160^0'=r_160^post64, (-head_30^post64+head_30^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -ct_18^post64+ct_18^0 == 0 /\ -result_11^post64+result_11^0 == 0 /\ -a_212^post64+a_212^0 == 0 /\ x_172^0-x_172^post64 == 0 /\ rcd_56^0-rcd_56^post64 == 0 /\ -y_20^post64+y_20^0 == 0 /\ x_126^0-x_126^post64 == 0 /\ i_92^0-i_92^post64 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post64 == 0 /\ length_27^0-length_27^post64 == 0 /\ r_121^0-r_121^post64 == 0 /\ -tmp_32^post64+tmp_32^0 == 0 /\ -len_180^post64+len_180^0 == 0 /\ temp0_29^0-temp0_29^post64 == 0 /\ a_113^0-a_113^post64 == 0 /\ t_24^0-t_24^post64 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_167^post64+f_167^0 == 0 /\ r_37^0-r_37^post64 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post64+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_14^post64+x_14^0 == 0 /\ -r_160^post64+r_160^0 == 0 /\ -a_144^post64+a_144^0 == 0 /\ -x_SLAM_f_19^post64+x_SLAM_f_19^0 == 0 /\ -len_129^post64+len_129^0 == 0 /\ nondet_12^0-nondet_12^post64 == 0 /\ a_181^0-a_181^post64 == 0 /\ x_17^0-x_17^post64 == 0 /\ temp_33^0-temp_33^post64 == 0 /\ a_257^0-a_257^post64 == 0 /\ -head_15^post64+head_15^0 == 0 /\ -rcd_86^post64+rcd_86^0 == 0 /\ -i_164^post64+i_164^0 == 0 /\ -i_105^post64+i_105^0 == 0 /\ -temp0_16^post64+temp0_16^0 == 0 /\ i_28^0-i_28^post64 == 0 /\ a_234^0-a_234^post64 == 0 /\ -x_21^post64+x_21^0 == 0), cost: 1
New rule:
l43 -> l20 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l41 -> l45 : a_113^0'=a_113^post65, x_17^0'=x_17^post65, i_92^0'=i_92^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post65, a_257^0'=a_257^post65, length_27^0'=length_27^post65, temp_33^0'=temp_33^post65, x_126^0'=x_126^post65, i_105^0'=i_105^post65, rcd_56^0'=rcd_56^post65, a_181^0'=a_181^post65, x_SLAM_f_19^0'=x_SLAM_f_19^post65, t_24^0'=t_24^post65, f_167^0'=f_167^post65, r_121^0'=r_121^post65, x_172^0'=x_172^post65, i_28^0'=i_28^post65, result_11^0'=result_11^post65, a_234^0'=a_234^post65, len_180^0'=len_180^post65, temp0_29^0'=temp0_29^post65, head_30^0'=head_30^post65, r_37^0'=r_37^post65, a_144^0'=a_144^post65, x_21^0'=x_21^post65, len_129^0'=len_129^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, ct_18^0'=ct_18^post65, nondet_12^0'=nondet_12^post65, tmp_32^0'=tmp_32^post65, x_14^0'=x_14^post65, i_164^0'=i_164^post65, rcd_86^0'=rcd_86^post65, a_212^0'=a_212^post65, y_20^0'=y_20^post65, temp0_16^0'=temp0_16^post65, head_15^0'=head_15^post65, r_160^0'=r_160^post65, (0 == 0 /\ -temp0_16^post65+temp0_16^0 == 0 /\ -x_14^post65+x_14^0 == 0 /\ -y_20^post65+y_20^0 == 0 /\ -len_129^0 <= 0 /\ -x_21^post65+x_21^0 == 0 /\ -a_144^post65+a_144^0 == 0 /\ x_17^0-x_17^post65 == 0 /\ -nondet_12^post65+nondet_12^0 == 0 /\ i_92^0-i_92^post65 == 0 /\ i_105^0-i_105^post65 == 0 /\ r_121^0-r_121^post65 == 0 /\ -tmp_32^post65+tmp_32^0 == 0 /\ -a_144^0 <= 0 /\ t_24^0-t_24^post65 == 0 /\ a_212^0-a_212^post65 == 0 /\ length_27^0-length_27^post65 == 0 /\ -ct_18^post65+ct_18^0 == 0 /\ -r_160^post65+r_160^0 == 0 /\ -temp0_29^post65+temp0_29^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post65 == 0 /\ -rcd_56^post65+rcd_56^0 == 0 /\ len_180^0-len_180^post65 == 0 /\ result_11^0-result_11^post65 == 0 /\ -len_129^post65+len_129^0 == 0 /\ -rcd_86^post65+rcd_86^0 == 0 /\ temp_33^0-temp_33^post65 == 0 /\ -a_234^post65+a_234^0 == 0 /\ a_257^0-a_257^post65 == 0 /\ x_126^0-x_126^post65 == 0 /\ a_181^0-a_181^post65 == 0 /\ a_113^0-a_113^post65 == 0 /\ i_28^0-i_28^post65 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post65 == 0 /\ -i_164^post65+i_164^0 == 0 /\ -head_30^post65+head_30^0 == 0), cost: 1
New rule:
l41 -> l45 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ len_129^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l45 -> l46 : a_113^0'=a_113^post66, x_17^0'=x_17^post66, i_92^0'=i_92^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post66, a_257^0'=a_257^post66, length_27^0'=length_27^post66, temp_33^0'=temp_33^post66, x_126^0'=x_126^post66, i_105^0'=i_105^post66, rcd_56^0'=rcd_56^post66, a_181^0'=a_181^post66, x_SLAM_f_19^0'=x_SLAM_f_19^post66, t_24^0'=t_24^post66, f_167^0'=f_167^post66, r_121^0'=r_121^post66, x_172^0'=x_172^post66, i_28^0'=i_28^post66, result_11^0'=result_11^post66, a_234^0'=a_234^post66, len_180^0'=len_180^post66, temp0_29^0'=temp0_29^post66, head_30^0'=head_30^post66, r_37^0'=r_37^post66, a_144^0'=a_144^post66, x_21^0'=x_21^post66, len_129^0'=len_129^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, ct_18^0'=ct_18^post66, nondet_12^0'=nondet_12^post66, tmp_32^0'=tmp_32^post66, x_14^0'=x_14^post66, i_164^0'=i_164^post66, rcd_86^0'=rcd_86^post66, a_212^0'=a_212^post66, y_20^0'=y_20^post66, temp0_16^0'=temp0_16^post66, head_15^0'=head_15^post66, r_160^0'=r_160^post66, (-y_20^post66+y_20^0 == 0 /\ -r_37^post66+r_37^0 == 0 /\ -x_14^post66+x_14^0 == 0 /\ i_92^0-i_92^post66 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post66 == 0 /\ temp_33^0-temp_33^post66 == 0 /\ -i_28^post66+i_28^0 == 0 /\ x_126^0-x_126^post66 == 0 /\ x_17^0-x_17^post66 == 0 /\ r_121^0-r_121^post66 == 0 /\ length_27^0-length_27^post66 == 0 /\ i_105^0-i_105^post66 == 0 /\ -r_160^post66+r_160^0 == 0 /\ t_24^0-t_24^post66 == 0 /\ len_180^0-len_180^post66 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_32^post66+tmp_32^0 == 0 /\ -head_15^post66+head_15^0 == 0 /\ result_11^0-result_11^post66 == 0 /\ -i_164^post66+i_164^0 == 0 /\ -rcd_86^post66+rcd_86^0 == 0 /\ f_167^0-f_167^post66 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post66 == 0 /\ -temp0_29^post66+temp0_29^0 == 0 /\ a_181^0-a_181^post66 == 0 /\ -x_172^post66+x_172^0 == 0 /\ -len_129^post66+len_129^0 == 0 /\ a_257^0-a_257^post66 == 0 /\ 1-x_14^0 <= 0 /\ a_113^0-a_113^post66 == 0 /\ -a_212^post66+a_212^0 == 0 /\ -head_30^post66+head_30^0 == 0 /\ ct_18^0-ct_18^post66 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -a_234^post66+a_234^0 == 0 /\ -rcd_56^post66+rcd_56^0 == 0 /\ -x_21^post66+x_21^0 == 0 /\ -temp0_16^post66+temp0_16^0 == 0 /\ a_144^0-a_144^post66 == 0), cost: 1
New rule:
l45 -> l46 : -1+x_14^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l45 -> l46 : a_113^0'=a_113^post67, x_17^0'=x_17^post67, i_92^0'=i_92^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post67, a_257^0'=a_257^post67, length_27^0'=length_27^post67, temp_33^0'=temp_33^post67, x_126^0'=x_126^post67, i_105^0'=i_105^post67, rcd_56^0'=rcd_56^post67, a_181^0'=a_181^post67, x_SLAM_f_19^0'=x_SLAM_f_19^post67, t_24^0'=t_24^post67, f_167^0'=f_167^post67, r_121^0'=r_121^post67, x_172^0'=x_172^post67, i_28^0'=i_28^post67, result_11^0'=result_11^post67, a_234^0'=a_234^post67, len_180^0'=len_180^post67, temp0_29^0'=temp0_29^post67, head_30^0'=head_30^post67, r_37^0'=r_37^post67, a_144^0'=a_144^post67, x_21^0'=x_21^post67, len_129^0'=len_129^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, ct_18^0'=ct_18^post67, nondet_12^0'=nondet_12^post67, tmp_32^0'=tmp_32^post67, x_14^0'=x_14^post67, i_164^0'=i_164^post67, rcd_86^0'=rcd_86^post67, a_212^0'=a_212^post67, y_20^0'=y_20^post67, temp0_16^0'=temp0_16^post67, head_15^0'=head_15^post67, r_160^0'=r_160^post67, (1+x_14^0 <= 0 /\ x_172^0-x_172^post67 == 0 /\ -tmp_32^post67+tmp_32^0 == 0 /\ -result_11^post67+result_11^0 == 0 /\ -x_14^post67+x_14^0 == 0 /\ rcd_56^0-rcd_56^post67 == 0 /\ temp_33^0-temp_33^post67 == 0 /\ x_126^0-x_126^post67 == 0 /\ x_17^0-x_17^post67 == 0 /\ -y_20^post67+y_20^0 == 0 /\ -i_28^post67+i_28^0 == 0 /\ i_92^0-i_92^post67 == 0 /\ -r_160^post67+r_160^0 == 0 /\ r_121^0-r_121^post67 == 0 /\ temp0_29^0-temp0_29^post67 == 0 /\ t_24^0-t_24^post67 == 0 /\ -f_167^post67+f_167^0 == 0 /\ rcd_86^0-rcd_86^post67 == 0 /\ length_27^0-length_27^post67 == 0 /\ -ct_18^post67+ct_18^0 == 0 /\ head_30^0-head_30^post67 == 0 /\ -head_15^post67+head_15^0 == 0 /\ -x_SLAM_f_19^post67+x_SLAM_f_19^0 == 0 /\ a_181^0-a_181^post67 == 0 /\ -len_180^post67+len_180^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ a_113^0-a_113^post67 == 0 /\ a_144^0-a_144^post67 == 0 /\ a_257^0-a_257^post67 == 0 /\ x_21^0-x_21^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post67 == 0 /\ -a_234^post67+a_234^0 == 0 /\ -i_105^post67+i_105^0 == 0 /\ -r_37^post67+r_37^0 == 0 /\ -a_212^post67+a_212^0 == 0 /\ -i_164^post67+i_164^0 == 0 /\ -temp0_16^post67+temp0_16^0 == 0 /\ len_129^0-len_129^post67 == 0 /\ nondet_12^0-nondet_12^post67 == 0), cost: 1
New rule:
l45 -> l46 : 1+x_14^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l46 -> l47 : a_113^0'=a_113^post68, x_17^0'=x_17^post68, i_92^0'=i_92^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post68, a_257^0'=a_257^post68, length_27^0'=length_27^post68, temp_33^0'=temp_33^post68, x_126^0'=x_126^post68, i_105^0'=i_105^post68, rcd_56^0'=rcd_56^post68, a_181^0'=a_181^post68, x_SLAM_f_19^0'=x_SLAM_f_19^post68, t_24^0'=t_24^post68, f_167^0'=f_167^post68, r_121^0'=r_121^post68, x_172^0'=x_172^post68, i_28^0'=i_28^post68, result_11^0'=result_11^post68, a_234^0'=a_234^post68, len_180^0'=len_180^post68, temp0_29^0'=temp0_29^post68, head_30^0'=head_30^post68, r_37^0'=r_37^post68, a_144^0'=a_144^post68, x_21^0'=x_21^post68, len_129^0'=len_129^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, ct_18^0'=ct_18^post68, nondet_12^0'=nondet_12^post68, tmp_32^0'=tmp_32^post68, x_14^0'=x_14^post68, i_164^0'=i_164^post68, rcd_86^0'=rcd_86^post68, a_212^0'=a_212^post68, y_20^0'=y_20^post68, temp0_16^0'=temp0_16^post68, head_15^0'=head_15^post68, r_160^0'=r_160^post68, (0 == 0 /\ f_167^0-f_167^post68 == 0 /\ -y_20^post68+y_20^0 == 0 /\ x_21^0-x_21^post68 == 0 /\ -t_24^post68+t_24^0 == 0 /\ -result_11^post68+result_11^0 == 0 /\ -temp0_16^post68+temp0_16^0 == 0 /\ x_126^0-x_126^post68 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post68 == 0 /\ i_92^0-i_92^post68 == 0 /\ f_167^0-x_14^0 <= 0 /\ -x_14^post68+x_14^0 == 0 /\ rcd_56^0-rcd_56^post68 == 0 /\ -a_144^post68+a_144^0 == 0 /\ x_17^0-x_17^post68 == 0 /\ length_27^0-length_27^post68 == 0 /\ -i_28^post68+i_28^0 == 0 /\ -ct_18^post68+ct_18^0 == 0 /\ rcd_86^0-rcd_86^post68 == 0 /\ tmp_32^0-tmp_32^post68 == 0 /\ 1-a_144^0+a_181^post68 <= 0 /\ a_234^0-a_234^post68 == 0 /\ -1+len_180^post68-len_129^0 <= 0 /\ -f_167^0+x_14^0 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post68+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_121^post68+r_121^0 == 0 /\ head_30^0-head_30^post68 == 0 /\ -i_164^post68+i_164^0 == 0 /\ x_172^0-x_172^post68 == 0 /\ -temp_33^post68+temp_33^0 == 0 /\ -x_SLAM_f_19^post68+x_SLAM_f_19^0 == 0 /\ -r_160^post68+r_160^0 == 0 /\ a_257^0-a_257^post68 == 0 /\ -a_212^post68+a_212^0 == 0 /\ i_105^0-i_105^post68 == 0 /\ temp0_29^0-temp0_29^post68 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ -1+a_144^0-a_181^post68 <= 0 /\ 1-len_180^post68+len_129^0 <= 0 /\ -r_37^post68+r_37^0 == 0 /\ len_129^0-len_129^post68 == 0 /\ -head_15^post68+head_15^0 == 0 /\ a_113^0-a_113^post68 == 0), cost: 1
New rule:
l46 -> l47 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, f_167^0-x_14^0 == 0, cost: 1

Applied preprocessing
Original rule:
l47 -> l48 : a_113^0'=a_113^post69, x_17^0'=x_17^post69, i_92^0'=i_92^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post69, a_257^0'=a_257^post69, length_27^0'=length_27^post69, temp_33^0'=temp_33^post69, x_126^0'=x_126^post69, i_105^0'=i_105^post69, rcd_56^0'=rcd_56^post69, a_181^0'=a_181^post69, x_SLAM_f_19^0'=x_SLAM_f_19^post69, t_24^0'=t_24^post69, f_167^0'=f_167^post69, r_121^0'=r_121^post69, x_172^0'=x_172^post69, i_28^0'=i_28^post69, result_11^0'=result_11^post69, a_234^0'=a_234^post69, len_180^0'=len_180^post69, temp0_29^0'=temp0_29^post69, head_30^0'=head_30^post69, r_37^0'=r_37^post69, a_144^0'=a_144^post69, x_21^0'=x_21^post69, len_129^0'=len_129^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, ct_18^0'=ct_18^post69, nondet_12^0'=nondet_12^post69, tmp_32^0'=tmp_32^post69, x_14^0'=x_14^post69, i_164^0'=i_164^post69, rcd_86^0'=rcd_86^post69, a_212^0'=a_212^post69, y_20^0'=y_20^post69, temp0_16^0'=temp0_16^post69, head_15^0'=head_15^post69, r_160^0'=r_160^post69, (-y_20^post69+y_20^0 == 0 /\ -temp0_16^post69+temp0_16^0 == 0 /\ -x_21^post69+x_21^0 == 0 /\ f_167^0-f_167^post69 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post69 == 0 /\ i_105^0-i_105^post69 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post69 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ temp_33^0-temp_33^post69 == 0 /\ a_181^0-a_181^post69 == 0 /\ x_17^0-x_17^post69 == 0 /\ a_144^0-a_144^post69 == 0 /\ -r_160^post69+r_160^0 == 0 /\ a_234^0-a_234^post69 == 0 /\ i_28^0-i_28^post69 == 0 /\ t_24^0-t_24^post69 == 0 /\ -r_121^post69+r_121^0 == 0 /\ -result_11^post69+result_11^0 == 0 /\ -tmp_32^post69+tmp_32^0 == 0 /\ x_14^0-x_14^post69 == 0 /\ -ct_18^post69+ct_18^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post69+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_126^0-x_126^post69 == 0 /\ -len_129^post69+len_129^0 == 0 /\ -rcd_86^post69+rcd_86^0 == 0 /\ i_92^0-i_92^post69 == 0 /\ x_172^0-x_172^post69 == 0 /\ 1-head_15^0 <= 0 /\ a_257^0-a_257^post69 == 0 /\ rcd_56^0-rcd_56^post69 == 0 /\ -temp0_29^post69+temp0_29^0 == 0 /\ head_15^0-head_15^post69 == 0 /\ -a_212^post69+a_212^0 == 0 /\ a_113^0-a_113^post69 == 0 /\ length_27^0-length_27^post69 == 0 /\ len_180^0-len_180^post69 == 0 /\ -head_30^post69+head_30^0 == 0 /\ -i_164^post69+i_164^0 == 0 /\ r_37^0-r_37^post69 == 0), cost: 1
New rule:
l47 -> l48 : -1+head_15^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l47 -> l48 : a_113^0'=a_113^post70, x_17^0'=x_17^post70, i_92^0'=i_92^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70, a_257^0'=a_257^post70, length_27^0'=length_27^post70, temp_33^0'=temp_33^post70, x_126^0'=x_126^post70, i_105^0'=i_105^post70, rcd_56^0'=rcd_56^post70, a_181^0'=a_181^post70, x_SLAM_f_19^0'=x_SLAM_f_19^post70, t_24^0'=t_24^post70, f_167^0'=f_167^post70, r_121^0'=r_121^post70, x_172^0'=x_172^post70, i_28^0'=i_28^post70, result_11^0'=result_11^post70, a_234^0'=a_234^post70, len_180^0'=len_180^post70, temp0_29^0'=temp0_29^post70, head_30^0'=head_30^post70, r_37^0'=r_37^post70, a_144^0'=a_144^post70, x_21^0'=x_21^post70, len_129^0'=len_129^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, ct_18^0'=ct_18^post70, nondet_12^0'=nondet_12^post70, tmp_32^0'=tmp_32^post70, x_14^0'=x_14^post70, i_164^0'=i_164^post70, rcd_86^0'=rcd_86^post70, a_212^0'=a_212^post70, y_20^0'=y_20^post70, temp0_16^0'=temp0_16^post70, head_15^0'=head_15^post70, r_160^0'=r_160^post70, (-tmp_32^post70+tmp_32^0 == 0 /\ i_164^0-i_164^post70 == 0 /\ result_11^0-result_11^post70 == 0 /\ -nondet_12^post70+nondet_12^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post70 == 0 /\ -x_14^post70+x_14^0 == 0 /\ -temp0_16^post70+temp0_16^0 == 0 /\ a_257^0-a_257^post70 == 0 /\ -x_21^post70+x_21^0 == 0 /\ temp_33^0-temp_33^post70 == 0 /\ i_28^0-i_28^post70 == 0 /\ -ct_18^post70+ct_18^0 == 0 /\ -f_167^post70+f_167^0 == 0 /\ a_144^0-a_144^post70 == 0 /\ y_20^0-y_20^post70 == 0 /\ 1+head_15^0 <= 0 /\ a_113^0-a_113^post70 == 0 /\ -rcd_86^post70+rcd_86^0 == 0 /\ -a_181^post70+a_181^0 == 0 /\ x_172^0-x_172^post70 == 0 /\ r_37^0-r_37^post70 == 0 /\ -a_212^post70+a_212^0 == 0 /\ i_92^0-i_92^post70 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post70 == 0 /\ -len_180^post70+len_180^0 == 0 /\ -temp0_29^post70+temp0_29^0 == 0 /\ rcd_56^0-rcd_56^post70 == 0 /\ -r_160^post70+r_160^0 == 0 /\ x_126^0-x_126^post70 == 0 /\ x_17^0-x_17^post70 == 0 /\ r_121^0-r_121^post70 == 0 /\ length_27^0-length_27^post70 == 0 /\ -head_30^post70+head_30^0 == 0 /\ -len_129^post70+len_129^0 == 0 /\ i_105^0-i_105^post70 == 0 /\ t_24^0-t_24^post70 == 0 /\ -a_234^post70+a_234^0 == 0 /\ -head_15^post70+head_15^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post70 == 0), cost: 1
New rule:
l47 -> l48 : 1+head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l48 -> l49 : a_113^0'=a_113^post71, x_17^0'=x_17^post71, i_92^0'=i_92^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post71, a_257^0'=a_257^post71, length_27^0'=length_27^post71, temp_33^0'=temp_33^post71, x_126^0'=x_126^post71, i_105^0'=i_105^post71, rcd_56^0'=rcd_56^post71, a_181^0'=a_181^post71, x_SLAM_f_19^0'=x_SLAM_f_19^post71, t_24^0'=t_24^post71, f_167^0'=f_167^post71, r_121^0'=r_121^post71, x_172^0'=x_172^post71, i_28^0'=i_28^post71, result_11^0'=result_11^post71, a_234^0'=a_234^post71, len_180^0'=len_180^post71, temp0_29^0'=temp0_29^post71, head_30^0'=head_30^post71, r_37^0'=r_37^post71, a_144^0'=a_144^post71, x_21^0'=x_21^post71, len_129^0'=len_129^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, ct_18^0'=ct_18^post71, nondet_12^0'=nondet_12^post71, tmp_32^0'=tmp_32^post71, x_14^0'=x_14^post71, i_164^0'=i_164^post71, rcd_86^0'=rcd_86^post71, a_212^0'=a_212^post71, y_20^0'=y_20^post71, temp0_16^0'=temp0_16^post71, head_15^0'=head_15^post71, r_160^0'=r_160^post71, (x_21^0-x_21^post71 == 0 /\ i_164^0-i_164^post71 == 0 /\ -temp0_16^post71+temp0_16^0 == 0 /\ i_105^0-i_105^post71 == 0 /\ result_11^0-result_11^post71 == 0 /\ -f_167^post71+f_167^0 == 0 /\ a_257^0-a_257^post71 == 0 /\ temp0_29^0-temp0_29^post71 == 0 /\ -x_14^post71+x_14^0 == 0 /\ -a_144^post71+a_144^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post71 == 0 /\ -ct_18^post71+ct_18^0 == 0 /\ -i_28^post71+i_28^0 == 0 /\ a_113^0-a_113^post71 == 0 /\ tmp_32^0-tmp_32^post71 == 0 /\ rcd_86^0-rcd_86^post71 == 0 /\ head_30^0-head_30^post71 == 0 /\ -len_180^post71+len_180^0 == 0 /\ 1-x_172^0 <= 0 /\ i_92^0-i_92^post71 == 0 /\ x_172^0-x_172^post71 == 0 /\ x_126^0-x_126^post71 == 0 /\ -a_212^post71+a_212^0 == 0 /\ r_121^0-r_121^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post71 == 0 /\ rcd_56^0-rcd_56^post71 == 0 /\ -r_160^post71+r_160^0 == 0 /\ -a_234^post71+a_234^0 == 0 /\ temp_33^0-temp_33^post71 == 0 /\ t_24^0-t_24^post71 == 0 /\ x_17^0-x_17^post71 == 0 /\ -len_129^post71+len_129^0 == 0 /\ length_27^0-length_27^post71 == 0 /\ -head_15^post71+head_15^0 == 0 /\ -a_181^post71+a_181^0 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ -r_37^post71+r_37^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post71 == 0 /\ -y_20^post71+y_20^0 == 0), cost: 1
New rule:
l48 -> l49 : -1+x_172^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l48 -> l49 : a_113^0'=a_113^post72, x_17^0'=x_17^post72, i_92^0'=i_92^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post72, a_257^0'=a_257^post72, length_27^0'=length_27^post72, temp_33^0'=temp_33^post72, x_126^0'=x_126^post72, i_105^0'=i_105^post72, rcd_56^0'=rcd_56^post72, a_181^0'=a_181^post72, x_SLAM_f_19^0'=x_SLAM_f_19^post72, t_24^0'=t_24^post72, f_167^0'=f_167^post72, r_121^0'=r_121^post72, x_172^0'=x_172^post72, i_28^0'=i_28^post72, result_11^0'=result_11^post72, a_234^0'=a_234^post72, len_180^0'=len_180^post72, temp0_29^0'=temp0_29^post72, head_30^0'=head_30^post72, r_37^0'=r_37^post72, a_144^0'=a_144^post72, x_21^0'=x_21^post72, len_129^0'=len_129^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, ct_18^0'=ct_18^post72, nondet_12^0'=nondet_12^post72, tmp_32^0'=tmp_32^post72, x_14^0'=x_14^post72, i_164^0'=i_164^post72, rcd_86^0'=rcd_86^post72, a_212^0'=a_212^post72, y_20^0'=y_20^post72, temp0_16^0'=temp0_16^post72, head_15^0'=head_15^post72, r_160^0'=r_160^post72, (x_21^0-x_21^post72 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ -y_20^post72+y_20^0 == 0 /\ -t_24^post72+t_24^0 == 0 /\ -a_144^post72+a_144^0 == 0 /\ f_167^0-f_167^post72 == 0 /\ a_257^0-a_257^post72 == 0 /\ -temp0_16^post72+temp0_16^0 == 0 /\ i_105^0-i_105^post72 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post72 == 0 /\ -x_14^post72+x_14^0 == 0 /\ a_181^0-a_181^post72 == 0 /\ -tmp_32^post72+tmp_32^0 == 0 /\ 1+x_172^0 <= 0 /\ -ct_18^post72+ct_18^0 == 0 /\ a_234^0-a_234^post72 == 0 /\ a_212^0-a_212^post72 == 0 /\ -r_121^post72+r_121^0 == 0 /\ a_113^0-a_113^post72 == 0 /\ -result_11^post72+result_11^0 == 0 /\ -i_28^post72+i_28^0 == 0 /\ -rcd_86^post72+rcd_86^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post72+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -len_180^post72+len_180^0 == 0 /\ -i_164^post72+i_164^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post72 == 0 /\ x_126^0-x_126^post72 == 0 /\ x_172^0-x_172^post72 == 0 /\ -r_160^post72+r_160^0 == 0 /\ i_92^0-i_92^post72 == 0 /\ rcd_56^0-rcd_56^post72 == 0 /\ -temp0_29^post72+temp0_29^0 == 0 /\ -len_129^post72+len_129^0 == 0 /\ -head_30^post72+head_30^0 == 0 /\ x_17^0-x_17^post72 == 0 /\ temp_33^0-temp_33^post72 == 0 /\ -r_37^post72+r_37^0 == 0 /\ length_27^0-length_27^post72 == 0 /\ -head_15^post72+head_15^0 == 0), cost: 1
New rule:
l48 -> l49 : 1+x_172^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l49 -> l44 : a_113^0'=a_113^post73, x_17^0'=x_17^post73, i_92^0'=i_92^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post73, a_257^0'=a_257^post73, length_27^0'=length_27^post73, temp_33^0'=temp_33^post73, x_126^0'=x_126^post73, i_105^0'=i_105^post73, rcd_56^0'=rcd_56^post73, a_181^0'=a_181^post73, x_SLAM_f_19^0'=x_SLAM_f_19^post73, t_24^0'=t_24^post73, f_167^0'=f_167^post73, r_121^0'=r_121^post73, x_172^0'=x_172^post73, i_28^0'=i_28^post73, result_11^0'=result_11^post73, a_234^0'=a_234^post73, len_180^0'=len_180^post73, temp0_29^0'=temp0_29^post73, head_30^0'=head_30^post73, r_37^0'=r_37^post73, a_144^0'=a_144^post73, x_21^0'=x_21^post73, len_129^0'=len_129^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, ct_18^0'=ct_18^post73, nondet_12^0'=nondet_12^post73, tmp_32^0'=tmp_32^post73, x_14^0'=x_14^post73, i_164^0'=i_164^post73, rcd_86^0'=rcd_86^post73, a_212^0'=a_212^post73, y_20^0'=y_20^post73, temp0_16^0'=temp0_16^post73, head_15^0'=head_15^post73, r_160^0'=r_160^post73, (0 == 0 /\ x_14^0-x_14^post73 == 0 /\ a_181^0-a_181^post73 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_257^0-a_257^post73 == 0 /\ r_37^0-r_37^post73 == 0 /\ a_144^post73-a_181^0 <= 0 /\ len_180^0-len_129^post73 <= 0 /\ -tmp_32^post73+tmp_32^0 == 0 /\ f_167^0-f_167^post73 == 0 /\ r_121^0-r_121^post73 == 0 /\ i_28^0-i_28^post73 == 0 /\ t_24^0-t_24^post73 == 0 /\ -temp0_16^post73+temp0_16^0 == 0 /\ rcd_56^0-rcd_56^post73 == 0 /\ a_212^0-a_212^post73 == 0 /\ -x_21^post73+x_21^0 == 0 /\ -a_144^post73+a_181^0 <= 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post73 == 0 /\ -temp0_29^post73+temp0_29^0 == 0 /\ -len_180^0+len_129^post73 <= 0 /\ len_180^0-len_180^post73 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -nondet_12^post73+nondet_12^0 == 0 /\ -rcd_86^post73+rcd_86^0 == 0 /\ a_113^0-a_113^post73 == 0 /\ -r_160^post73+r_160^0 == 0 /\ x_126^0-x_126^post73 == 0 /\ i_92^0-i_92^post73 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post73+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ length_27^0-length_27^post73 == 0 /\ -head_30^post73+head_30^0 == 0 /\ i_105^0-i_105^post73 == 0 /\ -i_164^post73+i_164^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post73 == 0 /\ -ct_18^post73+ct_18^0 == 0 /\ result_11^0-result_11^post73 == 0 /\ -y_20^post73+y_20^0 == 0 /\ -x_172^post73+x_172^0 == 0 /\ temp_33^0-temp_33^post73 == 0 /\ x_17^0-x_17^post73 == 0 /\ -head_15^post73+head_15^0 == 0 /\ -a_234^post73+a_234^0 == 0), cost: 1
New rule:
l49 -> l44 : a_144^0'=a_181^0, len_129^0'=len_180^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l44 -> l41 : a_113^0'=a_113^post74, x_17^0'=x_17^post74, i_92^0'=i_92^post74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post74, a_257^0'=a_257^post74, length_27^0'=length_27^post74, temp_33^0'=temp_33^post74, x_126^0'=x_126^post74, i_105^0'=i_105^post74, rcd_56^0'=rcd_56^post74, a_181^0'=a_181^post74, x_SLAM_f_19^0'=x_SLAM_f_19^post74, t_24^0'=t_24^post74, f_167^0'=f_167^post74, r_121^0'=r_121^post74, x_172^0'=x_172^post74, i_28^0'=i_28^post74, result_11^0'=result_11^post74, a_234^0'=a_234^post74, len_180^0'=len_180^post74, temp0_29^0'=temp0_29^post74, head_30^0'=head_30^post74, r_37^0'=r_37^post74, a_144^0'=a_144^post74, x_21^0'=x_21^post74, len_129^0'=len_129^post74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post74, ct_18^0'=ct_18^post74, nondet_12^0'=nondet_12^post74, tmp_32^0'=tmp_32^post74, x_14^0'=x_14^post74, i_164^0'=i_164^post74, rcd_86^0'=rcd_86^post74, a_212^0'=a_212^post74, y_20^0'=y_20^post74, temp0_16^0'=temp0_16^post74, head_15^0'=head_15^post74, r_160^0'=r_160^post74, (i_92^0-i_92^post74 == 0 /\ i_164^0-i_164^post74 == 0 /\ -nondet_12^post74+nondet_12^0 == 0 /\ -x_14^post74+x_14^0 == 0 /\ a_257^0-a_257^post74 == 0 /\ r_121^0-r_121^post74 == 0 /\ -temp0_16^post74+temp0_16^0 == 0 /\ head_30^0-head_30^post74 == 0 /\ -tmp_32^post74+tmp_32^0 == 0 /\ len_180^0-len_180^post74 == 0 /\ -temp0_29^post74+temp0_29^0 == 0 /\ -i_28^post74+i_28^0 == 0 /\ -rcd_86^post74+rcd_86^0 == 0 /\ a_113^0-a_113^post74 == 0 /\ a_181^0-a_181^post74 == 0 /\ x_21^0-x_21^post74 == 0 /\ x_126^0-x_126^post74 == 0 /\ result_11^0-result_11^post74 == 0 /\ -a_212^post74+a_212^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post74+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_105^0-i_105^post74 == 0 /\ f_167^0-f_167^post74 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post74 == 0 /\ temp_33^0-temp_33^post74 == 0 /\ t_24^0-t_24^post74 == 0 /\ rcd_56^0-rcd_56^post74 == 0 /\ -len_129^post74+len_129^0 == 0 /\ x_17^0-x_17^post74 == 0 /\ a_144^0-a_144^post74 == 0 /\ -r_37^post74+r_37^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post74 == 0 /\ -a_234^post74+a_234^0 == 0 /\ length_27^0-length_27^post74 == 0 /\ -y_20^post74+y_20^0 == 0 /\ -head_15^post74+head_15^0 == 0 /\ ct_18^0-ct_18^post74 == 0 /\ -x_172^post74+x_172^0 == 0 /\ r_160^0-r_160^post74 == 0), cost: 1
New rule:
l44 -> l41 : TRUE, cost: 1

Applied preprocessing
Original rule:
l40 -> l62 : a_113^0'=a_113^post94, x_17^0'=x_17^post94, i_92^0'=i_92^post94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, a_257^0'=a_257^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, x_126^0'=x_126^post94, i_105^0'=i_105^post94, rcd_56^0'=rcd_56^post94, a_181^0'=a_181^post94, x_SLAM_f_19^0'=x_SLAM_f_19^post94, t_24^0'=t_24^post94, f_167^0'=f_167^post94, r_121^0'=r_121^post94, x_172^0'=x_172^post94, i_28^0'=i_28^post94, result_11^0'=result_11^post94, a_234^0'=a_234^post94, len_180^0'=len_180^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post94, a_144^0'=a_144^post94, x_21^0'=x_21^post94, len_129^0'=len_129^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, ct_18^0'=ct_18^post94, nondet_12^0'=nondet_12^post94, tmp_32^0'=tmp_32^post94, x_14^0'=x_14^post94, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post94, a_212^0'=a_212^post94, y_20^0'=y_20^post94, temp0_16^0'=temp0_16^post94, head_15^0'=head_15^post94, r_160^0'=r_160^post94, (0 == 0 /\ -y_20^post94+y_20^0 == 0 /\ -len_129^0 <= 0 /\ i_92^0-i_92^post94 == 0 /\ i_105^0-i_105^post94 == 0 /\ rcd_56^0-rcd_56^post94 == 0 /\ x_14^post94-head_15^post94 <= 0 /\ x_14^post94-head_15^post94 == 0 /\ -f_167^post94+f_167^0 == 0 /\ x_126^0-x_126^post94 == 0 /\ x_17^0-x_17^post94 == 0 /\ length_27^0-i_28^0 <= 0 /\ -temp0_16^post94+temp0_16^0 == 0 /\ t_24^0-t_24^post94 == 0 /\ -r_160^post94+r_160^0 == 0 /\ -x_21^post94+x_21^0 == 0 /\ -temp0_29^110+result_11^11 == 0 /\ rcd_86^0-rcd_86^post94 == 0 /\ -x_14^post94+head_15^post94 <= 0 /\ -head_30^0+temp0_29^110 == 0 /\ -nondet_12^post94+nondet_12^0 == 0 /\ -r_37^post94+r_37^0 == 0 /\ -i_28^0 <= 0 /\ -len_180^post94+len_180^0 == 0 /\ x_172^0-x_172^post94 == 0 /\ len_129^0 <= 0 /\ -ct_18^post94+ct_18^0 == 0 /\ a_181^0-a_181^post94 == 0 /\ -a_144^0+i_28^post94 <= 0 /\ -x_SLAM_f_19^post94+x_SLAM_f_19^0 == 0 /\ a_257^0-a_257^post94 == 0 /\ r_121^0-r_121^post94 == 0 /\ a_113^0-a_113^post94 == 0 /\ -a_212^post94+a_212^0 == 0 /\ head_15^post94-result_11^11 == 0 /\ -a_144^post94+a_144^0 == 0 /\ len_129^0-len_129^post94 == 0 /\ a_144^0-i_28^post94 <= 0 /\ -a_234^post94+a_234^0 == 0), cost: 1
New rule:
l40 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, tmp_32^0'=tmp_32^post94, x_14^0'=head_30^0, i_164^0'=i_164^post94, head_15^0'=head_30^0, (length_27^0-i_28^0 <= 0 /\ -i_28^0 <= 0 /\ len_129^0 == 0), cost: 1

Applied preprocessing
Original rule:
l62 -> l63 : a_113^0'=a_113^post95, x_17^0'=x_17^post95, i_92^0'=i_92^post95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post95, a_257^0'=a_257^post95, length_27^0'=length_27^post95, temp_33^0'=temp_33^post95, x_126^0'=x_126^post95, i_105^0'=i_105^post95, rcd_56^0'=rcd_56^post95, a_181^0'=a_181^post95, x_SLAM_f_19^0'=x_SLAM_f_19^post95, t_24^0'=t_24^post95, f_167^0'=f_167^post95, r_121^0'=r_121^post95, x_172^0'=x_172^post95, i_28^0'=i_28^post95, result_11^0'=result_11^post95, a_234^0'=a_234^post95, len_180^0'=len_180^post95, temp0_29^0'=temp0_29^post95, head_30^0'=head_30^post95, r_37^0'=r_37^post95, a_144^0'=a_144^post95, x_21^0'=x_21^post95, len_129^0'=len_129^post95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post95, ct_18^0'=ct_18^post95, nondet_12^0'=nondet_12^post95, tmp_32^0'=tmp_32^post95, x_14^0'=x_14^post95, i_164^0'=i_164^post95, rcd_86^0'=rcd_86^post95, a_212^0'=a_212^post95, y_20^0'=y_20^post95, temp0_16^0'=temp0_16^post95, head_15^0'=head_15^post95, r_160^0'=r_160^post95, (x_21^0-x_21^post95 == 0 /\ -a_144^post95+a_144^0 == 0 /\ f_167^0-f_167^post95 == 0 /\ rcd_86^0-rcd_86^post95 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post95 == 0 /\ i_105^0-i_105^post95 == 0 /\ -t_24^post95+t_24^0 == 0 /\ a_181^0-a_181^post95 == 0 /\ -temp0_16^post95+temp0_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post95 == 0 /\ -ct_18^post95+ct_18^0 == 0 /\ a_234^0-a_234^post95 == 0 /\ x_17^0-x_17^post95 == 0 /\ length_27^0-length_27^post95 == 0 /\ tmp_32^0-tmp_32^post95 == 0 /\ -result_11^post95+result_11^0 == 0 /\ -i_28^post95+i_28^0 == 0 /\ -temp_33^post95+temp_33^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post95+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_172^0-x_172^post95 == 0 /\ -r_121^post95+r_121^0 == 0 /\ i_92^0-i_92^post95 == 0 /\ -i_164^post95+i_164^0 == 0 /\ x_126^0-x_126^post95 == 0 /\ -a_212^post95+a_212^0 == 0 /\ a_257^0-a_257^post95 == 0 /\ 1-head_15^0 <= 0 /\ -temp0_29^post95+temp0_29^0 == 0 /\ rcd_56^0-rcd_56^post95 == 0 /\ -head_30^post95+head_30^0 == 0 /\ -r_160^post95+r_160^0 == 0 /\ -r_37^post95+r_37^0 == 0 /\ len_129^0-len_129^post95 == 0 /\ -x_14^post95+x_14^0 == 0 /\ nondet_12^0-nondet_12^post95 == 0 /\ a_113^0-a_113^post95 == 0 /\ len_180^0-len_180^post95 == 0 /\ -head_15^post95+head_15^0 == 0 /\ -y_20^post95+y_20^0 == 0), cost: 1
New rule:
l62 -> l63 : -1+head_15^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l62 -> l63 : a_113^0'=a_113^post96, x_17^0'=x_17^post96, i_92^0'=i_92^post96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post96, a_257^0'=a_257^post96, length_27^0'=length_27^post96, temp_33^0'=temp_33^post96, x_126^0'=x_126^post96, i_105^0'=i_105^post96, rcd_56^0'=rcd_56^post96, a_181^0'=a_181^post96, x_SLAM_f_19^0'=x_SLAM_f_19^post96, t_24^0'=t_24^post96, f_167^0'=f_167^post96, r_121^0'=r_121^post96, x_172^0'=x_172^post96, i_28^0'=i_28^post96, result_11^0'=result_11^post96, a_234^0'=a_234^post96, len_180^0'=len_180^post96, temp0_29^0'=temp0_29^post96, head_30^0'=head_30^post96, r_37^0'=r_37^post96, a_144^0'=a_144^post96, x_21^0'=x_21^post96, len_129^0'=len_129^post96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post96, ct_18^0'=ct_18^post96, nondet_12^0'=nondet_12^post96, tmp_32^0'=tmp_32^post96, x_14^0'=x_14^post96, i_164^0'=i_164^post96, rcd_86^0'=rcd_86^post96, a_212^0'=a_212^post96, y_20^0'=y_20^post96, temp0_16^0'=temp0_16^post96, head_15^0'=head_15^post96, r_160^0'=r_160^post96, (a_181^0-a_181^post96 == 0 /\ -tmp_32^post96+tmp_32^0 == 0 /\ -x_21^post96+x_21^0 == 0 /\ -nondet_12^post96+nondet_12^0 == 0 /\ -y_20^post96+y_20^0 == 0 /\ -temp0_16^post96+temp0_16^0 == 0 /\ f_167^0-f_167^post96 == 0 /\ a_257^0-a_257^post96 == 0 /\ -x_14^post96+x_14^0 == 0 /\ i_105^0-i_105^post96 == 0 /\ -t_24^post96+t_24^0 == 0 /\ a_234^0-a_234^post96 == 0 /\ rcd_56^0-rcd_56^post96 == 0 /\ a_144^0-a_144^post96 == 0 /\ temp_33^0-temp_33^post96 == 0 /\ i_28^0-i_28^post96 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post96 == 0 /\ -result_11^post96+result_11^0 == 0 /\ -temp0_29^post96+temp0_29^0 == 0 /\ -ct_18^post96+ct_18^0 == 0 /\ 1+head_15^0 <= 0 /\ -r_121^post96+r_121^0 == 0 /\ -rcd_86^post96+rcd_86^0 == 0 /\ r_37^0-r_37^post96 == 0 /\ x_126^0-x_126^post96 == 0 /\ i_92^0-i_92^post96 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post96+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_172^0-x_172^post96 == 0 /\ -r_160^post96+r_160^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post96 == 0 /\ -i_164^post96+i_164^0 == 0 /\ -len_129^post96+len_129^0 == 0 /\ -head_30^post96+head_30^0 == 0 /\ x_17^0-x_17^post96 == 0 /\ length_27^0-length_27^post96 == 0 /\ -a_212^post96+a_212^0 == 0 /\ -head_15^post96+head_15^0 == 0 /\ a_113^0-a_113^post96 == 0 /\ len_180^0-len_180^post96 == 0), cost: 1
New rule:
l62 -> l63 : 1+head_15^0 <= 0, cost: 1

Applied preprocessing
Original rule:
l63 -> l41 : a_113^0'=a_113^post97, x_17^0'=x_17^post97, i_92^0'=i_92^post97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post97, a_257^0'=a_257^post97, length_27^0'=length_27^post97, temp_33^0'=temp_33^post97, x_126^0'=x_126^post97, i_105^0'=i_105^post97, rcd_56^0'=rcd_56^post97, a_181^0'=a_181^post97, x_SLAM_f_19^0'=x_SLAM_f_19^post97, t_24^0'=t_24^post97, f_167^0'=f_167^post97, r_121^0'=r_121^post97, x_172^0'=x_172^post97, i_28^0'=i_28^post97, result_11^0'=result_11^post97, a_234^0'=a_234^post97, len_180^0'=len_180^post97, temp0_29^0'=temp0_29^post97, head_30^0'=head_30^post97, r_37^0'=r_37^post97, a_144^0'=a_144^post97, x_21^0'=x_21^post97, len_129^0'=len_129^post97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post97, ct_18^0'=ct_18^post97, nondet_12^0'=nondet_12^post97, tmp_32^0'=tmp_32^post97, x_14^0'=x_14^post97, i_164^0'=i_164^post97, rcd_86^0'=rcd_86^post97, a_212^0'=a_212^post97, y_20^0'=y_20^post97, temp0_16^0'=temp0_16^post97, head_15^0'=head_15^post97, r_160^0'=r_160^post97, (i_164^0-i_164^post97 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_257^0-a_257^post97 == 0 /\ -x_21^post97+x_21^0 == 0 /\ i_105^0-i_105^post97 == 0 /\ -tmp_32^post97+tmp_32^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post97 == 0 /\ temp0_29^0-temp0_29^post97 == 0 /\ result_11^0-result_11^post97 == 0 /\ -f_167^post97+f_167^0 == 0 /\ -temp0_16^post97+temp0_16^0 == 0 /\ a_144^0-a_144^post97 == 0 /\ -i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -nondet_12^post97+nondet_12^0 == 0 /\ -rcd_86^post97+rcd_86^0 == 0 /\ a_113^0-a_113^post97 == 0 /\ -a_181^post97+a_181^0 == 0 /\ x_126^0-x_126^post97 == 0 /\ -head_30^post97+head_30^0 == 0 /\ i_92^0-i_92^post97 == 0 /\ x_172^0-x_172^post97 == 0 /\ -len_180^post97+len_180^0 == 0 /\ -ct_18^post97+ct_18^0 == 0 /\ -a_212^post97+a_212^0 == 0 /\ rcd_56^0-rcd_56^post97 == 0 /\ r_121^0-r_121^post97 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post97 == 0 /\ i_28^0-i_28^post97 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -r_37^post97+r_37^0 == 0 /\ -len_129^post97+len_129^0 == 0 /\ temp_33^0-temp_33^post97 == 0 /\ t_24^0-t_24^post97 == 0 /\ x_17^0-x_17^post97 == 0 /\ -x_14^post97+x_14^0 == 0 /\ length_27^0-length_27^post97 == 0 /\ -y_20^post97+y_20^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post97 == 0 /\ r_160^0-r_160^post97 == 0 /\ -a_234^post97+a_234^0 == 0 /\ -head_15^post97+head_15^0 == 0), cost: 1
New rule:
l63 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l40 -> l64 : a_113^0'=a_113^post98, x_17^0'=x_17^post98, i_92^0'=i_92^post98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post98, a_257^0'=a_257^post98, length_27^0'=length_27^post98, temp_33^0'=temp_33^post98, x_126^0'=x_126^post98, i_105^0'=i_105^post98, rcd_56^0'=rcd_56^post98, a_181^0'=a_181^post98, x_SLAM_f_19^0'=x_SLAM_f_19^post98, t_24^0'=t_24^post98, f_167^0'=f_167^post98, r_121^0'=r_121^post98, x_172^0'=x_172^post98, i_28^0'=i_28^post98, result_11^0'=result_11^post98, a_234^0'=a_234^post98, len_180^0'=len_180^post98, temp0_29^0'=temp0_29^post98, head_30^0'=head_30^post98, r_37^0'=r_37^post98, a_144^0'=a_144^post98, x_21^0'=x_21^post98, len_129^0'=len_129^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post98, ct_18^0'=ct_18^post98, nondet_12^0'=nondet_12^post98, tmp_32^0'=tmp_32^post98, x_14^0'=x_14^post98, i_164^0'=i_164^post98, rcd_86^0'=rcd_86^post98, a_212^0'=a_212^post98, y_20^0'=y_20^post98, temp0_16^0'=temp0_16^post98, head_15^0'=head_15^post98, r_160^0'=r_160^post98, (0 == 0 /\ -a_144^post98+a_144^0 == 0 /\ x_21^0-x_21^post98 == 0 /\ a_257^0-a_257^post98 == 0 /\ 1-length_27^0+i_28^0 <= 0 /\ -f_167^post98+f_167^0 == 0 /\ -tmp_32^post98+head_30^post98 == 0 /\ temp0_29^0-temp0_29^post98 == 0 /\ result_11^0-result_11^post98 == 0 /\ -temp0_16^post98+temp0_16^0 == 0 /\ i_105^0-i_105^post98 == 0 /\ t_24^0-t_24^post98 == 0 /\ rcd_56^0-rcd_56^post98 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post98 == 0 /\ i_164^0-i_164^post98 == 0 /\ -1+i_28^post98-i_92^post98 <= 0 /\ a_113^0-a_113^post98 == 0 /\ -nondet_12^post98+nondet_12^0 == 0 /\ ct_18^0-ct_18^post98 == 0 /\ 1-length_27^0+i_92^post98 <= 0 /\ -a_212^post98+a_212^0 == 0 /\ -i_28^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post98 == 0 /\ -r_160^post98+r_160^0 == 0 /\ x_126^0-x_126^post98 == 0 /\ r_121^0-r_121^post98 == 0 /\ -temp_33^0+tmp_32^post98 == 0 /\ x_172^0-x_172^post98 == 0 /\ -x_14^post98+x_14^0 == 0 /\ -head_15^post98+head_15^0 == 0 /\ -y_20^post98+y_20^0 == 0 /\ -r_37^post98+r_37^0 == 0 /\ -a_234^post98+a_234^0 == 0 /\ x_17^0-x_17^post98 == 0 /\ -length_27^post98+length_27^0 == 0 /\ 1-i_28^post98+i_92^post98 <= 0 /\ -len_129^post98+len_129^0 == 0 /\ -len_180^post98+len_180^0 == 0 /\ -a_181^post98+a_181^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post98 == 0 /\ -1+i_28^post98-i_28^0 == 0), cost: 1
New rule:
l40 -> l64 : i_92^0'=i_28^0, temp_33^0'=temp_33^post98, i_28^0'=1+i_28^0, head_30^0'=temp_33^0, tmp_32^0'=temp_33^0, rcd_86^0'=rcd_86^post98, (1-length_27^0+i_28^0 <= 0 /\ i_28^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l64 -> l40 : a_113^0'=a_113^post99, x_17^0'=x_17^post99, i_92^0'=i_92^post99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post99, a_257^0'=a_257^post99, length_27^0'=length_27^post99, temp_33^0'=temp_33^post99, x_126^0'=x_126^post99, i_105^0'=i_105^post99, rcd_56^0'=rcd_56^post99, a_181^0'=a_181^post99, x_SLAM_f_19^0'=x_SLAM_f_19^post99, t_24^0'=t_24^post99, f_167^0'=f_167^post99, r_121^0'=r_121^post99, x_172^0'=x_172^post99, i_28^0'=i_28^post99, result_11^0'=result_11^post99, a_234^0'=a_234^post99, len_180^0'=len_180^post99, temp0_29^0'=temp0_29^post99, head_30^0'=head_30^post99, r_37^0'=r_37^post99, a_144^0'=a_144^post99, x_21^0'=x_21^post99, len_129^0'=len_129^post99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post99, ct_18^0'=ct_18^post99, nondet_12^0'=nondet_12^post99, tmp_32^0'=tmp_32^post99, x_14^0'=x_14^post99, i_164^0'=i_164^post99, rcd_86^0'=rcd_86^post99, a_212^0'=a_212^post99, y_20^0'=y_20^post99, temp0_16^0'=temp0_16^post99, head_15^0'=head_15^post99, r_160^0'=r_160^post99, (-a_144^post99+a_144^0 == 0 /\ a_181^0-a_181^post99 == 0 /\ x_14^0-x_14^post99 == 0 /\ r_37^0-r_37^post99 == 0 /\ -x_21^post99+x_21^0 == 0 /\ a_257^0-a_257^post99 == 0 /\ f_167^0-f_167^post99 == 0 /\ -tmp_32^post99+tmp_32^0 == 0 /\ x_172^0-x_172^post99 == 0 /\ -t_24^post99+t_24^0 == 0 /\ -temp0_16^post99+temp0_16^0 == 0 /\ -ct_18^post99+ct_18^0 == 0 /\ rcd_56^0-rcd_56^post99 == 0 /\ -result_11^post99+result_11^0 == 0 /\ -temp0_29^post99+temp0_29^0 == 0 /\ x_SLAM_f_19^0-x_SLAM_f_19^post99 == 0 /\ a_212^0-a_212^post99 == 0 /\ -nondet_12^post99+nondet_12^0 == 0 /\ a_113^0-a_113^post99 == 0 /\ -r_121^post99+r_121^0 == 0 /\ -rcd_86^post99+rcd_86^0 == 0 /\ -r_160^post99+r_160^0 == 0 /\ i_92^0-i_92^post99 == 0 /\ -i_164^post99+i_164^0 == 0 /\ x_126^0-x_126^post99 == 0 /\ i_105^0-i_105^post99 == 0 /\ a_234^0-a_234^post99 == 0 /\ -head_30^post99+head_30^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post99 == 0 /\ temp_33^0-temp_33^post99 == 0 /\ i_28^0-i_28^post99 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post99+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_17^0-x_17^post99 == 0 /\ -len_129^post99+len_129^0 == 0 /\ length_27^0-length_27^post99 == 0 /\ -len_180^post99+len_180^0 == 0 /\ -head_15^post99+head_15^0 == 0 /\ -y_20^post99+y_20^0 == 0), cost: 1
New rule:
l64 -> l40 : TRUE, cost: 1

Applied preprocessing
Original rule:
l1 -> l27 : a_113^0'=a_113^post101, x_17^0'=x_17^post101, i_92^0'=i_92^post101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101, a_257^0'=a_257^post101, length_27^0'=length_27^post101, temp_33^0'=temp_33^post101, x_126^0'=x_126^post101, i_105^0'=i_105^post101, rcd_56^0'=rcd_56^post101, a_181^0'=a_181^post101, x_SLAM_f_19^0'=x_SLAM_f_19^post101, t_24^0'=t_24^post101, f_167^0'=f_167^post101, r_121^0'=r_121^post101, x_172^0'=x_172^post101, i_28^0'=i_28^post101, result_11^0'=result_11^post101, a_234^0'=a_234^post101, len_180^0'=len_180^post101, temp0_29^0'=temp0_29^post101, head_30^0'=head_30^post101, r_37^0'=r_37^post101, a_144^0'=a_144^post101, x_21^0'=x_21^post101, len_129^0'=len_129^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post101, ct_18^0'=ct_18^post101, nondet_12^0'=nondet_12^post101, tmp_32^0'=tmp_32^post101, x_14^0'=x_14^post101, i_164^0'=i_164^post101, rcd_86^0'=rcd_86^post101, a_212^0'=a_212^post101, y_20^0'=y_20^post101, temp0_16^0'=temp0_16^post101, head_15^0'=head_15^post101, r_160^0'=r_160^post101, (0 == 0 /\ rcd_56^0-rcd_56^post101 == 0 /\ -ct_18^post101+ct_18^0 == 0 /\ 1-length_27^0+i_28^0 <= 0 /\ -a_212^post101+a_212^0 == 0 /\ x_17^0-x_17^post101 == 0 /\ -result_11^post101+result_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101+tmp_32^post101 <= 0 /\ -y_20^post101+y_20^0 == 0 /\ x_14^0-x_14^post101 == 0 /\ a_144^0-a_144^post101 == 0 /\ -r_160^post101+r_160^0 == 0 /\ -len_180^post101+len_180^0 == 0 /\ r_121^0-r_121^post101 == 0 /\ 1-i_28^post101 <= 0 /\ -1+i_28^post101 <= 0 /\ temp0_29^0-temp0_29^post101 == 0 /\ length_27^0-length_27^post101 == 0 /\ 1-length_27^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101-tmp_32^post101 <= 0 /\ t_24^0-t_24^post101 == 0 /\ -temp_33^0+tmp_32^post101 == 0 /\ -len_129^post101+len_129^0 == 0 /\ -length_27^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101-head_30^post101 <= 0 /\ -f_167^post101+f_167^0 == 0 /\ -head_30^post101+tmp_32^post101 <= 0 /\ -i_105^post101+i_105^0 == 0 /\ i_92^0-i_92^post101 == 0 /\ -rcd_86^post101+rcd_86^0 == 0 /\ length_27^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post101 <= 0 /\ -i_164^post101+i_164^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post101+head_30^post101 <= 0 /\ -nondet_12^post101+nondet_12^0 == 0 /\ -x_21^post101+x_21^0 == 0 /\ head_30^post101-tmp_32^post101 <= 0 /\ head_30^post101-tmp_32^post101 == 0 /\ a_113^0-a_113^post101 == 0 /\ a_181^0-a_181^post101 == 0 /\ x_126^0-x_126^post101 == 0 /\ a_257^0-a_257^post101 == 0 /\ head_15^0-head_15^post101 == 0 /\ r_37^0-r_37^post101 == 0 /\ -temp0_16^post101+temp0_16^0 == 0 /\ a_234^0-a_234^post101 == 0 /\ x_172^0-x_172^post101 == 0 /\ -x_SLAM_f_19^post101+x_SLAM_f_19^0 == 0 /\ -1-i_28^0+i_28^post101 == 0), cost: 1
New rule:
l1 -> l27 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, temp_33^0'=temp_33^post101, i_28^0'=1, head_30^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_27^0, tmp_32^0'=temp_33^0, (i_28^0 == 0 /\ -1+length_27^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l65 -> l0 : a_113^0'=a_113^post102, x_17^0'=x_17^post102, i_92^0'=i_92^post102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post102, a_257^0'=a_257^post102, length_27^0'=length_27^post102, temp_33^0'=temp_33^post102, x_126^0'=x_126^post102, i_105^0'=i_105^post102, rcd_56^0'=rcd_56^post102, a_181^0'=a_181^post102, x_SLAM_f_19^0'=x_SLAM_f_19^post102, t_24^0'=t_24^post102, f_167^0'=f_167^post102, r_121^0'=r_121^post102, x_172^0'=x_172^post102, i_28^0'=i_28^post102, result_11^0'=result_11^post102, a_234^0'=a_234^post102, len_180^0'=len_180^post102, temp0_29^0'=temp0_29^post102, head_30^0'=head_30^post102, r_37^0'=r_37^post102, a_144^0'=a_144^post102, x_21^0'=x_21^post102, len_129^0'=len_129^post102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post102, ct_18^0'=ct_18^post102, nondet_12^0'=nondet_12^post102, tmp_32^0'=tmp_32^post102, x_14^0'=x_14^post102, i_164^0'=i_164^post102, rcd_86^0'=rcd_86^post102, a_212^0'=a_212^post102, y_20^0'=y_20^post102, temp0_16^0'=temp0_16^post102, head_15^0'=head_15^post102, r_160^0'=r_160^post102, (-head_30^post102+head_30^0 == 0 /\ x_172^0-x_172^post102 == 0 /\ -result_11^post102+result_11^0 == 0 /\ -ct_18^post102+ct_18^0 == 0 /\ rcd_56^0-rcd_56^post102 == 0 /\ temp_33^0-temp_33^post102 == 0 /\ i_92^0-i_92^post102 == 0 /\ x_126^0-x_126^post102 == 0 /\ x_17^0-x_17^post102 == 0 /\ -y_20^post102+y_20^0 == 0 /\ -r_160^post102+r_160^0 == 0 /\ -tmp_32^post102+tmp_32^0 == 0 /\ r_121^0-r_121^post102 == 0 /\ temp0_29^0-temp0_29^post102 == 0 /\ -len_180^post102+len_180^0 == 0 /\ r_37^0-r_37^post102 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post102+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ t_24^0-t_24^post102 == 0 /\ -f_167^post102+f_167^0 == 0 /\ -x_14^post102+x_14^0 == 0 /\ length_27^0-length_27^post102 == 0 /\ -a_144^post102+a_144^0 == 0 /\ rcd_86^0-rcd_86^post102 == 0 /\ nondet_12^0-nondet_12^post102 == 0 /\ -head_15^post102+head_15^0 == 0 /\ -x_SLAM_f_19^post102+x_SLAM_f_19^0 == 0 /\ a_181^0-a_181^post102 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post102+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0 == 0 /\ a_113^0-a_113^post102 == 0 /\ a_257^0-a_257^post102 == 0 /\ -x_21^post102+x_21^0 == 0 /\ -temp0_16^post102+temp0_16^0 == 0 /\ a_234^0-a_234^post102 == 0 /\ -i_164^post102+i_164^0 == 0 /\ -i_105^post102+i_105^0 == 0 /\ i_28^0-i_28^post102 == 0 /\ -a_212^post102+a_212^0 == 0 /\ len_129^0-len_129^post102 == 0), cost: 1
New rule:
l65 -> l0 : TRUE, cost: 1

Simplified rules
Start location: l65
 103: l0 -> l1 : length_27^0'=nondet_12^10, i_28^0'=0, head_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, 0 == 0, cost: 1
 148: l1 -> l27 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, temp_33^0'=temp_33^post101, i_28^0'=1, head_30^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_27^0, tmp_32^0'=temp_33^0, (i_28^0 == 0 /\ -1+length_27^0 >= 0), cost: 1
 104: l2 -> l5 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, a_234^0 >= 0, cost: 1
 105: l5 -> l6 : 1-x_21^0+y_20^0 <= 0, cost: 1
 106: l5 -> l6 : 1+x_21^0-y_20^0 <= 0, cost: 1
 107: l6 -> l7 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 1
 108: l7 -> l8 : -1+head_15^0 >= 0, cost: 1
 109: l7 -> l8 : 1+head_15^0 <= 0, cost: 1
 110: l8 -> l9 : 1-y_20^0+head_15^0 <= 0, cost: 1
 111: l8 -> l9 : 1+y_20^0-head_15^0 <= 0, cost: 1
 112: l9 -> l10 : 1-t_24^0+y_20^0 <= 0, cost: 1
 113: l9 -> l10 : 1+t_24^0-y_20^0 <= 0, cost: 1
 114: l10 -> l4 : a_234^0'=a_257^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 115: l4 -> l2 : TRUE, cost: 1
 116: l20 -> l21 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, len_129^0 >= 0, cost: 1
 117: l21 -> l22 : 1-x_21^0+y_20^0 <= 0, cost: 1
 118: l21 -> l22 : 1+x_21^0-y_20^0 <= 0, cost: 1
 119: l22 -> l23 : t_24^0'=head_15^0, a_212^0'=a_234^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 1
 120: l23 -> l24 : -1+head_15^0 >= 0, cost: 1
 121: l23 -> l24 : 1+head_15^0 <= 0, cost: 1
 122: l24 -> l25 : 1-y_20^0+head_15^0 <= 0, cost: 1
 123: l24 -> l25 : 1+y_20^0-head_15^0 <= 0, cost: 1
 124: l25 -> l26 : 1-t_24^0+y_20^0 <= 0, cost: 1
 125: l25 -> l26 : 1+t_24^0-y_20^0 <= 0, cost: 1
 126: l26 -> l2 : len_129^0'=1+a_212^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 127: l27 -> l40 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, temp_33^0'=temp_33^post60, rcd_56^0'=rcd_56^post60, i_28^0'=2, head_30^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_27^0, tmp_32^0'=temp_33^0, (1-length_27^0+i_28^0 <= 0 /\ -1+i_28^0 == 0), cost: 1
 142: l40 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, tmp_32^0'=tmp_32^post94, x_14^0'=head_30^0, i_164^0'=i_164^post94, head_15^0'=head_30^0, (length_27^0-i_28^0 <= 0 /\ -i_28^0 <= 0 /\ len_129^0 == 0), cost: 1
 146: l40 -> l64 : i_92^0'=i_28^0, temp_33^0'=temp_33^post98, i_28^0'=1+i_28^0, head_30^0'=temp_33^0, tmp_32^0'=temp_33^0, rcd_86^0'=rcd_86^post98, (1-length_27^0+i_28^0 <= 0 /\ i_28^0 >= 0), cost: 1
 128: l41 -> l42 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0), cost: 1
 132: l41 -> l45 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ len_129^0 >= 0), cost: 1
 129: l42 -> l43 : -1+head_15^0 >= 0, cost: 1
 130: l42 -> l43 : 1+head_15^0 <= 0, cost: 1
 131: l43 -> l20 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 133: l45 -> l46 : -1+x_14^0 >= 0, cost: 1
 134: l45 -> l46 : 1+x_14^0 <= 0, cost: 1
 135: l46 -> l47 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, f_167^0-x_14^0 == 0, cost: 1
 136: l47 -> l48 : -1+head_15^0 >= 0, cost: 1
 137: l47 -> l48 : 1+head_15^0 <= 0, cost: 1
 138: l48 -> l49 : -1+x_172^0 >= 0, cost: 1
 139: l48 -> l49 : 1+x_172^0 <= 0, cost: 1
 140: l49 -> l44 : a_144^0'=a_181^0, len_129^0'=len_180^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 141: l44 -> l41 : TRUE, cost: 1
 143: l62 -> l63 : -1+head_15^0 >= 0, cost: 1
 144: l62 -> l63 : 1+head_15^0 <= 0, cost: 1
 145: l63 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1
 147: l64 -> l40 : TRUE, cost: 1
 149: l65 -> l0 : TRUE, cost: 1


Eliminating location l0 by chaining:

Applied chaining
First rule:
l65 -> l0 : TRUE, cost: 1
Second rule:
l0 -> l1 : length_27^0'=nondet_12^10, i_28^0'=0, head_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, 0 == 0, cost: 1
New rule:
l65 -> l1 : length_27^0'=nondet_12^10, i_28^0'=0, head_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, 0 == 0, cost: 2

Applied deletion
Removed the following rules: 103 149

Eliminating location l1 by chaining:

Applied chaining
First rule:
l65 -> l1 : length_27^0'=nondet_12^10, i_28^0'=0, head_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, 0 == 0, cost: 2
Second rule:
l1 -> l27 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, temp_33^0'=temp_33^post101, i_28^0'=1, head_30^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_27^0, tmp_32^0'=temp_33^0, (i_28^0 == 0 /\ -1+length_27^0 >= 0), cost: 1
New rule:
l65 -> l27 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post101, i_28^0'=1, head_30^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^0, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3

Applied simplification
Original rule:
l65 -> l27 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post101, i_28^0'=1, head_30^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^0, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3
New rule:
l65 -> l27 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post101, i_28^0'=1, head_30^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^0, -1+nondet_12^10 >= 0, cost: 3

Applied deletion
Removed the following rules: 148 150

Eliminating location l27 by chaining:

Applied chaining
First rule:
l65 -> l27 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post101, i_28^0'=1, head_30^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^0, -1+nondet_12^10 >= 0, cost: 3
Second rule:
l27 -> l40 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, temp_33^0'=temp_33^post60, rcd_56^0'=rcd_56^post60, i_28^0'=2, head_30^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_27^0, tmp_32^0'=temp_33^0, (1-length_27^0+i_28^0 <= 0 /\ -1+i_28^0 == 0), cost: 1
New rule:
l65 -> l40 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post101, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post60, rcd_56^0'=rcd_56^post60, i_28^0'=2, head_30^0'=temp_33^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^post101, (0 == 0 /\ 2-nondet_12^10 <= 0 /\ -1+nondet_12^10 >= 0), cost: 4

Applied simplification
Original rule:
l65 -> l40 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post101, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post60, rcd_56^0'=rcd_56^post60, i_28^0'=2, head_30^0'=temp_33^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^post101, (0 == 0 /\ 2-nondet_12^10 <= 0 /\ -1+nondet_12^10 >= 0), cost: 4
New rule:
l65 -> l40 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post101, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post60, rcd_56^0'=rcd_56^post60, i_28^0'=2, head_30^0'=temp_33^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^post101, -2+nondet_12^10 >= 0, cost: 4

Applied deletion
Removed the following rules: 127 151

Eliminating location l64 by chaining:

Applied chaining
First rule:
l40 -> l64 : i_92^0'=i_28^0, temp_33^0'=temp_33^post98, i_28^0'=1+i_28^0, head_30^0'=temp_33^0, tmp_32^0'=temp_33^0, rcd_86^0'=rcd_86^post98, (1-length_27^0+i_28^0 <= 0 /\ i_28^0 >= 0), cost: 1
Second rule:
l64 -> l40 : TRUE, cost: 1
New rule:
l40 -> l40 : i_92^0'=i_28^0, temp_33^0'=temp_33^post98, i_28^0'=1+i_28^0, head_30^0'=temp_33^0, tmp_32^0'=temp_33^0, rcd_86^0'=rcd_86^post98, (1-length_27^0+i_28^0 <= 0 /\ i_28^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 146 147

Eliminating location l20 by chaining:

Applied chaining
First rule:
l43 -> l20 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
Second rule:
l20 -> l21 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, len_129^0 >= 0, cost: 1
New rule:
l43 -> l21 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 116 131

Eliminating location l4 by chaining:

Applied chaining
First rule:
l10 -> l4 : a_234^0'=a_257^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
Second rule:
l4 -> l2 : TRUE, cost: 1
New rule:
l10 -> l2 : a_234^0'=a_257^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 114 115

Eliminating location l44 by chaining:

Applied chaining
First rule:
l49 -> l44 : a_144^0'=a_181^0, len_129^0'=len_180^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
Second rule:
l44 -> l41 : TRUE, cost: 1
New rule:
l49 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 140 141

Eliminated locations on linear paths
Start location: l65
 104: l2 -> l5 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, a_234^0 >= 0, cost: 1
 105: l5 -> l6 : 1-x_21^0+y_20^0 <= 0, cost: 1
 106: l5 -> l6 : 1+x_21^0-y_20^0 <= 0, cost: 1
 107: l6 -> l7 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 1
 108: l7 -> l8 : -1+head_15^0 >= 0, cost: 1
 109: l7 -> l8 : 1+head_15^0 <= 0, cost: 1
 110: l8 -> l9 : 1-y_20^0+head_15^0 <= 0, cost: 1
 111: l8 -> l9 : 1+y_20^0-head_15^0 <= 0, cost: 1
 112: l9 -> l10 : 1-t_24^0+y_20^0 <= 0, cost: 1
 113: l9 -> l10 : 1+t_24^0-y_20^0 <= 0, cost: 1
 155: l10 -> l2 : a_234^0'=a_257^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 117: l21 -> l22 : 1-x_21^0+y_20^0 <= 0, cost: 1
 118: l21 -> l22 : 1+x_21^0-y_20^0 <= 0, cost: 1
 119: l22 -> l23 : t_24^0'=head_15^0, a_212^0'=a_234^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 1
 120: l23 -> l24 : -1+head_15^0 >= 0, cost: 1
 121: l23 -> l24 : 1+head_15^0 <= 0, cost: 1
 122: l24 -> l25 : 1-y_20^0+head_15^0 <= 0, cost: 1
 123: l24 -> l25 : 1+y_20^0-head_15^0 <= 0, cost: 1
 124: l25 -> l26 : 1-t_24^0+y_20^0 <= 0, cost: 1
 125: l25 -> l26 : 1+t_24^0-y_20^0 <= 0, cost: 1
 126: l26 -> l2 : len_129^0'=1+a_212^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 142: l40 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, tmp_32^0'=tmp_32^post94, x_14^0'=head_30^0, i_164^0'=i_164^post94, head_15^0'=head_30^0, (length_27^0-i_28^0 <= 0 /\ -i_28^0 <= 0 /\ len_129^0 == 0), cost: 1
 153: l40 -> l40 : i_92^0'=i_28^0, temp_33^0'=temp_33^post98, i_28^0'=1+i_28^0, head_30^0'=temp_33^0, tmp_32^0'=temp_33^0, rcd_86^0'=rcd_86^post98, (1-length_27^0+i_28^0 <= 0 /\ i_28^0 >= 0), cost: 2
 128: l41 -> l42 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0), cost: 1
 132: l41 -> l45 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ len_129^0 >= 0), cost: 1
 129: l42 -> l43 : -1+head_15^0 >= 0, cost: 1
 130: l42 -> l43 : 1+head_15^0 <= 0, cost: 1
 154: l43 -> l21 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 133: l45 -> l46 : -1+x_14^0 >= 0, cost: 1
 134: l45 -> l46 : 1+x_14^0 <= 0, cost: 1
 135: l46 -> l47 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, f_167^0-x_14^0 == 0, cost: 1
 136: l47 -> l48 : -1+head_15^0 >= 0, cost: 1
 137: l47 -> l48 : 1+head_15^0 <= 0, cost: 1
 138: l48 -> l49 : -1+x_172^0 >= 0, cost: 1
 139: l48 -> l49 : 1+x_172^0 <= 0, cost: 1
 156: l49 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 143: l62 -> l63 : -1+head_15^0 >= 0, cost: 1
 144: l62 -> l63 : 1+head_15^0 <= 0, cost: 1
 145: l63 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1
 152: l65 -> l40 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post101, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post60, rcd_56^0'=rcd_56^post60, i_28^0'=2, head_30^0'=temp_33^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^post101, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l40 -> l40 : i_92^0'=i_28^0, temp_33^0'=temp_33^post98, i_28^0'=1+i_28^0, head_30^0'=temp_33^0, tmp_32^0'=temp_33^0, rcd_86^0'=rcd_86^post98, (1-length_27^0+i_28^0 <= 0 /\ i_28^0 >= 0), cost: 2
New rule:
l40 -> l40 : i_92^0'=-1+i_28^0+n0, temp_33^0'=temp_33^post98, i_28^0'=i_28^0+n0, head_30^0'=temp_33^post98, tmp_32^0'=temp_33^post98, rcd_86^0'=rcd_86^post98, (i_28^0 >= 0 /\ -2+n0 >= 0 /\ length_27^0-i_28^0-n0 >= 0), cost: 2*n0

Applied instantiation
Original rule:
l40 -> l40 : i_92^0'=-1+i_28^0+n0, temp_33^0'=temp_33^post98, i_28^0'=i_28^0+n0, head_30^0'=temp_33^post98, tmp_32^0'=temp_33^post98, rcd_86^0'=rcd_86^post98, (i_28^0 >= 0 /\ -2+n0 >= 0 /\ length_27^0-i_28^0-n0 >= 0), cost: 2*n0
New rule:
l40 -> l40 : i_92^0'=-1+length_27^0, temp_33^0'=temp_33^post98, i_28^0'=length_27^0, head_30^0'=temp_33^post98, tmp_32^0'=temp_33^post98, rcd_86^0'=rcd_86^post98, (0 >= 0 /\ -2+length_27^0-i_28^0 >= 0 /\ i_28^0 >= 0), cost: 2*length_27^0-2*i_28^0

Applied simplification
Original rule:
l40 -> l40 : i_92^0'=-1+length_27^0, temp_33^0'=temp_33^post98, i_28^0'=length_27^0, head_30^0'=temp_33^post98, tmp_32^0'=temp_33^post98, rcd_86^0'=rcd_86^post98, (0 >= 0 /\ -2+length_27^0-i_28^0 >= 0 /\ i_28^0 >= 0), cost: 2*length_27^0-2*i_28^0
New rule:
l40 -> l40 : i_92^0'=-1+length_27^0, temp_33^0'=temp_33^post98, i_28^0'=length_27^0, head_30^0'=temp_33^post98, tmp_32^0'=temp_33^post98, rcd_86^0'=rcd_86^post98, (-2+length_27^0-i_28^0 >= 0 /\ i_28^0 >= 0), cost: 2*length_27^0-2*i_28^0

Applied deletion
Removed the following rules: 153

Accelerated simple loops
Start location: l65
 104: l2 -> l5 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, a_234^0 >= 0, cost: 1
 105: l5 -> l6 : 1-x_21^0+y_20^0 <= 0, cost: 1
 106: l5 -> l6 : 1+x_21^0-y_20^0 <= 0, cost: 1
 107: l6 -> l7 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 1
 108: l7 -> l8 : -1+head_15^0 >= 0, cost: 1
 109: l7 -> l8 : 1+head_15^0 <= 0, cost: 1
 110: l8 -> l9 : 1-y_20^0+head_15^0 <= 0, cost: 1
 111: l8 -> l9 : 1+y_20^0-head_15^0 <= 0, cost: 1
 112: l9 -> l10 : 1-t_24^0+y_20^0 <= 0, cost: 1
 113: l9 -> l10 : 1+t_24^0-y_20^0 <= 0, cost: 1
 155: l10 -> l2 : a_234^0'=a_257^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 117: l21 -> l22 : 1-x_21^0+y_20^0 <= 0, cost: 1
 118: l21 -> l22 : 1+x_21^0-y_20^0 <= 0, cost: 1
 119: l22 -> l23 : t_24^0'=head_15^0, a_212^0'=a_234^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 1
 120: l23 -> l24 : -1+head_15^0 >= 0, cost: 1
 121: l23 -> l24 : 1+head_15^0 <= 0, cost: 1
 122: l24 -> l25 : 1-y_20^0+head_15^0 <= 0, cost: 1
 123: l24 -> l25 : 1+y_20^0-head_15^0 <= 0, cost: 1
 124: l25 -> l26 : 1-t_24^0+y_20^0 <= 0, cost: 1
 125: l25 -> l26 : 1+t_24^0-y_20^0 <= 0, cost: 1
 126: l26 -> l2 : len_129^0'=1+a_212^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 142: l40 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, tmp_32^0'=tmp_32^post94, x_14^0'=head_30^0, i_164^0'=i_164^post94, head_15^0'=head_30^0, (length_27^0-i_28^0 <= 0 /\ -i_28^0 <= 0 /\ len_129^0 == 0), cost: 1
 158: l40 -> l40 : i_92^0'=-1+length_27^0, temp_33^0'=temp_33^post98, i_28^0'=length_27^0, head_30^0'=temp_33^post98, tmp_32^0'=temp_33^post98, rcd_86^0'=rcd_86^post98, (-2+length_27^0-i_28^0 >= 0 /\ i_28^0 >= 0), cost: 2*length_27^0-2*i_28^0
 128: l41 -> l42 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0), cost: 1
 132: l41 -> l45 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ len_129^0 >= 0), cost: 1
 129: l42 -> l43 : -1+head_15^0 >= 0, cost: 1
 130: l42 -> l43 : 1+head_15^0 <= 0, cost: 1
 154: l43 -> l21 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 133: l45 -> l46 : -1+x_14^0 >= 0, cost: 1
 134: l45 -> l46 : 1+x_14^0 <= 0, cost: 1
 135: l46 -> l47 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, f_167^0-x_14^0 == 0, cost: 1
 136: l47 -> l48 : -1+head_15^0 >= 0, cost: 1
 137: l47 -> l48 : 1+head_15^0 <= 0, cost: 1
 138: l48 -> l49 : -1+x_172^0 >= 0, cost: 1
 139: l48 -> l49 : 1+x_172^0 <= 0, cost: 1
 156: l49 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 143: l62 -> l63 : -1+head_15^0 >= 0, cost: 1
 144: l62 -> l63 : 1+head_15^0 <= 0, cost: 1
 145: l63 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1
 152: l65 -> l40 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post101, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post60, rcd_56^0'=rcd_56^post60, i_28^0'=2, head_30^0'=temp_33^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^post101, -2+nondet_12^10 >= 0, cost: 4


Applied chaining
First rule:
l65 -> l40 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post101, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post60, rcd_56^0'=rcd_56^post60, i_28^0'=2, head_30^0'=temp_33^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^post101, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l40 -> l40 : i_92^0'=-1+length_27^0, temp_33^0'=temp_33^post98, i_28^0'=length_27^0, head_30^0'=temp_33^post98, tmp_32^0'=temp_33^post98, rcd_86^0'=rcd_86^post98, (-2+length_27^0-i_28^0 >= 0 /\ i_28^0 >= 0), cost: 2*length_27^0-2*i_28^0
New rule:
l65 -> l40 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post101, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post98, rcd_56^0'=rcd_56^post60, i_28^0'=nondet_12^10, head_30^0'=temp_33^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^post98, rcd_86^0'=rcd_86^post98, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10

Applied deletion
Removed the following rules: 158

Chained accelerated rules with incoming rules
Start location: l65
 104: l2 -> l5 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, a_234^0 >= 0, cost: 1
 105: l5 -> l6 : 1-x_21^0+y_20^0 <= 0, cost: 1
 106: l5 -> l6 : 1+x_21^0-y_20^0 <= 0, cost: 1
 107: l6 -> l7 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 1
 108: l7 -> l8 : -1+head_15^0 >= 0, cost: 1
 109: l7 -> l8 : 1+head_15^0 <= 0, cost: 1
 110: l8 -> l9 : 1-y_20^0+head_15^0 <= 0, cost: 1
 111: l8 -> l9 : 1+y_20^0-head_15^0 <= 0, cost: 1
 112: l9 -> l10 : 1-t_24^0+y_20^0 <= 0, cost: 1
 113: l9 -> l10 : 1+t_24^0-y_20^0 <= 0, cost: 1
 155: l10 -> l2 : a_234^0'=a_257^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 117: l21 -> l22 : 1-x_21^0+y_20^0 <= 0, cost: 1
 118: l21 -> l22 : 1+x_21^0-y_20^0 <= 0, cost: 1
 119: l22 -> l23 : t_24^0'=head_15^0, a_212^0'=a_234^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 1
 120: l23 -> l24 : -1+head_15^0 >= 0, cost: 1
 121: l23 -> l24 : 1+head_15^0 <= 0, cost: 1
 122: l24 -> l25 : 1-y_20^0+head_15^0 <= 0, cost: 1
 123: l24 -> l25 : 1+y_20^0-head_15^0 <= 0, cost: 1
 124: l25 -> l26 : 1-t_24^0+y_20^0 <= 0, cost: 1
 125: l25 -> l26 : 1+t_24^0-y_20^0 <= 0, cost: 1
 126: l26 -> l2 : len_129^0'=1+a_212^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 142: l40 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, tmp_32^0'=tmp_32^post94, x_14^0'=head_30^0, i_164^0'=i_164^post94, head_15^0'=head_30^0, (length_27^0-i_28^0 <= 0 /\ -i_28^0 <= 0 /\ len_129^0 == 0), cost: 1
 128: l41 -> l42 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0), cost: 1
 132: l41 -> l45 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ len_129^0 >= 0), cost: 1
 129: l42 -> l43 : -1+head_15^0 >= 0, cost: 1
 130: l42 -> l43 : 1+head_15^0 <= 0, cost: 1
 154: l43 -> l21 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 133: l45 -> l46 : -1+x_14^0 >= 0, cost: 1
 134: l45 -> l46 : 1+x_14^0 <= 0, cost: 1
 135: l46 -> l47 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, f_167^0-x_14^0 == 0, cost: 1
 136: l47 -> l48 : -1+head_15^0 >= 0, cost: 1
 137: l47 -> l48 : 1+head_15^0 <= 0, cost: 1
 138: l48 -> l49 : -1+x_172^0 >= 0, cost: 1
 139: l48 -> l49 : 1+x_172^0 <= 0, cost: 1
 156: l49 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 143: l62 -> l63 : -1+head_15^0 >= 0, cost: 1
 144: l62 -> l63 : 1+head_15^0 <= 0, cost: 1
 145: l63 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1
 152: l65 -> l40 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post101, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post60, rcd_56^0'=rcd_56^post60, i_28^0'=2, head_30^0'=temp_33^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^post101, -2+nondet_12^10 >= 0, cost: 4
 159: l65 -> l40 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post101, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post98, rcd_56^0'=rcd_56^post60, i_28^0'=nondet_12^10, head_30^0'=temp_33^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^post98, rcd_86^0'=rcd_86^post98, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10


Eliminating location l40 by chaining:

Applied chaining
First rule:
l65 -> l40 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post101, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post60, rcd_56^0'=rcd_56^post60, i_28^0'=2, head_30^0'=temp_33^post101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^post101, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l40 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, tmp_32^0'=tmp_32^post94, x_14^0'=head_30^0, i_164^0'=i_164^post94, head_15^0'=head_30^0, (length_27^0-i_28^0 <= 0 /\ -i_28^0 <= 0 /\ len_129^0 == 0), cost: 1
New rule:
l65 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5

Applied simplification
Original rule:
l65 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
New rule:
l65 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5

Applied chaining
First rule:
l65 -> l40 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post101, length_27^0'=nondet_12^10, temp_33^0'=temp_33^post98, rcd_56^0'=rcd_56^post60, i_28^0'=nondet_12^10, head_30^0'=temp_33^post98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post0, tmp_32^0'=temp_33^post98, rcd_86^0'=rcd_86^post98, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10
Second rule:
l40 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, tmp_32^0'=tmp_32^post94, x_14^0'=head_30^0, i_164^0'=i_164^post94, head_15^0'=head_30^0, (length_27^0-i_28^0 <= 0 /\ -i_28^0 <= 0 /\ len_129^0 == 0), cost: 1
New rule:
l65 -> l62 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (0 <= 0 /\ -nondet_12^10 <= 0 /\ len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10

Applied simplification
Original rule:
l65 -> l62 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (0 <= 0 /\ -nondet_12^10 <= 0 /\ len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10
New rule:
l65 -> l62 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10

Applied deletion
Removed the following rules: 142 152 159

Eliminating location l63 by chaining:

Applied chaining
First rule:
l62 -> l63 : -1+head_15^0 >= 0, cost: 1
Second rule:
l63 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1
New rule:
l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2

Applied chaining
First rule:
l62 -> l63 : 1+head_15^0 <= 0, cost: 1
Second rule:
l63 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 1
New rule:
l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 143 144 145

Eliminating location l42 by chaining:

Applied chaining
First rule:
l41 -> l42 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0), cost: 1
Second rule:
l42 -> l43 : -1+head_15^0 >= 0, cost: 1
New rule:
l41 -> l43 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0), cost: 2

Applied chaining
First rule:
l41 -> l42 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0), cost: 1
Second rule:
l42 -> l43 : 1+head_15^0 <= 0, cost: 1
New rule:
l41 -> l43 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, (1+head_15^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0), cost: 2

Applied deletion
Removed the following rules: 128 129 130

Eliminating location l45 by chaining:

Applied chaining
First rule:
l41 -> l45 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ len_129^0 >= 0), cost: 1
Second rule:
l45 -> l46 : -1+x_14^0 >= 0, cost: 1
New rule:
l41 -> l46 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2

Applied chaining
First rule:
l41 -> l45 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ len_129^0 >= 0), cost: 1
Second rule:
l45 -> l46 : 1+x_14^0 <= 0, cost: 1
New rule:
l41 -> l46 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 132 133 134

Eliminating location l21 by chaining:

Applied chaining
First rule:
l43 -> l21 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
Second rule:
l21 -> l22 : 1-x_21^0+y_20^0 <= 0, cost: 1
New rule:
l43 -> l22 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (1-x_21^0+y_20^0 <= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3

Applied chaining
First rule:
l43 -> l21 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
Second rule:
l21 -> l22 : 1+x_21^0-y_20^0 <= 0, cost: 1
New rule:
l43 -> l22 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (len_129^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3

Applied deletion
Removed the following rules: 117 118 154

Eliminating location l23 by chaining:

Applied chaining
First rule:
l22 -> l23 : t_24^0'=head_15^0, a_212^0'=a_234^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 1
Second rule:
l23 -> l24 : -1+head_15^0 >= 0, cost: 1
New rule:
l22 -> l24 : t_24^0'=head_15^0, a_212^0'=a_234^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 2

Applied chaining
First rule:
l22 -> l23 : t_24^0'=head_15^0, a_212^0'=a_234^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 1
Second rule:
l23 -> l24 : 1+head_15^0 <= 0, cost: 1
New rule:
l22 -> l24 : t_24^0'=head_15^0, a_212^0'=a_234^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 2

Applied deletion
Removed the following rules: 119 120 121

Eliminating location l25 by chaining:

Applied chaining
First rule:
l24 -> l25 : 1-y_20^0+head_15^0 <= 0, cost: 1
Second rule:
l25 -> l26 : 1-t_24^0+y_20^0 <= 0, cost: 1
New rule:
l24 -> l26 : (1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0), cost: 2

Applied chaining
First rule:
l24 -> l25 : 1-y_20^0+head_15^0 <= 0, cost: 1
Second rule:
l25 -> l26 : 1+t_24^0-y_20^0 <= 0, cost: 1
New rule:
l24 -> l26 : (1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 2

Applied chaining
First rule:
l24 -> l25 : 1+y_20^0-head_15^0 <= 0, cost: 1
Second rule:
l25 -> l26 : 1-t_24^0+y_20^0 <= 0, cost: 1
New rule:
l24 -> l26 : (1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0), cost: 2

Applied chaining
First rule:
l24 -> l25 : 1+y_20^0-head_15^0 <= 0, cost: 1
Second rule:
l25 -> l26 : 1+t_24^0-y_20^0 <= 0, cost: 1
New rule:
l24 -> l26 : (1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 122 123 124 125

Eliminating location l5 by chaining:

Applied chaining
First rule:
l2 -> l5 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, a_234^0 >= 0, cost: 1
Second rule:
l5 -> l6 : 1-x_21^0+y_20^0 <= 0, cost: 1
New rule:
l2 -> l6 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0), cost: 2

Applied chaining
First rule:
l2 -> l5 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, a_234^0 >= 0, cost: 1
Second rule:
l5 -> l6 : 1+x_21^0-y_20^0 <= 0, cost: 1
New rule:
l2 -> l6 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 104 105 106

Eliminating location l7 by chaining:

Applied chaining
First rule:
l6 -> l7 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 1
Second rule:
l7 -> l8 : -1+head_15^0 >= 0, cost: 1
New rule:
l6 -> l8 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 2

Applied chaining
First rule:
l6 -> l7 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 1
Second rule:
l7 -> l8 : 1+head_15^0 <= 0, cost: 1
New rule:
l6 -> l8 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 2

Applied deletion
Removed the following rules: 107 108 109

Eliminating location l9 by chaining:

Applied chaining
First rule:
l8 -> l9 : 1-y_20^0+head_15^0 <= 0, cost: 1
Second rule:
l9 -> l10 : 1-t_24^0+y_20^0 <= 0, cost: 1
New rule:
l8 -> l10 : (1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0), cost: 2

Applied chaining
First rule:
l8 -> l9 : 1-y_20^0+head_15^0 <= 0, cost: 1
Second rule:
l9 -> l10 : 1+t_24^0-y_20^0 <= 0, cost: 1
New rule:
l8 -> l10 : (1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 2

Applied chaining
First rule:
l8 -> l9 : 1+y_20^0-head_15^0 <= 0, cost: 1
Second rule:
l9 -> l10 : 1-t_24^0+y_20^0 <= 0, cost: 1
New rule:
l8 -> l10 : (1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0), cost: 2

Applied chaining
First rule:
l8 -> l9 : 1+y_20^0-head_15^0 <= 0, cost: 1
Second rule:
l9 -> l10 : 1+t_24^0-y_20^0 <= 0, cost: 1
New rule:
l8 -> l10 : (1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 110 111 112 113

Eliminating location l47 by chaining:

Applied chaining
First rule:
l46 -> l47 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, f_167^0-x_14^0 == 0, cost: 1
Second rule:
l47 -> l48 : -1+head_15^0 >= 0, cost: 1
New rule:
l46 -> l48 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (f_167^0-x_14^0 == 0 /\ -1+head_15^0 >= 0), cost: 2

Applied chaining
First rule:
l46 -> l47 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, f_167^0-x_14^0 == 0, cost: 1
Second rule:
l47 -> l48 : 1+head_15^0 <= 0, cost: 1
New rule:
l46 -> l48 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (f_167^0-x_14^0 == 0 /\ 1+head_15^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 135 136 137

Eliminating location l49 by chaining:

Applied chaining
First rule:
l48 -> l49 : -1+x_172^0 >= 0, cost: 1
Second rule:
l49 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
New rule:
l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (-1+x_172^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3

Applied chaining
First rule:
l48 -> l49 : 1+x_172^0 <= 0, cost: 1
Second rule:
l49 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
New rule:
l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (1+x_172^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3

Applied deletion
Removed the following rules: 138 139 156

Eliminated locations on tree-shaped paths
Start location: l65
 176: l2 -> l6 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0), cost: 2
 177: l2 -> l6 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0), cost: 2
 178: l6 -> l8 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 2
 179: l6 -> l8 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 2
 180: l8 -> l10 : (1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0), cost: 2
 181: l8 -> l10 : (1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 2
 182: l8 -> l10 : (1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0), cost: 2
 183: l8 -> l10 : (1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 2
 155: l10 -> l2 : a_234^0'=a_257^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 170: l22 -> l24 : t_24^0'=head_15^0, a_212^0'=a_234^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 2
 171: l22 -> l24 : t_24^0'=head_15^0, a_212^0'=a_234^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 2
 172: l24 -> l26 : (1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0), cost: 2
 173: l24 -> l26 : (1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 2
 174: l24 -> l26 : (1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0), cost: 2
 175: l24 -> l26 : (1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 2
 126: l26 -> l2 : len_129^0'=1+a_212^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 164: l41 -> l43 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0), cost: 2
 165: l41 -> l43 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, (1+head_15^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0), cost: 2
 166: l41 -> l46 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2
 167: l41 -> l46 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0), cost: 2
 168: l43 -> l22 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (1-x_21^0+y_20^0 <= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 169: l43 -> l22 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (len_129^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 184: l46 -> l48 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (f_167^0-x_14^0 == 0 /\ -1+head_15^0 >= 0), cost: 2
 185: l46 -> l48 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (f_167^0-x_14^0 == 0 /\ 1+head_15^0 <= 0), cost: 2
 186: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (-1+x_172^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 187: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (1+x_172^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 162: l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 163: l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 160: l65 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
 161: l65 -> l62 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10


Applied merging
first rule:
l2 -> l6 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0), cost: 2
second rule:
l2 -> l6 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0), cost: 2
new rule:
l2 -> l6 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, ((a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0)), cost: 2

Applied merging
first rule:
l6 -> l8 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 2
second rule:
l6 -> l8 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 2
new rule:
l6 -> l8 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0 /\ y_20^0 == 0)), cost: 2

Applied merging
first rule:
l8 -> l10 : (1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0), cost: 2
second rule:
l8 -> l10 : (1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 2
new rule:
l8 -> l10 : ((1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0)), cost: 2

Applied merging
first rule:
l8 -> l10 : (1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0), cost: 2
second rule:
l8 -> l10 : (1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 2
new rule:
l8 -> l10 : ((1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0) \/ (1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0)), cost: 2

Applied merging
first rule:
l8 -> l10 : ((1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0)), cost: 2
second rule:
l8 -> l10 : ((1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0) \/ (1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0)), cost: 2
new rule:
l8 -> l10 : ((1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0) \/ (1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0)), cost: 2

Applied merging
first rule:
l22 -> l24 : t_24^0'=head_15^0, a_212^0'=a_234^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 2
second rule:
l22 -> l24 : t_24^0'=head_15^0, a_212^0'=a_234^0, (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0), cost: 2
new rule:
l22 -> l24 : t_24^0'=head_15^0, a_212^0'=a_234^0, ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0)), cost: 2

Applied merging
first rule:
l24 -> l26 : (1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0), cost: 2
second rule:
l24 -> l26 : (1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 2
new rule:
l24 -> l26 : ((1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0)), cost: 2

Applied merging
first rule:
l24 -> l26 : (1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0), cost: 2
second rule:
l24 -> l26 : (1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0), cost: 2
new rule:
l24 -> l26 : ((1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0) \/ (1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0)), cost: 2

Applied merging
first rule:
l24 -> l26 : ((1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0)), cost: 2
second rule:
l24 -> l26 : ((1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0) \/ (1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0)), cost: 2
new rule:
l24 -> l26 : ((1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0) \/ (1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0)), cost: 2

Applied merging
first rule:
l41 -> l43 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0), cost: 2
second rule:
l41 -> l43 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, (1+head_15^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0), cost: 2
new rule:
l41 -> l43 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, ((1+head_15^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0) \/ (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0)), cost: 2

Applied merging
first rule:
l41 -> l46 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0), cost: 2
second rule:
l41 -> l46 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0), cost: 2
new rule:
l41 -> l46 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0)), cost: 2

Applied merging
first rule:
l46 -> l48 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (f_167^0-x_14^0 == 0 /\ -1+head_15^0 >= 0), cost: 2
second rule:
l46 -> l48 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, (f_167^0-x_14^0 == 0 /\ 1+head_15^0 <= 0), cost: 2
new rule:
l46 -> l48 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, ((f_167^0-x_14^0 == 0 /\ 1+head_15^0 <= 0) \/ (f_167^0-x_14^0 == 0 /\ -1+head_15^0 >= 0)), cost: 2

Merged rules
Start location: l65
 188: l2 -> l6 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, ((a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0)), cost: 2
 189: l6 -> l8 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0 /\ y_20^0 == 0)), cost: 2
 192: l8 -> l10 : ((1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0) \/ (1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0)), cost: 2
 155: l10 -> l2 : a_234^0'=a_257^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
 193: l22 -> l24 : t_24^0'=head_15^0, a_212^0'=a_234^0, ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0)), cost: 2
 196: l24 -> l26 : ((1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0) \/ (1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0)), cost: 2
 126: l26 -> l2 : len_129^0'=1+a_212^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 197: l41 -> l43 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, ((1+head_15^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0) \/ (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0)), cost: 2
 198: l41 -> l46 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0)), cost: 2
 168: l43 -> l22 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (1-x_21^0+y_20^0 <= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 169: l43 -> l22 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (len_129^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 199: l46 -> l48 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, ((f_167^0-x_14^0 == 0 /\ 1+head_15^0 <= 0) \/ (f_167^0-x_14^0 == 0 /\ -1+head_15^0 >= 0)), cost: 2
 186: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (-1+x_172^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 187: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (1+x_172^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 162: l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 163: l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 160: l65 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
 161: l65 -> l62 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10


Eliminating location l46 by chaining:

Applied chaining
First rule:
l41 -> l46 : f_167^0'=f_167^post65, x_172^0'=x_172^post65, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0)), cost: 2
Second rule:
l46 -> l48 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, ((f_167^0-x_14^0 == 0 /\ 1+head_15^0 <= 0) \/ (f_167^0-x_14^0 == 0 /\ -1+head_15^0 >= 0)), cost: 2
New rule:
l41 -> l48 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (((f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0) \/ (f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 4

Applied deletion
Removed the following rules: 198 199

Eliminating location l24 by chaining:

Applied chaining
First rule:
l22 -> l24 : t_24^0'=head_15^0, a_212^0'=a_234^0, ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0)), cost: 2
Second rule:
l24 -> l26 : ((1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0) \/ (1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0)), cost: 2
New rule:
l22 -> l26 : t_24^0'=head_15^0, a_212^0'=a_234^0, ((1-y_20^0+head_15^0 <= 0 \/ 1+y_20^0-head_15^0 <= 0 \/ (1-y_20^0+head_15^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0)) /\ ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0))), cost: 4

Applied simplification
Original rule:
l22 -> l26 : t_24^0'=head_15^0, a_212^0'=a_234^0, ((1-y_20^0+head_15^0 <= 0 \/ 1+y_20^0-head_15^0 <= 0 \/ (1-y_20^0+head_15^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0)) /\ ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0))), cost: 4
New rule:
l22 -> l26 : t_24^0'=head_15^0, a_212^0'=a_234^0, ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0)), cost: 4

Applied deletion
Removed the following rules: 193 196

Eliminating location l26 by chaining:

Applied chaining
First rule:
l22 -> l26 : t_24^0'=head_15^0, a_212^0'=a_234^0, ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0)), cost: 4
Second rule:
l26 -> l2 : len_129^0'=1+a_212^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l22 -> l2 : t_24^0'=head_15^0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0))), cost: 5

Applied deletion
Removed the following rules: 126 201

Eliminating location l6 by chaining:

Applied chaining
First rule:
l2 -> l6 : x_17^0'=x_17^post2, x_SLAM_f_19^0'=x_SLAM_f_19^post2, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, ((a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0)), cost: 2
Second rule:
l6 -> l8 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0 /\ y_20^0 == 0)), cost: 2
New rule:
l2 -> l8 : x_17^0'=x_17^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (((a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0)) /\ ((ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ 1+head_15^post2 <= 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0) \/ (-1+head_15^post2 >= 0 /\ ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0))), cost: 4

Applied simplification
Original rule:
l2 -> l8 : x_17^0'=x_17^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (((a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0)) /\ ((ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ 1+head_15^post2 <= 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0) \/ (-1+head_15^post2 >= 0 /\ ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0))), cost: 4
New rule:
l2 -> l8 : x_17^0'=x_17^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (((-1+head_15^post2 >= 0 /\ ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0) \/ (ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ 1+head_15^post2 <= 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0)) /\ ((a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0))), cost: 4

Applied deletion
Removed the following rules: 188 189

Eliminating location l8 by chaining:

Applied chaining
First rule:
l2 -> l8 : x_17^0'=x_17^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (((-1+head_15^post2 >= 0 /\ ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0) \/ (ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ 1+head_15^post2 <= 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0)) /\ ((a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0))), cost: 4
Second rule:
l8 -> l10 : ((1-t_24^0+y_20^0 <= 0 /\ 1+y_20^0-head_15^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0) \/ (1+y_20^0-head_15^0 <= 0 /\ 1+t_24^0-y_20^0 <= 0) \/ (1-y_20^0+head_15^0 <= 0 /\ 1-t_24^0+y_20^0 <= 0)), cost: 2
New rule:
l2 -> l10 : x_17^0'=x_17^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (((-1+head_15^post2 >= 0 /\ ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0) \/ (ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ 1+head_15^post2 <= 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0)) /\ ((1-x_21^0+y_20^0 <= 0 /\ 1+head_15^post2-y_20^0 <= 0) \/ (1-head_15^post2+y_20^0 <= 0 /\ 1+x_21^0-y_20^0 <= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ 1-head_15^post2+y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1+head_15^post2-y_20^0 <= 0)) /\ ((a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0))), cost: 6

Applied simplification
Original rule:
l2 -> l10 : x_17^0'=x_17^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (((-1+head_15^post2 >= 0 /\ ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0) \/ (ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ 1+head_15^post2 <= 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0)) /\ ((1-x_21^0+y_20^0 <= 0 /\ 1+head_15^post2-y_20^0 <= 0) \/ (1-head_15^post2+y_20^0 <= 0 /\ 1+x_21^0-y_20^0 <= 0) \/ (1-x_21^0+y_20^0 <= 0 /\ 1-head_15^post2+y_20^0 <= 0) \/ (1+x_21^0-y_20^0 <= 0 /\ 1+head_15^post2-y_20^0 <= 0)) /\ ((a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0))), cost: 6
New rule:
l2 -> l10 : x_17^0'=x_17^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0 /\ (1-head_15^post2+y_20^0 <= 0 \/ 1+head_15^post2-y_20^0 <= 0) /\ ((a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0))), cost: 6

Applied deletion
Removed the following rules: 192 203

Eliminating location l10 by chaining:

Applied chaining
First rule:
l2 -> l10 : x_17^0'=x_17^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0 /\ (1-head_15^post2+y_20^0 <= 0 \/ 1+head_15^post2-y_20^0 <= 0) /\ ((a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0))), cost: 6
Second rule:
l10 -> l2 : a_234^0'=a_257^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 2
New rule:
l2 -> l2 : x_17^0'=x_17^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=-1+a_234^0, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0 /\ (1-head_15^post2+y_20^0 <= 0 \/ 1+head_15^post2-y_20^0 <= 0) /\ ((a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0))), cost: 8

Applied deletion
Removed the following rules: 155 204

Eliminated locations on linear paths
Start location: l65
 205: l2 -> l2 : x_17^0'=x_17^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=-1+a_234^0, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0 /\ (1-head_15^post2+y_20^0 <= 0 \/ 1+head_15^post2-y_20^0 <= 0) /\ ((a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0))), cost: 8
 202: l22 -> l2 : t_24^0'=head_15^0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0))), cost: 5
 197: l41 -> l43 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, ((1+head_15^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0) \/ (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0)), cost: 2
 200: l41 -> l48 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (((f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0) \/ (f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 4
 168: l43 -> l22 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (1-x_21^0+y_20^0 <= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 169: l43 -> l22 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (len_129^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 186: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (-1+x_172^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 187: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (1+x_172^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 162: l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 163: l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 160: l65 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
 161: l65 -> l62 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10


Applied simplification
Original rule:
l2 -> l2 : x_17^0'=x_17^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=-1+a_234^0, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=ct_18^post2, x_14^0'=x_14^post2, head_15^0'=head_15^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ ct_18^post2-y_20^0 == 0 /\ x_14^post2 == 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ y_20^0 == 0 /\ x_17^post2-head_15^post2 == 0 /\ (1-head_15^post2+y_20^0 <= 0 \/ 1+head_15^post2-y_20^0 <= 0) /\ ((a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0))), cost: 8
New rule:
l2 -> l2 : x_17^0'=x_SLAM_f_19^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=-1+a_234^0, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=0, x_14^0'=0, head_15^0'=x_17^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ y_20^0 == 0 /\ (1+x_17^post2-y_20^0 <= 0 \/ 1-x_17^post2+y_20^0 <= 0) /\ ((a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0))), cost: 8

Simplified simple loops
Start location: l65
 206: l2 -> l2 : x_17^0'=x_SLAM_f_19^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=-1+a_234^0, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=0, x_14^0'=0, head_15^0'=x_17^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ y_20^0 == 0 /\ (1+x_17^post2-y_20^0 <= 0 \/ 1-x_17^post2+y_20^0 <= 0) /\ ((a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0))), cost: 8
 202: l22 -> l2 : t_24^0'=head_15^0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0))), cost: 5
 197: l41 -> l43 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, ((1+head_15^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0) \/ (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0)), cost: 2
 200: l41 -> l48 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (((f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0) \/ (f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 4
 168: l43 -> l22 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (1-x_21^0+y_20^0 <= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 169: l43 -> l22 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (len_129^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 186: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (-1+x_172^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 187: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (1+x_172^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 162: l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 163: l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 160: l65 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
 161: l65 -> l62 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10


Applied acceleration
Original rule:
l2 -> l2 : x_17^0'=x_SLAM_f_19^post2, a_257^0'=-1+a_234^0, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=-1+a_234^0, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=0, x_14^0'=0, head_15^0'=x_17^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ x_SLAM_f_19^post2-x_17^post2 == 0 /\ y_20^0 == 0 /\ (1+x_17^post2-y_20^0 <= 0 \/ 1-x_17^post2+y_20^0 <= 0) /\ ((a_234^0 >= 0 /\ 1-x_21^0+y_20^0 <= 0) \/ (a_234^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0))), cost: 8
New rule:
l2 -> l2 : x_17^0'=x_SLAM_f_19^post2, a_257^0'=a_234^0-n3, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=a_234^0-n3, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=0, x_14^0'=0, head_15^0'=x_17^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ -1+n3 >= 0 /\ x_SLAM_f_19^post2-x_17^post2 >= 0 /\ y_20^0 >= 0 /\ -y_20^0 >= 0 /\ -x_SLAM_f_19^post2+x_17^post2 >= 0 /\ ((1+a_234^0-n3 >= 0 /\ -1-x_21^0+y_20^0 >= 0) \/ (-1+x_21^0-y_20^0 >= 0 /\ 1+a_234^0-n3 >= 0)) /\ (-1-x_17^post2+y_20^0 >= 0 \/ -1+x_17^post2-y_20^0 >= 0)), cost: 8*n3

Applied instantiation
Original rule:
l2 -> l2 : x_17^0'=x_SLAM_f_19^post2, a_257^0'=a_234^0-n3, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=a_234^0-n3, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=0, x_14^0'=0, head_15^0'=x_17^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ -1+n3 >= 0 /\ x_SLAM_f_19^post2-x_17^post2 >= 0 /\ y_20^0 >= 0 /\ -y_20^0 >= 0 /\ -x_SLAM_f_19^post2+x_17^post2 >= 0 /\ ((1+a_234^0-n3 >= 0 /\ -1-x_21^0+y_20^0 >= 0) \/ (-1+x_21^0-y_20^0 >= 0 /\ 1+a_234^0-n3 >= 0)) /\ (-1-x_17^post2+y_20^0 >= 0 \/ -1+x_17^post2-y_20^0 >= 0)), cost: 8*n3
New rule:
l2 -> l2 : x_17^0'=x_SLAM_f_19^post2, a_257^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=-1, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=0, x_14^0'=0, head_15^0'=x_17^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ x_SLAM_f_19^post2-x_17^post2 >= 0 /\ y_20^0 >= 0 /\ -y_20^0 >= 0 /\ -x_SLAM_f_19^post2+x_17^post2 >= 0 /\ ((0 >= 0 /\ -1+x_21^0-y_20^0 >= 0) \/ (0 >= 0 /\ -1-x_21^0+y_20^0 >= 0)) /\ (-1-x_17^post2+y_20^0 >= 0 \/ -1+x_17^post2-y_20^0 >= 0)), cost: 8+8*a_234^0

Applied simplification
Original rule:
l2 -> l2 : x_17^0'=x_SLAM_f_19^post2, a_257^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=-1, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=0, x_14^0'=0, head_15^0'=x_17^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ x_SLAM_f_19^post2-x_17^post2 >= 0 /\ y_20^0 >= 0 /\ -y_20^0 >= 0 /\ -x_SLAM_f_19^post2+x_17^post2 >= 0 /\ ((0 >= 0 /\ -1+x_21^0-y_20^0 >= 0) \/ (0 >= 0 /\ -1-x_21^0+y_20^0 >= 0)) /\ (-1-x_17^post2+y_20^0 >= 0 \/ -1+x_17^post2-y_20^0 >= 0)), cost: 8+8*a_234^0
New rule:
l2 -> l2 : x_17^0'=x_SLAM_f_19^post2, a_257^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=-1, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=0, x_14^0'=0, head_15^0'=x_17^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ x_SLAM_f_19^post2-x_17^post2 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0 /\ -x_SLAM_f_19^post2+x_17^post2 >= 0 /\ ((0 >= 0 /\ -1-x_21^0+y_20^0 >= 0) \/ -1+x_21^0-y_20^0 >= 0) /\ (-1-x_17^post2+y_20^0 >= 0 \/ -1+x_17^post2-y_20^0 >= 0)), cost: 8+8*a_234^0

Applied deletion
Removed the following rules: 206

Accelerated simple loops
Start location: l65
 208: l2 -> l2 : x_17^0'=x_SLAM_f_19^post2, a_257^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=-1, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=0, x_14^0'=0, head_15^0'=x_17^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ x_SLAM_f_19^post2-x_17^post2 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0 /\ -x_SLAM_f_19^post2+x_17^post2 >= 0 /\ ((0 >= 0 /\ -1-x_21^0+y_20^0 >= 0) \/ -1+x_21^0-y_20^0 >= 0) /\ (-1-x_17^post2+y_20^0 >= 0 \/ -1+x_17^post2-y_20^0 >= 0)), cost: 8+8*a_234^0
 202: l22 -> l2 : t_24^0'=head_15^0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0))), cost: 5
 197: l41 -> l43 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, ((1+head_15^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0) \/ (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0)), cost: 2
 200: l41 -> l48 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (((f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0) \/ (f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 4
 168: l43 -> l22 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (1-x_21^0+y_20^0 <= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 169: l43 -> l22 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (len_129^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 186: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (-1+x_172^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 187: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (1+x_172^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 162: l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 163: l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 160: l65 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
 161: l65 -> l62 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10


Applied chaining
First rule:
l22 -> l2 : t_24^0'=head_15^0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0))), cost: 5
Second rule:
l2 -> l2 : x_17^0'=x_SLAM_f_19^post2, a_257^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=-1, r_37^0'=r_37^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=0, x_14^0'=0, head_15^0'=x_17^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ x_SLAM_f_19^post2-x_17^post2 >= 0 /\ y_20^0 <= 0 /\ y_20^0 >= 0 /\ -x_SLAM_f_19^post2+x_17^post2 >= 0 /\ ((0 >= 0 /\ -1-x_21^0+y_20^0 >= 0) \/ -1+x_21^0-y_20^0 >= 0) /\ (-1-x_17^post2+y_20^0 >= 0 \/ -1+x_17^post2-y_20^0 >= 0)), cost: 8+8*a_234^0
New rule:
l22 -> l2 : x_17^0'=x_SLAM_f_19^post2, a_257^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=-1, r_37^0'=r_37^post2, len_129^0'=1+a_234^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=0, x_14^0'=0, a_212^0'=a_234^0, head_15^0'=x_17^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ x_SLAM_f_19^post2-x_17^post2 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -x_SLAM_f_19^post2+x_17^post2 >= 0 /\ (-1-x_17^post2+y_20^0 >= 0 \/ -1+x_17^post2-y_20^0 >= 0) /\ ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0))), cost: 13+8*a_234^0

Applied deletion
Removed the following rules: 208

Chained accelerated rules with incoming rules
Start location: l65
 202: l22 -> l2 : t_24^0'=head_15^0, len_129^0'=1+a_234^0, a_212^0'=a_234^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0))), cost: 5
 209: l22 -> l2 : x_17^0'=x_SLAM_f_19^post2, a_257^0'=-1, x_SLAM_f_19^0'=x_SLAM_f_19^post2, t_24^0'=x_21^0, a_234^0'=-1, r_37^0'=r_37^post2, len_129^0'=1+a_234^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, ct_18^0'=0, x_14^0'=0, a_212^0'=a_234^0, head_15^0'=x_17^post2, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 >= 0 /\ a_234^0 >= 0 /\ x_SLAM_f_19^post2-x_17^post2 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -x_SLAM_f_19^post2+x_17^post2 >= 0 /\ (-1-x_17^post2+y_20^0 >= 0 \/ -1+x_17^post2-y_20^0 >= 0) /\ ((x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ ct_18^0-y_20^0 == 0 /\ -1+head_15^0 >= 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0) \/ (x_17^0-head_15^0 == 0 /\ -x_17^0+x_SLAM_f_19^0 == 0 /\ 1+head_15^0 <= 0 /\ ct_18^0-y_20^0 == 0 /\ -x_21^0+head_15^0 == 0 /\ x_14^0 == 0 /\ y_20^0 == 0))), cost: 13+8*a_234^0
 197: l41 -> l43 : x_17^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, x_21^0'=head_15^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, ct_18^0'=0, y_20^0'=0, ((1+head_15^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0 /\ x_14^0 == 0) \/ (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+head_15^0 >= 0 /\ x_14^0 == 0)), cost: 2
 200: l41 -> l48 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (((f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0) \/ (f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 4
 168: l43 -> l22 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (1-x_21^0+y_20^0 <= 0 /\ len_129^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 169: l43 -> l22 : x_17^0'=x_17^post29, x_SLAM_f_19^0'=x_SLAM_f_19^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, ct_18^0'=ct_18^post29, x_14^0'=x_14^post29, head_15^0'=head_15^post29, (len_129^0 >= 0 /\ 1+x_21^0-y_20^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 186: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (-1+x_172^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 187: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (1+x_172^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 162: l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 163: l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 160: l65 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
 161: l65 -> l62 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10


Removed unreachable locations and irrelevant leafs
Start location: l65
 200: l41 -> l48 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (((f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0) \/ (f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 4
 186: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (-1+x_172^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 187: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (1+x_172^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
 162: l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 163: l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
 160: l65 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
 161: l65 -> l62 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10


Eliminating location l62 by chaining:

Applied chaining
First rule:
l65 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
Second rule:
l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
New rule:
l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+temp_33^post101 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 7

Applied chaining
First rule:
l65 -> l62 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 5
Second rule:
l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
New rule:
l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_33^post101 <= 0), cost: 7

Applied chaining
First rule:
l65 -> l62 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10
Second rule:
l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+head_15^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
New rule:
l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -1+temp_33^post98 >= 0 /\ -4+nondet_12^10 >= 0), cost: 3+2*nondet_12^10

Applied chaining
First rule:
l65 -> l62 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 1+2*nondet_12^10
Second rule:
l62 -> l41 : (-i_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ 1+head_15^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_164^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 2
New rule:
l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ 1+temp_33^post98 <= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 3+2*nondet_12^10

Applied deletion
Removed the following rules: 160 161 162 163

Eliminating location l48 by chaining:

Applied chaining
First rule:
l41 -> l48 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (((f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0) \/ (f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 4
Second rule:
l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (-1+x_172^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
New rule:
l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0) \/ (f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 7

Applied simplification
Original rule:
l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0) \/ (f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 7
New rule:
l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0)) /\ ((f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0) \/ (f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0))), cost: 7

Applied chaining
First rule:
l41 -> l48 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (((f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0) \/ (f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 4
Second rule:
l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, (1+x_172^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0), cost: 3
New rule:
l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ ((f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0) \/ (f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 7

Applied simplification
Original rule:
l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ ((f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0) \/ (f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 7
New rule:
l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ ((f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0) \/ (f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 7

Applied deletion
Removed the following rules: 186 187 200

Eliminated locations on tree-shaped paths
Start location: l65
 214: l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0)) /\ ((f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0) \/ (f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0))), cost: 7
 215: l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ ((f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0) \/ (f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 7
 210: l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+temp_33^post101 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 7
 211: l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_33^post101 <= 0), cost: 7
 212: l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -1+temp_33^post98 >= 0 /\ -4+nondet_12^10 >= 0), cost: 3+2*nondet_12^10
 213: l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ 1+temp_33^post98 <= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 3+2*nondet_12^10


Applied simplification
Original rule:
l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0)) /\ ((f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0) \/ (f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0))), cost: 7
New rule:
l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0)) /\ ((0 == 0 /\ -1+head_15^post65 >= 0) \/ 1+head_15^post65 <= 0)), cost: 7

Applied simplification
Original rule:
l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post65, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ ((f_167^post65-x_14^0 == 0 /\ 1+head_15^post65 <= 0) \/ (f_167^post65-x_14^0 == 0 /\ -1+head_15^post65 >= 0)) /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0))), cost: 7
New rule:
l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ ((1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0) \/ (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((0 == 0 /\ 1+head_15^post65 <= 0) \/ -1+head_15^post65 >= 0)), cost: 7

Simplified simple loops
Start location: l65
 216: l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0)) /\ ((0 == 0 /\ -1+head_15^post65 >= 0) \/ 1+head_15^post65 <= 0)), cost: 7
 217: l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ ((1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0) \/ (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((0 == 0 /\ 1+head_15^post65 <= 0) \/ -1+head_15^post65 >= 0)), cost: 7
 210: l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+temp_33^post101 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 7
 211: l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_33^post101 <= 0), cost: 7
 212: l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -1+temp_33^post98 >= 0 /\ -4+nondet_12^10 >= 0), cost: 3+2*nondet_12^10
 213: l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ 1+temp_33^post98 <= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 3+2*nondet_12^10


Applied acceleration
Original rule:
l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0)) /\ ((0 == 0 /\ -1+head_15^post65 >= 0) \/ 1+head_15^post65 <= 0)), cost: 7
New rule:
l41 -> l41 : a_181^0'=a_144^0-n7, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=n7+len_129^0, r_37^0'=r_37^post65, a_144^0'=a_144^0-n7, len_129^0'=n7+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+n7 >= 0 /\ -1+x_172^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((-1-x_14^0 >= 0 /\ len_129^0 >= 0 /\ 1+a_144^0-n7 >= 0) \/ (len_129^0 >= 0 /\ -1+x_14^0 >= 0 /\ 1+a_144^0-n7 >= 0)) /\ ((0 >= 0 /\ -1+head_15^post65 >= 0) \/ -1-head_15^post65 >= 0)), cost: 7*n7

Applied instantiation
Original rule:
l41 -> l41 : a_181^0'=a_144^0-n7, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=n7+len_129^0, r_37^0'=r_37^post65, a_144^0'=a_144^0-n7, len_129^0'=n7+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+n7 >= 0 /\ -1+x_172^post65 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((-1-x_14^0 >= 0 /\ len_129^0 >= 0 /\ 1+a_144^0-n7 >= 0) \/ (len_129^0 >= 0 /\ -1+x_14^0 >= 0 /\ 1+a_144^0-n7 >= 0)) /\ ((0 >= 0 /\ -1+head_15^post65 >= 0) \/ -1-head_15^post65 >= 0)), cost: 7*n7
New rule:
l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ (-1-head_15^post65 >= 0 \/ (0 >= 0 /\ -1+head_15^post65 >= 0)) /\ ((0 >= 0 /\ -1-x_14^0 >= 0 /\ len_129^0 >= 0) \/ (0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 7+7*a_144^0

Applied acceleration
Original rule:
l41 -> l41 : a_181^0'=-1+a_144^0, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1+a_144^0, len_129^0'=1+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ ((1+x_14^0 <= 0 /\ a_144^0 >= 0 /\ len_129^0 >= 0) \/ (a_144^0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0)) /\ ((0 == 0 /\ 1+head_15^post65 <= 0) \/ -1+head_15^post65 >= 0)), cost: 7
New rule:
l41 -> l41 : a_181^0'=a_144^0-n9, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=len_129^0+n9, r_37^0'=r_37^post65, a_144^0'=a_144^0-n9, len_129^0'=len_129^0+n9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+n9 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -1-x_172^post65 >= 0 /\ ((1+a_144^0-n9 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (-1-x_14^0 >= 0 /\ 1+a_144^0-n9 >= 0 /\ len_129^0 >= 0)) /\ ((0 >= 0 /\ -1-head_15^post65 >= 0) \/ -1+head_15^post65 >= 0)), cost: 7*n9

Applied instantiation
Original rule:
l41 -> l41 : a_181^0'=a_144^0-n9, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=len_129^0+n9, r_37^0'=r_37^post65, a_144^0'=a_144^0-n9, len_129^0'=len_129^0+n9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+n9 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -1-x_172^post65 >= 0 /\ ((1+a_144^0-n9 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (-1-x_14^0 >= 0 /\ 1+a_144^0-n9 >= 0 /\ len_129^0 >= 0)) /\ ((0 >= 0 /\ -1-head_15^post65 >= 0) \/ -1+head_15^post65 >= 0)), cost: 7*n9
New rule:
l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -1-x_172^post65 >= 0 /\ (-1+head_15^post65 >= 0 \/ (0 >= 0 /\ -1-head_15^post65 >= 0)) /\ ((0 >= 0 /\ -1-x_14^0 >= 0 /\ len_129^0 >= 0) \/ (0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 7+7*a_144^0

Applied simplification
Original rule:
l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ (-1-head_15^post65 >= 0 \/ (0 >= 0 /\ -1+head_15^post65 >= 0)) /\ ((0 >= 0 /\ -1-x_14^0 >= 0 /\ len_129^0 >= 0) \/ (0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 7+7*a_144^0
New rule:
l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ 1+x_14^0 <= 0 /\ len_129^0 >= 0)) /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 7+7*a_144^0

Applied simplification
Original rule:
l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ -1-x_172^post65 >= 0 /\ (-1+head_15^post65 >= 0 \/ (0 >= 0 /\ -1-head_15^post65 >= 0)) /\ ((0 >= 0 /\ -1-x_14^0 >= 0 /\ len_129^0 >= 0) \/ (0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0))), cost: 7+7*a_144^0
New rule:
l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0) /\ ((0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ 1+x_14^0 <= 0 /\ len_129^0 >= 0))), cost: 7+7*a_144^0

Applied deletion
Removed the following rules: 216 217

Accelerated simple loops
Start location: l65
 220: l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ 1+x_14^0 <= 0 /\ len_129^0 >= 0)) /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 7+7*a_144^0
 221: l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0) /\ ((0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ 1+x_14^0 <= 0 /\ len_129^0 >= 0))), cost: 7+7*a_144^0
 210: l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+temp_33^post101 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 7
 211: l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_33^post101 <= 0), cost: 7
 212: l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -1+temp_33^post98 >= 0 /\ -4+nondet_12^10 >= 0), cost: 3+2*nondet_12^10
 213: l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ 1+temp_33^post98 <= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 3+2*nondet_12^10


Applied chaining
First rule:
l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+temp_33^post101 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 7
Second rule:
l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ 1+x_14^0 <= 0 /\ len_129^0 >= 0)) /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 7+7*a_144^0
New rule:
l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post101, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+temp_33^post101 >= 0 /\ -1+x_172^post65 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 14+7*a_144^0

Applied chaining
First rule:
l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_33^post101 <= 0), cost: 7
Second rule:
l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ 1+x_14^0 <= 0 /\ len_129^0 >= 0)) /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 7+7*a_144^0
New rule:
l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post101, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+x_172^post65 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_33^post101 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 14+7*a_144^0

Applied chaining
First rule:
l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -1+temp_33^post98 >= 0 /\ -4+nondet_12^10 >= 0), cost: 3+2*nondet_12^10
Second rule:
l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ 1+x_14^0 <= 0 /\ len_129^0 >= 0)) /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 7+7*a_144^0
New rule:
l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post98, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+x_172^post65 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -1+temp_33^post98 >= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 10+2*nondet_12^10+7*a_144^0

Applied chaining
First rule:
l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ 1+temp_33^post98 <= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 3+2*nondet_12^10
Second rule:
l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (-1+x_172^post65 >= 0 /\ a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ ((0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ 1+x_14^0 <= 0 /\ len_129^0 >= 0)) /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 7+7*a_144^0
New rule:
l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post98, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ 1+temp_33^post98 <= 0 /\ -1+x_172^post65 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 10+2*nondet_12^10+7*a_144^0

Applied chaining
First rule:
l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+temp_33^post101 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 7
Second rule:
l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0) /\ ((0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ 1+x_14^0 <= 0 /\ len_129^0 >= 0))), cost: 7+7*a_144^0
New rule:
l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post101, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+temp_33^post101 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 14+7*a_144^0

Applied chaining
First rule:
l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_33^post101 <= 0), cost: 7
Second rule:
l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0) /\ ((0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ 1+x_14^0 <= 0 /\ len_129^0 >= 0))), cost: 7+7*a_144^0
New rule:
l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post101, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_33^post101 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 14+7*a_144^0

Applied chaining
First rule:
l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -1+temp_33^post98 >= 0 /\ -4+nondet_12^10 >= 0), cost: 3+2*nondet_12^10
Second rule:
l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0) /\ ((0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ 1+x_14^0 <= 0 /\ len_129^0 >= 0))), cost: 7+7*a_144^0
New rule:
l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post98, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -1+temp_33^post98 >= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 10+2*nondet_12^10+7*a_144^0

Applied chaining
First rule:
l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ 1+temp_33^post98 <= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 3+2*nondet_12^10
Second rule:
l41 -> l41 : a_181^0'=-1, f_167^0'=x_14^0, x_172^0'=x_172^post65, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, head_15^0'=head_15^post65, (a_144^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0) /\ ((0 >= 0 /\ len_129^0 >= 0 /\ -1+x_14^0 >= 0) \/ (0 >= 0 /\ 1+x_14^0 <= 0 /\ len_129^0 >= 0))), cost: 7+7*a_144^0
New rule:
l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post98, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ 1+temp_33^post98 <= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 10+2*nondet_12^10+7*a_144^0

Applied deletion
Removed the following rules: 220 221

Chained accelerated rules with incoming rules
Start location: l65
 210: l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+temp_33^post101 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0), cost: 7
 211: l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=temp_33^post101, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_33^post101 <= 0), cost: 7
 212: l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -1+temp_33^post98 >= 0 /\ -4+nondet_12^10 >= 0), cost: 3+2*nondet_12^10
 213: l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, i_28^0'=a_144^0, result_11^0'=result_11^post94, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post94, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=temp_33^post98, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ 1+temp_33^post98 <= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -4+nondet_12^10 >= 0), cost: 3+2*nondet_12^10
 222: l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post101, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+temp_33^post101 >= 0 /\ -1+x_172^post65 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 14+7*a_144^0
 223: l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post101, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+x_172^post65 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_33^post101 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 14+7*a_144^0
 224: l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post98, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+x_172^post65 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -1+temp_33^post98 >= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 10+2*nondet_12^10+7*a_144^0
 225: l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post98, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ 1+temp_33^post98 <= 0 /\ -1+x_172^post65 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 10+2*nondet_12^10+7*a_144^0
 226: l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post101, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -1+temp_33^post101 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 14+7*a_144^0
 227: l65 -> l41 : result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post101, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post101, i_164^0'=i_164^post94, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -2+nondet_12^10 <= 0 /\ -2+nondet_12^10 >= 0 /\ 1+temp_33^post101 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 14+7*a_144^0
 228: l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post98, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -1+temp_33^post98 >= 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 10+2*nondet_12^10+7*a_144^0
 229: l65 -> l41 : i_92^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post94, length_27^0'=length_27^post94, temp_33^0'=temp_33^post94, rcd_56^0'=rcd_56^post60, a_181^0'=-1, f_167^0'=temp_33^post98, x_172^0'=x_172^post65, i_28^0'=a_144^0, result_11^0'=result_11^post94, len_180^0'=1+a_144^0+len_129^0, temp0_29^0'=temp0_29^post94, head_30^0'=head_30^post94, r_37^0'=r_37^post65, a_144^0'=-1, len_129^0'=1+a_144^0+len_129^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, nondet_12^0'=nondet_12^post0, tmp_32^0'=tmp_32^post94, x_14^0'=temp_33^post98, i_164^0'=i_164^post94, rcd_86^0'=rcd_86^post98, head_15^0'=head_15^post65, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 >= 0 /\ 1+temp_33^post98 <= 0 /\ -a_144^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ -i_164^post94+result_dot_nondet_sdv_special_RETURN_VALUE_13^post94 <= 0 /\ len_129^0 == 0 /\ -4+nondet_12^10 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ 1+x_172^post65 <= 0 /\ (1+head_15^post65 <= 0 \/ -1+head_15^post65 >= 0)), cost: 10+2*nondet_12^10+7*a_144^0


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


Computing asymptotic complexity

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

Solved cost: 0
Rule cost:   0