WORST_CASE(Omega(0),?) Initial ITS Start location: l66 0: l0 -> l2 : __disjvr_0^0'=__disjvr_0^post0, a_253^0'=a_253^post0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post0, __disjvr_21^0'=__disjvr_21^post0, x_27^0'=x_27^post0, __disjvr_3^0'=__disjvr_3^post0, rcd_220^0'=rcd_220^post0, __disjvr_14^0'=__disjvr_14^post0, head_33^0'=head_33^post0, __disjvr_24^0'=__disjvr_24^post0, temp_36^0'=temp_36^post0, r_192^0'=r_192^post0, __disjvr_8^0'=__disjvr_8^post0, a_139^0'=a_139^post0, result_11^0'=result_11^post0, __disjvr_19^0'=__disjvr_19^post0, i_31^0'=i_31^post0, __disjvr_29^0'=__disjvr_29^post0, x_22^0'=x_22^post0, rcd_193^0'=rcd_193^post0, __disjvr_11^0'=__disjvr_11^post0, a_309^0'=a_309^post0, tail_15^0'=tail_15^post0, length_29^0'=length_29^post0, x_SLAM_f_25^0'=x_SLAM_f_25^post0, __disjvr_5^0'=__disjvr_5^post0, rcd_288^0'=rcd_288^post0, __disjvr_16^0'=__disjvr_16^post0, i_112^0'=i_112^post0, __disjvr_26^0'=__disjvr_26^post0, tmp_35^0'=tmp_35^post0, rcd_106^0'=rcd_106^post0, a_222^0'=a_222^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post0, __disjvr_20^0'=__disjvr_20^post0, len_221^0'=len_221^post0, __disjvr_30^0'=__disjvr_30^post0, rcd_199^0'=rcd_199^post0, __disjvr_13^0'=__disjvr_13^post0, head_16^0'=head_16^post0, __disjvr_23^0'=__disjvr_23^post0, temp0_32^0'=temp0_32^post0, r_149^0'=r_149^post0, y_26^0'=y_26^post0, __disjvr_7^0'=__disjvr_7^post0, rcd_320^0'=rcd_320^post0, rcd_71^0'=rcd_71^post0, __disjvr_18^0'=__disjvr_18^post0, i_198^0'=i_198^post0, __disjvr_28^0'=__disjvr_28^post0, x_207^0'=x_207^post0, rcd_185^0'=rcd_185^post0, __disjvr_10^0'=__disjvr_10^post0, a_279^0'=a_279^post0, t_23^0'=t_23^post0, __disjvr_22^0'=__disjvr_22^post0, x_SLAM_f_20^0'=x_SLAM_f_20^post0, __disjvr_4^0'=__disjvr_4^post0, rcd_284^0'=rcd_284^post0, __disjvr_15^0'=__disjvr_15^post0, head_SLAM_f_30^0'=head_SLAM_f_30^post0, __disjvr_25^0'=__disjvr_25^post0, temp_37^0'=temp_37^post0, r_41^0'=r_41^post0, __disjvr_9^0'=__disjvr_9^post0, a_174^0'=a_174^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post0, __disjvr_1^0'=__disjvr_1^post0, len_159^0'=len_159^post0, __disjvr_2^0'=__disjvr_2^post0, rcd_194^0'=rcd_194^post0, __disjvr_12^0'=__disjvr_12^post0, f_202^0'=f_202^post0, temp0_19^0'=temp0_19^post0, nondet_12^0'=nondet_12^post0, y_21^0'=y_21^post0, __disjvr_6^0'=__disjvr_6^post0, rcd_308^0'=rcd_308^post0, rcd_45^0'=rcd_45^post0, __disjvr_17^0'=__disjvr_17^post0, i_130^0'=i_130^post0, __disjvr_27^0'=__disjvr_27^post0, x_154^0'=x_154^post0, rcd_114^0'=rcd_114^post0, (0 == 0 /\ x_22^0-x_22^post0 == 0 /\ -rcd_114^post0+rcd_114^0 == 0 /\ -t_23^post0+t_23^0 == 0 /\ __disjvr_5^0-__disjvr_5^post0 == 0 /\ a_222^0-a_222^post0 == 0 /\ rcd_106^0-rcd_106^post0 == 0 /\ __disjvr_13^0-__disjvr_13^post0 == 0 /\ __disjvr_18^0-__disjvr_18^post0 == 0 /\ __disjvr_20^0-__disjvr_20^post0 == 0 /\ -__disjvr_28^post0+__disjvr_28^0 == 0 /\ rcd_199^0-rcd_199^post0 == 0 /\ __disjvr_3^0-__disjvr_3^post0 == 0 /\ tmp_35^0-tmp_35^post0 == 0 /\ -i_31^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post0 == 0 /\ a_174^0-a_174^post0 == 0 /\ -f_202^post0+f_202^0 == 0 /\ -temp_37^post0+temp_37^0 == 0 /\ -__disjvr_7^post0+__disjvr_7^0 == 0 /\ -__disjvr_27^post0+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_14^0-__disjvr_14^post0 == 0 /\ rcd_320^0-rcd_320^post0 == 0 /\ __disjvr_26^0-__disjvr_26^post0 == 0 /\ -len_221^post0+len_221^0 == 0 /\ i_112^0-i_112^post0 == 0 /\ -__disjvr_16^post0+__disjvr_16^0 == 0 /\ -__disjvr_2^post0+__disjvr_2^0 == 0 /\ a_309^0-a_309^post0 == 0 /\ __disjvr_23^0-__disjvr_23^post0 == 0 /\ -len_159^post0+len_159^0 == 0 /\ -temp0_32^post0+temp0_32^0 == 0 /\ -__disjvr_1^post0+__disjvr_1^0 == 0 /\ length_29^0-length_29^post0 == 0 /\ -rcd_71^post0+rcd_71^0 == 0 /\ -__disjvr_4^post0+__disjvr_4^0 == 0 /\ temp_36^0-temp_36^post0 == 0 /\ y_21^0-y_21^post0 == 0 /\ x_27^0-x_27^post0 == 0 /\ -head_SLAM_f_30^post0+head_SLAM_f_30^0 == 0 /\ -__disjvr_17^post0+__disjvr_17^0 == 0 /\ __disjvr_24^0-__disjvr_24^post0 == 0 /\ -x_154^post0+x_154^0 == 0 /\ -__disjvr_22^post0+__disjvr_22^0 == 0 /\ __disjvr_0^0-__disjvr_0^post0 == 0 /\ rcd_220^0-rcd_220^post0 == 0 /\ -rcd_194^post0+rcd_194^0 == 0 /\ -y_26^post0+y_26^0 == 0 /\ __disjvr_19^0-__disjvr_19^post0 == 0 /\ -__disjvr_10^post0+__disjvr_10^0 == 0 /\ -x_207^post0+x_207^0 == 0 /\ -__disjvr_8^post0+__disjvr_8^0 == 0 /\ -result_11^post0+result_11^0 == 0 /\ -__disjvr_9^post0+__disjvr_9^0 == 0 /\ -rcd_308^post0+rcd_308^0 == 0 /\ -r_149^post0+r_149^0 == 0 /\ a_279^0-a_279^post0 == 0 /\ -x_SLAM_f_20^post0+x_SLAM_f_20^0 == 0 /\ i_31^0-i_31^post0 == 0 /\ __disjvr_15^0-__disjvr_15^post0 == 0 /\ __disjvr_25^0-__disjvr_25^post0 == 0 /\ -__disjvr_12^post0+__disjvr_12^0 == 0 /\ -nondet_12^post0+nondet_12^0 == 0 /\ -__disjvr_29^post0+__disjvr_29^0 == 0 /\ -rcd_45^post0+rcd_45^0 == 0 /\ i_198^0-i_198^post0 == 0 /\ a_139^0-a_139^post0 == 0 /\ a_253^0-a_253^post0 == 0 /\ -__disjvr_6^post0+__disjvr_6^0 == 0 /\ -rcd_284^post0+rcd_284^0 == 0 /\ rcd_288^0-rcd_288^post0 == 0 /\ __disjvr_30^0-__disjvr_30^post0 == 0 /\ head_33^0-head_33^post0 == 0 /\ -temp0_19^post0+temp0_19^0 == 0 /\ __disjvr_11^0-__disjvr_11^post0 == 0), cost: 1 1: l2 -> l3 : __disjvr_0^0'=__disjvr_0^post1, a_253^0'=a_253^post1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post1, __disjvr_21^0'=__disjvr_21^post1, x_27^0'=x_27^post1, __disjvr_3^0'=__disjvr_3^post1, rcd_220^0'=rcd_220^post1, __disjvr_14^0'=__disjvr_14^post1, head_33^0'=head_33^post1, __disjvr_24^0'=__disjvr_24^post1, temp_36^0'=temp_36^post1, r_192^0'=r_192^post1, __disjvr_8^0'=__disjvr_8^post1, a_139^0'=a_139^post1, result_11^0'=result_11^post1, __disjvr_19^0'=__disjvr_19^post1, i_31^0'=i_31^post1, __disjvr_29^0'=__disjvr_29^post1, x_22^0'=x_22^post1, rcd_193^0'=rcd_193^post1, __disjvr_11^0'=__disjvr_11^post1, a_309^0'=a_309^post1, tail_15^0'=tail_15^post1, length_29^0'=length_29^post1, x_SLAM_f_25^0'=x_SLAM_f_25^post1, __disjvr_5^0'=__disjvr_5^post1, rcd_288^0'=rcd_288^post1, __disjvr_16^0'=__disjvr_16^post1, i_112^0'=i_112^post1, __disjvr_26^0'=__disjvr_26^post1, tmp_35^0'=tmp_35^post1, rcd_106^0'=rcd_106^post1, a_222^0'=a_222^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post1, __disjvr_20^0'=__disjvr_20^post1, len_221^0'=len_221^post1, __disjvr_30^0'=__disjvr_30^post1, rcd_199^0'=rcd_199^post1, __disjvr_13^0'=__disjvr_13^post1, head_16^0'=head_16^post1, __disjvr_23^0'=__disjvr_23^post1, temp0_32^0'=temp0_32^post1, r_149^0'=r_149^post1, y_26^0'=y_26^post1, __disjvr_7^0'=__disjvr_7^post1, rcd_320^0'=rcd_320^post1, rcd_71^0'=rcd_71^post1, __disjvr_18^0'=__disjvr_18^post1, i_198^0'=i_198^post1, __disjvr_28^0'=__disjvr_28^post1, x_207^0'=x_207^post1, rcd_185^0'=rcd_185^post1, __disjvr_10^0'=__disjvr_10^post1, a_279^0'=a_279^post1, t_23^0'=t_23^post1, __disjvr_22^0'=__disjvr_22^post1, x_SLAM_f_20^0'=x_SLAM_f_20^post1, __disjvr_4^0'=__disjvr_4^post1, rcd_284^0'=rcd_284^post1, __disjvr_15^0'=__disjvr_15^post1, head_SLAM_f_30^0'=head_SLAM_f_30^post1, __disjvr_25^0'=__disjvr_25^post1, temp_37^0'=temp_37^post1, r_41^0'=r_41^post1, __disjvr_9^0'=__disjvr_9^post1, a_174^0'=a_174^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post1, __disjvr_1^0'=__disjvr_1^post1, len_159^0'=len_159^post1, __disjvr_2^0'=__disjvr_2^post1, rcd_194^0'=rcd_194^post1, __disjvr_12^0'=__disjvr_12^post1, f_202^0'=f_202^post1, temp0_19^0'=temp0_19^post1, nondet_12^0'=nondet_12^post1, y_21^0'=y_21^post1, __disjvr_6^0'=__disjvr_6^post1, rcd_308^0'=rcd_308^post1, rcd_45^0'=rcd_45^post1, __disjvr_17^0'=__disjvr_17^post1, i_130^0'=i_130^post1, __disjvr_27^0'=__disjvr_27^post1, x_154^0'=x_154^post1, rcd_114^0'=rcd_114^post1, (-temp0_32^post1+temp0_32^0 == 0 /\ -__disjvr_29^post1+__disjvr_29^0 == 0 /\ r_149^0-r_149^post1 == 0 /\ -x_SLAM_f_25^post1+x_SLAM_f_25^0 == 0 /\ __disjvr_13^0-__disjvr_13^post1 == 0 /\ __disjvr_16^0-__disjvr_16^post1 == 0 /\ __disjvr_21^0-__disjvr_21^post1 == 0 /\ a_222^0-a_222^post1 == 0 /\ a_309^0-a_309^post1 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ -f_202^post1+f_202^0 == 0 /\ -temp0_19^post1+temp0_19^0 == 0 /\ tmp_35^0-tmp_35^post1 == 0 /\ -__disjvr_6^post1+__disjvr_6^0 == 0 /\ -rcd_185^post1+rcd_185^0 == 0 /\ -__disjvr_30^post1+__disjvr_30^0 == 0 /\ rcd_220^0-rcd_220^post1 == 0 /\ -__disjvr_17^post1+__disjvr_17^0 == 0 /\ -len_159^post1+len_159^0 == 0 /\ __disjvr_0^0-__disjvr_0^post1 == 0 /\ -rcd_284^post1+rcd_284^0 == 0 /\ x_207^0-x_207^post1 == 0 /\ a_139^0-a_139^post1 == 0 /\ -t_23^post1+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_9^post1+__disjvr_9^0 == 0 /\ __disjvr_11^0-__disjvr_11^post1 == 0 /\ __disjvr_14^0-__disjvr_14^post1 == 0 /\ rcd_199^0-rcd_199^post1 == 0 /\ -i_198^post1+i_198^0 == 0 /\ -__disjvr_7^post1+__disjvr_7^0 == 0 /\ -__disjvr_2^post1+__disjvr_2^0 == 0 /\ __disjvr_23^0-__disjvr_23^post1 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post1 == 0 /\ x_27^0-x_27^post1 == 0 /\ tail_15^0-tail_15^post1 == 0 /\ a_174^0-a_174^post1 == 0 /\ -rcd_45^post1+rcd_45^0 == 0 /\ __disjvr_18^0-__disjvr_18^post1 == 0 /\ __disjvr_5^0-__disjvr_5^post1 == 0 /\ -__disjvr_0^0+__disjvr_0^post1 == 0 /\ -__disjvr_19^post1+__disjvr_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ rcd_106^0-rcd_106^post1 == 0 /\ -__disjvr_10^post1+__disjvr_10^0 == 0 /\ -rcd_114^post1+rcd_114^0 == 0 /\ __disjvr_3^0-__disjvr_3^post1 == 0 /\ -a_279^post1+a_279^0 == 0 /\ length_29^0-length_29^post1 == 0 /\ -rcd_194^post1+rcd_194^0 == 0 /\ -__disjvr_4^post1+__disjvr_4^0 == 0 /\ temp_36^0-temp_36^post1 == 0 /\ rcd_71^0-rcd_71^post1 == 0 /\ -rcd_320^post1+rcd_320^0 == 0 /\ -i_112^post1+i_112^0 == 0 /\ -temp_37^post1+temp_37^0 == 0 /\ __disjvr_20^0-__disjvr_20^post1 == 0 /\ head_16^0-head_16^post1 == 0 /\ y_21^0-y_21^post1 == 0 /\ x_22^0-x_22^post1 == 0 /\ -y_26^post1+y_26^0 == 0 /\ -__disjvr_25^post1+__disjvr_25^0 == 0 /\ -__disjvr_27^post1+__disjvr_27^0 == 0 /\ -__disjvr_22^post1+__disjvr_22^0 == 0 /\ -__disjvr_12^post1+__disjvr_12^0 == 0 /\ __disjvr_26^0-__disjvr_26^post1 == 0 /\ -x_SLAM_f_20^post1+x_SLAM_f_20^0 == 0 /\ r_41^0-r_41^post1 == 0 /\ -__disjvr_1^post1+__disjvr_1^0 == 0 /\ -head_SLAM_f_30^post1+head_SLAM_f_30^0 == 0 /\ len_221^0-len_221^post1 == 0 /\ -x_154^post1+x_154^0 == 0 /\ i_31^0-i_31^post1 == 0 /\ __disjvr_15^0-__disjvr_15^post1 == 0 /\ -rcd_308^post1+rcd_308^0 == 0 /\ head_33^0-head_33^post1 == 0 /\ a_253^0-a_253^post1 == 0 /\ rcd_193^0-rcd_193^post1 == 0 /\ rcd_288^0-rcd_288^post1 == 0 /\ -r_192^post1+r_192^0 == 0 /\ __disjvr_24^0-__disjvr_24^post1 == 0 /\ __disjvr_8^0-__disjvr_8^post1 == 0 /\ -i_130^post1+i_130^0 == 0 /\ result_11^0-result_11^post1 == 0 /\ -__disjvr_28^post1+__disjvr_28^0 == 0), cost: 1 2: l3 -> l4 : __disjvr_0^0'=__disjvr_0^post2, a_253^0'=a_253^post2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post2, __disjvr_21^0'=__disjvr_21^post2, x_27^0'=x_27^post2, __disjvr_3^0'=__disjvr_3^post2, rcd_220^0'=rcd_220^post2, __disjvr_14^0'=__disjvr_14^post2, head_33^0'=head_33^post2, __disjvr_24^0'=__disjvr_24^post2, temp_36^0'=temp_36^post2, r_192^0'=r_192^post2, __disjvr_8^0'=__disjvr_8^post2, a_139^0'=a_139^post2, result_11^0'=result_11^post2, __disjvr_19^0'=__disjvr_19^post2, i_31^0'=i_31^post2, __disjvr_29^0'=__disjvr_29^post2, x_22^0'=x_22^post2, rcd_193^0'=rcd_193^post2, __disjvr_11^0'=__disjvr_11^post2, a_309^0'=a_309^post2, tail_15^0'=tail_15^post2, length_29^0'=length_29^post2, x_SLAM_f_25^0'=x_SLAM_f_25^post2, __disjvr_5^0'=__disjvr_5^post2, rcd_288^0'=rcd_288^post2, __disjvr_16^0'=__disjvr_16^post2, i_112^0'=i_112^post2, __disjvr_26^0'=__disjvr_26^post2, tmp_35^0'=tmp_35^post2, rcd_106^0'=rcd_106^post2, a_222^0'=a_222^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post2, __disjvr_20^0'=__disjvr_20^post2, len_221^0'=len_221^post2, __disjvr_30^0'=__disjvr_30^post2, rcd_199^0'=rcd_199^post2, __disjvr_13^0'=__disjvr_13^post2, head_16^0'=head_16^post2, __disjvr_23^0'=__disjvr_23^post2, temp0_32^0'=temp0_32^post2, r_149^0'=r_149^post2, y_26^0'=y_26^post2, __disjvr_7^0'=__disjvr_7^post2, rcd_320^0'=rcd_320^post2, rcd_71^0'=rcd_71^post2, __disjvr_18^0'=__disjvr_18^post2, i_198^0'=i_198^post2, __disjvr_28^0'=__disjvr_28^post2, x_207^0'=x_207^post2, rcd_185^0'=rcd_185^post2, __disjvr_10^0'=__disjvr_10^post2, a_279^0'=a_279^post2, t_23^0'=t_23^post2, __disjvr_22^0'=__disjvr_22^post2, x_SLAM_f_20^0'=x_SLAM_f_20^post2, __disjvr_4^0'=__disjvr_4^post2, rcd_284^0'=rcd_284^post2, __disjvr_15^0'=__disjvr_15^post2, head_SLAM_f_30^0'=head_SLAM_f_30^post2, __disjvr_25^0'=__disjvr_25^post2, temp_37^0'=temp_37^post2, r_41^0'=r_41^post2, __disjvr_9^0'=__disjvr_9^post2, a_174^0'=a_174^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post2, __disjvr_1^0'=__disjvr_1^post2, len_159^0'=len_159^post2, __disjvr_2^0'=__disjvr_2^post2, rcd_194^0'=rcd_194^post2, __disjvr_12^0'=__disjvr_12^post2, f_202^0'=f_202^post2, temp0_19^0'=temp0_19^post2, nondet_12^0'=nondet_12^post2, y_21^0'=y_21^post2, __disjvr_6^0'=__disjvr_6^post2, rcd_308^0'=rcd_308^post2, rcd_45^0'=rcd_45^post2, __disjvr_17^0'=__disjvr_17^post2, i_130^0'=i_130^post2, __disjvr_27^0'=__disjvr_27^post2, x_154^0'=x_154^post2, rcd_114^0'=rcd_114^post2, (0 == 0 /\ __disjvr_28^0-__disjvr_28^post2 == 0 /\ -__disjvr_15^post2+__disjvr_15^0 == 0 /\ -len_159^post2+len_159^0 == 0 /\ -__disjvr_2^post2+__disjvr_2^0 == 0 /\ -__disjvr_22^post2+__disjvr_22^0 == 0 /\ length_29^0-length_29^post2 == 0 /\ a_309^0-a_309^post2 == 0 /\ -a_174^post2+a_174^0 == 0 /\ -__disjvr_16^post2+__disjvr_16^0 == 0 /\ -y_21^post2+y_21^0 == 0 /\ __disjvr_8^0-__disjvr_8^post2 == 0 /\ -__disjvr_7^post2+__disjvr_7^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -tail_15^post2+tail_15^0 == 0 /\ -__disjvr_17^post2+__disjvr_17^0 == 0 /\ -rcd_185^0+rcd_45^0 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_154^post2+x_154^0 == 0 /\ x_SLAM_f_25^0-head_16^0 <= 0 /\ -__disjvr_6^post2+__disjvr_6^0 == 0 /\ -rcd_185^post2+rcd_185^0 == 0 /\ x_22^0-x_22^post2 == 0 /\ len_221^0-len_221^post2 == 0 /\ -__disjvr_9^post2+__disjvr_9^0 == 0 /\ -rcd_194^post2+rcd_194^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post2 == 0 /\ rcd_288^0-rcd_288^post2 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ -__disjvr_10^post2+__disjvr_10^0 == 0 /\ -i_112^post2+i_112^0 == 0 /\ i_31^0-i_31^post2 == 0 /\ rcd_106^0-rcd_106^post2 == 0 /\ x_207^0-x_207^post2 == 0 /\ head_33^0-head_33^post2 == 0 /\ __disjvr_11^0-__disjvr_11^post2 == 0 /\ y_26^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post2 == 0 /\ -rcd_45^post2+rcd_45^0 == 0 /\ f_202^0-f_202^post2 == 0 /\ -__disjvr_5^post2+__disjvr_5^0 == 0 /\ rcd_185^0-rcd_45^0 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_SLAM_f_25^0+head_16^0 <= 0 /\ -temp0_19^post2+temp0_19^0 == 0 /\ a_253^0-a_253^post2 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post2 == 0 /\ rcd_193^0-rcd_193^post2 == 0 /\ -head_16^post2+head_16^0 == 0 /\ __disjvr_13^0-__disjvr_13^post2 == 0 /\ -rcd_284^post2+rcd_284^0 == 0 /\ x_27^0-x_27^post2 == 0 /\ a_139^post2-a_174^0 <= 0 /\ -rcd_114^post2+rcd_114^0 == 0 /\ __disjvr_30^0-__disjvr_30^post2 == 0 /\ r_149^0-r_149^post2 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post2 == 0 /\ -t_23^post2+t_23^0 == 0 /\ r_192^0-r_192^post2 == 0 /\ -__disjvr_25^post2+__disjvr_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ tmp_35^0-tmp_35^post2 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -y_26^post2+y_26^0 == 0 /\ -__disjvr_4^post2+__disjvr_4^0 == 0 /\ __disjvr_26^0-__disjvr_26^post2 == 0 /\ rcd_320^0-rcd_320^post2 == 0 /\ r_41^0-r_41^post2 == 0 /\ -__disjvr_19^post2+__disjvr_19^0 == 0 /\ __disjvr_14^0-__disjvr_14^post2 == 0 /\ -tail_15^0+y_26^0 <= 0 /\ a_222^0-a_222^post2 == 0 /\ __disjvr_24^0-__disjvr_24^post2 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -a_139^post2+a_174^0 <= 0 /\ -temp0_32^post2+temp0_32^0 == 0 /\ result_11^0-result_11^post2 == 0 /\ -a_279^post2+a_279^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post2 == 0 /\ rcd_199^0-rcd_199^post2 == 0 /\ -__disjvr_23^post2+__disjvr_23^0 == 0 /\ rcd_220^0-rcd_220^post2 == 0 /\ -__disjvr_20^post2+__disjvr_20^0 == 0 /\ __disjvr_29^0-__disjvr_29^post2 == 0 /\ -__disjvr_1^post2+__disjvr_1^0 == 0 /\ -i_130^post2+i_130^0 == 0 /\ -x_SLAM_f_20^post2+x_SLAM_f_20^0 == 0 /\ 1-len_159^0 <= 0 /\ -1+len_159^0 <= 0 /\ temp_36^0-temp_36^post2 == 0 /\ -temp_37^post2+temp_37^0 == 0 /\ -rcd_308^post2+rcd_308^0 == 0 /\ tail_15^0-y_26^0 <= 0 /\ i_198^0-i_198^post2 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post2 == 0 /\ -__disjvr_27^post2+__disjvr_27^0 == 0 /\ rcd_71^0-rcd_71^post2 == 0), cost: 1 3: l4 -> l5 : __disjvr_0^0'=__disjvr_0^post3, a_253^0'=a_253^post3, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post3, __disjvr_21^0'=__disjvr_21^post3, x_27^0'=x_27^post3, __disjvr_3^0'=__disjvr_3^post3, rcd_220^0'=rcd_220^post3, __disjvr_14^0'=__disjvr_14^post3, head_33^0'=head_33^post3, __disjvr_24^0'=__disjvr_24^post3, temp_36^0'=temp_36^post3, r_192^0'=r_192^post3, __disjvr_8^0'=__disjvr_8^post3, a_139^0'=a_139^post3, result_11^0'=result_11^post3, __disjvr_19^0'=__disjvr_19^post3, i_31^0'=i_31^post3, __disjvr_29^0'=__disjvr_29^post3, x_22^0'=x_22^post3, rcd_193^0'=rcd_193^post3, __disjvr_11^0'=__disjvr_11^post3, a_309^0'=a_309^post3, tail_15^0'=tail_15^post3, length_29^0'=length_29^post3, x_SLAM_f_25^0'=x_SLAM_f_25^post3, __disjvr_5^0'=__disjvr_5^post3, rcd_288^0'=rcd_288^post3, __disjvr_16^0'=__disjvr_16^post3, i_112^0'=i_112^post3, __disjvr_26^0'=__disjvr_26^post3, tmp_35^0'=tmp_35^post3, rcd_106^0'=rcd_106^post3, a_222^0'=a_222^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post3, __disjvr_20^0'=__disjvr_20^post3, len_221^0'=len_221^post3, __disjvr_30^0'=__disjvr_30^post3, rcd_199^0'=rcd_199^post3, __disjvr_13^0'=__disjvr_13^post3, head_16^0'=head_16^post3, __disjvr_23^0'=__disjvr_23^post3, temp0_32^0'=temp0_32^post3, r_149^0'=r_149^post3, y_26^0'=y_26^post3, __disjvr_7^0'=__disjvr_7^post3, rcd_320^0'=rcd_320^post3, rcd_71^0'=rcd_71^post3, __disjvr_18^0'=__disjvr_18^post3, i_198^0'=i_198^post3, __disjvr_28^0'=__disjvr_28^post3, x_207^0'=x_207^post3, rcd_185^0'=rcd_185^post3, __disjvr_10^0'=__disjvr_10^post3, a_279^0'=a_279^post3, t_23^0'=t_23^post3, __disjvr_22^0'=__disjvr_22^post3, x_SLAM_f_20^0'=x_SLAM_f_20^post3, __disjvr_4^0'=__disjvr_4^post3, rcd_284^0'=rcd_284^post3, __disjvr_15^0'=__disjvr_15^post3, head_SLAM_f_30^0'=head_SLAM_f_30^post3, __disjvr_25^0'=__disjvr_25^post3, temp_37^0'=temp_37^post3, r_41^0'=r_41^post3, __disjvr_9^0'=__disjvr_9^post3, a_174^0'=a_174^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post3, __disjvr_1^0'=__disjvr_1^post3, len_159^0'=len_159^post3, __disjvr_2^0'=__disjvr_2^post3, rcd_194^0'=rcd_194^post3, __disjvr_12^0'=__disjvr_12^post3, f_202^0'=f_202^post3, temp0_19^0'=temp0_19^post3, nondet_12^0'=nondet_12^post3, y_21^0'=y_21^post3, __disjvr_6^0'=__disjvr_6^post3, rcd_308^0'=rcd_308^post3, rcd_45^0'=rcd_45^post3, __disjvr_17^0'=__disjvr_17^post3, i_130^0'=i_130^post3, __disjvr_27^0'=__disjvr_27^post3, x_154^0'=x_154^post3, rcd_114^0'=rcd_114^post3, (-y_21^post3+y_21^0 == 0 /\ a_139^0-a_139^post3 == 0 /\ -__disjvr_23^post3+__disjvr_23^0 == 0 /\ __disjvr_14^0-__disjvr_14^post3 == 0 /\ -x_154^post3+x_154^0 == 0 /\ -y_26^post3+y_26^0 == 0 /\ -rcd_194^post3+rcd_194^0 == 0 /\ r_192^0-r_192^post3 == 0 /\ -rcd_193^post3+rcd_193^0 == 0 /\ -a_174^post3+a_174^0 == 0 /\ tail_15^0-tail_15^post3 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post3 == 0 /\ -__disjvr_10^post3+__disjvr_10^0 == 0 /\ rcd_288^0-rcd_288^post3 == 0 /\ -i_112^post3+i_112^0 == 0 /\ -__disjvr_5^post3+__disjvr_5^0 == 0 /\ -rcd_308^post3+rcd_308^0 == 0 /\ length_29^0-length_29^post3 == 0 /\ -__disjvr_9^post3+__disjvr_9^0 == 0 /\ -__disjvr_22^post3+__disjvr_22^0 == 0 /\ -x_SLAM_f_20^post3+x_SLAM_f_20^0 == 0 /\ -i_130^post3+i_130^0 == 0 /\ __disjvr_1^0-__disjvr_1^post3 == 0 /\ temp_36^0-temp_36^post3 == 0 /\ __disjvr_16^0-__disjvr_16^post3 == 0 /\ __disjvr_24^0-__disjvr_24^post3 == 0 /\ -rcd_45^post3+rcd_45^0 == 0 /\ -__disjvr_26^post3+__disjvr_26^0 == 0 /\ rcd_220^0-rcd_220^post3 == 0 /\ -__disjvr_15^post3+__disjvr_15^0 == 0 /\ -__disjvr_12^post3+__disjvr_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post3 == 0 /\ -__disjvr_6^post3+__disjvr_6^0 == 0 /\ x_207^0-x_207^post3 == 0 /\ -temp0_19^post3+temp0_19^0 == 0 /\ __disjvr_3^0-__disjvr_3^post3 == 0 /\ __disjvr_20^0-__disjvr_20^post3 == 0 /\ -nondet_12^post3+nondet_12^0 == 0 /\ -rcd_284^post3+rcd_284^0 == 0 /\ -__disjvr_17^post3+__disjvr_17^0 == 0 /\ -__disjvr_1^0+__disjvr_1^post3 == 0 /\ -i_31^post3+i_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post3 == 0 /\ -__disjvr_13^post3+__disjvr_13^0 == 0 /\ -t_23^post3+t_23^0 == 0 /\ a_253^0-a_253^post3 == 0 /\ i_198^0-i_198^post3 == 0 /\ __disjvr_8^0-__disjvr_8^post3 == 0 /\ len_221^0-len_221^post3 == 0 /\ -rcd_114^post3+rcd_114^0 == 0 /\ rcd_320^0-rcd_320^post3 == 0 /\ head_16^0-head_16^post3 == 0 /\ -__disjvr_28^post3+__disjvr_28^0 == 0 /\ r_149^0-r_149^post3 == 0 /\ -a_309^post3+a_309^0 == 0 /\ result_11^0-result_11^post3 == 0 /\ head_33^0-head_33^post3 == 0 /\ __disjvr_11^0-__disjvr_11^post3 == 0 /\ __disjvr_30^0-__disjvr_30^post3 == 0 /\ x_22^0-x_22^post3 == 0 /\ -f_202^post3+f_202^0 == 0 /\ x_27^0-x_27^post3 == 0 /\ -__disjvr_7^post3+__disjvr_7^0 == 0 /\ -__disjvr_27^post3+__disjvr_27^0 == 0 /\ -__disjvr_2^post3+__disjvr_2^0 == 0 /\ __disjvr_19^0-__disjvr_19^post3 == 0 /\ -temp_37^post3+temp_37^0 == 0 /\ a_222^0-a_222^post3 == 0 /\ rcd_106^0-rcd_106^post3 == 0 /\ __disjvr_0^0-__disjvr_0^post3 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post3 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post3 == 0 /\ -r_41^post3+r_41^0 == 0 /\ __disjvr_18^0-__disjvr_18^post3 == 0 /\ -rcd_199^post3+rcd_199^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post3+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ a_279^0-a_279^post3 == 0 /\ -len_159^post3+len_159^0 == 0 /\ __disjvr_21^0-__disjvr_21^post3 == 0 /\ -rcd_71^post3+rcd_71^0 == 0 /\ tmp_35^0-tmp_35^post3 == 0 /\ -temp0_32^post3+temp0_32^0 == 0 /\ -__disjvr_4^post3+__disjvr_4^0 == 0 /\ -rcd_185^post3+rcd_185^0 == 0 /\ __disjvr_29^0-__disjvr_29^post3 == 0), cost: 1 4: l5 -> l1 : __disjvr_0^0'=__disjvr_0^post4, a_253^0'=a_253^post4, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post4, __disjvr_21^0'=__disjvr_21^post4, x_27^0'=x_27^post4, __disjvr_3^0'=__disjvr_3^post4, rcd_220^0'=rcd_220^post4, __disjvr_14^0'=__disjvr_14^post4, head_33^0'=head_33^post4, __disjvr_24^0'=__disjvr_24^post4, temp_36^0'=temp_36^post4, r_192^0'=r_192^post4, __disjvr_8^0'=__disjvr_8^post4, a_139^0'=a_139^post4, result_11^0'=result_11^post4, __disjvr_19^0'=__disjvr_19^post4, i_31^0'=i_31^post4, __disjvr_29^0'=__disjvr_29^post4, x_22^0'=x_22^post4, rcd_193^0'=rcd_193^post4, __disjvr_11^0'=__disjvr_11^post4, a_309^0'=a_309^post4, tail_15^0'=tail_15^post4, length_29^0'=length_29^post4, x_SLAM_f_25^0'=x_SLAM_f_25^post4, __disjvr_5^0'=__disjvr_5^post4, rcd_288^0'=rcd_288^post4, __disjvr_16^0'=__disjvr_16^post4, i_112^0'=i_112^post4, __disjvr_26^0'=__disjvr_26^post4, tmp_35^0'=tmp_35^post4, rcd_106^0'=rcd_106^post4, a_222^0'=a_222^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post4, __disjvr_20^0'=__disjvr_20^post4, len_221^0'=len_221^post4, __disjvr_30^0'=__disjvr_30^post4, rcd_199^0'=rcd_199^post4, __disjvr_13^0'=__disjvr_13^post4, head_16^0'=head_16^post4, __disjvr_23^0'=__disjvr_23^post4, temp0_32^0'=temp0_32^post4, r_149^0'=r_149^post4, y_26^0'=y_26^post4, __disjvr_7^0'=__disjvr_7^post4, rcd_320^0'=rcd_320^post4, rcd_71^0'=rcd_71^post4, __disjvr_18^0'=__disjvr_18^post4, i_198^0'=i_198^post4, __disjvr_28^0'=__disjvr_28^post4, x_207^0'=x_207^post4, rcd_185^0'=rcd_185^post4, __disjvr_10^0'=__disjvr_10^post4, a_279^0'=a_279^post4, t_23^0'=t_23^post4, __disjvr_22^0'=__disjvr_22^post4, x_SLAM_f_20^0'=x_SLAM_f_20^post4, __disjvr_4^0'=__disjvr_4^post4, rcd_284^0'=rcd_284^post4, __disjvr_15^0'=__disjvr_15^post4, head_SLAM_f_30^0'=head_SLAM_f_30^post4, __disjvr_25^0'=__disjvr_25^post4, temp_37^0'=temp_37^post4, r_41^0'=r_41^post4, __disjvr_9^0'=__disjvr_9^post4, a_174^0'=a_174^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post4, __disjvr_1^0'=__disjvr_1^post4, len_159^0'=len_159^post4, __disjvr_2^0'=__disjvr_2^post4, rcd_194^0'=rcd_194^post4, __disjvr_12^0'=__disjvr_12^post4, f_202^0'=f_202^post4, temp0_19^0'=temp0_19^post4, nondet_12^0'=nondet_12^post4, y_21^0'=y_21^post4, __disjvr_6^0'=__disjvr_6^post4, rcd_308^0'=rcd_308^post4, rcd_45^0'=rcd_45^post4, __disjvr_17^0'=__disjvr_17^post4, i_130^0'=i_130^post4, __disjvr_27^0'=__disjvr_27^post4, x_154^0'=x_154^post4, rcd_114^0'=rcd_114^post4, (0 == 0 /\ __disjvr_11^0-__disjvr_11^post4 == 0 /\ -rcd_194^post4+rcd_194^0 == 0 /\ -__disjvr_4^post4+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ rcd_199^0-rcd_199^post4 == 0 /\ __disjvr_1^0-__disjvr_1^post4 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -temp_37^post4+temp_37^0 == 0 /\ len_221^0-len_221^post4 == 0 /\ -i_112^post4+i_112^0 == 0 /\ __disjvr_23^0-__disjvr_23^post4 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post4 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_130^0 <= 0 /\ __disjvr_19^0-__disjvr_19^post4 == 0 /\ -rcd_320^post4+rcd_320^0 == 0 /\ -y_26^post4+y_26^0 == 0 /\ a_253^0-a_253^post4 == 0 /\ -__disjvr_25^post4+__disjvr_25^0 == 0 /\ rcd_288^0-rcd_288^post4 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post4 == 0 /\ -__disjvr_27^post4+__disjvr_27^0 == 0 /\ rcd_106^0-rcd_106^post4 == 0 /\ -__disjvr_12^post4+__disjvr_12^0 == 0 /\ -__disjvr_22^post4+__disjvr_22^0 == 0 /\ __disjvr_2^0-__disjvr_2^post4 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ __disjvr_28^0-__disjvr_28^post4 == 0 /\ r_149^0-r_149^post4 == 0 /\ __disjvr_21^0-__disjvr_21^post4 == 0 /\ __disjvr_20^0-__disjvr_20^post4 == 0 /\ a_309^0-a_309^post4 == 0 /\ a_222^0-a_222^post4 == 0 /\ temp_36^0-temp_36^post4 == 0 /\ f_202^0-f_202^post4 == 0 /\ -head_SLAM_f_30^post4+head_SLAM_f_30^0 == 0 /\ -1+i_130^post4-a_139^0 <= 0 /\ -y_21^post4+y_21^0 == 0 /\ -x_154^post4+x_154^0 == 0 /\ -rcd_308^post4+rcd_308^0 == 0 /\ head_16^0-head_16^post4 == 0 /\ x_22^0-x_22^post4 == 0 /\ a_139^0-a_139^post4 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ r_41^0-r_41^post4 == 0 /\ -temp0_32^post4+temp0_32^0 == 0 /\ __disjvr_26^0-__disjvr_26^post4 == 0 /\ -__disjvr_29^post4+__disjvr_29^0 == 0 /\ __disjvr_18^0-__disjvr_18^post4 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post4 == 0 /\ -tail_15^post4+tail_15^0 == 0 /\ result_11^0-result_11^post4 == 0 /\ __disjvr_15^0-__disjvr_15^post4 == 0 /\ i_31^0-i_31^post4 == 0 /\ a_279^0-a_279^post4 == 0 /\ -a_174^post4+a_174^0 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post4 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post4 == 0 /\ -__disjvr_8^post4+__disjvr_8^0 == 0 /\ -__disjvr_3^post4+__disjvr_3^0 == 0 /\ r_192^0-r_192^post4 == 0 /\ x_27^0-x_27^post4 == 0 /\ -temp0_19^post4+temp0_19^0 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ -rcd_185^post4+rcd_185^0 == 0 /\ -rcd_71^post4+rcd_71^0 == 0 /\ rcd_193^0-rcd_193^post4 == 0 /\ __disjvr_24^0-__disjvr_24^post4 == 0 /\ -rcd_284^post4+rcd_284^0 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ length_29^0-length_29^post4 == 0 /\ -t_23^post4+t_23^0 == 0 /\ -i_198^post4+i_198^0 == 0 /\ __disjvr_16^0-__disjvr_16^post4 == 0 /\ 1-i_130^post4+a_139^0 <= 0 /\ tmp_35^0-tmp_35^post4 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ -head_33^post4+head_33^0 == 0 /\ -len_159^post4+len_159^0 == 0 /\ -__disjvr_5^post4+__disjvr_5^0 == 0 /\ __disjvr_30^0-__disjvr_30^post4 == 0 /\ -__disjvr_13^post4+__disjvr_13^0 == 0 /\ rcd_220^0-rcd_220^post4 == 0 /\ -rcd_45^post4+rcd_45^0 == 0 /\ x_207^0-x_207^post4 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ -rcd_114^post4+rcd_114^0 == 0), cost: 1 53: l1 -> l50 : __disjvr_0^0'=__disjvr_0^post53, a_253^0'=a_253^post53, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, __disjvr_21^0'=__disjvr_21^post53, x_27^0'=x_27^post53, __disjvr_3^0'=__disjvr_3^post53, rcd_220^0'=rcd_220^post53, __disjvr_14^0'=__disjvr_14^post53, head_33^0'=head_33^post53, __disjvr_24^0'=__disjvr_24^post53, temp_36^0'=temp_36^post53, r_192^0'=r_192^post53, __disjvr_8^0'=__disjvr_8^post53, a_139^0'=a_139^post53, result_11^0'=result_11^post53, __disjvr_19^0'=__disjvr_19^post53, i_31^0'=i_31^post53, __disjvr_29^0'=__disjvr_29^post53, x_22^0'=x_22^post53, rcd_193^0'=rcd_193^post53, __disjvr_11^0'=__disjvr_11^post53, a_309^0'=a_309^post53, tail_15^0'=tail_15^post53, length_29^0'=length_29^post53, x_SLAM_f_25^0'=x_SLAM_f_25^post53, __disjvr_5^0'=__disjvr_5^post53, rcd_288^0'=rcd_288^post53, __disjvr_16^0'=__disjvr_16^post53, i_112^0'=i_112^post53, __disjvr_26^0'=__disjvr_26^post53, tmp_35^0'=tmp_35^post53, rcd_106^0'=rcd_106^post53, a_222^0'=a_222^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post53, __disjvr_20^0'=__disjvr_20^post53, len_221^0'=len_221^post53, __disjvr_30^0'=__disjvr_30^post53, rcd_199^0'=rcd_199^post53, __disjvr_13^0'=__disjvr_13^post53, head_16^0'=head_16^post53, __disjvr_23^0'=__disjvr_23^post53, temp0_32^0'=temp0_32^post53, r_149^0'=r_149^post53, y_26^0'=y_26^post53, __disjvr_7^0'=__disjvr_7^post53, rcd_320^0'=rcd_320^post53, rcd_71^0'=rcd_71^post53, __disjvr_18^0'=__disjvr_18^post53, i_198^0'=i_198^post53, __disjvr_28^0'=__disjvr_28^post53, x_207^0'=x_207^post53, rcd_185^0'=rcd_185^post53, __disjvr_10^0'=__disjvr_10^post53, a_279^0'=a_279^post53, t_23^0'=t_23^post53, __disjvr_22^0'=__disjvr_22^post53, x_SLAM_f_20^0'=x_SLAM_f_20^post53, __disjvr_4^0'=__disjvr_4^post53, rcd_284^0'=rcd_284^post53, __disjvr_15^0'=__disjvr_15^post53, head_SLAM_f_30^0'=head_SLAM_f_30^post53, __disjvr_25^0'=__disjvr_25^post53, temp_37^0'=temp_37^post53, r_41^0'=r_41^post53, __disjvr_9^0'=__disjvr_9^post53, a_174^0'=a_174^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53, __disjvr_1^0'=__disjvr_1^post53, len_159^0'=len_159^post53, __disjvr_2^0'=__disjvr_2^post53, rcd_194^0'=rcd_194^post53, __disjvr_12^0'=__disjvr_12^post53, f_202^0'=f_202^post53, temp0_19^0'=temp0_19^post53, nondet_12^0'=nondet_12^post53, y_21^0'=y_21^post53, __disjvr_6^0'=__disjvr_6^post53, rcd_308^0'=rcd_308^post53, rcd_45^0'=rcd_45^post53, __disjvr_17^0'=__disjvr_17^post53, i_130^0'=i_130^post53, __disjvr_27^0'=__disjvr_27^post53, x_154^0'=x_154^post53, rcd_114^0'=rcd_114^post53, (0 == 0 /\ -a_174^post53+a_174^0 == 0 /\ a_309^0-a_309^post53 == 0 /\ -rcd_288^post53+rcd_288^0 == 0 /\ __disjvr_8^0-__disjvr_8^post53 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ -nondet_12^post53+nondet_12^0 == 0 /\ head_16^0-head_16^post53 == 0 /\ x_22^post53-head_16^0 <= 0 /\ head_16^0-x_SLAM_f_20^post53 <= 0 /\ __disjvr_30^0-__disjvr_30^post53 == 0 /\ -rcd_308^post53+rcd_308^0 == 0 /\ rcd_194^0-rcd_194^post53 == 0 /\ -len_159^post53+len_159^0 == 0 /\ -r_149^post53+r_149^0 == 0 /\ temp_36^0-temp_36^post53 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ -y_21^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53 <= 0 /\ rcd_220^0-rcd_220^post53 == 0 /\ -__disjvr_18^post53+__disjvr_18^0 == 0 /\ -__disjvr_23^post53+__disjvr_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post53 == 0 /\ tail_15^0-y_21^post53 <= 0 /\ -x_154^post53+x_154^0 == 0 /\ -__disjvr_2^post53+__disjvr_2^0 == 0 /\ -__disjvr_6^post53+__disjvr_6^0 == 0 /\ rcd_284^0-rcd_284^post53 == 0 /\ -temp0_19^post53+temp0_19^0 == 0 /\ -__disjvr_16^post53+__disjvr_16^0 == 0 /\ -x_22^post53+head_16^0 <= 0 /\ -__disjvr_11^post53+__disjvr_11^0 == 0 /\ -head_16^0+x_SLAM_f_20^post53 <= 0 /\ -head_16^0+x_SLAM_f_20^post53 == 0 /\ rcd_106^0-rcd_106^post53 == 0 /\ __disjvr_12^0-__disjvr_12^post53 == 0 /\ temp0_32^0-temp0_32^post53 == 0 /\ -tmp_35^post53+tmp_35^0 == 0 /\ y_21^post53-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53 <= 0 /\ -r_41^post53+r_41^0 == 0 /\ i_198^0-i_198^post53 == 0 /\ head_33^0-head_33^post53 == 0 /\ __disjvr_19^0-__disjvr_19^post53 == 0 /\ __disjvr_5^0-__disjvr_5^post53 == 0 /\ __disjvr_9^0-__disjvr_9^post53 == 0 /\ r_192^0-r_192^post53 == 0 /\ __disjvr_29^0-__disjvr_29^post53 == 0 /\ -rcd_45^post53+rcd_45^0 == 0 /\ -__disjvr_26^post53+__disjvr_26^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post53 == 0 /\ -tail_15^0+y_21^post53 <= 0 /\ -tail_15^0+y_21^post53 == 0 /\ tail_15^0-tail_15^post53 == 0 /\ -__disjvr_15^post53+__disjvr_15^0 == 0 /\ -x_207^post53+x_207^0 == 0 /\ __disjvr_10^0-__disjvr_10^post53 == 0 /\ -__disjvr_25^post53+__disjvr_25^0 == 0 /\ -rcd_199^post53+rcd_199^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53 <= 0 /\ __disjvr_20^0-__disjvr_20^post53 == 0 /\ -len_221^post53+len_221^0 == 0 /\ -x_27^0+y_26^0 <= 0 /\ __disjvr_3^0-__disjvr_3^post53 == 0 /\ -__disjvr_13^post53+__disjvr_13^0 == 0 /\ -a_279^post53+a_279^0 == 0 /\ __disjvr_7^0-__disjvr_7^post53 == 0 /\ -x_22^post53+x_SLAM_f_20^post53 <= 0 /\ a_139^0-a_139^post53 == 0 /\ t_23^0-t_23^post53 == 0 /\ -rcd_114^post53+rcd_114^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post53 == 0 /\ -rcd_320^post53+rcd_320^0 == 0 /\ result_11^0-result_11^post53 == 0 /\ __disjvr_14^0-__disjvr_14^post53 == 0 /\ -a_222^post53+a_222^0 == 0 /\ i_31^0-i_31^post53 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53 <= 0 /\ -a_174^0 <= 0 /\ rcd_185^0-rcd_185^post53 == 0 /\ -__disjvr_1^post53+__disjvr_1^0 == 0 /\ -rcd_71^post53+rcd_71^0 == 0 /\ x_27^0-y_26^0 <= 0 /\ -i_130^post53+i_130^0 == 0 /\ __disjvr_22^0-__disjvr_22^post53 == 0 /\ -f_202^post53+f_202^0 == 0 /\ __disjvr_4^0-__disjvr_4^post53 == 0 /\ x_22^post53-x_SLAM_f_20^post53 <= 0 /\ x_22^post53-x_SLAM_f_20^post53 == 0 /\ -__disjvr_27^post53+__disjvr_27^0 == 0 /\ i_112^0-i_112^post53 == 0 /\ -length_29^post53+length_29^0 == 0 /\ -temp_37^post53+temp_37^0 == 0 /\ __disjvr_24^0-__disjvr_24^post53 == 0 /\ a_253^0-a_253^post53 == 0 /\ -len_159^0 <= 0 /\ rcd_193^0-rcd_193^post53 == 0 /\ -__disjvr_28^post53+__disjvr_28^0 == 0), cost: 1 56: l1 -> l53 : __disjvr_0^0'=__disjvr_0^post56, a_253^0'=a_253^post56, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, __disjvr_21^0'=__disjvr_21^post56, x_27^0'=x_27^post56, __disjvr_3^0'=__disjvr_3^post56, rcd_220^0'=rcd_220^post56, __disjvr_14^0'=__disjvr_14^post56, head_33^0'=head_33^post56, __disjvr_24^0'=__disjvr_24^post56, temp_36^0'=temp_36^post56, r_192^0'=r_192^post56, __disjvr_8^0'=__disjvr_8^post56, a_139^0'=a_139^post56, result_11^0'=result_11^post56, __disjvr_19^0'=__disjvr_19^post56, i_31^0'=i_31^post56, __disjvr_29^0'=__disjvr_29^post56, x_22^0'=x_22^post56, rcd_193^0'=rcd_193^post56, __disjvr_11^0'=__disjvr_11^post56, a_309^0'=a_309^post56, tail_15^0'=tail_15^post56, length_29^0'=length_29^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, __disjvr_5^0'=__disjvr_5^post56, rcd_288^0'=rcd_288^post56, __disjvr_16^0'=__disjvr_16^post56, i_112^0'=i_112^post56, __disjvr_26^0'=__disjvr_26^post56, tmp_35^0'=tmp_35^post56, rcd_106^0'=rcd_106^post56, a_222^0'=a_222^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post56, __disjvr_20^0'=__disjvr_20^post56, len_221^0'=len_221^post56, __disjvr_30^0'=__disjvr_30^post56, rcd_199^0'=rcd_199^post56, __disjvr_13^0'=__disjvr_13^post56, head_16^0'=head_16^post56, __disjvr_23^0'=__disjvr_23^post56, temp0_32^0'=temp0_32^post56, r_149^0'=r_149^post56, y_26^0'=y_26^post56, __disjvr_7^0'=__disjvr_7^post56, rcd_320^0'=rcd_320^post56, rcd_71^0'=rcd_71^post56, __disjvr_18^0'=__disjvr_18^post56, i_198^0'=i_198^post56, __disjvr_28^0'=__disjvr_28^post56, x_207^0'=x_207^post56, rcd_185^0'=rcd_185^post56, __disjvr_10^0'=__disjvr_10^post56, a_279^0'=a_279^post56, t_23^0'=t_23^post56, __disjvr_22^0'=__disjvr_22^post56, x_SLAM_f_20^0'=x_SLAM_f_20^post56, __disjvr_4^0'=__disjvr_4^post56, rcd_284^0'=rcd_284^post56, __disjvr_15^0'=__disjvr_15^post56, head_SLAM_f_30^0'=head_SLAM_f_30^post56, __disjvr_25^0'=__disjvr_25^post56, temp_37^0'=temp_37^post56, r_41^0'=r_41^post56, __disjvr_9^0'=__disjvr_9^post56, a_174^0'=a_174^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, __disjvr_1^0'=__disjvr_1^post56, len_159^0'=len_159^post56, __disjvr_2^0'=__disjvr_2^post56, rcd_194^0'=rcd_194^post56, __disjvr_12^0'=__disjvr_12^post56, f_202^0'=f_202^post56, temp0_19^0'=temp0_19^post56, nondet_12^0'=nondet_12^post56, y_21^0'=y_21^post56, __disjvr_6^0'=__disjvr_6^post56, rcd_308^0'=rcd_308^post56, rcd_45^0'=rcd_45^post56, __disjvr_17^0'=__disjvr_17^post56, i_130^0'=i_130^post56, __disjvr_27^0'=__disjvr_27^post56, x_154^0'=x_154^post56, rcd_114^0'=rcd_114^post56, (0 == 0 /\ -rcd_199^post56+rcd_199^0 == 0 /\ rcd_320^0-rcd_320^post56 == 0 /\ rcd_288^0-rcd_288^post56 == 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ -__disjvr_27^post56+__disjvr_27^0 == 0 /\ -len_221^post56+len_221^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post56+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_22^0-__disjvr_22^post56 == 0 /\ i_198^0-i_198^post56 == 0 /\ -a_279^post56+a_279^0 == 0 /\ rcd_71^0-rcd_71^post56 == 0 /\ temp_36^0-temp_36^post56 == 0 /\ __disjvr_29^0-__disjvr_29^post56 == 0 /\ -rcd_106^post56+rcd_106^0 == 0 /\ -rcd_114^post56+rcd_114^0 == 0 /\ __disjvr_10^0-__disjvr_10^post56 == 0 /\ __disjvr_4^0-__disjvr_4^post56 == 0 /\ a_253^0-a_253^post56 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0 /\ __disjvr_8^0-__disjvr_8^post56 == 0 /\ a_309^0-a_309^post56 == 0 /\ -a_222^post56+a_222^0 == 0 /\ i_112^0-i_112^post56 == 0 /\ -x_22^post56+x_22^0 == 0 /\ -i_130^post56+i_130^0 == 0 /\ -x_SLAM_f_20^post56+x_SLAM_f_20^0 == 0 /\ -result_11^post56+result_11^0 == 0 /\ len_159^0-len_159^post56 == 0 /\ -__disjvr_1^post56+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ -length_29^post56+length_29^0 == 0 /\ __disjvr_26^0-__disjvr_26^post56 == 0 /\ -__disjvr_28^post56+__disjvr_28^0 == 0 /\ -y_21^post56+y_21^0 == 0 /\ i_31^0-i_31^post56 == 0 /\ nondet_12^0-nondet_12^post56 == 0 /\ -__disjvr_9^post56+__disjvr_9^0 == 0 /\ -__disjvr_17^post56+__disjvr_17^0 == 0 /\ head_33^0-head_33^post56 == 0 /\ -rcd_284^post56+rcd_284^0 == 0 /\ -r_149^post56+r_149^0 == 0 /\ rcd_308^0-rcd_308^post56 == 0 /\ __disjvr_5^0-__disjvr_5^post56 == 0 /\ __disjvr_19^0-__disjvr_19^post56 == 0 /\ -rcd_185^post56+rcd_185^0 == 0 /\ -__disjvr_18^post56+__disjvr_18^0 == 0 /\ x_27^0-x_27^post56 == 0 /\ -head_SLAM_f_30^post56+head_SLAM_f_30^0 == 0 /\ -x_154^post56+x_154^0 == 0 /\ -tmp_35^post56+tmp_35^0 == 0 /\ -__disjvr_2^post56+__disjvr_2^0 == 0 /\ -a_174^post56+a_174^0 == 0 /\ rcd_193^0-rcd_193^post56 == 0 /\ __disjvr_13^0-__disjvr_13^post56 == 0 /\ -__disjvr_16^post56+__disjvr_16^0 == 0 /\ -__disjvr_6^post56+__disjvr_6^0 == 0 /\ -temp0_19^post56+temp0_19^0 == 0 /\ -__disjvr_11^post56+__disjvr_11^0 == 0 /\ __disjvr_30^0-__disjvr_30^post56 == 0 /\ temp_37^0-temp_37^post56 == 0 /\ y_26^0-y_26^post56 == 0 /\ -rcd_45^post56+rcd_45^0 == 0 /\ r_192^0-r_192^post56 == 0 /\ -a_174^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ -__disjvr_24^post56+__disjvr_24^0 == 0 /\ __disjvr_3^0-__disjvr_3^post56 == 0 /\ rcd_220^0-rcd_220^post56 == 0 /\ __disjvr_25^0-__disjvr_25^post56 == 0 /\ temp0_32^0-temp0_32^post56 == 0 /\ -rcd_194^post56+rcd_194^0 == 0 /\ __disjvr_7^0-__disjvr_7^post56 == 0 /\ __disjvr_23^0-__disjvr_23^post56 == 0 /\ -__disjvr_15^post56+__disjvr_15^0 == 0 /\ a_139^0-a_139^post56 == 0 /\ t_23^0-t_23^post56 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ -len_159^0 <= 0), cost: 1 5: l6 -> l8 : __disjvr_0^0'=__disjvr_0^post5, a_253^0'=a_253^post5, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post5, __disjvr_21^0'=__disjvr_21^post5, x_27^0'=x_27^post5, __disjvr_3^0'=__disjvr_3^post5, rcd_220^0'=rcd_220^post5, __disjvr_14^0'=__disjvr_14^post5, head_33^0'=head_33^post5, __disjvr_24^0'=__disjvr_24^post5, temp_36^0'=temp_36^post5, r_192^0'=r_192^post5, __disjvr_8^0'=__disjvr_8^post5, a_139^0'=a_139^post5, result_11^0'=result_11^post5, __disjvr_19^0'=__disjvr_19^post5, i_31^0'=i_31^post5, __disjvr_29^0'=__disjvr_29^post5, x_22^0'=x_22^post5, rcd_193^0'=rcd_193^post5, __disjvr_11^0'=__disjvr_11^post5, a_309^0'=a_309^post5, tail_15^0'=tail_15^post5, length_29^0'=length_29^post5, x_SLAM_f_25^0'=x_SLAM_f_25^post5, __disjvr_5^0'=__disjvr_5^post5, rcd_288^0'=rcd_288^post5, __disjvr_16^0'=__disjvr_16^post5, i_112^0'=i_112^post5, __disjvr_26^0'=__disjvr_26^post5, tmp_35^0'=tmp_35^post5, rcd_106^0'=rcd_106^post5, a_222^0'=a_222^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post5, __disjvr_20^0'=__disjvr_20^post5, len_221^0'=len_221^post5, __disjvr_30^0'=__disjvr_30^post5, rcd_199^0'=rcd_199^post5, __disjvr_13^0'=__disjvr_13^post5, head_16^0'=head_16^post5, __disjvr_23^0'=__disjvr_23^post5, temp0_32^0'=temp0_32^post5, r_149^0'=r_149^post5, y_26^0'=y_26^post5, __disjvr_7^0'=__disjvr_7^post5, rcd_320^0'=rcd_320^post5, rcd_71^0'=rcd_71^post5, __disjvr_18^0'=__disjvr_18^post5, i_198^0'=i_198^post5, __disjvr_28^0'=__disjvr_28^post5, x_207^0'=x_207^post5, rcd_185^0'=rcd_185^post5, __disjvr_10^0'=__disjvr_10^post5, a_279^0'=a_279^post5, t_23^0'=t_23^post5, __disjvr_22^0'=__disjvr_22^post5, x_SLAM_f_20^0'=x_SLAM_f_20^post5, __disjvr_4^0'=__disjvr_4^post5, rcd_284^0'=rcd_284^post5, __disjvr_15^0'=__disjvr_15^post5, head_SLAM_f_30^0'=head_SLAM_f_30^post5, __disjvr_25^0'=__disjvr_25^post5, temp_37^0'=temp_37^post5, r_41^0'=r_41^post5, __disjvr_9^0'=__disjvr_9^post5, a_174^0'=a_174^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post5, __disjvr_1^0'=__disjvr_1^post5, len_159^0'=len_159^post5, __disjvr_2^0'=__disjvr_2^post5, rcd_194^0'=rcd_194^post5, __disjvr_12^0'=__disjvr_12^post5, f_202^0'=f_202^post5, temp0_19^0'=temp0_19^post5, nondet_12^0'=nondet_12^post5, y_21^0'=y_21^post5, __disjvr_6^0'=__disjvr_6^post5, rcd_308^0'=rcd_308^post5, rcd_45^0'=rcd_45^post5, __disjvr_17^0'=__disjvr_17^post5, i_130^0'=i_130^post5, __disjvr_27^0'=__disjvr_27^post5, x_154^0'=x_154^post5, rcd_114^0'=rcd_114^post5, (0 == 0 /\ a_174^0-a_174^post5 == 0 /\ rcd_320^0-rcd_320^post5 == 0 /\ -rcd_106^post5+rcd_106^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^10 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^10 <= 0 /\ -__disjvr_2^post5+__disjvr_2^0 == 0 /\ -y_21^post5+y_21^0 == 0 /\ i_112^0-i_112^post5 == 0 /\ -i_198^post5+i_198^0 == 0 /\ -rcd_199^post5+rcd_199^0 == 0 /\ __disjvr_4^0-__disjvr_4^post5 == 0 /\ head_16^10-x_SLAM_f_25^10 <= 0 /\ -rcd_45^post5+rcd_45^0 == 0 /\ tail_15^0-y_26^post5 <= 0 /\ -x_SLAM_f_20^post5+x_SLAM_f_20^0 == 0 /\ -f_202^post5+f_202^0 == 0 /\ -__disjvr_23^post5+__disjvr_23^0 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ -rcd_194^post5+rcd_194^0 == 0 /\ a_309^0-a_309^post5 == 0 /\ -x_207^post5+x_207^0 == 0 /\ __disjvr_19^0-__disjvr_19^post5 == 0 /\ __disjvr_8^0-__disjvr_8^post5 == 0 /\ -__disjvr_1^post5+__disjvr_1^0 == 0 /\ rcd_193^0-rcd_193^post5 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ __disjvr_30^0-__disjvr_30^post5 == 0 /\ temp_37^0-temp_37^post5 == 0 /\ __disjvr_26^0-__disjvr_26^post5 == 0 /\ -head_16^10+x_SLAM_f_25^10 <= 0 /\ -head_16^10+x_SLAM_f_25^10 == 0 /\ __disjvr_9^0-__disjvr_9^post5 == 0 /\ -x_154^post5+x_154^0 == 0 /\ -rcd_308^post5+rcd_308^0 == 0 /\ -tail_15^0+y_26^post5 <= 0 /\ -tail_15^0+y_26^post5 == 0 /\ -i_130^post5+i_130^0 == 0 /\ -__disjvr_18^post5+__disjvr_18^0 == 0 /\ head_16^10-result_11^10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^10+y_26^post5 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^10-tail_15^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post5 == 0 /\ __disjvr_14^0-__disjvr_14^post5 == 0 /\ a_279^0-a_279^post5 == 0 /\ x_27^post5-head_16^10 <= 0 /\ -__disjvr_3^post5+__disjvr_3^0 == 0 /\ -head_33^0+temp0_32^10 == 0 /\ -len_159^post5+len_159^0 == 0 /\ -__disjvr_13^post5+__disjvr_13^0 == 0 /\ r_192^0-r_192^post5 == 0 /\ -rcd_185^post5+rcd_185^0 == 0 /\ a_253^0-a_253^post5 == 0 /\ __disjvr_24^0-__disjvr_24^post5 == 0 /\ __disjvr_16^0-__disjvr_16^post5 == 0 /\ -__disjvr_17^post5+__disjvr_17^0 == 0 /\ -__disjvr_6^post5+__disjvr_6^0 == 0 /\ -temp0_32^10+result_11^10 == 0 /\ -x_27^post5+x_SLAM_f_25^10 <= 0 /\ -__disjvr_15^post5+__disjvr_15^0 == 0 /\ -rcd_114^post5+rcd_114^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^10-y_26^post5 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^10+tail_15^0 <= 0 /\ __disjvr_5^0-__disjvr_5^post5 == 0 /\ __disjvr_28^0-__disjvr_28^post5 == 0 /\ r_149^0-r_149^post5 == 0 /\ -__disjvr_10^post5+__disjvr_10^0 == 0 /\ -x_27^post5+head_16^10 <= 0 /\ __disjvr_20^0-__disjvr_20^post5 == 0 /\ -temp0_19^post5+temp0_19^0 == 0 /\ rcd_220^0-rcd_220^post5 == 0 /\ -i_31^0+length_29^0 <= 0 /\ -__disjvr_11^post5+__disjvr_11^0 == 0 /\ -a_222^post5+a_222^0 == 0 /\ -rcd_71^post5+rcd_71^0 == 0 /\ x_22^0-x_22^post5 == 0 /\ rcd_284^0-rcd_284^post5 == 0 /\ -t_23^post5+t_23^0 == 0 /\ a_139^0-a_139^post5 == 0 /\ -__disjvr_27^post5+__disjvr_27^0 == 0 /\ -len_221^post5+len_221^0 == 0 /\ __disjvr_25^0-__disjvr_25^post5 == 0 /\ __disjvr_21^0-__disjvr_21^post5 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ __disjvr_7^0-__disjvr_7^post5 == 0 /\ -r_41^post5+r_41^0 == 0 /\ x_27^post5-x_SLAM_f_25^10 <= 0 /\ x_27^post5-x_SLAM_f_25^10 == 0 /\ -rcd_288^post5+rcd_288^0 == 0 /\ -__disjvr_22^post5+__disjvr_22^0 == 0), cost: 1 18: l6 -> l20 : __disjvr_0^0'=__disjvr_0^post18, a_253^0'=a_253^post18, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post18, __disjvr_21^0'=__disjvr_21^post18, x_27^0'=x_27^post18, __disjvr_3^0'=__disjvr_3^post18, rcd_220^0'=rcd_220^post18, __disjvr_14^0'=__disjvr_14^post18, head_33^0'=head_33^post18, __disjvr_24^0'=__disjvr_24^post18, temp_36^0'=temp_36^post18, r_192^0'=r_192^post18, __disjvr_8^0'=__disjvr_8^post18, a_139^0'=a_139^post18, result_11^0'=result_11^post18, __disjvr_19^0'=__disjvr_19^post18, i_31^0'=i_31^post18, __disjvr_29^0'=__disjvr_29^post18, x_22^0'=x_22^post18, rcd_193^0'=rcd_193^post18, __disjvr_11^0'=__disjvr_11^post18, a_309^0'=a_309^post18, tail_15^0'=tail_15^post18, length_29^0'=length_29^post18, x_SLAM_f_25^0'=x_SLAM_f_25^post18, __disjvr_5^0'=__disjvr_5^post18, rcd_288^0'=rcd_288^post18, __disjvr_16^0'=__disjvr_16^post18, i_112^0'=i_112^post18, __disjvr_26^0'=__disjvr_26^post18, tmp_35^0'=tmp_35^post18, rcd_106^0'=rcd_106^post18, a_222^0'=a_222^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18, __disjvr_20^0'=__disjvr_20^post18, len_221^0'=len_221^post18, __disjvr_30^0'=__disjvr_30^post18, rcd_199^0'=rcd_199^post18, __disjvr_13^0'=__disjvr_13^post18, head_16^0'=head_16^post18, __disjvr_23^0'=__disjvr_23^post18, temp0_32^0'=temp0_32^post18, r_149^0'=r_149^post18, y_26^0'=y_26^post18, __disjvr_7^0'=__disjvr_7^post18, rcd_320^0'=rcd_320^post18, rcd_71^0'=rcd_71^post18, __disjvr_18^0'=__disjvr_18^post18, i_198^0'=i_198^post18, __disjvr_28^0'=__disjvr_28^post18, x_207^0'=x_207^post18, rcd_185^0'=rcd_185^post18, __disjvr_10^0'=__disjvr_10^post18, a_279^0'=a_279^post18, t_23^0'=t_23^post18, __disjvr_22^0'=__disjvr_22^post18, x_SLAM_f_20^0'=x_SLAM_f_20^post18, __disjvr_4^0'=__disjvr_4^post18, rcd_284^0'=rcd_284^post18, __disjvr_15^0'=__disjvr_15^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, __disjvr_25^0'=__disjvr_25^post18, temp_37^0'=temp_37^post18, r_41^0'=r_41^post18, __disjvr_9^0'=__disjvr_9^post18, a_174^0'=a_174^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18, __disjvr_1^0'=__disjvr_1^post18, len_159^0'=len_159^post18, __disjvr_2^0'=__disjvr_2^post18, rcd_194^0'=rcd_194^post18, __disjvr_12^0'=__disjvr_12^post18, f_202^0'=f_202^post18, temp0_19^0'=temp0_19^post18, nondet_12^0'=nondet_12^post18, y_21^0'=y_21^post18, __disjvr_6^0'=__disjvr_6^post18, rcd_308^0'=rcd_308^post18, rcd_45^0'=rcd_45^post18, __disjvr_17^0'=__disjvr_17^post18, i_130^0'=i_130^post18, __disjvr_27^0'=__disjvr_27^post18, x_154^0'=x_154^post18, rcd_114^0'=rcd_114^post18, (0 == 0 /\ -tail_15^post18+head_SLAM_f_30^post18 <= 0 /\ a_279^0-a_279^post18 == 0 /\ 2-i_31^post18 <= 0 /\ -temp_37^post18+temp_37^0 == 0 /\ x_207^0-x_207^post18 == 0 /\ -__disjvr_12^post18+__disjvr_12^0 == 0 /\ -__disjvr_27^post18+__disjvr_27^0 == 0 /\ -a_309^post18+a_309^0 == 0 /\ -rcd_199^post18+rcd_199^0 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post18 <= 0 /\ __disjvr_9^0-__disjvr_9^post18 == 0 /\ r_192^0-r_192^post18 == 0 /\ x_27^0-x_27^post18 == 0 /\ __disjvr_5^0-__disjvr_5^post18 == 0 /\ __disjvr_24^0-__disjvr_24^post18 == 0 /\ y_26^0-y_26^post18 == 0 /\ -1+i_31^post18-i_31^0 == 0 /\ __disjvr_19^0-__disjvr_19^post18 == 0 /\ __disjvr_3^0-__disjvr_3^post18 == 0 /\ tail_15^post18-head_SLAM_f_30^post18 <= 0 /\ __disjvr_20^0-__disjvr_20^post18 == 0 /\ length_29^0-length_29^post18 == 0 /\ -__disjvr_4^post18+__disjvr_4^0 == 0 /\ __disjvr_30^0-__disjvr_30^post18 == 0 /\ __disjvr_28^0-__disjvr_28^post18 == 0 /\ -__disjvr_23^post18+__disjvr_23^0 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post18 <= 0 /\ a_139^0-a_139^post18 == 0 /\ __disjvr_11^0-__disjvr_11^post18 == 0 /\ __disjvr_1^0-__disjvr_1^post18 == 0 /\ -i_130^post18+i_130^0 == 0 /\ __disjvr_16^0-__disjvr_16^post18 == 0 /\ -__disjvr_25^post18+__disjvr_25^0 == 0 /\ rcd_220^0-rcd_220^post18 == 0 /\ -__disjvr_22^post18+__disjvr_22^0 == 0 /\ -rcd_308^post18+rcd_308^0 == 0 /\ head_16^0-head_16^post18 == 0 /\ head_33^post18-tmp_35^post18 <= 0 /\ head_33^post18-tmp_35^post18 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18+head_SLAM_f_30^post18 <= 0 /\ -__disjvr_15^post18+__disjvr_15^0 == 0 /\ -__disjvr_2^post18+__disjvr_2^0 == 0 /\ temp0_19^0-temp0_19^post18 == 0 /\ rcd_106^0-rcd_106^post18 == 0 /\ -x_SLAM_f_20^post18+x_SLAM_f_20^0 == 0 /\ y_21^0-y_21^post18 == 0 /\ -2+i_31^post18 <= 0 /\ -rcd_185^post18+rcd_185^0 == 0 /\ -i_198^post18+i_198^0 == 0 /\ -a_174^post18+a_174^0 == 0 /\ -f_202^post18+f_202^0 == 0 /\ -temp_36^0+tmp_35^post18 == 0 /\ -__disjvr_7^post18+__disjvr_7^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post18 == 0 /\ result_11^0-result_11^post18 == 0 /\ -x_154^post18+x_154^0 == 0 /\ -len_159^post18+len_159^0 == 0 /\ __disjvr_29^0-__disjvr_29^post18 == 0 /\ -__disjvr_17^post18+__disjvr_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18+tmp_35^post18 <= 0 /\ -temp0_32^post18+temp0_32^0 == 0 /\ -rcd_193^post18+rcd_193^0 == 0 /\ -head_33^post18+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18 <= 0 /\ __disjvr_6^0-__disjvr_6^post18 == 0 /\ a_253^0-a_253^post18 == 0 /\ 2-length_29^0 <= 0 /\ -tail_15^post18+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18 <= 0 /\ -__disjvr_18^post18+__disjvr_18^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ r_149^0-r_149^post18 == 0 /\ -head_33^post18+tmp_35^post18 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18-head_SLAM_f_30^post18 <= 0 /\ 1-length_29^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post18 == 0 /\ -rcd_194^post18+rcd_194^0 == 0 /\ -__disjvr_13^post18+__disjvr_13^0 == 0 /\ -rcd_114^post18+rcd_114^0 == 0 /\ -i_112^post18+i_112^0 == 0 /\ -nondet_12^post18+nondet_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post18 == 0 /\ __disjvr_0^0-__disjvr_0^post18 == 0 /\ -__disjvr_26^post18+__disjvr_26^0 == 0 /\ r_41^0-r_41^post18 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18-tmp_35^post18 <= 0 /\ x_22^0-x_22^post18 == 0 /\ head_33^post18-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18 <= 0 /\ rcd_320^0-rcd_320^post18 == 0 /\ a_222^0-a_222^post18 == 0 /\ len_221^0-len_221^post18 == 0 /\ -rcd_288^post18+rcd_288^0 == 0 /\ -__disjvr_10^post18+__disjvr_10^0 == 0 /\ tail_15^post18-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18 <= 0 /\ -rcd_284^post18+rcd_284^0 == 0 /\ -t_23^post18+t_23^0 == 0 /\ __disjvr_14^0-__disjvr_14^post18 == 0 /\ -rcd_45^post18+rcd_45^0 == 0), cost: 1 6: l8 -> l9 : __disjvr_0^0'=__disjvr_0^post6, a_253^0'=a_253^post6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post6, __disjvr_21^0'=__disjvr_21^post6, x_27^0'=x_27^post6, __disjvr_3^0'=__disjvr_3^post6, rcd_220^0'=rcd_220^post6, __disjvr_14^0'=__disjvr_14^post6, head_33^0'=head_33^post6, __disjvr_24^0'=__disjvr_24^post6, temp_36^0'=temp_36^post6, r_192^0'=r_192^post6, __disjvr_8^0'=__disjvr_8^post6, a_139^0'=a_139^post6, result_11^0'=result_11^post6, __disjvr_19^0'=__disjvr_19^post6, i_31^0'=i_31^post6, __disjvr_29^0'=__disjvr_29^post6, x_22^0'=x_22^post6, rcd_193^0'=rcd_193^post6, __disjvr_11^0'=__disjvr_11^post6, a_309^0'=a_309^post6, tail_15^0'=tail_15^post6, length_29^0'=length_29^post6, x_SLAM_f_25^0'=x_SLAM_f_25^post6, __disjvr_5^0'=__disjvr_5^post6, rcd_288^0'=rcd_288^post6, __disjvr_16^0'=__disjvr_16^post6, i_112^0'=i_112^post6, __disjvr_26^0'=__disjvr_26^post6, tmp_35^0'=tmp_35^post6, rcd_106^0'=rcd_106^post6, a_222^0'=a_222^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post6, __disjvr_20^0'=__disjvr_20^post6, len_221^0'=len_221^post6, __disjvr_30^0'=__disjvr_30^post6, rcd_199^0'=rcd_199^post6, __disjvr_13^0'=__disjvr_13^post6, head_16^0'=head_16^post6, __disjvr_23^0'=__disjvr_23^post6, temp0_32^0'=temp0_32^post6, r_149^0'=r_149^post6, y_26^0'=y_26^post6, __disjvr_7^0'=__disjvr_7^post6, rcd_320^0'=rcd_320^post6, rcd_71^0'=rcd_71^post6, __disjvr_18^0'=__disjvr_18^post6, i_198^0'=i_198^post6, __disjvr_28^0'=__disjvr_28^post6, x_207^0'=x_207^post6, rcd_185^0'=rcd_185^post6, __disjvr_10^0'=__disjvr_10^post6, a_279^0'=a_279^post6, t_23^0'=t_23^post6, __disjvr_22^0'=__disjvr_22^post6, x_SLAM_f_20^0'=x_SLAM_f_20^post6, __disjvr_4^0'=__disjvr_4^post6, rcd_284^0'=rcd_284^post6, __disjvr_15^0'=__disjvr_15^post6, head_SLAM_f_30^0'=head_SLAM_f_30^post6, __disjvr_25^0'=__disjvr_25^post6, temp_37^0'=temp_37^post6, r_41^0'=r_41^post6, __disjvr_9^0'=__disjvr_9^post6, a_174^0'=a_174^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post6, __disjvr_1^0'=__disjvr_1^post6, len_159^0'=len_159^post6, __disjvr_2^0'=__disjvr_2^post6, rcd_194^0'=rcd_194^post6, __disjvr_12^0'=__disjvr_12^post6, f_202^0'=f_202^post6, temp0_19^0'=temp0_19^post6, nondet_12^0'=nondet_12^post6, y_21^0'=y_21^post6, __disjvr_6^0'=__disjvr_6^post6, rcd_308^0'=rcd_308^post6, rcd_45^0'=rcd_45^post6, __disjvr_17^0'=__disjvr_17^post6, i_130^0'=i_130^post6, __disjvr_27^0'=__disjvr_27^post6, x_154^0'=x_154^post6, rcd_114^0'=rcd_114^post6, (x_SLAM_f_25^0-x_SLAM_f_25^post6 == 0 /\ -a_279^post6+a_279^0 == 0 /\ __disjvr_26^0-__disjvr_26^post6 == 0 /\ rcd_320^0-rcd_320^post6 == 0 /\ rcd_185^0-rcd_185^post6 == 0 /\ rcd_288^0-rcd_288^post6 == 0 /\ -rcd_199^post6+rcd_199^0 == 0 /\ -__disjvr_27^post6+__disjvr_27^0 == 0 /\ -__disjvr_12^post6+__disjvr_12^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_22^0-__disjvr_22^post6 == 0 /\ i_198^0-i_198^post6 == 0 /\ x_27^0-x_27^post6 == 0 /\ temp_36^0-temp_36^post6 == 0 /\ __disjvr_29^0-__disjvr_29^post6 == 0 /\ __disjvr_19^0-__disjvr_19^post6 == 0 /\ -rcd_106^post6+rcd_106^0 == 0 /\ a_253^0-a_253^post6 == 0 /\ -len_221^post6+len_221^0 == 0 /\ -y_21^post6+y_21^0 == 0 /\ tail_15^0-tail_15^post6 == 0 /\ __disjvr_8^0-__disjvr_8^post6 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ __disjvr_3^0-__disjvr_3^post6 == 0 /\ -a_222^post6+a_222^0 == 0 /\ -x_22^post6+x_22^0 == 0 /\ rcd_71^0-rcd_71^post6 == 0 /\ -i_130^post6+i_130^0 == 0 /\ -__disjvr_28^post6+__disjvr_28^0 == 0 /\ -__disjvr_20^post6+__disjvr_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ -x_SLAM_f_20^post6+x_SLAM_f_20^0 == 0 /\ rcd_220^0-rcd_220^post6 == 0 /\ -length_29^post6+length_29^0 == 0 /\ -f_202^post6+f_202^0 == 0 /\ -a_174^post6+a_174^0 == 0 /\ -head_16^post6+head_16^0 == 0 /\ i_31^0-i_31^post6 == 0 /\ nondet_12^0-nondet_12^post6 == 0 /\ result_11^0-result_11^post6 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post6 == 0 /\ -r_149^post6+r_149^0 == 0 /\ -rcd_284^post6+rcd_284^0 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ head_33^0-head_33^post6 == 0 /\ __disjvr_11^0-__disjvr_11^post6 == 0 /\ __disjvr_5^0-__disjvr_5^post6 == 0 /\ -a_139^post6+a_139^0 == 0 /\ -temp0_19^post6+temp0_19^0 == 0 /\ rcd_308^0-rcd_308^post6 == 0 /\ r_192^0-r_192^post6 == 0 /\ -head_SLAM_f_30^post6+head_SLAM_f_30^0 == 0 /\ i_112^0-i_112^post6 == 0 /\ -x_154^post6+x_154^0 == 0 /\ -len_159^post6+len_159^0 == 0 /\ __disjvr_4^0-__disjvr_4^post6 == 0 /\ -tmp_35^post6+tmp_35^0 == 0 /\ -__disjvr_2^post6+__disjvr_2^0 == 0 /\ rcd_193^0-rcd_193^post6 == 0 /\ -__disjvr_6^post6+__disjvr_6^0 == 0 /\ -__disjvr_16^post6+__disjvr_16^0 == 0 /\ __disjvr_30^0-__disjvr_30^post6 == 0 /\ __disjvr_13^0-__disjvr_13^post6 == 0 /\ -t_23^post6+t_23^0 == 0 /\ y_26^0-y_26^post6 == 0 /\ temp_37^0-temp_37^post6 == 0 /\ -__disjvr_18^post6+__disjvr_18^0 == 0 /\ -__disjvr_24^post6+__disjvr_24^0 == 0 /\ -rcd_114^post6+rcd_114^0 == 0 /\ -r_41^post6+r_41^0 == 0 /\ temp0_32^0-temp0_32^post6 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_7^0-__disjvr_7^post6 == 0 /\ __disjvr_25^0-__disjvr_25^post6 == 0 /\ -rcd_45^post6+rcd_45^0 == 0 /\ __disjvr_23^0-__disjvr_23^post6 == 0 /\ -__disjvr_9^post6+__disjvr_9^0 == 0 /\ -rcd_194^post6+rcd_194^0 == 0 /\ a_309^0-a_309^post6 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ -x_207^post6+x_207^0 == 0 /\ __disjvr_2^post6-__disjvr_2^0 == 0 /\ -__disjvr_10^post6+__disjvr_10^0 == 0), cost: 1 7: l9 -> l10 : __disjvr_0^0'=__disjvr_0^post7, a_253^0'=a_253^post7, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post7, __disjvr_21^0'=__disjvr_21^post7, x_27^0'=x_27^post7, __disjvr_3^0'=__disjvr_3^post7, rcd_220^0'=rcd_220^post7, __disjvr_14^0'=__disjvr_14^post7, head_33^0'=head_33^post7, __disjvr_24^0'=__disjvr_24^post7, temp_36^0'=temp_36^post7, r_192^0'=r_192^post7, __disjvr_8^0'=__disjvr_8^post7, a_139^0'=a_139^post7, result_11^0'=result_11^post7, __disjvr_19^0'=__disjvr_19^post7, i_31^0'=i_31^post7, __disjvr_29^0'=__disjvr_29^post7, x_22^0'=x_22^post7, rcd_193^0'=rcd_193^post7, __disjvr_11^0'=__disjvr_11^post7, a_309^0'=a_309^post7, tail_15^0'=tail_15^post7, length_29^0'=length_29^post7, x_SLAM_f_25^0'=x_SLAM_f_25^post7, __disjvr_5^0'=__disjvr_5^post7, rcd_288^0'=rcd_288^post7, __disjvr_16^0'=__disjvr_16^post7, i_112^0'=i_112^post7, __disjvr_26^0'=__disjvr_26^post7, tmp_35^0'=tmp_35^post7, rcd_106^0'=rcd_106^post7, a_222^0'=a_222^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post7, __disjvr_20^0'=__disjvr_20^post7, len_221^0'=len_221^post7, __disjvr_30^0'=__disjvr_30^post7, rcd_199^0'=rcd_199^post7, __disjvr_13^0'=__disjvr_13^post7, head_16^0'=head_16^post7, __disjvr_23^0'=__disjvr_23^post7, temp0_32^0'=temp0_32^post7, r_149^0'=r_149^post7, y_26^0'=y_26^post7, __disjvr_7^0'=__disjvr_7^post7, rcd_320^0'=rcd_320^post7, rcd_71^0'=rcd_71^post7, __disjvr_18^0'=__disjvr_18^post7, i_198^0'=i_198^post7, __disjvr_28^0'=__disjvr_28^post7, x_207^0'=x_207^post7, rcd_185^0'=rcd_185^post7, __disjvr_10^0'=__disjvr_10^post7, a_279^0'=a_279^post7, t_23^0'=t_23^post7, __disjvr_22^0'=__disjvr_22^post7, x_SLAM_f_20^0'=x_SLAM_f_20^post7, __disjvr_4^0'=__disjvr_4^post7, rcd_284^0'=rcd_284^post7, __disjvr_15^0'=__disjvr_15^post7, head_SLAM_f_30^0'=head_SLAM_f_30^post7, __disjvr_25^0'=__disjvr_25^post7, temp_37^0'=temp_37^post7, r_41^0'=r_41^post7, __disjvr_9^0'=__disjvr_9^post7, a_174^0'=a_174^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post7, __disjvr_1^0'=__disjvr_1^post7, len_159^0'=len_159^post7, __disjvr_2^0'=__disjvr_2^post7, rcd_194^0'=rcd_194^post7, __disjvr_12^0'=__disjvr_12^post7, f_202^0'=f_202^post7, temp0_19^0'=temp0_19^post7, nondet_12^0'=nondet_12^post7, y_21^0'=y_21^post7, __disjvr_6^0'=__disjvr_6^post7, rcd_308^0'=rcd_308^post7, rcd_45^0'=rcd_45^post7, __disjvr_17^0'=__disjvr_17^post7, i_130^0'=i_130^post7, __disjvr_27^0'=__disjvr_27^post7, x_154^0'=x_154^post7, rcd_114^0'=rcd_114^post7, (-__disjvr_1^post7+__disjvr_1^0 == 0 /\ __disjvr_10^0-__disjvr_10^post7 == 0 /\ rcd_71^0-rcd_71^post7 == 0 /\ -x_27^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_13^post7+__disjvr_13^0 == 0 /\ head_33^0-head_33^post7 == 0 /\ len_159^0-len_159^post7 == 0 /\ t_23^0-t_23^post7 == 0 /\ -rcd_114^post7+rcd_114^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ __disjvr_3^0-__disjvr_3^post7 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_SLAM_f_25^0-head_16^0 <= 0 /\ -r_41^post7+r_41^0 == 0 /\ i_198^0-i_198^post7 == 0 /\ -rcd_45^post7+rcd_45^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -__disjvr_4^post7+__disjvr_4^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ tmp_35^0-tmp_35^post7 == 0 /\ -a_279^post7+a_279^0 == 0 /\ -len_221^post7+len_221^0 == 0 /\ x_27^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ a_253^0-a_253^post7 == 0 /\ length_29^0-length_29^post7 == 0 /\ -a_174^post7+a_174^0 == 0 /\ -__disjvr_27^post7+__disjvr_27^0 == 0 /\ -f_202^post7+f_202^0 == 0 /\ -rcd_199^post7+rcd_199^0 == 0 /\ i_112^0-i_112^post7 == 0 /\ -a_222^post7+a_222^0 == 0 /\ y_26^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post7 == 0 /\ __disjvr_26^0-__disjvr_26^post7 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post7 == 0 /\ rcd_320^0-rcd_320^post7 == 0 /\ -result_11^post7+result_11^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 <= 0 /\ -__disjvr_18^post7+__disjvr_18^0 == 0 /\ a_309^0-a_309^post7 == 0 /\ __disjvr_14^0-__disjvr_14^post7 == 0 /\ -x_SLAM_f_20^post7+x_SLAM_f_20^0 == 0 /\ -__disjvr_2^post7+__disjvr_2^0 == 0 /\ -r_149^post7+r_149^0 == 0 /\ rcd_288^0-rcd_288^post7 == 0 /\ temp0_32^0-temp0_32^post7 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_27^0-x_27^post7 == 0 /\ -__disjvr_24^post7+__disjvr_24^0 == 0 /\ -rcd_185^post7+rcd_185^0 == 0 /\ rcd_193^0-rcd_193^post7 == 0 /\ rcd_220^0-rcd_220^post7 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ -head_SLAM_f_30^post7+head_SLAM_f_30^0 == 0 /\ -x_154^post7+x_154^0 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ -__disjvr_16^post7+__disjvr_16^0 == 0 /\ -__disjvr_9^post7+__disjvr_9^0 == 0 /\ rcd_284^0-rcd_284^post7 == 0 /\ -i_130^post7+i_130^0 == 0 /\ -x_22^post7+x_22^0 == 0 /\ __disjvr_19^0-__disjvr_19^post7 == 0 /\ -tail_15^0+y_26^0 <= 0 /\ i_31^0-i_31^post7 == 0 /\ temp_36^0-temp_36^post7 == 0 /\ -y_21^post7+y_21^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post7 == 0 /\ rcd_308^0-rcd_308^post7 == 0 /\ -x_SLAM_f_25^post7+x_SLAM_f_25^0 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ __disjvr_29^0-__disjvr_29^post7 == 0 /\ -y_26^post7+y_26^0 == 0 /\ -rcd_194^post7+rcd_194^0 == 0 /\ r_192^0-r_192^post7 == 0 /\ -__disjvr_15^post7+__disjvr_15^0 == 0 /\ tail_15^0-tail_15^post7 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0 /\ -x_207^post7+x_207^0 == 0 /\ __disjvr_25^0-__disjvr_25^post7 == 0 /\ temp_37^0-temp_37^post7 == 0 /\ -head_16^post7+head_16^0 == 0 /\ __disjvr_11^0-__disjvr_11^post7 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ -__disjvr_30^post7+__disjvr_30^0 == 0 /\ -rcd_106^post7+rcd_106^0 == 0 /\ a_139^0-a_139^post7 == 0 /\ -temp0_19^post7+temp0_19^0 == 0 /\ -__disjvr_6^post7+__disjvr_6^0 == 0 /\ tail_15^0-y_26^0 <= 0 /\ -__disjvr_17^post7+__disjvr_17^0 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ __disjvr_22^0-__disjvr_22^post7 == 0), cost: 1 8: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post8, a_253^0'=a_253^post8, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post8, __disjvr_21^0'=__disjvr_21^post8, x_27^0'=x_27^post8, __disjvr_3^0'=__disjvr_3^post8, rcd_220^0'=rcd_220^post8, __disjvr_14^0'=__disjvr_14^post8, head_33^0'=head_33^post8, __disjvr_24^0'=__disjvr_24^post8, temp_36^0'=temp_36^post8, r_192^0'=r_192^post8, __disjvr_8^0'=__disjvr_8^post8, a_139^0'=a_139^post8, result_11^0'=result_11^post8, __disjvr_19^0'=__disjvr_19^post8, i_31^0'=i_31^post8, __disjvr_29^0'=__disjvr_29^post8, x_22^0'=x_22^post8, rcd_193^0'=rcd_193^post8, __disjvr_11^0'=__disjvr_11^post8, a_309^0'=a_309^post8, tail_15^0'=tail_15^post8, length_29^0'=length_29^post8, x_SLAM_f_25^0'=x_SLAM_f_25^post8, __disjvr_5^0'=__disjvr_5^post8, rcd_288^0'=rcd_288^post8, __disjvr_16^0'=__disjvr_16^post8, i_112^0'=i_112^post8, __disjvr_26^0'=__disjvr_26^post8, tmp_35^0'=tmp_35^post8, rcd_106^0'=rcd_106^post8, a_222^0'=a_222^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post8, __disjvr_20^0'=__disjvr_20^post8, len_221^0'=len_221^post8, __disjvr_30^0'=__disjvr_30^post8, rcd_199^0'=rcd_199^post8, __disjvr_13^0'=__disjvr_13^post8, head_16^0'=head_16^post8, __disjvr_23^0'=__disjvr_23^post8, temp0_32^0'=temp0_32^post8, r_149^0'=r_149^post8, y_26^0'=y_26^post8, __disjvr_7^0'=__disjvr_7^post8, rcd_320^0'=rcd_320^post8, rcd_71^0'=rcd_71^post8, __disjvr_18^0'=__disjvr_18^post8, i_198^0'=i_198^post8, __disjvr_28^0'=__disjvr_28^post8, x_207^0'=x_207^post8, rcd_185^0'=rcd_185^post8, __disjvr_10^0'=__disjvr_10^post8, a_279^0'=a_279^post8, t_23^0'=t_23^post8, __disjvr_22^0'=__disjvr_22^post8, x_SLAM_f_20^0'=x_SLAM_f_20^post8, __disjvr_4^0'=__disjvr_4^post8, rcd_284^0'=rcd_284^post8, __disjvr_15^0'=__disjvr_15^post8, head_SLAM_f_30^0'=head_SLAM_f_30^post8, __disjvr_25^0'=__disjvr_25^post8, temp_37^0'=temp_37^post8, r_41^0'=r_41^post8, __disjvr_9^0'=__disjvr_9^post8, a_174^0'=a_174^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post8, __disjvr_1^0'=__disjvr_1^post8, len_159^0'=len_159^post8, __disjvr_2^0'=__disjvr_2^post8, rcd_194^0'=rcd_194^post8, __disjvr_12^0'=__disjvr_12^post8, f_202^0'=f_202^post8, temp0_19^0'=temp0_19^post8, nondet_12^0'=nondet_12^post8, y_21^0'=y_21^post8, __disjvr_6^0'=__disjvr_6^post8, rcd_308^0'=rcd_308^post8, rcd_45^0'=rcd_45^post8, __disjvr_17^0'=__disjvr_17^post8, i_130^0'=i_130^post8, __disjvr_27^0'=__disjvr_27^post8, x_154^0'=x_154^post8, rcd_114^0'=rcd_114^post8, (__disjvr_0^0-__disjvr_0^post8 == 0 /\ __disjvr_5^0-__disjvr_5^post8 == 0 /\ rcd_220^0-rcd_220^post8 == 0 /\ -__disjvr_1^post8+__disjvr_1^0 == 0 /\ x_27^0-x_27^post8 == 0 /\ -nondet_12^post8+nondet_12^0 == 0 /\ r_149^0-r_149^post8 == 0 /\ rcd_193^0-rcd_193^post8 == 0 /\ rcd_71^0-rcd_71^post8 == 0 /\ __disjvr_24^0-__disjvr_24^post8 == 0 /\ -temp0_19^post8+temp0_19^0 == 0 /\ a_309^0-a_309^post8 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0 /\ -f_202^post8+f_202^0 == 0 /\ -rcd_45^post8+rcd_45^0 == 0 /\ i_31^0-i_31^post8 == 0 /\ -t_23^post8+t_23^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post8 == 0 /\ -head_16^post8+head_16^0 == 0 /\ tmp_35^0-tmp_35^post8 == 0 /\ -rcd_114^post8+rcd_114^0 == 0 /\ a_174^0-a_174^post8 == 0 /\ -__disjvr_18^post8+__disjvr_18^0 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ __disjvr_29^0-__disjvr_29^post8 == 0 /\ -r_41^post8+r_41^0 == 0 /\ -__disjvr_16^post8+__disjvr_16^0 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ rcd_284^0-rcd_284^post8 == 0 /\ i_198^0-i_198^post8 == 0 /\ -x_SLAM_f_25^post8+x_SLAM_f_25^0 == 0 /\ -len_159^post8+len_159^0 == 0 /\ rcd_106^0-rcd_106^post8 == 0 /\ __disjvr_19^0-__disjvr_19^post8 == 0 /\ tail_15^0-tail_15^post8 == 0 /\ __disjvr_23^0-__disjvr_23^post8 == 0 /\ -__disjvr_9^post8+__disjvr_9^0 == 0 /\ rcd_194^0-rcd_194^post8 == 0 /\ length_29^0-length_29^post8 == 0 /\ -__disjvr_13^post8+__disjvr_13^0 == 0 /\ -a_279^post8+a_279^0 == 0 /\ -__disjvr_11^post8+__disjvr_11^0 == 0 /\ -rcd_185^post8+rcd_185^0 == 0 /\ temp_36^0-temp_36^post8 == 0 /\ -__disjvr_27^post8+__disjvr_27^0 == 0 /\ -len_221^post8+len_221^0 == 0 /\ -x_207^post8+x_207^0 == 0 /\ -__disjvr_10^post8+__disjvr_10^0 == 0 /\ x_22^0-x_22^post8 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_130^post8+i_130^0 == 0 /\ __disjvr_20^0-__disjvr_20^post8 == 0 /\ -y_26^post8+y_26^0 == 0 /\ -temp_37^post8+temp_37^0 == 0 /\ __disjvr_7^0-__disjvr_7^post8 == 0 /\ -r_192^post8+r_192^0 == 0 /\ -result_11^post8+result_11^0 == 0 /\ -rcd_320^post8+rcd_320^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post8 == 0 /\ -__disjvr_25^post8+__disjvr_25^0 == 0 /\ rcd_199^0-rcd_199^post8 == 0 /\ temp0_32^0-temp0_32^post8 == 0 /\ __disjvr_3^0-__disjvr_3^post8 == 0 /\ a_139^0-a_139^post8 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ -rcd_308^post8+rcd_308^0 == 0 /\ __disjvr_15^0-__disjvr_15^post8 == 0 /\ -x_SLAM_f_20^post8+x_SLAM_f_20^0 == 0 /\ -y_21^post8+y_21^0 == 0 /\ __disjvr_22^0-__disjvr_22^post8 == 0 /\ -__disjvr_30^post8+__disjvr_30^0 == 0 /\ a_253^0-a_253^post8 == 0 /\ __disjvr_26^0-__disjvr_26^post8 == 0 /\ -a_222^post8+a_222^0 == 0 /\ __disjvr_8^0-__disjvr_8^post8 == 0 /\ -head_SLAM_f_30^post8+head_SLAM_f_30^0 == 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ -x_154^post8+x_154^0 == 0 /\ __disjvr_4^0-__disjvr_4^post8 == 0 /\ rcd_288^0-rcd_288^post8 == 0 /\ i_112^0-i_112^post8 == 0 /\ head_33^0-head_33^post8 == 0 /\ -__disjvr_6^post8+__disjvr_6^0 == 0 /\ -__disjvr_3^0+__disjvr_3^post8 == 0), cost: 1 9: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post9, a_253^0'=a_253^post9, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post9, __disjvr_21^0'=__disjvr_21^post9, x_27^0'=x_27^post9, __disjvr_3^0'=__disjvr_3^post9, rcd_220^0'=rcd_220^post9, __disjvr_14^0'=__disjvr_14^post9, head_33^0'=head_33^post9, __disjvr_24^0'=__disjvr_24^post9, temp_36^0'=temp_36^post9, r_192^0'=r_192^post9, __disjvr_8^0'=__disjvr_8^post9, a_139^0'=a_139^post9, result_11^0'=result_11^post9, __disjvr_19^0'=__disjvr_19^post9, i_31^0'=i_31^post9, __disjvr_29^0'=__disjvr_29^post9, x_22^0'=x_22^post9, rcd_193^0'=rcd_193^post9, __disjvr_11^0'=__disjvr_11^post9, a_309^0'=a_309^post9, tail_15^0'=tail_15^post9, length_29^0'=length_29^post9, x_SLAM_f_25^0'=x_SLAM_f_25^post9, __disjvr_5^0'=__disjvr_5^post9, rcd_288^0'=rcd_288^post9, __disjvr_16^0'=__disjvr_16^post9, i_112^0'=i_112^post9, __disjvr_26^0'=__disjvr_26^post9, tmp_35^0'=tmp_35^post9, rcd_106^0'=rcd_106^post9, a_222^0'=a_222^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post9, __disjvr_20^0'=__disjvr_20^post9, len_221^0'=len_221^post9, __disjvr_30^0'=__disjvr_30^post9, rcd_199^0'=rcd_199^post9, __disjvr_13^0'=__disjvr_13^post9, head_16^0'=head_16^post9, __disjvr_23^0'=__disjvr_23^post9, temp0_32^0'=temp0_32^post9, r_149^0'=r_149^post9, y_26^0'=y_26^post9, __disjvr_7^0'=__disjvr_7^post9, rcd_320^0'=rcd_320^post9, rcd_71^0'=rcd_71^post9, __disjvr_18^0'=__disjvr_18^post9, i_198^0'=i_198^post9, __disjvr_28^0'=__disjvr_28^post9, x_207^0'=x_207^post9, rcd_185^0'=rcd_185^post9, __disjvr_10^0'=__disjvr_10^post9, a_279^0'=a_279^post9, t_23^0'=t_23^post9, __disjvr_22^0'=__disjvr_22^post9, x_SLAM_f_20^0'=x_SLAM_f_20^post9, __disjvr_4^0'=__disjvr_4^post9, rcd_284^0'=rcd_284^post9, __disjvr_15^0'=__disjvr_15^post9, head_SLAM_f_30^0'=head_SLAM_f_30^post9, __disjvr_25^0'=__disjvr_25^post9, temp_37^0'=temp_37^post9, r_41^0'=r_41^post9, __disjvr_9^0'=__disjvr_9^post9, a_174^0'=a_174^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post9, __disjvr_1^0'=__disjvr_1^post9, len_159^0'=len_159^post9, __disjvr_2^0'=__disjvr_2^post9, rcd_194^0'=rcd_194^post9, __disjvr_12^0'=__disjvr_12^post9, f_202^0'=f_202^post9, temp0_19^0'=temp0_19^post9, nondet_12^0'=nondet_12^post9, y_21^0'=y_21^post9, __disjvr_6^0'=__disjvr_6^post9, rcd_308^0'=rcd_308^post9, rcd_45^0'=rcd_45^post9, __disjvr_17^0'=__disjvr_17^post9, i_130^0'=i_130^post9, __disjvr_27^0'=__disjvr_27^post9, x_154^0'=x_154^post9, rcd_114^0'=rcd_114^post9, (0 == 0 /\ -__disjvr_30^post9+__disjvr_30^0 == 0 /\ x_22^post9-head_16^0 <= 0 /\ -nondet_12^post9+nondet_12^0 == 0 /\ -head_16^post9+head_16^0 == 0 /\ __disjvr_8^0-__disjvr_8^post9 == 0 /\ i_112^0-i_112^post9 == 0 /\ -r_149^post9+r_149^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post9 <= 0 /\ -rcd_284^post9+rcd_284^0 == 0 /\ head_16^0-x_SLAM_f_20^post9 <= 0 /\ length_29^0-length_29^post9 == 0 /\ -f_202^post9+f_202^0 == 0 /\ -temp0_19^post9+temp0_19^0 == 0 /\ -__disjvr_6^post9+__disjvr_6^0 == 0 /\ -head_SLAM_f_30^post9+head_SLAM_f_30^0 == 0 /\ a_309^0-a_309^post9 == 0 /\ rcd_220^0-rcd_220^post9 == 0 /\ rcd_320^0-rcd_320^post9 == 0 /\ -x_154^post9+x_154^0 == 0 /\ -len_159^post9+len_159^0 == 0 /\ -__disjvr_2^post9+__disjvr_2^0 == 0 /\ -tmp_35^post9+tmp_35^0 == 0 /\ -__disjvr_17^post9+__disjvr_17^0 == 0 /\ -a_174^post9+a_174^0 == 0 /\ -temp0_32^post9+temp0_32^0 == 0 /\ -t_23^post9+t_23^0 == 0 /\ -x_22^post9+head_16^0 <= 0 /\ -__disjvr_16^post9+__disjvr_16^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ __disjvr_12^0-__disjvr_12^post9 == 0 /\ x_207^0-x_207^post9 == 0 /\ rcd_288^0-rcd_288^post9 == 0 /\ i_31^0-i_31^post9 == 0 /\ -rcd_114^post9+rcd_114^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post9 <= 0 /\ head_33^0-head_33^post9 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^post9 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^post9 <= 0 /\ -head_16^0+x_SLAM_f_20^post9 <= 0 /\ -head_16^0+x_SLAM_f_20^post9 == 0 /\ -__disjvr_9^post9+__disjvr_9^0 == 0 /\ -rcd_194^post9+rcd_194^0 == 0 /\ __disjvr_18^0-__disjvr_18^post9 == 0 /\ -rcd_45^post9+rcd_45^0 == 0 /\ -__disjvr_15^post9+__disjvr_15^0 == 0 /\ rcd_106^0-rcd_106^post9 == 0 /\ __disjvr_19^0-__disjvr_19^post9 == 0 /\ -__disjvr_10^post9+__disjvr_10^0 == 0 /\ rcd_193^0-rcd_193^post9 == 0 /\ a_253^0-a_253^post9 == 0 /\ __disjvr_21^0-__disjvr_21^post9 == 0 /\ tail_15^0-tail_15^post9 == 0 /\ __disjvr_13^0-__disjvr_13^post9 == 0 /\ __disjvr_20^0-__disjvr_20^post9 == 0 /\ __disjvr_3^0-__disjvr_3^post9 == 0 /\ temp_37^0-temp_37^post9 == 0 /\ -a_279^post9+a_279^0 == 0 /\ -__disjvr_27^post9+__disjvr_27^0 == 0 /\ rcd_71^0-rcd_71^post9 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -x_27^0+y_26^0 <= 0 /\ __disjvr_7^0-__disjvr_7^post9 == 0 /\ -y_21^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post9 <= 0 /\ -r_41^post9+r_41^0 == 0 /\ a_222^0-a_222^post9 == 0 /\ a_139^0-a_139^post9 == 0 /\ -__disjvr_11^post9+__disjvr_11^0 == 0 /\ __disjvr_23^0-__disjvr_23^post9 == 0 /\ __disjvr_0^0-__disjvr_0^post9 == 0 /\ -y_21^post9+tail_15^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post9 == 0 /\ -len_221^post9+len_221^0 == 0 /\ -x_22^post9+x_SLAM_f_20^post9 <= 0 /\ __disjvr_26^0-__disjvr_26^post9 == 0 /\ rcd_185^0-rcd_185^post9 == 0 /\ -__disjvr_1^post9+__disjvr_1^0 == 0 /\ result_11^0-result_11^post9 == 0 /\ x_27^0-y_26^0 <= 0 /\ -__disjvr_22^post9+__disjvr_22^0 == 0 /\ -i_130^post9+i_130^0 == 0 /\ y_21^post9-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post9 <= 0 /\ -__disjvr_28^post9+__disjvr_28^0 == 0 /\ rcd_199^0-rcd_199^post9 == 0 /\ i_198^0-i_198^post9 == 0 /\ -rcd_308^post9+rcd_308^0 == 0 /\ temp_36^0-temp_36^post9 == 0 /\ __disjvr_5^0-__disjvr_5^post9 == 0 /\ -__disjvr_25^post9+__disjvr_25^0 == 0 /\ __disjvr_29^0-__disjvr_29^post9 == 0 /\ -r_192^post9+r_192^0 == 0 /\ __disjvr_24^0-__disjvr_24^post9 == 0 /\ __disjvr_4^0-__disjvr_4^post9 == 0 /\ y_21^post9-tail_15^0 <= 0 /\ y_21^post9-tail_15^0 == 0 /\ x_22^post9-x_SLAM_f_20^post9 <= 0 /\ x_22^post9-x_SLAM_f_20^post9 == 0), cost: 1 10: l12 -> l13 : __disjvr_0^0'=__disjvr_0^post10, a_253^0'=a_253^post10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post10, __disjvr_21^0'=__disjvr_21^post10, x_27^0'=x_27^post10, __disjvr_3^0'=__disjvr_3^post10, rcd_220^0'=rcd_220^post10, __disjvr_14^0'=__disjvr_14^post10, head_33^0'=head_33^post10, __disjvr_24^0'=__disjvr_24^post10, temp_36^0'=temp_36^post10, r_192^0'=r_192^post10, __disjvr_8^0'=__disjvr_8^post10, a_139^0'=a_139^post10, result_11^0'=result_11^post10, __disjvr_19^0'=__disjvr_19^post10, i_31^0'=i_31^post10, __disjvr_29^0'=__disjvr_29^post10, x_22^0'=x_22^post10, rcd_193^0'=rcd_193^post10, __disjvr_11^0'=__disjvr_11^post10, a_309^0'=a_309^post10, tail_15^0'=tail_15^post10, length_29^0'=length_29^post10, x_SLAM_f_25^0'=x_SLAM_f_25^post10, __disjvr_5^0'=__disjvr_5^post10, rcd_288^0'=rcd_288^post10, __disjvr_16^0'=__disjvr_16^post10, i_112^0'=i_112^post10, __disjvr_26^0'=__disjvr_26^post10, tmp_35^0'=tmp_35^post10, rcd_106^0'=rcd_106^post10, a_222^0'=a_222^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post10, __disjvr_20^0'=__disjvr_20^post10, len_221^0'=len_221^post10, __disjvr_30^0'=__disjvr_30^post10, rcd_199^0'=rcd_199^post10, __disjvr_13^0'=__disjvr_13^post10, head_16^0'=head_16^post10, __disjvr_23^0'=__disjvr_23^post10, temp0_32^0'=temp0_32^post10, r_149^0'=r_149^post10, y_26^0'=y_26^post10, __disjvr_7^0'=__disjvr_7^post10, rcd_320^0'=rcd_320^post10, rcd_71^0'=rcd_71^post10, __disjvr_18^0'=__disjvr_18^post10, i_198^0'=i_198^post10, __disjvr_28^0'=__disjvr_28^post10, x_207^0'=x_207^post10, rcd_185^0'=rcd_185^post10, __disjvr_10^0'=__disjvr_10^post10, a_279^0'=a_279^post10, t_23^0'=t_23^post10, __disjvr_22^0'=__disjvr_22^post10, x_SLAM_f_20^0'=x_SLAM_f_20^post10, __disjvr_4^0'=__disjvr_4^post10, rcd_284^0'=rcd_284^post10, __disjvr_15^0'=__disjvr_15^post10, head_SLAM_f_30^0'=head_SLAM_f_30^post10, __disjvr_25^0'=__disjvr_25^post10, temp_37^0'=temp_37^post10, r_41^0'=r_41^post10, __disjvr_9^0'=__disjvr_9^post10, a_174^0'=a_174^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post10, __disjvr_1^0'=__disjvr_1^post10, len_159^0'=len_159^post10, __disjvr_2^0'=__disjvr_2^post10, rcd_194^0'=rcd_194^post10, __disjvr_12^0'=__disjvr_12^post10, f_202^0'=f_202^post10, temp0_19^0'=temp0_19^post10, nondet_12^0'=nondet_12^post10, y_21^0'=y_21^post10, __disjvr_6^0'=__disjvr_6^post10, rcd_308^0'=rcd_308^post10, rcd_45^0'=rcd_45^post10, __disjvr_17^0'=__disjvr_17^post10, i_130^0'=i_130^post10, __disjvr_27^0'=__disjvr_27^post10, x_154^0'=x_154^post10, rcd_114^0'=rcd_114^post10, (-__disjvr_2^post10+__disjvr_2^0 == 0 /\ -__disjvr_22^post10+__disjvr_22^0 == 0 /\ r_192^0-r_192^post10 == 0 /\ a_174^0-a_174^post10 == 0 /\ tmp_35^0-tmp_35^post10 == 0 /\ tail_15^0-tail_15^post10 == 0 /\ -x_SLAM_f_20^post10+x_SLAM_f_20^0 == 0 /\ -__disjvr_16^post10+__disjvr_16^0 == 0 /\ -rcd_185^post10+rcd_185^0 == 0 /\ -y_21^post10+y_21^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_26^0-__disjvr_26^post10 == 0 /\ -head_SLAM_f_30^post10+head_SLAM_f_30^0 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ -__disjvr_7^post10+__disjvr_7^0 == 0 /\ length_29^0-length_29^post10 == 0 /\ -r_149^post10+r_149^0 == 0 /\ a_139^0-a_139^post10 == 0 /\ -i_130^post10+i_130^0 == 0 /\ -rcd_308^post10+rcd_308^0 == 0 /\ -rcd_194^post10+rcd_194^0 == 0 /\ rcd_71^0-rcd_71^post10 == 0 /\ -__disjvr_15^post10+__disjvr_15^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ rcd_288^0-rcd_288^post10 == 0 /\ __disjvr_24^0-__disjvr_24^post10 == 0 /\ -i_112^post10+i_112^0 == 0 /\ x_207^0-x_207^post10 == 0 /\ rcd_193^0-rcd_193^post10 == 0 /\ rcd_220^0-rcd_220^post10 == 0 /\ -head_16^post10+head_16^0 == 0 /\ -rcd_284^post10+rcd_284^0 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ -x_154^post10+x_154^0 == 0 /\ __disjvr_3^0-__disjvr_3^post10 == 0 /\ -temp0_19^post10+temp0_19^0 == 0 /\ -y_26^post10+y_26^0 == 0 /\ -rcd_106^post10+rcd_106^0 == 0 /\ -__disjvr_30^post10+__disjvr_30^0 == 0 /\ i_31^0-i_31^post10 == 0 /\ -__disjvr_6^post10+__disjvr_6^0 == 0 /\ -__disjvr_17^post10+__disjvr_17^0 == 0 /\ temp_36^0-temp_36^post10 == 0 /\ __disjvr_20^0-__disjvr_20^post10 == 0 /\ __disjvr_29^0-__disjvr_29^post10 == 0 /\ -a_309^post10+a_309^0 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ __disjvr_4^post10-__disjvr_4^0 == 0 /\ len_221^0-len_221^post10 == 0 /\ __disjvr_25^0-__disjvr_25^post10 == 0 /\ a_253^0-a_253^post10 == 0 /\ -rcd_114^post10+rcd_114^0 == 0 /\ -x_27^post10+x_27^0 == 0 /\ temp_37^0-temp_37^post10 == 0 /\ rcd_320^0-rcd_320^post10 == 0 /\ __disjvr_11^0-__disjvr_11^post10 == 0 /\ __disjvr_8^0-__disjvr_8^post10 == 0 /\ -r_41^post10+r_41^0 == 0 /\ a_222^0-a_222^post10 == 0 /\ -t_23^post10+t_23^0 == 0 /\ __disjvr_23^0-__disjvr_23^post10 == 0 /\ -rcd_45^post10+rcd_45^0 == 0 /\ __disjvr_10^0-__disjvr_10^post10 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ -__disjvr_4^post10+__disjvr_4^0 == 0 /\ temp0_32^0-temp0_32^post10 == 0 /\ x_22^0-x_22^post10 == 0 /\ head_33^0-head_33^post10 == 0 /\ -__disjvr_28^post10+__disjvr_28^0 == 0 /\ __disjvr_5^0-__disjvr_5^post10 == 0 /\ -f_202^post10+f_202^0 == 0 /\ -__disjvr_9^post10+__disjvr_9^0 == 0 /\ -x_SLAM_f_25^post10+x_SLAM_f_25^0 == 0 /\ -__disjvr_27^post10+__disjvr_27^0 == 0 /\ __disjvr_13^0-__disjvr_13^post10 == 0 /\ -len_159^post10+len_159^0 == 0 /\ -result_11^post10+result_11^0 == 0 /\ rcd_199^0-rcd_199^post10 == 0 /\ __disjvr_19^0-__disjvr_19^post10 == 0 /\ -a_279^post10+a_279^0 == 0 /\ i_198^0-i_198^post10 == 0 /\ -__disjvr_18^post10+__disjvr_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post10 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0), cost: 1 11: l13 -> l14 : __disjvr_0^0'=__disjvr_0^post11, a_253^0'=a_253^post11, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post11, __disjvr_21^0'=__disjvr_21^post11, x_27^0'=x_27^post11, __disjvr_3^0'=__disjvr_3^post11, rcd_220^0'=rcd_220^post11, __disjvr_14^0'=__disjvr_14^post11, head_33^0'=head_33^post11, __disjvr_24^0'=__disjvr_24^post11, temp_36^0'=temp_36^post11, r_192^0'=r_192^post11, __disjvr_8^0'=__disjvr_8^post11, a_139^0'=a_139^post11, result_11^0'=result_11^post11, __disjvr_19^0'=__disjvr_19^post11, i_31^0'=i_31^post11, __disjvr_29^0'=__disjvr_29^post11, x_22^0'=x_22^post11, rcd_193^0'=rcd_193^post11, __disjvr_11^0'=__disjvr_11^post11, a_309^0'=a_309^post11, tail_15^0'=tail_15^post11, length_29^0'=length_29^post11, x_SLAM_f_25^0'=x_SLAM_f_25^post11, __disjvr_5^0'=__disjvr_5^post11, rcd_288^0'=rcd_288^post11, __disjvr_16^0'=__disjvr_16^post11, i_112^0'=i_112^post11, __disjvr_26^0'=__disjvr_26^post11, tmp_35^0'=tmp_35^post11, rcd_106^0'=rcd_106^post11, a_222^0'=a_222^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post11, __disjvr_20^0'=__disjvr_20^post11, len_221^0'=len_221^post11, __disjvr_30^0'=__disjvr_30^post11, rcd_199^0'=rcd_199^post11, __disjvr_13^0'=__disjvr_13^post11, head_16^0'=head_16^post11, __disjvr_23^0'=__disjvr_23^post11, temp0_32^0'=temp0_32^post11, r_149^0'=r_149^post11, y_26^0'=y_26^post11, __disjvr_7^0'=__disjvr_7^post11, rcd_320^0'=rcd_320^post11, rcd_71^0'=rcd_71^post11, __disjvr_18^0'=__disjvr_18^post11, i_198^0'=i_198^post11, __disjvr_28^0'=__disjvr_28^post11, x_207^0'=x_207^post11, rcd_185^0'=rcd_185^post11, __disjvr_10^0'=__disjvr_10^post11, a_279^0'=a_279^post11, t_23^0'=t_23^post11, __disjvr_22^0'=__disjvr_22^post11, x_SLAM_f_20^0'=x_SLAM_f_20^post11, __disjvr_4^0'=__disjvr_4^post11, rcd_284^0'=rcd_284^post11, __disjvr_15^0'=__disjvr_15^post11, head_SLAM_f_30^0'=head_SLAM_f_30^post11, __disjvr_25^0'=__disjvr_25^post11, temp_37^0'=temp_37^post11, r_41^0'=r_41^post11, __disjvr_9^0'=__disjvr_9^post11, a_174^0'=a_174^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post11, __disjvr_1^0'=__disjvr_1^post11, len_159^0'=len_159^post11, __disjvr_2^0'=__disjvr_2^post11, rcd_194^0'=rcd_194^post11, __disjvr_12^0'=__disjvr_12^post11, f_202^0'=f_202^post11, temp0_19^0'=temp0_19^post11, nondet_12^0'=nondet_12^post11, y_21^0'=y_21^post11, __disjvr_6^0'=__disjvr_6^post11, rcd_308^0'=rcd_308^post11, rcd_45^0'=rcd_45^post11, __disjvr_17^0'=__disjvr_17^post11, i_130^0'=i_130^post11, __disjvr_27^0'=__disjvr_27^post11, x_154^0'=x_154^post11, rcd_114^0'=rcd_114^post11, (0 == 0 /\ -x_207^post11+x_207^0 == 0 /\ -__disjvr_10^post11+__disjvr_10^0 == 0 /\ -__disjvr_27^post11+__disjvr_27^0 == 0 /\ a_139^0-a_139^post11 == 0 /\ rcd_320^0-rcd_320^post11 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_14^0-__disjvr_14^post11 == 0 /\ __disjvr_22^0-__disjvr_22^post11 == 0 /\ -y_26^post11+y_26^0 == 0 /\ i_198^0-i_198^post11 == 0 /\ a_253^0-a_253^post11 == 0 /\ -i_130^post11+i_130^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post11 == 0 /\ -temp_37^post11+temp_37^0 == 0 /\ __disjvr_8^0-__disjvr_8^post11 == 0 /\ rcd_288^0-rcd_288^post11 == 0 /\ -__disjvr_5^post11+__disjvr_5^0 == 0 /\ __disjvr_4^0-__disjvr_4^post11 == 0 /\ rcd_106^0-rcd_106^post11 == 0 /\ __disjvr_23^0-__disjvr_23^post11 == 0 /\ temp_36^0-temp_36^post11 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ f_202^0-f_202^post11 == 0 /\ -rcd_308^post11+rcd_308^0 == 0 /\ -y_21^post11+y_21^0 == 0 /\ __disjvr_3^0-__disjvr_3^post11 == 0 /\ __disjvr_0^0-__disjvr_0^post11 == 0 /\ x_22^0-x_22^post11 == 0 /\ rcd_71^0-rcd_71^post11 == 0 /\ -__disjvr_12^post11+__disjvr_12^0 == 0 /\ -a_222^post11+a_222^0 == 0 /\ r_149^0-r_149^post11 == 0 /\ a_309^0-a_309^post11 == 0 /\ -__disjvr_30^post11+__disjvr_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post11 == 0 /\ __disjvr_20^0-__disjvr_20^post11 == 0 /\ -head_SLAM_f_30^post11+head_SLAM_f_30^0 == 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ -x_154^post11+x_154^0 == 0 /\ rcd_199^0-rcd_199^post11 == 0 /\ -__disjvr_6^post11+__disjvr_6^0 == 0 /\ nondet_12^0-nondet_12^post11 == 0 /\ __disjvr_15^0-__disjvr_15^post11 == 0 /\ r_192^0-r_192^post11 == 0 /\ __disjvr_26^0-__disjvr_26^post11 == 0 /\ len_221^0-len_221^post11 == 0 /\ -temp0_19^post11+temp0_19^0 == 0 /\ -rcd_284^post11+rcd_284^0 == 0 /\ -__disjvr_28^post11+__disjvr_28^0 == 0 /\ -t_23^post11+t_23^0 == 0 /\ -rcd_45^post11+rcd_45^0 == 0 /\ -__disjvr_29^post11+__disjvr_29^0 == 0 /\ -__disjvr_1^post11+__disjvr_1^0 == 0 /\ -x_27^post11+x_27^0 == 0 /\ i_112^0-i_112^post11 == 0 /\ head_33^0-head_33^post11 == 0 /\ result_11^0-result_11^post11 == 0 /\ length_29^0-length_29^post11 == 0 /\ -a_174^post11+a_174^0 == 0 /\ -__disjvr_18^post11+__disjvr_18^0 == 0 /\ -r_41^post11+r_41^0 == 0 /\ -__disjvr_16^post11+__disjvr_16^0 == 0 /\ -len_159^post11+len_159^0 == 0 /\ -__disjvr_2^post11+__disjvr_2^0 == 0 /\ rcd_220^0-rcd_220^post11 == 0 /\ -rcd_114^post11+rcd_114^0 == 0 /\ __disjvr_19^0-__disjvr_19^post11 == 0 /\ __disjvr_13^0-__disjvr_13^post11 == 0 /\ __disjvr_24^0-__disjvr_24^post11 == 0 /\ rcd_193^0-rcd_193^post11 == 0 /\ temp0_32^0-temp0_32^post11 == 0 /\ __disjvr_7^0-__disjvr_7^post11 == 0 /\ -a_279^post11+a_279^0 == 0 /\ i_31^0-i_31^post11 == 0 /\ __disjvr_25^0-__disjvr_25^post11 == 0 /\ tmp_35^0-tmp_35^post11 == 0 /\ -__disjvr_9^post11+__disjvr_9^0 == 0 /\ -rcd_185^post11+rcd_185^0 == 0 /\ -__disjvr_11^post11+__disjvr_11^0 == 0 /\ -rcd_194^post11+rcd_194^0 == 0), cost: 1 12: l14 -> l15 : __disjvr_0^0'=__disjvr_0^post12, a_253^0'=a_253^post12, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post12, __disjvr_21^0'=__disjvr_21^post12, x_27^0'=x_27^post12, __disjvr_3^0'=__disjvr_3^post12, rcd_220^0'=rcd_220^post12, __disjvr_14^0'=__disjvr_14^post12, head_33^0'=head_33^post12, __disjvr_24^0'=__disjvr_24^post12, temp_36^0'=temp_36^post12, r_192^0'=r_192^post12, __disjvr_8^0'=__disjvr_8^post12, a_139^0'=a_139^post12, result_11^0'=result_11^post12, __disjvr_19^0'=__disjvr_19^post12, i_31^0'=i_31^post12, __disjvr_29^0'=__disjvr_29^post12, x_22^0'=x_22^post12, rcd_193^0'=rcd_193^post12, __disjvr_11^0'=__disjvr_11^post12, a_309^0'=a_309^post12, tail_15^0'=tail_15^post12, length_29^0'=length_29^post12, x_SLAM_f_25^0'=x_SLAM_f_25^post12, __disjvr_5^0'=__disjvr_5^post12, rcd_288^0'=rcd_288^post12, __disjvr_16^0'=__disjvr_16^post12, i_112^0'=i_112^post12, __disjvr_26^0'=__disjvr_26^post12, tmp_35^0'=tmp_35^post12, rcd_106^0'=rcd_106^post12, a_222^0'=a_222^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post12, __disjvr_20^0'=__disjvr_20^post12, len_221^0'=len_221^post12, __disjvr_30^0'=__disjvr_30^post12, rcd_199^0'=rcd_199^post12, __disjvr_13^0'=__disjvr_13^post12, head_16^0'=head_16^post12, __disjvr_23^0'=__disjvr_23^post12, temp0_32^0'=temp0_32^post12, r_149^0'=r_149^post12, y_26^0'=y_26^post12, __disjvr_7^0'=__disjvr_7^post12, rcd_320^0'=rcd_320^post12, rcd_71^0'=rcd_71^post12, __disjvr_18^0'=__disjvr_18^post12, i_198^0'=i_198^post12, __disjvr_28^0'=__disjvr_28^post12, x_207^0'=x_207^post12, rcd_185^0'=rcd_185^post12, __disjvr_10^0'=__disjvr_10^post12, a_279^0'=a_279^post12, t_23^0'=t_23^post12, __disjvr_22^0'=__disjvr_22^post12, x_SLAM_f_20^0'=x_SLAM_f_20^post12, __disjvr_4^0'=__disjvr_4^post12, rcd_284^0'=rcd_284^post12, __disjvr_15^0'=__disjvr_15^post12, head_SLAM_f_30^0'=head_SLAM_f_30^post12, __disjvr_25^0'=__disjvr_25^post12, temp_37^0'=temp_37^post12, r_41^0'=r_41^post12, __disjvr_9^0'=__disjvr_9^post12, a_174^0'=a_174^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post12, __disjvr_1^0'=__disjvr_1^post12, len_159^0'=len_159^post12, __disjvr_2^0'=__disjvr_2^post12, rcd_194^0'=rcd_194^post12, __disjvr_12^0'=__disjvr_12^post12, f_202^0'=f_202^post12, temp0_19^0'=temp0_19^post12, nondet_12^0'=nondet_12^post12, y_21^0'=y_21^post12, __disjvr_6^0'=__disjvr_6^post12, rcd_308^0'=rcd_308^post12, rcd_45^0'=rcd_45^post12, __disjvr_17^0'=__disjvr_17^post12, i_130^0'=i_130^post12, __disjvr_27^0'=__disjvr_27^post12, x_154^0'=x_154^post12, rcd_114^0'=rcd_114^post12, (rcd_106^0-rcd_106^post12 == 0 /\ head_33^0-head_33^post12 == 0 /\ -temp_37^post12+temp_37^0 == 0 /\ -__disjvr_27^post12+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -__disjvr_12^post12+__disjvr_12^0 == 0 /\ rcd_193^0-rcd_193^post12 == 0 /\ __disjvr_5^0-__disjvr_5^post12 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post12 == 0 /\ i_198^0-i_198^post12 == 0 /\ __disjvr_18^0-__disjvr_18^post12 == 0 /\ -len_221^post12+len_221^0 == 0 /\ __disjvr_4^0-__disjvr_4^post12 == 0 /\ a_174^0-a_174^post12 == 0 /\ -r_41^post12+r_41^0 == 0 /\ i_112^0-i_112^post12 == 0 /\ __disjvr_13^0-__disjvr_13^post12 == 0 /\ -__disjvr_1^post12+__disjvr_1^0 == 0 /\ -rcd_71^post12+rcd_71^0 == 0 /\ tmp_35^0-tmp_35^post12 == 0 /\ -head_SLAM_f_30^post12+head_SLAM_f_30^0 == 0 /\ f_202^0-f_202^post12 == 0 /\ -__disjvr_22^post12+__disjvr_22^0 == 0 /\ -x_154^post12+x_154^0 == 0 /\ length_29^0-length_29^post12 == 0 /\ -__disjvr_28^post12+__disjvr_28^0 == 0 /\ -__disjvr_5^0+__disjvr_5^post12 == 0 /\ -rcd_308^post12+rcd_308^0 == 0 /\ -result_11^post12+result_11^0 == 0 /\ x_22^0-x_22^post12 == 0 /\ __disjvr_23^0-__disjvr_23^post12 == 0 /\ a_309^0-a_309^post12 == 0 /\ rcd_320^0-rcd_320^post12 == 0 /\ -i_130^post12+i_130^0 == 0 /\ __disjvr_14^0-__disjvr_14^post12 == 0 /\ -x_SLAM_f_20^post12+x_SLAM_f_20^0 == 0 /\ -y_21^post12+y_21^0 == 0 /\ rcd_288^0-rcd_288^post12 == 0 /\ -rcd_185^post12+rcd_185^0 == 0 /\ __disjvr_26^0-__disjvr_26^post12 == 0 /\ __disjvr_15^0-__disjvr_15^post12 == 0 /\ i_31^0-i_31^post12 == 0 /\ a_279^0-a_279^post12 == 0 /\ -rcd_284^post12+rcd_284^0 == 0 /\ -__disjvr_3^post12+__disjvr_3^0 == 0 /\ -r_149^post12+r_149^0 == 0 /\ -__disjvr_8^post12+__disjvr_8^0 == 0 /\ rcd_199^0-rcd_199^post12 == 0 /\ x_27^0-x_27^post12 == 0 /\ -temp0_32^post12+temp0_32^0 == 0 /\ temp_36^0-temp_36^post12 == 0 /\ -__disjvr_16^post12+__disjvr_16^0 == 0 /\ r_192^0-r_192^post12 == 0 /\ -__disjvr_6^post12+__disjvr_6^0 == 0 /\ __disjvr_29^0-__disjvr_29^post12 == 0 /\ -temp0_19^post12+temp0_19^0 == 0 /\ -x_SLAM_f_25^post12+x_SLAM_f_25^0 == 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ -nondet_12^post12+nondet_12^0 == 0 /\ -len_159^post12+len_159^0 == 0 /\ -__disjvr_2^post12+__disjvr_2^0 == 0 /\ a_253^0-a_253^post12 == 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ __disjvr_21^0-__disjvr_21^post12 == 0 /\ __disjvr_20^0-__disjvr_20^post12 == 0 /\ tail_15^0-tail_15^post12 == 0 /\ -y_26^post12+y_26^0 == 0 /\ -x_207^post12+x_207^0 == 0 /\ __disjvr_25^0-__disjvr_25^post12 == 0 /\ __disjvr_30^0-__disjvr_30^post12 == 0 /\ __disjvr_7^0-__disjvr_7^post12 == 0 /\ -rcd_114^post12+rcd_114^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_139^0-a_139^post12 == 0 /\ a_222^0-a_222^post12 == 0 /\ __disjvr_11^0-__disjvr_11^post12 == 0 /\ -__disjvr_9^post12+__disjvr_9^0 == 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ -rcd_194^post12+rcd_194^0 == 0 /\ head_16^0-head_16^post12 == 0 /\ rcd_220^0-rcd_220^post12 == 0 /\ -rcd_45^post12+rcd_45^0 == 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ -t_23^post12+t_23^0 == 0), cost: 1 13: l15 -> l16 : __disjvr_0^0'=__disjvr_0^post13, a_253^0'=a_253^post13, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post13, __disjvr_21^0'=__disjvr_21^post13, x_27^0'=x_27^post13, __disjvr_3^0'=__disjvr_3^post13, rcd_220^0'=rcd_220^post13, __disjvr_14^0'=__disjvr_14^post13, head_33^0'=head_33^post13, __disjvr_24^0'=__disjvr_24^post13, temp_36^0'=temp_36^post13, r_192^0'=r_192^post13, __disjvr_8^0'=__disjvr_8^post13, a_139^0'=a_139^post13, result_11^0'=result_11^post13, __disjvr_19^0'=__disjvr_19^post13, i_31^0'=i_31^post13, __disjvr_29^0'=__disjvr_29^post13, x_22^0'=x_22^post13, rcd_193^0'=rcd_193^post13, __disjvr_11^0'=__disjvr_11^post13, a_309^0'=a_309^post13, tail_15^0'=tail_15^post13, length_29^0'=length_29^post13, x_SLAM_f_25^0'=x_SLAM_f_25^post13, __disjvr_5^0'=__disjvr_5^post13, rcd_288^0'=rcd_288^post13, __disjvr_16^0'=__disjvr_16^post13, i_112^0'=i_112^post13, __disjvr_26^0'=__disjvr_26^post13, tmp_35^0'=tmp_35^post13, rcd_106^0'=rcd_106^post13, a_222^0'=a_222^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post13, __disjvr_20^0'=__disjvr_20^post13, len_221^0'=len_221^post13, __disjvr_30^0'=__disjvr_30^post13, rcd_199^0'=rcd_199^post13, __disjvr_13^0'=__disjvr_13^post13, head_16^0'=head_16^post13, __disjvr_23^0'=__disjvr_23^post13, temp0_32^0'=temp0_32^post13, r_149^0'=r_149^post13, y_26^0'=y_26^post13, __disjvr_7^0'=__disjvr_7^post13, rcd_320^0'=rcd_320^post13, rcd_71^0'=rcd_71^post13, __disjvr_18^0'=__disjvr_18^post13, i_198^0'=i_198^post13, __disjvr_28^0'=__disjvr_28^post13, x_207^0'=x_207^post13, rcd_185^0'=rcd_185^post13, __disjvr_10^0'=__disjvr_10^post13, a_279^0'=a_279^post13, t_23^0'=t_23^post13, __disjvr_22^0'=__disjvr_22^post13, x_SLAM_f_20^0'=x_SLAM_f_20^post13, __disjvr_4^0'=__disjvr_4^post13, rcd_284^0'=rcd_284^post13, __disjvr_15^0'=__disjvr_15^post13, head_SLAM_f_30^0'=head_SLAM_f_30^post13, __disjvr_25^0'=__disjvr_25^post13, temp_37^0'=temp_37^post13, r_41^0'=r_41^post13, __disjvr_9^0'=__disjvr_9^post13, a_174^0'=a_174^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13, __disjvr_1^0'=__disjvr_1^post13, len_159^0'=len_159^post13, __disjvr_2^0'=__disjvr_2^post13, rcd_194^0'=rcd_194^post13, __disjvr_12^0'=__disjvr_12^post13, f_202^0'=f_202^post13, temp0_19^0'=temp0_19^post13, nondet_12^0'=nondet_12^post13, y_21^0'=y_21^post13, __disjvr_6^0'=__disjvr_6^post13, rcd_308^0'=rcd_308^post13, rcd_45^0'=rcd_45^post13, __disjvr_17^0'=__disjvr_17^post13, i_130^0'=i_130^post13, __disjvr_27^0'=__disjvr_27^post13, x_154^0'=x_154^post13, rcd_114^0'=rcd_114^post13, (-__disjvr_1^post13+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ -a_309^post13+a_309^0 == 0 /\ a_222^0-a_222^post13 == 0 /\ rcd_220^0-rcd_220^post13 == 0 /\ __disjvr_19^0-__disjvr_19^post13 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ __disjvr_5^0-__disjvr_5^post13 == 0 /\ x_27^0-x_27^post13 == 0 /\ __disjvr_24^0-__disjvr_24^post13 == 0 /\ -temp0_19^post13+temp0_19^0 == 0 /\ rcd_193^0-rcd_193^post13 == 0 /\ x_207^0-x_207^post13 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ tail_15^0-y_21^0 <= 0 /\ i_31^0-i_31^post13 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post13 == 0 /\ tmp_35^0-tmp_35^post13 == 0 /\ __disjvr_21^0-__disjvr_21^post13 == 0 /\ __disjvr_13^0-__disjvr_13^post13 == 0 /\ -rcd_45^post13+rcd_45^0 == 0 /\ -__disjvr_27^post13+__disjvr_27^0 == 0 /\ -__disjvr_4^post13+__disjvr_4^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_29^0-__disjvr_29^post13 == 0 /\ a_174^0-a_174^post13 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ tail_15^0-tail_15^post13 == 0 /\ -temp0_32^post13+temp0_32^0 == 0 /\ __disjvr_28^0-__disjvr_28^post13 == 0 /\ __disjvr_14^0-__disjvr_14^post13 == 0 /\ __disjvr_18^0-__disjvr_18^post13 == 0 /\ -f_202^post13+f_202^0 == 0 /\ -__disjvr_9^post13+__disjvr_9^0 == 0 /\ -x_SLAM_f_25^post13+x_SLAM_f_25^0 == 0 /\ -len_159^post13+len_159^0 == 0 /\ length_29^0-length_29^post13 == 0 /\ rcd_106^0-rcd_106^post13 == 0 /\ -rcd_114^post13+rcd_114^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_139^0-a_139^post13 == 0 /\ __disjvr_11^0-__disjvr_11^post13 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -a_279^post13+a_279^0 == 0 /\ __disjvr_23^0-__disjvr_23^post13 == 0 /\ __disjvr_16^0-__disjvr_16^post13 == 0 /\ -__disjvr_25^post13+__disjvr_25^0 == 0 /\ -t_23^post13+head_16^0 <= 0 /\ y_21^0-y_21^post13 == 0 /\ temp_36^0-temp_36^post13 == 0 /\ -__disjvr_22^post13+__disjvr_22^0 == 0 /\ x_22^0-x_22^post13 == 0 /\ -x_SLAM_f_20^post13+x_SLAM_f_20^0 == 0 /\ -i_198^post13+i_198^0 == 0 /\ -__disjvr_2^post13+__disjvr_2^0 == 0 /\ rcd_71^0-rcd_71^post13 == 0 /\ rcd_288^0-rcd_288^post13 == 0 /\ -x_22^0+t_23^post13 == 0 /\ -rcd_185^post13+rcd_185^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_11^0-result_11^post13 == 0 /\ -head_SLAM_f_30^post13+head_SLAM_f_30^0 == 0 /\ -r_149^post13+r_149^0 == 0 /\ __disjvr_3^0-__disjvr_3^post13 == 0 /\ -__disjvr_7^post13+__disjvr_7^0 == 0 /\ -i_130^post13+i_130^0 == 0 /\ -temp_37^post13+temp_37^0 == 0 /\ x_22^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_199^0-rcd_199^post13 == 0 /\ -__disjvr_10^post13+__disjvr_10^0 == 0 /\ -rcd_308^post13+rcd_308^0 == 0 /\ __disjvr_20^0-__disjvr_20^post13 == 0 /\ -r_192^post13+r_192^0 == 0 /\ t_23^post13-head_16^0 <= 0 /\ -rcd_194^post13+rcd_194^0 == 0 /\ -__disjvr_12^post13+__disjvr_12^0 == 0 /\ -__disjvr_15^post13+__disjvr_15^0 == 0 /\ head_16^0-head_16^post13 == 0 /\ len_221^0-len_221^post13 == 0 /\ -i_112^post13+i_112^0 == 0 /\ -__disjvr_30^post13+__disjvr_30^0 == 0 /\ a_253^0-a_253^post13 == 0 /\ -nondet_12^post13+nondet_12^0 == 0 /\ __disjvr_26^0-__disjvr_26^post13 == 0 /\ -rcd_284^post13+rcd_284^0 == 0 /\ -y_26^post13+y_26^0 == 0 /\ -x_154^post13+x_154^0 == 0 /\ -__disjvr_17^post13+__disjvr_17^0 == 0 /\ rcd_320^0-rcd_320^post13 == 0 /\ __disjvr_8^0-__disjvr_8^post13 == 0 /\ -x_22^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_6^post13+__disjvr_6^0 == 0 /\ r_41^0-r_41^post13 == 0 /\ head_33^0-head_33^post13 == 0), cost: 1 14: l16 -> l17 : __disjvr_0^0'=__disjvr_0^post14, a_253^0'=a_253^post14, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post14, __disjvr_21^0'=__disjvr_21^post14, x_27^0'=x_27^post14, __disjvr_3^0'=__disjvr_3^post14, rcd_220^0'=rcd_220^post14, __disjvr_14^0'=__disjvr_14^post14, head_33^0'=head_33^post14, __disjvr_24^0'=__disjvr_24^post14, temp_36^0'=temp_36^post14, r_192^0'=r_192^post14, __disjvr_8^0'=__disjvr_8^post14, a_139^0'=a_139^post14, result_11^0'=result_11^post14, __disjvr_19^0'=__disjvr_19^post14, i_31^0'=i_31^post14, __disjvr_29^0'=__disjvr_29^post14, x_22^0'=x_22^post14, rcd_193^0'=rcd_193^post14, __disjvr_11^0'=__disjvr_11^post14, a_309^0'=a_309^post14, tail_15^0'=tail_15^post14, length_29^0'=length_29^post14, x_SLAM_f_25^0'=x_SLAM_f_25^post14, __disjvr_5^0'=__disjvr_5^post14, rcd_288^0'=rcd_288^post14, __disjvr_16^0'=__disjvr_16^post14, i_112^0'=i_112^post14, __disjvr_26^0'=__disjvr_26^post14, tmp_35^0'=tmp_35^post14, rcd_106^0'=rcd_106^post14, a_222^0'=a_222^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post14, __disjvr_20^0'=__disjvr_20^post14, len_221^0'=len_221^post14, __disjvr_30^0'=__disjvr_30^post14, rcd_199^0'=rcd_199^post14, __disjvr_13^0'=__disjvr_13^post14, head_16^0'=head_16^post14, __disjvr_23^0'=__disjvr_23^post14, temp0_32^0'=temp0_32^post14, r_149^0'=r_149^post14, y_26^0'=y_26^post14, __disjvr_7^0'=__disjvr_7^post14, rcd_320^0'=rcd_320^post14, rcd_71^0'=rcd_71^post14, __disjvr_18^0'=__disjvr_18^post14, i_198^0'=i_198^post14, __disjvr_28^0'=__disjvr_28^post14, x_207^0'=x_207^post14, rcd_185^0'=rcd_185^post14, __disjvr_10^0'=__disjvr_10^post14, a_279^0'=a_279^post14, t_23^0'=t_23^post14, __disjvr_22^0'=__disjvr_22^post14, x_SLAM_f_20^0'=x_SLAM_f_20^post14, __disjvr_4^0'=__disjvr_4^post14, rcd_284^0'=rcd_284^post14, __disjvr_15^0'=__disjvr_15^post14, head_SLAM_f_30^0'=head_SLAM_f_30^post14, __disjvr_25^0'=__disjvr_25^post14, temp_37^0'=temp_37^post14, r_41^0'=r_41^post14, __disjvr_9^0'=__disjvr_9^post14, a_174^0'=a_174^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post14, __disjvr_1^0'=__disjvr_1^post14, len_159^0'=len_159^post14, __disjvr_2^0'=__disjvr_2^post14, rcd_194^0'=rcd_194^post14, __disjvr_12^0'=__disjvr_12^post14, f_202^0'=f_202^post14, temp0_19^0'=temp0_19^post14, nondet_12^0'=nondet_12^post14, y_21^0'=y_21^post14, __disjvr_6^0'=__disjvr_6^post14, rcd_308^0'=rcd_308^post14, rcd_45^0'=rcd_45^post14, __disjvr_17^0'=__disjvr_17^post14, i_130^0'=i_130^post14, __disjvr_27^0'=__disjvr_27^post14, x_154^0'=x_154^post14, rcd_114^0'=rcd_114^post14, (temp_36^0-temp_36^post14 == 0 /\ -__disjvr_6^post14+__disjvr_6^0 == 0 /\ -f_202^post14+f_202^0 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ -head_16^post14+head_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post14 == 0 /\ x_22^0-x_22^post14 == 0 /\ a_309^0-a_309^post14 == 0 /\ -rcd_284^post14+rcd_284^0 == 0 /\ -rcd_45^post14+rcd_45^0 == 0 /\ -__disjvr_1^post14+__disjvr_1^0 == 0 /\ -temp0_32^post14+temp0_32^0 == 0 /\ -__disjvr_2^post14+__disjvr_2^0 == 0 /\ rcd_199^0-rcd_199^post14 == 0 /\ rcd_220^0-rcd_220^post14 == 0 /\ -temp0_19^post14+temp0_19^0 == 0 /\ -a_174^post14+a_174^0 == 0 /\ __disjvr_6^post14-__disjvr_6^0 == 0 /\ -rcd_185^post14+rcd_185^0 == 0 /\ a_139^0-a_139^post14 == 0 /\ -r_41^post14+r_41^0 == 0 /\ rcd_320^0-rcd_320^post14 == 0 /\ -__disjvr_16^post14+__disjvr_16^0 == 0 /\ -rcd_114^post14+rcd_114^0 == 0 /\ __disjvr_15^0-__disjvr_15^post14 == 0 /\ -len_159^post14+len_159^0 == 0 /\ -t_23^post14+t_23^0 == 0 /\ __disjvr_18^0-__disjvr_18^post14 == 0 /\ a_253^0-a_253^post14 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post14 == 0 /\ tail_15^0-tail_15^post14 == 0 /\ -__disjvr_19^post14+__disjvr_19^0 == 0 /\ x_27^0-x_27^post14 == 0 /\ __disjvr_28^0-__disjvr_28^post14 == 0 /\ -__disjvr_10^post14+__disjvr_10^0 == 0 /\ -__disjvr_9^post14+__disjvr_9^0 == 0 /\ rcd_288^0-rcd_288^post14 == 0 /\ -__disjvr_7^post14+__disjvr_7^0 == 0 /\ -__disjvr_4^post14+__disjvr_4^0 == 0 /\ i_112^0-i_112^post14 == 0 /\ head_33^0-head_33^post14 == 0 /\ -rcd_194^post14+rcd_194^0 == 0 /\ __disjvr_11^0-__disjvr_11^post14 == 0 /\ -x_207^post14+x_207^0 == 0 /\ -a_279^post14+a_279^0 == 0 /\ -__disjvr_27^post14+__disjvr_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post14 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post14+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_3^0-__disjvr_3^post14 == 0 /\ rcd_71^0-rcd_71^post14 == 0 /\ -y_26^post14+y_26^0 == 0 /\ r_149^0-r_149^post14 == 0 /\ __disjvr_13^0-__disjvr_13^post14 == 0 /\ __disjvr_24^0-__disjvr_24^post14 == 0 /\ rcd_193^0-rcd_193^post14 == 0 /\ __disjvr_21^0-__disjvr_21^post14 == 0 /\ __disjvr_20^0-__disjvr_20^post14 == 0 /\ a_222^0-a_222^post14 == 0 /\ __disjvr_25^0-__disjvr_25^post14 == 0 /\ i_31^0-i_31^post14 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post14 == 0 /\ tmp_35^0-tmp_35^post14 == 0 /\ -x_SLAM_f_20^post14+x_SLAM_f_20^0 == 0 /\ -__disjvr_5^post14+__disjvr_5^0 == 0 /\ -temp_37^post14+temp_37^0 == 0 /\ -__disjvr_8^post14+__disjvr_8^0 == 0 /\ -y_21^post14+y_21^0 == 0 /\ r_192^0-r_192^post14 == 0 /\ -rcd_308^post14+rcd_308^0 == 0 /\ __disjvr_29^0-__disjvr_29^post14 == 0 /\ __disjvr_26^0-__disjvr_26^post14 == 0 /\ -__disjvr_22^post14+__disjvr_22^0 == 0 /\ -__disjvr_12^post14+__disjvr_12^0 == 0 /\ len_221^0-len_221^post14 == 0 /\ -__disjvr_17^post14+__disjvr_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post14 == 0 /\ i_130^0-i_130^post14 == 0 /\ i_198^0-i_198^post14 == 0 /\ __disjvr_30^0-__disjvr_30^post14 == 0 /\ -__disjvr_23^post14+__disjvr_23^0 == 0 /\ rcd_106^0-rcd_106^post14 == 0 /\ -head_SLAM_f_30^post14+head_SLAM_f_30^0 == 0 /\ result_11^0-result_11^post14 == 0 /\ -x_154^post14+x_154^0 == 0 /\ length_29^0-length_29^post14 == 0), cost: 1 15: l17 -> l18 : __disjvr_0^0'=__disjvr_0^post15, a_253^0'=a_253^post15, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post15, __disjvr_21^0'=__disjvr_21^post15, x_27^0'=x_27^post15, __disjvr_3^0'=__disjvr_3^post15, rcd_220^0'=rcd_220^post15, __disjvr_14^0'=__disjvr_14^post15, head_33^0'=head_33^post15, __disjvr_24^0'=__disjvr_24^post15, temp_36^0'=temp_36^post15, r_192^0'=r_192^post15, __disjvr_8^0'=__disjvr_8^post15, a_139^0'=a_139^post15, result_11^0'=result_11^post15, __disjvr_19^0'=__disjvr_19^post15, i_31^0'=i_31^post15, __disjvr_29^0'=__disjvr_29^post15, x_22^0'=x_22^post15, rcd_193^0'=rcd_193^post15, __disjvr_11^0'=__disjvr_11^post15, a_309^0'=a_309^post15, tail_15^0'=tail_15^post15, length_29^0'=length_29^post15, x_SLAM_f_25^0'=x_SLAM_f_25^post15, __disjvr_5^0'=__disjvr_5^post15, rcd_288^0'=rcd_288^post15, __disjvr_16^0'=__disjvr_16^post15, i_112^0'=i_112^post15, __disjvr_26^0'=__disjvr_26^post15, tmp_35^0'=tmp_35^post15, rcd_106^0'=rcd_106^post15, a_222^0'=a_222^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post15, __disjvr_20^0'=__disjvr_20^post15, len_221^0'=len_221^post15, __disjvr_30^0'=__disjvr_30^post15, rcd_199^0'=rcd_199^post15, __disjvr_13^0'=__disjvr_13^post15, head_16^0'=head_16^post15, __disjvr_23^0'=__disjvr_23^post15, temp0_32^0'=temp0_32^post15, r_149^0'=r_149^post15, y_26^0'=y_26^post15, __disjvr_7^0'=__disjvr_7^post15, rcd_320^0'=rcd_320^post15, rcd_71^0'=rcd_71^post15, __disjvr_18^0'=__disjvr_18^post15, i_198^0'=i_198^post15, __disjvr_28^0'=__disjvr_28^post15, x_207^0'=x_207^post15, rcd_185^0'=rcd_185^post15, __disjvr_10^0'=__disjvr_10^post15, a_279^0'=a_279^post15, t_23^0'=t_23^post15, __disjvr_22^0'=__disjvr_22^post15, x_SLAM_f_20^0'=x_SLAM_f_20^post15, __disjvr_4^0'=__disjvr_4^post15, rcd_284^0'=rcd_284^post15, __disjvr_15^0'=__disjvr_15^post15, head_SLAM_f_30^0'=head_SLAM_f_30^post15, __disjvr_25^0'=__disjvr_25^post15, temp_37^0'=temp_37^post15, r_41^0'=r_41^post15, __disjvr_9^0'=__disjvr_9^post15, a_174^0'=a_174^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post15, __disjvr_1^0'=__disjvr_1^post15, len_159^0'=len_159^post15, __disjvr_2^0'=__disjvr_2^post15, rcd_194^0'=rcd_194^post15, __disjvr_12^0'=__disjvr_12^post15, f_202^0'=f_202^post15, temp0_19^0'=temp0_19^post15, nondet_12^0'=nondet_12^post15, y_21^0'=y_21^post15, __disjvr_6^0'=__disjvr_6^post15, rcd_308^0'=rcd_308^post15, rcd_45^0'=rcd_45^post15, __disjvr_17^0'=__disjvr_17^post15, i_130^0'=i_130^post15, __disjvr_27^0'=__disjvr_27^post15, x_154^0'=x_154^post15, rcd_114^0'=rcd_114^post15, (__disjvr_13^0-__disjvr_13^post15 == 0 /\ __disjvr_21^0-__disjvr_21^post15 == 0 /\ __disjvr_20^0-__disjvr_20^post15 == 0 /\ tail_15^0-tail_15^post15 == 0 /\ __disjvr_3^0-__disjvr_3^post15 == 0 /\ -__disjvr_15^post15+__disjvr_15^0 == 0 /\ -rcd_185^post15+rcd_185^0 == 0 /\ tmp_35^0-tmp_35^post15 == 0 /\ -a_174^post15+a_174^0 == 0 /\ -f_202^post15+f_202^0 == 0 /\ -__disjvr_7^post15+__disjvr_7^0 == 0 /\ -__disjvr_2^post15+__disjvr_2^0 == 0 /\ -__disjvr_9^post15+__disjvr_9^0 == 0 /\ -rcd_284^post15+rcd_284^0 == 0 /\ __disjvr_1^0-__disjvr_1^post15 == 0 /\ a_139^0-a_139^post15 == 0 /\ -x_154^post15+x_154^0 == 0 /\ -temp0_32^post15+temp0_32^0 == 0 /\ -__disjvr_16^post15+__disjvr_16^0 == 0 /\ __disjvr_23^0-__disjvr_23^post15 == 0 /\ x_22^0-x_22^post15 == 0 /\ -__disjvr_6^post15+__disjvr_6^0 == 0 /\ -temp0_19^post15+temp0_19^0 == 0 /\ -x_SLAM_f_25^post15+x_SLAM_f_25^0 == 0 /\ -__disjvr_17^post15+__disjvr_17^0 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post15 == 0 /\ r_149^0-r_149^post15 == 0 /\ -len_159^post15+len_159^0 == 0 /\ __disjvr_26^0-__disjvr_26^post15 == 0 /\ -rcd_194^post15+rcd_194^0 == 0 /\ -y_26^post15+y_26^0 == 0 /\ i_31^0-i_31^post15 == 0 /\ __disjvr_7^post15-__disjvr_7^0 == 0 /\ x_207^0-x_207^post15 == 0 /\ -rcd_114^post15+rcd_114^0 == 0 /\ -i_112^post15+i_112^0 == 0 /\ __disjvr_5^0-__disjvr_5^post15 == 0 /\ temp_36^0-temp_36^post15 == 0 /\ a_253^0-a_253^post15 == 0 /\ rcd_193^0-rcd_193^post15 == 0 /\ __disjvr_24^0-__disjvr_24^post15 == 0 /\ -__disjvr_10^post15+__disjvr_10^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post15 == 0 /\ -rcd_45^post15+rcd_45^0 == 0 /\ -t_23^post15+t_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post15 == 0 /\ length_29^0-length_29^post15 == 0 /\ -temp_37^post15+temp_37^0 == 0 /\ __disjvr_25^0-__disjvr_25^post15 == 0 /\ -a_309^post15+a_309^0 == 0 /\ -__disjvr_27^post15+__disjvr_27^0 == 0 /\ __disjvr_30^0-__disjvr_30^post15 == 0 /\ -__disjvr_12^post15+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post15 == 0 /\ len_221^0-len_221^post15 == 0 /\ a_222^0-a_222^post15 == 0 /\ rcd_320^0-rcd_320^post15 == 0 /\ rcd_220^0-rcd_220^post15 == 0 /\ -r_41^post15+r_41^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post15+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_0^0-__disjvr_0^post15 == 0 /\ head_16^0-head_16^post15 == 0 /\ rcd_106^0-rcd_106^post15 == 0 /\ rcd_288^0-rcd_288^post15 == 0 /\ -__disjvr_4^post15+__disjvr_4^0 == 0 /\ a_279^0-a_279^post15 == 0 /\ -rcd_71^post15+rcd_71^0 == 0 /\ rcd_199^0-rcd_199^post15 == 0 /\ head_33^0-head_33^post15 == 0 /\ -head_SLAM_f_30^post15+head_SLAM_f_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post15 == 0 /\ -__disjvr_28^post15+__disjvr_28^0 == 0 /\ -__disjvr_22^post15+__disjvr_22^0 == 0 /\ __disjvr_29^0-__disjvr_29^post15 == 0 /\ r_192^0-r_192^post15 == 0 /\ x_27^0-x_27^post15 == 0 /\ -i_130^post15+i_130^0 == 0 /\ i_198^0-i_198^post15 == 0 /\ __disjvr_19^0-__disjvr_19^post15 == 0 /\ __disjvr_18^0-__disjvr_18^post15 == 0 /\ -y_21^post15+y_21^0 == 0 /\ -x_SLAM_f_20^post15+x_SLAM_f_20^0 == 0 /\ -result_11^post15+result_11^0 == 0 /\ -rcd_308^post15+rcd_308^0 == 0), cost: 1 16: l18 -> l19 : __disjvr_0^0'=__disjvr_0^post16, a_253^0'=a_253^post16, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post16, __disjvr_21^0'=__disjvr_21^post16, x_27^0'=x_27^post16, __disjvr_3^0'=__disjvr_3^post16, rcd_220^0'=rcd_220^post16, __disjvr_14^0'=__disjvr_14^post16, head_33^0'=head_33^post16, __disjvr_24^0'=__disjvr_24^post16, temp_36^0'=temp_36^post16, r_192^0'=r_192^post16, __disjvr_8^0'=__disjvr_8^post16, a_139^0'=a_139^post16, result_11^0'=result_11^post16, __disjvr_19^0'=__disjvr_19^post16, i_31^0'=i_31^post16, __disjvr_29^0'=__disjvr_29^post16, x_22^0'=x_22^post16, rcd_193^0'=rcd_193^post16, __disjvr_11^0'=__disjvr_11^post16, a_309^0'=a_309^post16, tail_15^0'=tail_15^post16, length_29^0'=length_29^post16, x_SLAM_f_25^0'=x_SLAM_f_25^post16, __disjvr_5^0'=__disjvr_5^post16, rcd_288^0'=rcd_288^post16, __disjvr_16^0'=__disjvr_16^post16, i_112^0'=i_112^post16, __disjvr_26^0'=__disjvr_26^post16, tmp_35^0'=tmp_35^post16, rcd_106^0'=rcd_106^post16, a_222^0'=a_222^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post16, __disjvr_20^0'=__disjvr_20^post16, len_221^0'=len_221^post16, __disjvr_30^0'=__disjvr_30^post16, rcd_199^0'=rcd_199^post16, __disjvr_13^0'=__disjvr_13^post16, head_16^0'=head_16^post16, __disjvr_23^0'=__disjvr_23^post16, temp0_32^0'=temp0_32^post16, r_149^0'=r_149^post16, y_26^0'=y_26^post16, __disjvr_7^0'=__disjvr_7^post16, rcd_320^0'=rcd_320^post16, rcd_71^0'=rcd_71^post16, __disjvr_18^0'=__disjvr_18^post16, i_198^0'=i_198^post16, __disjvr_28^0'=__disjvr_28^post16, x_207^0'=x_207^post16, rcd_185^0'=rcd_185^post16, __disjvr_10^0'=__disjvr_10^post16, a_279^0'=a_279^post16, t_23^0'=t_23^post16, __disjvr_22^0'=__disjvr_22^post16, x_SLAM_f_20^0'=x_SLAM_f_20^post16, __disjvr_4^0'=__disjvr_4^post16, rcd_284^0'=rcd_284^post16, __disjvr_15^0'=__disjvr_15^post16, head_SLAM_f_30^0'=head_SLAM_f_30^post16, __disjvr_25^0'=__disjvr_25^post16, temp_37^0'=temp_37^post16, r_41^0'=r_41^post16, __disjvr_9^0'=__disjvr_9^post16, a_174^0'=a_174^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post16, __disjvr_1^0'=__disjvr_1^post16, len_159^0'=len_159^post16, __disjvr_2^0'=__disjvr_2^post16, rcd_194^0'=rcd_194^post16, __disjvr_12^0'=__disjvr_12^post16, f_202^0'=f_202^post16, temp0_19^0'=temp0_19^post16, nondet_12^0'=nondet_12^post16, y_21^0'=y_21^post16, __disjvr_6^0'=__disjvr_6^post16, rcd_308^0'=rcd_308^post16, rcd_45^0'=rcd_45^post16, __disjvr_17^0'=__disjvr_17^post16, i_130^0'=i_130^post16, __disjvr_27^0'=__disjvr_27^post16, x_154^0'=x_154^post16, rcd_114^0'=rcd_114^post16, (0 == 0 /\ -__disjvr_20^post16+__disjvr_20^0 == 0 /\ -__disjvr_2^post16+__disjvr_2^0 == 0 /\ len_221^0-len_221^post16 == 0 /\ -__disjvr_22^post16+__disjvr_22^0 == 0 /\ -__disjvr_10^post16+__disjvr_10^0 == 0 /\ -i_198^post16+i_198^0 == 0 /\ __disjvr_14^0-__disjvr_14^post16 == 0 /\ a_253^0-a_253^post16 == 0 /\ a_139^0-a_139^post16 == 0 /\ rcd_106^0-rcd_106^post16 == 0 /\ -__disjvr_5^post16+__disjvr_5^0 == 0 /\ -i_130^post16+i_130^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post16 == 0 /\ r_149^0-r_149^post16 == 0 /\ -__disjvr_7^post16+__disjvr_7^0 == 0 /\ -temp_37^post16+temp_37^0 == 0 /\ __disjvr_11^0-__disjvr_11^post16 == 0 /\ __disjvr_8^0-__disjvr_8^post16 == 0 /\ -__disjvr_9^post16+__disjvr_9^0 == 0 /\ -rcd_308^post16+rcd_308^0 == 0 /\ __disjvr_16^0-__disjvr_16^post16 == 0 /\ __disjvr_23^0-__disjvr_23^post16 == 0 /\ -rcd_194^post16+rcd_194^0 == 0 /\ a_309^0-a_309^post16 == 0 /\ -__disjvr_12^post16+__disjvr_12^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post16 == 0 /\ x_27^0-x_27^post16 == 0 /\ a_222^0-a_222^post16 == 0 /\ -i_112^post16+i_112^0 == 0 /\ temp_36^0-temp_36^post16 == 0 /\ -__disjvr_30^post16+__disjvr_30^0 == 0 /\ -nondet_12^post16+nondet_12^0 == 0 /\ -y_26^post16+y_26^0 == 0 /\ -__disjvr_17^post16+__disjvr_17^0 == 0 /\ -head_SLAM_f_30^post16+head_SLAM_f_30^0 == 0 /\ -x_154^post16+x_154^0 == 0 /\ -rcd_284^post16+rcd_284^0 == 0 /\ -rcd_320^post16+rcd_320^0 == 0 /\ f_202^0-f_202^post16 == 0 /\ rcd_199^0-rcd_199^post16 == 0 /\ -__disjvr_6^post16+__disjvr_6^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post16 == 0 /\ __disjvr_21^0-__disjvr_21^post16 == 0 /\ r_192^0-r_192^post16 == 0 /\ -rcd_114^post16+rcd_114^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post16 == 0 /\ -temp0_19^post16+temp0_19^0 == 0 /\ -__disjvr_1^post16+__disjvr_1^0 == 0 /\ __disjvr_26^0-__disjvr_26^post16 == 0 /\ -rcd_45^post16+rcd_45^0 == 0 /\ length_29^0-length_29^post16 == 0 /\ -__disjvr_28^post16+__disjvr_28^0 == 0 /\ -__disjvr_29^post16+__disjvr_29^0 == 0 /\ -x_22^0+y_21^0 <= 0 /\ -__disjvr_13^post16+__disjvr_13^0 == 0 /\ head_33^0-head_33^post16 == 0 /\ r_41^0-r_41^post16 == 0 /\ -__disjvr_27^post16+__disjvr_27^0 == 0 /\ -tail_15^post16+tail_15^0 == 0 /\ -__disjvr_25^post16+__disjvr_25^0 == 0 /\ -__disjvr_19^post16+__disjvr_19^0 == 0 /\ rcd_220^0-rcd_220^post16 == 0 /\ -a_174^post16+a_174^0 == 0 /\ __disjvr_24^0-__disjvr_24^post16 == 0 /\ x_207^0-x_207^post16 == 0 /\ rcd_288^0-rcd_288^post16 == 0 /\ rcd_193^0-rcd_193^post16 == 0 /\ -temp0_19^0+result_11^post16 == 0 /\ -__disjvr_4^post16+__disjvr_4^0 == 0 /\ -rcd_71^post16+rcd_71^0 == 0 /\ __disjvr_3^0-__disjvr_3^post16 == 0 /\ -len_159^post16+len_159^0 == 0 /\ __disjvr_18^0-__disjvr_18^post16 == 0 /\ -temp0_32^post16+temp0_32^0 == 0 /\ -a_279^post16+a_279^0 == 0 /\ i_31^0-i_31^post16 == 0 /\ -rcd_185^post16+rcd_185^0 == 0 /\ __disjvr_15^0-__disjvr_15^post16 == 0 /\ x_22^0-y_21^0 <= 0 /\ tmp_35^0-tmp_35^post16 == 0), cost: 1 17: l19 -> l7 : __disjvr_0^0'=__disjvr_0^post17, a_253^0'=a_253^post17, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post17, __disjvr_21^0'=__disjvr_21^post17, x_27^0'=x_27^post17, __disjvr_3^0'=__disjvr_3^post17, rcd_220^0'=rcd_220^post17, __disjvr_14^0'=__disjvr_14^post17, head_33^0'=head_33^post17, __disjvr_24^0'=__disjvr_24^post17, temp_36^0'=temp_36^post17, r_192^0'=r_192^post17, __disjvr_8^0'=__disjvr_8^post17, a_139^0'=a_139^post17, result_11^0'=result_11^post17, __disjvr_19^0'=__disjvr_19^post17, i_31^0'=i_31^post17, __disjvr_29^0'=__disjvr_29^post17, x_22^0'=x_22^post17, rcd_193^0'=rcd_193^post17, __disjvr_11^0'=__disjvr_11^post17, a_309^0'=a_309^post17, tail_15^0'=tail_15^post17, length_29^0'=length_29^post17, x_SLAM_f_25^0'=x_SLAM_f_25^post17, __disjvr_5^0'=__disjvr_5^post17, rcd_288^0'=rcd_288^post17, __disjvr_16^0'=__disjvr_16^post17, i_112^0'=i_112^post17, __disjvr_26^0'=__disjvr_26^post17, tmp_35^0'=tmp_35^post17, rcd_106^0'=rcd_106^post17, a_222^0'=a_222^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post17, __disjvr_20^0'=__disjvr_20^post17, len_221^0'=len_221^post17, __disjvr_30^0'=__disjvr_30^post17, rcd_199^0'=rcd_199^post17, __disjvr_13^0'=__disjvr_13^post17, head_16^0'=head_16^post17, __disjvr_23^0'=__disjvr_23^post17, temp0_32^0'=temp0_32^post17, r_149^0'=r_149^post17, y_26^0'=y_26^post17, __disjvr_7^0'=__disjvr_7^post17, rcd_320^0'=rcd_320^post17, rcd_71^0'=rcd_71^post17, __disjvr_18^0'=__disjvr_18^post17, i_198^0'=i_198^post17, __disjvr_28^0'=__disjvr_28^post17, x_207^0'=x_207^post17, rcd_185^0'=rcd_185^post17, __disjvr_10^0'=__disjvr_10^post17, a_279^0'=a_279^post17, t_23^0'=t_23^post17, __disjvr_22^0'=__disjvr_22^post17, x_SLAM_f_20^0'=x_SLAM_f_20^post17, __disjvr_4^0'=__disjvr_4^post17, rcd_284^0'=rcd_284^post17, __disjvr_15^0'=__disjvr_15^post17, head_SLAM_f_30^0'=head_SLAM_f_30^post17, __disjvr_25^0'=__disjvr_25^post17, temp_37^0'=temp_37^post17, r_41^0'=r_41^post17, __disjvr_9^0'=__disjvr_9^post17, a_174^0'=a_174^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post17, __disjvr_1^0'=__disjvr_1^post17, len_159^0'=len_159^post17, __disjvr_2^0'=__disjvr_2^post17, rcd_194^0'=rcd_194^post17, __disjvr_12^0'=__disjvr_12^post17, f_202^0'=f_202^post17, temp0_19^0'=temp0_19^post17, nondet_12^0'=nondet_12^post17, y_21^0'=y_21^post17, __disjvr_6^0'=__disjvr_6^post17, rcd_308^0'=rcd_308^post17, rcd_45^0'=rcd_45^post17, __disjvr_17^0'=__disjvr_17^post17, i_130^0'=i_130^post17, __disjvr_27^0'=__disjvr_27^post17, x_154^0'=x_154^post17, rcd_114^0'=rcd_114^post17, (__disjvr_11^0-__disjvr_11^post17 == 0 /\ -i_112^post17+i_112^0 == 0 /\ __disjvr_18^0-__disjvr_18^post17 == 0 /\ -__disjvr_27^post17+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post17+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ x_207^0-x_207^post17 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post17 == 0 /\ -rcd_320^post17+rcd_320^0 == 0 /\ -i_130^post17+i_130^0 == 0 /\ len_221^0-len_221^post17 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post17+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_8^post17-__disjvr_8^0 == 0 /\ -__disjvr_25^post17+__disjvr_25^0 == 0 /\ y_26^0-y_26^post17 == 0 /\ result_11^0-result_11^post17 == 0 /\ -__disjvr_20^post17+__disjvr_20^0 == 0 /\ -__disjvr_5^post17+__disjvr_5^0 == 0 /\ head_33^0-head_33^post17 == 0 /\ __disjvr_28^0-__disjvr_28^post17 == 0 /\ -temp_37^post17+temp_37^0 == 0 /\ rcd_106^0-rcd_106^post17 == 0 /\ length_29^0-length_29^post17 == 0 /\ -y_21^post17+y_21^0 == 0 /\ __disjvr_13^0-__disjvr_13^post17 == 0 /\ -__disjvr_12^post17+__disjvr_12^0 == 0 /\ a_309^0-a_309^post17 == 0 /\ -__disjvr_22^post17+__disjvr_22^0 == 0 /\ __disjvr_16^0-__disjvr_16^post17 == 0 /\ -i_31^post17+i_31^0 == 0 /\ f_202^0-f_202^post17 == 0 /\ -__disjvr_8^post17+__disjvr_8^0 == 0 /\ -__disjvr_23^post17+__disjvr_23^0 == 0 /\ -rcd_308^post17+rcd_308^0 == 0 /\ tmp_35^0-tmp_35^post17 == 0 /\ -x_154^post17+x_154^0 == 0 /\ -rcd_193^post17+rcd_193^0 == 0 /\ __disjvr_26^0-__disjvr_26^post17 == 0 /\ a_139^0-a_139^post17 == 0 /\ -__disjvr_3^post17+__disjvr_3^0 == 0 /\ r_41^0-r_41^post17 == 0 /\ -rcd_45^post17+rcd_45^0 == 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post17 == 0 /\ -tail_15^post17+tail_15^0 == 0 /\ a_279^0-a_279^post17 == 0 /\ __disjvr_14^0-__disjvr_14^post17 == 0 /\ a_253^0-a_253^post17 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post17 == 0 /\ -__disjvr_6^post17+__disjvr_6^0 == 0 /\ x_27^0-x_27^post17 == 0 /\ __disjvr_24^0-__disjvr_24^post17 == 0 /\ -rcd_284^post17+rcd_284^0 == 0 /\ __disjvr_30^0-__disjvr_30^post17 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post17 == 0 /\ -__disjvr_15^post17+__disjvr_15^0 == 0 /\ -len_159^post17+len_159^0 == 0 /\ -__disjvr_2^post17+__disjvr_2^0 == 0 /\ -__disjvr_17^post17+__disjvr_17^0 == 0 /\ -__disjvr_1^post17+__disjvr_1^0 == 0 /\ -temp0_32^post17+temp0_32^0 == 0 /\ -temp0_19^post17+temp0_19^0 == 0 /\ -rcd_71^post17+rcd_71^0 == 0 /\ r_192^0-r_192^post17 == 0 /\ -rcd_288^post17+rcd_288^0 == 0 /\ -rcd_199^post17+rcd_199^0 == 0 /\ -i_198^post17+i_198^0 == 0 /\ temp_36^0-temp_36^post17 == 0 /\ -rcd_185^post17+rcd_185^0 == 0 /\ -rcd_114^post17+rcd_114^0 == 0 /\ -t_23^post17+t_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post17 == 0 /\ x_22^0-x_22^post17 == 0 /\ -__disjvr_7^post17+__disjvr_7^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post17 == 0 /\ r_149^0-r_149^post17 == 0 /\ -__disjvr_19^post17+__disjvr_19^0 == 0 /\ __disjvr_21^0-__disjvr_21^post17 == 0 /\ -__disjvr_10^post17+__disjvr_10^0 == 0 /\ -__disjvr_9^post17+__disjvr_9^0 == 0 /\ a_222^0-a_222^post17 == 0 /\ -rcd_194^post17+rcd_194^0 == 0 /\ -__disjvr_4^post17+__disjvr_4^0 == 0 /\ head_16^0-head_16^post17 == 0 /\ rcd_220^0-rcd_220^post17 == 0 /\ -a_174^post17+a_174^0 == 0), cost: 1 19: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post19, a_253^0'=a_253^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, __disjvr_21^0'=__disjvr_21^post19, x_27^0'=x_27^post19, __disjvr_3^0'=__disjvr_3^post19, rcd_220^0'=rcd_220^post19, __disjvr_14^0'=__disjvr_14^post19, head_33^0'=head_33^post19, __disjvr_24^0'=__disjvr_24^post19, temp_36^0'=temp_36^post19, r_192^0'=r_192^post19, __disjvr_8^0'=__disjvr_8^post19, a_139^0'=a_139^post19, result_11^0'=result_11^post19, __disjvr_19^0'=__disjvr_19^post19, i_31^0'=i_31^post19, __disjvr_29^0'=__disjvr_29^post19, x_22^0'=x_22^post19, rcd_193^0'=rcd_193^post19, __disjvr_11^0'=__disjvr_11^post19, a_309^0'=a_309^post19, tail_15^0'=tail_15^post19, length_29^0'=length_29^post19, x_SLAM_f_25^0'=x_SLAM_f_25^post19, __disjvr_5^0'=__disjvr_5^post19, rcd_288^0'=rcd_288^post19, __disjvr_16^0'=__disjvr_16^post19, i_112^0'=i_112^post19, __disjvr_26^0'=__disjvr_26^post19, tmp_35^0'=tmp_35^post19, rcd_106^0'=rcd_106^post19, a_222^0'=a_222^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, __disjvr_20^0'=__disjvr_20^post19, len_221^0'=len_221^post19, __disjvr_30^0'=__disjvr_30^post19, rcd_199^0'=rcd_199^post19, __disjvr_13^0'=__disjvr_13^post19, head_16^0'=head_16^post19, __disjvr_23^0'=__disjvr_23^post19, temp0_32^0'=temp0_32^post19, r_149^0'=r_149^post19, y_26^0'=y_26^post19, __disjvr_7^0'=__disjvr_7^post19, rcd_320^0'=rcd_320^post19, rcd_71^0'=rcd_71^post19, __disjvr_18^0'=__disjvr_18^post19, i_198^0'=i_198^post19, __disjvr_28^0'=__disjvr_28^post19, x_207^0'=x_207^post19, rcd_185^0'=rcd_185^post19, __disjvr_10^0'=__disjvr_10^post19, a_279^0'=a_279^post19, t_23^0'=t_23^post19, __disjvr_22^0'=__disjvr_22^post19, x_SLAM_f_20^0'=x_SLAM_f_20^post19, __disjvr_4^0'=__disjvr_4^post19, rcd_284^0'=rcd_284^post19, __disjvr_15^0'=__disjvr_15^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, __disjvr_25^0'=__disjvr_25^post19, temp_37^0'=temp_37^post19, r_41^0'=r_41^post19, __disjvr_9^0'=__disjvr_9^post19, a_174^0'=a_174^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19, __disjvr_1^0'=__disjvr_1^post19, len_159^0'=len_159^post19, __disjvr_2^0'=__disjvr_2^post19, rcd_194^0'=rcd_194^post19, __disjvr_12^0'=__disjvr_12^post19, f_202^0'=f_202^post19, temp0_19^0'=temp0_19^post19, nondet_12^0'=nondet_12^post19, y_21^0'=y_21^post19, __disjvr_6^0'=__disjvr_6^post19, rcd_308^0'=rcd_308^post19, rcd_45^0'=rcd_45^post19, __disjvr_17^0'=__disjvr_17^post19, i_130^0'=i_130^post19, __disjvr_27^0'=__disjvr_27^post19, x_154^0'=x_154^post19, rcd_114^0'=rcd_114^post19, (0 == 0 /\ -a_174^post19+a_174^0 == 0 /\ -__disjvr_25^post19+__disjvr_25^0 == 0 /\ -tail_15^0+y_26^post19 <= 0 /\ -tail_15^0+y_26^post19 == 0 /\ -i_112^post19+i_112^0 == 0 /\ __disjvr_18^0-__disjvr_18^post19 == 0 /\ -__disjvr_27^post19+__disjvr_27^0 == 0 /\ x_207^0-x_207^post19 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19 <= 0 /\ -__disjvr_4^post19+__disjvr_4^0 == 0 /\ x_SLAM_f_25^post19-head_16^post19 <= 0 /\ x_SLAM_f_25^post19-head_16^post19 == 0 /\ -len_221^post19+len_221^0 == 0 /\ tail_15^0-tail_15^post19 == 0 /\ -x_154^post19+x_154^0 == 0 /\ -i_31^0 <= 0 /\ -result_11^11+head_16^post19 == 0 /\ -a_279^post19+a_279^0 == 0 /\ -rcd_106^post19+rcd_106^0 == 0 /\ __disjvr_24^0-__disjvr_24^post19 == 0 /\ y_26^post19-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19 <= 0 /\ i_31^post19-a_174^0 <= 0 /\ tail_15^0-y_26^post19 <= 0 /\ -y_21^post19+y_21^0 == 0 /\ __disjvr_13^0-__disjvr_13^post19 == 0 /\ -rcd_308^post19+rcd_308^0 == 0 /\ -a_309^post19+a_309^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19 <= 0 /\ -__disjvr_22^post19+__disjvr_22^0 == 0 /\ -x_SLAM_f_20^post19+x_SLAM_f_20^0 == 0 /\ -x_SLAM_f_25^post19+head_16^post19 <= 0 /\ __disjvr_16^0-__disjvr_16^post19 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ -i_130^post19+i_130^0 == 0 /\ -__disjvr_28^post19+__disjvr_28^0 == 0 /\ -f_202^post19+f_202^0 == 0 /\ rcd_220^0-rcd_220^post19 == 0 /\ __disjvr_14^0-__disjvr_14^post19 == 0 /\ -__disjvr_15^post19+__disjvr_15^0 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ -__disjvr_6^post19+__disjvr_6^0 == 0 /\ -y_26^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19 <= 0 /\ -i_31^post19+a_174^0 <= 0 /\ rcd_193^0-rcd_193^post19 == 0 /\ -head_33^0+temp0_32^110 == 0 /\ __disjvr_21^0-__disjvr_21^post19 == 0 /\ rcd_320^0-rcd_320^post19 == 0 /\ __disjvr_11^0-__disjvr_11^post19 == 0 /\ -nondet_12^post19+nondet_12^0 == 0 /\ r_192^0-r_192^post19 == 0 /\ rcd_288^0-rcd_288^post19 == 0 /\ __disjvr_23^0-__disjvr_23^post19 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ -temp0_32^110+result_11^11 == 0 /\ x_27^post19-x_SLAM_f_25^post19 <= 0 /\ x_27^post19-x_SLAM_f_25^post19 == 0 /\ -__disjvr_30^post19+__disjvr_30^0 == 0 /\ -rcd_284^post19+rcd_284^0 == 0 /\ -len_159^post19+len_159^0 == 0 /\ -__disjvr_1^post19+__disjvr_1^0 == 0 /\ -rcd_194^post19+rcd_45^0 <= 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ -rcd_71^post19+rcd_71^0 == 0 /\ -rcd_185^post19+rcd_185^0 == 0 /\ a_253^0-a_253^post19 == 0 /\ -x_27^post19+head_16^post19 <= 0 /\ __disjvr_19^0-__disjvr_19^post19 == 0 /\ __disjvr_8^0-__disjvr_8^post19 == 0 /\ -r_41^post19+r_41^0 == 0 /\ -__disjvr_10^post19+__disjvr_10^0 == 0 /\ -rcd_114^post19+rcd_114^0 == 0 /\ __disjvr_20^0-__disjvr_20^post19 == 0 /\ len_159^0 <= 0 /\ __disjvr_17^0-__disjvr_17^post19 == 0 /\ -x_27^post19+x_SLAM_f_25^post19 <= 0 /\ -temp0_19^post19+temp0_19^0 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ -rcd_45^post19+rcd_45^0 == 0 /\ -__disjvr_9^post19+__disjvr_9^0 == 0 /\ -i_31^0+length_29^0 <= 0 /\ -r_149^post19+r_149^0 == 0 /\ -t_23^post19+t_23^0 == 0 /\ a_222^0-a_222^post19 == 0 /\ -__disjvr_7^post19+__disjvr_7^0 == 0 /\ __disjvr_29^0-__disjvr_29^post19 == 0 /\ x_22^0-x_22^post19 == 0 /\ rcd_194^post19-rcd_45^0 <= 0 /\ a_139^0-a_139^post19 == 0 /\ -temp_37^post19+temp_37^0 == 0 /\ -len_159^0 <= 0 /\ x_27^post19-head_16^post19 <= 0 /\ __disjvr_26^0-__disjvr_26^post19 == 0), cost: 1 22: l20 -> l23 : __disjvr_0^0'=__disjvr_0^post22, a_253^0'=a_253^post22, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post22, __disjvr_21^0'=__disjvr_21^post22, x_27^0'=x_27^post22, __disjvr_3^0'=__disjvr_3^post22, rcd_220^0'=rcd_220^post22, __disjvr_14^0'=__disjvr_14^post22, head_33^0'=head_33^post22, __disjvr_24^0'=__disjvr_24^post22, temp_36^0'=temp_36^post22, r_192^0'=r_192^post22, __disjvr_8^0'=__disjvr_8^post22, a_139^0'=a_139^post22, result_11^0'=result_11^post22, __disjvr_19^0'=__disjvr_19^post22, i_31^0'=i_31^post22, __disjvr_29^0'=__disjvr_29^post22, x_22^0'=x_22^post22, rcd_193^0'=rcd_193^post22, __disjvr_11^0'=__disjvr_11^post22, a_309^0'=a_309^post22, tail_15^0'=tail_15^post22, length_29^0'=length_29^post22, x_SLAM_f_25^0'=x_SLAM_f_25^post22, __disjvr_5^0'=__disjvr_5^post22, rcd_288^0'=rcd_288^post22, __disjvr_16^0'=__disjvr_16^post22, i_112^0'=i_112^post22, __disjvr_26^0'=__disjvr_26^post22, tmp_35^0'=tmp_35^post22, rcd_106^0'=rcd_106^post22, a_222^0'=a_222^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post22, __disjvr_20^0'=__disjvr_20^post22, len_221^0'=len_221^post22, __disjvr_30^0'=__disjvr_30^post22, rcd_199^0'=rcd_199^post22, __disjvr_13^0'=__disjvr_13^post22, head_16^0'=head_16^post22, __disjvr_23^0'=__disjvr_23^post22, temp0_32^0'=temp0_32^post22, r_149^0'=r_149^post22, y_26^0'=y_26^post22, __disjvr_7^0'=__disjvr_7^post22, rcd_320^0'=rcd_320^post22, rcd_71^0'=rcd_71^post22, __disjvr_18^0'=__disjvr_18^post22, i_198^0'=i_198^post22, __disjvr_28^0'=__disjvr_28^post22, x_207^0'=x_207^post22, rcd_185^0'=rcd_185^post22, __disjvr_10^0'=__disjvr_10^post22, a_279^0'=a_279^post22, t_23^0'=t_23^post22, __disjvr_22^0'=__disjvr_22^post22, x_SLAM_f_20^0'=x_SLAM_f_20^post22, __disjvr_4^0'=__disjvr_4^post22, rcd_284^0'=rcd_284^post22, __disjvr_15^0'=__disjvr_15^post22, head_SLAM_f_30^0'=head_SLAM_f_30^post22, __disjvr_25^0'=__disjvr_25^post22, temp_37^0'=temp_37^post22, r_41^0'=r_41^post22, __disjvr_9^0'=__disjvr_9^post22, a_174^0'=a_174^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post22, __disjvr_1^0'=__disjvr_1^post22, len_159^0'=len_159^post22, __disjvr_2^0'=__disjvr_2^post22, rcd_194^0'=rcd_194^post22, __disjvr_12^0'=__disjvr_12^post22, f_202^0'=f_202^post22, temp0_19^0'=temp0_19^post22, nondet_12^0'=nondet_12^post22, y_21^0'=y_21^post22, __disjvr_6^0'=__disjvr_6^post22, rcd_308^0'=rcd_308^post22, rcd_45^0'=rcd_45^post22, __disjvr_17^0'=__disjvr_17^post22, i_130^0'=i_130^post22, __disjvr_27^0'=__disjvr_27^post22, x_154^0'=x_154^post22, rcd_114^0'=rcd_114^post22, (0 == 0 /\ -__disjvr_12^post22+__disjvr_12^0 == 0 /\ -1-i_31^0+i_31^post22 == 0 /\ -__disjvr_27^post22+__disjvr_27^0 == 0 /\ -__disjvr_25^post22+__disjvr_25^0 == 0 /\ rcd_45^post22-rcd_114^post22 <= 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ rcd_199^0-rcd_199^post22 == 0 /\ __disjvr_23^0-__disjvr_23^post22 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post22 == 0 /\ __disjvr_1^0-__disjvr_1^post22 == 0 /\ __disjvr_19^0-__disjvr_19^post22 == 0 /\ -__disjvr_4^post22+__disjvr_4^0 == 0 /\ -y_26^post22+y_26^0 == 0 /\ -rcd_320^post22+rcd_320^0 == 0 /\ rcd_288^0-rcd_288^post22 == 0 /\ a_253^0-a_253^post22 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post22 == 0 /\ -i_31^0 <= 0 /\ __disjvr_28^0-__disjvr_28^post22 == 0 /\ __disjvr_2^0-__disjvr_2^post22 == 0 /\ 1+i_112^post22-i_31^post22 <= 0 /\ r_149^0-r_149^post22 == 0 /\ -__disjvr_22^post22+__disjvr_22^0 == 0 /\ -rcd_45^post22+rcd_114^post22 <= 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ -y_21^post22+y_21^0 == 0 /\ __disjvr_20^0-__disjvr_20^post22 == 0 /\ f_202^0-f_202^post22 == 0 /\ __disjvr_21^0-__disjvr_21^post22 == 0 /\ -head_SLAM_f_30^post22+head_SLAM_f_30^0 == 0 /\ a_309^0-a_309^post22 == 0 /\ -i_130^post22+i_130^0 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ x_22^0-x_22^post22 == 0 /\ -temp_37^post22+temp_37^0 == 0 /\ a_222^0-a_222^post22 == 0 /\ head_16^0-head_16^post22 == 0 /\ -x_SLAM_f_20^post22+x_SLAM_f_20^0 == 0 /\ -rcd_308^post22+rcd_308^0 == 0 /\ 1+i_112^post22-length_29^0 <= 0 /\ a_139^0-a_139^post22 == 0 /\ __disjvr_26^0-__disjvr_26^post22 == 0 /\ -tail_15^post22+tail_15^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ a_279^0-a_279^post22 == 0 /\ __disjvr_18^0-__disjvr_18^post22 == 0 /\ -temp_36^0+tmp_35^post22 == 0 /\ -a_174^post22+a_174^0 == 0 /\ head_33^post22-tmp_35^post22 == 0 /\ -__disjvr_8^post22+__disjvr_8^0 == 0 /\ rcd_114^post22-rcd_45^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post22 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post22 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ r_41^0-r_41^post22 == 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ -rcd_71^post22+rcd_71^0 == 0 /\ -rcd_284^post22+rcd_284^0 == 0 /\ -x_154^post22+x_154^0 == 0 /\ r_192^0-r_192^post22 == 0 /\ __disjvr_24^0-__disjvr_24^post22 == 0 /\ -temp0_32^post22+temp0_32^0 == 0 /\ -__disjvr_6^post22+__disjvr_6^0 == 0 /\ rcd_193^0-rcd_193^post22 == 0 /\ -rcd_185^post22+rcd_185^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ __disjvr_30^0-__disjvr_30^post22 == 0 /\ -1-i_112^post22+i_31^post22 <= 0 /\ length_29^0-length_29^post22 == 0 /\ -len_159^post22+len_159^0 == 0 /\ -i_198^post22+i_198^0 == 0 /\ __disjvr_16^0-__disjvr_16^post22 == 0 /\ -temp0_19^post22+temp0_19^0 == 0 /\ -rcd_114^post22+rcd_45^0 <= 0 /\ x_27^0-x_27^post22 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ -__disjvr_7^post22+__disjvr_7^0 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ rcd_220^0-rcd_220^post22 == 0 /\ __disjvr_14^0-__disjvr_14^post22 == 0 /\ x_207^0-x_207^post22 == 0 /\ -__disjvr_29^post22+__disjvr_29^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post22 == 0 /\ -t_23^post22+t_23^0 == 0 /\ -__disjvr_13^post22+__disjvr_13^0 == 0 /\ -rcd_194^post22+rcd_194^0 == 0 /\ len_221^0-len_221^post22 == 0), cost: 1 20: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post20, a_253^0'=a_253^post20, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post20, __disjvr_21^0'=__disjvr_21^post20, x_27^0'=x_27^post20, __disjvr_3^0'=__disjvr_3^post20, rcd_220^0'=rcd_220^post20, __disjvr_14^0'=__disjvr_14^post20, head_33^0'=head_33^post20, __disjvr_24^0'=__disjvr_24^post20, temp_36^0'=temp_36^post20, r_192^0'=r_192^post20, __disjvr_8^0'=__disjvr_8^post20, a_139^0'=a_139^post20, result_11^0'=result_11^post20, __disjvr_19^0'=__disjvr_19^post20, i_31^0'=i_31^post20, __disjvr_29^0'=__disjvr_29^post20, x_22^0'=x_22^post20, rcd_193^0'=rcd_193^post20, __disjvr_11^0'=__disjvr_11^post20, a_309^0'=a_309^post20, tail_15^0'=tail_15^post20, length_29^0'=length_29^post20, x_SLAM_f_25^0'=x_SLAM_f_25^post20, __disjvr_5^0'=__disjvr_5^post20, rcd_288^0'=rcd_288^post20, __disjvr_16^0'=__disjvr_16^post20, i_112^0'=i_112^post20, __disjvr_26^0'=__disjvr_26^post20, tmp_35^0'=tmp_35^post20, rcd_106^0'=rcd_106^post20, a_222^0'=a_222^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post20, __disjvr_20^0'=__disjvr_20^post20, len_221^0'=len_221^post20, __disjvr_30^0'=__disjvr_30^post20, rcd_199^0'=rcd_199^post20, __disjvr_13^0'=__disjvr_13^post20, head_16^0'=head_16^post20, __disjvr_23^0'=__disjvr_23^post20, temp0_32^0'=temp0_32^post20, r_149^0'=r_149^post20, y_26^0'=y_26^post20, __disjvr_7^0'=__disjvr_7^post20, rcd_320^0'=rcd_320^post20, rcd_71^0'=rcd_71^post20, __disjvr_18^0'=__disjvr_18^post20, i_198^0'=i_198^post20, __disjvr_28^0'=__disjvr_28^post20, x_207^0'=x_207^post20, rcd_185^0'=rcd_185^post20, __disjvr_10^0'=__disjvr_10^post20, a_279^0'=a_279^post20, t_23^0'=t_23^post20, __disjvr_22^0'=__disjvr_22^post20, x_SLAM_f_20^0'=x_SLAM_f_20^post20, __disjvr_4^0'=__disjvr_4^post20, rcd_284^0'=rcd_284^post20, __disjvr_15^0'=__disjvr_15^post20, head_SLAM_f_30^0'=head_SLAM_f_30^post20, __disjvr_25^0'=__disjvr_25^post20, temp_37^0'=temp_37^post20, r_41^0'=r_41^post20, __disjvr_9^0'=__disjvr_9^post20, a_174^0'=a_174^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post20, __disjvr_1^0'=__disjvr_1^post20, len_159^0'=len_159^post20, __disjvr_2^0'=__disjvr_2^post20, rcd_194^0'=rcd_194^post20, __disjvr_12^0'=__disjvr_12^post20, f_202^0'=f_202^post20, temp0_19^0'=temp0_19^post20, nondet_12^0'=nondet_12^post20, y_21^0'=y_21^post20, __disjvr_6^0'=__disjvr_6^post20, rcd_308^0'=rcd_308^post20, rcd_45^0'=rcd_45^post20, __disjvr_17^0'=__disjvr_17^post20, i_130^0'=i_130^post20, __disjvr_27^0'=__disjvr_27^post20, x_154^0'=x_154^post20, rcd_114^0'=rcd_114^post20, (-a_174^post20+a_174^0 == 0 /\ -rcd_185^post20+rcd_185^0 == 0 /\ -rcd_288^post20+rcd_288^0 == 0 /\ __disjvr_28^0-__disjvr_28^post20 == 0 /\ -y_21^post20+y_21^0 == 0 /\ -len_159^post20+len_159^0 == 0 /\ y_26^0-y_26^post20 == 0 /\ -__disjvr_22^post20+__disjvr_22^0 == 0 /\ -__disjvr_7^post20+__disjvr_7^0 == 0 /\ length_29^0-length_29^post20 == 0 /\ -__disjvr_10^post20+__disjvr_10^0 == 0 /\ __disjvr_16^0-__disjvr_16^post20 == 0 /\ -rcd_308^post20+rcd_308^0 == 0 /\ -i_130^post20+i_130^0 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ x_22^0-x_22^post20 == 0 /\ a_309^0-a_309^post20 == 0 /\ len_221^0-len_221^post20 == 0 /\ -__disjvr_9^post20+__disjvr_9^0 == 0 /\ -x_154^post20+x_154^0 == 0 /\ -rcd_194^post20+rcd_194^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post20 == 0 /\ x_27^0-x_27^post20 == 0 /\ -i_112^post20+i_112^0 == 0 /\ -nondet_12^post20+nondet_12^0 == 0 /\ -head_16^post20+head_16^0 == 0 /\ i_31^0-i_31^post20 == 0 /\ x_207^0-x_207^post20 == 0 /\ -rcd_320^post20+rcd_320^0 == 0 /\ head_33^0-head_33^post20 == 0 /\ __disjvr_11^0-__disjvr_11^post20 == 0 /\ -__disjvr_26^post20+__disjvr_26^0 == 0 /\ -__disjvr_6^post20+__disjvr_6^0 == 0 /\ -temp0_19^post20+temp0_19^0 == 0 /\ -rcd_284^post20+rcd_284^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post20 == 0 /\ __disjvr_18^0-__disjvr_18^post20 == 0 /\ __disjvr_9^post20-__disjvr_9^0 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ __disjvr_13^0-__disjvr_13^post20 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ a_253^0-a_253^post20 == 0 /\ rcd_193^0-rcd_193^post20 == 0 /\ __disjvr_30^0-__disjvr_30^post20 == 0 /\ __disjvr_21^0-__disjvr_21^post20 == 0 /\ -rcd_114^post20+rcd_114^0 == 0 /\ -rcd_199^post20+rcd_199^0 == 0 /\ -t_23^post20+t_23^0 == 0 /\ tmp_35^0-tmp_35^post20 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ r_192^0-r_192^post20 == 0 /\ -__disjvr_19^post20+__disjvr_19^0 == 0 /\ rcd_106^0-rcd_106^post20 == 0 /\ a_139^0-a_139^post20 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ r_41^0-r_41^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ -__disjvr_4^post20+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post20 == 0 /\ r_149^0-r_149^post20 == 0 /\ -rcd_45^post20+rcd_45^0 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ a_222^0-a_222^post20 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post20 == 0 /\ result_11^0-result_11^post20 == 0 /\ -f_202^post20+f_202^0 == 0 /\ -a_279^post20+a_279^0 == 0 /\ rcd_220^0-rcd_220^post20 == 0 /\ -tail_15^post20+tail_15^0 == 0 /\ temp_36^0-temp_36^post20 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ -__disjvr_25^post20+__disjvr_25^0 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post20 == 0 /\ -__disjvr_1^post20+__disjvr_1^0 == 0 /\ -x_SLAM_f_20^post20+x_SLAM_f_20^0 == 0 /\ rcd_71^0-rcd_71^post20 == 0 /\ -__disjvr_2^post20+__disjvr_2^0 == 0 /\ -temp0_32^post20+temp0_32^0 == 0 /\ -__disjvr_20^post20+__disjvr_20^0 == 0 /\ -temp_37^post20+temp_37^0 == 0 /\ __disjvr_15^0-__disjvr_15^post20 == 0 /\ i_198^0-i_198^post20 == 0), cost: 1 21: l22 -> l1 : __disjvr_0^0'=__disjvr_0^post21, a_253^0'=a_253^post21, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post21, __disjvr_21^0'=__disjvr_21^post21, x_27^0'=x_27^post21, __disjvr_3^0'=__disjvr_3^post21, rcd_220^0'=rcd_220^post21, __disjvr_14^0'=__disjvr_14^post21, head_33^0'=head_33^post21, __disjvr_24^0'=__disjvr_24^post21, temp_36^0'=temp_36^post21, r_192^0'=r_192^post21, __disjvr_8^0'=__disjvr_8^post21, a_139^0'=a_139^post21, result_11^0'=result_11^post21, __disjvr_19^0'=__disjvr_19^post21, i_31^0'=i_31^post21, __disjvr_29^0'=__disjvr_29^post21, x_22^0'=x_22^post21, rcd_193^0'=rcd_193^post21, __disjvr_11^0'=__disjvr_11^post21, a_309^0'=a_309^post21, tail_15^0'=tail_15^post21, length_29^0'=length_29^post21, x_SLAM_f_25^0'=x_SLAM_f_25^post21, __disjvr_5^0'=__disjvr_5^post21, rcd_288^0'=rcd_288^post21, __disjvr_16^0'=__disjvr_16^post21, i_112^0'=i_112^post21, __disjvr_26^0'=__disjvr_26^post21, tmp_35^0'=tmp_35^post21, rcd_106^0'=rcd_106^post21, a_222^0'=a_222^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post21, __disjvr_20^0'=__disjvr_20^post21, len_221^0'=len_221^post21, __disjvr_30^0'=__disjvr_30^post21, rcd_199^0'=rcd_199^post21, __disjvr_13^0'=__disjvr_13^post21, head_16^0'=head_16^post21, __disjvr_23^0'=__disjvr_23^post21, temp0_32^0'=temp0_32^post21, r_149^0'=r_149^post21, y_26^0'=y_26^post21, __disjvr_7^0'=__disjvr_7^post21, rcd_320^0'=rcd_320^post21, rcd_71^0'=rcd_71^post21, __disjvr_18^0'=__disjvr_18^post21, i_198^0'=i_198^post21, __disjvr_28^0'=__disjvr_28^post21, x_207^0'=x_207^post21, rcd_185^0'=rcd_185^post21, __disjvr_10^0'=__disjvr_10^post21, a_279^0'=a_279^post21, t_23^0'=t_23^post21, __disjvr_22^0'=__disjvr_22^post21, x_SLAM_f_20^0'=x_SLAM_f_20^post21, __disjvr_4^0'=__disjvr_4^post21, rcd_284^0'=rcd_284^post21, __disjvr_15^0'=__disjvr_15^post21, head_SLAM_f_30^0'=head_SLAM_f_30^post21, __disjvr_25^0'=__disjvr_25^post21, temp_37^0'=temp_37^post21, r_41^0'=r_41^post21, __disjvr_9^0'=__disjvr_9^post21, a_174^0'=a_174^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post21, __disjvr_1^0'=__disjvr_1^post21, len_159^0'=len_159^post21, __disjvr_2^0'=__disjvr_2^post21, rcd_194^0'=rcd_194^post21, __disjvr_12^0'=__disjvr_12^post21, f_202^0'=f_202^post21, temp0_19^0'=temp0_19^post21, nondet_12^0'=nondet_12^post21, y_21^0'=y_21^post21, __disjvr_6^0'=__disjvr_6^post21, rcd_308^0'=rcd_308^post21, rcd_45^0'=rcd_45^post21, __disjvr_17^0'=__disjvr_17^post21, i_130^0'=i_130^post21, __disjvr_27^0'=__disjvr_27^post21, x_154^0'=x_154^post21, rcd_114^0'=rcd_114^post21, (__disjvr_1^0-__disjvr_1^post21 == 0 /\ a_139^0-a_139^post21 == 0 /\ -__disjvr_23^post21+__disjvr_23^0 == 0 /\ r_192^0-r_192^post21 == 0 /\ -__disjvr_4^post21+__disjvr_4^0 == 0 /\ -rcd_194^post21+rcd_194^0 == 0 /\ y_26^0-y_26^post21 == 0 /\ -__disjvr_5^post21+__disjvr_5^0 == 0 /\ -x_154^post21+x_154^0 == 0 /\ -i_112^post21+i_112^0 == 0 /\ length_29^0-length_29^post21 == 0 /\ -__disjvr_9^post21+__disjvr_9^0 == 0 /\ tail_15^0-tail_15^post21 == 0 /\ -i_130^post21+i_130^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_10^post21+__disjvr_10^0 == 0 /\ -x_SLAM_f_20^post21+x_SLAM_f_20^0 == 0 /\ -rcd_288^post21+rcd_288^0 == 0 /\ -__disjvr_22^post21+__disjvr_22^0 == 0 /\ -rcd_308^post21+rcd_308^0 == 0 /\ temp_36^0-temp_36^post21 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_15^post21+__disjvr_15^0 == 0 /\ __disjvr_16^0-__disjvr_16^post21 == 0 /\ __disjvr_13^0-__disjvr_13^post21 == 0 /\ rcd_220^0-rcd_220^post21 == 0 /\ __disjvr_24^0-__disjvr_24^post21 == 0 /\ -a_309^post21+a_309^0 == 0 /\ -__disjvr_26^post21+__disjvr_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post21 == 0 /\ -y_21^post21+y_21^0 == 0 /\ -i_31^post21+i_31^0 == 0 /\ __disjvr_20^0-__disjvr_20^post21 == 0 /\ -rcd_193^post21+rcd_193^0 == 0 /\ __disjvr_3^0-__disjvr_3^post21 == 0 /\ -nondet_12^post21+nondet_12^0 == 0 /\ -__disjvr_6^post21+__disjvr_6^0 == 0 /\ -temp0_19^post21+temp0_19^0 == 0 /\ __disjvr_25^0-__disjvr_25^post21 == 0 /\ -__disjvr_12^post21+__disjvr_12^0 == 0 /\ -__disjvr_17^post21+__disjvr_17^0 == 0 /\ x_207^0-x_207^post21 == 0 /\ __disjvr_29^0-__disjvr_29^post21 == 0 /\ __disjvr_11^0-__disjvr_11^post21 == 0 /\ -rcd_71^post21+rcd_71^0 == 0 /\ len_221^0-len_221^post21 == 0 /\ a_253^0-a_253^post21 == 0 /\ i_198^0-i_198^post21 == 0 /\ rcd_320^0-rcd_320^post21 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_31^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post21 == 0 /\ -__disjvr_28^post21+__disjvr_28^0 == 0 /\ -rcd_114^post21+rcd_114^0 == 0 /\ head_16^0-head_16^post21 == 0 /\ r_149^0-r_149^post21 == 0 /\ rcd_106^0-rcd_106^post21 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ __disjvr_14^0-__disjvr_14^post21 == 0 /\ -rcd_284^post21+rcd_284^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post21+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_45^post21+rcd_45^0 == 0 /\ __disjvr_30^0-__disjvr_30^post21 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post21 == 0 /\ result_11^0-result_11^post21 == 0 /\ -t_23^post21+t_23^0 == 0 /\ -rcd_185^post21+rcd_185^0 == 0 /\ x_27^0-x_27^post21 == 0 /\ x_22^0-x_22^post21 == 0 /\ a_222^0-a_222^post21 == 0 /\ __disjvr_19^0-__disjvr_19^post21 == 0 /\ -a_174^post21+a_174^0 == 0 /\ -temp_37^post21+temp_37^0 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_198^0 <= 0 /\ -__disjvr_27^post21+__disjvr_27^0 == 0 /\ -__disjvr_2^post21+__disjvr_2^0 == 0 /\ -f_202^post21+f_202^0 == 0 /\ -rcd_199^post21+rcd_199^0 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ -temp0_32^post21+temp0_32^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post21 == 0 /\ tmp_35^0-tmp_35^post21 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post21+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ a_279^0-a_279^post21 == 0 /\ -len_159^post21+len_159^0 == 0 /\ -head_33^post21+head_33^0 == 0 /\ -r_41^post21+r_41^0 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0), cost: 1 23: l23 -> l20 : __disjvr_0^0'=__disjvr_0^post23, a_253^0'=a_253^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post23, __disjvr_21^0'=__disjvr_21^post23, x_27^0'=x_27^post23, __disjvr_3^0'=__disjvr_3^post23, rcd_220^0'=rcd_220^post23, __disjvr_14^0'=__disjvr_14^post23, head_33^0'=head_33^post23, __disjvr_24^0'=__disjvr_24^post23, temp_36^0'=temp_36^post23, r_192^0'=r_192^post23, __disjvr_8^0'=__disjvr_8^post23, a_139^0'=a_139^post23, result_11^0'=result_11^post23, __disjvr_19^0'=__disjvr_19^post23, i_31^0'=i_31^post23, __disjvr_29^0'=__disjvr_29^post23, x_22^0'=x_22^post23, rcd_193^0'=rcd_193^post23, __disjvr_11^0'=__disjvr_11^post23, a_309^0'=a_309^post23, tail_15^0'=tail_15^post23, length_29^0'=length_29^post23, x_SLAM_f_25^0'=x_SLAM_f_25^post23, __disjvr_5^0'=__disjvr_5^post23, rcd_288^0'=rcd_288^post23, __disjvr_16^0'=__disjvr_16^post23, i_112^0'=i_112^post23, __disjvr_26^0'=__disjvr_26^post23, tmp_35^0'=tmp_35^post23, rcd_106^0'=rcd_106^post23, a_222^0'=a_222^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post23, __disjvr_20^0'=__disjvr_20^post23, len_221^0'=len_221^post23, __disjvr_30^0'=__disjvr_30^post23, rcd_199^0'=rcd_199^post23, __disjvr_13^0'=__disjvr_13^post23, head_16^0'=head_16^post23, __disjvr_23^0'=__disjvr_23^post23, temp0_32^0'=temp0_32^post23, r_149^0'=r_149^post23, y_26^0'=y_26^post23, __disjvr_7^0'=__disjvr_7^post23, rcd_320^0'=rcd_320^post23, rcd_71^0'=rcd_71^post23, __disjvr_18^0'=__disjvr_18^post23, i_198^0'=i_198^post23, __disjvr_28^0'=__disjvr_28^post23, x_207^0'=x_207^post23, rcd_185^0'=rcd_185^post23, __disjvr_10^0'=__disjvr_10^post23, a_279^0'=a_279^post23, t_23^0'=t_23^post23, __disjvr_22^0'=__disjvr_22^post23, x_SLAM_f_20^0'=x_SLAM_f_20^post23, __disjvr_4^0'=__disjvr_4^post23, rcd_284^0'=rcd_284^post23, __disjvr_15^0'=__disjvr_15^post23, head_SLAM_f_30^0'=head_SLAM_f_30^post23, __disjvr_25^0'=__disjvr_25^post23, temp_37^0'=temp_37^post23, r_41^0'=r_41^post23, __disjvr_9^0'=__disjvr_9^post23, a_174^0'=a_174^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, __disjvr_1^0'=__disjvr_1^post23, len_159^0'=len_159^post23, __disjvr_2^0'=__disjvr_2^post23, rcd_194^0'=rcd_194^post23, __disjvr_12^0'=__disjvr_12^post23, f_202^0'=f_202^post23, temp0_19^0'=temp0_19^post23, nondet_12^0'=nondet_12^post23, y_21^0'=y_21^post23, __disjvr_6^0'=__disjvr_6^post23, rcd_308^0'=rcd_308^post23, rcd_45^0'=rcd_45^post23, __disjvr_17^0'=__disjvr_17^post23, i_130^0'=i_130^post23, __disjvr_27^0'=__disjvr_27^post23, x_154^0'=x_154^post23, rcd_114^0'=rcd_114^post23, (-rcd_199^post23+rcd_199^0 == 0 /\ x_22^0-x_22^post23 == 0 /\ -rcd_114^post23+rcd_114^0 == 0 /\ -t_23^post23+t_23^0 == 0 /\ a_222^0-a_222^post23 == 0 /\ result_11^0-result_11^post23 == 0 /\ -__disjvr_12^post23+__disjvr_12^0 == 0 /\ head_33^0-head_33^post23 == 0 /\ rcd_106^0-rcd_106^post23 == 0 /\ -r_41^post23+r_41^0 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ __disjvr_13^0-__disjvr_13^post23 == 0 /\ __disjvr_18^0-__disjvr_18^post23 == 0 /\ __disjvr_3^0-__disjvr_3^post23 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post23 == 0 /\ -__disjvr_4^post23+__disjvr_4^0 == 0 /\ i_112^0-i_112^post23 == 0 /\ -f_202^post23+f_202^0 == 0 /\ -temp_37^post23+temp_37^0 == 0 /\ -__disjvr_27^post23+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ y_26^0-y_26^post23 == 0 /\ -tail_15^post23+tail_15^0 == 0 /\ tmp_35^0-tmp_35^post23 == 0 /\ length_29^0-length_29^post23 == 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0 /\ -__disjvr_25^post23+__disjvr_25^0 == 0 /\ __disjvr_2^0-__disjvr_2^post23 == 0 /\ -len_159^post23+len_159^0 == 0 /\ a_309^0-a_309^post23 == 0 /\ -__disjvr_20^post23+__disjvr_20^0 == 0 /\ -temp0_32^post23+temp0_32^0 == 0 /\ len_221^0-len_221^post23 == 0 /\ -__disjvr_1^post23+__disjvr_1^0 == 0 /\ -rcd_71^post23+rcd_71^0 == 0 /\ __disjvr_14^0-__disjvr_14^post23 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post23 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post23 == 0 /\ -rcd_288^post23+rcd_288^0 == 0 /\ y_21^0-y_21^post23 == 0 /\ x_27^0-x_27^post23 == 0 /\ -rcd_185^post23+rcd_185^0 == 0 /\ -head_SLAM_f_30^post23+head_SLAM_f_30^0 == 0 /\ __disjvr_24^0-__disjvr_24^post23 == 0 /\ -x_154^post23+x_154^0 == 0 /\ -__disjvr_22^post23+__disjvr_22^0 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -i_198^post23+i_198^0 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ rcd_220^0-rcd_220^post23 == 0 /\ -__disjvr_8^post23+__disjvr_8^0 == 0 /\ -__disjvr_10^post23+__disjvr_10^0 == 0 /\ -__disjvr_23^post23+__disjvr_23^0 == 0 /\ -__disjvr_9^post23+__disjvr_9^0 == 0 /\ -__disjvr_21^post23+__disjvr_21^0 == 0 /\ -rcd_308^post23+rcd_308^0 == 0 /\ a_279^0-a_279^post23 == 0 /\ i_31^0-i_31^post23 == 0 /\ __disjvr_15^0-__disjvr_15^post23 == 0 /\ __disjvr_19^0-__disjvr_19^post23 == 0 /\ -rcd_194^post23+rcd_194^0 == 0 /\ -a_174^post23+a_174^0 == 0 /\ -rcd_193^post23+rcd_193^0 == 0 /\ a_253^0-a_253^post23 == 0 /\ i_130^0-i_130^post23 == 0 /\ -nondet_12^post23+nondet_12^0 == 0 /\ -rcd_45^post23+rcd_45^0 == 0 /\ -__disjvr_29^post23+__disjvr_29^0 == 0 /\ -rcd_320^post23+rcd_320^0 == 0 /\ head_16^0-head_16^post23 == 0 /\ __disjvr_28^0-__disjvr_28^post23 == 0 /\ -x_207^post23+x_207^0 == 0 /\ r_192^0-r_192^post23 == 0 /\ -__disjvr_6^post23+__disjvr_6^0 == 0 /\ a_139^0-a_139^post23 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_11^0-__disjvr_11^post23 == 0 /\ -rcd_284^post23+rcd_284^0 == 0 /\ __disjvr_16^0-__disjvr_16^post23 == 0 /\ __disjvr_30^0-__disjvr_30^post23 == 0 /\ -temp_36^post23+temp_36^0 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ -temp0_19^post23+temp0_19^0 == 0 /\ r_149^0-r_149^post23 == 0), cost: 1 24: l24 -> l7 : __disjvr_0^0'=__disjvr_0^post24, a_253^0'=a_253^post24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post24, __disjvr_21^0'=__disjvr_21^post24, x_27^0'=x_27^post24, __disjvr_3^0'=__disjvr_3^post24, rcd_220^0'=rcd_220^post24, __disjvr_14^0'=__disjvr_14^post24, head_33^0'=head_33^post24, __disjvr_24^0'=__disjvr_24^post24, temp_36^0'=temp_36^post24, r_192^0'=r_192^post24, __disjvr_8^0'=__disjvr_8^post24, a_139^0'=a_139^post24, result_11^0'=result_11^post24, __disjvr_19^0'=__disjvr_19^post24, i_31^0'=i_31^post24, __disjvr_29^0'=__disjvr_29^post24, x_22^0'=x_22^post24, rcd_193^0'=rcd_193^post24, __disjvr_11^0'=__disjvr_11^post24, a_309^0'=a_309^post24, tail_15^0'=tail_15^post24, length_29^0'=length_29^post24, x_SLAM_f_25^0'=x_SLAM_f_25^post24, __disjvr_5^0'=__disjvr_5^post24, rcd_288^0'=rcd_288^post24, __disjvr_16^0'=__disjvr_16^post24, i_112^0'=i_112^post24, __disjvr_26^0'=__disjvr_26^post24, tmp_35^0'=tmp_35^post24, rcd_106^0'=rcd_106^post24, a_222^0'=a_222^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post24, __disjvr_20^0'=__disjvr_20^post24, len_221^0'=len_221^post24, __disjvr_30^0'=__disjvr_30^post24, rcd_199^0'=rcd_199^post24, __disjvr_13^0'=__disjvr_13^post24, head_16^0'=head_16^post24, __disjvr_23^0'=__disjvr_23^post24, temp0_32^0'=temp0_32^post24, r_149^0'=r_149^post24, y_26^0'=y_26^post24, __disjvr_7^0'=__disjvr_7^post24, rcd_320^0'=rcd_320^post24, rcd_71^0'=rcd_71^post24, __disjvr_18^0'=__disjvr_18^post24, i_198^0'=i_198^post24, __disjvr_28^0'=__disjvr_28^post24, x_207^0'=x_207^post24, rcd_185^0'=rcd_185^post24, __disjvr_10^0'=__disjvr_10^post24, a_279^0'=a_279^post24, t_23^0'=t_23^post24, __disjvr_22^0'=__disjvr_22^post24, x_SLAM_f_20^0'=x_SLAM_f_20^post24, __disjvr_4^0'=__disjvr_4^post24, rcd_284^0'=rcd_284^post24, __disjvr_15^0'=__disjvr_15^post24, head_SLAM_f_30^0'=head_SLAM_f_30^post24, __disjvr_25^0'=__disjvr_25^post24, temp_37^0'=temp_37^post24, r_41^0'=r_41^post24, __disjvr_9^0'=__disjvr_9^post24, a_174^0'=a_174^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post24, __disjvr_1^0'=__disjvr_1^post24, len_159^0'=len_159^post24, __disjvr_2^0'=__disjvr_2^post24, rcd_194^0'=rcd_194^post24, __disjvr_12^0'=__disjvr_12^post24, f_202^0'=f_202^post24, temp0_19^0'=temp0_19^post24, nondet_12^0'=nondet_12^post24, y_21^0'=y_21^post24, __disjvr_6^0'=__disjvr_6^post24, rcd_308^0'=rcd_308^post24, rcd_45^0'=rcd_45^post24, __disjvr_17^0'=__disjvr_17^post24, i_130^0'=i_130^post24, __disjvr_27^0'=__disjvr_27^post24, x_154^0'=x_154^post24, rcd_114^0'=rcd_114^post24, (0 == 0 /\ -x_22^10+y_21^10 <= 0 /\ rcd_71^0-rcd_71^post24 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ len_159^0-len_159^post24 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^110 <= 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post24 <= 0 /\ tail_15^0-tail_15^post24 == 0 /\ __disjvr_5^0-__disjvr_5^post24 == 0 /\ head_16^post24-x_SLAM_f_20^10 <= 0 /\ -a_174^post24+a_174^0 == 0 /\ -rcd_194^post24+rcd_194^0 == 0 /\ -nondet_12^post24+nondet_12^0 == 0 /\ y_21^10-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post24 <= 0 /\ __disjvr_3^0-__disjvr_3^post24 == 0 /\ r_192^0-r_192^post24 == 0 /\ -head_16^post24+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ head_16^post24-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post24 <= 0 /\ -__disjvr_1^post24+__disjvr_1^0 == 0 /\ -rcd_106^post24+rcd_106^0 == 0 /\ result_11^12-temp0_32^120 == 0 /\ __disjvr_24^0-__disjvr_24^post24 == 0 /\ -x_SLAM_f_20^10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post24 <= 0 /\ -__disjvr_20^post24+__disjvr_20^0 == 0 /\ __disjvr_28^0-__disjvr_28^post24 == 0 /\ x_22^10-y_21^10 <= 0 /\ -__disjvr_9^post24+__disjvr_9^0 == 0 /\ a_253^0-a_253^post24 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ __disjvr_2^0-__disjvr_2^post24 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post24 <= 0 /\ -__disjvr_15^post24+__disjvr_15^0 == 0 /\ -head_16^post24+x_SLAM_f_20^10 <= 0 /\ -head_16^post24+x_SLAM_f_20^10 == 0 /\ -__disjvr_18^post24+__disjvr_18^0 == 0 /\ rcd_284^0-rcd_284^post24 == 0 /\ -i_130^post24+i_130^0 == 0 /\ -head_33^0+temp0_32^120 == 0 /\ rcd_320^0-rcd_320^post24 == 0 /\ -result_11^12+head_16^post24 == 0 /\ a_222^0-a_222^post24 == 0 /\ -__disjvr_23^post24+__disjvr_23^0 == 0 /\ -x_154^post24+x_154^0 == 0 /\ -y_21^10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post24 <= 0 /\ i_112^0-i_112^post24 == 0 /\ head_16^post24-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ -__disjvr_16^post24+__disjvr_16^0 == 0 /\ -__disjvr_13^post24+__disjvr_13^0 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ -head_16^post24+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post24 <= 0 /\ -r_41^post24+r_41^0 == 0 /\ len_221^0-len_221^post24 == 0 /\ -rcd_114^post24+rcd_114^0 == 0 /\ rcd_193^0-rcd_193^post24 == 0 /\ x_SLAM_f_20^10-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post24 <= 0 /\ -rcd_199^post24+rcd_199^0 == 0 /\ -rcd_308^post24+rcd_308^0 == 0 /\ -tail_15^0+y_21^10 <= 0 /\ -tail_15^0+y_21^10 == 0 /\ -a_309^post24+a_309^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^20 <= 0 /\ y_26^10-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ -x_22^10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post24 <= 0 /\ a_139^0-a_139^post24 == 0 /\ rcd_220^0-rcd_220^post24 == 0 /\ -f_202^post24+f_202^0 == 0 /\ x_SLAM_f_25^110-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ -x_SLAM_f_25^110+head_16^post24 <= 0 /\ __disjvr_21^0-__disjvr_21^post24 == 0 /\ __disjvr_14^0-__disjvr_14^post24 == 0 /\ -__disjvr_17^post24+__disjvr_17^0 == 0 /\ __disjvr_11^0-__disjvr_11^post24 == 0 /\ -temp0_19^post24+temp0_19^0 == 0 /\ -x_22^10+x_SLAM_f_20^10 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post24 <= 0 /\ -__disjvr_6^post24+__disjvr_6^0 == 0 /\ x_27^10-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ y_26^10-x_27^10 <= 0 /\ tail_15^0-y_26^10 <= 0 /\ x_SLAM_f_25^110-x_27^10 <= 0 /\ a_279^0-a_279^post24 == 0 /\ -__disjvr_10^post24+__disjvr_10^0 == 0 /\ __disjvr_25^0-__disjvr_25^post24 == 0 /\ tail_15^0-y_21^10 <= 0 /\ -__disjvr_4^post24+__disjvr_4^0 == 0 /\ -y_26^10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ __disjvr_30^0-__disjvr_30^post24 == 0 /\ i_198^0-i_198^post24 == 0 /\ x_22^10-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post24 <= 0 /\ -rcd_185^post24+rcd_185^0 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ r_149^0-r_149^post24 == 0 /\ -rcd_288^post24+rcd_288^0 == 0 /\ -x_SLAM_f_25^110+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ -temp_37^post24+temp_37^0 == 0 /\ x_SLAM_f_25^110-head_16^post24 <= 0 /\ x_SLAM_f_25^110-head_16^post24 == 0 /\ -x_207^post24+x_207^0 == 0 /\ result_11^post24-temp0_19^0 == 0 /\ __disjvr_29^0-__disjvr_29^post24 == 0 /\ -i_31^0+length_29^0 <= 0 /\ x_22^10-x_SLAM_f_20^10 <= 0 /\ x_22^10-x_SLAM_f_20^10 == 0 /\ -x_27^10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^110 <= 0 /\ -y_26^10+x_27^10 <= 0 /\ -tail_15^0+y_26^10 <= 0 /\ -tail_15^0+y_26^10 == 0 /\ -x_SLAM_f_25^110+x_27^10 <= 0 /\ -x_SLAM_f_25^110+x_27^10 == 0 /\ -__disjvr_19^post24+__disjvr_19^0 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ __disjvr_26^0-__disjvr_26^post24 == 0 /\ __disjvr_27^0-__disjvr_27^post24 == 0 /\ -rcd_45^post24+rcd_45^0 == 0), cost: 1 25: l24 -> l6 : __disjvr_0^0'=__disjvr_0^post25, a_253^0'=a_253^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, __disjvr_21^0'=__disjvr_21^post25, x_27^0'=x_27^post25, __disjvr_3^0'=__disjvr_3^post25, rcd_220^0'=rcd_220^post25, __disjvr_14^0'=__disjvr_14^post25, head_33^0'=head_33^post25, __disjvr_24^0'=__disjvr_24^post25, temp_36^0'=temp_36^post25, r_192^0'=r_192^post25, __disjvr_8^0'=__disjvr_8^post25, a_139^0'=a_139^post25, result_11^0'=result_11^post25, __disjvr_19^0'=__disjvr_19^post25, i_31^0'=i_31^post25, __disjvr_29^0'=__disjvr_29^post25, x_22^0'=x_22^post25, rcd_193^0'=rcd_193^post25, __disjvr_11^0'=__disjvr_11^post25, a_309^0'=a_309^post25, tail_15^0'=tail_15^post25, length_29^0'=length_29^post25, x_SLAM_f_25^0'=x_SLAM_f_25^post25, __disjvr_5^0'=__disjvr_5^post25, rcd_288^0'=rcd_288^post25, __disjvr_16^0'=__disjvr_16^post25, i_112^0'=i_112^post25, __disjvr_26^0'=__disjvr_26^post25, tmp_35^0'=tmp_35^post25, rcd_106^0'=rcd_106^post25, a_222^0'=a_222^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25, __disjvr_20^0'=__disjvr_20^post25, len_221^0'=len_221^post25, __disjvr_30^0'=__disjvr_30^post25, rcd_199^0'=rcd_199^post25, __disjvr_13^0'=__disjvr_13^post25, head_16^0'=head_16^post25, __disjvr_23^0'=__disjvr_23^post25, temp0_32^0'=temp0_32^post25, r_149^0'=r_149^post25, y_26^0'=y_26^post25, __disjvr_7^0'=__disjvr_7^post25, rcd_320^0'=rcd_320^post25, rcd_71^0'=rcd_71^post25, __disjvr_18^0'=__disjvr_18^post25, i_198^0'=i_198^post25, __disjvr_28^0'=__disjvr_28^post25, x_207^0'=x_207^post25, rcd_185^0'=rcd_185^post25, __disjvr_10^0'=__disjvr_10^post25, a_279^0'=a_279^post25, t_23^0'=t_23^post25, __disjvr_22^0'=__disjvr_22^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, __disjvr_4^0'=__disjvr_4^post25, rcd_284^0'=rcd_284^post25, __disjvr_15^0'=__disjvr_15^post25, head_SLAM_f_30^0'=head_SLAM_f_30^post25, __disjvr_25^0'=__disjvr_25^post25, temp_37^0'=temp_37^post25, r_41^0'=r_41^post25, __disjvr_9^0'=__disjvr_9^post25, a_174^0'=a_174^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, __disjvr_1^0'=__disjvr_1^post25, len_159^0'=len_159^post25, __disjvr_2^0'=__disjvr_2^post25, rcd_194^0'=rcd_194^post25, __disjvr_12^0'=__disjvr_12^post25, f_202^0'=f_202^post25, temp0_19^0'=temp0_19^post25, nondet_12^0'=nondet_12^post25, y_21^0'=y_21^post25, __disjvr_6^0'=__disjvr_6^post25, rcd_308^0'=rcd_308^post25, rcd_45^0'=rcd_45^post25, __disjvr_17^0'=__disjvr_17^post25, i_130^0'=i_130^post25, __disjvr_27^0'=__disjvr_27^post25, x_154^0'=x_154^post25, rcd_114^0'=rcd_114^post25, (0 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ -f_202^post25+f_202^0 == 0 /\ -head_16^post25+head_16^0 == 0 /\ head_SLAM_f_30^post25-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25 <= 0 /\ -rcd_45^post25+rcd_45^0 == 0 /\ a_309^0-a_309^post25 == 0 /\ tail_15^post25-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25 <= 0 /\ -head_SLAM_f_30^post25+tail_15^post25 <= 0 /\ x_22^0-x_22^post25 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post25-length_29^0 <= 0 /\ -__disjvr_6^post25+__disjvr_6^0 == 0 /\ -temp0_19^post25+temp0_19^0 == 0 /\ -rcd_284^post25+rcd_284^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25-tmp_35^post25 <= 0 /\ rcd_220^0-rcd_220^post25 == 0 /\ -len_159^post25+len_159^0 == 0 /\ -__disjvr_2^post25+__disjvr_2^0 == 0 /\ -__disjvr_1^post25+__disjvr_1^0 == 0 /\ -temp0_32^post25+temp0_32^0 == 0 /\ -1-i_31^0+i_31^post25 == 0 /\ -tmp_35^post25+head_33^post25 <= 0 /\ -tmp_35^post25+head_33^post25 == 0 /\ rcd_199^0-rcd_199^post25 == 0 /\ a_139^0-a_139^post25 == 0 /\ -t_23^post25+t_23^0 == 0 /\ __disjvr_11^0-__disjvr_11^post25 == 0 /\ rcd_320^0-rcd_320^post25 == 0 /\ -rcd_185^post25+rcd_185^0 == 0 /\ __disjvr_18^0-__disjvr_18^post25 == 0 /\ -head_SLAM_f_30^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25 <= 0 /\ __disjvr_15^0-__disjvr_15^post25 == 0 /\ -__disjvr_16^post25+__disjvr_16^0 == 0 /\ x_207^0-x_207^post25 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ -tail_15^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25 <= 0 /\ -rcd_114^post25+rcd_114^0 == 0 /\ head_SLAM_f_30^post25-tail_15^post25 <= 0 /\ a_253^0-a_253^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post25+length_29^0 <= 0 /\ -__disjvr_10^post25+__disjvr_10^0 == 0 /\ rcd_288^0-rcd_288^post25 == 0 /\ x_27^0-x_27^post25 == 0 /\ -__disjvr_9^post25+__disjvr_9^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post25 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25+tmp_35^post25 <= 0 /\ i_112^0-i_112^post25 == 0 /\ -__disjvr_4^post25+__disjvr_4^0 == 0 /\ -rcd_194^post25+rcd_194^0 == 0 /\ __disjvr_28^0-__disjvr_28^post25 == 0 /\ tmp_35^post25-head_33^post25 <= 0 /\ -a_174^post25+a_174^0 == 0 /\ rcd_106^0-rcd_106^post25 == 0 /\ -__disjvr_19^post25+__disjvr_19^0 == 0 /\ rcd_193^0-rcd_193^post25 == 0 /\ -a_279^post25+a_279^0 == 0 /\ __disjvr_13^0-__disjvr_13^post25 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ -__disjvr_27^post25+__disjvr_27^0 == 0 /\ -y_26^post25+y_26^0 == 0 /\ -i_130^post25+i_130^0 == 0 /\ rcd_71^0-rcd_71^post25 == 0 /\ r_149^0-r_149^post25 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ __disjvr_20^0-__disjvr_20^post25 == 0 /\ -__disjvr_25^post25+__disjvr_25^0 == 0 /\ a_222^0-a_222^post25 == 0 /\ -__disjvr_5^post25+__disjvr_5^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25+head_33^post25 <= 0 /\ -x_SLAM_f_20^post25+x_SLAM_f_20^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ -temp_37^post25+temp_37^0 == 0 /\ -rcd_308^post25+rcd_308^0 == 0 /\ __disjvr_26^0-__disjvr_26^post25 == 0 /\ 1-i_31^post25 <= 0 /\ -1+i_31^post25 <= 0 /\ -y_21^post25+y_21^0 == 0 /\ r_41^0-r_41^post25 == 0 /\ 1-length_29^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post25 == 0 /\ -r_192^post25+r_192^0 == 0 /\ len_221^0-len_221^post25 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ -__disjvr_22^post25+__disjvr_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ i_198^0-i_198^post25 == 0 /\ -temp_36^0+tmp_35^post25 == 0 /\ -__disjvr_23^post25+__disjvr_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ __disjvr_30^0-__disjvr_30^post25 == 0 /\ result_11^0-result_11^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25-head_33^post25 <= 0 /\ __disjvr_8^0-__disjvr_8^post25 == 0 /\ -x_154^post25+x_154^0 == 0 /\ length_29^0-length_29^post25 == 0), cost: 1 26: l25 -> l7 : __disjvr_0^0'=__disjvr_0^post26, a_253^0'=a_253^post26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post26, __disjvr_21^0'=__disjvr_21^post26, x_27^0'=x_27^post26, __disjvr_3^0'=__disjvr_3^post26, rcd_220^0'=rcd_220^post26, __disjvr_14^0'=__disjvr_14^post26, head_33^0'=head_33^post26, __disjvr_24^0'=__disjvr_24^post26, temp_36^0'=temp_36^post26, r_192^0'=r_192^post26, __disjvr_8^0'=__disjvr_8^post26, a_139^0'=a_139^post26, result_11^0'=result_11^post26, __disjvr_19^0'=__disjvr_19^post26, i_31^0'=i_31^post26, __disjvr_29^0'=__disjvr_29^post26, x_22^0'=x_22^post26, rcd_193^0'=rcd_193^post26, __disjvr_11^0'=__disjvr_11^post26, a_309^0'=a_309^post26, tail_15^0'=tail_15^post26, length_29^0'=length_29^post26, x_SLAM_f_25^0'=x_SLAM_f_25^post26, __disjvr_5^0'=__disjvr_5^post26, rcd_288^0'=rcd_288^post26, __disjvr_16^0'=__disjvr_16^post26, i_112^0'=i_112^post26, __disjvr_26^0'=__disjvr_26^post26, tmp_35^0'=tmp_35^post26, rcd_106^0'=rcd_106^post26, a_222^0'=a_222^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post26, __disjvr_20^0'=__disjvr_20^post26, len_221^0'=len_221^post26, __disjvr_30^0'=__disjvr_30^post26, rcd_199^0'=rcd_199^post26, __disjvr_13^0'=__disjvr_13^post26, head_16^0'=head_16^post26, __disjvr_23^0'=__disjvr_23^post26, temp0_32^0'=temp0_32^post26, r_149^0'=r_149^post26, y_26^0'=y_26^post26, __disjvr_7^0'=__disjvr_7^post26, rcd_320^0'=rcd_320^post26, rcd_71^0'=rcd_71^post26, __disjvr_18^0'=__disjvr_18^post26, i_198^0'=i_198^post26, __disjvr_28^0'=__disjvr_28^post26, x_207^0'=x_207^post26, rcd_185^0'=rcd_185^post26, __disjvr_10^0'=__disjvr_10^post26, a_279^0'=a_279^post26, t_23^0'=t_23^post26, __disjvr_22^0'=__disjvr_22^post26, x_SLAM_f_20^0'=x_SLAM_f_20^post26, __disjvr_4^0'=__disjvr_4^post26, rcd_284^0'=rcd_284^post26, __disjvr_15^0'=__disjvr_15^post26, head_SLAM_f_30^0'=head_SLAM_f_30^post26, __disjvr_25^0'=__disjvr_25^post26, temp_37^0'=temp_37^post26, r_41^0'=r_41^post26, __disjvr_9^0'=__disjvr_9^post26, a_174^0'=a_174^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post26, __disjvr_1^0'=__disjvr_1^post26, len_159^0'=len_159^post26, __disjvr_2^0'=__disjvr_2^post26, rcd_194^0'=rcd_194^post26, __disjvr_12^0'=__disjvr_12^post26, f_202^0'=f_202^post26, temp0_19^0'=temp0_19^post26, nondet_12^0'=nondet_12^post26, y_21^0'=y_21^post26, __disjvr_6^0'=__disjvr_6^post26, rcd_308^0'=rcd_308^post26, rcd_45^0'=rcd_45^post26, __disjvr_17^0'=__disjvr_17^post26, i_130^0'=i_130^post26, __disjvr_27^0'=__disjvr_27^post26, x_154^0'=x_154^post26, rcd_114^0'=rcd_114^post26, (0 == 0 /\ -__disjvr_22^post26+__disjvr_22^0 == 0 /\ __disjvr_20^0-__disjvr_20^post26 == 0 /\ __disjvr_3^0-__disjvr_3^post26 == 0 /\ length_29^0-length_29^post26 == 0 /\ -__disjvr_2^post26+__disjvr_2^0 == 0 /\ -__disjvr_15^post26+__disjvr_15^0 == 0 /\ tail_15^0-tail_15^post26 == 0 /\ -rcd_185^post26+rcd_185^0 == 0 /\ tmp_35^0-tmp_35^post26 == 0 /\ __disjvr_13^0-__disjvr_13^post26 == 0 /\ -a_174^post26+a_174^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^post26 <= 0 /\ -f_202^post26+f_202^0 == 0 /\ -a_279^0 <= 0 /\ -__disjvr_16^post26+__disjvr_16^0 == 0 /\ -__disjvr_7^post26+__disjvr_7^0 == 0 /\ -__disjvr_9^post26+__disjvr_9^0 == 0 /\ -rcd_284^post26+rcd_284^0 == 0 /\ result_11^post26-temp0_19^0 == 0 /\ __disjvr_1^0-__disjvr_1^post26 == 0 /\ -len_159^post26+len_159^0 == 0 /\ -x_154^post26+x_154^0 == 0 /\ -__disjvr_17^post26+__disjvr_17^0 == 0 /\ -temp0_32^post26+temp0_32^0 == 0 /\ a_139^0-a_139^post26 == 0 /\ -__disjvr_6^post26+__disjvr_6^0 == 0 /\ __disjvr_26^0-__disjvr_26^post26 == 0 /\ __disjvr_14^0-__disjvr_14^post26 == 0 /\ -rcd_194^post26+rcd_194^0 == 0 /\ -temp0_19^post26+temp0_19^0 == 0 /\ i_31^0-i_31^post26 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post26 == 0 /\ -i_112^post26+i_112^0 == 0 /\ x_207^0-x_207^post26 == 0 /\ -nondet_12^post26+nondet_12^0 == 0 /\ __disjvr_5^0-__disjvr_5^post26 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^post26 <= 0 /\ -__disjvr_12^post26+__disjvr_12^0 == 0 /\ -__disjvr_10^post26+__disjvr_10^0 == 0 /\ __disjvr_24^0-__disjvr_24^post26 == 0 /\ a_253^0-a_253^post26 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post26 == 0 /\ rcd_193^0-rcd_193^post26 == 0 /\ temp_36^0-temp_36^post26 == 0 /\ -rcd_45^post26+rcd_45^0 == 0 /\ r_149^0-r_149^post26 == 0 /\ __disjvr_30^0-__disjvr_30^post26 == 0 /\ __disjvr_8^0-__disjvr_8^post26 == 0 /\ __disjvr_25^0-__disjvr_25^post26 == 0 /\ __disjvr_21^0-__disjvr_21^post26 == 0 /\ -__disjvr_27^post26+__disjvr_27^0 == 0 /\ -a_309^post26+a_309^0 == 0 /\ __disjvr_11^0-__disjvr_11^post26 == 0 /\ -y_26^post26+y_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post26 == 0 /\ -rcd_114^post26+rcd_114^0 == 0 /\ rcd_220^0-rcd_220^post26 == 0 /\ rcd_320^0-rcd_320^post26 == 0 /\ len_221^0-len_221^post26 == 0 /\ a_222^0-a_222^post26 == 0 /\ -r_41^post26+r_41^0 == 0 /\ -x_22^0+y_21^0 <= 0 /\ head_16^0-head_16^post26 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ rcd_288^0-rcd_288^post26 == 0 /\ -rcd_71^post26+rcd_71^0 == 0 /\ rcd_106^0-rcd_106^post26 == 0 /\ a_279^0-a_279^post26 == 0 /\ -__disjvr_4^post26+__disjvr_4^0 == 0 /\ head_33^0-head_33^post26 == 0 /\ rcd_199^0-rcd_199^post26 == 0 /\ -__disjvr_28^post26+__disjvr_28^0 == 0 /\ -__disjvr_23^post26+__disjvr_23^0 == 0 /\ -head_SLAM_f_30^post26+head_SLAM_f_30^0 == 0 /\ r_192^0-r_192^post26 == 0 /\ __disjvr_29^0-__disjvr_29^post26 == 0 /\ -i_130^post26+i_130^0 == 0 /\ -temp_37^post26+temp_37^0 == 0 /\ x_27^0-x_27^post26 == 0 /\ __disjvr_19^0-__disjvr_19^post26 == 0 /\ __disjvr_18^0-__disjvr_18^post26 == 0 /\ i_198^0-i_198^post26 == 0 /\ x_22^0-y_21^0 <= 0 /\ -rcd_308^post26+rcd_308^0 == 0), cost: 1 27: l25 -> l27 : __disjvr_0^0'=__disjvr_0^post27, a_253^0'=a_253^post27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, __disjvr_21^0'=__disjvr_21^post27, x_27^0'=x_27^post27, __disjvr_3^0'=__disjvr_3^post27, rcd_220^0'=rcd_220^post27, __disjvr_14^0'=__disjvr_14^post27, head_33^0'=head_33^post27, __disjvr_24^0'=__disjvr_24^post27, temp_36^0'=temp_36^post27, r_192^0'=r_192^post27, __disjvr_8^0'=__disjvr_8^post27, a_139^0'=a_139^post27, result_11^0'=result_11^post27, __disjvr_19^0'=__disjvr_19^post27, i_31^0'=i_31^post27, __disjvr_29^0'=__disjvr_29^post27, x_22^0'=x_22^post27, rcd_193^0'=rcd_193^post27, __disjvr_11^0'=__disjvr_11^post27, a_309^0'=a_309^post27, tail_15^0'=tail_15^post27, length_29^0'=length_29^post27, x_SLAM_f_25^0'=x_SLAM_f_25^post27, __disjvr_5^0'=__disjvr_5^post27, rcd_288^0'=rcd_288^post27, __disjvr_16^0'=__disjvr_16^post27, i_112^0'=i_112^post27, __disjvr_26^0'=__disjvr_26^post27, tmp_35^0'=tmp_35^post27, rcd_106^0'=rcd_106^post27, a_222^0'=a_222^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27, __disjvr_20^0'=__disjvr_20^post27, len_221^0'=len_221^post27, __disjvr_30^0'=__disjvr_30^post27, rcd_199^0'=rcd_199^post27, __disjvr_13^0'=__disjvr_13^post27, head_16^0'=head_16^post27, __disjvr_23^0'=__disjvr_23^post27, temp0_32^0'=temp0_32^post27, r_149^0'=r_149^post27, y_26^0'=y_26^post27, __disjvr_7^0'=__disjvr_7^post27, rcd_320^0'=rcd_320^post27, rcd_71^0'=rcd_71^post27, __disjvr_18^0'=__disjvr_18^post27, i_198^0'=i_198^post27, __disjvr_28^0'=__disjvr_28^post27, x_207^0'=x_207^post27, rcd_185^0'=rcd_185^post27, __disjvr_10^0'=__disjvr_10^post27, a_279^0'=a_279^post27, t_23^0'=t_23^post27, __disjvr_22^0'=__disjvr_22^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, __disjvr_4^0'=__disjvr_4^post27, rcd_284^0'=rcd_284^post27, __disjvr_15^0'=__disjvr_15^post27, head_SLAM_f_30^0'=head_SLAM_f_30^post27, __disjvr_25^0'=__disjvr_25^post27, temp_37^0'=temp_37^post27, r_41^0'=r_41^post27, __disjvr_9^0'=__disjvr_9^post27, a_174^0'=a_174^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, __disjvr_1^0'=__disjvr_1^post27, len_159^0'=len_159^post27, __disjvr_2^0'=__disjvr_2^post27, rcd_194^0'=rcd_194^post27, __disjvr_12^0'=__disjvr_12^post27, f_202^0'=f_202^post27, temp0_19^0'=temp0_19^post27, nondet_12^0'=nondet_12^post27, y_21^0'=y_21^post27, __disjvr_6^0'=__disjvr_6^post27, rcd_308^0'=rcd_308^post27, rcd_45^0'=rcd_45^post27, __disjvr_17^0'=__disjvr_17^post27, i_130^0'=i_130^post27, __disjvr_27^0'=__disjvr_27^post27, x_154^0'=x_154^post27, rcd_114^0'=rcd_114^post27, (0 == 0 /\ -i_198^post27+i_198^0 == 0 /\ -y_21^post27+y_21^0 == 0 /\ -__disjvr_10^post27+__disjvr_10^0 == 0 /\ -len_159^post27+len_159^0 == 0 /\ -__disjvr_22^post27+__disjvr_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post27 == 0 /\ -a_279^0 <= 0 /\ a_253^0-a_253^post27 == 0 /\ a_139^0-a_139^post27 == 0 /\ -y_26^post27+y_26^0 == 0 /\ __disjvr_8^0-__disjvr_8^post27 == 0 /\ -i_130^post27+i_130^0 == 0 /\ -temp_37^post27+temp_37^0 == 0 /\ rcd_106^0-rcd_106^post27 == 0 /\ r_149^0-r_149^post27 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post27 == 0 /\ __disjvr_11^0-__disjvr_11^post27 == 0 /\ -__disjvr_9^post27+__disjvr_9^0 == 0 /\ -__disjvr_7^post27+__disjvr_7^0 == 0 /\ rcd_288^0-rcd_288^post27 == 0 /\ -__disjvr_5^post27+__disjvr_5^0 == 0 /\ __disjvr_23^0-__disjvr_23^post27 == 0 /\ -rcd_308^post27+rcd_308^0 == 0 /\ __disjvr_1^0-__disjvr_1^post27 == 0 /\ -rcd_194^post27+rcd_194^0 == 0 /\ __disjvr_16^0-__disjvr_16^post27 == 0 /\ a_309^0-a_309^post27 == 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ -i_112^post27+i_112^0 == 0 /\ -nondet_12^post27+nondet_12^0 == 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ temp_36^0-temp_36^post27 == 0 /\ a_222^0-a_222^post27 == 0 /\ f_202^0-f_202^post27 == 0 /\ x_22^0-x_22^post27 == 0 /\ -__disjvr_30^post27+__disjvr_30^0 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ -head_SLAM_f_30^post27+head_SLAM_f_30^0 == 0 /\ -x_154^post27+x_154^0 == 0 /\ -rcd_320^post27+rcd_320^0 == 0 /\ -rcd_284^post27+rcd_284^0 == 0 /\ -__disjvr_17^post27+__disjvr_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post27 == 0 /\ rcd_199^0-rcd_199^post27 == 0 /\ -__disjvr_6^post27+__disjvr_6^0 == 0 /\ __disjvr_21^0-__disjvr_21^post27 == 0 /\ r_192^0-r_192^post27 == 0 /\ __disjvr_15^0-__disjvr_15^post27 == 0 /\ -rcd_114^post27+rcd_114^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 == 0 /\ -temp0_19^post27+temp0_19^0 == 0 /\ len_221^0-len_221^post27 == 0 /\ __disjvr_26^0-__disjvr_26^post27 == 0 /\ -rcd_45^post27+rcd_45^0 == 0 /\ -__disjvr_28^post27+__disjvr_28^0 == 0 /\ -t_23^post27+t_23^0 == 0 /\ result_11^0-result_11^post27 == 0 /\ -__disjvr_29^post27+__disjvr_29^0 == 0 /\ length_29^0-length_29^post27 == 0 /\ head_33^0-head_33^post27 == 0 /\ -__disjvr_13^post27+__disjvr_13^0 == 0 /\ -__disjvr_25^post27+__disjvr_25^0 == 0 /\ x_27^0-x_27^post27 == 0 /\ -__disjvr_27^post27+__disjvr_27^0 == 0 /\ -a_174^post27+a_174^0 == 0 /\ rcd_220^0-rcd_220^post27 == 0 /\ x_207^0-x_207^post27 == 0 /\ rcd_193^0-rcd_193^post27 == 0 /\ -__disjvr_4^post27+__disjvr_4^0 == 0 /\ __disjvr_19^0-__disjvr_19^post27 == 0 /\ __disjvr_24^0-__disjvr_24^post27 == 0 /\ i_31^0-i_31^post27 == 0 /\ __disjvr_18^0-__disjvr_18^post27 == 0 /\ tmp_35^0-tmp_35^post27 == 0 /\ -temp0_32^post27+temp0_32^0 == 0 /\ -rcd_185^post27+rcd_185^0 == 0 /\ __disjvr_3^0-__disjvr_3^post27 == 0 /\ -rcd_71^post27+rcd_71^0 == 0 /\ -a_279^post27+a_279^0 == 0), cost: 1 28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post28, a_253^0'=a_253^post28, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, __disjvr_21^0'=__disjvr_21^post28, x_27^0'=x_27^post28, __disjvr_3^0'=__disjvr_3^post28, rcd_220^0'=rcd_220^post28, __disjvr_14^0'=__disjvr_14^post28, head_33^0'=head_33^post28, __disjvr_24^0'=__disjvr_24^post28, temp_36^0'=temp_36^post28, r_192^0'=r_192^post28, __disjvr_8^0'=__disjvr_8^post28, a_139^0'=a_139^post28, result_11^0'=result_11^post28, __disjvr_19^0'=__disjvr_19^post28, i_31^0'=i_31^post28, __disjvr_29^0'=__disjvr_29^post28, x_22^0'=x_22^post28, rcd_193^0'=rcd_193^post28, __disjvr_11^0'=__disjvr_11^post28, a_309^0'=a_309^post28, tail_15^0'=tail_15^post28, length_29^0'=length_29^post28, x_SLAM_f_25^0'=x_SLAM_f_25^post28, __disjvr_5^0'=__disjvr_5^post28, rcd_288^0'=rcd_288^post28, __disjvr_16^0'=__disjvr_16^post28, i_112^0'=i_112^post28, __disjvr_26^0'=__disjvr_26^post28, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post28, a_222^0'=a_222^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, __disjvr_20^0'=__disjvr_20^post28, len_221^0'=len_221^post28, __disjvr_30^0'=__disjvr_30^post28, rcd_199^0'=rcd_199^post28, __disjvr_13^0'=__disjvr_13^post28, head_16^0'=head_16^post28, __disjvr_23^0'=__disjvr_23^post28, temp0_32^0'=temp0_32^post28, r_149^0'=r_149^post28, y_26^0'=y_26^post28, __disjvr_7^0'=__disjvr_7^post28, rcd_320^0'=rcd_320^post28, rcd_71^0'=rcd_71^post28, __disjvr_18^0'=__disjvr_18^post28, i_198^0'=i_198^post28, __disjvr_28^0'=__disjvr_28^post28, x_207^0'=x_207^post28, rcd_185^0'=rcd_185^post28, __disjvr_10^0'=__disjvr_10^post28, a_279^0'=a_279^post28, t_23^0'=t_23^post28, __disjvr_22^0'=__disjvr_22^post28, x_SLAM_f_20^0'=x_SLAM_f_20^post28, __disjvr_4^0'=__disjvr_4^post28, rcd_284^0'=rcd_284^post28, __disjvr_15^0'=__disjvr_15^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, __disjvr_25^0'=__disjvr_25^post28, temp_37^0'=temp_37^post28, r_41^0'=r_41^post28, __disjvr_9^0'=__disjvr_9^post28, a_174^0'=a_174^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28, __disjvr_1^0'=__disjvr_1^post28, len_159^0'=len_159^post28, __disjvr_2^0'=__disjvr_2^post28, rcd_194^0'=rcd_194^post28, __disjvr_12^0'=__disjvr_12^post28, f_202^0'=f_202^post28, temp0_19^0'=temp0_19^post28, nondet_12^0'=nondet_12^post28, y_21^0'=y_21^post28, __disjvr_6^0'=__disjvr_6^post28, rcd_308^0'=rcd_308^post28, rcd_45^0'=rcd_45^post28, __disjvr_17^0'=__disjvr_17^post28, i_130^0'=i_130^post28, __disjvr_27^0'=__disjvr_27^post28, x_154^0'=x_154^post28, rcd_114^0'=rcd_114^post28, (__disjvr_11^0-__disjvr_11^post28 == 0 /\ -__disjvr_4^post28+__disjvr_4^0 == 0 /\ __disjvr_18^0-__disjvr_18^post28 == 0 /\ x_207^0-x_207^post28 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 == 0 /\ -__disjvr_27^post28+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ len_221^0-len_221^post28 == 0 /\ -rcd_320^post28+rcd_320^0 == 0 /\ -i_112^post28+i_112^0 == 0 /\ -temp_37^post28+temp_37^0 == 0 /\ y_26^0-y_26^post28 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_20^post28+__disjvr_20^0 == 0 /\ length_29^0-length_29^post28 == 0 /\ head_33^0-head_33^post28 == 0 /\ -__disjvr_25^post28+__disjvr_25^0 == 0 /\ rcd_106^0-rcd_106^post28 == 0 /\ __disjvr_28^0-__disjvr_28^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ -__disjvr_5^post28+__disjvr_5^0 == 0 /\ -y_21^post28+y_21^0 == 0 /\ -rcd_193^post28+rcd_193^0 == 0 /\ __disjvr_13^0-__disjvr_13^post28 == 0 /\ -__disjvr_1^post28+__disjvr_1^0 == 0 /\ -head_SLAM_f_30^post28+head_SLAM_f_30^0 == 0 /\ -__disjvr_22^post28+__disjvr_22^0 == 0 /\ a_309^0-a_309^post28 == 0 /\ f_202^0-f_202^post28 == 0 /\ -__disjvr_12^post28+__disjvr_12^0 == 0 /\ x_22^0-x_22^post28 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ -rcd_308^post28+rcd_308^0 == 0 /\ -__disjvr_23^post28+__disjvr_23^0 == 0 /\ tmp_35^0-tmp_35^post28 == 0 /\ -i_130^post28+i_130^0 == 0 /\ -x_154^post28+x_154^0 == 0 /\ a_139^0-a_139^post28 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ __disjvr_26^0-__disjvr_26^post28 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ r_41^0-r_41^post28 == 0 /\ __disjvr_29^0-__disjvr_29^post28 == 0 /\ -rcd_284^post28+rcd_284^0 == 0 /\ a_279^0-a_279^post28 == 0 /\ -tail_15^post28+tail_15^0 == 0 /\ __disjvr_14^0-__disjvr_14^post28 == 0 /\ i_31^0-i_31^post28 == 0 /\ __disjvr_15^0-__disjvr_15^post28 == 0 /\ x_27^0-x_27^post28 == 0 /\ a_253^0-a_253^post28 == 0 /\ r_192^0-r_192^post28 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post28 == 0 /\ -__disjvr_6^post28+__disjvr_6^0 == 0 /\ -temp0_19^post28+temp0_19^0 == 0 /\ __disjvr_24^0-__disjvr_24^post28 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post28 == 0 /\ __disjvr_30^0-__disjvr_30^post28 == 0 /\ -__disjvr_17^post28+__disjvr_17^0 == 0 /\ -len_159^post28+len_159^0 == 0 /\ -rcd_71^post28+rcd_71^0 == 0 /\ -__disjvr_2^post28+__disjvr_2^0 == 0 /\ -temp0_32^post28+temp0_32^0 == 0 /\ __disjvr_10^post28-__disjvr_10^0 == 0 /\ temp_36^0-temp_36^post28 == 0 /\ -rcd_199^post28+rcd_199^0 == 0 /\ -t_23^post28+t_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ -rcd_185^post28+rcd_185^0 == 0 /\ __disjvr_16^0-__disjvr_16^post28 == 0 /\ -rcd_114^post28+rcd_114^0 == 0 /\ -__disjvr_7^post28+__disjvr_7^0 == 0 /\ -rcd_288^post28+rcd_288^0 == 0 /\ r_149^0-r_149^post28 == 0 /\ -i_198^post28+i_198^0 == 0 /\ a_222^0-a_222^post28 == 0 /\ __disjvr_21^0-__disjvr_21^post28 == 0 /\ -__disjvr_9^post28+__disjvr_9^0 == 0 /\ -rcd_194^post28+rcd_194^0 == 0 /\ -rcd_45^post28+rcd_45^0 == 0 /\ head_16^0-head_16^post28 == 0 /\ rcd_220^0-rcd_220^post28 == 0 /\ -a_174^post28+a_174^0 == 0 /\ -__disjvr_19^post28+__disjvr_19^0 == 0 /\ -__disjvr_10^post28+__disjvr_10^0 == 0), cost: 1 29: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post29, a_253^0'=a_253^post29, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post29, __disjvr_21^0'=__disjvr_21^post29, x_27^0'=x_27^post29, __disjvr_3^0'=__disjvr_3^post29, rcd_220^0'=rcd_220^post29, __disjvr_14^0'=__disjvr_14^post29, head_33^0'=head_33^post29, __disjvr_24^0'=__disjvr_24^post29, temp_36^0'=temp_36^post29, r_192^0'=r_192^post29, __disjvr_8^0'=__disjvr_8^post29, a_139^0'=a_139^post29, result_11^0'=result_11^post29, __disjvr_19^0'=__disjvr_19^post29, i_31^0'=i_31^post29, __disjvr_29^0'=__disjvr_29^post29, x_22^0'=x_22^post29, rcd_193^0'=rcd_193^post29, __disjvr_11^0'=__disjvr_11^post29, a_309^0'=a_309^post29, tail_15^0'=tail_15^post29, length_29^0'=length_29^post29, x_SLAM_f_25^0'=x_SLAM_f_25^post29, __disjvr_5^0'=__disjvr_5^post29, rcd_288^0'=rcd_288^post29, __disjvr_16^0'=__disjvr_16^post29, i_112^0'=i_112^post29, __disjvr_26^0'=__disjvr_26^post29, tmp_35^0'=tmp_35^post29, rcd_106^0'=rcd_106^post29, a_222^0'=a_222^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post29, __disjvr_20^0'=__disjvr_20^post29, len_221^0'=len_221^post29, __disjvr_30^0'=__disjvr_30^post29, rcd_199^0'=rcd_199^post29, __disjvr_13^0'=__disjvr_13^post29, head_16^0'=head_16^post29, __disjvr_23^0'=__disjvr_23^post29, temp0_32^0'=temp0_32^post29, r_149^0'=r_149^post29, y_26^0'=y_26^post29, __disjvr_7^0'=__disjvr_7^post29, rcd_320^0'=rcd_320^post29, rcd_71^0'=rcd_71^post29, __disjvr_18^0'=__disjvr_18^post29, i_198^0'=i_198^post29, __disjvr_28^0'=__disjvr_28^post29, x_207^0'=x_207^post29, rcd_185^0'=rcd_185^post29, __disjvr_10^0'=__disjvr_10^post29, a_279^0'=a_279^post29, t_23^0'=t_23^post29, __disjvr_22^0'=__disjvr_22^post29, x_SLAM_f_20^0'=x_SLAM_f_20^post29, __disjvr_4^0'=__disjvr_4^post29, rcd_284^0'=rcd_284^post29, __disjvr_15^0'=__disjvr_15^post29, head_SLAM_f_30^0'=head_SLAM_f_30^post29, __disjvr_25^0'=__disjvr_25^post29, temp_37^0'=temp_37^post29, r_41^0'=r_41^post29, __disjvr_9^0'=__disjvr_9^post29, a_174^0'=a_174^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29, __disjvr_1^0'=__disjvr_1^post29, len_159^0'=len_159^post29, __disjvr_2^0'=__disjvr_2^post29, rcd_194^0'=rcd_194^post29, __disjvr_12^0'=__disjvr_12^post29, f_202^0'=f_202^post29, temp0_19^0'=temp0_19^post29, nondet_12^0'=nondet_12^post29, y_21^0'=y_21^post29, __disjvr_6^0'=__disjvr_6^post29, rcd_308^0'=rcd_308^post29, rcd_45^0'=rcd_45^post29, __disjvr_17^0'=__disjvr_17^post29, i_130^0'=i_130^post29, __disjvr_27^0'=__disjvr_27^post29, x_154^0'=x_154^post29, rcd_114^0'=rcd_114^post29, (0 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0 /\ rcd_308^post29-rcd_45^0 <= 0 /\ a_279^0-a_279^post29 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ -rcd_199^post29+rcd_199^0 == 0 /\ -1-a_309^post29+a_279^0 <= 0 /\ x_207^0-x_207^post29 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post29 == 0 /\ head_33^0-head_33^post29 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ -rcd_114^post29+rcd_114^0 == 0 /\ x_27^0-x_27^post29 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_192^0-r_192^post29 == 0 /\ __disjvr_5^0-__disjvr_5^post29 == 0 /\ tail_15^0-y_21^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post29 == 0 /\ __disjvr_19^0-__disjvr_19^post29 == 0 /\ y_26^0-y_26^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_13^0-__disjvr_13^post29 == 0 /\ __disjvr_20^0-__disjvr_20^post29 == 0 /\ -__disjvr_4^post29+__disjvr_4^0 == 0 /\ __disjvr_3^0-__disjvr_3^post29 == 0 /\ __disjvr_30^0-__disjvr_30^post29 == 0 /\ length_29^0-length_29^post29 == 0 /\ -rcd_71^post29+rcd_71^0 == 0 /\ -rcd_308^post29+rcd_45^0 <= 0 /\ -temp0_32^post29+temp0_32^0 == 0 /\ tail_15^0-tail_15^post29 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ -__disjvr_23^post29+__disjvr_23^0 == 0 /\ __disjvr_28^0-__disjvr_28^post29 == 0 /\ -__disjvr_27^post29+__disjvr_27^0 == 0 /\ __disjvr_11^0-__disjvr_11^post29 == 0 /\ -i_130^post29+i_130^0 == 0 /\ -temp_37^post29+temp_37^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_220^0-rcd_220^post29 == 0 /\ __disjvr_1^0-__disjvr_1^post29 == 0 /\ a_139^0-a_139^post29 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post29 == 0 /\ __disjvr_14^0-__disjvr_14^post29 == 0 /\ -__disjvr_25^post29+__disjvr_25^0 == 0 /\ -__disjvr_15^post29+__disjvr_15^0 == 0 /\ -x_SLAM_f_20^post29+x_SLAM_f_20^0 == 0 /\ rcd_106^0-rcd_106^post29 == 0 /\ -__disjvr_2^post29+__disjvr_2^0 == 0 /\ -__disjvr_22^post29+__disjvr_22^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post29 == 0 /\ y_21^0-y_21^post29 == 0 /\ -a_174^post29+a_174^0 == 0 /\ t_23^post29-x_22^0 == 0 /\ -f_202^post29+f_202^0 == 0 /\ -rcd_185^post29+rcd_185^0 == 0 /\ 1+a_309^post29-a_279^0 <= 0 /\ -i_198^post29+i_198^0 == 0 /\ -__disjvr_21^post29+__disjvr_21^0 == 0 /\ -__disjvr_7^post29+__disjvr_7^0 == 0 /\ result_11^0-result_11^post29 == 0 /\ -__disjvr_17^post29+__disjvr_17^0 == 0 /\ -x_154^post29+x_154^0 == 0 /\ -len_159^post29+len_159^0 == 0 /\ __disjvr_29^0-__disjvr_29^post29 == 0 /\ -i_31^post29+i_31^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ -rcd_193^post29+rcd_193^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post29 == 0 /\ a_253^0-a_253^post29 == 0 /\ temp0_19^0-temp0_19^post29 == 0 /\ -__disjvr_18^post29+__disjvr_18^0 == 0 /\ -rcd_194^post29+rcd_194^0 == 0 /\ r_149^0-r_149^post29 == 0 /\ tmp_35^0-tmp_35^post29 == 0 /\ len_221^0-len_221^post29 == 0 /\ -__disjvr_10^post29+__disjvr_10^0 == 0 /\ __disjvr_8^0-__disjvr_8^post29 == 0 /\ head_16^0-head_16^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_112^post29+i_112^0 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ -rcd_45^post29+rcd_45^0 == 0 /\ r_41^0-r_41^post29 == 0 /\ -__disjvr_26^post29+__disjvr_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ -temp_36^post29+temp_36^0 == 0 /\ x_22^0-x_22^post29 == 0 /\ rcd_320^0-rcd_320^post29 == 0 /\ -rcd_288^post29+rcd_288^0 == 0 /\ a_222^0-a_222^post29 == 0 /\ -rcd_284^post29+rcd_284^0 == 0), cost: 1 30: l29 -> l30 : __disjvr_0^0'=__disjvr_0^post30, a_253^0'=a_253^post30, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post30, __disjvr_21^0'=__disjvr_21^post30, x_27^0'=x_27^post30, __disjvr_3^0'=__disjvr_3^post30, rcd_220^0'=rcd_220^post30, __disjvr_14^0'=__disjvr_14^post30, head_33^0'=head_33^post30, __disjvr_24^0'=__disjvr_24^post30, temp_36^0'=temp_36^post30, r_192^0'=r_192^post30, __disjvr_8^0'=__disjvr_8^post30, a_139^0'=a_139^post30, result_11^0'=result_11^post30, __disjvr_19^0'=__disjvr_19^post30, i_31^0'=i_31^post30, __disjvr_29^0'=__disjvr_29^post30, x_22^0'=x_22^post30, rcd_193^0'=rcd_193^post30, __disjvr_11^0'=__disjvr_11^post30, a_309^0'=a_309^post30, tail_15^0'=tail_15^post30, length_29^0'=length_29^post30, x_SLAM_f_25^0'=x_SLAM_f_25^post30, __disjvr_5^0'=__disjvr_5^post30, rcd_288^0'=rcd_288^post30, __disjvr_16^0'=__disjvr_16^post30, i_112^0'=i_112^post30, __disjvr_26^0'=__disjvr_26^post30, tmp_35^0'=tmp_35^post30, rcd_106^0'=rcd_106^post30, a_222^0'=a_222^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post30, __disjvr_20^0'=__disjvr_20^post30, len_221^0'=len_221^post30, __disjvr_30^0'=__disjvr_30^post30, rcd_199^0'=rcd_199^post30, __disjvr_13^0'=__disjvr_13^post30, head_16^0'=head_16^post30, __disjvr_23^0'=__disjvr_23^post30, temp0_32^0'=temp0_32^post30, r_149^0'=r_149^post30, y_26^0'=y_26^post30, __disjvr_7^0'=__disjvr_7^post30, rcd_320^0'=rcd_320^post30, rcd_71^0'=rcd_71^post30, __disjvr_18^0'=__disjvr_18^post30, i_198^0'=i_198^post30, __disjvr_28^0'=__disjvr_28^post30, x_207^0'=x_207^post30, rcd_185^0'=rcd_185^post30, __disjvr_10^0'=__disjvr_10^post30, a_279^0'=a_279^post30, t_23^0'=t_23^post30, __disjvr_22^0'=__disjvr_22^post30, x_SLAM_f_20^0'=x_SLAM_f_20^post30, __disjvr_4^0'=__disjvr_4^post30, rcd_284^0'=rcd_284^post30, __disjvr_15^0'=__disjvr_15^post30, head_SLAM_f_30^0'=head_SLAM_f_30^post30, __disjvr_25^0'=__disjvr_25^post30, temp_37^0'=temp_37^post30, r_41^0'=r_41^post30, __disjvr_9^0'=__disjvr_9^post30, a_174^0'=a_174^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30, __disjvr_1^0'=__disjvr_1^post30, len_159^0'=len_159^post30, __disjvr_2^0'=__disjvr_2^post30, rcd_194^0'=rcd_194^post30, __disjvr_12^0'=__disjvr_12^post30, f_202^0'=f_202^post30, temp0_19^0'=temp0_19^post30, nondet_12^0'=nondet_12^post30, y_21^0'=y_21^post30, __disjvr_6^0'=__disjvr_6^post30, rcd_308^0'=rcd_308^post30, rcd_45^0'=rcd_45^post30, __disjvr_17^0'=__disjvr_17^post30, i_130^0'=i_130^post30, __disjvr_27^0'=__disjvr_27^post30, x_154^0'=x_154^post30, rcd_114^0'=rcd_114^post30, (-__disjvr_13^post30+__disjvr_13^0 == 0 /\ temp_36^0-temp_36^post30 == 0 /\ -r_41^post30+r_41^0 == 0 /\ x_27^0-x_27^post30 == 0 /\ temp0_32^0-temp0_32^post30 == 0 /\ -rcd_114^post30+rcd_114^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30 == 0 /\ x_22^0-x_22^post30 == 0 /\ __disjvr_2^0-__disjvr_2^post30 == 0 /\ rcd_220^0-rcd_220^post30 == 0 /\ -rcd_45^post30+rcd_45^0 == 0 /\ -a_309^post30+a_309^0 == 0 /\ -t_23^post30+t_23^0 == 0 /\ a_279^0-a_279^post30 == 0 /\ rcd_199^0-rcd_199^post30 == 0 /\ -__disjvr_11^0+__disjvr_11^post30 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ -__disjvr_25^post30+__disjvr_25^0 == 0 /\ -f_202^post30+f_202^0 == 0 /\ -a_174^post30+a_174^0 == 0 /\ a_139^0-a_139^post30 == 0 /\ __disjvr_15^0-__disjvr_15^post30 == 0 /\ -__disjvr_27^post30+__disjvr_27^0 == 0 /\ i_112^0-i_112^post30 == 0 /\ head_16^0-head_16^post30 == 0 /\ a_253^0-a_253^post30 == 0 /\ __disjvr_26^0-__disjvr_26^post30 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post30 == 0 /\ r_149^0-r_149^post30 == 0 /\ __disjvr_28^0-__disjvr_28^post30 == 0 /\ -__disjvr_19^post30+__disjvr_19^0 == 0 /\ rcd_288^0-rcd_288^post30 == 0 /\ -len_159^post30+len_159^0 == 0 /\ head_33^0-head_33^post30 == 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ -rcd_71^post30+rcd_71^0 == 0 /\ -tail_15^post30+tail_15^0 == 0 /\ -__disjvr_4^post30+__disjvr_4^0 == 0 /\ -rcd_185^post30+rcd_185^0 == 0 /\ __disjvr_0^0-__disjvr_0^post30 == 0 /\ -i_198^post30+i_198^0 == 0 /\ -y_21^post30+y_21^0 == 0 /\ -__disjvr_18^post30+__disjvr_18^0 == 0 /\ a_222^0-a_222^post30 == 0 /\ -__disjvr_23^post30+__disjvr_23^0 == 0 /\ -__disjvr_22^post30+__disjvr_22^0 == 0 /\ rcd_193^0-rcd_193^post30 == 0 /\ __disjvr_24^0-__disjvr_24^post30 == 0 /\ -y_26^post30+y_26^0 == 0 /\ -temp_37^post30+temp_37^0 == 0 /\ -__disjvr_10^post30+__disjvr_10^0 == 0 /\ __disjvr_21^0-__disjvr_21^post30 == 0 /\ __disjvr_3^0-__disjvr_3^post30 == 0 /\ i_31^0-i_31^post30 == 0 /\ __disjvr_20^0-__disjvr_20^post30 == 0 /\ -__disjvr_5^post30+__disjvr_5^0 == 0 /\ temp0_19^0-temp0_19^post30 == 0 /\ -__disjvr_7^post30+__disjvr_7^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post30 == 0 /\ -rcd_194^post30+rcd_194^0 == 0 /\ -x_SLAM_f_20^post30+x_SLAM_f_20^0 == 0 /\ tmp_35^0-tmp_35^post30 == 0 /\ -x_207^post30+x_207^0 == 0 /\ i_130^0-i_130^post30 == 0 /\ -__disjvr_8^post30+__disjvr_8^0 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ -rcd_308^post30+rcd_308^0 == 0 /\ __disjvr_29^0-__disjvr_29^post30 == 0 /\ r_192^0-r_192^post30 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post30 == 0 /\ __disjvr_14^0-__disjvr_14^post30 == 0 /\ len_221^0-len_221^post30 == 0 /\ __disjvr_30^0-__disjvr_30^post30 == 0 /\ -head_SLAM_f_30^post30+head_SLAM_f_30^0 == 0 /\ -__disjvr_17^post30+__disjvr_17^0 == 0 /\ -rcd_284^post30+rcd_284^0 == 0 /\ rcd_106^0-rcd_106^post30 == 0 /\ -x_154^post30+x_154^0 == 0 /\ result_11^0-result_11^post30 == 0 /\ -rcd_320^post30+rcd_320^0 == 0 /\ __disjvr_16^0-__disjvr_16^post30 == 0 /\ length_29^0-length_29^post30 == 0 /\ -__disjvr_6^post30+__disjvr_6^0 == 0), cost: 1 31: l30 -> l31 : __disjvr_0^0'=__disjvr_0^post31, a_253^0'=a_253^post31, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post31, __disjvr_21^0'=__disjvr_21^post31, x_27^0'=x_27^post31, __disjvr_3^0'=__disjvr_3^post31, rcd_220^0'=rcd_220^post31, __disjvr_14^0'=__disjvr_14^post31, head_33^0'=head_33^post31, __disjvr_24^0'=__disjvr_24^post31, temp_36^0'=temp_36^post31, r_192^0'=r_192^post31, __disjvr_8^0'=__disjvr_8^post31, a_139^0'=a_139^post31, result_11^0'=result_11^post31, __disjvr_19^0'=__disjvr_19^post31, i_31^0'=i_31^post31, __disjvr_29^0'=__disjvr_29^post31, x_22^0'=x_22^post31, rcd_193^0'=rcd_193^post31, __disjvr_11^0'=__disjvr_11^post31, a_309^0'=a_309^post31, tail_15^0'=tail_15^post31, length_29^0'=length_29^post31, x_SLAM_f_25^0'=x_SLAM_f_25^post31, __disjvr_5^0'=__disjvr_5^post31, rcd_288^0'=rcd_288^post31, __disjvr_16^0'=__disjvr_16^post31, i_112^0'=i_112^post31, __disjvr_26^0'=__disjvr_26^post31, tmp_35^0'=tmp_35^post31, rcd_106^0'=rcd_106^post31, a_222^0'=a_222^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post31, __disjvr_20^0'=__disjvr_20^post31, len_221^0'=len_221^post31, __disjvr_30^0'=__disjvr_30^post31, rcd_199^0'=rcd_199^post31, __disjvr_13^0'=__disjvr_13^post31, head_16^0'=head_16^post31, __disjvr_23^0'=__disjvr_23^post31, temp0_32^0'=temp0_32^post31, r_149^0'=r_149^post31, y_26^0'=y_26^post31, __disjvr_7^0'=__disjvr_7^post31, rcd_320^0'=rcd_320^post31, rcd_71^0'=rcd_71^post31, __disjvr_18^0'=__disjvr_18^post31, i_198^0'=i_198^post31, __disjvr_28^0'=__disjvr_28^post31, x_207^0'=x_207^post31, rcd_185^0'=rcd_185^post31, __disjvr_10^0'=__disjvr_10^post31, a_279^0'=a_279^post31, t_23^0'=t_23^post31, __disjvr_22^0'=__disjvr_22^post31, x_SLAM_f_20^0'=x_SLAM_f_20^post31, __disjvr_4^0'=__disjvr_4^post31, rcd_284^0'=rcd_284^post31, __disjvr_15^0'=__disjvr_15^post31, head_SLAM_f_30^0'=head_SLAM_f_30^post31, __disjvr_25^0'=__disjvr_25^post31, temp_37^0'=temp_37^post31, r_41^0'=r_41^post31, __disjvr_9^0'=__disjvr_9^post31, a_174^0'=a_174^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31, __disjvr_1^0'=__disjvr_1^post31, len_159^0'=len_159^post31, __disjvr_2^0'=__disjvr_2^post31, rcd_194^0'=rcd_194^post31, __disjvr_12^0'=__disjvr_12^post31, f_202^0'=f_202^post31, temp0_19^0'=temp0_19^post31, nondet_12^0'=nondet_12^post31, y_21^0'=y_21^post31, __disjvr_6^0'=__disjvr_6^post31, rcd_308^0'=rcd_308^post31, rcd_45^0'=rcd_45^post31, __disjvr_17^0'=__disjvr_17^post31, i_130^0'=i_130^post31, __disjvr_27^0'=__disjvr_27^post31, x_154^0'=x_154^post31, rcd_114^0'=rcd_114^post31, (__disjvr_5^0-__disjvr_5^post31 == 0 /\ __disjvr_13^0-__disjvr_13^post31 == 0 /\ __disjvr_2^0-__disjvr_2^post31 == 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post31 == 0 /\ -__disjvr_15^post31+__disjvr_15^0 == 0 /\ -rcd_284^post31+rcd_284^0 == 0 /\ -tail_15^post31+tail_15^0 == 0 /\ -a_174^post31+a_174^0 == 0 /\ -f_202^post31+f_202^0 == 0 /\ -temp0_19^post31+temp0_19^0 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0 /\ -length_29^post31+length_29^0 == 0 /\ -__disjvr_6^post31+__disjvr_6^0 == 0 /\ x_22^0-x_22^post31 == 0 /\ __disjvr_21^0-__disjvr_21^post31 == 0 /\ -rcd_71^post31+rcd_71^0 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ -len_159^post31+len_159^0 == 0 /\ __disjvr_7^0-__disjvr_7^post31 == 0 /\ -temp0_32^post31+temp0_32^0 == 0 /\ -t_23^post31+t_23^0 == 0 /\ -tmp_35^post31+tmp_35^0 == 0 /\ __disjvr_26^0-__disjvr_26^post31 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post31 == 0 /\ -i_198^post31+i_198^0 == 0 /\ -rcd_114^post31+rcd_114^0 == 0 /\ len_221^0-len_221^post31 == 0 /\ -rcd_288^post31+rcd_288^0 == 0 /\ -r_149^post31+r_149^0 == 0 /\ i_31^0-i_31^post31 == 0 /\ __disjvr_14^0-__disjvr_14^post31 == 0 /\ rcd_185^0-rcd_185^post31 == 0 /\ y_26^0-y_26^post31 == 0 /\ -__disjvr_9^post31+__disjvr_9^0 == 0 /\ rcd_193^0-rcd_193^post31 == 0 /\ a_253^0-a_253^post31 == 0 /\ -rcd_45^post31+rcd_45^0 == 0 /\ __disjvr_24^0-__disjvr_24^post31 == 0 /\ -r_41^post31+r_41^0 == 0 /\ result_11^0-result_11^post31 == 0 /\ i_112^0-i_112^post31 == 0 /\ -__disjvr_10^post31+__disjvr_10^0 == 0 /\ __disjvr_8^0-__disjvr_8^post31 == 0 /\ -temp_36^post31+temp_36^0 == 0 /\ -__disjvr_4^post31+__disjvr_4^0 == 0 /\ -rcd_194^post31+rcd_194^0 == 0 /\ __disjvr_16^0-__disjvr_16^post31 == 0 /\ -__disjvr_27^post31+__disjvr_27^0 == 0 /\ a_222^0-a_222^post31 == 0 /\ -x_207^post31+x_207^0 == 0 /\ a_309^0-a_309^post31 == 0 /\ __disjvr_19^0-__disjvr_19^post31 == 0 /\ -rcd_320^post31+rcd_320^0 == 0 /\ __disjvr_12^post31-__disjvr_12^0 == 0 /\ -temp_37^post31+temp_37^0 == 0 /\ __disjvr_30^0-__disjvr_30^post31 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-head_16^post31 == 0 /\ rcd_220^0-rcd_220^post31 == 0 /\ -__disjvr_25^post31+__disjvr_25^0 == 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post31 == 0 /\ -__disjvr_20^post31+__disjvr_20^0 == 0 /\ a_139^0-a_139^post31 == 0 /\ __disjvr_11^0-__disjvr_11^post31 == 0 /\ rcd_199^0-rcd_199^post31 == 0 /\ -head_SLAM_f_30^post31+head_SLAM_f_30^0 == 0 /\ a_279^0-a_279^post31 == 0 /\ -x_154^post31+x_154^0 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ -__disjvr_22^post31+__disjvr_22^0 == 0 /\ __disjvr_29^0-__disjvr_29^post31 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post31 == 0 /\ r_192^0-r_192^post31 == 0 /\ x_27^0-x_27^post31 == 0 /\ -__disjvr_23^post31+__disjvr_23^0 == 0 /\ -rcd_308^post31+rcd_308^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post31 == 0 /\ head_33^0-head_33^post31 == 0 /\ __disjvr_18^0-__disjvr_18^post31 == 0 /\ -i_130^post31+i_130^0 == 0 /\ rcd_106^0-rcd_106^post31 == 0 /\ __disjvr_28^0-__disjvr_28^post31 == 0 /\ -y_21^post31+y_21^0 == 0), cost: 1 32: l31 -> l32 : __disjvr_0^0'=__disjvr_0^post32, a_253^0'=a_253^post32, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post32, __disjvr_21^0'=__disjvr_21^post32, x_27^0'=x_27^post32, __disjvr_3^0'=__disjvr_3^post32, rcd_220^0'=rcd_220^post32, __disjvr_14^0'=__disjvr_14^post32, head_33^0'=head_33^post32, __disjvr_24^0'=__disjvr_24^post32, temp_36^0'=temp_36^post32, r_192^0'=r_192^post32, __disjvr_8^0'=__disjvr_8^post32, a_139^0'=a_139^post32, result_11^0'=result_11^post32, __disjvr_19^0'=__disjvr_19^post32, i_31^0'=i_31^post32, __disjvr_29^0'=__disjvr_29^post32, x_22^0'=x_22^post32, rcd_193^0'=rcd_193^post32, __disjvr_11^0'=__disjvr_11^post32, a_309^0'=a_309^post32, tail_15^0'=tail_15^post32, length_29^0'=length_29^post32, x_SLAM_f_25^0'=x_SLAM_f_25^post32, __disjvr_5^0'=__disjvr_5^post32, rcd_288^0'=rcd_288^post32, __disjvr_16^0'=__disjvr_16^post32, i_112^0'=i_112^post32, __disjvr_26^0'=__disjvr_26^post32, tmp_35^0'=tmp_35^post32, rcd_106^0'=rcd_106^post32, a_222^0'=a_222^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post32, __disjvr_20^0'=__disjvr_20^post32, len_221^0'=len_221^post32, __disjvr_30^0'=__disjvr_30^post32, rcd_199^0'=rcd_199^post32, __disjvr_13^0'=__disjvr_13^post32, head_16^0'=head_16^post32, __disjvr_23^0'=__disjvr_23^post32, temp0_32^0'=temp0_32^post32, r_149^0'=r_149^post32, y_26^0'=y_26^post32, __disjvr_7^0'=__disjvr_7^post32, rcd_320^0'=rcd_320^post32, rcd_71^0'=rcd_71^post32, __disjvr_18^0'=__disjvr_18^post32, i_198^0'=i_198^post32, __disjvr_28^0'=__disjvr_28^post32, x_207^0'=x_207^post32, rcd_185^0'=rcd_185^post32, __disjvr_10^0'=__disjvr_10^post32, a_279^0'=a_279^post32, t_23^0'=t_23^post32, __disjvr_22^0'=__disjvr_22^post32, x_SLAM_f_20^0'=x_SLAM_f_20^post32, __disjvr_4^0'=__disjvr_4^post32, rcd_284^0'=rcd_284^post32, __disjvr_15^0'=__disjvr_15^post32, head_SLAM_f_30^0'=head_SLAM_f_30^post32, __disjvr_25^0'=__disjvr_25^post32, temp_37^0'=temp_37^post32, r_41^0'=r_41^post32, __disjvr_9^0'=__disjvr_9^post32, a_174^0'=a_174^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32, __disjvr_1^0'=__disjvr_1^post32, len_159^0'=len_159^post32, __disjvr_2^0'=__disjvr_2^post32, rcd_194^0'=rcd_194^post32, __disjvr_12^0'=__disjvr_12^post32, f_202^0'=f_202^post32, temp0_19^0'=temp0_19^post32, nondet_12^0'=nondet_12^post32, y_21^0'=y_21^post32, __disjvr_6^0'=__disjvr_6^post32, rcd_308^0'=rcd_308^post32, rcd_45^0'=rcd_45^post32, __disjvr_17^0'=__disjvr_17^post32, i_130^0'=i_130^post32, __disjvr_27^0'=__disjvr_27^post32, x_154^0'=x_154^post32, rcd_114^0'=rcd_114^post32, (__disjvr_8^0-__disjvr_8^post32 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ -__disjvr_15^post32+__disjvr_15^0 == 0 /\ -__disjvr_22^post32+__disjvr_22^0 == 0 /\ -__disjvr_20^post32+__disjvr_20^0 == 0 /\ __disjvr_30^0-__disjvr_30^post32 == 0 /\ -i_198^post32+i_198^0 == 0 /\ -a_174^post32+a_174^0 == 0 /\ -rcd_288^post32+rcd_288^0 == 0 /\ len_221^0-len_221^post32 == 0 /\ -y_21^post32+y_21^0 == 0 /\ __disjvr_21^0-__disjvr_21^post32 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ -__disjvr_17^post32+__disjvr_17^0 == 0 /\ -__disjvr_18^post32+__disjvr_18^0 == 0 /\ -x_154^post32+x_154^0 == 0 /\ rcd_220^0-rcd_220^post32 == 0 /\ -len_159^post32+len_159^0 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ __disjvr_14^0-__disjvr_14^post32 == 0 /\ -tmp_35^post32+tmp_35^0 == 0 /\ __disjvr_16^0-__disjvr_16^post32 == 0 /\ a_222^0-a_222^post32 == 0 /\ a_139^0-a_139^post32 == 0 /\ a_309^0-a_309^post32 == 0 /\ -__disjvr_6^post32+__disjvr_6^0 == 0 /\ -__disjvr_9^post32+__disjvr_9^0 == 0 /\ rcd_106^0-rcd_106^post32 == 0 /\ -rcd_194^post32+rcd_194^0 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ -temp0_19^post32+temp0_19^0 == 0 /\ -i_112^post32+i_112^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post32 == 0 /\ rcd_185^0-rcd_185^post32 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_284^post32+rcd_284^0 == 0 /\ -rcd_320^post32+rcd_320^0 == 0 /\ __disjvr_29^0-__disjvr_29^post32 == 0 /\ -rcd_45^post32+rcd_45^0 == 0 /\ x_27^0-x_27^post32 == 0 /\ r_192^0-r_192^post32 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ temp_36^0-temp_36^post32 == 0 /\ __disjvr_5^0-__disjvr_5^post32 == 0 /\ -r_149^post32+r_149^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post32 == 0 /\ y_26^0-y_26^post32 == 0 /\ __disjvr_10^0-__disjvr_10^post32 == 0 /\ __disjvr_3^0-__disjvr_3^post32 == 0 /\ __disjvr_28^0-__disjvr_28^post32 == 0 /\ -rcd_114^post32+rcd_114^0 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ head_16^0-head_16^post32 == 0 /\ -rcd_199^post32+rcd_199^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post32 == 0 /\ r_41^0-r_41^post32 == 0 /\ -__disjvr_19^post32+__disjvr_19^0 == 0 /\ x_22^0-x_22^post32 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post32 == 0 /\ -__disjvr_13^0+__disjvr_13^post32 == 0 /\ t_23^0-t_23^post32 == 0 /\ -a_279^post32+a_279^0 == 0 /\ -length_29^post32+length_29^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post32 == 0 /\ -__disjvr_4^post32+__disjvr_4^0 == 0 /\ -temp0_32^post32+temp0_32^0 == 0 /\ -tail_15^post32+tail_15^0 == 0 /\ i_31^0-i_31^post32 == 0 /\ x_207^0-x_207^post32 == 0 /\ -__disjvr_23^post32+__disjvr_23^0 == 0 /\ result_11^0-result_11^post32 == 0 /\ head_33^0-head_33^post32 == 0 /\ -__disjvr_1^post32+__disjvr_1^0 == 0 /\ -rcd_71^post32+rcd_71^0 == 0 /\ -i_130^post32+i_130^0 == 0 /\ -f_202^post32+f_202^0 == 0 /\ -temp_37^post32+temp_37^0 == 0 /\ -rcd_308^post32+rcd_308^0 == 0 /\ rcd_193^0-rcd_193^post32 == 0 /\ a_253^0-a_253^post32 == 0 /\ -__disjvr_25^post32+__disjvr_25^0 == 0 /\ __disjvr_13^0-__disjvr_13^post32 == 0 /\ __disjvr_24^0-__disjvr_24^post32 == 0 /\ -__disjvr_27^post32+__disjvr_27^0 == 0), cost: 1 33: l32 -> l26 : __disjvr_0^0'=__disjvr_0^post33, a_253^0'=a_253^post33, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post33, __disjvr_21^0'=__disjvr_21^post33, x_27^0'=x_27^post33, __disjvr_3^0'=__disjvr_3^post33, rcd_220^0'=rcd_220^post33, __disjvr_14^0'=__disjvr_14^post33, head_33^0'=head_33^post33, __disjvr_24^0'=__disjvr_24^post33, temp_36^0'=temp_36^post33, r_192^0'=r_192^post33, __disjvr_8^0'=__disjvr_8^post33, a_139^0'=a_139^post33, result_11^0'=result_11^post33, __disjvr_19^0'=__disjvr_19^post33, i_31^0'=i_31^post33, __disjvr_29^0'=__disjvr_29^post33, x_22^0'=x_22^post33, rcd_193^0'=rcd_193^post33, __disjvr_11^0'=__disjvr_11^post33, a_309^0'=a_309^post33, tail_15^0'=tail_15^post33, length_29^0'=length_29^post33, x_SLAM_f_25^0'=x_SLAM_f_25^post33, __disjvr_5^0'=__disjvr_5^post33, rcd_288^0'=rcd_288^post33, __disjvr_16^0'=__disjvr_16^post33, i_112^0'=i_112^post33, __disjvr_26^0'=__disjvr_26^post33, tmp_35^0'=tmp_35^post33, rcd_106^0'=rcd_106^post33, a_222^0'=a_222^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post33, __disjvr_20^0'=__disjvr_20^post33, len_221^0'=len_221^post33, __disjvr_30^0'=__disjvr_30^post33, rcd_199^0'=rcd_199^post33, __disjvr_13^0'=__disjvr_13^post33, head_16^0'=head_16^post33, __disjvr_23^0'=__disjvr_23^post33, temp0_32^0'=temp0_32^post33, r_149^0'=r_149^post33, y_26^0'=y_26^post33, __disjvr_7^0'=__disjvr_7^post33, rcd_320^0'=rcd_320^post33, rcd_71^0'=rcd_71^post33, __disjvr_18^0'=__disjvr_18^post33, i_198^0'=i_198^post33, __disjvr_28^0'=__disjvr_28^post33, x_207^0'=x_207^post33, rcd_185^0'=rcd_185^post33, __disjvr_10^0'=__disjvr_10^post33, a_279^0'=a_279^post33, t_23^0'=t_23^post33, __disjvr_22^0'=__disjvr_22^post33, x_SLAM_f_20^0'=x_SLAM_f_20^post33, __disjvr_4^0'=__disjvr_4^post33, rcd_284^0'=rcd_284^post33, __disjvr_15^0'=__disjvr_15^post33, head_SLAM_f_30^0'=head_SLAM_f_30^post33, __disjvr_25^0'=__disjvr_25^post33, temp_37^0'=temp_37^post33, r_41^0'=r_41^post33, __disjvr_9^0'=__disjvr_9^post33, a_174^0'=a_174^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33, __disjvr_1^0'=__disjvr_1^post33, len_159^0'=len_159^post33, __disjvr_2^0'=__disjvr_2^post33, rcd_194^0'=rcd_194^post33, __disjvr_12^0'=__disjvr_12^post33, f_202^0'=f_202^post33, temp0_19^0'=temp0_19^post33, nondet_12^0'=nondet_12^post33, y_21^0'=y_21^post33, __disjvr_6^0'=__disjvr_6^post33, rcd_308^0'=rcd_308^post33, rcd_45^0'=rcd_45^post33, __disjvr_17^0'=__disjvr_17^post33, i_130^0'=i_130^post33, __disjvr_27^0'=__disjvr_27^post33, x_154^0'=x_154^post33, rcd_114^0'=rcd_114^post33, (0 == 0 /\ -y_21^post33+y_21^0 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ i_112^0-i_112^post33 == 0 /\ -__disjvr_23^post33+__disjvr_23^0 == 0 /\ -a_222^post33+a_222^0 == 0 /\ len_221^0-len_221^post33 == 0 /\ head_16^0-head_16^post33 == 0 /\ __disjvr_8^0-__disjvr_8^post33 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_130^post33+i_130^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post33 == 0 /\ -__disjvr_25^post33+__disjvr_25^0 == 0 /\ __disjvr_28^0-__disjvr_28^post33 == 0 /\ -temp_37^post33+temp_37^0 == 0 /\ -__disjvr_5^post33+__disjvr_5^0 == 0 /\ -__disjvr_20^post33+__disjvr_20^0 == 0 /\ y_26^0-y_26^post33 == 0 /\ a_309^0-a_309^post33 == 0 /\ -__disjvr_9^post33+__disjvr_9^0 == 0 /\ rcd_45^post33-rcd_308^0 <= 0 /\ head_33^0-head_33^post33 == 0 /\ -rcd_194^post33+rcd_194^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ result_11^0-result_11^post33 == 0 /\ __disjvr_11^0-__disjvr_11^post33 == 0 /\ length_29^0-length_29^post33 == 0 /\ -x_207^post33+x_207^0 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ x_27^0-x_27^post33 == 0 /\ temp0_32^0-temp0_32^post33 == 0 /\ -rcd_308^post33+rcd_308^0 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ -__disjvr_26^post33+__disjvr_26^0 == 0 /\ len_159^0-len_159^post33 == 0 /\ -i_31^post33+i_31^0 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ rcd_106^0-rcd_106^post33 == 0 /\ -__disjvr_6^post33+__disjvr_6^0 == 0 /\ -temp0_19^post33+temp0_19^0 == 0 /\ -__disjvr_17^post33+__disjvr_17^0 == 0 /\ tmp_35^0-tmp_35^post33 == 0 /\ -rcd_320^post33+rcd_320^0 == 0 /\ -x_154^post33+x_154^0 == 0 /\ -rcd_45^post33+rcd_308^0 <= 0 /\ -rcd_193^post33+rcd_193^0 == 0 /\ -__disjvr_13^post33+__disjvr_13^0 == 0 /\ r_192^0-r_192^post33 == 0 /\ a_139^0-a_139^post33 == 0 /\ __disjvr_29^0-__disjvr_29^post33 == 0 /\ r_41^0-r_41^post33 == 0 /\ -__disjvr_1^post33+__disjvr_1^0 == 0 /\ -rcd_114^post33+rcd_114^0 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ -tail_15^post33+tail_15^0 == 0 /\ a_253^0-a_253^post33 == 0 /\ __disjvr_30^0-__disjvr_30^post33 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post33 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post33+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post33 == 0 /\ -a_309^0+a_279^post33 <= 0 /\ -__disjvr_15^post33+__disjvr_15^0 == 0 /\ __disjvr_22^0-__disjvr_22^post33 == 0 /\ __disjvr_16^0-__disjvr_16^post33 == 0 /\ temp_36^0-temp_36^post33 == 0 /\ -f_202^post33+f_202^0 == 0 /\ -a_174^post33+a_174^0 == 0 /\ t_23^0-t_23^post33 == 0 /\ -rcd_288^post33+rcd_288^0 == 0 /\ __disjvr_24^0-__disjvr_24^post33 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0 /\ -rcd_199^post33+rcd_199^0 == 0 /\ -__disjvr_7^post33+__disjvr_7^0 == 0 /\ -__disjvr_27^post33+__disjvr_27^0 == 0 /\ x_22^0-x_22^post33 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post33 == 0 /\ rcd_220^0-rcd_220^post33 == 0 /\ r_149^0-r_149^post33 == 0 /\ rcd_284^0-rcd_284^post33 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ -__disjvr_19^post33+__disjvr_19^0 == 0 /\ __disjvr_3^0-__disjvr_3^post33 == 0 /\ -__disjvr_2^post33+__disjvr_2^0 == 0 /\ -__disjvr_4^post33+__disjvr_4^0 == 0 /\ -rcd_71^post33+rcd_71^0 == 0 /\ -i_198^post33+i_198^0 == 0 /\ a_309^0-a_279^post33 <= 0 /\ -rcd_185^post33+rcd_185^0 == 0), cost: 1 34: l26 -> l25 : __disjvr_0^0'=__disjvr_0^post34, a_253^0'=a_253^post34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post34, __disjvr_21^0'=__disjvr_21^post34, x_27^0'=x_27^post34, __disjvr_3^0'=__disjvr_3^post34, rcd_220^0'=rcd_220^post34, __disjvr_14^0'=__disjvr_14^post34, head_33^0'=head_33^post34, __disjvr_24^0'=__disjvr_24^post34, temp_36^0'=temp_36^post34, r_192^0'=r_192^post34, __disjvr_8^0'=__disjvr_8^post34, a_139^0'=a_139^post34, result_11^0'=result_11^post34, __disjvr_19^0'=__disjvr_19^post34, i_31^0'=i_31^post34, __disjvr_29^0'=__disjvr_29^post34, x_22^0'=x_22^post34, rcd_193^0'=rcd_193^post34, __disjvr_11^0'=__disjvr_11^post34, a_309^0'=a_309^post34, tail_15^0'=tail_15^post34, length_29^0'=length_29^post34, x_SLAM_f_25^0'=x_SLAM_f_25^post34, __disjvr_5^0'=__disjvr_5^post34, rcd_288^0'=rcd_288^post34, __disjvr_16^0'=__disjvr_16^post34, i_112^0'=i_112^post34, __disjvr_26^0'=__disjvr_26^post34, tmp_35^0'=tmp_35^post34, rcd_106^0'=rcd_106^post34, a_222^0'=a_222^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post34, __disjvr_20^0'=__disjvr_20^post34, len_221^0'=len_221^post34, __disjvr_30^0'=__disjvr_30^post34, rcd_199^0'=rcd_199^post34, __disjvr_13^0'=__disjvr_13^post34, head_16^0'=head_16^post34, __disjvr_23^0'=__disjvr_23^post34, temp0_32^0'=temp0_32^post34, r_149^0'=r_149^post34, y_26^0'=y_26^post34, __disjvr_7^0'=__disjvr_7^post34, rcd_320^0'=rcd_320^post34, rcd_71^0'=rcd_71^post34, __disjvr_18^0'=__disjvr_18^post34, i_198^0'=i_198^post34, __disjvr_28^0'=__disjvr_28^post34, x_207^0'=x_207^post34, rcd_185^0'=rcd_185^post34, __disjvr_10^0'=__disjvr_10^post34, a_279^0'=a_279^post34, t_23^0'=t_23^post34, __disjvr_22^0'=__disjvr_22^post34, x_SLAM_f_20^0'=x_SLAM_f_20^post34, __disjvr_4^0'=__disjvr_4^post34, rcd_284^0'=rcd_284^post34, __disjvr_15^0'=__disjvr_15^post34, head_SLAM_f_30^0'=head_SLAM_f_30^post34, __disjvr_25^0'=__disjvr_25^post34, temp_37^0'=temp_37^post34, r_41^0'=r_41^post34, __disjvr_9^0'=__disjvr_9^post34, a_174^0'=a_174^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34, __disjvr_1^0'=__disjvr_1^post34, len_159^0'=len_159^post34, __disjvr_2^0'=__disjvr_2^post34, rcd_194^0'=rcd_194^post34, __disjvr_12^0'=__disjvr_12^post34, f_202^0'=f_202^post34, temp0_19^0'=temp0_19^post34, nondet_12^0'=nondet_12^post34, y_21^0'=y_21^post34, __disjvr_6^0'=__disjvr_6^post34, rcd_308^0'=rcd_308^post34, rcd_45^0'=rcd_45^post34, __disjvr_17^0'=__disjvr_17^post34, i_130^0'=i_130^post34, __disjvr_27^0'=__disjvr_27^post34, x_154^0'=x_154^post34, rcd_114^0'=rcd_114^post34, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post34 == 0 /\ -rcd_194^post34+rcd_194^0 == 0 /\ -len_221^post34+len_221^0 == 0 /\ -x_207^post34+x_207^0 == 0 /\ -temp_37^post34+temp_37^0 == 0 /\ a_279^0-a_279^post34 == 0 /\ -__disjvr_27^post34+__disjvr_27^0 == 0 /\ -__disjvr_26^post34+__disjvr_26^0 == 0 /\ -rcd_199^post34+rcd_199^0 == 0 /\ __disjvr_9^0-__disjvr_9^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post34 == 0 /\ __disjvr_14^0-__disjvr_14^post34 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post34 == 0 /\ r_192^0-r_192^post34 == 0 /\ rcd_185^0-rcd_185^post34 == 0 /\ rcd_288^0-rcd_288^post34 == 0 /\ x_27^0-x_27^post34 == 0 /\ -a_222^post34+a_222^0 == 0 /\ -rcd_320^post34+rcd_320^0 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ tail_15^0-tail_15^post34 == 0 /\ y_26^0-y_26^post34 == 0 /\ -__disjvr_25^post34+__disjvr_25^0 == 0 /\ __disjvr_24^0-__disjvr_24^post34 == 0 /\ -__disjvr_20^post34+__disjvr_20^0 == 0 /\ i_112^0-i_112^post34 == 0 /\ length_29^0-length_29^post34 == 0 /\ __disjvr_5^0-__disjvr_5^post34 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ -__disjvr_23^post34+__disjvr_23^0 == 0 /\ -rcd_71^post34+rcd_71^0 == 0 /\ __disjvr_16^0-__disjvr_16^post34 == 0 /\ -y_21^post34+y_21^0 == 0 /\ __disjvr_30^0-__disjvr_30^post34 == 0 /\ temp_36^0-temp_36^post34 == 0 /\ -x_154^post34+x_154^0 == 0 /\ -rcd_308^post34+rcd_308^0 == 0 /\ __disjvr_1^0-__disjvr_1^post34 == 0 /\ -a_139^post34+a_139^0 == 0 /\ -i_130^post34+i_130^0 == 0 /\ head_16^0-head_16^post34 == 0 /\ rcd_220^0-rcd_220^post34 == 0 /\ __disjvr_7^0-__disjvr_7^post34 == 0 /\ __disjvr_11^0-__disjvr_11^post34 == 0 /\ temp0_19^0-temp0_19^post34 == 0 /\ -__disjvr_15^post34+__disjvr_15^0 == 0 /\ __disjvr_22^0-__disjvr_22^post34 == 0 /\ -rcd_284^post34+rcd_284^0 == 0 /\ -__disjvr_28^post34+__disjvr_28^0 == 0 /\ -a_174^post34+a_174^0 == 0 /\ -f_202^post34+f_202^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post34 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ __disjvr_29^0-__disjvr_29^post34 == 0 /\ -temp0_32^post34+temp0_32^0 == 0 /\ -rcd_193^post34+rcd_193^0 == 0 /\ -i_31^post34+i_31^0 == 0 /\ head_33^0-head_33^post34 == 0 /\ a_253^0-a_253^post34 == 0 /\ -__disjvr_18^post34+__disjvr_18^0 == 0 /\ rcd_106^0-rcd_106^post34 == 0 /\ -len_159^post34+len_159^0 == 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ result_11^0-result_11^post34 == 0 /\ -tmp_35^post34+tmp_35^0 == 0 /\ -__disjvr_2^post34+__disjvr_2^0 == 0 /\ __disjvr_8^0-__disjvr_8^post34 == 0 /\ -__disjvr_13^post34+__disjvr_13^0 == 0 /\ r_149^0-r_149^post34 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post34 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_19^0-__disjvr_19^post34 == 0 /\ __disjvr_21^0-__disjvr_21^post34 == 0 /\ -i_198^post34+i_198^0 == 0 /\ a_309^0-a_309^post34 == 0 /\ -rcd_114^post34+rcd_114^0 == 0 /\ x_22^0-x_22^post34 == 0 /\ -rcd_45^post34+rcd_45^0 == 0 /\ -r_41^post34+r_41^0 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ -__disjvr_10^post34+__disjvr_10^0 == 0 /\ -t_23^post34+t_23^0 == 0), cost: 1 35: l33 -> l34 : __disjvr_0^0'=__disjvr_0^post35, a_253^0'=a_253^post35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post35, __disjvr_21^0'=__disjvr_21^post35, x_27^0'=x_27^post35, __disjvr_3^0'=__disjvr_3^post35, rcd_220^0'=rcd_220^post35, __disjvr_14^0'=__disjvr_14^post35, head_33^0'=head_33^post35, __disjvr_24^0'=__disjvr_24^post35, temp_36^0'=temp_36^post35, r_192^0'=r_192^post35, __disjvr_8^0'=__disjvr_8^post35, a_139^0'=a_139^post35, result_11^0'=result_11^post35, __disjvr_19^0'=__disjvr_19^post35, i_31^0'=i_31^post35, __disjvr_29^0'=__disjvr_29^post35, x_22^0'=x_22^post35, rcd_193^0'=rcd_193^post35, __disjvr_11^0'=__disjvr_11^post35, a_309^0'=a_309^post35, tail_15^0'=tail_15^post35, length_29^0'=length_29^post35, x_SLAM_f_25^0'=x_SLAM_f_25^post35, __disjvr_5^0'=__disjvr_5^post35, rcd_288^0'=rcd_288^post35, __disjvr_16^0'=__disjvr_16^post35, i_112^0'=i_112^post35, __disjvr_26^0'=__disjvr_26^post35, tmp_35^0'=tmp_35^post35, rcd_106^0'=rcd_106^post35, a_222^0'=a_222^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post35, __disjvr_20^0'=__disjvr_20^post35, len_221^0'=len_221^post35, __disjvr_30^0'=__disjvr_30^post35, rcd_199^0'=rcd_199^post35, __disjvr_13^0'=__disjvr_13^post35, head_16^0'=head_16^post35, __disjvr_23^0'=__disjvr_23^post35, temp0_32^0'=temp0_32^post35, r_149^0'=r_149^post35, y_26^0'=y_26^post35, __disjvr_7^0'=__disjvr_7^post35, rcd_320^0'=rcd_320^post35, rcd_71^0'=rcd_71^post35, __disjvr_18^0'=__disjvr_18^post35, i_198^0'=i_198^post35, __disjvr_28^0'=__disjvr_28^post35, x_207^0'=x_207^post35, rcd_185^0'=rcd_185^post35, __disjvr_10^0'=__disjvr_10^post35, a_279^0'=a_279^post35, t_23^0'=t_23^post35, __disjvr_22^0'=__disjvr_22^post35, x_SLAM_f_20^0'=x_SLAM_f_20^post35, __disjvr_4^0'=__disjvr_4^post35, rcd_284^0'=rcd_284^post35, __disjvr_15^0'=__disjvr_15^post35, head_SLAM_f_30^0'=head_SLAM_f_30^post35, __disjvr_25^0'=__disjvr_25^post35, temp_37^0'=temp_37^post35, r_41^0'=r_41^post35, __disjvr_9^0'=__disjvr_9^post35, a_174^0'=a_174^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post35, __disjvr_1^0'=__disjvr_1^post35, len_159^0'=len_159^post35, __disjvr_2^0'=__disjvr_2^post35, rcd_194^0'=rcd_194^post35, __disjvr_12^0'=__disjvr_12^post35, f_202^0'=f_202^post35, temp0_19^0'=temp0_19^post35, nondet_12^0'=nondet_12^post35, y_21^0'=y_21^post35, __disjvr_6^0'=__disjvr_6^post35, rcd_308^0'=rcd_308^post35, rcd_45^0'=rcd_45^post35, __disjvr_17^0'=__disjvr_17^post35, i_130^0'=i_130^post35, __disjvr_27^0'=__disjvr_27^post35, x_154^0'=x_154^post35, rcd_114^0'=rcd_114^post35, (0 == 0 /\ -rcd_114^post35+rcd_114^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post35 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ rcd_288^0-rcd_288^post35 == 0 /\ -r_41^post35+r_41^0 == 0 /\ -rcd_199^post35+rcd_199^0 == 0 /\ rcd_185^0-rcd_185^post35 == 0 /\ temp0_32^0-temp0_32^post35 == 0 /\ -len_221^post35+len_221^0 == 0 /\ -rcd_106^post35+rcd_106^0 == 0 /\ __disjvr_29^0-__disjvr_29^post35 == 0 /\ temp_36^0-temp_36^post35 == 0 /\ -__disjvr_13^post35+__disjvr_13^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ a_253^0-a_253^post35 == 0 /\ x_27^0-x_27^post35 == 0 /\ -a_279^post35+a_279^0 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ __disjvr_10^0-__disjvr_10^post35 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ -__disjvr_27^post35+__disjvr_27^0 == 0 /\ -__disjvr_4^post35+__disjvr_4^0 == 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ -a_253^0 <= 0 /\ i_112^0-i_112^post35 == 0 /\ __disjvr_21^0-__disjvr_21^post35 == 0 /\ -x_22^post35+x_22^0 == 0 /\ -rcd_71^post35+rcd_71^0 == 0 /\ -i_130^post35+i_130^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ __disjvr_2^0-__disjvr_2^post35 == 0 /\ -f_202^post35+f_202^0 == 0 /\ -__disjvr_28^post35+__disjvr_28^0 == 0 /\ -__disjvr_20^post35+__disjvr_20^0 == 0 /\ -rcd_308^post35+rcd_308^0 == 0 /\ a_309^0-a_309^post35 == 0 /\ -__disjvr_25^post35+__disjvr_25^0 == 0 /\ __disjvr_1^0-__disjvr_1^post35 == 0 /\ __disjvr_26^0-__disjvr_26^post35 == 0 /\ -length_29^post35+length_29^0 == 0 /\ -len_159^post35+len_159^0 == 0 /\ a_222^0-a_222^post35 == 0 /\ -a_174^post35+a_174^0 == 0 /\ -__disjvr_22^post35+__disjvr_22^0 == 0 /\ i_31^0-i_31^post35 == 0 /\ -i_198^post35+i_198^0 == 0 /\ -y_21^post35+y_21^0 == 0 /\ result_11^0-result_11^post35 == 0 /\ head_33^0-head_33^post35 == 0 /\ -a_139^post35+a_139^0 == 0 /\ -__disjvr_18^post35+__disjvr_18^0 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ -head_SLAM_f_30^post35+head_SLAM_f_30^0 == 0 /\ r_192^0-r_192^post35 == 0 /\ __disjvr_5^0-__disjvr_5^post35 == 0 /\ -x_154^post35+x_154^0 == 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ -tmp_35^post35+tmp_35^0 == 0 /\ -__disjvr_6^post35+__disjvr_6^0 == 0 /\ rcd_193^0-rcd_193^post35 == 0 /\ __disjvr_30^0-__disjvr_30^post35 == 0 /\ temp_37^0-temp_37^post35 == 0 /\ -rcd_194^post35+rcd_194^0 == 0 /\ y_26^0-y_26^post35 == 0 /\ -x_207^post35+x_207^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post35 == 0 /\ -nondet_12^post35+nondet_12^0 == 0 /\ -temp0_19^post35+temp0_19^0 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ -__disjvr_24^post35+__disjvr_24^0 == 0 /\ -rcd_284^post35+rcd_284^0 == 0 /\ -rcd_45^post35+rcd_45^0 == 0 /\ -r_149^post35+r_149^0 == 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ rcd_220^0-rcd_220^post35 == 0 /\ -rcd_320^post35+rcd_320^0 == 0 /\ t_23^0-t_23^post35 == 0 /\ __disjvr_14^0-__disjvr_14^post35 == 0 /\ __disjvr_16^0-__disjvr_16^post35 == 0 /\ -__disjvr_15^post35+__disjvr_15^0 == 0), cost: 1 42: l33 -> l40 : __disjvr_0^0'=__disjvr_0^post42, a_253^0'=a_253^post42, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post42, __disjvr_21^0'=__disjvr_21^post42, x_27^0'=x_27^post42, __disjvr_3^0'=__disjvr_3^post42, rcd_220^0'=rcd_220^post42, __disjvr_14^0'=__disjvr_14^post42, head_33^0'=head_33^post42, __disjvr_24^0'=__disjvr_24^post42, temp_36^0'=temp_36^post42, r_192^0'=r_192^post42, __disjvr_8^0'=__disjvr_8^post42, a_139^0'=a_139^post42, result_11^0'=result_11^post42, __disjvr_19^0'=__disjvr_19^post42, i_31^0'=i_31^post42, __disjvr_29^0'=__disjvr_29^post42, x_22^0'=x_22^post42, rcd_193^0'=rcd_193^post42, __disjvr_11^0'=__disjvr_11^post42, a_309^0'=a_309^post42, tail_15^0'=tail_15^post42, length_29^0'=length_29^post42, x_SLAM_f_25^0'=x_SLAM_f_25^post42, __disjvr_5^0'=__disjvr_5^post42, rcd_288^0'=rcd_288^post42, __disjvr_16^0'=__disjvr_16^post42, i_112^0'=i_112^post42, __disjvr_26^0'=__disjvr_26^post42, tmp_35^0'=tmp_35^post42, rcd_106^0'=rcd_106^post42, a_222^0'=a_222^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post42, __disjvr_20^0'=__disjvr_20^post42, len_221^0'=len_221^post42, __disjvr_30^0'=__disjvr_30^post42, rcd_199^0'=rcd_199^post42, __disjvr_13^0'=__disjvr_13^post42, head_16^0'=head_16^post42, __disjvr_23^0'=__disjvr_23^post42, temp0_32^0'=temp0_32^post42, r_149^0'=r_149^post42, y_26^0'=y_26^post42, __disjvr_7^0'=__disjvr_7^post42, rcd_320^0'=rcd_320^post42, rcd_71^0'=rcd_71^post42, __disjvr_18^0'=__disjvr_18^post42, i_198^0'=i_198^post42, __disjvr_28^0'=__disjvr_28^post42, x_207^0'=x_207^post42, rcd_185^0'=rcd_185^post42, __disjvr_10^0'=__disjvr_10^post42, a_279^0'=a_279^post42, t_23^0'=t_23^post42, __disjvr_22^0'=__disjvr_22^post42, x_SLAM_f_20^0'=x_SLAM_f_20^post42, __disjvr_4^0'=__disjvr_4^post42, rcd_284^0'=rcd_284^post42, __disjvr_15^0'=__disjvr_15^post42, head_SLAM_f_30^0'=head_SLAM_f_30^post42, __disjvr_25^0'=__disjvr_25^post42, temp_37^0'=temp_37^post42, r_41^0'=r_41^post42, __disjvr_9^0'=__disjvr_9^post42, a_174^0'=a_174^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post42, __disjvr_1^0'=__disjvr_1^post42, len_159^0'=len_159^post42, __disjvr_2^0'=__disjvr_2^post42, rcd_194^0'=rcd_194^post42, __disjvr_12^0'=__disjvr_12^post42, f_202^0'=f_202^post42, temp0_19^0'=temp0_19^post42, nondet_12^0'=nondet_12^post42, y_21^0'=y_21^post42, __disjvr_6^0'=__disjvr_6^post42, rcd_308^0'=rcd_308^post42, rcd_45^0'=rcd_45^post42, __disjvr_17^0'=__disjvr_17^post42, i_130^0'=i_130^post42, __disjvr_27^0'=__disjvr_27^post42, x_154^0'=x_154^post42, rcd_114^0'=rcd_114^post42, (0 == 0 /\ -__disjvr_1^post42+__disjvr_1^0 == 0 /\ x_27^0-x_27^post42 == 0 /\ temp_36^0-temp_36^post42 == 0 /\ __disjvr_16^0-__disjvr_16^post42 == 0 /\ a_309^0-a_309^post42 == 0 /\ rcd_193^0-rcd_193^post42 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ __disjvr_19^0-__disjvr_19^post42 == 0 /\ rcd_220^0-rcd_220^post42 == 0 /\ -__disjvr_28^post42+__disjvr_28^0 == 0 /\ __disjvr_0^0-__disjvr_0^post42 == 0 /\ -rcd_114^post42+rcd_114^0 == 0 /\ i_31^0-i_31^post42 == 0 /\ -rcd_45^post42+rcd_45^0 == 0 /\ __disjvr_21^0-__disjvr_21^post42 == 0 /\ __disjvr_29^0-__disjvr_29^post42 == 0 /\ -tmp_35^post42+tmp_35^0 == 0 /\ -a_279^post42+a_279^0 == 0 /\ a_174^0-a_174^post42 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post42 == 0 /\ -temp_37^post42+temp_37^0 == 0 /\ i_198^0-i_198^post42 == 0 /\ -x_SLAM_f_25^post42+x_SLAM_f_25^0 == 0 /\ -a_253^0 <= 0 /\ -__disjvr_27^post42+__disjvr_27^0 == 0 /\ __disjvr_18^0-__disjvr_18^post42 == 0 /\ -f_202^post42+f_202^0 == 0 /\ -__disjvr_2^post42+__disjvr_2^0 == 0 /\ length_29^0-length_29^post42 == 0 /\ -temp0_32^post42+temp0_32^0 == 0 /\ __disjvr_12^0-__disjvr_12^post42 == 0 /\ rcd_288^0-rcd_288^post42 == 0 /\ tail_15^0-tail_15^post42 == 0 /\ rcd_106^0-rcd_106^post42 == 0 /\ -__disjvr_11^post42+__disjvr_11^0 == 0 /\ head_33^0-head_33^post42 == 0 /\ -len_221^post42+len_221^0 == 0 /\ __disjvr_23^0-__disjvr_23^post42 == 0 /\ result_11^post42-temp0_19^0 == 0 /\ -r_41^post42+r_41^0 == 0 /\ -len_159^post42+len_159^0 == 0 /\ rcd_194^0-rcd_194^post42 == 0 /\ __disjvr_5^0-__disjvr_5^post42 == 0 /\ rcd_71^0-rcd_71^post42 == 0 /\ -head_SLAM_f_30^post42+head_SLAM_f_30^0 == 0 /\ -x_207^post42+x_207^0 == 0 /\ -x_154^post42+x_154^0 == 0 /\ -rcd_320^post42+rcd_320^0 == 0 /\ __disjvr_13^0-__disjvr_13^post42 == 0 /\ __disjvr_20^0-__disjvr_20^post42 == 0 /\ __disjvr_3^0-__disjvr_3^post42 == 0 /\ -__disjvr_9^post42+__disjvr_9^0 == 0 /\ -rcd_308^post42+rcd_308^0 == 0 /\ -__disjvr_25^post42+__disjvr_25^0 == 0 /\ -a_222^post42+a_222^0 == 0 /\ rcd_199^0-rcd_199^post42 == 0 /\ -i_130^post42+i_130^0 == 0 /\ -x_22^0+y_21^0 <= 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ -r_192^post42+r_192^0 == 0 /\ __disjvr_7^0-__disjvr_7^post42 == 0 /\ -r_149^post42+r_149^0 == 0 /\ -__disjvr_15^post42+__disjvr_15^0 == 0 /\ a_253^0-a_253^post42 == 0 /\ -rcd_284^post42+rcd_284^0 == 0 /\ __disjvr_14^0-__disjvr_14^post42 == 0 /\ -nondet_12^post42+nondet_12^0 == 0 /\ rcd_185^0-rcd_185^post42 == 0 /\ __disjvr_4^0-__disjvr_4^post42 == 0 /\ __disjvr_26^0-__disjvr_26^post42 == 0 /\ -a_139^post42+a_139^0 == 0 /\ __disjvr_8^0-__disjvr_8^post42 == 0 /\ -__disjvr_30^post42+__disjvr_30^0 == 0 /\ __disjvr_22^0-__disjvr_22^post42 == 0 /\ -temp0_19^post42+temp0_19^0 == 0 /\ -y_26^post42+y_26^0 == 0 /\ -__disjvr_6^post42+__disjvr_6^0 == 0 /\ x_22^0-y_21^0 <= 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ i_112^0-i_112^post42 == 0), cost: 1 36: l34 -> l35 : __disjvr_0^0'=__disjvr_0^post36, a_253^0'=a_253^post36, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post36, __disjvr_21^0'=__disjvr_21^post36, x_27^0'=x_27^post36, __disjvr_3^0'=__disjvr_3^post36, rcd_220^0'=rcd_220^post36, __disjvr_14^0'=__disjvr_14^post36, head_33^0'=head_33^post36, __disjvr_24^0'=__disjvr_24^post36, temp_36^0'=temp_36^post36, r_192^0'=r_192^post36, __disjvr_8^0'=__disjvr_8^post36, a_139^0'=a_139^post36, result_11^0'=result_11^post36, __disjvr_19^0'=__disjvr_19^post36, i_31^0'=i_31^post36, __disjvr_29^0'=__disjvr_29^post36, x_22^0'=x_22^post36, rcd_193^0'=rcd_193^post36, __disjvr_11^0'=__disjvr_11^post36, a_309^0'=a_309^post36, tail_15^0'=tail_15^post36, length_29^0'=length_29^post36, x_SLAM_f_25^0'=x_SLAM_f_25^post36, __disjvr_5^0'=__disjvr_5^post36, rcd_288^0'=rcd_288^post36, __disjvr_16^0'=__disjvr_16^post36, i_112^0'=i_112^post36, __disjvr_26^0'=__disjvr_26^post36, tmp_35^0'=tmp_35^post36, rcd_106^0'=rcd_106^post36, a_222^0'=a_222^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post36, __disjvr_20^0'=__disjvr_20^post36, len_221^0'=len_221^post36, __disjvr_30^0'=__disjvr_30^post36, rcd_199^0'=rcd_199^post36, __disjvr_13^0'=__disjvr_13^post36, head_16^0'=head_16^post36, __disjvr_23^0'=__disjvr_23^post36, temp0_32^0'=temp0_32^post36, r_149^0'=r_149^post36, y_26^0'=y_26^post36, __disjvr_7^0'=__disjvr_7^post36, rcd_320^0'=rcd_320^post36, rcd_71^0'=rcd_71^post36, __disjvr_18^0'=__disjvr_18^post36, i_198^0'=i_198^post36, __disjvr_28^0'=__disjvr_28^post36, x_207^0'=x_207^post36, rcd_185^0'=rcd_185^post36, __disjvr_10^0'=__disjvr_10^post36, a_279^0'=a_279^post36, t_23^0'=t_23^post36, __disjvr_22^0'=__disjvr_22^post36, x_SLAM_f_20^0'=x_SLAM_f_20^post36, __disjvr_4^0'=__disjvr_4^post36, rcd_284^0'=rcd_284^post36, __disjvr_15^0'=__disjvr_15^post36, head_SLAM_f_30^0'=head_SLAM_f_30^post36, __disjvr_25^0'=__disjvr_25^post36, temp_37^0'=temp_37^post36, r_41^0'=r_41^post36, __disjvr_9^0'=__disjvr_9^post36, a_174^0'=a_174^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post36, __disjvr_1^0'=__disjvr_1^post36, len_159^0'=len_159^post36, __disjvr_2^0'=__disjvr_2^post36, rcd_194^0'=rcd_194^post36, __disjvr_12^0'=__disjvr_12^post36, f_202^0'=f_202^post36, temp0_19^0'=temp0_19^post36, nondet_12^0'=nondet_12^post36, y_21^0'=y_21^post36, __disjvr_6^0'=__disjvr_6^post36, rcd_308^0'=rcd_308^post36, rcd_45^0'=rcd_45^post36, __disjvr_17^0'=__disjvr_17^post36, i_130^0'=i_130^post36, __disjvr_27^0'=__disjvr_27^post36, x_154^0'=x_154^post36, rcd_114^0'=rcd_114^post36, (-__disjvr_13^post36+__disjvr_13^0 == 0 /\ __disjvr_10^0-__disjvr_10^post36 == 0 /\ t_23^0-t_23^post36 == 0 /\ __disjvr_5^0-__disjvr_5^post36 == 0 /\ -__disjvr_1^post36+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post36 == 0 /\ len_159^0-len_159^post36 == 0 /\ -rcd_106^post36+rcd_106^0 == 0 /\ -rcd_114^post36+rcd_114^0 == 0 /\ -__disjvr_14^0+__disjvr_14^post36 == 0 /\ -tail_15^post36+tail_15^0 == 0 /\ __disjvr_21^0-__disjvr_21^post36 == 0 /\ __disjvr_3^0-__disjvr_3^post36 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post36 == 0 /\ -rcd_45^post36+rcd_45^0 == 0 /\ -length_29^post36+length_29^0 == 0 /\ rcd_71^0-rcd_71^post36 == 0 /\ __disjvr_7^0-__disjvr_7^post36 == 0 /\ -a_174^post36+a_174^0 == 0 /\ -rcd_288^post36+rcd_288^0 == 0 /\ __disjvr_29^0-__disjvr_29^post36 == 0 /\ -a_279^post36+a_279^0 == 0 /\ -rcd_199^post36+rcd_199^0 == 0 /\ -r_149^post36+r_149^0 == 0 /\ -__disjvr_27^post36+__disjvr_27^0 == 0 /\ len_221^0-len_221^post36 == 0 /\ __disjvr_8^0-__disjvr_8^post36 == 0 /\ __disjvr_14^0-__disjvr_14^post36 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post36 == 0 /\ -f_202^post36+f_202^0 == 0 /\ i_112^0-i_112^post36 == 0 /\ -r_41^post36+r_41^0 == 0 /\ __disjvr_26^0-__disjvr_26^post36 == 0 /\ rcd_185^0-rcd_185^post36 == 0 /\ -i_198^post36+i_198^0 == 0 /\ __disjvr_30^0-__disjvr_30^post36 == 0 /\ y_26^0-y_26^post36 == 0 /\ rcd_194^0-rcd_194^post36 == 0 /\ result_11^0-result_11^post36 == 0 /\ -__disjvr_4^post36+__disjvr_4^0 == 0 /\ -tmp_35^post36+tmp_35^0 == 0 /\ -__disjvr_2^post36+__disjvr_2^0 == 0 /\ -y_21^post36+y_21^0 == 0 /\ x_27^0-x_27^post36 == 0 /\ temp0_32^0-temp0_32^post36 == 0 /\ __disjvr_16^0-__disjvr_16^post36 == 0 /\ -a_222^post36+a_222^0 == 0 /\ -__disjvr_18^post36+__disjvr_18^0 == 0 /\ rcd_220^0-rcd_220^post36 == 0 /\ a_309^0-a_309^post36 == 0 /\ -head_SLAM_f_30^post36+head_SLAM_f_30^0 == 0 /\ -rcd_320^post36+rcd_320^0 == 0 /\ __disjvr_19^0-__disjvr_19^post36 == 0 /\ -__disjvr_9^post36+__disjvr_9^0 == 0 /\ rcd_284^0-rcd_284^post36 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post36+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_22^post36+x_22^0 == 0 /\ -__disjvr_25^post36+__disjvr_25^0 == 0 /\ rcd_308^0-rcd_308^post36 == 0 /\ -__disjvr_24^post36+__disjvr_24^0 == 0 /\ -i_130^post36+i_130^0 == 0 /\ -__disjvr_20^post36+__disjvr_20^0 == 0 /\ -x_207^post36+x_207^0 == 0 /\ -temp_36^post36+temp_36^0 == 0 /\ i_31^0-i_31^post36 == 0 /\ -head_16^post36+head_16^0 == 0 /\ r_192^0-r_192^post36 == 0 /\ -nondet_12^post36+nondet_12^0 == 0 /\ a_139^0-a_139^post36 == 0 /\ -__disjvr_15^post36+__disjvr_15^0 == 0 /\ -__disjvr_12^post36+__disjvr_12^0 == 0 /\ a_253^0-a_253^post36 == 0 /\ temp_37^0-temp_37^post36 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post36 == 0 /\ -temp0_19^post36+temp0_19^0 == 0 /\ -__disjvr_6^post36+__disjvr_6^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post36 == 0 /\ __disjvr_28^0-__disjvr_28^post36 == 0 /\ -__disjvr_23^post36+__disjvr_23^0 == 0 /\ -__disjvr_17^post36+__disjvr_17^0 == 0 /\ -x_154^post36+x_154^0 == 0 /\ head_33^0-head_33^post36 == 0 /\ __disjvr_11^0-__disjvr_11^post36 == 0 /\ -rcd_193^post36+rcd_193^0 == 0 /\ __disjvr_22^0-__disjvr_22^post36 == 0), cost: 1 37: l35 -> l36 : __disjvr_0^0'=__disjvr_0^post37, a_253^0'=a_253^post37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post37, __disjvr_21^0'=__disjvr_21^post37, x_27^0'=x_27^post37, __disjvr_3^0'=__disjvr_3^post37, rcd_220^0'=rcd_220^post37, __disjvr_14^0'=__disjvr_14^post37, head_33^0'=head_33^post37, __disjvr_24^0'=__disjvr_24^post37, temp_36^0'=temp_36^post37, r_192^0'=r_192^post37, __disjvr_8^0'=__disjvr_8^post37, a_139^0'=a_139^post37, result_11^0'=result_11^post37, __disjvr_19^0'=__disjvr_19^post37, i_31^0'=i_31^post37, __disjvr_29^0'=__disjvr_29^post37, x_22^0'=x_22^post37, rcd_193^0'=rcd_193^post37, __disjvr_11^0'=__disjvr_11^post37, a_309^0'=a_309^post37, tail_15^0'=tail_15^post37, length_29^0'=length_29^post37, x_SLAM_f_25^0'=x_SLAM_f_25^post37, __disjvr_5^0'=__disjvr_5^post37, rcd_288^0'=rcd_288^post37, __disjvr_16^0'=__disjvr_16^post37, i_112^0'=i_112^post37, __disjvr_26^0'=__disjvr_26^post37, tmp_35^0'=tmp_35^post37, rcd_106^0'=rcd_106^post37, a_222^0'=a_222^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post37, __disjvr_20^0'=__disjvr_20^post37, len_221^0'=len_221^post37, __disjvr_30^0'=__disjvr_30^post37, rcd_199^0'=rcd_199^post37, __disjvr_13^0'=__disjvr_13^post37, head_16^0'=head_16^post37, __disjvr_23^0'=__disjvr_23^post37, temp0_32^0'=temp0_32^post37, r_149^0'=r_149^post37, y_26^0'=y_26^post37, __disjvr_7^0'=__disjvr_7^post37, rcd_320^0'=rcd_320^post37, rcd_71^0'=rcd_71^post37, __disjvr_18^0'=__disjvr_18^post37, i_198^0'=i_198^post37, __disjvr_28^0'=__disjvr_28^post37, x_207^0'=x_207^post37, rcd_185^0'=rcd_185^post37, __disjvr_10^0'=__disjvr_10^post37, a_279^0'=a_279^post37, t_23^0'=t_23^post37, __disjvr_22^0'=__disjvr_22^post37, x_SLAM_f_20^0'=x_SLAM_f_20^post37, __disjvr_4^0'=__disjvr_4^post37, rcd_284^0'=rcd_284^post37, __disjvr_15^0'=__disjvr_15^post37, head_SLAM_f_30^0'=head_SLAM_f_30^post37, __disjvr_25^0'=__disjvr_25^post37, temp_37^0'=temp_37^post37, r_41^0'=r_41^post37, __disjvr_9^0'=__disjvr_9^post37, a_174^0'=a_174^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37, __disjvr_1^0'=__disjvr_1^post37, len_159^0'=len_159^post37, __disjvr_2^0'=__disjvr_2^post37, rcd_194^0'=rcd_194^post37, __disjvr_12^0'=__disjvr_12^post37, f_202^0'=f_202^post37, temp0_19^0'=temp0_19^post37, nondet_12^0'=nondet_12^post37, y_21^0'=y_21^post37, __disjvr_6^0'=__disjvr_6^post37, rcd_308^0'=rcd_308^post37, rcd_45^0'=rcd_45^post37, __disjvr_17^0'=__disjvr_17^post37, i_130^0'=i_130^post37, __disjvr_27^0'=__disjvr_27^post37, x_154^0'=x_154^post37, rcd_114^0'=rcd_114^post37, (-__disjvr_15^post37+__disjvr_15^0 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post37 == 0 /\ -__disjvr_28^post37+__disjvr_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post37 == 0 /\ -a_174^post37+a_174^0 == 0 /\ -f_202^post37+f_202^0 == 0 /\ __disjvr_30^0-__disjvr_30^post37 == 0 /\ a_309^0-a_309^post37 == 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post37 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_6^post37+__disjvr_6^0 == 0 /\ -temp0_19^post37+temp0_19^0 == 0 /\ tail_15^0-y_21^0 <= 0 /\ -__disjvr_18^post37+__disjvr_18^0 == 0 /\ rcd_220^0-rcd_220^post37 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ __disjvr_0^0-__disjvr_0^post37 == 0 /\ -head_16^post37+head_16^0 == 0 /\ -len_159^post37+len_159^0 == 0 /\ -__disjvr_2^post37+__disjvr_2^0 == 0 /\ rcd_106^0-rcd_106^post37 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_35^post37+tmp_35^0 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ __disjvr_14^0-__disjvr_14^post37 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ rcd_284^0-rcd_284^post37 == 0 /\ i_198^0-i_198^post37 == 0 /\ -rcd_114^post37+rcd_114^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post37 == 0 /\ __disjvr_9^0-__disjvr_9^post37 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ __disjvr_29^0-__disjvr_29^post37 == 0 /\ -r_149^post37+r_149^0 == 0 /\ -__disjvr_11^post37+__disjvr_11^0 == 0 /\ r_192^0-r_192^post37 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ tail_15^0-tail_15^post37 == 0 /\ temp_36^0-temp_36^post37 == 0 /\ x_27^0-x_27^post37 == 0 /\ __disjvr_5^0-__disjvr_5^post37 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ -__disjvr_13^post37+__disjvr_13^0 == 0 /\ y_26^0-y_26^post37 == 0 /\ -r_41^post37+r_41^0 == 0 /\ rcd_194^0-rcd_194^post37 == 0 /\ -rcd_288^post37+rcd_288^0 == 0 /\ -rcd_45^post37+rcd_45^0 == 0 /\ -__disjvr_12^post37+__disjvr_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post37 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post37 == 0 /\ -a_279^post37+a_279^0 == 0 /\ -x_207^post37+x_207^0 == 0 /\ -len_221^post37+len_221^0 == 0 /\ -temp_37^post37+temp_37^0 == 0 /\ -__disjvr_27^post37+__disjvr_27^0 == 0 /\ -rcd_199^post37+rcd_199^0 == 0 /\ -__disjvr_26^post37+__disjvr_26^0 == 0 /\ __disjvr_20^0-__disjvr_20^post37 == 0 /\ __disjvr_7^0-__disjvr_7^post37 == 0 /\ -a_222^post37+a_222^0 == 0 /\ -rcd_320^post37+rcd_320^0 == 0 /\ x_22^0-x_22^post37 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post37 == 0 /\ -x_22^0+t_23^post37 == 0 /\ temp0_32^0-temp0_32^post37 == 0 /\ -__disjvr_25^post37+__disjvr_25^0 == 0 /\ -__disjvr_1^post37+__disjvr_1^0 == 0 /\ -x_SLAM_f_20^post37+x_SLAM_f_20^0 == 0 /\ -__disjvr_23^post37+__disjvr_23^0 == 0 /\ -length_29^post37+length_29^0 == 0 /\ -rcd_71^post37+rcd_71^0 == 0 /\ i_31^0-i_31^post37 == 0 /\ __disjvr_22^0-__disjvr_22^post37 == 0 /\ -y_21^post37+y_21^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post37 == 0 /\ -x_154^post37+x_154^0 == 0 /\ head_33^0-head_33^post37 == 0 /\ __disjvr_4^0-__disjvr_4^post37 == 0 /\ -i_130^post37+i_130^0 == 0 /\ rcd_185^0-rcd_185^post37 == 0 /\ a_253^0-a_253^post37 == 0 /\ rcd_193^0-rcd_193^post37 == 0 /\ __disjvr_24^0-__disjvr_24^post37 == 0 /\ -a_139^post37+a_139^0 == 0 /\ result_11^0-result_11^post37 == 0 /\ i_112^0-i_112^post37 == 0 /\ -rcd_308^post37+rcd_308^0 == 0), cost: 1 38: l36 -> l37 : __disjvr_0^0'=__disjvr_0^post38, a_253^0'=a_253^post38, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post38, __disjvr_21^0'=__disjvr_21^post38, x_27^0'=x_27^post38, __disjvr_3^0'=__disjvr_3^post38, rcd_220^0'=rcd_220^post38, __disjvr_14^0'=__disjvr_14^post38, head_33^0'=head_33^post38, __disjvr_24^0'=__disjvr_24^post38, temp_36^0'=temp_36^post38, r_192^0'=r_192^post38, __disjvr_8^0'=__disjvr_8^post38, a_139^0'=a_139^post38, result_11^0'=result_11^post38, __disjvr_19^0'=__disjvr_19^post38, i_31^0'=i_31^post38, __disjvr_29^0'=__disjvr_29^post38, x_22^0'=x_22^post38, rcd_193^0'=rcd_193^post38, __disjvr_11^0'=__disjvr_11^post38, a_309^0'=a_309^post38, tail_15^0'=tail_15^post38, length_29^0'=length_29^post38, x_SLAM_f_25^0'=x_SLAM_f_25^post38, __disjvr_5^0'=__disjvr_5^post38, rcd_288^0'=rcd_288^post38, __disjvr_16^0'=__disjvr_16^post38, i_112^0'=i_112^post38, __disjvr_26^0'=__disjvr_26^post38, tmp_35^0'=tmp_35^post38, rcd_106^0'=rcd_106^post38, a_222^0'=a_222^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post38, __disjvr_20^0'=__disjvr_20^post38, len_221^0'=len_221^post38, __disjvr_30^0'=__disjvr_30^post38, rcd_199^0'=rcd_199^post38, __disjvr_13^0'=__disjvr_13^post38, head_16^0'=head_16^post38, __disjvr_23^0'=__disjvr_23^post38, temp0_32^0'=temp0_32^post38, r_149^0'=r_149^post38, y_26^0'=y_26^post38, __disjvr_7^0'=__disjvr_7^post38, rcd_320^0'=rcd_320^post38, rcd_71^0'=rcd_71^post38, __disjvr_18^0'=__disjvr_18^post38, i_198^0'=i_198^post38, __disjvr_28^0'=__disjvr_28^post38, x_207^0'=x_207^post38, rcd_185^0'=rcd_185^post38, __disjvr_10^0'=__disjvr_10^post38, a_279^0'=a_279^post38, t_23^0'=t_23^post38, __disjvr_22^0'=__disjvr_22^post38, x_SLAM_f_20^0'=x_SLAM_f_20^post38, __disjvr_4^0'=__disjvr_4^post38, rcd_284^0'=rcd_284^post38, __disjvr_15^0'=__disjvr_15^post38, head_SLAM_f_30^0'=head_SLAM_f_30^post38, __disjvr_25^0'=__disjvr_25^post38, temp_37^0'=temp_37^post38, r_41^0'=r_41^post38, __disjvr_9^0'=__disjvr_9^post38, a_174^0'=a_174^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post38, __disjvr_1^0'=__disjvr_1^post38, len_159^0'=len_159^post38, __disjvr_2^0'=__disjvr_2^post38, rcd_194^0'=rcd_194^post38, __disjvr_12^0'=__disjvr_12^post38, f_202^0'=f_202^post38, temp0_19^0'=temp0_19^post38, nondet_12^0'=nondet_12^post38, y_21^0'=y_21^post38, __disjvr_6^0'=__disjvr_6^post38, rcd_308^0'=rcd_308^post38, rcd_45^0'=rcd_45^post38, __disjvr_17^0'=__disjvr_17^post38, i_130^0'=i_130^post38, __disjvr_27^0'=__disjvr_27^post38, x_154^0'=x_154^post38, rcd_114^0'=rcd_114^post38, (-__disjvr_18^post38+__disjvr_18^0 == 0 /\ __disjvr_7^0-__disjvr_7^post38 == 0 /\ -a_174^post38+a_174^0 == 0 /\ -len_159^post38+len_159^0 == 0 /\ -__disjvr_2^post38+__disjvr_2^0 == 0 /\ -rcd_308^post38+rcd_308^0 == 0 /\ head_16^0-head_16^post38 == 0 /\ -i_198^post38+i_198^0 == 0 /\ a_309^0-a_309^post38 == 0 /\ -y_21^post38+y_21^0 == 0 /\ tail_15^0-tail_15^post38 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post38 == 0 /\ -r_149^post38+r_149^0 == 0 /\ i_112^0-i_112^post38 == 0 /\ -a_222^post38+a_222^0 == 0 /\ -__disjvr_30^post38+__disjvr_30^0 == 0 /\ length_29^0-length_29^post38 == 0 /\ -__disjvr_17^post38+__disjvr_17^0 == 0 /\ -head_SLAM_f_30^post38+head_SLAM_f_30^0 == 0 /\ -x_SLAM_f_25^post38+x_SLAM_f_25^0 == 0 /\ -x_154^post38+x_154^0 == 0 /\ -tmp_35^post38+tmp_35^0 == 0 /\ __disjvr_15^post38-__disjvr_15^0 == 0 /\ -rcd_194^post38+rcd_194^0 == 0 /\ -__disjvr_6^post38+__disjvr_6^0 == 0 /\ __disjvr_26^0-__disjvr_26^post38 == 0 /\ temp0_32^0-temp0_32^post38 == 0 /\ -x_207^post38+x_207^0 == 0 /\ i_31^0-i_31^post38 == 0 /\ rcd_288^0-rcd_288^post38 == 0 /\ __disjvr_12^0-__disjvr_12^post38 == 0 /\ __disjvr_10^0-__disjvr_10^post38 == 0 /\ -__disjvr_11^post38+__disjvr_11^0 == 0 /\ -nondet_12^post38+nondet_12^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -y_26^post38+y_26^0 == 0 /\ head_33^0-head_33^post38 == 0 /\ -rcd_45^post38+rcd_45^0 == 0 /\ -rcd_320^post38+rcd_320^0 == 0 /\ -t_23^post38+t_23^0 == 0 /\ -temp0_19^post38+temp0_19^0 == 0 /\ __disjvr_9^0-__disjvr_9^post38 == 0 /\ __disjvr_19^0-__disjvr_19^post38 == 0 /\ -__disjvr_15^post38+__disjvr_15^0 == 0 /\ x_27^0-x_27^post38 == 0 /\ a_253^0-a_253^post38 == 0 /\ rcd_193^0-rcd_193^post38 == 0 /\ __disjvr_24^0-__disjvr_24^post38 == 0 /\ -rcd_114^post38+rcd_114^0 == 0 /\ temp_37^0-temp_37^post38 == 0 /\ __disjvr_8^0-__disjvr_8^post38 == 0 /\ __disjvr_21^0-__disjvr_21^post38 == 0 /\ -r_41^post38+r_41^0 == 0 /\ __disjvr_20^0-__disjvr_20^post38 == 0 /\ -len_221^post38+len_221^0 == 0 /\ __disjvr_0^0-__disjvr_0^post38 == 0 /\ a_139^0-a_139^post38 == 0 /\ __disjvr_14^0-__disjvr_14^post38 == 0 /\ __disjvr_16^0-__disjvr_16^post38 == 0 /\ __disjvr_22^0-__disjvr_22^post38 == 0 /\ -rcd_106^post38+rcd_106^0 == 0 /\ -__disjvr_13^post38+__disjvr_13^0 == 0 /\ -__disjvr_27^post38+__disjvr_27^0 == 0 /\ -__disjvr_25^post38+__disjvr_25^0 == 0 /\ -f_202^post38+f_202^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post38 == 0 /\ __disjvr_23^0-__disjvr_23^post38 == 0 /\ result_11^0-result_11^post38 == 0 /\ rcd_199^0-rcd_199^post38 == 0 /\ rcd_220^0-rcd_220^post38 == 0 /\ rcd_185^0-rcd_185^post38 == 0 /\ -x_22^post38+x_22^0 == 0 /\ -i_130^post38+i_130^0 == 0 /\ -a_279^post38+a_279^0 == 0 /\ temp_36^0-temp_36^post38 == 0 /\ -rcd_71^post38+rcd_71^0 == 0 /\ -__disjvr_28^post38+__disjvr_28^0 == 0 /\ __disjvr_5^0-__disjvr_5^post38 == 0 /\ __disjvr_29^0-__disjvr_29^post38 == 0 /\ __disjvr_3^0-__disjvr_3^post38 == 0 /\ r_192^0-r_192^post38 == 0 /\ -x_SLAM_f_20^post38+x_SLAM_f_20^0 == 0 /\ rcd_284^0-rcd_284^post38 == 0 /\ -__disjvr_1^post38+__disjvr_1^0 == 0 /\ __disjvr_4^0-__disjvr_4^post38 == 0), cost: 1 39: l37 -> l38 : __disjvr_0^0'=__disjvr_0^post39, a_253^0'=a_253^post39, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post39, __disjvr_21^0'=__disjvr_21^post39, x_27^0'=x_27^post39, __disjvr_3^0'=__disjvr_3^post39, rcd_220^0'=rcd_220^post39, __disjvr_14^0'=__disjvr_14^post39, head_33^0'=head_33^post39, __disjvr_24^0'=__disjvr_24^post39, temp_36^0'=temp_36^post39, r_192^0'=r_192^post39, __disjvr_8^0'=__disjvr_8^post39, a_139^0'=a_139^post39, result_11^0'=result_11^post39, __disjvr_19^0'=__disjvr_19^post39, i_31^0'=i_31^post39, __disjvr_29^0'=__disjvr_29^post39, x_22^0'=x_22^post39, rcd_193^0'=rcd_193^post39, __disjvr_11^0'=__disjvr_11^post39, a_309^0'=a_309^post39, tail_15^0'=tail_15^post39, length_29^0'=length_29^post39, x_SLAM_f_25^0'=x_SLAM_f_25^post39, __disjvr_5^0'=__disjvr_5^post39, rcd_288^0'=rcd_288^post39, __disjvr_16^0'=__disjvr_16^post39, i_112^0'=i_112^post39, __disjvr_26^0'=__disjvr_26^post39, tmp_35^0'=tmp_35^post39, rcd_106^0'=rcd_106^post39, a_222^0'=a_222^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post39, __disjvr_20^0'=__disjvr_20^post39, len_221^0'=len_221^post39, __disjvr_30^0'=__disjvr_30^post39, rcd_199^0'=rcd_199^post39, __disjvr_13^0'=__disjvr_13^post39, head_16^0'=head_16^post39, __disjvr_23^0'=__disjvr_23^post39, temp0_32^0'=temp0_32^post39, r_149^0'=r_149^post39, y_26^0'=y_26^post39, __disjvr_7^0'=__disjvr_7^post39, rcd_320^0'=rcd_320^post39, rcd_71^0'=rcd_71^post39, __disjvr_18^0'=__disjvr_18^post39, i_198^0'=i_198^post39, __disjvr_28^0'=__disjvr_28^post39, x_207^0'=x_207^post39, rcd_185^0'=rcd_185^post39, __disjvr_10^0'=__disjvr_10^post39, a_279^0'=a_279^post39, t_23^0'=t_23^post39, __disjvr_22^0'=__disjvr_22^post39, x_SLAM_f_20^0'=x_SLAM_f_20^post39, __disjvr_4^0'=__disjvr_4^post39, rcd_284^0'=rcd_284^post39, __disjvr_15^0'=__disjvr_15^post39, head_SLAM_f_30^0'=head_SLAM_f_30^post39, __disjvr_25^0'=__disjvr_25^post39, temp_37^0'=temp_37^post39, r_41^0'=r_41^post39, __disjvr_9^0'=__disjvr_9^post39, a_174^0'=a_174^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post39, __disjvr_1^0'=__disjvr_1^post39, len_159^0'=len_159^post39, __disjvr_2^0'=__disjvr_2^post39, rcd_194^0'=rcd_194^post39, __disjvr_12^0'=__disjvr_12^post39, f_202^0'=f_202^post39, temp0_19^0'=temp0_19^post39, nondet_12^0'=nondet_12^post39, y_21^0'=y_21^post39, __disjvr_6^0'=__disjvr_6^post39, rcd_308^0'=rcd_308^post39, rcd_45^0'=rcd_45^post39, __disjvr_17^0'=__disjvr_17^post39, i_130^0'=i_130^post39, __disjvr_27^0'=__disjvr_27^post39, x_154^0'=x_154^post39, rcd_114^0'=rcd_114^post39, (r_192^0-r_192^post39 == 0 /\ a_174^0-a_174^post39 == 0 /\ -__disjvr_16^0+__disjvr_16^post39 == 0 /\ -rcd_194^post39+rcd_194^0 == 0 /\ -rcd_320^post39+rcd_320^0 == 0 /\ -head_SLAM_f_30^post39+head_SLAM_f_30^0 == 0 /\ -x_154^post39+x_154^0 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0 /\ -x_207^post39+x_207^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post39 == 0 /\ i_112^0-i_112^post39 == 0 /\ -__disjvr_9^post39+__disjvr_9^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ tail_15^0-tail_15^post39 == 0 /\ __disjvr_26^0-__disjvr_26^post39 == 0 /\ rcd_185^0-rcd_185^post39 == 0 /\ -rcd_308^post39+rcd_308^0 == 0 /\ rcd_288^0-rcd_288^post39 == 0 /\ -__disjvr_25^post39+__disjvr_25^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post39 == 0 /\ -i_130^post39+i_130^0 == 0 /\ -a_222^post39+a_222^0 == 0 /\ -__disjvr_20^post39+__disjvr_20^0 == 0 /\ -y_21^post39+y_21^0 == 0 /\ __disjvr_22^0-__disjvr_22^post39 == 0 /\ temp_36^0-temp_36^post39 == 0 /\ -head_16^post39+head_16^0 == 0 /\ __disjvr_5^0-__disjvr_5^post39 == 0 /\ -nondet_12^post39+nondet_12^0 == 0 /\ -__disjvr_15^post39+__disjvr_15^0 == 0 /\ __disjvr_16^0-__disjvr_16^post39 == 0 /\ -__disjvr_12^post39+__disjvr_12^0 == 0 /\ rcd_193^0-rcd_193^post39 == 0 /\ rcd_220^0-rcd_220^post39 == 0 /\ -rcd_284^post39+rcd_284^0 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ __disjvr_21^0-__disjvr_21^post39 == 0 /\ -temp0_19^post39+temp0_19^0 == 0 /\ __disjvr_3^0-__disjvr_3^post39 == 0 /\ -__disjvr_30^post39+__disjvr_30^0 == 0 /\ -__disjvr_6^post39+__disjvr_6^0 == 0 /\ -__disjvr_23^post39+__disjvr_23^0 == 0 /\ -a_139^post39+a_139^0 == 0 /\ rcd_71^0-rcd_71^post39 == 0 /\ __disjvr_7^0-__disjvr_7^post39 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ i_31^0-i_31^post39 == 0 /\ -t_23^post39+t_23^0 == 0 /\ __disjvr_11^0-__disjvr_11^post39 == 0 /\ -x_27^post39+x_27^0 == 0 /\ -__disjvr_1^post39+__disjvr_1^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post39 == 0 /\ -rcd_114^post39+rcd_114^0 == 0 /\ a_253^0-a_253^post39 == 0 /\ -rcd_106^post39+rcd_106^0 == 0 /\ -__disjvr_28^post39+__disjvr_28^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post39 == 0 /\ temp_37^0-temp_37^post39 == 0 /\ __disjvr_8^0-__disjvr_8^post39 == 0 /\ y_26^0-y_26^post39 == 0 /\ -length_29^post39+length_29^0 == 0 /\ result_11^0-result_11^post39 == 0 /\ -rcd_45^post39+rcd_45^0 == 0 /\ head_33^0-head_33^post39 == 0 /\ __disjvr_10^0-__disjvr_10^post39 == 0 /\ temp0_32^0-temp0_32^post39 == 0 /\ x_22^0-x_22^post39 == 0 /\ -a_279^post39+a_279^0 == 0 /\ a_309^0-a_309^post39 == 0 /\ -__disjvr_27^post39+__disjvr_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ -i_198^post39+i_198^0 == 0 /\ __disjvr_19^0-__disjvr_19^post39 == 0 /\ -f_202^post39+f_202^0 == 0 /\ -__disjvr_2^post39+__disjvr_2^0 == 0 /\ -r_149^post39+r_149^0 == 0 /\ -r_41^post39+r_41^0 == 0 /\ __disjvr_13^0-__disjvr_13^post39 == 0 /\ rcd_199^0-rcd_199^post39 == 0 /\ -__disjvr_18^post39+__disjvr_18^0 == 0 /\ -__disjvr_4^post39+__disjvr_4^0 == 0 /\ -len_159^post39+len_159^0 == 0 /\ -len_221^post39+len_221^0 == 0 /\ -tmp_35^post39+tmp_35^0 == 0 /\ __disjvr_29^0-__disjvr_29^post39 == 0), cost: 1 40: l38 -> l39 : __disjvr_0^0'=__disjvr_0^post40, a_253^0'=a_253^post40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post40, __disjvr_21^0'=__disjvr_21^post40, x_27^0'=x_27^post40, __disjvr_3^0'=__disjvr_3^post40, rcd_220^0'=rcd_220^post40, __disjvr_14^0'=__disjvr_14^post40, head_33^0'=head_33^post40, __disjvr_24^0'=__disjvr_24^post40, temp_36^0'=temp_36^post40, r_192^0'=r_192^post40, __disjvr_8^0'=__disjvr_8^post40, a_139^0'=a_139^post40, result_11^0'=result_11^post40, __disjvr_19^0'=__disjvr_19^post40, i_31^0'=i_31^post40, __disjvr_29^0'=__disjvr_29^post40, x_22^0'=x_22^post40, rcd_193^0'=rcd_193^post40, __disjvr_11^0'=__disjvr_11^post40, a_309^0'=a_309^post40, tail_15^0'=tail_15^post40, length_29^0'=length_29^post40, x_SLAM_f_25^0'=x_SLAM_f_25^post40, __disjvr_5^0'=__disjvr_5^post40, rcd_288^0'=rcd_288^post40, __disjvr_16^0'=__disjvr_16^post40, i_112^0'=i_112^post40, __disjvr_26^0'=__disjvr_26^post40, tmp_35^0'=tmp_35^post40, rcd_106^0'=rcd_106^post40, a_222^0'=a_222^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post40, __disjvr_20^0'=__disjvr_20^post40, len_221^0'=len_221^post40, __disjvr_30^0'=__disjvr_30^post40, rcd_199^0'=rcd_199^post40, __disjvr_13^0'=__disjvr_13^post40, head_16^0'=head_16^post40, __disjvr_23^0'=__disjvr_23^post40, temp0_32^0'=temp0_32^post40, r_149^0'=r_149^post40, y_26^0'=y_26^post40, __disjvr_7^0'=__disjvr_7^post40, rcd_320^0'=rcd_320^post40, rcd_71^0'=rcd_71^post40, __disjvr_18^0'=__disjvr_18^post40, i_198^0'=i_198^post40, __disjvr_28^0'=__disjvr_28^post40, x_207^0'=x_207^post40, rcd_185^0'=rcd_185^post40, __disjvr_10^0'=__disjvr_10^post40, a_279^0'=a_279^post40, t_23^0'=t_23^post40, __disjvr_22^0'=__disjvr_22^post40, x_SLAM_f_20^0'=x_SLAM_f_20^post40, __disjvr_4^0'=__disjvr_4^post40, rcd_284^0'=rcd_284^post40, __disjvr_15^0'=__disjvr_15^post40, head_SLAM_f_30^0'=head_SLAM_f_30^post40, __disjvr_25^0'=__disjvr_25^post40, temp_37^0'=temp_37^post40, r_41^0'=r_41^post40, __disjvr_9^0'=__disjvr_9^post40, a_174^0'=a_174^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post40, __disjvr_1^0'=__disjvr_1^post40, len_159^0'=len_159^post40, __disjvr_2^0'=__disjvr_2^post40, rcd_194^0'=rcd_194^post40, __disjvr_12^0'=__disjvr_12^post40, f_202^0'=f_202^post40, temp0_19^0'=temp0_19^post40, nondet_12^0'=nondet_12^post40, y_21^0'=y_21^post40, __disjvr_6^0'=__disjvr_6^post40, rcd_308^0'=rcd_308^post40, rcd_45^0'=rcd_45^post40, __disjvr_17^0'=__disjvr_17^post40, i_130^0'=i_130^post40, __disjvr_27^0'=__disjvr_27^post40, x_154^0'=x_154^post40, rcd_114^0'=rcd_114^post40, (-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ -rcd_194^post40+rcd_194^0 == 0 /\ -len_221^post40+len_221^0 == 0 /\ -x_207^post40+x_207^0 == 0 /\ rcd_320^0-rcd_320^post40 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ __disjvr_22^0-__disjvr_22^post40 == 0 /\ i_198^0-i_198^post40 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post40 == 0 /\ -rcd_199^post40+rcd_199^0 == 0 /\ rcd_185^0-rcd_185^post40 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ __disjvr_10^0-__disjvr_10^post40 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -a_222^post40+a_222^0 == 0 /\ temp_36^0-temp_36^post40 == 0 /\ -rcd_106^post40+rcd_106^0 == 0 /\ rcd_288^0-rcd_288^post40 == 0 /\ a_253^0-a_253^post40 == 0 /\ -a_279^post40+a_279^0 == 0 /\ result_11^0-result_11^post40 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ -length_29^post40+length_29^0 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ -x_SLAM_f_20^post40+x_SLAM_f_20^0 == 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ -y_21^post40+y_21^0 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ -head_SLAM_f_30^post40+head_SLAM_f_30^0 == 0 /\ a_309^0-a_309^post40 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ rcd_71^0-rcd_71^post40 == 0 /\ -x_22^post40+x_22^0 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ -i_130^post40+i_130^0 == 0 /\ -__disjvr_28^post40+__disjvr_28^0 == 0 /\ __disjvr_26^0-__disjvr_26^post40 == 0 /\ len_159^0-len_159^post40 == 0 /\ -rcd_308^post40+rcd_308^0 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ nondet_12^0-nondet_12^post40 == 0 /\ -a_139^post40+a_139^0 == 0 /\ i_31^0-i_31^post40 == 0 /\ -a_174^post40+a_174^0 == 0 /\ -f_202^post40+f_202^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post40 == 0 /\ head_33^0-head_33^post40 == 0 /\ -rcd_284^post40+rcd_284^0 == 0 /\ -x_154^post40+x_154^0 == 0 /\ r_192^0-r_192^post40 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ -temp0_19^post40+temp0_19^0 == 0 /\ tail_15^0-tail_15^post40 == 0 /\ x_27^0-x_27^post40 == 0 /\ -tmp_35^post40+tmp_35^0 == 0 /\ __disjvr_5^0-__disjvr_5^post40 == 0 /\ -head_16^post40+head_16^0 == 0 /\ -__disjvr_6^post40+__disjvr_6^0 == 0 /\ y_26^0-y_26^post40 == 0 /\ rcd_193^0-rcd_193^post40 == 0 /\ i_112^0-i_112^post40 == 0 /\ -__disjvr_18^post40+__disjvr_18^0 == 0 /\ -__disjvr_24^post40+__disjvr_24^0 == 0 /\ -rcd_114^post40+rcd_114^0 == 0 /\ __disjvr_3^0-__disjvr_3^post40 == 0 /\ -__disjvr_2^post40+__disjvr_2^0 == 0 /\ -__disjvr_16^post40+__disjvr_16^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_30^0-__disjvr_30^post40 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ __disjvr_20^0-__disjvr_20^post40 == 0 /\ __disjvr_7^0-__disjvr_7^post40 == 0 /\ __disjvr_17^post40-__disjvr_17^0 == 0 /\ -r_149^post40+r_149^0 == 0 /\ -r_41^post40+r_41^0 == 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ rcd_220^0-rcd_220^post40 == 0 /\ t_23^0-t_23^post40 == 0 /\ -__disjvr_11^post40+__disjvr_11^0 == 0 /\ temp_37^0-temp_37^post40 == 0 /\ temp0_32^0-temp0_32^post40 == 0 /\ -rcd_45^post40+rcd_45^0 == 0 /\ -__disjvr_9^post40+__disjvr_9^0 == 0), cost: 1 41: l39 -> l25 : __disjvr_0^0'=__disjvr_0^post41, a_253^0'=a_253^post41, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post41, __disjvr_21^0'=__disjvr_21^post41, x_27^0'=x_27^post41, __disjvr_3^0'=__disjvr_3^post41, rcd_220^0'=rcd_220^post41, __disjvr_14^0'=__disjvr_14^post41, head_33^0'=head_33^post41, __disjvr_24^0'=__disjvr_24^post41, temp_36^0'=temp_36^post41, r_192^0'=r_192^post41, __disjvr_8^0'=__disjvr_8^post41, a_139^0'=a_139^post41, result_11^0'=result_11^post41, __disjvr_19^0'=__disjvr_19^post41, i_31^0'=i_31^post41, __disjvr_29^0'=__disjvr_29^post41, x_22^0'=x_22^post41, rcd_193^0'=rcd_193^post41, __disjvr_11^0'=__disjvr_11^post41, a_309^0'=a_309^post41, tail_15^0'=tail_15^post41, length_29^0'=length_29^post41, x_SLAM_f_25^0'=x_SLAM_f_25^post41, __disjvr_5^0'=__disjvr_5^post41, rcd_288^0'=rcd_288^post41, __disjvr_16^0'=__disjvr_16^post41, i_112^0'=i_112^post41, __disjvr_26^0'=__disjvr_26^post41, tmp_35^0'=tmp_35^post41, rcd_106^0'=rcd_106^post41, a_222^0'=a_222^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post41, __disjvr_20^0'=__disjvr_20^post41, len_221^0'=len_221^post41, __disjvr_30^0'=__disjvr_30^post41, rcd_199^0'=rcd_199^post41, __disjvr_13^0'=__disjvr_13^post41, head_16^0'=head_16^post41, __disjvr_23^0'=__disjvr_23^post41, temp0_32^0'=temp0_32^post41, r_149^0'=r_149^post41, y_26^0'=y_26^post41, __disjvr_7^0'=__disjvr_7^post41, rcd_320^0'=rcd_320^post41, rcd_71^0'=rcd_71^post41, __disjvr_18^0'=__disjvr_18^post41, i_198^0'=i_198^post41, __disjvr_28^0'=__disjvr_28^post41, x_207^0'=x_207^post41, rcd_185^0'=rcd_185^post41, __disjvr_10^0'=__disjvr_10^post41, a_279^0'=a_279^post41, t_23^0'=t_23^post41, __disjvr_22^0'=__disjvr_22^post41, x_SLAM_f_20^0'=x_SLAM_f_20^post41, __disjvr_4^0'=__disjvr_4^post41, rcd_284^0'=rcd_284^post41, __disjvr_15^0'=__disjvr_15^post41, head_SLAM_f_30^0'=head_SLAM_f_30^post41, __disjvr_25^0'=__disjvr_25^post41, temp_37^0'=temp_37^post41, r_41^0'=r_41^post41, __disjvr_9^0'=__disjvr_9^post41, a_174^0'=a_174^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post41, __disjvr_1^0'=__disjvr_1^post41, len_159^0'=len_159^post41, __disjvr_2^0'=__disjvr_2^post41, rcd_194^0'=rcd_194^post41, __disjvr_12^0'=__disjvr_12^post41, f_202^0'=f_202^post41, temp0_19^0'=temp0_19^post41, nondet_12^0'=nondet_12^post41, y_21^0'=y_21^post41, __disjvr_6^0'=__disjvr_6^post41, rcd_308^0'=rcd_308^post41, rcd_45^0'=rcd_45^post41, __disjvr_17^0'=__disjvr_17^post41, i_130^0'=i_130^post41, __disjvr_27^0'=__disjvr_27^post41, x_154^0'=x_154^post41, rcd_114^0'=rcd_114^post41, (t_23^0-t_23^post41 == 0 /\ i_31^0-i_31^post41 == 0 /\ -rcd_114^post41+rcd_114^0 == 0 /\ __disjvr_10^0-__disjvr_10^post41 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post41 == 0 /\ -__disjvr_12^post41+__disjvr_12^0 == 0 /\ head_33^0-head_33^post41 == 0 /\ -rcd_106^post41+rcd_106^0 == 0 /\ a_174^0-a_174^post41 == 0 /\ -r_41^post41+r_41^0 == 0 /\ __disjvr_5^0-__disjvr_5^post41 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ rcd_71^0-rcd_71^post41 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ -len_221^post41+len_221^0 == 0 /\ rcd_193^0-rcd_193^post41 == 0 /\ -__disjvr_13^post41+__disjvr_13^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_27^post41+__disjvr_27^0 == 0 /\ -f_202^post41+f_202^0 == 0 /\ tmp_35^0-tmp_35^post41 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post41 == 0 /\ __disjvr_8^0-__disjvr_8^post41 == 0 /\ length_29^0-length_29^post41 == 0 /\ -a_279^post41+a_279^0 == 0 /\ -i_130^post41+i_130^0 == 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ -temp_37^post41+temp_37^0 == 0 /\ rcd_194^0-rcd_194^post41 == 0 /\ __disjvr_23^0-__disjvr_23^post41 == 0 /\ -result_11^post41+result_11^0 == 0 /\ len_159^0-len_159^post41 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ -x_SLAM_f_20^post41+x_SLAM_f_20^0 == 0 /\ a_309^0-a_309^post41 == 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ __disjvr_16^0-__disjvr_16^post41 == 0 /\ -i_198^post41+i_198^0 == 0 /\ temp0_32^0-temp0_32^post41 == 0 /\ -rcd_185^post41+rcd_185^0 == 0 /\ -__disjvr_18^post41+__disjvr_18^0 == 0 /\ rcd_288^0-rcd_288^post41 == 0 /\ -__disjvr_2^post41+__disjvr_2^0 == 0 /\ -y_21^post41+y_21^0 == 0 /\ -rcd_308^post41+rcd_308^0 == 0 /\ -r_149^post41+r_149^0 == 0 /\ -a_222^post41+a_222^0 == 0 /\ rcd_199^0-rcd_199^post41 == 0 /\ -__disjvr_30^post41+__disjvr_30^0 == 0 /\ rcd_220^0-rcd_220^post41 == 0 /\ temp_36^0-temp_36^post41 == 0 /\ -head_SLAM_f_30^post41+head_SLAM_f_30^0 == 0 /\ -x_SLAM_f_25^post41+x_SLAM_f_25^0 == 0 /\ __disjvr_29^0-__disjvr_29^post41 == 0 /\ -__disjvr_9^post41+__disjvr_9^0 == 0 /\ __disjvr_19^0-__disjvr_19^post41 == 0 /\ x_27^0-x_27^post41 == 0 /\ a_253^0-a_253^post41 == 0 /\ -__disjvr_24^post41+__disjvr_24^0 == 0 /\ rcd_284^0-rcd_284^post41 == 0 /\ tail_15^0-tail_15^post41 == 0 /\ -x_207^post41+x_207^0 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ -rcd_45^post41+rcd_45^0 == 0 /\ __disjvr_20^0-__disjvr_20^post41 == 0 /\ __disjvr_17^0-__disjvr_17^post41 == 0 /\ i_112^0-i_112^post41 == 0 /\ -__disjvr_11^post41+__disjvr_11^0 == 0 /\ __disjvr_7^0-__disjvr_7^post41 == 0 /\ -y_26^post41+y_26^0 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ r_192^0-r_192^post41 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_139^0-a_139^post41 == 0 /\ -rcd_320^post41+rcd_320^0 == 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ x_22^0-x_22^post41 == 0 /\ -head_16^post41+head_16^0 == 0 /\ __disjvr_22^0-__disjvr_22^post41 == 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ -temp0_19^post41+temp0_19^0 == 0 /\ x_154^0-x_154^post41 == 0), cost: 1 43: l40 -> l41 : __disjvr_0^0'=__disjvr_0^post43, a_253^0'=a_253^post43, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post43, __disjvr_21^0'=__disjvr_21^post43, x_27^0'=x_27^post43, __disjvr_3^0'=__disjvr_3^post43, rcd_220^0'=rcd_220^post43, __disjvr_14^0'=__disjvr_14^post43, head_33^0'=head_33^post43, __disjvr_24^0'=__disjvr_24^post43, temp_36^0'=temp_36^post43, r_192^0'=r_192^post43, __disjvr_8^0'=__disjvr_8^post43, a_139^0'=a_139^post43, result_11^0'=result_11^post43, __disjvr_19^0'=__disjvr_19^post43, i_31^0'=i_31^post43, __disjvr_29^0'=__disjvr_29^post43, x_22^0'=x_22^post43, rcd_193^0'=rcd_193^post43, __disjvr_11^0'=__disjvr_11^post43, a_309^0'=a_309^post43, tail_15^0'=tail_15^post43, length_29^0'=length_29^post43, x_SLAM_f_25^0'=x_SLAM_f_25^post43, __disjvr_5^0'=__disjvr_5^post43, rcd_288^0'=rcd_288^post43, __disjvr_16^0'=__disjvr_16^post43, i_112^0'=i_112^post43, __disjvr_26^0'=__disjvr_26^post43, tmp_35^0'=tmp_35^post43, rcd_106^0'=rcd_106^post43, a_222^0'=a_222^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post43, __disjvr_20^0'=__disjvr_20^post43, len_221^0'=len_221^post43, __disjvr_30^0'=__disjvr_30^post43, rcd_199^0'=rcd_199^post43, __disjvr_13^0'=__disjvr_13^post43, head_16^0'=head_16^post43, __disjvr_23^0'=__disjvr_23^post43, temp0_32^0'=temp0_32^post43, r_149^0'=r_149^post43, y_26^0'=y_26^post43, __disjvr_7^0'=__disjvr_7^post43, rcd_320^0'=rcd_320^post43, rcd_71^0'=rcd_71^post43, __disjvr_18^0'=__disjvr_18^post43, i_198^0'=i_198^post43, __disjvr_28^0'=__disjvr_28^post43, x_207^0'=x_207^post43, rcd_185^0'=rcd_185^post43, __disjvr_10^0'=__disjvr_10^post43, a_279^0'=a_279^post43, t_23^0'=t_23^post43, __disjvr_22^0'=__disjvr_22^post43, x_SLAM_f_20^0'=x_SLAM_f_20^post43, __disjvr_4^0'=__disjvr_4^post43, rcd_284^0'=rcd_284^post43, __disjvr_15^0'=__disjvr_15^post43, head_SLAM_f_30^0'=head_SLAM_f_30^post43, __disjvr_25^0'=__disjvr_25^post43, temp_37^0'=temp_37^post43, r_41^0'=r_41^post43, __disjvr_9^0'=__disjvr_9^post43, a_174^0'=a_174^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post43, __disjvr_1^0'=__disjvr_1^post43, len_159^0'=len_159^post43, __disjvr_2^0'=__disjvr_2^post43, rcd_194^0'=rcd_194^post43, __disjvr_12^0'=__disjvr_12^post43, f_202^0'=f_202^post43, temp0_19^0'=temp0_19^post43, nondet_12^0'=nondet_12^post43, y_21^0'=y_21^post43, __disjvr_6^0'=__disjvr_6^post43, rcd_308^0'=rcd_308^post43, rcd_45^0'=rcd_45^post43, __disjvr_17^0'=__disjvr_17^post43, i_130^0'=i_130^post43, __disjvr_27^0'=__disjvr_27^post43, x_154^0'=x_154^post43, rcd_114^0'=rcd_114^post43, (__disjvr_3^0-__disjvr_3^post43 == 0 /\ length_29^0-length_29^post43 == 0 /\ -__disjvr_15^post43+__disjvr_15^0 == 0 /\ -__disjvr_18^0+__disjvr_18^post43 == 0 /\ -a_174^post43+a_174^0 == 0 /\ -temp0_32^post43+temp0_32^0 == 0 /\ -__disjvr_30^post43+__disjvr_30^0 == 0 /\ -f_202^post43+f_202^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ x_27^0-x_27^post43 == 0 /\ -x_SLAM_f_25^post43+x_SLAM_f_25^0 == 0 /\ -rcd_284^post43+rcd_284^0 == 0 /\ -x_154^post43+x_154^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ -tmp_35^post43+tmp_35^0 == 0 /\ -__disjvr_6^post43+__disjvr_6^0 == 0 /\ -head_16^post43+head_16^0 == 0 /\ __disjvr_26^0-__disjvr_26^post43 == 0 /\ -__disjvr_1^post43+__disjvr_1^0 == 0 /\ -rcd_114^post43+rcd_114^0 == 0 /\ -len_159^post43+len_159^0 == 0 /\ rcd_320^0-rcd_320^post43 == 0 /\ -r_41^post43+r_41^0 == 0 /\ __disjvr_18^0-__disjvr_18^post43 == 0 /\ __disjvr_12^0-__disjvr_12^post43 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -temp0_19^post43+temp0_19^0 == 0 /\ -__disjvr_16^post43+__disjvr_16^0 == 0 /\ i_31^0-i_31^post43 == 0 /\ head_33^0-head_33^post43 == 0 /\ __disjvr_19^0-__disjvr_19^post43 == 0 /\ -r_149^post43+r_149^0 == 0 /\ -__disjvr_7^post43+__disjvr_7^0 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ -__disjvr_9^post43+__disjvr_9^0 == 0 /\ rcd_288^0-rcd_288^post43 == 0 /\ a_253^0-a_253^post43 == 0 /\ -t_23^post43+t_23^0 == 0 /\ rcd_193^0-rcd_193^post43 == 0 /\ i_112^0-i_112^post43 == 0 /\ -rcd_45^post43+rcd_45^0 == 0 /\ -rcd_194^post43+rcd_194^0 == 0 /\ -__disjvr_27^post43+__disjvr_27^0 == 0 /\ temp_37^0-temp_37^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -x_207^post43+x_207^0 == 0 /\ __disjvr_8^0-__disjvr_8^post43 == 0 /\ __disjvr_20^0-__disjvr_20^post43 == 0 /\ -rcd_220^post43+rcd_220^0 == 0 /\ -__disjvr_4^post43+__disjvr_4^0 == 0 /\ __disjvr_13^0-__disjvr_13^post43 == 0 /\ __disjvr_21^0-__disjvr_21^post43 == 0 /\ rcd_71^0-rcd_71^post43 == 0 /\ -rcd_106^post43+rcd_106^0 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ -y_26^post43+y_26^0 == 0 /\ a_222^0-a_222^post43 == 0 /\ -len_221^post43+len_221^0 == 0 /\ __disjvr_25^0-__disjvr_25^post43 == 0 /\ __disjvr_14^0-__disjvr_14^post43 == 0 /\ -a_279^post43+a_279^0 == 0 /\ a_139^0-a_139^post43 == 0 /\ -a_309^post43+a_309^0 == 0 /\ -__disjvr_22^post43+__disjvr_22^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ -x_SLAM_f_20^post43+x_SLAM_f_20^0 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ -y_21^post43+y_21^0 == 0 /\ __disjvr_23^0-__disjvr_23^post43 == 0 /\ rcd_199^0-rcd_199^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post43 == 0 /\ i_198^0-i_198^post43 == 0 /\ -head_SLAM_f_30^post43+head_SLAM_f_30^0 == 0 /\ rcd_185^0-rcd_185^post43 == 0 /\ __disjvr_10^0-__disjvr_10^post43 == 0 /\ -x_22^post43+x_22^0 == 0 /\ __disjvr_29^0-__disjvr_29^post43 == 0 /\ -i_130^post43+i_130^0 == 0 /\ r_192^0-r_192^post43 == 0 /\ tail_15^0-tail_15^post43 == 0 /\ temp_36^0-temp_36^post43 == 0 /\ __disjvr_5^0-__disjvr_5^post43 == 0 /\ -__disjvr_28^post43+__disjvr_28^0 == 0 /\ -rcd_308^post43+rcd_308^0 == 0), cost: 1 44: l41 -> l7 : __disjvr_0^0'=__disjvr_0^post44, a_253^0'=a_253^post44, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post44, __disjvr_21^0'=__disjvr_21^post44, x_27^0'=x_27^post44, __disjvr_3^0'=__disjvr_3^post44, rcd_220^0'=rcd_220^post44, __disjvr_14^0'=__disjvr_14^post44, head_33^0'=head_33^post44, __disjvr_24^0'=__disjvr_24^post44, temp_36^0'=temp_36^post44, r_192^0'=r_192^post44, __disjvr_8^0'=__disjvr_8^post44, a_139^0'=a_139^post44, result_11^0'=result_11^post44, __disjvr_19^0'=__disjvr_19^post44, i_31^0'=i_31^post44, __disjvr_29^0'=__disjvr_29^post44, x_22^0'=x_22^post44, rcd_193^0'=rcd_193^post44, __disjvr_11^0'=__disjvr_11^post44, a_309^0'=a_309^post44, tail_15^0'=tail_15^post44, length_29^0'=length_29^post44, x_SLAM_f_25^0'=x_SLAM_f_25^post44, __disjvr_5^0'=__disjvr_5^post44, rcd_288^0'=rcd_288^post44, __disjvr_16^0'=__disjvr_16^post44, i_112^0'=i_112^post44, __disjvr_26^0'=__disjvr_26^post44, tmp_35^0'=tmp_35^post44, rcd_106^0'=rcd_106^post44, a_222^0'=a_222^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post44, __disjvr_20^0'=__disjvr_20^post44, len_221^0'=len_221^post44, __disjvr_30^0'=__disjvr_30^post44, rcd_199^0'=rcd_199^post44, __disjvr_13^0'=__disjvr_13^post44, head_16^0'=head_16^post44, __disjvr_23^0'=__disjvr_23^post44, temp0_32^0'=temp0_32^post44, r_149^0'=r_149^post44, y_26^0'=y_26^post44, __disjvr_7^0'=__disjvr_7^post44, rcd_320^0'=rcd_320^post44, rcd_71^0'=rcd_71^post44, __disjvr_18^0'=__disjvr_18^post44, i_198^0'=i_198^post44, __disjvr_28^0'=__disjvr_28^post44, x_207^0'=x_207^post44, rcd_185^0'=rcd_185^post44, __disjvr_10^0'=__disjvr_10^post44, a_279^0'=a_279^post44, t_23^0'=t_23^post44, __disjvr_22^0'=__disjvr_22^post44, x_SLAM_f_20^0'=x_SLAM_f_20^post44, __disjvr_4^0'=__disjvr_4^post44, rcd_284^0'=rcd_284^post44, __disjvr_15^0'=__disjvr_15^post44, head_SLAM_f_30^0'=head_SLAM_f_30^post44, __disjvr_25^0'=__disjvr_25^post44, temp_37^0'=temp_37^post44, r_41^0'=r_41^post44, __disjvr_9^0'=__disjvr_9^post44, a_174^0'=a_174^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post44, __disjvr_1^0'=__disjvr_1^post44, len_159^0'=len_159^post44, __disjvr_2^0'=__disjvr_2^post44, rcd_194^0'=rcd_194^post44, __disjvr_12^0'=__disjvr_12^post44, f_202^0'=f_202^post44, temp0_19^0'=temp0_19^post44, nondet_12^0'=nondet_12^post44, y_21^0'=y_21^post44, __disjvr_6^0'=__disjvr_6^post44, rcd_308^0'=rcd_308^post44, rcd_45^0'=rcd_45^post44, __disjvr_17^0'=__disjvr_17^post44, i_130^0'=i_130^post44, __disjvr_27^0'=__disjvr_27^post44, x_154^0'=x_154^post44, rcd_114^0'=rcd_114^post44, (-__disjvr_20^post44+__disjvr_20^0 == 0 /\ -x_154^post44+x_154^0 == 0 /\ y_26^0-y_26^post44 == 0 /\ -__disjvr_5^post44+__disjvr_5^0 == 0 /\ -i_198^post44+i_198^0 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ -rcd_193^post44+rcd_193^0 == 0 /\ len_221^0-len_221^post44 == 0 /\ __disjvr_18^0-__disjvr_18^post44 == 0 /\ -rcd_185^post44+rcd_185^0 == 0 /\ -rcd_288^post44+rcd_288^0 == 0 /\ __disjvr_28^0-__disjvr_28^post44 == 0 /\ length_29^0-length_29^post44 == 0 /\ -head_SLAM_f_30^post44+head_SLAM_f_30^0 == 0 /\ __disjvr_26^0-__disjvr_26^post44 == 0 /\ -__disjvr_22^post44+__disjvr_22^0 == 0 /\ -__disjvr_7^post44+__disjvr_7^0 == 0 /\ -rcd_194^post44+rcd_194^0 == 0 /\ __disjvr_11^0-__disjvr_11^post44 == 0 /\ -a_174^post44+a_174^0 == 0 /\ -__disjvr_10^post44+__disjvr_10^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post44 == 0 /\ -y_21^post44+y_21^0 == 0 /\ -rcd_308^post44+rcd_308^0 == 0 /\ a_309^0-a_309^post44 == 0 /\ -__disjvr_23^post44+__disjvr_23^0 == 0 /\ -i_130^post44+i_130^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post44 == 0 /\ -rcd_45^post44+rcd_45^0 == 0 /\ head_33^0-head_33^post44 == 0 /\ x_27^0-x_27^post44 == 0 /\ -i_112^post44+i_112^0 == 0 /\ -head_16^post44+head_16^0 == 0 /\ -rcd_284^post44+rcd_284^0 == 0 /\ __disjvr_13^0-__disjvr_13^post44 == 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ -rcd_320^post44+rcd_320^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post44 == 0 /\ x_207^0-x_207^post44 == 0 /\ -__disjvr_6^post44+__disjvr_6^0 == 0 /\ -temp0_19^post44+temp0_19^0 == 0 /\ i_31^0-i_31^post44 == 0 /\ -nondet_12^post44+nondet_12^0 == 0 /\ r_192^0-r_192^post44 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ a_253^0-a_253^post44 == 0 /\ -rcd_71^post44+rcd_71^0 == 0 /\ tmp_35^0-tmp_35^post44 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ __disjvr_8^0-__disjvr_8^post44 == 0 /\ -rcd_114^post44+rcd_114^0 == 0 /\ -rcd_106^post44+rcd_106^0 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ r_41^0-r_41^post44 == 0 /\ a_139^0-a_139^post44 == 0 /\ -__disjvr_19^post44+__disjvr_19^0 == 0 /\ r_149^0-r_149^post44 == 0 /\ __disjvr_30^0-__disjvr_30^post44 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post44 == 0 /\ -t_23^post44+t_23^0 == 0 /\ x_22^0-x_22^post44 == 0 /\ a_222^0-a_222^post44 == 0 /\ -f_202^post44+f_202^0 == 0 /\ -__disjvr_4^post44+__disjvr_4^0 == 0 /\ -tail_15^post44+tail_15^0 == 0 /\ __disjvr_24^0-__disjvr_24^post44 == 0 /\ -temp_37^post44+temp_37^0 == 0 /\ rcd_220^0-rcd_220^post44 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0 /\ -__disjvr_9^post44+__disjvr_9^0 == 0 /\ result_11^0-result_11^post44 == 0 /\ -__disjvr_27^post44+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post44+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ -__disjvr_2^post44+__disjvr_2^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post44 == 0 /\ -temp0_32^post44+temp0_32^0 == 0 /\ -rcd_199^post44+rcd_199^0 == 0 /\ __disjvr_15^0-__disjvr_15^post44 == 0 /\ -a_279^post44+a_279^0 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ -__disjvr_25^post44+__disjvr_25^0 == 0 /\ -len_159^post44+len_159^0 == 0 /\ temp_36^0-temp_36^post44 == 0), cost: 1 45: l42 -> l43 : __disjvr_0^0'=__disjvr_0^post45, a_253^0'=a_253^post45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, __disjvr_21^0'=__disjvr_21^post45, x_27^0'=x_27^post45, __disjvr_3^0'=__disjvr_3^post45, rcd_220^0'=rcd_220^post45, __disjvr_14^0'=__disjvr_14^post45, head_33^0'=head_33^post45, __disjvr_24^0'=__disjvr_24^post45, temp_36^0'=temp_36^post45, r_192^0'=r_192^post45, __disjvr_8^0'=__disjvr_8^post45, a_139^0'=a_139^post45, result_11^0'=result_11^post45, __disjvr_19^0'=__disjvr_19^post45, i_31^0'=i_31^post45, __disjvr_29^0'=__disjvr_29^post45, x_22^0'=x_22^post45, rcd_193^0'=rcd_193^post45, __disjvr_11^0'=__disjvr_11^post45, a_309^0'=a_309^post45, tail_15^0'=tail_15^post45, length_29^0'=length_29^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post45, __disjvr_5^0'=__disjvr_5^post45, rcd_288^0'=rcd_288^post45, __disjvr_16^0'=__disjvr_16^post45, i_112^0'=i_112^post45, __disjvr_26^0'=__disjvr_26^post45, tmp_35^0'=tmp_35^post45, rcd_106^0'=rcd_106^post45, a_222^0'=a_222^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post45, __disjvr_20^0'=__disjvr_20^post45, len_221^0'=len_221^post45, __disjvr_30^0'=__disjvr_30^post45, rcd_199^0'=rcd_199^post45, __disjvr_13^0'=__disjvr_13^post45, head_16^0'=head_16^post45, __disjvr_23^0'=__disjvr_23^post45, temp0_32^0'=temp0_32^post45, r_149^0'=r_149^post45, y_26^0'=y_26^post45, __disjvr_7^0'=__disjvr_7^post45, rcd_320^0'=rcd_320^post45, rcd_71^0'=rcd_71^post45, __disjvr_18^0'=__disjvr_18^post45, i_198^0'=i_198^post45, __disjvr_28^0'=__disjvr_28^post45, x_207^0'=x_207^post45, rcd_185^0'=rcd_185^post45, __disjvr_10^0'=__disjvr_10^post45, a_279^0'=a_279^post45, t_23^0'=t_23^post45, __disjvr_22^0'=__disjvr_22^post45, x_SLAM_f_20^0'=x_SLAM_f_20^post45, __disjvr_4^0'=__disjvr_4^post45, rcd_284^0'=rcd_284^post45, __disjvr_15^0'=__disjvr_15^post45, head_SLAM_f_30^0'=head_SLAM_f_30^post45, __disjvr_25^0'=__disjvr_25^post45, temp_37^0'=temp_37^post45, r_41^0'=r_41^post45, __disjvr_9^0'=__disjvr_9^post45, a_174^0'=a_174^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, __disjvr_1^0'=__disjvr_1^post45, len_159^0'=len_159^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_194^0'=rcd_194^post45, __disjvr_12^0'=__disjvr_12^post45, f_202^0'=f_202^post45, temp0_19^0'=temp0_19^post45, nondet_12^0'=nondet_12^post45, y_21^0'=y_21^post45, __disjvr_6^0'=__disjvr_6^post45, rcd_308^0'=rcd_308^post45, rcd_45^0'=rcd_45^post45, __disjvr_17^0'=__disjvr_17^post45, i_130^0'=i_130^post45, __disjvr_27^0'=__disjvr_27^post45, x_154^0'=x_154^post45, rcd_114^0'=rcd_114^post45, (0 == 0 /\ -__disjvr_10^post45+__disjvr_10^0 == 0 /\ -__disjvr_25^post45+__disjvr_25^0 == 0 /\ a_139^0-a_139^post45 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -i_112^post45+i_112^0 == 0 /\ __disjvr_1^0-__disjvr_1^post45 == 0 /\ r_192^0-r_192^post45 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ -i_130^post45+i_130^0 == 0 /\ -__disjvr_4^post45+__disjvr_4^0 == 0 /\ -temp_37^post45+temp_37^0 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ -__disjvr_27^post45+__disjvr_27^0 == 0 /\ y_26^0-y_26^post45 == 0 /\ __disjvr_19^0-__disjvr_19^post45 == 0 /\ -__disjvr_26^post45+__disjvr_26^0 == 0 /\ head_33^0-head_33^post45 == 0 /\ length_29^0-length_29^post45 == 0 /\ -rcd_308^post45+rcd_308^0 == 0 /\ -a_309^post45+a_309^0 == 0 /\ -y_21^post45+y_21^0 == 0 /\ -__disjvr_22^post45+__disjvr_22^0 == 0 /\ rcd_220^0-rcd_220^post45 == 0 /\ -i_31^post45+i_31^0 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ __disjvr_16^0-__disjvr_16^post45 == 0 /\ __disjvr_13^0-__disjvr_13^post45 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ -x_154^post45+x_154^0 == 0 /\ x_207^0-x_207^post45 == 0 /\ -rcd_193^post45+rcd_193^0 == 0 /\ -__disjvr_6^post45+__disjvr_6^0 == 0 /\ __disjvr_3^0-__disjvr_3^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ __disjvr_29^0-__disjvr_29^post45 == 0 /\ rcd_320^0-rcd_320^post45 == 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ -__disjvr_28^post45+__disjvr_28^0 == 0 /\ __disjvr_11^0-__disjvr_11^post45 == 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ __disjvr_18^0-__disjvr_18^post45 == 0 /\ -rcd_71^post45+rcd_71^0 == 0 /\ a_253^0-a_253^post45 == 0 /\ temp0_19^0-temp0_19^post45 == 0 /\ __disjvr_30^0-__disjvr_30^post45 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post45 == 0 /\ __disjvr_8^0-__disjvr_8^post45 == 0 /\ -f_202^post45+f_202^0 == 0 /\ -t_23^post45+t_23^0 == 0 /\ -rcd_45^post45+rcd_45^0 == 0 /\ rcd_106^0-rcd_106^post45 == 0 /\ -temp0_32^post45+temp0_32^0 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0 /\ temp_36^0-temp_36^post45 == 0 /\ -a_174^post45+a_174^0 == 0 /\ -__disjvr_2^post45+__disjvr_2^0 == 0 /\ -r_41^post45+r_41^0 == 0 /\ -rcd_199^post45+rcd_199^0 == 0 /\ __disjvr_0^0-__disjvr_0^post45 == 0 /\ -i_198^post45+i_198^0 == 0 /\ x_22^0-x_22^post45 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post45 == 0 /\ x_27^0-x_27^post45 == 0 /\ -rcd_185^post45+rcd_185^0 == 0 /\ r_149^0-r_149^post45 == 0 /\ a_279^0-a_279^post45 == 0 /\ __disjvr_21^0-__disjvr_21^post45 == 0 /\ tmp_35^0-tmp_35^post45 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ len_221^0-len_221^post45 == 0 /\ -rcd_114^post45+rcd_114^0 == 0 /\ a_222^0-a_222^post45 == 0 /\ -len_159^post45+len_159^0 == 0 /\ -len_159^0 <= 0 /\ -rcd_194^post45+rcd_194^0 == 0), cost: 1 46: l43 -> l44 : __disjvr_0^0'=__disjvr_0^post46, a_253^0'=a_253^post46, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post46, __disjvr_21^0'=__disjvr_21^post46, x_27^0'=x_27^post46, __disjvr_3^0'=__disjvr_3^post46, rcd_220^0'=rcd_220^post46, __disjvr_14^0'=__disjvr_14^post46, head_33^0'=head_33^post46, __disjvr_24^0'=__disjvr_24^post46, temp_36^0'=temp_36^post46, r_192^0'=r_192^post46, __disjvr_8^0'=__disjvr_8^post46, a_139^0'=a_139^post46, result_11^0'=result_11^post46, __disjvr_19^0'=__disjvr_19^post46, i_31^0'=i_31^post46, __disjvr_29^0'=__disjvr_29^post46, x_22^0'=x_22^post46, rcd_193^0'=rcd_193^post46, __disjvr_11^0'=__disjvr_11^post46, a_309^0'=a_309^post46, tail_15^0'=tail_15^post46, length_29^0'=length_29^post46, x_SLAM_f_25^0'=x_SLAM_f_25^post46, __disjvr_5^0'=__disjvr_5^post46, rcd_288^0'=rcd_288^post46, __disjvr_16^0'=__disjvr_16^post46, i_112^0'=i_112^post46, __disjvr_26^0'=__disjvr_26^post46, tmp_35^0'=tmp_35^post46, rcd_106^0'=rcd_106^post46, a_222^0'=a_222^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post46, __disjvr_20^0'=__disjvr_20^post46, len_221^0'=len_221^post46, __disjvr_30^0'=__disjvr_30^post46, rcd_199^0'=rcd_199^post46, __disjvr_13^0'=__disjvr_13^post46, head_16^0'=head_16^post46, __disjvr_23^0'=__disjvr_23^post46, temp0_32^0'=temp0_32^post46, r_149^0'=r_149^post46, y_26^0'=y_26^post46, __disjvr_7^0'=__disjvr_7^post46, rcd_320^0'=rcd_320^post46, rcd_71^0'=rcd_71^post46, __disjvr_18^0'=__disjvr_18^post46, i_198^0'=i_198^post46, __disjvr_28^0'=__disjvr_28^post46, x_207^0'=x_207^post46, rcd_185^0'=rcd_185^post46, __disjvr_10^0'=__disjvr_10^post46, a_279^0'=a_279^post46, t_23^0'=t_23^post46, __disjvr_22^0'=__disjvr_22^post46, x_SLAM_f_20^0'=x_SLAM_f_20^post46, __disjvr_4^0'=__disjvr_4^post46, rcd_284^0'=rcd_284^post46, __disjvr_15^0'=__disjvr_15^post46, head_SLAM_f_30^0'=head_SLAM_f_30^post46, __disjvr_25^0'=__disjvr_25^post46, temp_37^0'=temp_37^post46, r_41^0'=r_41^post46, __disjvr_9^0'=__disjvr_9^post46, a_174^0'=a_174^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46, __disjvr_1^0'=__disjvr_1^post46, len_159^0'=len_159^post46, __disjvr_2^0'=__disjvr_2^post46, rcd_194^0'=rcd_194^post46, __disjvr_12^0'=__disjvr_12^post46, f_202^0'=f_202^post46, temp0_19^0'=temp0_19^post46, nondet_12^0'=nondet_12^post46, y_21^0'=y_21^post46, __disjvr_6^0'=__disjvr_6^post46, rcd_308^0'=rcd_308^post46, rcd_45^0'=rcd_45^post46, __disjvr_17^0'=__disjvr_17^post46, i_130^0'=i_130^post46, __disjvr_27^0'=__disjvr_27^post46, x_154^0'=x_154^post46, rcd_114^0'=rcd_114^post46, (rcd_288^0-rcd_288^post46 == 0 /\ rcd_106^0-rcd_106^post46 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post46 == 0 /\ a_279^0-a_279^post46 == 0 /\ -__disjvr_25^post46+__disjvr_25^0 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ -a_309^post46+a_309^0 == 0 /\ rcd_199^0-rcd_199^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ x_27^0-x_27^post46 == 0 /\ temp_36^0-temp_36^post46 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46 == 0 /\ __disjvr_19^0-__disjvr_19^post46 == 0 /\ -__disjvr_4^post46+__disjvr_4^0 == 0 /\ -rcd_320^post46+rcd_320^0 == 0 /\ a_253^0-a_253^post46 == 0 /\ __disjvr_21^0-__disjvr_21^post46 == 0 /\ __disjvr_3^0-__disjvr_3^post46 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ -rcd_71^post46+rcd_71^0 == 0 /\ i_112^0-i_112^post46 == 0 /\ -i_130^post46+i_130^0 == 0 /\ __disjvr_28^0-__disjvr_28^post46 == 0 /\ -__disjvr_22^post46+__disjvr_22^0 == 0 /\ a_139^0-a_139^post46 == 0 /\ a_222^0-a_222^post46 == 0 /\ __disjvr_11^0-__disjvr_11^post46 == 0 /\ __disjvr_1^0-__disjvr_1^post46 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ head_16^0-head_16^post46 == 0 /\ -__disjvr_19^0+__disjvr_19^post46 == 0 /\ __disjvr_26^0-__disjvr_26^post46 == 0 /\ rcd_220^0-rcd_220^post46 == 0 /\ -x_SLAM_f_20^post46+x_SLAM_f_20^0 == 0 /\ -y_21^post46+y_21^0 == 0 /\ __disjvr_2^0-__disjvr_2^post46 == 0 /\ x_22^0-x_22^post46 == 0 /\ r_149^0-r_149^post46 == 0 /\ -temp_37^post46+temp_37^0 == 0 /\ -rcd_308^post46+rcd_308^0 == 0 /\ -__disjvr_8^post46+__disjvr_8^0 == 0 /\ -rcd_185^post46+rcd_185^0 == 0 /\ temp0_19^0-temp0_19^post46 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ x_207^0-x_207^post46 == 0 /\ i_31^0-i_31^post46 == 0 /\ result_11^0-result_11^post46 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ -rcd_284^post46+rcd_284^0 == 0 /\ r_41^0-r_41^post46 == 0 /\ -f_202^post46+f_202^0 == 0 /\ rcd_193^0-rcd_193^post46 == 0 /\ -temp0_32^post46+temp0_32^0 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ __disjvr_15^0-__disjvr_15^post46 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post46 == 0 /\ -head_SLAM_f_30^post46+head_SLAM_f_30^0 == 0 /\ -__disjvr_18^post46+__disjvr_18^0 == 0 /\ -tail_15^post46+tail_15^0 == 0 /\ -nondet_12^post46+nondet_12^0 == 0 /\ -x_154^post46+x_154^0 == 0 /\ -len_159^post46+len_159^0 == 0 /\ -a_174^post46+a_174^0 == 0 /\ -head_33^post46+head_33^0 == 0 /\ -i_198^post46+i_198^0 == 0 /\ -__disjvr_6^post46+__disjvr_6^0 == 0 /\ -__disjvr_13^post46+__disjvr_13^0 == 0 /\ __disjvr_30^0-__disjvr_30^post46 == 0 /\ -y_26^post46+y_26^0 == 0 /\ r_192^0-r_192^post46 == 0 /\ tmp_35^0-tmp_35^post46 == 0 /\ -rcd_45^post46+rcd_45^0 == 0 /\ length_29^0-length_29^post46 == 0 /\ -rcd_114^post46+rcd_114^0 == 0 /\ -t_23^post46+t_23^0 == 0 /\ __disjvr_16^0-__disjvr_16^post46 == 0 /\ -__disjvr_29^post46+__disjvr_29^0 == 0 /\ -rcd_194^post46+rcd_194^0 == 0 /\ len_221^0-len_221^post46 == 0 /\ -__disjvr_5^post46+__disjvr_5^0 == 0 /\ -__disjvr_10^post46+__disjvr_10^0 == 0 /\ -__disjvr_7^post46+__disjvr_7^0 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post46 == 0), cost: 1 47: l44 -> l45 : __disjvr_0^0'=__disjvr_0^post47, a_253^0'=a_253^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post47, __disjvr_21^0'=__disjvr_21^post47, x_27^0'=x_27^post47, __disjvr_3^0'=__disjvr_3^post47, rcd_220^0'=rcd_220^post47, __disjvr_14^0'=__disjvr_14^post47, head_33^0'=head_33^post47, __disjvr_24^0'=__disjvr_24^post47, temp_36^0'=temp_36^post47, r_192^0'=r_192^post47, __disjvr_8^0'=__disjvr_8^post47, a_139^0'=a_139^post47, result_11^0'=result_11^post47, __disjvr_19^0'=__disjvr_19^post47, i_31^0'=i_31^post47, __disjvr_29^0'=__disjvr_29^post47, x_22^0'=x_22^post47, rcd_193^0'=rcd_193^post47, __disjvr_11^0'=__disjvr_11^post47, a_309^0'=a_309^post47, tail_15^0'=tail_15^post47, length_29^0'=length_29^post47, x_SLAM_f_25^0'=x_SLAM_f_25^post47, __disjvr_5^0'=__disjvr_5^post47, rcd_288^0'=rcd_288^post47, __disjvr_16^0'=__disjvr_16^post47, i_112^0'=i_112^post47, __disjvr_26^0'=__disjvr_26^post47, tmp_35^0'=tmp_35^post47, rcd_106^0'=rcd_106^post47, a_222^0'=a_222^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post47, __disjvr_20^0'=__disjvr_20^post47, len_221^0'=len_221^post47, __disjvr_30^0'=__disjvr_30^post47, rcd_199^0'=rcd_199^post47, __disjvr_13^0'=__disjvr_13^post47, head_16^0'=head_16^post47, __disjvr_23^0'=__disjvr_23^post47, temp0_32^0'=temp0_32^post47, r_149^0'=r_149^post47, y_26^0'=y_26^post47, __disjvr_7^0'=__disjvr_7^post47, rcd_320^0'=rcd_320^post47, rcd_71^0'=rcd_71^post47, __disjvr_18^0'=__disjvr_18^post47, i_198^0'=i_198^post47, __disjvr_28^0'=__disjvr_28^post47, x_207^0'=x_207^post47, rcd_185^0'=rcd_185^post47, __disjvr_10^0'=__disjvr_10^post47, a_279^0'=a_279^post47, t_23^0'=t_23^post47, __disjvr_22^0'=__disjvr_22^post47, x_SLAM_f_20^0'=x_SLAM_f_20^post47, __disjvr_4^0'=__disjvr_4^post47, rcd_284^0'=rcd_284^post47, __disjvr_15^0'=__disjvr_15^post47, head_SLAM_f_30^0'=head_SLAM_f_30^post47, __disjvr_25^0'=__disjvr_25^post47, temp_37^0'=temp_37^post47, r_41^0'=r_41^post47, __disjvr_9^0'=__disjvr_9^post47, a_174^0'=a_174^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47, __disjvr_1^0'=__disjvr_1^post47, len_159^0'=len_159^post47, __disjvr_2^0'=__disjvr_2^post47, rcd_194^0'=rcd_194^post47, __disjvr_12^0'=__disjvr_12^post47, f_202^0'=f_202^post47, temp0_19^0'=temp0_19^post47, nondet_12^0'=nondet_12^post47, y_21^0'=y_21^post47, __disjvr_6^0'=__disjvr_6^post47, rcd_308^0'=rcd_308^post47, rcd_45^0'=rcd_45^post47, __disjvr_17^0'=__disjvr_17^post47, i_130^0'=i_130^post47, __disjvr_27^0'=__disjvr_27^post47, x_154^0'=x_154^post47, rcd_114^0'=rcd_114^post47, (0 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ -rcd_71^post47+rcd_71^0 == 0 /\ x_22^0-x_22^post47 == 0 /\ head_33^0-head_33^post47 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ -r_41^post47+r_41^0 == 0 /\ -x_22^0+t_23^post47 == 0 /\ -temp0_19^post47+temp0_19^0 == 0 /\ result_11^0-result_11^post47 == 0 /\ __disjvr_5^0-__disjvr_5^post47 == 0 /\ __disjvr_3^0-__disjvr_3^post47 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post47 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post47 == 0 /\ tail_15^0-y_21^0 <= 0 /\ rcd_199^0-rcd_199^post47 == 0 /\ -rcd_45^post47+rcd_45^0 == 0 /\ -tail_15^post47+tail_15^0 == 0 /\ -__disjvr_4^post47+__disjvr_4^0 == 0 /\ y_26^0-y_26^post47 == 0 /\ len_221^0-len_221^post47 == 0 /\ tmp_35^0-tmp_35^post47 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ -a_174^post47+a_174^0 == 0 /\ -f_202^post47+f_202^0 == 0 /\ length_29^0-length_29^post47 == 0 /\ i_112^0-i_112^post47 == 0 /\ __disjvr_26^0-__disjvr_26^post47 == 0 /\ -__disjvr_9^post47+__disjvr_9^0 == 0 /\ -__disjvr_27^post47+__disjvr_27^0 == 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ -len_159^post47+len_159^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_2^0-__disjvr_2^post47 == 0 /\ -rcd_114^post47+rcd_114^0 == 0 /\ -temp0_32^post47+temp0_32^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -tail_15^0+y_21^0 <= 0 /\ a_309^0-a_309^post47 == 0 /\ -__disjvr_25^post47+__disjvr_25^0 == 0 /\ -t_23^post47+head_16^0 <= 0 /\ -__disjvr_20^post47+__disjvr_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post47 == 0 /\ a_222^0-a_222^post47 == 0 /\ rcd_220^0-rcd_220^post47 == 0 /\ -i_198^post47+i_198^0 == 0 /\ __disjvr_19^0-__disjvr_19^post47 == 0 /\ -rcd_284^0+rcd_45^0 <= 0 /\ -a_279^0+a_253^post47 <= 0 /\ x_27^0-x_27^post47 == 0 /\ __disjvr_24^0-__disjvr_24^post47 == 0 /\ -rcd_185^post47+rcd_185^0 == 0 /\ rcd_193^0-rcd_193^post47 == 0 /\ y_21^0-y_21^post47 == 0 /\ -head_SLAM_f_30^post47+head_SLAM_f_30^0 == 0 /\ -__disjvr_22^post47+__disjvr_22^0 == 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ a_279^0-a_279^post47 == 0 /\ -temp_37^post47+temp_37^0 == 0 /\ -rcd_288^post47+rcd_288^0 == 0 /\ -__disjvr_10^post47+__disjvr_10^0 == 0 /\ __disjvr_15^0-__disjvr_15^post47 == 0 /\ i_31^0-i_31^post47 == 0 /\ -__disjvr_23^post47+__disjvr_23^0 == 0 /\ -__disjvr_21^post47+__disjvr_21^0 == 0 /\ -rcd_308^post47+rcd_308^0 == 0 /\ -rcd_194^post47+rcd_194^0 == 0 /\ i_130^0-i_130^post47 == 0 /\ t_23^post47-head_16^0 <= 0 /\ r_192^0-r_192^post47 == 0 /\ -temp_36^post47+temp_36^0 == 0 /\ __disjvr_29^0-__disjvr_29^post47 == 0 /\ -x_207^post47+x_207^0 == 0 /\ rcd_284^0-rcd_45^0 <= 0 /\ a_279^0-a_253^post47 <= 0 /\ __disjvr_28^0-__disjvr_28^post47 == 0 /\ __disjvr_18^0-__disjvr_18^post47 == 0 /\ -__disjvr_8^post47+__disjvr_8^0 == 0 /\ head_16^0-head_16^post47 == 0 /\ -rcd_284^post47+rcd_284^0 == 0 /\ __disjvr_30^0-__disjvr_30^post47 == 0 /\ rcd_106^0-rcd_106^post47 == 0 /\ -x_154^post47+x_154^0 == 0 /\ -__disjvr_17^post47+__disjvr_17^0 == 0 /\ a_139^0-a_139^post47 == 0 /\ __disjvr_11^0-__disjvr_11^post47 == 0 /\ -__disjvr_12^post47+__disjvr_12^0 == 0 /\ -rcd_320^post47+rcd_320^0 == 0 /\ -__disjvr_6^post47+__disjvr_6^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post47 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post47 == 0 /\ r_149^0-r_149^post47 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post47 == 0 /\ -nondet_12^post47+nondet_12^0 == 0), cost: 1 48: l45 -> l46 : __disjvr_0^0'=__disjvr_0^post48, a_253^0'=a_253^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post48, __disjvr_21^0'=__disjvr_21^post48, x_27^0'=x_27^post48, __disjvr_3^0'=__disjvr_3^post48, rcd_220^0'=rcd_220^post48, __disjvr_14^0'=__disjvr_14^post48, head_33^0'=head_33^post48, __disjvr_24^0'=__disjvr_24^post48, temp_36^0'=temp_36^post48, r_192^0'=r_192^post48, __disjvr_8^0'=__disjvr_8^post48, a_139^0'=a_139^post48, result_11^0'=result_11^post48, __disjvr_19^0'=__disjvr_19^post48, i_31^0'=i_31^post48, __disjvr_29^0'=__disjvr_29^post48, x_22^0'=x_22^post48, rcd_193^0'=rcd_193^post48, __disjvr_11^0'=__disjvr_11^post48, a_309^0'=a_309^post48, tail_15^0'=tail_15^post48, length_29^0'=length_29^post48, x_SLAM_f_25^0'=x_SLAM_f_25^post48, __disjvr_5^0'=__disjvr_5^post48, rcd_288^0'=rcd_288^post48, __disjvr_16^0'=__disjvr_16^post48, i_112^0'=i_112^post48, __disjvr_26^0'=__disjvr_26^post48, tmp_35^0'=tmp_35^post48, rcd_106^0'=rcd_106^post48, a_222^0'=a_222^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post48, __disjvr_20^0'=__disjvr_20^post48, len_221^0'=len_221^post48, __disjvr_30^0'=__disjvr_30^post48, rcd_199^0'=rcd_199^post48, __disjvr_13^0'=__disjvr_13^post48, head_16^0'=head_16^post48, __disjvr_23^0'=__disjvr_23^post48, temp0_32^0'=temp0_32^post48, r_149^0'=r_149^post48, y_26^0'=y_26^post48, __disjvr_7^0'=__disjvr_7^post48, rcd_320^0'=rcd_320^post48, rcd_71^0'=rcd_71^post48, __disjvr_18^0'=__disjvr_18^post48, i_198^0'=i_198^post48, __disjvr_28^0'=__disjvr_28^post48, x_207^0'=x_207^post48, rcd_185^0'=rcd_185^post48, __disjvr_10^0'=__disjvr_10^post48, a_279^0'=a_279^post48, t_23^0'=t_23^post48, __disjvr_22^0'=__disjvr_22^post48, x_SLAM_f_20^0'=x_SLAM_f_20^post48, __disjvr_4^0'=__disjvr_4^post48, rcd_284^0'=rcd_284^post48, __disjvr_15^0'=__disjvr_15^post48, head_SLAM_f_30^0'=head_SLAM_f_30^post48, __disjvr_25^0'=__disjvr_25^post48, temp_37^0'=temp_37^post48, r_41^0'=r_41^post48, __disjvr_9^0'=__disjvr_9^post48, a_174^0'=a_174^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48, __disjvr_1^0'=__disjvr_1^post48, len_159^0'=len_159^post48, __disjvr_2^0'=__disjvr_2^post48, rcd_194^0'=rcd_194^post48, __disjvr_12^0'=__disjvr_12^post48, f_202^0'=f_202^post48, temp0_19^0'=temp0_19^post48, nondet_12^0'=nondet_12^post48, y_21^0'=y_21^post48, __disjvr_6^0'=__disjvr_6^post48, rcd_308^0'=rcd_308^post48, rcd_45^0'=rcd_45^post48, __disjvr_17^0'=__disjvr_17^post48, i_130^0'=i_130^post48, __disjvr_27^0'=__disjvr_27^post48, x_154^0'=x_154^post48, rcd_114^0'=rcd_114^post48, (-__disjvr_6^post48+__disjvr_6^0 == 0 /\ rcd_220^0-rcd_220^post48 == 0 /\ -temp0_19^post48+temp0_19^0 == 0 /\ __disjvr_5^0-__disjvr_5^post48 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post48 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ x_27^0-x_27^post48 == 0 /\ __disjvr_13^0-__disjvr_13^post48 == 0 /\ __disjvr_16^0-__disjvr_16^post48 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0 /\ a_309^0-a_309^post48 == 0 /\ a_279^0-a_279^post48 == 0 /\ -f_202^post48+f_202^0 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ -rcd_284^post48+rcd_284^0 == 0 /\ len_221^0-len_221^post48 == 0 /\ a_222^0-a_222^post48 == 0 /\ -rcd_45^post48+rcd_45^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post48 == 0 /\ x_207^0-x_207^post48 == 0 /\ -__disjvr_2^post48+__disjvr_2^0 == 0 /\ -temp0_32^post48+temp0_32^0 == 0 /\ -__disjvr_15^post48+__disjvr_15^0 == 0 /\ -length_29^post48+length_29^0 == 0 /\ -rcd_71^post48+rcd_71^0 == 0 /\ -a_174^post48+a_174^0 == 0 /\ -i_198^post48+i_198^0 == 0 /\ -rcd_288^post48+rcd_288^0 == 0 /\ __disjvr_11^0-__disjvr_11^post48 == 0 /\ -rcd_114^post48+rcd_114^0 == 0 /\ r_192^0-r_192^post48 == 0 /\ __disjvr_29^0-__disjvr_29^post48 == 0 /\ -rcd_199^post48+rcd_199^0 == 0 /\ -r_149^post48+r_149^0 == 0 /\ -len_159^post48+len_159^0 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ rcd_185^0-rcd_185^post48 == 0 /\ -__disjvr_18^post48+__disjvr_18^0 == 0 /\ -__disjvr_9^post48+__disjvr_9^0 == 0 /\ __disjvr_30^0-__disjvr_30^post48 == 0 /\ -__disjvr_7^post48+__disjvr_7^0 == 0 /\ y_26^0-y_26^post48 == 0 /\ rcd_106^0-rcd_106^post48 == 0 /\ tail_15^0-tail_15^post48 == 0 /\ -rcd_194^post48+rcd_194^0 == 0 /\ -tmp_35^post48+tmp_35^0 == 0 /\ -__disjvr_25^post48+__disjvr_25^0 == 0 /\ -__disjvr_10^post48+__disjvr_10^0 == 0 /\ -__disjvr_19^post48+__disjvr_19^0 == 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ -i_112^post48+i_112^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post48 == 0 /\ x_22^0-x_22^post48 == 0 /\ t_23^0-t_23^post48 == 0 /\ __disjvr_20^0-__disjvr_20^post48 == 0 /\ -i_130^post48+i_130^0 == 0 /\ -__disjvr_4^post48+__disjvr_4^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ y_21^0-y_21^post48 == 0 /\ -rcd_320^post48+rcd_320^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post48 == 0 /\ head_16^0-head_16^post48 == 0 /\ -__disjvr_26^post48+__disjvr_26^0 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ -temp_36^post48+temp_36^0 == 0 /\ -temp_37^post48+temp_37^0 == 0 /\ a_139^0-a_139^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ -rcd_308^post48+rcd_308^0 == 0 /\ -__disjvr_22^post48+__disjvr_22^0 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ -x_SLAM_f_20^post48+x_SLAM_f_20^0 == 0 /\ r_41^0-r_41^post48 == 0 /\ -__disjvr_20^0+__disjvr_20^post48 == 0 /\ -i_31^post48+i_31^0 == 0 /\ a_253^0-a_253^post48 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post48 == 0 /\ __disjvr_8^0-__disjvr_8^post48 == 0 /\ __disjvr_28^0-__disjvr_28^post48 == 0 /\ -__disjvr_23^post48+__disjvr_23^0 == 0 /\ head_33^0-head_33^post48 == 0 /\ -x_154^post48+x_154^0 == 0 /\ -rcd_193^post48+rcd_193^0 == 0), cost: 1 49: l46 -> l47 : __disjvr_0^0'=__disjvr_0^post49, a_253^0'=a_253^post49, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, __disjvr_21^0'=__disjvr_21^post49, x_27^0'=x_27^post49, __disjvr_3^0'=__disjvr_3^post49, rcd_220^0'=rcd_220^post49, __disjvr_14^0'=__disjvr_14^post49, head_33^0'=head_33^post49, __disjvr_24^0'=__disjvr_24^post49, temp_36^0'=temp_36^post49, r_192^0'=r_192^post49, __disjvr_8^0'=__disjvr_8^post49, a_139^0'=a_139^post49, result_11^0'=result_11^post49, __disjvr_19^0'=__disjvr_19^post49, i_31^0'=i_31^post49, __disjvr_29^0'=__disjvr_29^post49, x_22^0'=x_22^post49, rcd_193^0'=rcd_193^post49, __disjvr_11^0'=__disjvr_11^post49, a_309^0'=a_309^post49, tail_15^0'=tail_15^post49, length_29^0'=length_29^post49, x_SLAM_f_25^0'=x_SLAM_f_25^post49, __disjvr_5^0'=__disjvr_5^post49, rcd_288^0'=rcd_288^post49, __disjvr_16^0'=__disjvr_16^post49, i_112^0'=i_112^post49, __disjvr_26^0'=__disjvr_26^post49, tmp_35^0'=tmp_35^post49, rcd_106^0'=rcd_106^post49, a_222^0'=a_222^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post49, __disjvr_20^0'=__disjvr_20^post49, len_221^0'=len_221^post49, __disjvr_30^0'=__disjvr_30^post49, rcd_199^0'=rcd_199^post49, __disjvr_13^0'=__disjvr_13^post49, head_16^0'=head_16^post49, __disjvr_23^0'=__disjvr_23^post49, temp0_32^0'=temp0_32^post49, r_149^0'=r_149^post49, y_26^0'=y_26^post49, __disjvr_7^0'=__disjvr_7^post49, rcd_320^0'=rcd_320^post49, rcd_71^0'=rcd_71^post49, __disjvr_18^0'=__disjvr_18^post49, i_198^0'=i_198^post49, __disjvr_28^0'=__disjvr_28^post49, x_207^0'=x_207^post49, rcd_185^0'=rcd_185^post49, __disjvr_10^0'=__disjvr_10^post49, a_279^0'=a_279^post49, t_23^0'=t_23^post49, __disjvr_22^0'=__disjvr_22^post49, x_SLAM_f_20^0'=x_SLAM_f_20^post49, __disjvr_4^0'=__disjvr_4^post49, rcd_284^0'=rcd_284^post49, __disjvr_15^0'=__disjvr_15^post49, head_SLAM_f_30^0'=head_SLAM_f_30^post49, __disjvr_25^0'=__disjvr_25^post49, temp_37^0'=temp_37^post49, r_41^0'=r_41^post49, __disjvr_9^0'=__disjvr_9^post49, a_174^0'=a_174^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post49, __disjvr_1^0'=__disjvr_1^post49, len_159^0'=len_159^post49, __disjvr_2^0'=__disjvr_2^post49, rcd_194^0'=rcd_194^post49, __disjvr_12^0'=__disjvr_12^post49, f_202^0'=f_202^post49, temp0_19^0'=temp0_19^post49, nondet_12^0'=nondet_12^post49, y_21^0'=y_21^post49, __disjvr_6^0'=__disjvr_6^post49, rcd_308^0'=rcd_308^post49, rcd_45^0'=rcd_45^post49, __disjvr_17^0'=__disjvr_17^post49, i_130^0'=i_130^post49, __disjvr_27^0'=__disjvr_27^post49, x_154^0'=x_154^post49, rcd_114^0'=rcd_114^post49, (y_26^0-y_26^post49 == 0 /\ -rcd_193^post49+rcd_193^0 == 0 /\ -rcd_308^post49+rcd_308^0 == 0 /\ -rcd_185^post49+rcd_185^0 == 0 /\ __disjvr_8^0-__disjvr_8^post49 == 0 /\ i_112^0-i_112^post49 == 0 /\ length_29^0-length_29^post49 == 0 /\ -f_202^post49+f_202^0 == 0 /\ -__disjvr_7^post49+__disjvr_7^0 == 0 /\ -rcd_288^post49+rcd_288^0 == 0 /\ __disjvr_28^0-__disjvr_28^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ __disjvr_11^0-__disjvr_11^post49 == 0 /\ -__disjvr_23^post49+__disjvr_23^0 == 0 /\ temp0_32^0-temp0_32^post49 == 0 /\ -__disjvr_6^post49+__disjvr_6^0 == 0 /\ -temp0_19^post49+temp0_19^0 == 0 /\ len_221^0-len_221^post49 == 0 /\ -i_198^post49+i_198^0 == 0 /\ rcd_220^0-rcd_220^post49 == 0 /\ -__disjvr_18^post49+__disjvr_18^0 == 0 /\ a_309^0-a_309^post49 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post49 == 0 /\ -x_154^post49+x_154^0 == 0 /\ -a_174^post49+a_174^0 == 0 /\ -nondet_12^post49+nondet_12^0 == 0 /\ head_16^0-head_16^post49 == 0 /\ x_22^0-x_22^post49 == 0 /\ -len_159^post49+len_159^0 == 0 /\ i_31^0-i_31^post49 == 0 /\ rcd_106^0-rcd_106^post49 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post49 == 0 /\ -__disjvr_13^post49+__disjvr_13^0 == 0 /\ head_33^0-head_33^post49 == 0 /\ -rcd_114^post49+rcd_114^0 == 0 /\ __disjvr_9^0-__disjvr_9^post49 == 0 /\ __disjvr_10^0-__disjvr_10^post49 == 0 /\ r_192^0-r_192^post49 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post49 == 0 /\ -rcd_194^post49+rcd_194^0 == 0 /\ x_27^0-x_27^post49 == 0 /\ -__disjvr_15^post49+__disjvr_15^0 == 0 /\ -x_207^post49+x_207^0 == 0 /\ -rcd_45^post49+rcd_45^0 == 0 /\ -__disjvr_5^post49+__disjvr_5^0 == 0 /\ a_253^0-a_253^post49 == 0 /\ __disjvr_21^0-__disjvr_21^post49 == 0 /\ -rcd_199^post49+rcd_199^0 == 0 /\ __disjvr_3^0-__disjvr_3^post49 == 0 /\ tmp_35^0-tmp_35^post49 == 0 /\ __disjvr_30^0-__disjvr_30^post49 == 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ -__disjvr_26^post49+__disjvr_26^0 == 0 /\ -__disjvr_12^post49+__disjvr_12^0 == 0 /\ a_139^0-a_139^post49 == 0 /\ __disjvr_16^0-__disjvr_16^post49 == 0 /\ a_222^0-a_222^post49 == 0 /\ r_41^0-r_41^post49 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ -a_279^post49+a_279^0 == 0 /\ -rcd_320^post49+rcd_320^0 == 0 /\ t_23^0-t_23^post49 == 0 /\ -__disjvr_19^post49+__disjvr_19^0 == 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ r_149^0-r_149^post49 == 0 /\ -__disjvr_1^post49+__disjvr_1^0 == 0 /\ -__disjvr_21^0+__disjvr_21^post49 == 0 /\ rcd_284^0-rcd_284^post49 == 0 /\ -__disjvr_4^post49+__disjvr_4^0 == 0 /\ -rcd_71^post49+rcd_71^0 == 0 /\ -i_130^post49+i_130^0 == 0 /\ -tail_15^post49+tail_15^0 == 0 /\ result_11^0-result_11^post49 == 0 /\ -__disjvr_22^post49+__disjvr_22^0 == 0 /\ temp_36^0-temp_36^post49 == 0 /\ __disjvr_29^0-__disjvr_29^post49 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 == 0 /\ -__disjvr_20^post49+__disjvr_20^0 == 0 /\ -temp_37^post49+temp_37^0 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ -__disjvr_25^post49+__disjvr_25^0 == 0 /\ -x_SLAM_f_20^post49+x_SLAM_f_20^0 == 0 /\ -y_21^post49+y_21^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post49 == 0), cost: 1 50: l47 -> l48 : __disjvr_0^0'=__disjvr_0^post50, a_253^0'=a_253^post50, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post50, __disjvr_21^0'=__disjvr_21^post50, x_27^0'=x_27^post50, __disjvr_3^0'=__disjvr_3^post50, rcd_220^0'=rcd_220^post50, __disjvr_14^0'=__disjvr_14^post50, head_33^0'=head_33^post50, __disjvr_24^0'=__disjvr_24^post50, temp_36^0'=temp_36^post50, r_192^0'=r_192^post50, __disjvr_8^0'=__disjvr_8^post50, a_139^0'=a_139^post50, result_11^0'=result_11^post50, __disjvr_19^0'=__disjvr_19^post50, i_31^0'=i_31^post50, __disjvr_29^0'=__disjvr_29^post50, x_22^0'=x_22^post50, rcd_193^0'=rcd_193^post50, __disjvr_11^0'=__disjvr_11^post50, a_309^0'=a_309^post50, tail_15^0'=tail_15^post50, length_29^0'=length_29^post50, x_SLAM_f_25^0'=x_SLAM_f_25^post50, __disjvr_5^0'=__disjvr_5^post50, rcd_288^0'=rcd_288^post50, __disjvr_16^0'=__disjvr_16^post50, i_112^0'=i_112^post50, __disjvr_26^0'=__disjvr_26^post50, tmp_35^0'=tmp_35^post50, rcd_106^0'=rcd_106^post50, a_222^0'=a_222^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post50, __disjvr_20^0'=__disjvr_20^post50, len_221^0'=len_221^post50, __disjvr_30^0'=__disjvr_30^post50, rcd_199^0'=rcd_199^post50, __disjvr_13^0'=__disjvr_13^post50, head_16^0'=head_16^post50, __disjvr_23^0'=__disjvr_23^post50, temp0_32^0'=temp0_32^post50, r_149^0'=r_149^post50, y_26^0'=y_26^post50, __disjvr_7^0'=__disjvr_7^post50, rcd_320^0'=rcd_320^post50, rcd_71^0'=rcd_71^post50, __disjvr_18^0'=__disjvr_18^post50, i_198^0'=i_198^post50, __disjvr_28^0'=__disjvr_28^post50, x_207^0'=x_207^post50, rcd_185^0'=rcd_185^post50, __disjvr_10^0'=__disjvr_10^post50, a_279^0'=a_279^post50, t_23^0'=t_23^post50, __disjvr_22^0'=__disjvr_22^post50, x_SLAM_f_20^0'=x_SLAM_f_20^post50, __disjvr_4^0'=__disjvr_4^post50, rcd_284^0'=rcd_284^post50, __disjvr_15^0'=__disjvr_15^post50, head_SLAM_f_30^0'=head_SLAM_f_30^post50, __disjvr_25^0'=__disjvr_25^post50, temp_37^0'=temp_37^post50, r_41^0'=r_41^post50, __disjvr_9^0'=__disjvr_9^post50, a_174^0'=a_174^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post50, __disjvr_1^0'=__disjvr_1^post50, len_159^0'=len_159^post50, __disjvr_2^0'=__disjvr_2^post50, rcd_194^0'=rcd_194^post50, __disjvr_12^0'=__disjvr_12^post50, f_202^0'=f_202^post50, temp0_19^0'=temp0_19^post50, nondet_12^0'=nondet_12^post50, y_21^0'=y_21^post50, __disjvr_6^0'=__disjvr_6^post50, rcd_308^0'=rcd_308^post50, rcd_45^0'=rcd_45^post50, __disjvr_17^0'=__disjvr_17^post50, i_130^0'=i_130^post50, __disjvr_27^0'=__disjvr_27^post50, x_154^0'=x_154^post50, rcd_114^0'=rcd_114^post50, (-__disjvr_20^post50+__disjvr_20^0 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ __disjvr_7^0-__disjvr_7^post50 == 0 /\ -__disjvr_2^post50+__disjvr_2^0 == 0 /\ r_192^0-r_192^post50 == 0 /\ __disjvr_1^0-__disjvr_1^post50 == 0 /\ -y_21^post50+y_21^0 == 0 /\ tail_15^0-tail_15^post50 == 0 /\ -i_198^post50+i_198^0 == 0 /\ -__disjvr_10^post50+__disjvr_10^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post50+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_35^post50+tmp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post50 == 0 /\ y_26^0-y_26^post50 == 0 /\ i_112^0-i_112^post50 == 0 /\ -a_222^post50+a_222^0 == 0 /\ -__disjvr_23^post50+__disjvr_23^0 == 0 /\ -__disjvr_27^post50+__disjvr_27^0 == 0 /\ -__disjvr_26^post50+__disjvr_26^0 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ -i_130^post50+i_130^0 == 0 /\ length_29^0-length_29^post50 == 0 /\ a_139^0-a_139^post50 == 0 /\ -temp_37^post50+temp_37^0 == 0 /\ -rcd_288^post50+rcd_288^0 == 0 /\ -rcd_308^post50+rcd_308^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post50 == 0 /\ -rcd_194^post50+rcd_194^0 == 0 /\ -__disjvr_15^post50+__disjvr_15^0 == 0 /\ -rcd_284^post50+rcd_284^0 == 0 /\ -x_207^post50+x_207^0 == 0 /\ rcd_220^0-rcd_220^post50 == 0 /\ rcd_185^0-rcd_185^post50 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ -nondet_12^post50+nondet_12^0 == 0 /\ __disjvr_5^0-__disjvr_5^post50 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ __disjvr_3^0-__disjvr_3^post50 == 0 /\ -x_154^post50+x_154^0 == 0 /\ -i_31^post50+i_31^0 == 0 /\ -rcd_320^post50+rcd_320^0 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ -rcd_193^post50+rcd_193^0 == 0 /\ -__disjvr_6^post50+__disjvr_6^0 == 0 /\ temp_36^0-temp_36^post50 == 0 /\ __disjvr_29^0-__disjvr_29^post50 == 0 /\ -rcd_71^post50+rcd_71^0 == 0 /\ -r_41^post50+r_41^0 == 0 /\ __disjvr_18^0-__disjvr_18^post50 == 0 /\ -__disjvr_13^post50+__disjvr_13^0 == 0 /\ a_253^0-a_253^post50 == 0 /\ temp0_19^0-temp0_19^post50 == 0 /\ head_16^0-head_16^post50 == 0 /\ -rcd_45^post50+rcd_45^0 == 0 /\ rcd_106^0-rcd_106^post50 == 0 /\ result_11^0-result_11^post50 == 0 /\ __disjvr_30^0-__disjvr_30^post50 == 0 /\ r_149^0-r_149^post50 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post50 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post50+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_8^0-__disjvr_8^post50 == 0 /\ __disjvr_11^0-__disjvr_11^post50 == 0 /\ __disjvr_16^0-__disjvr_16^post50 == 0 /\ __disjvr_22^0-__disjvr_22^post50 == 0 /\ -t_23^post50+t_23^0 == 0 /\ a_309^0-a_309^post50 == 0 /\ -len_221^post50+len_221^0 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ -__disjvr_25^post50+__disjvr_25^0 == 0 /\ x_27^0-x_27^post50 == 0 /\ x_22^0-x_22^post50 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ head_33^0-head_33^post50 == 0 /\ -a_174^post50+a_174^0 == 0 /\ __disjvr_19^0-__disjvr_19^post50 == 0 /\ -f_202^post50+f_202^0 == 0 /\ -rcd_199^post50+rcd_199^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post50 == 0 /\ -__disjvr_4^post50+__disjvr_4^0 == 0 /\ -len_159^post50+len_159^0 == 0 /\ -rcd_114^post50+rcd_114^0 == 0 /\ a_279^0-a_279^post50 == 0 /\ -temp0_32^post50+temp0_32^0 == 0 /\ -__disjvr_22^0+__disjvr_22^post50 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0), cost: 1 51: l48 -> l25 : __disjvr_0^0'=__disjvr_0^post51, a_253^0'=a_253^post51, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post51, __disjvr_21^0'=__disjvr_21^post51, x_27^0'=x_27^post51, __disjvr_3^0'=__disjvr_3^post51, rcd_220^0'=rcd_220^post51, __disjvr_14^0'=__disjvr_14^post51, head_33^0'=head_33^post51, __disjvr_24^0'=__disjvr_24^post51, temp_36^0'=temp_36^post51, r_192^0'=r_192^post51, __disjvr_8^0'=__disjvr_8^post51, a_139^0'=a_139^post51, result_11^0'=result_11^post51, __disjvr_19^0'=__disjvr_19^post51, i_31^0'=i_31^post51, __disjvr_29^0'=__disjvr_29^post51, x_22^0'=x_22^post51, rcd_193^0'=rcd_193^post51, __disjvr_11^0'=__disjvr_11^post51, a_309^0'=a_309^post51, tail_15^0'=tail_15^post51, length_29^0'=length_29^post51, x_SLAM_f_25^0'=x_SLAM_f_25^post51, __disjvr_5^0'=__disjvr_5^post51, rcd_288^0'=rcd_288^post51, __disjvr_16^0'=__disjvr_16^post51, i_112^0'=i_112^post51, __disjvr_26^0'=__disjvr_26^post51, tmp_35^0'=tmp_35^post51, rcd_106^0'=rcd_106^post51, a_222^0'=a_222^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post51, __disjvr_20^0'=__disjvr_20^post51, len_221^0'=len_221^post51, __disjvr_30^0'=__disjvr_30^post51, rcd_199^0'=rcd_199^post51, __disjvr_13^0'=__disjvr_13^post51, head_16^0'=head_16^post51, __disjvr_23^0'=__disjvr_23^post51, temp0_32^0'=temp0_32^post51, r_149^0'=r_149^post51, y_26^0'=y_26^post51, __disjvr_7^0'=__disjvr_7^post51, rcd_320^0'=rcd_320^post51, rcd_71^0'=rcd_71^post51, __disjvr_18^0'=__disjvr_18^post51, i_198^0'=i_198^post51, __disjvr_28^0'=__disjvr_28^post51, x_207^0'=x_207^post51, rcd_185^0'=rcd_185^post51, __disjvr_10^0'=__disjvr_10^post51, a_279^0'=a_279^post51, t_23^0'=t_23^post51, __disjvr_22^0'=__disjvr_22^post51, x_SLAM_f_20^0'=x_SLAM_f_20^post51, __disjvr_4^0'=__disjvr_4^post51, rcd_284^0'=rcd_284^post51, __disjvr_15^0'=__disjvr_15^post51, head_SLAM_f_30^0'=head_SLAM_f_30^post51, __disjvr_25^0'=__disjvr_25^post51, temp_37^0'=temp_37^post51, r_41^0'=r_41^post51, __disjvr_9^0'=__disjvr_9^post51, a_174^0'=a_174^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post51, __disjvr_1^0'=__disjvr_1^post51, len_159^0'=len_159^post51, __disjvr_2^0'=__disjvr_2^post51, rcd_194^0'=rcd_194^post51, __disjvr_12^0'=__disjvr_12^post51, f_202^0'=f_202^post51, temp0_19^0'=temp0_19^post51, nondet_12^0'=nondet_12^post51, y_21^0'=y_21^post51, __disjvr_6^0'=__disjvr_6^post51, rcd_308^0'=rcd_308^post51, rcd_45^0'=rcd_45^post51, __disjvr_17^0'=__disjvr_17^post51, i_130^0'=i_130^post51, __disjvr_27^0'=__disjvr_27^post51, x_154^0'=x_154^post51, rcd_114^0'=rcd_114^post51, (0 == 0 /\ -__disjvr_25^post51+__disjvr_25^0 == 0 /\ -i_112^post51+i_112^0 == 0 /\ __disjvr_11^0-__disjvr_11^post51 == 0 /\ -__disjvr_27^post51+__disjvr_27^0 == 0 /\ __disjvr_29^0-__disjvr_29^post51 == 0 /\ -__disjvr_4^post51+__disjvr_4^0 == 0 /\ -i_130^post51+i_130^0 == 0 /\ -x_22^post51+x_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post51 == 0 /\ __disjvr_1^0-__disjvr_1^post51 == 0 /\ __disjvr_9^0-__disjvr_9^post51 == 0 /\ a_253^0-a_253^post51 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post51+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_185^0-rcd_185^post51 == 0 /\ x_27^0-x_27^post51 == 0 /\ __disjvr_8^0-__disjvr_8^post51 == 0 /\ rcd_288^0-rcd_288^post51 == 0 /\ __disjvr_30^0-__disjvr_30^post51 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post51 == 0 /\ -__disjvr_26^post51+__disjvr_26^0 == 0 /\ -__disjvr_20^post51+__disjvr_20^0 == 0 /\ -rcd_320^post51+rcd_320^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1-a_253^0+len_159^post51 <= 0 /\ a_309^0-a_309^post51 == 0 /\ -rcd_308^post51+rcd_308^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ temp_36^0-temp_36^post51 == 0 /\ -y_21^post51+y_21^0 == 0 /\ __disjvr_5^0-__disjvr_5^post51 == 0 /\ __disjvr_0^0-__disjvr_0^post51 == 0 /\ -__disjvr_12^post51+__disjvr_12^0 == 0 /\ -__disjvr_17^post51+__disjvr_17^0 == 0 /\ -__disjvr_22^post51+__disjvr_22^0 == 0 /\ __disjvr_10^0-__disjvr_10^post51 == 0 /\ __disjvr_21^0-__disjvr_21^post51 == 0 /\ -__disjvr_23^post51+__disjvr_23^0 == 0 /\ -a_139^post51+a_139^0 == 0 /\ a_222^0-a_222^post51 == 0 /\ -rcd_106^post51+rcd_106^0 == 0 /\ -head_SLAM_f_30^post51+head_SLAM_f_30^0 == 0 /\ -x_154^post51+x_154^0 == 0 /\ head_16^0-head_16^post51 == 0 /\ __disjvr_2^0-__disjvr_2^post51 == 0 /\ -temp0_19^post51+temp0_19^0 == 0 /\ -__disjvr_6^post51+__disjvr_6^0 == 0 /\ __disjvr_18^0-__disjvr_18^post51 == 0 /\ x_207^0-x_207^post51 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post51 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post51 == 0 /\ r_41^0-r_41^post51 == 0 /\ -__disjvr_28^post51+__disjvr_28^0 == 0 /\ -f_202^post51+f_202^0 == 0 /\ -rcd_284^post51+rcd_284^0 == 0 /\ y_26^0-y_26^post51 == 0 /\ -length_29^post51+length_29^0 == 0 /\ -__disjvr_15^post51+__disjvr_15^0 == 0 /\ result_11^0-result_11^post51 == 0 /\ r_192^0-r_192^post51 == 0 /\ head_33^0-head_33^post51 == 0 /\ 1+a_253^0-len_159^post51 <= 0 /\ -temp0_32^post51+temp0_32^0 == 0 /\ -rcd_71^post51+rcd_71^0 == 0 /\ -tail_15^post51+tail_15^0 == 0 /\ rcd_45^0-rcd_45^post51 == 0 /\ -rcd_199^post51+rcd_199^0 == 0 /\ -__disjvr_13^post51+__disjvr_13^0 == 0 /\ rcd_220^0-rcd_220^post51 == 0 /\ -i_198^post51+i_198^0 == 0 /\ -rcd_114^post51+rcd_114^0 == 0 /\ t_23^0-t_23^post51 == 0 /\ __disjvr_24^0-__disjvr_24^post51 == 0 /\ __disjvr_16^0-__disjvr_16^post51 == 0 /\ __disjvr_19^0-__disjvr_19^post51 == 0 /\ -r_149^post51+r_149^0 == 0 /\ rcd_193^0-rcd_193^post51 == 0 /\ -a_279^post51+a_279^0 == 0 /\ temp_37^0-temp_37^post51 == 0 /\ -__disjvr_7^post51+__disjvr_7^0 == 0 /\ i_31^0-i_31^post51 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post51 == 0 /\ -rcd_194^post51+rcd_194^0 == 0 /\ -len_221^post51+len_221^0 == 0 /\ -tmp_35^post51+tmp_35^0 == 0 /\ __disjvr_3^0-__disjvr_3^post51 == 0 /\ -a_174^post51+a_174^0 == 0), cost: 1 52: l49 -> l24 : __disjvr_0^0'=__disjvr_0^post52, a_253^0'=a_253^post52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, __disjvr_21^0'=__disjvr_21^post52, x_27^0'=x_27^post52, __disjvr_3^0'=__disjvr_3^post52, rcd_220^0'=rcd_220^post52, __disjvr_14^0'=__disjvr_14^post52, head_33^0'=head_33^post52, __disjvr_24^0'=__disjvr_24^post52, temp_36^0'=temp_36^post52, r_192^0'=r_192^post52, __disjvr_8^0'=__disjvr_8^post52, a_139^0'=a_139^post52, result_11^0'=result_11^post52, __disjvr_19^0'=__disjvr_19^post52, i_31^0'=i_31^post52, __disjvr_29^0'=__disjvr_29^post52, x_22^0'=x_22^post52, rcd_193^0'=rcd_193^post52, __disjvr_11^0'=__disjvr_11^post52, a_309^0'=a_309^post52, tail_15^0'=tail_15^post52, length_29^0'=length_29^post52, x_SLAM_f_25^0'=x_SLAM_f_25^post52, __disjvr_5^0'=__disjvr_5^post52, rcd_288^0'=rcd_288^post52, __disjvr_16^0'=__disjvr_16^post52, i_112^0'=i_112^post52, __disjvr_26^0'=__disjvr_26^post52, tmp_35^0'=tmp_35^post52, rcd_106^0'=rcd_106^post52, a_222^0'=a_222^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post52, __disjvr_20^0'=__disjvr_20^post52, len_221^0'=len_221^post52, __disjvr_30^0'=__disjvr_30^post52, rcd_199^0'=rcd_199^post52, __disjvr_13^0'=__disjvr_13^post52, head_16^0'=head_16^post52, __disjvr_23^0'=__disjvr_23^post52, temp0_32^0'=temp0_32^post52, r_149^0'=r_149^post52, y_26^0'=y_26^post52, __disjvr_7^0'=__disjvr_7^post52, rcd_320^0'=rcd_320^post52, rcd_71^0'=rcd_71^post52, __disjvr_18^0'=__disjvr_18^post52, i_198^0'=i_198^post52, __disjvr_28^0'=__disjvr_28^post52, x_207^0'=x_207^post52, rcd_185^0'=rcd_185^post52, __disjvr_10^0'=__disjvr_10^post52, a_279^0'=a_279^post52, t_23^0'=t_23^post52, __disjvr_22^0'=__disjvr_22^post52, x_SLAM_f_20^0'=x_SLAM_f_20^post52, __disjvr_4^0'=__disjvr_4^post52, rcd_284^0'=rcd_284^post52, __disjvr_15^0'=__disjvr_15^post52, head_SLAM_f_30^0'=head_SLAM_f_30^post52, __disjvr_25^0'=__disjvr_25^post52, temp_37^0'=temp_37^post52, r_41^0'=r_41^post52, __disjvr_9^0'=__disjvr_9^post52, a_174^0'=a_174^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52, __disjvr_1^0'=__disjvr_1^post52, len_159^0'=len_159^post52, __disjvr_2^0'=__disjvr_2^post52, rcd_194^0'=rcd_194^post52, __disjvr_12^0'=__disjvr_12^post52, f_202^0'=f_202^post52, temp0_19^0'=temp0_19^post52, nondet_12^0'=nondet_12^post52, y_21^0'=y_21^post52, __disjvr_6^0'=__disjvr_6^post52, rcd_308^0'=rcd_308^post52, rcd_45^0'=rcd_45^post52, __disjvr_17^0'=__disjvr_17^post52, i_130^0'=i_130^post52, __disjvr_27^0'=__disjvr_27^post52, x_154^0'=x_154^post52, rcd_114^0'=rcd_114^post52, (0 == 0 /\ __disjvr_8^0-__disjvr_8^post52 == 0 /\ rcd_71^0-rcd_71^post52 == 0 /\ -r_149^post52+r_149^0 == 0 /\ -tail_15^post52+head_SLAM_f_30^post52 <= 0 /\ -tail_15^post52+head_SLAM_f_30^post52 == 0 /\ __disjvr_16^0-__disjvr_16^post52 == 0 /\ -tmp_35^post52+tmp_35^0 == 0 /\ -x_SLAM_f_20^post52+x_SLAM_f_20^0 == 0 /\ t_23^0-t_23^post52 == 0 /\ -__disjvr_1^post52+__disjvr_1^0 == 0 /\ -__disjvr_13^post52+__disjvr_13^0 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 == 0 /\ __disjvr_10^0-__disjvr_10^post52 == 0 /\ len_159^0-len_159^post52 == 0 /\ __disjvr_7^0-__disjvr_7^post52 == 0 /\ -__disjvr_15^post52+__disjvr_15^0 == 0 /\ -__disjvr_17^post52+__disjvr_17^0 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0 /\ head_33^post52-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ __disjvr_3^0-__disjvr_3^post52 == 0 /\ -i_31^post52 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post52 == 0 /\ rcd_288^0-rcd_288^post52 == 0 /\ rcd_106^0-rcd_106^post52 == 0 /\ tail_15^post52-head_SLAM_f_30^post52 <= 0 /\ -y_26^post52+y_26^0 == 0 /\ i_198^0-i_198^post52 == 0 /\ -r_41^post52+r_41^0 == 0 /\ -temp0_19^post52+temp0_19^0 == 0 /\ -__disjvr_9^post52+__disjvr_9^0 == 0 /\ __disjvr_29^0-__disjvr_29^post52 == 0 /\ -rcd_45^post52+rcd_45^0 == 0 /\ -__disjvr_18^post52+__disjvr_18^0 == 0 /\ -__disjvr_2^post52+__disjvr_2^0 == 0 /\ -a_174^post52+a_174^0 == 0 /\ f_202^0-f_202^post52 == 0 /\ -rcd_114^post52+rcd_114^0 == 0 /\ -head_33^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ __disjvr_19^0-__disjvr_19^post52 == 0 /\ -__disjvr_30^post52+__disjvr_30^0 == 0 /\ rcd_194^0-rcd_194^post52 == 0 /\ -a_279^post52+a_279^0 == 0 /\ __disjvr_5^0-__disjvr_5^post52 == 0 /\ a_253^0-a_253^post52 == 0 /\ x_27^0-x_27^post52 == 0 /\ rcd_220^0-rcd_220^post52 == 0 /\ tail_15^post52-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ a_309^0-a_309^post52 == 0 /\ -__disjvr_24^post52+__disjvr_24^0 == 0 /\ -x_207^post52+x_207^0 == 0 /\ __disjvr_23^0-__disjvr_23^post52 == 0 /\ -__disjvr_11^post52+__disjvr_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52+head_SLAM_f_30^post52 <= 0 /\ -y_21^post52+y_21^0 == 0 /\ a_139^0-a_139^post52 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ -rcd_320^post52+rcd_320^0 == 0 /\ rcd_284^0-rcd_284^post52 == 0 /\ tail_15^post52-temp_37^0 == 0 /\ i_31^post52 <= 0 /\ i_31^post52 == 0 /\ temp0_32^0-temp0_32^post52 == 0 /\ -length_29^post52+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 <= 0 /\ -__disjvr_25^post52+__disjvr_25^0 == 0 /\ -a_222^post52+a_222^0 == 0 /\ rcd_308^0-rcd_308^post52 == 0 /\ -head_33^post52+head_SLAM_f_30^post52 <= 0 /\ __disjvr_26^0-__disjvr_26^post52 == 0 /\ __disjvr_4^0-__disjvr_4^post52 == 0 /\ -__disjvr_14^post52+__disjvr_14^0 == 0 /\ -x_22^post52+x_22^0 == 0 /\ -x_154^post52+x_154^0 == 0 /\ -len_221^post52+len_221^0 == 0 /\ rcd_185^0-rcd_185^post52 == 0 /\ -tail_15^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ r_192^0-r_192^post52 == 0 /\ -rcd_193^post52+rcd_193^0 == 0 /\ -__disjvr_28^post52+__disjvr_28^0 == 0 /\ -head_16^post52+head_16^0 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post52 == 0 /\ result_11^0-result_11^post52 == 0 /\ rcd_199^0-rcd_199^post52 == 0 /\ i_112^0-i_112^post52 == 0 /\ __disjvr_22^0-__disjvr_22^post52 == 0 /\ -i_130^post52+i_130^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52-head_SLAM_f_30^post52 <= 0 /\ __disjvr_27^0-__disjvr_27^post52 == 0 /\ length_29^post52-result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 <= 0 /\ length_29^post52-result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 == 0 /\ -__disjvr_6^post52+__disjvr_6^0 == 0 /\ head_33^post52-head_SLAM_f_30^post52 <= 0 /\ head_33^post52-head_SLAM_f_30^post52 == 0 /\ __disjvr_20^0-__disjvr_20^post52 == 0 /\ temp_36^0-temp_36^post52 == 0), cost: 1 54: l50 -> l51 : __disjvr_0^0'=__disjvr_0^post54, a_253^0'=a_253^post54, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post54, __disjvr_21^0'=__disjvr_21^post54, x_27^0'=x_27^post54, __disjvr_3^0'=__disjvr_3^post54, rcd_220^0'=rcd_220^post54, __disjvr_14^0'=__disjvr_14^post54, head_33^0'=head_33^post54, __disjvr_24^0'=__disjvr_24^post54, temp_36^0'=temp_36^post54, r_192^0'=r_192^post54, __disjvr_8^0'=__disjvr_8^post54, a_139^0'=a_139^post54, result_11^0'=result_11^post54, __disjvr_19^0'=__disjvr_19^post54, i_31^0'=i_31^post54, __disjvr_29^0'=__disjvr_29^post54, x_22^0'=x_22^post54, rcd_193^0'=rcd_193^post54, __disjvr_11^0'=__disjvr_11^post54, a_309^0'=a_309^post54, tail_15^0'=tail_15^post54, length_29^0'=length_29^post54, x_SLAM_f_25^0'=x_SLAM_f_25^post54, __disjvr_5^0'=__disjvr_5^post54, rcd_288^0'=rcd_288^post54, __disjvr_16^0'=__disjvr_16^post54, i_112^0'=i_112^post54, __disjvr_26^0'=__disjvr_26^post54, tmp_35^0'=tmp_35^post54, rcd_106^0'=rcd_106^post54, a_222^0'=a_222^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post54, __disjvr_20^0'=__disjvr_20^post54, len_221^0'=len_221^post54, __disjvr_30^0'=__disjvr_30^post54, rcd_199^0'=rcd_199^post54, __disjvr_13^0'=__disjvr_13^post54, head_16^0'=head_16^post54, __disjvr_23^0'=__disjvr_23^post54, temp0_32^0'=temp0_32^post54, r_149^0'=r_149^post54, y_26^0'=y_26^post54, __disjvr_7^0'=__disjvr_7^post54, rcd_320^0'=rcd_320^post54, rcd_71^0'=rcd_71^post54, __disjvr_18^0'=__disjvr_18^post54, i_198^0'=i_198^post54, __disjvr_28^0'=__disjvr_28^post54, x_207^0'=x_207^post54, rcd_185^0'=rcd_185^post54, __disjvr_10^0'=__disjvr_10^post54, a_279^0'=a_279^post54, t_23^0'=t_23^post54, __disjvr_22^0'=__disjvr_22^post54, x_SLAM_f_20^0'=x_SLAM_f_20^post54, __disjvr_4^0'=__disjvr_4^post54, rcd_284^0'=rcd_284^post54, __disjvr_15^0'=__disjvr_15^post54, head_SLAM_f_30^0'=head_SLAM_f_30^post54, __disjvr_25^0'=__disjvr_25^post54, temp_37^0'=temp_37^post54, r_41^0'=r_41^post54, __disjvr_9^0'=__disjvr_9^post54, a_174^0'=a_174^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post54, __disjvr_1^0'=__disjvr_1^post54, len_159^0'=len_159^post54, __disjvr_2^0'=__disjvr_2^post54, rcd_194^0'=rcd_194^post54, __disjvr_12^0'=__disjvr_12^post54, f_202^0'=f_202^post54, temp0_19^0'=temp0_19^post54, nondet_12^0'=nondet_12^post54, y_21^0'=y_21^post54, __disjvr_6^0'=__disjvr_6^post54, rcd_308^0'=rcd_308^post54, rcd_45^0'=rcd_45^post54, __disjvr_17^0'=__disjvr_17^post54, i_130^0'=i_130^post54, __disjvr_27^0'=__disjvr_27^post54, x_154^0'=x_154^post54, rcd_114^0'=rcd_114^post54, (-r_149^post54+r_149^0 == 0 /\ -x_SLAM_f_20^post54+x_SLAM_f_20^0 == 0 /\ -a_222^post54+a_222^0 == 0 /\ -rcd_320^post54+rcd_320^0 == 0 /\ -x_154^post54+x_154^0 == 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ -tmp_35^post54+tmp_35^0 == 0 /\ __disjvr_7^0-__disjvr_7^post54 == 0 /\ r_192^0-r_192^post54 == 0 /\ length_29^0-length_29^post54 == 0 /\ tail_15^0-tail_15^post54 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post54 == 0 /\ head_16^0-head_16^post54 == 0 /\ -rcd_308^post54+rcd_308^0 == 0 /\ -rcd_194^post54+rcd_194^0 == 0 /\ __disjvr_26^0-__disjvr_26^post54 == 0 /\ i_112^0-i_112^post54 == 0 /\ -a_174^post54+a_174^0 == 0 /\ -x_207^post54+x_207^0 == 0 /\ -y_21^post54+y_21^0 == 0 /\ __disjvr_12^0-__disjvr_12^post54 == 0 /\ -head_SLAM_f_30^post54+head_SLAM_f_30^0 == 0 /\ -x_SLAM_f_25^post54+x_SLAM_f_25^0 == 0 /\ rcd_288^0-rcd_288^post54 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ __disjvr_16^0-__disjvr_16^post54 == 0 /\ -y_26^post54+y_26^0 == 0 /\ i_31^0-i_31^post54 == 0 /\ temp0_32^0-temp0_32^post54 == 0 /\ head_33^0-head_33^post54 == 0 /\ x_27^0-x_27^post54 == 0 /\ -__disjvr_6^post54+__disjvr_6^0 == 0 /\ len_159^0-len_159^post54 == 0 /\ rcd_220^0-rcd_220^post54 == 0 /\ -rcd_45^post54+rcd_45^0 == 0 /\ rcd_193^0-rcd_193^post54 == 0 /\ -__disjvr_15^post54+__disjvr_15^0 == 0 /\ __disjvr_19^0-__disjvr_19^post54 == 0 /\ -__disjvr_30^post54+__disjvr_30^0 == 0 /\ -temp0_19^post54+temp0_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post54+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -nondet_12^post54+nondet_12^0 == 0 /\ -__disjvr_1^post54+__disjvr_1^0 == 0 /\ a_253^0-a_253^post54 == 0 /\ __disjvr_21^0-__disjvr_21^post54 == 0 /\ -rcd_106^post54+rcd_106^0 == 0 /\ -__disjvr_13^post54+__disjvr_13^0 == 0 /\ -rcd_71^post54+rcd_71^0 == 0 /\ -t_23^post54+t_23^0 == 0 /\ temp_37^0-temp_37^post54 == 0 /\ -r_41^post54+r_41^0 == 0 /\ -rcd_114^post54+rcd_114^0 == 0 /\ __disjvr_8^0-__disjvr_8^post54 == 0 /\ __disjvr_22^0-__disjvr_22^post54 == 0 /\ a_309^0-a_309^post54 == 0 /\ __disjvr_23^0-__disjvr_23^post54 == 0 /\ a_139^0-a_139^post54 == 0 /\ __disjvr_11^0-__disjvr_11^post54 == 0 /\ -__disjvr_14^post54+__disjvr_14^0 == 0 /\ -x_22^post54+x_22^0 == 0 /\ -i_130^post54+i_130^0 == 0 /\ -len_221^post54+len_221^0 == 0 /\ rcd_185^0-rcd_185^post54 == 0 /\ -a_279^post54+a_279^0 == 0 /\ -__disjvr_28^post54+__disjvr_28^0 == 0 /\ -__disjvr_25^post54+__disjvr_25^0 == 0 /\ __disjvr_0^0-__disjvr_0^post54 == 0 /\ result_11^0-result_11^post54 == 0 /\ -__disjvr_9^post54+__disjvr_9^0 == 0 /\ -__disjvr_27^post54+__disjvr_27^0 == 0 /\ __disjvr_5^0-__disjvr_5^post54 == 0 /\ rcd_199^0-rcd_199^post54 == 0 /\ -__disjvr_23^0+__disjvr_23^post54 == 0 /\ -__disjvr_2^post54+__disjvr_2^0 == 0 /\ rcd_284^0-rcd_284^post54 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post54 == 0 /\ -__disjvr_4^post54+__disjvr_4^0 == 0 /\ -i_198^post54+i_198^0 == 0 /\ -f_202^post54+f_202^0 == 0 /\ __disjvr_10^0-__disjvr_10^post54 == 0 /\ -__disjvr_18^post54+__disjvr_18^0 == 0 /\ __disjvr_29^0-__disjvr_29^post54 == 0 /\ temp_36^0-temp_36^post54 == 0 /\ __disjvr_20^0-__disjvr_20^post54 == 0), cost: 1 55: l51 -> l42 : __disjvr_0^0'=__disjvr_0^post55, a_253^0'=a_253^post55, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post55, __disjvr_21^0'=__disjvr_21^post55, x_27^0'=x_27^post55, __disjvr_3^0'=__disjvr_3^post55, rcd_220^0'=rcd_220^post55, __disjvr_14^0'=__disjvr_14^post55, head_33^0'=head_33^post55, __disjvr_24^0'=__disjvr_24^post55, temp_36^0'=temp_36^post55, r_192^0'=r_192^post55, __disjvr_8^0'=__disjvr_8^post55, a_139^0'=a_139^post55, result_11^0'=result_11^post55, __disjvr_19^0'=__disjvr_19^post55, i_31^0'=i_31^post55, __disjvr_29^0'=__disjvr_29^post55, x_22^0'=x_22^post55, rcd_193^0'=rcd_193^post55, __disjvr_11^0'=__disjvr_11^post55, a_309^0'=a_309^post55, tail_15^0'=tail_15^post55, length_29^0'=length_29^post55, x_SLAM_f_25^0'=x_SLAM_f_25^post55, __disjvr_5^0'=__disjvr_5^post55, rcd_288^0'=rcd_288^post55, __disjvr_16^0'=__disjvr_16^post55, i_112^0'=i_112^post55, __disjvr_26^0'=__disjvr_26^post55, tmp_35^0'=tmp_35^post55, rcd_106^0'=rcd_106^post55, a_222^0'=a_222^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post55, __disjvr_20^0'=__disjvr_20^post55, len_221^0'=len_221^post55, __disjvr_30^0'=__disjvr_30^post55, rcd_199^0'=rcd_199^post55, __disjvr_13^0'=__disjvr_13^post55, head_16^0'=head_16^post55, __disjvr_23^0'=__disjvr_23^post55, temp0_32^0'=temp0_32^post55, r_149^0'=r_149^post55, y_26^0'=y_26^post55, __disjvr_7^0'=__disjvr_7^post55, rcd_320^0'=rcd_320^post55, rcd_71^0'=rcd_71^post55, __disjvr_18^0'=__disjvr_18^post55, i_198^0'=i_198^post55, __disjvr_28^0'=__disjvr_28^post55, x_207^0'=x_207^post55, rcd_185^0'=rcd_185^post55, __disjvr_10^0'=__disjvr_10^post55, a_279^0'=a_279^post55, t_23^0'=t_23^post55, __disjvr_22^0'=__disjvr_22^post55, x_SLAM_f_20^0'=x_SLAM_f_20^post55, __disjvr_4^0'=__disjvr_4^post55, rcd_284^0'=rcd_284^post55, __disjvr_15^0'=__disjvr_15^post55, head_SLAM_f_30^0'=head_SLAM_f_30^post55, __disjvr_25^0'=__disjvr_25^post55, temp_37^0'=temp_37^post55, r_41^0'=r_41^post55, __disjvr_9^0'=__disjvr_9^post55, a_174^0'=a_174^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post55, __disjvr_1^0'=__disjvr_1^post55, len_159^0'=len_159^post55, __disjvr_2^0'=__disjvr_2^post55, rcd_194^0'=rcd_194^post55, __disjvr_12^0'=__disjvr_12^post55, f_202^0'=f_202^post55, temp0_19^0'=temp0_19^post55, nondet_12^0'=nondet_12^post55, y_21^0'=y_21^post55, __disjvr_6^0'=__disjvr_6^post55, rcd_308^0'=rcd_308^post55, rcd_45^0'=rcd_45^post55, __disjvr_17^0'=__disjvr_17^post55, i_130^0'=i_130^post55, __disjvr_27^0'=__disjvr_27^post55, x_154^0'=x_154^post55, rcd_114^0'=rcd_114^post55, (__disjvr_14^0-__disjvr_14^post55 == 0 /\ -len_221^post55+len_221^0 == 0 /\ -x_207^post55+x_207^0 == 0 /\ -__disjvr_25^post55+__disjvr_25^0 == 0 /\ r_192^0-r_192^post55 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post55 == 0 /\ __disjvr_29^0-__disjvr_29^post55 == 0 /\ -rcd_194^post55+rcd_194^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post55 == 0 /\ -i_130^post55+i_130^0 == 0 /\ __disjvr_26^0-__disjvr_26^post55 == 0 /\ -temp_37^post55+temp_37^0 == 0 /\ __disjvr_22^0-__disjvr_22^post55 == 0 /\ a_253^0-a_253^post55 == 0 /\ -y_21^post55+y_21^0 == 0 /\ -__disjvr_27^post55+__disjvr_27^0 == 0 /\ -__disjvr_12^post55+__disjvr_12^0 == 0 /\ rcd_185^0-rcd_185^post55 == 0 /\ -rcd_320^post55+rcd_320^0 == 0 /\ tail_15^0-tail_15^post55 == 0 /\ __disjvr_19^0-__disjvr_19^post55 == 0 /\ -a_222^post55+a_222^0 == 0 /\ -rcd_199^post55+rcd_199^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ i_112^0-i_112^post55 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_288^0-rcd_288^post55 == 0 /\ rcd_71^0-rcd_71^post55 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -rcd_308^post55+rcd_308^0 == 0 /\ -rcd_284^post55+rcd_284^0 == 0 /\ rcd_220^0-rcd_220^post55 == 0 /\ -__disjvr_20^post55+__disjvr_20^0 == 0 /\ __disjvr_16^0-__disjvr_16^post55 == 0 /\ temp_36^0-temp_36^post55 == 0 /\ -length_29^post55+length_29^0 == 0 /\ __disjvr_24^0-__disjvr_24^post55 == 0 /\ -__disjvr_30^post55+__disjvr_30^0 == 0 /\ __disjvr_7^0-__disjvr_7^post55 == 0 /\ -__disjvr_17^post55+__disjvr_17^0 == 0 /\ i_31^0-i_31^post55 == 0 /\ __disjvr_21^0-__disjvr_21^post55 == 0 /\ -head_SLAM_f_30^post55+head_SLAM_f_30^0 == 0 /\ -nondet_12^post55+nondet_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post55 == 0 /\ -x_154^post55+x_154^0 == 0 /\ -__disjvr_23^post55+__disjvr_23^0 == 0 /\ -rcd_106^post55+rcd_106^0 == 0 /\ -__disjvr_6^post55+__disjvr_6^0 == 0 /\ -a_139^post55+a_139^0 == 0 /\ __disjvr_3^0-__disjvr_3^post55 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post55 == 0 /\ result_11^0-result_11^post55 == 0 /\ -__disjvr_28^post55+__disjvr_28^0 == 0 /\ __disjvr_11^0-__disjvr_11^post55 == 0 /\ -__disjvr_1^post55+__disjvr_1^0 == 0 /\ -temp0_19^post55+temp0_19^0 == 0 /\ __disjvr_8^0-__disjvr_8^post55 == 0 /\ -f_202^post55+f_202^0 == 0 /\ -x_27^post55+x_27^0 == 0 /\ -head_16^post55+head_16^0 == 0 /\ -rcd_45^post55+rcd_45^0 == 0 /\ head_33^0-head_33^post55 == 0 /\ __disjvr_4^0-__disjvr_4^post55 == 0 /\ -t_23^post55+t_23^0 == 0 /\ y_26^0-y_26^post55 == 0 /\ -__disjvr_15^post55+__disjvr_15^0 == 0 /\ __disjvr_5^0-__disjvr_5^post55 == 0 /\ -r_149^post55+r_149^0 == 0 /\ -__disjvr_9^post55+__disjvr_9^0 == 0 /\ rcd_193^0-rcd_193^post55 == 0 /\ -r_41^post55+r_41^0 == 0 /\ -i_198^post55+i_198^0 == 0 /\ x_22^0-x_22^post55 == 0 /\ -tmp_35^post55+tmp_35^0 == 0 /\ -__disjvr_2^post55+__disjvr_2^0 == 0 /\ __disjvr_10^0-__disjvr_10^post55 == 0 /\ a_309^0-a_309^post55 == 0 /\ -__disjvr_18^post55+__disjvr_18^0 == 0 /\ -a_279^post55+a_279^0 == 0 /\ __disjvr_13^0-__disjvr_13^post55 == 0 /\ -a_174^post55+a_174^0 == 0 /\ -rcd_114^post55+rcd_114^0 == 0 /\ -len_159^post55+len_159^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ temp0_32^0-temp0_32^post55 == 0), cost: 1 57: l53 -> l54 : __disjvr_0^0'=__disjvr_0^post57, a_253^0'=a_253^post57, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post57, __disjvr_21^0'=__disjvr_21^post57, x_27^0'=x_27^post57, __disjvr_3^0'=__disjvr_3^post57, rcd_220^0'=rcd_220^post57, __disjvr_14^0'=__disjvr_14^post57, head_33^0'=head_33^post57, __disjvr_24^0'=__disjvr_24^post57, temp_36^0'=temp_36^post57, r_192^0'=r_192^post57, __disjvr_8^0'=__disjvr_8^post57, a_139^0'=a_139^post57, result_11^0'=result_11^post57, __disjvr_19^0'=__disjvr_19^post57, i_31^0'=i_31^post57, __disjvr_29^0'=__disjvr_29^post57, x_22^0'=x_22^post57, rcd_193^0'=rcd_193^post57, __disjvr_11^0'=__disjvr_11^post57, a_309^0'=a_309^post57, tail_15^0'=tail_15^post57, length_29^0'=length_29^post57, x_SLAM_f_25^0'=x_SLAM_f_25^post57, __disjvr_5^0'=__disjvr_5^post57, rcd_288^0'=rcd_288^post57, __disjvr_16^0'=__disjvr_16^post57, i_112^0'=i_112^post57, __disjvr_26^0'=__disjvr_26^post57, tmp_35^0'=tmp_35^post57, rcd_106^0'=rcd_106^post57, a_222^0'=a_222^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post57, __disjvr_20^0'=__disjvr_20^post57, len_221^0'=len_221^post57, __disjvr_30^0'=__disjvr_30^post57, rcd_199^0'=rcd_199^post57, __disjvr_13^0'=__disjvr_13^post57, head_16^0'=head_16^post57, __disjvr_23^0'=__disjvr_23^post57, temp0_32^0'=temp0_32^post57, r_149^0'=r_149^post57, y_26^0'=y_26^post57, __disjvr_7^0'=__disjvr_7^post57, rcd_320^0'=rcd_320^post57, rcd_71^0'=rcd_71^post57, __disjvr_18^0'=__disjvr_18^post57, i_198^0'=i_198^post57, __disjvr_28^0'=__disjvr_28^post57, x_207^0'=x_207^post57, rcd_185^0'=rcd_185^post57, __disjvr_10^0'=__disjvr_10^post57, a_279^0'=a_279^post57, t_23^0'=t_23^post57, __disjvr_22^0'=__disjvr_22^post57, x_SLAM_f_20^0'=x_SLAM_f_20^post57, __disjvr_4^0'=__disjvr_4^post57, rcd_284^0'=rcd_284^post57, __disjvr_15^0'=__disjvr_15^post57, head_SLAM_f_30^0'=head_SLAM_f_30^post57, __disjvr_25^0'=__disjvr_25^post57, temp_37^0'=temp_37^post57, r_41^0'=r_41^post57, __disjvr_9^0'=__disjvr_9^post57, a_174^0'=a_174^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post57, __disjvr_1^0'=__disjvr_1^post57, len_159^0'=len_159^post57, __disjvr_2^0'=__disjvr_2^post57, rcd_194^0'=rcd_194^post57, __disjvr_12^0'=__disjvr_12^post57, f_202^0'=f_202^post57, temp0_19^0'=temp0_19^post57, nondet_12^0'=nondet_12^post57, y_21^0'=y_21^post57, __disjvr_6^0'=__disjvr_6^post57, rcd_308^0'=rcd_308^post57, rcd_45^0'=rcd_45^post57, __disjvr_17^0'=__disjvr_17^post57, i_130^0'=i_130^post57, __disjvr_27^0'=__disjvr_27^post57, x_154^0'=x_154^post57, rcd_114^0'=rcd_114^post57, (-rcd_106^post57+rcd_106^0 == 0 /\ __disjvr_16^0-__disjvr_16^post57 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ __disjvr_10^0-__disjvr_10^post57 == 0 /\ i_31^0-i_31^post57 == 0 /\ -__disjvr_1^post57+__disjvr_1^0 == 0 /\ rcd_71^0-rcd_71^post57 == 0 /\ head_33^0-head_33^post57 == 0 /\ -__disjvr_13^post57+__disjvr_13^0 == 0 /\ -r_41^post57+r_41^0 == 0 /\ __disjvr_0^0-__disjvr_0^post57 == 0 /\ -rcd_114^post57+rcd_114^0 == 0 /\ t_23^0-t_23^post57 == 0 /\ len_159^0-len_159^post57 == 0 /\ __disjvr_5^0-__disjvr_5^post57 == 0 /\ __disjvr_3^0-__disjvr_3^post57 == 0 /\ rcd_193^0-rcd_193^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post57 == 0 /\ a_174^0-a_174^post57 == 0 /\ __disjvr_20^0-__disjvr_20^post57 == 0 /\ -__disjvr_24^0+__disjvr_24^post57 == 0 /\ -x_SLAM_f_25^post57+x_SLAM_f_25^0 == 0 /\ -i_130^post57+i_130^0 == 0 /\ -__disjvr_4^post57+__disjvr_4^0 == 0 /\ i_198^0-i_198^post57 == 0 /\ -len_221^post57+len_221^0 == 0 /\ tmp_35^0-tmp_35^post57 == 0 /\ -__disjvr_28^post57+__disjvr_28^0 == 0 /\ -temp_37^post57+temp_37^0 == 0 /\ __disjvr_7^0-__disjvr_7^post57 == 0 /\ -f_202^post57+f_202^0 == 0 /\ length_29^0-length_29^post57 == 0 /\ __disjvr_26^0-__disjvr_26^post57 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post57 == 0 /\ -__disjvr_9^post57+__disjvr_9^0 == 0 /\ -__disjvr_27^post57+__disjvr_27^0 == 0 /\ -__disjvr_25^post57+__disjvr_25^0 == 0 /\ -__disjvr_2^post57+__disjvr_2^0 == 0 /\ __disjvr_14^0-__disjvr_14^post57 == 0 /\ rcd_194^0-rcd_194^post57 == 0 /\ __disjvr_23^0-__disjvr_23^post57 == 0 /\ -a_279^post57+a_279^0 == 0 /\ -result_11^post57+result_11^0 == 0 /\ -__disjvr_18^post57+__disjvr_18^0 == 0 /\ a_309^0-a_309^post57 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0 /\ -head_SLAM_f_30^post57+head_SLAM_f_30^0 == 0 /\ -r_192^post57+r_192^0 == 0 /\ rcd_288^0-rcd_288^post57 == 0 /\ -x_154^post57+x_154^0 == 0 /\ -rcd_320^post57+rcd_320^0 == 0 /\ -a_222^post57+a_222^0 == 0 /\ -x_SLAM_f_20^post57+x_SLAM_f_20^0 == 0 /\ -r_149^post57+r_149^0 == 0 /\ temp0_32^0-temp0_32^post57 == 0 /\ x_27^0-x_27^post57 == 0 /\ -rcd_308^post57+rcd_308^0 == 0 /\ rcd_220^0-rcd_220^post57 == 0 /\ -rcd_185^post57+rcd_185^0 == 0 /\ rcd_199^0-rcd_199^post57 == 0 /\ rcd_284^0-rcd_284^post57 == 0 /\ -x_207^post57+x_207^0 == 0 /\ __disjvr_19^0-__disjvr_19^post57 == 0 /\ -y_21^post57+y_21^0 == 0 /\ __disjvr_29^0-__disjvr_29^post57 == 0 /\ temp_36^0-temp_36^post57 == 0 /\ -y_26^post57+y_26^0 == 0 /\ -rcd_45^post57+rcd_45^0 == 0 /\ a_253^0-a_253^post57 == 0 /\ __disjvr_21^0-__disjvr_21^post57 == 0 /\ tail_15^0-tail_15^post57 == 0 /\ -__disjvr_6^post57+__disjvr_6^0 == 0 /\ -head_16^post57+head_16^0 == 0 /\ __disjvr_8^0-__disjvr_8^post57 == 0 /\ -__disjvr_15^post57+__disjvr_15^0 == 0 /\ -__disjvr_12^post57+__disjvr_12^0 == 0 /\ __disjvr_22^0-__disjvr_22^post57 == 0 /\ -temp0_19^post57+temp0_19^0 == 0 /\ i_112^0-i_112^post57 == 0 /\ a_139^0-a_139^post57 == 0 /\ __disjvr_11^0-__disjvr_11^post57 == 0 /\ -__disjvr_30^post57+__disjvr_30^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post57+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_22^0-x_22^post57 == 0 /\ -nondet_12^post57+nondet_12^0 == 0), cost: 1 58: l54 -> l55 : __disjvr_0^0'=__disjvr_0^post58, a_253^0'=a_253^post58, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post58, __disjvr_21^0'=__disjvr_21^post58, x_27^0'=x_27^post58, __disjvr_3^0'=__disjvr_3^post58, rcd_220^0'=rcd_220^post58, __disjvr_14^0'=__disjvr_14^post58, head_33^0'=head_33^post58, __disjvr_24^0'=__disjvr_24^post58, temp_36^0'=temp_36^post58, r_192^0'=r_192^post58, __disjvr_8^0'=__disjvr_8^post58, a_139^0'=a_139^post58, result_11^0'=result_11^post58, __disjvr_19^0'=__disjvr_19^post58, i_31^0'=i_31^post58, __disjvr_29^0'=__disjvr_29^post58, x_22^0'=x_22^post58, rcd_193^0'=rcd_193^post58, __disjvr_11^0'=__disjvr_11^post58, a_309^0'=a_309^post58, tail_15^0'=tail_15^post58, length_29^0'=length_29^post58, x_SLAM_f_25^0'=x_SLAM_f_25^post58, __disjvr_5^0'=__disjvr_5^post58, rcd_288^0'=rcd_288^post58, __disjvr_16^0'=__disjvr_16^post58, i_112^0'=i_112^post58, __disjvr_26^0'=__disjvr_26^post58, tmp_35^0'=tmp_35^post58, rcd_106^0'=rcd_106^post58, a_222^0'=a_222^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post58, __disjvr_20^0'=__disjvr_20^post58, len_221^0'=len_221^post58, __disjvr_30^0'=__disjvr_30^post58, rcd_199^0'=rcd_199^post58, __disjvr_13^0'=__disjvr_13^post58, head_16^0'=head_16^post58, __disjvr_23^0'=__disjvr_23^post58, temp0_32^0'=temp0_32^post58, r_149^0'=r_149^post58, y_26^0'=y_26^post58, __disjvr_7^0'=__disjvr_7^post58, rcd_320^0'=rcd_320^post58, rcd_71^0'=rcd_71^post58, __disjvr_18^0'=__disjvr_18^post58, i_198^0'=i_198^post58, __disjvr_28^0'=__disjvr_28^post58, x_207^0'=x_207^post58, rcd_185^0'=rcd_185^post58, __disjvr_10^0'=__disjvr_10^post58, a_279^0'=a_279^post58, t_23^0'=t_23^post58, __disjvr_22^0'=__disjvr_22^post58, x_SLAM_f_20^0'=x_SLAM_f_20^post58, __disjvr_4^0'=__disjvr_4^post58, rcd_284^0'=rcd_284^post58, __disjvr_15^0'=__disjvr_15^post58, head_SLAM_f_30^0'=head_SLAM_f_30^post58, __disjvr_25^0'=__disjvr_25^post58, temp_37^0'=temp_37^post58, r_41^0'=r_41^post58, __disjvr_9^0'=__disjvr_9^post58, a_174^0'=a_174^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post58, __disjvr_1^0'=__disjvr_1^post58, len_159^0'=len_159^post58, __disjvr_2^0'=__disjvr_2^post58, rcd_194^0'=rcd_194^post58, __disjvr_12^0'=__disjvr_12^post58, f_202^0'=f_202^post58, temp0_19^0'=temp0_19^post58, nondet_12^0'=nondet_12^post58, y_21^0'=y_21^post58, __disjvr_6^0'=__disjvr_6^post58, rcd_308^0'=rcd_308^post58, rcd_45^0'=rcd_45^post58, __disjvr_17^0'=__disjvr_17^post58, i_130^0'=i_130^post58, __disjvr_27^0'=__disjvr_27^post58, x_154^0'=x_154^post58, rcd_114^0'=rcd_114^post58, (0 == 0 /\ -__disjvr_6^post58+__disjvr_6^0 == 0 /\ -__disjvr_28^post58+__disjvr_28^0 == 0 /\ rcd_194^0-rcd_194^post58 == 0 /\ length_29^0-length_29^post58 == 0 /\ __disjvr_0^0-__disjvr_0^post58 == 0 /\ temp_36^0-temp_36^post58 == 0 /\ x_27^0-x_27^post58 == 0 /\ -__disjvr_1^post58+__disjvr_1^0 == 0 /\ -temp0_32^post58+temp0_32^0 == 0 /\ -temp0_19^post58+temp0_19^0 == 0 /\ __disjvr_24^0-__disjvr_24^post58 == 0 /\ a_309^0-a_309^post58 == 0 /\ rcd_193^0-rcd_193^post58 == 0 /\ -rcd_220^post58+rcd_45^0 <= 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_27^0+f_202^0 <= 0 /\ -f_202^post58+f_202^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_31^0-i_31^post58 == 0 /\ -t_23^post58+t_23^0 == 0 /\ -rcd_45^post58+rcd_45^0 == 0 /\ -head_16^post58+head_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post58 == 0 /\ x_SLAM_f_25^0-head_16^0 <= 0 /\ -__disjvr_2^post58+__disjvr_2^0 == 0 /\ a_174^0-a_174^post58 == 0 /\ -r_41^post58+r_41^0 == 0 /\ __disjvr_29^0-__disjvr_29^post58 == 0 /\ -__disjvr_16^post58+__disjvr_16^0 == 0 /\ -__disjvr_9^post58+__disjvr_9^0 == 0 /\ -1-a_222^post58+a_174^0 <= 0 /\ -len_159^post58+len_159^0 == 0 /\ -tmp_35^post58+tmp_35^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post58 == 0 /\ __disjvr_12^0-__disjvr_12^post58 == 0 /\ __disjvr_18^0-__disjvr_18^post58 == 0 /\ i_198^0-i_198^post58 == 0 /\ rcd_220^post58-rcd_45^0 <= 0 /\ y_26^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_27^0-f_202^0 <= 0 /\ -a_279^post58+a_279^0 == 0 /\ -rcd_114^post58+rcd_114^0 == 0 /\ head_33^0-head_33^post58 == 0 /\ -1+len_221^post58-len_159^0 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_106^0-rcd_106^post58 == 0 /\ __disjvr_19^0-__disjvr_19^post58 == 0 /\ tail_15^0-tail_15^post58 == 0 /\ -__disjvr_11^post58+__disjvr_11^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 <= 0 /\ -r_149^post58+r_149^0 == 0 /\ rcd_288^0-rcd_288^post58 == 0 /\ rcd_71^0-rcd_71^post58 == 0 /\ -x_207^post58+x_207^0 == 0 /\ -__disjvr_25^post58+__disjvr_25^0 == 0 /\ -__disjvr_10^post58+__disjvr_10^0 == 0 /\ x_22^0-x_22^post58 == 0 /\ __disjvr_21^0-__disjvr_21^post58 == 0 /\ __disjvr_13^0-__disjvr_13^post58 == 0 /\ -i_130^post58+i_130^0 == 0 /\ __disjvr_20^0-__disjvr_20^post58 == 0 /\ -y_21^post58+y_21^0 == 0 /\ __disjvr_7^0-__disjvr_7^post58 == 0 /\ -temp_37^post58+temp_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_320^post58+rcd_320^0 == 0 /\ -__disjvr_27^post58+__disjvr_27^0 == 0 /\ -r_192^post58+r_192^0 == 0 /\ -__disjvr_22^post58+__disjvr_22^0 == 0 /\ -tail_15^0+y_26^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post58 == 0 /\ a_139^0-a_139^post58 == 0 /\ __disjvr_3^0-__disjvr_3^post58 == 0 /\ rcd_199^0-rcd_199^post58 == 0 /\ __disjvr_23^0-__disjvr_23^post58 == 0 /\ result_11^0-result_11^post58 == 0 /\ __disjvr_14^0-__disjvr_14^post58 == 0 /\ -rcd_284^post58+rcd_284^0 == 0 /\ __disjvr_15^0-__disjvr_15^post58 == 0 /\ -rcd_308^post58+rcd_308^0 == 0 /\ 1+a_222^post58-a_174^0 <= 0 /\ __disjvr_26^0-__disjvr_26^post58 == 0 /\ -__disjvr_17^post58+__disjvr_17^0 == 0 /\ -x_SLAM_f_20^post58+x_SLAM_f_20^0 == 0 /\ -__disjvr_30^post58+__disjvr_30^0 == 0 /\ a_253^0-a_253^post58 == 0 /\ __disjvr_8^0-__disjvr_8^post58 == 0 /\ rcd_185^0-rcd_185^post58 == 0 /\ 1-len_221^post58+len_159^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post58 == 0 /\ -head_SLAM_f_30^post58+head_SLAM_f_30^0 == 0 /\ -nondet_12^post58+nondet_12^0 == 0 /\ -x_154^post58+x_154^0 == 0 /\ tail_15^0-y_26^0 <= 0 /\ i_112^0-i_112^post58 == 0 /\ y_26^0-y_26^post58 == 0 /\ __disjvr_5^0-__disjvr_5^post58 == 0), cost: 1 59: l55 -> l56 : __disjvr_0^0'=__disjvr_0^post59, a_253^0'=a_253^post59, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post59, __disjvr_21^0'=__disjvr_21^post59, x_27^0'=x_27^post59, __disjvr_3^0'=__disjvr_3^post59, rcd_220^0'=rcd_220^post59, __disjvr_14^0'=__disjvr_14^post59, head_33^0'=head_33^post59, __disjvr_24^0'=__disjvr_24^post59, temp_36^0'=temp_36^post59, r_192^0'=r_192^post59, __disjvr_8^0'=__disjvr_8^post59, a_139^0'=a_139^post59, result_11^0'=result_11^post59, __disjvr_19^0'=__disjvr_19^post59, i_31^0'=i_31^post59, __disjvr_29^0'=__disjvr_29^post59, x_22^0'=x_22^post59, rcd_193^0'=rcd_193^post59, __disjvr_11^0'=__disjvr_11^post59, a_309^0'=a_309^post59, tail_15^0'=tail_15^post59, length_29^0'=length_29^post59, x_SLAM_f_25^0'=x_SLAM_f_25^post59, __disjvr_5^0'=__disjvr_5^post59, rcd_288^0'=rcd_288^post59, __disjvr_16^0'=__disjvr_16^post59, i_112^0'=i_112^post59, __disjvr_26^0'=__disjvr_26^post59, tmp_35^0'=tmp_35^post59, rcd_106^0'=rcd_106^post59, a_222^0'=a_222^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post59, __disjvr_20^0'=__disjvr_20^post59, len_221^0'=len_221^post59, __disjvr_30^0'=__disjvr_30^post59, rcd_199^0'=rcd_199^post59, __disjvr_13^0'=__disjvr_13^post59, head_16^0'=head_16^post59, __disjvr_23^0'=__disjvr_23^post59, temp0_32^0'=temp0_32^post59, r_149^0'=r_149^post59, y_26^0'=y_26^post59, __disjvr_7^0'=__disjvr_7^post59, rcd_320^0'=rcd_320^post59, rcd_71^0'=rcd_71^post59, __disjvr_18^0'=__disjvr_18^post59, i_198^0'=i_198^post59, __disjvr_28^0'=__disjvr_28^post59, x_207^0'=x_207^post59, rcd_185^0'=rcd_185^post59, __disjvr_10^0'=__disjvr_10^post59, a_279^0'=a_279^post59, t_23^0'=t_23^post59, __disjvr_22^0'=__disjvr_22^post59, x_SLAM_f_20^0'=x_SLAM_f_20^post59, __disjvr_4^0'=__disjvr_4^post59, rcd_284^0'=rcd_284^post59, __disjvr_15^0'=__disjvr_15^post59, head_SLAM_f_30^0'=head_SLAM_f_30^post59, __disjvr_25^0'=__disjvr_25^post59, temp_37^0'=temp_37^post59, r_41^0'=r_41^post59, __disjvr_9^0'=__disjvr_9^post59, a_174^0'=a_174^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post59, __disjvr_1^0'=__disjvr_1^post59, len_159^0'=len_159^post59, __disjvr_2^0'=__disjvr_2^post59, rcd_194^0'=rcd_194^post59, __disjvr_12^0'=__disjvr_12^post59, f_202^0'=f_202^post59, temp0_19^0'=temp0_19^post59, nondet_12^0'=nondet_12^post59, y_21^0'=y_21^post59, __disjvr_6^0'=__disjvr_6^post59, rcd_308^0'=rcd_308^post59, rcd_45^0'=rcd_45^post59, __disjvr_17^0'=__disjvr_17^post59, i_130^0'=i_130^post59, __disjvr_27^0'=__disjvr_27^post59, x_154^0'=x_154^post59, rcd_114^0'=rcd_114^post59, (-__disjvr_30^post59+__disjvr_30^0 == 0 /\ -rcd_308^post59+rcd_308^0 == 0 /\ -tmp_35^post59+tmp_35^0 == 0 /\ i_112^0-i_112^post59 == 0 /\ r_192^0-r_192^post59 == 0 /\ -__disjvr_17^post59+__disjvr_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post59 == 0 /\ -rcd_284^post59+rcd_284^0 == 0 /\ -len_159^post59+len_159^0 == 0 /\ -head_16^post59+head_16^0 == 0 /\ __disjvr_3^0-__disjvr_3^post59 == 0 /\ length_29^0-length_29^post59 == 0 /\ -r_149^post59+r_149^0 == 0 /\ -temp0_32^post59+temp0_32^0 == 0 /\ -__disjvr_2^post59+__disjvr_2^0 == 0 /\ -x_SLAM_f_25^post59+x_SLAM_f_25^0 == 0 /\ -head_SLAM_f_30^post59+head_SLAM_f_30^0 == 0 /\ __disjvr_26^0-__disjvr_26^post59 == 0 /\ -__disjvr_16^post59+__disjvr_16^0 == 0 /\ -x_154^post59+x_154^0 == 0 /\ -a_174^post59+a_174^0 == 0 /\ -nondet_12^post59+nondet_12^0 == 0 /\ rcd_320^0-rcd_320^post59 == 0 /\ -temp0_19^post59+temp0_19^0 == 0 /\ __disjvr_12^0-__disjvr_12^post59 == 0 /\ rcd_288^0-rcd_288^post59 == 0 /\ __disjvr_24^0-__disjvr_24^post59 == 0 /\ x_207^0-x_207^post59 == 0 /\ -__disjvr_6^post59+__disjvr_6^0 == 0 /\ i_31^0-i_31^post59 == 0 /\ head_33^0-head_33^post59 == 0 /\ -y_26^post59+y_26^0 == 0 /\ -rcd_45^post59+rcd_45^0 == 0 /\ -r_41^post59+r_41^0 == 0 /\ -rcd_114^post59+rcd_114^0 == 0 /\ rcd_193^0-rcd_193^post59 == 0 /\ -t_23^post59+t_23^0 == 0 /\ -__disjvr_9^post59+__disjvr_9^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_194^post59+rcd_194^0 == 0 /\ -__disjvr_15^post59+__disjvr_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post59 == 0 /\ -__disjvr_7^post59+__disjvr_7^0 == 0 /\ __disjvr_21^0-__disjvr_21^post59 == 0 /\ __disjvr_13^0-__disjvr_13^post59 == 0 /\ a_253^0-a_253^post59 == 0 /\ -rcd_220^post59+rcd_220^0 == 0 /\ temp_37^0-temp_37^post59 == 0 /\ -__disjvr_27^post59+__disjvr_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post59 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ a_139^0-a_139^post59 == 0 /\ a_222^0-a_222^post59 == 0 /\ len_221^0-len_221^post59 == 0 /\ __disjvr_25^0-__disjvr_25^post59 == 0 /\ __disjvr_0^0-__disjvr_0^post59 == 0 /\ __disjvr_23^0-__disjvr_23^post59 == 0 /\ -__disjvr_4^post59+__disjvr_4^0 == 0 /\ -a_279^post59+a_279^0 == 0 /\ -rcd_106^post59+rcd_106^0 == 0 /\ __disjvr_14^0-__disjvr_14^post59 == 0 /\ rcd_185^0-rcd_185^post59 == 0 /\ -x_22^post59+x_22^0 == 0 /\ __disjvr_11^0-__disjvr_11^post59 == 0 /\ result_11^0-result_11^post59 == 0 /\ -i_130^post59+i_130^0 == 0 /\ -__disjvr_28^post59+__disjvr_28^0 == 0 /\ -__disjvr_22^post59+__disjvr_22^0 == 0 /\ rcd_199^0-rcd_199^post59 == 0 /\ __disjvr_5^0-__disjvr_5^post59 == 0 /\ i_198^0-i_198^post59 == 0 /\ temp_36^0-temp_36^post59 == 0 /\ -__disjvr_25^0+__disjvr_25^post59 == 0 /\ __disjvr_19^0-__disjvr_19^post59 == 0 /\ -x_SLAM_f_20^post59+x_SLAM_f_20^0 == 0 /\ rcd_71^0-rcd_71^post59 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post59 == 0 /\ __disjvr_29^0-__disjvr_29^post59 == 0 /\ -__disjvr_1^post59+__disjvr_1^0 == 0 /\ x_27^0-x_27^post59 == 0 /\ __disjvr_10^0-__disjvr_10^post59 == 0 /\ tail_15^0-tail_15^post59 == 0 /\ -y_21^post59+y_21^0 == 0 /\ -f_202^post59+f_202^0 == 0 /\ -a_309^post59+a_309^0 == 0), cost: 1 60: l56 -> l57 : __disjvr_0^0'=__disjvr_0^post60, a_253^0'=a_253^post60, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post60, __disjvr_21^0'=__disjvr_21^post60, x_27^0'=x_27^post60, __disjvr_3^0'=__disjvr_3^post60, rcd_220^0'=rcd_220^post60, __disjvr_14^0'=__disjvr_14^post60, head_33^0'=head_33^post60, __disjvr_24^0'=__disjvr_24^post60, temp_36^0'=temp_36^post60, r_192^0'=r_192^post60, __disjvr_8^0'=__disjvr_8^post60, a_139^0'=a_139^post60, result_11^0'=result_11^post60, __disjvr_19^0'=__disjvr_19^post60, i_31^0'=i_31^post60, __disjvr_29^0'=__disjvr_29^post60, x_22^0'=x_22^post60, rcd_193^0'=rcd_193^post60, __disjvr_11^0'=__disjvr_11^post60, a_309^0'=a_309^post60, tail_15^0'=tail_15^post60, length_29^0'=length_29^post60, x_SLAM_f_25^0'=x_SLAM_f_25^post60, __disjvr_5^0'=__disjvr_5^post60, rcd_288^0'=rcd_288^post60, __disjvr_16^0'=__disjvr_16^post60, i_112^0'=i_112^post60, __disjvr_26^0'=__disjvr_26^post60, tmp_35^0'=tmp_35^post60, rcd_106^0'=rcd_106^post60, a_222^0'=a_222^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post60, __disjvr_20^0'=__disjvr_20^post60, len_221^0'=len_221^post60, __disjvr_30^0'=__disjvr_30^post60, rcd_199^0'=rcd_199^post60, __disjvr_13^0'=__disjvr_13^post60, head_16^0'=head_16^post60, __disjvr_23^0'=__disjvr_23^post60, temp0_32^0'=temp0_32^post60, r_149^0'=r_149^post60, y_26^0'=y_26^post60, __disjvr_7^0'=__disjvr_7^post60, rcd_320^0'=rcd_320^post60, rcd_71^0'=rcd_71^post60, __disjvr_18^0'=__disjvr_18^post60, i_198^0'=i_198^post60, __disjvr_28^0'=__disjvr_28^post60, x_207^0'=x_207^post60, rcd_185^0'=rcd_185^post60, __disjvr_10^0'=__disjvr_10^post60, a_279^0'=a_279^post60, t_23^0'=t_23^post60, __disjvr_22^0'=__disjvr_22^post60, x_SLAM_f_20^0'=x_SLAM_f_20^post60, __disjvr_4^0'=__disjvr_4^post60, rcd_284^0'=rcd_284^post60, __disjvr_15^0'=__disjvr_15^post60, head_SLAM_f_30^0'=head_SLAM_f_30^post60, __disjvr_25^0'=__disjvr_25^post60, temp_37^0'=temp_37^post60, r_41^0'=r_41^post60, __disjvr_9^0'=__disjvr_9^post60, a_174^0'=a_174^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post60, __disjvr_1^0'=__disjvr_1^post60, len_159^0'=len_159^post60, __disjvr_2^0'=__disjvr_2^post60, rcd_194^0'=rcd_194^post60, __disjvr_12^0'=__disjvr_12^post60, f_202^0'=f_202^post60, temp0_19^0'=temp0_19^post60, nondet_12^0'=nondet_12^post60, y_21^0'=y_21^post60, __disjvr_6^0'=__disjvr_6^post60, rcd_308^0'=rcd_308^post60, rcd_45^0'=rcd_45^post60, __disjvr_17^0'=__disjvr_17^post60, i_130^0'=i_130^post60, __disjvr_27^0'=__disjvr_27^post60, x_154^0'=x_154^post60, rcd_114^0'=rcd_114^post60, (-head_SLAM_f_30^post60+head_SLAM_f_30^0 == 0 /\ -a_222^post60+a_222^0 == 0 /\ tmp_35^0-tmp_35^post60 == 0 /\ __disjvr_21^0-__disjvr_21^post60 == 0 /\ i_198^0-i_198^post60 == 0 /\ -x_154^post60+x_154^0 == 0 /\ a_253^0-a_253^post60 == 0 /\ -x_SLAM_f_20^post60+x_SLAM_f_20^0 == 0 /\ r_192^0-r_192^post60 == 0 /\ tail_15^0-tail_15^post60 == 0 /\ __disjvr_26^0-__disjvr_26^post60 == 0 /\ -rcd_185^post60+rcd_185^0 == 0 /\ __disjvr_22^0-__disjvr_22^post60 == 0 /\ __disjvr_14^0-__disjvr_14^post60 == 0 /\ -__disjvr_7^post60+__disjvr_7^0 == 0 /\ __disjvr_23^0-__disjvr_23^post60 == 0 /\ -rcd_194^post60+rcd_194^0 == 0 /\ -a_174^post60+a_174^0 == 0 /\ a_139^0-a_139^post60 == 0 /\ -x_207^post60+x_207^0 == 0 /\ -y_21^post60+y_21^0 == 0 /\ r_149^0-r_149^post60 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post60 == 0 /\ -rcd_308^post60+rcd_308^0 == 0 /\ -rcd_284^post60+rcd_284^0 == 0 /\ -y_26^post60+y_26^0 == 0 /\ x_22^0-x_22^post60 == 0 /\ rcd_220^0-rcd_220^post60 == 0 /\ rcd_71^0-rcd_71^post60 == 0 /\ __disjvr_0^0-__disjvr_0^post60 == 0 /\ __disjvr_24^0-__disjvr_24^post60 == 0 /\ -__disjvr_29^post60+__disjvr_29^0 == 0 /\ -__disjvr_26^0+__disjvr_26^post60 == 0 /\ -head_16^post60+head_16^0 == 0 /\ __disjvr_5^0-__disjvr_5^post60 == 0 /\ __disjvr_3^0-__disjvr_3^post60 == 0 /\ -rcd_106^post60+rcd_106^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post60 == 0 /\ -__disjvr_17^post60+__disjvr_17^0 == 0 /\ rcd_199^0-rcd_199^post60 == 0 /\ -__disjvr_12^post60+__disjvr_12^0 == 0 /\ -nondet_12^post60+nondet_12^0 == 0 /\ -__disjvr_30^post60+__disjvr_30^0 == 0 /\ -__disjvr_6^post60+__disjvr_6^0 == 0 /\ temp_36^0-temp_36^post60 == 0 /\ __disjvr_20^0-__disjvr_20^post60 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_221^0-len_221^post60 == 0 /\ -a_309^post60+a_309^0 == 0 /\ -r_41^post60+r_41^0 == 0 /\ __disjvr_25^0-__disjvr_25^post60 == 0 /\ -temp0_19^post60+temp0_19^0 == 0 /\ length_29^0-length_29^post60 == 0 /\ -__disjvr_1^post60+__disjvr_1^0 == 0 /\ -x_27^post60+x_27^0 == 0 /\ i_112^0-i_112^post60 == 0 /\ rcd_320^0-rcd_320^post60 == 0 /\ __disjvr_8^0-__disjvr_8^post60 == 0 /\ __disjvr_11^0-__disjvr_11^post60 == 0 /\ -t_23^post60+t_23^0 == 0 /\ -rcd_45^post60+rcd_45^0 == 0 /\ __disjvr_10^0-__disjvr_10^post60 == 0 /\ i_31^0-i_31^post60 == 0 /\ -i_130^post60+i_130^0 == 0 /\ -__disjvr_28^post60+__disjvr_28^0 == 0 /\ head_33^0-head_33^post60 == 0 /\ -temp_37^post60+temp_37^0 == 0 /\ __disjvr_19^0-__disjvr_19^post60 == 0 /\ temp0_32^0-temp0_32^post60 == 0 /\ -f_202^post60+f_202^0 == 0 /\ -__disjvr_4^post60+__disjvr_4^0 == 0 /\ -__disjvr_9^post60+__disjvr_9^0 == 0 /\ rcd_288^0-rcd_288^post60 == 0 /\ -__disjvr_27^post60+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -__disjvr_2^post60+__disjvr_2^0 == 0 /\ -rcd_114^post60+rcd_114^0 == 0 /\ -len_159^post60+len_159^0 == 0 /\ __disjvr_15^0-__disjvr_15^post60 == 0 /\ rcd_193^0-rcd_193^post60 == 0 /\ __disjvr_13^0-__disjvr_13^post60 == 0 /\ -__disjvr_16^post60+__disjvr_16^0 == 0 /\ -a_279^post60+a_279^0 == 0 /\ -result_11^post60+result_11^0 == 0 /\ -__disjvr_18^post60+__disjvr_18^0 == 0), cost: 1 61: l57 -> l52 : __disjvr_0^0'=__disjvr_0^post61, a_253^0'=a_253^post61, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post61, __disjvr_21^0'=__disjvr_21^post61, x_27^0'=x_27^post61, __disjvr_3^0'=__disjvr_3^post61, rcd_220^0'=rcd_220^post61, __disjvr_14^0'=__disjvr_14^post61, head_33^0'=head_33^post61, __disjvr_24^0'=__disjvr_24^post61, temp_36^0'=temp_36^post61, r_192^0'=r_192^post61, __disjvr_8^0'=__disjvr_8^post61, a_139^0'=a_139^post61, result_11^0'=result_11^post61, __disjvr_19^0'=__disjvr_19^post61, i_31^0'=i_31^post61, __disjvr_29^0'=__disjvr_29^post61, x_22^0'=x_22^post61, rcd_193^0'=rcd_193^post61, __disjvr_11^0'=__disjvr_11^post61, a_309^0'=a_309^post61, tail_15^0'=tail_15^post61, length_29^0'=length_29^post61, x_SLAM_f_25^0'=x_SLAM_f_25^post61, __disjvr_5^0'=__disjvr_5^post61, rcd_288^0'=rcd_288^post61, __disjvr_16^0'=__disjvr_16^post61, i_112^0'=i_112^post61, __disjvr_26^0'=__disjvr_26^post61, tmp_35^0'=tmp_35^post61, rcd_106^0'=rcd_106^post61, a_222^0'=a_222^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post61, __disjvr_20^0'=__disjvr_20^post61, len_221^0'=len_221^post61, __disjvr_30^0'=__disjvr_30^post61, rcd_199^0'=rcd_199^post61, __disjvr_13^0'=__disjvr_13^post61, head_16^0'=head_16^post61, __disjvr_23^0'=__disjvr_23^post61, temp0_32^0'=temp0_32^post61, r_149^0'=r_149^post61, y_26^0'=y_26^post61, __disjvr_7^0'=__disjvr_7^post61, rcd_320^0'=rcd_320^post61, rcd_71^0'=rcd_71^post61, __disjvr_18^0'=__disjvr_18^post61, i_198^0'=i_198^post61, __disjvr_28^0'=__disjvr_28^post61, x_207^0'=x_207^post61, rcd_185^0'=rcd_185^post61, __disjvr_10^0'=__disjvr_10^post61, a_279^0'=a_279^post61, t_23^0'=t_23^post61, __disjvr_22^0'=__disjvr_22^post61, x_SLAM_f_20^0'=x_SLAM_f_20^post61, __disjvr_4^0'=__disjvr_4^post61, rcd_284^0'=rcd_284^post61, __disjvr_15^0'=__disjvr_15^post61, head_SLAM_f_30^0'=head_SLAM_f_30^post61, __disjvr_25^0'=__disjvr_25^post61, temp_37^0'=temp_37^post61, r_41^0'=r_41^post61, __disjvr_9^0'=__disjvr_9^post61, a_174^0'=a_174^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post61, __disjvr_1^0'=__disjvr_1^post61, len_159^0'=len_159^post61, __disjvr_2^0'=__disjvr_2^post61, rcd_194^0'=rcd_194^post61, __disjvr_12^0'=__disjvr_12^post61, f_202^0'=f_202^post61, temp0_19^0'=temp0_19^post61, nondet_12^0'=nondet_12^post61, y_21^0'=y_21^post61, __disjvr_6^0'=__disjvr_6^post61, rcd_308^0'=rcd_308^post61, rcd_45^0'=rcd_45^post61, __disjvr_17^0'=__disjvr_17^post61, i_130^0'=i_130^post61, __disjvr_27^0'=__disjvr_27^post61, x_154^0'=x_154^post61, rcd_114^0'=rcd_114^post61, (0 == 0 /\ -__disjvr_10^post61+__disjvr_10^0 == 0 /\ -x_207^post61+x_207^0 == 0 /\ rcd_320^0-rcd_320^post61 == 0 /\ result_11^0-result_11^post61 == 0 /\ __disjvr_23^0-__disjvr_23^post61 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post61+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -rcd_220^0+rcd_45^post61 <= 0 /\ -y_26^post61+y_26^0 == 0 /\ __disjvr_22^0-__disjvr_22^post61 == 0 /\ a_222^0-a_174^post61 <= 0 /\ __disjvr_18^0-__disjvr_18^post61 == 0 /\ -i_130^post61+i_130^0 == 0 /\ i_198^0-i_198^post61 == 0 /\ -len_221^post61+len_221^0 == 0 /\ a_253^0-a_253^post61 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post61 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post61+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_33^0-head_33^post61 == 0 /\ __disjvr_8^0-__disjvr_8^post61 == 0 /\ rcd_106^0-rcd_106^post61 == 0 /\ __disjvr_4^0-__disjvr_4^post61 == 0 /\ rcd_288^0-rcd_288^post61 == 0 /\ -__disjvr_27^post61+__disjvr_27^0 == 0 /\ -__disjvr_5^post61+__disjvr_5^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_12^post61+__disjvr_12^0 == 0 /\ -temp_37^post61+temp_37^0 == 0 /\ -__disjvr_30^post61+__disjvr_30^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -y_21^post61+y_21^0 == 0 /\ f_202^0-f_202^post61 == 0 /\ -rcd_308^post61+rcd_308^0 == 0 /\ __disjvr_0^0-__disjvr_0^post61 == 0 /\ x_22^0-x_22^post61 == 0 /\ -x_SLAM_f_20^post61+x_SLAM_f_20^0 == 0 /\ rcd_220^0-rcd_45^post61 <= 0 /\ __disjvr_13^0-__disjvr_13^post61 == 0 /\ -a_222^post61+a_222^0 == 0 /\ -__disjvr_17^post61+__disjvr_17^0 == 0 /\ x_27^0-x_27^post61 == 0 /\ -a_222^0+a_174^post61 <= 0 /\ r_149^0-r_149^post61 == 0 /\ a_309^0-a_309^post61 == 0 /\ tmp_35^0-tmp_35^post61 == 0 /\ __disjvr_21^0-__disjvr_21^post61 == 0 /\ -head_SLAM_f_30^post61+head_SLAM_f_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post61 == 0 /\ -x_154^post61+x_154^0 == 0 /\ rcd_199^0-rcd_199^post61 == 0 /\ -temp0_19^post61+temp0_19^0 == 0 /\ -__disjvr_28^post61+__disjvr_28^0 == 0 /\ -__disjvr_6^post61+__disjvr_6^0 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ __disjvr_15^0-__disjvr_15^post61 == 0 /\ -__disjvr_14^post61+__disjvr_14^0 == 0 /\ __disjvr_26^0-__disjvr_26^post61 == 0 /\ -rcd_71^post61+rcd_71^0 == 0 /\ -temp0_32^post61+temp0_32^0 == 0 /\ -__disjvr_29^post61+__disjvr_29^0 == 0 /\ -t_23^post61+t_23^0 == 0 /\ __disjvr_19^0-__disjvr_19^post61 == 0 /\ -__disjvr_1^post61+__disjvr_1^0 == 0 /\ -rcd_284^post61+rcd_284^0 == 0 /\ tail_15^0-tail_15^post61 == 0 /\ r_192^0-r_192^post61 == 0 /\ i_112^0-i_112^post61 == 0 /\ -__disjvr_2^post61+__disjvr_2^0 == 0 /\ length_29^0-length_29^post61 == 0 /\ len_221^0-len_159^post61 <= 0 /\ rcd_220^0-rcd_220^post61 == 0 /\ -r_41^post61+r_41^0 == 0 /\ -__disjvr_9^post61+__disjvr_9^0 == 0 /\ -__disjvr_16^post61+__disjvr_16^0 == 0 /\ temp_36^0-temp_36^post61 == 0 /\ __disjvr_20^0-__disjvr_20^post61 == 0 /\ __disjvr_24^0-__disjvr_24^post61 == 0 /\ -rcd_185^post61+rcd_185^0 == 0 /\ rcd_193^0-rcd_193^post61 == 0 /\ -a_279^post61+a_279^0 == 0 /\ __disjvr_7^0-__disjvr_7^post61 == 0 /\ head_16^0-head_16^post61 == 0 /\ __disjvr_25^0-__disjvr_25^post61 == 0 /\ i_31^0-i_31^post61 == 0 /\ -__disjvr_11^post61+__disjvr_11^0 == 0 /\ -rcd_114^post61+rcd_114^0 == 0 /\ a_139^0-a_139^post61 == 0 /\ __disjvr_3^0-__disjvr_3^post61 == 0 /\ -rcd_194^post61+rcd_194^0 == 0 /\ -len_221^0+len_159^post61 <= 0), cost: 1 62: l52 -> l1 : __disjvr_0^0'=__disjvr_0^post62, a_253^0'=a_253^post62, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post62, __disjvr_21^0'=__disjvr_21^post62, x_27^0'=x_27^post62, __disjvr_3^0'=__disjvr_3^post62, rcd_220^0'=rcd_220^post62, __disjvr_14^0'=__disjvr_14^post62, head_33^0'=head_33^post62, __disjvr_24^0'=__disjvr_24^post62, temp_36^0'=temp_36^post62, r_192^0'=r_192^post62, __disjvr_8^0'=__disjvr_8^post62, a_139^0'=a_139^post62, result_11^0'=result_11^post62, __disjvr_19^0'=__disjvr_19^post62, i_31^0'=i_31^post62, __disjvr_29^0'=__disjvr_29^post62, x_22^0'=x_22^post62, rcd_193^0'=rcd_193^post62, __disjvr_11^0'=__disjvr_11^post62, a_309^0'=a_309^post62, tail_15^0'=tail_15^post62, length_29^0'=length_29^post62, x_SLAM_f_25^0'=x_SLAM_f_25^post62, __disjvr_5^0'=__disjvr_5^post62, rcd_288^0'=rcd_288^post62, __disjvr_16^0'=__disjvr_16^post62, i_112^0'=i_112^post62, __disjvr_26^0'=__disjvr_26^post62, tmp_35^0'=tmp_35^post62, rcd_106^0'=rcd_106^post62, a_222^0'=a_222^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post62, __disjvr_20^0'=__disjvr_20^post62, len_221^0'=len_221^post62, __disjvr_30^0'=__disjvr_30^post62, rcd_199^0'=rcd_199^post62, __disjvr_13^0'=__disjvr_13^post62, head_16^0'=head_16^post62, __disjvr_23^0'=__disjvr_23^post62, temp0_32^0'=temp0_32^post62, r_149^0'=r_149^post62, y_26^0'=y_26^post62, __disjvr_7^0'=__disjvr_7^post62, rcd_320^0'=rcd_320^post62, rcd_71^0'=rcd_71^post62, __disjvr_18^0'=__disjvr_18^post62, i_198^0'=i_198^post62, __disjvr_28^0'=__disjvr_28^post62, x_207^0'=x_207^post62, rcd_185^0'=rcd_185^post62, __disjvr_10^0'=__disjvr_10^post62, a_279^0'=a_279^post62, t_23^0'=t_23^post62, __disjvr_22^0'=__disjvr_22^post62, x_SLAM_f_20^0'=x_SLAM_f_20^post62, __disjvr_4^0'=__disjvr_4^post62, rcd_284^0'=rcd_284^post62, __disjvr_15^0'=__disjvr_15^post62, head_SLAM_f_30^0'=head_SLAM_f_30^post62, __disjvr_25^0'=__disjvr_25^post62, temp_37^0'=temp_37^post62, r_41^0'=r_41^post62, __disjvr_9^0'=__disjvr_9^post62, a_174^0'=a_174^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post62, __disjvr_1^0'=__disjvr_1^post62, len_159^0'=len_159^post62, __disjvr_2^0'=__disjvr_2^post62, rcd_194^0'=rcd_194^post62, __disjvr_12^0'=__disjvr_12^post62, f_202^0'=f_202^post62, temp0_19^0'=temp0_19^post62, nondet_12^0'=nondet_12^post62, y_21^0'=y_21^post62, __disjvr_6^0'=__disjvr_6^post62, rcd_308^0'=rcd_308^post62, rcd_45^0'=rcd_45^post62, __disjvr_17^0'=__disjvr_17^post62, i_130^0'=i_130^post62, __disjvr_27^0'=__disjvr_27^post62, x_154^0'=x_154^post62, rcd_114^0'=rcd_114^post62, (i_31^0-i_31^post62 == 0 /\ __disjvr_24^0-__disjvr_24^post62 == 0 /\ x_207^0-x_207^post62 == 0 /\ -rcd_106^post62+rcd_106^0 == 0 /\ head_33^0-head_33^post62 == 0 /\ -__disjvr_25^post62+__disjvr_25^0 == 0 /\ -__disjvr_27^post62+__disjvr_27^0 == 0 /\ -__disjvr_12^post62+__disjvr_12^0 == 0 /\ -t_23^post62+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post62+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ rcd_193^0-rcd_193^post62 == 0 /\ __disjvr_5^0-__disjvr_5^post62 == 0 /\ -__disjvr_4^post62+__disjvr_4^0 == 0 /\ -a_279^post62+a_279^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post62 == 0 /\ __disjvr_18^0-__disjvr_18^post62 == 0 /\ -len_221^post62+len_221^0 == 0 /\ tail_15^0-tail_15^post62 == 0 /\ a_174^0-a_174^post62 == 0 /\ __disjvr_13^0-__disjvr_13^post62 == 0 /\ -__disjvr_1^post62+__disjvr_1^0 == 0 /\ -rcd_71^post62+rcd_71^0 == 0 /\ tmp_35^0-tmp_35^post62 == 0 /\ length_29^0-length_29^post62 == 0 /\ -i_130^post62+i_130^0 == 0 /\ -__disjvr_28^post62+__disjvr_28^0 == 0 /\ __disjvr_16^0-__disjvr_16^post62 == 0 /\ -__disjvr_22^post62+__disjvr_22^0 == 0 /\ rcd_220^0-rcd_220^post62 == 0 /\ __disjvr_23^0-__disjvr_23^post62 == 0 /\ -temp_37^post62+temp_37^0 == 0 /\ -y_21^post62+y_21^0 == 0 /\ -result_11^post62+result_11^0 == 0 /\ -f_202^post62+f_202^0 == 0 /\ __disjvr_14^0-__disjvr_14^post62 == 0 /\ -a_309^post62+a_309^0 == 0 /\ -rcd_308^post62+rcd_308^0 == 0 /\ rcd_288^0-rcd_288^post62 == 0 /\ -x_SLAM_f_20^post62+x_SLAM_f_20^0 == 0 /\ -rcd_185^post62+rcd_185^0 == 0 /\ -__disjvr_30^post62+__disjvr_30^0 == 0 /\ __disjvr_11^0-__disjvr_11^post62 == 0 /\ -r_192^post62+r_192^0 == 0 /\ -__disjvr_9^post62+__disjvr_9^0 == 0 /\ -__disjvr_3^post62+__disjvr_3^0 == 0 /\ -rcd_284^post62+rcd_284^0 == 0 /\ -r_149^post62+r_149^0 == 0 /\ rcd_199^0-rcd_199^post62 == 0 /\ -__disjvr_2^post62+__disjvr_2^0 == 0 /\ -temp0_32^post62+temp0_32^0 == 0 /\ x_27^0-x_27^post62 == 0 /\ __disjvr_29^0-__disjvr_29^post62 == 0 /\ -i_198^post62+i_198^0 == 0 /\ -x_SLAM_f_25^post62+x_SLAM_f_25^0 == 0 /\ -head_SLAM_f_30^post62+head_SLAM_f_30^0 == 0 /\ __disjvr_19^0-__disjvr_19^post62 == 0 /\ temp_36^0-temp_36^post62 == 0 /\ -nondet_12^post62+nondet_12^0 == 0 /\ -x_154^post62+x_154^0 == 0 /\ -len_159^post62+len_159^0 == 0 /\ a_253^0-a_253^post62 == 0 /\ __disjvr_21^0-__disjvr_21^post62 == 0 /\ __disjvr_20^0-__disjvr_20^post62 == 0 /\ -__disjvr_6^post62+__disjvr_6^0 == 0 /\ -temp0_19^post62+temp0_19^0 == 0 /\ -y_26^post62+y_26^0 == 0 /\ __disjvr_17^0-__disjvr_17^post62 == 0 /\ -r_41^post62+r_41^0 == 0 /\ -rcd_45^post62+rcd_45^0 == 0 /\ __disjvr_8^0-__disjvr_8^post62 == 0 /\ -__disjvr_10^post62+__disjvr_10^0 == 0 /\ -rcd_114^post62+rcd_114^0 == 0 /\ a_139^0-a_139^post62 == 0 /\ a_222^0-a_222^post62 == 0 /\ __disjvr_0^0-__disjvr_0^post62 == 0 /\ -rcd_194^post62+rcd_194^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post62+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_15^post62+__disjvr_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post62 == 0 /\ -i_112^post62+i_112^0 == 0 /\ head_16^0-head_16^post62 == 0 /\ x_22^0-x_22^post62 == 0 /\ -__disjvr_7^post62+__disjvr_7^0 == 0 /\ rcd_320^0-rcd_320^post62 == 0), cost: 1 63: l58 -> l59 : __disjvr_0^0'=__disjvr_0^post63, a_253^0'=a_253^post63, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post63, __disjvr_21^0'=__disjvr_21^post63, x_27^0'=x_27^post63, __disjvr_3^0'=__disjvr_3^post63, rcd_220^0'=rcd_220^post63, __disjvr_14^0'=__disjvr_14^post63, head_33^0'=head_33^post63, __disjvr_24^0'=__disjvr_24^post63, temp_36^0'=temp_36^post63, r_192^0'=r_192^post63, __disjvr_8^0'=__disjvr_8^post63, a_139^0'=a_139^post63, result_11^0'=result_11^post63, __disjvr_19^0'=__disjvr_19^post63, i_31^0'=i_31^post63, __disjvr_29^0'=__disjvr_29^post63, x_22^0'=x_22^post63, rcd_193^0'=rcd_193^post63, __disjvr_11^0'=__disjvr_11^post63, a_309^0'=a_309^post63, tail_15^0'=tail_15^post63, length_29^0'=length_29^post63, x_SLAM_f_25^0'=x_SLAM_f_25^post63, __disjvr_5^0'=__disjvr_5^post63, rcd_288^0'=rcd_288^post63, __disjvr_16^0'=__disjvr_16^post63, i_112^0'=i_112^post63, __disjvr_26^0'=__disjvr_26^post63, tmp_35^0'=tmp_35^post63, rcd_106^0'=rcd_106^post63, a_222^0'=a_222^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post63, __disjvr_20^0'=__disjvr_20^post63, len_221^0'=len_221^post63, __disjvr_30^0'=__disjvr_30^post63, rcd_199^0'=rcd_199^post63, __disjvr_13^0'=__disjvr_13^post63, head_16^0'=head_16^post63, __disjvr_23^0'=__disjvr_23^post63, temp0_32^0'=temp0_32^post63, r_149^0'=r_149^post63, y_26^0'=y_26^post63, __disjvr_7^0'=__disjvr_7^post63, rcd_320^0'=rcd_320^post63, rcd_71^0'=rcd_71^post63, __disjvr_18^0'=__disjvr_18^post63, i_198^0'=i_198^post63, __disjvr_28^0'=__disjvr_28^post63, x_207^0'=x_207^post63, rcd_185^0'=rcd_185^post63, __disjvr_10^0'=__disjvr_10^post63, a_279^0'=a_279^post63, t_23^0'=t_23^post63, __disjvr_22^0'=__disjvr_22^post63, x_SLAM_f_20^0'=x_SLAM_f_20^post63, __disjvr_4^0'=__disjvr_4^post63, rcd_284^0'=rcd_284^post63, __disjvr_15^0'=__disjvr_15^post63, head_SLAM_f_30^0'=head_SLAM_f_30^post63, __disjvr_25^0'=__disjvr_25^post63, temp_37^0'=temp_37^post63, r_41^0'=r_41^post63, __disjvr_9^0'=__disjvr_9^post63, a_174^0'=a_174^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post63, __disjvr_1^0'=__disjvr_1^post63, len_159^0'=len_159^post63, __disjvr_2^0'=__disjvr_2^post63, rcd_194^0'=rcd_194^post63, __disjvr_12^0'=__disjvr_12^post63, f_202^0'=f_202^post63, temp0_19^0'=temp0_19^post63, nondet_12^0'=nondet_12^post63, y_21^0'=y_21^post63, __disjvr_6^0'=__disjvr_6^post63, rcd_308^0'=rcd_308^post63, rcd_45^0'=rcd_45^post63, __disjvr_17^0'=__disjvr_17^post63, i_130^0'=i_130^post63, __disjvr_27^0'=__disjvr_27^post63, x_154^0'=x_154^post63, rcd_114^0'=rcd_114^post63, (0 == 0 /\ rcd_220^0-rcd_220^post63 == 0 /\ -a_309^post63+a_309^0 == 0 /\ -a_139^0 <= 0 /\ -temp0_19^post63+temp0_19^0 == 0 /\ __disjvr_24^0-__disjvr_24^post63 == 0 /\ x_207^0-x_207^post63 == 0 /\ -__disjvr_1^post63+__disjvr_1^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post63 <= 0 /\ -rcd_320^post63+rcd_45^0 <= 0 /\ rcd_288^0-rcd_288^post63 == 0 /\ -rcd_45^post63+rcd_45^0 == 0 /\ rcd_199^0-rcd_199^post63 == 0 /\ -f_202^post63+f_202^0 == 0 /\ x_SLAM_f_20^post63-x_22^post63 <= 0 /\ -t_23^post63+t_23^0 == 0 /\ temp_36^0-temp_36^post63 == 0 /\ i_31^0-i_31^post63 == 0 /\ -x_SLAM_f_20^post63+head_16^0 <= 0 /\ -__disjvr_25^post63+__disjvr_25^0 == 0 /\ a_253^0-a_253^post63 == 0 /\ __disjvr_21^0-__disjvr_21^post63 == 0 /\ -__disjvr_19^post63+__disjvr_19^0 == 0 /\ tail_15^0-tail_15^post63 == 0 /\ -__disjvr_9^post63+__disjvr_9^0 == 0 /\ __disjvr_28^0-__disjvr_28^post63 == 0 /\ __disjvr_18^0-__disjvr_18^post63 == 0 /\ -__disjvr_4^post63+__disjvr_4^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post63 <= 0 /\ rcd_320^post63-rcd_45^0 <= 0 /\ rcd_106^0-rcd_106^post63 == 0 /\ -rcd_114^post63+rcd_114^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post63+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -len_159^post63+len_159^0 == 0 /\ a_139^0-a_139^post63 == 0 /\ -temp0_32^post63+temp0_32^0 == 0 /\ __disjvr_11^0-__disjvr_11^post63 == 0 /\ -x_SLAM_f_20^post63+x_22^post63 <= 0 /\ -x_SLAM_f_20^post63+x_22^post63 == 0 /\ -__disjvr_2^post63+__disjvr_2^0 == 0 /\ r_149^0-r_149^post63 == 0 /\ __disjvr_16^0-__disjvr_16^post63 == 0 /\ x_SLAM_f_20^post63-head_16^0 <= 0 /\ x_SLAM_f_20^post63-head_16^0 == 0 /\ -a_279^post63+a_279^0 == 0 /\ -head_33^post63+head_33^0 == 0 /\ rcd_71^0-rcd_71^post63 == 0 /\ -__disjvr_5^post63+__disjvr_5^0 == 0 /\ -__disjvr_10^post63+__disjvr_10^0 == 0 /\ -i_198^post63+i_198^0 == 0 /\ __disjvr_0^0-__disjvr_0^post63 == 0 /\ -x_27^0+y_26^0 <= 0 /\ a_222^0-a_222^post63 == 0 /\ -rcd_185^post63+rcd_185^0 == 0 /\ -y_21^post63+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post63 <= 0 /\ -rcd_194^post63+rcd_194^0 == 0 /\ -__disjvr_27^post63+__disjvr_27^0 == 0 /\ __disjvr_3^0-__disjvr_3^post63 == 0 /\ -r_192^post63+r_192^0 == 0 /\ -i_130^post63+i_130^0 == 0 /\ -a_174^post63+a_174^0 == 0 /\ -__disjvr_22^post63+__disjvr_22^0 == 0 /\ -__disjvr_7^post63+__disjvr_7^0 == 0 /\ rcd_193^0-rcd_193^post63 == 0 /\ __disjvr_13^0-__disjvr_13^post63 == 0 /\ -temp_37^post63+temp_37^0 == 0 /\ -rcd_308^post63+rcd_308^0 == 0 /\ nondet_12^0-nondet_12^post63 == 0 /\ -__disjvr_23^post63+__disjvr_23^0 == 0 /\ head_16^0-x_22^post63 <= 0 /\ y_21^post63-tail_15^0 <= 0 /\ y_21^post63-tail_15^0 == 0 /\ __disjvr_20^0-__disjvr_20^post63 == 0 /\ -rcd_284^post63+rcd_284^0 == 0 /\ -__disjvr_15^post63+__disjvr_15^0 == 0 /\ tmp_35^0-tmp_35^post63 == 0 /\ -__disjvr_29^post63+__disjvr_29^0 == 0 /\ len_221^0-len_221^post63 == 0 /\ -i_112^post63+i_112^0 == 0 /\ -head_16^post63+head_16^0 == 0 /\ -__disjvr_30^post63+__disjvr_30^0 == 0 /\ x_27^0-y_26^0 <= 0 /\ __disjvr_26^0-__disjvr_26^post63 == 0 /\ y_21^post63-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post63 <= 0 /\ -head_SLAM_f_30^post63+head_SLAM_f_30^0 == 0 /\ -__disjvr_17^post63+__disjvr_17^0 == 0 /\ result_11^0-result_11^post63 == 0 /\ __disjvr_14^0-__disjvr_14^post63 == 0 /\ length_29^0-length_29^post63 == 0 /\ -__disjvr_12^post63+__disjvr_12^0 == 0 /\ 1-len_159^0 <= 0 /\ -1+len_159^0 <= 0 /\ -x_154^post63+x_154^0 == 0 /\ __disjvr_8^0-__disjvr_8^post63 == 0 /\ -__disjvr_6^post63+__disjvr_6^0 == 0 /\ -head_16^0+x_22^post63 <= 0 /\ -y_21^post63+tail_15^0 <= 0 /\ r_41^0-r_41^post63 == 0), cost: 1 66: l58 -> l61 : __disjvr_0^0'=__disjvr_0^post66, a_253^0'=a_253^post66, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post66, __disjvr_21^0'=__disjvr_21^post66, x_27^0'=x_27^post66, __disjvr_3^0'=__disjvr_3^post66, rcd_220^0'=rcd_220^post66, __disjvr_14^0'=__disjvr_14^post66, head_33^0'=head_33^post66, __disjvr_24^0'=__disjvr_24^post66, temp_36^0'=temp_36^post66, r_192^0'=r_192^post66, __disjvr_8^0'=__disjvr_8^post66, a_139^0'=a_139^post66, result_11^0'=result_11^post66, __disjvr_19^0'=__disjvr_19^post66, i_31^0'=i_31^post66, __disjvr_29^0'=__disjvr_29^post66, x_22^0'=x_22^post66, rcd_193^0'=rcd_193^post66, __disjvr_11^0'=__disjvr_11^post66, a_309^0'=a_309^post66, tail_15^0'=tail_15^post66, length_29^0'=length_29^post66, x_SLAM_f_25^0'=x_SLAM_f_25^post66, __disjvr_5^0'=__disjvr_5^post66, rcd_288^0'=rcd_288^post66, __disjvr_16^0'=__disjvr_16^post66, i_112^0'=i_112^post66, __disjvr_26^0'=__disjvr_26^post66, tmp_35^0'=tmp_35^post66, rcd_106^0'=rcd_106^post66, a_222^0'=a_222^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post66, __disjvr_20^0'=__disjvr_20^post66, len_221^0'=len_221^post66, __disjvr_30^0'=__disjvr_30^post66, rcd_199^0'=rcd_199^post66, __disjvr_13^0'=__disjvr_13^post66, head_16^0'=head_16^post66, __disjvr_23^0'=__disjvr_23^post66, temp0_32^0'=temp0_32^post66, r_149^0'=r_149^post66, y_26^0'=y_26^post66, __disjvr_7^0'=__disjvr_7^post66, rcd_320^0'=rcd_320^post66, rcd_71^0'=rcd_71^post66, __disjvr_18^0'=__disjvr_18^post66, i_198^0'=i_198^post66, __disjvr_28^0'=__disjvr_28^post66, x_207^0'=x_207^post66, rcd_185^0'=rcd_185^post66, __disjvr_10^0'=__disjvr_10^post66, a_279^0'=a_279^post66, t_23^0'=t_23^post66, __disjvr_22^0'=__disjvr_22^post66, x_SLAM_f_20^0'=x_SLAM_f_20^post66, __disjvr_4^0'=__disjvr_4^post66, rcd_284^0'=rcd_284^post66, __disjvr_15^0'=__disjvr_15^post66, head_SLAM_f_30^0'=head_SLAM_f_30^post66, __disjvr_25^0'=__disjvr_25^post66, temp_37^0'=temp_37^post66, r_41^0'=r_41^post66, __disjvr_9^0'=__disjvr_9^post66, a_174^0'=a_174^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post66, __disjvr_1^0'=__disjvr_1^post66, len_159^0'=len_159^post66, __disjvr_2^0'=__disjvr_2^post66, rcd_194^0'=rcd_194^post66, __disjvr_12^0'=__disjvr_12^post66, f_202^0'=f_202^post66, temp0_19^0'=temp0_19^post66, nondet_12^0'=nondet_12^post66, y_21^0'=y_21^post66, __disjvr_6^0'=__disjvr_6^post66, rcd_308^0'=rcd_308^post66, rcd_45^0'=rcd_45^post66, __disjvr_17^0'=__disjvr_17^post66, i_130^0'=i_130^post66, __disjvr_27^0'=__disjvr_27^post66, x_154^0'=x_154^post66, rcd_114^0'=rcd_114^post66, (0 == 0 /\ -i_198^post66+i_198^0 == 0 /\ -__disjvr_10^post66+__disjvr_10^0 == 0 /\ -__disjvr_5^post66+__disjvr_5^0 == 0 /\ len_221^0-len_221^post66 == 0 /\ -__disjvr_20^post66+__disjvr_20^0 == 0 /\ -a_139^0 <= 0 /\ __disjvr_28^0-__disjvr_28^post66 == 0 /\ a_253^0-a_253^post66 == 0 /\ y_26^0-y_26^post66 == 0 /\ __disjvr_18^0-__disjvr_18^post66 == 0 /\ -rcd_185^post66+rcd_185^0 == 0 /\ -i_130^post66+i_130^0 == 0 /\ __disjvr_8^0-__disjvr_8^post66 == 0 /\ -temp_37^post66+temp_37^0 == 0 /\ rcd_106^0-rcd_106^post66 == 0 /\ -__disjvr_27^post66+__disjvr_27^0 == 0 /\ -rcd_288^post66+rcd_288^0 == 0 /\ result_11^0-result_11^post66 == 0 /\ __disjvr_11^0-__disjvr_11^post66 == 0 /\ -__disjvr_22^post66+__disjvr_22^0 == 0 /\ -__disjvr_7^post66+__disjvr_7^0 == 0 /\ length_29^0-length_29^post66 == 0 /\ -y_21^post66+y_21^0 == 0 /\ -__disjvr_23^post66+__disjvr_23^0 == 0 /\ -rcd_308^post66+rcd_308^0 == 0 /\ -rcd_194^post66+rcd_194^0 == 0 /\ __disjvr_16^0-__disjvr_16^post66 == 0 /\ a_309^0-a_309^post66 == 0 /\ __disjvr_0^0-__disjvr_0^post66 == 0 /\ -rcd_284^post66+rcd_284^0 == 0 /\ -i_112^post66+i_112^0 == 0 /\ head_33^0-head_33^post66 == 0 /\ x_27^0-x_27^post66 == 0 /\ a_222^0-a_222^post66 == 0 /\ f_202^0-f_202^post66 == 0 /\ -__disjvr_30^post66+__disjvr_30^0 == 0 /\ x_22^0-x_22^post66 == 0 /\ __disjvr_2^0-__disjvr_2^post66 == 0 /\ -head_SLAM_f_30^post66+head_SLAM_f_30^0 == 0 /\ -rcd_320^post66+rcd_320^0 == 0 /\ __disjvr_13^0-__disjvr_13^post66 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0 /\ rcd_199^0-rcd_199^post66 == 0 /\ -__disjvr_12^post66+__disjvr_12^0 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -__disjvr_6^post66+__disjvr_6^0 == 0 /\ -rcd_71^post66+rcd_71^0 == 0 /\ tmp_35^0-tmp_35^post66 == 0 /\ r_192^0-r_192^post66 == 0 /\ __disjvr_15^0-__disjvr_15^post66 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post66 == 0 /\ -temp0_32^post66+temp0_32^0 == 0 /\ -temp0_19^post66+temp0_19^0 == 0 /\ a_139^0-a_139^post66 == 0 /\ -__disjvr_1^post66+__disjvr_1^0 == 0 /\ __disjvr_26^0-__disjvr_26^post66 == 0 /\ -rcd_45^post66+rcd_45^0 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ -t_23^post66+t_23^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post66 == 0 /\ -__disjvr_29^post66+__disjvr_29^0 == 0 /\ r_41^0-r_41^post66 == 0 /\ -__disjvr_25^post66+__disjvr_25^0 == 0 /\ -__disjvr_19^post66+__disjvr_19^0 == 0 /\ rcd_220^0-rcd_220^post66 == 0 /\ -a_174^post66+a_174^0 == 0 /\ x_207^0-x_207^post66 == 0 /\ -__disjvr_9^post66+__disjvr_9^0 == 0 /\ rcd_193^0-rcd_193^post66 == 0 /\ -__disjvr_4^post66+__disjvr_4^0 == 0 /\ __disjvr_24^0-__disjvr_24^post66 == 0 /\ -rcd_114^post66+rcd_114^0 == 0 /\ -len_159^post66+len_159^0 == 0 /\ i_31^0-i_31^post66 == 0 /\ temp_36^0-temp_36^post66 == 0 /\ __disjvr_21^0-__disjvr_21^post66 == 0 /\ __disjvr_3^0-__disjvr_3^post66 == 0 /\ -a_279^post66+a_279^0 == 0), cost: 1 64: l59 -> l60 : __disjvr_0^0'=__disjvr_0^post64, a_253^0'=a_253^post64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post64, __disjvr_21^0'=__disjvr_21^post64, x_27^0'=x_27^post64, __disjvr_3^0'=__disjvr_3^post64, rcd_220^0'=rcd_220^post64, __disjvr_14^0'=__disjvr_14^post64, head_33^0'=head_33^post64, __disjvr_24^0'=__disjvr_24^post64, temp_36^0'=temp_36^post64, r_192^0'=r_192^post64, __disjvr_8^0'=__disjvr_8^post64, a_139^0'=a_139^post64, result_11^0'=result_11^post64, __disjvr_19^0'=__disjvr_19^post64, i_31^0'=i_31^post64, __disjvr_29^0'=__disjvr_29^post64, x_22^0'=x_22^post64, rcd_193^0'=rcd_193^post64, __disjvr_11^0'=__disjvr_11^post64, a_309^0'=a_309^post64, tail_15^0'=tail_15^post64, length_29^0'=length_29^post64, x_SLAM_f_25^0'=x_SLAM_f_25^post64, __disjvr_5^0'=__disjvr_5^post64, rcd_288^0'=rcd_288^post64, __disjvr_16^0'=__disjvr_16^post64, i_112^0'=i_112^post64, __disjvr_26^0'=__disjvr_26^post64, tmp_35^0'=tmp_35^post64, rcd_106^0'=rcd_106^post64, a_222^0'=a_222^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post64, __disjvr_20^0'=__disjvr_20^post64, len_221^0'=len_221^post64, __disjvr_30^0'=__disjvr_30^post64, rcd_199^0'=rcd_199^post64, __disjvr_13^0'=__disjvr_13^post64, head_16^0'=head_16^post64, __disjvr_23^0'=__disjvr_23^post64, temp0_32^0'=temp0_32^post64, r_149^0'=r_149^post64, y_26^0'=y_26^post64, __disjvr_7^0'=__disjvr_7^post64, rcd_320^0'=rcd_320^post64, rcd_71^0'=rcd_71^post64, __disjvr_18^0'=__disjvr_18^post64, i_198^0'=i_198^post64, __disjvr_28^0'=__disjvr_28^post64, x_207^0'=x_207^post64, rcd_185^0'=rcd_185^post64, __disjvr_10^0'=__disjvr_10^post64, a_279^0'=a_279^post64, t_23^0'=t_23^post64, __disjvr_22^0'=__disjvr_22^post64, x_SLAM_f_20^0'=x_SLAM_f_20^post64, __disjvr_4^0'=__disjvr_4^post64, rcd_284^0'=rcd_284^post64, __disjvr_15^0'=__disjvr_15^post64, head_SLAM_f_30^0'=head_SLAM_f_30^post64, __disjvr_25^0'=__disjvr_25^post64, temp_37^0'=temp_37^post64, r_41^0'=r_41^post64, __disjvr_9^0'=__disjvr_9^post64, a_174^0'=a_174^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64, __disjvr_1^0'=__disjvr_1^post64, len_159^0'=len_159^post64, __disjvr_2^0'=__disjvr_2^post64, rcd_194^0'=rcd_194^post64, __disjvr_12^0'=__disjvr_12^post64, f_202^0'=f_202^post64, temp0_19^0'=temp0_19^post64, nondet_12^0'=nondet_12^post64, y_21^0'=y_21^post64, __disjvr_6^0'=__disjvr_6^post64, rcd_308^0'=rcd_308^post64, rcd_45^0'=rcd_45^post64, __disjvr_17^0'=__disjvr_17^post64, i_130^0'=i_130^post64, __disjvr_27^0'=__disjvr_27^post64, x_154^0'=x_154^post64, rcd_114^0'=rcd_114^post64, (-temp0_19^post64+temp0_19^0 == 0 /\ -__disjvr_28^post64+__disjvr_28^0 == 0 /\ -__disjvr_6^post64+__disjvr_6^0 == 0 /\ temp_36^0-temp_36^post64 == 0 /\ -head_16^post64+head_16^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post64 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ -rcd_71^post64+rcd_71^0 == 0 /\ -rcd_45^post64+rcd_45^0 == 0 /\ __disjvr_20^0-__disjvr_20^post64 == 0 /\ x_22^0-x_22^post64 == 0 /\ -t_23^post64+t_23^0 == 0 /\ -rcd_185^post64+rcd_185^0 == 0 /\ -__disjvr_1^post64+__disjvr_1^0 == 0 /\ -rcd_284^post64+rcd_284^0 == 0 /\ -__disjvr_2^post64+__disjvr_2^0 == 0 /\ a_139^0-a_139^post64 == 0 /\ -temp0_32^post64+temp0_32^0 == 0 /\ __disjvr_3^0-__disjvr_3^post64 == 0 /\ rcd_199^0-rcd_199^post64 == 0 /\ -f_202^post64+f_202^0 == 0 /\ -__disjvr_9^post64+__disjvr_9^0 == 0 /\ -r_41^post64+r_41^0 == 0 /\ rcd_320^0-rcd_320^post64 == 0 /\ __disjvr_15^0-__disjvr_15^post64 == 0 /\ -__disjvr_16^post64+__disjvr_16^0 == 0 /\ x_207^0-x_207^post64 == 0 /\ __disjvr_26^0-__disjvr_26^post64 == 0 /\ -len_159^post64+len_159^0 == 0 /\ a_253^0-a_253^post64 == 0 /\ rcd_288^0-rcd_288^post64 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post64 == 0 /\ -__disjvr_7^post64+__disjvr_7^0 == 0 /\ i_112^0-i_112^post64 == 0 /\ head_33^0-head_33^post64 == 0 /\ -rcd_114^post64+rcd_114^0 == 0 /\ -rcd_194^post64+rcd_194^0 == 0 /\ -a_174^post64+a_174^0 == 0 /\ rcd_220^0-rcd_220^post64 == 0 /\ __disjvr_13^0-__disjvr_13^post64 == 0 /\ __disjvr_0^0-__disjvr_0^post64 == 0 /\ -__disjvr_27^post64+__disjvr_27^0 == 0 /\ -__disjvr_4^post64+__disjvr_4^0 == 0 /\ -y_26^post64+y_26^0 == 0 /\ x_27^0-x_27^post64 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post64+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -i_130^post64+i_130^0 == 0 /\ __disjvr_24^0-__disjvr_24^post64 == 0 /\ r_149^0-r_149^post64 == 0 /\ -__disjvr_10^post64+__disjvr_10^0 == 0 /\ rcd_193^0-rcd_193^post64 == 0 /\ __disjvr_21^0-__disjvr_21^post64 == 0 /\ len_221^0-len_221^post64 == 0 /\ a_279^0-a_279^post64 == 0 /\ __disjvr_25^0-__disjvr_25^post64 == 0 /\ i_31^0-i_31^post64 == 0 /\ a_222^0-a_222^post64 == 0 /\ -__disjvr_5^post64+__disjvr_5^0 == 0 /\ tmp_35^0-tmp_35^post64 == 0 /\ -temp_37^post64+temp_37^0 == 0 /\ -rcd_308^post64+rcd_308^0 == 0 /\ -result_11^post64+result_11^0 == 0 /\ -__disjvr_8^post64+__disjvr_8^0 == 0 /\ -y_21^post64+y_21^0 == 0 /\ __disjvr_11^0-__disjvr_11^post64 == 0 /\ __disjvr_29^0-__disjvr_29^post64 == 0 /\ __disjvr_27^post64-__disjvr_27^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post64 == 0 /\ -x_SLAM_f_20^post64+x_SLAM_f_20^0 == 0 /\ -__disjvr_17^post64+__disjvr_17^0 == 0 /\ -__disjvr_22^post64+__disjvr_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post64 == 0 /\ __disjvr_18^0-__disjvr_18^post64 == 0 /\ i_198^0-i_198^post64 == 0 /\ -__disjvr_12^post64+__disjvr_12^0 == 0 /\ rcd_106^0-rcd_106^post64 == 0 /\ -__disjvr_23^post64+__disjvr_23^0 == 0 /\ __disjvr_19^0-__disjvr_19^post64 == 0 /\ __disjvr_30^0-__disjvr_30^post64 == 0 /\ r_192^0-r_192^post64 == 0 /\ tail_15^0-tail_15^post64 == 0 /\ -head_SLAM_f_30^post64+head_SLAM_f_30^0 == 0 /\ -a_309^post64+a_309^0 == 0 /\ -x_154^post64+x_154^0 == 0 /\ length_29^0-length_29^post64 == 0), cost: 1 65: l60 -> l42 : __disjvr_0^0'=__disjvr_0^post65, a_253^0'=a_253^post65, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post65, __disjvr_21^0'=__disjvr_21^post65, x_27^0'=x_27^post65, __disjvr_3^0'=__disjvr_3^post65, rcd_220^0'=rcd_220^post65, __disjvr_14^0'=__disjvr_14^post65, head_33^0'=head_33^post65, __disjvr_24^0'=__disjvr_24^post65, temp_36^0'=temp_36^post65, r_192^0'=r_192^post65, __disjvr_8^0'=__disjvr_8^post65, a_139^0'=a_139^post65, result_11^0'=result_11^post65, __disjvr_19^0'=__disjvr_19^post65, i_31^0'=i_31^post65, __disjvr_29^0'=__disjvr_29^post65, x_22^0'=x_22^post65, rcd_193^0'=rcd_193^post65, __disjvr_11^0'=__disjvr_11^post65, a_309^0'=a_309^post65, tail_15^0'=tail_15^post65, length_29^0'=length_29^post65, x_SLAM_f_25^0'=x_SLAM_f_25^post65, __disjvr_5^0'=__disjvr_5^post65, rcd_288^0'=rcd_288^post65, __disjvr_16^0'=__disjvr_16^post65, i_112^0'=i_112^post65, __disjvr_26^0'=__disjvr_26^post65, tmp_35^0'=tmp_35^post65, rcd_106^0'=rcd_106^post65, a_222^0'=a_222^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post65, __disjvr_20^0'=__disjvr_20^post65, len_221^0'=len_221^post65, __disjvr_30^0'=__disjvr_30^post65, rcd_199^0'=rcd_199^post65, __disjvr_13^0'=__disjvr_13^post65, head_16^0'=head_16^post65, __disjvr_23^0'=__disjvr_23^post65, temp0_32^0'=temp0_32^post65, r_149^0'=r_149^post65, y_26^0'=y_26^post65, __disjvr_7^0'=__disjvr_7^post65, rcd_320^0'=rcd_320^post65, rcd_71^0'=rcd_71^post65, __disjvr_18^0'=__disjvr_18^post65, i_198^0'=i_198^post65, __disjvr_28^0'=__disjvr_28^post65, x_207^0'=x_207^post65, rcd_185^0'=rcd_185^post65, __disjvr_10^0'=__disjvr_10^post65, a_279^0'=a_279^post65, t_23^0'=t_23^post65, __disjvr_22^0'=__disjvr_22^post65, x_SLAM_f_20^0'=x_SLAM_f_20^post65, __disjvr_4^0'=__disjvr_4^post65, rcd_284^0'=rcd_284^post65, __disjvr_15^0'=__disjvr_15^post65, head_SLAM_f_30^0'=head_SLAM_f_30^post65, __disjvr_25^0'=__disjvr_25^post65, temp_37^0'=temp_37^post65, r_41^0'=r_41^post65, __disjvr_9^0'=__disjvr_9^post65, a_174^0'=a_174^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post65, __disjvr_1^0'=__disjvr_1^post65, len_159^0'=len_159^post65, __disjvr_2^0'=__disjvr_2^post65, rcd_194^0'=rcd_194^post65, __disjvr_12^0'=__disjvr_12^post65, f_202^0'=f_202^post65, temp0_19^0'=temp0_19^post65, nondet_12^0'=nondet_12^post65, y_21^0'=y_21^post65, __disjvr_6^0'=__disjvr_6^post65, rcd_308^0'=rcd_308^post65, rcd_45^0'=rcd_45^post65, __disjvr_17^0'=__disjvr_17^post65, i_130^0'=i_130^post65, __disjvr_27^0'=__disjvr_27^post65, x_154^0'=x_154^post65, rcd_114^0'=rcd_114^post65, (0 == 0 /\ -__disjvr_7^post65+__disjvr_7^0 == 0 /\ __disjvr_20^0-__disjvr_20^post65 == 0 /\ __disjvr_3^0-__disjvr_3^post65 == 0 /\ a_253^0-a_253^post65 == 0 /\ -x_154^post65+x_154^0 == 0 /\ -x_SLAM_f_20^post65+x_SLAM_f_20^0 == 0 /\ tail_15^0-tail_15^post65 == 0 /\ -__disjvr_30^post65+__disjvr_30^0 == 0 /\ tmp_35^0-tmp_35^post65 == 0 /\ -rcd_185^post65+rcd_185^0 == 0 /\ __disjvr_13^0-__disjvr_13^post65 == 0 /\ __disjvr_21^0-__disjvr_21^post65 == 0 /\ -f_202^post65+f_202^0 == 0 /\ -__disjvr_17^post65+__disjvr_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post65 == 0 /\ -rcd_308^post65+rcd_308^0 == 0 /\ -__disjvr_9^post65+__disjvr_9^0 == 0 /\ -rcd_284^post65+rcd_284^0 == 0 /\ -__disjvr_2^post65+__disjvr_2^0 == 0 /\ __disjvr_16^0-__disjvr_16^post65 == 0 /\ __disjvr_1^0-__disjvr_1^post65 == 0 /\ -len_159^post65+len_159^0 == 0 /\ a_222^0-a_222^post65 == 0 /\ -temp0_32^post65+temp0_32^0 == 0 /\ -temp0_19^post65+temp0_19^0 == 0 /\ __disjvr_23^0-__disjvr_23^post65 == 0 /\ __disjvr_0^0-__disjvr_0^post65 == 0 /\ a_139^0-a_139^post65 == 0 /\ r_149^0-r_149^post65 == 0 /\ -a_174^post65+a_174^0 == 0 /\ -i_198^post65+i_198^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ __disjvr_26^0-__disjvr_26^post65 == 0 /\ -x_SLAM_f_25^post65+x_SLAM_f_25^0 == 0 /\ -head_SLAM_f_30^post65+head_SLAM_f_30^0 == 0 /\ __disjvr_14^0-__disjvr_14^post65 == 0 /\ -nondet_12^post65+nondet_12^0 == 0 /\ -rcd_320^post65+rcd_320^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -y_26^post65+y_26^0 == 0 /\ -__disjvr_6^post65+__disjvr_6^0 == 0 /\ rcd_106^0-rcd_106^post65 == 0 /\ -__disjvr_29^post65+__disjvr_29^0 == 0 /\ rcd_199^0-rcd_199^post65 == 0 /\ __disjvr_5^0-__disjvr_5^post65 == 0 /\ -rcd_194^post65+rcd_194^0 == 0 /\ -__disjvr_12^post65+__disjvr_12^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post65+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post65 == 0 /\ -__disjvr_10^post65+__disjvr_10^0 == 0 /\ -i_112^post65+i_112^0 == 0 /\ temp_36^0-temp_36^post65 == 0 /\ -t_23^post65+t_23^0 == 0 /\ length_29^0-length_29^post65 == 0 /\ r_192^0-r_192^post65 == 0 /\ -a_309^post65+a_309^0 == 0 /\ -__disjvr_27^post65+__disjvr_27^0 == 0 /\ -__disjvr_25^post65+__disjvr_25^0 == 0 /\ __disjvr_11^0-__disjvr_11^post65 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post65 == 0 /\ -rcd_114^post65+rcd_114^0 == 0 /\ rcd_220^0-rcd_220^post65 == 0 /\ -rcd_45^post65+rcd_320^0 <= 0 /\ len_221^0-len_221^post65 == 0 /\ x_22^0-x_22^post65 == 0 /\ head_16^0-head_16^post65 == 0 /\ rcd_288^0-rcd_288^post65 == 0 /\ i_31^0-i_31^post65 == 0 /\ __disjvr_24^0-__disjvr_24^post65 == 0 /\ x_207^0-x_207^post65 == 0 /\ a_279^0-a_279^post65 == 0 /\ -rcd_71^post65+rcd_71^0 == 0 /\ -i_130^post65+i_130^0 == 0 /\ -__disjvr_4^post65+__disjvr_4^0 == 0 /\ head_33^0-head_33^post65 == 0 /\ r_41^0-r_41^post65 == 0 /\ -__disjvr_28^post65+__disjvr_28^0 == 0 /\ __disjvr_15^0-__disjvr_15^post65 == 0 /\ rcd_193^0-rcd_193^post65 == 0 /\ -__disjvr_22^post65+__disjvr_22^0 == 0 /\ x_27^0-x_27^post65 == 0 /\ rcd_45^post65-rcd_320^0 <= 0 /\ __disjvr_19^0-__disjvr_19^post65 == 0 /\ __disjvr_18^0-__disjvr_18^post65 == 0 /\ -y_21^post65+y_21^0 == 0 /\ -temp_37^post65+temp_37^0 == 0 /\ -result_11^post65+result_11^0 == 0), cost: 1 67: l61 -> l62 : __disjvr_0^0'=__disjvr_0^post67, a_253^0'=a_253^post67, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post67, __disjvr_21^0'=__disjvr_21^post67, x_27^0'=x_27^post67, __disjvr_3^0'=__disjvr_3^post67, rcd_220^0'=rcd_220^post67, __disjvr_14^0'=__disjvr_14^post67, head_33^0'=head_33^post67, __disjvr_24^0'=__disjvr_24^post67, temp_36^0'=temp_36^post67, r_192^0'=r_192^post67, __disjvr_8^0'=__disjvr_8^post67, a_139^0'=a_139^post67, result_11^0'=result_11^post67, __disjvr_19^0'=__disjvr_19^post67, i_31^0'=i_31^post67, __disjvr_29^0'=__disjvr_29^post67, x_22^0'=x_22^post67, rcd_193^0'=rcd_193^post67, __disjvr_11^0'=__disjvr_11^post67, a_309^0'=a_309^post67, tail_15^0'=tail_15^post67, length_29^0'=length_29^post67, x_SLAM_f_25^0'=x_SLAM_f_25^post67, __disjvr_5^0'=__disjvr_5^post67, rcd_288^0'=rcd_288^post67, __disjvr_16^0'=__disjvr_16^post67, i_112^0'=i_112^post67, __disjvr_26^0'=__disjvr_26^post67, tmp_35^0'=tmp_35^post67, rcd_106^0'=rcd_106^post67, a_222^0'=a_222^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post67, __disjvr_20^0'=__disjvr_20^post67, len_221^0'=len_221^post67, __disjvr_30^0'=__disjvr_30^post67, rcd_199^0'=rcd_199^post67, __disjvr_13^0'=__disjvr_13^post67, head_16^0'=head_16^post67, __disjvr_23^0'=__disjvr_23^post67, temp0_32^0'=temp0_32^post67, r_149^0'=r_149^post67, y_26^0'=y_26^post67, __disjvr_7^0'=__disjvr_7^post67, rcd_320^0'=rcd_320^post67, rcd_71^0'=rcd_71^post67, __disjvr_18^0'=__disjvr_18^post67, i_198^0'=i_198^post67, __disjvr_28^0'=__disjvr_28^post67, x_207^0'=x_207^post67, rcd_185^0'=rcd_185^post67, __disjvr_10^0'=__disjvr_10^post67, a_279^0'=a_279^post67, t_23^0'=t_23^post67, __disjvr_22^0'=__disjvr_22^post67, x_SLAM_f_20^0'=x_SLAM_f_20^post67, __disjvr_4^0'=__disjvr_4^post67, rcd_284^0'=rcd_284^post67, __disjvr_15^0'=__disjvr_15^post67, head_SLAM_f_30^0'=head_SLAM_f_30^post67, __disjvr_25^0'=__disjvr_25^post67, temp_37^0'=temp_37^post67, r_41^0'=r_41^post67, __disjvr_9^0'=__disjvr_9^post67, a_174^0'=a_174^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post67, __disjvr_1^0'=__disjvr_1^post67, len_159^0'=len_159^post67, __disjvr_2^0'=__disjvr_2^post67, rcd_194^0'=rcd_194^post67, __disjvr_12^0'=__disjvr_12^post67, f_202^0'=f_202^post67, temp0_19^0'=temp0_19^post67, nondet_12^0'=nondet_12^post67, y_21^0'=y_21^post67, __disjvr_6^0'=__disjvr_6^post67, rcd_308^0'=rcd_308^post67, rcd_45^0'=rcd_45^post67, __disjvr_17^0'=__disjvr_17^post67, i_130^0'=i_130^post67, __disjvr_27^0'=__disjvr_27^post67, x_154^0'=x_154^post67, rcd_114^0'=rcd_114^post67, (-i_112^post67+i_112^0 == 0 /\ __disjvr_18^0-__disjvr_18^post67 == 0 /\ -__disjvr_25^post67+__disjvr_25^0 == 0 /\ x_207^0-x_207^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post67 == 0 /\ -__disjvr_27^post67+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -i_130^post67+i_130^0 == 0 /\ -__disjvr_4^post67+__disjvr_4^0 == 0 /\ __disjvr_1^0-__disjvr_1^post67 == 0 /\ -__disjvr_10^post67+__disjvr_10^0 == 0 /\ y_26^0-y_26^post67 == 0 /\ __disjvr_24^0-__disjvr_24^post67 == 0 /\ __disjvr_19^0-__disjvr_19^post67 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post67+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_192^0-r_192^post67 == 0 /\ length_29^0-length_29^post67 == 0 /\ head_33^0-head_33^post67 == 0 /\ tail_15^0-tail_15^post67 == 0 /\ __disjvr_28^0-__disjvr_28^post67 == 0 /\ result_11^0-result_11^post67 == 0 /\ -temp_37^post67+temp_37^0 == 0 /\ -__disjvr_26^post67+__disjvr_26^0 == 0 /\ -__disjvr_5^post67+__disjvr_5^0 == 0 /\ rcd_220^0-rcd_220^post67 == 0 /\ -y_21^post67+y_21^0 == 0 /\ -rcd_193^post67+rcd_193^0 == 0 /\ -i_31^post67+i_31^0 == 0 /\ __disjvr_13^0-__disjvr_13^post67 == 0 /\ -rcd_308^post67+rcd_308^0 == 0 /\ -__disjvr_22^post67+__disjvr_22^0 == 0 /\ __disjvr_20^0-__disjvr_20^post67 == 0 /\ -__disjvr_12^post67+__disjvr_12^0 == 0 /\ -x_SLAM_f_20^post67+x_SLAM_f_20^0 == 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ __disjvr_16^0-__disjvr_16^post67 == 0 /\ -__disjvr_23^post67+__disjvr_23^0 == 0 /\ tmp_35^0-tmp_35^post67 == 0 /\ -a_309^post67+a_309^0 == 0 /\ __disjvr_3^0-__disjvr_3^post67 == 0 /\ -x_154^post67+x_154^0 == 0 /\ -__disjvr_28^0+__disjvr_28^post67 == 0 /\ a_139^0-a_139^post67 == 0 /\ -nondet_12^post67+nondet_12^0 == 0 /\ rcd_320^0-rcd_320^post67 == 0 /\ __disjvr_29^0-__disjvr_29^post67 == 0 /\ -rcd_284^post67+rcd_284^0 == 0 /\ temp0_19^0-temp0_19^post67 == 0 /\ -rcd_45^post67+rcd_45^0 == 0 /\ __disjvr_11^0-__disjvr_11^post67 == 0 /\ __disjvr_14^0-__disjvr_14^post67 == 0 /\ a_253^0-a_253^post67 == 0 /\ -t_23^post67+t_23^0 == 0 /\ rcd_106^0-rcd_106^post67 == 0 /\ -__disjvr_15^post67+__disjvr_15^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post67 == 0 /\ __disjvr_30^0-__disjvr_30^post67 == 0 /\ __disjvr_6^0-__disjvr_6^post67 == 0 /\ -rcd_71^post67+rcd_71^0 == 0 /\ __disjvr_8^0-__disjvr_8^post67 == 0 /\ -i_198^post67+i_198^0 == 0 /\ -__disjvr_2^post67+__disjvr_2^0 == 0 /\ -temp0_32^post67+temp0_32^0 == 0 /\ -f_202^post67+f_202^0 == 0 /\ -r_41^post67+r_41^0 == 0 /\ temp_36^0-temp_36^post67 == 0 /\ -rcd_199^post67+rcd_199^0 == 0 /\ __disjvr_0^0-__disjvr_0^post67 == 0 /\ -rcd_185^post67+rcd_185^0 == 0 /\ x_27^0-x_27^post67 == 0 /\ -rcd_114^post67+rcd_114^0 == 0 /\ -len_159^post67+len_159^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post67 == 0 /\ r_149^0-r_149^post67 == 0 /\ -rcd_288^post67+rcd_288^0 == 0 /\ x_22^0-x_22^post67 == 0 /\ __disjvr_21^0-__disjvr_21^post67 == 0 /\ len_221^0-len_221^post67 == 0 /\ a_279^0-a_279^post67 == 0 /\ -__disjvr_9^post67+__disjvr_9^0 == 0 /\ a_222^0-a_222^post67 == 0 /\ -rcd_194^post67+rcd_194^0 == 0 /\ head_16^0-head_16^post67 == 0 /\ -__disjvr_7^post67+__disjvr_7^0 == 0 /\ -a_174^post67+a_174^0 == 0), cost: 1 68: l62 -> l63 : __disjvr_0^0'=__disjvr_0^post68, a_253^0'=a_253^post68, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post68, __disjvr_21^0'=__disjvr_21^post68, x_27^0'=x_27^post68, __disjvr_3^0'=__disjvr_3^post68, rcd_220^0'=rcd_220^post68, __disjvr_14^0'=__disjvr_14^post68, head_33^0'=head_33^post68, __disjvr_24^0'=__disjvr_24^post68, temp_36^0'=temp_36^post68, r_192^0'=r_192^post68, __disjvr_8^0'=__disjvr_8^post68, a_139^0'=a_139^post68, result_11^0'=result_11^post68, __disjvr_19^0'=__disjvr_19^post68, i_31^0'=i_31^post68, __disjvr_29^0'=__disjvr_29^post68, x_22^0'=x_22^post68, rcd_193^0'=rcd_193^post68, __disjvr_11^0'=__disjvr_11^post68, a_309^0'=a_309^post68, tail_15^0'=tail_15^post68, length_29^0'=length_29^post68, x_SLAM_f_25^0'=x_SLAM_f_25^post68, __disjvr_5^0'=__disjvr_5^post68, rcd_288^0'=rcd_288^post68, __disjvr_16^0'=__disjvr_16^post68, i_112^0'=i_112^post68, __disjvr_26^0'=__disjvr_26^post68, tmp_35^0'=tmp_35^post68, rcd_106^0'=rcd_106^post68, a_222^0'=a_222^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post68, __disjvr_20^0'=__disjvr_20^post68, len_221^0'=len_221^post68, __disjvr_30^0'=__disjvr_30^post68, rcd_199^0'=rcd_199^post68, __disjvr_13^0'=__disjvr_13^post68, head_16^0'=head_16^post68, __disjvr_23^0'=__disjvr_23^post68, temp0_32^0'=temp0_32^post68, r_149^0'=r_149^post68, y_26^0'=y_26^post68, __disjvr_7^0'=__disjvr_7^post68, rcd_320^0'=rcd_320^post68, rcd_71^0'=rcd_71^post68, __disjvr_18^0'=__disjvr_18^post68, i_198^0'=i_198^post68, __disjvr_28^0'=__disjvr_28^post68, x_207^0'=x_207^post68, rcd_185^0'=rcd_185^post68, __disjvr_10^0'=__disjvr_10^post68, a_279^0'=a_279^post68, t_23^0'=t_23^post68, __disjvr_22^0'=__disjvr_22^post68, x_SLAM_f_20^0'=x_SLAM_f_20^post68, __disjvr_4^0'=__disjvr_4^post68, rcd_284^0'=rcd_284^post68, __disjvr_15^0'=__disjvr_15^post68, head_SLAM_f_30^0'=head_SLAM_f_30^post68, __disjvr_25^0'=__disjvr_25^post68, temp_37^0'=temp_37^post68, r_41^0'=r_41^post68, __disjvr_9^0'=__disjvr_9^post68, a_174^0'=a_174^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post68, __disjvr_1^0'=__disjvr_1^post68, len_159^0'=len_159^post68, __disjvr_2^0'=__disjvr_2^post68, rcd_194^0'=rcd_194^post68, __disjvr_12^0'=__disjvr_12^post68, f_202^0'=f_202^post68, temp0_19^0'=temp0_19^post68, nondet_12^0'=nondet_12^post68, y_21^0'=y_21^post68, __disjvr_6^0'=__disjvr_6^post68, rcd_308^0'=rcd_308^post68, rcd_45^0'=rcd_45^post68, __disjvr_17^0'=__disjvr_17^post68, i_130^0'=i_130^post68, __disjvr_27^0'=__disjvr_27^post68, x_154^0'=x_154^post68, rcd_114^0'=rcd_114^post68, (-a_309^post68+a_309^0 == 0 /\ rcd_288^0-rcd_288^post68 == 0 /\ -i_112^post68+i_112^0 == 0 /\ __disjvr_18^0-__disjvr_18^post68 == 0 /\ x_207^0-x_207^post68 == 0 /\ -__disjvr_27^post68+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_174^0-a_174^post68 == 0 /\ rcd_199^0-rcd_199^post68 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_5^0-__disjvr_5^post68 == 0 /\ __disjvr_19^0-__disjvr_19^post68 == 0 /\ x_SLAM_f_25^0-head_16^0 <= 0 /\ temp_36^0-temp_36^post68 == 0 /\ rcd_193^0-rcd_193^post68 == 0 /\ __disjvr_20^0-__disjvr_20^post68 == 0 /\ -__disjvr_4^post68+__disjvr_4^0 == 0 /\ -y_21^post68+y_21^0 == 0 /\ a_253^0-a_253^post68 == 0 /\ __disjvr_13^0-__disjvr_13^post68 == 0 /\ -__disjvr_1^post68+__disjvr_1^0 == 0 /\ tail_15^0-tail_15^post68 == 0 /\ -i_130^post68+i_130^0 == 0 /\ -__disjvr_22^post68+__disjvr_22^0 == 0 /\ length_29^0-length_29^post68 == 0 /\ __disjvr_16^0-__disjvr_16^post68 == 0 /\ __disjvr_28^0-__disjvr_28^post68 == 0 /\ y_26^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -rcd_308^post68+rcd_308^0 == 0 /\ __disjvr_11^0-__disjvr_11^post68 == 0 /\ -temp_37^post68+temp_37^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_139^0-a_139^post68 == 0 /\ -__disjvr_25^post68+__disjvr_25^0 == 0 /\ r_149^0-r_149^post68 == 0 /\ -x_SLAM_f_25^0+head_16^0 <= 0 /\ x_22^0-x_22^post68 == 0 /\ -nondet_12^post68+nondet_12^0 == 0 /\ rcd_106^0-rcd_106^post68 == 0 /\ i_31^0-i_31^post68 == 0 /\ -x_SLAM_f_20^post68+x_SLAM_f_20^0 == 0 /\ -head_33^post68+head_33^0 == 0 /\ -__disjvr_3^post68+__disjvr_3^0 == 0 /\ -rcd_284^post68+rcd_284^0 == 0 /\ -f_202^post68+f_202^0 == 0 /\ a_279^0-a_279^post68 == 0 /\ -rcd_185^post68+rcd_185^0 == 0 /\ __disjvr_0^0-__disjvr_0^post68 == 0 /\ -__disjvr_7^post68+__disjvr_7^0 == 0 /\ result_11^0-result_11^post68 == 0 /\ -__disjvr_17^post68+__disjvr_17^0 == 0 /\ r_192^0-r_192^post68 == 0 /\ x_27^0-x_27^post68 == 0 /\ -__disjvr_6^post68+__disjvr_6^0 == 0 /\ __disjvr_29^0-__disjvr_29^post68 == 0 /\ -x_SLAM_f_25^post68+x_SLAM_f_25^0 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post68 == 0 /\ -head_SLAM_f_30^post68+head_SLAM_f_30^0 == 0 /\ -__disjvr_2^post68+__disjvr_2^0 == 0 /\ -tail_15^0+y_26^0 <= 0 /\ -rcd_71^post68+rcd_71^0 == 0 /\ -len_159^post68+len_159^0 == 0 /\ -i_198^post68+i_198^0 == 0 /\ temp0_19^0-temp0_19^post68 == 0 /\ -temp0_32^post68+temp0_32^0 == 0 /\ -__disjvr_23^post68+__disjvr_23^0 == 0 /\ -t_23^post68+t_23^0 == 0 /\ __disjvr_21^0-__disjvr_21^post68 == 0 /\ tmp_35^0-tmp_35^post68 == 0 /\ __disjvr_30^0-__disjvr_30^post68 == 0 /\ -y_26^post68+y_26^0 == 0 /\ len_221^0-len_221^post68 == 0 /\ __disjvr_8^0-__disjvr_8^post68 == 0 /\ -rcd_114^post68+rcd_114^0 == 0 /\ -rcd_45^post68+rcd_45^0 == 0 /\ r_41^0-r_41^post68 == 0 /\ -__disjvr_10^post68+__disjvr_10^0 == 0 /\ -__disjvr_26^post68+__disjvr_26^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_320^0-rcd_320^post68 == 0 /\ -__disjvr_9^post68+__disjvr_9^0 == 0 /\ a_222^0-a_222^post68 == 0 /\ tail_15^0-y_26^0 <= 0 /\ rcd_220^0-rcd_220^post68 == 0 /\ head_16^0-head_16^post68 == 0 /\ -rcd_194^post68+rcd_194^0 == 0 /\ -__disjvr_15^post68+__disjvr_15^0 == 0 /\ x_154^0-x_154^post68 == 0 /\ __disjvr_14^0-__disjvr_14^post68 == 0), cost: 1 69: l63 -> l64 : __disjvr_0^0'=__disjvr_0^post69, a_253^0'=a_253^post69, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post69, __disjvr_21^0'=__disjvr_21^post69, x_27^0'=x_27^post69, __disjvr_3^0'=__disjvr_3^post69, rcd_220^0'=rcd_220^post69, __disjvr_14^0'=__disjvr_14^post69, head_33^0'=head_33^post69, __disjvr_24^0'=__disjvr_24^post69, temp_36^0'=temp_36^post69, r_192^0'=r_192^post69, __disjvr_8^0'=__disjvr_8^post69, a_139^0'=a_139^post69, result_11^0'=result_11^post69, __disjvr_19^0'=__disjvr_19^post69, i_31^0'=i_31^post69, __disjvr_29^0'=__disjvr_29^post69, x_22^0'=x_22^post69, rcd_193^0'=rcd_193^post69, __disjvr_11^0'=__disjvr_11^post69, a_309^0'=a_309^post69, tail_15^0'=tail_15^post69, length_29^0'=length_29^post69, x_SLAM_f_25^0'=x_SLAM_f_25^post69, __disjvr_5^0'=__disjvr_5^post69, rcd_288^0'=rcd_288^post69, __disjvr_16^0'=__disjvr_16^post69, i_112^0'=i_112^post69, __disjvr_26^0'=__disjvr_26^post69, tmp_35^0'=tmp_35^post69, rcd_106^0'=rcd_106^post69, a_222^0'=a_222^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post69, __disjvr_20^0'=__disjvr_20^post69, len_221^0'=len_221^post69, __disjvr_30^0'=__disjvr_30^post69, rcd_199^0'=rcd_199^post69, __disjvr_13^0'=__disjvr_13^post69, head_16^0'=head_16^post69, __disjvr_23^0'=__disjvr_23^post69, temp0_32^0'=temp0_32^post69, r_149^0'=r_149^post69, y_26^0'=y_26^post69, __disjvr_7^0'=__disjvr_7^post69, rcd_320^0'=rcd_320^post69, rcd_71^0'=rcd_71^post69, __disjvr_18^0'=__disjvr_18^post69, i_198^0'=i_198^post69, __disjvr_28^0'=__disjvr_28^post69, x_207^0'=x_207^post69, rcd_185^0'=rcd_185^post69, __disjvr_10^0'=__disjvr_10^post69, a_279^0'=a_279^post69, t_23^0'=t_23^post69, __disjvr_22^0'=__disjvr_22^post69, x_SLAM_f_20^0'=x_SLAM_f_20^post69, __disjvr_4^0'=__disjvr_4^post69, rcd_284^0'=rcd_284^post69, __disjvr_15^0'=__disjvr_15^post69, head_SLAM_f_30^0'=head_SLAM_f_30^post69, __disjvr_25^0'=__disjvr_25^post69, temp_37^0'=temp_37^post69, r_41^0'=r_41^post69, __disjvr_9^0'=__disjvr_9^post69, a_174^0'=a_174^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post69, __disjvr_1^0'=__disjvr_1^post69, len_159^0'=len_159^post69, __disjvr_2^0'=__disjvr_2^post69, rcd_194^0'=rcd_194^post69, __disjvr_12^0'=__disjvr_12^post69, f_202^0'=f_202^post69, temp0_19^0'=temp0_19^post69, nondet_12^0'=nondet_12^post69, y_21^0'=y_21^post69, __disjvr_6^0'=__disjvr_6^post69, rcd_308^0'=rcd_308^post69, rcd_45^0'=rcd_45^post69, __disjvr_17^0'=__disjvr_17^post69, i_130^0'=i_130^post69, __disjvr_27^0'=__disjvr_27^post69, x_154^0'=x_154^post69, rcd_114^0'=rcd_114^post69, (-__disjvr_29^0+__disjvr_29^post69 == 0 /\ -__disjvr_1^post69+__disjvr_1^0 == 0 /\ x_27^0-x_27^post69 == 0 /\ rcd_193^0-rcd_193^post69 == 0 /\ __disjvr_5^0-__disjvr_5^post69 == 0 /\ __disjvr_24^0-__disjvr_24^post69 == 0 /\ rcd_220^0-rcd_220^post69 == 0 /\ x_207^0-x_207^post69 == 0 /\ __disjvr_0^0-__disjvr_0^post69 == 0 /\ -a_309^post69+a_309^0 == 0 /\ -rcd_114^post69+rcd_114^0 == 0 /\ __disjvr_21^0-__disjvr_21^post69 == 0 /\ __disjvr_19^0-__disjvr_19^post69 == 0 /\ i_31^0-i_31^post69 == 0 /\ -rcd_45^post69+rcd_45^0 == 0 /\ temp_36^0-temp_36^post69 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post69 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -t_23^post69+t_23^0 == 0 /\ __disjvr_20^0-__disjvr_20^post69 == 0 /\ __disjvr_29^0-__disjvr_29^post69 == 0 /\ -__disjvr_4^post69+__disjvr_4^0 == 0 /\ -a_279^post69+a_279^0 == 0 /\ tail_15^0-tail_15^post69 == 0 /\ a_174^0-a_174^post69 == 0 /\ -temp_37^post69+temp_37^0 == 0 /\ -x_SLAM_f_25^post69+x_SLAM_f_25^0 == 0 /\ __disjvr_18^0-__disjvr_18^post69 == 0 /\ -__disjvr_27^post69+__disjvr_27^0 == 0 /\ -f_202^post69+f_202^0 == 0 /\ __disjvr_28^0-__disjvr_28^post69 == 0 /\ length_29^0-length_29^post69 == 0 /\ __disjvr_11^0-__disjvr_11^post69 == 0 /\ -temp0_32^post69+temp0_32^0 == 0 /\ rcd_106^0-rcd_106^post69 == 0 /\ a_139^0-a_139^post69 == 0 /\ __disjvr_16^0-__disjvr_16^post69 == 0 /\ -__disjvr_25^post69+__disjvr_25^0 == 0 /\ __disjvr_23^0-__disjvr_23^post69 == 0 /\ -len_159^post69+len_159^0 == 0 /\ -__disjvr_22^post69+__disjvr_22^0 == 0 /\ -x_SLAM_f_20^post69+x_SLAM_f_20^0 == 0 /\ -head_33^post69+head_33^0 == 0 /\ -__disjvr_2^post69+__disjvr_2^0 == 0 /\ rcd_71^0-rcd_71^post69 == 0 /\ y_21^0-y_21^post69 == 0 /\ -rcd_185^post69+rcd_185^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_22^0-x_22^post69 == 0 /\ -i_198^post69+i_198^0 == 0 /\ -head_SLAM_f_30^post69+head_SLAM_f_30^0 == 0 /\ rcd_288^0-rcd_288^post69 == 0 /\ -__disjvr_7^post69+__disjvr_7^0 == 0 /\ -x_154^post69+x_154^0 == 0 /\ result_11^0-result_11^post69 == 0 /\ __disjvr_13^0-__disjvr_13^post69 == 0 /\ -__disjvr_9^post69+__disjvr_9^0 == 0 /\ __disjvr_3^0-__disjvr_3^post69 == 0 /\ -rcd_308^post69+rcd_308^0 == 0 /\ rcd_199^0-rcd_199^post69 == 0 /\ -i_130^post69+i_130^0 == 0 /\ -__disjvr_10^post69+__disjvr_10^0 == 0 /\ -r_192^post69+r_192^0 == 0 /\ -r_149^post69+r_149^0 == 0 /\ -head_16^post69+head_16^0 == 0 /\ tmp_35^0-tmp_35^post69 == 0 /\ -rcd_194^post69+rcd_194^0 == 0 /\ len_221^0-len_221^post69 == 0 /\ -__disjvr_15^post69+__disjvr_15^0 == 0 /\ a_253^0-a_253^post69 == 0 /\ -i_112^post69+i_112^0 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ r_41^0-r_41^post69 == 0 /\ -__disjvr_12^post69+__disjvr_12^0 == 0 /\ __disjvr_26^0-__disjvr_26^post69 == 0 /\ __disjvr_8^0-__disjvr_8^post69 == 0 /\ -__disjvr_6^post69+__disjvr_6^0 == 0 /\ -__disjvr_30^post69+__disjvr_30^0 == 0 /\ -temp0_19^post69+temp0_19^0 == 0 /\ -y_26^post69+y_26^0 == 0 /\ rcd_320^0-rcd_320^post69 == 0 /\ a_222^0-a_222^post69 == 0 /\ -rcd_284^post69+rcd_284^0 == 0 /\ __disjvr_14^0-__disjvr_14^post69 == 0 /\ -__disjvr_17^post69+__disjvr_17^0 == 0), cost: 1 70: l64 -> l65 : __disjvr_0^0'=__disjvr_0^post70, a_253^0'=a_253^post70, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post70, __disjvr_21^0'=__disjvr_21^post70, x_27^0'=x_27^post70, __disjvr_3^0'=__disjvr_3^post70, rcd_220^0'=rcd_220^post70, __disjvr_14^0'=__disjvr_14^post70, head_33^0'=head_33^post70, __disjvr_24^0'=__disjvr_24^post70, temp_36^0'=temp_36^post70, r_192^0'=r_192^post70, __disjvr_8^0'=__disjvr_8^post70, a_139^0'=a_139^post70, result_11^0'=result_11^post70, __disjvr_19^0'=__disjvr_19^post70, i_31^0'=i_31^post70, __disjvr_29^0'=__disjvr_29^post70, x_22^0'=x_22^post70, rcd_193^0'=rcd_193^post70, __disjvr_11^0'=__disjvr_11^post70, a_309^0'=a_309^post70, tail_15^0'=tail_15^post70, length_29^0'=length_29^post70, x_SLAM_f_25^0'=x_SLAM_f_25^post70, __disjvr_5^0'=__disjvr_5^post70, rcd_288^0'=rcd_288^post70, __disjvr_16^0'=__disjvr_16^post70, i_112^0'=i_112^post70, __disjvr_26^0'=__disjvr_26^post70, tmp_35^0'=tmp_35^post70, rcd_106^0'=rcd_106^post70, a_222^0'=a_222^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post70, __disjvr_20^0'=__disjvr_20^post70, len_221^0'=len_221^post70, __disjvr_30^0'=__disjvr_30^post70, rcd_199^0'=rcd_199^post70, __disjvr_13^0'=__disjvr_13^post70, head_16^0'=head_16^post70, __disjvr_23^0'=__disjvr_23^post70, temp0_32^0'=temp0_32^post70, r_149^0'=r_149^post70, y_26^0'=y_26^post70, __disjvr_7^0'=__disjvr_7^post70, rcd_320^0'=rcd_320^post70, rcd_71^0'=rcd_71^post70, __disjvr_18^0'=__disjvr_18^post70, i_198^0'=i_198^post70, __disjvr_28^0'=__disjvr_28^post70, x_207^0'=x_207^post70, rcd_185^0'=rcd_185^post70, __disjvr_10^0'=__disjvr_10^post70, a_279^0'=a_279^post70, t_23^0'=t_23^post70, __disjvr_22^0'=__disjvr_22^post70, x_SLAM_f_20^0'=x_SLAM_f_20^post70, __disjvr_4^0'=__disjvr_4^post70, rcd_284^0'=rcd_284^post70, __disjvr_15^0'=__disjvr_15^post70, head_SLAM_f_30^0'=head_SLAM_f_30^post70, __disjvr_25^0'=__disjvr_25^post70, temp_37^0'=temp_37^post70, r_41^0'=r_41^post70, __disjvr_9^0'=__disjvr_9^post70, a_174^0'=a_174^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post70, __disjvr_1^0'=__disjvr_1^post70, len_159^0'=len_159^post70, __disjvr_2^0'=__disjvr_2^post70, rcd_194^0'=rcd_194^post70, __disjvr_12^0'=__disjvr_12^post70, f_202^0'=f_202^post70, temp0_19^0'=temp0_19^post70, nondet_12^0'=nondet_12^post70, y_21^0'=y_21^post70, __disjvr_6^0'=__disjvr_6^post70, rcd_308^0'=rcd_308^post70, rcd_45^0'=rcd_45^post70, __disjvr_17^0'=__disjvr_17^post70, i_130^0'=i_130^post70, __disjvr_27^0'=__disjvr_27^post70, x_154^0'=x_154^post70, rcd_114^0'=rcd_114^post70, (temp_36^0-temp_36^post70 == 0 /\ -temp0_32^post70+temp0_32^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post70 == 0 /\ x_22^0-x_22^post70 == 0 /\ -nondet_12^post70+nondet_12^0 == 0 /\ x_27^0-x_27^post70 == 0 /\ -temp0_19^post70+temp0_19^0 == 0 /\ -rcd_284^post70+rcd_284^0 == 0 /\ -rcd_45^post70+rcd_45^0 == 0 /\ -f_202^post70+f_202^0 == 0 /\ -t_23^post70+t_23^0 == 0 /\ -head_16^post70+head_16^0 == 0 /\ -__disjvr_1^post70+__disjvr_1^0 == 0 /\ rcd_199^0-rcd_199^post70 == 0 /\ -rcd_114^post70+rcd_114^0 == 0 /\ -len_159^post70+len_159^0 == 0 /\ -a_174^post70+a_174^0 == 0 /\ __disjvr_15^0-__disjvr_15^post70 == 0 /\ rcd_320^0-rcd_320^post70 == 0 /\ __disjvr_18^0-__disjvr_18^post70 == 0 /\ -__disjvr_2^post70+__disjvr_2^0 == 0 /\ -r_41^post70+r_41^0 == 0 /\ -__disjvr_16^post70+__disjvr_16^0 == 0 /\ a_139^0-a_139^post70 == 0 /\ a_253^0-a_253^post70 == 0 /\ __disjvr_26^0-__disjvr_26^post70 == 0 /\ __disjvr_28^0-__disjvr_28^post70 == 0 /\ -__disjvr_7^post70+__disjvr_7^0 == 0 /\ r_149^0-r_149^post70 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post70 == 0 /\ -__disjvr_19^post70+__disjvr_19^0 == 0 /\ rcd_288^0-rcd_288^post70 == 0 /\ -__disjvr_9^post70+__disjvr_9^0 == 0 /\ head_33^0-head_33^post70 == 0 /\ i_112^0-i_112^post70 == 0 /\ -rcd_185^post70+rcd_185^0 == 0 /\ -__disjvr_27^post70+__disjvr_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post70 == 0 /\ -rcd_194^post70+rcd_194^0 == 0 /\ -__disjvr_4^post70+__disjvr_4^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post70+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -x_207^post70+x_207^0 == 0 /\ -__disjvr_10^post70+__disjvr_10^0 == 0 /\ rcd_220^0-rcd_220^post70 == 0 /\ -__disjvr_23^post70+__disjvr_23^0 == 0 /\ rcd_193^0-rcd_193^post70 == 0 /\ __disjvr_13^0-__disjvr_13^post70 == 0 /\ __disjvr_24^0-__disjvr_24^post70 == 0 /\ rcd_71^0-rcd_71^post70 == 0 /\ -y_26^post70+y_26^0 == 0 /\ -__disjvr_30^0+__disjvr_30^post70 == 0 /\ -temp_37^post70+temp_37^0 == 0 /\ a_222^0-a_222^post70 == 0 /\ __disjvr_20^0-__disjvr_20^post70 == 0 /\ i_31^0-i_31^post70 == 0 /\ a_279^0-a_279^post70 == 0 /\ -__disjvr_5^post70+__disjvr_5^0 == 0 /\ __disjvr_25^0-__disjvr_25^post70 == 0 /\ __disjvr_3^0-__disjvr_3^post70 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post70 == 0 /\ -rcd_308^post70+rcd_308^0 == 0 /\ -x_SLAM_f_20^post70+x_SLAM_f_20^0 == 0 /\ tmp_35^0-tmp_35^post70 == 0 /\ __disjvr_21^0-__disjvr_21^post70 == 0 /\ -a_309^post70+a_309^0 == 0 /\ i_130^0-i_130^post70 == 0 /\ -__disjvr_22^post70+__disjvr_22^0 == 0 /\ __disjvr_29^0-__disjvr_29^post70 == 0 /\ -__disjvr_12^post70+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post70 == 0 /\ -__disjvr_8^post70+__disjvr_8^0 == 0 /\ r_192^0-r_192^post70 == 0 /\ -y_21^post70+y_21^0 == 0 /\ __disjvr_14^0-__disjvr_14^post70 == 0 /\ i_198^0-i_198^post70 == 0 /\ len_221^0-len_221^post70 == 0 /\ __disjvr_30^0-__disjvr_30^post70 == 0 /\ -head_SLAM_f_30^post70+head_SLAM_f_30^0 == 0 /\ rcd_106^0-rcd_106^post70 == 0 /\ tail_15^0-tail_15^post70 == 0 /\ -x_154^post70+x_154^0 == 0 /\ -__disjvr_17^post70+__disjvr_17^0 == 0 /\ result_11^0-result_11^post70 == 0 /\ length_29^0-length_29^post70 == 0 /\ -__disjvr_6^post70+__disjvr_6^0 == 0), cost: 1 71: l65 -> l1 : __disjvr_0^0'=__disjvr_0^post71, a_253^0'=a_253^post71, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post71, __disjvr_21^0'=__disjvr_21^post71, x_27^0'=x_27^post71, __disjvr_3^0'=__disjvr_3^post71, rcd_220^0'=rcd_220^post71, __disjvr_14^0'=__disjvr_14^post71, head_33^0'=head_33^post71, __disjvr_24^0'=__disjvr_24^post71, temp_36^0'=temp_36^post71, r_192^0'=r_192^post71, __disjvr_8^0'=__disjvr_8^post71, a_139^0'=a_139^post71, result_11^0'=result_11^post71, __disjvr_19^0'=__disjvr_19^post71, i_31^0'=i_31^post71, __disjvr_29^0'=__disjvr_29^post71, x_22^0'=x_22^post71, rcd_193^0'=rcd_193^post71, __disjvr_11^0'=__disjvr_11^post71, a_309^0'=a_309^post71, tail_15^0'=tail_15^post71, length_29^0'=length_29^post71, x_SLAM_f_25^0'=x_SLAM_f_25^post71, __disjvr_5^0'=__disjvr_5^post71, rcd_288^0'=rcd_288^post71, __disjvr_16^0'=__disjvr_16^post71, i_112^0'=i_112^post71, __disjvr_26^0'=__disjvr_26^post71, tmp_35^0'=tmp_35^post71, rcd_106^0'=rcd_106^post71, a_222^0'=a_222^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post71, __disjvr_20^0'=__disjvr_20^post71, len_221^0'=len_221^post71, __disjvr_30^0'=__disjvr_30^post71, rcd_199^0'=rcd_199^post71, __disjvr_13^0'=__disjvr_13^post71, head_16^0'=head_16^post71, __disjvr_23^0'=__disjvr_23^post71, temp0_32^0'=temp0_32^post71, r_149^0'=r_149^post71, y_26^0'=y_26^post71, __disjvr_7^0'=__disjvr_7^post71, rcd_320^0'=rcd_320^post71, rcd_71^0'=rcd_71^post71, __disjvr_18^0'=__disjvr_18^post71, i_198^0'=i_198^post71, __disjvr_28^0'=__disjvr_28^post71, x_207^0'=x_207^post71, rcd_185^0'=rcd_185^post71, __disjvr_10^0'=__disjvr_10^post71, a_279^0'=a_279^post71, t_23^0'=t_23^post71, __disjvr_22^0'=__disjvr_22^post71, x_SLAM_f_20^0'=x_SLAM_f_20^post71, __disjvr_4^0'=__disjvr_4^post71, rcd_284^0'=rcd_284^post71, __disjvr_15^0'=__disjvr_15^post71, head_SLAM_f_30^0'=head_SLAM_f_30^post71, __disjvr_25^0'=__disjvr_25^post71, temp_37^0'=temp_37^post71, r_41^0'=r_41^post71, __disjvr_9^0'=__disjvr_9^post71, a_174^0'=a_174^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post71, __disjvr_1^0'=__disjvr_1^post71, len_159^0'=len_159^post71, __disjvr_2^0'=__disjvr_2^post71, rcd_194^0'=rcd_194^post71, __disjvr_12^0'=__disjvr_12^post71, f_202^0'=f_202^post71, temp0_19^0'=temp0_19^post71, nondet_12^0'=nondet_12^post71, y_21^0'=y_21^post71, __disjvr_6^0'=__disjvr_6^post71, rcd_308^0'=rcd_308^post71, rcd_45^0'=rcd_45^post71, __disjvr_17^0'=__disjvr_17^post71, i_130^0'=i_130^post71, __disjvr_27^0'=__disjvr_27^post71, x_154^0'=x_154^post71, rcd_114^0'=rcd_114^post71, (-rcd_185^post71+rcd_185^0 == 0 /\ i_112^0-i_112^post71 == 0 /\ tail_15^0-tail_15^post71 == 0 /\ __disjvr_21^0-__disjvr_21^post71 == 0 /\ __disjvr_13^0-__disjvr_13^post71 == 0 /\ -nondet_12^post71+nondet_12^0 == 0 /\ __disjvr_20^0-__disjvr_20^post71 == 0 /\ __disjvr_3^0-__disjvr_3^post71 == 0 /\ -__disjvr_7^post71+__disjvr_7^0 == 0 /\ tmp_35^0-tmp_35^post71 == 0 /\ -rcd_284^post71+rcd_284^0 == 0 /\ -__disjvr_15^post71+__disjvr_15^0 == 0 /\ -f_202^post71+f_202^0 == 0 /\ -temp0_19^post71+temp0_19^0 == 0 /\ a_222^0-a_222^post71 == 0 /\ -__disjvr_16^post71+__disjvr_16^0 == 0 /\ __disjvr_1^0-__disjvr_1^post71 == 0 /\ a_139^0-a_139^post71 == 0 /\ -__disjvr_6^post71+__disjvr_6^0 == 0 /\ __disjvr_23^0-__disjvr_23^post71 == 0 /\ __disjvr_0^0-__disjvr_0^post71 == 0 /\ -x_SLAM_f_25^post71+x_SLAM_f_25^0 == 0 /\ x_22^0-x_22^post71 == 0 /\ -rcd_71^post71+rcd_71^0 == 0 /\ -__disjvr_17^post71+__disjvr_17^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -len_159^post71+len_159^0 == 0 /\ r_149^0-r_149^post71 == 0 /\ __disjvr_14^0-__disjvr_14^post71 == 0 /\ -temp0_32^post71+temp0_32^0 == 0 /\ -__disjvr_2^post71+__disjvr_2^0 == 0 /\ -t_23^post71+t_23^0 == 0 /\ __disjvr_26^0-__disjvr_26^post71 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post71 == 0 /\ -rcd_114^post71+rcd_114^0 == 0 /\ -y_26^post71+y_26^0 == 0 /\ rcd_199^0-rcd_199^post71 == 0 /\ i_31^0-i_31^post71 == 0 /\ x_207^0-x_207^post71 == 0 /\ a_174^0-a_174^post71 == 0 /\ temp_36^0-temp_36^post71 == 0 /\ -__disjvr_29^post71+__disjvr_29^0 == 0 /\ -__disjvr_9^post71+__disjvr_9^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post71+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_5^0-__disjvr_5^post71 == 0 /\ -rcd_45^post71+rcd_45^0 == 0 /\ -rcd_194^post71+rcd_194^0 == 0 /\ __disjvr_24^0-__disjvr_24^post71 == 0 /\ -__disjvr_10^post71+__disjvr_10^0 == 0 /\ -__disjvr_27^post71+__disjvr_27^0 == 0 /\ -a_309^post71+a_309^0 == 0 /\ -__disjvr_12^post71+__disjvr_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post71 == 0 /\ length_29^0-length_29^post71 == 0 /\ __disjvr_30^0-__disjvr_30^post71 == 0 /\ -temp_37^post71+temp_37^0 == 0 /\ y_21^0-y_21^post71 == 0 /\ -r_41^post71+r_41^0 == 0 /\ -a_253^post71+a_253^0 == 0 /\ -__disjvr_4^post71+__disjvr_4^0 == 0 /\ head_16^0-head_16^post71 == 0 /\ rcd_220^0-rcd_220^post71 == 0 /\ rcd_320^0-rcd_320^post71 == 0 /\ len_221^0-len_221^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post71 == 0 /\ rcd_288^0-rcd_288^post71 == 0 /\ -head_SLAM_f_30^post71+head_SLAM_f_30^0 == 0 /\ head_33^0-head_33^post71 == 0 /\ a_279^0-a_279^post71 == 0 /\ -__disjvr_22^post71+__disjvr_22^0 == 0 /\ __disjvr_11^0-__disjvr_11^post71 == 0 /\ -x_154^post71+x_154^0 == 0 /\ -rcd_308^post71+rcd_308^0 == 0 /\ x_27^0-x_27^post71 == 0 /\ -__disjvr_28^post71+__disjvr_28^0 == 0 /\ r_192^0-r_192^post71 == 0 /\ -result_11^post71+result_11^0 == 0 /\ -__disjvr_8^post71+__disjvr_8^0 == 0 /\ i_198^0-i_198^post71 == 0 /\ -x_SLAM_f_20^post71+x_SLAM_f_20^0 == 0 /\ __disjvr_18^0-__disjvr_18^post71 == 0 /\ -i_130^post71+i_130^0 == 0 /\ rcd_106^0-rcd_106^post71 == 0 /\ __disjvr_19^0-__disjvr_19^post71 == 0 /\ rcd_193^0-rcd_193^post71 == 0), cost: 1 72: l66 -> l49 : __disjvr_0^0'=__disjvr_0^post72, a_253^0'=a_253^post72, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post72, __disjvr_21^0'=__disjvr_21^post72, x_27^0'=x_27^post72, __disjvr_3^0'=__disjvr_3^post72, rcd_220^0'=rcd_220^post72, __disjvr_14^0'=__disjvr_14^post72, head_33^0'=head_33^post72, __disjvr_24^0'=__disjvr_24^post72, temp_36^0'=temp_36^post72, r_192^0'=r_192^post72, __disjvr_8^0'=__disjvr_8^post72, a_139^0'=a_139^post72, result_11^0'=result_11^post72, __disjvr_19^0'=__disjvr_19^post72, i_31^0'=i_31^post72, __disjvr_29^0'=__disjvr_29^post72, x_22^0'=x_22^post72, rcd_193^0'=rcd_193^post72, __disjvr_11^0'=__disjvr_11^post72, a_309^0'=a_309^post72, tail_15^0'=tail_15^post72, length_29^0'=length_29^post72, x_SLAM_f_25^0'=x_SLAM_f_25^post72, __disjvr_5^0'=__disjvr_5^post72, rcd_288^0'=rcd_288^post72, __disjvr_16^0'=__disjvr_16^post72, i_112^0'=i_112^post72, __disjvr_26^0'=__disjvr_26^post72, tmp_35^0'=tmp_35^post72, rcd_106^0'=rcd_106^post72, a_222^0'=a_222^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post72, __disjvr_20^0'=__disjvr_20^post72, len_221^0'=len_221^post72, __disjvr_30^0'=__disjvr_30^post72, rcd_199^0'=rcd_199^post72, __disjvr_13^0'=__disjvr_13^post72, head_16^0'=head_16^post72, __disjvr_23^0'=__disjvr_23^post72, temp0_32^0'=temp0_32^post72, r_149^0'=r_149^post72, y_26^0'=y_26^post72, __disjvr_7^0'=__disjvr_7^post72, rcd_320^0'=rcd_320^post72, rcd_71^0'=rcd_71^post72, __disjvr_18^0'=__disjvr_18^post72, i_198^0'=i_198^post72, __disjvr_28^0'=__disjvr_28^post72, x_207^0'=x_207^post72, rcd_185^0'=rcd_185^post72, __disjvr_10^0'=__disjvr_10^post72, a_279^0'=a_279^post72, t_23^0'=t_23^post72, __disjvr_22^0'=__disjvr_22^post72, x_SLAM_f_20^0'=x_SLAM_f_20^post72, __disjvr_4^0'=__disjvr_4^post72, rcd_284^0'=rcd_284^post72, __disjvr_15^0'=__disjvr_15^post72, head_SLAM_f_30^0'=head_SLAM_f_30^post72, __disjvr_25^0'=__disjvr_25^post72, temp_37^0'=temp_37^post72, r_41^0'=r_41^post72, __disjvr_9^0'=__disjvr_9^post72, a_174^0'=a_174^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post72, __disjvr_1^0'=__disjvr_1^post72, len_159^0'=len_159^post72, __disjvr_2^0'=__disjvr_2^post72, rcd_194^0'=rcd_194^post72, __disjvr_12^0'=__disjvr_12^post72, f_202^0'=f_202^post72, temp0_19^0'=temp0_19^post72, nondet_12^0'=nondet_12^post72, y_21^0'=y_21^post72, __disjvr_6^0'=__disjvr_6^post72, rcd_308^0'=rcd_308^post72, rcd_45^0'=rcd_45^post72, __disjvr_17^0'=__disjvr_17^post72, i_130^0'=i_130^post72, __disjvr_27^0'=__disjvr_27^post72, x_154^0'=x_154^post72, rcd_114^0'=rcd_114^post72, (-__disjvr_2^post72+__disjvr_2^0 == 0 /\ -__disjvr_22^post72+__disjvr_22^0 == 0 /\ -__disjvr_20^post72+__disjvr_20^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post72+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_221^0-len_221^post72 == 0 /\ -rcd_185^post72+rcd_185^0 == 0 /\ a_253^0-a_253^post72 == 0 /\ -y_21^post72+y_21^0 == 0 /\ __disjvr_18^0-__disjvr_18^post72 == 0 /\ -i_198^post72+i_198^0 == 0 /\ -head_SLAM_f_30^post72+head_SLAM_f_30^0 == 0 /\ -__disjvr_5^post72+__disjvr_5^0 == 0 /\ __disjvr_28^0-__disjvr_28^post72 == 0 /\ -__disjvr_7^post72+__disjvr_7^0 == 0 /\ r_149^0-r_149^post72 == 0 /\ __disjvr_11^0-__disjvr_11^post72 == 0 /\ rcd_106^0-rcd_106^post72 == 0 /\ __disjvr_8^0-__disjvr_8^post72 == 0 /\ -i_130^post72+i_130^0 == 0 /\ __disjvr_14^0-__disjvr_14^post72 == 0 /\ __disjvr_16^0-__disjvr_16^post72 == 0 /\ a_222^0-a_222^post72 == 0 /\ -__disjvr_10^post72+__disjvr_10^0 == 0 /\ -rcd_308^post72+rcd_308^0 == 0 /\ __disjvr_23^0-__disjvr_23^post72 == 0 /\ a_309^0-a_309^post72 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post72 == 0 /\ -rcd_194^post72+rcd_194^0 == 0 /\ -__disjvr_12^post72+__disjvr_12^0 == 0 /\ temp_36^0-temp_36^post72 == 0 /\ x_22^0-x_22^post72 == 0 /\ x_27^0-x_27^post72 == 0 /\ -i_112^post72+i_112^0 == 0 /\ __disjvr_0^0-__disjvr_0^post72 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ -x_154^post72+x_154^0 == 0 /\ -rcd_320^post72+rcd_320^0 == 0 /\ -temp0_19^post72+temp0_19^0 == 0 /\ -y_26^post72+y_26^0 == 0 /\ -__disjvr_6^post72+__disjvr_6^0 == 0 /\ -__disjvr_30^post72+__disjvr_30^0 == 0 /\ rcd_199^0-rcd_199^post72 == 0 /\ f_202^0-f_202^post72 == 0 /\ -__disjvr_17^post72+__disjvr_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post72 == 0 /\ __disjvr_21^0-__disjvr_21^post72 == 0 /\ -rcd_284^post72+rcd_284^0 == 0 /\ -__disjvr_1^post72+__disjvr_1^0 == 0 /\ r_192^0-r_192^post72 == 0 /\ head_16^0-head_16^post72 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post72 == 0 /\ -rcd_114^post72+rcd_114^0 == 0 /\ r_41^0-r_41^post72 == 0 /\ length_29^0-length_29^post72 == 0 /\ __disjvr_26^0-__disjvr_26^post72 == 0 /\ a_139^0-a_139^post72 == 0 /\ -__disjvr_19^post72+__disjvr_19^0 == 0 /\ -rcd_45^post72+rcd_45^0 == 0 /\ -__disjvr_29^post72+__disjvr_29^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post72 == 0 /\ -t_23^post72+t_23^0 == 0 /\ -__disjvr_4^post72+__disjvr_4^0 == 0 /\ head_33^0-head_33^post72 == 0 /\ -temp0_32^post72+temp0_32^0 == 0 /\ rcd_71^0-rcd_71^post72 == 0 /\ -tail_15^post72+tail_15^0 == 0 /\ rcd_288^0-rcd_288^post72 == 0 /\ rcd_193^0-rcd_193^post72 == 0 /\ -a_174^post72+a_174^0 == 0 /\ rcd_220^0-rcd_220^post72 == 0 /\ __disjvr_24^0-__disjvr_24^post72 == 0 /\ -temp_37^post72+temp_37^0 == 0 /\ x_207^0-x_207^post72 == 0 /\ result_11^0-result_11^post72 == 0 /\ -__disjvr_9^post72+__disjvr_9^0 == 0 /\ __disjvr_3^0-__disjvr_3^post72 == 0 /\ i_31^0-i_31^post72 == 0 /\ __disjvr_15^0-__disjvr_15^post72 == 0 /\ -a_279^post72+a_279^0 == 0 /\ -__disjvr_27^post72+__disjvr_27^0 == 0 /\ tmp_35^0-tmp_35^post72 == 0 /\ -__disjvr_25^post72+__disjvr_25^0 == 0 /\ __disjvr_13^0-__disjvr_13^post72 == 0 /\ -len_159^post72+len_159^0 == 0), cost: 1 Removed unreachable rules and leafs Start location: l66 53: l1 -> l50 : __disjvr_0^0'=__disjvr_0^post53, a_253^0'=a_253^post53, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, __disjvr_21^0'=__disjvr_21^post53, x_27^0'=x_27^post53, __disjvr_3^0'=__disjvr_3^post53, rcd_220^0'=rcd_220^post53, __disjvr_14^0'=__disjvr_14^post53, head_33^0'=head_33^post53, __disjvr_24^0'=__disjvr_24^post53, temp_36^0'=temp_36^post53, r_192^0'=r_192^post53, __disjvr_8^0'=__disjvr_8^post53, a_139^0'=a_139^post53, result_11^0'=result_11^post53, __disjvr_19^0'=__disjvr_19^post53, i_31^0'=i_31^post53, __disjvr_29^0'=__disjvr_29^post53, x_22^0'=x_22^post53, rcd_193^0'=rcd_193^post53, __disjvr_11^0'=__disjvr_11^post53, a_309^0'=a_309^post53, tail_15^0'=tail_15^post53, length_29^0'=length_29^post53, x_SLAM_f_25^0'=x_SLAM_f_25^post53, __disjvr_5^0'=__disjvr_5^post53, rcd_288^0'=rcd_288^post53, __disjvr_16^0'=__disjvr_16^post53, i_112^0'=i_112^post53, __disjvr_26^0'=__disjvr_26^post53, tmp_35^0'=tmp_35^post53, rcd_106^0'=rcd_106^post53, a_222^0'=a_222^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post53, __disjvr_20^0'=__disjvr_20^post53, len_221^0'=len_221^post53, __disjvr_30^0'=__disjvr_30^post53, rcd_199^0'=rcd_199^post53, __disjvr_13^0'=__disjvr_13^post53, head_16^0'=head_16^post53, __disjvr_23^0'=__disjvr_23^post53, temp0_32^0'=temp0_32^post53, r_149^0'=r_149^post53, y_26^0'=y_26^post53, __disjvr_7^0'=__disjvr_7^post53, rcd_320^0'=rcd_320^post53, rcd_71^0'=rcd_71^post53, __disjvr_18^0'=__disjvr_18^post53, i_198^0'=i_198^post53, __disjvr_28^0'=__disjvr_28^post53, x_207^0'=x_207^post53, rcd_185^0'=rcd_185^post53, __disjvr_10^0'=__disjvr_10^post53, a_279^0'=a_279^post53, t_23^0'=t_23^post53, __disjvr_22^0'=__disjvr_22^post53, x_SLAM_f_20^0'=x_SLAM_f_20^post53, __disjvr_4^0'=__disjvr_4^post53, rcd_284^0'=rcd_284^post53, __disjvr_15^0'=__disjvr_15^post53, head_SLAM_f_30^0'=head_SLAM_f_30^post53, __disjvr_25^0'=__disjvr_25^post53, temp_37^0'=temp_37^post53, r_41^0'=r_41^post53, __disjvr_9^0'=__disjvr_9^post53, a_174^0'=a_174^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53, __disjvr_1^0'=__disjvr_1^post53, len_159^0'=len_159^post53, __disjvr_2^0'=__disjvr_2^post53, rcd_194^0'=rcd_194^post53, __disjvr_12^0'=__disjvr_12^post53, f_202^0'=f_202^post53, temp0_19^0'=temp0_19^post53, nondet_12^0'=nondet_12^post53, y_21^0'=y_21^post53, __disjvr_6^0'=__disjvr_6^post53, rcd_308^0'=rcd_308^post53, rcd_45^0'=rcd_45^post53, __disjvr_17^0'=__disjvr_17^post53, i_130^0'=i_130^post53, __disjvr_27^0'=__disjvr_27^post53, x_154^0'=x_154^post53, rcd_114^0'=rcd_114^post53, (0 == 0 /\ -a_174^post53+a_174^0 == 0 /\ a_309^0-a_309^post53 == 0 /\ -rcd_288^post53+rcd_288^0 == 0 /\ __disjvr_8^0-__disjvr_8^post53 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ -nondet_12^post53+nondet_12^0 == 0 /\ head_16^0-head_16^post53 == 0 /\ x_22^post53-head_16^0 <= 0 /\ head_16^0-x_SLAM_f_20^post53 <= 0 /\ __disjvr_30^0-__disjvr_30^post53 == 0 /\ -rcd_308^post53+rcd_308^0 == 0 /\ rcd_194^0-rcd_194^post53 == 0 /\ -len_159^post53+len_159^0 == 0 /\ -r_149^post53+r_149^0 == 0 /\ temp_36^0-temp_36^post53 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ -y_21^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53 <= 0 /\ rcd_220^0-rcd_220^post53 == 0 /\ -__disjvr_18^post53+__disjvr_18^0 == 0 /\ -__disjvr_23^post53+__disjvr_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post53 == 0 /\ tail_15^0-y_21^post53 <= 0 /\ -x_154^post53+x_154^0 == 0 /\ -__disjvr_2^post53+__disjvr_2^0 == 0 /\ -__disjvr_6^post53+__disjvr_6^0 == 0 /\ rcd_284^0-rcd_284^post53 == 0 /\ -temp0_19^post53+temp0_19^0 == 0 /\ -__disjvr_16^post53+__disjvr_16^0 == 0 /\ -x_22^post53+head_16^0 <= 0 /\ -__disjvr_11^post53+__disjvr_11^0 == 0 /\ -head_16^0+x_SLAM_f_20^post53 <= 0 /\ -head_16^0+x_SLAM_f_20^post53 == 0 /\ rcd_106^0-rcd_106^post53 == 0 /\ __disjvr_12^0-__disjvr_12^post53 == 0 /\ temp0_32^0-temp0_32^post53 == 0 /\ -tmp_35^post53+tmp_35^0 == 0 /\ y_21^post53-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53 <= 0 /\ -r_41^post53+r_41^0 == 0 /\ i_198^0-i_198^post53 == 0 /\ head_33^0-head_33^post53 == 0 /\ __disjvr_19^0-__disjvr_19^post53 == 0 /\ __disjvr_5^0-__disjvr_5^post53 == 0 /\ __disjvr_9^0-__disjvr_9^post53 == 0 /\ r_192^0-r_192^post53 == 0 /\ __disjvr_29^0-__disjvr_29^post53 == 0 /\ -rcd_45^post53+rcd_45^0 == 0 /\ -__disjvr_26^post53+__disjvr_26^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post53 == 0 /\ -tail_15^0+y_21^post53 <= 0 /\ -tail_15^0+y_21^post53 == 0 /\ tail_15^0-tail_15^post53 == 0 /\ -__disjvr_15^post53+__disjvr_15^0 == 0 /\ -x_207^post53+x_207^0 == 0 /\ __disjvr_10^0-__disjvr_10^post53 == 0 /\ -__disjvr_25^post53+__disjvr_25^0 == 0 /\ -rcd_199^post53+rcd_199^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53 <= 0 /\ __disjvr_20^0-__disjvr_20^post53 == 0 /\ -len_221^post53+len_221^0 == 0 /\ -x_27^0+y_26^0 <= 0 /\ __disjvr_3^0-__disjvr_3^post53 == 0 /\ -__disjvr_13^post53+__disjvr_13^0 == 0 /\ -a_279^post53+a_279^0 == 0 /\ __disjvr_7^0-__disjvr_7^post53 == 0 /\ -x_22^post53+x_SLAM_f_20^post53 <= 0 /\ a_139^0-a_139^post53 == 0 /\ t_23^0-t_23^post53 == 0 /\ -rcd_114^post53+rcd_114^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post53 == 0 /\ -rcd_320^post53+rcd_320^0 == 0 /\ result_11^0-result_11^post53 == 0 /\ __disjvr_14^0-__disjvr_14^post53 == 0 /\ -a_222^post53+a_222^0 == 0 /\ i_31^0-i_31^post53 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53 <= 0 /\ -a_174^0 <= 0 /\ rcd_185^0-rcd_185^post53 == 0 /\ -__disjvr_1^post53+__disjvr_1^0 == 0 /\ -rcd_71^post53+rcd_71^0 == 0 /\ x_27^0-y_26^0 <= 0 /\ -i_130^post53+i_130^0 == 0 /\ __disjvr_22^0-__disjvr_22^post53 == 0 /\ -f_202^post53+f_202^0 == 0 /\ __disjvr_4^0-__disjvr_4^post53 == 0 /\ x_22^post53-x_SLAM_f_20^post53 <= 0 /\ x_22^post53-x_SLAM_f_20^post53 == 0 /\ -__disjvr_27^post53+__disjvr_27^0 == 0 /\ i_112^0-i_112^post53 == 0 /\ -length_29^post53+length_29^0 == 0 /\ -temp_37^post53+temp_37^0 == 0 /\ __disjvr_24^0-__disjvr_24^post53 == 0 /\ a_253^0-a_253^post53 == 0 /\ -len_159^0 <= 0 /\ rcd_193^0-rcd_193^post53 == 0 /\ -__disjvr_28^post53+__disjvr_28^0 == 0), cost: 1 56: l1 -> l53 : __disjvr_0^0'=__disjvr_0^post56, a_253^0'=a_253^post56, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, __disjvr_21^0'=__disjvr_21^post56, x_27^0'=x_27^post56, __disjvr_3^0'=__disjvr_3^post56, rcd_220^0'=rcd_220^post56, __disjvr_14^0'=__disjvr_14^post56, head_33^0'=head_33^post56, __disjvr_24^0'=__disjvr_24^post56, temp_36^0'=temp_36^post56, r_192^0'=r_192^post56, __disjvr_8^0'=__disjvr_8^post56, a_139^0'=a_139^post56, result_11^0'=result_11^post56, __disjvr_19^0'=__disjvr_19^post56, i_31^0'=i_31^post56, __disjvr_29^0'=__disjvr_29^post56, x_22^0'=x_22^post56, rcd_193^0'=rcd_193^post56, __disjvr_11^0'=__disjvr_11^post56, a_309^0'=a_309^post56, tail_15^0'=tail_15^post56, length_29^0'=length_29^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, __disjvr_5^0'=__disjvr_5^post56, rcd_288^0'=rcd_288^post56, __disjvr_16^0'=__disjvr_16^post56, i_112^0'=i_112^post56, __disjvr_26^0'=__disjvr_26^post56, tmp_35^0'=tmp_35^post56, rcd_106^0'=rcd_106^post56, a_222^0'=a_222^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post56, __disjvr_20^0'=__disjvr_20^post56, len_221^0'=len_221^post56, __disjvr_30^0'=__disjvr_30^post56, rcd_199^0'=rcd_199^post56, __disjvr_13^0'=__disjvr_13^post56, head_16^0'=head_16^post56, __disjvr_23^0'=__disjvr_23^post56, temp0_32^0'=temp0_32^post56, r_149^0'=r_149^post56, y_26^0'=y_26^post56, __disjvr_7^0'=__disjvr_7^post56, rcd_320^0'=rcd_320^post56, rcd_71^0'=rcd_71^post56, __disjvr_18^0'=__disjvr_18^post56, i_198^0'=i_198^post56, __disjvr_28^0'=__disjvr_28^post56, x_207^0'=x_207^post56, rcd_185^0'=rcd_185^post56, __disjvr_10^0'=__disjvr_10^post56, a_279^0'=a_279^post56, t_23^0'=t_23^post56, __disjvr_22^0'=__disjvr_22^post56, x_SLAM_f_20^0'=x_SLAM_f_20^post56, __disjvr_4^0'=__disjvr_4^post56, rcd_284^0'=rcd_284^post56, __disjvr_15^0'=__disjvr_15^post56, head_SLAM_f_30^0'=head_SLAM_f_30^post56, __disjvr_25^0'=__disjvr_25^post56, temp_37^0'=temp_37^post56, r_41^0'=r_41^post56, __disjvr_9^0'=__disjvr_9^post56, a_174^0'=a_174^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, __disjvr_1^0'=__disjvr_1^post56, len_159^0'=len_159^post56, __disjvr_2^0'=__disjvr_2^post56, rcd_194^0'=rcd_194^post56, __disjvr_12^0'=__disjvr_12^post56, f_202^0'=f_202^post56, temp0_19^0'=temp0_19^post56, nondet_12^0'=nondet_12^post56, y_21^0'=y_21^post56, __disjvr_6^0'=__disjvr_6^post56, rcd_308^0'=rcd_308^post56, rcd_45^0'=rcd_45^post56, __disjvr_17^0'=__disjvr_17^post56, i_130^0'=i_130^post56, __disjvr_27^0'=__disjvr_27^post56, x_154^0'=x_154^post56, rcd_114^0'=rcd_114^post56, (0 == 0 /\ -rcd_199^post56+rcd_199^0 == 0 /\ rcd_320^0-rcd_320^post56 == 0 /\ rcd_288^0-rcd_288^post56 == 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ -__disjvr_27^post56+__disjvr_27^0 == 0 /\ -len_221^post56+len_221^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post56+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_22^0-__disjvr_22^post56 == 0 /\ i_198^0-i_198^post56 == 0 /\ -a_279^post56+a_279^0 == 0 /\ rcd_71^0-rcd_71^post56 == 0 /\ temp_36^0-temp_36^post56 == 0 /\ __disjvr_29^0-__disjvr_29^post56 == 0 /\ -rcd_106^post56+rcd_106^0 == 0 /\ -rcd_114^post56+rcd_114^0 == 0 /\ __disjvr_10^0-__disjvr_10^post56 == 0 /\ __disjvr_4^0-__disjvr_4^post56 == 0 /\ a_253^0-a_253^post56 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0 /\ __disjvr_8^0-__disjvr_8^post56 == 0 /\ a_309^0-a_309^post56 == 0 /\ -a_222^post56+a_222^0 == 0 /\ i_112^0-i_112^post56 == 0 /\ -x_22^post56+x_22^0 == 0 /\ -i_130^post56+i_130^0 == 0 /\ -x_SLAM_f_20^post56+x_SLAM_f_20^0 == 0 /\ -result_11^post56+result_11^0 == 0 /\ len_159^0-len_159^post56 == 0 /\ -__disjvr_1^post56+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ -length_29^post56+length_29^0 == 0 /\ __disjvr_26^0-__disjvr_26^post56 == 0 /\ -__disjvr_28^post56+__disjvr_28^0 == 0 /\ -y_21^post56+y_21^0 == 0 /\ i_31^0-i_31^post56 == 0 /\ nondet_12^0-nondet_12^post56 == 0 /\ -__disjvr_9^post56+__disjvr_9^0 == 0 /\ -__disjvr_17^post56+__disjvr_17^0 == 0 /\ head_33^0-head_33^post56 == 0 /\ -rcd_284^post56+rcd_284^0 == 0 /\ -r_149^post56+r_149^0 == 0 /\ rcd_308^0-rcd_308^post56 == 0 /\ __disjvr_5^0-__disjvr_5^post56 == 0 /\ __disjvr_19^0-__disjvr_19^post56 == 0 /\ -rcd_185^post56+rcd_185^0 == 0 /\ -__disjvr_18^post56+__disjvr_18^0 == 0 /\ x_27^0-x_27^post56 == 0 /\ -head_SLAM_f_30^post56+head_SLAM_f_30^0 == 0 /\ -x_154^post56+x_154^0 == 0 /\ -tmp_35^post56+tmp_35^0 == 0 /\ -__disjvr_2^post56+__disjvr_2^0 == 0 /\ -a_174^post56+a_174^0 == 0 /\ rcd_193^0-rcd_193^post56 == 0 /\ __disjvr_13^0-__disjvr_13^post56 == 0 /\ -__disjvr_16^post56+__disjvr_16^0 == 0 /\ -__disjvr_6^post56+__disjvr_6^0 == 0 /\ -temp0_19^post56+temp0_19^0 == 0 /\ -__disjvr_11^post56+__disjvr_11^0 == 0 /\ __disjvr_30^0-__disjvr_30^post56 == 0 /\ temp_37^0-temp_37^post56 == 0 /\ y_26^0-y_26^post56 == 0 /\ -rcd_45^post56+rcd_45^0 == 0 /\ r_192^0-r_192^post56 == 0 /\ -a_174^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ -__disjvr_24^post56+__disjvr_24^0 == 0 /\ __disjvr_3^0-__disjvr_3^post56 == 0 /\ rcd_220^0-rcd_220^post56 == 0 /\ __disjvr_25^0-__disjvr_25^post56 == 0 /\ temp0_32^0-temp0_32^post56 == 0 /\ -rcd_194^post56+rcd_194^0 == 0 /\ __disjvr_7^0-__disjvr_7^post56 == 0 /\ __disjvr_23^0-__disjvr_23^post56 == 0 /\ -__disjvr_15^post56+__disjvr_15^0 == 0 /\ a_139^0-a_139^post56 == 0 /\ t_23^0-t_23^post56 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ -len_159^0 <= 0), cost: 1 18: l6 -> l20 : __disjvr_0^0'=__disjvr_0^post18, a_253^0'=a_253^post18, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post18, __disjvr_21^0'=__disjvr_21^post18, x_27^0'=x_27^post18, __disjvr_3^0'=__disjvr_3^post18, rcd_220^0'=rcd_220^post18, __disjvr_14^0'=__disjvr_14^post18, head_33^0'=head_33^post18, __disjvr_24^0'=__disjvr_24^post18, temp_36^0'=temp_36^post18, r_192^0'=r_192^post18, __disjvr_8^0'=__disjvr_8^post18, a_139^0'=a_139^post18, result_11^0'=result_11^post18, __disjvr_19^0'=__disjvr_19^post18, i_31^0'=i_31^post18, __disjvr_29^0'=__disjvr_29^post18, x_22^0'=x_22^post18, rcd_193^0'=rcd_193^post18, __disjvr_11^0'=__disjvr_11^post18, a_309^0'=a_309^post18, tail_15^0'=tail_15^post18, length_29^0'=length_29^post18, x_SLAM_f_25^0'=x_SLAM_f_25^post18, __disjvr_5^0'=__disjvr_5^post18, rcd_288^0'=rcd_288^post18, __disjvr_16^0'=__disjvr_16^post18, i_112^0'=i_112^post18, __disjvr_26^0'=__disjvr_26^post18, tmp_35^0'=tmp_35^post18, rcd_106^0'=rcd_106^post18, a_222^0'=a_222^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18, __disjvr_20^0'=__disjvr_20^post18, len_221^0'=len_221^post18, __disjvr_30^0'=__disjvr_30^post18, rcd_199^0'=rcd_199^post18, __disjvr_13^0'=__disjvr_13^post18, head_16^0'=head_16^post18, __disjvr_23^0'=__disjvr_23^post18, temp0_32^0'=temp0_32^post18, r_149^0'=r_149^post18, y_26^0'=y_26^post18, __disjvr_7^0'=__disjvr_7^post18, rcd_320^0'=rcd_320^post18, rcd_71^0'=rcd_71^post18, __disjvr_18^0'=__disjvr_18^post18, i_198^0'=i_198^post18, __disjvr_28^0'=__disjvr_28^post18, x_207^0'=x_207^post18, rcd_185^0'=rcd_185^post18, __disjvr_10^0'=__disjvr_10^post18, a_279^0'=a_279^post18, t_23^0'=t_23^post18, __disjvr_22^0'=__disjvr_22^post18, x_SLAM_f_20^0'=x_SLAM_f_20^post18, __disjvr_4^0'=__disjvr_4^post18, rcd_284^0'=rcd_284^post18, __disjvr_15^0'=__disjvr_15^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, __disjvr_25^0'=__disjvr_25^post18, temp_37^0'=temp_37^post18, r_41^0'=r_41^post18, __disjvr_9^0'=__disjvr_9^post18, a_174^0'=a_174^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18, __disjvr_1^0'=__disjvr_1^post18, len_159^0'=len_159^post18, __disjvr_2^0'=__disjvr_2^post18, rcd_194^0'=rcd_194^post18, __disjvr_12^0'=__disjvr_12^post18, f_202^0'=f_202^post18, temp0_19^0'=temp0_19^post18, nondet_12^0'=nondet_12^post18, y_21^0'=y_21^post18, __disjvr_6^0'=__disjvr_6^post18, rcd_308^0'=rcd_308^post18, rcd_45^0'=rcd_45^post18, __disjvr_17^0'=__disjvr_17^post18, i_130^0'=i_130^post18, __disjvr_27^0'=__disjvr_27^post18, x_154^0'=x_154^post18, rcd_114^0'=rcd_114^post18, (0 == 0 /\ -tail_15^post18+head_SLAM_f_30^post18 <= 0 /\ a_279^0-a_279^post18 == 0 /\ 2-i_31^post18 <= 0 /\ -temp_37^post18+temp_37^0 == 0 /\ x_207^0-x_207^post18 == 0 /\ -__disjvr_12^post18+__disjvr_12^0 == 0 /\ -__disjvr_27^post18+__disjvr_27^0 == 0 /\ -a_309^post18+a_309^0 == 0 /\ -rcd_199^post18+rcd_199^0 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post18 <= 0 /\ __disjvr_9^0-__disjvr_9^post18 == 0 /\ r_192^0-r_192^post18 == 0 /\ x_27^0-x_27^post18 == 0 /\ __disjvr_5^0-__disjvr_5^post18 == 0 /\ __disjvr_24^0-__disjvr_24^post18 == 0 /\ y_26^0-y_26^post18 == 0 /\ -1+i_31^post18-i_31^0 == 0 /\ __disjvr_19^0-__disjvr_19^post18 == 0 /\ __disjvr_3^0-__disjvr_3^post18 == 0 /\ tail_15^post18-head_SLAM_f_30^post18 <= 0 /\ __disjvr_20^0-__disjvr_20^post18 == 0 /\ length_29^0-length_29^post18 == 0 /\ -__disjvr_4^post18+__disjvr_4^0 == 0 /\ __disjvr_30^0-__disjvr_30^post18 == 0 /\ __disjvr_28^0-__disjvr_28^post18 == 0 /\ -__disjvr_23^post18+__disjvr_23^0 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post18 <= 0 /\ a_139^0-a_139^post18 == 0 /\ __disjvr_11^0-__disjvr_11^post18 == 0 /\ __disjvr_1^0-__disjvr_1^post18 == 0 /\ -i_130^post18+i_130^0 == 0 /\ __disjvr_16^0-__disjvr_16^post18 == 0 /\ -__disjvr_25^post18+__disjvr_25^0 == 0 /\ rcd_220^0-rcd_220^post18 == 0 /\ -__disjvr_22^post18+__disjvr_22^0 == 0 /\ -rcd_308^post18+rcd_308^0 == 0 /\ head_16^0-head_16^post18 == 0 /\ head_33^post18-tmp_35^post18 <= 0 /\ head_33^post18-tmp_35^post18 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18+head_SLAM_f_30^post18 <= 0 /\ -__disjvr_15^post18+__disjvr_15^0 == 0 /\ -__disjvr_2^post18+__disjvr_2^0 == 0 /\ temp0_19^0-temp0_19^post18 == 0 /\ rcd_106^0-rcd_106^post18 == 0 /\ -x_SLAM_f_20^post18+x_SLAM_f_20^0 == 0 /\ y_21^0-y_21^post18 == 0 /\ -2+i_31^post18 <= 0 /\ -rcd_185^post18+rcd_185^0 == 0 /\ -i_198^post18+i_198^0 == 0 /\ -a_174^post18+a_174^0 == 0 /\ -f_202^post18+f_202^0 == 0 /\ -temp_36^0+tmp_35^post18 == 0 /\ -__disjvr_7^post18+__disjvr_7^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post18 == 0 /\ result_11^0-result_11^post18 == 0 /\ -x_154^post18+x_154^0 == 0 /\ -len_159^post18+len_159^0 == 0 /\ __disjvr_29^0-__disjvr_29^post18 == 0 /\ -__disjvr_17^post18+__disjvr_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18+tmp_35^post18 <= 0 /\ -temp0_32^post18+temp0_32^0 == 0 /\ -rcd_193^post18+rcd_193^0 == 0 /\ -head_33^post18+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18 <= 0 /\ __disjvr_6^0-__disjvr_6^post18 == 0 /\ a_253^0-a_253^post18 == 0 /\ 2-length_29^0 <= 0 /\ -tail_15^post18+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18 <= 0 /\ -__disjvr_18^post18+__disjvr_18^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ r_149^0-r_149^post18 == 0 /\ -head_33^post18+tmp_35^post18 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18-head_SLAM_f_30^post18 <= 0 /\ 1-length_29^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post18 == 0 /\ -rcd_194^post18+rcd_194^0 == 0 /\ -__disjvr_13^post18+__disjvr_13^0 == 0 /\ -rcd_114^post18+rcd_114^0 == 0 /\ -i_112^post18+i_112^0 == 0 /\ -nondet_12^post18+nondet_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post18 == 0 /\ __disjvr_0^0-__disjvr_0^post18 == 0 /\ -__disjvr_26^post18+__disjvr_26^0 == 0 /\ r_41^0-r_41^post18 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18-tmp_35^post18 <= 0 /\ x_22^0-x_22^post18 == 0 /\ head_33^post18-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18 <= 0 /\ rcd_320^0-rcd_320^post18 == 0 /\ a_222^0-a_222^post18 == 0 /\ len_221^0-len_221^post18 == 0 /\ -rcd_288^post18+rcd_288^0 == 0 /\ -__disjvr_10^post18+__disjvr_10^0 == 0 /\ tail_15^post18-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18 <= 0 /\ -rcd_284^post18+rcd_284^0 == 0 /\ -t_23^post18+t_23^0 == 0 /\ __disjvr_14^0-__disjvr_14^post18 == 0 /\ -rcd_45^post18+rcd_45^0 == 0), cost: 1 19: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post19, a_253^0'=a_253^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, __disjvr_21^0'=__disjvr_21^post19, x_27^0'=x_27^post19, __disjvr_3^0'=__disjvr_3^post19, rcd_220^0'=rcd_220^post19, __disjvr_14^0'=__disjvr_14^post19, head_33^0'=head_33^post19, __disjvr_24^0'=__disjvr_24^post19, temp_36^0'=temp_36^post19, r_192^0'=r_192^post19, __disjvr_8^0'=__disjvr_8^post19, a_139^0'=a_139^post19, result_11^0'=result_11^post19, __disjvr_19^0'=__disjvr_19^post19, i_31^0'=i_31^post19, __disjvr_29^0'=__disjvr_29^post19, x_22^0'=x_22^post19, rcd_193^0'=rcd_193^post19, __disjvr_11^0'=__disjvr_11^post19, a_309^0'=a_309^post19, tail_15^0'=tail_15^post19, length_29^0'=length_29^post19, x_SLAM_f_25^0'=x_SLAM_f_25^post19, __disjvr_5^0'=__disjvr_5^post19, rcd_288^0'=rcd_288^post19, __disjvr_16^0'=__disjvr_16^post19, i_112^0'=i_112^post19, __disjvr_26^0'=__disjvr_26^post19, tmp_35^0'=tmp_35^post19, rcd_106^0'=rcd_106^post19, a_222^0'=a_222^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, __disjvr_20^0'=__disjvr_20^post19, len_221^0'=len_221^post19, __disjvr_30^0'=__disjvr_30^post19, rcd_199^0'=rcd_199^post19, __disjvr_13^0'=__disjvr_13^post19, head_16^0'=head_16^post19, __disjvr_23^0'=__disjvr_23^post19, temp0_32^0'=temp0_32^post19, r_149^0'=r_149^post19, y_26^0'=y_26^post19, __disjvr_7^0'=__disjvr_7^post19, rcd_320^0'=rcd_320^post19, rcd_71^0'=rcd_71^post19, __disjvr_18^0'=__disjvr_18^post19, i_198^0'=i_198^post19, __disjvr_28^0'=__disjvr_28^post19, x_207^0'=x_207^post19, rcd_185^0'=rcd_185^post19, __disjvr_10^0'=__disjvr_10^post19, a_279^0'=a_279^post19, t_23^0'=t_23^post19, __disjvr_22^0'=__disjvr_22^post19, x_SLAM_f_20^0'=x_SLAM_f_20^post19, __disjvr_4^0'=__disjvr_4^post19, rcd_284^0'=rcd_284^post19, __disjvr_15^0'=__disjvr_15^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, __disjvr_25^0'=__disjvr_25^post19, temp_37^0'=temp_37^post19, r_41^0'=r_41^post19, __disjvr_9^0'=__disjvr_9^post19, a_174^0'=a_174^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19, __disjvr_1^0'=__disjvr_1^post19, len_159^0'=len_159^post19, __disjvr_2^0'=__disjvr_2^post19, rcd_194^0'=rcd_194^post19, __disjvr_12^0'=__disjvr_12^post19, f_202^0'=f_202^post19, temp0_19^0'=temp0_19^post19, nondet_12^0'=nondet_12^post19, y_21^0'=y_21^post19, __disjvr_6^0'=__disjvr_6^post19, rcd_308^0'=rcd_308^post19, rcd_45^0'=rcd_45^post19, __disjvr_17^0'=__disjvr_17^post19, i_130^0'=i_130^post19, __disjvr_27^0'=__disjvr_27^post19, x_154^0'=x_154^post19, rcd_114^0'=rcd_114^post19, (0 == 0 /\ -a_174^post19+a_174^0 == 0 /\ -__disjvr_25^post19+__disjvr_25^0 == 0 /\ -tail_15^0+y_26^post19 <= 0 /\ -tail_15^0+y_26^post19 == 0 /\ -i_112^post19+i_112^0 == 0 /\ __disjvr_18^0-__disjvr_18^post19 == 0 /\ -__disjvr_27^post19+__disjvr_27^0 == 0 /\ x_207^0-x_207^post19 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19 <= 0 /\ -__disjvr_4^post19+__disjvr_4^0 == 0 /\ x_SLAM_f_25^post19-head_16^post19 <= 0 /\ x_SLAM_f_25^post19-head_16^post19 == 0 /\ -len_221^post19+len_221^0 == 0 /\ tail_15^0-tail_15^post19 == 0 /\ -x_154^post19+x_154^0 == 0 /\ -i_31^0 <= 0 /\ -result_11^11+head_16^post19 == 0 /\ -a_279^post19+a_279^0 == 0 /\ -rcd_106^post19+rcd_106^0 == 0 /\ __disjvr_24^0-__disjvr_24^post19 == 0 /\ y_26^post19-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19 <= 0 /\ i_31^post19-a_174^0 <= 0 /\ tail_15^0-y_26^post19 <= 0 /\ -y_21^post19+y_21^0 == 0 /\ __disjvr_13^0-__disjvr_13^post19 == 0 /\ -rcd_308^post19+rcd_308^0 == 0 /\ -a_309^post19+a_309^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19 <= 0 /\ -__disjvr_22^post19+__disjvr_22^0 == 0 /\ -x_SLAM_f_20^post19+x_SLAM_f_20^0 == 0 /\ -x_SLAM_f_25^post19+head_16^post19 <= 0 /\ __disjvr_16^0-__disjvr_16^post19 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ -i_130^post19+i_130^0 == 0 /\ -__disjvr_28^post19+__disjvr_28^0 == 0 /\ -f_202^post19+f_202^0 == 0 /\ rcd_220^0-rcd_220^post19 == 0 /\ __disjvr_14^0-__disjvr_14^post19 == 0 /\ -__disjvr_15^post19+__disjvr_15^0 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ -__disjvr_6^post19+__disjvr_6^0 == 0 /\ -y_26^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19 <= 0 /\ -i_31^post19+a_174^0 <= 0 /\ rcd_193^0-rcd_193^post19 == 0 /\ -head_33^0+temp0_32^110 == 0 /\ __disjvr_21^0-__disjvr_21^post19 == 0 /\ rcd_320^0-rcd_320^post19 == 0 /\ __disjvr_11^0-__disjvr_11^post19 == 0 /\ -nondet_12^post19+nondet_12^0 == 0 /\ r_192^0-r_192^post19 == 0 /\ rcd_288^0-rcd_288^post19 == 0 /\ __disjvr_23^0-__disjvr_23^post19 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ -temp0_32^110+result_11^11 == 0 /\ x_27^post19-x_SLAM_f_25^post19 <= 0 /\ x_27^post19-x_SLAM_f_25^post19 == 0 /\ -__disjvr_30^post19+__disjvr_30^0 == 0 /\ -rcd_284^post19+rcd_284^0 == 0 /\ -len_159^post19+len_159^0 == 0 /\ -__disjvr_1^post19+__disjvr_1^0 == 0 /\ -rcd_194^post19+rcd_45^0 <= 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ -rcd_71^post19+rcd_71^0 == 0 /\ -rcd_185^post19+rcd_185^0 == 0 /\ a_253^0-a_253^post19 == 0 /\ -x_27^post19+head_16^post19 <= 0 /\ __disjvr_19^0-__disjvr_19^post19 == 0 /\ __disjvr_8^0-__disjvr_8^post19 == 0 /\ -r_41^post19+r_41^0 == 0 /\ -__disjvr_10^post19+__disjvr_10^0 == 0 /\ -rcd_114^post19+rcd_114^0 == 0 /\ __disjvr_20^0-__disjvr_20^post19 == 0 /\ len_159^0 <= 0 /\ __disjvr_17^0-__disjvr_17^post19 == 0 /\ -x_27^post19+x_SLAM_f_25^post19 <= 0 /\ -temp0_19^post19+temp0_19^0 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ -rcd_45^post19+rcd_45^0 == 0 /\ -__disjvr_9^post19+__disjvr_9^0 == 0 /\ -i_31^0+length_29^0 <= 0 /\ -r_149^post19+r_149^0 == 0 /\ -t_23^post19+t_23^0 == 0 /\ a_222^0-a_222^post19 == 0 /\ -__disjvr_7^post19+__disjvr_7^0 == 0 /\ __disjvr_29^0-__disjvr_29^post19 == 0 /\ x_22^0-x_22^post19 == 0 /\ rcd_194^post19-rcd_45^0 <= 0 /\ a_139^0-a_139^post19 == 0 /\ -temp_37^post19+temp_37^0 == 0 /\ -len_159^0 <= 0 /\ x_27^post19-head_16^post19 <= 0 /\ __disjvr_26^0-__disjvr_26^post19 == 0), cost: 1 22: l20 -> l23 : __disjvr_0^0'=__disjvr_0^post22, a_253^0'=a_253^post22, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post22, __disjvr_21^0'=__disjvr_21^post22, x_27^0'=x_27^post22, __disjvr_3^0'=__disjvr_3^post22, rcd_220^0'=rcd_220^post22, __disjvr_14^0'=__disjvr_14^post22, head_33^0'=head_33^post22, __disjvr_24^0'=__disjvr_24^post22, temp_36^0'=temp_36^post22, r_192^0'=r_192^post22, __disjvr_8^0'=__disjvr_8^post22, a_139^0'=a_139^post22, result_11^0'=result_11^post22, __disjvr_19^0'=__disjvr_19^post22, i_31^0'=i_31^post22, __disjvr_29^0'=__disjvr_29^post22, x_22^0'=x_22^post22, rcd_193^0'=rcd_193^post22, __disjvr_11^0'=__disjvr_11^post22, a_309^0'=a_309^post22, tail_15^0'=tail_15^post22, length_29^0'=length_29^post22, x_SLAM_f_25^0'=x_SLAM_f_25^post22, __disjvr_5^0'=__disjvr_5^post22, rcd_288^0'=rcd_288^post22, __disjvr_16^0'=__disjvr_16^post22, i_112^0'=i_112^post22, __disjvr_26^0'=__disjvr_26^post22, tmp_35^0'=tmp_35^post22, rcd_106^0'=rcd_106^post22, a_222^0'=a_222^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post22, __disjvr_20^0'=__disjvr_20^post22, len_221^0'=len_221^post22, __disjvr_30^0'=__disjvr_30^post22, rcd_199^0'=rcd_199^post22, __disjvr_13^0'=__disjvr_13^post22, head_16^0'=head_16^post22, __disjvr_23^0'=__disjvr_23^post22, temp0_32^0'=temp0_32^post22, r_149^0'=r_149^post22, y_26^0'=y_26^post22, __disjvr_7^0'=__disjvr_7^post22, rcd_320^0'=rcd_320^post22, rcd_71^0'=rcd_71^post22, __disjvr_18^0'=__disjvr_18^post22, i_198^0'=i_198^post22, __disjvr_28^0'=__disjvr_28^post22, x_207^0'=x_207^post22, rcd_185^0'=rcd_185^post22, __disjvr_10^0'=__disjvr_10^post22, a_279^0'=a_279^post22, t_23^0'=t_23^post22, __disjvr_22^0'=__disjvr_22^post22, x_SLAM_f_20^0'=x_SLAM_f_20^post22, __disjvr_4^0'=__disjvr_4^post22, rcd_284^0'=rcd_284^post22, __disjvr_15^0'=__disjvr_15^post22, head_SLAM_f_30^0'=head_SLAM_f_30^post22, __disjvr_25^0'=__disjvr_25^post22, temp_37^0'=temp_37^post22, r_41^0'=r_41^post22, __disjvr_9^0'=__disjvr_9^post22, a_174^0'=a_174^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post22, __disjvr_1^0'=__disjvr_1^post22, len_159^0'=len_159^post22, __disjvr_2^0'=__disjvr_2^post22, rcd_194^0'=rcd_194^post22, __disjvr_12^0'=__disjvr_12^post22, f_202^0'=f_202^post22, temp0_19^0'=temp0_19^post22, nondet_12^0'=nondet_12^post22, y_21^0'=y_21^post22, __disjvr_6^0'=__disjvr_6^post22, rcd_308^0'=rcd_308^post22, rcd_45^0'=rcd_45^post22, __disjvr_17^0'=__disjvr_17^post22, i_130^0'=i_130^post22, __disjvr_27^0'=__disjvr_27^post22, x_154^0'=x_154^post22, rcd_114^0'=rcd_114^post22, (0 == 0 /\ -__disjvr_12^post22+__disjvr_12^0 == 0 /\ -1-i_31^0+i_31^post22 == 0 /\ -__disjvr_27^post22+__disjvr_27^0 == 0 /\ -__disjvr_25^post22+__disjvr_25^0 == 0 /\ rcd_45^post22-rcd_114^post22 <= 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ rcd_199^0-rcd_199^post22 == 0 /\ __disjvr_23^0-__disjvr_23^post22 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post22 == 0 /\ __disjvr_1^0-__disjvr_1^post22 == 0 /\ __disjvr_19^0-__disjvr_19^post22 == 0 /\ -__disjvr_4^post22+__disjvr_4^0 == 0 /\ -y_26^post22+y_26^0 == 0 /\ -rcd_320^post22+rcd_320^0 == 0 /\ rcd_288^0-rcd_288^post22 == 0 /\ a_253^0-a_253^post22 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post22 == 0 /\ -i_31^0 <= 0 /\ __disjvr_28^0-__disjvr_28^post22 == 0 /\ __disjvr_2^0-__disjvr_2^post22 == 0 /\ 1+i_112^post22-i_31^post22 <= 0 /\ r_149^0-r_149^post22 == 0 /\ -__disjvr_22^post22+__disjvr_22^0 == 0 /\ -rcd_45^post22+rcd_114^post22 <= 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ -y_21^post22+y_21^0 == 0 /\ __disjvr_20^0-__disjvr_20^post22 == 0 /\ f_202^0-f_202^post22 == 0 /\ __disjvr_21^0-__disjvr_21^post22 == 0 /\ -head_SLAM_f_30^post22+head_SLAM_f_30^0 == 0 /\ a_309^0-a_309^post22 == 0 /\ -i_130^post22+i_130^0 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ x_22^0-x_22^post22 == 0 /\ -temp_37^post22+temp_37^0 == 0 /\ a_222^0-a_222^post22 == 0 /\ head_16^0-head_16^post22 == 0 /\ -x_SLAM_f_20^post22+x_SLAM_f_20^0 == 0 /\ -rcd_308^post22+rcd_308^0 == 0 /\ 1+i_112^post22-length_29^0 <= 0 /\ a_139^0-a_139^post22 == 0 /\ __disjvr_26^0-__disjvr_26^post22 == 0 /\ -tail_15^post22+tail_15^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ a_279^0-a_279^post22 == 0 /\ __disjvr_18^0-__disjvr_18^post22 == 0 /\ -temp_36^0+tmp_35^post22 == 0 /\ -a_174^post22+a_174^0 == 0 /\ head_33^post22-tmp_35^post22 == 0 /\ -__disjvr_8^post22+__disjvr_8^0 == 0 /\ rcd_114^post22-rcd_45^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post22 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post22 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ r_41^0-r_41^post22 == 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ -rcd_71^post22+rcd_71^0 == 0 /\ -rcd_284^post22+rcd_284^0 == 0 /\ -x_154^post22+x_154^0 == 0 /\ r_192^0-r_192^post22 == 0 /\ __disjvr_24^0-__disjvr_24^post22 == 0 /\ -temp0_32^post22+temp0_32^0 == 0 /\ -__disjvr_6^post22+__disjvr_6^0 == 0 /\ rcd_193^0-rcd_193^post22 == 0 /\ -rcd_185^post22+rcd_185^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ __disjvr_30^0-__disjvr_30^post22 == 0 /\ -1-i_112^post22+i_31^post22 <= 0 /\ length_29^0-length_29^post22 == 0 /\ -len_159^post22+len_159^0 == 0 /\ -i_198^post22+i_198^0 == 0 /\ __disjvr_16^0-__disjvr_16^post22 == 0 /\ -temp0_19^post22+temp0_19^0 == 0 /\ -rcd_114^post22+rcd_45^0 <= 0 /\ x_27^0-x_27^post22 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ -__disjvr_7^post22+__disjvr_7^0 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ rcd_220^0-rcd_220^post22 == 0 /\ __disjvr_14^0-__disjvr_14^post22 == 0 /\ x_207^0-x_207^post22 == 0 /\ -__disjvr_29^post22+__disjvr_29^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post22 == 0 /\ -t_23^post22+t_23^0 == 0 /\ -__disjvr_13^post22+__disjvr_13^0 == 0 /\ -rcd_194^post22+rcd_194^0 == 0 /\ len_221^0-len_221^post22 == 0), cost: 1 20: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post20, a_253^0'=a_253^post20, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post20, __disjvr_21^0'=__disjvr_21^post20, x_27^0'=x_27^post20, __disjvr_3^0'=__disjvr_3^post20, rcd_220^0'=rcd_220^post20, __disjvr_14^0'=__disjvr_14^post20, head_33^0'=head_33^post20, __disjvr_24^0'=__disjvr_24^post20, temp_36^0'=temp_36^post20, r_192^0'=r_192^post20, __disjvr_8^0'=__disjvr_8^post20, a_139^0'=a_139^post20, result_11^0'=result_11^post20, __disjvr_19^0'=__disjvr_19^post20, i_31^0'=i_31^post20, __disjvr_29^0'=__disjvr_29^post20, x_22^0'=x_22^post20, rcd_193^0'=rcd_193^post20, __disjvr_11^0'=__disjvr_11^post20, a_309^0'=a_309^post20, tail_15^0'=tail_15^post20, length_29^0'=length_29^post20, x_SLAM_f_25^0'=x_SLAM_f_25^post20, __disjvr_5^0'=__disjvr_5^post20, rcd_288^0'=rcd_288^post20, __disjvr_16^0'=__disjvr_16^post20, i_112^0'=i_112^post20, __disjvr_26^0'=__disjvr_26^post20, tmp_35^0'=tmp_35^post20, rcd_106^0'=rcd_106^post20, a_222^0'=a_222^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post20, __disjvr_20^0'=__disjvr_20^post20, len_221^0'=len_221^post20, __disjvr_30^0'=__disjvr_30^post20, rcd_199^0'=rcd_199^post20, __disjvr_13^0'=__disjvr_13^post20, head_16^0'=head_16^post20, __disjvr_23^0'=__disjvr_23^post20, temp0_32^0'=temp0_32^post20, r_149^0'=r_149^post20, y_26^0'=y_26^post20, __disjvr_7^0'=__disjvr_7^post20, rcd_320^0'=rcd_320^post20, rcd_71^0'=rcd_71^post20, __disjvr_18^0'=__disjvr_18^post20, i_198^0'=i_198^post20, __disjvr_28^0'=__disjvr_28^post20, x_207^0'=x_207^post20, rcd_185^0'=rcd_185^post20, __disjvr_10^0'=__disjvr_10^post20, a_279^0'=a_279^post20, t_23^0'=t_23^post20, __disjvr_22^0'=__disjvr_22^post20, x_SLAM_f_20^0'=x_SLAM_f_20^post20, __disjvr_4^0'=__disjvr_4^post20, rcd_284^0'=rcd_284^post20, __disjvr_15^0'=__disjvr_15^post20, head_SLAM_f_30^0'=head_SLAM_f_30^post20, __disjvr_25^0'=__disjvr_25^post20, temp_37^0'=temp_37^post20, r_41^0'=r_41^post20, __disjvr_9^0'=__disjvr_9^post20, a_174^0'=a_174^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post20, __disjvr_1^0'=__disjvr_1^post20, len_159^0'=len_159^post20, __disjvr_2^0'=__disjvr_2^post20, rcd_194^0'=rcd_194^post20, __disjvr_12^0'=__disjvr_12^post20, f_202^0'=f_202^post20, temp0_19^0'=temp0_19^post20, nondet_12^0'=nondet_12^post20, y_21^0'=y_21^post20, __disjvr_6^0'=__disjvr_6^post20, rcd_308^0'=rcd_308^post20, rcd_45^0'=rcd_45^post20, __disjvr_17^0'=__disjvr_17^post20, i_130^0'=i_130^post20, __disjvr_27^0'=__disjvr_27^post20, x_154^0'=x_154^post20, rcd_114^0'=rcd_114^post20, (-a_174^post20+a_174^0 == 0 /\ -rcd_185^post20+rcd_185^0 == 0 /\ -rcd_288^post20+rcd_288^0 == 0 /\ __disjvr_28^0-__disjvr_28^post20 == 0 /\ -y_21^post20+y_21^0 == 0 /\ -len_159^post20+len_159^0 == 0 /\ y_26^0-y_26^post20 == 0 /\ -__disjvr_22^post20+__disjvr_22^0 == 0 /\ -__disjvr_7^post20+__disjvr_7^0 == 0 /\ length_29^0-length_29^post20 == 0 /\ -__disjvr_10^post20+__disjvr_10^0 == 0 /\ __disjvr_16^0-__disjvr_16^post20 == 0 /\ -rcd_308^post20+rcd_308^0 == 0 /\ -i_130^post20+i_130^0 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ x_22^0-x_22^post20 == 0 /\ a_309^0-a_309^post20 == 0 /\ len_221^0-len_221^post20 == 0 /\ -__disjvr_9^post20+__disjvr_9^0 == 0 /\ -x_154^post20+x_154^0 == 0 /\ -rcd_194^post20+rcd_194^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post20 == 0 /\ x_27^0-x_27^post20 == 0 /\ -i_112^post20+i_112^0 == 0 /\ -nondet_12^post20+nondet_12^0 == 0 /\ -head_16^post20+head_16^0 == 0 /\ i_31^0-i_31^post20 == 0 /\ x_207^0-x_207^post20 == 0 /\ -rcd_320^post20+rcd_320^0 == 0 /\ head_33^0-head_33^post20 == 0 /\ __disjvr_11^0-__disjvr_11^post20 == 0 /\ -__disjvr_26^post20+__disjvr_26^0 == 0 /\ -__disjvr_6^post20+__disjvr_6^0 == 0 /\ -temp0_19^post20+temp0_19^0 == 0 /\ -rcd_284^post20+rcd_284^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post20 == 0 /\ __disjvr_18^0-__disjvr_18^post20 == 0 /\ __disjvr_9^post20-__disjvr_9^0 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ __disjvr_13^0-__disjvr_13^post20 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ a_253^0-a_253^post20 == 0 /\ rcd_193^0-rcd_193^post20 == 0 /\ __disjvr_30^0-__disjvr_30^post20 == 0 /\ __disjvr_21^0-__disjvr_21^post20 == 0 /\ -rcd_114^post20+rcd_114^0 == 0 /\ -rcd_199^post20+rcd_199^0 == 0 /\ -t_23^post20+t_23^0 == 0 /\ tmp_35^0-tmp_35^post20 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ r_192^0-r_192^post20 == 0 /\ -__disjvr_19^post20+__disjvr_19^0 == 0 /\ rcd_106^0-rcd_106^post20 == 0 /\ a_139^0-a_139^post20 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ r_41^0-r_41^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ -__disjvr_4^post20+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post20 == 0 /\ r_149^0-r_149^post20 == 0 /\ -rcd_45^post20+rcd_45^0 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ a_222^0-a_222^post20 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post20 == 0 /\ result_11^0-result_11^post20 == 0 /\ -f_202^post20+f_202^0 == 0 /\ -a_279^post20+a_279^0 == 0 /\ rcd_220^0-rcd_220^post20 == 0 /\ -tail_15^post20+tail_15^0 == 0 /\ temp_36^0-temp_36^post20 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ -__disjvr_25^post20+__disjvr_25^0 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post20 == 0 /\ -__disjvr_1^post20+__disjvr_1^0 == 0 /\ -x_SLAM_f_20^post20+x_SLAM_f_20^0 == 0 /\ rcd_71^0-rcd_71^post20 == 0 /\ -__disjvr_2^post20+__disjvr_2^0 == 0 /\ -temp0_32^post20+temp0_32^0 == 0 /\ -__disjvr_20^post20+__disjvr_20^0 == 0 /\ -temp_37^post20+temp_37^0 == 0 /\ __disjvr_15^0-__disjvr_15^post20 == 0 /\ i_198^0-i_198^post20 == 0), cost: 1 21: l22 -> l1 : __disjvr_0^0'=__disjvr_0^post21, a_253^0'=a_253^post21, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post21, __disjvr_21^0'=__disjvr_21^post21, x_27^0'=x_27^post21, __disjvr_3^0'=__disjvr_3^post21, rcd_220^0'=rcd_220^post21, __disjvr_14^0'=__disjvr_14^post21, head_33^0'=head_33^post21, __disjvr_24^0'=__disjvr_24^post21, temp_36^0'=temp_36^post21, r_192^0'=r_192^post21, __disjvr_8^0'=__disjvr_8^post21, a_139^0'=a_139^post21, result_11^0'=result_11^post21, __disjvr_19^0'=__disjvr_19^post21, i_31^0'=i_31^post21, __disjvr_29^0'=__disjvr_29^post21, x_22^0'=x_22^post21, rcd_193^0'=rcd_193^post21, __disjvr_11^0'=__disjvr_11^post21, a_309^0'=a_309^post21, tail_15^0'=tail_15^post21, length_29^0'=length_29^post21, x_SLAM_f_25^0'=x_SLAM_f_25^post21, __disjvr_5^0'=__disjvr_5^post21, rcd_288^0'=rcd_288^post21, __disjvr_16^0'=__disjvr_16^post21, i_112^0'=i_112^post21, __disjvr_26^0'=__disjvr_26^post21, tmp_35^0'=tmp_35^post21, rcd_106^0'=rcd_106^post21, a_222^0'=a_222^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post21, __disjvr_20^0'=__disjvr_20^post21, len_221^0'=len_221^post21, __disjvr_30^0'=__disjvr_30^post21, rcd_199^0'=rcd_199^post21, __disjvr_13^0'=__disjvr_13^post21, head_16^0'=head_16^post21, __disjvr_23^0'=__disjvr_23^post21, temp0_32^0'=temp0_32^post21, r_149^0'=r_149^post21, y_26^0'=y_26^post21, __disjvr_7^0'=__disjvr_7^post21, rcd_320^0'=rcd_320^post21, rcd_71^0'=rcd_71^post21, __disjvr_18^0'=__disjvr_18^post21, i_198^0'=i_198^post21, __disjvr_28^0'=__disjvr_28^post21, x_207^0'=x_207^post21, rcd_185^0'=rcd_185^post21, __disjvr_10^0'=__disjvr_10^post21, a_279^0'=a_279^post21, t_23^0'=t_23^post21, __disjvr_22^0'=__disjvr_22^post21, x_SLAM_f_20^0'=x_SLAM_f_20^post21, __disjvr_4^0'=__disjvr_4^post21, rcd_284^0'=rcd_284^post21, __disjvr_15^0'=__disjvr_15^post21, head_SLAM_f_30^0'=head_SLAM_f_30^post21, __disjvr_25^0'=__disjvr_25^post21, temp_37^0'=temp_37^post21, r_41^0'=r_41^post21, __disjvr_9^0'=__disjvr_9^post21, a_174^0'=a_174^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post21, __disjvr_1^0'=__disjvr_1^post21, len_159^0'=len_159^post21, __disjvr_2^0'=__disjvr_2^post21, rcd_194^0'=rcd_194^post21, __disjvr_12^0'=__disjvr_12^post21, f_202^0'=f_202^post21, temp0_19^0'=temp0_19^post21, nondet_12^0'=nondet_12^post21, y_21^0'=y_21^post21, __disjvr_6^0'=__disjvr_6^post21, rcd_308^0'=rcd_308^post21, rcd_45^0'=rcd_45^post21, __disjvr_17^0'=__disjvr_17^post21, i_130^0'=i_130^post21, __disjvr_27^0'=__disjvr_27^post21, x_154^0'=x_154^post21, rcd_114^0'=rcd_114^post21, (__disjvr_1^0-__disjvr_1^post21 == 0 /\ a_139^0-a_139^post21 == 0 /\ -__disjvr_23^post21+__disjvr_23^0 == 0 /\ r_192^0-r_192^post21 == 0 /\ -__disjvr_4^post21+__disjvr_4^0 == 0 /\ -rcd_194^post21+rcd_194^0 == 0 /\ y_26^0-y_26^post21 == 0 /\ -__disjvr_5^post21+__disjvr_5^0 == 0 /\ -x_154^post21+x_154^0 == 0 /\ -i_112^post21+i_112^0 == 0 /\ length_29^0-length_29^post21 == 0 /\ -__disjvr_9^post21+__disjvr_9^0 == 0 /\ tail_15^0-tail_15^post21 == 0 /\ -i_130^post21+i_130^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_10^post21+__disjvr_10^0 == 0 /\ -x_SLAM_f_20^post21+x_SLAM_f_20^0 == 0 /\ -rcd_288^post21+rcd_288^0 == 0 /\ -__disjvr_22^post21+__disjvr_22^0 == 0 /\ -rcd_308^post21+rcd_308^0 == 0 /\ temp_36^0-temp_36^post21 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_15^post21+__disjvr_15^0 == 0 /\ __disjvr_16^0-__disjvr_16^post21 == 0 /\ __disjvr_13^0-__disjvr_13^post21 == 0 /\ rcd_220^0-rcd_220^post21 == 0 /\ __disjvr_24^0-__disjvr_24^post21 == 0 /\ -a_309^post21+a_309^0 == 0 /\ -__disjvr_26^post21+__disjvr_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post21 == 0 /\ -y_21^post21+y_21^0 == 0 /\ -i_31^post21+i_31^0 == 0 /\ __disjvr_20^0-__disjvr_20^post21 == 0 /\ -rcd_193^post21+rcd_193^0 == 0 /\ __disjvr_3^0-__disjvr_3^post21 == 0 /\ -nondet_12^post21+nondet_12^0 == 0 /\ -__disjvr_6^post21+__disjvr_6^0 == 0 /\ -temp0_19^post21+temp0_19^0 == 0 /\ __disjvr_25^0-__disjvr_25^post21 == 0 /\ -__disjvr_12^post21+__disjvr_12^0 == 0 /\ -__disjvr_17^post21+__disjvr_17^0 == 0 /\ x_207^0-x_207^post21 == 0 /\ __disjvr_29^0-__disjvr_29^post21 == 0 /\ __disjvr_11^0-__disjvr_11^post21 == 0 /\ -rcd_71^post21+rcd_71^0 == 0 /\ len_221^0-len_221^post21 == 0 /\ a_253^0-a_253^post21 == 0 /\ i_198^0-i_198^post21 == 0 /\ rcd_320^0-rcd_320^post21 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_31^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post21 == 0 /\ -__disjvr_28^post21+__disjvr_28^0 == 0 /\ -rcd_114^post21+rcd_114^0 == 0 /\ head_16^0-head_16^post21 == 0 /\ r_149^0-r_149^post21 == 0 /\ rcd_106^0-rcd_106^post21 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ __disjvr_14^0-__disjvr_14^post21 == 0 /\ -rcd_284^post21+rcd_284^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post21+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_45^post21+rcd_45^0 == 0 /\ __disjvr_30^0-__disjvr_30^post21 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post21 == 0 /\ result_11^0-result_11^post21 == 0 /\ -t_23^post21+t_23^0 == 0 /\ -rcd_185^post21+rcd_185^0 == 0 /\ x_27^0-x_27^post21 == 0 /\ x_22^0-x_22^post21 == 0 /\ a_222^0-a_222^post21 == 0 /\ __disjvr_19^0-__disjvr_19^post21 == 0 /\ -a_174^post21+a_174^0 == 0 /\ -temp_37^post21+temp_37^0 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_198^0 <= 0 /\ -__disjvr_27^post21+__disjvr_27^0 == 0 /\ -__disjvr_2^post21+__disjvr_2^0 == 0 /\ -f_202^post21+f_202^0 == 0 /\ -rcd_199^post21+rcd_199^0 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ -temp0_32^post21+temp0_32^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post21 == 0 /\ tmp_35^0-tmp_35^post21 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post21+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ a_279^0-a_279^post21 == 0 /\ -len_159^post21+len_159^0 == 0 /\ -head_33^post21+head_33^0 == 0 /\ -r_41^post21+r_41^0 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0), cost: 1 23: l23 -> l20 : __disjvr_0^0'=__disjvr_0^post23, a_253^0'=a_253^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post23, __disjvr_21^0'=__disjvr_21^post23, x_27^0'=x_27^post23, __disjvr_3^0'=__disjvr_3^post23, rcd_220^0'=rcd_220^post23, __disjvr_14^0'=__disjvr_14^post23, head_33^0'=head_33^post23, __disjvr_24^0'=__disjvr_24^post23, temp_36^0'=temp_36^post23, r_192^0'=r_192^post23, __disjvr_8^0'=__disjvr_8^post23, a_139^0'=a_139^post23, result_11^0'=result_11^post23, __disjvr_19^0'=__disjvr_19^post23, i_31^0'=i_31^post23, __disjvr_29^0'=__disjvr_29^post23, x_22^0'=x_22^post23, rcd_193^0'=rcd_193^post23, __disjvr_11^0'=__disjvr_11^post23, a_309^0'=a_309^post23, tail_15^0'=tail_15^post23, length_29^0'=length_29^post23, x_SLAM_f_25^0'=x_SLAM_f_25^post23, __disjvr_5^0'=__disjvr_5^post23, rcd_288^0'=rcd_288^post23, __disjvr_16^0'=__disjvr_16^post23, i_112^0'=i_112^post23, __disjvr_26^0'=__disjvr_26^post23, tmp_35^0'=tmp_35^post23, rcd_106^0'=rcd_106^post23, a_222^0'=a_222^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post23, __disjvr_20^0'=__disjvr_20^post23, len_221^0'=len_221^post23, __disjvr_30^0'=__disjvr_30^post23, rcd_199^0'=rcd_199^post23, __disjvr_13^0'=__disjvr_13^post23, head_16^0'=head_16^post23, __disjvr_23^0'=__disjvr_23^post23, temp0_32^0'=temp0_32^post23, r_149^0'=r_149^post23, y_26^0'=y_26^post23, __disjvr_7^0'=__disjvr_7^post23, rcd_320^0'=rcd_320^post23, rcd_71^0'=rcd_71^post23, __disjvr_18^0'=__disjvr_18^post23, i_198^0'=i_198^post23, __disjvr_28^0'=__disjvr_28^post23, x_207^0'=x_207^post23, rcd_185^0'=rcd_185^post23, __disjvr_10^0'=__disjvr_10^post23, a_279^0'=a_279^post23, t_23^0'=t_23^post23, __disjvr_22^0'=__disjvr_22^post23, x_SLAM_f_20^0'=x_SLAM_f_20^post23, __disjvr_4^0'=__disjvr_4^post23, rcd_284^0'=rcd_284^post23, __disjvr_15^0'=__disjvr_15^post23, head_SLAM_f_30^0'=head_SLAM_f_30^post23, __disjvr_25^0'=__disjvr_25^post23, temp_37^0'=temp_37^post23, r_41^0'=r_41^post23, __disjvr_9^0'=__disjvr_9^post23, a_174^0'=a_174^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, __disjvr_1^0'=__disjvr_1^post23, len_159^0'=len_159^post23, __disjvr_2^0'=__disjvr_2^post23, rcd_194^0'=rcd_194^post23, __disjvr_12^0'=__disjvr_12^post23, f_202^0'=f_202^post23, temp0_19^0'=temp0_19^post23, nondet_12^0'=nondet_12^post23, y_21^0'=y_21^post23, __disjvr_6^0'=__disjvr_6^post23, rcd_308^0'=rcd_308^post23, rcd_45^0'=rcd_45^post23, __disjvr_17^0'=__disjvr_17^post23, i_130^0'=i_130^post23, __disjvr_27^0'=__disjvr_27^post23, x_154^0'=x_154^post23, rcd_114^0'=rcd_114^post23, (-rcd_199^post23+rcd_199^0 == 0 /\ x_22^0-x_22^post23 == 0 /\ -rcd_114^post23+rcd_114^0 == 0 /\ -t_23^post23+t_23^0 == 0 /\ a_222^0-a_222^post23 == 0 /\ result_11^0-result_11^post23 == 0 /\ -__disjvr_12^post23+__disjvr_12^0 == 0 /\ head_33^0-head_33^post23 == 0 /\ rcd_106^0-rcd_106^post23 == 0 /\ -r_41^post23+r_41^0 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ __disjvr_13^0-__disjvr_13^post23 == 0 /\ __disjvr_18^0-__disjvr_18^post23 == 0 /\ __disjvr_3^0-__disjvr_3^post23 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post23 == 0 /\ -__disjvr_4^post23+__disjvr_4^0 == 0 /\ i_112^0-i_112^post23 == 0 /\ -f_202^post23+f_202^0 == 0 /\ -temp_37^post23+temp_37^0 == 0 /\ -__disjvr_27^post23+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ y_26^0-y_26^post23 == 0 /\ -tail_15^post23+tail_15^0 == 0 /\ tmp_35^0-tmp_35^post23 == 0 /\ length_29^0-length_29^post23 == 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0 /\ -__disjvr_25^post23+__disjvr_25^0 == 0 /\ __disjvr_2^0-__disjvr_2^post23 == 0 /\ -len_159^post23+len_159^0 == 0 /\ a_309^0-a_309^post23 == 0 /\ -__disjvr_20^post23+__disjvr_20^0 == 0 /\ -temp0_32^post23+temp0_32^0 == 0 /\ len_221^0-len_221^post23 == 0 /\ -__disjvr_1^post23+__disjvr_1^0 == 0 /\ -rcd_71^post23+rcd_71^0 == 0 /\ __disjvr_14^0-__disjvr_14^post23 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post23 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post23 == 0 /\ -rcd_288^post23+rcd_288^0 == 0 /\ y_21^0-y_21^post23 == 0 /\ x_27^0-x_27^post23 == 0 /\ -rcd_185^post23+rcd_185^0 == 0 /\ -head_SLAM_f_30^post23+head_SLAM_f_30^0 == 0 /\ __disjvr_24^0-__disjvr_24^post23 == 0 /\ -x_154^post23+x_154^0 == 0 /\ -__disjvr_22^post23+__disjvr_22^0 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -i_198^post23+i_198^0 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ rcd_220^0-rcd_220^post23 == 0 /\ -__disjvr_8^post23+__disjvr_8^0 == 0 /\ -__disjvr_10^post23+__disjvr_10^0 == 0 /\ -__disjvr_23^post23+__disjvr_23^0 == 0 /\ -__disjvr_9^post23+__disjvr_9^0 == 0 /\ -__disjvr_21^post23+__disjvr_21^0 == 0 /\ -rcd_308^post23+rcd_308^0 == 0 /\ a_279^0-a_279^post23 == 0 /\ i_31^0-i_31^post23 == 0 /\ __disjvr_15^0-__disjvr_15^post23 == 0 /\ __disjvr_19^0-__disjvr_19^post23 == 0 /\ -rcd_194^post23+rcd_194^0 == 0 /\ -a_174^post23+a_174^0 == 0 /\ -rcd_193^post23+rcd_193^0 == 0 /\ a_253^0-a_253^post23 == 0 /\ i_130^0-i_130^post23 == 0 /\ -nondet_12^post23+nondet_12^0 == 0 /\ -rcd_45^post23+rcd_45^0 == 0 /\ -__disjvr_29^post23+__disjvr_29^0 == 0 /\ -rcd_320^post23+rcd_320^0 == 0 /\ head_16^0-head_16^post23 == 0 /\ __disjvr_28^0-__disjvr_28^post23 == 0 /\ -x_207^post23+x_207^0 == 0 /\ r_192^0-r_192^post23 == 0 /\ -__disjvr_6^post23+__disjvr_6^0 == 0 /\ a_139^0-a_139^post23 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_11^0-__disjvr_11^post23 == 0 /\ -rcd_284^post23+rcd_284^0 == 0 /\ __disjvr_16^0-__disjvr_16^post23 == 0 /\ __disjvr_30^0-__disjvr_30^post23 == 0 /\ -temp_36^post23+temp_36^0 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ -temp0_19^post23+temp0_19^0 == 0 /\ r_149^0-r_149^post23 == 0), cost: 1 25: l24 -> l6 : __disjvr_0^0'=__disjvr_0^post25, a_253^0'=a_253^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, __disjvr_21^0'=__disjvr_21^post25, x_27^0'=x_27^post25, __disjvr_3^0'=__disjvr_3^post25, rcd_220^0'=rcd_220^post25, __disjvr_14^0'=__disjvr_14^post25, head_33^0'=head_33^post25, __disjvr_24^0'=__disjvr_24^post25, temp_36^0'=temp_36^post25, r_192^0'=r_192^post25, __disjvr_8^0'=__disjvr_8^post25, a_139^0'=a_139^post25, result_11^0'=result_11^post25, __disjvr_19^0'=__disjvr_19^post25, i_31^0'=i_31^post25, __disjvr_29^0'=__disjvr_29^post25, x_22^0'=x_22^post25, rcd_193^0'=rcd_193^post25, __disjvr_11^0'=__disjvr_11^post25, a_309^0'=a_309^post25, tail_15^0'=tail_15^post25, length_29^0'=length_29^post25, x_SLAM_f_25^0'=x_SLAM_f_25^post25, __disjvr_5^0'=__disjvr_5^post25, rcd_288^0'=rcd_288^post25, __disjvr_16^0'=__disjvr_16^post25, i_112^0'=i_112^post25, __disjvr_26^0'=__disjvr_26^post25, tmp_35^0'=tmp_35^post25, rcd_106^0'=rcd_106^post25, a_222^0'=a_222^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25, __disjvr_20^0'=__disjvr_20^post25, len_221^0'=len_221^post25, __disjvr_30^0'=__disjvr_30^post25, rcd_199^0'=rcd_199^post25, __disjvr_13^0'=__disjvr_13^post25, head_16^0'=head_16^post25, __disjvr_23^0'=__disjvr_23^post25, temp0_32^0'=temp0_32^post25, r_149^0'=r_149^post25, y_26^0'=y_26^post25, __disjvr_7^0'=__disjvr_7^post25, rcd_320^0'=rcd_320^post25, rcd_71^0'=rcd_71^post25, __disjvr_18^0'=__disjvr_18^post25, i_198^0'=i_198^post25, __disjvr_28^0'=__disjvr_28^post25, x_207^0'=x_207^post25, rcd_185^0'=rcd_185^post25, __disjvr_10^0'=__disjvr_10^post25, a_279^0'=a_279^post25, t_23^0'=t_23^post25, __disjvr_22^0'=__disjvr_22^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, __disjvr_4^0'=__disjvr_4^post25, rcd_284^0'=rcd_284^post25, __disjvr_15^0'=__disjvr_15^post25, head_SLAM_f_30^0'=head_SLAM_f_30^post25, __disjvr_25^0'=__disjvr_25^post25, temp_37^0'=temp_37^post25, r_41^0'=r_41^post25, __disjvr_9^0'=__disjvr_9^post25, a_174^0'=a_174^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, __disjvr_1^0'=__disjvr_1^post25, len_159^0'=len_159^post25, __disjvr_2^0'=__disjvr_2^post25, rcd_194^0'=rcd_194^post25, __disjvr_12^0'=__disjvr_12^post25, f_202^0'=f_202^post25, temp0_19^0'=temp0_19^post25, nondet_12^0'=nondet_12^post25, y_21^0'=y_21^post25, __disjvr_6^0'=__disjvr_6^post25, rcd_308^0'=rcd_308^post25, rcd_45^0'=rcd_45^post25, __disjvr_17^0'=__disjvr_17^post25, i_130^0'=i_130^post25, __disjvr_27^0'=__disjvr_27^post25, x_154^0'=x_154^post25, rcd_114^0'=rcd_114^post25, (0 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ -f_202^post25+f_202^0 == 0 /\ -head_16^post25+head_16^0 == 0 /\ head_SLAM_f_30^post25-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25 <= 0 /\ -rcd_45^post25+rcd_45^0 == 0 /\ a_309^0-a_309^post25 == 0 /\ tail_15^post25-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25 <= 0 /\ -head_SLAM_f_30^post25+tail_15^post25 <= 0 /\ x_22^0-x_22^post25 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post25-length_29^0 <= 0 /\ -__disjvr_6^post25+__disjvr_6^0 == 0 /\ -temp0_19^post25+temp0_19^0 == 0 /\ -rcd_284^post25+rcd_284^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25-tmp_35^post25 <= 0 /\ rcd_220^0-rcd_220^post25 == 0 /\ -len_159^post25+len_159^0 == 0 /\ -__disjvr_2^post25+__disjvr_2^0 == 0 /\ -__disjvr_1^post25+__disjvr_1^0 == 0 /\ -temp0_32^post25+temp0_32^0 == 0 /\ -1-i_31^0+i_31^post25 == 0 /\ -tmp_35^post25+head_33^post25 <= 0 /\ -tmp_35^post25+head_33^post25 == 0 /\ rcd_199^0-rcd_199^post25 == 0 /\ a_139^0-a_139^post25 == 0 /\ -t_23^post25+t_23^0 == 0 /\ __disjvr_11^0-__disjvr_11^post25 == 0 /\ rcd_320^0-rcd_320^post25 == 0 /\ -rcd_185^post25+rcd_185^0 == 0 /\ __disjvr_18^0-__disjvr_18^post25 == 0 /\ -head_SLAM_f_30^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25 <= 0 /\ __disjvr_15^0-__disjvr_15^post25 == 0 /\ -__disjvr_16^post25+__disjvr_16^0 == 0 /\ x_207^0-x_207^post25 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ -tail_15^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25 <= 0 /\ -rcd_114^post25+rcd_114^0 == 0 /\ head_SLAM_f_30^post25-tail_15^post25 <= 0 /\ a_253^0-a_253^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post25+length_29^0 <= 0 /\ -__disjvr_10^post25+__disjvr_10^0 == 0 /\ rcd_288^0-rcd_288^post25 == 0 /\ x_27^0-x_27^post25 == 0 /\ -__disjvr_9^post25+__disjvr_9^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post25 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25+tmp_35^post25 <= 0 /\ i_112^0-i_112^post25 == 0 /\ -__disjvr_4^post25+__disjvr_4^0 == 0 /\ -rcd_194^post25+rcd_194^0 == 0 /\ __disjvr_28^0-__disjvr_28^post25 == 0 /\ tmp_35^post25-head_33^post25 <= 0 /\ -a_174^post25+a_174^0 == 0 /\ rcd_106^0-rcd_106^post25 == 0 /\ -__disjvr_19^post25+__disjvr_19^0 == 0 /\ rcd_193^0-rcd_193^post25 == 0 /\ -a_279^post25+a_279^0 == 0 /\ __disjvr_13^0-__disjvr_13^post25 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ -__disjvr_27^post25+__disjvr_27^0 == 0 /\ -y_26^post25+y_26^0 == 0 /\ -i_130^post25+i_130^0 == 0 /\ rcd_71^0-rcd_71^post25 == 0 /\ r_149^0-r_149^post25 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ __disjvr_20^0-__disjvr_20^post25 == 0 /\ -__disjvr_25^post25+__disjvr_25^0 == 0 /\ a_222^0-a_222^post25 == 0 /\ -__disjvr_5^post25+__disjvr_5^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25+head_33^post25 <= 0 /\ -x_SLAM_f_20^post25+x_SLAM_f_20^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ -temp_37^post25+temp_37^0 == 0 /\ -rcd_308^post25+rcd_308^0 == 0 /\ __disjvr_26^0-__disjvr_26^post25 == 0 /\ 1-i_31^post25 <= 0 /\ -1+i_31^post25 <= 0 /\ -y_21^post25+y_21^0 == 0 /\ r_41^0-r_41^post25 == 0 /\ 1-length_29^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post25 == 0 /\ -r_192^post25+r_192^0 == 0 /\ len_221^0-len_221^post25 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ -__disjvr_22^post25+__disjvr_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ i_198^0-i_198^post25 == 0 /\ -temp_36^0+tmp_35^post25 == 0 /\ -__disjvr_23^post25+__disjvr_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ __disjvr_30^0-__disjvr_30^post25 == 0 /\ result_11^0-result_11^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25-head_33^post25 <= 0 /\ __disjvr_8^0-__disjvr_8^post25 == 0 /\ -x_154^post25+x_154^0 == 0 /\ length_29^0-length_29^post25 == 0), cost: 1 27: l25 -> l27 : __disjvr_0^0'=__disjvr_0^post27, a_253^0'=a_253^post27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, __disjvr_21^0'=__disjvr_21^post27, x_27^0'=x_27^post27, __disjvr_3^0'=__disjvr_3^post27, rcd_220^0'=rcd_220^post27, __disjvr_14^0'=__disjvr_14^post27, head_33^0'=head_33^post27, __disjvr_24^0'=__disjvr_24^post27, temp_36^0'=temp_36^post27, r_192^0'=r_192^post27, __disjvr_8^0'=__disjvr_8^post27, a_139^0'=a_139^post27, result_11^0'=result_11^post27, __disjvr_19^0'=__disjvr_19^post27, i_31^0'=i_31^post27, __disjvr_29^0'=__disjvr_29^post27, x_22^0'=x_22^post27, rcd_193^0'=rcd_193^post27, __disjvr_11^0'=__disjvr_11^post27, a_309^0'=a_309^post27, tail_15^0'=tail_15^post27, length_29^0'=length_29^post27, x_SLAM_f_25^0'=x_SLAM_f_25^post27, __disjvr_5^0'=__disjvr_5^post27, rcd_288^0'=rcd_288^post27, __disjvr_16^0'=__disjvr_16^post27, i_112^0'=i_112^post27, __disjvr_26^0'=__disjvr_26^post27, tmp_35^0'=tmp_35^post27, rcd_106^0'=rcd_106^post27, a_222^0'=a_222^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27, __disjvr_20^0'=__disjvr_20^post27, len_221^0'=len_221^post27, __disjvr_30^0'=__disjvr_30^post27, rcd_199^0'=rcd_199^post27, __disjvr_13^0'=__disjvr_13^post27, head_16^0'=head_16^post27, __disjvr_23^0'=__disjvr_23^post27, temp0_32^0'=temp0_32^post27, r_149^0'=r_149^post27, y_26^0'=y_26^post27, __disjvr_7^0'=__disjvr_7^post27, rcd_320^0'=rcd_320^post27, rcd_71^0'=rcd_71^post27, __disjvr_18^0'=__disjvr_18^post27, i_198^0'=i_198^post27, __disjvr_28^0'=__disjvr_28^post27, x_207^0'=x_207^post27, rcd_185^0'=rcd_185^post27, __disjvr_10^0'=__disjvr_10^post27, a_279^0'=a_279^post27, t_23^0'=t_23^post27, __disjvr_22^0'=__disjvr_22^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, __disjvr_4^0'=__disjvr_4^post27, rcd_284^0'=rcd_284^post27, __disjvr_15^0'=__disjvr_15^post27, head_SLAM_f_30^0'=head_SLAM_f_30^post27, __disjvr_25^0'=__disjvr_25^post27, temp_37^0'=temp_37^post27, r_41^0'=r_41^post27, __disjvr_9^0'=__disjvr_9^post27, a_174^0'=a_174^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, __disjvr_1^0'=__disjvr_1^post27, len_159^0'=len_159^post27, __disjvr_2^0'=__disjvr_2^post27, rcd_194^0'=rcd_194^post27, __disjvr_12^0'=__disjvr_12^post27, f_202^0'=f_202^post27, temp0_19^0'=temp0_19^post27, nondet_12^0'=nondet_12^post27, y_21^0'=y_21^post27, __disjvr_6^0'=__disjvr_6^post27, rcd_308^0'=rcd_308^post27, rcd_45^0'=rcd_45^post27, __disjvr_17^0'=__disjvr_17^post27, i_130^0'=i_130^post27, __disjvr_27^0'=__disjvr_27^post27, x_154^0'=x_154^post27, rcd_114^0'=rcd_114^post27, (0 == 0 /\ -i_198^post27+i_198^0 == 0 /\ -y_21^post27+y_21^0 == 0 /\ -__disjvr_10^post27+__disjvr_10^0 == 0 /\ -len_159^post27+len_159^0 == 0 /\ -__disjvr_22^post27+__disjvr_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post27 == 0 /\ -a_279^0 <= 0 /\ a_253^0-a_253^post27 == 0 /\ a_139^0-a_139^post27 == 0 /\ -y_26^post27+y_26^0 == 0 /\ __disjvr_8^0-__disjvr_8^post27 == 0 /\ -i_130^post27+i_130^0 == 0 /\ -temp_37^post27+temp_37^0 == 0 /\ rcd_106^0-rcd_106^post27 == 0 /\ r_149^0-r_149^post27 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post27 == 0 /\ __disjvr_11^0-__disjvr_11^post27 == 0 /\ -__disjvr_9^post27+__disjvr_9^0 == 0 /\ -__disjvr_7^post27+__disjvr_7^0 == 0 /\ rcd_288^0-rcd_288^post27 == 0 /\ -__disjvr_5^post27+__disjvr_5^0 == 0 /\ __disjvr_23^0-__disjvr_23^post27 == 0 /\ -rcd_308^post27+rcd_308^0 == 0 /\ __disjvr_1^0-__disjvr_1^post27 == 0 /\ -rcd_194^post27+rcd_194^0 == 0 /\ __disjvr_16^0-__disjvr_16^post27 == 0 /\ a_309^0-a_309^post27 == 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ -i_112^post27+i_112^0 == 0 /\ -nondet_12^post27+nondet_12^0 == 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ temp_36^0-temp_36^post27 == 0 /\ a_222^0-a_222^post27 == 0 /\ f_202^0-f_202^post27 == 0 /\ x_22^0-x_22^post27 == 0 /\ -__disjvr_30^post27+__disjvr_30^0 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ -head_SLAM_f_30^post27+head_SLAM_f_30^0 == 0 /\ -x_154^post27+x_154^0 == 0 /\ -rcd_320^post27+rcd_320^0 == 0 /\ -rcd_284^post27+rcd_284^0 == 0 /\ -__disjvr_17^post27+__disjvr_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post27 == 0 /\ rcd_199^0-rcd_199^post27 == 0 /\ -__disjvr_6^post27+__disjvr_6^0 == 0 /\ __disjvr_21^0-__disjvr_21^post27 == 0 /\ r_192^0-r_192^post27 == 0 /\ __disjvr_15^0-__disjvr_15^post27 == 0 /\ -rcd_114^post27+rcd_114^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 == 0 /\ -temp0_19^post27+temp0_19^0 == 0 /\ len_221^0-len_221^post27 == 0 /\ __disjvr_26^0-__disjvr_26^post27 == 0 /\ -rcd_45^post27+rcd_45^0 == 0 /\ -__disjvr_28^post27+__disjvr_28^0 == 0 /\ -t_23^post27+t_23^0 == 0 /\ result_11^0-result_11^post27 == 0 /\ -__disjvr_29^post27+__disjvr_29^0 == 0 /\ length_29^0-length_29^post27 == 0 /\ head_33^0-head_33^post27 == 0 /\ -__disjvr_13^post27+__disjvr_13^0 == 0 /\ -__disjvr_25^post27+__disjvr_25^0 == 0 /\ x_27^0-x_27^post27 == 0 /\ -__disjvr_27^post27+__disjvr_27^0 == 0 /\ -a_174^post27+a_174^0 == 0 /\ rcd_220^0-rcd_220^post27 == 0 /\ x_207^0-x_207^post27 == 0 /\ rcd_193^0-rcd_193^post27 == 0 /\ -__disjvr_4^post27+__disjvr_4^0 == 0 /\ __disjvr_19^0-__disjvr_19^post27 == 0 /\ __disjvr_24^0-__disjvr_24^post27 == 0 /\ i_31^0-i_31^post27 == 0 /\ __disjvr_18^0-__disjvr_18^post27 == 0 /\ tmp_35^0-tmp_35^post27 == 0 /\ -temp0_32^post27+temp0_32^0 == 0 /\ -rcd_185^post27+rcd_185^0 == 0 /\ __disjvr_3^0-__disjvr_3^post27 == 0 /\ -rcd_71^post27+rcd_71^0 == 0 /\ -a_279^post27+a_279^0 == 0), cost: 1 28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post28, a_253^0'=a_253^post28, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, __disjvr_21^0'=__disjvr_21^post28, x_27^0'=x_27^post28, __disjvr_3^0'=__disjvr_3^post28, rcd_220^0'=rcd_220^post28, __disjvr_14^0'=__disjvr_14^post28, head_33^0'=head_33^post28, __disjvr_24^0'=__disjvr_24^post28, temp_36^0'=temp_36^post28, r_192^0'=r_192^post28, __disjvr_8^0'=__disjvr_8^post28, a_139^0'=a_139^post28, result_11^0'=result_11^post28, __disjvr_19^0'=__disjvr_19^post28, i_31^0'=i_31^post28, __disjvr_29^0'=__disjvr_29^post28, x_22^0'=x_22^post28, rcd_193^0'=rcd_193^post28, __disjvr_11^0'=__disjvr_11^post28, a_309^0'=a_309^post28, tail_15^0'=tail_15^post28, length_29^0'=length_29^post28, x_SLAM_f_25^0'=x_SLAM_f_25^post28, __disjvr_5^0'=__disjvr_5^post28, rcd_288^0'=rcd_288^post28, __disjvr_16^0'=__disjvr_16^post28, i_112^0'=i_112^post28, __disjvr_26^0'=__disjvr_26^post28, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post28, a_222^0'=a_222^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, __disjvr_20^0'=__disjvr_20^post28, len_221^0'=len_221^post28, __disjvr_30^0'=__disjvr_30^post28, rcd_199^0'=rcd_199^post28, __disjvr_13^0'=__disjvr_13^post28, head_16^0'=head_16^post28, __disjvr_23^0'=__disjvr_23^post28, temp0_32^0'=temp0_32^post28, r_149^0'=r_149^post28, y_26^0'=y_26^post28, __disjvr_7^0'=__disjvr_7^post28, rcd_320^0'=rcd_320^post28, rcd_71^0'=rcd_71^post28, __disjvr_18^0'=__disjvr_18^post28, i_198^0'=i_198^post28, __disjvr_28^0'=__disjvr_28^post28, x_207^0'=x_207^post28, rcd_185^0'=rcd_185^post28, __disjvr_10^0'=__disjvr_10^post28, a_279^0'=a_279^post28, t_23^0'=t_23^post28, __disjvr_22^0'=__disjvr_22^post28, x_SLAM_f_20^0'=x_SLAM_f_20^post28, __disjvr_4^0'=__disjvr_4^post28, rcd_284^0'=rcd_284^post28, __disjvr_15^0'=__disjvr_15^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, __disjvr_25^0'=__disjvr_25^post28, temp_37^0'=temp_37^post28, r_41^0'=r_41^post28, __disjvr_9^0'=__disjvr_9^post28, a_174^0'=a_174^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28, __disjvr_1^0'=__disjvr_1^post28, len_159^0'=len_159^post28, __disjvr_2^0'=__disjvr_2^post28, rcd_194^0'=rcd_194^post28, __disjvr_12^0'=__disjvr_12^post28, f_202^0'=f_202^post28, temp0_19^0'=temp0_19^post28, nondet_12^0'=nondet_12^post28, y_21^0'=y_21^post28, __disjvr_6^0'=__disjvr_6^post28, rcd_308^0'=rcd_308^post28, rcd_45^0'=rcd_45^post28, __disjvr_17^0'=__disjvr_17^post28, i_130^0'=i_130^post28, __disjvr_27^0'=__disjvr_27^post28, x_154^0'=x_154^post28, rcd_114^0'=rcd_114^post28, (__disjvr_11^0-__disjvr_11^post28 == 0 /\ -__disjvr_4^post28+__disjvr_4^0 == 0 /\ __disjvr_18^0-__disjvr_18^post28 == 0 /\ x_207^0-x_207^post28 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 == 0 /\ -__disjvr_27^post28+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ len_221^0-len_221^post28 == 0 /\ -rcd_320^post28+rcd_320^0 == 0 /\ -i_112^post28+i_112^0 == 0 /\ -temp_37^post28+temp_37^0 == 0 /\ y_26^0-y_26^post28 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_20^post28+__disjvr_20^0 == 0 /\ length_29^0-length_29^post28 == 0 /\ head_33^0-head_33^post28 == 0 /\ -__disjvr_25^post28+__disjvr_25^0 == 0 /\ rcd_106^0-rcd_106^post28 == 0 /\ __disjvr_28^0-__disjvr_28^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ -__disjvr_5^post28+__disjvr_5^0 == 0 /\ -y_21^post28+y_21^0 == 0 /\ -rcd_193^post28+rcd_193^0 == 0 /\ __disjvr_13^0-__disjvr_13^post28 == 0 /\ -__disjvr_1^post28+__disjvr_1^0 == 0 /\ -head_SLAM_f_30^post28+head_SLAM_f_30^0 == 0 /\ -__disjvr_22^post28+__disjvr_22^0 == 0 /\ a_309^0-a_309^post28 == 0 /\ f_202^0-f_202^post28 == 0 /\ -__disjvr_12^post28+__disjvr_12^0 == 0 /\ x_22^0-x_22^post28 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ -rcd_308^post28+rcd_308^0 == 0 /\ -__disjvr_23^post28+__disjvr_23^0 == 0 /\ tmp_35^0-tmp_35^post28 == 0 /\ -i_130^post28+i_130^0 == 0 /\ -x_154^post28+x_154^0 == 0 /\ a_139^0-a_139^post28 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ __disjvr_26^0-__disjvr_26^post28 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ r_41^0-r_41^post28 == 0 /\ __disjvr_29^0-__disjvr_29^post28 == 0 /\ -rcd_284^post28+rcd_284^0 == 0 /\ a_279^0-a_279^post28 == 0 /\ -tail_15^post28+tail_15^0 == 0 /\ __disjvr_14^0-__disjvr_14^post28 == 0 /\ i_31^0-i_31^post28 == 0 /\ __disjvr_15^0-__disjvr_15^post28 == 0 /\ x_27^0-x_27^post28 == 0 /\ a_253^0-a_253^post28 == 0 /\ r_192^0-r_192^post28 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post28 == 0 /\ -__disjvr_6^post28+__disjvr_6^0 == 0 /\ -temp0_19^post28+temp0_19^0 == 0 /\ __disjvr_24^0-__disjvr_24^post28 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post28 == 0 /\ __disjvr_30^0-__disjvr_30^post28 == 0 /\ -__disjvr_17^post28+__disjvr_17^0 == 0 /\ -len_159^post28+len_159^0 == 0 /\ -rcd_71^post28+rcd_71^0 == 0 /\ -__disjvr_2^post28+__disjvr_2^0 == 0 /\ -temp0_32^post28+temp0_32^0 == 0 /\ __disjvr_10^post28-__disjvr_10^0 == 0 /\ temp_36^0-temp_36^post28 == 0 /\ -rcd_199^post28+rcd_199^0 == 0 /\ -t_23^post28+t_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ -rcd_185^post28+rcd_185^0 == 0 /\ __disjvr_16^0-__disjvr_16^post28 == 0 /\ -rcd_114^post28+rcd_114^0 == 0 /\ -__disjvr_7^post28+__disjvr_7^0 == 0 /\ -rcd_288^post28+rcd_288^0 == 0 /\ r_149^0-r_149^post28 == 0 /\ -i_198^post28+i_198^0 == 0 /\ a_222^0-a_222^post28 == 0 /\ __disjvr_21^0-__disjvr_21^post28 == 0 /\ -__disjvr_9^post28+__disjvr_9^0 == 0 /\ -rcd_194^post28+rcd_194^0 == 0 /\ -rcd_45^post28+rcd_45^0 == 0 /\ head_16^0-head_16^post28 == 0 /\ rcd_220^0-rcd_220^post28 == 0 /\ -a_174^post28+a_174^0 == 0 /\ -__disjvr_19^post28+__disjvr_19^0 == 0 /\ -__disjvr_10^post28+__disjvr_10^0 == 0), cost: 1 29: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post29, a_253^0'=a_253^post29, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post29, __disjvr_21^0'=__disjvr_21^post29, x_27^0'=x_27^post29, __disjvr_3^0'=__disjvr_3^post29, rcd_220^0'=rcd_220^post29, __disjvr_14^0'=__disjvr_14^post29, head_33^0'=head_33^post29, __disjvr_24^0'=__disjvr_24^post29, temp_36^0'=temp_36^post29, r_192^0'=r_192^post29, __disjvr_8^0'=__disjvr_8^post29, a_139^0'=a_139^post29, result_11^0'=result_11^post29, __disjvr_19^0'=__disjvr_19^post29, i_31^0'=i_31^post29, __disjvr_29^0'=__disjvr_29^post29, x_22^0'=x_22^post29, rcd_193^0'=rcd_193^post29, __disjvr_11^0'=__disjvr_11^post29, a_309^0'=a_309^post29, tail_15^0'=tail_15^post29, length_29^0'=length_29^post29, x_SLAM_f_25^0'=x_SLAM_f_25^post29, __disjvr_5^0'=__disjvr_5^post29, rcd_288^0'=rcd_288^post29, __disjvr_16^0'=__disjvr_16^post29, i_112^0'=i_112^post29, __disjvr_26^0'=__disjvr_26^post29, tmp_35^0'=tmp_35^post29, rcd_106^0'=rcd_106^post29, a_222^0'=a_222^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post29, __disjvr_20^0'=__disjvr_20^post29, len_221^0'=len_221^post29, __disjvr_30^0'=__disjvr_30^post29, rcd_199^0'=rcd_199^post29, __disjvr_13^0'=__disjvr_13^post29, head_16^0'=head_16^post29, __disjvr_23^0'=__disjvr_23^post29, temp0_32^0'=temp0_32^post29, r_149^0'=r_149^post29, y_26^0'=y_26^post29, __disjvr_7^0'=__disjvr_7^post29, rcd_320^0'=rcd_320^post29, rcd_71^0'=rcd_71^post29, __disjvr_18^0'=__disjvr_18^post29, i_198^0'=i_198^post29, __disjvr_28^0'=__disjvr_28^post29, x_207^0'=x_207^post29, rcd_185^0'=rcd_185^post29, __disjvr_10^0'=__disjvr_10^post29, a_279^0'=a_279^post29, t_23^0'=t_23^post29, __disjvr_22^0'=__disjvr_22^post29, x_SLAM_f_20^0'=x_SLAM_f_20^post29, __disjvr_4^0'=__disjvr_4^post29, rcd_284^0'=rcd_284^post29, __disjvr_15^0'=__disjvr_15^post29, head_SLAM_f_30^0'=head_SLAM_f_30^post29, __disjvr_25^0'=__disjvr_25^post29, temp_37^0'=temp_37^post29, r_41^0'=r_41^post29, __disjvr_9^0'=__disjvr_9^post29, a_174^0'=a_174^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29, __disjvr_1^0'=__disjvr_1^post29, len_159^0'=len_159^post29, __disjvr_2^0'=__disjvr_2^post29, rcd_194^0'=rcd_194^post29, __disjvr_12^0'=__disjvr_12^post29, f_202^0'=f_202^post29, temp0_19^0'=temp0_19^post29, nondet_12^0'=nondet_12^post29, y_21^0'=y_21^post29, __disjvr_6^0'=__disjvr_6^post29, rcd_308^0'=rcd_308^post29, rcd_45^0'=rcd_45^post29, __disjvr_17^0'=__disjvr_17^post29, i_130^0'=i_130^post29, __disjvr_27^0'=__disjvr_27^post29, x_154^0'=x_154^post29, rcd_114^0'=rcd_114^post29, (0 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0 /\ rcd_308^post29-rcd_45^0 <= 0 /\ a_279^0-a_279^post29 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ -rcd_199^post29+rcd_199^0 == 0 /\ -1-a_309^post29+a_279^0 <= 0 /\ x_207^0-x_207^post29 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post29 == 0 /\ head_33^0-head_33^post29 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ -rcd_114^post29+rcd_114^0 == 0 /\ x_27^0-x_27^post29 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_192^0-r_192^post29 == 0 /\ __disjvr_5^0-__disjvr_5^post29 == 0 /\ tail_15^0-y_21^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post29 == 0 /\ __disjvr_19^0-__disjvr_19^post29 == 0 /\ y_26^0-y_26^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_13^0-__disjvr_13^post29 == 0 /\ __disjvr_20^0-__disjvr_20^post29 == 0 /\ -__disjvr_4^post29+__disjvr_4^0 == 0 /\ __disjvr_3^0-__disjvr_3^post29 == 0 /\ __disjvr_30^0-__disjvr_30^post29 == 0 /\ length_29^0-length_29^post29 == 0 /\ -rcd_71^post29+rcd_71^0 == 0 /\ -rcd_308^post29+rcd_45^0 <= 0 /\ -temp0_32^post29+temp0_32^0 == 0 /\ tail_15^0-tail_15^post29 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ -__disjvr_23^post29+__disjvr_23^0 == 0 /\ __disjvr_28^0-__disjvr_28^post29 == 0 /\ -__disjvr_27^post29+__disjvr_27^0 == 0 /\ __disjvr_11^0-__disjvr_11^post29 == 0 /\ -i_130^post29+i_130^0 == 0 /\ -temp_37^post29+temp_37^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_220^0-rcd_220^post29 == 0 /\ __disjvr_1^0-__disjvr_1^post29 == 0 /\ a_139^0-a_139^post29 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post29 == 0 /\ __disjvr_14^0-__disjvr_14^post29 == 0 /\ -__disjvr_25^post29+__disjvr_25^0 == 0 /\ -__disjvr_15^post29+__disjvr_15^0 == 0 /\ -x_SLAM_f_20^post29+x_SLAM_f_20^0 == 0 /\ rcd_106^0-rcd_106^post29 == 0 /\ -__disjvr_2^post29+__disjvr_2^0 == 0 /\ -__disjvr_22^post29+__disjvr_22^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post29 == 0 /\ y_21^0-y_21^post29 == 0 /\ -a_174^post29+a_174^0 == 0 /\ t_23^post29-x_22^0 == 0 /\ -f_202^post29+f_202^0 == 0 /\ -rcd_185^post29+rcd_185^0 == 0 /\ 1+a_309^post29-a_279^0 <= 0 /\ -i_198^post29+i_198^0 == 0 /\ -__disjvr_21^post29+__disjvr_21^0 == 0 /\ -__disjvr_7^post29+__disjvr_7^0 == 0 /\ result_11^0-result_11^post29 == 0 /\ -__disjvr_17^post29+__disjvr_17^0 == 0 /\ -x_154^post29+x_154^0 == 0 /\ -len_159^post29+len_159^0 == 0 /\ __disjvr_29^0-__disjvr_29^post29 == 0 /\ -i_31^post29+i_31^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ -rcd_193^post29+rcd_193^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post29 == 0 /\ a_253^0-a_253^post29 == 0 /\ temp0_19^0-temp0_19^post29 == 0 /\ -__disjvr_18^post29+__disjvr_18^0 == 0 /\ -rcd_194^post29+rcd_194^0 == 0 /\ r_149^0-r_149^post29 == 0 /\ tmp_35^0-tmp_35^post29 == 0 /\ len_221^0-len_221^post29 == 0 /\ -__disjvr_10^post29+__disjvr_10^0 == 0 /\ __disjvr_8^0-__disjvr_8^post29 == 0 /\ head_16^0-head_16^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_112^post29+i_112^0 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ -rcd_45^post29+rcd_45^0 == 0 /\ r_41^0-r_41^post29 == 0 /\ -__disjvr_26^post29+__disjvr_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ -temp_36^post29+temp_36^0 == 0 /\ x_22^0-x_22^post29 == 0 /\ rcd_320^0-rcd_320^post29 == 0 /\ -rcd_288^post29+rcd_288^0 == 0 /\ a_222^0-a_222^post29 == 0 /\ -rcd_284^post29+rcd_284^0 == 0), cost: 1 30: l29 -> l30 : __disjvr_0^0'=__disjvr_0^post30, a_253^0'=a_253^post30, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post30, __disjvr_21^0'=__disjvr_21^post30, x_27^0'=x_27^post30, __disjvr_3^0'=__disjvr_3^post30, rcd_220^0'=rcd_220^post30, __disjvr_14^0'=__disjvr_14^post30, head_33^0'=head_33^post30, __disjvr_24^0'=__disjvr_24^post30, temp_36^0'=temp_36^post30, r_192^0'=r_192^post30, __disjvr_8^0'=__disjvr_8^post30, a_139^0'=a_139^post30, result_11^0'=result_11^post30, __disjvr_19^0'=__disjvr_19^post30, i_31^0'=i_31^post30, __disjvr_29^0'=__disjvr_29^post30, x_22^0'=x_22^post30, rcd_193^0'=rcd_193^post30, __disjvr_11^0'=__disjvr_11^post30, a_309^0'=a_309^post30, tail_15^0'=tail_15^post30, length_29^0'=length_29^post30, x_SLAM_f_25^0'=x_SLAM_f_25^post30, __disjvr_5^0'=__disjvr_5^post30, rcd_288^0'=rcd_288^post30, __disjvr_16^0'=__disjvr_16^post30, i_112^0'=i_112^post30, __disjvr_26^0'=__disjvr_26^post30, tmp_35^0'=tmp_35^post30, rcd_106^0'=rcd_106^post30, a_222^0'=a_222^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post30, __disjvr_20^0'=__disjvr_20^post30, len_221^0'=len_221^post30, __disjvr_30^0'=__disjvr_30^post30, rcd_199^0'=rcd_199^post30, __disjvr_13^0'=__disjvr_13^post30, head_16^0'=head_16^post30, __disjvr_23^0'=__disjvr_23^post30, temp0_32^0'=temp0_32^post30, r_149^0'=r_149^post30, y_26^0'=y_26^post30, __disjvr_7^0'=__disjvr_7^post30, rcd_320^0'=rcd_320^post30, rcd_71^0'=rcd_71^post30, __disjvr_18^0'=__disjvr_18^post30, i_198^0'=i_198^post30, __disjvr_28^0'=__disjvr_28^post30, x_207^0'=x_207^post30, rcd_185^0'=rcd_185^post30, __disjvr_10^0'=__disjvr_10^post30, a_279^0'=a_279^post30, t_23^0'=t_23^post30, __disjvr_22^0'=__disjvr_22^post30, x_SLAM_f_20^0'=x_SLAM_f_20^post30, __disjvr_4^0'=__disjvr_4^post30, rcd_284^0'=rcd_284^post30, __disjvr_15^0'=__disjvr_15^post30, head_SLAM_f_30^0'=head_SLAM_f_30^post30, __disjvr_25^0'=__disjvr_25^post30, temp_37^0'=temp_37^post30, r_41^0'=r_41^post30, __disjvr_9^0'=__disjvr_9^post30, a_174^0'=a_174^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30, __disjvr_1^0'=__disjvr_1^post30, len_159^0'=len_159^post30, __disjvr_2^0'=__disjvr_2^post30, rcd_194^0'=rcd_194^post30, __disjvr_12^0'=__disjvr_12^post30, f_202^0'=f_202^post30, temp0_19^0'=temp0_19^post30, nondet_12^0'=nondet_12^post30, y_21^0'=y_21^post30, __disjvr_6^0'=__disjvr_6^post30, rcd_308^0'=rcd_308^post30, rcd_45^0'=rcd_45^post30, __disjvr_17^0'=__disjvr_17^post30, i_130^0'=i_130^post30, __disjvr_27^0'=__disjvr_27^post30, x_154^0'=x_154^post30, rcd_114^0'=rcd_114^post30, (-__disjvr_13^post30+__disjvr_13^0 == 0 /\ temp_36^0-temp_36^post30 == 0 /\ -r_41^post30+r_41^0 == 0 /\ x_27^0-x_27^post30 == 0 /\ temp0_32^0-temp0_32^post30 == 0 /\ -rcd_114^post30+rcd_114^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30 == 0 /\ x_22^0-x_22^post30 == 0 /\ __disjvr_2^0-__disjvr_2^post30 == 0 /\ rcd_220^0-rcd_220^post30 == 0 /\ -rcd_45^post30+rcd_45^0 == 0 /\ -a_309^post30+a_309^0 == 0 /\ -t_23^post30+t_23^0 == 0 /\ a_279^0-a_279^post30 == 0 /\ rcd_199^0-rcd_199^post30 == 0 /\ -__disjvr_11^0+__disjvr_11^post30 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ -__disjvr_25^post30+__disjvr_25^0 == 0 /\ -f_202^post30+f_202^0 == 0 /\ -a_174^post30+a_174^0 == 0 /\ a_139^0-a_139^post30 == 0 /\ __disjvr_15^0-__disjvr_15^post30 == 0 /\ -__disjvr_27^post30+__disjvr_27^0 == 0 /\ i_112^0-i_112^post30 == 0 /\ head_16^0-head_16^post30 == 0 /\ a_253^0-a_253^post30 == 0 /\ __disjvr_26^0-__disjvr_26^post30 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post30 == 0 /\ r_149^0-r_149^post30 == 0 /\ __disjvr_28^0-__disjvr_28^post30 == 0 /\ -__disjvr_19^post30+__disjvr_19^0 == 0 /\ rcd_288^0-rcd_288^post30 == 0 /\ -len_159^post30+len_159^0 == 0 /\ head_33^0-head_33^post30 == 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ -rcd_71^post30+rcd_71^0 == 0 /\ -tail_15^post30+tail_15^0 == 0 /\ -__disjvr_4^post30+__disjvr_4^0 == 0 /\ -rcd_185^post30+rcd_185^0 == 0 /\ __disjvr_0^0-__disjvr_0^post30 == 0 /\ -i_198^post30+i_198^0 == 0 /\ -y_21^post30+y_21^0 == 0 /\ -__disjvr_18^post30+__disjvr_18^0 == 0 /\ a_222^0-a_222^post30 == 0 /\ -__disjvr_23^post30+__disjvr_23^0 == 0 /\ -__disjvr_22^post30+__disjvr_22^0 == 0 /\ rcd_193^0-rcd_193^post30 == 0 /\ __disjvr_24^0-__disjvr_24^post30 == 0 /\ -y_26^post30+y_26^0 == 0 /\ -temp_37^post30+temp_37^0 == 0 /\ -__disjvr_10^post30+__disjvr_10^0 == 0 /\ __disjvr_21^0-__disjvr_21^post30 == 0 /\ __disjvr_3^0-__disjvr_3^post30 == 0 /\ i_31^0-i_31^post30 == 0 /\ __disjvr_20^0-__disjvr_20^post30 == 0 /\ -__disjvr_5^post30+__disjvr_5^0 == 0 /\ temp0_19^0-temp0_19^post30 == 0 /\ -__disjvr_7^post30+__disjvr_7^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post30 == 0 /\ -rcd_194^post30+rcd_194^0 == 0 /\ -x_SLAM_f_20^post30+x_SLAM_f_20^0 == 0 /\ tmp_35^0-tmp_35^post30 == 0 /\ -x_207^post30+x_207^0 == 0 /\ i_130^0-i_130^post30 == 0 /\ -__disjvr_8^post30+__disjvr_8^0 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ -rcd_308^post30+rcd_308^0 == 0 /\ __disjvr_29^0-__disjvr_29^post30 == 0 /\ r_192^0-r_192^post30 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post30 == 0 /\ __disjvr_14^0-__disjvr_14^post30 == 0 /\ len_221^0-len_221^post30 == 0 /\ __disjvr_30^0-__disjvr_30^post30 == 0 /\ -head_SLAM_f_30^post30+head_SLAM_f_30^0 == 0 /\ -__disjvr_17^post30+__disjvr_17^0 == 0 /\ -rcd_284^post30+rcd_284^0 == 0 /\ rcd_106^0-rcd_106^post30 == 0 /\ -x_154^post30+x_154^0 == 0 /\ result_11^0-result_11^post30 == 0 /\ -rcd_320^post30+rcd_320^0 == 0 /\ __disjvr_16^0-__disjvr_16^post30 == 0 /\ length_29^0-length_29^post30 == 0 /\ -__disjvr_6^post30+__disjvr_6^0 == 0), cost: 1 31: l30 -> l31 : __disjvr_0^0'=__disjvr_0^post31, a_253^0'=a_253^post31, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post31, __disjvr_21^0'=__disjvr_21^post31, x_27^0'=x_27^post31, __disjvr_3^0'=__disjvr_3^post31, rcd_220^0'=rcd_220^post31, __disjvr_14^0'=__disjvr_14^post31, head_33^0'=head_33^post31, __disjvr_24^0'=__disjvr_24^post31, temp_36^0'=temp_36^post31, r_192^0'=r_192^post31, __disjvr_8^0'=__disjvr_8^post31, a_139^0'=a_139^post31, result_11^0'=result_11^post31, __disjvr_19^0'=__disjvr_19^post31, i_31^0'=i_31^post31, __disjvr_29^0'=__disjvr_29^post31, x_22^0'=x_22^post31, rcd_193^0'=rcd_193^post31, __disjvr_11^0'=__disjvr_11^post31, a_309^0'=a_309^post31, tail_15^0'=tail_15^post31, length_29^0'=length_29^post31, x_SLAM_f_25^0'=x_SLAM_f_25^post31, __disjvr_5^0'=__disjvr_5^post31, rcd_288^0'=rcd_288^post31, __disjvr_16^0'=__disjvr_16^post31, i_112^0'=i_112^post31, __disjvr_26^0'=__disjvr_26^post31, tmp_35^0'=tmp_35^post31, rcd_106^0'=rcd_106^post31, a_222^0'=a_222^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post31, __disjvr_20^0'=__disjvr_20^post31, len_221^0'=len_221^post31, __disjvr_30^0'=__disjvr_30^post31, rcd_199^0'=rcd_199^post31, __disjvr_13^0'=__disjvr_13^post31, head_16^0'=head_16^post31, __disjvr_23^0'=__disjvr_23^post31, temp0_32^0'=temp0_32^post31, r_149^0'=r_149^post31, y_26^0'=y_26^post31, __disjvr_7^0'=__disjvr_7^post31, rcd_320^0'=rcd_320^post31, rcd_71^0'=rcd_71^post31, __disjvr_18^0'=__disjvr_18^post31, i_198^0'=i_198^post31, __disjvr_28^0'=__disjvr_28^post31, x_207^0'=x_207^post31, rcd_185^0'=rcd_185^post31, __disjvr_10^0'=__disjvr_10^post31, a_279^0'=a_279^post31, t_23^0'=t_23^post31, __disjvr_22^0'=__disjvr_22^post31, x_SLAM_f_20^0'=x_SLAM_f_20^post31, __disjvr_4^0'=__disjvr_4^post31, rcd_284^0'=rcd_284^post31, __disjvr_15^0'=__disjvr_15^post31, head_SLAM_f_30^0'=head_SLAM_f_30^post31, __disjvr_25^0'=__disjvr_25^post31, temp_37^0'=temp_37^post31, r_41^0'=r_41^post31, __disjvr_9^0'=__disjvr_9^post31, a_174^0'=a_174^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31, __disjvr_1^0'=__disjvr_1^post31, len_159^0'=len_159^post31, __disjvr_2^0'=__disjvr_2^post31, rcd_194^0'=rcd_194^post31, __disjvr_12^0'=__disjvr_12^post31, f_202^0'=f_202^post31, temp0_19^0'=temp0_19^post31, nondet_12^0'=nondet_12^post31, y_21^0'=y_21^post31, __disjvr_6^0'=__disjvr_6^post31, rcd_308^0'=rcd_308^post31, rcd_45^0'=rcd_45^post31, __disjvr_17^0'=__disjvr_17^post31, i_130^0'=i_130^post31, __disjvr_27^0'=__disjvr_27^post31, x_154^0'=x_154^post31, rcd_114^0'=rcd_114^post31, (__disjvr_5^0-__disjvr_5^post31 == 0 /\ __disjvr_13^0-__disjvr_13^post31 == 0 /\ __disjvr_2^0-__disjvr_2^post31 == 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post31 == 0 /\ -__disjvr_15^post31+__disjvr_15^0 == 0 /\ -rcd_284^post31+rcd_284^0 == 0 /\ -tail_15^post31+tail_15^0 == 0 /\ -a_174^post31+a_174^0 == 0 /\ -f_202^post31+f_202^0 == 0 /\ -temp0_19^post31+temp0_19^0 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0 /\ -length_29^post31+length_29^0 == 0 /\ -__disjvr_6^post31+__disjvr_6^0 == 0 /\ x_22^0-x_22^post31 == 0 /\ __disjvr_21^0-__disjvr_21^post31 == 0 /\ -rcd_71^post31+rcd_71^0 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ -len_159^post31+len_159^0 == 0 /\ __disjvr_7^0-__disjvr_7^post31 == 0 /\ -temp0_32^post31+temp0_32^0 == 0 /\ -t_23^post31+t_23^0 == 0 /\ -tmp_35^post31+tmp_35^0 == 0 /\ __disjvr_26^0-__disjvr_26^post31 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post31 == 0 /\ -i_198^post31+i_198^0 == 0 /\ -rcd_114^post31+rcd_114^0 == 0 /\ len_221^0-len_221^post31 == 0 /\ -rcd_288^post31+rcd_288^0 == 0 /\ -r_149^post31+r_149^0 == 0 /\ i_31^0-i_31^post31 == 0 /\ __disjvr_14^0-__disjvr_14^post31 == 0 /\ rcd_185^0-rcd_185^post31 == 0 /\ y_26^0-y_26^post31 == 0 /\ -__disjvr_9^post31+__disjvr_9^0 == 0 /\ rcd_193^0-rcd_193^post31 == 0 /\ a_253^0-a_253^post31 == 0 /\ -rcd_45^post31+rcd_45^0 == 0 /\ __disjvr_24^0-__disjvr_24^post31 == 0 /\ -r_41^post31+r_41^0 == 0 /\ result_11^0-result_11^post31 == 0 /\ i_112^0-i_112^post31 == 0 /\ -__disjvr_10^post31+__disjvr_10^0 == 0 /\ __disjvr_8^0-__disjvr_8^post31 == 0 /\ -temp_36^post31+temp_36^0 == 0 /\ -__disjvr_4^post31+__disjvr_4^0 == 0 /\ -rcd_194^post31+rcd_194^0 == 0 /\ __disjvr_16^0-__disjvr_16^post31 == 0 /\ -__disjvr_27^post31+__disjvr_27^0 == 0 /\ a_222^0-a_222^post31 == 0 /\ -x_207^post31+x_207^0 == 0 /\ a_309^0-a_309^post31 == 0 /\ __disjvr_19^0-__disjvr_19^post31 == 0 /\ -rcd_320^post31+rcd_320^0 == 0 /\ __disjvr_12^post31-__disjvr_12^0 == 0 /\ -temp_37^post31+temp_37^0 == 0 /\ __disjvr_30^0-__disjvr_30^post31 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-head_16^post31 == 0 /\ rcd_220^0-rcd_220^post31 == 0 /\ -__disjvr_25^post31+__disjvr_25^0 == 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post31 == 0 /\ -__disjvr_20^post31+__disjvr_20^0 == 0 /\ a_139^0-a_139^post31 == 0 /\ __disjvr_11^0-__disjvr_11^post31 == 0 /\ rcd_199^0-rcd_199^post31 == 0 /\ -head_SLAM_f_30^post31+head_SLAM_f_30^0 == 0 /\ a_279^0-a_279^post31 == 0 /\ -x_154^post31+x_154^0 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ -__disjvr_22^post31+__disjvr_22^0 == 0 /\ __disjvr_29^0-__disjvr_29^post31 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post31 == 0 /\ r_192^0-r_192^post31 == 0 /\ x_27^0-x_27^post31 == 0 /\ -__disjvr_23^post31+__disjvr_23^0 == 0 /\ -rcd_308^post31+rcd_308^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post31 == 0 /\ head_33^0-head_33^post31 == 0 /\ __disjvr_18^0-__disjvr_18^post31 == 0 /\ -i_130^post31+i_130^0 == 0 /\ rcd_106^0-rcd_106^post31 == 0 /\ __disjvr_28^0-__disjvr_28^post31 == 0 /\ -y_21^post31+y_21^0 == 0), cost: 1 32: l31 -> l32 : __disjvr_0^0'=__disjvr_0^post32, a_253^0'=a_253^post32, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post32, __disjvr_21^0'=__disjvr_21^post32, x_27^0'=x_27^post32, __disjvr_3^0'=__disjvr_3^post32, rcd_220^0'=rcd_220^post32, __disjvr_14^0'=__disjvr_14^post32, head_33^0'=head_33^post32, __disjvr_24^0'=__disjvr_24^post32, temp_36^0'=temp_36^post32, r_192^0'=r_192^post32, __disjvr_8^0'=__disjvr_8^post32, a_139^0'=a_139^post32, result_11^0'=result_11^post32, __disjvr_19^0'=__disjvr_19^post32, i_31^0'=i_31^post32, __disjvr_29^0'=__disjvr_29^post32, x_22^0'=x_22^post32, rcd_193^0'=rcd_193^post32, __disjvr_11^0'=__disjvr_11^post32, a_309^0'=a_309^post32, tail_15^0'=tail_15^post32, length_29^0'=length_29^post32, x_SLAM_f_25^0'=x_SLAM_f_25^post32, __disjvr_5^0'=__disjvr_5^post32, rcd_288^0'=rcd_288^post32, __disjvr_16^0'=__disjvr_16^post32, i_112^0'=i_112^post32, __disjvr_26^0'=__disjvr_26^post32, tmp_35^0'=tmp_35^post32, rcd_106^0'=rcd_106^post32, a_222^0'=a_222^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post32, __disjvr_20^0'=__disjvr_20^post32, len_221^0'=len_221^post32, __disjvr_30^0'=__disjvr_30^post32, rcd_199^0'=rcd_199^post32, __disjvr_13^0'=__disjvr_13^post32, head_16^0'=head_16^post32, __disjvr_23^0'=__disjvr_23^post32, temp0_32^0'=temp0_32^post32, r_149^0'=r_149^post32, y_26^0'=y_26^post32, __disjvr_7^0'=__disjvr_7^post32, rcd_320^0'=rcd_320^post32, rcd_71^0'=rcd_71^post32, __disjvr_18^0'=__disjvr_18^post32, i_198^0'=i_198^post32, __disjvr_28^0'=__disjvr_28^post32, x_207^0'=x_207^post32, rcd_185^0'=rcd_185^post32, __disjvr_10^0'=__disjvr_10^post32, a_279^0'=a_279^post32, t_23^0'=t_23^post32, __disjvr_22^0'=__disjvr_22^post32, x_SLAM_f_20^0'=x_SLAM_f_20^post32, __disjvr_4^0'=__disjvr_4^post32, rcd_284^0'=rcd_284^post32, __disjvr_15^0'=__disjvr_15^post32, head_SLAM_f_30^0'=head_SLAM_f_30^post32, __disjvr_25^0'=__disjvr_25^post32, temp_37^0'=temp_37^post32, r_41^0'=r_41^post32, __disjvr_9^0'=__disjvr_9^post32, a_174^0'=a_174^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32, __disjvr_1^0'=__disjvr_1^post32, len_159^0'=len_159^post32, __disjvr_2^0'=__disjvr_2^post32, rcd_194^0'=rcd_194^post32, __disjvr_12^0'=__disjvr_12^post32, f_202^0'=f_202^post32, temp0_19^0'=temp0_19^post32, nondet_12^0'=nondet_12^post32, y_21^0'=y_21^post32, __disjvr_6^0'=__disjvr_6^post32, rcd_308^0'=rcd_308^post32, rcd_45^0'=rcd_45^post32, __disjvr_17^0'=__disjvr_17^post32, i_130^0'=i_130^post32, __disjvr_27^0'=__disjvr_27^post32, x_154^0'=x_154^post32, rcd_114^0'=rcd_114^post32, (__disjvr_8^0-__disjvr_8^post32 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ -__disjvr_15^post32+__disjvr_15^0 == 0 /\ -__disjvr_22^post32+__disjvr_22^0 == 0 /\ -__disjvr_20^post32+__disjvr_20^0 == 0 /\ __disjvr_30^0-__disjvr_30^post32 == 0 /\ -i_198^post32+i_198^0 == 0 /\ -a_174^post32+a_174^0 == 0 /\ -rcd_288^post32+rcd_288^0 == 0 /\ len_221^0-len_221^post32 == 0 /\ -y_21^post32+y_21^0 == 0 /\ __disjvr_21^0-__disjvr_21^post32 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ -__disjvr_17^post32+__disjvr_17^0 == 0 /\ -__disjvr_18^post32+__disjvr_18^0 == 0 /\ -x_154^post32+x_154^0 == 0 /\ rcd_220^0-rcd_220^post32 == 0 /\ -len_159^post32+len_159^0 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ __disjvr_14^0-__disjvr_14^post32 == 0 /\ -tmp_35^post32+tmp_35^0 == 0 /\ __disjvr_16^0-__disjvr_16^post32 == 0 /\ a_222^0-a_222^post32 == 0 /\ a_139^0-a_139^post32 == 0 /\ a_309^0-a_309^post32 == 0 /\ -__disjvr_6^post32+__disjvr_6^0 == 0 /\ -__disjvr_9^post32+__disjvr_9^0 == 0 /\ rcd_106^0-rcd_106^post32 == 0 /\ -rcd_194^post32+rcd_194^0 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ -temp0_19^post32+temp0_19^0 == 0 /\ -i_112^post32+i_112^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post32 == 0 /\ rcd_185^0-rcd_185^post32 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_284^post32+rcd_284^0 == 0 /\ -rcd_320^post32+rcd_320^0 == 0 /\ __disjvr_29^0-__disjvr_29^post32 == 0 /\ -rcd_45^post32+rcd_45^0 == 0 /\ x_27^0-x_27^post32 == 0 /\ r_192^0-r_192^post32 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ temp_36^0-temp_36^post32 == 0 /\ __disjvr_5^0-__disjvr_5^post32 == 0 /\ -r_149^post32+r_149^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post32 == 0 /\ y_26^0-y_26^post32 == 0 /\ __disjvr_10^0-__disjvr_10^post32 == 0 /\ __disjvr_3^0-__disjvr_3^post32 == 0 /\ __disjvr_28^0-__disjvr_28^post32 == 0 /\ -rcd_114^post32+rcd_114^0 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ head_16^0-head_16^post32 == 0 /\ -rcd_199^post32+rcd_199^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post32 == 0 /\ r_41^0-r_41^post32 == 0 /\ -__disjvr_19^post32+__disjvr_19^0 == 0 /\ x_22^0-x_22^post32 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post32 == 0 /\ -__disjvr_13^0+__disjvr_13^post32 == 0 /\ t_23^0-t_23^post32 == 0 /\ -a_279^post32+a_279^0 == 0 /\ -length_29^post32+length_29^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post32 == 0 /\ -__disjvr_4^post32+__disjvr_4^0 == 0 /\ -temp0_32^post32+temp0_32^0 == 0 /\ -tail_15^post32+tail_15^0 == 0 /\ i_31^0-i_31^post32 == 0 /\ x_207^0-x_207^post32 == 0 /\ -__disjvr_23^post32+__disjvr_23^0 == 0 /\ result_11^0-result_11^post32 == 0 /\ head_33^0-head_33^post32 == 0 /\ -__disjvr_1^post32+__disjvr_1^0 == 0 /\ -rcd_71^post32+rcd_71^0 == 0 /\ -i_130^post32+i_130^0 == 0 /\ -f_202^post32+f_202^0 == 0 /\ -temp_37^post32+temp_37^0 == 0 /\ -rcd_308^post32+rcd_308^0 == 0 /\ rcd_193^0-rcd_193^post32 == 0 /\ a_253^0-a_253^post32 == 0 /\ -__disjvr_25^post32+__disjvr_25^0 == 0 /\ __disjvr_13^0-__disjvr_13^post32 == 0 /\ __disjvr_24^0-__disjvr_24^post32 == 0 /\ -__disjvr_27^post32+__disjvr_27^0 == 0), cost: 1 33: l32 -> l26 : __disjvr_0^0'=__disjvr_0^post33, a_253^0'=a_253^post33, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post33, __disjvr_21^0'=__disjvr_21^post33, x_27^0'=x_27^post33, __disjvr_3^0'=__disjvr_3^post33, rcd_220^0'=rcd_220^post33, __disjvr_14^0'=__disjvr_14^post33, head_33^0'=head_33^post33, __disjvr_24^0'=__disjvr_24^post33, temp_36^0'=temp_36^post33, r_192^0'=r_192^post33, __disjvr_8^0'=__disjvr_8^post33, a_139^0'=a_139^post33, result_11^0'=result_11^post33, __disjvr_19^0'=__disjvr_19^post33, i_31^0'=i_31^post33, __disjvr_29^0'=__disjvr_29^post33, x_22^0'=x_22^post33, rcd_193^0'=rcd_193^post33, __disjvr_11^0'=__disjvr_11^post33, a_309^0'=a_309^post33, tail_15^0'=tail_15^post33, length_29^0'=length_29^post33, x_SLAM_f_25^0'=x_SLAM_f_25^post33, __disjvr_5^0'=__disjvr_5^post33, rcd_288^0'=rcd_288^post33, __disjvr_16^0'=__disjvr_16^post33, i_112^0'=i_112^post33, __disjvr_26^0'=__disjvr_26^post33, tmp_35^0'=tmp_35^post33, rcd_106^0'=rcd_106^post33, a_222^0'=a_222^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post33, __disjvr_20^0'=__disjvr_20^post33, len_221^0'=len_221^post33, __disjvr_30^0'=__disjvr_30^post33, rcd_199^0'=rcd_199^post33, __disjvr_13^0'=__disjvr_13^post33, head_16^0'=head_16^post33, __disjvr_23^0'=__disjvr_23^post33, temp0_32^0'=temp0_32^post33, r_149^0'=r_149^post33, y_26^0'=y_26^post33, __disjvr_7^0'=__disjvr_7^post33, rcd_320^0'=rcd_320^post33, rcd_71^0'=rcd_71^post33, __disjvr_18^0'=__disjvr_18^post33, i_198^0'=i_198^post33, __disjvr_28^0'=__disjvr_28^post33, x_207^0'=x_207^post33, rcd_185^0'=rcd_185^post33, __disjvr_10^0'=__disjvr_10^post33, a_279^0'=a_279^post33, t_23^0'=t_23^post33, __disjvr_22^0'=__disjvr_22^post33, x_SLAM_f_20^0'=x_SLAM_f_20^post33, __disjvr_4^0'=__disjvr_4^post33, rcd_284^0'=rcd_284^post33, __disjvr_15^0'=__disjvr_15^post33, head_SLAM_f_30^0'=head_SLAM_f_30^post33, __disjvr_25^0'=__disjvr_25^post33, temp_37^0'=temp_37^post33, r_41^0'=r_41^post33, __disjvr_9^0'=__disjvr_9^post33, a_174^0'=a_174^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33, __disjvr_1^0'=__disjvr_1^post33, len_159^0'=len_159^post33, __disjvr_2^0'=__disjvr_2^post33, rcd_194^0'=rcd_194^post33, __disjvr_12^0'=__disjvr_12^post33, f_202^0'=f_202^post33, temp0_19^0'=temp0_19^post33, nondet_12^0'=nondet_12^post33, y_21^0'=y_21^post33, __disjvr_6^0'=__disjvr_6^post33, rcd_308^0'=rcd_308^post33, rcd_45^0'=rcd_45^post33, __disjvr_17^0'=__disjvr_17^post33, i_130^0'=i_130^post33, __disjvr_27^0'=__disjvr_27^post33, x_154^0'=x_154^post33, rcd_114^0'=rcd_114^post33, (0 == 0 /\ -y_21^post33+y_21^0 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ i_112^0-i_112^post33 == 0 /\ -__disjvr_23^post33+__disjvr_23^0 == 0 /\ -a_222^post33+a_222^0 == 0 /\ len_221^0-len_221^post33 == 0 /\ head_16^0-head_16^post33 == 0 /\ __disjvr_8^0-__disjvr_8^post33 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_130^post33+i_130^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post33 == 0 /\ -__disjvr_25^post33+__disjvr_25^0 == 0 /\ __disjvr_28^0-__disjvr_28^post33 == 0 /\ -temp_37^post33+temp_37^0 == 0 /\ -__disjvr_5^post33+__disjvr_5^0 == 0 /\ -__disjvr_20^post33+__disjvr_20^0 == 0 /\ y_26^0-y_26^post33 == 0 /\ a_309^0-a_309^post33 == 0 /\ -__disjvr_9^post33+__disjvr_9^0 == 0 /\ rcd_45^post33-rcd_308^0 <= 0 /\ head_33^0-head_33^post33 == 0 /\ -rcd_194^post33+rcd_194^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ result_11^0-result_11^post33 == 0 /\ __disjvr_11^0-__disjvr_11^post33 == 0 /\ length_29^0-length_29^post33 == 0 /\ -x_207^post33+x_207^0 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ x_27^0-x_27^post33 == 0 /\ temp0_32^0-temp0_32^post33 == 0 /\ -rcd_308^post33+rcd_308^0 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ -__disjvr_26^post33+__disjvr_26^0 == 0 /\ len_159^0-len_159^post33 == 0 /\ -i_31^post33+i_31^0 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ rcd_106^0-rcd_106^post33 == 0 /\ -__disjvr_6^post33+__disjvr_6^0 == 0 /\ -temp0_19^post33+temp0_19^0 == 0 /\ -__disjvr_17^post33+__disjvr_17^0 == 0 /\ tmp_35^0-tmp_35^post33 == 0 /\ -rcd_320^post33+rcd_320^0 == 0 /\ -x_154^post33+x_154^0 == 0 /\ -rcd_45^post33+rcd_308^0 <= 0 /\ -rcd_193^post33+rcd_193^0 == 0 /\ -__disjvr_13^post33+__disjvr_13^0 == 0 /\ r_192^0-r_192^post33 == 0 /\ a_139^0-a_139^post33 == 0 /\ __disjvr_29^0-__disjvr_29^post33 == 0 /\ r_41^0-r_41^post33 == 0 /\ -__disjvr_1^post33+__disjvr_1^0 == 0 /\ -rcd_114^post33+rcd_114^0 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ -tail_15^post33+tail_15^0 == 0 /\ a_253^0-a_253^post33 == 0 /\ __disjvr_30^0-__disjvr_30^post33 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post33 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post33+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post33 == 0 /\ -a_309^0+a_279^post33 <= 0 /\ -__disjvr_15^post33+__disjvr_15^0 == 0 /\ __disjvr_22^0-__disjvr_22^post33 == 0 /\ __disjvr_16^0-__disjvr_16^post33 == 0 /\ temp_36^0-temp_36^post33 == 0 /\ -f_202^post33+f_202^0 == 0 /\ -a_174^post33+a_174^0 == 0 /\ t_23^0-t_23^post33 == 0 /\ -rcd_288^post33+rcd_288^0 == 0 /\ __disjvr_24^0-__disjvr_24^post33 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0 /\ -rcd_199^post33+rcd_199^0 == 0 /\ -__disjvr_7^post33+__disjvr_7^0 == 0 /\ -__disjvr_27^post33+__disjvr_27^0 == 0 /\ x_22^0-x_22^post33 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post33 == 0 /\ rcd_220^0-rcd_220^post33 == 0 /\ r_149^0-r_149^post33 == 0 /\ rcd_284^0-rcd_284^post33 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ -__disjvr_19^post33+__disjvr_19^0 == 0 /\ __disjvr_3^0-__disjvr_3^post33 == 0 /\ -__disjvr_2^post33+__disjvr_2^0 == 0 /\ -__disjvr_4^post33+__disjvr_4^0 == 0 /\ -rcd_71^post33+rcd_71^0 == 0 /\ -i_198^post33+i_198^0 == 0 /\ a_309^0-a_279^post33 <= 0 /\ -rcd_185^post33+rcd_185^0 == 0), cost: 1 34: l26 -> l25 : __disjvr_0^0'=__disjvr_0^post34, a_253^0'=a_253^post34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post34, __disjvr_21^0'=__disjvr_21^post34, x_27^0'=x_27^post34, __disjvr_3^0'=__disjvr_3^post34, rcd_220^0'=rcd_220^post34, __disjvr_14^0'=__disjvr_14^post34, head_33^0'=head_33^post34, __disjvr_24^0'=__disjvr_24^post34, temp_36^0'=temp_36^post34, r_192^0'=r_192^post34, __disjvr_8^0'=__disjvr_8^post34, a_139^0'=a_139^post34, result_11^0'=result_11^post34, __disjvr_19^0'=__disjvr_19^post34, i_31^0'=i_31^post34, __disjvr_29^0'=__disjvr_29^post34, x_22^0'=x_22^post34, rcd_193^0'=rcd_193^post34, __disjvr_11^0'=__disjvr_11^post34, a_309^0'=a_309^post34, tail_15^0'=tail_15^post34, length_29^0'=length_29^post34, x_SLAM_f_25^0'=x_SLAM_f_25^post34, __disjvr_5^0'=__disjvr_5^post34, rcd_288^0'=rcd_288^post34, __disjvr_16^0'=__disjvr_16^post34, i_112^0'=i_112^post34, __disjvr_26^0'=__disjvr_26^post34, tmp_35^0'=tmp_35^post34, rcd_106^0'=rcd_106^post34, a_222^0'=a_222^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post34, __disjvr_20^0'=__disjvr_20^post34, len_221^0'=len_221^post34, __disjvr_30^0'=__disjvr_30^post34, rcd_199^0'=rcd_199^post34, __disjvr_13^0'=__disjvr_13^post34, head_16^0'=head_16^post34, __disjvr_23^0'=__disjvr_23^post34, temp0_32^0'=temp0_32^post34, r_149^0'=r_149^post34, y_26^0'=y_26^post34, __disjvr_7^0'=__disjvr_7^post34, rcd_320^0'=rcd_320^post34, rcd_71^0'=rcd_71^post34, __disjvr_18^0'=__disjvr_18^post34, i_198^0'=i_198^post34, __disjvr_28^0'=__disjvr_28^post34, x_207^0'=x_207^post34, rcd_185^0'=rcd_185^post34, __disjvr_10^0'=__disjvr_10^post34, a_279^0'=a_279^post34, t_23^0'=t_23^post34, __disjvr_22^0'=__disjvr_22^post34, x_SLAM_f_20^0'=x_SLAM_f_20^post34, __disjvr_4^0'=__disjvr_4^post34, rcd_284^0'=rcd_284^post34, __disjvr_15^0'=__disjvr_15^post34, head_SLAM_f_30^0'=head_SLAM_f_30^post34, __disjvr_25^0'=__disjvr_25^post34, temp_37^0'=temp_37^post34, r_41^0'=r_41^post34, __disjvr_9^0'=__disjvr_9^post34, a_174^0'=a_174^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34, __disjvr_1^0'=__disjvr_1^post34, len_159^0'=len_159^post34, __disjvr_2^0'=__disjvr_2^post34, rcd_194^0'=rcd_194^post34, __disjvr_12^0'=__disjvr_12^post34, f_202^0'=f_202^post34, temp0_19^0'=temp0_19^post34, nondet_12^0'=nondet_12^post34, y_21^0'=y_21^post34, __disjvr_6^0'=__disjvr_6^post34, rcd_308^0'=rcd_308^post34, rcd_45^0'=rcd_45^post34, __disjvr_17^0'=__disjvr_17^post34, i_130^0'=i_130^post34, __disjvr_27^0'=__disjvr_27^post34, x_154^0'=x_154^post34, rcd_114^0'=rcd_114^post34, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post34 == 0 /\ -rcd_194^post34+rcd_194^0 == 0 /\ -len_221^post34+len_221^0 == 0 /\ -x_207^post34+x_207^0 == 0 /\ -temp_37^post34+temp_37^0 == 0 /\ a_279^0-a_279^post34 == 0 /\ -__disjvr_27^post34+__disjvr_27^0 == 0 /\ -__disjvr_26^post34+__disjvr_26^0 == 0 /\ -rcd_199^post34+rcd_199^0 == 0 /\ __disjvr_9^0-__disjvr_9^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post34 == 0 /\ __disjvr_14^0-__disjvr_14^post34 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post34 == 0 /\ r_192^0-r_192^post34 == 0 /\ rcd_185^0-rcd_185^post34 == 0 /\ rcd_288^0-rcd_288^post34 == 0 /\ x_27^0-x_27^post34 == 0 /\ -a_222^post34+a_222^0 == 0 /\ -rcd_320^post34+rcd_320^0 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ tail_15^0-tail_15^post34 == 0 /\ y_26^0-y_26^post34 == 0 /\ -__disjvr_25^post34+__disjvr_25^0 == 0 /\ __disjvr_24^0-__disjvr_24^post34 == 0 /\ -__disjvr_20^post34+__disjvr_20^0 == 0 /\ i_112^0-i_112^post34 == 0 /\ length_29^0-length_29^post34 == 0 /\ __disjvr_5^0-__disjvr_5^post34 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ -__disjvr_23^post34+__disjvr_23^0 == 0 /\ -rcd_71^post34+rcd_71^0 == 0 /\ __disjvr_16^0-__disjvr_16^post34 == 0 /\ -y_21^post34+y_21^0 == 0 /\ __disjvr_30^0-__disjvr_30^post34 == 0 /\ temp_36^0-temp_36^post34 == 0 /\ -x_154^post34+x_154^0 == 0 /\ -rcd_308^post34+rcd_308^0 == 0 /\ __disjvr_1^0-__disjvr_1^post34 == 0 /\ -a_139^post34+a_139^0 == 0 /\ -i_130^post34+i_130^0 == 0 /\ head_16^0-head_16^post34 == 0 /\ rcd_220^0-rcd_220^post34 == 0 /\ __disjvr_7^0-__disjvr_7^post34 == 0 /\ __disjvr_11^0-__disjvr_11^post34 == 0 /\ temp0_19^0-temp0_19^post34 == 0 /\ -__disjvr_15^post34+__disjvr_15^0 == 0 /\ __disjvr_22^0-__disjvr_22^post34 == 0 /\ -rcd_284^post34+rcd_284^0 == 0 /\ -__disjvr_28^post34+__disjvr_28^0 == 0 /\ -a_174^post34+a_174^0 == 0 /\ -f_202^post34+f_202^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post34 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ __disjvr_29^0-__disjvr_29^post34 == 0 /\ -temp0_32^post34+temp0_32^0 == 0 /\ -rcd_193^post34+rcd_193^0 == 0 /\ -i_31^post34+i_31^0 == 0 /\ head_33^0-head_33^post34 == 0 /\ a_253^0-a_253^post34 == 0 /\ -__disjvr_18^post34+__disjvr_18^0 == 0 /\ rcd_106^0-rcd_106^post34 == 0 /\ -len_159^post34+len_159^0 == 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ result_11^0-result_11^post34 == 0 /\ -tmp_35^post34+tmp_35^0 == 0 /\ -__disjvr_2^post34+__disjvr_2^0 == 0 /\ __disjvr_8^0-__disjvr_8^post34 == 0 /\ -__disjvr_13^post34+__disjvr_13^0 == 0 /\ r_149^0-r_149^post34 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post34 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_19^0-__disjvr_19^post34 == 0 /\ __disjvr_21^0-__disjvr_21^post34 == 0 /\ -i_198^post34+i_198^0 == 0 /\ a_309^0-a_309^post34 == 0 /\ -rcd_114^post34+rcd_114^0 == 0 /\ x_22^0-x_22^post34 == 0 /\ -rcd_45^post34+rcd_45^0 == 0 /\ -r_41^post34+r_41^0 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ -__disjvr_10^post34+__disjvr_10^0 == 0 /\ -t_23^post34+t_23^0 == 0), cost: 1 45: l42 -> l43 : __disjvr_0^0'=__disjvr_0^post45, a_253^0'=a_253^post45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, __disjvr_21^0'=__disjvr_21^post45, x_27^0'=x_27^post45, __disjvr_3^0'=__disjvr_3^post45, rcd_220^0'=rcd_220^post45, __disjvr_14^0'=__disjvr_14^post45, head_33^0'=head_33^post45, __disjvr_24^0'=__disjvr_24^post45, temp_36^0'=temp_36^post45, r_192^0'=r_192^post45, __disjvr_8^0'=__disjvr_8^post45, a_139^0'=a_139^post45, result_11^0'=result_11^post45, __disjvr_19^0'=__disjvr_19^post45, i_31^0'=i_31^post45, __disjvr_29^0'=__disjvr_29^post45, x_22^0'=x_22^post45, rcd_193^0'=rcd_193^post45, __disjvr_11^0'=__disjvr_11^post45, a_309^0'=a_309^post45, tail_15^0'=tail_15^post45, length_29^0'=length_29^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post45, __disjvr_5^0'=__disjvr_5^post45, rcd_288^0'=rcd_288^post45, __disjvr_16^0'=__disjvr_16^post45, i_112^0'=i_112^post45, __disjvr_26^0'=__disjvr_26^post45, tmp_35^0'=tmp_35^post45, rcd_106^0'=rcd_106^post45, a_222^0'=a_222^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post45, __disjvr_20^0'=__disjvr_20^post45, len_221^0'=len_221^post45, __disjvr_30^0'=__disjvr_30^post45, rcd_199^0'=rcd_199^post45, __disjvr_13^0'=__disjvr_13^post45, head_16^0'=head_16^post45, __disjvr_23^0'=__disjvr_23^post45, temp0_32^0'=temp0_32^post45, r_149^0'=r_149^post45, y_26^0'=y_26^post45, __disjvr_7^0'=__disjvr_7^post45, rcd_320^0'=rcd_320^post45, rcd_71^0'=rcd_71^post45, __disjvr_18^0'=__disjvr_18^post45, i_198^0'=i_198^post45, __disjvr_28^0'=__disjvr_28^post45, x_207^0'=x_207^post45, rcd_185^0'=rcd_185^post45, __disjvr_10^0'=__disjvr_10^post45, a_279^0'=a_279^post45, t_23^0'=t_23^post45, __disjvr_22^0'=__disjvr_22^post45, x_SLAM_f_20^0'=x_SLAM_f_20^post45, __disjvr_4^0'=__disjvr_4^post45, rcd_284^0'=rcd_284^post45, __disjvr_15^0'=__disjvr_15^post45, head_SLAM_f_30^0'=head_SLAM_f_30^post45, __disjvr_25^0'=__disjvr_25^post45, temp_37^0'=temp_37^post45, r_41^0'=r_41^post45, __disjvr_9^0'=__disjvr_9^post45, a_174^0'=a_174^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, __disjvr_1^0'=__disjvr_1^post45, len_159^0'=len_159^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_194^0'=rcd_194^post45, __disjvr_12^0'=__disjvr_12^post45, f_202^0'=f_202^post45, temp0_19^0'=temp0_19^post45, nondet_12^0'=nondet_12^post45, y_21^0'=y_21^post45, __disjvr_6^0'=__disjvr_6^post45, rcd_308^0'=rcd_308^post45, rcd_45^0'=rcd_45^post45, __disjvr_17^0'=__disjvr_17^post45, i_130^0'=i_130^post45, __disjvr_27^0'=__disjvr_27^post45, x_154^0'=x_154^post45, rcd_114^0'=rcd_114^post45, (0 == 0 /\ -__disjvr_10^post45+__disjvr_10^0 == 0 /\ -__disjvr_25^post45+__disjvr_25^0 == 0 /\ a_139^0-a_139^post45 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -i_112^post45+i_112^0 == 0 /\ __disjvr_1^0-__disjvr_1^post45 == 0 /\ r_192^0-r_192^post45 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ -i_130^post45+i_130^0 == 0 /\ -__disjvr_4^post45+__disjvr_4^0 == 0 /\ -temp_37^post45+temp_37^0 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ -__disjvr_27^post45+__disjvr_27^0 == 0 /\ y_26^0-y_26^post45 == 0 /\ __disjvr_19^0-__disjvr_19^post45 == 0 /\ -__disjvr_26^post45+__disjvr_26^0 == 0 /\ head_33^0-head_33^post45 == 0 /\ length_29^0-length_29^post45 == 0 /\ -rcd_308^post45+rcd_308^0 == 0 /\ -a_309^post45+a_309^0 == 0 /\ -y_21^post45+y_21^0 == 0 /\ -__disjvr_22^post45+__disjvr_22^0 == 0 /\ rcd_220^0-rcd_220^post45 == 0 /\ -i_31^post45+i_31^0 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ __disjvr_16^0-__disjvr_16^post45 == 0 /\ __disjvr_13^0-__disjvr_13^post45 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ -x_154^post45+x_154^0 == 0 /\ x_207^0-x_207^post45 == 0 /\ -rcd_193^post45+rcd_193^0 == 0 /\ -__disjvr_6^post45+__disjvr_6^0 == 0 /\ __disjvr_3^0-__disjvr_3^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ __disjvr_29^0-__disjvr_29^post45 == 0 /\ rcd_320^0-rcd_320^post45 == 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ -__disjvr_28^post45+__disjvr_28^0 == 0 /\ __disjvr_11^0-__disjvr_11^post45 == 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ __disjvr_18^0-__disjvr_18^post45 == 0 /\ -rcd_71^post45+rcd_71^0 == 0 /\ a_253^0-a_253^post45 == 0 /\ temp0_19^0-temp0_19^post45 == 0 /\ __disjvr_30^0-__disjvr_30^post45 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post45 == 0 /\ __disjvr_8^0-__disjvr_8^post45 == 0 /\ -f_202^post45+f_202^0 == 0 /\ -t_23^post45+t_23^0 == 0 /\ -rcd_45^post45+rcd_45^0 == 0 /\ rcd_106^0-rcd_106^post45 == 0 /\ -temp0_32^post45+temp0_32^0 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0 /\ temp_36^0-temp_36^post45 == 0 /\ -a_174^post45+a_174^0 == 0 /\ -__disjvr_2^post45+__disjvr_2^0 == 0 /\ -r_41^post45+r_41^0 == 0 /\ -rcd_199^post45+rcd_199^0 == 0 /\ __disjvr_0^0-__disjvr_0^post45 == 0 /\ -i_198^post45+i_198^0 == 0 /\ x_22^0-x_22^post45 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post45 == 0 /\ x_27^0-x_27^post45 == 0 /\ -rcd_185^post45+rcd_185^0 == 0 /\ r_149^0-r_149^post45 == 0 /\ a_279^0-a_279^post45 == 0 /\ __disjvr_21^0-__disjvr_21^post45 == 0 /\ tmp_35^0-tmp_35^post45 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ len_221^0-len_221^post45 == 0 /\ -rcd_114^post45+rcd_114^0 == 0 /\ a_222^0-a_222^post45 == 0 /\ -len_159^post45+len_159^0 == 0 /\ -len_159^0 <= 0 /\ -rcd_194^post45+rcd_194^0 == 0), cost: 1 46: l43 -> l44 : __disjvr_0^0'=__disjvr_0^post46, a_253^0'=a_253^post46, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post46, __disjvr_21^0'=__disjvr_21^post46, x_27^0'=x_27^post46, __disjvr_3^0'=__disjvr_3^post46, rcd_220^0'=rcd_220^post46, __disjvr_14^0'=__disjvr_14^post46, head_33^0'=head_33^post46, __disjvr_24^0'=__disjvr_24^post46, temp_36^0'=temp_36^post46, r_192^0'=r_192^post46, __disjvr_8^0'=__disjvr_8^post46, a_139^0'=a_139^post46, result_11^0'=result_11^post46, __disjvr_19^0'=__disjvr_19^post46, i_31^0'=i_31^post46, __disjvr_29^0'=__disjvr_29^post46, x_22^0'=x_22^post46, rcd_193^0'=rcd_193^post46, __disjvr_11^0'=__disjvr_11^post46, a_309^0'=a_309^post46, tail_15^0'=tail_15^post46, length_29^0'=length_29^post46, x_SLAM_f_25^0'=x_SLAM_f_25^post46, __disjvr_5^0'=__disjvr_5^post46, rcd_288^0'=rcd_288^post46, __disjvr_16^0'=__disjvr_16^post46, i_112^0'=i_112^post46, __disjvr_26^0'=__disjvr_26^post46, tmp_35^0'=tmp_35^post46, rcd_106^0'=rcd_106^post46, a_222^0'=a_222^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post46, __disjvr_20^0'=__disjvr_20^post46, len_221^0'=len_221^post46, __disjvr_30^0'=__disjvr_30^post46, rcd_199^0'=rcd_199^post46, __disjvr_13^0'=__disjvr_13^post46, head_16^0'=head_16^post46, __disjvr_23^0'=__disjvr_23^post46, temp0_32^0'=temp0_32^post46, r_149^0'=r_149^post46, y_26^0'=y_26^post46, __disjvr_7^0'=__disjvr_7^post46, rcd_320^0'=rcd_320^post46, rcd_71^0'=rcd_71^post46, __disjvr_18^0'=__disjvr_18^post46, i_198^0'=i_198^post46, __disjvr_28^0'=__disjvr_28^post46, x_207^0'=x_207^post46, rcd_185^0'=rcd_185^post46, __disjvr_10^0'=__disjvr_10^post46, a_279^0'=a_279^post46, t_23^0'=t_23^post46, __disjvr_22^0'=__disjvr_22^post46, x_SLAM_f_20^0'=x_SLAM_f_20^post46, __disjvr_4^0'=__disjvr_4^post46, rcd_284^0'=rcd_284^post46, __disjvr_15^0'=__disjvr_15^post46, head_SLAM_f_30^0'=head_SLAM_f_30^post46, __disjvr_25^0'=__disjvr_25^post46, temp_37^0'=temp_37^post46, r_41^0'=r_41^post46, __disjvr_9^0'=__disjvr_9^post46, a_174^0'=a_174^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46, __disjvr_1^0'=__disjvr_1^post46, len_159^0'=len_159^post46, __disjvr_2^0'=__disjvr_2^post46, rcd_194^0'=rcd_194^post46, __disjvr_12^0'=__disjvr_12^post46, f_202^0'=f_202^post46, temp0_19^0'=temp0_19^post46, nondet_12^0'=nondet_12^post46, y_21^0'=y_21^post46, __disjvr_6^0'=__disjvr_6^post46, rcd_308^0'=rcd_308^post46, rcd_45^0'=rcd_45^post46, __disjvr_17^0'=__disjvr_17^post46, i_130^0'=i_130^post46, __disjvr_27^0'=__disjvr_27^post46, x_154^0'=x_154^post46, rcd_114^0'=rcd_114^post46, (rcd_288^0-rcd_288^post46 == 0 /\ rcd_106^0-rcd_106^post46 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post46 == 0 /\ a_279^0-a_279^post46 == 0 /\ -__disjvr_25^post46+__disjvr_25^0 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ -a_309^post46+a_309^0 == 0 /\ rcd_199^0-rcd_199^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ x_27^0-x_27^post46 == 0 /\ temp_36^0-temp_36^post46 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46 == 0 /\ __disjvr_19^0-__disjvr_19^post46 == 0 /\ -__disjvr_4^post46+__disjvr_4^0 == 0 /\ -rcd_320^post46+rcd_320^0 == 0 /\ a_253^0-a_253^post46 == 0 /\ __disjvr_21^0-__disjvr_21^post46 == 0 /\ __disjvr_3^0-__disjvr_3^post46 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ -rcd_71^post46+rcd_71^0 == 0 /\ i_112^0-i_112^post46 == 0 /\ -i_130^post46+i_130^0 == 0 /\ __disjvr_28^0-__disjvr_28^post46 == 0 /\ -__disjvr_22^post46+__disjvr_22^0 == 0 /\ a_139^0-a_139^post46 == 0 /\ a_222^0-a_222^post46 == 0 /\ __disjvr_11^0-__disjvr_11^post46 == 0 /\ __disjvr_1^0-__disjvr_1^post46 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ head_16^0-head_16^post46 == 0 /\ -__disjvr_19^0+__disjvr_19^post46 == 0 /\ __disjvr_26^0-__disjvr_26^post46 == 0 /\ rcd_220^0-rcd_220^post46 == 0 /\ -x_SLAM_f_20^post46+x_SLAM_f_20^0 == 0 /\ -y_21^post46+y_21^0 == 0 /\ __disjvr_2^0-__disjvr_2^post46 == 0 /\ x_22^0-x_22^post46 == 0 /\ r_149^0-r_149^post46 == 0 /\ -temp_37^post46+temp_37^0 == 0 /\ -rcd_308^post46+rcd_308^0 == 0 /\ -__disjvr_8^post46+__disjvr_8^0 == 0 /\ -rcd_185^post46+rcd_185^0 == 0 /\ temp0_19^0-temp0_19^post46 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ x_207^0-x_207^post46 == 0 /\ i_31^0-i_31^post46 == 0 /\ result_11^0-result_11^post46 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ -rcd_284^post46+rcd_284^0 == 0 /\ r_41^0-r_41^post46 == 0 /\ -f_202^post46+f_202^0 == 0 /\ rcd_193^0-rcd_193^post46 == 0 /\ -temp0_32^post46+temp0_32^0 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ __disjvr_15^0-__disjvr_15^post46 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post46 == 0 /\ -head_SLAM_f_30^post46+head_SLAM_f_30^0 == 0 /\ -__disjvr_18^post46+__disjvr_18^0 == 0 /\ -tail_15^post46+tail_15^0 == 0 /\ -nondet_12^post46+nondet_12^0 == 0 /\ -x_154^post46+x_154^0 == 0 /\ -len_159^post46+len_159^0 == 0 /\ -a_174^post46+a_174^0 == 0 /\ -head_33^post46+head_33^0 == 0 /\ -i_198^post46+i_198^0 == 0 /\ -__disjvr_6^post46+__disjvr_6^0 == 0 /\ -__disjvr_13^post46+__disjvr_13^0 == 0 /\ __disjvr_30^0-__disjvr_30^post46 == 0 /\ -y_26^post46+y_26^0 == 0 /\ r_192^0-r_192^post46 == 0 /\ tmp_35^0-tmp_35^post46 == 0 /\ -rcd_45^post46+rcd_45^0 == 0 /\ length_29^0-length_29^post46 == 0 /\ -rcd_114^post46+rcd_114^0 == 0 /\ -t_23^post46+t_23^0 == 0 /\ __disjvr_16^0-__disjvr_16^post46 == 0 /\ -__disjvr_29^post46+__disjvr_29^0 == 0 /\ -rcd_194^post46+rcd_194^0 == 0 /\ len_221^0-len_221^post46 == 0 /\ -__disjvr_5^post46+__disjvr_5^0 == 0 /\ -__disjvr_10^post46+__disjvr_10^0 == 0 /\ -__disjvr_7^post46+__disjvr_7^0 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post46 == 0), cost: 1 47: l44 -> l45 : __disjvr_0^0'=__disjvr_0^post47, a_253^0'=a_253^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post47, __disjvr_21^0'=__disjvr_21^post47, x_27^0'=x_27^post47, __disjvr_3^0'=__disjvr_3^post47, rcd_220^0'=rcd_220^post47, __disjvr_14^0'=__disjvr_14^post47, head_33^0'=head_33^post47, __disjvr_24^0'=__disjvr_24^post47, temp_36^0'=temp_36^post47, r_192^0'=r_192^post47, __disjvr_8^0'=__disjvr_8^post47, a_139^0'=a_139^post47, result_11^0'=result_11^post47, __disjvr_19^0'=__disjvr_19^post47, i_31^0'=i_31^post47, __disjvr_29^0'=__disjvr_29^post47, x_22^0'=x_22^post47, rcd_193^0'=rcd_193^post47, __disjvr_11^0'=__disjvr_11^post47, a_309^0'=a_309^post47, tail_15^0'=tail_15^post47, length_29^0'=length_29^post47, x_SLAM_f_25^0'=x_SLAM_f_25^post47, __disjvr_5^0'=__disjvr_5^post47, rcd_288^0'=rcd_288^post47, __disjvr_16^0'=__disjvr_16^post47, i_112^0'=i_112^post47, __disjvr_26^0'=__disjvr_26^post47, tmp_35^0'=tmp_35^post47, rcd_106^0'=rcd_106^post47, a_222^0'=a_222^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post47, __disjvr_20^0'=__disjvr_20^post47, len_221^0'=len_221^post47, __disjvr_30^0'=__disjvr_30^post47, rcd_199^0'=rcd_199^post47, __disjvr_13^0'=__disjvr_13^post47, head_16^0'=head_16^post47, __disjvr_23^0'=__disjvr_23^post47, temp0_32^0'=temp0_32^post47, r_149^0'=r_149^post47, y_26^0'=y_26^post47, __disjvr_7^0'=__disjvr_7^post47, rcd_320^0'=rcd_320^post47, rcd_71^0'=rcd_71^post47, __disjvr_18^0'=__disjvr_18^post47, i_198^0'=i_198^post47, __disjvr_28^0'=__disjvr_28^post47, x_207^0'=x_207^post47, rcd_185^0'=rcd_185^post47, __disjvr_10^0'=__disjvr_10^post47, a_279^0'=a_279^post47, t_23^0'=t_23^post47, __disjvr_22^0'=__disjvr_22^post47, x_SLAM_f_20^0'=x_SLAM_f_20^post47, __disjvr_4^0'=__disjvr_4^post47, rcd_284^0'=rcd_284^post47, __disjvr_15^0'=__disjvr_15^post47, head_SLAM_f_30^0'=head_SLAM_f_30^post47, __disjvr_25^0'=__disjvr_25^post47, temp_37^0'=temp_37^post47, r_41^0'=r_41^post47, __disjvr_9^0'=__disjvr_9^post47, a_174^0'=a_174^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47, __disjvr_1^0'=__disjvr_1^post47, len_159^0'=len_159^post47, __disjvr_2^0'=__disjvr_2^post47, rcd_194^0'=rcd_194^post47, __disjvr_12^0'=__disjvr_12^post47, f_202^0'=f_202^post47, temp0_19^0'=temp0_19^post47, nondet_12^0'=nondet_12^post47, y_21^0'=y_21^post47, __disjvr_6^0'=__disjvr_6^post47, rcd_308^0'=rcd_308^post47, rcd_45^0'=rcd_45^post47, __disjvr_17^0'=__disjvr_17^post47, i_130^0'=i_130^post47, __disjvr_27^0'=__disjvr_27^post47, x_154^0'=x_154^post47, rcd_114^0'=rcd_114^post47, (0 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ -rcd_71^post47+rcd_71^0 == 0 /\ x_22^0-x_22^post47 == 0 /\ head_33^0-head_33^post47 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ -r_41^post47+r_41^0 == 0 /\ -x_22^0+t_23^post47 == 0 /\ -temp0_19^post47+temp0_19^0 == 0 /\ result_11^0-result_11^post47 == 0 /\ __disjvr_5^0-__disjvr_5^post47 == 0 /\ __disjvr_3^0-__disjvr_3^post47 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post47 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post47 == 0 /\ tail_15^0-y_21^0 <= 0 /\ rcd_199^0-rcd_199^post47 == 0 /\ -rcd_45^post47+rcd_45^0 == 0 /\ -tail_15^post47+tail_15^0 == 0 /\ -__disjvr_4^post47+__disjvr_4^0 == 0 /\ y_26^0-y_26^post47 == 0 /\ len_221^0-len_221^post47 == 0 /\ tmp_35^0-tmp_35^post47 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ -a_174^post47+a_174^0 == 0 /\ -f_202^post47+f_202^0 == 0 /\ length_29^0-length_29^post47 == 0 /\ i_112^0-i_112^post47 == 0 /\ __disjvr_26^0-__disjvr_26^post47 == 0 /\ -__disjvr_9^post47+__disjvr_9^0 == 0 /\ -__disjvr_27^post47+__disjvr_27^0 == 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ -len_159^post47+len_159^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_2^0-__disjvr_2^post47 == 0 /\ -rcd_114^post47+rcd_114^0 == 0 /\ -temp0_32^post47+temp0_32^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -tail_15^0+y_21^0 <= 0 /\ a_309^0-a_309^post47 == 0 /\ -__disjvr_25^post47+__disjvr_25^0 == 0 /\ -t_23^post47+head_16^0 <= 0 /\ -__disjvr_20^post47+__disjvr_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post47 == 0 /\ a_222^0-a_222^post47 == 0 /\ rcd_220^0-rcd_220^post47 == 0 /\ -i_198^post47+i_198^0 == 0 /\ __disjvr_19^0-__disjvr_19^post47 == 0 /\ -rcd_284^0+rcd_45^0 <= 0 /\ -a_279^0+a_253^post47 <= 0 /\ x_27^0-x_27^post47 == 0 /\ __disjvr_24^0-__disjvr_24^post47 == 0 /\ -rcd_185^post47+rcd_185^0 == 0 /\ rcd_193^0-rcd_193^post47 == 0 /\ y_21^0-y_21^post47 == 0 /\ -head_SLAM_f_30^post47+head_SLAM_f_30^0 == 0 /\ -__disjvr_22^post47+__disjvr_22^0 == 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ a_279^0-a_279^post47 == 0 /\ -temp_37^post47+temp_37^0 == 0 /\ -rcd_288^post47+rcd_288^0 == 0 /\ -__disjvr_10^post47+__disjvr_10^0 == 0 /\ __disjvr_15^0-__disjvr_15^post47 == 0 /\ i_31^0-i_31^post47 == 0 /\ -__disjvr_23^post47+__disjvr_23^0 == 0 /\ -__disjvr_21^post47+__disjvr_21^0 == 0 /\ -rcd_308^post47+rcd_308^0 == 0 /\ -rcd_194^post47+rcd_194^0 == 0 /\ i_130^0-i_130^post47 == 0 /\ t_23^post47-head_16^0 <= 0 /\ r_192^0-r_192^post47 == 0 /\ -temp_36^post47+temp_36^0 == 0 /\ __disjvr_29^0-__disjvr_29^post47 == 0 /\ -x_207^post47+x_207^0 == 0 /\ rcd_284^0-rcd_45^0 <= 0 /\ a_279^0-a_253^post47 <= 0 /\ __disjvr_28^0-__disjvr_28^post47 == 0 /\ __disjvr_18^0-__disjvr_18^post47 == 0 /\ -__disjvr_8^post47+__disjvr_8^0 == 0 /\ head_16^0-head_16^post47 == 0 /\ -rcd_284^post47+rcd_284^0 == 0 /\ __disjvr_30^0-__disjvr_30^post47 == 0 /\ rcd_106^0-rcd_106^post47 == 0 /\ -x_154^post47+x_154^0 == 0 /\ -__disjvr_17^post47+__disjvr_17^0 == 0 /\ a_139^0-a_139^post47 == 0 /\ __disjvr_11^0-__disjvr_11^post47 == 0 /\ -__disjvr_12^post47+__disjvr_12^0 == 0 /\ -rcd_320^post47+rcd_320^0 == 0 /\ -__disjvr_6^post47+__disjvr_6^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post47 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post47 == 0 /\ r_149^0-r_149^post47 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post47 == 0 /\ -nondet_12^post47+nondet_12^0 == 0), cost: 1 48: l45 -> l46 : __disjvr_0^0'=__disjvr_0^post48, a_253^0'=a_253^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post48, __disjvr_21^0'=__disjvr_21^post48, x_27^0'=x_27^post48, __disjvr_3^0'=__disjvr_3^post48, rcd_220^0'=rcd_220^post48, __disjvr_14^0'=__disjvr_14^post48, head_33^0'=head_33^post48, __disjvr_24^0'=__disjvr_24^post48, temp_36^0'=temp_36^post48, r_192^0'=r_192^post48, __disjvr_8^0'=__disjvr_8^post48, a_139^0'=a_139^post48, result_11^0'=result_11^post48, __disjvr_19^0'=__disjvr_19^post48, i_31^0'=i_31^post48, __disjvr_29^0'=__disjvr_29^post48, x_22^0'=x_22^post48, rcd_193^0'=rcd_193^post48, __disjvr_11^0'=__disjvr_11^post48, a_309^0'=a_309^post48, tail_15^0'=tail_15^post48, length_29^0'=length_29^post48, x_SLAM_f_25^0'=x_SLAM_f_25^post48, __disjvr_5^0'=__disjvr_5^post48, rcd_288^0'=rcd_288^post48, __disjvr_16^0'=__disjvr_16^post48, i_112^0'=i_112^post48, __disjvr_26^0'=__disjvr_26^post48, tmp_35^0'=tmp_35^post48, rcd_106^0'=rcd_106^post48, a_222^0'=a_222^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post48, __disjvr_20^0'=__disjvr_20^post48, len_221^0'=len_221^post48, __disjvr_30^0'=__disjvr_30^post48, rcd_199^0'=rcd_199^post48, __disjvr_13^0'=__disjvr_13^post48, head_16^0'=head_16^post48, __disjvr_23^0'=__disjvr_23^post48, temp0_32^0'=temp0_32^post48, r_149^0'=r_149^post48, y_26^0'=y_26^post48, __disjvr_7^0'=__disjvr_7^post48, rcd_320^0'=rcd_320^post48, rcd_71^0'=rcd_71^post48, __disjvr_18^0'=__disjvr_18^post48, i_198^0'=i_198^post48, __disjvr_28^0'=__disjvr_28^post48, x_207^0'=x_207^post48, rcd_185^0'=rcd_185^post48, __disjvr_10^0'=__disjvr_10^post48, a_279^0'=a_279^post48, t_23^0'=t_23^post48, __disjvr_22^0'=__disjvr_22^post48, x_SLAM_f_20^0'=x_SLAM_f_20^post48, __disjvr_4^0'=__disjvr_4^post48, rcd_284^0'=rcd_284^post48, __disjvr_15^0'=__disjvr_15^post48, head_SLAM_f_30^0'=head_SLAM_f_30^post48, __disjvr_25^0'=__disjvr_25^post48, temp_37^0'=temp_37^post48, r_41^0'=r_41^post48, __disjvr_9^0'=__disjvr_9^post48, a_174^0'=a_174^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48, __disjvr_1^0'=__disjvr_1^post48, len_159^0'=len_159^post48, __disjvr_2^0'=__disjvr_2^post48, rcd_194^0'=rcd_194^post48, __disjvr_12^0'=__disjvr_12^post48, f_202^0'=f_202^post48, temp0_19^0'=temp0_19^post48, nondet_12^0'=nondet_12^post48, y_21^0'=y_21^post48, __disjvr_6^0'=__disjvr_6^post48, rcd_308^0'=rcd_308^post48, rcd_45^0'=rcd_45^post48, __disjvr_17^0'=__disjvr_17^post48, i_130^0'=i_130^post48, __disjvr_27^0'=__disjvr_27^post48, x_154^0'=x_154^post48, rcd_114^0'=rcd_114^post48, (-__disjvr_6^post48+__disjvr_6^0 == 0 /\ rcd_220^0-rcd_220^post48 == 0 /\ -temp0_19^post48+temp0_19^0 == 0 /\ __disjvr_5^0-__disjvr_5^post48 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post48 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ x_27^0-x_27^post48 == 0 /\ __disjvr_13^0-__disjvr_13^post48 == 0 /\ __disjvr_16^0-__disjvr_16^post48 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0 /\ a_309^0-a_309^post48 == 0 /\ a_279^0-a_279^post48 == 0 /\ -f_202^post48+f_202^0 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ -rcd_284^post48+rcd_284^0 == 0 /\ len_221^0-len_221^post48 == 0 /\ a_222^0-a_222^post48 == 0 /\ -rcd_45^post48+rcd_45^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post48 == 0 /\ x_207^0-x_207^post48 == 0 /\ -__disjvr_2^post48+__disjvr_2^0 == 0 /\ -temp0_32^post48+temp0_32^0 == 0 /\ -__disjvr_15^post48+__disjvr_15^0 == 0 /\ -length_29^post48+length_29^0 == 0 /\ -rcd_71^post48+rcd_71^0 == 0 /\ -a_174^post48+a_174^0 == 0 /\ -i_198^post48+i_198^0 == 0 /\ -rcd_288^post48+rcd_288^0 == 0 /\ __disjvr_11^0-__disjvr_11^post48 == 0 /\ -rcd_114^post48+rcd_114^0 == 0 /\ r_192^0-r_192^post48 == 0 /\ __disjvr_29^0-__disjvr_29^post48 == 0 /\ -rcd_199^post48+rcd_199^0 == 0 /\ -r_149^post48+r_149^0 == 0 /\ -len_159^post48+len_159^0 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ rcd_185^0-rcd_185^post48 == 0 /\ -__disjvr_18^post48+__disjvr_18^0 == 0 /\ -__disjvr_9^post48+__disjvr_9^0 == 0 /\ __disjvr_30^0-__disjvr_30^post48 == 0 /\ -__disjvr_7^post48+__disjvr_7^0 == 0 /\ y_26^0-y_26^post48 == 0 /\ rcd_106^0-rcd_106^post48 == 0 /\ tail_15^0-tail_15^post48 == 0 /\ -rcd_194^post48+rcd_194^0 == 0 /\ -tmp_35^post48+tmp_35^0 == 0 /\ -__disjvr_25^post48+__disjvr_25^0 == 0 /\ -__disjvr_10^post48+__disjvr_10^0 == 0 /\ -__disjvr_19^post48+__disjvr_19^0 == 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ -i_112^post48+i_112^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post48 == 0 /\ x_22^0-x_22^post48 == 0 /\ t_23^0-t_23^post48 == 0 /\ __disjvr_20^0-__disjvr_20^post48 == 0 /\ -i_130^post48+i_130^0 == 0 /\ -__disjvr_4^post48+__disjvr_4^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ y_21^0-y_21^post48 == 0 /\ -rcd_320^post48+rcd_320^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post48 == 0 /\ head_16^0-head_16^post48 == 0 /\ -__disjvr_26^post48+__disjvr_26^0 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ -temp_36^post48+temp_36^0 == 0 /\ -temp_37^post48+temp_37^0 == 0 /\ a_139^0-a_139^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ -rcd_308^post48+rcd_308^0 == 0 /\ -__disjvr_22^post48+__disjvr_22^0 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ -x_SLAM_f_20^post48+x_SLAM_f_20^0 == 0 /\ r_41^0-r_41^post48 == 0 /\ -__disjvr_20^0+__disjvr_20^post48 == 0 /\ -i_31^post48+i_31^0 == 0 /\ a_253^0-a_253^post48 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post48 == 0 /\ __disjvr_8^0-__disjvr_8^post48 == 0 /\ __disjvr_28^0-__disjvr_28^post48 == 0 /\ -__disjvr_23^post48+__disjvr_23^0 == 0 /\ head_33^0-head_33^post48 == 0 /\ -x_154^post48+x_154^0 == 0 /\ -rcd_193^post48+rcd_193^0 == 0), cost: 1 49: l46 -> l47 : __disjvr_0^0'=__disjvr_0^post49, a_253^0'=a_253^post49, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, __disjvr_21^0'=__disjvr_21^post49, x_27^0'=x_27^post49, __disjvr_3^0'=__disjvr_3^post49, rcd_220^0'=rcd_220^post49, __disjvr_14^0'=__disjvr_14^post49, head_33^0'=head_33^post49, __disjvr_24^0'=__disjvr_24^post49, temp_36^0'=temp_36^post49, r_192^0'=r_192^post49, __disjvr_8^0'=__disjvr_8^post49, a_139^0'=a_139^post49, result_11^0'=result_11^post49, __disjvr_19^0'=__disjvr_19^post49, i_31^0'=i_31^post49, __disjvr_29^0'=__disjvr_29^post49, x_22^0'=x_22^post49, rcd_193^0'=rcd_193^post49, __disjvr_11^0'=__disjvr_11^post49, a_309^0'=a_309^post49, tail_15^0'=tail_15^post49, length_29^0'=length_29^post49, x_SLAM_f_25^0'=x_SLAM_f_25^post49, __disjvr_5^0'=__disjvr_5^post49, rcd_288^0'=rcd_288^post49, __disjvr_16^0'=__disjvr_16^post49, i_112^0'=i_112^post49, __disjvr_26^0'=__disjvr_26^post49, tmp_35^0'=tmp_35^post49, rcd_106^0'=rcd_106^post49, a_222^0'=a_222^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post49, __disjvr_20^0'=__disjvr_20^post49, len_221^0'=len_221^post49, __disjvr_30^0'=__disjvr_30^post49, rcd_199^0'=rcd_199^post49, __disjvr_13^0'=__disjvr_13^post49, head_16^0'=head_16^post49, __disjvr_23^0'=__disjvr_23^post49, temp0_32^0'=temp0_32^post49, r_149^0'=r_149^post49, y_26^0'=y_26^post49, __disjvr_7^0'=__disjvr_7^post49, rcd_320^0'=rcd_320^post49, rcd_71^0'=rcd_71^post49, __disjvr_18^0'=__disjvr_18^post49, i_198^0'=i_198^post49, __disjvr_28^0'=__disjvr_28^post49, x_207^0'=x_207^post49, rcd_185^0'=rcd_185^post49, __disjvr_10^0'=__disjvr_10^post49, a_279^0'=a_279^post49, t_23^0'=t_23^post49, __disjvr_22^0'=__disjvr_22^post49, x_SLAM_f_20^0'=x_SLAM_f_20^post49, __disjvr_4^0'=__disjvr_4^post49, rcd_284^0'=rcd_284^post49, __disjvr_15^0'=__disjvr_15^post49, head_SLAM_f_30^0'=head_SLAM_f_30^post49, __disjvr_25^0'=__disjvr_25^post49, temp_37^0'=temp_37^post49, r_41^0'=r_41^post49, __disjvr_9^0'=__disjvr_9^post49, a_174^0'=a_174^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post49, __disjvr_1^0'=__disjvr_1^post49, len_159^0'=len_159^post49, __disjvr_2^0'=__disjvr_2^post49, rcd_194^0'=rcd_194^post49, __disjvr_12^0'=__disjvr_12^post49, f_202^0'=f_202^post49, temp0_19^0'=temp0_19^post49, nondet_12^0'=nondet_12^post49, y_21^0'=y_21^post49, __disjvr_6^0'=__disjvr_6^post49, rcd_308^0'=rcd_308^post49, rcd_45^0'=rcd_45^post49, __disjvr_17^0'=__disjvr_17^post49, i_130^0'=i_130^post49, __disjvr_27^0'=__disjvr_27^post49, x_154^0'=x_154^post49, rcd_114^0'=rcd_114^post49, (y_26^0-y_26^post49 == 0 /\ -rcd_193^post49+rcd_193^0 == 0 /\ -rcd_308^post49+rcd_308^0 == 0 /\ -rcd_185^post49+rcd_185^0 == 0 /\ __disjvr_8^0-__disjvr_8^post49 == 0 /\ i_112^0-i_112^post49 == 0 /\ length_29^0-length_29^post49 == 0 /\ -f_202^post49+f_202^0 == 0 /\ -__disjvr_7^post49+__disjvr_7^0 == 0 /\ -rcd_288^post49+rcd_288^0 == 0 /\ __disjvr_28^0-__disjvr_28^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ __disjvr_11^0-__disjvr_11^post49 == 0 /\ -__disjvr_23^post49+__disjvr_23^0 == 0 /\ temp0_32^0-temp0_32^post49 == 0 /\ -__disjvr_6^post49+__disjvr_6^0 == 0 /\ -temp0_19^post49+temp0_19^0 == 0 /\ len_221^0-len_221^post49 == 0 /\ -i_198^post49+i_198^0 == 0 /\ rcd_220^0-rcd_220^post49 == 0 /\ -__disjvr_18^post49+__disjvr_18^0 == 0 /\ a_309^0-a_309^post49 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post49 == 0 /\ -x_154^post49+x_154^0 == 0 /\ -a_174^post49+a_174^0 == 0 /\ -nondet_12^post49+nondet_12^0 == 0 /\ head_16^0-head_16^post49 == 0 /\ x_22^0-x_22^post49 == 0 /\ -len_159^post49+len_159^0 == 0 /\ i_31^0-i_31^post49 == 0 /\ rcd_106^0-rcd_106^post49 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post49 == 0 /\ -__disjvr_13^post49+__disjvr_13^0 == 0 /\ head_33^0-head_33^post49 == 0 /\ -rcd_114^post49+rcd_114^0 == 0 /\ __disjvr_9^0-__disjvr_9^post49 == 0 /\ __disjvr_10^0-__disjvr_10^post49 == 0 /\ r_192^0-r_192^post49 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post49 == 0 /\ -rcd_194^post49+rcd_194^0 == 0 /\ x_27^0-x_27^post49 == 0 /\ -__disjvr_15^post49+__disjvr_15^0 == 0 /\ -x_207^post49+x_207^0 == 0 /\ -rcd_45^post49+rcd_45^0 == 0 /\ -__disjvr_5^post49+__disjvr_5^0 == 0 /\ a_253^0-a_253^post49 == 0 /\ __disjvr_21^0-__disjvr_21^post49 == 0 /\ -rcd_199^post49+rcd_199^0 == 0 /\ __disjvr_3^0-__disjvr_3^post49 == 0 /\ tmp_35^0-tmp_35^post49 == 0 /\ __disjvr_30^0-__disjvr_30^post49 == 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ -__disjvr_26^post49+__disjvr_26^0 == 0 /\ -__disjvr_12^post49+__disjvr_12^0 == 0 /\ a_139^0-a_139^post49 == 0 /\ __disjvr_16^0-__disjvr_16^post49 == 0 /\ a_222^0-a_222^post49 == 0 /\ r_41^0-r_41^post49 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ -a_279^post49+a_279^0 == 0 /\ -rcd_320^post49+rcd_320^0 == 0 /\ t_23^0-t_23^post49 == 0 /\ -__disjvr_19^post49+__disjvr_19^0 == 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ r_149^0-r_149^post49 == 0 /\ -__disjvr_1^post49+__disjvr_1^0 == 0 /\ -__disjvr_21^0+__disjvr_21^post49 == 0 /\ rcd_284^0-rcd_284^post49 == 0 /\ -__disjvr_4^post49+__disjvr_4^0 == 0 /\ -rcd_71^post49+rcd_71^0 == 0 /\ -i_130^post49+i_130^0 == 0 /\ -tail_15^post49+tail_15^0 == 0 /\ result_11^0-result_11^post49 == 0 /\ -__disjvr_22^post49+__disjvr_22^0 == 0 /\ temp_36^0-temp_36^post49 == 0 /\ __disjvr_29^0-__disjvr_29^post49 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 == 0 /\ -__disjvr_20^post49+__disjvr_20^0 == 0 /\ -temp_37^post49+temp_37^0 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ -__disjvr_25^post49+__disjvr_25^0 == 0 /\ -x_SLAM_f_20^post49+x_SLAM_f_20^0 == 0 /\ -y_21^post49+y_21^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post49 == 0), cost: 1 50: l47 -> l48 : __disjvr_0^0'=__disjvr_0^post50, a_253^0'=a_253^post50, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post50, __disjvr_21^0'=__disjvr_21^post50, x_27^0'=x_27^post50, __disjvr_3^0'=__disjvr_3^post50, rcd_220^0'=rcd_220^post50, __disjvr_14^0'=__disjvr_14^post50, head_33^0'=head_33^post50, __disjvr_24^0'=__disjvr_24^post50, temp_36^0'=temp_36^post50, r_192^0'=r_192^post50, __disjvr_8^0'=__disjvr_8^post50, a_139^0'=a_139^post50, result_11^0'=result_11^post50, __disjvr_19^0'=__disjvr_19^post50, i_31^0'=i_31^post50, __disjvr_29^0'=__disjvr_29^post50, x_22^0'=x_22^post50, rcd_193^0'=rcd_193^post50, __disjvr_11^0'=__disjvr_11^post50, a_309^0'=a_309^post50, tail_15^0'=tail_15^post50, length_29^0'=length_29^post50, x_SLAM_f_25^0'=x_SLAM_f_25^post50, __disjvr_5^0'=__disjvr_5^post50, rcd_288^0'=rcd_288^post50, __disjvr_16^0'=__disjvr_16^post50, i_112^0'=i_112^post50, __disjvr_26^0'=__disjvr_26^post50, tmp_35^0'=tmp_35^post50, rcd_106^0'=rcd_106^post50, a_222^0'=a_222^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post50, __disjvr_20^0'=__disjvr_20^post50, len_221^0'=len_221^post50, __disjvr_30^0'=__disjvr_30^post50, rcd_199^0'=rcd_199^post50, __disjvr_13^0'=__disjvr_13^post50, head_16^0'=head_16^post50, __disjvr_23^0'=__disjvr_23^post50, temp0_32^0'=temp0_32^post50, r_149^0'=r_149^post50, y_26^0'=y_26^post50, __disjvr_7^0'=__disjvr_7^post50, rcd_320^0'=rcd_320^post50, rcd_71^0'=rcd_71^post50, __disjvr_18^0'=__disjvr_18^post50, i_198^0'=i_198^post50, __disjvr_28^0'=__disjvr_28^post50, x_207^0'=x_207^post50, rcd_185^0'=rcd_185^post50, __disjvr_10^0'=__disjvr_10^post50, a_279^0'=a_279^post50, t_23^0'=t_23^post50, __disjvr_22^0'=__disjvr_22^post50, x_SLAM_f_20^0'=x_SLAM_f_20^post50, __disjvr_4^0'=__disjvr_4^post50, rcd_284^0'=rcd_284^post50, __disjvr_15^0'=__disjvr_15^post50, head_SLAM_f_30^0'=head_SLAM_f_30^post50, __disjvr_25^0'=__disjvr_25^post50, temp_37^0'=temp_37^post50, r_41^0'=r_41^post50, __disjvr_9^0'=__disjvr_9^post50, a_174^0'=a_174^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post50, __disjvr_1^0'=__disjvr_1^post50, len_159^0'=len_159^post50, __disjvr_2^0'=__disjvr_2^post50, rcd_194^0'=rcd_194^post50, __disjvr_12^0'=__disjvr_12^post50, f_202^0'=f_202^post50, temp0_19^0'=temp0_19^post50, nondet_12^0'=nondet_12^post50, y_21^0'=y_21^post50, __disjvr_6^0'=__disjvr_6^post50, rcd_308^0'=rcd_308^post50, rcd_45^0'=rcd_45^post50, __disjvr_17^0'=__disjvr_17^post50, i_130^0'=i_130^post50, __disjvr_27^0'=__disjvr_27^post50, x_154^0'=x_154^post50, rcd_114^0'=rcd_114^post50, (-__disjvr_20^post50+__disjvr_20^0 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ __disjvr_7^0-__disjvr_7^post50 == 0 /\ -__disjvr_2^post50+__disjvr_2^0 == 0 /\ r_192^0-r_192^post50 == 0 /\ __disjvr_1^0-__disjvr_1^post50 == 0 /\ -y_21^post50+y_21^0 == 0 /\ tail_15^0-tail_15^post50 == 0 /\ -i_198^post50+i_198^0 == 0 /\ -__disjvr_10^post50+__disjvr_10^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post50+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_35^post50+tmp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post50 == 0 /\ y_26^0-y_26^post50 == 0 /\ i_112^0-i_112^post50 == 0 /\ -a_222^post50+a_222^0 == 0 /\ -__disjvr_23^post50+__disjvr_23^0 == 0 /\ -__disjvr_27^post50+__disjvr_27^0 == 0 /\ -__disjvr_26^post50+__disjvr_26^0 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ -i_130^post50+i_130^0 == 0 /\ length_29^0-length_29^post50 == 0 /\ a_139^0-a_139^post50 == 0 /\ -temp_37^post50+temp_37^0 == 0 /\ -rcd_288^post50+rcd_288^0 == 0 /\ -rcd_308^post50+rcd_308^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post50 == 0 /\ -rcd_194^post50+rcd_194^0 == 0 /\ -__disjvr_15^post50+__disjvr_15^0 == 0 /\ -rcd_284^post50+rcd_284^0 == 0 /\ -x_207^post50+x_207^0 == 0 /\ rcd_220^0-rcd_220^post50 == 0 /\ rcd_185^0-rcd_185^post50 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ -nondet_12^post50+nondet_12^0 == 0 /\ __disjvr_5^0-__disjvr_5^post50 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ __disjvr_3^0-__disjvr_3^post50 == 0 /\ -x_154^post50+x_154^0 == 0 /\ -i_31^post50+i_31^0 == 0 /\ -rcd_320^post50+rcd_320^0 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ -rcd_193^post50+rcd_193^0 == 0 /\ -__disjvr_6^post50+__disjvr_6^0 == 0 /\ temp_36^0-temp_36^post50 == 0 /\ __disjvr_29^0-__disjvr_29^post50 == 0 /\ -rcd_71^post50+rcd_71^0 == 0 /\ -r_41^post50+r_41^0 == 0 /\ __disjvr_18^0-__disjvr_18^post50 == 0 /\ -__disjvr_13^post50+__disjvr_13^0 == 0 /\ a_253^0-a_253^post50 == 0 /\ temp0_19^0-temp0_19^post50 == 0 /\ head_16^0-head_16^post50 == 0 /\ -rcd_45^post50+rcd_45^0 == 0 /\ rcd_106^0-rcd_106^post50 == 0 /\ result_11^0-result_11^post50 == 0 /\ __disjvr_30^0-__disjvr_30^post50 == 0 /\ r_149^0-r_149^post50 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post50 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post50+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_8^0-__disjvr_8^post50 == 0 /\ __disjvr_11^0-__disjvr_11^post50 == 0 /\ __disjvr_16^0-__disjvr_16^post50 == 0 /\ __disjvr_22^0-__disjvr_22^post50 == 0 /\ -t_23^post50+t_23^0 == 0 /\ a_309^0-a_309^post50 == 0 /\ -len_221^post50+len_221^0 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ -__disjvr_25^post50+__disjvr_25^0 == 0 /\ x_27^0-x_27^post50 == 0 /\ x_22^0-x_22^post50 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ head_33^0-head_33^post50 == 0 /\ -a_174^post50+a_174^0 == 0 /\ __disjvr_19^0-__disjvr_19^post50 == 0 /\ -f_202^post50+f_202^0 == 0 /\ -rcd_199^post50+rcd_199^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post50 == 0 /\ -__disjvr_4^post50+__disjvr_4^0 == 0 /\ -len_159^post50+len_159^0 == 0 /\ -rcd_114^post50+rcd_114^0 == 0 /\ a_279^0-a_279^post50 == 0 /\ -temp0_32^post50+temp0_32^0 == 0 /\ -__disjvr_22^0+__disjvr_22^post50 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0), cost: 1 51: l48 -> l25 : __disjvr_0^0'=__disjvr_0^post51, a_253^0'=a_253^post51, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post51, __disjvr_21^0'=__disjvr_21^post51, x_27^0'=x_27^post51, __disjvr_3^0'=__disjvr_3^post51, rcd_220^0'=rcd_220^post51, __disjvr_14^0'=__disjvr_14^post51, head_33^0'=head_33^post51, __disjvr_24^0'=__disjvr_24^post51, temp_36^0'=temp_36^post51, r_192^0'=r_192^post51, __disjvr_8^0'=__disjvr_8^post51, a_139^0'=a_139^post51, result_11^0'=result_11^post51, __disjvr_19^0'=__disjvr_19^post51, i_31^0'=i_31^post51, __disjvr_29^0'=__disjvr_29^post51, x_22^0'=x_22^post51, rcd_193^0'=rcd_193^post51, __disjvr_11^0'=__disjvr_11^post51, a_309^0'=a_309^post51, tail_15^0'=tail_15^post51, length_29^0'=length_29^post51, x_SLAM_f_25^0'=x_SLAM_f_25^post51, __disjvr_5^0'=__disjvr_5^post51, rcd_288^0'=rcd_288^post51, __disjvr_16^0'=__disjvr_16^post51, i_112^0'=i_112^post51, __disjvr_26^0'=__disjvr_26^post51, tmp_35^0'=tmp_35^post51, rcd_106^0'=rcd_106^post51, a_222^0'=a_222^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post51, __disjvr_20^0'=__disjvr_20^post51, len_221^0'=len_221^post51, __disjvr_30^0'=__disjvr_30^post51, rcd_199^0'=rcd_199^post51, __disjvr_13^0'=__disjvr_13^post51, head_16^0'=head_16^post51, __disjvr_23^0'=__disjvr_23^post51, temp0_32^0'=temp0_32^post51, r_149^0'=r_149^post51, y_26^0'=y_26^post51, __disjvr_7^0'=__disjvr_7^post51, rcd_320^0'=rcd_320^post51, rcd_71^0'=rcd_71^post51, __disjvr_18^0'=__disjvr_18^post51, i_198^0'=i_198^post51, __disjvr_28^0'=__disjvr_28^post51, x_207^0'=x_207^post51, rcd_185^0'=rcd_185^post51, __disjvr_10^0'=__disjvr_10^post51, a_279^0'=a_279^post51, t_23^0'=t_23^post51, __disjvr_22^0'=__disjvr_22^post51, x_SLAM_f_20^0'=x_SLAM_f_20^post51, __disjvr_4^0'=__disjvr_4^post51, rcd_284^0'=rcd_284^post51, __disjvr_15^0'=__disjvr_15^post51, head_SLAM_f_30^0'=head_SLAM_f_30^post51, __disjvr_25^0'=__disjvr_25^post51, temp_37^0'=temp_37^post51, r_41^0'=r_41^post51, __disjvr_9^0'=__disjvr_9^post51, a_174^0'=a_174^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post51, __disjvr_1^0'=__disjvr_1^post51, len_159^0'=len_159^post51, __disjvr_2^0'=__disjvr_2^post51, rcd_194^0'=rcd_194^post51, __disjvr_12^0'=__disjvr_12^post51, f_202^0'=f_202^post51, temp0_19^0'=temp0_19^post51, nondet_12^0'=nondet_12^post51, y_21^0'=y_21^post51, __disjvr_6^0'=__disjvr_6^post51, rcd_308^0'=rcd_308^post51, rcd_45^0'=rcd_45^post51, __disjvr_17^0'=__disjvr_17^post51, i_130^0'=i_130^post51, __disjvr_27^0'=__disjvr_27^post51, x_154^0'=x_154^post51, rcd_114^0'=rcd_114^post51, (0 == 0 /\ -__disjvr_25^post51+__disjvr_25^0 == 0 /\ -i_112^post51+i_112^0 == 0 /\ __disjvr_11^0-__disjvr_11^post51 == 0 /\ -__disjvr_27^post51+__disjvr_27^0 == 0 /\ __disjvr_29^0-__disjvr_29^post51 == 0 /\ -__disjvr_4^post51+__disjvr_4^0 == 0 /\ -i_130^post51+i_130^0 == 0 /\ -x_22^post51+x_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post51 == 0 /\ __disjvr_1^0-__disjvr_1^post51 == 0 /\ __disjvr_9^0-__disjvr_9^post51 == 0 /\ a_253^0-a_253^post51 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post51+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_185^0-rcd_185^post51 == 0 /\ x_27^0-x_27^post51 == 0 /\ __disjvr_8^0-__disjvr_8^post51 == 0 /\ rcd_288^0-rcd_288^post51 == 0 /\ __disjvr_30^0-__disjvr_30^post51 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post51 == 0 /\ -__disjvr_26^post51+__disjvr_26^0 == 0 /\ -__disjvr_20^post51+__disjvr_20^0 == 0 /\ -rcd_320^post51+rcd_320^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1-a_253^0+len_159^post51 <= 0 /\ a_309^0-a_309^post51 == 0 /\ -rcd_308^post51+rcd_308^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ temp_36^0-temp_36^post51 == 0 /\ -y_21^post51+y_21^0 == 0 /\ __disjvr_5^0-__disjvr_5^post51 == 0 /\ __disjvr_0^0-__disjvr_0^post51 == 0 /\ -__disjvr_12^post51+__disjvr_12^0 == 0 /\ -__disjvr_17^post51+__disjvr_17^0 == 0 /\ -__disjvr_22^post51+__disjvr_22^0 == 0 /\ __disjvr_10^0-__disjvr_10^post51 == 0 /\ __disjvr_21^0-__disjvr_21^post51 == 0 /\ -__disjvr_23^post51+__disjvr_23^0 == 0 /\ -a_139^post51+a_139^0 == 0 /\ a_222^0-a_222^post51 == 0 /\ -rcd_106^post51+rcd_106^0 == 0 /\ -head_SLAM_f_30^post51+head_SLAM_f_30^0 == 0 /\ -x_154^post51+x_154^0 == 0 /\ head_16^0-head_16^post51 == 0 /\ __disjvr_2^0-__disjvr_2^post51 == 0 /\ -temp0_19^post51+temp0_19^0 == 0 /\ -__disjvr_6^post51+__disjvr_6^0 == 0 /\ __disjvr_18^0-__disjvr_18^post51 == 0 /\ x_207^0-x_207^post51 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post51 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post51 == 0 /\ r_41^0-r_41^post51 == 0 /\ -__disjvr_28^post51+__disjvr_28^0 == 0 /\ -f_202^post51+f_202^0 == 0 /\ -rcd_284^post51+rcd_284^0 == 0 /\ y_26^0-y_26^post51 == 0 /\ -length_29^post51+length_29^0 == 0 /\ -__disjvr_15^post51+__disjvr_15^0 == 0 /\ result_11^0-result_11^post51 == 0 /\ r_192^0-r_192^post51 == 0 /\ head_33^0-head_33^post51 == 0 /\ 1+a_253^0-len_159^post51 <= 0 /\ -temp0_32^post51+temp0_32^0 == 0 /\ -rcd_71^post51+rcd_71^0 == 0 /\ -tail_15^post51+tail_15^0 == 0 /\ rcd_45^0-rcd_45^post51 == 0 /\ -rcd_199^post51+rcd_199^0 == 0 /\ -__disjvr_13^post51+__disjvr_13^0 == 0 /\ rcd_220^0-rcd_220^post51 == 0 /\ -i_198^post51+i_198^0 == 0 /\ -rcd_114^post51+rcd_114^0 == 0 /\ t_23^0-t_23^post51 == 0 /\ __disjvr_24^0-__disjvr_24^post51 == 0 /\ __disjvr_16^0-__disjvr_16^post51 == 0 /\ __disjvr_19^0-__disjvr_19^post51 == 0 /\ -r_149^post51+r_149^0 == 0 /\ rcd_193^0-rcd_193^post51 == 0 /\ -a_279^post51+a_279^0 == 0 /\ temp_37^0-temp_37^post51 == 0 /\ -__disjvr_7^post51+__disjvr_7^0 == 0 /\ i_31^0-i_31^post51 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post51 == 0 /\ -rcd_194^post51+rcd_194^0 == 0 /\ -len_221^post51+len_221^0 == 0 /\ -tmp_35^post51+tmp_35^0 == 0 /\ __disjvr_3^0-__disjvr_3^post51 == 0 /\ -a_174^post51+a_174^0 == 0), cost: 1 52: l49 -> l24 : __disjvr_0^0'=__disjvr_0^post52, a_253^0'=a_253^post52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, __disjvr_21^0'=__disjvr_21^post52, x_27^0'=x_27^post52, __disjvr_3^0'=__disjvr_3^post52, rcd_220^0'=rcd_220^post52, __disjvr_14^0'=__disjvr_14^post52, head_33^0'=head_33^post52, __disjvr_24^0'=__disjvr_24^post52, temp_36^0'=temp_36^post52, r_192^0'=r_192^post52, __disjvr_8^0'=__disjvr_8^post52, a_139^0'=a_139^post52, result_11^0'=result_11^post52, __disjvr_19^0'=__disjvr_19^post52, i_31^0'=i_31^post52, __disjvr_29^0'=__disjvr_29^post52, x_22^0'=x_22^post52, rcd_193^0'=rcd_193^post52, __disjvr_11^0'=__disjvr_11^post52, a_309^0'=a_309^post52, tail_15^0'=tail_15^post52, length_29^0'=length_29^post52, x_SLAM_f_25^0'=x_SLAM_f_25^post52, __disjvr_5^0'=__disjvr_5^post52, rcd_288^0'=rcd_288^post52, __disjvr_16^0'=__disjvr_16^post52, i_112^0'=i_112^post52, __disjvr_26^0'=__disjvr_26^post52, tmp_35^0'=tmp_35^post52, rcd_106^0'=rcd_106^post52, a_222^0'=a_222^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post52, __disjvr_20^0'=__disjvr_20^post52, len_221^0'=len_221^post52, __disjvr_30^0'=__disjvr_30^post52, rcd_199^0'=rcd_199^post52, __disjvr_13^0'=__disjvr_13^post52, head_16^0'=head_16^post52, __disjvr_23^0'=__disjvr_23^post52, temp0_32^0'=temp0_32^post52, r_149^0'=r_149^post52, y_26^0'=y_26^post52, __disjvr_7^0'=__disjvr_7^post52, rcd_320^0'=rcd_320^post52, rcd_71^0'=rcd_71^post52, __disjvr_18^0'=__disjvr_18^post52, i_198^0'=i_198^post52, __disjvr_28^0'=__disjvr_28^post52, x_207^0'=x_207^post52, rcd_185^0'=rcd_185^post52, __disjvr_10^0'=__disjvr_10^post52, a_279^0'=a_279^post52, t_23^0'=t_23^post52, __disjvr_22^0'=__disjvr_22^post52, x_SLAM_f_20^0'=x_SLAM_f_20^post52, __disjvr_4^0'=__disjvr_4^post52, rcd_284^0'=rcd_284^post52, __disjvr_15^0'=__disjvr_15^post52, head_SLAM_f_30^0'=head_SLAM_f_30^post52, __disjvr_25^0'=__disjvr_25^post52, temp_37^0'=temp_37^post52, r_41^0'=r_41^post52, __disjvr_9^0'=__disjvr_9^post52, a_174^0'=a_174^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52, __disjvr_1^0'=__disjvr_1^post52, len_159^0'=len_159^post52, __disjvr_2^0'=__disjvr_2^post52, rcd_194^0'=rcd_194^post52, __disjvr_12^0'=__disjvr_12^post52, f_202^0'=f_202^post52, temp0_19^0'=temp0_19^post52, nondet_12^0'=nondet_12^post52, y_21^0'=y_21^post52, __disjvr_6^0'=__disjvr_6^post52, rcd_308^0'=rcd_308^post52, rcd_45^0'=rcd_45^post52, __disjvr_17^0'=__disjvr_17^post52, i_130^0'=i_130^post52, __disjvr_27^0'=__disjvr_27^post52, x_154^0'=x_154^post52, rcd_114^0'=rcd_114^post52, (0 == 0 /\ __disjvr_8^0-__disjvr_8^post52 == 0 /\ rcd_71^0-rcd_71^post52 == 0 /\ -r_149^post52+r_149^0 == 0 /\ -tail_15^post52+head_SLAM_f_30^post52 <= 0 /\ -tail_15^post52+head_SLAM_f_30^post52 == 0 /\ __disjvr_16^0-__disjvr_16^post52 == 0 /\ -tmp_35^post52+tmp_35^0 == 0 /\ -x_SLAM_f_20^post52+x_SLAM_f_20^0 == 0 /\ t_23^0-t_23^post52 == 0 /\ -__disjvr_1^post52+__disjvr_1^0 == 0 /\ -__disjvr_13^post52+__disjvr_13^0 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 == 0 /\ __disjvr_10^0-__disjvr_10^post52 == 0 /\ len_159^0-len_159^post52 == 0 /\ __disjvr_7^0-__disjvr_7^post52 == 0 /\ -__disjvr_15^post52+__disjvr_15^0 == 0 /\ -__disjvr_17^post52+__disjvr_17^0 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0 /\ head_33^post52-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ __disjvr_3^0-__disjvr_3^post52 == 0 /\ -i_31^post52 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post52 == 0 /\ rcd_288^0-rcd_288^post52 == 0 /\ rcd_106^0-rcd_106^post52 == 0 /\ tail_15^post52-head_SLAM_f_30^post52 <= 0 /\ -y_26^post52+y_26^0 == 0 /\ i_198^0-i_198^post52 == 0 /\ -r_41^post52+r_41^0 == 0 /\ -temp0_19^post52+temp0_19^0 == 0 /\ -__disjvr_9^post52+__disjvr_9^0 == 0 /\ __disjvr_29^0-__disjvr_29^post52 == 0 /\ -rcd_45^post52+rcd_45^0 == 0 /\ -__disjvr_18^post52+__disjvr_18^0 == 0 /\ -__disjvr_2^post52+__disjvr_2^0 == 0 /\ -a_174^post52+a_174^0 == 0 /\ f_202^0-f_202^post52 == 0 /\ -rcd_114^post52+rcd_114^0 == 0 /\ -head_33^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ __disjvr_19^0-__disjvr_19^post52 == 0 /\ -__disjvr_30^post52+__disjvr_30^0 == 0 /\ rcd_194^0-rcd_194^post52 == 0 /\ -a_279^post52+a_279^0 == 0 /\ __disjvr_5^0-__disjvr_5^post52 == 0 /\ a_253^0-a_253^post52 == 0 /\ x_27^0-x_27^post52 == 0 /\ rcd_220^0-rcd_220^post52 == 0 /\ tail_15^post52-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ a_309^0-a_309^post52 == 0 /\ -__disjvr_24^post52+__disjvr_24^0 == 0 /\ -x_207^post52+x_207^0 == 0 /\ __disjvr_23^0-__disjvr_23^post52 == 0 /\ -__disjvr_11^post52+__disjvr_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52+head_SLAM_f_30^post52 <= 0 /\ -y_21^post52+y_21^0 == 0 /\ a_139^0-a_139^post52 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ -rcd_320^post52+rcd_320^0 == 0 /\ rcd_284^0-rcd_284^post52 == 0 /\ tail_15^post52-temp_37^0 == 0 /\ i_31^post52 <= 0 /\ i_31^post52 == 0 /\ temp0_32^0-temp0_32^post52 == 0 /\ -length_29^post52+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 <= 0 /\ -__disjvr_25^post52+__disjvr_25^0 == 0 /\ -a_222^post52+a_222^0 == 0 /\ rcd_308^0-rcd_308^post52 == 0 /\ -head_33^post52+head_SLAM_f_30^post52 <= 0 /\ __disjvr_26^0-__disjvr_26^post52 == 0 /\ __disjvr_4^0-__disjvr_4^post52 == 0 /\ -__disjvr_14^post52+__disjvr_14^0 == 0 /\ -x_22^post52+x_22^0 == 0 /\ -x_154^post52+x_154^0 == 0 /\ -len_221^post52+len_221^0 == 0 /\ rcd_185^0-rcd_185^post52 == 0 /\ -tail_15^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ r_192^0-r_192^post52 == 0 /\ -rcd_193^post52+rcd_193^0 == 0 /\ -__disjvr_28^post52+__disjvr_28^0 == 0 /\ -head_16^post52+head_16^0 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post52 == 0 /\ result_11^0-result_11^post52 == 0 /\ rcd_199^0-rcd_199^post52 == 0 /\ i_112^0-i_112^post52 == 0 /\ __disjvr_22^0-__disjvr_22^post52 == 0 /\ -i_130^post52+i_130^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52-head_SLAM_f_30^post52 <= 0 /\ __disjvr_27^0-__disjvr_27^post52 == 0 /\ length_29^post52-result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 <= 0 /\ length_29^post52-result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 == 0 /\ -__disjvr_6^post52+__disjvr_6^0 == 0 /\ head_33^post52-head_SLAM_f_30^post52 <= 0 /\ head_33^post52-head_SLAM_f_30^post52 == 0 /\ __disjvr_20^0-__disjvr_20^post52 == 0 /\ temp_36^0-temp_36^post52 == 0), cost: 1 54: l50 -> l51 : __disjvr_0^0'=__disjvr_0^post54, a_253^0'=a_253^post54, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post54, __disjvr_21^0'=__disjvr_21^post54, x_27^0'=x_27^post54, __disjvr_3^0'=__disjvr_3^post54, rcd_220^0'=rcd_220^post54, __disjvr_14^0'=__disjvr_14^post54, head_33^0'=head_33^post54, __disjvr_24^0'=__disjvr_24^post54, temp_36^0'=temp_36^post54, r_192^0'=r_192^post54, __disjvr_8^0'=__disjvr_8^post54, a_139^0'=a_139^post54, result_11^0'=result_11^post54, __disjvr_19^0'=__disjvr_19^post54, i_31^0'=i_31^post54, __disjvr_29^0'=__disjvr_29^post54, x_22^0'=x_22^post54, rcd_193^0'=rcd_193^post54, __disjvr_11^0'=__disjvr_11^post54, a_309^0'=a_309^post54, tail_15^0'=tail_15^post54, length_29^0'=length_29^post54, x_SLAM_f_25^0'=x_SLAM_f_25^post54, __disjvr_5^0'=__disjvr_5^post54, rcd_288^0'=rcd_288^post54, __disjvr_16^0'=__disjvr_16^post54, i_112^0'=i_112^post54, __disjvr_26^0'=__disjvr_26^post54, tmp_35^0'=tmp_35^post54, rcd_106^0'=rcd_106^post54, a_222^0'=a_222^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post54, __disjvr_20^0'=__disjvr_20^post54, len_221^0'=len_221^post54, __disjvr_30^0'=__disjvr_30^post54, rcd_199^0'=rcd_199^post54, __disjvr_13^0'=__disjvr_13^post54, head_16^0'=head_16^post54, __disjvr_23^0'=__disjvr_23^post54, temp0_32^0'=temp0_32^post54, r_149^0'=r_149^post54, y_26^0'=y_26^post54, __disjvr_7^0'=__disjvr_7^post54, rcd_320^0'=rcd_320^post54, rcd_71^0'=rcd_71^post54, __disjvr_18^0'=__disjvr_18^post54, i_198^0'=i_198^post54, __disjvr_28^0'=__disjvr_28^post54, x_207^0'=x_207^post54, rcd_185^0'=rcd_185^post54, __disjvr_10^0'=__disjvr_10^post54, a_279^0'=a_279^post54, t_23^0'=t_23^post54, __disjvr_22^0'=__disjvr_22^post54, x_SLAM_f_20^0'=x_SLAM_f_20^post54, __disjvr_4^0'=__disjvr_4^post54, rcd_284^0'=rcd_284^post54, __disjvr_15^0'=__disjvr_15^post54, head_SLAM_f_30^0'=head_SLAM_f_30^post54, __disjvr_25^0'=__disjvr_25^post54, temp_37^0'=temp_37^post54, r_41^0'=r_41^post54, __disjvr_9^0'=__disjvr_9^post54, a_174^0'=a_174^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post54, __disjvr_1^0'=__disjvr_1^post54, len_159^0'=len_159^post54, __disjvr_2^0'=__disjvr_2^post54, rcd_194^0'=rcd_194^post54, __disjvr_12^0'=__disjvr_12^post54, f_202^0'=f_202^post54, temp0_19^0'=temp0_19^post54, nondet_12^0'=nondet_12^post54, y_21^0'=y_21^post54, __disjvr_6^0'=__disjvr_6^post54, rcd_308^0'=rcd_308^post54, rcd_45^0'=rcd_45^post54, __disjvr_17^0'=__disjvr_17^post54, i_130^0'=i_130^post54, __disjvr_27^0'=__disjvr_27^post54, x_154^0'=x_154^post54, rcd_114^0'=rcd_114^post54, (-r_149^post54+r_149^0 == 0 /\ -x_SLAM_f_20^post54+x_SLAM_f_20^0 == 0 /\ -a_222^post54+a_222^0 == 0 /\ -rcd_320^post54+rcd_320^0 == 0 /\ -x_154^post54+x_154^0 == 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ -tmp_35^post54+tmp_35^0 == 0 /\ __disjvr_7^0-__disjvr_7^post54 == 0 /\ r_192^0-r_192^post54 == 0 /\ length_29^0-length_29^post54 == 0 /\ tail_15^0-tail_15^post54 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post54 == 0 /\ head_16^0-head_16^post54 == 0 /\ -rcd_308^post54+rcd_308^0 == 0 /\ -rcd_194^post54+rcd_194^0 == 0 /\ __disjvr_26^0-__disjvr_26^post54 == 0 /\ i_112^0-i_112^post54 == 0 /\ -a_174^post54+a_174^0 == 0 /\ -x_207^post54+x_207^0 == 0 /\ -y_21^post54+y_21^0 == 0 /\ __disjvr_12^0-__disjvr_12^post54 == 0 /\ -head_SLAM_f_30^post54+head_SLAM_f_30^0 == 0 /\ -x_SLAM_f_25^post54+x_SLAM_f_25^0 == 0 /\ rcd_288^0-rcd_288^post54 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ __disjvr_16^0-__disjvr_16^post54 == 0 /\ -y_26^post54+y_26^0 == 0 /\ i_31^0-i_31^post54 == 0 /\ temp0_32^0-temp0_32^post54 == 0 /\ head_33^0-head_33^post54 == 0 /\ x_27^0-x_27^post54 == 0 /\ -__disjvr_6^post54+__disjvr_6^0 == 0 /\ len_159^0-len_159^post54 == 0 /\ rcd_220^0-rcd_220^post54 == 0 /\ -rcd_45^post54+rcd_45^0 == 0 /\ rcd_193^0-rcd_193^post54 == 0 /\ -__disjvr_15^post54+__disjvr_15^0 == 0 /\ __disjvr_19^0-__disjvr_19^post54 == 0 /\ -__disjvr_30^post54+__disjvr_30^0 == 0 /\ -temp0_19^post54+temp0_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post54+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -nondet_12^post54+nondet_12^0 == 0 /\ -__disjvr_1^post54+__disjvr_1^0 == 0 /\ a_253^0-a_253^post54 == 0 /\ __disjvr_21^0-__disjvr_21^post54 == 0 /\ -rcd_106^post54+rcd_106^0 == 0 /\ -__disjvr_13^post54+__disjvr_13^0 == 0 /\ -rcd_71^post54+rcd_71^0 == 0 /\ -t_23^post54+t_23^0 == 0 /\ temp_37^0-temp_37^post54 == 0 /\ -r_41^post54+r_41^0 == 0 /\ -rcd_114^post54+rcd_114^0 == 0 /\ __disjvr_8^0-__disjvr_8^post54 == 0 /\ __disjvr_22^0-__disjvr_22^post54 == 0 /\ a_309^0-a_309^post54 == 0 /\ __disjvr_23^0-__disjvr_23^post54 == 0 /\ a_139^0-a_139^post54 == 0 /\ __disjvr_11^0-__disjvr_11^post54 == 0 /\ -__disjvr_14^post54+__disjvr_14^0 == 0 /\ -x_22^post54+x_22^0 == 0 /\ -i_130^post54+i_130^0 == 0 /\ -len_221^post54+len_221^0 == 0 /\ rcd_185^0-rcd_185^post54 == 0 /\ -a_279^post54+a_279^0 == 0 /\ -__disjvr_28^post54+__disjvr_28^0 == 0 /\ -__disjvr_25^post54+__disjvr_25^0 == 0 /\ __disjvr_0^0-__disjvr_0^post54 == 0 /\ result_11^0-result_11^post54 == 0 /\ -__disjvr_9^post54+__disjvr_9^0 == 0 /\ -__disjvr_27^post54+__disjvr_27^0 == 0 /\ __disjvr_5^0-__disjvr_5^post54 == 0 /\ rcd_199^0-rcd_199^post54 == 0 /\ -__disjvr_23^0+__disjvr_23^post54 == 0 /\ -__disjvr_2^post54+__disjvr_2^0 == 0 /\ rcd_284^0-rcd_284^post54 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post54 == 0 /\ -__disjvr_4^post54+__disjvr_4^0 == 0 /\ -i_198^post54+i_198^0 == 0 /\ -f_202^post54+f_202^0 == 0 /\ __disjvr_10^0-__disjvr_10^post54 == 0 /\ -__disjvr_18^post54+__disjvr_18^0 == 0 /\ __disjvr_29^0-__disjvr_29^post54 == 0 /\ temp_36^0-temp_36^post54 == 0 /\ __disjvr_20^0-__disjvr_20^post54 == 0), cost: 1 55: l51 -> l42 : __disjvr_0^0'=__disjvr_0^post55, a_253^0'=a_253^post55, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post55, __disjvr_21^0'=__disjvr_21^post55, x_27^0'=x_27^post55, __disjvr_3^0'=__disjvr_3^post55, rcd_220^0'=rcd_220^post55, __disjvr_14^0'=__disjvr_14^post55, head_33^0'=head_33^post55, __disjvr_24^0'=__disjvr_24^post55, temp_36^0'=temp_36^post55, r_192^0'=r_192^post55, __disjvr_8^0'=__disjvr_8^post55, a_139^0'=a_139^post55, result_11^0'=result_11^post55, __disjvr_19^0'=__disjvr_19^post55, i_31^0'=i_31^post55, __disjvr_29^0'=__disjvr_29^post55, x_22^0'=x_22^post55, rcd_193^0'=rcd_193^post55, __disjvr_11^0'=__disjvr_11^post55, a_309^0'=a_309^post55, tail_15^0'=tail_15^post55, length_29^0'=length_29^post55, x_SLAM_f_25^0'=x_SLAM_f_25^post55, __disjvr_5^0'=__disjvr_5^post55, rcd_288^0'=rcd_288^post55, __disjvr_16^0'=__disjvr_16^post55, i_112^0'=i_112^post55, __disjvr_26^0'=__disjvr_26^post55, tmp_35^0'=tmp_35^post55, rcd_106^0'=rcd_106^post55, a_222^0'=a_222^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post55, __disjvr_20^0'=__disjvr_20^post55, len_221^0'=len_221^post55, __disjvr_30^0'=__disjvr_30^post55, rcd_199^0'=rcd_199^post55, __disjvr_13^0'=__disjvr_13^post55, head_16^0'=head_16^post55, __disjvr_23^0'=__disjvr_23^post55, temp0_32^0'=temp0_32^post55, r_149^0'=r_149^post55, y_26^0'=y_26^post55, __disjvr_7^0'=__disjvr_7^post55, rcd_320^0'=rcd_320^post55, rcd_71^0'=rcd_71^post55, __disjvr_18^0'=__disjvr_18^post55, i_198^0'=i_198^post55, __disjvr_28^0'=__disjvr_28^post55, x_207^0'=x_207^post55, rcd_185^0'=rcd_185^post55, __disjvr_10^0'=__disjvr_10^post55, a_279^0'=a_279^post55, t_23^0'=t_23^post55, __disjvr_22^0'=__disjvr_22^post55, x_SLAM_f_20^0'=x_SLAM_f_20^post55, __disjvr_4^0'=__disjvr_4^post55, rcd_284^0'=rcd_284^post55, __disjvr_15^0'=__disjvr_15^post55, head_SLAM_f_30^0'=head_SLAM_f_30^post55, __disjvr_25^0'=__disjvr_25^post55, temp_37^0'=temp_37^post55, r_41^0'=r_41^post55, __disjvr_9^0'=__disjvr_9^post55, a_174^0'=a_174^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post55, __disjvr_1^0'=__disjvr_1^post55, len_159^0'=len_159^post55, __disjvr_2^0'=__disjvr_2^post55, rcd_194^0'=rcd_194^post55, __disjvr_12^0'=__disjvr_12^post55, f_202^0'=f_202^post55, temp0_19^0'=temp0_19^post55, nondet_12^0'=nondet_12^post55, y_21^0'=y_21^post55, __disjvr_6^0'=__disjvr_6^post55, rcd_308^0'=rcd_308^post55, rcd_45^0'=rcd_45^post55, __disjvr_17^0'=__disjvr_17^post55, i_130^0'=i_130^post55, __disjvr_27^0'=__disjvr_27^post55, x_154^0'=x_154^post55, rcd_114^0'=rcd_114^post55, (__disjvr_14^0-__disjvr_14^post55 == 0 /\ -len_221^post55+len_221^0 == 0 /\ -x_207^post55+x_207^0 == 0 /\ -__disjvr_25^post55+__disjvr_25^0 == 0 /\ r_192^0-r_192^post55 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post55 == 0 /\ __disjvr_29^0-__disjvr_29^post55 == 0 /\ -rcd_194^post55+rcd_194^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post55 == 0 /\ -i_130^post55+i_130^0 == 0 /\ __disjvr_26^0-__disjvr_26^post55 == 0 /\ -temp_37^post55+temp_37^0 == 0 /\ __disjvr_22^0-__disjvr_22^post55 == 0 /\ a_253^0-a_253^post55 == 0 /\ -y_21^post55+y_21^0 == 0 /\ -__disjvr_27^post55+__disjvr_27^0 == 0 /\ -__disjvr_12^post55+__disjvr_12^0 == 0 /\ rcd_185^0-rcd_185^post55 == 0 /\ -rcd_320^post55+rcd_320^0 == 0 /\ tail_15^0-tail_15^post55 == 0 /\ __disjvr_19^0-__disjvr_19^post55 == 0 /\ -a_222^post55+a_222^0 == 0 /\ -rcd_199^post55+rcd_199^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ i_112^0-i_112^post55 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_288^0-rcd_288^post55 == 0 /\ rcd_71^0-rcd_71^post55 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -rcd_308^post55+rcd_308^0 == 0 /\ -rcd_284^post55+rcd_284^0 == 0 /\ rcd_220^0-rcd_220^post55 == 0 /\ -__disjvr_20^post55+__disjvr_20^0 == 0 /\ __disjvr_16^0-__disjvr_16^post55 == 0 /\ temp_36^0-temp_36^post55 == 0 /\ -length_29^post55+length_29^0 == 0 /\ __disjvr_24^0-__disjvr_24^post55 == 0 /\ -__disjvr_30^post55+__disjvr_30^0 == 0 /\ __disjvr_7^0-__disjvr_7^post55 == 0 /\ -__disjvr_17^post55+__disjvr_17^0 == 0 /\ i_31^0-i_31^post55 == 0 /\ __disjvr_21^0-__disjvr_21^post55 == 0 /\ -head_SLAM_f_30^post55+head_SLAM_f_30^0 == 0 /\ -nondet_12^post55+nondet_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post55 == 0 /\ -x_154^post55+x_154^0 == 0 /\ -__disjvr_23^post55+__disjvr_23^0 == 0 /\ -rcd_106^post55+rcd_106^0 == 0 /\ -__disjvr_6^post55+__disjvr_6^0 == 0 /\ -a_139^post55+a_139^0 == 0 /\ __disjvr_3^0-__disjvr_3^post55 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post55 == 0 /\ result_11^0-result_11^post55 == 0 /\ -__disjvr_28^post55+__disjvr_28^0 == 0 /\ __disjvr_11^0-__disjvr_11^post55 == 0 /\ -__disjvr_1^post55+__disjvr_1^0 == 0 /\ -temp0_19^post55+temp0_19^0 == 0 /\ __disjvr_8^0-__disjvr_8^post55 == 0 /\ -f_202^post55+f_202^0 == 0 /\ -x_27^post55+x_27^0 == 0 /\ -head_16^post55+head_16^0 == 0 /\ -rcd_45^post55+rcd_45^0 == 0 /\ head_33^0-head_33^post55 == 0 /\ __disjvr_4^0-__disjvr_4^post55 == 0 /\ -t_23^post55+t_23^0 == 0 /\ y_26^0-y_26^post55 == 0 /\ -__disjvr_15^post55+__disjvr_15^0 == 0 /\ __disjvr_5^0-__disjvr_5^post55 == 0 /\ -r_149^post55+r_149^0 == 0 /\ -__disjvr_9^post55+__disjvr_9^0 == 0 /\ rcd_193^0-rcd_193^post55 == 0 /\ -r_41^post55+r_41^0 == 0 /\ -i_198^post55+i_198^0 == 0 /\ x_22^0-x_22^post55 == 0 /\ -tmp_35^post55+tmp_35^0 == 0 /\ -__disjvr_2^post55+__disjvr_2^0 == 0 /\ __disjvr_10^0-__disjvr_10^post55 == 0 /\ a_309^0-a_309^post55 == 0 /\ -__disjvr_18^post55+__disjvr_18^0 == 0 /\ -a_279^post55+a_279^0 == 0 /\ __disjvr_13^0-__disjvr_13^post55 == 0 /\ -a_174^post55+a_174^0 == 0 /\ -rcd_114^post55+rcd_114^0 == 0 /\ -len_159^post55+len_159^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ temp0_32^0-temp0_32^post55 == 0), cost: 1 57: l53 -> l54 : __disjvr_0^0'=__disjvr_0^post57, a_253^0'=a_253^post57, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post57, __disjvr_21^0'=__disjvr_21^post57, x_27^0'=x_27^post57, __disjvr_3^0'=__disjvr_3^post57, rcd_220^0'=rcd_220^post57, __disjvr_14^0'=__disjvr_14^post57, head_33^0'=head_33^post57, __disjvr_24^0'=__disjvr_24^post57, temp_36^0'=temp_36^post57, r_192^0'=r_192^post57, __disjvr_8^0'=__disjvr_8^post57, a_139^0'=a_139^post57, result_11^0'=result_11^post57, __disjvr_19^0'=__disjvr_19^post57, i_31^0'=i_31^post57, __disjvr_29^0'=__disjvr_29^post57, x_22^0'=x_22^post57, rcd_193^0'=rcd_193^post57, __disjvr_11^0'=__disjvr_11^post57, a_309^0'=a_309^post57, tail_15^0'=tail_15^post57, length_29^0'=length_29^post57, x_SLAM_f_25^0'=x_SLAM_f_25^post57, __disjvr_5^0'=__disjvr_5^post57, rcd_288^0'=rcd_288^post57, __disjvr_16^0'=__disjvr_16^post57, i_112^0'=i_112^post57, __disjvr_26^0'=__disjvr_26^post57, tmp_35^0'=tmp_35^post57, rcd_106^0'=rcd_106^post57, a_222^0'=a_222^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post57, __disjvr_20^0'=__disjvr_20^post57, len_221^0'=len_221^post57, __disjvr_30^0'=__disjvr_30^post57, rcd_199^0'=rcd_199^post57, __disjvr_13^0'=__disjvr_13^post57, head_16^0'=head_16^post57, __disjvr_23^0'=__disjvr_23^post57, temp0_32^0'=temp0_32^post57, r_149^0'=r_149^post57, y_26^0'=y_26^post57, __disjvr_7^0'=__disjvr_7^post57, rcd_320^0'=rcd_320^post57, rcd_71^0'=rcd_71^post57, __disjvr_18^0'=__disjvr_18^post57, i_198^0'=i_198^post57, __disjvr_28^0'=__disjvr_28^post57, x_207^0'=x_207^post57, rcd_185^0'=rcd_185^post57, __disjvr_10^0'=__disjvr_10^post57, a_279^0'=a_279^post57, t_23^0'=t_23^post57, __disjvr_22^0'=__disjvr_22^post57, x_SLAM_f_20^0'=x_SLAM_f_20^post57, __disjvr_4^0'=__disjvr_4^post57, rcd_284^0'=rcd_284^post57, __disjvr_15^0'=__disjvr_15^post57, head_SLAM_f_30^0'=head_SLAM_f_30^post57, __disjvr_25^0'=__disjvr_25^post57, temp_37^0'=temp_37^post57, r_41^0'=r_41^post57, __disjvr_9^0'=__disjvr_9^post57, a_174^0'=a_174^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post57, __disjvr_1^0'=__disjvr_1^post57, len_159^0'=len_159^post57, __disjvr_2^0'=__disjvr_2^post57, rcd_194^0'=rcd_194^post57, __disjvr_12^0'=__disjvr_12^post57, f_202^0'=f_202^post57, temp0_19^0'=temp0_19^post57, nondet_12^0'=nondet_12^post57, y_21^0'=y_21^post57, __disjvr_6^0'=__disjvr_6^post57, rcd_308^0'=rcd_308^post57, rcd_45^0'=rcd_45^post57, __disjvr_17^0'=__disjvr_17^post57, i_130^0'=i_130^post57, __disjvr_27^0'=__disjvr_27^post57, x_154^0'=x_154^post57, rcd_114^0'=rcd_114^post57, (-rcd_106^post57+rcd_106^0 == 0 /\ __disjvr_16^0-__disjvr_16^post57 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ __disjvr_10^0-__disjvr_10^post57 == 0 /\ i_31^0-i_31^post57 == 0 /\ -__disjvr_1^post57+__disjvr_1^0 == 0 /\ rcd_71^0-rcd_71^post57 == 0 /\ head_33^0-head_33^post57 == 0 /\ -__disjvr_13^post57+__disjvr_13^0 == 0 /\ -r_41^post57+r_41^0 == 0 /\ __disjvr_0^0-__disjvr_0^post57 == 0 /\ -rcd_114^post57+rcd_114^0 == 0 /\ t_23^0-t_23^post57 == 0 /\ len_159^0-len_159^post57 == 0 /\ __disjvr_5^0-__disjvr_5^post57 == 0 /\ __disjvr_3^0-__disjvr_3^post57 == 0 /\ rcd_193^0-rcd_193^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post57 == 0 /\ a_174^0-a_174^post57 == 0 /\ __disjvr_20^0-__disjvr_20^post57 == 0 /\ -__disjvr_24^0+__disjvr_24^post57 == 0 /\ -x_SLAM_f_25^post57+x_SLAM_f_25^0 == 0 /\ -i_130^post57+i_130^0 == 0 /\ -__disjvr_4^post57+__disjvr_4^0 == 0 /\ i_198^0-i_198^post57 == 0 /\ -len_221^post57+len_221^0 == 0 /\ tmp_35^0-tmp_35^post57 == 0 /\ -__disjvr_28^post57+__disjvr_28^0 == 0 /\ -temp_37^post57+temp_37^0 == 0 /\ __disjvr_7^0-__disjvr_7^post57 == 0 /\ -f_202^post57+f_202^0 == 0 /\ length_29^0-length_29^post57 == 0 /\ __disjvr_26^0-__disjvr_26^post57 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post57 == 0 /\ -__disjvr_9^post57+__disjvr_9^0 == 0 /\ -__disjvr_27^post57+__disjvr_27^0 == 0 /\ -__disjvr_25^post57+__disjvr_25^0 == 0 /\ -__disjvr_2^post57+__disjvr_2^0 == 0 /\ __disjvr_14^0-__disjvr_14^post57 == 0 /\ rcd_194^0-rcd_194^post57 == 0 /\ __disjvr_23^0-__disjvr_23^post57 == 0 /\ -a_279^post57+a_279^0 == 0 /\ -result_11^post57+result_11^0 == 0 /\ -__disjvr_18^post57+__disjvr_18^0 == 0 /\ a_309^0-a_309^post57 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0 /\ -head_SLAM_f_30^post57+head_SLAM_f_30^0 == 0 /\ -r_192^post57+r_192^0 == 0 /\ rcd_288^0-rcd_288^post57 == 0 /\ -x_154^post57+x_154^0 == 0 /\ -rcd_320^post57+rcd_320^0 == 0 /\ -a_222^post57+a_222^0 == 0 /\ -x_SLAM_f_20^post57+x_SLAM_f_20^0 == 0 /\ -r_149^post57+r_149^0 == 0 /\ temp0_32^0-temp0_32^post57 == 0 /\ x_27^0-x_27^post57 == 0 /\ -rcd_308^post57+rcd_308^0 == 0 /\ rcd_220^0-rcd_220^post57 == 0 /\ -rcd_185^post57+rcd_185^0 == 0 /\ rcd_199^0-rcd_199^post57 == 0 /\ rcd_284^0-rcd_284^post57 == 0 /\ -x_207^post57+x_207^0 == 0 /\ __disjvr_19^0-__disjvr_19^post57 == 0 /\ -y_21^post57+y_21^0 == 0 /\ __disjvr_29^0-__disjvr_29^post57 == 0 /\ temp_36^0-temp_36^post57 == 0 /\ -y_26^post57+y_26^0 == 0 /\ -rcd_45^post57+rcd_45^0 == 0 /\ a_253^0-a_253^post57 == 0 /\ __disjvr_21^0-__disjvr_21^post57 == 0 /\ tail_15^0-tail_15^post57 == 0 /\ -__disjvr_6^post57+__disjvr_6^0 == 0 /\ -head_16^post57+head_16^0 == 0 /\ __disjvr_8^0-__disjvr_8^post57 == 0 /\ -__disjvr_15^post57+__disjvr_15^0 == 0 /\ -__disjvr_12^post57+__disjvr_12^0 == 0 /\ __disjvr_22^0-__disjvr_22^post57 == 0 /\ -temp0_19^post57+temp0_19^0 == 0 /\ i_112^0-i_112^post57 == 0 /\ a_139^0-a_139^post57 == 0 /\ __disjvr_11^0-__disjvr_11^post57 == 0 /\ -__disjvr_30^post57+__disjvr_30^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post57+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_22^0-x_22^post57 == 0 /\ -nondet_12^post57+nondet_12^0 == 0), cost: 1 58: l54 -> l55 : __disjvr_0^0'=__disjvr_0^post58, a_253^0'=a_253^post58, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post58, __disjvr_21^0'=__disjvr_21^post58, x_27^0'=x_27^post58, __disjvr_3^0'=__disjvr_3^post58, rcd_220^0'=rcd_220^post58, __disjvr_14^0'=__disjvr_14^post58, head_33^0'=head_33^post58, __disjvr_24^0'=__disjvr_24^post58, temp_36^0'=temp_36^post58, r_192^0'=r_192^post58, __disjvr_8^0'=__disjvr_8^post58, a_139^0'=a_139^post58, result_11^0'=result_11^post58, __disjvr_19^0'=__disjvr_19^post58, i_31^0'=i_31^post58, __disjvr_29^0'=__disjvr_29^post58, x_22^0'=x_22^post58, rcd_193^0'=rcd_193^post58, __disjvr_11^0'=__disjvr_11^post58, a_309^0'=a_309^post58, tail_15^0'=tail_15^post58, length_29^0'=length_29^post58, x_SLAM_f_25^0'=x_SLAM_f_25^post58, __disjvr_5^0'=__disjvr_5^post58, rcd_288^0'=rcd_288^post58, __disjvr_16^0'=__disjvr_16^post58, i_112^0'=i_112^post58, __disjvr_26^0'=__disjvr_26^post58, tmp_35^0'=tmp_35^post58, rcd_106^0'=rcd_106^post58, a_222^0'=a_222^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post58, __disjvr_20^0'=__disjvr_20^post58, len_221^0'=len_221^post58, __disjvr_30^0'=__disjvr_30^post58, rcd_199^0'=rcd_199^post58, __disjvr_13^0'=__disjvr_13^post58, head_16^0'=head_16^post58, __disjvr_23^0'=__disjvr_23^post58, temp0_32^0'=temp0_32^post58, r_149^0'=r_149^post58, y_26^0'=y_26^post58, __disjvr_7^0'=__disjvr_7^post58, rcd_320^0'=rcd_320^post58, rcd_71^0'=rcd_71^post58, __disjvr_18^0'=__disjvr_18^post58, i_198^0'=i_198^post58, __disjvr_28^0'=__disjvr_28^post58, x_207^0'=x_207^post58, rcd_185^0'=rcd_185^post58, __disjvr_10^0'=__disjvr_10^post58, a_279^0'=a_279^post58, t_23^0'=t_23^post58, __disjvr_22^0'=__disjvr_22^post58, x_SLAM_f_20^0'=x_SLAM_f_20^post58, __disjvr_4^0'=__disjvr_4^post58, rcd_284^0'=rcd_284^post58, __disjvr_15^0'=__disjvr_15^post58, head_SLAM_f_30^0'=head_SLAM_f_30^post58, __disjvr_25^0'=__disjvr_25^post58, temp_37^0'=temp_37^post58, r_41^0'=r_41^post58, __disjvr_9^0'=__disjvr_9^post58, a_174^0'=a_174^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post58, __disjvr_1^0'=__disjvr_1^post58, len_159^0'=len_159^post58, __disjvr_2^0'=__disjvr_2^post58, rcd_194^0'=rcd_194^post58, __disjvr_12^0'=__disjvr_12^post58, f_202^0'=f_202^post58, temp0_19^0'=temp0_19^post58, nondet_12^0'=nondet_12^post58, y_21^0'=y_21^post58, __disjvr_6^0'=__disjvr_6^post58, rcd_308^0'=rcd_308^post58, rcd_45^0'=rcd_45^post58, __disjvr_17^0'=__disjvr_17^post58, i_130^0'=i_130^post58, __disjvr_27^0'=__disjvr_27^post58, x_154^0'=x_154^post58, rcd_114^0'=rcd_114^post58, (0 == 0 /\ -__disjvr_6^post58+__disjvr_6^0 == 0 /\ -__disjvr_28^post58+__disjvr_28^0 == 0 /\ rcd_194^0-rcd_194^post58 == 0 /\ length_29^0-length_29^post58 == 0 /\ __disjvr_0^0-__disjvr_0^post58 == 0 /\ temp_36^0-temp_36^post58 == 0 /\ x_27^0-x_27^post58 == 0 /\ -__disjvr_1^post58+__disjvr_1^0 == 0 /\ -temp0_32^post58+temp0_32^0 == 0 /\ -temp0_19^post58+temp0_19^0 == 0 /\ __disjvr_24^0-__disjvr_24^post58 == 0 /\ a_309^0-a_309^post58 == 0 /\ rcd_193^0-rcd_193^post58 == 0 /\ -rcd_220^post58+rcd_45^0 <= 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_27^0+f_202^0 <= 0 /\ -f_202^post58+f_202^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_31^0-i_31^post58 == 0 /\ -t_23^post58+t_23^0 == 0 /\ -rcd_45^post58+rcd_45^0 == 0 /\ -head_16^post58+head_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post58 == 0 /\ x_SLAM_f_25^0-head_16^0 <= 0 /\ -__disjvr_2^post58+__disjvr_2^0 == 0 /\ a_174^0-a_174^post58 == 0 /\ -r_41^post58+r_41^0 == 0 /\ __disjvr_29^0-__disjvr_29^post58 == 0 /\ -__disjvr_16^post58+__disjvr_16^0 == 0 /\ -__disjvr_9^post58+__disjvr_9^0 == 0 /\ -1-a_222^post58+a_174^0 <= 0 /\ -len_159^post58+len_159^0 == 0 /\ -tmp_35^post58+tmp_35^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post58 == 0 /\ __disjvr_12^0-__disjvr_12^post58 == 0 /\ __disjvr_18^0-__disjvr_18^post58 == 0 /\ i_198^0-i_198^post58 == 0 /\ rcd_220^post58-rcd_45^0 <= 0 /\ y_26^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_27^0-f_202^0 <= 0 /\ -a_279^post58+a_279^0 == 0 /\ -rcd_114^post58+rcd_114^0 == 0 /\ head_33^0-head_33^post58 == 0 /\ -1+len_221^post58-len_159^0 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_106^0-rcd_106^post58 == 0 /\ __disjvr_19^0-__disjvr_19^post58 == 0 /\ tail_15^0-tail_15^post58 == 0 /\ -__disjvr_11^post58+__disjvr_11^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 <= 0 /\ -r_149^post58+r_149^0 == 0 /\ rcd_288^0-rcd_288^post58 == 0 /\ rcd_71^0-rcd_71^post58 == 0 /\ -x_207^post58+x_207^0 == 0 /\ -__disjvr_25^post58+__disjvr_25^0 == 0 /\ -__disjvr_10^post58+__disjvr_10^0 == 0 /\ x_22^0-x_22^post58 == 0 /\ __disjvr_21^0-__disjvr_21^post58 == 0 /\ __disjvr_13^0-__disjvr_13^post58 == 0 /\ -i_130^post58+i_130^0 == 0 /\ __disjvr_20^0-__disjvr_20^post58 == 0 /\ -y_21^post58+y_21^0 == 0 /\ __disjvr_7^0-__disjvr_7^post58 == 0 /\ -temp_37^post58+temp_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_320^post58+rcd_320^0 == 0 /\ -__disjvr_27^post58+__disjvr_27^0 == 0 /\ -r_192^post58+r_192^0 == 0 /\ -__disjvr_22^post58+__disjvr_22^0 == 0 /\ -tail_15^0+y_26^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post58 == 0 /\ a_139^0-a_139^post58 == 0 /\ __disjvr_3^0-__disjvr_3^post58 == 0 /\ rcd_199^0-rcd_199^post58 == 0 /\ __disjvr_23^0-__disjvr_23^post58 == 0 /\ result_11^0-result_11^post58 == 0 /\ __disjvr_14^0-__disjvr_14^post58 == 0 /\ -rcd_284^post58+rcd_284^0 == 0 /\ __disjvr_15^0-__disjvr_15^post58 == 0 /\ -rcd_308^post58+rcd_308^0 == 0 /\ 1+a_222^post58-a_174^0 <= 0 /\ __disjvr_26^0-__disjvr_26^post58 == 0 /\ -__disjvr_17^post58+__disjvr_17^0 == 0 /\ -x_SLAM_f_20^post58+x_SLAM_f_20^0 == 0 /\ -__disjvr_30^post58+__disjvr_30^0 == 0 /\ a_253^0-a_253^post58 == 0 /\ __disjvr_8^0-__disjvr_8^post58 == 0 /\ rcd_185^0-rcd_185^post58 == 0 /\ 1-len_221^post58+len_159^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post58 == 0 /\ -head_SLAM_f_30^post58+head_SLAM_f_30^0 == 0 /\ -nondet_12^post58+nondet_12^0 == 0 /\ -x_154^post58+x_154^0 == 0 /\ tail_15^0-y_26^0 <= 0 /\ i_112^0-i_112^post58 == 0 /\ y_26^0-y_26^post58 == 0 /\ __disjvr_5^0-__disjvr_5^post58 == 0), cost: 1 59: l55 -> l56 : __disjvr_0^0'=__disjvr_0^post59, a_253^0'=a_253^post59, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post59, __disjvr_21^0'=__disjvr_21^post59, x_27^0'=x_27^post59, __disjvr_3^0'=__disjvr_3^post59, rcd_220^0'=rcd_220^post59, __disjvr_14^0'=__disjvr_14^post59, head_33^0'=head_33^post59, __disjvr_24^0'=__disjvr_24^post59, temp_36^0'=temp_36^post59, r_192^0'=r_192^post59, __disjvr_8^0'=__disjvr_8^post59, a_139^0'=a_139^post59, result_11^0'=result_11^post59, __disjvr_19^0'=__disjvr_19^post59, i_31^0'=i_31^post59, __disjvr_29^0'=__disjvr_29^post59, x_22^0'=x_22^post59, rcd_193^0'=rcd_193^post59, __disjvr_11^0'=__disjvr_11^post59, a_309^0'=a_309^post59, tail_15^0'=tail_15^post59, length_29^0'=length_29^post59, x_SLAM_f_25^0'=x_SLAM_f_25^post59, __disjvr_5^0'=__disjvr_5^post59, rcd_288^0'=rcd_288^post59, __disjvr_16^0'=__disjvr_16^post59, i_112^0'=i_112^post59, __disjvr_26^0'=__disjvr_26^post59, tmp_35^0'=tmp_35^post59, rcd_106^0'=rcd_106^post59, a_222^0'=a_222^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post59, __disjvr_20^0'=__disjvr_20^post59, len_221^0'=len_221^post59, __disjvr_30^0'=__disjvr_30^post59, rcd_199^0'=rcd_199^post59, __disjvr_13^0'=__disjvr_13^post59, head_16^0'=head_16^post59, __disjvr_23^0'=__disjvr_23^post59, temp0_32^0'=temp0_32^post59, r_149^0'=r_149^post59, y_26^0'=y_26^post59, __disjvr_7^0'=__disjvr_7^post59, rcd_320^0'=rcd_320^post59, rcd_71^0'=rcd_71^post59, __disjvr_18^0'=__disjvr_18^post59, i_198^0'=i_198^post59, __disjvr_28^0'=__disjvr_28^post59, x_207^0'=x_207^post59, rcd_185^0'=rcd_185^post59, __disjvr_10^0'=__disjvr_10^post59, a_279^0'=a_279^post59, t_23^0'=t_23^post59, __disjvr_22^0'=__disjvr_22^post59, x_SLAM_f_20^0'=x_SLAM_f_20^post59, __disjvr_4^0'=__disjvr_4^post59, rcd_284^0'=rcd_284^post59, __disjvr_15^0'=__disjvr_15^post59, head_SLAM_f_30^0'=head_SLAM_f_30^post59, __disjvr_25^0'=__disjvr_25^post59, temp_37^0'=temp_37^post59, r_41^0'=r_41^post59, __disjvr_9^0'=__disjvr_9^post59, a_174^0'=a_174^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post59, __disjvr_1^0'=__disjvr_1^post59, len_159^0'=len_159^post59, __disjvr_2^0'=__disjvr_2^post59, rcd_194^0'=rcd_194^post59, __disjvr_12^0'=__disjvr_12^post59, f_202^0'=f_202^post59, temp0_19^0'=temp0_19^post59, nondet_12^0'=nondet_12^post59, y_21^0'=y_21^post59, __disjvr_6^0'=__disjvr_6^post59, rcd_308^0'=rcd_308^post59, rcd_45^0'=rcd_45^post59, __disjvr_17^0'=__disjvr_17^post59, i_130^0'=i_130^post59, __disjvr_27^0'=__disjvr_27^post59, x_154^0'=x_154^post59, rcd_114^0'=rcd_114^post59, (-__disjvr_30^post59+__disjvr_30^0 == 0 /\ -rcd_308^post59+rcd_308^0 == 0 /\ -tmp_35^post59+tmp_35^0 == 0 /\ i_112^0-i_112^post59 == 0 /\ r_192^0-r_192^post59 == 0 /\ -__disjvr_17^post59+__disjvr_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post59 == 0 /\ -rcd_284^post59+rcd_284^0 == 0 /\ -len_159^post59+len_159^0 == 0 /\ -head_16^post59+head_16^0 == 0 /\ __disjvr_3^0-__disjvr_3^post59 == 0 /\ length_29^0-length_29^post59 == 0 /\ -r_149^post59+r_149^0 == 0 /\ -temp0_32^post59+temp0_32^0 == 0 /\ -__disjvr_2^post59+__disjvr_2^0 == 0 /\ -x_SLAM_f_25^post59+x_SLAM_f_25^0 == 0 /\ -head_SLAM_f_30^post59+head_SLAM_f_30^0 == 0 /\ __disjvr_26^0-__disjvr_26^post59 == 0 /\ -__disjvr_16^post59+__disjvr_16^0 == 0 /\ -x_154^post59+x_154^0 == 0 /\ -a_174^post59+a_174^0 == 0 /\ -nondet_12^post59+nondet_12^0 == 0 /\ rcd_320^0-rcd_320^post59 == 0 /\ -temp0_19^post59+temp0_19^0 == 0 /\ __disjvr_12^0-__disjvr_12^post59 == 0 /\ rcd_288^0-rcd_288^post59 == 0 /\ __disjvr_24^0-__disjvr_24^post59 == 0 /\ x_207^0-x_207^post59 == 0 /\ -__disjvr_6^post59+__disjvr_6^0 == 0 /\ i_31^0-i_31^post59 == 0 /\ head_33^0-head_33^post59 == 0 /\ -y_26^post59+y_26^0 == 0 /\ -rcd_45^post59+rcd_45^0 == 0 /\ -r_41^post59+r_41^0 == 0 /\ -rcd_114^post59+rcd_114^0 == 0 /\ rcd_193^0-rcd_193^post59 == 0 /\ -t_23^post59+t_23^0 == 0 /\ -__disjvr_9^post59+__disjvr_9^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_194^post59+rcd_194^0 == 0 /\ -__disjvr_15^post59+__disjvr_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post59 == 0 /\ -__disjvr_7^post59+__disjvr_7^0 == 0 /\ __disjvr_21^0-__disjvr_21^post59 == 0 /\ __disjvr_13^0-__disjvr_13^post59 == 0 /\ a_253^0-a_253^post59 == 0 /\ -rcd_220^post59+rcd_220^0 == 0 /\ temp_37^0-temp_37^post59 == 0 /\ -__disjvr_27^post59+__disjvr_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post59 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ a_139^0-a_139^post59 == 0 /\ a_222^0-a_222^post59 == 0 /\ len_221^0-len_221^post59 == 0 /\ __disjvr_25^0-__disjvr_25^post59 == 0 /\ __disjvr_0^0-__disjvr_0^post59 == 0 /\ __disjvr_23^0-__disjvr_23^post59 == 0 /\ -__disjvr_4^post59+__disjvr_4^0 == 0 /\ -a_279^post59+a_279^0 == 0 /\ -rcd_106^post59+rcd_106^0 == 0 /\ __disjvr_14^0-__disjvr_14^post59 == 0 /\ rcd_185^0-rcd_185^post59 == 0 /\ -x_22^post59+x_22^0 == 0 /\ __disjvr_11^0-__disjvr_11^post59 == 0 /\ result_11^0-result_11^post59 == 0 /\ -i_130^post59+i_130^0 == 0 /\ -__disjvr_28^post59+__disjvr_28^0 == 0 /\ -__disjvr_22^post59+__disjvr_22^0 == 0 /\ rcd_199^0-rcd_199^post59 == 0 /\ __disjvr_5^0-__disjvr_5^post59 == 0 /\ i_198^0-i_198^post59 == 0 /\ temp_36^0-temp_36^post59 == 0 /\ -__disjvr_25^0+__disjvr_25^post59 == 0 /\ __disjvr_19^0-__disjvr_19^post59 == 0 /\ -x_SLAM_f_20^post59+x_SLAM_f_20^0 == 0 /\ rcd_71^0-rcd_71^post59 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post59 == 0 /\ __disjvr_29^0-__disjvr_29^post59 == 0 /\ -__disjvr_1^post59+__disjvr_1^0 == 0 /\ x_27^0-x_27^post59 == 0 /\ __disjvr_10^0-__disjvr_10^post59 == 0 /\ tail_15^0-tail_15^post59 == 0 /\ -y_21^post59+y_21^0 == 0 /\ -f_202^post59+f_202^0 == 0 /\ -a_309^post59+a_309^0 == 0), cost: 1 60: l56 -> l57 : __disjvr_0^0'=__disjvr_0^post60, a_253^0'=a_253^post60, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post60, __disjvr_21^0'=__disjvr_21^post60, x_27^0'=x_27^post60, __disjvr_3^0'=__disjvr_3^post60, rcd_220^0'=rcd_220^post60, __disjvr_14^0'=__disjvr_14^post60, head_33^0'=head_33^post60, __disjvr_24^0'=__disjvr_24^post60, temp_36^0'=temp_36^post60, r_192^0'=r_192^post60, __disjvr_8^0'=__disjvr_8^post60, a_139^0'=a_139^post60, result_11^0'=result_11^post60, __disjvr_19^0'=__disjvr_19^post60, i_31^0'=i_31^post60, __disjvr_29^0'=__disjvr_29^post60, x_22^0'=x_22^post60, rcd_193^0'=rcd_193^post60, __disjvr_11^0'=__disjvr_11^post60, a_309^0'=a_309^post60, tail_15^0'=tail_15^post60, length_29^0'=length_29^post60, x_SLAM_f_25^0'=x_SLAM_f_25^post60, __disjvr_5^0'=__disjvr_5^post60, rcd_288^0'=rcd_288^post60, __disjvr_16^0'=__disjvr_16^post60, i_112^0'=i_112^post60, __disjvr_26^0'=__disjvr_26^post60, tmp_35^0'=tmp_35^post60, rcd_106^0'=rcd_106^post60, a_222^0'=a_222^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post60, __disjvr_20^0'=__disjvr_20^post60, len_221^0'=len_221^post60, __disjvr_30^0'=__disjvr_30^post60, rcd_199^0'=rcd_199^post60, __disjvr_13^0'=__disjvr_13^post60, head_16^0'=head_16^post60, __disjvr_23^0'=__disjvr_23^post60, temp0_32^0'=temp0_32^post60, r_149^0'=r_149^post60, y_26^0'=y_26^post60, __disjvr_7^0'=__disjvr_7^post60, rcd_320^0'=rcd_320^post60, rcd_71^0'=rcd_71^post60, __disjvr_18^0'=__disjvr_18^post60, i_198^0'=i_198^post60, __disjvr_28^0'=__disjvr_28^post60, x_207^0'=x_207^post60, rcd_185^0'=rcd_185^post60, __disjvr_10^0'=__disjvr_10^post60, a_279^0'=a_279^post60, t_23^0'=t_23^post60, __disjvr_22^0'=__disjvr_22^post60, x_SLAM_f_20^0'=x_SLAM_f_20^post60, __disjvr_4^0'=__disjvr_4^post60, rcd_284^0'=rcd_284^post60, __disjvr_15^0'=__disjvr_15^post60, head_SLAM_f_30^0'=head_SLAM_f_30^post60, __disjvr_25^0'=__disjvr_25^post60, temp_37^0'=temp_37^post60, r_41^0'=r_41^post60, __disjvr_9^0'=__disjvr_9^post60, a_174^0'=a_174^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post60, __disjvr_1^0'=__disjvr_1^post60, len_159^0'=len_159^post60, __disjvr_2^0'=__disjvr_2^post60, rcd_194^0'=rcd_194^post60, __disjvr_12^0'=__disjvr_12^post60, f_202^0'=f_202^post60, temp0_19^0'=temp0_19^post60, nondet_12^0'=nondet_12^post60, y_21^0'=y_21^post60, __disjvr_6^0'=__disjvr_6^post60, rcd_308^0'=rcd_308^post60, rcd_45^0'=rcd_45^post60, __disjvr_17^0'=__disjvr_17^post60, i_130^0'=i_130^post60, __disjvr_27^0'=__disjvr_27^post60, x_154^0'=x_154^post60, rcd_114^0'=rcd_114^post60, (-head_SLAM_f_30^post60+head_SLAM_f_30^0 == 0 /\ -a_222^post60+a_222^0 == 0 /\ tmp_35^0-tmp_35^post60 == 0 /\ __disjvr_21^0-__disjvr_21^post60 == 0 /\ i_198^0-i_198^post60 == 0 /\ -x_154^post60+x_154^0 == 0 /\ a_253^0-a_253^post60 == 0 /\ -x_SLAM_f_20^post60+x_SLAM_f_20^0 == 0 /\ r_192^0-r_192^post60 == 0 /\ tail_15^0-tail_15^post60 == 0 /\ __disjvr_26^0-__disjvr_26^post60 == 0 /\ -rcd_185^post60+rcd_185^0 == 0 /\ __disjvr_22^0-__disjvr_22^post60 == 0 /\ __disjvr_14^0-__disjvr_14^post60 == 0 /\ -__disjvr_7^post60+__disjvr_7^0 == 0 /\ __disjvr_23^0-__disjvr_23^post60 == 0 /\ -rcd_194^post60+rcd_194^0 == 0 /\ -a_174^post60+a_174^0 == 0 /\ a_139^0-a_139^post60 == 0 /\ -x_207^post60+x_207^0 == 0 /\ -y_21^post60+y_21^0 == 0 /\ r_149^0-r_149^post60 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post60 == 0 /\ -rcd_308^post60+rcd_308^0 == 0 /\ -rcd_284^post60+rcd_284^0 == 0 /\ -y_26^post60+y_26^0 == 0 /\ x_22^0-x_22^post60 == 0 /\ rcd_220^0-rcd_220^post60 == 0 /\ rcd_71^0-rcd_71^post60 == 0 /\ __disjvr_0^0-__disjvr_0^post60 == 0 /\ __disjvr_24^0-__disjvr_24^post60 == 0 /\ -__disjvr_29^post60+__disjvr_29^0 == 0 /\ -__disjvr_26^0+__disjvr_26^post60 == 0 /\ -head_16^post60+head_16^0 == 0 /\ __disjvr_5^0-__disjvr_5^post60 == 0 /\ __disjvr_3^0-__disjvr_3^post60 == 0 /\ -rcd_106^post60+rcd_106^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post60 == 0 /\ -__disjvr_17^post60+__disjvr_17^0 == 0 /\ rcd_199^0-rcd_199^post60 == 0 /\ -__disjvr_12^post60+__disjvr_12^0 == 0 /\ -nondet_12^post60+nondet_12^0 == 0 /\ -__disjvr_30^post60+__disjvr_30^0 == 0 /\ -__disjvr_6^post60+__disjvr_6^0 == 0 /\ temp_36^0-temp_36^post60 == 0 /\ __disjvr_20^0-__disjvr_20^post60 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_221^0-len_221^post60 == 0 /\ -a_309^post60+a_309^0 == 0 /\ -r_41^post60+r_41^0 == 0 /\ __disjvr_25^0-__disjvr_25^post60 == 0 /\ -temp0_19^post60+temp0_19^0 == 0 /\ length_29^0-length_29^post60 == 0 /\ -__disjvr_1^post60+__disjvr_1^0 == 0 /\ -x_27^post60+x_27^0 == 0 /\ i_112^0-i_112^post60 == 0 /\ rcd_320^0-rcd_320^post60 == 0 /\ __disjvr_8^0-__disjvr_8^post60 == 0 /\ __disjvr_11^0-__disjvr_11^post60 == 0 /\ -t_23^post60+t_23^0 == 0 /\ -rcd_45^post60+rcd_45^0 == 0 /\ __disjvr_10^0-__disjvr_10^post60 == 0 /\ i_31^0-i_31^post60 == 0 /\ -i_130^post60+i_130^0 == 0 /\ -__disjvr_28^post60+__disjvr_28^0 == 0 /\ head_33^0-head_33^post60 == 0 /\ -temp_37^post60+temp_37^0 == 0 /\ __disjvr_19^0-__disjvr_19^post60 == 0 /\ temp0_32^0-temp0_32^post60 == 0 /\ -f_202^post60+f_202^0 == 0 /\ -__disjvr_4^post60+__disjvr_4^0 == 0 /\ -__disjvr_9^post60+__disjvr_9^0 == 0 /\ rcd_288^0-rcd_288^post60 == 0 /\ -__disjvr_27^post60+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -__disjvr_2^post60+__disjvr_2^0 == 0 /\ -rcd_114^post60+rcd_114^0 == 0 /\ -len_159^post60+len_159^0 == 0 /\ __disjvr_15^0-__disjvr_15^post60 == 0 /\ rcd_193^0-rcd_193^post60 == 0 /\ __disjvr_13^0-__disjvr_13^post60 == 0 /\ -__disjvr_16^post60+__disjvr_16^0 == 0 /\ -a_279^post60+a_279^0 == 0 /\ -result_11^post60+result_11^0 == 0 /\ -__disjvr_18^post60+__disjvr_18^0 == 0), cost: 1 61: l57 -> l52 : __disjvr_0^0'=__disjvr_0^post61, a_253^0'=a_253^post61, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post61, __disjvr_21^0'=__disjvr_21^post61, x_27^0'=x_27^post61, __disjvr_3^0'=__disjvr_3^post61, rcd_220^0'=rcd_220^post61, __disjvr_14^0'=__disjvr_14^post61, head_33^0'=head_33^post61, __disjvr_24^0'=__disjvr_24^post61, temp_36^0'=temp_36^post61, r_192^0'=r_192^post61, __disjvr_8^0'=__disjvr_8^post61, a_139^0'=a_139^post61, result_11^0'=result_11^post61, __disjvr_19^0'=__disjvr_19^post61, i_31^0'=i_31^post61, __disjvr_29^0'=__disjvr_29^post61, x_22^0'=x_22^post61, rcd_193^0'=rcd_193^post61, __disjvr_11^0'=__disjvr_11^post61, a_309^0'=a_309^post61, tail_15^0'=tail_15^post61, length_29^0'=length_29^post61, x_SLAM_f_25^0'=x_SLAM_f_25^post61, __disjvr_5^0'=__disjvr_5^post61, rcd_288^0'=rcd_288^post61, __disjvr_16^0'=__disjvr_16^post61, i_112^0'=i_112^post61, __disjvr_26^0'=__disjvr_26^post61, tmp_35^0'=tmp_35^post61, rcd_106^0'=rcd_106^post61, a_222^0'=a_222^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post61, __disjvr_20^0'=__disjvr_20^post61, len_221^0'=len_221^post61, __disjvr_30^0'=__disjvr_30^post61, rcd_199^0'=rcd_199^post61, __disjvr_13^0'=__disjvr_13^post61, head_16^0'=head_16^post61, __disjvr_23^0'=__disjvr_23^post61, temp0_32^0'=temp0_32^post61, r_149^0'=r_149^post61, y_26^0'=y_26^post61, __disjvr_7^0'=__disjvr_7^post61, rcd_320^0'=rcd_320^post61, rcd_71^0'=rcd_71^post61, __disjvr_18^0'=__disjvr_18^post61, i_198^0'=i_198^post61, __disjvr_28^0'=__disjvr_28^post61, x_207^0'=x_207^post61, rcd_185^0'=rcd_185^post61, __disjvr_10^0'=__disjvr_10^post61, a_279^0'=a_279^post61, t_23^0'=t_23^post61, __disjvr_22^0'=__disjvr_22^post61, x_SLAM_f_20^0'=x_SLAM_f_20^post61, __disjvr_4^0'=__disjvr_4^post61, rcd_284^0'=rcd_284^post61, __disjvr_15^0'=__disjvr_15^post61, head_SLAM_f_30^0'=head_SLAM_f_30^post61, __disjvr_25^0'=__disjvr_25^post61, temp_37^0'=temp_37^post61, r_41^0'=r_41^post61, __disjvr_9^0'=__disjvr_9^post61, a_174^0'=a_174^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post61, __disjvr_1^0'=__disjvr_1^post61, len_159^0'=len_159^post61, __disjvr_2^0'=__disjvr_2^post61, rcd_194^0'=rcd_194^post61, __disjvr_12^0'=__disjvr_12^post61, f_202^0'=f_202^post61, temp0_19^0'=temp0_19^post61, nondet_12^0'=nondet_12^post61, y_21^0'=y_21^post61, __disjvr_6^0'=__disjvr_6^post61, rcd_308^0'=rcd_308^post61, rcd_45^0'=rcd_45^post61, __disjvr_17^0'=__disjvr_17^post61, i_130^0'=i_130^post61, __disjvr_27^0'=__disjvr_27^post61, x_154^0'=x_154^post61, rcd_114^0'=rcd_114^post61, (0 == 0 /\ -__disjvr_10^post61+__disjvr_10^0 == 0 /\ -x_207^post61+x_207^0 == 0 /\ rcd_320^0-rcd_320^post61 == 0 /\ result_11^0-result_11^post61 == 0 /\ __disjvr_23^0-__disjvr_23^post61 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post61+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -rcd_220^0+rcd_45^post61 <= 0 /\ -y_26^post61+y_26^0 == 0 /\ __disjvr_22^0-__disjvr_22^post61 == 0 /\ a_222^0-a_174^post61 <= 0 /\ __disjvr_18^0-__disjvr_18^post61 == 0 /\ -i_130^post61+i_130^0 == 0 /\ i_198^0-i_198^post61 == 0 /\ -len_221^post61+len_221^0 == 0 /\ a_253^0-a_253^post61 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post61 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post61+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_33^0-head_33^post61 == 0 /\ __disjvr_8^0-__disjvr_8^post61 == 0 /\ rcd_106^0-rcd_106^post61 == 0 /\ __disjvr_4^0-__disjvr_4^post61 == 0 /\ rcd_288^0-rcd_288^post61 == 0 /\ -__disjvr_27^post61+__disjvr_27^0 == 0 /\ -__disjvr_5^post61+__disjvr_5^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_12^post61+__disjvr_12^0 == 0 /\ -temp_37^post61+temp_37^0 == 0 /\ -__disjvr_30^post61+__disjvr_30^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -y_21^post61+y_21^0 == 0 /\ f_202^0-f_202^post61 == 0 /\ -rcd_308^post61+rcd_308^0 == 0 /\ __disjvr_0^0-__disjvr_0^post61 == 0 /\ x_22^0-x_22^post61 == 0 /\ -x_SLAM_f_20^post61+x_SLAM_f_20^0 == 0 /\ rcd_220^0-rcd_45^post61 <= 0 /\ __disjvr_13^0-__disjvr_13^post61 == 0 /\ -a_222^post61+a_222^0 == 0 /\ -__disjvr_17^post61+__disjvr_17^0 == 0 /\ x_27^0-x_27^post61 == 0 /\ -a_222^0+a_174^post61 <= 0 /\ r_149^0-r_149^post61 == 0 /\ a_309^0-a_309^post61 == 0 /\ tmp_35^0-tmp_35^post61 == 0 /\ __disjvr_21^0-__disjvr_21^post61 == 0 /\ -head_SLAM_f_30^post61+head_SLAM_f_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post61 == 0 /\ -x_154^post61+x_154^0 == 0 /\ rcd_199^0-rcd_199^post61 == 0 /\ -temp0_19^post61+temp0_19^0 == 0 /\ -__disjvr_28^post61+__disjvr_28^0 == 0 /\ -__disjvr_6^post61+__disjvr_6^0 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ __disjvr_15^0-__disjvr_15^post61 == 0 /\ -__disjvr_14^post61+__disjvr_14^0 == 0 /\ __disjvr_26^0-__disjvr_26^post61 == 0 /\ -rcd_71^post61+rcd_71^0 == 0 /\ -temp0_32^post61+temp0_32^0 == 0 /\ -__disjvr_29^post61+__disjvr_29^0 == 0 /\ -t_23^post61+t_23^0 == 0 /\ __disjvr_19^0-__disjvr_19^post61 == 0 /\ -__disjvr_1^post61+__disjvr_1^0 == 0 /\ -rcd_284^post61+rcd_284^0 == 0 /\ tail_15^0-tail_15^post61 == 0 /\ r_192^0-r_192^post61 == 0 /\ i_112^0-i_112^post61 == 0 /\ -__disjvr_2^post61+__disjvr_2^0 == 0 /\ length_29^0-length_29^post61 == 0 /\ len_221^0-len_159^post61 <= 0 /\ rcd_220^0-rcd_220^post61 == 0 /\ -r_41^post61+r_41^0 == 0 /\ -__disjvr_9^post61+__disjvr_9^0 == 0 /\ -__disjvr_16^post61+__disjvr_16^0 == 0 /\ temp_36^0-temp_36^post61 == 0 /\ __disjvr_20^0-__disjvr_20^post61 == 0 /\ __disjvr_24^0-__disjvr_24^post61 == 0 /\ -rcd_185^post61+rcd_185^0 == 0 /\ rcd_193^0-rcd_193^post61 == 0 /\ -a_279^post61+a_279^0 == 0 /\ __disjvr_7^0-__disjvr_7^post61 == 0 /\ head_16^0-head_16^post61 == 0 /\ __disjvr_25^0-__disjvr_25^post61 == 0 /\ i_31^0-i_31^post61 == 0 /\ -__disjvr_11^post61+__disjvr_11^0 == 0 /\ -rcd_114^post61+rcd_114^0 == 0 /\ a_139^0-a_139^post61 == 0 /\ __disjvr_3^0-__disjvr_3^post61 == 0 /\ -rcd_194^post61+rcd_194^0 == 0 /\ -len_221^0+len_159^post61 <= 0), cost: 1 62: l52 -> l1 : __disjvr_0^0'=__disjvr_0^post62, a_253^0'=a_253^post62, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post62, __disjvr_21^0'=__disjvr_21^post62, x_27^0'=x_27^post62, __disjvr_3^0'=__disjvr_3^post62, rcd_220^0'=rcd_220^post62, __disjvr_14^0'=__disjvr_14^post62, head_33^0'=head_33^post62, __disjvr_24^0'=__disjvr_24^post62, temp_36^0'=temp_36^post62, r_192^0'=r_192^post62, __disjvr_8^0'=__disjvr_8^post62, a_139^0'=a_139^post62, result_11^0'=result_11^post62, __disjvr_19^0'=__disjvr_19^post62, i_31^0'=i_31^post62, __disjvr_29^0'=__disjvr_29^post62, x_22^0'=x_22^post62, rcd_193^0'=rcd_193^post62, __disjvr_11^0'=__disjvr_11^post62, a_309^0'=a_309^post62, tail_15^0'=tail_15^post62, length_29^0'=length_29^post62, x_SLAM_f_25^0'=x_SLAM_f_25^post62, __disjvr_5^0'=__disjvr_5^post62, rcd_288^0'=rcd_288^post62, __disjvr_16^0'=__disjvr_16^post62, i_112^0'=i_112^post62, __disjvr_26^0'=__disjvr_26^post62, tmp_35^0'=tmp_35^post62, rcd_106^0'=rcd_106^post62, a_222^0'=a_222^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post62, __disjvr_20^0'=__disjvr_20^post62, len_221^0'=len_221^post62, __disjvr_30^0'=__disjvr_30^post62, rcd_199^0'=rcd_199^post62, __disjvr_13^0'=__disjvr_13^post62, head_16^0'=head_16^post62, __disjvr_23^0'=__disjvr_23^post62, temp0_32^0'=temp0_32^post62, r_149^0'=r_149^post62, y_26^0'=y_26^post62, __disjvr_7^0'=__disjvr_7^post62, rcd_320^0'=rcd_320^post62, rcd_71^0'=rcd_71^post62, __disjvr_18^0'=__disjvr_18^post62, i_198^0'=i_198^post62, __disjvr_28^0'=__disjvr_28^post62, x_207^0'=x_207^post62, rcd_185^0'=rcd_185^post62, __disjvr_10^0'=__disjvr_10^post62, a_279^0'=a_279^post62, t_23^0'=t_23^post62, __disjvr_22^0'=__disjvr_22^post62, x_SLAM_f_20^0'=x_SLAM_f_20^post62, __disjvr_4^0'=__disjvr_4^post62, rcd_284^0'=rcd_284^post62, __disjvr_15^0'=__disjvr_15^post62, head_SLAM_f_30^0'=head_SLAM_f_30^post62, __disjvr_25^0'=__disjvr_25^post62, temp_37^0'=temp_37^post62, r_41^0'=r_41^post62, __disjvr_9^0'=__disjvr_9^post62, a_174^0'=a_174^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post62, __disjvr_1^0'=__disjvr_1^post62, len_159^0'=len_159^post62, __disjvr_2^0'=__disjvr_2^post62, rcd_194^0'=rcd_194^post62, __disjvr_12^0'=__disjvr_12^post62, f_202^0'=f_202^post62, temp0_19^0'=temp0_19^post62, nondet_12^0'=nondet_12^post62, y_21^0'=y_21^post62, __disjvr_6^0'=__disjvr_6^post62, rcd_308^0'=rcd_308^post62, rcd_45^0'=rcd_45^post62, __disjvr_17^0'=__disjvr_17^post62, i_130^0'=i_130^post62, __disjvr_27^0'=__disjvr_27^post62, x_154^0'=x_154^post62, rcd_114^0'=rcd_114^post62, (i_31^0-i_31^post62 == 0 /\ __disjvr_24^0-__disjvr_24^post62 == 0 /\ x_207^0-x_207^post62 == 0 /\ -rcd_106^post62+rcd_106^0 == 0 /\ head_33^0-head_33^post62 == 0 /\ -__disjvr_25^post62+__disjvr_25^0 == 0 /\ -__disjvr_27^post62+__disjvr_27^0 == 0 /\ -__disjvr_12^post62+__disjvr_12^0 == 0 /\ -t_23^post62+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post62+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ rcd_193^0-rcd_193^post62 == 0 /\ __disjvr_5^0-__disjvr_5^post62 == 0 /\ -__disjvr_4^post62+__disjvr_4^0 == 0 /\ -a_279^post62+a_279^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post62 == 0 /\ __disjvr_18^0-__disjvr_18^post62 == 0 /\ -len_221^post62+len_221^0 == 0 /\ tail_15^0-tail_15^post62 == 0 /\ a_174^0-a_174^post62 == 0 /\ __disjvr_13^0-__disjvr_13^post62 == 0 /\ -__disjvr_1^post62+__disjvr_1^0 == 0 /\ -rcd_71^post62+rcd_71^0 == 0 /\ tmp_35^0-tmp_35^post62 == 0 /\ length_29^0-length_29^post62 == 0 /\ -i_130^post62+i_130^0 == 0 /\ -__disjvr_28^post62+__disjvr_28^0 == 0 /\ __disjvr_16^0-__disjvr_16^post62 == 0 /\ -__disjvr_22^post62+__disjvr_22^0 == 0 /\ rcd_220^0-rcd_220^post62 == 0 /\ __disjvr_23^0-__disjvr_23^post62 == 0 /\ -temp_37^post62+temp_37^0 == 0 /\ -y_21^post62+y_21^0 == 0 /\ -result_11^post62+result_11^0 == 0 /\ -f_202^post62+f_202^0 == 0 /\ __disjvr_14^0-__disjvr_14^post62 == 0 /\ -a_309^post62+a_309^0 == 0 /\ -rcd_308^post62+rcd_308^0 == 0 /\ rcd_288^0-rcd_288^post62 == 0 /\ -x_SLAM_f_20^post62+x_SLAM_f_20^0 == 0 /\ -rcd_185^post62+rcd_185^0 == 0 /\ -__disjvr_30^post62+__disjvr_30^0 == 0 /\ __disjvr_11^0-__disjvr_11^post62 == 0 /\ -r_192^post62+r_192^0 == 0 /\ -__disjvr_9^post62+__disjvr_9^0 == 0 /\ -__disjvr_3^post62+__disjvr_3^0 == 0 /\ -rcd_284^post62+rcd_284^0 == 0 /\ -r_149^post62+r_149^0 == 0 /\ rcd_199^0-rcd_199^post62 == 0 /\ -__disjvr_2^post62+__disjvr_2^0 == 0 /\ -temp0_32^post62+temp0_32^0 == 0 /\ x_27^0-x_27^post62 == 0 /\ __disjvr_29^0-__disjvr_29^post62 == 0 /\ -i_198^post62+i_198^0 == 0 /\ -x_SLAM_f_25^post62+x_SLAM_f_25^0 == 0 /\ -head_SLAM_f_30^post62+head_SLAM_f_30^0 == 0 /\ __disjvr_19^0-__disjvr_19^post62 == 0 /\ temp_36^0-temp_36^post62 == 0 /\ -nondet_12^post62+nondet_12^0 == 0 /\ -x_154^post62+x_154^0 == 0 /\ -len_159^post62+len_159^0 == 0 /\ a_253^0-a_253^post62 == 0 /\ __disjvr_21^0-__disjvr_21^post62 == 0 /\ __disjvr_20^0-__disjvr_20^post62 == 0 /\ -__disjvr_6^post62+__disjvr_6^0 == 0 /\ -temp0_19^post62+temp0_19^0 == 0 /\ -y_26^post62+y_26^0 == 0 /\ __disjvr_17^0-__disjvr_17^post62 == 0 /\ -r_41^post62+r_41^0 == 0 /\ -rcd_45^post62+rcd_45^0 == 0 /\ __disjvr_8^0-__disjvr_8^post62 == 0 /\ -__disjvr_10^post62+__disjvr_10^0 == 0 /\ -rcd_114^post62+rcd_114^0 == 0 /\ a_139^0-a_139^post62 == 0 /\ a_222^0-a_222^post62 == 0 /\ __disjvr_0^0-__disjvr_0^post62 == 0 /\ -rcd_194^post62+rcd_194^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post62+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_15^post62+__disjvr_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post62 == 0 /\ -i_112^post62+i_112^0 == 0 /\ head_16^0-head_16^post62 == 0 /\ x_22^0-x_22^post62 == 0 /\ -__disjvr_7^post62+__disjvr_7^0 == 0 /\ rcd_320^0-rcd_320^post62 == 0), cost: 1 72: l66 -> l49 : __disjvr_0^0'=__disjvr_0^post72, a_253^0'=a_253^post72, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post72, __disjvr_21^0'=__disjvr_21^post72, x_27^0'=x_27^post72, __disjvr_3^0'=__disjvr_3^post72, rcd_220^0'=rcd_220^post72, __disjvr_14^0'=__disjvr_14^post72, head_33^0'=head_33^post72, __disjvr_24^0'=__disjvr_24^post72, temp_36^0'=temp_36^post72, r_192^0'=r_192^post72, __disjvr_8^0'=__disjvr_8^post72, a_139^0'=a_139^post72, result_11^0'=result_11^post72, __disjvr_19^0'=__disjvr_19^post72, i_31^0'=i_31^post72, __disjvr_29^0'=__disjvr_29^post72, x_22^0'=x_22^post72, rcd_193^0'=rcd_193^post72, __disjvr_11^0'=__disjvr_11^post72, a_309^0'=a_309^post72, tail_15^0'=tail_15^post72, length_29^0'=length_29^post72, x_SLAM_f_25^0'=x_SLAM_f_25^post72, __disjvr_5^0'=__disjvr_5^post72, rcd_288^0'=rcd_288^post72, __disjvr_16^0'=__disjvr_16^post72, i_112^0'=i_112^post72, __disjvr_26^0'=__disjvr_26^post72, tmp_35^0'=tmp_35^post72, rcd_106^0'=rcd_106^post72, a_222^0'=a_222^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post72, __disjvr_20^0'=__disjvr_20^post72, len_221^0'=len_221^post72, __disjvr_30^0'=__disjvr_30^post72, rcd_199^0'=rcd_199^post72, __disjvr_13^0'=__disjvr_13^post72, head_16^0'=head_16^post72, __disjvr_23^0'=__disjvr_23^post72, temp0_32^0'=temp0_32^post72, r_149^0'=r_149^post72, y_26^0'=y_26^post72, __disjvr_7^0'=__disjvr_7^post72, rcd_320^0'=rcd_320^post72, rcd_71^0'=rcd_71^post72, __disjvr_18^0'=__disjvr_18^post72, i_198^0'=i_198^post72, __disjvr_28^0'=__disjvr_28^post72, x_207^0'=x_207^post72, rcd_185^0'=rcd_185^post72, __disjvr_10^0'=__disjvr_10^post72, a_279^0'=a_279^post72, t_23^0'=t_23^post72, __disjvr_22^0'=__disjvr_22^post72, x_SLAM_f_20^0'=x_SLAM_f_20^post72, __disjvr_4^0'=__disjvr_4^post72, rcd_284^0'=rcd_284^post72, __disjvr_15^0'=__disjvr_15^post72, head_SLAM_f_30^0'=head_SLAM_f_30^post72, __disjvr_25^0'=__disjvr_25^post72, temp_37^0'=temp_37^post72, r_41^0'=r_41^post72, __disjvr_9^0'=__disjvr_9^post72, a_174^0'=a_174^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post72, __disjvr_1^0'=__disjvr_1^post72, len_159^0'=len_159^post72, __disjvr_2^0'=__disjvr_2^post72, rcd_194^0'=rcd_194^post72, __disjvr_12^0'=__disjvr_12^post72, f_202^0'=f_202^post72, temp0_19^0'=temp0_19^post72, nondet_12^0'=nondet_12^post72, y_21^0'=y_21^post72, __disjvr_6^0'=__disjvr_6^post72, rcd_308^0'=rcd_308^post72, rcd_45^0'=rcd_45^post72, __disjvr_17^0'=__disjvr_17^post72, i_130^0'=i_130^post72, __disjvr_27^0'=__disjvr_27^post72, x_154^0'=x_154^post72, rcd_114^0'=rcd_114^post72, (-__disjvr_2^post72+__disjvr_2^0 == 0 /\ -__disjvr_22^post72+__disjvr_22^0 == 0 /\ -__disjvr_20^post72+__disjvr_20^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post72+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_221^0-len_221^post72 == 0 /\ -rcd_185^post72+rcd_185^0 == 0 /\ a_253^0-a_253^post72 == 0 /\ -y_21^post72+y_21^0 == 0 /\ __disjvr_18^0-__disjvr_18^post72 == 0 /\ -i_198^post72+i_198^0 == 0 /\ -head_SLAM_f_30^post72+head_SLAM_f_30^0 == 0 /\ -__disjvr_5^post72+__disjvr_5^0 == 0 /\ __disjvr_28^0-__disjvr_28^post72 == 0 /\ -__disjvr_7^post72+__disjvr_7^0 == 0 /\ r_149^0-r_149^post72 == 0 /\ __disjvr_11^0-__disjvr_11^post72 == 0 /\ rcd_106^0-rcd_106^post72 == 0 /\ __disjvr_8^0-__disjvr_8^post72 == 0 /\ -i_130^post72+i_130^0 == 0 /\ __disjvr_14^0-__disjvr_14^post72 == 0 /\ __disjvr_16^0-__disjvr_16^post72 == 0 /\ a_222^0-a_222^post72 == 0 /\ -__disjvr_10^post72+__disjvr_10^0 == 0 /\ -rcd_308^post72+rcd_308^0 == 0 /\ __disjvr_23^0-__disjvr_23^post72 == 0 /\ a_309^0-a_309^post72 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post72 == 0 /\ -rcd_194^post72+rcd_194^0 == 0 /\ -__disjvr_12^post72+__disjvr_12^0 == 0 /\ temp_36^0-temp_36^post72 == 0 /\ x_22^0-x_22^post72 == 0 /\ x_27^0-x_27^post72 == 0 /\ -i_112^post72+i_112^0 == 0 /\ __disjvr_0^0-__disjvr_0^post72 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ -x_154^post72+x_154^0 == 0 /\ -rcd_320^post72+rcd_320^0 == 0 /\ -temp0_19^post72+temp0_19^0 == 0 /\ -y_26^post72+y_26^0 == 0 /\ -__disjvr_6^post72+__disjvr_6^0 == 0 /\ -__disjvr_30^post72+__disjvr_30^0 == 0 /\ rcd_199^0-rcd_199^post72 == 0 /\ f_202^0-f_202^post72 == 0 /\ -__disjvr_17^post72+__disjvr_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post72 == 0 /\ __disjvr_21^0-__disjvr_21^post72 == 0 /\ -rcd_284^post72+rcd_284^0 == 0 /\ -__disjvr_1^post72+__disjvr_1^0 == 0 /\ r_192^0-r_192^post72 == 0 /\ head_16^0-head_16^post72 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post72 == 0 /\ -rcd_114^post72+rcd_114^0 == 0 /\ r_41^0-r_41^post72 == 0 /\ length_29^0-length_29^post72 == 0 /\ __disjvr_26^0-__disjvr_26^post72 == 0 /\ a_139^0-a_139^post72 == 0 /\ -__disjvr_19^post72+__disjvr_19^0 == 0 /\ -rcd_45^post72+rcd_45^0 == 0 /\ -__disjvr_29^post72+__disjvr_29^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post72 == 0 /\ -t_23^post72+t_23^0 == 0 /\ -__disjvr_4^post72+__disjvr_4^0 == 0 /\ head_33^0-head_33^post72 == 0 /\ -temp0_32^post72+temp0_32^0 == 0 /\ rcd_71^0-rcd_71^post72 == 0 /\ -tail_15^post72+tail_15^0 == 0 /\ rcd_288^0-rcd_288^post72 == 0 /\ rcd_193^0-rcd_193^post72 == 0 /\ -a_174^post72+a_174^0 == 0 /\ rcd_220^0-rcd_220^post72 == 0 /\ __disjvr_24^0-__disjvr_24^post72 == 0 /\ -temp_37^post72+temp_37^0 == 0 /\ x_207^0-x_207^post72 == 0 /\ result_11^0-result_11^post72 == 0 /\ -__disjvr_9^post72+__disjvr_9^0 == 0 /\ __disjvr_3^0-__disjvr_3^post72 == 0 /\ i_31^0-i_31^post72 == 0 /\ __disjvr_15^0-__disjvr_15^post72 == 0 /\ -a_279^post72+a_279^0 == 0 /\ -__disjvr_27^post72+__disjvr_27^0 == 0 /\ tmp_35^0-tmp_35^post72 == 0 /\ -__disjvr_25^post72+__disjvr_25^0 == 0 /\ __disjvr_13^0-__disjvr_13^post72 == 0 /\ -len_159^post72+len_159^0 == 0), cost: 1 Applied preprocessing Original rule: l6 -> l20 : __disjvr_0^0'=__disjvr_0^post18, a_253^0'=a_253^post18, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post18, __disjvr_21^0'=__disjvr_21^post18, x_27^0'=x_27^post18, __disjvr_3^0'=__disjvr_3^post18, rcd_220^0'=rcd_220^post18, __disjvr_14^0'=__disjvr_14^post18, head_33^0'=head_33^post18, __disjvr_24^0'=__disjvr_24^post18, temp_36^0'=temp_36^post18, r_192^0'=r_192^post18, __disjvr_8^0'=__disjvr_8^post18, a_139^0'=a_139^post18, result_11^0'=result_11^post18, __disjvr_19^0'=__disjvr_19^post18, i_31^0'=i_31^post18, __disjvr_29^0'=__disjvr_29^post18, x_22^0'=x_22^post18, rcd_193^0'=rcd_193^post18, __disjvr_11^0'=__disjvr_11^post18, a_309^0'=a_309^post18, tail_15^0'=tail_15^post18, length_29^0'=length_29^post18, x_SLAM_f_25^0'=x_SLAM_f_25^post18, __disjvr_5^0'=__disjvr_5^post18, rcd_288^0'=rcd_288^post18, __disjvr_16^0'=__disjvr_16^post18, i_112^0'=i_112^post18, __disjvr_26^0'=__disjvr_26^post18, tmp_35^0'=tmp_35^post18, rcd_106^0'=rcd_106^post18, a_222^0'=a_222^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18, __disjvr_20^0'=__disjvr_20^post18, len_221^0'=len_221^post18, __disjvr_30^0'=__disjvr_30^post18, rcd_199^0'=rcd_199^post18, __disjvr_13^0'=__disjvr_13^post18, head_16^0'=head_16^post18, __disjvr_23^0'=__disjvr_23^post18, temp0_32^0'=temp0_32^post18, r_149^0'=r_149^post18, y_26^0'=y_26^post18, __disjvr_7^0'=__disjvr_7^post18, rcd_320^0'=rcd_320^post18, rcd_71^0'=rcd_71^post18, __disjvr_18^0'=__disjvr_18^post18, i_198^0'=i_198^post18, __disjvr_28^0'=__disjvr_28^post18, x_207^0'=x_207^post18, rcd_185^0'=rcd_185^post18, __disjvr_10^0'=__disjvr_10^post18, a_279^0'=a_279^post18, t_23^0'=t_23^post18, __disjvr_22^0'=__disjvr_22^post18, x_SLAM_f_20^0'=x_SLAM_f_20^post18, __disjvr_4^0'=__disjvr_4^post18, rcd_284^0'=rcd_284^post18, __disjvr_15^0'=__disjvr_15^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, __disjvr_25^0'=__disjvr_25^post18, temp_37^0'=temp_37^post18, r_41^0'=r_41^post18, __disjvr_9^0'=__disjvr_9^post18, a_174^0'=a_174^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18, __disjvr_1^0'=__disjvr_1^post18, len_159^0'=len_159^post18, __disjvr_2^0'=__disjvr_2^post18, rcd_194^0'=rcd_194^post18, __disjvr_12^0'=__disjvr_12^post18, f_202^0'=f_202^post18, temp0_19^0'=temp0_19^post18, nondet_12^0'=nondet_12^post18, y_21^0'=y_21^post18, __disjvr_6^0'=__disjvr_6^post18, rcd_308^0'=rcd_308^post18, rcd_45^0'=rcd_45^post18, __disjvr_17^0'=__disjvr_17^post18, i_130^0'=i_130^post18, __disjvr_27^0'=__disjvr_27^post18, x_154^0'=x_154^post18, rcd_114^0'=rcd_114^post18, (0 == 0 /\ -tail_15^post18+head_SLAM_f_30^post18 <= 0 /\ a_279^0-a_279^post18 == 0 /\ 2-i_31^post18 <= 0 /\ -temp_37^post18+temp_37^0 == 0 /\ x_207^0-x_207^post18 == 0 /\ -__disjvr_12^post18+__disjvr_12^0 == 0 /\ -__disjvr_27^post18+__disjvr_27^0 == 0 /\ -a_309^post18+a_309^0 == 0 /\ -rcd_199^post18+rcd_199^0 == 0 /\ length_29^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post18 <= 0 /\ __disjvr_9^0-__disjvr_9^post18 == 0 /\ r_192^0-r_192^post18 == 0 /\ x_27^0-x_27^post18 == 0 /\ __disjvr_5^0-__disjvr_5^post18 == 0 /\ __disjvr_24^0-__disjvr_24^post18 == 0 /\ y_26^0-y_26^post18 == 0 /\ -1+i_31^post18-i_31^0 == 0 /\ __disjvr_19^0-__disjvr_19^post18 == 0 /\ __disjvr_3^0-__disjvr_3^post18 == 0 /\ tail_15^post18-head_SLAM_f_30^post18 <= 0 /\ __disjvr_20^0-__disjvr_20^post18 == 0 /\ length_29^0-length_29^post18 == 0 /\ -__disjvr_4^post18+__disjvr_4^0 == 0 /\ __disjvr_30^0-__disjvr_30^post18 == 0 /\ __disjvr_28^0-__disjvr_28^post18 == 0 /\ -__disjvr_23^post18+__disjvr_23^0 == 0 /\ -length_29^0+result_dot_nondet_sdv_special_RETURN_VALUE_14^post18 <= 0 /\ a_139^0-a_139^post18 == 0 /\ __disjvr_11^0-__disjvr_11^post18 == 0 /\ __disjvr_1^0-__disjvr_1^post18 == 0 /\ -i_130^post18+i_130^0 == 0 /\ __disjvr_16^0-__disjvr_16^post18 == 0 /\ -__disjvr_25^post18+__disjvr_25^0 == 0 /\ rcd_220^0-rcd_220^post18 == 0 /\ -__disjvr_22^post18+__disjvr_22^0 == 0 /\ -rcd_308^post18+rcd_308^0 == 0 /\ head_16^0-head_16^post18 == 0 /\ head_33^post18-tmp_35^post18 <= 0 /\ head_33^post18-tmp_35^post18 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18+head_SLAM_f_30^post18 <= 0 /\ -__disjvr_15^post18+__disjvr_15^0 == 0 /\ -__disjvr_2^post18+__disjvr_2^0 == 0 /\ temp0_19^0-temp0_19^post18 == 0 /\ rcd_106^0-rcd_106^post18 == 0 /\ -x_SLAM_f_20^post18+x_SLAM_f_20^0 == 0 /\ y_21^0-y_21^post18 == 0 /\ -2+i_31^post18 <= 0 /\ -rcd_185^post18+rcd_185^0 == 0 /\ -i_198^post18+i_198^0 == 0 /\ -a_174^post18+a_174^0 == 0 /\ -f_202^post18+f_202^0 == 0 /\ -temp_36^0+tmp_35^post18 == 0 /\ -__disjvr_7^post18+__disjvr_7^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post18 == 0 /\ result_11^0-result_11^post18 == 0 /\ -x_154^post18+x_154^0 == 0 /\ -len_159^post18+len_159^0 == 0 /\ __disjvr_29^0-__disjvr_29^post18 == 0 /\ -__disjvr_17^post18+__disjvr_17^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18+tmp_35^post18 <= 0 /\ -temp0_32^post18+temp0_32^0 == 0 /\ -rcd_193^post18+rcd_193^0 == 0 /\ -head_33^post18+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18 <= 0 /\ __disjvr_6^0-__disjvr_6^post18 == 0 /\ a_253^0-a_253^post18 == 0 /\ 2-length_29^0 <= 0 /\ -tail_15^post18+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18 <= 0 /\ -__disjvr_18^post18+__disjvr_18^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ r_149^0-r_149^post18 == 0 /\ -head_33^post18+tmp_35^post18 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18-head_SLAM_f_30^post18 <= 0 /\ 1-length_29^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post18 == 0 /\ -rcd_194^post18+rcd_194^0 == 0 /\ -__disjvr_13^post18+__disjvr_13^0 == 0 /\ -rcd_114^post18+rcd_114^0 == 0 /\ -i_112^post18+i_112^0 == 0 /\ -nondet_12^post18+nondet_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post18 == 0 /\ __disjvr_0^0-__disjvr_0^post18 == 0 /\ -__disjvr_26^post18+__disjvr_26^0 == 0 /\ r_41^0-r_41^post18 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18-tmp_35^post18 <= 0 /\ x_22^0-x_22^post18 == 0 /\ head_33^post18-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post18 <= 0 /\ rcd_320^0-rcd_320^post18 == 0 /\ a_222^0-a_222^post18 == 0 /\ len_221^0-len_221^post18 == 0 /\ -rcd_288^post18+rcd_288^0 == 0 /\ -__disjvr_10^post18+__disjvr_10^0 == 0 /\ tail_15^post18-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post18 <= 0 /\ -rcd_284^post18+rcd_284^0 == 0 /\ -t_23^post18+t_23^0 == 0 /\ __disjvr_14^0-__disjvr_14^post18 == 0 /\ -rcd_45^post18+rcd_45^0 == 0), cost: 1 New rule: l6 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_29^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post18, i_31^0'=2, tail_15^0'=head_SLAM_f_30^post18, tmp_35^0'=temp_36^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^0, rcd_71^0'=rcd_71^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_30^post18, (-1+i_31^0 == 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 1 Applied preprocessing Original rule: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post19, a_253^0'=a_253^post19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, __disjvr_21^0'=__disjvr_21^post19, x_27^0'=x_27^post19, __disjvr_3^0'=__disjvr_3^post19, rcd_220^0'=rcd_220^post19, __disjvr_14^0'=__disjvr_14^post19, head_33^0'=head_33^post19, __disjvr_24^0'=__disjvr_24^post19, temp_36^0'=temp_36^post19, r_192^0'=r_192^post19, __disjvr_8^0'=__disjvr_8^post19, a_139^0'=a_139^post19, result_11^0'=result_11^post19, __disjvr_19^0'=__disjvr_19^post19, i_31^0'=i_31^post19, __disjvr_29^0'=__disjvr_29^post19, x_22^0'=x_22^post19, rcd_193^0'=rcd_193^post19, __disjvr_11^0'=__disjvr_11^post19, a_309^0'=a_309^post19, tail_15^0'=tail_15^post19, length_29^0'=length_29^post19, x_SLAM_f_25^0'=x_SLAM_f_25^post19, __disjvr_5^0'=__disjvr_5^post19, rcd_288^0'=rcd_288^post19, __disjvr_16^0'=__disjvr_16^post19, i_112^0'=i_112^post19, __disjvr_26^0'=__disjvr_26^post19, tmp_35^0'=tmp_35^post19, rcd_106^0'=rcd_106^post19, a_222^0'=a_222^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, __disjvr_20^0'=__disjvr_20^post19, len_221^0'=len_221^post19, __disjvr_30^0'=__disjvr_30^post19, rcd_199^0'=rcd_199^post19, __disjvr_13^0'=__disjvr_13^post19, head_16^0'=head_16^post19, __disjvr_23^0'=__disjvr_23^post19, temp0_32^0'=temp0_32^post19, r_149^0'=r_149^post19, y_26^0'=y_26^post19, __disjvr_7^0'=__disjvr_7^post19, rcd_320^0'=rcd_320^post19, rcd_71^0'=rcd_71^post19, __disjvr_18^0'=__disjvr_18^post19, i_198^0'=i_198^post19, __disjvr_28^0'=__disjvr_28^post19, x_207^0'=x_207^post19, rcd_185^0'=rcd_185^post19, __disjvr_10^0'=__disjvr_10^post19, a_279^0'=a_279^post19, t_23^0'=t_23^post19, __disjvr_22^0'=__disjvr_22^post19, x_SLAM_f_20^0'=x_SLAM_f_20^post19, __disjvr_4^0'=__disjvr_4^post19, rcd_284^0'=rcd_284^post19, __disjvr_15^0'=__disjvr_15^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, __disjvr_25^0'=__disjvr_25^post19, temp_37^0'=temp_37^post19, r_41^0'=r_41^post19, __disjvr_9^0'=__disjvr_9^post19, a_174^0'=a_174^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19, __disjvr_1^0'=__disjvr_1^post19, len_159^0'=len_159^post19, __disjvr_2^0'=__disjvr_2^post19, rcd_194^0'=rcd_194^post19, __disjvr_12^0'=__disjvr_12^post19, f_202^0'=f_202^post19, temp0_19^0'=temp0_19^post19, nondet_12^0'=nondet_12^post19, y_21^0'=y_21^post19, __disjvr_6^0'=__disjvr_6^post19, rcd_308^0'=rcd_308^post19, rcd_45^0'=rcd_45^post19, __disjvr_17^0'=__disjvr_17^post19, i_130^0'=i_130^post19, __disjvr_27^0'=__disjvr_27^post19, x_154^0'=x_154^post19, rcd_114^0'=rcd_114^post19, (0 == 0 /\ -a_174^post19+a_174^0 == 0 /\ -__disjvr_25^post19+__disjvr_25^0 == 0 /\ -tail_15^0+y_26^post19 <= 0 /\ -tail_15^0+y_26^post19 == 0 /\ -i_112^post19+i_112^0 == 0 /\ __disjvr_18^0-__disjvr_18^post19 == 0 /\ -__disjvr_27^post19+__disjvr_27^0 == 0 /\ x_207^0-x_207^post19 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19 <= 0 /\ -__disjvr_4^post19+__disjvr_4^0 == 0 /\ x_SLAM_f_25^post19-head_16^post19 <= 0 /\ x_SLAM_f_25^post19-head_16^post19 == 0 /\ -len_221^post19+len_221^0 == 0 /\ tail_15^0-tail_15^post19 == 0 /\ -x_154^post19+x_154^0 == 0 /\ -i_31^0 <= 0 /\ -result_11^11+head_16^post19 == 0 /\ -a_279^post19+a_279^0 == 0 /\ -rcd_106^post19+rcd_106^0 == 0 /\ __disjvr_24^0-__disjvr_24^post19 == 0 /\ y_26^post19-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19 <= 0 /\ i_31^post19-a_174^0 <= 0 /\ tail_15^0-y_26^post19 <= 0 /\ -y_21^post19+y_21^0 == 0 /\ __disjvr_13^0-__disjvr_13^post19 == 0 /\ -rcd_308^post19+rcd_308^0 == 0 /\ -a_309^post19+a_309^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19 <= 0 /\ -__disjvr_22^post19+__disjvr_22^0 == 0 /\ -x_SLAM_f_20^post19+x_SLAM_f_20^0 == 0 /\ -x_SLAM_f_25^post19+head_16^post19 <= 0 /\ __disjvr_16^0-__disjvr_16^post19 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ -i_130^post19+i_130^0 == 0 /\ -__disjvr_28^post19+__disjvr_28^0 == 0 /\ -f_202^post19+f_202^0 == 0 /\ rcd_220^0-rcd_220^post19 == 0 /\ __disjvr_14^0-__disjvr_14^post19 == 0 /\ -__disjvr_15^post19+__disjvr_15^0 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ -__disjvr_6^post19+__disjvr_6^0 == 0 /\ -y_26^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post19 <= 0 /\ -i_31^post19+a_174^0 <= 0 /\ rcd_193^0-rcd_193^post19 == 0 /\ -head_33^0+temp0_32^110 == 0 /\ __disjvr_21^0-__disjvr_21^post19 == 0 /\ rcd_320^0-rcd_320^post19 == 0 /\ __disjvr_11^0-__disjvr_11^post19 == 0 /\ -nondet_12^post19+nondet_12^0 == 0 /\ r_192^0-r_192^post19 == 0 /\ rcd_288^0-rcd_288^post19 == 0 /\ __disjvr_23^0-__disjvr_23^post19 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ -temp0_32^110+result_11^11 == 0 /\ x_27^post19-x_SLAM_f_25^post19 <= 0 /\ x_27^post19-x_SLAM_f_25^post19 == 0 /\ -__disjvr_30^post19+__disjvr_30^0 == 0 /\ -rcd_284^post19+rcd_284^0 == 0 /\ -len_159^post19+len_159^0 == 0 /\ -__disjvr_1^post19+__disjvr_1^0 == 0 /\ -rcd_194^post19+rcd_45^0 <= 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ -rcd_71^post19+rcd_71^0 == 0 /\ -rcd_185^post19+rcd_185^0 == 0 /\ a_253^0-a_253^post19 == 0 /\ -x_27^post19+head_16^post19 <= 0 /\ __disjvr_19^0-__disjvr_19^post19 == 0 /\ __disjvr_8^0-__disjvr_8^post19 == 0 /\ -r_41^post19+r_41^0 == 0 /\ -__disjvr_10^post19+__disjvr_10^0 == 0 /\ -rcd_114^post19+rcd_114^0 == 0 /\ __disjvr_20^0-__disjvr_20^post19 == 0 /\ len_159^0 <= 0 /\ __disjvr_17^0-__disjvr_17^post19 == 0 /\ -x_27^post19+x_SLAM_f_25^post19 <= 0 /\ -temp0_19^post19+temp0_19^0 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ -rcd_45^post19+rcd_45^0 == 0 /\ -__disjvr_9^post19+__disjvr_9^0 == 0 /\ -i_31^0+length_29^0 <= 0 /\ -r_149^post19+r_149^0 == 0 /\ -t_23^post19+t_23^0 == 0 /\ a_222^0-a_222^post19 == 0 /\ -__disjvr_7^post19+__disjvr_7^0 == 0 /\ __disjvr_29^0-__disjvr_29^post19 == 0 /\ x_22^0-x_22^post19 == 0 /\ rcd_194^post19-rcd_45^0 <= 0 /\ a_139^0-a_139^post19 == 0 /\ -temp_37^post19+temp_37^0 == 0 /\ -len_159^0 <= 0 /\ x_27^post19-head_16^post19 <= 0 /\ __disjvr_26^0-__disjvr_26^post19 == 0), cost: 1 New rule: l20 -> l21 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, x_27^0'=head_33^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, rcd_194^0'=rcd_45^0, (i_31^0 >= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 1 Applied preprocessing Original rule: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post20, a_253^0'=a_253^post20, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post20, __disjvr_21^0'=__disjvr_21^post20, x_27^0'=x_27^post20, __disjvr_3^0'=__disjvr_3^post20, rcd_220^0'=rcd_220^post20, __disjvr_14^0'=__disjvr_14^post20, head_33^0'=head_33^post20, __disjvr_24^0'=__disjvr_24^post20, temp_36^0'=temp_36^post20, r_192^0'=r_192^post20, __disjvr_8^0'=__disjvr_8^post20, a_139^0'=a_139^post20, result_11^0'=result_11^post20, __disjvr_19^0'=__disjvr_19^post20, i_31^0'=i_31^post20, __disjvr_29^0'=__disjvr_29^post20, x_22^0'=x_22^post20, rcd_193^0'=rcd_193^post20, __disjvr_11^0'=__disjvr_11^post20, a_309^0'=a_309^post20, tail_15^0'=tail_15^post20, length_29^0'=length_29^post20, x_SLAM_f_25^0'=x_SLAM_f_25^post20, __disjvr_5^0'=__disjvr_5^post20, rcd_288^0'=rcd_288^post20, __disjvr_16^0'=__disjvr_16^post20, i_112^0'=i_112^post20, __disjvr_26^0'=__disjvr_26^post20, tmp_35^0'=tmp_35^post20, rcd_106^0'=rcd_106^post20, a_222^0'=a_222^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post20, __disjvr_20^0'=__disjvr_20^post20, len_221^0'=len_221^post20, __disjvr_30^0'=__disjvr_30^post20, rcd_199^0'=rcd_199^post20, __disjvr_13^0'=__disjvr_13^post20, head_16^0'=head_16^post20, __disjvr_23^0'=__disjvr_23^post20, temp0_32^0'=temp0_32^post20, r_149^0'=r_149^post20, y_26^0'=y_26^post20, __disjvr_7^0'=__disjvr_7^post20, rcd_320^0'=rcd_320^post20, rcd_71^0'=rcd_71^post20, __disjvr_18^0'=__disjvr_18^post20, i_198^0'=i_198^post20, __disjvr_28^0'=__disjvr_28^post20, x_207^0'=x_207^post20, rcd_185^0'=rcd_185^post20, __disjvr_10^0'=__disjvr_10^post20, a_279^0'=a_279^post20, t_23^0'=t_23^post20, __disjvr_22^0'=__disjvr_22^post20, x_SLAM_f_20^0'=x_SLAM_f_20^post20, __disjvr_4^0'=__disjvr_4^post20, rcd_284^0'=rcd_284^post20, __disjvr_15^0'=__disjvr_15^post20, head_SLAM_f_30^0'=head_SLAM_f_30^post20, __disjvr_25^0'=__disjvr_25^post20, temp_37^0'=temp_37^post20, r_41^0'=r_41^post20, __disjvr_9^0'=__disjvr_9^post20, a_174^0'=a_174^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post20, __disjvr_1^0'=__disjvr_1^post20, len_159^0'=len_159^post20, __disjvr_2^0'=__disjvr_2^post20, rcd_194^0'=rcd_194^post20, __disjvr_12^0'=__disjvr_12^post20, f_202^0'=f_202^post20, temp0_19^0'=temp0_19^post20, nondet_12^0'=nondet_12^post20, y_21^0'=y_21^post20, __disjvr_6^0'=__disjvr_6^post20, rcd_308^0'=rcd_308^post20, rcd_45^0'=rcd_45^post20, __disjvr_17^0'=__disjvr_17^post20, i_130^0'=i_130^post20, __disjvr_27^0'=__disjvr_27^post20, x_154^0'=x_154^post20, rcd_114^0'=rcd_114^post20, (-a_174^post20+a_174^0 == 0 /\ -rcd_185^post20+rcd_185^0 == 0 /\ -rcd_288^post20+rcd_288^0 == 0 /\ __disjvr_28^0-__disjvr_28^post20 == 0 /\ -y_21^post20+y_21^0 == 0 /\ -len_159^post20+len_159^0 == 0 /\ y_26^0-y_26^post20 == 0 /\ -__disjvr_22^post20+__disjvr_22^0 == 0 /\ -__disjvr_7^post20+__disjvr_7^0 == 0 /\ length_29^0-length_29^post20 == 0 /\ -__disjvr_10^post20+__disjvr_10^0 == 0 /\ __disjvr_16^0-__disjvr_16^post20 == 0 /\ -rcd_308^post20+rcd_308^0 == 0 /\ -i_130^post20+i_130^0 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ x_22^0-x_22^post20 == 0 /\ a_309^0-a_309^post20 == 0 /\ len_221^0-len_221^post20 == 0 /\ -__disjvr_9^post20+__disjvr_9^0 == 0 /\ -x_154^post20+x_154^0 == 0 /\ -rcd_194^post20+rcd_194^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post20 == 0 /\ x_27^0-x_27^post20 == 0 /\ -i_112^post20+i_112^0 == 0 /\ -nondet_12^post20+nondet_12^0 == 0 /\ -head_16^post20+head_16^0 == 0 /\ i_31^0-i_31^post20 == 0 /\ x_207^0-x_207^post20 == 0 /\ -rcd_320^post20+rcd_320^0 == 0 /\ head_33^0-head_33^post20 == 0 /\ __disjvr_11^0-__disjvr_11^post20 == 0 /\ -__disjvr_26^post20+__disjvr_26^0 == 0 /\ -__disjvr_6^post20+__disjvr_6^0 == 0 /\ -temp0_19^post20+temp0_19^0 == 0 /\ -rcd_284^post20+rcd_284^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post20 == 0 /\ __disjvr_18^0-__disjvr_18^post20 == 0 /\ __disjvr_9^post20-__disjvr_9^0 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ __disjvr_13^0-__disjvr_13^post20 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ a_253^0-a_253^post20 == 0 /\ rcd_193^0-rcd_193^post20 == 0 /\ __disjvr_30^0-__disjvr_30^post20 == 0 /\ __disjvr_21^0-__disjvr_21^post20 == 0 /\ -rcd_114^post20+rcd_114^0 == 0 /\ -rcd_199^post20+rcd_199^0 == 0 /\ -t_23^post20+t_23^0 == 0 /\ tmp_35^0-tmp_35^post20 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ r_192^0-r_192^post20 == 0 /\ -__disjvr_19^post20+__disjvr_19^0 == 0 /\ rcd_106^0-rcd_106^post20 == 0 /\ a_139^0-a_139^post20 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ r_41^0-r_41^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ -__disjvr_4^post20+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post20 == 0 /\ r_149^0-r_149^post20 == 0 /\ -rcd_45^post20+rcd_45^0 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ a_222^0-a_222^post20 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post20 == 0 /\ result_11^0-result_11^post20 == 0 /\ -f_202^post20+f_202^0 == 0 /\ -a_279^post20+a_279^0 == 0 /\ rcd_220^0-rcd_220^post20 == 0 /\ -tail_15^post20+tail_15^0 == 0 /\ temp_36^0-temp_36^post20 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ -__disjvr_25^post20+__disjvr_25^0 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post20 == 0 /\ -__disjvr_1^post20+__disjvr_1^0 == 0 /\ -x_SLAM_f_20^post20+x_SLAM_f_20^0 == 0 /\ rcd_71^0-rcd_71^post20 == 0 /\ -__disjvr_2^post20+__disjvr_2^0 == 0 /\ -temp0_32^post20+temp0_32^0 == 0 /\ -__disjvr_20^post20+__disjvr_20^0 == 0 /\ -temp_37^post20+temp_37^0 == 0 /\ __disjvr_15^0-__disjvr_15^post20 == 0 /\ i_198^0-i_198^post20 == 0), cost: 1 New rule: l21 -> l22 : 0 == 0, cost: 1 Applied preprocessing Original rule: l22 -> l1 : __disjvr_0^0'=__disjvr_0^post21, a_253^0'=a_253^post21, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post21, __disjvr_21^0'=__disjvr_21^post21, x_27^0'=x_27^post21, __disjvr_3^0'=__disjvr_3^post21, rcd_220^0'=rcd_220^post21, __disjvr_14^0'=__disjvr_14^post21, head_33^0'=head_33^post21, __disjvr_24^0'=__disjvr_24^post21, temp_36^0'=temp_36^post21, r_192^0'=r_192^post21, __disjvr_8^0'=__disjvr_8^post21, a_139^0'=a_139^post21, result_11^0'=result_11^post21, __disjvr_19^0'=__disjvr_19^post21, i_31^0'=i_31^post21, __disjvr_29^0'=__disjvr_29^post21, x_22^0'=x_22^post21, rcd_193^0'=rcd_193^post21, __disjvr_11^0'=__disjvr_11^post21, a_309^0'=a_309^post21, tail_15^0'=tail_15^post21, length_29^0'=length_29^post21, x_SLAM_f_25^0'=x_SLAM_f_25^post21, __disjvr_5^0'=__disjvr_5^post21, rcd_288^0'=rcd_288^post21, __disjvr_16^0'=__disjvr_16^post21, i_112^0'=i_112^post21, __disjvr_26^0'=__disjvr_26^post21, tmp_35^0'=tmp_35^post21, rcd_106^0'=rcd_106^post21, a_222^0'=a_222^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post21, __disjvr_20^0'=__disjvr_20^post21, len_221^0'=len_221^post21, __disjvr_30^0'=__disjvr_30^post21, rcd_199^0'=rcd_199^post21, __disjvr_13^0'=__disjvr_13^post21, head_16^0'=head_16^post21, __disjvr_23^0'=__disjvr_23^post21, temp0_32^0'=temp0_32^post21, r_149^0'=r_149^post21, y_26^0'=y_26^post21, __disjvr_7^0'=__disjvr_7^post21, rcd_320^0'=rcd_320^post21, rcd_71^0'=rcd_71^post21, __disjvr_18^0'=__disjvr_18^post21, i_198^0'=i_198^post21, __disjvr_28^0'=__disjvr_28^post21, x_207^0'=x_207^post21, rcd_185^0'=rcd_185^post21, __disjvr_10^0'=__disjvr_10^post21, a_279^0'=a_279^post21, t_23^0'=t_23^post21, __disjvr_22^0'=__disjvr_22^post21, x_SLAM_f_20^0'=x_SLAM_f_20^post21, __disjvr_4^0'=__disjvr_4^post21, rcd_284^0'=rcd_284^post21, __disjvr_15^0'=__disjvr_15^post21, head_SLAM_f_30^0'=head_SLAM_f_30^post21, __disjvr_25^0'=__disjvr_25^post21, temp_37^0'=temp_37^post21, r_41^0'=r_41^post21, __disjvr_9^0'=__disjvr_9^post21, a_174^0'=a_174^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post21, __disjvr_1^0'=__disjvr_1^post21, len_159^0'=len_159^post21, __disjvr_2^0'=__disjvr_2^post21, rcd_194^0'=rcd_194^post21, __disjvr_12^0'=__disjvr_12^post21, f_202^0'=f_202^post21, temp0_19^0'=temp0_19^post21, nondet_12^0'=nondet_12^post21, y_21^0'=y_21^post21, __disjvr_6^0'=__disjvr_6^post21, rcd_308^0'=rcd_308^post21, rcd_45^0'=rcd_45^post21, __disjvr_17^0'=__disjvr_17^post21, i_130^0'=i_130^post21, __disjvr_27^0'=__disjvr_27^post21, x_154^0'=x_154^post21, rcd_114^0'=rcd_114^post21, (__disjvr_1^0-__disjvr_1^post21 == 0 /\ a_139^0-a_139^post21 == 0 /\ -__disjvr_23^post21+__disjvr_23^0 == 0 /\ r_192^0-r_192^post21 == 0 /\ -__disjvr_4^post21+__disjvr_4^0 == 0 /\ -rcd_194^post21+rcd_194^0 == 0 /\ y_26^0-y_26^post21 == 0 /\ -__disjvr_5^post21+__disjvr_5^0 == 0 /\ -x_154^post21+x_154^0 == 0 /\ -i_112^post21+i_112^0 == 0 /\ length_29^0-length_29^post21 == 0 /\ -__disjvr_9^post21+__disjvr_9^0 == 0 /\ tail_15^0-tail_15^post21 == 0 /\ -i_130^post21+i_130^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_10^post21+__disjvr_10^0 == 0 /\ -x_SLAM_f_20^post21+x_SLAM_f_20^0 == 0 /\ -rcd_288^post21+rcd_288^0 == 0 /\ -__disjvr_22^post21+__disjvr_22^0 == 0 /\ -rcd_308^post21+rcd_308^0 == 0 /\ temp_36^0-temp_36^post21 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_15^post21+__disjvr_15^0 == 0 /\ __disjvr_16^0-__disjvr_16^post21 == 0 /\ __disjvr_13^0-__disjvr_13^post21 == 0 /\ rcd_220^0-rcd_220^post21 == 0 /\ __disjvr_24^0-__disjvr_24^post21 == 0 /\ -a_309^post21+a_309^0 == 0 /\ -__disjvr_26^post21+__disjvr_26^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post21 == 0 /\ -y_21^post21+y_21^0 == 0 /\ -i_31^post21+i_31^0 == 0 /\ __disjvr_20^0-__disjvr_20^post21 == 0 /\ -rcd_193^post21+rcd_193^0 == 0 /\ __disjvr_3^0-__disjvr_3^post21 == 0 /\ -nondet_12^post21+nondet_12^0 == 0 /\ -__disjvr_6^post21+__disjvr_6^0 == 0 /\ -temp0_19^post21+temp0_19^0 == 0 /\ __disjvr_25^0-__disjvr_25^post21 == 0 /\ -__disjvr_12^post21+__disjvr_12^0 == 0 /\ -__disjvr_17^post21+__disjvr_17^0 == 0 /\ x_207^0-x_207^post21 == 0 /\ __disjvr_29^0-__disjvr_29^post21 == 0 /\ __disjvr_11^0-__disjvr_11^post21 == 0 /\ -rcd_71^post21+rcd_71^0 == 0 /\ len_221^0-len_221^post21 == 0 /\ a_253^0-a_253^post21 == 0 /\ i_198^0-i_198^post21 == 0 /\ rcd_320^0-rcd_320^post21 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_31^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post21 == 0 /\ -__disjvr_28^post21+__disjvr_28^0 == 0 /\ -rcd_114^post21+rcd_114^0 == 0 /\ head_16^0-head_16^post21 == 0 /\ r_149^0-r_149^post21 == 0 /\ rcd_106^0-rcd_106^post21 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ __disjvr_14^0-__disjvr_14^post21 == 0 /\ -rcd_284^post21+rcd_284^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post21+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ -rcd_45^post21+rcd_45^0 == 0 /\ __disjvr_30^0-__disjvr_30^post21 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post21 == 0 /\ result_11^0-result_11^post21 == 0 /\ -t_23^post21+t_23^0 == 0 /\ -rcd_185^post21+rcd_185^0 == 0 /\ x_27^0-x_27^post21 == 0 /\ x_22^0-x_22^post21 == 0 /\ a_222^0-a_222^post21 == 0 /\ __disjvr_19^0-__disjvr_19^post21 == 0 /\ -a_174^post21+a_174^0 == 0 /\ -temp_37^post21+temp_37^0 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_198^0 <= 0 /\ -__disjvr_27^post21+__disjvr_27^0 == 0 /\ -__disjvr_2^post21+__disjvr_2^0 == 0 /\ -f_202^post21+f_202^0 == 0 /\ -rcd_199^post21+rcd_199^0 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ -temp0_32^post21+temp0_32^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post21 == 0 /\ tmp_35^0-tmp_35^post21 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post21+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ a_279^0-a_279^post21 == 0 /\ -len_159^post21+len_159^0 == 0 /\ -head_33^post21+head_33^0 == 0 /\ -r_41^post21+r_41^0 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0), cost: 1 New rule: l22 -> l1 : (result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_31^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_198^0 <= 0), cost: 1 Applied preprocessing Original rule: l20 -> l23 : __disjvr_0^0'=__disjvr_0^post22, a_253^0'=a_253^post22, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post22, __disjvr_21^0'=__disjvr_21^post22, x_27^0'=x_27^post22, __disjvr_3^0'=__disjvr_3^post22, rcd_220^0'=rcd_220^post22, __disjvr_14^0'=__disjvr_14^post22, head_33^0'=head_33^post22, __disjvr_24^0'=__disjvr_24^post22, temp_36^0'=temp_36^post22, r_192^0'=r_192^post22, __disjvr_8^0'=__disjvr_8^post22, a_139^0'=a_139^post22, result_11^0'=result_11^post22, __disjvr_19^0'=__disjvr_19^post22, i_31^0'=i_31^post22, __disjvr_29^0'=__disjvr_29^post22, x_22^0'=x_22^post22, rcd_193^0'=rcd_193^post22, __disjvr_11^0'=__disjvr_11^post22, a_309^0'=a_309^post22, tail_15^0'=tail_15^post22, length_29^0'=length_29^post22, x_SLAM_f_25^0'=x_SLAM_f_25^post22, __disjvr_5^0'=__disjvr_5^post22, rcd_288^0'=rcd_288^post22, __disjvr_16^0'=__disjvr_16^post22, i_112^0'=i_112^post22, __disjvr_26^0'=__disjvr_26^post22, tmp_35^0'=tmp_35^post22, rcd_106^0'=rcd_106^post22, a_222^0'=a_222^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post22, __disjvr_20^0'=__disjvr_20^post22, len_221^0'=len_221^post22, __disjvr_30^0'=__disjvr_30^post22, rcd_199^0'=rcd_199^post22, __disjvr_13^0'=__disjvr_13^post22, head_16^0'=head_16^post22, __disjvr_23^0'=__disjvr_23^post22, temp0_32^0'=temp0_32^post22, r_149^0'=r_149^post22, y_26^0'=y_26^post22, __disjvr_7^0'=__disjvr_7^post22, rcd_320^0'=rcd_320^post22, rcd_71^0'=rcd_71^post22, __disjvr_18^0'=__disjvr_18^post22, i_198^0'=i_198^post22, __disjvr_28^0'=__disjvr_28^post22, x_207^0'=x_207^post22, rcd_185^0'=rcd_185^post22, __disjvr_10^0'=__disjvr_10^post22, a_279^0'=a_279^post22, t_23^0'=t_23^post22, __disjvr_22^0'=__disjvr_22^post22, x_SLAM_f_20^0'=x_SLAM_f_20^post22, __disjvr_4^0'=__disjvr_4^post22, rcd_284^0'=rcd_284^post22, __disjvr_15^0'=__disjvr_15^post22, head_SLAM_f_30^0'=head_SLAM_f_30^post22, __disjvr_25^0'=__disjvr_25^post22, temp_37^0'=temp_37^post22, r_41^0'=r_41^post22, __disjvr_9^0'=__disjvr_9^post22, a_174^0'=a_174^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post22, __disjvr_1^0'=__disjvr_1^post22, len_159^0'=len_159^post22, __disjvr_2^0'=__disjvr_2^post22, rcd_194^0'=rcd_194^post22, __disjvr_12^0'=__disjvr_12^post22, f_202^0'=f_202^post22, temp0_19^0'=temp0_19^post22, nondet_12^0'=nondet_12^post22, y_21^0'=y_21^post22, __disjvr_6^0'=__disjvr_6^post22, rcd_308^0'=rcd_308^post22, rcd_45^0'=rcd_45^post22, __disjvr_17^0'=__disjvr_17^post22, i_130^0'=i_130^post22, __disjvr_27^0'=__disjvr_27^post22, x_154^0'=x_154^post22, rcd_114^0'=rcd_114^post22, (0 == 0 /\ -__disjvr_12^post22+__disjvr_12^0 == 0 /\ -1-i_31^0+i_31^post22 == 0 /\ -__disjvr_27^post22+__disjvr_27^0 == 0 /\ -__disjvr_25^post22+__disjvr_25^0 == 0 /\ rcd_45^post22-rcd_114^post22 <= 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ rcd_199^0-rcd_199^post22 == 0 /\ __disjvr_23^0-__disjvr_23^post22 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post22 == 0 /\ __disjvr_1^0-__disjvr_1^post22 == 0 /\ __disjvr_19^0-__disjvr_19^post22 == 0 /\ -__disjvr_4^post22+__disjvr_4^0 == 0 /\ -y_26^post22+y_26^0 == 0 /\ -rcd_320^post22+rcd_320^0 == 0 /\ rcd_288^0-rcd_288^post22 == 0 /\ a_253^0-a_253^post22 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post22 == 0 /\ -i_31^0 <= 0 /\ __disjvr_28^0-__disjvr_28^post22 == 0 /\ __disjvr_2^0-__disjvr_2^post22 == 0 /\ 1+i_112^post22-i_31^post22 <= 0 /\ r_149^0-r_149^post22 == 0 /\ -__disjvr_22^post22+__disjvr_22^0 == 0 /\ -rcd_45^post22+rcd_114^post22 <= 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ -y_21^post22+y_21^0 == 0 /\ __disjvr_20^0-__disjvr_20^post22 == 0 /\ f_202^0-f_202^post22 == 0 /\ __disjvr_21^0-__disjvr_21^post22 == 0 /\ -head_SLAM_f_30^post22+head_SLAM_f_30^0 == 0 /\ a_309^0-a_309^post22 == 0 /\ -i_130^post22+i_130^0 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ x_22^0-x_22^post22 == 0 /\ -temp_37^post22+temp_37^0 == 0 /\ a_222^0-a_222^post22 == 0 /\ head_16^0-head_16^post22 == 0 /\ -x_SLAM_f_20^post22+x_SLAM_f_20^0 == 0 /\ -rcd_308^post22+rcd_308^0 == 0 /\ 1+i_112^post22-length_29^0 <= 0 /\ a_139^0-a_139^post22 == 0 /\ __disjvr_26^0-__disjvr_26^post22 == 0 /\ -tail_15^post22+tail_15^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ a_279^0-a_279^post22 == 0 /\ __disjvr_18^0-__disjvr_18^post22 == 0 /\ -temp_36^0+tmp_35^post22 == 0 /\ -a_174^post22+a_174^0 == 0 /\ head_33^post22-tmp_35^post22 == 0 /\ -__disjvr_8^post22+__disjvr_8^0 == 0 /\ rcd_114^post22-rcd_45^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post22 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post22 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ r_41^0-r_41^post22 == 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ -rcd_71^post22+rcd_71^0 == 0 /\ -rcd_284^post22+rcd_284^0 == 0 /\ -x_154^post22+x_154^0 == 0 /\ r_192^0-r_192^post22 == 0 /\ __disjvr_24^0-__disjvr_24^post22 == 0 /\ -temp0_32^post22+temp0_32^0 == 0 /\ -__disjvr_6^post22+__disjvr_6^0 == 0 /\ rcd_193^0-rcd_193^post22 == 0 /\ -rcd_185^post22+rcd_185^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ __disjvr_30^0-__disjvr_30^post22 == 0 /\ -1-i_112^post22+i_31^post22 <= 0 /\ length_29^0-length_29^post22 == 0 /\ -len_159^post22+len_159^0 == 0 /\ -i_198^post22+i_198^0 == 0 /\ __disjvr_16^0-__disjvr_16^post22 == 0 /\ -temp0_19^post22+temp0_19^0 == 0 /\ -rcd_114^post22+rcd_45^0 <= 0 /\ x_27^0-x_27^post22 == 0 /\ -__disjvr_5^post22+__disjvr_5^0 == 0 /\ -__disjvr_7^post22+__disjvr_7^0 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ rcd_220^0-rcd_220^post22 == 0 /\ __disjvr_14^0-__disjvr_14^post22 == 0 /\ x_207^0-x_207^post22 == 0 /\ -__disjvr_29^post22+__disjvr_29^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post22 == 0 /\ -t_23^post22+t_23^0 == 0 /\ -__disjvr_13^post22+__disjvr_13^0 == 0 /\ -rcd_194^post22+rcd_194^0 == 0 /\ len_221^0-len_221^post22 == 0), cost: 1 New rule: l20 -> l23 : head_33^0'=temp_36^0, temp_36^0'=temp_36^post22, i_31^0'=1+i_31^0, i_112^0'=i_31^0, tmp_35^0'=temp_36^0, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (i_31^0 >= 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 1 Applied preprocessing Original rule: l23 -> l20 : __disjvr_0^0'=__disjvr_0^post23, a_253^0'=a_253^post23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post23, __disjvr_21^0'=__disjvr_21^post23, x_27^0'=x_27^post23, __disjvr_3^0'=__disjvr_3^post23, rcd_220^0'=rcd_220^post23, __disjvr_14^0'=__disjvr_14^post23, head_33^0'=head_33^post23, __disjvr_24^0'=__disjvr_24^post23, temp_36^0'=temp_36^post23, r_192^0'=r_192^post23, __disjvr_8^0'=__disjvr_8^post23, a_139^0'=a_139^post23, result_11^0'=result_11^post23, __disjvr_19^0'=__disjvr_19^post23, i_31^0'=i_31^post23, __disjvr_29^0'=__disjvr_29^post23, x_22^0'=x_22^post23, rcd_193^0'=rcd_193^post23, __disjvr_11^0'=__disjvr_11^post23, a_309^0'=a_309^post23, tail_15^0'=tail_15^post23, length_29^0'=length_29^post23, x_SLAM_f_25^0'=x_SLAM_f_25^post23, __disjvr_5^0'=__disjvr_5^post23, rcd_288^0'=rcd_288^post23, __disjvr_16^0'=__disjvr_16^post23, i_112^0'=i_112^post23, __disjvr_26^0'=__disjvr_26^post23, tmp_35^0'=tmp_35^post23, rcd_106^0'=rcd_106^post23, a_222^0'=a_222^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post23, __disjvr_20^0'=__disjvr_20^post23, len_221^0'=len_221^post23, __disjvr_30^0'=__disjvr_30^post23, rcd_199^0'=rcd_199^post23, __disjvr_13^0'=__disjvr_13^post23, head_16^0'=head_16^post23, __disjvr_23^0'=__disjvr_23^post23, temp0_32^0'=temp0_32^post23, r_149^0'=r_149^post23, y_26^0'=y_26^post23, __disjvr_7^0'=__disjvr_7^post23, rcd_320^0'=rcd_320^post23, rcd_71^0'=rcd_71^post23, __disjvr_18^0'=__disjvr_18^post23, i_198^0'=i_198^post23, __disjvr_28^0'=__disjvr_28^post23, x_207^0'=x_207^post23, rcd_185^0'=rcd_185^post23, __disjvr_10^0'=__disjvr_10^post23, a_279^0'=a_279^post23, t_23^0'=t_23^post23, __disjvr_22^0'=__disjvr_22^post23, x_SLAM_f_20^0'=x_SLAM_f_20^post23, __disjvr_4^0'=__disjvr_4^post23, rcd_284^0'=rcd_284^post23, __disjvr_15^0'=__disjvr_15^post23, head_SLAM_f_30^0'=head_SLAM_f_30^post23, __disjvr_25^0'=__disjvr_25^post23, temp_37^0'=temp_37^post23, r_41^0'=r_41^post23, __disjvr_9^0'=__disjvr_9^post23, a_174^0'=a_174^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23, __disjvr_1^0'=__disjvr_1^post23, len_159^0'=len_159^post23, __disjvr_2^0'=__disjvr_2^post23, rcd_194^0'=rcd_194^post23, __disjvr_12^0'=__disjvr_12^post23, f_202^0'=f_202^post23, temp0_19^0'=temp0_19^post23, nondet_12^0'=nondet_12^post23, y_21^0'=y_21^post23, __disjvr_6^0'=__disjvr_6^post23, rcd_308^0'=rcd_308^post23, rcd_45^0'=rcd_45^post23, __disjvr_17^0'=__disjvr_17^post23, i_130^0'=i_130^post23, __disjvr_27^0'=__disjvr_27^post23, x_154^0'=x_154^post23, rcd_114^0'=rcd_114^post23, (-rcd_199^post23+rcd_199^0 == 0 /\ x_22^0-x_22^post23 == 0 /\ -rcd_114^post23+rcd_114^0 == 0 /\ -t_23^post23+t_23^0 == 0 /\ a_222^0-a_222^post23 == 0 /\ result_11^0-result_11^post23 == 0 /\ -__disjvr_12^post23+__disjvr_12^0 == 0 /\ head_33^0-head_33^post23 == 0 /\ rcd_106^0-rcd_106^post23 == 0 /\ -r_41^post23+r_41^0 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ __disjvr_13^0-__disjvr_13^post23 == 0 /\ __disjvr_18^0-__disjvr_18^post23 == 0 /\ __disjvr_3^0-__disjvr_3^post23 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post23 == 0 /\ -__disjvr_4^post23+__disjvr_4^0 == 0 /\ i_112^0-i_112^post23 == 0 /\ -f_202^post23+f_202^0 == 0 /\ -temp_37^post23+temp_37^0 == 0 /\ -__disjvr_27^post23+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ y_26^0-y_26^post23 == 0 /\ -tail_15^post23+tail_15^0 == 0 /\ tmp_35^0-tmp_35^post23 == 0 /\ length_29^0-length_29^post23 == 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0 /\ -__disjvr_25^post23+__disjvr_25^0 == 0 /\ __disjvr_2^0-__disjvr_2^post23 == 0 /\ -len_159^post23+len_159^0 == 0 /\ a_309^0-a_309^post23 == 0 /\ -__disjvr_20^post23+__disjvr_20^0 == 0 /\ -temp0_32^post23+temp0_32^0 == 0 /\ len_221^0-len_221^post23 == 0 /\ -__disjvr_1^post23+__disjvr_1^0 == 0 /\ -rcd_71^post23+rcd_71^0 == 0 /\ __disjvr_14^0-__disjvr_14^post23 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post23 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post23 == 0 /\ -rcd_288^post23+rcd_288^0 == 0 /\ y_21^0-y_21^post23 == 0 /\ x_27^0-x_27^post23 == 0 /\ -rcd_185^post23+rcd_185^0 == 0 /\ -head_SLAM_f_30^post23+head_SLAM_f_30^0 == 0 /\ __disjvr_24^0-__disjvr_24^post23 == 0 /\ -x_154^post23+x_154^0 == 0 /\ -__disjvr_22^post23+__disjvr_22^0 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -i_198^post23+i_198^0 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ rcd_220^0-rcd_220^post23 == 0 /\ -__disjvr_8^post23+__disjvr_8^0 == 0 /\ -__disjvr_10^post23+__disjvr_10^0 == 0 /\ -__disjvr_23^post23+__disjvr_23^0 == 0 /\ -__disjvr_9^post23+__disjvr_9^0 == 0 /\ -__disjvr_21^post23+__disjvr_21^0 == 0 /\ -rcd_308^post23+rcd_308^0 == 0 /\ a_279^0-a_279^post23 == 0 /\ i_31^0-i_31^post23 == 0 /\ __disjvr_15^0-__disjvr_15^post23 == 0 /\ __disjvr_19^0-__disjvr_19^post23 == 0 /\ -rcd_194^post23+rcd_194^0 == 0 /\ -a_174^post23+a_174^0 == 0 /\ -rcd_193^post23+rcd_193^0 == 0 /\ a_253^0-a_253^post23 == 0 /\ i_130^0-i_130^post23 == 0 /\ -nondet_12^post23+nondet_12^0 == 0 /\ -rcd_45^post23+rcd_45^0 == 0 /\ -__disjvr_29^post23+__disjvr_29^0 == 0 /\ -rcd_320^post23+rcd_320^0 == 0 /\ head_16^0-head_16^post23 == 0 /\ __disjvr_28^0-__disjvr_28^post23 == 0 /\ -x_207^post23+x_207^0 == 0 /\ r_192^0-r_192^post23 == 0 /\ -__disjvr_6^post23+__disjvr_6^0 == 0 /\ a_139^0-a_139^post23 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_11^0-__disjvr_11^post23 == 0 /\ -rcd_284^post23+rcd_284^0 == 0 /\ __disjvr_16^0-__disjvr_16^post23 == 0 /\ __disjvr_30^0-__disjvr_30^post23 == 0 /\ -temp_36^post23+temp_36^0 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ -temp0_19^post23+temp0_19^0 == 0 /\ r_149^0-r_149^post23 == 0), cost: 1 New rule: l23 -> l20 : TRUE, cost: 1 Applied preprocessing Original rule: l24 -> l6 : __disjvr_0^0'=__disjvr_0^post25, a_253^0'=a_253^post25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post25, __disjvr_21^0'=__disjvr_21^post25, x_27^0'=x_27^post25, __disjvr_3^0'=__disjvr_3^post25, rcd_220^0'=rcd_220^post25, __disjvr_14^0'=__disjvr_14^post25, head_33^0'=head_33^post25, __disjvr_24^0'=__disjvr_24^post25, temp_36^0'=temp_36^post25, r_192^0'=r_192^post25, __disjvr_8^0'=__disjvr_8^post25, a_139^0'=a_139^post25, result_11^0'=result_11^post25, __disjvr_19^0'=__disjvr_19^post25, i_31^0'=i_31^post25, __disjvr_29^0'=__disjvr_29^post25, x_22^0'=x_22^post25, rcd_193^0'=rcd_193^post25, __disjvr_11^0'=__disjvr_11^post25, a_309^0'=a_309^post25, tail_15^0'=tail_15^post25, length_29^0'=length_29^post25, x_SLAM_f_25^0'=x_SLAM_f_25^post25, __disjvr_5^0'=__disjvr_5^post25, rcd_288^0'=rcd_288^post25, __disjvr_16^0'=__disjvr_16^post25, i_112^0'=i_112^post25, __disjvr_26^0'=__disjvr_26^post25, tmp_35^0'=tmp_35^post25, rcd_106^0'=rcd_106^post25, a_222^0'=a_222^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25, __disjvr_20^0'=__disjvr_20^post25, len_221^0'=len_221^post25, __disjvr_30^0'=__disjvr_30^post25, rcd_199^0'=rcd_199^post25, __disjvr_13^0'=__disjvr_13^post25, head_16^0'=head_16^post25, __disjvr_23^0'=__disjvr_23^post25, temp0_32^0'=temp0_32^post25, r_149^0'=r_149^post25, y_26^0'=y_26^post25, __disjvr_7^0'=__disjvr_7^post25, rcd_320^0'=rcd_320^post25, rcd_71^0'=rcd_71^post25, __disjvr_18^0'=__disjvr_18^post25, i_198^0'=i_198^post25, __disjvr_28^0'=__disjvr_28^post25, x_207^0'=x_207^post25, rcd_185^0'=rcd_185^post25, __disjvr_10^0'=__disjvr_10^post25, a_279^0'=a_279^post25, t_23^0'=t_23^post25, __disjvr_22^0'=__disjvr_22^post25, x_SLAM_f_20^0'=x_SLAM_f_20^post25, __disjvr_4^0'=__disjvr_4^post25, rcd_284^0'=rcd_284^post25, __disjvr_15^0'=__disjvr_15^post25, head_SLAM_f_30^0'=head_SLAM_f_30^post25, __disjvr_25^0'=__disjvr_25^post25, temp_37^0'=temp_37^post25, r_41^0'=r_41^post25, __disjvr_9^0'=__disjvr_9^post25, a_174^0'=a_174^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, __disjvr_1^0'=__disjvr_1^post25, len_159^0'=len_159^post25, __disjvr_2^0'=__disjvr_2^post25, rcd_194^0'=rcd_194^post25, __disjvr_12^0'=__disjvr_12^post25, f_202^0'=f_202^post25, temp0_19^0'=temp0_19^post25, nondet_12^0'=nondet_12^post25, y_21^0'=y_21^post25, __disjvr_6^0'=__disjvr_6^post25, rcd_308^0'=rcd_308^post25, rcd_45^0'=rcd_45^post25, __disjvr_17^0'=__disjvr_17^post25, i_130^0'=i_130^post25, __disjvr_27^0'=__disjvr_27^post25, x_154^0'=x_154^post25, rcd_114^0'=rcd_114^post25, (0 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ -f_202^post25+f_202^0 == 0 /\ -head_16^post25+head_16^0 == 0 /\ head_SLAM_f_30^post25-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25 <= 0 /\ -rcd_45^post25+rcd_45^0 == 0 /\ a_309^0-a_309^post25 == 0 /\ tail_15^post25-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25 <= 0 /\ -head_SLAM_f_30^post25+tail_15^post25 <= 0 /\ x_22^0-x_22^post25 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post25-length_29^0 <= 0 /\ -__disjvr_6^post25+__disjvr_6^0 == 0 /\ -temp0_19^post25+temp0_19^0 == 0 /\ -rcd_284^post25+rcd_284^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25-tmp_35^post25 <= 0 /\ rcd_220^0-rcd_220^post25 == 0 /\ -len_159^post25+len_159^0 == 0 /\ -__disjvr_2^post25+__disjvr_2^0 == 0 /\ -__disjvr_1^post25+__disjvr_1^0 == 0 /\ -temp0_32^post25+temp0_32^0 == 0 /\ -1-i_31^0+i_31^post25 == 0 /\ -tmp_35^post25+head_33^post25 <= 0 /\ -tmp_35^post25+head_33^post25 == 0 /\ rcd_199^0-rcd_199^post25 == 0 /\ a_139^0-a_139^post25 == 0 /\ -t_23^post25+t_23^0 == 0 /\ __disjvr_11^0-__disjvr_11^post25 == 0 /\ rcd_320^0-rcd_320^post25 == 0 /\ -rcd_185^post25+rcd_185^0 == 0 /\ __disjvr_18^0-__disjvr_18^post25 == 0 /\ -head_SLAM_f_30^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25 <= 0 /\ __disjvr_15^0-__disjvr_15^post25 == 0 /\ -__disjvr_16^post25+__disjvr_16^0 == 0 /\ x_207^0-x_207^post25 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ -tail_15^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25 <= 0 /\ -rcd_114^post25+rcd_114^0 == 0 /\ head_SLAM_f_30^post25-tail_15^post25 <= 0 /\ a_253^0-a_253^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post25+length_29^0 <= 0 /\ -__disjvr_10^post25+__disjvr_10^0 == 0 /\ rcd_288^0-rcd_288^post25 == 0 /\ x_27^0-x_27^post25 == 0 /\ -__disjvr_9^post25+__disjvr_9^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post25 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25+tmp_35^post25 <= 0 /\ i_112^0-i_112^post25 == 0 /\ -__disjvr_4^post25+__disjvr_4^0 == 0 /\ -rcd_194^post25+rcd_194^0 == 0 /\ __disjvr_28^0-__disjvr_28^post25 == 0 /\ tmp_35^post25-head_33^post25 <= 0 /\ -a_174^post25+a_174^0 == 0 /\ rcd_106^0-rcd_106^post25 == 0 /\ -__disjvr_19^post25+__disjvr_19^0 == 0 /\ rcd_193^0-rcd_193^post25 == 0 /\ -a_279^post25+a_279^0 == 0 /\ __disjvr_13^0-__disjvr_13^post25 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ -__disjvr_27^post25+__disjvr_27^0 == 0 /\ -y_26^post25+y_26^0 == 0 /\ -i_130^post25+i_130^0 == 0 /\ rcd_71^0-rcd_71^post25 == 0 /\ r_149^0-r_149^post25 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ __disjvr_20^0-__disjvr_20^post25 == 0 /\ -__disjvr_25^post25+__disjvr_25^0 == 0 /\ a_222^0-a_222^post25 == 0 /\ -__disjvr_5^post25+__disjvr_5^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25+head_33^post25 <= 0 /\ -x_SLAM_f_20^post25+x_SLAM_f_20^0 == 0 /\ 1+i_31^0-length_29^0 <= 0 /\ -temp_37^post25+temp_37^0 == 0 /\ -rcd_308^post25+rcd_308^0 == 0 /\ __disjvr_26^0-__disjvr_26^post25 == 0 /\ 1-i_31^post25 <= 0 /\ -1+i_31^post25 <= 0 /\ -y_21^post25+y_21^0 == 0 /\ r_41^0-r_41^post25 == 0 /\ 1-length_29^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post25 == 0 /\ -r_192^post25+r_192^0 == 0 /\ len_221^0-len_221^post25 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ -__disjvr_22^post25+__disjvr_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ i_198^0-i_198^post25 == 0 /\ -temp_36^0+tmp_35^post25 == 0 /\ -__disjvr_23^post25+__disjvr_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ __disjvr_30^0-__disjvr_30^post25 == 0 /\ result_11^0-result_11^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post25-head_33^post25 <= 0 /\ __disjvr_8^0-__disjvr_8^post25 == 0 /\ -x_154^post25+x_154^0 == 0 /\ length_29^0-length_29^post25 == 0), cost: 1 New rule: l24 -> l6 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_29^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post25, i_31^0'=1+i_31^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, tmp_35^0'=temp_36^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^0, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, (i_31^0 == 0 /\ -1+length_29^0 >= 0), cost: 1 Applied preprocessing Original rule: l25 -> l27 : __disjvr_0^0'=__disjvr_0^post27, a_253^0'=a_253^post27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, __disjvr_21^0'=__disjvr_21^post27, x_27^0'=x_27^post27, __disjvr_3^0'=__disjvr_3^post27, rcd_220^0'=rcd_220^post27, __disjvr_14^0'=__disjvr_14^post27, head_33^0'=head_33^post27, __disjvr_24^0'=__disjvr_24^post27, temp_36^0'=temp_36^post27, r_192^0'=r_192^post27, __disjvr_8^0'=__disjvr_8^post27, a_139^0'=a_139^post27, result_11^0'=result_11^post27, __disjvr_19^0'=__disjvr_19^post27, i_31^0'=i_31^post27, __disjvr_29^0'=__disjvr_29^post27, x_22^0'=x_22^post27, rcd_193^0'=rcd_193^post27, __disjvr_11^0'=__disjvr_11^post27, a_309^0'=a_309^post27, tail_15^0'=tail_15^post27, length_29^0'=length_29^post27, x_SLAM_f_25^0'=x_SLAM_f_25^post27, __disjvr_5^0'=__disjvr_5^post27, rcd_288^0'=rcd_288^post27, __disjvr_16^0'=__disjvr_16^post27, i_112^0'=i_112^post27, __disjvr_26^0'=__disjvr_26^post27, tmp_35^0'=tmp_35^post27, rcd_106^0'=rcd_106^post27, a_222^0'=a_222^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27, __disjvr_20^0'=__disjvr_20^post27, len_221^0'=len_221^post27, __disjvr_30^0'=__disjvr_30^post27, rcd_199^0'=rcd_199^post27, __disjvr_13^0'=__disjvr_13^post27, head_16^0'=head_16^post27, __disjvr_23^0'=__disjvr_23^post27, temp0_32^0'=temp0_32^post27, r_149^0'=r_149^post27, y_26^0'=y_26^post27, __disjvr_7^0'=__disjvr_7^post27, rcd_320^0'=rcd_320^post27, rcd_71^0'=rcd_71^post27, __disjvr_18^0'=__disjvr_18^post27, i_198^0'=i_198^post27, __disjvr_28^0'=__disjvr_28^post27, x_207^0'=x_207^post27, rcd_185^0'=rcd_185^post27, __disjvr_10^0'=__disjvr_10^post27, a_279^0'=a_279^post27, t_23^0'=t_23^post27, __disjvr_22^0'=__disjvr_22^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, __disjvr_4^0'=__disjvr_4^post27, rcd_284^0'=rcd_284^post27, __disjvr_15^0'=__disjvr_15^post27, head_SLAM_f_30^0'=head_SLAM_f_30^post27, __disjvr_25^0'=__disjvr_25^post27, temp_37^0'=temp_37^post27, r_41^0'=r_41^post27, __disjvr_9^0'=__disjvr_9^post27, a_174^0'=a_174^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, __disjvr_1^0'=__disjvr_1^post27, len_159^0'=len_159^post27, __disjvr_2^0'=__disjvr_2^post27, rcd_194^0'=rcd_194^post27, __disjvr_12^0'=__disjvr_12^post27, f_202^0'=f_202^post27, temp0_19^0'=temp0_19^post27, nondet_12^0'=nondet_12^post27, y_21^0'=y_21^post27, __disjvr_6^0'=__disjvr_6^post27, rcd_308^0'=rcd_308^post27, rcd_45^0'=rcd_45^post27, __disjvr_17^0'=__disjvr_17^post27, i_130^0'=i_130^post27, __disjvr_27^0'=__disjvr_27^post27, x_154^0'=x_154^post27, rcd_114^0'=rcd_114^post27, (0 == 0 /\ -i_198^post27+i_198^0 == 0 /\ -y_21^post27+y_21^0 == 0 /\ -__disjvr_10^post27+__disjvr_10^0 == 0 /\ -len_159^post27+len_159^0 == 0 /\ -__disjvr_22^post27+__disjvr_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post27 == 0 /\ -a_279^0 <= 0 /\ a_253^0-a_253^post27 == 0 /\ a_139^0-a_139^post27 == 0 /\ -y_26^post27+y_26^0 == 0 /\ __disjvr_8^0-__disjvr_8^post27 == 0 /\ -i_130^post27+i_130^0 == 0 /\ -temp_37^post27+temp_37^0 == 0 /\ rcd_106^0-rcd_106^post27 == 0 /\ r_149^0-r_149^post27 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post27 == 0 /\ __disjvr_11^0-__disjvr_11^post27 == 0 /\ -__disjvr_9^post27+__disjvr_9^0 == 0 /\ -__disjvr_7^post27+__disjvr_7^0 == 0 /\ rcd_288^0-rcd_288^post27 == 0 /\ -__disjvr_5^post27+__disjvr_5^0 == 0 /\ __disjvr_23^0-__disjvr_23^post27 == 0 /\ -rcd_308^post27+rcd_308^0 == 0 /\ __disjvr_1^0-__disjvr_1^post27 == 0 /\ -rcd_194^post27+rcd_194^0 == 0 /\ __disjvr_16^0-__disjvr_16^post27 == 0 /\ a_309^0-a_309^post27 == 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ -i_112^post27+i_112^0 == 0 /\ -nondet_12^post27+nondet_12^0 == 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ temp_36^0-temp_36^post27 == 0 /\ a_222^0-a_222^post27 == 0 /\ f_202^0-f_202^post27 == 0 /\ x_22^0-x_22^post27 == 0 /\ -__disjvr_30^post27+__disjvr_30^0 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ -head_SLAM_f_30^post27+head_SLAM_f_30^0 == 0 /\ -x_154^post27+x_154^0 == 0 /\ -rcd_320^post27+rcd_320^0 == 0 /\ -rcd_284^post27+rcd_284^0 == 0 /\ -__disjvr_17^post27+__disjvr_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post27 == 0 /\ rcd_199^0-rcd_199^post27 == 0 /\ -__disjvr_6^post27+__disjvr_6^0 == 0 /\ __disjvr_21^0-__disjvr_21^post27 == 0 /\ r_192^0-r_192^post27 == 0 /\ __disjvr_15^0-__disjvr_15^post27 == 0 /\ -rcd_114^post27+rcd_114^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post27 == 0 /\ -temp0_19^post27+temp0_19^0 == 0 /\ len_221^0-len_221^post27 == 0 /\ __disjvr_26^0-__disjvr_26^post27 == 0 /\ -rcd_45^post27+rcd_45^0 == 0 /\ -__disjvr_28^post27+__disjvr_28^0 == 0 /\ -t_23^post27+t_23^0 == 0 /\ result_11^0-result_11^post27 == 0 /\ -__disjvr_29^post27+__disjvr_29^0 == 0 /\ length_29^0-length_29^post27 == 0 /\ head_33^0-head_33^post27 == 0 /\ -__disjvr_13^post27+__disjvr_13^0 == 0 /\ -__disjvr_25^post27+__disjvr_25^0 == 0 /\ x_27^0-x_27^post27 == 0 /\ -__disjvr_27^post27+__disjvr_27^0 == 0 /\ -a_174^post27+a_174^0 == 0 /\ rcd_220^0-rcd_220^post27 == 0 /\ x_207^0-x_207^post27 == 0 /\ rcd_193^0-rcd_193^post27 == 0 /\ -__disjvr_4^post27+__disjvr_4^0 == 0 /\ __disjvr_19^0-__disjvr_19^post27 == 0 /\ __disjvr_24^0-__disjvr_24^post27 == 0 /\ i_31^0-i_31^post27 == 0 /\ __disjvr_18^0-__disjvr_18^post27 == 0 /\ tmp_35^0-tmp_35^post27 == 0 /\ -temp0_32^post27+temp0_32^0 == 0 /\ -rcd_185^post27+rcd_185^0 == 0 /\ __disjvr_3^0-__disjvr_3^post27 == 0 /\ -rcd_71^post27+rcd_71^0 == 0 /\ -a_279^post27+a_279^0 == 0), cost: 1 New rule: l25 -> l27 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, a_279^0 >= 0, cost: 1 Applied preprocessing Original rule: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post28, a_253^0'=a_253^post28, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post28, __disjvr_21^0'=__disjvr_21^post28, x_27^0'=x_27^post28, __disjvr_3^0'=__disjvr_3^post28, rcd_220^0'=rcd_220^post28, __disjvr_14^0'=__disjvr_14^post28, head_33^0'=head_33^post28, __disjvr_24^0'=__disjvr_24^post28, temp_36^0'=temp_36^post28, r_192^0'=r_192^post28, __disjvr_8^0'=__disjvr_8^post28, a_139^0'=a_139^post28, result_11^0'=result_11^post28, __disjvr_19^0'=__disjvr_19^post28, i_31^0'=i_31^post28, __disjvr_29^0'=__disjvr_29^post28, x_22^0'=x_22^post28, rcd_193^0'=rcd_193^post28, __disjvr_11^0'=__disjvr_11^post28, a_309^0'=a_309^post28, tail_15^0'=tail_15^post28, length_29^0'=length_29^post28, x_SLAM_f_25^0'=x_SLAM_f_25^post28, __disjvr_5^0'=__disjvr_5^post28, rcd_288^0'=rcd_288^post28, __disjvr_16^0'=__disjvr_16^post28, i_112^0'=i_112^post28, __disjvr_26^0'=__disjvr_26^post28, tmp_35^0'=tmp_35^post28, rcd_106^0'=rcd_106^post28, a_222^0'=a_222^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28, __disjvr_20^0'=__disjvr_20^post28, len_221^0'=len_221^post28, __disjvr_30^0'=__disjvr_30^post28, rcd_199^0'=rcd_199^post28, __disjvr_13^0'=__disjvr_13^post28, head_16^0'=head_16^post28, __disjvr_23^0'=__disjvr_23^post28, temp0_32^0'=temp0_32^post28, r_149^0'=r_149^post28, y_26^0'=y_26^post28, __disjvr_7^0'=__disjvr_7^post28, rcd_320^0'=rcd_320^post28, rcd_71^0'=rcd_71^post28, __disjvr_18^0'=__disjvr_18^post28, i_198^0'=i_198^post28, __disjvr_28^0'=__disjvr_28^post28, x_207^0'=x_207^post28, rcd_185^0'=rcd_185^post28, __disjvr_10^0'=__disjvr_10^post28, a_279^0'=a_279^post28, t_23^0'=t_23^post28, __disjvr_22^0'=__disjvr_22^post28, x_SLAM_f_20^0'=x_SLAM_f_20^post28, __disjvr_4^0'=__disjvr_4^post28, rcd_284^0'=rcd_284^post28, __disjvr_15^0'=__disjvr_15^post28, head_SLAM_f_30^0'=head_SLAM_f_30^post28, __disjvr_25^0'=__disjvr_25^post28, temp_37^0'=temp_37^post28, r_41^0'=r_41^post28, __disjvr_9^0'=__disjvr_9^post28, a_174^0'=a_174^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28, __disjvr_1^0'=__disjvr_1^post28, len_159^0'=len_159^post28, __disjvr_2^0'=__disjvr_2^post28, rcd_194^0'=rcd_194^post28, __disjvr_12^0'=__disjvr_12^post28, f_202^0'=f_202^post28, temp0_19^0'=temp0_19^post28, nondet_12^0'=nondet_12^post28, y_21^0'=y_21^post28, __disjvr_6^0'=__disjvr_6^post28, rcd_308^0'=rcd_308^post28, rcd_45^0'=rcd_45^post28, __disjvr_17^0'=__disjvr_17^post28, i_130^0'=i_130^post28, __disjvr_27^0'=__disjvr_27^post28, x_154^0'=x_154^post28, rcd_114^0'=rcd_114^post28, (__disjvr_11^0-__disjvr_11^post28 == 0 /\ -__disjvr_4^post28+__disjvr_4^0 == 0 /\ __disjvr_18^0-__disjvr_18^post28 == 0 /\ x_207^0-x_207^post28 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post28 == 0 /\ -__disjvr_27^post28+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ len_221^0-len_221^post28 == 0 /\ -rcd_320^post28+rcd_320^0 == 0 /\ -i_112^post28+i_112^0 == 0 /\ -temp_37^post28+temp_37^0 == 0 /\ y_26^0-y_26^post28 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post28+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_20^post28+__disjvr_20^0 == 0 /\ length_29^0-length_29^post28 == 0 /\ head_33^0-head_33^post28 == 0 /\ -__disjvr_25^post28+__disjvr_25^0 == 0 /\ rcd_106^0-rcd_106^post28 == 0 /\ __disjvr_28^0-__disjvr_28^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ -__disjvr_5^post28+__disjvr_5^0 == 0 /\ -y_21^post28+y_21^0 == 0 /\ -rcd_193^post28+rcd_193^0 == 0 /\ __disjvr_13^0-__disjvr_13^post28 == 0 /\ -__disjvr_1^post28+__disjvr_1^0 == 0 /\ -head_SLAM_f_30^post28+head_SLAM_f_30^0 == 0 /\ -__disjvr_22^post28+__disjvr_22^0 == 0 /\ a_309^0-a_309^post28 == 0 /\ f_202^0-f_202^post28 == 0 /\ -__disjvr_12^post28+__disjvr_12^0 == 0 /\ x_22^0-x_22^post28 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ -rcd_308^post28+rcd_308^0 == 0 /\ -__disjvr_23^post28+__disjvr_23^0 == 0 /\ tmp_35^0-tmp_35^post28 == 0 /\ -i_130^post28+i_130^0 == 0 /\ -x_154^post28+x_154^0 == 0 /\ a_139^0-a_139^post28 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ __disjvr_26^0-__disjvr_26^post28 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ r_41^0-r_41^post28 == 0 /\ __disjvr_29^0-__disjvr_29^post28 == 0 /\ -rcd_284^post28+rcd_284^0 == 0 /\ a_279^0-a_279^post28 == 0 /\ -tail_15^post28+tail_15^0 == 0 /\ __disjvr_14^0-__disjvr_14^post28 == 0 /\ i_31^0-i_31^post28 == 0 /\ __disjvr_15^0-__disjvr_15^post28 == 0 /\ x_27^0-x_27^post28 == 0 /\ a_253^0-a_253^post28 == 0 /\ r_192^0-r_192^post28 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post28 == 0 /\ -__disjvr_6^post28+__disjvr_6^0 == 0 /\ -temp0_19^post28+temp0_19^0 == 0 /\ __disjvr_24^0-__disjvr_24^post28 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post28 == 0 /\ __disjvr_30^0-__disjvr_30^post28 == 0 /\ -__disjvr_17^post28+__disjvr_17^0 == 0 /\ -len_159^post28+len_159^0 == 0 /\ -rcd_71^post28+rcd_71^0 == 0 /\ -__disjvr_2^post28+__disjvr_2^0 == 0 /\ -temp0_32^post28+temp0_32^0 == 0 /\ __disjvr_10^post28-__disjvr_10^0 == 0 /\ temp_36^0-temp_36^post28 == 0 /\ -rcd_199^post28+rcd_199^0 == 0 /\ -t_23^post28+t_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ -rcd_185^post28+rcd_185^0 == 0 /\ __disjvr_16^0-__disjvr_16^post28 == 0 /\ -rcd_114^post28+rcd_114^0 == 0 /\ -__disjvr_7^post28+__disjvr_7^0 == 0 /\ -rcd_288^post28+rcd_288^0 == 0 /\ r_149^0-r_149^post28 == 0 /\ -i_198^post28+i_198^0 == 0 /\ a_222^0-a_222^post28 == 0 /\ __disjvr_21^0-__disjvr_21^post28 == 0 /\ -__disjvr_9^post28+__disjvr_9^0 == 0 /\ -rcd_194^post28+rcd_194^0 == 0 /\ -rcd_45^post28+rcd_45^0 == 0 /\ head_16^0-head_16^post28 == 0 /\ rcd_220^0-rcd_220^post28 == 0 /\ -a_174^post28+a_174^0 == 0 /\ -__disjvr_19^post28+__disjvr_19^0 == 0 /\ -__disjvr_10^post28+__disjvr_10^0 == 0), cost: 1 New rule: l27 -> l28 : 0 == 0, cost: 1 Applied preprocessing Original rule: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post29, a_253^0'=a_253^post29, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post29, __disjvr_21^0'=__disjvr_21^post29, x_27^0'=x_27^post29, __disjvr_3^0'=__disjvr_3^post29, rcd_220^0'=rcd_220^post29, __disjvr_14^0'=__disjvr_14^post29, head_33^0'=head_33^post29, __disjvr_24^0'=__disjvr_24^post29, temp_36^0'=temp_36^post29, r_192^0'=r_192^post29, __disjvr_8^0'=__disjvr_8^post29, a_139^0'=a_139^post29, result_11^0'=result_11^post29, __disjvr_19^0'=__disjvr_19^post29, i_31^0'=i_31^post29, __disjvr_29^0'=__disjvr_29^post29, x_22^0'=x_22^post29, rcd_193^0'=rcd_193^post29, __disjvr_11^0'=__disjvr_11^post29, a_309^0'=a_309^post29, tail_15^0'=tail_15^post29, length_29^0'=length_29^post29, x_SLAM_f_25^0'=x_SLAM_f_25^post29, __disjvr_5^0'=__disjvr_5^post29, rcd_288^0'=rcd_288^post29, __disjvr_16^0'=__disjvr_16^post29, i_112^0'=i_112^post29, __disjvr_26^0'=__disjvr_26^post29, tmp_35^0'=tmp_35^post29, rcd_106^0'=rcd_106^post29, a_222^0'=a_222^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post29, __disjvr_20^0'=__disjvr_20^post29, len_221^0'=len_221^post29, __disjvr_30^0'=__disjvr_30^post29, rcd_199^0'=rcd_199^post29, __disjvr_13^0'=__disjvr_13^post29, head_16^0'=head_16^post29, __disjvr_23^0'=__disjvr_23^post29, temp0_32^0'=temp0_32^post29, r_149^0'=r_149^post29, y_26^0'=y_26^post29, __disjvr_7^0'=__disjvr_7^post29, rcd_320^0'=rcd_320^post29, rcd_71^0'=rcd_71^post29, __disjvr_18^0'=__disjvr_18^post29, i_198^0'=i_198^post29, __disjvr_28^0'=__disjvr_28^post29, x_207^0'=x_207^post29, rcd_185^0'=rcd_185^post29, __disjvr_10^0'=__disjvr_10^post29, a_279^0'=a_279^post29, t_23^0'=t_23^post29, __disjvr_22^0'=__disjvr_22^post29, x_SLAM_f_20^0'=x_SLAM_f_20^post29, __disjvr_4^0'=__disjvr_4^post29, rcd_284^0'=rcd_284^post29, __disjvr_15^0'=__disjvr_15^post29, head_SLAM_f_30^0'=head_SLAM_f_30^post29, __disjvr_25^0'=__disjvr_25^post29, temp_37^0'=temp_37^post29, r_41^0'=r_41^post29, __disjvr_9^0'=__disjvr_9^post29, a_174^0'=a_174^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29, __disjvr_1^0'=__disjvr_1^post29, len_159^0'=len_159^post29, __disjvr_2^0'=__disjvr_2^post29, rcd_194^0'=rcd_194^post29, __disjvr_12^0'=__disjvr_12^post29, f_202^0'=f_202^post29, temp0_19^0'=temp0_19^post29, nondet_12^0'=nondet_12^post29, y_21^0'=y_21^post29, __disjvr_6^0'=__disjvr_6^post29, rcd_308^0'=rcd_308^post29, rcd_45^0'=rcd_45^post29, __disjvr_17^0'=__disjvr_17^post29, i_130^0'=i_130^post29, __disjvr_27^0'=__disjvr_27^post29, x_154^0'=x_154^post29, rcd_114^0'=rcd_114^post29, (0 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0 /\ rcd_308^post29-rcd_45^0 <= 0 /\ a_279^0-a_279^post29 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ -rcd_199^post29+rcd_199^0 == 0 /\ -1-a_309^post29+a_279^0 <= 0 /\ x_207^0-x_207^post29 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post29 == 0 /\ head_33^0-head_33^post29 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ -rcd_114^post29+rcd_114^0 == 0 /\ x_27^0-x_27^post29 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_192^0-r_192^post29 == 0 /\ __disjvr_5^0-__disjvr_5^post29 == 0 /\ tail_15^0-y_21^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post29 == 0 /\ __disjvr_19^0-__disjvr_19^post29 == 0 /\ y_26^0-y_26^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_13^0-__disjvr_13^post29 == 0 /\ __disjvr_20^0-__disjvr_20^post29 == 0 /\ -__disjvr_4^post29+__disjvr_4^0 == 0 /\ __disjvr_3^0-__disjvr_3^post29 == 0 /\ __disjvr_30^0-__disjvr_30^post29 == 0 /\ length_29^0-length_29^post29 == 0 /\ -rcd_71^post29+rcd_71^0 == 0 /\ -rcd_308^post29+rcd_45^0 <= 0 /\ -temp0_32^post29+temp0_32^0 == 0 /\ tail_15^0-tail_15^post29 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ -__disjvr_23^post29+__disjvr_23^0 == 0 /\ __disjvr_28^0-__disjvr_28^post29 == 0 /\ -__disjvr_27^post29+__disjvr_27^0 == 0 /\ __disjvr_11^0-__disjvr_11^post29 == 0 /\ -i_130^post29+i_130^0 == 0 /\ -temp_37^post29+temp_37^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_220^0-rcd_220^post29 == 0 /\ __disjvr_1^0-__disjvr_1^post29 == 0 /\ a_139^0-a_139^post29 == 0 /\ -tail_15^0+y_21^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post29 == 0 /\ __disjvr_14^0-__disjvr_14^post29 == 0 /\ -__disjvr_25^post29+__disjvr_25^0 == 0 /\ -__disjvr_15^post29+__disjvr_15^0 == 0 /\ -x_SLAM_f_20^post29+x_SLAM_f_20^0 == 0 /\ rcd_106^0-rcd_106^post29 == 0 /\ -__disjvr_2^post29+__disjvr_2^0 == 0 /\ -__disjvr_22^post29+__disjvr_22^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post29 == 0 /\ y_21^0-y_21^post29 == 0 /\ -a_174^post29+a_174^0 == 0 /\ t_23^post29-x_22^0 == 0 /\ -f_202^post29+f_202^0 == 0 /\ -rcd_185^post29+rcd_185^0 == 0 /\ 1+a_309^post29-a_279^0 <= 0 /\ -i_198^post29+i_198^0 == 0 /\ -__disjvr_21^post29+__disjvr_21^0 == 0 /\ -__disjvr_7^post29+__disjvr_7^0 == 0 /\ result_11^0-result_11^post29 == 0 /\ -__disjvr_17^post29+__disjvr_17^0 == 0 /\ -x_154^post29+x_154^0 == 0 /\ -len_159^post29+len_159^0 == 0 /\ __disjvr_29^0-__disjvr_29^post29 == 0 /\ -i_31^post29+i_31^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ -rcd_193^post29+rcd_193^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post29 == 0 /\ a_253^0-a_253^post29 == 0 /\ temp0_19^0-temp0_19^post29 == 0 /\ -__disjvr_18^post29+__disjvr_18^0 == 0 /\ -rcd_194^post29+rcd_194^0 == 0 /\ r_149^0-r_149^post29 == 0 /\ tmp_35^0-tmp_35^post29 == 0 /\ len_221^0-len_221^post29 == 0 /\ -__disjvr_10^post29+__disjvr_10^0 == 0 /\ __disjvr_8^0-__disjvr_8^post29 == 0 /\ head_16^0-head_16^post29 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post29+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_112^post29+i_112^0 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ -rcd_45^post29+rcd_45^0 == 0 /\ r_41^0-r_41^post29 == 0 /\ -__disjvr_26^post29+__disjvr_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ -temp_36^post29+temp_36^0 == 0 /\ x_22^0-x_22^post29 == 0 /\ rcd_320^0-rcd_320^post29 == 0 /\ -rcd_288^post29+rcd_288^0 == 0 /\ a_222^0-a_222^post29 == 0 /\ -rcd_284^post29+rcd_284^0 == 0), cost: 1 New rule: l28 -> l29 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-head_16^0+x_SLAM_f_20^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ tail_15^0-y_21^0 == 0), cost: 1 Applied preprocessing Original rule: l29 -> l30 : __disjvr_0^0'=__disjvr_0^post30, a_253^0'=a_253^post30, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post30, __disjvr_21^0'=__disjvr_21^post30, x_27^0'=x_27^post30, __disjvr_3^0'=__disjvr_3^post30, rcd_220^0'=rcd_220^post30, __disjvr_14^0'=__disjvr_14^post30, head_33^0'=head_33^post30, __disjvr_24^0'=__disjvr_24^post30, temp_36^0'=temp_36^post30, r_192^0'=r_192^post30, __disjvr_8^0'=__disjvr_8^post30, a_139^0'=a_139^post30, result_11^0'=result_11^post30, __disjvr_19^0'=__disjvr_19^post30, i_31^0'=i_31^post30, __disjvr_29^0'=__disjvr_29^post30, x_22^0'=x_22^post30, rcd_193^0'=rcd_193^post30, __disjvr_11^0'=__disjvr_11^post30, a_309^0'=a_309^post30, tail_15^0'=tail_15^post30, length_29^0'=length_29^post30, x_SLAM_f_25^0'=x_SLAM_f_25^post30, __disjvr_5^0'=__disjvr_5^post30, rcd_288^0'=rcd_288^post30, __disjvr_16^0'=__disjvr_16^post30, i_112^0'=i_112^post30, __disjvr_26^0'=__disjvr_26^post30, tmp_35^0'=tmp_35^post30, rcd_106^0'=rcd_106^post30, a_222^0'=a_222^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post30, __disjvr_20^0'=__disjvr_20^post30, len_221^0'=len_221^post30, __disjvr_30^0'=__disjvr_30^post30, rcd_199^0'=rcd_199^post30, __disjvr_13^0'=__disjvr_13^post30, head_16^0'=head_16^post30, __disjvr_23^0'=__disjvr_23^post30, temp0_32^0'=temp0_32^post30, r_149^0'=r_149^post30, y_26^0'=y_26^post30, __disjvr_7^0'=__disjvr_7^post30, rcd_320^0'=rcd_320^post30, rcd_71^0'=rcd_71^post30, __disjvr_18^0'=__disjvr_18^post30, i_198^0'=i_198^post30, __disjvr_28^0'=__disjvr_28^post30, x_207^0'=x_207^post30, rcd_185^0'=rcd_185^post30, __disjvr_10^0'=__disjvr_10^post30, a_279^0'=a_279^post30, t_23^0'=t_23^post30, __disjvr_22^0'=__disjvr_22^post30, x_SLAM_f_20^0'=x_SLAM_f_20^post30, __disjvr_4^0'=__disjvr_4^post30, rcd_284^0'=rcd_284^post30, __disjvr_15^0'=__disjvr_15^post30, head_SLAM_f_30^0'=head_SLAM_f_30^post30, __disjvr_25^0'=__disjvr_25^post30, temp_37^0'=temp_37^post30, r_41^0'=r_41^post30, __disjvr_9^0'=__disjvr_9^post30, a_174^0'=a_174^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30, __disjvr_1^0'=__disjvr_1^post30, len_159^0'=len_159^post30, __disjvr_2^0'=__disjvr_2^post30, rcd_194^0'=rcd_194^post30, __disjvr_12^0'=__disjvr_12^post30, f_202^0'=f_202^post30, temp0_19^0'=temp0_19^post30, nondet_12^0'=nondet_12^post30, y_21^0'=y_21^post30, __disjvr_6^0'=__disjvr_6^post30, rcd_308^0'=rcd_308^post30, rcd_45^0'=rcd_45^post30, __disjvr_17^0'=__disjvr_17^post30, i_130^0'=i_130^post30, __disjvr_27^0'=__disjvr_27^post30, x_154^0'=x_154^post30, rcd_114^0'=rcd_114^post30, (-__disjvr_13^post30+__disjvr_13^0 == 0 /\ temp_36^0-temp_36^post30 == 0 /\ -r_41^post30+r_41^0 == 0 /\ x_27^0-x_27^post30 == 0 /\ temp0_32^0-temp0_32^post30 == 0 /\ -rcd_114^post30+rcd_114^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post30 == 0 /\ x_22^0-x_22^post30 == 0 /\ __disjvr_2^0-__disjvr_2^post30 == 0 /\ rcd_220^0-rcd_220^post30 == 0 /\ -rcd_45^post30+rcd_45^0 == 0 /\ -a_309^post30+a_309^0 == 0 /\ -t_23^post30+t_23^0 == 0 /\ a_279^0-a_279^post30 == 0 /\ rcd_199^0-rcd_199^post30 == 0 /\ -__disjvr_11^0+__disjvr_11^post30 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ -__disjvr_25^post30+__disjvr_25^0 == 0 /\ -f_202^post30+f_202^0 == 0 /\ -a_174^post30+a_174^0 == 0 /\ a_139^0-a_139^post30 == 0 /\ __disjvr_15^0-__disjvr_15^post30 == 0 /\ -__disjvr_27^post30+__disjvr_27^0 == 0 /\ i_112^0-i_112^post30 == 0 /\ head_16^0-head_16^post30 == 0 /\ a_253^0-a_253^post30 == 0 /\ __disjvr_26^0-__disjvr_26^post30 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post30 == 0 /\ r_149^0-r_149^post30 == 0 /\ __disjvr_28^0-__disjvr_28^post30 == 0 /\ -__disjvr_19^post30+__disjvr_19^0 == 0 /\ rcd_288^0-rcd_288^post30 == 0 /\ -len_159^post30+len_159^0 == 0 /\ head_33^0-head_33^post30 == 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ -rcd_71^post30+rcd_71^0 == 0 /\ -tail_15^post30+tail_15^0 == 0 /\ -__disjvr_4^post30+__disjvr_4^0 == 0 /\ -rcd_185^post30+rcd_185^0 == 0 /\ __disjvr_0^0-__disjvr_0^post30 == 0 /\ -i_198^post30+i_198^0 == 0 /\ -y_21^post30+y_21^0 == 0 /\ -__disjvr_18^post30+__disjvr_18^0 == 0 /\ a_222^0-a_222^post30 == 0 /\ -__disjvr_23^post30+__disjvr_23^0 == 0 /\ -__disjvr_22^post30+__disjvr_22^0 == 0 /\ rcd_193^0-rcd_193^post30 == 0 /\ __disjvr_24^0-__disjvr_24^post30 == 0 /\ -y_26^post30+y_26^0 == 0 /\ -temp_37^post30+temp_37^0 == 0 /\ -__disjvr_10^post30+__disjvr_10^0 == 0 /\ __disjvr_21^0-__disjvr_21^post30 == 0 /\ __disjvr_3^0-__disjvr_3^post30 == 0 /\ i_31^0-i_31^post30 == 0 /\ __disjvr_20^0-__disjvr_20^post30 == 0 /\ -__disjvr_5^post30+__disjvr_5^0 == 0 /\ temp0_19^0-temp0_19^post30 == 0 /\ -__disjvr_7^post30+__disjvr_7^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post30 == 0 /\ -rcd_194^post30+rcd_194^0 == 0 /\ -x_SLAM_f_20^post30+x_SLAM_f_20^0 == 0 /\ tmp_35^0-tmp_35^post30 == 0 /\ -x_207^post30+x_207^0 == 0 /\ i_130^0-i_130^post30 == 0 /\ -__disjvr_8^post30+__disjvr_8^0 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ -rcd_308^post30+rcd_308^0 == 0 /\ __disjvr_29^0-__disjvr_29^post30 == 0 /\ r_192^0-r_192^post30 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post30 == 0 /\ __disjvr_14^0-__disjvr_14^post30 == 0 /\ len_221^0-len_221^post30 == 0 /\ __disjvr_30^0-__disjvr_30^post30 == 0 /\ -head_SLAM_f_30^post30+head_SLAM_f_30^0 == 0 /\ -__disjvr_17^post30+__disjvr_17^0 == 0 /\ -rcd_284^post30+rcd_284^0 == 0 /\ rcd_106^0-rcd_106^post30 == 0 /\ -x_154^post30+x_154^0 == 0 /\ result_11^0-result_11^post30 == 0 /\ -rcd_320^post30+rcd_320^0 == 0 /\ __disjvr_16^0-__disjvr_16^post30 == 0 /\ length_29^0-length_29^post30 == 0 /\ -__disjvr_6^post30+__disjvr_6^0 == 0), cost: 1 New rule: l29 -> l30 : 0 == 0, cost: 1 Applied preprocessing Original rule: l30 -> l31 : __disjvr_0^0'=__disjvr_0^post31, a_253^0'=a_253^post31, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post31, __disjvr_21^0'=__disjvr_21^post31, x_27^0'=x_27^post31, __disjvr_3^0'=__disjvr_3^post31, rcd_220^0'=rcd_220^post31, __disjvr_14^0'=__disjvr_14^post31, head_33^0'=head_33^post31, __disjvr_24^0'=__disjvr_24^post31, temp_36^0'=temp_36^post31, r_192^0'=r_192^post31, __disjvr_8^0'=__disjvr_8^post31, a_139^0'=a_139^post31, result_11^0'=result_11^post31, __disjvr_19^0'=__disjvr_19^post31, i_31^0'=i_31^post31, __disjvr_29^0'=__disjvr_29^post31, x_22^0'=x_22^post31, rcd_193^0'=rcd_193^post31, __disjvr_11^0'=__disjvr_11^post31, a_309^0'=a_309^post31, tail_15^0'=tail_15^post31, length_29^0'=length_29^post31, x_SLAM_f_25^0'=x_SLAM_f_25^post31, __disjvr_5^0'=__disjvr_5^post31, rcd_288^0'=rcd_288^post31, __disjvr_16^0'=__disjvr_16^post31, i_112^0'=i_112^post31, __disjvr_26^0'=__disjvr_26^post31, tmp_35^0'=tmp_35^post31, rcd_106^0'=rcd_106^post31, a_222^0'=a_222^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post31, __disjvr_20^0'=__disjvr_20^post31, len_221^0'=len_221^post31, __disjvr_30^0'=__disjvr_30^post31, rcd_199^0'=rcd_199^post31, __disjvr_13^0'=__disjvr_13^post31, head_16^0'=head_16^post31, __disjvr_23^0'=__disjvr_23^post31, temp0_32^0'=temp0_32^post31, r_149^0'=r_149^post31, y_26^0'=y_26^post31, __disjvr_7^0'=__disjvr_7^post31, rcd_320^0'=rcd_320^post31, rcd_71^0'=rcd_71^post31, __disjvr_18^0'=__disjvr_18^post31, i_198^0'=i_198^post31, __disjvr_28^0'=__disjvr_28^post31, x_207^0'=x_207^post31, rcd_185^0'=rcd_185^post31, __disjvr_10^0'=__disjvr_10^post31, a_279^0'=a_279^post31, t_23^0'=t_23^post31, __disjvr_22^0'=__disjvr_22^post31, x_SLAM_f_20^0'=x_SLAM_f_20^post31, __disjvr_4^0'=__disjvr_4^post31, rcd_284^0'=rcd_284^post31, __disjvr_15^0'=__disjvr_15^post31, head_SLAM_f_30^0'=head_SLAM_f_30^post31, __disjvr_25^0'=__disjvr_25^post31, temp_37^0'=temp_37^post31, r_41^0'=r_41^post31, __disjvr_9^0'=__disjvr_9^post31, a_174^0'=a_174^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31, __disjvr_1^0'=__disjvr_1^post31, len_159^0'=len_159^post31, __disjvr_2^0'=__disjvr_2^post31, rcd_194^0'=rcd_194^post31, __disjvr_12^0'=__disjvr_12^post31, f_202^0'=f_202^post31, temp0_19^0'=temp0_19^post31, nondet_12^0'=nondet_12^post31, y_21^0'=y_21^post31, __disjvr_6^0'=__disjvr_6^post31, rcd_308^0'=rcd_308^post31, rcd_45^0'=rcd_45^post31, __disjvr_17^0'=__disjvr_17^post31, i_130^0'=i_130^post31, __disjvr_27^0'=__disjvr_27^post31, x_154^0'=x_154^post31, rcd_114^0'=rcd_114^post31, (__disjvr_5^0-__disjvr_5^post31 == 0 /\ __disjvr_13^0-__disjvr_13^post31 == 0 /\ __disjvr_2^0-__disjvr_2^post31 == 0 /\ -nondet_12^post31+nondet_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post31 == 0 /\ -__disjvr_15^post31+__disjvr_15^0 == 0 /\ -rcd_284^post31+rcd_284^0 == 0 /\ -tail_15^post31+tail_15^0 == 0 /\ -a_174^post31+a_174^0 == 0 /\ -f_202^post31+f_202^0 == 0 /\ -temp0_19^post31+temp0_19^0 == 0 /\ __disjvr_1^0-__disjvr_1^post31 == 0 /\ -length_29^post31+length_29^0 == 0 /\ -__disjvr_6^post31+__disjvr_6^0 == 0 /\ x_22^0-x_22^post31 == 0 /\ __disjvr_21^0-__disjvr_21^post31 == 0 /\ -rcd_71^post31+rcd_71^0 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ -len_159^post31+len_159^0 == 0 /\ __disjvr_7^0-__disjvr_7^post31 == 0 /\ -temp0_32^post31+temp0_32^0 == 0 /\ -t_23^post31+t_23^0 == 0 /\ -tmp_35^post31+tmp_35^0 == 0 /\ __disjvr_26^0-__disjvr_26^post31 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post31 == 0 /\ -i_198^post31+i_198^0 == 0 /\ -rcd_114^post31+rcd_114^0 == 0 /\ len_221^0-len_221^post31 == 0 /\ -rcd_288^post31+rcd_288^0 == 0 /\ -r_149^post31+r_149^0 == 0 /\ i_31^0-i_31^post31 == 0 /\ __disjvr_14^0-__disjvr_14^post31 == 0 /\ rcd_185^0-rcd_185^post31 == 0 /\ y_26^0-y_26^post31 == 0 /\ -__disjvr_9^post31+__disjvr_9^0 == 0 /\ rcd_193^0-rcd_193^post31 == 0 /\ a_253^0-a_253^post31 == 0 /\ -rcd_45^post31+rcd_45^0 == 0 /\ __disjvr_24^0-__disjvr_24^post31 == 0 /\ -r_41^post31+r_41^0 == 0 /\ result_11^0-result_11^post31 == 0 /\ i_112^0-i_112^post31 == 0 /\ -__disjvr_10^post31+__disjvr_10^0 == 0 /\ __disjvr_8^0-__disjvr_8^post31 == 0 /\ -temp_36^post31+temp_36^0 == 0 /\ -__disjvr_4^post31+__disjvr_4^0 == 0 /\ -rcd_194^post31+rcd_194^0 == 0 /\ __disjvr_16^0-__disjvr_16^post31 == 0 /\ -__disjvr_27^post31+__disjvr_27^0 == 0 /\ a_222^0-a_222^post31 == 0 /\ -x_207^post31+x_207^0 == 0 /\ a_309^0-a_309^post31 == 0 /\ __disjvr_19^0-__disjvr_19^post31 == 0 /\ -rcd_320^post31+rcd_320^0 == 0 /\ __disjvr_12^post31-__disjvr_12^0 == 0 /\ -temp_37^post31+temp_37^0 == 0 /\ __disjvr_30^0-__disjvr_30^post31 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_16^0-head_16^post31 == 0 /\ rcd_220^0-rcd_220^post31 == 0 /\ -__disjvr_25^post31+__disjvr_25^0 == 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post31 == 0 /\ -__disjvr_20^post31+__disjvr_20^0 == 0 /\ a_139^0-a_139^post31 == 0 /\ __disjvr_11^0-__disjvr_11^post31 == 0 /\ rcd_199^0-rcd_199^post31 == 0 /\ -head_SLAM_f_30^post31+head_SLAM_f_30^0 == 0 /\ a_279^0-a_279^post31 == 0 /\ -x_154^post31+x_154^0 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ -__disjvr_22^post31+__disjvr_22^0 == 0 /\ __disjvr_29^0-__disjvr_29^post31 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post31 == 0 /\ r_192^0-r_192^post31 == 0 /\ x_27^0-x_27^post31 == 0 /\ -__disjvr_23^post31+__disjvr_23^0 == 0 /\ -rcd_308^post31+rcd_308^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post31 == 0 /\ head_33^0-head_33^post31 == 0 /\ __disjvr_18^0-__disjvr_18^post31 == 0 /\ -i_130^post31+i_130^0 == 0 /\ rcd_106^0-rcd_106^post31 == 0 /\ __disjvr_28^0-__disjvr_28^post31 == 0 /\ -y_21^post31+y_21^0 == 0), cost: 1 New rule: l30 -> l31 : 0 == 0, cost: 1 Applied preprocessing Original rule: l31 -> l32 : __disjvr_0^0'=__disjvr_0^post32, a_253^0'=a_253^post32, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post32, __disjvr_21^0'=__disjvr_21^post32, x_27^0'=x_27^post32, __disjvr_3^0'=__disjvr_3^post32, rcd_220^0'=rcd_220^post32, __disjvr_14^0'=__disjvr_14^post32, head_33^0'=head_33^post32, __disjvr_24^0'=__disjvr_24^post32, temp_36^0'=temp_36^post32, r_192^0'=r_192^post32, __disjvr_8^0'=__disjvr_8^post32, a_139^0'=a_139^post32, result_11^0'=result_11^post32, __disjvr_19^0'=__disjvr_19^post32, i_31^0'=i_31^post32, __disjvr_29^0'=__disjvr_29^post32, x_22^0'=x_22^post32, rcd_193^0'=rcd_193^post32, __disjvr_11^0'=__disjvr_11^post32, a_309^0'=a_309^post32, tail_15^0'=tail_15^post32, length_29^0'=length_29^post32, x_SLAM_f_25^0'=x_SLAM_f_25^post32, __disjvr_5^0'=__disjvr_5^post32, rcd_288^0'=rcd_288^post32, __disjvr_16^0'=__disjvr_16^post32, i_112^0'=i_112^post32, __disjvr_26^0'=__disjvr_26^post32, tmp_35^0'=tmp_35^post32, rcd_106^0'=rcd_106^post32, a_222^0'=a_222^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post32, __disjvr_20^0'=__disjvr_20^post32, len_221^0'=len_221^post32, __disjvr_30^0'=__disjvr_30^post32, rcd_199^0'=rcd_199^post32, __disjvr_13^0'=__disjvr_13^post32, head_16^0'=head_16^post32, __disjvr_23^0'=__disjvr_23^post32, temp0_32^0'=temp0_32^post32, r_149^0'=r_149^post32, y_26^0'=y_26^post32, __disjvr_7^0'=__disjvr_7^post32, rcd_320^0'=rcd_320^post32, rcd_71^0'=rcd_71^post32, __disjvr_18^0'=__disjvr_18^post32, i_198^0'=i_198^post32, __disjvr_28^0'=__disjvr_28^post32, x_207^0'=x_207^post32, rcd_185^0'=rcd_185^post32, __disjvr_10^0'=__disjvr_10^post32, a_279^0'=a_279^post32, t_23^0'=t_23^post32, __disjvr_22^0'=__disjvr_22^post32, x_SLAM_f_20^0'=x_SLAM_f_20^post32, __disjvr_4^0'=__disjvr_4^post32, rcd_284^0'=rcd_284^post32, __disjvr_15^0'=__disjvr_15^post32, head_SLAM_f_30^0'=head_SLAM_f_30^post32, __disjvr_25^0'=__disjvr_25^post32, temp_37^0'=temp_37^post32, r_41^0'=r_41^post32, __disjvr_9^0'=__disjvr_9^post32, a_174^0'=a_174^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32, __disjvr_1^0'=__disjvr_1^post32, len_159^0'=len_159^post32, __disjvr_2^0'=__disjvr_2^post32, rcd_194^0'=rcd_194^post32, __disjvr_12^0'=__disjvr_12^post32, f_202^0'=f_202^post32, temp0_19^0'=temp0_19^post32, nondet_12^0'=nondet_12^post32, y_21^0'=y_21^post32, __disjvr_6^0'=__disjvr_6^post32, rcd_308^0'=rcd_308^post32, rcd_45^0'=rcd_45^post32, __disjvr_17^0'=__disjvr_17^post32, i_130^0'=i_130^post32, __disjvr_27^0'=__disjvr_27^post32, x_154^0'=x_154^post32, rcd_114^0'=rcd_114^post32, (__disjvr_8^0-__disjvr_8^post32 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ -__disjvr_15^post32+__disjvr_15^0 == 0 /\ -__disjvr_22^post32+__disjvr_22^0 == 0 /\ -__disjvr_20^post32+__disjvr_20^0 == 0 /\ __disjvr_30^0-__disjvr_30^post32 == 0 /\ -i_198^post32+i_198^0 == 0 /\ -a_174^post32+a_174^0 == 0 /\ -rcd_288^post32+rcd_288^0 == 0 /\ len_221^0-len_221^post32 == 0 /\ -y_21^post32+y_21^0 == 0 /\ __disjvr_21^0-__disjvr_21^post32 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ -__disjvr_17^post32+__disjvr_17^0 == 0 /\ -__disjvr_18^post32+__disjvr_18^0 == 0 /\ -x_154^post32+x_154^0 == 0 /\ rcd_220^0-rcd_220^post32 == 0 /\ -len_159^post32+len_159^0 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ __disjvr_14^0-__disjvr_14^post32 == 0 /\ -tmp_35^post32+tmp_35^0 == 0 /\ __disjvr_16^0-__disjvr_16^post32 == 0 /\ a_222^0-a_222^post32 == 0 /\ a_139^0-a_139^post32 == 0 /\ a_309^0-a_309^post32 == 0 /\ -__disjvr_6^post32+__disjvr_6^0 == 0 /\ -__disjvr_9^post32+__disjvr_9^0 == 0 /\ rcd_106^0-rcd_106^post32 == 0 /\ -rcd_194^post32+rcd_194^0 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ -temp0_19^post32+temp0_19^0 == 0 /\ -i_112^post32+i_112^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post32 == 0 /\ rcd_185^0-rcd_185^post32 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post32+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_284^post32+rcd_284^0 == 0 /\ -rcd_320^post32+rcd_320^0 == 0 /\ __disjvr_29^0-__disjvr_29^post32 == 0 /\ -rcd_45^post32+rcd_45^0 == 0 /\ x_27^0-x_27^post32 == 0 /\ r_192^0-r_192^post32 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ temp_36^0-temp_36^post32 == 0 /\ __disjvr_5^0-__disjvr_5^post32 == 0 /\ -r_149^post32+r_149^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post32 == 0 /\ y_26^0-y_26^post32 == 0 /\ __disjvr_10^0-__disjvr_10^post32 == 0 /\ __disjvr_3^0-__disjvr_3^post32 == 0 /\ __disjvr_28^0-__disjvr_28^post32 == 0 /\ -rcd_114^post32+rcd_114^0 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ head_16^0-head_16^post32 == 0 /\ -rcd_199^post32+rcd_199^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post32 == 0 /\ r_41^0-r_41^post32 == 0 /\ -__disjvr_19^post32+__disjvr_19^0 == 0 /\ x_22^0-x_22^post32 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post32 == 0 /\ -__disjvr_13^0+__disjvr_13^post32 == 0 /\ t_23^0-t_23^post32 == 0 /\ -a_279^post32+a_279^0 == 0 /\ -length_29^post32+length_29^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post32 == 0 /\ -__disjvr_4^post32+__disjvr_4^0 == 0 /\ -temp0_32^post32+temp0_32^0 == 0 /\ -tail_15^post32+tail_15^0 == 0 /\ i_31^0-i_31^post32 == 0 /\ x_207^0-x_207^post32 == 0 /\ -__disjvr_23^post32+__disjvr_23^0 == 0 /\ result_11^0-result_11^post32 == 0 /\ head_33^0-head_33^post32 == 0 /\ -__disjvr_1^post32+__disjvr_1^0 == 0 /\ -rcd_71^post32+rcd_71^0 == 0 /\ -i_130^post32+i_130^0 == 0 /\ -f_202^post32+f_202^0 == 0 /\ -temp_37^post32+temp_37^0 == 0 /\ -rcd_308^post32+rcd_308^0 == 0 /\ rcd_193^0-rcd_193^post32 == 0 /\ a_253^0-a_253^post32 == 0 /\ -__disjvr_25^post32+__disjvr_25^0 == 0 /\ __disjvr_13^0-__disjvr_13^post32 == 0 /\ __disjvr_24^0-__disjvr_24^post32 == 0 /\ -__disjvr_27^post32+__disjvr_27^0 == 0), cost: 1 New rule: l31 -> l32 : 0 == 0, cost: 1 Applied preprocessing Original rule: l32 -> l26 : __disjvr_0^0'=__disjvr_0^post33, a_253^0'=a_253^post33, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post33, __disjvr_21^0'=__disjvr_21^post33, x_27^0'=x_27^post33, __disjvr_3^0'=__disjvr_3^post33, rcd_220^0'=rcd_220^post33, __disjvr_14^0'=__disjvr_14^post33, head_33^0'=head_33^post33, __disjvr_24^0'=__disjvr_24^post33, temp_36^0'=temp_36^post33, r_192^0'=r_192^post33, __disjvr_8^0'=__disjvr_8^post33, a_139^0'=a_139^post33, result_11^0'=result_11^post33, __disjvr_19^0'=__disjvr_19^post33, i_31^0'=i_31^post33, __disjvr_29^0'=__disjvr_29^post33, x_22^0'=x_22^post33, rcd_193^0'=rcd_193^post33, __disjvr_11^0'=__disjvr_11^post33, a_309^0'=a_309^post33, tail_15^0'=tail_15^post33, length_29^0'=length_29^post33, x_SLAM_f_25^0'=x_SLAM_f_25^post33, __disjvr_5^0'=__disjvr_5^post33, rcd_288^0'=rcd_288^post33, __disjvr_16^0'=__disjvr_16^post33, i_112^0'=i_112^post33, __disjvr_26^0'=__disjvr_26^post33, tmp_35^0'=tmp_35^post33, rcd_106^0'=rcd_106^post33, a_222^0'=a_222^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post33, __disjvr_20^0'=__disjvr_20^post33, len_221^0'=len_221^post33, __disjvr_30^0'=__disjvr_30^post33, rcd_199^0'=rcd_199^post33, __disjvr_13^0'=__disjvr_13^post33, head_16^0'=head_16^post33, __disjvr_23^0'=__disjvr_23^post33, temp0_32^0'=temp0_32^post33, r_149^0'=r_149^post33, y_26^0'=y_26^post33, __disjvr_7^0'=__disjvr_7^post33, rcd_320^0'=rcd_320^post33, rcd_71^0'=rcd_71^post33, __disjvr_18^0'=__disjvr_18^post33, i_198^0'=i_198^post33, __disjvr_28^0'=__disjvr_28^post33, x_207^0'=x_207^post33, rcd_185^0'=rcd_185^post33, __disjvr_10^0'=__disjvr_10^post33, a_279^0'=a_279^post33, t_23^0'=t_23^post33, __disjvr_22^0'=__disjvr_22^post33, x_SLAM_f_20^0'=x_SLAM_f_20^post33, __disjvr_4^0'=__disjvr_4^post33, rcd_284^0'=rcd_284^post33, __disjvr_15^0'=__disjvr_15^post33, head_SLAM_f_30^0'=head_SLAM_f_30^post33, __disjvr_25^0'=__disjvr_25^post33, temp_37^0'=temp_37^post33, r_41^0'=r_41^post33, __disjvr_9^0'=__disjvr_9^post33, a_174^0'=a_174^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33, __disjvr_1^0'=__disjvr_1^post33, len_159^0'=len_159^post33, __disjvr_2^0'=__disjvr_2^post33, rcd_194^0'=rcd_194^post33, __disjvr_12^0'=__disjvr_12^post33, f_202^0'=f_202^post33, temp0_19^0'=temp0_19^post33, nondet_12^0'=nondet_12^post33, y_21^0'=y_21^post33, __disjvr_6^0'=__disjvr_6^post33, rcd_308^0'=rcd_308^post33, rcd_45^0'=rcd_45^post33, __disjvr_17^0'=__disjvr_17^post33, i_130^0'=i_130^post33, __disjvr_27^0'=__disjvr_27^post33, x_154^0'=x_154^post33, rcd_114^0'=rcd_114^post33, (0 == 0 /\ -y_21^post33+y_21^0 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ i_112^0-i_112^post33 == 0 /\ -__disjvr_23^post33+__disjvr_23^0 == 0 /\ -a_222^post33+a_222^0 == 0 /\ len_221^0-len_221^post33 == 0 /\ head_16^0-head_16^post33 == 0 /\ __disjvr_8^0-__disjvr_8^post33 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post33+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -i_130^post33+i_130^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post33 == 0 /\ -__disjvr_25^post33+__disjvr_25^0 == 0 /\ __disjvr_28^0-__disjvr_28^post33 == 0 /\ -temp_37^post33+temp_37^0 == 0 /\ -__disjvr_5^post33+__disjvr_5^0 == 0 /\ -__disjvr_20^post33+__disjvr_20^0 == 0 /\ y_26^0-y_26^post33 == 0 /\ a_309^0-a_309^post33 == 0 /\ -__disjvr_9^post33+__disjvr_9^0 == 0 /\ rcd_45^post33-rcd_308^0 <= 0 /\ head_33^0-head_33^post33 == 0 /\ -rcd_194^post33+rcd_194^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ result_11^0-result_11^post33 == 0 /\ __disjvr_11^0-__disjvr_11^post33 == 0 /\ length_29^0-length_29^post33 == 0 /\ -x_207^post33+x_207^0 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ x_27^0-x_27^post33 == 0 /\ temp0_32^0-temp0_32^post33 == 0 /\ -rcd_308^post33+rcd_308^0 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ -__disjvr_26^post33+__disjvr_26^0 == 0 /\ len_159^0-len_159^post33 == 0 /\ -i_31^post33+i_31^0 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ rcd_106^0-rcd_106^post33 == 0 /\ -__disjvr_6^post33+__disjvr_6^0 == 0 /\ -temp0_19^post33+temp0_19^0 == 0 /\ -__disjvr_17^post33+__disjvr_17^0 == 0 /\ tmp_35^0-tmp_35^post33 == 0 /\ -rcd_320^post33+rcd_320^0 == 0 /\ -x_154^post33+x_154^0 == 0 /\ -rcd_45^post33+rcd_308^0 <= 0 /\ -rcd_193^post33+rcd_193^0 == 0 /\ -__disjvr_13^post33+__disjvr_13^0 == 0 /\ r_192^0-r_192^post33 == 0 /\ a_139^0-a_139^post33 == 0 /\ __disjvr_29^0-__disjvr_29^post33 == 0 /\ r_41^0-r_41^post33 == 0 /\ -__disjvr_1^post33+__disjvr_1^0 == 0 /\ -rcd_114^post33+rcd_114^0 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ -tail_15^post33+tail_15^0 == 0 /\ a_253^0-a_253^post33 == 0 /\ __disjvr_30^0-__disjvr_30^post33 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post33 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post33+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post33 == 0 /\ -a_309^0+a_279^post33 <= 0 /\ -__disjvr_15^post33+__disjvr_15^0 == 0 /\ __disjvr_22^0-__disjvr_22^post33 == 0 /\ __disjvr_16^0-__disjvr_16^post33 == 0 /\ temp_36^0-temp_36^post33 == 0 /\ -f_202^post33+f_202^0 == 0 /\ -a_174^post33+a_174^0 == 0 /\ t_23^0-t_23^post33 == 0 /\ -rcd_288^post33+rcd_288^0 == 0 /\ __disjvr_24^0-__disjvr_24^post33 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0 /\ -rcd_199^post33+rcd_199^0 == 0 /\ -__disjvr_7^post33+__disjvr_7^0 == 0 /\ -__disjvr_27^post33+__disjvr_27^0 == 0 /\ x_22^0-x_22^post33 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post33 == 0 /\ rcd_220^0-rcd_220^post33 == 0 /\ r_149^0-r_149^post33 == 0 /\ rcd_284^0-rcd_284^post33 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ -__disjvr_19^post33+__disjvr_19^0 == 0 /\ __disjvr_3^0-__disjvr_3^post33 == 0 /\ -__disjvr_2^post33+__disjvr_2^0 == 0 /\ -__disjvr_4^post33+__disjvr_4^0 == 0 /\ -rcd_71^post33+rcd_71^0 == 0 /\ -i_198^post33+i_198^0 == 0 /\ a_309^0-a_279^post33 <= 0 /\ -rcd_185^post33+rcd_185^0 == 0), cost: 1 New rule: l32 -> l26 : a_279^0'=a_309^0, rcd_45^0'=rcd_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l26 -> l25 : __disjvr_0^0'=__disjvr_0^post34, a_253^0'=a_253^post34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post34, __disjvr_21^0'=__disjvr_21^post34, x_27^0'=x_27^post34, __disjvr_3^0'=__disjvr_3^post34, rcd_220^0'=rcd_220^post34, __disjvr_14^0'=__disjvr_14^post34, head_33^0'=head_33^post34, __disjvr_24^0'=__disjvr_24^post34, temp_36^0'=temp_36^post34, r_192^0'=r_192^post34, __disjvr_8^0'=__disjvr_8^post34, a_139^0'=a_139^post34, result_11^0'=result_11^post34, __disjvr_19^0'=__disjvr_19^post34, i_31^0'=i_31^post34, __disjvr_29^0'=__disjvr_29^post34, x_22^0'=x_22^post34, rcd_193^0'=rcd_193^post34, __disjvr_11^0'=__disjvr_11^post34, a_309^0'=a_309^post34, tail_15^0'=tail_15^post34, length_29^0'=length_29^post34, x_SLAM_f_25^0'=x_SLAM_f_25^post34, __disjvr_5^0'=__disjvr_5^post34, rcd_288^0'=rcd_288^post34, __disjvr_16^0'=__disjvr_16^post34, i_112^0'=i_112^post34, __disjvr_26^0'=__disjvr_26^post34, tmp_35^0'=tmp_35^post34, rcd_106^0'=rcd_106^post34, a_222^0'=a_222^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post34, __disjvr_20^0'=__disjvr_20^post34, len_221^0'=len_221^post34, __disjvr_30^0'=__disjvr_30^post34, rcd_199^0'=rcd_199^post34, __disjvr_13^0'=__disjvr_13^post34, head_16^0'=head_16^post34, __disjvr_23^0'=__disjvr_23^post34, temp0_32^0'=temp0_32^post34, r_149^0'=r_149^post34, y_26^0'=y_26^post34, __disjvr_7^0'=__disjvr_7^post34, rcd_320^0'=rcd_320^post34, rcd_71^0'=rcd_71^post34, __disjvr_18^0'=__disjvr_18^post34, i_198^0'=i_198^post34, __disjvr_28^0'=__disjvr_28^post34, x_207^0'=x_207^post34, rcd_185^0'=rcd_185^post34, __disjvr_10^0'=__disjvr_10^post34, a_279^0'=a_279^post34, t_23^0'=t_23^post34, __disjvr_22^0'=__disjvr_22^post34, x_SLAM_f_20^0'=x_SLAM_f_20^post34, __disjvr_4^0'=__disjvr_4^post34, rcd_284^0'=rcd_284^post34, __disjvr_15^0'=__disjvr_15^post34, head_SLAM_f_30^0'=head_SLAM_f_30^post34, __disjvr_25^0'=__disjvr_25^post34, temp_37^0'=temp_37^post34, r_41^0'=r_41^post34, __disjvr_9^0'=__disjvr_9^post34, a_174^0'=a_174^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34, __disjvr_1^0'=__disjvr_1^post34, len_159^0'=len_159^post34, __disjvr_2^0'=__disjvr_2^post34, rcd_194^0'=rcd_194^post34, __disjvr_12^0'=__disjvr_12^post34, f_202^0'=f_202^post34, temp0_19^0'=temp0_19^post34, nondet_12^0'=nondet_12^post34, y_21^0'=y_21^post34, __disjvr_6^0'=__disjvr_6^post34, rcd_308^0'=rcd_308^post34, rcd_45^0'=rcd_45^post34, __disjvr_17^0'=__disjvr_17^post34, i_130^0'=i_130^post34, __disjvr_27^0'=__disjvr_27^post34, x_154^0'=x_154^post34, rcd_114^0'=rcd_114^post34, (result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post34 == 0 /\ -rcd_194^post34+rcd_194^0 == 0 /\ -len_221^post34+len_221^0 == 0 /\ -x_207^post34+x_207^0 == 0 /\ -temp_37^post34+temp_37^0 == 0 /\ a_279^0-a_279^post34 == 0 /\ -__disjvr_27^post34+__disjvr_27^0 == 0 /\ -__disjvr_26^post34+__disjvr_26^0 == 0 /\ -rcd_199^post34+rcd_199^0 == 0 /\ __disjvr_9^0-__disjvr_9^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post34 == 0 /\ __disjvr_14^0-__disjvr_14^post34 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post34 == 0 /\ r_192^0-r_192^post34 == 0 /\ rcd_185^0-rcd_185^post34 == 0 /\ rcd_288^0-rcd_288^post34 == 0 /\ x_27^0-x_27^post34 == 0 /\ -a_222^post34+a_222^0 == 0 /\ -rcd_320^post34+rcd_320^0 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ tail_15^0-tail_15^post34 == 0 /\ y_26^0-y_26^post34 == 0 /\ -__disjvr_25^post34+__disjvr_25^0 == 0 /\ __disjvr_24^0-__disjvr_24^post34 == 0 /\ -__disjvr_20^post34+__disjvr_20^0 == 0 /\ i_112^0-i_112^post34 == 0 /\ length_29^0-length_29^post34 == 0 /\ __disjvr_5^0-__disjvr_5^post34 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ -__disjvr_23^post34+__disjvr_23^0 == 0 /\ -rcd_71^post34+rcd_71^0 == 0 /\ __disjvr_16^0-__disjvr_16^post34 == 0 /\ -y_21^post34+y_21^0 == 0 /\ __disjvr_30^0-__disjvr_30^post34 == 0 /\ temp_36^0-temp_36^post34 == 0 /\ -x_154^post34+x_154^0 == 0 /\ -rcd_308^post34+rcd_308^0 == 0 /\ __disjvr_1^0-__disjvr_1^post34 == 0 /\ -a_139^post34+a_139^0 == 0 /\ -i_130^post34+i_130^0 == 0 /\ head_16^0-head_16^post34 == 0 /\ rcd_220^0-rcd_220^post34 == 0 /\ __disjvr_7^0-__disjvr_7^post34 == 0 /\ __disjvr_11^0-__disjvr_11^post34 == 0 /\ temp0_19^0-temp0_19^post34 == 0 /\ -__disjvr_15^post34+__disjvr_15^0 == 0 /\ __disjvr_22^0-__disjvr_22^post34 == 0 /\ -rcd_284^post34+rcd_284^0 == 0 /\ -__disjvr_28^post34+__disjvr_28^0 == 0 /\ -a_174^post34+a_174^0 == 0 /\ -f_202^post34+f_202^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post34 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ __disjvr_29^0-__disjvr_29^post34 == 0 /\ -temp0_32^post34+temp0_32^0 == 0 /\ -rcd_193^post34+rcd_193^0 == 0 /\ -i_31^post34+i_31^0 == 0 /\ head_33^0-head_33^post34 == 0 /\ a_253^0-a_253^post34 == 0 /\ -__disjvr_18^post34+__disjvr_18^0 == 0 /\ rcd_106^0-rcd_106^post34 == 0 /\ -len_159^post34+len_159^0 == 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ result_11^0-result_11^post34 == 0 /\ -tmp_35^post34+tmp_35^0 == 0 /\ -__disjvr_2^post34+__disjvr_2^0 == 0 /\ __disjvr_8^0-__disjvr_8^post34 == 0 /\ -__disjvr_13^post34+__disjvr_13^0 == 0 /\ r_149^0-r_149^post34 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post34 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_19^0-__disjvr_19^post34 == 0 /\ __disjvr_21^0-__disjvr_21^post34 == 0 /\ -i_198^post34+i_198^0 == 0 /\ a_309^0-a_309^post34 == 0 /\ -rcd_114^post34+rcd_114^0 == 0 /\ x_22^0-x_22^post34 == 0 /\ -rcd_45^post34+rcd_45^0 == 0 /\ -r_41^post34+r_41^0 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ -__disjvr_10^post34+__disjvr_10^0 == 0 /\ -t_23^post34+t_23^0 == 0), cost: 1 New rule: l26 -> l25 : TRUE, cost: 1 Applied preprocessing Original rule: l42 -> l43 : __disjvr_0^0'=__disjvr_0^post45, a_253^0'=a_253^post45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, __disjvr_21^0'=__disjvr_21^post45, x_27^0'=x_27^post45, __disjvr_3^0'=__disjvr_3^post45, rcd_220^0'=rcd_220^post45, __disjvr_14^0'=__disjvr_14^post45, head_33^0'=head_33^post45, __disjvr_24^0'=__disjvr_24^post45, temp_36^0'=temp_36^post45, r_192^0'=r_192^post45, __disjvr_8^0'=__disjvr_8^post45, a_139^0'=a_139^post45, result_11^0'=result_11^post45, __disjvr_19^0'=__disjvr_19^post45, i_31^0'=i_31^post45, __disjvr_29^0'=__disjvr_29^post45, x_22^0'=x_22^post45, rcd_193^0'=rcd_193^post45, __disjvr_11^0'=__disjvr_11^post45, a_309^0'=a_309^post45, tail_15^0'=tail_15^post45, length_29^0'=length_29^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post45, __disjvr_5^0'=__disjvr_5^post45, rcd_288^0'=rcd_288^post45, __disjvr_16^0'=__disjvr_16^post45, i_112^0'=i_112^post45, __disjvr_26^0'=__disjvr_26^post45, tmp_35^0'=tmp_35^post45, rcd_106^0'=rcd_106^post45, a_222^0'=a_222^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post45, __disjvr_20^0'=__disjvr_20^post45, len_221^0'=len_221^post45, __disjvr_30^0'=__disjvr_30^post45, rcd_199^0'=rcd_199^post45, __disjvr_13^0'=__disjvr_13^post45, head_16^0'=head_16^post45, __disjvr_23^0'=__disjvr_23^post45, temp0_32^0'=temp0_32^post45, r_149^0'=r_149^post45, y_26^0'=y_26^post45, __disjvr_7^0'=__disjvr_7^post45, rcd_320^0'=rcd_320^post45, rcd_71^0'=rcd_71^post45, __disjvr_18^0'=__disjvr_18^post45, i_198^0'=i_198^post45, __disjvr_28^0'=__disjvr_28^post45, x_207^0'=x_207^post45, rcd_185^0'=rcd_185^post45, __disjvr_10^0'=__disjvr_10^post45, a_279^0'=a_279^post45, t_23^0'=t_23^post45, __disjvr_22^0'=__disjvr_22^post45, x_SLAM_f_20^0'=x_SLAM_f_20^post45, __disjvr_4^0'=__disjvr_4^post45, rcd_284^0'=rcd_284^post45, __disjvr_15^0'=__disjvr_15^post45, head_SLAM_f_30^0'=head_SLAM_f_30^post45, __disjvr_25^0'=__disjvr_25^post45, temp_37^0'=temp_37^post45, r_41^0'=r_41^post45, __disjvr_9^0'=__disjvr_9^post45, a_174^0'=a_174^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, __disjvr_1^0'=__disjvr_1^post45, len_159^0'=len_159^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_194^0'=rcd_194^post45, __disjvr_12^0'=__disjvr_12^post45, f_202^0'=f_202^post45, temp0_19^0'=temp0_19^post45, nondet_12^0'=nondet_12^post45, y_21^0'=y_21^post45, __disjvr_6^0'=__disjvr_6^post45, rcd_308^0'=rcd_308^post45, rcd_45^0'=rcd_45^post45, __disjvr_17^0'=__disjvr_17^post45, i_130^0'=i_130^post45, __disjvr_27^0'=__disjvr_27^post45, x_154^0'=x_154^post45, rcd_114^0'=rcd_114^post45, (0 == 0 /\ -__disjvr_10^post45+__disjvr_10^0 == 0 /\ -__disjvr_25^post45+__disjvr_25^0 == 0 /\ a_139^0-a_139^post45 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -i_112^post45+i_112^0 == 0 /\ __disjvr_1^0-__disjvr_1^post45 == 0 /\ r_192^0-r_192^post45 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ -i_130^post45+i_130^0 == 0 /\ -__disjvr_4^post45+__disjvr_4^0 == 0 /\ -temp_37^post45+temp_37^0 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ -__disjvr_27^post45+__disjvr_27^0 == 0 /\ y_26^0-y_26^post45 == 0 /\ __disjvr_19^0-__disjvr_19^post45 == 0 /\ -__disjvr_26^post45+__disjvr_26^0 == 0 /\ head_33^0-head_33^post45 == 0 /\ length_29^0-length_29^post45 == 0 /\ -rcd_308^post45+rcd_308^0 == 0 /\ -a_309^post45+a_309^0 == 0 /\ -y_21^post45+y_21^0 == 0 /\ -__disjvr_22^post45+__disjvr_22^0 == 0 /\ rcd_220^0-rcd_220^post45 == 0 /\ -i_31^post45+i_31^0 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ __disjvr_16^0-__disjvr_16^post45 == 0 /\ __disjvr_13^0-__disjvr_13^post45 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ -x_154^post45+x_154^0 == 0 /\ x_207^0-x_207^post45 == 0 /\ -rcd_193^post45+rcd_193^0 == 0 /\ -__disjvr_6^post45+__disjvr_6^0 == 0 /\ __disjvr_3^0-__disjvr_3^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ __disjvr_29^0-__disjvr_29^post45 == 0 /\ rcd_320^0-rcd_320^post45 == 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ -__disjvr_28^post45+__disjvr_28^0 == 0 /\ __disjvr_11^0-__disjvr_11^post45 == 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ __disjvr_18^0-__disjvr_18^post45 == 0 /\ -rcd_71^post45+rcd_71^0 == 0 /\ a_253^0-a_253^post45 == 0 /\ temp0_19^0-temp0_19^post45 == 0 /\ __disjvr_30^0-__disjvr_30^post45 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post45 == 0 /\ __disjvr_8^0-__disjvr_8^post45 == 0 /\ -f_202^post45+f_202^0 == 0 /\ -t_23^post45+t_23^0 == 0 /\ -rcd_45^post45+rcd_45^0 == 0 /\ rcd_106^0-rcd_106^post45 == 0 /\ -temp0_32^post45+temp0_32^0 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0 /\ temp_36^0-temp_36^post45 == 0 /\ -a_174^post45+a_174^0 == 0 /\ -__disjvr_2^post45+__disjvr_2^0 == 0 /\ -r_41^post45+r_41^0 == 0 /\ -rcd_199^post45+rcd_199^0 == 0 /\ __disjvr_0^0-__disjvr_0^post45 == 0 /\ -i_198^post45+i_198^0 == 0 /\ x_22^0-x_22^post45 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post45 == 0 /\ x_27^0-x_27^post45 == 0 /\ -rcd_185^post45+rcd_185^0 == 0 /\ r_149^0-r_149^post45 == 0 /\ a_279^0-a_279^post45 == 0 /\ __disjvr_21^0-__disjvr_21^post45 == 0 /\ tmp_35^0-tmp_35^post45 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ len_221^0-len_221^post45 == 0 /\ -rcd_114^post45+rcd_114^0 == 0 /\ a_222^0-a_222^post45 == 0 /\ -len_159^post45+len_159^0 == 0 /\ -len_159^0 <= 0 /\ -rcd_194^post45+rcd_194^0 == 0), cost: 1 New rule: l42 -> l43 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, tail_15^0'=tail_15^post45, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, len_159^0 >= 0, cost: 1 Applied preprocessing Original rule: l43 -> l44 : __disjvr_0^0'=__disjvr_0^post46, a_253^0'=a_253^post46, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post46, __disjvr_21^0'=__disjvr_21^post46, x_27^0'=x_27^post46, __disjvr_3^0'=__disjvr_3^post46, rcd_220^0'=rcd_220^post46, __disjvr_14^0'=__disjvr_14^post46, head_33^0'=head_33^post46, __disjvr_24^0'=__disjvr_24^post46, temp_36^0'=temp_36^post46, r_192^0'=r_192^post46, __disjvr_8^0'=__disjvr_8^post46, a_139^0'=a_139^post46, result_11^0'=result_11^post46, __disjvr_19^0'=__disjvr_19^post46, i_31^0'=i_31^post46, __disjvr_29^0'=__disjvr_29^post46, x_22^0'=x_22^post46, rcd_193^0'=rcd_193^post46, __disjvr_11^0'=__disjvr_11^post46, a_309^0'=a_309^post46, tail_15^0'=tail_15^post46, length_29^0'=length_29^post46, x_SLAM_f_25^0'=x_SLAM_f_25^post46, __disjvr_5^0'=__disjvr_5^post46, rcd_288^0'=rcd_288^post46, __disjvr_16^0'=__disjvr_16^post46, i_112^0'=i_112^post46, __disjvr_26^0'=__disjvr_26^post46, tmp_35^0'=tmp_35^post46, rcd_106^0'=rcd_106^post46, a_222^0'=a_222^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post46, __disjvr_20^0'=__disjvr_20^post46, len_221^0'=len_221^post46, __disjvr_30^0'=__disjvr_30^post46, rcd_199^0'=rcd_199^post46, __disjvr_13^0'=__disjvr_13^post46, head_16^0'=head_16^post46, __disjvr_23^0'=__disjvr_23^post46, temp0_32^0'=temp0_32^post46, r_149^0'=r_149^post46, y_26^0'=y_26^post46, __disjvr_7^0'=__disjvr_7^post46, rcd_320^0'=rcd_320^post46, rcd_71^0'=rcd_71^post46, __disjvr_18^0'=__disjvr_18^post46, i_198^0'=i_198^post46, __disjvr_28^0'=__disjvr_28^post46, x_207^0'=x_207^post46, rcd_185^0'=rcd_185^post46, __disjvr_10^0'=__disjvr_10^post46, a_279^0'=a_279^post46, t_23^0'=t_23^post46, __disjvr_22^0'=__disjvr_22^post46, x_SLAM_f_20^0'=x_SLAM_f_20^post46, __disjvr_4^0'=__disjvr_4^post46, rcd_284^0'=rcd_284^post46, __disjvr_15^0'=__disjvr_15^post46, head_SLAM_f_30^0'=head_SLAM_f_30^post46, __disjvr_25^0'=__disjvr_25^post46, temp_37^0'=temp_37^post46, r_41^0'=r_41^post46, __disjvr_9^0'=__disjvr_9^post46, a_174^0'=a_174^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46, __disjvr_1^0'=__disjvr_1^post46, len_159^0'=len_159^post46, __disjvr_2^0'=__disjvr_2^post46, rcd_194^0'=rcd_194^post46, __disjvr_12^0'=__disjvr_12^post46, f_202^0'=f_202^post46, temp0_19^0'=temp0_19^post46, nondet_12^0'=nondet_12^post46, y_21^0'=y_21^post46, __disjvr_6^0'=__disjvr_6^post46, rcd_308^0'=rcd_308^post46, rcd_45^0'=rcd_45^post46, __disjvr_17^0'=__disjvr_17^post46, i_130^0'=i_130^post46, __disjvr_27^0'=__disjvr_27^post46, x_154^0'=x_154^post46, rcd_114^0'=rcd_114^post46, (rcd_288^0-rcd_288^post46 == 0 /\ rcd_106^0-rcd_106^post46 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post46 == 0 /\ a_279^0-a_279^post46 == 0 /\ -__disjvr_25^post46+__disjvr_25^0 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ -a_309^post46+a_309^0 == 0 /\ rcd_199^0-rcd_199^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ x_27^0-x_27^post46 == 0 /\ temp_36^0-temp_36^post46 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post46 == 0 /\ __disjvr_19^0-__disjvr_19^post46 == 0 /\ -__disjvr_4^post46+__disjvr_4^0 == 0 /\ -rcd_320^post46+rcd_320^0 == 0 /\ a_253^0-a_253^post46 == 0 /\ __disjvr_21^0-__disjvr_21^post46 == 0 /\ __disjvr_3^0-__disjvr_3^post46 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ -rcd_71^post46+rcd_71^0 == 0 /\ i_112^0-i_112^post46 == 0 /\ -i_130^post46+i_130^0 == 0 /\ __disjvr_28^0-__disjvr_28^post46 == 0 /\ -__disjvr_22^post46+__disjvr_22^0 == 0 /\ a_139^0-a_139^post46 == 0 /\ a_222^0-a_222^post46 == 0 /\ __disjvr_11^0-__disjvr_11^post46 == 0 /\ __disjvr_1^0-__disjvr_1^post46 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ head_16^0-head_16^post46 == 0 /\ -__disjvr_19^0+__disjvr_19^post46 == 0 /\ __disjvr_26^0-__disjvr_26^post46 == 0 /\ rcd_220^0-rcd_220^post46 == 0 /\ -x_SLAM_f_20^post46+x_SLAM_f_20^0 == 0 /\ -y_21^post46+y_21^0 == 0 /\ __disjvr_2^0-__disjvr_2^post46 == 0 /\ x_22^0-x_22^post46 == 0 /\ r_149^0-r_149^post46 == 0 /\ -temp_37^post46+temp_37^0 == 0 /\ -rcd_308^post46+rcd_308^0 == 0 /\ -__disjvr_8^post46+__disjvr_8^0 == 0 /\ -rcd_185^post46+rcd_185^0 == 0 /\ temp0_19^0-temp0_19^post46 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ x_207^0-x_207^post46 == 0 /\ i_31^0-i_31^post46 == 0 /\ result_11^0-result_11^post46 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ -rcd_284^post46+rcd_284^0 == 0 /\ r_41^0-r_41^post46 == 0 /\ -f_202^post46+f_202^0 == 0 /\ rcd_193^0-rcd_193^post46 == 0 /\ -temp0_32^post46+temp0_32^0 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ __disjvr_15^0-__disjvr_15^post46 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post46 == 0 /\ -head_SLAM_f_30^post46+head_SLAM_f_30^0 == 0 /\ -__disjvr_18^post46+__disjvr_18^0 == 0 /\ -tail_15^post46+tail_15^0 == 0 /\ -nondet_12^post46+nondet_12^0 == 0 /\ -x_154^post46+x_154^0 == 0 /\ -len_159^post46+len_159^0 == 0 /\ -a_174^post46+a_174^0 == 0 /\ -head_33^post46+head_33^0 == 0 /\ -i_198^post46+i_198^0 == 0 /\ -__disjvr_6^post46+__disjvr_6^0 == 0 /\ -__disjvr_13^post46+__disjvr_13^0 == 0 /\ __disjvr_30^0-__disjvr_30^post46 == 0 /\ -y_26^post46+y_26^0 == 0 /\ r_192^0-r_192^post46 == 0 /\ tmp_35^0-tmp_35^post46 == 0 /\ -rcd_45^post46+rcd_45^0 == 0 /\ length_29^0-length_29^post46 == 0 /\ -rcd_114^post46+rcd_114^0 == 0 /\ -t_23^post46+t_23^0 == 0 /\ __disjvr_16^0-__disjvr_16^post46 == 0 /\ -__disjvr_29^post46+__disjvr_29^0 == 0 /\ -rcd_194^post46+rcd_194^0 == 0 /\ len_221^0-len_221^post46 == 0 /\ -__disjvr_5^post46+__disjvr_5^0 == 0 /\ -__disjvr_10^post46+__disjvr_10^0 == 0 /\ -__disjvr_7^post46+__disjvr_7^0 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post46 == 0), cost: 1 New rule: l43 -> l44 : 0 == 0, cost: 1 Applied preprocessing Original rule: l44 -> l45 : __disjvr_0^0'=__disjvr_0^post47, a_253^0'=a_253^post47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post47, __disjvr_21^0'=__disjvr_21^post47, x_27^0'=x_27^post47, __disjvr_3^0'=__disjvr_3^post47, rcd_220^0'=rcd_220^post47, __disjvr_14^0'=__disjvr_14^post47, head_33^0'=head_33^post47, __disjvr_24^0'=__disjvr_24^post47, temp_36^0'=temp_36^post47, r_192^0'=r_192^post47, __disjvr_8^0'=__disjvr_8^post47, a_139^0'=a_139^post47, result_11^0'=result_11^post47, __disjvr_19^0'=__disjvr_19^post47, i_31^0'=i_31^post47, __disjvr_29^0'=__disjvr_29^post47, x_22^0'=x_22^post47, rcd_193^0'=rcd_193^post47, __disjvr_11^0'=__disjvr_11^post47, a_309^0'=a_309^post47, tail_15^0'=tail_15^post47, length_29^0'=length_29^post47, x_SLAM_f_25^0'=x_SLAM_f_25^post47, __disjvr_5^0'=__disjvr_5^post47, rcd_288^0'=rcd_288^post47, __disjvr_16^0'=__disjvr_16^post47, i_112^0'=i_112^post47, __disjvr_26^0'=__disjvr_26^post47, tmp_35^0'=tmp_35^post47, rcd_106^0'=rcd_106^post47, a_222^0'=a_222^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post47, __disjvr_20^0'=__disjvr_20^post47, len_221^0'=len_221^post47, __disjvr_30^0'=__disjvr_30^post47, rcd_199^0'=rcd_199^post47, __disjvr_13^0'=__disjvr_13^post47, head_16^0'=head_16^post47, __disjvr_23^0'=__disjvr_23^post47, temp0_32^0'=temp0_32^post47, r_149^0'=r_149^post47, y_26^0'=y_26^post47, __disjvr_7^0'=__disjvr_7^post47, rcd_320^0'=rcd_320^post47, rcd_71^0'=rcd_71^post47, __disjvr_18^0'=__disjvr_18^post47, i_198^0'=i_198^post47, __disjvr_28^0'=__disjvr_28^post47, x_207^0'=x_207^post47, rcd_185^0'=rcd_185^post47, __disjvr_10^0'=__disjvr_10^post47, a_279^0'=a_279^post47, t_23^0'=t_23^post47, __disjvr_22^0'=__disjvr_22^post47, x_SLAM_f_20^0'=x_SLAM_f_20^post47, __disjvr_4^0'=__disjvr_4^post47, rcd_284^0'=rcd_284^post47, __disjvr_15^0'=__disjvr_15^post47, head_SLAM_f_30^0'=head_SLAM_f_30^post47, __disjvr_25^0'=__disjvr_25^post47, temp_37^0'=temp_37^post47, r_41^0'=r_41^post47, __disjvr_9^0'=__disjvr_9^post47, a_174^0'=a_174^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47, __disjvr_1^0'=__disjvr_1^post47, len_159^0'=len_159^post47, __disjvr_2^0'=__disjvr_2^post47, rcd_194^0'=rcd_194^post47, __disjvr_12^0'=__disjvr_12^post47, f_202^0'=f_202^post47, temp0_19^0'=temp0_19^post47, nondet_12^0'=nondet_12^post47, y_21^0'=y_21^post47, __disjvr_6^0'=__disjvr_6^post47, rcd_308^0'=rcd_308^post47, rcd_45^0'=rcd_45^post47, __disjvr_17^0'=__disjvr_17^post47, i_130^0'=i_130^post47, __disjvr_27^0'=__disjvr_27^post47, x_154^0'=x_154^post47, rcd_114^0'=rcd_114^post47, (0 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ -rcd_71^post47+rcd_71^0 == 0 /\ x_22^0-x_22^post47 == 0 /\ head_33^0-head_33^post47 == 0 /\ -head_16^0+x_SLAM_f_20^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-y_21^0 <= 0 /\ -r_41^post47+r_41^0 == 0 /\ -x_22^0+t_23^post47 == 0 /\ -temp0_19^post47+temp0_19^0 == 0 /\ result_11^0-result_11^post47 == 0 /\ __disjvr_5^0-__disjvr_5^post47 == 0 /\ __disjvr_3^0-__disjvr_3^post47 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post47 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_13^0-__disjvr_13^post47 == 0 /\ tail_15^0-y_21^0 <= 0 /\ rcd_199^0-rcd_199^post47 == 0 /\ -rcd_45^post47+rcd_45^0 == 0 /\ -tail_15^post47+tail_15^0 == 0 /\ -__disjvr_4^post47+__disjvr_4^0 == 0 /\ y_26^0-y_26^post47 == 0 /\ len_221^0-len_221^post47 == 0 /\ tmp_35^0-tmp_35^post47 == 0 /\ head_16^0-x_SLAM_f_20^0 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0+y_21^0 <= 0 /\ -a_174^post47+a_174^0 == 0 /\ -f_202^post47+f_202^0 == 0 /\ length_29^0-length_29^post47 == 0 /\ i_112^0-i_112^post47 == 0 /\ __disjvr_26^0-__disjvr_26^post47 == 0 /\ -__disjvr_9^post47+__disjvr_9^0 == 0 /\ -__disjvr_27^post47+__disjvr_27^0 == 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ -len_159^post47+len_159^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_2^0-__disjvr_2^post47 == 0 /\ -rcd_114^post47+rcd_114^0 == 0 /\ -temp0_32^post47+temp0_32^0 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -tail_15^0+y_21^0 <= 0 /\ a_309^0-a_309^post47 == 0 /\ -__disjvr_25^post47+__disjvr_25^0 == 0 /\ -t_23^post47+head_16^0 <= 0 /\ -__disjvr_20^post47+__disjvr_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post47 == 0 /\ a_222^0-a_222^post47 == 0 /\ rcd_220^0-rcd_220^post47 == 0 /\ -i_198^post47+i_198^0 == 0 /\ __disjvr_19^0-__disjvr_19^post47 == 0 /\ -rcd_284^0+rcd_45^0 <= 0 /\ -a_279^0+a_253^post47 <= 0 /\ x_27^0-x_27^post47 == 0 /\ __disjvr_24^0-__disjvr_24^post47 == 0 /\ -rcd_185^post47+rcd_185^0 == 0 /\ rcd_193^0-rcd_193^post47 == 0 /\ y_21^0-y_21^post47 == 0 /\ -head_SLAM_f_30^post47+head_SLAM_f_30^0 == 0 /\ -__disjvr_22^post47+__disjvr_22^0 == 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ a_279^0-a_279^post47 == 0 /\ -temp_37^post47+temp_37^0 == 0 /\ -rcd_288^post47+rcd_288^0 == 0 /\ -__disjvr_10^post47+__disjvr_10^0 == 0 /\ __disjvr_15^0-__disjvr_15^post47 == 0 /\ i_31^0-i_31^post47 == 0 /\ -__disjvr_23^post47+__disjvr_23^0 == 0 /\ -__disjvr_21^post47+__disjvr_21^0 == 0 /\ -rcd_308^post47+rcd_308^0 == 0 /\ -rcd_194^post47+rcd_194^0 == 0 /\ i_130^0-i_130^post47 == 0 /\ t_23^post47-head_16^0 <= 0 /\ r_192^0-r_192^post47 == 0 /\ -temp_36^post47+temp_36^0 == 0 /\ __disjvr_29^0-__disjvr_29^post47 == 0 /\ -x_207^post47+x_207^0 == 0 /\ rcd_284^0-rcd_45^0 <= 0 /\ a_279^0-a_253^post47 <= 0 /\ __disjvr_28^0-__disjvr_28^post47 == 0 /\ __disjvr_18^0-__disjvr_18^post47 == 0 /\ -__disjvr_8^post47+__disjvr_8^0 == 0 /\ head_16^0-head_16^post47 == 0 /\ -rcd_284^post47+rcd_284^0 == 0 /\ __disjvr_30^0-__disjvr_30^post47 == 0 /\ rcd_106^0-rcd_106^post47 == 0 /\ -x_154^post47+x_154^0 == 0 /\ -__disjvr_17^post47+__disjvr_17^0 == 0 /\ a_139^0-a_139^post47 == 0 /\ __disjvr_11^0-__disjvr_11^post47 == 0 /\ -__disjvr_12^post47+__disjvr_12^0 == 0 /\ -rcd_320^post47+rcd_320^0 == 0 /\ -__disjvr_6^post47+__disjvr_6^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post47 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post47 == 0 /\ r_149^0-r_149^post47 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post47 == 0 /\ -nondet_12^post47+nondet_12^0 == 0), cost: 1 New rule: l44 -> l45 : a_253^0'=a_279^0, t_23^0'=x_22^0, (-head_16^0+x_SLAM_f_20^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ tail_15^0-y_21^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -rcd_284^0+rcd_45^0 == 0), cost: 1 Applied preprocessing Original rule: l45 -> l46 : __disjvr_0^0'=__disjvr_0^post48, a_253^0'=a_253^post48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post48, __disjvr_21^0'=__disjvr_21^post48, x_27^0'=x_27^post48, __disjvr_3^0'=__disjvr_3^post48, rcd_220^0'=rcd_220^post48, __disjvr_14^0'=__disjvr_14^post48, head_33^0'=head_33^post48, __disjvr_24^0'=__disjvr_24^post48, temp_36^0'=temp_36^post48, r_192^0'=r_192^post48, __disjvr_8^0'=__disjvr_8^post48, a_139^0'=a_139^post48, result_11^0'=result_11^post48, __disjvr_19^0'=__disjvr_19^post48, i_31^0'=i_31^post48, __disjvr_29^0'=__disjvr_29^post48, x_22^0'=x_22^post48, rcd_193^0'=rcd_193^post48, __disjvr_11^0'=__disjvr_11^post48, a_309^0'=a_309^post48, tail_15^0'=tail_15^post48, length_29^0'=length_29^post48, x_SLAM_f_25^0'=x_SLAM_f_25^post48, __disjvr_5^0'=__disjvr_5^post48, rcd_288^0'=rcd_288^post48, __disjvr_16^0'=__disjvr_16^post48, i_112^0'=i_112^post48, __disjvr_26^0'=__disjvr_26^post48, tmp_35^0'=tmp_35^post48, rcd_106^0'=rcd_106^post48, a_222^0'=a_222^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post48, __disjvr_20^0'=__disjvr_20^post48, len_221^0'=len_221^post48, __disjvr_30^0'=__disjvr_30^post48, rcd_199^0'=rcd_199^post48, __disjvr_13^0'=__disjvr_13^post48, head_16^0'=head_16^post48, __disjvr_23^0'=__disjvr_23^post48, temp0_32^0'=temp0_32^post48, r_149^0'=r_149^post48, y_26^0'=y_26^post48, __disjvr_7^0'=__disjvr_7^post48, rcd_320^0'=rcd_320^post48, rcd_71^0'=rcd_71^post48, __disjvr_18^0'=__disjvr_18^post48, i_198^0'=i_198^post48, __disjvr_28^0'=__disjvr_28^post48, x_207^0'=x_207^post48, rcd_185^0'=rcd_185^post48, __disjvr_10^0'=__disjvr_10^post48, a_279^0'=a_279^post48, t_23^0'=t_23^post48, __disjvr_22^0'=__disjvr_22^post48, x_SLAM_f_20^0'=x_SLAM_f_20^post48, __disjvr_4^0'=__disjvr_4^post48, rcd_284^0'=rcd_284^post48, __disjvr_15^0'=__disjvr_15^post48, head_SLAM_f_30^0'=head_SLAM_f_30^post48, __disjvr_25^0'=__disjvr_25^post48, temp_37^0'=temp_37^post48, r_41^0'=r_41^post48, __disjvr_9^0'=__disjvr_9^post48, a_174^0'=a_174^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48, __disjvr_1^0'=__disjvr_1^post48, len_159^0'=len_159^post48, __disjvr_2^0'=__disjvr_2^post48, rcd_194^0'=rcd_194^post48, __disjvr_12^0'=__disjvr_12^post48, f_202^0'=f_202^post48, temp0_19^0'=temp0_19^post48, nondet_12^0'=nondet_12^post48, y_21^0'=y_21^post48, __disjvr_6^0'=__disjvr_6^post48, rcd_308^0'=rcd_308^post48, rcd_45^0'=rcd_45^post48, __disjvr_17^0'=__disjvr_17^post48, i_130^0'=i_130^post48, __disjvr_27^0'=__disjvr_27^post48, x_154^0'=x_154^post48, rcd_114^0'=rcd_114^post48, (-__disjvr_6^post48+__disjvr_6^0 == 0 /\ rcd_220^0-rcd_220^post48 == 0 /\ -temp0_19^post48+temp0_19^0 == 0 /\ __disjvr_5^0-__disjvr_5^post48 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post48 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ x_27^0-x_27^post48 == 0 /\ __disjvr_13^0-__disjvr_13^post48 == 0 /\ __disjvr_16^0-__disjvr_16^post48 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0 /\ a_309^0-a_309^post48 == 0 /\ a_279^0-a_279^post48 == 0 /\ -f_202^post48+f_202^0 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ -rcd_284^post48+rcd_284^0 == 0 /\ len_221^0-len_221^post48 == 0 /\ a_222^0-a_222^post48 == 0 /\ -rcd_45^post48+rcd_45^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post48 == 0 /\ x_207^0-x_207^post48 == 0 /\ -__disjvr_2^post48+__disjvr_2^0 == 0 /\ -temp0_32^post48+temp0_32^0 == 0 /\ -__disjvr_15^post48+__disjvr_15^0 == 0 /\ -length_29^post48+length_29^0 == 0 /\ -rcd_71^post48+rcd_71^0 == 0 /\ -a_174^post48+a_174^0 == 0 /\ -i_198^post48+i_198^0 == 0 /\ -rcd_288^post48+rcd_288^0 == 0 /\ __disjvr_11^0-__disjvr_11^post48 == 0 /\ -rcd_114^post48+rcd_114^0 == 0 /\ r_192^0-r_192^post48 == 0 /\ __disjvr_29^0-__disjvr_29^post48 == 0 /\ -rcd_199^post48+rcd_199^0 == 0 /\ -r_149^post48+r_149^0 == 0 /\ -len_159^post48+len_159^0 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ rcd_185^0-rcd_185^post48 == 0 /\ -__disjvr_18^post48+__disjvr_18^0 == 0 /\ -__disjvr_9^post48+__disjvr_9^0 == 0 /\ __disjvr_30^0-__disjvr_30^post48 == 0 /\ -__disjvr_7^post48+__disjvr_7^0 == 0 /\ y_26^0-y_26^post48 == 0 /\ rcd_106^0-rcd_106^post48 == 0 /\ tail_15^0-tail_15^post48 == 0 /\ -rcd_194^post48+rcd_194^0 == 0 /\ -tmp_35^post48+tmp_35^0 == 0 /\ -__disjvr_25^post48+__disjvr_25^0 == 0 /\ -__disjvr_10^post48+__disjvr_10^0 == 0 /\ -__disjvr_19^post48+__disjvr_19^0 == 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ -i_112^post48+i_112^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post48 == 0 /\ x_22^0-x_22^post48 == 0 /\ t_23^0-t_23^post48 == 0 /\ __disjvr_20^0-__disjvr_20^post48 == 0 /\ -i_130^post48+i_130^0 == 0 /\ -__disjvr_4^post48+__disjvr_4^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ y_21^0-y_21^post48 == 0 /\ -rcd_320^post48+rcd_320^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post48 == 0 /\ head_16^0-head_16^post48 == 0 /\ -__disjvr_26^post48+__disjvr_26^0 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ -temp_36^post48+temp_36^0 == 0 /\ -temp_37^post48+temp_37^0 == 0 /\ a_139^0-a_139^post48 == 0 /\ result_11^0-result_11^post48 == 0 /\ -rcd_308^post48+rcd_308^0 == 0 /\ -__disjvr_22^post48+__disjvr_22^0 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ -x_SLAM_f_20^post48+x_SLAM_f_20^0 == 0 /\ r_41^0-r_41^post48 == 0 /\ -__disjvr_20^0+__disjvr_20^post48 == 0 /\ -i_31^post48+i_31^0 == 0 /\ a_253^0-a_253^post48 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post48 == 0 /\ __disjvr_8^0-__disjvr_8^post48 == 0 /\ __disjvr_28^0-__disjvr_28^post48 == 0 /\ -__disjvr_23^post48+__disjvr_23^0 == 0 /\ head_33^0-head_33^post48 == 0 /\ -x_154^post48+x_154^0 == 0 /\ -rcd_193^post48+rcd_193^0 == 0), cost: 1 New rule: l45 -> l46 : 0 == 0, cost: 1 Applied preprocessing Original rule: l46 -> l47 : __disjvr_0^0'=__disjvr_0^post49, a_253^0'=a_253^post49, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post49, __disjvr_21^0'=__disjvr_21^post49, x_27^0'=x_27^post49, __disjvr_3^0'=__disjvr_3^post49, rcd_220^0'=rcd_220^post49, __disjvr_14^0'=__disjvr_14^post49, head_33^0'=head_33^post49, __disjvr_24^0'=__disjvr_24^post49, temp_36^0'=temp_36^post49, r_192^0'=r_192^post49, __disjvr_8^0'=__disjvr_8^post49, a_139^0'=a_139^post49, result_11^0'=result_11^post49, __disjvr_19^0'=__disjvr_19^post49, i_31^0'=i_31^post49, __disjvr_29^0'=__disjvr_29^post49, x_22^0'=x_22^post49, rcd_193^0'=rcd_193^post49, __disjvr_11^0'=__disjvr_11^post49, a_309^0'=a_309^post49, tail_15^0'=tail_15^post49, length_29^0'=length_29^post49, x_SLAM_f_25^0'=x_SLAM_f_25^post49, __disjvr_5^0'=__disjvr_5^post49, rcd_288^0'=rcd_288^post49, __disjvr_16^0'=__disjvr_16^post49, i_112^0'=i_112^post49, __disjvr_26^0'=__disjvr_26^post49, tmp_35^0'=tmp_35^post49, rcd_106^0'=rcd_106^post49, a_222^0'=a_222^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post49, __disjvr_20^0'=__disjvr_20^post49, len_221^0'=len_221^post49, __disjvr_30^0'=__disjvr_30^post49, rcd_199^0'=rcd_199^post49, __disjvr_13^0'=__disjvr_13^post49, head_16^0'=head_16^post49, __disjvr_23^0'=__disjvr_23^post49, temp0_32^0'=temp0_32^post49, r_149^0'=r_149^post49, y_26^0'=y_26^post49, __disjvr_7^0'=__disjvr_7^post49, rcd_320^0'=rcd_320^post49, rcd_71^0'=rcd_71^post49, __disjvr_18^0'=__disjvr_18^post49, i_198^0'=i_198^post49, __disjvr_28^0'=__disjvr_28^post49, x_207^0'=x_207^post49, rcd_185^0'=rcd_185^post49, __disjvr_10^0'=__disjvr_10^post49, a_279^0'=a_279^post49, t_23^0'=t_23^post49, __disjvr_22^0'=__disjvr_22^post49, x_SLAM_f_20^0'=x_SLAM_f_20^post49, __disjvr_4^0'=__disjvr_4^post49, rcd_284^0'=rcd_284^post49, __disjvr_15^0'=__disjvr_15^post49, head_SLAM_f_30^0'=head_SLAM_f_30^post49, __disjvr_25^0'=__disjvr_25^post49, temp_37^0'=temp_37^post49, r_41^0'=r_41^post49, __disjvr_9^0'=__disjvr_9^post49, a_174^0'=a_174^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post49, __disjvr_1^0'=__disjvr_1^post49, len_159^0'=len_159^post49, __disjvr_2^0'=__disjvr_2^post49, rcd_194^0'=rcd_194^post49, __disjvr_12^0'=__disjvr_12^post49, f_202^0'=f_202^post49, temp0_19^0'=temp0_19^post49, nondet_12^0'=nondet_12^post49, y_21^0'=y_21^post49, __disjvr_6^0'=__disjvr_6^post49, rcd_308^0'=rcd_308^post49, rcd_45^0'=rcd_45^post49, __disjvr_17^0'=__disjvr_17^post49, i_130^0'=i_130^post49, __disjvr_27^0'=__disjvr_27^post49, x_154^0'=x_154^post49, rcd_114^0'=rcd_114^post49, (y_26^0-y_26^post49 == 0 /\ -rcd_193^post49+rcd_193^0 == 0 /\ -rcd_308^post49+rcd_308^0 == 0 /\ -rcd_185^post49+rcd_185^0 == 0 /\ __disjvr_8^0-__disjvr_8^post49 == 0 /\ i_112^0-i_112^post49 == 0 /\ length_29^0-length_29^post49 == 0 /\ -f_202^post49+f_202^0 == 0 /\ -__disjvr_7^post49+__disjvr_7^0 == 0 /\ -rcd_288^post49+rcd_288^0 == 0 /\ __disjvr_28^0-__disjvr_28^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ __disjvr_11^0-__disjvr_11^post49 == 0 /\ -__disjvr_23^post49+__disjvr_23^0 == 0 /\ temp0_32^0-temp0_32^post49 == 0 /\ -__disjvr_6^post49+__disjvr_6^0 == 0 /\ -temp0_19^post49+temp0_19^0 == 0 /\ len_221^0-len_221^post49 == 0 /\ -i_198^post49+i_198^0 == 0 /\ rcd_220^0-rcd_220^post49 == 0 /\ -__disjvr_18^post49+__disjvr_18^0 == 0 /\ a_309^0-a_309^post49 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post49 == 0 /\ -x_154^post49+x_154^0 == 0 /\ -a_174^post49+a_174^0 == 0 /\ -nondet_12^post49+nondet_12^0 == 0 /\ head_16^0-head_16^post49 == 0 /\ x_22^0-x_22^post49 == 0 /\ -len_159^post49+len_159^0 == 0 /\ i_31^0-i_31^post49 == 0 /\ rcd_106^0-rcd_106^post49 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post49 == 0 /\ -__disjvr_13^post49+__disjvr_13^0 == 0 /\ head_33^0-head_33^post49 == 0 /\ -rcd_114^post49+rcd_114^0 == 0 /\ __disjvr_9^0-__disjvr_9^post49 == 0 /\ __disjvr_10^0-__disjvr_10^post49 == 0 /\ r_192^0-r_192^post49 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post49 == 0 /\ -rcd_194^post49+rcd_194^0 == 0 /\ x_27^0-x_27^post49 == 0 /\ -__disjvr_15^post49+__disjvr_15^0 == 0 /\ -x_207^post49+x_207^0 == 0 /\ -rcd_45^post49+rcd_45^0 == 0 /\ -__disjvr_5^post49+__disjvr_5^0 == 0 /\ a_253^0-a_253^post49 == 0 /\ __disjvr_21^0-__disjvr_21^post49 == 0 /\ -rcd_199^post49+rcd_199^0 == 0 /\ __disjvr_3^0-__disjvr_3^post49 == 0 /\ tmp_35^0-tmp_35^post49 == 0 /\ __disjvr_30^0-__disjvr_30^post49 == 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ -__disjvr_26^post49+__disjvr_26^0 == 0 /\ -__disjvr_12^post49+__disjvr_12^0 == 0 /\ a_139^0-a_139^post49 == 0 /\ __disjvr_16^0-__disjvr_16^post49 == 0 /\ a_222^0-a_222^post49 == 0 /\ r_41^0-r_41^post49 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ -a_279^post49+a_279^0 == 0 /\ -rcd_320^post49+rcd_320^0 == 0 /\ t_23^0-t_23^post49 == 0 /\ -__disjvr_19^post49+__disjvr_19^0 == 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ r_149^0-r_149^post49 == 0 /\ -__disjvr_1^post49+__disjvr_1^0 == 0 /\ -__disjvr_21^0+__disjvr_21^post49 == 0 /\ rcd_284^0-rcd_284^post49 == 0 /\ -__disjvr_4^post49+__disjvr_4^0 == 0 /\ -rcd_71^post49+rcd_71^0 == 0 /\ -i_130^post49+i_130^0 == 0 /\ -tail_15^post49+tail_15^0 == 0 /\ result_11^0-result_11^post49 == 0 /\ -__disjvr_22^post49+__disjvr_22^0 == 0 /\ temp_36^0-temp_36^post49 == 0 /\ __disjvr_29^0-__disjvr_29^post49 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post49 == 0 /\ -__disjvr_20^post49+__disjvr_20^0 == 0 /\ -temp_37^post49+temp_37^0 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ -__disjvr_25^post49+__disjvr_25^0 == 0 /\ -x_SLAM_f_20^post49+x_SLAM_f_20^0 == 0 /\ -y_21^post49+y_21^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post49 == 0), cost: 1 New rule: l46 -> l47 : 0 == 0, cost: 1 Applied preprocessing Original rule: l47 -> l48 : __disjvr_0^0'=__disjvr_0^post50, a_253^0'=a_253^post50, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post50, __disjvr_21^0'=__disjvr_21^post50, x_27^0'=x_27^post50, __disjvr_3^0'=__disjvr_3^post50, rcd_220^0'=rcd_220^post50, __disjvr_14^0'=__disjvr_14^post50, head_33^0'=head_33^post50, __disjvr_24^0'=__disjvr_24^post50, temp_36^0'=temp_36^post50, r_192^0'=r_192^post50, __disjvr_8^0'=__disjvr_8^post50, a_139^0'=a_139^post50, result_11^0'=result_11^post50, __disjvr_19^0'=__disjvr_19^post50, i_31^0'=i_31^post50, __disjvr_29^0'=__disjvr_29^post50, x_22^0'=x_22^post50, rcd_193^0'=rcd_193^post50, __disjvr_11^0'=__disjvr_11^post50, a_309^0'=a_309^post50, tail_15^0'=tail_15^post50, length_29^0'=length_29^post50, x_SLAM_f_25^0'=x_SLAM_f_25^post50, __disjvr_5^0'=__disjvr_5^post50, rcd_288^0'=rcd_288^post50, __disjvr_16^0'=__disjvr_16^post50, i_112^0'=i_112^post50, __disjvr_26^0'=__disjvr_26^post50, tmp_35^0'=tmp_35^post50, rcd_106^0'=rcd_106^post50, a_222^0'=a_222^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post50, __disjvr_20^0'=__disjvr_20^post50, len_221^0'=len_221^post50, __disjvr_30^0'=__disjvr_30^post50, rcd_199^0'=rcd_199^post50, __disjvr_13^0'=__disjvr_13^post50, head_16^0'=head_16^post50, __disjvr_23^0'=__disjvr_23^post50, temp0_32^0'=temp0_32^post50, r_149^0'=r_149^post50, y_26^0'=y_26^post50, __disjvr_7^0'=__disjvr_7^post50, rcd_320^0'=rcd_320^post50, rcd_71^0'=rcd_71^post50, __disjvr_18^0'=__disjvr_18^post50, i_198^0'=i_198^post50, __disjvr_28^0'=__disjvr_28^post50, x_207^0'=x_207^post50, rcd_185^0'=rcd_185^post50, __disjvr_10^0'=__disjvr_10^post50, a_279^0'=a_279^post50, t_23^0'=t_23^post50, __disjvr_22^0'=__disjvr_22^post50, x_SLAM_f_20^0'=x_SLAM_f_20^post50, __disjvr_4^0'=__disjvr_4^post50, rcd_284^0'=rcd_284^post50, __disjvr_15^0'=__disjvr_15^post50, head_SLAM_f_30^0'=head_SLAM_f_30^post50, __disjvr_25^0'=__disjvr_25^post50, temp_37^0'=temp_37^post50, r_41^0'=r_41^post50, __disjvr_9^0'=__disjvr_9^post50, a_174^0'=a_174^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post50, __disjvr_1^0'=__disjvr_1^post50, len_159^0'=len_159^post50, __disjvr_2^0'=__disjvr_2^post50, rcd_194^0'=rcd_194^post50, __disjvr_12^0'=__disjvr_12^post50, f_202^0'=f_202^post50, temp0_19^0'=temp0_19^post50, nondet_12^0'=nondet_12^post50, y_21^0'=y_21^post50, __disjvr_6^0'=__disjvr_6^post50, rcd_308^0'=rcd_308^post50, rcd_45^0'=rcd_45^post50, __disjvr_17^0'=__disjvr_17^post50, i_130^0'=i_130^post50, __disjvr_27^0'=__disjvr_27^post50, x_154^0'=x_154^post50, rcd_114^0'=rcd_114^post50, (-__disjvr_20^post50+__disjvr_20^0 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ __disjvr_7^0-__disjvr_7^post50 == 0 /\ -__disjvr_2^post50+__disjvr_2^0 == 0 /\ r_192^0-r_192^post50 == 0 /\ __disjvr_1^0-__disjvr_1^post50 == 0 /\ -y_21^post50+y_21^0 == 0 /\ tail_15^0-tail_15^post50 == 0 /\ -i_198^post50+i_198^0 == 0 /\ -__disjvr_10^post50+__disjvr_10^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post50+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_35^post50+tmp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post50 == 0 /\ y_26^0-y_26^post50 == 0 /\ i_112^0-i_112^post50 == 0 /\ -a_222^post50+a_222^0 == 0 /\ -__disjvr_23^post50+__disjvr_23^0 == 0 /\ -__disjvr_27^post50+__disjvr_27^0 == 0 /\ -__disjvr_26^post50+__disjvr_26^0 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ -i_130^post50+i_130^0 == 0 /\ length_29^0-length_29^post50 == 0 /\ a_139^0-a_139^post50 == 0 /\ -temp_37^post50+temp_37^0 == 0 /\ -rcd_288^post50+rcd_288^0 == 0 /\ -rcd_308^post50+rcd_308^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post50 == 0 /\ -rcd_194^post50+rcd_194^0 == 0 /\ -__disjvr_15^post50+__disjvr_15^0 == 0 /\ -rcd_284^post50+rcd_284^0 == 0 /\ -x_207^post50+x_207^0 == 0 /\ rcd_220^0-rcd_220^post50 == 0 /\ rcd_185^0-rcd_185^post50 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ -nondet_12^post50+nondet_12^0 == 0 /\ __disjvr_5^0-__disjvr_5^post50 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ __disjvr_3^0-__disjvr_3^post50 == 0 /\ -x_154^post50+x_154^0 == 0 /\ -i_31^post50+i_31^0 == 0 /\ -rcd_320^post50+rcd_320^0 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ -rcd_193^post50+rcd_193^0 == 0 /\ -__disjvr_6^post50+__disjvr_6^0 == 0 /\ temp_36^0-temp_36^post50 == 0 /\ __disjvr_29^0-__disjvr_29^post50 == 0 /\ -rcd_71^post50+rcd_71^0 == 0 /\ -r_41^post50+r_41^0 == 0 /\ __disjvr_18^0-__disjvr_18^post50 == 0 /\ -__disjvr_13^post50+__disjvr_13^0 == 0 /\ a_253^0-a_253^post50 == 0 /\ temp0_19^0-temp0_19^post50 == 0 /\ head_16^0-head_16^post50 == 0 /\ -rcd_45^post50+rcd_45^0 == 0 /\ rcd_106^0-rcd_106^post50 == 0 /\ result_11^0-result_11^post50 == 0 /\ __disjvr_30^0-__disjvr_30^post50 == 0 /\ r_149^0-r_149^post50 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post50 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_14^post50+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 == 0 /\ __disjvr_8^0-__disjvr_8^post50 == 0 /\ __disjvr_11^0-__disjvr_11^post50 == 0 /\ __disjvr_16^0-__disjvr_16^post50 == 0 /\ __disjvr_22^0-__disjvr_22^post50 == 0 /\ -t_23^post50+t_23^0 == 0 /\ a_309^0-a_309^post50 == 0 /\ -len_221^post50+len_221^0 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ -__disjvr_25^post50+__disjvr_25^0 == 0 /\ x_27^0-x_27^post50 == 0 /\ x_22^0-x_22^post50 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ head_33^0-head_33^post50 == 0 /\ -a_174^post50+a_174^0 == 0 /\ __disjvr_19^0-__disjvr_19^post50 == 0 /\ -f_202^post50+f_202^0 == 0 /\ -rcd_199^post50+rcd_199^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post50 == 0 /\ -__disjvr_4^post50+__disjvr_4^0 == 0 /\ -len_159^post50+len_159^0 == 0 /\ -rcd_114^post50+rcd_114^0 == 0 /\ a_279^0-a_279^post50 == 0 /\ -temp0_32^post50+temp0_32^0 == 0 /\ -__disjvr_22^0+__disjvr_22^post50 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0), cost: 1 New rule: l47 -> l48 : 0 == 0, cost: 1 Applied preprocessing Original rule: l48 -> l25 : __disjvr_0^0'=__disjvr_0^post51, a_253^0'=a_253^post51, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post51, __disjvr_21^0'=__disjvr_21^post51, x_27^0'=x_27^post51, __disjvr_3^0'=__disjvr_3^post51, rcd_220^0'=rcd_220^post51, __disjvr_14^0'=__disjvr_14^post51, head_33^0'=head_33^post51, __disjvr_24^0'=__disjvr_24^post51, temp_36^0'=temp_36^post51, r_192^0'=r_192^post51, __disjvr_8^0'=__disjvr_8^post51, a_139^0'=a_139^post51, result_11^0'=result_11^post51, __disjvr_19^0'=__disjvr_19^post51, i_31^0'=i_31^post51, __disjvr_29^0'=__disjvr_29^post51, x_22^0'=x_22^post51, rcd_193^0'=rcd_193^post51, __disjvr_11^0'=__disjvr_11^post51, a_309^0'=a_309^post51, tail_15^0'=tail_15^post51, length_29^0'=length_29^post51, x_SLAM_f_25^0'=x_SLAM_f_25^post51, __disjvr_5^0'=__disjvr_5^post51, rcd_288^0'=rcd_288^post51, __disjvr_16^0'=__disjvr_16^post51, i_112^0'=i_112^post51, __disjvr_26^0'=__disjvr_26^post51, tmp_35^0'=tmp_35^post51, rcd_106^0'=rcd_106^post51, a_222^0'=a_222^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post51, __disjvr_20^0'=__disjvr_20^post51, len_221^0'=len_221^post51, __disjvr_30^0'=__disjvr_30^post51, rcd_199^0'=rcd_199^post51, __disjvr_13^0'=__disjvr_13^post51, head_16^0'=head_16^post51, __disjvr_23^0'=__disjvr_23^post51, temp0_32^0'=temp0_32^post51, r_149^0'=r_149^post51, y_26^0'=y_26^post51, __disjvr_7^0'=__disjvr_7^post51, rcd_320^0'=rcd_320^post51, rcd_71^0'=rcd_71^post51, __disjvr_18^0'=__disjvr_18^post51, i_198^0'=i_198^post51, __disjvr_28^0'=__disjvr_28^post51, x_207^0'=x_207^post51, rcd_185^0'=rcd_185^post51, __disjvr_10^0'=__disjvr_10^post51, a_279^0'=a_279^post51, t_23^0'=t_23^post51, __disjvr_22^0'=__disjvr_22^post51, x_SLAM_f_20^0'=x_SLAM_f_20^post51, __disjvr_4^0'=__disjvr_4^post51, rcd_284^0'=rcd_284^post51, __disjvr_15^0'=__disjvr_15^post51, head_SLAM_f_30^0'=head_SLAM_f_30^post51, __disjvr_25^0'=__disjvr_25^post51, temp_37^0'=temp_37^post51, r_41^0'=r_41^post51, __disjvr_9^0'=__disjvr_9^post51, a_174^0'=a_174^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post51, __disjvr_1^0'=__disjvr_1^post51, len_159^0'=len_159^post51, __disjvr_2^0'=__disjvr_2^post51, rcd_194^0'=rcd_194^post51, __disjvr_12^0'=__disjvr_12^post51, f_202^0'=f_202^post51, temp0_19^0'=temp0_19^post51, nondet_12^0'=nondet_12^post51, y_21^0'=y_21^post51, __disjvr_6^0'=__disjvr_6^post51, rcd_308^0'=rcd_308^post51, rcd_45^0'=rcd_45^post51, __disjvr_17^0'=__disjvr_17^post51, i_130^0'=i_130^post51, __disjvr_27^0'=__disjvr_27^post51, x_154^0'=x_154^post51, rcd_114^0'=rcd_114^post51, (0 == 0 /\ -__disjvr_25^post51+__disjvr_25^0 == 0 /\ -i_112^post51+i_112^0 == 0 /\ __disjvr_11^0-__disjvr_11^post51 == 0 /\ -__disjvr_27^post51+__disjvr_27^0 == 0 /\ __disjvr_29^0-__disjvr_29^post51 == 0 /\ -__disjvr_4^post51+__disjvr_4^0 == 0 /\ -i_130^post51+i_130^0 == 0 /\ -x_22^post51+x_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post51 == 0 /\ __disjvr_1^0-__disjvr_1^post51 == 0 /\ __disjvr_9^0-__disjvr_9^post51 == 0 /\ a_253^0-a_253^post51 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post51+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_185^0-rcd_185^post51 == 0 /\ x_27^0-x_27^post51 == 0 /\ __disjvr_8^0-__disjvr_8^post51 == 0 /\ rcd_288^0-rcd_288^post51 == 0 /\ __disjvr_30^0-__disjvr_30^post51 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post51 == 0 /\ -__disjvr_26^post51+__disjvr_26^0 == 0 /\ -__disjvr_20^post51+__disjvr_20^0 == 0 /\ -rcd_320^post51+rcd_320^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -1-a_253^0+len_159^post51 <= 0 /\ a_309^0-a_309^post51 == 0 /\ -rcd_308^post51+rcd_308^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ temp_36^0-temp_36^post51 == 0 /\ -y_21^post51+y_21^0 == 0 /\ __disjvr_5^0-__disjvr_5^post51 == 0 /\ __disjvr_0^0-__disjvr_0^post51 == 0 /\ -__disjvr_12^post51+__disjvr_12^0 == 0 /\ -__disjvr_17^post51+__disjvr_17^0 == 0 /\ -__disjvr_22^post51+__disjvr_22^0 == 0 /\ __disjvr_10^0-__disjvr_10^post51 == 0 /\ __disjvr_21^0-__disjvr_21^post51 == 0 /\ -__disjvr_23^post51+__disjvr_23^0 == 0 /\ -a_139^post51+a_139^0 == 0 /\ a_222^0-a_222^post51 == 0 /\ -rcd_106^post51+rcd_106^0 == 0 /\ -head_SLAM_f_30^post51+head_SLAM_f_30^0 == 0 /\ -x_154^post51+x_154^0 == 0 /\ head_16^0-head_16^post51 == 0 /\ __disjvr_2^0-__disjvr_2^post51 == 0 /\ -temp0_19^post51+temp0_19^0 == 0 /\ -__disjvr_6^post51+__disjvr_6^0 == 0 /\ __disjvr_18^0-__disjvr_18^post51 == 0 /\ x_207^0-x_207^post51 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post51 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post51 == 0 /\ r_41^0-r_41^post51 == 0 /\ -__disjvr_28^post51+__disjvr_28^0 == 0 /\ -f_202^post51+f_202^0 == 0 /\ -rcd_284^post51+rcd_284^0 == 0 /\ y_26^0-y_26^post51 == 0 /\ -length_29^post51+length_29^0 == 0 /\ -__disjvr_15^post51+__disjvr_15^0 == 0 /\ result_11^0-result_11^post51 == 0 /\ r_192^0-r_192^post51 == 0 /\ head_33^0-head_33^post51 == 0 /\ 1+a_253^0-len_159^post51 <= 0 /\ -temp0_32^post51+temp0_32^0 == 0 /\ -rcd_71^post51+rcd_71^0 == 0 /\ -tail_15^post51+tail_15^0 == 0 /\ rcd_45^0-rcd_45^post51 == 0 /\ -rcd_199^post51+rcd_199^0 == 0 /\ -__disjvr_13^post51+__disjvr_13^0 == 0 /\ rcd_220^0-rcd_220^post51 == 0 /\ -i_198^post51+i_198^0 == 0 /\ -rcd_114^post51+rcd_114^0 == 0 /\ t_23^0-t_23^post51 == 0 /\ __disjvr_24^0-__disjvr_24^post51 == 0 /\ __disjvr_16^0-__disjvr_16^post51 == 0 /\ __disjvr_19^0-__disjvr_19^post51 == 0 /\ -r_149^post51+r_149^0 == 0 /\ rcd_193^0-rcd_193^post51 == 0 /\ -a_279^post51+a_279^0 == 0 /\ temp_37^0-temp_37^post51 == 0 /\ -__disjvr_7^post51+__disjvr_7^0 == 0 /\ i_31^0-i_31^post51 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post51 == 0 /\ -rcd_194^post51+rcd_194^0 == 0 /\ -len_221^post51+len_221^0 == 0 /\ -tmp_35^post51+tmp_35^0 == 0 /\ __disjvr_3^0-__disjvr_3^post51 == 0 /\ -a_174^post51+a_174^0 == 0), cost: 1 New rule: l48 -> l25 : len_159^0'=1+a_253^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l49 -> l24 : __disjvr_0^0'=__disjvr_0^post52, a_253^0'=a_253^post52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post52, __disjvr_21^0'=__disjvr_21^post52, x_27^0'=x_27^post52, __disjvr_3^0'=__disjvr_3^post52, rcd_220^0'=rcd_220^post52, __disjvr_14^0'=__disjvr_14^post52, head_33^0'=head_33^post52, __disjvr_24^0'=__disjvr_24^post52, temp_36^0'=temp_36^post52, r_192^0'=r_192^post52, __disjvr_8^0'=__disjvr_8^post52, a_139^0'=a_139^post52, result_11^0'=result_11^post52, __disjvr_19^0'=__disjvr_19^post52, i_31^0'=i_31^post52, __disjvr_29^0'=__disjvr_29^post52, x_22^0'=x_22^post52, rcd_193^0'=rcd_193^post52, __disjvr_11^0'=__disjvr_11^post52, a_309^0'=a_309^post52, tail_15^0'=tail_15^post52, length_29^0'=length_29^post52, x_SLAM_f_25^0'=x_SLAM_f_25^post52, __disjvr_5^0'=__disjvr_5^post52, rcd_288^0'=rcd_288^post52, __disjvr_16^0'=__disjvr_16^post52, i_112^0'=i_112^post52, __disjvr_26^0'=__disjvr_26^post52, tmp_35^0'=tmp_35^post52, rcd_106^0'=rcd_106^post52, a_222^0'=a_222^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post52, __disjvr_20^0'=__disjvr_20^post52, len_221^0'=len_221^post52, __disjvr_30^0'=__disjvr_30^post52, rcd_199^0'=rcd_199^post52, __disjvr_13^0'=__disjvr_13^post52, head_16^0'=head_16^post52, __disjvr_23^0'=__disjvr_23^post52, temp0_32^0'=temp0_32^post52, r_149^0'=r_149^post52, y_26^0'=y_26^post52, __disjvr_7^0'=__disjvr_7^post52, rcd_320^0'=rcd_320^post52, rcd_71^0'=rcd_71^post52, __disjvr_18^0'=__disjvr_18^post52, i_198^0'=i_198^post52, __disjvr_28^0'=__disjvr_28^post52, x_207^0'=x_207^post52, rcd_185^0'=rcd_185^post52, __disjvr_10^0'=__disjvr_10^post52, a_279^0'=a_279^post52, t_23^0'=t_23^post52, __disjvr_22^0'=__disjvr_22^post52, x_SLAM_f_20^0'=x_SLAM_f_20^post52, __disjvr_4^0'=__disjvr_4^post52, rcd_284^0'=rcd_284^post52, __disjvr_15^0'=__disjvr_15^post52, head_SLAM_f_30^0'=head_SLAM_f_30^post52, __disjvr_25^0'=__disjvr_25^post52, temp_37^0'=temp_37^post52, r_41^0'=r_41^post52, __disjvr_9^0'=__disjvr_9^post52, a_174^0'=a_174^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52, __disjvr_1^0'=__disjvr_1^post52, len_159^0'=len_159^post52, __disjvr_2^0'=__disjvr_2^post52, rcd_194^0'=rcd_194^post52, __disjvr_12^0'=__disjvr_12^post52, f_202^0'=f_202^post52, temp0_19^0'=temp0_19^post52, nondet_12^0'=nondet_12^post52, y_21^0'=y_21^post52, __disjvr_6^0'=__disjvr_6^post52, rcd_308^0'=rcd_308^post52, rcd_45^0'=rcd_45^post52, __disjvr_17^0'=__disjvr_17^post52, i_130^0'=i_130^post52, __disjvr_27^0'=__disjvr_27^post52, x_154^0'=x_154^post52, rcd_114^0'=rcd_114^post52, (0 == 0 /\ __disjvr_8^0-__disjvr_8^post52 == 0 /\ rcd_71^0-rcd_71^post52 == 0 /\ -r_149^post52+r_149^0 == 0 /\ -tail_15^post52+head_SLAM_f_30^post52 <= 0 /\ -tail_15^post52+head_SLAM_f_30^post52 == 0 /\ __disjvr_16^0-__disjvr_16^post52 == 0 /\ -tmp_35^post52+tmp_35^0 == 0 /\ -x_SLAM_f_20^post52+x_SLAM_f_20^0 == 0 /\ t_23^0-t_23^post52 == 0 /\ -__disjvr_1^post52+__disjvr_1^0 == 0 /\ -__disjvr_13^post52+__disjvr_13^0 == 0 /\ -nondet_12^10+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 == 0 /\ __disjvr_10^0-__disjvr_10^post52 == 0 /\ len_159^0-len_159^post52 == 0 /\ __disjvr_7^0-__disjvr_7^post52 == 0 /\ -__disjvr_15^post52+__disjvr_15^0 == 0 /\ -__disjvr_17^post52+__disjvr_17^0 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0 /\ head_33^post52-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ __disjvr_3^0-__disjvr_3^post52 == 0 /\ -i_31^post52 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post52 == 0 /\ rcd_288^0-rcd_288^post52 == 0 /\ rcd_106^0-rcd_106^post52 == 0 /\ tail_15^post52-head_SLAM_f_30^post52 <= 0 /\ -y_26^post52+y_26^0 == 0 /\ i_198^0-i_198^post52 == 0 /\ -r_41^post52+r_41^0 == 0 /\ -temp0_19^post52+temp0_19^0 == 0 /\ -__disjvr_9^post52+__disjvr_9^0 == 0 /\ __disjvr_29^0-__disjvr_29^post52 == 0 /\ -rcd_45^post52+rcd_45^0 == 0 /\ -__disjvr_18^post52+__disjvr_18^0 == 0 /\ -__disjvr_2^post52+__disjvr_2^0 == 0 /\ -a_174^post52+a_174^0 == 0 /\ f_202^0-f_202^post52 == 0 /\ -rcd_114^post52+rcd_114^0 == 0 /\ -head_33^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ __disjvr_19^0-__disjvr_19^post52 == 0 /\ -__disjvr_30^post52+__disjvr_30^0 == 0 /\ rcd_194^0-rcd_194^post52 == 0 /\ -a_279^post52+a_279^0 == 0 /\ __disjvr_5^0-__disjvr_5^post52 == 0 /\ a_253^0-a_253^post52 == 0 /\ x_27^0-x_27^post52 == 0 /\ rcd_220^0-rcd_220^post52 == 0 /\ tail_15^post52-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ a_309^0-a_309^post52 == 0 /\ -__disjvr_24^post52+__disjvr_24^0 == 0 /\ -x_207^post52+x_207^0 == 0 /\ __disjvr_23^0-__disjvr_23^post52 == 0 /\ -__disjvr_11^post52+__disjvr_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52+head_SLAM_f_30^post52 <= 0 /\ -y_21^post52+y_21^0 == 0 /\ a_139^0-a_139^post52 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ -rcd_320^post52+rcd_320^0 == 0 /\ rcd_284^0-rcd_284^post52 == 0 /\ tail_15^post52-temp_37^0 == 0 /\ i_31^post52 <= 0 /\ i_31^post52 == 0 /\ temp0_32^0-temp0_32^post52 == 0 /\ -length_29^post52+result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 <= 0 /\ -__disjvr_25^post52+__disjvr_25^0 == 0 /\ -a_222^post52+a_222^0 == 0 /\ rcd_308^0-rcd_308^post52 == 0 /\ -head_33^post52+head_SLAM_f_30^post52 <= 0 /\ __disjvr_26^0-__disjvr_26^post52 == 0 /\ __disjvr_4^0-__disjvr_4^post52 == 0 /\ -__disjvr_14^post52+__disjvr_14^0 == 0 /\ -x_22^post52+x_22^0 == 0 /\ -x_154^post52+x_154^0 == 0 /\ -len_221^post52+len_221^0 == 0 /\ rcd_185^0-rcd_185^post52 == 0 /\ -tail_15^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52 <= 0 /\ r_192^0-r_192^post52 == 0 /\ -rcd_193^post52+rcd_193^0 == 0 /\ -__disjvr_28^post52+__disjvr_28^0 == 0 /\ -head_16^post52+head_16^0 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post52 == 0 /\ result_11^0-result_11^post52 == 0 /\ rcd_199^0-rcd_199^post52 == 0 /\ i_112^0-i_112^post52 == 0 /\ __disjvr_22^0-__disjvr_22^post52 == 0 /\ -i_130^post52+i_130^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post52-head_SLAM_f_30^post52 <= 0 /\ __disjvr_27^0-__disjvr_27^post52 == 0 /\ length_29^post52-result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 <= 0 /\ length_29^post52-result_dot_nondet_sdv_special_RETURN_VALUE_14^post52 == 0 /\ -__disjvr_6^post52+__disjvr_6^0 == 0 /\ head_33^post52-head_SLAM_f_30^post52 <= 0 /\ head_33^post52-head_SLAM_f_30^post52 == 0 /\ __disjvr_20^0-__disjvr_20^post52 == 0 /\ temp_36^0-temp_36^post52 == 0), cost: 1 New rule: l49 -> l24 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_37^0, i_31^0'=0, tail_15^0'=temp_37^0, length_29^0'=nondet_12^10, head_SLAM_f_30^0'=temp_37^0, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_37^0, nondet_12^0'=nondet_12^post52, 0 == 0, cost: 1 Applied preprocessing Original rule: l1 -> l50 : __disjvr_0^0'=__disjvr_0^post53, a_253^0'=a_253^post53, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, __disjvr_21^0'=__disjvr_21^post53, x_27^0'=x_27^post53, __disjvr_3^0'=__disjvr_3^post53, rcd_220^0'=rcd_220^post53, __disjvr_14^0'=__disjvr_14^post53, head_33^0'=head_33^post53, __disjvr_24^0'=__disjvr_24^post53, temp_36^0'=temp_36^post53, r_192^0'=r_192^post53, __disjvr_8^0'=__disjvr_8^post53, a_139^0'=a_139^post53, result_11^0'=result_11^post53, __disjvr_19^0'=__disjvr_19^post53, i_31^0'=i_31^post53, __disjvr_29^0'=__disjvr_29^post53, x_22^0'=x_22^post53, rcd_193^0'=rcd_193^post53, __disjvr_11^0'=__disjvr_11^post53, a_309^0'=a_309^post53, tail_15^0'=tail_15^post53, length_29^0'=length_29^post53, x_SLAM_f_25^0'=x_SLAM_f_25^post53, __disjvr_5^0'=__disjvr_5^post53, rcd_288^0'=rcd_288^post53, __disjvr_16^0'=__disjvr_16^post53, i_112^0'=i_112^post53, __disjvr_26^0'=__disjvr_26^post53, tmp_35^0'=tmp_35^post53, rcd_106^0'=rcd_106^post53, a_222^0'=a_222^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post53, __disjvr_20^0'=__disjvr_20^post53, len_221^0'=len_221^post53, __disjvr_30^0'=__disjvr_30^post53, rcd_199^0'=rcd_199^post53, __disjvr_13^0'=__disjvr_13^post53, head_16^0'=head_16^post53, __disjvr_23^0'=__disjvr_23^post53, temp0_32^0'=temp0_32^post53, r_149^0'=r_149^post53, y_26^0'=y_26^post53, __disjvr_7^0'=__disjvr_7^post53, rcd_320^0'=rcd_320^post53, rcd_71^0'=rcd_71^post53, __disjvr_18^0'=__disjvr_18^post53, i_198^0'=i_198^post53, __disjvr_28^0'=__disjvr_28^post53, x_207^0'=x_207^post53, rcd_185^0'=rcd_185^post53, __disjvr_10^0'=__disjvr_10^post53, a_279^0'=a_279^post53, t_23^0'=t_23^post53, __disjvr_22^0'=__disjvr_22^post53, x_SLAM_f_20^0'=x_SLAM_f_20^post53, __disjvr_4^0'=__disjvr_4^post53, rcd_284^0'=rcd_284^post53, __disjvr_15^0'=__disjvr_15^post53, head_SLAM_f_30^0'=head_SLAM_f_30^post53, __disjvr_25^0'=__disjvr_25^post53, temp_37^0'=temp_37^post53, r_41^0'=r_41^post53, __disjvr_9^0'=__disjvr_9^post53, a_174^0'=a_174^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53, __disjvr_1^0'=__disjvr_1^post53, len_159^0'=len_159^post53, __disjvr_2^0'=__disjvr_2^post53, rcd_194^0'=rcd_194^post53, __disjvr_12^0'=__disjvr_12^post53, f_202^0'=f_202^post53, temp0_19^0'=temp0_19^post53, nondet_12^0'=nondet_12^post53, y_21^0'=y_21^post53, __disjvr_6^0'=__disjvr_6^post53, rcd_308^0'=rcd_308^post53, rcd_45^0'=rcd_45^post53, __disjvr_17^0'=__disjvr_17^post53, i_130^0'=i_130^post53, __disjvr_27^0'=__disjvr_27^post53, x_154^0'=x_154^post53, rcd_114^0'=rcd_114^post53, (0 == 0 /\ -a_174^post53+a_174^0 == 0 /\ a_309^0-a_309^post53 == 0 /\ -rcd_288^post53+rcd_288^0 == 0 /\ __disjvr_8^0-__disjvr_8^post53 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ -nondet_12^post53+nondet_12^0 == 0 /\ head_16^0-head_16^post53 == 0 /\ x_22^post53-head_16^0 <= 0 /\ head_16^0-x_SLAM_f_20^post53 <= 0 /\ __disjvr_30^0-__disjvr_30^post53 == 0 /\ -rcd_308^post53+rcd_308^0 == 0 /\ rcd_194^0-rcd_194^post53 == 0 /\ -len_159^post53+len_159^0 == 0 /\ -r_149^post53+r_149^0 == 0 /\ temp_36^0-temp_36^post53 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ -y_21^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53 <= 0 /\ rcd_220^0-rcd_220^post53 == 0 /\ -__disjvr_18^post53+__disjvr_18^0 == 0 /\ -__disjvr_23^post53+__disjvr_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post53 == 0 /\ tail_15^0-y_21^post53 <= 0 /\ -x_154^post53+x_154^0 == 0 /\ -__disjvr_2^post53+__disjvr_2^0 == 0 /\ -__disjvr_6^post53+__disjvr_6^0 == 0 /\ rcd_284^0-rcd_284^post53 == 0 /\ -temp0_19^post53+temp0_19^0 == 0 /\ -__disjvr_16^post53+__disjvr_16^0 == 0 /\ -x_22^post53+head_16^0 <= 0 /\ -__disjvr_11^post53+__disjvr_11^0 == 0 /\ -head_16^0+x_SLAM_f_20^post53 <= 0 /\ -head_16^0+x_SLAM_f_20^post53 == 0 /\ rcd_106^0-rcd_106^post53 == 0 /\ __disjvr_12^0-__disjvr_12^post53 == 0 /\ temp0_32^0-temp0_32^post53 == 0 /\ -tmp_35^post53+tmp_35^0 == 0 /\ y_21^post53-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53 <= 0 /\ -r_41^post53+r_41^0 == 0 /\ i_198^0-i_198^post53 == 0 /\ head_33^0-head_33^post53 == 0 /\ __disjvr_19^0-__disjvr_19^post53 == 0 /\ __disjvr_5^0-__disjvr_5^post53 == 0 /\ __disjvr_9^0-__disjvr_9^post53 == 0 /\ r_192^0-r_192^post53 == 0 /\ __disjvr_29^0-__disjvr_29^post53 == 0 /\ -rcd_45^post53+rcd_45^0 == 0 /\ -__disjvr_26^post53+__disjvr_26^0 == 0 /\ head_SLAM_f_30^0-head_SLAM_f_30^post53 == 0 /\ -tail_15^0+y_21^post53 <= 0 /\ -tail_15^0+y_21^post53 == 0 /\ tail_15^0-tail_15^post53 == 0 /\ -__disjvr_15^post53+__disjvr_15^0 == 0 /\ -x_207^post53+x_207^0 == 0 /\ __disjvr_10^0-__disjvr_10^post53 == 0 /\ -__disjvr_25^post53+__disjvr_25^0 == 0 /\ -rcd_199^post53+rcd_199^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53 <= 0 /\ __disjvr_20^0-__disjvr_20^post53 == 0 /\ -len_221^post53+len_221^0 == 0 /\ -x_27^0+y_26^0 <= 0 /\ __disjvr_3^0-__disjvr_3^post53 == 0 /\ -__disjvr_13^post53+__disjvr_13^0 == 0 /\ -a_279^post53+a_279^0 == 0 /\ __disjvr_7^0-__disjvr_7^post53 == 0 /\ -x_22^post53+x_SLAM_f_20^post53 <= 0 /\ a_139^0-a_139^post53 == 0 /\ t_23^0-t_23^post53 == 0 /\ -rcd_114^post53+rcd_114^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post53 == 0 /\ -rcd_320^post53+rcd_320^0 == 0 /\ result_11^0-result_11^post53 == 0 /\ __disjvr_14^0-__disjvr_14^post53 == 0 /\ -a_222^post53+a_222^0 == 0 /\ i_31^0-i_31^post53 == 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post53 <= 0 /\ -a_174^0 <= 0 /\ rcd_185^0-rcd_185^post53 == 0 /\ -__disjvr_1^post53+__disjvr_1^0 == 0 /\ -rcd_71^post53+rcd_71^0 == 0 /\ x_27^0-y_26^0 <= 0 /\ -i_130^post53+i_130^0 == 0 /\ __disjvr_22^0-__disjvr_22^post53 == 0 /\ -f_202^post53+f_202^0 == 0 /\ __disjvr_4^0-__disjvr_4^post53 == 0 /\ x_22^post53-x_SLAM_f_20^post53 <= 0 /\ x_22^post53-x_SLAM_f_20^post53 == 0 /\ -__disjvr_27^post53+__disjvr_27^0 == 0 /\ i_112^0-i_112^post53 == 0 /\ -length_29^post53+length_29^0 == 0 /\ -temp_37^post53+temp_37^0 == 0 /\ __disjvr_24^0-__disjvr_24^post53 == 0 /\ a_253^0-a_253^post53 == 0 /\ -len_159^0 <= 0 /\ rcd_193^0-rcd_193^post53 == 0 /\ -__disjvr_28^post53+__disjvr_28^0 == 0), cost: 1 New rule: l1 -> l50 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, x_27^0'=x_27^post53, x_22^0'=head_16^0, x_SLAM_f_25^0'=x_SLAM_f_25^post53, y_26^0'=y_26^post53, x_SLAM_f_20^0'=head_16^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, y_21^0'=tail_15^0, (-x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1 Applied preprocessing Original rule: l50 -> l51 : __disjvr_0^0'=__disjvr_0^post54, a_253^0'=a_253^post54, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post54, __disjvr_21^0'=__disjvr_21^post54, x_27^0'=x_27^post54, __disjvr_3^0'=__disjvr_3^post54, rcd_220^0'=rcd_220^post54, __disjvr_14^0'=__disjvr_14^post54, head_33^0'=head_33^post54, __disjvr_24^0'=__disjvr_24^post54, temp_36^0'=temp_36^post54, r_192^0'=r_192^post54, __disjvr_8^0'=__disjvr_8^post54, a_139^0'=a_139^post54, result_11^0'=result_11^post54, __disjvr_19^0'=__disjvr_19^post54, i_31^0'=i_31^post54, __disjvr_29^0'=__disjvr_29^post54, x_22^0'=x_22^post54, rcd_193^0'=rcd_193^post54, __disjvr_11^0'=__disjvr_11^post54, a_309^0'=a_309^post54, tail_15^0'=tail_15^post54, length_29^0'=length_29^post54, x_SLAM_f_25^0'=x_SLAM_f_25^post54, __disjvr_5^0'=__disjvr_5^post54, rcd_288^0'=rcd_288^post54, __disjvr_16^0'=__disjvr_16^post54, i_112^0'=i_112^post54, __disjvr_26^0'=__disjvr_26^post54, tmp_35^0'=tmp_35^post54, rcd_106^0'=rcd_106^post54, a_222^0'=a_222^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post54, __disjvr_20^0'=__disjvr_20^post54, len_221^0'=len_221^post54, __disjvr_30^0'=__disjvr_30^post54, rcd_199^0'=rcd_199^post54, __disjvr_13^0'=__disjvr_13^post54, head_16^0'=head_16^post54, __disjvr_23^0'=__disjvr_23^post54, temp0_32^0'=temp0_32^post54, r_149^0'=r_149^post54, y_26^0'=y_26^post54, __disjvr_7^0'=__disjvr_7^post54, rcd_320^0'=rcd_320^post54, rcd_71^0'=rcd_71^post54, __disjvr_18^0'=__disjvr_18^post54, i_198^0'=i_198^post54, __disjvr_28^0'=__disjvr_28^post54, x_207^0'=x_207^post54, rcd_185^0'=rcd_185^post54, __disjvr_10^0'=__disjvr_10^post54, a_279^0'=a_279^post54, t_23^0'=t_23^post54, __disjvr_22^0'=__disjvr_22^post54, x_SLAM_f_20^0'=x_SLAM_f_20^post54, __disjvr_4^0'=__disjvr_4^post54, rcd_284^0'=rcd_284^post54, __disjvr_15^0'=__disjvr_15^post54, head_SLAM_f_30^0'=head_SLAM_f_30^post54, __disjvr_25^0'=__disjvr_25^post54, temp_37^0'=temp_37^post54, r_41^0'=r_41^post54, __disjvr_9^0'=__disjvr_9^post54, a_174^0'=a_174^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post54, __disjvr_1^0'=__disjvr_1^post54, len_159^0'=len_159^post54, __disjvr_2^0'=__disjvr_2^post54, rcd_194^0'=rcd_194^post54, __disjvr_12^0'=__disjvr_12^post54, f_202^0'=f_202^post54, temp0_19^0'=temp0_19^post54, nondet_12^0'=nondet_12^post54, y_21^0'=y_21^post54, __disjvr_6^0'=__disjvr_6^post54, rcd_308^0'=rcd_308^post54, rcd_45^0'=rcd_45^post54, __disjvr_17^0'=__disjvr_17^post54, i_130^0'=i_130^post54, __disjvr_27^0'=__disjvr_27^post54, x_154^0'=x_154^post54, rcd_114^0'=rcd_114^post54, (-r_149^post54+r_149^0 == 0 /\ -x_SLAM_f_20^post54+x_SLAM_f_20^0 == 0 /\ -a_222^post54+a_222^0 == 0 /\ -rcd_320^post54+rcd_320^0 == 0 /\ -x_154^post54+x_154^0 == 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ -tmp_35^post54+tmp_35^0 == 0 /\ __disjvr_7^0-__disjvr_7^post54 == 0 /\ r_192^0-r_192^post54 == 0 /\ length_29^0-length_29^post54 == 0 /\ tail_15^0-tail_15^post54 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post54 == 0 /\ head_16^0-head_16^post54 == 0 /\ -rcd_308^post54+rcd_308^0 == 0 /\ -rcd_194^post54+rcd_194^0 == 0 /\ __disjvr_26^0-__disjvr_26^post54 == 0 /\ i_112^0-i_112^post54 == 0 /\ -a_174^post54+a_174^0 == 0 /\ -x_207^post54+x_207^0 == 0 /\ -y_21^post54+y_21^0 == 0 /\ __disjvr_12^0-__disjvr_12^post54 == 0 /\ -head_SLAM_f_30^post54+head_SLAM_f_30^0 == 0 /\ -x_SLAM_f_25^post54+x_SLAM_f_25^0 == 0 /\ rcd_288^0-rcd_288^post54 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ __disjvr_16^0-__disjvr_16^post54 == 0 /\ -y_26^post54+y_26^0 == 0 /\ i_31^0-i_31^post54 == 0 /\ temp0_32^0-temp0_32^post54 == 0 /\ head_33^0-head_33^post54 == 0 /\ x_27^0-x_27^post54 == 0 /\ -__disjvr_6^post54+__disjvr_6^0 == 0 /\ len_159^0-len_159^post54 == 0 /\ rcd_220^0-rcd_220^post54 == 0 /\ -rcd_45^post54+rcd_45^0 == 0 /\ rcd_193^0-rcd_193^post54 == 0 /\ -__disjvr_15^post54+__disjvr_15^0 == 0 /\ __disjvr_19^0-__disjvr_19^post54 == 0 /\ -__disjvr_30^post54+__disjvr_30^0 == 0 /\ -temp0_19^post54+temp0_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post54+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -nondet_12^post54+nondet_12^0 == 0 /\ -__disjvr_1^post54+__disjvr_1^0 == 0 /\ a_253^0-a_253^post54 == 0 /\ __disjvr_21^0-__disjvr_21^post54 == 0 /\ -rcd_106^post54+rcd_106^0 == 0 /\ -__disjvr_13^post54+__disjvr_13^0 == 0 /\ -rcd_71^post54+rcd_71^0 == 0 /\ -t_23^post54+t_23^0 == 0 /\ temp_37^0-temp_37^post54 == 0 /\ -r_41^post54+r_41^0 == 0 /\ -rcd_114^post54+rcd_114^0 == 0 /\ __disjvr_8^0-__disjvr_8^post54 == 0 /\ __disjvr_22^0-__disjvr_22^post54 == 0 /\ a_309^0-a_309^post54 == 0 /\ __disjvr_23^0-__disjvr_23^post54 == 0 /\ a_139^0-a_139^post54 == 0 /\ __disjvr_11^0-__disjvr_11^post54 == 0 /\ -__disjvr_14^post54+__disjvr_14^0 == 0 /\ -x_22^post54+x_22^0 == 0 /\ -i_130^post54+i_130^0 == 0 /\ -len_221^post54+len_221^0 == 0 /\ rcd_185^0-rcd_185^post54 == 0 /\ -a_279^post54+a_279^0 == 0 /\ -__disjvr_28^post54+__disjvr_28^0 == 0 /\ -__disjvr_25^post54+__disjvr_25^0 == 0 /\ __disjvr_0^0-__disjvr_0^post54 == 0 /\ result_11^0-result_11^post54 == 0 /\ -__disjvr_9^post54+__disjvr_9^0 == 0 /\ -__disjvr_27^post54+__disjvr_27^0 == 0 /\ __disjvr_5^0-__disjvr_5^post54 == 0 /\ rcd_199^0-rcd_199^post54 == 0 /\ -__disjvr_23^0+__disjvr_23^post54 == 0 /\ -__disjvr_2^post54+__disjvr_2^0 == 0 /\ rcd_284^0-rcd_284^post54 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post54 == 0 /\ -__disjvr_4^post54+__disjvr_4^0 == 0 /\ -i_198^post54+i_198^0 == 0 /\ -f_202^post54+f_202^0 == 0 /\ __disjvr_10^0-__disjvr_10^post54 == 0 /\ -__disjvr_18^post54+__disjvr_18^0 == 0 /\ __disjvr_29^0-__disjvr_29^post54 == 0 /\ temp_36^0-temp_36^post54 == 0 /\ __disjvr_20^0-__disjvr_20^post54 == 0), cost: 1 New rule: l50 -> l51 : 0 == 0, cost: 1 Applied preprocessing Original rule: l51 -> l42 : __disjvr_0^0'=__disjvr_0^post55, a_253^0'=a_253^post55, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post55, __disjvr_21^0'=__disjvr_21^post55, x_27^0'=x_27^post55, __disjvr_3^0'=__disjvr_3^post55, rcd_220^0'=rcd_220^post55, __disjvr_14^0'=__disjvr_14^post55, head_33^0'=head_33^post55, __disjvr_24^0'=__disjvr_24^post55, temp_36^0'=temp_36^post55, r_192^0'=r_192^post55, __disjvr_8^0'=__disjvr_8^post55, a_139^0'=a_139^post55, result_11^0'=result_11^post55, __disjvr_19^0'=__disjvr_19^post55, i_31^0'=i_31^post55, __disjvr_29^0'=__disjvr_29^post55, x_22^0'=x_22^post55, rcd_193^0'=rcd_193^post55, __disjvr_11^0'=__disjvr_11^post55, a_309^0'=a_309^post55, tail_15^0'=tail_15^post55, length_29^0'=length_29^post55, x_SLAM_f_25^0'=x_SLAM_f_25^post55, __disjvr_5^0'=__disjvr_5^post55, rcd_288^0'=rcd_288^post55, __disjvr_16^0'=__disjvr_16^post55, i_112^0'=i_112^post55, __disjvr_26^0'=__disjvr_26^post55, tmp_35^0'=tmp_35^post55, rcd_106^0'=rcd_106^post55, a_222^0'=a_222^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post55, __disjvr_20^0'=__disjvr_20^post55, len_221^0'=len_221^post55, __disjvr_30^0'=__disjvr_30^post55, rcd_199^0'=rcd_199^post55, __disjvr_13^0'=__disjvr_13^post55, head_16^0'=head_16^post55, __disjvr_23^0'=__disjvr_23^post55, temp0_32^0'=temp0_32^post55, r_149^0'=r_149^post55, y_26^0'=y_26^post55, __disjvr_7^0'=__disjvr_7^post55, rcd_320^0'=rcd_320^post55, rcd_71^0'=rcd_71^post55, __disjvr_18^0'=__disjvr_18^post55, i_198^0'=i_198^post55, __disjvr_28^0'=__disjvr_28^post55, x_207^0'=x_207^post55, rcd_185^0'=rcd_185^post55, __disjvr_10^0'=__disjvr_10^post55, a_279^0'=a_279^post55, t_23^0'=t_23^post55, __disjvr_22^0'=__disjvr_22^post55, x_SLAM_f_20^0'=x_SLAM_f_20^post55, __disjvr_4^0'=__disjvr_4^post55, rcd_284^0'=rcd_284^post55, __disjvr_15^0'=__disjvr_15^post55, head_SLAM_f_30^0'=head_SLAM_f_30^post55, __disjvr_25^0'=__disjvr_25^post55, temp_37^0'=temp_37^post55, r_41^0'=r_41^post55, __disjvr_9^0'=__disjvr_9^post55, a_174^0'=a_174^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post55, __disjvr_1^0'=__disjvr_1^post55, len_159^0'=len_159^post55, __disjvr_2^0'=__disjvr_2^post55, rcd_194^0'=rcd_194^post55, __disjvr_12^0'=__disjvr_12^post55, f_202^0'=f_202^post55, temp0_19^0'=temp0_19^post55, nondet_12^0'=nondet_12^post55, y_21^0'=y_21^post55, __disjvr_6^0'=__disjvr_6^post55, rcd_308^0'=rcd_308^post55, rcd_45^0'=rcd_45^post55, __disjvr_17^0'=__disjvr_17^post55, i_130^0'=i_130^post55, __disjvr_27^0'=__disjvr_27^post55, x_154^0'=x_154^post55, rcd_114^0'=rcd_114^post55, (__disjvr_14^0-__disjvr_14^post55 == 0 /\ -len_221^post55+len_221^0 == 0 /\ -x_207^post55+x_207^0 == 0 /\ -__disjvr_25^post55+__disjvr_25^0 == 0 /\ r_192^0-r_192^post55 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post55 == 0 /\ __disjvr_29^0-__disjvr_29^post55 == 0 /\ -rcd_194^post55+rcd_194^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post55 == 0 /\ -i_130^post55+i_130^0 == 0 /\ __disjvr_26^0-__disjvr_26^post55 == 0 /\ -temp_37^post55+temp_37^0 == 0 /\ __disjvr_22^0-__disjvr_22^post55 == 0 /\ a_253^0-a_253^post55 == 0 /\ -y_21^post55+y_21^0 == 0 /\ -__disjvr_27^post55+__disjvr_27^0 == 0 /\ -__disjvr_12^post55+__disjvr_12^0 == 0 /\ rcd_185^0-rcd_185^post55 == 0 /\ -rcd_320^post55+rcd_320^0 == 0 /\ tail_15^0-tail_15^post55 == 0 /\ __disjvr_19^0-__disjvr_19^post55 == 0 /\ -a_222^post55+a_222^0 == 0 /\ -rcd_199^post55+rcd_199^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ i_112^0-i_112^post55 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ rcd_288^0-rcd_288^post55 == 0 /\ rcd_71^0-rcd_71^post55 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -rcd_308^post55+rcd_308^0 == 0 /\ -rcd_284^post55+rcd_284^0 == 0 /\ rcd_220^0-rcd_220^post55 == 0 /\ -__disjvr_20^post55+__disjvr_20^0 == 0 /\ __disjvr_16^0-__disjvr_16^post55 == 0 /\ temp_36^0-temp_36^post55 == 0 /\ -length_29^post55+length_29^0 == 0 /\ __disjvr_24^0-__disjvr_24^post55 == 0 /\ -__disjvr_30^post55+__disjvr_30^0 == 0 /\ __disjvr_7^0-__disjvr_7^post55 == 0 /\ -__disjvr_17^post55+__disjvr_17^0 == 0 /\ i_31^0-i_31^post55 == 0 /\ __disjvr_21^0-__disjvr_21^post55 == 0 /\ -head_SLAM_f_30^post55+head_SLAM_f_30^0 == 0 /\ -nondet_12^post55+nondet_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post55 == 0 /\ -x_154^post55+x_154^0 == 0 /\ -__disjvr_23^post55+__disjvr_23^0 == 0 /\ -rcd_106^post55+rcd_106^0 == 0 /\ -__disjvr_6^post55+__disjvr_6^0 == 0 /\ -a_139^post55+a_139^0 == 0 /\ __disjvr_3^0-__disjvr_3^post55 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post55 == 0 /\ result_11^0-result_11^post55 == 0 /\ -__disjvr_28^post55+__disjvr_28^0 == 0 /\ __disjvr_11^0-__disjvr_11^post55 == 0 /\ -__disjvr_1^post55+__disjvr_1^0 == 0 /\ -temp0_19^post55+temp0_19^0 == 0 /\ __disjvr_8^0-__disjvr_8^post55 == 0 /\ -f_202^post55+f_202^0 == 0 /\ -x_27^post55+x_27^0 == 0 /\ -head_16^post55+head_16^0 == 0 /\ -rcd_45^post55+rcd_45^0 == 0 /\ head_33^0-head_33^post55 == 0 /\ __disjvr_4^0-__disjvr_4^post55 == 0 /\ -t_23^post55+t_23^0 == 0 /\ y_26^0-y_26^post55 == 0 /\ -__disjvr_15^post55+__disjvr_15^0 == 0 /\ __disjvr_5^0-__disjvr_5^post55 == 0 /\ -r_149^post55+r_149^0 == 0 /\ -__disjvr_9^post55+__disjvr_9^0 == 0 /\ rcd_193^0-rcd_193^post55 == 0 /\ -r_41^post55+r_41^0 == 0 /\ -i_198^post55+i_198^0 == 0 /\ x_22^0-x_22^post55 == 0 /\ -tmp_35^post55+tmp_35^0 == 0 /\ -__disjvr_2^post55+__disjvr_2^0 == 0 /\ __disjvr_10^0-__disjvr_10^post55 == 0 /\ a_309^0-a_309^post55 == 0 /\ -__disjvr_18^post55+__disjvr_18^0 == 0 /\ -a_279^post55+a_279^0 == 0 /\ __disjvr_13^0-__disjvr_13^post55 == 0 /\ -a_174^post55+a_174^0 == 0 /\ -rcd_114^post55+rcd_114^0 == 0 /\ -len_159^post55+len_159^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ temp0_32^0-temp0_32^post55 == 0), cost: 1 New rule: l51 -> l42 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l1 -> l53 : __disjvr_0^0'=__disjvr_0^post56, a_253^0'=a_253^post56, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, __disjvr_21^0'=__disjvr_21^post56, x_27^0'=x_27^post56, __disjvr_3^0'=__disjvr_3^post56, rcd_220^0'=rcd_220^post56, __disjvr_14^0'=__disjvr_14^post56, head_33^0'=head_33^post56, __disjvr_24^0'=__disjvr_24^post56, temp_36^0'=temp_36^post56, r_192^0'=r_192^post56, __disjvr_8^0'=__disjvr_8^post56, a_139^0'=a_139^post56, result_11^0'=result_11^post56, __disjvr_19^0'=__disjvr_19^post56, i_31^0'=i_31^post56, __disjvr_29^0'=__disjvr_29^post56, x_22^0'=x_22^post56, rcd_193^0'=rcd_193^post56, __disjvr_11^0'=__disjvr_11^post56, a_309^0'=a_309^post56, tail_15^0'=tail_15^post56, length_29^0'=length_29^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, __disjvr_5^0'=__disjvr_5^post56, rcd_288^0'=rcd_288^post56, __disjvr_16^0'=__disjvr_16^post56, i_112^0'=i_112^post56, __disjvr_26^0'=__disjvr_26^post56, tmp_35^0'=tmp_35^post56, rcd_106^0'=rcd_106^post56, a_222^0'=a_222^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post56, __disjvr_20^0'=__disjvr_20^post56, len_221^0'=len_221^post56, __disjvr_30^0'=__disjvr_30^post56, rcd_199^0'=rcd_199^post56, __disjvr_13^0'=__disjvr_13^post56, head_16^0'=head_16^post56, __disjvr_23^0'=__disjvr_23^post56, temp0_32^0'=temp0_32^post56, r_149^0'=r_149^post56, y_26^0'=y_26^post56, __disjvr_7^0'=__disjvr_7^post56, rcd_320^0'=rcd_320^post56, rcd_71^0'=rcd_71^post56, __disjvr_18^0'=__disjvr_18^post56, i_198^0'=i_198^post56, __disjvr_28^0'=__disjvr_28^post56, x_207^0'=x_207^post56, rcd_185^0'=rcd_185^post56, __disjvr_10^0'=__disjvr_10^post56, a_279^0'=a_279^post56, t_23^0'=t_23^post56, __disjvr_22^0'=__disjvr_22^post56, x_SLAM_f_20^0'=x_SLAM_f_20^post56, __disjvr_4^0'=__disjvr_4^post56, rcd_284^0'=rcd_284^post56, __disjvr_15^0'=__disjvr_15^post56, head_SLAM_f_30^0'=head_SLAM_f_30^post56, __disjvr_25^0'=__disjvr_25^post56, temp_37^0'=temp_37^post56, r_41^0'=r_41^post56, __disjvr_9^0'=__disjvr_9^post56, a_174^0'=a_174^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, __disjvr_1^0'=__disjvr_1^post56, len_159^0'=len_159^post56, __disjvr_2^0'=__disjvr_2^post56, rcd_194^0'=rcd_194^post56, __disjvr_12^0'=__disjvr_12^post56, f_202^0'=f_202^post56, temp0_19^0'=temp0_19^post56, nondet_12^0'=nondet_12^post56, y_21^0'=y_21^post56, __disjvr_6^0'=__disjvr_6^post56, rcd_308^0'=rcd_308^post56, rcd_45^0'=rcd_45^post56, __disjvr_17^0'=__disjvr_17^post56, i_130^0'=i_130^post56, __disjvr_27^0'=__disjvr_27^post56, x_154^0'=x_154^post56, rcd_114^0'=rcd_114^post56, (0 == 0 /\ -rcd_199^post56+rcd_199^0 == 0 /\ rcd_320^0-rcd_320^post56 == 0 /\ rcd_288^0-rcd_288^post56 == 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ -__disjvr_27^post56+__disjvr_27^0 == 0 /\ -len_221^post56+len_221^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post56+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ __disjvr_22^0-__disjvr_22^post56 == 0 /\ i_198^0-i_198^post56 == 0 /\ -a_279^post56+a_279^0 == 0 /\ rcd_71^0-rcd_71^post56 == 0 /\ temp_36^0-temp_36^post56 == 0 /\ __disjvr_29^0-__disjvr_29^post56 == 0 /\ -rcd_106^post56+rcd_106^0 == 0 /\ -rcd_114^post56+rcd_114^0 == 0 /\ __disjvr_10^0-__disjvr_10^post56 == 0 /\ __disjvr_4^0-__disjvr_4^post56 == 0 /\ a_253^0-a_253^post56 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0 /\ __disjvr_8^0-__disjvr_8^post56 == 0 /\ a_309^0-a_309^post56 == 0 /\ -a_222^post56+a_222^0 == 0 /\ i_112^0-i_112^post56 == 0 /\ -x_22^post56+x_22^0 == 0 /\ -i_130^post56+i_130^0 == 0 /\ -x_SLAM_f_20^post56+x_SLAM_f_20^0 == 0 /\ -result_11^post56+result_11^0 == 0 /\ len_159^0-len_159^post56 == 0 /\ -__disjvr_1^post56+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ -length_29^post56+length_29^0 == 0 /\ __disjvr_26^0-__disjvr_26^post56 == 0 /\ -__disjvr_28^post56+__disjvr_28^0 == 0 /\ -y_21^post56+y_21^0 == 0 /\ i_31^0-i_31^post56 == 0 /\ nondet_12^0-nondet_12^post56 == 0 /\ -__disjvr_9^post56+__disjvr_9^0 == 0 /\ -__disjvr_17^post56+__disjvr_17^0 == 0 /\ head_33^0-head_33^post56 == 0 /\ -rcd_284^post56+rcd_284^0 == 0 /\ -r_149^post56+r_149^0 == 0 /\ rcd_308^0-rcd_308^post56 == 0 /\ __disjvr_5^0-__disjvr_5^post56 == 0 /\ __disjvr_19^0-__disjvr_19^post56 == 0 /\ -rcd_185^post56+rcd_185^0 == 0 /\ -__disjvr_18^post56+__disjvr_18^0 == 0 /\ x_27^0-x_27^post56 == 0 /\ -head_SLAM_f_30^post56+head_SLAM_f_30^0 == 0 /\ -x_154^post56+x_154^0 == 0 /\ -tmp_35^post56+tmp_35^0 == 0 /\ -__disjvr_2^post56+__disjvr_2^0 == 0 /\ -a_174^post56+a_174^0 == 0 /\ rcd_193^0-rcd_193^post56 == 0 /\ __disjvr_13^0-__disjvr_13^post56 == 0 /\ -__disjvr_16^post56+__disjvr_16^0 == 0 /\ -__disjvr_6^post56+__disjvr_6^0 == 0 /\ -temp0_19^post56+temp0_19^0 == 0 /\ -__disjvr_11^post56+__disjvr_11^0 == 0 /\ __disjvr_30^0-__disjvr_30^post56 == 0 /\ temp_37^0-temp_37^post56 == 0 /\ y_26^0-y_26^post56 == 0 /\ -rcd_45^post56+rcd_45^0 == 0 /\ r_192^0-r_192^post56 == 0 /\ -a_174^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ -__disjvr_24^post56+__disjvr_24^0 == 0 /\ __disjvr_3^0-__disjvr_3^post56 == 0 /\ rcd_220^0-rcd_220^post56 == 0 /\ __disjvr_25^0-__disjvr_25^post56 == 0 /\ temp0_32^0-temp0_32^post56 == 0 /\ -rcd_194^post56+rcd_194^0 == 0 /\ __disjvr_7^0-__disjvr_7^post56 == 0 /\ __disjvr_23^0-__disjvr_23^post56 == 0 /\ -__disjvr_15^post56+__disjvr_15^0 == 0 /\ a_139^0-a_139^post56 == 0 /\ t_23^0-t_23^post56 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ -len_159^0 <= 0), cost: 1 New rule: l1 -> l53 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1 Applied preprocessing Original rule: l53 -> l54 : __disjvr_0^0'=__disjvr_0^post57, a_253^0'=a_253^post57, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post57, __disjvr_21^0'=__disjvr_21^post57, x_27^0'=x_27^post57, __disjvr_3^0'=__disjvr_3^post57, rcd_220^0'=rcd_220^post57, __disjvr_14^0'=__disjvr_14^post57, head_33^0'=head_33^post57, __disjvr_24^0'=__disjvr_24^post57, temp_36^0'=temp_36^post57, r_192^0'=r_192^post57, __disjvr_8^0'=__disjvr_8^post57, a_139^0'=a_139^post57, result_11^0'=result_11^post57, __disjvr_19^0'=__disjvr_19^post57, i_31^0'=i_31^post57, __disjvr_29^0'=__disjvr_29^post57, x_22^0'=x_22^post57, rcd_193^0'=rcd_193^post57, __disjvr_11^0'=__disjvr_11^post57, a_309^0'=a_309^post57, tail_15^0'=tail_15^post57, length_29^0'=length_29^post57, x_SLAM_f_25^0'=x_SLAM_f_25^post57, __disjvr_5^0'=__disjvr_5^post57, rcd_288^0'=rcd_288^post57, __disjvr_16^0'=__disjvr_16^post57, i_112^0'=i_112^post57, __disjvr_26^0'=__disjvr_26^post57, tmp_35^0'=tmp_35^post57, rcd_106^0'=rcd_106^post57, a_222^0'=a_222^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post57, __disjvr_20^0'=__disjvr_20^post57, len_221^0'=len_221^post57, __disjvr_30^0'=__disjvr_30^post57, rcd_199^0'=rcd_199^post57, __disjvr_13^0'=__disjvr_13^post57, head_16^0'=head_16^post57, __disjvr_23^0'=__disjvr_23^post57, temp0_32^0'=temp0_32^post57, r_149^0'=r_149^post57, y_26^0'=y_26^post57, __disjvr_7^0'=__disjvr_7^post57, rcd_320^0'=rcd_320^post57, rcd_71^0'=rcd_71^post57, __disjvr_18^0'=__disjvr_18^post57, i_198^0'=i_198^post57, __disjvr_28^0'=__disjvr_28^post57, x_207^0'=x_207^post57, rcd_185^0'=rcd_185^post57, __disjvr_10^0'=__disjvr_10^post57, a_279^0'=a_279^post57, t_23^0'=t_23^post57, __disjvr_22^0'=__disjvr_22^post57, x_SLAM_f_20^0'=x_SLAM_f_20^post57, __disjvr_4^0'=__disjvr_4^post57, rcd_284^0'=rcd_284^post57, __disjvr_15^0'=__disjvr_15^post57, head_SLAM_f_30^0'=head_SLAM_f_30^post57, __disjvr_25^0'=__disjvr_25^post57, temp_37^0'=temp_37^post57, r_41^0'=r_41^post57, __disjvr_9^0'=__disjvr_9^post57, a_174^0'=a_174^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post57, __disjvr_1^0'=__disjvr_1^post57, len_159^0'=len_159^post57, __disjvr_2^0'=__disjvr_2^post57, rcd_194^0'=rcd_194^post57, __disjvr_12^0'=__disjvr_12^post57, f_202^0'=f_202^post57, temp0_19^0'=temp0_19^post57, nondet_12^0'=nondet_12^post57, y_21^0'=y_21^post57, __disjvr_6^0'=__disjvr_6^post57, rcd_308^0'=rcd_308^post57, rcd_45^0'=rcd_45^post57, __disjvr_17^0'=__disjvr_17^post57, i_130^0'=i_130^post57, __disjvr_27^0'=__disjvr_27^post57, x_154^0'=x_154^post57, rcd_114^0'=rcd_114^post57, (-rcd_106^post57+rcd_106^0 == 0 /\ __disjvr_16^0-__disjvr_16^post57 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ __disjvr_10^0-__disjvr_10^post57 == 0 /\ i_31^0-i_31^post57 == 0 /\ -__disjvr_1^post57+__disjvr_1^0 == 0 /\ rcd_71^0-rcd_71^post57 == 0 /\ head_33^0-head_33^post57 == 0 /\ -__disjvr_13^post57+__disjvr_13^0 == 0 /\ -r_41^post57+r_41^0 == 0 /\ __disjvr_0^0-__disjvr_0^post57 == 0 /\ -rcd_114^post57+rcd_114^0 == 0 /\ t_23^0-t_23^post57 == 0 /\ len_159^0-len_159^post57 == 0 /\ __disjvr_5^0-__disjvr_5^post57 == 0 /\ __disjvr_3^0-__disjvr_3^post57 == 0 /\ rcd_193^0-rcd_193^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post57 == 0 /\ a_174^0-a_174^post57 == 0 /\ __disjvr_20^0-__disjvr_20^post57 == 0 /\ -__disjvr_24^0+__disjvr_24^post57 == 0 /\ -x_SLAM_f_25^post57+x_SLAM_f_25^0 == 0 /\ -i_130^post57+i_130^0 == 0 /\ -__disjvr_4^post57+__disjvr_4^0 == 0 /\ i_198^0-i_198^post57 == 0 /\ -len_221^post57+len_221^0 == 0 /\ tmp_35^0-tmp_35^post57 == 0 /\ -__disjvr_28^post57+__disjvr_28^0 == 0 /\ -temp_37^post57+temp_37^0 == 0 /\ __disjvr_7^0-__disjvr_7^post57 == 0 /\ -f_202^post57+f_202^0 == 0 /\ length_29^0-length_29^post57 == 0 /\ __disjvr_26^0-__disjvr_26^post57 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post57 == 0 /\ -__disjvr_9^post57+__disjvr_9^0 == 0 /\ -__disjvr_27^post57+__disjvr_27^0 == 0 /\ -__disjvr_25^post57+__disjvr_25^0 == 0 /\ -__disjvr_2^post57+__disjvr_2^0 == 0 /\ __disjvr_14^0-__disjvr_14^post57 == 0 /\ rcd_194^0-rcd_194^post57 == 0 /\ __disjvr_23^0-__disjvr_23^post57 == 0 /\ -a_279^post57+a_279^0 == 0 /\ -result_11^post57+result_11^0 == 0 /\ -__disjvr_18^post57+__disjvr_18^0 == 0 /\ a_309^0-a_309^post57 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0 /\ -head_SLAM_f_30^post57+head_SLAM_f_30^0 == 0 /\ -r_192^post57+r_192^0 == 0 /\ rcd_288^0-rcd_288^post57 == 0 /\ -x_154^post57+x_154^0 == 0 /\ -rcd_320^post57+rcd_320^0 == 0 /\ -a_222^post57+a_222^0 == 0 /\ -x_SLAM_f_20^post57+x_SLAM_f_20^0 == 0 /\ -r_149^post57+r_149^0 == 0 /\ temp0_32^0-temp0_32^post57 == 0 /\ x_27^0-x_27^post57 == 0 /\ -rcd_308^post57+rcd_308^0 == 0 /\ rcd_220^0-rcd_220^post57 == 0 /\ -rcd_185^post57+rcd_185^0 == 0 /\ rcd_199^0-rcd_199^post57 == 0 /\ rcd_284^0-rcd_284^post57 == 0 /\ -x_207^post57+x_207^0 == 0 /\ __disjvr_19^0-__disjvr_19^post57 == 0 /\ -y_21^post57+y_21^0 == 0 /\ __disjvr_29^0-__disjvr_29^post57 == 0 /\ temp_36^0-temp_36^post57 == 0 /\ -y_26^post57+y_26^0 == 0 /\ -rcd_45^post57+rcd_45^0 == 0 /\ a_253^0-a_253^post57 == 0 /\ __disjvr_21^0-__disjvr_21^post57 == 0 /\ tail_15^0-tail_15^post57 == 0 /\ -__disjvr_6^post57+__disjvr_6^0 == 0 /\ -head_16^post57+head_16^0 == 0 /\ __disjvr_8^0-__disjvr_8^post57 == 0 /\ -__disjvr_15^post57+__disjvr_15^0 == 0 /\ -__disjvr_12^post57+__disjvr_12^0 == 0 /\ __disjvr_22^0-__disjvr_22^post57 == 0 /\ -temp0_19^post57+temp0_19^0 == 0 /\ i_112^0-i_112^post57 == 0 /\ a_139^0-a_139^post57 == 0 /\ __disjvr_11^0-__disjvr_11^post57 == 0 /\ -__disjvr_30^post57+__disjvr_30^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post57+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_22^0-x_22^post57 == 0 /\ -nondet_12^post57+nondet_12^0 == 0), cost: 1 New rule: l53 -> l54 : 0 == 0, cost: 1 Applied preprocessing Original rule: l54 -> l55 : __disjvr_0^0'=__disjvr_0^post58, a_253^0'=a_253^post58, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post58, __disjvr_21^0'=__disjvr_21^post58, x_27^0'=x_27^post58, __disjvr_3^0'=__disjvr_3^post58, rcd_220^0'=rcd_220^post58, __disjvr_14^0'=__disjvr_14^post58, head_33^0'=head_33^post58, __disjvr_24^0'=__disjvr_24^post58, temp_36^0'=temp_36^post58, r_192^0'=r_192^post58, __disjvr_8^0'=__disjvr_8^post58, a_139^0'=a_139^post58, result_11^0'=result_11^post58, __disjvr_19^0'=__disjvr_19^post58, i_31^0'=i_31^post58, __disjvr_29^0'=__disjvr_29^post58, x_22^0'=x_22^post58, rcd_193^0'=rcd_193^post58, __disjvr_11^0'=__disjvr_11^post58, a_309^0'=a_309^post58, tail_15^0'=tail_15^post58, length_29^0'=length_29^post58, x_SLAM_f_25^0'=x_SLAM_f_25^post58, __disjvr_5^0'=__disjvr_5^post58, rcd_288^0'=rcd_288^post58, __disjvr_16^0'=__disjvr_16^post58, i_112^0'=i_112^post58, __disjvr_26^0'=__disjvr_26^post58, tmp_35^0'=tmp_35^post58, rcd_106^0'=rcd_106^post58, a_222^0'=a_222^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post58, __disjvr_20^0'=__disjvr_20^post58, len_221^0'=len_221^post58, __disjvr_30^0'=__disjvr_30^post58, rcd_199^0'=rcd_199^post58, __disjvr_13^0'=__disjvr_13^post58, head_16^0'=head_16^post58, __disjvr_23^0'=__disjvr_23^post58, temp0_32^0'=temp0_32^post58, r_149^0'=r_149^post58, y_26^0'=y_26^post58, __disjvr_7^0'=__disjvr_7^post58, rcd_320^0'=rcd_320^post58, rcd_71^0'=rcd_71^post58, __disjvr_18^0'=__disjvr_18^post58, i_198^0'=i_198^post58, __disjvr_28^0'=__disjvr_28^post58, x_207^0'=x_207^post58, rcd_185^0'=rcd_185^post58, __disjvr_10^0'=__disjvr_10^post58, a_279^0'=a_279^post58, t_23^0'=t_23^post58, __disjvr_22^0'=__disjvr_22^post58, x_SLAM_f_20^0'=x_SLAM_f_20^post58, __disjvr_4^0'=__disjvr_4^post58, rcd_284^0'=rcd_284^post58, __disjvr_15^0'=__disjvr_15^post58, head_SLAM_f_30^0'=head_SLAM_f_30^post58, __disjvr_25^0'=__disjvr_25^post58, temp_37^0'=temp_37^post58, r_41^0'=r_41^post58, __disjvr_9^0'=__disjvr_9^post58, a_174^0'=a_174^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post58, __disjvr_1^0'=__disjvr_1^post58, len_159^0'=len_159^post58, __disjvr_2^0'=__disjvr_2^post58, rcd_194^0'=rcd_194^post58, __disjvr_12^0'=__disjvr_12^post58, f_202^0'=f_202^post58, temp0_19^0'=temp0_19^post58, nondet_12^0'=nondet_12^post58, y_21^0'=y_21^post58, __disjvr_6^0'=__disjvr_6^post58, rcd_308^0'=rcd_308^post58, rcd_45^0'=rcd_45^post58, __disjvr_17^0'=__disjvr_17^post58, i_130^0'=i_130^post58, __disjvr_27^0'=__disjvr_27^post58, x_154^0'=x_154^post58, rcd_114^0'=rcd_114^post58, (0 == 0 /\ -__disjvr_6^post58+__disjvr_6^0 == 0 /\ -__disjvr_28^post58+__disjvr_28^0 == 0 /\ rcd_194^0-rcd_194^post58 == 0 /\ length_29^0-length_29^post58 == 0 /\ __disjvr_0^0-__disjvr_0^post58 == 0 /\ temp_36^0-temp_36^post58 == 0 /\ x_27^0-x_27^post58 == 0 /\ -__disjvr_1^post58+__disjvr_1^0 == 0 /\ -temp0_32^post58+temp0_32^0 == 0 /\ -temp0_19^post58+temp0_19^0 == 0 /\ __disjvr_24^0-__disjvr_24^post58 == 0 /\ a_309^0-a_309^post58 == 0 /\ rcd_193^0-rcd_193^post58 == 0 /\ -rcd_220^post58+rcd_45^0 <= 0 /\ -y_26^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_27^0+f_202^0 <= 0 /\ -f_202^post58+f_202^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_31^0-i_31^post58 == 0 /\ -t_23^post58+t_23^0 == 0 /\ -rcd_45^post58+rcd_45^0 == 0 /\ -head_16^post58+head_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post58 == 0 /\ x_SLAM_f_25^0-head_16^0 <= 0 /\ -__disjvr_2^post58+__disjvr_2^0 == 0 /\ a_174^0-a_174^post58 == 0 /\ -r_41^post58+r_41^0 == 0 /\ __disjvr_29^0-__disjvr_29^post58 == 0 /\ -__disjvr_16^post58+__disjvr_16^0 == 0 /\ -__disjvr_9^post58+__disjvr_9^0 == 0 /\ -1-a_222^post58+a_174^0 <= 0 /\ -len_159^post58+len_159^0 == 0 /\ -tmp_35^post58+tmp_35^0 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post58 == 0 /\ __disjvr_12^0-__disjvr_12^post58 == 0 /\ __disjvr_18^0-__disjvr_18^post58 == 0 /\ i_198^0-i_198^post58 == 0 /\ rcd_220^post58-rcd_45^0 <= 0 /\ y_26^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ x_27^0-f_202^0 <= 0 /\ -a_279^post58+a_279^0 == 0 /\ -rcd_114^post58+rcd_114^0 == 0 /\ head_33^0-head_33^post58 == 0 /\ -1+len_221^post58-len_159^0 <= 0 /\ tail_15^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 <= 0 /\ rcd_106^0-rcd_106^post58 == 0 /\ __disjvr_19^0-__disjvr_19^post58 == 0 /\ tail_15^0-tail_15^post58 == 0 /\ -__disjvr_11^post58+__disjvr_11^0 == 0 /\ -x_SLAM_f_25^0+head_16^0 <= 0 /\ -r_149^post58+r_149^0 == 0 /\ rcd_288^0-rcd_288^post58 == 0 /\ rcd_71^0-rcd_71^post58 == 0 /\ -x_207^post58+x_207^0 == 0 /\ -__disjvr_25^post58+__disjvr_25^0 == 0 /\ -__disjvr_10^post58+__disjvr_10^0 == 0 /\ x_22^0-x_22^post58 == 0 /\ __disjvr_21^0-__disjvr_21^post58 == 0 /\ __disjvr_13^0-__disjvr_13^post58 == 0 /\ -i_130^post58+i_130^0 == 0 /\ __disjvr_20^0-__disjvr_20^post58 == 0 /\ -y_21^post58+y_21^0 == 0 /\ __disjvr_7^0-__disjvr_7^post58 == 0 /\ -temp_37^post58+temp_37^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_320^post58+rcd_320^0 == 0 /\ -__disjvr_27^post58+__disjvr_27^0 == 0 /\ -r_192^post58+r_192^0 == 0 /\ -__disjvr_22^post58+__disjvr_22^0 == 0 /\ -tail_15^0+y_26^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post58 == 0 /\ a_139^0-a_139^post58 == 0 /\ __disjvr_3^0-__disjvr_3^post58 == 0 /\ rcd_199^0-rcd_199^post58 == 0 /\ __disjvr_23^0-__disjvr_23^post58 == 0 /\ result_11^0-result_11^post58 == 0 /\ __disjvr_14^0-__disjvr_14^post58 == 0 /\ -rcd_284^post58+rcd_284^0 == 0 /\ __disjvr_15^0-__disjvr_15^post58 == 0 /\ -rcd_308^post58+rcd_308^0 == 0 /\ 1+a_222^post58-a_174^0 <= 0 /\ __disjvr_26^0-__disjvr_26^post58 == 0 /\ -__disjvr_17^post58+__disjvr_17^0 == 0 /\ -x_SLAM_f_20^post58+x_SLAM_f_20^0 == 0 /\ -__disjvr_30^post58+__disjvr_30^0 == 0 /\ a_253^0-a_253^post58 == 0 /\ __disjvr_8^0-__disjvr_8^post58 == 0 /\ rcd_185^0-rcd_185^post58 == 0 /\ 1-len_221^post58+len_159^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post58 == 0 /\ -head_SLAM_f_30^post58+head_SLAM_f_30^0 == 0 /\ -nondet_12^post58+nondet_12^0 == 0 /\ -x_154^post58+x_154^0 == 0 /\ tail_15^0-y_26^0 <= 0 /\ i_112^0-i_112^post58 == 0 /\ y_26^0-y_26^post58 == 0 /\ __disjvr_5^0-__disjvr_5^post58 == 0), cost: 1 New rule: l54 -> l55 : rcd_220^0'=rcd_45^0, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, (-x_27^0+f_202^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_25^0-head_16^0 == 0 /\ -tail_15^0+y_26^0 == 0), cost: 1 Applied preprocessing Original rule: l55 -> l56 : __disjvr_0^0'=__disjvr_0^post59, a_253^0'=a_253^post59, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post59, __disjvr_21^0'=__disjvr_21^post59, x_27^0'=x_27^post59, __disjvr_3^0'=__disjvr_3^post59, rcd_220^0'=rcd_220^post59, __disjvr_14^0'=__disjvr_14^post59, head_33^0'=head_33^post59, __disjvr_24^0'=__disjvr_24^post59, temp_36^0'=temp_36^post59, r_192^0'=r_192^post59, __disjvr_8^0'=__disjvr_8^post59, a_139^0'=a_139^post59, result_11^0'=result_11^post59, __disjvr_19^0'=__disjvr_19^post59, i_31^0'=i_31^post59, __disjvr_29^0'=__disjvr_29^post59, x_22^0'=x_22^post59, rcd_193^0'=rcd_193^post59, __disjvr_11^0'=__disjvr_11^post59, a_309^0'=a_309^post59, tail_15^0'=tail_15^post59, length_29^0'=length_29^post59, x_SLAM_f_25^0'=x_SLAM_f_25^post59, __disjvr_5^0'=__disjvr_5^post59, rcd_288^0'=rcd_288^post59, __disjvr_16^0'=__disjvr_16^post59, i_112^0'=i_112^post59, __disjvr_26^0'=__disjvr_26^post59, tmp_35^0'=tmp_35^post59, rcd_106^0'=rcd_106^post59, a_222^0'=a_222^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post59, __disjvr_20^0'=__disjvr_20^post59, len_221^0'=len_221^post59, __disjvr_30^0'=__disjvr_30^post59, rcd_199^0'=rcd_199^post59, __disjvr_13^0'=__disjvr_13^post59, head_16^0'=head_16^post59, __disjvr_23^0'=__disjvr_23^post59, temp0_32^0'=temp0_32^post59, r_149^0'=r_149^post59, y_26^0'=y_26^post59, __disjvr_7^0'=__disjvr_7^post59, rcd_320^0'=rcd_320^post59, rcd_71^0'=rcd_71^post59, __disjvr_18^0'=__disjvr_18^post59, i_198^0'=i_198^post59, __disjvr_28^0'=__disjvr_28^post59, x_207^0'=x_207^post59, rcd_185^0'=rcd_185^post59, __disjvr_10^0'=__disjvr_10^post59, a_279^0'=a_279^post59, t_23^0'=t_23^post59, __disjvr_22^0'=__disjvr_22^post59, x_SLAM_f_20^0'=x_SLAM_f_20^post59, __disjvr_4^0'=__disjvr_4^post59, rcd_284^0'=rcd_284^post59, __disjvr_15^0'=__disjvr_15^post59, head_SLAM_f_30^0'=head_SLAM_f_30^post59, __disjvr_25^0'=__disjvr_25^post59, temp_37^0'=temp_37^post59, r_41^0'=r_41^post59, __disjvr_9^0'=__disjvr_9^post59, a_174^0'=a_174^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post59, __disjvr_1^0'=__disjvr_1^post59, len_159^0'=len_159^post59, __disjvr_2^0'=__disjvr_2^post59, rcd_194^0'=rcd_194^post59, __disjvr_12^0'=__disjvr_12^post59, f_202^0'=f_202^post59, temp0_19^0'=temp0_19^post59, nondet_12^0'=nondet_12^post59, y_21^0'=y_21^post59, __disjvr_6^0'=__disjvr_6^post59, rcd_308^0'=rcd_308^post59, rcd_45^0'=rcd_45^post59, __disjvr_17^0'=__disjvr_17^post59, i_130^0'=i_130^post59, __disjvr_27^0'=__disjvr_27^post59, x_154^0'=x_154^post59, rcd_114^0'=rcd_114^post59, (-__disjvr_30^post59+__disjvr_30^0 == 0 /\ -rcd_308^post59+rcd_308^0 == 0 /\ -tmp_35^post59+tmp_35^0 == 0 /\ i_112^0-i_112^post59 == 0 /\ r_192^0-r_192^post59 == 0 /\ -__disjvr_17^post59+__disjvr_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post59 == 0 /\ -rcd_284^post59+rcd_284^0 == 0 /\ -len_159^post59+len_159^0 == 0 /\ -head_16^post59+head_16^0 == 0 /\ __disjvr_3^0-__disjvr_3^post59 == 0 /\ length_29^0-length_29^post59 == 0 /\ -r_149^post59+r_149^0 == 0 /\ -temp0_32^post59+temp0_32^0 == 0 /\ -__disjvr_2^post59+__disjvr_2^0 == 0 /\ -x_SLAM_f_25^post59+x_SLAM_f_25^0 == 0 /\ -head_SLAM_f_30^post59+head_SLAM_f_30^0 == 0 /\ __disjvr_26^0-__disjvr_26^post59 == 0 /\ -__disjvr_16^post59+__disjvr_16^0 == 0 /\ -x_154^post59+x_154^0 == 0 /\ -a_174^post59+a_174^0 == 0 /\ -nondet_12^post59+nondet_12^0 == 0 /\ rcd_320^0-rcd_320^post59 == 0 /\ -temp0_19^post59+temp0_19^0 == 0 /\ __disjvr_12^0-__disjvr_12^post59 == 0 /\ rcd_288^0-rcd_288^post59 == 0 /\ __disjvr_24^0-__disjvr_24^post59 == 0 /\ x_207^0-x_207^post59 == 0 /\ -__disjvr_6^post59+__disjvr_6^0 == 0 /\ i_31^0-i_31^post59 == 0 /\ head_33^0-head_33^post59 == 0 /\ -y_26^post59+y_26^0 == 0 /\ -rcd_45^post59+rcd_45^0 == 0 /\ -r_41^post59+r_41^0 == 0 /\ -rcd_114^post59+rcd_114^0 == 0 /\ rcd_193^0-rcd_193^post59 == 0 /\ -t_23^post59+t_23^0 == 0 /\ -__disjvr_9^post59+__disjvr_9^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_194^post59+rcd_194^0 == 0 /\ -__disjvr_15^post59+__disjvr_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post59 == 0 /\ -__disjvr_7^post59+__disjvr_7^0 == 0 /\ __disjvr_21^0-__disjvr_21^post59 == 0 /\ __disjvr_13^0-__disjvr_13^post59 == 0 /\ a_253^0-a_253^post59 == 0 /\ -rcd_220^post59+rcd_220^0 == 0 /\ temp_37^0-temp_37^post59 == 0 /\ -__disjvr_27^post59+__disjvr_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post59 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ a_139^0-a_139^post59 == 0 /\ a_222^0-a_222^post59 == 0 /\ len_221^0-len_221^post59 == 0 /\ __disjvr_25^0-__disjvr_25^post59 == 0 /\ __disjvr_0^0-__disjvr_0^post59 == 0 /\ __disjvr_23^0-__disjvr_23^post59 == 0 /\ -__disjvr_4^post59+__disjvr_4^0 == 0 /\ -a_279^post59+a_279^0 == 0 /\ -rcd_106^post59+rcd_106^0 == 0 /\ __disjvr_14^0-__disjvr_14^post59 == 0 /\ rcd_185^0-rcd_185^post59 == 0 /\ -x_22^post59+x_22^0 == 0 /\ __disjvr_11^0-__disjvr_11^post59 == 0 /\ result_11^0-result_11^post59 == 0 /\ -i_130^post59+i_130^0 == 0 /\ -__disjvr_28^post59+__disjvr_28^0 == 0 /\ -__disjvr_22^post59+__disjvr_22^0 == 0 /\ rcd_199^0-rcd_199^post59 == 0 /\ __disjvr_5^0-__disjvr_5^post59 == 0 /\ i_198^0-i_198^post59 == 0 /\ temp_36^0-temp_36^post59 == 0 /\ -__disjvr_25^0+__disjvr_25^post59 == 0 /\ __disjvr_19^0-__disjvr_19^post59 == 0 /\ -x_SLAM_f_20^post59+x_SLAM_f_20^0 == 0 /\ rcd_71^0-rcd_71^post59 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post59 == 0 /\ __disjvr_29^0-__disjvr_29^post59 == 0 /\ -__disjvr_1^post59+__disjvr_1^0 == 0 /\ x_27^0-x_27^post59 == 0 /\ __disjvr_10^0-__disjvr_10^post59 == 0 /\ tail_15^0-tail_15^post59 == 0 /\ -y_21^post59+y_21^0 == 0 /\ -f_202^post59+f_202^0 == 0 /\ -a_309^post59+a_309^0 == 0), cost: 1 New rule: l55 -> l56 : 0 == 0, cost: 1 Applied preprocessing Original rule: l56 -> l57 : __disjvr_0^0'=__disjvr_0^post60, a_253^0'=a_253^post60, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post60, __disjvr_21^0'=__disjvr_21^post60, x_27^0'=x_27^post60, __disjvr_3^0'=__disjvr_3^post60, rcd_220^0'=rcd_220^post60, __disjvr_14^0'=__disjvr_14^post60, head_33^0'=head_33^post60, __disjvr_24^0'=__disjvr_24^post60, temp_36^0'=temp_36^post60, r_192^0'=r_192^post60, __disjvr_8^0'=__disjvr_8^post60, a_139^0'=a_139^post60, result_11^0'=result_11^post60, __disjvr_19^0'=__disjvr_19^post60, i_31^0'=i_31^post60, __disjvr_29^0'=__disjvr_29^post60, x_22^0'=x_22^post60, rcd_193^0'=rcd_193^post60, __disjvr_11^0'=__disjvr_11^post60, a_309^0'=a_309^post60, tail_15^0'=tail_15^post60, length_29^0'=length_29^post60, x_SLAM_f_25^0'=x_SLAM_f_25^post60, __disjvr_5^0'=__disjvr_5^post60, rcd_288^0'=rcd_288^post60, __disjvr_16^0'=__disjvr_16^post60, i_112^0'=i_112^post60, __disjvr_26^0'=__disjvr_26^post60, tmp_35^0'=tmp_35^post60, rcd_106^0'=rcd_106^post60, a_222^0'=a_222^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post60, __disjvr_20^0'=__disjvr_20^post60, len_221^0'=len_221^post60, __disjvr_30^0'=__disjvr_30^post60, rcd_199^0'=rcd_199^post60, __disjvr_13^0'=__disjvr_13^post60, head_16^0'=head_16^post60, __disjvr_23^0'=__disjvr_23^post60, temp0_32^0'=temp0_32^post60, r_149^0'=r_149^post60, y_26^0'=y_26^post60, __disjvr_7^0'=__disjvr_7^post60, rcd_320^0'=rcd_320^post60, rcd_71^0'=rcd_71^post60, __disjvr_18^0'=__disjvr_18^post60, i_198^0'=i_198^post60, __disjvr_28^0'=__disjvr_28^post60, x_207^0'=x_207^post60, rcd_185^0'=rcd_185^post60, __disjvr_10^0'=__disjvr_10^post60, a_279^0'=a_279^post60, t_23^0'=t_23^post60, __disjvr_22^0'=__disjvr_22^post60, x_SLAM_f_20^0'=x_SLAM_f_20^post60, __disjvr_4^0'=__disjvr_4^post60, rcd_284^0'=rcd_284^post60, __disjvr_15^0'=__disjvr_15^post60, head_SLAM_f_30^0'=head_SLAM_f_30^post60, __disjvr_25^0'=__disjvr_25^post60, temp_37^0'=temp_37^post60, r_41^0'=r_41^post60, __disjvr_9^0'=__disjvr_9^post60, a_174^0'=a_174^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post60, __disjvr_1^0'=__disjvr_1^post60, len_159^0'=len_159^post60, __disjvr_2^0'=__disjvr_2^post60, rcd_194^0'=rcd_194^post60, __disjvr_12^0'=__disjvr_12^post60, f_202^0'=f_202^post60, temp0_19^0'=temp0_19^post60, nondet_12^0'=nondet_12^post60, y_21^0'=y_21^post60, __disjvr_6^0'=__disjvr_6^post60, rcd_308^0'=rcd_308^post60, rcd_45^0'=rcd_45^post60, __disjvr_17^0'=__disjvr_17^post60, i_130^0'=i_130^post60, __disjvr_27^0'=__disjvr_27^post60, x_154^0'=x_154^post60, rcd_114^0'=rcd_114^post60, (-head_SLAM_f_30^post60+head_SLAM_f_30^0 == 0 /\ -a_222^post60+a_222^0 == 0 /\ tmp_35^0-tmp_35^post60 == 0 /\ __disjvr_21^0-__disjvr_21^post60 == 0 /\ i_198^0-i_198^post60 == 0 /\ -x_154^post60+x_154^0 == 0 /\ a_253^0-a_253^post60 == 0 /\ -x_SLAM_f_20^post60+x_SLAM_f_20^0 == 0 /\ r_192^0-r_192^post60 == 0 /\ tail_15^0-tail_15^post60 == 0 /\ __disjvr_26^0-__disjvr_26^post60 == 0 /\ -rcd_185^post60+rcd_185^0 == 0 /\ __disjvr_22^0-__disjvr_22^post60 == 0 /\ __disjvr_14^0-__disjvr_14^post60 == 0 /\ -__disjvr_7^post60+__disjvr_7^0 == 0 /\ __disjvr_23^0-__disjvr_23^post60 == 0 /\ -rcd_194^post60+rcd_194^0 == 0 /\ -a_174^post60+a_174^0 == 0 /\ a_139^0-a_139^post60 == 0 /\ -x_207^post60+x_207^0 == 0 /\ -y_21^post60+y_21^0 == 0 /\ r_149^0-r_149^post60 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post60 == 0 /\ -rcd_308^post60+rcd_308^0 == 0 /\ -rcd_284^post60+rcd_284^0 == 0 /\ -y_26^post60+y_26^0 == 0 /\ x_22^0-x_22^post60 == 0 /\ rcd_220^0-rcd_220^post60 == 0 /\ rcd_71^0-rcd_71^post60 == 0 /\ __disjvr_0^0-__disjvr_0^post60 == 0 /\ __disjvr_24^0-__disjvr_24^post60 == 0 /\ -__disjvr_29^post60+__disjvr_29^0 == 0 /\ -__disjvr_26^0+__disjvr_26^post60 == 0 /\ -head_16^post60+head_16^0 == 0 /\ __disjvr_5^0-__disjvr_5^post60 == 0 /\ __disjvr_3^0-__disjvr_3^post60 == 0 /\ -rcd_106^post60+rcd_106^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post60 == 0 /\ -__disjvr_17^post60+__disjvr_17^0 == 0 /\ rcd_199^0-rcd_199^post60 == 0 /\ -__disjvr_12^post60+__disjvr_12^0 == 0 /\ -nondet_12^post60+nondet_12^0 == 0 /\ -__disjvr_30^post60+__disjvr_30^0 == 0 /\ -__disjvr_6^post60+__disjvr_6^0 == 0 /\ temp_36^0-temp_36^post60 == 0 /\ __disjvr_20^0-__disjvr_20^post60 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_221^0-len_221^post60 == 0 /\ -a_309^post60+a_309^0 == 0 /\ -r_41^post60+r_41^0 == 0 /\ __disjvr_25^0-__disjvr_25^post60 == 0 /\ -temp0_19^post60+temp0_19^0 == 0 /\ length_29^0-length_29^post60 == 0 /\ -__disjvr_1^post60+__disjvr_1^0 == 0 /\ -x_27^post60+x_27^0 == 0 /\ i_112^0-i_112^post60 == 0 /\ rcd_320^0-rcd_320^post60 == 0 /\ __disjvr_8^0-__disjvr_8^post60 == 0 /\ __disjvr_11^0-__disjvr_11^post60 == 0 /\ -t_23^post60+t_23^0 == 0 /\ -rcd_45^post60+rcd_45^0 == 0 /\ __disjvr_10^0-__disjvr_10^post60 == 0 /\ i_31^0-i_31^post60 == 0 /\ -i_130^post60+i_130^0 == 0 /\ -__disjvr_28^post60+__disjvr_28^0 == 0 /\ head_33^0-head_33^post60 == 0 /\ -temp_37^post60+temp_37^0 == 0 /\ __disjvr_19^0-__disjvr_19^post60 == 0 /\ temp0_32^0-temp0_32^post60 == 0 /\ -f_202^post60+f_202^0 == 0 /\ -__disjvr_4^post60+__disjvr_4^0 == 0 /\ -__disjvr_9^post60+__disjvr_9^0 == 0 /\ rcd_288^0-rcd_288^post60 == 0 /\ -__disjvr_27^post60+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post60+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -__disjvr_2^post60+__disjvr_2^0 == 0 /\ -rcd_114^post60+rcd_114^0 == 0 /\ -len_159^post60+len_159^0 == 0 /\ __disjvr_15^0-__disjvr_15^post60 == 0 /\ rcd_193^0-rcd_193^post60 == 0 /\ __disjvr_13^0-__disjvr_13^post60 == 0 /\ -__disjvr_16^post60+__disjvr_16^0 == 0 /\ -a_279^post60+a_279^0 == 0 /\ -result_11^post60+result_11^0 == 0 /\ -__disjvr_18^post60+__disjvr_18^0 == 0), cost: 1 New rule: l56 -> l57 : 0 == 0, cost: 1 Applied preprocessing Original rule: l57 -> l52 : __disjvr_0^0'=__disjvr_0^post61, a_253^0'=a_253^post61, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post61, __disjvr_21^0'=__disjvr_21^post61, x_27^0'=x_27^post61, __disjvr_3^0'=__disjvr_3^post61, rcd_220^0'=rcd_220^post61, __disjvr_14^0'=__disjvr_14^post61, head_33^0'=head_33^post61, __disjvr_24^0'=__disjvr_24^post61, temp_36^0'=temp_36^post61, r_192^0'=r_192^post61, __disjvr_8^0'=__disjvr_8^post61, a_139^0'=a_139^post61, result_11^0'=result_11^post61, __disjvr_19^0'=__disjvr_19^post61, i_31^0'=i_31^post61, __disjvr_29^0'=__disjvr_29^post61, x_22^0'=x_22^post61, rcd_193^0'=rcd_193^post61, __disjvr_11^0'=__disjvr_11^post61, a_309^0'=a_309^post61, tail_15^0'=tail_15^post61, length_29^0'=length_29^post61, x_SLAM_f_25^0'=x_SLAM_f_25^post61, __disjvr_5^0'=__disjvr_5^post61, rcd_288^0'=rcd_288^post61, __disjvr_16^0'=__disjvr_16^post61, i_112^0'=i_112^post61, __disjvr_26^0'=__disjvr_26^post61, tmp_35^0'=tmp_35^post61, rcd_106^0'=rcd_106^post61, a_222^0'=a_222^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post61, __disjvr_20^0'=__disjvr_20^post61, len_221^0'=len_221^post61, __disjvr_30^0'=__disjvr_30^post61, rcd_199^0'=rcd_199^post61, __disjvr_13^0'=__disjvr_13^post61, head_16^0'=head_16^post61, __disjvr_23^0'=__disjvr_23^post61, temp0_32^0'=temp0_32^post61, r_149^0'=r_149^post61, y_26^0'=y_26^post61, __disjvr_7^0'=__disjvr_7^post61, rcd_320^0'=rcd_320^post61, rcd_71^0'=rcd_71^post61, __disjvr_18^0'=__disjvr_18^post61, i_198^0'=i_198^post61, __disjvr_28^0'=__disjvr_28^post61, x_207^0'=x_207^post61, rcd_185^0'=rcd_185^post61, __disjvr_10^0'=__disjvr_10^post61, a_279^0'=a_279^post61, t_23^0'=t_23^post61, __disjvr_22^0'=__disjvr_22^post61, x_SLAM_f_20^0'=x_SLAM_f_20^post61, __disjvr_4^0'=__disjvr_4^post61, rcd_284^0'=rcd_284^post61, __disjvr_15^0'=__disjvr_15^post61, head_SLAM_f_30^0'=head_SLAM_f_30^post61, __disjvr_25^0'=__disjvr_25^post61, temp_37^0'=temp_37^post61, r_41^0'=r_41^post61, __disjvr_9^0'=__disjvr_9^post61, a_174^0'=a_174^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post61, __disjvr_1^0'=__disjvr_1^post61, len_159^0'=len_159^post61, __disjvr_2^0'=__disjvr_2^post61, rcd_194^0'=rcd_194^post61, __disjvr_12^0'=__disjvr_12^post61, f_202^0'=f_202^post61, temp0_19^0'=temp0_19^post61, nondet_12^0'=nondet_12^post61, y_21^0'=y_21^post61, __disjvr_6^0'=__disjvr_6^post61, rcd_308^0'=rcd_308^post61, rcd_45^0'=rcd_45^post61, __disjvr_17^0'=__disjvr_17^post61, i_130^0'=i_130^post61, __disjvr_27^0'=__disjvr_27^post61, x_154^0'=x_154^post61, rcd_114^0'=rcd_114^post61, (0 == 0 /\ -__disjvr_10^post61+__disjvr_10^0 == 0 /\ -x_207^post61+x_207^0 == 0 /\ rcd_320^0-rcd_320^post61 == 0 /\ result_11^0-result_11^post61 == 0 /\ __disjvr_23^0-__disjvr_23^post61 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post61+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ -rcd_220^0+rcd_45^post61 <= 0 /\ -y_26^post61+y_26^0 == 0 /\ __disjvr_22^0-__disjvr_22^post61 == 0 /\ a_222^0-a_174^post61 <= 0 /\ __disjvr_18^0-__disjvr_18^post61 == 0 /\ -i_130^post61+i_130^0 == 0 /\ i_198^0-i_198^post61 == 0 /\ -len_221^post61+len_221^0 == 0 /\ a_253^0-a_253^post61 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post61 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post61+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_33^0-head_33^post61 == 0 /\ __disjvr_8^0-__disjvr_8^post61 == 0 /\ rcd_106^0-rcd_106^post61 == 0 /\ __disjvr_4^0-__disjvr_4^post61 == 0 /\ rcd_288^0-rcd_288^post61 == 0 /\ -__disjvr_27^post61+__disjvr_27^0 == 0 /\ -__disjvr_5^post61+__disjvr_5^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -__disjvr_12^post61+__disjvr_12^0 == 0 /\ -temp_37^post61+temp_37^0 == 0 /\ -__disjvr_30^post61+__disjvr_30^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_14^0 <= 0 /\ -y_21^post61+y_21^0 == 0 /\ f_202^0-f_202^post61 == 0 /\ -rcd_308^post61+rcd_308^0 == 0 /\ __disjvr_0^0-__disjvr_0^post61 == 0 /\ x_22^0-x_22^post61 == 0 /\ -x_SLAM_f_20^post61+x_SLAM_f_20^0 == 0 /\ rcd_220^0-rcd_45^post61 <= 0 /\ __disjvr_13^0-__disjvr_13^post61 == 0 /\ -a_222^post61+a_222^0 == 0 /\ -__disjvr_17^post61+__disjvr_17^0 == 0 /\ x_27^0-x_27^post61 == 0 /\ -a_222^0+a_174^post61 <= 0 /\ r_149^0-r_149^post61 == 0 /\ a_309^0-a_309^post61 == 0 /\ tmp_35^0-tmp_35^post61 == 0 /\ __disjvr_21^0-__disjvr_21^post61 == 0 /\ -head_SLAM_f_30^post61+head_SLAM_f_30^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post61 == 0 /\ -x_154^post61+x_154^0 == 0 /\ rcd_199^0-rcd_199^post61 == 0 /\ -temp0_19^post61+temp0_19^0 == 0 /\ -__disjvr_28^post61+__disjvr_28^0 == 0 /\ -__disjvr_6^post61+__disjvr_6^0 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ __disjvr_15^0-__disjvr_15^post61 == 0 /\ -__disjvr_14^post61+__disjvr_14^0 == 0 /\ __disjvr_26^0-__disjvr_26^post61 == 0 /\ -rcd_71^post61+rcd_71^0 == 0 /\ -temp0_32^post61+temp0_32^0 == 0 /\ -__disjvr_29^post61+__disjvr_29^0 == 0 /\ -t_23^post61+t_23^0 == 0 /\ __disjvr_19^0-__disjvr_19^post61 == 0 /\ -__disjvr_1^post61+__disjvr_1^0 == 0 /\ -rcd_284^post61+rcd_284^0 == 0 /\ tail_15^0-tail_15^post61 == 0 /\ r_192^0-r_192^post61 == 0 /\ i_112^0-i_112^post61 == 0 /\ -__disjvr_2^post61+__disjvr_2^0 == 0 /\ length_29^0-length_29^post61 == 0 /\ len_221^0-len_159^post61 <= 0 /\ rcd_220^0-rcd_220^post61 == 0 /\ -r_41^post61+r_41^0 == 0 /\ -__disjvr_9^post61+__disjvr_9^0 == 0 /\ -__disjvr_16^post61+__disjvr_16^0 == 0 /\ temp_36^0-temp_36^post61 == 0 /\ __disjvr_20^0-__disjvr_20^post61 == 0 /\ __disjvr_24^0-__disjvr_24^post61 == 0 /\ -rcd_185^post61+rcd_185^0 == 0 /\ rcd_193^0-rcd_193^post61 == 0 /\ -a_279^post61+a_279^0 == 0 /\ __disjvr_7^0-__disjvr_7^post61 == 0 /\ head_16^0-head_16^post61 == 0 /\ __disjvr_25^0-__disjvr_25^post61 == 0 /\ i_31^0-i_31^post61 == 0 /\ -__disjvr_11^post61+__disjvr_11^0 == 0 /\ -rcd_114^post61+rcd_114^0 == 0 /\ a_139^0-a_139^post61 == 0 /\ __disjvr_3^0-__disjvr_3^post61 == 0 /\ -rcd_194^post61+rcd_194^0 == 0 /\ -len_221^0+len_159^post61 <= 0), cost: 1 New rule: l57 -> l52 : a_174^0'=a_222^0, len_159^0'=len_221^0, rcd_45^0'=rcd_220^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1 Applied preprocessing Original rule: l52 -> l1 : __disjvr_0^0'=__disjvr_0^post62, a_253^0'=a_253^post62, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post62, __disjvr_21^0'=__disjvr_21^post62, x_27^0'=x_27^post62, __disjvr_3^0'=__disjvr_3^post62, rcd_220^0'=rcd_220^post62, __disjvr_14^0'=__disjvr_14^post62, head_33^0'=head_33^post62, __disjvr_24^0'=__disjvr_24^post62, temp_36^0'=temp_36^post62, r_192^0'=r_192^post62, __disjvr_8^0'=__disjvr_8^post62, a_139^0'=a_139^post62, result_11^0'=result_11^post62, __disjvr_19^0'=__disjvr_19^post62, i_31^0'=i_31^post62, __disjvr_29^0'=__disjvr_29^post62, x_22^0'=x_22^post62, rcd_193^0'=rcd_193^post62, __disjvr_11^0'=__disjvr_11^post62, a_309^0'=a_309^post62, tail_15^0'=tail_15^post62, length_29^0'=length_29^post62, x_SLAM_f_25^0'=x_SLAM_f_25^post62, __disjvr_5^0'=__disjvr_5^post62, rcd_288^0'=rcd_288^post62, __disjvr_16^0'=__disjvr_16^post62, i_112^0'=i_112^post62, __disjvr_26^0'=__disjvr_26^post62, tmp_35^0'=tmp_35^post62, rcd_106^0'=rcd_106^post62, a_222^0'=a_222^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post62, __disjvr_20^0'=__disjvr_20^post62, len_221^0'=len_221^post62, __disjvr_30^0'=__disjvr_30^post62, rcd_199^0'=rcd_199^post62, __disjvr_13^0'=__disjvr_13^post62, head_16^0'=head_16^post62, __disjvr_23^0'=__disjvr_23^post62, temp0_32^0'=temp0_32^post62, r_149^0'=r_149^post62, y_26^0'=y_26^post62, __disjvr_7^0'=__disjvr_7^post62, rcd_320^0'=rcd_320^post62, rcd_71^0'=rcd_71^post62, __disjvr_18^0'=__disjvr_18^post62, i_198^0'=i_198^post62, __disjvr_28^0'=__disjvr_28^post62, x_207^0'=x_207^post62, rcd_185^0'=rcd_185^post62, __disjvr_10^0'=__disjvr_10^post62, a_279^0'=a_279^post62, t_23^0'=t_23^post62, __disjvr_22^0'=__disjvr_22^post62, x_SLAM_f_20^0'=x_SLAM_f_20^post62, __disjvr_4^0'=__disjvr_4^post62, rcd_284^0'=rcd_284^post62, __disjvr_15^0'=__disjvr_15^post62, head_SLAM_f_30^0'=head_SLAM_f_30^post62, __disjvr_25^0'=__disjvr_25^post62, temp_37^0'=temp_37^post62, r_41^0'=r_41^post62, __disjvr_9^0'=__disjvr_9^post62, a_174^0'=a_174^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post62, __disjvr_1^0'=__disjvr_1^post62, len_159^0'=len_159^post62, __disjvr_2^0'=__disjvr_2^post62, rcd_194^0'=rcd_194^post62, __disjvr_12^0'=__disjvr_12^post62, f_202^0'=f_202^post62, temp0_19^0'=temp0_19^post62, nondet_12^0'=nondet_12^post62, y_21^0'=y_21^post62, __disjvr_6^0'=__disjvr_6^post62, rcd_308^0'=rcd_308^post62, rcd_45^0'=rcd_45^post62, __disjvr_17^0'=__disjvr_17^post62, i_130^0'=i_130^post62, __disjvr_27^0'=__disjvr_27^post62, x_154^0'=x_154^post62, rcd_114^0'=rcd_114^post62, (i_31^0-i_31^post62 == 0 /\ __disjvr_24^0-__disjvr_24^post62 == 0 /\ x_207^0-x_207^post62 == 0 /\ -rcd_106^post62+rcd_106^0 == 0 /\ head_33^0-head_33^post62 == 0 /\ -__disjvr_25^post62+__disjvr_25^0 == 0 /\ -__disjvr_27^post62+__disjvr_27^0 == 0 /\ -__disjvr_12^post62+__disjvr_12^0 == 0 /\ -t_23^post62+t_23^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post62+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0 == 0 /\ rcd_193^0-rcd_193^post62 == 0 /\ __disjvr_5^0-__disjvr_5^post62 == 0 /\ -__disjvr_4^post62+__disjvr_4^0 == 0 /\ -a_279^post62+a_279^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post62 == 0 /\ __disjvr_18^0-__disjvr_18^post62 == 0 /\ -len_221^post62+len_221^0 == 0 /\ tail_15^0-tail_15^post62 == 0 /\ a_174^0-a_174^post62 == 0 /\ __disjvr_13^0-__disjvr_13^post62 == 0 /\ -__disjvr_1^post62+__disjvr_1^0 == 0 /\ -rcd_71^post62+rcd_71^0 == 0 /\ tmp_35^0-tmp_35^post62 == 0 /\ length_29^0-length_29^post62 == 0 /\ -i_130^post62+i_130^0 == 0 /\ -__disjvr_28^post62+__disjvr_28^0 == 0 /\ __disjvr_16^0-__disjvr_16^post62 == 0 /\ -__disjvr_22^post62+__disjvr_22^0 == 0 /\ rcd_220^0-rcd_220^post62 == 0 /\ __disjvr_23^0-__disjvr_23^post62 == 0 /\ -temp_37^post62+temp_37^0 == 0 /\ -y_21^post62+y_21^0 == 0 /\ -result_11^post62+result_11^0 == 0 /\ -f_202^post62+f_202^0 == 0 /\ __disjvr_14^0-__disjvr_14^post62 == 0 /\ -a_309^post62+a_309^0 == 0 /\ -rcd_308^post62+rcd_308^0 == 0 /\ rcd_288^0-rcd_288^post62 == 0 /\ -x_SLAM_f_20^post62+x_SLAM_f_20^0 == 0 /\ -rcd_185^post62+rcd_185^0 == 0 /\ -__disjvr_30^post62+__disjvr_30^0 == 0 /\ __disjvr_11^0-__disjvr_11^post62 == 0 /\ -r_192^post62+r_192^0 == 0 /\ -__disjvr_9^post62+__disjvr_9^0 == 0 /\ -__disjvr_3^post62+__disjvr_3^0 == 0 /\ -rcd_284^post62+rcd_284^0 == 0 /\ -r_149^post62+r_149^0 == 0 /\ rcd_199^0-rcd_199^post62 == 0 /\ -__disjvr_2^post62+__disjvr_2^0 == 0 /\ -temp0_32^post62+temp0_32^0 == 0 /\ x_27^0-x_27^post62 == 0 /\ __disjvr_29^0-__disjvr_29^post62 == 0 /\ -i_198^post62+i_198^0 == 0 /\ -x_SLAM_f_25^post62+x_SLAM_f_25^0 == 0 /\ -head_SLAM_f_30^post62+head_SLAM_f_30^0 == 0 /\ __disjvr_19^0-__disjvr_19^post62 == 0 /\ temp_36^0-temp_36^post62 == 0 /\ -nondet_12^post62+nondet_12^0 == 0 /\ -x_154^post62+x_154^0 == 0 /\ -len_159^post62+len_159^0 == 0 /\ a_253^0-a_253^post62 == 0 /\ __disjvr_21^0-__disjvr_21^post62 == 0 /\ __disjvr_20^0-__disjvr_20^post62 == 0 /\ -__disjvr_6^post62+__disjvr_6^0 == 0 /\ -temp0_19^post62+temp0_19^0 == 0 /\ -y_26^post62+y_26^0 == 0 /\ __disjvr_17^0-__disjvr_17^post62 == 0 /\ -r_41^post62+r_41^0 == 0 /\ -rcd_45^post62+rcd_45^0 == 0 /\ __disjvr_8^0-__disjvr_8^post62 == 0 /\ -__disjvr_10^post62+__disjvr_10^0 == 0 /\ -rcd_114^post62+rcd_114^0 == 0 /\ a_139^0-a_139^post62 == 0 /\ a_222^0-a_222^post62 == 0 /\ __disjvr_0^0-__disjvr_0^post62 == 0 /\ -rcd_194^post62+rcd_194^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post62+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_15^post62+__disjvr_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post62 == 0 /\ -i_112^post62+i_112^0 == 0 /\ head_16^0-head_16^post62 == 0 /\ x_22^0-x_22^post62 == 0 /\ -__disjvr_7^post62+__disjvr_7^0 == 0 /\ rcd_320^0-rcd_320^post62 == 0), cost: 1 New rule: l52 -> l1 : TRUE, cost: 1 Applied preprocessing Original rule: l66 -> l49 : __disjvr_0^0'=__disjvr_0^post72, a_253^0'=a_253^post72, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post72, __disjvr_21^0'=__disjvr_21^post72, x_27^0'=x_27^post72, __disjvr_3^0'=__disjvr_3^post72, rcd_220^0'=rcd_220^post72, __disjvr_14^0'=__disjvr_14^post72, head_33^0'=head_33^post72, __disjvr_24^0'=__disjvr_24^post72, temp_36^0'=temp_36^post72, r_192^0'=r_192^post72, __disjvr_8^0'=__disjvr_8^post72, a_139^0'=a_139^post72, result_11^0'=result_11^post72, __disjvr_19^0'=__disjvr_19^post72, i_31^0'=i_31^post72, __disjvr_29^0'=__disjvr_29^post72, x_22^0'=x_22^post72, rcd_193^0'=rcd_193^post72, __disjvr_11^0'=__disjvr_11^post72, a_309^0'=a_309^post72, tail_15^0'=tail_15^post72, length_29^0'=length_29^post72, x_SLAM_f_25^0'=x_SLAM_f_25^post72, __disjvr_5^0'=__disjvr_5^post72, rcd_288^0'=rcd_288^post72, __disjvr_16^0'=__disjvr_16^post72, i_112^0'=i_112^post72, __disjvr_26^0'=__disjvr_26^post72, tmp_35^0'=tmp_35^post72, rcd_106^0'=rcd_106^post72, a_222^0'=a_222^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post72, __disjvr_20^0'=__disjvr_20^post72, len_221^0'=len_221^post72, __disjvr_30^0'=__disjvr_30^post72, rcd_199^0'=rcd_199^post72, __disjvr_13^0'=__disjvr_13^post72, head_16^0'=head_16^post72, __disjvr_23^0'=__disjvr_23^post72, temp0_32^0'=temp0_32^post72, r_149^0'=r_149^post72, y_26^0'=y_26^post72, __disjvr_7^0'=__disjvr_7^post72, rcd_320^0'=rcd_320^post72, rcd_71^0'=rcd_71^post72, __disjvr_18^0'=__disjvr_18^post72, i_198^0'=i_198^post72, __disjvr_28^0'=__disjvr_28^post72, x_207^0'=x_207^post72, rcd_185^0'=rcd_185^post72, __disjvr_10^0'=__disjvr_10^post72, a_279^0'=a_279^post72, t_23^0'=t_23^post72, __disjvr_22^0'=__disjvr_22^post72, x_SLAM_f_20^0'=x_SLAM_f_20^post72, __disjvr_4^0'=__disjvr_4^post72, rcd_284^0'=rcd_284^post72, __disjvr_15^0'=__disjvr_15^post72, head_SLAM_f_30^0'=head_SLAM_f_30^post72, __disjvr_25^0'=__disjvr_25^post72, temp_37^0'=temp_37^post72, r_41^0'=r_41^post72, __disjvr_9^0'=__disjvr_9^post72, a_174^0'=a_174^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post72, __disjvr_1^0'=__disjvr_1^post72, len_159^0'=len_159^post72, __disjvr_2^0'=__disjvr_2^post72, rcd_194^0'=rcd_194^post72, __disjvr_12^0'=__disjvr_12^post72, f_202^0'=f_202^post72, temp0_19^0'=temp0_19^post72, nondet_12^0'=nondet_12^post72, y_21^0'=y_21^post72, __disjvr_6^0'=__disjvr_6^post72, rcd_308^0'=rcd_308^post72, rcd_45^0'=rcd_45^post72, __disjvr_17^0'=__disjvr_17^post72, i_130^0'=i_130^post72, __disjvr_27^0'=__disjvr_27^post72, x_154^0'=x_154^post72, rcd_114^0'=rcd_114^post72, (-__disjvr_2^post72+__disjvr_2^0 == 0 /\ -__disjvr_22^post72+__disjvr_22^0 == 0 /\ -__disjvr_20^post72+__disjvr_20^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post72+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ len_221^0-len_221^post72 == 0 /\ -rcd_185^post72+rcd_185^0 == 0 /\ a_253^0-a_253^post72 == 0 /\ -y_21^post72+y_21^0 == 0 /\ __disjvr_18^0-__disjvr_18^post72 == 0 /\ -i_198^post72+i_198^0 == 0 /\ -head_SLAM_f_30^post72+head_SLAM_f_30^0 == 0 /\ -__disjvr_5^post72+__disjvr_5^0 == 0 /\ __disjvr_28^0-__disjvr_28^post72 == 0 /\ -__disjvr_7^post72+__disjvr_7^0 == 0 /\ r_149^0-r_149^post72 == 0 /\ __disjvr_11^0-__disjvr_11^post72 == 0 /\ rcd_106^0-rcd_106^post72 == 0 /\ __disjvr_8^0-__disjvr_8^post72 == 0 /\ -i_130^post72+i_130^0 == 0 /\ __disjvr_14^0-__disjvr_14^post72 == 0 /\ __disjvr_16^0-__disjvr_16^post72 == 0 /\ a_222^0-a_222^post72 == 0 /\ -__disjvr_10^post72+__disjvr_10^0 == 0 /\ -rcd_308^post72+rcd_308^0 == 0 /\ __disjvr_23^0-__disjvr_23^post72 == 0 /\ a_309^0-a_309^post72 == 0 /\ x_SLAM_f_25^0-x_SLAM_f_25^post72 == 0 /\ -rcd_194^post72+rcd_194^0 == 0 /\ -__disjvr_12^post72+__disjvr_12^0 == 0 /\ temp_36^0-temp_36^post72 == 0 /\ x_22^0-x_22^post72 == 0 /\ x_27^0-x_27^post72 == 0 /\ -i_112^post72+i_112^0 == 0 /\ __disjvr_0^0-__disjvr_0^post72 == 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ -x_154^post72+x_154^0 == 0 /\ -rcd_320^post72+rcd_320^0 == 0 /\ -temp0_19^post72+temp0_19^0 == 0 /\ -y_26^post72+y_26^0 == 0 /\ -__disjvr_6^post72+__disjvr_6^0 == 0 /\ -__disjvr_30^post72+__disjvr_30^0 == 0 /\ rcd_199^0-rcd_199^post72 == 0 /\ f_202^0-f_202^post72 == 0 /\ -__disjvr_17^post72+__disjvr_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-result_dot_nondet_sdv_special_RETURN_VALUE_14^post72 == 0 /\ __disjvr_21^0-__disjvr_21^post72 == 0 /\ -rcd_284^post72+rcd_284^0 == 0 /\ -__disjvr_1^post72+__disjvr_1^0 == 0 /\ r_192^0-r_192^post72 == 0 /\ head_16^0-head_16^post72 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post72 == 0 /\ -rcd_114^post72+rcd_114^0 == 0 /\ r_41^0-r_41^post72 == 0 /\ length_29^0-length_29^post72 == 0 /\ __disjvr_26^0-__disjvr_26^post72 == 0 /\ a_139^0-a_139^post72 == 0 /\ -__disjvr_19^post72+__disjvr_19^0 == 0 /\ -rcd_45^post72+rcd_45^0 == 0 /\ -__disjvr_29^post72+__disjvr_29^0 == 0 /\ x_SLAM_f_20^0-x_SLAM_f_20^post72 == 0 /\ -t_23^post72+t_23^0 == 0 /\ -__disjvr_4^post72+__disjvr_4^0 == 0 /\ head_33^0-head_33^post72 == 0 /\ -temp0_32^post72+temp0_32^0 == 0 /\ rcd_71^0-rcd_71^post72 == 0 /\ -tail_15^post72+tail_15^0 == 0 /\ rcd_288^0-rcd_288^post72 == 0 /\ rcd_193^0-rcd_193^post72 == 0 /\ -a_174^post72+a_174^0 == 0 /\ rcd_220^0-rcd_220^post72 == 0 /\ __disjvr_24^0-__disjvr_24^post72 == 0 /\ -temp_37^post72+temp_37^0 == 0 /\ x_207^0-x_207^post72 == 0 /\ result_11^0-result_11^post72 == 0 /\ -__disjvr_9^post72+__disjvr_9^0 == 0 /\ __disjvr_3^0-__disjvr_3^post72 == 0 /\ i_31^0-i_31^post72 == 0 /\ __disjvr_15^0-__disjvr_15^post72 == 0 /\ -a_279^post72+a_279^0 == 0 /\ -__disjvr_27^post72+__disjvr_27^0 == 0 /\ tmp_35^0-tmp_35^post72 == 0 /\ -__disjvr_25^post72+__disjvr_25^0 == 0 /\ __disjvr_13^0-__disjvr_13^post72 == 0 /\ -len_159^post72+len_159^0 == 0), cost: 1 New rule: l66 -> l49 : TRUE, cost: 1 Simplified rules Start location: l66 96: l1 -> l50 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, x_27^0'=x_27^post53, x_22^0'=head_16^0, x_SLAM_f_25^0'=x_SLAM_f_25^post53, y_26^0'=y_26^post53, x_SLAM_f_20^0'=head_16^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, y_21^0'=tail_15^0, (-x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1 99: l1 -> l53 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1 73: l6 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_29^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post18, i_31^0'=2, tail_15^0'=head_SLAM_f_30^post18, tmp_35^0'=temp_36^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^0, rcd_71^0'=rcd_71^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_30^post18, (-1+i_31^0 == 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 1 74: l20 -> l21 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, x_27^0'=head_33^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, rcd_194^0'=rcd_45^0, (i_31^0 >= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 1 77: l20 -> l23 : head_33^0'=temp_36^0, temp_36^0'=temp_36^post22, i_31^0'=1+i_31^0, i_112^0'=i_31^0, tmp_35^0'=temp_36^0, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (i_31^0 >= 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 1 75: l21 -> l22 : 0 == 0, cost: 1 76: l22 -> l1 : (result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_31^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_198^0 <= 0), cost: 1 78: l23 -> l20 : TRUE, cost: 1 79: l24 -> l6 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_29^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post25, i_31^0'=1+i_31^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, tmp_35^0'=temp_36^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^0, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, (i_31^0 == 0 /\ -1+length_29^0 >= 0), cost: 1 80: l25 -> l27 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, a_279^0 >= 0, cost: 1 81: l27 -> l28 : 0 == 0, cost: 1 82: l28 -> l29 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-head_16^0+x_SLAM_f_20^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ tail_15^0-y_21^0 == 0), cost: 1 83: l29 -> l30 : 0 == 0, cost: 1 84: l30 -> l31 : 0 == 0, cost: 1 85: l31 -> l32 : 0 == 0, cost: 1 86: l32 -> l26 : a_279^0'=a_309^0, rcd_45^0'=rcd_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1 87: l26 -> l25 : TRUE, cost: 1 88: l42 -> l43 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, tail_15^0'=tail_15^post45, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, len_159^0 >= 0, cost: 1 89: l43 -> l44 : 0 == 0, cost: 1 90: l44 -> l45 : a_253^0'=a_279^0, t_23^0'=x_22^0, (-head_16^0+x_SLAM_f_20^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ tail_15^0-y_21^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -rcd_284^0+rcd_45^0 == 0), cost: 1 91: l45 -> l46 : 0 == 0, cost: 1 92: l46 -> l47 : 0 == 0, cost: 1 93: l47 -> l48 : 0 == 0, cost: 1 94: l48 -> l25 : len_159^0'=1+a_253^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1 95: l49 -> l24 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_37^0, i_31^0'=0, tail_15^0'=temp_37^0, length_29^0'=nondet_12^10, head_SLAM_f_30^0'=temp_37^0, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_37^0, nondet_12^0'=nondet_12^post52, 0 == 0, cost: 1 97: l50 -> l51 : 0 == 0, cost: 1 98: l51 -> l42 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1 100: l53 -> l54 : 0 == 0, cost: 1 101: l54 -> l55 : rcd_220^0'=rcd_45^0, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, (-x_27^0+f_202^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_25^0-head_16^0 == 0 /\ -tail_15^0+y_26^0 == 0), cost: 1 102: l55 -> l56 : 0 == 0, cost: 1 103: l56 -> l57 : 0 == 0, cost: 1 104: l57 -> l52 : a_174^0'=a_222^0, len_159^0'=len_221^0, rcd_45^0'=rcd_220^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1 105: l52 -> l1 : TRUE, cost: 1 106: l66 -> l49 : TRUE, cost: 1 Eliminating location l49 by chaining: Applied chaining First rule: l66 -> l49 : TRUE, cost: 1 Second rule: l49 -> l24 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_37^0, i_31^0'=0, tail_15^0'=temp_37^0, length_29^0'=nondet_12^10, head_SLAM_f_30^0'=temp_37^0, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_37^0, nondet_12^0'=nondet_12^post52, 0 == 0, cost: 1 New rule: l66 -> l24 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_37^0, i_31^0'=0, tail_15^0'=temp_37^0, length_29^0'=nondet_12^10, head_SLAM_f_30^0'=temp_37^0, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_37^0, nondet_12^0'=nondet_12^post52, 0 == 0, cost: 2 Applied deletion Removed the following rules: 95 106 Eliminating location l24 by chaining: Applied chaining First rule: l66 -> l24 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_37^0, i_31^0'=0, tail_15^0'=temp_37^0, length_29^0'=nondet_12^10, head_SLAM_f_30^0'=temp_37^0, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_37^0, nondet_12^0'=nondet_12^post52, 0 == 0, cost: 2 Second rule: l24 -> l6 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_29^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post25, i_31^0'=1+i_31^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, tmp_35^0'=temp_36^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^0, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, (i_31^0 == 0 /\ -1+length_29^0 >= 0), cost: 1 New rule: l66 -> l6 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^0, temp_36^0'=temp_36^post25, i_31^0'=1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^0, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, nondet_12^0'=nondet_12^post52, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3 Applied simplification Original rule: l66 -> l6 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^0, temp_36^0'=temp_36^post25, i_31^0'=1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^0, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, nondet_12^0'=nondet_12^post52, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3 New rule: l66 -> l6 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^0, temp_36^0'=temp_36^post25, i_31^0'=1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^0, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, nondet_12^0'=nondet_12^post52, -1+nondet_12^10 >= 0, cost: 3 Applied deletion Removed the following rules: 79 107 Eliminating location l6 by chaining: Applied chaining First rule: l66 -> l6 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^0, temp_36^0'=temp_36^post25, i_31^0'=1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^0, head_SLAM_f_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post25, nondet_12^0'=nondet_12^post52, -1+nondet_12^10 >= 0, cost: 3 Second rule: l6 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_29^0, head_33^0'=temp_36^0, temp_36^0'=temp_36^post18, i_31^0'=2, tail_15^0'=head_SLAM_f_30^post18, tmp_35^0'=temp_36^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^0, rcd_71^0'=rcd_71^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_30^post18, (-1+i_31^0 == 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 1 New rule: l66 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post25, temp_36^0'=temp_36^post18, i_31^0'=2, tail_15^0'=head_SLAM_f_30^post18, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post25, rcd_71^0'=rcd_71^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_30^post18, nondet_12^0'=nondet_12^post52, (0 == 0 /\ -1+nondet_12^10 >= 0 /\ 2-nondet_12^10 <= 0), cost: 4 Applied simplification Original rule: l66 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post25, temp_36^0'=temp_36^post18, i_31^0'=2, tail_15^0'=head_SLAM_f_30^post18, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post25, rcd_71^0'=rcd_71^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_30^post18, nondet_12^0'=nondet_12^post52, (0 == 0 /\ -1+nondet_12^10 >= 0 /\ 2-nondet_12^10 <= 0), cost: 4 New rule: l66 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post25, temp_36^0'=temp_36^post18, i_31^0'=2, tail_15^0'=head_SLAM_f_30^post18, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post25, rcd_71^0'=rcd_71^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_30^post18, nondet_12^0'=nondet_12^post52, -2+nondet_12^10 >= 0, cost: 4 Applied deletion Removed the following rules: 73 108 Eliminating location l21 by chaining: Applied chaining First rule: l20 -> l21 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, x_27^0'=head_33^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, rcd_194^0'=rcd_45^0, (i_31^0 >= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 1 Second rule: l21 -> l22 : 0 == 0, cost: 1 New rule: l20 -> l22 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, x_27^0'=head_33^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, rcd_194^0'=rcd_45^0, (0 == 0 /\ i_31^0 >= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 2 Applied simplification Original rule: l20 -> l22 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, x_27^0'=head_33^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, rcd_194^0'=rcd_45^0, (0 == 0 /\ i_31^0 >= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 2 New rule: l20 -> l22 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, x_27^0'=head_33^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, rcd_194^0'=rcd_45^0, (i_31^0 >= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 2 Applied deletion Removed the following rules: 74 75 Eliminating location l23 by chaining: Applied chaining First rule: l20 -> l23 : head_33^0'=temp_36^0, temp_36^0'=temp_36^post22, i_31^0'=1+i_31^0, i_112^0'=i_31^0, tmp_35^0'=temp_36^0, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (i_31^0 >= 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 1 Second rule: l23 -> l20 : TRUE, cost: 1 New rule: l20 -> l20 : head_33^0'=temp_36^0, temp_36^0'=temp_36^post22, i_31^0'=1+i_31^0, i_112^0'=i_31^0, tmp_35^0'=temp_36^0, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (i_31^0 >= 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 2 Applied deletion Removed the following rules: 77 78 Eliminating location l22 by chaining: Applied chaining First rule: l20 -> l22 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, x_27^0'=head_33^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, rcd_194^0'=rcd_45^0, (i_31^0 >= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 2 Second rule: l22 -> l1 : (result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_31^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^0-i_198^0 <= 0), cost: 1 New rule: l20 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, x_27^0'=head_33^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, rcd_194^0'=rcd_45^0, (result_dot_nondet_sdv_special_RETURN_VALUE_14^post19-i_198^post19 <= 0 /\ i_31^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post19-a_174^0 <= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 3 Applied deletion Removed the following rules: 76 110 Eliminating location l50 by chaining: Applied chaining First rule: l1 -> l50 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, x_27^0'=x_27^post53, x_22^0'=head_16^0, x_SLAM_f_25^0'=x_SLAM_f_25^post53, y_26^0'=y_26^post53, x_SLAM_f_20^0'=head_16^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, y_21^0'=tail_15^0, (-x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1 Second rule: l50 -> l51 : 0 == 0, cost: 1 New rule: l1 -> l51 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, x_27^0'=x_27^post53, x_22^0'=head_16^0, x_SLAM_f_25^0'=x_SLAM_f_25^post53, y_26^0'=y_26^post53, x_SLAM_f_20^0'=head_16^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, y_21^0'=tail_15^0, (0 == 0 /\ -x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2 Applied simplification Original rule: l1 -> l51 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, x_27^0'=x_27^post53, x_22^0'=head_16^0, x_SLAM_f_25^0'=x_SLAM_f_25^post53, y_26^0'=y_26^post53, x_SLAM_f_20^0'=head_16^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, y_21^0'=tail_15^0, (0 == 0 /\ -x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2 New rule: l1 -> l51 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, x_27^0'=x_27^post53, x_22^0'=head_16^0, x_SLAM_f_25^0'=x_SLAM_f_25^post53, y_26^0'=y_26^post53, x_SLAM_f_20^0'=head_16^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, y_21^0'=tail_15^0, (-x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2 Applied deletion Removed the following rules: 96 97 Eliminating location l53 by chaining: Applied chaining First rule: l1 -> l53 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (a_174^0 >= 0 /\ len_159^0 >= 0), cost: 1 Second rule: l53 -> l54 : 0 == 0, cost: 1 New rule: l1 -> l54 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2 Applied simplification Original rule: l1 -> l54 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2 New rule: l1 -> l54 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2 Applied deletion Removed the following rules: 99 100 Eliminating location l51 by chaining: Applied chaining First rule: l1 -> l51 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, x_27^0'=x_27^post53, x_22^0'=head_16^0, x_SLAM_f_25^0'=x_SLAM_f_25^post53, y_26^0'=y_26^post53, x_SLAM_f_20^0'=head_16^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, y_21^0'=tail_15^0, (-x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2 Second rule: l51 -> l42 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1 New rule: l1 -> l42 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, x_27^0'=x_27^post53, x_22^0'=head_16^0, x_SLAM_f_25^0'=x_SLAM_f_25^post53, y_26^0'=y_26^post53, x_SLAM_f_20^0'=head_16^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 3 Applied deletion Removed the following rules: 98 113 Eliminating location l54 by chaining: Applied chaining First rule: l1 -> l54 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (a_174^0 >= 0 /\ len_159^0 >= 0), cost: 2 Second rule: l54 -> l55 : rcd_220^0'=rcd_45^0, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, (-x_27^0+f_202^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_25^0-head_16^0 == 0 /\ -tail_15^0+y_26^0 == 0), cost: 1 New rule: l1 -> l55 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (-x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 3 Applied deletion Removed the following rules: 101 114 Eliminating location l42 by chaining: Applied chaining First rule: l1 -> l42 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post53, x_27^0'=x_27^post53, x_22^0'=head_16^0, x_SLAM_f_25^0'=x_SLAM_f_25^post53, y_26^0'=y_26^post53, x_SLAM_f_20^0'=head_16^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 3 Second rule: l42 -> l43 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, tail_15^0'=tail_15^post45, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, len_159^0 >= 0, cost: 1 New rule: l1 -> l43 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 4 Applied deletion Removed the following rules: 88 115 Eliminating location l55 by chaining: Applied chaining First rule: l1 -> l55 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (-x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 3 Second rule: l55 -> l56 : 0 == 0, cost: 1 New rule: l1 -> l56 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (0 == 0 /\ -x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 4 Applied simplification Original rule: l1 -> l56 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (0 == 0 /\ -x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 4 New rule: l1 -> l56 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (-x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 4 Applied deletion Removed the following rules: 102 116 Eliminating location l43 by chaining: Applied chaining First rule: l1 -> l43 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 4 Second rule: l43 -> l44 : 0 == 0, cost: 1 New rule: l1 -> l44 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 5 Applied simplification Original rule: l1 -> l44 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 5 New rule: l1 -> l44 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 5 Applied deletion Removed the following rules: 89 117 Eliminating location l56 by chaining: Applied chaining First rule: l1 -> l56 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (-x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 4 Second rule: l56 -> l57 : 0 == 0, cost: 1 New rule: l1 -> l57 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (0 == 0 /\ -x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 5 Applied simplification Original rule: l1 -> l57 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (0 == 0 /\ -x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 5 New rule: l1 -> l57 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (-x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 5 Applied deletion Removed the following rules: 103 118 Eliminating location l44 by chaining: Applied chaining First rule: l1 -> l44 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -x_27^0+y_26^0 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 5 Second rule: l44 -> l45 : a_253^0'=a_279^0, t_23^0'=x_22^0, (-head_16^0+x_SLAM_f_20^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ tail_15^0-y_21^0 == 0 /\ -x_22^0+head_16^0 == 0 /\ -rcd_284^0+rcd_45^0 == 0), cost: 1 New rule: l1 -> l45 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 6 Applied deletion Removed the following rules: 90 119 Eliminating location l57 by chaining: Applied chaining First rule: l1 -> l57 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, f_202^0'=f_202^post56, (-x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 5 Second rule: l57 -> l52 : a_174^0'=a_222^0, len_159^0'=len_221^0, rcd_45^0'=rcd_220^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1 New rule: l1 -> l52 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=-1+a_174^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, len_159^0'=1+len_159^0, f_202^0'=f_202^post56, rcd_45^0'=rcd_45^0, (-x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 6 Applied deletion Removed the following rules: 104 120 Eliminating location l45 by chaining: Applied chaining First rule: l1 -> l45 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 6 Second rule: l45 -> l46 : 0 == 0, cost: 1 New rule: l1 -> l46 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 7 Applied simplification Original rule: l1 -> l46 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 7 New rule: l1 -> l46 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 7 Applied deletion Removed the following rules: 91 121 Eliminating location l52 by chaining: Applied chaining First rule: l1 -> l52 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=-1+a_174^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, len_159^0'=1+len_159^0, f_202^0'=f_202^post56, rcd_45^0'=rcd_45^0, (-x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 6 Second rule: l52 -> l1 : TRUE, cost: 1 New rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=-1+a_174^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, len_159^0'=1+len_159^0, f_202^0'=f_202^post56, rcd_45^0'=rcd_45^0, (-x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 7 Applied deletion Removed the following rules: 105 122 Eliminating location l46 by chaining: Applied chaining First rule: l1 -> l46 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 7 Second rule: l46 -> l47 : 0 == 0, cost: 1 New rule: l1 -> l47 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 8 Applied simplification Original rule: l1 -> l47 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 8 New rule: l1 -> l47 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 8 Applied deletion Removed the following rules: 92 123 Eliminating location l47 by chaining: Applied chaining First rule: l1 -> l47 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 8 Second rule: l47 -> l48 : 0 == 0, cost: 1 New rule: l1 -> l48 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 9 Applied simplification Original rule: l1 -> l48 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 9 New rule: l1 -> l48 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 9 Applied deletion Removed the following rules: 93 125 Eliminating location l48 by chaining: Applied chaining First rule: l1 -> l48 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 9 Second rule: l48 -> l25 : len_159^0'=1+a_253^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1 New rule: l1 -> l25 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, len_159^0'=1+a_279^0, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post45 >= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 10 Applied deletion Removed the following rules: 94 126 Eliminating location l27 by chaining: Applied chaining First rule: l25 -> l27 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, a_279^0 >= 0, cost: 1 Second rule: l27 -> l28 : 0 == 0, cost: 1 New rule: l25 -> l28 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, (0 == 0 /\ a_279^0 >= 0), cost: 2 Applied simplification Original rule: l25 -> l28 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, (0 == 0 /\ a_279^0 >= 0), cost: 2 New rule: l25 -> l28 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, a_279^0 >= 0, cost: 2 Applied deletion Removed the following rules: 80 81 Eliminating location l28 by chaining: Applied chaining First rule: l25 -> l28 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, a_279^0 >= 0, cost: 2 Second rule: l28 -> l29 : a_309^0'=-1+a_279^0, t_23^0'=x_22^0, rcd_308^0'=rcd_45^0, (-head_16^0+x_SLAM_f_20^0 == 0 /\ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 == 0 /\ tail_15^0-y_21^0 == 0), cost: 1 New rule: l25 -> l29 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, (-head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 3 Applied deletion Removed the following rules: 82 128 Eliminating location l29 by chaining: Applied chaining First rule: l25 -> l29 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, (-head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 3 Second rule: l29 -> l30 : 0 == 0, cost: 1 New rule: l25 -> l30 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, (0 == 0 /\ -head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 4 Applied simplification Original rule: l25 -> l30 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, (0 == 0 /\ -head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 4 New rule: l25 -> l30 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, (-head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 4 Applied deletion Removed the following rules: 83 129 Eliminating location l30 by chaining: Applied chaining First rule: l25 -> l30 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, (-head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 4 Second rule: l30 -> l31 : 0 == 0, cost: 1 New rule: l25 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, (0 == 0 /\ -head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 5 Applied simplification Original rule: l25 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, (0 == 0 /\ -head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 5 New rule: l25 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, (-head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 5 Applied deletion Removed the following rules: 84 130 Eliminating location l31 by chaining: Applied chaining First rule: l25 -> l31 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, (-head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 5 Second rule: l31 -> l32 : 0 == 0, cost: 1 New rule: l25 -> l32 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, (0 == 0 /\ -head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 6 Applied simplification Original rule: l25 -> l32 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, (0 == 0 /\ -head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 6 New rule: l25 -> l32 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, (-head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 6 Applied deletion Removed the following rules: 85 131 Eliminating location l32 by chaining: Applied chaining First rule: l25 -> l32 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, (-head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 6 Second rule: l32 -> l26 : a_279^0'=a_309^0, rcd_45^0'=rcd_308^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^0 >= 0, cost: 1 New rule: l25 -> l26 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, rcd_45^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ -head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 7 Applied deletion Removed the following rules: 86 132 Eliminating location l26 by chaining: Applied chaining First rule: l25 -> l26 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, rcd_45^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ -head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 7 Second rule: l26 -> l25 : TRUE, cost: 1 New rule: l25 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, rcd_45^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ -head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 8 Applied deletion Removed the following rules: 87 133 Eliminated locations on linear paths Start location: l66 124: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=-1+a_174^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, len_159^0'=1+len_159^0, f_202^0'=f_202^post56, rcd_45^0'=rcd_45^0, (-x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 7 127: l1 -> l25 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, len_159^0'=1+a_279^0, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post45 >= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 10 111: l20 -> l20 : head_33^0'=temp_36^0, temp_36^0'=temp_36^post22, i_31^0'=1+i_31^0, i_112^0'=i_31^0, tmp_35^0'=temp_36^0, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (i_31^0 >= 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 2 112: l20 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, x_27^0'=head_33^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, rcd_194^0'=rcd_45^0, (result_dot_nondet_sdv_special_RETURN_VALUE_14^post19-i_198^post19 <= 0 /\ i_31^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post19-a_174^0 <= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 3 134: l25 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, rcd_45^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ -head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 8 109: l66 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post25, temp_36^0'=temp_36^post18, i_31^0'=2, tail_15^0'=head_SLAM_f_30^post18, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post25, rcd_71^0'=rcd_71^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_30^post18, nondet_12^0'=nondet_12^post52, -2+nondet_12^10 >= 0, cost: 4 Applied simplification Original rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=tail_15^post56, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=head_16^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=-1+a_174^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56, len_159^0'=1+len_159^0, f_202^0'=f_202^post56, rcd_45^0'=rcd_45^0, (-x_27^0+f_202^post56 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post56-tail_15^post56 == 0 /\ -head_16^post56+x_SLAM_f_25^post56 == 0 /\ y_26^0-tail_15^post56 == 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 7 New rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=y_26^0, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=x_SLAM_f_25^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=-1+a_174^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=1+len_159^0, f_202^0'=x_27^0, (a_174^0 >= 0 /\ len_159^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 7 Simplified simple loops Start location: l66 127: l1 -> l25 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, len_159^0'=1+a_279^0, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post45 >= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 10 135: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=y_26^0, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=x_SLAM_f_25^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=-1+a_174^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=1+len_159^0, f_202^0'=x_27^0, (a_174^0 >= 0 /\ len_159^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 7 111: l20 -> l20 : head_33^0'=temp_36^0, temp_36^0'=temp_36^post22, i_31^0'=1+i_31^0, i_112^0'=i_31^0, tmp_35^0'=temp_36^0, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (i_31^0 >= 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 2 112: l20 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, x_27^0'=head_33^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, rcd_194^0'=rcd_45^0, (result_dot_nondet_sdv_special_RETURN_VALUE_14^post19-i_198^post19 <= 0 /\ i_31^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post19-a_174^0 <= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 3 134: l25 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, rcd_45^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ -head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 8 109: l66 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post25, temp_36^0'=temp_36^post18, i_31^0'=2, tail_15^0'=head_SLAM_f_30^post18, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post25, rcd_71^0'=rcd_71^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_30^post18, nondet_12^0'=nondet_12^post52, -2+nondet_12^10 >= 0, cost: 4 Applied acceleration Original rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=y_26^0, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1+a_174^0, len_221^0'=1+len_159^0, head_16^0'=x_SLAM_f_25^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=-1+a_174^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=1+len_159^0, f_202^0'=x_27^0, (a_174^0 >= 0 /\ len_159^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 7 New rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=y_26^0, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=a_174^0-n0, len_221^0'=len_159^0+n0, head_16^0'=x_SLAM_f_25^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=a_174^0-n0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=len_159^0+n0, f_202^0'=x_27^0, (1+a_174^0-n0 >= 0 /\ len_159^0 >= 0 /\ -1+n0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 7*n0 Applied instantiation Original rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=y_26^0, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=a_174^0-n0, len_221^0'=len_159^0+n0, head_16^0'=x_SLAM_f_25^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=a_174^0-n0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=len_159^0+n0, f_202^0'=x_27^0, (1+a_174^0-n0 >= 0 /\ len_159^0 >= 0 /\ -1+n0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 7*n0 New rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=y_26^0, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1, len_221^0'=1+a_174^0+len_159^0, head_16^0'=x_SLAM_f_25^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=1+a_174^0+len_159^0, f_202^0'=x_27^0, (0 >= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 7+7*a_174^0 Applied simplification Original rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=y_26^0, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1, len_221^0'=1+a_174^0+len_159^0, head_16^0'=x_SLAM_f_25^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=1+a_174^0+len_159^0, f_202^0'=x_27^0, (0 >= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 7+7*a_174^0 New rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=y_26^0, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1, len_221^0'=1+a_174^0+len_159^0, head_16^0'=x_SLAM_f_25^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=1+a_174^0+len_159^0, f_202^0'=x_27^0, (a_174^0 >= 0 /\ len_159^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 7+7*a_174^0 Applied deletion Removed the following rules: 135 Applied acceleration Original rule: l20 -> l20 : head_33^0'=temp_36^0, temp_36^0'=temp_36^post22, i_31^0'=1+i_31^0, i_112^0'=i_31^0, tmp_35^0'=temp_36^0, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (i_31^0 >= 0 /\ 1+i_31^0-length_29^0 <= 0), cost: 2 New rule: l20 -> l20 : head_33^0'=temp_36^post22, temp_36^0'=temp_36^post22, i_31^0'=i_31^0+n3, i_112^0'=-1+i_31^0+n3, tmp_35^0'=temp_36^post22, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (i_31^0 >= 0 /\ -2+n3 >= 0 /\ -i_31^0+length_29^0-n3 >= 0), cost: 2*n3 Applied instantiation Original rule: l20 -> l20 : head_33^0'=temp_36^post22, temp_36^0'=temp_36^post22, i_31^0'=i_31^0+n3, i_112^0'=-1+i_31^0+n3, tmp_35^0'=temp_36^post22, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (i_31^0 >= 0 /\ -2+n3 >= 0 /\ -i_31^0+length_29^0-n3 >= 0), cost: 2*n3 New rule: l20 -> l20 : head_33^0'=temp_36^post22, temp_36^0'=temp_36^post22, i_31^0'=length_29^0, i_112^0'=-1+length_29^0, tmp_35^0'=temp_36^post22, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (0 >= 0 /\ i_31^0 >= 0 /\ -2-i_31^0+length_29^0 >= 0), cost: -2*i_31^0+2*length_29^0 Applied simplification Original rule: l20 -> l20 : head_33^0'=temp_36^post22, temp_36^0'=temp_36^post22, i_31^0'=length_29^0, i_112^0'=-1+length_29^0, tmp_35^0'=temp_36^post22, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (0 >= 0 /\ i_31^0 >= 0 /\ -2-i_31^0+length_29^0 >= 0), cost: -2*i_31^0+2*length_29^0 New rule: l20 -> l20 : head_33^0'=temp_36^post22, temp_36^0'=temp_36^post22, i_31^0'=length_29^0, i_112^0'=-1+length_29^0, tmp_35^0'=temp_36^post22, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (i_31^0 >= 0 /\ -2-i_31^0+length_29^0 >= 0), cost: -2*i_31^0+2*length_29^0 Applied deletion Removed the following rules: 111 Applied simplification Original rule: l25 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=tail_15^post27, head_16^0'=head_16^post27, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27, rcd_308^0'=rcd_45^0, rcd_45^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ -head_16^post27+x_SLAM_f_20^post27 == 0 /\ a_279^0 >= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post27-tail_15^post27 == 0 /\ tail_15^post27-y_21^0 == 0), cost: 8 New rule: l25 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post27, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ a_279^0 >= 0), cost: 8 Simplified simple loops Start location: l66 127: l1 -> l25 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, len_159^0'=1+a_279^0, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post45 >= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 10 137: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=y_26^0, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1, len_221^0'=1+a_174^0+len_159^0, head_16^0'=x_SLAM_f_25^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=1+a_174^0+len_159^0, f_202^0'=x_27^0, (a_174^0 >= 0 /\ len_159^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 7+7*a_174^0 112: l20 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, x_27^0'=head_33^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, rcd_194^0'=rcd_45^0, (result_dot_nondet_sdv_special_RETURN_VALUE_14^post19-i_198^post19 <= 0 /\ i_31^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post19-a_174^0 <= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 3 139: l20 -> l20 : head_33^0'=temp_36^post22, temp_36^0'=temp_36^post22, i_31^0'=length_29^0, i_112^0'=-1+length_29^0, tmp_35^0'=temp_36^post22, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (i_31^0 >= 0 /\ -2-i_31^0+length_29^0 >= 0), cost: -2*i_31^0+2*length_29^0 140: l25 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post27, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ a_279^0 >= 0), cost: 8 109: l66 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post25, temp_36^0'=temp_36^post18, i_31^0'=2, tail_15^0'=head_SLAM_f_30^post18, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post25, rcd_71^0'=rcd_71^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_30^post18, nondet_12^0'=nondet_12^post52, -2+nondet_12^10 >= 0, cost: 4 Applied acceleration Original rule: l25 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1+a_279^0, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post27, a_279^0'=-1+a_279^0, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ a_279^0 >= 0), cost: 8 New rule: l25 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=a_279^0-n6, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post27, a_279^0'=a_279^0-n6, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ -1+n6 >= 0 /\ 1+a_279^0-n6 >= 0), cost: 8*n6 Applied instantiation Original rule: l25 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=a_279^0-n6, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post27, a_279^0'=a_279^0-n6, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ -1+n6 >= 0 /\ 1+a_279^0-n6 >= 0), cost: 8*n6 New rule: l25 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post27, a_279^0'=-1, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ a_279^0 >= 0), cost: 8+8*a_279^0 Applied simplification Original rule: l25 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post27, a_279^0'=-1, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ a_279^0 >= 0), cost: 8+8*a_279^0 New rule: l25 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post27, a_279^0'=-1, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ a_279^0 >= 0), cost: 8+8*a_279^0 Applied deletion Removed the following rules: 140 Accelerated simple loops Start location: l66 127: l1 -> l25 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, len_159^0'=1+a_279^0, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post45 >= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 10 137: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=y_26^0, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1, len_221^0'=1+a_174^0+len_159^0, head_16^0'=x_SLAM_f_25^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=1+a_174^0+len_159^0, f_202^0'=x_27^0, (a_174^0 >= 0 /\ len_159^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 7+7*a_174^0 112: l20 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, x_27^0'=head_33^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, rcd_194^0'=rcd_45^0, (result_dot_nondet_sdv_special_RETURN_VALUE_14^post19-i_198^post19 <= 0 /\ i_31^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post19-a_174^0 <= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 3 139: l20 -> l20 : head_33^0'=temp_36^post22, temp_36^0'=temp_36^post22, i_31^0'=length_29^0, i_112^0'=-1+length_29^0, tmp_35^0'=temp_36^post22, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (i_31^0 >= 0 /\ -2-i_31^0+length_29^0 >= 0), cost: -2*i_31^0+2*length_29^0 142: l25 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post27, a_279^0'=-1, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ a_279^0 >= 0), cost: 8+8*a_279^0 109: l66 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post25, temp_36^0'=temp_36^post18, i_31^0'=2, tail_15^0'=head_SLAM_f_30^post18, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post25, rcd_71^0'=rcd_71^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_30^post18, nondet_12^0'=nondet_12^post52, -2+nondet_12^10 >= 0, cost: 4 Applied chaining First rule: l20 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, x_27^0'=head_33^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, rcd_194^0'=rcd_45^0, (result_dot_nondet_sdv_special_RETURN_VALUE_14^post19-i_198^post19 <= 0 /\ i_31^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post19-a_174^0 <= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 3 Second rule: l1 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, rcd_220^0'=rcd_45^0, tail_15^0'=y_26^0, x_SLAM_f_25^0'=x_SLAM_f_25^post56, a_222^0'=-1, len_221^0'=1+a_174^0+len_159^0, head_16^0'=x_SLAM_f_25^post56, x_207^0'=x_207^post56, r_41^0'=r_41^post56, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_26^0, len_159^0'=1+a_174^0+len_159^0, f_202^0'=x_27^0, (a_174^0 >= 0 /\ len_159^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0), cost: 7+7*a_174^0 New rule: l20 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, x_27^0'=head_33^0, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=x_SLAM_f_25^post56, tmp_35^0'=tmp_35^post19, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, len_221^0'=1+a_174^0+len_159^0, rcd_199^0'=rcd_199^post19, head_16^0'=x_SLAM_f_25^post56, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, x_207^0'=x_207^post56, head_SLAM_f_30^0'=head_SLAM_f_30^post19, r_41^0'=r_41^post56, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=head_33^0, (i_31^0 >= 0 /\ -2+a_174^0 >= 0 /\ -2+i_198^post19 >= 0 /\ len_159^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0 /\ -i_31^0+length_29^0 <= 0), cost: 10+7*a_174^0 Applied deletion Removed the following rules: 137 Applied chaining First rule: l66 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post25, temp_36^0'=temp_36^post18, i_31^0'=2, tail_15^0'=head_SLAM_f_30^post18, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post25, rcd_71^0'=rcd_71^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_30^post18, nondet_12^0'=nondet_12^post52, -2+nondet_12^10 >= 0, cost: 4 Second rule: l20 -> l20 : head_33^0'=temp_36^post22, temp_36^0'=temp_36^post22, i_31^0'=length_29^0, i_112^0'=-1+length_29^0, tmp_35^0'=temp_36^post22, rcd_106^0'=rcd_106^post22, rcd_114^0'=rcd_45^0, (i_31^0 >= 0 /\ -2-i_31^0+length_29^0 >= 0), cost: -2*i_31^0+2*length_29^0 New rule: l66 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post22, temp_36^0'=temp_36^post22, i_31^0'=nondet_12^10, tail_15^0'=head_SLAM_f_30^post18, length_29^0'=nondet_12^10, i_112^0'=-1+nondet_12^10, tmp_35^0'=temp_36^post22, rcd_106^0'=rcd_106^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post25, rcd_71^0'=rcd_71^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_30^post18, nondet_12^0'=nondet_12^post52, rcd_114^0'=rcd_45^0, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10 Applied deletion Removed the following rules: 139 Applied chaining First rule: l1 -> l25 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, len_159^0'=1+a_279^0, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post45 >= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 10 Second rule: l25 -> l25 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, a_309^0'=-1, tail_15^0'=y_21^0, head_16^0'=x_SLAM_f_20^post27, a_279^0'=-1, t_23^0'=x_22^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, rcd_308^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ a_279^0 >= 0), cost: 8+8*a_279^0 New rule: l1 -> l25 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, x_27^0'=x_27^post53, x_22^0'=head_16^0, a_309^0'=-1, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=x_SLAM_f_20^post27, y_26^0'=y_26^post53, a_279^0'=-1, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, rcd_284^0'=rcd_45^0, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, len_159^0'=1+a_279^0, y_21^0'=tail_15^0, rcd_308^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ -x_27^0+y_26^0 == 0 /\ a_279^0 >= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 18+8*a_279^0 Applied deletion Removed the following rules: 142 Chained accelerated rules with incoming rules Start location: l66 127: l1 -> l25 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post45, x_27^0'=x_27^post53, x_22^0'=head_16^0, tail_15^0'=tail_15^post45, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=head_16^post45, y_26^0'=y_26^post53, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post45, rcd_284^0'=rcd_284^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45, len_159^0'=1+a_279^0, y_21^0'=tail_15^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post53 >= 0 /\ -rcd_284^post45+rcd_45^0 == 0 /\ -tail_15^0+tail_15^post45 == 0 /\ -tail_15^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -x_27^0+y_26^0 == 0 /\ -head_16^0+head_16^post45 == 0 /\ x_SLAM_f_20^post45-head_16^post45 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post45 >= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 10 145: l1 -> l25 : a_253^0'=a_279^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post27, x_27^0'=x_27^post53, x_22^0'=head_16^0, a_309^0'=-1, x_SLAM_f_25^0'=x_SLAM_f_25^post53, rcd_288^0'=rcd_288^post45, head_16^0'=x_SLAM_f_20^post27, y_26^0'=y_26^post53, a_279^0'=-1, t_23^0'=head_16^0, x_SLAM_f_20^0'=x_SLAM_f_20^post27, rcd_284^0'=rcd_45^0, r_41^0'=r_41^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, len_159^0'=1+a_279^0, y_21^0'=tail_15^0, rcd_308^0'=rcd_45^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post27 >= 0 /\ -x_27^0+y_26^0 == 0 /\ a_279^0 >= 0 /\ a_174^0 >= 0 /\ len_159^0 >= 0), cost: 18+8*a_279^0 112: l20 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post19, x_27^0'=head_33^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=head_33^0, tmp_35^0'=tmp_35^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, rcd_199^0'=rcd_199^post19, head_16^0'=head_33^0, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, head_SLAM_f_30^0'=head_SLAM_f_30^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, rcd_194^0'=rcd_45^0, (result_dot_nondet_sdv_special_RETURN_VALUE_14^post19-i_198^post19 <= 0 /\ i_31^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post19 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_14^post19-a_174^0 <= 0 /\ len_159^0 == 0 /\ -i_31^0+length_29^0 <= 0), cost: 3 143: l20 -> l1 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post56, x_27^0'=head_33^0, rcd_220^0'=rcd_45^0, head_33^0'=head_33^post19, temp_36^0'=temp_36^post19, result_11^0'=result_11^post19, i_31^0'=a_174^0, length_29^0'=length_29^post19, x_SLAM_f_25^0'=x_SLAM_f_25^post56, tmp_35^0'=tmp_35^post19, a_222^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^post19, len_221^0'=1+a_174^0+len_159^0, rcd_199^0'=rcd_199^post19, head_16^0'=x_SLAM_f_25^post56, temp0_32^0'=temp0_32^post19, y_26^0'=tail_15^0, i_198^0'=i_198^post19, x_207^0'=x_207^post56, head_SLAM_f_30^0'=head_SLAM_f_30^post19, r_41^0'=r_41^post56, a_174^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, len_159^0'=1+a_174^0+len_159^0, rcd_194^0'=rcd_45^0, f_202^0'=head_33^0, (i_31^0 >= 0 /\ -2+a_174^0 >= 0 /\ -2+i_198^post19 >= 0 /\ len_159^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_14^post56 >= 0 /\ -i_31^0+length_29^0 <= 0), cost: 10+7*a_174^0 109: l66 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post25, temp_36^0'=temp_36^post18, i_31^0'=2, tail_15^0'=head_SLAM_f_30^post18, length_29^0'=nondet_12^10, tmp_35^0'=temp_36^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post25, rcd_71^0'=rcd_71^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_30^post18, nondet_12^0'=nondet_12^post52, -2+nondet_12^10 >= 0, cost: 4 144: l66 -> l20 : result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^10, head_33^0'=temp_36^post22, temp_36^0'=temp_36^post22, i_31^0'=nondet_12^10, tail_15^0'=head_SLAM_f_30^post18, length_29^0'=nondet_12^10, i_112^0'=-1+nondet_12^10, tmp_35^0'=temp_36^post22, rcd_106^0'=rcd_106^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_34^0'=temp_36^post25, rcd_71^0'=rcd_71^post18, head_SLAM_f_30^0'=head_SLAM_f_30^post18, temp_37^0'=temp_37^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_30^post18, nondet_12^0'=nondet_12^post52, rcd_114^0'=rcd_45^0, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10 Removed unreachable locations and irrelevant leafs Start location: l66 Computing asymptotic complexity Proved the following lower bound Complexity: Unknown Cpx degree: ? Solved cost: 0 Rule cost: 0